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-rw-r--r--Eigen/src/Core/Cwise.h1
-rw-r--r--Eigen/src/Geometry/Transform.h34
-rw-r--r--Eigen/src/Sparse/SparseMatrix.h18
3 files changed, 29 insertions, 24 deletions
diff --git a/Eigen/src/Core/Cwise.h b/Eigen/src/Core/Cwise.h
index 0f81a8a4b..c3a15e307 100644
--- a/Eigen/src/Core/Cwise.h
+++ b/Eigen/src/Core/Cwise.h
@@ -95,7 +95,6 @@ template<typename ExpressionType> class Cwise
const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_sin_op) sin() const;
const EIGEN_CWISE_UNOP_RETURN_TYPE(ei_scalar_pow_op) pow(const Scalar& exponent) const;
-
const ScalarAddReturnType
operator+(const Scalar& scalar) const;
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index 158624617..4710cc4bc 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -65,9 +65,9 @@ public:
typedef _Scalar Scalar;
/** type of the matrix used to represent the transformation */
typedef Matrix<Scalar,HDim,HDim> MatrixType;
- /** type of the matrix used to represent the affine part of the transformation */
+ /** type of the matrix used to represent the linear part of the transformation */
typedef Matrix<Scalar,Dim,Dim> AffineMatrixType;
- /** type of read/write reference to the affine part of the transformation */
+ /** type of read/write reference to the linear part of the transformation */
typedef Block<MatrixType,Dim,Dim> AffinePart;
/** type of a vector */
typedef Matrix<Scalar,Dim,1> VectorType;
@@ -110,10 +110,10 @@ public:
/** \returns a writable expression of the transformation matrix */
inline MatrixType& matrix() { return m_matrix; }
- /** \returns a read-only expression of the affine (linear) part of the transformation */
- inline const AffinePart affine() const { return m_matrix.template block<Dim,Dim>(0,0); }
- /** \returns a writable expression of the affine (linear) part of the transformation */
- inline AffinePart affine() { return m_matrix.template block<Dim,Dim>(0,0); }
+ /** \returns a read-only expression of the linear (linear) part of the transformation */
+ inline const AffinePart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
+ /** \returns a writable expression of the linear (linear) part of the transformation */
+ inline AffinePart linear() { return m_matrix.template block<Dim,Dim>(0,0); }
/** \returns a read-only expression of the translation vector of the transformation */
inline const TranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
@@ -235,7 +235,7 @@ Transform<Scalar,Dim>&
Transform<Scalar,Dim>::scale(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim));
- affine() = (affine() * other.asDiagonal()).lazy();
+ linear() = (linear() * other.asDiagonal()).lazy();
return *this;
}
@@ -263,7 +263,7 @@ Transform<Scalar,Dim>&
Transform<Scalar,Dim>::translate(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim));
- translation() += affine() * other;
+ translation() += linear() * other;
return *this;
}
@@ -303,7 +303,7 @@ template<typename RotationType>
Transform<Scalar,Dim>&
Transform<Scalar,Dim>::rotate(const RotationType& rotation)
{
- affine() *= ToRotationMatrix<Scalar,Dim,RotationType>::convert(rotation);
+ linear() *= ToRotationMatrix<Scalar,Dim,RotationType>::convert(rotation);
return *this;
}
@@ -334,8 +334,8 @@ Transform<Scalar,Dim>&
Transform<Scalar,Dim>::shear(Scalar sx, Scalar sy)
{
EIGEN_STATIC_ASSERT(int(Dim)==2, you_did_a_programming_error);
- VectorType tmp = affine().col(0)*sy + affine().col(1);
- affine() << affine().col(0) + affine().col(1)*sx, tmp;
+ VectorType tmp = linear().col(0)*sy + linear().col(1);
+ linear() << linear().col(0) + linear().col(1)*sx, tmp;
return *this;
}
@@ -360,18 +360,18 @@ template<typename Scalar, int Dim>
typename Transform<Scalar,Dim>::AffineMatrixType
Transform<Scalar,Dim>::extractRotation() const
{
- return affine().qr().matrixQ();
+ return linear().qr().matrixQ();
}
/** \returns the rotation part of the transformation assuming no shear in
- * the affine part.
+ * the linear part.
* \sa extractRotation()
*/
template<typename Scalar, int Dim>
typename Transform<Scalar,Dim>::AffineMatrixType
Transform<Scalar,Dim>::extractRotationNoShear() const
{
- return affine().cwise().abs2()
+ return linear().cwise().abs2()
.verticalRedux(ei_scalar_sum_op<Scalar>()).cwise().sqrt();
}
@@ -384,11 +384,11 @@ Transform<Scalar,Dim>&
Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
{
- affine() = ToRotationMatrix<Scalar,Dim,OrientationType>::convert(orientation);
+ linear() = ToRotationMatrix<Scalar,Dim,OrientationType>::convert(orientation);
translation() = position;
m_matrix(Dim,Dim) = 1.;
m_matrix.template block<1,Dim>(Dim,0).setZero();
- affine() *= scale.asDiagonal();
+ linear() *= scale.asDiagonal();
return *this;
}
@@ -431,7 +431,7 @@ struct ei_transform_product_impl<Other,Dim,HDim, Dim,1>
> ResultType;
// FIXME should we offer an optimized version when the last row is known to be 0,0...,0,1 ?
static ResultType run(const TransformType& tr, const Other& other)
- { return ((tr.affine().nestByValue() * other).nestByValue() + tr.translation().nestByValue()).nestByValue()
+ { return ((tr.linear().nestByValue() * other).nestByValue() + tr.translation().nestByValue()).nestByValue()
* (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
};
diff --git a/Eigen/src/Sparse/SparseMatrix.h b/Eigen/src/Sparse/SparseMatrix.h
index cc13e21c7..2504d9fd8 100644
--- a/Eigen/src/Sparse/SparseMatrix.h
+++ b/Eigen/src/Sparse/SparseMatrix.h
@@ -85,11 +85,15 @@ class SparseMatrix : public SparseMatrixBase<SparseMatrix<_Scalar, _Flags> >
const int inner = RowMajor ? col : row;
int id = m_outerIndex[outer];
- int end = m_outerIndex[outer+1]-1;
- if (m_data.index(end)==inner)
- return m_data.value(end);
+ int end = m_outerIndex[outer+1];
+ // optimization: let's first check if it is the last coefficient
+ // (very common in high level algorithms)
+ if (end>0 && inner==m_data.index(end-1))
+ return m_data.value(end-1);
+ else if (id==end)
+ return Scalar(0);
const int* r = std::lower_bound(&m_data.index(id),&m_data.index(end),inner);
- return (*r==inner) ? m_data.value(*r) : Scalar(0);
+ return (*r==inner) ? m_data.value(r-&m_data.index(0)) : Scalar(0);
}
inline Scalar& coeffRef(int row, int col)
@@ -99,9 +103,11 @@ class SparseMatrix : public SparseMatrixBase<SparseMatrix<_Scalar, _Flags> >
int id = m_outerIndex[outer];
int end = m_outerIndex[outer+1];
+ ei_assert(end>=id && "you probably called coeffRef on a non finalized matrix");
+ ei_assert(end>id && "coeffRef cannot be called on a zero coefficient");
int* r = std::lower_bound(&m_data.index(id),&m_data.index(end),inner);
- ei_assert(*r==inner);
- return m_data.value(*r);
+ ei_assert(*r==inner && "coeffRef cannot be called on a zero coefficient");
+ return m_data.value(r-&m_data.index(0));
}
public:
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-04 16:14:11 +0000