Drake
 All Classes Files Functions Variables
TaylorVar Class Reference

does inline autodiff overloads operators: http://www.mathworks.com/help/techdoc/matlab_oop/br02znk-1.html More...

Collaboration diagram for TaylorVar:

Public Member Functions

function TaylorVar (f, df)
 
function eval (obj)
 
function double (obj)
 
function getmsspoly (obj, p_xbar)
 returns the taylor approximation as an msspoly More...
 
function getOrder (obj)
 
function superiorfloat (varargin)
 
function isnan (obj)
 
function isinf (obj)
 
function size (obj, dim)
 
function length (obj)
 
function numel (obj, varargin)
 
function end (obj, k, n)
 end called as part of the kth index of n indices 'help end' was the only way i found documentation on this More...
 
function repmat (obj, M, N)
 
function reshape (obj, varargin)
 
function bsxfun (fun, a, b)
 
function plus (a, b)
 
function minus (a, b)
 
function uminus (a)
 
function uplus (a)
 intentionally empty More...
 
function times (a, b)
 
function mtimes (a, b)
 
function rdivide (a, b)
 
function ldivide (a, b)
 
function mrdivide (a, b)
 
function inv (a)
 use d/dq inv(H(q)) = - inv(H(q)) [d/dq H(q)] inv(H(q)) More...
 
function pinv (A)
 
function mldivide (a, b)
 
function power (a, k)
 
function mpower (a, k)
 
function lt (a, b)
 
function gt (a, b)
 
function le (a, b)
 
function ge (a, b)
 
function ne (a, b)
 
function eq (a, b)
 
function sign (a)
 
function and (a, b)
 
function or (a, b)
 
function not (a)
 
function any (a)
 
function ctranspose (a)
 
function transpose (a)
 
function horzcat (varargin)
 find the index of the first TaylorVar More...
 
function vertcat (varargin)
 find the index of the first TaylorVar More...
 
function subsref (obj, s)
 figure out indices corresponding to s More...
 
function subsasgn (a, s, b)
 
function cleanup_subs ()
 turn all subsrefs into A(ind)=B(:), instead of A(sub1,sub2)=B. More...
 
function subsindex (a)
 
function sin (obj)
 
function cos (obj)
 
function sec (obj)
 
function tan (obj)
 
function asin (obj)
 
function acos (obj)
 
function atan (obj)
 
function atan2 (y, x)
 
function acot (obj)
 
function tanh (obj)
 
function exp (obj)
 
function abs (a)
 
function diag (v, k)
 v is a TaylorVar More...
 
function mod (X, Y)
 
function conj (a)
 intentionally left blank. i've assumed real everywhere in here. More...
 
function sqrt (a)
 
function sum (a, d)
 
function max (a, b, dim)
 
function min (a, b, dim)
 
function cumprod (A, dim)
 
function norm (A, p)
 
function diff (x, n, dim)
 
function ppval (pp, xx)
 equivalent to ppval.m, but made taylorvar compatible More...
 

Static Public Member Functions

static function init (x, order)
 

Public Attributes

Property f
 
Property df
 
Property dim
 
Property nX
 

Detailed Description

does inline autodiff overloads operators: http://www.mathworks.com/help/techdoc/matlab_oop/br02znk-1.html

Use TaylorVar.init() to create a new TaylorVar. % Use getmsspoly() to get the approximation around a point close to where % you initialized the TaylorVar.

the internal representation is m=prod(size(f)), n=prod(size(x)); df{o} is a m x n^o sparse matrix , where e.g. d^2 f(i,j)/dx_k dx_l = df{o}(sub2ind(obj.dim,i,j),sub2ind([n n],k,l))

Constructor & Destructor Documentation

function TaylorVar ( f  ,
df   
)
Return values
obj

Member Function Documentation

function abs ( )
Return values
a
function acos ( obj  )
Return values
tv
function acot ( obj  )
Return values
tv
function and ( ,
 
)
Return values
l
function any ( )
Return values
b
function asin ( obj  )
Return values
tv
function atan ( obj  )
Return values
tv
function atan2 ( ,
 
)
Return values
tv
function bsxfun ( fun  ,
,
 
)
Return values
c
function cleanup_subs ( )

turn all subsrefs into A(ind)=B(:), instead of A(sub1,sub2)=B.

function conj ( )

intentionally left blank. i've assumed real everywhere in here.

Return values
a
function cos ( obj  )
Return values
tv
function ctranspose ( )
Return values
a
function cumprod ( ,
dim   
)
Return values
B
function diag ( ,
 
)

v is a TaylorVar

Return values
tv
function diff ( ,
,
dim   
)
Return values
y
function double ( obj  )
Return values
d
function end ( obj  ,
,
 
)

end called as part of the kth index of n indices 'help end' was the only way i found documentation on this

Return values
lastind
function eq ( ,
 
)
Return values
l
function eval ( obj  )
Return values
varargout
function exp ( obj  )
Return values
tv
function ge ( ,
 
)
Return values
l
function getmsspoly ( obj  ,
p_xbar   
)

returns the taylor approximation as an msspoly

Parameters
p_xbarshould be relative to the original value of x used in TaylorVar.init()
Return values
p
function getOrder ( obj  )
Return values
o
function gt ( ,
 
)
Return values
l
function horzcat ( varargin  )

find the index of the first TaylorVar

Return values
tv
static function init ( ,
order   
)
static
Return values
tv
function inv ( )

use d/dq inv(H(q)) = - inv(H(q)) [d/dq H(q)] inv(H(q))

Return values
tv
function isinf ( obj  )
Return values
tf
function isnan ( obj  )
Return values
tf
function ldivide ( ,
 
)
Return values
tv
function le ( ,
 
)
Return values
l
function length ( obj  )
Return values
numberOfElements
function lt ( ,
 
)
Return values
l
function max ( ,
,
dim   
)
Return values
a
i
function min ( ,
,
dim   
)
Return values
a
i
function minus ( ,
 
)
Return values
tv
function mldivide ( ,
 
)
Return values
tv
function mod ( ,
 
)
Return values
X
function mpower ( ,
 
)
Return values
a
function mrdivide ( ,
 
)
Return values
a
function mtimes ( ,
 
)
Return values
a
function ne ( ,
 
)
Return values
l
function norm ( ,
 
)
Return values
n
function not ( )
Return values
l
function numel ( obj  ,
varargin   
)
Return values
numberOfElements
function or ( ,
 
)
Return values
l
function pinv ( )
Return values
tv
function plus ( ,
 
)
Return values
a
function power ( ,
 
)
Return values
tv
function ppval ( pp  ,
xx   
)

equivalent to ppval.m, but made taylorvar compatible

Return values
v
function rdivide ( ,
 
)
Return values
tv
function repmat ( obj  ,
,
 
)
Return values
obj
function reshape ( obj  ,
varargin   
)
Return values
obj
function sec ( obj  )
Return values
tv
function sign ( )
Return values
l
function sin ( obj  )
Return values
tv
function size ( obj  ,
dim   
)
Return values
varargout
function sqrt ( )
Return values
a
function subsasgn ( ,
,
 
)
Return values
a
function subsindex ( )
Return values
ind
function subsref ( obj  ,
 
)

figure out indices corresponding to s

Return values
obj
function sum ( ,
 
)
Return values
a
function superiorfloat ( varargin  )
Return values
classname
function tan ( obj  )
Return values
tv
function tanh ( obj  )
Return values
tv
function times ( ,
 
)
Return values
a
function transpose ( )
Return values
a
function uminus ( )
Return values
a
function uplus ( )

intentionally empty

Return values
a
function vertcat ( varargin  )

find the index of the first TaylorVar

Return values
tv

Member Data Documentation

Property df
Property dim
Property f
Property nX

The documentation for this class was generated from the following file: