ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
104 lines
3.8 KiB
C++
104 lines
3.8 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
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// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_CWISE_UNARY_OP_H
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#define EIGEN_CWISE_UNARY_OP_H
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namespace Eigen {
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namespace internal {
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template<typename UnaryOp, typename XprType>
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struct traits<CwiseUnaryOp<UnaryOp, XprType> >
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: traits<XprType>
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{
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typedef typename result_of<
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UnaryOp(const typename XprType::Scalar&)
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>::type Scalar;
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typedef typename XprType::Nested XprTypeNested;
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typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
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enum {
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Flags = _XprTypeNested::Flags & RowMajorBit
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};
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};
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}
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template<typename UnaryOp, typename XprType, typename StorageKind>
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class CwiseUnaryOpImpl;
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/** \class CwiseUnaryOp
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* \ingroup Core_Module
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*
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* \brief Generic expression where a coefficient-wise unary operator is applied to an expression
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*
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* \tparam UnaryOp template functor implementing the operator
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* \tparam XprType the type of the expression to which we are applying the unary operator
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*
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* This class represents an expression where a unary operator is applied to an expression.
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* It is the return type of all operations taking exactly 1 input expression, regardless of the
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* presence of other inputs such as scalars. For example, the operator* in the expression 3*matrix
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* is considered unary, because only the right-hand side is an expression, and its
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* return type is a specialization of CwiseUnaryOp.
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*
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* Most of the time, this is the only way that it is used, so you typically don't have to name
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* CwiseUnaryOp types explicitly.
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*
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* \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp
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*/
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template<typename UnaryOp, typename XprType>
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class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
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{
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public:
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typedef typename CwiseUnaryOpImpl<UnaryOp, XprType,typename internal::traits<XprType>::StorageKind>::Base Base;
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EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryOp)
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typedef typename internal::ref_selector<XprType>::type XprTypeNested;
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typedef typename internal::remove_all<XprType>::type NestedExpression;
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EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
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explicit CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
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: m_xpr(xpr), m_functor(func) {}
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EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
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Index rows() const { return m_xpr.rows(); }
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EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
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Index cols() const { return m_xpr.cols(); }
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/** \returns the functor representing the unary operation */
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EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
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const UnaryOp& functor() const { return m_functor; }
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/** \returns the nested expression */
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EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
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const typename internal::remove_all<XprTypeNested>::type&
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nestedExpression() const { return m_xpr; }
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/** \returns the nested expression */
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EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
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typename internal::remove_all<XprTypeNested>::type&
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nestedExpression() { return m_xpr; }
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protected:
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XprTypeNested m_xpr;
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const UnaryOp m_functor;
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};
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// Generic API dispatcher
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template<typename UnaryOp, typename XprType, typename StorageKind>
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class CwiseUnaryOpImpl
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: public internal::generic_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type
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{
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public:
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typedef typename internal::generic_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type Base;
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};
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} // end namespace Eigen
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#endif // EIGEN_CWISE_UNARY_OP_H
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