11 #ifndef EIGEN_INVERSE_IMPL_H
12 #define EIGEN_INVERSE_IMPL_H
22 template<
typename MatrixType,
typename ResultType,
int Size = MatrixType::RowsAtCompileTime>
32 template<
typename MatrixType,
typename ResultType,
int Size = MatrixType::RowsAtCompileTime>
39 template<
typename MatrixType,
typename ResultType>
47 result.coeffRef(0,0) =
Scalar(1) / matrixEval.coeff(0,0);
51 template<
typename MatrixType,
typename ResultType>
55 static inline void run(
74 template<
typename MatrixType,
typename ResultType>
84 result.coeffRef(1,1) = temp * invdet;
87 template<
typename MatrixType,
typename ResultType>
99 template<
typename MatrixType,
typename ResultType>
115 if(!invertible)
return;
125 template<
typename MatrixType,
int i,
int j>
135 return m.coeff(
i1,
j1) *
m.coeff(i2, j2)
136 -
m.coeff(
i1, j2) *
m.coeff(i2,
j1);
139 template<
typename MatrixType,
typename ResultType>
149 const Scalar c01 = cofactor_3x3<MatrixType,0,1>(
matrix) * invdet;
150 const Scalar c11 = cofactor_3x3<MatrixType,1,1>(
matrix) * invdet;
151 const Scalar c02 = cofactor_3x3<MatrixType,0,2>(
matrix) * invdet;
152 result.coeffRef(1,2) = cofactor_3x3<MatrixType,2,1>(
matrix) * invdet;
153 result.coeffRef(2,1) = cofactor_3x3<MatrixType,1,2>(
matrix) * invdet;
154 result.coeffRef(2,2) = cofactor_3x3<MatrixType,2,2>(
matrix) * invdet;
155 result.coeffRef(1,0) = c01;
156 result.coeffRef(1,1) = c11;
157 result.coeffRef(2,0) = c02;
158 result.row(0) = cofactors_col0 * invdet;
161 template<
typename MatrixType,
typename ResultType>
169 cofactors_col0.
coeffRef(0) = cofactor_3x3<MatrixType,0,0>(
matrix);
170 cofactors_col0.
coeffRef(1) = cofactor_3x3<MatrixType,1,0>(
matrix);
171 cofactors_col0.
coeffRef(2) = cofactor_3x3<MatrixType,2,0>(
matrix);
172 const Scalar det = (cofactors_col0.cwiseProduct(
matrix.col(0))).sum();
178 template<
typename MatrixType,
typename ResultType>
192 cofactors_col0.
coeffRef(0) = cofactor_3x3<MatrixType,0,0>(
matrix);
193 cofactors_col0.
coeffRef(1) = cofactor_3x3<MatrixType,1,0>(
matrix);
194 cofactors_col0.
coeffRef(2) = cofactor_3x3<MatrixType,2,0>(
matrix);
197 if(!invertible)
return;
207 template<
typename Derived>
216 template<
typename MatrixType,
int i,
int j>
233 template<
int Arch,
typename Scalar,
typename MatrixType,
typename ResultType>
239 result.coeffRef(0,0) = cofactor_4x4<MatrixType,0,0>(
matrix);
240 result.coeffRef(1,0) = -cofactor_4x4<MatrixType,0,1>(
matrix);
241 result.coeffRef(2,0) = cofactor_4x4<MatrixType,0,2>(
matrix);
242 result.coeffRef(3,0) = -cofactor_4x4<MatrixType,0,3>(
matrix);
243 result.coeffRef(0,2) = cofactor_4x4<MatrixType,2,0>(
matrix);
244 result.coeffRef(1,2) = -cofactor_4x4<MatrixType,2,1>(
matrix);
245 result.coeffRef(2,2) = cofactor_4x4<MatrixType,2,2>(
matrix);
246 result.coeffRef(3,2) = -cofactor_4x4<MatrixType,2,3>(
matrix);
247 result.coeffRef(0,1) = -cofactor_4x4<MatrixType,1,0>(
matrix);
248 result.coeffRef(1,1) = cofactor_4x4<MatrixType,1,1>(
matrix);
249 result.coeffRef(2,1) = -cofactor_4x4<MatrixType,1,2>(
matrix);
250 result.coeffRef(3,1) = cofactor_4x4<MatrixType,1,3>(
matrix);
251 result.coeffRef(0,3) = -cofactor_4x4<MatrixType,3,0>(
matrix);
252 result.coeffRef(1,3) = cofactor_4x4<MatrixType,3,1>(
matrix);
253 result.coeffRef(2,3) = -cofactor_4x4<MatrixType,3,2>(
matrix);
254 result.coeffRef(3,3) = cofactor_4x4<MatrixType,3,3>(
matrix);
259 template<
typename MatrixType,
typename ResultType>
262 MatrixType, ResultType>
266 template<
typename MatrixType,
typename ResultType>
284 else if(invertible) {
300 template<
typename DstXprType,
typename XprType>
309 if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
310 dst.resize(dstRows, dstCols);
312 const int Size =
EIGEN_PLAIN_ENUM_MIN(XprType::ColsAtCompileTime,DstXprType::ColsAtCompileTime);
315 &&
"Aliasing problem detected in inverse(), you need to do inverse().eval() here.");
346 template<
typename Derived>
375 template<
typename Derived>
376 template<
typename ResultType>
389 RowsAtCompileTime == 2,
416 template<
typename Derived>
417 template<
typename ResultType>
427 computeInverseAndDetWithCheck(
inverse,
determinant,invertible,absDeterminantThreshold);
432 #endif // EIGEN_INVERSE_IMPL_H