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* refactoring of Product:

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* use ProductReturnType<>::Type to get the correct Product xpr type
  * Product is no longer instanciated for xpr types which are evaluated
  * vectorization of "a.transpose() * b" for the normal product (small and fixed-size matrix)
  * some cleanning
* removed ArrayBase
This commit is contained in:
Gael Guennebaud
2008-06-19 17:33:57 +00:00
parent 5dbfed1902
commit 82c3cea1d5
12 changed files with 359 additions and 247 deletions
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4
Eigen/src/Geometry/Rotation.h
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@@ -107,10 +107,10 @@ struct ToRotationMatrix<Scalar, Dim, MatrixBase<OtherDerived> >
*
* \param _Scalar the scalar type, i.e., the type of the coefficients
*
* This class is equivalent to a single scalar representating the rotation angle
* This class is equivalent to a single scalar representing the rotation angle
* in radian with some additional features such as the conversion from/to
* rotation matrix. Moreover this class aims to provide a similar interface
* to Quaternion in order to facilitate the writting of generic algorithm
* to Quaternion in order to facilitate the writing of generic algorithm
* dealing with rotations.
*
* \sa class Quaternion, class Transform

14
Eigen/src/Geometry/Transform.h
View File

@@ -103,17 +103,17 @@ public:
inline VectorRef translation() { return m_matrix.template block<Dim,1>(0,Dim); }
template<typename OtherDerived>
struct ProductReturnType
struct TransformProductReturnType
{
typedef typename ei_transform_product_impl<OtherDerived>::ResultType Type;
};
template<typename OtherDerived>
const typename ProductReturnType<OtherDerived>::Type
const typename TransformProductReturnType<OtherDerived>::Type
operator * (const MatrixBase<OtherDerived> &other) const;
/** Contatenates two transformations */
const Product<MatrixType,MatrixType>
const typename ProductReturnType<MatrixType,MatrixType>::Type
operator * (const Transform& other) const
{ return m_matrix * other.matrix(); }
@@ -192,7 +192,7 @@ QMatrix Transform<Scalar,Dim>::toQMatrix(void) const
template<typename Scalar, int Dim>
template<typename OtherDerived>
const typename Transform<Scalar,Dim>::template ProductReturnType<OtherDerived>::Type
const typename Transform<Scalar,Dim>::template TransformProductReturnType<OtherDerived>::Type
Transform<Scalar,Dim>::operator*(const MatrixBase<OtherDerived> &other) const
{
return ei_transform_product_impl<OtherDerived>::run(*this,other.derived());
@@ -380,7 +380,7 @@ template<typename Other>
struct Transform<Scalar,Dim>::ei_transform_product_impl<Other,Dim+1,Dim+1>
{
typedef typename Transform<Scalar,Dim>::MatrixType MatrixType;
typedef Product<MatrixType,Other> ResultType;
typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
static ResultType run(const Transform<Scalar,Dim>& tr, const Other& other)
{ return tr.matrix() * other; }
};
@@ -390,7 +390,7 @@ template<typename Other>
struct Transform<Scalar,Dim>::ei_transform_product_impl<Other,Dim+1,1>
{
typedef typename Transform<Scalar,Dim>::MatrixType MatrixType;
typedef Product<MatrixType,Other> ResultType;
typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
static ResultType run(const Transform<Scalar,Dim>& tr, const Other& other)
{ return tr.matrix() * other; }
};
@@ -404,7 +404,7 @@ struct Transform<Scalar,Dim>::ei_transform_product_impl<Other,Dim,1>
ei_scalar_multiple_op<Scalar>,
NestByValue<CwiseBinaryOp<
ei_scalar_sum_op<Scalar>,
NestByValue<Product<NestByValue<MatrixType>,Other> >,
NestByValue<typename ProductReturnType<NestByValue<MatrixType>,Other>::Type >,
NestByValue<typename Transform<Scalar,Dim>::VectorRef> > >
> ResultType;
// FIXME shall we offer an optimized version when the last row is know to be 0,0...,0,1 ?