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new implementation of diagonal matrices and diagonal matrix expressions

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This commit is contained in:
Benoit Jacob
2009-06-28 21:27:37 +02:00
parent fc9000f23e
commit 6809f7b1cd
21 changed files with 385 additions and 376 deletions
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4
Eigen/src/Geometry/RotationBase.h
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@@ -91,12 +91,12 @@ class RotationBase
*/
template<typename OtherDerived>
inline typename generic_product_selector<OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
operator*(const MatrixBase<OtherDerived>& e) const
operator*(const MultiplierBase<OtherDerived>& e) const
{ return generic_product_selector<OtherDerived>::run(derived(), e.derived()); }
/** \returns the concatenation of a linear transformation \a l with the rotation \a r */
template<typename OtherDerived> friend
inline RotationMatrixType operator*(const MatrixBase<OtherDerived>& l, const Derived& r)
inline RotationMatrixType operator*(const MultiplierBase<OtherDerived>& l, const Derived& r)
{ return l.derived() * r.toRotationMatrix(); }
/** \returns the concatenation of the rotation \c *this with a transformation \a t */

2
Eigen/src/Geometry/Scaling.h
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@@ -141,7 +141,7 @@ static inline DiagonalMatrix<Scalar,3> Scaling(Scalar sx, Scalar sy, Scalar sz)
* This is an alias for coeffs.asDiagonal()
*/
template<typename Derived>
static inline const DiagonalMatrixWrapper<Derived> Scaling(const MatrixBase<Derived>& coeffs)
static inline const DiagonalWrapper<Derived> Scaling(const MatrixBase<Derived>& coeffs)
{ return coeffs.asDiagonal(); }
/** \addtogroup Geometry_Module */

36
Eigen/src/Geometry/Transform.h
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@@ -226,14 +226,14 @@ public:
/** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
template<typename OtherDerived>
inline explicit Transform(const MatrixBase<OtherDerived>& other)
inline explicit Transform(const AnyMatrixBase<OtherDerived>& other)
{
ei_transform_construct_from_matrix<OtherDerived,Mode,Dim,HDim>::run(this, other.derived());
}
/** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
template<typename OtherDerived>
inline Transform& operator=(const MatrixBase<OtherDerived>& other)
inline Transform& operator=(const AnyMatrixBase<OtherDerived>& other)
{
ei_transform_construct_from_matrix<OtherDerived,Mode,Dim,HDim>::run(this, other.derived());
return *this;
@@ -310,7 +310,7 @@ public:
// note: this function is defined here because some compilers cannot find the respective declaration
template<typename OtherDerived>
inline const typename ei_transform_right_product_impl<OtherDerived,Mode,_Dim,_Dim+1>::ResultType
operator * (const MatrixBase<OtherDerived> &other) const
operator * (const MultiplierBase<OtherDerived> &other) const
{ return ei_transform_right_product_impl<OtherDerived,Mode,Dim,HDim>::run(*this,other.derived()); }
/** \returns the product expression of a transformation matrix \a a times a transform \a b
@@ -322,11 +322,11 @@ public:
*/
template<typename OtherDerived> friend
inline const typename ei_transform_left_product_impl<OtherDerived,Mode,_Dim,_Dim+1>::ResultType
operator * (const MatrixBase<OtherDerived> &a, const Transform &b)
operator * (const MultiplierBase<OtherDerived> &a, const Transform &b)
{ return ei_transform_left_product_impl<OtherDerived,Mode,Dim,HDim>::run(a.derived(),b); }
template<typename OtherDerived>
inline Transform& operator*=(const MatrixBase<OtherDerived>& other) { return *this = *this * other; }
inline Transform& operator*=(const MultiplierBase<OtherDerived>& other) { return *this = *this * other; }
/** Contatenates two transformations */
inline const Transform operator * (const Transform& other) const
@@ -944,7 +944,7 @@ struct ei_transform_take_affine_part<Transform<Scalar,Dim,AffineCompact> > {
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_construct_from_matrix<Other, Mode,Dim,HDim, Dim,Dim>
{
static inline void run(Transform<typename ei_traits<Other>::Scalar,Dim,Mode> *transform, const Other& other)
static inline void run(Transform<typename Other::Scalar,Dim,Mode> *transform, const Other& other)
{
transform->linear() = other;
transform->translation().setZero();
@@ -955,7 +955,7 @@ struct ei_transform_construct_from_matrix<Other, Mode,Dim,HDim, Dim,Dim>
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_construct_from_matrix<Other, Mode,Dim,HDim, Dim,HDim>
{
static inline void run(Transform<typename ei_traits<Other>::Scalar,Dim,Mode> *transform, const Other& other)
static inline void run(Transform<typename Other::Scalar,Dim,Mode> *transform, const Other& other)
{
transform->affine() = other;
transform->makeAffine();
@@ -965,20 +965,32 @@ struct ei_transform_construct_from_matrix<Other, Mode,Dim,HDim, Dim,HDim>
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_construct_from_matrix<Other, Mode,Dim,HDim, HDim,HDim>
{
static inline void run(Transform<typename ei_traits<Other>::Scalar,Dim,Mode> *transform, const Other& other)
static inline void run(Transform<typename Other::Scalar,Dim,Mode> *transform, const Other& other)
{ transform->matrix() = other; }
};
template<typename Other, int Dim, int HDim>
struct ei_transform_construct_from_matrix<Other, AffineCompact,Dim,HDim, HDim,HDim>
{
static inline void run(Transform<typename ei_traits<Other>::Scalar,Dim,AffineCompact> *transform, const Other& other)
static inline void run(Transform<typename Other::Scalar,Dim,AffineCompact> *transform, const Other& other)
{ transform->matrix() = other.template block<Dim,HDim>(0,0); }
};
/*****************************************************
*** Specializations of operator* with a MatrixBase ***
*****************************************************/
/*********************************************************
*** Specializations of operator* with a MultiplierBase ***
*********************************************************/
// ei_general_product_return_type is a generalization of ProductReturnType, for all types (including e.g. DiagonalBase...),
// instead of being restricted to MatrixBase.
template<typename Lhs, typename Rhs> struct ei_general_product_return_type;
template<typename D1, typename D2> struct ei_general_product_return_type<MatrixBase<D1>, MatrixBase<D2> >
: ProductReturnType<D1,D2> {};
template<typename Lhs, typename D2> struct ei_general_product_return_type<Lhs, MatrixBase<D2> >
{ typedef D2 Type; };
template<typename D1, typename Rhs> struct ei_general_product_return_type<MatrixBase<D1>, Rhs >
{ typedef D1 Type; };
// Projective * set of homogeneous column vectors
template<typename Other, int Dim, int HDim>

6
Eigen/src/Geometry/Translation.h
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@@ -93,7 +93,7 @@ public:
/** Concatenates a translation and a linear transformation */
template<typename OtherDerived>
inline AffineTransformType operator* (const MatrixBase<OtherDerived>& linear) const;
inline AffineTransformType operator* (const MultiplierBase<OtherDerived>& linear) const;
/** Concatenates a translation and a rotation */
template<typename Derived>
@@ -103,7 +103,7 @@ public:
/** \returns the concatenation of a linear transformation \a l with the translation \a t */
// its a nightmare to define a templated friend function outside its declaration
template<typename OtherDerived> friend
inline AffineTransformType operator*(const MatrixBase<OtherDerived>& linear, const Translation& t)
inline AffineTransformType operator*(const MultiplierBase<OtherDerived>& linear, const Translation& t)
{
AffineTransformType res;
res.matrix().setZero();
@@ -182,7 +182,7 @@ Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
template<typename Scalar, int Dim>
template<typename OtherDerived>
inline typename Translation<Scalar,Dim>::AffineTransformType
Translation<Scalar,Dim>::operator* (const MatrixBase<OtherDerived>& linear) const
Translation<Scalar,Dim>::operator* (const MultiplierBase<OtherDerived>& linear) const
{
AffineTransformType res;
res.matrix().setZero();