klampt.math.vectorfield module¶
Helpers to make the rootfind module more convenient and Pythonic.
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class
klampt.math.vectorfield.
CompositeVectorFieldFunction
(fns)[source]¶ Bases:
klampt.math.vectorfield.VectorFieldFunction
A helper VectorFieldFunction that aggregates multiple VectorFieldFunctions into a stacked constraint:
0 = f1(x) 0 = f2(x) ... 0 = fn(x)
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class
klampt.math.vectorfield.
VectorFieldFunction
[source]¶ A callback class used with the rootfind module to define a vector field \(f(x)=0\) to be solved for during Newton-Raphson root finding. The output is dimension m and the input is dimension n.
At the minimum, your subclass should fill out the m, n attributes, and override the eval(), and jacobian() functions. The jacobian_numeric function is provided for you in case you want to use differencing to approximate the jacobian.