diff options
Diffstat (limited to 'extern/Eigen3/Eigen/src/Geometry/RotationBase.h')
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/RotationBase.h | 48 |
1 files changed, 24 insertions, 24 deletions
diff --git a/extern/Eigen3/Eigen/src/Geometry/RotationBase.h b/extern/Eigen3/Eigen/src/Geometry/RotationBase.h index b88661de6b1..f0ee0bd03c5 100644 --- a/extern/Eigen3/Eigen/src/Geometry/RotationBase.h +++ b/extern/Eigen3/Eigen/src/Geometry/RotationBase.h @@ -22,8 +22,8 @@ struct rotation_base_generic_product_selector; * * \brief Common base class for compact rotation representations * - * \param Derived is the derived type, i.e., a rotation type - * \param _Dim the dimension of the space + * \tparam Derived is the derived type, i.e., a rotation type + * \tparam _Dim the dimension of the space */ template<typename Derived, int _Dim> class RotationBase @@ -38,26 +38,26 @@ class RotationBase typedef Matrix<Scalar,Dim,1> VectorType; public: - inline const Derived& derived() const { return *static_cast<const Derived*>(this); } - inline Derived& derived() { return *static_cast<Derived*>(this); } + EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); } + EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); } /** \returns an equivalent rotation matrix */ - inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); } + EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); } /** \returns an equivalent rotation matrix * This function is added to be conform with the Transform class' naming scheme. */ - inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); } + EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); } /** \returns the inverse rotation */ - inline Derived inverse() const { return derived().inverse(); } + EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); } /** \returns the concatenation of the rotation \c *this with a translation \a t */ - inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const + EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const { return Transform<Scalar,Dim,Isometry>(*this) * t; } /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */ - inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const + EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const { return toRotationMatrix() * s.factor(); } /** \returns the concatenation of the rotation \c *this with a generic expression \a e @@ -67,17 +67,17 @@ class RotationBase * - a vector of size Dim */ template<typename OtherDerived> - EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType + EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType operator*(const EigenBase<OtherDerived>& e) const { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); } /** \returns the concatenation of a linear transformation \a l with the rotation \a r */ template<typename OtherDerived> friend - inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r) + EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r) { return l.derived() * r.toRotationMatrix(); } /** \returns the concatenation of a scaling \a l with the rotation \a r */ - friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r) + EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r) { Transform<Scalar,Dim,Affine> res(r); res.linear().applyOnTheLeft(l); @@ -86,11 +86,11 @@ class RotationBase /** \returns the concatenation of the rotation \c *this with a transformation \a t */ template<int Mode, int Options> - inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const + EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const { return toRotationMatrix() * t; } template<typename OtherVectorType> - inline VectorType _transformVector(const OtherVectorType& v) const + EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const { return toRotationMatrix() * v; } }; @@ -102,7 +102,7 @@ struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false> { enum { Dim = RotationDerived::Dim }; typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType; - static inline ReturnType run(const RotationDerived& r, const MatrixType& m) + EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m) { return r.toRotationMatrix() * m; } }; @@ -110,7 +110,7 @@ template<typename RotationDerived, typename Scalar, int Dim, int MaxDim> struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false > { typedef Transform<Scalar,Dim,Affine> ReturnType; - static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m) + EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m) { ReturnType res(r); res.linear() *= m; @@ -123,7 +123,7 @@ struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,tr { enum { Dim = RotationDerived::Dim }; typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType; - static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v) + EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v) { return r._transformVector(v); } @@ -137,7 +137,7 @@ struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,tr */ template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> template<typename OtherDerived> -Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> +EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> ::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r) { EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)) @@ -150,7 +150,7 @@ Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> */ template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> template<typename OtherDerived> -Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>& +EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>& Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> ::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r) { @@ -164,8 +164,8 @@ namespace internal { * * Helper function to return an arbitrary rotation object to a rotation matrix. * - * \param Scalar the numeric type of the matrix coefficients - * \param Dim the dimension of the current space + * \tparam Scalar the numeric type of the matrix coefficients + * \tparam Dim the dimension of the current space * * It returns a Dim x Dim fixed size matrix. * @@ -179,20 +179,20 @@ namespace internal { * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis */ template<typename Scalar, int Dim> -static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s) +EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s) { EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE) return Rotation2D<Scalar>(s).toRotationMatrix(); } template<typename Scalar, int Dim, typename OtherDerived> -static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r) +EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r) { return r.toRotationMatrix(); } template<typename Scalar, int Dim, typename OtherDerived> -static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat) +EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat) { EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim, YOU_MADE_A_PROGRAMMING_MISTAKE) |