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Improve performance of some Transform<> operations by better preserving the alignment status.

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There probably many other places in Transform.h where such optimizations could be done.
This commit is contained in:
Gael Guennebaud 2012-02-07 17:12:15 +01:00
parent ff67676c0b
commit 3836402631
1 changed files with 12 additions and 14 deletions
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26
Eigen/src/Geometry/Transform.h
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@ -207,9 +207,9 @@ public:
/** type of the matrix used to represent the linear part of the transformation */ /** type of the matrix used to represent the linear part of the transformation */
typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType; typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType;
/** type of read/write reference to the linear part of the transformation */ /** type of read/write reference to the linear part of the transformation */
typedef Block<MatrixType,Dim,Dim> LinearPart; typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact)> LinearPart;
/** type of read reference to the linear part of the transformation */ /** type of read reference to the linear part of the transformation */
typedef const Block<ConstMatrixType,Dim,Dim> ConstLinearPart; typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact)> ConstLinearPart;
/** type of read/write reference to the affine part of the transformation */ /** type of read/write reference to the affine part of the transformation */
typedef typename internal::conditional<int(Mode)==int(AffineCompact), typedef typename internal::conditional<int(Mode)==int(AffineCompact),
MatrixType&, MatrixType&,
@ -221,9 +221,9 @@ public:
/** type of a vector */ /** type of a vector */
typedef Matrix<Scalar,Dim,1> VectorType; typedef Matrix<Scalar,Dim,1> VectorType;
/** type of a read/write reference to the translation part of the rotation */ /** type of a read/write reference to the translation part of the rotation */
typedef Block<MatrixType,Dim,1> TranslationPart; typedef Block<MatrixType,Dim,1,int(Mode)==(AffineCompact)> TranslationPart;
/** type of a read reference to the translation part of the rotation */ /** type of a read reference to the translation part of the rotation */
typedef const Block<ConstMatrixType,Dim,1> ConstTranslationPart; typedef const Block<ConstMatrixType,Dim,1,int(Mode)==(AffineCompact)> ConstTranslationPart;
/** corresponding translation type */ /** corresponding translation type */
typedef Translation<Scalar,Dim> TranslationType; typedef Translation<Scalar,Dim> TranslationType;
@ -382,9 +382,9 @@ public:
inline MatrixType& matrix() { return m_matrix; } inline MatrixType& matrix() { return m_matrix; }
/** \returns a read-only expression of the linear part of the transformation */ /** \returns a read-only expression of the linear part of the transformation */
inline ConstLinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); } inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
/** \returns a writable expression of the linear part of the transformation */ /** \returns a writable expression of the linear part of the transformation */
inline LinearPart linear() { return m_matrix.template block<Dim,Dim>(0,0); } inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
/** \returns a read-only expression of the Dim x HDim affine part of the transformation */ /** \returns a read-only expression of the Dim x HDim affine part of the transformation */
inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); } inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
@ -392,9 +392,9 @@ public:
inline AffinePart affine() { return take_affine_part::run(m_matrix); } inline AffinePart affine() { return take_affine_part::run(m_matrix); }
/** \returns a read-only expression of the translation vector of the transformation */ /** \returns a read-only expression of the translation vector of the transformation */
inline ConstTranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); } inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
/** \returns a writable expression of the translation vector of the transformation */ /** \returns a writable expression of the translation vector of the transformation */
inline TranslationPart translation() { return m_matrix.template block<Dim,1>(0,Dim); } inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
/** \returns an expression of the product between the transform \c *this and a matrix expression \a other /** \returns an expression of the product between the transform \c *this and a matrix expression \a other
* *
@ -1247,7 +1247,7 @@ struct transform_right_product_impl< TransformType, MatrixType, 1 >
{ {
EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES); EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
typedef Block<ResultType, Dim, OtherCols> TopLeftLhs; typedef Block<ResultType, Dim, OtherCols, int(MatrixType::RowsAtCompileTime)==Dim> TopLeftLhs;
ResultType res(other.rows(),other.cols()); ResultType res(other.rows(),other.cols());
TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other; TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other;
@ -1273,11 +1273,9 @@ struct transform_right_product_impl< TransformType, MatrixType, 2 >
{ {
EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES); EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
typedef Block<ResultType, Dim, OtherCols> TopLeftLhs; typedef Block<ResultType, Dim, OtherCols, true> TopLeftLhs;
ResultType res(Replicate<typename TransformType::ConstTranslationPart, 1, OtherCols>(T.translation(),1,other.cols()));
ResultType res(other.rows(),other.cols()); TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() += T.linear() * other;
TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.linear() * other;
TopLeftLhs(res, 0, 0, Dim, other.cols()).colwise() += T.translation();
return res; return res;
} }