Squashed 'third_party/eigen/' changes from 61d72f6..cf794d3
Change-Id: I9b814151b01f49af6337a8605d0c42a3a1ed4c72
git-subtree-dir: third_party/eigen
git-subtree-split: cf794d3b741a6278df169e58461f8529f43bce5d
diff --git a/Eigen/src/Geometry/OrthoMethods.h b/Eigen/src/Geometry/OrthoMethods.h
index 556bc81..a035e63 100644
--- a/Eigen/src/Geometry/OrthoMethods.h
+++ b/Eigen/src/Geometry/OrthoMethods.h
@@ -13,16 +13,24 @@
namespace Eigen {
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
*
* \returns the cross product of \c *this and \a other
*
* Here is a very good explanation of cross-product: http://xkcd.com/199/
+ *
+ * With complex numbers, the cross product is implemented as
+ * \f$ (\mathbf{a}+i\mathbf{b}) \times (\mathbf{c}+i\mathbf{d}) = (\mathbf{a} \times \mathbf{c} - \mathbf{b} \times \mathbf{d}) - i(\mathbf{a} \times \mathbf{d} - \mathbf{b} \times \mathbf{c})\f$
+ *
* \sa MatrixBase::cross3()
*/
template<typename Derived>
template<typename OtherDerived>
-inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
+#else
+inline typename MatrixBase<Derived>::PlainObject
+#endif
MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
@@ -30,8 +38,8 @@
// 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)
- typename internal::nested<Derived,2>::type lhs(derived());
- typename internal::nested<OtherDerived,2>::type rhs(other.derived());
+ typename internal::nested_eval<Derived,2>::type lhs(derived());
+ typename internal::nested_eval<OtherDerived,2>::type rhs(other.derived());
return typename cross_product_return_type<OtherDerived>::type(
numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
@@ -45,7 +53,7 @@
typename Scalar = typename VectorLhs::Scalar,
bool Vectorizable = bool((VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit)>
struct cross3_impl {
- static inline typename internal::plain_matrix_type<VectorLhs>::type
+ EIGEN_DEVICE_FUNC static inline typename internal::plain_matrix_type<VectorLhs>::type
run(const VectorLhs& lhs, const VectorRhs& rhs)
{
return typename internal::plain_matrix_type<VectorLhs>::type(
@@ -59,7 +67,7 @@
}
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
*
* \returns the cross product of \c *this and \a other using only the x, y, and z coefficients
*
@@ -70,14 +78,14 @@
*/
template<typename Derived>
template<typename OtherDerived>
-inline typename MatrixBase<Derived>::PlainObject
+EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::PlainObject
MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,4)
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,4)
- typedef typename internal::nested<Derived,2>::type DerivedNested;
- typedef typename internal::nested<OtherDerived,2>::type OtherDerivedNested;
+ typedef typename internal::nested_eval<Derived,2>::type DerivedNested;
+ typedef typename internal::nested_eval<OtherDerived,2>::type OtherDerivedNested;
DerivedNested lhs(derived());
OtherDerivedNested rhs(other.derived());
@@ -86,38 +94,42 @@
typename internal::remove_all<OtherDerivedNested>::type>::run(lhs,rhs);
}
-/** \returns a matrix expression of the cross product of each column or row
+/** \geometry_module \ingroup Geometry_Module
+ *
+ * \returns a matrix expression of the cross product of each column or row
* of the referenced expression with the \a other vector.
*
* The referenced matrix must have one dimension equal to 3.
* The result matrix has the same dimensions than the referenced one.
*
- * \geometry_module
- *
* \sa MatrixBase::cross() */
template<typename ExpressionType, int Direction>
template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
const typename VectorwiseOp<ExpressionType,Direction>::CrossReturnType
VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& other) const
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
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)
+
+ typename internal::nested_eval<ExpressionType,2>::type mat(_expression());
+ typename internal::nested_eval<OtherDerived,2>::type vec(other.derived());
CrossReturnType res(_expression().rows(),_expression().cols());
if(Direction==Vertical)
{
eigen_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
- res.row(0) = (_expression().row(1) * other.coeff(2) - _expression().row(2) * other.coeff(1)).conjugate();
- res.row(1) = (_expression().row(2) * other.coeff(0) - _expression().row(0) * other.coeff(2)).conjugate();
- res.row(2) = (_expression().row(0) * other.coeff(1) - _expression().row(1) * other.coeff(0)).conjugate();
+ res.row(0) = (mat.row(1) * vec.coeff(2) - mat.row(2) * vec.coeff(1)).conjugate();
+ res.row(1) = (mat.row(2) * vec.coeff(0) - mat.row(0) * vec.coeff(2)).conjugate();
+ res.row(2) = (mat.row(0) * vec.coeff(1) - mat.row(1) * vec.coeff(0)).conjugate();
}
else
{
eigen_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
- res.col(0) = (_expression().col(1) * other.coeff(2) - _expression().col(2) * other.coeff(1)).conjugate();
- res.col(1) = (_expression().col(2) * other.coeff(0) - _expression().col(0) * other.coeff(2)).conjugate();
- res.col(2) = (_expression().col(0) * other.coeff(1) - _expression().col(1) * other.coeff(0)).conjugate();
+ res.col(0) = (mat.col(1) * vec.coeff(2) - mat.col(2) * vec.coeff(1)).conjugate();
+ res.col(1) = (mat.col(2) * vec.coeff(0) - mat.col(0) * vec.coeff(2)).conjugate();
+ res.col(2) = (mat.col(0) * vec.coeff(1) - mat.col(1) * vec.coeff(0)).conjugate();
}
return res;
}
@@ -130,8 +142,8 @@
typedef typename plain_matrix_type<Derived>::type VectorType;
typedef typename traits<Derived>::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
- typedef typename Derived::Index Index;
typedef Matrix<Scalar,2,1> Vector2;
+ EIGEN_DEVICE_FUNC
static inline VectorType run(const Derived& src)
{
VectorType perp = VectorType::Zero(src.size());
@@ -154,6 +166,7 @@
typedef typename plain_matrix_type<Derived>::type VectorType;
typedef typename traits<Derived>::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
static inline VectorType run(const Derived& src)
{
VectorType perp;
@@ -192,13 +205,16 @@
struct unitOrthogonal_selector<Derived,2>
{
typedef typename plain_matrix_type<Derived>::type VectorType;
+ EIGEN_DEVICE_FUNC
static inline VectorType run(const Derived& src)
{ return VectorType(-numext::conj(src.y()), numext::conj(src.x())).normalized(); }
};
} // end namespace internal
-/** \returns a unit vector which is orthogonal to \c *this
+/** \geometry_module \ingroup Geometry_Module
+ *
+ * \returns a unit vector which is orthogonal to \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, i.e., (-y,x).normalized().
@@ -206,7 +222,7 @@
* \sa cross()
*/
template<typename Derived>
-typename MatrixBase<Derived>::PlainObject
+EIGEN_DEVICE_FUNC typename MatrixBase<Derived>::PlainObject
MatrixBase<Derived>::unitOrthogonal() const
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)