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 |
|
578060 |
static typename SegmentReturn<D>::ConstType segment( |
24 |
|
|
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 |
|
578060 |
return mat.template segment<NV>(start); |
30 |
|
|
} |
31 |
|
|
|
32 |
|
|
template<typename D> |
33 |
|
372728 |
static typename SegmentReturn<D>::Type segment( |
34 |
|
|
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 |
|
372728 |
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 |
|
2206 |
static typename ColsReturn<D>::ConstType middleCols( |
51 |
|
|
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 |
|
2206 |
return mat.template middleCols<NV>(start); |
57 |
|
|
} |
58 |
|
|
|
59 |
|
|
template<typename D> |
60 |
|
204052 |
static typename ColsReturn<D>::Type middleCols( |
61 |
|
|
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 |
|
204052 |
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 |
|
160 |
static typename RowsReturn<D>::ConstType middleRows( |
78 |
|
|
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 |
|
160 |
return mat.template middleRows<NV>(start); |
84 |
|
|
} |
85 |
|
|
|
86 |
|
|
template<typename D> |
87 |
|
339 |
static typename RowsReturn<D>::Type middleRows( |
88 |
|
|
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 |
|
339 |
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 block( |
105 |
|
|
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 |
|
308 |
static typename BlockReturn<D>::Type block( |
118 |
|
|
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 |
|
308 |
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 |
|
368 |
static typename SegmentReturn<D>::ConstType segment( |
142 |
|
|
const Eigen::MatrixBase<D> & mat, |
143 |
|
|
typename Eigen::DenseBase<D>::Index start, |
144 |
|
|
typename Eigen::DenseBase<D>::Index size) |
145 |
|
|
{ |
146 |
|
368 |
return mat.segment(start, size); |
147 |
|
|
} |
148 |
|
|
|
149 |
|
|
template<typename D> |
150 |
|
59002 |
static typename SegmentReturn<D>::Type segment( |
151 |
|
|
Eigen::MatrixBase<D> & mat, |
152 |
|
|
typename Eigen::DenseBase<D>::Index start, |
153 |
|
|
typename Eigen::DenseBase<D>::Index size) |
154 |
|
|
{ |
155 |
|
59002 |
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 middleCols( |
167 |
|
|
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 middleCols( |
176 |
|
|
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 middleRows( |
192 |
|
|
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 middleRows( |
201 |
|
|
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 block( |
217 |
|
|
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 block( |
228 |
|
|
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 |
|
|
} // namespace pinocchio |
238 |
|
|
|
239 |
|
|
#endif // ifndef __pinocchio_math_matrix_block_hpp__ |
240 |
|
|
|