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/Translation.h b/Eigen/src/Geometry/Translation.h
index 7fda179..51d9a82 100644
--- a/Eigen/src/Geometry/Translation.h
+++ b/Eigen/src/Geometry/Translation.h
@@ -18,8 +18,8 @@
*
* \brief Represents a translation transformation
*
- * \param _Scalar the scalar type, i.e., the type of the coefficients.
- * \param _Dim the dimension of the space, can be a compile time value or Dynamic
+ * \tparam _Scalar the scalar type, i.e., the type of the coefficients.
+ * \tparam _Dim the dimension of the space, can be a compile time value or Dynamic
*
* \note This class is not aimed to be used to store a translation transformation,
* but rather to make easier the constructions and updates of Transform objects.
@@ -51,16 +51,16 @@
public:
/** Default constructor without initialization. */
- Translation() {}
+ EIGEN_DEVICE_FUNC Translation() {}
/** */
- inline Translation(const Scalar& sx, const Scalar& sy)
+ EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy)
{
eigen_assert(Dim==2);
m_coeffs.x() = sx;
m_coeffs.y() = sy;
}
/** */
- inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
+ EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
{
eigen_assert(Dim==3);
m_coeffs.x() = sx;
@@ -68,48 +68,48 @@
m_coeffs.z() = sz;
}
/** Constructs and initialize the translation transformation from a vector of translation coefficients */
- explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
+ EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
/** \brief Retruns the x-translation by value. **/
- inline Scalar x() const { return m_coeffs.x(); }
+ EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); }
/** \brief Retruns the y-translation by value. **/
- inline Scalar y() const { return m_coeffs.y(); }
+ EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); }
/** \brief Retruns the z-translation by value. **/
- inline Scalar z() const { return m_coeffs.z(); }
+ EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); }
/** \brief Retruns the x-translation as a reference. **/
- inline Scalar& x() { return m_coeffs.x(); }
+ EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); }
/** \brief Retruns the y-translation as a reference. **/
- inline Scalar& y() { return m_coeffs.y(); }
+ EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); }
/** \brief Retruns the z-translation as a reference. **/
- inline Scalar& z() { return m_coeffs.z(); }
+ EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); }
- const VectorType& vector() const { return m_coeffs; }
- VectorType& vector() { return m_coeffs; }
+ EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; }
+ EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; }
- const VectorType& translation() const { return m_coeffs; }
- VectorType& translation() { return m_coeffs; }
+ EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; }
+ EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; }
/** Concatenates two translation */
- inline Translation operator* (const Translation& other) const
+ EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const
{ return Translation(m_coeffs + other.m_coeffs); }
/** Concatenates a translation and a uniform scaling */
- inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
+ EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
/** Concatenates a translation and a linear transformation */
template<typename OtherDerived>
- inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
+ EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
/** Concatenates a translation and a rotation */
template<typename Derived>
- inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
+ EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
{ return *this * IsometryTransformType(r); }
/** \returns the concatenation of a linear transformation \a l with the translation \a t */
// its a nightmare to define a templated friend function outside its declaration
template<typename OtherDerived> friend
- inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
+ EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
{
AffineTransformType res;
res.matrix().setZero();
@@ -122,7 +122,7 @@
/** Concatenates a translation and a transformation */
template<int Mode, int Options>
- inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
+ EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
{
Transform<Scalar,Dim,Mode> res = t;
res.pretranslate(m_coeffs);
@@ -130,8 +130,10 @@
}
/** Applies translation to vector */
- inline VectorType operator* (const VectorType& other) const
- { return m_coeffs + other; }
+ template<typename Derived>
+ inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type
+ operator* (const MatrixBase<Derived>& vec) const
+ { return m_coeffs + vec.derived(); }
/** \returns the inverse translation (opposite) */
Translation inverse() const { return Translation(-m_coeffs); }
@@ -150,19 +152,19 @@
* then this function smartly returns a const reference to \c *this.
*/
template<typename NewScalarType>
- inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
+ EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
{ return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType>
- inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
+ EIGEN_DEVICE_FUNC inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
{ m_coeffs = other.vector().template cast<Scalar>(); }
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
- bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+ EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
{ return m_coeffs.isApprox(other.m_coeffs, prec); }
};
@@ -176,7 +178,7 @@
//@}
template<typename Scalar, int Dim>
-inline typename Translation<Scalar,Dim>::AffineTransformType
+EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
{
AffineTransformType res;
@@ -189,7 +191,7 @@
template<typename Scalar, int Dim>
template<typename OtherDerived>
-inline typename Translation<Scalar,Dim>::AffineTransformType
+EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
{
AffineTransformType res;