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Diffstat (limited to 'eigen/Eigen/src/Geometry/Homogeneous.h')
| -rw-r--r-- | eigen/Eigen/src/Geometry/Homogeneous.h | 307 |
1 files changed, 307 insertions, 0 deletions
diff --git a/eigen/Eigen/src/Geometry/Homogeneous.h b/eigen/Eigen/src/Geometry/Homogeneous.h new file mode 100644 index 0000000..820ac96 --- /dev/null +++ b/eigen/Eigen/src/Geometry/Homogeneous.h @@ -0,0 +1,307 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr> +// +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +#ifndef EIGEN_HOMOGENEOUS_H +#define EIGEN_HOMOGENEOUS_H + +namespace Eigen { + +/** \geometry_module \ingroup Geometry_Module + * + * \class Homogeneous + * + * \brief Expression of one (or a set of) homogeneous vector(s) + * + * \param MatrixType the type of the object in which we are making homogeneous + * + * This class represents an expression of one (or a set of) homogeneous vector(s). + * It is the return type of MatrixBase::homogeneous() and most of the time + * this is the only way it is used. + * + * \sa MatrixBase::homogeneous() + */ + +namespace internal { + +template<typename MatrixType,int Direction> +struct traits<Homogeneous<MatrixType,Direction> > + : traits<MatrixType> +{ + typedef typename traits<MatrixType>::StorageKind StorageKind; + typedef typename nested<MatrixType>::type MatrixTypeNested; + typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested; + enum { + RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ? + int(MatrixType::RowsAtCompileTime) + 1 : Dynamic, + ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ? + int(MatrixType::ColsAtCompileTime) + 1 : Dynamic, + RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime, + ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime, + MaxRowsAtCompileTime = RowsAtCompileTime, + MaxColsAtCompileTime = ColsAtCompileTime, + TmpFlags = _MatrixTypeNested::Flags & HereditaryBits, + Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit) + : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit) + : TmpFlags, + CoeffReadCost = _MatrixTypeNested::CoeffReadCost + }; +}; + +template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl; +template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl; + +} // end namespace internal + +template<typename MatrixType,int _Direction> class Homogeneous + : internal::no_assignment_operator, public MatrixBase<Homogeneous<MatrixType,_Direction> > +{ + public: + + enum { Direction = _Direction }; + + typedef MatrixBase<Homogeneous> Base; + EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous) + + inline Homogeneous(const MatrixType& matrix) + : m_matrix(matrix) + {} + + inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); } + inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); } + + inline Scalar coeff(Index row, Index col=0) const + { + if( (int(Direction)==Vertical && row==m_matrix.rows()) + || (int(Direction)==Horizontal && col==m_matrix.cols())) + return Scalar(1); + return m_matrix.coeff(row, col); + } + + template<typename Rhs> + inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs> + operator* (const MatrixBase<Rhs>& rhs) const + { + eigen_assert(int(Direction)==Horizontal); + return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived()); + } + + template<typename Lhs> friend + inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs> + operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs) + { + eigen_assert(int(Direction)==Vertical); + return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix); + } + + template<typename Scalar, int Dim, int Mode, int Options> friend + inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> > + operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs) + { + eigen_assert(int(Direction)==Vertical); + return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix); + } + + protected: + typename MatrixType::Nested m_matrix; +}; + +/** \geometry_module + * + * \return an expression of the equivalent homogeneous vector + * + * \only_for_vectors + * + * Example: \include MatrixBase_homogeneous.cpp + * Output: \verbinclude MatrixBase_homogeneous.out + * + * \sa class Homogeneous + */ +template<typename Derived> +inline typename MatrixBase<Derived>::HomogeneousReturnType +MatrixBase<Derived>::homogeneous() const +{ + EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived); + return derived(); +} + +/** \geometry_module + * + * \returns a matrix expression of homogeneous column (or row) vectors + * + * Example: \include VectorwiseOp_homogeneous.cpp + * Output: \verbinclude VectorwiseOp_homogeneous.out + * + * \sa MatrixBase::homogeneous() */ +template<typename ExpressionType, int Direction> +inline Homogeneous<ExpressionType,Direction> +VectorwiseOp<ExpressionType,Direction>::homogeneous() const +{ + return _expression(); +} + +/** \geometry_module + * + * \returns an expression of the homogeneous normalized vector of \c *this + * + * Example: \include MatrixBase_hnormalized.cpp + * Output: \verbinclude MatrixBase_hnormalized.out + * + * \sa VectorwiseOp::hnormalized() */ +template<typename Derived> +inline const typename MatrixBase<Derived>::HNormalizedReturnType +MatrixBase<Derived>::hnormalized() const +{ + EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived); + return ConstStartMinusOne(derived(),0,0, + ColsAtCompileTime==1?size()-1:1, + ColsAtCompileTime==1?1:size()-1) / coeff(size()-1); +} + +/** \geometry_module + * + * \returns an expression of the homogeneous normalized vector of \c *this + * + * Example: \include DirectionWise_hnormalized.cpp + * Output: \verbinclude DirectionWise_hnormalized.out + * + * \sa MatrixBase::hnormalized() */ +template<typename ExpressionType, int Direction> +inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType +VectorwiseOp<ExpressionType,Direction>::hnormalized() const +{ + return HNormalized_Block(_expression(),0,0, + Direction==Vertical ? _expression().rows()-1 : _expression().rows(), + Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient( + Replicate<HNormalized_Factors, + Direction==Vertical ? HNormalized_SizeMinusOne : 1, + Direction==Horizontal ? HNormalized_SizeMinusOne : 1> + (HNormalized_Factors(_expression(), + Direction==Vertical ? _expression().rows()-1:0, + Direction==Horizontal ? _expression().cols()-1:0, + Direction==Vertical ? 1 : _expression().rows(), + Direction==Horizontal ? 1 : _expression().cols()), + Direction==Vertical ? _expression().rows()-1 : 1, + Direction==Horizontal ? _expression().cols()-1 : 1)); +} + +namespace internal { + +template<typename MatrixOrTransformType> +struct take_matrix_for_product +{ + typedef MatrixOrTransformType type; + static const type& run(const type &x) { return x; } +}; + +template<typename Scalar, int Dim, int Mode,int Options> +struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> > +{ + typedef Transform<Scalar, Dim, Mode, Options> TransformType; + typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type; + static type run (const TransformType& x) { return x.affine(); } +}; + +template<typename Scalar, int Dim, int Options> +struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> > +{ + typedef Transform<Scalar, Dim, Projective, Options> TransformType; + typedef typename TransformType::MatrixType type; + static const type& run (const TransformType& x) { return x.matrix(); } +}; + +template<typename MatrixType,typename Lhs> +struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> > +{ + typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType; + typedef typename remove_all<MatrixType>::type MatrixTypeCleaned; + typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned; + typedef typename make_proper_matrix_type< + typename traits<MatrixTypeCleaned>::Scalar, + LhsMatrixTypeCleaned::RowsAtCompileTime, + MatrixTypeCleaned::ColsAtCompileTime, + MatrixTypeCleaned::PlainObject::Options, + LhsMatrixTypeCleaned::MaxRowsAtCompileTime, + MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType; +}; + +template<typename MatrixType,typename Lhs> +struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> + : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> > +{ + typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType; + typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned; + typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested; + typedef typename MatrixType::Index Index; + homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs) + : m_lhs(take_matrix_for_product<Lhs>::run(lhs)), + m_rhs(rhs) + {} + + inline Index rows() const { return m_lhs.rows(); } + inline Index cols() const { return m_rhs.cols(); } + + template<typename Dest> void evalTo(Dest& dst) const + { + // FIXME investigate how to allow lazy evaluation of this product when possible + dst = Block<const LhsMatrixTypeNested, + LhsMatrixTypeNested::RowsAtCompileTime, + LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::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()); + } + + typename LhsMatrixTypeCleaned::Nested m_lhs; + typename MatrixType::Nested m_rhs; +}; + +template<typename MatrixType,typename Rhs> +struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> > +{ + typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar, + MatrixType::RowsAtCompileTime, + Rhs::ColsAtCompileTime, + MatrixType::PlainObject::Options, + MatrixType::MaxRowsAtCompileTime, + Rhs::MaxColsAtCompileTime>::type ReturnType; +}; + +template<typename MatrixType,typename Rhs> +struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> + : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> > +{ + typedef typename remove_all<typename Rhs::Nested>::type RhsNested; + typedef typename MatrixType::Index Index; + homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs) + : m_lhs(lhs), m_rhs(rhs) + {} + + inline Index rows() const { return m_lhs.rows(); } + inline Index cols() const { return m_rhs.cols(); } + + template<typename Dest> void evalTo(Dest& dst) const + { + // FIXME investigate how to allow lazy evaluation of this product when possible + dst = m_lhs * Block<const 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()); + } + + typename MatrixType::Nested m_lhs; + typename Rhs::Nested m_rhs; +}; + +} // end namespace internal + +} // end namespace Eigen + +#endif // EIGEN_HOMOGENEOUS_H |