<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> <html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> <meta http-equiv="X-UA-Compatible" content="IE=9"/> <meta name="generator" content="Doxygen 1.8.5"/> <title>Eigen-unsupported: AutoDiffVector.h Source File</title> <link href="tabs.css" rel="stylesheet" type="text/css"/> <script type="text/javascript" src="jquery.js"></script> <script type="text/javascript" src="dynsections.js"></script> <link href="navtree.css" rel="stylesheet" type="text/css"/> <script type="text/javascript" src="resize.js"></script> <script type="text/javascript" src="navtree.js"></script> <script type="text/javascript"> $(document).ready(initResizable); $(window).load(resizeHeight); </script> <link href="search/search.css" rel="stylesheet" type="text/css"/> <script type="text/javascript" src="search/search.js"></script> <script type="text/javascript"> $(document).ready(function() { searchBox.OnSelectItem(0); }); </script> <link href="doxygen.css" rel="stylesheet" type="text/css" /> <link href="eigendoxy.css" rel="stylesheet" type="text/css"> <!-- --> <script type="text/javascript" src="eigen_navtree_hacks.js"></script> <!-- <script type="text/javascript"> --> <!-- </script> --> </head> <body> <div id="top"><!-- do not remove this div, it is closed by doxygen! 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If a copy of the MPL was not distributed</span></div> <div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div> <div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div> <div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#ifndef EIGEN_AUTODIFF_VECTOR_H</span></div> <div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor"></span><span class="preprocessor">#define EIGEN_AUTODIFF_VECTOR_H</span></div> <div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor"></span></div> <div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">namespace </span>Eigen {</div> <div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div> <div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">/* \class AutoDiffScalar</span></div> <div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * \brief A scalar type replacement with automatic differentation capability</span></div> <div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> *</span></div> <div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * \param DerType the vector type used to store/represent the derivatives (e.g. Vector3f)</span></div> <div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> *</span></div> <div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * This class represents a scalar value while tracking its respective derivatives.</span></div> <div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> *</span></div> <div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * It supports the following list of global math function:</span></div> <div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,</span></div> <div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * - internal::abs, internal::sqrt, numext::pow, internal::exp, internal::log, internal::sin, internal::cos,</span></div> <div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * - internal::conj, internal::real, internal::imag, numext::abs2.</span></div> <div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> *</span></div> <div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * AutoDiffScalar can be used as the scalar type of an Eigen::Matrix object. However,</span></div> <div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * in that case, the expression template mechanism only occurs at the top Matrix level,</span></div> <div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * while derivatives are computed right away.</span></div> <div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> *</span></div> <div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> */</span></div> <div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keyword">template</span><<span class="keyword">typename</span> ValueType, <span class="keyword">typename</span> JacobianType></div> <div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="keyword">class </span>AutoDiffVector</div> <div class="line"><a name="l00034"></a><span class="lineno"> 34</span> {</div> <div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keyword">public</span>:</div> <div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="comment">//typedef typename internal::traits<ValueType>::Scalar Scalar;</span></div> <div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> internal::traits<ValueType>::Scalar BaseScalar;</div> <div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keyword">typedef</span> AutoDiffScalar<Matrix<BaseScalar,JacobianType::RowsAtCompileTime,1> > ActiveScalar;</div> <div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">typedef</span> ActiveScalar Scalar;</div> <div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">typedef</span> AutoDiffScalar<typename JacobianType::ColXpr> CoeffType;</div> <div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> JacobianType::Index Index;</div> <div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div> <div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keyword">inline</span> AutoDiffVector() {}</div> <div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div> <div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">inline</span> AutoDiffVector(<span class="keyword">const</span> ValueType& values)</div> <div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  : m_values(values)</div> <div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  {</div> <div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  m_jacobian.setZero();</div> <div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  }</div> <div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div> <div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div> <div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  CoeffType operator[] (Index i) { <span class="keywordflow">return</span> CoeffType(m_values[i], m_jacobian.col(i)); }</div> <div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">const</span> CoeffType operator[] (Index i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> CoeffType(m_values[i], m_jacobian.col(i)); }</div> <div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div> <div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  CoeffType operator() (Index i) { <span class="keywordflow">return</span> CoeffType(m_values[i], m_jacobian.col(i)); }</div> <div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">const</span> CoeffType operator() (Index i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> CoeffType(m_values[i], m_jacobian.col(i)); }</div> <div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div> <div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  CoeffType coeffRef(Index i) { <span class="keywordflow">return</span> CoeffType(m_values[i], m_jacobian.col(i)); }</div> <div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">const</span> CoeffType coeffRef(Index i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> CoeffType(m_values[i], m_jacobian.col(i)); }</div> <div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div> <div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  Index size()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_values.size(); }</div> <div class="line"><a name="l00062"></a><span class="lineno"> 62</span> </div> <div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="comment">// FIXME here we could return an expression of the sum</span></div> <div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  Scalar sum()<span class="keyword"> const </span>{ <span class="comment">/*std::cerr << "sum \n\n";*/</span> <span class="comment">/*std::cerr << m_jacobian.rowwise().sum() << "\n\n";*/</span> <span class="keywordflow">return</span> Scalar(m_values.sum(), m_jacobian.rowwise().sum()); }</div> <div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div> <div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div> <div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">inline</span> AutoDiffVector(<span class="keyword">const</span> ValueType& values, <span class="keyword">const</span> JacobianType& jac)</div> <div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  : m_values(values), m_jacobian(jac)</div> <div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  {}</div> <div class="line"><a name="l00070"></a><span class="lineno"> 70</span> </div> <div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherValueType, <span class="keyword">typename</span> OtherJacobianType></div> <div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">inline</span> AutoDiffVector(<span class="keyword">const</span> AutoDiffVector<OtherValueType, OtherJacobianType>& other)</div> <div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  : m_values(other.values()), m_jacobian(other.jacobian())</div> <div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  {}</div> <div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div> <div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">inline</span> AutoDiffVector(<span class="keyword">const</span> AutoDiffVector& other)</div> <div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  : m_values(other.values()), m_jacobian(other.jacobian())</div> <div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  {}</div> <div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div> <div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherValueType, <span class="keyword">typename</span> OtherJacobianType></div> <div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">inline</span> AutoDiffVector& operator=(<span class="keyword">const</span> AutoDiffVector<OtherValueType, OtherJacobianType>& other)</div> <div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  {</div> <div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  m_values = other.values();</div> <div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  m_jacobian = other.jacobian();</div> <div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> <div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div> <div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div> <div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">inline</span> AutoDiffVector& operator=(<span class="keyword">const</span> AutoDiffVector& other)</div> <div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  {</div> <div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  m_values = other.values();</div> <div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  m_jacobian = other.jacobian();</div> <div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> <div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div> <div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div> <div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keyword">inline</span> <span class="keyword">const</span> ValueType& values()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_values; }</div> <div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">inline</span> ValueType& values() { <span class="keywordflow">return</span> m_values; }</div> <div class="line"><a name="l00097"></a><span class="lineno"> 97</span> </div> <div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">inline</span> <span class="keyword">const</span> JacobianType& jacobian()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_jacobian; }</div> <div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">inline</span> JacobianType& jacobian() { <span class="keywordflow">return</span> m_jacobian; }</div> <div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div> <div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherValueType,<span class="keyword">typename</span> OtherJacobianType></div> <div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">inline</span> <span class="keyword">const</span> AutoDiffVector<</div> <div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keyword">typename</span> MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,</div> <div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keyword">typename</span> MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type ></div> <div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  operator+(<span class="keyword">const</span> AutoDiffVector<OtherValueType,OtherJacobianType>& other)<span class="keyword"> const</span></div> <div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="keyword"> </span>{</div> <div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">return</span> AutoDiffVector<</div> <div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keyword">typename</span> MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,</div> <div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">typename</span> MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >(</div> <div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  m_values + other.values(),</div> <div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  m_jacobian + other.jacobian());</div> <div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  }</div> <div class="line"><a name="l00113"></a><span class="lineno"> 113</span> </div> <div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherValueType, <span class="keyword">typename</span> OtherJacobianType></div> <div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keyword">inline</span> AutoDiffVector&</div> <div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  operator+=(<span class="keyword">const</span> AutoDiffVector<OtherValueType,OtherJacobianType>& other)</div> <div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  {</div> <div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  m_values += other.values();</div> <div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  m_jacobian += other.jacobian();</div> <div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> <div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div> <div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div> <div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherValueType,<span class="keyword">typename</span> OtherJacobianType></div> <div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keyword">inline</span> <span class="keyword">const</span> AutoDiffVector<</div> <div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keyword">typename</span> MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,</div> <div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keyword">typename</span> MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type ></div> <div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  operator-(<span class="keyword">const</span> AutoDiffVector<OtherValueType,OtherJacobianType>& other)<span class="keyword"> const</span></div> <div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="keyword"> </span>{</div> <div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordflow">return</span> AutoDiffVector<</div> <div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keyword">typename</span> MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,</div> <div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keyword">typename</span> MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >(</div> <div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  m_values - other.values(),</div> <div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  m_jacobian - other.jacobian());</div> <div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  }</div> <div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div> <div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherValueType, <span class="keyword">typename</span> OtherJacobianType></div> <div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keyword">inline</span> AutoDiffVector&</div> <div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  operator-=(<span class="keyword">const</span> AutoDiffVector<OtherValueType,OtherJacobianType>& other)</div> <div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  {</div> <div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  m_values -= other.values();</div> <div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  m_jacobian -= other.jacobian();</div> <div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> <div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  }</div> <div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div> <div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keyword">inline</span> <span class="keyword">const</span> AutoDiffVector<</div> <div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,</div> <div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type ></div> <div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  operator-()<span class="keyword"> const</span></div> <div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="keyword"> </span>{</div> <div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">return</span> AutoDiffVector<</div> <div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,</div> <div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >(</div> <div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  -m_values,</div> <div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  -m_jacobian);</div> <div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  }</div> <div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div> <div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keyword">inline</span> <span class="keyword">const</span> AutoDiffVector<</div> <div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,</div> <div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type></div> <div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  operator*(<span class="keyword">const</span> BaseScalar& other)<span class="keyword"> const</span></div> <div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="keyword"> </span>{</div> <div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">return</span> AutoDiffVector<</div> <div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,</div> <div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(</div> <div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  m_values * other,</div> <div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  m_jacobian * other);</div> <div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</div> <div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div> <div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keyword">friend</span> <span class="keyword">inline</span> <span class="keyword">const</span> AutoDiffVector<</div> <div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,</div> <div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type ></div> <div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  operator*(<span class="keyword">const</span> Scalar& other, <span class="keyword">const</span> AutoDiffVector& v)</div> <div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  {</div> <div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">return</span> AutoDiffVector<</div> <div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,</div> <div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keyword">typename</span> MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(</div> <div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  v.values() * other,</div> <div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  v.jacobian() * other);</div> <div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  }</div> <div class="line"><a name="l00180"></a><span class="lineno"> 180</span> </div> <div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment">// template<typename OtherValueType,typename OtherJacobianType></span></div> <div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment">// inline const AutoDiffVector<</span></div> <div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="comment">// CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType></span></div> <div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="comment">// CwiseBinaryOp<internal::scalar_sum_op<Scalar>,</span></div> <div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="comment">// CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>,</span></div> <div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="comment">// CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > ></span></div> <div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="comment">// operator*(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const</span></div> <div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="comment">// {</span></div> <div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="comment">// return AutoDiffVector<</span></div> <div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="comment">// CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType></span></div> <div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="comment">// CwiseBinaryOp<internal::scalar_sum_op<Scalar>,</span></div> <div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="comment">// CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>,</span></div> <div class="line"><a name="l00193"></a><span class="lineno"> 193</span> <span class="comment">// CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > >(</span></div> <div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="comment">// m_values.cwise() * other.values(),</span></div> <div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="comment">// (m_jacobian * other.values()) + (m_values * other.jacobian()));</span></div> <div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="comment">// }</span></div> <div class="line"><a name="l00197"></a><span class="lineno"> 197</span> </div> <div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keyword">inline</span> AutoDiffVector& operator*=(<span class="keyword">const</span> Scalar& other)</div> <div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  {</div> <div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  m_values *= other;</div> <div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  m_jacobian *= other;</div> <div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> <div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  }</div> <div class="line"><a name="l00204"></a><span class="lineno"> 204</span> </div> <div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherValueType,<span class="keyword">typename</span> OtherJacobianType></div> <div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keyword">inline</span> AutoDiffVector& operator*=(<span class="keyword">const</span> AutoDiffVector<OtherValueType,OtherJacobianType>& other)</div> <div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  {</div> <div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  *<span class="keyword">this</span> = *<span class="keyword">this</span> * other;</div> <div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> <div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div> <div class="line"><a name="l00211"></a><span class="lineno"> 211</span> </div> <div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keyword">protected</span>:</div> <div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  ValueType m_values;</div> <div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  JacobianType m_jacobian;</div> <div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div> <div class="line"><a name="l00216"></a><span class="lineno"> 216</span> };</div> <div class="line"><a name="l00217"></a><span class="lineno"> 217</span> </div> <div class="line"><a name="l00218"></a><span class="lineno"> 218</span> }</div> <div class="line"><a name="l00219"></a><span class="lineno"> 219</span> </div> <div class="line"><a name="l00220"></a><span class="lineno"> 220</span> <span class="preprocessor">#endif // EIGEN_AUTODIFF_VECTOR_H</span></div> </div><!-- fragment --></div><!-- contents --> </div><!-- doc-content --> <!-- start footer part --> <div id="nav-path" class="navpath"><!-- id is needed for treeview function! --> <ul> <li class="navelem"><a class="el" href="dir_70b2be79c95c9d5bfaa4c2dafa46bf10.html">unsupported</a></li><li class="navelem"><a class="el" href="dir_f12b092121fb86d54df52b635b2d8129.html">Eigen</a></li><li class="navelem"><a class="el" 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