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Remove allocations of nested Jacobians of StaticArrays #810

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Remove allocations of nested Jacobians of StaticArrays #810

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12 changes: 5 additions & 7 deletions ext/ForwardDiffStaticArraysExt.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,6 @@ using DiffResults: DiffResult, ImmutableDiffResult, MutableDiffResult
end
end

@inline static_dual_eval(::Type{T}, f::F, x::StaticArray) where {T,F} = f(dualize(T, x))

# To fix method ambiguity issues:
function LinearAlgebra.eigvals(A::Symmetric{<:Dual{Tg,T,N}, <:StaticArrays.StaticMatrix}) where {Tg,T<:Real,N}
return ForwardDiff._eigvals(A)
Expand Down Expand Up @@ -54,12 +52,12 @@ end

@inline function ForwardDiff.vector_mode_gradient(f::F, x::StaticArray) where {F}
T = typeof(Tag(f, eltype(x)))
return extract_gradient(T, static_dual_eval(T, f, x), x)
return extract_gradient(T, f(dualize(T, x)), x)
end

@inline function ForwardDiff.vector_mode_gradient!(result, f::F, x::StaticArray) where {F}
T = typeof(Tag(f, eltype(x)))
return extract_gradient!(T, result, static_dual_eval(T, f, x))
return extract_gradient!(T, result, f(dualize(T, x)))
end

# Jacobian
Expand All @@ -84,7 +82,7 @@ end

@inline function ForwardDiff.vector_mode_jacobian(f::F, x::StaticArray) where {F}
T = typeof(Tag(f, eltype(x)))
return extract_jacobian(T, static_dual_eval(T, f, x), x)
return extract_jacobian(T, f(dualize(T, x)), x)
end

function extract_jacobian(::Type{T}, ydual::AbstractArray, x::StaticArray) where T
Expand All @@ -94,15 +92,15 @@ end

@inline function ForwardDiff.vector_mode_jacobian!(result, f::F, x::StaticArray) where {F}
T = typeof(Tag(f, eltype(x)))
ydual = static_dual_eval(T, f, x)
ydual = f(dualize(T, x))
result = extract_jacobian!(T, result, ydual, length(x))
result = extract_value!(T, result, ydual)
return result
end

@inline function ForwardDiff.vector_mode_jacobian!(result::ImmutableDiffResult, f::F, x::StaticArray) where {F}
T = typeof(Tag(f, eltype(x)))
ydual = static_dual_eval(T, f, x)
ydual = f(dualize(T, x))
result = DiffResults.jacobian!(result, extract_jacobian(T, ydual, x))
result = DiffResults.value!(Base.Fix1(value, T), result, ydual)
return result
Expand Down
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