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Support matrix multiplication of homogeneous row vectors

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This commit is contained in:
Sergiu Deitsch
2025-09-23 16:56:28 +02:00
committed by Rasmus Munk Larsen
parent 2d170aea11
commit 4df215785b
3 changed files with 20 additions and 2 deletions
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8
Eigen/src/Core/ProductEvaluators.h
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@@ -1264,6 +1264,14 @@ struct generic_product_impl<Lhs, Rhs, SkewSymmetricShape, SkewSymmetricShape, Pr
}
};
template <typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
struct generic_product_impl<Lhs, Rhs, MatrixShape, HomogeneousShape, ProductTag>
: generic_product_impl<Lhs, typename Rhs::PlainObject, MatrixShape, DenseShape, ProductTag> {};
template <typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
struct generic_product_impl<Lhs, Rhs, HomogeneousShape, MatrixShape, ProductTag>
: generic_product_impl<typename Lhs::PlainObject, Rhs, DenseShape, MatrixShape, ProductTag> {};
} // end namespace internal
} // end namespace Eigen

2
Eigen/src/Geometry/Homogeneous.h
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@@ -80,14 +80,12 @@ class Homogeneous : public MatrixBase<Homogeneous<MatrixType, Direction_> >, int
template <typename Rhs>
EIGEN_DEVICE_FUNC inline const Product<Homogeneous, Rhs> operator*(const MatrixBase<Rhs>& rhs) const {
eigen_assert(int(Direction) == Horizontal);
return Product<Homogeneous, Rhs>(*this, rhs.derived());
}
template <typename Lhs>
friend EIGEN_DEVICE_FUNC inline const Product<Lhs, Homogeneous> operator*(const MatrixBase<Lhs>& lhs,
const Homogeneous& rhs) {
eigen_assert(int(Direction) == Vertical);
return Product<Lhs, Homogeneous>(lhs.derived(), rhs);
}