Institut de Robòtica i Informàtica Industrial
KRD Group

The CuikSuite Project

TequationInfo Struct Reference

Information associated with each equation in the equation set. More...

#include <equations.h>

Collaboration diagram for TequationInfo:

Data Fields

Tequationequation
unsigned int EqType
TLinearConstraintlc
unsigned int n
Tequation ** Jacobian
double ** Hessian

Detailed Description

For each equation we store different information, including de number of variables, the Jacobian, the Hessian, etc.
This is a private type of Tequations. This information is not stored in Tequation since it can only be computed when the equation is completely defined (i.e., when it is added to the set of equations).

See also:
Tequation

Definition at line 39 of file equations.h.


Field Documentation

unsigned int TequationInfo::EqType

Type of equation: LINEAR_EQUATION, SADDLE_EQUATION, PARABOLA_EQUATION, CIRCLE_EQUATION, SPHERE_EQUATION, GENERAL_EQUATION.

Definition at line 43 of file equations.h.

Referenced by AddEquation2Simplex(), CopyEquationInfo(), CropEquation(), DeleteEquationInfo(), ErrorDueToVariable(), SetEquationInfo(), and UpdateSplitWeight().

For linear equations, we store a linear constraint ready to be added to the simplex

Definition at line 46 of file equations.h.

Referenced by AddEquation2Simplex(), CopyEquationInfo(), CropEquation(), DeleteEquationInfo(), and SetEquationInfo().

unsigned int TequationInfo::n

Number of variables in the equation used to compute the dimension of the Jacobian vector and Hessian matrix

Definition at line 49 of file equations.h.

Referenced by CopyEquationInfo(), CropEquation(), DeleteEquationInfo(), ErrorDueToVariable(), GetFirstOrderApproximationToEquation(), LinearizeGeneralEquation(), SetEquationInfo(), and UpdateSplitWeight().

Jacobian of the equation, i.e., derivative of the equation with respect to each of the variables involved in the equation. Since we consider only quadratic and bilinear equations, the equations in the Jacobian are, at most, linear.
The Jacobian is computed only for non-linear equations.

Definition at line 51 of file equations.h.

Referenced by CopyEquationInfo(), DeleteEquationInfo(), GetFirstOrderApproximationToEquation(), and SetEquationInfo().

Hessian of the equation, i.e., derivative of the Jacobian equations with respect to each of the variables involved in the equation. Since we consider only quadratic and bilinear equations, the entries in the Hessian are constants.
The Hessian is computed only for non-linear equations.

Definition at line 56 of file equations.h.

Referenced by CopyEquationInfo(), DeleteEquationInfo(), ErrorDueToVariable(), GetFirstOrderApproximationToEquation(), and SetEquationInfo().


The documentation for this struct was generated from the following file: