merge

8 files changed, 31 insertions, 34 deletions

diff --git a/Eigen/src/Core/Dot.h b/Eigen/src/Core/Dot.h
index 9e84d72bb..631124f2b 100644
--- a/Eigen/src/Core/Dot.h
+++ b/Eigen/src/Core/Dot.h
@@ -86,7 +86,7 @@ struct ei_dot_novec_unroller<Derived1, Derived2, Start, 1>
 
   inline static Scalar run(const Derived1& v1, const Derived2& v2)
   {
-    return v1.coeff(Start) * ei_conj(v2.coeff(Start));
+    return ei_conj(v1.coeff(Start)) * v2.coeff(Start);
   }
 };
 
@@ -155,9 +155,9 @@ struct ei_dot_impl<Derived1, Derived2, NoVectorization, NoUnrolling>
   {
     ei_assert(v1.size()>0 && "you are using a non initialized vector");
     Scalar res;
-    res = v1.coeff(0) * ei_conj(v2.coeff(0));
+    res = ei_conj(v1.coeff(0)) * v2.coeff(0);
     for(int i = 1; i < v1.size(); ++i)
-      res += v1.coeff(i) * ei_conj(v2.coeff(i));
+      res += ei_conj(v1.coeff(i)) * v2.coeff(i);
     return res;
   }
 };
@@ -248,7 +248,7 @@ struct ei_dot_impl<Derived1, Derived2, LinearVectorization, CompleteUnrolling>
   * \only_for_vectors
   *
   * \note If the scalar type is complex numbers, then this function returns the hermitian
-  * (sesquilinear) dot product, linear in the first variable and conjugate-linear in the
+  * (sesquilinear) dot product, conjugate-linear in the first variable and linear in the
   * second variable.
   *
   * \sa squaredNorm(), norm()
diff --git a/Eigen/src/Geometry/Hyperplane.h b/Eigen/src/Geometry/Hyperplane.h
index 6fd9cee7e..ab65ca2ae 100644
--- a/Eigen/src/Geometry/Hyperplane.h
+++ b/Eigen/src/Geometry/Hyperplane.h
@@ -71,7 +71,7 @@ public:
     : m_coeffs(n.size()+1)
   {
     normal() = n;
-    offset() = -e.dot(n);
+    offset() = -n.dot(e);
   }
 
   /** Constructs a plane from its normal \a n and distance to the origin \a d
@@ -92,7 +92,7 @@ public:
   {
     Hyperplane result(p0.size());
     result.normal() = (p1 - p0).unitOrthogonal();
-    result.offset() = -result.normal().dot(p0);
+    result.offset() = -p0.dot(result.normal());
     return result;
   }
 
@@ -104,7 +104,7 @@ public:
     EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
     Hyperplane result(p0.size());
     result.normal() = (p2 - p0).cross(p1 - p0).normalized();
-    result.offset() = -result.normal().dot(p0);
+    result.offset() = -p0.dot(result.normal());
     return result;
   }
 
@@ -116,7 +116,7 @@ public:
   explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
   {
     normal() = parametrized.direction().unitOrthogonal();
-    offset() = -normal().dot(parametrized.origin());
+    offset() = -parametrized.origin().dot(normal());
   }
 
   ~Hyperplane() {}
@@ -133,7 +133,7 @@ public:
   /** \returns the signed distance between the plane \c *this and a point \a p.
     * \sa absDistance()
     */
-  inline Scalar signedDistance(const VectorType& p) const { return p.dot(normal()) + offset(); }
+  inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); }
 
   /** \returns the absolute distance between the plane \c *this and a point \a p.
     * \sa signedDistance()
@@ -231,7 +231,7 @@ public:
                                 TransformTraits traits = Affine)
   {
     transform(t.linear(), traits);
-    offset() -= t.translation().dot(normal());
+    offset() -= normal().dot(t.translation());
     return *this;
   }
 
diff --git a/Eigen/src/Geometry/ParametrizedLine.h b/Eigen/src/Geometry/ParametrizedLine.h
index 177eadfbb..6a4fcb1c5 100644
--- a/Eigen/src/Geometry/ParametrizedLine.h
+++ b/Eigen/src/Geometry/ParametrizedLine.h
@@ -84,8 +84,8 @@ public:
     */
   RealScalar squaredDistance(const VectorType& p) const
   {
-    VectorType diff = p-origin();
-    return (diff - diff.dot(direction())* direction()).squaredNorm();
+    VectorType diff = p - origin();
+    return (diff - direction().dot(diff) * direction()).squaredNorm();
   }
   /** \returns the distance of a point \a p to its projection onto the line \c *this.
     * \sa squaredDistance()
@@ -94,7 +94,7 @@ public:
 
   /** \returns the projection of a point \a p onto the line \c *this. */
   VectorType projection(const VectorType& p) const
-  { return origin() + (p-origin()).dot(direction()) * direction(); }
+  { return origin() + direction().dot(p-origin()) * direction(); }
 
   Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
 
@@ -148,8 +148,8 @@ inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane
 template <typename _Scalar, int _AmbientDim>
 inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
 {
-  return -(hyperplane.offset()+origin().dot(hyperplane.normal()))
-          /(direction().dot(hyperplane.normal()));
+  return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
+          / hyperplane.normal().dot(direction());
 }
 
 #endif // EIGEN_PARAMETRIZEDLINE_H
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 9385f259d..2f9f97807 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -358,7 +358,7 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
 {
   Vector3 v0 = a.normalized();
   Vector3 v1 = b.normalized();
-  Scalar c = v0.dot(v1);
+  Scalar c = v1.dot(v0);
 
   // if dot == -1, vectors are nearly opposites
   // => accuraletly compute the rotation axis by computing the
diff --git a/Eigen/src/Householder/Householder.h b/Eigen/src/Householder/Householder.h
index b5571f40d..8972806de 100644
--- a/Eigen/src/Householder/Householder.h
+++ b/Eigen/src/Householder/Householder.h
@@ -50,7 +50,8 @@ void MatrixBase<Derived>::makeHouseholder(
     Scalar sign = coeff(0) / ei_abs(coeff(0));
     c0 = coeff(0) + sign * ei_sqrt(_squaredNorm);
   }
-  *essential = end(size()-1) / c0; // FIXME take advantage of fixed size
+  VectorBlock<Derived, EssentialPart::SizeAtCompileTime> tail(derived(), 1, size()-1);
+  *essential = tail / c0;
   const RealScalar c0abs2 = ei_abs2(c0);
   *beta = RealScalar(2) * c0abs2 / (c0abs2 + _squaredNorm - ei_abs2(coeff(0)));
 }
@@ -62,12 +63,10 @@ void MatrixBase<Derived>::applyHouseholderOnTheLeft(
   const RealScalar& beta)
 {
   Matrix<Scalar, 1, ColsAtCompileTime, PlainMatrixType::Options, 1, MaxColsAtCompileTime> tmp(cols());
-  tmp = row(0) + essential.adjoint() * block(1,0,rows()-1,cols());
-  // FIXME take advantage of fixed size
-  // FIXME play with lazy()
-  // FIXME maybe not a good idea to use matrix product
+  Block<Derived, EssentialPart::SizeAtCompileTime, Derived::ColsAtCompileTime> bottom(derived(), 1, 0, rows()-1, cols());
+  tmp = row(0) + essential.adjoint() * bottom;
   row(0) -= beta * tmp;
-  block(1,0,rows()-1,cols()) -= beta * essential * tmp;
+  bottom -= beta * essential * tmp;
 }
 
 template<typename Derived>
@@ -77,12 +76,10 @@ void MatrixBase<Derived>::applyHouseholderOnTheRight(
   const RealScalar& beta)
 {
   Matrix<Scalar, RowsAtCompileTime, 1, PlainMatrixType::Options, MaxRowsAtCompileTime, 1> tmp(rows());
-  tmp = col(0) + block(0,1,rows(),cols()-1) * essential.conjugate();
-  // FIXME take advantage of fixed size
-  // FIXME play with lazy()
-  // FIXME maybe not a good idea to use matrix product
+  Block<Derived, Derived::RowsAtCompileTime, EssentialPart::SizeAtCompileTime> right(derived(), 0, 1, rows(), cols()-1);
+  tmp = col(0) + right * essential.conjugate();
   col(0) -= beta * tmp;
-  block(0,1,rows(),cols()-1) -= beta * tmp * essential.transpose();
+  right -= beta * tmp * essential.transpose();
 }
 
 #endif // EIGEN_HOUSEHOLDER_H
diff --git a/Eigen/src/QR/Tridiagonalization.h b/Eigen/src/QR/Tridiagonalization.h
index e6f594237..d98322fac 100644
--- a/Eigen/src/QR/Tridiagonalization.h
+++ b/Eigen/src/QR/Tridiagonalization.h
@@ -229,7 +229,7 @@ void Tridiagonalization<MatrixType>::_compute(MatrixType& matA, CoeffVectorType&
       hCoeffs.end(n-i-1) = (matA.corner(BottomRight,n-i-1,n-i-1).template selfadjointView<LowerTriangular>()
                          * (h * matA.col(i).end(n-i-1)));
 
-      hCoeffs.end(n-i-1) += (h*Scalar(-0.5)*(matA.col(i).end(n-i-1).dot(hCoeffs.end(n-i-1)))) * matA.col(i).end(n-i-1);
+      hCoeffs.end(n-i-1) += (h*Scalar(-0.5)*(hCoeffs.end(n-i-1).dot(matA.col(i).end(n-i-1)))) * matA.col(i).end(n-i-1);
 
       matA.corner(BottomRight, n-i-1, n-i-1).template selfadjointView<LowerTriangular>()
         .rankUpdate(matA.col(i).end(n-i-1), hCoeffs.end(n-i-1), -1);
diff --git a/Eigen/src/SVD/SVD.h b/Eigen/src/SVD/SVD.h
index b68d1c834..9b7d955c7 100644
--- a/Eigen/src/SVD/SVD.h
+++ b/Eigen/src/SVD/SVD.h
@@ -187,7 +187,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
         A(i, i)=f-g;
         for (j=l-1; j<n; j++)
         {
-          s = A.col(i).end(m-i).dot(A.col(j).end(m-i));
+          s = A.col(j).end(m-i).dot(A.col(i).end(m-i));
           f = s/h;
           A.col(j).end(m-i) += f*A.col(i).end(m-i);
         }
@@ -213,7 +213,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
         rv1.end(n-l+1) = A.row(i).end(n-l+1)/h;
         for (j=l-1; j<m; j++)
         {
-          s = A.row(j).end(n-l+1).dot(A.row(i).end(n-l+1));
+          s = A.row(i).end(n-l+1).dot(A.row(j).end(n-l+1));
           A.row(j).end(n-l+1) += s*rv1.end(n-l+1).transpose();
         }
         A.row(i).end(n-l+1) *= scale;
@@ -233,7 +233,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
           V(j, i) = (A(i, j)/A(i, l))/g;
         for (j=l; j<n; j++)
         {
-          s = A.row(i).end(n-l).dot(V.col(j).end(n-l));
+          s = V.col(j).end(n-l).dot(A.row(i).end(n-l));
           V.col(j).end(n-l) += s * V.col(i).end(n-l);
         }
       }
@@ -258,7 +258,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
       {
         for (j=l; j<n; j++)
         {
-          s = A.col(i).end(m-l).dot(A.col(j).end(m-l));
+          s = A.col(j).end(m-l).dot(A.col(i).end(m-l));
           f = (s/A(i,i))*g;
           A.col(j).end(m-i) += f * A.col(i).end(m-i);
         }
diff --git a/Eigen/src/Sparse/SparseDot.h b/Eigen/src/Sparse/SparseDot.h
index 5eff46e5e..2baf09b0e 100644
--- a/Eigen/src/Sparse/SparseDot.h
+++ b/Eigen/src/Sparse/SparseDot.h
@@ -43,7 +43,7 @@ SparseMatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
   Scalar res = 0;
   while (i)
   {
-    res += i.value() * ei_conj(other.coeff(i.index()));
+    res += ei_conj(i.value()) * other.coeff(i.index());
     ++i;
   }
   return res;
@@ -69,7 +69,7 @@ SparseMatrixBase<Derived>::dot(const SparseMatrixBase<OtherDerived>& other) cons
   {
     if (i.index()==j.index())
     {
-      res += i.value() * ei_conj(j.value());
+      res += ei_conj(i.value()) * j.value();
       ++i; ++j;
     }
     else if (i.index()<j.index())