NumDiffDerivativesBase.hpp

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#ifndef NUMDIFFDERIVATIVESBASE_HPP_
#define NUMDIFFDERIVATIVESBASE_HPP_

#include <Eigen/Dense>
#include <unsupported/Eigen/NumericalDiff>

namespace DirectTrajectoryOptimization {
namespace BaseClass {

class NumDiffDerivativesBase {

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

protected:
    NumDiffDerivativesBase(){};

public:

    virtual ~NumDiffDerivativesBase(){};

    template<typename _Scalar, int NX = Eigen::Dynamic, int NY = Eigen::Dynamic>
    struct DynamicSizedFunctor {

        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

        typedef _Scalar Scalar;
        enum {
            InputsAtCompileTime = NX, ValuesAtCompileTime = NY
        };
        typedef Eigen::Matrix<Scalar, InputsAtCompileTime, 1> InputType;
        typedef Eigen::Matrix<Scalar, ValuesAtCompileTime, 1> ValueType;
        typedef Eigen::Matrix<Scalar, ValuesAtCompileTime, InputsAtCompileTime> JacobianType;

        int m_inputs, m_values;

        DynamicSizedFunctor() :
                m_inputs(InputsAtCompileTime), m_values(ValuesAtCompileTime) {
        }
        DynamicSizedFunctor(int inputs, int values) :
                m_inputs(inputs), m_values(values) {
        }

        int inputs() const {
            return m_inputs;
        }
        int values() const {
            return m_values;
        }

    };

    struct FunctionOperator:DynamicSizedFunctor<double> {

        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

        //y = f(x);
        FunctionOperator(int in_size, int out_size, std::shared_ptr<NumDiffDerivativesBase> my_owner_pointer) :
                DynamicSizedFunctor<double>(in_size, out_size),owner_pointer(my_owner_pointer)
        { }

        int operator()(const Eigen::VectorXd &in_vect,
                Eigen::VectorXd &fvec) const {

            fvec.setZero();
            owner_pointer->fx(in_vect, fvec);
            return 0;
        }
    private :
        std::shared_ptr<NumDiffDerivativesBase> owner_pointer;

    };

    std::shared_ptr<FunctionOperator> numdifoperator; 
    std::shared_ptr<Eigen::NumericalDiff<FunctionOperator> > numDiff; 
    Eigen::MatrixXd mJacobian;

    virtual void fx(const Eigen::VectorXd &, Eigen::VectorXd &) = 0;

    virtual void initialize_num_diff() = 0;
};
}
}
#endif /* NUMDIFFDERIVATIVESBASE_HPP_ */