Using new SimpleMathV2
Martin Felis
parent
88898dedfc
commit
4e1687d80b
|
|
@ -48,6 +48,19 @@ struct MatrixBase {
|
|||
typedef MatrixBase<Derived, ScalarType, Rows, Cols> MatrixType;
|
||||
typedef ScalarType value_type;
|
||||
|
||||
Derived& operator=(const Derived& other) {
|
||||
if (static_cast<const void*>(this) != static_cast<const void*>(&other)) {
|
||||
for (size_t i = 0; i < other.rows(); i++) {
|
||||
for (size_t j = 0; j < other.cols(); j++) {
|
||||
this->operator()(i,j) = other(i,j);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
template <typename OtherDerived, typename OtherScalarType, int OtherRows, int OtherCols>
|
||||
Derived& operator=(const MatrixBase<OtherDerived, OtherScalarType, OtherRows, OtherCols>& other) {
|
||||
if (static_cast<const void*>(this) != static_cast<const void*>(&other)) {
|
||||
|
|
@ -64,8 +77,8 @@ struct MatrixBase {
|
|||
//
|
||||
// operators with scalars
|
||||
//
|
||||
Derived operator*(const double& scalar) const {
|
||||
Derived result (rows(), cols());
|
||||
Matrix<ScalarType, Rows, Cols> operator*(const double& scalar) const {
|
||||
Matrix<ScalarType, Rows, Cols> result (rows(), cols());
|
||||
|
||||
unsigned int i,j;
|
||||
for (i = 0; i < rows(); i++) {
|
||||
|
|
@ -76,8 +89,8 @@ struct MatrixBase {
|
|||
return result;
|
||||
}
|
||||
|
||||
Derived operator*(const float& scalar) const {
|
||||
Derived result (rows(), cols());
|
||||
Matrix<ScalarType, Rows, Cols> operator*(const float& scalar) const {
|
||||
Matrix<ScalarType, Rows, Cols> result (rows(), cols());
|
||||
|
||||
unsigned int i,j;
|
||||
for (i = 0; i < rows(); i++) {
|
||||
|
|
@ -91,8 +104,8 @@ struct MatrixBase {
|
|||
//
|
||||
// operators with other matrices
|
||||
//
|
||||
template <typename OtherDerived>
|
||||
bool operator==(const OtherDerived& other) const {
|
||||
template <typename OtherDerived, typename OtherScalarType, int OtherRows, int OtherCols>
|
||||
bool operator==(const MatrixBase<OtherDerived, OtherScalarType, OtherRows, OtherCols>& other) const {
|
||||
unsigned int i,j;
|
||||
for (i = 0; i < rows(); i++) {
|
||||
for (j = 0; j < cols(); j++) {
|
||||
|
|
@ -104,6 +117,11 @@ struct MatrixBase {
|
|||
return true;
|
||||
}
|
||||
|
||||
template <typename OtherDerived, typename OtherScalarType, int OtherRows, int OtherCols>
|
||||
bool operator!=(const MatrixBase<OtherDerived, OtherScalarType, OtherRows, OtherCols>& other) const {
|
||||
return !(operator==(other));
|
||||
}
|
||||
|
||||
CommaInitializer<Derived> operator<< (const value_type& value) {
|
||||
return CommaInitializer<Derived> (*(static_cast<Derived*>(this)), value);
|
||||
}
|
||||
|
|
@ -147,20 +165,29 @@ struct MatrixBase {
|
|||
}
|
||||
|
||||
template <typename OtherDerived>
|
||||
Derived operator*=(const OtherDerived& other) {
|
||||
Derived copy (*static_cast<Derived*>(this));
|
||||
// Derived result (Derived::Zero(rows(), other.cols()));
|
||||
Derived operator*=(const OtherDerived &other) {
|
||||
Derived copy (*static_cast<const Derived*>(this));
|
||||
this->setZero();
|
||||
|
||||
unsigned int i,j,k;
|
||||
unsigned int i, j, k;
|
||||
for (i = 0; i < rows(); i++) {
|
||||
for (j = 0; j < other.cols(); j++) {
|
||||
for (k = 0; k < other.rows(); k++) {
|
||||
operator()(i,j) += copy.operator()(i,k) * other(k,j);
|
||||
this->operator()(i, j) += copy.operator()(i, k) * other(k, j);
|
||||
}
|
||||
}
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
|
||||
return *this;
|
||||
Matrix<ScalarType, Rows, Cols> operator-() const {
|
||||
Matrix<ScalarType, Rows, Cols> copy (*static_cast<const Derived*>(this));
|
||||
for (int i = 0; i < rows(); i++) {
|
||||
for (int j = 0; j < cols(); j++) {
|
||||
copy(i,j) *= static_cast<ScalarType>(-1.);
|
||||
}
|
||||
}
|
||||
return copy;
|
||||
}
|
||||
|
||||
Derived operator*=(const ScalarType& s) {
|
||||
|
|
@ -174,6 +201,45 @@ struct MatrixBase {
|
|||
return *this;
|
||||
}
|
||||
|
||||
void resize(unsigned int nrows, unsigned int ncols = 1) {
|
||||
static_assert(Rows == Dynamic, "Resize of fixed size matrices not allowed.");
|
||||
|
||||
// Resize the this matrix (so far only possible for subclasses of the
|
||||
// Matrix class)
|
||||
Matrix<ScalarType, Rows, Cols>* this_matrix = static_cast<Matrix<ScalarType, Rows, Cols>*>(this);
|
||||
this_matrix->mStorage.resize(nrows, ncols);
|
||||
}
|
||||
|
||||
void conservativeResize(unsigned int nrows, unsigned int ncols = 1) {
|
||||
static_assert(Rows == Dynamic, "Resize of fixed size matrices not allowed.");
|
||||
|
||||
|
||||
Derived copy(*this);
|
||||
|
||||
unsigned int arows = std::min(nrows, (unsigned int) rows());
|
||||
unsigned int acols = std::min(ncols, (unsigned int) cols());
|
||||
|
||||
resize(nrows, ncols);
|
||||
setZero();
|
||||
|
||||
// TODO: set entries to zero within the loop
|
||||
for (unsigned int i = 0; i < arows; i++) {
|
||||
for (unsigned int j = 0; j < acols; j++) {
|
||||
this->operator()(i, j) = copy(i,j);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void setZero() {
|
||||
int nrows = rows();
|
||||
int ncols = cols();
|
||||
for (int i = 0; i < nrows; i++) {
|
||||
for (int j = 0; j < ncols; j++) {
|
||||
operator()(i,j) = static_cast<ScalarType>(0.0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void set(const ScalarType& v0) {
|
||||
static_assert(cols() * rows() == 1, "Invalid matrix size");
|
||||
data()[0] = v0;
|
||||
|
|
@ -205,13 +271,127 @@ struct MatrixBase {
|
|||
data()[3] = v3;
|
||||
}
|
||||
|
||||
void set(
|
||||
const ScalarType& v0,
|
||||
const ScalarType& v1,
|
||||
const ScalarType& v2,
|
||||
const ScalarType& v3,
|
||||
const ScalarType& v4,
|
||||
const ScalarType& v5
|
||||
) {
|
||||
assert(cols() * rows() == 6);
|
||||
|
||||
data()[0] = v0;
|
||||
data()[1] = v1;
|
||||
data()[2] = v2;
|
||||
data()[3] = v3;
|
||||
data()[4] = v4;
|
||||
data()[5] = v5;
|
||||
}
|
||||
|
||||
void set(
|
||||
const ScalarType& v00,
|
||||
const ScalarType& v01,
|
||||
const ScalarType& v02,
|
||||
const ScalarType& v03,
|
||||
const ScalarType& v04,
|
||||
const ScalarType& v05,
|
||||
|
||||
const ScalarType& v10,
|
||||
const ScalarType& v11,
|
||||
const ScalarType& v12,
|
||||
const ScalarType& v13,
|
||||
const ScalarType& v14,
|
||||
const ScalarType& v15,
|
||||
|
||||
const ScalarType& v20,
|
||||
const ScalarType& v21,
|
||||
const ScalarType& v22,
|
||||
const ScalarType& v23,
|
||||
const ScalarType& v24,
|
||||
const ScalarType& v25,
|
||||
|
||||
const ScalarType& v30,
|
||||
const ScalarType& v31,
|
||||
const ScalarType& v32,
|
||||
const ScalarType& v33,
|
||||
const ScalarType& v34,
|
||||
const ScalarType& v35,
|
||||
|
||||
const ScalarType& v40,
|
||||
const ScalarType& v41,
|
||||
const ScalarType& v42,
|
||||
const ScalarType& v43,
|
||||
const ScalarType& v44,
|
||||
const ScalarType& v45,
|
||||
|
||||
const ScalarType& v50,
|
||||
const ScalarType& v51,
|
||||
const ScalarType& v52,
|
||||
const ScalarType& v53,
|
||||
const ScalarType& v54,
|
||||
const ScalarType& v55
|
||||
) {
|
||||
assert(cols() == 6 && rows() == 6);
|
||||
|
||||
operator()(0,0) = v00;
|
||||
operator()(0,1) = v01;
|
||||
operator()(0,2) = v02;
|
||||
operator()(0,3) = v03;
|
||||
operator()(0,4) = v04;
|
||||
operator()(0,5) = v05;
|
||||
|
||||
operator()(1,0) = v10;
|
||||
operator()(1,1) = v11;
|
||||
operator()(1,2) = v12;
|
||||
operator()(1,3) = v13;
|
||||
operator()(1,4) = v14;
|
||||
operator()(1,5) = v15;
|
||||
|
||||
operator()(2,0) = v20;
|
||||
operator()(2,1) = v21;
|
||||
operator()(2,2) = v22;
|
||||
operator()(2,3) = v23;
|
||||
operator()(2,4) = v24;
|
||||
operator()(2,5) = v25;
|
||||
|
||||
operator()(3,0) = v30;
|
||||
operator()(3,1) = v31;
|
||||
operator()(3,2) = v32;
|
||||
operator()(3,3) = v33;
|
||||
operator()(3,4) = v34;
|
||||
operator()(3,5) = v35;
|
||||
|
||||
operator()(4,0) = v40;
|
||||
operator()(4,1) = v41;
|
||||
operator()(4,2) = v42;
|
||||
operator()(4,3) = v43;
|
||||
operator()(4,4) = v44;
|
||||
operator()(4,5) = v45;
|
||||
|
||||
operator()(5,0) = v50;
|
||||
operator()(5,1) = v51;
|
||||
operator()(5,2) = v52;
|
||||
operator()(5,3) = v53;
|
||||
operator()(5,4) = v54;
|
||||
operator()(5,5) = v55;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
size_t rows() const {
|
||||
return static_cast<const Derived*>(this)->rows();
|
||||
}
|
||||
|
||||
size_t cols() const {
|
||||
return static_cast<const Derived*>(this)->cols();
|
||||
}
|
||||
|
||||
size_t size() const {
|
||||
return static_cast<const Derived*>(this)->rows() * static_cast<const Derived*>(this)->cols();
|
||||
}
|
||||
|
||||
const ScalarType& operator()(const size_t& i, const size_t& j) const {
|
||||
return static_cast<const Derived*>(this)->operator()(i,j);
|
||||
}
|
||||
|
|
@ -230,10 +410,13 @@ struct MatrixBase {
|
|||
|
||||
operator ScalarType() const {
|
||||
#ifndef NDEBUG
|
||||
if ( static_cast<const Derived*>(this)->cols() != 1
|
||||
|| static_cast<const Derived*>(this)->rows() != 1) {
|
||||
std::cout << "Error trying to cast to scalar type. Dimensions are: "
|
||||
<< static_cast<const Derived*>(this)->rows() << ", "
|
||||
<< static_cast<const Derived*>(this)->cols() << "."
|
||||
<< std::endl;
|
||||
}
|
||||
#endif
|
||||
assert ( static_cast<const Derived*>(this)->cols() == 1
|
||||
&& static_cast<const Derived*>(this)->rows() == 1);
|
||||
|
|
@ -311,6 +494,24 @@ struct MatrixBase {
|
|||
return colPivHouseholderQr().inverse();
|
||||
}
|
||||
|
||||
ScalarType trace() const {
|
||||
assert(rows() == cols());
|
||||
|
||||
ScalarType result = static_cast<ScalarType>(0.0);
|
||||
|
||||
for (unsigned int i = 0; i < rows(); i++) {
|
||||
result += operator()(i,i);
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// TODO: implement Cholesky decompositioe
|
||||
const HouseholderQR<Derived, ScalarType, Rows, Cols> llt() const {
|
||||
std::cerr << "LLT decomposition uses householder!" << std::endl;
|
||||
return HouseholderQR<Derived, ScalarType, Rows, Cols>(*this);
|
||||
}
|
||||
|
||||
const HouseholderQR<Derived, ScalarType, Rows, Cols> householderQr() const {
|
||||
return HouseholderQR<Derived, ScalarType, Rows, Cols>(*this);
|
||||
}
|
||||
|
|
@ -352,7 +553,40 @@ struct MatrixBase {
|
|||
return result;
|
||||
}
|
||||
|
||||
// TODO: Random()
|
||||
static Derived Constant(int NumRows, const ScalarType &value) {
|
||||
Derived result (NumRows, 1);
|
||||
|
||||
for (size_t i = 0; i < NumRows; i++) {
|
||||
result(i,0) = value;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
static Derived Constant(int NumRows, int NumCols, const ScalarType &value) {
|
||||
Derived result (NumRows, NumCols);
|
||||
|
||||
for (size_t i = 0; i < NumRows; i++) {
|
||||
for (size_t j = 0; j < NumCols; j++) {
|
||||
result(i,j) = value;
|
||||
}
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
static Derived Random(int NumRows = (Rows == Dynamic) ? 1 : Rows, int NumCols = (Cols == Dynamic) ? 1 : Cols) {
|
||||
Derived result (NumRows, NumCols);
|
||||
|
||||
for (size_t i = 0; i < NumRows; i++) {
|
||||
for (size_t j = 0; j < NumCols; j++) {
|
||||
result(i,j) = (static_cast<value_type>(rand()) / static_cast<value_type>(RAND_MAX)) * 2.0 - 1.0;
|
||||
}
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
//
|
||||
// Block accessors
|
||||
|
|
@ -398,7 +632,7 @@ struct MatrixBase {
|
|||
}
|
||||
|
||||
const Block<
|
||||
Derived,
|
||||
const Derived,
|
||||
ScalarType
|
||||
> block(int block_row_index, int block_col_index,
|
||||
int block_num_rows, int block_num_cols) const {
|
||||
|
|
@ -422,22 +656,6 @@ struct MatrixBase {
|
|||
};
|
||||
|
||||
|
||||
|
||||
template <typename Derived, typename ScalarType, int Rows, int Cols>
|
||||
inline Derived operator*(const ScalarType& scalar, const MatrixBase<Derived, ScalarType, Rows, Cols> &matrix) {
|
||||
return matrix * scalar;
|
||||
}
|
||||
|
||||
template <typename Derived, typename ScalarType, int Rows, int Cols>
|
||||
inline Derived operator*(const MatrixBase<Derived, ScalarType, Rows, Cols> &matrix, const ScalarType& scalar) {
|
||||
return matrix * scalar;
|
||||
}
|
||||
|
||||
template <typename Derived, typename ScalarType, int Rows, int Cols>
|
||||
inline Derived operator/(const MatrixBase<Derived, ScalarType, Rows, Cols> &matrix, const ScalarType& scalar) {
|
||||
return matrix * (1.0 / scalar);
|
||||
}
|
||||
|
||||
template <typename ScalarType, int SizeAtCompileTime, int NumRows, int NumCols>
|
||||
struct Storage;
|
||||
|
||||
|
|
@ -565,7 +783,9 @@ struct Storage<ScalarType, 0, Dynamic, Dynamic> {
|
|||
|
||||
|
||||
template <typename ScalarType, int NumRows, int NumCols>
|
||||
struct Matrix : public MatrixBase<Matrix<ScalarType, NumRows, NumCols>, ScalarType, NumRows, NumCols>{
|
||||
struct Matrix : public MatrixBase<Matrix<ScalarType, NumRows, NumCols>, ScalarType, NumRows, NumCols> {
|
||||
typedef Matrix DerivedBase;
|
||||
|
||||
enum {
|
||||
RowsAtCompileTime = (NumCols == Dynamic || NumRows == Dynamic) ? -1 : NumRows,
|
||||
ColsAtCompileTime = (NumCols == Dynamic || NumRows == Dynamic) ? -1 : NumCols,
|
||||
|
|
@ -580,27 +800,43 @@ struct Matrix : public MatrixBase<Matrix<ScalarType, NumRows, NumCols>, ScalarTy
|
|||
SizeAtCompileTime / RowsAtCompileTime
|
||||
) {}
|
||||
|
||||
explicit Matrix(int rows, int cols) :
|
||||
explicit Matrix(int rows, int cols = 1) :
|
||||
mStorage(rows, cols) {}
|
||||
|
||||
explicit Matrix (size_t rows, size_t cols) :
|
||||
explicit Matrix(unsigned int rows, unsigned int cols = 1) :
|
||||
mStorage(rows, cols) {}
|
||||
|
||||
template <typename OtherDerived, typename OtherScalarType, int OtherRows, int OtherCols>
|
||||
Matrix(const MatrixBase<OtherDerived, OtherScalarType, OtherRows, OtherCols>& other) {
|
||||
explicit Matrix (size_t rows, size_t cols = 1) :
|
||||
mStorage(rows, cols) {}
|
||||
|
||||
template<typename OtherDerived, typename OtherScalarType, int OtherRows, int OtherCols>
|
||||
Matrix(const MatrixBase<OtherDerived, OtherScalarType, OtherRows, OtherCols> &other) {
|
||||
mStorage.resize(other.rows(), other.cols());
|
||||
|
||||
for (size_t i = 0; i < rows(); i++) {
|
||||
for (size_t j = 0; j < cols(); j++) {
|
||||
this->operator()(i,j) = other(i,j);
|
||||
this->operator()(i, j) = other(i, j);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Matrix (const Matrix& other) :
|
||||
mStorage(other.rows(), other.cols()){
|
||||
memcpy (data(), other.data(), sizeof (ScalarType) * rows() * cols());
|
||||
}
|
||||
|
||||
|
||||
Matrix& operator=(const Matrix& other) {
|
||||
if (&other != this) {
|
||||
mStorage.resize(other.rows(), other.cols());
|
||||
memcpy (data(), other.data(), sizeof (ScalarType) * rows() * cols());
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
|
||||
//
|
||||
// Constructor for vectors
|
||||
//
|
||||
|
||||
Matrix (
|
||||
const ScalarType& v0
|
||||
) {
|
||||
|
|
@ -645,6 +881,24 @@ struct Matrix : public MatrixBase<Matrix<ScalarType, NumRows, NumCols>, ScalarTy
|
|||
operator()(3,0) = v3;
|
||||
}
|
||||
|
||||
Matrix (
|
||||
const ScalarType& v0,
|
||||
const ScalarType& v1,
|
||||
const ScalarType& v2,
|
||||
const ScalarType& v3,
|
||||
const ScalarType& v4,
|
||||
const ScalarType& v5
|
||||
) {
|
||||
static_assert (NumRows * NumCols == 6, "Invalid matrix size");
|
||||
|
||||
operator()(0,0) = v0;
|
||||
operator()(1,0) = v1;
|
||||
operator()(2,0) = v2;
|
||||
operator()(3,0) = v3;
|
||||
operator()(4,0) = v4;
|
||||
operator()(5,0) = v5;
|
||||
}
|
||||
|
||||
//
|
||||
// Constructor for matrices
|
||||
//
|
||||
|
|
@ -715,9 +969,97 @@ struct Matrix : public MatrixBase<Matrix<ScalarType, NumRows, NumCols>, ScalarTy
|
|||
operator()(3,3) = v33;
|
||||
}
|
||||
|
||||
Matrix (
|
||||
const ScalarType& v00,
|
||||
const ScalarType& v01,
|
||||
const ScalarType& v02,
|
||||
const ScalarType& v03,
|
||||
const ScalarType& v04,
|
||||
const ScalarType& v05,
|
||||
|
||||
const ScalarType& v10,
|
||||
const ScalarType& v11,
|
||||
const ScalarType& v12,
|
||||
const ScalarType& v13,
|
||||
const ScalarType& v14,
|
||||
const ScalarType& v15,
|
||||
|
||||
const ScalarType& v20,
|
||||
const ScalarType& v21,
|
||||
const ScalarType& v22,
|
||||
const ScalarType& v23,
|
||||
const ScalarType& v24,
|
||||
const ScalarType& v25,
|
||||
|
||||
const ScalarType& v30,
|
||||
const ScalarType& v31,
|
||||
const ScalarType& v32,
|
||||
const ScalarType& v33,
|
||||
const ScalarType& v34,
|
||||
const ScalarType& v35,
|
||||
|
||||
const ScalarType& v40,
|
||||
const ScalarType& v41,
|
||||
const ScalarType& v42,
|
||||
const ScalarType& v43,
|
||||
const ScalarType& v44,
|
||||
const ScalarType& v45,
|
||||
|
||||
const ScalarType& v50,
|
||||
const ScalarType& v51,
|
||||
const ScalarType& v52,
|
||||
const ScalarType& v53,
|
||||
const ScalarType& v54,
|
||||
const ScalarType& v55
|
||||
) {
|
||||
static_assert (NumRows == 6 && NumCols == 6, "Invalid matrix size");
|
||||
|
||||
operator()(0,0) = v00;
|
||||
operator()(0,1) = v01;
|
||||
operator()(0,2) = v02;
|
||||
operator()(0,3) = v03;
|
||||
operator()(0,4) = v04;
|
||||
operator()(0,5) = v05;
|
||||
|
||||
operator()(1,0) = v10;
|
||||
operator()(1,1) = v11;
|
||||
operator()(1,2) = v12;
|
||||
operator()(1,3) = v13;
|
||||
operator()(1,4) = v14;
|
||||
operator()(1,5) = v15;
|
||||
|
||||
operator()(2,0) = v20;
|
||||
operator()(2,1) = v21;
|
||||
operator()(2,2) = v22;
|
||||
operator()(2,3) = v23;
|
||||
operator()(2,4) = v24;
|
||||
operator()(2,5) = v25;
|
||||
|
||||
operator()(3,0) = v30;
|
||||
operator()(3,1) = v31;
|
||||
operator()(3,2) = v32;
|
||||
operator()(3,3) = v33;
|
||||
operator()(3,4) = v34;
|
||||
operator()(3,5) = v35;
|
||||
|
||||
operator()(4,0) = v40;
|
||||
operator()(4,1) = v41;
|
||||
operator()(4,2) = v42;
|
||||
operator()(4,3) = v43;
|
||||
operator()(4,4) = v44;
|
||||
operator()(4,5) = v45;
|
||||
|
||||
operator()(5,0) = v50;
|
||||
operator()(5,1) = v51;
|
||||
operator()(5,2) = v52;
|
||||
operator()(5,3) = v53;
|
||||
operator()(5,4) = v54;
|
||||
operator()(5,5) = v55;
|
||||
}
|
||||
|
||||
template <typename OtherDerived>
|
||||
Matrix& operator+=(const OtherDerived& other) {
|
||||
assert (NumRows == other.rows() && NumCols == other.cols() && "Error: matrix dimensions do not match!");
|
||||
assert (rows() == other.rows() && cols() == other.cols() && "Error: matrix dimensions do not match!");
|
||||
|
||||
for (size_t i = 0; i < rows(); i++) {
|
||||
for (size_t j = 0; j < cols(); j++) {
|
||||
|
|
@ -958,6 +1300,17 @@ struct Block : public MatrixBase<Block<Derived, ScalarType, NumRows, NumCols>, S
|
|||
return *this;
|
||||
}
|
||||
|
||||
// template <typename OtherDerived, typename OtherScalarType, int OtherRows, int OtherCols>
|
||||
// Matrix<ScalarType, NumRows, OtherCols>& operator=(const MatrixBase<OtherDerived, OtherScalarType, OtherRows, OtherCols>& other) {
|
||||
// unsigned int i,j,k;
|
||||
// for (i = 0; i < rows(); i++) {
|
||||
// for (j = 0; j < other.cols(); j++) {
|
||||
// operator()(i,k) = other(k,j);
|
||||
// }
|
||||
// }
|
||||
// return *this;
|
||||
// }
|
||||
|
||||
template <typename OtherDerived, typename OtherScalarType, int OtherRows, int OtherCols>
|
||||
Matrix<ScalarType, NumRows, OtherCols> operator*(const MatrixBase<OtherDerived, OtherScalarType, OtherRows, OtherCols>& other) const {
|
||||
Matrix<ScalarType, NumRows, OtherCols> result (rows(), other.cols());
|
||||
|
|
@ -1037,13 +1390,13 @@ private:
|
|||
Derived mR;
|
||||
|
||||
public:
|
||||
HouseholderQR(const MatrixType &matrix) :
|
||||
HouseholderQR(const Derived &matrix) :
|
||||
mIsFactorized(false),
|
||||
mQ(matrix.rows(), matrix.rows())
|
||||
{
|
||||
compute(matrix);
|
||||
}
|
||||
HouseholderQR compute(const MatrixType &matrix) {
|
||||
HouseholderQR compute(const Derived& matrix) {
|
||||
mR = matrix;
|
||||
mQ = MatrixType::Identity (mR.rows(), mR.rows());
|
||||
|
||||
|
|
@ -1339,6 +1692,26 @@ public:
|
|||
}
|
||||
};
|
||||
|
||||
template <typename Derived, typename ScalarType, int Rows, int Cols>
|
||||
inline Matrix<ScalarType, Rows, Cols> operator*(const ScalarType& scalar, const MatrixBase<Derived, ScalarType, Rows, Cols> &matrix) {
|
||||
return matrix * scalar;
|
||||
}
|
||||
|
||||
template <typename Derived, typename ScalarType, int Rows, int Cols>
|
||||
inline Matrix<ScalarType, Rows, Cols> operator*(const MatrixBase<Derived, ScalarType, Rows, Cols> &matrix, const ScalarType& scalar) {
|
||||
return matrix * scalar;
|
||||
}
|
||||
|
||||
template <typename Derived, typename ScalarType, int Rows, int Cols>
|
||||
inline Matrix<ScalarType, Rows, Cols> operator/(const MatrixBase<Derived, ScalarType, Rows, Cols> &matrix, const ScalarType& scalar) {
|
||||
return matrix * (1.0 / scalar);
|
||||
}
|
||||
|
||||
template <typename Derived, typename ScalarType, int Rows, int Cols>
|
||||
inline Matrix<ScalarType, Rows, Cols> operator/=(MatrixBase<Derived, ScalarType, Rows, Cols> &matrix, const ScalarType& scalar) {
|
||||
return matrix *= (1.0 / scalar);
|
||||
}
|
||||
|
||||
//
|
||||
// OpenGL Matrices and Quaternions
|
||||
//
|
||||
|
|
@ -1702,7 +2075,6 @@ inline std::ostream& operator<<(std::ostream& output, const MatrixBase<Derived,
|
|||
|
||||
for (unsigned int i = 0; i < matrix.rows(); i++) {
|
||||
output.width(0);
|
||||
output << "[ ";
|
||||
output.width(out_width);
|
||||
for (unsigned int j = 0; j < matrix.cols(); j++) {
|
||||
std::stringstream out_stream;
|
||||
|
|
@ -1711,9 +2083,8 @@ inline std::ostream& operator<<(std::ostream& output, const MatrixBase<Derived,
|
|||
output << out_stream.str();
|
||||
|
||||
if (j < matrix.cols() - 1)
|
||||
output << ", ";
|
||||
output << " ";
|
||||
}
|
||||
output << " ]";
|
||||
|
||||
if (matrix.rows() > 1 && i < matrix.rows() - 1)
|
||||
output << std::endl;
|
||||
|
|
|
|||
|
|
@ -284,9 +284,9 @@ void Light::UpdateSplits(const Camera& camera) {
|
|||
Matrix44f light_matrix = LookAt (mPosition, mPosition + mDirection, Vector3f (0.f, 1.0f, 0.0f));
|
||||
Matrix44f light_matrix_inv = light_matrix.inverse();
|
||||
|
||||
mShadowSplits[0] = near + length * 0.02;
|
||||
mShadowSplits[1] = near + length * 0.1;
|
||||
mShadowSplits[2] = near + length * 0.3;
|
||||
mShadowSplits[0] = near + length * 0.05;
|
||||
mShadowSplits[1] = near + length * 0.15;
|
||||
mShadowSplits[2] = near + length * 0.4;
|
||||
mShadowSplits[3] = far;
|
||||
|
||||
float prev_split_far = near;
|
||||
|
|
|
|||
Loading…
Reference in New Issue