matrix_operations.h
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26 
27 #ifndef G2O_CORE_MATRIX_OPERATIONS_H
28 #define G2O_CORE_MATRIX_OPERATIONS_H
29 
30 #include <Eigen/Core>
31 
32 namespace g2o {
33  namespace internal {
34 
35  template<typename MatrixType>
36  inline void axpy(const MatrixType& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
37  {
38  y.segment<MatrixType::RowsAtCompileTime>(yoff) += A * x.segment<MatrixType::ColsAtCompileTime>(xoff);
39  }
40 
41  template<int t>
42  inline void axpy(const Eigen::Matrix<double, Eigen::Dynamic, t>& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
43  {
44  y.segment(yoff, A.rows()) += A * x.segment<Eigen::Matrix<double, Eigen::Dynamic, t>::ColsAtCompileTime>(xoff);
45  }
46 
47  template<>
48  inline void axpy(const Eigen::MatrixXd& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
49  {
50  y.segment(yoff, A.rows()) += A * x.segment(xoff, A.cols());
51  }
52 
53  template<typename MatrixType>
54  inline void atxpy(const MatrixType& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
55  {
56  y.segment<MatrixType::ColsAtCompileTime>(yoff) += A.transpose() * x.segment<MatrixType::RowsAtCompileTime>(xoff);
57  }
58 
59  template<int t>
60  inline void atxpy(const Eigen::Matrix<double, Eigen::Dynamic, t>& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
61  {
62  y.segment<Eigen::Matrix<double, Eigen::Dynamic, t>::ColsAtCompileTime>(yoff) += A.transpose() * x.segment(xoff, A.rows());
63  }
64 
65  template<>
66  inline void atxpy(const Eigen::MatrixXd& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
67  {
68  y.segment(yoff, A.cols()) += A.transpose() * x.segment(xoff, A.rows());
69  }
70 
71  } // end namespace internal
72 } // end namespace g2o
73 
74 #endif
void axpy(const MatrixType &A, const Eigen::Map< const Eigen::VectorXd > &x, int xoff, Eigen::Map< Eigen::VectorXd > &y, int yoff)
void atxpy(const MatrixType &A, const Eigen::Map< const Eigen::VectorXd > &x, int xoff, Eigen::Map< Eigen::VectorXd > &y, int yoff)


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autogenerated on Wed Apr 21 2021 02:53:05