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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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40
Eigen/src/Geometry/RotationBase.h
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@@ -38,26 +38,26 @@ class RotationBase
typedef Matrix<Scalar,Dim,1> VectorType;
public:
inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
inline Derived& derived() { return *static_cast<Derived*>(this); }
EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
/** \returns an equivalent rotation matrix */
inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
/** \returns an equivalent rotation matrix
* This function is added to be conform with the Transform class' naming scheme.
*/
inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
/** \returns the inverse rotation */
inline Derived inverse() const { return derived().inverse(); }
EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); }
/** \returns the concatenation of the rotation \c *this with a translation \a t */
inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
{ return Transform<Scalar,Dim,Isometry>(*this) * t; }
/** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
{ return toRotationMatrix() * s.factor(); }
/** \returns the concatenation of the rotation \c *this with a generic expression \a e
@@ -67,17 +67,17 @@ class RotationBase
* - a vector of size Dim
*/
template<typename OtherDerived>
EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
operator*(const EigenBase<OtherDerived>& e) const
{ return internal::rotation_base_generic_product_selector<Derived,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 EigenBase<OtherDerived>& l, const Derived& r)
EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
{ return l.derived() * r.toRotationMatrix(); }
/** \returns the concatenation of a scaling \a l with the rotation \a r */
friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
{
Transform<Scalar,Dim,Affine> res(r);
res.linear().applyOnTheLeft(l);
@@ -86,11 +86,11 @@ class RotationBase
/** \returns the concatenation of the rotation \c *this with a transformation \a t */
template<int Mode, int Options>
inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
{ return toRotationMatrix() * t; }
template<typename OtherVectorType>
inline VectorType _transformVector(const OtherVectorType& v) const
EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const
{ return toRotationMatrix() * v; }
};
@@ -102,7 +102,7 @@ struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
{
enum { Dim = RotationDerived::Dim };
typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
{ return r.toRotationMatrix() * m; }
};
@@ -110,7 +110,7 @@ template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
{
typedef Transform<Scalar,Dim,Affine> ReturnType;
static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
{
ReturnType res(r);
res.linear() *= m;
@@ -123,7 +123,7 @@ struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,tr
{
enum { Dim = RotationDerived::Dim };
typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
{
return r._transformVector(v);
}
@@ -137,7 +137,7 @@ struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,tr
*/
template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
template<typename OtherDerived>
Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
{
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
@@ -150,7 +150,7 @@ Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
*/
template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
template<typename OtherDerived>
Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
{
@@ -179,20 +179,20 @@ namespace internal {
* \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
*/
template<typename Scalar, int Dim>
static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
{
EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
return Rotation2D<Scalar>(s).toRotationMatrix();
}
template<typename Scalar, int Dim, typename OtherDerived>
static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
{
return r.toRotationMatrix();
}
template<typename Scalar, int Dim, typename OtherDerived>
static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
{
EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
YOU_MADE_A_PROGRAMMING_MISTAKE)