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Implement dot

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See merge request oss/rotgen!31
This commit is contained in:
Joel Falcou 2025-09-29 18:58:12 +02:00
parent 3313e257c8
commit ddf8816c5b
12 changed files with 165 additions and 46 deletions
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6
include/rotgen/common/ref.hpp
View file

@ -280,6 +280,12 @@ namespace rotgen
return lhs.base() / s;
}
template<typename A, int O, typename S, typename B, int P, typename T>
auto dot(ref<A,O,S> lhs, ref<B,P,T> rhs)
{
return lhs.base().dot(rhs.base());
}
template<typename A, int O, typename S, typename B, int P, typename T>
auto min(ref<A,O,S> lhs, ref<B,P,T> rhs) -> decltype(lhs.base().cwiseMin(rhs.base()))
{

16
include/rotgen/detail/helpers.hpp
View file

@ -9,9 +9,21 @@
namespace rotgen::detail
{
template<typename M, typename N>
inline constexpr bool has_same_vector_size = []()
{
// No vector = noo size
if(!(M::IsVectorAtCompileTime && N::IsVectorAtCompileTime)) return false;
// Row vectors -> same Cols
if(M::RowsAtCompileTime == 1 && N::RowsAtCompileTime == 1) return M::ColsAtCompileTime == N::ColsAtCompileTime;
// Col vectors -> same Rows
if(M::ColsAtCompileTime == 1 && N::ColsAtCompileTime == 1) return M::RowsAtCompileTime == N::RowsAtCompileTime;
// Mixing 1xN with Mx1
return false;
}();
template<auto M, auto N>
inline constexpr auto select_static = (M==rotgen::Dynamic || N==rotgen::Dynamic)
? rotgen::Dynamic : M;
inline constexpr auto select_static = (M==rotgen::Dynamic || N==rotgen::Dynamic) ? rotgen::Dynamic : M;
template<typename M1, typename M2>
using composite_matrix_type = matrix< typename M1::value_type

2
include/rotgen/dynamic/block.hpp
View file

@ -315,7 +315,7 @@ namespace rotgen
}
template<int P>
double lpNorm() const
value_type lpNorm() const
{
assert(P == 1 || P == 2 || P == Infinity);
return parent::lpNorm(P);

8
include/rotgen/dynamic/map.hpp
View file

@ -313,8 +313,14 @@ namespace rotgen
return *this;
}
template<typename R2, int O2, typename S2>
value_type dot(map<R2,O2,S2> const& rhs) const
{
return base().dot(rhs.base());
}
template<int P>
double lpNorm() const
value_type lpNorm() const
{
assert(P == 1 || P == 2 || P == Infinity);
return parent::lpNorm(P);

6
include/rotgen/fixed/map.hpp
View file

@ -356,6 +356,12 @@ namespace rotgen
return result;
}
template<typename R2, int O2, typename S2>
value_type dot(map<R2,O2,S2> const& rhs) const
{
return base().dot(rhs.base());
}
template<int P> value_type lpNorm() const
{
static_assert(P == 1 || P == 2 || P == Infinity);

10
include/rotgen/functions.hpp
View file

@ -7,6 +7,8 @@
//==================================================================================================
#pragma once
#include <rotgen/detail/helpers.hpp>
namespace rotgen
{
//-----------------------------------------------------------------------------------------------
@ -142,6 +144,14 @@ namespace rotgen
auto prod(concepts::entity auto const& arg) { return arg.prod(); }
auto mean(concepts::entity auto const& arg) { return arg.mean(); }
template<concepts::entity A, concepts::entity B>
auto dot(A const& a, B const& b)
requires(detail::has_same_vector_size<A,B> && std::same_as<typename A::value_type, typename B::value_type>)
{
if constexpr(!use_expression_templates) return dot(generalize_t<A const>(a), generalize_t<B const>(b));
else return base_of(a).dot(base_of(b));
}
auto maxCoeff(auto const& arg) requires( requires{ arg.maxCoeff(); } ) { return arg.maxCoeff(); }
auto minCoeff(auto const& arg) requires( requires{ arg.minCoeff(); } ) { return arg.minCoeff(); }

6
include/rotgen/impl/map_model.hpp
View file

@ -63,8 +63,10 @@ class ROTGEN_EXPORT CLASSNAME
TYPE trace() const;
TYPE maxCoeff() const;
TYPE minCoeff() const;
TYPE maxCoeff(Index* row, Index* col) const;
TYPE minCoeff(Index* row, Index* col) const;
TYPE maxCoeff(Index*, Index*) const;
TYPE minCoeff(Index*, Index*) const;
TYPE dot(CLASSNAME const&) const;
TYPE dot(TRANSCLASSNAME const&) const;
TYPE squaredNorm() const;
TYPE norm() const;