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add efficient matrix product specializations for Homogeneous

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This commit is contained in:
Gael Guennebaud
2009-03-05 16:40:56 +00:00
parent 31332fca0b
commit fa9f7708d4
4 changed files with 104 additions and 10 deletions
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72
Eigen/src/Geometry/Homogeneous.h
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@@ -59,6 +59,9 @@ struct ei_traits<Homogeneous<MatrixType,Direction> >
};
};
template<typename MatrixType,typename Lhs> struct ei_homogeneous_left_product_impl;
template<typename MatrixType,typename Rhs> struct ei_homogeneous_right_product_impl;
template<typename MatrixType,int Direction> class Homogeneous
: public MatrixBase<Homogeneous<MatrixType,Direction> >
{
@@ -80,6 +83,22 @@ template<typename MatrixType,int Direction> class Homogeneous
return 1;
return m_matrix.coeff(row, col);
}
template<typename Rhs>
inline const ei_homogeneous_right_product_impl<Homogeneous,Rhs>
operator* (const MatrixBase<Rhs>& rhs) const
{
ei_assert(Direction==Horizontal);
return ei_homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
}
template<typename Lhs> friend
inline const ei_homogeneous_left_product_impl<Homogeneous,Lhs>
operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
{
ei_assert(Direction==Vertical);
return ei_homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
}
protected:
const typename MatrixType::Nested m_matrix;
@@ -165,4 +184,57 @@ PartialRedux<ExpressionType,Direction>::hnormalized() const
Direction==Horizontal ? _expression().cols()-1 : 1).nestByValue();
}
template<typename MatrixType,typename Lhs>
struct ei_homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
: public ReturnByValue<ei_homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>,
Matrix<typename ei_traits<MatrixType>::Scalar,
Lhs::RowsAtCompileTime,MatrixType::ColsAtCompileTime> >
{
typedef typename ei_cleantype<typename Lhs::Nested>::type LhsNested;
ei_homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
: m_lhs(lhs), m_rhs(rhs)
{}
template<typename Dest> void evalTo(Dest& dst) const
{
// FIXME investigate how to allow lazy evaluation of this product when possible
dst = Block<LhsNested,
LhsNested::RowsAtCompileTime,
LhsNested::ColsAtCompileTime==Dynamic?Dynamic:LhsNested::ColsAtCompileTime-1>
(m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
dst += m_lhs.col(m_lhs.cols()-1).rowwise()
.template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
}
const typename Lhs::Nested m_lhs;
const typename MatrixType::Nested m_rhs;
};
template<typename MatrixType,typename Rhs>
struct ei_homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
: public ReturnByValue<ei_homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>,
Matrix<typename ei_traits<MatrixType>::Scalar,
MatrixType::RowsAtCompileTime, Rhs::ColsAtCompileTime> >
{
typedef typename ei_cleantype<typename Rhs::Nested>::type RhsNested;
ei_homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
: m_lhs(lhs), m_rhs(rhs)
{}
template<typename Dest> void evalTo(Dest& dst) const
{
// FIXME investigate how to allow lazy evaluation of this product when possible
dst = m_lhs * Block<RhsNested,
RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
RhsNested::ColsAtCompileTime>
(m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
dst += m_rhs.row(m_rhs.rows()-1).colwise()
.template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
}
const typename MatrixType::Nested m_lhs;
const typename Rhs::Nested m_rhs;
};
#endif // EIGEN_HOMOGENEOUS_H