Head

GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/pinocchio/math/matrix-block.hpp	Lines:	18	20	90.0 %
Date:	2024-04-26 13:14:21	Branches:	0	0	- %


//
// Copyright (c) 2019 INRIA
//

#ifndef __pinocchio_math_matrix_block_hpp__
#define __pinocchio_math_matrix_block_hpp__

#include <Eigen/Core>

namespace pinocchio
{
  template<int NV>
  struct SizeDepType
  {
    template<class Mat>
    struct SegmentReturn
    {
      typedef typename Mat::template FixedSegmentReturnType<NV>::Type Type;
      typedef typename Mat::template ConstFixedSegmentReturnType<NV>::Type ConstType;
    };

    template<typename D>
    static typename SegmentReturn<D>::ConstType
    segment(const Eigen::MatrixBase<D> & mat,
            typename Eigen::DenseBase<D>::Index start,
            typename Eigen::DenseBase<D>::Index size = NV)
    {
      PINOCCHIO_UNUSED_VARIABLE(size);
      return mat.template segment<NV>(start);
    }

    template<typename D>
    static typename SegmentReturn<D>::Type
    segment(Eigen::MatrixBase<D> & mat,
            typename Eigen::DenseBase<D>::Index start,
            typename Eigen::DenseBase<D>::Index size = NV)
    {
      PINOCCHIO_UNUSED_VARIABLE(size);
      return mat.template segment<NV>(start);
    }

    template<class Mat>
    struct ColsReturn
    {
      typedef typename Mat::template NColsBlockXpr<NV>::Type Type;
      typedef typename Mat::template ConstNColsBlockXpr<NV>::Type ConstType;
    };

    template<typename D>
    static typename ColsReturn<D>::ConstType
    middleCols(const Eigen::MatrixBase<D> & mat,
               typename Eigen::DenseBase<D>::Index start,
               typename Eigen::DenseBase<D>::Index size = NV)
    {
      PINOCCHIO_UNUSED_VARIABLE(size);
      return mat.template middleCols<NV>(start);
    }

    template<typename D>
    static typename ColsReturn<D>::Type
    middleCols(Eigen::MatrixBase<D> & mat,
               typename Eigen::DenseBase<D>::Index start,
               typename Eigen::DenseBase<D>::Index size = NV)
    {
      PINOCCHIO_UNUSED_VARIABLE(size);
      return mat.template middleCols<NV>(start);
    }

    template<class Mat>
    struct RowsReturn
    {
      typedef typename Mat::template NRowsBlockXpr<NV>::Type Type;
      typedef typename Mat::template ConstNRowsBlockXpr<NV>::Type ConstType;
    };

    template<typename D>
    static typename RowsReturn<D>::ConstType
    middleRows(const Eigen::MatrixBase<D> & mat,
               typename Eigen::DenseBase<D>::Index start,
               typename Eigen::DenseBase<D>::Index size = NV)
    {
      PINOCCHIO_UNUSED_VARIABLE(size);
      return mat.template middleRows<NV>(start);
    }

    template<typename D>
    static typename RowsReturn<D>::Type
    middleRows(Eigen::MatrixBase<D> & mat,
               typename Eigen::DenseBase<D>::Index start,
               typename Eigen::DenseBase<D>::Index size = NV)
    {
      PINOCCHIO_UNUSED_VARIABLE(size);
      return mat.template middleRows<NV>(start);
    }

    template<class Mat>
    struct BlockReturn
    {
      typedef Eigen::Block<Mat, NV, NV> Type;
      typedef const Eigen::Block<const Mat, NV, NV> ConstType;
    };

    template<typename D>
    static typename BlockReturn<D>::ConstType
    block(const Eigen::MatrixBase<D> & mat,
          typename Eigen::DenseBase<D>::Index row_id,
          typename Eigen::DenseBase<D>::Index col_id,
          typename Eigen::DenseBase<D>::Index row_size_block = NV,
          typename Eigen::DenseBase<D>::Index col_size_block = NV)
    {
      PINOCCHIO_UNUSED_VARIABLE(row_size_block);
      PINOCCHIO_UNUSED_VARIABLE(col_size_block);
      return mat.template block<NV,NV>(row_id,col_id);
    }

    template<typename D>
    static typename BlockReturn<D>::Type
    block(Eigen::MatrixBase<D> & mat,
          typename Eigen::DenseBase<D>::Index row_id,
          typename Eigen::DenseBase<D>::Index col_id,
          typename Eigen::DenseBase<D>::Index row_size_block = NV,
          typename Eigen::DenseBase<D>::Index col_size_block = NV)
    {
      PINOCCHIO_UNUSED_VARIABLE(row_size_block);
      PINOCCHIO_UNUSED_VARIABLE(col_size_block);
      return mat.template block<NV,NV>(row_id,col_id);
    }
  };

  template<>
  struct SizeDepType<Eigen::Dynamic>
  {
    template<class Mat>
    struct SegmentReturn
    {
      typedef typename Mat::SegmentReturnType Type;
      typedef typename Mat::ConstSegmentReturnType ConstType;
    };

    template<typename D>
    static typename SegmentReturn<D>::ConstType
    segment(const Eigen::MatrixBase<D> & mat,
            typename Eigen::DenseBase<D>::Index start,
            typename Eigen::DenseBase<D>::Index size)
    {
      return mat.segment(start,size);
    }

    template<typename D>
    static typename SegmentReturn<D>::Type
    segment(Eigen::MatrixBase<D> & mat,
            typename Eigen::DenseBase<D>::Index start,
            typename Eigen::DenseBase<D>::Index size)
    {
      return mat.segment(start,size);
    }

    template<class Mat>
    struct ColsReturn
    {
      typedef typename Mat::ColsBlockXpr Type;
      typedef typename Mat::ConstColsBlockXpr ConstType;
    };

    template<typename D>
    static typename ColsReturn<D>::ConstType
    middleCols(const Eigen::MatrixBase<D> & mat,
               typename Eigen::DenseBase<D>::Index start,
               typename Eigen::DenseBase<D>::Index size)
    {
      return mat.middleCols(start,size);
    }

    template<typename D>
    static typename ColsReturn<D>::Type
    middleCols(Eigen::MatrixBase<D> & mat,
               typename Eigen::DenseBase<D>::Index start,
               typename Eigen::DenseBase<D>::Index size)
    {
      return mat.middleCols(start,size);
    }

    template<class Mat>
    struct RowsReturn
    {
      typedef typename Mat::RowsBlockXpr Type;
      typedef typename Mat::ConstRowsBlockXpr ConstType;
    };

    template<typename D>
    static typename RowsReturn<D>::ConstType
    middleRows(const Eigen::MatrixBase<D> & mat,
               typename Eigen::DenseBase<D>::Index start,
               typename Eigen::DenseBase<D>::Index size)
    {
      return mat.middleRows(start,size);
    }

    template<typename D>
    static typename RowsReturn<D>::Type
    middleRows(Eigen::MatrixBase<D> & mat,
               typename Eigen::DenseBase<D>::Index start,
               typename Eigen::DenseBase<D>::Index size)
    {
      return mat.middleRows(start,size);
    }

    template<class Mat>
    struct BlockReturn
    {
      typedef Eigen::Block<Mat> Type;
      typedef const Eigen::Block<const Mat> ConstType;
    };

    template<typename D>
    static typename BlockReturn<D>::ConstType
    block(const Eigen::MatrixBase<D> & mat,
          typename Eigen::DenseBase<D>::Index row_id,
          typename Eigen::DenseBase<D>::Index col_id,
          typename Eigen::DenseBase<D>::Index row_size_block,
          typename Eigen::DenseBase<D>::Index col_size_block)
    {
      return mat.block(row_id,col_id,row_size_block,col_size_block);
    }

    template<typename D>
    static typename BlockReturn<D>::Type
    block(Eigen::MatrixBase<D> & mat,
          typename Eigen::DenseBase<D>::Index row_id,
          typename Eigen::DenseBase<D>::Index col_id,
          typename Eigen::DenseBase<D>::Index row_size_block,
          typename Eigen::DenseBase<D>::Index col_size_block)
    {
      return mat.block(row_id,col_id,row_size_block,col_size_block);
    }
  };
}

#endif // ifndef __pinocchio_math_matrix_block_hpp__


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			//
2			// Copyright (c) 2019 INRIA
3			//
4
5			#ifndef __pinocchio_math_matrix_block_hpp__
6			#define __pinocchio_math_matrix_block_hpp__
7
8			#include <Eigen/Core>
9
10			namespace pinocchio
11			{
12			template<int NV>
13			struct SizeDepType
14			{
15			template<class Mat>
16			struct SegmentReturn
17			{
18			typedef typename Mat::template FixedSegmentReturnType<NV>::Type Type;
19			typedef typename Mat::template ConstFixedSegmentReturnType<NV>::Type ConstType;
20			};
21
22			template<typename D>
23			static typename SegmentReturn<D>::ConstType
24		276256	segment(const Eigen::MatrixBase<D> & mat,
25			typename Eigen::DenseBase<D>::Index start,
26			typename Eigen::DenseBase<D>::Index size = NV)
27			{
28			PINOCCHIO_UNUSED_VARIABLE(size);
29		276256	return mat.template segment<NV>(start);
30			}
31
32			template<typename D>
33			static typename SegmentReturn<D>::Type
34		213462	segment(Eigen::MatrixBase<D> & mat,
35			typename Eigen::DenseBase<D>::Index start,
36			typename Eigen::DenseBase<D>::Index size = NV)
37			{
38			PINOCCHIO_UNUSED_VARIABLE(size);
39		213462	return mat.template segment<NV>(start);
40			}
41
42			template<class Mat>
43			struct ColsReturn
44			{
45			typedef typename Mat::template NColsBlockXpr<NV>::Type Type;
46			typedef typename Mat::template ConstNColsBlockXpr<NV>::Type ConstType;
47			};
48
49			template<typename D>
50			static typename ColsReturn<D>::ConstType
51		770	middleCols(const Eigen::MatrixBase<D> & mat,
52			typename Eigen::DenseBase<D>::Index start,
53			typename Eigen::DenseBase<D>::Index size = NV)
54			{
55			PINOCCHIO_UNUSED_VARIABLE(size);
56		770	return mat.template middleCols<NV>(start);
57			}
58
59			template<typename D>
60			static typename ColsReturn<D>::Type
61		202110	middleCols(Eigen::MatrixBase<D> & mat,
62			typename Eigen::DenseBase<D>::Index start,
63			typename Eigen::DenseBase<D>::Index size = NV)
64			{
65			PINOCCHIO_UNUSED_VARIABLE(size);
66		202110	return mat.template middleCols<NV>(start);
67			}
68
69			template<class Mat>
70			struct RowsReturn
71			{
72			typedef typename Mat::template NRowsBlockXpr<NV>::Type Type;
73			typedef typename Mat::template ConstNRowsBlockXpr<NV>::Type ConstType;
74			};
75
76			template<typename D>
77			static typename RowsReturn<D>::ConstType
78		36	middleRows(const Eigen::MatrixBase<D> & mat,
79			typename Eigen::DenseBase<D>::Index start,
80			typename Eigen::DenseBase<D>::Index size = NV)
81			{
82			PINOCCHIO_UNUSED_VARIABLE(size);
83		36	return mat.template middleRows<NV>(start);
84			}
85
86			template<typename D>
87			static typename RowsReturn<D>::Type
88		72	middleRows(Eigen::MatrixBase<D> & mat,
89			typename Eigen::DenseBase<D>::Index start,
90			typename Eigen::DenseBase<D>::Index size = NV)
91			{
92			PINOCCHIO_UNUSED_VARIABLE(size);
93		72	return mat.template middleRows<NV>(start);
94			}
95
96			template<class Mat>
97			struct BlockReturn
98			{
99			typedef Eigen::Block<Mat, NV, NV> Type;
100			typedef const Eigen::Block<const Mat, NV, NV> ConstType;
101			};
102
103			template<typename D>
104			static typename BlockReturn<D>::ConstType
105			block(const Eigen::MatrixBase<D> & mat,
106			typename Eigen::DenseBase<D>::Index row_id,
107			typename Eigen::DenseBase<D>::Index col_id,
108			typename Eigen::DenseBase<D>::Index row_size_block = NV,
109			typename Eigen::DenseBase<D>::Index col_size_block = NV)
110			{
111			PINOCCHIO_UNUSED_VARIABLE(row_size_block);
112			PINOCCHIO_UNUSED_VARIABLE(col_size_block);
113			return mat.template block<NV,NV>(row_id,col_id);
114			}
115
116			template<typename D>
117			static typename BlockReturn<D>::Type
118		504	block(Eigen::MatrixBase<D> & mat,
119			typename Eigen::DenseBase<D>::Index row_id,
120			typename Eigen::DenseBase<D>::Index col_id,
121			typename Eigen::DenseBase<D>::Index row_size_block = NV,
122			typename Eigen::DenseBase<D>::Index col_size_block = NV)
123			{
124			PINOCCHIO_UNUSED_VARIABLE(row_size_block);
125			PINOCCHIO_UNUSED_VARIABLE(col_size_block);
126		504	return mat.template block<NV,NV>(row_id,col_id);
127			}
128			};
129
130			template<>
131			struct SizeDepType<Eigen::Dynamic>
132			{
133			template<class Mat>
134			struct SegmentReturn
135			{
136			typedef typename Mat::SegmentReturnType Type;
137			typedef typename Mat::ConstSegmentReturnType ConstType;
138			};
139
140			template<typename D>
141			static typename SegmentReturn<D>::ConstType
142		2328	segment(const Eigen::MatrixBase<D> & mat,
143			typename Eigen::DenseBase<D>::Index start,
144			typename Eigen::DenseBase<D>::Index size)
145			{
146		2328	return mat.segment(start,size);
147			}
148
149			template<typename D>
150			static typename SegmentReturn<D>::Type
151		67876	segment(Eigen::MatrixBase<D> & mat,
152			typename Eigen::DenseBase<D>::Index start,
153			typename Eigen::DenseBase<D>::Index size)
154			{
155		67876	return mat.segment(start,size);
156			}
157
158			template<class Mat>
159			struct ColsReturn
160			{
161			typedef typename Mat::ColsBlockXpr Type;
162			typedef typename Mat::ConstColsBlockXpr ConstType;
163			};
164
165			template<typename D>
166			static typename ColsReturn<D>::ConstType
167			middleCols(const Eigen::MatrixBase<D> & mat,
168			typename Eigen::DenseBase<D>::Index start,
169			typename Eigen::DenseBase<D>::Index size)
170			{
171			return mat.middleCols(start,size);
172			}
173
174			template<typename D>
175			static typename ColsReturn<D>::Type
176			middleCols(Eigen::MatrixBase<D> & mat,
177			typename Eigen::DenseBase<D>::Index start,
178			typename Eigen::DenseBase<D>::Index size)
179			{
180			return mat.middleCols(start,size);
181			}
182
183			template<class Mat>
184			struct RowsReturn
185			{
186			typedef typename Mat::RowsBlockXpr Type;
187			typedef typename Mat::ConstRowsBlockXpr ConstType;
188			};
189
190			template<typename D>
191			static typename RowsReturn<D>::ConstType
192			middleRows(const Eigen::MatrixBase<D> & mat,
193			typename Eigen::DenseBase<D>::Index start,
194			typename Eigen::DenseBase<D>::Index size)
195			{
196			return mat.middleRows(start,size);
197			}
198
199			template<typename D>
200			static typename RowsReturn<D>::Type
201			middleRows(Eigen::MatrixBase<D> & mat,
202			typename Eigen::DenseBase<D>::Index start,
203			typename Eigen::DenseBase<D>::Index size)
204			{
205			return mat.middleRows(start,size);
206			}
207
208			template<class Mat>
209			struct BlockReturn
210			{
211			typedef Eigen::Block<Mat> Type;
212			typedef const Eigen::Block<const Mat> ConstType;
213			};
214
215			template<typename D>
216			static typename BlockReturn<D>::ConstType
217			block(const Eigen::MatrixBase<D> & mat,
218			typename Eigen::DenseBase<D>::Index row_id,
219			typename Eigen::DenseBase<D>::Index col_id,
220			typename Eigen::DenseBase<D>::Index row_size_block,
221			typename Eigen::DenseBase<D>::Index col_size_block)
222			{
223			return mat.block(row_id,col_id,row_size_block,col_size_block);
224			}
225
226			template<typename D>
227			static typename BlockReturn<D>::Type
228			block(Eigen::MatrixBase<D> & mat,
229			typename Eigen::DenseBase<D>::Index row_id,
230			typename Eigen::DenseBase<D>::Index col_id,
231			typename Eigen::DenseBase<D>::Index row_size_block,
232			typename Eigen::DenseBase<D>::Index col_size_block)
233			{
234			return mat.block(row_id,col_id,row_size_block,col_size_block);
235			}
236			};
237			}
238
239			#endif // ifndef __pinocchio_math_matrix_block_hpp__