Class NumericalJacobian

    • Method Detail

      • numericalJacobian

        public static <Rows extends Num,​Cols extends Num,​States extends NumMatrix<Rows,​Cols> numericalJacobian​(Nat<Rows> rows,
                                                                                                                                   Nat<Cols> cols,
                                                                                                                                   Function<Matrix<Cols,​N1>,​Matrix<States,​N1>> f,
                                                                                                                                   Matrix<Cols,​N1> x)
        Computes the numerical Jacobian with respect to x for f(x).
        Type Parameters:
        Rows - Number of rows in the result of f(x).
        States - Num representing the number of rows in the output of f.
        Cols - Number of columns in the result of f(x).
        Parameters:
        rows - Number of rows in the result of f(x).
        cols - Number of columns in the result of f(x).
        f - Vector-valued function from which to compute the Jacobian.
        x - Vector argument.
        Returns:
        The numerical Jacobian with respect to x for f(x, u, ...).
      • numericalJacobianX

        public static <Rows extends Num,​States extends Num,​Inputs extends Num,​Outputs extends NumMatrix<Rows,​States> numericalJacobianX​(Nat<Rows> rows,
                                                                                                                                                                  Nat<States> states,
                                                                                                                                                                  BiFunction<Matrix<States,​N1>,​Matrix<Inputs,​N1>,​Matrix<Outputs,​N1>> f,
                                                                                                                                                                  Matrix<States,​N1> x,
                                                                                                                                                                  Matrix<Inputs,​N1> u)
        Returns numerical Jacobian with respect to x for f(x, u, ...).
        Type Parameters:
        Rows - Number of rows in the result of f(x, u).
        States - Number of rows in x.
        Inputs - Number of rows in the second input to f.
        Outputs - Num representing the rows in the output of f.
        Parameters:
        rows - Number of rows in the result of f(x, u).
        states - Number of rows in x.
        f - Vector-valued function from which to compute Jacobian.
        x - State vector.
        u - Input vector.
        Returns:
        The numerical Jacobian with respect to x for f(x, u, ...).
      • numericalJacobianU

        public static <Rows extends Num,​States extends Num,​Inputs extends NumMatrix<Rows,​Inputs> numericalJacobianU​(Nat<Rows> rows,
                                                                                                                                        Nat<Inputs> inputs,
                                                                                                                                        BiFunction<Matrix<States,​N1>,​Matrix<Inputs,​N1>,​Matrix<States,​N1>> f,
                                                                                                                                        Matrix<States,​N1> x,
                                                                                                                                        Matrix<Inputs,​N1> u)
        Returns the numerical Jacobian with respect to u for f(x, u).
        Type Parameters:
        States - The states of the system.
        Inputs - The inputs to the system.
        Rows - Number of rows in the result of f(x, u).
        Parameters:
        rows - Number of rows in the result of f(x, u).
        inputs - Number of rows in u.
        f - Vector-valued function from which to compute the Jacobian.
        x - State vector.
        u - Input vector.
        Returns:
        the numerical Jacobian with respect to u for f(x, u).