autodiff.h File Reference

Detailed Description

Utilities for arithmetic on AutoDiffScalar.

#include <array>
#include <cmath>
#include <optional>
#include <tuple>
#include <utility>
#include <Eigen/Dense>
#include <unsupported/Eigen/AutoDiff>
#include "drake/common/autodiff.h"
#include "drake/common/eigen_types.h"
#include "drake/common/unused.h"

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Namespaces
	drake
	drake::math

Typedefs
template<typename Derived , int nq>
using	AutoDiffMatrixType = MatrixLikewise< Eigen::AutoDiffScalar< Vector< typename Derived::Scalar, nq > >, Derived >
	The appropriate AutoDiffScalar matrix type given the value type and the number of derivatives at compile time. More...

Functions
template<typename Derived >
MatrixLikewise< typename Derived::Scalar::Scalar, Derived >	ExtractValue (const Eigen::MatrixBase< Derived > &auto_diff_matrix)
	Extracts the value() portion from a matrix of AutoDiffScalar entries. More...
template<typename Derived >
decltype(auto)	DiscardGradient (const Eigen::MatrixBase< Derived > &matrix)
	B = DiscardGradient(A) enables casting from a matrix of AutoDiffScalars to AutoDiffScalar::Scalar type, explicitly throwing away any gradient information. More...
template<typename Derived , typename DerivedAutoDiff >
void	InitializeAutoDiff (const Eigen::MatrixBase< Derived > &value, std::optional< int > num_derivatives, std::optional< int > deriv_num_start, Eigen::MatrixBase< DerivedAutoDiff > *auto_diff_matrix)
	Initializes a single AutoDiff matrix given the corresponding value matrix. More...
template<typename Derived , typename DerivedAutoDiff >
void	InitializeAutoDiff (const Eigen::MatrixBase< Derived > &value, Eigen::MatrixBase< DerivedAutoDiff > *auto_diff_matrix)
	Alternate signature provides default values for the number of derivatives (dynamic, determined at run time) and the starting index (0). More...
template<int nq = Eigen::Dynamic, typename Derived >
AutoDiffMatrixType< Derived, nq >	InitializeAutoDiff (const Eigen::MatrixBase< Derived > &value, std::optional< int > num_derivatives={}, std::optional< int > deriv_num_start={})
	Initializes a single AutoDiff matrix given the corresponding value matrix. More...
template<typename... Deriveds>
auto	InitializeAutoDiffTuple (const Eigen::MatrixBase< Deriveds > &... args)