void Deriv(const InputType& x, OutputType& y)
{
y = x;
for (size_t i = 0; i < x.n_elem; i++)
y(i) = Deriv(x(i));
}
void Backward(const arma::Cube<eT>& input,
const arma::Mat<eT>& gy,
arma::Cube<eT>& g)
{
// Generate a cube using the backpropagated error matrix.
arma::Cube<eT> mappedError = arma::zeros<arma::cube>(input.n_rows,
input.n_cols, input.n_slices);
for (size_t s = 0, j = 0; s < mappedError.n_slices; s+= gy.n_cols, j++)
{
for (size_t i = 0; i < gy.n_cols; i++)
{
arma::Col<eT> temp = gy.col(i).subvec(
j * input.n_rows * input.n_cols,
(j + 1) * input.n_rows * input.n_cols - 1);
mappedError.slice(s + i) = arma::Mat<eT>(temp.memptr(),
input.n_rows, input.n_cols);
}
}
arma::Cube<eT> derivative;
Deriv(input, derivative);
g = mappedError % derivative;
}
void Backward(const DataType& input,
const DataType& gy,
DataType& g)
{
DataType derivative;
Deriv(input, derivative);
g = gy % derivative;
}
Rigid3dTypes::Deriv DistanceLMConstraint<Rigid3dTypes>::getDirection(const Edge &e, const VecCoord &x1, const VecCoord &x2) const
{
Vector3 V12=(x2[e[1]].getCenter() - x1[e[0]].getCenter()); V12.normalize();
return Deriv(V12, Vector3());
}