(in branch) Merged from trunk r8058-r8097
Richard Roberts
parent
21140ea0d5
commit
2fff75562f
356
.cproject
356
.cproject
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@ -380,6 +380,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -406,7 +414,6 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -414,7 +421,6 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -462,7 +468,6 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -470,7 +475,6 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -478,7 +482,6 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -494,20 +497,11 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -534,6 +528,7 @@
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</target>
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<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -605,6 +600,7 @@
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</target>
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<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testInference.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -612,6 +608,7 @@
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</target>
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<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -619,6 +616,7 @@
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</target>
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<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -626,6 +624,7 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -633,6 +632,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -702,22 +702,6 @@
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests/testPose2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests/testPose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -734,6 +718,22 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests/testPose2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>tests/testPose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -758,15 +758,7 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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@ -774,14 +766,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testGeneralSFMFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -822,7 +806,15 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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@ -830,6 +822,14 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1152,7 +1152,6 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1560,6 +1559,7 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1599,6 +1599,7 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1606,6 +1607,7 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1619,6 +1621,85 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="cmake" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cmake</buildCommand>
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<buildArguments>..</buildArguments>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2 VERBOSE=1</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all j5" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5 VERBOSE=1</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="test" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>test</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testSimulated2D.run" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="wrap_testWrap.run" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>wrap_testWrap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
|
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<target name="check" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check j5" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="install" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>install</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testDSFVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1853,6 +1934,7 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1874,46 +1956,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
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<buildCommand>make</buildCommand>
|
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<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>install</buildTarget>
|
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<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
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<runAllBuilders>true</runAllBuilders>
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</target>
|
||||
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>dist</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2010,6 +2052,94 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>install</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>dist</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>install</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testSpirit.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testWrap.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
|
|
@ -2066,54 +2196,6 @@
|
|||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>install</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testSpirit.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="tests/testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>tests/testWrap.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="all" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>all</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,72 @@
|
|||
project(GTSAM CXX C)
|
||||
cmake_minimum_required(VERSION 2.6)
|
||||
|
||||
# Set the version number for the libarary
|
||||
set (GTSAM_VERSION_MAJOR 0)
|
||||
set (GTSAM_VERSION_MINOR 9)
|
||||
set (GTSAM_VERSION_PATCH 3)
|
||||
|
||||
# guard against in-source builds
|
||||
if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
|
||||
message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
|
||||
endif()
|
||||
|
||||
# guard against bad build-type strings
|
||||
if (NOT CMAKE_BUILD_TYPE)
|
||||
set(CMAKE_BUILD_TYPE "Debug")
|
||||
endif()
|
||||
|
||||
string(TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower)
|
||||
if( NOT cmake_build_type_tolower STREQUAL "debug"
|
||||
AND NOT cmake_build_type_tolower STREQUAL "release"
|
||||
AND NOT cmake_build_type_tolower STREQUAL "relwithdebinfo")
|
||||
message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are Debug, Release, RelWithDebInfo (case-insensitive).")
|
||||
endif()
|
||||
|
||||
# Turn off function inlining when debugging
|
||||
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -fno-inline -Wall")
|
||||
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall")
|
||||
# No optimization in relwithdebinfo
|
||||
set(CMAKE_C_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall")
|
||||
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall")
|
||||
# Eigen no debug in release mode
|
||||
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -DEIGEN_NO_DEBUG")
|
||||
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DEIGEN_NO_DEBUG")
|
||||
|
||||
# Configurable Options
|
||||
|
||||
|
||||
# Pull in tests
|
||||
enable_testing()
|
||||
include(Dart)
|
||||
include(CTest)
|
||||
|
||||
# Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck)
|
||||
add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND})
|
||||
|
||||
# Find boost
|
||||
find_package(Boost 1.40 REQUIRED)
|
||||
|
||||
# General build settings
|
||||
include_directories(
|
||||
gtsam/3rdparty/UFconfig
|
||||
gtsam/3rdparty/CCOLAMD/Include
|
||||
${CMAKE_SOURCE_DIR}
|
||||
CppUnitLite
|
||||
${BOOST_INCLUDE_DIR})
|
||||
link_directories(${Boost_LIBRARY_DIRS})
|
||||
|
||||
# Build GTSAM library
|
||||
add_subdirectory(gtsam)
|
||||
|
||||
# Build CppUnitLite
|
||||
add_subdirectory(CppUnitLite)
|
||||
|
||||
# Build Tests
|
||||
add_subdirectory(tests)
|
||||
|
||||
# Build wrap
|
||||
add_subdirectory(wrap)
|
||||
|
||||
# Build examples
|
||||
add_subdirectory(examples)
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
# Build/install CppUnitLite
|
||||
|
||||
FILE(GLOB cppunitlite_headers "*.h")
|
||||
FILE(GLOB cppunitlite_src "*.cpp")
|
||||
|
||||
ADD_LIBRARY(CppUnitLite STATIC ${cppunitlite_src})
|
||||
|
||||
install(FILES ${cppunitlite_headers} DESTINATION include/CppUnitLite)
|
||||
install(TARGETS CppUnitLite ARCHIVE DESTINATION lib)
|
||||
|
|
@ -0,0 +1,14 @@
|
|||
# Build example executables
|
||||
FILE(GLOB example_srcs "*.cpp")
|
||||
foreach(example_src ${example_srcs} )
|
||||
get_filename_component(example_base ${example_src} NAME_WE)
|
||||
set( example_bin ${example_base} )
|
||||
add_executable(${example_bin} ${example_src})
|
||||
target_link_libraries(${example_bin} gtsam)
|
||||
endforeach(example_src)
|
||||
|
||||
add_subdirectory(vSLAMexample)
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
# Build vSLAMexample
|
||||
|
||||
set ( srcs
|
||||
Feature2D.cpp
|
||||
vSLAMutils.cpp
|
||||
)
|
||||
add_library(vSLAMexample ${srcs})
|
||||
|
||||
add_executable(vISAMexample vISAMexample.cpp)
|
||||
target_link_libraries(vISAMexample vSLAMexample gtsam)
|
||||
|
||||
add_executable(vSFMexample vSFMexample.cpp)
|
||||
target_link_libraries(vSFMexample vSLAMexample gtsam)
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
# install CCOLAMD headers
|
||||
install(FILES CCOLAMD/Include/ccolamd.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/CCOLAMD)
|
||||
install(FILES UFconfig/UFconfig.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/UFconfig)
|
||||
|
||||
# install Eigen - only the headers
|
||||
install(DIRECTORY Eigen/Eigen
|
||||
DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/Eigen
|
||||
FILES_MATCHING PATTERN "*.h")
|
||||
file(GLOB eigen_dir_headers_all "Eigen/Eigen/*")
|
||||
foreach(eigen_dir ${eigen_dir_headers_all})
|
||||
get_filename_component(filename ${eigen_dir} NAME)
|
||||
if (NOT ((${filename} MATCHES "CMakeLists.txt") OR (${filename} MATCHES "src") OR (${filename} MATCHES ".svn")))
|
||||
install(FILES Eigen/Eigen/${filename} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/Eigen/Eigen)
|
||||
endif()
|
||||
endforeach(eigen_dir)
|
||||
|
|
@ -283,11 +283,17 @@ if(EIGEN_BUILD_PKGCONFIG)
|
|||
STRING(REPLACE ${path_separator} ";" pkg_config_libdir_search "$ENV{PKG_CONFIG_LIBDIR}")
|
||||
message(STATUS "searching for 'pkgconfig' directory in PKG_CONFIG_LIBDIR ( $ENV{PKG_CONFIG_LIBDIR} ), ${CMAKE_INSTALL_PREFIX}/share, and ${CMAKE_INSTALL_PREFIX}/lib")
|
||||
FIND_PATH(pkg_config_libdir pkgconfig ${pkg_config_libdir_search} ${CMAKE_INSTALL_PREFIX}/share ${CMAKE_INSTALL_PREFIX}/lib ${pkg_config_libdir_search})
|
||||
if(pkg_config_libdir)
|
||||
SET(pkg_config_install_dir ${pkg_config_libdir})
|
||||
message(STATUS "found ${pkg_config_libdir}/pkgconfig" )
|
||||
else(pkg_config_libdir)
|
||||
SET(pkg_config_install_dir ${CMAKE_INSTALL_PREFIX}/share)
|
||||
message(STATUS "pkgconfig not found; installing in ${pkg_config_install_dir}" )
|
||||
endif(pkg_config_libdir)
|
||||
|
||||
configure_file(eigen3.pc.in eigen3.pc)
|
||||
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/eigen3.pc
|
||||
DESTINATION ${pkg_config_libdir}/pkgconfig
|
||||
DESTINATION ${pkg_config_install_dir}/pkgconfig
|
||||
)
|
||||
endif(EIGEN_BUILD_PKGCONFIG)
|
||||
|
||||
|
|
|
|||
|
|
@ -167,7 +167,7 @@
|
|||
#include <intrin.h>
|
||||
#endif
|
||||
|
||||
#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(EIGEN_NO_EXCEPTIONS)
|
||||
#if defined(_CPPUNWIND) || defined(__EXCEPTIONS)
|
||||
#define EIGEN_EXCEPTIONS
|
||||
#endif
|
||||
|
||||
|
|
|
|||
|
|
@ -68,10 +68,8 @@ class Array
|
|||
friend struct internal::conservative_resize_like_impl;
|
||||
|
||||
using Base::m_storage;
|
||||
|
||||
public:
|
||||
enum { NeedsToAlign = (!(Options&DontAlign))
|
||||
&& SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
|
||||
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
|
||||
|
||||
using Base::base;
|
||||
using Base::coeff;
|
||||
|
|
|
|||
|
|
@ -94,7 +94,7 @@ struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel, HasDirectAccess>
|
|||
MaskPacketAccessBit = (InnerSize == Dynamic || (InnerSize % packet_traits<Scalar>::size) == 0)
|
||||
&& (InnerStrideAtCompileTime == 1)
|
||||
? PacketAccessBit : 0,
|
||||
MaskAlignedBit = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && ((OuterStrideAtCompileTime % packet_traits<Scalar>::size) == 0)) ? AlignedBit : 0,
|
||||
MaskAlignedBit = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * sizeof(Scalar)) % 16) == 0)) ? AlignedBit : 0,
|
||||
FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1) ? LinearAccessBit : 0,
|
||||
FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
|
||||
FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,
|
||||
|
|
|
|||
|
|
@ -170,7 +170,7 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
|
|||
EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(internal::traits<Derived>::Flags&PacketAccessBit,
|
||||
internal::inner_stride_at_compile_time<Derived>::ret==1),
|
||||
PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
|
||||
eigen_assert(EIGEN_IMPLIES(internal::traits<Derived>::Flags&AlignedBit, (size_t(m_data) % (sizeof(Scalar)*internal::packet_traits<Scalar>::size)) == 0)
|
||||
eigen_assert(EIGEN_IMPLIES(internal::traits<Derived>::Flags&AlignedBit, (size_t(m_data) % 16) == 0)
|
||||
&& "data is not aligned");
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -153,10 +153,6 @@ class Matrix
|
|||
|
||||
typedef typename Base::PlainObject PlainObject;
|
||||
|
||||
enum { NeedsToAlign = (!(Options&DontAlign))
|
||||
&& SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
|
||||
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
|
||||
|
||||
using Base::base;
|
||||
using Base::coeffRef;
|
||||
|
||||
|
|
|
|||
|
|
@ -34,6 +34,19 @@
|
|||
|
||||
namespace internal {
|
||||
|
||||
template<typename Index>
|
||||
EIGEN_ALWAYS_INLINE void check_rows_cols_for_overflow(Index rows, Index cols)
|
||||
{
|
||||
// http://hg.mozilla.org/mozilla-central/file/6c8a909977d3/xpcom/ds/CheckedInt.h#l242
|
||||
// we assume Index is signed
|
||||
Index max_index = (size_t(1) << (8 * sizeof(Index) - 1)) - 1; // assume Index is signed
|
||||
bool error = (rows < 0 || cols < 0) ? true
|
||||
: (rows == 0 || cols == 0) ? false
|
||||
: (rows > max_index / cols);
|
||||
if (error)
|
||||
throw_std_bad_alloc();
|
||||
}
|
||||
|
||||
template <typename Derived, typename OtherDerived = Derived, bool IsVector = static_cast<bool>(Derived::IsVectorAtCompileTime)> struct conservative_resize_like_impl;
|
||||
|
||||
template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers> struct matrix_swap_impl;
|
||||
|
|
@ -85,13 +98,11 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
|
|||
template<typename StrideType> struct StridedAlignedMapType { typedef Eigen::Map<Derived, Aligned, StrideType> type; };
|
||||
template<typename StrideType> struct StridedConstAlignedMapType { typedef Eigen::Map<const Derived, Aligned, StrideType> type; };
|
||||
|
||||
|
||||
protected:
|
||||
DenseStorage<Scalar, Base::MaxSizeAtCompileTime, Base::RowsAtCompileTime, Base::ColsAtCompileTime, Options> m_storage;
|
||||
|
||||
public:
|
||||
enum { NeedsToAlign = (!(Options&DontAlign))
|
||||
&& SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
|
||||
enum { NeedsToAlign = SizeAtCompileTime != Dynamic && (internal::traits<Derived>::Flags & AlignedBit) != 0 };
|
||||
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
|
||||
|
||||
Base& base() { return *static_cast<Base*>(this); }
|
||||
|
|
@ -200,11 +211,13 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
|
|||
EIGEN_STRONG_INLINE void resize(Index rows, Index cols)
|
||||
{
|
||||
#ifdef EIGEN_INITIALIZE_MATRICES_BY_ZERO
|
||||
internal::check_rows_cols_for_overflow(rows, cols);
|
||||
Index size = rows*cols;
|
||||
bool size_changed = size != this->size();
|
||||
m_storage.resize(size, rows, cols);
|
||||
if(size_changed) EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
|
||||
#else
|
||||
internal::check_rows_cols_for_overflow(rows, cols);
|
||||
m_storage.resize(rows*cols, rows, cols);
|
||||
#endif
|
||||
}
|
||||
|
|
@ -273,6 +286,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
|
|||
EIGEN_STRONG_INLINE void resizeLike(const EigenBase<OtherDerived>& _other)
|
||||
{
|
||||
const OtherDerived& other = _other.derived();
|
||||
internal::check_rows_cols_for_overflow(other.rows(), other.cols());
|
||||
const Index othersize = other.rows()*other.cols();
|
||||
if(RowsAtCompileTime == 1)
|
||||
{
|
||||
|
|
@ -417,6 +431,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
|
|||
: m_storage(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
|
||||
{
|
||||
_check_template_params();
|
||||
internal::check_rows_cols_for_overflow(other.derived().rows(), other.derived().cols());
|
||||
Base::operator=(other.derived());
|
||||
}
|
||||
|
||||
|
|
@ -581,6 +596,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
|
|||
{
|
||||
eigen_assert(rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
|
||||
&& cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
|
||||
internal::check_rows_cols_for_overflow(rows, cols);
|
||||
m_storage.resize(rows*cols,rows,cols);
|
||||
EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
|
||||
}
|
||||
|
|
@ -638,6 +654,7 @@ struct internal::conservative_resize_like_impl
|
|||
if ( ( Derived::IsRowMajor && _this.cols() == cols) || // row-major and we change only the number of rows
|
||||
(!Derived::IsRowMajor && _this.rows() == rows) ) // column-major and we change only the number of columns
|
||||
{
|
||||
internal::check_rows_cols_for_overflow(rows, cols);
|
||||
_this.derived().m_storage.conservativeResize(rows*cols,rows,cols);
|
||||
}
|
||||
else
|
||||
|
|
|
|||
|
|
@ -27,8 +27,8 @@
|
|||
|
||||
namespace internal {
|
||||
|
||||
static uint32x4_t p4ui_CONJ_XOR = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
|
||||
static uint32x2_t p2ui_CONJ_XOR = { 0x00000000, 0x80000000 };
|
||||
static uint32x4_t p4ui_CONJ_XOR = EIGEN_INIT_NEON_PACKET4(0x00000000, 0x80000000, 0x00000000, 0x80000000);
|
||||
static uint32x2_t p2ui_CONJ_XOR = EIGEN_INIT_NEON_PACKET2(0x00000000, 0x80000000);
|
||||
|
||||
//---------- float ----------
|
||||
struct Packet2cf
|
||||
|
|
|
|||
|
|
@ -52,6 +52,16 @@ typedef uint32x4_t Packet4ui;
|
|||
#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
|
||||
const Packet4i p4i_##NAME = pset1<Packet4i>(X)
|
||||
|
||||
#if defined(__llvm__) && !defined(__clang__)
|
||||
//Special treatment for Apple's llvm-gcc, its NEON packet types are unions
|
||||
#define EIGEN_INIT_NEON_PACKET2(X, Y) {{X, Y}}
|
||||
#define EIGEN_INIT_NEON_PACKET4(X, Y, Z, W) {{X, Y, Z, W}}
|
||||
#else
|
||||
//Default initializer for packets
|
||||
#define EIGEN_INIT_NEON_PACKET2(X, Y) {X, Y}
|
||||
#define EIGEN_INIT_NEON_PACKET4(X, Y, Z, W) {X, Y, Z, W}
|
||||
#endif
|
||||
|
||||
#ifndef __pld
|
||||
#define __pld(x) asm volatile ( " pld [%[addr]]\n" :: [addr] "r" (x) : "cc" );
|
||||
#endif
|
||||
|
|
@ -84,7 +94,7 @@ template<> struct packet_traits<int> : default_packet_traits
|
|||
};
|
||||
};
|
||||
|
||||
#if EIGEN_GNUC_AT_MOST(4,4)
|
||||
#if EIGEN_GNUC_AT_MOST(4,4) && !defined(__llvm__)
|
||||
// workaround gcc 4.2, 4.3 and 4.4 compilatin issue
|
||||
EIGEN_STRONG_INLINE float32x4_t vld1q_f32(const float* x) { return ::vld1q_f32((const float32_t*)x); }
|
||||
EIGEN_STRONG_INLINE float32x2_t vld1_f32 (const float* x) { return ::vld1_f32 ((const float32_t*)x); }
|
||||
|
|
@ -100,12 +110,12 @@ template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int& from) {
|
|||
|
||||
template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a)
|
||||
{
|
||||
Packet4f countdown = { 0, 1, 2, 3 };
|
||||
Packet4f countdown = EIGEN_INIT_NEON_PACKET4(0, 1, 2, 3);
|
||||
return vaddq_f32(pset1<Packet4f>(a), countdown);
|
||||
}
|
||||
template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a)
|
||||
{
|
||||
Packet4i countdown = { 0, 1, 2, 3 };
|
||||
Packet4i countdown = EIGEN_INIT_NEON_PACKET4(0, 1, 2, 3);
|
||||
return vaddq_s32(pset1<Packet4i>(a), countdown);
|
||||
}
|
||||
|
||||
|
|
@ -395,25 +405,29 @@ template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
|
|||
return s[0];
|
||||
}
|
||||
|
||||
template<int Offset>
|
||||
struct palign_impl<Offset,Packet4f>
|
||||
{
|
||||
EIGEN_STRONG_INLINE static void run(Packet4f& first, const Packet4f& second)
|
||||
{
|
||||
if (Offset!=0)
|
||||
first = vextq_f32(first, second, Offset);
|
||||
}
|
||||
};
|
||||
// this PALIGN_NEON business is to work around a bug in LLVM Clang 3.0 causing incorrect compilation errors,
|
||||
// see bug 347 and this LLVM bug: http://llvm.org/bugs/show_bug.cgi?id=11074
|
||||
#define PALIGN_NEON(Offset,Type,Command) \
|
||||
template<>\
|
||||
struct palign_impl<Offset,Type>\
|
||||
{\
|
||||
EIGEN_STRONG_INLINE static void run(Type& first, const Type& second)\
|
||||
{\
|
||||
if (Offset!=0)\
|
||||
first = Command(first, second, Offset);\
|
||||
}\
|
||||
};\
|
||||
|
||||
template<int Offset>
|
||||
struct palign_impl<Offset,Packet4i>
|
||||
{
|
||||
EIGEN_STRONG_INLINE static void run(Packet4i& first, const Packet4i& second)
|
||||
{
|
||||
if (Offset!=0)
|
||||
first = vextq_s32(first, second, Offset);
|
||||
}
|
||||
};
|
||||
PALIGN_NEON(0,Packet4f,vextq_f32)
|
||||
PALIGN_NEON(1,Packet4f,vextq_f32)
|
||||
PALIGN_NEON(2,Packet4f,vextq_f32)
|
||||
PALIGN_NEON(3,Packet4f,vextq_f32)
|
||||
PALIGN_NEON(0,Packet4i,vextq_s32)
|
||||
PALIGN_NEON(1,Packet4i,vextq_s32)
|
||||
PALIGN_NEON(2,Packet4i,vextq_s32)
|
||||
PALIGN_NEON(3,Packet4i,vextq_s32)
|
||||
|
||||
#undef PALIGN_NEON
|
||||
|
||||
} // end namespace internal
|
||||
|
||||
|
|
|
|||
|
|
@ -118,14 +118,14 @@ inline void computeProductBlockingSizes(std::ptrdiff_t& k, std::ptrdiff_t& m, st
|
|||
// FIXME (a bit overkill maybe ?)
|
||||
|
||||
template<typename CJ, typename A, typename B, typename C, typename T> struct gebp_madd_selector {
|
||||
EIGEN_STRONG_INLINE EIGEN_ALWAYS_INLINE_ATTRIB static void run(const CJ& cj, A& a, B& b, C& c, T& /*t*/)
|
||||
EIGEN_ALWAYS_INLINE static void run(const CJ& cj, A& a, B& b, C& c, T& /*t*/)
|
||||
{
|
||||
c = cj.pmadd(a,b,c);
|
||||
}
|
||||
};
|
||||
|
||||
template<typename CJ, typename T> struct gebp_madd_selector<CJ,T,T,T,T> {
|
||||
EIGEN_STRONG_INLINE EIGEN_ALWAYS_INLINE_ATTRIB static void run(const CJ& cj, T& a, T& b, T& c, T& t)
|
||||
EIGEN_ALWAYS_INLINE static void run(const CJ& cj, T& a, T& b, T& c, T& t)
|
||||
{
|
||||
t = b; t = cj.pmul(a,t); c = padd(c,t);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -28,7 +28,7 @@
|
|||
|
||||
#define EIGEN_WORLD_VERSION 3
|
||||
#define EIGEN_MAJOR_VERSION 0
|
||||
#define EIGEN_MINOR_VERSION 3
|
||||
#define EIGEN_MINOR_VERSION 4
|
||||
|
||||
#define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
|
||||
(EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
|
||||
|
|
@ -45,7 +45,7 @@
|
|||
#define EIGEN_GNUC_AT_MOST(x,y) 0
|
||||
#endif
|
||||
|
||||
#if EIGEN_GNUC_AT_MOST(4,3)
|
||||
#if EIGEN_GNUC_AT_MOST(4,3) && !defined(__clang__)
|
||||
// see bug 89
|
||||
#define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 0
|
||||
#else
|
||||
|
|
@ -130,31 +130,34 @@
|
|||
#define EIGEN_MAKESTRING2(a) #a
|
||||
#define EIGEN_MAKESTRING(a) EIGEN_MAKESTRING2(a)
|
||||
|
||||
// EIGEN_ALWAYS_INLINE_ATTRIB should be use in the declaration of function
|
||||
// which should be inlined even in debug mode.
|
||||
// FIXME with the always_inline attribute,
|
||||
// gcc 3.4.x reports the following compilation error:
|
||||
// Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
|
||||
// : function body not available
|
||||
#if EIGEN_GNUC_AT_LEAST(4,0)
|
||||
#define EIGEN_ALWAYS_INLINE_ATTRIB __attribute__((always_inline))
|
||||
#else
|
||||
#define EIGEN_ALWAYS_INLINE_ATTRIB
|
||||
#endif
|
||||
|
||||
#if EIGEN_GNUC_AT_LEAST(4,1) && !defined(__clang__) && !defined(__INTEL_COMPILER)
|
||||
#define EIGEN_FLATTEN_ATTRIB __attribute__((flatten))
|
||||
#else
|
||||
#define EIGEN_FLATTEN_ATTRIB
|
||||
#endif
|
||||
|
||||
// EIGEN_FORCE_INLINE means "inline as much as possible"
|
||||
// EIGEN_STRONG_INLINE is a stronger version of the inline, using __forceinline on MSVC,
|
||||
// but it still doesn't use GCC's always_inline. This is useful in (common) situations where MSVC needs forceinline
|
||||
// but GCC is still doing fine with just inline.
|
||||
#if (defined _MSC_VER) || (defined __INTEL_COMPILER)
|
||||
#define EIGEN_STRONG_INLINE __forceinline
|
||||
#else
|
||||
#define EIGEN_STRONG_INLINE inline
|
||||
#endif
|
||||
|
||||
// EIGEN_ALWAYS_INLINE is the stronget, it has the effect of making the function inline and adding every possible
|
||||
// attribute to maximize inlining. This should only be used when really necessary: in particular,
|
||||
// it uses __attribute__((always_inline)) on GCC, which most of the time is useless and can severely harm compile times.
|
||||
// FIXME with the always_inline attribute,
|
||||
// gcc 3.4.x reports the following compilation error:
|
||||
// Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
|
||||
// : function body not available
|
||||
#if EIGEN_GNUC_AT_LEAST(4,0)
|
||||
#define EIGEN_ALWAYS_INLINE __attribute__((always_inline)) inline
|
||||
#else
|
||||
#define EIGEN_ALWAYS_INLINE EIGEN_STRONG_INLINE
|
||||
#endif
|
||||
|
||||
#if (defined __GNUC__)
|
||||
#define EIGEN_DONT_INLINE __attribute__((noinline))
|
||||
#elif (defined _MSC_VER)
|
||||
|
|
|
|||
|
|
@ -82,6 +82,16 @@
|
|||
|
||||
namespace internal {
|
||||
|
||||
inline void throw_std_bad_alloc()
|
||||
{
|
||||
#ifdef EIGEN_EXCEPTIONS
|
||||
throw std::bad_alloc();
|
||||
#else
|
||||
std::size_t huge = -1;
|
||||
new int[huge];
|
||||
#endif
|
||||
}
|
||||
|
||||
/*****************************************************************************
|
||||
*** Implementation of handmade aligned functions ***
|
||||
*****************************************************************************/
|
||||
|
|
@ -192,7 +202,7 @@ inline void check_that_malloc_is_allowed()
|
|||
#endif
|
||||
|
||||
/** \internal Allocates \a size bytes. The returned pointer is guaranteed to have 16 bytes alignment.
|
||||
* On allocation error, the returned pointer is null, and if exceptions are enabled then a std::bad_alloc is thrown.
|
||||
* On allocation error, the returned pointer is null, and std::bad_alloc is thrown.
|
||||
*/
|
||||
inline void* aligned_malloc(size_t size)
|
||||
{
|
||||
|
|
@ -213,10 +223,9 @@ inline void* aligned_malloc(size_t size)
|
|||
result = handmade_aligned_malloc(size);
|
||||
#endif
|
||||
|
||||
#ifdef EIGEN_EXCEPTIONS
|
||||
if(result == 0)
|
||||
throw std::bad_alloc();
|
||||
#endif
|
||||
if(!result && size)
|
||||
throw_std_bad_alloc();
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
|
@ -241,7 +250,7 @@ inline void aligned_free(void *ptr)
|
|||
/**
|
||||
* \internal
|
||||
* \brief Reallocates an aligned block of memory.
|
||||
* \throws std::bad_alloc if EIGEN_EXCEPTIONS are defined.
|
||||
* \throws std::bad_alloc on allocation failure
|
||||
**/
|
||||
inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
|
||||
{
|
||||
|
|
@ -269,10 +278,9 @@ inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
|
|||
result = handmade_aligned_realloc(ptr,new_size,old_size);
|
||||
#endif
|
||||
|
||||
#ifdef EIGEN_EXCEPTIONS
|
||||
if (result==0 && new_size!=0)
|
||||
throw std::bad_alloc();
|
||||
#endif
|
||||
if (!result && new_size)
|
||||
throw_std_bad_alloc();
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
|
@ -281,7 +289,7 @@ inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
|
|||
*****************************************************************************/
|
||||
|
||||
/** \internal Allocates \a size bytes. If Align is true, then the returned ptr is 16-byte-aligned.
|
||||
* On allocation error, the returned pointer is null, and if exceptions are enabled then a std::bad_alloc is thrown.
|
||||
* On allocation error, the returned pointer is null, and a std::bad_alloc is thrown.
|
||||
*/
|
||||
template<bool Align> inline void* conditional_aligned_malloc(size_t size)
|
||||
{
|
||||
|
|
@ -293,9 +301,8 @@ template<> inline void* conditional_aligned_malloc<false>(size_t size)
|
|||
check_that_malloc_is_allowed();
|
||||
|
||||
void *result = std::malloc(size);
|
||||
#ifdef EIGEN_EXCEPTIONS
|
||||
if(!result) throw std::bad_alloc();
|
||||
#endif
|
||||
if(!result && size)
|
||||
throw_std_bad_alloc();
|
||||
return result;
|
||||
}
|
||||
|
||||
|
|
@ -347,18 +354,27 @@ template<typename T> inline void destruct_elements_of_array(T *ptr, size_t size)
|
|||
*** Implementation of aligned new/delete-like functions ***
|
||||
*****************************************************************************/
|
||||
|
||||
template<typename T>
|
||||
EIGEN_ALWAYS_INLINE void check_size_for_overflow(size_t size)
|
||||
{
|
||||
if(size > size_t(-1) / sizeof(T))
|
||||
throw_std_bad_alloc();
|
||||
}
|
||||
|
||||
/** \internal Allocates \a size objects of type T. The returned pointer is guaranteed to have 16 bytes alignment.
|
||||
* On allocation error, the returned pointer is undefined, but if exceptions are enabled then a std::bad_alloc is thrown.
|
||||
* On allocation error, the returned pointer is undefined, but a std::bad_alloc is thrown.
|
||||
* The default constructor of T is called.
|
||||
*/
|
||||
template<typename T> inline T* aligned_new(size_t size)
|
||||
{
|
||||
check_size_for_overflow<T>(size);
|
||||
T *result = reinterpret_cast<T*>(aligned_malloc(sizeof(T)*size));
|
||||
return construct_elements_of_array(result, size);
|
||||
}
|
||||
|
||||
template<typename T, bool Align> inline T* conditional_aligned_new(size_t size)
|
||||
{
|
||||
check_size_for_overflow<T>(size);
|
||||
T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
|
||||
return construct_elements_of_array(result, size);
|
||||
}
|
||||
|
|
@ -383,6 +399,8 @@ template<typename T, bool Align> inline void conditional_aligned_delete(T *ptr,
|
|||
|
||||
template<typename T, bool Align> inline T* conditional_aligned_realloc_new(T* pts, size_t new_size, size_t old_size)
|
||||
{
|
||||
check_size_for_overflow<T>(new_size);
|
||||
check_size_for_overflow<T>(old_size);
|
||||
if(new_size < old_size)
|
||||
destruct_elements_of_array(pts+new_size, old_size-new_size);
|
||||
T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
|
||||
|
|
@ -394,6 +412,7 @@ template<typename T, bool Align> inline T* conditional_aligned_realloc_new(T* pt
|
|||
|
||||
template<typename T, bool Align> inline T* conditional_aligned_new_auto(size_t size)
|
||||
{
|
||||
check_size_for_overflow<T>(size);
|
||||
T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
|
||||
if(NumTraits<T>::RequireInitialization)
|
||||
construct_elements_of_array(result, size);
|
||||
|
|
@ -402,6 +421,8 @@ template<typename T, bool Align> inline T* conditional_aligned_new_auto(size_t s
|
|||
|
||||
template<typename T, bool Align> inline T* conditional_aligned_realloc_new_auto(T* pts, size_t new_size, size_t old_size)
|
||||
{
|
||||
check_size_for_overflow<T>(new_size);
|
||||
check_size_for_overflow<T>(old_size);
|
||||
if(NumTraits<T>::RequireInitialization && (new_size < old_size))
|
||||
destruct_elements_of_array(pts+new_size, old_size-new_size);
|
||||
T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
|
||||
|
|
@ -536,6 +557,7 @@ template<typename T> class aligned_stack_memory_handler
|
|||
#endif
|
||||
|
||||
#define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
|
||||
Eigen::internal::check_size_for_overflow<TYPE>(SIZE); \
|
||||
TYPE* NAME = (BUFFER)!=0 ? (BUFFER) \
|
||||
: reinterpret_cast<TYPE*>( \
|
||||
(sizeof(TYPE)*SIZE<=EIGEN_STACK_ALLOCATION_LIMIT) ? EIGEN_ALIGNED_ALLOCA(sizeof(TYPE)*SIZE) \
|
||||
|
|
@ -545,6 +567,7 @@ template<typename T> class aligned_stack_memory_handler
|
|||
#else
|
||||
|
||||
#define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
|
||||
Eigen::internal::check_size_for_overflow<TYPE>(SIZE); \
|
||||
TYPE* NAME = (BUFFER)!=0 ? BUFFER : reinterpret_cast<TYPE*>(Eigen::internal::aligned_malloc(sizeof(TYPE)*SIZE)); \
|
||||
Eigen::internal::aligned_stack_memory_handler<TYPE> EIGEN_CAT(NAME,_stack_memory_destructor)((BUFFER)==0 ? NAME : 0,SIZE,true)
|
||||
|
||||
|
|
@ -669,6 +692,7 @@ public:
|
|||
pointer allocate( size_type num, const void* hint = 0 )
|
||||
{
|
||||
EIGEN_UNUSED_VARIABLE(hint);
|
||||
internal::check_size_for_overflow<T>(num);
|
||||
return static_cast<pointer>( internal::aligned_malloc( num * sizeof(T) ) );
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -125,10 +125,9 @@ class compute_matrix_flags
|
|||
aligned_bit =
|
||||
(
|
||||
((Options&DontAlign)==0)
|
||||
&& packet_traits<Scalar>::Vectorizable
|
||||
&& (
|
||||
#if EIGEN_ALIGN_STATICALLY
|
||||
((!is_dynamic_size_storage) && (((MaxCols*MaxRows) % packet_traits<Scalar>::size) == 0))
|
||||
((!is_dynamic_size_storage) && (((MaxCols*MaxRows*sizeof(Scalar)) % 16) == 0))
|
||||
#else
|
||||
0
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -220,6 +220,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
|
|||
const MatrixType& eigenvectors() const
|
||||
{
|
||||
eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
|
||||
eigen_assert(info() == Success && "Eigenvalue computation did not converge.");
|
||||
eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
|
||||
return m_eivec;
|
||||
}
|
||||
|
|
@ -242,6 +243,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
|
|||
const RealVectorType& eigenvalues() const
|
||||
{
|
||||
eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
|
||||
eigen_assert(info() == Success && "Eigenvalue computation did not converge.");
|
||||
return m_eivalues;
|
||||
}
|
||||
|
||||
|
|
@ -266,6 +268,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
|
|||
MatrixType operatorSqrt() const
|
||||
{
|
||||
eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
|
||||
eigen_assert(info() == Success && "Eigenvalue computation did not converge.");
|
||||
eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
|
||||
return m_eivec * m_eivalues.cwiseSqrt().asDiagonal() * m_eivec.adjoint();
|
||||
}
|
||||
|
|
@ -291,6 +294,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
|
|||
MatrixType operatorInverseSqrt() const
|
||||
{
|
||||
eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
|
||||
eigen_assert(info() == Success && "Eigenvalue computation did not converge.");
|
||||
eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
|
||||
return m_eivec * m_eivalues.cwiseInverse().cwiseSqrt().asDiagonal() * m_eivec.adjoint();
|
||||
}
|
||||
|
|
@ -307,7 +311,8 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
|
|||
|
||||
/** \brief Maximum number of iterations.
|
||||
*
|
||||
* Maximum number of iterations allowed for an eigenvalue to converge.
|
||||
* The algorithm terminates if it does not converge within m_maxIterations * n iterations, where n
|
||||
* denotes the size of the matrix. This value is currently set to 30 (copied from LAPACK).
|
||||
*/
|
||||
static const int m_maxIterations = 30;
|
||||
|
||||
|
|
@ -407,7 +412,7 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
|
|||
|
||||
Index end = n-1;
|
||||
Index start = 0;
|
||||
Index iter = 0; // number of iterations we are working on one element
|
||||
Index iter = 0; // total number of iterations
|
||||
|
||||
while (end>0)
|
||||
{
|
||||
|
|
@ -418,15 +423,14 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
|
|||
// find the largest unreduced block
|
||||
while (end>0 && m_subdiag[end-1]==0)
|
||||
{
|
||||
iter = 0;
|
||||
end--;
|
||||
}
|
||||
if (end<=0)
|
||||
break;
|
||||
|
||||
// if we spent too many iterations on the current element, we give up
|
||||
// if we spent too many iterations, we give up
|
||||
iter++;
|
||||
if(iter > m_maxIterations) break;
|
||||
if(iter > m_maxIterations * n) break;
|
||||
|
||||
start = end - 1;
|
||||
while (start>0 && m_subdiag[start-1]!=0)
|
||||
|
|
@ -435,7 +439,7 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
|
|||
internal::tridiagonal_qr_step<MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor>(diag.data(), m_subdiag.data(), start, end, computeEigenvectors ? m_eivec.data() : (Scalar*)0, n);
|
||||
}
|
||||
|
||||
if (iter <= m_maxIterations)
|
||||
if (iter <= m_maxIterations * n)
|
||||
m_info = Success;
|
||||
else
|
||||
m_info = NoConvergence;
|
||||
|
|
|
|||
|
|
@ -182,8 +182,7 @@ public:
|
|||
template<typename NewScalarType>
|
||||
inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
|
||||
{
|
||||
return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(
|
||||
coeffs().template cast<NewScalarType>());
|
||||
return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(derived());
|
||||
}
|
||||
|
||||
#ifdef EIGEN_QUATERNIONBASE_PLUGIN
|
||||
|
|
@ -225,22 +224,25 @@ struct traits<Quaternion<_Scalar,_Options> >
|
|||
typedef _Scalar Scalar;
|
||||
typedef Matrix<_Scalar,4,1,_Options> Coefficients;
|
||||
enum{
|
||||
IsAligned = bool(EIGEN_ALIGN) && ((int(_Options)&Aligned)==Aligned),
|
||||
IsAligned = internal::traits<Coefficients>::Flags & AlignedBit,
|
||||
Flags = IsAligned ? (AlignedBit | LvalueBit) : LvalueBit
|
||||
};
|
||||
};
|
||||
}
|
||||
|
||||
template<typename _Scalar, int _Options>
|
||||
class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >{
|
||||
class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
|
||||
{
|
||||
typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
|
||||
enum { IsAligned = internal::traits<Quaternion>::IsAligned };
|
||||
|
||||
public:
|
||||
typedef _Scalar Scalar;
|
||||
|
||||
EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion)
|
||||
using Base::operator*=;
|
||||
|
||||
typedef typename internal::traits<Quaternion<Scalar,_Options> >::Coefficients Coefficients;
|
||||
typedef typename internal::traits<Quaternion>::Coefficients Coefficients;
|
||||
typedef typename Base::AngleAxisType AngleAxisType;
|
||||
|
||||
/** Default constructor leaving the quaternion uninitialized. */
|
||||
|
|
@ -271,9 +273,16 @@ public:
|
|||
template<typename Derived>
|
||||
explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
|
||||
|
||||
/** Explicit copy constructor with scalar conversion */
|
||||
template<typename OtherScalar, int OtherOptions>
|
||||
explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
|
||||
{ m_coeffs = other.coeffs().template cast<Scalar>(); }
|
||||
|
||||
inline Coefficients& coeffs() { return m_coeffs;}
|
||||
inline const Coefficients& coeffs() const { return m_coeffs;}
|
||||
|
||||
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(IsAligned)
|
||||
|
||||
protected:
|
||||
Coefficients m_coeffs;
|
||||
|
||||
|
|
|
|||
|
|
@ -443,7 +443,6 @@ FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
|
|||
|
||||
m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
|
||||
m_maxpivot = RealScalar(0);
|
||||
RealScalar cutoff(0);
|
||||
|
||||
for(Index k = 0; k < size; ++k)
|
||||
{
|
||||
|
|
@ -458,14 +457,7 @@ FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
|
|||
row_of_biggest_in_corner += k; // correct the values! since they were computed in the corner,
|
||||
col_of_biggest_in_corner += k; // need to add k to them.
|
||||
|
||||
// when k==0, biggest_in_corner is the biggest coeff absolute value in the original matrix
|
||||
if(k == 0) cutoff = biggest_in_corner * NumTraits<Scalar>::epsilon();
|
||||
|
||||
// if the pivot (hence the corner) is "zero", terminate to avoid generating nan/inf values.
|
||||
// Notice that using an exact comparison (biggest_in_corner==0) here, as Golub-van Loan do in
|
||||
// their pseudo-code, results in numerical instability! The cutoff here has been validated
|
||||
// by running the unit test 'lu' with many repetitions.
|
||||
if(biggest_in_corner < cutoff)
|
||||
if(biggest_in_corner==RealScalar(0))
|
||||
{
|
||||
// before exiting, make sure to initialize the still uninitialized transpositions
|
||||
// in a sane state without destroying what we already have.
|
||||
|
|
|
|||
|
|
@ -64,9 +64,14 @@ add_custom_target(
|
|||
|
||||
add_dependencies(doc-eigen-prerequisites all_snippets all_examples)
|
||||
add_dependencies(doc-unsupported-prerequisites unsupported_snippets unsupported_examples)
|
||||
|
||||
add_custom_target(doc ALL
|
||||
COMMAND doxygen Doxyfile-unsupported
|
||||
COMMAND doxygen
|
||||
COMMAND doxygen Doxyfile-unsupported # run doxygen twice to get proper eigen <=> unsupported cross references
|
||||
COMMAND ${CMAKE_COMMAND} -E rename html eigen-doc
|
||||
COMMAND ${CMAKE_COMMAND} -E tar cvfz eigen-doc/eigen-doc.tgz eigen-doc/*.html eigen-doc/*.map eigen-doc/*.png eigen-doc/*.css eigen-doc/*.js eigen-doc/*.txt eigen-doc/unsupported
|
||||
COMMAND ${CMAKE_COMMAND} -E rename eigen-doc html
|
||||
WORKING_DIRECTORY ${Eigen_BINARY_DIR}/doc)
|
||||
|
||||
add_dependencies(doc doc-eigen-prerequisites doc-unsupported-prerequisites)
|
||||
|
|
|
|||
|
|
@ -8,7 +8,7 @@ o /** \mainpage Eigen
|
|||
| \ref QuickRefPage "Short reference"
|
||||
</div>
|
||||
|
||||
This is the API documentation for Eigen3.
|
||||
This is the API documentation for Eigen3. You can <a href="eigen-doc.tgz">download</a> it as a tgz archive for offline reading.
|
||||
|
||||
Eigen2 users: here is a \ref Eigen2ToEigen3 guide to help porting your application.
|
||||
|
||||
|
|
|
|||
|
|
@ -10,8 +10,9 @@ int main()
|
|||
A << 1, 2, 2, 3;
|
||||
cout << "Here is the matrix A:\n" << A << endl;
|
||||
SelfAdjointEigenSolver<Matrix2f> eigensolver(A);
|
||||
if (eigensolver.info() != Success) abort();
|
||||
cout << "The eigenvalues of A are:\n" << eigensolver.eigenvalues() << endl;
|
||||
cout << "Here's a matrix whose columns are eigenvectors of A "
|
||||
cout << "Here's a matrix whose columns are eigenvectors of A \n"
|
||||
<< "corresponding to these eigenvalues:\n"
|
||||
<< eigensolver.eigenvectors() << endl;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -121,7 +121,7 @@ ei_add_test(nullary)
|
|||
ei_add_test(nesting_ops "${CMAKE_CXX_FLAGS_DEBUG}")
|
||||
ei_add_test(zerosized)
|
||||
ei_add_test(dontalign)
|
||||
|
||||
ei_add_test(sizeoverflow)
|
||||
ei_add_test(prec_inverse_4x4)
|
||||
|
||||
string(TOLOWER "${CMAKE_CXX_COMPILER}" cmake_cxx_compiler_tolower)
|
||||
|
|
|
|||
|
|
@ -120,6 +120,10 @@ template<typename Scalar, int Options> void quaternion(void)
|
|||
VERIFY_IS_APPROX(q1f.template cast<Scalar>(),q1);
|
||||
Quaternion<double> q1d = q1.template cast<double>();
|
||||
VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1);
|
||||
|
||||
// test bug 369 - improper alignment.
|
||||
Quaternionx *q = new Quaternionx;
|
||||
delete q;
|
||||
}
|
||||
|
||||
template<typename Scalar> void mapQuaternion(void){
|
||||
|
|
@ -191,7 +195,6 @@ template<typename PlainObjectType> void check_const_correctness(const PlainObjec
|
|||
VERIFY( !(Map<ConstPlainObjectType, Aligned>::Flags & LvalueBit) );
|
||||
}
|
||||
|
||||
|
||||
void test_geo_quaternion()
|
||||
{
|
||||
for(int i = 0; i < g_repeat; i++) {
|
||||
|
|
|
|||
|
|
@ -0,0 +1,81 @@
|
|||
// This file is part of Eigen, a lightweight C++ template library
|
||||
// for linear algebra.
|
||||
//
|
||||
// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
|
||||
//
|
||||
// Eigen is free software; you can redistribute it and/or
|
||||
// modify it under the terms of the GNU Lesser General Public
|
||||
// License as published by the Free Software Foundation; either
|
||||
// version 3 of the License, or (at your option) any later version.
|
||||
//
|
||||
// Alternatively, you can redistribute it and/or
|
||||
// modify it under the terms of the GNU General Public License as
|
||||
// published by the Free Software Foundation; either version 2 of
|
||||
// the License, or (at your option) any later version.
|
||||
//
|
||||
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
|
||||
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
|
||||
// GNU General Public License for more details.
|
||||
//
|
||||
// You should have received a copy of the GNU Lesser General Public
|
||||
// License and a copy of the GNU General Public License along with
|
||||
// Eigen. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
#include "main.h"
|
||||
|
||||
#define VERIFY_THROWS_BADALLOC(a) { \
|
||||
bool threw = false; \
|
||||
try { \
|
||||
a; \
|
||||
} \
|
||||
catch (std::bad_alloc&) { threw = true; } \
|
||||
VERIFY(threw && "should have thrown bad_alloc: " #a); \
|
||||
}
|
||||
|
||||
typedef DenseIndex Index;
|
||||
|
||||
template<typename MatrixType>
|
||||
void triggerMatrixBadAlloc(Index rows, Index cols)
|
||||
{
|
||||
VERIFY_THROWS_BADALLOC( MatrixType m(rows, cols) );
|
||||
VERIFY_THROWS_BADALLOC( MatrixType m; m.resize(rows, cols) );
|
||||
VERIFY_THROWS_BADALLOC( MatrixType m; m.conservativeResize(rows, cols) );
|
||||
}
|
||||
|
||||
template<typename VectorType>
|
||||
void triggerVectorBadAlloc(Index size)
|
||||
{
|
||||
VERIFY_THROWS_BADALLOC( VectorType v(size) );
|
||||
VERIFY_THROWS_BADALLOC( VectorType v; v.resize(size) );
|
||||
VERIFY_THROWS_BADALLOC( VectorType v; v.conservativeResize(size) );
|
||||
}
|
||||
|
||||
void test_sizeoverflow()
|
||||
{
|
||||
// there are 2 levels of overflow checking. first in PlainObjectBase.h we check for overflow in rows*cols computations.
|
||||
// this is tested in tests of the form times_itself_gives_0 * times_itself_gives_0
|
||||
// Then in Memory.h we check for overflow in size * sizeof(T) computations.
|
||||
// this is tested in tests of the form times_4_gives_0 * sizeof(float)
|
||||
|
||||
size_t times_itself_gives_0 = size_t(1) << (8 * sizeof(Index) / 2);
|
||||
VERIFY(times_itself_gives_0 * times_itself_gives_0 == 0);
|
||||
|
||||
size_t times_4_gives_0 = size_t(1) << (8 * sizeof(Index) - 2);
|
||||
VERIFY(times_4_gives_0 * 4 == 0);
|
||||
|
||||
size_t times_8_gives_0 = size_t(1) << (8 * sizeof(Index) - 3);
|
||||
VERIFY(times_8_gives_0 * 8 == 0);
|
||||
|
||||
triggerMatrixBadAlloc<MatrixXf>(times_itself_gives_0, times_itself_gives_0);
|
||||
triggerMatrixBadAlloc<MatrixXf>(times_itself_gives_0 / 4, times_itself_gives_0);
|
||||
triggerMatrixBadAlloc<MatrixXf>(times_4_gives_0, 1);
|
||||
|
||||
triggerMatrixBadAlloc<MatrixXd>(times_itself_gives_0, times_itself_gives_0);
|
||||
triggerMatrixBadAlloc<MatrixXd>(times_itself_gives_0 / 8, times_itself_gives_0);
|
||||
triggerMatrixBadAlloc<MatrixXd>(times_8_gives_0, 1);
|
||||
|
||||
triggerVectorBadAlloc<VectorXf>(times_4_gives_0);
|
||||
|
||||
triggerVectorBadAlloc<VectorXd>(times_8_gives_0);
|
||||
}
|
||||
|
|
@ -35,7 +35,8 @@
|
|||
|
||||
namespace Eigen {
|
||||
|
||||
/** \defgroup MPRealSupport_Module MPFRC++ Support module
|
||||
/** \ingroup Unsupported_modules
|
||||
* \defgroup MPRealSupport_Module MPFRC++ Support module
|
||||
*
|
||||
* \code
|
||||
* #include <Eigen/MPRealSupport>
|
||||
|
|
|
|||
|
|
@ -1,13 +1,22 @@
|
|||
namespace Eigen {
|
||||
|
||||
o /** \mainpage Eigen's unsupported modules
|
||||
/** \mainpage Eigen's unsupported modules
|
||||
|
||||
This is the API documentation for Eigen's unsupported modules.
|
||||
|
||||
These modules are contributions from various users. They are provided "as is", without any support.
|
||||
|
||||
Click on the \e Modules tab at the top of this page to get a list of all unsupported modules.
|
||||
|
||||
Don't miss the <a href="..//index.html">official Eigen documentation</a>.
|
||||
|
||||
|
||||
\defgroup Unsupported_modules Unsupported modules
|
||||
|
||||
The unsupported modules are contributions from various users. They are
|
||||
provided "as is", without any support. Nevertheless, some of them are
|
||||
subject to be included in Eigen in the future.
|
||||
|
||||
*/
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,59 @@
|
|||
# Build full gtsam library as a single library
|
||||
# and also build tests
|
||||
set (gtsam_subdirs
|
||||
base
|
||||
geometry
|
||||
inference
|
||||
linear
|
||||
nonlinear
|
||||
slam)
|
||||
|
||||
set (ccolamd_srcs
|
||||
3rdparty/CCOLAMD/Source/ccolamd.c
|
||||
3rdparty/CCOLAMD/Source/ccolamd_global.c
|
||||
3rdparty/UFconfig/UFconfig.c)
|
||||
|
||||
# install headers from 3rdparty libraries
|
||||
add_subdirectory(3rdparty)
|
||||
|
||||
# Accumulate gtsam_srcs
|
||||
set(gtsam_srcs ${ccolamd_srcs})
|
||||
|
||||
# Get all sources and headers from each
|
||||
foreach(subdir ${gtsam_subdirs})
|
||||
message(STATUS "Building ${subdir}")
|
||||
file(GLOB sub_gtsam_srcs "${subdir}/*.cpp")
|
||||
list(APPEND gtsam_srcs ${sub_gtsam_srcs})
|
||||
|
||||
# install headers
|
||||
file(GLOB sub_gtsam_headers "${subdir}/*.h")
|
||||
install(FILES ${sub_gtsam_headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gtsam/${subdir})
|
||||
|
||||
# Build tests
|
||||
file(GLOB tests_srcs "${subdir}/tests/test*.cpp")
|
||||
foreach(test_src ${tests_srcs})
|
||||
get_filename_component(test_base ${test_src} NAME_WE)
|
||||
set( test_bin ${subdir}_${test_base} )
|
||||
add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
|
||||
add_dependencies(check ${test_bin})
|
||||
add_test(${subdir}/${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
|
||||
target_link_libraries(${test_bin} CppUnitLite gtsam)
|
||||
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
|
||||
endforeach(test_src)
|
||||
|
||||
# Build timing scripts
|
||||
file(GLOB time_srcs "${subdir}/tests/time*.cpp")
|
||||
foreach(time_src ${time_srcs})
|
||||
get_filename_component(time_base ${time_src} NAME_WE)
|
||||
set( time_bin ${time_base} )
|
||||
add_executable(${time_bin} EXCLUDE_FROM_ALL ${time_src})
|
||||
add_dependencies(check ${time_bin})
|
||||
target_link_libraries(${time_bin} CppUnitLite gtsam)
|
||||
add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
|
||||
endforeach(time_src)
|
||||
endforeach(subdir)
|
||||
|
||||
# build a single shared library
|
||||
add_library(gtsam SHARED ${gtsam_srcs})
|
||||
install(TARGETS gtsam LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
|
||||
|
||||
|
|
@ -61,6 +61,8 @@ Point2 CalibratedCamera::project(const Point3& point,
|
|||
const Rot3& R = pose.rotation();
|
||||
const Point3& r1 = R.r1(), r2 = R.r2(), r3 = R.r3();
|
||||
Point3 q = pose.transform_to(point);
|
||||
if(q.z() <= 0)
|
||||
throw CheiralityException();
|
||||
|
||||
if (D_intrinsic_pose || D_intrinsic_point) {
|
||||
double X = q.x(), Y = q.y(), Z = q.z();
|
||||
|
|
|
|||
|
|
@ -23,6 +23,11 @@
|
|||
|
||||
namespace gtsam {
|
||||
|
||||
class CheiralityException: public std::runtime_error {
|
||||
public:
|
||||
CheiralityException() : std::runtime_error("Cheirality Exception") {}
|
||||
};
|
||||
|
||||
/**
|
||||
* A Calibrated camera class [R|-R't], calibration K=I.
|
||||
* If calibration is known, it is more computationally efficient
|
||||
|
|
|
|||
|
|
@ -82,10 +82,19 @@ namespace gtsam {
|
|||
/// Evaluate error h(x)-z and optionally derivatives
|
||||
Vector evaluateError(const Pose3& pose, const Point3& point,
|
||||
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
|
||||
try {
|
||||
SimpleCamera camera(*K_, pose);
|
||||
Point2 reprojectionError(camera.project(point, H1, H2) - z_);
|
||||
return reprojectionError.vector();
|
||||
}
|
||||
catch( CheiralityException& e) {
|
||||
if (H1) *H1 = zeros(2,6);
|
||||
if (H2) *H2 = zeros(2,3);
|
||||
cout << e.what() << ": Landmark "<< this->key2_.index() <<
|
||||
" moved behind camera " << this->key1_.index() << endl;
|
||||
return zero(2);
|
||||
}
|
||||
}
|
||||
|
||||
/** return the measurement */
|
||||
inline const Point2 measured() const {
|
||||
|
|
|
|||
|
|
@ -0,0 +1,29 @@
|
|||
include_directories(
|
||||
3rdparty/UFconfig
|
||||
3rdparty/CCOLAMD/Include
|
||||
${CMAKE_SOURCE_DIR})
|
||||
|
||||
find_package(Boost COMPONENTS serialization REQUIRED)
|
||||
|
||||
# Build tests
|
||||
file(GLOB tests_srcs "test*.cpp")
|
||||
foreach(test_src ${tests_srcs})
|
||||
get_filename_component(test_base ${test_src} NAME_WE)
|
||||
set( test_bin ${test_base} )
|
||||
add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
|
||||
add_dependencies(check ${test_bin})
|
||||
add_test(${test_bin} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
|
||||
target_link_libraries(${test_bin} CppUnitLite gtsam ${Boost_SERIALIZATION_LIBRARY})
|
||||
add_custom_target(${test_base}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
|
||||
endforeach(test_src)
|
||||
|
||||
# Build timing scripts
|
||||
file(GLOB time_srcs "time*.cpp")
|
||||
foreach(time_src ${time_srcs})
|
||||
get_filename_component(time_base ${time_src} NAME_WE)
|
||||
set( time_bin ${time_base} )
|
||||
add_executable(${time_bin} EXCLUDE_FROM_ALL ${time_src})
|
||||
add_dependencies(check ${time_bin})
|
||||
target_link_libraries(${time_bin} CppUnitLite gtsam)
|
||||
add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
|
||||
endforeach(time_src)
|
||||
|
|
@ -18,6 +18,7 @@
|
|||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <boost/foreach.hpp>
|
||||
#include <boost/regex.hpp>
|
||||
|
||||
#include "Argument.h"
|
||||
|
||||
|
|
@ -70,8 +71,17 @@ string ArgumentList::types() const {
|
|||
/* ************************************************************************* */
|
||||
string ArgumentList::signature() const {
|
||||
string str;
|
||||
|
||||
BOOST_FOREACH(Argument arg, *this)
|
||||
{
|
||||
BOOST_FOREACH(char ch, arg.type)
|
||||
if(isupper(ch))
|
||||
str += ch;
|
||||
|
||||
if(str.length() == 0)
|
||||
str += arg.type[0];
|
||||
}
|
||||
|
||||
return str;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,25 @@
|
|||
# Build/install Wrap
|
||||
|
||||
# Build the executable itself
|
||||
file(GLOB wrap_srcs "*.cpp")
|
||||
list(REMOVE_ITEM wrap_srcs wrap.cpp)
|
||||
add_library(wrapLib STATIC ${wrap_srcs})
|
||||
add_executable(wrap wrap.cpp)
|
||||
target_link_libraries(wrap wrapLib)
|
||||
install(TARGETS wrap DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
|
||||
|
||||
# Build tests
|
||||
file(GLOB wrap_test_srcs "tests/test*.cpp")
|
||||
add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}")
|
||||
foreach(test_src ${wrap_test_srcs} )
|
||||
get_filename_component(test_base ${test_src} NAME_WE)
|
||||
set( test_bin wrap_${test_base} )
|
||||
add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
|
||||
add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
|
||||
add_dependencies(check ${test_bin})
|
||||
target_link_libraries(${test_bin} CppUnitLite gtsam wrapLib)
|
||||
add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
|
||||
endforeach(test_src)
|
||||
|
||||
# Install matlab header
|
||||
install(FILES matlab.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/wrap)
|
||||
Loading…
Reference in New Issue