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
110 lines
3.5 KiB
C++
110 lines
3.5 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) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
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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_NOALIAS_H
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#define EIGEN_NOALIAS_H
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namespace Eigen {
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/** \class NoAlias
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* \ingroup Core_Module
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*
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* \brief Pseudo expression providing an operator = assuming no aliasing
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*
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* \tparam ExpressionType the type of the object on which to do the lazy assignment
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*
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* This class represents an expression with special assignment operators
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* assuming no aliasing between the target expression and the source expression.
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* More precisely it alloas to bypass the EvalBeforeAssignBit flag of the source expression.
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* It is the return type of MatrixBase::noalias()
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* and most of the time this is the only way it is used.
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*
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* \sa MatrixBase::noalias()
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*/
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template<typename ExpressionType, template <typename> class StorageBase>
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class NoAlias
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{
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public:
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typedef typename ExpressionType::Scalar Scalar;
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EIGEN_DEVICE_FUNC
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explicit NoAlias(ExpressionType& expression) : m_expression(expression) {}
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template<typename OtherDerived>
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EIGEN_DEVICE_FUNC
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EIGEN_STRONG_INLINE ExpressionType& operator=(const StorageBase<OtherDerived>& other)
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{
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call_assignment_no_alias(m_expression, other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
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return m_expression;
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}
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template<typename OtherDerived>
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EIGEN_DEVICE_FUNC
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EIGEN_STRONG_INLINE ExpressionType& operator+=(const StorageBase<OtherDerived>& other)
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{
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call_assignment_no_alias(m_expression, other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
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return m_expression;
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}
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template<typename OtherDerived>
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EIGEN_DEVICE_FUNC
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EIGEN_STRONG_INLINE ExpressionType& operator-=(const StorageBase<OtherDerived>& other)
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{
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call_assignment_no_alias(m_expression, other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
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return m_expression;
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}
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EIGEN_DEVICE_FUNC
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ExpressionType& expression() const
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{
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return m_expression;
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}
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protected:
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ExpressionType& m_expression;
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};
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/** \returns a pseudo expression of \c *this with an operator= assuming
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* no aliasing between \c *this and the source expression.
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*
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* More precisely, noalias() allows to bypass the EvalBeforeAssignBit flag.
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* Currently, even though several expressions may alias, only product
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* expressions have this flag. Therefore, noalias() is only usefull when
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* the source expression contains a matrix product.
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*
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* Here are some examples where noalias is usefull:
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* \code
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* D.noalias() = A * B;
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* D.noalias() += A.transpose() * B;
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* D.noalias() -= 2 * A * B.adjoint();
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* \endcode
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*
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* On the other hand the following example will lead to a \b wrong result:
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* \code
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* A.noalias() = A * B;
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* \endcode
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* because the result matrix A is also an operand of the matrix product. Therefore,
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* there is no alternative than evaluating A * B in a temporary, that is the default
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* behavior when you write:
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* \code
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* A = A * B;
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* \endcode
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*
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* \sa class NoAlias
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*/
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template<typename Derived>
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NoAlias<Derived,MatrixBase> EIGEN_DEVICE_FUNC MatrixBase<Derived>::noalias()
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{
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return NoAlias<Derived, Eigen::MatrixBase >(derived());
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}
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} // end namespace Eigen
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#endif // EIGEN_NOALIAS_H
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