10 #ifndef EIGEN_CXX11META_H 11 #define EIGEN_CXX11META_H 19 #if __cplusplus > 199711L || EIGEN_COMP_MSVC >= 1900 33 template<
typename... tt>
34 struct type_list { constexpr
static int count =
sizeof...(tt); };
36 template<
typename t,
typename... tt>
37 struct type_list<t, tt...> { constexpr
static int count =
sizeof...(tt) + 1;
typedef t first_type; };
39 template<
typename T, T... nn>
40 struct numeric_list { constexpr
static std::size_t
count =
sizeof...(nn); };
42 template<
typename T, T n, T... nn>
43 struct numeric_list<T, n, nn...> { constexpr
static std::size_t
count =
sizeof...(nn) + 1; constexpr
static T first_value = n; };
55 template<
typename T, std::size_t n, T
start = 0, T... ii>
struct gen_numeric_list : gen_numeric_list<T, n-1, start, start + n-1, ii...> {};
56 template<
typename T, T start, T... ii>
struct gen_numeric_list<T, 0, start, ii...> {
typedef numeric_list<T, ii...> type; };
58 template<
typename T, std::size_t n, T start = 0, T... ii>
struct gen_numeric_list_reversed : gen_numeric_list_reversed<T, n-1, start, ii..., start + n-1> {};
59 template<
typename T, T start, T... ii>
struct gen_numeric_list_reversed<T, 0, start, ii...> {
typedef numeric_list<T, ii...> type; };
61 template<
typename T, std::size_t n, T a, T
b, T start = 0, T... ii>
struct gen_numeric_list_swapped_pair : gen_numeric_list_swapped_pair<T, n-1, a, b, start, (start + n-1) == a ? b : ((start + n-1) == b ? a : (start + n-1)), ii...> {};
62 template<
typename T, T a, T
b, T start, T... ii>
struct gen_numeric_list_swapped_pair<T, 0, a, b, start, ii...> {
typedef numeric_list<T, ii...> type; };
64 template<
typename T, std::size_t n, T V, T... nn>
struct gen_numeric_list_repeated : gen_numeric_list_repeated<T, n-1, V, V, nn...> {};
65 template<
typename T, T V, T... nn>
struct gen_numeric_list_repeated<T, 0, V, nn...> {
typedef numeric_list<T, nn...> type; };
69 template<
class a,
class b>
struct concat;
71 template<
typename... as,
typename... bs>
struct concat<type_list<as...>, type_list<bs...>> {
typedef type_list<as..., bs...> type; };
72 template<
typename T, T... as, T... bs>
struct concat<numeric_list<T, as...>, numeric_list<T, bs...> > {
typedef numeric_list<T, as..., bs...> type; };
74 template<
typename... p>
struct mconcat;
75 template<
typename a>
struct mconcat<a> {
typedef a type; };
76 template<
typename a,
typename b>
struct mconcat<a, b> : concat<a, b> {};
77 template<
typename a,
typename b,
typename... cs>
struct mconcat<a, b, cs...> : concat<a, typename mconcat<b, cs...>::type> {};
81 template<
int n,
typename x>
struct take;
82 template<
int n,
typename a,
typename... as>
struct take<n, type_list<a, as...>> : concat<type_list<a>, typename take<n-1, type_list<as...>>::type> {};
83 template<
int n>
struct take<n, type_list<>> {
typedef type_list<> type; };
84 template<
typename a,
typename... as>
struct take<0, type_list<a, as...>> {
typedef type_list<> type; };
85 template<>
struct take<0, type_list<>> {
typedef type_list<> type; };
87 template<
typename T,
int n, T a, T... as>
struct take<n, numeric_list<T, a, as...>> : concat<numeric_list<T, a>, typename take<n-1, numeric_list<T, as...>>::type> {};
88 template<
typename T,
int n>
struct take<n, numeric_list<T>> {
typedef numeric_list<T> type; };
89 template<
typename T, T a, T... as>
struct take<0, numeric_list<T, a, as...>> {
typedef numeric_list<T> type; };
90 template<
typename T>
struct take<0, numeric_list<T>> {
typedef numeric_list<T> type; };
92 template<
typename T,
int n, T... ii>
struct h_skip_helper_numeric;
93 template<
typename T,
int n, T i, T... ii>
struct h_skip_helper_numeric<T, n, i, ii...> : h_skip_helper_numeric<T, n-1, ii...> {};
94 template<
typename T, T i, T... ii>
struct h_skip_helper_numeric<T, 0, i, ii...> {
typedef numeric_list<T, i, ii...> type; };
95 template<
typename T,
int n>
struct h_skip_helper_numeric<T, n> {
typedef numeric_list<T> type; };
96 template<
typename T>
struct h_skip_helper_numeric<T, 0> {
typedef numeric_list<T> type; };
98 template<
int n,
typename... tt>
struct h_skip_helper_type;
99 template<
int n,
typename t,
typename... tt>
struct h_skip_helper_type<n, t, tt...> : h_skip_helper_type<n-1, tt...> {};
100 template<
typename t,
typename... tt>
struct h_skip_helper_type<0, t, tt...> {
typedef type_list<t, tt...> type; };
101 template<
int n>
struct h_skip_helper_type<n> {
typedef type_list<> type; };
102 template<>
struct h_skip_helper_type<0> {
typedef type_list<> type; };
106 template<
typename T, T... ii>
107 constexpr
static inline typename h_skip_helper_numeric<T, n, ii...>::type helper(numeric_list<T, ii...>) {
return typename h_skip_helper_numeric<T, n, ii...>::type(); }
108 template<
typename... tt>
109 constexpr
static inline typename h_skip_helper_type<n, tt...>::type helper(type_list<tt...>) {
return typename h_skip_helper_type<n, tt...>::type(); }
112 template<
int n,
typename a>
struct skip {
typedef decltype(h_skip<n>::helper(a())) type; };
114 template<
int start,
int count, typename a> struct slice : take<count, typename skip<start, a>::type> {};
118 template<
int n,
typename x>
struct get;
120 template<
int n,
typename a,
typename... as>
struct get<n, type_list<a, as...>> :
get<n-1, type_list<as...>> {};
121 template<
typename a,
typename... as>
struct get<0, type_list<a, as...>> {
typedef a type; };
123 template<
typename T,
int n, T a, T... as>
struct get<n, numeric_list<T, a, as...>> :
get<n-1, numeric_list<T, as...>> {};
124 template<
typename T, T a, T... as>
struct get<0, numeric_list<T, a, as...>> { constexpr
static T value = a; };
128 template<
typename T, T dummy,
typename t>
struct id_numeric {
typedef t type; };
129 template<
typename dummy,
typename t>
struct id_type {
typedef t type; };
133 template<
typename a,
typename b>
struct is_same_gf : is_same<a, b> { constexpr
static int global_flags = 0; };
139 template<
typename,
typename>
class op,
140 typename additional_param,
143 struct h_apply_op_helper {
typedef type_list<typename op<values, additional_param>::type...> type; };
145 template<
typename,
typename>
class op,
146 typename additional_param,
149 struct h_apply_op_helper<true, op, additional_param,
values...> {
typedef type_list<typename op<additional_param, values>::type...> type; };
153 template<
typename,
typename>
class op,
154 typename additional_param
158 template<
typename...
values>
159 constexpr
static typename h_apply_op_helper<from_left, op, additional_param,
values...>::type helper(type_list<values...>)
160 {
return typename h_apply_op_helper<from_left, op, additional_param, values...>::type(); }
164 template<
typename,
typename>
class op,
165 typename additional_param,
168 struct apply_op_from_left {
typedef decltype(h_apply_op<true, op, additional_param>::helper(a())) type; };
171 template<typename, typename> class op,
172 typename additional_param,
175 struct apply_op_from_right {
typedef decltype(h_apply_op<false, op, additional_param>::helper(a())) type; };
180 template<typename, typename> class
test,
181 typename check_against,
183 bool last_check_positive = false
185 struct contained_in_list;
188 template<typename, typename> class test,
189 typename check_against,
192 struct contained_in_list<test, check_against, h_list, true>
194 constexpr
static bool value =
true;
198 template<
typename,
typename>
class test,
199 typename check_against,
203 struct contained_in_list<
test, check_against, type_list<a, as...>, false> : contained_in_list<test, check_against, type_list<as...>, test<check_against, a>::value> {};
206 template<
typename,
typename>
class test,
207 typename check_against
215 template<
typename,
typename>
class test,
216 typename check_against,
218 int default_flags = 0,
219 bool last_check_positive =
false,
220 int last_check_flags = default_flags
222 struct contained_in_list_gf;
225 template<
typename,
typename>
class test,
226 typename check_against,
231 struct contained_in_list_gf<test, check_against, h_list, default_flags, true, last_check_flags>
233 constexpr
static bool value =
true;
234 constexpr
static int global_flags = last_check_flags;
238 template<
typename,
typename>
class test,
239 typename check_against,
245 struct contained_in_list_gf<test, check_against, type_list<a, as...>, default_flags, false, last_check_flags> : contained_in_list_gf<test, check_against, type_list<as...>, default_flags, test<check_against, a>::value, test<check_against, a>::global_flags> {};
248 template<
typename,
typename>
class test,
249 typename check_against
254 struct contained_in_list_gf<test, check_against, type_list<
EIGEN_TPL_PP_SPEC_HACK_USE(empty)>, default_flags, false, last_check_flags> { constexpr
static bool value =
false; constexpr
static int global_flags = default_flags; };
265 >
struct reduce<Reducer>
267 constexpr
static inline int run() {
return Reducer::Identity; }
273 >
struct reduce<Reducer,
A>
275 constexpr
static inline A run(
A a) {
return a; }
282 >
struct reduce<Reducer, A, Ts...>
292 template<
typename A,
typename B> EIGEN_DEVICE_FUNC constexpr
static inline auto run(A a, B b) -> decltype(a + b) {
return a +
b; }
296 template<
typename A,
typename B> EIGEN_DEVICE_FUNC constexpr
static inline auto run(A a, B b) -> decltype(a * b) {
return a *
b; }
300 struct logical_and_op {
template<
typename A,
typename B> constexpr
static inline auto run(A a, B b) -> decltype(a && b) {
return a &&
b; } };
301 struct logical_or_op {
template<
typename A,
typename B> constexpr
static inline auto run(A a, B b) -> decltype(a || b) {
return a ||
b; } };
303 struct equal_op {
template<
typename A,
typename B> constexpr
static inline auto run(A a, B b) -> decltype(a == b) {
return a ==
b; } };
304 struct not_equal_op {
template<
typename A,
typename B> constexpr
static inline auto run(A a, B b) -> decltype(a != b) {
return a !=
b; } };
305 struct lesser_op {
template<
typename A,
typename B> constexpr
static inline auto run(A a, B b) -> decltype(a < b) {
return a <
b; } };
306 struct lesser_equal_op {
template<
typename A,
typename B> constexpr
static inline auto run(A a, B b) -> decltype(a <= b) {
return a <=
b; } };
307 struct greater_op {
template<
typename A,
typename B> constexpr
static inline auto run(A a, B b) -> decltype(a > b) {
return a >
b; } };
308 struct greater_equal_op {
template<
typename A,
typename B> constexpr
static inline auto run(A a, B b) -> decltype(a >= b) {
return a >=
b; } };
312 struct not_op {
template<
typename A> constexpr
static inline auto run(A a) -> decltype(!a) {
return !a; } };
313 struct negation_op {
template<
typename A> constexpr
static inline auto run(A a) -> decltype(-a) {
return -a; } };
314 struct greater_equal_zero_op {
template<
typename A> constexpr
static inline auto run(A a) -> decltype(a >= 0) {
return a >= 0; } };
322 template<
typename... Ts>
328 template<
typename... Ts>
336 template<
typename Array,
int... n>
337 constexpr
inline Array h_array_reverse(Array arr, numeric_list<int, n...>)
339 return {{
array_get<
sizeof...(n) - n - 1>(arr)...}};
342 template<
typename T, std::
size_t N>
343 constexpr
inline array<T, N> array_reverse(array<T, N> arr)
345 return h_array_reverse(arr,
typename gen_numeric_list<int, N>::type());
356 template<
typename Reducer,
typename T, std::size_t
N, std::size_t n = N - 1>
357 struct h_array_reduce {
364 template<
typename Reducer,
typename T, std::
size_t N>
365 struct h_array_reduce<Reducer, T, N, 0>
367 EIGEN_DEVICE_FUNC constexpr
static inline T
run(
const array<T, N>& arr, T)
369 return array_get<0>(arr);
373 template<
typename Reducer,
typename T>
374 struct h_array_reduce<Reducer, T, 0>
376 EIGEN_DEVICE_FUNC constexpr
static inline T
run(
const array<T, 0>&, T identity)
382 template<
typename Reducer,
typename T, std::
size_t N>
390 template<
typename T, std::
size_t N>
391 EIGEN_DEVICE_FUNC constexpr
inline auto array_sum(
const array<T, N>& arr) -> decltype(array_reduce<sum_op, T, N>(arr, static_cast<T>(0)))
393 return array_reduce<sum_op, T, N>(arr,
static_cast<T
>(0));
396 template<
typename T, std::
size_t N>
397 EIGEN_DEVICE_FUNC constexpr
inline auto array_prod(
const array<T, N>& arr) -> decltype(array_reduce<product_op, T, N>(arr, static_cast<T>(1)))
399 return array_reduce<product_op, T, N>(arr,
static_cast<T
>(1));
406 for (
size_t i = 0; i < a.size(); ++i) { prod *= a[i]; }
412 template<
typename Op,
typename A,
typename B, std::size_t
N,
int... n>
413 constexpr
inline array<decltype(Op::run(A(), B())),N> h_array_zip(array<A, N> a, array<B, N> b, numeric_list<int, n...>)
415 return array<decltype(Op::run(A(), B())),N>{{
Op::run(array_get<n>(a), array_get<n>(b))... }};
418 template<
typename Op,
typename A,
typename B, std::
size_t N>
419 constexpr
inline array<decltype(Op::run(A(), B())),N> array_zip(array<A, N> a, array<B, N> b)
421 return h_array_zip<Op>(a,
b,
typename gen_numeric_list<int, N>::type());
426 template<
typename Reducer,
typename Op,
typename A,
typename B, std::size_t
N,
int... n>
427 constexpr
inline auto h_array_zip_and_reduce(array<A, N> a, array<B, N> b, numeric_list<int, n...>) -> decltype(reduce<Reducer,
typename id_numeric<
int,n,decltype(
Op::run(A(), B()))>::type...>::
run(
Op::run(array_get<n>(a), array_get<n>(b))...))
429 return reduce<Reducer, typename id_numeric<int,n,decltype(Op::run(A(), B()))>::type...>
::run(
Op::run(array_get<n>(a), array_get<n>(b))...);
432 template<
typename Reducer,
typename Op,
typename A,
typename B, std::
size_t N>
433 constexpr
inline auto array_zip_and_reduce(array<A, N> a, array<B, N> b) -> decltype(h_array_zip_and_reduce<Reducer, Op, A, B, N>(a, b,
typename gen_numeric_list<int, N>::type()))
435 return h_array_zip_and_reduce<Reducer, Op, A, B, N>(a,
b,
typename gen_numeric_list<int, N>::type());
440 template<
typename Op,
typename A, std::size_t
N,
int... n>
441 constexpr
inline array<decltype(Op::run(A())),N> h_array_apply(array<A, N> a, numeric_list<int, n...>)
443 return array<decltype(Op::run(A())),N>{{
Op::run(array_get<n>(a))... }};
446 template<
typename Op,
typename A, std::
size_t N>
447 constexpr
inline array<decltype(Op::run(A())),N> array_apply(array<A, N> a)
449 return h_array_apply<Op>(a,
typename gen_numeric_list<int, N>::type());
454 template<
typename Reducer,
typename Op,
typename A, std::size_t
N,
int... n>
455 constexpr
inline auto h_array_apply_and_reduce(array<A, N> arr, numeric_list<int, n...>) -> decltype(reduce<Reducer,
typename id_numeric<
int,n,decltype(
Op::run(A()))>::type...>::
run(
Op::run(array_get<n>(arr))...))
457 return reduce<Reducer, typename id_numeric<int,n,decltype(Op::run(A()))>::type...>
::run(
Op::run(array_get<n>(arr))...);
460 template<
typename Reducer,
typename Op,
typename A, std::
size_t N>
461 constexpr
inline auto array_apply_and_reduce(array<A, N> a) -> decltype(h_array_apply_and_reduce<Reducer, Op, A, N>(a,
typename gen_numeric_list<int, N>::type()))
463 return h_array_apply_and_reduce<Reducer, Op, A, N>(a,
typename gen_numeric_list<int, N>::type());
474 template<
typename t,
int... ii>
475 constexpr
static inline array<t, n>
run(t v, numeric_list<int, ii...>)
477 return {{
typename id_numeric<int, ii, t>::type(v)... }};
481 template<
int n,
typename t>
482 constexpr array<t, n>
repeat(t v) {
return h_repeat<n>::run(v,
typename gen_numeric_list<int, n>::type()); }
485 template<
class InstType,
typename ArrType, std::size_t
N,
bool Reverse,
typename... Ps>
486 struct h_instantiate_by_c_array;
488 template<
class InstType,
typename ArrType, std::size_t
N,
typename... Ps>
489 struct h_instantiate_by_c_array<InstType, ArrType, N, false, Ps...>
491 static InstType
run(ArrType* arr, Ps...
args)
497 template<
class InstType,
typename ArrType, std::size_t
N,
typename... Ps>
498 struct h_instantiate_by_c_array<InstType, ArrType, N, true, Ps...>
500 static InstType
run(ArrType* arr, Ps...
args)
506 template<
class InstType,
typename ArrType,
typename... Ps>
507 struct h_instantiate_by_c_array<InstType, ArrType, 0, false, Ps...>
509 static InstType
run(ArrType* arr, Ps...
args)
512 return InstType(
args...);
516 template<
class InstType,
typename ArrType,
typename... Ps>
517 struct h_instantiate_by_c_array<InstType, ArrType, 0, true, Ps...>
519 static InstType
run(ArrType* arr, Ps...
args)
522 return InstType(
args...);
526 template<
class InstType,
typename ArrType, std::
size_t N,
bool Reverse = false>
527 InstType instantiate_by_c_array(ArrType* arr)
536 #else // Non C++11, fallback to emulation mode 542 #endif // EIGEN_CXX11META_H EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t array_prod(const Sizes< Indices... > &)
#define EIGEN_STRONG_INLINE
std::vector< double > values
array< t, n > repeat(t v)
static const std::size_t count
bool array_apply_and_reduce(const array< A, N > &a)
ROSCPP_DECL bool get(const std::string &key, std::string &s)
#define EIGEN_TPL_PP_SPEC_HACK_DEFC(mt, n)
bool array_zip_and_reduce(const array< A, N > &a, const array< B, N > &b)
#define EIGEN_TPL_PP_SPEC_HACK_USE(n)
const Index array_get(DimensionList< Index, Rank > &)
void run(Expr &expr, Dev &dev)
EIGEN_DEVICE_FUNC const Scalar & b