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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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50
Eigen/src/Geometry/Translation.h
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@@ -51,16 +51,16 @@ protected:
public:
/** Default constructor without initialization. */
Translation() {}
EIGEN_DEVICE_FUNC Translation() {}
/** */
inline Translation(const Scalar& sx, const Scalar& sy)
EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy)
{
eigen_assert(Dim==2);
m_coeffs.x() = sx;
m_coeffs.y() = sy;
}
/** */
inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
{
eigen_assert(Dim==3);
m_coeffs.x() = sx;
@@ -68,48 +68,48 @@ public:
m_coeffs.z() = sz;
}
/** Constructs and initialize the translation transformation from a vector of translation coefficients */
explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
/** \brief Retruns the x-translation by value. **/
inline Scalar x() const { return m_coeffs.x(); }
EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); }
/** \brief Retruns the y-translation by value. **/
inline Scalar y() const { return m_coeffs.y(); }
EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); }
/** \brief Retruns the z-translation by value. **/
inline Scalar z() const { return m_coeffs.z(); }
EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); }
/** \brief Retruns the x-translation as a reference. **/
inline Scalar& x() { return m_coeffs.x(); }
EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); }
/** \brief Retruns the y-translation as a reference. **/
inline Scalar& y() { return m_coeffs.y(); }
EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); }
/** \brief Retruns the z-translation as a reference. **/
inline Scalar& z() { return m_coeffs.z(); }
EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); }
const VectorType& vector() const { return m_coeffs; }
VectorType& vector() { return m_coeffs; }
EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; }
EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; }
const VectorType& translation() const { return m_coeffs; }
VectorType& translation() { return m_coeffs; }
EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; }
EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; }
/** Concatenates two translation */
inline Translation operator* (const Translation& other) const
EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const
{ return Translation(m_coeffs + other.m_coeffs); }
/** Concatenates a translation and a uniform scaling */
inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
/** Concatenates a translation and a linear transformation */
template<typename OtherDerived>
inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
/** Concatenates a translation and a rotation */
template<typename Derived>
inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
{ return *this * IsometryTransformType(r); }
/** \returns the concatenation of a linear transformation \a l with the translation \a t */
// its a nightmare to define a templated friend function outside its declaration
template<typename OtherDerived> friend
inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
{
AffineTransformType res;
res.matrix().setZero();
@@ -122,7 +122,7 @@ public:
/** Concatenates a translation and a transformation */
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
{
Transform<Scalar,Dim,Mode> res = t;
res.pretranslate(m_coeffs);
@@ -152,19 +152,19 @@ public:
* then this function smartly returns a const reference to \c *this.
*/
template<typename NewScalarType>
inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
{ return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType>
inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
EIGEN_DEVICE_FUNC inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
{ m_coeffs = other.vector().template cast<Scalar>(); }
/** \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 Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
{ return m_coeffs.isApprox(other.m_coeffs, prec); }
};
@@ -178,7 +178,7 @@ typedef Translation<double,3> Translation3d;
//@}
template<typename Scalar, int Dim>
inline typename Translation<Scalar,Dim>::AffineTransformType
EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
{
AffineTransformType res;
@@ -191,7 +191,7 @@ Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
template<typename Scalar, int Dim>
template<typename OtherDerived>
inline typename Translation<Scalar,Dim>::AffineTransformType
EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
{
AffineTransformType res;