codereckons/rotgen
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Operators now mix storage_order and returns properly sized results

Browse source 
See merge request oss/rotgen!30
This commit is contained in:
Joel Falcou 2025-09-28 21:50:05 +02:00
parent b61c91736f
commit 43d09f06fb
18 changed files with 237 additions and 88 deletions
Download patch file Download diff file Expand all files Collapse all files

32
src/block_indirect.cpp
View file

@ -2,21 +2,25 @@
#define TYPE double
#define STORAGE_ORDER Eigen::ColMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_col)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define MAPNAME ROTGEN_MATRIX_NAME(map_impl,SIZE,_col)
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_col)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define TRANSSOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define MAPNAME ROTGEN_MATRIX_NAME(map_impl,SIZE,_col)
#include "block_model.cpp"
#undef CLASSNAME
#undef TRANSSOURCENAME
#undef SOURCENAME
#undef MAPNAME
#undef STORAGE_ORDER
#define STORAGE_ORDER Eigen::RowMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_row)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define MAPNAME ROTGEN_MATRIX_NAME(map_impl,SIZE,_row)
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_row)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define TRANSSOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define MAPNAME ROTGEN_MATRIX_NAME(map_impl,SIZE,_row)
#include "block_model.cpp"
#undef CLASSNAME
#undef TRANSSOURCENAME
#undef SOURCENAME
#undef MAPNAME
#undef STORAGE_ORDER
@ -28,21 +32,25 @@
#define TYPE float
#define STORAGE_ORDER Eigen::ColMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_col)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define MAPNAME ROTGEN_MATRIX_NAME(map_impl,SIZE,_col)
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_col)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define TRANSSOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define MAPNAME ROTGEN_MATRIX_NAME(map_impl,SIZE,_col)
#include "block_model.cpp"
#undef CLASSNAME
#undef TRANSSOURCENAME
#undef SOURCENAME
#undef MAPNAME
#undef STORAGE_ORDER
#define STORAGE_ORDER Eigen::RowMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_row)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define MAPNAME ROTGEN_MATRIX_NAME(map_impl,SIZE,_row)
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_row)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define TRANSSOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define MAPNAME ROTGEN_MATRIX_NAME(map_impl,SIZE,_row)
#include "block_model.cpp"
#undef CLASSNAME
#undef TRANSSOURCENAME
#undef SOURCENAME
#undef MAPNAME
#undef STORAGE_ORDER

8
src/block_model.cpp
View file

@ -234,9 +234,9 @@ struct CLASSNAME::payload
return result;
}
SOURCENAME CLASSNAME::transpose() const
TRANSSOURCENAME CLASSNAME::transpose() const
{
SOURCENAME result;
TRANSSOURCENAME result;
storage_->apply([&](const auto& blk) { result.storage()->assign(blk.transpose().eval()); });
return result;
}
@ -248,9 +248,9 @@ struct CLASSNAME::payload
return result;
}
SOURCENAME CLASSNAME::adjoint() const
TRANSSOURCENAME CLASSNAME::adjoint() const
{
SOURCENAME result;
TRANSSOURCENAME result;
storage_->apply([&](const auto& blk) { result.storage()->assign(blk.adjoint().eval()); });
return result;
}

16
src/map_indirect.cpp
View file

@ -3,20 +3,28 @@
#define STORAGE_ORDER Eigen::ColMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_col)
#define TRANSCLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_row)
#define TRANSSOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define CLASSCONSTNAME ROTGEN_MATRIX_NAME(map_const_impl,SIZE,_col)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#include "map_model.cpp"
#undef CLASSNAME
#undef TRANSCLASSNAME
#undef TRANSSOURCENAME
#undef CLASSCONSTNAME
#undef SOURCENAME
#undef STORAGE_ORDER
#define STORAGE_ORDER Eigen::RowMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_row)
#define TRANSCLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_col)
#define TRANSSOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define CLASSCONSTNAME ROTGEN_MATRIX_NAME(map_const_impl,SIZE,_row)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#include "map_model.cpp"
#undef CLASSNAME
#undef TRANSCLASSNAME
#undef TRANSSOURCENAME
#undef SOURCENAME
#undef CLASSCONSTNAME
#undef STORAGE_ORDER
@ -29,20 +37,28 @@
#define STORAGE_ORDER Eigen::ColMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_col)
#define TRANSCLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_row)
#define TRANSSOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define CLASSCONSTNAME ROTGEN_MATRIX_NAME(map_const_impl,SIZE,_col)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#include "map_model.cpp"
#undef CLASSNAME
#undef TRANSCLASSNAME
#undef TRANSSOURCENAME
#undef CLASSCONSTNAME
#undef SOURCENAME
#undef STORAGE_ORDER
#define STORAGE_ORDER Eigen::RowMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_row)
#define TRANSCLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_col)
#define TRANSSOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define CLASSCONSTNAME ROTGEN_MATRIX_NAME(map_const_impl,SIZE,_row)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#include "map_model.cpp"
#undef CLASSNAME
#undef TRANSCLASSNAME
#undef TRANSSOURCENAME
#undef CLASSCONSTNAME
#undef SOURCENAME
#undef STORAGE_ORDER

29
src/map_model.cpp
View file

@ -74,9 +74,9 @@
return result;
}
SOURCENAME CLASSNAME::transpose() const
TRANSSOURCENAME CLASSNAME::transpose() const
{
SOURCENAME result;
TRANSSOURCENAME result;
result.storage()->assign(storage_->data.transpose().eval());
return result;
}
@ -88,9 +88,9 @@
return result;
}
SOURCENAME CLASSNAME::adjoint() const
TRANSSOURCENAME CLASSNAME::adjoint() const
{
SOURCENAME result;
TRANSSOURCENAME result;
result.storage()->assign(storage_->data.adjoint().eval());
return result;
}
@ -329,6 +329,13 @@
return result;
}
SOURCENAME CLASSNAME::add(TRANSCLASSNAME const& rhs) const
{
SOURCENAME result;
result.storage()->assign(storage_->data + rhs.storage()->data);
return result;
}
SOURCENAME CLASSNAME::sub(CLASSNAME const& rhs) const
{
SOURCENAME result;
@ -336,6 +343,13 @@
return result;
}
SOURCENAME CLASSNAME::sub(TRANSCLASSNAME const& rhs) const
{
SOURCENAME result;
result.storage()->assign(storage_->data - rhs.storage()->data);
return result;
}
SOURCENAME CLASSNAME::mul(CLASSNAME const& rhs) const
{
SOURCENAME result;
@ -343,6 +357,13 @@
return result;
}
SOURCENAME CLASSNAME::mul(TRANSCLASSNAME const& rhs) const
{
SOURCENAME result;
result.storage()->assign(storage_->data * rhs.storage()->data);
return result;
}
SOURCENAME CLASSNAME::mul(TYPE s) const
{
SOURCENAME result;

16
src/matrix.cpp
View file

@ -17,15 +17,19 @@ namespace rotgen
#define TYPE double
#define STORAGE_ORDER Eigen::ColMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define CLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define TRANSCLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#include "matrix_model.cpp"
#undef CLASSNAME
#undef TRANSCLASSNAME
#undef STORAGE_ORDER
#define STORAGE_ORDER Eigen::RowMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define CLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define TRANSCLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#include "matrix_model.cpp"
#undef CLASSNAME
#undef TRANSCLASSNAME
#undef STORAGE_ORDER
#undef SIZE
@ -35,15 +39,19 @@ namespace rotgen
#define TYPE float
#define STORAGE_ORDER Eigen::ColMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define CLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#define TRANSCLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#include "matrix_model.cpp"
#undef CLASSNAME
#undef TRANSCLASSNAME
#undef STORAGE_ORDER
#define STORAGE_ORDER Eigen::RowMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define CLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#define TRANSCLASSNAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#include "matrix_model.cpp"
#undef CLASSNAME
#undef TRANSCLASSNAME
#undef STORAGE_ORDER
#undef SIZE

12
src/matrix_model.cpp
View file

@ -82,10 +82,10 @@ CLASSNAME CLASSNAME::normalized() const
return result;
}
CLASSNAME CLASSNAME::transpose() const
TRANSCLASSNAME CLASSNAME::transpose() const
{
CLASSNAME result(*this);
result.storage_->data.transposeInPlace();
TRANSCLASSNAME result;
result.storage()->data = storage_->data.transpose();
return result;
}
@ -96,10 +96,10 @@ CLASSNAME CLASSNAME::conjugate() const
return result;
}
CLASSNAME CLASSNAME::adjoint() const
TRANSCLASSNAME CLASSNAME::adjoint() const
{
CLASSNAME result(*this);
result.storage_->data.adjointInPlace();
TRANSCLASSNAME result;
result.storage()->data = storage_->data.adjoint();
return result;
}