merge from 23153 to 23595soc-2009-imbusy

1 files changed, 271 insertions, 0 deletions

diff --git a/extern/Eigen2/Eigen/src/Core/Sum.h b/extern/Eigen2/Eigen/src/Core/Sum.h
new file mode 100644
index 00000000000..6d7e9959fa5
--- /dev/null
+++ b/extern/Eigen2/Eigen/src/Core/Sum.h
@@ -0,0 +1,271 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2008 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/>.
+
+#ifndef EIGEN_SUM_H
+#define EIGEN_SUM_H
+
+/***************************************************************************
+* Part 1 : the logic deciding a strategy for vectorization and unrolling
+***************************************************************************/
+
+template<typename Derived>
+struct ei_sum_traits
+{
+private:
+  enum {
+    PacketSize = ei_packet_traits<typename Derived::Scalar>::size
+  };
+
+public:
+  enum {
+    Vectorization = (int(Derived::Flags)&ActualPacketAccessBit)
+                 && (int(Derived::Flags)&LinearAccessBit)
+                  ? LinearVectorization
+                  : NoVectorization
+  };
+
+private:
+  enum {
+    Cost = Derived::SizeAtCompileTime * Derived::CoeffReadCost
+           + (Derived::SizeAtCompileTime-1) * NumTraits<typename Derived::Scalar>::AddCost,
+    UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Vectorization) == int(NoVectorization) ? 1 : int(PacketSize))
+  };
+
+public:
+  enum {
+    Unrolling = Cost <= UnrollingLimit
+              ? CompleteUnrolling
+              : NoUnrolling
+  };
+};
+
+/***************************************************************************
+* Part 2 : unrollers
+***************************************************************************/
+
+/*** no vectorization ***/
+
+template<typename Derived, int Start, int Length>
+struct ei_sum_novec_unroller
+{
+  enum {
+    HalfLength = Length/2
+  };
+
+  typedef typename Derived::Scalar Scalar;
+
+  inline static Scalar run(const Derived &mat)
+  {
+    return ei_sum_novec_unroller<Derived, Start, HalfLength>::run(mat)
+         + ei_sum_novec_unroller<Derived, Start+HalfLength, Length-HalfLength>::run(mat);
+  }
+};
+
+template<typename Derived, int Start>
+struct ei_sum_novec_unroller<Derived, Start, 1>
+{
+  enum {
+    col = Start / Derived::RowsAtCompileTime,
+    row = Start % Derived::RowsAtCompileTime
+  };
+
+  typedef typename Derived::Scalar Scalar;
+
+  inline static Scalar run(const Derived &mat)
+  {
+    return mat.coeff(row, col);
+  }
+};
+
+/*** vectorization ***/
+  
+template<typename Derived, int Start, int Length>
+struct ei_sum_vec_unroller
+{
+  enum {
+    PacketSize = ei_packet_traits<typename Derived::Scalar>::size,
+    HalfLength = Length/2
+  };
+
+  typedef typename Derived::Scalar Scalar;
+  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
+
+  inline static PacketScalar run(const Derived &mat)
+  {
+    return ei_padd(
+            ei_sum_vec_unroller<Derived, Start, HalfLength>::run(mat),
+            ei_sum_vec_unroller<Derived, Start+HalfLength, Length-HalfLength>::run(mat) );
+  }
+};
+
+template<typename Derived, int Start>
+struct ei_sum_vec_unroller<Derived, Start, 1>
+{
+  enum {
+    index = Start * ei_packet_traits<typename Derived::Scalar>::size,
+    row = int(Derived::Flags)&RowMajorBit
+        ? index / int(Derived::ColsAtCompileTime)
+        : index % Derived::RowsAtCompileTime,
+    col = int(Derived::Flags)&RowMajorBit
+        ? index % int(Derived::ColsAtCompileTime)
+        : index / Derived::RowsAtCompileTime,
+    alignment = (Derived::Flags & AlignedBit) ? Aligned : Unaligned
+  };
+
+  typedef typename Derived::Scalar Scalar;
+  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
+
+  inline static PacketScalar run(const Derived &mat)
+  {
+    return mat.template packet<alignment>(row, col);
+  }
+};
+
+/***************************************************************************
+* Part 3 : implementation of all cases
+***************************************************************************/
+
+template<typename Derived,
+         int Vectorization = ei_sum_traits<Derived>::Vectorization,
+         int Unrolling = ei_sum_traits<Derived>::Unrolling
+>
+struct ei_sum_impl;
+
+template<typename Derived>
+struct ei_sum_impl<Derived, NoVectorization, NoUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  static Scalar run(const Derived& mat)
+  {
+    ei_assert(mat.rows()>0 && mat.cols()>0 && "you are using a non initialized matrix");
+    Scalar res;
+    res = mat.coeff(0, 0);
+    for(int i = 1; i < mat.rows(); ++i)
+      res += mat.coeff(i, 0);
+    for(int j = 1; j < mat.cols(); ++j)
+      for(int i = 0; i < mat.rows(); ++i)
+        res += mat.coeff(i, j);
+    return res;
+  }
+};
+
+template<typename Derived>
+struct ei_sum_impl<Derived, NoVectorization, CompleteUnrolling>
+  : public ei_sum_novec_unroller<Derived, 0, Derived::SizeAtCompileTime>
+{};
+
+template<typename Derived>
+struct ei_sum_impl<Derived, LinearVectorization, NoUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
+
+  static Scalar run(const Derived& mat)
+  {
+    const int size = mat.size();
+    const int packetSize = ei_packet_traits<Scalar>::size;
+    const int alignedStart =  (Derived::Flags & AlignedBit)
+                           || !(Derived::Flags & DirectAccessBit)
+                           ? 0
+                           : ei_alignmentOffset(&mat.const_cast_derived().coeffRef(0), size);
+    enum {
+      alignment = (Derived::Flags & DirectAccessBit) || (Derived::Flags & AlignedBit)
+                ? Aligned : Unaligned
+    };
+    const int alignedSize = ((size-alignedStart)/packetSize)*packetSize;
+    const int alignedEnd = alignedStart + alignedSize;
+    Scalar res;
+
+    if(alignedSize)
+    {
+      PacketScalar packet_res = mat.template packet<alignment>(alignedStart);
+      for(int index = alignedStart + packetSize; index < alignedEnd; index += packetSize)
+        packet_res = ei_padd(packet_res, mat.template packet<alignment>(index));
+      res = ei_predux(packet_res);
+    }
+    else // too small to vectorize anything.
+         // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
+    {
+      res = Scalar(0);
+    }
+
+    for(int index = 0; index < alignedStart; ++index)
+      res += mat.coeff(index);
+
+    for(int index = alignedEnd; index < size; ++index)
+      res += mat.coeff(index);
+
+    return res;
+  }
+};
+
+template<typename Derived>
+struct ei_sum_impl<Derived, LinearVectorization, CompleteUnrolling>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename ei_packet_traits<Scalar>::type PacketScalar;
+  enum {
+    PacketSize = ei_packet_traits<Scalar>::size,
+    Size = Derived::SizeAtCompileTime,
+    VectorizationSize = (Size / PacketSize) * PacketSize
+  };
+  static Scalar run(const Derived& mat)
+  {
+    Scalar res = ei_predux(ei_sum_vec_unroller<Derived, 0, Size / PacketSize>::run(mat));
+    if (VectorizationSize != Size)
+      res += ei_sum_novec_unroller<Derived, VectorizationSize, Size-VectorizationSize>::run(mat);
+    return res;
+  }
+};
+
+/***************************************************************************
+* Part 4 : implementation of MatrixBase methods
+***************************************************************************/
+
+/** \returns the sum of all coefficients of *this
+  *
+  * \sa trace()
+  */
+template<typename Derived>
+inline typename ei_traits<Derived>::Scalar
+MatrixBase<Derived>::sum() const
+{
+  return ei_sum_impl<Derived>::run(derived());
+}
+
+/** \returns the trace of \c *this, i.e. the sum of the coefficients on the main diagonal.
+  *
+  * \c *this can be any matrix, not necessarily square.
+  *
+  * \sa diagonal(), sum()
+  */
+template<typename Derived>
+inline typename ei_traits<Derived>::Scalar
+MatrixBase<Derived>::trace() const
+{
+  return diagonal().sum();
+}
+
+#endif // EIGEN_SUM_H