rotgen/src/matrix_model.cpp

//==================================================================================================
/*
  ROTGEN - Runtime Overlay for Eigen
  Copyright : CODE RECKONS
  SPDX-License-Identifier: BSL-1.0
*/
//==================================================================================================

//==================================================================================================
/*
  This file is a X-File to generate various matrix_impl_* definitions variant
*/
//==================================================================================================

//==================================================================================================
// Internal payload
//==================================================================================================
struct MATRIX::payload
{
  using data_type = Eigen::Matrix<TYPE,Eigen::Dynamic,Eigen::Dynamic,STORAGE_ORDER>;

  data_type data;
  payload(std::size_t r=0, std::size_t c=0) : data(r, c) {}
  payload(std::initializer_list<std::initializer_list<TYPE>> init) : data(init) {}
  payload(data_type&& matrix) : data(std::move(matrix)) {}
};

//==================================================================================================
// Constructors & Special Members
//==================================================================================================
MATRIX::MATRIX(std::size_t r, std::size_t c) : storage_(std::make_unique<payload>(r,c)) {}

MATRIX::MATRIX(std::initializer_list<std::initializer_list<TYPE>> init)
              : storage_(std::make_unique<payload>(init))
{}

MATRIX::MATRIX(std::size_t r, std::size_t c,std::initializer_list<TYPE> init)
: MATRIX(r,c)
{
  auto first = init.begin();
  for(std::size_t i=0; i < init.size(); i++)
    (*this)(i) = first[i];
}

MATRIX::MATRIX(MATRIX const& o)
              : MATRIX(o.rows(),o.cols())
{
  storage_->data = o.storage_->data;
}

MATRIX::MATRIX(MATRIX&&) noexcept            = default;


MATRIX&  MATRIX::operator=(MATRIX const& o)
{
  if (this != &o) storage_->data = o.storage_->data;
  return *this;
}

MATRIX& MATRIX::operator=(MATRIX&&) noexcept = default;

MATRIX::~MATRIX()                                   = default;

//==================================================================================================
// Matrix API
//==================================================================================================
std::size_t MATRIX::rows() const { return static_cast<std::size_t>(storage_->data.rows()); }
std::size_t MATRIX::cols() const { return static_cast<std::size_t>(storage_->data.cols()); }
std::size_t MATRIX::size() const { return static_cast<std::size_t>(storage_->data.size()); }

void MATRIX::resize(std::size_t new_rows, std::size_t new_cols)
{
  storage_->data.resize(new_rows, new_cols);
}

void MATRIX::conservativeResize(std::size_t new_rows, std::size_t new_cols)
{
  storage_->data.conservativeResize(new_rows, new_cols);
}

TYPE&       MATRIX::operator()(std::size_t i, std::size_t j)       { return storage_->data(i,j); }
TYPE const& MATRIX::operator()(std::size_t i, std::size_t j) const { return storage_->data(i,j); }

TYPE&       MATRIX::operator()(std::size_t index)       { return storage_->data(index); }
TYPE const& MATRIX::operator()(std::size_t index) const { return storage_->data(index); }

const TYPE* MATRIX::data() const { return storage_->data.data(); }

MATRIX MATRIX::transpose() const
{
  MATRIX result(*this);
  result.storage_->data.transposeInPlace();
  return result;

}

MATRIX MATRIX::conjugate() const
{
  MATRIX result(*this);
  result.storage_->data = storage_->data.conjugate();
  return result;
}

MATRIX MATRIX::adjoint() const
{
  MATRIX result(*this);
  result.storage_->data.adjointInPlace();
  return result;
}

void MATRIX::transposeInPlace()
{
  storage_->data.transposeInPlace();
}

void MATRIX::adjointInPlace()
{
  storage_->data.adjointInPlace();
}

TYPE MATRIX::sum()    const { return storage_->data.sum(); }
TYPE MATRIX::prod()   const { return storage_->data.prod(); }
TYPE MATRIX::mean()   const { return storage_->data.mean(); }
TYPE MATRIX::trace()  const { return storage_->data.trace(); }

TYPE MATRIX::minCoeff() const { return storage_->data.minCoeff(); }
TYPE MATRIX::maxCoeff() const { return storage_->data.maxCoeff(); }

TYPE MATRIX::minCoeff(std::ptrdiff_t* row, std::ptrdiff_t* col) const { return storage_->data.minCoeff(row, col); }
TYPE MATRIX::maxCoeff(std::ptrdiff_t* row, std::ptrdiff_t* col) const { return storage_->data.maxCoeff(row, col); }

TYPE MATRIX::squaredNorm()  const { return storage_->data.squaredNorm(); }
TYPE MATRIX::norm()         const { return storage_->data.norm(); }

TYPE MATRIX::lp_norm(int p) const
{
  if (p == 1)       return storage_->data.lpNorm<1>();
  else if (p == 2)  return storage_->data.lpNorm<2>();
  else              return storage_->data.lpNorm<Eigen::Infinity>();
}

//==================================================================================================
// Operators
//==================================================================================================
std::ostream& operator<<(std::ostream& os,MATRIX const& m)
{
  return os << m.storage_->data;
}

bool operator==(MATRIX const& lhs, MATRIX const& rhs)
{
  return lhs.storage_->data == rhs.storage_->data;
}

MATRIX& MATRIX::operator+=(MATRIX const& rhs)
{
  storage_->data += rhs.storage_->data;
  return *this;
}

MATRIX& MATRIX::operator-=(MATRIX const& rhs)
{
  storage_->data -= rhs.storage_->data;
  return *this;
}

MATRIX MATRIX::operator-() const
{
  MATRIX result(*this);
  result.storage_->data = -result.storage_->data;
  return result;
}

MATRIX& MATRIX::operator*=(MATRIX const& rhs)
{
  storage_->data *= rhs.storage_->data;
  return *this;
}

MATRIX& MATRIX::operator*=(TYPE s)
{
  storage_->data *= s;
  return *this;
}

MATRIX& MATRIX::operator/=(TYPE s)
{
  storage_->data /= s;
  return *this;
}

//==================================================================================================
// Static functions
//==================================================================================================

MATRIX MATRIX::Zero(std::size_t rows, std::size_t cols)
{
  MATRIX m;
  m.storage_ = std::make_unique<payload>(payload::data_type::Zero(rows, cols));
  return m;
}

MATRIX MATRIX::Constant(std::size_t rows, std::size_t cols, TYPE value)
{
  MATRIX m;
  m.storage_ = std::make_unique<payload>(payload::data_type::Constant(rows, cols, value));
  return m;
}

MATRIX MATRIX::Random(std::size_t rows, std::size_t cols)
{
  MATRIX m;
  m.storage_ = std::make_unique<payload>(payload::data_type::Random(rows, cols));
  return m;
}

MATRIX MATRIX::Identity(std::size_t rows, std::size_t cols)
{
  MATRIX m;
  m.storage_ = std::make_unique<payload>(payload::data_type::Identity(rows, cols));
  return m;
}