10 #ifndef EIGEN_HOMOGENEOUS_H 11 #define EIGEN_HOMOGENEOUS_H 32 template<
typename MatrixType,
int Direction>
33 struct traits<Homogeneous<MatrixType,Direction> >
36 typedef typename traits<MatrixType>::StorageKind StorageKind;
37 typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
38 typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
40 RowsPlusOne = (MatrixType::RowsAtCompileTime !=
Dynamic) ?
41 int(MatrixType::RowsAtCompileTime) + 1 :
Dynamic,
42 ColsPlusOne = (MatrixType::ColsAtCompileTime !=
Dynamic) ?
43 int(MatrixType::ColsAtCompileTime) + 1 :
Dynamic,
44 RowsAtCompileTime = Direction==
Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime,
45 ColsAtCompileTime = Direction==
Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
46 MaxRowsAtCompileTime = RowsAtCompileTime,
47 MaxColsAtCompileTime = ColsAtCompileTime,
48 TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
49 Flags = ColsAtCompileTime==1 ? (TmpFlags & ~
RowMajorBit)
55 template<
typename MatrixType,
typename Lhs>
struct homogeneous_left_product_impl;
56 template<
typename MatrixType,
typename Rhs>
struct homogeneous_right_product_impl;
60 template<
typename MatrixType,
int _Direction>
class Homogeneous
61 :
public MatrixBase<Homogeneous<MatrixType,_Direction> >, internal::no_assignment_operator
65 typedef MatrixType NestedExpression;
66 enum { Direction = _Direction };
68 typedef MatrixBase<Homogeneous> Base;
69 EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
71 EIGEN_DEVICE_FUNC
explicit inline Homogeneous(
const MatrixType& matrix)
75 EIGEN_DEVICE_FUNC
inline Index rows()
const {
return m_matrix.rows() + (int(Direction)==
Vertical ? 1 : 0); }
76 EIGEN_DEVICE_FUNC
inline Index cols()
const {
return m_matrix.cols() + (int(Direction)==
Horizontal ? 1 : 0); }
78 EIGEN_DEVICE_FUNC
const NestedExpression& nestedExpression()
const {
return m_matrix; }
80 template<
typename Rhs>
81 EIGEN_DEVICE_FUNC
inline const Product<Homogeneous,Rhs>
82 operator* (
const MatrixBase<Rhs>& rhs)
const 85 return Product<Homogeneous,Rhs>(*
this,rhs.derived());
88 template<
typename Lhs>
friend 89 EIGEN_DEVICE_FUNC
inline const Product<Lhs,Homogeneous>
90 operator* (
const MatrixBase<Lhs>& lhs,
const Homogeneous& rhs)
92 eigen_assert(
int(Direction)==
Vertical);
93 return Product<Lhs,Homogeneous>(lhs.derived(),rhs);
96 template<
typename Scalar,
int Dim,
int Mode,
int Options>
friend 97 EIGEN_DEVICE_FUNC
inline const Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous >
98 operator* (
const Transform<Scalar,Dim,Mode,Options>& lhs,
const Homogeneous& rhs)
100 eigen_assert(
int(Direction)==
Vertical);
101 return Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous>(lhs,rhs);
104 template<
typename Func>
105 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
typename internal::result_of<Func(Scalar,Scalar)>::type
106 redux(
const Func& func)
const 108 return func(m_matrix.redux(func), Scalar(1));
112 typename MatrixType::Nested m_matrix;
128 template<
typename Derived>
129 EIGEN_DEVICE_FUNC
inline typename MatrixBase<Derived>::HomogeneousReturnType
132 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
146 template<
typename ExpressionType,
int Direction>
170 template<
typename Derived>
174 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
176 ColsAtCompileTime==1?size()-1:1,
177 ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
194 template<
typename ExpressionType,
int Direction>
199 Direction==
Vertical ? _expression().rows()-1 : _expression().rows(),
200 Direction==
Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
202 Direction==
Vertical ? HNormalized_SizeMinusOne : 1,
203 Direction==
Horizontal ? HNormalized_SizeMinusOne : 1>
205 Direction==
Vertical ? _expression().rows()-1:0,
206 Direction==
Horizontal ? _expression().cols()-1:0,
207 Direction==
Vertical ? 1 : _expression().rows(),
208 Direction==
Horizontal ? 1 : _expression().cols()),
209 Direction==
Vertical ? _expression().rows()-1 : 1,
210 Direction==
Horizontal ? _expression().cols()-1 : 1));
215 template<
typename MatrixOrTransformType>
216 struct take_matrix_for_product
218 typedef MatrixOrTransformType type;
219 EIGEN_DEVICE_FUNC
static const type& run(
const type &x) {
return x; }
222 template<
typename Scalar,
int Dim,
int Mode,
int Options>
223 struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
227 EIGEN_DEVICE_FUNC
static type run (
const TransformType& x) {
return x.affine(); }
230 template<
typename Scalar,
int Dim,
int Options>
231 struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
234 typedef typename TransformType::MatrixType type;
235 EIGEN_DEVICE_FUNC
static const type& run (
const TransformType& x) {
return x.matrix(); }
238 template<
typename MatrixType,
typename Lhs>
239 struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
241 typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
242 typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
243 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
244 typedef typename make_proper_matrix_type<
245 typename traits<MatrixTypeCleaned>::Scalar,
246 LhsMatrixTypeCleaned::RowsAtCompileTime,
247 MatrixTypeCleaned::ColsAtCompileTime,
248 MatrixTypeCleaned::PlainObject::Options,
249 LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
250 MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
253 template<
typename MatrixType,
typename Lhs>
254 struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
255 :
public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
257 typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
258 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
259 typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
260 EIGEN_DEVICE_FUNC homogeneous_left_product_impl(
const Lhs& lhs,
const MatrixType& rhs)
261 : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
265 EIGEN_DEVICE_FUNC
inline Index rows()
const {
return m_lhs.rows(); }
266 EIGEN_DEVICE_FUNC
inline Index cols()
const {
return m_rhs.cols(); }
268 template<
typename Dest> EIGEN_DEVICE_FUNC
void evalTo(Dest& dst)
const 271 dst =
Block<
const LhsMatrixTypeNested,
272 LhsMatrixTypeNested::RowsAtCompileTime,
273 LhsMatrixTypeNested::ColsAtCompileTime==
Dynamic?
Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
274 (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
275 dst += m_lhs.col(m_lhs.cols()-1).rowwise()
276 .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
279 typename LhsMatrixTypeCleaned::Nested m_lhs;
280 typename MatrixType::Nested m_rhs;
283 template<
typename MatrixType,
typename Rhs>
284 struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
286 typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
287 MatrixType::RowsAtCompileTime,
288 Rhs::ColsAtCompileTime,
289 MatrixType::PlainObject::Options,
290 MatrixType::MaxRowsAtCompileTime,
291 Rhs::MaxColsAtCompileTime>::type ReturnType;
294 template<
typename MatrixType,
typename Rhs>
295 struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
296 :
public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
298 typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
299 EIGEN_DEVICE_FUNC homogeneous_right_product_impl(
const MatrixType& lhs,
const Rhs& rhs)
300 : m_lhs(lhs), m_rhs(rhs)
303 EIGEN_DEVICE_FUNC
inline Index rows()
const {
return m_lhs.rows(); }
304 EIGEN_DEVICE_FUNC
inline Index cols()
const {
return m_rhs.cols(); }
306 template<
typename Dest> EIGEN_DEVICE_FUNC
void evalTo(Dest& dst)
const 309 dst = m_lhs *
Block<
const RhsNested,
310 RhsNested::RowsAtCompileTime==
Dynamic?
Dynamic:RhsNested::RowsAtCompileTime-1,
311 RhsNested::ColsAtCompileTime>
312 (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
313 dst += m_rhs.row(m_rhs.rows()-1).colwise()
314 .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
317 typename MatrixType::Nested m_lhs;
318 typename Rhs::Nested m_rhs;
321 template<
typename ArgType,
int Direction>
322 struct evaluator_traits<Homogeneous<ArgType,Direction> >
324 typedef typename storage_kind_to_evaluator_kind<typename ArgType::StorageKind>::Kind Kind;
325 typedef HomogeneousShape Shape;
328 template<>
struct AssignmentKind<DenseShape,HomogeneousShape> {
typedef Dense2Dense Kind; };
331 template<
typename ArgType,
int Direction>
332 struct unary_evaluator<Homogeneous<ArgType,Direction>, IndexBased>
333 : evaluator<typename Homogeneous<ArgType,Direction>::PlainObject >
336 typedef typename XprType::PlainObject PlainObject;
337 typedef evaluator<PlainObject> Base;
339 EIGEN_DEVICE_FUNC
explicit unary_evaluator(
const XprType& op)
342 ::new (static_cast<Base*>(
this)) Base(m_temp);
350 template<
typename DstXprType,
typename ArgType,
typename Scalar>
351 struct Assignment<DstXprType, Homogeneous<ArgType,Vertical>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
354 EIGEN_DEVICE_FUNC
static void run(DstXprType &dst,
const SrcXprType &src,
const internal::assign_op<Scalar,typename ArgType::Scalar> &)
356 Index dstRows = src.rows();
357 Index dstCols = src.cols();
358 if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
359 dst.resize(dstRows, dstCols);
361 dst.template topRows<ArgType::RowsAtCompileTime>(src.nestedExpression().rows()) = src.nestedExpression();
362 dst.row(dst.rows()-1).setOnes();
367 template<
typename DstXprType,
typename ArgType,
typename Scalar>
368 struct Assignment<DstXprType, Homogeneous<ArgType,Horizontal>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
371 EIGEN_DEVICE_FUNC
static void run(DstXprType &dst,
const SrcXprType &src,
const internal::assign_op<Scalar,typename ArgType::Scalar> &)
373 Index dstRows = src.rows();
374 Index dstCols = src.cols();
375 if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
376 dst.resize(dstRows, dstCols);
378 dst.template leftCols<ArgType::ColsAtCompileTime>(src.nestedExpression().cols()) = src.nestedExpression();
379 dst.col(dst.cols()-1).setOnes();
383 template<
typename LhsArg,
typename Rhs,
int ProductTag>
384 struct generic_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs, HomogeneousShape, DenseShape, ProductTag>
386 template<
typename Dest>
389 homogeneous_right_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs>(lhs.nestedExpression(), rhs).evalTo(dst);
393 template<
typename Lhs,
typename Rhs>
394 struct homogeneous_right_product_refactoring_helper
397 Dim = Lhs::ColsAtCompileTime,
398 Rows = Lhs::RowsAtCompileTime
400 typedef typename Rhs::template ConstNRowsBlockXpr<Dim>::Type LinearBlockConst;
401 typedef typename remove_const<LinearBlockConst>::type LinearBlock;
402 typedef typename Rhs::ConstRowXpr ConstantColumn;
408 template<
typename Lhs,
typename Rhs,
int ProductTag>
409 struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, HomogeneousShape, DenseShape>
410 :
public evaluator<typename homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs>::Xpr>
413 typedef homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs> helper;
414 typedef typename helper::ConstantBlock ConstantBlock;
415 typedef typename helper::Xpr RefactoredXpr;
416 typedef evaluator<RefactoredXpr> Base;
418 EIGEN_DEVICE_FUNC
explicit product_evaluator(
const XprType& xpr)
419 : Base( xpr.lhs().nestedExpression() .lazyProduct( xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) )
420 + ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) )
424 template<
typename Lhs,
typename RhsArg,
int ProductTag>
425 struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
427 template<
typename Dest>
430 homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, Lhs>(lhs, rhs.nestedExpression()).evalTo(dst);
436 template<
typename Lhs,
typename RhsArg,
int ProductTag>
437 struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, TriangularShape, HomogeneousShape, ProductTag>
439 template<
typename Dest>
442 dst.noalias() = lhs * rhs.eval();
446 template<
typename Lhs,
typename Rhs>
447 struct homogeneous_left_product_refactoring_helper
450 Dim = Rhs::RowsAtCompileTime,
451 Cols = Rhs::ColsAtCompileTime
453 typedef typename Lhs::template ConstNColsBlockXpr<Dim>::Type LinearBlockConst;
454 typedef typename remove_const<LinearBlockConst>::type LinearBlock;
455 typedef typename Lhs::ConstColXpr ConstantColumn;
461 template<
typename Lhs,
typename Rhs,
int ProductTag>
462 struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, HomogeneousShape>
463 :
public evaluator<typename homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression>::Xpr>
466 typedef homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression> helper;
467 typedef typename helper::ConstantBlock ConstantBlock;
468 typedef typename helper::Xpr RefactoredXpr;
469 typedef evaluator<RefactoredXpr> Base;
471 EIGEN_DEVICE_FUNC
explicit product_evaluator(
const XprType& xpr)
472 : Base( xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() )
473 + ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) )
477 template<
typename Scalar,
int Dim,
int Mode,
int Options,
typename RhsArg,
int ProductTag>
478 struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
481 template<
typename Dest>
484 homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, TransformType>(lhs, rhs.nestedExpression()).evalTo(dst);
488 template<
typename ExpressionType,
int S
ide,
bool Transposed>
489 struct permutation_matrix_product<ExpressionType, Side, Transposed, HomogeneousShape>
490 :
public permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
497 #endif // EIGEN_HOMOGENEOUS_H Expression of the product of two arbitrary matrices or vectors.
Definition: Product.h:71
Definition: Constants.h:265
HomogeneousReturnType homogeneous() const
Definition: Homogeneous.h:148
Eigen::Index Index
Definition: VectorwiseOp.h:162
Expression of the transpose of a matrix.
Definition: Transpose.h:52
const HNormalizedReturnType hnormalized() const
column or row-wise homogeneous normalization
Definition: Homogeneous.h:196
Namespace containing all symbols from the Eigen library.
Definition: Core:287
const unsigned int RowMajorBit
Definition: Constants.h:61
Generic expression where a coefficient-wise binary operator is applied to two expressions.
Definition: CwiseBinaryOp.h:77
const Product< MatrixDerived, PermutationDerived, AliasFreeProduct > operator*(const MatrixBase< MatrixDerived > &matrix, const PermutationBase< PermutationDerived > &permutation)
Definition: PermutationMatrix.h:543
EIGEN_DEFAULT_DENSE_INDEX_TYPE Index
The Index type as used for the API.
Definition: Meta.h:33
Expression of the multiple replication of a matrix or vector.
Definition: Replicate.h:61
Definition: Constants.h:268
Definition: Eigen_Colamd.h:50
const HNormalizedReturnType hnormalized() const
homogeneous normalization
Definition: Homogeneous.h:172
Expression of a fixed-size or dynamic-size block.
Definition: Block.h:103
const int Dynamic
Definition: Constants.h:21
HomogeneousReturnType homogeneous() const
Definition: Homogeneous.h:130
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:48
Expression of one (or a set of) homogeneous vector(s)
Definition: ForwardDeclarations.h:278