blob: 6ef6bf4083430fa71a120c99c7b1dbc18a4ace46 [file] [log] [blame]
 // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Gael Guennebaud // // 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_JACOBIAN_H #define EIGEN_AUTODIFF_JACOBIAN_H #include "./InternalHeaderCheck.h" namespace Eigen { template class AutoDiffJacobian : public Functor { public: AutoDiffJacobian() : Functor() {} AutoDiffJacobian(const Functor& f) : Functor(f) {} // forward constructors template AutoDiffJacobian(const T& ...Values) : Functor(Values...) {} typedef typename Functor::InputType InputType; typedef typename Functor::ValueType ValueType; typedef typename ValueType::Scalar Scalar; enum { InputsAtCompileTime = InputType::RowsAtCompileTime, ValuesAtCompileTime = ValueType::RowsAtCompileTime }; typedef Matrix JacobianType; typedef typename JacobianType::Index Index; typedef Matrix DerivativeType; typedef AutoDiffScalar ActiveScalar; typedef Matrix ActiveInput; typedef Matrix ActiveValue; // Some compilers don't accept variadic parameters after a default parameter, // i.e., we can't just write _jac=0 but we need to overload operator(): EIGEN_STRONG_INLINE void operator() (const InputType& x, ValueType* v) const { this->operator()(x, v, 0); } template void operator() (const InputType& x, ValueType* v, JacobianType* _jac, const ParamsType&... Params) const { eigen_assert(v!=0); if (!_jac) { Functor::operator()(x, v, Params...); return; } JacobianType& jac = *_jac; ActiveInput ax = x.template cast(); ActiveValue av(jac.rows()); if(InputsAtCompileTime==Dynamic) for (Index j=0; j