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bug #1201: optimize affine*vector products

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This commit is contained in:
Gael Guennebaud 2016-05-19 16:09:15 +02:00
parent 73693b5de6
commit b6ed8244b4
1 changed files with 33 additions and 8 deletions
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41
Eigen/src/Geometry/Transform.h
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@ -32,7 +32,8 @@ template< typename TransformType,
typename MatrixType,
int Case = transform_traits<TransformType>::IsProjective ? 0
: int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
: 2>
: 2,
int RhsCols = MatrixType::ColsAtCompileTime>
struct transform_right_product_impl;
template< typename Other,
@ -436,7 +437,7 @@ public:
*/
// note: this function is defined here because some compilers cannot find the respective declaration
template<typename OtherDerived>
EIGEN_STRONG_INLINE const typename OtherDerived::PlainObject
EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
operator * (const EigenBase<OtherDerived> &other) const
{ return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
@ -1287,8 +1288,8 @@ struct transform_product_result
};
};
template< typename TransformType, typename MatrixType >
struct transform_right_product_impl< TransformType, MatrixType, 0 >
template< typename TransformType, typename MatrixType, int RhsCols>
struct transform_right_product_impl< TransformType, MatrixType, 0, RhsCols>
{
typedef typename MatrixType::PlainObject ResultType;
@ -1298,8 +1299,8 @@ struct transform_right_product_impl< TransformType, MatrixType, 0 >
}
};
template< typename TransformType, typename MatrixType >
struct transform_right_product_impl< TransformType, MatrixType, 1 >
template< typename TransformType, typename MatrixType, int RhsCols>
struct transform_right_product_impl< TransformType, MatrixType, 1, RhsCols>
{
enum {
Dim = TransformType::Dim,
@ -1324,8 +1325,8 @@ struct transform_right_product_impl< TransformType, MatrixType, 1 >
}
};
template< typename TransformType, typename MatrixType >
struct transform_right_product_impl< TransformType, MatrixType, 2 >
template< typename TransformType, typename MatrixType, int RhsCols>
struct transform_right_product_impl< TransformType, MatrixType, 2, RhsCols>
{
enum {
Dim = TransformType::Dim,
@ -1348,6 +1349,30 @@ struct transform_right_product_impl< TransformType, MatrixType, 2 >
}
};
template< typename TransformType, typename MatrixType >
struct transform_right_product_impl< TransformType, MatrixType, 2, 1> // rhs is a vector of size Dim
{
typedef typename TransformType::MatrixType TransformMatrix;
enum {
Dim = TransformType::Dim,
HDim = TransformType::HDim,
OtherRows = MatrixType::RowsAtCompileTime,
WorkingRows = EIGEN_PLAIN_ENUM_MIN(TransformMatrix::RowsAtCompileTime,HDim)
};
typedef typename MatrixType::PlainObject ResultType;
static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
{
EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
Matrix<typename ResultType::Scalar, Dim+1, 1> rhs;
rhs << other,1;
Matrix<typename ResultType::Scalar, WorkingRows, 1> res(T.matrix() * rhs);
return res.template head<Dim>();
}
};
/**********************************************************
*** Specializations of operator* with lhs EigenBase ***
**********************************************************/