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Tobias Wood
@@ -31,148 +31,134 @@ namespace Eigen {
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*
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* \sa class SkewSymmetricMatrix3, class SkewSymmetricWrapper
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*/
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template<typename Derived>
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class SkewSymmetricBase : public EigenBase<Derived>
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{
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public:
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typedef typename internal::traits<Derived>::SkewSymmetricVectorType SkewSymmetricVectorType;
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typedef typename SkewSymmetricVectorType::Scalar Scalar;
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typedef typename SkewSymmetricVectorType::RealScalar RealScalar;
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typedef typename internal::traits<Derived>::StorageKind StorageKind;
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typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
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template <typename Derived>
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class SkewSymmetricBase : public EigenBase<Derived> {
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public:
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typedef typename internal::traits<Derived>::SkewSymmetricVectorType SkewSymmetricVectorType;
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typedef typename SkewSymmetricVectorType::Scalar Scalar;
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typedef typename SkewSymmetricVectorType::RealScalar RealScalar;
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typedef typename internal::traits<Derived>::StorageKind StorageKind;
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typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
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enum {
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RowsAtCompileTime = SkewSymmetricVectorType::SizeAtCompileTime,
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ColsAtCompileTime = SkewSymmetricVectorType::SizeAtCompileTime,
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MaxRowsAtCompileTime = SkewSymmetricVectorType::MaxSizeAtCompileTime,
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MaxColsAtCompileTime = SkewSymmetricVectorType::MaxSizeAtCompileTime,
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IsVectorAtCompileTime = 0,
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Flags = NoPreferredStorageOrderBit
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};
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enum {
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RowsAtCompileTime = SkewSymmetricVectorType::SizeAtCompileTime,
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ColsAtCompileTime = SkewSymmetricVectorType::SizeAtCompileTime,
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MaxRowsAtCompileTime = SkewSymmetricVectorType::MaxSizeAtCompileTime,
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MaxColsAtCompileTime = SkewSymmetricVectorType::MaxSizeAtCompileTime,
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IsVectorAtCompileTime = 0,
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Flags = NoPreferredStorageOrderBit
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};
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typedef Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime, 0, MaxRowsAtCompileTime, MaxColsAtCompileTime> DenseMatrixType;
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typedef DenseMatrixType DenseType;
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typedef SkewSymmetricMatrix3<Scalar> PlainObject;
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typedef Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime, 0, MaxRowsAtCompileTime, MaxColsAtCompileTime>
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DenseMatrixType;
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typedef DenseMatrixType DenseType;
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typedef SkewSymmetricMatrix3<Scalar> PlainObject;
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/** \returns a reference to the derived object. */
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EIGEN_DEVICE_FUNC
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inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
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/** \returns a const reference to the derived object. */
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EIGEN_DEVICE_FUNC
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inline Derived& derived() { return *static_cast<Derived*>(this); }
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/** \returns a reference to the derived object. */
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EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
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/** \returns a const reference to the derived object. */
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EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
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/**
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* Constructs a dense matrix from \c *this. Note, this directly returns a dense matrix type,
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* not an expression.
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* \returns A dense matrix, with its entries set from the the derived object. */
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EIGEN_DEVICE_FUNC
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DenseMatrixType toDenseMatrix() const { return derived(); }
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/**
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* Constructs a dense matrix from \c *this. Note, this directly returns a dense matrix type,
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* not an expression.
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* \returns A dense matrix, with its entries set from the the derived object. */
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EIGEN_DEVICE_FUNC DenseMatrixType toDenseMatrix() const { return derived(); }
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/** Determinant vanishes */
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EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
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inline Scalar determinant() const { return 0; }
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/** Determinant vanishes */
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EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Scalar determinant() const { return 0; }
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/** A.transpose() = -A */
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EIGEN_DEVICE_FUNC
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PlainObject transpose() const { return (-vector()).asSkewSymmetric(); }
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/** A.transpose() = -A */
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EIGEN_DEVICE_FUNC PlainObject transpose() const { return (-vector()).asSkewSymmetric(); }
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/** \returns the exponential of this matrix using Rodrigues’ formula */
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EIGEN_DEVICE_FUNC
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DenseMatrixType exponential() const {
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DenseMatrixType retVal = DenseMatrixType::Identity();
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const SkewSymmetricVectorType& v = vector();
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if (v.isZero()) {
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return retVal;
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}
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const Scalar norm2 = v.squaredNorm();
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const Scalar norm = numext::sqrt(norm2);
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retVal += ((((1 - numext::cos(norm))/norm2)*derived())*derived()) + (numext::sin(norm)/norm)*derived().toDenseMatrix();
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/** \returns the exponential of this matrix using Rodrigues’ formula */
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EIGEN_DEVICE_FUNC DenseMatrixType exponential() const {
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DenseMatrixType retVal = DenseMatrixType::Identity();
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const SkewSymmetricVectorType& v = vector();
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if (v.isZero()) {
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return retVal;
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}
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const Scalar norm2 = v.squaredNorm();
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const Scalar norm = numext::sqrt(norm2);
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retVal += ((((1 - numext::cos(norm)) / norm2) * derived()) * derived()) +
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(numext::sin(norm) / norm) * derived().toDenseMatrix();
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return retVal;
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}
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/** \returns a reference to the derived object's vector of coefficients. */
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EIGEN_DEVICE_FUNC
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inline const SkewSymmetricVectorType& vector() const { return derived().vector(); }
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/** \returns a const reference to the derived object's vector of coefficients. */
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EIGEN_DEVICE_FUNC
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inline SkewSymmetricVectorType& vector() { return derived().vector(); }
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/** \returns a reference to the derived object's vector of coefficients. */
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EIGEN_DEVICE_FUNC inline const SkewSymmetricVectorType& vector() const { return derived().vector(); }
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/** \returns a const reference to the derived object's vector of coefficients. */
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EIGEN_DEVICE_FUNC inline SkewSymmetricVectorType& vector() { return derived().vector(); }
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/** \returns the number of rows. */
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EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
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inline Index rows() const { return 3; }
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/** \returns the number of columns. */
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EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
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inline Index cols() const { return 3; }
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/** \returns the number of rows. */
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EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index rows() const { return 3; }
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/** \returns the number of columns. */
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EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index cols() const { return 3; }
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/** \returns the matrix product of \c *this by the dense matrix, \a matrix */
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template<typename MatrixDerived>
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EIGEN_DEVICE_FUNC
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Product<Derived,MatrixDerived,LazyProduct>
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operator*(const MatrixBase<MatrixDerived> &matrix) const
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{
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return Product<Derived, MatrixDerived, LazyProduct>(derived(), matrix.derived());
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}
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/** \returns the matrix product of \c *this by the dense matrix, \a matrix */
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template <typename MatrixDerived>
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EIGEN_DEVICE_FUNC Product<Derived, MatrixDerived, LazyProduct> operator*(
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const MatrixBase<MatrixDerived>& matrix) const {
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return Product<Derived, MatrixDerived, LazyProduct>(derived(), matrix.derived());
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}
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/** \returns the matrix product of \c *this by the skew symmetric matrix, \a matrix */
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template<typename MatrixDerived>
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EIGEN_DEVICE_FUNC
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Product<Derived,MatrixDerived,LazyProduct>
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operator*(const SkewSymmetricBase<MatrixDerived> &matrix) const
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{
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return Product<Derived, MatrixDerived, LazyProduct>(derived(), matrix.derived());
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}
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/** \returns the matrix product of \c *this by the skew symmetric matrix, \a matrix */
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template <typename MatrixDerived>
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EIGEN_DEVICE_FUNC Product<Derived, MatrixDerived, LazyProduct> operator*(
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const SkewSymmetricBase<MatrixDerived>& matrix) const {
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return Product<Derived, MatrixDerived, LazyProduct>(derived(), matrix.derived());
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}
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template <typename OtherDerived>
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using SkewSymmetricProductReturnType = SkewSymmetricWrapper<const EIGEN_CWISE_BINARY_RETURN_TYPE(
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SkewSymmetricVectorType, typename OtherDerived::SkewSymmetricVectorType, product)>;
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template <typename OtherDerived>
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using SkewSymmetricProductReturnType = SkewSymmetricWrapper<const EIGEN_CWISE_BINARY_RETURN_TYPE(
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SkewSymmetricVectorType, typename OtherDerived::SkewSymmetricVectorType, product)>;
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/** \returns the wedge product of \c *this by the skew symmetric matrix \a other
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* A wedge B = AB - BA */
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC SkewSymmetricProductReturnType<OtherDerived> wedge(
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const SkewSymmetricBase<OtherDerived>& other) const {
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return vector().cross(other.vector()).asSkewSymmetric();
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}
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/** \returns the wedge product of \c *this by the skew symmetric matrix \a other
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* A wedge B = AB - BA */
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC SkewSymmetricProductReturnType<OtherDerived> wedge(
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const SkewSymmetricBase<OtherDerived>& other) const {
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return vector().cross(other.vector()).asSkewSymmetric();
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}
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using SkewSymmetricScaleReturnType =
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SkewSymmetricWrapper<const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(SkewSymmetricVectorType, Scalar, product)>;
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using SkewSymmetricScaleReturnType =
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SkewSymmetricWrapper<const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(SkewSymmetricVectorType, Scalar, product)>;
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/** \returns the product of \c *this by the scalar \a scalar */
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EIGEN_DEVICE_FUNC
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inline SkewSymmetricScaleReturnType operator*(const Scalar& scalar) const {
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return (vector() * scalar).asSkewSymmetric();
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}
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/** \returns the product of \c *this by the scalar \a scalar */
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EIGEN_DEVICE_FUNC inline SkewSymmetricScaleReturnType operator*(const Scalar& scalar) const {
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return (vector() * scalar).asSkewSymmetric();
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}
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using ScaleSkewSymmetricReturnType =
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SkewSymmetricWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar, SkewSymmetricVectorType, product)>;
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using ScaleSkewSymmetricReturnType =
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SkewSymmetricWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar, SkewSymmetricVectorType, product)>;
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/** \returns the product of a scalar and the skew symmetric matrix \a other */
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EIGEN_DEVICE_FUNC
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friend inline ScaleSkewSymmetricReturnType operator*(const Scalar& scalar, const SkewSymmetricBase& other) {
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return (scalar * other.vector()).asSkewSymmetric();
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}
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/** \returns the product of a scalar and the skew symmetric matrix \a other */
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EIGEN_DEVICE_FUNC friend inline ScaleSkewSymmetricReturnType operator*(const Scalar& scalar,
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const SkewSymmetricBase& other) {
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return (scalar * other.vector()).asSkewSymmetric();
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}
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template <typename OtherDerived>
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using SkewSymmetricSumReturnType = SkewSymmetricWrapper<const EIGEN_CWISE_BINARY_RETURN_TYPE(
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SkewSymmetricVectorType, typename OtherDerived::SkewSymmetricVectorType, sum)>;
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template <typename OtherDerived>
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using SkewSymmetricSumReturnType = SkewSymmetricWrapper<const EIGEN_CWISE_BINARY_RETURN_TYPE(
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SkewSymmetricVectorType, typename OtherDerived::SkewSymmetricVectorType, sum)>;
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/** \returns the sum of \c *this and the skew symmetric matrix \a other */
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC inline SkewSymmetricSumReturnType<OtherDerived> operator+(
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const SkewSymmetricBase<OtherDerived>& other) const {
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return (vector() + other.vector()).asSkewSymmetric();
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}
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/** \returns the sum of \c *this and the skew symmetric matrix \a other */
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC inline SkewSymmetricSumReturnType<OtherDerived> operator+(
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const SkewSymmetricBase<OtherDerived>& other) const {
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return (vector() + other.vector()).asSkewSymmetric();
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}
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template <typename OtherDerived>
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using SkewSymmetricDifferenceReturnType = SkewSymmetricWrapper<const EIGEN_CWISE_BINARY_RETURN_TYPE(
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SkewSymmetricVectorType, typename OtherDerived::SkewSymmetricVectorType, difference)>;
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template <typename OtherDerived>
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using SkewSymmetricDifferenceReturnType = SkewSymmetricWrapper<const EIGEN_CWISE_BINARY_RETURN_TYPE(
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SkewSymmetricVectorType, typename OtherDerived::SkewSymmetricVectorType, difference)>;
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/** \returns the difference of \c *this and the skew symmetric matrix \a other */
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC inline SkewSymmetricDifferenceReturnType<OtherDerived> operator-(
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const SkewSymmetricBase<OtherDerived>& other) const {
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return (vector() - other.vector()).asSkewSymmetric();
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}
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/** \returns the difference of \c *this and the skew symmetric matrix \a other */
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC inline SkewSymmetricDifferenceReturnType<OtherDerived> operator-(
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const SkewSymmetricBase<OtherDerived>& other) const {
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return (vector() - other.vector()).asSkewSymmetric();
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}
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};
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/** \class SkewSymmetricMatrix3
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@@ -186,122 +172,101 @@ class SkewSymmetricBase : public EigenBase<Derived>
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*/
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namespace internal {
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template<typename Scalar_>
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struct traits<SkewSymmetricMatrix3<Scalar_> >
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: traits<Matrix<Scalar_,3,3,0,3,3> >
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{
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typedef Matrix<Scalar_,3,1,0,3,1> SkewSymmetricVectorType;
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template <typename Scalar_>
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struct traits<SkewSymmetricMatrix3<Scalar_>> : traits<Matrix<Scalar_, 3, 3, 0, 3, 3>> {
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typedef Matrix<Scalar_, 3, 1, 0, 3, 1> SkewSymmetricVectorType;
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typedef SkewSymmetricShape StorageKind;
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enum {
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Flags = LvalueBit | NoPreferredStorageOrderBit | NestByRefBit
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};
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enum { Flags = LvalueBit | NoPreferredStorageOrderBit | NestByRefBit };
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};
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}
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template<typename Scalar_>
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class SkewSymmetricMatrix3
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: public SkewSymmetricBase<SkewSymmetricMatrix3<Scalar_> >
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{
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public:
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#ifndef EIGEN_PARSED_BY_DOXYGEN
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typedef typename internal::traits<SkewSymmetricMatrix3>::SkewSymmetricVectorType SkewSymmetricVectorType;
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typedef const SkewSymmetricMatrix3& Nested;
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typedef Scalar_ Scalar;
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typedef typename internal::traits<SkewSymmetricMatrix3>::StorageKind StorageKind;
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typedef typename internal::traits<SkewSymmetricMatrix3>::StorageIndex StorageIndex;
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#endif
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} // namespace internal
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template <typename Scalar_>
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class SkewSymmetricMatrix3 : public SkewSymmetricBase<SkewSymmetricMatrix3<Scalar_>> {
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public:
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#ifndef EIGEN_PARSED_BY_DOXYGEN
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typedef typename internal::traits<SkewSymmetricMatrix3>::SkewSymmetricVectorType SkewSymmetricVectorType;
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typedef const SkewSymmetricMatrix3& Nested;
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typedef Scalar_ Scalar;
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typedef typename internal::traits<SkewSymmetricMatrix3>::StorageKind StorageKind;
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typedef typename internal::traits<SkewSymmetricMatrix3>::StorageIndex StorageIndex;
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#endif
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protected:
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protected:
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SkewSymmetricVectorType m_vector;
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SkewSymmetricVectorType m_vector;
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public:
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/** const version of vector(). */
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EIGEN_DEVICE_FUNC inline const SkewSymmetricVectorType& vector() const { return m_vector; }
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/** \returns a reference to the stored vector of coefficients. */
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EIGEN_DEVICE_FUNC inline SkewSymmetricVectorType& vector() { return m_vector; }
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public:
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/** Default constructor without initialization */
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EIGEN_DEVICE_FUNC inline SkewSymmetricMatrix3() {}
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/** const version of vector(). */
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EIGEN_DEVICE_FUNC
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inline const SkewSymmetricVectorType& vector() const { return m_vector; }
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/** \returns a reference to the stored vector of coefficients. */
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EIGEN_DEVICE_FUNC
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inline SkewSymmetricVectorType& vector() { return m_vector; }
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/** Constructor from three scalars */
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EIGEN_DEVICE_FUNC inline SkewSymmetricMatrix3(const Scalar& x, const Scalar& y, const Scalar& z)
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: m_vector(x, y, z) {}
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/** Default constructor without initialization */
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EIGEN_DEVICE_FUNC
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inline SkewSymmetricMatrix3() {}
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/** \brief Constructs a SkewSymmetricMatrix3 from an r-value vector type */
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EIGEN_DEVICE_FUNC explicit inline SkewSymmetricMatrix3(SkewSymmetricVectorType&& vec) : m_vector(std::move(vec)) {}
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/** Constructor from three scalars */
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EIGEN_DEVICE_FUNC
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inline SkewSymmetricMatrix3(const Scalar& x, const Scalar& y, const Scalar& z) : m_vector(x,y,z) {}
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/** generic constructor from expression of the coefficients */
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC explicit inline SkewSymmetricMatrix3(const MatrixBase<OtherDerived>& other) : m_vector(other) {}
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/** \brief Constructs a SkewSymmetricMatrix3 from an r-value vector type */
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EIGEN_DEVICE_FUNC
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explicit inline SkewSymmetricMatrix3(SkewSymmetricVectorType&& vec) : m_vector(std::move(vec)) {}
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/** Copy constructor. */
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC inline SkewSymmetricMatrix3(const SkewSymmetricBase<OtherDerived>& other)
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: m_vector(other.vector()) {}
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/** generic constructor from expression of the coefficients */
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template<typename OtherDerived>
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EIGEN_DEVICE_FUNC
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explicit inline SkewSymmetricMatrix3(const MatrixBase<OtherDerived>& other) : m_vector(other)
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{}
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#ifndef EIGEN_PARSED_BY_DOXYGEN
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/** copy constructor. prevent a default copy constructor from hiding the other templated constructor */
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inline SkewSymmetricMatrix3(const SkewSymmetricMatrix3& other) : m_vector(other.vector()) {}
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#endif
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/** Copy constructor. */
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template<typename OtherDerived>
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EIGEN_DEVICE_FUNC
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inline SkewSymmetricMatrix3(const SkewSymmetricBase<OtherDerived>& other) : m_vector(other.vector()) {}
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/** Copy operator. */
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC SkewSymmetricMatrix3& operator=(const SkewSymmetricBase<OtherDerived>& other) {
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m_vector = other.vector();
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return *this;
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}
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#ifndef EIGEN_PARSED_BY_DOXYGEN
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/** copy constructor. prevent a default copy constructor from hiding the other templated constructor */
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inline SkewSymmetricMatrix3(const SkewSymmetricMatrix3& other) : m_vector(other.vector()) {}
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#endif
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#ifndef EIGEN_PARSED_BY_DOXYGEN
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/** This is a special case of the templated operator=. Its purpose is to
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* prevent a default operator= from hiding the templated operator=.
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*/
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EIGEN_DEVICE_FUNC SkewSymmetricMatrix3& operator=(const SkewSymmetricMatrix3& other) {
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m_vector = other.vector();
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return *this;
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}
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#endif
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/** Copy operator. */
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template<typename OtherDerived>
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EIGEN_DEVICE_FUNC
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SkewSymmetricMatrix3& operator=(const SkewSymmetricBase<OtherDerived>& other)
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{
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m_vector = other.vector();
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return *this;
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}
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typedef SkewSymmetricWrapper<const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, SkewSymmetricVectorType>>
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InitializeReturnType;
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#ifndef EIGEN_PARSED_BY_DOXYGEN
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||||
/** This is a special case of the templated operator=. Its purpose is to
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* prevent a default operator= from hiding the templated operator=.
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||||
*/
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||||
EIGEN_DEVICE_FUNC
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||||
SkewSymmetricMatrix3& operator=(const SkewSymmetricMatrix3& other)
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||||
{
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m_vector = other.vector();
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return *this;
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||||
}
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#endif
|
||||
/** Initializes a skew symmetric matrix with coefficients set to zero */
|
||||
EIGEN_DEVICE_FUNC static InitializeReturnType Zero() { return SkewSymmetricVectorType::Zero().asSkewSymmetric(); }
|
||||
|
||||
typedef SkewSymmetricWrapper<const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, SkewSymmetricVectorType>>
|
||||
InitializeReturnType;
|
||||
|
||||
/** Initializes a skew symmetric matrix with coefficients set to zero */
|
||||
EIGEN_DEVICE_FUNC
|
||||
static InitializeReturnType Zero() { return SkewSymmetricVectorType::Zero().asSkewSymmetric(); }
|
||||
|
||||
/** Sets all coefficients to zero. */
|
||||
EIGEN_DEVICE_FUNC
|
||||
inline void setZero() { m_vector.setZero(); }
|
||||
/** Sets all coefficients to zero. */
|
||||
EIGEN_DEVICE_FUNC inline void setZero() { m_vector.setZero(); }
|
||||
};
|
||||
|
||||
/** \class SkewSymmetricWrapper
|
||||
* \ingroup Core_Module
|
||||
*
|
||||
* \brief Expression of a skew symmetric matrix
|
||||
*
|
||||
* \tparam SkewSymmetricVectorType_ the type of the vector of coefficients
|
||||
*
|
||||
* This class is an expression of a skew symmetric matrix, but not storing its own vector of coefficients,
|
||||
* instead wrapping an existing vector expression. It is the return type of MatrixBase::asSkewSymmetric()
|
||||
* and most of the time this is the only way that it is used.
|
||||
*
|
||||
* \sa class SkewSymmetricMatrix3, class SkewSymmetricBase, MatrixBase::asSkewSymmetric()
|
||||
*/
|
||||
* \ingroup Core_Module
|
||||
*
|
||||
* \brief Expression of a skew symmetric matrix
|
||||
*
|
||||
* \tparam SkewSymmetricVectorType_ the type of the vector of coefficients
|
||||
*
|
||||
* This class is an expression of a skew symmetric matrix, but not storing its own vector of coefficients,
|
||||
* instead wrapping an existing vector expression. It is the return type of MatrixBase::asSkewSymmetric()
|
||||
* and most of the time this is the only way that it is used.
|
||||
*
|
||||
* \sa class SkewSymmetricMatrix3, class SkewSymmetricBase, MatrixBase::asSkewSymmetric()
|
||||
*/
|
||||
|
||||
namespace internal {
|
||||
template<typename SkewSymmetricVectorType_>
|
||||
struct traits<SkewSymmetricWrapper<SkewSymmetricVectorType_> >
|
||||
{
|
||||
template <typename SkewSymmetricVectorType_>
|
||||
struct traits<SkewSymmetricWrapper<SkewSymmetricVectorType_>> {
|
||||
typedef SkewSymmetricVectorType_ SkewSymmetricVectorType;
|
||||
typedef typename SkewSymmetricVectorType::Scalar Scalar;
|
||||
typedef typename SkewSymmetricVectorType::StorageIndex StorageIndex;
|
||||
@@ -312,82 +277,80 @@ struct traits<SkewSymmetricWrapper<SkewSymmetricVectorType_> >
|
||||
ColsAtCompileTime = SkewSymmetricVectorType::SizeAtCompileTime,
|
||||
MaxRowsAtCompileTime = SkewSymmetricVectorType::MaxSizeAtCompileTime,
|
||||
MaxColsAtCompileTime = SkewSymmetricVectorType::MaxSizeAtCompileTime,
|
||||
Flags = (traits<SkewSymmetricVectorType>::Flags & LvalueBit) | NoPreferredStorageOrderBit
|
||||
Flags = (traits<SkewSymmetricVectorType>::Flags & LvalueBit) | NoPreferredStorageOrderBit
|
||||
};
|
||||
};
|
||||
}
|
||||
} // namespace internal
|
||||
|
||||
template<typename SkewSymmetricVectorType_>
|
||||
class SkewSymmetricWrapper
|
||||
: public SkewSymmetricBase<SkewSymmetricWrapper<SkewSymmetricVectorType_> >, internal::no_assignment_operator
|
||||
{
|
||||
public:
|
||||
#ifndef EIGEN_PARSED_BY_DOXYGEN
|
||||
typedef SkewSymmetricVectorType_ SkewSymmetricVectorType;
|
||||
typedef SkewSymmetricWrapper Nested;
|
||||
#endif
|
||||
template <typename SkewSymmetricVectorType_>
|
||||
class SkewSymmetricWrapper : public SkewSymmetricBase<SkewSymmetricWrapper<SkewSymmetricVectorType_>>,
|
||||
internal::no_assignment_operator {
|
||||
public:
|
||||
#ifndef EIGEN_PARSED_BY_DOXYGEN
|
||||
typedef SkewSymmetricVectorType_ SkewSymmetricVectorType;
|
||||
typedef SkewSymmetricWrapper Nested;
|
||||
#endif
|
||||
|
||||
/** Constructor from expression of coefficients to wrap. */
|
||||
EIGEN_DEVICE_FUNC
|
||||
explicit inline SkewSymmetricWrapper(SkewSymmetricVectorType& a_vector) : m_vector(a_vector) {}
|
||||
/** Constructor from expression of coefficients to wrap. */
|
||||
EIGEN_DEVICE_FUNC explicit inline SkewSymmetricWrapper(SkewSymmetricVectorType& a_vector) : m_vector(a_vector) {}
|
||||
|
||||
/** \returns a const reference to the wrapped expression of coefficients. */
|
||||
EIGEN_DEVICE_FUNC
|
||||
const SkewSymmetricVectorType& vector() const { return m_vector; }
|
||||
/** \returns a const reference to the wrapped expression of coefficients. */
|
||||
EIGEN_DEVICE_FUNC const SkewSymmetricVectorType& vector() const { return m_vector; }
|
||||
|
||||
protected:
|
||||
typename SkewSymmetricVectorType::Nested m_vector;
|
||||
protected:
|
||||
typename SkewSymmetricVectorType::Nested m_vector;
|
||||
};
|
||||
|
||||
/** \returns a pseudo-expression of a skew symmetric matrix with *this as vector of coefficients
|
||||
*
|
||||
* \only_for_vectors
|
||||
*
|
||||
* \sa class SkewSymmetricWrapper, class SkewSymmetricMatrix3, vector(), isSkewSymmetric()
|
||||
**/
|
||||
template<typename Derived>
|
||||
EIGEN_DEVICE_FUNC inline const SkewSymmetricWrapper<const Derived>
|
||||
MatrixBase<Derived>::asSkewSymmetric() const
|
||||
{
|
||||
*
|
||||
* \only_for_vectors
|
||||
*
|
||||
* \sa class SkewSymmetricWrapper, class SkewSymmetricMatrix3, vector(), isSkewSymmetric()
|
||||
**/
|
||||
template <typename Derived>
|
||||
EIGEN_DEVICE_FUNC inline const SkewSymmetricWrapper<const Derived> MatrixBase<Derived>::asSkewSymmetric() const {
|
||||
return SkewSymmetricWrapper<const Derived>(derived());
|
||||
}
|
||||
|
||||
/** \returns true if *this is approximately equal to a skew symmetric matrix,
|
||||
* within the precision given by \a prec.
|
||||
*/
|
||||
template<typename Derived>
|
||||
bool MatrixBase<Derived>::isSkewSymmetric(const RealScalar& prec) const
|
||||
{
|
||||
if(cols() != rows()) return false;
|
||||
* within the precision given by \a prec.
|
||||
*/
|
||||
template <typename Derived>
|
||||
bool MatrixBase<Derived>::isSkewSymmetric(const RealScalar& prec) const {
|
||||
if (cols() != rows()) return false;
|
||||
return (this->transpose() + *this).isZero(prec);
|
||||
}
|
||||
|
||||
/** \returns the matrix product of \c *this by the skew symmetric matrix \skew.
|
||||
*/
|
||||
template<typename Derived>
|
||||
template<typename SkewDerived>
|
||||
EIGEN_DEVICE_FUNC inline const Product<Derived, SkewDerived, LazyProduct>
|
||||
MatrixBase<Derived>::operator*(const SkewSymmetricBase<SkewDerived> &skew) const
|
||||
{
|
||||
template <typename Derived>
|
||||
template <typename SkewDerived>
|
||||
EIGEN_DEVICE_FUNC inline const Product<Derived, SkewDerived, LazyProduct> MatrixBase<Derived>::operator*(
|
||||
const SkewSymmetricBase<SkewDerived>& skew) const {
|
||||
return Product<Derived, SkewDerived, LazyProduct>(derived(), skew.derived());
|
||||
}
|
||||
|
||||
namespace internal {
|
||||
|
||||
template<> struct storage_kind_to_shape<SkewSymmetricShape> { typedef SkewSymmetricShape Shape; };
|
||||
template <>
|
||||
struct storage_kind_to_shape<SkewSymmetricShape> {
|
||||
typedef SkewSymmetricShape Shape;
|
||||
};
|
||||
|
||||
struct SkewSymmetric2Dense {};
|
||||
|
||||
template<> struct AssignmentKind<DenseShape,SkewSymmetricShape> { typedef SkewSymmetric2Dense Kind; };
|
||||
template <>
|
||||
struct AssignmentKind<DenseShape, SkewSymmetricShape> {
|
||||
typedef SkewSymmetric2Dense Kind;
|
||||
};
|
||||
|
||||
// SkewSymmetric matrix to Dense assignment
|
||||
template< typename DstXprType, typename SrcXprType, typename Functor>
|
||||
struct Assignment<DstXprType, SrcXprType, Functor, SkewSymmetric2Dense>
|
||||
{
|
||||
EIGEN_DEVICE_FUNC
|
||||
static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
|
||||
{
|
||||
if((dst.rows()!=3) || (dst.cols()!=3)) {
|
||||
template <typename DstXprType, typename SrcXprType, typename Functor>
|
||||
struct Assignment<DstXprType, SrcXprType, Functor, SkewSymmetric2Dense> {
|
||||
EIGEN_DEVICE_FUNC static void run(
|
||||
DstXprType& dst, const SrcXprType& src,
|
||||
const internal::assign_op<typename DstXprType::Scalar, typename SrcXprType::Scalar>& /*func*/) {
|
||||
if ((dst.rows() != 3) || (dst.cols() != 3)) {
|
||||
dst.resize(3, 3);
|
||||
}
|
||||
dst.diagonal().setZero();
|
||||
@@ -399,17 +362,21 @@ struct Assignment<DstXprType, SrcXprType, Functor, SkewSymmetric2Dense>
|
||||
dst(1, 2) = -v(0);
|
||||
dst(2, 1) = v(0);
|
||||
}
|
||||
EIGEN_DEVICE_FUNC
|
||||
static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
|
||||
{ dst.vector() += src.vector(); }
|
||||
EIGEN_DEVICE_FUNC static void run(
|
||||
DstXprType& dst, const SrcXprType& src,
|
||||
const internal::add_assign_op<typename DstXprType::Scalar, typename SrcXprType::Scalar>& /*func*/) {
|
||||
dst.vector() += src.vector();
|
||||
}
|
||||
|
||||
EIGEN_DEVICE_FUNC
|
||||
static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
|
||||
{ dst.vector() -= src.vector(); }
|
||||
EIGEN_DEVICE_FUNC static void run(
|
||||
DstXprType& dst, const SrcXprType& src,
|
||||
const internal::sub_assign_op<typename DstXprType::Scalar, typename SrcXprType::Scalar>& /*func*/) {
|
||||
dst.vector() -= src.vector();
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace internal
|
||||
} // namespace internal
|
||||
|
||||
} // end namespace Eigen
|
||||
|
||||
#endif // EIGEN_SKEWSYMMETRICMATRIX3_H
|
||||
#endif // EIGEN_SKEWSYMMETRICMATRIX3_H
|
||||
|
||||
Reference in New Issue
Block a user