ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
186 lines
10 KiB
C++
186 lines
10 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2010-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
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// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_GLOBAL_FUNCTIONS_H
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#define EIGEN_GLOBAL_FUNCTIONS_H
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#ifdef EIGEN_PARSED_BY_DOXYGEN
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#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \
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/** \returns an expression of the coefficient-wise DOC_OP of \a x
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DOC_DETAILS
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\sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_##NAME">Math functions</a>, class CwiseUnaryOp
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*/ \
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template<typename Derived> \
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inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
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NAME(const Eigen::ArrayBase<Derived>& x);
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#else
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#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \
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template<typename Derived> \
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inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
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(NAME)(const Eigen::ArrayBase<Derived>& x) { \
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return Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived>(x.derived()); \
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}
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#endif // EIGEN_PARSED_BY_DOXYGEN
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#define EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(NAME,FUNCTOR) \
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\
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template<typename Derived> \
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struct NAME##_retval<ArrayBase<Derived> > \
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{ \
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typedef const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> type; \
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}; \
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template<typename Derived> \
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struct NAME##_impl<ArrayBase<Derived> > \
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{ \
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static inline typename NAME##_retval<ArrayBase<Derived> >::type run(const Eigen::ArrayBase<Derived>& x) \
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{ \
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return typename NAME##_retval<ArrayBase<Derived> >::type(x.derived()); \
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} \
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};
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namespace Eigen
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{
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(real,scalar_real_op,real part,\sa ArrayBase::real)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(imag,scalar_imag_op,imaginary part,\sa ArrayBase::imag)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(conj,scalar_conjugate_op,complex conjugate,\sa ArrayBase::conjugate)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(inverse,scalar_inverse_op,inverse,\sa ArrayBase::inverse)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sin,scalar_sin_op,sine,\sa ArrayBase::sin)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cos,scalar_cos_op,cosine,\sa ArrayBase::cos)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tan,scalar_tan_op,tangent,\sa ArrayBase::tan)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(atan,scalar_atan_op,arc-tangent,\sa ArrayBase::atan)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(asin,scalar_asin_op,arc-sine,\sa ArrayBase::asin)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(acos,scalar_acos_op,arc-consine,\sa ArrayBase::acos)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sinh,scalar_sinh_op,hyperbolic sine,\sa ArrayBase::sinh)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cosh,scalar_cosh_op,hyperbolic cosine,\sa ArrayBase::cosh)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tanh,scalar_tanh_op,hyperbolic tangent,\sa ArrayBase::tanh)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(lgamma,scalar_lgamma_op,natural logarithm of the gamma function,\sa ArrayBase::lgamma)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(digamma,scalar_digamma_op,derivative of lgamma,\sa ArrayBase::digamma)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erf,scalar_erf_op,error function,\sa ArrayBase::erf)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erfc,scalar_erfc_op,complement error function,\sa ArrayBase::erfc)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(exp,scalar_exp_op,exponential,\sa ArrayBase::exp)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(expm1,scalar_expm1_op,exponential of a value minus 1,\sa ArrayBase::expm1)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log,scalar_log_op,natural logarithm,\sa Eigen::log10 DOXCOMMA ArrayBase::log)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log1p,scalar_log1p_op,natural logarithm of 1 plus the value,\sa ArrayBase::log1p)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log10,scalar_log10_op,base 10 logarithm,\sa Eigen::log DOXCOMMA ArrayBase::log)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs,scalar_abs_op,absolute value,\sa ArrayBase::abs DOXCOMMA MatrixBase::cwiseAbs)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs2,scalar_abs2_op,squared absolute value,\sa ArrayBase::abs2 DOXCOMMA MatrixBase::cwiseAbs2)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(arg,scalar_arg_op,complex argument,\sa ArrayBase::arg)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sqrt,scalar_sqrt_op,square root,\sa ArrayBase::sqrt DOXCOMMA MatrixBase::cwiseSqrt)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(rsqrt,scalar_rsqrt_op,reciprocal square root,\sa ArrayBase::rsqrt)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(square,scalar_square_op,square (power 2),\sa Eigen::abs2 DOXCOMMA Eigen::pow DOXCOMMA ArrayBase::square)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cube,scalar_cube_op,cube (power 3),\sa Eigen::pow DOXCOMMA ArrayBase::cube)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(round,scalar_round_op,nearest integer,\sa Eigen::floor DOXCOMMA Eigen::ceil DOXCOMMA ArrayBase::round)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(floor,scalar_floor_op,nearest integer not greater than the giben value,\sa Eigen::ceil DOXCOMMA ArrayBase::floor)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(ceil,scalar_ceil_op,nearest integer not less than the giben value,\sa Eigen::floor DOXCOMMA ArrayBase::ceil)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isnan,scalar_isnan_op,not-a-number test,\sa Eigen::isinf DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isnan)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isinf,scalar_isinf_op,infinite value test,\sa Eigen::isnan DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isinf)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isfinite,scalar_isfinite_op,finite value test,\sa Eigen::isinf DOXCOMMA Eigen::isnan DOXCOMMA ArrayBase::isfinite)
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EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sign,scalar_sign_op,sign (or 0),\sa ArrayBase::sign)
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/** \returns an expression of the coefficient-wise power of \a x to the given constant \a exponent.
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*
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* \tparam ScalarExponent is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression (\c Derived::Scalar).
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*
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* \sa ArrayBase::pow()
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*
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* \relates ArrayBase
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*/
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#ifdef EIGEN_PARSED_BY_DOXYGEN
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template<typename Derived,typename ScalarExponent>
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inline const CwiseBinaryOp<internal::scalar_pow_op<Derived::Scalar,ScalarExponent>,Derived,Constant<ScalarExponent> >
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pow(const Eigen::ArrayBase<Derived>& x, const ScalarExponent& exponent);
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#else
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template <typename Derived,typename ScalarExponent>
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EIGEN_DEVICE_FUNC inline
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EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(
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const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename internal::promote_scalar_arg<typename Derived::Scalar
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EIGEN_COMMA ScalarExponent EIGEN_COMMA
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EIGEN_SCALAR_BINARY_SUPPORTED(pow,typename Derived::Scalar,ScalarExponent)>::type,pow))
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pow(const Eigen::ArrayBase<Derived>& x, const ScalarExponent& exponent)
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{
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typedef typename internal::promote_scalar_arg<typename Derived::Scalar,ScalarExponent,
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EIGEN_SCALAR_BINARY_SUPPORTED(pow,typename Derived::Scalar,ScalarExponent)>::type PromotedExponent;
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return EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,PromotedExponent,pow)(x.derived(),
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typename internal::plain_constant_type<Derived,PromotedExponent>::type(x.derived().rows(), x.derived().cols(), internal::scalar_constant_op<PromotedExponent>(exponent)));
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}
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#endif
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/** \returns an expression of the coefficient-wise power of \a x to the given array of \a exponents.
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*
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* This function computes the coefficient-wise power.
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*
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* Example: \include Cwise_array_power_array.cpp
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* Output: \verbinclude Cwise_array_power_array.out
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*
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* \sa ArrayBase::pow()
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*
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* \relates ArrayBase
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*/
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template<typename Derived,typename ExponentDerived>
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inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>
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pow(const Eigen::ArrayBase<Derived>& x, const Eigen::ArrayBase<ExponentDerived>& exponents)
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{
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return Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>(
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x.derived(),
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exponents.derived()
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);
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}
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/** \returns an expression of the coefficient-wise power of the scalar \a x to the given array of \a exponents.
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*
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* This function computes the coefficient-wise power between a scalar and an array of exponents.
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*
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* \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar).
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*
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* Example: \include Cwise_scalar_power_array.cpp
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* Output: \verbinclude Cwise_scalar_power_array.out
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*
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* \sa ArrayBase::pow()
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*
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* \relates ArrayBase
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*/
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#ifdef EIGEN_PARSED_BY_DOXYGEN
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template<typename Scalar,typename Derived>
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inline const CwiseBinaryOp<internal::scalar_pow_op<Scalar,Derived::Scalar>,Constant<Scalar>,Derived>
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pow(const Scalar& x,const Eigen::ArrayBase<Derived>& x);
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#else
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template <typename Scalar, typename Derived>
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EIGEN_DEVICE_FUNC inline
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EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(
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const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename internal::promote_scalar_arg<typename Derived::Scalar
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EIGEN_COMMA Scalar EIGEN_COMMA
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EIGEN_SCALAR_BINARY_SUPPORTED(pow,Scalar,typename Derived::Scalar)>::type,Derived,pow))
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pow(const Scalar& x, const Eigen::ArrayBase<Derived>& exponents) {
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typedef typename internal::promote_scalar_arg<typename Derived::Scalar,Scalar,
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EIGEN_SCALAR_BINARY_SUPPORTED(pow,Scalar,typename Derived::Scalar)>::type PromotedScalar;
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return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(PromotedScalar,Derived,pow)(
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typename internal::plain_constant_type<Derived,PromotedScalar>::type(exponents.derived().rows(), exponents.derived().cols(), internal::scalar_constant_op<PromotedScalar>(x)), exponents.derived());
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}
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#endif
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namespace internal
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{
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EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(real,scalar_real_op)
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EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(imag,scalar_imag_op)
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EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(abs2,scalar_abs2_op)
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}
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}
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// TODO: cleanly disable those functions that are not supported on Array (numext::real_ref, internal::random, internal::isApprox...)
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#endif // EIGEN_GLOBAL_FUNCTIONS_H
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