source: pacpussensors/trunk/Vislab/lib3dv/eigen/Eigen/src/Core/DenseBase.h@ 136

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1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
5// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
6//
7// This Source Code Form is subject to the terms of the Mozilla
8// Public License v. 2.0. If a copy of the MPL was not distributed
9// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
10
11#ifndef EIGEN_DENSEBASE_H
12#define EIGEN_DENSEBASE_H
13
14namespace Eigen {
15
16namespace internal {
17
18// The index type defined by EIGEN_DEFAULT_DENSE_INDEX_TYPE must be a signed type.
19// This dummy function simply aims at checking that at compile time.
20static inline void check_DenseIndex_is_signed() {
21 EIGEN_STATIC_ASSERT(NumTraits<DenseIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
22}
23
24} // end namespace internal
25
26/** \class DenseBase
27 * \ingroup Core_Module
28 *
29 * \brief Base class for all dense matrices, vectors, and arrays
30 *
31 * This class is the base that is inherited by all dense objects (matrix, vector, arrays,
32 * and related expression types). The common Eigen API for dense objects is contained in this class.
33 *
34 * \tparam Derived is the derived type, e.g., a matrix type or an expression.
35 *
36 * This class can be extended with the help of the plugin mechanism described on the page
37 * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN.
38 *
39 * \sa \ref TopicClassHierarchy
40 */
41template<typename Derived> class DenseBase
42#ifndef EIGEN_PARSED_BY_DOXYGEN
43 : public internal::special_scalar_op_base<Derived, typename internal::traits<Derived>::Scalar,
44 typename NumTraits<typename internal::traits<Derived>::Scalar>::Real,
45 DenseCoeffsBase<Derived> >
46#else
47 : public DenseCoeffsBase<Derived>
48#endif // not EIGEN_PARSED_BY_DOXYGEN
49{
50 public:
51
52 class InnerIterator;
53
54 typedef typename internal::traits<Derived>::StorageKind StorageKind;
55
56 /** \brief The type of indices
57 * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
58 * \sa \ref TopicPreprocessorDirectives.
59 */
60 typedef typename internal::traits<Derived>::Index Index;
61
62 typedef typename internal::traits<Derived>::Scalar Scalar;
63 typedef typename internal::packet_traits<Scalar>::type PacketScalar;
64 typedef typename NumTraits<Scalar>::Real RealScalar;
65 typedef internal::special_scalar_op_base<Derived,Scalar,RealScalar, DenseCoeffsBase<Derived> > Base;
66
67 using Base::operator*;
68 using Base::derived;
69 using Base::const_cast_derived;
70 using Base::rows;
71 using Base::cols;
72 using Base::size;
73 using Base::rowIndexByOuterInner;
74 using Base::colIndexByOuterInner;
75 using Base::coeff;
76 using Base::coeffByOuterInner;
77 using Base::packet;
78 using Base::packetByOuterInner;
79 using Base::writePacket;
80 using Base::writePacketByOuterInner;
81 using Base::coeffRef;
82 using Base::coeffRefByOuterInner;
83 using Base::copyCoeff;
84 using Base::copyCoeffByOuterInner;
85 using Base::copyPacket;
86 using Base::copyPacketByOuterInner;
87 using Base::operator();
88 using Base::operator[];
89 using Base::x;
90 using Base::y;
91 using Base::z;
92 using Base::w;
93 using Base::stride;
94 using Base::innerStride;
95 using Base::outerStride;
96 using Base::rowStride;
97 using Base::colStride;
98 typedef typename Base::CoeffReturnType CoeffReturnType;
99
100 enum {
101
102 RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
103 /**< The number of rows at compile-time. This is just a copy of the value provided
104 * by the \a Derived type. If a value is not known at compile-time,
105 * it is set to the \a Dynamic constant.
106 * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
107
108 ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
109 /**< The number of columns at compile-time. This is just a copy of the value provided
110 * by the \a Derived type. If a value is not known at compile-time,
111 * it is set to the \a Dynamic constant.
112 * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
113
114
115 SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
116 internal::traits<Derived>::ColsAtCompileTime>::ret),
117 /**< This is equal to the number of coefficients, i.e. the number of
118 * rows times the number of columns, or to \a Dynamic if this is not
119 * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
120
121 MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
122 /**< This value is equal to the maximum possible number of rows that this expression
123 * might have. If this expression might have an arbitrarily high number of rows,
124 * this value is set to \a Dynamic.
125 *
126 * This value is useful to know when evaluating an expression, in order to determine
127 * whether it is possible to avoid doing a dynamic memory allocation.
128 *
129 * \sa RowsAtCompileTime, MaxColsAtCompileTime, MaxSizeAtCompileTime
130 */
131
132 MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
133 /**< This value is equal to the maximum possible number of columns that this expression
134 * might have. If this expression might have an arbitrarily high number of columns,
135 * this value is set to \a Dynamic.
136 *
137 * This value is useful to know when evaluating an expression, in order to determine
138 * whether it is possible to avoid doing a dynamic memory allocation.
139 *
140 * \sa ColsAtCompileTime, MaxRowsAtCompileTime, MaxSizeAtCompileTime
141 */
142
143 MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
144 internal::traits<Derived>::MaxColsAtCompileTime>::ret),
145 /**< This value is equal to the maximum possible number of coefficients that this expression
146 * might have. If this expression might have an arbitrarily high number of coefficients,
147 * this value is set to \a Dynamic.
148 *
149 * This value is useful to know when evaluating an expression, in order to determine
150 * whether it is possible to avoid doing a dynamic memory allocation.
151 *
152 * \sa SizeAtCompileTime, MaxRowsAtCompileTime, MaxColsAtCompileTime
153 */
154
155 IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
156 || internal::traits<Derived>::MaxColsAtCompileTime == 1,
157 /**< This is set to true if either the number of rows or the number of
158 * columns is known at compile-time to be equal to 1. Indeed, in that case,
159 * we are dealing with a column-vector (if there is only one column) or with
160 * a row-vector (if there is only one row). */
161
162 Flags = internal::traits<Derived>::Flags,
163 /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
164 * constructed from this one. See the \ref flags "list of flags".
165 */
166
167 IsRowMajor = int(Flags) & RowMajorBit, /**< True if this expression has row-major storage order. */
168
169 InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime)
170 : int(IsRowMajor) ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
171
172 CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
173 /**< This is a rough measure of how expensive it is to read one coefficient from
174 * this expression.
175 */
176
177 InnerStrideAtCompileTime = internal::inner_stride_at_compile_time<Derived>::ret,
178 OuterStrideAtCompileTime = internal::outer_stride_at_compile_time<Derived>::ret
179 };
180
181 enum { ThisConstantIsPrivateInPlainObjectBase };
182
183 /** \returns the number of nonzero coefficients which is in practice the number
184 * of stored coefficients. */
185 inline Index nonZeros() const { return size(); }
186
187 /** \returns the outer size.
188 *
189 * \note For a vector, this returns just 1. For a matrix (non-vector), this is the major dimension
190 * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of columns for a
191 * column-major matrix, and the number of rows for a row-major matrix. */
192 Index outerSize() const
193 {
194 return IsVectorAtCompileTime ? 1
195 : int(IsRowMajor) ? this->rows() : this->cols();
196 }
197
198 /** \returns the inner size.
199 *
200 * \note For a vector, this is just the size. For a matrix (non-vector), this is the minor dimension
201 * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of rows for a
202 * column-major matrix, and the number of columns for a row-major matrix. */
203 Index innerSize() const
204 {
205 return IsVectorAtCompileTime ? this->size()
206 : int(IsRowMajor) ? this->cols() : this->rows();
207 }
208
209 /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
210 * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
211 * nothing else.
212 */
213 void resize(Index newSize)
214 {
215 EIGEN_ONLY_USED_FOR_DEBUG(newSize);
216 eigen_assert(newSize == this->size()
217 && "DenseBase::resize() does not actually allow to resize.");
218 }
219 /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
220 * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
221 * nothing else.
222 */
223 void resize(Index nbRows, Index nbCols)
224 {
225 EIGEN_ONLY_USED_FOR_DEBUG(nbRows);
226 EIGEN_ONLY_USED_FOR_DEBUG(nbCols);
227 eigen_assert(nbRows == this->rows() && nbCols == this->cols()
228 && "DenseBase::resize() does not actually allow to resize.");
229 }
230
231#ifndef EIGEN_PARSED_BY_DOXYGEN
232
233 /** \internal Represents a matrix with all coefficients equal to one another*/
234 typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
235 /** \internal Represents a vector with linearly spaced coefficients that allows sequential access only. */
236 typedef CwiseNullaryOp<internal::linspaced_op<Scalar,false>,Derived> SequentialLinSpacedReturnType;
237 /** \internal Represents a vector with linearly spaced coefficients that allows random access. */
238 typedef CwiseNullaryOp<internal::linspaced_op<Scalar,true>,Derived> RandomAccessLinSpacedReturnType;
239 /** \internal the return type of MatrixBase::eigenvalues() */
240 typedef Matrix<typename NumTraits<typename internal::traits<Derived>::Scalar>::Real, internal::traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
241
242#endif // not EIGEN_PARSED_BY_DOXYGEN
243
244 /** Copies \a other into *this. \returns a reference to *this. */
245 template<typename OtherDerived>
246 Derived& operator=(const DenseBase<OtherDerived>& other);
247
248 /** Special case of the template operator=, in order to prevent the compiler
249 * from generating a default operator= (issue hit with g++ 4.1)
250 */
251 Derived& operator=(const DenseBase& other);
252
253 template<typename OtherDerived>
254 Derived& operator=(const EigenBase<OtherDerived> &other);
255
256 template<typename OtherDerived>
257 Derived& operator+=(const EigenBase<OtherDerived> &other);
258
259 template<typename OtherDerived>
260 Derived& operator-=(const EigenBase<OtherDerived> &other);
261
262 template<typename OtherDerived>
263 Derived& operator=(const ReturnByValue<OtherDerived>& func);
264
265 /** \internal Copies \a other into *this without evaluating other. \returns a reference to *this. */
266 template<typename OtherDerived>
267 Derived& lazyAssign(const DenseBase<OtherDerived>& other);
268
269 /** \internal Evaluates \a other into *this. \returns a reference to *this. */
270 template<typename OtherDerived>
271 Derived& lazyAssign(const ReturnByValue<OtherDerived>& other);
272
273 CommaInitializer<Derived> operator<< (const Scalar& s);
274
275 template<unsigned int Added,unsigned int Removed>
276 const Flagged<Derived, Added, Removed> flagged() const;
277
278 template<typename OtherDerived>
279 CommaInitializer<Derived> operator<< (const DenseBase<OtherDerived>& other);
280
281 Eigen::Transpose<Derived> transpose();
282 typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
283 ConstTransposeReturnType transpose() const;
284 void transposeInPlace();
285#ifndef EIGEN_NO_DEBUG
286 protected:
287 template<typename OtherDerived>
288 void checkTransposeAliasing(const OtherDerived& other) const;
289 public:
290#endif
291
292
293 static const ConstantReturnType
294 Constant(Index rows, Index cols, const Scalar& value);
295 static const ConstantReturnType
296 Constant(Index size, const Scalar& value);
297 static const ConstantReturnType
298 Constant(const Scalar& value);
299
300 static const SequentialLinSpacedReturnType
301 LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high);
302 static const RandomAccessLinSpacedReturnType
303 LinSpaced(Index size, const Scalar& low, const Scalar& high);
304 static const SequentialLinSpacedReturnType
305 LinSpaced(Sequential_t, const Scalar& low, const Scalar& high);
306 static const RandomAccessLinSpacedReturnType
307 LinSpaced(const Scalar& low, const Scalar& high);
308
309 template<typename CustomNullaryOp>
310 static const CwiseNullaryOp<CustomNullaryOp, Derived>
311 NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func);
312 template<typename CustomNullaryOp>
313 static const CwiseNullaryOp<CustomNullaryOp, Derived>
314 NullaryExpr(Index size, const CustomNullaryOp& func);
315 template<typename CustomNullaryOp>
316 static const CwiseNullaryOp<CustomNullaryOp, Derived>
317 NullaryExpr(const CustomNullaryOp& func);
318
319 static const ConstantReturnType Zero(Index rows, Index cols);
320 static const ConstantReturnType Zero(Index size);
321 static const ConstantReturnType Zero();
322 static const ConstantReturnType Ones(Index rows, Index cols);
323 static const ConstantReturnType Ones(Index size);
324 static const ConstantReturnType Ones();
325
326 void fill(const Scalar& value);
327 Derived& setConstant(const Scalar& value);
328 Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high);
329 Derived& setLinSpaced(const Scalar& low, const Scalar& high);
330 Derived& setZero();
331 Derived& setOnes();
332 Derived& setRandom();
333
334 template<typename OtherDerived>
335 bool isApprox(const DenseBase<OtherDerived>& other,
336 const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
337 bool isMuchSmallerThan(const RealScalar& other,
338 const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
339 template<typename OtherDerived>
340 bool isMuchSmallerThan(const DenseBase<OtherDerived>& other,
341 const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
342
343 bool isApproxToConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
344 bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
345 bool isZero(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
346 bool isOnes(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
347
348 inline bool hasNaN() const;
349 inline bool allFinite() const;
350
351 inline Derived& operator*=(const Scalar& other);
352 inline Derived& operator/=(const Scalar& other);
353
354 typedef typename internal::add_const_on_value_type<typename internal::eval<Derived>::type>::type EvalReturnType;
355 /** \returns the matrix or vector obtained by evaluating this expression.
356 *
357 * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
358 * a const reference, in order to avoid a useless copy.
359 */
360 EIGEN_STRONG_INLINE EvalReturnType eval() const
361 {
362 // Even though MSVC does not honor strong inlining when the return type
363 // is a dynamic matrix, we desperately need strong inlining for fixed
364 // size types on MSVC.
365 return typename internal::eval<Derived>::type(derived());
366 }
367
368 /** swaps *this with the expression \a other.
369 *
370 */
371 template<typename OtherDerived>
372 void swap(const DenseBase<OtherDerived>& other,
373 int = OtherDerived::ThisConstantIsPrivateInPlainObjectBase)
374 {
375 SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
376 }
377
378 /** swaps *this with the matrix or array \a other.
379 *
380 */
381 template<typename OtherDerived>
382 void swap(PlainObjectBase<OtherDerived>& other)
383 {
384 SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
385 }
386
387
388 inline const NestByValue<Derived> nestByValue() const;
389 inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
390 inline ForceAlignedAccess<Derived> forceAlignedAccess();
391 template<bool Enable> inline const typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf() const;
392 template<bool Enable> inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
393
394 Scalar sum() const;
395 Scalar mean() const;
396 Scalar trace() const;
397
398 Scalar prod() const;
399
400 typename internal::traits<Derived>::Scalar minCoeff() const;
401 typename internal::traits<Derived>::Scalar maxCoeff() const;
402
403 template<typename IndexType>
404 typename internal::traits<Derived>::Scalar minCoeff(IndexType* row, IndexType* col) const;
405 template<typename IndexType>
406 typename internal::traits<Derived>::Scalar maxCoeff(IndexType* row, IndexType* col) const;
407 template<typename IndexType>
408 typename internal::traits<Derived>::Scalar minCoeff(IndexType* index) const;
409 template<typename IndexType>
410 typename internal::traits<Derived>::Scalar maxCoeff(IndexType* index) const;
411
412 template<typename BinaryOp>
413 typename internal::result_of<BinaryOp(typename internal::traits<Derived>::Scalar)>::type
414 redux(const BinaryOp& func) const;
415
416 template<typename Visitor>
417 void visit(Visitor& func) const;
418
419 inline const WithFormat<Derived> format(const IOFormat& fmt) const;
420
421 /** \returns the unique coefficient of a 1x1 expression */
422 CoeffReturnType value() const
423 {
424 EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
425 eigen_assert(this->rows() == 1 && this->cols() == 1);
426 return derived().coeff(0,0);
427 }
428
429 bool all(void) const;
430 bool any(void) const;
431 Index count() const;
432
433 typedef VectorwiseOp<Derived, Horizontal> RowwiseReturnType;
434 typedef const VectorwiseOp<const Derived, Horizontal> ConstRowwiseReturnType;
435 typedef VectorwiseOp<Derived, Vertical> ColwiseReturnType;
436 typedef const VectorwiseOp<const Derived, Vertical> ConstColwiseReturnType;
437
438 ConstRowwiseReturnType rowwise() const;
439 RowwiseReturnType rowwise();
440 ConstColwiseReturnType colwise() const;
441 ColwiseReturnType colwise();
442
443 static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index rows, Index cols);
444 static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index size);
445 static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random();
446
447 template<typename ThenDerived,typename ElseDerived>
448 const Select<Derived,ThenDerived,ElseDerived>
449 select(const DenseBase<ThenDerived>& thenMatrix,
450 const DenseBase<ElseDerived>& elseMatrix) const;
451
452 template<typename ThenDerived>
453 inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
454 select(const DenseBase<ThenDerived>& thenMatrix, const typename ThenDerived::Scalar& elseScalar) const;
455
456 template<typename ElseDerived>
457 inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
458 select(const typename ElseDerived::Scalar& thenScalar, const DenseBase<ElseDerived>& elseMatrix) const;
459
460 template<int p> RealScalar lpNorm() const;
461
462 template<int RowFactor, int ColFactor>
463 inline const Replicate<Derived,RowFactor,ColFactor> replicate() const;
464
465 typedef Replicate<Derived,Dynamic,Dynamic> ReplicateReturnType;
466 inline const ReplicateReturnType replicate(Index rowFacor,Index colFactor) const;
467
468 typedef Reverse<Derived, BothDirections> ReverseReturnType;
469 typedef const Reverse<const Derived, BothDirections> ConstReverseReturnType;
470 ReverseReturnType reverse();
471 ConstReverseReturnType reverse() const;
472 void reverseInPlace();
473
474#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase
475# include "../plugins/BlockMethods.h"
476# ifdef EIGEN_DENSEBASE_PLUGIN
477# include EIGEN_DENSEBASE_PLUGIN
478# endif
479#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
480
481#ifdef EIGEN2_SUPPORT
482
483 Block<Derived> corner(CornerType type, Index cRows, Index cCols);
484 const Block<Derived> corner(CornerType type, Index cRows, Index cCols) const;
485 template<int CRows, int CCols>
486 Block<Derived, CRows, CCols> corner(CornerType type);
487 template<int CRows, int CCols>
488 const Block<Derived, CRows, CCols> corner(CornerType type) const;
489
490#endif // EIGEN2_SUPPORT
491
492
493 // disable the use of evalTo for dense objects with a nice compilation error
494 template<typename Dest> inline void evalTo(Dest& ) const
495 {
496 EIGEN_STATIC_ASSERT((internal::is_same<Dest,void>::value),THE_EVAL_EVALTO_FUNCTION_SHOULD_NEVER_BE_CALLED_FOR_DENSE_OBJECTS);
497 }
498
499 protected:
500 /** Default constructor. Do nothing. */
501 DenseBase()
502 {
503 /* Just checks for self-consistency of the flags.
504 * Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down
505 */
506#ifdef EIGEN_INTERNAL_DEBUGGING
507 EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, int(IsRowMajor))
508 && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, int(!IsRowMajor))),
509 INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION)
510#endif
511 }
512
513 private:
514 explicit DenseBase(int);
515 DenseBase(int,int);
516 template<typename OtherDerived> explicit DenseBase(const DenseBase<OtherDerived>&);
517};
518
519} // end namespace Eigen
520
521#endif // EIGEN_DENSEBASE_H
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