SparseProduct.h
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00001 // This file is part of Eigen, a lightweight C++ template library
00002 // for linear algebra.
00003 //
00004 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
00005 //
00006 // This Source Code Form is subject to the terms of the Mozilla
00007 // Public License v. 2.0. If a copy of the MPL was not distributed
00008 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
00009 
00010 #ifndef EIGEN_SPARSEPRODUCT_H
00011 #define EIGEN_SPARSEPRODUCT_H
00012 
00013 namespace Eigen { 
00014 
00015 template<typename Lhs, typename Rhs>
00016 struct SparseSparseProductReturnType
00017 {
00018   typedef typename internal::traits<Lhs>::Scalar Scalar;
00019   typedef typename internal::traits<Lhs>::Index Index;
00020   enum {
00021     LhsRowMajor = internal::traits<Lhs>::Flags & RowMajorBit,
00022     RhsRowMajor = internal::traits<Rhs>::Flags & RowMajorBit,
00023     TransposeRhs = (!LhsRowMajor) && RhsRowMajor,
00024     TransposeLhs = LhsRowMajor && (!RhsRowMajor)
00025   };
00026 
00027   typedef typename internal::conditional<TransposeLhs,
00028     SparseMatrix<Scalar,0,Index>,
00029     typename internal::nested<Lhs,Rhs::RowsAtCompileTime>::type>::type LhsNested;
00030 
00031   typedef typename internal::conditional<TransposeRhs,
00032     SparseMatrix<Scalar,0,Index>,
00033     typename internal::nested<Rhs,Lhs::RowsAtCompileTime>::type>::type RhsNested;
00034 
00035   typedef SparseSparseProduct<LhsNested, RhsNested> Type;
00036 };
00037 
00038 namespace internal {
00039 template<typename LhsNested, typename RhsNested>
00040 struct traits<SparseSparseProduct<LhsNested, RhsNested> >
00041 {
00042   typedef MatrixXpr XprKind;
00043   // clean the nested types:
00044   typedef typename remove_all<LhsNested>::type _LhsNested;
00045   typedef typename remove_all<RhsNested>::type _RhsNested;
00046   typedef typename _LhsNested::Scalar Scalar;
00047   typedef typename promote_index_type<typename traits<_LhsNested>::Index,
00048                                          typename traits<_RhsNested>::Index>::type Index;
00049 
00050   enum {
00051     LhsCoeffReadCost = _LhsNested::CoeffReadCost,
00052     RhsCoeffReadCost = _RhsNested::CoeffReadCost,
00053     LhsFlags = _LhsNested::Flags,
00054     RhsFlags = _RhsNested::Flags,
00055 
00056     RowsAtCompileTime    = _LhsNested::RowsAtCompileTime,
00057     ColsAtCompileTime    = _RhsNested::ColsAtCompileTime,
00058     MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
00059     MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
00060 
00061     InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
00062 
00063     EvalToRowMajor = (RhsFlags & LhsFlags & RowMajorBit),
00064 
00065     RemovedBits = ~(EvalToRowMajor ? 0 : RowMajorBit),
00066 
00067     Flags = (int(LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
00068           | EvalBeforeAssigningBit
00069           | EvalBeforeNestingBit,
00070 
00071     CoeffReadCost = Dynamic
00072   };
00073 
00074   typedef Sparse StorageKind;
00075 };
00076 
00077 } // end namespace internal
00078 
00079 template<typename LhsNested, typename RhsNested>
00080 class SparseSparseProduct : internal::no_assignment_operator,
00081   public SparseMatrixBase<SparseSparseProduct<LhsNested, RhsNested> >
00082 {
00083   public:
00084 
00085     typedef SparseMatrixBase<SparseSparseProduct> Base;
00086     EIGEN_DENSE_PUBLIC_INTERFACE(SparseSparseProduct)
00087 
00088   private:
00089 
00090     typedef typename internal::traits<SparseSparseProduct>::_LhsNested _LhsNested;
00091     typedef typename internal::traits<SparseSparseProduct>::_RhsNested _RhsNested;
00092 
00093   public:
00094 
00095     template<typename Lhs, typename Rhs>
00096     EIGEN_STRONG_INLINE SparseSparseProduct(const Lhs& lhs, const Rhs& rhs)
00097       : m_lhs(lhs), m_rhs(rhs), m_tolerance(0), m_conservative(true)
00098     {
00099       init();
00100     }
00101 
00102     template<typename Lhs, typename Rhs>
00103     EIGEN_STRONG_INLINE SparseSparseProduct(const Lhs& lhs, const Rhs& rhs, const RealScalar& tolerance)
00104       : m_lhs(lhs), m_rhs(rhs), m_tolerance(tolerance), m_conservative(false)
00105     {
00106       init();
00107     }
00108 
00109     SparseSparseProduct pruned(const Scalar& reference = 0, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision()) const
00110     {
00111       using std::abs;
00112       return SparseSparseProduct(m_lhs,m_rhs,abs(reference)*epsilon);
00113     }
00114 
00115     template<typename Dest>
00116     void evalTo(Dest& result) const
00117     {
00118       if(m_conservative)
00119         internal::conservative_sparse_sparse_product_selector<_LhsNested, _RhsNested, Dest>::run(lhs(),rhs(),result);
00120       else
00121         internal::sparse_sparse_product_with_pruning_selector<_LhsNested, _RhsNested, Dest>::run(lhs(),rhs(),result,m_tolerance);
00122     }
00123 
00124     EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
00125     EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
00126 
00127     EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
00128     EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
00129 
00130   protected:
00131     void init()
00132     {
00133       eigen_assert(m_lhs.cols() == m_rhs.rows());
00134 
00135       enum {
00136         ProductIsValid = _LhsNested::ColsAtCompileTime==Dynamic
00137                       || _RhsNested::RowsAtCompileTime==Dynamic
00138                       || int(_LhsNested::ColsAtCompileTime)==int(_RhsNested::RowsAtCompileTime),
00139         AreVectors = _LhsNested::IsVectorAtCompileTime && _RhsNested::IsVectorAtCompileTime,
00140         SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(_LhsNested,_RhsNested)
00141       };
00142       // note to the lost user:
00143       //    * for a dot product use: v1.dot(v2)
00144       //    * for a coeff-wise product use: v1.cwise()*v2
00145       EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
00146         INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
00147       EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
00148         INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
00149       EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
00150     }
00151 
00152     LhsNested m_lhs;
00153     RhsNested m_rhs;
00154     RealScalar m_tolerance;
00155     bool m_conservative;
00156 };
00157 
00158 // sparse = sparse * sparse
00159 template<typename Derived>
00160 template<typename Lhs, typename Rhs>
00161 inline Derived& SparseMatrixBase<Derived>::operator=(const SparseSparseProduct<Lhs,Rhs>& product)
00162 {
00163   product.evalTo(derived());
00164   return derived();
00165 }
00166 
00178 template<typename Derived>
00179 template<typename OtherDerived>
00180 inline const typename SparseSparseProductReturnType<Derived,OtherDerived>::Type
00181 SparseMatrixBase<Derived>::operator*(const SparseMatrixBase<OtherDerived> &other) const
00182 {
00183   return typename SparseSparseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
00184 }
00185 
00186 } // end namespace Eigen
00187 
00188 #endif // EIGEN_SPARSEPRODUCT_H


turtlebot_exploration_3d
Author(s): Bona , Shawn
autogenerated on Thu Jun 6 2019 21:00:01