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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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8
src/block_model.cpp
View file

@ -11,8 +11,6 @@
This file is a X-File to generate various block_impl_* definitions variant
*/
//==================================================================================================
#define STR(text) STR_I(text)
#define STR_I(...) #__VA_ARGS__
//==================================================================================================
// Internal payload
@ -107,7 +105,11 @@ struct CLASSNAME::payload
return *this;
}
CLASSNAME& CLASSNAME::operator=(CLASSNAME&&) noexcept = default;
CLASSNAME& CLASSNAME::operator=(CLASSNAME&& o) noexcept
{
if (this != &o) { storage_->data = std::move(o.storage_->data); }
return *this;
}
#endif

1
src/map.cpp
View file

@ -9,6 +9,7 @@
#include <rotgen/impl/map.hpp>
#include <rotgen/impl/payload.hpp>
#include <Eigen/Dense>
#include <Eigen/LU>
namespace rotgen
{

24
src/map_indirect.cpp
View file

@ -2,19 +2,23 @@
#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 CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_col)
#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 CLASSCONSTNAME
#undef SOURCENAME
#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 CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_row)
#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 SOURCENAME
#undef CLASSCONSTNAME
#undef STORAGE_ORDER
#undef SIZE
@ -24,18 +28,22 @@
#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 CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_col)
#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 CLASSCONSTNAME
#undef SOURCENAME
#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 CLASSNAME ROTGEN_MATRIX_NAME(BASENAME,SIZE,_row)
#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 CLASSCONSTNAME
#undef SOURCENAME
#undef STORAGE_ORDER

32
src/map_model.cpp
View file

@ -35,10 +35,15 @@
if (this != &o) storage_->data = o.storage_->data;
return *this;
}
CLASSNAME& CLASSNAME::operator=(CLASSNAME&& o)
{
if (this != &o) storage_->data = std::move(o.storage_->data);
return *this;
}
#endif
CLASSNAME::CLASSNAME(CLASSNAME&&) noexcept = default;
CLASSNAME& CLASSNAME::operator=(CLASSNAME&&) noexcept = default;
CLASSNAME::~CLASSNAME() = default;
@ -160,6 +165,13 @@
return result;
}
SOURCENAME CLASSNAME::inverse() const
{
SOURCENAME result;
result.storage()->assign(storage_->data.inverse().eval());
return result;
}
#if !defined(USE_CONST)
void CLASSNAME::normalize()
{
@ -267,18 +279,36 @@
return *this;
}
CLASSNAME& CLASSNAME::operator+=(CLASSCONSTNAME const& rhs)
{
storage_->data += rhs.storage()->data;
return *this;
}
CLASSNAME& CLASSNAME::operator-=(CLASSNAME const& rhs)
{
storage_->data -= rhs.storage_->data;
return *this;
}
CLASSNAME& CLASSNAME::operator-=(CLASSCONSTNAME const& rhs)
{
storage_->data -= rhs.storage()->data;
return *this;
}
CLASSNAME& CLASSNAME::operator*=(CLASSNAME const& rhs)
{
storage_->data *= rhs.storage_->data;
return *this;
}
CLASSNAME& CLASSNAME::operator*=(CLASSCONSTNAME const& rhs)
{
storage_->data *= rhs.storage()->data;
return *this;
}
CLASSNAME& CLASSNAME::operator*=(TYPE s)
{
storage_->data *= s;

61
src/svd.cpp Normal file
View file

@ -0,0 +1,61 @@
//==================================================================================================
/*
ROTGEN - Runtime Overlay for Eigen
Copyright : CODE RECKONS
SPDX-License-Identifier: BSL-1.0
*/
//==================================================================================================
#include <rotgen/detail/generators.hpp>
#include <rotgen/impl/matrix.hpp>
#include <rotgen/impl/payload.hpp>
#include <rotgen/impl/svd.hpp>
#include <rotgen/config.hpp>
#include <Eigen/Dense>
#include <Eigen/SVD>
namespace rotgen
{
#define SIZE 64
#define TYPE double
#define STORAGE_ORDER Eigen::ColMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(svd_impl,SIZE,_col)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#include "svd_model.cpp"
#undef CLASSNAME
#undef SOURCENAME
#undef STORAGE_ORDER
#define STORAGE_ORDER Eigen::RowMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(svd_impl,SIZE,_row)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#include "svd_model.cpp"
#undef CLASSNAME
#undef SOURCENAME
#undef STORAGE_ORDER
#undef SIZE
#undef TYPE
#define SIZE 32
#define TYPE float
#define STORAGE_ORDER Eigen::ColMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(svd_impl,SIZE,_col)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_col)
#include "svd_model.cpp"
#undef CLASSNAME
#undef SOURCENAME
#undef STORAGE_ORDER
#define STORAGE_ORDER Eigen::RowMajor
#define CLASSNAME ROTGEN_MATRIX_NAME(svd_impl,SIZE,_row)
#define SOURCENAME ROTGEN_MATRIX_NAME(matrix_impl,SIZE,_row)
#include "svd_model.cpp"
#undef CLASSNAME
#undef SOURCENAME
#undef STORAGE_ORDER
#undef SIZE
#undef TYPE
}

111
src/svd_model.cpp Normal file
View file

@ -0,0 +1,111 @@
//==================================================================================================
/*
ROTGEN - Runtime Overlay for Eigen
Copyright : CODE RECKONS
SPDX-License-Identifier: BSL-1.0
*/
//==================================================================================================
//==================================================================================================
/*
This file is a X-File to generate various svd_impl_* definitions variant
*/
//==================================================================================================
//==================================================================================================
// Internal payload
//==================================================================================================
struct CLASSNAME::payload
{
using matrix_type = Eigen::Matrix<TYPE,Eigen::Dynamic,Eigen::Dynamic,STORAGE_ORDER>;
Eigen::JacobiSVD<matrix_type> data;
payload(SOURCENAME const& src, int options) : data(src.storage()->data,options) {}
};
//==================================================================================================
// Constructors & Special Members
//==================================================================================================
CLASSNAME::CLASSNAME(SOURCENAME const& m, int options)
: storage_(std::make_unique<payload>(m,options))
{}
CLASSNAME::CLASSNAME(CLASSNAME const& o)
: storage_(std::make_unique<payload>(*o.storage_))
{
}
CLASSNAME::CLASSNAME(CLASSNAME&&) noexcept = default;
CLASSNAME& CLASSNAME::operator=(CLASSNAME const& o)
{
if (this != &o) storage_->data = o.storage_->data;
return *this;
}
CLASSNAME& CLASSNAME::operator=(CLASSNAME&& o) noexcept
{
if (this != &o) storage_->data = std::move(o.storage_->data);
return *this;
}
CLASSNAME::~CLASSNAME() = default;
int CLASSNAME::rank() const { return storage_->data.rank(); }
SOURCENAME CLASSNAME::U() const
{
SOURCENAME result;
result.storage()->assign(storage_->data.matrixU());
return result;
}
SOURCENAME CLASSNAME::U(int r) const
{
SOURCENAME result;
result.storage()->assign( storage_->data.matrixU().leftCols(r) );
return result;
}
SOURCENAME CLASSNAME::singular_values() const
{
SOURCENAME result;
result.storage()->assign(storage_->data.singularValues());
return result;
}
SOURCENAME CLASSNAME::singular_values(int r) const
{
SOURCENAME result;
result.storage()->assign(storage_->data.singularValues().head(r));
return result;
}
SOURCENAME CLASSNAME::D() const
{
SOURCENAME result;
result.storage()->assign(storage_->data.singularValues().asDiagonal());
return result;
}
SOURCENAME CLASSNAME::D(int r) const
{
SOURCENAME result;
result.storage()->assign(storage_->data.singularValues().head(r).asDiagonal());
return result;
}
SOURCENAME CLASSNAME::V() const
{
SOURCENAME result;
result.storage()->assign(storage_->data.matrixV());
return result;
}
SOURCENAME CLASSNAME::V(int r) const
{
SOURCENAME result;
result.storage()->assign( storage_->data.matrixV().leftCols(r) );
return result;
}