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) 2009-2014 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_TRANSPOSE_H
#define EIGEN_TRANSPOSE_H

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

namespace Eigen {

namespace internal {
template <typename MatrixType>
struct traits<Transpose<MatrixType> > : public traits<MatrixType> {
  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
  typedef std::remove_reference_t<MatrixTypeNested> MatrixTypeNestedPlain;
  enum {
    RowsAtCompileTime = MatrixType::ColsAtCompileTime,
    ColsAtCompileTime = MatrixType::RowsAtCompileTime,
    MaxRowsAtCompileTime = MatrixType::MaxColsAtCompileTime,
    MaxColsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
    Flags0 = traits<MatrixTypeNestedPlain>::Flags & ~(LvalueBit | NestByRefBit),
    Flags1 = Flags0 | FlagsLvalueBit,
    Flags = Flags1 ^ RowMajorBit,
    InnerStrideAtCompileTime = inner_stride_at_compile_time<MatrixType>::ret,
    OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret
  };
};
}  // namespace internal

template <typename MatrixType, typename StorageKind>
class TransposeImpl;

/** \class Transpose
 * \ingroup Core_Module
 *
 * \brief Expression of the transpose of a matrix
 *
 * \tparam MatrixType the type of the object of which we are taking the transpose
 *
 * This class represents an expression of the transpose of a matrix.
 * It is the return type of MatrixBase::transpose() and MatrixBase::adjoint()
 * and most of the time this is the only way it is used.
 *
 * \sa MatrixBase::transpose(), MatrixBase::adjoint()
 */
template <typename MatrixType>
class Transpose : public TransposeImpl<MatrixType, typename internal::traits<MatrixType>::StorageKind> {
 public:
  typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;

  typedef typename TransposeImpl<MatrixType, typename internal::traits<MatrixType>::StorageKind>::Base Base;
  EIGEN_GENERIC_PUBLIC_INTERFACE(Transpose)
  typedef internal::remove_all_t<MatrixType> NestedExpression;

  EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Transpose(MatrixType& matrix) : m_matrix(matrix) {}

  EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Transpose)

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

  /** \returns the nested expression */
  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const internal::remove_all_t<MatrixTypeNested>& nestedExpression() const {
    return m_matrix;
  }

  /** \returns the nested expression */
  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::remove_reference_t<MatrixTypeNested>& nestedExpression() {
    return m_matrix;
  }

  /** \internal */
  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index nrows, Index ncols) { m_matrix.resize(ncols, nrows); }

 protected:
  typename internal::ref_selector<MatrixType>::non_const_type m_matrix;
};

namespace internal {

template <typename MatrixType, bool HasDirectAccess = has_direct_access<MatrixType>::ret>
struct TransposeImpl_base {
  typedef typename dense_xpr_base<Transpose<MatrixType> >::type type;
};

template <typename MatrixType>
struct TransposeImpl_base<MatrixType, false> {
  typedef typename dense_xpr_base<Transpose<MatrixType> >::type type;
};

}  // end namespace internal

// Generic API dispatcher
template <typename XprType, typename StorageKind>
class TransposeImpl : public internal::generic_xpr_base<Transpose<XprType> >::type {
 public:
  typedef typename internal::generic_xpr_base<Transpose<XprType> >::type Base;
};

template <typename MatrixType>
class TransposeImpl<MatrixType, Dense> : public internal::TransposeImpl_base<MatrixType>::type {
 public:
  typedef typename internal::TransposeImpl_base<MatrixType>::type Base;
  using Base::coeffRef;
  EIGEN_DENSE_PUBLIC_INTERFACE(Transpose<MatrixType>)
  EIGEN_INHERIT_ASSIGNMENT_OPERATORS(TransposeImpl)

  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index innerStride() const { return derived().nestedExpression().innerStride(); }
  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index outerStride() const { return derived().nestedExpression().outerStride(); }

  typedef std::conditional_t<internal::is_lvalue<MatrixType>::value, Scalar, const Scalar> ScalarWithConstIfNotLvalue;

  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr ScalarWithConstIfNotLvalue* data() {
    return derived().nestedExpression().data();
  }
  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr const Scalar* data() const {
    return derived().nestedExpression().data();
  }

  // FIXME: shall we keep the const version of coeffRef?
  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeffRef(Index rowId, Index colId) const {
    return derived().nestedExpression().coeffRef(colId, rowId);
  }

  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeffRef(Index index) const {
    return derived().nestedExpression().coeffRef(index);
  }

 protected:
  EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(TransposeImpl)
};

/** \returns an expression of the transpose of *this.
 *
 * Example: \include MatrixBase_transpose.cpp
 * Output: \verbinclude MatrixBase_transpose.out
 *
 * \warning If you want to replace a matrix by its own transpose, do \b NOT do this:
 * \code
 * m = m.transpose(); // bug!!! caused by aliasing effect
 * \endcode
 * Instead, use the transposeInPlace() method:
 * \code
 * m.transposeInPlace();
 * \endcode
 * which gives Eigen good opportunities for optimization, or alternatively you can also do:
 * \code
 * m = m.transpose().eval();
 * \endcode
 *
 * \sa transposeInPlace(), adjoint() */
template <typename Derived>
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename DenseBase<Derived>::TransposeReturnType DenseBase<Derived>::transpose() {
  return TransposeReturnType(derived());
}

/** This is the const version of transpose().
 *
 * Make sure you read the warning for transpose() !
 *
 * \sa transposeInPlace(), adjoint() */
template <typename Derived>
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstTransposeReturnType
DenseBase<Derived>::transpose() const {
  return ConstTransposeReturnType(derived());
}

/** \returns an expression of the adjoint (i.e. conjugate transpose) of *this.
 *
 * Example: \include MatrixBase_adjoint.cpp
 * Output: \verbinclude MatrixBase_adjoint.out
 *
 * \warning If you want to replace a matrix by its own adjoint, do \b NOT do this:
 * \code
 * m = m.adjoint(); // bug!!! caused by aliasing effect
 * \endcode
 * Instead, use the adjointInPlace() method:
 * \code
 * m.adjointInPlace();
 * \endcode
 * which gives Eigen good opportunities for optimization, or alternatively you can also do:
 * \code
 * m = m.adjoint().eval();
 * \endcode
 *
 * \sa adjointInPlace(), transpose(), conjugate(), class Transpose, class internal::scalar_conjugate_op */
template <typename Derived>
EIGEN_DEVICE_FUNC inline const typename MatrixBase<Derived>::AdjointReturnType MatrixBase<Derived>::adjoint() const {
  return AdjointReturnType(this->transpose());
}

/***************************************************************************
 * "in place" transpose implementation
 ***************************************************************************/

namespace internal {

template <typename MatrixType,
          bool IsSquare = (MatrixType::RowsAtCompileTime == MatrixType::ColsAtCompileTime) &&
                          MatrixType::RowsAtCompileTime != Dynamic,
          bool MatchPacketSize =
              (int(MatrixType::RowsAtCompileTime) == int(internal::packet_traits<typename MatrixType::Scalar>::size)) &&
              (internal::evaluator<MatrixType>::Flags & PacketAccessBit)>
struct inplace_transpose_selector;

template <typename MatrixType>
struct inplace_transpose_selector<MatrixType, true, false> {  // square matrix
  static void run(MatrixType& m) {
    m.matrix().template triangularView<StrictlyUpper>().swap(
        m.matrix().transpose().template triangularView<StrictlyUpper>());
  }
};

template <typename MatrixType>
struct inplace_transpose_selector<MatrixType, true, true> {  // PacketSize x PacketSize
  static void run(MatrixType& m) {
    typedef typename MatrixType::Scalar Scalar;
    typedef typename internal::packet_traits<typename MatrixType::Scalar>::type Packet;
    const Index PacketSize = internal::packet_traits<Scalar>::size;
    const Index Alignment = internal::evaluator<MatrixType>::Alignment;
    PacketBlock<Packet> A;
    for (Index i = 0; i < PacketSize; ++i) A.packet[i] = m.template packetByOuterInner<Alignment>(i, 0);
    internal::ptranspose(A);
    for (Index i = 0; i < PacketSize; ++i)
      m.template writePacket<Alignment>(m.rowIndexByOuterInner(i, 0), m.colIndexByOuterInner(i, 0), A.packet[i]);
  }
};

template <typename MatrixType, Index Alignment>
void BlockedInPlaceTranspose(MatrixType& m) {
  typedef typename MatrixType::Scalar Scalar;
  typedef typename internal::packet_traits<typename MatrixType::Scalar>::type Packet;
  const Index PacketSize = internal::packet_traits<Scalar>::size;
  eigen_assert(m.rows() == m.cols());
  int row_start = 0;
  for (; row_start + PacketSize <= m.rows(); row_start += PacketSize) {
    for (int col_start = row_start; col_start + PacketSize <= m.cols(); col_start += PacketSize) {
      PacketBlock<Packet> A;
      if (row_start == col_start) {
        for (Index i = 0; i < PacketSize; ++i)
          A.packet[i] = m.template packetByOuterInner<Alignment>(row_start + i, col_start);
        internal::ptranspose(A);
        for (Index i = 0; i < PacketSize; ++i)
          m.template writePacket<Alignment>(m.rowIndexByOuterInner(row_start + i, col_start),
                                            m.colIndexByOuterInner(row_start + i, col_start), A.packet[i]);
      } else {
        PacketBlock<Packet> B;
        for (Index i = 0; i < PacketSize; ++i) {
          A.packet[i] = m.template packetByOuterInner<Alignment>(row_start + i, col_start);
          B.packet[i] = m.template packetByOuterInner<Alignment>(col_start + i, row_start);
        }
        internal::ptranspose(A);
        internal::ptranspose(B);
        for (Index i = 0; i < PacketSize; ++i) {
          m.template writePacket<Alignment>(m.rowIndexByOuterInner(row_start + i, col_start),
                                            m.colIndexByOuterInner(row_start + i, col_start), B.packet[i]);
          m.template writePacket<Alignment>(m.rowIndexByOuterInner(col_start + i, row_start),
                                            m.colIndexByOuterInner(col_start + i, row_start), A.packet[i]);
        }
      }
    }
  }
  for (Index row = row_start; row < m.rows(); ++row) {
    m.matrix().row(row).head(row).swap(m.matrix().col(row).head(row).transpose());
  }
}

template <typename MatrixType, bool MatchPacketSize>
struct inplace_transpose_selector<MatrixType, false, MatchPacketSize> {  // non square or dynamic matrix
  static void run(MatrixType& m) {
    typedef typename MatrixType::Scalar Scalar;
    if (m.rows() == m.cols()) {
      const Index PacketSize = internal::packet_traits<Scalar>::size;
      if (!NumTraits<Scalar>::IsComplex && m.rows() >= PacketSize) {
        if ((m.rows() % PacketSize) == 0)
          BlockedInPlaceTranspose<MatrixType, internal::evaluator<MatrixType>::Alignment>(m);
        else
          BlockedInPlaceTranspose<MatrixType, Unaligned>(m);
      } else {
        m.matrix().template triangularView<StrictlyUpper>().swap(
            m.matrix().transpose().template triangularView<StrictlyUpper>());
      }
    } else {
      m = m.transpose().eval();
    }
  }
};

}  // end namespace internal

/** This is the "in place" version of transpose(): it replaces \c *this by its own transpose.
 * Thus, doing
 * \code
 * m.transposeInPlace();
 * \endcode
 * has the same effect on m as doing
 * \code
 * m = m.transpose().eval();
 * \endcode
 * and is faster and also safer because in the latter line of code, forgetting the eval() results
 * in a bug caused by \ref TopicAliasing "aliasing".
 *
 * Notice however that this method is only useful if you want to replace a matrix by its own transpose.
 * If you just need the transpose of a matrix, use transpose().
 *
 * \note if the matrix is not square, then \c *this must be a resizable matrix.
 * This excludes (non-square) fixed-size matrices, block-expressions and maps.
 *
 * \sa transpose(), adjoint(), adjointInPlace() */
template <typename Derived>
EIGEN_DEVICE_FUNC inline void DenseBase<Derived>::transposeInPlace() {
  eigen_assert((rows() == cols() || (RowsAtCompileTime == Dynamic && ColsAtCompileTime == Dynamic)) &&
               "transposeInPlace() called on a non-square non-resizable matrix");
  internal::inplace_transpose_selector<Derived>::run(derived());
}

/***************************************************************************
 * "in place" adjoint implementation
 ***************************************************************************/

/** This is the "in place" version of adjoint(): it replaces \c *this by its own transpose.
 * Thus, doing
 * \code
 * m.adjointInPlace();
 * \endcode
 * has the same effect on m as doing
 * \code
 * m = m.adjoint().eval();
 * \endcode
 * and is faster and also safer because in the latter line of code, forgetting the eval() results
 * in a bug caused by aliasing.
 *
 * Notice however that this method is only useful if you want to replace a matrix by its own adjoint.
 * If you just need the adjoint of a matrix, use adjoint().
 *
 * \note if the matrix is not square, then \c *this must be a resizable matrix.
 * This excludes (non-square) fixed-size matrices, block-expressions and maps.
 *
 * \sa transpose(), adjoint(), transposeInPlace() */
template <typename Derived>
EIGEN_DEVICE_FUNC inline void MatrixBase<Derived>::adjointInPlace() {
  derived() = adjoint().eval();
}

#ifndef EIGEN_NO_DEBUG

// The following is to detect aliasing problems in most common cases.

namespace internal {

template <bool DestIsTransposed, typename OtherDerived>
struct check_transpose_aliasing_compile_time_selector {
  enum { ret = bool(blas_traits<OtherDerived>::IsTransposed) != DestIsTransposed };
};

template <bool DestIsTransposed, typename BinOp, typename DerivedA, typename DerivedB>
struct check_transpose_aliasing_compile_time_selector<DestIsTransposed, CwiseBinaryOp<BinOp, DerivedA, DerivedB> > {
  enum {
    ret = bool(blas_traits<DerivedA>::IsTransposed) != DestIsTransposed ||
          bool(blas_traits<DerivedB>::IsTransposed) != DestIsTransposed
  };
};

template <typename Scalar, bool DestIsTransposed, typename OtherDerived>
struct check_transpose_aliasing_run_time_selector {
  EIGEN_DEVICE_FUNC static bool run(const Scalar* dest, const OtherDerived& src) {
    return (bool(blas_traits<OtherDerived>::IsTransposed) != DestIsTransposed) &&
           (dest != 0 && dest == (const Scalar*)extract_data(src));
  }
};

template <typename Scalar, bool DestIsTransposed, typename BinOp, typename DerivedA, typename DerivedB>
struct check_transpose_aliasing_run_time_selector<Scalar, DestIsTransposed, CwiseBinaryOp<BinOp, DerivedA, DerivedB> > {
  EIGEN_DEVICE_FUNC static bool run(const Scalar* dest, const CwiseBinaryOp<BinOp, DerivedA, DerivedB>& src) {
    return ((blas_traits<DerivedA>::IsTransposed != DestIsTransposed) &&
            (dest != 0 && dest == (const Scalar*)extract_data(src.lhs()))) ||
           ((blas_traits<DerivedB>::IsTransposed != DestIsTransposed) &&
            (dest != 0 && dest == (const Scalar*)extract_data(src.rhs())));
  }
};

// the following selector, checkTransposeAliasing_impl, based on MightHaveTransposeAliasing,
// is because when the condition controlling the assert is known at compile time, ICC emits a warning.
// This is actually a good warning: in expressions that don't have any transposing, the condition is
// known at compile time to be false, and using that, we can avoid generating the code of the assert again
// and again for all these expressions that don't need it.

template <typename Derived, typename OtherDerived,
          bool MightHaveTransposeAliasing =
              check_transpose_aliasing_compile_time_selector<blas_traits<Derived>::IsTransposed, OtherDerived>::ret>
struct checkTransposeAliasing_impl {
  EIGEN_DEVICE_FUNC static void run(const Derived& dst, const OtherDerived& other) {
    eigen_assert(
        (!check_transpose_aliasing_run_time_selector<typename Derived::Scalar, blas_traits<Derived>::IsTransposed,
                                                     OtherDerived>::run(extract_data(dst), other)) &&
        "aliasing detected during transposition, use transposeInPlace() "
        "or evaluate the rhs into a temporary using .eval()");
  }
};

template <typename Derived, typename OtherDerived>
struct checkTransposeAliasing_impl<Derived, OtherDerived, false> {
  EIGEN_DEVICE_FUNC static void run(const Derived&, const OtherDerived&) {}
};

template <typename Dst, typename Src>
EIGEN_DEVICE_FUNC inline void check_for_aliasing(const Dst& dst, const Src& src) {
  if ((!Dst::IsVectorAtCompileTime) && dst.rows() > 1 && dst.cols() > 1)
    internal::checkTransposeAliasing_impl<Dst, Src>::run(dst, src);
}

}  // end namespace internal

#endif  // EIGEN_NO_DEBUG

}  // end namespace Eigen

#endif  // EIGEN_TRANSPOSE_H