Template Struct NumDiffBaseFunctor

• Defined in File StateSpace.h

Struct Documentation

template<typename Scalar_ = double, int NX = Eigen::Dynamic, int NY = Eigen::Dynamic>
struct NumDiffBaseFunctor

Generic functor base class required by Eigen’s NumericalDiff package.

Template Parameters:

• Scalar_ – Scalar type.

• NX – Number of inputs at compile time.

• NY – Number of values at compile time.

Public Types

Values:

enumerator InputsAtCompileTime

enumerator ValuesAtCompileTime

using Scalar = Scalar_

Scalar type used by the functor.

using InputType = Eigen::Matrix<Scalar, InputsAtCompileTime, 1>

Input type used by the functor. It has type Scalar and is size NX x 1.

using ValueType = Eigen::Matrix<Scalar, ValuesAtCompileTime, 1>

Value (output) type used by the functor. It has type Scalar and is size NY x 1.

using JacobianType = Eigen::Matrix<Scalar, ValuesAtCompileTime, InputsAtCompileTime, Eigen::RowMajor>

Jacobian type used by the functor. It has type Scalar and is size NY x Nx.

Public Functions

inline NumDiffBaseFunctor(int inputs, int values)

Constructor for the Functor.

Parameters:

• inputs – Number of inputs.

• values – Number of outputs.

inline int inputs() const

Get the number of inputs.

Returns:

Number of inputs.

inline int values() const

Get the number of outputs.

Returns:

Number of outputs.

Public Members

const int _inputs

Internal variable that holds the number of inputs.

const int _values

Internal variable that holds the number of values (outputs)