merge with eigen-tip

5 files changed, 52 insertions, 50 deletions

diff --git a/unsupported/CMakeLists.txt b/unsupported/CMakeLists.txt
index 895fcdbed..7104085a3 100644
--- a/unsupported/CMakeLists.txt
+++ b/unsupported/CMakeLists.txt
@@ -1,9 +1,3 @@
-
 add_subdirectory(Eigen)
-
-add_subdirectory(doc)
-
-if(EIGEN_BUILD_TESTS)
-  add_subdirectory(test)
-endif(EIGEN_BUILD_TESTS)
-
+add_subdirectory(doc EXCLUDE_FROM_ALL)
+add_subdirectory(test EXCLUDE_FROM_ALL)
diff --git a/unsupported/Eigen/AdolcForward b/unsupported/Eigen/AdolcForward
index 9a54a3aaa..70aa47815 100644
--- a/unsupported/Eigen/AdolcForward
+++ b/unsupported/Eigen/AdolcForward
@@ -29,7 +29,7 @@
 //
 // This file provides support for adolc's adouble type in forward mode.
 // ADOL-C is a C++ automatic differentiation library,
-// see http://www.math.tu-dresden.de/~adol-c/ for more information.
+// see https://projects.coin-or.org/ADOL-C for more information.
 //
 // Note that the maximal number of directions is controlled by
 // the preprocessor token NUMBER_DIRECTIONS. The default is 2.
@@ -63,7 +63,7 @@ namespace Eigen {
   * \defgroup AdolcForward_Module Adolc forward module
   * This module provides support for adolc's adouble type in forward mode.
   * ADOL-C is a C++ automatic differentiation library,
-  * see http://www.math.tu-dresden.de/~adol-c/ for more information.
+  * see https://projects.coin-or.org/ADOL-C for more information.
   * It mainly consists in:
   *  - a struct Eigen::NumTraits<adtl::adouble> specialization
   *  - overloads of ei_* math function for adtl::adouble type.
diff --git a/unsupported/Eigen/AlignedVector3 b/unsupported/Eigen/AlignedVector3
index aaec5f98a..f20fad6d1 100644
--- a/unsupported/Eigen/AlignedVector3
+++ b/unsupported/Eigen/AlignedVector3
@@ -63,37 +63,37 @@ template<typename _Scalar> class AlignedVector3
     typedef Matrix<_Scalar,4,1> CoeffType;
     CoeffType m_coeffs;
   public:
-  
+
     EIGEN_GENERIC_PUBLIC_INTERFACE(AlignedVector3)
     using Base::operator*;
-    
+
     inline int rows() const { return 3; }
     inline int cols() const { return 1; }
-    
+
     inline const Scalar& coeff(int row, int col) const
     { return m_coeffs.coeff(row, col); }
-    
+
     inline Scalar& coeffRef(int row, int col)
     { return m_coeffs.coeffRef(row, col); }
-    
+
     inline const Scalar& coeff(int index) const
     { return m_coeffs.coeff(index); }
 
     inline Scalar& coeffRef(int index)
     { return m_coeffs.coeffRef(index);}
-  
-  
+
+
     inline AlignedVector3(const Scalar& x, const Scalar& y, const Scalar& z)
       : m_coeffs(x, y, z, Scalar(0))
     {}
-    
+
     inline AlignedVector3(const AlignedVector3& other)
-      : m_coeffs(other.m_coeffs)
+      : Base(), m_coeffs(other.m_coeffs)
     {}
-    
+
     template<typename XprType, int Size=XprType::SizeAtCompileTime>
     struct generic_assign_selector {};
-    
+
     template<typename XprType> struct generic_assign_selector<XprType,4>
     {
       inline static void run(AlignedVector3& dest, const XprType& src)
@@ -101,7 +101,7 @@ template<typename _Scalar> class AlignedVector3
         dest.m_coeffs = src;
       }
     };
-    
+
     template<typename XprType> struct generic_assign_selector<XprType,3>
     {
       inline static void run(AlignedVector3& dest, const XprType& src)
@@ -110,44 +110,44 @@ template<typename _Scalar> class AlignedVector3
         dest.m_coeffs.w() = Scalar(0);
       }
     };
-    
+
     template<typename Derived>
     inline explicit AlignedVector3(const MatrixBase<Derived>& other)
     {
       generic_assign_selector<Derived>::run(*this,other.derived());
     }
-    
+
     inline AlignedVector3& operator=(const AlignedVector3& other)
     { m_coeffs = other.m_coeffs; return *this; }
-    
-    
+
+
     inline AlignedVector3 operator+(const AlignedVector3& other) const
     { return AlignedVector3(m_coeffs + other.m_coeffs); }
-    
+
     inline AlignedVector3& operator+=(const AlignedVector3& other)
     { m_coeffs += other.m_coeffs; return *this; }
-    
+
     inline AlignedVector3 operator-(const AlignedVector3& other) const
     { return AlignedVector3(m_coeffs - other.m_coeffs); }
-    
+
     inline AlignedVector3 operator-=(const AlignedVector3& other)
     { m_coeffs -= other.m_coeffs; return *this; }
-    
+
     inline AlignedVector3 operator*(const Scalar& s) const
     { return AlignedVector3(m_coeffs * s); }
-    
+
     inline friend AlignedVector3 operator*(const Scalar& s,const AlignedVector3& vec)
     { return AlignedVector3(s * vec.m_coeffs); }
-    
+
     inline AlignedVector3& operator*=(const Scalar& s)
     { m_coeffs *= s; return *this; }
-    
+
     inline AlignedVector3 operator/(const Scalar& s) const
     { return AlignedVector3(m_coeffs / s); }
-    
+
     inline AlignedVector3& operator/=(const Scalar& s)
     { m_coeffs /= s; return *this; }
-    
+
     inline Scalar dot(const AlignedVector3& other) const
     {
       ei_assert(m_coeffs.w()==Scalar(0));
@@ -164,29 +164,29 @@ template<typename _Scalar> class AlignedVector3
     {
       return AlignedVector3(m_coeffs / norm());
     }
-    
+
     inline Scalar sum() const
     {
       ei_assert(m_coeffs.w()==Scalar(0));
       return m_coeffs.sum();
     }
-    
+
     inline Scalar squaredNorm() const
     {
       ei_assert(m_coeffs.w()==Scalar(0));
       return m_coeffs.squaredNorm();
     }
-    
+
     inline Scalar norm() const
     {
       return ei_sqrt(squaredNorm());
     }
-    
+
     inline AlignedVector3 cross(const AlignedVector3& other) const
     {
       return AlignedVector3(m_coeffs.cross3(other.m_coeffs));
     }
-    
+
     template<typename Derived>
     inline bool isApprox(const MatrixBase<Derived>& other, RealScalar eps=precision<Scalar>()) const
     {
diff --git a/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h b/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
index 0feb577df..d42197345 100644
--- a/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
+++ b/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
@@ -56,7 +56,7 @@ public:
   typedef Matrix<ActiveScalar, InputsAtCompileTime, 1> ActiveInput;
   typedef Matrix<ActiveScalar, ValuesAtCompileTime, 1> ActiveValue;
 
-  void operator() (const InputType& x, ValueType* v, JacobianType* _jac) const
+  void operator() (const InputType& x, ValueType* v, JacobianType* _jac=0) const
   {
     ei_assert(v!=0);
     if (!_jac)
diff --git a/unsupported/test/autodiff.cpp b/unsupported/test/autodiff.cpp
index 43ef1a308..b1164897c 100644
--- a/unsupported/test/autodiff.cpp
+++ b/unsupported/test/autodiff.cpp
@@ -111,7 +111,7 @@ struct TestFunc1
   }
 };
 
-template<typename Func> void adolc_forward_jacobian(const Func& f)
+template<typename Func> void forward_jacobian(const Func& f)
 {
     typename Func::InputType x = Func::InputType::Random(f.inputs());
     typename Func::ValueType y(f.values()), yref(f.values());
@@ -134,21 +134,29 @@ template<typename Func> void adolc_forward_jacobian(const Func& f)
     VERIFY_IS_APPROX(j, jref);
 }
 
-void test_autodiff()
+void test_autodiff_scalar()
 {
   std::cerr << foo<float>(1,2) << "\n";
   AutoDiffScalar<Vector2f> ax(1,Vector2f::UnitX());
   AutoDiffScalar<Vector2f> ay(2,Vector2f::UnitY());
   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++) {
-    CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1<double,2,2>()) ));
-    CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1<double,2,3>()) ));
-    CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1<double,3,2>()) ));
-    CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1<double,3,3>()) ));
-    CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1<double>(3,3)) ));
+    CALL_SUBTEST(( forward_jacobian(TestFunc1<double,2,2>()) ));
+    CALL_SUBTEST(( forward_jacobian(TestFunc1<double,2,3>()) ));
+    CALL_SUBTEST(( forward_jacobian(TestFunc1<double,3,2>()) ));
+    CALL_SUBTEST(( forward_jacobian(TestFunc1<double,3,3>()) ));
+    CALL_SUBTEST(( forward_jacobian(TestFunc1<double>(3,3)) ));
   }
-  
-//   exit(1);
 }
+
+void test_autodiff()
+{
+    test_autodiff_scalar();
+    test_autodiff_jacobian();
+}
+