From 7bf0e8cd82271c26f1c37b96132c360b7ce7bfbc Mon Sep 17 00:00:00 2001
From: Adolfo Rodriguez Tsourouksdissian <adolfo.rodriguez@pal-robotics.com>
Date: Sun, 30 Oct 2011 23:55:16 -0400
Subject: bug #206 - part 2: For HouseholderSequence objects, added
 non-allocating versions of evalTo() and applyThisOnTheRight/Left that take
 additional working vector parameters.

---
 Eigen/src/Householder/HouseholderSequence.h | 49 +++++++++++++++++++++--------
 1 file changed, 36 insertions(+), 13 deletions(-)

(limited to 'Eigen/src/Householder')

diff --git a/Eigen/src/Householder/HouseholderSequence.h b/Eigen/src/Householder/HouseholderSequence.h
index 717f29c99..cc0353e99 100644
--- a/Eigen/src/Householder/HouseholderSequence.h
+++ b/Eigen/src/Householder/HouseholderSequence.h
@@ -237,13 +237,20 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
     ConjugateReturnType inverse() const { return adjoint(); }
 
     /** \internal */
-    template<typename DestType> void evalTo(DestType& dst) const
+    template<typename DestType> inline void evalTo(DestType& dst) const
     {
-      Index vecs = m_length;
-      // FIXME find a way to pass this temporary if the user wants to
       Matrix<Scalar, DestType::RowsAtCompileTime, 1,
-             AutoAlign|ColMajor, DestType::MaxRowsAtCompileTime, 1> temp(rows());
-      if(    internal::is_same<typename internal::remove_all<VectorsType>::type,DestType>::value
+             AutoAlign|ColMajor, DestType::MaxRowsAtCompileTime, 1> workspace(rows());
+      evalTo(dst, workspace);
+    }
+
+    /** \internal */
+    template<typename Dest, typename Workspace>
+    void evalTo(Dest& dst, Workspace& workspace) const
+    {
+      workspace.resize(rows());
+      Index vecs = m_length;
+      if(    internal::is_same<typename internal::remove_all<VectorsType>::type,Dest>::value
           && internal::extract_data(dst) == internal::extract_data(m_vectors))
       {
         // in-place
@@ -254,10 +261,10 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
           Index cornerSize = rows() - k - m_shift;
           if(m_trans)
             dst.bottomRightCorner(cornerSize, cornerSize)
-            .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+               .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), workspace.data());
           else
             dst.bottomRightCorner(cornerSize, cornerSize)
-              .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+               .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), workspace.data());
 
           // clear the off diagonal vector
           dst.col(k).tail(rows()-k-1).setZero();
@@ -274,10 +281,10 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
           Index cornerSize = rows() - k - m_shift;
           if(m_trans)
             dst.bottomRightCorner(cornerSize, cornerSize)
-            .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+               .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), &workspace.coeffRef(0));
           else
             dst.bottomRightCorner(cornerSize, cornerSize)
-              .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), &temp.coeffRef(0));
+               .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), &workspace.coeffRef(0));
         }
       }
     }
@@ -285,24 +292,40 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
     /** \internal */
     template<typename Dest> inline void applyThisOnTheRight(Dest& dst) const
     {
-      Matrix<Scalar,1,Dest::RowsAtCompileTime> temp(dst.rows());
+      Matrix<Scalar,1,Dest::RowsAtCompileTime,RowMajor,1,Dest::MaxRowsAtCompileTime> workspace(dst.rows());
+      applyThisOnTheRight(dst, workspace);
+    }
+
+    /** \internal */
+    template<typename Dest, typename Workspace>
+    inline void applyThisOnTheRight(Dest& dst, Workspace& workspace) const
+    {
+      workspace.resize(dst.rows());
       for(Index k = 0; k < m_length; ++k)
       {
         Index actual_k = m_trans ? m_length-k-1 : k;
         dst.rightCols(rows()-m_shift-actual_k)
-           .applyHouseholderOnTheRight(essentialVector(actual_k), m_coeffs.coeff(actual_k), &temp.coeffRef(0));
+           .applyHouseholderOnTheRight(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
       }
     }
 
     /** \internal */
     template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
     {
-      Matrix<Scalar,1,Dest::ColsAtCompileTime> temp(dst.cols());
+      Matrix<Scalar,1,Dest::ColsAtCompileTime,RowMajor,1,Dest::MaxColsAtCompileTime> workspace(dst.cols());
+      applyThisOnTheLeft(dst, workspace);
+    }
+
+    /** \internal */
+    template<typename Dest, typename Workspace>
+    inline void applyThisOnTheLeft(Dest& dst, Workspace& workspace) const
+    {
+      workspace.resize(dst.cols());
       for(Index k = 0; k < m_length; ++k)
       {
         Index actual_k = m_trans ? k : m_length-k-1;
         dst.bottomRows(rows()-m_shift-actual_k)
-           .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), &temp.coeffRef(0));
+           .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
       }
     }
 
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