Eigne Matrix Class Library
Dependents: MPC_current_control HydraulicControlBoard_SW AHRS Test_ekf ... more
src/misc/Kernel.h
- Committer:
- ykuroda
- Date:
- 2016-10-13
- Revision:
- 0:13a5d365ba16
File content as of revision 0:13a5d365ba16:
// This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com> // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_MISC_KERNEL_H #define EIGEN_MISC_KERNEL_H namespace Eigen { namespace internal { /** \class kernel_retval_base * */ template<typename DecompositionType> struct traits<kernel_retval_base<DecompositionType> > { typedef typename DecompositionType::MatrixType MatrixType; typedef Matrix< typename MatrixType::Scalar, MatrixType::ColsAtCompileTime, // the number of rows in the "kernel matrix" // is the number of cols of the original matrix // so that the product "matrix * kernel = zero" makes sense Dynamic, // we don't know at compile-time the dimension of the kernel MatrixType::Options, MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space, // whose dimension is the number of columns of the original matrix > ReturnType; }; template<typename _DecompositionType> struct kernel_retval_base : public ReturnByValue<kernel_retval_base<_DecompositionType> > { typedef _DecompositionType DecompositionType; typedef ReturnByValue<kernel_retval_base> Base; typedef typename Base::Index Index; kernel_retval_base(const DecompositionType& dec) : m_dec(dec), m_rank(dec.rank()), m_cols(m_rank==dec.cols() ? 1 : dec.cols() - m_rank) {} inline Index rows() const { return m_dec.cols(); } inline Index cols() const { return m_cols; } inline Index rank() const { return m_rank; } inline const DecompositionType& dec() const { return m_dec; } template<typename Dest> inline void evalTo(Dest& dst) const { static_cast<const kernel_retval<DecompositionType>*>(this)->evalTo(dst); } protected: const DecompositionType& m_dec; Index m_rank, m_cols; }; } // end namespace internal #define EIGEN_MAKE_KERNEL_HELPERS(DecompositionType) \ typedef typename DecompositionType::MatrixType MatrixType; \ typedef typename MatrixType::Scalar Scalar; \ typedef typename MatrixType::RealScalar RealScalar; \ typedef typename MatrixType::Index Index; \ typedef Eigen::internal::kernel_retval_base<DecompositionType> Base; \ using Base::dec; \ using Base::rank; \ using Base::rows; \ using Base::cols; \ kernel_retval(const DecompositionType& dec) : Base(dec) {} } // end namespace Eigen #endif // EIGEN_MISC_KERNEL_H