1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. 3 // 4 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud (at) inria.fr> 5 // 6 // This Source Code Form is subject to the terms of the Mozilla 7 // Public License v. 2.0. If a copy of the MPL was not distributed 8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 10 #ifndef EIGEN_AUTODIFF_VECTOR_H 11 #define EIGEN_AUTODIFF_VECTOR_H 12 13 namespace Eigen { 14 15 /* \class AutoDiffScalar 16 * \brief A scalar type replacement with automatic differentation capability 17 * 18 * \param DerType the vector type used to store/represent the derivatives (e.g. Vector3f) 19 * 20 * This class represents a scalar value while tracking its respective derivatives. 21 * 22 * It supports the following list of global math function: 23 * - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos, 24 * - internal::abs, internal::sqrt, internal::pow, internal::exp, internal::log, internal::sin, internal::cos, 25 * - internal::conj, internal::real, internal::imag, internal::abs2. 26 * 27 * AutoDiffScalar can be used as the scalar type of an Eigen::Matrix object. However, 28 * in that case, the expression template mechanism only occurs at the top Matrix level, 29 * while derivatives are computed right away. 30 * 31 */ 32 template<typename ValueType, typename JacobianType> 33 class AutoDiffVector 34 { 35 public: 36 //typedef typename internal::traits<ValueType>::Scalar Scalar; 37 typedef typename internal::traits<ValueType>::Scalar BaseScalar; 38 typedef AutoDiffScalar<Matrix<BaseScalar,JacobianType::RowsAtCompileTime,1> > ActiveScalar; 39 typedef ActiveScalar Scalar; 40 typedef AutoDiffScalar<typename JacobianType::ColXpr> CoeffType; 41 typedef typename JacobianType::Index Index; 42 43 inline AutoDiffVector() {} 44 45 inline AutoDiffVector(const ValueType& values) 46 : m_values(values) 47 { 48 m_jacobian.setZero(); 49 } 50 51 52 CoeffType operator[] (Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); } 53 const CoeffType operator[] (Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); } 54 55 CoeffType operator() (Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); } 56 const CoeffType operator() (Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); } 57 58 CoeffType coeffRef(Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); } 59 const CoeffType coeffRef(Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); } 60 61 Index size() const { return m_values.size(); } 62 63 // FIXME here we could return an expression of the sum 64 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()); } 65 66 67 inline AutoDiffVector(const ValueType& values, const JacobianType& jac) 68 : m_values(values), m_jacobian(jac) 69 {} 70 71 template<typename OtherValueType, typename OtherJacobianType> 72 inline AutoDiffVector(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) 73 : m_values(other.values()), m_jacobian(other.jacobian()) 74 {} 75 76 inline AutoDiffVector(const AutoDiffVector& other) 77 : m_values(other.values()), m_jacobian(other.jacobian()) 78 {} 79 80 template<typename OtherValueType, typename OtherJacobianType> 81 inline AutoDiffVector& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other) 82 { 83 m_values = other.values(); 84 m_jacobian = other.jacobian(); 85 return *this; 86 } 87 88 inline AutoDiffVector& operator=(const AutoDiffVector& other) 89 { 90 m_values = other.values(); 91 m_jacobian = other.jacobian(); 92 return *this; 93 } 94 95 inline const ValueType& values() const { return m_values; } 96 inline ValueType& values() { return m_values; } 97 98 inline const JacobianType& jacobian() const { return m_jacobian; } 99 inline JacobianType& jacobian() { return m_jacobian; } 100 101 template<typename OtherValueType,typename OtherJacobianType> 102 inline const AutoDiffVector< 103 typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type, 104 typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type > 105 operator+(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const 106 { 107 return AutoDiffVector< 108 typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type, 109 typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >( 110 m_values + other.values(), 111 m_jacobian + other.jacobian()); 112 } 113 114 template<typename OtherValueType, typename OtherJacobianType> 115 inline AutoDiffVector& 116 operator+=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) 117 { 118 m_values += other.values(); 119 m_jacobian += other.jacobian(); 120 return *this; 121 } 122 123 template<typename OtherValueType,typename OtherJacobianType> 124 inline const AutoDiffVector< 125 typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type, 126 typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type > 127 operator-(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const 128 { 129 return AutoDiffVector< 130 typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type, 131 typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >( 132 m_values - other.values(), 133 m_jacobian - other.jacobian()); 134 } 135 136 template<typename OtherValueType, typename OtherJacobianType> 137 inline AutoDiffVector& 138 operator-=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) 139 { 140 m_values -= other.values(); 141 m_jacobian -= other.jacobian(); 142 return *this; 143 } 144 145 inline const AutoDiffVector< 146 typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type, 147 typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type > 148 operator-() const 149 { 150 return AutoDiffVector< 151 typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type, 152 typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >( 153 -m_values, 154 -m_jacobian); 155 } 156 157 inline const AutoDiffVector< 158 typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type, 159 typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type> 160 operator*(const BaseScalar& other) const 161 { 162 return AutoDiffVector< 163 typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type, 164 typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >( 165 m_values * other, 166 m_jacobian * other); 167 } 168 169 friend inline const AutoDiffVector< 170 typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type, 171 typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type > 172 operator*(const Scalar& other, const AutoDiffVector& v) 173 { 174 return AutoDiffVector< 175 typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type, 176 typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >( 177 v.values() * other, 178 v.jacobian() * other); 179 } 180 181 // template<typename OtherValueType,typename OtherJacobianType> 182 // inline const AutoDiffVector< 183 // CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType> 184 // CwiseBinaryOp<internal::scalar_sum_op<Scalar>, 185 // CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>, 186 // CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > > 187 // operator*(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const 188 // { 189 // return AutoDiffVector< 190 // CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType> 191 // CwiseBinaryOp<internal::scalar_sum_op<Scalar>, 192 // CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>, 193 // CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > >( 194 // m_values.cwise() * other.values(), 195 // (m_jacobian * other.values()) + (m_values * other.jacobian())); 196 // } 197 198 inline AutoDiffVector& operator*=(const Scalar& other) 199 { 200 m_values *= other; 201 m_jacobian *= other; 202 return *this; 203 } 204 205 template<typename OtherValueType,typename OtherJacobianType> 206 inline AutoDiffVector& operator*=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) 207 { 208 *this = *this * other; 209 return *this; 210 } 211 212 protected: 213 ValueType m_values; 214 JacobianType m_jacobian; 215 216 }; 217 218 } 219 220 #endif // EIGEN_AUTODIFF_VECTOR_H 221
