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 (a] 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 namespace Eigen { 16 17 /** 18 * \defgroup AlignedVector3_Module Aligned vector3 module 19 * 20 * \code 21 * #include <unsupported/Eigen/AlignedVector3> 22 * \endcode 23 */ 24 //@{ 25 26 27 /** \class AlignedVector3 28 * 29 * \brief A vectorization friendly 3D vector 30 * 31 * This class represents a 3D vector internally using a 4D vector 32 * such that vectorization can be seamlessly enabled. Of course, 33 * the same result can be achieved by directly using a 4D vector. 34 * This class makes this process simpler. 35 * 36 */ 37 // TODO specialize Cwise 38 template<typename _Scalar> class AlignedVector3; 39 40 namespace internal { 41 template<typename _Scalar> struct traits<AlignedVector3<_Scalar> > 42 : traits<Matrix<_Scalar,3,1,0,4,1> > 43 { 44 }; 45 } 46 47 template<typename _Scalar> class AlignedVector3 48 : public MatrixBase<AlignedVector3<_Scalar> > 49 { 50 typedef Matrix<_Scalar,4,1> CoeffType; 51 CoeffType m_coeffs; 52 public: 53 54 typedef MatrixBase<AlignedVector3<_Scalar> > Base; 55 EIGEN_DENSE_PUBLIC_INTERFACE(AlignedVector3) 56 using Base::operator*; 57 58 inline Index rows() const { return 3; } 59 inline Index cols() const { return 1; } 60 61 Scalar* data() { return m_coeffs.data(); } 62 const Scalar* data() const { return m_coeffs.data(); } 63 Index innerStride() const { return 1; } 64 Index outerStride() const { return 3; } 65 66 inline const Scalar& coeff(Index row, Index col) const 67 { return m_coeffs.coeff(row, col); } 68 69 inline Scalar& coeffRef(Index row, Index col) 70 { return m_coeffs.coeffRef(row, col); } 71 72 inline const Scalar& coeff(Index index) const 73 { return m_coeffs.coeff(index); } 74 75 inline Scalar& coeffRef(Index index) 76 { return m_coeffs.coeffRef(index);} 77 78 79 inline AlignedVector3(const Scalar& x, const Scalar& y, const Scalar& z) 80 : m_coeffs(x, y, z, Scalar(0)) 81 {} 82 83 inline AlignedVector3(const AlignedVector3& other) 84 : Base(), m_coeffs(other.m_coeffs) 85 {} 86 87 template<typename XprType, int Size=XprType::SizeAtCompileTime> 88 struct generic_assign_selector {}; 89 90 template<typename XprType> struct generic_assign_selector<XprType,4> 91 { 92 inline static void run(AlignedVector3& dest, const XprType& src) 93 { 94 dest.m_coeffs = src; 95 } 96 }; 97 98 template<typename XprType> struct generic_assign_selector<XprType,3> 99 { 100 inline static void run(AlignedVector3& dest, const XprType& src) 101 { 102 dest.m_coeffs.template head<3>() = src; 103 dest.m_coeffs.w() = Scalar(0); 104 } 105 }; 106 107 template<typename Derived> 108 inline AlignedVector3(const MatrixBase<Derived>& other) 109 { 110 generic_assign_selector<Derived>::run(*this,other.derived()); 111 } 112 113 inline AlignedVector3& operator=(const AlignedVector3& other) 114 { m_coeffs = other.m_coeffs; return *this; } 115 116 template <typename Derived> 117 inline AlignedVector3& operator=(const MatrixBase<Derived>& other) 118 { 119 generic_assign_selector<Derived>::run(*this,other.derived()); 120 return *this; 121 } 122 123 inline AlignedVector3 operator+(const AlignedVector3& other) const 124 { return AlignedVector3(m_coeffs + other.m_coeffs); } 125 126 inline AlignedVector3& operator+=(const AlignedVector3& other) 127 { m_coeffs += other.m_coeffs; return *this; } 128 129 inline AlignedVector3 operator-(const AlignedVector3& other) const 130 { return AlignedVector3(m_coeffs - other.m_coeffs); } 131 132 inline AlignedVector3 operator-=(const AlignedVector3& other) 133 { m_coeffs -= other.m_coeffs; return *this; } 134 135 inline AlignedVector3 operator*(const Scalar& s) const 136 { return AlignedVector3(m_coeffs * s); } 137 138 inline friend AlignedVector3 operator*(const Scalar& s,const AlignedVector3& vec) 139 { return AlignedVector3(s * vec.m_coeffs); } 140 141 inline AlignedVector3& operator*=(const Scalar& s) 142 { m_coeffs *= s; return *this; } 143 144 inline AlignedVector3 operator/(const Scalar& s) const 145 { return AlignedVector3(m_coeffs / s); } 146 147 inline AlignedVector3& operator/=(const Scalar& s) 148 { m_coeffs /= s; return *this; } 149 150 inline Scalar dot(const AlignedVector3& other) const 151 { 152 eigen_assert(m_coeffs.w()==Scalar(0)); 153 eigen_assert(other.m_coeffs.w()==Scalar(0)); 154 return m_coeffs.dot(other.m_coeffs); 155 } 156 157 inline void normalize() 158 { 159 m_coeffs /= norm(); 160 } 161 162 inline AlignedVector3 normalized() const 163 { 164 return AlignedVector3(m_coeffs / norm()); 165 } 166 167 inline Scalar sum() const 168 { 169 eigen_assert(m_coeffs.w()==Scalar(0)); 170 return m_coeffs.sum(); 171 } 172 173 inline Scalar squaredNorm() const 174 { 175 eigen_assert(m_coeffs.w()==Scalar(0)); 176 return m_coeffs.squaredNorm(); 177 } 178 179 inline Scalar norm() const 180 { 181 using std::sqrt; 182 return sqrt(squaredNorm()); 183 } 184 185 inline AlignedVector3 cross(const AlignedVector3& other) const 186 { 187 return AlignedVector3(m_coeffs.cross3(other.m_coeffs)); 188 } 189 190 template<typename Derived> 191 inline bool isApprox(const MatrixBase<Derived>& other, const RealScalar& eps=NumTraits<Scalar>::dummy_precision()) const 192 { 193 return m_coeffs.template head<3>().isApprox(other,eps); 194 } 195 196 CoeffType& coeffs() { return m_coeffs; } 197 const CoeffType& coeffs() const { return m_coeffs; } 198 }; 199 200 namespace internal { 201 202 template<typename _Scalar> 203 struct eval<AlignedVector3<_Scalar>, Dense> 204 { 205 typedef const AlignedVector3<_Scalar>& type; 206 }; 207 208 template<typename Scalar> 209 struct evaluator<AlignedVector3<Scalar> > 210 : evaluator<Matrix<Scalar,4,1> > 211 { 212 typedef AlignedVector3<Scalar> XprType; 213 typedef evaluator<Matrix<Scalar,4,1> > Base; 214 215 evaluator(const XprType &m) : Base(m.coeffs()) {} 216 }; 217 218 } 219 220 //@} 221 222 } 223 224 #endif // EIGEN_ALIGNED_VECTOR3 225
