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Tobias Wood
@@ -17,218 +17,195 @@
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namespace Eigen {
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/**
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* \defgroup AlignedVector3_Module Aligned vector3 module
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*
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* \code
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* #include <unsupported/Eigen/AlignedVector3>
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* \endcode
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*/
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//@{
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* \defgroup AlignedVector3_Module Aligned vector3 module
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*
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* \code
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* #include <unsupported/Eigen/AlignedVector3>
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* \endcode
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*/
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//@{
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/** \class AlignedVector3
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*
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* \brief A vectorization friendly 3D vector
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*
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* This class represents a 3D vector internally using a 4D vector
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* such that vectorization can be seamlessly enabled. Of course,
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* the same result can be achieved by directly using a 4D vector.
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* This class makes this process simpler.
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*
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*/
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*
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* \brief A vectorization friendly 3D vector
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*
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* This class represents a 3D vector internally using a 4D vector
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* such that vectorization can be seamlessly enabled. Of course,
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* the same result can be achieved by directly using a 4D vector.
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* This class makes this process simpler.
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*
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*/
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// TODO specialize Cwise
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template<typename Scalar_> class AlignedVector3;
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template <typename Scalar_>
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class AlignedVector3;
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namespace internal {
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template<typename Scalar_> struct traits<AlignedVector3<Scalar_> >
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: traits<Matrix<Scalar_,3,1,0,4,1> >
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{
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};
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}
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template <typename Scalar_>
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struct traits<AlignedVector3<Scalar_> > : traits<Matrix<Scalar_, 3, 1, 0, 4, 1> > {};
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} // namespace internal
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template<typename Scalar_> class AlignedVector3
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: public MatrixBase<AlignedVector3<Scalar_> >
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{
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typedef Matrix<Scalar_,4,1> CoeffType;
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CoeffType m_coeffs;
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public:
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template <typename Scalar_>
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class AlignedVector3 : public MatrixBase<AlignedVector3<Scalar_> > {
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typedef Matrix<Scalar_, 4, 1> CoeffType;
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CoeffType m_coeffs;
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typedef MatrixBase<AlignedVector3<Scalar_> > Base;
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EIGEN_DENSE_PUBLIC_INTERFACE(AlignedVector3)
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using Base::operator*;
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public:
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typedef MatrixBase<AlignedVector3<Scalar_> > Base;
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EIGEN_DENSE_PUBLIC_INTERFACE(AlignedVector3)
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using Base::operator*;
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inline Index rows() const { return 3; }
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inline Index cols() const { return 1; }
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Scalar* data() { return m_coeffs.data(); }
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const Scalar* data() const { return m_coeffs.data(); }
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Index innerStride() const { return 1; }
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Index outerStride() const { return 3; }
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inline Index rows() const { return 3; }
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inline Index cols() const { return 1; }
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inline const Scalar& coeff(Index row, Index col) const
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{ return m_coeffs.coeff(row, col); }
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Scalar* data() { return m_coeffs.data(); }
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const Scalar* data() const { return m_coeffs.data(); }
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Index innerStride() const { return 1; }
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Index outerStride() const { return 3; }
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inline Scalar& coeffRef(Index row, Index col)
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{ return m_coeffs.coeffRef(row, col); }
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inline const Scalar& coeff(Index row, Index col) const { return m_coeffs.coeff(row, col); }
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inline const Scalar& coeff(Index index) const
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{ return m_coeffs.coeff(index); }
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inline Scalar& coeffRef(Index row, Index col) { return m_coeffs.coeffRef(row, col); }
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inline Scalar& coeffRef(Index index)
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{ return m_coeffs.coeffRef(index);}
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inline const Scalar& coeff(Index index) const { return m_coeffs.coeff(index); }
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inline Scalar& coeffRef(Index index) { return m_coeffs.coeffRef(index); }
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inline AlignedVector3()
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{}
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inline AlignedVector3() {}
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inline AlignedVector3(const Scalar& x, const Scalar& y, const Scalar& z)
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: m_coeffs(x, y, z, Scalar(0))
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{}
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inline AlignedVector3(const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, Scalar(0)) {}
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inline AlignedVector3(const AlignedVector3& other)
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: Base(), m_coeffs(other.m_coeffs)
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{}
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inline AlignedVector3(const AlignedVector3& other) : Base(), m_coeffs(other.m_coeffs) {}
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template<typename XprType, int Size=XprType::SizeAtCompileTime>
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struct generic_assign_selector {};
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template <typename XprType, int Size = XprType::SizeAtCompileTime>
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struct generic_assign_selector {};
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template<typename XprType> struct generic_assign_selector<XprType,4>
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{
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inline static void run(AlignedVector3& dest, const XprType& src)
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{
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dest.m_coeffs = src;
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}
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};
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template <typename XprType>
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struct generic_assign_selector<XprType, 4> {
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inline static void run(AlignedVector3& dest, const XprType& src) { dest.m_coeffs = src; }
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};
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template<typename XprType> struct generic_assign_selector<XprType,3>
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{
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inline static void run(AlignedVector3& dest, const XprType& src)
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{
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dest.m_coeffs.template head<3>() = src;
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dest.m_coeffs.w() = Scalar(0);
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}
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};
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template<typename Derived>
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inline AlignedVector3(const MatrixBase<Derived>& other)
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{
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generic_assign_selector<Derived>::run(*this,other.derived());
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template <typename XprType>
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struct generic_assign_selector<XprType, 3> {
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inline static void run(AlignedVector3& dest, const XprType& src) {
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dest.m_coeffs.template head<3>() = src;
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dest.m_coeffs.w() = Scalar(0);
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}
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};
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inline AlignedVector3& operator=(const AlignedVector3& other)
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{ m_coeffs = other.m_coeffs; return *this; }
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template <typename Derived>
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inline AlignedVector3(const MatrixBase<Derived>& other) {
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generic_assign_selector<Derived>::run(*this, other.derived());
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}
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template <typename Derived>
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inline AlignedVector3& operator=(const MatrixBase<Derived>& other)
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{
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generic_assign_selector<Derived>::run(*this,other.derived());
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return *this;
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}
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inline AlignedVector3& operator=(const AlignedVector3& other) {
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m_coeffs = other.m_coeffs;
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return *this;
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}
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inline AlignedVector3 operator+(const AlignedVector3& other) const
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{ return AlignedVector3(m_coeffs + other.m_coeffs); }
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template <typename Derived>
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inline AlignedVector3& operator=(const MatrixBase<Derived>& other) {
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generic_assign_selector<Derived>::run(*this, other.derived());
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return *this;
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}
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inline AlignedVector3& operator+=(const AlignedVector3& other)
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{ m_coeffs += other.m_coeffs; return *this; }
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inline AlignedVector3 operator+(const AlignedVector3& other) const {
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return AlignedVector3(m_coeffs + other.m_coeffs);
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}
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inline AlignedVector3 operator-(const AlignedVector3& other) const
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{ return AlignedVector3(m_coeffs - other.m_coeffs); }
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inline AlignedVector3& operator+=(const AlignedVector3& other) {
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m_coeffs += other.m_coeffs;
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return *this;
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}
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inline AlignedVector3 operator-() const
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{ return AlignedVector3(-m_coeffs); }
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inline AlignedVector3 operator-(const AlignedVector3& other) const {
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return AlignedVector3(m_coeffs - other.m_coeffs);
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}
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inline AlignedVector3 operator-=(const AlignedVector3& other)
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{ m_coeffs -= other.m_coeffs; return *this; }
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inline AlignedVector3 operator-() const { return AlignedVector3(-m_coeffs); }
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inline AlignedVector3 operator*(const Scalar& s) const
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{ return AlignedVector3(m_coeffs * s); }
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inline AlignedVector3 operator-=(const AlignedVector3& other) {
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m_coeffs -= other.m_coeffs;
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return *this;
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}
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inline friend AlignedVector3 operator*(const Scalar& s,const AlignedVector3& vec)
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{ return AlignedVector3(s * vec.m_coeffs); }
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inline AlignedVector3 operator*(const Scalar& s) const { return AlignedVector3(m_coeffs * s); }
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inline AlignedVector3& operator*=(const Scalar& s)
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{ m_coeffs *= s; return *this; }
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inline friend AlignedVector3 operator*(const Scalar& s, const AlignedVector3& vec) {
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return AlignedVector3(s * vec.m_coeffs);
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}
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inline AlignedVector3 operator/(const Scalar& s) const
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{ return AlignedVector3(m_coeffs / s); }
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inline AlignedVector3& operator*=(const Scalar& s) {
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m_coeffs *= s;
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return *this;
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}
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inline AlignedVector3& operator/=(const Scalar& s)
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{ m_coeffs /= s; return *this; }
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inline AlignedVector3 operator/(const Scalar& s) const { return AlignedVector3(m_coeffs / s); }
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inline Scalar dot(const AlignedVector3& other) const
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{
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eigen_assert(m_coeffs.w()==Scalar(0));
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eigen_assert(other.m_coeffs.w()==Scalar(0));
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return m_coeffs.dot(other.m_coeffs);
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}
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inline AlignedVector3& operator/=(const Scalar& s) {
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m_coeffs /= s;
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return *this;
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}
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inline void normalize()
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{
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m_coeffs /= norm();
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}
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inline Scalar dot(const AlignedVector3& other) const {
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eigen_assert(m_coeffs.w() == Scalar(0));
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eigen_assert(other.m_coeffs.w() == Scalar(0));
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return m_coeffs.dot(other.m_coeffs);
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}
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inline AlignedVector3 normalized() const
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{
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return AlignedVector3(m_coeffs / norm());
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}
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inline void normalize() { m_coeffs /= norm(); }
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inline Scalar sum() const
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{
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eigen_assert(m_coeffs.w()==Scalar(0));
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return m_coeffs.sum();
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}
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inline AlignedVector3 normalized() const { return AlignedVector3(m_coeffs / norm()); }
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inline Scalar squaredNorm() const
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{
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eigen_assert(m_coeffs.w()==Scalar(0));
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return m_coeffs.squaredNorm();
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}
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inline Scalar sum() const {
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eigen_assert(m_coeffs.w() == Scalar(0));
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return m_coeffs.sum();
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}
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inline Scalar norm() const
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{
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using std::sqrt;
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return sqrt(squaredNorm());
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}
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inline Scalar squaredNorm() const {
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eigen_assert(m_coeffs.w() == Scalar(0));
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return m_coeffs.squaredNorm();
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}
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inline AlignedVector3 cross(const AlignedVector3& other) const
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{
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return AlignedVector3(m_coeffs.cross3(other.m_coeffs));
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}
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inline Scalar norm() const {
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using std::sqrt;
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return sqrt(squaredNorm());
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}
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template<typename Derived>
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inline bool isApprox(const MatrixBase<Derived>& other, const RealScalar& eps=NumTraits<Scalar>::dummy_precision()) const
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{
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return m_coeffs.template head<3>().isApprox(other,eps);
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}
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CoeffType& coeffs() { return m_coeffs; }
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const CoeffType& coeffs() const { return m_coeffs; }
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inline AlignedVector3 cross(const AlignedVector3& other) const {
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return AlignedVector3(m_coeffs.cross3(other.m_coeffs));
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}
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template <typename Derived>
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inline bool isApprox(const MatrixBase<Derived>& other,
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const RealScalar& eps = NumTraits<Scalar>::dummy_precision()) const {
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return m_coeffs.template head<3>().isApprox(other, eps);
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}
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CoeffType& coeffs() { return m_coeffs; }
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const CoeffType& coeffs() const { return m_coeffs; }
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};
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namespace internal {
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template<typename Scalar_>
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struct eval<AlignedVector3<Scalar_>, Dense>
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{
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typedef const AlignedVector3<Scalar_>& type;
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template <typename Scalar_>
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struct eval<AlignedVector3<Scalar_>, Dense> {
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typedef const AlignedVector3<Scalar_>& type;
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};
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template<typename Scalar>
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struct evaluator<AlignedVector3<Scalar> >
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: evaluator<Matrix<Scalar,4,1> >
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{
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template <typename Scalar>
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struct evaluator<AlignedVector3<Scalar> > : evaluator<Matrix<Scalar, 4, 1> > {
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typedef AlignedVector3<Scalar> XprType;
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typedef evaluator<Matrix<Scalar,4,1> > Base;
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evaluator(const XprType &m) : Base(m.coeffs()) {}
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typedef evaluator<Matrix<Scalar, 4, 1> > Base;
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evaluator(const XprType& m) : Base(m.coeffs()) {}
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};
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}
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} // namespace internal
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//@}
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}
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} // namespace Eigen
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#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h"
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#endif // EIGEN_ALIGNED_VECTOR3_MODULE_H
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#endif // EIGEN_ALIGNED_VECTOR3_MODULE_H
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