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<div class="title">AutoDiffJacobian.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// Public License v. 2.0. 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_JACOBIAN_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_JACOBIAN_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> </div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">template</span><<span class="keyword">typename</span> Functor> <span class="keyword">class </span>AutoDiffJacobian : <span class="keyword">public</span> Functor</div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> {</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  AutoDiffJacobian() : Functor() {}</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  AutoDiffJacobian(<span class="keyword">const</span> Functor& f) : Functor(f) {}</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="comment">// forward constructors</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T0></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  AutoDiffJacobian(<span class="keyword">const</span> T0& a0) : Functor(a0) {}</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T0, <span class="keyword">typename</span> T1></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  AutoDiffJacobian(<span class="keyword">const</span> T0& a0, <span class="keyword">const</span> T1& a1) : Functor(a0, a1) {}</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T0, <span class="keyword">typename</span> T1, <span class="keyword">typename</span> T2></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  AutoDiffJacobian(<span class="keyword">const</span> T0& a0, <span class="keyword">const</span> T1& a1, <span class="keyword">const</span> T2& a2) : Functor(a0, a1, a2) {}</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  InputsAtCompileTime = Functor::InputsAtCompileTime,</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  ValuesAtCompileTime = Functor::ValuesAtCompileTime</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  };</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">typedef</span> <span class="keyword">typename</span> Functor::InputType InputType;</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> Functor::ValueType ValueType;</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> Functor::JacobianType JacobianType;</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> JacobianType::Scalar Scalar;</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> JacobianType::Index Index;</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">typedef</span> Matrix<Scalar,InputsAtCompileTime,1> DerivativeType;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">typedef</span> AutoDiffScalar<DerivativeType> ActiveScalar;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </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">typedef</span> Matrix<ActiveScalar, InputsAtCompileTime, 1> ActiveInput;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">typedef</span> Matrix<ActiveScalar, ValuesAtCompileTime, 1> ActiveValue;</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>  <span class="keywordtype">void</span> operator() (<span class="keyword">const</span> InputType& x, ValueType* v, JacobianType* _jac=0)<span class="keyword"> const</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  eigen_assert(v!=0);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">if</span> (!_jac)</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  Functor::operator()(x, v);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  }</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  JacobianType& jac = *_jac;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  ActiveInput ax = x.template cast<ActiveScalar>();</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  ActiveValue av(jac.rows());</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">if</span>(InputsAtCompileTime==Dynamic)</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">for</span> (Index j=0; j<jac.rows(); j++)</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  av[j].derivatives().resize(this->inputs());</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>  <span class="keywordflow">for</span> (Index i=0; i<jac.cols(); i++)</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  ax[i].derivatives() = DerivativeType::Unit(this->inputs(),i);</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  Functor::operator()(ax, &av);</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="keywordflow">for</span> (Index i=0; i<jac.rows(); i++)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  {</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  (*v)[i] = av[i].value();</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  jac.row(i) = av[i].derivatives();</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>  }</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">protected</span>:</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> </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> }</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> <span class="preprocessor">#endif // EIGEN_AUTODIFF_JACOBIAN_H</span></div>
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