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This commit is contained in:
Tobias Wood
2023-11-29 11:12:48 +00:00
parent 9ea520fc45
commit f38e16c193
534 changed files with 103368 additions and 116934 deletions
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50
unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
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@@ -13,27 +13,23 @@
// IWYU pragma: private
#include "./InternalHeaderCheck.h"
namespace Eigen
{
namespace Eigen {
template<typename Functor> class AutoDiffJacobian : public Functor
{
public:
template <typename Functor>
class AutoDiffJacobian : public Functor {
public:
AutoDiffJacobian() : Functor() {}
AutoDiffJacobian(const Functor& f) : Functor(f) {}
// forward constructors
template<typename... T>
AutoDiffJacobian(const T& ...Values) : Functor(Values...) {}
template <typename... T>
AutoDiffJacobian(const T&... Values) : Functor(Values...) {}
typedef typename Functor::InputType InputType;
typedef typename Functor::ValueType ValueType;
typedef typename ValueType::Scalar Scalar;
enum {
InputsAtCompileTime = InputType::RowsAtCompileTime,
ValuesAtCompileTime = ValueType::RowsAtCompileTime
};
enum { InputsAtCompileTime = InputType::RowsAtCompileTime, ValuesAtCompileTime = ValueType::RowsAtCompileTime };
typedef Matrix<Scalar, ValuesAtCompileTime, InputsAtCompileTime> JacobianType;
typedef typename JacobianType::Index Index;
@@ -46,19 +42,12 @@ public:
// Some compilers don't accept variadic parameters after a default parameter,
// i.e., we can't just write _jac=0 but we need to overload operator():
EIGEN_STRONG_INLINE
void operator() (const InputType& x, ValueType* v) const
{
this->operator()(x, v, 0);
}
template<typename... ParamsType>
void operator() (const InputType& x, ValueType* v, JacobianType* _jac,
const ParamsType&... Params) const
{
eigen_assert(v!=0);
EIGEN_STRONG_INLINE void operator()(const InputType& x, ValueType* v) const { this->operator()(x, v, 0); }
template <typename... ParamsType>
void operator()(const InputType& x, ValueType* v, JacobianType* _jac, const ParamsType&... Params) const {
eigen_assert(v != 0);
if (!_jac)
{
if (!_jac) {
Functor::operator()(x, v, Params...);
return;
}
@@ -68,23 +57,20 @@ public:
ActiveInput ax = x.template cast<ActiveScalar>();
ActiveValue av(jac.rows());
if(InputsAtCompileTime==Dynamic)
for (Index j=0; j<jac.rows(); j++)
av[j].derivatives().resize(x.rows());
if (InputsAtCompileTime == Dynamic)
for (Index j = 0; j < jac.rows(); j++) av[j].derivatives().resize(x.rows());
for (Index i=0; i<jac.cols(); i++)
ax[i].derivatives() = DerivativeType::Unit(x.rows(),i);
for (Index i = 0; i < jac.cols(); i++) ax[i].derivatives() = DerivativeType::Unit(x.rows(), i);
Functor::operator()(ax, &av, Params...);
for (Index i=0; i<jac.rows(); i++)
{
for (Index i = 0; i < jac.rows(); i++) {
(*v)[i] = av[i].value();
jac.row(i) = av[i].derivatives();
}
}
};
}
} // namespace Eigen
#endif // EIGEN_AUTODIFF_JACOBIAN_H
#endif // EIGEN_AUTODIFF_JACOBIAN_H