Fix compilation for both ColMajor/RowMajor + provide a define.#89
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Users can use the CMake option "STORAGE_ORDER" to change the storage order used by RobOptim. It defaults to ColMajor (Eigen's default), and RowMajor can be used for hypothetical increased performance in some scenarios (e.g. when mostly using impl_gradient to fill the Jacobian matrices).
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Note: plugins need to be tested before merging this. |
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Things seem to be working as expected. The Ipopt plugin and the Python bindings needed a quick fix. |
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April 8, 2015 11:22
gradient_t was previously used for this, but gradient_t describes row vectors while derivative_t describes column vectors.
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I added an extra type, |
bchretien
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Also comply with the change to gradient_t (row vector). Cf. roboptim/roboptim-core#89
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Also comply with the change to gradient_t (row vector). Cf. roboptim/roboptim-core#89
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Apr 8, 2015
Also comply with the change to gradient_t (row vector). Cf. roboptim/roboptim-core#89
bchretien
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Apr 8, 2015
Also comply with the change to gradient_t (row vector). Cf. roboptim/roboptim-core#89
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Apr 8, 2015
…wMajor/ColMajor conflict
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Apr 12, 2015
Fix compilation for both ColMajor/RowMajor + provide a define.
bchretien
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Apr 12, 2015
Also comply with the change to gradient_t (row vector). Cf. roboptim/roboptim-core#89
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Users can use the CMake option
"STORAGE_ORDER"to change the storage order used by RobOptim. It defaults toColMajor(Eigen's default), andRowMajorcan be used for hypothetical increased performance in some scenarios (e.g. when mostly usingimpl_gradientto fill theJacobian matrices).
Details
In RobOptim,
gradient_tdescribes a row of the Jacobian matrix, but until now, it was defined as a column vector. A newrowVector_tis now available (vector_tis still a column vector), and in the dense case,gradient_tis just arowVector_t. The sparse case is a bit different, sincevector_t/rowVector_tare dense vectors butgradient_tis a sparse vector (now aRowMajorsparse vector for consistency with the dense traits).Also, I encountered the following Eigen bug: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=980
This will be fixed in the next Eigen release.