Geometry_SIMD.h
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1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
5 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
6 //
7 // This Source Code Form is subject to the terms of the Mozilla
8 // Public License v. 2.0. If a copy of the MPL was not distributed
9 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
10 
11 #ifndef EIGEN_GEOMETRY_SIMD_H
12 #define EIGEN_GEOMETRY_SIMD_H
13 
14 namespace Eigen {
15 
16 namespace internal {
17 
18 template<class Derived, class OtherDerived>
19 struct quat_product<Architecture::Target, Derived, OtherDerived, float>
20 {
21  enum {
24  ResAlignment = traits<Quaternion<float> >::Alignment
25  };
27  {
31  const float neg_zero = numext::bit_cast<float>(0x80000000u);
32  const float arr[4] = {0.f, 0.f, 0.f, neg_zero};
33  const Packet4f mask = ploadu<Packet4f>(arr);
34  Packet4f a = ae.template packet<AAlignment,Packet4f>(0);
35  Packet4f b = be.template packet<BAlignment,Packet4f>(0);
36  Packet4f s1 = pmul(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
37  Packet4f s2 = pmul(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
38  pstoret<float,Packet4f,ResAlignment>(
39  &res.x(),
40  padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)),
41  pmul(vec4f_swizzle1(a,2,0,1,0),
42  vec4f_swizzle1(b,1,2,0,0))),
43  pxor(mask,padd(s1,s2))));
44 
45  return res;
46  }
47 };
48 
49 template<class Derived>
50 struct quat_conj<Architecture::Target, Derived, float>
51 {
52  enum {
53  ResAlignment = traits<Quaternion<float> >::Alignment
54  };
56  {
59  const float neg_zero = numext::bit_cast<float>(0x80000000u);
60  const float arr[4] = {neg_zero, neg_zero, neg_zero,0.f};
61  const Packet4f mask = ploadu<Packet4f>(arr);
62  pstoret<float,Packet4f,ResAlignment>(&res.x(), pxor(mask, qe.template packet<traits<Derived>::Alignment,Packet4f>(0)));
63  return res;
64  }
65 };
66 
67 
68 template<typename VectorLhs,typename VectorRhs>
69 struct cross3_impl<Architecture::Target,VectorLhs,VectorRhs,float,true>
70 {
71  enum {
73  };
74  static inline typename plain_matrix_type<VectorLhs>::type
75  run(const VectorLhs& lhs, const VectorRhs& rhs)
76  {
77  evaluator<VectorLhs> lhs_eval(lhs);
78  evaluator<VectorRhs> rhs_eval(rhs);
79  Packet4f a = lhs_eval.template packet<traits<VectorLhs>::Alignment,Packet4f>(0);
80  Packet4f b = rhs_eval.template packet<traits<VectorRhs>::Alignment,Packet4f>(0);
81  Packet4f mul1 = pmul(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
82  Packet4f mul2 = pmul(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
84  pstoret<float,Packet4f,ResAlignment>(&res.x(),psub(mul1,mul2));
85  return res;
86  }
87 };
88 
89 
90 
91 #if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64)
92 
93 template<class Derived, class OtherDerived>
94 struct quat_product<Architecture::Target, Derived, OtherDerived, double>
95 {
96  enum {
97  BAlignment = traits<OtherDerived>::Alignment,
98  ResAlignment = traits<Quaternion<double> >::Alignment
99  };
100 
101  static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
102  {
103  Quaternion<double> res;
104 
105  evaluator<typename Derived::Coefficients> ae(_a.coeffs());
106  evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
107 
108  const double* a = _a.coeffs().data();
109  Packet2d b_xy = be.template packet<BAlignment,Packet2d>(0);
110  Packet2d b_zw = be.template packet<BAlignment,Packet2d>(2);
111  Packet2d a_xx = pset1<Packet2d>(a[0]);
112  Packet2d a_yy = pset1<Packet2d>(a[1]);
113  Packet2d a_zz = pset1<Packet2d>(a[2]);
114  Packet2d a_ww = pset1<Packet2d>(a[3]);
115 
116  // two temporaries:
117  Packet2d t1, t2;
118 
119  /*
120  * t1 = ww*xy + yy*zw
121  * t2 = zz*xy - xx*zw
122  * res.xy = t1 +/- swap(t2)
123  */
124  t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
125  t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
126  pstoret<double,Packet2d,ResAlignment>(&res.x(), paddsub(t1, preverse(t2)));
127 
128  /*
129  * t1 = ww*zw - yy*xy
130  * t2 = zz*zw + xx*xy
131  * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
132  */
133  t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
134  t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
135  pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2)));
136 
137  return res;
138 }
139 };
140 
141 template<class Derived>
142 struct quat_conj<Architecture::Target, Derived, double>
143 {
144  enum {
145  ResAlignment = traits<Quaternion<double> >::Alignment
146  };
147  static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
148  {
149  evaluator<typename Derived::Coefficients> qe(q.coeffs());
150  Quaternion<double> res;
151  const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull);
152  const double arr1[2] = {neg_zero, neg_zero};
153  const double arr2[2] = {neg_zero, 0.0};
154  const Packet2d mask0 = ploadu<Packet2d>(arr1);
155  const Packet2d mask2 = ploadu<Packet2d>(arr2);
156  pstoret<double,Packet2d,ResAlignment>(&res.x(), pxor(mask0, qe.template packet<traits<Derived>::Alignment,Packet2d>(0)));
157  pstoret<double,Packet2d,ResAlignment>(&res.z(), pxor(mask2, qe.template packet<traits<Derived>::Alignment,Packet2d>(2)));
158  return res;
159  }
160 };
161 
162 #endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64
163 
164 } // end namespace internal
165 
166 } // end namespace Eigen
167 
168 #endif // EIGEN_GEOMETRY_SIMD_H
Eigen::internal::pset1< Packet2d >
EIGEN_STRONG_INLINE Packet2d pset1< Packet2d >(const double &from)
Definition: MSA/PacketMath.h:872
Eigen
Namespace containing all symbols from the Eigen library.
Definition: jet.h:637
Eigen::internal::paddsub
EIGEN_DEVICE_FUNC Packet paddsub(const Packet &a, const Packet &b)
Definition: GenericPacketMath.h:545
Eigen::internal::Packet4f
__vector float Packet4f
Definition: AltiVec/PacketMath.h:30
b
Scalar * b
Definition: benchVecAdd.cpp:17
Eigen::internal::preverse
EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf &a)
Definition: AltiVec/Complex.h:184
Eigen::internal::ploadu< Packet2d >
EIGEN_STRONG_INLINE Packet2d ploadu< Packet2d >(const double *from)
Definition: MSA/PacketMath.h:1004
res
cout<< "Here is the matrix m:"<< endl<< m<< endl;Matrix< ptrdiff_t, 3, 1 > res
Definition: PartialRedux_count.cpp:3
Eigen::internal::ploadu< Packet4f >
EIGEN_STRONG_INLINE Packet4f ploadu< Packet4f >(const float *from)
Definition: AltiVec/PacketMath.h:968
Eigen::internal::plain_matrix_type
Definition: XprHelper.h:295
Eigen::internal::cross3_impl< Architecture::Target, VectorLhs, VectorRhs, float, true >::run
static plain_matrix_type< VectorLhs >::type run(const VectorLhs &lhs, const VectorRhs &rhs)
Definition: Geometry_SIMD.h:75
Eigen::internal::pxor
EIGEN_STRONG_INLINE Packet8h pxor(const Packet8h &a, const Packet8h &b)
Definition: AVX/PacketMath.h:1047
Eigen::internal::vec4f_swizzle1
EIGEN_STRONG_INLINE Packet4f vec4f_swizzle1(const Packet4f &a, int p, int q, int r, int s)
Definition: NEON/PacketMath.h:113
Eigen::Architecture::Target
@ Target
Definition: Constants.h:492
Eigen::numext::q
EIGEN_DEVICE_FUNC const Scalar & q
Definition: SpecialFunctionsImpl.h:1984
Eigen::internal::quat_product
Definition: 3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h:489
Eigen::QuaternionBase::coeffs
const EIGEN_DEVICE_FUNC internal::traits< Derived >::Coefficients & coeffs() const
Definition: 3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h:90
Eigen::internal::quat_product< Architecture::Target, Derived, OtherDerived, float >::run
static Quaternion< float > run(const QuaternionBase< Derived > &_a, const QuaternionBase< OtherDerived > &_b)
Definition: Geometry_SIMD.h:26
Eigen::internal::psub
EIGEN_DEVICE_FUNC Packet psub(const Packet &a, const Packet &b)
Definition: GenericPacketMath.h:222
Eigen::internal::quat_conj::run
static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion< Scalar > run(const QuaternionBase< Derived > &q)
Definition: 3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h:737
Eigen::internal::evaluator
Definition: CoreEvaluators.h:90
Eigen::internal::quat_product::run
static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion< Scalar > run(const QuaternionBase< Derived1 > &a, const QuaternionBase< Derived2 > &b)
Definition: 3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h:493
Eigen::Quaternion
The quaternion class used to represent 3D orientations and rotations.
Definition: ForwardDeclarations.h:293
a
ArrayXXi a
Definition: Array_initializer_list_23_cxx11.cpp:1
arr
py::array arr
Definition: test_numpy_array.cpp:77
Eigen::internal::quat_conj
Definition: 3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h:735
Eigen::internal::pmul
EIGEN_DEVICE_FUNC Packet pmul(const Packet &a, const Packet &b)
Definition: GenericPacketMath.h:237
Eigen::internal::traits
Definition: ForwardDeclarations.h:17
Eigen::internal::Packet2d
v2f64 Packet2d
Definition: MSA/PacketMath.h:820
Eigen::internal::cross3_impl
Definition: OrthoMethods.h:56
Eigen::internal::padd
EIGEN_DEVICE_FUNC Packet padd(const Packet &a, const Packet &b)
Definition: GenericPacketMath.h:215
gtsam.examples.DogLegOptimizerExample.float
float
Definition: DogLegOptimizerExample.py:113
Eigen::internal::quat_conj< Architecture::Target, Derived, float >::run
static Quaternion< float > run(const QuaternionBase< Derived > &q)
Definition: Geometry_SIMD.h:55
internal
Definition: BandTriangularSolver.h:13
Eigen::QuaternionBase
Base class for quaternion expressions.
Definition: ForwardDeclarations.h:288


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autogenerated on Sat Nov 16 2024 04:02:22