OSVR-Core
SparseDenseProduct.h
1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
5 //
6 // This Source Code Form is subject to the terms of the Mozilla
7 // Public License v. 2.0. If a copy of the MPL was not distributed
8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9 
10 #ifndef EIGEN_SPARSEDENSEPRODUCT_H
11 #define EIGEN_SPARSEDENSEPRODUCT_H
12 
13 namespace Eigen {
14 
15 template<typename Lhs, typename Rhs, int InnerSize> struct SparseDenseProductReturnType
16 {
18 };
19 
20 template<typename Lhs, typename Rhs> struct SparseDenseProductReturnType<Lhs,Rhs,1>
21 {
22  typedef typename internal::conditional<
23  Lhs::IsRowMajor,
26 };
27 
28 template<typename Lhs, typename Rhs, int InnerSize> struct DenseSparseProductReturnType
29 {
31 };
32 
33 template<typename Lhs, typename Rhs> struct DenseSparseProductReturnType<Lhs,Rhs,1>
34 {
35  typedef typename internal::conditional<
36  Rhs::IsRowMajor,
39 };
40 
41 namespace internal {
42 
43 template<typename Lhs, typename Rhs, bool Tr>
44 struct traits<SparseDenseOuterProduct<Lhs,Rhs,Tr> >
45 {
46  typedef Sparse StorageKind;
48  typename traits<Rhs>::Scalar>::ReturnType Scalar;
49  typedef typename Lhs::Index Index;
50  typedef typename Lhs::Nested LhsNested;
51  typedef typename Rhs::Nested RhsNested;
52  typedef typename remove_all<LhsNested>::type _LhsNested;
53  typedef typename remove_all<RhsNested>::type _RhsNested;
54 
55  enum {
56  LhsCoeffReadCost = traits<_LhsNested>::CoeffReadCost,
57  RhsCoeffReadCost = traits<_RhsNested>::CoeffReadCost,
58 
59  RowsAtCompileTime = Tr ? int(traits<Rhs>::RowsAtCompileTime) : int(traits<Lhs>::RowsAtCompileTime),
60  ColsAtCompileTime = Tr ? int(traits<Lhs>::ColsAtCompileTime) : int(traits<Rhs>::ColsAtCompileTime),
61  MaxRowsAtCompileTime = Tr ? int(traits<Rhs>::MaxRowsAtCompileTime) : int(traits<Lhs>::MaxRowsAtCompileTime),
62  MaxColsAtCompileTime = Tr ? int(traits<Lhs>::MaxColsAtCompileTime) : int(traits<Rhs>::MaxColsAtCompileTime),
63 
64  Flags = Tr ? RowMajorBit : 0,
65 
66  CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + NumTraits<Scalar>::MulCost
67  };
68 };
69 
70 } // end namespace internal
71 
72 template<typename Lhs, typename Rhs, bool Tr>
74  : public SparseMatrixBase<SparseDenseOuterProduct<Lhs,Rhs,Tr> >
75 {
76  public:
77 
79  EIGEN_DENSE_PUBLIC_INTERFACE(SparseDenseOuterProduct)
81 
82  private:
83 
84  typedef typename Traits::LhsNested LhsNested;
85  typedef typename Traits::RhsNested RhsNested;
86  typedef typename Traits::_LhsNested _LhsNested;
87  typedef typename Traits::_RhsNested _RhsNested;
88 
89  public:
90 
91  class InnerIterator;
92 
93  EIGEN_STRONG_INLINE SparseDenseOuterProduct(const Lhs& lhs, const Rhs& rhs)
94  : m_lhs(lhs), m_rhs(rhs)
95  {
96  EIGEN_STATIC_ASSERT(!Tr,YOU_MADE_A_PROGRAMMING_MISTAKE);
97  }
98 
99  EIGEN_STRONG_INLINE SparseDenseOuterProduct(const Rhs& rhs, const Lhs& lhs)
100  : m_lhs(lhs), m_rhs(rhs)
101  {
102  EIGEN_STATIC_ASSERT(Tr,YOU_MADE_A_PROGRAMMING_MISTAKE);
103  }
104 
105  EIGEN_STRONG_INLINE Index rows() const { return Tr ? m_rhs.rows() : m_lhs.rows(); }
106  EIGEN_STRONG_INLINE Index cols() const { return Tr ? m_lhs.cols() : m_rhs.cols(); }
107 
108  EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
109  EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
110 
111  protected:
112  LhsNested m_lhs;
113  RhsNested m_rhs;
114 };
115 
116 template<typename Lhs, typename Rhs, bool Transpose>
117 class SparseDenseOuterProduct<Lhs,Rhs,Transpose>::InnerIterator : public _LhsNested::InnerIterator
118 {
119  typedef typename _LhsNested::InnerIterator Base;
120  typedef typename SparseDenseOuterProduct::Index Index;
121  public:
122  EIGEN_STRONG_INLINE InnerIterator(const SparseDenseOuterProduct& prod, Index outer)
123  : Base(prod.lhs(), 0), m_outer(outer), m_factor(get(prod.rhs(), outer, typename internal::traits<Rhs>::StorageKind() ))
124  { }
125 
126  inline Index outer() const { return m_outer; }
127  inline Index row() const { return Transpose ? m_outer : Base::index(); }
128  inline Index col() const { return Transpose ? Base::index() : m_outer; }
129 
130  inline Scalar value() const { return Base::value() * m_factor; }
131 
132  protected:
133  static Scalar get(const _RhsNested &rhs, Index outer, Dense = Dense())
134  {
135  return rhs.coeff(outer);
136  }
137 
138  static Scalar get(const _RhsNested &rhs, Index outer, Sparse = Sparse())
139  {
140  typename Traits::_RhsNested::InnerIterator it(rhs, outer);
141  if (it && it.index()==0)
142  return it.value();
143 
144  return Scalar(0);
145  }
146 
147  Index m_outer;
148  Scalar m_factor;
149 };
150 
151 namespace internal {
152 template<typename Lhs, typename Rhs>
154  : traits<ProductBase<SparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs> >
155 {
156  typedef Dense StorageKind;
157  typedef MatrixXpr XprKind;
158 };
159 
160 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType,
161  int LhsStorageOrder = ((SparseLhsType::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor,
162  bool ColPerCol = ((DenseRhsType::Flags&RowMajorBit)==0) || DenseRhsType::ColsAtCompileTime==1>
164 
165 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
166 struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, RowMajor, true>
167 {
171  typedef typename Lhs::Index Index;
172  typedef typename Lhs::InnerIterator LhsInnerIterator;
173  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
174  {
175  for(Index c=0; c<rhs.cols(); ++c)
176  {
177  Index n = lhs.outerSize();
178  for(Index j=0; j<n; ++j)
179  {
180  typename Res::Scalar tmp(0);
181  for(LhsInnerIterator it(lhs,j); it ;++it)
182  tmp += it.value() * rhs.coeff(it.index(),c);
183  res.coeffRef(j,c) += alpha * tmp;
184  }
185  }
186  }
187 };
188 
189 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
190 struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, ColMajor, true>
191 {
195  typedef typename Lhs::InnerIterator LhsInnerIterator;
196  typedef typename Lhs::Index Index;
197  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
198  {
199  for(Index c=0; c<rhs.cols(); ++c)
200  {
201  for(Index j=0; j<lhs.outerSize(); ++j)
202  {
203  typename Res::Scalar rhs_j = alpha * rhs.coeff(j,c);
204  for(LhsInnerIterator it(lhs,j); it ;++it)
205  res.coeffRef(it.index(),c) += it.value() * rhs_j;
206  }
207  }
208  }
209 };
210 
211 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
212 struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, RowMajor, false>
213 {
217  typedef typename Lhs::InnerIterator LhsInnerIterator;
218  typedef typename Lhs::Index Index;
219  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
220  {
221  for(Index j=0; j<lhs.outerSize(); ++j)
222  {
223  typename Res::RowXpr res_j(res.row(j));
224  for(LhsInnerIterator it(lhs,j); it ;++it)
225  res_j += (alpha*it.value()) * rhs.row(it.index());
226  }
227  }
228 };
229 
230 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
231 struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, ColMajor, false>
232 {
236  typedef typename Lhs::InnerIterator LhsInnerIterator;
237  typedef typename Lhs::Index Index;
238  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
239  {
240  for(Index j=0; j<lhs.outerSize(); ++j)
241  {
242  typename Rhs::ConstRowXpr rhs_j(rhs.row(j));
243  for(LhsInnerIterator it(lhs,j); it ;++it)
244  res.row(it.index()) += (alpha*it.value()) * rhs_j;
245  }
246  }
247 };
248 
249 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType,typename AlphaType>
250 inline void sparse_time_dense_product(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
251 {
253 }
254 
255 } // end namespace internal
256 
257 template<typename Lhs, typename Rhs>
259  : public ProductBase<SparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs>
260 {
261  public:
262  EIGEN_PRODUCT_PUBLIC_INTERFACE(SparseTimeDenseProduct)
263 
264  SparseTimeDenseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
265  {}
266 
267  template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
268  {
269  internal::sparse_time_dense_product(m_lhs, m_rhs, dest, alpha);
270  }
271 
272  private:
274 };
275 
276 
277 // dense = dense * sparse
278 namespace internal {
279 template<typename Lhs, typename Rhs>
281  : traits<ProductBase<DenseTimeSparseProduct<Lhs,Rhs>, Lhs, Rhs> >
282 {
283  typedef Dense StorageKind;
284 };
285 } // end namespace internal
286 
287 template<typename Lhs, typename Rhs>
289  : public ProductBase<DenseTimeSparseProduct<Lhs,Rhs>, Lhs, Rhs>
290 {
291  public:
292  EIGEN_PRODUCT_PUBLIC_INTERFACE(DenseTimeSparseProduct)
293 
294  DenseTimeSparseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
295  {}
296 
297  template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
298  {
299  Transpose<const _LhsNested> lhs_t(m_lhs);
300  Transpose<const _RhsNested> rhs_t(m_rhs);
301  Transpose<Dest> dest_t(dest);
302  internal::sparse_time_dense_product(rhs_t, lhs_t, dest_t, alpha);
303  }
304 
305  private:
307 };
308 
309 } // end namespace Eigen
310 
311 #endif // EIGEN_SPARSEDENSEPRODUCT_H
Definition: gtest_unittest.cc:5031
Definition: ProductBase.h:63
Expression of the transpose of a matrix.
Definition: Transpose.h:57
iterative scaling algorithm to equilibrate rows and column norms in matrices
Definition: TestIMU_Common.h:87
Holds information about the various numeric (i.e.
Definition: NumTraits.h:88
Definition: Meta.h:29
const unsigned int RowMajorBit
for a matrix, this means that the storage order is row-major.
Definition: Constants.h:53
The type used to identify a matrix expression.
Definition: Constants.h:431
Base class of any sparse matrices or sparse expressions.
Definition: ForwardDeclarations.h:239
Storage order is column major (see TopicStorageOrders).
Definition: Constants.h:264
Definition: SparseDenseProduct.h:73
Definition: XprHelper.h:371
Definition: SparseDenseProduct.h:28
Definition: SparseDenseProduct.h:258
Definition: BandTriangularSolver.h:13
Definition: SparseDenseProduct.h:288
Storage order is row major (see TopicStorageOrders).
Definition: Constants.h:266
The type used to identify a dense storage.
Definition: Constants.h:428
Definition: SparseDenseProduct.h:15
Definition: SparseDenseProduct.h:117
Definition: Meta.h:25
Definition: ForwardDeclarations.h:17
double Scalar
Common scalar type.
Definition: FlexibleKalmanBase.h:48
Definition: SparseDenseProduct.h:163
const Index & row() const
Definition: SparseUtil.h:158