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00010 #ifndef EIGEN_HOMOGENEOUS_H
00011 #define EIGEN_HOMOGENEOUS_H
00012
00013 namespace Eigen {
00014
00030 namespace internal {
00031
00032 template<typename MatrixType,int Direction>
00033 struct traits<Homogeneous<MatrixType,Direction> >
00034 : traits<MatrixType>
00035 {
00036 typedef typename traits<MatrixType>::StorageKind StorageKind;
00037 typedef typename nested<MatrixType>::type MatrixTypeNested;
00038 typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
00039 enum {
00040 RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
00041 int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
00042 ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
00043 int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
00044 RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime,
00045 ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
00046 MaxRowsAtCompileTime = RowsAtCompileTime,
00047 MaxColsAtCompileTime = ColsAtCompileTime,
00048 TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
00049 Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
00050 : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
00051 : TmpFlags,
00052 CoeffReadCost = _MatrixTypeNested::CoeffReadCost
00053 };
00054 };
00055
00056 template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
00057 template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
00058
00059 }
00060
00061 template<typename MatrixType,int _Direction> class Homogeneous
00062 : public MatrixBase<Homogeneous<MatrixType,_Direction> >
00063 {
00064 public:
00065
00066 enum { Direction = _Direction };
00067
00068 typedef MatrixBase<Homogeneous> Base;
00069 EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
00070
00071 inline Homogeneous(const MatrixType& matrix)
00072 : m_matrix(matrix)
00073 {}
00074
00075 inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); }
00076 inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
00077
00078 inline Scalar coeff(Index row, Index col) const
00079 {
00080 if( (int(Direction)==Vertical && row==m_matrix.rows())
00081 || (int(Direction)==Horizontal && col==m_matrix.cols()))
00082 return 1;
00083 return m_matrix.coeff(row, col);
00084 }
00085
00086 template<typename Rhs>
00087 inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
00088 operator* (const MatrixBase<Rhs>& rhs) const
00089 {
00090 eigen_assert(int(Direction)==Horizontal);
00091 return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
00092 }
00093
00094 template<typename Lhs> friend
00095 inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
00096 operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
00097 {
00098 eigen_assert(int(Direction)==Vertical);
00099 return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
00100 }
00101
00102 template<typename Scalar, int Dim, int Mode, int Options> friend
00103 inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
00104 operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
00105 {
00106 eigen_assert(int(Direction)==Vertical);
00107 return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
00108 }
00109
00110 protected:
00111 typename MatrixType::Nested m_matrix;
00112 };
00113
00125 template<typename Derived>
00126 inline typename MatrixBase<Derived>::HomogeneousReturnType
00127 MatrixBase<Derived>::homogeneous() const
00128 {
00129 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
00130 return derived();
00131 }
00132
00141 template<typename ExpressionType, int Direction>
00142 inline Homogeneous<ExpressionType,Direction>
00143 VectorwiseOp<ExpressionType,Direction>::homogeneous() const
00144 {
00145 return _expression();
00146 }
00147
00156 template<typename Derived>
00157 inline const typename MatrixBase<Derived>::HNormalizedReturnType
00158 MatrixBase<Derived>::hnormalized() const
00159 {
00160 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
00161 return ConstStartMinusOne(derived(),0,0,
00162 ColsAtCompileTime==1?size()-1:1,
00163 ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
00164 }
00165
00174 template<typename ExpressionType, int Direction>
00175 inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
00176 VectorwiseOp<ExpressionType,Direction>::hnormalized() const
00177 {
00178 return HNormalized_Block(_expression(),0,0,
00179 Direction==Vertical ? _expression().rows()-1 : _expression().rows(),
00180 Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
00181 Replicate<HNormalized_Factors,
00182 Direction==Vertical ? HNormalized_SizeMinusOne : 1,
00183 Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
00184 (HNormalized_Factors(_expression(),
00185 Direction==Vertical ? _expression().rows()-1:0,
00186 Direction==Horizontal ? _expression().cols()-1:0,
00187 Direction==Vertical ? 1 : _expression().rows(),
00188 Direction==Horizontal ? 1 : _expression().cols()),
00189 Direction==Vertical ? _expression().rows()-1 : 1,
00190 Direction==Horizontal ? _expression().cols()-1 : 1));
00191 }
00192
00193 namespace internal {
00194
00195 template<typename MatrixOrTransformType>
00196 struct take_matrix_for_product
00197 {
00198 typedef MatrixOrTransformType type;
00199 static const type& run(const type &x) { return x; }
00200 };
00201
00202 template<typename Scalar, int Dim, int Mode,int Options>
00203 struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
00204 {
00205 typedef Transform<Scalar, Dim, Mode, Options> TransformType;
00206 typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
00207 static type run (const TransformType& x) { return x.affine(); }
00208 };
00209
00210 template<typename Scalar, int Dim, int Options>
00211 struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
00212 {
00213 typedef Transform<Scalar, Dim, Projective, Options> TransformType;
00214 typedef typename TransformType::MatrixType type;
00215 static const type& run (const TransformType& x) { return x.matrix(); }
00216 };
00217
00218 template<typename MatrixType,typename Lhs>
00219 struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
00220 {
00221 typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
00222 typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
00223 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
00224 typedef typename make_proper_matrix_type<
00225 typename traits<MatrixTypeCleaned>::Scalar,
00226 LhsMatrixTypeCleaned::RowsAtCompileTime,
00227 MatrixTypeCleaned::ColsAtCompileTime,
00228 MatrixTypeCleaned::PlainObject::Options,
00229 LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
00230 MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
00231 };
00232
00233 template<typename MatrixType,typename Lhs>
00234 struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
00235 : public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
00236 {
00237 typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
00238 typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
00239 typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
00240 typedef typename MatrixType::Index Index;
00241 homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
00242 : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
00243 m_rhs(rhs)
00244 {}
00245
00246 inline Index rows() const { return m_lhs.rows(); }
00247 inline Index cols() const { return m_rhs.cols(); }
00248
00249 template<typename Dest> void evalTo(Dest& dst) const
00250 {
00251
00252 dst = Block<const LhsMatrixTypeNested,
00253 LhsMatrixTypeNested::RowsAtCompileTime,
00254 LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
00255 (m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
00256 dst += m_lhs.col(m_lhs.cols()-1).rowwise()
00257 .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
00258 }
00259
00260 typename LhsMatrixTypeCleaned::Nested m_lhs;
00261 typename MatrixType::Nested m_rhs;
00262 };
00263
00264 template<typename MatrixType,typename Rhs>
00265 struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
00266 {
00267 typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
00268 MatrixType::RowsAtCompileTime,
00269 Rhs::ColsAtCompileTime,
00270 MatrixType::PlainObject::Options,
00271 MatrixType::MaxRowsAtCompileTime,
00272 Rhs::MaxColsAtCompileTime>::type ReturnType;
00273 };
00274
00275 template<typename MatrixType,typename Rhs>
00276 struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
00277 : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
00278 {
00279 typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
00280 typedef typename MatrixType::Index Index;
00281 homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
00282 : m_lhs(lhs), m_rhs(rhs)
00283 {}
00284
00285 inline Index rows() const { return m_lhs.rows(); }
00286 inline Index cols() const { return m_rhs.cols(); }
00287
00288 template<typename Dest> void evalTo(Dest& dst) const
00289 {
00290
00291 dst = m_lhs * Block<const RhsNested,
00292 RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
00293 RhsNested::ColsAtCompileTime>
00294 (m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
00295 dst += m_rhs.row(m_rhs.rows()-1).colwise()
00296 .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
00297 }
00298
00299 typename MatrixType::Nested m_lhs;
00300 typename Rhs::Nested m_rhs;
00301 };
00302
00303 }
00304
00305 }
00306
00307 #endif // EIGEN_HOMOGENEOUS_H