mirror of
https://gitlab.com/libeigen/eigen.git
synced 2026-04-10 11:34:33 +08:00
bug #86 : use internal:: namespace instead of ei_ prefix
This commit is contained in:
Benoit Jacob
@@ -62,7 +62,7 @@ public:
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void operator() (const InputType& x, ValueType* v, JacobianType* _jac=0) const
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{
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ei_assert(v!=0);
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eigen_assert(v!=0);
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if (!_jac)
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{
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Functor::operator()(x, v);
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@@ -27,18 +27,24 @@
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namespace Eigen {
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namespace internal {
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template<typename A, typename B>
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struct ei_make_coherent_impl {
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struct make_coherent_impl {
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static void run(A&, B&) {}
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};
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// resize a to match b is a.size()==0, and conversely.
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template<typename A, typename B>
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void ei_make_coherent(const A& a, const B&b)
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void make_coherent(const A& a, const B&b)
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{
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ei_make_coherent_impl<A,B>::run(a.const_cast_derived(), b.const_cast_derived());
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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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} // end namespace internal
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/** \class AutoDiffScalar
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* \brief A scalar type replacement with automatic differentation capability
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*
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@@ -56,8 +62,8 @@ void ei_make_coherent(const A& a, const B&b)
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*
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* It supports the following list of global math function:
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* - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,
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* - ei_abs, ei_sqrt, ei_pow, ei_exp, ei_log, ei_sin, ei_cos,
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* - ei_conj, ei_real, ei_imag, ei_abs2.
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* - internal::abs, internal::sqrt, internal::pow, internal::exp, internal::log, internal::sin, internal::cos,
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* - internal::conj, internal::real, internal::imag, internal::abs2.
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*
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* AutoDiffScalar can be used as the scalar type of an Eigen::Matrix object. However,
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* in that case, the expression template mechanism only occurs at the top Matrix level,
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@@ -65,21 +71,18 @@ void ei_make_coherent(const A& a, const B&b)
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*
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*/
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template<typename _DerType, bool Enable> struct ei_auto_diff_special_op;
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template<typename _DerType>
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class AutoDiffScalar
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: public ei_auto_diff_special_op
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<_DerType, !ei_is_same_type<typename ei_traits<typename ei_cleantype<_DerType>::type>::Scalar,
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typename NumTraits<typename ei_traits<typename ei_cleantype<_DerType>::type>::Scalar>::Real>::ret>
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: public internal::auto_diff_special_op
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<_DerType, !internal::is_same_type<typename internal::traits<typename internal::cleantype<_DerType>::type>::Scalar,
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typename NumTraits<typename internal::traits<typename internal::cleantype<_DerType>::type>::Scalar>::Real>::ret>
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{
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public:
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typedef ei_auto_diff_special_op
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<_DerType, !ei_is_same_type<typename ei_traits<typename ei_cleantype<_DerType>::type>::Scalar,
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typename NumTraits<typename ei_traits<typename ei_cleantype<_DerType>::type>::Scalar>::Real>::ret> Base;
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typedef typename ei_cleantype<_DerType>::type DerType;
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typedef typename ei_traits<DerType>::Scalar Scalar;
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typedef internal::auto_diff_special_op
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<_DerType, !internal::is_same_type<typename internal::traits<typename internal::cleantype<_DerType>::type>::Scalar,
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typename NumTraits<typename internal::traits<typename internal::cleantype<_DerType>::type>::Scalar>::Real>::ret> Base;
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typedef typename internal::cleantype<_DerType>::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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using Base::operator+;
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@@ -175,11 +178,11 @@ class AutoDiffScalar
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}
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template<typename OtherDerType>
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inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,typename ei_cleantype<OtherDerType>::type> >
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inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,DerType,typename internal::cleantype<OtherDerType>::type> >
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operator+(const AutoDiffScalar<OtherDerType>& other) const
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{
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ei_make_coherent(m_derivatives, other.derivatives());
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return AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,typename ei_cleantype<OtherDerType>::type> >(
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internal::make_coherent(m_derivatives, other.derivatives());
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return AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,DerType,typename internal::cleantype<OtherDerType>::type> >(
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m_value + other.value(),
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m_derivatives + other.derivatives());
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}
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@@ -193,11 +196,11 @@ class AutoDiffScalar
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}
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template<typename OtherDerType>
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inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,typename ei_cleantype<OtherDerType>::type> >
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inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_difference_op<Scalar>, DerType,typename internal::cleantype<OtherDerType>::type> >
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operator-(const AutoDiffScalar<OtherDerType>& other) const
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{
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ei_make_coherent(m_derivatives, other.derivatives());
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return AutoDiffScalar<CwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,typename ei_cleantype<OtherDerType>::type> >(
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internal::make_coherent(m_derivatives, other.derivatives());
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return AutoDiffScalar<CwiseBinaryOp<internal::scalar_difference_op<Scalar>, DerType,typename internal::cleantype<OtherDerType>::type> >(
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m_value - other.value(),
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m_derivatives - other.derivatives());
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}
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@@ -211,105 +214,105 @@ class AutoDiffScalar
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}
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template<typename OtherDerType>
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inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType> >
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inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, DerType> >
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operator-() const
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{
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return AutoDiffScalar<CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType> >(
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return AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, DerType> >(
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-m_value,
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-m_derivatives);
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}
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inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
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inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType> >
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operator*(const Scalar& other) const
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{
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return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
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return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType> >(
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m_value * other,
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(m_derivatives * other));
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}
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friend inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
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friend inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType> >
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operator*(const Scalar& other, const AutoDiffScalar& a)
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{
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return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
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return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType> >(
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a.value() * other,
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a.derivatives() * other);
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}
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// inline const AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple_op<Real>, DerType>::Type >
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// inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
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// operator*(const Real& other) const
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// {
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// return AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple_op<Real>, DerType>::Type >(
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// return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
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// m_value * other,
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// (m_derivatives * other));
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// }
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//
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// friend inline const AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple_op<Real>, DerType>::Type >
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// friend inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
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// operator*(const Real& other, const AutoDiffScalar& a)
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// {
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// return AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple_op<Real>, DerType>::Type >(
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// return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, 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 const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
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inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType> >
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operator/(const Scalar& other) const
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{
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return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
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return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType> >(
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m_value / other,
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(m_derivatives * (Scalar(1)/other)));
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}
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friend inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
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friend inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType> >
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operator/(const Scalar& other, const AutoDiffScalar& a)
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{
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return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
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return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType> >(
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other / a.value(),
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a.derivatives() * (-Scalar(1)/other));
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}
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// inline const AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple_op<Real>, DerType>::Type >
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// inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
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// operator/(const Real& other) const
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// {
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// return AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple_op<Real>, DerType>::Type >(
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// return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
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// m_value / other,
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// (m_derivatives * (Real(1)/other)));
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// }
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//
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// friend inline const AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple_op<Real>, DerType>::Type >
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// friend inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
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// operator/(const Real& other, const AutoDiffScalar& a)
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// {
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// return AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple_op<Real>, DerType>::Type >(
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// return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
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// other / a.value(),
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// a.derivatives() * (-Real(1)/other));
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// }
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template<typename OtherDerType>
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inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>,
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CwiseBinaryOp<ei_scalar_difference_op<Scalar>,
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>,
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type > > > >
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inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>,
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CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
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CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType>,
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CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, typename internal::cleantype<OtherDerType>::type > > > >
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operator/(const AutoDiffScalar<OtherDerType>& other) const
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{
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ei_make_coherent(m_derivatives, other.derivatives());
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return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>,
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CwiseBinaryOp<ei_scalar_difference_op<Scalar>,
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>,
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type > > > >(
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internal::make_coherent(m_derivatives, other.derivatives());
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return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>,
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CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
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CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType>,
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CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, typename internal::cleantype<OtherDerType>::type > > > >(
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m_value / other.value(),
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((m_derivatives * other.value()) - (m_value * other.derivatives()))
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* (Scalar(1)/(other.value()*other.value())));
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}
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template<typename OtherDerType>
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inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>,
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type> > >
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inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
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CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType>,
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CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, typename internal::cleantype<OtherDerType>::type> > >
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operator*(const AutoDiffScalar<OtherDerType>& other) const
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{
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ei_make_coherent(m_derivatives, other.derivatives());
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return AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>,
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type > > >(
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internal::make_coherent(m_derivatives, other.derivatives());
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return AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
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CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType>,
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CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, typename internal::cleantype<OtherDerType>::type > > >(
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m_value * other.value(),
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(m_derivatives * other.value()) + (m_value * other.derivatives()));
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}
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@@ -333,18 +336,19 @@ class AutoDiffScalar
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};
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namespace internal {
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template<typename _DerType>
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struct ei_auto_diff_special_op<_DerType, true>
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// : ei_auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real,
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// ei_is_same_type<Scalar,typename NumTraits<Scalar>::Real>::ret>
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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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// is_same_type<Scalar,typename NumTraits<Scalar>::Real>::ret>
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{
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typedef typename ei_cleantype<_DerType>::type DerType;
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typedef typename ei_traits<DerType>::Scalar Scalar;
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typedef typename cleantype<_DerType>::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 ei_auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real,
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// ei_is_same_type<Scalar,typename NumTraits<Scalar>::Real>::ret> Base;
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// typedef auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real,
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// is_same_type<Scalar,typename NumTraits<Scalar>::Real>::ret> Base;
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// using Base::operator+;
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// using Base::operator+=;
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@@ -374,18 +378,18 @@ struct ei_auto_diff_special_op<_DerType, true>
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}
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inline const AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple2_op<Scalar,Real>, DerType>::Type >
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inline const AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type >
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operator*(const Real& other) const
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{
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return AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple2_op<Scalar,Real>, DerType>::Type >(
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return AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type >(
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derived().value() * other,
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derived().derivatives() * other);
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}
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friend inline const AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple2_op<Scalar,Real>, DerType>::Type >
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friend inline const AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type >
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operator*(const Real& other, const AutoDiffScalar<_DerType>& a)
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{
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return AutoDiffScalar<typename CwiseUnaryOp<ei_scalar_multiple2_op<Scalar,Real>, DerType>::Type >(
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return AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type >(
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a.value() * other,
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a.derivatives() * other);
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}
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@@ -398,7 +402,7 @@ struct ei_auto_diff_special_op<_DerType, true>
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};
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template<typename _DerType>
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struct ei_auto_diff_special_op<_DerType, false>
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struct auto_diff_special_op<_DerType, false>
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{
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void operator*() const;
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void operator-() const;
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@@ -406,7 +410,7 @@ struct ei_auto_diff_special_op<_DerType, false>
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};
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template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols, typename B>
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struct ei_make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>, B> {
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struct make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>, B> {
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typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> A;
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static void run(A& a, B& b) {
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if((A_Rows==Dynamic || A_Cols==Dynamic) && (a.size()==0))
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@@ -418,7 +422,7 @@ struct ei_make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRo
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};
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template<typename A, typename B_Scalar, int B_Rows, int B_Cols, int B_Options, int B_MaxRows, int B_MaxCols>
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struct ei_make_coherent_impl<A, Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > {
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struct make_coherent_impl<A, Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > {
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typedef Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> B;
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static void run(A& a, B& b) {
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if((B_Rows==Dynamic || B_Cols==Dynamic) && (b.size()==0))
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@@ -431,7 +435,7 @@ struct ei_make_coherent_impl<A, Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_Ma
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template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols,
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typename B_Scalar, int B_Rows, int B_Cols, int B_Options, int B_MaxRows, int B_MaxCols>
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struct ei_make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>,
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struct make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>,
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Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > {
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typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> A;
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typedef Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> B;
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@@ -449,31 +453,33 @@ struct ei_make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRo
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}
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};
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template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols> struct ei_scalar_product_traits<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>,A_Scalar>
|
||||
template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols> struct scalar_product_traits<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>,A_Scalar>
|
||||
{
|
||||
typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> ReturnType;
|
||||
};
|
||||
|
||||
template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols> struct ei_scalar_product_traits<A_Scalar, Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> >
|
||||
template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols> struct scalar_product_traits<A_Scalar, Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> >
|
||||
{
|
||||
typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> ReturnType;
|
||||
};
|
||||
|
||||
template<typename DerType, typename T>
|
||||
struct ei_scalar_product_traits<AutoDiffScalar<DerType>,T>
|
||||
struct scalar_product_traits<AutoDiffScalar<DerType>,T>
|
||||
{
|
||||
typedef AutoDiffScalar<DerType> ReturnType;
|
||||
};
|
||||
|
||||
}
|
||||
} // end namespace internal
|
||||
|
||||
} // end namespace Eigen
|
||||
|
||||
#define EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(FUNC,CODE) \
|
||||
template<typename DerType> \
|
||||
inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::ei_scalar_multiple_op<typename Eigen::ei_traits<typename Eigen::ei_cleantype<DerType>::type>::Scalar>, typename Eigen::ei_cleantype<DerType>::type> > \
|
||||
inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<typename Eigen::internal::traits<typename Eigen::internal::cleantype<DerType>::type>::Scalar>, typename Eigen::internal::cleantype<DerType>::type> > \
|
||||
FUNC(const Eigen::AutoDiffScalar<DerType>& x) { \
|
||||
using namespace Eigen; \
|
||||
typedef typename ei_traits<typename ei_cleantype<DerType>::type>::Scalar Scalar; \
|
||||
typedef AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<DerType>::type> > ReturnType; \
|
||||
typedef typename internal::traits<typename internal::cleantype<DerType>::type>::Scalar Scalar; \
|
||||
typedef AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, typename internal::cleantype<DerType>::type> > ReturnType; \
|
||||
CODE; \
|
||||
}
|
||||
|
||||
@@ -500,12 +506,12 @@ namespace std
|
||||
return ReturnType(std::log(x.value()),x.derivatives() * (Scalar(1)/x.value()));)
|
||||
|
||||
template<typename DerType>
|
||||
inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::ei_scalar_multiple_op<typename Eigen::ei_traits<DerType>::Scalar>, DerType> >
|
||||
pow(const Eigen::AutoDiffScalar<DerType>& x, typename Eigen::ei_traits<DerType>::Scalar y)
|
||||
inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<typename Eigen::internal::traits<DerType>::Scalar>, DerType> >
|
||||
pow(const Eigen::AutoDiffScalar<DerType>& x, typename Eigen::internal::traits<DerType>::Scalar y)
|
||||
{
|
||||
using namespace Eigen;
|
||||
typedef typename ei_traits<DerType>::Scalar Scalar;
|
||||
return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
|
||||
typedef typename internal::traits<DerType>::Scalar Scalar;
|
||||
return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, DerType> >(
|
||||
std::pow(x.value(),y),
|
||||
x.derivatives() * (y * std::pow(x.value(),y-1)));
|
||||
}
|
||||
@@ -514,41 +520,45 @@ namespace std
|
||||
|
||||
namespace Eigen {
|
||||
|
||||
template<typename DerType>
|
||||
inline const AutoDiffScalar<DerType>& ei_conj(const AutoDiffScalar<DerType>& x) { return x; }
|
||||
template<typename DerType>
|
||||
inline const AutoDiffScalar<DerType>& ei_real(const AutoDiffScalar<DerType>& x) { return x; }
|
||||
template<typename DerType>
|
||||
inline typename DerType::Scalar ei_imag(const AutoDiffScalar<DerType>&) { return 0.; }
|
||||
namespace internal {
|
||||
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(ei_abs,
|
||||
return ReturnType(ei_abs(x.value()), x.derivatives() * (sign(x.value())));)
|
||||
template<typename DerType>
|
||||
inline const AutoDiffScalar<DerType>& conj(const AutoDiffScalar<DerType>& x) { return x; }
|
||||
template<typename DerType>
|
||||
inline const AutoDiffScalar<DerType>& real(const AutoDiffScalar<DerType>& x) { return x; }
|
||||
template<typename DerType>
|
||||
inline typename DerType::Scalar imag(const AutoDiffScalar<DerType>&) { return 0.; }
|
||||
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(ei_abs2,
|
||||
return ReturnType(ei_abs2(x.value()), x.derivatives() * (Scalar(2)*x.value()));)
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs,
|
||||
return ReturnType(abs(x.value()), x.derivatives() * (sign(x.value())));)
|
||||
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(ei_sqrt,
|
||||
Scalar sqrtx = ei_sqrt(x.value());
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs2,
|
||||
return ReturnType(abs2(x.value()), x.derivatives() * (Scalar(2)*x.value()));)
|
||||
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sqrt,
|
||||
Scalar sqrtx = sqrt(x.value());
|
||||
return ReturnType(sqrtx,x.derivatives() * (Scalar(0.5) / sqrtx));)
|
||||
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(ei_cos,
|
||||
return ReturnType(ei_cos(x.value()), x.derivatives() * (-ei_sin(x.value())));)
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos,
|
||||
return ReturnType(cos(x.value()), x.derivatives() * (-sin(x.value())));)
|
||||
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(ei_sin,
|
||||
return ReturnType(ei_sin(x.value()),x.derivatives() * ei_cos(x.value()));)
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sin,
|
||||
return ReturnType(sin(x.value()),x.derivatives() * cos(x.value()));)
|
||||
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(ei_exp,
|
||||
Scalar expx = ei_exp(x.value());
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp,
|
||||
Scalar expx = exp(x.value());
|
||||
return ReturnType(expx,x.derivatives() * expx);)
|
||||
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(ei_log,
|
||||
return ReturnType(ei_log(x.value()),x.derivatives() * (Scalar(1)/x.value()));)
|
||||
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(log,
|
||||
return ReturnType(log(x.value()),x.derivatives() * (Scalar(1)/x.value()));)
|
||||
|
||||
template<typename DerType>
|
||||
inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<DerType>::Scalar>, DerType> >
|
||||
ei_pow(const AutoDiffScalar<DerType>& x, typename ei_traits<DerType>::Scalar y)
|
||||
inline const AutoDiffScalar<CwiseUnaryOp<scalar_multiple_op<typename traits<DerType>::Scalar>, DerType> >
|
||||
pow(const AutoDiffScalar<DerType>& x, typename traits<DerType>::Scalar y)
|
||||
{ return std::pow(x,y);}
|
||||
|
||||
} // end namespace internal
|
||||
|
||||
#undef EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
|
||||
|
||||
template<typename DerType> struct NumTraits<AutoDiffScalar<DerType> >
|
||||
|
||||
@@ -36,8 +36,8 @@ namespace Eigen {
|
||||
*
|
||||
* It supports the following list of global math function:
|
||||
* - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,
|
||||
* - ei_abs, ei_sqrt, ei_pow, ei_exp, ei_log, ei_sin, ei_cos,
|
||||
* - ei_conj, ei_real, ei_imag, ei_abs2.
|
||||
* - internal::abs, internal::sqrt, internal::pow, internal::exp, internal::log, internal::sin, internal::cos,
|
||||
* - internal::conj, internal::real, internal::imag, internal::abs2.
|
||||
*
|
||||
* AutoDiffScalar can be used as the scalar type of an Eigen::Matrix object. However,
|
||||
* in that case, the expression template mechanism only occurs at the top Matrix level,
|
||||
@@ -48,8 +48,8 @@ template<typename ValueType, typename JacobianType>
|
||||
class AutoDiffVector
|
||||
{
|
||||
public:
|
||||
//typedef typename ei_traits<ValueType>::Scalar Scalar;
|
||||
typedef typename ei_traits<ValueType>::Scalar BaseScalar;
|
||||
//typedef typename internal::traits<ValueType>::Scalar Scalar;
|
||||
typedef typename internal::traits<ValueType>::Scalar BaseScalar;
|
||||
typedef AutoDiffScalar<Matrix<BaseScalar,JacobianType::RowsAtCompileTime,1> > ActiveScalar;
|
||||
typedef ActiveScalar Scalar;
|
||||
typedef AutoDiffScalar<typename JacobianType::ColXpr> CoeffType;
|
||||
@@ -115,13 +115,13 @@ class AutoDiffVector
|
||||
|
||||
template<typename OtherValueType,typename OtherJacobianType>
|
||||
inline const AutoDiffVector<
|
||||
typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
|
||||
typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >
|
||||
typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
|
||||
typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >
|
||||
operator+(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
|
||||
{
|
||||
return AutoDiffVector<
|
||||
typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
|
||||
typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >(
|
||||
typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
|
||||
typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >(
|
||||
m_values + other.values(),
|
||||
m_jacobian + other.jacobian());
|
||||
}
|
||||
@@ -137,13 +137,13 @@ class AutoDiffVector
|
||||
|
||||
template<typename OtherValueType,typename OtherJacobianType>
|
||||
inline const AutoDiffVector<
|
||||
typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
|
||||
typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >
|
||||
typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
|
||||
typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >
|
||||
operator-(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
|
||||
{
|
||||
return AutoDiffVector<
|
||||
typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
|
||||
typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >(
|
||||
typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
|
||||
typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >(
|
||||
m_values - other.values(),
|
||||
m_jacobian - other.jacobian());
|
||||
}
|
||||
@@ -158,54 +158,54 @@ class AutoDiffVector
|
||||
}
|
||||
|
||||
inline const AutoDiffVector<
|
||||
typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType>::Type >
|
||||
typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >
|
||||
operator-() const
|
||||
{
|
||||
return AutoDiffVector<
|
||||
typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType>::Type >(
|
||||
typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >(
|
||||
-m_values,
|
||||
-m_jacobian);
|
||||
}
|
||||
|
||||
inline const AutoDiffVector<
|
||||
typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type>
|
||||
typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type>
|
||||
operator*(const BaseScalar& other) const
|
||||
{
|
||||
return AutoDiffVector<
|
||||
typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >(
|
||||
typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(
|
||||
m_values * other,
|
||||
m_jacobian * other);
|
||||
}
|
||||
|
||||
friend inline const AutoDiffVector<
|
||||
typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >
|
||||
typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >
|
||||
operator*(const Scalar& other, const AutoDiffVector& v)
|
||||
{
|
||||
return AutoDiffVector<
|
||||
typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >(
|
||||
typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(
|
||||
v.values() * other,
|
||||
v.jacobian() * other);
|
||||
}
|
||||
|
||||
// template<typename OtherValueType,typename OtherJacobianType>
|
||||
// inline const AutoDiffVector<
|
||||
// CwiseBinaryOp<ei_scalar_multiple_op<Scalar>, ValueType, OtherValueType>
|
||||
// CwiseBinaryOp<ei_scalar_sum_op<Scalar>,
|
||||
// CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>,
|
||||
// CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherJacobianType> > >
|
||||
// CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType>
|
||||
// CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
|
||||
// CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>,
|
||||
// CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > >
|
||||
// operator*(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
|
||||
// {
|
||||
// return AutoDiffVector<
|
||||
// CwiseBinaryOp<ei_scalar_multiple_op<Scalar>, ValueType, OtherValueType>
|
||||
// CwiseBinaryOp<ei_scalar_sum_op<Scalar>,
|
||||
// CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>,
|
||||
// CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherJacobianType> > >(
|
||||
// CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType>
|
||||
// CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
|
||||
// CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>,
|
||||
// CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > >(
|
||||
// m_values.cwise() * other.values(),
|
||||
// (m_jacobian * other.values()) + (m_values * other.jacobian()));
|
||||
// }
|
||||
|
||||
Reference in New Issue
Block a user