matrix_operations.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
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//
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#ifndef G2O_CORE_MATRIX_OPERATIONS_H
#define G2O_CORE_MATRIX_OPERATIONS_H
 
#include <Eigen/Core>

namespace NDEVR {
  namespace internal {

    template<typename MatrixType>
    inline void axpy(const MatrixType& A, const Eigen::Map<const Eigen::VectorX<g_type>>& x, int xoff, Eigen::Map<Eigen::VectorX<g_type>>& y, int yoff)
    {
      y.segment<MatrixType::RowsAtCompileTime>(yoff) += A * x.segment<MatrixType::ColsAtCompileTime>(xoff);
    }
 
    template<int t>
    inline void axpy(const Eigen::Matrix<g_type, Eigen::Dynamic, t>& A, const Eigen::Map<const Eigen::VectorX<g_type>>& x, int xoff, Eigen::Map<Eigen::VectorX<g_type>>& y, int yoff)
    {
      y.segment(yoff, A.rows()) += A * x.segment<Eigen::Matrix<g_type, Eigen::Dynamic, t>::ColsAtCompileTime>(xoff);
    }
 
    template<>
    inline void axpy(const Eigen::MatrixX<g_type>& A, const Eigen::Map<const Eigen::VectorX<g_type>>& x, int xoff, Eigen::Map<Eigen::VectorX<g_type>>& y, int yoff)
    {
      y.segment(yoff, A.rows()) += A * x.segment(xoff, A.cols());
    }
 
    template<typename MatrixType>
    inline void atxpy(const MatrixType& A, const Eigen::Map<const Eigen::VectorX<g_type>>& x, int xoff, Eigen::Map<Eigen::VectorX<g_type>>& y, int yoff)
    {
      y.segment<MatrixType::ColsAtCompileTime>(yoff) += A.transpose() * x.segment<MatrixType::RowsAtCompileTime>(xoff);
    }
 
    template<int t>
    inline void atxpy(const Eigen::Matrix<g_type, Eigen::Dynamic, t>& A, const Eigen::Map<const Eigen::VectorX<g_type>>& x, int xoff, Eigen::Map<Eigen::VectorX<g_type>>& y, int yoff)
    {
      y.segment<Eigen::Matrix<g_type, Eigen::Dynamic, t>::ColsAtCompileTime>(yoff) += A.transpose() * x.segment(xoff, A.rows());
    }
 
    template<>
    inline void atxpy(const Eigen::MatrixX<g_type>& A, const Eigen::Map<const Eigen::VectorX<g_type>>& x, int xoff, Eigen::Map<Eigen::VectorX<g_type>>& y, int yoff)
    {
      y.segment(yoff, A.cols()) += A.transpose() * x.segment(xoff, A.rows());
    }
 
  } // end namespace internal
} // end namespace NDEVR
 
#endif