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add SSE path for Matrix4f inverse, taken from Intel except that we do a kosher

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division instead of RCPPS-followed-by-Newton-Raphson. The rationale for that is
that elsewhere in Eigen we dont allow ourselves this approximation (which throws
2 bits of mantissa), so there's no reason we should allow it here.
This commit is contained in:
Benoit Jacob
2009-12-14 22:47:14 -05:00
parent d5f3b2dc94
commit d02eccf584
6 changed files with 175 additions and 11 deletions
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18
Eigen/src/LU/Inverse.h
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@@ -182,10 +182,10 @@ struct ei_compute_inverse_and_det_with_check<MatrixType, ResultType, 3>
*** Size 4 implementation ***
****************************/
template<typename MatrixType, typename ResultType>
struct ei_compute_inverse<MatrixType, ResultType, 4>
template<int Arch, typename Scalar, typename MatrixType, typename ResultType>
struct ei_compute_inverse_size4
{
static inline void run(const MatrixType& matrix, ResultType& result)
static void run(const MatrixType& matrix, ResultType& result)
{
result.coeffRef(0,0) = matrix.minor(0,0).determinant();
result.coeffRef(1,0) = -matrix.minor(0,1).determinant();
@@ -207,6 +207,13 @@ struct ei_compute_inverse<MatrixType, ResultType, 4>
}
};
template<typename MatrixType, typename ResultType>
struct ei_compute_inverse<MatrixType, ResultType, 4>
: ei_compute_inverse_size4<Architecture::Target, typename MatrixType::Scalar,
MatrixType, ResultType>
{
};
template<typename MatrixType, typename ResultType>
struct ei_compute_inverse_and_det_with_check<MatrixType, ResultType, 4>
{
@@ -238,7 +245,8 @@ template<typename MatrixType>
struct ei_inverse_impl : public ReturnByValue<ei_inverse_impl<MatrixType> >
{
// for 2x2, it's worth giving a chance to avoid evaluating.
// for larger sizes, evaluating has negligible cost and limits code size.
// for larger sizes, evaluating has negligible cost, limits code size,
// and allows for vectorized paths.
typedef typename ei_meta_if<
MatrixType::RowsAtCompileTime == 2,
typename ei_nested<MatrixType,2>::type,
@@ -264,7 +272,7 @@ struct ei_inverse_impl : public ReturnByValue<ei_inverse_impl<MatrixType> >
*
* \returns the matrix inverse of this matrix.
*
* For small fixed sizes up to 4x4, this method uses ad-hoc methods (cofactors up to 3x3, Euler's trick for 4x4).
* For small fixed sizes up to 4x4, this method uses cofactors.
* In the general case, this method uses class PartialPivLU.
*
* \note This matrix must be invertible, otherwise the result is undefined. If you need an