Yoji KURODA / Eigen

Eigne Matrix Class Library

Dependents:   Eigen_test Odometry_test AttitudeEstimation_usingTicker MPU9250_Quaternion_Binary_Serial ... more

Eigen Matrix Class Library for mbed.

Finally, you can use Eigen on your mbed!!!

src/Core/EigenBase.h@0:13a5d365ba16, 2016-10-13 (annotated)

Committer:
ykuroda
Date:
Thu Oct 13 04:07:23 2016 +0000
Revision:
0:13a5d365ba16
First commint, Eigne Matrix Class Library

Who changed what in which revision?

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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 Benoit Jacob <jacob.benoit.1@gmail.com>
ykuroda 0:13a5d365ba16 5 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
ykuroda 0:13a5d365ba16 6 //
ykuroda 0:13a5d365ba16 7 // This Source Code Form is subject to the terms of the Mozilla
ykuroda 0:13a5d365ba16 8 // Public License v. 2.0. If a copy of the MPL was not distributed
ykuroda 0:13a5d365ba16 9 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
ykuroda 0:13a5d365ba16 10
ykuroda 0:13a5d365ba16 11 #ifndef EIGEN_EIGENBASE_H
ykuroda 0:13a5d365ba16 12 #define EIGEN_EIGENBASE_H
ykuroda 0:13a5d365ba16 13
ykuroda 0:13a5d365ba16 14 namespace Eigen {
ykuroda 0:13a5d365ba16 15
ykuroda 0:13a5d365ba16 16 /** Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T).
ykuroda 0:13a5d365ba16 17 *
ykuroda 0:13a5d365ba16 18 * In other words, an EigenBase object is an object that can be copied into a MatrixBase.
ykuroda 0:13a5d365ba16 19 *
ykuroda 0:13a5d365ba16 20 * Besides MatrixBase-derived classes, this also includes special matrix classes such as diagonal matrices, etc.
ykuroda 0:13a5d365ba16 21 *
ykuroda 0:13a5d365ba16 22 * Notice that this class is trivial, it is only used to disambiguate overloaded functions.
ykuroda 0:13a5d365ba16 23 *
ykuroda 0:13a5d365ba16 24 * \sa \ref TopicClassHierarchy
ykuroda 0:13a5d365ba16 25 */
ykuroda 0:13a5d365ba16 26 template<typename Derived> struct EigenBase
ykuroda 0:13a5d365ba16 27 {
ykuroda 0:13a5d365ba16 28 // typedef typename internal::plain_matrix_type<Derived>::type PlainObject;
ykuroda 0:13a5d365ba16 29
ykuroda 0:13a5d365ba16 30 typedef typename internal::traits<Derived>::StorageKind StorageKind;
ykuroda 0:13a5d365ba16 31 typedef typename internal::traits<Derived>::Index Index;
ykuroda 0:13a5d365ba16 32
ykuroda 0:13a5d365ba16 33 /** \returns a reference to the derived object */
ykuroda 0:13a5d365ba16 34 Derived& derived() { return *static_cast<Derived*>(this); }
ykuroda 0:13a5d365ba16 35 /** \returns a const reference to the derived object */
ykuroda 0:13a5d365ba16 36 const Derived& derived() const { return *static_cast<const Derived*>(this); }
ykuroda 0:13a5d365ba16 37
ykuroda 0:13a5d365ba16 38 inline Derived& const_cast_derived() const
ykuroda 0:13a5d365ba16 39 { return *static_cast<Derived*>(const_cast<EigenBase*>(this)); }
ykuroda 0:13a5d365ba16 40 inline const Derived& const_derived() const
ykuroda 0:13a5d365ba16 41 { return *static_cast<const Derived*>(this); }
ykuroda 0:13a5d365ba16 42
ykuroda 0:13a5d365ba16 43 /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
ykuroda 0:13a5d365ba16 44 inline Index rows() const { return derived().rows(); }
ykuroda 0:13a5d365ba16 45 /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
ykuroda 0:13a5d365ba16 46 inline Index cols() const { return derived().cols(); }
ykuroda 0:13a5d365ba16 47 /** \returns the number of coefficients, which is rows()*cols().
ykuroda 0:13a5d365ba16 48 * \sa rows(), cols(), SizeAtCompileTime. */
ykuroda 0:13a5d365ba16 49 inline Index size() const { return rows() * cols(); }
ykuroda 0:13a5d365ba16 50
ykuroda 0:13a5d365ba16 51 /** \internal Don't use it, but do the equivalent: \code dst = *this; \endcode */
ykuroda 0:13a5d365ba16 52 template<typename Dest> inline void evalTo(Dest& dst) const
ykuroda 0:13a5d365ba16 53 { derived().evalTo(dst); }
ykuroda 0:13a5d365ba16 54
ykuroda 0:13a5d365ba16 55 /** \internal Don't use it, but do the equivalent: \code dst += *this; \endcode */
ykuroda 0:13a5d365ba16 56 template<typename Dest> inline void addTo(Dest& dst) const
ykuroda 0:13a5d365ba16 57 {
ykuroda 0:13a5d365ba16 58 // This is the default implementation,
ykuroda 0:13a5d365ba16 59 // derived class can reimplement it in a more optimized way.
ykuroda 0:13a5d365ba16 60 typename Dest::PlainObject res(rows(),cols());
ykuroda 0:13a5d365ba16 61 evalTo(res);
ykuroda 0:13a5d365ba16 62 dst += res;
ykuroda 0:13a5d365ba16 63 }
ykuroda 0:13a5d365ba16 64
ykuroda 0:13a5d365ba16 65 /** \internal Don't use it, but do the equivalent: \code dst -= *this; \endcode */
ykuroda 0:13a5d365ba16 66 template<typename Dest> inline void subTo(Dest& dst) const
ykuroda 0:13a5d365ba16 67 {
ykuroda 0:13a5d365ba16 68 // This is the default implementation,
ykuroda 0:13a5d365ba16 69 // derived class can reimplement it in a more optimized way.
ykuroda 0:13a5d365ba16 70 typename Dest::PlainObject res(rows(),cols());
ykuroda 0:13a5d365ba16 71 evalTo(res);
ykuroda 0:13a5d365ba16 72 dst -= res;
ykuroda 0:13a5d365ba16 73 }
ykuroda 0:13a5d365ba16 74
ykuroda 0:13a5d365ba16 75 /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheRight(*this); \endcode */
ykuroda 0:13a5d365ba16 76 template<typename Dest> inline void applyThisOnTheRight(Dest& dst) const
ykuroda 0:13a5d365ba16 77 {
ykuroda 0:13a5d365ba16 78 // This is the default implementation,
ykuroda 0:13a5d365ba16 79 // derived class can reimplement it in a more optimized way.
ykuroda 0:13a5d365ba16 80 dst = dst * this->derived();
ykuroda 0:13a5d365ba16 81 }
ykuroda 0:13a5d365ba16 82
ykuroda 0:13a5d365ba16 83 /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheLeft(*this); \endcode */
ykuroda 0:13a5d365ba16 84 template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
ykuroda 0:13a5d365ba16 85 {
ykuroda 0:13a5d365ba16 86 // This is the default implementation,
ykuroda 0:13a5d365ba16 87 // derived class can reimplement it in a more optimized way.
ykuroda 0:13a5d365ba16 88 dst = this->derived() * dst;
ykuroda 0:13a5d365ba16 89 }
ykuroda 0:13a5d365ba16 90
ykuroda 0:13a5d365ba16 91 };
ykuroda 0:13a5d365ba16 92
ykuroda 0:13a5d365ba16 93 /***************************************************************************
ykuroda 0:13a5d365ba16 94 * Implementation of matrix base methods
ykuroda 0:13a5d365ba16 95 ***************************************************************************/
ykuroda 0:13a5d365ba16 96
ykuroda 0:13a5d365ba16 97 /** \brief Copies the generic expression \a other into *this.
ykuroda 0:13a5d365ba16 98 *
ykuroda 0:13a5d365ba16 99 * \details The expression must provide a (templated) evalTo(Derived& dst) const
ykuroda 0:13a5d365ba16 100 * function which does the actual job. In practice, this allows any user to write
ykuroda 0:13a5d365ba16 101 * its own special matrix without having to modify MatrixBase
ykuroda 0:13a5d365ba16 102 *
ykuroda 0:13a5d365ba16 103 * \returns a reference to *this.
ykuroda 0:13a5d365ba16 104 */
ykuroda 0:13a5d365ba16 105 template<typename Derived>
ykuroda 0:13a5d365ba16 106 template<typename OtherDerived>
ykuroda 0:13a5d365ba16 107 Derived& DenseBase<Derived>::operator=(const EigenBase<OtherDerived> &other)
ykuroda 0:13a5d365ba16 108 {
ykuroda 0:13a5d365ba16 109 other.derived().evalTo(derived());
ykuroda 0:13a5d365ba16 110 return derived();
ykuroda 0:13a5d365ba16 111 }
ykuroda 0:13a5d365ba16 112
ykuroda 0:13a5d365ba16 113 template<typename Derived>
ykuroda 0:13a5d365ba16 114 template<typename OtherDerived>
ykuroda 0:13a5d365ba16 115 Derived& DenseBase<Derived>::operator+=(const EigenBase<OtherDerived> &other)
ykuroda 0:13a5d365ba16 116 {
ykuroda 0:13a5d365ba16 117 other.derived().addTo(derived());
ykuroda 0:13a5d365ba16 118 return derived();
ykuroda 0:13a5d365ba16 119 }
ykuroda 0:13a5d365ba16 120
ykuroda 0:13a5d365ba16 121 template<typename Derived>
ykuroda 0:13a5d365ba16 122 template<typename OtherDerived>
ykuroda 0:13a5d365ba16 123 Derived& DenseBase<Derived>::operator-=(const EigenBase<OtherDerived> &other)
ykuroda 0:13a5d365ba16 124 {
ykuroda 0:13a5d365ba16 125 other.derived().subTo(derived());
ykuroda 0:13a5d365ba16 126 return derived();
ykuroda 0:13a5d365ba16 127 }
ykuroda 0:13a5d365ba16 128
ykuroda 0:13a5d365ba16 129 } // end namespace Eigen
ykuroda 0:13a5d365ba16 130
ykuroda 0:13a5d365ba16 131 #endif // EIGEN_EIGENBASE_H