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bug #86 : use internal:: namespace instead of ei_ prefix

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This commit is contained in:
Benoit Jacob
2010-10-25 10:15:22 -04:00
parent ca85a1f6c5
commit 4716040703
330 changed files with 7615 additions and 7032 deletions
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72
Eigen/src/Geometry/OrthoMethods.h
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@@ -43,23 +43,25 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
// Note that there is no need for an expression here since the compiler
// optimize such a small temporary very well (even within a complex expression)
const typename ei_nested<Derived,2>::type lhs(derived());
const typename ei_nested<OtherDerived,2>::type rhs(other.derived());
return typename ei_plain_matrix_type<Derived>::type(
const typename internal::nested<Derived,2>::type lhs(derived());
const typename internal::nested<OtherDerived,2>::type rhs(other.derived());
return typename internal::plain_matrix_type<Derived>::type(
lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1),
lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2),
lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)
);
}
namespace internal {
template< int Arch,typename VectorLhs,typename VectorRhs,
typename Scalar = typename VectorLhs::Scalar,
bool Vectorizable = (VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit>
struct ei_cross3_impl {
inline static typename ei_plain_matrix_type<VectorLhs>::type
struct cross3_impl {
inline static typename internal::plain_matrix_type<VectorLhs>::type
run(const VectorLhs& lhs, const VectorRhs& rhs)
{
return typename ei_plain_matrix_type<VectorLhs>::type(
return typename internal::plain_matrix_type<VectorLhs>::type(
lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1),
lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2),
lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0),
@@ -68,6 +70,8 @@ struct ei_cross3_impl {
}
};
}
/** \geometry_module
*
* \returns the cross product of \c *this and \a other using only the x, y, and z coefficients
@@ -85,14 +89,14 @@ MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,4)
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,4)
typedef typename ei_nested<Derived,2>::type DerivedNested;
typedef typename ei_nested<OtherDerived,2>::type OtherDerivedNested;
typedef typename internal::nested<Derived,2>::type DerivedNested;
typedef typename internal::nested<OtherDerived,2>::type OtherDerivedNested;
const DerivedNested lhs(derived());
const OtherDerivedNested rhs(other.derived());
return ei_cross3_impl<Architecture::Target,
typename ei_cleantype<DerivedNested>::type,
typename ei_cleantype<OtherDerivedNested>::type>::run(lhs,rhs);
return internal::cross3_impl<Architecture::Target,
typename internal::cleantype<DerivedNested>::type,
typename internal::cleantype<OtherDerivedNested>::type>::run(lhs,rhs);
}
/** \returns a matrix expression of the cross product of each column or row
@@ -110,20 +114,20 @@ const typename VectorwiseOp<ExpressionType,Direction>::CrossReturnType
VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& other) const
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename OtherDerived::Scalar>::ret),
EIGEN_STATIC_ASSERT((internal::is_same_type<Scalar, typename OtherDerived::Scalar>::ret),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
CrossReturnType res(_expression().rows(),_expression().cols());
if(Direction==Vertical)
{
ei_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
eigen_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
res.row(0) = _expression().row(1) * other.coeff(2) - _expression().row(2) * other.coeff(1);
res.row(1) = _expression().row(2) * other.coeff(0) - _expression().row(0) * other.coeff(2);
res.row(2) = _expression().row(0) * other.coeff(1) - _expression().row(1) * other.coeff(0);
}
else
{
ei_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
eigen_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
res.col(0) = _expression().col(1) * other.coeff(2) - _expression().col(2) * other.coeff(1);
res.col(1) = _expression().col(2) * other.coeff(0) - _expression().col(0) * other.coeff(2);
res.col(2) = _expression().col(0) * other.coeff(1) - _expression().col(1) * other.coeff(0);
@@ -131,11 +135,13 @@ VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& ot
return res;
}
namespace internal {
template<typename Derived, int Size = Derived::SizeAtCompileTime>
struct ei_unitOrthogonal_selector
struct unitOrthogonal_selector
{
typedef typename ei_plain_matrix_type<Derived>::type VectorType;
typedef typename ei_traits<Derived>::Scalar Scalar;
typedef typename plain_matrix_type<Derived>::type VectorType;
typedef typename traits<Derived>::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef typename Derived::Index Index;
typedef Matrix<Scalar,2,1> Vector2;
@@ -148,18 +154,18 @@ struct ei_unitOrthogonal_selector
if (maxi==0)
sndi = 1;
RealScalar invnm = RealScalar(1)/(Vector2() << src.coeff(sndi),src.coeff(maxi)).finished().norm();
perp.coeffRef(maxi) = -ei_conj(src.coeff(sndi)) * invnm;
perp.coeffRef(sndi) = ei_conj(src.coeff(maxi)) * invnm;
perp.coeffRef(maxi) = -conj(src.coeff(sndi)) * invnm;
perp.coeffRef(sndi) = conj(src.coeff(maxi)) * invnm;
return perp;
}
};
template<typename Derived>
struct ei_unitOrthogonal_selector<Derived,3>
struct unitOrthogonal_selector<Derived,3>
{
typedef typename ei_plain_matrix_type<Derived>::type VectorType;
typedef typename ei_traits<Derived>::Scalar Scalar;
typedef typename plain_matrix_type<Derived>::type VectorType;
typedef typename traits<Derived>::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
inline static VectorType run(const Derived& src)
{
@@ -171,12 +177,12 @@ struct ei_unitOrthogonal_selector<Derived,3>
/* unless the x and y coords are both close to zero, we can
* simply take ( -y, x, 0 ) and normalize it.
*/
if((!ei_isMuchSmallerThan(src.x(), src.z()))
|| (!ei_isMuchSmallerThan(src.y(), src.z())))
if((!isMuchSmallerThan(src.x(), src.z()))
|| (!isMuchSmallerThan(src.y(), src.z())))
{
RealScalar invnm = RealScalar(1)/src.template head<2>().norm();
perp.coeffRef(0) = -ei_conj(src.y())*invnm;
perp.coeffRef(1) = ei_conj(src.x())*invnm;
perp.coeffRef(0) = -conj(src.y())*invnm;
perp.coeffRef(1) = conj(src.x())*invnm;
perp.coeffRef(2) = 0;
}
/* if both x and y are close to zero, then the vector is close
@@ -187,8 +193,8 @@ struct ei_unitOrthogonal_selector<Derived,3>
{
RealScalar invnm = RealScalar(1)/src.template tail<2>().norm();
perp.coeffRef(0) = 0;
perp.coeffRef(1) = -ei_conj(src.z())*invnm;
perp.coeffRef(2) = ei_conj(src.y())*invnm;
perp.coeffRef(1) = -conj(src.z())*invnm;
perp.coeffRef(2) = conj(src.y())*invnm;
}
return perp;
@@ -196,13 +202,15 @@ struct ei_unitOrthogonal_selector<Derived,3>
};
template<typename Derived>
struct ei_unitOrthogonal_selector<Derived,2>
struct unitOrthogonal_selector<Derived,2>
{
typedef typename ei_plain_matrix_type<Derived>::type VectorType;
typedef typename plain_matrix_type<Derived>::type VectorType;
inline static VectorType run(const Derived& src)
{ return VectorType(-ei_conj(src.y()), ei_conj(src.x())).normalized(); }
{ return VectorType(-conj(src.y()), conj(src.x())).normalized(); }
};
} // end namespace internal
/** \returns a unit vector which is orthogonal to \c *this
*
* The size of \c *this must be at least 2. If the size is exactly 2,
@@ -215,7 +223,7 @@ typename MatrixBase<Derived>::PlainObject
MatrixBase<Derived>::unitOrthogonal() const
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
return ei_unitOrthogonal_selector<Derived>::run(derived());
return internal::unitOrthogonal_selector<Derived>::run(derived());
}
#endif // EIGEN_ORTHOMETHODS_H