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-rw-r--r--Eigen/src/Core/Cwise.h1
-rw-r--r--Eigen/src/Geometry/Transform.h34
-rw-r--r--Eigen/src/Sparse/SparseMatrix.h18
-rw-r--r--test/CMakeLists.txt1
-rw-r--r--test/geometry.cpp12
-rw-r--r--test/sparse.cpp65
6 files changed, 101 insertions, 30 deletions
diff --git a/Eigen/src/Core/Cwise.h b/Eigen/src/Core/Cwise.h
index 0f81a8a4b..c3a15e307 100644
--- a/Eigen/src/Core/Cwise.h
+++ b/Eigen/src/Core/Cwise.h
@@ -95,7 +95,6 @@ template<typename ExpressionType> class Cwise
const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_sin_op) sin() const;
const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_pow_op) pow(const Scalar& exponent) const;
-
const ScalarAddReturnType
operator+(const Scalar& scalar) const;
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index 158624617..4710cc4bc 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -65,9 +65,9 @@ public:
typedef _Scalar Scalar;
/** type of the matrix used to represent the transformation */
typedef Matrix<Scalar,HDim,HDim> MatrixType;
- /** type of the matrix used to represent the affine part of the transformation */
+ /** type of the matrix used to represent the linear part of the transformation */
typedef Matrix<Scalar,Dim,Dim> AffineMatrixType;
- /** type of read/write reference to the affine part of the transformation */
+ /** type of read/write reference to the linear part of the transformation */
typedef Block<MatrixType,Dim,Dim> AffinePart;
/** type of a vector */
typedef Matrix<Scalar,Dim,1> VectorType;
@@ -110,10 +110,10 @@ public:
/** \returns a writable expression of the transformation matrix */
inline MatrixType& matrix() { return m_matrix; }
- /** \returns a read-only expression of the affine (linear) part of the transformation */
- inline const AffinePart affine() const { return m_matrix.template block<Dim,Dim>(0,0); }
- /** \returns a writable expression of the affine (linear) part of the transformation */
- inline AffinePart affine() { return m_matrix.template block<Dim,Dim>(0,0); }
+ /** \returns a read-only expression of the linear (linear) part of the transformation */
+ inline const AffinePart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
+ /** \returns a writable expression of the linear (linear) part of the transformation */
+ inline AffinePart linear() { return m_matrix.template block<Dim,Dim>(0,0); }
/** \returns a read-only expression of the translation vector of the transformation */
inline const TranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
@@ -235,7 +235,7 @@ Transform<Scalar,Dim>&
Transform<Scalar,Dim>::scale(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim));
- affine() = (affine() * other.asDiagonal()).lazy();
+ linear() = (linear() * other.asDiagonal()).lazy();
return *this;
}
@@ -263,7 +263,7 @@ Transform<Scalar,Dim>&
Transform<Scalar,Dim>::translate(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim));
- translation() += affine() * other;
+ translation() += linear() * other;
return *this;
}
@@ -303,7 +303,7 @@ template<typename RotationType>
Transform<Scalar,Dim>&
Transform<Scalar,Dim>::rotate(const RotationType& rotation)
{
- affine() *= ToRotationMatrix<Scalar,Dim,RotationType>::convert(rotation);
+ linear() *= ToRotationMatrix<Scalar,Dim,RotationType>::convert(rotation);
return *this;
}
@@ -334,8 +334,8 @@ Transform<Scalar,Dim>&
Transform<Scalar,Dim>::shear(Scalar sx, Scalar sy)
{
EIGEN_STATIC_ASSERT(int(Dim)==2, you_did_a_programming_error);
- VectorType tmp = affine().col(0)*sy + affine().col(1);
- affine() << affine().col(0) + affine().col(1)*sx, tmp;
+ VectorType tmp = linear().col(0)*sy + linear().col(1);
+ linear() << linear().col(0) + linear().col(1)*sx, tmp;
return *this;
}
@@ -360,18 +360,18 @@ template<typename Scalar, int Dim>
typename Transform<Scalar,Dim>::AffineMatrixType
Transform<Scalar,Dim>::extractRotation() const
{
- return affine().qr().matrixQ();
+ return linear().qr().matrixQ();
}
/** \returns the rotation part of the transformation assuming no shear in
- * the affine part.
+ * the linear part.
* \sa extractRotation()
*/
template<typename Scalar, int Dim>
typename Transform<Scalar,Dim>::AffineMatrixType
Transform<Scalar,Dim>::extractRotationNoShear() const
{
- return affine().cwise().abs2()
+ return linear().cwise().abs2()
.verticalRedux(ei_scalar_sum_op<Scalar>()).cwise().sqrt();
}
@@ -384,11 +384,11 @@ Transform<Scalar,Dim>&
Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
{
- affine() = ToRotationMatrix<Scalar,Dim,OrientationType>::convert(orientation);
+ linear() = ToRotationMatrix<Scalar,Dim,OrientationType>::convert(orientation);
translation() = position;
m_matrix(Dim,Dim) = 1.;
m_matrix.template block<1,Dim>(Dim,0).setZero();
- affine() *= scale.asDiagonal();
+ linear() *= scale.asDiagonal();
return *this;
}
@@ -431,7 +431,7 @@ struct ei_transform_product_impl<Other,Dim,HDim, Dim,1>
> ResultType;
// FIXME should we offer an optimized version when the last row is known to be 0,0...,0,1 ?
static ResultType run(const TransformType& tr, const Other& other)
- { return ((tr.affine().nestByValue() * other).nestByValue() + tr.translation().nestByValue()).nestByValue()
+ { return ((tr.linear().nestByValue() * other).nestByValue() + tr.translation().nestByValue()).nestByValue()
* (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
};
diff --git a/Eigen/src/Sparse/SparseMatrix.h b/Eigen/src/Sparse/SparseMatrix.h
index cc13e21c7..2504d9fd8 100644
--- a/Eigen/src/Sparse/SparseMatrix.h
+++ b/Eigen/src/Sparse/SparseMatrix.h
@@ -85,11 +85,15 @@ class SparseMatrix : public SparseMatrixBase<SparseMatrix<_Scalar, _Flags> >
const int inner = RowMajor ? col : row;
int id = m_outerIndex[outer];
- int end = m_outerIndex[outer+1]-1;
- if (m_data.index(end)==inner)
- return m_data.value(end);
+ int end = m_outerIndex[outer+1];
+ // optimization: let's first check if it is the last coefficient
+ // (very common in high level algorithms)
+ if (end>0 && inner==m_data.index(end-1))
+ return m_data.value(end-1);
+ else if (id==end)
+ return Scalar(0);
const int* r = std::lower_bound(&m_data.index(id),&m_data.index(end),inner);
- return (*r==inner) ? m_data.value(*r) : Scalar(0);
+ return (*r==inner) ? m_data.value(r-&m_data.index(0)) : Scalar(0);
}
inline Scalar& coeffRef(int row, int col)
@@ -99,9 +103,11 @@ class SparseMatrix : public SparseMatrixBase<SparseMatrix<_Scalar, _Flags> >
int id = m_outerIndex[outer];
int end = m_outerIndex[outer+1];
+ ei_assert(end>=id && "you probably called coeffRef on a non finalized matrix");
+ ei_assert(end>id && "coeffRef cannot be called on a zero coefficient");
int* r = std::lower_bound(&m_data.index(id),&m_data.index(end),inner);
- ei_assert(*r==inner);
- return m_data.value(*r);
+ ei_assert(*r==inner && "coeffRef cannot be called on a zero coefficient");
+ return m_data.value(r-&m_data.index(0));
}
public:
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index e0f6f2664..8d217d421 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -111,5 +111,6 @@ EI_ADD_TEST(geometry)
EI_ADD_TEST(regression)
EI_ADD_TEST(svd)
EI_ADD_TEST(ioformat)
+EI_ADD_TEST(sparse)
ENDIF(BUILD_TESTS)
diff --git a/test/geometry.cpp b/test/geometry.cpp
index a41a26c23..2aad9dda3 100644
--- a/test/geometry.cpp
+++ b/test/geometry.cpp
@@ -117,9 +117,9 @@ template<typename Scalar> void geometry(void)
q1 = AngleAxis(a, v0.normalized());
Transform3 t0, t1, t2;
t0.setIdentity();
- t0.affine() = q1.toRotationMatrix();
+ t0.linear() = q1.toRotationMatrix();
t1.setIdentity();
- t1.affine() = q1.toRotationMatrix();
+ t1.linear() = q1.toRotationMatrix();
v0 << 50, 2, 1;//= Vector3::Random().cwiseProduct(Vector3(10,2,0.5));
t0.scale(v0);
@@ -131,10 +131,10 @@ template<typename Scalar> void geometry(void)
t0.setIdentity();
t1.setIdentity();
v1 << 1, 2, 3;
- t0.affine() = q1.toRotationMatrix();
+ t0.linear() = q1.toRotationMatrix();
t0.pretranslate(v0);
t0.scale(v1);
- t1.affine() = q1.conjugate().toRotationMatrix();
+ t1.linear() = q1.conjugate().toRotationMatrix();
t1.prescale(v1.cwise().inverse());
t1.translate(-v0);
@@ -148,12 +148,12 @@ template<typename Scalar> void geometry(void)
Vector2 v20 = Vector2::Random();
Vector2 v21 = Vector2::Random();
t21.setIdentity();
- t21.affine() = Rotation2D<Scalar>(a).toRotationMatrix();
+ t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix();
VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(),
t21.pretranslate(v20).scale(v21).matrix());
t21.setIdentity();
- t21.affine() = Rotation2D<Scalar>(-a).toRotationMatrix();
+ t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix();
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21) * (t21.prescale(v21.cwise().inverse()).translate(-v20))).isIdentity() );
}
diff --git a/test/sparse.cpp b/test/sparse.cpp
new file mode 100644
index 000000000..c86697712
--- /dev/null
+++ b/test/sparse.cpp
@@ -0,0 +1,65 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Daniel Gomez Ferro <dgomezferro@gmail.com>
+//
+// 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 <Eigen/Sparse>
+
+void test_sparse()
+{
+ int rows = 4, cols = 4;
+ SparseMatrix<double> m(rows, cols);
+
+ m.startFill(rows);
+ m.fill(0, 2) = 2;
+ m.fill(1, 2) = 1;
+ m.fill(0, 3) = 5;
+ m.endFill();
+
+ m.coeffRef(0, 2) = 3;
+ VERIFY_RAISES_ASSERT( m.coeffRef(0, 0) = 5 );
+ VERIFY_IS_MUCH_SMALLER_THAN( m.coeff(0, 0), 0.000001 );
+ VERIFY_IS_MUCH_SMALLER_THAN( m.coeff(0, 1), 0.000001 );
+ VERIFY_IS_MUCH_SMALLER_THAN( m.coeff(2, 1), 0.000001 );
+ VERIFY_IS_APPROX( m.coeff(0, 2), 3.0 );
+ VERIFY_IS_APPROX( m.coeff(1, 2), 1.0 );
+ VERIFY_IS_APPROX( m.coeff(0, 3), 5.0 );
+
+ Matrix4d dm;
+ double r;
+ m.startFill(rows*cols);
+ for(int i=0; i<cols; i++) {
+ for(int j=0; j<rows; j++) {
+ r = rand();
+ m.fill(j, i) = r;
+ dm(j, i) = r;
+ }
+ }
+ m.endFill();
+
+ for(int i=0; i<cols; i++) {
+ for(int j=0; j<rows; j++) {
+ VERIFY_IS_APPROX( m.coeff(j, i), dm(j, i) );
+ }
+ }
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-06-30 16:39:28 +0000