Squashed 'third_party/eigen/' changes from 61d72f6..cf794d3
Change-Id: I9b814151b01f49af6337a8605d0c42a3a1ed4c72
git-subtree-dir: third_party/eigen
git-subtree-split: cf794d3b741a6278df169e58461f8529f43bce5d
diff --git a/unsupported/Eigen/src/Splines/Spline.h b/unsupported/Eigen/src/Splines/Spline.h
index 771f104..57788c8 100644
--- a/unsupported/Eigen/src/Splines/Spline.h
+++ b/unsupported/Eigen/src/Splines/Spline.h
@@ -44,9 +44,15 @@
/** \brief The data type used to store knot vectors. */
typedef typename SplineTraits<Spline>::KnotVectorType KnotVectorType;
+
+ /** \brief The data type used to store parameter vectors. */
+ typedef typename SplineTraits<Spline>::ParameterVectorType ParameterVectorType;
/** \brief The data type used to store non-zero basis functions. */
typedef typename SplineTraits<Spline>::BasisVectorType BasisVectorType;
+
+ /** \brief The data type used to store the values of the basis function derivatives. */
+ typedef typename SplineTraits<Spline>::BasisDerivativeType BasisDerivativeType;
/** \brief The data type representing the spline's control points. */
typedef typename SplineTraits<Spline>::ControlPointVectorType ControlPointVectorType;
@@ -57,7 +63,7 @@
**/
Spline()
: m_knots(1, (Degree==Dynamic ? 2 : 2*Degree+2))
- , m_ctrls(ControlPointVectorType::Zero(2,(Degree==Dynamic ? 1 : Degree+1)))
+ , m_ctrls(ControlPointVectorType::Zero(Dimension,(Degree==Dynamic ? 1 : Degree+1)))
{
// in theory this code can go to the initializer list but it will get pretty
// much unreadable ...
@@ -88,7 +94,7 @@
const KnotVectorType& knots() const { return m_knots; }
/**
- * \brief Returns the knots of the underlying spline.
+ * \brief Returns the ctrls of the underlying spline.
**/
const ControlPointVectorType& ctrls() const { return m_ctrls; }
@@ -203,10 +209,25 @@
**/
static BasisVectorType BasisFunctions(Scalar u, DenseIndex degree, const KnotVectorType& knots);
+ /**
+ * \copydoc Spline::basisFunctionDerivatives
+ * \param degree The degree of the underlying spline
+ * \param knots The underlying spline's knot vector.
+ **/
+ static BasisDerivativeType BasisFunctionDerivatives(
+ const Scalar u, const DenseIndex order, const DenseIndex degree, const KnotVectorType& knots);
private:
KnotVectorType m_knots; /*!< Knot vector. */
ControlPointVectorType m_ctrls; /*!< Control points. */
+
+ template <typename DerivativeType>
+ static void BasisFunctionDerivativesImpl(
+ const typename Spline<_Scalar, _Dim, _Degree>::Scalar u,
+ const DenseIndex order,
+ const DenseIndex p,
+ const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& U,
+ DerivativeType& N_);
};
template <typename _Scalar, int _Dim, int _Degree>
@@ -228,8 +249,6 @@
DenseIndex degree,
const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& knots)
{
- typedef typename Spline<_Scalar, _Dim, _Degree>::BasisVectorType BasisVectorType;
-
const DenseIndex p = degree;
const DenseIndex i = Spline::Span(u, degree, knots);
@@ -345,20 +364,21 @@
}
/* --------------------------------------------------------------------------------------------- */
-
- template <typename SplineType, typename DerivativeType>
- void basisFunctionDerivativesImpl(const SplineType& spline, typename SplineType::Scalar u, DenseIndex order, DerivativeType& N_)
+
+
+ template <typename _Scalar, int _Dim, int _Degree>
+ template <typename DerivativeType>
+ void Spline<_Scalar, _Dim, _Degree>::BasisFunctionDerivativesImpl(
+ const typename Spline<_Scalar, _Dim, _Degree>::Scalar u,
+ const DenseIndex order,
+ const DenseIndex p,
+ const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& U,
+ DerivativeType& N_)
{
+ typedef Spline<_Scalar, _Dim, _Degree> SplineType;
enum { Order = SplineTraits<SplineType>::OrderAtCompileTime };
- typedef typename SplineTraits<SplineType>::Scalar Scalar;
- typedef typename SplineTraits<SplineType>::BasisVectorType BasisVectorType;
- typedef typename SplineTraits<SplineType>::KnotVectorType KnotVectorType;
-
- const KnotVectorType& U = spline.knots();
-
- const DenseIndex p = spline.degree();
- const DenseIndex span = spline.span(u);
+ const DenseIndex span = SplineType::Span(u, p, U);
const DenseIndex n = (std::min)(p, order);
@@ -369,7 +389,7 @@
Matrix<Scalar,Order,Order> ndu(p+1,p+1);
- double saved, temp;
+ Scalar saved, temp; // FIXME These were double instead of Scalar. Was there a reason for that?
ndu(0,0) = 1.0;
@@ -408,7 +428,7 @@
// Compute the k-th derivative
for (DenseIndex k=1; k<=static_cast<DenseIndex>(n); ++k)
{
- double d = 0.0;
+ Scalar d = 0.0;
DenseIndex rk,pk,j1,j2;
rk = r-k; pk = p-k;
@@ -446,7 +466,7 @@
r = p;
for (DenseIndex k=1; k<=static_cast<DenseIndex>(n); ++k)
{
- for (DenseIndex j=p; j>=0; --j) N_(k,j) *= r;
+ for (j=p; j>=0; --j) N_(k,j) *= r;
r *= p-k;
}
}
@@ -455,8 +475,8 @@
typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType
Spline<_Scalar, _Dim, _Degree>::basisFunctionDerivatives(Scalar u, DenseIndex order) const
{
- typename SplineTraits< Spline >::BasisDerivativeType der;
- basisFunctionDerivativesImpl(*this, u, order, der);
+ typename SplineTraits<Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType der;
+ BasisFunctionDerivativesImpl(u, order, degree(), knots(), der);
return der;
}
@@ -465,8 +485,21 @@
typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::BasisDerivativeType
Spline<_Scalar, _Dim, _Degree>::basisFunctionDerivatives(Scalar u, DenseIndex order) const
{
- typename SplineTraits< Spline, DerivativeOrder >::BasisDerivativeType der;
- basisFunctionDerivativesImpl(*this, u, order, der);
+ typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::BasisDerivativeType der;
+ BasisFunctionDerivativesImpl(u, order, degree(), knots(), der);
+ return der;
+ }
+
+ template <typename _Scalar, int _Dim, int _Degree>
+ typename SplineTraits<Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType
+ Spline<_Scalar, _Dim, _Degree>::BasisFunctionDerivatives(
+ const typename Spline<_Scalar, _Dim, _Degree>::Scalar u,
+ const DenseIndex order,
+ const DenseIndex degree,
+ const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& knots)
+ {
+ typename SplineTraits<Spline>::BasisDerivativeType der;
+ BasisFunctionDerivativesImpl(u, order, degree, knots, der);
return der;
}
}