diff options
Diffstat (limited to 'Eigen')
| -rw-r--r-- | Eigen/Array | 17 | ||||
| -rw-r--r-- | Eigen/Cholesky | 11 | ||||
| -rw-r--r-- | Eigen/Geometry | 2 | ||||
| -rw-r--r-- | Eigen/LU | 11 | ||||
| -rw-r--r-- | Eigen/QR | 12 | ||||
| -rw-r--r-- | Eigen/src/Array/AllAndAny.h | 9 | ||||
| -rw-r--r-- | Eigen/src/Array/CwiseOperators.h | 16 | ||||
| -rw-r--r-- | Eigen/src/Array/PartialRedux.h | 10 | ||||
| -rw-r--r-- | Eigen/src/Array/Random.h | 8 | ||||
| -rw-r--r-- | Eigen/src/Cholesky/Cholesky.h | 4 | ||||
| -rw-r--r-- | Eigen/src/Cholesky/CholeskyWithoutSquareRoot.h | 4 | ||||
| -rw-r--r-- | Eigen/src/Core/Cwise.h | 2 | ||||
| -rw-r--r-- | Eigen/src/Core/MatrixBase.h | 7 | ||||
| -rw-r--r-- | Eigen/src/Core/arch/SSE/PacketMath.h | 2 | ||||
| -rw-r--r-- | Eigen/src/Geometry/Cross.h | 64 | ||||
| -rw-r--r-- | Eigen/src/QR/EigenSolver.h | 4 | ||||
| -rwxr-xr-x | Eigen/src/QR/HessenbergDecomposition.h | 4 | ||||
| -rw-r--r-- | Eigen/src/QR/QR.h | 4 | ||||
| -rw-r--r-- | Eigen/src/QR/SelfAdjointEigenSolver.h | 2 | ||||
| -rwxr-xr-x | Eigen/src/QR/Tridiagonalization.h | 4 |
20 files changed, 169 insertions, 28 deletions
diff --git a/Eigen/Array b/Eigen/Array index 51c3abe31..d2a6eca0e 100644 --- a/Eigen/Array +++ b/Eigen/Array @@ -5,6 +5,23 @@ namespace Eigen { +/** \defgroup Array Array module + * This module provides several handy features to manipulate matrices as simple array of values. + * In addition to listed classes, it defines various methods of the Cwise interface + * (accessible from MatrixBase::cwise()), including: + * - matrix-scalar sum, + * - coeff-wise comparison operators, + * - sin, cos, sqrt, pow, exp, log, square, cube, reciprocal. + * + * This module also provides various MatrixBase methods, including: + * - \ref MatrixBase::all() "all", \ref MatrixBase::any() "any", + * - \ref MatrixBase::Random() "random matrix initialization" + * + * \code + * #include <Eigen/Array> + * \endcode + */ + #include "src/Array/CwiseOperators.h" #include "src/Array/Functors.h" #include "src/Array/AllAndAny.h" diff --git a/Eigen/Cholesky b/Eigen/Cholesky index d4b487ce7..a0d4311f9 100644 --- a/Eigen/Cholesky +++ b/Eigen/Cholesky @@ -14,6 +14,17 @@ namespace Eigen { +/** \defgroup Cholesky_Module Cholesky module + * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices. + * Those decompositions are accessible via the following MatrixBase methods: + * - MatrixBase::cholesky(), + * - MatrixBase::choleskyNoSqrt() + * + * \code + * #include <Eigen/Cholesky> + * \endcode + */ + #include "src/Cholesky/Cholesky.h" #include "src/Cholesky/CholeskyWithoutSquareRoot.h" diff --git a/Eigen/Geometry b/Eigen/Geometry index 5e73ce992..1d8fb33ca 100644 --- a/Eigen/Geometry +++ b/Eigen/Geometry @@ -5,7 +5,7 @@ namespace Eigen { -/** \defgroup Geometry +/** \defgroup Geometry Geometry module * This module provides support for: * - fixed-size homogeneous transformations * - 2D and 3D rotations @@ -5,6 +5,17 @@ namespace Eigen { +/** \defgroup LU_Module LU module + * This module includes LU decomposition and related notions such as matrix inversion and determinant. + * This module defines the following MatrixBase methods: + * - MatrixBase::inverse() + * - MatrixBase::determinant() + * + * \code + * #include <Eigen/LU> + * \endcode + */ + #include "src/LU/Determinant.h" #include "src/LU/Inverse.h" @@ -15,6 +15,18 @@ namespace Eigen { +/** \defgroup QR_Module QR module + * This module mainly provides QR decomposition and an eigen value solver. + * This module also provides some MatrixBase methods, including: + * - MatrixBase::qr(), + * - MatrixBase::eigenvalues(), + * - MatrixBase::matrixNorm() + * + * \code + * #include <Eigen/QR> + * \endcode + */ + #include "src/QR/QR.h" #include "src/QR/Tridiagonalization.h" #include "src/QR/EigenSolver.h" diff --git a/Eigen/src/Array/AllAndAny.h b/Eigen/src/Array/AllAndAny.h index 4da017c6e..76cc2db84 100644 --- a/Eigen/src/Array/AllAndAny.h +++ b/Eigen/src/Array/AllAndAny.h @@ -81,7 +81,12 @@ struct ei_any_unroller<Derived, Dynamic> * * \returns true if all coefficients are true * - * \sa MatrixBase::any() + * \addexample CwiseAll \label How to check whether a point is inside a box (using operator< and all()) + * + * Example: \include MatrixBase_all.cpp + * Output: \verbinclude MatrixBase_all.out + * + * \sa MatrixBase::any(), Cwise::operator<() */ template<typename Derived> bool MatrixBase<Derived>::all(void) const @@ -105,7 +110,7 @@ bool MatrixBase<Derived>::all(void) const * * \returns true if at least one coefficient is true * - * \sa MatrixBase::any() + * \sa MatrixBase::all() */ template<typename Derived> bool MatrixBase<Derived>::any(void) const diff --git a/Eigen/src/Array/CwiseOperators.h b/Eigen/src/Array/CwiseOperators.h index 7481b4c0b..185fa7b1a 100644 --- a/Eigen/src/Array/CwiseOperators.h +++ b/Eigen/src/Array/CwiseOperators.h @@ -127,6 +127,8 @@ Cwise<ExpressionType>::cube() const * * \returns an expression of the coefficient-wise \< operator of *this and \a other * + * See MatrixBase::all() for an example. + * * \sa class CwiseBinaryOp */ template<typename ExpressionType> @@ -155,6 +157,8 @@ Cwise<ExpressionType>::operator<=(const MatrixBase<OtherDerived> &other) const * * \returns an expression of the coefficient-wise \> operator of *this and \a other * + * See MatrixBase::all() for an example. + * * \sa class CwiseBinaryOp */ template<typename ExpressionType> @@ -208,7 +212,8 @@ Cwise<ExpressionType>::operator!=(const MatrixBase<OtherDerived> &other) const } -/** \returns an expression of \c *this with each coeff incremented by the constant \a scalar */ +/** \array_module + * \returns an expression of \c *this with each coeff incremented by the constant \a scalar */ template<typename ExpressionType> inline const typename Cwise<ExpressionType>::ScalarAddReturnType Cwise<ExpressionType>::operator+(const Scalar& scalar) const @@ -216,14 +221,16 @@ Cwise<ExpressionType>::operator+(const Scalar& scalar) const return typename Cwise<ExpressionType>::ScalarAddReturnType(m_matrix, ei_scalar_add_op<Scalar>(scalar)); } -/** \see operator+ */ +/** \array_module + * \see operator+() */ template<typename ExpressionType> inline ExpressionType& Cwise<ExpressionType>::operator+=(const Scalar& scalar) { return m_matrix.const_cast_derived() = *this + scalar; } -/** \returns an expression of \c *this with each coeff decremented by the constant \a scalar */ +/** \array_module + * \returns an expression of \c *this with each coeff decremented by the constant \a scalar */ template<typename ExpressionType> inline const typename Cwise<ExpressionType>::ScalarAddReturnType Cwise<ExpressionType>::operator-(const Scalar& scalar) const @@ -231,7 +238,8 @@ Cwise<ExpressionType>::operator-(const Scalar& scalar) const return *this + (-scalar); } -/** \see operator- */ +/** \array_module + * \see operator- */ template<typename ExpressionType> inline ExpressionType& Cwise<ExpressionType>::operator-=(const Scalar& scalar) { diff --git a/Eigen/src/Array/PartialRedux.h b/Eigen/src/Array/PartialRedux.h index d3032b73a..f7e2f628c 100644 --- a/Eigen/src/Array/PartialRedux.h +++ b/Eigen/src/Array/PartialRedux.h @@ -26,7 +26,7 @@ #ifndef EIGEN_PARTIAL_REDUX_H #define EIGEN_PARTIAL_REDUX_H -/** \array_module +/** \array_module \ingroup Array * * \class PartialReduxExpr * @@ -128,7 +128,7 @@ struct ei_member_redux { const BinaryOp m_functor; }; -/** \array_module +/** \array_module \ingroup Array * * \class PartialRedux * @@ -141,7 +141,7 @@ struct ei_member_redux { * It is the return type of MatrixBase::colwise() and MatrixBase::rowwise() * and most of the time this is the only way it is used. * - * \sa MatrixBase::colwise(), MatrixBase::rowwise() + * \sa MatrixBase::colwise(), MatrixBase::rowwise(), class PartialReduxExpr */ template<typename ExpressionType, int Direction> class PartialRedux { @@ -236,9 +236,7 @@ MatrixBase<Derived>::rowwise() const return derived(); } -/** \array_module - * - * \returns a row or column vector expression of \c *this reduxed by \a func +/** \returns a row or column vector expression of \c *this reduxed by \a func * * The template parameter \a BinaryOp is the type of the functor * of the custom redux operator. Note that func must be an associative operator. diff --git a/Eigen/src/Array/Random.h b/Eigen/src/Array/Random.h index 9f3a916cf..3b4616c68 100644 --- a/Eigen/src/Array/Random.h +++ b/Eigen/src/Array/Random.h @@ -49,7 +49,7 @@ struct ei_functor_traits<ei_scalar_random_op<Scalar> > * Example: \include MatrixBase_random_int_int.cpp * Output: \verbinclude MatrixBase_random_int_int.out * - * \sa ei_random(), ei_random(int) + * \sa MatrixBase::setRandom(), MatrixBase::Random(int), MatrixBase::Random() */ template<typename Derived> inline const CwiseNullaryOp<ei_scalar_random_op<typename ei_traits<Derived>::Scalar>, Derived> @@ -74,7 +74,7 @@ MatrixBase<Derived>::Random(int rows, int cols) * Example: \include MatrixBase_random_int.cpp * Output: \verbinclude MatrixBase_random_int.out * - * \sa ei_random(), ei_random(int,int) + * \sa MatrixBase::setRandom(), MatrixBase::Random(int,int), MatrixBase::Random() */ template<typename Derived> inline const CwiseNullaryOp<ei_scalar_random_op<typename ei_traits<Derived>::Scalar>, Derived> @@ -94,7 +94,7 @@ MatrixBase<Derived>::Random(int size) * Example: \include MatrixBase_random.cpp * Output: \verbinclude MatrixBase_random.out * - * \sa ei_random(int), ei_random(int,int) + * \sa MatrixBase::setRandom(), MatrixBase::Random(int,int), MatrixBase::Random(int) */ template<typename Derived> inline const CwiseNullaryOp<ei_scalar_random_op<typename ei_traits<Derived>::Scalar>, Derived> @@ -110,7 +110,7 @@ MatrixBase<Derived>::Random() * Example: \include MatrixBase_setRandom.cpp * Output: \verbinclude MatrixBase_setRandom.out * - * \sa class CwiseNullaryOp, ei_random() + * \sa class CwiseNullaryOp, MatrixBase::setRandom(int,int) */ template<typename Derived> inline Derived& MatrixBase<Derived>::setRandom() diff --git a/Eigen/src/Cholesky/Cholesky.h b/Eigen/src/Cholesky/Cholesky.h index 5c5e6cfc7..4feeee7c6 100644 --- a/Eigen/src/Cholesky/Cholesky.h +++ b/Eigen/src/Cholesky/Cholesky.h @@ -25,7 +25,9 @@ #ifndef EIGEN_CHOLESKY_H #define EIGEN_CHOLESKY_H -/** \class Cholesky +/** \ingroup Cholesky_Module + * + * \class Cholesky * * \brief Standard Cholesky decomposition of a matrix and associated features * diff --git a/Eigen/src/Cholesky/CholeskyWithoutSquareRoot.h b/Eigen/src/Cholesky/CholeskyWithoutSquareRoot.h index 0dcedf0dc..38d9e9e50 100644 --- a/Eigen/src/Cholesky/CholeskyWithoutSquareRoot.h +++ b/Eigen/src/Cholesky/CholeskyWithoutSquareRoot.h @@ -25,7 +25,9 @@ #ifndef EIGEN_CHOLESKY_WITHOUT_SQUARE_ROOT_H #define EIGEN_CHOLESKY_WITHOUT_SQUARE_ROOT_H -/** \class CholeskyWithoutSquareRoot +/** \ingroup Cholesky_Module + * + * \class CholeskyWithoutSquareRoot * * \brief Robust Cholesky decomposition of a matrix and associated features * diff --git a/Eigen/src/Core/Cwise.h b/Eigen/src/Core/Cwise.h index 6cb58fa5b..bd16b0230 100644 --- a/Eigen/src/Core/Cwise.h +++ b/Eigen/src/Core/Cwise.h @@ -45,6 +45,8 @@ template<typename Scalar, bool PacketAccess = (int(ei_packet_traits<Scalar>::siz * It is the return type of MatrixBase::cwise() * and most of the time this is the only way it is used. * + * Note that some methods are defined in the \ref Array module. + * * \sa MatrixBase::cwise() */ template<typename ExpressionType> class Cwise diff --git a/Eigen/src/Core/MatrixBase.h b/Eigen/src/Core/MatrixBase.h index 78bab6163..dbc251199 100644 --- a/Eigen/src/Core/MatrixBase.h +++ b/Eigen/src/Core/MatrixBase.h @@ -31,7 +31,9 @@ * * This class is the base that is inherited by all matrix, vector, and expression * types. Most of the Eigen API is contained in this class. Other important classes for - * the Eigen API are Matrix, Cwise, and Part. + * the Eigen API are Matrix, Cwise, and PartialRedux. + * + * Note that some methods are defined in the \ref Array module. * * \param Derived is the derived type, e.g. a matrix type, or an expression, etc. * @@ -48,7 +50,6 @@ } * \endcode * - * \nosubgrouping */ template<typename Derived> class MatrixBase { @@ -549,7 +550,7 @@ template<typename Derived> class MatrixBase template<typename OtherDerived> typename ei_eval<Derived>::type cross(const MatrixBase<OtherDerived>& other) const; - + typename ei_eval<Derived>::type perpendicular(void) const; }; #endif // EIGEN_MATRIXBASE_H diff --git a/Eigen/src/Core/arch/SSE/PacketMath.h b/Eigen/src/Core/arch/SSE/PacketMath.h index 148835732..9deb19d32 100644 --- a/Eigen/src/Core/arch/SSE/PacketMath.h +++ b/Eigen/src/Core/arch/SSE/PacketMath.h @@ -61,7 +61,7 @@ template<> inline __m128i ei_pmul(const __m128i& a, const __m128i& b) template<> inline __m128 ei_pdiv(const __m128& a, const __m128& b) { return _mm_div_ps(a,b); } template<> inline __m128d ei_pdiv(const __m128d& a, const __m128d& b) { return _mm_div_pd(a,b); } -template<> inline __m128i ei_pdiv(const __m128i& a, const __m128i& b) +template<> inline __m128i ei_pdiv(const __m128i& /*a*/, const __m128i& /*b*/) { ei_assert(false && "packet integer division are not supported by SSE"); } // for some weird raisons, it has to be overloaded for packet integer diff --git a/Eigen/src/Geometry/Cross.h b/Eigen/src/Geometry/Cross.h index ab8f7528c..a9d9493bc 100644 --- a/Eigen/src/Geometry/Cross.h +++ b/Eigen/src/Geometry/Cross.h @@ -2,6 +2,7 @@ // for linear algebra. Eigen itself is part of the KDE project. // // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr> +// Copyright (C) 2006-2008 Benoit Jacob <jacob@math.jussieu.fr> // // Eigen is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public @@ -32,6 +33,8 @@ template<typename OtherDerived> inline typename ei_eval<Derived>::type MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const { + EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3); + // Note that there is no need for an expression here since the compiler // optimize such a small temporary very well (even within a complex expression) const typename ei_nested<Derived,2>::type lhs(derived()); @@ -43,4 +46,65 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const ); } +template<typename Derived, int Size = Derived::SizeAtCompileTime> +struct ei_perpendicular_selector +{ + typedef typename ei_eval<Derived>::type VectorType; + typedef typename ei_traits<Derived>::Scalar Scalar; + inline static VectorType run(const Derived& src) + { + VectorType perp; + /* Let us compute the crossed product of *this with a vector + * that is not too close to being colinear to *this. + */ + + /* unless the x and y coords are both close to zero, we can + * simply take ( -y, x, 0 ) and normalize it. + */ + if((!ei_isMuchSmallerThan(src.x(), src.z())) + || (!ei_isMuchSmallerThan(src.y(), src.z()))) + { + Scalar invnm = Scalar(1)/src.template start<2>().norm(); + perp.template start<3>() << -ei_conj(src.y())*invnm, ei_conj(src.x())*invnm, 0; + } + /* if both x and y are close to zero, then the vector is close + * to the z-axis, so it's far from colinear to the x-axis for instance. + * So we take the crossed product with (1,0,0) and normalize it. + */ + else + { + Scalar invnm = Scalar(1)/src.template end<2>().norm(); + perp.template start<3>() << 0, -ei_conj(src.z())*invnm, ei_conj(src.y())*invnm; + } + if (Derived::SizeAtCompileTime>3 + || (Derived::SizeAtCompileTime==Dynamic && src.size()>3)) + perp.end(src.size()-3).setZero(); + + return perp; + } +}; + +template<typename Derived> +struct ei_perpendicular_selector<Derived,2> +{ + typedef typename ei_eval<Derived>::type VectorType; + inline static VectorType run(const Derived& src) + { return VectorType(-ei_conj(src.y()), ei_conj(src.x())).normalized(); } +}; + +/** \Returns an orthogonal vector of \c *this + * + * The size of \c *this must be at least 2. If the size is exactly 2, + * then the returned vector is a counter clock wise rotation of \c *this, \ie (-y,x). + * + * \sa cross() + */ +template<typename Derived> +typename ei_eval<Derived>::type +MatrixBase<Derived>::perpendicular() const +{ + EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived); + return ei_perpendicular_selector<Derived>::run(derived()); +} + #endif // EIGEN_CROSS_H diff --git a/Eigen/src/QR/EigenSolver.h b/Eigen/src/QR/EigenSolver.h index 6beba231e..d656baa65 100644 --- a/Eigen/src/QR/EigenSolver.h +++ b/Eigen/src/QR/EigenSolver.h @@ -25,7 +25,9 @@ #ifndef EIGEN_EIGENSOLVER_H #define EIGEN_EIGENSOLVER_H -/** \class EigenSolver +/** \ingroup QR_Module + * + * \class EigenSolver * * \brief Eigen values/vectors solver for non selfadjoint matrices * diff --git a/Eigen/src/QR/HessenbergDecomposition.h b/Eigen/src/QR/HessenbergDecomposition.h index a3591d118..c7f9b5176 100755 --- a/Eigen/src/QR/HessenbergDecomposition.h +++ b/Eigen/src/QR/HessenbergDecomposition.h @@ -25,7 +25,9 @@ #ifndef EIGEN_HESSENBERGDECOMPOSITION_H #define EIGEN_HESSENBERGDECOMPOSITION_H -/** \class HessenbergDecomposition +/** \ingroup QR_Module + * + * \class HessenbergDecomposition * * \brief Reduces a squared matrix to an Hessemberg form * diff --git a/Eigen/src/QR/QR.h b/Eigen/src/QR/QR.h index d1fd2ae7a..6e2f9c546 100644 --- a/Eigen/src/QR/QR.h +++ b/Eigen/src/QR/QR.h @@ -25,7 +25,9 @@ #ifndef EIGEN_QR_H #define EIGEN_QR_H -/** \class QR +/** \ingroup QR_Module + * + * \class QR * * \brief QR decomposition of a matrix * diff --git a/Eigen/src/QR/SelfAdjointEigenSolver.h b/Eigen/src/QR/SelfAdjointEigenSolver.h index a54986ba5..28eb59cbb 100644 --- a/Eigen/src/QR/SelfAdjointEigenSolver.h +++ b/Eigen/src/QR/SelfAdjointEigenSolver.h @@ -25,7 +25,7 @@ #ifndef EIGEN_SELFADJOINTEIGENSOLVER_H #define EIGEN_SELFADJOINTEIGENSOLVER_H -/** \qr_module +/** \qr_module \ingroup QR_Module * * \class SelfAdjointEigenSolver * diff --git a/Eigen/src/QR/Tridiagonalization.h b/Eigen/src/QR/Tridiagonalization.h index 78c6c2b1c..7834c1aca 100755 --- a/Eigen/src/QR/Tridiagonalization.h +++ b/Eigen/src/QR/Tridiagonalization.h @@ -25,7 +25,9 @@ #ifndef EIGEN_TRIDIAGONALIZATION_H #define EIGEN_TRIDIAGONALIZATION_H -/** \class Tridiagonalization +/** \ingroup QR_Module + * + * \class Tridiagonalization * * \brief Trigiagonal decomposition of a selfadjoint matrix * |