jacobian_t estimateJacobian(input_t const & x0)
{
// evaluate the function at the operating point:
value_t fx0 = functor(x0);
size_t N = x0.size();
size_t M = fx0.size();
//std::cout << "Size: " << M << ", " << N << std::endl;
jacobian_t J;
J.resize(M, N);
SM_ASSERT_EQ(std::runtime_error,x0.size(),J.cols(),"Unexpected number of columns for input size");
SM_ASSERT_EQ(std::runtime_error,fx0.size(),J.rows(),"Unexpected number of columns for output size");
for(unsigned c = 0; c < N; c++) {
// Calculate a central difference.
// This step size was stolen from cminpack: temp = eps * fabs(x[j]);
scalar_t rcEps = std::max(static_cast<scalar_t>(fabs(x0(c))) * eps,eps);
value_t fxp = functor(functor.update(x0,c,rcEps));
value_t fxm = functor(functor.update(x0,c,-rcEps));
J.block(0, c, M, 1) = (fxp - fxm).template cast<typename jacobian_t::Scalar>()/(typename jacobian_t::Scalar)(rcEps*(scalar_t)2.0);
}
return J;
}
compressed_data compress (const input_t& in)
{
size_t byte_size (in.size() * sizeof(typename input_t::value_type));
if (byte_size > 0xffff)
throw std::runtime_error("too much data for compression");
auto in_ptr (reinterpret_cast<const char*>(&*in.begin()));
compressed_data out;
if (byte_size > 0)
{
out.resize(byte_size + 16);
std::fill(out.begin(), out.end(), 0);
out.unpacked_len = byte_size;
int compressed_length (LZ4_compress(in_ptr, out.ptr(), byte_size));
if (compressed_length <= 0)
throw std::runtime_error("lz4 compression failed");
out.resize(compressed_length);
}
return out;
}
int main()
{
kb_init(&keyboard);
stb_fake_model_init(&model);
gl_view_init(&view);
ctrl_init(&ctrl);
ctrl_set_view(&view);
ctrl_set_model(&model);
kb_set_callback(ctrl.handler);
view.start();
ctrl.start();
keyboard.start();
model.deinit();
puts("finish");
}
