robot-rust 0.2.1

The robot-rust project, bindings for wpilib, ctre, and rev in rust.
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.

#ifndef EIGEN_CWISE_BINARY_OP_H
#define EIGEN_CWISE_BINARY_OP_H

// IWYU pragma: private
#include "./InternalHeaderCheck.h"

namespace Eigen {

namespace internal {
template <typename BinaryOp, typename Lhs, typename Rhs>
struct traits<CwiseBinaryOp<BinaryOp, Lhs, Rhs>> {
  // we must not inherit from traits<Lhs> since it has
  // the potential to cause problems with MSVC
  typedef remove_all_t<Lhs> Ancestor;
  typedef typename traits<Ancestor>::XprKind XprKind;
  enum {
    RowsAtCompileTime = traits<Ancestor>::RowsAtCompileTime,
    ColsAtCompileTime = traits<Ancestor>::ColsAtCompileTime,
    MaxRowsAtCompileTime = traits<Ancestor>::MaxRowsAtCompileTime,
    MaxColsAtCompileTime = traits<Ancestor>::MaxColsAtCompileTime
  };

  // even though we require Lhs and Rhs to have the same scalar type (see CwiseBinaryOp constructor),
  // we still want to handle the case when the result type is different.
  typedef typename result_of<BinaryOp(const typename Lhs::Scalar&, const typename Rhs::Scalar&)>::type Scalar;
  typedef typename cwise_promote_storage_type<typename traits<Lhs>::StorageKind, typename traits<Rhs>::StorageKind,
                                              BinaryOp>::ret StorageKind;
  typedef typename promote_index_type<typename traits<Lhs>::StorageIndex, typename traits<Rhs>::StorageIndex>::type
      StorageIndex;
  typedef typename Lhs::Nested LhsNested;
  typedef typename Rhs::Nested RhsNested;
  typedef std::remove_reference_t<LhsNested> LhsNested_;
  typedef std::remove_reference_t<RhsNested> RhsNested_;
  enum {
    Flags = cwise_promote_storage_order<typename traits<Lhs>::StorageKind, typename traits<Rhs>::StorageKind,
                                        LhsNested_::Flags & RowMajorBit, RhsNested_::Flags & RowMajorBit>::value
  };
};
}  // end namespace internal

template <typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
class CwiseBinaryOpImpl;

/** \class CwiseBinaryOp
 * \ingroup Core_Module
 *
 * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions
 *
 * \tparam BinaryOp template functor implementing the operator
 * \tparam LhsType the type of the left-hand side
 * \tparam RhsType the type of the right-hand side
 *
 * This class represents an expression  where a coefficient-wise binary operator is applied to two expressions.
 * It is the return type of binary operators, by which we mean only those binary operators where
 * both the left-hand side and the right-hand side are Eigen expressions.
 * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp.
 *
 * Most of the time, this is the only way that it is used, so you typically don't have to name
 * CwiseBinaryOp types explicitly.
 *
 * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class
 * CwiseNullaryOp
 */
template <typename BinaryOp, typename LhsType, typename RhsType>
class CwiseBinaryOp : public CwiseBinaryOpImpl<BinaryOp, LhsType, RhsType,
                                               typename internal::cwise_promote_storage_type<
                                                   typename internal::traits<LhsType>::StorageKind,
                                                   typename internal::traits<RhsType>::StorageKind, BinaryOp>::ret>,
                      internal::no_assignment_operator {
 public:
  typedef internal::remove_all_t<BinaryOp> Functor;
  typedef internal::remove_all_t<LhsType> Lhs;
  typedef internal::remove_all_t<RhsType> Rhs;

  typedef typename CwiseBinaryOpImpl<
      BinaryOp, LhsType, RhsType,
      typename internal::cwise_promote_storage_type<typename internal::traits<LhsType>::StorageKind,
                                                    typename internal::traits<Rhs>::StorageKind, BinaryOp>::ret>::Base
      Base;
  EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseBinaryOp)

  EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp, typename Lhs::Scalar, typename Rhs::Scalar)
  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs)

  typedef typename internal::ref_selector<LhsType>::type LhsNested;
  typedef typename internal::ref_selector<RhsType>::type RhsNested;
  typedef std::remove_reference_t<LhsNested> LhsNested_;
  typedef std::remove_reference_t<RhsNested> RhsNested_;

#if EIGEN_COMP_MSVC
  // Required for Visual Studio or the Copy constructor will probably not get inlined!
  EIGEN_STRONG_INLINE CwiseBinaryOp(const CwiseBinaryOp<BinaryOp, LhsType, RhsType>&) = default;
#endif

  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& aLhs, const Rhs& aRhs,
                                                      const BinaryOp& func = BinaryOp())
      : m_lhs(aLhs), m_rhs(aRhs), m_functor(func) {
    eigen_assert(aLhs.rows() == aRhs.rows() && aLhs.cols() == aRhs.cols());
  }

  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr Index rows() const noexcept {
    // return the fixed size type if available to enable compile time optimizations
    return internal::traits<internal::remove_all_t<LhsNested>>::RowsAtCompileTime == Dynamic ? m_rhs.rows()
                                                                                             : m_lhs.rows();
  }
  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr Index cols() const noexcept {
    // return the fixed size type if available to enable compile time optimizations
    return internal::traits<internal::remove_all_t<LhsNested>>::ColsAtCompileTime == Dynamic ? m_rhs.cols()
                                                                                             : m_lhs.cols();
  }

  /** \returns the left hand side nested expression */
  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const LhsNested_& lhs() const { return m_lhs; }
  /** \returns the right hand side nested expression */
  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const RhsNested_& rhs() const { return m_rhs; }
  /** \returns the functor representing the binary operation */
  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const BinaryOp& functor() const { return m_functor; }

 protected:
  LhsNested m_lhs;
  RhsNested m_rhs;
  const BinaryOp m_functor;
};

// Generic API dispatcher
template <typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
class CwiseBinaryOpImpl : public internal::generic_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs>>::type {
 public:
  typedef typename internal::generic_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs>>::type Base;
};

/** replaces \c *this by \c *this - \a other.
 *
 * \returns a reference to \c *this
 */
template <typename Derived>
template <typename OtherDerived>
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator-=(const MatrixBase<OtherDerived>& other) {
  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar, typename OtherDerived::Scalar>());
  return derived();
}

/** replaces \c *this by \c *this + \a other.
 *
 * \returns a reference to \c *this
 */
template <typename Derived>
template <typename OtherDerived>
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator+=(const MatrixBase<OtherDerived>& other) {
  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar, typename OtherDerived::Scalar>());
  return derived();
}

}  // end namespace Eigen

#endif  // EIGEN_CWISE_BINARY_OP_H