Symbolic expression representing atan2 function (arctangent function with two arguments). More...

#include <symbolic_expression_cell.h>

Inheritance diagram for dlinear::drake::symbolic::ExpressionAtan2:

Public Member Functions
Expression	Expand () override
	Expands out products and positive integer powers in expression.

Expression	Substitute (const ExpressionSubstitution &expr_subst, const FormulaSubstitution &formula_subst) override
	Returns an Expression obtained by replacing all occurrences of the variables in `s` in the current expression cell with the corresponding expressions in `s`.

Expression	Differentiate (const Variable &x) const override
	Differentiates this symbolic expression with respect to the variable `var`.

std::ostream &	Display (std::ostream &os) const override
	Outputs string representation of expression into output stream `os`.

Public Member Functions inherited from dlinear::drake::symbolic::BinaryExpressionCell
bool	EqualTo (const ExpressionCell &e) const override
	Checks structural equality.

bool	Less (const ExpressionCell &e) const override
	Provides lexicographical ordering between expressions.

mpq_class	Evaluate (const Environment &env) const override
	Evaluates under a given environment (by default, an empty environment).

const Expression &	get_first_argument () const
	Returns the first argument.

const Expression &	get_second_argument () const
	Returns the second argument.

	BinaryExpressionCell (const BinaryExpressionCell &e)=delete
	Copy-constructs from an lvalue.

	BinaryExpressionCell (BinaryExpressionCell &&e)=delete
	Move-constructs from an rvalue.

	BinaryExpressionCell ()=delete
	Default constructor (DELETED).

BinaryExpressionCell &	operator= (BinaryExpressionCell &&e)=delete
	Move-assigns (DELETED).

BinaryExpressionCell &	operator= (const BinaryExpressionCell &e)=delete
	Copy-assigns (DELETED).

	~BinaryExpressionCell () override=default
	Default destructor.

Public Member Functions inherited from dlinear::drake::symbolic::ExpressionCell
ExpressionKind	get_kind () const
	Returns expression kind.

size_t	get_hash () const
	Returns hash value.

const Variables &	GetVariables () const
	Collects variables in expression.

bool	is_polynomial () const
	Checks if this symbolic expression is convertible to Polynomial.

bool	include_ite () const
	Returns true if this symbolic expression includes an ITE (If-Then-Else) expression.

unsigned	use_count () const
	Returns the reference count of this cell.

	ExpressionCell (const ExpressionCell &e)=delete
	Copy-constructs an ExpressionCell from an lvalue.

	ExpressionCell (ExpressionCell &&e)=delete
	Move-constructs an ExpressionCell from an rvalue.

ExpressionCell &	operator= (ExpressionCell &&e)=delete
	Move-assigns (DELETED).

ExpressionCell &	operator= (const ExpressionCell &e)=delete
	Copy-assigns (DELETED).

virtual void	UpdateHash ()
	Update the cached hash value.

Private Member Functions
mpq_class	DoEvaluate (const mpq_class &v1, const mpq_class &v2) const override
	Returns the evaluation result f(`v1`, `v2` ).

Additional Inherited Members
Protected Member Functions inherited from dlinear::drake::symbolic::BinaryExpressionCell
	BinaryExpressionCell (ExpressionKind k, const Expression &e1, const Expression &e2, bool is_poly)
	Constructs BinaryExpressionCell of kind `k` with `hash`, `e1`, `e2`, `is_poly`.

Protected Member Functions inherited from dlinear::drake::symbolic::ExpressionCell
	ExpressionCell (ExpressionKind k)
	Constructs ExpressionCell of kind `k`.

	ExpressionCell (ExpressionKind k, bool is_poly)
	Constructs ExpressionCell of kind `k` with `hash`, `is_poly`, and `include_ite`.

	ExpressionCell (ExpressionKind k, bool is_poly, bool include_ite)
	Constructs ExpressionCell of kind `k` with `hash`, `is_poly`, and `include_ite`.

	ExpressionCell (ExpressionKind k, bool is_poly, bool include_ite, Variables variables)
	Constructs ExpressionCell of kind `k` with `hash`, `is_poly`, and `include_ite`.

	ExpressionCell (ExpressionKind k, bool is_poly, bool include_ite, Variables variables, size_t hash)
	Constructs ExpressionCell of kind `k` with `hash`, `is_poly`, and `include_ite`.

virtual	~ExpressionCell ()=default
	Default destructor.

Expression	GetExpression ()
	Returns an expression pointing to this ExpressionCell.

Detailed Description

Symbolic expression representing atan2 function (arctangent function with two arguments).

atan2(y, x) is defined as atan(y/x).

Definition at line 754 of file symbolic_expression_cell.h.

Member Function Documentation

◆ Differentiate()

Expression dlinear::drake::symbolic::ExpressionAtan2::Differentiate ( const Variable & x ) const

overridevirtual

Differentiates this symbolic expression with respect to the variable var.

Exceptions

std::runtime_error if it is not differentiable.

Implements dlinear::drake::symbolic::ExpressionCell.

◆ Expand()

Expression dlinear::drake::symbolic::ExpressionAtan2::Expand ( )

overridevirtual

Expands out products and positive integer powers in expression.

Exceptions

std::runtime_error if NaN is detected during expansion.

Implements dlinear::drake::symbolic::ExpressionCell.

◆ Substitute()

Expression dlinear::drake::symbolic::ExpressionAtan2::Substitute	(	const ExpressionSubstitution &	expr_subst,
		const FormulaSubstitution &	formula_subst )

overridevirtual

Returns an Expression obtained by replacing all occurrences of the variables in s in the current expression cell with the corresponding expressions in s.

Exceptions

std::runtime_error if NaN is detected during substitution.

Implements dlinear::drake::symbolic::ExpressionCell.

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

third_party/com_github_robotlocomotion_drake/dlinear/symbolic/symbolic_expression_cell.h

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ Differentiate()

◆ Expand()

◆ Substitute()