Namespaces
	internal

Classes
class	AutoDiffChainHessian

class	AutoDiffChainHessianSparse

class	AutoDiffChainJacobian

class	AutoDiffChainJacobianSparse

class	AutoDiffScalar

class	FiniteDiffChainHessian

class	FiniteDiffChainJacobian

struct	NumTraits< AutoDiffScalar< DerType > >

struct	NumTraits< AutoDiffScalar< SparseVector< DerType_ > > >

struct	ScalarBinaryOpTraits< AutoDiffScalar< DerType >, typename DerType::Scalar, BinOp >

struct	ScalarBinaryOpTraits< typename DerType::Scalar, AutoDiffScalar< DerType >, BinOp >

Typedefs
template<typename T >
using	MatrixType = Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >

typedef Eigen::Ref< Eigen::MatrixXd >	MatrixXdRef

typedef Eigen::Ref< Eigen::VectorXd >	VectorXdRef

Enumerations
enum	NumericalDiffMode { Forward, Central }

Functions
template<typename DerTypeA , typename DerTypeB >
const AutoDiffScalar< Matrix< typename internal::traits< typename internal::remove_all< DerTypeA >::type >::Scalar, Dynamic, 1 > >	atan2 (const AutoDiffScalar< DerTypeA > &a, const AutoDiffScalar< DerTypeB > &b)

template<typename DerTypeA , typename DerTypeB >
const AutoDiffScalar< SparseVector< typename internal::traits< typename internal::remove_all< DerTypeA >::type >::Scalar > >	atan2 (const AutoDiffScalar< DerTypeA > &a, const AutoDiffScalar< DerTypeB > &b)

template<typename DerType >
const AutoDiffScalar< DerType > &	conj (const AutoDiffScalar< DerType > &x)

	EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY (abs, using std::abs;return Eigen::MakeAutoDiffScalar(abs(x.value()), x.derivatives() *(x.value()< 0 ? -1 :1));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs2

	EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY (acos, using std::sqrt;using std::acos;return Eigen::MakeAutoDiffScalar(acos(x.value()), x.derivatives() *(Scalar(-1)/sqrt(1 - numext::abs2(x.value()))));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(tanh

	EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY (log, using std::log;return Eigen::MakeAutoDiffScalar(log(x.value()), x.derivatives() *(Scalar(1)/x.value()));) template< typename DerType > inline const Eigen

	EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY (sin, using std::sin;using std::cos;return Eigen::MakeAutoDiffScalar(sin(x.value()), x.derivatives() *cos(x.value()));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp

	EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY (sinh, using std::sinh;using std::cosh;return Eigen::MakeAutoDiffScalar(sinh(x.value()), x.derivatives() *cosh(x.value()));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cosh

	EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY (sqrt, using std::sqrt;Scalar sqrtx=sqrt(x.value());return Eigen::MakeAutoDiffScalar(sqrtx, x.derivatives() *(Scalar(0.5)/sqrtx));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos

	EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY (tan, using std::tan;using std::cos;return Eigen::MakeAutoDiffScalar(tan(x.value()), x.derivatives() *(Scalar(1)/numext::abs2(cos(x.value()))));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(asin

void	fromMsg (const geometry_msgs::Point &msg, Eigen::Vector3d &out)

void	fromMsg (const geometry_msgs::Pose &msg, Eigen::Affine3d &out)

void	fromMsg (const geometry_msgs::Pose &msg, Eigen::Isometry3d &out)

void	fromMsg (const geometry_msgs::Quaternion &msg, Eigen::Quaterniond &out)

void	fromMsg (const geometry_msgs::Twist &msg, Eigen::Matrix< double, 6, 1 > &out)

Eigen::VectorXd	IdentityTransform ()

template<typename DerType >
DerType::Scalar	imag (const AutoDiffScalar< DerType > &)

template<typename NewDerType >
AutoDiffScalar< NewDerType >	MakeAutoDiffScalar (const typename NewDerType::Scalar &value, const NewDerType &der)

template<typename Scalar , typename... Dims>
Eigen::Tensor< Scalar, sizeof...(Dims)>	MatrixToTensor (const MatrixType< Scalar > &matrix, Dims... dims)

template<typename DerType >
const AutoDiffScalar< DerType > &	real (const AutoDiffScalar< DerType > &x)

	return (x > y ? ADS(x) :ADS(y))

	return (x >=y ? ADS(x) :ADS(y))

	return (x< y ? ADS(x) :ADS(y))

	return (x<=y ? ADS(x) :ADS(y))

template<typename Scalar , int rank, typename sizeType >
MatrixType< Scalar >	TensorToMatrix (const Eigen::Tensor< Scalar, rank > &tensor, const sizeType rows, const sizeType cols)

geometry_msgs::Pose	toMsg (const Eigen::Affine3d &in)

geometry_msgs::Pose	toMsg (const Eigen::Isometry3d &in)

geometry_msgs::Twist	toMsg (const Eigen::Matrix< double, 6, 1 > &in)

geometry_msgs::Quaternion	toMsg (const Eigen::Quaterniond &in)

geometry_msgs::Point	toMsg (const Eigen::Vector3d &in)

Eigen::VectorXd	VectorTransform (double px=0.0, double py=0.0, double pz=0.0, double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)

Variables
Scalar	expx = exp(x.value())

const typedef Eigen::Ref< const Eigen::MatrixXd > &	MatrixXdRefConst

const typedef Eigen::Ref< const Eigen::VectorXd > &	VectorXdRefConst
	Convenience wrapper for storing references to sub-matrices/vectors. More...

const T &	y

Typedef Documentation

◆ MatrixType

template<typename T >

using Eigen::MatrixType = typedef Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 62 of file conversions.h.

◆ MatrixXdRef

typedef Eigen::Ref<Eigen::MatrixXd> Eigen::MatrixXdRef

Definition at line 56 of file conversions.h.

◆ VectorXdRef

typedef Eigen::Ref<Eigen::VectorXd> Eigen::VectorXdRef

Definition at line 55 of file conversions.h.

Enumeration Type Documentation

◆ NumericalDiffMode

enum Eigen::NumericalDiffMode

Enumerator
Forward
Central

Definition at line 35 of file finitediff_common.h.

Function Documentation

◆ atan2() [1/2]

template<typename DerTypeA , typename DerTypeB >

const AutoDiffScalar<Matrix<typename internal::traits<typename internal::remove_all<DerTypeA>::type>::Scalar, Dynamic, 1> > Eigen::atan2	(	const AutoDiffScalar< DerTypeA > &	a,
		const AutoDiffScalar< DerTypeB > &	b
	)

inline

Definition at line 721 of file autodiff_scalar.h.

◆ atan2() [2/2]

template<typename DerTypeA , typename DerTypeB >

const AutoDiffScalar<SparseVector<typename internal::traits<typename internal::remove_all<DerTypeA>::type>::Scalar> > Eigen::atan2	(	const AutoDiffScalar< DerTypeA > &	a,
		const AutoDiffScalar< DerTypeB > &	b
	)

inline

Definition at line 739 of file autodiff_scalar.h.

◆ conj()

template<typename DerType >

const AutoDiffScalar<DerType>& Eigen::conj ( const AutoDiffScalar< DerType > & x )

inline

Definition at line 628 of file autodiff_scalar.h.

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [1/7]

Eigen::EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY	(	abs	,
		using std::abs;return Eigen::MakeAutoDiffScalar(abs(x.value()), x.derivatives() *(x.value()< 0 ? -1 :1));
	)

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [2/7]

Eigen::EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY	(	acos	,
		using std::sqrt;using std::acos;return Eigen::MakeAutoDiffScalar(acos(x.value()), x.derivatives() *(Scalar(-1)/sqrt(1 - numext::abs2(x.value()))));
	)

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [3/7]

Eigen::EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY	(	log	,
		using std::log;return Eigen::MakeAutoDiffScalar(log(x.value()), x.derivatives() *(Scalar(1)/x.value()));
	)		const

Definition at line 705 of file autodiff_scalar.h.

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [4/7]

Eigen::EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY	(	sin	,
		using std::sin;using std::cos;return Eigen::MakeAutoDiffScalar(sin(x.value()), x.derivatives() *cos(x.value()));
	)

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [5/7]

Eigen::EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY	(	sinh	,
		using std::sinh;using std::cosh;return Eigen::MakeAutoDiffScalar(sinh(x.value()), x.derivatives() *cosh(x.value()));
	)

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [6/7]

Eigen::EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY	(	sqrt	,
		using std::sqrt;Scalar	sqrtx = `sqrt(x.value()); return Eigen::MakeAutoDiffScalar(sqrtx, x.derivatives() * (Scalar(0.5) / sqrtx));`
	)

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [7/7]

Eigen::EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY	(	tan	,
		using std::tan;using std::cos;return Eigen::MakeAutoDiffScalar(tan(x.value()), x.derivatives() *(Scalar(1)/numext::abs2(cos(x.value()))));
	)

◆ IdentityTransform()

Eigen::VectorXd Eigen::IdentityTransform ( )

Definition at line 44 of file conversions.cpp.

◆ imag()

template<typename DerType >

DerType::Scalar Eigen::imag ( const AutoDiffScalar< DerType > & )

inline

Definition at line 638 of file autodiff_scalar.h.

◆ MakeAutoDiffScalar()

template<typename NewDerType >

AutoDiffScalar<NewDerType> Eigen::MakeAutoDiffScalar	(	const typename NewDerType::Scalar &	value,
		const NewDerType &	der
	)

inline

Definition at line 51 of file autodiff_scalar.h.

◆ MatrixToTensor()

template<typename Scalar , typename... Dims>

Eigen::Tensor<Scalar, sizeof...(Dims)> Eigen::MatrixToTensor	(	const MatrixType< Scalar > &	matrix,
		Dims...	dims
	)

inline

Definition at line 70 of file conversions.h.

◆ real()

template<typename DerType >

const AutoDiffScalar<DerType>& Eigen::real ( const AutoDiffScalar< DerType > & x )

inline

Definition at line 633 of file autodiff_scalar.h.

◆ return() [1/4]

Eigen::return	(	x	,
		y ?	ADSx) :ADS(y
	)

◆ return() [2/4]

Eigen::return ( x >=y ? ADSx) :ADS(y )

◆ return() [3/4]

Eigen::return ( )

◆ return() [4/4]

Eigen::return ( x<=y ? ADSx) :ADS(y )

◆ TensorToMatrix()

template<typename Scalar , int rank, typename sizeType >

MatrixType<Scalar> Eigen::TensorToMatrix	(	const Eigen::Tensor< Scalar, rank > &	tensor,
		const sizeType	rows,
		const sizeType	cols
	)

inline

Definition at line 64 of file conversions.h.

◆ VectorTransform()

Eigen::VectorXd Eigen::VectorTransform	(	double	px = `0.0`,
		double	py = `0.0`,
		double	pz = `0.0`,
		double	qx = `0.0`,
		double	qy = `0.0`,
		double	qz = `0.0`,
		double	qw = `1.0`
	)

Definition at line 38 of file conversions.cpp.

Variable Documentation

◆ expx

Scalar Eigen::expx = exp(x.value())

Definition at line 702 of file autodiff_scalar.h.

◆ MatrixXdRefConst

const typedef Eigen::Ref<const Eigen::MatrixXd>& Eigen::MatrixXdRefConst

Definition at line 54 of file conversions.h.

◆ VectorXdRefConst

const typedef Eigen::Ref<const Eigen::VectorXd>& Eigen::VectorXdRefConst

Convenience wrapper for storing references to sub-matrices/vectors.

Definition at line 53 of file conversions.h.

◆ y

const AutoDiffScalar< DerType > & Eigen::y

Initial value:

{

typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS

Definition at line 644 of file autodiff_scalar.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ MatrixType

◆ MatrixXdRef

◆ VectorXdRef

Enumeration Type Documentation

◆ NumericalDiffMode

Function Documentation

◆ atan2() [1/2]

◆ atan2() [2/2]

◆ conj()

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [1/7]

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [2/7]

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [3/7]

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [4/7]

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [5/7]

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [6/7]

◆ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY() [7/7]

◆ IdentityTransform()

◆ imag()

◆ MakeAutoDiffScalar()

◆ MatrixToTensor()

◆ real()

◆ return() [1/4]

◆ return() [2/4]

◆ return() [3/4]

◆ return() [4/4]

◆ TensorToMatrix()

◆ VectorTransform()

Variable Documentation

◆ expx

◆ MatrixXdRefConst

◆ VectorXdRefConst

◆ y