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Diffstat (limited to 'third_party/eigen3/Eigen/src/Core/Matrix.h')
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diff --git a/third_party/eigen3/Eigen/src/Core/Matrix.h b/third_party/eigen3/Eigen/src/Core/Matrix.h deleted file mode 100644 index 782d67f54f..0000000000 --- a/third_party/eigen3/Eigen/src/Core/Matrix.h +++ /dev/null @@ -1,443 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com> -// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr> -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_MATRIX_H -#define EIGEN_MATRIX_H - -namespace Eigen { - -/** \class Matrix - * \ingroup Core_Module - * - * \brief The matrix class, also used for vectors and row-vectors - * - * The %Matrix class is the work-horse for all \em dense (\ref dense "note") matrices and vectors within Eigen. - * Vectors are matrices with one column, and row-vectors are matrices with one row. - * - * The %Matrix class encompasses \em both fixed-size and dynamic-size objects (\ref fixedsize "note"). - * - * The first three template parameters are required: - * \tparam _Scalar \anchor matrix_tparam_scalar Numeric type, e.g. float, double, int or std::complex<float>. - * User defined sclar types are supported as well (see \ref user_defined_scalars "here"). - * \tparam _Rows Number of rows, or \b Dynamic - * \tparam _Cols Number of columns, or \b Dynamic - * - * The remaining template parameters are optional -- in most cases you don't have to worry about them. - * \tparam _Options \anchor matrix_tparam_options A combination of either \b #RowMajor or \b #ColMajor, and of either - * \b #AutoAlign or \b #DontAlign. - * The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required - * for vectorization. It defaults to aligning matrices except for fixed sizes that aren't a multiple of the packet size. - * \tparam _MaxRows Maximum number of rows. Defaults to \a _Rows (\ref maxrows "note"). - * \tparam _MaxCols Maximum number of columns. Defaults to \a _Cols (\ref maxrows "note"). - * - * Eigen provides a number of typedefs covering the usual cases. Here are some examples: - * - * \li \c Matrix2d is a 2x2 square matrix of doubles (\c Matrix<double, 2, 2>) - * \li \c Vector4f is a vector of 4 floats (\c Matrix<float, 4, 1>) - * \li \c RowVector3i is a row-vector of 3 ints (\c Matrix<int, 1, 3>) - * - * \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: - * - * \code - * Eigen::VectorXd v(10); - * v[0] = 0.1; - * v[1] = 0.2; - * v(0) = 0.3; - * v(1) = 0.4; - * - * Eigen::MatrixXi m(10, 10); - * m(0, 1) = 1; - * m(0, 2) = 2; - * m(0, 3) = 3; - * \endcode - * - * This class can be extended with the help of the plugin mechanism described on the page - * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_MATRIX_PLUGIN. - * - * <i><b>Some notes:</b></i> - * - * <dl> - * <dt><b>\anchor dense Dense versus sparse:</b></dt> - * <dd>This %Matrix class handles dense, not sparse matrices and vectors. For sparse matrices and vectors, see the Sparse module. - * - * Dense matrices and vectors are plain usual arrays of coefficients. All the coefficients are stored, in an ordinary contiguous array. - * This is unlike Sparse matrices and vectors where the coefficients are stored as a list of nonzero coefficients.</dd> - * - * <dt><b>\anchor fixedsize Fixed-size versus dynamic-size:</b></dt> - * <dd>Fixed-size means that the numbers of rows and columns are known are compile-time. In this case, Eigen allocates the array - * of coefficients as a fixed-size array, as a class member. This makes sense for very small matrices, typically up to 4x4, sometimes up - * to 16x16. Larger matrices should be declared as dynamic-size even if one happens to know their size at compile-time. - * - * Dynamic-size means that the numbers of rows or columns are not necessarily known at compile-time. In this case they are runtime - * variables, and the array of coefficients is allocated dynamically on the heap. - * - * Note that \em dense matrices, be they Fixed-size or Dynamic-size, <em>do not</em> expand dynamically in the sense of a std::map. - * If you want this behavior, see the Sparse module.</dd> - * - * <dt><b>\anchor maxrows _MaxRows and _MaxCols:</b></dt> - * <dd>In most cases, one just leaves these parameters to the default values. - * These parameters mean the maximum size of rows and columns that the matrix may have. They are useful in cases - * when the exact numbers of rows and columns are not known are compile-time, but it is known at compile-time that they cannot - * exceed a certain value. This happens when taking dynamic-size blocks inside fixed-size matrices: in this case _MaxRows and _MaxCols - * are the dimensions of the original matrix, while _Rows and _Cols are Dynamic.</dd> - * </dl> - * - * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy, - * \ref TopicStorageOrders - */ - -namespace internal { -template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols> -struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > -{ - typedef _Scalar Scalar; - typedef Dense StorageKind; - typedef DenseIndex Index; - typedef MatrixXpr XprKind; - enum { - RowsAtCompileTime = _Rows, - ColsAtCompileTime = _Cols, - MaxRowsAtCompileTime = _MaxRows, - MaxColsAtCompileTime = _MaxCols, - Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret, - CoeffReadCost = NumTraits<Scalar>::ReadCost, - Options = _Options, - InnerStrideAtCompileTime = 1, - OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime - }; -}; -} - -template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols> -class Matrix - : public PlainObjectBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > -{ - public: - - /** \brief Base class typedef. - * \sa PlainObjectBase - */ - typedef PlainObjectBase<Matrix> Base; - - enum { Options = _Options }; - - EIGEN_DENSE_PUBLIC_INTERFACE(Matrix) - - typedef typename Base::PlainObject PlainObject; - - using Base::base; - using Base::coeffRef; - - /** - * \brief Assigns matrices to each other. - * - * \note This is a special case of the templated operator=. Its purpose is - * to prevent a default operator= from hiding the templated operator=. - * - * \callgraph - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix& operator=(const Matrix& other) - { - return Base::_set(other); - } - - /** \internal - * \brief Copies the value of the expression \a other into \c *this with automatic resizing. - * - * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized), - * it will be initialized. - * - * Note that copying a row-vector into a vector (and conversely) is allowed. - * The resizing, if any, is then done in the appropriate way so that row-vectors - * remain row-vectors and vectors remain vectors. - */ - template<typename OtherDerived> - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix& operator=(const MatrixBase<OtherDerived>& other) - { - return Base::_set(other); - } - - /* Here, doxygen failed to copy the brief information when using \copydoc */ - - /** - * \brief Copies the generic expression \a other into *this. - * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other) - */ - template<typename OtherDerived> - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix& operator=(const EigenBase<OtherDerived> &other) - { - return Base::operator=(other); - } - - template<typename OtherDerived> - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix& operator=(const ReturnByValue<OtherDerived>& func) - { - return Base::operator=(func); - } - - /** \brief Default constructor. - * - * For fixed-size matrices, does nothing. - * - * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix - * is called a null matrix. This constructor is the unique way to create null matrices: resizing - * a matrix to 0 is not supported. - * - * \sa resize(Index,Index) - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix() : Base() - { - Base::_check_template_params(); - EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - } - - // FIXME is it still needed - EIGEN_DEVICE_FUNC - Matrix(internal::constructor_without_unaligned_array_assert) - : Base(internal::constructor_without_unaligned_array_assert()) - { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED } - -#ifdef EIGEN_HAVE_RVALUE_REFERENCES - Matrix(Matrix&& other) - : Base(std::move(other)) - { - Base::_check_template_params(); - if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic) - Base::_set_noalias(other); - } - Matrix& operator=(Matrix&& other) - { - other.swap(*this); - return *this; - } -#endif - - #ifndef EIGEN_PARSED_BY_DOXYGEN - - // This constructor is for both 1x1 matrices and dynamic vectors - template<typename T> - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE explicit Matrix(const T& x) - { - Base::_check_template_params(); - Base::template _init1<T>(x); - } - - template<typename T0, typename T1> - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const T0& x, const T1& y) - { - Base::_check_template_params(); - Base::template _init2<T0,T1>(x, y); - } - #else - /** \brief Constructs a fixed-sized matrix initialized with coefficients starting at \a data */ - EIGEN_DEVICE_FUNC - explicit Matrix(const Scalar *data); - - /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors - * - * Note that this is only useful for dynamic-size vectors. For fixed-size vectors, - * it is redundant to pass the dimension here, so it makes more sense to use the default - * constructor Matrix() instead. - */ - EIGEN_STRONG_INLINE explicit Matrix(Index dim); - /** \brief Constructs an initialized 1x1 matrix with the given coefficient */ - Matrix(const Scalar& x); - /** \brief Constructs an uninitialized matrix with \a rows rows and \a cols columns. - * - * This is useful for dynamic-size matrices. For fixed-size matrices, - * it is redundant to pass these parameters, so one should use the default constructor - * Matrix() instead. */ - EIGEN_DEVICE_FUNC - Matrix(Index rows, Index cols); - /** \brief Constructs an initialized 2D vector with given coefficients */ - Matrix(const Scalar& x, const Scalar& y); - #endif - - /** \brief Constructs an initialized 3D vector with given coefficients */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z) - { - Base::_check_template_params(); - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 3) - m_storage.data()[0] = x; - m_storage.data()[1] = y; - m_storage.data()[2] = z; - } - /** \brief Constructs an initialized 4D vector with given coefficients */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w) - { - Base::_check_template_params(); - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 4) - m_storage.data()[0] = x; - m_storage.data()[1] = y; - m_storage.data()[2] = z; - m_storage.data()[3] = w; - } - - - /** \brief Constructor copying the value of the expression \a other */ - template<typename OtherDerived> - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const MatrixBase<OtherDerived>& other) - : Base(other.rows() * other.cols(), other.rows(), other.cols()) - { - // This test resides here, to bring the error messages closer to the user. Normally, these checks - // are performed deeply within the library, thus causing long and scary error traces. - EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value), - YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) - - Base::_check_template_params(); - Base::_set_noalias(other); - } - /** \brief Copy constructor */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const Matrix& other) - : Base(other.rows() * other.cols(), other.rows(), other.cols()) - { - Base::_check_template_params(); - Base::_set_noalias(other); - } - /** \brief Copy constructor with in-place evaluation */ - template<typename OtherDerived> - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const ReturnByValue<OtherDerived>& other) - { - Base::_check_template_params(); - Base::resize(other.rows(), other.cols()); - other.evalTo(*this); - } - - /** \brief Copy constructor for generic expressions. - * \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) - */ - template<typename OtherDerived> - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const EigenBase<OtherDerived> &other) - : Base(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols()) - { - Base::_check_template_params(); - Base::_resize_to_match(other); - // FIXME/CHECK: isn't *this = other.derived() more efficient. it allows to - // go for pure _set() implementations, right? - *this = other; - } - - /** \internal - * \brief Override MatrixBase::swap() since for dynamic-sized matrices - * of same type it is enough to swap the data pointers. - */ - template<typename OtherDerived> - EIGEN_DEVICE_FUNC - void swap(MatrixBase<OtherDerived> const & other) - { this->_swap(other.derived()); } - - EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; } - EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); } - - /////////// Geometry module /////////// - - template<typename OtherDerived> - EIGEN_DEVICE_FUNC - explicit Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r); - template<typename OtherDerived> - EIGEN_DEVICE_FUNC - Matrix& operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r); - - #ifdef EIGEN2_SUPPORT - template<typename OtherDerived> - explicit Matrix(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r); - template<typename OtherDerived> - Matrix& operator=(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r); - #endif - - // allow to extend Matrix outside Eigen - #ifdef EIGEN_MATRIX_PLUGIN - #include EIGEN_MATRIX_PLUGIN - #endif - - protected: - template <typename Derived, typename OtherDerived, bool IsVector> - friend struct internal::conservative_resize_like_impl; - - using Base::m_storage; -}; - -/** \defgroup matrixtypedefs Global matrix typedefs - * - * \ingroup Core_Module - * - * Eigen defines several typedef shortcuts for most common matrix and vector types. - * - * The general patterns are the following: - * - * \c MatrixSizeType where \c Size can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size, - * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd - * for complex double. - * - * For example, \c Matrix3d is a fixed-size 3x3 matrix type of doubles, and \c MatrixXf is a dynamic-size matrix of floats. - * - * There are also \c VectorSizeType and \c RowVectorSizeType which are self-explanatory. For example, \c Vector4cf is - * a fixed-size vector of 4 complex floats. - * - * \sa class Matrix - */ - -#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \ -/** \ingroup matrixtypedefs */ \ -typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix; \ -/** \ingroup matrixtypedefs */ \ -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_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) -EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d) -EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<float>, cf) -EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<double>, cd) - -#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES -#undef EIGEN_MAKE_TYPEDEFS -#undef EIGEN_MAKE_FIXED_TYPEDEFS - -} // end namespace Eigen - -#endif // EIGEN_MATRIX_H |