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Tobias Wood
@@ -13,27 +13,23 @@
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// IWYU pragma: private
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#include "./InternalHeaderCheck.h"
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namespace Eigen
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{
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namespace Eigen {
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template<typename Functor> class AutoDiffJacobian : public Functor
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{
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public:
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template <typename Functor>
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class AutoDiffJacobian : public Functor {
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public:
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AutoDiffJacobian() : Functor() {}
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AutoDiffJacobian(const Functor& f) : Functor(f) {}
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// forward constructors
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template<typename... T>
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AutoDiffJacobian(const T& ...Values) : Functor(Values...) {}
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template <typename... T>
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AutoDiffJacobian(const T&... Values) : Functor(Values...) {}
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typedef typename Functor::InputType InputType;
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typedef typename Functor::ValueType ValueType;
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typedef typename ValueType::Scalar Scalar;
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enum {
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InputsAtCompileTime = InputType::RowsAtCompileTime,
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ValuesAtCompileTime = ValueType::RowsAtCompileTime
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};
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enum { InputsAtCompileTime = InputType::RowsAtCompileTime, ValuesAtCompileTime = ValueType::RowsAtCompileTime };
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typedef Matrix<Scalar, ValuesAtCompileTime, InputsAtCompileTime> JacobianType;
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typedef typename JacobianType::Index Index;
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@@ -46,19 +42,12 @@ public:
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// Some compilers don't accept variadic parameters after a default parameter,
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// i.e., we can't just write _jac=0 but we need to overload operator():
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EIGEN_STRONG_INLINE
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void operator() (const InputType& x, ValueType* v) const
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{
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this->operator()(x, v, 0);
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}
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template<typename... ParamsType>
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void operator() (const InputType& x, ValueType* v, JacobianType* _jac,
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const ParamsType&... Params) const
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{
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eigen_assert(v!=0);
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EIGEN_STRONG_INLINE void operator()(const InputType& x, ValueType* v) const { this->operator()(x, v, 0); }
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template <typename... ParamsType>
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void operator()(const InputType& x, ValueType* v, JacobianType* _jac, const ParamsType&... Params) const {
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eigen_assert(v != 0);
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if (!_jac)
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{
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if (!_jac) {
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Functor::operator()(x, v, Params...);
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return;
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}
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@@ -68,23 +57,20 @@ public:
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ActiveInput ax = x.template cast<ActiveScalar>();
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ActiveValue av(jac.rows());
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if(InputsAtCompileTime==Dynamic)
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for (Index j=0; j<jac.rows(); j++)
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av[j].derivatives().resize(x.rows());
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if (InputsAtCompileTime == Dynamic)
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for (Index j = 0; j < jac.rows(); j++) av[j].derivatives().resize(x.rows());
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for (Index i=0; i<jac.cols(); i++)
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ax[i].derivatives() = DerivativeType::Unit(x.rows(),i);
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for (Index i = 0; i < jac.cols(); i++) ax[i].derivatives() = DerivativeType::Unit(x.rows(), i);
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Functor::operator()(ax, &av, Params...);
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for (Index i=0; i<jac.rows(); i++)
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{
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for (Index i = 0; i < jac.rows(); i++) {
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(*v)[i] = av[i].value();
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jac.row(i) = av[i].derivatives();
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}
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}
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};
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}
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} // namespace Eigen
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#endif // EIGEN_AUTODIFF_JACOBIAN_H
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#endif // EIGEN_AUTODIFF_JACOBIAN_H
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File diff suppressed because it is too large
Load Diff
@@ -16,208 +16,174 @@
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namespace Eigen {
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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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* \param DerType the vector type used to store/represent the derivatives (e.g. Vector3f)
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*
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* This class represents a scalar value while tracking its respective derivatives.
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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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* - internal::abs, internal::sqrt, numext::pow, internal::exp, internal::log, internal::sin, internal::cos,
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* - internal::conj, internal::real, internal::imag, numext::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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* while derivatives are computed right away.
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*
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*/
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template<typename ValueType, typename JacobianType>
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class AutoDiffVector
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{
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public:
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//typedef typename internal::traits<ValueType>::Scalar Scalar;
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typedef typename internal::traits<ValueType>::Scalar BaseScalar;
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typedef AutoDiffScalar<Matrix<BaseScalar,JacobianType::RowsAtCompileTime,1> > ActiveScalar;
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typedef ActiveScalar Scalar;
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typedef AutoDiffScalar<typename JacobianType::ColXpr> CoeffType;
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typedef typename JacobianType::Index Index;
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* \brief A scalar type replacement with automatic differentation capability
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*
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* \param DerType the vector type used to store/represent the derivatives (e.g. Vector3f)
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*
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* This class represents a scalar value while tracking its respective derivatives.
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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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* - internal::abs, internal::sqrt, numext::pow, internal::exp, internal::log, internal::sin, internal::cos,
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* - internal::conj, internal::real, internal::imag, numext::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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* while derivatives are computed right away.
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*
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*/
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template <typename ValueType, typename JacobianType>
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class AutoDiffVector {
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public:
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// typedef typename internal::traits<ValueType>::Scalar Scalar;
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typedef typename internal::traits<ValueType>::Scalar BaseScalar;
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typedef AutoDiffScalar<Matrix<BaseScalar, JacobianType::RowsAtCompileTime, 1> > ActiveScalar;
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typedef ActiveScalar Scalar;
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typedef AutoDiffScalar<typename JacobianType::ColXpr> CoeffType;
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typedef typename JacobianType::Index Index;
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inline AutoDiffVector() {}
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inline AutoDiffVector() {}
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inline AutoDiffVector(const ValueType& values)
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: m_values(values)
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{
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m_jacobian.setZero();
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}
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inline AutoDiffVector(const ValueType& values) : m_values(values) { m_jacobian.setZero(); }
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CoeffType operator[](Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
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const CoeffType operator[](Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
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CoeffType operator[] (Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
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const CoeffType operator[] (Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
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CoeffType operator()(Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
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const CoeffType operator()(Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
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CoeffType operator() (Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
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const CoeffType operator() (Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
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CoeffType coeffRef(Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
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const CoeffType coeffRef(Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
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CoeffType coeffRef(Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
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const CoeffType coeffRef(Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
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Index size() const { return m_values.size(); }
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Index size() const { return m_values.size(); }
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// FIXME here we could return an expression of the sum
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Scalar sum() const { /*std::cerr << "sum \n\n";*/ /*std::cerr << m_jacobian.rowwise().sum() << "\n\n";*/
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return Scalar(m_values.sum(), m_jacobian.rowwise().sum());
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}
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// FIXME here we could return an expression of the sum
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Scalar sum() const { /*std::cerr << "sum \n\n";*/ /*std::cerr << m_jacobian.rowwise().sum() << "\n\n";*/ return Scalar(m_values.sum(), m_jacobian.rowwise().sum()); }
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inline AutoDiffVector(const ValueType& values, const JacobianType& jac) : m_values(values), m_jacobian(jac) {}
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template <typename OtherValueType, typename OtherJacobianType>
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inline AutoDiffVector(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
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: m_values(other.values()), m_jacobian(other.jacobian()) {}
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inline AutoDiffVector(const ValueType& values, const JacobianType& jac)
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: m_values(values), m_jacobian(jac)
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{}
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inline AutoDiffVector(const AutoDiffVector& other) : m_values(other.values()), m_jacobian(other.jacobian()) {}
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template<typename OtherValueType, typename OtherJacobianType>
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inline AutoDiffVector(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
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: m_values(other.values()), m_jacobian(other.jacobian())
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{}
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template <typename OtherValueType, typename OtherJacobianType>
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inline AutoDiffVector& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) {
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m_values = other.values();
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m_jacobian = other.jacobian();
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return *this;
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}
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inline AutoDiffVector(const AutoDiffVector& other)
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: m_values(other.values()), m_jacobian(other.jacobian())
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{}
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inline AutoDiffVector& operator=(const AutoDiffVector& other) {
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m_values = other.values();
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m_jacobian = other.jacobian();
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return *this;
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}
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template<typename OtherValueType, typename OtherJacobianType>
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inline AutoDiffVector& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
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{
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m_values = other.values();
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m_jacobian = other.jacobian();
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return *this;
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}
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inline const ValueType& values() const { return m_values; }
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inline ValueType& values() { return m_values; }
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inline AutoDiffVector& operator=(const AutoDiffVector& other)
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{
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m_values = other.values();
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m_jacobian = other.jacobian();
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return *this;
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}
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inline const JacobianType& jacobian() const { return m_jacobian; }
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inline JacobianType& jacobian() { return m_jacobian; }
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inline const ValueType& values() const { return m_values; }
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inline ValueType& values() { return m_values; }
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template <typename OtherValueType, typename OtherJacobianType>
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inline const AutoDiffVector<
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typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>, ValueType, OtherValueType>::Type,
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typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>, JacobianType, OtherJacobianType>::Type>
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operator+(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) const {
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return AutoDiffVector<
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typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>, ValueType, OtherValueType>::Type,
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typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>, JacobianType, OtherJacobianType>::Type>(
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m_values + other.values(), m_jacobian + other.jacobian());
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}
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inline const JacobianType& jacobian() const { return m_jacobian; }
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inline JacobianType& jacobian() { return m_jacobian; }
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template <typename OtherValueType, typename OtherJacobianType>
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inline AutoDiffVector& operator+=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) {
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m_values += other.values();
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m_jacobian += other.jacobian();
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return *this;
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}
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template<typename OtherValueType,typename OtherJacobianType>
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inline const AutoDiffVector<
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typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
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typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >
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operator+(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
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{
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return AutoDiffVector<
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typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
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typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >(
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m_values + other.values(),
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m_jacobian + other.jacobian());
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}
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template <typename OtherValueType, typename OtherJacobianType>
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inline const AutoDiffVector<
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typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>, ValueType, OtherValueType>::Type,
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typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>, JacobianType, OtherJacobianType>::Type>
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operator-(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) const {
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return AutoDiffVector<
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typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>, ValueType, OtherValueType>::Type,
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typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>, JacobianType, OtherJacobianType>::Type>(
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m_values - other.values(), m_jacobian - other.jacobian());
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}
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template<typename OtherValueType, typename OtherJacobianType>
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inline AutoDiffVector&
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operator+=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
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{
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m_values += other.values();
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m_jacobian += other.jacobian();
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return *this;
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}
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template <typename OtherValueType, typename OtherJacobianType>
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inline AutoDiffVector& operator-=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) {
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m_values -= other.values();
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m_jacobian -= other.jacobian();
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return *this;
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}
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template<typename OtherValueType,typename OtherJacobianType>
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inline const AutoDiffVector<
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typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
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typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >
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operator-(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
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{
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return AutoDiffVector<
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typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
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typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >(
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m_values - other.values(),
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m_jacobian - other.jacobian());
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}
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inline const AutoDiffVector<typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
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typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type>
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operator-() const {
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return AutoDiffVector<typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
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typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type>(
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-m_values, -m_jacobian);
|
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}
|
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template<typename OtherValueType, typename OtherJacobianType>
|
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inline AutoDiffVector&
|
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operator-=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
|
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{
|
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m_values -= other.values();
|
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m_jacobian -= other.jacobian();
|
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return *this;
|
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}
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inline const AutoDiffVector<typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
|
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typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type>
|
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operator*(const BaseScalar& other) const {
|
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return AutoDiffVector<typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
|
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typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type>(
|
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m_values * other, m_jacobian * other);
|
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}
|
||||
|
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inline const AutoDiffVector<
|
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typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
|
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typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >
|
||||
operator-() const
|
||||
{
|
||||
return AutoDiffVector<
|
||||
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<
|
||||
friend inline const AutoDiffVector<
|
||||
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<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(
|
||||
m_values * other,
|
||||
m_jacobian * other);
|
||||
}
|
||||
operator*(const Scalar& other, const AutoDiffVector& v) {
|
||||
return AutoDiffVector<typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
|
||||
typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type>(
|
||||
v.values() * other, v.jacobian() * other);
|
||||
}
|
||||
|
||||
friend inline const AutoDiffVector<
|
||||
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<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<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<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()));
|
||||
// }
|
||||
|
||||
// template<typename OtherValueType,typename OtherJacobianType>
|
||||
// inline const AutoDiffVector<
|
||||
// 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<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()));
|
||||
// }
|
||||
inline AutoDiffVector& operator*=(const Scalar& other) {
|
||||
m_values *= other;
|
||||
m_jacobian *= other;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline AutoDiffVector& operator*=(const Scalar& other)
|
||||
{
|
||||
m_values *= other;
|
||||
m_jacobian *= other;
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename OtherValueType,typename OtherJacobianType>
|
||||
inline AutoDiffVector& operator*=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
|
||||
{
|
||||
*this = *this * other;
|
||||
return *this;
|
||||
}
|
||||
|
||||
protected:
|
||||
ValueType m_values;
|
||||
JacobianType m_jacobian;
|
||||
template <typename OtherValueType, typename OtherJacobianType>
|
||||
inline AutoDiffVector& operator*=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) {
|
||||
*this = *this * other;
|
||||
return *this;
|
||||
}
|
||||
|
||||
protected:
|
||||
ValueType m_values;
|
||||
JacobianType m_jacobian;
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace Eigen
|
||||
|
||||
#endif // EIGEN_AUTODIFF_VECTOR_H
|
||||
#endif // EIGEN_AUTODIFF_VECTOR_H
|
||||
|
||||
Reference in New Issue
Block a user