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Call product_generic_impl by default, and remove lot of boilerplate code

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This commit is contained in:
Gael Guennebaud
2014-07-31 13:35:49 +02:00
parent cd0ff253ec
commit bae2e3327b
11 changed files with 223 additions and 241 deletions
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175
Eigen/src/Geometry/Homogeneous.h
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@@ -48,8 +48,10 @@ struct traits<Homogeneous<MatrixType,Direction> >
TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
: RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
: TmpFlags,
CoeffReadCost = _MatrixTypeNested::CoeffReadCost
: TmpFlags
#ifndef EIGEN_TEST_EVALUATORS
, CoeffReadCost = _MatrixTypeNested::CoeffReadCost
#endif // EIGEN_TEST_EVALUATORS
};
};
@@ -63,6 +65,7 @@ template<typename MatrixType,int _Direction> class Homogeneous
{
public:
typedef MatrixType NestedExpression;
enum { Direction = _Direction };
typedef MatrixBase<Homogeneous> Base;
@@ -74,7 +77,10 @@ template<typename MatrixType,int _Direction> class Homogeneous
inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); }
inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
const NestedExpression& nestedExpression() const { return m_matrix; }
#ifndef EIGEN_TEST_EVALUATORS
inline Scalar coeff(Index row, Index col) const
{
if( (int(Direction)==Vertical && row==m_matrix.rows())
@@ -106,6 +112,31 @@ template<typename MatrixType,int _Direction> class Homogeneous
eigen_assert(int(Direction)==Vertical);
return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
}
#else
template<typename Rhs>
inline const Product<Homogeneous,Rhs>
operator* (const MatrixBase<Rhs>& rhs) const
{
eigen_assert(int(Direction)==Horizontal);
return Product<Homogeneous,Rhs>(*this,rhs.derived());
}
template<typename Lhs> friend
inline const Product<Lhs,Homogeneous>
operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
{
eigen_assert(int(Direction)==Vertical);
return Product<Lhs,Homogeneous>(lhs.derived(),rhs);
}
template<typename Scalar, int Dim, int Mode, int Options> friend
inline const Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous >
operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
{
eigen_assert(int(Direction)==Vertical);
return Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous>(lhs,rhs);
}
#endif
protected:
typename MatrixType::Nested m_matrix;
@@ -300,6 +331,146 @@ struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
typename Rhs::Nested m_rhs;
};
#ifdef EIGEN_TEST_EVALUATORS
template<typename ArgType,int Direction>
struct unary_evaluator<Homogeneous<ArgType,Direction>, IndexBased>
: evaluator<typename Homogeneous<ArgType,Direction>::PlainObject >::type
{
typedef Homogeneous<ArgType,Direction> XprType;
typedef typename XprType::PlainObject PlainObject;
typedef typename evaluator<PlainObject>::type Base;
unary_evaluator(const XprType& op)
: Base(), m_temp(op)
{
::new (static_cast<Base*>(this)) Base(m_temp);
}
protected:
PlainObject m_temp;
};
// dense = homogeneous
template< typename DstXprType, typename ArgType, typename Scalar>
struct Assignment<DstXprType, Homogeneous<ArgType,Vertical>, internal::assign_op<Scalar>, Dense2Dense, Scalar>
{
typedef Homogeneous<ArgType,Vertical> SrcXprType;
static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar> &)
{
dst.template topRows<ArgType::RowsAtCompileTime>(src.nestedExpression().rows()) = src.nestedExpression();
// dst.topRows(src.nestedExpression().rows()) = src.nestedExpression();
dst.row(dst.rows()-1).setOnes();
}
};
// dense = homogeneous
template< typename DstXprType, typename ArgType, typename Scalar>
struct Assignment<DstXprType, Homogeneous<ArgType,Horizontal>, internal::assign_op<Scalar>, Dense2Dense, Scalar>
{
typedef Homogeneous<ArgType,Horizontal> SrcXprType;
static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar> &)
{
dst.template leftCols<ArgType::ColsAtCompileTime>(src.nestedExpression().cols()) = src.nestedExpression();
// dst.leftCols(src.nestedExpression().cols()) = src.nestedExpression();
dst.col(dst.cols()-1).setOnes();
}
};
template<typename LhsArg, typename Rhs, int ProductTag>
struct generic_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs, DenseShape, DenseShape, ProductTag>
{
template<typename Dest>
static void evalTo(Dest& dst, const Homogeneous<LhsArg,Horizontal>& lhs, const Rhs& rhs)
{
homogeneous_right_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs>(lhs.nestedExpression(), rhs).evalTo(dst);
}
};
template<typename Lhs, typename RhsArg, int ProductTag>
struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, DenseShape, ProductTag>
{
template<typename Dest>
static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
{
homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, Lhs>(rhs.nestedExpression(), lhs).evalTo(dst);
}
};
template<typename Scalar, int Dim, int Mode,int Options, typename RhsArg, int ProductTag>
struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, DenseShape, ProductTag>
{
typedef Transform<Scalar,Dim,Mode,Options> TransformType;
template<typename Dest>
static void evalTo(Dest& dst, const TransformType& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
{
homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, TransformType>(rhs.nestedExpression(), lhs).evalTo(dst);
}
};
template<typename LhsArg, typename Rhs, int ProductTag>
struct product_evaluator<Product<Homogeneous<LhsArg,Horizontal>, Rhs, DefaultProduct>, ProductTag, DenseShape, DenseShape, typename traits<LhsArg>::Scalar, typename traits<Rhs>::Scalar>
: public evaluator<typename Product<Homogeneous<LhsArg,Horizontal>, Rhs, DefaultProduct>::PlainObject>::type
{
typedef Homogeneous<LhsArg,Horizontal> Lhs;
typedef Product<Lhs, Rhs, DefaultProduct> XprType;
typedef typename XprType::PlainObject PlainObject;
typedef typename evaluator<PlainObject>::type Base;
product_evaluator(const XprType& xpr)
: m_result(xpr.rows(), xpr.cols())
{
::new (static_cast<Base*>(this)) Base(m_result);
generic_product_impl<Lhs, Rhs, DenseShape, DenseShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
}
protected:
PlainObject m_result;
};
template<typename Lhs, typename RhsArg, int ProductTag>
struct product_evaluator<Product<Lhs, Homogeneous<RhsArg,Vertical>, DefaultProduct>, ProductTag, DenseShape, DenseShape, typename traits<Lhs>::Scalar, typename traits<RhsArg>::Scalar>
: public evaluator<typename Product<Lhs, Homogeneous<RhsArg,Vertical>, DefaultProduct>::PlainObject>::type
{
typedef Homogeneous<RhsArg,Vertical> Rhs;
typedef Product<Lhs, Rhs, DefaultProduct> XprType;
typedef typename XprType::PlainObject PlainObject;
typedef typename evaluator<PlainObject>::type Base;
product_evaluator(const XprType& xpr)
: m_result(xpr.rows(), xpr.cols())
{
::new (static_cast<Base*>(this)) Base(m_result);
generic_product_impl<Lhs, Rhs, DenseShape, DenseShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
}
protected:
PlainObject m_result;
};
template<typename Scalar, int Dim, int Mode,int Options, typename RhsArg, int ProductTag>
struct product_evaluator<Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DefaultProduct>, ProductTag, DenseShape, DenseShape, Scalar, typename traits<RhsArg>::Scalar>
: public evaluator<typename Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DefaultProduct>::PlainObject>::type
{
typedef Transform<Scalar,Dim,Mode,Options> Lhs;
typedef Homogeneous<RhsArg,Vertical> Rhs;
typedef Product<Lhs, Rhs, DefaultProduct> XprType;
typedef typename XprType::PlainObject PlainObject;
typedef typename evaluator<PlainObject>::type Base;
product_evaluator(const XprType& xpr)
: m_result(xpr.rows(), xpr.cols())
{
::new (static_cast<Base*>(this)) Base(m_result);
generic_product_impl<Lhs, Rhs, DenseShape, DenseShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
}
protected:
PlainObject m_result;
};
#endif // EIGEN_TEST_EVALUATORS
} // end namespace internal
} // end namespace Eigen

22
Eigen/src/Geometry/Transform.h
View File

@@ -62,6 +62,23 @@ struct transform_construct_from_matrix;
template<typename TransformType> struct transform_take_affine_part;
#ifdef EIGEN_TEST_EVALUATORS
template<typename _Scalar, int _Dim, int _Mode, int _Options>
struct traits<Transform<_Scalar,_Dim,_Mode,_Options> >
{
typedef _Scalar Scalar;
typedef DenseIndex Index;
typedef Dense StorageKind;
enum {
RowsAtCompileTime = _Dim,
ColsAtCompileTime = _Dim,
MaxRowsAtCompileTime = _Dim,
MaxColsAtCompileTime = _Dim,
Flags = 0
};
};
#endif
} // end namespace internal
/** \geometry_module \ingroup Geometry_Module
@@ -355,6 +372,11 @@ public:
inline Transform& operator=(const QTransform& other);
inline QTransform toQTransform(void) const;
#endif
#ifdef EIGEN_TEST_EVALUATORS
Index rows() const { return m_matrix.cols(); }
Index cols() const { return m_matrix.cols(); }
#endif
/** shortcut for m_matrix(row,col);
* \sa MatrixBase::operator(Index,Index) const */