diff --git a/gtsam/3rdparty/Eigen/.hg_archival.txt b/gtsam/3rdparty/Eigen/.hg_archival.txt index 8c88afc32..c4115d7f6 100644 --- a/gtsam/3rdparty/Eigen/.hg_archival.txt +++ b/gtsam/3rdparty/Eigen/.hg_archival.txt @@ -1,4 +1,4 @@ repo: 8a21fd850624c931e448cbcfb38168cb2717c790 -node: b30b87236a1b1552af32ac34075ee5696a9b5a33 +node: 07105f7124f9aef00a68c85e0fc606e65d3d6c15 branch: 3.2 -tag: 3.2.7 +tag: 3.2.8 diff --git a/gtsam/3rdparty/Eigen/.hgtags b/gtsam/3rdparty/Eigen/.hgtags index c4ccd33fa..8f0097f20 100644 --- a/gtsam/3rdparty/Eigen/.hgtags +++ b/gtsam/3rdparty/Eigen/.hgtags @@ -30,3 +30,4 @@ ffa86ffb557094721ca71dcea6aed2651b9fd610 3.2.0 10219c95fe653d4962aa9db4946f6fbea96dd740 3.2.4 bdd17ee3b1b3a166cd5ec36dcad4fc1f3faf774a 3.2.5 c58038c56923e0fd86de3ded18e03df442e66dfb 3.2.6 +b30b87236a1b1552af32ac34075ee5696a9b5a33 3.2.7 diff --git a/gtsam/3rdparty/Eigen/CMakeLists.txt b/gtsam/3rdparty/Eigen/CMakeLists.txt index ed3e67fe9..77e9f2d35 100644 --- a/gtsam/3rdparty/Eigen/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/CMakeLists.txt @@ -1,6 +1,5 @@ project(Eigen) - -cmake_minimum_required(VERSION 2.8.2) +cmake_minimum_required(VERSION 2.8.5) # guard against in-source builds @@ -55,6 +54,7 @@ endif(EIGEN_HG_CHANGESET) include(CheckCXXCompilerFlag) +include(GNUInstallDirs) set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) @@ -288,25 +288,26 @@ option(EIGEN_TEST_C++0x "Enables all C++0x features." OFF) include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR}) -# the user modifiable install path for header files -set(EIGEN_INCLUDE_INSTALL_DIR ${EIGEN_INCLUDE_INSTALL_DIR} CACHE PATH "The directory where we install the header files (optional)") - -# set the internal install path for header files which depends on wether the user modifiable -# EIGEN_INCLUDE_INSTALL_DIR has been set by the user or not. -if(EIGEN_INCLUDE_INSTALL_DIR) - set(INCLUDE_INSTALL_DIR - ${EIGEN_INCLUDE_INSTALL_DIR} - CACHE INTERNAL - "The directory where we install the header files (internal)" - ) +# Backward compatibility support for EIGEN_INCLUDE_INSTALL_DIR +if(EIGEN_INCLUDE_INSTALL_DIR AND NOT INCLUDE_INSTALL_DIR) + set(INCLUDE_INSTALL_DIR ${EIGEN_INCLUDE_INSTALL_DIR} + CACHE PATH "The directory relative to CMAKE_PREFIX_PATH where Eigen header files are installed") else() set(INCLUDE_INSTALL_DIR - "include/eigen3" - CACHE INTERNAL - "The directory where we install the header files (internal)" - ) + "${CMAKE_INSTALL_INCLUDEDIR}/eigen3" + CACHE PATH "The directory relative to CMAKE_PREFIX_PATH where Eigen header files are installed" + ) endif() +set(CMAKEPACKAGE_INSTALL_DIR + "${CMAKE_INSTALL_LIBDIR}/cmake/eigen3" + CACHE PATH "The directory relative to CMAKE_PREFIX_PATH where Eigen3Config.cmake is installed" + ) +set(PKGCONFIG_INSTALL_DIR + "${CMAKE_INSTALL_DATADIR}/pkgconfig" + CACHE PATH "The directory relative to CMAKE_PREFIX_PATH where eigen3.pc is installed" + ) + # similar to set_target_properties but append the property instead of overwriting it macro(ei_add_target_property target prop value) @@ -324,21 +325,9 @@ install(FILES ) if(EIGEN_BUILD_PKGCONFIG) - SET(path_separator ":") - 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) + configure_file(eigen3.pc.in eigen3.pc @ONLY) install(FILES ${CMAKE_CURRENT_BINARY_DIR}/eigen3.pc - DESTINATION ${pkg_config_install_dir}/pkgconfig + DESTINATION ${PKGCONFIG_INSTALL_DIR} ) endif(EIGEN_BUILD_PKGCONFIG) @@ -401,12 +390,15 @@ if(cmake_generator_tolower MATCHES "makefile") message(STATUS "--------------+--------------------------------------------------------------") message(STATUS "Command | Description") message(STATUS "--------------+--------------------------------------------------------------") - message(STATUS "make install | Install to ${CMAKE_INSTALL_PREFIX}. To change that:") - message(STATUS " | cmake . -DCMAKE_INSTALL_PREFIX=yourpath") - message(STATUS " | Eigen headers will then be installed to:") - message(STATUS " | ${CMAKE_INSTALL_PREFIX}/${INCLUDE_INSTALL_DIR}") - message(STATUS " | To install Eigen headers to a separate location, do:") - message(STATUS " | cmake . -DEIGEN_INCLUDE_INSTALL_DIR=yourpath") + message(STATUS "make install | Install Eigen. Headers will be installed to:") + message(STATUS " | /") + message(STATUS " | Using the following values:") + message(STATUS " | CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}") + message(STATUS " | INCLUDE_INSTALL_DIR: ${INCLUDE_INSTALL_DIR}") + message(STATUS " | Change the install location of Eigen headers using:") + message(STATUS " | cmake . -DCMAKE_INSTALL_PREFIX=yourprefix") + message(STATUS " | Or:") + message(STATUS " | cmake . -DINCLUDE_INSTALL_DIR=yourdir") message(STATUS "make doc | Generate the API documentation, requires Doxygen & LaTeX") message(STATUS "make check | Build and run the unit-tests. Read this page:") message(STATUS " | http://eigen.tuxfamily.org/index.php?title=Tests") diff --git a/gtsam/3rdparty/Eigen/Eigen/CholmodSupport b/gtsam/3rdparty/Eigen/Eigen/CholmodSupport index 745b884e7..88c29a646 100644 --- a/gtsam/3rdparty/Eigen/Eigen/CholmodSupport +++ b/gtsam/3rdparty/Eigen/Eigen/CholmodSupport @@ -12,7 +12,7 @@ extern "C" { /** \ingroup Support_modules * \defgroup CholmodSupport_Module CholmodSupport module * - * This module provides an interface to the Cholmod library which is part of the suitesparse package. + * This module provides an interface to the Cholmod library which is part of the suitesparse package. * It provides the two following main factorization classes: * - class CholmodSupernodalLLT: a supernodal LLT Cholesky factorization. * - class CholmodDecomposiiton: a general L(D)LT Cholesky factorization with automatic or explicit runtime selection of the underlying factorization method (supernodal or simplicial). diff --git a/gtsam/3rdparty/Eigen/Eigen/SPQRSupport b/gtsam/3rdparty/Eigen/Eigen/SPQRSupport index 77016442e..7f1eb4770 100644 --- a/gtsam/3rdparty/Eigen/Eigen/SPQRSupport +++ b/gtsam/3rdparty/Eigen/Eigen/SPQRSupport @@ -10,7 +10,7 @@ /** \ingroup Support_modules * \defgroup SPQRSupport_Module SuiteSparseQR module * - * This module provides an interface to the SPQR library, which is part of the suitesparse package. + * This module provides an interface to the SPQR library, which is part of the suitesparse package. * * \code * #include diff --git a/gtsam/3rdparty/Eigen/Eigen/UmfPackSupport b/gtsam/3rdparty/Eigen/Eigen/UmfPackSupport index 984f64a84..7b1b66064 100644 --- a/gtsam/3rdparty/Eigen/Eigen/UmfPackSupport +++ b/gtsam/3rdparty/Eigen/Eigen/UmfPackSupport @@ -12,7 +12,7 @@ extern "C" { /** \ingroup Support_modules * \defgroup UmfPackSupport_Module UmfPackSupport module * - * This module provides an interface to the UmfPack library which is part of the suitesparse package. + * This module provides an interface to the UmfPack library which is part of the suitesparse package. * It provides the following factorization class: * - class UmfPackLU: a multifrontal sequential LU factorization. * diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryView.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryView.h index b2638d326..f3b2ffeb6 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryView.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryView.h @@ -38,7 +38,7 @@ struct traits > typedef typename remove_all::type _MatrixTypeNested; enum { Flags = (traits<_MatrixTypeNested>::Flags & (HereditaryBits | LvalueBit | LinearAccessBit | DirectAccessBit)), - CoeffReadCost = traits<_MatrixTypeNested>::CoeffReadCost + functor_traits::Cost, + CoeffReadCost = EIGEN_ADD_COST(traits<_MatrixTypeNested>::CoeffReadCost, functor_traits::Cost), MatrixTypeInnerStride = inner_stride_at_compile_time::ret, // need to cast the sizeof's from size_t to int explicitly, otherwise: // "error: no integral type can represent all of the enumerator values diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h index 354c739f7..4b371b075 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h @@ -40,7 +40,7 @@ static inline void check_DenseIndex_is_signed() { */ template class DenseBase #ifndef EIGEN_PARSED_BY_DOXYGEN - : public internal::special_scalar_op_base::Scalar, + : public internal::special_scalar_op_base::Scalar, typename NumTraits::Scalar>::Real, DenseCoeffsBase > #else diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h index 0eae52990..29ac522d2 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h @@ -425,15 +425,18 @@ template<> struct gemv_selector ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs()) * RhsBlasTraits::extractScalarFactor(prod.rhs()); + // make sure Dest is a compile-time vector type (bug 1166) + typedef typename conditional::type ActualDest; + enum { // FIXME find a way to allow an inner stride on the result if packet_traits::size==1 // on, the other hand it is good for the cache to pack the vector anyways... - EvalToDestAtCompileTime = Dest::InnerStrideAtCompileTime==1, + EvalToDestAtCompileTime = (ActualDest::InnerStrideAtCompileTime==1), ComplexByReal = (NumTraits::IsComplex) && (!NumTraits::IsComplex), - MightCannotUseDest = (Dest::InnerStrideAtCompileTime!=1) || ComplexByReal + MightCannotUseDest = (ActualDest::InnerStrideAtCompileTime!=1) || ComplexByReal }; - gemv_static_vector_if static_dest; + gemv_static_vector_if static_dest; bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0)); bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible; @@ -522,7 +525,7 @@ template<> struct gemv_selector actualLhs.rows(), actualLhs.cols(), actualLhs.data(), actualLhs.outerStride(), actualRhsPtr, 1, - dest.data(), dest.innerStride(), + dest.data(), dest.col(0).innerStride(), //NOTE if dest is not a vector at compile-time, then dest.innerStride() might be wrong. (bug 1166) actualAlpha); } }; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h index a9828f7f4..81efc4a6d 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h @@ -149,6 +149,10 @@ template class MapBase checkSanity(); } + #ifdef EIGEN_MAPBASE_PLUGIN + #include EIGEN_MAPBASE_PLUGIN + #endif + protected: void checkSanity() const diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h index adf2f9c51..4e17ecd4b 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h @@ -707,21 +707,21 @@ struct scalar_fuzzy_impl : scalar_fuzzy_default_impl:: template inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, - typename NumTraits::Real precision = NumTraits::dummy_precision()) + const typename NumTraits::Real &precision = NumTraits::dummy_precision()) { return scalar_fuzzy_impl::template isMuchSmallerThan(x, y, precision); } template inline bool isApprox(const Scalar& x, const Scalar& y, - typename NumTraits::Real precision = NumTraits::dummy_precision()) + const typename NumTraits::Real &precision = NumTraits::dummy_precision()) { return scalar_fuzzy_impl::isApprox(x, y, precision); } template inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, - typename NumTraits::Real precision = NumTraits::dummy_precision()) + const typename NumTraits::Real &precision = NumTraits::dummy_precision()) { return scalar_fuzzy_impl::isApproxOrLessThan(x, y, precision); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h index ef17f288e..83565ddd8 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h @@ -116,17 +116,17 @@ template struct triangular_solver_unroller { enum { IsLower = ((Mode&Lower)==Lower), - I = IsLower ? Index : Size - Index - 1, - S = IsLower ? 0 : I+1 + RowIndex = IsLower ? Index : Size - Index - 1, + S = IsLower ? 0 : RowIndex+1 }; static void run(const Lhs& lhs, Rhs& rhs) { if (Index>0) - rhs.coeffRef(I) -= lhs.row(I).template segment(S).transpose() + rhs.coeffRef(RowIndex) -= lhs.row(RowIndex).template segment(S).transpose() .cwiseProduct(rhs.template segment(S)).sum(); if(!(Mode & UnitDiag)) - rhs.coeffRef(I) /= lhs.coeff(I,I); + rhs.coeffRef(RowIndex) /= lhs.coeff(RowIndex,RowIndex); triangular_solver_unroller::run(lhs,rhs); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Visitor.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Visitor.h index 64867b7a2..dd94eb8f0 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Visitor.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Visitor.h @@ -76,14 +76,17 @@ template template void DenseBase::visit(Visitor& visitor) const { + typedef typename internal::remove_all::type ThisNested; + typename Derived::Nested thisNested(derived()); + enum { unroll = SizeAtCompileTime != Dynamic && CoeffReadCost != Dynamic && (SizeAtCompileTime == 1 || internal::functor_traits::Cost != Dynamic) && SizeAtCompileTime * CoeffReadCost + (SizeAtCompileTime-1) * internal::functor_traits::Cost <= EIGEN_UNROLLING_LIMIT }; - return internal::visitor_impl::run(derived(), visitor); + >::run(thisNested, visitor); } namespace internal { diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h index fc8ae50fe..bef898b1f 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h @@ -235,63 +235,27 @@ template<> EIGEN_STRONG_INLINE Packet4i pload(const int* from) { E return _mm_loadu_ps(from); #endif } - template<> EIGEN_STRONG_INLINE Packet2d ploadu(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_pd(from); } - template<> EIGEN_STRONG_INLINE Packet4i ploadu(const int* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_si128(reinterpret_cast(from)); } #else -// Fast unaligned loads. Note that here we cannot directly use intrinsics: this would -// require pointer casting to incompatible pointer types and leads to invalid code -// because of the strict aliasing rule. The "dummy" stuff are required to enforce -// a correct instruction dependency. -// TODO: do the same for MSVC (ICC is compatible) // NOTE: with the code below, MSVC's compiler crashes! -#if defined(__GNUC__) && defined(__i386__) - // bug 195: gcc/i386 emits weird x87 fldl/fstpl instructions for _mm_load_sd - #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1 -#elif defined(__clang__) - // bug 201: Segfaults in __mm_loadh_pd with clang 2.8 - #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1 -#else - #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 0 -#endif - template<> EIGEN_STRONG_INLINE Packet4f ploadu(const float* from) { EIGEN_DEBUG_UNALIGNED_LOAD -#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS return _mm_loadu_ps(from); -#else - __m128d res; - res = _mm_load_sd((const double*)(from)) ; - res = _mm_loadh_pd(res, (const double*)(from+2)) ; - return _mm_castpd_ps(res); -#endif } +#endif + template<> EIGEN_STRONG_INLINE Packet2d ploadu(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD -#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS return _mm_loadu_pd(from); -#else - __m128d res; - res = _mm_load_sd(from) ; - res = _mm_loadh_pd(res,from+1); - return res; -#endif } template<> EIGEN_STRONG_INLINE Packet4i ploadu(const int* from) { EIGEN_DEBUG_UNALIGNED_LOAD -#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS - return _mm_loadu_si128(reinterpret_cast(from)); -#else - __m128d res; - res = _mm_load_sd((const double*)(from)) ; - res = _mm_loadh_pd(res, (const double*)(from+2)) ; - return _mm_castpd_si128(res); -#endif + return _mm_loadu_si128(reinterpret_cast(from)); } -#endif + template<> EIGEN_STRONG_INLINE Packet4f ploaddup(const float* from) { diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h index 3f5ffcf51..cfd2f0095 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h @@ -140,8 +140,10 @@ static void run(Index rows, Index cols, Index depth, // Release all the sub blocks B'_j of B' for the current thread, // i.e., we simply decrement the number of users by 1 for(Index j=0; j GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) { +#if !(defined(EIGEN_NO_STATIC_ASSERT) && defined(EIGEN_NO_DEBUG)) typedef internal::scalar_product_op BinOp; EIGEN_CHECK_BINARY_COMPATIBILIY(BinOp,LhsScalar,RhsScalar); +#endif } template void scaleAndAddTo(Dest& dst, const Scalar& alpha) const { eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols()); + if(m_lhs.cols()==0 || m_lhs.rows()==0 || m_rhs.cols()==0) + return; typename internal::add_const_on_value_type::type lhs = LhsBlasTraits::extract(m_lhs); typename internal::add_const_on_value_type::type rhs = RhsBlasTraits::extract(m_rhs); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h index 04240ab50..03a23abc2 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h @@ -115,8 +115,9 @@ EIGEN_DONT_INLINE void triangular_solve_matrixx || (EIGEN_WORLD_VERSION>=x && \ (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \ EIGEN_MINOR_VERSION>=z)))) + + +// Compiler identification, EIGEN_COMP_* + +/// \internal EIGEN_COMP_GNUC set to 1 for all compilers compatible with GCC #ifdef __GNUC__ + #define EIGEN_COMP_GNUC 1 +#else + #define EIGEN_COMP_GNUC 0 +#endif + +/// \internal EIGEN_COMP_CLANG set to 1 if the compiler is clang (alias for __clang__) +#if defined(__clang__) + #define EIGEN_COMP_CLANG 1 +#else + #define EIGEN_COMP_CLANG 0 +#endif + + +/// \internal EIGEN_COMP_LLVM set to 1 if the compiler backend is llvm +#if defined(__llvm__) + #define EIGEN_COMP_LLVM 1 +#else + #define EIGEN_COMP_LLVM 0 +#endif + +/// \internal EIGEN_COMP_ICC set to __INTEL_COMPILER if the compiler is Intel compiler, 0 otherwise +#if defined(__INTEL_COMPILER) + #define EIGEN_COMP_ICC __INTEL_COMPILER +#else + #define EIGEN_COMP_ICC 0 +#endif + +/// \internal EIGEN_COMP_MINGW set to 1 if the compiler is mingw +#if defined(__MINGW32__) + #define EIGEN_COMP_MINGW 1 +#else + #define EIGEN_COMP_MINGW 0 +#endif + +/// \internal EIGEN_COMP_SUNCC set to 1 if the compiler is Solaris Studio +#if defined(__SUNPRO_CC) + #define EIGEN_COMP_SUNCC 1 +#else + #define EIGEN_COMP_SUNCC 0 +#endif + +/// \internal EIGEN_COMP_MSVC set to _MSC_VER if the compiler is Microsoft Visual C++, 0 otherwise. +#if defined(_MSC_VER) + #define EIGEN_COMP_MSVC _MSC_VER +#else + #define EIGEN_COMP_MSVC 0 +#endif + +/// \internal EIGEN_COMP_MSVC_STRICT set to 1 if the compiler is really Microsoft Visual C++ and not ,e.g., ICC +#if EIGEN_COMP_MSVC && !(EIGEN_COMP_ICC) + #define EIGEN_COMP_MSVC_STRICT _MSC_VER +#else + #define EIGEN_COMP_MSVC_STRICT 0 +#endif + +/// \internal EIGEN_COMP_IBM set to 1 if the compiler is IBM XL C++ +#if defined(__IBMCPP__) || defined(__xlc__) + #define EIGEN_COMP_IBM 1 +#else + #define EIGEN_COMP_IBM 0 +#endif + +/// \internal EIGEN_COMP_PGI set to 1 if the compiler is Portland Group Compiler +#if defined(__PGI) + #define EIGEN_COMP_PGI 1 +#else + #define EIGEN_COMP_PGI 0 +#endif + +/// \internal EIGEN_COMP_ARM set to 1 if the compiler is ARM Compiler +#if defined(__CC_ARM) || defined(__ARMCC_VERSION) + #define EIGEN_COMP_ARM 1 +#else + #define EIGEN_COMP_ARM 0 +#endif + + +/// \internal EIGEN_GNUC_STRICT set to 1 if the compiler is really GCC and not a compatible compiler (e.g., ICC, clang, mingw, etc.) +#if EIGEN_COMP_GNUC && !(EIGEN_COMP_CLANG || EIGEN_COMP_ICC || EIGEN_COMP_MINGW || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM ) + #define EIGEN_COMP_GNUC_STRICT 1 +#else + #define EIGEN_COMP_GNUC_STRICT 0 +#endif + + +#if EIGEN_COMP_GNUC #define EIGEN_GNUC_AT_LEAST(x,y) ((__GNUC__==x && __GNUC_MINOR__>=y) || __GNUC__>x) + #define EIGEN_GNUC_AT_MOST(x,y) ((__GNUC__==x && __GNUC_MINOR__<=y) || __GNUC__= 201103L) || \ (defined(_MSC_VER) && _MSC_VER >= 1600)) #define EIGEN_HAVE_RVALUE_REFERENCES #endif diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/StaticAssert.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/StaticAssert.h index bac5d9fe9..e53d2b878 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/StaticAssert.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/StaticAssert.h @@ -26,7 +26,7 @@ #ifndef EIGEN_NO_STATIC_ASSERT - #if defined(__GXX_EXPERIMENTAL_CXX0X__) || (defined(_MSC_VER) && (_MSC_VER >= 1600)) + #if __has_feature(cxx_static_assert) || (defined(__cplusplus) && __cplusplus >= 201103L) || (EIGEN_COMP_MSVC >= 1600) // if native static_assert is enabled, let's use it #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur_MKL.h index 4af8be30f..ef5d8d336 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur_MKL.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur_MKL.h @@ -45,7 +45,6 @@ ComplexSchur >& \ ComplexSchur >::compute(const Matrix& matrix, bool computeU) \ { \ typedef Matrix MatrixType; \ - typedef MatrixType::Scalar Scalar; \ typedef MatrixType::RealScalar RealScalar; \ typedef std::complex ComplexScalar; \ \ diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur_MKL.h index 26f72775c..469d801a8 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur_MKL.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur_MKL.h @@ -44,10 +44,6 @@ template<> inline \ RealSchur >& \ RealSchur >::compute(const Matrix& matrix, bool computeU) \ { \ - typedef Matrix MatrixType; \ - typedef MatrixType::Scalar Scalar; \ - typedef MatrixType::RealScalar RealScalar; \ -\ eigen_assert(matrix.cols() == matrix.rows()); \ \ lapack_int n = matrix.cols(), sdim, info; \ diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h index bbf6a7ed8..a8d3cdcfa 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h @@ -83,10 +83,17 @@ public: template inline explicit AngleAxis(const MatrixBase& m) { *this = m; } + /** \returns the value of the rotation angle in radian */ Scalar angle() const { return m_angle; } + /** \returns a read-write reference to the stored angle in radian */ Scalar& angle() { return m_angle; } + /** \returns the rotation axis */ const Vector3& axis() const { return m_axis; } + /** \returns a read-write reference to the stored rotation axis. + * + * \warning The rotation axis must remain a \b unit vector. + */ Vector3& axis() { return m_axis; } /** Concatenates two rotations */ diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h index 77fa228e6..cf3252df9 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h @@ -129,7 +129,7 @@ public: * determined by \a prec. * * \sa MatrixBase::isApprox() */ - bool isApprox(const ParametrizedLine& other, typename NumTraits::Real prec = NumTraits::dummy_precision()) const + bool isApprox(const ParametrizedLine& other, const typename NumTraits::Real& prec = NumTraits::dummy_precision()) const { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); } protected: diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Transform.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Transform.h index e786e5356..0186f3b82 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Transform.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Transform.h @@ -102,15 +102,15 @@ template struct transform_make_affine; * * However, unlike a plain matrix, the Transform class provides many features * simplifying both its assembly and usage. In particular, it can be composed - * with any other transformations (Transform,Translation,RotationBase,Matrix) + * with any other transformations (Transform,Translation,RotationBase,DiagonalMatrix) * and can be directly used to transform implicit homogeneous vectors. All these * operations are handled via the operator*. For the composition of transformations, * its principle consists to first convert the right/left hand sides of the product * to a compatible (Dim+1)^2 matrix and then perform a pure matrix product. * Of course, internally, operator* tries to perform the minimal number of operations * according to the nature of each terms. Likewise, when applying the transform - * to non homogeneous vectors, the latters are automatically promoted to homogeneous - * one before doing the matrix product. The convertions to homogeneous representations + * to points, the latters are automatically promoted to homogeneous vectors + * before doing the matrix product. The conventions to homogeneous representations * are performed as follow: * * \b Translation t (Dim)x(1): @@ -124,7 +124,7 @@ template struct transform_make_affine; * R & 0\\ * 0\,...\,0 & 1 * \end{array} \right) \f$ - * + * + * \b Scaling \b DiagonalMatrix S (Dim)x(Dim): + * \f$ \left( \begin{array}{cc} + * S & 0\\ + * 0\,...\,0 & 1 + * \end{array} \right) \f$ * - * \b Column \b vector v (Dim)x(1): + * \b Column \b point v (Dim)x(1): * \f$ \left( \begin{array}{c} * v\\ * 1 * \end{array} \right) \f$ * - * \b Set \b of \b column \b vectors V1...Vn (Dim)x(n): + * \b Set \b of \b column \b points V1...Vn (Dim)x(n): * \f$ \left( \begin{array}{ccc} * v_1 & ... & v_n\\ * 1 & ... & 1 @@ -384,26 +390,39 @@ public: /** \returns a writable expression of the translation vector of the transformation */ inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); } - /** \returns an expression of the product between the transform \c *this and a matrix expression \a other + /** \returns an expression of the product between the transform \c *this and a matrix expression \a other. * - * The right hand side \a other might be either: - * \li a vector of size Dim, + * The right-hand-side \a other can be either: * \li an homogeneous vector of size Dim+1, - * \li a set of vectors of size Dim x Dynamic, - * \li a set of homogeneous vectors of size Dim+1 x Dynamic, - * \li a linear transformation matrix of size Dim x Dim, - * \li an affine transformation matrix of size Dim x Dim+1, + * \li a set of homogeneous vectors of size Dim+1 x N, * \li a transformation matrix of size Dim+1 x Dim+1. + * + * Moreover, if \c *this represents an affine transformation (i.e., Mode!=Projective), then \a other can also be: + * \li a point of size Dim (computes: \code this->linear() * other + this->translation()\endcode), + * \li a set of N points as a Dim x N matrix (computes: \code (this->linear() * other).colwise() + this->translation()\endcode), + * + * In all cases, the return type is a matrix or vector of same sizes as the right-hand-side \a other. + * + * If you want to interpret \a other as a linear or affine transformation, then first convert it to a Transform<> type, + * or do your own cooking. + * + * Finally, if you want to apply Affine transformations to vectors, then explicitly apply the linear part only: + * \code + * Affine3f A; + * Vector3f v1, v2; + * v2 = A.linear() * v1; + * \endcode + * */ // note: this function is defined here because some compilers cannot find the respective declaration template - EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl::ResultType + EIGEN_STRONG_INLINE const typename OtherDerived::PlainObject operator * (const EigenBase &other) const { return internal::transform_right_product_impl::run(*this,other.derived()); } /** \returns the product expression of a transformation matrix \a a times a transform \a b * - * The left hand side \a other might be either: + * The left hand side \a other can be either: * \li a linear transformation matrix of size Dim x Dim, * \li an affine transformation matrix of size Dim x Dim+1, * \li a general transformation matrix of size Dim+1 x Dim+1. diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Translation.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Translation.h index 7fda179cc..2e7798686 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Translation.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Translation.h @@ -162,7 +162,7 @@ public: * determined by \a prec. * * \sa MatrixBase::isApprox() */ - bool isApprox(const Translation& other, typename NumTraits::Real prec = NumTraits::dummy_precision()) const + bool isApprox(const Translation& other, const typename NumTraits::Real& prec = NumTraits::dummy_precision()) const { return m_coeffs.isApprox(other.m_coeffs, prec); } }; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h index 1a7e569c8..7dd4010c3 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h @@ -139,6 +139,8 @@ struct traits > * By default the iterations start with x=0 as an initial guess of the solution. * One can control the start using the solveWithGuess() method. * + * ConjugateGradient can also be used in a matrix-free context, see the following \link MatrixfreeSolverExample example \endlink. + * * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner */ template< typename _MatrixType, int _UpLo, typename _Preconditioner> diff --git a/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h b/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h index 26bc71447..e38470463 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h @@ -688,7 +688,7 @@ struct solve_retval, Rhs> */ const Index rows = dec().rows(), cols = dec().cols(), - nonzero_pivots = dec().nonzeroPivots(); + nonzero_pivots = dec().rank(); eigen_assert(rhs().rows() == rows); const Index smalldim = (std::min)(rows, cols); diff --git a/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h b/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h index 70550b8a9..658b954c7 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h @@ -8,7 +8,7 @@ NOTE: this routine has been adapted from the CSparse library: Copyright (c) 2006, Timothy A. Davis. -http://www.cise.ufl.edu/research/sparse/CSparse +http://www.suitesparse.com CSparse is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public diff --git a/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h b/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h index 44548f660..359fd4417 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h @@ -41,12 +41,8 @@ // // The colamd/symamd library is available at // -// http://www.cise.ufl.edu/research/sparse/colamd/ +// http://www.suitesparse.com -// This is the http://www.cise.ufl.edu/research/sparse/colamd/colamd.h -// file. It is required by the colamd.c, colamdmex.c, and symamdmex.c -// files, and by any C code that calls the routines whose prototypes are -// listed below, or that uses the colamd/symamd definitions listed below. #ifndef EIGEN_COLAMD_H #define EIGEN_COLAMD_H @@ -102,9 +98,6 @@ namespace internal { /* === Definitions ========================================================== */ /* ========================================================================== */ -#define COLAMD_MAX(a,b) (((a) > (b)) ? (a) : (b)) -#define COLAMD_MIN(a,b) (((a) < (b)) ? (a) : (b)) - #define ONES_COMPLEMENT(r) (-(r)-1) /* -------------------------------------------------------------------------- */ @@ -516,7 +509,7 @@ static Index init_rows_cols /* returns true if OK, or false otherwise */ Col [col].start = p [col] ; Col [col].length = p [col+1] - p [col] ; - if (Col [col].length < 0) + if ((Col [col].length) < 0) // extra parentheses to work-around gcc bug 10200 { /* column pointers must be non-decreasing */ stats [COLAMD_STATUS] = COLAMD_ERROR_col_length_negative ; @@ -739,8 +732,8 @@ static void init_scoring /* === Extract knobs ==================================================== */ - dense_row_count = COLAMD_MAX (0, COLAMD_MIN (knobs [COLAMD_DENSE_ROW] * n_col, n_col)) ; - dense_col_count = COLAMD_MAX (0, COLAMD_MIN (knobs [COLAMD_DENSE_COL] * n_row, n_row)) ; + dense_row_count = std::max(0, (std::min)(Index(knobs [COLAMD_DENSE_ROW] * n_col), n_col)) ; + dense_col_count = std::max(0, (std::min)(Index(knobs [COLAMD_DENSE_COL] * n_row), n_row)) ; COLAMD_DEBUG1 (("colamd: densecount: %d %d\n", dense_row_count, dense_col_count)) ; max_deg = 0 ; n_col2 = n_col ; @@ -804,7 +797,7 @@ static void init_scoring else { /* keep track of max degree of remaining rows */ - max_deg = COLAMD_MAX (max_deg, deg) ; + max_deg = (std::max)(max_deg, deg) ; } } COLAMD_DEBUG1 (("colamd: Dense and null rows killed: %d\n", n_row - n_row2)) ; @@ -842,7 +835,7 @@ static void init_scoring /* add row's external degree */ score += Row [row].shared1.degree - 1 ; /* guard against integer overflow */ - score = COLAMD_MIN (score, n_col) ; + score = (std::min)(score, n_col) ; } /* determine pruned column length */ col_length = (Index) (new_cp - &A [Col [c].start]) ; @@ -914,7 +907,7 @@ static void init_scoring head [score] = c ; /* see if this score is less than current min */ - min_score = COLAMD_MIN (min_score, score) ; + min_score = (std::min)(min_score, score) ; } @@ -1040,7 +1033,7 @@ static Index find_ordering /* return the number of garbage collections */ /* === Garbage_collection, if necessary ============================= */ - needed_memory = COLAMD_MIN (pivot_col_score, n_col - k) ; + needed_memory = (std::min)(pivot_col_score, n_col - k) ; if (pfree + needed_memory >= Alen) { pfree = Eigen::internal::garbage_collection (n_row, n_col, Row, Col, A, &A [pfree]) ; @@ -1099,7 +1092,7 @@ static Index find_ordering /* return the number of garbage collections */ /* clear tag on pivot column */ Col [pivot_col].shared1.thickness = pivot_col_thickness ; - max_deg = COLAMD_MAX (max_deg, pivot_row_degree) ; + max_deg = (std::max)(max_deg, pivot_row_degree) ; /* === Kill all rows used to construct pivot row ==================== */ @@ -1273,7 +1266,7 @@ static Index find_ordering /* return the number of garbage collections */ /* add set difference */ cur_score += row_mark - tag_mark ; /* integer overflow... */ - cur_score = COLAMD_MIN (cur_score, n_col) ; + cur_score = (std::min)(cur_score, n_col) ; } /* recompute the column's length */ @@ -1386,7 +1379,7 @@ static Index find_ordering /* return the number of garbage collections */ cur_score -= Col [col].shared1.thickness ; /* make sure score is less or equal than the max score */ - cur_score = COLAMD_MIN (cur_score, max_score) ; + cur_score = (std::min)(cur_score, max_score) ; COLAMD_ASSERT (cur_score >= 0) ; /* store updated score */ @@ -1409,7 +1402,7 @@ static Index find_ordering /* return the number of garbage collections */ head [cur_score] = col ; /* see if this score is less than current min */ - min_score = COLAMD_MIN (min_score, cur_score) ; + min_score = (std::min)(min_score, cur_score) ; } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h index b1332be5e..448feb49b 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h @@ -49,7 +49,6 @@ ColPivHouseholderQR MatrixType; \ - typedef MatrixType::Scalar Scalar; \ typedef MatrixType::RealScalar RealScalar; \ Index rows = matrix.rows();\ Index cols = matrix.cols();\ diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h index 1b2977419..89ace381e 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h @@ -816,7 +816,7 @@ void JacobiSVD::allocate(Index rows, Index cols, u if(m_cols>m_rows) m_qr_precond_morecols.allocate(*this); if(m_rows>m_cols) m_qr_precond_morerows.allocate(*this); - if(m_cols!=m_cols) m_scaledMatrix.resize(rows,cols); + if(m_rows!=m_cols) m_scaledMatrix.resize(rows,cols); } template diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD_MKL.h index f76a7082a..ab6d96261 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD_MKL.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD_MKL.h @@ -45,8 +45,8 @@ JacobiSVD, ColPiv JacobiSVD, ColPivHouseholderQRPreconditioner>::compute(const Matrix& matrix, unsigned int computationOptions) \ { \ typedef Matrix MatrixType; \ - typedef MatrixType::Scalar Scalar; \ - typedef MatrixType::RealScalar RealScalar; \ + /*typedef MatrixType::Scalar Scalar;*/ \ + /*typedef MatrixType::RealScalar RealScalar;*/ \ allocate(matrix.rows(), matrix.cols(), computationOptions); \ \ /*const RealScalar precision = RealScalar(2) * NumTraits::epsilon();*/ \ diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h index 0c90bafbe..4f4983508 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h @@ -364,10 +364,11 @@ public: protected: + EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl) + typename SparseMatrixType::Nested m_matrix; Index m_outerStart; const internal::variable_if_dynamic m_outerSize; - }; //---------- @@ -528,7 +529,8 @@ public: const internal::variable_if_dynamic m_startCol; const internal::variable_if_dynamic m_blockRows; const internal::variable_if_dynamic m_blockCols; - + private: + Index nonZeros() const; }; } // end namespace Eigen diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h index 4ca912833..546273759 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h @@ -55,10 +55,9 @@ class CwiseBinaryOpImpl EIGEN_SPARSE_PUBLIC_INTERFACE(Derived) CwiseBinaryOpImpl() { - typedef typename internal::traits::StorageKind LhsStorageKind; - typedef typename internal::traits::StorageKind RhsStorageKind; EIGEN_STATIC_ASSERT(( - (!internal::is_same::value) + (!internal::is_same::StorageKind, + typename internal::traits::StorageKind>::value) || ((Lhs::Flags&RowMajorBit) == (Rhs::Flags&RowMajorBit))), THE_STORAGE_ORDER_OF_BOTH_SIDES_MUST_MATCH); } diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseView.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseView.h index fd8450463..2820b39b8 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseView.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseView.h @@ -35,9 +35,9 @@ class SparseView : public SparseMatrixBase > public: EIGEN_SPARSE_PUBLIC_INTERFACE(SparseView) - SparseView(const MatrixType& mat, const Scalar& m_reference = Scalar(0), - typename NumTraits::Real m_epsilon = NumTraits::dummy_precision()) : - m_matrix(mat), m_reference(m_reference), m_epsilon(m_epsilon) {} + explicit SparseView(const MatrixType& mat, const Scalar& reference = Scalar(0), + const RealScalar &epsilon = NumTraits::dummy_precision()) + : m_matrix(mat), m_reference(reference), m_epsilon(epsilon) {} class InnerIterator; diff --git a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdDeque.h b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdDeque.h index aaf66330b..69a46b2b8 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdDeque.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdDeque.h @@ -13,32 +13,24 @@ #include "details.h" -// Define the explicit instantiation (e.g. necessary for the Intel compiler) -#if defined(__INTEL_COMPILER) || defined(__GNUC__) - #define EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(...) template class std::deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> >; -#else - #define EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(...) -#endif - /** * This section contains a convenience MACRO which allows an easy specialization of * std::deque such that for data types with alignment issues the correct allocator * is used automatically. */ #define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) \ -EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(__VA_ARGS__) \ namespace std \ { \ - template \ - class deque<__VA_ARGS__, _Ay> \ + template<> \ + class deque<__VA_ARGS__, std::allocator<__VA_ARGS__> > \ : public deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \ { \ typedef deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > deque_base; \ public: \ typedef __VA_ARGS__ value_type; \ - typedef typename deque_base::allocator_type allocator_type; \ - typedef typename deque_base::size_type size_type; \ - typedef typename deque_base::iterator iterator; \ + typedef deque_base::allocator_type allocator_type; \ + typedef deque_base::size_type size_type; \ + typedef deque_base::iterator iterator; \ explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {} \ template \ deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : deque_base(first, last, a) {} \ diff --git a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdList.h b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdList.h index 3c742430c..050c2373e 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdList.h +++ b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdList.h @@ -12,32 +12,24 @@ #include "details.h" -// Define the explicit instantiation (e.g. necessary for the Intel compiler) -#if defined(__INTEL_COMPILER) || defined(__GNUC__) - #define EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(...) template class std::list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> >; -#else - #define EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(...) -#endif - /** * This section contains a convenience MACRO which allows an easy specialization of * std::list such that for data types with alignment issues the correct allocator * is used automatically. */ #define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) \ -EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(__VA_ARGS__) \ namespace std \ { \ - template \ - class list<__VA_ARGS__, _Ay> \ + template<> \ + class list<__VA_ARGS__, std::allocator<__VA_ARGS__> > \ : public list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \ { \ typedef list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > list_base; \ public: \ typedef __VA_ARGS__ value_type; \ - typedef typename list_base::allocator_type allocator_type; \ - typedef typename list_base::size_type size_type; \ - typedef typename list_base::iterator iterator; \ + typedef list_base::allocator_type allocator_type; \ + typedef list_base::size_type size_type; \ + typedef list_base::iterator iterator; \ explicit list(const allocator_type& a = allocator_type()) : list_base(a) {} \ template \ list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : list_base(first, last, a) {} \ diff --git a/gtsam/3rdparty/Eigen/doc/CMakeLists.txt b/gtsam/3rdparty/Eigen/doc/CMakeLists.txt index 2fc2a0dfc..02790ee43 100644 --- a/gtsam/3rdparty/Eigen/doc/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/doc/CMakeLists.txt @@ -89,6 +89,7 @@ add_dependencies(doc-unsupported-prerequisites unsupported_snippets unsupported_ add_custom_target(doc ALL COMMAND doxygen COMMAND doxygen Doxyfile-unsupported + COMMAND ${CMAKE_COMMAND} -E copy ${Eigen_BINARY_DIR}/doc/html/group__TopicUnalignedArrayAssert.html ${Eigen_BINARY_DIR}/doc/html/TopicUnalignedArrayAssert.html COMMAND ${CMAKE_COMMAND} -E rename html eigen-doc COMMAND ${CMAKE_COMMAND} -E remove eigen-doc/eigen-doc.tgz COMMAND ${CMAKE_COMMAND} -E tar cfz eigen-doc.tgz eigen-doc diff --git a/gtsam/3rdparty/Eigen/doc/Manual.dox b/gtsam/3rdparty/Eigen/doc/Manual.dox index 55057d213..52427f066 100644 --- a/gtsam/3rdparty/Eigen/doc/Manual.dox +++ b/gtsam/3rdparty/Eigen/doc/Manual.dox @@ -121,6 +121,8 @@ namespace Eigen { \ingroup Sparse_chapter */ /** \addtogroup TopicSparseSystems \ingroup Sparse_chapter */ +/** \addtogroup MatrixfreeSolverExample + \ingroup Sparse_chapter */ /** \addtogroup Sparse_Reference \ingroup Sparse_chapter */ diff --git a/gtsam/3rdparty/Eigen/doc/PreprocessorDirectives.dox b/gtsam/3rdparty/Eigen/doc/PreprocessorDirectives.dox index 8a2968ebb..cfaba35d8 100644 --- a/gtsam/3rdparty/Eigen/doc/PreprocessorDirectives.dox +++ b/gtsam/3rdparty/Eigen/doc/PreprocessorDirectives.dox @@ -91,6 +91,7 @@ following macros are supported; none of them are defined by default. - \b EIGEN_MATRIX_PLUGIN - filename of plugin for extending the Matrix class. - \b EIGEN_MATRIXBASE_PLUGIN - filename of plugin for extending the MatrixBase class. - \b EIGEN_PLAINOBJECTBASE_PLUGIN - filename of plugin for extending the PlainObjectBase class. + - \b EIGEN_MAPBASE_PLUGIN - filename of plugin for extending the MapBase class. - \b EIGEN_QUATERNIONBASE_PLUGIN - filename of plugin for extending the QuaternionBase class. - \b EIGEN_SPARSEMATRIX_PLUGIN - filename of plugin for extending the SparseMatrix class. - \b EIGEN_SPARSEMATRIXBASE_PLUGIN - filename of plugin for extending the SparseMatrixBase class. diff --git a/gtsam/3rdparty/Eigen/doc/SparseLinearSystems.dox b/gtsam/3rdparty/Eigen/doc/SparseLinearSystems.dox index c00be10d3..051a02ed9 100644 --- a/gtsam/3rdparty/Eigen/doc/SparseLinearSystems.dox +++ b/gtsam/3rdparty/Eigen/doc/SparseLinearSystems.dox @@ -35,17 +35,17 @@ They are summarized in the following table: Requires the PaStiX package, \b CeCILL-C optimized for tough problems and symmetric patterns CholmodSupernodalLLT\link CholmodSupport_Module CholmodSupport \endlinkDirect LLt factorizationSPDFill-in reducing, Leverage fast dense algebra - Requires the SuiteSparse package, \b GPL + Requires the SuiteSparse package, \b GPL UmfPackLU\link UmfPackSupport_Module UmfPackSupport \endlinkDirect LU factorizationSquareFill-in reducing, Leverage fast dense algebra - Requires the SuiteSparse package, \b GPL + Requires the SuiteSparse package, \b GPL SuperLU\link SuperLUSupport_Module SuperLUSupport \endlinkDirect LU factorizationSquareFill-in reducing, Leverage fast dense algebra Requires the SuperLU library, (BSD-like) SPQR\link SPQRSupport_Module SPQRSupport \endlink QR factorization Any, rectangularfill-in reducing, multithreaded, fast dense algebra - requires the SuiteSparse package, \b GPL recommended for linear least-squares problems, has a rank-revealing feature + requires the SuiteSparse package, \b GPL recommended for linear least-squares problems, has a rank-revealing feature Here \c SPD means symmetric positive definite. diff --git a/gtsam/3rdparty/Eigen/doc/SparseQuickReference.dox b/gtsam/3rdparty/Eigen/doc/SparseQuickReference.dox index d04ac35c5..e0a30edcc 100644 --- a/gtsam/3rdparty/Eigen/doc/SparseQuickReference.dox +++ b/gtsam/3rdparty/Eigen/doc/SparseQuickReference.dox @@ -21,7 +21,7 @@ i.e either row major or column major. The default is column major. Most arithmet Resize/Reserve \code - sm1.resize(m,n); //Change sm1 to a m x n matrix. + sm1.resize(m,n); // Change sm1 to a m x n matrix. sm1.reserve(nnz); // Allocate room for nnz nonzeros elements. \endcode @@ -151,10 +151,10 @@ It is easy to perform arithmetic operations on sparse matrices provided that the Permutation \code -perm.indices(); // Reference to the vector of indices +perm.indices(); // Reference to the vector of indices sm1.twistedBy(perm); // Permute rows and columns -sm2 = sm1 * perm; //Permute the columns -sm2 = perm * sm1; // Permute the columns +sm2 = sm1 * perm; // Permute the columns +sm2 = perm * sm1; // Permute the columns \endcode @@ -181,9 +181,9 @@ sm2 = perm * sm1; // Permute the columns \section sparseotherops Other supported operations - + + - + - - + + - + + - - - + + + - - +
Operations Code Notes
Code Notes
Sub-matrices
Sub-matrices \code sm1.block(startRow, startCol, rows, cols); @@ -193,25 +193,31 @@ sm2 = perm * sm1; // Permute the columns sm1.bottomLeftCorner( rows, cols); sm1.bottomRightCorner( rows, cols); \endcode - +Contrary to dense matrices, here all these methods are read-only.\n +See \ref TutorialSparse_SubMatrices and below for read-write sub-matrices. +
Range
Range
\code - sm1.innerVector(outer); - sm1.innerVectors(start, size); - sm1.leftCols(size); - sm2.rightCols(size); - sm1.middleRows(start, numRows); - sm1.middleCols(start, numCols); - sm1.col(j); + sm1.innerVector(outer); // RW + sm1.innerVectors(start, size); // RW + sm1.leftCols(size); // RW + sm2.rightCols(size); // RO because sm2 is row-major + sm1.middleRows(start, numRows); // RO becasue sm1 is column-major + sm1.middleCols(start, numCols); // RW + sm1.col(j); // RW \endcode A inner vector is either a row (for row-major) or a column (for column-major). As stated earlier, the evaluation can be done in a matrix with different storage order +A inner vector is either a row (for row-major) or a column (for column-major).\n +As stated earlier, for a read-write sub-matrix (RW), the evaluation can be done in a matrix with different storage order. +
Triangular and selfadjoint views
Triangular and selfadjoint views \code sm2 = sm1.triangularview(); @@ -222,26 +228,30 @@ sm2 = perm * sm1; // Permute the columns \code \endcode
Triangular solve
Triangular solve
\code dv2 = sm1.triangularView().solve(dv1); - dv2 = sm1.topLeftCorner(size, size).triangularView().solve(dv1); + dv2 = sm1.topLeftCorner(size, size) + .triangularView().solve(dv1); \endcode For general sparse solve, Use any suitable module described at \ref TopicSparseSystems
Low-level API
Low-level API \code -sm1.valuePtr(); // Pointer to the values -sm1.innerIndextr(); // Pointer to the indices. -sm1.outerIndexPtr(); //Pointer to the beginning of each inner vector +sm1.valuePtr(); // Pointer to the values +sm1.innerIndextr(); // Pointer to the indices. +sm1.outerIndexPtr(); // Pointer to the beginning of each inner vector \endcode If the matrix is not in compressed form, makeCompressed() should be called before. Note that these functions are mostly provided for interoperability purposes with external libraries. A better access to the values of the matrix is done by using the InnerIterator class as described in \link TutorialSparse the Tutorial Sparse \endlink section +If the matrix is not in compressed form, makeCompressed() should be called before.\n +Note that these functions are mostly provided for interoperability purposes with external libraries.\n +A better access to the values of the matrix is done by using the InnerIterator class as described in \link TutorialSparse the Tutorial Sparse \endlink section
*/ diff --git a/gtsam/3rdparty/Eigen/doc/TutorialSparse.dox b/gtsam/3rdparty/Eigen/doc/TutorialSparse.dox index fa2a3ad8b..ee206cc42 100644 --- a/gtsam/3rdparty/Eigen/doc/TutorialSparse.dox +++ b/gtsam/3rdparty/Eigen/doc/TutorialSparse.dox @@ -241,11 +241,11 @@ In the following \em sm denotes a sparse matrix, \em sv a sparse vector, \em dm sm1.real() sm1.imag() -sm1 0.5*sm1 sm1+sm2 sm1-sm2 sm1.cwiseProduct(sm2) \endcode -However, a strong restriction is that the storage orders must match. For instance, in the following example: +However, a strong restriction is that the storage orders must match. For instance, in the following example: \code sm4 = sm1 + sm2 + sm3; \endcode -sm1, sm2, and sm3 must all be row-major or all column major. +sm1, sm2, and sm3 must all be row-major or all column-major. On the other hand, there is no restriction on the target matrix sm4. For instance, this means that for computing \f$ A^T + A \f$, the matrix \f$ A^T \f$ must be evaluated into a temporary matrix of compatible storage order: \code @@ -307,6 +307,26 @@ sm2 = sm1.transpose() * P; \endcode +\subsection TutorialSparse_SubMatrices Block operations + +Regarding read-access, sparse matrices expose the same API than for dense matrices to access to sub-matrices such as blocks, columns, and rows. See \ref TutorialBlockOperations for a detailed introduction. +However, for performance reasons, writing to a sub-sparse-matrix is much more limited, and currently only contiguous sets of columns (resp. rows) of a column-major (resp. row-major) SparseMatrix are writable. Moreover, this information has to be known at compile-time, leaving out methods such as block(...) and corner*(...). The available API for write-access to a SparseMatrix are summarized below: +\code +SparseMatrix sm1; +sm1.col(j) = ...; +sm1.leftCols(ncols) = ...; +sm1.middleCols(j,ncols) = ...; +sm1.rightCols(ncols) = ...; + +SparseMatrix sm2; +sm2.row(i) = ...; +sm2.topRows(nrows) = ...; +sm2.middleRows(i,nrows) = ...; +sm2.bottomRows(nrows) = ...; +\endcode + +In addition, sparse matrices expose the SparseMatrixBase::innerVector() and SparseMatrixBase::innerVectors() methods, which are aliases to the col/middleCols methods for a column-major storage, and to the row/middleRows methods for a row-major storage. + \subsection TutorialSparse_TriangularSelfadjoint Triangular and selfadjoint views Just as with dense matrices, the triangularView() function can be used to address a triangular part of the matrix, and perform triangular solves with a dense right hand side: diff --git a/gtsam/3rdparty/Eigen/doc/UnalignedArrayAssert.dox b/gtsam/3rdparty/Eigen/doc/UnalignedArrayAssert.dox index 8c97d7874..b0d6e18f2 100644 --- a/gtsam/3rdparty/Eigen/doc/UnalignedArrayAssert.dox +++ b/gtsam/3rdparty/Eigen/doc/UnalignedArrayAssert.dox @@ -7,8 +7,8 @@ Hello! You are seeing this webpage because your program terminated on an asserti my_program: path/to/eigen/Eigen/src/Core/DenseStorage.h:44: Eigen::internal::matrix_array::internal::matrix_array() [with T = double, int Size = 2, int MatrixOptions = 2, bool Align = true]: -Assertion `(reinterpret_cast(array) & 0xf) == 0 && "this assertion -is explained here: http://eigen.tuxfamily.org/dox/UnalignedArrayAssert.html +Assertion `(reinterpret_cast(array) & (sizemask)) == 0 && "this assertion +is explained here: http://eigen.tuxfamily.org/dox/group__TopicUnalignedArrayAssert.html **** READ THIS WEB PAGE !!! ****"' failed. @@ -46,9 +46,9 @@ then you need to read this separate page: \ref TopicStructHavingEigenMembers "St Note that here, Eigen::Vector2d is only used as an example, more generally the issue arises for all \ref TopicFixedSizeVectorizable "fixed-size vectorizable Eigen types". -\section c2 Cause 2: STL Containers +\section c2 Cause 2: STL Containers or manual memory allocation -If you use STL Containers such as std::vector, std::map, ..., with Eigen objects, or with classes containing Eigen objects, like this, +If you use STL Containers such as std::vector, std::map, ..., with %Eigen objects, or with classes containing %Eigen objects, like this, \code std::vector my_vector; @@ -60,6 +60,8 @@ then you need to read this separate page: \ref TopicStlContainers "Using STL Con Note that here, Eigen::Matrix2f is only used as an example, more generally the issue arises for all \ref TopicFixedSizeVectorizable "fixed-size vectorizable Eigen types" and \ref TopicStructHavingEigenMembers "structures having such Eigen objects as member". +The same issue will be exhibited by any classes/functions by-passing operator new to allocate memory, that is, by performing custom memory allocation followed by calls to the placement new operator. This is for instance typically the case of \c std::make_shared or \c std::allocate_shared for which is the solution is to use an \ref aligned_allocator "aligned allocator" as detailed in the \ref TopicStlContainers "solution for STL containers". + \section c3 Cause 3: Passing Eigen objects by value If some function in your code is getting an Eigen object passed by value, like this, @@ -107,7 +109,10 @@ Two possibilities: 128-bit alignment code and thus preserves ABI compatibility, but completely disables vectorization. -For more information, see this FAQ. +If you want to know why defining EIGEN_DONT_VECTORIZE does not by itself disable 128-bit alignment and the assertion, here's the explanation: + +It doesn't disable the assertion, because otherwise code that runs fine without vectorization would suddenly crash when enabling vectorization. +It doesn't disable 128bit alignment, because that would mean that vectorized and non-vectorized code are not mutually ABI-compatible. This ABI compatibility is very important, even for people who develop only an in-house application, as for instance one may want to have in the same application a vectorized path and a non-vectorized path. */ diff --git a/gtsam/3rdparty/Eigen/eigen3.pc.in b/gtsam/3rdparty/Eigen/eigen3.pc.in index c5855de33..3368a3aa1 100644 --- a/gtsam/3rdparty/Eigen/eigen3.pc.in +++ b/gtsam/3rdparty/Eigen/eigen3.pc.in @@ -1,6 +1,9 @@ +prefix=@CMAKE_INSTALL_PREFIX@ +exec_prefix=${prefix} + Name: Eigen3 Description: A C++ template library for linear algebra: vectors, matrices, and related algorithms Requires: -Version: ${EIGEN_VERSION_NUMBER} +Version: @EIGEN_VERSION_NUMBER@ Libs: -Cflags: -I${INCLUDE_INSTALL_DIR} +Cflags: -I${prefix}/@INCLUDE_INSTALL_DIR@ diff --git a/gtsam/3rdparty/Eigen/test/CMakeLists.txt b/gtsam/3rdparty/Eigen/test/CMakeLists.txt index 3739268d2..c0d8a4e28 100644 --- a/gtsam/3rdparty/Eigen/test/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/test/CMakeLists.txt @@ -202,7 +202,9 @@ ei_add_test(geo_alignedbox) ei_add_test(stdvector) ei_add_test(stdvector_overload) ei_add_test(stdlist) +ei_add_test(stdlist_overload) ei_add_test(stddeque) +ei_add_test(stddeque_overload) ei_add_test(resize) ei_add_test(sparse_vector) ei_add_test(sparse_basic) diff --git a/gtsam/3rdparty/Eigen/test/dynalloc.cpp b/gtsam/3rdparty/Eigen/test/dynalloc.cpp index 7e41bfa97..ef92c0507 100644 --- a/gtsam/3rdparty/Eigen/test/dynalloc.cpp +++ b/gtsam/3rdparty/Eigen/test/dynalloc.cpp @@ -87,6 +87,32 @@ template void check_dynaligned() delete obj; } +template void check_custom_new_delete() +{ + { + T* t = new T; + delete t; + } + + { + std::size_t N = internal::random(1,10); + T* t = new T[N]; + delete[] t; + } + +#ifdef EIGEN_ALIGN + { + T* t = static_cast((T::operator new)(sizeof(T))); + (T::operator delete)(t, sizeof(T)); + } + + { + T* t = static_cast((T::operator new)(sizeof(T))); + (T::operator delete)(t); + } +#endif +} + void test_dynalloc() { // low level dynamic memory allocation @@ -94,7 +120,9 @@ void test_dynalloc() CALL_SUBTEST(check_aligned_malloc()); CALL_SUBTEST(check_aligned_new()); CALL_SUBTEST(check_aligned_stack_alloc()); - + + // check static allocation, who knows ? + #if EIGEN_ALIGN_STATICALLY for (int i=0; i() ); @@ -102,10 +130,13 @@ void test_dynalloc() CALL_SUBTEST(check_dynaligned() ); CALL_SUBTEST(check_dynaligned() ); CALL_SUBTEST(check_dynaligned() ); + + CALL_SUBTEST( check_custom_new_delete() ); + CALL_SUBTEST( check_custom_new_delete() ); + CALL_SUBTEST( check_custom_new_delete() ); + CALL_SUBTEST( check_custom_new_delete() ); } - - // check static allocation, who knows ? - #if EIGEN_ALIGN_STATICALLY + { MyStruct foo0; VERIFY(size_t(foo0.avec.data())%ALIGNMENT==0); MyClassA fooA; VERIFY(size_t(fooA.avec.data())%ALIGNMENT==0); diff --git a/gtsam/3rdparty/Eigen/test/product.h b/gtsam/3rdparty/Eigen/test/product.h index 0b3abe402..0d054ff46 100644 --- a/gtsam/3rdparty/Eigen/test/product.h +++ b/gtsam/3rdparty/Eigen/test/product.h @@ -136,9 +136,27 @@ template void product(const MatrixType& m) VERIFY_IS_APPROX(res.col(r).noalias() = square.adjoint() * square.col(r), (square.adjoint() * square.col(r)).eval()); VERIFY_IS_APPROX(res.col(r).noalias() = square * square.col(r), (square * square.col(r)).eval()); + // vector at runtime (see bug 1166) + { + RowSquareMatrixType ref(square); + ColSquareMatrixType ref2(square2); + ref = res = square; + VERIFY_IS_APPROX(res.block(0,0,1,rows).noalias() = m1.col(0).transpose() * square.transpose(), (ref.row(0) = m1.col(0).transpose() * square.transpose())); + VERIFY_IS_APPROX(res.block(0,0,1,rows).noalias() = m1.block(0,0,rows,1).transpose() * square.transpose(), (ref.row(0) = m1.col(0).transpose() * square.transpose())); + VERIFY_IS_APPROX(res.block(0,0,1,rows).noalias() = m1.col(0).transpose() * square, (ref.row(0) = m1.col(0).transpose() * square)); + VERIFY_IS_APPROX(res.block(0,0,1,rows).noalias() = m1.block(0,0,rows,1).transpose() * square, (ref.row(0) = m1.col(0).transpose() * square)); + ref2 = res2 = square2; + VERIFY_IS_APPROX(res2.block(0,0,1,cols).noalias() = m1.row(0) * square2.transpose(), (ref2.row(0) = m1.row(0) * square2.transpose())); + VERIFY_IS_APPROX(res2.block(0,0,1,cols).noalias() = m1.block(0,0,1,cols) * square2.transpose(), (ref2.row(0) = m1.row(0) * square2.transpose())); + VERIFY_IS_APPROX(res2.block(0,0,1,cols).noalias() = m1.row(0) * square2, (ref2.row(0) = m1.row(0) * square2)); + VERIFY_IS_APPROX(res2.block(0,0,1,cols).noalias() = m1.block(0,0,1,cols) * square2, (ref2.row(0) = m1.row(0) * square2)); + } + // inner product - Scalar x = square2.row(c) * square2.col(c2); - VERIFY_IS_APPROX(x, square2.row(c).transpose().cwiseProduct(square2.col(c2)).sum()); + { + Scalar x = square2.row(c) * square2.col(c2); + VERIFY_IS_APPROX(x, square2.row(c).transpose().cwiseProduct(square2.col(c2)).sum()); + } // outer product VERIFY_IS_APPROX(m1.col(c) * m1.row(r), m1.block(0,c,rows,1) * m1.block(r,0,1,cols)); @@ -146,5 +164,18 @@ template void product(const MatrixType& m) VERIFY_IS_APPROX(m1.block(0,c,rows,1) * m1.row(r), m1.block(0,c,rows,1) * m1.block(r,0,1,cols)); VERIFY_IS_APPROX(m1.col(c) * m1.block(r,0,1,cols), m1.block(0,c,rows,1) * m1.block(r,0,1,cols)); VERIFY_IS_APPROX(m1.leftCols(1) * m1.row(r), m1.block(0,0,rows,1) * m1.block(r,0,1,cols)); - VERIFY_IS_APPROX(m1.col(c) * m1.topRows(1), m1.block(0,c,rows,1) * m1.block(0,0,1,cols)); + VERIFY_IS_APPROX(m1.col(c) * m1.topRows(1), m1.block(0,c,rows,1) * m1.block(0,0,1,cols)); + + // Aliasing + { + ColVectorType x(cols); x.setRandom(); + ColVectorType z(x); + ColVectorType y(cols); y.setZero(); + ColSquareMatrixType A(cols,cols); A.setRandom(); + // CwiseBinaryOp + VERIFY_IS_APPROX(x = y + A*x, A*z); + x = z; + // CwiseUnaryOp + VERIFY_IS_APPROX(x = Scalar(1.)*(A*x), A*z); + } } diff --git a/gtsam/3rdparty/Eigen/test/product_large.cpp b/gtsam/3rdparty/Eigen/test/product_large.cpp index 03d7bd8ed..6bb4d1ad1 100644 --- a/gtsam/3rdparty/Eigen/test/product_large.cpp +++ b/gtsam/3rdparty/Eigen/test/product_large.cpp @@ -9,6 +9,27 @@ #include "product.h" +template +void test_aliasing() +{ + int rows = internal::random(1,12); + int cols = internal::random(1,12); + typedef Matrix MatrixType; + typedef Matrix VectorType; + VectorType x(cols); x.setRandom(); + VectorType z(x); + VectorType y(rows); y.setZero(); + MatrixType A(rows,cols); A.setRandom(); + // CwiseBinaryOp + VERIFY_IS_APPROX(x = y + A*x, A*z); + x = z; + // CwiseUnaryOp + VERIFY_IS_APPROX(x = T(1.)*(A*x), A*z); + x = z; + VERIFY_IS_APPROX(x = y+(-(A*x)), -A*z); + x = z; +} + void test_product_large() { for(int i = 0; i < g_repeat; i++) { @@ -17,6 +38,8 @@ void test_product_large() CALL_SUBTEST_3( product(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); CALL_SUBTEST_4( product(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); CALL_SUBTEST_5( product(Matrix(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + + CALL_SUBTEST_1( test_aliasing() ); } #if defined EIGEN_TEST_PART_6 diff --git a/gtsam/3rdparty/Eigen/test/product_notemporary.cpp b/gtsam/3rdparty/Eigen/test/product_notemporary.cpp index 258d238e2..5599d268d 100644 --- a/gtsam/3rdparty/Eigen/test/product_notemporary.cpp +++ b/gtsam/3rdparty/Eigen/test/product_notemporary.cpp @@ -58,10 +58,19 @@ template void product_notemporary(const MatrixType& m) r1 = internal::random(8,rows-r0); VERIFY_EVALUATION_COUNT( m3 = (m1 * m2.adjoint()), 1); + VERIFY_EVALUATION_COUNT( m3 = (m1 * m2.adjoint()).transpose(), 1); VERIFY_EVALUATION_COUNT( m3.noalias() = m1 * m2.adjoint(), 0); + VERIFY_EVALUATION_COUNT( m3 = s1 * (m1 * m2.transpose()), 1); + VERIFY_EVALUATION_COUNT( m3 = m3 + s1 * (m1 * m2.transpose()), 1); VERIFY_EVALUATION_COUNT( m3.noalias() = s1 * (m1 * m2.transpose()), 0); + VERIFY_EVALUATION_COUNT( m3 = m3 + (m1 * m2.adjoint()), 1); + VERIFY_EVALUATION_COUNT( m3 = m3 + (m1 * m2.adjoint()).transpose(), 1); + VERIFY_EVALUATION_COUNT( m3.noalias() = m3 + m1 * m2.transpose(), 1); // 0 in 3.3 + VERIFY_EVALUATION_COUNT( m3.noalias() += m3 + m1 * m2.transpose(), 1); // 0 in 3.3 + VERIFY_EVALUATION_COUNT( m3.noalias() -= m3 + m1 * m2.transpose(), 1); // 0 in 3.3 + VERIFY_EVALUATION_COUNT( m3.noalias() = s1 * m1 * s2 * m2.adjoint(), 0); VERIFY_EVALUATION_COUNT( m3.noalias() = s1 * m1 * s2 * (m1*s3+m2*s2).adjoint(), 1); VERIFY_EVALUATION_COUNT( m3.noalias() = (s1 * m1).adjoint() * s2 * m2, 0); diff --git a/gtsam/3rdparty/Eigen/test/ref.cpp b/gtsam/3rdparty/Eigen/test/ref.cpp index 44bbd3bf1..8297e263a 100644 --- a/gtsam/3rdparty/Eigen/test/ref.cpp +++ b/gtsam/3rdparty/Eigen/test/ref.cpp @@ -34,6 +34,18 @@ inline void on_temporary_creation(int) { // test Ref.h +// Deal with i387 extended precision +#if EIGEN_ARCH_i386 && !(EIGEN_ARCH_x86_64) + +#if EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_LEAST(4,4) +#pragma GCC optimize ("-ffloat-store") +#else +#undef VERIFY_IS_EQUAL +#define VERIFY_IS_EQUAL(X,Y) VERIFY_IS_APPROX(X,Y) +#endif + +#endif + template void ref_matrix(const MatrixType& m) { typedef typename MatrixType::Index Index; @@ -71,7 +83,6 @@ template void ref_matrix(const MatrixType& m) rm2 = m2.block(i,j,brows,bcols); VERIFY_IS_EQUAL(m1, m2); - ConstRefDynMat rm3 = m1.block(i,j,brows,bcols); m1.block(i,j,brows,bcols) *= 2; m2.block(i,j,brows,bcols) *= 2; diff --git a/gtsam/3rdparty/Eigen/test/visitor.cpp b/gtsam/3rdparty/Eigen/test/visitor.cpp index 39a5d6b5f..844170ec6 100644 --- a/gtsam/3rdparty/Eigen/test/visitor.cpp +++ b/gtsam/3rdparty/Eigen/test/visitor.cpp @@ -55,6 +55,11 @@ template void matrixVisitor(const MatrixType& p) VERIFY_IS_APPROX(maxc, eigen_maxc); VERIFY_IS_APPROX(minc, m.minCoeff()); VERIFY_IS_APPROX(maxc, m.maxCoeff()); + + eigen_maxc = (m.adjoint()*m).maxCoeff(&eigen_maxrow,&eigen_maxcol); + eigen_maxc = (m.adjoint()*m).eval().maxCoeff(&maxrow,&maxcol); + VERIFY(maxrow == eigen_maxrow); + VERIFY(maxcol == eigen_maxcol); } template void vectorVisitor(const VectorType& w) diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/AlignedVector3 b/gtsam/3rdparty/Eigen/unsupported/Eigen/AlignedVector3 index 7b45e6cce..29d5c90fb 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/AlignedVector3 +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/AlignedVector3 @@ -177,7 +177,7 @@ template class AlignedVector3 } template - inline bool isApprox(const MatrixBase& other, RealScalar eps=NumTraits::dummy_precision()) const + inline bool isApprox(const MatrixBase& other, const RealScalar& eps=NumTraits::dummy_precision()) const { return m_coeffs.template head<3>().isApprox(other,eps); }