diff options
author | Benoit Jacob <jacob.benoit.1@gmail.com> | 2009-10-28 19:06:45 -0400 |
---|---|---|
committer | Benoit Jacob <jacob.benoit.1@gmail.com> | 2009-10-28 19:06:45 -0400 |
commit | e8dd552257f0e886ee281aa84b7094fc489608d0 (patch) | |
tree | 596633c4d3e721b6d4fad31520423b9c0e03bf8a /Eigen/src | |
parent | 2840ac7e948ecb3c7b19ba8f581f829a4a4e1fea (diff) | |
parent | 6219f9acfa61e54baf266f816b7eaf9ffbd9841e (diff) |
sync with mainline
Diffstat (limited to 'Eigen/src')
-rw-r--r-- | Eigen/src/Core/Block.h | 18 | ||||
-rw-r--r-- | Eigen/src/Core/ExpressionMaker.h | 61 | ||||
-rw-r--r-- | Eigen/src/Core/Map.h | 35 | ||||
-rw-r--r-- | Eigen/src/Core/MapBase.h | 40 | ||||
-rw-r--r-- | Eigen/src/Core/Matrix.h | 14 | ||||
-rw-r--r-- | Eigen/src/Core/MatrixBase.h | 19 | ||||
-rw-r--r-- | Eigen/src/Core/StableNorm.h | 2 | ||||
-rw-r--r-- | Eigen/src/Core/util/Constants.h | 4 | ||||
-rw-r--r-- | Eigen/src/Core/util/ForwardDeclarations.h | 1 | ||||
-rw-r--r-- | Eigen/src/Core/util/Macros.h | 2 | ||||
-rw-r--r-- | Eigen/src/Core/util/StaticAssert.h | 3 | ||||
-rw-r--r-- | Eigen/src/Geometry/Quaternion.h | 383 | ||||
-rw-r--r-- | Eigen/src/Geometry/Transform.h | 19 | ||||
-rw-r--r-- | Eigen/src/Geometry/Umeyama.h | 12 | ||||
-rw-r--r-- | Eigen/src/Geometry/arch/Geometry_SSE.h | 36 | ||||
-rw-r--r-- | Eigen/src/Sparse/SparseExpressionMaker.h | 48 |
16 files changed, 473 insertions, 224 deletions
diff --git a/Eigen/src/Core/Block.h b/Eigen/src/Core/Block.h index cebfeaf75..5fffdcb01 100644 --- a/Eigen/src/Core/Block.h +++ b/Eigen/src/Core/Block.h @@ -33,10 +33,10 @@ * \param MatrixType the type of the object in which we are taking a block * \param BlockRows the number of rows of the block we are taking at compile time (optional) * \param BlockCols the number of columns of the block we are taking at compile time (optional) - * \param _PacketAccess allows to enforce aligned loads and stores if set to \b ForceAligned. - * The default is \b AsRequested. This parameter is internaly used by Eigen - * in expressions such as \code mat.block() += other; \endcode and most of - * the time this is the only way it is used. + * \param _PacketAccess \internal used to enforce aligned loads in expressions such as + * \code mat.block() += other; \endcode. Possible values are + * \c AsRequested (default) and \c EnforceAlignedAccess. + * See class MapBase for more details. * \param _DirectAccessStatus \internal used for partial specialization * * This class represents an expression of either a fixed-size or dynamic-size block. It is the return @@ -84,9 +84,9 @@ struct ei_traits<Block<MatrixType, BlockRows, BlockCols, _PacketAccess, _DirectA CoeffReadCost = ei_traits<MatrixType>::CoeffReadCost, PacketAccess = _PacketAccess }; - typedef typename ei_meta_if<int(PacketAccess)==ForceAligned, + typedef typename ei_meta_if<int(PacketAccess)==EnforceAlignedAccess, Block<MatrixType, BlockRows, BlockCols, _PacketAccess, _DirectAccessStatus>&, - Block<MatrixType, BlockRows, BlockCols, ForceAligned, _DirectAccessStatus> >::ret AlignedDerivedType; + Block<MatrixType, BlockRows, BlockCols, EnforceAlignedAccess, _DirectAccessStatus> >::ret AlignedDerivedType; }; template<typename MatrixType, int BlockRows, int BlockCols, int PacketAccess, int _DirectAccessStatus> class Block @@ -228,13 +228,13 @@ class Block<MatrixType,BlockRows,BlockCols,PacketAccess,HasDirectAccess> class InnerIterator; typedef typename ei_traits<Block>::AlignedDerivedType AlignedDerivedType; - friend class Block<MatrixType,BlockRows,BlockCols,PacketAccess==AsRequested?ForceAligned:AsRequested,HasDirectAccess>; + friend class Block<MatrixType,BlockRows,BlockCols,PacketAccess==EnforceAlignedAccess?AsRequested:EnforceAlignedAccess,HasDirectAccess>; EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block) - AlignedDerivedType _convertToForceAligned() + AlignedDerivedType _convertToEnforceAlignedAccess() { - return Block<MatrixType,BlockRows,BlockCols,ForceAligned,HasDirectAccess> + return Block<MatrixType,BlockRows,BlockCols,EnforceAlignedAccess,HasDirectAccess> (m_matrix, Base::m_data, Base::m_rows.value(), Base::m_cols.value()); } diff --git a/Eigen/src/Core/ExpressionMaker.h b/Eigen/src/Core/ExpressionMaker.h new file mode 100644 index 000000000..1d265b63c --- /dev/null +++ b/Eigen/src/Core/ExpressionMaker.h @@ -0,0 +1,61 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr> +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see <http://www.gnu.org/licenses/>. + +#ifndef EIGEN_EXPRESSIONMAKER_H +#define EIGEN_EXPRESSIONMAKER_H + +// computes the shape of a matrix from its traits flag +template<typename XprType> struct ei_shape_of +{ + enum { ret = ei_traits<XprType>::Flags&SparseBit ? IsSparse : IsDense }; +}; + + +// Since the Sparse module is completely separated from the Core module, there is +// no way to write the type of a generic expression working for both dense and sparse +// matrix. Unless we change the overall design, here is a workaround. +// There is an example in unsuported/Eigen/src/AutoDiff/AutoDiffScalar. + +template<typename XprType, int Shape = ei_shape_of<XprType>::ret> +struct MakeNestByValue +{ + typedef NestByValue<XprType> Type; +}; + +template<typename Func, typename XprType, int Shape = ei_shape_of<XprType>::ret> +struct MakeCwiseUnaryOp +{ + typedef CwiseUnaryOp<Func,XprType> Type; +}; + +template<typename Func, typename A, typename B, int Shape = ei_shape_of<A>::ret> +struct MakeCwiseBinaryOp +{ + typedef CwiseBinaryOp<Func,A,B> Type; +}; + +// TODO complete the list + + +#endif // EIGEN_EXPRESSIONMAKER_H diff --git a/Eigen/src/Core/Map.h b/Eigen/src/Core/Map.h index f6bc814e2..dba7e20e4 100644 --- a/Eigen/src/Core/Map.h +++ b/Eigen/src/Core/Map.h @@ -31,16 +31,14 @@ * \brief A matrix or vector expression mapping an existing array of data. * * \param MatrixType the equivalent matrix type of the mapped data - * \param _PacketAccess allows to enforce aligned loads and stores if set to ForceAligned. - * The default is AsRequested. This parameter is internaly used by Eigen - * in expressions such as \code Map<...>(...) += other; \endcode and most - * of the time this is the only way it is used. + * \param PointerAlignment specifies whether the pointer is \c Aligned, or \c Unaligned. + * The default is \c Unaligned. * * This class represents a matrix or vector expression mapping an existing array of data. * It can be used to let Eigen interface without any overhead with non-Eigen data structures, * such as plain C arrays or structures from other libraries. * - * \b Tips: to change the array of data mapped by a Map object, you can use the C++ + * \b Tip: to change the array of data mapped by a Map object, you can use the C++ * placement new syntax: * * Example: \include Map_placement_new.cpp @@ -48,22 +46,27 @@ * * This class is the return type of Matrix::Map() but can also be used directly. * + * \b Note \b to \b Eigen \b developers: The template parameter \c PointerAlignment + * can also be or-ed with \c EnforceAlignedAccess in order to enforce aligned read + * in expressions such as \code A += B; \endcode. See class MapBase for further details. + * * \sa Matrix::Map() */ -template<typename MatrixType, int _PacketAccess> -struct ei_traits<Map<MatrixType, _PacketAccess> > : public ei_traits<MatrixType> +template<typename MatrixType, int Options> +struct ei_traits<Map<MatrixType, Options> > : public ei_traits<MatrixType> { enum { - PacketAccess = _PacketAccess, - Flags = ei_traits<MatrixType>::Flags & ~AlignedBit + PacketAccess = Options & EnforceAlignedAccess, + Flags = (Options&Aligned)==Aligned ? ei_traits<MatrixType>::Flags | AlignedBit + : ei_traits<MatrixType>::Flags & ~AlignedBit }; - typedef typename ei_meta_if<int(PacketAccess)==ForceAligned, - Map<MatrixType, _PacketAccess>&, - Map<MatrixType, ForceAligned> >::ret AlignedDerivedType; + typedef typename ei_meta_if<int(PacketAccess)==EnforceAlignedAccess, + Map<MatrixType, Options>&, + Map<MatrixType, Options|EnforceAlignedAccess> >::ret AlignedDerivedType; }; -template<typename MatrixType, int PacketAccess> class Map - : public MapBase<Map<MatrixType, PacketAccess> > +template<typename MatrixType, int Options> class Map + : public MapBase<Map<MatrixType, Options> > { public: @@ -72,9 +75,9 @@ template<typename MatrixType, int PacketAccess> class Map inline int stride() const { return this->innerSize(); } - AlignedDerivedType _convertToForceAligned() + AlignedDerivedType _convertToEnforceAlignedAccess() { - return Map<MatrixType,ForceAligned>(Base::m_data, Base::m_rows.value(), Base::m_cols.value()); + return AlignedDerivedType(Base::m_data, Base::m_rows.value(), Base::m_cols.value()); } inline Map(const Scalar* data) : Base(data) {} diff --git a/Eigen/src/Core/MapBase.h b/Eigen/src/Core/MapBase.h index 88a3fac1e..8770732de 100644 --- a/Eigen/src/Core/MapBase.h +++ b/Eigen/src/Core/MapBase.h @@ -32,11 +32,17 @@ * * Expression classes inheriting MapBase must define the constant \c PacketAccess, * and type \c AlignedDerivedType in their respective ei_traits<> specialization structure. - * The value of \c PacketAccess can be either: - * - \b ForceAligned which enforces both aligned loads and stores - * - \b AsRequested which is the default behavior + * The value of \c PacketAccess can be either \b AsRequested, or set to \b EnforceAlignedAccess which + * enforces both aligned loads and stores. + * + * \c EnforceAlignedAccess is automatically set in expressions such as + * \code A += B; \endcode where A is either a Block or a Map. Here, + * this expression is transfomed into \code A = A_with_EnforceAlignedAccess + B; \endcode + * avoiding unaligned loads from A. Indeed, since Eigen's packet evaluation mechanism + * automatically align to the destination matrix, we know that loads to A will be aligned too. + * * The type \c AlignedDerivedType should correspond to the equivalent expression type - * with \c PacketAccess being \c ForceAligned. + * with \c PacketAccess set to \c EnforceAlignedAccess. * * \sa class Map, class Block */ @@ -79,19 +85,19 @@ template<typename Derived> class MapBase * \sa MapBase::stride() */ inline const Scalar* data() const { return m_data; } - template<bool IsForceAligned,typename Dummy> struct force_aligned_impl { + template<bool IsEnforceAlignedAccess,typename Dummy> struct force_aligned_impl { static AlignedDerivedType run(MapBase& a) { return a.derived(); } }; template<typename Dummy> struct force_aligned_impl<false,Dummy> { - static AlignedDerivedType run(MapBase& a) { return a.derived()._convertToForceAligned(); } + static AlignedDerivedType run(MapBase& a) { return a.derived()._convertToEnforceAlignedAccess(); } }; /** \returns an expression equivalent to \c *this but having the \c PacketAccess constant - * set to \c ForceAligned. Must be reimplemented by the derived class. */ + * set to \c EnforceAlignedAccess. Must be reimplemented by the derived class. */ AlignedDerivedType forceAligned() { - return force_aligned_impl<int(PacketAccess)==int(ForceAligned),Derived>::run(*this); + return force_aligned_impl<int(PacketAccess)==int(EnforceAlignedAccess),Derived>::run(*this); } inline const Scalar& coeff(int row, int col) const @@ -131,7 +137,7 @@ template<typename Derived> class MapBase template<int LoadMode> inline PacketScalar packet(int row, int col) const { - return ei_ploadt<Scalar, int(PacketAccess) == ForceAligned ? Aligned : LoadMode> + return ei_ploadt<Scalar, int(PacketAccess) == EnforceAlignedAccess ? Aligned : LoadMode> (m_data + (IsRowMajor ? col + row * stride() : row + col * stride())); } @@ -139,13 +145,13 @@ template<typename Derived> class MapBase template<int LoadMode> inline PacketScalar packet(int index) const { - return ei_ploadt<Scalar, int(PacketAccess) == ForceAligned ? Aligned : LoadMode>(m_data + index); + return ei_ploadt<Scalar, int(PacketAccess) == EnforceAlignedAccess ? Aligned : LoadMode>(m_data + index); } template<int StoreMode> inline void writePacket(int row, int col, const PacketScalar& x) { - ei_pstoret<Scalar, PacketScalar, int(PacketAccess) == ForceAligned ? Aligned : StoreMode> + ei_pstoret<Scalar, PacketScalar, int(PacketAccess) == EnforceAlignedAccess ? Aligned : StoreMode> (const_cast<Scalar*>(m_data) + (IsRowMajor ? col + row * stride() : row + col * stride()), x); } @@ -153,13 +159,14 @@ template<typename Derived> class MapBase template<int StoreMode> inline void writePacket(int index, const PacketScalar& x) { - ei_pstoret<Scalar, PacketScalar, int(PacketAccess) == ForceAligned ? Aligned : StoreMode> + ei_pstoret<Scalar, PacketScalar, int(PacketAccess) == EnforceAlignedAccess ? Aligned : StoreMode> (const_cast<Scalar*>(m_data) + index, x); } inline MapBase(const Scalar* data) : m_data(data), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime) { EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) + checkDataAlignment(); } inline MapBase(const Scalar* data, int size) @@ -170,6 +177,7 @@ template<typename Derived> class MapBase EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) ei_assert(size >= 0); ei_assert(data == 0 || SizeAtCompileTime == Dynamic || SizeAtCompileTime == size); + checkDataAlignment(); } inline MapBase(const Scalar* data, int rows, int cols) @@ -178,6 +186,7 @@ template<typename Derived> class MapBase ei_assert( (data == 0) || ( rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows) && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols))); + checkDataAlignment(); } Derived& operator=(const MapBase& other) @@ -215,6 +224,13 @@ template<typename Derived> class MapBase { return derived() = forceAligned() / other; } protected: + + void checkDataAlignment() const + { + ei_assert( ((!(ei_traits<Derived>::Flags&AlignedBit)) + || ((std::size_t(m_data)&0xf)==0)) && "data is not aligned"); + } + const Scalar* EIGEN_RESTRICT m_data; const ei_int_if_dynamic<RowsAtCompileTime> m_rows; const ei_int_if_dynamic<ColsAtCompileTime> m_cols; diff --git a/Eigen/src/Core/Matrix.h b/Eigen/src/Core/Matrix.h index 027e6bb70..17d2f2836 100644 --- a/Eigen/src/Core/Matrix.h +++ b/Eigen/src/Core/Matrix.h @@ -58,6 +58,9 @@ template <typename Derived, typename OtherDerived, bool IsVector = static_cast<b * \li \c MatrixXf is a dynamic-size matrix of floats (\c Matrix<float, Dynamic, Dynamic>) * \li \c VectorXf is a dynamic-size vector of floats (\c Matrix<float, Dynamic, 1>) * + * \li \c Matrix2Xf is a partially fixed-size (dynamic-size) matrix of floats (\c Matrix<float, 2, Dynamic>) + * \li \c MatrixX3d is a partially dynamic-size (fixed-size) matrix of double (\c Matrix<double, Dynamic, 3>) + * * See \link matrixtypedefs this page \endlink for a complete list of predefined \em %Matrix and \em Vector typedefs. * * You can access elements of vectors and matrices using normal subscripting: @@ -794,11 +797,20 @@ typedef Matrix<Type, Size, 1> Vector##SizeSuffix##TypeSuffix; \ /** \ingroup matrixtypedefs */ \ typedef Matrix<Type, 1, Size> RowVector##SizeSuffix##TypeSuffix; +#define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size) \ +/** \ingroup matrixtypedefs */ \ +typedef Matrix<Type, Size, Dynamic> Matrix##Size##X##TypeSuffix; \ +/** \ingroup matrixtypedefs */ \ +typedef Matrix<Type, Dynamic, Size> Matrix##X##Size##TypeSuffix; + #define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \ EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \ EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \ EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \ -EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) +EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \ +EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \ +EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \ +EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 4) EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i) EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f) diff --git a/Eigen/src/Core/MatrixBase.h b/Eigen/src/Core/MatrixBase.h index 729349b6f..7b5310175 100644 --- a/Eigen/src/Core/MatrixBase.h +++ b/Eigen/src/Core/MatrixBase.h @@ -190,6 +190,25 @@ template<typename Derived> class MatrixBase * i.e., the number of rows for a columns major matrix, and the number of cols otherwise */ int innerSize() const { return (int(Flags)&RowMajorBit) ? this->cols() : this->rows(); } + /** Only plain matrices, not expressions may be resized; therefore the only useful resize method is + * Matrix::resize(). The present method only asserts that the new size equals the old size, and does + * nothing else. + */ + void resize(int size) + { + ei_assert(size == this->size() + && "MatrixBase::resize() does not actually allow to resize."); + } + /** Only plain matrices, not expressions may be resized; therefore the only useful resize method is + * Matrix::resize(). The present method only asserts that the new size equals the old size, and does + * nothing else. + */ + void resize(int rows, int cols) + { + ei_assert(rows == this->rows() && cols == this->cols() + && "MatrixBase::resize() does not actually allow to resize."); + } + #ifndef EIGEN_PARSED_BY_DOXYGEN /** \internal the plain matrix type corresponding to this expression. Note that is not necessarily * exactly the return type of eval(): in the case of plain matrices, the return type of eval() is a const diff --git a/Eigen/src/Core/StableNorm.h b/Eigen/src/Core/StableNorm.h index 06e69c448..f2d1e7240 100644 --- a/Eigen/src/Core/StableNorm.h +++ b/Eigen/src/Core/StableNorm.h @@ -59,7 +59,7 @@ MatrixBase<Derived>::stableNorm() const RealScalar invScale = 1; RealScalar ssq = 0; // sum of square enum { - Alignment = (int(Flags)&DirectAccessBit) || (int(Flags)&AlignedBit) ? ForceAligned : AsRequested + Alignment = (int(Flags)&DirectAccessBit) || (int(Flags)&AlignedBit) ? EnforceAlignedAccess : AsRequested }; int n = size(); int bi=0; diff --git a/Eigen/src/Core/util/Constants.h b/Eigen/src/Core/util/Constants.h index 226a53c33..c9735b6e4 100644 --- a/Eigen/src/Core/util/Constants.h +++ b/Eigen/src/Core/util/Constants.h @@ -196,8 +196,8 @@ const unsigned int UnitLowerTriangular = LowerTriangularBit | UnitDiagBit; enum { DiagonalOnTheLeft, DiagonalOnTheRight }; -enum { Aligned, Unaligned }; -enum { ForceAligned, AsRequested }; +enum { Unaligned=0, Aligned=1 }; +enum { AsRequested=0, EnforceAlignedAccess=2 }; enum { ConditionalJumpCost = 5 }; enum CornerType { TopLeft, TopRight, BottomLeft, BottomRight }; enum DirectionType { Vertical, Horizontal, BothDirections }; diff --git a/Eigen/src/Core/util/ForwardDeclarations.h b/Eigen/src/Core/util/ForwardDeclarations.h index 86539a64e..c8f2c4cd7 100644 --- a/Eigen/src/Core/util/ForwardDeclarations.h +++ b/Eigen/src/Core/util/ForwardDeclarations.h @@ -130,6 +130,7 @@ template<typename Scalar> class PlanarRotation; // Geometry module: template<typename Derived, int _Dim> class RotationBase; template<typename Lhs, typename Rhs> class Cross; +template<typename Derived> class QuaternionBase; template<typename Scalar> class Quaternion; template<typename Scalar> class Rotation2D; template<typename Scalar> class AngleAxis; diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h index 66b9d52f4..dd41ad0e2 100644 --- a/Eigen/src/Core/util/Macros.h +++ b/Eigen/src/Core/util/Macros.h @@ -256,7 +256,7 @@ using Eigen::ei_cos; // C++0x features #if defined(__GXX_EXPERIMENTAL_CXX0X__) || (defined(_MSC_VER) && (_MSC_VER >= 1600)) - #define EIGEN_REF_TO_TEMPORARY && + #define EIGEN_REF_TO_TEMPORARY const & #else #define EIGEN_REF_TO_TEMPORARY const & #endif diff --git a/Eigen/src/Core/util/StaticAssert.h b/Eigen/src/Core/util/StaticAssert.h index 883f2d95e..6210bc91c 100644 --- a/Eigen/src/Core/util/StaticAssert.h +++ b/Eigen/src/Core/util/StaticAssert.h @@ -78,7 +78,8 @@ INVALID_MATRIX_TEMPLATE_PARAMETERS, BOTH_MATRICES_MUST_HAVE_THE_SAME_STORAGE_ORDER, THIS_METHOD_IS_ONLY_FOR_DIAGONAL_MATRIX, - THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE + THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE, + THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES }; }; diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h index 2f9f97807..67b040165 100644 --- a/Eigen/src/Geometry/Quaternion.h +++ b/Eigen/src/Geometry/Quaternion.h @@ -2,6 +2,7 @@ // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr> +// Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr> // // Eigen is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public @@ -25,11 +26,6 @@ #ifndef EIGEN_QUATERNION_H #define EIGEN_QUATERNION_H -template<typename Other, - int OtherRows=Other::RowsAtCompileTime, - int OtherCols=Other::ColsAtCompileTime> -struct ei_quaternion_assign_impl; - /** \geometry_module \ingroup Geometry_Module * * \class Quaternion @@ -52,28 +48,33 @@ struct ei_quaternion_assign_impl; * \sa class AngleAxis, class Transform */ -template<typename _Scalar> struct ei_traits<Quaternion<_Scalar> > +template<typename Other, + int OtherRows=Other::RowsAtCompileTime, + int OtherCols=Other::ColsAtCompileTime> +struct ei_quaternionbase_assign_impl; + +template<typename Scalar> class Quaternion; // [XXX] => remove when Quaternion becomes Quaternion + +template<typename Derived> +struct ei_traits<QuaternionBase<Derived> > { - typedef _Scalar Scalar; + typedef typename ei_traits<Derived>::Scalar Scalar; + enum { + PacketAccess = ei_traits<Derived>::PacketAccess + }; }; -template<typename _Scalar> -class Quaternion : public RotationBase<Quaternion<_Scalar>,3> +template<class Derived> +class QuaternionBase : public RotationBase<Derived, 3> { - typedef RotationBase<Quaternion<_Scalar>,3> Base; - - - + typedef RotationBase<Derived, 3> Base; public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4) - using Base::operator*; - /** the scalar type of the coefficients */ - typedef _Scalar Scalar; + typedef typename ei_traits<QuaternionBase<Derived> >::Scalar Scalar; + typedef typename NumTraits<Scalar>::Real RealScalar; - /** the type of the Coefficients 4-vector */ - typedef Matrix<Scalar, 4, 1> Coefficients; + // typedef typename Matrix<Scalar,4,1> Coefficients; /** the type of a 3D vector */ typedef Matrix<Scalar,3,1> Vector3; /** the equivalent rotation matrix type */ @@ -82,114 +83,96 @@ public: typedef AngleAxis<Scalar> AngleAxisType; /** \returns the \c x coefficient */ - inline Scalar x() const { return m_coeffs.coeff(0); } + inline Scalar x() const { return this->derived().coeffs().coeff(0); } /** \returns the \c y coefficient */ - inline Scalar y() const { return m_coeffs.coeff(1); } + inline Scalar y() const { return this->derived().coeffs().coeff(1); } /** \returns the \c z coefficient */ - inline Scalar z() const { return m_coeffs.coeff(2); } + inline Scalar z() const { return this->derived().coeffs().coeff(2); } /** \returns the \c w coefficient */ - inline Scalar w() const { return m_coeffs.coeff(3); } + inline Scalar w() const { return this->derived().coeffs().coeff(3); } /** \returns a reference to the \c x coefficient */ - inline Scalar& x() { return m_coeffs.coeffRef(0); } + inline Scalar& x() { return this->derived().coeffs().coeffRef(0); } /** \returns a reference to the \c y coefficient */ - inline Scalar& y() { return m_coeffs.coeffRef(1); } + inline Scalar& y() { return this->derived().coeffs().coeffRef(1); } /** \returns a reference to the \c z coefficient */ - inline Scalar& z() { return m_coeffs.coeffRef(2); } + inline Scalar& z() { return this->derived().coeffs().coeffRef(2); } /** \returns a reference to the \c w coefficient */ - inline Scalar& w() { return m_coeffs.coeffRef(3); } + inline Scalar& w() { return this->derived().coeffs().coeffRef(3); } /** \returns a read-only vector expression of the imaginary part (x,y,z) */ - inline const Block<Coefficients,3,1> vec() const { return m_coeffs.template start<3>(); } + inline const VectorBlock<typename ei_traits<Derived>::Coefficients,3> vec() const { return this->derived().coeffs().template start<3>(); } /** \returns a vector expression of the imaginary part (x,y,z) */ - inline Block<Coefficients,3,1> vec() { return m_coeffs.template start<3>(); } + inline VectorBlock<typename ei_traits<Derived>::Coefficients,3> vec() { return this->derived().coeffs().template start<3>(); } /** \returns a read-only vector expression of the coefficients (x,y,z,w) */ - inline const Coefficients& coeffs() const { return m_coeffs; } + inline const typename ei_traits<Derived>::Coefficients& coeffs() const { return this->derived().coeffs(); } /** \returns a vector expression of the coefficients (x,y,z,w) */ - inline Coefficients& coeffs() { return m_coeffs; } - - /** Default constructor leaving the quaternion uninitialized. */ - inline Quaternion() {} - - /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from - * its four coefficients \a w, \a x, \a y and \a z. - * - * \warning Note the order of the arguments: the real \a w coefficient first, - * while internally the coefficients are stored in the following order: - * [\c x, \c y, \c z, \c w] - */ - inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z) - { m_coeffs << x, y, z, w; } + inline typename ei_traits<Derived>::Coefficients& coeffs() { return this->derived().coeffs(); } - /** Copy constructor */ - inline Quaternion(const Quaternion& other) { m_coeffs = other.m_coeffs; } - - /** Constructs and initializes a quaternion from the angle-axis \a aa */ - explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; } - - /** Constructs and initializes a quaternion from either: - * - a rotation matrix expression, - * - a 4D vector expression representing quaternion coefficients. - * \sa operator=(MatrixBase<Derived>) - */ - template<typename Derived> - explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; } - - Quaternion& operator=(const Quaternion& other); - Quaternion& operator=(const AngleAxisType& aa); - template<typename Derived> - Quaternion& operator=(const MatrixBase<Derived>& m); + template<class OtherDerived> QuaternionBase& operator=(const QuaternionBase<OtherDerived>& other); + QuaternionBase& operator=(const AngleAxisType& aa); + template<class OtherDerived> + QuaternionBase& operator=(const MatrixBase<OtherDerived>& m); /** \returns a quaternion representing an identity rotation * \sa MatrixBase::Identity() */ - inline static Quaternion Identity() { return Quaternion(1, 0, 0, 0); } + inline static Quaternion<Scalar> Identity() { return Quaternion<Scalar>(1, 0, 0, 0); } - /** \sa Quaternion::Identity(), MatrixBase::setIdentity() + /** \sa Quaternion2::Identity(), MatrixBase::setIdentity() */ - inline Quaternion& setIdentity() { m_coeffs << 0, 0, 0, 1; return *this; } + inline QuaternionBase& setIdentity() { coeffs() << 0, 0, 0, 1; return *this; } /** \returns the squared norm of the quaternion's coefficients - * \sa Quaternion::norm(), MatrixBase::squaredNorm() + * \sa Quaternion2::norm(), MatrixBase::squaredNorm() */ - inline Scalar squaredNorm() const { return m_coeffs.squaredNorm(); } + inline Scalar squaredNorm() const { return coeffs().squaredNorm(); } /** \returns the norm of the quaternion's coefficients - * \sa Quaternion::squaredNorm(), MatrixBase::norm() + * \sa Quaternion2::squaredNorm(), MatrixBase::norm() */ - inline Scalar norm() const { return m_coeffs.norm(); } + inline Scalar norm() const { return coeffs().norm(); } /** Normalizes the quaternion \c *this * \sa normalized(), MatrixBase::normalize() */ - inline void normalize() { m_coeffs.normalize(); } + inline void normalize() { coeffs().normalize(); } /** \returns a normalized version of \c *this * \sa normalize(), MatrixBase::normalized() */ - inline Quaternion normalized() const { return Quaternion(m_coeffs.normalized()); } + inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); } - /** \returns the dot product of \c *this and \a other + /** \returns the dot product of \c *this and \a other * Geometrically speaking, the dot product of two unit quaternions * corresponds to the cosine of half the angle between the two rotations. * \sa angularDistance() */ - inline Scalar dot(const Quaternion& other) const { return m_coeffs.dot(other.m_coeffs); } + template<class OtherDerived> inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); } - inline Scalar angularDistance(const Quaternion& other) const; + template<class OtherDerived> inline Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const; Matrix3 toRotationMatrix(void) const; template<typename Derived1, typename Derived2> - Quaternion& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b); + QuaternionBase& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b); - inline Quaternion operator* (const Quaternion& q) const; - inline Quaternion& operator*= (const Quaternion& q); + template<class OtherDerived> inline Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const; + template<class OtherDerived> inline QuaternionBase& operator*= (const QuaternionBase<OtherDerived>& q); - Quaternion inverse(void) const; - Quaternion conjugate(void) const; + Quaternion<Scalar> inverse(void) const; + Quaternion<Scalar> conjugate(void) const; - Quaternion slerp(Scalar t, const Quaternion& other) const; + template<class OtherDerived> Quaternion<Scalar> slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const; + + /** \returns \c true if \c *this is approximately equal to \a other, within the precision + * determined by \a prec. + * + * \sa MatrixBase::isApprox() */ + bool isApprox(const QuaternionBase& other, RealScalar prec = precision<Scalar>()) const + { return coeffs().isApprox(other.coeffs(), prec); } + + Vector3 _transformVector(Vector3 v) const; /** \returns \c *this with scalar type casted to \a NewScalarType * @@ -197,57 +180,150 @@ public: * then this function smartly returns a const reference to \c *this. */ template<typename NewScalarType> - inline typename ei_cast_return_type<Quaternion,Quaternion<NewScalarType> >::type cast() const - { return typename ei_cast_return_type<Quaternion,Quaternion<NewScalarType> >::type(*this); } + inline typename ei_cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const + { + return typename ei_cast_return_type<Derived,Quaternion<NewScalarType> >::type( + coeffs().template cast<NewScalarType>()); + } +}; - /** Copy constructor with scalar type conversion */ - template<typename OtherScalarType> - inline explicit Quaternion(const Quaternion<OtherScalarType>& other) - { m_coeffs = other.coeffs().template cast<Scalar>(); } +template<typename _Scalar> +struct ei_traits<Quaternion<_Scalar> > +{ + typedef _Scalar Scalar; + typedef Matrix<_Scalar,4,1> Coefficients; + enum{ + PacketAccess = Aligned + }; +}; - /** \returns \c true if \c *this is approximately equal to \a other, within the precision - * determined by \a prec. +template<typename _Scalar> +class Quaternion : public QuaternionBase<Quaternion<_Scalar> >{ + typedef QuaternionBase<Quaternion<_Scalar> > Base; +public: + using Base::operator=; + + typedef _Scalar Scalar; + + typedef typename ei_traits<Quaternion<Scalar> >::Coefficients Coefficients; + typedef typename Base::AngleAxisType AngleAxisType; + + /** Default constructor leaving the quaternion uninitialized. */ + inline Quaternion() {} + + /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from + * its four coefficients \a w, \a x, \a y and \a z. * - * \sa MatrixBase::isApprox() */ - bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const - { return m_coeffs.isApprox(other.m_coeffs, prec); } + * \warning Note the order of the arguments: the real \a w coefficient first, + * while internally the coefficients are stored in the following order: + * [\c x, \c y, \c z, \c w] + */ + inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z) + { coeffs() << x, y, z, w; } - Vector3 _transformVector(Vector3 v) const; + /** Constructs and initialize a quaternion from the array data + * This constructor is also used to map an array */ + inline Quaternion(const Scalar* data) : m_coeffs(data) {} + + /** Copy constructor */ +// template<class Derived> inline Quaternion(const QuaternionBase<Derived>& other) { m_coeffs = other.coeffs(); } [XXX] redundant with 703 + + /** Constructs and initializes a quaternion from the angle-axis \a aa */ + explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; } + + /** Constructs and initializes a quaternion from either: + * - a rotation matrix expression, + * - a 4D vector expression representing quaternion coefficients. + */ + template<typename Derived> + explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; } + + /** Copy constructor with scalar type conversion */ + template<class Derived> + inline explicit Quaternion(const QuaternionBase<Derived>& other) + { m_coeffs = other.coeffs().template cast<Scalar>(); } + + inline Coefficients& coeffs() { return m_coeffs;} + inline const Coefficients& coeffs() const { return m_coeffs;} protected: Coefficients m_coeffs; }; -/** \ingroup Geometry_Module - * single precision quaternion type */ -typedef Quaternion<float> Quaternionf; -/** \ingroup Geometry_Module - * double precision quaternion type */ -typedef Quaternion<double> Quaterniond; +/* ########### Map<Quaternion> */ + +/** \class Map<Quaternion> + * \nonstableyet + * + * \brief Expression of a quaternion + * + * \param Scalar the type of the vector of diagonal coefficients + * + * \sa class Quaternion, class QuaternionBase + */ +template<typename _Scalar, int _PacketAccess> +struct ei_traits<Map<Quaternion<_Scalar>, _PacketAccess> >: +ei_traits<Quaternion<_Scalar> > +{ + typedef _Scalar Scalar; + typedef Map<Matrix<_Scalar,4,1> > Coefficients; + enum { + PacketAccess = _PacketAccess + }; +}; + +template<typename _Scalar, int PacketAccess> +class Map<Quaternion<_Scalar>, PacketAccess > : public QuaternionBase<Map<Quaternion<_Scalar>, PacketAccess> >, ei_no_assignment_operator { + public: + + typedef _Scalar Scalar; + + typedef typename ei_traits<Map<Quaternion<Scalar>, PacketAccess> >::Coefficients Coefficients; + + inline Map<Quaternion<Scalar>, PacketAccess >(const Scalar* coeffs) : m_coeffs(coeffs) {} + + inline Coefficients& coeffs() { return m_coeffs;} + inline const Coefficients& coeffs() const { return m_coeffs;} + + protected: + Coefficients m_coeffs; +}; + +typedef Map<Quaternion<double> > QuaternionMapd; +typedef Map<Quaternion<float> > QuaternionMapf; +typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd; +typedef Map<Quaternion<float>, Aligned> QuaternionMapAlignedf; // Generic Quaternion * Quaternion product -template<int Arch,typename Scalar> inline Quaternion<Scalar> -ei_quaternion_product(const Quaternion<Scalar>& a, const Quaternion<Scalar>& b) +template<int Arch, class Derived, class OtherDerived, typename Scalar, int PacketAccess> struct ei_quat_product { - return Quaternion<Scalar> - ( - a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(), - a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(), - a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(), - a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x() - ); -} + inline static Quaternion<Scalar> run(const QuaternionBase<Derived>& a, const QuaternionBase<OtherDerived>& b){ + return Quaternion<Scalar> + ( + a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(), + a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(), + a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(), + a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x() + ); + } +}; /** \returns the concatenation of two rotations as a quaternion-quaternion product */ -template <typename Scalar> -inline Quaternion<Scalar> Quaternion<Scalar>::operator* (const Quaternion& other) const +template <class Derived> +template <class OtherDerived> +inline Quaternion<typename ei_traits<QuaternionBase<Derived> >::Scalar> QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const { - return ei_quaternion_product<EiArch>(*this,other); + EIGEN_STATIC_ASSERT((ei_is_same_type<typename Derived::Scalar, typename OtherDerived::Scalar>::ret), + YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) + return ei_quat_product<EiArch, Derived, OtherDerived, + typename ei_traits<Derived>::Scalar, + ei_traits<Derived>::PacketAccess && ei_traits<OtherDerived>::PacketAccess>::run(*this, other); } /** \sa operator*(Quaternion) */ -template <typename Scalar> -inline Quaternion<Scalar>& Quaternion<Scalar>::operator*= (const Quaternion& other) +template <class Derived> +template <class OtherDerived> +inline QuaternionBase<Derived>& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other) { return (*this = *this * other); } @@ -256,12 +332,12 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::operator*= (const Quaternion& oth * \remarks If the quaternion is used to rotate several points (>1) * then it is much more efficient to first convert it to a 3x3 Matrix. * Comparison of the operation cost for n transformations: - * - Quaternion: 30n + * - Quaternion2: 30n * - Via a Matrix3: 24 + 15n */ -template <typename Scalar> -inline typename Quaternion<Scalar>::Vector3 -Quaternion<Scalar>::_transformVector(Vector3 v) const +template <class Derived> +inline typename QuaternionBase<Derived>::Vector3 +QuaternionBase<Derived>::_transformVector(Vector3 v) const { // Note that this algorithm comes from the optimization by hand // of the conversion to a Matrix followed by a Matrix/Vector product. @@ -272,17 +348,18 @@ Quaternion<Scalar>::_transformVector(Vector3 v) const return v + this->w() * uv + this->vec().cross(uv); } -template<typename Scalar> -inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const Quaternion& other) +template<class Derived> +template<class OtherDerived> +inline QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other) { - m_coeffs = other.m_coeffs; + coeffs() = other.coeffs(); return *this; } /** Set \c *this from an angle-axis \a aa and returns a reference to \c *this */ -template<typename Scalar> -inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const AngleAxisType& aa) +template<class Derived> +inline QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const AngleAxisType& aa) { Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings this->w() = ei_cos(ha); @@ -295,20 +372,23 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const AngleAxisType& aa * - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix * and \a xpr is converted to a quaternion */ -template<typename Scalar> -template<typename Derived> -inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const MatrixBase<Derived>& xpr) + +template<class Derived> +template<class MatrixDerived> +inline QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr) { - ei_quaternion_assign_impl<Derived>::run(*this, xpr.derived()); + EIGEN_STATIC_ASSERT((ei_is_same_type<typename Derived::Scalar, typename MatrixDerived::Scalar>::ret), + YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) + ei_quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived()); return *this; } /** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to * be normalized, otherwise the result is undefined. */ -template<typename Scalar> -inline typename Quaternion<Scalar>::Matrix3 -Quaternion<Scalar>::toRotationMatrix(void) const +template<class Derived> +inline typename QuaternionBase<Derived>::Matrix3 +QuaternionBase<Derived>::toRotationMatrix(void) const { // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!) // if not inlined then the cost of the return by value is huge ~ +35%, @@ -352,9 +432,9 @@ Quaternion<Scalar>::toRotationMatrix(void) const * Note that the two input vectors do \b not have to be normalized, and * do not need to have the same norm. */ -template<typename Scalar> +template<class Derived> template<typename Derived1, typename Derived2> -inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b) +inline QuaternionBase<Derived>& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b) { Vector3 v0 = a.normalized(); Vector3 v1 = b.normalized(); @@ -393,19 +473,19 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas * Note that in most cases, i.e., if you simply want the opposite rotation, * and/or the quaternion is normalized, then it is enough to use the conjugate. * - * \sa Quaternion::conjugate() + * \sa Quaternion2::conjugate() */ -template <typename Scalar> -inline Quaternion<Scalar> Quaternion<Scalar>::inverse() const +template <class Derived> +inline Quaternion<typename ei_traits<QuaternionBase<Derived> >::Scalar> QuaternionBase<Derived>::inverse() const { // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite() ?? Scalar n2 = this->squaredNorm(); if (n2 > 0) - return Quaternion(conjugate().coeffs() / n2); + return Quaternion<Scalar>(conjugate().coeffs() / n2); else { // return an invalid result to flag the error - return Quaternion(Coefficients::Zero()); + return Quaternion<Scalar>(ei_traits<Derived>::Coefficients::Zero()); } } @@ -413,19 +493,20 @@ inline Quaternion<Scalar> Quaternion<Scalar>::inverse() const * if the quaternion is normalized. * The conjugate of a quaternion represents the opposite rotation. * - * \sa Quaternion::inverse() + * \sa Quaternion2::inverse() */ -template <typename Scalar> -inline Quaternion<Scalar> Quaternion<Scalar>::conjugate() const +template <class Derived> +inline Quaternion<typename ei_traits<QuaternionBase<Derived> >::Scalar> QuaternionBase<Derived>::conjugate() const { - return Quaternion(this->w(),-this->x(),-this->y(),-this->z()); + return Quaternion<Scalar>(this->w(),-this->x(),-this->y(),-this->z()); } /** \returns the angle (in radian) between two rotations * \sa dot() */ -template <typename Scalar> -inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const +template <class Derived> +template <class OtherDerived> +inline typename ei_traits<QuaternionBase<Derived> >::Scalar QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const { double d = ei_abs(this->dot(other)); if (d>=1.0) @@ -436,14 +517,15 @@ inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const /** \returns the spherical linear interpolation between the two quaternions * \c *this and \a other at the parameter \a t */ -template <typename Scalar> -Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const +template <class Derived> +template <class OtherDerived> +Quaternion<typename ei_traits<QuaternionBase<Derived> >::Scalar> QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const { static const Scalar one = Scalar(1) - precision<Scalar>(); Scalar d = this->dot(other); Scalar absD = ei_abs(d); if (absD>=one) - return *this; + return Quaternion<Scalar>(*this); // theta is the angle between the 2 quaternions Scalar theta = std::acos(absD); @@ -454,15 +536,15 @@ Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) if (d<0) scale1 = -scale1; - return Quaternion(scale0 * m_coeffs + scale1 * other.m_coeffs); + return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs()); } // set from a rotation matrix template<typename Other> -struct ei_quaternion_assign_impl<Other,3,3> +struct ei_quaternionbase_assign_impl<Other,3,3> { typedef typename Other::Scalar Scalar; - inline static void run(Quaternion<Scalar>& q, const Other& mat) + template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& mat) { // This algorithm comes from "Quaternion Calculus and Fast Animation", // Ken Shoemake, 1987 SIGGRAPH course notes @@ -498,13 +580,14 @@ struct ei_quaternion_assign_impl<Other,3,3> // set from a vector of coefficients assumed to be a quaternion template<typename Other> -struct ei_quaternion_assign_impl<Other,4,1> +struct ei_quaternionbase_assign_impl<Other,4,1> { typedef typename Other::Scalar Scalar; - inline static void run(Quaternion<Scalar>& q, const Other& vec) + template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& vec) { q.coeffs() = vec; } }; + #endif // EIGEN_QUATERNION_H diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h index 70204f72b..4ee036140 100644 --- a/Eigen/src/Geometry/Transform.h +++ b/Eigen/src/Geometry/Transform.h @@ -481,6 +481,15 @@ typedef Transform<double,2> Transform2d; typedef Transform<double,3> Transform3d; /** \ingroup Geometry_Module */ +typedef Transform<float,2,Isometry> Isometry2f; +/** \ingroup Geometry_Module */ +typedef Transform<float,3,Isometry> Isometry3f; +/** \ingroup Geometry_Module */ +typedef Transform<double,2,Isometry> Isometry2d; +/** \ingroup Geometry_Module */ +typedef Transform<double,3,Isometry> Isometry3d; + +/** \ingroup Geometry_Module */ typedef Transform<float,2> Affine2f; /** \ingroup Geometry_Module */ typedef Transform<float,3> Affine3f; @@ -512,7 +521,7 @@ typedef Transform<double,3,Projective> Projective3d; **************************/ #ifdef EIGEN_QT_SUPPORT -/** Initialises \c *this from a QMatrix assuming the dimension is 2. +/** Initializes \c *this from a QMatrix assuming the dimension is 2. * * This function is available only if the token EIGEN_QT_SUPPORT is defined. */ @@ -538,7 +547,7 @@ Transform<Scalar,Dim,Mode>& Transform<Scalar,Dim,Mode>::operator=(const QMatrix& /** \returns a QMatrix from \c *this assuming the dimension is 2. * - * \warning this convertion might loss data if \c *this is not affine + * \warning this conversion might loss data if \c *this is not affine * * This function is available only if the token EIGEN_QT_SUPPORT is defined. */ @@ -551,7 +560,7 @@ QMatrix Transform<Scalar,Dim,Mode>::toQMatrix(void) const matrix.coeff(0,2), matrix.coeff(1,2)); } -/** Initialises \c *this from a QTransform assuming the dimension is 2. +/** Initializes \c *this from a QTransform assuming the dimension is 2. * * This function is available only if the token EIGEN_QT_SUPPORT is defined. */ @@ -899,7 +908,7 @@ struct ei_projective_transform_inverse<TransformType, Projective> * \returns the inverse transformation according to some given knowledge * on \c *this. * - * \param traits allows to optimize the inversion process when the transformion + * \param traits allows to optimize the inversion process when the transformation * is known to be not a general transformation. The possible values are: * - Projective if the transformation is not necessarily affine, i.e., if the * last row is not guaranteed to be [0 ... 0 1] @@ -968,7 +977,7 @@ struct ei_transform_take_affine_part<Transform<Scalar,Dim,AffineCompact> > { }; /***************************************************** -*** Specializations of construct from matix *** +*** Specializations of construct from matrix *** *****************************************************/ template<typename Other, int Mode, int Dim, int HDim> diff --git a/Eigen/src/Geometry/Umeyama.h b/Eigen/src/Geometry/Umeyama.h index 7652aa92e..551a69e5b 100644 --- a/Eigen/src/Geometry/Umeyama.h +++ b/Eigen/src/Geometry/Umeyama.h @@ -117,7 +117,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo enum { Dimension = EIGEN_ENUM_MIN(Derived::RowsAtCompileTime, OtherDerived::RowsAtCompileTime) }; typedef Matrix<Scalar, Dimension, 1> VectorType; - typedef typename ei_plain_matrix_type<Derived>::type MatrixType; + typedef Matrix<Scalar, Dimension, Dimension> MatrixType; typedef typename ei_plain_matrix_type_row_major<Derived>::type RowMajorMatrixType; const int m = src.rows(); // dimension @@ -131,17 +131,11 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo const VectorType dst_mean = dst.rowwise().sum() * one_over_n; // demeaning of src and dst points - RowMajorMatrixType src_demean(m,n); - RowMajorMatrixType dst_demean(m,n); - for (int i=0; i<n; ++i) - { - src_demean.col(i) = src.col(i) - src_mean; - dst_demean.col(i) = dst.col(i) - dst_mean; - } + const RowMajorMatrixType src_demean = src.colwise() - src_mean; + const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean; // Eq. (36)-(37) const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n; - // const Scalar dst_var = dst_demean.rowwise().squaredNorm().sum() * one_over_n; // Eq. (38) const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose(); diff --git a/Eigen/src/Geometry/arch/Geometry_SSE.h b/Eigen/src/Geometry/arch/Geometry_SSE.h index d0342febc..1b8f6aead 100644 --- a/Eigen/src/Geometry/arch/Geometry_SSE.h +++ b/Eigen/src/Geometry/arch/Geometry_SSE.h @@ -26,24 +26,26 @@ #ifndef EIGEN_GEOMETRY_SSE_H #define EIGEN_GEOMETRY_SSE_H -template<> inline Quaternion<float> -ei_quaternion_product<EiArch_SSE,float>(const Quaternion<float>& _a, const Quaternion<float>& _b) +template<class Derived, class OtherDerived> struct ei_quat_product<EiArch_SSE, Derived, OtherDerived, float, Aligned> { - const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000)); - Quaternion<float> res; - __m128 a = _a.coeffs().packet<Aligned>(0); - __m128 b = _b.coeffs().packet<Aligned>(0); - __m128 flip1 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,2), - ei_vec4f_swizzle1(b,2,0,1,2)),mask); - __m128 flip2 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,3,3,3,1), - ei_vec4f_swizzle1(b,0,1,2,1)),mask); - ei_pstore(&res.x(), - _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,ei_vec4f_swizzle1(b,3,3,3,3)), - _mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,0), - ei_vec4f_swizzle1(b,1,2,0,0))), - _mm_add_ps(flip1,flip2))); - return res; -} + inline static Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) + { + const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000)); + Quaternion<float> res; + __m128 a = _a.coeffs().packet<Aligned>(0); + __m128 b = _b.coeffs().packet<Aligned>(0); + __m128 flip1 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,2), + ei_vec4f_swizzle1(b,2,0,1,2)),mask); + __m128 flip2 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,3,3,3,1), + ei_vec4f_swizzle1(b,0,1,2,1)),mask); + ei_pstore(&res.x(), + _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,ei_vec4f_swizzle1(b,3,3,3,3)), + _mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,0), + ei_vec4f_swizzle1(b,1,2,0,0))), + _mm_add_ps(flip1,flip2))); + return res; + } +}; template<typename VectorLhs,typename VectorRhs> struct ei_cross3_impl<EiArch_SSE,VectorLhs,VectorRhs,float,true> { diff --git a/Eigen/src/Sparse/SparseExpressionMaker.h b/Eigen/src/Sparse/SparseExpressionMaker.h new file mode 100644 index 000000000..1fdcbb1f2 --- /dev/null +++ b/Eigen/src/Sparse/SparseExpressionMaker.h @@ -0,0 +1,48 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr> +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see <http://www.gnu.org/licenses/>. + +#ifndef EIGEN_SPARSE_EXPRESSIONMAKER_H +#define EIGEN_SPARSE_EXPRESSIONMAKER_H + +template<typename XprType> +struct MakeNestByValue<XprType,IsSparse> +{ + typedef SparseNestByValue<XprType> Type; +}; + +template<typename Func, typename XprType> +struct MakeCwiseUnaryOp<Func,XprType,IsSparse> +{ + typedef SparseCwiseUnaryOp<Func,XprType> Type; +}; + +template<typename Func, typename A, typename B> +struct MakeCwiseBinaryOp<Func,A,B,IsSparse> +{ + typedef SparseCwiseBinaryOp<Func,A,B> Type; +}; + +// TODO complete the list + +#endif // EIGEN_SPARSE_EXPRESSIONMAKER_H |