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00025 #ifndef EIGEN_HOMOGENEOUS_H
00026 #define EIGEN_HOMOGENEOUS_H
00027
00028 namespace Eigen {
00029
00045 namespace internal {
00046
00047 template<typename MatrixType,int Direction>
00048 struct traits<Homogeneous<MatrixType,Direction> >
00049 : traits<MatrixType>
00050 {
00051 typedef typename traits<MatrixType>::StorageKind StorageKind;
00052 typedef typename nested<MatrixType>::type MatrixTypeNested;
00053 typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
00054 enum {
00055 RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
00056 int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
00057 ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
00058 int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
00059 RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime,
00060 ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
00061 MaxRowsAtCompileTime = RowsAtCompileTime,
00062 MaxColsAtCompileTime = ColsAtCompileTime,
00063 TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
00064 Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
00065 : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
00066 : TmpFlags,
00067 CoeffReadCost = _MatrixTypeNested::CoeffReadCost
00068 };
00069 };
00070
00071 template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
00072 template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
00073
00074 }
00075
00076 template<typename MatrixType,int _Direction> class Homogeneous
00077 : public MatrixBase<Homogeneous<MatrixType,_Direction> >
00078 {
00079 public:
00080
00081 enum { Direction = _Direction };
00082
00083 typedef MatrixBase<Homogeneous> Base;
00084 EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
00085
00086 inline Homogeneous(const MatrixType& matrix)
00087 : m_matrix(matrix)
00088 {}
00089
00090 inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); }
00091 inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
00092
00093 inline Scalar coeff(Index row, Index col) const
00094 {
00095 if( (int(Direction)==Vertical && row==m_matrix.rows())
00096 || (int(Direction)==Horizontal && col==m_matrix.cols()))
00097 return 1;
00098 return m_matrix.coeff(row, col);
00099 }
00100
00101 template<typename Rhs>
00102 inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
00103 operator* (const MatrixBase<Rhs>& rhs) const
00104 {
00105 eigen_assert(int(Direction)==Horizontal);
00106 return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
00107 }
00108
00109 template<typename Lhs> friend
00110 inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
00111 operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
00112 {
00113 eigen_assert(int(Direction)==Vertical);
00114 return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
00115 }
00116
00117 template<typename Scalar, int Dim, int Mode, int Options> friend
00118 inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
00119 operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
00120 {
00121 eigen_assert(int(Direction)==Vertical);
00122 return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
00123 }
00124
00125 protected:
00126 typename MatrixType::Nested m_matrix;
00127 };
00128
00140 template<typename Derived>
00141 inline typename MatrixBase<Derived>::HomogeneousReturnType
00142 MatrixBase<Derived>::homogeneous() const
00143 {
00144 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
00145 return derived();
00146 }
00147
00156 template<typename ExpressionType, int Direction>
00157 inline Homogeneous<ExpressionType,Direction>
00158 VectorwiseOp<ExpressionType,Direction>::homogeneous() const
00159 {
00160 return _expression();
00161 }
00162
00171 template<typename Derived>
00172 inline const typename MatrixBase<Derived>::HNormalizedReturnType
00173 MatrixBase<Derived>::hnormalized() const
00174 {
00175 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
00176 return ConstStartMinusOne(derived(),0,0,
00177 ColsAtCompileTime==1?size()-1:1,
00178 ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
00179 }
00180
00189 template<typename ExpressionType, int Direction>
00190 inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
00191 VectorwiseOp<ExpressionType,Direction>::hnormalized() const
00192 {
00193 return HNormalized_Block(_expression(),0,0,
00194 Direction==Vertical ? _expression().rows()-1 : _expression().rows(),
00195 Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
00196 Replicate<HNormalized_Factors,
00197 Direction==Vertical ? HNormalized_SizeMinusOne : 1,
00198 Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
00199 (HNormalized_Factors(_expression(),
00200 Direction==Vertical ? _expression().rows()-1:0,
00201 Direction==Horizontal ? _expression().cols()-1:0,
00202 Direction==Vertical ? 1 : _expression().rows(),
00203 Direction==Horizontal ? 1 : _expression().cols()),
00204 Direction==Vertical ? _expression().rows()-1 : 1,
00205 Direction==Horizontal ? _expression().cols()-1 : 1));
00206 }
00207
00208 namespace internal {
00209
00210 template<typename MatrixOrTransformType>
00211 struct take_matrix_for_product
00212 {
00213 typedef MatrixOrTransformType type;
00214 static const type& run(const type &x) { return x; }
00215 };
00216
00217 template<typename Scalar, int Dim, int Mode,int Options>
00218 struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
00219 {
00220 typedef Transform<Scalar, Dim, Mode, Options> TransformType;
00221 typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
00222 static type run (const TransformType& x) { return x.affine(); }
00223 };
00224
00225 template<typename Scalar, int Dim, int Options>
00226 struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
00227 {
00228 typedef Transform<Scalar, Dim, Projective, Options> TransformType;
00229 typedef typename TransformType::MatrixType type;
00230 static const type& run (const TransformType& x) { return x.matrix(); }
00231 };
00232
00233 template<typename MatrixType,typename Lhs>
00234 struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
00235 {
00236 typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
00237 typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
00238 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
00239 typedef typename make_proper_matrix_type<
00240 typename traits<MatrixTypeCleaned>::Scalar,
00241 LhsMatrixTypeCleaned::RowsAtCompileTime,
00242 MatrixTypeCleaned::ColsAtCompileTime,
00243 MatrixTypeCleaned::PlainObject::Options,
00244 LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
00245 MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
00246 };
00247
00248 template<typename MatrixType,typename Lhs>
00249 struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
00250 : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
00251 {
00252 typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
00253 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
00254 typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
00255 typedef typename MatrixType::Index Index;
00256 homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
00257 : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
00258 m_rhs(rhs)
00259 {}
00260
00261 inline Index rows() const { return m_lhs.rows(); }
00262 inline Index cols() const { return m_rhs.cols(); }
00263
00264 template<typename Dest> void evalTo(Dest& dst) const
00265 {
00266
00267 dst = Block<const LhsMatrixTypeNested,
00268 LhsMatrixTypeNested::RowsAtCompileTime,
00269 LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
00270 (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
00271 dst += m_lhs.col(m_lhs.cols()-1).rowwise()
00272 .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
00273 }
00274
00275 typename LhsMatrixTypeCleaned::Nested m_lhs;
00276 typename MatrixType::Nested m_rhs;
00277 };
00278
00279 template<typename MatrixType,typename Rhs>
00280 struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
00281 {
00282 typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
00283 MatrixType::RowsAtCompileTime,
00284 Rhs::ColsAtCompileTime,
00285 MatrixType::PlainObject::Options,
00286 MatrixType::MaxRowsAtCompileTime,
00287 Rhs::MaxColsAtCompileTime>::type ReturnType;
00288 };
00289
00290 template<typename MatrixType,typename Rhs>
00291 struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
00292 : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
00293 {
00294 typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
00295 typedef typename MatrixType::Index Index;
00296 homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
00297 : m_lhs(lhs), m_rhs(rhs)
00298 {}
00299
00300 inline Index rows() const { return m_lhs.rows(); }
00301 inline Index cols() const { return m_rhs.cols(); }
00302
00303 template<typename Dest> void evalTo(Dest& dst) const
00304 {
00305
00306 dst = m_lhs * Block<const RhsNested,
00307 RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
00308 RhsNested::ColsAtCompileTime>
00309 (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
00310 dst += m_rhs.row(m_rhs.rows()-1).colwise()
00311 .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
00312 }
00313
00314 typename MatrixType::Nested m_lhs;
00315 typename Rhs::Nested m_rhs;
00316 };
00317
00318 }
00319
00320 }
00321
00322 #endif // EIGEN_HOMOGENEOUS_H