Commit Graph

384 Commits

Author SHA1 Message Date
Benoit Jacob
082e309d2a patch by Patrick Spendrin: fix MSVC compatibility 2008-08-21 16:17:51 +00:00
Gael Guennebaud
67813e01bf disable the vectorization of div for AltiVec 2008-08-21 14:03:17 +00:00
Gael Guennebaud
f729fc1d70 * Add the possibility to customize the output of matrices, e.g.:
IoFormat OctaveFmt(4, AlignCols, ", ", ";\n", "", "", "[", "]");
   cout << mat.format(OctaveFmt);
  The first "4" is the precision.
  Documentation missing.
* Some compilation fixes
2008-08-21 13:17:21 +00:00
Benoit Jacob
591d497b84 add resize() methods to Map, doing nothing but assertions.
This is useful in Krita where I call lu().solve() with a Map object
as result. As solve() resizes the result, this was needed.
2008-08-21 04:36:48 +00:00
Gael Guennebaud
fd681507dc Add a packetmath unit test, re-enable the comma-initializer unit test,
and bug fix in PacketMath/SSE
2008-08-20 20:08:38 +00:00
Benoit Jacob
ff8e98c974 Fix bugs in Sum.h, add unit-test 2008-08-20 16:43:28 +00:00
Gael Guennebaud
c501c7a4ef * Fix CMakeLists.txt issue with SVD
* Fix on stack memory allocation issues
2008-08-20 15:58:01 +00:00
Gael Guennebaud
752ec27293 minor bugfix found using gcc-4.0 2008-08-20 14:05:57 +00:00
Gael Guennebaud
8afaeb4ad5 doc fixes, and extended Basic Linear Algebra and Reductions sections 2008-08-20 13:07:46 +00:00
Benoit Jacob
c705c38a23 * it's \returns not \Returns
* add some explanations in the typedefs page
* expand a bit the new QuickStartGuide. Some placeholders (not a pb since
it's not even yet linked to from other pages). The point I want to make is
that it's super important to have fully compilable short programs (even
with compile instructions for the first one) not just small snippets, at
least at the beginning. Let's start with examples of compilable programs.
2008-08-20 04:34:04 +00:00
Gael Guennebaud
7aba51ce53 * Added .all() and .any() members to PartialRedux
* Bug fixes in euler angle snippet, Assign and MapBase
* Started a "quick start guide" (draft state)
2008-08-20 00:58:25 +00:00
Gael Guennebaud
c6674ab076 missing SVD header file 2008-08-19 20:18:46 +00:00
Gael Guennebaud
104f8fd36e Added a SVD module:
- the decompostion code has been adfapted from JAMA
 - handles non square matrices of size MxN with M>=N
 - does not work for complex matrices
 - includes a solver where the parts corresponding to zero singular values are set to zero
2008-08-19 17:52:04 +00:00
Benoit Jacob
54137f1ca7 * fix bug found by Boudewijn Rempt: no CMakeLists in arch/ subdir
* fix warning in SolveTriangular
2008-08-19 13:15:13 +00:00
Gael Guennebaud
a6d387a359 Various compilation fixes for MSVC 9. All tests compile but some
still fail at runtime in ei_aligned_free() (even without vectorization).
2008-08-19 11:06:40 +00:00
Benoit Jacob
9466e5f94e * doc improvements in Cwise and PartialRedux:
- 33 new snippets
  - unfuck doxygen output in Cwise (issues with function macros)
  - more see-also links from outside, making Cwise more discoverable
* rename matrixNorm() to operatorNorm(). There are many matrix norms
  (the L2 is another one) but only one is called the operator norm.
  Risk of confusion with keyword operator is not too scary after all.
2008-08-19 04:30:28 +00:00
Gael Guennebaud
95dd09bea6 * revert the previous interface change in solveTriangular (pointer vs reference)
* remove the cast operators in the Geometry module: they are replaced by constructors
  and new operator= in Matrix
* extended the operations supported by Rotation2D
* rewrite in solveTriangular:
  - merge the Upper and Lower specializations
  - big optimization of the path for row-major triangular matrices
2008-08-18 22:17:42 +00:00
Benoit Jacob
e778ae2559 only use alloca on linux. Use malloc on other platforms. Needed for mingw
compatibility.
2008-08-18 16:36:47 +00:00
Benoit Jacob
baf0cffedd *add operator()(int) for vectors, synonymous to operator[](int).
I don't see any reason not to allow it, it doesn't add much code, and
 it makes porting from eigen1 easier.
*expand tests/basicstuff to first test coefficient access methods
2008-08-18 12:33:14 +00:00
Benoit Jacob
239b47e033 *make Eigen2 install to prefix/include/eigen2/Eigen
*Add FindEigen2.cmake module in kdelibs
2008-08-16 12:56:38 +00:00
Gael Guennebaud
5546e963c9 bugfix in CholeskyWithoutSquareRoot::solve found by Timothy Hunter 2008-08-16 07:09:39 +00:00
Gael Guennebaud
8a3e6b1ee2 change solveTriangularInPlace() to take a pointer as input (as discussed on IRC).
extended the documentation of the triangular solver.
2008-08-12 07:49:59 +00:00
Benoit Jacob
13ad88736e last small fixes, this is alpha6, eigen2 is now ready for eigen1 apps to
port to.
2008-08-12 02:14:02 +00:00
Benoit Jacob
f04c1cb774 Complete LU documentation 2008-08-11 21:26:37 +00:00
Benoit Jacob
17ec407ccd * add Regression module, from eigen1, improved, with doc and unit-test.
* fix .normalized() so that Random().normalized() works; since the return
type became complicated to write down i just let it return an actual
vector, perhaps not optimal.
* add Sparse/CMakeLists.txt. I suppose that it was intentional that it
didn't have CMakeLists, but in <=2.0 releases I'll just manually remove
Sparse.
2008-08-11 02:25:40 +00:00
Gael Guennebaud
55e8d670ce Renamed allowAligned() => forceAligned() and added the constants ForceAligned
and AsRequested for the PacketAccess parameter of MapBase. Updated respective
documentation.
2008-08-09 21:57:50 +00:00
Gael Guennebaud
b13148c358 renamed inverseProduct => solveTriangular 2008-08-09 20:06:25 +00:00
Benoit Jacob
d6e88f8155 * add LU unit-test. Seems like we have very good numerical stability!
* some cleanup, and grant me a copyright line on the determinant test.
2008-08-09 19:26:14 +00:00
Gael Guennebaud
4fa40367e9 * Big change in Block and Map:
- added a MapBase base xpr on top of which Map and the specialization
    of Block are implemented
  - MapBase forces both aligned loads (and aligned stores, see below) in expressions
    such as "x.block(...) += other_expr"
* Significant vectorization improvement:
 - added a AlignedBit flag meaning the first coeff/packet is aligned,
   this allows to not generate extra code to deal with the first unaligned part
 - removed all unaligned stores when no unrolling
 - removed unaligned loads in Sum when the input as the DirectAccessBit flag
* Some code simplification in CacheFriendly product
* Some minor documentation improvements
2008-08-09 18:41:24 +00:00
Benoit Jacob
becbeda50a * reimplement the general case of inverse() on top of LU. Advantages:
- removes much code
  - 2.5x faster (even though LU uses complete pivoting contrary to what
inverse used to do!)
  - there _were_ numeric stability problems with the partial pivoting
approach of inverse(), with 200x200 matrices inversion failed almost
half of the times (overflow). Now these problems are solved thanks to
complete pivoting.

* remove some useless stuff in LU
2008-08-09 15:50:07 +00:00
Benoit Jacob
681e944670 *implement LU solver (solves any rectangular system)
*in test/CMakeLists : modify EI_ADD_TEST so that 2nd argument is
additional compiler flags. used to add -O2 to test_product_large so it
doesn't take forever.
2008-08-09 15:23:54 +00:00
Benoit Jacob
a41f2b4216 * fix bug in SwapWrapper : store the wrapped expression by reference
* optimize setIdentity: when the matrix is large enough it is better to
  setZero() and overwrite the diagonal
* start of LU solver, disabled for now
2008-08-09 04:37:09 +00:00
Benoit Jacob
9bbe396939 forgot to remove that old code 2008-08-07 21:50:29 +00:00
Benoit Jacob
5f350448e1 - add kernel computation using the triangular solver
- take advantage of the fact that our LU dec sorts the eigenvalues of U
in decreasing order
- add meta selector in determinant
2008-08-07 21:48:21 +00:00
Benoit Jacob
58ba9ca72f LU: remove partial-pivoting path (moderately useful since it's does
not allow to easily get the rank), fix a bug (which could have been
triggered by matrices having coefficients of very different
magnitudes).
Part: add an assert to prevent hard to find bugs
Swap: update comments
2008-08-07 04:31:05 +00:00
Benoit Jacob
88bb2087c1 New implementation of Swap as discussed, reusing Assign. Makes LU run
10% faster overall.
2008-08-05 21:55:57 +00:00
Benoit Jacob
c94be35bc8 introduce copyCoeff and copyPacket methods in MatrixBase, used by
Assign, in preparation for new Swap impl reusing Assign code.
remove last remnant of old Inverse class in Transform.
2008-08-05 18:00:23 +00:00
Benoit Jacob
09ef7db9d9 Add partial pivoting runtime option to LU.
Note: in fact, inverse() always uses partial pivoting because the algo
currently used doesn't make sense with complete pivoting. No num
stability issue so far even with size 200x200. If there is any problem
we can of course reimplement inverse on top of LU.
2008-08-05 15:43:11 +00:00
Benoit Jacob
e741b7beca further big perf improvement in Inverse 2008-08-04 23:47:09 +00:00
Benoit Jacob
79a0feee68 big performance improvement in inverse and LU 2008-08-04 23:34:21 +00:00
Benoit Jacob
c2f8ecf466 * LU decomposition, supporting all rectangular matrices, with full
pivoting for better numerical stability. For now the only application is
determinant.
* New determinant unit-test.
* Disable most of Swap.h for now as it makes LU fail (mysterious).
Anyway Swap needs a big overhaul as proposed on IRC.
* Remnants of old class Inverse removed.
* Some warnings fixed.
2008-08-04 04:45:59 +00:00
Gael Guennebaud
f81dfcf00b fix two perf issues in product.
fix positive definite test in Cholesky.
remove #include <cstring> in CoreDeclaration.
2008-08-03 20:23:06 +00:00
Benoit Jacob
49ae3fca89 fix compile errors with gcc 4.3: unresolved func call to
ei_cache_friendly_product, and undeclared memcpy
2008-08-03 15:44:06 +00:00
Gael Guennebaud
6d11a07e5e Added a ei_palign function align a packet from two others.
This allows much faster code dealing with unligned as
in the updated matrix-vector product functions.
2008-08-03 15:15:46 +00:00
Gael Guennebaud
55aeb1f83a Optimizations:
* faster matrix-matrix and matrix-vector products (especially for not aligned cases)
 * faster tridiagonalization (make it using our matrix-vector impl.)
Others:
 * fix Flags of Map
 * split the test_product to two smaller ones
2008-08-01 23:44:59 +00:00
Gael Guennebaud
b32b186c14 removed the packet specializations of some functors
(GCC generates better code without those "optimizations")
2008-07-31 21:03:11 +00:00
Gael Guennebaud
842c4f8bfa Several compilation fixes for MSVC and NVCC, basically:
- added explicit enum to int conversion where needed
- if a function is not defined as declared and the return type is "tricky"
  then the type must be typedefined somewhere. A "tricky return type" can be:
  * a template class with a default parameter which depends on another template parameter
  * a nested template class, or type of a nested template class
2008-07-29 16:33:07 +00:00
Gael Guennebaud
44d95e0540 fix some internal asserts in CacheFrinedlyProduct 2008-07-27 22:14:08 +00:00
Gael Guennebaud
02a7efa910 forgot to include this file in previous commit 2008-07-27 14:24:32 +00:00
Gael Guennebaud
e9e5261664 Fix a couple issues introduced in the previous commit:
* removed DirectAccessBit from Part
* use a template specialization in inverseProduct() to transform a Part xpr to a Flagged xpr
2008-07-26 23:05:44 +00:00
Gael Guennebaud
e77ccf2928 * Rewrite the triangular solver so that we can take advantage of our efficient matrix-vector products:
=> up to 6 times faster !
* Added DirectAccessBit to Part
* Added an exemple of a cwise operator
* Renamed perpendicular() => someOrthogonal() (geometry module)
* Fix a weired bug in ei_constant_functor: the default copy constructor did not copy
  the imaginary part when the single member of the class is a complex...
2008-07-26 20:40:29 +00:00
Gael Guennebaud
2940617e6f bugfix in some internal asserts of CacheFriendlyProduct 2008-07-26 12:26:27 +00:00
Benoit Jacob
f997a3e902 update the inverse test a little
make use of static asserts in Map
fix 2 warnings in CacheFriendlyProduct: unused var 'Vectorized'
2008-07-26 12:08:28 +00:00
Gael Guennebaud
b466c266a0 * Fix some complex alignment issues in the cache friendly matrix-vector products.
* Minor update of the cores of the Cholesky algorithms to make them more friendly
  wrt to matrix-vector products => speedup x5 !
2008-07-23 17:30:00 +00:00
Gael Guennebaud
172000aaeb Add .perpendicular() function in Geometry module (adapted from Eigen1)
Documentation:
 * add an overview for each module.
 * add an example for .all() and Cwise::operator<
2008-07-22 10:54:42 +00:00
Gael Guennebaud
516db2c3b9 Fix compilation issues with icc and g++ < 4.1. Those include:
- conflicts with operator * overloads
 - discard the use of ei_pdiv for interger
   (g++ handles operators on __m128* types, this is why it worked)
 - weird behavior of icc in fixed size Block() constructor complaining
   the initializer of m_blockRows and m_blockCols were missing while
   we are in fixed size (maybe this hide deeper problem since this is a
   recent one, but icc gives only little feedback)
2008-07-21 12:40:56 +00:00
Gael Guennebaud
c10f069b6b * Merge Extract and Part to the Part expression.
Renamed "MatrixBase::extract() const" to "MatrixBase::part() const"
* Renamed static functions identity, zero, ones, random with an upper case
  first letter: Identity, Zero, Ones and Random.
2008-07-21 00:34:46 +00:00
Gael Guennebaud
ce425d92f1 Various documentation improvements, in particualr in Cholesky and Geometry module.
Added doxygen groups for Matrix typedefs and the Geometry module
2008-07-20 15:18:54 +00:00
Gael Guennebaud
269f683902 Add cholesky's members to MatrixBase
Various documentation improvements including new snippets (AngleAxis and Cholesky)
2008-07-19 22:59:05 +00:00
Gael Guennebaud
6e2c53e056 Added an automatically generated list of selected examples in the documentation.
Added the custom gemetry_module tag, and use it.
2008-07-19 20:36:41 +00:00
Gael Guennebaud
05ad083467 Added MatrixBase::Unit*() static function to easily create unit/basis vectors.
Removed EulerAngles, addes typdefs for Quaternion and AngleAxis,
and added automatic conversions from Quaternion/AngleAxis to Matrix3 such that:
 Matrix3f m = AngleAxisf(0.2,Vector3f::UnitX) * AngleAxisf(0.2,Vector3f::UnitY);
just works.
2008-07-19 13:03:23 +00:00
Gael Guennebaud
7245c63067 Complete rewrite of partial reduction according to mailing list discussions. 2008-07-19 11:36:32 +00:00
Benoit Jacob
8b4945a5a2 add some static asserts, use them, fix gcc 4.3 warning in Product.h. 2008-07-19 00:25:41 +00:00
Gael Guennebaud
22a816ade8 * Fix a couple of issues related to the recent cache friendly products
* Improve the efficiency of matrix*vector in unaligned cases
* Trivial fixes in the destructors of MatrixStorage
* Removed the matrixNorm in test/product.cpp (twice faster and
  that assumed the matrix product was ok while checking that !!)
2008-07-19 00:09:01 +00:00
Benoit Jacob
62ec1dd616 * big rework of Inverse.h:
- remove all invertibility checking, will be redundant with LU
  - general case: adapt to matrix storage order for better perf
  - size 4 case: handle corner cases without falling back to gen case.
  - rationalize with selectors instead of compile time if
  - add C-style computeInverse()
* update inverse test.
* in snippets, default cout precision to 3 decimal places
* add some cmake module from kdelibs to support btl with cmake 2.4
2008-07-15 23:56:17 +00:00
Gael Guennebaud
b970a9c8aa trivial fix in EulerAngles constructor 2008-07-15 22:42:55 +00:00
Gael Guennebaud
99a625243f Optimization: added super efficient rowmajor * vector product (and vector * colmajor).
It basically performs 4 dot products at once reducing loads of the vector and improving
instructions scheduling. With 3 cache friendly algorithms, we now handle all product
configurations with outstanding perf for large matrices.
2008-07-13 01:22:54 +00:00
Gael Guennebaud
861d18d553 * Optimization: added a specialization of Block for xpr with DirectAccessBit
* some simplifications and fixes in cache friendly products
2008-07-12 22:59:34 +00:00
Gael Guennebaud
b7bd1b3446 Add a *very efficient* evaluation path for both col-major matrix * vector
and vector * row-major products. Currently, it is enabled only is the matrix
has DirectAccessBit flag and the product is "large enough".
Added the respective unit tests in test/product/cpp.
2008-07-12 12:12:02 +00:00
Benoit Jacob
2b53fd4d53 some performance fixes in Assign.h reported by Gael. Some doc update in
Cwise.
2008-07-10 16:15:55 +00:00
Gael Guennebaud
c9b046d5d5 * added optimized paths for matrix-vector and vector-matrix products
(using either a cache friendly strategy or re-using dot-product
  vectorized implementation)
* add LinearAccessBit to Transpose
2008-07-09 22:30:18 +00:00
Gael Guennebaud
5f55ab524c * added a lazyAssign overload skipping .lazy() such that c = (<xpr>).lazy() such that
lazyAssign overloads of <xpr> are automatically called (this also reduces assign instansiations)
2008-07-09 13:54:21 +00:00
Gael Guennebaud
783eb6da9b I forgot that the previous commit needed minor changes outside the bench folder 2008-07-08 17:25:58 +00:00
Benoit Jacob
6f09d3a67d - many updates after Cwise change
- fix compilation in product.cpp with std::complex
- fix bug in MatrixBase::operator!=
2008-07-08 07:56:01 +00:00
Benoit Jacob
f5791eeb70 the big Array/Cwise rework as discussed on the mailing list. The new API
can be seen in Eigen/src/Core/Cwise.h.
2008-07-08 00:49:10 +00:00
Benoit Jacob
a9d319d44f * do the ActualPacketAccesBit change as discussed on list
* add comment in Product.h about CanVectorizeInner
* fix typo in test/product.cpp
2008-07-04 12:43:55 +00:00
Gael Guennebaud
8463b7d3f4 * fix compilation issue in Product
* added some tests for product and swap
* overload .swap() for dynamic-sized matrix of same size
2008-07-02 16:05:33 +00:00
Gael Guennebaud
9433df83a7 * resurected Flagged::_expression used to optimize m+=(a*b).lazy()
(equivalent to the GEMM blas routine)
* added a GEMM benchmark
2008-07-01 16:20:06 +00:00
Gael Guennebaud
37a50fa526 * added an in-place version of inverseProduct which
might be twice faster fot small fixed size matrix
* added a sparse triangular solver (sparse version
  of inverseProduct)
* various other improvements in the Sparse module
2008-06-29 21:29:12 +00:00
Gael Guennebaud
027818d739 * added innerSize / outerSize functions to MatrixBase
* added complete implementation of sparse matrix product
  (with a little glue in Eigen/Core)
* added an exhaustive bench of sparse products including GMM++ and MTL4
  => Eigen outperforms in all transposed/density configurations !
2008-06-28 23:07:14 +00:00
Benoit Jacob
55e08f7102 fix breakage from my last commit 2008-06-28 17:15:16 +00:00
Benoit Jacob
844f69e4a9 * update CMakeLists, only build instantiations if TEST_LIB is defined
* allow default Matrix constructor in dynamic size, defaulting to (1,
1), this is convenient in mandelbrot example.
2008-06-27 10:53:30 +00:00
Benoit Jacob
6de4871c8c fix a couple of issues in the new Map.h 2008-06-27 01:42:44 +00:00
Benoit Jacob
e27b2b95cf * rework Map, allow vectorization
* rework PacketMath and DummyPacketMath, make these actual template
specializations instead of just overriding by non-template inline
functions
* introduce ei_ploadt and ei_pstoret, make use of them in Map and Matrix
* remove Matrix::map() methods, use Map constructors instead.
2008-06-27 01:22:35 +00:00
Gael Guennebaud
e5d301dc96 various work on the Sparse module:
* added some glue to Eigen/Core (SparseBit, ei_eval, Matrix)
* add two new sparse matrix types:
   HashMatrix: based on std::map (for random writes)
   LinkedVectorMatrix: array of linked vectors
   (for outer coherent writes, e.g. to transpose a matrix)
* add a SparseSetter class to easily set/update any kind of matrices, e.g.:
   { SparseSetter<MatrixType,RandomAccessPattern> wrapper(mymatrix);
     for (...) wrapper->coeffRef(rand(),rand()) = rand(); }
* automatic shallow copy for RValue
* and a lot of mess !
plus:
* remove the remaining ArrayBit related stuff
* don't use alloca in product for very large memory allocation
2008-06-26 23:22:26 +00:00
Benoit Jacob
c5bd1703cb change derived classes methods from "private:_method()"
to "public:method()" i.e. reimplementing the generic method()
from MatrixBase.
improves compilation speed by 7%, reduces almost by half the call depth
of trivial functions, making gcc errors and application backtraces
nicer...
2008-06-26 20:08:16 +00:00
Benoit Jacob
25ba9f377c * add bench/benchVecAdd.cpp by Gael, fix crash (ei_pload on non-aligned)
* introduce packet(int), make use of it in linear vectorized paths
  --> completely fixes the slowdown noticed in benchVecAdd.
* generalize coeff(int) to linear-access xprs
* clarify the access flag bits
* rework api dox in Coeffs.h and util/Constants.h
* improve certain expressions's flags, allowing more vectorization
* fix bug in Block: start(int) and end(int) returned dyn*dyn size
* fix bug in Block: just because the Eval type has packet access
  doesn't imply the block xpr should have it too.
2008-06-26 16:06:41 +00:00
Benoit Jacob
5b0da4b778 make use of ei_pmadd in dot-product: will further improve performance
on architectures having a packed-mul-add assembly instruction.
2008-06-24 18:08:35 +00:00
Benoit Jacob
3b94436d2f * vectorize dot product, copying code from sum.
* make the conj functor vectorizable: it is just identity in real case,
  and complex doesn't use the vectorized path anyway.
* fix bug in Block: a 3x1 block in a 4x4 matrix (all fixed-size)
  should not be vectorizable, since in fixed-size we are assuming
  the size to be a multiple of packet size. (Or would you prefer
  Vector3d to be flagged "packetaccess" even though no packet access
  is possible on vectors of that type?)
* rename:
  isOrtho for vectors ---> isOrthogonal
  isOrtho for matrices ---> isUnitary
* add normalize()
* reimplement normalized with quotient1 functor
2008-06-24 15:13:00 +00:00
Benoit Jacob
c9560df4a0 * add ei_pdiv intrinsic, make quotient functor vectorizable
* add vdw benchmark from Tim's real-world use case
2008-06-23 22:00:18 +00:00
Gael Guennebaud
ac9aa47bbc optimize linear vectorization both in Assign and Sum (optimal amortized perf) 2008-06-23 15:50:28 +00:00
Gael Guennebaud
ea1990ef3d add experimental code for sparse matrix:
- uses the common "Compressed Column Storage" scheme
 - supports every unary and binary operators with xpr template
   assuming binaryOp(0,0) == 0 and unaryOp(0) = 0 (otherwise a sparse
   matrix doesnot make sense)
 - this is the first commit, so of course, there are still several shorcommings !
2008-06-23 13:25:22 +00:00
Benoit Jacob
03d19f3bae quick temporary fix for a perf issue we just identified with
vectorization....
now the sum benchmark runs 3x faster with vectorization than without.
2008-06-23 11:23:05 +00:00
Benoit Jacob
dc9206cec5 split sum away from redux and vectorize it.
(could come back to redux after it has been vectorized,
and could serve as a starting point for that)
also make the abs2 functor vectorizable (for real types).
2008-06-23 10:32:48 +00:00
Benoit Jacob
8a967fb17c * implement slice vectorization. Because it uses unaligned
packet access, it is not certain that it will bring a performance
  improvement: benchmarking needed.
* improve logic choosing slice vectorization.
* fix typo in SSE packet math, causing crash in unaligned case.
* fix bug in Product, causing crash in unaligned case.
* add TEST_SSE3 CMake option.
2008-06-22 15:02:05 +00:00
Gael Guennebaud
32c5ea388e work on rotations in the Geometry module:
- convertions are done trough constructors and operator=
 - added a EulerAngles class
2008-06-21 15:01:49 +00:00
Benoit Jacob
574416b842 Override MatrixBase::eval() since matrices don't need
to be evaluated, it is enough to just read them.
2008-06-20 15:26:39 +00:00
Gael Guennebaud
54238961d6 * added a pseudo expression Array giving access to:
- matrix-scalar addition/subtraction operators, e.g.:
       m.array() += 0.5;
   - matrix/matrix comparison operators, e.g.:
      if (m1.array() < m2.array()) {}
* fix compilation issues with Transform and gcc < 4.1
2008-06-20 12:38:03 +00:00
Gael Guennebaud
e735692e37 move "enum" back to "const int" int ei_assign_impl: in fact, casting
enums to int is enough to get compile time constants with ICC.
2008-06-20 07:10:50 +00:00
Gael Guennebaud
fb4a151982 * more cleaning in Product
* make Matrix2f (and similar) vectorized using linear path
* fix a couple of warnings and compilation issues with ICC and gcc 3.3/3.4
  (cannot get Transform compiles with gcc 3.3/3.4, see the FIXME)
2008-06-19 23:00:51 +00:00
Gael Guennebaud
82c3cea1d5 * refactoring of Product:
* use ProductReturnType<>::Type to get the correct Product xpr type
  * Product is no longer instanciated for xpr types which are evaluated
  * vectorization of "a.transpose() * b" for the normal product (small and fixed-size matrix)
  * some cleanning
* removed ArrayBase
2008-06-19 17:33:57 +00:00
Gael Guennebaud
5dbfed1902 fix two bugs dicovered by the previous commit. 2008-06-16 16:39:58 +00:00
Benoit Jacob
bb1f4e44f1 * Block: row and column expressions in the inner direction
now have the Like1D flag.

* Big renaming:
  packetCoeff ---> packet
  VectorizableBit ---> PacketAccessBit
  Like1DArrayBit ---> LinearAccessBit
2008-06-16 14:54:31 +00:00
Benoit Jacob
9857764ae7 aaargh. 2008-06-16 11:20:29 +00:00
Benoit Jacob
478bfaf228 fix bug in computation of unrolling limit: div instead of mul 2008-06-16 11:18:59 +00:00
Benoit Jacob
c905b31b42 * Big rework of Assign.h:
** Much better organization
** Fix a few bugs
** Add the ability to unroll only the inner loop
** Add an unrolled path to the Like1D vectorization. Not well tested.
** Add placeholder for sliced vectorization. Unimplemented.

* Rework of corrected_flags:
** improve rules determining vectorizability
** for vectors, the storage-order is indifferent, so we tweak it
   to allow vectorization of row-vectors.

* fix compilation in benchmark, and a warning in Transpose.
2008-06-16 10:49:44 +00:00
Gael Guennebaud
bc0c7c57ed Added an extensible mechanism to support any kind of rotation
representation in Transform via the template static class
ToRotationMatrix.
Added a lightweight AngleAxis class (similar to Rotation2D).
2008-06-15 17:22:41 +00:00
Gael Guennebaud
0ee6b08128 * split Product to a DiagonalProduct template specialization
to optimize matrix-diag and diag-matrix products without
  making Product over complicated.
* compilation fixes in Tridiagonalization and HessenbergDecomposition
  in the case of 2x2 matrices.
* added an Orientation2D small class with similar interface than Quaternion
  (used by Transform to handle 2D and 3D orientations seamlessly)
* added a couple of features in Transform.
2008-06-15 11:54:18 +00:00
Gael Guennebaud
fbbd8afe30 Started a Transform class in the Geometry module to represent
homography.
Fix indentation in Quaternion.h
2008-06-15 08:33:44 +00:00
Gael Guennebaud
4af7089ab8 * Added a generalized eigen solver for the selfadjoint case.
(as new members to SelfAdjointEigenSolver)
  The QR module now depends on Cholesky.
* Fix Transpose to correctly preserve the *TriangularBit.
2008-06-14 19:42:12 +00:00
Gael Guennebaud
f07f907810 Add QR and Cholesky module instantiations in the lib.
To try it with the unit tests set the cmake variable TEST_LIB to ON.
2008-06-14 13:02:41 +00:00
Benoit Jacob
53289a8b64 * even though the _Flags default to the corrected value, still correct
them in the ei_traits, so that they're guaranteed even if the user
  specified his own non-default flags (like before).

  Measured to not make compilation any slower.
2008-06-13 08:09:48 +00:00
Benoit Jacob
c90c77051f * make the _Flags template parameter of Matrix default to the corrected
flags. This ensures that unless explicitly messed up otherwise,
  a Matrix type is equal to its own Eval type. This seriously reduces
  the number of types instantiated. Measured +13% compile speed, -7%
  binary size.

* Improve doc of Matrix template parameters.
2008-06-13 07:53:45 +00:00
Gael Guennebaud
e3fac69f19 Added a Hessenberg decomposition class for both real and complex matrices.
This is the first step towards a non-selfadjoint eigen solver.
Notes:
 - We might consider merging Tridiagonalization and Hessenberg toghether ?
 - Or we could factorize some code into a Householder class (could also be shared with QR)
2008-06-08 15:03:23 +00:00
Gael Guennebaud
4dd57b585d * rewrite of the QR decomposition:
- works for complex
  - allows direct access to the matrix R
* removed the scale by the matrix dimensions in MatrixBase::isMuchSmallerThan(scalar)
2008-06-07 22:47:11 +00:00
Gael Guennebaud
eb7b7b2cfc * remove Cross product expression: MatrixBase::cross() now returns a temporary
which is even better optimized by the compiler.
* Quaternion no longer inherits MatrixBase. Instead it stores the coefficients
  using a Matrix<> and provides only relevant methods.
2008-06-07 13:18:29 +00:00
Gael Guennebaud
6998037930 * move some compile time "if" to their respective unroller (assign and dot)
* fix a couple of compilation issues when unrolling is disabled
* reduce default unrolling limit to a more reasonable value
2008-06-07 01:07:48 +00:00
Gael Guennebaud
a172385720 Updated fuzzy comparisons to use L2 norm as all my experiments
tends to show L2 norm works very well here.
(the legacy implementation is still available via a preprocessor token
 to allow further experiments if needed...)
2008-06-06 18:37:53 +00:00
Gael Guennebaud
8769bfd9aa fix a compilation issue in non debug mode 2008-06-06 14:11:26 +00:00
Benoit Jacob
869394ee8b fix some compile errors with gcc 4.3, some warnings, some documentation 2008-06-06 13:10:00 +00:00
Gael Guennebaud
2126baf9dc add an optimized path for the tridiagonalization of a 3x3 matrix.
(useful for plane fitting, and covariance analysis of 3D data)
2008-06-04 13:41:32 +00:00
Gael Guennebaud
48262b9734 added a static assertion mechanism
(see notes in Core/util/StaticAssert.h for details)
2008-06-04 11:16:11 +00:00
Gael Guennebaud
a0cff1a295 fix eigenvectors computations :) 2008-06-03 18:03:55 +00:00
Gael Guennebaud
915587d03d * add CommaInitializer::finished to allow the use of (Matrix3() << v0, v1, v2).finished()
as an argument of a function. Other possibilities for the name could be "end" or "matrix" ??
* various update in Quaternion, in particular I added a lot of FIXME about the API options,
  these have to be discussed and fixed.
2008-06-03 15:50:09 +00:00
Gael Guennebaud
196f38f5db improved Quaternion class:
- Euler angles and angle axis conversions,
 - stable spherical interpolation
 - documentation
 - update the respective unit test
2008-06-03 13:43:29 +00:00
Gael Guennebaud
a9cf229e15 add a geometry unit test and fix a couple of typo in Quaternion.h 2008-06-03 07:32:12 +00:00
Benoit Jacob
8de4d92b70 - get the doc of the enums in MatrixBase right
- get the doc of the flags in Constants right
- finally give up with SEPARATE_MEMBER_PAGES: it triggers too big
  Doxygen bugs, and produces too many small pages. So we have one
  huge page for MatrixBase at currently 300kb and going up, so the
  solution especially for users with low bandwidth will be to provide
  an archive of the html documentation.
2008-06-03 02:06:18 +00:00
Gael Guennebaud
366971bea4 * start of the Geometry module with a cross product and quaternion expressions
(haven't tried them yet)
* applied the meta selector rule to MatrixBase::swap()
2008-06-02 22:58:36 +00:00
Benoit Jacob
75de41a00b big changes in Doxygen configuration; work around bug with doxygen parsing of
initialized enum values showing the last word the initializer instead of the actual
enum value's name; add some more docs.
2008-06-02 20:08:37 +00:00
Benoit Jacob
ac88feebb7 work around Doxygen bug triggered by r814874, which caused many classes to disappear
from the docs.
2008-06-02 19:29:23 +00:00
Gael Guennebaud
54ae2ac7e8 Added the computation of eigen vectors in the symmetric eigen solver.
However the eigen vectors are not correct yet, but I really cannot find the
problem.
2008-06-02 12:52:08 +00:00
Benoit Jacob
3b0523041a since m*m.adjoint() is positive, so are its eigenvalues, so no need for
cwiseAbs()
2008-06-02 04:45:02 +00:00
Benoit Jacob
0444e3601a - add MatrixBase::eigenvalues() convenience method
- add MatrixBase::matrixNorm(); in the non-selfadjoint case, we reduce to the
  selfadjoint case by using the "C*-identity" a.k.a.
	norm of x = sqrt(norm of x * x.adjoint())
2008-06-02 04:42:45 +00:00
Benoit Jacob
92b7e2d6a1 fix a couple of issues making the eigensolver test compile and run without aborting
on an assert. Had to fix a stupid bug in Block -- very strange we hadn't hit it
before.

However the test still fails.
2008-06-02 02:06:33 +00:00
Gael Guennebaud
001b01a290 Rewrite from scratch of the eigen solver for symmetric matrices
which now supports selfadjoint matrix. The implementation follows
Golub's famous book.
2008-06-02 00:30:26 +00:00
Gael Guennebaud
06752b2b77 * added a Tridiagonalization class for selfadjoint matrices
* added MatrixBase::real()
* added the ability to extract a selfadjoint matrix from the
  lower or upper part of a matrix, e.g.:
    m.extract<Upper|SelfAdjoint>()
  will ignore the strict lower part and return a selfadjoint.
  This is compatible with ZeroDiag and UnitDiag.
2008-06-01 17:20:18 +00:00
Benoit Jacob
dc5fd8dfff meagre outcome for so much time spent!
* fix inverse() bug discovered by Gael's test
* fix warnings introduced by the new Diagonal stuff
* update Doxyfile to v1.5.6
2008-06-01 03:36:49 +00:00
Gael Guennebaud
64169389ed added an *optional* Eigen2 dynamic library.
it allows the possiblity to save some compilation time by linking to it
*and* defining the token EIGEN_EXTERN_INSTANCIATIONS
2008-05-31 23:21:49 +00:00
Gael Guennebaud
fcf4457b78 added optimized matrix times diagonal matrix product via Diagonal flag shortcut. 2008-05-31 21:35:11 +00:00
Gael Guennebaud
310f7aa096 moved purely "array" related stuff to a new module Array.
This include:
 - cwise Pow,Sin,Cos,Exp...
 - cwise Greater and other comparison operators
 - .any(), .all() and partial reduction
 - random
2008-05-31 18:11:48 +00:00
Gael Guennebaud
a2f71f9d7e updated EigenSolver to use .coeff / .coeffRef 2008-05-31 16:31:10 +00:00
Gael Guennebaud
c9fb248c36 simply a bit the basic product moving dynamic loops
to the corresponding special case of the unrollers.
the latter ones are therefore re-named *product_impl.
2008-05-31 15:06:26 +00:00
Gael Guennebaud
f5e599e489 * replace compile-time-if by meta-selector in Assign.h
as it speed up compilation.
* fix minor typo introduced in the previous commit
2008-05-31 14:42:07 +00:00
Gael Guennebaud
e2ac5d244e Added ArrayBit to get the ability to manipulate a Matrix like a simple scalar.
In particular this flag changes the behavior of operator* to a coeff wise product.
2008-05-29 22:33:07 +00:00
Benoit Jacob
b501e08d81 now the unit-tests (hence all of Eigen) don't depend on Qt at all
anymore.
2008-05-29 03:37:16 +00:00
Benoit Jacob
486fdb26a1 many small fixes and documentation improvements,
this should be alpha5.
2008-05-29 03:12:30 +00:00
Gael Guennebaud
c1559d3079 * updated the assignement operator macro so that overloads
in MatrixBase work
* removed product_selector and cleaned Product.h a bit
* cleaned Assign.h a bit
2008-05-28 22:56:19 +00:00
Gael Guennebaud
8711e26c8a * change Flagged to take into account NestByValue only
* bugfix in Assign and cache friendly product (weird that worked before)
* improved argument evaluation in Product
2008-05-28 22:11:47 +00:00
Gael Guennebaud
73084dc754 * added _*coeffRef members in NestedByValue
* added ConjugateReturnType and AdjointReturnType that are type-defined to Derived&
  and Transpose<Derived> if the scalar type is not complex: this avoids abusive copies in
  the cache friendly Product
2008-05-28 09:09:18 +00:00
Benoit Jacob
f54760c889 hehe, the complicated nesting scheme in Flagged in the previous commit
was a sign that we were doing something wrong. In fact, having
NestByValue as a special case of Flagged was wrong, and the previous
commit, while not buggy, was inefficient because then when the resulting
NestByValue xpr was nested -- hence copied -- the original xpr which was
already nested by value was copied again; hence instead of 1 copy we got
3 copies.
The solution was to ressuscitate the old Temporary.h (renamed
NestByValue.h) as it was the right approach.
2008-05-28 05:14:16 +00:00