Derivatives.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include <Eigen/Core>
#include <Eigen/StdVector>

namespace ct {
namespace core {


template <int IN_DIM, int OUT_DIM, typename SCALAR = double>
class Derivatives
{
public:
    typedef Eigen::Matrix<double, IN_DIM, 1> IN_TYPE;    
    typedef Eigen::Matrix<double, OUT_DIM, 1> OUT_TYPE;  
    typedef Eigen::Matrix<double, OUT_DIM, IN_DIM> JAC_TYPE;
    typedef Eigen::Matrix<double, IN_DIM, IN_DIM> HES_TYPE;

    Derivatives(){};

    virtual ~Derivatives(){};

    virtual Derivatives<IN_DIM, OUT_DIM, SCALAR>* clone() const = 0;

    virtual OUT_TYPE forwardZero(const Eigen::VectorXd& x)
    {
        throw std::runtime_error("FUNCTION EVALUATION NOT IMPLEMENTED FOR THIS TYPE OF DERIVATIVE");
    }

    virtual JAC_TYPE jacobian(const Eigen::VectorXd& x)
    {
        throw std::runtime_error("JACOBIAN EVALUATION NOT IMPLEMENTED FOR THIS TYPE OF DERIVATIVE");
    }

    virtual void sparseJacobian(const Eigen::VectorXd& x,
        Eigen::VectorXd& jac,
        Eigen::VectorXi& iRow,
        Eigen::VectorXi& jCol)
    {
        throw std::runtime_error("SPARSE JACOBIAN EVALUATION NOT IMPLEMENTED FOR THIS TYPE OF DERIVATIVE");
    }

    virtual Eigen::VectorXd sparseJacobianValues(const Eigen::VectorXd& x)
    {
        throw std::runtime_error("SPARSE JACOBIAN EVALUATION NOT IMPLEMENTED FOR THIS TYPE OF DERIVATIVE");
    }

    virtual HES_TYPE hessian(const Eigen::VectorXd& x, const Eigen::VectorXd& lambda)
    {
        throw std::runtime_error("HESSIAN EVALUATION NOT IMPLEMENTED FOR THIS TYPE OF DERIVATIVE");
    }

    virtual void sparseHessian(const Eigen::VectorXd& x,
        const Eigen::VectorXd& lambda,
        Eigen::VectorXd& hes,
        Eigen::VectorXi& iRow,
        Eigen::VectorXi& jCol)
    {
        throw std::runtime_error("SPARSE HESSIAN NOT IMPLEMENTED FOR THIS TYPE OF DERIVATIVE");
    }

    virtual Eigen::VectorXd sparseHessianValues(const Eigen::VectorXd& x, const Eigen::VectorXd& lambda)
    {
        throw std::runtime_error("SPARSE HESSIAN EVALUATION NOT IMPLEMENTED FOR THIS TYPE OF DERIVATIVE");
    }
};

} /* namespace core */
} /* namespace ct */