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improve a bit AutoDiffVector, but it still not working

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Gael Guennebaud 2009-11-06 11:34:58 +01:00
parent 6647a58847
commit 5dc02fe5e9
1 changed files with 74 additions and 54 deletions
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128
unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
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@ -35,7 +35,7 @@ namespace Eigen {
* This class represents a scalar value while tracking its respective derivatives. * This class represents a scalar value while tracking its respective derivatives.
* *
* It supports the following list of global math function: * It supports the following list of global math function:
* - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos, * - 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_abs, ei_sqrt, ei_pow, ei_exp, ei_log, ei_sin, ei_cos,
* - ei_conj, ei_real, ei_imag, ei_abs2. * - ei_conj, ei_real, ei_imag, ei_abs2.
* *
@ -48,130 +48,150 @@ template<typename ValueType, typename JacobianType>
class AutoDiffVector class AutoDiffVector
{ {
public: public:
typedef typename ei_traits<ValueType>::Scalar Scalar; //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() {}
inline AutoDiffVector(const ValueType& values) inline AutoDiffVector(const ValueType& values)
: m_values(values) : m_values(values)
{ {
m_jacobian.setZero(); 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) inline AutoDiffVector(const ValueType& values, const JacobianType& jac)
: m_values(values), m_jacobian(jac) : m_values(values), m_jacobian(jac)
{} {}
template<typename OtherValueType, typename OtherJacobianType> template<typename OtherValueType, typename OtherJacobianType>
inline AutoDiffVector(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) inline AutoDiffVector(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
: m_values(other.values()), m_jacobian(other.jacobian()) : m_values(other.values()), m_jacobian(other.jacobian())
{} {}
inline AutoDiffVector(const AutoDiffVector& other) inline AutoDiffVector(const AutoDiffVector& other)
: m_values(other.values()), m_jacobian(other.jacobian()) : m_values(other.values()), m_jacobian(other.jacobian())
{} {}
template<typename OtherValueType, typename OtherJacobianType> template<typename OtherValueType, typename OtherJacobianType>
inline AutoDiffScalar& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) inline AutoDiffVector& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
{ {
m_values = other.values(); m_values = other.values();
m_jacobian = other.jacobian(); m_jacobian = other.jacobian();
return *this; return *this;
} }
inline AutoDiffVector& operator=(const AutoDiffVector& other) inline AutoDiffVector& operator=(const AutoDiffVector& other)
{ {
m_values = other.values(); m_values = other.values();
m_jacobian = other.jacobian(); m_jacobian = other.jacobian();
return *this; return *this;
} }
inline const ValueType& values() const { return m_values; } inline const ValueType& values() const { return m_values; }
inline ValueType& values() { return m_values; } inline ValueType& values() { return m_values; }
inline const JacobianType& jacobian() const { return m_jacobian; } inline const JacobianType& jacobian() const { return m_jacobian; }
inline JacobianType& jacobian() { return m_jacobian; } inline JacobianType& jacobian() { return m_jacobian; }
template<typename OtherValueType,typename OtherJacobianType> template<typename OtherValueType,typename OtherJacobianType>
inline const AutoDiffVector< inline const AutoDiffVector<
CwiseBinaryOp<ei_scalar_sum_op<Scalar>,ValueType,OtherValueType> > typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
CwiseBinaryOp<ei_scalar_sum_op<Scalar>,JacobianType,OtherJacobianType> > typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >
operator+(const AutoDiffScalar<OtherDerType>& other) const operator+(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
{ {
return AutoDiffVector< return AutoDiffVector<
CwiseBinaryOp<ei_scalar_sum_op<Scalar>,ValueType,OtherValueType> > typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
CwiseBinaryOp<ei_scalar_sum_op<Scalar>,JacobianType,OtherJacobianType> >( typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >(
m_values + other.values(), m_values + other.values(),
m_jacobian + other.jacobian()); m_jacobian + other.jacobian());
} }
template<typename OtherValueType, typename OtherJacobianType> template<typename OtherValueType, typename OtherJacobianType>
inline AutoDiffVector& inline AutoDiffVector&
operator+=(const AutoDiffVector<OtherValueType,OtherDerType>& other) operator+=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
{ {
m_values += other.values(); m_values += other.values();
m_jacobian += other.jacobian(); m_jacobian += other.jacobian();
return *this; return *this;
} }
template<typename OtherValueType,typename OtherJacobianType> template<typename OtherValueType,typename OtherJacobianType>
inline const AutoDiffVector< inline const AutoDiffVector<
CwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType> > typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
CwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType> > typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >
operator-(const AutoDiffScalar<OtherDerType>& other) const operator-(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
{ {
return AutoDiffVector< return AutoDiffVector<
CwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType> > typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
CwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType> >( typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >(
m_values - other.values(), m_values - other.values(),
m_jacobian - other.jacobian()); m_jacobian - other.jacobian());
} }
template<typename OtherValueType, typename OtherJacobianType> template<typename OtherValueType, typename OtherJacobianType>
inline AutoDiffVector& inline AutoDiffVector&
operator-=(const AutoDiffVector<OtherValueType,OtherDerType>& other) operator-=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
{ {
m_values -= other.values(); m_values -= other.values();
m_jacobian -= other.jacobian(); m_jacobian -= other.jacobian();
return *this; return *this;
} }
inline const AutoDiffVector< inline const AutoDiffVector<
CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType> typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>::Type,
CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType> > typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType>::Type >
operator-() const operator-() const
{ {
return AutoDiffVector< return AutoDiffVector<
CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType> typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>::Type,
CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType> >( typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType>::Type >(
-m_values, -m_values,
-m_jacobian); -m_jacobian);
} }
inline const AutoDiffVector< inline const AutoDiffVector<
CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType> typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> > typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type>
operator*(const Scalar& other) const operator*(const BaseScalar& other) const
{ {
return AutoDiffVector< return AutoDiffVector<
CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType> typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> >( typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >(
m_values * other, m_values * other,
(m_jacobian * other)); m_jacobian * other);
} }
friend inline const AutoDiffVector< friend inline const AutoDiffVector<
CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType> typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> > typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >
operator*(const Scalar& other, const AutoDiffVector& v) operator*(const Scalar& other, const AutoDiffVector& v)
{ {
return AutoDiffVector< return AutoDiffVector<
CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType> typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> >( typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >(
v.values() * other, v.values() * other,
v.jacobian() * other); v.jacobian() * other);
} }
// template<typename OtherValueType,typename OtherJacobianType> // template<typename OtherValueType,typename OtherJacobianType>
// inline const AutoDiffVector< // inline const AutoDiffVector<
// CwiseBinaryOp<ei_scalar_multiple_op<Scalar>, ValueType, OtherValueType> // CwiseBinaryOp<ei_scalar_multiple_op<Scalar>, ValueType, OtherValueType>
@ -188,25 +208,25 @@ class AutoDiffVector
// m_values.cwise() * other.values(), // m_values.cwise() * other.values(),
// (m_jacobian * other.values()).nestByValue() + (m_values * other.jacobian()).nestByValue()); // (m_jacobian * other.values()).nestByValue() + (m_values * other.jacobian()).nestByValue());
// } // }
inline AutoDiffVector& operator*=(const Scalar& other) inline AutoDiffVector& operator*=(const Scalar& other)
{ {
m_values *= other; m_values *= other;
m_jacobian *= other; m_jacobian *= other;
return *this; return *this;
} }
template<typename OtherValueType,typename OtherJacobianType> template<typename OtherValueType,typename OtherJacobianType>
inline AutoDiffVector& operator*=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) inline AutoDiffVector& operator*=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
{ {
*this = *this * other; *this = *this * other;
return *this; return *this;
} }
protected: protected:
ValueType m_values; ValueType m_values;
JacobianType m_jacobian; JacobianType m_jacobian;
}; };
} }