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fix a bug in determinant of 4x4 matrices and a small type issue in Inverse

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This commit is contained in:
Gael Guennebaud 2008-04-26 08:56:52 +00:00
parent 173e582e3c
commit 62bf0bbd59
3 changed files with 7 additions and 7 deletions
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2
Eigen/src/Core/Visitor.h
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@ -52,7 +52,7 @@ struct ei_visitor_unroller<Visitor, Derived, 1>
template<typename Visitor, typename Derived> template<typename Visitor, typename Derived>
struct ei_visitor_unroller<Visitor, Derived, Dynamic> struct ei_visitor_unroller<Visitor, Derived, Dynamic>
{ {
static void run(const Derived &mat, Visitor& visitor) {} static void run(const Derived &, Visitor&) {}
}; };

6
Eigen/src/LU/Determinant.h
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@ -57,10 +57,10 @@ const typename Derived::Scalar ei_bruteforce_det(const MatrixBase<Derived>& m)
case 4: case 4:
// trick by Martin Costabel to compute 4x4 det with only 30 muls // trick by Martin Costabel to compute 4x4 det with only 30 muls
return ei_bruteforce_det4_helper(m,0,1,2,3) return ei_bruteforce_det4_helper(m,0,1,2,3)
+ ei_bruteforce_det4_helper(m,0,2,1,3) - ei_bruteforce_det4_helper(m,0,2,1,3)
+ ei_bruteforce_det4_helper(m,0,3,1,2) + ei_bruteforce_det4_helper(m,0,3,1,2)
+ ei_bruteforce_det4_helper(m,1,2,0,3) + ei_bruteforce_det4_helper(m,1,2,0,3)
+ ei_bruteforce_det4_helper(m,1,3,0,2) - ei_bruteforce_det4_helper(m,1,3,0,2)
+ ei_bruteforce_det4_helper(m,2,3,0,1); + ei_bruteforce_det4_helper(m,2,3,0,1);
default: default:
assert(false); assert(false);
@ -75,4 +75,4 @@ typename ei_traits<Derived>::Scalar MatrixBase<Derived>::determinant() const
else assert(false); // unimplemented for now else assert(false); // unimplemented for now
} }
#endif // EIGEN_DETERMINANT_H #endif // EIGEN_DETERMINANT_H

6
Eigen/src/LU/Inverse.h
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@ -98,7 +98,7 @@ template<typename MatrixType, bool CheckExistence> class Inverse : ei_no_assignm
protected: protected:
bool m_exists; bool m_exists;
MatrixType m_inverse; typename MatrixType::Eval m_inverse;
}; };
template<typename MatrixType, bool CheckExistence> template<typename MatrixType, bool CheckExistence>
@ -119,7 +119,7 @@ void Inverse<MatrixType, CheckExistence>
m_inverse.row(k).swap(m_inverse.row(k+rowOfBiggest)); m_inverse.row(k).swap(m_inverse.row(k+rowOfBiggest));
matrix.row(k).swap(matrix.row(k+rowOfBiggest)); matrix.row(k).swap(matrix.row(k+rowOfBiggest));
const Scalar d = matrix(k,k); const Scalar d = matrix(k,k);
m_inverse.block(k+1, 0, size-k-1, size) m_inverse.block(k+1, 0, size-k-1, size)
-= matrix.col(k).end(size-k-1) * (m_inverse.row(k) / d); -= matrix.col(k).end(size-k-1) * (m_inverse.row(k) / d);
@ -215,7 +215,7 @@ void Inverse<MatrixType, CheckExistence>::_compute_in_size4_case(const MatrixTyp
const XprBlock22 S = matrix.template block<2,2>(2,2); const XprBlock22 S = matrix.template block<2,2>(2,2);
const Block22 X = S - R_times_P_inverse_times_Q; const Block22 X = S - R_times_P_inverse_times_Q;
Block22 Y; Block22 Y;
if(ei_compute_size2_inverse<Block22, CheckExistence>(X, &Y)) if(ei_compute_size2_inverse<Block22, CheckExistence>(X, &Y))
{ {
m_inverse.template block<2,2>(2,2) = Y; m_inverse.template block<2,2>(2,2) = Y;
m_inverse.template block<2,2>(2,0) = - Y * R_times_P_inverse; m_inverse.template block<2,2>(2,0) = - Y * R_times_P_inverse;