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91b3039013
The previous "Scalar" semantic was obsolete since we allow for different scalar types in the source and destination expressions. On can still specialize on scalar types through SFINAE and/or assignment functor.
457 lines
18 KiB
C++
457 lines
18 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_HOMOGENEOUS_H
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#define EIGEN_HOMOGENEOUS_H
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namespace Eigen {
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/** \geometry_module \ingroup Geometry_Module
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*
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* \class Homogeneous
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*
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* \brief Expression of one (or a set of) homogeneous vector(s)
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*
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* \param MatrixType the type of the object in which we are making homogeneous
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*
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* This class represents an expression of one (or a set of) homogeneous vector(s).
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* It is the return type of MatrixBase::homogeneous() and most of the time
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* this is the only way it is used.
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*
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* \sa MatrixBase::homogeneous()
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*/
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namespace internal {
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template<typename MatrixType,int Direction>
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struct traits<Homogeneous<MatrixType,Direction> >
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: traits<MatrixType>
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{
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typedef typename traits<MatrixType>::StorageKind StorageKind;
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typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
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typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
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enum {
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RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
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int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
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ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
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int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
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RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime,
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ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
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MaxRowsAtCompileTime = RowsAtCompileTime,
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MaxColsAtCompileTime = ColsAtCompileTime,
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TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
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Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
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: RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
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: TmpFlags
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};
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};
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template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
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template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
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} // end namespace internal
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template<typename MatrixType,int _Direction> class Homogeneous
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: public MatrixBase<Homogeneous<MatrixType,_Direction> >, internal::no_assignment_operator
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{
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public:
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typedef MatrixType NestedExpression;
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enum { Direction = _Direction };
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typedef MatrixBase<Homogeneous> Base;
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EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
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explicit inline Homogeneous(const MatrixType& matrix)
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: m_matrix(matrix)
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{}
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inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); }
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inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
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const NestedExpression& nestedExpression() const { return m_matrix; }
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template<typename Rhs>
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inline const Product<Homogeneous,Rhs>
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operator* (const MatrixBase<Rhs>& rhs) const
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{
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eigen_assert(int(Direction)==Horizontal);
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return Product<Homogeneous,Rhs>(*this,rhs.derived());
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}
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template<typename Lhs> friend
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inline const Product<Lhs,Homogeneous>
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operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
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{
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eigen_assert(int(Direction)==Vertical);
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return Product<Lhs,Homogeneous>(lhs.derived(),rhs);
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}
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template<typename Scalar, int Dim, int Mode, int Options> friend
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inline const Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous >
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operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
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{
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eigen_assert(int(Direction)==Vertical);
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return Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous>(lhs,rhs);
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}
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template<typename Func>
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EIGEN_STRONG_INLINE typename internal::result_of<Func(Scalar,Scalar)>::type
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redux(const Func& func) const
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{
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return func(m_matrix.redux(func), Scalar(1));
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}
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protected:
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typename MatrixType::Nested m_matrix;
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};
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/** \geometry_module \ingroup Geometry_Module
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*
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* \return an expression of the equivalent homogeneous vector
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*
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* \only_for_vectors
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*
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* Example: \include MatrixBase_homogeneous.cpp
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* Output: \verbinclude MatrixBase_homogeneous.out
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*
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* \sa VectorwiseOp::homogeneous(), class Homogeneous
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*/
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template<typename Derived>
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inline typename MatrixBase<Derived>::HomogeneousReturnType
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MatrixBase<Derived>::homogeneous() const
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{
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EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
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return HomogeneousReturnType(derived());
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}
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/** \geometry_module \ingroup Geometry_Module
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*
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* \returns a matrix expression of homogeneous column (or row) vectors
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*
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* Example: \include VectorwiseOp_homogeneous.cpp
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* Output: \verbinclude VectorwiseOp_homogeneous.out
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*
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* \sa MatrixBase::homogeneous(), class Homogeneous */
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template<typename ExpressionType, int Direction>
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inline Homogeneous<ExpressionType,Direction>
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VectorwiseOp<ExpressionType,Direction>::homogeneous() const
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{
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return HomogeneousReturnType(_expression());
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}
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/** \geometry_module \ingroup Geometry_Module
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*
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* \returns an expression of the homogeneous normalized vector of \c *this
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*
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* Example: \include MatrixBase_hnormalized.cpp
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* Output: \verbinclude MatrixBase_hnormalized.out
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*
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* \sa VectorwiseOp::hnormalized() */
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template<typename Derived>
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inline const typename MatrixBase<Derived>::HNormalizedReturnType
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MatrixBase<Derived>::hnormalized() const
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{
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EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
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return ConstStartMinusOne(derived(),0,0,
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ColsAtCompileTime==1?size()-1:1,
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ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
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}
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/** \geometry_module \ingroup Geometry_Module
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*
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* \returns an expression of the homogeneous normalized vector of \c *this
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*
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* Example: \include DirectionWise_hnormalized.cpp
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* Output: \verbinclude DirectionWise_hnormalized.out
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*
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* \sa MatrixBase::hnormalized() */
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template<typename ExpressionType, int Direction>
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inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
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VectorwiseOp<ExpressionType,Direction>::hnormalized() const
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{
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return HNormalized_Block(_expression(),0,0,
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Direction==Vertical ? _expression().rows()-1 : _expression().rows(),
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Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
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Replicate<HNormalized_Factors,
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Direction==Vertical ? HNormalized_SizeMinusOne : 1,
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Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
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(HNormalized_Factors(_expression(),
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Direction==Vertical ? _expression().rows()-1:0,
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Direction==Horizontal ? _expression().cols()-1:0,
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Direction==Vertical ? 1 : _expression().rows(),
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Direction==Horizontal ? 1 : _expression().cols()),
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Direction==Vertical ? _expression().rows()-1 : 1,
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Direction==Horizontal ? _expression().cols()-1 : 1));
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}
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namespace internal {
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template<typename MatrixOrTransformType>
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struct take_matrix_for_product
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{
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typedef MatrixOrTransformType type;
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static const type& run(const type &x) { return x; }
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};
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template<typename Scalar, int Dim, int Mode,int Options>
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struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
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{
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typedef Transform<Scalar, Dim, Mode, Options> TransformType;
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typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
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static type run (const TransformType& x) { return x.affine(); }
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};
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template<typename Scalar, int Dim, int Options>
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struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
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{
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typedef Transform<Scalar, Dim, Projective, Options> TransformType;
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typedef typename TransformType::MatrixType type;
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static const type& run (const TransformType& x) { return x.matrix(); }
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};
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template<typename MatrixType,typename Lhs>
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struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
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{
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typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
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typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
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typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
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typedef typename make_proper_matrix_type<
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typename traits<MatrixTypeCleaned>::Scalar,
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LhsMatrixTypeCleaned::RowsAtCompileTime,
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MatrixTypeCleaned::ColsAtCompileTime,
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MatrixTypeCleaned::PlainObject::Options,
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LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
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MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
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};
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template<typename MatrixType,typename Lhs>
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struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
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: public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
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{
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typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
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typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
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typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
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homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
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: m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
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m_rhs(rhs)
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{}
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inline Index rows() const { return m_lhs.rows(); }
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inline Index cols() const { return m_rhs.cols(); }
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template<typename Dest> void evalTo(Dest& dst) const
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{
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// FIXME investigate how to allow lazy evaluation of this product when possible
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dst = Block<const LhsMatrixTypeNested,
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LhsMatrixTypeNested::RowsAtCompileTime,
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LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
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(m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
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dst += m_lhs.col(m_lhs.cols()-1).rowwise()
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.template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
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}
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typename LhsMatrixTypeCleaned::Nested m_lhs;
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typename MatrixType::Nested m_rhs;
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};
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template<typename MatrixType,typename Rhs>
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struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
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{
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typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
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MatrixType::RowsAtCompileTime,
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Rhs::ColsAtCompileTime,
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MatrixType::PlainObject::Options,
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MatrixType::MaxRowsAtCompileTime,
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Rhs::MaxColsAtCompileTime>::type ReturnType;
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};
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template<typename MatrixType,typename Rhs>
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struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
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: public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
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{
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typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
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homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
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: m_lhs(lhs), m_rhs(rhs)
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{}
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inline Index rows() const { return m_lhs.rows(); }
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inline Index cols() const { return m_rhs.cols(); }
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template<typename Dest> void evalTo(Dest& dst) const
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{
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// FIXME investigate how to allow lazy evaluation of this product when possible
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dst = m_lhs * Block<const RhsNested,
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RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
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RhsNested::ColsAtCompileTime>
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(m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
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dst += m_rhs.row(m_rhs.rows()-1).colwise()
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.template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
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}
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typename MatrixType::Nested m_lhs;
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typename Rhs::Nested m_rhs;
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};
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template<typename ArgType,int Direction>
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struct evaluator_traits<Homogeneous<ArgType,Direction> >
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{
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typedef typename storage_kind_to_evaluator_kind<typename ArgType::StorageKind>::Kind Kind;
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typedef HomogeneousShape Shape;
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};
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template<> struct AssignmentKind<DenseShape,HomogeneousShape> { typedef Dense2Dense Kind; };
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template<typename ArgType,int Direction>
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struct unary_evaluator<Homogeneous<ArgType,Direction>, IndexBased>
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: evaluator<typename Homogeneous<ArgType,Direction>::PlainObject >
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{
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typedef Homogeneous<ArgType,Direction> XprType;
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typedef typename XprType::PlainObject PlainObject;
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typedef evaluator<PlainObject> Base;
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explicit unary_evaluator(const XprType& op)
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: Base(), m_temp(op)
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{
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::new (static_cast<Base*>(this)) Base(m_temp);
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}
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protected:
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PlainObject m_temp;
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};
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// dense = homogeneous
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template< typename DstXprType, typename ArgType, typename Scalar>
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struct Assignment<DstXprType, Homogeneous<ArgType,Vertical>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
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{
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typedef Homogeneous<ArgType,Vertical> SrcXprType;
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static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &)
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{
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dst.template topRows<ArgType::RowsAtCompileTime>(src.nestedExpression().rows()) = src.nestedExpression();
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dst.row(dst.rows()-1).setOnes();
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}
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};
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// dense = homogeneous
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template< typename DstXprType, typename ArgType, typename Scalar>
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struct Assignment<DstXprType, Homogeneous<ArgType,Horizontal>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
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{
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typedef Homogeneous<ArgType,Horizontal> SrcXprType;
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static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &)
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{
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dst.template leftCols<ArgType::ColsAtCompileTime>(src.nestedExpression().cols()) = src.nestedExpression();
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dst.col(dst.cols()-1).setOnes();
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}
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};
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template<typename LhsArg, typename Rhs, int ProductTag>
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struct generic_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs, HomogeneousShape, DenseShape, ProductTag>
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{
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template<typename Dest>
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static void evalTo(Dest& dst, const Homogeneous<LhsArg,Horizontal>& lhs, const Rhs& rhs)
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{
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homogeneous_right_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs>(lhs.nestedExpression(), rhs).evalTo(dst);
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}
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};
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template<typename Lhs,typename Rhs>
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struct homogeneous_right_product_refactoring_helper
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{
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enum {
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Dim = Lhs::ColsAtCompileTime,
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Rows = Lhs::RowsAtCompileTime
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};
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typedef typename Rhs::template ConstNRowsBlockXpr<Dim>::Type LinearBlockConst;
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typedef typename remove_const<LinearBlockConst>::type LinearBlock;
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typedef typename Rhs::ConstRowXpr ConstantColumn;
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typedef Replicate<const ConstantColumn,Rows,1> ConstantBlock;
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typedef Product<Lhs,LinearBlock,LazyProduct> LinearProduct;
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typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr;
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};
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template<typename Lhs, typename Rhs, int ProductTag>
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struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, HomogeneousShape, DenseShape>
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: public evaluator<typename homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs>::Xpr>
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{
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typedef Product<Lhs, Rhs, LazyProduct> XprType;
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typedef homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs> helper;
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typedef typename helper::ConstantBlock ConstantBlock;
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typedef typename helper::Xpr RefactoredXpr;
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typedef evaluator<RefactoredXpr> Base;
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EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
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: Base( xpr.lhs().nestedExpression() .lazyProduct( xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) )
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+ ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) )
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{}
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};
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template<typename Lhs, typename RhsArg, int ProductTag>
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struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
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{
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template<typename Dest>
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static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
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{
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homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, Lhs>(lhs, rhs.nestedExpression()).evalTo(dst);
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}
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};
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template<typename Lhs,typename Rhs>
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struct homogeneous_left_product_refactoring_helper
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{
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enum {
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Dim = Rhs::RowsAtCompileTime,
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Cols = Rhs::ColsAtCompileTime
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};
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typedef typename Lhs::template ConstNColsBlockXpr<Dim>::Type LinearBlockConst;
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typedef typename remove_const<LinearBlockConst>::type LinearBlock;
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typedef typename Lhs::ConstColXpr ConstantColumn;
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typedef Replicate<const ConstantColumn,1,Cols> ConstantBlock;
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typedef Product<LinearBlock,Rhs,LazyProduct> LinearProduct;
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typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr;
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};
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template<typename Lhs, typename Rhs, int ProductTag>
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struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, HomogeneousShape>
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: public evaluator<typename homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression>::Xpr>
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{
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typedef Product<Lhs, Rhs, LazyProduct> XprType;
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typedef homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression> helper;
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typedef typename helper::ConstantBlock ConstantBlock;
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typedef typename helper::Xpr RefactoredXpr;
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typedef evaluator<RefactoredXpr> Base;
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EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
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: Base( xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() )
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+ ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) )
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{}
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};
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template<typename Scalar, int Dim, int Mode,int Options, typename RhsArg, int ProductTag>
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struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
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{
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typedef Transform<Scalar,Dim,Mode,Options> TransformType;
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template<typename Dest>
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static void evalTo(Dest& dst, const TransformType& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
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{
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homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, TransformType>(lhs, rhs.nestedExpression()).evalTo(dst);
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}
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};
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template<typename ExpressionType, int Side, bool Transposed>
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struct permutation_matrix_product<ExpressionType, Side, Transposed, HomogeneousShape>
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: public permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
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{};
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} // end namespace internal
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} // end namespace Eigen
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#endif // EIGEN_HOMOGENEOUS_H
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