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Moved Reshape to matrix

release/4.3a0
dellaert 2014-11-10 15:30:53 +01:00
parent 6d04309dfb
commit 00765d9bf3
2 changed files with 36 additions and 37 deletions
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39
gtsam/base/Manifold.h
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@ -242,41 +242,6 @@ struct DefaultChart<double> {
// Fixed size Eigen::Matrix type // Fixed size Eigen::Matrix type
namespace internal {
template <int OutM, int OutN, int InM, int InN, int InOptions>
struct Reshape {
//TODO replace this with Eigen's reshape function as soon as available. (There is a PR already pending : https://bitbucket.org/eigen/eigen/pull-request/41/reshape/diff)
typedef Eigen::Map<const Eigen::Matrix<double, OutM, OutN> > ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & in) {
return in.data();
}
};
template <int M, int N, int InOptions>
struct Reshape<M, N, M, N, InOptions> {
typedef const Eigen::Matrix<double, M, N, InOptions> & ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
return in;
}
};
template <int M, int N, int InOptions>
struct Reshape<N, M, M, N, InOptions> {
typedef typename Eigen::Matrix<double, M, N, InOptions>::ConstTransposeReturnType ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
return in.transpose();
}
};
template <int OutM, int OutN, int InM, int InN, int InOptions>
inline typename Reshape<OutM, OutN, InM, InN, InOptions>::ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & m){
BOOST_STATIC_ASSERT(InM * InN == OutM * OutN);
return Reshape<OutM, OutN, InM, InN, InOptions>::reshape(m);
}
}
template<int M, int N, int Options> template<int M, int N, int Options>
struct DefaultChart<Eigen::Matrix<double, M, N, Options> > { struct DefaultChart<Eigen::Matrix<double, M, N, Options> > {
/** /**
@ -288,10 +253,10 @@ struct DefaultChart<Eigen::Matrix<double, M, N, Options> > {
typedef Eigen::Matrix<double, traits::dimension<T>::value, 1> vector;BOOST_STATIC_ASSERT_MSG((M!=Eigen::Dynamic && N!=Eigen::Dynamic), typedef Eigen::Matrix<double, traits::dimension<T>::value, 1> vector;BOOST_STATIC_ASSERT_MSG((M!=Eigen::Dynamic && N!=Eigen::Dynamic),
"DefaultChart has not been implemented yet for dynamically sized matrices"); "DefaultChart has not been implemented yet for dynamically sized matrices");
static vector local(const T& origin, const T& other) { static vector local(const T& origin, const T& other) {
return internal::reshape<vector::RowsAtCompileTime, 1>(other) - internal::reshape<vector::RowsAtCompileTime, 1>(origin); return reshape<vector::RowsAtCompileTime, 1>(other) - reshape<vector::RowsAtCompileTime, 1>(origin);
} }
static T retract(const T& origin, const vector& d) { static T retract(const T& origin, const vector& d) {
return origin + internal::reshape<M, N>(d); return origin + reshape<M, N>(d);
} }
static int getDimension(const T&origin) { static int getDimension(const T&origin) {
return origin.rows() * origin.cols(); return origin.rows() * origin.cols();

34
gtsam/base/Matrix.h
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@ -293,6 +293,40 @@ void zeroBelowDiagonal(MATRIX& A, size_t cols=0) {
*/ */
inline Matrix trans(const Matrix& A) { return A.transpose(); } inline Matrix trans(const Matrix& A) { return A.transpose(); }
/// Reshape functor
template <int OutM, int OutN, int InM, int InN, int InOptions>
struct Reshape {
//TODO replace this with Eigen's reshape function as soon as available. (There is a PR already pending : https://bitbucket.org/eigen/eigen/pull-request/41/reshape/diff)
typedef Eigen::Map<const Eigen::Matrix<double, OutM, OutN> > ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & in) {
return in.data();
}
};
/// Reshape specialization that does nothing as shape stays the same
template <int M, int N, int InOptions>
struct Reshape<M, N, M, N, InOptions> {
typedef const Eigen::Matrix<double, M, N, InOptions> & ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
return in;
}
};
/// Reshape specialization that does transpose
template <int M, int N, int InOptions>
struct Reshape<N, M, M, N, InOptions> {
typedef typename Eigen::Matrix<double, M, N, InOptions>::ConstTransposeReturnType ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
return in.transpose();
}
};
template <int OutM, int OutN, int InM, int InN, int InOptions>
inline typename Reshape<OutM, OutN, InM, InN, InOptions>::ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & m){
BOOST_STATIC_ASSERT(InM * InN == OutM * OutN);
return Reshape<OutM, OutN, InM, InN, InOptions>::reshape(m);
}
/** /**
* solve AX=B via in-place Lu factorization and backsubstitution * solve AX=B via in-place Lu factorization and backsubstitution
* After calling, A contains LU, B the solved RHS vectors * After calling, A contains LU, B the solved RHS vectors