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improve a bit AutoDiffVector, but it still not working
This commit is contained in:
Gael Guennebaud
parent
6647a58847
commit
5dc02fe5e9
@ -35,7 +35,7 @@ namespace Eigen {
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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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* - 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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*
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@ -48,130 +48,150 @@ 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 ei_traits<ValueType>::Scalar Scalar;
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//typedef typename ei_traits<ValueType>::Scalar Scalar;
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typedef typename ei_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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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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CoeffType operator[] (int i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
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const CoeffType operator[] (int i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
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CoeffType operator() (int i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
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const CoeffType operator() (int i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
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CoeffType coeffRef(int i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
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const CoeffType coeffRef(int i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
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int 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";*/ return Scalar(m_values.sum(), m_jacobian.rowwise().sum()); }
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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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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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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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template<typename OtherValueType, typename OtherJacobianType>
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inline AutoDiffScalar& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
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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 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 ValueType& values() const { return m_values; }
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inline ValueType& values() { return m_values; }
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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 const AutoDiffVector<
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CwiseBinaryOp<ei_scalar_sum_op<Scalar>,ValueType,OtherValueType> >
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CwiseBinaryOp<ei_scalar_sum_op<Scalar>,JacobianType,OtherJacobianType> >
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operator+(const AutoDiffScalar<OtherDerType>& other) const
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typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
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typename MakeCwiseBinaryOp<ei_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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CwiseBinaryOp<ei_scalar_sum_op<Scalar>,ValueType,OtherValueType> >
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CwiseBinaryOp<ei_scalar_sum_op<Scalar>,JacobianType,OtherJacobianType> >(
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typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
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typename MakeCwiseBinaryOp<ei_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 AutoDiffVector&
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operator+=(const AutoDiffVector<OtherValueType,OtherDerType>& other)
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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 const AutoDiffVector<
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CwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType> >
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CwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType> >
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operator-(const AutoDiffScalar<OtherDerType>& other) const
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typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
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typename MakeCwiseBinaryOp<ei_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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CwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType> >
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CwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType> >(
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m_values - other.values(),
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m_jacobian - other.jacobian());
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typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
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typename MakeCwiseBinaryOp<ei_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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template<typename OtherValueType, typename OtherJacobianType>
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inline AutoDiffVector&
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operator-=(const AutoDiffVector<OtherValueType,OtherDerType>& other)
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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<
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CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>
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CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType> >
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typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>::Type,
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typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType>::Type >
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operator-() const
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{
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return AutoDiffVector<
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CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>
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CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType> >(
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-m_values,
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-m_jacobian);
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typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>::Type,
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typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType>::Type >(
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-m_values,
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-m_jacobian);
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}
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inline const AutoDiffVector<
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> >
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operator*(const Scalar& other) const
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typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
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typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type>
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operator*(const BaseScalar& other) const
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{
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return AutoDiffVector<
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> >(
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typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
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typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >(
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m_values * other,
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(m_jacobian * other));
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m_jacobian * other);
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}
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friend inline const AutoDiffVector<
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> >
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typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
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typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >
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operator*(const Scalar& other, const AutoDiffVector& v)
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{
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return AutoDiffVector<
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>
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CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> >(
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typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
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typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >(
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v.values() * other,
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v.jacobian() * other);
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}
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// template<typename OtherValueType,typename OtherJacobianType>
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// inline const AutoDiffVector<
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// CwiseBinaryOp<ei_scalar_multiple_op<Scalar>, ValueType, OtherValueType>
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@ -188,25 +208,25 @@ class AutoDiffVector
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// m_values.cwise() * other.values(),
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// (m_jacobian * other.values()).nestByValue() + (m_values * other.jacobian()).nestByValue());
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// }
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inline AutoDiffVector& operator*=(const Scalar& other)
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{
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m_values *= other;
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m_jacobian *= other;
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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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*this = *this * other;
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return *this;
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}
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protected:
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ValueType m_values;
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JacobianType m_jacobian;
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};
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}
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