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backporting various bug fixes related to MapBase/Map/Block and new

Browse Source 
StdVector workaround because the previous was really too limited. I hope
it is not a too big change for a "stable" branch.
This commit is contained in:
Gael Guennebaud
2009-03-24 08:20:43 +00:00
parent e5b5ab53b8
commit d6bb34fa5a
15 changed files with 188 additions and 235 deletions
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1
Eigen/src/CMakeLists.txt
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@@ -7,4 +7,3 @@ ADD_SUBDIRECTORY(Array)
ADD_SUBDIRECTORY(Geometry)
ADD_SUBDIRECTORY(LeastSquares)
ADD_SUBDIRECTORY(Sparse)
ADD_SUBDIRECTORY(StdVector)

10
Eigen/src/Core/Block.h
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@@ -221,15 +221,13 @@ class Block<MatrixType,BlockRows,BlockCols,PacketAccess,HasDirectAccess>
class InnerIterator;
typedef typename ei_traits<Block>::AlignedDerivedType AlignedDerivedType;
friend class Block<MatrixType,BlockRows,BlockCols,AsRequested,HasDirectAccess>;
EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
AlignedDerivedType forceAligned()
AlignedDerivedType _convertToForceAligned()
{
if (PacketAccess==ForceAligned)
return *this;
else
return Block<MatrixType,BlockRows,BlockCols,ForceAligned,HasDirectAccess>
return Block<MatrixType,BlockRows,BlockCols,ForceAligned,HasDirectAccess>
(m_matrix, Base::m_data, Base::m_rows.value(), Base::m_cols.value());
}
@@ -454,7 +452,7 @@ MatrixBase<Derived>::end(int size) const
* \only_for_vectors
*
* The template parameter \a Size is the number of coefficients in the block
*
*
* \param start the index of the first element of the sub-vector
*
* Example: \include MatrixBase_template_int_segment.cpp

7
Eigen/src/Core/Map.h
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@@ -66,12 +66,9 @@ template<typename MatrixType, int PacketAccess> class Map
inline int stride() const { return this->innerSize(); }
AlignedDerivedType forceAligned()
AlignedDerivedType _convertToForceAligned()
{
if (PacketAccess==ForceAligned)
return *this;
else
return Map<MatrixType,ForceAligned>(Base::m_data, Base::m_rows.value(), Base::m_cols.value());
return Map<MatrixType,ForceAligned>(Base::m_data, Base::m_rows.value(), Base::m_cols.value());
}
inline Map(const Scalar* data) : Base(data) {}

26
Eigen/src/Core/MapBase.h
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@@ -65,9 +65,20 @@ template<typename Derived> class MapBase
inline int stride() const { return derived().stride(); }
inline const Scalar* data() const { return m_data; }
template<bool IsForceAligned,typename Dummy> struct force_aligned_impl {
AlignedDerivedType static run(MapBase& a) { return a.derived(); }
};
template<typename Dummy> struct force_aligned_impl<false,Dummy> {
AlignedDerivedType static run(MapBase& a) { return a.derived()._convertToForceAligned(); }
};
/** \returns an expression equivalent to \c *this but having the \c PacketAccess constant
* set to \c ForceAligned. Must be reimplemented by the derived class. */
AlignedDerivedType forceAligned() { return derived().forceAligned(); }
AlignedDerivedType forceAligned()
{
return force_aligned_impl<int(PacketAccess)==int(ForceAligned),Derived>::run(*this);
}
inline const Scalar& coeff(int row, int col) const
{
@@ -155,6 +166,19 @@ template<typename Derived> class MapBase
&& cols > 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)));
}
Derived& operator=(const MapBase& other)
{
return Base::operator=(other);
}
template<typename OtherDerived>
Derived& operator=(const MatrixBase<OtherDerived>& other)
{
return Base::operator=(other);
}
using Base::operator*=;
template<typename OtherDerived>
Derived& operator+=(const MatrixBase<OtherDerived>& other)
{ return derived() = forceAligned() + other; }

2
Eigen/src/Core/Matrix.h
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@@ -226,7 +226,6 @@ class Matrix
*/
inline void resize(int rows, int cols)
{
ei_assert(rows > 0 && cols > 0 && "a matrix cannot be resized to 0 size");
ei_assert((MaxRowsAtCompileTime == Dynamic || MaxRowsAtCompileTime >= rows)
&& (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
&& (MaxColsAtCompileTime == Dynamic || MaxColsAtCompileTime >= cols)
@@ -240,7 +239,6 @@ class Matrix
*/
inline void resize(int size)
{
ei_assert(size>0 && "a vector cannot be resized to 0 length");
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Matrix)
if(RowsAtCompileTime == 1)
m_storage.resize(size, 1, size);

15
Eigen/src/Core/MatrixStorage.h
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@@ -176,7 +176,10 @@ template<typename T, int _Options> class ei_matrix_storage<T, Dynamic, Dynamic,
if(size != m_rows*m_cols)
{
ei_aligned_delete(m_data, m_rows*m_cols);
m_data = ei_aligned_new<T>(size);
if (size)
m_data = ei_aligned_new<T>(size);
else
m_data = 0;
}
m_rows = rows;
m_cols = cols;
@@ -203,7 +206,10 @@ template<typename T, int _Rows, int _Options> class ei_matrix_storage<T, Dynamic
if(size != _Rows*m_cols)
{
ei_aligned_delete(m_data, _Rows*m_cols);
m_data = ei_aligned_new<T>(size);
if (size)
m_data = ei_aligned_new<T>(size);
else
m_data = 0;
}
m_cols = cols;
}
@@ -229,7 +235,10 @@ template<typename T, int _Cols, int _Options> class ei_matrix_storage<T, Dynamic
if(size != m_rows*_Cols)
{
ei_aligned_delete(m_data, _Cols*m_rows);
m_data = ei_aligned_new<T>(size);
if (size)
m_data = ei_aligned_new<T>(size);
else
m_data = 0;
}
m_rows = rows;
}

6
Eigen/src/Core/util/Macros.h
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@@ -193,18 +193,18 @@ using Eigen::ei_cos;
template<typename OtherDerived> \
EIGEN_STRONG_INLINE Derived& operator Op(const Eigen::MatrixBase<OtherDerived>& other) \
{ \
return Eigen::MatrixBase<Derived>::operator Op(other.derived()); \
return Base::operator Op(other.derived()); \
} \
EIGEN_STRONG_INLINE Derived& operator Op(const Derived& other) \
{ \
return Eigen::MatrixBase<Derived>::operator Op(other); \
return Base::operator Op(other); \
}
#define EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
template<typename Other> \
EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
{ \
return Eigen::MatrixBase<Derived>::operator Op(scalar); \
return Base::operator Op(scalar); \
}
#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \

23
Eigen/src/Core/util/Memory.h
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@@ -247,7 +247,8 @@ inline static int ei_alignmentOffset(const Scalar* ptr, int maxOffset)
} \
void operator delete(void * ptr) { Eigen::ei_conditional_aligned_free<NeedsToAlign>(ptr); } \
void operator delete[](void * ptr) { Eigen::ei_conditional_aligned_free<NeedsToAlign>(ptr); } \
void *operator new(size_t, void *ptr) throw() { return ptr; }
void *operator new(size_t, void *ptr) throw() { return ptr; } \
typedef void ei_operator_new_marker_type;
#else
#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
#endif
@@ -288,34 +289,34 @@ public:
typedef aligned_allocator<U> other;
};
pointer address( reference value ) const
pointer address( reference value ) const
{
return &value;
}
const_pointer address( const_reference value ) const
const_pointer address( const_reference value ) const
{
return &value;
}
aligned_allocator() throw()
aligned_allocator() throw()
{
}
aligned_allocator( const aligned_allocator& ) throw()
aligned_allocator( const aligned_allocator& ) throw()
{
}
template<class U>
aligned_allocator( const aligned_allocator<U>& ) throw()
aligned_allocator( const aligned_allocator<U>& ) throw()
{
}
~aligned_allocator() throw()
~aligned_allocator() throw()
{
}
size_type max_size() const throw()
size_type max_size() const throw()
{
return std::numeric_limits<size_type>::max();
}
@@ -326,17 +327,17 @@ public:
return static_cast<pointer>( ei_aligned_malloc( num * sizeof(T) ) );
}
void construct( pointer p, const T& value )
void construct( pointer p, const T& value )
{
::new( p ) T( value );
}
void destroy( pointer p )
void destroy( pointer p )
{
p->~T();
}
void deallocate( pointer p, size_type /*num*/ )
void deallocate( pointer p, size_type /*num*/ )
{
ei_aligned_free( p );
}

10
Eigen/src/Geometry/Quaternion.h
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@@ -61,12 +61,12 @@ template<typename _Scalar>
class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
{
typedef RotationBase<Quaternion<_Scalar>,3> Base;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4)
using Base::operator*;
/** the scalar type of the coefficients */
typedef _Scalar Scalar;
@@ -112,10 +112,6 @@ public:
/** Default constructor leaving the quaternion uninitialized. */
inline Quaternion() {}
inline Quaternion(ei_constructor_without_unaligned_array_assert)
: m_coeffs(ei_constructor_without_unaligned_array_assert()) {}
/** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
* its four coefficients \a w, \a x, \a y and \a z.
*
@@ -217,7 +213,7 @@ public:
bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
{ return m_coeffs.isApprox(other.m_coeffs, prec); }
protected:
protected:
Coefficients m_coeffs;
};

7
Eigen/src/Geometry/Transform.h
View File

@@ -95,11 +95,8 @@ public:
/** Default constructor without initialization of the coefficients. */
inline Transform() { }
inline Transform(ei_constructor_without_unaligned_array_assert)
: m_matrix(ei_constructor_without_unaligned_array_assert()) {}
inline Transform(const Transform& other)
{
{
m_matrix = other.m_matrix;
}
@@ -648,7 +645,7 @@ template<typename Scalar, int Dim>
template<typename ScalingMatrixType, typename RotationMatrixType>
void Transform<Scalar,Dim>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
{
linear().svd().computeScalingRotation(scaling, rotation);
linear().svd().computeScalingRotation(scaling, rotation);
}
/** Convenient method to set \c *this from a position, orientation and scale

6
Eigen/src/StdVector/CMakeLists.txt
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@@ -1,6 +0,0 @@
FILE(GLOB Eigen_StdVector_SRCS "*.h")
INSTALL(FILES
${Eigen_StdVector_SRCS}
DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/StdVector
)

73
Eigen/src/StdVector/StdVector.h
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@@ -1,73 +0,0 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra. Eigen itself is part of the KDE project.
//
// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
// Copyright (C) 2009 Alex Stapleton <alex.stapleton@gmail.com>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
//
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_STDVECTOR_H
#define EIGEN_STDVECTOR_H
#define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
typedef Eigen::aligned_allocator<value_type> allocator_type; \
typedef vector<value_type, allocator_type > unaligned_base; \
typedef typename unaligned_base::size_type size_type; \
typedef typename unaligned_base::iterator iterator; \
explicit vector(const allocator_type& __a = allocator_type()) : unaligned_base(__a) {} \
vector(const vector& c) : unaligned_base(c) {} \
vector(size_type num, const value_type& val = value_type()) : unaligned_base(num, val) {}\
vector(iterator start, iterator end) : unaligned_base(start, end) {} \
vector& operator=(const vector& __x) { \
unaligned_base::operator=(__x); \
return *this; \
}
template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols, typename _Alloc>
class vector<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>, _Alloc>
: public vector<Eigen::ei_unaligned_type<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> >,
Eigen::aligned_allocator<Eigen::ei_unaligned_type<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> > > >
{
public:
typedef Eigen::ei_unaligned_type<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> > value_type;
EIGEN_STD_VECTOR_SPECIALIZATION_BODY
};
template <typename _Scalar, int _Dim, typename _Alloc>
class vector<Eigen::Transform<_Scalar,_Dim>, _Alloc>
: public vector<Eigen::ei_unaligned_type<Eigen::Transform<_Scalar,_Dim> >,
Eigen::aligned_allocator<Eigen::ei_unaligned_type<Eigen::Transform<_Scalar,_Dim> > > >
{
public:
typedef Eigen::ei_unaligned_type<Eigen::Transform<_Scalar,_Dim> > value_type;
EIGEN_STD_VECTOR_SPECIALIZATION_BODY
};
template <typename _Scalar, typename _Alloc>
class vector<Eigen::Quaternion<_Scalar>, _Alloc>
: public vector<Eigen::ei_unaligned_type<Eigen::Quaternion<_Scalar> >,
Eigen::aligned_allocator<Eigen::ei_unaligned_type<Eigen::Quaternion<_Scalar> > > >
{
public:
typedef Eigen::ei_unaligned_type<Eigen::Quaternion<_Scalar> > value_type;
EIGEN_STD_VECTOR_SPECIALIZATION_BODY
};
#endif // EIGEN_STDVECTOR_H

105
Eigen/src/StdVector/UnalignedType.h
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@@ -1,105 +0,0 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra. Eigen itself is part of the KDE project.
//
// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
// Copyright (C) 2009 Alex Stapleton <alex.stapleton@gmail.com>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
//
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_UNALIGNEDTYPE_H
#define EIGEN_UNALIGNEDTYPE_H
template<typename aligned_type> class ei_unaligned_type;
template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
class ei_unaligned_type<Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> >
: public Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>
{
private:
template<typename Other> void _unaligned_copy(const Other& other)
{
if(other.size() == 0) return;
resize(other.rows(), other.cols());
ei_assign_impl<ei_unaligned_type,aligned_base,NoVectorization>::run(*this, other);
}
public:
typedef Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> aligned_base;
ei_unaligned_type() : aligned_base(ei_constructor_without_unaligned_array_assert()) {}
ei_unaligned_type(const aligned_base& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
{
_unaligned_copy(other);
}
ei_unaligned_type(const ei_unaligned_type& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
{
_unaligned_copy(other);
}
};
template<typename _Scalar, int _Dim>
class ei_unaligned_type<Transform<_Scalar,_Dim> >
: public Transform<_Scalar,_Dim>
{
private:
template<typename Other> void _unaligned_copy(const Other& other)
{
// no resizing here, it's fixed-size anyway
ei_assign_impl<MatrixType,MatrixType,NoVectorization>::run(this->matrix(), other.matrix());
}
public:
typedef Transform<_Scalar,_Dim> aligned_base;
typedef typename aligned_base::MatrixType MatrixType;
ei_unaligned_type() : aligned_base(ei_constructor_without_unaligned_array_assert()) {}
ei_unaligned_type(const aligned_base& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
{
_unaligned_copy(other);
}
ei_unaligned_type(const ei_unaligned_type& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
{
_unaligned_copy(other);
}
};
template<typename _Scalar>
class ei_unaligned_type<Quaternion<_Scalar> >
: public Quaternion<_Scalar>
{
private:
template<typename Other> void _unaligned_copy(const Other& other)
{
// no resizing here, it's fixed-size anyway
ei_assign_impl<Coefficients,Coefficients,NoVectorization>::run(this->coeffs(), other.coeffs());
}
public:
typedef Quaternion<_Scalar> aligned_base;
typedef typename aligned_base::Coefficients Coefficients;
ei_unaligned_type() : aligned_base(ei_constructor_without_unaligned_array_assert()) {}
ei_unaligned_type(const aligned_base& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
{
_unaligned_copy(other);
}
ei_unaligned_type(const ei_unaligned_type& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
{
_unaligned_copy(other);
}
};
#endif // EIGEN_UNALIGNEDTYPE_H