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Add constexpr, test for C++14 constexpr.

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This commit is contained in:
Tobias Schlüter
2022-03-05 19:02:12 +09:00
committed by Rasmus Munk Larsen
parent 69f50e3a67
commit 133498c329
59 changed files with 927 additions and 631 deletions
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2
Eigen/src/Geometry/OrthoMethods.h
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@@ -29,7 +29,7 @@ namespace Eigen {
template<typename Derived>
template<typename OtherDerived>
#ifndef EIGEN_PARSED_BY_DOXYGEN
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
#else
typename MatrixBase<Derived>::PlainObject

82
Eigen/src/Geometry/Quaternion.h
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@@ -65,34 +65,34 @@ class QuaternionBase : public RotationBase<Derived, 3>
/** \returns the \c x coefficient */
EIGEN_DEVICE_FUNC inline CoeffReturnType x() const { return this->derived().coeffs().coeff(0); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline CoeffReturnType x() const { return this->derived().coeffs().coeff(0); }
/** \returns the \c y coefficient */
EIGEN_DEVICE_FUNC inline CoeffReturnType y() const { return this->derived().coeffs().coeff(1); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline CoeffReturnType y() const { return this->derived().coeffs().coeff(1); }
/** \returns the \c z coefficient */
EIGEN_DEVICE_FUNC inline CoeffReturnType z() const { return this->derived().coeffs().coeff(2); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline CoeffReturnType z() const { return this->derived().coeffs().coeff(2); }
/** \returns the \c w coefficient */
EIGEN_DEVICE_FUNC inline CoeffReturnType w() const { return this->derived().coeffs().coeff(3); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline CoeffReturnType w() const { return this->derived().coeffs().coeff(3); }
/** \returns a reference to the \c x coefficient (if Derived is a non-const lvalue) */
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType x() { return this->derived().coeffs().x(); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline NonConstCoeffReturnType x() { return this->derived().coeffs().x(); }
/** \returns a reference to the \c y coefficient (if Derived is a non-const lvalue) */
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType y() { return this->derived().coeffs().y(); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline NonConstCoeffReturnType y() { return this->derived().coeffs().y(); }
/** \returns a reference to the \c z coefficient (if Derived is a non-const lvalue) */
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType z() { return this->derived().coeffs().z(); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline NonConstCoeffReturnType z() { return this->derived().coeffs().z(); }
/** \returns a reference to the \c w coefficient (if Derived is a non-const lvalue) */
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType w() { return this->derived().coeffs().w(); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline NonConstCoeffReturnType w() { return this->derived().coeffs().w(); }
/** \returns a read-only vector expression of the imaginary part (x,y,z) */
EIGEN_DEVICE_FUNC inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
/** \returns a vector expression of the imaginary part (x,y,z) */
EIGEN_DEVICE_FUNC inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
/** \returns a read-only vector expression of the coefficients (x,y,z,w) */
EIGEN_DEVICE_FUNC inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
/** \returns a vector expression of the coefficients (x,y,z,w) */
EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
@@ -105,12 +105,12 @@ class QuaternionBase : public RotationBase<Derived, 3>
// { return operator=<Derived>(other); }
EIGEN_DEVICE_FUNC Derived& operator=(const AngleAxisType& aa);
template<class OtherDerived> EIGEN_DEVICE_FUNC Derived& operator=(const MatrixBase<OtherDerived>& m);
template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Derived& operator=(const MatrixBase<OtherDerived>& m);
/** \returns a quaternion representing an identity rotation
* \sa MatrixBase::Identity()
*/
EIGEN_DEVICE_FUNC static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }
EIGEN_DEVICE_FUNC static EIGEN_CONSTEXPR inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }
/** \sa QuaternionBase::Identity(), MatrixBase::setIdentity()
*/
@@ -119,7 +119,7 @@ class QuaternionBase : public RotationBase<Derived, 3>
/** \returns the squared norm of the quaternion's coefficients
* \sa QuaternionBase::norm(), MatrixBase::squaredNorm()
*/
EIGEN_DEVICE_FUNC inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
/** \returns the norm of the quaternion's coefficients
* \sa QuaternionBase::squaredNorm(), MatrixBase::norm()
@@ -138,12 +138,12 @@ class QuaternionBase : public RotationBase<Derived, 3>
* corresponds to the cosine of half the angle between the two rotations.
* \sa angularDistance()
*/
template<class OtherDerived> EIGEN_DEVICE_FUNC inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
template<class OtherDerived> EIGEN_DEVICE_FUNC Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
/** \returns an equivalent 3x3 rotation matrix */
EIGEN_DEVICE_FUNC inline Matrix3 toRotationMatrix() const;
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Matrix3 toRotationMatrix() const;
/** \returns the quaternion which transform \a a into \a b through a rotation */
template<typename Derived1, typename Derived2>
@@ -153,7 +153,7 @@ class QuaternionBase : public RotationBase<Derived, 3>
template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
/** \returns the quaternion describing the inverse rotation */
EIGEN_DEVICE_FUNC Quaternion<Scalar> inverse() const;
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Quaternion<Scalar> inverse() const;
/** \returns the conjugated quaternion */
EIGEN_DEVICE_FUNC Quaternion<Scalar> conjugate() const;
@@ -165,7 +165,7 @@ class QuaternionBase : public RotationBase<Derived, 3>
* fuzzy comparison such as isApprox()
* \sa isApprox(), operator!= */
template<class OtherDerived>
EIGEN_DEVICE_FUNC inline bool operator==(const QuaternionBase<OtherDerived>& other) const
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline bool operator==(const QuaternionBase<OtherDerived>& other) const
{ return coeffs() == other.coeffs(); }
/** \returns true if at least one pair of coefficients of \c *this and \a other are not exactly equal to each other.
@@ -173,7 +173,7 @@ class QuaternionBase : public RotationBase<Derived, 3>
* fuzzy comparison such as isApprox()
* \sa isApprox(), operator== */
template<class OtherDerived>
EIGEN_DEVICE_FUNC inline bool operator!=(const QuaternionBase<OtherDerived>& other) const
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline bool operator!=(const QuaternionBase<OtherDerived>& other) const
{ return coeffs() != other.coeffs(); }
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
@@ -185,7 +185,7 @@ class QuaternionBase : public RotationBase<Derived, 3>
{ return coeffs().isApprox(other.coeffs(), prec); }
/** return the result vector of \a v through the rotation*/
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR Vector3 _transformVector(const Vector3& v) const;
#ifdef EIGEN_PARSED_BY_DOXYGEN
/** \returns \c *this with scalar type casted to \a NewScalarType
@@ -199,14 +199,14 @@ class QuaternionBase : public RotationBase<Derived, 3>
#else
template<typename NewScalarType>
EIGEN_DEVICE_FUNC inline
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline
std::enable_if_t<internal::is_same<Scalar,NewScalarType>::value,const Derived&> cast() const
{
return derived();
}
template<typename NewScalarType>
EIGEN_DEVICE_FUNC inline
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline
std::enable_if_t<!internal::is_same<Scalar,NewScalarType>::value,Quaternion<NewScalarType> > cast() const
{
return Quaternion<NewScalarType>(coeffs().template cast<NewScalarType>());
@@ -296,10 +296,10 @@ public:
* while internally the coefficients are stored in the following order:
* [\c x, \c y, \c z, \c w]
*/
EIGEN_DEVICE_FUNC inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
/** Constructs and initialize a quaternion from the array data */
EIGEN_DEVICE_FUNC explicit inline Quaternion(const Scalar* data) : m_coeffs(data) {}
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline explicit Quaternion(const Scalar* data) : m_coeffs(data) {}
/** Copy constructor */
template<class Derived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
@@ -312,11 +312,11 @@ public:
* - a 4D vector expression representing quaternion coefficients in the order [\c x, \c y, \c z, \c w].
*/
template<typename Derived>
EIGEN_DEVICE_FUNC explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
EIGEN_DEVICE_FUNC explicit EIGEN_CONSTEXPR inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
/** Explicit copy constructor with scalar conversion */
template<typename OtherScalar, int OtherOptions>
EIGEN_DEVICE_FUNC explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
EIGEN_DEVICE_FUNC explicit EIGEN_CONSTEXPR Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
{ m_coeffs = other.coeffs().template cast<Scalar>(); }
// We define a copy constructor, which means we don't get an implicit move constructor or assignment operator.
@@ -337,8 +337,8 @@ public:
template<typename Derived1, typename Derived2>
EIGEN_DEVICE_FUNC static Quaternion FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs;}
EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Coefficients& coeffs() { return m_coeffs;}
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline const Coefficients& coeffs() const { return m_coeffs;}
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(NeedsAlignment))
@@ -415,9 +415,9 @@ class Map<const Quaternion<Scalar_>, Options_ >
* \code *coeffs == {x, y, z, w} \endcode
*
* If the template parameter Options_ is set to #Aligned, then the pointer coeffs must be aligned. */
EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE EIGEN_CONSTEXPR Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline const Coefficients& coeffs() const { return m_coeffs;}
protected:
const Coefficients m_coeffs;
@@ -452,10 +452,10 @@ class Map<Quaternion<Scalar_>, Options_ >
* \code *coeffs == {x, y, z, w} \endcode
*
* If the template parameter Options_ is set to #Aligned, then the pointer coeffs must be aligned. */
EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR explicit EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Coefficients& coeffs() { return m_coeffs; }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline const Coefficients& coeffs() const { return m_coeffs; }
protected:
Coefficients m_coeffs;
@@ -483,7 +483,7 @@ typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
namespace internal {
template<int Arch, class Derived1, class Derived2, typename Scalar> struct quat_product
{
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
return Quaternion<Scalar>
(
a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
@@ -524,7 +524,7 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator
* - Via a Matrix3: 24 + 15n
*/
template <class Derived>
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR typename QuaternionBase<Derived>::Vector3
QuaternionBase<Derived>::_transformVector(const Vector3& v) const
{
// Note that this algorithm comes from the optimization by hand
@@ -573,7 +573,7 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator
template<class Derived>
template<class MatrixDerived>
EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
{
EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
@@ -585,7 +585,7 @@ EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::operator=(const Matri
* be normalized, otherwise the result is undefined.
*/
template<class Derived>
EIGEN_DEVICE_FUNC inline typename QuaternionBase<Derived>::Matrix3
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline typename QuaternionBase<Derived>::Matrix3
QuaternionBase<Derived>::toRotationMatrix(void) const
{
// NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
@@ -714,7 +714,7 @@ EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwo
* \sa QuaternionBase::conjugate()
*/
template <class Derived>
EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
{
// FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite() ??
Scalar n2 = this->squaredNorm();
@@ -731,12 +731,12 @@ EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
namespace internal {
template<int Arch, class Derived, typename Scalar> struct quat_conj
{
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR Quaternion<Scalar> run(const QuaternionBase<Derived>& q){
return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z());
}
};
}
/** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
* if the quaternion is normalized.
* The conjugate of a quaternion represents the opposite rotation.
@@ -854,7 +854,7 @@ template<typename Other>
struct quaternionbase_assign_impl<Other,4,1>
{
typedef typename Other::Scalar Scalar;
template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& vec)
template<class Derived> EIGEN_DEVICE_FUNC static EIGEN_CONSTEXPR inline void run(QuaternionBase<Derived>& q, const Other& vec)
{
q.coeffs() = vec;
}

8
Eigen/src/Geometry/RotationBase.h
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@@ -40,8 +40,8 @@ class RotationBase
typedef Matrix<Scalar,Dim,1> VectorType;
public:
EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Derived& derived() { return *static_cast<Derived*>(this); }
/** \returns an equivalent rotation matrix */
EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
@@ -69,7 +69,7 @@ class RotationBase
* - a vector of size Dim
*/
template<typename OtherDerived>
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
operator*(const EigenBase<OtherDerived>& e) const
{ return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
@@ -125,7 +125,7 @@ struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,tr
{
enum { Dim = RotationDerived::Dim };
typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR ReturnType run(const RotationDerived& r, const OtherVectorType& v)
{
return r._transformVector(v);
}