source: pacpussensors/trunk/Vislab/lib3dv/eigen/Eigen/src/Core/products/TriangularMatrixVector.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) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
5//
6// This Source Code Form is subject to the terms of the Mozilla
7// Public License v. 2.0. If a copy of the MPL was not distributed
8// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9
10#ifndef EIGEN_TRIANGULARMATRIXVECTOR_H
11#define EIGEN_TRIANGULARMATRIXVECTOR_H
12
13namespace Eigen {
14
15namespace internal {
16
17template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int StorageOrder, int Version=Specialized>
18struct triangular_matrix_vector_product;
19
20template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int Version>
21struct triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor,Version>
22{
23 typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
24 enum {
25 IsLower = ((Mode&Lower)==Lower),
26 HasUnitDiag = (Mode & UnitDiag)==UnitDiag,
27 HasZeroDiag = (Mode & ZeroDiag)==ZeroDiag
28 };
29 static EIGEN_DONT_INLINE void run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
30 const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha);
31};
32
33template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int Version>
34EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor,Version>
35 ::run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
36 const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha)
37 {
38 static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
39 Index size = (std::min)(_rows,_cols);
40 Index rows = IsLower ? _rows : (std::min)(_rows,_cols);
41 Index cols = IsLower ? (std::min)(_rows,_cols) : _cols;
42
43 typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
44 const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
45 typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
46
47 typedef Map<const Matrix<RhsScalar,Dynamic,1>, 0, InnerStride<> > RhsMap;
48 const RhsMap rhs(_rhs,cols,InnerStride<>(rhsIncr));
49 typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
50
51 typedef Map<Matrix<ResScalar,Dynamic,1> > ResMap;
52 ResMap res(_res,rows);
53
54 for (Index pi=0; pi<size; pi+=PanelWidth)
55 {
56 Index actualPanelWidth = (std::min)(PanelWidth, size-pi);
57 for (Index k=0; k<actualPanelWidth; ++k)
58 {
59 Index i = pi + k;
60 Index s = IsLower ? ((HasUnitDiag||HasZeroDiag) ? i+1 : i ) : pi;
61 Index r = IsLower ? actualPanelWidth-k : k+1;
62 if ((!(HasUnitDiag||HasZeroDiag)) || (--r)>0)
63 res.segment(s,r) += (alpha * cjRhs.coeff(i)) * cjLhs.col(i).segment(s,r);
64 if (HasUnitDiag)
65 res.coeffRef(i) += alpha * cjRhs.coeff(i);
66 }
67 Index r = IsLower ? rows - pi - actualPanelWidth : pi;
68 if (r>0)
69 {
70 Index s = IsLower ? pi+actualPanelWidth : 0;
71 general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjLhs,RhsScalar,ConjRhs,BuiltIn>::run(
72 r, actualPanelWidth,
73 &lhs.coeffRef(s,pi), lhsStride,
74 &rhs.coeffRef(pi), rhsIncr,
75 &res.coeffRef(s), resIncr, alpha);
76 }
77 }
78 if((!IsLower) && cols>size)
79 {
80 general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjLhs,RhsScalar,ConjRhs>::run(
81 rows, cols-size,
82 &lhs.coeffRef(0,size), lhsStride,
83 &rhs.coeffRef(size), rhsIncr,
84 _res, resIncr, alpha);
85 }
86 }
87
88template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs,int Version>
89struct triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
90{
91 typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
92 enum {
93 IsLower = ((Mode&Lower)==Lower),
94 HasUnitDiag = (Mode & UnitDiag)==UnitDiag,
95 HasZeroDiag = (Mode & ZeroDiag)==ZeroDiag
96 };
97 static EIGEN_DONT_INLINE void run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
98 const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha);
99};
100
101template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs,int Version>
102EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
103 ::run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
104 const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha)
105 {
106 static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
107 Index diagSize = (std::min)(_rows,_cols);
108 Index rows = IsLower ? _rows : diagSize;
109 Index cols = IsLower ? diagSize : _cols;
110
111 typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
112 const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
113 typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
114
115 typedef Map<const Matrix<RhsScalar,Dynamic,1> > RhsMap;
116 const RhsMap rhs(_rhs,cols);
117 typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
118
119 typedef Map<Matrix<ResScalar,Dynamic,1>, 0, InnerStride<> > ResMap;
120 ResMap res(_res,rows,InnerStride<>(resIncr));
121
122 for (Index pi=0; pi<diagSize; pi+=PanelWidth)
123 {
124 Index actualPanelWidth = (std::min)(PanelWidth, diagSize-pi);
125 for (Index k=0; k<actualPanelWidth; ++k)
126 {
127 Index i = pi + k;
128 Index s = IsLower ? pi : ((HasUnitDiag||HasZeroDiag) ? i+1 : i);
129 Index r = IsLower ? k+1 : actualPanelWidth-k;
130 if ((!(HasUnitDiag||HasZeroDiag)) || (--r)>0)
131 res.coeffRef(i) += alpha * (cjLhs.row(i).segment(s,r).cwiseProduct(cjRhs.segment(s,r).transpose())).sum();
132 if (HasUnitDiag)
133 res.coeffRef(i) += alpha * cjRhs.coeff(i);
134 }
135 Index r = IsLower ? pi : cols - pi - actualPanelWidth;
136 if (r>0)
137 {
138 Index s = IsLower ? 0 : pi + actualPanelWidth;
139 general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjLhs,RhsScalar,ConjRhs,BuiltIn>::run(
140 actualPanelWidth, r,
141 &lhs.coeffRef(pi,s), lhsStride,
142 &rhs.coeffRef(s), rhsIncr,
143 &res.coeffRef(pi), resIncr, alpha);
144 }
145 }
146 if(IsLower && rows>diagSize)
147 {
148 general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjLhs,RhsScalar,ConjRhs>::run(
149 rows-diagSize, cols,
150 &lhs.coeffRef(diagSize,0), lhsStride,
151 &rhs.coeffRef(0), rhsIncr,
152 &res.coeffRef(diagSize), resIncr, alpha);
153 }
154 }
155
156/***************************************************************************
157* Wrapper to product_triangular_vector
158***************************************************************************/
159
160template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
161struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,true> >
162 : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,true>, Lhs, Rhs> >
163{};
164
165template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
166struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,true,Rhs,false> >
167 : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,true,Rhs,false>, Lhs, Rhs> >
168{};
169
170
171template<int StorageOrder>
172struct trmv_selector;
173
174} // end namespace internal
175
176template<int Mode, typename Lhs, typename Rhs>
177struct TriangularProduct<Mode,true,Lhs,false,Rhs,true>
178 : public ProductBase<TriangularProduct<Mode,true,Lhs,false,Rhs,true>, Lhs, Rhs >
179{
180 EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
181
182 TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
183
184 template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
185 {
186 eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
187
188 internal::trmv_selector<(int(internal::traits<Lhs>::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(*this, dst, alpha);
189 }
190};
191
192template<int Mode, typename Lhs, typename Rhs>
193struct TriangularProduct<Mode,false,Lhs,true,Rhs,false>
194 : public ProductBase<TriangularProduct<Mode,false,Lhs,true,Rhs,false>, Lhs, Rhs >
195{
196 EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
197
198 TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
199
200 template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
201 {
202 eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
203
204 typedef TriangularProduct<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),true,Transpose<const Rhs>,false,Transpose<const Lhs>,true> TriangularProductTranspose;
205 Transpose<Dest> dstT(dst);
206 internal::trmv_selector<(int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>::run(
207 TriangularProductTranspose(m_rhs.transpose(),m_lhs.transpose()), dstT, alpha);
208 }
209};
210
211namespace internal {
212
213// TODO: find a way to factorize this piece of code with gemv_selector since the logic is exactly the same.
214
215template<> struct trmv_selector<ColMajor>
216{
217 template<int Mode, typename Lhs, typename Rhs, typename Dest>
218 static void run(const TriangularProduct<Mode,true,Lhs,false,Rhs,true>& prod, Dest& dest, const typename TriangularProduct<Mode,true,Lhs,false,Rhs,true>::Scalar& alpha)
219 {
220 typedef TriangularProduct<Mode,true,Lhs,false,Rhs,true> ProductType;
221 typedef typename ProductType::Index Index;
222 typedef typename ProductType::LhsScalar LhsScalar;
223 typedef typename ProductType::RhsScalar RhsScalar;
224 typedef typename ProductType::Scalar ResScalar;
225 typedef typename ProductType::RealScalar RealScalar;
226 typedef typename ProductType::ActualLhsType ActualLhsType;
227 typedef typename ProductType::ActualRhsType ActualRhsType;
228 typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
229 typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
230 typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
231
232 typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
233 typename internal::add_const_on_value_type<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
234
235 ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
236 * RhsBlasTraits::extractScalarFactor(prod.rhs());
237
238 enum {
239 // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
240 // on, the other hand it is good for the cache to pack the vector anyways...
241 EvalToDestAtCompileTime = Dest::InnerStrideAtCompileTime==1,
242 ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
243 MightCannotUseDest = (Dest::InnerStrideAtCompileTime!=1) || ComplexByReal
244 };
245
246 gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
247
248 bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
249 bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
250
251 RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
252
253 ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
254 evalToDest ? dest.data() : static_dest.data());
255
256 if(!evalToDest)
257 {
258 #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
259 Index size = dest.size();
260 EIGEN_DENSE_STORAGE_CTOR_PLUGIN
261 #endif
262 if(!alphaIsCompatible)
263 {
264 MappedDest(actualDestPtr, dest.size()).setZero();
265 compatibleAlpha = RhsScalar(1);
266 }
267 else
268 MappedDest(actualDestPtr, dest.size()) = dest;
269 }
270
271 internal::triangular_matrix_vector_product
272 <Index,Mode,
273 LhsScalar, LhsBlasTraits::NeedToConjugate,
274 RhsScalar, RhsBlasTraits::NeedToConjugate,
275 ColMajor>
276 ::run(actualLhs.rows(),actualLhs.cols(),
277 actualLhs.data(),actualLhs.outerStride(),
278 actualRhs.data(),actualRhs.innerStride(),
279 actualDestPtr,1,compatibleAlpha);
280
281 if (!evalToDest)
282 {
283 if(!alphaIsCompatible)
284 dest += actualAlpha * MappedDest(actualDestPtr, dest.size());
285 else
286 dest = MappedDest(actualDestPtr, dest.size());
287 }
288 }
289};
290
291template<> struct trmv_selector<RowMajor>
292{
293 template<int Mode, typename Lhs, typename Rhs, typename Dest>
294 static void run(const TriangularProduct<Mode,true,Lhs,false,Rhs,true>& prod, Dest& dest, const typename TriangularProduct<Mode,true,Lhs,false,Rhs,true>::Scalar& alpha)
295 {
296 typedef TriangularProduct<Mode,true,Lhs,false,Rhs,true> ProductType;
297 typedef typename ProductType::LhsScalar LhsScalar;
298 typedef typename ProductType::RhsScalar RhsScalar;
299 typedef typename ProductType::Scalar ResScalar;
300 typedef typename ProductType::Index Index;
301 typedef typename ProductType::ActualLhsType ActualLhsType;
302 typedef typename ProductType::ActualRhsType ActualRhsType;
303 typedef typename ProductType::_ActualRhsType _ActualRhsType;
304 typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
305 typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
306
307 typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
308 typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
309
310 ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
311 * RhsBlasTraits::extractScalarFactor(prod.rhs());
312
313 enum {
314 DirectlyUseRhs = _ActualRhsType::InnerStrideAtCompileTime==1
315 };
316
317 gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
318
319 ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
320 DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
321
322 if(!DirectlyUseRhs)
323 {
324 #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
325 int size = actualRhs.size();
326 EIGEN_DENSE_STORAGE_CTOR_PLUGIN
327 #endif
328 Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
329 }
330
331 internal::triangular_matrix_vector_product
332 <Index,Mode,
333 LhsScalar, LhsBlasTraits::NeedToConjugate,
334 RhsScalar, RhsBlasTraits::NeedToConjugate,
335 RowMajor>
336 ::run(actualLhs.rows(),actualLhs.cols(),
337 actualLhs.data(),actualLhs.outerStride(),
338 actualRhsPtr,1,
339 dest.data(),dest.innerStride(),
340 actualAlpha);
341 }
342};
343
344} // end namespace internal
345
346} // end namespace Eigen
347
348#endif // EIGEN_TRIANGULARMATRIXVECTOR_H
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