diff options
Diffstat (limited to 'unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h')
| -rwxr-xr-x | unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h | 111 |
1 files changed, 74 insertions, 37 deletions
diff --git a/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h index 279fe5cd3..0f166e35f 100755 --- a/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h +++ b/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h @@ -26,11 +26,11 @@ void make_coherent(const A& a, const B&b) make_coherent_impl<A,B>::run(a.const_cast_derived(), b.const_cast_derived()); } -template<typename _DerType, bool Enable> struct auto_diff_special_op; +template<typename DerivativeType, bool Enable> struct auto_diff_special_op; } // end namespace internal -template<typename _DerType> class AutoDiffScalar; +template<typename DerivativeType> class AutoDiffScalar; template<typename NewDerType> inline AutoDiffScalar<NewDerType> MakeAutoDiffScalar(const typename NewDerType::Scalar& value, const NewDerType &der) { @@ -38,16 +38,16 @@ inline AutoDiffScalar<NewDerType> MakeAutoDiffScalar(const typename NewDerType:: } /** \class AutoDiffScalar - * \brief A scalar type replacement with automatic differentation capability + * \brief A scalar type replacement with automatic differentiation capability * - * \param _DerType the vector type used to store/represent the derivatives. The base scalar type + * \param DerivativeType the vector type used to store/represent the derivatives. The base scalar type * as well as the number of derivatives to compute are determined from this type. * Typical choices include, e.g., \c Vector4f for 4 derivatives, or \c VectorXf * if the number of derivatives is not known at compile time, and/or, the number * of derivatives is large. - * Note that _DerType can also be a reference (e.g., \c VectorXf&) to wrap a + * Note that DerivativeType can also be a reference (e.g., \c VectorXf&) to wrap a * existing vector into an AutoDiffScalar. - * Finally, _DerType can also be any Eigen compatible expression. + * Finally, DerivativeType can also be any Eigen compatible expression. * * This class represents a scalar value while tracking its respective derivatives using Eigen's expression * template mechanism. @@ -63,17 +63,17 @@ inline AutoDiffScalar<NewDerType> MakeAutoDiffScalar(const typename NewDerType:: * */ -template<typename _DerType> +template<typename DerivativeType> class AutoDiffScalar : public internal::auto_diff_special_op - <_DerType, !internal::is_same<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar, - typename NumTraits<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar>::Real>::value> + <DerivativeType, !internal::is_same<typename internal::traits<typename internal::remove_all<DerivativeType>::type>::Scalar, + typename NumTraits<typename internal::traits<typename internal::remove_all<DerivativeType>::type>::Scalar>::Real>::value> { public: typedef internal::auto_diff_special_op - <_DerType, !internal::is_same<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar, - typename NumTraits<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar>::Real>::value> Base; - typedef typename internal::remove_all<_DerType>::type DerType; + <DerivativeType, !internal::is_same<typename internal::traits<typename internal::remove_all<DerivativeType>::type>::Scalar, + typename NumTraits<typename internal::traits<typename internal::remove_all<DerivativeType>::type>::Scalar>::Real>::value> Base; + typedef typename internal::remove_all<DerivativeType>::type DerType; typedef typename internal::traits<DerType>::Scalar Scalar; typedef typename NumTraits<Scalar>::Real Real; @@ -382,16 +382,16 @@ class AutoDiffScalar namespace internal { -template<typename _DerType> -struct auto_diff_special_op<_DerType, true> -// : auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real, +template<typename DerivativeType> +struct auto_diff_special_op<DerivativeType, true> +// : auto_diff_scalar_op<DerivativeType, typename NumTraits<Scalar>::Real, // is_same<Scalar,typename NumTraits<Scalar>::Real>::value> { - typedef typename remove_all<_DerType>::type DerType; + typedef typename remove_all<DerivativeType>::type DerType; typedef typename traits<DerType>::Scalar Scalar; typedef typename NumTraits<Scalar>::Real Real; -// typedef auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real, +// typedef auto_diff_scalar_op<DerivativeType, typename NumTraits<Scalar>::Real, // is_same<Scalar,typename NumTraits<Scalar>::Real>::value> Base; // using Base::operator+; @@ -401,8 +401,8 @@ struct auto_diff_special_op<_DerType, true> // using Base::operator*; // using Base::operator*=; - const AutoDiffScalar<_DerType>& derived() const { return *static_cast<const AutoDiffScalar<_DerType>*>(this); } - AutoDiffScalar<_DerType>& derived() { return *static_cast<AutoDiffScalar<_DerType>*>(this); } + const AutoDiffScalar<DerivativeType>& derived() const { return *static_cast<const AutoDiffScalar<DerivativeType>*>(this); } + AutoDiffScalar<DerivativeType>& derived() { return *static_cast<AutoDiffScalar<DerivativeType>*>(this); } inline const AutoDiffScalar<DerType&> operator+(const Real& other) const @@ -410,12 +410,12 @@ struct auto_diff_special_op<_DerType, true> return AutoDiffScalar<DerType&>(derived().value() + other, derived().derivatives()); } - friend inline const AutoDiffScalar<DerType&> operator+(const Real& a, const AutoDiffScalar<_DerType>& b) + friend inline const AutoDiffScalar<DerType&> operator+(const Real& a, const AutoDiffScalar<DerivativeType>& b) { return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives()); } - inline AutoDiffScalar<_DerType>& operator+=(const Real& other) + inline AutoDiffScalar<DerivativeType>& operator+=(const Real& other) { derived().value() += other; return derived(); @@ -431,28 +431,46 @@ struct auto_diff_special_op<_DerType, true> } friend inline const AutoDiffScalar<typename CwiseUnaryOp<bind1st_op<scalar_product_op<Real,Scalar> >, DerType>::Type > - operator*(const Real& other, const AutoDiffScalar<_DerType>& a) + operator*(const Real& other, const AutoDiffScalar<DerivativeType>& a) { return AutoDiffScalar<typename CwiseUnaryOp<bind1st_op<scalar_product_op<Real,Scalar> >, DerType>::Type >( a.value() * other, a.derivatives() * other); } - inline AutoDiffScalar<_DerType>& operator*=(const Scalar& other) + inline AutoDiffScalar<DerivativeType>& operator*=(const Scalar& other) { *this = *this * other; return derived(); } }; -template<typename _DerType> -struct auto_diff_special_op<_DerType, false> +template<typename DerivativeType> +struct auto_diff_special_op<DerivativeType, false> { void operator*() const; void operator-() const; void operator+() const; }; +template<typename BinOp, typename A, typename B, typename RefType> +void make_coherent_expression(CwiseBinaryOp<BinOp,A,B> xpr, const RefType &ref) +{ + make_coherent(xpr.const_cast_derived().lhs(), ref); + make_coherent(xpr.const_cast_derived().rhs(), ref); +} + +template<typename UnaryOp, typename A, typename RefType> +void make_coherent_expression(const CwiseUnaryOp<UnaryOp,A> &xpr, const RefType &ref) +{ + make_coherent(xpr.nestedExpression().const_cast_derived(), ref); +} + +// needed for compilation only +template<typename UnaryOp, typename A, typename RefType> +void make_coherent_expression(const CwiseNullaryOp<UnaryOp,A> &, const RefType &) +{} + template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols, typename B> struct make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>, B> { typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> A; @@ -462,6 +480,10 @@ struct make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, a.resize(b.size()); a.setZero(); } + else if (B::SizeAtCompileTime==Dynamic && a.size()!=0 && b.size()==0) + { + make_coherent_expression(b,a); + } } }; @@ -474,13 +496,17 @@ struct make_coherent_impl<A, Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRo b.resize(a.size()); b.setZero(); } + else if (A::SizeAtCompileTime==Dynamic && b.size()!=0 && a.size()==0) + { + make_coherent_expression(a,b); + } } }; template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols, typename B_Scalar, int B_Rows, int B_Cols, int B_Options, int B_MaxRows, int B_MaxCols> struct make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>, - Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > { + Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > { typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> A; typedef Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> B; static void run(A& a, B& b) { @@ -534,42 +560,48 @@ struct ScalarBinaryOpTraits<typename DerType::Scalar,AutoDiffScalar<DerType>, Bi EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(typename Eigen::internal::remove_all<DerType>::type, typename Eigen::internal::traits<typename Eigen::internal::remove_all<DerType>::type>::Scalar, product) > \ FUNC(const Eigen::AutoDiffScalar<DerType>& x) { \ using namespace Eigen; \ - EIGEN_UNUSED typedef typename Eigen::internal::traits<typename Eigen::internal::remove_all<DerType>::type>::Scalar Scalar; \ + typedef typename Eigen::internal::traits<typename Eigen::internal::remove_all<DerType>::type>::Scalar Scalar; \ + EIGEN_UNUSED_VARIABLE(sizeof(Scalar)); \ CODE; \ } template<typename DerType> +struct CleanedUpDerType { + typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> type; +}; + +template<typename DerType> inline const AutoDiffScalar<DerType>& conj(const AutoDiffScalar<DerType>& x) { return x; } template<typename DerType> inline const AutoDiffScalar<DerType>& real(const AutoDiffScalar<DerType>& x) { return x; } template<typename DerType> inline typename DerType::Scalar imag(const AutoDiffScalar<DerType>&) { return 0.; } template<typename DerType, typename T> -inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (min)(const AutoDiffScalar<DerType>& x, const T& y) { - typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS; +inline typename CleanedUpDerType<DerType>::type (min)(const AutoDiffScalar<DerType>& x, const T& y) { + typedef typename CleanedUpDerType<DerType>::type ADS; return (x <= y ? ADS(x) : ADS(y)); } template<typename DerType, typename T> -inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (max)(const AutoDiffScalar<DerType>& x, const T& y) { - typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS; +inline typename CleanedUpDerType<DerType>::type (max)(const AutoDiffScalar<DerType>& x, const T& y) { + typedef typename CleanedUpDerType<DerType>::type ADS; return (x >= y ? ADS(x) : ADS(y)); } template<typename DerType, typename T> -inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (min)(const T& x, const AutoDiffScalar<DerType>& y) { - typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS; +inline typename CleanedUpDerType<DerType>::type (min)(const T& x, const AutoDiffScalar<DerType>& y) { + typedef typename CleanedUpDerType<DerType>::type ADS; return (x < y ? ADS(x) : ADS(y)); } template<typename DerType, typename T> -inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (max)(const T& x, const AutoDiffScalar<DerType>& y) { - typedef AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> ADS; +inline typename CleanedUpDerType<DerType>::type (max)(const T& x, const AutoDiffScalar<DerType>& y) { + typedef typename CleanedUpDerType<DerType>::type ADS; return (x > y ? ADS(x) : ADS(y)); } template<typename DerType> -inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (min)(const AutoDiffScalar<DerType>& x, const AutoDiffScalar<DerType>& y) { +inline typename CleanedUpDerType<DerType>::type (min)(const AutoDiffScalar<DerType>& x, const AutoDiffScalar<DerType>& y) { return (x.value() < y.value() ? x : y); } template<typename DerType> -inline AutoDiffScalar<typename Eigen::internal::remove_all<DerType>::type::PlainObject> (max)(const AutoDiffScalar<DerType>& x, const AutoDiffScalar<DerType>& y) { +inline typename CleanedUpDerType<DerType>::type (max)(const AutoDiffScalar<DerType>& x, const AutoDiffScalar<DerType>& y) { return (x.value() >= y.value() ? x : y); } @@ -684,10 +716,15 @@ template<typename DerType> struct NumTraits<AutoDiffScalar<DerType> > } namespace std { + template <typename T> class numeric_limits<Eigen::AutoDiffScalar<T> > : public numeric_limits<typename T::Scalar> {}; +template <typename T> +class numeric_limits<Eigen::AutoDiffScalar<T&> > + : public numeric_limits<typename T::Scalar> {}; + } // namespace std #endif // EIGEN_AUTODIFF_SCALAR_H |