autodiff:

* fix namespace issue
* simplify Jacobian code
* fix issue with "Dynamic derivatives"

3 files changed, 110 insertions, 53 deletions

diff --git a/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h b/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
index d42197345..a5e881487 100644
--- a/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
+++ b/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
@@ -46,13 +46,14 @@ public:
     InputsAtCompileTime = Functor::InputsAtCompileTime,
     ValuesAtCompileTime = Functor::ValuesAtCompileTime
   };
-  
+
   typedef typename Functor::InputType InputType;
   typedef typename Functor::ValueType ValueType;
   typedef typename Functor::JacobianType JacobianType;
 
-  typedef AutoDiffScalar<Matrix<double,InputsAtCompileTime,1> > ActiveScalar;
-  
+  typedef Matrix<double,InputsAtCompileTime,1> DerivativeType;
+  typedef AutoDiffScalar<DerivativeType> ActiveScalar;
+
   typedef Matrix<ActiveScalar, InputsAtCompileTime, 1> ActiveInput;
   typedef Matrix<ActiveScalar, ValuesAtCompileTime, 1> ActiveValue;
 
@@ -69,26 +70,20 @@ public:
 
     ActiveInput ax = x.template cast<ActiveScalar>();
     ActiveValue av(jac.rows());
-    
+
     if(InputsAtCompileTime==Dynamic)
-    {
-      for (int j=0; j<jac.cols(); j++)
-        ax[j].derivatives().resize(this->inputs());
       for (int j=0; j<jac.rows(); j++)
         av[j].derivatives().resize(this->inputs());
-    }
-    
-    for (int j=0; j<jac.cols(); j++)
-      for (int i=0; i<jac.cols(); i++)
-        ax[i].derivatives().coeffRef(j) = i==j ? 1 : 0;
+
+    for (int i=0; i<jac.cols(); i++)
+      ax[i].derivatives() = DerivativeType::Unit(this->inputs(),i);
 
     Functor::operator()(ax, &av);
 
     for (int i=0; i<jac.rows(); i++)
     {
       (*v)[i] = av[i].value();
-      for (int j=0; j<jac.cols(); j++)
-        jac.coeffRef(i,j) = av[i].derivatives().coeff(j);
+      jac.row(i) = av[i].derivatives();
     }
   }
 protected:
diff --git a/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
index f82e5e7c6..888aa5c8c 100644
--- a/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
+++ b/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
@@ -27,6 +27,18 @@
 
 namespace Eigen {
 
+template<typename A, typename B>
+struct ei_make_coherent_impl {
+  static void run(A& a, B& b) {}
+};
+
+// resize a to match b is a.size()==0, and conversely.
+template<typename A, typename B>
+void ei_make_coherent(const A& a, const B&b)
+{
+  ei_make_coherent_impl<A,B>::run(a.const_cast_derived(), b.const_cast_derived());
+}
+
 /** \class AutoDiffScalar
   * \brief A scalar type replacement with automatic differentation capability
   *
@@ -35,7 +47,7 @@ namespace Eigen {
   * This class represents a scalar value while tracking its respective derivatives.
   *
   * It supports the following list of global math function:
-  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos, 
+  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,
   *  - ei_abs, ei_sqrt, ei_pow, ei_exp, ei_log, ei_sin, ei_cos,
   *  - ei_conj, ei_real, ei_imag, ei_abs2.
   *
@@ -49,29 +61,29 @@ class AutoDiffScalar
 {
   public:
     typedef typename ei_traits<DerType>::Scalar Scalar;
-    
+
     inline AutoDiffScalar() {}
-    
+
     inline AutoDiffScalar(const Scalar& value)
       : m_value(value)
     {
       if(m_derivatives.size()>0)
         m_derivatives.setZero();
     }
-    
+
     inline AutoDiffScalar(const Scalar& value, const DerType& der)
       : m_value(value), m_derivatives(der)
     {}
-    
+
     template<typename OtherDerType>
     inline AutoDiffScalar(const AutoDiffScalar<OtherDerType>& other)
       : m_value(other.value()), m_derivatives(other.derivatives())
     {}
-    
+
     inline AutoDiffScalar(const AutoDiffScalar& other)
       : m_value(other.value()), m_derivatives(other.derivatives())
     {}
-    
+
     template<typename OtherDerType>
     inline AutoDiffScalar& operator=(const AutoDiffScalar<OtherDerType>& other)
     {
@@ -79,32 +91,33 @@ class AutoDiffScalar
       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; }
-    
+
     template<typename OtherDerType>
     inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,OtherDerType> >
     operator+(const AutoDiffScalar<OtherDerType>& other) const
     {
+      ei_make_coherent(m_derivatives, other.derivatives());
       return AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,OtherDerType> >(
         m_value + other.value(),
         m_derivatives + other.derivatives());
     }
-    
+
     template<typename OtherDerType>
     inline AutoDiffScalar&
     operator+=(const AutoDiffScalar<OtherDerType>& other)
@@ -112,16 +125,17 @@ class AutoDiffScalar
       (*this) = (*this) + other;
       return *this;
     }
-    
+
     template<typename OtherDerType>
     inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,OtherDerType> >
     operator-(const AutoDiffScalar<OtherDerType>& other) const
     {
+      ei_make_coherent(m_derivatives, other.derivatives());
       return AutoDiffScalar<CwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,OtherDerType> >(
         m_value - other.value(),
         m_derivatives - other.derivatives());
     }
-    
+
     template<typename OtherDerType>
     inline AutoDiffScalar&
     operator-=(const AutoDiffScalar<OtherDerType>& other)
@@ -129,7 +143,7 @@ class AutoDiffScalar
       *this = *this - other;
       return *this;
     }
-    
+
     template<typename OtherDerType>
     inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType> >
     operator-() const
@@ -138,7 +152,7 @@ class AutoDiffScalar
         -m_value,
         -m_derivatives);
     }
-    
+
     inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
     operator*(const Scalar& other) const
     {
@@ -146,7 +160,7 @@ class AutoDiffScalar
         m_value * other,
         (m_derivatives * other));
     }
-    
+
     friend inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
     operator*(const Scalar& other, const AutoDiffScalar& a)
     {
@@ -154,7 +168,7 @@ class AutoDiffScalar
         a.value() * other,
         a.derivatives() * other);
     }
-    
+
     inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
     operator/(const Scalar& other) const
     {
@@ -162,7 +176,7 @@ class AutoDiffScalar
         m_value / other,
         (m_derivatives * (Scalar(1)/other)));
     }
-    
+
     friend inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
     operator/(const Scalar& other, const AutoDiffScalar& a)
     {
@@ -170,7 +184,7 @@ class AutoDiffScalar
         other / a.value(),
         a.derivatives() * (-Scalar(1)/other));
     }
-    
+
     template<typename OtherDerType>
     inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>,
         NestByValue<CwiseBinaryOp<ei_scalar_difference_op<Scalar>,
@@ -178,6 +192,7 @@ class AutoDiffScalar
           NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > > > >
     operator/(const AutoDiffScalar<OtherDerType>& other) const
     {
+      ei_make_coherent(m_derivatives, other.derivatives());
       return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>,
         NestByValue<CwiseBinaryOp<ei_scalar_difference_op<Scalar>,
           NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >,
@@ -186,45 +201,91 @@ class AutoDiffScalar
           ((m_derivatives * other.value()).nestByValue() - (m_value * other.derivatives()).nestByValue()).nestByValue()
         * (Scalar(1)/(other.value()*other.value())));
     }
-    
+
     template<typename OtherDerType>
     inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,
         NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >,
         NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > >
     operator*(const AutoDiffScalar<OtherDerType>& other) const
     {
+      ei_make_coherent(m_derivatives, other.derivatives());
       return AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,
         NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >,
         NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > >(
         m_value * other.value(),
         (m_derivatives * other.value()).nestByValue() + (m_value * other.derivatives()).nestByValue());
     }
-    
+
     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;
-    
+
+};
+
+template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols, typename B>
+struct ei_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 ei_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 ei_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();
+    }
+  }
 };
 
 }
 
 #define EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(FUNC,CODE) \
   template<typename DerType> \
-  inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<DerType>::Scalar>, DerType> > \
-  FUNC(const AutoDiffScalar<DerType>& x) { \
+  inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::ei_scalar_multiple_op<typename Eigen::ei_traits<DerType>::Scalar>, DerType> > \
+  FUNC(const Eigen::AutoDiffScalar<DerType>& x) { \
+    using namespace Eigen; \
     typedef typename ei_traits<DerType>::Scalar Scalar; \
     typedef AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> > ReturnType; \
     CODE; \
@@ -234,34 +295,35 @@ namespace std
 {
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs,
     return ReturnType(std::abs(x.value()), x.derivatives() * (sign(x.value())));)
-  
+
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sqrt,
     Scalar sqrtx = std::sqrt(x.value());
     return ReturnType(sqrtx,x.derivatives() * (Scalar(0.5) / sqrtx));)
-  
+
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos,
     return ReturnType(std::cos(x.value()), x.derivatives() * (-std::sin(x.value())));)
-  
+
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sin,
     return ReturnType(std::sin(x.value()),x.derivatives() * std::cos(x.value()));)
-  
+
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp,
     Scalar expx = std::exp(x.value());
     return ReturnType(expx,x.derivatives() * expx);)
 
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(ei_log,
     return ReturnType(std::log(x.value),x.derivatives() * (Scalar(1).x.value()));)
-  
+
   template<typename DerType>
-  inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<DerType>::Scalar>, DerType> >
-  pow(const AutoDiffScalar<DerType>& x, typename ei_traits<DerType>::Scalar y)
+  inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::ei_scalar_multiple_op<typename Eigen::ei_traits<DerType>::Scalar>, DerType> >
+  pow(const Eigen::AutoDiffScalar<DerType>& x, typename Eigen::ei_traits<DerType>::Scalar y)
   {
+    using namespace Eigen;
     typedef typename ei_traits<DerType>::Scalar Scalar;
     return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
       std::pow(x.value(),y),
       x.derivatives() * (y * std::pow(x.value(),y-1)));
   }
-  
+
 }
 
 namespace Eigen {
diff --git a/unsupported/test/autodiff.cpp b/unsupported/test/autodiff.cpp
index b1164897c..a96927b41 100644
--- a/unsupported/test/autodiff.cpp
+++ b/unsupported/test/autodiff.cpp
@@ -46,12 +46,12 @@ struct TestFunc1
   typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
   typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
   typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
-  
+
   int m_inputs, m_values;
-  
+
   TestFunc1() : m_inputs(InputsAtCompileTime), m_values(ValuesAtCompileTime) {}
   TestFunc1(int inputs, int values) : m_inputs(inputs), m_values(values) {}
-  
+
   int inputs() const { return m_inputs; }
   int values() const { return m_values; }
 
@@ -142,7 +142,7 @@ void test_autodiff_scalar()
   std::cerr << foo<AutoDiffScalar<Vector2f> >(ax,ay).value() << " <> "
             << foo<AutoDiffScalar<Vector2f> >(ax,ay).derivatives().transpose() << "\n\n";
 }
-  
+
 void test_autodiff_jacobian()
 {
   for(int i = 0; i < g_repeat; i++) {