| // This file is part of Eigen, a lightweight C++ template library | |
| // for linear algebra. | |
| // | |
| // Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr> | |
| // | |
| // Eigen is free software; you can redistribute it and/or | |
| // modify it under the terms of the GNU Lesser General Public | |
| // License as published by the Free Software Foundation; either | |
| // version 3 of the License, or (at your option) any later version. | |
| // | |
| // Alternatively, you can redistribute it and/or | |
| // modify it under the terms of the GNU General Public License as | |
| // published by the Free Software Foundation; either version 2 of | |
| // the License, or (at your option) any later version. | |
| // | |
| // Eigen is distributed in the hope that it will be useful, but WITHOUT ANY | |
| // WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
| // FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the | |
| // GNU General Public License for more details. | |
| // | |
| // You should have received a copy of the GNU Lesser General Public | |
| // License and a copy of the GNU General Public License along with | |
| // Eigen. If not, see <http://www.gnu.org/licenses/>. | |
| #ifndef EIGEN_AUTODIFF_VECTOR_H | |
| #define EIGEN_AUTODIFF_VECTOR_H | |
| namespace Eigen { | |
| /* \class AutoDiffScalar | |
| * \brief A scalar type replacement with automatic differentation capability | |
| * | |
| * \param DerType the vector type used to store/represent the derivatives (e.g. Vector3f) | |
| * | |
| * This class represents a scalar value while tracking its respective derivatives. | |
| * | |
| * 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. | |
| * | |
| * 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, | |
| * while derivatives are computed right away. | |
| * | |
| */ | |
| template<typename ValueType, typename JacobianType> | |
| class AutoDiffVector | |
| { | |
| public: | |
| //typedef typename ei_traits<ValueType>::Scalar Scalar; | |
| typedef typename ei_traits<ValueType>::Scalar BaseScalar; | |
| typedef AutoDiffScalar<Matrix<BaseScalar,JacobianType::RowsAtCompileTime,1> > ActiveScalar; | |
| typedef ActiveScalar Scalar; | |
| typedef AutoDiffScalar<typename JacobianType::ColXpr> CoeffType; | |
| inline AutoDiffVector() {} | |
| inline AutoDiffVector(const ValueType& values) | |
| : m_values(values) | |
| { | |
| m_jacobian.setZero(); | |
| } | |
| CoeffType operator[] (int i) { return CoeffType(m_values[i], m_jacobian.col(i)); } | |
| const CoeffType operator[] (int i) const { return CoeffType(m_values[i], m_jacobian.col(i)); } | |
| CoeffType operator() (int i) { return CoeffType(m_values[i], m_jacobian.col(i)); } | |
| const CoeffType operator() (int i) const { return CoeffType(m_values[i], m_jacobian.col(i)); } | |
| CoeffType coeffRef(int i) { return CoeffType(m_values[i], m_jacobian.col(i)); } | |
| const CoeffType coeffRef(int i) const { return CoeffType(m_values[i], m_jacobian.col(i)); } | |
| int size() const { return m_values.size(); } | |
| // FIXME here we could return an expression of the sum | |
| 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()); } | |
| inline AutoDiffVector(const ValueType& values, const JacobianType& jac) | |
| : m_values(values), m_jacobian(jac) | |
| {} | |
| template<typename OtherValueType, typename OtherJacobianType> | |
| inline AutoDiffVector(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) | |
| : m_values(other.values()), m_jacobian(other.jacobian()) | |
| {} | |
| inline AutoDiffVector(const AutoDiffVector& other) | |
| : m_values(other.values()), m_jacobian(other.jacobian()) | |
| {} | |
| template<typename OtherValueType, typename OtherJacobianType> | |
| inline AutoDiffVector& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) | |
| { | |
| m_values = other.values(); | |
| m_jacobian = other.jacobian(); | |
| return *this; | |
| } | |
| inline AutoDiffVector& operator=(const AutoDiffVector& other) | |
| { | |
| m_values = other.values(); | |
| m_jacobian = other.jacobian(); | |
| return *this; | |
| } | |
| inline const ValueType& values() const { return m_values; } | |
| inline ValueType& values() { return m_values; } | |
| inline const JacobianType& jacobian() const { return m_jacobian; } | |
| inline JacobianType& jacobian() { return m_jacobian; } | |
| 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 > | |
| 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 >( | |
| m_values + other.values(), | |
| m_jacobian + other.jacobian()); | |
| } | |
| template<typename OtherValueType, typename OtherJacobianType> | |
| inline AutoDiffVector& | |
| operator+=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) | |
| { | |
| m_values += other.values(); | |
| m_jacobian += other.jacobian(); | |
| return *this; | |
| } | |
| 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 > | |
| 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 >( | |
| m_values - other.values(), | |
| m_jacobian - other.jacobian()); | |
| } | |
| template<typename OtherValueType, typename OtherJacobianType> | |
| inline AutoDiffVector& | |
| operator-=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) | |
| { | |
| m_values -= other.values(); | |
| m_jacobian -= other.jacobian(); | |
| return *this; | |
| } | |
| inline const AutoDiffVector< | |
| typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>::Type, | |
| typename MakeCwiseUnaryOp<ei_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 >( | |
| -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> | |
| 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 >( | |
| 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 > | |
| 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 >( | |
| 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> > > | |
| // 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> > >( | |
| // 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; | |
| } | |
| 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; | |
| }; | |
| } | |
| #endif // EIGEN_AUTODIFF_VECTOR_H |