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Implements some missing functions

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See merge request oss/rotgen!28
This commit is contained in:
Joel Falcou 2025-09-28 16:15:15 +02:00
parent 5d8a084070
commit b6fcd4b341
34 changed files with 972 additions and 139 deletions
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26
include/rotgen/fixed/map.hpp
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@ -39,7 +39,6 @@ namespace rotgen
using value_type = typename std::remove_const_t<Ref>::value_type;
using concrete_type = typename std::remove_const_t<Ref>::concrete_type;
static constexpr auto Flags = Ref::Flags;
static constexpr Index RowsAtCompileTime = Ref::RowsAtCompileTime;
static constexpr Index ColsAtCompileTime = Ref::ColsAtCompileTime;
static constexpr bool IsVectorAtCompileTime = Ref::IsVectorAtCompileTime;
@ -131,21 +130,24 @@ namespace rotgen
value_type operator()(Index i) const requires(IsVectorAtCompileTime) { return base().data()[i]; }
value_type operator[](Index i) const requires(IsVectorAtCompileTime) { return (*this)(i); }
map& operator+=(map const& rhs)
template<typename R2, int O2, typename S2>
map& operator+=(map<R2,O2,S2> const& rhs) requires(!is_immutable)
{
base() += rhs.base();
return *this;
}
map& operator-=(map const& rhs)
template<typename R2, int O2, typename S2>
map& operator-=(map<R2,O2,S2> const& rhs) requires(!is_immutable)
{
base() -= rhs.base();
return *this;
}
map& operator*=(map const& rhs)
template<typename R2, int O2, typename S2>
map& operator*=(map<R2,O2,S2> const& rhs) requires(!is_immutable)
{
base() *= rhs;
base() *= rhs.base();
return *this;
}
@ -221,6 +223,18 @@ namespace rotgen
else return base().cwiseSqrt();
}
auto cross(map const& rhs) const
{
if constexpr(!use_expression_templates) return concrete_type{parent::cross(rhs.base())};
else return base().cross(rhs.base());
}
auto inverse() const
{
if constexpr(use_expression_templates) return base().inverse();
else return as_concrete_type<decltype(base().inverse())>(base().inverse());
}
auto normalized() const requires(IsVectorAtCompileTime)
{
if constexpr(use_expression_templates) return base().normalized();
@ -253,7 +267,7 @@ namespace rotgen
void transposeInPlace() { base().transposeInPlace(); }
void adjointInPlace() { base().adjointInPlace(); }
auto qr_solve(map const& rhs) const
auto qr_solve(auto const& rhs) const
{
return concrete_type(base().colPivHouseholderQr().solve(rhs.base()));
};