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authorGravatar Gael Guennebaud <g.gael@free.fr>2009-05-03 17:19:19 +0000
committerGravatar Gael Guennebaud <g.gael@free.fr>2009-05-03 17:19:19 +0000
commitc25fc50d540501f5b937792c6f758d14d6317530 (patch)
tree197b0ad1b33b6bd74422e8e1af762b80b3237de6 /unsupported
parent469b8aa380323f89c59cfd4cde4f9849aa5b9cc7 (diff)
add an AlignedVector3 module suitable for vectorization of 3D vectors
Diffstat (limited to 'unsupported')
-rw-r--r--unsupported/Eigen/AlignedVector3191
-rw-r--r--unsupported/Eigen/CMakeLists.txt2
-rw-r--r--unsupported/test/CMakeLists.txt1
-rw-r--r--unsupported/test/alignedvector3.cpp71
4 files changed, 264 insertions, 1 deletions
diff --git a/unsupported/Eigen/AlignedVector3 b/unsupported/Eigen/AlignedVector3
new file mode 100644
index 000000000..b4966f500
--- /dev/null
+++ b/unsupported/Eigen/AlignedVector3
@@ -0,0 +1,191 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// 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_ALIGNED_VECTOR3
+#define EIGEN_ALIGNED_VECTOR3
+
+#include <Eigen/Geometry>
+
+namespace Eigen {
+
+/** \ingroup Unsupported_modules
+ * \defgroup AlignedVector3_Module Aligned vector3 module
+ *
+ * \code
+ * #include <unsupported/Eigen/AlignedVector3>
+ * \endcode
+ */
+ //@{
+
+
+/** \class AlignedVector3
+ *
+ * \brief A vectorization frinedly 3D vector
+ *
+ * This class represents a 3D vector internally using a 4D vector
+ * such that vectorization can be seamlessly enabled. Of course,
+ * the same result can be achieved by directly using a 4D vector.
+ * This class makes this process simpler.
+ *
+ */
+// TODO specialize Cwise
+template<typename _Scalar> class AlignedVector3;
+
+template<typename _Scalar> struct ei_traits<AlignedVector3<_Scalar> >
+ : ei_traits<Matrix<_Scalar,3,1,0,4,1> >
+{
+};
+
+template<typename _Scalar> class AlignedVector3
+ : public MatrixBase<AlignedVector3<_Scalar> >
+{
+ typedef Matrix<_Scalar,4,1> CoeffType;
+ CoeffType m_coeffs;
+ public:
+
+ EIGEN_GENERIC_PUBLIC_INTERFACE(AlignedVector3)
+ using Base::operator*;
+
+ inline int rows() const { return 3; }
+ inline int cols() const { return 1; }
+
+ inline const Scalar coeff(int row, int col) const
+ { return m_coeffs.coeff(row, col); }
+
+ inline Scalar& coeffRef(int row, int col)
+ { return m_coeffs.coeffRef(row, col); }
+
+ inline const Scalar coeff(int index) const
+ { return m_coeffs.coeff(index); }
+
+ inline Scalar& coeffRef(int index)
+ { return m_coeffs.coeffRef(index);}
+
+
+ inline AlignedVector3(const Scalar& x, const Scalar& y, const Scalar& z)
+ : m_coeffs(x, y, z, Scalar(0))
+ {}
+
+ inline AlignedVector3(const AlignedVector3& other)
+ : m_coeffs(other.m_coeffs)
+ {}
+
+ template<typename XprType, int Size=XprType::SizeAtCompileTime>
+ struct generic_assign_selector;
+
+ template<typename XprType> struct generic_assign_selector<XprType,4>
+ {
+ inline static void run(AlignedVector3& dest, const XprType& src)
+ {
+ dest.m_coeffs = src;
+ }
+ };
+
+ template<typename XprType> struct generic_assign_selector<XprType,3>
+ {
+ inline static void run(AlignedVector3& dest, const XprType& src)
+ {
+ dest.m_coeffs.template start<3>() = src;
+ dest.m_coeffs.w() = Scalar(0);
+ }
+ };
+
+ template<typename Derived>
+ inline explicit AlignedVector3(const MatrixBase<Derived>& other)
+ {
+ generic_assign_selector<Derived>::run(*this,other.derived());
+ }
+
+ inline AlignedVector3& operator=(const AlignedVector3& other)
+ { m_coeffs = other.m_coeffs; return *this; }
+
+
+ inline AlignedVector3 operator+(const AlignedVector3& other) const
+ { return AlignedVector3(m_coeffs + other.m_coeffs); }
+
+ inline AlignedVector3& operator+=(const AlignedVector3& other)
+ { m_coeffs += other.m_coeffs; return *this; }
+
+ inline AlignedVector3 operator-(const AlignedVector3& other) const
+ { return AlignedVector3(m_coeffs - other.m_coeffs); }
+
+ inline AlignedVector3 operator-=(const AlignedVector3& other)
+ { m_coeffs -= other.m_coeffs; return *this; }
+
+ inline AlignedVector3 operator*(const Scalar& s) const
+ { return AlignedVector3(m_coeffs * s); }
+
+ inline friend AlignedVector3 operator*(const Scalar& s,const AlignedVector3& vec)
+ { return AlignedVector3(s * vec.m_coeffs); }
+
+ inline AlignedVector3& operator*=(const Scalar& s)
+ { m_coeffs *= s; return *this; }
+
+ inline AlignedVector3 operator/(const Scalar& s) const
+ { return AlignedVector3(m_coeffs / s); }
+
+ inline AlignedVector3& operator/=(const Scalar& s)
+ { m_coeffs /= s; return *this; }
+
+ inline Scalar dot(const AlignedVector3& other) const
+ {
+ ei_assert(m_coeffs.w()==Scalar(0));
+ ei_assert(other.m_coeffs.w()==Scalar(0));
+ return m_coeffs.dot(other.m_coeffs);
+ }
+
+ inline Scalar sum() const
+ {
+ ei_assert(m_coeffs.w()==Scalar(0));
+ return m_coeffs.sum();
+ }
+
+ inline Scalar squaredNorm() const
+ {
+ ei_assert(m_coeffs.w()==Scalar(0));
+ return m_coeffs.squaredNorm();
+ }
+
+ inline Scalar norm() const
+ {
+ return ei_sqrt(squaredNorm());
+ }
+
+ inline AlignedVector3 cross(const AlignedVector3& other) const
+ {
+ return AlignedVector3(m_coeffs.cross3(other.m_coeffs));
+ }
+
+ template<typename Derived>
+ inline bool isApprox(const MatrixBase<Derived>& other, RealScalar eps=precision<Scalar>()) const
+ {
+ return m_coeffs.template start<3>().isApprox(other,eps);
+ }
+};
+
+//@}
+
+}
+
+#endif // EIGEN_ALIGNED_VECTOR3
diff --git a/unsupported/Eigen/CMakeLists.txt b/unsupported/Eigen/CMakeLists.txt
index 49c6817fb..97a318878 100644
--- a/unsupported/Eigen/CMakeLists.txt
+++ b/unsupported/Eigen/CMakeLists.txt
@@ -1,4 +1,4 @@
-set(Eigen_HEADERS AdolcForward BVH IterativeSolvers MoreVectorization)
+set(Eigen_HEADERS AdolcForward BVH IterativeSolvers MoreVectorization AutoDiff AlignedVector3)
install(FILES
${Eigen_HEADERS}
diff --git a/unsupported/test/CMakeLists.txt b/unsupported/test/CMakeLists.txt
index 16ad1e7a1..36d9d344f 100644
--- a/unsupported/test/CMakeLists.txt
+++ b/unsupported/test/CMakeLists.txt
@@ -17,3 +17,4 @@ endif(ADOLC_FOUND)
ei_add_test(autodiff)
ei_add_test(BVH)
+ei_add_test(alignedvector3)
diff --git a/unsupported/test/alignedvector3.cpp b/unsupported/test/alignedvector3.cpp
new file mode 100644
index 000000000..6a5a700ab
--- /dev/null
+++ b/unsupported/test/alignedvector3.cpp
@@ -0,0 +1,71 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// 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/>.
+
+#include "main.h"
+#include <unsupported/Eigen/AlignedVector3>
+
+template<typename Scalar>
+void alignedvector3()
+{
+ Scalar s1 = ei_random<Scalar>();
+ Scalar s2 = ei_random<Scalar>();
+ Scalar s3 = ei_random<Scalar>();
+ typedef Matrix<Scalar,3,1> RefType;
+ typedef Matrix<Scalar,3,3> Mat33;
+ typedef AlignedVector3<Scalar> FastType;
+ RefType r1(RefType::Random()), r2(RefType::Random()), r3(RefType::Random()),
+ r4(RefType::Random()), r5(RefType::Random()), r6(RefType::Random());
+ FastType f1(r1), f2(r2), f3(r3), f4(r4), f5(r5), f6(r6);
+ Mat33 m1(Mat33::Random());
+
+ VERIFY_IS_APPROX(f1,r1);
+ VERIFY_IS_APPROX(f4,r4);
+
+ VERIFY_IS_APPROX(f4+f1,r4+r1);
+ VERIFY_IS_APPROX(f4-f1,r4-r1);
+ VERIFY_IS_APPROX(f4+f1-f2,r4+r1-r2);
+ VERIFY_IS_APPROX(f4+=f3,r4+=r3);
+ VERIFY_IS_APPROX(f4-=f5,r4-=r5);
+ VERIFY_IS_APPROX(f4-=f5+f1,r4-=r5+r1);
+ VERIFY_IS_APPROX(f5+f1-s1*f2,r5+r1-s1*r2);
+ VERIFY_IS_APPROX(f5+f1/s2-s1*f2,r5+r1/s2-s1*r2);
+
+ VERIFY_IS_APPROX(m1*f4,m1*r4);
+ VERIFY_IS_APPROX(f4.transpose()*m1,r4.transpose()*m1);
+
+ VERIFY_IS_APPROX(f2.dot(f3),r2.dot(r3));
+ VERIFY_IS_APPROX(f2.cross(f3),r2.cross(r3));
+ VERIFY_IS_APPROX(f2.norm(),r2.norm());
+
+ f2.normalize();
+ r2.normalize();
+ VERIFY_IS_APPROX(f2,r2);
+}
+
+void test_alignedvector3()
+{
+ for(int i = 0; i < g_repeat; i++) {
+ CALL_SUBTEST(( alignedvector3<float>() ));
+ }
+}