matrix.h

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
// All rights reserved.

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//       TU Darmstadt, nor the names of its contributors may be used to
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#ifndef HECTOR_POSE_ESTIMATION_MATRIX_H
#define HECTOR_POSE_ESTIMATION_MATRIX_H

#include <hector_pose_estimation/matrix_config.h>
#include <hector_pose_estimation/Eigen/QuaternionBaseAddons.h>

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <stdexcept>

namespace hector_pose_estimation {
  using Eigen::Dynamic;
  using Eigen::Lower;
  using Eigen::Upper;
  using Eigen::DenseBase;

  typedef double ScalarType;
  typedef Eigen::DenseIndex IndexType;

  typedef Eigen::Quaternion<ScalarType> Quaternion;

  template <int Rows>
  class ColumnVector_ : public Eigen::Matrix<ScalarType,Rows,1,0,(Rows != Dynamic ? Rows : MaxVectorSize),1> {
  public:
    typedef ColumnVector_<Rows> Derived;
    typedef Eigen::Matrix<ScalarType,Rows,1,0,(Rows != Dynamic ? Rows : MaxVectorSize),1> Base;
    typedef Eigen::Map<Base> Map;
    typedef Eigen::Map<const Base> ConstMap;

    ColumnVector_() { this->setZero(); }
    explicit ColumnVector_(IndexType size) : Base(size) { assert(Rows == Dynamic || size == Rows); this->setZero(); }
//    explicit ColumnVector_(ScalarType value) { this->setConstant(value); }
    ColumnVector_(ScalarType x, ScalarType y, ScalarType z) : Base(x, y, z) {}
    template <typename OtherDerived> ColumnVector_(const Eigen::MatrixBase<OtherDerived>& other) : Base(other) {}

    EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
    Derived& operator=(ScalarType scalar) { this->setConstant(scalar); return *this; }
  };
  typedef ColumnVector_<Dynamic> ColumnVector;
  typedef ColumnVector_<3> ColumnVector3;

  template <int Cols>
  class RowVector_ : public Eigen::Matrix<ScalarType,1,Cols,Eigen::RowMajor,1,MaxVectorSize> {
  public:
    typedef RowVector_<Cols> Derived;
    typedef Eigen::Matrix<ScalarType,1,Cols,0,1,MaxVectorSize> Base;
    typedef Eigen::Map<Base> Map;
    typedef Eigen::Map<const Base> ConstMap;

    RowVector_() { this->setZero(); }
    explicit RowVector_(IndexType size) : Base(size) { assert(Cols == Dynamic || size == Cols); this->setZero(); }
//    explicit RowVector_(ScalarType value) { this->setConstant(value); }
    RowVector_(ScalarType x, ScalarType y, ScalarType z) : Base(x, y, z) {}
    template <typename OtherDerived> RowVector_(const Eigen::MatrixBase<OtherDerived>& other) : Base(other) {}

    EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
    Derived& operator=(ScalarType scalar) { this->setConstant(scalar); return *this; }
  };
  typedef RowVector_<Dynamic> RowVector;
  typedef RowVector_<3> RowVector3;

  template <int Rows, int Cols>
  class Matrix_ : public Eigen::Matrix<ScalarType,Rows,Cols,(Rows==1 && Cols!=1 ? Eigen::RowMajor : Eigen::ColMajor),(Rows != Dynamic ? Rows : MaxMatrixRowsCols),(Cols != Dynamic ? Cols : MaxMatrixRowsCols)> {
  public:
    typedef Matrix_<Rows,Cols> Derived;
    typedef Eigen::Matrix<ScalarType,Rows,Cols,(Rows==1 && Cols!=1 ? Eigen::RowMajor : Eigen::ColMajor),(Rows != Dynamic ? Rows : MaxMatrixRowsCols),(Cols != Dynamic ? Cols : MaxMatrixRowsCols)> Base;
    typedef Eigen::Map<Base> Map;
    typedef Eigen::Map<const Base> ConstMap;

    Matrix_() { this->setZero(); }
    explicit Matrix_(IndexType rows, IndexType cols) : Base(rows, cols) { assert(Rows == Dynamic || rows == Rows); assert(Cols == Dynamic || cols == Cols); this->setZero(); }
//    explicit Matrix_(ScalarType value) { this->setConstant(value); }
    template <typename OtherDerived> Matrix_(const Eigen::MatrixBase<OtherDerived>& other) : Base(other) {}

    EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
    Derived& operator=(ScalarType scalar) { this->setConstant(scalar); return *this; }
  };
  typedef Matrix_<Dynamic,Dynamic> Matrix;
  typedef Matrix_<3,3> Matrix3;

  template <int RowsCols>
  class SymmetricMatrix_ : public Matrix_<RowsCols,RowsCols> {
  public:
    typedef SymmetricMatrix_<RowsCols> Derived;
    typedef Matrix_<RowsCols,RowsCols> Storage;
    using typename Storage::Base;
//    typedef Eigen::SelfAdjointView<typename Storage::Base,Upper> SelfAdjointView;
    using typename Storage::Map;
    using typename Storage::ConstMap;

    // Constructors
    SymmetricMatrix_() {}
    //explicit SymmetricMatrix_(ScalarType value) { this->setConstant(value); }
    explicit SymmetricMatrix_(IndexType dim) : Storage(dim, dim) { assert(RowsCols == Dynamic || dim == RowsCols); }
    template <typename OtherDerived> SymmetricMatrix_(const Eigen::MatrixBase<OtherDerived>& other) : Storage(other) {
#if defined(FORCE_SYMMETRIC_MATRIX_TO_BE_SYMMETRIC)
      symmetric();
#endif
    }
    SymmetricMatrix_(const Derived& other) : Storage(other) {}

    template <typename OtherDerived> Derived& operator=(const Eigen::MatrixBase<OtherDerived>& other) {
      this->Storage::operator=(other);
#if defined(ASSERT_SYMMETRIC_MATRIX_TO_BE_SYMMETRIC)
      eigen_assert(this->isApprox(this->transpose(), ASSERT_SYMMETRIC_MATRIX_TO_BE_SYMMETRIC_PRECISION));
#endif
#if defined(FORCE_SYMMETRIC_MATRIX_TO_BE_SYMMETRIC)
      return symmetric();
#else
      return *this;
#endif
    }

    Derived& operator=(const Derived& other) {
      this->Storage::operator=(other);
      return *this;
    }

    Derived& symmetric() {
      this->Storage::operator=((*this + this->transpose()) / 2);
      return *this;
    }

//    template <typename OtherDerived> SymmetricMatrix_<Derived::RowsAtCompileTime> quadratic(const Eigen::MatrixBase<OtherDerived>& other) {
//      return other * this->template selfadjointView<Upper>() * other.transpose();
//    }

//    Derived inverse() const {
//      return this->Storage::inverse().eval();
//    }
  };
  typedef SymmetricMatrix_<3> SymmetricMatrix3;

  class SymmetricMatrix : public SymmetricMatrix_<Dynamic> {
  public:
    typedef SymmetricMatrix Derived;
    typedef SymmetricMatrix_<Dynamic> Storage;
    using typename Storage::Base;
//    typedef Eigen::SelfAdjointView<typename Storage::Base,Upper> SelfAdjointView;
    using typename Storage::Map;
    using typename Storage::ConstMap;

    // Constructors
    SymmetricMatrix() : Storage() {}
    SymmetricMatrix(IndexType dim) : Storage(dim) {}
    // SymmetricMatrix(IndexType dim, ScalarType value) : Storage(dim) { this->setConstant(value); }
    template <int OtherRowsCols> SymmetricMatrix(const SymmetricMatrix_<OtherRowsCols>& other) : Storage(other) {}
    template <typename OtherDerived> SymmetricMatrix(const Eigen::MatrixBase<OtherDerived>& other) : Storage(other) {}

    template <typename OtherDerived> Derived& operator=(const Eigen::MatrixBase<OtherDerived>& other) {
      this->Storage::operator=(other);
      return symmetric();
    }

    Derived& symmetric() {
      this->Storage::symmetric();
      return *this;
    }

    void resize(IndexType size) {
      this->Storage::resize(size, size);
    }

    void conservativeResize(IndexType size) {
      this->Storage::conservativeResize(size, size);
    }
  };

  class SkewSymmetricMatrix : public Matrix3 {
  public:
    template <typename OtherDerived> SkewSymmetricMatrix(const Eigen::MatrixBase<OtherDerived>& other) : Matrix3()
    {
      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Eigen::MatrixBase<OtherDerived>, 3);
      *this <<  0.0,       -other.z(),  other.y(),
                other.z(),  0.0,       -other.x(),
               -other.y(),  other.x(),  0.0;
    }
  };

} // namespace hector_pose_estimation

namespace Eigen {

// Add template specializations of DenseStorage for null matrices for older Eigen versions.
// Those have been added to Eigen 3.1.0.
// See https://bitbucket.org/eigen/eigen/commits/e03061319d0297c34e3128dcc5a780824b4fdb78.
// Copied from https://bitbucket.org/eigen/eigen/src/167ce78594dc4e7a4b9ca27fc745e674300e85ff/Eigen/src/Core/DenseStorage.h.
#if !EIGEN_VERSION_AT_LEAST(3,0,91)
  // more specializations for null matrices; these are necessary to resolve ambiguities
  template<typename T, int _Options> class DenseStorage<T, 0, Dynamic, Dynamic, _Options>
  : public DenseStorage<T, 0, 0, 0, _Options> { };

  template<typename T, int _Rows, int _Options> class DenseStorage<T, 0, _Rows, Dynamic, _Options>
  : public DenseStorage<T, 0, 0, 0, _Options> { };

  template<typename T, int _Cols, int _Options> class DenseStorage<T, 0, Dynamic, _Cols, _Options>
  : public DenseStorage<T, 0, 0, 0, _Options> { };
#endif

namespace internal {

#define EIGEN_FORWARD_TRAITS_FOR_TYPE(Base) \
  typedef typename traits<Base>::Scalar Scalar; \
  typedef typename traits<Base>::StorageKind StorageKind; \
  typedef typename traits<Base>::Index Index; \
  typedef typename traits<Base>::XprKind XprKind; \
  enum { \
    RowsAtCompileTime = traits<Base>::RowsAtCompileTime, \
    ColsAtCompileTime = traits<Base>::ColsAtCompileTime, \
    MaxRowsAtCompileTime = traits<Base>::MaxRowsAtCompileTime, \
    MaxColsAtCompileTime = traits<Base>::MaxColsAtCompileTime, \
    Flags = traits<Base>::Flags, \
    CoeffReadCost = traits<Base>::CoeffReadCost, \
    Options = traits<Base>::Options, \
    InnerStrideAtCompileTime = traits<Base>::InnerStrideAtCompileTime, \
    OuterStrideAtCompileTime = traits<Base>::OuterStrideAtCompileTime \
  }

template <int Rows> struct traits< hector_pose_estimation::ColumnVector_<Rows> > {
  typedef typename hector_pose_estimation::ColumnVector_<Rows>::Base EigenType;
  EIGEN_FORWARD_TRAITS_FOR_TYPE(EigenType);
};

template <int Cols> struct traits< hector_pose_estimation::RowVector_<Cols> > {
  typedef typename hector_pose_estimation::RowVector_<Cols>::Base EigenType;
  EIGEN_FORWARD_TRAITS_FOR_TYPE(EigenType);
};

template <int Rows, int Cols> struct traits< hector_pose_estimation::Matrix_<Rows,Cols> > {
  typedef typename hector_pose_estimation::Matrix_<Rows,Cols>::Base EigenType;
  EIGEN_FORWARD_TRAITS_FOR_TYPE(EigenType);
};

template <int RowsCols> struct traits< hector_pose_estimation::SymmetricMatrix_<RowsCols> > {
  typedef typename hector_pose_estimation::SymmetricMatrix_<RowsCols>::Base EigenType;
  EIGEN_FORWARD_TRAITS_FOR_TYPE(EigenType);
};

template <> struct traits< hector_pose_estimation::SymmetricMatrix > {
  typedef hector_pose_estimation::SymmetricMatrix::Base EigenType;
  EIGEN_FORWARD_TRAITS_FOR_TYPE(EigenType);
};

} // namespace internal
} // namespace Eigen

namespace hector_pose_estimation {

  using Eigen::VectorBlock;
  typedef VectorBlock<ColumnVector,3>       VectorBlock3;
  typedef VectorBlock<ColumnVector,4>       VectorBlock4;
  typedef VectorBlock<const ColumnVector,3> ConstVectorBlock3;
  typedef VectorBlock<const ColumnVector,4> ConstVectorBlock4;

  using Eigen::Block;
  typedef Eigen::Block<Matrix,Dynamic,Dynamic> MatrixBlock;

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_MATRIX_H