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* more cleaning in Product

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* make Matrix2f (and similar) vectorized using linear path
* fix a couple of warnings and compilation issues with ICC and gcc 3.3/3.4
  (cannot get Transform compiles with gcc 3.3/3.4, see the FIXME)
This commit is contained in:
Gael Guennebaud
2008-06-19 23:00:51 +00:00
parent 82c3cea1d5
commit fb4a151982
7 changed files with 112 additions and 136 deletions
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4
Eigen/src/Geometry/Cross.h
View File

@@ -28,8 +28,8 @@
/** \returns the cross product of \c *this and \a other */
template<typename Derived>
template<typename OtherDerived>
typename ei_eval<Derived>::type
inline MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
inline typename ei_eval<Derived>::type
MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
{
// Note that there is no need for an expression here since the compiler
// optimize such a small temporary very well (even within a complex expression)

91
Eigen/src/Geometry/Transform.h
View File

@@ -62,6 +62,47 @@ protected:
int OtherCols=Other::ColsAtCompileTime>
struct ei_transform_product_impl;
// FIXME these specializations of ei_transform_product_impl does not work with gcc 3.3 and 3.4 because
// Dim depends on a template parameter. Replacing Dim by 3 (for the 3D case) works.
// note that these specializations have to be defined here,
// otherwise some compilers (at least ICC and NVCC) complain about
// the use of Dim in the specialization parameters.
template<typename Other>
struct ei_transform_product_impl<Other,Dim+1,Dim+1>
{
typedef typename Transform<Scalar,Dim>::MatrixType MatrixType;
typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
static ResultType run(const Transform<Scalar,Dim>& tr, const Other& other)
{ return tr.matrix() * other; }
};
template<typename Other>
struct ei_transform_product_impl<Other,Dim+1,1>
{
typedef typename Transform<Scalar,Dim>::MatrixType MatrixType;
typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
static ResultType run(const Transform<Scalar,Dim>& tr, const Other& other)
{ return tr.matrix() * other; }
};
template<typename Other>
struct ei_transform_product_impl<Other,Dim,1>
{
typedef typename Transform<Scalar,Dim>::AffineMatrixRef MatrixType;
typedef const CwiseUnaryOp<
ei_scalar_multiple_op<Scalar>,
NestByValue<CwiseBinaryOp<
ei_scalar_sum_op<Scalar>,
NestByValue<typename ProductReturnType<NestByValue<MatrixType>,Other>::Type >,
NestByValue<typename Transform<Scalar,Dim>::VectorRef> > >
> ResultType;
// FIXME shall we offer an optimized version when the last row is know to be 0,0...,0,1 ?
static ResultType run(const Transform<Scalar,Dim>& tr, const Other& other)
{ return ((tr.affine().nestByValue() * other).nestByValue() + tr.translation().nestByValue()).nestByValue()
* (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
};
public:
/** Default constructor without initialization of the coefficients. */
@@ -103,13 +144,7 @@ public:
inline VectorRef translation() { return m_matrix.template block<Dim,1>(0,Dim); }
template<typename OtherDerived>
struct TransformProductReturnType
{
typedef typename ei_transform_product_impl<OtherDerived>::ResultType Type;
};
template<typename OtherDerived>
const typename TransformProductReturnType<OtherDerived>::Type
const typename ei_transform_product_impl<OtherDerived>::ResultType
operator * (const MatrixBase<OtherDerived> &other) const;
/** Contatenates two transformations */
@@ -192,7 +227,7 @@ QMatrix Transform<Scalar,Dim>::toQMatrix(void) const
template<typename Scalar, int Dim>
template<typename OtherDerived>
const typename Transform<Scalar,Dim>::template TransformProductReturnType<OtherDerived>::Type
const typename Transform<Scalar,Dim>::template ei_transform_product_impl<OtherDerived>::ResultType
Transform<Scalar,Dim>::operator*(const MatrixBase<OtherDerived> &other) const
{
return ei_transform_product_impl<OtherDerived>::run(*this,other.derived());
@@ -373,44 +408,4 @@ Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDer
return *this;
}
//----------
template<typename Scalar, int Dim>
template<typename Other>
struct Transform<Scalar,Dim>::ei_transform_product_impl<Other,Dim+1,Dim+1>
{
typedef typename Transform<Scalar,Dim>::MatrixType MatrixType;
typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
static ResultType run(const Transform<Scalar,Dim>& tr, const Other& other)
{ return tr.matrix() * other; }
};
template<typename Scalar, int Dim>
template<typename Other>
struct Transform<Scalar,Dim>::ei_transform_product_impl<Other,Dim+1,1>
{
typedef typename Transform<Scalar,Dim>::MatrixType MatrixType;
typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
static ResultType run(const Transform<Scalar,Dim>& tr, const Other& other)
{ return tr.matrix() * other; }
};
template<typename Scalar, int Dim>
template<typename Other>
struct Transform<Scalar,Dim>::ei_transform_product_impl<Other,Dim,1>
{
typedef typename Transform<Scalar,Dim>::AffineMatrixRef MatrixType;
typedef const CwiseUnaryOp<
ei_scalar_multiple_op<Scalar>,
NestByValue<CwiseBinaryOp<
ei_scalar_sum_op<Scalar>,
NestByValue<typename ProductReturnType<NestByValue<MatrixType>,Other>::Type >,
NestByValue<typename Transform<Scalar,Dim>::VectorRef> > >
> ResultType;
// FIXME shall we offer an optimized version when the last row is know to be 0,0...,0,1 ?
static ResultType run(const Transform<Scalar,Dim>& tr, const Other& other)
{ return ((tr.affine().nestByValue() * other).nestByValue() + tr.translation().nestByValue()).nestByValue()
* (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
};
#endif // EIGEN_TRANSFORM_H