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 explicit inline Homogeneous(const MatrixType& matrix)
75 inline Index rows()
const {
return m_matrix.rows() + (int(Direction)==
Vertical ? 1 : 0); }
76 inline Index cols()
const {
return m_matrix.cols() + (int(Direction)==
Horizontal ? 1 : 0); }
78 const NestedExpression& nestedExpression()
const {
return m_matrix; }
80 template<
typename Rhs>
81 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 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 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_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;
126 template<
typename Derived>
127 inline typename MatrixBase<Derived>::HomogeneousReturnType
130 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
142 template<
typename ExpressionType,
int Direction>
157 template<
typename Derived>
161 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
163 ColsAtCompileTime==1?size()-1:1,
164 ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
175 template<
typename ExpressionType,
int Direction>
180 Direction==
Vertical ? _expression().rows()-1 : _expression().rows(),
181 Direction==
Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
183 Direction==
Vertical ? HNormalized_SizeMinusOne : 1,
184 Direction==
Horizontal ? HNormalized_SizeMinusOne : 1>
186 Direction==
Vertical ? _expression().rows()-1:0,
187 Direction==
Horizontal ? _expression().cols()-1:0,
188 Direction==
Vertical ? 1 : _expression().rows(),
189 Direction==
Horizontal ? 1 : _expression().cols()),
190 Direction==
Vertical ? _expression().rows()-1 : 1,
191 Direction==
Horizontal ? _expression().cols()-1 : 1));
196 template<
typename MatrixOrTransformType>
197 struct take_matrix_for_product
199 typedef MatrixOrTransformType type;
200 static const type& run(
const type &x) {
return x; }
203 template<
typename Scalar,
int Dim,
int Mode,
int Options>
204 struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
206 typedef Transform<Scalar, Dim, Mode, Options> TransformType;
207 typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
208 static type run (
const TransformType& x) {
return x.affine(); }
211 template<
typename Scalar,
int Dim,
int Options>
212 struct take_matrix_for_product<Transform<Scalar, Dim,
Projective, Options> >
214 typedef Transform<Scalar, Dim, Projective, Options> TransformType;
215 typedef typename TransformType::MatrixType type;
216 static const type& run (
const TransformType& x) {
return x.matrix(); }
219 template<
typename MatrixType,
typename Lhs>
220 struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,
Vertical>,Lhs> >
222 typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
223 typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
224 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
225 typedef typename make_proper_matrix_type<
226 typename traits<MatrixTypeCleaned>::Scalar,
227 LhsMatrixTypeCleaned::RowsAtCompileTime,
228 MatrixTypeCleaned::ColsAtCompileTime,
229 MatrixTypeCleaned::PlainObject::Options,
230 LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
231 MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
234 template<
typename MatrixType,
typename Lhs>
235 struct homogeneous_left_product_impl<Homogeneous<MatrixType,
Vertical>,Lhs>
236 :
public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
238 typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
239 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
240 typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
241 homogeneous_left_product_impl(
const Lhs& lhs,
const MatrixType& rhs)
242 : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
246 inline Index rows()
const {
return m_lhs.rows(); }
247 inline Index cols()
const {
return m_rhs.cols(); }
249 template<
typename Dest>
void evalTo(Dest& dst)
const
252 dst = Block<
const LhsMatrixTypeNested,
253 LhsMatrixTypeNested::RowsAtCompileTime,
254 LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
255 (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
256 dst += m_lhs.col(m_lhs.cols()-1).rowwise()
257 .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
260 typename LhsMatrixTypeCleaned::Nested m_lhs;
261 typename MatrixType::Nested m_rhs;
264 template<
typename MatrixType,
typename Rhs>
265 struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,
Horizontal>,Rhs> >
267 typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
268 MatrixType::RowsAtCompileTime,
269 Rhs::ColsAtCompileTime,
270 MatrixType::PlainObject::Options,
271 MatrixType::MaxRowsAtCompileTime,
272 Rhs::MaxColsAtCompileTime>::type ReturnType;
275 template<
typename MatrixType,
typename Rhs>
276 struct homogeneous_right_product_impl<Homogeneous<MatrixType,
Horizontal>,Rhs>
277 :
public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
279 typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
280 homogeneous_right_product_impl(
const MatrixType& lhs,
const Rhs& rhs)
281 : m_lhs(lhs), m_rhs(rhs)
284 inline Index rows()
const {
return m_lhs.rows(); }
285 inline Index cols()
const {
return m_rhs.cols(); }
287 template<
typename Dest>
void evalTo(Dest& dst)
const
290 dst = m_lhs * Block<
const RhsNested,
291 RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
292 RhsNested::ColsAtCompileTime>
293 (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
294 dst += m_rhs.row(m_rhs.rows()-1).colwise()
295 .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
298 typename MatrixType::Nested m_lhs;
299 typename Rhs::Nested m_rhs;
302 template<
typename ArgType,
int Direction>
303 struct evaluator_traits<Homogeneous<ArgType,Direction> >
305 typedef typename storage_kind_to_evaluator_kind<typename ArgType::StorageKind>::Kind Kind;
306 typedef HomogeneousShape Shape;
309 template<>
struct AssignmentKind<DenseShape,HomogeneousShape> {
typedef Dense2Dense Kind; };
312 template<
typename ArgType,
int Direction>
313 struct unary_evaluator<Homogeneous<ArgType,Direction>, IndexBased>
314 : evaluator<typename Homogeneous<ArgType,Direction>::PlainObject >
316 typedef Homogeneous<ArgType,Direction> XprType;
317 typedef typename XprType::PlainObject PlainObject;
318 typedef evaluator<PlainObject> Base;
320 explicit unary_evaluator(
const XprType& op)
323 ::new (static_cast<Base*>(
this)) Base(m_temp);
331 template< typename DstXprType, typename ArgType, typename Scalar>
332 struct Assignment<DstXprType, Homogeneous<ArgType,
Vertical>,
internal::assign_op<Scalar>, Dense2Dense, Scalar>
334 typedef Homogeneous<ArgType,Vertical> SrcXprType;
335 static void run(DstXprType &dst,
const SrcXprType &src,
const internal::assign_op<Scalar> &)
337 dst.template topRows<ArgType::RowsAtCompileTime>(src.nestedExpression().rows()) = src.nestedExpression();
338 dst.row(dst.rows()-1).setOnes();
343 template<
typename DstXprType,
typename ArgType,
typename Scalar>
344 struct Assignment<DstXprType, Homogeneous<ArgType,
Horizontal>,
internal::assign_op<Scalar>, Dense2Dense, Scalar>
346 typedef Homogeneous<ArgType,Horizontal> SrcXprType;
347 static void run(DstXprType &dst,
const SrcXprType &src,
const internal::assign_op<Scalar> &)
349 dst.template leftCols<ArgType::ColsAtCompileTime>(src.nestedExpression().cols()) = src.nestedExpression();
350 dst.col(dst.cols()-1).setOnes();
354 template<
typename LhsArg,
typename Rhs,
int ProductTag>
355 struct generic_product_impl<Homogeneous<LhsArg,
Horizontal>, Rhs, HomogeneousShape, DenseShape, ProductTag>
357 template<
typename Dest>
358 static void evalTo(Dest& dst,
const Homogeneous<LhsArg,Horizontal>& lhs,
const Rhs& rhs)
360 homogeneous_right_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs>(lhs.nestedExpression(), rhs).evalTo(dst);
364 template<
typename Lhs,
typename Rhs>
365 struct homogeneous_right_product_refactoring_helper
368 Dim = Lhs::ColsAtCompileTime,
369 Rows = Lhs::RowsAtCompileTime
371 typedef typename Rhs::template ConstNRowsBlockXpr<Dim>::Type LinearBlockConst;
372 typedef typename remove_const<LinearBlockConst>::type LinearBlock;
373 typedef typename Rhs::ConstRowXpr ConstantColumn;
374 typedef Replicate<const ConstantColumn,Rows,1> ConstantBlock;
375 typedef Product<Lhs,LinearBlock,LazyProduct> LinearProduct;
376 typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar>,
const LinearProduct,
const ConstantBlock> Xpr;
379 template<
typename Lhs,
typename Rhs,
int ProductTag>
380 struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, HomogeneousShape, DenseShape>
381 :
public evaluator<typename homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs>::Xpr>
383 typedef Product<Lhs, Rhs, LazyProduct> XprType;
384 typedef homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs> helper;
385 typedef typename helper::ConstantBlock ConstantBlock;
386 typedef typename helper::Xpr RefactoredXpr;
387 typedef evaluator<RefactoredXpr> Base;
389 EIGEN_DEVICE_FUNC
explicit product_evaluator(
const XprType& xpr)
390 : Base( xpr.lhs().nestedExpression() .lazyProduct( xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) )
391 + ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) )
395 template<
typename Lhs,
typename RhsArg,
int ProductTag>
396 struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
398 template<
typename Dest>
399 static void evalTo(Dest& dst,
const Lhs& lhs,
const Homogeneous<RhsArg,Vertical>& rhs)
401 homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, Lhs>(lhs, rhs.nestedExpression()).evalTo(dst);
405 template<
typename Lhs,
typename Rhs>
406 struct homogeneous_left_product_refactoring_helper
409 Dim = Rhs::RowsAtCompileTime,
410 Cols = Rhs::ColsAtCompileTime
412 typedef typename Lhs::template ConstNColsBlockXpr<Dim>::Type LinearBlockConst;
413 typedef typename remove_const<LinearBlockConst>::type LinearBlock;
414 typedef typename Lhs::ConstColXpr ConstantColumn;
415 typedef Replicate<const ConstantColumn,1,Cols> ConstantBlock;
416 typedef Product<LinearBlock,Rhs,LazyProduct> LinearProduct;
417 typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar>,
const LinearProduct,
const ConstantBlock> Xpr;
420 template<
typename Lhs,
typename Rhs,
int ProductTag>
421 struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, HomogeneousShape>
422 :
public evaluator<typename homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression>::Xpr>
424 typedef Product<Lhs, Rhs, LazyProduct> XprType;
425 typedef homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression> helper;
426 typedef typename helper::ConstantBlock ConstantBlock;
427 typedef typename helper::Xpr RefactoredXpr;
428 typedef evaluator<RefactoredXpr> Base;
430 EIGEN_DEVICE_FUNC
explicit product_evaluator(
const XprType& xpr)
431 : Base( xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() )
432 + ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) )
436 template<
typename Scalar,
int Dim,
int Mode,
int Options,
typename RhsArg,
int ProductTag>
437 struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
439 typedef Transform<Scalar,Dim,Mode,Options> TransformType;
440 template<
typename Dest>
441 static void evalTo(Dest& dst,
const TransformType& lhs,
const Homogeneous<RhsArg,Vertical>& rhs)
443 homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, TransformType>(lhs, rhs.nestedExpression()).evalTo(dst);
447 template<
typename ExpressionType,
int S
ide,
bool Transposed>
448 struct permutation_matrix_product<ExpressionType, Side, Transposed, HomogeneousShape>
449 :
public permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
456 #endif // EIGEN_HOMOGENEOUS_H
internal::traits< Derived >::Scalar Scalar
Definition: DenseBase.h:68
HomogeneousReturnType homogeneous() const
Definition: Homogeneous.h:128
Definition: Constants.h:265
const unsigned int RowMajorBit
Definition: Constants.h:61
HomogeneousReturnType homogeneous() const
Definition: Homogeneous.h:144
Definition: Constants.h:454
const HNormalizedReturnType hnormalized() const
Definition: Homogeneous.h:159
Generic expression where a coefficient-wise binary operator is applied to two expressions.
Definition: CwiseBinaryOp.h:78
Expression of the multiple replication of a matrix or vector.
Definition: Replicate.h:60
const HNormalizedReturnType hnormalized() const
Definition: Homogeneous.h:177
Definition: Constants.h:268
Definition: Eigen_Colamd.h:54
Expression of a fixed-size or dynamic-size block.
Definition: Block.h:104
Generic expression where a coefficient-wise unary operator is applied to an expression.
Definition: CwiseUnaryOp.h:56
Expression of one (or a set of) homogeneous vector(s)
Definition: ForwardDeclarations.h:275