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Diffstat (limited to 'eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h')
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diff --git a/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h new file mode 100644 index 0000000..fde3ff6 --- /dev/null +++ b/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h @@ -0,0 +1,642 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr> +// +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +#ifndef EIGEN_AUTODIFF_SCALAR_H +#define EIGEN_AUTODIFF_SCALAR_H + +namespace Eigen { + +namespace internal { + +template<typename A, typename B> +struct make_coherent_impl { + static void run(A&, B&) {} +}; + +// resize a to match b is a.size()==0, and conversely. +template<typename A, typename B> +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; + +} // end namespace internal + +/** \class AutoDiffScalar + * \brief A scalar type replacement with automatic differentation capability + * + * \param _DerType 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 + * existing vector into an AutoDiffScalar. + * Finally, _DerType can also be any Eigen compatible expression. + * + * This class represents a scalar value while tracking its respective derivatives using Eigen's expression + * template mechanism. + * + * It supports the following list of global math function: + * - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos, + * - internal::abs, internal::sqrt, numext::pow, internal::exp, internal::log, internal::sin, internal::cos, + * - internal::conj, internal::real, internal::imag, numext::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 _DerType> +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> +{ + 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; + typedef typename internal::traits<DerType>::Scalar Scalar; + typedef typename NumTraits<Scalar>::Real Real; + + using Base::operator+; + using Base::operator*; + + /** Default constructor without any initialization. */ + AutoDiffScalar() {} + + /** Constructs an active scalar from its \a value, + and initializes the \a nbDer derivatives such that it corresponds to the \a derNumber -th variable */ + AutoDiffScalar(const Scalar& value, int nbDer, int derNumber) + : m_value(value), m_derivatives(DerType::Zero(nbDer)) + { + m_derivatives.coeffRef(derNumber) = Scalar(1); + } + + /** Conversion from a scalar constant to an active scalar. + * The derivatives are set to zero. */ + /*explicit*/ AutoDiffScalar(const Real& value) + : m_value(value) + { + if(m_derivatives.size()>0) + m_derivatives.setZero(); + } + + /** Constructs an active scalar from its \a value and derivatives \a der */ + AutoDiffScalar(const Scalar& value, const DerType& der) + : m_value(value), m_derivatives(der) + {} + + template<typename OtherDerType> + AutoDiffScalar(const AutoDiffScalar<OtherDerType>& other) + : m_value(other.value()), m_derivatives(other.derivatives()) + {} + + friend std::ostream & operator << (std::ostream & s, const AutoDiffScalar& a) + { + return s << a.value(); + } + + AutoDiffScalar(const AutoDiffScalar& other) + : m_value(other.value()), m_derivatives(other.derivatives()) + {} + + template<typename OtherDerType> + inline AutoDiffScalar& operator=(const AutoDiffScalar<OtherDerType>& other) + { + m_value = other.value(); + m_derivatives = other.derivatives(); + return *this; + } + + inline AutoDiffScalar& operator=(const AutoDiffScalar& other) + { + m_value = other.value(); + m_derivatives = other.derivatives(); + return *this; + } + +// inline operator const Scalar& () const { return m_value; } +// inline operator Scalar& () { return m_value; } + + inline const Scalar& value() const { return m_value; } + inline Scalar& value() { return m_value; } + + inline const DerType& derivatives() const { return m_derivatives; } + inline DerType& derivatives() { return m_derivatives; } + + inline bool operator< (const Scalar& other) const { return m_value < other; } + inline bool operator<=(const Scalar& other) const { return m_value <= other; } + inline bool operator> (const Scalar& other) const { return m_value > other; } + inline bool operator>=(const Scalar& other) const { return m_value >= other; } + inline bool operator==(const Scalar& other) const { return m_value == other; } + inline bool operator!=(const Scalar& other) const { return m_value != other; } + + friend inline bool operator< (const Scalar& a, const AutoDiffScalar& b) { return a < b.value(); } + friend inline bool operator<=(const Scalar& a, const AutoDiffScalar& b) { return a <= b.value(); } + friend inline bool operator> (const Scalar& a, const AutoDiffScalar& b) { return a > b.value(); } + friend inline bool operator>=(const Scalar& a, const AutoDiffScalar& b) { return a >= b.value(); } + friend inline bool operator==(const Scalar& a, const AutoDiffScalar& b) { return a == b.value(); } + friend inline bool operator!=(const Scalar& a, const AutoDiffScalar& b) { return a != b.value(); } + + template<typename OtherDerType> inline bool operator< (const AutoDiffScalar<OtherDerType>& b) const { return m_value < b.value(); } + template<typename OtherDerType> inline bool operator<=(const AutoDiffScalar<OtherDerType>& b) const { return m_value <= b.value(); } + template<typename OtherDerType> inline bool operator> (const AutoDiffScalar<OtherDerType>& b) const { return m_value > b.value(); } + template<typename OtherDerType> inline bool operator>=(const AutoDiffScalar<OtherDerType>& b) const { return m_value >= b.value(); } + template<typename OtherDerType> inline bool operator==(const AutoDiffScalar<OtherDerType>& b) const { return m_value == b.value(); } + template<typename OtherDerType> inline bool operator!=(const AutoDiffScalar<OtherDerType>& b) const { return m_value != b.value(); } + + inline const AutoDiffScalar<DerType&> operator+(const Scalar& other) const + { + return AutoDiffScalar<DerType&>(m_value + other, m_derivatives); + } + + friend inline const AutoDiffScalar<DerType&> operator+(const Scalar& a, const AutoDiffScalar& b) + { + return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives()); + } + +// inline const AutoDiffScalar<DerType&> operator+(const Real& other) const +// { +// return AutoDiffScalar<DerType&>(m_value + other, m_derivatives); +// } + +// friend inline const AutoDiffScalar<DerType&> operator+(const Real& a, const AutoDiffScalar& b) +// { +// return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives()); +// } + + inline AutoDiffScalar& operator+=(const Scalar& other) + { + value() += other; + return *this; + } + + template<typename OtherDerType> + inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,const DerType,const typename internal::remove_all<OtherDerType>::type> > + operator+(const AutoDiffScalar<OtherDerType>& other) const + { + internal::make_coherent(m_derivatives, other.derivatives()); + return AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,const DerType,const typename internal::remove_all<OtherDerType>::type> >( + m_value + other.value(), + m_derivatives + other.derivatives()); + } + + template<typename OtherDerType> + inline AutoDiffScalar& + operator+=(const AutoDiffScalar<OtherDerType>& other) + { + (*this) = (*this) + other; + return *this; + } + + inline const AutoDiffScalar<DerType&> operator-(const Scalar& b) const + { + return AutoDiffScalar<DerType&>(m_value - b, m_derivatives); + } + + friend inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> > + operator-(const Scalar& a, const AutoDiffScalar& b) + { + return AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> > + (a - b.value(), -b.derivatives()); + } + + inline AutoDiffScalar& operator-=(const Scalar& other) + { + value() -= other; + return *this; + } + + template<typename OtherDerType> + inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_difference_op<Scalar>, const DerType,const typename internal::remove_all<OtherDerType>::type> > + operator-(const AutoDiffScalar<OtherDerType>& other) const + { + internal::make_coherent(m_derivatives, other.derivatives()); + return AutoDiffScalar<CwiseBinaryOp<internal::scalar_difference_op<Scalar>, const DerType,const typename internal::remove_all<OtherDerType>::type> >( + m_value - other.value(), + m_derivatives - other.derivatives()); + } + + template<typename OtherDerType> + inline AutoDiffScalar& + operator-=(const AutoDiffScalar<OtherDerType>& other) + { + *this = *this - other; + return *this; + } + + inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> > + operator-() const + { + return AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> >( + -m_value, + -m_derivatives); + } + + inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> > + operator*(const Scalar& other) const + { + return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >( + m_value * other, + (m_derivatives * other)); + } + + friend inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> > + operator*(const Scalar& other, const AutoDiffScalar& a) + { + return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >( + a.value() * other, + a.derivatives() * other); + } + +// inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type > +// operator*(const Real& other) const +// { +// return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >( +// m_value * other, +// (m_derivatives * other)); +// } +// +// friend inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type > +// operator*(const Real& other, const AutoDiffScalar& a) +// { +// return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >( +// a.value() * other, +// a.derivatives() * other); +// } + + inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> > + operator/(const Scalar& other) const + { + return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >( + m_value / other, + (m_derivatives * (Scalar(1)/other))); + } + + friend inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> > + operator/(const Scalar& other, const AutoDiffScalar& a) + { + return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >( + other / a.value(), + a.derivatives() * (Scalar(-other) / (a.value()*a.value()))); + } + +// inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type > +// operator/(const Real& other) const +// { +// return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >( +// m_value / other, +// (m_derivatives * (Real(1)/other))); +// } +// +// friend inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type > +// operator/(const Real& other, const AutoDiffScalar& a) +// { +// return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >( +// other / a.value(), +// a.derivatives() * (-Real(1)/other)); +// } + + template<typename OtherDerType> + inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, + const CwiseBinaryOp<internal::scalar_difference_op<Scalar>, + const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType>, + const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const typename internal::remove_all<OtherDerType>::type > > > > + operator/(const AutoDiffScalar<OtherDerType>& other) const + { + internal::make_coherent(m_derivatives, other.derivatives()); + return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, + const CwiseBinaryOp<internal::scalar_difference_op<Scalar>, + const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType>, + const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const typename internal::remove_all<OtherDerType>::type > > > >( + m_value / other.value(), + ((m_derivatives * other.value()) - (m_value * other.derivatives())) + * (Scalar(1)/(other.value()*other.value()))); + } + + template<typename OtherDerType> + inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>, + const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType>, + const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const typename internal::remove_all<OtherDerType>::type> > > + operator*(const AutoDiffScalar<OtherDerType>& other) const + { + internal::make_coherent(m_derivatives, other.derivatives()); + return AutoDiffScalar<const CwiseBinaryOp<internal::scalar_sum_op<Scalar>, + const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType>, + const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const typename internal::remove_all<OtherDerType>::type > > >( + m_value * other.value(), + (m_derivatives * other.value()) + (m_value * other.derivatives())); + } + + inline AutoDiffScalar& operator*=(const Scalar& other) + { + *this = *this * other; + return *this; + } + + template<typename OtherDerType> + inline AutoDiffScalar& operator*=(const AutoDiffScalar<OtherDerType>& other) + { + *this = *this * other; + return *this; + } + + inline AutoDiffScalar& operator/=(const Scalar& other) + { + *this = *this / other; + return *this; + } + + template<typename OtherDerType> + inline AutoDiffScalar& operator/=(const AutoDiffScalar<OtherDerType>& other) + { + *this = *this / other; + return *this; + } + + protected: + Scalar m_value; + DerType m_derivatives; + +}; + +namespace internal { + +template<typename _DerType> +struct auto_diff_special_op<_DerType, true> +// : auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real, +// is_same<Scalar,typename NumTraits<Scalar>::Real>::value> +{ + typedef typename remove_all<_DerType>::type DerType; + typedef typename traits<DerType>::Scalar Scalar; + typedef typename NumTraits<Scalar>::Real Real; + +// typedef auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real, +// is_same<Scalar,typename NumTraits<Scalar>::Real>::value> Base; + +// using Base::operator+; +// using Base::operator+=; +// using Base::operator-; +// using Base::operator-=; +// 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); } + + + inline const AutoDiffScalar<DerType&> operator+(const Real& other) const + { + return AutoDiffScalar<DerType&>(derived().value() + other, derived().derivatives()); + } + + friend inline const AutoDiffScalar<DerType&> operator+(const Real& a, const AutoDiffScalar<_DerType>& b) + { + return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives()); + } + + inline AutoDiffScalar<_DerType>& operator+=(const Real& other) + { + derived().value() += other; + return derived(); + } + + + inline const AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type > + operator*(const Real& other) const + { + return AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type >( + derived().value() * other, + derived().derivatives() * other); + } + + friend inline const AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type > + operator*(const Real& other, const AutoDiffScalar<_DerType>& a) + { + return AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type >( + a.value() * other, + a.derivatives() * other); + } + + inline AutoDiffScalar<_DerType>& operator*=(const Scalar& other) + { + *this = *this * other; + return derived(); + } +}; + +template<typename _DerType> +struct auto_diff_special_op<_DerType, false> +{ + void operator*() const; + void operator-() const; + void operator+() const; +}; + +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; + static void run(A& a, B& b) { + if((A_Rows==Dynamic || A_Cols==Dynamic) && (a.size()==0)) + { + a.resize(b.size()); + a.setZero(); + } + } +}; + +template<typename A, typename B_Scalar, int B_Rows, int B_Cols, int B_Options, int B_MaxRows, int B_MaxCols> +struct make_coherent_impl<A, Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > { + typedef Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> B; + static void run(A& a, B& b) { + if((B_Rows==Dynamic || B_Cols==Dynamic) && (b.size()==0)) + { + b.resize(a.size()); + b.setZero(); + } + } +}; + +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> > { + 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) { + if((A_Rows==Dynamic || A_Cols==Dynamic) && (a.size()==0)) + { + a.resize(b.size()); + a.setZero(); + } + else if((B_Rows==Dynamic || B_Cols==Dynamic) && (b.size()==0)) + { + b.resize(a.size()); + b.setZero(); + } + } +}; + +template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols> +struct scalar_product_traits<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>,A_Scalar> +{ + enum { Defined = 1 }; + typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> ReturnType; +}; + +template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols> +struct scalar_product_traits<A_Scalar, Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> > +{ + enum { Defined = 1 }; + typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> ReturnType; +}; + +template<typename DerType> +struct scalar_product_traits<AutoDiffScalar<DerType>,typename DerType::Scalar> +{ + enum { Defined = 1 }; + typedef AutoDiffScalar<DerType> ReturnType; +}; + +template<typename DerType> +struct scalar_product_traits<typename DerType::Scalar,AutoDiffScalar<DerType> > +{ + enum { Defined = 1 }; + typedef AutoDiffScalar<DerType> ReturnType; +}; + +} // end namespace internal + +#define EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(FUNC,CODE) \ + template<typename DerType> \ + inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<typename Eigen::internal::traits<typename Eigen::internal::remove_all<DerType>::type>::Scalar>, const typename Eigen::internal::remove_all<DerType>::type> > \ + FUNC(const Eigen::AutoDiffScalar<DerType>& x) { \ + using namespace Eigen; \ + typedef typename Eigen::internal::traits<typename Eigen::internal::remove_all<DerType>::type>::Scalar Scalar; \ + typedef AutoDiffScalar<CwiseUnaryOp<Eigen::internal::scalar_multiple_op<Scalar>, const typename Eigen::internal::remove_all<DerType>::type> > ReturnType; \ + CODE; \ + } + +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<DerType> (min)(const AutoDiffScalar<DerType>& x, const T& y) { return (x <= y ? x : y); } +template<typename DerType, typename T> +inline AutoDiffScalar<DerType> (max)(const AutoDiffScalar<DerType>& x, const T& y) { return (x >= y ? x : y); } +template<typename DerType, typename T> +inline AutoDiffScalar<DerType> (min)(const T& x, const AutoDiffScalar<DerType>& y) { return (x < y ? x : y); } +template<typename DerType, typename T> +inline AutoDiffScalar<DerType> (max)(const T& x, const AutoDiffScalar<DerType>& y) { return (x > y ? x : y); } + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs, + using std::abs; + return ReturnType(abs(x.value()), x.derivatives() * (x.value()<0 ? -1 : 1) );) + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs2, + using numext::abs2; + return ReturnType(abs2(x.value()), x.derivatives() * (Scalar(2)*x.value()));) + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sqrt, + using std::sqrt; + Scalar sqrtx = sqrt(x.value()); + return ReturnType(sqrtx,x.derivatives() * (Scalar(0.5) / sqrtx));) + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos, + using std::cos; + using std::sin; + return ReturnType(cos(x.value()), x.derivatives() * (-sin(x.value())));) + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sin, + using std::sin; + using std::cos; + return ReturnType(sin(x.value()),x.derivatives() * cos(x.value()));) + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp, + using std::exp; + Scalar expx = exp(x.value()); + return ReturnType(expx,x.derivatives() * expx);) + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(log, + using std::log; + return ReturnType(log(x.value()),x.derivatives() * (Scalar(1)/x.value()));) + +template<typename DerType> +inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<typename Eigen::internal::traits<DerType>::Scalar>, const DerType> > +pow(const Eigen::AutoDiffScalar<DerType>& x, typename Eigen::internal::traits<DerType>::Scalar y) +{ + using namespace Eigen; + typedef typename Eigen::internal::traits<DerType>::Scalar Scalar; + return AutoDiffScalar<CwiseUnaryOp<Eigen::internal::scalar_multiple_op<Scalar>, const DerType> >( + std::pow(x.value(),y), + x.derivatives() * (y * std::pow(x.value(),y-1))); +} + + +template<typename DerTypeA,typename DerTypeB> +inline const AutoDiffScalar<Matrix<typename internal::traits<DerTypeA>::Scalar,Dynamic,1> > +atan2(const AutoDiffScalar<DerTypeA>& a, const AutoDiffScalar<DerTypeB>& b) +{ + using std::atan2; + using std::max; + typedef typename internal::traits<DerTypeA>::Scalar Scalar; + typedef AutoDiffScalar<Matrix<Scalar,Dynamic,1> > PlainADS; + PlainADS ret; + ret.value() = atan2(a.value(), b.value()); + + Scalar tmp2 = a.value() * a.value(); + Scalar tmp3 = b.value() * b.value(); + Scalar tmp4 = tmp3/(tmp2+tmp3); + + if (tmp4!=0) + ret.derivatives() = (a.derivatives() * b.value() - a.value() * b.derivatives()) * (tmp2+tmp3); + + return ret; +} + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(tan, + using std::tan; + using std::cos; + return ReturnType(tan(x.value()),x.derivatives() * (Scalar(1)/numext::abs2(cos(x.value()))));) + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(asin, + using std::sqrt; + using std::asin; + return ReturnType(asin(x.value()),x.derivatives() * (Scalar(1)/sqrt(1-numext::abs2(x.value()))));) + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(acos, + using std::sqrt; + using std::acos; + return ReturnType(acos(x.value()),x.derivatives() * (Scalar(-1)/sqrt(1-numext::abs2(x.value()))));) + +#undef EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY + +template<typename DerType> struct NumTraits<AutoDiffScalar<DerType> > + : NumTraits< typename NumTraits<typename DerType::Scalar>::Real > +{ + typedef AutoDiffScalar<Matrix<typename NumTraits<typename DerType::Scalar>::Real,DerType::RowsAtCompileTime,DerType::ColsAtCompileTime> > Real; + typedef AutoDiffScalar<DerType> NonInteger; + typedef AutoDiffScalar<DerType> Nested; + enum{ + RequireInitialization = 1 + }; +}; + +} + +#endif // EIGEN_AUTODIFF_SCALAR_H |