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MYNT-EYE-S-SDK/3rdparty/eigen3/Eigen/src/Core/DenseBase.h

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feat(3rdparty): add eigen and ceres
2019-01-03 10:25:18 +02:00
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
// Copyright (C) 2008-2010 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_DENSEBASE_H
#define EIGEN_DENSEBASE_H
namespace Eigen {
namespace internal {
// The index type defined by EIGEN_DEFAULT_DENSE_INDEX_TYPE must be a signed type.
// This dummy function simply aims at checking that at compile time.
static inline void check_DenseIndex_is_signed() {
EIGEN_STATIC_ASSERT(NumTraits<DenseIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
}
} // end namespace internal
/** \class DenseBase
* \ingroup Core_Module
*
* \brief Base class for all dense matrices, vectors, and arrays
*
* This class is the base that is inherited by all dense objects (matrix, vector, arrays,
* and related expression types). The common Eigen API for dense objects is contained in this class.
*
* \tparam Derived is the derived type, e.g., a matrix type or an expression.
*
* This class can be extended with the help of the plugin mechanism described on the page
* \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN.
*
* \sa \ref TopicClassHierarchy
*/
template<typename Derived> class DenseBase
#ifndef EIGEN_PARSED_BY_DOXYGEN
: public internal::special_scalar_op_base<Derived, typename internal::traits<Derived>::Scalar,
typename NumTraits<typename internal::traits<Derived>::Scalar>::Real,
DenseCoeffsBase<Derived> >
#else
: public DenseCoeffsBase<Derived>
#endif // not EIGEN_PARSED_BY_DOXYGEN
{
public:
class InnerIterator;
typedef typename internal::traits<Derived>::StorageKind StorageKind;
/** \brief The type of indices
* \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
* \sa \ref TopicPreprocessorDirectives.
*/
typedef typename internal::traits<Derived>::Index Index;
typedef typename internal::traits<Derived>::Scalar Scalar;
typedef typename internal::packet_traits<Scalar>::type PacketScalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef internal::special_scalar_op_base<Derived,Scalar,RealScalar, DenseCoeffsBase<Derived> > Base;
using Base::operator*;
using Base::derived;
using Base::const_cast_derived;
using Base::rows;
using Base::cols;
using Base::size;
using Base::rowIndexByOuterInner;
using Base::colIndexByOuterInner;
using Base::coeff;
using Base::coeffByOuterInner;
using Base::packet;
using Base::packetByOuterInner;
using Base::writePacket;
using Base::writePacketByOuterInner;
using Base::coeffRef;
using Base::coeffRefByOuterInner;
using Base::copyCoeff;
using Base::copyCoeffByOuterInner;
using Base::copyPacket;
using Base::copyPacketByOuterInner;
using Base::operator();
using Base::operator[];
using Base::x;
using Base::y;
using Base::z;
using Base::w;
using Base::stride;
using Base::innerStride;
using Base::outerStride;
using Base::rowStride;
using Base::colStride;
typedef typename Base::CoeffReturnType CoeffReturnType;
enum {
RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
/**< The number of rows at compile-time. This is just a copy of the value provided
* by the \a Derived type. If a value is not known at compile-time,
* it is set to the \a Dynamic constant.
* \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
/**< The number of columns at compile-time. This is just a copy of the value provided
* by the \a Derived type. If a value is not known at compile-time,
* it is set to the \a Dynamic constant.
* \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
internal::traits<Derived>::ColsAtCompileTime>::ret),
/**< This is equal to the number of coefficients, i.e. the number of
* rows times the number of columns, or to \a Dynamic if this is not
* known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
/**< This value is equal to the maximum possible number of rows that this expression
* might have. If this expression might have an arbitrarily high number of rows,
* this value is set to \a Dynamic.
*
* This value is useful to know when evaluating an expression, in order to determine
* whether it is possible to avoid doing a dynamic memory allocation.
*
* \sa RowsAtCompileTime, MaxColsAtCompileTime, MaxSizeAtCompileTime
*/
MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
/**< This value is equal to the maximum possible number of columns that this expression
* might have. If this expression might have an arbitrarily high number of columns,
* this value is set to \a Dynamic.
*
* This value is useful to know when evaluating an expression, in order to determine
* whether it is possible to avoid doing a dynamic memory allocation.
*
* \sa ColsAtCompileTime, MaxRowsAtCompileTime, MaxSizeAtCompileTime
*/
MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
internal::traits<Derived>::MaxColsAtCompileTime>::ret),
/**< This value is equal to the maximum possible number of coefficients that this expression
* might have. If this expression might have an arbitrarily high number of coefficients,
* this value is set to \a Dynamic.
*
* This value is useful to know when evaluating an expression, in order to determine
* whether it is possible to avoid doing a dynamic memory allocation.
*
* \sa SizeAtCompileTime, MaxRowsAtCompileTime, MaxColsAtCompileTime
*/
IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
|| internal::traits<Derived>::MaxColsAtCompileTime == 1,
/**< This is set to true if either the number of rows or the number of
* columns is known at compile-time to be equal to 1. Indeed, in that case,
* we are dealing with a column-vector (if there is only one column) or with
* a row-vector (if there is only one row). */
Flags = internal::traits<Derived>::Flags,
/**< This stores expression \ref flags flags which may or may not be inherited by new expressions
* constructed from this one. See the \ref flags "list of flags".
*/
IsRowMajor = int(Flags) & RowMajorBit, /**< True if this expression has row-major storage order. */
InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime)
: int(IsRowMajor) ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
/**< This is a rough measure of how expensive it is to read one coefficient from
* this expression.
*/
InnerStrideAtCompileTime = internal::inner_stride_at_compile_time<Derived>::ret,
OuterStrideAtCompileTime = internal::outer_stride_at_compile_time<Derived>::ret
};
enum { ThisConstantIsPrivateInPlainObjectBase };
/** \returns the number of nonzero coefficients which is in practice the number
* of stored coefficients. */
inline Index nonZeros() const { return size(); }
/** \returns the outer size.
*
* \note For a vector, this returns just 1. For a matrix (non-vector), this is the major dimension
* with respect to the \ref TopicStorageOrders "storage order", i.e., the number of columns for a
* column-major matrix, and the number of rows for a row-major matrix. */
Index outerSize() const
{
return IsVectorAtCompileTime ? 1
: int(IsRowMajor) ? this->rows() : this->cols();
}
/** \returns the inner size.
*
* \note For a vector, this is just the size. For a matrix (non-vector), this is the minor dimension
* with respect to the \ref TopicStorageOrders "storage order", i.e., the number of rows for a
* column-major matrix, and the number of columns for a row-major matrix. */
Index innerSize() const
{
return IsVectorAtCompileTime ? this->size()
: int(IsRowMajor) ? this->cols() : this->rows();
}
/** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
* Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
* nothing else.
*/
void resize(Index newSize)
{
EIGEN_ONLY_USED_FOR_DEBUG(newSize);
eigen_assert(newSize == this->size()
&& "DenseBase::resize() does not actually allow to resize.");
}
/** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
* Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
* nothing else.
*/
void resize(Index nbRows, Index nbCols)
{
EIGEN_ONLY_USED_FOR_DEBUG(nbRows);
EIGEN_ONLY_USED_FOR_DEBUG(nbCols);
eigen_assert(nbRows == this->rows() && nbCols == this->cols()
&& "DenseBase::resize() does not actually allow to resize.");
}
#ifndef EIGEN_PARSED_BY_DOXYGEN
/** \internal Represents a matrix with all coefficients equal to one another*/
typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
/** \internal Represents a vector with linearly spaced coefficients that allows sequential access only. */
typedef CwiseNullaryOp<internal::linspaced_op<Scalar,false>,Derived> SequentialLinSpacedReturnType;
/** \internal Represents a vector with linearly spaced coefficients that allows random access. */
typedef CwiseNullaryOp<internal::linspaced_op<Scalar,true>,Derived> RandomAccessLinSpacedReturnType;
/** \internal the return type of MatrixBase::eigenvalues() */
typedef Matrix<typename NumTraits<typename internal::traits<Derived>::Scalar>::Real, internal::traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
#endif // not EIGEN_PARSED_BY_DOXYGEN
/** Copies \a other into *this. \returns a reference to *this. */
template<typename OtherDerived>
Derived& operator=(const DenseBase<OtherDerived>& other);
/** Special case of the template operator=, in order to prevent the compiler
* from generating a default operator= (issue hit with g++ 4.1)
*/
Derived& operator=(const DenseBase& other);
template<typename OtherDerived>
Derived& operator=(const EigenBase<OtherDerived> &other);
template<typename OtherDerived>
Derived& operator+=(const EigenBase<OtherDerived> &other);
template<typename OtherDerived>
Derived& operator-=(const EigenBase<OtherDerived> &other);
template<typename OtherDerived>
Derived& operator=(const ReturnByValue<OtherDerived>& func);
/** \internal Copies \a other into *this without evaluating other. \returns a reference to *this. */
template<typename OtherDerived>
Derived& lazyAssign(const DenseBase<OtherDerived>& other);
/** \internal Evaluates \a other into *this. \returns a reference to *this. */
template<typename OtherDerived>
Derived& lazyAssign(const ReturnByValue<OtherDerived>& other);
CommaInitializer<Derived> operator<< (const Scalar& s);
template<unsigned int Added,unsigned int Removed>
const Flagged<Derived, Added, Removed> flagged() const;
template<typename OtherDerived>
CommaInitializer<Derived> operator<< (const DenseBase<OtherDerived>& other);
Eigen::Transpose<Derived> transpose();
typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
ConstTransposeReturnType transpose() const;
void transposeInPlace();
#ifndef EIGEN_NO_DEBUG
protected:
template<typename OtherDerived>
void checkTransposeAliasing(const OtherDerived& other) const;
public:
#endif
static const ConstantReturnType
Constant(Index rows, Index cols, const Scalar& value);
static const ConstantReturnType
Constant(Index size, const Scalar& value);
static const ConstantReturnType
Constant(const Scalar& value);
static const SequentialLinSpacedReturnType
LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high);
static const RandomAccessLinSpacedReturnType
LinSpaced(Index size, const Scalar& low, const Scalar& high);
static const SequentialLinSpacedReturnType
LinSpaced(Sequential_t, const Scalar& low, const Scalar& high);
static const RandomAccessLinSpacedReturnType
LinSpaced(const Scalar& low, const Scalar& high);
template<typename CustomNullaryOp>
static const CwiseNullaryOp<CustomNullaryOp, Derived>
NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func);
template<typename CustomNullaryOp>
static const CwiseNullaryOp<CustomNullaryOp, Derived>
NullaryExpr(Index size, const CustomNullaryOp& func);
template<typename CustomNullaryOp>
static const CwiseNullaryOp<CustomNullaryOp, Derived>
NullaryExpr(const CustomNullaryOp& func);
static const ConstantReturnType Zero(Index rows, Index cols);
static const ConstantReturnType Zero(Index size);
static const ConstantReturnType Zero();
static const ConstantReturnType Ones(Index rows, Index cols);
static const ConstantReturnType Ones(Index size);
static const ConstantReturnType Ones();
void fill(const Scalar& value);
Derived& setConstant(const Scalar& value);
Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high);
Derived& setLinSpaced(const Scalar& low, const Scalar& high);
Derived& setZero();
Derived& setOnes();
Derived& setRandom();
template<typename OtherDerived>
bool isApprox(const DenseBase<OtherDerived>& other,
const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
bool isMuchSmallerThan(const RealScalar& other,
const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
template<typename OtherDerived>
bool isMuchSmallerThan(const DenseBase<OtherDerived>& other,
const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
bool isApproxToConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
bool isZero(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
bool isOnes(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
inline bool hasNaN() const;
inline bool allFinite() const;
inline Derived& operator*=(const Scalar& other);
inline Derived& operator/=(const Scalar& other);
typedef typename internal::add_const_on_value_type<typename internal::eval<Derived>::type>::type EvalReturnType;
/** \returns the matrix or vector obtained by evaluating this expression.
*
* Notice that in the case of a plain matrix or vector (not an expression) this function just returns
* a const reference, in order to avoid a useless copy.
*/
EIGEN_STRONG_INLINE EvalReturnType eval() const
{
// Even though MSVC does not honor strong inlining when the return type
// is a dynamic matrix, we desperately need strong inlining for fixed
// size types on MSVC.
return typename internal::eval<Derived>::type(derived());
}
/** swaps *this with the expression \a other.
*
*/
template<typename OtherDerived>
void swap(const DenseBase<OtherDerived>& other,
int = OtherDerived::ThisConstantIsPrivateInPlainObjectBase)
{
SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
}
/** swaps *this with the matrix or array \a other.
*
*/
template<typename OtherDerived>
void swap(PlainObjectBase<OtherDerived>& other)
{
SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
}
inline const NestByValue<Derived> nestByValue() const;
inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
inline ForceAlignedAccess<Derived> forceAlignedAccess();
template<bool Enable> inline const typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf() const;
template<bool Enable> inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
Scalar sum() const;
Scalar mean() const;
Scalar trace() const;
Scalar prod() const;
typename internal::traits<Derived>::Scalar minCoeff() const;
typename internal::traits<Derived>::Scalar maxCoeff() const;
template<typename IndexType>
typename internal::traits<Derived>::Scalar minCoeff(IndexType* row, IndexType* col) const;
template<typename IndexType>
typename internal::traits<Derived>::Scalar maxCoeff(IndexType* row, IndexType* col) const;
template<typename IndexType>
typename internal::traits<Derived>::Scalar minCoeff(IndexType* index) const;
template<typename IndexType>
typename internal::traits<Derived>::Scalar maxCoeff(IndexType* index) const;
template<typename BinaryOp>
typename internal::result_of<BinaryOp(typename internal::traits<Derived>::Scalar)>::type
redux(const BinaryOp& func) const;
template<typename Visitor>
void visit(Visitor& func) const;
inline const WithFormat<Derived> format(const IOFormat& fmt) const;
/** \returns the unique coefficient of a 1x1 expression */
CoeffReturnType value() const
{
EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
eigen_assert(this->rows() == 1 && this->cols() == 1);
return derived().coeff(0,0);
}
bool all(void) const;
bool any(void) const;
Index count() const;
typedef VectorwiseOp<Derived, Horizontal> RowwiseReturnType;
typedef const VectorwiseOp<const Derived, Horizontal> ConstRowwiseReturnType;
typedef VectorwiseOp<Derived, Vertical> ColwiseReturnType;
typedef const VectorwiseOp<const Derived, Vertical> ConstColwiseReturnType;
ConstRowwiseReturnType rowwise() const;
RowwiseReturnType rowwise();
ConstColwiseReturnType colwise() const;
ColwiseReturnType colwise();
static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index rows, Index cols);
static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index size);
static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random();
template<typename ThenDerived,typename ElseDerived>
const Select<Derived,ThenDerived,ElseDerived>
select(const DenseBase<ThenDerived>& thenMatrix,
const DenseBase<ElseDerived>& elseMatrix) const;
template<typename ThenDerived>
inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
select(const DenseBase<ThenDerived>& thenMatrix, const typename ThenDerived::Scalar& elseScalar) const;
template<typename ElseDerived>
inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
select(const typename ElseDerived::Scalar& thenScalar, const DenseBase<ElseDerived>& elseMatrix) const;
template<int p> RealScalar lpNorm() const;
template<int RowFactor, int ColFactor>
inline const Replicate<Derived,RowFactor,ColFactor> replicate() const;
typedef Replicate<Derived,Dynamic,Dynamic> ReplicateReturnType;
inline const ReplicateReturnType replicate(Index rowFacor,Index colFactor) const;
typedef Reverse<Derived, BothDirections> ReverseReturnType;
typedef const Reverse<const Derived, BothDirections> ConstReverseReturnType;
ReverseReturnType reverse();
ConstReverseReturnType reverse() const;
void reverseInPlace();
#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase
# include "../plugins/BlockMethods.h"
# ifdef EIGEN_DENSEBASE_PLUGIN
# include EIGEN_DENSEBASE_PLUGIN
# endif
#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
#ifdef EIGEN2_SUPPORT
Block<Derived> corner(CornerType type, Index cRows, Index cCols);
const Block<Derived> corner(CornerType type, Index cRows, Index cCols) const;
template<int CRows, int CCols>
Block<Derived, CRows, CCols> corner(CornerType type);
template<int CRows, int CCols>
const Block<Derived, CRows, CCols> corner(CornerType type) const;
#endif // EIGEN2_SUPPORT
// disable the use of evalTo for dense objects with a nice compilation error
template<typename Dest> inline void evalTo(Dest& ) const
{
EIGEN_STATIC_ASSERT((internal::is_same<Dest,void>::value),THE_EVAL_EVALTO_FUNCTION_SHOULD_NEVER_BE_CALLED_FOR_DENSE_OBJECTS);
}
protected:
/** Default constructor. Do nothing. */
DenseBase()
{
/* Just checks for self-consistency of the flags.
* Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down
*/
#ifdef EIGEN_INTERNAL_DEBUGGING
EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, int(IsRowMajor))
&& EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, int(!IsRowMajor))),
INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION)
#endif
}
private:
explicit DenseBase(int);
DenseBase(int,int);
template<typename OtherDerived> explicit DenseBase(const DenseBase<OtherDerived>&);
};
} // end namespace Eigen
#endif // EIGEN_DENSEBASE_H
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