umappp 0.1.2
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- checksums.yaml +7 -0
- data/LICENSE.txt +25 -0
- data/README.md +110 -0
- data/ext/umappp/extconf.rb +25 -0
- data/ext/umappp/numo.hpp +867 -0
- data/ext/umappp/umappp.cpp +225 -0
- data/lib/umappp/version.rb +5 -0
- data/lib/umappp.rb +41 -0
- data/vendor/Eigen/Cholesky +45 -0
- data/vendor/Eigen/CholmodSupport +48 -0
- data/vendor/Eigen/Core +384 -0
- data/vendor/Eigen/Dense +7 -0
- data/vendor/Eigen/Eigen +2 -0
- data/vendor/Eigen/Eigenvalues +60 -0
- data/vendor/Eigen/Geometry +59 -0
- data/vendor/Eigen/Householder +29 -0
- data/vendor/Eigen/IterativeLinearSolvers +48 -0
- data/vendor/Eigen/Jacobi +32 -0
- data/vendor/Eigen/KLUSupport +41 -0
- data/vendor/Eigen/LU +47 -0
- data/vendor/Eigen/MetisSupport +35 -0
- data/vendor/Eigen/OrderingMethods +70 -0
- data/vendor/Eigen/PaStiXSupport +49 -0
- data/vendor/Eigen/PardisoSupport +35 -0
- data/vendor/Eigen/QR +50 -0
- data/vendor/Eigen/QtAlignedMalloc +39 -0
- data/vendor/Eigen/SPQRSupport +34 -0
- data/vendor/Eigen/SVD +50 -0
- data/vendor/Eigen/Sparse +34 -0
- data/vendor/Eigen/SparseCholesky +37 -0
- data/vendor/Eigen/SparseCore +69 -0
- data/vendor/Eigen/SparseLU +50 -0
- data/vendor/Eigen/SparseQR +36 -0
- data/vendor/Eigen/StdDeque +27 -0
- data/vendor/Eigen/StdList +26 -0
- data/vendor/Eigen/StdVector +27 -0
- data/vendor/Eigen/SuperLUSupport +64 -0
- data/vendor/Eigen/UmfPackSupport +40 -0
- data/vendor/Eigen/src/Cholesky/LDLT.h +688 -0
- data/vendor/Eigen/src/Cholesky/LLT.h +558 -0
- data/vendor/Eigen/src/Cholesky/LLT_LAPACKE.h +99 -0
- data/vendor/Eigen/src/CholmodSupport/CholmodSupport.h +682 -0
- data/vendor/Eigen/src/Core/ArithmeticSequence.h +413 -0
- data/vendor/Eigen/src/Core/Array.h +417 -0
- data/vendor/Eigen/src/Core/ArrayBase.h +226 -0
- data/vendor/Eigen/src/Core/ArrayWrapper.h +209 -0
- data/vendor/Eigen/src/Core/Assign.h +90 -0
- data/vendor/Eigen/src/Core/AssignEvaluator.h +1010 -0
- data/vendor/Eigen/src/Core/Assign_MKL.h +178 -0
- data/vendor/Eigen/src/Core/BandMatrix.h +353 -0
- data/vendor/Eigen/src/Core/Block.h +448 -0
- data/vendor/Eigen/src/Core/BooleanRedux.h +162 -0
- data/vendor/Eigen/src/Core/CommaInitializer.h +164 -0
- data/vendor/Eigen/src/Core/ConditionEstimator.h +175 -0
- data/vendor/Eigen/src/Core/CoreEvaluators.h +1741 -0
- data/vendor/Eigen/src/Core/CoreIterators.h +132 -0
- data/vendor/Eigen/src/Core/CwiseBinaryOp.h +183 -0
- data/vendor/Eigen/src/Core/CwiseNullaryOp.h +1001 -0
- data/vendor/Eigen/src/Core/CwiseTernaryOp.h +197 -0
- data/vendor/Eigen/src/Core/CwiseUnaryOp.h +103 -0
- data/vendor/Eigen/src/Core/CwiseUnaryView.h +132 -0
- data/vendor/Eigen/src/Core/DenseBase.h +701 -0
- data/vendor/Eigen/src/Core/DenseCoeffsBase.h +685 -0
- data/vendor/Eigen/src/Core/DenseStorage.h +652 -0
- data/vendor/Eigen/src/Core/Diagonal.h +258 -0
- data/vendor/Eigen/src/Core/DiagonalMatrix.h +391 -0
- data/vendor/Eigen/src/Core/DiagonalProduct.h +28 -0
- data/vendor/Eigen/src/Core/Dot.h +318 -0
- data/vendor/Eigen/src/Core/EigenBase.h +160 -0
- data/vendor/Eigen/src/Core/ForceAlignedAccess.h +150 -0
- data/vendor/Eigen/src/Core/Fuzzy.h +155 -0
- data/vendor/Eigen/src/Core/GeneralProduct.h +465 -0
- data/vendor/Eigen/src/Core/GenericPacketMath.h +1040 -0
- data/vendor/Eigen/src/Core/GlobalFunctions.h +194 -0
- data/vendor/Eigen/src/Core/IO.h +258 -0
- data/vendor/Eigen/src/Core/IndexedView.h +237 -0
- data/vendor/Eigen/src/Core/Inverse.h +117 -0
- data/vendor/Eigen/src/Core/Map.h +171 -0
- data/vendor/Eigen/src/Core/MapBase.h +310 -0
- data/vendor/Eigen/src/Core/MathFunctions.h +2057 -0
- data/vendor/Eigen/src/Core/MathFunctionsImpl.h +200 -0
- data/vendor/Eigen/src/Core/Matrix.h +565 -0
- data/vendor/Eigen/src/Core/MatrixBase.h +547 -0
- data/vendor/Eigen/src/Core/NestByValue.h +85 -0
- data/vendor/Eigen/src/Core/NoAlias.h +109 -0
- data/vendor/Eigen/src/Core/NumTraits.h +335 -0
- data/vendor/Eigen/src/Core/PartialReduxEvaluator.h +232 -0
- data/vendor/Eigen/src/Core/PermutationMatrix.h +605 -0
- data/vendor/Eigen/src/Core/PlainObjectBase.h +1128 -0
- data/vendor/Eigen/src/Core/Product.h +191 -0
- data/vendor/Eigen/src/Core/ProductEvaluators.h +1179 -0
- data/vendor/Eigen/src/Core/Random.h +218 -0
- data/vendor/Eigen/src/Core/Redux.h +515 -0
- data/vendor/Eigen/src/Core/Ref.h +381 -0
- data/vendor/Eigen/src/Core/Replicate.h +142 -0
- data/vendor/Eigen/src/Core/Reshaped.h +454 -0
- data/vendor/Eigen/src/Core/ReturnByValue.h +119 -0
- data/vendor/Eigen/src/Core/Reverse.h +217 -0
- data/vendor/Eigen/src/Core/Select.h +164 -0
- data/vendor/Eigen/src/Core/SelfAdjointView.h +365 -0
- data/vendor/Eigen/src/Core/SelfCwiseBinaryOp.h +47 -0
- data/vendor/Eigen/src/Core/Solve.h +188 -0
- data/vendor/Eigen/src/Core/SolveTriangular.h +235 -0
- data/vendor/Eigen/src/Core/SolverBase.h +168 -0
- data/vendor/Eigen/src/Core/StableNorm.h +251 -0
- data/vendor/Eigen/src/Core/StlIterators.h +463 -0
- data/vendor/Eigen/src/Core/Stride.h +116 -0
- data/vendor/Eigen/src/Core/Swap.h +68 -0
- data/vendor/Eigen/src/Core/Transpose.h +464 -0
- data/vendor/Eigen/src/Core/Transpositions.h +386 -0
- data/vendor/Eigen/src/Core/TriangularMatrix.h +1001 -0
- data/vendor/Eigen/src/Core/VectorBlock.h +96 -0
- data/vendor/Eigen/src/Core/VectorwiseOp.h +784 -0
- data/vendor/Eigen/src/Core/Visitor.h +381 -0
- data/vendor/Eigen/src/Core/arch/AVX/Complex.h +372 -0
- data/vendor/Eigen/src/Core/arch/AVX/MathFunctions.h +228 -0
- data/vendor/Eigen/src/Core/arch/AVX/PacketMath.h +1574 -0
- data/vendor/Eigen/src/Core/arch/AVX/TypeCasting.h +115 -0
- data/vendor/Eigen/src/Core/arch/AVX512/Complex.h +422 -0
- data/vendor/Eigen/src/Core/arch/AVX512/MathFunctions.h +362 -0
- data/vendor/Eigen/src/Core/arch/AVX512/PacketMath.h +2303 -0
- data/vendor/Eigen/src/Core/arch/AVX512/TypeCasting.h +89 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/Complex.h +417 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/MathFunctions.h +90 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/MatrixProduct.h +2937 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/MatrixProductCommon.h +221 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/MatrixProductMMA.h +629 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/PacketMath.h +2711 -0
- data/vendor/Eigen/src/Core/arch/CUDA/Complex.h +258 -0
- data/vendor/Eigen/src/Core/arch/Default/BFloat16.h +700 -0
- data/vendor/Eigen/src/Core/arch/Default/ConjHelper.h +117 -0
- data/vendor/Eigen/src/Core/arch/Default/GenericPacketMathFunctions.h +1649 -0
- data/vendor/Eigen/src/Core/arch/Default/GenericPacketMathFunctionsFwd.h +110 -0
- data/vendor/Eigen/src/Core/arch/Default/Half.h +942 -0
- data/vendor/Eigen/src/Core/arch/Default/Settings.h +49 -0
- data/vendor/Eigen/src/Core/arch/Default/TypeCasting.h +120 -0
- data/vendor/Eigen/src/Core/arch/GPU/MathFunctions.h +103 -0
- data/vendor/Eigen/src/Core/arch/GPU/PacketMath.h +1685 -0
- data/vendor/Eigen/src/Core/arch/GPU/TypeCasting.h +80 -0
- data/vendor/Eigen/src/Core/arch/HIP/hcc/math_constants.h +23 -0
- data/vendor/Eigen/src/Core/arch/MSA/Complex.h +648 -0
- data/vendor/Eigen/src/Core/arch/MSA/MathFunctions.h +387 -0
- data/vendor/Eigen/src/Core/arch/MSA/PacketMath.h +1233 -0
- data/vendor/Eigen/src/Core/arch/NEON/Complex.h +584 -0
- data/vendor/Eigen/src/Core/arch/NEON/GeneralBlockPanelKernel.h +183 -0
- data/vendor/Eigen/src/Core/arch/NEON/MathFunctions.h +75 -0
- data/vendor/Eigen/src/Core/arch/NEON/PacketMath.h +4587 -0
- data/vendor/Eigen/src/Core/arch/NEON/TypeCasting.h +1419 -0
- data/vendor/Eigen/src/Core/arch/SSE/Complex.h +351 -0
- data/vendor/Eigen/src/Core/arch/SSE/MathFunctions.h +199 -0
- data/vendor/Eigen/src/Core/arch/SSE/PacketMath.h +1505 -0
- data/vendor/Eigen/src/Core/arch/SSE/TypeCasting.h +142 -0
- data/vendor/Eigen/src/Core/arch/SVE/MathFunctions.h +44 -0
- data/vendor/Eigen/src/Core/arch/SVE/PacketMath.h +752 -0
- data/vendor/Eigen/src/Core/arch/SVE/TypeCasting.h +49 -0
- data/vendor/Eigen/src/Core/arch/SYCL/InteropHeaders.h +232 -0
- data/vendor/Eigen/src/Core/arch/SYCL/MathFunctions.h +301 -0
- data/vendor/Eigen/src/Core/arch/SYCL/PacketMath.h +670 -0
- data/vendor/Eigen/src/Core/arch/SYCL/SyclMemoryModel.h +694 -0
- data/vendor/Eigen/src/Core/arch/SYCL/TypeCasting.h +85 -0
- data/vendor/Eigen/src/Core/arch/ZVector/Complex.h +426 -0
- data/vendor/Eigen/src/Core/arch/ZVector/MathFunctions.h +233 -0
- data/vendor/Eigen/src/Core/arch/ZVector/PacketMath.h +1060 -0
- data/vendor/Eigen/src/Core/functors/AssignmentFunctors.h +177 -0
- data/vendor/Eigen/src/Core/functors/BinaryFunctors.h +541 -0
- data/vendor/Eigen/src/Core/functors/NullaryFunctors.h +189 -0
- data/vendor/Eigen/src/Core/functors/StlFunctors.h +166 -0
- data/vendor/Eigen/src/Core/functors/TernaryFunctors.h +25 -0
- data/vendor/Eigen/src/Core/functors/UnaryFunctors.h +1131 -0
- data/vendor/Eigen/src/Core/products/GeneralBlockPanelKernel.h +2645 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixMatrix.h +517 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h +317 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h +145 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h +124 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixVector.h +518 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h +136 -0
- data/vendor/Eigen/src/Core/products/Parallelizer.h +180 -0
- data/vendor/Eigen/src/Core/products/SelfadjointMatrixMatrix.h +544 -0
- data/vendor/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h +295 -0
- data/vendor/Eigen/src/Core/products/SelfadjointMatrixVector.h +262 -0
- data/vendor/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h +118 -0
- data/vendor/Eigen/src/Core/products/SelfadjointProduct.h +133 -0
- data/vendor/Eigen/src/Core/products/SelfadjointRank2Update.h +94 -0
- data/vendor/Eigen/src/Core/products/TriangularMatrixMatrix.h +472 -0
- data/vendor/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h +317 -0
- data/vendor/Eigen/src/Core/products/TriangularMatrixVector.h +350 -0
- data/vendor/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h +255 -0
- data/vendor/Eigen/src/Core/products/TriangularSolverMatrix.h +337 -0
- data/vendor/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h +167 -0
- data/vendor/Eigen/src/Core/products/TriangularSolverVector.h +148 -0
- data/vendor/Eigen/src/Core/util/BlasUtil.h +583 -0
- data/vendor/Eigen/src/Core/util/ConfigureVectorization.h +512 -0
- data/vendor/Eigen/src/Core/util/Constants.h +563 -0
- data/vendor/Eigen/src/Core/util/DisableStupidWarnings.h +106 -0
- data/vendor/Eigen/src/Core/util/ForwardDeclarations.h +322 -0
- data/vendor/Eigen/src/Core/util/IndexedViewHelper.h +186 -0
- data/vendor/Eigen/src/Core/util/IntegralConstant.h +272 -0
- data/vendor/Eigen/src/Core/util/MKL_support.h +137 -0
- data/vendor/Eigen/src/Core/util/Macros.h +1464 -0
- data/vendor/Eigen/src/Core/util/Memory.h +1163 -0
- data/vendor/Eigen/src/Core/util/Meta.h +812 -0
- data/vendor/Eigen/src/Core/util/NonMPL2.h +3 -0
- data/vendor/Eigen/src/Core/util/ReenableStupidWarnings.h +31 -0
- data/vendor/Eigen/src/Core/util/ReshapedHelper.h +51 -0
- data/vendor/Eigen/src/Core/util/StaticAssert.h +221 -0
- data/vendor/Eigen/src/Core/util/SymbolicIndex.h +293 -0
- data/vendor/Eigen/src/Core/util/XprHelper.h +856 -0
- data/vendor/Eigen/src/Eigenvalues/ComplexEigenSolver.h +346 -0
- data/vendor/Eigen/src/Eigenvalues/ComplexSchur.h +462 -0
- data/vendor/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h +91 -0
- data/vendor/Eigen/src/Eigenvalues/EigenSolver.h +622 -0
- data/vendor/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h +418 -0
- data/vendor/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h +226 -0
- data/vendor/Eigen/src/Eigenvalues/HessenbergDecomposition.h +374 -0
- data/vendor/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h +158 -0
- data/vendor/Eigen/src/Eigenvalues/RealQZ.h +657 -0
- data/vendor/Eigen/src/Eigenvalues/RealSchur.h +558 -0
- data/vendor/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h +77 -0
- data/vendor/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h +904 -0
- data/vendor/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h +87 -0
- data/vendor/Eigen/src/Eigenvalues/Tridiagonalization.h +561 -0
- data/vendor/Eigen/src/Geometry/AlignedBox.h +486 -0
- data/vendor/Eigen/src/Geometry/AngleAxis.h +247 -0
- data/vendor/Eigen/src/Geometry/EulerAngles.h +114 -0
- data/vendor/Eigen/src/Geometry/Homogeneous.h +501 -0
- data/vendor/Eigen/src/Geometry/Hyperplane.h +282 -0
- data/vendor/Eigen/src/Geometry/OrthoMethods.h +235 -0
- data/vendor/Eigen/src/Geometry/ParametrizedLine.h +232 -0
- data/vendor/Eigen/src/Geometry/Quaternion.h +870 -0
- data/vendor/Eigen/src/Geometry/Rotation2D.h +199 -0
- data/vendor/Eigen/src/Geometry/RotationBase.h +206 -0
- data/vendor/Eigen/src/Geometry/Scaling.h +188 -0
- data/vendor/Eigen/src/Geometry/Transform.h +1563 -0
- data/vendor/Eigen/src/Geometry/Translation.h +202 -0
- data/vendor/Eigen/src/Geometry/Umeyama.h +166 -0
- data/vendor/Eigen/src/Geometry/arch/Geometry_SIMD.h +168 -0
- data/vendor/Eigen/src/Householder/BlockHouseholder.h +110 -0
- data/vendor/Eigen/src/Householder/Householder.h +176 -0
- data/vendor/Eigen/src/Householder/HouseholderSequence.h +545 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h +226 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h +212 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h +229 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h +394 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h +453 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h +444 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h +198 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h +117 -0
- data/vendor/Eigen/src/Jacobi/Jacobi.h +483 -0
- data/vendor/Eigen/src/KLUSupport/KLUSupport.h +358 -0
- data/vendor/Eigen/src/LU/Determinant.h +117 -0
- data/vendor/Eigen/src/LU/FullPivLU.h +877 -0
- data/vendor/Eigen/src/LU/InverseImpl.h +432 -0
- data/vendor/Eigen/src/LU/PartialPivLU.h +624 -0
- data/vendor/Eigen/src/LU/PartialPivLU_LAPACKE.h +83 -0
- data/vendor/Eigen/src/LU/arch/InverseSize4.h +351 -0
- data/vendor/Eigen/src/MetisSupport/MetisSupport.h +137 -0
- data/vendor/Eigen/src/OrderingMethods/Amd.h +435 -0
- data/vendor/Eigen/src/OrderingMethods/Eigen_Colamd.h +1863 -0
- data/vendor/Eigen/src/OrderingMethods/Ordering.h +153 -0
- data/vendor/Eigen/src/PaStiXSupport/PaStiXSupport.h +678 -0
- data/vendor/Eigen/src/PardisoSupport/PardisoSupport.h +545 -0
- data/vendor/Eigen/src/QR/ColPivHouseholderQR.h +674 -0
- data/vendor/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h +97 -0
- data/vendor/Eigen/src/QR/CompleteOrthogonalDecomposition.h +635 -0
- data/vendor/Eigen/src/QR/FullPivHouseholderQR.h +713 -0
- data/vendor/Eigen/src/QR/HouseholderQR.h +434 -0
- data/vendor/Eigen/src/QR/HouseholderQR_LAPACKE.h +68 -0
- data/vendor/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h +335 -0
- data/vendor/Eigen/src/SVD/BDCSVD.h +1366 -0
- data/vendor/Eigen/src/SVD/JacobiSVD.h +812 -0
- data/vendor/Eigen/src/SVD/JacobiSVD_LAPACKE.h +91 -0
- data/vendor/Eigen/src/SVD/SVDBase.h +376 -0
- data/vendor/Eigen/src/SVD/UpperBidiagonalization.h +414 -0
- data/vendor/Eigen/src/SparseCholesky/SimplicialCholesky.h +697 -0
- data/vendor/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h +174 -0
- data/vendor/Eigen/src/SparseCore/AmbiVector.h +378 -0
- data/vendor/Eigen/src/SparseCore/CompressedStorage.h +274 -0
- data/vendor/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h +352 -0
- data/vendor/Eigen/src/SparseCore/MappedSparseMatrix.h +67 -0
- data/vendor/Eigen/src/SparseCore/SparseAssign.h +270 -0
- data/vendor/Eigen/src/SparseCore/SparseBlock.h +571 -0
- data/vendor/Eigen/src/SparseCore/SparseColEtree.h +206 -0
- data/vendor/Eigen/src/SparseCore/SparseCompressedBase.h +370 -0
- data/vendor/Eigen/src/SparseCore/SparseCwiseBinaryOp.h +722 -0
- data/vendor/Eigen/src/SparseCore/SparseCwiseUnaryOp.h +150 -0
- data/vendor/Eigen/src/SparseCore/SparseDenseProduct.h +342 -0
- data/vendor/Eigen/src/SparseCore/SparseDiagonalProduct.h +138 -0
- data/vendor/Eigen/src/SparseCore/SparseDot.h +98 -0
- data/vendor/Eigen/src/SparseCore/SparseFuzzy.h +29 -0
- data/vendor/Eigen/src/SparseCore/SparseMap.h +305 -0
- data/vendor/Eigen/src/SparseCore/SparseMatrix.h +1518 -0
- data/vendor/Eigen/src/SparseCore/SparseMatrixBase.h +398 -0
- data/vendor/Eigen/src/SparseCore/SparsePermutation.h +178 -0
- data/vendor/Eigen/src/SparseCore/SparseProduct.h +181 -0
- data/vendor/Eigen/src/SparseCore/SparseRedux.h +49 -0
- data/vendor/Eigen/src/SparseCore/SparseRef.h +397 -0
- data/vendor/Eigen/src/SparseCore/SparseSelfAdjointView.h +659 -0
- data/vendor/Eigen/src/SparseCore/SparseSolverBase.h +124 -0
- data/vendor/Eigen/src/SparseCore/SparseSparseProductWithPruning.h +198 -0
- data/vendor/Eigen/src/SparseCore/SparseTranspose.h +92 -0
- data/vendor/Eigen/src/SparseCore/SparseTriangularView.h +189 -0
- data/vendor/Eigen/src/SparseCore/SparseUtil.h +186 -0
- data/vendor/Eigen/src/SparseCore/SparseVector.h +478 -0
- data/vendor/Eigen/src/SparseCore/SparseView.h +254 -0
- data/vendor/Eigen/src/SparseCore/TriangularSolver.h +315 -0
- data/vendor/Eigen/src/SparseLU/SparseLU.h +923 -0
- data/vendor/Eigen/src/SparseLU/SparseLUImpl.h +66 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_Memory.h +226 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_Structs.h +110 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h +375 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_Utils.h +80 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_column_bmod.h +181 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_column_dfs.h +179 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h +107 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_gemm_kernel.h +280 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h +126 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_kernel_bmod.h +130 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_panel_bmod.h +223 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_panel_dfs.h +258 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_pivotL.h +137 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_pruneL.h +136 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_relax_snode.h +83 -0
- data/vendor/Eigen/src/SparseQR/SparseQR.h +758 -0
- data/vendor/Eigen/src/StlSupport/StdDeque.h +116 -0
- data/vendor/Eigen/src/StlSupport/StdList.h +106 -0
- data/vendor/Eigen/src/StlSupport/StdVector.h +131 -0
- data/vendor/Eigen/src/StlSupport/details.h +84 -0
- data/vendor/Eigen/src/SuperLUSupport/SuperLUSupport.h +1025 -0
- data/vendor/Eigen/src/UmfPackSupport/UmfPackSupport.h +642 -0
- data/vendor/Eigen/src/misc/Image.h +82 -0
- data/vendor/Eigen/src/misc/Kernel.h +79 -0
- data/vendor/Eigen/src/misc/RealSvd2x2.h +55 -0
- data/vendor/Eigen/src/misc/blas.h +440 -0
- data/vendor/Eigen/src/misc/lapack.h +152 -0
- data/vendor/Eigen/src/misc/lapacke.h +16292 -0
- data/vendor/Eigen/src/misc/lapacke_mangling.h +17 -0
- data/vendor/Eigen/src/plugins/ArrayCwiseBinaryOps.h +358 -0
- data/vendor/Eigen/src/plugins/ArrayCwiseUnaryOps.h +696 -0
- data/vendor/Eigen/src/plugins/BlockMethods.h +1442 -0
- data/vendor/Eigen/src/plugins/CommonCwiseBinaryOps.h +115 -0
- data/vendor/Eigen/src/plugins/CommonCwiseUnaryOps.h +177 -0
- data/vendor/Eigen/src/plugins/IndexedViewMethods.h +262 -0
- data/vendor/Eigen/src/plugins/MatrixCwiseBinaryOps.h +152 -0
- data/vendor/Eigen/src/plugins/MatrixCwiseUnaryOps.h +95 -0
- data/vendor/Eigen/src/plugins/ReshapedMethods.h +149 -0
- data/vendor/aarand/aarand.hpp +114 -0
- data/vendor/annoy/annoylib.h +1495 -0
- data/vendor/annoy/kissrandom.h +120 -0
- data/vendor/annoy/mman.h +242 -0
- data/vendor/hnswlib/bruteforce.h +152 -0
- data/vendor/hnswlib/hnswalg.h +1192 -0
- data/vendor/hnswlib/hnswlib.h +108 -0
- data/vendor/hnswlib/space_ip.h +282 -0
- data/vendor/hnswlib/space_l2.h +281 -0
- data/vendor/hnswlib/visited_list_pool.h +79 -0
- data/vendor/irlba/irlba.hpp +575 -0
- data/vendor/irlba/lanczos.hpp +212 -0
- data/vendor/irlba/parallel.hpp +474 -0
- data/vendor/irlba/utils.hpp +224 -0
- data/vendor/irlba/wrappers.hpp +228 -0
- data/vendor/kmeans/Base.hpp +75 -0
- data/vendor/kmeans/Details.hpp +79 -0
- data/vendor/kmeans/HartiganWong.hpp +492 -0
- data/vendor/kmeans/InitializeKmeansPP.hpp +144 -0
- data/vendor/kmeans/InitializeNone.hpp +44 -0
- data/vendor/kmeans/InitializePCAPartition.hpp +309 -0
- data/vendor/kmeans/InitializeRandom.hpp +91 -0
- data/vendor/kmeans/Kmeans.hpp +161 -0
- data/vendor/kmeans/Lloyd.hpp +134 -0
- data/vendor/kmeans/MiniBatch.hpp +269 -0
- data/vendor/kmeans/QuickSearch.hpp +179 -0
- data/vendor/kmeans/compute_centroids.hpp +32 -0
- data/vendor/kmeans/compute_wcss.hpp +27 -0
- data/vendor/kmeans/is_edge_case.hpp +42 -0
- data/vendor/kmeans/random.hpp +55 -0
- data/vendor/knncolle/Annoy/Annoy.hpp +193 -0
- data/vendor/knncolle/BruteForce/BruteForce.hpp +120 -0
- data/vendor/knncolle/Hnsw/Hnsw.hpp +225 -0
- data/vendor/knncolle/Kmknn/Kmknn.hpp +286 -0
- data/vendor/knncolle/VpTree/VpTree.hpp +256 -0
- data/vendor/knncolle/knncolle.hpp +34 -0
- data/vendor/knncolle/utils/Base.hpp +100 -0
- data/vendor/knncolle/utils/NeighborQueue.hpp +94 -0
- data/vendor/knncolle/utils/distances.hpp +98 -0
- data/vendor/knncolle/utils/find_nearest_neighbors.hpp +112 -0
- data/vendor/powerit/PowerIterations.hpp +157 -0
- data/vendor/umappp/NeighborList.hpp +37 -0
- data/vendor/umappp/Umap.hpp +662 -0
- data/vendor/umappp/combine_neighbor_sets.hpp +95 -0
- data/vendor/umappp/find_ab.hpp +157 -0
- data/vendor/umappp/neighbor_similarities.hpp +136 -0
- data/vendor/umappp/optimize_layout.hpp +285 -0
- data/vendor/umappp/spectral_init.hpp +181 -0
- data/vendor/umappp/umappp.hpp +13 -0
- metadata +465 -0
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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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* \tparam _Scalar the scalar type, i.e., the type of the coefficients.
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* \tparam _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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EIGEN_DEVICE_FUNC Translation() {}
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/** */
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EIGEN_DEVICE_FUNC 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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EIGEN_DEVICE_FUNC 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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EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
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/** \brief Returns the x-translation by value. **/
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EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); }
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/** \brief Returns the y-translation by value. **/
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EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); }
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/** \brief Returns the z-translation by value. **/
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EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); }
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/** \brief Returns the x-translation as a reference. **/
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EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); }
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/** \brief Returns the y-translation as a reference. **/
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EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); }
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/** \brief Returns the z-translation as a reference. **/
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EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); }
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EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; }
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EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; }
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EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; }
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EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; }
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/** Concatenates two translation */
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EIGEN_DEVICE_FUNC 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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EIGEN_DEVICE_FUNC 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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EIGEN_DEVICE_FUNC 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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EIGEN_DEVICE_FUNC 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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EIGEN_DEVICE_FUNC 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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EIGEN_DEVICE_FUNC 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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template<typename Derived>
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inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type
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operator* (const MatrixBase<Derived>& vec) const
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{ return m_coeffs + vec.derived(); }
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/** \returns the inverse translation (opposite) */
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Translation inverse() const { return Translation(-m_coeffs); }
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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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EIGEN_DEVICE_FUNC 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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EIGEN_DEVICE_FUNC 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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EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const 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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EIGEN_DEVICE_FUNC 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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EIGEN_DEVICE_FUNC 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$.
|
85
|
+
* \param with_scaling Sets \f$ c=1 \f$ when <code>false</code> is passed.
|
86
|
+
* \return The homogeneous transformation
|
87
|
+
* \f{align*}
|
88
|
+
* T = \begin{bmatrix} c\mathbf{R} & \mathbf{t} \\ \mathbf{0} & 1 \end{bmatrix}
|
89
|
+
* \f}
|
90
|
+
* minimizing the residual above. This transformation is always returned as an
|
91
|
+
* Eigen::Matrix.
|
92
|
+
*/
|
93
|
+
template <typename Derived, typename OtherDerived>
|
94
|
+
typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type
|
95
|
+
umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, bool with_scaling = true)
|
96
|
+
{
|
97
|
+
typedef typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type TransformationMatrixType;
|
98
|
+
typedef typename internal::traits<TransformationMatrixType>::Scalar Scalar;
|
99
|
+
typedef typename NumTraits<Scalar>::Real RealScalar;
|
100
|
+
|
101
|
+
EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
|
102
|
+
EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename internal::traits<OtherDerived>::Scalar>::value),
|
103
|
+
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
|
104
|
+
|
105
|
+
enum { Dimension = EIGEN_SIZE_MIN_PREFER_DYNAMIC(Derived::RowsAtCompileTime, OtherDerived::RowsAtCompileTime) };
|
106
|
+
|
107
|
+
typedef Matrix<Scalar, Dimension, 1> VectorType;
|
108
|
+
typedef Matrix<Scalar, Dimension, Dimension> MatrixType;
|
109
|
+
typedef typename internal::plain_matrix_type_row_major<Derived>::type RowMajorMatrixType;
|
110
|
+
|
111
|
+
const Index m = src.rows(); // dimension
|
112
|
+
const Index n = src.cols(); // number of measurements
|
113
|
+
|
114
|
+
// required for demeaning ...
|
115
|
+
const RealScalar one_over_n = RealScalar(1) / static_cast<RealScalar>(n);
|
116
|
+
|
117
|
+
// computation of mean
|
118
|
+
const VectorType src_mean = src.rowwise().sum() * one_over_n;
|
119
|
+
const VectorType dst_mean = dst.rowwise().sum() * one_over_n;
|
120
|
+
|
121
|
+
// demeaning of src and dst points
|
122
|
+
const RowMajorMatrixType src_demean = src.colwise() - src_mean;
|
123
|
+
const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean;
|
124
|
+
|
125
|
+
// Eq. (36)-(37)
|
126
|
+
const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
|
127
|
+
|
128
|
+
// Eq. (38)
|
129
|
+
const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();
|
130
|
+
|
131
|
+
JacobiSVD<MatrixType> svd(sigma, ComputeFullU | ComputeFullV);
|
132
|
+
|
133
|
+
// Initialize the resulting transformation with an identity matrix...
|
134
|
+
TransformationMatrixType Rt = TransformationMatrixType::Identity(m+1,m+1);
|
135
|
+
|
136
|
+
// Eq. (39)
|
137
|
+
VectorType S = VectorType::Ones(m);
|
138
|
+
|
139
|
+
if ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 )
|
140
|
+
S(m-1) = -1;
|
141
|
+
|
142
|
+
// Eq. (40) and (43)
|
143
|
+
Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
|
144
|
+
|
145
|
+
if (with_scaling)
|
146
|
+
{
|
147
|
+
// Eq. (42)
|
148
|
+
const Scalar c = Scalar(1)/src_var * svd.singularValues().dot(S);
|
149
|
+
|
150
|
+
// Eq. (41)
|
151
|
+
Rt.col(m).head(m) = dst_mean;
|
152
|
+
Rt.col(m).head(m).noalias() -= c*Rt.topLeftCorner(m,m)*src_mean;
|
153
|
+
Rt.block(0,0,m,m) *= c;
|
154
|
+
}
|
155
|
+
else
|
156
|
+
{
|
157
|
+
Rt.col(m).head(m) = dst_mean;
|
158
|
+
Rt.col(m).head(m).noalias() -= Rt.topLeftCorner(m,m)*src_mean;
|
159
|
+
}
|
160
|
+
|
161
|
+
return Rt;
|
162
|
+
}
|
163
|
+
|
164
|
+
} // end namespace Eigen
|
165
|
+
|
166
|
+
#endif // EIGEN_UMEYAMA_H
|
@@ -0,0 +1,168 @@
|
|
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_SIMD_H
|
12
|
+
#define EIGEN_GEOMETRY_SIMD_H
|
13
|
+
|
14
|
+
namespace Eigen {
|
15
|
+
|
16
|
+
namespace internal {
|
17
|
+
|
18
|
+
template<class Derived, class OtherDerived>
|
19
|
+
struct quat_product<Architecture::Target, Derived, OtherDerived, float>
|
20
|
+
{
|
21
|
+
enum {
|
22
|
+
AAlignment = traits<Derived>::Alignment,
|
23
|
+
BAlignment = traits<OtherDerived>::Alignment,
|
24
|
+
ResAlignment = traits<Quaternion<float> >::Alignment
|
25
|
+
};
|
26
|
+
static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
|
27
|
+
{
|
28
|
+
evaluator<typename Derived::Coefficients> ae(_a.coeffs());
|
29
|
+
evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
|
30
|
+
Quaternion<float> res;
|
31
|
+
const float neg_zero = numext::bit_cast<float>(0x80000000u);
|
32
|
+
const float arr[4] = {0.f, 0.f, 0.f, neg_zero};
|
33
|
+
const Packet4f mask = ploadu<Packet4f>(arr);
|
34
|
+
Packet4f a = ae.template packet<AAlignment,Packet4f>(0);
|
35
|
+
Packet4f b = be.template packet<BAlignment,Packet4f>(0);
|
36
|
+
Packet4f s1 = pmul(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
|
37
|
+
Packet4f s2 = pmul(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
|
38
|
+
pstoret<float,Packet4f,ResAlignment>(
|
39
|
+
&res.x(),
|
40
|
+
padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)),
|
41
|
+
pmul(vec4f_swizzle1(a,2,0,1,0),
|
42
|
+
vec4f_swizzle1(b,1,2,0,0))),
|
43
|
+
pxor(mask,padd(s1,s2))));
|
44
|
+
|
45
|
+
return res;
|
46
|
+
}
|
47
|
+
};
|
48
|
+
|
49
|
+
template<class Derived>
|
50
|
+
struct quat_conj<Architecture::Target, Derived, float>
|
51
|
+
{
|
52
|
+
enum {
|
53
|
+
ResAlignment = traits<Quaternion<float> >::Alignment
|
54
|
+
};
|
55
|
+
static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
|
56
|
+
{
|
57
|
+
evaluator<typename Derived::Coefficients> qe(q.coeffs());
|
58
|
+
Quaternion<float> res;
|
59
|
+
const float neg_zero = numext::bit_cast<float>(0x80000000u);
|
60
|
+
const float arr[4] = {neg_zero, neg_zero, neg_zero,0.f};
|
61
|
+
const Packet4f mask = ploadu<Packet4f>(arr);
|
62
|
+
pstoret<float,Packet4f,ResAlignment>(&res.x(), pxor(mask, qe.template packet<traits<Derived>::Alignment,Packet4f>(0)));
|
63
|
+
return res;
|
64
|
+
}
|
65
|
+
};
|
66
|
+
|
67
|
+
|
68
|
+
template<typename VectorLhs,typename VectorRhs>
|
69
|
+
struct cross3_impl<Architecture::Target,VectorLhs,VectorRhs,float,true>
|
70
|
+
{
|
71
|
+
enum {
|
72
|
+
ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
|
73
|
+
};
|
74
|
+
static inline typename plain_matrix_type<VectorLhs>::type
|
75
|
+
run(const VectorLhs& lhs, const VectorRhs& rhs)
|
76
|
+
{
|
77
|
+
evaluator<VectorLhs> lhs_eval(lhs);
|
78
|
+
evaluator<VectorRhs> rhs_eval(rhs);
|
79
|
+
Packet4f a = lhs_eval.template packet<traits<VectorLhs>::Alignment,Packet4f>(0);
|
80
|
+
Packet4f b = rhs_eval.template packet<traits<VectorRhs>::Alignment,Packet4f>(0);
|
81
|
+
Packet4f mul1 = pmul(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
|
82
|
+
Packet4f mul2 = pmul(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
|
83
|
+
typename plain_matrix_type<VectorLhs>::type res;
|
84
|
+
pstoret<float,Packet4f,ResAlignment>(&res.x(),psub(mul1,mul2));
|
85
|
+
return res;
|
86
|
+
}
|
87
|
+
};
|
88
|
+
|
89
|
+
|
90
|
+
|
91
|
+
#if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64)
|
92
|
+
|
93
|
+
template<class Derived, class OtherDerived>
|
94
|
+
struct quat_product<Architecture::Target, Derived, OtherDerived, double>
|
95
|
+
{
|
96
|
+
enum {
|
97
|
+
BAlignment = traits<OtherDerived>::Alignment,
|
98
|
+
ResAlignment = traits<Quaternion<double> >::Alignment
|
99
|
+
};
|
100
|
+
|
101
|
+
static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
|
102
|
+
{
|
103
|
+
Quaternion<double> res;
|
104
|
+
|
105
|
+
evaluator<typename Derived::Coefficients> ae(_a.coeffs());
|
106
|
+
evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
|
107
|
+
|
108
|
+
const double* a = _a.coeffs().data();
|
109
|
+
Packet2d b_xy = be.template packet<BAlignment,Packet2d>(0);
|
110
|
+
Packet2d b_zw = be.template packet<BAlignment,Packet2d>(2);
|
111
|
+
Packet2d a_xx = pset1<Packet2d>(a[0]);
|
112
|
+
Packet2d a_yy = pset1<Packet2d>(a[1]);
|
113
|
+
Packet2d a_zz = pset1<Packet2d>(a[2]);
|
114
|
+
Packet2d a_ww = pset1<Packet2d>(a[3]);
|
115
|
+
|
116
|
+
// two temporaries:
|
117
|
+
Packet2d t1, t2;
|
118
|
+
|
119
|
+
/*
|
120
|
+
* t1 = ww*xy + yy*zw
|
121
|
+
* t2 = zz*xy - xx*zw
|
122
|
+
* res.xy = t1 +/- swap(t2)
|
123
|
+
*/
|
124
|
+
t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
|
125
|
+
t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
|
126
|
+
pstoret<double,Packet2d,ResAlignment>(&res.x(), paddsub(t1, preverse(t2)));
|
127
|
+
|
128
|
+
/*
|
129
|
+
* t1 = ww*zw - yy*xy
|
130
|
+
* t2 = zz*zw + xx*xy
|
131
|
+
* res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
|
132
|
+
*/
|
133
|
+
t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
|
134
|
+
t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
|
135
|
+
pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2)));
|
136
|
+
|
137
|
+
return res;
|
138
|
+
}
|
139
|
+
};
|
140
|
+
|
141
|
+
template<class Derived>
|
142
|
+
struct quat_conj<Architecture::Target, Derived, double>
|
143
|
+
{
|
144
|
+
enum {
|
145
|
+
ResAlignment = traits<Quaternion<double> >::Alignment
|
146
|
+
};
|
147
|
+
static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
|
148
|
+
{
|
149
|
+
evaluator<typename Derived::Coefficients> qe(q.coeffs());
|
150
|
+
Quaternion<double> res;
|
151
|
+
const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull);
|
152
|
+
const double arr1[2] = {neg_zero, neg_zero};
|
153
|
+
const double arr2[2] = {neg_zero, 0.0};
|
154
|
+
const Packet2d mask0 = ploadu<Packet2d>(arr1);
|
155
|
+
const Packet2d mask2 = ploadu<Packet2d>(arr2);
|
156
|
+
pstoret<double,Packet2d,ResAlignment>(&res.x(), pxor(mask0, qe.template packet<traits<Derived>::Alignment,Packet2d>(0)));
|
157
|
+
pstoret<double,Packet2d,ResAlignment>(&res.z(), pxor(mask2, qe.template packet<traits<Derived>::Alignment,Packet2d>(2)));
|
158
|
+
return res;
|
159
|
+
}
|
160
|
+
};
|
161
|
+
|
162
|
+
#endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64
|
163
|
+
|
164
|
+
} // end namespace internal
|
165
|
+
|
166
|
+
} // end namespace Eigen
|
167
|
+
|
168
|
+
#endif // EIGEN_GEOMETRY_SIMD_H
|
@@ -0,0 +1,110 @@
|
|
1
|
+
// This file is part of Eigen, a lightweight C++ template library
|
2
|
+
// for linear algebra.
|
3
|
+
//
|
4
|
+
// Copyright (C) 2010 Vincent Lejeune
|
5
|
+
// Copyright (C) 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_BLOCK_HOUSEHOLDER_H
|
12
|
+
#define EIGEN_BLOCK_HOUSEHOLDER_H
|
13
|
+
|
14
|
+
// This file contains some helper function to deal with block householder reflectors
|
15
|
+
|
16
|
+
namespace Eigen {
|
17
|
+
|
18
|
+
namespace internal {
|
19
|
+
|
20
|
+
/** \internal */
|
21
|
+
// template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
|
22
|
+
// void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
|
23
|
+
// {
|
24
|
+
// typedef typename VectorsType::Scalar Scalar;
|
25
|
+
// const Index nbVecs = vectors.cols();
|
26
|
+
// eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
|
27
|
+
//
|
28
|
+
// for(Index i = 0; i < nbVecs; i++)
|
29
|
+
// {
|
30
|
+
// Index rs = vectors.rows() - i;
|
31
|
+
// // Warning, note that hCoeffs may alias with vectors.
|
32
|
+
// // It is then necessary to copy it before modifying vectors(i,i).
|
33
|
+
// typename CoeffsType::Scalar h = hCoeffs(i);
|
34
|
+
// // This hack permits to pass trough nested Block<> and Transpose<> expressions.
|
35
|
+
// Scalar *Vii_ptr = const_cast<Scalar*>(vectors.data() + vectors.outerStride()*i + vectors.innerStride()*i);
|
36
|
+
// Scalar Vii = *Vii_ptr;
|
37
|
+
// *Vii_ptr = Scalar(1);
|
38
|
+
// triFactor.col(i).head(i).noalias() = -h * vectors.block(i, 0, rs, i).adjoint()
|
39
|
+
// * vectors.col(i).tail(rs);
|
40
|
+
// *Vii_ptr = Vii;
|
41
|
+
// // FIXME add .noalias() once the triangular product can work inplace
|
42
|
+
// triFactor.col(i).head(i) = triFactor.block(0,0,i,i).template triangularView<Upper>()
|
43
|
+
// * triFactor.col(i).head(i);
|
44
|
+
// triFactor(i,i) = hCoeffs(i);
|
45
|
+
// }
|
46
|
+
// }
|
47
|
+
|
48
|
+
/** \internal */
|
49
|
+
// This variant avoid modifications in vectors
|
50
|
+
template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
|
51
|
+
void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
|
52
|
+
{
|
53
|
+
const Index nbVecs = vectors.cols();
|
54
|
+
eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
|
55
|
+
|
56
|
+
for(Index i = nbVecs-1; i >=0 ; --i)
|
57
|
+
{
|
58
|
+
Index rs = vectors.rows() - i - 1;
|
59
|
+
Index rt = nbVecs-i-1;
|
60
|
+
|
61
|
+
if(rt>0)
|
62
|
+
{
|
63
|
+
triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
|
64
|
+
* vectors.bottomRightCorner(rs, rt).template triangularView<UnitLower>();
|
65
|
+
|
66
|
+
// FIXME use the following line with .noalias() once the triangular product can work inplace
|
67
|
+
// triFactor.row(i).tail(rt) = triFactor.row(i).tail(rt) * triFactor.bottomRightCorner(rt,rt).template triangularView<Upper>();
|
68
|
+
for(Index j=nbVecs-1; j>i; --j)
|
69
|
+
{
|
70
|
+
typename TriangularFactorType::Scalar z = triFactor(i,j);
|
71
|
+
triFactor(i,j) = z * triFactor(j,j);
|
72
|
+
if(nbVecs-j-1>0)
|
73
|
+
triFactor.row(i).tail(nbVecs-j-1) += z * triFactor.row(j).tail(nbVecs-j-1);
|
74
|
+
}
|
75
|
+
|
76
|
+
}
|
77
|
+
triFactor(i,i) = hCoeffs(i);
|
78
|
+
}
|
79
|
+
}
|
80
|
+
|
81
|
+
/** \internal
|
82
|
+
* if forward then perform mat = H0 * H1 * H2 * mat
|
83
|
+
* otherwise perform mat = H2 * H1 * H0 * mat
|
84
|
+
*/
|
85
|
+
template<typename MatrixType,typename VectorsType,typename CoeffsType>
|
86
|
+
void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs, bool forward)
|
87
|
+
{
|
88
|
+
enum { TFactorSize = MatrixType::ColsAtCompileTime };
|
89
|
+
Index nbVecs = vectors.cols();
|
90
|
+
Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize, RowMajor> T(nbVecs,nbVecs);
|
91
|
+
|
92
|
+
if(forward) make_block_householder_triangular_factor(T, vectors, hCoeffs);
|
93
|
+
else make_block_householder_triangular_factor(T, vectors, hCoeffs.conjugate());
|
94
|
+
const TriangularView<const VectorsType, UnitLower> V(vectors);
|
95
|
+
|
96
|
+
// A -= V T V^* A
|
97
|
+
Matrix<typename MatrixType::Scalar,VectorsType::ColsAtCompileTime,MatrixType::ColsAtCompileTime,
|
98
|
+
(VectorsType::MaxColsAtCompileTime==1 && MatrixType::MaxColsAtCompileTime!=1)?RowMajor:ColMajor,
|
99
|
+
VectorsType::MaxColsAtCompileTime,MatrixType::MaxColsAtCompileTime> tmp = V.adjoint() * mat;
|
100
|
+
// FIXME add .noalias() once the triangular product can work inplace
|
101
|
+
if(forward) tmp = T.template triangularView<Upper>() * tmp;
|
102
|
+
else tmp = T.template triangularView<Upper>().adjoint() * tmp;
|
103
|
+
mat.noalias() -= V * tmp;
|
104
|
+
}
|
105
|
+
|
106
|
+
} // end namespace internal
|
107
|
+
|
108
|
+
} // end namespace Eigen
|
109
|
+
|
110
|
+
#endif // EIGEN_BLOCK_HOUSEHOLDER_H
|