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 };
71 EIGEN_DEVICE_FUNC
explicit inline Homogeneous(
const MatrixType& matrix)
75 EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
76 inline Index rows()
const EIGEN_NOEXCEPT {
return m_matrix.rows() + (int(Direction)==
Vertical ? 1 : 0); }
77 EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
78 inline Index cols()
const EIGEN_NOEXCEPT {
return m_matrix.cols() + (int(Direction)==
Horizontal ? 1 : 0); }
80 EIGEN_DEVICE_FUNC
const NestedExpression& nestedExpression()
const {
return m_matrix; }
82 template<
typename Rhs>
90 template<
typename Lhs>
friend 94 eigen_assert(
int(Direction)==
Vertical);
98 template<
typename Scalar,
int Dim,
int Mode,
int Options>
friend 102 eigen_assert(
int(Direction)==
Vertical);
103 return Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous>(lhs,rhs);
106 template<
typename Func>
107 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
typename internal::result_of<Func(Scalar,Scalar)>::type
108 redux(
const Func& func)
const 110 return func(m_matrix.redux(func), Scalar(1));
114 typename MatrixType::Nested m_matrix;
130 template<
typename Derived>
134 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
148 template<
typename ExpressionType,
int Direction>
172 template<
typename Derived>
176 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
178 ColsAtCompileTime==1?size()-1:1,
179 ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
196 template<
typename ExpressionType,
int Direction>
201 Direction==
Vertical ? _expression().rows()-1 : _expression().rows(),
202 Direction==
Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
204 Direction==
Vertical ? HNormalized_SizeMinusOne : 1,
205 Direction==
Horizontal ? HNormalized_SizeMinusOne : 1>
207 Direction==
Vertical ? _expression().rows()-1:0,
208 Direction==
Horizontal ? _expression().cols()-1:0,
209 Direction==
Vertical ? 1 : _expression().rows(),
210 Direction==
Horizontal ? 1 : _expression().cols()),
211 Direction==
Vertical ? _expression().rows()-1 : 1,
212 Direction==
Horizontal ? _expression().cols()-1 : 1));
217 template<
typename MatrixOrTransformType>
218 struct take_matrix_for_product
220 typedef MatrixOrTransformType type;
221 EIGEN_DEVICE_FUNC
static const type& run(
const type &x) {
return x; }
224 template<
typename Scalar,
int Dim,
int Mode,
int Options>
225 struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
229 EIGEN_DEVICE_FUNC
static type run (
const TransformType& x) {
return x.affine(); }
232 template<
typename Scalar,
int Dim,
int Options>
233 struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
236 typedef typename TransformType::MatrixType type;
237 EIGEN_DEVICE_FUNC
static const type& run (
const TransformType& x) {
return x.matrix(); }
240 template<
typename MatrixType,
typename Lhs>
241 struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
243 typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
244 typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
245 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
246 typedef typename make_proper_matrix_type<
247 typename traits<MatrixTypeCleaned>::Scalar,
248 LhsMatrixTypeCleaned::RowsAtCompileTime,
249 MatrixTypeCleaned::ColsAtCompileTime,
250 MatrixTypeCleaned::PlainObject::Options,
251 LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
252 MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
255 template<
typename MatrixType,
typename Lhs>
256 struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
257 :
public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
259 typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
260 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
261 typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
262 EIGEN_DEVICE_FUNC homogeneous_left_product_impl(
const Lhs& lhs,
const MatrixType& rhs)
263 : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
267 EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
268 inline Index rows()
const EIGEN_NOEXCEPT {
return m_lhs.rows(); }
269 EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
270 inline Index cols()
const EIGEN_NOEXCEPT {
return m_rhs.cols(); }
272 template<
typename Dest> EIGEN_DEVICE_FUNC
void evalTo(Dest& dst)
const 275 dst =
Block<
const LhsMatrixTypeNested,
276 LhsMatrixTypeNested::RowsAtCompileTime,
277 LhsMatrixTypeNested::ColsAtCompileTime==
Dynamic?
Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
278 (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
279 dst += m_lhs.col(m_lhs.cols()-1).rowwise()
280 .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
283 typename LhsMatrixTypeCleaned::Nested m_lhs;
284 typename MatrixType::Nested m_rhs;
287 template<
typename MatrixType,
typename Rhs>
288 struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
290 typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
291 MatrixType::RowsAtCompileTime,
292 Rhs::ColsAtCompileTime,
293 MatrixType::PlainObject::Options,
294 MatrixType::MaxRowsAtCompileTime,
295 Rhs::MaxColsAtCompileTime>::type ReturnType;
298 template<
typename MatrixType,
typename Rhs>
299 struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
300 :
public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
302 typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
303 EIGEN_DEVICE_FUNC homogeneous_right_product_impl(
const MatrixType& lhs,
const Rhs& rhs)
304 : m_lhs(lhs), m_rhs(rhs)
307 EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
inline Index rows()
const EIGEN_NOEXCEPT {
return m_lhs.rows(); }
308 EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
inline Index cols()
const EIGEN_NOEXCEPT {
return m_rhs.cols(); }
310 template<
typename Dest> EIGEN_DEVICE_FUNC
void evalTo(Dest& dst)
const 313 dst = m_lhs *
Block<
const RhsNested,
314 RhsNested::RowsAtCompileTime==
Dynamic?
Dynamic:RhsNested::RowsAtCompileTime-1,
315 RhsNested::ColsAtCompileTime>
316 (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
317 dst += m_rhs.row(m_rhs.rows()-1).colwise()
318 .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
321 typename MatrixType::Nested m_lhs;
322 typename Rhs::Nested m_rhs;
325 template<
typename ArgType,
int Direction>
326 struct evaluator_traits<Homogeneous<ArgType,Direction> >
328 typedef typename storage_kind_to_evaluator_kind<typename ArgType::StorageKind>::Kind Kind;
329 typedef HomogeneousShape Shape;
332 template<>
struct AssignmentKind<DenseShape,HomogeneousShape> {
typedef Dense2Dense Kind; };
335 template<
typename ArgType,
int Direction>
336 struct unary_evaluator<Homogeneous<ArgType,Direction>, IndexBased>
337 : evaluator<typename Homogeneous<ArgType,Direction>::PlainObject >
340 typedef typename XprType::PlainObject PlainObject;
341 typedef evaluator<PlainObject> Base;
343 EIGEN_DEVICE_FUNC
explicit unary_evaluator(
const XprType& op)
346 ::new (static_cast<Base*>(
this)) Base(m_temp);
354 template<
typename DstXprType,
typename ArgType,
typename Scalar>
355 struct Assignment<DstXprType, Homogeneous<ArgType,Vertical>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
358 EIGEN_DEVICE_FUNC
static void run(DstXprType &dst,
const SrcXprType &src,
const internal::assign_op<Scalar,typename ArgType::Scalar> &)
360 Index dstRows = src.rows();
361 Index dstCols = src.cols();
362 if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
363 dst.resize(dstRows, dstCols);
365 dst.template topRows<ArgType::RowsAtCompileTime>(src.nestedExpression().rows()) = src.nestedExpression();
366 dst.row(dst.rows()-1).setOnes();
371 template<
typename DstXprType,
typename ArgType,
typename Scalar>
372 struct Assignment<DstXprType, Homogeneous<ArgType,Horizontal>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
375 EIGEN_DEVICE_FUNC
static void run(DstXprType &dst,
const SrcXprType &src,
const internal::assign_op<Scalar,typename ArgType::Scalar> &)
377 Index dstRows = src.rows();
378 Index dstCols = src.cols();
379 if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
380 dst.resize(dstRows, dstCols);
382 dst.template leftCols<ArgType::ColsAtCompileTime>(src.nestedExpression().cols()) = src.nestedExpression();
383 dst.col(dst.cols()-1).setOnes();
387 template<
typename LhsArg,
typename Rhs,
int ProductTag>
388 struct generic_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs, HomogeneousShape, DenseShape, ProductTag>
390 template<
typename Dest>
393 homogeneous_right_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs>(lhs.nestedExpression(), rhs).evalTo(dst);
397 template<
typename Lhs,
typename Rhs>
398 struct homogeneous_right_product_refactoring_helper
401 Dim = Lhs::ColsAtCompileTime,
402 Rows = Lhs::RowsAtCompileTime
404 typedef typename Rhs::template ConstNRowsBlockXpr<Dim>::Type LinearBlockConst;
405 typedef typename remove_const<LinearBlockConst>::type LinearBlock;
406 typedef typename Rhs::ConstRowXpr ConstantColumn;
412 template<
typename Lhs,
typename Rhs,
int ProductTag>
413 struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, HomogeneousShape, DenseShape>
414 :
public evaluator<typename homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs>::Xpr>
417 typedef homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs> helper;
418 typedef typename helper::ConstantBlock ConstantBlock;
419 typedef typename helper::Xpr RefactoredXpr;
420 typedef evaluator<RefactoredXpr> Base;
422 EIGEN_DEVICE_FUNC
explicit product_evaluator(
const XprType& xpr)
423 : Base( xpr.lhs().nestedExpression() .lazyProduct( xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) )
424 + ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) )
428 template<
typename Lhs,
typename RhsArg,
int ProductTag>
429 struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
431 template<
typename Dest>
434 homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, Lhs>(lhs, rhs.nestedExpression()).evalTo(dst);
440 template<
typename Lhs,
typename RhsArg,
int ProductTag>
441 struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, TriangularShape, HomogeneousShape, ProductTag>
443 template<
typename Dest>
446 dst.noalias() = lhs * rhs.
eval();
450 template<
typename Lhs,
typename Rhs>
451 struct homogeneous_left_product_refactoring_helper
454 Dim = Rhs::RowsAtCompileTime,
455 Cols = Rhs::ColsAtCompileTime
457 typedef typename Lhs::template ConstNColsBlockXpr<Dim>::Type LinearBlockConst;
458 typedef typename remove_const<LinearBlockConst>::type LinearBlock;
459 typedef typename Lhs::ConstColXpr ConstantColumn;
465 template<
typename Lhs,
typename Rhs,
int ProductTag>
466 struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, HomogeneousShape>
467 :
public evaluator<typename homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression>::Xpr>
470 typedef homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression> helper;
471 typedef typename helper::ConstantBlock ConstantBlock;
472 typedef typename helper::Xpr RefactoredXpr;
473 typedef evaluator<RefactoredXpr> Base;
475 EIGEN_DEVICE_FUNC
explicit product_evaluator(
const XprType& xpr)
476 : Base( xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() )
477 + ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) )
481 template<
typename Scalar,
int Dim,
int Mode,
int Options,
typename RhsArg,
int ProductTag>
482 struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
485 template<
typename Dest>
488 homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, TransformType>(lhs, rhs.nestedExpression()).evalTo(dst);
492 template<
typename ExpressionType,
int S
ide,
bool Transposed>
493 struct permutation_matrix_product<ExpressionType, Side, Transposed, HomogeneousShape>
494 :
public permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
501 #endif // EIGEN_HOMOGENEOUS_H Expression of the product of two arbitrary matrices or vectors.
Definition: Product.h:71
Definition: Constants.h:264
HomogeneousReturnType homogeneous() const
Definition: Homogeneous.h:150
Eigen::Index Index
Definition: VectorwiseOp.h:192
Expression of the transpose of a matrix.
Definition: Transpose.h:52
const HNormalizedReturnType hnormalized() const
column or row-wise homogeneous normalization
Definition: Homogeneous.h:198
Namespace containing all symbols from the Eigen library.
Definition: Core:141
Derived & derived()
Definition: EigenBase.h:46
const unsigned int RowMajorBit
Definition: Constants.h:66
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:515
EIGEN_DEFAULT_DENSE_INDEX_TYPE Index
The Index type as used for the API.
Definition: Meta.h:74
Expression of the multiple replication of a matrix or vector.
Definition: Replicate.h:61
Definition: Constants.h:267
Definition: Eigen_Colamd.h:50
const HNormalizedReturnType hnormalized() const
homogeneous normalization
Definition: Homogeneous.h:174
Expression of a fixed-size or dynamic-size block.
Definition: Block.h:103
EvalReturnType eval() const
Definition: DenseBase.h:407
const int Dynamic
Definition: Constants.h:22
HomogeneousReturnType homogeneous() const
Definition: Homogeneous.h:132
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:48
Expression of one (or a set of) homogeneous vector(s)
Definition: Homogeneous.h:60