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@@ -26,11 +26,11 @@ void make_coherent(const A& a, const B&b)
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make_coherent_impl<A,B>::run(a.const_cast_derived(), b.const_cast_derived());
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}
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template<typename _DerType, bool Enable> struct auto_diff_special_op;
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template<typename DerivativeType, bool Enable> struct auto_diff_special_op;
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} // end namespace internal
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template<typename _DerType> class AutoDiffScalar;
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template<typename DerivativeType> class AutoDiffScalar;
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template<typename NewDerType>
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inline AutoDiffScalar<NewDerType> MakeAutoDiffScalar(const typename NewDerType::Scalar& value, const NewDerType &der) {
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@@ -38,16 +38,16 @@ inline AutoDiffScalar<NewDerType> MakeAutoDiffScalar(const typename NewDerType::
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}
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/** \class AutoDiffScalar
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* \brief A scalar type replacement with automatic differentation capability
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* \brief A scalar type replacement with automatic differentiation capability
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*
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* \param _DerType the vector type used to store/represent the derivatives. The base scalar type
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* \param DerivativeType the vector type used to store/represent the derivatives. The base scalar type
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* as well as the number of derivatives to compute are determined from this type.
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* Typical choices include, e.g., \c Vector4f for 4 derivatives, or \c VectorXf
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* if the number of derivatives is not known at compile time, and/or, the number
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* of derivatives is large.
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* Note that _DerType can also be a reference (e.g., \c VectorXf&) to wrap a
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* Note that DerivativeType can also be a reference (e.g., \c VectorXf&) to wrap a
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* existing vector into an AutoDiffScalar.
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* Finally, _DerType can also be any Eigen compatible expression.
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* Finally, DerivativeType can also be any Eigen compatible expression.
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*
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* This class represents a scalar value while tracking its respective derivatives using Eigen's expression
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* template mechanism.
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@@ -63,17 +63,17 @@ inline AutoDiffScalar<NewDerType> MakeAutoDiffScalar(const typename NewDerType::
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*
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*/
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template<typename _DerType>
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template<typename DerivativeType>
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class AutoDiffScalar
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: public internal::auto_diff_special_op
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<_DerType, !internal::is_same<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar,
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typename NumTraits<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar>::Real>::value>
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<DerivativeType, !internal::is_same<typename internal::traits<typename internal::remove_all<DerivativeType>::type>::Scalar,
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typename NumTraits<typename internal::traits<typename internal::remove_all<DerivativeType>::type>::Scalar>::Real>::value>
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{
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public:
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typedef internal::auto_diff_special_op
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<_DerType, !internal::is_same<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar,
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typename NumTraits<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar>::Real>::value> Base;
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typedef typename internal::remove_all<_DerType>::type DerType;
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<DerivativeType, !internal::is_same<typename internal::traits<typename internal::remove_all<DerivativeType>::type>::Scalar,
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typename NumTraits<typename internal::traits<typename internal::remove_all<DerivativeType>::type>::Scalar>::Real>::value> Base;
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typedef typename internal::remove_all<DerivativeType>::type DerType;
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typedef typename internal::traits<DerType>::Scalar Scalar;
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typedef typename NumTraits<Scalar>::Real Real;
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@@ -382,16 +382,16 @@ class AutoDiffScalar
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namespace internal {
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template<typename _DerType>
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struct auto_diff_special_op<_DerType, true>
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// : auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real,
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template<typename DerivativeType>
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struct auto_diff_special_op<DerivativeType, true>
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// : auto_diff_scalar_op<DerivativeType, typename NumTraits<Scalar>::Real,
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// is_same<Scalar,typename NumTraits<Scalar>::Real>::value>
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{
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typedef typename remove_all<_DerType>::type DerType;
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typedef typename remove_all<DerivativeType>::type DerType;
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typedef typename traits<DerType>::Scalar Scalar;
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typedef typename NumTraits<Scalar>::Real Real;
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// typedef auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real,
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// typedef auto_diff_scalar_op<DerivativeType, typename NumTraits<Scalar>::Real,
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// is_same<Scalar,typename NumTraits<Scalar>::Real>::value> Base;
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// using Base::operator+;
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@@ -401,8 +401,8 @@ struct auto_diff_special_op<_DerType, true>
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// using Base::operator*;
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// using Base::operator*=;
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const AutoDiffScalar<_DerType>& derived() const { return *static_cast<const AutoDiffScalar<_DerType>*>(this); }
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AutoDiffScalar<_DerType>& derived() { return *static_cast<AutoDiffScalar<_DerType>*>(this); }
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const AutoDiffScalar<DerivativeType>& derived() const { return *static_cast<const AutoDiffScalar<DerivativeType>*>(this); }
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AutoDiffScalar<DerivativeType>& derived() { return *static_cast<AutoDiffScalar<DerivativeType>*>(this); }
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inline const AutoDiffScalar<DerType&> operator+(const Real& other) const
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@@ -410,12 +410,12 @@ struct auto_diff_special_op<_DerType, true>
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return AutoDiffScalar<DerType&>(derived().value() + other, derived().derivatives());
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}
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friend inline const AutoDiffScalar<DerType&> operator+(const Real& a, const AutoDiffScalar<_DerType>& b)
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friend inline const AutoDiffScalar<DerType&> operator+(const Real& a, const AutoDiffScalar<DerivativeType>& b)
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{
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return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives());
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}
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inline AutoDiffScalar<_DerType>& operator+=(const Real& other)
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inline AutoDiffScalar<DerivativeType>& operator+=(const Real& other)
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{
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derived().value() += other;
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return derived();
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@@ -431,22 +431,22 @@ struct auto_diff_special_op<_DerType, true>
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}
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friend inline const AutoDiffScalar<typename CwiseUnaryOp<bind1st_op<scalar_product_op<Real,Scalar> >, DerType>::Type >
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operator*(const Real& other, const AutoDiffScalar<_DerType>& a)
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operator*(const Real& other, const AutoDiffScalar<DerivativeType>& a)
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{
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return AutoDiffScalar<typename CwiseUnaryOp<bind1st_op<scalar_product_op<Real,Scalar> >, DerType>::Type >(
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a.value() * other,
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a.derivatives() * other);
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}
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inline AutoDiffScalar<_DerType>& operator*=(const Scalar& other)
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inline AutoDiffScalar<DerivativeType>& operator*=(const Scalar& other)
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{
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*this = *this * other;
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return derived();
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}
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};
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template<typename _DerType>
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struct auto_diff_special_op<_DerType, false>
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template<typename DerivativeType>
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struct auto_diff_special_op<DerivativeType, false>
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{
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void operator*() const;
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void operator-() const;
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@@ -565,6 +565,11 @@ struct ScalarBinaryOpTraits<typename DerType::Scalar,AutoDiffScalar<DerType>, Bi
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CODE; \
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}
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template<typename DerType>
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struct CleanedUpDerType {
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typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> type;
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};
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template<typename DerType>
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inline const AutoDiffScalar<DerType>& conj(const AutoDiffScalar<DerType>& x) { return x; }
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template<typename DerType>
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@@ -572,31 +577,31 @@ inline const AutoDiffScalar<DerType>& real(const AutoDiffScalar<DerType>& x) {
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template<typename DerType>
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inline typename DerType::Scalar imag(const AutoDiffScalar<DerType>&) { return 0.; }
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template<typename DerType, typename T>
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inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (min)(const AutoDiffScalar<DerType>& x, const T& y) {
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typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS;
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inline typename CleanedUpDerType<DerType>::type (min)(const AutoDiffScalar<DerType>& x, const T& y) {
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typedef typename CleanedUpDerType<DerType>::type ADS;
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return (x <= y ? ADS(x) : ADS(y));
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}
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template<typename DerType, typename T>
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inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (max)(const AutoDiffScalar<DerType>& x, const T& y) {
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typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS;
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inline typename CleanedUpDerType<DerType>::type (max)(const AutoDiffScalar<DerType>& x, const T& y) {
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typedef typename CleanedUpDerType<DerType>::type ADS;
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return (x >= y ? ADS(x) : ADS(y));
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}
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template<typename DerType, typename T>
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inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (min)(const T& x, const AutoDiffScalar<DerType>& y) {
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typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS;
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inline typename CleanedUpDerType<DerType>::type (min)(const T& x, const AutoDiffScalar<DerType>& y) {
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typedef typename CleanedUpDerType<DerType>::type ADS;
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return (x < y ? ADS(x) : ADS(y));
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}
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template<typename DerType, typename T>
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inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (max)(const T& x, const AutoDiffScalar<DerType>& y) {
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typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS;
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inline typename CleanedUpDerType<DerType>::type (max)(const T& x, const AutoDiffScalar<DerType>& y) {
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typedef typename CleanedUpDerType<DerType>::type ADS;
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return (x > y ? ADS(x) : ADS(y));
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}
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template<typename DerType>
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inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (min)(const AutoDiffScalar<DerType>& x, const AutoDiffScalar<DerType>& y) {
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inline typename CleanedUpDerType<DerType>::type (min)(const AutoDiffScalar<DerType>& x, const AutoDiffScalar<DerType>& y) {
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return (x.value() < y.value() ? x : y);
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}
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template<typename DerType>
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inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (max)(const AutoDiffScalar<DerType>& x, const AutoDiffScalar<DerType>& y) {
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inline typename CleanedUpDerType<DerType>::type (max)(const AutoDiffScalar<DerType>& x, const AutoDiffScalar<DerType>& y) {
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return (x.value() >= y.value() ? x : y);
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}
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@@ -711,10 +716,15 @@ template<typename DerType> struct NumTraits<AutoDiffScalar<DerType> >
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}
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namespace std {
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template <typename T>
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class numeric_limits<Eigen::AutoDiffScalar<T> >
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: public numeric_limits<typename T::Scalar> {};
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template <typename T>
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class numeric_limits<Eigen::AutoDiffScalar<T&> >
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: public numeric_limits<typename T::Scalar> {};
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} // namespace std
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#endif // EIGEN_AUTODIFF_SCALAR_H
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