From 2554a83890a5e4c1aed56f1812ccfab281cae0b5 Mon Sep 17 00:00:00 2001
From: Joel Falcou <joel.falcou@lri.fr>
Date: Mon, 12 May 2025 14:51:20 +0200
Subject: [PATCH] More products

---
 src/matrix_impl64.cpp | 44 ++++++++++++++++++++++---------------------
 1 file changed, 23 insertions(+), 21 deletions(-)

diff --git a/src/matrix_impl64.cpp b/src/matrix_impl64.cpp
index 219b9f1..d5382a8 100644
--- a/src/matrix_impl64.cpp
+++ b/src/matrix_impl64.cpp
@@ -10,20 +10,20 @@
 
 namespace rotgen
 {
+  //================================================================================================
+  // Internal paylod
+  //================================================================================================
   struct matrix_impl64::payload
   {
     Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic> data;
     payload(std::size_t r=0, std::size_t c=0) : data(r, c) {}
   };
 
-  std::ostream& operator<<(std::ostream& os,matrix_impl64 const& m)
-  {
-    return os << m.storage_->data;
-  }
 
-  matrix_impl64::matrix_impl64(std::size_t r, std::size_t c)
-                : storage_(std::make_unique<payload>(r,c))
-  {}
+  //==================================================================================================
+  // Constructors & Special Members
+  //==================================================================================================
+  matrix_impl64::matrix_impl64(std::size_t r, std::size_t c) : storage_(std::make_unique<payload>(r,c)) {}
 
   matrix_impl64::matrix_impl64(matrix_impl64 const& o)
                 : matrix_impl64(o.storage_->data.rows(),o.storage_->data.cols())
@@ -42,24 +42,26 @@ namespace rotgen
 
   matrix_impl64::~matrix_impl64()                                   = default;
 
-  std::size_t matrix_impl64::rows() const
+  //==================================================================================================
+  // Matrix API
+  //==================================================================================================
+  std::size_t matrix_impl64::rows() const { return static_cast<std::size_t>(storage_->data.rows()); }
+  std::size_t matrix_impl64::cols() const { return static_cast<std::size_t>(storage_->data.cols()); }
+
+  double&       matrix_impl64::operator()(std::size_t i, std::size_t j)       { return storage_->data(i,j); }
+  double const& matrix_impl64::operator()(std::size_t i, std::size_t j) const { return storage_->data(i,j); }
+
+  //==================================================================================================
+  // Operators
+  //==================================================================================================
+  std::ostream& operator<<(std::ostream& os,matrix_impl64 const& m)
   {
-    return static_cast<std::size_t>(storage_->data.rows());
+    return os << m.storage_->data;
   }
 
-  std::size_t matrix_impl64::cols() const
+  bool operator==(matrix_impl64 const& lhs, matrix_impl64 const& rhs)
   {
-    return static_cast<std::size_t>(storage_->data.cols());
-  }
-
-  double& matrix_impl64::operator()(std::size_t i, std::size_t j)
-  {
-    return storage_->data(i,j);
-  }
-
-  double const& matrix_impl64::operator()(std::size_t i, std::size_t j) const
-  {
-    return storage_->data(i,j);
+    return lhs.storage_->data == rhs.storage_->data;
   }
 
   matrix_impl64& matrix_impl64::operator+=(matrix_impl64 const& rhs)