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fix bug #70

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Was trying to apply stupid invertibility check to top-left 2x2 corner.
This commit is contained in:
Benoit Jacob 2009-11-26 15:33:07 -05:00
parent a161a70696
commit 8d31f58ea1
1 changed files with 18 additions and 24 deletions
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42
Eigen/src/LU/Inverse.h
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@ -29,8 +29,8 @@
*** Part 1 : optimized implementations for fixed-size 2,3,4 cases ***
********************************************************************/
template<typename MatrixType>
void ei_compute_inverse_in_size2_case(const MatrixType& matrix, MatrixType* result)
template<typename XprType, typename MatrixType>
void ei_compute_inverse_in_size2_case(const XprType& matrix, MatrixType* result)
{
typedef typename MatrixType::Scalar Scalar;
const Scalar invdet = Scalar(1) / matrix.determinant();
@ -94,28 +94,22 @@ bool ei_compute_inverse_in_size4_case_helper(const MatrixType& matrix, MatrixTyp
typedef Block<MatrixType,2,2> XprBlock22;
typedef typename MatrixBase<XprBlock22>::PlainMatrixType Block22;
Block22 P_inverse;
if(ei_compute_inverse_in_size2_case_with_check(matrix.template block<2,2>(0,0), &P_inverse))
{
const Block22 Q = matrix.template block<2,2>(0,2);
const Block22 P_inverse_times_Q = P_inverse * Q;
const XprBlock22 R = matrix.template block<2,2>(2,0);
const Block22 R_times_P_inverse = R * P_inverse;
const Block22 R_times_P_inverse_times_Q = R_times_P_inverse * Q;
const XprBlock22 S = matrix.template block<2,2>(2,2);
const Block22 X = S - R_times_P_inverse_times_Q;
Block22 Y;
ei_compute_inverse_in_size2_case(X, &Y);
result->template block<2,2>(2,2) = Y;
result->template block<2,2>(2,0) = - Y * R_times_P_inverse;
const Block22 Z = P_inverse_times_Q * Y;
result->template block<2,2>(0,2) = - Z;
result->template block<2,2>(0,0) = P_inverse + Z * R_times_P_inverse;
return true;
}
else
{
return false;
}
ei_compute_inverse_in_size2_case(matrix.template block<2,2>(0,0), &P_inverse);
const Block22 Q = matrix.template block<2,2>(0,2);
const Block22 P_inverse_times_Q = P_inverse * Q;
const XprBlock22 R = matrix.template block<2,2>(2,0);
const Block22 R_times_P_inverse = R * P_inverse;
const Block22 R_times_P_inverse_times_Q = R_times_P_inverse * Q;
const XprBlock22 S = matrix.template block<2,2>(2,2);
const Block22 X = S - R_times_P_inverse_times_Q;
Block22 Y;
ei_compute_inverse_in_size2_case(X, &Y);
result->template block<2,2>(2,2) = Y;
result->template block<2,2>(2,0) = - Y * R_times_P_inverse;
const Block22 Z = P_inverse_times_Q * Y;
result->template block<2,2>(0,2) = - Z;
result->template block<2,2>(0,0) = P_inverse + Z * R_times_P_inverse;
return true;
}
template<typename MatrixType>