Detailed Description

This file contains abbreviated definitions for certain uses of AutoDiffScalar that are commonly used in Drake.

#include <type_traits>
#include <Eigen/Dense>
#include "drake/common/eigen_types.h"

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Namespaces
namespace	drake

Typedefs
using	AutoDiffXd = Eigen::AutoDiffScalar<Eigen::VectorXd>
	An autodiff variable with a dynamic number of partials.
template<int num_vars>
using	AutoDiffd = Eigen::AutoDiffScalar<Eigen::Matrix<double, num_vars, 1> >
	An autodiff variable with num_vars partials.
template<int num_vars, int rows>
using	AutoDiffVecd = Eigen::Matrix<AutoDiffd<num_vars>, rows, 1>
	A vector of rows autodiff variables, each with num_vars partials.
typedef AutoDiffVecd< Eigen::Dynamic, Eigen::Dynamic >	AutoDiffVecXd
	A dynamic-sized vector of autodiff variables, each with a dynamic-sized vector of partials.

Namespaces