merge from 23153 to 23595soc-2009-imbusy

1 files changed, 449 insertions, 0 deletions

diff --git a/extern/Eigen2/Eigen/src/Sparse/SparseBlock.h b/extern/Eigen2/Eigen/src/Sparse/SparseBlock.h
new file mode 100644
index 00000000000..c39066676b6
--- /dev/null
+++ b/extern/Eigen2/Eigen/src/Sparse/SparseBlock.h
@@ -0,0 +1,449 @@
+// 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 Daniel Gomez Ferro <dgomezferro@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_SPARSE_BLOCK_H
+#define EIGEN_SPARSE_BLOCK_H
+
+template<typename MatrixType, int Size>
+struct ei_traits<SparseInnerVectorSet<MatrixType, Size> >
+{
+  typedef typename ei_traits<MatrixType>::Scalar Scalar;
+  enum {
+    IsRowMajor = (int(MatrixType::Flags)&RowMajorBit)==RowMajorBit,
+    Flags = MatrixType::Flags,
+    RowsAtCompileTime = IsRowMajor ? Size : MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = IsRowMajor ? MatrixType::ColsAtCompileTime : Size,
+    CoeffReadCost = MatrixType::CoeffReadCost
+  };
+};
+
+template<typename MatrixType, int Size>
+class SparseInnerVectorSet : ei_no_assignment_operator,
+  public SparseMatrixBase<SparseInnerVectorSet<MatrixType, Size> >
+{
+    enum { IsRowMajor = ei_traits<SparseInnerVectorSet>::IsRowMajor };
+  public:
+
+    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseInnerVectorSet)
+    class InnerIterator: public MatrixType::InnerIterator
+    {
+      public:
+        inline InnerIterator(const SparseInnerVectorSet& xpr, int outer)
+          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer)
+        {}
+    };
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, int outerStart, int outerSize)
+      : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
+    {
+      ei_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
+    }
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, int outer)
+      : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size)
+    {
+      ei_assert(Size!=Dynamic);
+      ei_assert( (outer>=0) && (outer<matrix.outerSize()) );
+    }
+
+//     template<typename OtherDerived>
+//     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+//     {
+//       return *this;
+//     }
+
+//     template<typename Sparse>
+//     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+//     {
+//       return *this;
+//     }
+
+    EIGEN_STRONG_INLINE int rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    EIGEN_STRONG_INLINE int cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+
+  protected:
+
+    const typename MatrixType::Nested m_matrix;
+    int m_outerStart;
+    const ei_int_if_dynamic<Size> m_outerSize;
+
+};
+
+/***************************************************************************
+* specialisation for DynamicSparseMatrix
+***************************************************************************/
+
+template<typename _Scalar, int _Options, int Size>
+class SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options>, Size>
+  : public SparseMatrixBase<SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options>, Size> >
+{
+    typedef DynamicSparseMatrix<_Scalar, _Options> MatrixType;
+    enum { IsRowMajor = ei_traits<SparseInnerVectorSet>::IsRowMajor };
+  public:
+
+    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseInnerVectorSet)
+    class InnerIterator: public MatrixType::InnerIterator
+    {
+      public:
+        inline InnerIterator(const SparseInnerVectorSet& xpr, int outer)
+          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer)
+        {}
+    };
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, int outerStart, int outerSize)
+      : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
+    {
+      ei_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
+    }
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, int outer)
+      : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size)
+    {
+      ei_assert(Size!=Dynamic);
+      ei_assert( (outer>=0) && (outer<matrix.outerSize()) );
+    }
+
+    template<typename OtherDerived>
+    inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+    {
+      if (IsRowMajor != ((OtherDerived::Flags&RowMajorBit)==RowMajorBit))
+      {
+        // need to transpose => perform a block evaluation followed by a big swap
+        DynamicSparseMatrix<Scalar,IsRowMajor?RowMajorBit:0> aux(other);
+        *this = aux.markAsRValue();
+      }
+      else
+      {
+        // evaluate/copy vector per vector
+        for (int j=0; j<m_outerSize.value(); ++j)
+        {
+          SparseVector<Scalar,IsRowMajor ? RowMajorBit : 0> aux(other.innerVector(j));
+          m_matrix.const_cast_derived()._data()[m_outerStart+j].swap(aux._data());
+        }
+      }
+      return *this;
+    }
+
+    inline SparseInnerVectorSet& operator=(const SparseInnerVectorSet& other)
+    {
+      return operator=<SparseInnerVectorSet>(other);
+    }
+
+//     template<typename Sparse>
+//     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+//     {
+//       return *this;
+//     }
+
+    EIGEN_STRONG_INLINE int rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    EIGEN_STRONG_INLINE int cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+
+  protected:
+
+    const typename MatrixType::Nested m_matrix;
+    int m_outerStart;
+    const ei_int_if_dynamic<Size> m_outerSize;
+
+};
+
+
+/***************************************************************************
+* specialisation for SparseMatrix
+***************************************************************************/
+/*
+template<typename _Scalar, int _Options, int Size>
+class SparseInnerVectorSet<SparseMatrix<_Scalar, _Options>, Size>
+  : public SparseMatrixBase<SparseInnerVectorSet<SparseMatrix<_Scalar, _Options>, Size> >
+{
+    typedef DynamicSparseMatrix<_Scalar, _Options> MatrixType;
+    enum { IsRowMajor = ei_traits<SparseInnerVectorSet>::IsRowMajor };
+  public:
+
+    EIGEN_SPARSE_GENERIC_PUBLIC_INTERFACE(SparseInnerVectorSet)
+    class InnerIterator: public MatrixType::InnerIterator
+    {
+      public:
+        inline InnerIterator(const SparseInnerVectorSet& xpr, int outer)
+          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer)
+        {}
+    };
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, int outerStart, int outerSize)
+      : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
+    {
+      ei_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
+    }
+
+    inline SparseInnerVectorSet(const MatrixType& matrix, int outer)
+      : m_matrix(matrix), m_outerStart(outer)
+    {
+      ei_assert(Size==1);
+      ei_assert( (outer>=0) && (outer<matrix.outerSize()) );
+    }
+
+    template<typename OtherDerived>
+    inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+    {
+      if (IsRowMajor != ((OtherDerived::Flags&RowMajorBit)==RowMajorBit))
+      {
+        // need to transpose => perform a block evaluation followed by a big swap
+        DynamicSparseMatrix<Scalar,IsRowMajor?RowMajorBit:0> aux(other);
+        *this = aux.markAsRValue();
+      }
+      else
+      {
+        // evaluate/copy vector per vector
+        for (int j=0; j<m_outerSize.value(); ++j)
+        {
+          SparseVector<Scalar,IsRowMajor ? RowMajorBit : 0> aux(other.innerVector(j));
+          m_matrix.const_cast_derived()._data()[m_outerStart+j].swap(aux._data());
+        }
+      }
+      return *this;
+    }
+
+    inline SparseInnerVectorSet& operator=(const SparseInnerVectorSet& other)
+    {
+      return operator=<SparseInnerVectorSet>(other);
+    }
+
+    inline const Scalar* _valuePtr() const
+    { return m_matrix._valuePtr() + m_matrix._outerIndexPtr()[m_outerStart]; }
+    inline const int* _innerIndexPtr() const
+    { return m_matrix._innerIndexPtr() + m_matrix._outerIndexPtr()[m_outerStart]; }
+    inline const int* _outerIndexPtr() const { return m_matrix._outerIndexPtr() + m_outerStart; }
+
+//     template<typename Sparse>
+//     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
+//     {
+//       return *this;
+//     }
+
+    EIGEN_STRONG_INLINE int rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    EIGEN_STRONG_INLINE int cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+
+  protected:
+
+    const typename MatrixType::Nested m_matrix;
+    int m_outerStart;
+    const ei_int_if_dynamic<Size> m_outerSize;
+
+};
+*/
+//----------
+
+/** \returns the i-th row of the matrix \c *this. For row-major matrix only. */
+template<typename Derived>
+SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::row(int i)
+{
+  EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
+  return innerVector(i);
+}
+
+/** \returns the i-th row of the matrix \c *this. For row-major matrix only.
+  * (read-only version) */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::row(int i) const
+{
+  EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
+  return innerVector(i);
+}
+
+/** \returns the i-th column of the matrix \c *this. For column-major matrix only. */
+template<typename Derived>
+SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::col(int i)
+{
+  EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  return innerVector(i);
+}
+
+/** \returns the i-th column of the matrix \c *this. For column-major matrix only.
+  * (read-only version) */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::col(int i) const
+{
+  EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  return innerVector(i);
+}
+
+/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
+  * is col-major (resp. row-major).
+  */
+template<typename Derived>
+SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::innerVector(int outer)
+{ return SparseInnerVectorSet<Derived,1>(derived(), outer); }
+
+/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
+  * is col-major (resp. row-major). Read-only.
+  */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,1> SparseMatrixBase<Derived>::innerVector(int outer) const
+{ return SparseInnerVectorSet<Derived,1>(derived(), outer); }
+
+//----------
+
+/** \returns the i-th row of the matrix \c *this. For row-major matrix only. */
+template<typename Derived>
+SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subrows(int start, int size)
+{
+  EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
+  return innerVectors(start, size);
+}
+
+/** \returns the i-th row of the matrix \c *this. For row-major matrix only.
+  * (read-only version) */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subrows(int start, int size) const
+{
+  EIGEN_STATIC_ASSERT(IsRowMajor,THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES);
+  return innerVectors(start, size);
+}
+
+/** \returns the i-th column of the matrix \c *this. For column-major matrix only. */
+template<typename Derived>
+SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subcols(int start, int size)
+{
+  EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  return innerVectors(start, size);
+}
+
+/** \returns the i-th column of the matrix \c *this. For column-major matrix only.
+  * (read-only version) */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::subcols(int start, int size) const
+{
+  EIGEN_STATIC_ASSERT(!IsRowMajor,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  return innerVectors(start, size);
+}
+
+/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
+  * is col-major (resp. row-major).
+  */
+template<typename Derived>
+SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::innerVectors(int outerStart, int outerSize)
+{ return SparseInnerVectorSet<Derived,Dynamic>(derived(), outerStart, outerSize); }
+
+/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
+  * is col-major (resp. row-major). Read-only.
+  */
+template<typename Derived>
+const SparseInnerVectorSet<Derived,Dynamic> SparseMatrixBase<Derived>::innerVectors(int outerStart, int outerSize) const
+{ return SparseInnerVectorSet<Derived,Dynamic>(derived(), outerStart, outerSize); }
+
+# if 0
+template<typename MatrixType, int BlockRows, int BlockCols, int PacketAccess>
+class Block<MatrixType,BlockRows,BlockCols,PacketAccess,IsSparse>
+  : public SparseMatrixBase<Block<MatrixType,BlockRows,BlockCols,PacketAccess,IsSparse> >
+{
+public:
+
+    _EIGEN_GENERIC_PUBLIC_INTERFACE(Block, SparseMatrixBase<Block>)
+    class InnerIterator;
+
+    /** Column or Row constructor
+      */
+    inline Block(const MatrixType& matrix, int i)
+      : m_matrix(matrix),
+        // It is a row if and only if BlockRows==1 and BlockCols==MatrixType::ColsAtCompileTime,
+        // and it is a column if and only if BlockRows==MatrixType::RowsAtCompileTime and BlockCols==1,
+        // all other cases are invalid.
+        // The case a 1x1 matrix seems ambiguous, but the result is the same anyway.
+        m_startRow( (BlockRows==1) && (BlockCols==MatrixType::ColsAtCompileTime) ? i : 0),
+        m_startCol( (BlockRows==MatrixType::RowsAtCompileTime) && (BlockCols==1) ? i : 0),
+        m_blockRows(matrix.rows()), // if it is a row, then m_blockRows has a fixed-size of 1, so no pb to try to overwrite it
+        m_blockCols(matrix.cols())  // same for m_blockCols
+    {
+      ei_assert( (i>=0) && (
+          ((BlockRows==1) && (BlockCols==MatrixType::ColsAtCompileTime) && i<matrix.rows())
+        ||((BlockRows==MatrixType::RowsAtCompileTime) && (BlockCols==1) && i<matrix.cols())));
+    }
+
+    /** Fixed-size constructor
+      */
+    inline Block(const MatrixType& matrix, int startRow, int startCol)
+      : m_matrix(matrix), m_startRow(startRow), m_startCol(startCol),
+        m_blockRows(matrix.rows()), m_blockCols(matrix.cols())
+    {
+      EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && RowsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
+      ei_assert(startRow >= 0 && BlockRows >= 1 && startRow + BlockRows <= matrix.rows()
+          && startCol >= 0 && BlockCols >= 1 && startCol + BlockCols <= matrix.cols());
+    }
+
+    /** Dynamic-size constructor
+      */
+    inline Block(const MatrixType& matrix,
+          int startRow, int startCol,
+          int blockRows, int blockCols)
+      : m_matrix(matrix), m_startRow(startRow), m_startCol(startCol),
+                          m_blockRows(blockRows), m_blockCols(blockCols)
+    {
+      ei_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
+          && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
+      ei_assert(startRow >= 0 && blockRows >= 1 && startRow + blockRows <= matrix.rows()
+          && startCol >= 0 && blockCols >= 1 && startCol + blockCols <= matrix.cols());
+    }
+
+    inline int rows() const { return m_blockRows.value(); }
+    inline int cols() const { return m_blockCols.value(); }
+
+    inline int stride(void) const { return m_matrix.stride(); }
+
+    inline Scalar& coeffRef(int row, int col)
+    {
+      return m_matrix.const_cast_derived()
+               .coeffRef(row + m_startRow.value(), col + m_startCol.value());
+    }
+
+    inline const Scalar coeff(int row, int col) const
+    {
+      return m_matrix.coeff(row + m_startRow.value(), col + m_startCol.value());
+    }
+
+    inline Scalar& coeffRef(int index)
+    {
+      return m_matrix.const_cast_derived()
+             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+    }
+
+    inline const Scalar coeff(int index) const
+    {
+      return m_matrix
+             .coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                    m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+    }
+
+  protected:
+
+    const typename MatrixType::Nested m_matrix;
+    const ei_int_if_dynamic<MatrixType::RowsAtCompileTime == 1 ? 0 : Dynamic> m_startRow;
+    const ei_int_if_dynamic<MatrixType::ColsAtCompileTime == 1 ? 0 : Dynamic> m_startCol;
+    const ei_int_if_dynamic<RowsAtCompileTime> m_blockRows;
+    const ei_int_if_dynamic<ColsAtCompileTime> m_blockCols;
+
+};
+#endif
+
+#endif // EIGEN_SPARSE_BLOCK_H