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* make std::vector specializations also for Transform and for Quaternion

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* update test_stdvector
* Quaternion() does nothing (instead of bug)
* update test_geometry
* some renaming
This commit is contained in:
Benoit Jacob
2009-01-12 16:06:04 +00:00
parent b26e12abcf
commit 4d44ca226e
13 changed files with 192 additions and 44 deletions
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5
Eigen/src/Core/Matrix.h
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@@ -132,8 +132,6 @@ class Matrix
protected:
ei_matrix_storage<Scalar, MaxSizeAtCompileTime, RowsAtCompileTime, ColsAtCompileTime, Options> m_storage;
Matrix(ei_constructor_without_unaligned_array_assert)
: m_storage(ei_constructor_without_unaligned_array_assert()) {}
public:
enum { NeedsToAlign = (Options&AutoAlign) == AutoAlign
@@ -339,6 +337,9 @@ class Matrix
ei_assert(RowsAtCompileTime > 0 && ColsAtCompileTime > 0);
}
Matrix(ei_constructor_without_unaligned_array_assert)
: m_storage(ei_constructor_without_unaligned_array_assert()) {}
/** Constructs a vector or row-vector with given dimension. \only_for_vectors
*
* Note that this is only useful for dynamic-size vectors. For fixed-size vectors,

2
Eigen/src/Core/util/Memory.h
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@@ -303,7 +303,7 @@ inline static int ei_alignmentOffset(const Scalar* ptr, int maxOffset)
EIGEN_WORKAROUND_FOR_QT_BUG_CALLING_WRONG_OPERATOR_NEW
#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(true)
#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE(Scalar,Size) \
#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size) \
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%16==0))
/** Deprecated, use the EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro instead in your own class */

2
Eigen/src/Geometry/AlignedBox.h
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@@ -41,7 +41,7 @@ template <typename _Scalar, int _AmbientDim>
class AlignedBox
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
enum { AmbientDimAtCompileTime = _AmbientDim };
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;

2
Eigen/src/Geometry/Hyperplane.h
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@@ -47,7 +47,7 @@ template <typename _Scalar, int _AmbientDim>
class Hyperplane
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
enum { AmbientDimAtCompileTime = _AmbientDim };
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;

2
Eigen/src/Geometry/ParametrizedLine.h
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@@ -43,7 +43,7 @@ template <typename _Scalar, int _AmbientDim>
class ParametrizedLine
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE(_Scalar,_AmbientDim)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
enum { AmbientDimAtCompileTime = _AmbientDim };
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;

21
Eigen/src/Geometry/Quaternion.h
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@@ -61,17 +61,17 @@ template<typename _Scalar>
class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
{
typedef RotationBase<Quaternion<_Scalar>,3> Base;
typedef Matrix<_Scalar, 4, 1> Coefficients;
Coefficients m_coeffs;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE(_Scalar,4)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4)
using Base::operator*;
/** the scalar type of the coefficients */
typedef _Scalar Scalar;
/** the type of the Coefficients 4-vector */
typedef Matrix<Scalar, 4, 1> Coefficients;
/** the type of a 3D vector */
typedef Matrix<Scalar,3,1> Vector3;
/** the equivalent rotation matrix type */
@@ -110,8 +110,11 @@ public:
inline Coefficients& coeffs() { return m_coeffs; }
/** Default constructor and initializing an identity quaternion. */
inline Quaternion()
{ m_coeffs << 0, 0, 0, 1; }
inline Quaternion() {}
inline Quaternion(ei_constructor_without_unaligned_array_assert)
: m_coeffs(ei_constructor_without_unaligned_array_assert()) {}
/** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
* its four coefficients \a w, \a x, \a y and \a z.
@@ -149,7 +152,7 @@ public:
/** \sa Quaternion::Identity(), MatrixBase::setIdentity()
*/
inline Quaternion& setIdentity() { m_coeffs << 1, 0, 0, 0; return *this; }
inline Quaternion& setIdentity() { m_coeffs << 0, 0, 0, 1; return *this; }
/** \returns the squared norm of the quaternion's coefficients
* \sa Quaternion::norm(), MatrixBase::squaredNorm()
@@ -214,6 +217,8 @@ public:
bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
{ return m_coeffs.isApprox(other.m_coeffs, prec); }
protected:
Coefficients m_coeffs;
};
/** \ingroup GeometryModule

2
Eigen/src/Geometry/Scaling.h
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@@ -43,7 +43,7 @@ template<typename _Scalar, int _Dim>
class Scaling
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE(_Scalar,_Dim)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
/** dimension of the space */
enum { Dim = _Dim };
/** the scalar type of the coefficients */

5
Eigen/src/Geometry/Transform.h
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@@ -63,7 +63,7 @@ template<typename _Scalar, int _Dim>
class Transform
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
enum {
Dim = _Dim, ///< space dimension in which the transformation holds
HDim = _Dim+1 ///< size of a respective homogeneous vector
@@ -94,6 +94,9 @@ public:
/** Default constructor without initialization of the coefficients. */
inline Transform() { }
inline Transform(ei_constructor_without_unaligned_array_assert)
: m_matrix(ei_constructor_without_unaligned_array_assert()) {}
inline Transform(const Transform& other)
{
m_matrix = other.m_matrix;

2
Eigen/src/Geometry/Translation.h
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@@ -43,7 +43,7 @@ template<typename _Scalar, int _Dim>
class Translation
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE(_Scalar,_Dim)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
/** dimension of the space */
enum { Dim = _Dim };
/** the scalar type of the coefficients */

46
Eigen/src/StdVector/StdVector.h
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@@ -26,6 +26,20 @@
#ifndef EIGEN_STDVECTOR_H
#define EIGEN_STDVECTOR_H
#define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
typedef Eigen::aligned_allocator<value_type> allocator_type; \
typedef vector<value_type, allocator_type > unaligned_base; \
typedef typename unaligned_base::size_type size_type; \
typedef typename unaligned_base::iterator iterator; \
explicit vector(const allocator_type& __a = allocator_type()) : unaligned_base(__a) {} \
vector(const vector& c) : unaligned_base(c) {} \
vector(size_type num, const value_type& val = value_type()) : unaligned_base(num, val) {}\
vector(iterator start, iterator end) : unaligned_base(start, end) {} \
vector& operator=(const vector& __x) { \
unaligned_base::operator=(__x); \
return *this; \
}
template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols, typename _Alloc>
class vector<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>, _Alloc>
: public vector<Eigen::ei_unaligned_type<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> >,
@@ -33,19 +47,27 @@ class vector<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>, _All
{
public:
typedef Eigen::ei_unaligned_type<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> > value_type;
typedef Eigen::aligned_allocator<value_type> allocator_type;
typedef vector<value_type, allocator_type > unaligned_base;
typedef typename unaligned_base::size_type size_type;
typedef typename unaligned_base::iterator iterator;
EIGEN_STD_VECTOR_SPECIALIZATION_BODY
};
explicit vector(const allocator_type& __a = allocator_type()) : unaligned_base(__a) {}
vector(const vector& c) : unaligned_base(c) {}
vector(size_type num, const value_type& val = value_type()) : unaligned_base(num, val) {}
vector(iterator start, iterator end) : unaligned_base(start, end) {}
vector& operator=(const vector& __x) {
unaligned_base::operator=(__x);
return *this;
}
template <typename _Scalar, int _Dim, typename _Alloc>
class vector<Eigen::Transform<_Scalar,_Dim>, _Alloc>
: public vector<Eigen::ei_unaligned_type<Eigen::Transform<_Scalar,_Dim> >,
Eigen::aligned_allocator<Eigen::ei_unaligned_type<Eigen::Transform<_Scalar,_Dim> > > >
{
public:
typedef Eigen::ei_unaligned_type<Eigen::Transform<_Scalar,_Dim> > value_type;
EIGEN_STD_VECTOR_SPECIALIZATION_BODY
};
template <typename _Scalar, typename _Alloc>
class vector<Eigen::Quaternion<_Scalar>, _Alloc>
: public vector<Eigen::ei_unaligned_type<Eigen::Quaternion<_Scalar> >,
Eigen::aligned_allocator<Eigen::ei_unaligned_type<Eigen::Quaternion<_Scalar> > > >
{
public:
typedef Eigen::ei_unaligned_type<Eigen::Quaternion<_Scalar> > value_type;
EIGEN_STD_VECTOR_SPECIALIZATION_BODY
};
#endif // EIGEN_STDVECTOR_H

34
Eigen/src/StdVector/UnalignedType.h
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@@ -35,12 +35,42 @@ class ei_unaligned_type<Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> >
public:
typedef Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> aligned_base;
ei_unaligned_type() : aligned_base(ei_constructor_without_unaligned_array_assert()) {}
ei_unaligned_type(const aligned_base& other)
: aligned_base(ei_constructor_without_unaligned_array_assert())
ei_unaligned_type(const aligned_base& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
{
resize(other.rows(), other.cols());
ei_assign_impl<ei_unaligned_type,aligned_base,NoVectorization>::run(*this, other);
}
};
template<typename _Scalar, int _Dim>
class ei_unaligned_type<Transform<_Scalar,_Dim> >
: public Transform<_Scalar,_Dim>
{
public:
typedef Transform<_Scalar,_Dim> aligned_base;
typedef typename aligned_base::MatrixType MatrixType;
ei_unaligned_type() : aligned_base(ei_constructor_without_unaligned_array_assert()) {}
ei_unaligned_type(const aligned_base& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
{
// no resizing here, it's fixed-size anyway
ei_assign_impl<MatrixType,MatrixType,NoVectorization>::run(this->matrix(), other.matrix());
}
};
template<typename _Scalar>
class ei_unaligned_type<Quaternion<_Scalar> >
: public Quaternion<_Scalar>
{
public:
typedef Quaternion<_Scalar> aligned_base;
typedef typename aligned_base::Coefficients Coefficients;
ei_unaligned_type() : aligned_base(ei_constructor_without_unaligned_array_assert()) {}
ei_unaligned_type(const aligned_base& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
{
// no resizing here, it's fixed-size anyway
ei_assign_impl<Coefficients,Coefficients,NoVectorization>::run(this->coeffs(), other.coeffs());
}
};
#endif // EIGEN_UNALIGNEDTYPE_H