JanusTypes.hpp File Reference

Core type aliases for numeric and symbolic Eigen/CasADi interop. More...

#include <Eigen/Dense>
#include <Eigen/Sparse>
#include <casadi/casadi.hpp>
#include <limits>

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Classes
struct	Eigen::NumTraits< casadi::MX >
	NumTraits specialization for casadi::MX Required for Eigen's operator<< and other scalar-dependent operations. More...
class	janus::SymbolicArg
	Universal symbolic argument wrapper for Function inputs/outputs. More...

Namespaces
namespace	Eigen
namespace	janus

Typedefs
template<typename Scalar>
using	janus::JanusMatrix = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>
	Dynamic-size matrix for both numeric and symbolic backends.
template<typename Scalar>
using	janus::JanusVector = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
	Dynamic-size column vector for both numeric and symbolic backends.
template<typename Scalar>
using	janus::Vec2 = Eigen::Matrix<Scalar, 2, 1>
	Fixed-size vectors and matrices for performance-critical code.
template<typename Scalar>
using	janus::Vec3 = Eigen::Matrix<Scalar, 3, 1>
template<typename Scalar>
using	janus::Vec4 = Eigen::Matrix<Scalar, 4, 1>
template<typename Scalar>
using	janus::Mat2 = Eigen::Matrix<Scalar, 2, 2>
template<typename Scalar>
using	janus::Mat3 = Eigen::Matrix<Scalar, 3, 3>
template<typename Scalar>
using	janus::Mat4 = Eigen::Matrix<Scalar, 4, 4>
using	janus::NumericScalar = double
	Numeric scalar type.
using	janus::NumericMatrix = JanusMatrix<NumericScalar>
	Eigen::MatrixXd equivalent.
using	janus::NumericVector = JanusVector<NumericScalar>
	Eigen::VectorXd equivalent.
using	janus::SymbolicScalar = casadi::MX
	CasADi MX symbolic scalar.
using	janus::SymbolicMatrix = JanusMatrix<SymbolicScalar>
	Eigen matrix of MX elements.
using	janus::SymbolicVector = JanusVector<SymbolicScalar>
	Eigen vector of MX elements.
using	janus::SparseMatrix = Eigen::SparseMatrix<double>
	Sparse matrix types for efficient storage of large, sparse numeric data.
using	janus::SparseTriplet = Eigen::Triplet<double>
	(row, col, value) triplet

Functions
SymbolicScalar	janus::sym (const std::string &name)
	Create a named symbolic scalar variable.
SymbolicScalar	janus::sym (const std::string &name, int rows, int cols=1)
	Create a named symbolic matrix variable.
SymbolicVector	janus::sym_vector (const std::string &name, int size)
	Create a named symbolic vector (returns SymbolicVector).
SymbolicVector	janus::sym_vec (const std::string &name, int size)
	Create a symbolic vector preserving the CasADi primitive connection.
std::pair< SymbolicVector, SymbolicScalar >	janus::sym_vec_pair (const std::string &name, int size)
	Create symbolic vector and return both SymbolicVector and underlying MX.
SymbolicScalar	janus::as_mx (const SymbolicVector &v)
	Get the underlying MX representation of a SymbolicVector.
template<typename Derived>
casadi::MX	janus::to_mx (const Eigen::MatrixBase< Derived > &e)
	Convert Eigen matrix of MX (or numeric) to CasADi MX.
Eigen::Matrix< casadi::MX, Eigen::Dynamic, Eigen::Dynamic >	janus::to_eigen (const casadi::MX &m)
	Convert CasADi MX to Eigen matrix of MX.
SymbolicVector	janus::as_vector (const casadi::MX &m)
	Convert CasADi MX vector to SymbolicVector (Eigen container of MX).
SymbolicVector	janus::to_eigen_vec (const casadi::MX &m)
	Backwards compatibility alias for as_vector.

Detailed Description

Core type aliases for numeric and symbolic Eigen/CasADi interop.