@smake/eigen 1.0.2 → 1.1.1

package/eigen/Eigen/src/Geometry/arch/Geometry_SIMD.h

@@ -0,0 +1,154 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GEOMETRY_SIMD_H
+#define EIGEN_GEOMETRY_SIMD_H
+
+// IWYU pragma: private
+#include "../InternalHeaderCheck.h"
+
+namespace Eigen {
+
+namespace internal {
+
+template <class Derived, class OtherDerived>
+struct quat_product<Architecture::Target, Derived, OtherDerived, float> {
+  enum {
+    AAlignment = traits<Derived>::Alignment,
+    BAlignment = traits<OtherDerived>::Alignment,
+    ResAlignment = traits<Quaternion<float> >::Alignment
+  };
+  static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) {
+    evaluator<typename Derived::Coefficients> ae(_a.coeffs());
+    evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
+    Quaternion<float> res;
+    const float neg_zero = numext::bit_cast<float>(0x80000000u);
+    const float arr[4] = {0.f, 0.f, 0.f, neg_zero};
+    const Packet4f mask = ploadu<Packet4f>(arr);
+    Packet4f a = ae.template packet<AAlignment, Packet4f>(0);
+    Packet4f b = be.template packet<BAlignment, Packet4f>(0);
+    Packet4f s1 = pmul(vec4f_swizzle1(a, 1, 2, 0, 2), vec4f_swizzle1(b, 2, 0, 1, 2));
+    Packet4f s2 = pmul(vec4f_swizzle1(a, 3, 3, 3, 1), vec4f_swizzle1(b, 0, 1, 2, 1));
+    pstoret<float, Packet4f, ResAlignment>(
+        &res.x(), padd(psub(pmul(a, vec4f_swizzle1(b, 3, 3, 3, 3)),
+                            pmul(vec4f_swizzle1(a, 2, 0, 1, 0), vec4f_swizzle1(b, 1, 2, 0, 0))),
+                       pxor(mask, padd(s1, s2))));
+
+    return res;
+  }
+};
+
+template <class Derived>
+struct quat_conj<Architecture::Target, Derived, float> {
+  enum { ResAlignment = traits<Quaternion<float> >::Alignment };
+  static inline Quaternion<float> run(const QuaternionBase<Derived>& q) {
+    evaluator<typename Derived::Coefficients> qe(q.coeffs());
+    Quaternion<float> res;
+    const float neg_zero = numext::bit_cast<float>(0x80000000u);
+    const float arr[4] = {neg_zero, neg_zero, neg_zero, 0.f};
+    const Packet4f mask = ploadu<Packet4f>(arr);
+    pstoret<float, Packet4f, ResAlignment>(&res.x(),
+                                           pxor(mask, qe.template packet<traits<Derived>::Alignment, Packet4f>(0)));
+    return res;
+  }
+};
+
+template <typename VectorLhs, typename VectorRhs>
+struct cross3_impl<Architecture::Target, VectorLhs, VectorRhs, float, true> {
+  using DstPlainType = typename plain_matrix_type<VectorLhs>::type;
+  static constexpr int DstAlignment = evaluator<DstPlainType>::Alignment;
+  static constexpr int LhsAlignment = evaluator<VectorLhs>::Alignment;
+  static constexpr int RhsAlignment = evaluator<VectorRhs>::Alignment;
+  static inline DstPlainType run(const VectorLhs& lhs, const VectorRhs& rhs) {
+    evaluator<VectorLhs> lhs_eval(lhs);
+    evaluator<VectorRhs> rhs_eval(rhs);
+    Packet4f a = lhs_eval.template packet<LhsAlignment, Packet4f>(0);
+    Packet4f b = rhs_eval.template packet<RhsAlignment, Packet4f>(0);
+    Packet4f mul1 = pmul(vec4f_swizzle1(a, 1, 2, 0, 3), vec4f_swizzle1(b, 2, 0, 1, 3));
+    Packet4f mul2 = pmul(vec4f_swizzle1(a, 2, 0, 1, 3), vec4f_swizzle1(b, 1, 2, 0, 3));
+    DstPlainType res;
+    pstoret<float, Packet4f, DstAlignment>(res.data(), psub(mul1, mul2));
+    // Ensure last component is 0 in case original a or b contain inf/nan.
+    res[3] = 0.0f;
+    return res;
+  }
+};
+
+#if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64)
+
+template <class Derived, class OtherDerived>
+struct quat_product<Architecture::Target, Derived, OtherDerived, double> {
+  enum { BAlignment = traits<OtherDerived>::Alignment, ResAlignment = traits<Quaternion<double> >::Alignment };
+
+  static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) {
+    Quaternion<double> res;
+
+    evaluator<typename Derived::Coefficients> ae(_a.coeffs());
+    evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
+
+    const double* a = _a.coeffs().data();
+    Packet2d b_xy = be.template packet<BAlignment, Packet2d>(0);
+    Packet2d b_zw = be.template packet<BAlignment, Packet2d>(2);
+    Packet2d a_xx = pset1<Packet2d>(a[0]);
+    Packet2d a_yy = pset1<Packet2d>(a[1]);
+    Packet2d a_zz = pset1<Packet2d>(a[2]);
+    Packet2d a_ww = pset1<Packet2d>(a[3]);
+
+    // two temporaries:
+    Packet2d t1, t2;
+
+    /*
+     * t1 = ww*xy + yy*zw
+     * t2 = zz*xy - xx*zw
+     * res.xy = t1 +/- swap(t2)
+     */
+    t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
+    t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
+    pstoret<double, Packet2d, ResAlignment>(&res.x(), paddsub(t1, preverse(t2)));
+
+    /*
+     * t1 = ww*zw - yy*xy
+     * t2 = zz*zw + xx*xy
+     * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
+     */
+    t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
+    t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
+    pstoret<double, Packet2d, ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2)));
+
+    return res;
+  }
+};
+
+template <class Derived>
+struct quat_conj<Architecture::Target, Derived, double> {
+  enum { ResAlignment = traits<Quaternion<double> >::Alignment };
+  static inline Quaternion<double> run(const QuaternionBase<Derived>& q) {
+    evaluator<typename Derived::Coefficients> qe(q.coeffs());
+    Quaternion<double> res;
+    const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull);
+    const double arr1[2] = {neg_zero, neg_zero};
+    const double arr2[2] = {neg_zero, 0.0};
+    const Packet2d mask0 = ploadu<Packet2d>(arr1);
+    const Packet2d mask2 = ploadu<Packet2d>(arr2);
+    pstoret<double, Packet2d, ResAlignment>(&res.x(),
+                                            pxor(mask0, qe.template packet<traits<Derived>::Alignment, Packet2d>(0)));
+    pstoret<double, Packet2d, ResAlignment>(&res.z(),
+                                            pxor(mask2, qe.template packet<traits<Derived>::Alignment, Packet2d>(2)));
+    return res;
+  }
+};
+
+#endif  // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_GEOMETRY_SIMD_H

package/eigen/Eigen/src/Householder/BlockHouseholder.h

@@ -13,25 +13,29 @@
 
 // This file contains some helper function to deal with block householder reflectors
 
-namespace Eigen { 
+// IWYU pragma: private
+#include "./InternalHeaderCheck.h"
+
+namespace Eigen {
 
 namespace internal {
-  
+
 /** \internal */
 // template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
-// void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
+// void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const
+// CoeffsType& hCoeffs)
 // {
 //   typedef typename VectorsType::Scalar Scalar;
 //   const Index nbVecs = vectors.cols();
 //   eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
-// 
+//
 //   for(Index i = 0; i < nbVecs; i++)
 //   {
 //     Index rs = vectors.rows() - i;
 //     // Warning, note that hCoeffs may alias with vectors.
-//     // It is then necessary to copy it before modifying vectors(i,i). 
+//     // It is then necessary to copy it before modifying vectors(i,i).
 //     typename CoeffsType::Scalar h = hCoeffs(i);
-//     // This hack permits to pass trough nested Block<> and Transpose<> expressions.
+//     // This hack permits to pass through nested Block<> and Transpose<> expressions.
 //     Scalar *Vii_ptr = const_cast<Scalar*>(vectors.data() + vectors.outerStride()*i + vectors.innerStride()*i);
 //     Scalar Vii = *Vii_ptr;
 //     *Vii_ptr = Scalar(1);
@@ -47,57 +51,65 @@ namespace internal {
 
 /** \internal */
 // This variant avoid modifications in vectors
-template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
-void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
-{
+template <typename TriangularFactorType, typename VectorsType, typename CoeffsType>
+void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors,
+                                              const CoeffsType& hCoeffs) {
   const Index nbVecs = vectors.cols();
-  eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
+  eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows() >= nbVecs);
 
-  for(Index i = nbVecs-1; i >=0 ; --i)
-  {
+  for (Index i = nbVecs - 1; i >= 0; --i) {
     Index rs = vectors.rows() - i - 1;
-    Index rt = nbVecs-i-1;
-
-    if(rt>0)
-    {
-      triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
-                                                        * vectors.bottomRightCorner(rs, rt).template triangularView<UnitLower>();
-            
-      // FIXME add .noalias() once the triangular product can work inplace
-      triFactor.row(i).tail(rt) = triFactor.row(i).tail(rt) * triFactor.bottomRightCorner(rt,rt).template triangularView<Upper>();
-      
+    Index rt = nbVecs - i - 1;
+
+    if (rt > 0) {
+      triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint() *
+                                            vectors.bottomRightCorner(rs, rt).template triangularView<UnitLower>();
+
+      // FIXME use the following line with .noalias() once the triangular product can work inplace
+      // triFactor.row(i).tail(rt) = triFactor.row(i).tail(rt) * triFactor.bottomRightCorner(rt,rt).template
+      // triangularView<Upper>();
+      for (Index j = nbVecs - 1; j > i; --j) {
+        typename TriangularFactorType::Scalar z = triFactor(i, j);
+        triFactor(i, j) = z * triFactor(j, j);
+        if (nbVecs - j - 1 > 0) triFactor.row(i).tail(nbVecs - j - 1) += z * triFactor.row(j).tail(nbVecs - j - 1);
+      }
     }
-    triFactor(i,i) = hCoeffs(i);
+    triFactor(i, i) = hCoeffs(i);
   }
 }
 
 /** \internal
-  * if forward then perform   mat = H0 * H1 * H2 * mat
-  * otherwise perform         mat = H2 * H1 * H0 * mat
-  */
-template<typename MatrixType,typename VectorsType,typename CoeffsType>
-void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs, bool forward)
-{
-  enum { TFactorSize = MatrixType::ColsAtCompileTime };
+ * if forward then perform   mat = H0 * H1 * H2 * mat
+ * otherwise perform         mat = H2 * H1 * H0 * mat
+ */
+template <typename MatrixType, typename VectorsType, typename CoeffsType>
+void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs,
+                                         bool forward) {
+  enum { TFactorSize = VectorsType::ColsAtCompileTime };
   Index nbVecs = vectors.cols();
-  Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize, RowMajor> T(nbVecs,nbVecs);
-  
-  if(forward) make_block_householder_triangular_factor(T, vectors, hCoeffs);
-  else        make_block_householder_triangular_factor(T, vectors, hCoeffs.conjugate());  
+  Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize, RowMajor> T(nbVecs, nbVecs);
+
+  if (forward)
+    make_block_householder_triangular_factor(T, vectors, hCoeffs);
+  else
+    make_block_householder_triangular_factor(T, vectors, hCoeffs.conjugate());
   const TriangularView<const VectorsType, UnitLower> V(vectors);
 
   // A -= V T V^* A
-  Matrix<typename MatrixType::Scalar,VectorsType::ColsAtCompileTime,MatrixType::ColsAtCompileTime,
-         (VectorsType::MaxColsAtCompileTime==1 && MatrixType::MaxColsAtCompileTime!=1)?RowMajor:ColMajor,
-         VectorsType::MaxColsAtCompileTime,MatrixType::MaxColsAtCompileTime> tmp = V.adjoint() * mat;
+  Matrix<typename MatrixType::Scalar, VectorsType::ColsAtCompileTime, MatrixType::ColsAtCompileTime,
+         (VectorsType::MaxColsAtCompileTime == 1 && MatrixType::MaxColsAtCompileTime != 1) ? RowMajor : ColMajor,
+         VectorsType::MaxColsAtCompileTime, MatrixType::MaxColsAtCompileTime>
+      tmp = V.adjoint() * mat;
   // FIXME add .noalias() once the triangular product can work inplace
-  if(forward) tmp = T.template triangularView<Upper>()           * tmp;
-  else        tmp = T.template triangularView<Upper>().adjoint() * tmp;
+  if (forward)
+    tmp = T.template triangularView<Upper>() * tmp;
+  else
+    tmp = T.template triangularView<Upper>().adjoint() * tmp;
   mat.noalias() -= V * tmp;
 }
 
-} // end namespace internal
+}  // end namespace internal
 
-} // end namespace Eigen
+}  // end namespace Eigen
 
-#endif // EIGEN_BLOCK_HOUSEHOLDER_H
+#endif  // EIGEN_BLOCK_HOUSEHOLDER_H

package/eigen/Eigen/src/Householder/Householder.h

@@ -11,118 +11,105 @@
 #ifndef EIGEN_HOUSEHOLDER_H
 #define EIGEN_HOUSEHOLDER_H
 
-namespace Eigen { 
+// IWYU pragma: private
+#include "./InternalHeaderCheck.h"
+
+namespace Eigen {
 
 namespace internal {
-template<int n> struct decrement_size
-{
-  enum {
-    ret = n==Dynamic ? n : n-1
-  };
+template <int n>
+struct decrement_size {
+  enum { ret = n == Dynamic ? n : n - 1 };
 };
-}
+}  // namespace internal
 
 /** Computes the elementary reflector H such that:
-  * \f$ H *this = [ beta 0 ... 0]^T \f$
-  * where the transformation H is:
-  * \f$ H = I - tau v v^*\f$
-  * and the vector v is:
-  * \f$ v^T = [1 essential^T] \f$
-  *
-  * The essential part of the vector \c v is stored in *this.
-  * 
-  * On output:
-  * \param tau the scaling factor of the Householder transformation
-  * \param beta the result of H * \c *this
-  *
-  * \sa MatrixBase::makeHouseholder(), MatrixBase::applyHouseholderOnTheLeft(),
-  *     MatrixBase::applyHouseholderOnTheRight()
-  */
-template<typename Derived>
-void MatrixBase<Derived>::makeHouseholderInPlace(Scalar& tau, RealScalar& beta)
-{
-  VectorBlock<Derived, internal::decrement_size<Base::SizeAtCompileTime>::ret> essentialPart(derived(), 1, size()-1);
+ * \f$ H *this = [ beta 0 ... 0]^T \f$
+ * where the transformation H is:
+ * \f$ H = I - tau v v^*\f$
+ * and the vector v is:
+ * \f$ v^T = [1 essential^T] \f$
+ *
+ * The essential part of the vector \c v is stored in *this.
+ *
+ * On output:
+ * \param tau the scaling factor of the Householder transformation
+ * \param beta the result of H * \c *this
+ *
+ * \sa MatrixBase::makeHouseholder(), MatrixBase::applyHouseholderOnTheLeft(),
+ *     MatrixBase::applyHouseholderOnTheRight()
+ */
+template <typename Derived>
+EIGEN_DEVICE_FUNC void MatrixBase<Derived>::makeHouseholderInPlace(Scalar& tau, RealScalar& beta) {
+  VectorBlock<Derived, internal::decrement_size<Base::SizeAtCompileTime>::ret> essentialPart(derived(), 1, size() - 1);
   makeHouseholder(essentialPart, tau, beta);
 }
 
 /** Computes the elementary reflector H such that:
-  * \f$ H *this = [ beta 0 ... 0]^T \f$
-  * where the transformation H is:
-  * \f$ H = I - tau v v^*\f$
-  * and the vector v is:
-  * \f$ v^T = [1 essential^T] \f$
-  *
-  * On output:
-  * \param essential the essential part of the vector \c v
-  * \param tau the scaling factor of the Householder transformation
-  * \param beta the result of H * \c *this
-  *
-  * \sa MatrixBase::makeHouseholderInPlace(), MatrixBase::applyHouseholderOnTheLeft(),
-  *     MatrixBase::applyHouseholderOnTheRight()
-  */
-template<typename Derived>
-template<typename EssentialPart>
-void MatrixBase<Derived>::makeHouseholder(
-  EssentialPart& essential,
-  Scalar& tau,
-  RealScalar& beta) const
-{
-  using std::sqrt;
+ * \f$ H *this = [ beta 0 ... 0]^T \f$
+ * where the transformation H is:
+ * \f$ H = I - tau v v^*\f$
+ * and the vector v is:
+ * \f$ v^T = [1 essential^T] \f$
+ *
+ * On output:
+ * \param essential the essential part of the vector \c v
+ * \param tau the scaling factor of the Householder transformation
+ * \param beta the result of H * \c *this
+ *
+ * \sa MatrixBase::makeHouseholderInPlace(), MatrixBase::applyHouseholderOnTheLeft(),
+ *     MatrixBase::applyHouseholderOnTheRight()
+ */
+template <typename Derived>
+template <typename EssentialPart>
+EIGEN_DEVICE_FUNC void MatrixBase<Derived>::makeHouseholder(EssentialPart& essential, Scalar& tau,
+                                                            RealScalar& beta) const {
   using numext::conj;
-  
+
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(EssentialPart)
-  VectorBlock<const Derived, EssentialPart::SizeAtCompileTime> tail(derived(), 1, size()-1);
-  
-  RealScalar tailSqNorm = size()==1 ? RealScalar(0) : tail.squaredNorm();
+  VectorBlock<const Derived, EssentialPart::SizeAtCompileTime> tail(derived(), 1, size() - 1);
+
+  RealScalar tailSqNorm = size() == 1 ? RealScalar(0) : tail.squaredNorm();
   Scalar c0 = coeff(0);
   const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
 
-  if(tailSqNorm <= tol && numext::abs2(numext::imag(c0))<=tol)
-  {
+  if (tailSqNorm <= tol && numext::abs2(numext::imag(c0)) <= tol) {
     tau = RealScalar(0);
     beta = numext::real(c0);
     essential.setZero();
-  }
-  else
-  {
-    beta = sqrt(numext::abs2(c0) + tailSqNorm);
-    if (numext::real(c0)>=RealScalar(0))
-      beta = -beta;
+  } else {
+    beta = numext::sqrt(numext::abs2(c0) + tailSqNorm);
+    if (numext::real(c0) >= RealScalar(0)) beta = -beta;
     essential = tail / (c0 - beta);
     tau = conj((beta - c0) / beta);
   }
 }
 
 /** Apply the elementary reflector H given by
-  * \f$ H = I - tau v v^*\f$
-  * with
-  * \f$ v^T = [1 essential^T] \f$
-  * from the left to a vector or matrix.
-  *
-  * On input:
-  * \param essential the essential part of the vector \c v
-  * \param tau the scaling factor of the Householder transformation
-  * \param workspace a pointer to working space with at least
-  *                  this->cols() * essential.size() entries
-  *
-  * \sa MatrixBase::makeHouseholder(), MatrixBase::makeHouseholderInPlace(), 
-  *     MatrixBase::applyHouseholderOnTheRight()
-  */
-template<typename Derived>
-template<typename EssentialPart>
-void MatrixBase<Derived>::applyHouseholderOnTheLeft(
-  const EssentialPart& essential,
-  const Scalar& tau,
-  Scalar* workspace)
-{
-  if(rows() == 1)
-  {
-    *this *= Scalar(1)-tau;
-  }
-  else if(tau!=Scalar(0))
-  {
-    Map<typename internal::plain_row_type<PlainObject>::type> tmp(workspace,cols());
-    Block<Derived, EssentialPart::SizeAtCompileTime, Derived::ColsAtCompileTime> bottom(derived(), 1, 0, rows()-1, cols());
+ * \f$ H = I - tau v v^*\f$
+ * with
+ * \f$ v^T = [1 essential^T] \f$
+ * from the left to a vector or matrix.
+ *
+ * On input:
+ * \param essential the essential part of the vector \c v
+ * \param tau the scaling factor of the Householder transformation
+ * \param workspace a pointer to working space with at least
+ *                  this->cols() entries
+ *
+ * \sa MatrixBase::makeHouseholder(), MatrixBase::makeHouseholderInPlace(),
+ *     MatrixBase::applyHouseholderOnTheRight()
+ */
+template <typename Derived>
+template <typename EssentialPart>
+EIGEN_DEVICE_FUNC void MatrixBase<Derived>::applyHouseholderOnTheLeft(const EssentialPart& essential, const Scalar& tau,
+                                                                      Scalar* workspace) {
+  if (rows() == 1) {
+    *this *= Scalar(1) - tau;
+  } else if (!numext::is_exactly_zero(tau)) {
+    Map<typename internal::plain_row_type<PlainObject>::type> tmp(workspace, cols());
+    Block<Derived, EssentialPart::SizeAtCompileTime, Derived::ColsAtCompileTime> bottom(derived(), 1, 0, rows() - 1,
+                                                                                        cols());
     tmp.noalias() = essential.adjoint() * bottom;
     tmp += this->row(0);
     this->row(0) -= tau * tmp;
@@ -131,42 +118,37 @@ void MatrixBase<Derived>::applyHouseholderOnTheLeft(
 }
 
 /** Apply the elementary reflector H given by
-  * \f$ H = I - tau v v^*\f$
-  * with
-  * \f$ v^T = [1 essential^T] \f$
-  * from the right to a vector or matrix.
-  *
-  * On input:
-  * \param essential the essential part of the vector \c v
-  * \param tau the scaling factor of the Householder transformation
-  * \param workspace a pointer to working space with at least
-  *                  this->cols() * essential.size() entries
-  *
-  * \sa MatrixBase::makeHouseholder(), MatrixBase::makeHouseholderInPlace(), 
-  *     MatrixBase::applyHouseholderOnTheLeft()
-  */
-template<typename Derived>
-template<typename EssentialPart>
-void MatrixBase<Derived>::applyHouseholderOnTheRight(
-  const EssentialPart& essential,
-  const Scalar& tau,
-  Scalar* workspace)
-{
-  if(cols() == 1)
-  {
-    *this *= Scalar(1)-tau;
-  }
-  else if(tau!=Scalar(0))
-  {
-    Map<typename internal::plain_col_type<PlainObject>::type> tmp(workspace,rows());
-    Block<Derived, Derived::RowsAtCompileTime, EssentialPart::SizeAtCompileTime> right(derived(), 0, 1, rows(), cols()-1);
-    tmp.noalias() = right * essential.conjugate();
+ * \f$ H = I - tau v v^*\f$
+ * with
+ * \f$ v^T = [1 essential^T] \f$
+ * from the right to a vector or matrix.
+ *
+ * On input:
+ * \param essential the essential part of the vector \c v
+ * \param tau the scaling factor of the Householder transformation
+ * \param workspace a pointer to working space with at least
+ *                  this->rows() entries
+ *
+ * \sa MatrixBase::makeHouseholder(), MatrixBase::makeHouseholderInPlace(),
+ *     MatrixBase::applyHouseholderOnTheLeft()
+ */
+template <typename Derived>
+template <typename EssentialPart>
+EIGEN_DEVICE_FUNC void MatrixBase<Derived>::applyHouseholderOnTheRight(const EssentialPart& essential,
+                                                                       const Scalar& tau, Scalar* workspace) {
+  if (cols() == 1) {
+    *this *= Scalar(1) - tau;
+  } else if (!numext::is_exactly_zero(tau)) {
+    Map<typename internal::plain_col_type<PlainObject>::type> tmp(workspace, rows());
+    Block<Derived, Derived::RowsAtCompileTime, EssentialPart::SizeAtCompileTime> right(derived(), 0, 1, rows(),
+                                                                                       cols() - 1);
+    tmp.noalias() = right * essential;
     tmp += this->col(0);
     this->col(0) -= tau * tmp;
-    right.noalias() -= tau * tmp * essential.transpose();
+    right.noalias() -= tau * tmp * essential.adjoint();
   }
 }
 
-} // end namespace Eigen
+}  // end namespace Eigen
 
-#endif // EIGEN_HOUSEHOLDER_H
+#endif  // EIGEN_HOUSEHOLDER_H