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Adding EIGEN_DEVICE_FUNC in the Geometry module.

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Additional CUDA necessary fixes in the Core (mostly usage of
EIGEN_USING_STD_MATH).
This commit is contained in:
Robert Lukierski
2016-10-12 16:35:17 +01:00
parent 7f0599b6eb
commit 86711497c4
21 changed files with 434 additions and 401 deletions
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48
Eigen/src/Geometry/Rotation2D.h
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@@ -59,35 +59,35 @@ protected:
public:
/** Construct a 2D counter clock wise rotation from the angle \a a in radian. */
explicit inline Rotation2D(const Scalar& a) : m_angle(a) {}
EIGEN_DEVICE_FUNC explicit inline Rotation2D(const Scalar& a) : m_angle(a) {}
/** Default constructor wihtout initialization. The represented rotation is undefined. */
Rotation2D() {}
EIGEN_DEVICE_FUNC Rotation2D() {}
/** Construct a 2D rotation from a 2x2 rotation matrix \a mat.
*
* \sa fromRotationMatrix()
*/
template<typename Derived>
explicit Rotation2D(const MatrixBase<Derived>& m)
EIGEN_DEVICE_FUNC explicit Rotation2D(const MatrixBase<Derived>& m)
{
fromRotationMatrix(m.derived());
}
/** \returns the rotation angle */
inline Scalar angle() const { return m_angle; }
EIGEN_DEVICE_FUNC inline Scalar angle() const { return m_angle; }
/** \returns a read-write reference to the rotation angle */
inline Scalar& angle() { return m_angle; }
EIGEN_DEVICE_FUNC inline Scalar& angle() { return m_angle; }
/** \returns the rotation angle in [0,2pi] */
inline Scalar smallestPositiveAngle() const {
EIGEN_DEVICE_FUNC inline Scalar smallestPositiveAngle() const {
Scalar tmp = numext::fmod(m_angle,Scalar(2*EIGEN_PI));
return tmp<Scalar(0) ? tmp + Scalar(2*EIGEN_PI) : tmp;
}
/** \returns the rotation angle in [-pi,pi] */
inline Scalar smallestAngle() const {
EIGEN_DEVICE_FUNC inline Scalar smallestAngle() const {
Scalar tmp = numext::fmod(m_angle,Scalar(2*EIGEN_PI));
if(tmp>Scalar(EIGEN_PI)) tmp -= Scalar(2*EIGEN_PI);
else if(tmp<-Scalar(EIGEN_PI)) tmp += Scalar(2*EIGEN_PI);
@@ -95,23 +95,23 @@ public:
}
/** \returns the inverse rotation */
inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
/** Concatenates two rotations */
inline Rotation2D operator*(const Rotation2D& other) const
EIGEN_DEVICE_FUNC inline Rotation2D operator*(const Rotation2D& other) const
{ return Rotation2D(m_angle + other.m_angle); }
/** Concatenates two rotations */
inline Rotation2D& operator*=(const Rotation2D& other)
EIGEN_DEVICE_FUNC inline Rotation2D& operator*=(const Rotation2D& other)
{ m_angle += other.m_angle; return *this; }
/** Applies the rotation to a 2D vector */
Vector2 operator* (const Vector2& vec) const
EIGEN_DEVICE_FUNC Vector2 operator* (const Vector2& vec) const
{ return toRotationMatrix() * vec; }
template<typename Derived>
Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
Matrix2 toRotationMatrix() const;
EIGEN_DEVICE_FUNC Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
EIGEN_DEVICE_FUNC Matrix2 toRotationMatrix() const;
/** Set \c *this from a 2x2 rotation matrix \a mat.
* In other words, this function extract the rotation angle from the rotation matrix.
@@ -121,13 +121,13 @@ public:
* \sa fromRotationMatrix()
*/
template<typename Derived>
Rotation2D& operator=(const MatrixBase<Derived>& m)
EIGEN_DEVICE_FUNC Rotation2D& operator=(const MatrixBase<Derived>& m)
{ return fromRotationMatrix(m.derived()); }
/** \returns the spherical interpolation between \c *this and \a other using
* parameter \a t. It is in fact equivalent to a linear interpolation.
*/
inline Rotation2D slerp(const Scalar& t, const Rotation2D& other) const
EIGEN_DEVICE_FUNC inline Rotation2D slerp(const Scalar& t, const Rotation2D& other) const
{
Scalar dist = Rotation2D(other.m_angle-m_angle).smallestAngle();
return Rotation2D(m_angle + dist*t);
@@ -139,23 +139,23 @@ public:
* then this function smartly returns a const reference to \c *this.
*/
template<typename NewScalarType>
inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
{ return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType>
inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
EIGEN_DEVICE_FUNC inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
{
m_angle = Scalar(other.angle());
}
static inline Rotation2D Identity() { return Rotation2D(0); }
EIGEN_DEVICE_FUNC static inline Rotation2D Identity() { return Rotation2D(0); }
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
bool isApprox(const Rotation2D& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
EIGEN_DEVICE_FUNC bool isApprox(const Rotation2D& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
{ return internal::isApprox(m_angle,other.m_angle, prec); }
};
@@ -173,9 +173,9 @@ typedef Rotation2D<double> Rotation2Dd;
*/
template<typename Scalar>
template<typename Derived>
Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
EIGEN_DEVICE_FUNC Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
{
using std::atan2;
EIGEN_USING_STD_MATH(atan2)
EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
m_angle = atan2(mat.coeff(1,0), mat.coeff(0,0));
return *this;
@@ -185,10 +185,10 @@ Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Deri
*/
template<typename Scalar>
typename Rotation2D<Scalar>::Matrix2
Rotation2D<Scalar>::toRotationMatrix(void) const
EIGEN_DEVICE_FUNC Rotation2D<Scalar>::toRotationMatrix(void) const
{
using std::sin;
using std::cos;
EIGEN_USING_STD_MATH(sin)
EIGEN_USING_STD_MATH(cos)
Scalar sinA = sin(m_angle);
Scalar cosA = cos(m_angle);
return (Matrix2() << cosA, -sinA, sinA, cosA).finished();