Joel Falcou
parent
6521f68c95
commit
ffa9309332
55 changed files with 585 additions and 495 deletions
394
src/map/model.cpp
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394
src/map/model.cpp
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//==================================================================================================
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/*
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ROTGEN - Runtime Overlay for Eigen
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Copyright : CODE RECKONS
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SPDX-License-Identifier: BSL-1.0
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*/
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//==================================================================================================
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//==================================================================================================
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/*
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This file is a X-File to generate various map_impl_* definitions variant
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*/
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//==================================================================================================
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//==================================================================================================
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// Internal payload
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//==================================================================================================
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//==================================================================================================
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// Constructors & Special Members
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//==================================================================================================
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CLASSNAME::CLASSNAME(TYPE CONST* ptr, Index r, Index c) : storage_(std::make_unique<payload>(ptr,r,c))
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{}
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CLASSNAME::CLASSNAME(TYPE CONST* ptr, Index r, Index c, stride s)
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: storage_(std::make_unique<payload>(ptr,r,c,payload::stride_type{s.outer(),s.inner()}))
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{}
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CLASSNAME::CLASSNAME(CLASSNAME const& o) : storage_(std::make_unique<payload>(o.storage_->data))
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{}
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#if !defined(USE_CONST)
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CLASSNAME& CLASSNAME::operator=(CLASSNAME const& o)
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{
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if (this != &o) storage_->data = o.storage_->data;
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return *this;
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}
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CLASSNAME& CLASSNAME::operator=(CLASSNAME&& o)
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{
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if (this != &o) storage_->data = std::move(o.storage_->data);
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return *this;
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}
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#endif
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CLASSNAME::CLASSNAME(CLASSNAME&&) noexcept = default;
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CLASSNAME::~CLASSNAME() = default;
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//==================================================================================================
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// Matrix API
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//==================================================================================================
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rotgen::Index CLASSNAME::rows() const { return storage_->data.rows(); }
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rotgen::Index CLASSNAME::cols() const { return storage_->data.cols(); }
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rotgen::Index CLASSNAME::size() const { return storage_->data.size(); }
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rotgen::Index CLASSNAME::innerStride() const { return storage_->data.innerStride(); }
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rotgen::Index CLASSNAME::outerStride() const { return storage_->data.outerStride(); }
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const TYPE* CLASSNAME::data() const { return storage_->data.data(); }
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#if !defined(USE_CONST)
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TYPE* CLASSNAME::data() { return storage_->data.data(); }
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TYPE& CLASSNAME::operator()(Index i, Index j) { return storage_->data(i,j); }
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TYPE& CLASSNAME::operator()(Index i) { return storage_->data.data()[i]; }
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#endif
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TYPE CLASSNAME::operator()(Index i, Index j) const { return storage_->data(i,j); }
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TYPE CLASSNAME::operator()(Index i) const { return storage_->data.data()[i]; }
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SOURCENAME CLASSNAME::normalized() const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.normalized().eval());
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return result;
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}
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TRANSSOURCENAME CLASSNAME::transpose() const
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{
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TRANSSOURCENAME result;
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result.storage()->assign(storage_->data.transpose().eval());
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return result;
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}
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SOURCENAME CLASSNAME::conjugate() const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.conjugate().eval());
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return result;
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}
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TRANSSOURCENAME CLASSNAME::adjoint() const
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{
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TRANSSOURCENAME result;
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result.storage()->assign(storage_->data.adjoint().eval());
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return result;
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}
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SOURCENAME CLASSNAME::cwiseAbs() const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.cwiseAbs().eval());
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return result;
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}
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SOURCENAME CLASSNAME::cwiseAbs2() const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.cwiseAbs2().eval());
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return result;
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}
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SOURCENAME CLASSNAME::cwiseInverse() const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.cwiseInverse().eval());
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return result;
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}
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SOURCENAME CLASSNAME::cwiseSqrt() const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.cwiseSqrt().eval());
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return result;
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}
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SOURCENAME CLASSNAME::cwiseMin(CLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.cwiseMin(rhs.storage()->data).eval());
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return result;
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}
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SOURCENAME CLASSNAME::cwiseMax(CLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.cwiseMax(rhs.storage()->data).eval());
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return result;
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}
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SOURCENAME CLASSNAME::cwiseProduct(CLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.cwiseProduct(rhs.storage()->data).eval());
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return result;
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}
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SOURCENAME CLASSNAME::cwiseQuotient(CLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.cwiseQuotient(rhs.storage()->data).eval());
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return result;
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}
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SOURCENAME CLASSNAME::cwiseMin(TYPE rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.cwiseMin(rhs).eval());
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return result;
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}
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SOURCENAME CLASSNAME::cwiseMax(TYPE rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.cwiseMax(rhs).eval());
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return result;
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}
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SOURCENAME CLASSNAME::inverse() const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.inverse().eval());
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return result;
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}
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#if !defined(USE_CONST)
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void CLASSNAME::normalize()
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{
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storage_->data.normalize();
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}
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void CLASSNAME::transposeInPlace()
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{
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storage_->data.transposeInPlace();
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}
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void CLASSNAME::adjointInPlace()
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{
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storage_->data.adjointInPlace();
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}
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#endif
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TYPE CLASSNAME::dot(CLASSNAME const& rhs) const
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{
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return storage_->data.reshaped().dot(rhs.storage()->data.reshaped());
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}
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TYPE CLASSNAME::dot(TRANSCLASSNAME const& rhs) const
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{
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return storage_->data.reshaped().dot(rhs.storage()->data.reshaped());
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}
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TYPE CLASSNAME::sum() const { return storage_->data.sum(); }
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TYPE CLASSNAME::prod() const { return storage_->data.prod(); }
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TYPE CLASSNAME::mean() const { return storage_->data.mean(); }
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TYPE CLASSNAME::trace() const { return storage_->data.trace(); }
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TYPE CLASSNAME::minCoeff() const { return storage_->data.minCoeff(); }
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TYPE CLASSNAME::maxCoeff() const { return storage_->data.maxCoeff(); }
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TYPE CLASSNAME::minCoeff(Index* row, Index* col) const { return storage_->data.minCoeff(row, col); }
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TYPE CLASSNAME::maxCoeff(Index* row, Index* col) const { return storage_->data.maxCoeff(row, col); }
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TYPE CLASSNAME::squaredNorm() const { return storage_->data.squaredNorm(); }
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TYPE CLASSNAME::norm() const { return storage_->data.norm(); }
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TYPE CLASSNAME::lpNorm(int p) const
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{
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if (p == 1) return storage_->data.lpNorm<1>();
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else if (p == 2) return storage_->data.lpNorm<2>();
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else return storage_->data.lpNorm<Eigen::Infinity>();
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}
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#if !defined(USE_CONST)
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void CLASSNAME::setZero()
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{
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storage_->data.setZero();
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}
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void CLASSNAME::setOnes()
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{
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storage_->data.setOnes();
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}
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void CLASSNAME::setIdentity()
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{
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storage_->data.setIdentity();
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}
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void CLASSNAME::setRandom()
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{
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storage_->data.setRandom();
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}
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void CLASSNAME::setConstant(TYPE s)
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{
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storage_->data.setConstant(s);
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}
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#endif
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//==================================================================================================
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// Solvers
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//==================================================================================================
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SOURCENAME CLASSNAME::qr_solve(CLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data.colPivHouseholderQr().solve(rhs.storage_->data).eval());
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return result;
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}
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//==================================================================================================
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// Operators
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//==================================================================================================
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ROTGEN_EXPORT std::ostream& operator<<(std::ostream& os,CLASSNAME const& m)
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{
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return os << m.storage_->data;
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}
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ROTGEN_EXPORT std::ostream& operator<<(std::ostream& os,format<CLASSNAME> const& m)
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{
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return os << m.matrix_.storage_->data.format(m.format_.storage()->instance);
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}
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ROTGEN_EXPORT bool operator==(CLASSNAME const& lhs, CLASSNAME const& rhs)
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{
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return lhs.storage_->data == rhs.storage_->data;
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}
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ROTGEN_EXPORT bool operator!=(CLASSNAME const& lhs, CLASSNAME const& rhs)
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{
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return lhs.storage_->data != rhs.storage_->data;
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}
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SOURCENAME CLASSNAME::operator-() const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data);
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return -result;
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}
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#if !defined(USE_CONST)
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CLASSNAME& CLASSNAME::operator+=(CLASSNAME const& rhs)
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{
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storage_->data += rhs.storage_->data;
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return *this;
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}
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CLASSNAME& CLASSNAME::operator+=(CLASSCONSTNAME const& rhs)
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{
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storage_->data += rhs.storage()->data;
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return *this;
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}
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CLASSNAME& CLASSNAME::operator-=(CLASSNAME const& rhs)
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{
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storage_->data -= rhs.storage_->data;
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return *this;
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}
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CLASSNAME& CLASSNAME::operator-=(CLASSCONSTNAME const& rhs)
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{
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storage_->data -= rhs.storage()->data;
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return *this;
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}
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CLASSNAME& CLASSNAME::operator*=(CLASSNAME const& rhs)
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{
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storage_->data *= rhs.storage_->data;
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return *this;
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}
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CLASSNAME& CLASSNAME::operator*=(CLASSCONSTNAME const& rhs)
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{
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storage_->data *= rhs.storage()->data;
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return *this;
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}
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CLASSNAME& CLASSNAME::operator*=(TYPE s)
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{
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storage_->data *= s;
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return *this;
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}
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CLASSNAME& CLASSNAME::operator/=(TYPE s)
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{
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storage_->data /= s;
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return *this;
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}
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#endif
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SOURCENAME CLASSNAME::add(CLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data + rhs.storage_->data);
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return result;
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}
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SOURCENAME CLASSNAME::add(TRANSCLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data + rhs.storage()->data);
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return result;
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}
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SOURCENAME CLASSNAME::sub(CLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data - rhs.storage_->data);
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return result;
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}
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SOURCENAME CLASSNAME::sub(TRANSCLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data - rhs.storage()->data);
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return result;
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}
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SOURCENAME CLASSNAME::mul(CLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data * rhs.storage_->data);
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return result;
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}
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SOURCENAME CLASSNAME::mul(TRANSCLASSNAME const& rhs) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data * rhs.storage()->data);
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return result;
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}
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SOURCENAME CLASSNAME::mul(TYPE s) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data * s);
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return result;
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}
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SOURCENAME CLASSNAME::div(TYPE s) const
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{
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SOURCENAME result;
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result.storage()->assign(storage_->data / s);
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return result;
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}
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