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src/Geometry/Homogeneous.h@1:3b8049da21b8, 2019-09-24 (annotated)

Committer:
jsoh91
Date:
Tue Sep 24 00:18:23 2019 +0000
Revision:
1:3b8049da21b8
Parent:
0:13a5d365ba16 
ignore and revise some of error parts

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ykuroda 0:13a5d365ba16 1 // This file is part of Eigen, a lightweight C++ template library
ykuroda 0:13a5d365ba16 2 // for linear algebra.
ykuroda 0:13a5d365ba16 3 //
ykuroda 0:13a5d365ba16 4 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
ykuroda 0:13a5d365ba16 5 //
ykuroda 0:13a5d365ba16 6 // This Source Code Form is subject to the terms of the Mozilla
ykuroda 0:13a5d365ba16 7 // Public License v. 2.0. If a copy of the MPL was not distributed
ykuroda 0:13a5d365ba16 8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
ykuroda 0:13a5d365ba16 9
ykuroda 0:13a5d365ba16 10 #ifndef EIGEN_HOMOGENEOUS_H
ykuroda 0:13a5d365ba16 11 #define EIGEN_HOMOGENEOUS_H
ykuroda 0:13a5d365ba16 12
ykuroda 0:13a5d365ba16 13 namespace Eigen {
ykuroda 0:13a5d365ba16 14
ykuroda 0:13a5d365ba16 15 /** \geometry_module \ingroup Geometry_Module
ykuroda 0:13a5d365ba16 16 *
ykuroda 0:13a5d365ba16 17 * \class Homogeneous
ykuroda 0:13a5d365ba16 18 *
ykuroda 0:13a5d365ba16 19 * \brief Expression of one (or a set of) homogeneous vector(s)
ykuroda 0:13a5d365ba16 20 *
ykuroda 0:13a5d365ba16 21 * \param MatrixType the type of the object in which we are making homogeneous
ykuroda 0:13a5d365ba16 22 *
ykuroda 0:13a5d365ba16 23 * This class represents an expression of one (or a set of) homogeneous vector(s).
ykuroda 0:13a5d365ba16 24 * It is the return type of MatrixBase::homogeneous() and most of the time
ykuroda 0:13a5d365ba16 25 * this is the only way it is used.
ykuroda 0:13a5d365ba16 26 *
ykuroda 0:13a5d365ba16 27 * \sa MatrixBase::homogeneous()
ykuroda 0:13a5d365ba16 28 */
ykuroda 0:13a5d365ba16 29
ykuroda 0:13a5d365ba16 30 namespace internal {
ykuroda 0:13a5d365ba16 31
ykuroda 0:13a5d365ba16 32 template<typename MatrixType,int Direction>
ykuroda 0:13a5d365ba16 33 struct traits<Homogeneous<MatrixType,Direction> >
ykuroda 0:13a5d365ba16 34 : traits<MatrixType>
ykuroda 0:13a5d365ba16 35 {
ykuroda 0:13a5d365ba16 36 typedef typename traits<MatrixType>::StorageKind StorageKind;
ykuroda 0:13a5d365ba16 37 typedef typename nested<MatrixType>::type MatrixTypeNested;
ykuroda 0:13a5d365ba16 38 typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
ykuroda 0:13a5d365ba16 39 enum {
ykuroda 0:13a5d365ba16 40 RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
ykuroda 0:13a5d365ba16 41 int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
ykuroda 0:13a5d365ba16 42 ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
ykuroda 0:13a5d365ba16 43 int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
ykuroda 0:13a5d365ba16 44 RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime,
ykuroda 0:13a5d365ba16 45 ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
ykuroda 0:13a5d365ba16 46 MaxRowsAtCompileTime = RowsAtCompileTime,
ykuroda 0:13a5d365ba16 47 MaxColsAtCompileTime = ColsAtCompileTime,
ykuroda 0:13a5d365ba16 48 TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
ykuroda 0:13a5d365ba16 49 Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
ykuroda 0:13a5d365ba16 50 : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
ykuroda 0:13a5d365ba16 51 : TmpFlags,
ykuroda 0:13a5d365ba16 52 CoeffReadCost = _MatrixTypeNested::CoeffReadCost
ykuroda 0:13a5d365ba16 53 };
ykuroda 0:13a5d365ba16 54 };
ykuroda 0:13a5d365ba16 55
ykuroda 0:13a5d365ba16 56 template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
ykuroda 0:13a5d365ba16 57 template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
ykuroda 0:13a5d365ba16 58
ykuroda 0:13a5d365ba16 59 } // end namespace internal
ykuroda 0:13a5d365ba16 60
ykuroda 0:13a5d365ba16 61 template<typename MatrixType,int _Direction> class Homogeneous
ykuroda 0:13a5d365ba16 62 : internal::no_assignment_operator, public MatrixBase<Homogeneous<MatrixType,_Direction> >
ykuroda 0:13a5d365ba16 63 {
ykuroda 0:13a5d365ba16 64 public:
ykuroda 0:13a5d365ba16 65
ykuroda 0:13a5d365ba16 66 enum { Direction = _Direction };
ykuroda 0:13a5d365ba16 67
ykuroda 0:13a5d365ba16 68 typedef MatrixBase<Homogeneous> Base;
ykuroda 0:13a5d365ba16 69 EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
ykuroda 0:13a5d365ba16 70
ykuroda 0:13a5d365ba16 71 inline Homogeneous(const MatrixType& matrix)
ykuroda 0:13a5d365ba16 72 : m_matrix(matrix)
ykuroda 0:13a5d365ba16 73 {}
ykuroda 0:13a5d365ba16 74
ykuroda 0:13a5d365ba16 75 inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); }
ykuroda 0:13a5d365ba16 76 inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
ykuroda 0:13a5d365ba16 77
ykuroda 0:13a5d365ba16 78 inline Scalar coeff(Index row, Index col) const
ykuroda 0:13a5d365ba16 79 {
ykuroda 0:13a5d365ba16 80 if( (int(Direction)==Vertical && row==m_matrix.rows())
ykuroda 0:13a5d365ba16 81 || (int(Direction)==Horizontal && col==m_matrix.cols()))
ykuroda 0:13a5d365ba16 82 return Scalar(1);
ykuroda 0:13a5d365ba16 83 return m_matrix.coeff(row, col);
ykuroda 0:13a5d365ba16 84 }
ykuroda 0:13a5d365ba16 85
ykuroda 0:13a5d365ba16 86 template<typename Rhs>
ykuroda 0:13a5d365ba16 87 inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
ykuroda 0:13a5d365ba16 88 operator* (const MatrixBase<Rhs>& rhs) const
ykuroda 0:13a5d365ba16 89 {
ykuroda 0:13a5d365ba16 90 eigen_assert(int(Direction)==Horizontal);
ykuroda 0:13a5d365ba16 91 return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
ykuroda 0:13a5d365ba16 92 }
ykuroda 0:13a5d365ba16 93
ykuroda 0:13a5d365ba16 94 template<typename Lhs> friend
ykuroda 0:13a5d365ba16 95 inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
ykuroda 0:13a5d365ba16 96 operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
ykuroda 0:13a5d365ba16 97 {
ykuroda 0:13a5d365ba16 98 eigen_assert(int(Direction)==Vertical);
ykuroda 0:13a5d365ba16 99 return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
ykuroda 0:13a5d365ba16 100 }
ykuroda 0:13a5d365ba16 101
ykuroda 0:13a5d365ba16 102 template<typename Scalar, int Dim, int Mode, int Options> friend
ykuroda 0:13a5d365ba16 103 inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
ykuroda 0:13a5d365ba16 104 operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
ykuroda 0:13a5d365ba16 105 {
ykuroda 0:13a5d365ba16 106 eigen_assert(int(Direction)==Vertical);
ykuroda 0:13a5d365ba16 107 return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
ykuroda 0:13a5d365ba16 108 }
ykuroda 0:13a5d365ba16 109
ykuroda 0:13a5d365ba16 110 protected:
ykuroda 0:13a5d365ba16 111 typename MatrixType::Nested m_matrix;
ykuroda 0:13a5d365ba16 112 };
ykuroda 0:13a5d365ba16 113
ykuroda 0:13a5d365ba16 114 /** \geometry_module
ykuroda 0:13a5d365ba16 115 *
ykuroda 0:13a5d365ba16 116 * \return an expression of the equivalent homogeneous vector
ykuroda 0:13a5d365ba16 117 *
ykuroda 0:13a5d365ba16 118 * \only_for_vectors
ykuroda 0:13a5d365ba16 119 *
ykuroda 0:13a5d365ba16 120 * Example: \include MatrixBase_homogeneous.cpp
ykuroda 0:13a5d365ba16 121 * Output: \verbinclude MatrixBase_homogeneous.out
ykuroda 0:13a5d365ba16 122 *
ykuroda 0:13a5d365ba16 123 * \sa class Homogeneous
ykuroda 0:13a5d365ba16 124 */
ykuroda 0:13a5d365ba16 125 template<typename Derived>
ykuroda 0:13a5d365ba16 126 inline typename MatrixBase<Derived>::HomogeneousReturnType
ykuroda 0:13a5d365ba16 127 MatrixBase<Derived>::homogeneous() const
ykuroda 0:13a5d365ba16 128 {
ykuroda 0:13a5d365ba16 129 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
ykuroda 0:13a5d365ba16 130 return derived();
ykuroda 0:13a5d365ba16 131 }
ykuroda 0:13a5d365ba16 132
ykuroda 0:13a5d365ba16 133 /** \geometry_module
ykuroda 0:13a5d365ba16 134 *
ykuroda 0:13a5d365ba16 135 * \returns a matrix expression of homogeneous column (or row) vectors
ykuroda 0:13a5d365ba16 136 *
ykuroda 0:13a5d365ba16 137 * Example: \include VectorwiseOp_homogeneous.cpp
ykuroda 0:13a5d365ba16 138 * Output: \verbinclude VectorwiseOp_homogeneous.out
ykuroda 0:13a5d365ba16 139 *
ykuroda 0:13a5d365ba16 140 * \sa MatrixBase::homogeneous() */
ykuroda 0:13a5d365ba16 141 template<typename ExpressionType, int Direction>
ykuroda 0:13a5d365ba16 142 inline Homogeneous<ExpressionType,Direction>
ykuroda 0:13a5d365ba16 143 VectorwiseOp<ExpressionType,Direction>::homogeneous() const
ykuroda 0:13a5d365ba16 144 {
ykuroda 0:13a5d365ba16 145 return _expression();
ykuroda 0:13a5d365ba16 146 }
ykuroda 0:13a5d365ba16 147
ykuroda 0:13a5d365ba16 148 /** \geometry_module
ykuroda 0:13a5d365ba16 149 *
ykuroda 0:13a5d365ba16 150 * \returns an expression of the homogeneous normalized vector of \c *this
ykuroda 0:13a5d365ba16 151 *
ykuroda 0:13a5d365ba16 152 * Example: \include MatrixBase_hnormalized.cpp
ykuroda 0:13a5d365ba16 153 * Output: \verbinclude MatrixBase_hnormalized.out
ykuroda 0:13a5d365ba16 154 *
ykuroda 0:13a5d365ba16 155 * \sa VectorwiseOp::hnormalized() */
ykuroda 0:13a5d365ba16 156 template<typename Derived>
ykuroda 0:13a5d365ba16 157 inline const typename MatrixBase<Derived>::HNormalizedReturnType
ykuroda 0:13a5d365ba16 158 MatrixBase<Derived>::hnormalized() const
ykuroda 0:13a5d365ba16 159 {
ykuroda 0:13a5d365ba16 160 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
ykuroda 0:13a5d365ba16 161 return ConstStartMinusOne(derived(),0,0,
ykuroda 0:13a5d365ba16 162 ColsAtCompileTime==1?size()-1:1,
ykuroda 0:13a5d365ba16 163 ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
ykuroda 0:13a5d365ba16 164 }
ykuroda 0:13a5d365ba16 165
ykuroda 0:13a5d365ba16 166 /** \geometry_module
ykuroda 0:13a5d365ba16 167 *
ykuroda 0:13a5d365ba16 168 * \returns an expression of the homogeneous normalized vector of \c *this
ykuroda 0:13a5d365ba16 169 *
ykuroda 0:13a5d365ba16 170 * Example: \include DirectionWise_hnormalized.cpp
ykuroda 0:13a5d365ba16 171 * Output: \verbinclude DirectionWise_hnormalized.out
ykuroda 0:13a5d365ba16 172 *
ykuroda 0:13a5d365ba16 173 * \sa MatrixBase::hnormalized() */
ykuroda 0:13a5d365ba16 174 template<typename ExpressionType, int Direction>
ykuroda 0:13a5d365ba16 175 inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
ykuroda 0:13a5d365ba16 176 VectorwiseOp<ExpressionType,Direction>::hnormalized() const
ykuroda 0:13a5d365ba16 177 {
ykuroda 0:13a5d365ba16 178 return HNormalized_Block(_expression(),0,0,
ykuroda 0:13a5d365ba16 179 Direction==Vertical ? _expression().rows()-1 : _expression().rows(),
ykuroda 0:13a5d365ba16 180 Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
ykuroda 0:13a5d365ba16 181 Replicate<HNormalized_Factors,
ykuroda 0:13a5d365ba16 182 Direction==Vertical ? HNormalized_SizeMinusOne : 1,
ykuroda 0:13a5d365ba16 183 Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
ykuroda 0:13a5d365ba16 184 (HNormalized_Factors(_expression(),
ykuroda 0:13a5d365ba16 185 Direction==Vertical ? _expression().rows()-1:0,
ykuroda 0:13a5d365ba16 186 Direction==Horizontal ? _expression().cols()-1:0,
ykuroda 0:13a5d365ba16 187 Direction==Vertical ? 1 : _expression().rows(),
ykuroda 0:13a5d365ba16 188 Direction==Horizontal ? 1 : _expression().cols()),
ykuroda 0:13a5d365ba16 189 Direction==Vertical ? _expression().rows()-1 : 1,
ykuroda 0:13a5d365ba16 190 Direction==Horizontal ? _expression().cols()-1 : 1));
ykuroda 0:13a5d365ba16 191 }
ykuroda 0:13a5d365ba16 192
ykuroda 0:13a5d365ba16 193 namespace internal {
ykuroda 0:13a5d365ba16 194
ykuroda 0:13a5d365ba16 195 template<typename MatrixOrTransformType>
ykuroda 0:13a5d365ba16 196 struct take_matrix_for_product
ykuroda 0:13a5d365ba16 197 {
ykuroda 0:13a5d365ba16 198 typedef MatrixOrTransformType type;
ykuroda 0:13a5d365ba16 199 static const type& run(const type &x) { return x; }
ykuroda 0:13a5d365ba16 200 };
ykuroda 0:13a5d365ba16 201
ykuroda 0:13a5d365ba16 202 template<typename Scalar, int Dim, int Mode,int Options>
ykuroda 0:13a5d365ba16 203 struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
ykuroda 0:13a5d365ba16 204 {
ykuroda 0:13a5d365ba16 205 typedef Transform<Scalar, Dim, Mode, Options> TransformType;
ykuroda 0:13a5d365ba16 206 typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
ykuroda 0:13a5d365ba16 207 static type run (const TransformType& x) { return x.affine(); }
ykuroda 0:13a5d365ba16 208 };
ykuroda 0:13a5d365ba16 209
ykuroda 0:13a5d365ba16 210 template<typename Scalar, int Dim, int Options>
ykuroda 0:13a5d365ba16 211 struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
ykuroda 0:13a5d365ba16 212 {
ykuroda 0:13a5d365ba16 213 typedef Transform<Scalar, Dim, Projective, Options> TransformType;
ykuroda 0:13a5d365ba16 214 typedef typename TransformType::MatrixType type;
ykuroda 0:13a5d365ba16 215 static const type& run (const TransformType& x) { return x.matrix(); }
ykuroda 0:13a5d365ba16 216 };
ykuroda 0:13a5d365ba16 217
ykuroda 0:13a5d365ba16 218 template<typename MatrixType,typename Lhs>
ykuroda 0:13a5d365ba16 219 struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
ykuroda 0:13a5d365ba16 220 {
ykuroda 0:13a5d365ba16 221 typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
ykuroda 0:13a5d365ba16 222 typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
ykuroda 0:13a5d365ba16 223 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
ykuroda 0:13a5d365ba16 224 typedef typename make_proper_matrix_type<
ykuroda 0:13a5d365ba16 225 typename traits<MatrixTypeCleaned>::Scalar,
ykuroda 0:13a5d365ba16 226 LhsMatrixTypeCleaned::RowsAtCompileTime,
ykuroda 0:13a5d365ba16 227 MatrixTypeCleaned::ColsAtCompileTime,
ykuroda 0:13a5d365ba16 228 MatrixTypeCleaned::PlainObject::Options,
ykuroda 0:13a5d365ba16 229 LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
ykuroda 0:13a5d365ba16 230 MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
ykuroda 0:13a5d365ba16 231 };
ykuroda 0:13a5d365ba16 232
ykuroda 0:13a5d365ba16 233 template<typename MatrixType,typename Lhs>
ykuroda 0:13a5d365ba16 234 struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
ykuroda 0:13a5d365ba16 235 : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
ykuroda 0:13a5d365ba16 236 {
ykuroda 0:13a5d365ba16 237 typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
ykuroda 0:13a5d365ba16 238 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
ykuroda 0:13a5d365ba16 239 typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
ykuroda 0:13a5d365ba16 240 typedef typename MatrixType::Index Index;
ykuroda 0:13a5d365ba16 241 homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
ykuroda 0:13a5d365ba16 242 : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
ykuroda 0:13a5d365ba16 243 m_rhs(rhs)
ykuroda 0:13a5d365ba16 244 {}
ykuroda 0:13a5d365ba16 245
ykuroda 0:13a5d365ba16 246 inline Index rows() const { return m_lhs.rows(); }
ykuroda 0:13a5d365ba16 247 inline Index cols() const { return m_rhs.cols(); }
ykuroda 0:13a5d365ba16 248
ykuroda 0:13a5d365ba16 249 template<typename Dest> void evalTo(Dest& dst) const
ykuroda 0:13a5d365ba16 250 {
ykuroda 0:13a5d365ba16 251 // FIXME investigate how to allow lazy evaluation of this product when possible
ykuroda 0:13a5d365ba16 252 dst = Block<const LhsMatrixTypeNested,
ykuroda 0:13a5d365ba16 253 LhsMatrixTypeNested::RowsAtCompileTime,
ykuroda 0:13a5d365ba16 254 LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
ykuroda 0:13a5d365ba16 255 (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
ykuroda 0:13a5d365ba16 256 dst += m_lhs.col(m_lhs.cols()-1).rowwise()
ykuroda 0:13a5d365ba16 257 .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
ykuroda 0:13a5d365ba16 258 }
ykuroda 0:13a5d365ba16 259
ykuroda 0:13a5d365ba16 260 typename LhsMatrixTypeCleaned::Nested m_lhs;
ykuroda 0:13a5d365ba16 261 typename MatrixType::Nested m_rhs;
ykuroda 0:13a5d365ba16 262 };
ykuroda 0:13a5d365ba16 263
ykuroda 0:13a5d365ba16 264 template<typename MatrixType,typename Rhs>
ykuroda 0:13a5d365ba16 265 struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
ykuroda 0:13a5d365ba16 266 {
ykuroda 0:13a5d365ba16 267 typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
ykuroda 0:13a5d365ba16 268 MatrixType::RowsAtCompileTime,
ykuroda 0:13a5d365ba16 269 Rhs::ColsAtCompileTime,
ykuroda 0:13a5d365ba16 270 MatrixType::PlainObject::Options,
ykuroda 0:13a5d365ba16 271 MatrixType::MaxRowsAtCompileTime,
ykuroda 0:13a5d365ba16 272 Rhs::MaxColsAtCompileTime>::type ReturnType;
ykuroda 0:13a5d365ba16 273 };
ykuroda 0:13a5d365ba16 274
ykuroda 0:13a5d365ba16 275 template<typename MatrixType,typename Rhs>
ykuroda 0:13a5d365ba16 276 struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
ykuroda 0:13a5d365ba16 277 : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
ykuroda 0:13a5d365ba16 278 {
ykuroda 0:13a5d365ba16 279 typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
ykuroda 0:13a5d365ba16 280 typedef typename MatrixType::Index Index;
ykuroda 0:13a5d365ba16 281 homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
ykuroda 0:13a5d365ba16 282 : m_lhs(lhs), m_rhs(rhs)
ykuroda 0:13a5d365ba16 283 {}
ykuroda 0:13a5d365ba16 284
ykuroda 0:13a5d365ba16 285 inline Index rows() const { return m_lhs.rows(); }
ykuroda 0:13a5d365ba16 286 inline Index cols() const { return m_rhs.cols(); }
ykuroda 0:13a5d365ba16 287
ykuroda 0:13a5d365ba16 288 template<typename Dest> void evalTo(Dest& dst) const
ykuroda 0:13a5d365ba16 289 {
ykuroda 0:13a5d365ba16 290 // FIXME investigate how to allow lazy evaluation of this product when possible
ykuroda 0:13a5d365ba16 291 dst = m_lhs * Block<const RhsNested,
ykuroda 0:13a5d365ba16 292 RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
ykuroda 0:13a5d365ba16 293 RhsNested::ColsAtCompileTime>
ykuroda 0:13a5d365ba16 294 (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
ykuroda 0:13a5d365ba16 295 dst += m_rhs.row(m_rhs.rows()-1).colwise()
ykuroda 0:13a5d365ba16 296 .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
ykuroda 0:13a5d365ba16 297 }
ykuroda 0:13a5d365ba16 298
ykuroda 0:13a5d365ba16 299 typename MatrixType::Nested m_lhs;
ykuroda 0:13a5d365ba16 300 typename Rhs::Nested m_rhs;
ykuroda 0:13a5d365ba16 301 };
ykuroda 0:13a5d365ba16 302
ykuroda 0:13a5d365ba16 303 } // end namespace internal
ykuroda 0:13a5d365ba16 304
ykuroda 0:13a5d365ba16 305 } // end namespace Eigen
ykuroda 0:13a5d365ba16 306
ykuroda 0:13a5d365ba16 307 #endif // EIGEN_HOMOGENEOUS_H