devtools/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2026-04-10 11:34:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Adding EIGEN_DEVICE_FUNC in the Geometry module.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

175
Eigen/src/Geometry/Transform.h
View File

@@ -253,43 +253,43 @@ public:
/** Default constructor without initialization of the meaningful coefficients.
* If Mode==Affine, then the last row is set to [0 ... 0 1] */
inline Transform()
EIGEN_DEVICE_FUNC inline Transform()
{
check_template_params();
internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix);
}
inline Transform(const Transform& other)
EIGEN_DEVICE_FUNC inline Transform(const Transform& other)
{
check_template_params();
m_matrix = other.m_matrix;
}
inline explicit Transform(const TranslationType& t)
EIGEN_DEVICE_FUNC inline explicit Transform(const TranslationType& t)
{
check_template_params();
*this = t;
}
inline explicit Transform(const UniformScaling<Scalar>& s)
EIGEN_DEVICE_FUNC inline explicit Transform(const UniformScaling<Scalar>& s)
{
check_template_params();
*this = s;
}
template<typename Derived>
inline explicit Transform(const RotationBase<Derived, Dim>& r)
EIGEN_DEVICE_FUNC inline explicit Transform(const RotationBase<Derived, Dim>& r)
{
check_template_params();
*this = r;
}
inline Transform& operator=(const Transform& other)
EIGEN_DEVICE_FUNC inline Transform& operator=(const Transform& other)
{ m_matrix = other.m_matrix; return *this; }
typedef internal::transform_take_affine_part<Transform> take_affine_part;
/** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
template<typename OtherDerived>
inline explicit Transform(const EigenBase<OtherDerived>& other)
EIGEN_DEVICE_FUNC inline explicit Transform(const EigenBase<OtherDerived>& other)
{
EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
@@ -300,7 +300,7 @@ public:
/** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
template<typename OtherDerived>
inline Transform& operator=(const EigenBase<OtherDerived>& other)
EIGEN_DEVICE_FUNC inline Transform& operator=(const EigenBase<OtherDerived>& other)
{
EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
@@ -310,7 +310,7 @@ public:
}
template<int OtherOptions>
inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
{
check_template_params();
// only the options change, we can directly copy the matrices
@@ -318,7 +318,7 @@ public:
}
template<int OtherMode,int OtherOptions>
inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
{
check_template_params();
// prevent conversions as:
@@ -359,14 +359,14 @@ public:
}
template<typename OtherDerived>
Transform(const ReturnByValue<OtherDerived>& other)
EIGEN_DEVICE_FUNC Transform(const ReturnByValue<OtherDerived>& other)
{
check_template_params();
other.evalTo(*this);
}
template<typename OtherDerived>
Transform& operator=(const ReturnByValue<OtherDerived>& other)
EIGEN_DEVICE_FUNC Transform& operator=(const ReturnByValue<OtherDerived>& other)
{
other.evalTo(*this);
return *this;
@@ -381,35 +381,35 @@ public:
inline QTransform toQTransform(void) const;
#endif
Index rows() const { return int(Mode)==int(Projective) ? m_matrix.cols() : (m_matrix.cols()-1); }
Index cols() const { return m_matrix.cols(); }
EIGEN_DEVICE_FUNC Index rows() const { return int(Mode)==int(Projective) ? m_matrix.cols() : (m_matrix.cols()-1); }
EIGEN_DEVICE_FUNC Index cols() const { return m_matrix.cols(); }
/** shortcut for m_matrix(row,col);
* \sa MatrixBase::operator(Index,Index) const */
inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
EIGEN_DEVICE_FUNC inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
/** shortcut for m_matrix(row,col);
* \sa MatrixBase::operator(Index,Index) */
inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
EIGEN_DEVICE_FUNC inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
/** \returns a read-only expression of the transformation matrix */
inline const MatrixType& matrix() const { return m_matrix; }
EIGEN_DEVICE_FUNC inline const MatrixType& matrix() const { return m_matrix; }
/** \returns a writable expression of the transformation matrix */
inline MatrixType& matrix() { return m_matrix; }
EIGEN_DEVICE_FUNC inline MatrixType& matrix() { return m_matrix; }
/** \returns a read-only expression of the linear part of the transformation */
inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
EIGEN_DEVICE_FUNC inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
/** \returns a writable expression of the linear part of the transformation */
inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
EIGEN_DEVICE_FUNC inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
/** \returns a read-only expression of the Dim x HDim affine part of the transformation */
inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
EIGEN_DEVICE_FUNC 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); }
EIGEN_DEVICE_FUNC inline AffinePart affine() { return take_affine_part::run(m_matrix); }
/** \returns a read-only expression of the translation vector of the transformation */
inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
EIGEN_DEVICE_FUNC inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
/** \returns a writable expression of the translation vector of the transformation */
inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
EIGEN_DEVICE_FUNC inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
/** \returns an expression of the product between the transform \c *this and a matrix expression \a other.
*
@@ -437,7 +437,7 @@ public:
*/
// note: this function is defined here because some compilers cannot find the respective declaration
template<typename OtherDerived>
EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
operator * (const EigenBase<OtherDerived> &other) const
{ return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
@@ -449,7 +449,7 @@ public:
* \li a general transformation matrix of size Dim+1 x Dim+1.
*/
template<typename OtherDerived> friend
inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
EIGEN_DEVICE_FUNC inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
operator * (const EigenBase<OtherDerived> &a, const Transform &b)
{ return internal::transform_left_product_impl<OtherDerived,Mode,Options,Dim,HDim>::run(a.derived(),b); }
@@ -460,7 +460,7 @@ public:
* mode is no isometry. In that case, the returned transform is an affinity.
*/
template<typename DiagonalDerived>
inline const TransformTimeDiagonalReturnType
EIGEN_DEVICE_FUNC inline const TransformTimeDiagonalReturnType
operator * (const DiagonalBase<DiagonalDerived> &b) const
{
TransformTimeDiagonalReturnType res(*this);
@@ -475,7 +475,7 @@ public:
* mode is no isometry. In that case, the returned transform is an affinity.
*/
template<typename DiagonalDerived>
friend inline TransformTimeDiagonalReturnType
EIGEN_DEVICE_FUNC friend inline TransformTimeDiagonalReturnType
operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
{
TransformTimeDiagonalReturnType res;
@@ -487,10 +487,10 @@ public:
}
template<typename OtherDerived>
inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
EIGEN_DEVICE_FUNC inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
/** Concatenates two transformations */
inline const Transform operator * (const Transform& other) const
EIGEN_DEVICE_FUNC inline const Transform operator * (const Transform& other) const
{
return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
}
@@ -522,7 +522,7 @@ public:
#else
/** Concatenates two different transformations */
template<int OtherMode,int OtherOptions>
inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
EIGEN_DEVICE_FUNC inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
{
return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other);
@@ -530,47 +530,61 @@ public:
#endif
/** \sa MatrixBase::setIdentity() */
void setIdentity() { m_matrix.setIdentity(); }
EIGEN_DEVICE_FUNC void setIdentity() { m_matrix.setIdentity(); }
/**
* \brief Returns an identity transformation.
* \todo In the future this function should be returning a Transform expression.
*/
static const Transform Identity()
EIGEN_DEVICE_FUNC static const Transform Identity()
{
return Transform(MatrixType::Identity());
}
template<typename OtherDerived>
EIGEN_DEVICE_FUNC
inline Transform& scale(const MatrixBase<OtherDerived> &other);
template<typename OtherDerived>
EIGEN_DEVICE_FUNC
inline Transform& prescale(const MatrixBase<OtherDerived> &other);
inline Transform& scale(const Scalar& s);
inline Transform& prescale(const Scalar& s);
EIGEN_DEVICE_FUNC inline Transform& scale(const Scalar& s);
EIGEN_DEVICE_FUNC inline Transform& prescale(const Scalar& s);
template<typename OtherDerived>
EIGEN_DEVICE_FUNC
inline Transform& translate(const MatrixBase<OtherDerived> &other);
template<typename OtherDerived>
EIGEN_DEVICE_FUNC
inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
template<typename RotationType>
EIGEN_DEVICE_FUNC
inline Transform& rotate(const RotationType& rotation);
template<typename RotationType>
EIGEN_DEVICE_FUNC
inline Transform& prerotate(const RotationType& rotation);
Transform& shear(const Scalar& sx, const Scalar& sy);
Transform& preshear(const Scalar& sx, const Scalar& sy);
EIGEN_DEVICE_FUNC Transform& shear(const Scalar& sx, const Scalar& sy);
EIGEN_DEVICE_FUNC Transform& preshear(const Scalar& sx, const Scalar& sy);
inline Transform& operator=(const TranslationType& t);
EIGEN_DEVICE_FUNC inline Transform& operator=(const TranslationType& t);
EIGEN_DEVICE_FUNC
inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
inline Transform operator*(const TranslationType& t) const;
EIGEN_DEVICE_FUNC inline Transform operator*(const TranslationType& t) const;
EIGEN_DEVICE_FUNC
inline Transform& operator=(const UniformScaling<Scalar>& t);
EIGEN_DEVICE_FUNC
inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
EIGEN_DEVICE_FUNC
inline TransformTimeDiagonalReturnType operator*(const UniformScaling<Scalar>& s) const
{
TransformTimeDiagonalReturnType res = *this;
@@ -578,31 +592,36 @@ public:
return res;
}
EIGEN_DEVICE_FUNC
inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linearExt() *= s; return *this; }
template<typename Derived>
inline Transform& operator=(const RotationBase<Derived,Dim>& r);
EIGEN_DEVICE_FUNC inline Transform& operator=(const RotationBase<Derived,Dim>& r);
template<typename Derived>
inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
EIGEN_DEVICE_FUNC inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
template<typename Derived>
inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
EIGEN_DEVICE_FUNC inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
const LinearMatrixType rotation() const;
EIGEN_DEVICE_FUNC const LinearMatrixType rotation() const;
template<typename RotationMatrixType, typename ScalingMatrixType>
EIGEN_DEVICE_FUNC
void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
template<typename ScalingMatrixType, typename RotationMatrixType>
EIGEN_DEVICE_FUNC
void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
EIGEN_DEVICE_FUNC
Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
EIGEN_DEVICE_FUNC
inline Transform inverse(TransformTraits traits = (TransformTraits)Mode) const;
/** \returns a const pointer to the column major internal matrix */
const Scalar* data() const { return m_matrix.data(); }
EIGEN_DEVICE_FUNC const Scalar* data() const { return m_matrix.data(); }
/** \returns a non-const pointer to the column major internal matrix */
Scalar* data() { return m_matrix.data(); }
EIGEN_DEVICE_FUNC Scalar* data() { return m_matrix.data(); }
/** \returns \c *this with scalar type casted to \a NewScalarType
*
@@ -610,12 +629,12 @@ public:
* then this function smartly returns a const reference to \c *this.
*/
template<typename NewScalarType>
inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
{ return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type(*this); }
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType>
inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
EIGEN_DEVICE_FUNC inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
{
check_template_params();
m_matrix = other.matrix().template cast<Scalar>();
@@ -625,12 +644,12 @@ public:
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
EIGEN_DEVICE_FUNC bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
{ return m_matrix.isApprox(other.m_matrix, prec); }
/** Sets the last row to [0 ... 0 1]
*/
void makeAffine()
EIGEN_DEVICE_FUNC void makeAffine()
{
internal::transform_make_affine<int(Mode)>::run(m_matrix);
}
@@ -639,26 +658,26 @@ public:
* \returns the Dim x Dim linear part if the transformation is affine,
* and the HDim x Dim part for projective transformations.
*/
inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
EIGEN_DEVICE_FUNC inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
{ return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
/** \internal
* \returns the Dim x Dim linear part if the transformation is affine,
* and the HDim x Dim part for projective transformations.
*/
inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
EIGEN_DEVICE_FUNC inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
{ return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
/** \internal
* \returns the translation part if the transformation is affine,
* and the last column for projective transformations.
*/
inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
EIGEN_DEVICE_FUNC inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
{ return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
/** \internal
* \returns the translation part if the transformation is affine,
* and the last column for projective transformations.
*/
inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
EIGEN_DEVICE_FUNC inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
{ return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
@@ -668,7 +687,7 @@ public:
protected:
#ifndef EIGEN_PARSED_BY_DOXYGEN
static EIGEN_STRONG_INLINE void check_template_params()
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void check_template_params()
{
EIGEN_STATIC_ASSERT((Options & (DontAlign|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)
}
@@ -821,7 +840,7 @@ QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
*/
template<typename Scalar, int Dim, int Mode, int Options>
template<typename OtherDerived>
Transform<Scalar,Dim,Mode,Options>&
EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
@@ -835,7 +854,7 @@ Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
* \sa prescale(Scalar)
*/
template<typename Scalar, int Dim, int Mode, int Options>
inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(const Scalar& s)
EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(const Scalar& s)
{
EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
linearExt() *= s;
@@ -848,7 +867,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::s
*/
template<typename Scalar, int Dim, int Mode, int Options>
template<typename OtherDerived>
Transform<Scalar,Dim,Mode,Options>&
EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
@@ -862,7 +881,7 @@ Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &oth
* \sa scale(Scalar)
*/
template<typename Scalar, int Dim, int Mode, int Options>
inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(const Scalar& s)
EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(const Scalar& s)
{
EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
m_matrix.template topRows<Dim>() *= s;
@@ -875,7 +894,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::p
*/
template<typename Scalar, int Dim, int Mode, int Options>
template<typename OtherDerived>
Transform<Scalar,Dim,Mode,Options>&
EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
@@ -889,7 +908,7 @@ Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &ot
*/
template<typename Scalar, int Dim, int Mode, int Options>
template<typename OtherDerived>
Transform<Scalar,Dim,Mode,Options>&
EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
@@ -919,7 +938,7 @@ Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived>
*/
template<typename Scalar, int Dim, int Mode, int Options>
template<typename RotationType>
Transform<Scalar,Dim,Mode,Options>&
EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
{
linearExt() *= internal::toRotationMatrix<Scalar,Dim>(rotation);
@@ -935,7 +954,7 @@ Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
*/
template<typename Scalar, int Dim, int Mode, int Options>
template<typename RotationType>
Transform<Scalar,Dim,Mode,Options>&
EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
{
m_matrix.template block<Dim,HDim>(0,0) = internal::toRotationMatrix<Scalar,Dim>(rotation)
@@ -949,7 +968,7 @@ Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
* \sa preshear()
*/
template<typename Scalar, int Dim, int Mode, int Options>
Transform<Scalar,Dim,Mode,Options>&
EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::shear(const Scalar& sx, const Scalar& sy)
{
EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
@@ -965,7 +984,7 @@ Transform<Scalar,Dim,Mode,Options>::shear(const Scalar& sx, const Scalar& sy)
* \sa shear()
*/
template<typename Scalar, int Dim, int Mode, int Options>
Transform<Scalar,Dim,Mode,Options>&
EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
{
EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
@@ -979,7 +998,7 @@ Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
******************************************************/
template<typename Scalar, int Dim, int Mode, int Options>
inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
{
linear().setIdentity();
translation() = t.vector();
@@ -988,7 +1007,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
}
template<typename Scalar, int Dim, int Mode, int Options>
inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
{
Transform res = *this;
res.translate(t.vector());
@@ -996,7 +1015,7 @@ inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::op
}
template<typename Scalar, int Dim, int Mode, int Options>
inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
{
m_matrix.setZero();
linear().diagonal().fill(s.factor());
@@ -1006,7 +1025,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
template<typename Scalar, int Dim, int Mode, int Options>
template<typename Derived>
inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
{
linear() = internal::toRotationMatrix<Scalar,Dim>(r);
translation().setZero();
@@ -1016,7 +1035,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
template<typename Scalar, int Dim, int Mode, int Options>
template<typename Derived>
inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
{
Transform res = *this;
res.rotate(r.derived());
@@ -1035,7 +1054,7 @@ inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::op
* \sa computeRotationScaling(), computeScalingRotation(), class SVD
*/
template<typename Scalar, int Dim, int Mode, int Options>
const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
EIGEN_DEVICE_FUNC const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
Transform<Scalar,Dim,Mode,Options>::rotation() const
{
LinearMatrixType result;
@@ -1057,7 +1076,7 @@ Transform<Scalar,Dim,Mode,Options>::rotation() const
*/
template<typename Scalar, int Dim, int Mode, int Options>
template<typename RotationMatrixType, typename ScalingMatrixType>
void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
{
JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
@@ -1086,7 +1105,7 @@ void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixTy
*/
template<typename Scalar, int Dim, int Mode, int Options>
template<typename ScalingMatrixType, typename RotationMatrixType>
void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
{
JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
@@ -1107,7 +1126,7 @@ void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixTyp
*/
template<typename Scalar, int Dim, int Mode, int Options>
template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
Transform<Scalar,Dim,Mode,Options>&
EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
{
@@ -1124,7 +1143,7 @@ template<int Mode>
struct transform_make_affine
{
template<typename MatrixType>
static void run(MatrixType &mat)
EIGEN_DEVICE_FUNC static void run(MatrixType &mat)
{
static const int Dim = MatrixType::ColsAtCompileTime-1;
mat.template block<1,Dim>(Dim,0).setZero();
@@ -1135,21 +1154,21 @@ struct transform_make_affine
template<>
struct transform_make_affine<AffineCompact>
{
template<typename MatrixType> static void run(MatrixType &) { }
template<typename MatrixType> EIGEN_DEVICE_FUNC static void run(MatrixType &) { }
};
// selector needed to avoid taking the inverse of a 3x4 matrix
template<typename TransformType, int Mode=TransformType::Mode>
struct projective_transform_inverse
{
static inline void run(const TransformType&, TransformType&)
EIGEN_DEVICE_FUNC static inline void run(const TransformType&, TransformType&)
{}
};
template<typename TransformType>
struct projective_transform_inverse<TransformType, Projective>
{
static inline void run(const TransformType& m, TransformType& res)
EIGEN_DEVICE_FUNC static inline void run(const TransformType& m, TransformType& res)
{
res.matrix() = m.matrix().inverse();
}
@@ -1179,7 +1198,7 @@ struct projective_transform_inverse<TransformType, Projective>
* \sa MatrixBase::inverse()
*/
template<typename Scalar, int Dim, int Mode, int Options>
Transform<Scalar,Dim,Mode,Options>
EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>
Transform<Scalar,Dim,Mode,Options>::inverse(TransformTraits hint) const
{
Transform res;