diff options
34 files changed, 2145 insertions, 271 deletions
diff --git a/Eigen/Core b/Eigen/Core index c8fcb1c09..3dce6422f 100644 --- a/Eigen/Core +++ b/Eigen/Core @@ -200,6 +200,7 @@ namespace Eigen { #include "src/Core/products/TriangularMatrixMatrix.h" #include "src/Core/products/TriangularSolverMatrix.h" #include "src/Core/BandMatrix.h" +#include "src/Core/ExpressionMaker.h" } // namespace Eigen diff --git a/Eigen/Sparse b/Eigen/Sparse index a8888daa3..96bd61419 100644 --- a/Eigen/Sparse +++ b/Eigen/Sparse @@ -110,6 +110,7 @@ namespace Eigen { #include "src/Sparse/SparseLLT.h" #include "src/Sparse/SparseLDLT.h" #include "src/Sparse/SparseLU.h" +#include "src/Sparse/SparseExpressionMaker.h" #ifdef EIGEN_CHOLMOD_SUPPORT # include "src/Sparse/CholmodSupport.h" 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 diff --git a/bench/BenchTimer.h b/bench/BenchTimer.h index bfc3a99b3..c1f473597 100644 --- a/bench/BenchTimer.h +++ b/bench/BenchTimer.h @@ -26,8 +26,14 @@ #ifndef EIGEN_BENCH_TIMER_H #define EIGEN_BENCH_TIMER_H +#ifndef WIN32 #include <sys/time.h> #include <unistd.h> +#else +#define NOMINMAX +#include <windows.h> +#endif + #include <cstdlib> #include <numeric> @@ -40,7 +46,15 @@ class BenchTimer { public: - BenchTimer() { reset(); } + BenchTimer() + { +#ifdef WIN32 + LARGE_INTEGER freq; + QueryPerformanceFrequency(&freq); + m_frequency = (double)freq.QuadPart; +#endif + reset(); + } ~BenchTimer() {} @@ -51,23 +65,35 @@ public: m_best = std::min(m_best, getTime() - m_start); } - /** Return the best elapsed time. + /** Return the best elapsed time in seconds. */ inline double value(void) { - return m_best; + return m_best; } +#ifdef WIN32 + inline double getTime(void) +#else static inline double getTime(void) +#endif { +#ifdef WIN32 + LARGE_INTEGER query_ticks; + QueryPerformanceCounter(&query_ticks); + return query_ticks.QuadPart/m_frequency; +#else struct timeval tv; struct timezone tz; gettimeofday(&tv, &tz); return (double)tv.tv_sec + 1.e-6 * (double)tv.tv_usec; +#endif } protected: - +#ifdef WIN32 + double m_frequency; +#endif double m_best, m_start; }; diff --git a/bench/benchFFT.cpp b/bench/benchFFT.cpp new file mode 100644 index 000000000..4b6cabb55 --- /dev/null +++ b/bench/benchFFT.cpp @@ -0,0 +1,115 @@ +// 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 Mark Borgerding mark a borgerding net +// +// 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 <complex> +#include <vector> +#include <Eigen/Core> +#include <bench/BenchTimer.h> +#ifdef USE_FFTW +#include <fftw3.h> +#endif + +#include <unsupported/Eigen/FFT> + +using namespace Eigen; +using namespace std; + + +template <typename T> +string nameof(); + +template <> string nameof<float>() {return "float";} +template <> string nameof<double>() {return "double";} +template <> string nameof<long double>() {return "long double";} + +#ifndef TYPE +#define TYPE float +#endif + +#ifndef NFFT +#define NFFT 1024 +#endif +#ifndef NDATA +#define NDATA 1000000 +#endif + +using namespace Eigen; + +template <typename T> +void bench(int nfft,bool fwd) +{ + typedef typename NumTraits<T>::Real Scalar; + typedef typename std::complex<Scalar> Complex; + int nits = NDATA/nfft; + vector<T> inbuf(nfft); + vector<Complex > outbuf(nfft); + FFT< Scalar > fft; + + fft.fwd( outbuf , inbuf); + + BenchTimer timer; + timer.reset(); + for (int k=0;k<8;++k) { + timer.start(); + for(int i = 0; i < nits; i++) + if (fwd) + fft.fwd( outbuf , inbuf); + else + fft.inv(inbuf,outbuf); + timer.stop(); + } + + cout << nameof<Scalar>() << " "; + double mflops = 5.*nfft*log2((double)nfft) / (1e6 * timer.value() / (double)nits ); + if ( NumTraits<T>::IsComplex ) { + cout << "complex"; + }else{ + cout << "real "; + mflops /= 2; + } + + if (fwd) + cout << " fwd"; + else + cout << " inv"; + + cout << " NFFT=" << nfft << " " << (double(1e-6*nfft*nits)/timer.value()) << " MS/s " << mflops << "MFLOPS\n"; +} + +int main(int argc,char ** argv) +{ + bench<complex<float> >(NFFT,true); + bench<complex<float> >(NFFT,false); + bench<float>(NFFT,true); + bench<float>(NFFT,false); + bench<complex<double> >(NFFT,true); + bench<complex<double> >(NFFT,false); + bench<double>(NFFT,true); + bench<double>(NFFT,false); + bench<complex<long double> >(NFFT,true); + bench<complex<long double> >(NFFT,false); + bench<long double>(NFFT,true); + bench<long double>(NFFT,false); + return 0; +} diff --git a/cmake/FindFFTW.cmake b/cmake/FindFFTW.cmake new file mode 100644 index 000000000..a56450b17 --- /dev/null +++ b/cmake/FindFFTW.cmake @@ -0,0 +1,24 @@ + +if (FFTW_INCLUDES AND FFTW_LIBRARIES) + set(FFTW_FIND_QUIETLY TRUE) +endif (FFTW_INCLUDES AND FFTW_LIBRARIES) + +find_path(FFTW_INCLUDES + NAMES + fftw3.h + PATHS + $ENV{FFTWDIR} + ${INCLUDE_INSTALL_DIR} +) + +find_library(FFTWF_LIB NAMES fftw3f PATHS $ENV{FFTWDIR} ${LIB_INSTALL_DIR}) +find_library(FFTW_LIB NAMES fftw3 PATHS $ENV{FFTWDIR} ${LIB_INSTALL_DIR}) +find_library(FFTWL_LIB NAMES fftw3l PATHS $ENV{FFTWDIR} ${LIB_INSTALL_DIR}) +set(FFTW_LIBRARIES "${FFTWF_LIB} ${FFTW_LIB} ${FFTWL_LIB}" ) +message(STATUS "FFTW ${FFTW_LIBRARIES}" ) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(FFTW DEFAULT_MSG + FFTW_INCLUDES FFTW_LIBRARIES) + +mark_as_advanced(FFTW_INCLUDES FFTW_LIBRARIES) diff --git a/scripts/eigen_gen_credits.cpp b/scripts/eigen_gen_credits.cpp index 086548e26..d7a625d47 100644 --- a/scripts/eigen_gen_credits.cpp +++ b/scripts/eigen_gen_credits.cpp @@ -13,10 +13,24 @@ using namespace std; std::string contributor_name(const std::string& line) { string result; + + // let's first take care of the case of isolated email addresses, like + // "user@localhost.localdomain" entries + if(line.find("markb@localhost.localdomain") != string::npos) + { + return "Mark Borgerding"; + } + + // from there on we assume that we have a entry of the form + // either: + // Bla bli Blurp + // or: + // Bla bli Blurp <bblurp@email.com> + size_t position_of_email_address = line.find_first_of('<'); if(position_of_email_address != string::npos) { - // there is an e-mail address. + // there is an e-mail address in <...>. // Hauke once committed as "John Smith", fix that. if(line.find("hauke.heibel") != string::npos) @@ -29,7 +43,7 @@ std::string contributor_name(const std::string& line) } else { - // there is no e-mail address. + // there is no e-mail address in <...>. if(line.find("convert-repo") != string::npos) result = ""; diff --git a/test/geo_hyperplane.cpp b/test/geo_hyperplane.cpp index f1d3b016f..3cf5655c2 100644 --- a/test/geo_hyperplane.cpp +++ b/test/geo_hyperplane.cpp @@ -121,7 +121,8 @@ template<typename Scalar> void lines() VERIFY_IS_APPROX(result, center); // check conversions between two types of lines - CoeffsType converted_coeffs = HLine(PLine(line_u)).coeffs(); + PLine pl(line_u); // gcc 3.3 will commit suicide if we don't name this variable + CoeffsType converted_coeffs = HLine(pl).coeffs(); converted_coeffs *= (line_u.coeffs()[0])/(converted_coeffs[0]); VERIFY(line_u.coeffs().isApprox(converted_coeffs)); } diff --git a/test/map.cpp b/test/map.cpp index 5c0ec3137..18c6b2694 100644 --- a/test/map.cpp +++ b/test/map.cpp @@ -37,14 +37,15 @@ template<typename VectorType> void map_class(const VectorType& m) Scalar* array3unaligned = size_t(array3)%16 == 0 ? array3+1 : array3; Map<VectorType, Aligned>(array1, size) = VectorType::Random(size); - Map<VectorType>(array2, size) = Map<VectorType>(array1, size); + Map<VectorType, Aligned>(array2, size) = Map<VectorType,Aligned>(array1, size); Map<VectorType>(array3unaligned, size) = Map<VectorType>(array1, size); - VectorType ma1 = Map<VectorType>(array1, size); + VectorType ma1 = Map<VectorType, Aligned>(array1, size); VectorType ma2 = Map<VectorType, Aligned>(array2, size); VectorType ma3 = Map<VectorType>(array3unaligned, size); VERIFY_IS_APPROX(ma1, ma2); VERIFY_IS_APPROX(ma1, ma3); - + VERIFY_RAISES_ASSERT((Map<VectorType,Aligned>(array3unaligned, size))); + ei_aligned_delete(array1, size); ei_aligned_delete(array2, size); delete[] array3; diff --git a/unsupported/Eigen/Complex b/unsupported/Eigen/Complex new file mode 100644 index 000000000..e1c41ab38 --- /dev/null +++ b/unsupported/Eigen/Complex @@ -0,0 +1,182 @@ +#ifndef EIGEN_COMPLEX_H +#define EIGEN_COMPLEX_H + +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Mark Borgerding mark a borgerding net +// +// 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/>. + +// Eigen::Complex reuses as much as possible from std::complex +// and allows easy conversion to and from, even at the pointer level. + + +#include <complex> + +namespace Eigen { + +template <typename _NativePtr,typename _PunnedPtr> +struct castable_pointer +{ + castable_pointer(_NativePtr ptr) : _ptr(ptr) {} + operator _NativePtr () {return _ptr;} + operator _PunnedPtr () {return reinterpret_cast<_PunnedPtr>(_ptr);} + private: + _NativePtr _ptr; +}; + +template <typename T> +struct Complex +{ + typedef typename std::complex<T> StandardComplex; + typedef T value_type; + + // constructors + Complex(const T& re = T(), const T& im = T()) : _re(re),_im(im) { } + Complex(const Complex&other ): _re(other.real()) ,_im(other.imag()) {} + + template<class X> + Complex(const Complex<X>&other): _re(other.real()) ,_im(other.imag()) {} + template<class X> + Complex(const std::complex<X>&other): _re(other.real()) ,_im(other.imag()) {} + + + // allow binary access to the object as a std::complex + typedef castable_pointer< Complex<T>*, StandardComplex* > pointer_type; + typedef castable_pointer< const Complex<T>*, const StandardComplex* > const_pointer_type; + pointer_type operator & () {return pointer_type(this);} + const_pointer_type operator & () const {return const_pointer_type(this);} + + operator StandardComplex () const {return std_type();} + operator StandardComplex & () {return std_type();} + + StandardComplex std_type() const {return StandardComplex(real(),imag());} + StandardComplex & std_type() {return *reinterpret_cast<StandardComplex*>(this);} + + + // every sort of accessor and mutator that has ever been in fashion. + // For a brief history, search for "std::complex over-encapsulated" + // http://www.open-std.org/jtc1/sc22/wg21/docs/lwg-defects.html#387 + const T & real() const {return _re;} + const T & imag() const {return _im;} + T & real() {return _re;} + T & imag() {return _im;} + T & real(const T & x) {return _re=x;} + T & imag(const T & x) {return _im=x;} + void set_real(const T & x) {_re = x;} + void set_imag(const T & x) {_im = x;} + + // *** complex member functions: *** + Complex<T>& operator= (const T& val) { _re=val;_im=0;return *this; } + Complex<T>& operator+= (const T& val) {_re+=val;return *this;} + Complex<T>& operator-= (const T& val) {_re-=val;return *this;} + Complex<T>& operator*= (const T& val) {_re*=val;_im*=val;return *this; } + Complex<T>& operator/= (const T& val) {_re/=val;_im/=val;return *this; } + + Complex& operator= (const Complex& rhs) {_re=rhs._re;_im=rhs._im;return *this;} + Complex& operator= (const StandardComplex& rhs) {_re=rhs.real();_im=rhs.imag();return *this;} + + template<class X> Complex<T>& operator= (const Complex<X>& rhs) { _re=rhs._re;_im=rhs._im;return *this;} + template<class X> Complex<T>& operator+= (const Complex<X>& rhs) { _re+=rhs._re;_im+=rhs._im;return *this;} + template<class X> Complex<T>& operator-= (const Complex<X>& rhs) { _re-=rhs._re;_im-=rhs._im;return *this;} + template<class X> Complex<T>& operator*= (const Complex<X>& rhs) { this->std_type() *= rhs.std_type(); return *this; } + template<class X> Complex<T>& operator/= (const Complex<X>& rhs) { this->std_type() /= rhs.std_type(); return *this; } + + private: + T _re; + T _im; +}; + +template <typename T> +T ei_to_std( const T & x) {return x;} + +template <typename T> +std::complex<T> ei_to_std( const Complex<T> & x) {return x.std_type();} + +// 26.2.6 operators +template<class T> Complex<T> operator+(const Complex<T>& rhs) {return rhs;} +template<class T> Complex<T> operator-(const Complex<T>& rhs) {return -ei_to_std(rhs);} + +template<class T> Complex<T> operator+(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) + ei_to_std(rhs);} +template<class T> Complex<T> operator-(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) - ei_to_std(rhs);} +template<class T> Complex<T> operator*(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) * ei_to_std(rhs);} +template<class T> Complex<T> operator/(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) / ei_to_std(rhs);} +template<class T> bool operator==(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) == ei_to_std(rhs);} +template<class T> bool operator!=(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) != ei_to_std(rhs);} + +template<class T> Complex<T> operator+(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) + ei_to_std(rhs); } +template<class T> Complex<T> operator-(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) - ei_to_std(rhs); } +template<class T> Complex<T> operator*(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) * ei_to_std(rhs); } +template<class T> Complex<T> operator/(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) / ei_to_std(rhs); } +template<class T> bool operator==(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) == ei_to_std(rhs); } +template<class T> bool operator!=(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) != ei_to_std(rhs); } + +template<class T> Complex<T> operator+(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) + ei_to_std(rhs); } +template<class T> Complex<T> operator-(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) - ei_to_std(rhs); } +template<class T> Complex<T> operator*(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) * ei_to_std(rhs); } +template<class T> Complex<T> operator/(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) / ei_to_std(rhs); } +template<class T> bool operator==(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) == ei_to_std(rhs); } +template<class T> bool operator!=(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) != ei_to_std(rhs); } + +template<class T, class charT, class traits> +std::basic_istream<charT,traits>& + operator>> (std::basic_istream<charT,traits>& istr, Complex<T>& rhs) +{ + return istr >> rhs.std_type(); +} + +template<class T, class charT, class traits> +std::basic_ostream<charT,traits>& +operator<< (std::basic_ostream<charT,traits>& ostr, const Complex<T>& rhs) +{ + return ostr << rhs.std_type(); +} + + // 26.2.7 values: + template<class T> T real(const Complex<T>&x) {return real(ei_to_std(x));} + template<class T> T abs(const Complex<T>&x) {return abs(ei_to_std(x));} + template<class T> T arg(const Complex<T>&x) {return arg(ei_to_std(x));} + template<class T> T norm(const Complex<T>&x) {return norm(ei_to_std(x));} + + template<class T> Complex<T> conj(const Complex<T>&x) { return conj(ei_to_std(x));} + template<class T> Complex<T> polar(const T& x, const T&y) {return polar(ei_to_std(x),ei_to_std(y));} + // 26.2.8 transcendentals: + template<class T> Complex<T> cos (const Complex<T>&x){return cos(ei_to_std(x));} + template<class T> Complex<T> cosh (const Complex<T>&x){return cosh(ei_to_std(x));} + template<class T> Complex<T> exp (const Complex<T>&x){return exp(ei_to_std(x));} + template<class T> Complex<T> log (const Complex<T>&x){return log(ei_to_std(x));} + template<class T> Complex<T> log10 (const Complex<T>&x){return log10(ei_to_std(x));} + + template<class T> Complex<T> pow(const Complex<T>&x, int p) {return pow(ei_to_std(x),ei_to_std(p));} + template<class T> Complex<T> pow(const Complex<T>&x, const T&p) {return pow(ei_to_std(x),ei_to_std(p));} + template<class T> Complex<T> pow(const Complex<T>&x, const Complex<T>&p) {return pow(ei_to_std(x),ei_to_std(p));} + template<class T> Complex<T> pow(const T&x, const Complex<T>&p) {return pow(ei_to_std(x),ei_to_std(p));} + + template<class T> Complex<T> sin (const Complex<T>&x){return sin(ei_to_std(x));} + template<class T> Complex<T> sinh (const Complex<T>&x){return sinh(ei_to_std(x));} + template<class T> Complex<T> sqrt (const Complex<T>&x){return sqrt(ei_to_std(x));} + template<class T> Complex<T> tan (const Complex<T>&x){return tan(ei_to_std(x));} + template<class T> Complex<T> tanh (const Complex<T>&x){return tanh(ei_to_std(x));} +} + +#endif +/* vim: set filetype=cpp et sw=2 ts=2 ai: */ + diff --git a/unsupported/Eigen/FFT b/unsupported/Eigen/FFT new file mode 100644 index 000000000..36afdde8d --- /dev/null +++ b/unsupported/Eigen/FFT @@ -0,0 +1,135 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Mark Borgerding mark a borgerding net +// +// 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_FFT_H +#define EIGEN_FFT_H + +#include <complex> +#include <vector> +#include <map> + +#ifdef EIGEN_FFTW_DEFAULT +// FFTW: faster, GPL -- incompatible with Eigen in LGPL form, bigger code size +# include <fftw3.h> + namespace Eigen { +# include "src/FFT/ei_fftw_impl.h" + //template <typename T> typedef struct ei_fftw_impl default_fft_impl; this does not work + template <typename T> struct default_fft_impl : public ei_fftw_impl<T> {}; + } +#elif defined EIGEN_MKL_DEFAULT +// TODO +// intel Math Kernel Library: fastest, commercial -- may be incompatible with Eigen in GPL form + namespace Eigen { +# include "src/FFT/ei_imklfft_impl.h" + template <typename T> struct default_fft_impl : public ei_imklfft_impl {}; + } +#else +// ei_kissfft_impl: small, free, reasonably efficient default, derived from kissfft +// + namespace Eigen { +# include "src/FFT/ei_kissfft_impl.h" + template <typename T> + struct default_fft_impl : public ei_kissfft_impl<T> {}; + } +#endif + +namespace Eigen { + +template <typename _Scalar, + typename _Impl=default_fft_impl<_Scalar> > +class FFT +{ + public: + typedef _Impl impl_type; + typedef typename impl_type::Scalar Scalar; + typedef typename impl_type::Complex Complex; + + FFT(const impl_type & impl=impl_type() ) :m_impl(impl) { } + + template <typename _Input> + void fwd( Complex * dst, const _Input * src, int nfft) + { + m_impl.fwd(dst,src,nfft); + } + + template <typename _Input> + void fwd( std::vector<Complex> & dst, const std::vector<_Input> & src) + { + dst.resize( src.size() ); + fwd( &dst[0],&src[0],src.size() ); + } + + template<typename InputDerived, typename ComplexDerived> + void fwd( MatrixBase<ComplexDerived> & dst, const MatrixBase<InputDerived> & src) + { + EIGEN_STATIC_ASSERT_VECTOR_ONLY(InputDerived) + EIGEN_STATIC_ASSERT_VECTOR_ONLY(ComplexDerived) + EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ComplexDerived,InputDerived) // size at compile-time + EIGEN_STATIC_ASSERT((ei_is_same_type<typename ComplexDerived::Scalar, Complex>::ret), + YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) + EIGEN_STATIC_ASSERT(int(InputDerived::Flags)&int(ComplexDerived::Flags)&DirectAccessBit, + THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES) + dst.derived().resize( src.size() ); + fwd( &dst[0],&src[0],src.size() ); + } + + template <typename _Output> + void inv( _Output * dst, const Complex * src, int nfft) + { + m_impl.inv( dst,src,nfft ); + } + + template <typename _Output> + void inv( std::vector<_Output> & dst, const std::vector<Complex> & src) + { + dst.resize( src.size() ); + inv( &dst[0],&src[0],src.size() ); + } + + template<typename OutputDerived, typename ComplexDerived> + void inv( MatrixBase<OutputDerived> & dst, const MatrixBase<ComplexDerived> & src) + { + EIGEN_STATIC_ASSERT_VECTOR_ONLY(OutputDerived) + EIGEN_STATIC_ASSERT_VECTOR_ONLY(ComplexDerived) + EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ComplexDerived,OutputDerived) // size at compile-time + EIGEN_STATIC_ASSERT((ei_is_same_type<typename ComplexDerived::Scalar, Complex>::ret), + YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) + EIGEN_STATIC_ASSERT(int(OutputDerived::Flags)&int(ComplexDerived::Flags)&DirectAccessBit, + THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES) + dst.derived().resize( src.size() ); + inv( &dst[0],&src[0],src.size() ); + } + + // TODO: multi-dimensional FFTs + + // TODO: handle Eigen MatrixBase + // ---> i added fwd and inv specializations above + unit test, is this enough? (bjacob) + + impl_type & impl() {return m_impl;} + private: + impl_type m_impl; +}; +} +#endif +/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h b/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h index a5e881487..b3983f8a6 100644 --- a/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h +++ b/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h @@ -50,10 +50,12 @@ public: typedef typename Functor::InputType InputType; typedef typename Functor::ValueType ValueType; typedef typename Functor::JacobianType JacobianType; + typedef typename JacobianType::Scalar Scalar; - typedef Matrix<double,InputsAtCompileTime,1> DerivativeType; + typedef Matrix<Scalar,InputsAtCompileTime,1> DerivativeType; typedef AutoDiffScalar<DerivativeType> ActiveScalar; + typedef Matrix<ActiveScalar, InputsAtCompileTime, 1> ActiveInput; typedef Matrix<ActiveScalar, ValuesAtCompileTime, 1> ActiveValue; diff --git a/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h index 888aa5c8c..2fb733a99 100644 --- a/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h +++ b/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h @@ -42,9 +42,17 @@ void ei_make_coherent(const A& a, const B&b) /** \class AutoDiffScalar * \brief A scalar type replacement with automatic differentation capability * - * \param DerType the vector type used to store/represent the derivatives (e.g. Vector3f) + * \param _DerType the vector type used to store/represent the derivatives. The base scalar type + * as well as the number of derivatives to compute are determined from this type. + * Typical choices include, e.g., \c Vector4f for 4 derivatives, or \c VectorXf + * if the number of derivatives is not known at compile time, and/or, the number + * of derivatives is large. + * Note that _DerType can also be a reference (e.g., \c VectorXf&) to wrap a + * existing vector into an AutoDiffScalar. + * Finally, _DerType can also be any Eigen compatible expression. * - * This class represents a scalar value while tracking its respective derivatives. + * This class represents a scalar value while tracking its respective derivatives using Eigen's expression + * template mechanism. * * It supports the following list of global math function: * - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos, @@ -56,10 +64,11 @@ void ei_make_coherent(const A& a, const B&b) * while derivatives are computed right away. * */ -template<typename DerType> +template<typename _DerType> class AutoDiffScalar { public: + typedef typename ei_cleantype<_DerType>::type DerType; typedef typename ei_traits<DerType>::Scalar Scalar; inline AutoDiffScalar() {} @@ -108,12 +117,28 @@ class AutoDiffScalar inline const DerType& derivatives() const { return m_derivatives; } inline DerType& derivatives() { return m_derivatives; } + inline const AutoDiffScalar<DerType&> operator+(const Scalar& other) const + { + return AutoDiffScalar<DerType>(m_value + other, m_derivatives); + } + + friend inline const AutoDiffScalar<DerType&> operator+(const Scalar& a, const AutoDiffScalar& b) + { + return AutoDiffScalar<DerType>(a + b.value(), b.derivatives()); + } + + inline AutoDiffScalar& operator+=(const Scalar& other) + { + value() += other; + return *this; + } + template<typename OtherDerType> - inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,OtherDerType> > + inline const AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,typename ei_cleantype<OtherDerType>::type>::Type > operator+(const AutoDiffScalar<OtherDerType>& other) const { ei_make_coherent(m_derivatives, other.derivatives()); - return AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,OtherDerType> >( + return AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,typename ei_cleantype<OtherDerType>::type>::Type >( m_value + other.value(), m_derivatives + other.derivatives()); } @@ -127,11 +152,11 @@ class AutoDiffScalar } template<typename OtherDerType> - inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,OtherDerType> > + inline const AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,typename ei_cleantype<OtherDerType>::type>::Type > operator-(const AutoDiffScalar<OtherDerType>& other) const { ei_make_coherent(m_derivatives, other.derivatives()); - return AutoDiffScalar<CwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,OtherDerType> >( + return AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,typename ei_cleantype<OtherDerType>::type>::Type >( m_value - other.value(), m_derivatives - other.derivatives()); } @@ -145,73 +170,73 @@ class AutoDiffScalar } template<typename OtherDerType> - inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType> > + inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType>::Type > operator-() const { - return AutoDiffScalar<CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType> >( + return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType>::Type >( -m_value, -m_derivatives); } - inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> > + inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type > operator*(const Scalar& other) const { - return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >( + return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >( m_value * other, (m_derivatives * other)); } - friend inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> > + friend inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type > operator*(const Scalar& other, const AutoDiffScalar& a) { - return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >( + return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >( a.value() * other, a.derivatives() * other); } - inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> > + inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type > operator/(const Scalar& other) const { - return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >( + return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >( m_value / other, (m_derivatives * (Scalar(1)/other))); } - friend inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> > + friend inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type > operator/(const Scalar& other, const AutoDiffScalar& a) { - return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >( + return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >( other / a.value(), a.derivatives() * (-Scalar(1)/other)); } template<typename OtherDerType> - inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, - NestByValue<CwiseBinaryOp<ei_scalar_difference_op<Scalar>, - NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >, - NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > > > > + inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, + typename MakeNestByValue<typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>, + typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type>::Type, + typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type>::Type>::Type >::Type >::Type >::Type > operator/(const AutoDiffScalar<OtherDerType>& other) const { ei_make_coherent(m_derivatives, other.derivatives()); - return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, - NestByValue<CwiseBinaryOp<ei_scalar_difference_op<Scalar>, - NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >, - NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > > > >( + return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, + typename MakeNestByValue<typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>, + typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type>::Type, + typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type>::Type>::Type >::Type >::Type >::Type >( m_value / other.value(), ((m_derivatives * other.value()).nestByValue() - (m_value * other.derivatives()).nestByValue()).nestByValue() * (Scalar(1)/(other.value()*other.value()))); } template<typename OtherDerType> - inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>, - NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >, - NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > > + inline const AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_sum_op<Scalar>, + typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type>::Type, + typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type>::Type>::Type >::Type > operator*(const AutoDiffScalar<OtherDerType>& other) const { ei_make_coherent(m_derivatives, other.derivatives()); - return AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>, - NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >, - NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > >( + return AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_sum_op<Scalar>, + typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type>::Type, + typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type>::Type>::Type >::Type >( m_value * other.value(), (m_derivatives * other.value()).nestByValue() + (m_value * other.derivatives()).nestByValue()); } @@ -283,11 +308,11 @@ struct ei_make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRo #define EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(FUNC,CODE) \ template<typename DerType> \ - inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::ei_scalar_multiple_op<typename Eigen::ei_traits<DerType>::Scalar>, DerType> > \ + inline const Eigen::AutoDiffScalar<typename Eigen::MakeCwiseUnaryOp<Eigen::ei_scalar_multiple_op<typename Eigen::ei_traits<DerType>::Scalar>, DerType>::Type > \ FUNC(const Eigen::AutoDiffScalar<DerType>& x) { \ using namespace Eigen; \ typedef typename ei_traits<DerType>::Scalar Scalar; \ - typedef AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> > ReturnType; \ + typedef AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type > ReturnType; \ CODE; \ } @@ -314,12 +339,12 @@ namespace std return ReturnType(std::log(x.value),x.derivatives() * (Scalar(1).x.value()));) template<typename DerType> - inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::ei_scalar_multiple_op<typename Eigen::ei_traits<DerType>::Scalar>, DerType> > + inline const Eigen::AutoDiffScalar<typename Eigen::MakeCwiseUnaryOp<Eigen::ei_scalar_multiple_op<typename Eigen::ei_traits<DerType>::Scalar>, DerType>::Type > pow(const Eigen::AutoDiffScalar<DerType>& x, typename Eigen::ei_traits<DerType>::Scalar y) { using namespace Eigen; typedef typename ei_traits<DerType>::Scalar Scalar; - return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >( + return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >( std::pow(x.value(),y), x.derivatives() * (y * std::pow(x.value(),y-1))); } @@ -359,7 +384,7 @@ EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(ei_log, return ReturnType(ei_log(x.value),x.derivatives() * (Scalar(1).x.value()));) template<typename DerType> -inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<DerType>::Scalar>, DerType> > +inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<DerType>::Scalar>, DerType>::Type > ei_pow(const AutoDiffScalar<DerType>& x, typename ei_traits<DerType>::Scalar y) { return std::pow(x,y);} diff --git a/unsupported/Eigen/src/FFT/ei_fftw_impl.h b/unsupported/Eigen/src/FFT/ei_fftw_impl.h new file mode 100644 index 000000000..e1f67f334 --- /dev/null +++ b/unsupported/Eigen/src/FFT/ei_fftw_impl.h @@ -0,0 +1,224 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Mark Borgerding mark a borgerding net +// +// 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/>. + + + + // FFTW uses non-const arguments + // so we must use ugly const_cast calls for all the args it uses + // + // This should be safe as long as + // 1. we use FFTW_ESTIMATE for all our planning + // see the FFTW docs section 4.3.2 "Planner Flags" + // 2. fftw_complex is compatible with std::complex + // This assumes std::complex<T> layout is array of size 2 with real,imag + template <typename T> + inline + T * ei_fftw_cast(const T* p) + { + return const_cast<T*>( p); + } + + inline + fftw_complex * ei_fftw_cast( const std::complex<double> * p) + { + return const_cast<fftw_complex*>( reinterpret_cast<const fftw_complex*>(p) ); + } + + inline + fftwf_complex * ei_fftw_cast( const std::complex<float> * p) + { + return const_cast<fftwf_complex*>( reinterpret_cast<const fftwf_complex*>(p) ); + } + + inline + fftwl_complex * ei_fftw_cast( const std::complex<long double> * p) + { + return const_cast<fftwl_complex*>( reinterpret_cast<const fftwl_complex*>(p) ); + } + + template <typename T> + struct ei_fftw_plan {}; + + template <> + struct ei_fftw_plan<float> + { + typedef float scalar_type; + typedef fftwf_complex complex_type; + fftwf_plan m_plan; + ei_fftw_plan() :m_plan(NULL) {} + ~ei_fftw_plan() {if (m_plan) fftwf_destroy_plan(m_plan);} + + inline + void fwd(complex_type * dst,complex_type * src,int nfft) { + if (m_plan==NULL) m_plan = fftwf_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE); + fftwf_execute_dft( m_plan, src,dst); + } + inline + void inv(complex_type * dst,complex_type * src,int nfft) { + if (m_plan==NULL) m_plan = fftwf_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE); + fftwf_execute_dft( m_plan, src,dst); + } + inline + void fwd(complex_type * dst,scalar_type * src,int nfft) { + if (m_plan==NULL) m_plan = fftwf_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE); + fftwf_execute_dft_r2c( m_plan,src,dst); + } + inline + void inv(scalar_type * dst,complex_type * src,int nfft) { + if (m_plan==NULL) + m_plan = fftwf_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE); + fftwf_execute_dft_c2r( m_plan, src,dst); + } + }; + template <> + struct ei_fftw_plan<double> + { + typedef double scalar_type; + typedef fftw_complex complex_type; + fftw_plan m_plan; + ei_fftw_plan() :m_plan(NULL) {} + ~ei_fftw_plan() {if (m_plan) fftw_destroy_plan(m_plan);} + + inline + void fwd(complex_type * dst,complex_type * src,int nfft) { + if (m_plan==NULL) m_plan = fftw_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE); + fftw_execute_dft( m_plan, src,dst); + } + inline + void inv(complex_type * dst,complex_type * src,int nfft) { + if (m_plan==NULL) m_plan = fftw_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE); + fftw_execute_dft( m_plan, src,dst); + } + inline + void fwd(complex_type * dst,scalar_type * src,int nfft) { + if (m_plan==NULL) m_plan = fftw_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE); + fftw_execute_dft_r2c( m_plan,src,dst); + } + inline + void inv(scalar_type * dst,complex_type * src,int nfft) { + if (m_plan==NULL) + m_plan = fftw_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE); + fftw_execute_dft_c2r( m_plan, src,dst); + } + }; + template <> + struct ei_fftw_plan<long double> + { + typedef long double scalar_type; + typedef fftwl_complex complex_type; + fftwl_plan m_plan; + ei_fftw_plan() :m_plan(NULL) {} + ~ei_fftw_plan() {if (m_plan) fftwl_destroy_plan(m_plan);} + + inline + void fwd(complex_type * dst,complex_type * src,int nfft) { + if (m_plan==NULL) m_plan = fftwl_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE); + fftwl_execute_dft( m_plan, src,dst); + } + inline + void inv(complex_type * dst,complex_type * src,int nfft) { + if (m_plan==NULL) m_plan = fftwl_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE); + fftwl_execute_dft( m_plan, src,dst); + } + inline + void fwd(complex_type * dst,scalar_type * src,int nfft) { + if (m_plan==NULL) m_plan = fftwl_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE); + fftwl_execute_dft_r2c( m_plan,src,dst); + } + inline + void inv(scalar_type * dst,complex_type * src,int nfft) { + if (m_plan==NULL) + m_plan = fftwl_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE); + fftwl_execute_dft_c2r( m_plan, src,dst); + } + }; + + template <typename _Scalar> + struct ei_fftw_impl + { + typedef _Scalar Scalar; + typedef std::complex<Scalar> Complex; + + inline + void clear() + { + m_plans.clear(); + } + + inline + void fwd( Complex * dst,const Complex *src,int nfft) + { + get_plan(nfft,false,dst,src).fwd(ei_fftw_cast(dst), ei_fftw_cast(src),nfft ); + } + + // real-to-complex forward FFT + inline + void fwd( Complex * dst,const Scalar * src,int nfft) + { + get_plan(nfft,false,dst,src).fwd(ei_fftw_cast(dst), ei_fftw_cast(src) ,nfft); + int nhbins=(nfft>>1)+1; + for (int k=nhbins;k < nfft; ++k ) + dst[k] = conj(dst[nfft-k]); + } + + // inverse complex-to-complex + inline + void inv(Complex * dst,const Complex *src,int nfft) + { + get_plan(nfft,true,dst,src).inv(ei_fftw_cast(dst), ei_fftw_cast(src),nfft ); + + //TODO move scaling to Eigen::FFT + // scaling + Scalar s = Scalar(1.)/nfft; + for (int k=0;k<nfft;++k) + dst[k] *= s; + } + + // half-complex to scalar + inline + void inv( Scalar * dst,const Complex * src,int nfft) + { + get_plan(nfft,true,dst,src).inv(ei_fftw_cast(dst), ei_fftw_cast(src),nfft ); + + //TODO move scaling to Eigen::FFT + Scalar s = Scalar(1.)/nfft; + for (int k=0;k<nfft;++k) + dst[k] *= s; + } + + protected: + typedef ei_fftw_plan<Scalar> PlanData; + typedef std::map<int,PlanData> PlanMap; + + PlanMap m_plans; + + inline + PlanData & get_plan(int nfft,bool inverse,void * dst,const void * src) + { + bool inplace = (dst==src); + bool aligned = ( (reinterpret_cast<size_t>(src)&15) | (reinterpret_cast<size_t>(dst)&15) ) == 0; + int key = (nfft<<3 ) | (inverse<<2) | (inplace<<1) | aligned; + return m_plans[key]; + } + }; diff --git a/unsupported/Eigen/src/FFT/ei_kissfft_impl.h b/unsupported/Eigen/src/FFT/ei_kissfft_impl.h new file mode 100644 index 000000000..c068d8765 --- /dev/null +++ b/unsupported/Eigen/src/FFT/ei_kissfft_impl.h @@ -0,0 +1,414 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Mark Borgerding mark a borgerding net +// +// 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/>. + + + + // This FFT implementation was derived from kissfft http:sourceforge.net/projects/kissfft + // Copyright 2003-2009 Mark Borgerding + + template <typename _Scalar> + struct ei_kiss_cpx_fft + { + typedef _Scalar Scalar; + typedef std::complex<Scalar> Complex; + std::vector<Complex> m_twiddles; + std::vector<int> m_stageRadix; + std::vector<int> m_stageRemainder; + std::vector<Complex> m_scratchBuf; + bool m_inverse; + + void make_twiddles(int nfft,bool inverse) + { + m_inverse = inverse; + m_twiddles.resize(nfft); + Scalar phinc = (inverse?2:-2)* acos( (Scalar) -1) / nfft; + for (int i=0;i<nfft;++i) + m_twiddles[i] = exp( Complex(0,i*phinc) ); + } + + void factorize(int nfft) + { + //start factoring out 4's, then 2's, then 3,5,7,9,... + int n= nfft; + int p=4; + do { + while (n % p) { + switch (p) { + case 4: p = 2; break; + case 2: p = 3; break; + default: p += 2; break; + } + if (p*p>n) + p=n;// impossible to have a factor > sqrt(n) + } + n /= p; + m_stageRadix.push_back(p); + m_stageRemainder.push_back(n); + if ( p > 5 ) + m_scratchBuf.resize(p); // scratchbuf will be needed in bfly_generic + }while(n>1); + } + + template <typename _Src> + void work( int stage,Complex * xout, const _Src * xin, size_t fstride,size_t in_stride) + { + int p = m_stageRadix[stage]; + int m = m_stageRemainder[stage]; + Complex * Fout_beg = xout; + Complex * Fout_end = xout + p*m; + + if (m>1) { + do{ + // recursive call: + // DFT of size m*p performed by doing + // p instances of smaller DFTs of size m, + // each one takes a decimated version of the input + work(stage+1, xout , xin, fstride*p,in_stride); + xin += fstride*in_stride; + }while( (xout += m) != Fout_end ); + }else{ + do{ + *xout = *xin; + xin += fstride*in_stride; + }while(++xout != Fout_end ); + } + xout=Fout_beg; + + // recombine the p smaller DFTs + switch (p) { + case 2: bfly2(xout,fstride,m); break; + case 3: bfly3(xout,fstride,m); break; + case 4: bfly4(xout,fstride,m); break; + case 5: bfly5(xout,fstride,m); break; + default: bfly_generic(xout,fstride,m,p); break; + } + } + + inline + void bfly2( Complex * Fout, const size_t fstride, int m) + { + for (int k=0;k<m;++k) { + Complex t = Fout[m+k] * m_twiddles[k*fstride]; + Fout[m+k] = Fout[k] - t; + Fout[k] += t; + } + } + + inline + void bfly4( Complex * Fout, const size_t fstride, const size_t m) + { + Complex scratch[6]; + int negative_if_inverse = m_inverse * -2 +1; + for (size_t k=0;k<m;++k) { + scratch[0] = Fout[k+m] * m_twiddles[k*fstride]; + scratch[1] = Fout[k+2*m] * m_twiddles[k*fstride*2]; + scratch[2] = Fout[k+3*m] * m_twiddles[k*fstride*3]; + scratch[5] = Fout[k] - scratch[1]; + + Fout[k] += scratch[1]; + scratch[3] = scratch[0] + scratch[2]; + scratch[4] = scratch[0] - scratch[2]; + scratch[4] = Complex( scratch[4].imag()*negative_if_inverse , -scratch[4].real()* negative_if_inverse ); + + Fout[k+2*m] = Fout[k] - scratch[3]; + Fout[k] += scratch[3]; + Fout[k+m] = scratch[5] + scratch[4]; + Fout[k+3*m] = scratch[5] - scratch[4]; + } + } + + inline + void bfly3( Complex * Fout, const size_t fstride, const size_t m) + { + size_t k=m; + const size_t m2 = 2*m; + Complex *tw1,*tw2; + Complex scratch[5]; + Complex epi3; + epi3 = m_twiddles[fstride*m]; + + tw1=tw2=&m_twiddles[0]; + + do{ + scratch[1]=Fout[m] * *tw1; + scratch[2]=Fout[m2] * *tw2; + + scratch[3]=scratch[1]+scratch[2]; + scratch[0]=scratch[1]-scratch[2]; + tw1 += fstride; + tw2 += fstride*2; + Fout[m] = Complex( Fout->real() - .5*scratch[3].real() , Fout->imag() - .5*scratch[3].imag() ); + scratch[0] *= epi3.imag(); + *Fout += scratch[3]; + Fout[m2] = Complex( Fout[m].real() + scratch[0].imag() , Fout[m].imag() - scratch[0].real() ); + Fout[m] += Complex( -scratch[0].imag(),scratch[0].real() ); + ++Fout; + }while(--k); + } + + inline + void bfly5( Complex * Fout, const size_t fstride, const size_t m) + { + Complex *Fout0,*Fout1,*Fout2,*Fout3,*Fout4; + size_t u; + Complex scratch[13]; + Complex * twiddles = &m_twiddles[0]; + Complex *tw; + Complex ya,yb; + ya = twiddles[fstride*m]; + yb = twiddles[fstride*2*m]; + + Fout0=Fout; + Fout1=Fout0+m; + Fout2=Fout0+2*m; + Fout3=Fout0+3*m; + Fout4=Fout0+4*m; + + tw=twiddles; + for ( u=0; u<m; ++u ) { + scratch[0] = *Fout0; + + scratch[1] = *Fout1 * tw[u*fstride]; + scratch[2] = *Fout2 * tw[2*u*fstride]; + scratch[3] = *Fout3 * tw[3*u*fstride]; + scratch[4] = *Fout4 * tw[4*u*fstride]; + + scratch[7] = scratch[1] + scratch[4]; + scratch[10] = scratch[1] - scratch[4]; + scratch[8] = scratch[2] + scratch[3]; + scratch[9] = scratch[2] - scratch[3]; + + *Fout0 += scratch[7]; + *Fout0 += scratch[8]; + + scratch[5] = scratch[0] + Complex( + (scratch[7].real()*ya.real() ) + (scratch[8].real() *yb.real() ), + (scratch[7].imag()*ya.real()) + (scratch[8].imag()*yb.real()) + ); + + scratch[6] = Complex( + (scratch[10].imag()*ya.imag()) + (scratch[9].imag()*yb.imag()), + -(scratch[10].real()*ya.imag()) - (scratch[9].real()*yb.imag()) + ); + + *Fout1 = scratch[5] - scratch[6]; + *Fout4 = scratch[5] + scratch[6]; + + scratch[11] = scratch[0] + + Complex( + (scratch[7].real()*yb.real()) + (scratch[8].real()*ya.real()), + (scratch[7].imag()*yb.real()) + (scratch[8].imag()*ya.real()) + ); + + scratch[12] = Complex( + -(scratch[10].imag()*yb.imag()) + (scratch[9].imag()*ya.imag()), + (scratch[10].real()*yb.imag()) - (scratch[9].real()*ya.imag()) + ); + + *Fout2=scratch[11]+scratch[12]; + *Fout3=scratch[11]-scratch[12]; + + ++Fout0;++Fout1;++Fout2;++Fout3;++Fout4; + } + } + + /* perform the butterfly for one stage of a mixed radix FFT */ + inline + void bfly_generic( + Complex * Fout, + const size_t fstride, + int m, + int p + ) + { + int u,k,q1,q; + Complex * twiddles = &m_twiddles[0]; + Complex t; + int Norig = m_twiddles.size(); + Complex * scratchbuf = &m_scratchBuf[0]; + + for ( u=0; u<m; ++u ) { + k=u; + for ( q1=0 ; q1<p ; ++q1 ) { + scratchbuf[q1] = Fout[ k ]; + k += m; + } + + k=u; + for ( q1=0 ; q1<p ; ++q1 ) { + int twidx=0; + Fout[ k ] = scratchbuf[0]; + for (q=1;q<p;++q ) { + twidx += fstride * k; + if (twidx>=Norig) twidx-=Norig; + t=scratchbuf[q] * twiddles[twidx]; + Fout[ k ] += t; + } + k += m; + } + } + } + }; + + template <typename _Scalar> + struct ei_kissfft_impl + { + typedef _Scalar Scalar; + typedef std::complex<Scalar> Complex; + + void clear() + { + m_plans.clear(); + m_realTwiddles.clear(); + } + + template <typename _Src> + inline + void fwd( Complex * dst,const _Src *src,int nfft) + { + get_plan(nfft,false).work(0, dst, src, 1,1); + } + + // real-to-complex forward FFT + // perform two FFTs of src even and src odd + // then twiddle to recombine them into the half-spectrum format + // then fill in the conjugate symmetric half + inline + void fwd( Complex * dst,const Scalar * src,int nfft) + { + if ( nfft&3 ) { + // use generic mode for odd + get_plan(nfft,false).work(0, dst, src, 1,1); + }else{ + int ncfft = nfft>>1; + int ncfft2 = nfft>>2; + Complex * rtw = real_twiddles(ncfft2); + + // use optimized mode for even real + fwd( dst, reinterpret_cast<const Complex*> (src), ncfft); + Complex dc = dst[0].real() + dst[0].imag(); + Complex nyquist = dst[0].real() - dst[0].imag(); + int k; + for ( k=1;k <= ncfft2 ; ++k ) { + Complex fpk = dst[k]; + Complex fpnk = conj(dst[ncfft-k]); + Complex f1k = fpk + fpnk; + Complex f2k = fpk - fpnk; + Complex tw= f2k * rtw[k-1]; + dst[k] = (f1k + tw) * Scalar(.5); + dst[ncfft-k] = conj(f1k -tw)*Scalar(.5); + } + + // place conjugate-symmetric half at the end for completeness + // TODO: make this configurable ( opt-out ) + for ( k=1;k < ncfft ; ++k ) + dst[nfft-k] = conj(dst[k]); + dst[0] = dc; + dst[ncfft] = nyquist; + } + } + + // inverse complex-to-complex + inline + void inv(Complex * dst,const Complex *src,int nfft) + { + get_plan(nfft,true).work(0, dst, src, 1,1); + scale(dst, nfft, Scalar(1)/nfft ); + } + + // half-complex to scalar + inline + void inv( Scalar * dst,const Complex * src,int nfft) + { + if (nfft&3) { + m_tmpBuf.resize(nfft); + inv(&m_tmpBuf[0],src,nfft); + for (int k=0;k<nfft;++k) + dst[k] = m_tmpBuf[k].real(); + }else{ + // optimized version for multiple of 4 + int ncfft = nfft>>1; + int ncfft2 = nfft>>2; + Complex * rtw = real_twiddles(ncfft2); + m_tmpBuf.resize(ncfft); + m_tmpBuf[0] = Complex( src[0].real() + src[ncfft].real(), src[0].real() - src[ncfft].real() ); + for (int k = 1; k <= ncfft / 2; ++k) { + Complex fk = src[k]; + Complex fnkc = conj(src[ncfft-k]); + Complex fek = fk + fnkc; + Complex tmp = fk - fnkc; + Complex fok = tmp * conj(rtw[k-1]); + m_tmpBuf[k] = fek + fok; + m_tmpBuf[ncfft-k] = conj(fek - fok); + } + scale(&m_tmpBuf[0], ncfft, Scalar(1)/nfft ); + get_plan(ncfft,true).work(0, reinterpret_cast<Complex*>(dst), &m_tmpBuf[0], 1,1); + } + } + + protected: + typedef ei_kiss_cpx_fft<Scalar> PlanData; + typedef std::map<int,PlanData> PlanMap; + + PlanMap m_plans; + std::map<int, std::vector<Complex> > m_realTwiddles; + std::vector<Complex> m_tmpBuf; + + inline + int PlanKey(int nfft,bool isinverse) const { return (nfft<<1) | isinverse; } + + inline + PlanData & get_plan(int nfft,bool inverse) + { + // TODO look for PlanKey(nfft, ! inverse) and conjugate the twiddles + PlanData & pd = m_plans[ PlanKey(nfft,inverse) ]; + if ( pd.m_twiddles.size() == 0 ) { + pd.make_twiddles(nfft,inverse); + pd.factorize(nfft); + } + return pd; + } + + inline + Complex * real_twiddles(int ncfft2) + { + std::vector<Complex> & twidref = m_realTwiddles[ncfft2];// creates new if not there + if ( (int)twidref.size() != ncfft2 ) { + twidref.resize(ncfft2); + int ncfft= ncfft2<<1; + Scalar pi = acos( Scalar(-1) ); + for (int k=1;k<=ncfft2;++k) + twidref[k-1] = exp( Complex(0,-pi * ((double) (k) / ncfft + .5) ) ); + } + return &twidref[0]; + } + + // TODO move scaling up into Eigen::FFT + inline + void scale(Complex *dst,int n,Scalar s) + { + for (int k=0;k<n;++k) + dst[k] *= s; + } + }; diff --git a/unsupported/doc/examples/FFT.cpp b/unsupported/doc/examples/FFT.cpp new file mode 100644 index 000000000..55e29585a --- /dev/null +++ b/unsupported/doc/examples/FFT.cpp @@ -0,0 +1,117 @@ +// To use the simple FFT implementation +// g++ -o demofft -I.. -Wall -O3 FFT.cpp + +// To use the FFTW implementation +// g++ -o demofft -I.. -DUSE_FFTW -Wall -O3 FFT.cpp -lfftw3 -lfftw3f -lfftw3l + +#ifdef USE_FFTW +#include <fftw3.h> +#endif + +#include <vector> +#include <complex> +#include <algorithm> +#include <iterator> +#include <Eigen/Core> +#include <unsupported/Eigen/FFT> + +using namespace std; +using namespace Eigen; + +template <typename T> +T mag2(T a) +{ + return a*a; +} +template <typename T> +T mag2(std::complex<T> a) +{ + return norm(a); +} + +template <typename T> +T mag2(const std::vector<T> & vec) +{ + T out=0; + for (size_t k=0;k<vec.size();++k) + out += mag2(vec[k]); + return out; +} + +template <typename T> +T mag2(const std::vector<std::complex<T> > & vec) +{ + T out=0; + for (size_t k=0;k<vec.size();++k) + out += mag2(vec[k]); + return out; +} + +template <typename T> +vector<T> operator-(const vector<T> & a,const vector<T> & b ) +{ + vector<T> c(a); + for (size_t k=0;k<b.size();++k) + c[k] -= b[k]; + return c; +} + +template <typename T> +void RandomFill(std::vector<T> & vec) +{ + for (size_t k=0;k<vec.size();++k) + vec[k] = T( rand() )/T(RAND_MAX) - .5; +} + +template <typename T> +void RandomFill(std::vector<std::complex<T> > & vec) +{ + for (size_t k=0;k<vec.size();++k) + vec[k] = std::complex<T> ( T( rand() )/T(RAND_MAX) - .5, T( rand() )/T(RAND_MAX) - .5); +} + +template <typename T_time,typename T_freq> +void fwd_inv(size_t nfft) +{ + typedef typename NumTraits<T_freq>::Real Scalar; + vector<T_time> timebuf(nfft); + RandomFill(timebuf); + + vector<T_freq> freqbuf; + static FFT<Scalar> fft; + fft.fwd(freqbuf,timebuf); + + vector<T_time> timebuf2; + fft.inv(timebuf2,freqbuf); + + long double rmse = mag2(timebuf - timebuf2) / mag2(timebuf); + cout << "roundtrip rmse: " << rmse << endl; +} + +template <typename T_scalar> +void two_demos(int nfft) +{ + cout << " scalar "; + fwd_inv<T_scalar,std::complex<T_scalar> >(nfft); + cout << " complex "; + fwd_inv<std::complex<T_scalar>,std::complex<T_scalar> >(nfft); +} + +void demo_all_types(int nfft) +{ + cout << "nfft=" << nfft << endl; + cout << " float" << endl; + two_demos<float>(nfft); + cout << " double" << endl; + two_demos<double>(nfft); + cout << " long double" << endl; + two_demos<long double>(nfft); +} + +int main() +{ + demo_all_types( 2*3*4*5*7 ); + demo_all_types( 2*9*16*25 ); + demo_all_types( 1024 ); + return 0; +} diff --git a/unsupported/test/CMakeLists.txt b/unsupported/test/CMakeLists.txt index abfbb0185..d182c9abf 100644 --- a/unsupported/test/CMakeLists.txt +++ b/unsupported/test/CMakeLists.txt @@ -19,3 +19,10 @@ ei_add_test(autodiff) ei_add_test(BVH) ei_add_test(matrixExponential) ei_add_test(alignedvector3) +ei_add_test(FFT) + +find_package(FFTW) +if(FFTW_FOUND) + ei_add_test(FFTW "-DEIGEN_FFTW_DEFAULT " "-lfftw3 -lfftw3f -lfftw3l" ) +endif(FFTW_FOUND) + diff --git a/unsupported/test/FFT.cpp b/unsupported/test/FFT.cpp new file mode 100644 index 000000000..cc68f3718 --- /dev/null +++ b/unsupported/test/FFT.cpp @@ -0,0 +1,200 @@ +// 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 Mark Borgerding mark a borgerding net +// +// 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/FFT> + +using namespace std; + +float norm(float x) {return x*x;} +double norm(double x) {return x*x;} +long double norm(long double x) {return x*x;} + +template < typename T> +complex<long double> promote(complex<T> x) { return complex<long double>(x.real(),x.imag()); } + +complex<long double> promote(float x) { return complex<long double>( x); } +complex<long double> promote(double x) { return complex<long double>( x); } +complex<long double> promote(long double x) { return complex<long double>( x); } + + + template <typename VectorType1,typename VectorType2> + long double fft_rmse( const VectorType1 & fftbuf,const VectorType2 & timebuf) + { + long double totalpower=0; + long double difpower=0; + cerr <<"idx\ttruth\t\tvalue\t|dif|=\n"; + for (size_t k0=0;k0<size_t(fftbuf.size());++k0) { + complex<long double> acc = 0; + long double phinc = -2.*k0* M_PIl / timebuf.size(); + for (size_t k1=0;k1<size_t(timebuf.size());++k1) { + acc += promote( timebuf[k1] ) * exp( complex<long double>(0,k1*phinc) ); + } + totalpower += norm(acc); + complex<long double> x = promote(fftbuf[k0]); + complex<long double> dif = acc - x; + difpower += norm(dif); + cerr << k0 << "\t" << acc << "\t" << x << "\t" << sqrt(norm(dif)) << endl; + } + cerr << "rmse:" << sqrt(difpower/totalpower) << endl; + return sqrt(difpower/totalpower); + } + + template <typename VectorType1,typename VectorType2> + long double dif_rmse( const VectorType1& buf1,const VectorType2& buf2) + { + long double totalpower=0; + long double difpower=0; + size_t n = min( buf1.size(),buf2.size() ); + for (size_t k=0;k<n;++k) { + totalpower += (norm( buf1[k] ) + norm(buf2[k]) )/2.; + difpower += norm(buf1[k] - buf2[k]); + } + return sqrt(difpower/totalpower); + } + +enum { StdVectorContainer, EigenVectorContainer }; + +template<int Container, typename Scalar> struct VectorType; + +template<typename Scalar> struct VectorType<StdVectorContainer,Scalar> +{ + typedef vector<Scalar> type; +}; + +template<typename Scalar> struct VectorType<EigenVectorContainer,Scalar> +{ + typedef Matrix<Scalar,Dynamic,1> type; +}; + +template <int Container, typename T> +void test_scalar_generic(int nfft) +{ + typedef typename FFT<T>::Complex Complex; + typedef typename FFT<T>::Scalar Scalar; + typedef typename VectorType<Container,Scalar>::type ScalarVector; + typedef typename VectorType<Container,Complex>::type ComplexVector; + + FFT<T> fft; + ScalarVector inbuf(nfft); + ComplexVector outbuf; + for (int k=0;k<nfft;++k) + inbuf[k]= (T)(rand()/(double)RAND_MAX - .5); + fft.fwd( outbuf,inbuf); + VERIFY( fft_rmse(outbuf,inbuf) < test_precision<T>() );// gross check + + ScalarVector buf3; + fft.inv( buf3 , outbuf); + VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>() );// gross check +} + +template <typename T> +void test_scalar(int nfft) +{ + test_scalar_generic<StdVectorContainer,T>(nfft); + test_scalar_generic<EigenVectorContainer,T>(nfft); +} + +template <int Container, typename T> +void test_complex_generic(int nfft) +{ + typedef typename FFT<T>::Complex Complex; + typedef typename VectorType<Container,Complex>::type ComplexVector; + + FFT<T> fft; + + ComplexVector inbuf(nfft); + ComplexVector outbuf; + ComplexVector buf3; + for (int k=0;k<nfft;++k) + inbuf[k]= Complex( (T)(rand()/(double)RAND_MAX - .5), (T)(rand()/(double)RAND_MAX - .5) ); + fft.fwd( outbuf , inbuf); + + VERIFY( fft_rmse(outbuf,inbuf) < test_precision<T>() );// gross check + + fft.inv( buf3 , outbuf); + + VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>() );// gross check +} + +template <typename T> +void test_complex(int nfft) +{ + test_complex_generic<StdVectorContainer,T>(nfft); + test_complex_generic<EigenVectorContainer,T>(nfft); +} + +void test_FFT() +{ + + CALL_SUBTEST( test_complex<float>(32) ); + CALL_SUBTEST( test_complex<double>(32) ); + CALL_SUBTEST( test_complex<long double>(32) ); + + CALL_SUBTEST( test_complex<float>(256) ); + CALL_SUBTEST( test_complex<double>(256) ); + CALL_SUBTEST( test_complex<long double>(256) ); + + CALL_SUBTEST( test_complex<float>(3*8) ); + CALL_SUBTEST( test_complex<double>(3*8) ); + CALL_SUBTEST( test_complex<long double>(3*8) ); + + CALL_SUBTEST( test_complex<float>(5*32) ); + CALL_SUBTEST( test_complex<double>(5*32) ); + CALL_SUBTEST( test_complex<long double>(5*32) ); + + CALL_SUBTEST( test_complex<float>(2*3*4) ); + CALL_SUBTEST( test_complex<double>(2*3*4) ); + CALL_SUBTEST( test_complex<long double>(2*3*4) ); + + CALL_SUBTEST( test_complex<float>(2*3*4*5) ); + CALL_SUBTEST( test_complex<double>(2*3*4*5) ); + CALL_SUBTEST( test_complex<long double>(2*3*4*5) ); + + CALL_SUBTEST( test_complex<float>(2*3*4*5*7) ); + CALL_SUBTEST( test_complex<double>(2*3*4*5*7) ); + CALL_SUBTEST( test_complex<long double>(2*3*4*5*7) ); + + + + CALL_SUBTEST( test_scalar<float>(32) ); + CALL_SUBTEST( test_scalar<double>(32) ); + CALL_SUBTEST( test_scalar<long double>(32) ); + + CALL_SUBTEST( test_scalar<float>(45) ); + CALL_SUBTEST( test_scalar<double>(45) ); + CALL_SUBTEST( test_scalar<long double>(45) ); + + CALL_SUBTEST( test_scalar<float>(50) ); + CALL_SUBTEST( test_scalar<double>(50) ); + CALL_SUBTEST( test_scalar<long double>(50) ); + + CALL_SUBTEST( test_scalar<float>(256) ); + CALL_SUBTEST( test_scalar<double>(256) ); + CALL_SUBTEST( test_scalar<long double>(256) ); + + CALL_SUBTEST( test_scalar<float>(2*3*4*5*7) ); + CALL_SUBTEST( test_scalar<double>(2*3*4*5*7) ); + CALL_SUBTEST( test_scalar<long double>(2*3*4*5*7) ); +} diff --git a/unsupported/test/FFTW.cpp b/unsupported/test/FFTW.cpp new file mode 100644 index 000000000..cf7be75aa --- /dev/null +++ b/unsupported/test/FFTW.cpp @@ -0,0 +1,136 @@ +// 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 Mark Borgerding mark a borgerding net +// +// 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 <fftw3.h> +#include <unsupported/Eigen/FFT> + +using namespace std; + +float norm(float x) {return x*x;} +double norm(double x) {return x*x;} +long double norm(long double x) {return x*x;} + +template < typename T> +complex<long double> promote(complex<T> x) { return complex<long double>(x.real(),x.imag()); } + +complex<long double> promote(float x) { return complex<long double>( x); } +complex<long double> promote(double x) { return complex<long double>( x); } +complex<long double> promote(long double x) { return complex<long double>( x); } + + + template <typename T1,typename T2> + long double fft_rmse( const vector<T1> & fftbuf,const vector<T2> & timebuf) + { + long double totalpower=0; + long double difpower=0; + cerr <<"idx\ttruth\t\tvalue\t|dif|=\n"; + for (size_t k0=0;k0<fftbuf.size();++k0) { + complex<long double> acc = 0; + long double phinc = -2.*k0* M_PIl / timebuf.size(); + for (size_t k1=0;k1<timebuf.size();++k1) { + acc += promote( timebuf[k1] ) * exp( complex<long double>(0,k1*phinc) ); + } + totalpower += norm(acc); + complex<long double> x = promote(fftbuf[k0]); + complex<long double> dif = acc - x; + difpower += norm(dif); + cerr << k0 << "\t" << acc << "\t" << x << "\t" << sqrt(norm(dif)) << endl; + } + cerr << "rmse:" << sqrt(difpower/totalpower) << endl; + return sqrt(difpower/totalpower); + } + + template <typename T1,typename T2> + long double dif_rmse( const vector<T1> buf1,const vector<T2> buf2) + { + long double totalpower=0; + long double difpower=0; + size_t n = min( buf1.size(),buf2.size() ); + for (size_t k=0;k<n;++k) { + totalpower += (norm( buf1[k] ) + norm(buf2[k]) )/2.; + difpower += norm(buf1[k] - buf2[k]); + } + return sqrt(difpower/totalpower); + } + +template <class T> +void test_scalar(int nfft) +{ + typedef typename Eigen::FFT<T>::Complex Complex; + typedef typename Eigen::FFT<T>::Scalar Scalar; + + FFT<T> fft; + vector<Scalar> inbuf(nfft); + vector<Complex> outbuf; + for (int k=0;k<nfft;++k) + inbuf[k]= (T)(rand()/(double)RAND_MAX - .5); + fft.fwd( outbuf,inbuf); + VERIFY( fft_rmse(outbuf,inbuf) < test_precision<T>() );// gross check + + vector<Scalar> buf3; + fft.inv( buf3 , outbuf); + VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>() );// gross check +} + +template <class T> +void test_complex(int nfft) +{ + typedef typename Eigen::FFT<T>::Complex Complex; + + FFT<T> fft; + + vector<Complex> inbuf(nfft); + vector<Complex> outbuf; + vector<Complex> buf3; + for (int k=0;k<nfft;++k) + inbuf[k]= Complex( (T)(rand()/(double)RAND_MAX - .5), (T)(rand()/(double)RAND_MAX - .5) ); + fft.fwd( outbuf , inbuf); + + VERIFY( fft_rmse(outbuf,inbuf) < test_precision<T>() );// gross check + + fft.inv( buf3 , outbuf); + + VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>() );// gross check +} + +void test_FFTW() +{ + + CALL_SUBTEST( test_complex<float>(32) ); CALL_SUBTEST( test_complex<double>(32) ); CALL_SUBTEST( test_complex<long double>(32) ); + CALL_SUBTEST( test_complex<float>(256) ); CALL_SUBTEST( test_complex<double>(256) ); CALL_SUBTEST( test_complex<long double>(256) ); + CALL_SUBTEST( test_complex<float>(3*8) ); CALL_SUBTEST( test_complex<double>(3*8) ); CALL_SUBTEST( test_complex<long double>(3*8) ); + CALL_SUBTEST( test_complex<float>(5*32) ); CALL_SUBTEST( test_complex<double>(5*32) ); CALL_SUBTEST( test_complex<long double>(5*32) ); + CALL_SUBTEST( test_complex<float>(2*3*4) ); CALL_SUBTEST( test_complex<double>(2*3*4) ); CALL_SUBTEST( test_complex<long double>(2*3*4) ); + CALL_SUBTEST( test_complex<float>(2*3*4*5) ); CALL_SUBTEST( test_complex<double>(2*3*4*5) ); CALL_SUBTEST( test_complex<long double>(2*3*4*5) ); + CALL_SUBTEST( test_complex<float>(2*3*4*5*7) ); CALL_SUBTEST( test_complex<double>(2*3*4*5*7) ); CALL_SUBTEST( test_complex<long double>(2*3*4*5*7) ); + + + + CALL_SUBTEST( test_scalar<float>(32) ); CALL_SUBTEST( test_scalar<double>(32) ); CALL_SUBTEST( test_scalar<long double>(32) ); + CALL_SUBTEST( test_scalar<float>(45) ); CALL_SUBTEST( test_scalar<double>(45) ); CALL_SUBTEST( test_scalar<long double>(45) ); + CALL_SUBTEST( test_scalar<float>(50) ); CALL_SUBTEST( test_scalar<double>(50) ); CALL_SUBTEST( test_scalar<long double>(50) ); + CALL_SUBTEST( test_scalar<float>(256) ); CALL_SUBTEST( test_scalar<double>(256) ); CALL_SUBTEST( test_scalar<long double>(256) ); + CALL_SUBTEST( test_scalar<float>(2*3*4*5*7) ); CALL_SUBTEST( test_scalar<double>(2*3*4*5*7) ); CALL_SUBTEST( test_scalar<long double>(2*3*4*5*7) ); +} |