robot-rust 0.2.1

// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
// Copyright (C) 2009 Ricard Marxer <email@ricardmarxer.com>
// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// 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_REVERSE_H
#define EIGEN_REVERSE_H

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

namespace Eigen {

namespace internal {

template <typename MatrixType, int Direction>
struct traits<Reverse<MatrixType, Direction> > : traits<MatrixType> {
  typedef typename MatrixType::Scalar Scalar;
  typedef typename traits<MatrixType>::StorageKind StorageKind;
  typedef typename traits<MatrixType>::XprKind XprKind;
  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
  typedef std::remove_reference_t<MatrixTypeNested> MatrixTypeNested_;
  enum {
    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
    Flags = MatrixTypeNested_::Flags & (RowMajorBit | LvalueBit)
  };
};

template <typename PacketType, bool ReversePacket>
struct reverse_packet_cond {
  static inline PacketType run(const PacketType& x) { return preverse(x); }
};

template <typename PacketType>
struct reverse_packet_cond<PacketType, false> {
  static inline PacketType run(const PacketType& x) { return x; }
};

}  // end namespace internal

/** \class Reverse
 * \ingroup Core_Module
 *
 * \brief Expression of the reverse of a vector or matrix
 *
 * \tparam MatrixType the type of the object of which we are taking the reverse
 * \tparam Direction defines the direction of the reverse operation, can be Vertical, Horizontal, or BothDirections
 *
 * This class represents an expression of the reverse of a vector.
 * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse()
 * and most of the time this is the only way it is used.
 *
 * \sa MatrixBase::reverse(), VectorwiseOp::reverse()
 */
template <typename MatrixType, int Direction>
class Reverse : public internal::dense_xpr_base<Reverse<MatrixType, Direction> >::type {
 public:
  typedef typename internal::dense_xpr_base<Reverse>::type Base;
  EIGEN_DENSE_PUBLIC_INTERFACE(Reverse)
  typedef internal::remove_all_t<MatrixType> NestedExpression;
  using Base::IsRowMajor;

 protected:
  enum {
    PacketSize = internal::packet_traits<Scalar>::size,
    IsColMajor = !IsRowMajor,
    ReverseRow = (Direction == Vertical) || (Direction == BothDirections),
    ReverseCol = (Direction == Horizontal) || (Direction == BothDirections),
    OffsetRow = ReverseRow && IsColMajor ? PacketSize : 1,
    OffsetCol = ReverseCol && IsRowMajor ? PacketSize : 1,
    ReversePacket = (Direction == BothDirections) || ((Direction == Vertical) && IsColMajor) ||
                    ((Direction == Horizontal) && IsRowMajor)
  };
  typedef internal::reverse_packet_cond<PacketScalar, ReversePacket> reverse_packet;

 public:
  EIGEN_DEVICE_FUNC explicit inline Reverse(const MatrixType& matrix) : m_matrix(matrix) {}

  EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reverse)

  EIGEN_DEVICE_FUNC constexpr Index rows() const noexcept { return m_matrix.rows(); }
  EIGEN_DEVICE_FUNC constexpr Index cols() const noexcept { return m_matrix.cols(); }

  EIGEN_DEVICE_FUNC inline Index innerStride() const { return -m_matrix.innerStride(); }

  EIGEN_DEVICE_FUNC const internal::remove_all_t<typename MatrixType::Nested>& nestedExpression() const {
    return m_matrix;
  }

 protected:
  typename MatrixType::Nested m_matrix;
};

/** \returns an expression of the reverse of *this.
 *
 * Example: \include MatrixBase_reverse.cpp
 * Output: \verbinclude MatrixBase_reverse.out
 *
 */
template <typename Derived>
EIGEN_DEVICE_FUNC inline typename DenseBase<Derived>::ReverseReturnType DenseBase<Derived>::reverse() {
  return ReverseReturnType(derived());
}

// reverse const overload moved DenseBase.h due to a CUDA compiler bug

/** This is the "in place" version of reverse: it reverses \c *this.
 *
 * In most cases it is probably better to simply use the reversed expression
 * of a matrix. However, when reversing the matrix data itself is really needed,
 * then this "in-place" version is probably the right choice because it provides
 * the following additional benefits:
 *  - less error prone: doing the same operation with .reverse() requires special care:
 *    \code m = m.reverse().eval(); \endcode
 *  - this API enables reverse operations without the need for a temporary
 *  - it allows future optimizations (cache friendliness, etc.)
 *
 * \sa VectorwiseOp::reverseInPlace(), reverse() */
template <typename Derived>
EIGEN_DEVICE_FUNC inline void DenseBase<Derived>::reverseInPlace() {
  constexpr int HalfRowsAtCompileTime = RowsAtCompileTime == Dynamic ? Dynamic : RowsAtCompileTime / 2;
  constexpr int HalfColsAtCompileTime = ColsAtCompileTime == Dynamic ? Dynamic : ColsAtCompileTime / 2;
  if (cols() > rows()) {
    Index half = cols() / 2;
    this->template leftCols<HalfColsAtCompileTime>(half).swap(
        this->template rightCols<HalfColsAtCompileTime>(half).reverse());
    if ((cols() % 2) == 1) {
      Index half2 = rows() / 2;
      col(half).template head<HalfRowsAtCompileTime>(half2).swap(
          col(half).template tail<HalfRowsAtCompileTime>(half2).reverse());
    }
  } else {
    Index half = rows() / 2;
    this->template topRows<HalfRowsAtCompileTime>(half).swap(
        this->template bottomRows<HalfRowsAtCompileTime>(half).reverse());
    if ((rows() % 2) == 1) {
      Index half2 = cols() / 2;
      row(half).template head<HalfColsAtCompileTime>(half2).swap(
          row(half).template tail<HalfColsAtCompileTime>(half2).reverse());
    }
  }
}

namespace internal {

template <int Direction>
struct vectorwise_reverse_inplace_impl;

template <>
struct vectorwise_reverse_inplace_impl<Vertical> {
  template <typename ExpressionType>
  static void run(ExpressionType& xpr) {
    constexpr Index HalfAtCompileTime =
        ExpressionType::RowsAtCompileTime == Dynamic ? Dynamic : ExpressionType::RowsAtCompileTime / 2;
    Index half = xpr.rows() / 2;
    xpr.template topRows<HalfAtCompileTime>(half).swap(
        xpr.template bottomRows<HalfAtCompileTime>(half).colwise().reverse());
  }
};

template <>
struct vectorwise_reverse_inplace_impl<Horizontal> {
  template <typename ExpressionType>
  static void run(ExpressionType& xpr) {
    constexpr Index HalfAtCompileTime =
        ExpressionType::ColsAtCompileTime == Dynamic ? Dynamic : ExpressionType::ColsAtCompileTime / 2;
    Index half = xpr.cols() / 2;
    xpr.template leftCols<HalfAtCompileTime>(half).swap(
        xpr.template rightCols<HalfAtCompileTime>(half).rowwise().reverse());
  }
};

}  // end namespace internal

/** This is the "in place" version of VectorwiseOp::reverse: it reverses each column or row of \c *this.
 *
 * In most cases it is probably better to simply use the reversed expression
 * of a matrix. However, when reversing the matrix data itself is really needed,
 * then this "in-place" version is probably the right choice because it provides
 * the following additional benefits:
 *  - less error prone: doing the same operation with .reverse() requires special care:
 *    \code m = m.reverse().eval(); \endcode
 *  - this API enables reverse operations without the need for a temporary
 *
 * \sa DenseBase::reverseInPlace(), reverse() */
template <typename ExpressionType, int Direction>
EIGEN_DEVICE_FUNC void VectorwiseOp<ExpressionType, Direction>::reverseInPlace() {
  internal::vectorwise_reverse_inplace_impl<Direction>::run(m_matrix);
}

}  // end namespace Eigen

#endif  // EIGEN_REVERSE_H