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add atan2 support in AutoDiff and remove superfluous std:: specializations

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This commit is contained in:
Gael Guennebaud
2011-09-05 17:47:58 +02:00
parent 063042bca3
commit f1d98aad1b
2 changed files with 69 additions and 64 deletions
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33
unsupported/test/autodiff.cpp
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@@ -28,13 +28,21 @@
template<typename Scalar>
EIGEN_DONT_INLINE Scalar foo(const Scalar& x, const Scalar& y)
{
using namespace std;
// return x+std::sin(y);
EIGEN_ASM_COMMENT("mybegin");
return static_cast<Scalar>(x*2 - std::pow(x,2) + 2*std::sqrt(y*y) - 4 * std::sin(x) + 2 * std::cos(y) - std::exp(-0.5*x*x));
return static_cast<Scalar>(x*2 - pow(x,2) + 2*sqrt(y*y) - 4 * sin(x) + 2 * cos(y) - exp(-0.5*x*x));
//return x+2*y*x;//x*2 -std::pow(x,2);//(2*y/x);// - y*2;
EIGEN_ASM_COMMENT("myend");
}
template<typename Vector>
EIGEN_DONT_INLINE typename Vector::Scalar foo(const Vector& p)
{
typedef typename Vector::Scalar Scalar;
return (p-Vector(Scalar(-1),Scalar(1.))).norm();
}
template<typename _Scalar, int NX=Dynamic, int NY=Dynamic>
struct TestFunc1
{
@@ -140,9 +148,23 @@ void test_autodiff_scalar()
typedef AutoDiffScalar<Vector2f> AD;
AD ax(1,Vector2f::UnitX());
AD ay(2,Vector2f::UnitY());
foo<AD>(ax,ay);
std::cerr << foo<AD>(ax,ay).value() << " <> "
<< foo<AD>(ax,ay).derivatives().transpose() << "\n\n";
AD res = foo<AD>(ax,ay);
std::cerr << res.value() << " <> "
<< res.derivatives().transpose() << "\n\n";
}
void test_autodiff_vector()
{
std::cerr << foo<Vector2f>(Vector2f(1,2)) << "\n";
typedef AutoDiffScalar<Vector2f> AD;
typedef Matrix<AD,2,1> VectorAD;
VectorAD p(AD(1),AD(-1));
p.x().derivatives() = Vector2f::UnitX();
p.y().derivatives() = Vector2f::UnitY();
AD res = foo<VectorAD>(p);
std::cerr << res.value() << " <> "
<< res.derivatives().transpose() << "\n\n";
}
void test_autodiff_jacobian()
@@ -159,6 +181,7 @@ void test_autodiff_jacobian()
void test_autodiff()
{
test_autodiff_scalar();
test_autodiff_jacobian();
test_autodiff_vector();
// test_autodiff_jacobian();
}