ruby-eigen 0.0.9 → 0.0.10.pre1
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- checksums.yaml +4 -4
- data/LICENSE +22 -0
- data/README.md +21 -0
- data/ext/eigen/eigen3/COPYING.BSD +26 -0
- data/ext/eigen/eigen3/COPYING.MPL2 +373 -0
- data/ext/eigen/eigen3/COPYING.README +18 -0
- data/ext/eigen/eigen3/Eigen/Array +11 -0
- data/ext/eigen/eigen3/Eigen/Cholesky +32 -0
- data/ext/eigen/eigen3/Eigen/CholmodSupport +45 -0
- data/ext/eigen/eigen3/Eigen/Core +376 -0
- data/ext/eigen/eigen3/Eigen/Dense +7 -0
- data/ext/eigen/eigen3/Eigen/Eigen +2 -0
- data/ext/eigen/eigen3/Eigen/Eigen2Support +95 -0
- data/ext/eigen/eigen3/Eigen/Eigenvalues +48 -0
- data/ext/eigen/eigen3/Eigen/Geometry +63 -0
- data/ext/eigen/eigen3/Eigen/Householder +23 -0
- data/ext/eigen/eigen3/Eigen/IterativeLinearSolvers +40 -0
- data/ext/eigen/eigen3/Eigen/Jacobi +26 -0
- data/ext/eigen/eigen3/Eigen/LU +41 -0
- data/ext/eigen/eigen3/Eigen/LeastSquares +32 -0
- data/ext/eigen/eigen3/Eigen/MetisSupport +28 -0
- data/ext/eigen/eigen3/Eigen/PaStiXSupport +46 -0
- data/ext/eigen/eigen3/Eigen/PardisoSupport +30 -0
- data/ext/eigen/eigen3/Eigen/QR +45 -0
- data/ext/eigen/eigen3/Eigen/QtAlignedMalloc +34 -0
- data/ext/eigen/eigen3/Eigen/SPQRSupport +29 -0
- data/ext/eigen/eigen3/Eigen/SVD +37 -0
- data/ext/eigen/eigen3/Eigen/Sparse +27 -0
- data/ext/eigen/eigen3/Eigen/SparseCore +64 -0
- data/ext/eigen/eigen3/Eigen/SparseLU +49 -0
- data/ext/eigen/eigen3/Eigen/SparseQR +33 -0
- data/ext/eigen/eigen3/Eigen/StdDeque +27 -0
- data/ext/eigen/eigen3/Eigen/StdList +26 -0
- data/ext/eigen/eigen3/Eigen/StdVector +27 -0
- data/ext/eigen/eigen3/Eigen/SuperLUSupport +59 -0
- data/ext/eigen/eigen3/Eigen/UmfPackSupport +36 -0
- data/ext/eigen/eigen3/Eigen/src/Cholesky/LDLT.h +611 -0
- data/ext/eigen/eigen3/Eigen/src/Cholesky/LLT.h +498 -0
- data/ext/eigen/eigen3/Eigen/src/Cholesky/LLT_MKL.h +102 -0
- data/ext/eigen/eigen3/Eigen/src/CholmodSupport/CholmodSupport.h +607 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Array.h +323 -0
- data/ext/eigen/eigen3/Eigen/src/Core/ArrayBase.h +226 -0
- data/ext/eigen/eigen3/Eigen/src/Core/ArrayWrapper.h +264 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Assign.h +590 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Assign_MKL.h +224 -0
- data/ext/eigen/eigen3/Eigen/src/Core/BandMatrix.h +334 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Block.h +406 -0
- data/ext/eigen/eigen3/Eigen/src/Core/BooleanRedux.h +154 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CommaInitializer.h +154 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CoreIterators.h +61 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CwiseBinaryOp.h +230 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CwiseNullaryOp.h +864 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CwiseUnaryOp.h +126 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CwiseUnaryView.h +139 -0
- data/ext/eigen/eigen3/Eigen/src/Core/DenseBase.h +521 -0
- data/ext/eigen/eigen3/Eigen/src/Core/DenseCoeffsBase.h +754 -0
- data/ext/eigen/eigen3/Eigen/src/Core/DenseStorage.h +434 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Diagonal.h +237 -0
- data/ext/eigen/eigen3/Eigen/src/Core/DiagonalMatrix.h +313 -0
- data/ext/eigen/eigen3/Eigen/src/Core/DiagonalProduct.h +131 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Dot.h +263 -0
- data/ext/eigen/eigen3/Eigen/src/Core/EigenBase.h +131 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Flagged.h +140 -0
- data/ext/eigen/eigen3/Eigen/src/Core/ForceAlignedAccess.h +146 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Functors.h +1026 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Fuzzy.h +150 -0
- data/ext/eigen/eigen3/Eigen/src/Core/GeneralProduct.h +635 -0
- data/ext/eigen/eigen3/Eigen/src/Core/GenericPacketMath.h +350 -0
- data/ext/eigen/eigen3/Eigen/src/Core/GlobalFunctions.h +92 -0
- data/ext/eigen/eigen3/Eigen/src/Core/IO.h +250 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Map.h +192 -0
- data/ext/eigen/eigen3/Eigen/src/Core/MapBase.h +247 -0
- data/ext/eigen/eigen3/Eigen/src/Core/MathFunctions.h +768 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Matrix.h +420 -0
- data/ext/eigen/eigen3/Eigen/src/Core/MatrixBase.h +563 -0
- data/ext/eigen/eigen3/Eigen/src/Core/NestByValue.h +111 -0
- data/ext/eigen/eigen3/Eigen/src/Core/NoAlias.h +134 -0
- data/ext/eigen/eigen3/Eigen/src/Core/NumTraits.h +150 -0
- data/ext/eigen/eigen3/Eigen/src/Core/PermutationMatrix.h +721 -0
- data/ext/eigen/eigen3/Eigen/src/Core/PlainObjectBase.h +822 -0
- data/ext/eigen/eigen3/Eigen/src/Core/ProductBase.h +290 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Random.h +152 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Redux.h +409 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Ref.h +278 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Replicate.h +177 -0
- data/ext/eigen/eigen3/Eigen/src/Core/ReturnByValue.h +99 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Reverse.h +224 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Select.h +162 -0
- data/ext/eigen/eigen3/Eigen/src/Core/SelfAdjointView.h +314 -0
- data/ext/eigen/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h +191 -0
- data/ext/eigen/eigen3/Eigen/src/Core/SolveTriangular.h +260 -0
- data/ext/eigen/eigen3/Eigen/src/Core/StableNorm.h +203 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Stride.h +108 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Swap.h +126 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Transpose.h +419 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Transpositions.h +436 -0
- data/ext/eigen/eigen3/Eigen/src/Core/TriangularMatrix.h +839 -0
- data/ext/eigen/eigen3/Eigen/src/Core/VectorBlock.h +95 -0
- data/ext/eigen/eigen3/Eigen/src/Core/VectorwiseOp.h +642 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Visitor.h +237 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/AltiVec/Complex.h +217 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h +501 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/Default/Settings.h +49 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/NEON/Complex.h +253 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/NEON/PacketMath.h +420 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/SSE/Complex.h +442 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h +475 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h +649 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/CoeffBasedProduct.h +476 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h +1341 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h +427 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h +278 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_MKL.h +146 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix_MKL.h +118 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixVector.h +566 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixVector_MKL.h +131 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/Parallelizer.h +162 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h +436 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix_MKL.h +295 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h +281 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector_MKL.h +114 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointProduct.h +123 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h +93 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h +427 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h +309 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularMatrixVector.h +348 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularMatrixVector_MKL.h +247 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h +332 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularSolverMatrix_MKL.h +155 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularSolverVector.h +139 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/BlasUtil.h +264 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/Constants.h +451 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h +40 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/ForwardDeclarations.h +302 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/MKL_support.h +158 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/Macros.h +451 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/Memory.h +977 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/Meta.h +243 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/NonMPL2.h +3 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h +14 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/StaticAssert.h +208 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/XprHelper.h +469 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Block.h +126 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Cwise.h +192 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/CwiseOperators.h +298 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/AlignedBox.h +159 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/All.h +115 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/AngleAxis.h +214 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Hyperplane.h +254 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h +141 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Quaternion.h +495 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Rotation2D.h +145 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h +123 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Scaling.h +167 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Transform.h +786 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Translation.h +184 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/LU.h +120 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Lazy.h +71 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/LeastSquares.h +169 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Macros.h +20 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/MathFunctions.h +57 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Memory.h +45 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Meta.h +75 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Minor.h +117 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/QR.h +67 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/SVD.h +637 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/TriangularSolver.h +42 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/VectorBlock.h +94 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h +341 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h +456 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/ComplexSchur_MKL.h +94 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/EigenSolver.h +607 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h +350 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h +227 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h +373 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h +160 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/RealQZ.h +624 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/RealSchur.h +525 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/RealSchur_MKL.h +83 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h +801 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h +92 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h +557 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/AlignedBox.h +392 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/AngleAxis.h +233 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/EulerAngles.h +104 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Homogeneous.h +307 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Hyperplane.h +280 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/OrthoMethods.h +218 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/ParametrizedLine.h +195 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Quaternion.h +776 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Rotation2D.h +160 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/RotationBase.h +206 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Scaling.h +166 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Transform.h +1455 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Translation.h +206 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Umeyama.h +177 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h +115 -0
- data/ext/eigen/eigen3/Eigen/src/Householder/BlockHouseholder.h +68 -0
- data/ext/eigen/eigen3/Eigen/src/Householder/Householder.h +171 -0
- data/ext/eigen/eigen3/Eigen/src/Householder/HouseholderSequence.h +441 -0
- data/ext/eigen/eigen3/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h +149 -0
- data/ext/eigen/eigen3/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h +263 -0
- data/ext/eigen/eigen3/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h +256 -0
- data/ext/eigen/eigen3/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h +282 -0
- data/ext/eigen/eigen3/Eigen/src/Jacobi/Jacobi.h +433 -0
- data/ext/eigen/eigen3/Eigen/src/LU/Determinant.h +101 -0
- data/ext/eigen/eigen3/Eigen/src/LU/FullPivLU.h +751 -0
- data/ext/eigen/eigen3/Eigen/src/LU/Inverse.h +400 -0
- data/ext/eigen/eigen3/Eigen/src/LU/PartialPivLU.h +509 -0
- data/ext/eigen/eigen3/Eigen/src/LU/PartialPivLU_MKL.h +85 -0
- data/ext/eigen/eigen3/Eigen/src/LU/arch/Inverse_SSE.h +329 -0
- data/ext/eigen/eigen3/Eigen/src/MetisSupport/MetisSupport.h +137 -0
- data/ext/eigen/eigen3/Eigen/src/OrderingMethods/Amd.h +444 -0
- data/ext/eigen/eigen3/Eigen/src/OrderingMethods/Eigen_Colamd.h +1850 -0
- data/ext/eigen/eigen3/Eigen/src/PaStiXSupport/PaStiXSupport.h +721 -0
- data/ext/eigen/eigen3/Eigen/src/PardisoSupport/PardisoSupport.h +592 -0
- data/ext/eigen/eigen3/Eigen/src/QR/ColPivHouseholderQR.h +580 -0
- data/ext/eigen/eigen3/Eigen/src/QR/ColPivHouseholderQR_MKL.h +99 -0
- data/ext/eigen/eigen3/Eigen/src/QR/FullPivHouseholderQR.h +622 -0
- data/ext/eigen/eigen3/Eigen/src/QR/HouseholderQR.h +388 -0
- data/ext/eigen/eigen3/Eigen/src/QR/HouseholderQR_MKL.h +71 -0
- data/ext/eigen/eigen3/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h +338 -0
- data/ext/eigen/eigen3/Eigen/src/SVD/JacobiSVD.h +976 -0
- data/ext/eigen/eigen3/Eigen/src/SVD/JacobiSVD_MKL.h +92 -0
- data/ext/eigen/eigen3/Eigen/src/SVD/UpperBidiagonalization.h +148 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky.h +671 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h +199 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/AmbiVector.h +373 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/CompressedStorage.h +233 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h +245 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/MappedSparseMatrix.h +181 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseBlock.h +537 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseColEtree.h +206 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseCwiseBinaryOp.h +325 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseCwiseUnaryOp.h +163 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseDenseProduct.h +311 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseDiagonalProduct.h +196 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseDot.h +101 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseFuzzy.h +26 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseMatrix.h +1262 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h +461 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparsePermutation.h +148 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseProduct.h +188 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseRedux.h +45 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseSelfAdjointView.h +507 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseSparseProductWithPruning.h +150 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseTranspose.h +63 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseTriangularView.h +179 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseUtil.h +172 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseVector.h +448 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseView.h +99 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/TriangularSolver.h +334 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU.h +806 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLUImpl.h +66 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_Memory.h +227 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_Structs.h +111 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h +298 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_Utils.h +80 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_column_bmod.h +180 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_column_dfs.h +177 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h +106 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_gemm_kernel.h +279 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h +127 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_kernel_bmod.h +130 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_panel_bmod.h +223 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_panel_dfs.h +258 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_pivotL.h +137 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_pruneL.h +135 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_relax_snode.h +83 -0
- data/ext/eigen/eigen3/Eigen/src/SparseQR/SparseQR.h +714 -0
- data/ext/eigen/eigen3/Eigen/src/StlSupport/StdDeque.h +134 -0
- data/ext/eigen/eigen3/Eigen/src/StlSupport/StdList.h +114 -0
- data/ext/eigen/eigen3/Eigen/src/StlSupport/StdVector.h +126 -0
- data/ext/eigen/eigen3/Eigen/src/StlSupport/details.h +84 -0
- data/ext/eigen/eigen3/Eigen/src/SuperLUSupport/SuperLUSupport.h +1026 -0
- data/ext/eigen/eigen3/Eigen/src/UmfPackSupport/UmfPackSupport.h +474 -0
- data/ext/eigen/eigen3/Eigen/src/misc/Image.h +84 -0
- data/ext/eigen/eigen3/Eigen/src/misc/Kernel.h +81 -0
- data/ext/eigen/eigen3/Eigen/src/misc/Solve.h +76 -0
- data/ext/eigen/eigen3/Eigen/src/misc/SparseSolve.h +128 -0
- data/ext/eigen/eigen3/Eigen/src/misc/blas.h +658 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h +253 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h +187 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/BlockMethods.h +935 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h +46 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h +172 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h +143 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h +52 -0
- data/ext/eigen/eigen3/signature_of_eigen3_matrix_library +1 -0
- data/ext/eigen/eigen_wrap.cxx +19420 -10396
- data/ext/eigen/extconf.rb +37 -2
- data/lib/eigen.rb +146 -3
- metadata +294 -7
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_TRANSLATION_H
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#define EIGEN_TRANSLATION_H
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namespace Eigen {
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/** \geometry_module \ingroup Geometry_Module
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*
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* \class Translation
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*
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* \brief Represents a translation transformation
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*
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* \param _Scalar the scalar type, i.e., the type of the coefficients.
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* \param _Dim the dimension of the space, can be a compile time value or Dynamic
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*
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* \note This class is not aimed to be used to store a translation transformation,
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* but rather to make easier the constructions and updates of Transform objects.
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*
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* \sa class Scaling, class Transform
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*/
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template<typename _Scalar, int _Dim>
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class Translation
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
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/** dimension of the space */
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enum { Dim = _Dim };
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/** the scalar type of the coefficients */
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typedef _Scalar Scalar;
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/** corresponding vector type */
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typedef Matrix<Scalar,Dim,1> VectorType;
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/** corresponding linear transformation matrix type */
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typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
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/** corresponding affine transformation type */
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typedef Transform<Scalar,Dim,Affine> AffineTransformType;
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/** corresponding isometric transformation type */
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typedef Transform<Scalar,Dim,Isometry> IsometryTransformType;
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protected:
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VectorType m_coeffs;
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public:
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/** Default constructor without initialization. */
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Translation() {}
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/** */
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inline Translation(const Scalar& sx, const Scalar& sy)
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{
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eigen_assert(Dim==2);
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m_coeffs.x() = sx;
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m_coeffs.y() = sy;
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}
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/** */
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inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
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{
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eigen_assert(Dim==3);
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m_coeffs.x() = sx;
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m_coeffs.y() = sy;
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m_coeffs.z() = sz;
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}
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/** Constructs and initialize the translation transformation from a vector of translation coefficients */
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explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
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/** \brief Retruns the x-translation by value. **/
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inline Scalar x() const { return m_coeffs.x(); }
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/** \brief Retruns the y-translation by value. **/
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inline Scalar y() const { return m_coeffs.y(); }
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/** \brief Retruns the z-translation by value. **/
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inline Scalar z() const { return m_coeffs.z(); }
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/** \brief Retruns the x-translation as a reference. **/
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inline Scalar& x() { return m_coeffs.x(); }
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/** \brief Retruns the y-translation as a reference. **/
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inline Scalar& y() { return m_coeffs.y(); }
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/** \brief Retruns the z-translation as a reference. **/
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inline Scalar& z() { return m_coeffs.z(); }
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const VectorType& vector() const { return m_coeffs; }
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VectorType& vector() { return m_coeffs; }
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const VectorType& translation() const { return m_coeffs; }
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VectorType& translation() { return m_coeffs; }
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/** Concatenates two translation */
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inline Translation operator* (const Translation& other) const
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{ return Translation(m_coeffs + other.m_coeffs); }
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/** Concatenates a translation and a uniform scaling */
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inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
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/** Concatenates a translation and a linear transformation */
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template<typename OtherDerived>
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inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
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/** Concatenates a translation and a rotation */
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template<typename Derived>
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inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
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{ return *this * IsometryTransformType(r); }
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/** \returns the concatenation of a linear transformation \a l with the translation \a t */
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// its a nightmare to define a templated friend function outside its declaration
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template<typename OtherDerived> friend
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inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
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{
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AffineTransformType res;
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res.matrix().setZero();
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res.linear() = linear.derived();
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res.translation() = linear.derived() * t.m_coeffs;
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res.matrix().row(Dim).setZero();
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res(Dim,Dim) = Scalar(1);
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return res;
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}
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/** Concatenates a translation and a transformation */
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template<int Mode, int Options>
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inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
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{
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Transform<Scalar,Dim,Mode> res = t;
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res.pretranslate(m_coeffs);
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return res;
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}
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/** Applies translation to vector */
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inline VectorType operator* (const VectorType& other) const
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{ return m_coeffs + other; }
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/** \returns the inverse translation (opposite) */
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Translation inverse() const { return Translation(-m_coeffs); }
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Translation& operator=(const Translation& other)
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{
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m_coeffs = other.m_coeffs;
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return *this;
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}
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static const Translation Identity() { return Translation(VectorType::Zero()); }
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/** \returns \c *this with scalar type casted to \a NewScalarType
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*
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* Note that if \a NewScalarType is equal to the current scalar type of \c *this
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* then this function smartly returns a const reference to \c *this.
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*/
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template<typename NewScalarType>
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inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
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{ return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
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/** Copy constructor with scalar type conversion */
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template<typename OtherScalarType>
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inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
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{ m_coeffs = other.vector().template cast<Scalar>(); }
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/** \returns \c true if \c *this is approximately equal to \a other, within the precision
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* determined by \a prec.
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*
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* \sa MatrixBase::isApprox() */
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bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
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{ return m_coeffs.isApprox(other.m_coeffs, prec); }
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};
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/** \addtogroup Geometry_Module */
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//@{
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typedef Translation<float, 2> Translation2f;
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typedef Translation<double,2> Translation2d;
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typedef Translation<float, 3> Translation3f;
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typedef Translation<double,3> Translation3d;
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//@}
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template<typename Scalar, int Dim>
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inline typename Translation<Scalar,Dim>::AffineTransformType
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Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
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{
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AffineTransformType res;
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res.matrix().setZero();
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res.linear().diagonal().fill(other.factor());
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res.translation() = m_coeffs;
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res(Dim,Dim) = Scalar(1);
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return res;
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}
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template<typename Scalar, int Dim>
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template<typename OtherDerived>
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inline typename Translation<Scalar,Dim>::AffineTransformType
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Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
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{
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AffineTransformType res;
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res.matrix().setZero();
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res.linear() = linear.derived();
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res.translation() = m_coeffs;
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res.matrix().row(Dim).setZero();
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res(Dim,Dim) = Scalar(1);
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return res;
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}
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} // end namespace Eigen
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#endif // EIGEN_TRANSLATION_H
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2009 Hauke Heibel <hauke.heibel@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_UMEYAMA_H
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#define EIGEN_UMEYAMA_H
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// This file requires the user to include
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// * Eigen/Core
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// * Eigen/LU
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// * Eigen/SVD
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// * Eigen/Array
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namespace Eigen {
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#ifndef EIGEN_PARSED_BY_DOXYGEN
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// These helpers are required since it allows to use mixed types as parameters
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// for the Umeyama. The problem with mixed parameters is that the return type
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// cannot trivially be deduced when float and double types are mixed.
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namespace internal {
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// Compile time return type deduction for different MatrixBase types.
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// Different means here different alignment and parameters but the same underlying
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// real scalar type.
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template<typename MatrixType, typename OtherMatrixType>
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struct umeyama_transform_matrix_type
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{
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enum {
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MinRowsAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime, OtherMatrixType::RowsAtCompileTime),
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// When possible we want to choose some small fixed size value since the result
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// is likely to fit on the stack. So here, EIGEN_SIZE_MIN_PREFER_DYNAMIC is not what we want.
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HomogeneousDimension = int(MinRowsAtCompileTime) == Dynamic ? Dynamic : int(MinRowsAtCompileTime)+1
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};
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typedef Matrix<typename traits<MatrixType>::Scalar,
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HomogeneousDimension,
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HomogeneousDimension,
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AutoAlign | (traits<MatrixType>::Flags & RowMajorBit ? RowMajor : ColMajor),
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HomogeneousDimension,
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HomogeneousDimension
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> type;
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};
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}
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#endif
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/**
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* \geometry_module \ingroup Geometry_Module
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*
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* \brief Returns the transformation between two point sets.
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*
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* The algorithm is based on:
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* "Least-squares estimation of transformation parameters between two point patterns",
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* Shinji Umeyama, PAMI 1991, DOI: 10.1109/34.88573
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*
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* It estimates parameters \f$ c, \mathbf{R}, \f$ and \f$ \mathbf{t} \f$ such that
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* \f{align*}
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* \frac{1}{n} \sum_{i=1}^n \vert\vert y_i - (c\mathbf{R}x_i + \mathbf{t}) \vert\vert_2^2
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* \f}
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* is minimized.
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*
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* The algorithm is based on the analysis of the covariance matrix
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* \f$ \Sigma_{\mathbf{x}\mathbf{y}} \in \mathbb{R}^{d \times d} \f$
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* of the input point sets \f$ \mathbf{x} \f$ and \f$ \mathbf{y} \f$ where
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* \f$d\f$ is corresponding to the dimension (which is typically small).
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* The analysis is involving the SVD having a complexity of \f$O(d^3)\f$
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* though the actual computational effort lies in the covariance
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* matrix computation which has an asymptotic lower bound of \f$O(dm)\f$ when
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* the input point sets have dimension \f$d \times m\f$.
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*
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* Currently the method is working only for floating point matrices.
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*
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* \todo Should the return type of umeyama() become a Transform?
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*
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* \param src Source points \f$ \mathbf{x} = \left( x_1, \hdots, x_n \right) \f$.
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* \param dst Destination points \f$ \mathbf{y} = \left( y_1, \hdots, y_n \right) \f$.
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* \param with_scaling Sets \f$ c=1 \f$ when <code>false</code> is passed.
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* \return The homogeneous transformation
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* \f{align*}
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* T = \begin{bmatrix} c\mathbf{R} & \mathbf{t} \\ \mathbf{0} & 1 \end{bmatrix}
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* \f}
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* minimizing the resudiual above. This transformation is always returned as an
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* Eigen::Matrix.
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*/
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template <typename Derived, typename OtherDerived>
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typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type
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umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, bool with_scaling = true)
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{
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typedef typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type TransformationMatrixType;
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typedef typename internal::traits<TransformationMatrixType>::Scalar Scalar;
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typedef typename NumTraits<Scalar>::Real RealScalar;
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typedef typename Derived::Index Index;
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EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
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EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename internal::traits<OtherDerived>::Scalar>::value),
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104
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YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
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105
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+
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enum { Dimension = EIGEN_SIZE_MIN_PREFER_DYNAMIC(Derived::RowsAtCompileTime, OtherDerived::RowsAtCompileTime) };
|
107
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+
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108
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+
typedef Matrix<Scalar, Dimension, 1> VectorType;
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typedef Matrix<Scalar, Dimension, Dimension> MatrixType;
|
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+
typedef typename internal::plain_matrix_type_row_major<Derived>::type RowMajorMatrixType;
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111
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+
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const Index m = src.rows(); // dimension
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113
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+
const Index n = src.cols(); // number of measurements
|
114
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+
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115
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+
// required for demeaning ...
|
116
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+
const RealScalar one_over_n = RealScalar(1) / static_cast<RealScalar>(n);
|
117
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+
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118
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+
// computation of mean
|
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+
const VectorType src_mean = src.rowwise().sum() * one_over_n;
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+
const VectorType dst_mean = dst.rowwise().sum() * one_over_n;
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121
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+
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122
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+
// demeaning of src and dst points
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+
const RowMajorMatrixType src_demean = src.colwise() - src_mean;
|
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+
const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean;
|
125
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+
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126
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// Eq. (36)-(37)
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const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
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128
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+
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129
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+
// Eq. (38)
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const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();
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131
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+
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+
JacobiSVD<MatrixType> svd(sigma, ComputeFullU | ComputeFullV);
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133
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+
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134
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+
// Initialize the resulting transformation with an identity matrix...
|
135
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+
TransformationMatrixType Rt = TransformationMatrixType::Identity(m+1,m+1);
|
136
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+
|
137
|
+
// Eq. (39)
|
138
|
+
VectorType S = VectorType::Ones(m);
|
139
|
+
if (sigma.determinant()<Scalar(0)) S(m-1) = Scalar(-1);
|
140
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+
|
141
|
+
// Eq. (40) and (43)
|
142
|
+
const VectorType& d = svd.singularValues();
|
143
|
+
Index rank = 0; for (Index i=0; i<m; ++i) if (!internal::isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank;
|
144
|
+
if (rank == m-1) {
|
145
|
+
if ( svd.matrixU().determinant() * svd.matrixV().determinant() > Scalar(0) ) {
|
146
|
+
Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
|
147
|
+
} else {
|
148
|
+
const Scalar s = S(m-1); S(m-1) = Scalar(-1);
|
149
|
+
Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
|
150
|
+
S(m-1) = s;
|
151
|
+
}
|
152
|
+
} else {
|
153
|
+
Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
|
154
|
+
}
|
155
|
+
|
156
|
+
if (with_scaling)
|
157
|
+
{
|
158
|
+
// Eq. (42)
|
159
|
+
const Scalar c = Scalar(1)/src_var * svd.singularValues().dot(S);
|
160
|
+
|
161
|
+
// Eq. (41)
|
162
|
+
Rt.col(m).head(m) = dst_mean;
|
163
|
+
Rt.col(m).head(m).noalias() -= c*Rt.topLeftCorner(m,m)*src_mean;
|
164
|
+
Rt.block(0,0,m,m) *= c;
|
165
|
+
}
|
166
|
+
else
|
167
|
+
{
|
168
|
+
Rt.col(m).head(m) = dst_mean;
|
169
|
+
Rt.col(m).head(m).noalias() -= Rt.topLeftCorner(m,m)*src_mean;
|
170
|
+
}
|
171
|
+
|
172
|
+
return Rt;
|
173
|
+
}
|
174
|
+
|
175
|
+
} // end namespace Eigen
|
176
|
+
|
177
|
+
#endif // EIGEN_UMEYAMA_H
|
@@ -0,0 +1,115 @@
|
|
1
|
+
// This file is part of Eigen, a lightweight C++ template library
|
2
|
+
// for linear algebra.
|
3
|
+
//
|
4
|
+
// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
|
5
|
+
// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
|
6
|
+
//
|
7
|
+
// This Source Code Form is subject to the terms of the Mozilla
|
8
|
+
// Public License v. 2.0. If a copy of the MPL was not distributed
|
9
|
+
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
10
|
+
|
11
|
+
#ifndef EIGEN_GEOMETRY_SSE_H
|
12
|
+
#define EIGEN_GEOMETRY_SSE_H
|
13
|
+
|
14
|
+
namespace Eigen {
|
15
|
+
|
16
|
+
namespace internal {
|
17
|
+
|
18
|
+
template<class Derived, class OtherDerived>
|
19
|
+
struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned>
|
20
|
+
{
|
21
|
+
static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
|
22
|
+
{
|
23
|
+
const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
|
24
|
+
Quaternion<float> res;
|
25
|
+
__m128 a = _a.coeffs().template packet<Aligned>(0);
|
26
|
+
__m128 b = _b.coeffs().template packet<Aligned>(0);
|
27
|
+
__m128 flip1 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),
|
28
|
+
vec4f_swizzle1(b,2,0,1,2)),mask);
|
29
|
+
__m128 flip2 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),
|
30
|
+
vec4f_swizzle1(b,0,1,2,1)),mask);
|
31
|
+
pstore(&res.x(),
|
32
|
+
_mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
|
33
|
+
_mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
|
34
|
+
vec4f_swizzle1(b,1,2,0,0))),
|
35
|
+
_mm_add_ps(flip1,flip2)));
|
36
|
+
return res;
|
37
|
+
}
|
38
|
+
};
|
39
|
+
|
40
|
+
template<typename VectorLhs,typename VectorRhs>
|
41
|
+
struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
|
42
|
+
{
|
43
|
+
static inline typename plain_matrix_type<VectorLhs>::type
|
44
|
+
run(const VectorLhs& lhs, const VectorRhs& rhs)
|
45
|
+
{
|
46
|
+
__m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
|
47
|
+
__m128 b = rhs.template packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
|
48
|
+
__m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
|
49
|
+
__m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
|
50
|
+
typename plain_matrix_type<VectorLhs>::type res;
|
51
|
+
pstore(&res.x(),_mm_sub_ps(mul1,mul2));
|
52
|
+
return res;
|
53
|
+
}
|
54
|
+
};
|
55
|
+
|
56
|
+
|
57
|
+
|
58
|
+
|
59
|
+
template<class Derived, class OtherDerived>
|
60
|
+
struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
|
61
|
+
{
|
62
|
+
static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
|
63
|
+
{
|
64
|
+
const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
|
65
|
+
|
66
|
+
Quaternion<double> res;
|
67
|
+
|
68
|
+
const double* a = _a.coeffs().data();
|
69
|
+
Packet2d b_xy = _b.coeffs().template packet<Aligned>(0);
|
70
|
+
Packet2d b_zw = _b.coeffs().template packet<Aligned>(2);
|
71
|
+
Packet2d a_xx = pset1<Packet2d>(a[0]);
|
72
|
+
Packet2d a_yy = pset1<Packet2d>(a[1]);
|
73
|
+
Packet2d a_zz = pset1<Packet2d>(a[2]);
|
74
|
+
Packet2d a_ww = pset1<Packet2d>(a[3]);
|
75
|
+
|
76
|
+
// two temporaries:
|
77
|
+
Packet2d t1, t2;
|
78
|
+
|
79
|
+
/*
|
80
|
+
* t1 = ww*xy + yy*zw
|
81
|
+
* t2 = zz*xy - xx*zw
|
82
|
+
* res.xy = t1 +/- swap(t2)
|
83
|
+
*/
|
84
|
+
t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
|
85
|
+
t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
|
86
|
+
#ifdef EIGEN_VECTORIZE_SSE3
|
87
|
+
EIGEN_UNUSED_VARIABLE(mask)
|
88
|
+
pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
|
89
|
+
#else
|
90
|
+
pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
|
91
|
+
#endif
|
92
|
+
|
93
|
+
/*
|
94
|
+
* t1 = ww*zw - yy*xy
|
95
|
+
* t2 = zz*zw + xx*xy
|
96
|
+
* res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
|
97
|
+
*/
|
98
|
+
t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
|
99
|
+
t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
|
100
|
+
#ifdef EIGEN_VECTORIZE_SSE3
|
101
|
+
EIGEN_UNUSED_VARIABLE(mask)
|
102
|
+
pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
|
103
|
+
#else
|
104
|
+
pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
|
105
|
+
#endif
|
106
|
+
|
107
|
+
return res;
|
108
|
+
}
|
109
|
+
};
|
110
|
+
|
111
|
+
} // end namespace internal
|
112
|
+
|
113
|
+
} // end namespace Eigen
|
114
|
+
|
115
|
+
#endif // EIGEN_GEOMETRY_SSE_H
|