mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-07 21:02:06 +08:00
George Hotz
340 lines
9.1 KiB
C++
340 lines
9.1 KiB
C++
// $Id: add_op.hpp 3865 2017-01-19 01:57:55Z bradbell $
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# ifndef CPPAD_LOCAL_ADD_OP_HPP
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# define CPPAD_LOCAL_ADD_OP_HPP
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/* --------------------------------------------------------------------------
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CppAD: C++ Algorithmic Differentiation: Copyright (C) 2003-17 Bradley M. Bell
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CppAD is distributed under multiple licenses. This distribution is under
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the terms of the
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Eclipse Public License Version 1.0.
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A copy of this license is included in the COPYING file of this distribution.
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Please visit http://www.coin-or.org/CppAD/ for information on other licenses.
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-------------------------------------------------------------------------- */
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namespace CppAD { namespace local { // BEGIN_CPPAD_LOCAL_NAMESPACE
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/*!
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\file add_op.hpp
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Forward and reverse mode calculations for z = x + y.
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*/
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// --------------------------- Addvv -----------------------------------------
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/*!
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Compute forward mode Taylor coefficients for result of op = AddvvOp.
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The C++ source code corresponding to this operation is
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\verbatim
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z = x + y
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\endverbatim
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In the documentation below,
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this operations is for the case where both x and y are variables
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and the argument \a parameter is not used.
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\copydetails CppAD::local::forward_binary_op
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*/
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template <class Base>
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inline void forward_addvv_op(
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size_t p ,
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size_t q ,
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size_t i_z ,
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const addr_t* arg ,
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const Base* parameter ,
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size_t cap_order ,
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Base* taylor )
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{
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// check assumptions
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CPPAD_ASSERT_UNKNOWN( NumArg(AddvvOp) == 2 );
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CPPAD_ASSERT_UNKNOWN( NumRes(AddvvOp) == 1 );
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CPPAD_ASSERT_UNKNOWN( q < cap_order );
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CPPAD_ASSERT_UNKNOWN( p <= q );
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// Taylor coefficients corresponding to arguments and result
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Base* x = taylor + arg[0] * cap_order;
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Base* y = taylor + arg[1] * cap_order;
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Base* z = taylor + i_z * cap_order;
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for(size_t j = p; j <= q; j++)
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z[j] = x[j] + y[j];
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}
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/*!
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Multiple directions forward mode Taylor coefficients for op = AddvvOp.
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The C++ source code corresponding to this operation is
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\verbatim
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z = x + y
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\endverbatim
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In the documentation below,
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this operations is for the case where both x and y are variables
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and the argument \a parameter is not used.
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\copydetails CppAD::local::forward_binary_op_dir
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*/
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template <class Base>
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inline void forward_addvv_op_dir(
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size_t q ,
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size_t r ,
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size_t i_z ,
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const addr_t* arg ,
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const Base* parameter ,
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size_t cap_order ,
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Base* taylor )
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{
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// check assumptions
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CPPAD_ASSERT_UNKNOWN( NumArg(AddvvOp) == 2 );
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CPPAD_ASSERT_UNKNOWN( NumRes(AddvvOp) == 1 );
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CPPAD_ASSERT_UNKNOWN( q < cap_order );
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CPPAD_ASSERT_UNKNOWN( 0 < q );
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// Taylor coefficients corresponding to arguments and result
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size_t num_taylor_per_var = (cap_order-1) * r + 1;
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Base* x = taylor + arg[0] * num_taylor_per_var;
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Base* y = taylor + arg[1] * num_taylor_per_var;
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Base* z = taylor + i_z * num_taylor_per_var;
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size_t m = (q-1)*r + 1 ;
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for(size_t ell = 0; ell < r; ell++)
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z[m+ell] = x[m+ell] + y[m+ell];
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}
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/*!
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Compute zero order forward mode Taylor coefficients for result of op = AddvvOp.
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The C++ source code corresponding to this operation is
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\verbatim
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z = x + y
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\endverbatim
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In the documentation below,
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this operations is for the case where both x and y are variables
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and the argument \a parameter is not used.
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\copydetails CppAD::local::forward_binary_op_0
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*/
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template <class Base>
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inline void forward_addvv_op_0(
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size_t i_z ,
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const addr_t* arg ,
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const Base* parameter ,
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size_t cap_order ,
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Base* taylor )
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{
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// check assumptions
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CPPAD_ASSERT_UNKNOWN( NumArg(AddvvOp) == 2 );
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CPPAD_ASSERT_UNKNOWN( NumRes(AddvvOp) == 1 );
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// Taylor coefficients corresponding to arguments and result
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Base* x = taylor + arg[0] * cap_order;
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Base* y = taylor + arg[1] * cap_order;
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Base* z = taylor + i_z * cap_order;
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z[0] = x[0] + y[0];
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}
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/*!
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Compute reverse mode partial derivatives for result of op = AddvvOp.
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The C++ source code corresponding to this operation is
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\verbatim
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z = x + y
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\endverbatim
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In the documentation below,
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this operations is for the case where both x and y are variables
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and the argument \a parameter is not used.
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\copydetails CppAD::local::reverse_binary_op
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*/
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template <class Base>
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inline void reverse_addvv_op(
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size_t d ,
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size_t i_z ,
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const addr_t* arg ,
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const Base* parameter ,
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size_t cap_order ,
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const Base* taylor ,
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size_t nc_partial ,
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Base* partial )
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{
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// check assumptions
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CPPAD_ASSERT_UNKNOWN( NumArg(AddvvOp) == 2 );
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CPPAD_ASSERT_UNKNOWN( NumRes(AddvvOp) == 1 );
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CPPAD_ASSERT_UNKNOWN( d < cap_order );
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CPPAD_ASSERT_UNKNOWN( d < nc_partial );
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// Partial derivatives corresponding to arguments and result
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Base* px = partial + arg[0] * nc_partial;
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Base* py = partial + arg[1] * nc_partial;
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Base* pz = partial + i_z * nc_partial;
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// number of indices to access
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size_t i = d + 1;
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while(i)
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{ --i;
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px[i] += pz[i];
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py[i] += pz[i];
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}
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}
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// --------------------------- Addpv -----------------------------------------
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/*!
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Compute forward mode Taylor coefficients for result of op = AddpvOp.
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The C++ source code corresponding to this operation is
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\verbatim
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z = x + y
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\endverbatim
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In the documentation below,
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this operations is for the case where x is a parameter and y is a variable.
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\copydetails CppAD::local::forward_binary_op
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*/
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template <class Base>
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inline void forward_addpv_op(
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size_t p ,
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size_t q ,
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size_t i_z ,
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const addr_t* arg ,
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const Base* parameter ,
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size_t cap_order ,
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Base* taylor )
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{
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// check assumptions
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CPPAD_ASSERT_UNKNOWN( NumArg(AddpvOp) == 2 );
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CPPAD_ASSERT_UNKNOWN( NumRes(AddpvOp) == 1 );
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CPPAD_ASSERT_UNKNOWN( q < cap_order );
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CPPAD_ASSERT_UNKNOWN( p <= q );
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// Taylor coefficients corresponding to arguments and result
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Base* y = taylor + arg[1] * cap_order;
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Base* z = taylor + i_z * cap_order;
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if( p == 0 )
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{ // Paraemter value
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Base x = parameter[ arg[0] ];
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z[0] = x + y[0];
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p++;
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}
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for(size_t j = p; j <= q; j++)
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z[j] = y[j];
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}
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/*!
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Multiple directions forward mode Taylor coefficients for op = AddpvOp.
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The C++ source code corresponding to this operation is
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\verbatim
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z = x + y
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\endverbatim
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In the documentation below,
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this operations is for the case where x is a parameter and y is a variable.
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\copydetails CppAD::local::forward_binary_op_dir
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*/
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template <class Base>
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inline void forward_addpv_op_dir(
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size_t q ,
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size_t r ,
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size_t i_z ,
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const addr_t* arg ,
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const Base* parameter ,
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size_t cap_order ,
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Base* taylor )
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{
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// check assumptions
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CPPAD_ASSERT_UNKNOWN( NumArg(AddpvOp) == 2 );
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CPPAD_ASSERT_UNKNOWN( NumRes(AddpvOp) == 1 );
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CPPAD_ASSERT_UNKNOWN( 0 < q );
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CPPAD_ASSERT_UNKNOWN( q < cap_order );
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// Taylor coefficients corresponding to arguments and result
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size_t num_taylor_per_var = (cap_order-1) * r + 1;
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size_t m = (q-1) * r + 1;
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Base* y = taylor + arg[1] * num_taylor_per_var + m;
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Base* z = taylor + i_z * num_taylor_per_var + m;
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for(size_t ell = 0; ell < r; ell++)
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z[ell] = y[ell];
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}
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/*!
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Compute zero order forward mode Taylor coefficient for result of op = AddpvOp.
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The C++ source code corresponding to this operation is
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\verbatim
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z = x + y
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\endverbatim
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In the documentation below,
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this operations is for the case where x is a parameter and y is a variable.
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\copydetails CppAD::local::forward_binary_op_0
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*/
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template <class Base>
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inline void forward_addpv_op_0(
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size_t i_z ,
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const addr_t* arg ,
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const Base* parameter ,
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size_t cap_order ,
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Base* taylor )
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{
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// check assumptions
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CPPAD_ASSERT_UNKNOWN( NumArg(AddpvOp) == 2 );
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CPPAD_ASSERT_UNKNOWN( NumRes(AddpvOp) == 1 );
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// Paraemter value
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Base x = parameter[ arg[0] ];
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// Taylor coefficients corresponding to arguments and result
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Base* y = taylor + arg[1] * cap_order;
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Base* z = taylor + i_z * cap_order;
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z[0] = x + y[0];
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}
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/*!
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Compute reverse mode partial derivative for result of op = AddpvOp.
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The C++ source code corresponding to this operation is
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\verbatim
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z = x + y
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\endverbatim
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In the documentation below,
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this operations is for the case where x is a parameter and y is a variable.
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\copydetails CppAD::local::reverse_binary_op
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*/
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template <class Base>
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inline void reverse_addpv_op(
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size_t d ,
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size_t i_z ,
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const addr_t* arg ,
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const Base* parameter ,
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size_t cap_order ,
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const Base* taylor ,
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size_t nc_partial ,
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Base* partial )
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{
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// check assumptions
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CPPAD_ASSERT_UNKNOWN( NumArg(AddvvOp) == 2 );
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CPPAD_ASSERT_UNKNOWN( NumRes(AddvvOp) == 1 );
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CPPAD_ASSERT_UNKNOWN( d < cap_order );
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CPPAD_ASSERT_UNKNOWN( d < nc_partial );
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// Partial derivatives corresponding to arguments and result
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Base* py = partial + arg[1] * nc_partial;
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Base* pz = partial + i_z * nc_partial;
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// number of indices to access
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size_t i = d + 1;
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while(i)
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{ --i;
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py[i] += pz[i];
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}
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}
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} } // END_CPPAD_LOCAL_NAMESPACE
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# endif
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