Squashed 'third_party/eigen/' content from commit 61d72f6
Change-Id: Iccc90fa0b55ab44037f018046d2fcffd90d9d025
git-subtree-dir: third_party/eigen
git-subtree-split: 61d72f6383cfa842868c53e30e087b0258177257
diff --git a/Eigen/src/Geometry/Homogeneous.h b/Eigen/src/Geometry/Homogeneous.h
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+++ b/Eigen/src/Geometry/Homogeneous.h
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+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 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_HOMOGENEOUS_H
+#define EIGEN_HOMOGENEOUS_H
+
+namespace Eigen {
+
+/** \geometry_module \ingroup Geometry_Module
+ *
+ * \class Homogeneous
+ *
+ * \brief Expression of one (or a set of) homogeneous vector(s)
+ *
+ * \param MatrixType the type of the object in which we are making homogeneous
+ *
+ * This class represents an expression of one (or a set of) homogeneous vector(s).
+ * It is the return type of MatrixBase::homogeneous() and most of the time
+ * this is the only way it is used.
+ *
+ * \sa MatrixBase::homogeneous()
+ */
+
+namespace internal {
+
+template<typename MatrixType,int Direction>
+struct traits<Homogeneous<MatrixType,Direction> >
+ : traits<MatrixType>
+{
+ typedef typename traits<MatrixType>::StorageKind StorageKind;
+ typedef typename nested<MatrixType>::type MatrixTypeNested;
+ typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+ enum {
+ RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
+ int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
+ ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
+ int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
+ RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = RowsAtCompileTime,
+ MaxColsAtCompileTime = ColsAtCompileTime,
+ TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
+ Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
+ : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
+ : TmpFlags,
+ CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+ };
+};
+
+template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
+template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
+
+} // end namespace internal
+
+template<typename MatrixType,int _Direction> class Homogeneous
+ : internal::no_assignment_operator, public MatrixBase<Homogeneous<MatrixType,_Direction> >
+{
+ public:
+
+ enum { Direction = _Direction };
+
+ typedef MatrixBase<Homogeneous> Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
+
+ inline Homogeneous(const MatrixType& matrix)
+ : m_matrix(matrix)
+ {}
+
+ inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); }
+ inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
+
+ inline Scalar coeff(Index row, Index col) const
+ {
+ if( (int(Direction)==Vertical && row==m_matrix.rows())
+ || (int(Direction)==Horizontal && col==m_matrix.cols()))
+ return Scalar(1);
+ return m_matrix.coeff(row, col);
+ }
+
+ template<typename Rhs>
+ inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
+ operator* (const MatrixBase<Rhs>& rhs) const
+ {
+ eigen_assert(int(Direction)==Horizontal);
+ return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
+ }
+
+ template<typename Lhs> friend
+ inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
+ operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
+ {
+ eigen_assert(int(Direction)==Vertical);
+ return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
+ }
+
+ template<typename Scalar, int Dim, int Mode, int Options> friend
+ inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
+ operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
+ {
+ eigen_assert(int(Direction)==Vertical);
+ return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
+ }
+
+ protected:
+ typename MatrixType::Nested m_matrix;
+};
+
+/** \geometry_module
+ *
+ * \return an expression of the equivalent homogeneous vector
+ *
+ * \only_for_vectors
+ *
+ * Example: \include MatrixBase_homogeneous.cpp
+ * Output: \verbinclude MatrixBase_homogeneous.out
+ *
+ * \sa class Homogeneous
+ */
+template<typename Derived>
+inline typename MatrixBase<Derived>::HomogeneousReturnType
+MatrixBase<Derived>::homogeneous() const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+ return derived();
+}
+
+/** \geometry_module
+ *
+ * \returns a matrix expression of homogeneous column (or row) vectors
+ *
+ * Example: \include VectorwiseOp_homogeneous.cpp
+ * Output: \verbinclude VectorwiseOp_homogeneous.out
+ *
+ * \sa MatrixBase::homogeneous() */
+template<typename ExpressionType, int Direction>
+inline Homogeneous<ExpressionType,Direction>
+VectorwiseOp<ExpressionType,Direction>::homogeneous() const
+{
+ return _expression();
+}
+
+/** \geometry_module
+ *
+ * \returns an expression of the homogeneous normalized vector of \c *this
+ *
+ * Example: \include MatrixBase_hnormalized.cpp
+ * Output: \verbinclude MatrixBase_hnormalized.out
+ *
+ * \sa VectorwiseOp::hnormalized() */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::HNormalizedReturnType
+MatrixBase<Derived>::hnormalized() const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+ return ConstStartMinusOne(derived(),0,0,
+ ColsAtCompileTime==1?size()-1:1,
+ ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
+}
+
+/** \geometry_module
+ *
+ * \returns an expression of the homogeneous normalized vector of \c *this
+ *
+ * Example: \include DirectionWise_hnormalized.cpp
+ * Output: \verbinclude DirectionWise_hnormalized.out
+ *
+ * \sa MatrixBase::hnormalized() */
+template<typename ExpressionType, int Direction>
+inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
+VectorwiseOp<ExpressionType,Direction>::hnormalized() const
+{
+ return HNormalized_Block(_expression(),0,0,
+ Direction==Vertical ? _expression().rows()-1 : _expression().rows(),
+ Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
+ Replicate<HNormalized_Factors,
+ Direction==Vertical ? HNormalized_SizeMinusOne : 1,
+ Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
+ (HNormalized_Factors(_expression(),
+ Direction==Vertical ? _expression().rows()-1:0,
+ Direction==Horizontal ? _expression().cols()-1:0,
+ Direction==Vertical ? 1 : _expression().rows(),
+ Direction==Horizontal ? 1 : _expression().cols()),
+ Direction==Vertical ? _expression().rows()-1 : 1,
+ Direction==Horizontal ? _expression().cols()-1 : 1));
+}
+
+namespace internal {
+
+template<typename MatrixOrTransformType>
+struct take_matrix_for_product
+{
+ typedef MatrixOrTransformType type;
+ static const type& run(const type &x) { return x; }
+};
+
+template<typename Scalar, int Dim, int Mode,int Options>
+struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
+{
+ typedef Transform<Scalar, Dim, Mode, Options> TransformType;
+ typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
+ static type run (const TransformType& x) { return x.affine(); }
+};
+
+template<typename Scalar, int Dim, int Options>
+struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
+{
+ typedef Transform<Scalar, Dim, Projective, Options> TransformType;
+ typedef typename TransformType::MatrixType type;
+ static const type& run (const TransformType& x) { return x.matrix(); }
+};
+
+template<typename MatrixType,typename Lhs>
+struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
+{
+ typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
+ typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
+ typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
+ typedef typename make_proper_matrix_type<
+ typename traits<MatrixTypeCleaned>::Scalar,
+ LhsMatrixTypeCleaned::RowsAtCompileTime,
+ MatrixTypeCleaned::ColsAtCompileTime,
+ MatrixTypeCleaned::PlainObject::Options,
+ LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
+ MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
+};
+
+template<typename MatrixType,typename Lhs>
+struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
+ : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
+{
+ typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
+ typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
+ typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
+ typedef typename MatrixType::Index Index;
+ homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
+ : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
+ m_rhs(rhs)
+ {}
+
+ inline Index rows() const { return m_lhs.rows(); }
+ inline Index cols() const { return m_rhs.cols(); }
+
+ template<typename Dest> void evalTo(Dest& dst) const
+ {
+ // FIXME investigate how to allow lazy evaluation of this product when possible
+ dst = Block<const LhsMatrixTypeNested,
+ LhsMatrixTypeNested::RowsAtCompileTime,
+ LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
+ (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
+ dst += m_lhs.col(m_lhs.cols()-1).rowwise()
+ .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
+ }
+
+ typename LhsMatrixTypeCleaned::Nested m_lhs;
+ typename MatrixType::Nested m_rhs;
+};
+
+template<typename MatrixType,typename Rhs>
+struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
+{
+ typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
+ MatrixType::RowsAtCompileTime,
+ Rhs::ColsAtCompileTime,
+ MatrixType::PlainObject::Options,
+ MatrixType::MaxRowsAtCompileTime,
+ Rhs::MaxColsAtCompileTime>::type ReturnType;
+};
+
+template<typename MatrixType,typename Rhs>
+struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
+ : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
+{
+ typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
+ typedef typename MatrixType::Index Index;
+ homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
+ : m_lhs(lhs), m_rhs(rhs)
+ {}
+
+ inline Index rows() const { return m_lhs.rows(); }
+ inline Index cols() const { return m_rhs.cols(); }
+
+ template<typename Dest> void evalTo(Dest& dst) const
+ {
+ // FIXME investigate how to allow lazy evaluation of this product when possible
+ dst = m_lhs * Block<const RhsNested,
+ RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
+ RhsNested::ColsAtCompileTime>
+ (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
+ dst += m_rhs.row(m_rhs.rows()-1).colwise()
+ .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
+ }
+
+ typename MatrixType::Nested m_lhs;
+ typename Rhs::Nested m_rhs;
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_HOMOGENEOUS_H