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/ParametrizedLine.h b/Eigen/src/Geometry/ParametrizedLine.h
index 77fa228..1e985d8 100644
--- a/Eigen/src/Geometry/ParametrizedLine.h
+++ b/Eigen/src/Geometry/ParametrizedLine.h
@@ -23,8 +23,8 @@
* direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
* the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ t \in \mathbf{R} \f$.
*
- * \param _Scalar the scalar type, i.e., the type of the coefficients
- * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+ * \tparam _Scalar the scalar type, i.e., the type of the coefficients
+ * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
*/
template <typename _Scalar, int _AmbientDim, int _Options>
class ParametrizedLine
@@ -37,49 +37,49 @@
};
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
- typedef DenseIndex Index;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;
/** Default constructor without initialization */
- inline ParametrizedLine() {}
+ EIGEN_DEVICE_FUNC inline ParametrizedLine() {}
template<int OtherOptions>
- ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
+ EIGEN_DEVICE_FUNC ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
: m_origin(other.origin()), m_direction(other.direction())
{}
/** Constructs a dynamic-size line with \a _dim the dimension
* of the ambient space */
- inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {}
+ EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {}
/** Initializes a parametrized line of direction \a direction and origin \a origin.
* \warning the vector direction is assumed to be normalized.
*/
- ParametrizedLine(const VectorType& origin, const VectorType& direction)
+ EIGEN_DEVICE_FUNC ParametrizedLine(const VectorType& origin, const VectorType& direction)
: m_origin(origin), m_direction(direction) {}
template <int OtherOptions>
- explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
+ EIGEN_DEVICE_FUNC explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
/** Constructs a parametrized line going from \a p0 to \a p1. */
- static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
+ EIGEN_DEVICE_FUNC static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
{ return ParametrizedLine(p0, (p1-p0).normalized()); }
- ~ParametrizedLine() {}
+ EIGEN_DEVICE_FUNC ~ParametrizedLine() {}
/** \returns the dimension in which the line holds */
- inline Index dim() const { return m_direction.size(); }
+ EIGEN_DEVICE_FUNC inline Index dim() const { return m_direction.size(); }
- const VectorType& origin() const { return m_origin; }
- VectorType& origin() { return m_origin; }
+ EIGEN_DEVICE_FUNC const VectorType& origin() const { return m_origin; }
+ EIGEN_DEVICE_FUNC VectorType& origin() { return m_origin; }
- const VectorType& direction() const { return m_direction; }
- VectorType& direction() { return m_direction; }
+ EIGEN_DEVICE_FUNC const VectorType& direction() const { return m_direction; }
+ EIGEN_DEVICE_FUNC VectorType& direction() { return m_direction; }
/** \returns the squared distance of a point \a p to its projection onto the line \c *this.
* \sa distance()
*/
- RealScalar squaredDistance(const VectorType& p) const
+ EIGEN_DEVICE_FUNC RealScalar squaredDistance(const VectorType& p) const
{
VectorType diff = p - origin();
return (diff - direction().dot(diff) * direction()).squaredNorm();
@@ -87,22 +87,22 @@
/** \returns the distance of a point \a p to its projection onto the line \c *this.
* \sa squaredDistance()
*/
- RealScalar distance(const VectorType& p) const { using std::sqrt; return sqrt(squaredDistance(p)); }
+ EIGEN_DEVICE_FUNC RealScalar distance(const VectorType& p) const { EIGEN_USING_STD_MATH(sqrt) return sqrt(squaredDistance(p)); }
/** \returns the projection of a point \a p onto the line \c *this. */
- VectorType projection(const VectorType& p) const
+ EIGEN_DEVICE_FUNC VectorType projection(const VectorType& p) const
{ return origin() + direction().dot(p-origin()) * direction(); }
- VectorType pointAt(const Scalar& t) const;
+ EIGEN_DEVICE_FUNC VectorType pointAt(const Scalar& t) const;
template <int OtherOptions>
- Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+ EIGEN_DEVICE_FUNC Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
template <int OtherOptions>
- Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+ EIGEN_DEVICE_FUNC Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
template <int OtherOptions>
- VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+ EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
/** \returns \c *this with scalar type casted to \a NewScalarType
*
@@ -110,7 +110,7 @@
* then this function smartly returns a const reference to \c *this.
*/
template<typename NewScalarType>
- inline typename internal::cast_return_type<ParametrizedLine,
+ EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<ParametrizedLine,
ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
{
return typename internal::cast_return_type<ParametrizedLine,
@@ -119,7 +119,7 @@
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType,int OtherOptions>
- inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
+ EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
{
m_origin = other.origin().template cast<Scalar>();
m_direction = other.direction().template cast<Scalar>();
@@ -129,7 +129,7 @@
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
- bool isApprox(const ParametrizedLine& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+ EIGEN_DEVICE_FUNC bool isApprox(const ParametrizedLine& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
{ return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }
protected:
@@ -143,7 +143,7 @@
*/
template <typename _Scalar, int _AmbientDim, int _Options>
template <int OtherOptions>
-inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
+EIGEN_DEVICE_FUNC inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
direction() = hyperplane.normal().unitOrthogonal();
@@ -153,7 +153,7 @@
/** \returns the point at \a t along this line
*/
template <typename _Scalar, int _AmbientDim, int _Options>
-inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
+EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const
{
return origin() + (direction()*t);
@@ -163,7 +163,7 @@
*/
template <typename _Scalar, int _AmbientDim, int _Options>
template <int OtherOptions>
-inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
+EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
{
return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
/ hyperplane.normal().dot(direction());
@@ -175,7 +175,7 @@
*/
template <typename _Scalar, int _AmbientDim, int _Options>
template <int OtherOptions>
-inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
+EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
{
return intersectionParameter(hyperplane);
}
@@ -184,7 +184,7 @@
*/
template <typename _Scalar, int _AmbientDim, int _Options>
template <int OtherOptions>
-inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
+EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
{
return pointAt(intersectionParameter(hyperplane));