1*bf2c3715SXin Li // This file is part of Eigen, a lightweight C++ template library 2*bf2c3715SXin Li // for linear algebra. 3*bf2c3715SXin Li // 4*bf2c3715SXin Li // Copyright (C) 2009-2010 Gael Guennebaud <[email protected]> 5*bf2c3715SXin Li // 6*bf2c3715SXin Li // This Source Code Form is subject to the terms of the Mozilla 7*bf2c3715SXin Li // Public License v. 2.0. If a copy of the MPL was not distributed 8*bf2c3715SXin Li // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9*bf2c3715SXin Li 10*bf2c3715SXin Li #ifndef EIGEN_HOMOGENEOUS_H 11*bf2c3715SXin Li #define EIGEN_HOMOGENEOUS_H 12*bf2c3715SXin Li 13*bf2c3715SXin Li namespace Eigen { 14*bf2c3715SXin Li 15*bf2c3715SXin Li /** \geometry_module \ingroup Geometry_Module 16*bf2c3715SXin Li * 17*bf2c3715SXin Li * \class Homogeneous 18*bf2c3715SXin Li * 19*bf2c3715SXin Li * \brief Expression of one (or a set of) homogeneous vector(s) 20*bf2c3715SXin Li * 21*bf2c3715SXin Li * \param MatrixType the type of the object in which we are making homogeneous 22*bf2c3715SXin Li * 23*bf2c3715SXin Li * This class represents an expression of one (or a set of) homogeneous vector(s). 24*bf2c3715SXin Li * It is the return type of MatrixBase::homogeneous() and most of the time 25*bf2c3715SXin Li * this is the only way it is used. 26*bf2c3715SXin Li * 27*bf2c3715SXin Li * \sa MatrixBase::homogeneous() 28*bf2c3715SXin Li */ 29*bf2c3715SXin Li 30*bf2c3715SXin Li namespace internal { 31*bf2c3715SXin Li 32*bf2c3715SXin Li template<typename MatrixType,int Direction> 33*bf2c3715SXin Li struct traits<Homogeneous<MatrixType,Direction> > 34*bf2c3715SXin Li : traits<MatrixType> 35*bf2c3715SXin Li { 36*bf2c3715SXin Li typedef typename traits<MatrixType>::StorageKind StorageKind; 37*bf2c3715SXin Li typedef typename ref_selector<MatrixType>::type MatrixTypeNested; 38*bf2c3715SXin Li typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested; 39*bf2c3715SXin Li enum { 40*bf2c3715SXin Li RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ? 41*bf2c3715SXin Li int(MatrixType::RowsAtCompileTime) + 1 : Dynamic, 42*bf2c3715SXin Li ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ? 43*bf2c3715SXin Li int(MatrixType::ColsAtCompileTime) + 1 : Dynamic, 44*bf2c3715SXin Li RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime, 45*bf2c3715SXin Li ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime, 46*bf2c3715SXin Li MaxRowsAtCompileTime = RowsAtCompileTime, 47*bf2c3715SXin Li MaxColsAtCompileTime = ColsAtCompileTime, 48*bf2c3715SXin Li TmpFlags = _MatrixTypeNested::Flags & HereditaryBits, 49*bf2c3715SXin Li Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit) 50*bf2c3715SXin Li : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit) 51*bf2c3715SXin Li : TmpFlags 52*bf2c3715SXin Li }; 53*bf2c3715SXin Li }; 54*bf2c3715SXin Li 55*bf2c3715SXin Li template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl; 56*bf2c3715SXin Li template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl; 57*bf2c3715SXin Li 58*bf2c3715SXin Li } // end namespace internal 59*bf2c3715SXin Li 60*bf2c3715SXin Li template<typename MatrixType,int _Direction> class Homogeneous 61*bf2c3715SXin Li : public MatrixBase<Homogeneous<MatrixType,_Direction> >, internal::no_assignment_operator 62*bf2c3715SXin Li { 63*bf2c3715SXin Li public: 64*bf2c3715SXin Li 65*bf2c3715SXin Li typedef MatrixType NestedExpression; 66*bf2c3715SXin Li enum { Direction = _Direction }; 67*bf2c3715SXin Li 68*bf2c3715SXin Li typedef MatrixBase<Homogeneous> Base; 69*bf2c3715SXin Li EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous) 70*bf2c3715SXin Li 71*bf2c3715SXin Li EIGEN_DEVICE_FUNC explicit inline Homogeneous(const MatrixType& matrix) 72*bf2c3715SXin Li : m_matrix(matrix) 73*bf2c3715SXin Li {} 74*bf2c3715SXin Li 75*bf2c3715SXin Li EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR 76*bf2c3715SXin Li inline Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); } 77*bf2c3715SXin Li EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR 78*bf2c3715SXin Li inline Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); } 79*bf2c3715SXin Li 80*bf2c3715SXin Li EIGEN_DEVICE_FUNC const NestedExpression& nestedExpression() const { return m_matrix; } 81*bf2c3715SXin Li 82*bf2c3715SXin Li template<typename Rhs> 83*bf2c3715SXin Li EIGEN_DEVICE_FUNC inline const Product<Homogeneous,Rhs> 84*bf2c3715SXin Li operator* (const MatrixBase<Rhs>& rhs) const 85*bf2c3715SXin Li { 86*bf2c3715SXin Li eigen_assert(int(Direction)==Horizontal); 87*bf2c3715SXin Li return Product<Homogeneous,Rhs>(*this,rhs.derived()); 88*bf2c3715SXin Li } 89*bf2c3715SXin Li 90*bf2c3715SXin Li template<typename Lhs> friend 91*bf2c3715SXin Li EIGEN_DEVICE_FUNC inline const Product<Lhs,Homogeneous> 92*bf2c3715SXin Li operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs) 93*bf2c3715SXin Li { 94*bf2c3715SXin Li eigen_assert(int(Direction)==Vertical); 95*bf2c3715SXin Li return Product<Lhs,Homogeneous>(lhs.derived(),rhs); 96*bf2c3715SXin Li } 97*bf2c3715SXin Li 98*bf2c3715SXin Li template<typename Scalar, int Dim, int Mode, int Options> friend 99*bf2c3715SXin Li EIGEN_DEVICE_FUNC inline const Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous > 100*bf2c3715SXin Li operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs) 101*bf2c3715SXin Li { 102*bf2c3715SXin Li eigen_assert(int(Direction)==Vertical); 103*bf2c3715SXin Li return Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous>(lhs,rhs); 104*bf2c3715SXin Li } 105*bf2c3715SXin Li 106*bf2c3715SXin Li template<typename Func> 107*bf2c3715SXin Li EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::result_of<Func(Scalar,Scalar)>::type 108*bf2c3715SXin Li redux(const Func& func) const 109*bf2c3715SXin Li { 110*bf2c3715SXin Li return func(m_matrix.redux(func), Scalar(1)); 111*bf2c3715SXin Li } 112*bf2c3715SXin Li 113*bf2c3715SXin Li protected: 114*bf2c3715SXin Li typename MatrixType::Nested m_matrix; 115*bf2c3715SXin Li }; 116*bf2c3715SXin Li 117*bf2c3715SXin Li /** \geometry_module \ingroup Geometry_Module 118*bf2c3715SXin Li * 119*bf2c3715SXin Li * \returns a vector expression that is one longer than the vector argument, with the value 1 symbolically appended as the last coefficient. 120*bf2c3715SXin Li * 121*bf2c3715SXin Li * This can be used to convert affine coordinates to homogeneous coordinates. 122*bf2c3715SXin Li * 123*bf2c3715SXin Li * \only_for_vectors 124*bf2c3715SXin Li * 125*bf2c3715SXin Li * Example: \include MatrixBase_homogeneous.cpp 126*bf2c3715SXin Li * Output: \verbinclude MatrixBase_homogeneous.out 127*bf2c3715SXin Li * 128*bf2c3715SXin Li * \sa VectorwiseOp::homogeneous(), class Homogeneous 129*bf2c3715SXin Li */ 130*bf2c3715SXin Li template<typename Derived> 131*bf2c3715SXin Li EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::HomogeneousReturnType 132*bf2c3715SXin Li MatrixBase<Derived>::homogeneous() const 133*bf2c3715SXin Li { 134*bf2c3715SXin Li EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived); 135*bf2c3715SXin Li return HomogeneousReturnType(derived()); 136*bf2c3715SXin Li } 137*bf2c3715SXin Li 138*bf2c3715SXin Li /** \geometry_module \ingroup Geometry_Module 139*bf2c3715SXin Li * 140*bf2c3715SXin Li * \returns an expression where the value 1 is symbolically appended as the final coefficient to each column (or row) of the matrix. 141*bf2c3715SXin Li * 142*bf2c3715SXin Li * This can be used to convert affine coordinates to homogeneous coordinates. 143*bf2c3715SXin Li * 144*bf2c3715SXin Li * Example: \include VectorwiseOp_homogeneous.cpp 145*bf2c3715SXin Li * Output: \verbinclude VectorwiseOp_homogeneous.out 146*bf2c3715SXin Li * 147*bf2c3715SXin Li * \sa MatrixBase::homogeneous(), class Homogeneous */ 148*bf2c3715SXin Li template<typename ExpressionType, int Direction> 149*bf2c3715SXin Li EIGEN_DEVICE_FUNC inline Homogeneous<ExpressionType,Direction> 150*bf2c3715SXin Li VectorwiseOp<ExpressionType,Direction>::homogeneous() const 151*bf2c3715SXin Li { 152*bf2c3715SXin Li return HomogeneousReturnType(_expression()); 153*bf2c3715SXin Li } 154*bf2c3715SXin Li 155*bf2c3715SXin Li /** \geometry_module \ingroup Geometry_Module 156*bf2c3715SXin Li * 157*bf2c3715SXin Li * \brief homogeneous normalization 158*bf2c3715SXin Li * 159*bf2c3715SXin Li * \returns a vector expression of the N-1 first coefficients of \c *this divided by that last coefficient. 160*bf2c3715SXin Li * 161*bf2c3715SXin Li * This can be used to convert homogeneous coordinates to affine coordinates. 162*bf2c3715SXin Li * 163*bf2c3715SXin Li * It is essentially a shortcut for: 164*bf2c3715SXin Li * \code 165*bf2c3715SXin Li this->head(this->size()-1)/this->coeff(this->size()-1); 166*bf2c3715SXin Li \endcode 167*bf2c3715SXin Li * 168*bf2c3715SXin Li * Example: \include MatrixBase_hnormalized.cpp 169*bf2c3715SXin Li * Output: \verbinclude MatrixBase_hnormalized.out 170*bf2c3715SXin Li * 171*bf2c3715SXin Li * \sa VectorwiseOp::hnormalized() */ 172*bf2c3715SXin Li template<typename Derived> 173*bf2c3715SXin Li EIGEN_DEVICE_FUNC inline const typename MatrixBase<Derived>::HNormalizedReturnType 174*bf2c3715SXin Li MatrixBase<Derived>::hnormalized() const 175*bf2c3715SXin Li { 176*bf2c3715SXin Li EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived); 177*bf2c3715SXin Li return ConstStartMinusOne(derived(),0,0, 178*bf2c3715SXin Li ColsAtCompileTime==1?size()-1:1, 179*bf2c3715SXin Li ColsAtCompileTime==1?1:size()-1) / coeff(size()-1); 180*bf2c3715SXin Li } 181*bf2c3715SXin Li 182*bf2c3715SXin Li /** \geometry_module \ingroup Geometry_Module 183*bf2c3715SXin Li * 184*bf2c3715SXin Li * \brief column or row-wise homogeneous normalization 185*bf2c3715SXin Li * 186*bf2c3715SXin Li * \returns an expression of the first N-1 coefficients of each column (or row) of \c *this divided by the last coefficient of each column (or row). 187*bf2c3715SXin Li * 188*bf2c3715SXin Li * This can be used to convert homogeneous coordinates to affine coordinates. 189*bf2c3715SXin Li * 190*bf2c3715SXin Li * It is conceptually equivalent to calling MatrixBase::hnormalized() to each column (or row) of \c *this. 191*bf2c3715SXin Li * 192*bf2c3715SXin Li * Example: \include DirectionWise_hnormalized.cpp 193*bf2c3715SXin Li * Output: \verbinclude DirectionWise_hnormalized.out 194*bf2c3715SXin Li * 195*bf2c3715SXin Li * \sa MatrixBase::hnormalized() */ 196*bf2c3715SXin Li template<typename ExpressionType, int Direction> 197*bf2c3715SXin Li EIGEN_DEVICE_FUNC inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType 198*bf2c3715SXin Li VectorwiseOp<ExpressionType,Direction>::hnormalized() const 199*bf2c3715SXin Li { 200*bf2c3715SXin Li return HNormalized_Block(_expression(),0,0, 201*bf2c3715SXin Li Direction==Vertical ? _expression().rows()-1 : _expression().rows(), 202*bf2c3715SXin Li Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient( 203*bf2c3715SXin Li Replicate<HNormalized_Factors, 204*bf2c3715SXin Li Direction==Vertical ? HNormalized_SizeMinusOne : 1, 205*bf2c3715SXin Li Direction==Horizontal ? HNormalized_SizeMinusOne : 1> 206*bf2c3715SXin Li (HNormalized_Factors(_expression(), 207*bf2c3715SXin Li Direction==Vertical ? _expression().rows()-1:0, 208*bf2c3715SXin Li Direction==Horizontal ? _expression().cols()-1:0, 209*bf2c3715SXin Li Direction==Vertical ? 1 : _expression().rows(), 210*bf2c3715SXin Li Direction==Horizontal ? 1 : _expression().cols()), 211*bf2c3715SXin Li Direction==Vertical ? _expression().rows()-1 : 1, 212*bf2c3715SXin Li Direction==Horizontal ? _expression().cols()-1 : 1)); 213*bf2c3715SXin Li } 214*bf2c3715SXin Li 215*bf2c3715SXin Li namespace internal { 216*bf2c3715SXin Li 217*bf2c3715SXin Li template<typename MatrixOrTransformType> 218*bf2c3715SXin Li struct take_matrix_for_product 219*bf2c3715SXin Li { 220*bf2c3715SXin Li typedef MatrixOrTransformType type; 221*bf2c3715SXin Li EIGEN_DEVICE_FUNC static const type& run(const type &x) { return x; } 222*bf2c3715SXin Li }; 223*bf2c3715SXin Li 224*bf2c3715SXin Li template<typename Scalar, int Dim, int Mode,int Options> 225*bf2c3715SXin Li struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> > 226*bf2c3715SXin Li { 227*bf2c3715SXin Li typedef Transform<Scalar, Dim, Mode, Options> TransformType; 228*bf2c3715SXin Li typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type; 229*bf2c3715SXin Li EIGEN_DEVICE_FUNC static type run (const TransformType& x) { return x.affine(); } 230*bf2c3715SXin Li }; 231*bf2c3715SXin Li 232*bf2c3715SXin Li template<typename Scalar, int Dim, int Options> 233*bf2c3715SXin Li struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> > 234*bf2c3715SXin Li { 235*bf2c3715SXin Li typedef Transform<Scalar, Dim, Projective, Options> TransformType; 236*bf2c3715SXin Li typedef typename TransformType::MatrixType type; 237*bf2c3715SXin Li EIGEN_DEVICE_FUNC static const type& run (const TransformType& x) { return x.matrix(); } 238*bf2c3715SXin Li }; 239*bf2c3715SXin Li 240*bf2c3715SXin Li template<typename MatrixType,typename Lhs> 241*bf2c3715SXin Li struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> > 242*bf2c3715SXin Li { 243*bf2c3715SXin Li typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType; 244*bf2c3715SXin Li typedef typename remove_all<MatrixType>::type MatrixTypeCleaned; 245*bf2c3715SXin Li typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned; 246*bf2c3715SXin Li typedef typename make_proper_matrix_type< 247*bf2c3715SXin Li typename traits<MatrixTypeCleaned>::Scalar, 248*bf2c3715SXin Li LhsMatrixTypeCleaned::RowsAtCompileTime, 249*bf2c3715SXin Li MatrixTypeCleaned::ColsAtCompileTime, 250*bf2c3715SXin Li MatrixTypeCleaned::PlainObject::Options, 251*bf2c3715SXin Li LhsMatrixTypeCleaned::MaxRowsAtCompileTime, 252*bf2c3715SXin Li MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType; 253*bf2c3715SXin Li }; 254*bf2c3715SXin Li 255*bf2c3715SXin Li template<typename MatrixType,typename Lhs> 256*bf2c3715SXin Li struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> 257*bf2c3715SXin Li : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> > 258*bf2c3715SXin Li { 259*bf2c3715SXin Li typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType; 260*bf2c3715SXin Li typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned; 261*bf2c3715SXin Li typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested; 262*bf2c3715SXin Li EIGEN_DEVICE_FUNC homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs) 263*bf2c3715SXin Li : m_lhs(take_matrix_for_product<Lhs>::run(lhs)), 264*bf2c3715SXin Li m_rhs(rhs) 265*bf2c3715SXin Li {} 266*bf2c3715SXin Li 267*bf2c3715SXin Li EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR 268*bf2c3715SXin Li inline Index rows() const EIGEN_NOEXCEPT { return m_lhs.rows(); } 269*bf2c3715SXin Li EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR 270*bf2c3715SXin Li inline Index cols() const EIGEN_NOEXCEPT { return m_rhs.cols(); } 271*bf2c3715SXin Li 272*bf2c3715SXin Li template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const 273*bf2c3715SXin Li { 274*bf2c3715SXin Li // FIXME investigate how to allow lazy evaluation of this product when possible 275*bf2c3715SXin Li dst = Block<const LhsMatrixTypeNested, 276*bf2c3715SXin Li LhsMatrixTypeNested::RowsAtCompileTime, 277*bf2c3715SXin Li LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1> 278*bf2c3715SXin Li (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs; 279*bf2c3715SXin Li dst += m_lhs.col(m_lhs.cols()-1).rowwise() 280*bf2c3715SXin Li .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols()); 281*bf2c3715SXin Li } 282*bf2c3715SXin Li 283*bf2c3715SXin Li typename LhsMatrixTypeCleaned::Nested m_lhs; 284*bf2c3715SXin Li typename MatrixType::Nested m_rhs; 285*bf2c3715SXin Li }; 286*bf2c3715SXin Li 287*bf2c3715SXin Li template<typename MatrixType,typename Rhs> 288*bf2c3715SXin Li struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> > 289*bf2c3715SXin Li { 290*bf2c3715SXin Li typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar, 291*bf2c3715SXin Li MatrixType::RowsAtCompileTime, 292*bf2c3715SXin Li Rhs::ColsAtCompileTime, 293*bf2c3715SXin Li MatrixType::PlainObject::Options, 294*bf2c3715SXin Li MatrixType::MaxRowsAtCompileTime, 295*bf2c3715SXin Li Rhs::MaxColsAtCompileTime>::type ReturnType; 296*bf2c3715SXin Li }; 297*bf2c3715SXin Li 298*bf2c3715SXin Li template<typename MatrixType,typename Rhs> 299*bf2c3715SXin Li struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> 300*bf2c3715SXin Li : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> > 301*bf2c3715SXin Li { 302*bf2c3715SXin Li typedef typename remove_all<typename Rhs::Nested>::type RhsNested; 303*bf2c3715SXin Li EIGEN_DEVICE_FUNC homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs) 304*bf2c3715SXin Li : m_lhs(lhs), m_rhs(rhs) 305*bf2c3715SXin Li {} 306*bf2c3715SXin Li 307*bf2c3715SXin Li EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index rows() const EIGEN_NOEXCEPT { return m_lhs.rows(); } 308*bf2c3715SXin Li EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index cols() const EIGEN_NOEXCEPT { return m_rhs.cols(); } 309*bf2c3715SXin Li 310*bf2c3715SXin Li template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const 311*bf2c3715SXin Li { 312*bf2c3715SXin Li // FIXME investigate how to allow lazy evaluation of this product when possible 313*bf2c3715SXin Li dst = m_lhs * Block<const RhsNested, 314*bf2c3715SXin Li RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1, 315*bf2c3715SXin Li RhsNested::ColsAtCompileTime> 316*bf2c3715SXin Li (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols()); 317*bf2c3715SXin Li dst += m_rhs.row(m_rhs.rows()-1).colwise() 318*bf2c3715SXin Li .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows()); 319*bf2c3715SXin Li } 320*bf2c3715SXin Li 321*bf2c3715SXin Li typename MatrixType::Nested m_lhs; 322*bf2c3715SXin Li typename Rhs::Nested m_rhs; 323*bf2c3715SXin Li }; 324*bf2c3715SXin Li 325*bf2c3715SXin Li template<typename ArgType,int Direction> 326*bf2c3715SXin Li struct evaluator_traits<Homogeneous<ArgType,Direction> > 327*bf2c3715SXin Li { 328*bf2c3715SXin Li typedef typename storage_kind_to_evaluator_kind<typename ArgType::StorageKind>::Kind Kind; 329*bf2c3715SXin Li typedef HomogeneousShape Shape; 330*bf2c3715SXin Li }; 331*bf2c3715SXin Li 332*bf2c3715SXin Li template<> struct AssignmentKind<DenseShape,HomogeneousShape> { typedef Dense2Dense Kind; }; 333*bf2c3715SXin Li 334*bf2c3715SXin Li 335*bf2c3715SXin Li template<typename ArgType,int Direction> 336*bf2c3715SXin Li struct unary_evaluator<Homogeneous<ArgType,Direction>, IndexBased> 337*bf2c3715SXin Li : evaluator<typename Homogeneous<ArgType,Direction>::PlainObject > 338*bf2c3715SXin Li { 339*bf2c3715SXin Li typedef Homogeneous<ArgType,Direction> XprType; 340*bf2c3715SXin Li typedef typename XprType::PlainObject PlainObject; 341*bf2c3715SXin Li typedef evaluator<PlainObject> Base; 342*bf2c3715SXin Li 343*bf2c3715SXin Li EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op) 344*bf2c3715SXin Li : Base(), m_temp(op) 345*bf2c3715SXin Li { 346*bf2c3715SXin Li ::new (static_cast<Base*>(this)) Base(m_temp); 347*bf2c3715SXin Li } 348*bf2c3715SXin Li 349*bf2c3715SXin Li protected: 350*bf2c3715SXin Li PlainObject m_temp; 351*bf2c3715SXin Li }; 352*bf2c3715SXin Li 353*bf2c3715SXin Li // dense = homogeneous 354*bf2c3715SXin Li template< typename DstXprType, typename ArgType, typename Scalar> 355*bf2c3715SXin Li struct Assignment<DstXprType, Homogeneous<ArgType,Vertical>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense> 356*bf2c3715SXin Li { 357*bf2c3715SXin Li typedef Homogeneous<ArgType,Vertical> SrcXprType; 358*bf2c3715SXin Li EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &) 359*bf2c3715SXin Li { 360*bf2c3715SXin Li Index dstRows = src.rows(); 361*bf2c3715SXin Li Index dstCols = src.cols(); 362*bf2c3715SXin Li if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) 363*bf2c3715SXin Li dst.resize(dstRows, dstCols); 364*bf2c3715SXin Li 365*bf2c3715SXin Li dst.template topRows<ArgType::RowsAtCompileTime>(src.nestedExpression().rows()) = src.nestedExpression(); 366*bf2c3715SXin Li dst.row(dst.rows()-1).setOnes(); 367*bf2c3715SXin Li } 368*bf2c3715SXin Li }; 369*bf2c3715SXin Li 370*bf2c3715SXin Li // dense = homogeneous 371*bf2c3715SXin Li template< typename DstXprType, typename ArgType, typename Scalar> 372*bf2c3715SXin Li struct Assignment<DstXprType, Homogeneous<ArgType,Horizontal>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense> 373*bf2c3715SXin Li { 374*bf2c3715SXin Li typedef Homogeneous<ArgType,Horizontal> SrcXprType; 375*bf2c3715SXin Li EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &) 376*bf2c3715SXin Li { 377*bf2c3715SXin Li Index dstRows = src.rows(); 378*bf2c3715SXin Li Index dstCols = src.cols(); 379*bf2c3715SXin Li if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) 380*bf2c3715SXin Li dst.resize(dstRows, dstCols); 381*bf2c3715SXin Li 382*bf2c3715SXin Li dst.template leftCols<ArgType::ColsAtCompileTime>(src.nestedExpression().cols()) = src.nestedExpression(); 383*bf2c3715SXin Li dst.col(dst.cols()-1).setOnes(); 384*bf2c3715SXin Li } 385*bf2c3715SXin Li }; 386*bf2c3715SXin Li 387*bf2c3715SXin Li template<typename LhsArg, typename Rhs, int ProductTag> 388*bf2c3715SXin Li struct generic_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs, HomogeneousShape, DenseShape, ProductTag> 389*bf2c3715SXin Li { 390*bf2c3715SXin Li template<typename Dest> 391*bf2c3715SXin Li EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const Homogeneous<LhsArg,Horizontal>& lhs, const Rhs& rhs) 392*bf2c3715SXin Li { 393*bf2c3715SXin Li homogeneous_right_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs>(lhs.nestedExpression(), rhs).evalTo(dst); 394*bf2c3715SXin Li } 395*bf2c3715SXin Li }; 396*bf2c3715SXin Li 397*bf2c3715SXin Li template<typename Lhs,typename Rhs> 398*bf2c3715SXin Li struct homogeneous_right_product_refactoring_helper 399*bf2c3715SXin Li { 400*bf2c3715SXin Li enum { 401*bf2c3715SXin Li Dim = Lhs::ColsAtCompileTime, 402*bf2c3715SXin Li Rows = Lhs::RowsAtCompileTime 403*bf2c3715SXin Li }; 404*bf2c3715SXin Li typedef typename Rhs::template ConstNRowsBlockXpr<Dim>::Type LinearBlockConst; 405*bf2c3715SXin Li typedef typename remove_const<LinearBlockConst>::type LinearBlock; 406*bf2c3715SXin Li typedef typename Rhs::ConstRowXpr ConstantColumn; 407*bf2c3715SXin Li typedef Replicate<const ConstantColumn,Rows,1> ConstantBlock; 408*bf2c3715SXin Li typedef Product<Lhs,LinearBlock,LazyProduct> LinearProduct; 409*bf2c3715SXin Li typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr; 410*bf2c3715SXin Li }; 411*bf2c3715SXin Li 412*bf2c3715SXin Li template<typename Lhs, typename Rhs, int ProductTag> 413*bf2c3715SXin Li struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, HomogeneousShape, DenseShape> 414*bf2c3715SXin Li : public evaluator<typename homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs>::Xpr> 415*bf2c3715SXin Li { 416*bf2c3715SXin Li typedef Product<Lhs, Rhs, LazyProduct> XprType; 417*bf2c3715SXin Li typedef homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs> helper; 418*bf2c3715SXin Li typedef typename helper::ConstantBlock ConstantBlock; 419*bf2c3715SXin Li typedef typename helper::Xpr RefactoredXpr; 420*bf2c3715SXin Li typedef evaluator<RefactoredXpr> Base; 421*bf2c3715SXin Li 422*bf2c3715SXin Li EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr) 423*bf2c3715SXin Li : Base( xpr.lhs().nestedExpression() .lazyProduct( xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) ) 424*bf2c3715SXin Li + ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) ) 425*bf2c3715SXin Li {} 426*bf2c3715SXin Li }; 427*bf2c3715SXin Li 428*bf2c3715SXin Li template<typename Lhs, typename RhsArg, int ProductTag> 429*bf2c3715SXin Li struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag> 430*bf2c3715SXin Li { 431*bf2c3715SXin Li template<typename Dest> 432*bf2c3715SXin Li EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs) 433*bf2c3715SXin Li { 434*bf2c3715SXin Li homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, Lhs>(lhs, rhs.nestedExpression()).evalTo(dst); 435*bf2c3715SXin Li } 436*bf2c3715SXin Li }; 437*bf2c3715SXin Li 438*bf2c3715SXin Li // TODO: the following specialization is to address a regression from 3.2 to 3.3 439*bf2c3715SXin Li // In the future, this path should be optimized. 440*bf2c3715SXin Li template<typename Lhs, typename RhsArg, int ProductTag> 441*bf2c3715SXin Li struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, TriangularShape, HomogeneousShape, ProductTag> 442*bf2c3715SXin Li { 443*bf2c3715SXin Li template<typename Dest> 444*bf2c3715SXin Li static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs) 445*bf2c3715SXin Li { 446*bf2c3715SXin Li dst.noalias() = lhs * rhs.eval(); 447*bf2c3715SXin Li } 448*bf2c3715SXin Li }; 449*bf2c3715SXin Li 450*bf2c3715SXin Li template<typename Lhs,typename Rhs> 451*bf2c3715SXin Li struct homogeneous_left_product_refactoring_helper 452*bf2c3715SXin Li { 453*bf2c3715SXin Li enum { 454*bf2c3715SXin Li Dim = Rhs::RowsAtCompileTime, 455*bf2c3715SXin Li Cols = Rhs::ColsAtCompileTime 456*bf2c3715SXin Li }; 457*bf2c3715SXin Li typedef typename Lhs::template ConstNColsBlockXpr<Dim>::Type LinearBlockConst; 458*bf2c3715SXin Li typedef typename remove_const<LinearBlockConst>::type LinearBlock; 459*bf2c3715SXin Li typedef typename Lhs::ConstColXpr ConstantColumn; 460*bf2c3715SXin Li typedef Replicate<const ConstantColumn,1,Cols> ConstantBlock; 461*bf2c3715SXin Li typedef Product<LinearBlock,Rhs,LazyProduct> LinearProduct; 462*bf2c3715SXin Li typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr; 463*bf2c3715SXin Li }; 464*bf2c3715SXin Li 465*bf2c3715SXin Li template<typename Lhs, typename Rhs, int ProductTag> 466*bf2c3715SXin Li struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, HomogeneousShape> 467*bf2c3715SXin Li : public evaluator<typename homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression>::Xpr> 468*bf2c3715SXin Li { 469*bf2c3715SXin Li typedef Product<Lhs, Rhs, LazyProduct> XprType; 470*bf2c3715SXin Li typedef homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression> helper; 471*bf2c3715SXin Li typedef typename helper::ConstantBlock ConstantBlock; 472*bf2c3715SXin Li typedef typename helper::Xpr RefactoredXpr; 473*bf2c3715SXin Li typedef evaluator<RefactoredXpr> Base; 474*bf2c3715SXin Li 475*bf2c3715SXin Li EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr) 476*bf2c3715SXin Li : Base( xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() ) 477*bf2c3715SXin Li + ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) ) 478*bf2c3715SXin Li {} 479*bf2c3715SXin Li }; 480*bf2c3715SXin Li 481*bf2c3715SXin Li template<typename Scalar, int Dim, int Mode,int Options, typename RhsArg, int ProductTag> 482*bf2c3715SXin Li struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag> 483*bf2c3715SXin Li { 484*bf2c3715SXin Li typedef Transform<Scalar,Dim,Mode,Options> TransformType; 485*bf2c3715SXin Li template<typename Dest> 486*bf2c3715SXin Li EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const TransformType& lhs, const Homogeneous<RhsArg,Vertical>& rhs) 487*bf2c3715SXin Li { 488*bf2c3715SXin Li homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, TransformType>(lhs, rhs.nestedExpression()).evalTo(dst); 489*bf2c3715SXin Li } 490*bf2c3715SXin Li }; 491*bf2c3715SXin Li 492*bf2c3715SXin Li template<typename ExpressionType, int Side, bool Transposed> 493*bf2c3715SXin Li struct permutation_matrix_product<ExpressionType, Side, Transposed, HomogeneousShape> 494*bf2c3715SXin Li : public permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape> 495*bf2c3715SXin Li {}; 496*bf2c3715SXin Li 497*bf2c3715SXin Li } // end namespace internal 498*bf2c3715SXin Li 499*bf2c3715SXin Li } // end namespace Eigen 500*bf2c3715SXin Li 501*bf2c3715SXin Li #endif // EIGEN_HOMOGENEOUS_H 502