Eigne Matrix Class Library
Dependents: MPC_current_control HydraulicControlBoard_SW AHRS Test_ekf ... more
src/Core/Assign.h
- Committer:
- jsoh91
- Date:
- 2019-09-24
- Revision:
- 1:3b8049da21b8
- Parent:
- 0:13a5d365ba16
File content as of revision 1:3b8049da21b8:
// This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2007 Michael Olbrich <michael.olbrich@gmx.net> // Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com> // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr> // // 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_ASSIGN_H #define EIGEN_ASSIGN_H namespace Eigen { namespace internal { /*************************************************************************** * Part 1 : the logic deciding a strategy for traversal and unrolling * ***************************************************************************/ template <typename Derived, typename OtherDerived> struct assign_traits { public: enum { DstIsAligned = Derived::Flags & AlignedBit, DstHasDirectAccess = Derived::Flags & DirectAccessBit, SrcIsAligned = OtherDerived::Flags & AlignedBit, JointAlignment = bool(DstIsAligned) && bool(SrcIsAligned) ? Aligned : Unaligned }; private: enum { InnerSize = int(Derived::IsVectorAtCompileTime) ? int(Derived::SizeAtCompileTime) : int(Derived::Flags)&RowMajorBit ? int(Derived::ColsAtCompileTime) : int(Derived::RowsAtCompileTime), InnerMaxSize = int(Derived::IsVectorAtCompileTime) ? int(Derived::MaxSizeAtCompileTime) : int(Derived::Flags)&RowMajorBit ? int(Derived::MaxColsAtCompileTime) : int(Derived::MaxRowsAtCompileTime), MaxSizeAtCompileTime = Derived::SizeAtCompileTime, PacketSize = packet_traits<typename Derived::Scalar>::size }; enum { StorageOrdersAgree = (int(Derived::IsRowMajor) == int(OtherDerived::IsRowMajor)), MightVectorize = StorageOrdersAgree && (int(Derived::Flags) & int(OtherDerived::Flags) & ActualPacketAccessBit), MayInnerVectorize = MightVectorize && int(InnerSize)!=Dynamic && int(InnerSize)%int(PacketSize)==0 && int(DstIsAligned) && int(SrcIsAligned), MayLinearize = StorageOrdersAgree && (int(Derived::Flags) & int(OtherDerived::Flags) & LinearAccessBit), MayLinearVectorize = MightVectorize && MayLinearize && DstHasDirectAccess && (DstIsAligned || MaxSizeAtCompileTime == Dynamic), /* If the destination isn't aligned, we have to do runtime checks and we don't unroll, so it's only good for large enough sizes. */ MaySliceVectorize = MightVectorize && DstHasDirectAccess && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=3*PacketSize) /* slice vectorization can be slow, so we only want it if the slices are big, which is indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block in a fixed-size matrix */ }; public: enum { Traversal = int(MayInnerVectorize) ? int(InnerVectorizedTraversal) : int(MayLinearVectorize) ? int(LinearVectorizedTraversal) : int(MaySliceVectorize) ? int(SliceVectorizedTraversal) : int(MayLinearize) ? int(LinearTraversal) : int(DefaultTraversal), Vectorized = int(Traversal) == InnerVectorizedTraversal || int(Traversal) == LinearVectorizedTraversal || int(Traversal) == SliceVectorizedTraversal }; private: enum { UnrollingLimit = EIGEN_UNROLLING_LIMIT * (Vectorized ? int(PacketSize) : 1), MayUnrollCompletely = int(Derived::SizeAtCompileTime) != Dynamic && int(OtherDerived::CoeffReadCost) != Dynamic && int(Derived::SizeAtCompileTime) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit), MayUnrollInner = int(InnerSize) != Dynamic && int(OtherDerived::CoeffReadCost) != Dynamic && int(InnerSize) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit) }; public: enum { Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal)) ? ( int(MayUnrollCompletely) ? int(CompleteUnrolling) : int(MayUnrollInner) ? int(InnerUnrolling) : int(NoUnrolling) ) : int(Traversal) == int(LinearVectorizedTraversal) ? ( bool(MayUnrollCompletely) && bool(DstIsAligned) ? int(CompleteUnrolling) : int(NoUnrolling) ) : int(Traversal) == int(LinearTraversal) ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) : int(NoUnrolling) ) : int(NoUnrolling) }; #ifdef EIGEN_DEBUG_ASSIGN static void debug() { EIGEN_DEBUG_VAR(DstIsAligned) EIGEN_DEBUG_VAR(SrcIsAligned) EIGEN_DEBUG_VAR(JointAlignment) EIGEN_DEBUG_VAR(InnerSize) EIGEN_DEBUG_VAR(InnerMaxSize) EIGEN_DEBUG_VAR(PacketSize) EIGEN_DEBUG_VAR(StorageOrdersAgree) EIGEN_DEBUG_VAR(MightVectorize) EIGEN_DEBUG_VAR(MayLinearize) EIGEN_DEBUG_VAR(MayInnerVectorize) EIGEN_DEBUG_VAR(MayLinearVectorize) EIGEN_DEBUG_VAR(MaySliceVectorize) EIGEN_DEBUG_VAR(Traversal) EIGEN_DEBUG_VAR(UnrollingLimit) EIGEN_DEBUG_VAR(MayUnrollCompletely) EIGEN_DEBUG_VAR(MayUnrollInner) EIGEN_DEBUG_VAR(Unrolling) } #endif }; /*************************************************************************** * Part 2 : meta-unrollers ***************************************************************************/ /************************ *** Default traversal *** ************************/ template<typename Derived1, typename Derived2, int Index, int Stop> struct assign_DefaultTraversal_CompleteUnrolling { enum { outer = Index / Derived1::InnerSizeAtCompileTime, inner = Index % Derived1::InnerSizeAtCompileTime }; static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src) { dst.copyCoeffByOuterInner(outer, inner, src); assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src); } }; template<typename Derived1, typename Derived2, int Stop> struct assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, Stop, Stop> { static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &) {} }; template<typename Derived1, typename Derived2, int Index, int Stop> struct assign_DefaultTraversal_InnerUnrolling { static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src, typename Derived1::Index outer) { dst.copyCoeffByOuterInner(outer, Index, src); assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src, outer); } }; template<typename Derived1, typename Derived2, int Stop> struct assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, Stop, Stop> { static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &, typename Derived1::Index) {} }; /*********************** *** Linear traversal *** ***********************/ template<typename Derived1, typename Derived2, int Index, int Stop> struct assign_LinearTraversal_CompleteUnrolling { static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src) { dst.copyCoeff(Index, src); assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src); } }; template<typename Derived1, typename Derived2, int Stop> struct assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, Stop, Stop> { static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &) {} }; /************************** *** Inner vectorization *** **************************/ template<typename Derived1, typename Derived2, int Index, int Stop> struct assign_innervec_CompleteUnrolling { enum { outer = Index / Derived1::InnerSizeAtCompileTime, inner = Index % Derived1::InnerSizeAtCompileTime, JointAlignment = assign_traits<Derived1,Derived2>::JointAlignment }; static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src) { dst.template copyPacketByOuterInner<Derived2, Aligned, JointAlignment>(outer, inner, src); assign_innervec_CompleteUnrolling<Derived1, Derived2, Index+packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src); } }; template<typename Derived1, typename Derived2, int Stop> struct assign_innervec_CompleteUnrolling<Derived1, Derived2, Stop, Stop> { static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &) {} }; template<typename Derived1, typename Derived2, int Index, int Stop> struct assign_innervec_InnerUnrolling { static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src, typename Derived1::Index outer) { dst.template copyPacketByOuterInner<Derived2, Aligned, Aligned>(outer, Index, src); assign_innervec_InnerUnrolling<Derived1, Derived2, Index+packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src, outer); } }; template<typename Derived1, typename Derived2, int Stop> struct assign_innervec_InnerUnrolling<Derived1, Derived2, Stop, Stop> { static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &, typename Derived1::Index) {} }; /*************************************************************************** * Part 3 : implementation of all cases ***************************************************************************/ template<typename Derived1, typename Derived2, int Traversal = assign_traits<Derived1, Derived2>::Traversal, int Unrolling = assign_traits<Derived1, Derived2>::Unrolling, int Version = Specialized> struct assign_impl; /************************ *** Default traversal *** ************************/ template<typename Derived1, typename Derived2, int Unrolling, int Version> struct assign_impl<Derived1, Derived2, InvalidTraversal, Unrolling, Version> { static inline void run(Derived1 &, const Derived2 &) { } }; template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, DefaultTraversal, NoUnrolling, Version> { typedef typename Derived1::Index Index; static inline void run(Derived1 &dst, const Derived2 &src) { const Index innerSize = dst.innerSize(); const Index outerSize = dst.outerSize(); for(Index outer = 0; outer < outerSize; ++outer) for(Index inner = 0; inner < innerSize; ++inner) dst.copyCoeffByOuterInner(outer, inner, src); } }; template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, DefaultTraversal, CompleteUnrolling, Version> { static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src) { assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime> ::run(dst, src); } }; template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, DefaultTraversal, InnerUnrolling, Version> { typedef typename Derived1::Index Index; static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src) { const Index outerSize = dst.outerSize(); for(Index outer = 0; outer < outerSize; ++outer) assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, 0, Derived1::InnerSizeAtCompileTime> ::run(dst, src, outer); } }; /*********************** *** Linear traversal *** ***********************/ template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, LinearTraversal, NoUnrolling, Version> { typedef typename Derived1::Index Index; static inline void run(Derived1 &dst, const Derived2 &src) { const Index size = dst.size(); for(Index i = 0; i < size; ++i) dst.copyCoeff(i, src); } }; template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, LinearTraversal, CompleteUnrolling, Version> { static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src) { assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime> ::run(dst, src); } }; /************************** *** Inner vectorization *** **************************/ template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, NoUnrolling, Version> { typedef typename Derived1::Index Index; static inline void run(Derived1 &dst, const Derived2 &src) { const Index innerSize = dst.innerSize(); const Index outerSize = dst.outerSize(); const Index packetSize = packet_traits<typename Derived1::Scalar>::size; for(Index outer = 0; outer < outerSize; ++outer) for(Index inner = 0; inner < innerSize; inner+=packetSize) dst.template copyPacketByOuterInner<Derived2, Aligned, Aligned>(outer, inner, src); } }; template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, CompleteUnrolling, Version> { static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src) { assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime> ::run(dst, src); } }; template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, InnerUnrolling, Version> { typedef typename Derived1::Index Index; static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src) { const Index outerSize = dst.outerSize(); for(Index outer = 0; outer < outerSize; ++outer) assign_innervec_InnerUnrolling<Derived1, Derived2, 0, Derived1::InnerSizeAtCompileTime> ::run(dst, src, outer); } }; /*************************** *** Linear vectorization *** ***************************/ template <bool IsAligned = false> struct unaligned_assign_impl { template <typename Derived, typename OtherDerived> static EIGEN_STRONG_INLINE void run(const Derived&, OtherDerived&, typename Derived::Index, typename Derived::Index) {} }; template <> struct unaligned_assign_impl<false> { // MSVC must not inline this functions. If it does, it fails to optimize the // packet access path. #ifdef _MSC_VER template <typename Derived, typename OtherDerived> static EIGEN_DONT_INLINE void run(const Derived& src, OtherDerived& dst, typename Derived::Index start, typename Derived::Index end) #else template <typename Derived, typename OtherDerived> static EIGEN_STRONG_INLINE void run(const Derived& src, OtherDerived& dst, typename Derived::Index start, typename Derived::Index end) #endif { for (typename Derived::Index index = start; index < end; ++index) dst.copyCoeff(index, src); } }; template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, LinearVectorizedTraversal, NoUnrolling, Version> { typedef typename Derived1::Index Index; static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src) { const Index size = dst.size(); typedef packet_traits<typename Derived1::Scalar> PacketTraits; enum { packetSize = PacketTraits::size, dstAlignment = PacketTraits::AlignedOnScalar ? Aligned : int(assign_traits<Derived1,Derived2>::DstIsAligned) , srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment }; const Index alignedStart = assign_traits<Derived1,Derived2>::DstIsAligned ? 0 : internal::first_aligned(&dst.coeffRef(0), size); const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize; unaligned_assign_impl<assign_traits<Derived1,Derived2>::DstIsAligned!=0>::run(src,dst,0,alignedStart); for(Index index = alignedStart; index < alignedEnd; index += packetSize) { dst.template copyPacket<Derived2, dstAlignment, srcAlignment>(index, src); } unaligned_assign_impl<>::run(src,dst,alignedEnd,size); } }; template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, LinearVectorizedTraversal, CompleteUnrolling, Version> { typedef typename Derived1::Index Index; static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src) { enum { size = Derived1::SizeAtCompileTime, packetSize = packet_traits<typename Derived1::Scalar>::size, alignedSize = (size/packetSize)*packetSize }; assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, alignedSize>::run(dst, src); assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, alignedSize, size>::run(dst, src); } }; /************************** *** Slice vectorization *** ***************************/ template<typename Derived1, typename Derived2, int Version> struct assign_impl<Derived1, Derived2, SliceVectorizedTraversal, NoUnrolling, Version> { typedef typename Derived1::Index Index; static inline void run(Derived1 &dst, const Derived2 &src) { typedef typename Derived1::Scalar Scalar; typedef packet_traits<Scalar> PacketTraits; enum { packetSize = PacketTraits::size, alignable = PacketTraits::AlignedOnScalar, dstIsAligned = assign_traits<Derived1,Derived2>::DstIsAligned, dstAlignment = alignable ? Aligned : int(dstIsAligned), srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment }; const Scalar *dst_ptr = &dst.coeffRef(0,0); if((!bool(dstIsAligned)) && (size_t(dst_ptr) % sizeof(Scalar))>0) { // the pointer is not aligend-on scalar, so alignment is not possible return assign_impl<Derived1,Derived2,DefaultTraversal,NoUnrolling>::run(dst, src); } const Index packetAlignedMask = packetSize - 1; const Index innerSize = dst.innerSize(); const Index outerSize = dst.outerSize(); const Index alignedStep = alignable ? (packetSize - dst.outerStride() % packetSize) & packetAlignedMask : 0; Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned(dst_ptr, innerSize); for(Index outer = 0; outer < outerSize; ++outer) { const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask); // do the non-vectorizable part of the assignment for(Index inner = 0; inner<alignedStart ; ++inner) dst.copyCoeffByOuterInner(outer, inner, src); // do the vectorizable part of the assignment for(Index inner = alignedStart; inner<alignedEnd; inner+=packetSize) dst.template copyPacketByOuterInner<Derived2, dstAlignment, Unaligned>(outer, inner, src); // do the non-vectorizable part of the assignment for(Index inner = alignedEnd; inner<innerSize ; ++inner) dst.copyCoeffByOuterInner(outer, inner, src); alignedStart = std::min<Index>((alignedStart+alignedStep)%packetSize, innerSize); } } }; } // end namespace internal /*************************************************************************** * Part 4 : implementation of DenseBase methods ***************************************************************************/ template<typename Derived> template<typename OtherDerived> EIGEN_STRONG_INLINE Derived& DenseBase<Derived> ::lazyAssign(const DenseBase<OtherDerived>& other) { enum{ SameType = internal::is_same<typename Derived::Scalar,typename OtherDerived::Scalar>::value }; EIGEN_STATIC_ASSERT_LVALUE(Derived) EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived) EIGEN_STATIC_ASSERT(SameType,YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) #ifdef EIGEN_DEBUG_ASSIGN internal::assign_traits<Derived, OtherDerived>::debug(); #endif eigen_assert(rows() == other.rows() && cols() == other.cols()); internal::assign_impl<Derived, OtherDerived, int(SameType) ? int(internal::assign_traits<Derived, OtherDerived>::Traversal) : int(InvalidTraversal)>::run(derived(),other.derived()); #ifndef EIGEN_NO_DEBUG checkTransposeAliasing(other.derived()); #endif return derived(); } namespace internal { template<typename Derived, typename OtherDerived, bool EvalBeforeAssigning = (int(internal::traits<OtherDerived>::Flags) & EvalBeforeAssigningBit) != 0, bool NeedToTranspose = ((int(Derived::RowsAtCompileTime) == 1 && int(OtherDerived::ColsAtCompileTime) == 1) | // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&". // revert to || as soon as not needed anymore. (int(Derived::ColsAtCompileTime) == 1 && int(OtherDerived::RowsAtCompileTime) == 1)) && int(Derived::SizeAtCompileTime) != 1> struct assign_selector; template<typename Derived, typename OtherDerived> struct assign_selector<Derived,OtherDerived,false,false> { static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.derived()); } template<typename ActualDerived, typename ActualOtherDerived> static EIGEN_STRONG_INLINE Derived& evalTo(ActualDerived& dst, const ActualOtherDerived& other) { other.evalTo(dst); return dst; } }; template<typename Derived, typename OtherDerived> struct assign_selector<Derived,OtherDerived,true,false> { static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.eval()); } }; template<typename Derived, typename OtherDerived> struct assign_selector<Derived,OtherDerived,false,true> { static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose()); } template<typename ActualDerived, typename ActualOtherDerived> static EIGEN_STRONG_INLINE Derived& evalTo(ActualDerived& dst, const ActualOtherDerived& other) { Transpose<ActualDerived> dstTrans(dst); other.evalTo(dstTrans); return dst; } }; template<typename Derived, typename OtherDerived> struct assign_selector<Derived,OtherDerived,true,true> { static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose().eval()); } }; } // end namespace internal template<typename Derived> template<typename OtherDerived> EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase<OtherDerived>& other) { return internal::assign_selector<Derived,OtherDerived>::run(derived(), other.derived()); } template<typename Derived> EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase& other) { return internal::assign_selector<Derived,Derived>::run(derived(), other.derived()); } template<typename Derived> EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const MatrixBase& other) { return internal::assign_selector<Derived,Derived>::run(derived(), other.derived()); } template<typename Derived> template <typename OtherDerived> EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const DenseBase<OtherDerived>& other) { return internal::assign_selector<Derived,OtherDerived>::run(derived(), other.derived()); } template<typename Derived> template <typename OtherDerived> EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const EigenBase<OtherDerived>& other) { return internal::assign_selector<Derived,OtherDerived,false>::evalTo(derived(), other.derived()); } template<typename Derived> template<typename OtherDerived> EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other) { return internal::assign_selector<Derived,OtherDerived,false>::evalTo(derived(), other.derived()); } } // end namespace Eigen #endif // EIGEN_ASSIGN_H