1 | // This file is part of Eigen, a lightweight C++ template library
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2 | // for linear algebra.
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3 | //
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4 | // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
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5 | //
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6 | // This Source Code Form is subject to the terms of the Mozilla
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7 | // Public License v. 2.0. If a copy of the MPL was not distributed
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8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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9 |
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10 | #ifndef EIGEN_HOMOGENEOUS_H
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11 | #define EIGEN_HOMOGENEOUS_H
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12 |
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13 | namespace Eigen {
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14 |
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15 | /** \geometry_module \ingroup Geometry_Module
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16 | *
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17 | * \class Homogeneous
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18 | *
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19 | * \brief Expression of one (or a set of) homogeneous vector(s)
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20 | *
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21 | * \param MatrixType the type of the object in which we are making homogeneous
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22 | *
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23 | * This class represents an expression of one (or a set of) homogeneous vector(s).
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24 | * It is the return type of MatrixBase::homogeneous() and most of the time
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25 | * this is the only way it is used.
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26 | *
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27 | * \sa MatrixBase::homogeneous()
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28 | */
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29 |
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30 | namespace internal {
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31 |
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32 | template<typename MatrixType,int Direction>
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33 | struct traits<Homogeneous<MatrixType,Direction> >
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34 | : traits<MatrixType>
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35 | {
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36 | typedef typename traits<MatrixType>::StorageKind StorageKind;
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37 | typedef typename nested<MatrixType>::type MatrixTypeNested;
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38 | typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
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39 | enum {
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40 | RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
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41 | int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
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42 | ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
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43 | int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
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44 | RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime,
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45 | ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
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46 | MaxRowsAtCompileTime = RowsAtCompileTime,
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47 | MaxColsAtCompileTime = ColsAtCompileTime,
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48 | TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
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49 | Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
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50 | : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
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51 | : TmpFlags,
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52 | CoeffReadCost = _MatrixTypeNested::CoeffReadCost
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53 | };
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54 | };
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55 |
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56 | template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
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57 | template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
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58 |
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59 | } // end namespace internal
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60 |
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61 | template<typename MatrixType,int _Direction> class Homogeneous
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62 | : internal::no_assignment_operator, public MatrixBase<Homogeneous<MatrixType,_Direction> >
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63 | {
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64 | public:
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65 |
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66 | enum { Direction = _Direction };
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67 |
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68 | typedef MatrixBase<Homogeneous> Base;
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69 | EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
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70 |
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71 | inline Homogeneous(const MatrixType& matrix)
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72 | : m_matrix(matrix)
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73 | {}
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74 |
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75 | inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); }
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76 | inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
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77 |
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78 | inline Scalar coeff(Index row, Index col=0) const
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79 | {
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80 | if( (int(Direction)==Vertical && row==m_matrix.rows())
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81 | || (int(Direction)==Horizontal && col==m_matrix.cols()))
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82 | return Scalar(1);
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83 | return m_matrix.coeff(row, col);
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84 | }
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85 |
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86 | template<typename Rhs>
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87 | inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
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88 | operator* (const MatrixBase<Rhs>& rhs) const
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89 | {
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90 | eigen_assert(int(Direction)==Horizontal);
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91 | return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
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92 | }
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93 |
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94 | template<typename Lhs> friend
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95 | inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
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96 | operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
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97 | {
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98 | eigen_assert(int(Direction)==Vertical);
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99 | return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
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100 | }
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101 |
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102 | template<typename Scalar, int Dim, int Mode, int Options> friend
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103 | inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
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104 | operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
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105 | {
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106 | eigen_assert(int(Direction)==Vertical);
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107 | return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
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108 | }
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109 |
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110 | protected:
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111 | typename MatrixType::Nested m_matrix;
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112 | };
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113 |
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114 | /** \geometry_module
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115 | *
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116 | * \return an expression of the equivalent homogeneous vector
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117 | *
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118 | * \only_for_vectors
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119 | *
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120 | * Example: \include MatrixBase_homogeneous.cpp
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121 | * Output: \verbinclude MatrixBase_homogeneous.out
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122 | *
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123 | * \sa class Homogeneous
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124 | */
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125 | template<typename Derived>
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126 | inline typename MatrixBase<Derived>::HomogeneousReturnType
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127 | MatrixBase<Derived>::homogeneous() const
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128 | {
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129 | EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
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130 | return derived();
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131 | }
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132 |
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133 | /** \geometry_module
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134 | *
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135 | * \returns a matrix expression of homogeneous column (or row) vectors
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136 | *
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137 | * Example: \include VectorwiseOp_homogeneous.cpp
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138 | * Output: \verbinclude VectorwiseOp_homogeneous.out
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139 | *
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140 | * \sa MatrixBase::homogeneous() */
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141 | template<typename ExpressionType, int Direction>
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142 | inline Homogeneous<ExpressionType,Direction>
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143 | VectorwiseOp<ExpressionType,Direction>::homogeneous() const
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144 | {
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145 | return _expression();
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146 | }
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147 |
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148 | /** \geometry_module
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149 | *
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150 | * \returns an expression of the homogeneous normalized vector of \c *this
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151 | *
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152 | * Example: \include MatrixBase_hnormalized.cpp
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153 | * Output: \verbinclude MatrixBase_hnormalized.out
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154 | *
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155 | * \sa VectorwiseOp::hnormalized() */
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156 | template<typename Derived>
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157 | inline const typename MatrixBase<Derived>::HNormalizedReturnType
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158 | MatrixBase<Derived>::hnormalized() const
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159 | {
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160 | EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
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161 | return ConstStartMinusOne(derived(),0,0,
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162 | ColsAtCompileTime==1?size()-1:1,
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163 | ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
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164 | }
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165 |
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166 | /** \geometry_module
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167 | *
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168 | * \returns an expression of the homogeneous normalized vector of \c *this
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169 | *
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170 | * Example: \include DirectionWise_hnormalized.cpp
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171 | * Output: \verbinclude DirectionWise_hnormalized.out
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172 | *
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173 | * \sa MatrixBase::hnormalized() */
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174 | template<typename ExpressionType, int Direction>
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175 | inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
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176 | VectorwiseOp<ExpressionType,Direction>::hnormalized() const
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177 | {
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178 | return HNormalized_Block(_expression(),0,0,
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179 | Direction==Vertical ? _expression().rows()-1 : _expression().rows(),
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180 | Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
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181 | Replicate<HNormalized_Factors,
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182 | Direction==Vertical ? HNormalized_SizeMinusOne : 1,
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183 | Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
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184 | (HNormalized_Factors(_expression(),
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185 | Direction==Vertical ? _expression().rows()-1:0,
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186 | Direction==Horizontal ? _expression().cols()-1:0,
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187 | Direction==Vertical ? 1 : _expression().rows(),
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188 | Direction==Horizontal ? 1 : _expression().cols()),
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189 | Direction==Vertical ? _expression().rows()-1 : 1,
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190 | Direction==Horizontal ? _expression().cols()-1 : 1));
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191 | }
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192 |
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193 | namespace internal {
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194 |
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195 | template<typename MatrixOrTransformType>
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196 | struct take_matrix_for_product
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197 | {
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198 | typedef MatrixOrTransformType type;
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199 | static const type& run(const type &x) { return x; }
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200 | };
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201 |
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202 | template<typename Scalar, int Dim, int Mode,int Options>
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203 | struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
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204 | {
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205 | typedef Transform<Scalar, Dim, Mode, Options> TransformType;
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206 | typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
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207 | static type run (const TransformType& x) { return x.affine(); }
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208 | };
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209 |
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210 | template<typename Scalar, int Dim, int Options>
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211 | struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
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212 | {
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213 | typedef Transform<Scalar, Dim, Projective, Options> TransformType;
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214 | typedef typename TransformType::MatrixType type;
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215 | static const type& run (const TransformType& x) { return x.matrix(); }
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216 | };
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217 |
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218 | template<typename MatrixType,typename Lhs>
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219 | struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
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220 | {
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221 | typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
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222 | typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
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223 | typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
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224 | typedef typename make_proper_matrix_type<
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225 | typename traits<MatrixTypeCleaned>::Scalar,
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226 | LhsMatrixTypeCleaned::RowsAtCompileTime,
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227 | MatrixTypeCleaned::ColsAtCompileTime,
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228 | MatrixTypeCleaned::PlainObject::Options,
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229 | LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
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230 | MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
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231 | };
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232 |
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233 | template<typename MatrixType,typename Lhs>
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234 | struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
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235 | : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
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236 | {
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237 | typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
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238 | typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
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239 | typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
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240 | typedef typename MatrixType::Index Index;
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241 | homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
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242 | : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
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243 | m_rhs(rhs)
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244 | {}
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245 |
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246 | inline Index rows() const { return m_lhs.rows(); }
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247 | inline Index cols() const { return m_rhs.cols(); }
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248 |
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249 | template<typename Dest> void evalTo(Dest& dst) const
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250 | {
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251 | // FIXME investigate how to allow lazy evaluation of this product when possible
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252 | dst = Block<const LhsMatrixTypeNested,
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253 | LhsMatrixTypeNested::RowsAtCompileTime,
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254 | LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
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255 | (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
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256 | dst += m_lhs.col(m_lhs.cols()-1).rowwise()
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257 | .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
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258 | }
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259 |
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260 | typename LhsMatrixTypeCleaned::Nested m_lhs;
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261 | typename MatrixType::Nested m_rhs;
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262 | };
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263 |
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264 | template<typename MatrixType,typename Rhs>
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265 | struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
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266 | {
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267 | typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
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268 | MatrixType::RowsAtCompileTime,
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269 | Rhs::ColsAtCompileTime,
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270 | MatrixType::PlainObject::Options,
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271 | MatrixType::MaxRowsAtCompileTime,
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272 | Rhs::MaxColsAtCompileTime>::type ReturnType;
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273 | };
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274 |
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275 | template<typename MatrixType,typename Rhs>
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276 | struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
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277 | : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
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278 | {
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279 | typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
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280 | typedef typename MatrixType::Index Index;
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281 | homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
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282 | : m_lhs(lhs), m_rhs(rhs)
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283 | {}
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284 |
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285 | inline Index rows() const { return m_lhs.rows(); }
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286 | inline Index cols() const { return m_rhs.cols(); }
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287 |
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288 | template<typename Dest> void evalTo(Dest& dst) const
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289 | {
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290 | // FIXME investigate how to allow lazy evaluation of this product when possible
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291 | dst = m_lhs * Block<const RhsNested,
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292 | RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
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293 | RhsNested::ColsAtCompileTime>
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294 | (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
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295 | dst += m_rhs.row(m_rhs.rows()-1).colwise()
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296 | .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
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297 | }
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298 |
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299 | typename MatrixType::Nested m_lhs;
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300 | typename Rhs::Nested m_rhs;
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301 | };
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302 |
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303 | } // end namespace internal
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304 |
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305 | } // end namespace Eigen
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306 |
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307 | #endif // EIGEN_HOMOGENEOUS_H
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