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AlignedVector3
1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
5//
6// This Source Code Form is subject to the terms of the Mozilla
7// Public License v. 2.0. If a copy of the MPL was not distributed
8// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9
10#ifndef EIGEN_ALIGNED_VECTOR3
11#define EIGEN_ALIGNED_VECTOR3
12
13#include "../../Eigen/Geometry"
14
15#include "../../Eigen/src/Core/util/DisableStupidWarnings.h"
16
17namespace Eigen {
18
27
28
39// TODO specialize Cwise
40template<typename _Scalar> class AlignedVector3;
41
42namespace internal {
43template<typename _Scalar> struct traits<AlignedVector3<_Scalar> >
44 : traits<Matrix<_Scalar,3,1,0,4,1> >
45{
46};
47}
48
49template<typename _Scalar> class AlignedVector3
50 : public MatrixBase<AlignedVector3<_Scalar> >
51{
52 typedef Matrix<_Scalar,4,1> CoeffType;
53 CoeffType m_coeffs;
54 public:
55
57 EIGEN_DENSE_PUBLIC_INTERFACE(AlignedVector3)
58 using Base::operator*;
59
60 inline Index rows() const { return 3; }
61 inline Index cols() const { return 1; }
62
63 Scalar* data() { return m_coeffs.data(); }
64 const Scalar* data() const { return m_coeffs.data(); }
65 Index innerStride() const { return 1; }
66 Index outerStride() const { return 3; }
67
68 inline const Scalar& coeff(Index row, Index col) const
69 { return m_coeffs.coeff(row, col); }
70
71 inline Scalar& coeffRef(Index row, Index col)
72 { return m_coeffs.coeffRef(row, col); }
73
74 inline const Scalar& coeff(Index index) const
75 { return m_coeffs.coeff(index); }
76
77 inline Scalar& coeffRef(Index index)
78 { return m_coeffs.coeffRef(index);}
79
80
81 inline AlignedVector3()
82 {}
83
84 inline AlignedVector3(const Scalar& x, const Scalar& y, const Scalar& z)
85 : m_coeffs(x, y, z, Scalar(0))
86 {}
87
88 inline AlignedVector3(const AlignedVector3& other)
89 : Base(), m_coeffs(other.m_coeffs)
90 {}
91
92 template<typename XprType, int Size=XprType::SizeAtCompileTime>
93 struct generic_assign_selector {};
94
95 template<typename XprType> struct generic_assign_selector<XprType,4>
96 {
97 inline static void run(AlignedVector3& dest, const XprType& src)
98 {
99 dest.m_coeffs = src;
100 }
101 };
102
103 template<typename XprType> struct generic_assign_selector<XprType,3>
104 {
105 inline static void run(AlignedVector3& dest, const XprType& src)
106 {
107 dest.m_coeffs.template head<3>() = src;
108 dest.m_coeffs.w() = Scalar(0);
109 }
110 };
111
112 template<typename Derived>
113 inline AlignedVector3(const MatrixBase<Derived>& other)
114 {
115 generic_assign_selector<Derived>::run(*this,other.derived());
116 }
117
118 inline AlignedVector3& operator=(const AlignedVector3& other)
119 { m_coeffs = other.m_coeffs; return *this; }
120
121 template <typename Derived>
122 inline AlignedVector3& operator=(const MatrixBase<Derived>& other)
123 {
124 generic_assign_selector<Derived>::run(*this,other.derived());
125 return *this;
126 }
127
128 inline AlignedVector3 operator+(const AlignedVector3& other) const
129 { return AlignedVector3(m_coeffs + other.m_coeffs); }
130
131 inline AlignedVector3& operator+=(const AlignedVector3& other)
132 { m_coeffs += other.m_coeffs; return *this; }
133
134 inline AlignedVector3 operator-(const AlignedVector3& other) const
135 { return AlignedVector3(m_coeffs - other.m_coeffs); }
136
137 inline AlignedVector3 operator-() const
138 { return AlignedVector3(-m_coeffs); }
139
140 inline AlignedVector3 operator-=(const AlignedVector3& other)
141 { m_coeffs -= other.m_coeffs; return *this; }
142
143 inline AlignedVector3 operator*(const Scalar& s) const
144 { return AlignedVector3(m_coeffs * s); }
145
146 inline friend AlignedVector3 operator*(const Scalar& s,const AlignedVector3& vec)
147 { return AlignedVector3(s * vec.m_coeffs); }
148
149 inline AlignedVector3& operator*=(const Scalar& s)
150 { m_coeffs *= s; return *this; }
151
152 inline AlignedVector3 operator/(const Scalar& s) const
153 { return AlignedVector3(m_coeffs / s); }
154
155 inline AlignedVector3& operator/=(const Scalar& s)
156 { m_coeffs /= s; return *this; }
157
158 inline Scalar dot(const AlignedVector3& other) const
159 {
160 eigen_assert(m_coeffs.w()==Scalar(0));
161 eigen_assert(other.m_coeffs.w()==Scalar(0));
162 return m_coeffs.dot(other.m_coeffs);
163 }
164
165 inline void normalize()
166 {
167 m_coeffs /= norm();
168 }
169
170 inline AlignedVector3 normalized() const
171 {
172 return AlignedVector3(m_coeffs / norm());
173 }
174
175 inline Scalar sum() const
176 {
177 eigen_assert(m_coeffs.w()==Scalar(0));
178 return m_coeffs.sum();
179 }
180
181 inline Scalar squaredNorm() const
182 {
183 eigen_assert(m_coeffs.w()==Scalar(0));
184 return m_coeffs.squaredNorm();
185 }
186
187 inline Scalar norm() const
188 {
189 using std::sqrt;
190 return sqrt(squaredNorm());
191 }
192
193 inline AlignedVector3 cross(const AlignedVector3& other) const
194 {
195 return AlignedVector3(m_coeffs.cross3(other.m_coeffs));
196 }
197
198 template<typename Derived>
199 inline bool isApprox(const MatrixBase<Derived>& other, const RealScalar& eps=NumTraits<Scalar>::dummy_precision()) const
200 {
201 return m_coeffs.template head<3>().isApprox(other,eps);
202 }
203
204 CoeffType& coeffs() { return m_coeffs; }
205 const CoeffType& coeffs() const { return m_coeffs; }
206};
207
208namespace internal {
209
210template<typename _Scalar>
211struct eval<AlignedVector3<_Scalar>, Dense>
212{
213 typedef const AlignedVector3<_Scalar>& type;
214};
215
216template<typename Scalar>
217struct evaluator<AlignedVector3<Scalar> >
218 : evaluator<Matrix<Scalar,4,1> >
219{
220 typedef AlignedVector3<Scalar> XprType;
221 typedef evaluator<Matrix<Scalar,4,1> > Base;
222
223 evaluator(const XprType &m) : Base(m.coeffs()) {}
224};
225
226}
227
229
230}
231
232#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h"
233
234#endif // EIGEN_ALIGNED_VECTOR3
A vectorization friendly 3D vector.
Definition AlignedVector3:51
FixedSegmentReturnType< N >::Type head(Index n=N)
internal::traits< Derived >::Scalar Scalar
const NegativeReturnType operator-() const
EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT
EIGEN_CONSTEXPR Index innerStride() const EIGEN_NOEXCEPT
EIGEN_CONSTEXPR Index outerStride() const EIGEN_NOEXCEPT
EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT
const MatrixSquareRootReturnValue< Derived > sqrt() const
Namespace containing all symbols from the Eigen library.
EIGEN_DEFAULT_DENSE_INDEX_TYPE Index