feat(3rdparty): add eigen and ceres
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John Zhao
177
3rdparty/eigen3/Eigen/src/Core/Replicate.h
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177
3rdparty/eigen3/Eigen/src/Core/Replicate.h
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_REPLICATE_H
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#define EIGEN_REPLICATE_H
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namespace Eigen {
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/**
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* \class Replicate
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* \ingroup Core_Module
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*
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* \brief Expression of the multiple replication of a matrix or vector
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*
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* \param MatrixType the type of the object we are replicating
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*
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* This class represents an expression of the multiple replication of a matrix or vector.
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* It is the return type of DenseBase::replicate() and most of the time
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* this is the only way it is used.
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*
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* \sa DenseBase::replicate()
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*/
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namespace internal {
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template<typename MatrixType,int RowFactor,int ColFactor>
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struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
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: traits<MatrixType>
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{
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typedef typename MatrixType::Scalar Scalar;
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typedef typename traits<MatrixType>::StorageKind StorageKind;
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typedef typename traits<MatrixType>::XprKind XprKind;
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enum {
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Factor = (RowFactor==Dynamic || ColFactor==Dynamic) ? Dynamic : RowFactor*ColFactor
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};
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typedef typename nested<MatrixType,Factor>::type MatrixTypeNested;
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typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
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enum {
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RowsAtCompileTime = RowFactor==Dynamic || int(MatrixType::RowsAtCompileTime)==Dynamic
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? Dynamic
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: RowFactor * MatrixType::RowsAtCompileTime,
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ColsAtCompileTime = ColFactor==Dynamic || int(MatrixType::ColsAtCompileTime)==Dynamic
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? Dynamic
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: ColFactor * MatrixType::ColsAtCompileTime,
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//FIXME we don't propagate the max sizes !!!
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MaxRowsAtCompileTime = RowsAtCompileTime,
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MaxColsAtCompileTime = ColsAtCompileTime,
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IsRowMajor = MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1 ? 1
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: MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1 ? 0
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: (MatrixType::Flags & RowMajorBit) ? 1 : 0,
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Flags = (_MatrixTypeNested::Flags & HereditaryBits & ~RowMajorBit) | (IsRowMajor ? RowMajorBit : 0),
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CoeffReadCost = _MatrixTypeNested::CoeffReadCost
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};
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};
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}
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template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
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: public internal::dense_xpr_base< Replicate<MatrixType,RowFactor,ColFactor> >::type
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{
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typedef typename internal::traits<Replicate>::MatrixTypeNested MatrixTypeNested;
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typedef typename internal::traits<Replicate>::_MatrixTypeNested _MatrixTypeNested;
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public:
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typedef typename internal::dense_xpr_base<Replicate>::type Base;
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EIGEN_DENSE_PUBLIC_INTERFACE(Replicate)
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template<typename OriginalMatrixType>
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inline explicit Replicate(const OriginalMatrixType& a_matrix)
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: m_matrix(a_matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor)
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{
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EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
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THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
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eigen_assert(RowFactor!=Dynamic && ColFactor!=Dynamic);
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}
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template<typename OriginalMatrixType>
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inline Replicate(const OriginalMatrixType& a_matrix, Index rowFactor, Index colFactor)
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: m_matrix(a_matrix), m_rowFactor(rowFactor), m_colFactor(colFactor)
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{
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EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
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THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
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}
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inline Index rows() const { return m_matrix.rows() * m_rowFactor.value(); }
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inline Index cols() const { return m_matrix.cols() * m_colFactor.value(); }
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inline Scalar coeff(Index rowId, Index colId) const
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{
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// try to avoid using modulo; this is a pure optimization strategy
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const Index actual_row = internal::traits<MatrixType>::RowsAtCompileTime==1 ? 0
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: RowFactor==1 ? rowId
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: rowId%m_matrix.rows();
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const Index actual_col = internal::traits<MatrixType>::ColsAtCompileTime==1 ? 0
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: ColFactor==1 ? colId
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: colId%m_matrix.cols();
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return m_matrix.coeff(actual_row, actual_col);
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}
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template<int LoadMode>
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inline PacketScalar packet(Index rowId, Index colId) const
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{
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const Index actual_row = internal::traits<MatrixType>::RowsAtCompileTime==1 ? 0
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: RowFactor==1 ? rowId
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: rowId%m_matrix.rows();
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const Index actual_col = internal::traits<MatrixType>::ColsAtCompileTime==1 ? 0
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: ColFactor==1 ? colId
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: colId%m_matrix.cols();
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return m_matrix.template packet<LoadMode>(actual_row, actual_col);
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}
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const _MatrixTypeNested& nestedExpression() const
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{
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return m_matrix;
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}
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protected:
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MatrixTypeNested m_matrix;
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const internal::variable_if_dynamic<Index, RowFactor> m_rowFactor;
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const internal::variable_if_dynamic<Index, ColFactor> m_colFactor;
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};
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/**
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* \return an expression of the replication of \c *this
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*
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* Example: \include MatrixBase_replicate.cpp
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* Output: \verbinclude MatrixBase_replicate.out
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*
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* \sa VectorwiseOp::replicate(), DenseBase::replicate(Index,Index), class Replicate
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*/
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template<typename Derived>
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template<int RowFactor, int ColFactor>
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const Replicate<Derived,RowFactor,ColFactor>
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DenseBase<Derived>::replicate() const
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{
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return Replicate<Derived,RowFactor,ColFactor>(derived());
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}
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/**
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* \return an expression of the replication of \c *this
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*
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* Example: \include MatrixBase_replicate_int_int.cpp
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* Output: \verbinclude MatrixBase_replicate_int_int.out
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*
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* \sa VectorwiseOp::replicate(), DenseBase::replicate<int,int>(), class Replicate
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*/
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template<typename Derived>
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const typename DenseBase<Derived>::ReplicateReturnType
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DenseBase<Derived>::replicate(Index rowFactor,Index colFactor) const
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{
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return Replicate<Derived,Dynamic,Dynamic>(derived(),rowFactor,colFactor);
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}
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/**
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* \return an expression of the replication of each column (or row) of \c *this
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*
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* Example: \include DirectionWise_replicate_int.cpp
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* Output: \verbinclude DirectionWise_replicate_int.out
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*
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* \sa VectorwiseOp::replicate(), DenseBase::replicate(), class Replicate
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*/
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template<typename ExpressionType, int Direction>
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const typename VectorwiseOp<ExpressionType,Direction>::ReplicateReturnType
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VectorwiseOp<ExpressionType,Direction>::replicate(Index factor) const
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{
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return typename VectorwiseOp<ExpressionType,Direction>::ReplicateReturnType
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(_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1);
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}
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} // end namespace Eigen
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#endif // EIGEN_REPLICATE_H
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