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bug #54 - really fix const correctness except in Sparse

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This commit is contained in:
Benoit Jacob
2010-12-22 17:45:37 -05:00
parent 3b6d97b51a
commit 75b7d98665
47 changed files with 483 additions and 326 deletions
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68
Eigen/src/Geometry/Homogeneous.h
View File

@@ -113,23 +113,11 @@ template<typename MatrixType,int _Direction> class Homogeneous
}
template<typename Scalar, int Dim, int Mode> friend
inline const internal::homogeneous_left_product_impl<Homogeneous,
typename Transform<Scalar,Dim,Mode>::AffinePartNested>
operator* (const Transform<Scalar,Dim,Mode>& tr, const Homogeneous& rhs)
inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode> >
operator* (const Transform<Scalar,Dim,Mode>& lhs, const Homogeneous& rhs)
{
eigen_assert(int(Direction)==Vertical);
return internal::homogeneous_left_product_impl<Homogeneous,typename Transform<Scalar,Dim,Mode>::AffinePartNested >
(tr.affine(),rhs.m_matrix);
}
template<typename Scalar, int Dim> friend
inline const internal::homogeneous_left_product_impl<Homogeneous,
typename Transform<Scalar,Dim,Projective>::MatrixType>
operator* (const Transform<Scalar,Dim,Projective>& tr, const Homogeneous& rhs)
{
eigen_assert(int(Direction)==Vertical);
return internal::homogeneous_left_product_impl<Homogeneous,typename Transform<Scalar,Dim,Projective>::MatrixType>
(tr.matrix(),rhs.m_matrix);
return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode> >(lhs,rhs.m_matrix);
}
protected:
@@ -179,11 +167,11 @@ VectorwiseOp<ExpressionType,Direction>::homogeneous() const
*
* \sa VectorwiseOp::hnormalized() */
template<typename Derived>
inline typename MatrixBase<Derived>::HNormalizedReturnType
inline const typename MatrixBase<Derived>::HNormalizedReturnType
MatrixBase<Derived>::hnormalized() const
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
return StartMinusOne(derived(),0,0,
return ConstStartMinusOne(derived(),0,0,
ColsAtCompileTime==1?size()-1:1,
ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
}
@@ -197,7 +185,7 @@ MatrixBase<Derived>::hnormalized() const
*
* \sa MatrixBase::hnormalized() */
template<typename ExpressionType, int Direction>
inline typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
VectorwiseOp<ExpressionType,Direction>::hnormalized() const
{
return HNormalized_Block(_expression(),0,0,
@@ -217,15 +205,39 @@ VectorwiseOp<ExpressionType,Direction>::hnormalized() const
namespace internal {
template<typename MatrixOrTransformType>
struct take_matrix_for_product
{
typedef MatrixOrTransformType type;
static const type& run(const type &x) { return x; }
};
template<typename Scalar, int Dim, int Mode>
struct take_matrix_for_product<Transform<Scalar, Dim, Mode> >
{
typedef Transform<Scalar, Dim, Mode> TransformType;
typedef typename TransformType::ConstAffinePart type;
static const type run (const TransformType& x) { return x.affine(); }
};
template<typename Scalar, int Dim>
struct take_matrix_for_product<Transform<Scalar, Dim, Projective> >
{
typedef Transform<Scalar, Dim, Projective> TransformType;
typedef typename TransformType::MatrixType type;
static const type& run (const TransformType& x) { return x.matrix(); }
};
template<typename MatrixType,typename Lhs>
struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
{
typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
typedef typename make_proper_matrix_type<
typename traits<MatrixType>::Scalar,
Lhs::RowsAtCompileTime,
LhsMatrixType::RowsAtCompileTime,
MatrixType::ColsAtCompileTime,
MatrixType::PlainObject::Options,
Lhs::MaxRowsAtCompileTime,
LhsMatrixType::MaxRowsAtCompileTime,
MatrixType::MaxColsAtCompileTime>::type ReturnType;
};
@@ -233,10 +245,12 @@ template<typename MatrixType,typename Lhs>
struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
: public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
{
typedef typename remove_all<typename Lhs::Nested>::type LhsNested;
typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
typedef typename remove_all<typename LhsMatrixType::Nested>::type LhsMatrixTypeNested;
typedef typename MatrixType::Index Index;
homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
: m_lhs(lhs), m_rhs(rhs)
: m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
m_rhs(rhs)
{}
inline Index rows() const { return m_lhs.rows(); }
@@ -245,15 +259,15 @@ struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
template<typename Dest> void evalTo(Dest& dst) const
{
// FIXME investigate how to allow lazy evaluation of this product when possible
dst = Block<LhsNested,
LhsNested::RowsAtCompileTime,
LhsNested::ColsAtCompileTime==Dynamic?Dynamic:LhsNested::ColsAtCompileTime-1>
dst = Block<const LhsMatrixTypeNested,
LhsMatrixTypeNested::RowsAtCompileTime,
LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
(m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
dst += m_lhs.col(m_lhs.cols()-1).rowwise()
.template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
}
const typename Lhs::Nested m_lhs;
const typename LhsMatrixType::Nested m_lhs;
const typename MatrixType::Nested m_rhs;
};
@@ -284,7 +298,7 @@ struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
template<typename Dest> void evalTo(Dest& dst) const
{
// FIXME investigate how to allow lazy evaluation of this product when possible
dst = m_lhs * Block<RhsNested,
dst = m_lhs * Block<const RhsNested,
RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
RhsNested::ColsAtCompileTime>
(m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());

3
Eigen/src/Geometry/Hyperplane.h
View File

@@ -57,6 +57,7 @@ public:
? Dynamic
: Index(AmbientDimAtCompileTime)+1,1> Coefficients;
typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
typedef const Block<const Coefficients,AmbientDimAtCompileTime,1> ConstNormalReturnType;
/** Default constructor without initialization */
inline explicit Hyperplane() {}
@@ -148,7 +149,7 @@ public:
/** \returns a constant reference to the unit normal vector of the plane, which corresponds
* to the linear part of the implicit equation.
*/
inline const NormalReturnType normal() const { return NormalReturnType(m_coeffs,0,0,dim(),1); }
inline ConstNormalReturnType normal() const { return ConstNormalReturnType(m_coeffs,0,0,dim(),1); }
/** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
* to the linear part of the implicit equation.

2
Eigen/src/Geometry/Quaternion.h
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@@ -79,7 +79,7 @@ public:
inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
/** \returns a read-only vector expression of the imaginary part (x,y,z) */
inline const VectorBlock<Coefficients,3> vec() const { return coeffs().template head<3>(); }
inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
/** \returns a vector expression of the imaginary part (x,y,z) */
inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }

23
Eigen/src/Geometry/Transform.h
View File

@@ -193,22 +193,28 @@ public:
typedef DenseIndex Index;
/** type of the matrix used to represent the transformation */
typedef Matrix<Scalar,Rows,HDim> MatrixType;
/** constified MatrixType */
typedef const MatrixType ConstMatrixType;
/** type of the matrix used to represent the linear part of the transformation */
typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
/** type of read/write reference to the linear part of the transformation */
typedef Block<MatrixType,Dim,Dim> LinearPart;
/** type of read reference to the linear part of the transformation */
typedef const Block<ConstMatrixType,Dim,Dim> ConstLinearPart;
/** type of read/write reference to the affine part of the transformation */
typedef typename internal::conditional<int(Mode)==int(AffineCompact),
MatrixType&,
Block<MatrixType,Dim,HDim> >::type AffinePart;
/** type of read/write reference to the affine part of the transformation */
/** type of read reference to the affine part of the transformation */
typedef typename internal::conditional<int(Mode)==int(AffineCompact),
MatrixType&,
Block<MatrixType,Dim,HDim> >::type AffinePartNested;
const MatrixType&,
const Block<const MatrixType,Dim,HDim> >::type ConstAffinePart;
/** type of a vector */
typedef Matrix<Scalar,Dim,1> VectorType;
/** type of a read/write reference to the translation part of the rotation */
typedef Block<MatrixType,Dim,1> TranslationPart;
/** type of a read reference to the translation part of the rotation */
typedef const Block<ConstMatrixType,Dim,1> ConstTranslationPart;
/** corresponding translation type */
typedef Translation<Scalar,Dim> TranslationType;
@@ -336,17 +342,17 @@ public:
inline MatrixType& matrix() { return m_matrix; }
/** \returns a read-only expression of the linear part of the transformation */
inline const LinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
inline ConstLinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
/** \returns a writable expression of the linear part of the transformation */
inline LinearPart linear() { return m_matrix.template block<Dim,Dim>(0,0); }
/** \returns a read-only expression of the Dim x HDim affine part of the transformation */
inline const AffinePart affine() const { return take_affine_part::run(m_matrix); }
inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
/** \returns a writable expression of the Dim x HDim affine part of the transformation */
inline AffinePart affine() { return take_affine_part::run(m_matrix); }
/** \returns a read-only expression of the translation vector of the transformation */
inline const TranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
inline ConstTranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
/** \returns a writable expression of the translation vector of the transformation */
inline TranslationPart translation() { return m_matrix.template block<Dim,1>(0,Dim); }
@@ -1083,9 +1089,10 @@ namespace internal {
template<typename TransformType> struct transform_take_affine_part {
typedef typename TransformType::MatrixType MatrixType;
typedef typename TransformType::AffinePart AffinePart;
typedef typename TransformType::ConstAffinePart ConstAffinePart;
static inline AffinePart run(MatrixType& m)
{ return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
static inline const AffinePart run(const MatrixType& m)
static inline ConstAffinePart run(const MatrixType& m)
{ return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
};
@@ -1180,7 +1187,7 @@ struct transform_right_product_impl< TransformType, MatrixType, false >
EIGEN_STATIC_ASSERT(OtherRows==Dim || OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
typedef Block<ResultType, Dim, OtherCols> TopLeftLhs;
typedef Block<MatrixType, Dim, OtherCols> TopLeftRhs;
typedef Block<const MatrixType, Dim, OtherCols> TopLeftRhs;
ResultType res(other.rows(),other.cols());