source: pacpussensors/trunk/Vislab/lib3dv/eigen/Eigen/src/Geometry/Homogeneous.h@ 136

Last change on this file since 136 was 136, checked in by ldecherf, 7 years ago

Doc
File size: 11.4 KB
Line 
1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2009-2010 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_HOMOGENEOUS_H
11#define EIGEN_HOMOGENEOUS_H
12
13namespace Eigen {
14
15/** \geometry_module \ingroup Geometry_Module
16 *
17 * \class Homogeneous
18 *
19 * \brief Expression of one (or a set of) homogeneous vector(s)
20 *
21 * \param MatrixType the type of the object in which we are making homogeneous
22 *
23 * This class represents an expression of one (or a set of) homogeneous vector(s).
24 * It is the return type of MatrixBase::homogeneous() and most of the time
25 * this is the only way it is used.
26 *
27 * \sa MatrixBase::homogeneous()
28 */
29
30namespace internal {
31
32template<typename MatrixType,int Direction>
33struct traits<Homogeneous<MatrixType,Direction> >
34 : traits<MatrixType>
35{
36 typedef typename traits<MatrixType>::StorageKind StorageKind;
37 typedef typename nested<MatrixType>::type MatrixTypeNested;
38 typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
39 enum {
40 RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
41 int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
42 ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
43 int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
44 RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime,
45 ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
46 MaxRowsAtCompileTime = RowsAtCompileTime,
47 MaxColsAtCompileTime = ColsAtCompileTime,
48 TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
49 Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
50 : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
51 : TmpFlags,
52 CoeffReadCost = _MatrixTypeNested::CoeffReadCost
53 };
54};
55
56template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
57template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
58
59} // end namespace internal
60
61template<typename MatrixType,int _Direction> class Homogeneous
62 : internal::no_assignment_operator, public MatrixBase<Homogeneous<MatrixType,_Direction> >
63{
64 public:
65
66 enum { Direction = _Direction };
67
68 typedef MatrixBase<Homogeneous> Base;
69 EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
70
71 inline Homogeneous(const MatrixType& matrix)
72 : m_matrix(matrix)
73 {}
74
75 inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); }
76 inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
77
78 inline Scalar coeff(Index row, Index col=0) const
79 {
80 if( (int(Direction)==Vertical && row==m_matrix.rows())
81 || (int(Direction)==Horizontal && col==m_matrix.cols()))
82 return Scalar(1);
83 return m_matrix.coeff(row, col);
84 }
85
86 template<typename Rhs>
87 inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
88 operator* (const MatrixBase<Rhs>& rhs) const
89 {
90 eigen_assert(int(Direction)==Horizontal);
91 return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
92 }
93
94 template<typename Lhs> friend
95 inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
96 operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
97 {
98 eigen_assert(int(Direction)==Vertical);
99 return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
100 }
101
102 template<typename Scalar, int Dim, int Mode, int Options> friend
103 inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
104 operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
105 {
106 eigen_assert(int(Direction)==Vertical);
107 return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
108 }
109
110 protected:
111 typename MatrixType::Nested m_matrix;
112};
113
114/** \geometry_module
115 *
116 * \return an expression of the equivalent homogeneous vector
117 *
118 * \only_for_vectors
119 *
120 * Example: \include MatrixBase_homogeneous.cpp
121 * Output: \verbinclude MatrixBase_homogeneous.out
122 *
123 * \sa class Homogeneous
124 */
125template<typename Derived>
126inline typename MatrixBase<Derived>::HomogeneousReturnType
127MatrixBase<Derived>::homogeneous() const
128{
129 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
130 return derived();
131}
132
133/** \geometry_module
134 *
135 * \returns a matrix expression of homogeneous column (or row) vectors
136 *
137 * Example: \include VectorwiseOp_homogeneous.cpp
138 * Output: \verbinclude VectorwiseOp_homogeneous.out
139 *
140 * \sa MatrixBase::homogeneous() */
141template<typename ExpressionType, int Direction>
142inline Homogeneous<ExpressionType,Direction>
143VectorwiseOp<ExpressionType,Direction>::homogeneous() const
144{
145 return _expression();
146}
147
148/** \geometry_module
149 *
150 * \returns an expression of the homogeneous normalized vector of \c *this
151 *
152 * Example: \include MatrixBase_hnormalized.cpp
153 * Output: \verbinclude MatrixBase_hnormalized.out
154 *
155 * \sa VectorwiseOp::hnormalized() */
156template<typename Derived>
157inline const typename MatrixBase<Derived>::HNormalizedReturnType
158MatrixBase<Derived>::hnormalized() const
159{
160 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
161 return ConstStartMinusOne(derived(),0,0,
162 ColsAtCompileTime==1?size()-1:1,
163 ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
164}
165
166/** \geometry_module
167 *
168 * \returns an expression of the homogeneous normalized vector of \c *this
169 *
170 * Example: \include DirectionWise_hnormalized.cpp
171 * Output: \verbinclude DirectionWise_hnormalized.out
172 *
173 * \sa MatrixBase::hnormalized() */
174template<typename ExpressionType, int Direction>
175inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
176VectorwiseOp<ExpressionType,Direction>::hnormalized() const
177{
178 return HNormalized_Block(_expression(),0,0,
179 Direction==Vertical ? _expression().rows()-1 : _expression().rows(),
180 Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
181 Replicate<HNormalized_Factors,
182 Direction==Vertical ? HNormalized_SizeMinusOne : 1,
183 Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
184 (HNormalized_Factors(_expression(),
185 Direction==Vertical ? _expression().rows()-1:0,
186 Direction==Horizontal ? _expression().cols()-1:0,
187 Direction==Vertical ? 1 : _expression().rows(),
188 Direction==Horizontal ? 1 : _expression().cols()),
189 Direction==Vertical ? _expression().rows()-1 : 1,
190 Direction==Horizontal ? _expression().cols()-1 : 1));
191}
192
193namespace internal {
194
195template<typename MatrixOrTransformType>
196struct take_matrix_for_product
197{
198 typedef MatrixOrTransformType type;
199 static const type& run(const type &x) { return x; }
200};
201
202template<typename Scalar, int Dim, int Mode,int Options>
203struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
204{
205 typedef Transform<Scalar, Dim, Mode, Options> TransformType;
206 typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
207 static type run (const TransformType& x) { return x.affine(); }
208};
209
210template<typename Scalar, int Dim, int Options>
211struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
212{
213 typedef Transform<Scalar, Dim, Projective, Options> TransformType;
214 typedef typename TransformType::MatrixType type;
215 static const type& run (const TransformType& x) { return x.matrix(); }
216};
217
218template<typename MatrixType,typename Lhs>
219struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
220{
221 typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
222 typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
223 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
224 typedef typename make_proper_matrix_type<
225 typename traits<MatrixTypeCleaned>::Scalar,
226 LhsMatrixTypeCleaned::RowsAtCompileTime,
227 MatrixTypeCleaned::ColsAtCompileTime,
228 MatrixTypeCleaned::PlainObject::Options,
229 LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
230 MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
231};
232
233template<typename MatrixType,typename Lhs>
234struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
235 : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
236{
237 typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
238 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
239 typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
240 typedef typename MatrixType::Index Index;
241 homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
242 : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
243 m_rhs(rhs)
244 {}
245
246 inline Index rows() const { return m_lhs.rows(); }
247 inline Index cols() const { return m_rhs.cols(); }
248
249 template<typename Dest> void evalTo(Dest& dst) const
250 {
251 // FIXME investigate how to allow lazy evaluation of this product when possible
252 dst = Block<const LhsMatrixTypeNested,
253 LhsMatrixTypeNested::RowsAtCompileTime,
254 LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
255 (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
256 dst += m_lhs.col(m_lhs.cols()-1).rowwise()
257 .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
258 }
259
260 typename LhsMatrixTypeCleaned::Nested m_lhs;
261 typename MatrixType::Nested m_rhs;
262};
263
264template<typename MatrixType,typename Rhs>
265struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
266{
267 typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
268 MatrixType::RowsAtCompileTime,
269 Rhs::ColsAtCompileTime,
270 MatrixType::PlainObject::Options,
271 MatrixType::MaxRowsAtCompileTime,
272 Rhs::MaxColsAtCompileTime>::type ReturnType;
273};
274
275template<typename MatrixType,typename Rhs>
276struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
277 : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
278{
279 typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
280 typedef typename MatrixType::Index Index;
281 homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
282 : m_lhs(lhs), m_rhs(rhs)
283 {}
284
285 inline Index rows() const { return m_lhs.rows(); }
286 inline Index cols() const { return m_rhs.cols(); }
287
288 template<typename Dest> void evalTo(Dest& dst) const
289 {
290 // FIXME investigate how to allow lazy evaluation of this product when possible
291 dst = m_lhs * Block<const RhsNested,
292 RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
293 RhsNested::ColsAtCompileTime>
294 (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
295 dst += m_rhs.row(m_rhs.rows()-1).colwise()
296 .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
297 }
298
299 typename MatrixType::Nested m_lhs;
300 typename Rhs::Nested m_rhs;
301};
302
303} // end namespace internal
304
305} // end namespace Eigen
306
307#endif // EIGEN_HOMOGENEOUS_H
Note: See TracBrowser for help on using the repository browser.