| Directory: | ./ |
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| File: | include/hpp/constraints/impl/matrix-view-operation.hh |
| Date: | 2025-05-05 12:19:30 |
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| Lines: | 35 | 35 | 100.0% |
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| 1 | // Copyright (c) 2017, Joseph Mirabel | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | |||
| 5 | // Redistribution and use in source and binary forms, with or without | ||
| 6 | // modification, are permitted provided that the following conditions are | ||
| 7 | // met: | ||
| 8 | // | ||
| 9 | // 1. Redistributions of source code must retain the above copyright | ||
| 10 | // notice, this list of conditions and the following disclaimer. | ||
| 11 | // | ||
| 12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer in the | ||
| 14 | // documentation and/or other materials provided with the distribution. | ||
| 15 | // | ||
| 16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 27 | // DAMAGE. | ||
| 28 | |||
| 29 | #ifndef HPP_CONSTRAINTS_IMPL_MATRIX_VIEW_OPERATION_HH | ||
| 30 | #define HPP_CONSTRAINTS_IMPL_MATRIX_VIEW_OPERATION_HH | ||
| 31 | |||
| 32 | namespace Eigen { | ||
| 33 | /** Support for CwiseBinaryOp | ||
| 34 | * 3 possible cases: | ||
| 35 | * - view op view | ||
| 36 | * - matrix op view | ||
| 37 | * - view op matrix */ | ||
| 38 | |||
| 39 | #define HPP_EIGEN_DECLARE_TEMPLATE_ARGS_MATRIX_BLOCK_VIEW \ | ||
| 40 | typename _ArgType, int _Rows, int _Cols, bool _allRows, bool _allCols | ||
| 41 | #define HPP_EIGEN_MATRIX_BLOCK_VIEW \ | ||
| 42 | MatrixBlockView<_ArgType, _Rows, _Cols, _allRows, _allCols> | ||
| 43 | |||
| 44 | #define HPP_EIGEN_SPECIALIZE_CwiseBinaryOpImpl(LHS_TPL, LHS_TYPE, RHS_TPL, \ | ||
| 45 | RHS_TYPE) \ | ||
| 46 | template <typename BinaryOp, LHS_TPL, RHS_TPL> \ | ||
| 47 | class CwiseBinaryOpImpl<BinaryOp, LHS_TYPE, RHS_TYPE, Dense> \ | ||
| 48 | : public internal::dense_xpr_base< \ | ||
| 49 | CwiseBinaryOp<BinaryOp, LHS_TYPE, RHS_TYPE> >::type { \ | ||
| 50 | typedef LHS_TYPE Lhs_t; \ | ||
| 51 | typedef RHS_TYPE Rhs_t; \ | ||
| 52 | typedef CwiseBinaryOp<BinaryOp, LHS_TYPE, RHS_TYPE> Derived; \ | ||
| 53 | \ | ||
| 54 | public: \ | ||
| 55 | typedef typename internal::dense_xpr_base<Derived>::type Base; \ | ||
| 56 | EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \ | ||
| 57 | \ | ||
| 58 | template <typename OtherDerived> \ | ||
| 59 | void evalTo(MatrixBase<OtherDerived>& other) const; \ | ||
| 60 | }; | ||
| 61 | |||
| 62 | #define HPP_EIGEN_DEFINE_CwiseBinaryOpImpl_evalTo(LHS_TPL, LHS_TYPE, RHS_TPL, \ | ||
| 63 | RHS_TYPE) \ | ||
| 64 | template <typename BinaryOp, LHS_TPL, RHS_TPL> \ | ||
| 65 | template <typename OtherDerived> \ | ||
| 66 | void CwiseBinaryOpImpl<BinaryOp, LHS_TYPE, RHS_TYPE, Dense>::evalTo( \ | ||
| 67 | MatrixBase<OtherDerived>& other) const | ||
| 68 | |||
| 69 | #if HPP_EIGEN_USE_EVALUATOR | ||
| 70 | |||
| 71 | #define HPP_EIGEN_SPECIALIZE_ASSIGN_SELECTOR(LHS_TPL, LHS_TYPE, RHS_TPL, \ | ||
| 72 | RHS_TYPE) \ | ||
| 73 | template <typename Derived, typename BinaryOp, LHS_TPL, RHS_TPL, \ | ||
| 74 | typename Functor, typename Scalar> \ | ||
| 75 | struct Assignment<Derived, CwiseBinaryOp<BinaryOp, LHS_TYPE, RHS_TYPE>, \ | ||
| 76 | Functor, Dense2Dense, Scalar> { \ | ||
| 77 | typedef CwiseBinaryOp<BinaryOp, LHS_TYPE, RHS_TYPE> CwiseDerived; \ | ||
| 78 | static EIGEN_STRONG_INLINE void run(Derived& dst, const CwiseDerived& o, \ | ||
| 79 | const Functor&) { \ | ||
| 80 | o.evalTo(dst); \ | ||
| 81 | } \ | ||
| 82 | }; | ||
| 83 | |||
| 84 | #else // HPP_EIGEN_USE_EVALUATOR | ||
| 85 | |||
| 86 | #define HPP_EIGEN_SPECIALIZE_ASSIGN_SELECTOR_IMPL( \ | ||
| 87 | LHS_TPL, LHS_TYPE, RHS_TPL, RHS_TYPE, need_to_transpose, EVAL_TO_BODY) \ | ||
| 88 | template <typename Derived, typename BinaryOp, LHS_TPL, RHS_TPL> \ | ||
| 89 | struct assign_selector<Derived, CwiseBinaryOp<BinaryOp, LHS_TYPE, RHS_TYPE>, \ | ||
| 90 | false, need_to_transpose> { \ | ||
| 91 | typedef CwiseBinaryOp<BinaryOp, LHS_TYPE, RHS_TYPE> CwiseDerived; \ | ||
| 92 | static EIGEN_STRONG_INLINE Derived& run(Derived& dst, \ | ||
| 93 | const CwiseDerived& o) { \ | ||
| 94 | dst.resize(o.rows(), o.cols()); \ | ||
| 95 | o.evalTo(dst); \ | ||
| 96 | return dst; \ | ||
| 97 | } \ | ||
| 98 | template <typename ActualDerived, typename ActualOtherDerived> \ | ||
| 99 | static EIGEN_STRONG_INLINE Derived& evalTo( \ | ||
| 100 | ActualDerived& dst, const ActualOtherDerived& other) { \ | ||
| 101 | EVAL_TO_BODY return dst; \ | ||
| 102 | } \ | ||
| 103 | }; | ||
| 104 | |||
| 105 | #define HPP_EIGEN_EVAL_TO_BODY_NORMAL other.evalTo(dst); | ||
| 106 | #define HPP_EIGEN_EVAL_TO_BODY_TRANSPOSE \ | ||
| 107 | Transpose<ActualDerived> dstTrans(dst); \ | ||
| 108 | other.evalTo(dstTrans); | ||
| 109 | |||
| 110 | #define HPP_EIGEN_SPECIALIZE_ASSIGN_SELECTOR(LHS_TPL, LHS_TYPE, RHS_TPL, \ | ||
| 111 | RHS_TYPE) \ | ||
| 112 | HPP_EIGEN_SPECIALIZE_ASSIGN_SELECTOR_IMPL( \ | ||
| 113 | HPP_EIGEN_LHS_TPL, HPP_EIGEN_LHS_TYPE, HPP_EIGEN_RHS_TPL, \ | ||
| 114 | HPP_EIGEN_RHS_TYPE, false, HPP_EIGEN_EVAL_TO_BODY_NORMAL) \ | ||
| 115 | HPP_EIGEN_SPECIALIZE_ASSIGN_SELECTOR_IMPL( \ | ||
| 116 | HPP_EIGEN_LHS_TPL, HPP_EIGEN_LHS_TYPE, HPP_EIGEN_RHS_TPL, \ | ||
| 117 | HPP_EIGEN_RHS_TYPE, true, HPP_EIGEN_EVAL_TO_BODY_TRANSPOSE) | ||
| 118 | |||
| 119 | #endif // HPP_EIGEN_USE_EVALUATOR | ||
| 120 | |||
| 121 | // --- matrix op view -- // | ||
| 122 | #define HPP_EIGEN_LHS_TPL typename Lhs | ||
| 123 | #define HPP_EIGEN_LHS_TYPE Lhs | ||
| 124 | #define HPP_EIGEN_RHS_TPL HPP_EIGEN_DECLARE_TEMPLATE_ARGS_MATRIX_BLOCK_VIEW | ||
| 125 | #define HPP_EIGEN_RHS_TYPE const HPP_EIGEN_MATRIX_BLOCK_VIEW | ||
| 126 | |||
| 127 | HPP_EIGEN_SPECIALIZE_CwiseBinaryOpImpl(HPP_EIGEN_LHS_TPL, HPP_EIGEN_LHS_TYPE, | ||
| 128 | HPP_EIGEN_RHS_TPL, HPP_EIGEN_RHS_TYPE) | ||
| 129 | 16 | HPP_EIGEN_DEFINE_CwiseBinaryOpImpl_evalTo(HPP_EIGEN_LHS_TPL, | |
| 130 | HPP_EIGEN_LHS_TYPE, | ||
| 131 | HPP_EIGEN_RHS_TPL, | ||
| 132 | HPP_EIGEN_RHS_TYPE) { | ||
| 133 | typedef const Block<Lhs_t> BlockLhs; | ||
| 134 | typedef const typename Rhs_t::template block_t<typename Rhs_t::ArgType>::type | ||
| 135 | BlockRhs; | ||
| 136 | typedef CwiseBinaryOp<BinaryOp, BlockLhs, BlockRhs> BlockCwiseBOp; | ||
| 137 | |||
| 138 | 16 | const Derived& d = derived(); | |
| 139 |
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56 | for (typename Rhs_t::block_iterator block(d.rhs()); block.valid(); ++block) { |
| 140 |
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40 | BlockRhs rhs = d.rhs()._block(block); |
| 141 | BlockLhs lhs = | ||
| 142 |
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40 | d.lhs().block(block.ro(), block.co(), block.rs(), block.cs()); |
| 143 |
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40 | other.derived().block(block.ro(), block.co(), block.rs(), block.cs()) = |
| 144 |
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80 | BlockCwiseBOp(lhs, rhs, d.functor()); |
| 145 | } | ||
| 146 | 16 | } | |
| 147 | |||
| 148 | namespace internal { | ||
| 149 | 16 | HPP_EIGEN_SPECIALIZE_ASSIGN_SELECTOR(HPP_EIGEN_LHS_TPL, HPP_EIGEN_LHS_TYPE, | |
| 150 | HPP_EIGEN_RHS_TPL, HPP_EIGEN_RHS_TYPE) | ||
| 151 | } | ||
| 152 | #undef HPP_EIGEN_LHS_TPL | ||
| 153 | #undef HPP_EIGEN_LHS_TYPE | ||
| 154 | #undef HPP_EIGEN_RHS_TPL | ||
| 155 | #undef HPP_EIGEN_RHS_TYPE | ||
| 156 | |||
| 157 | // --- view op matrix -- // | ||
| 158 | #define HPP_EIGEN_LHS_TPL HPP_EIGEN_DECLARE_TEMPLATE_ARGS_MATRIX_BLOCK_VIEW | ||
| 159 | #define HPP_EIGEN_LHS_TYPE const HPP_EIGEN_MATRIX_BLOCK_VIEW | ||
| 160 | #define HPP_EIGEN_RHS_TPL typename Rhs | ||
| 161 | #define HPP_EIGEN_RHS_TYPE Rhs | ||
| 162 | HPP_EIGEN_SPECIALIZE_CwiseBinaryOpImpl(HPP_EIGEN_LHS_TPL, HPP_EIGEN_LHS_TYPE, | ||
| 163 | HPP_EIGEN_RHS_TPL, HPP_EIGEN_RHS_TYPE) | ||
| 164 | 16 | HPP_EIGEN_DEFINE_CwiseBinaryOpImpl_evalTo(HPP_EIGEN_LHS_TPL, | |
| 165 | HPP_EIGEN_LHS_TYPE, | ||
| 166 | HPP_EIGEN_RHS_TPL, | ||
| 167 | HPP_EIGEN_RHS_TYPE) { | ||
| 168 | typedef const typename Lhs_t::template block_t<typename Lhs_t::ArgType>::type | ||
| 169 | BlockLhs; | ||
| 170 | typedef const Block<Rhs_t> BlockRhs; | ||
| 171 | typedef CwiseBinaryOp<BinaryOp, BlockLhs, BlockRhs> BlockCwiseBOp; | ||
| 172 | |||
| 173 | 16 | const Derived& d = derived(); | |
| 174 |
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56 | for (typename Lhs_t::block_iterator block(d.lhs()); block.valid(); ++block) { |
| 175 |
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40 | BlockLhs lhs = d.lhs()._block(block); |
| 176 | BlockRhs rhs = | ||
| 177 |
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40 | d.rhs().block(block.ro(), block.co(), block.rs(), block.cs()); |
| 178 |
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40 | other.derived().block(block.ro(), block.co(), block.rs(), block.cs()) = |
| 179 |
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80 | BlockCwiseBOp(lhs, rhs, d.functor()); |
| 180 | } | ||
| 181 | 16 | } | |
| 182 | |||
| 183 | namespace internal { | ||
| 184 | 16 | HPP_EIGEN_SPECIALIZE_ASSIGN_SELECTOR(HPP_EIGEN_LHS_TPL, HPP_EIGEN_LHS_TYPE, | |
| 185 | HPP_EIGEN_RHS_TPL, HPP_EIGEN_RHS_TYPE) | ||
| 186 | } | ||
| 187 | #undef HPP_EIGEN_LHS_TPL | ||
| 188 | #undef HPP_EIGEN_LHS_TYPE | ||
| 189 | #undef HPP_EIGEN_RHS_TPL | ||
| 190 | #undef HPP_EIGEN_RHS_TYPE | ||
| 191 | |||
| 192 | // --- view op view -- // | ||
| 193 | #define HPP_EIGEN_LHS_TPL HPP_EIGEN_DECLARE_TEMPLATE_ARGS_MATRIX_BLOCK_VIEW | ||
| 194 | #define HPP_EIGEN_LHS_TYPE const HPP_EIGEN_MATRIX_BLOCK_VIEW | ||
| 195 | #define HPP_EIGEN_RHS_TPL \ | ||
| 196 | typename _ArgType2, int _Rows2, int _Cols2, bool _allRows2, bool _allCols2 | ||
| 197 | #define HPP_EIGEN_RHS_TYPE \ | ||
| 198 | const MatrixBlockView<_ArgType2, _Rows2, _Cols2, _allRows2, _allCols2> | ||
| 199 | |||
| 200 | HPP_EIGEN_SPECIALIZE_CwiseBinaryOpImpl(HPP_EIGEN_LHS_TPL, HPP_EIGEN_LHS_TYPE, | ||
| 201 | HPP_EIGEN_RHS_TPL, HPP_EIGEN_RHS_TYPE) | ||
| 202 | 16 | HPP_EIGEN_DEFINE_CwiseBinaryOpImpl_evalTo(HPP_EIGEN_LHS_TPL, | |
| 203 | HPP_EIGEN_LHS_TYPE, | ||
| 204 | HPP_EIGEN_RHS_TPL, | ||
| 205 | HPP_EIGEN_RHS_TYPE) { | ||
| 206 | typedef const typename Lhs_t::template block_t<typename Lhs_t::ArgType>::type | ||
| 207 | BlockLhs; | ||
| 208 | typedef const typename Rhs_t::template block_t<typename Rhs_t::ArgType>::type | ||
| 209 | BlockRhs; | ||
| 210 | typedef CwiseBinaryOp<BinaryOp, BlockLhs, BlockRhs> BlockCwiseBOp; | ||
| 211 | |||
| 212 | 16 | const Derived& d = derived(); | |
| 213 |
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16 | assert(d.lhs()._blocks() == d.rhs()._blocks()); |
| 214 | 16 | typename Lhs_t::block_iterator lblock(d.lhs()); | |
| 215 | 16 | typename Rhs_t::block_iterator rblock(d.rhs()); | |
| 216 |
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56 | while (lblock.valid()) { |
| 217 |
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40 | BlockLhs lhs = d.lhs()._block(lblock); |
| 218 |
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40 | BlockRhs rhs = d.rhs()._block(lblock); |
| 219 |
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40 | assert(lblock.rs() == rblock.rs() && lblock.cs() == rblock.cs()); |
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40 | assert(lblock.ro() == rblock.ro() && lblock.co() == rblock.co()); |
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40 | other.derived().block(rblock.ro(), rblock.co(), rblock.rs(), rblock.cs()) = |
| 222 |
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40 | BlockCwiseBOp(lhs, rhs, d.functor()); |
| 223 |
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40 | ++lblock; |
| 224 |
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40 | ++rblock; |
| 225 | } | ||
| 226 |
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16 | assert(!lblock.valid() && !rblock.valid()); |
| 227 | 16 | } | |
| 228 | |||
| 229 | namespace internal { | ||
| 230 | 16 | HPP_EIGEN_SPECIALIZE_ASSIGN_SELECTOR(HPP_EIGEN_LHS_TPL, HPP_EIGEN_LHS_TYPE, | |
| 231 | HPP_EIGEN_RHS_TPL, HPP_EIGEN_RHS_TYPE) | ||
| 232 | } | ||
| 233 | #undef HPP_EIGEN_LHS_TPL | ||
| 234 | #undef HPP_EIGEN_LHS_TYPE | ||
| 235 | #undef HPP_EIGEN_RHS_TPL | ||
| 236 | #undef HPP_EIGEN_RHS_TYPE | ||
| 237 | |||
| 238 | #if !HPP_EIGEN_USE_EVALUATOR | ||
| 239 | #undef HPP_EIGEN_EVAL_TO_BODY_NORMAL | ||
| 240 | #undef HPP_EIGEN_EVAL_TO_BODY_TRANSPOSE | ||
| 241 | #undef HPP_EIGEN_SPECIALIZE_ASSIGN_SELECTOR_IMPL | ||
| 242 | #endif // !HPP_EIGEN_USE_EVALUATOR | ||
| 243 | |||
| 244 | #undef HPP_EIGEN_SPECIALIZE_CwiseBinaryOpImpl | ||
| 245 | #undef HPP_EIGEN_SPECIALIZE_ASSIGN_SELECTOR | ||
| 246 | #undef HPP_EIGEN_DEFINE_CwiseBinaryOpImpl_evalTo | ||
| 247 | #undef HPP_EIGEN_DECLARE_TEMPLATE_ARGS_MATRIX_BLOCK_VIEW | ||
| 248 | #undef HPP_EIGEN_MATRIX_BLOCK_VIEW | ||
| 249 | |||
| 250 | } // namespace Eigen | ||
| 251 | |||
| 252 | #endif // HPP_CONSTRAINTS_MATRIX_VIEW_OPERATION_HH | ||
| 253 |