add Eigen as a dependency

external/include/eigen3/unsupported/Eigen/AlignedVector3

@@ -0,0 +1,224 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <g.gael@free.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_ALIGNED_VECTOR3
+#define EIGEN_ALIGNED_VECTOR3
+
+#include <Eigen/Geometry>
+
+namespace Eigen {
+
+/**
+  * \defgroup AlignedVector3_Module Aligned vector3 module
+  *
+  * \code
+  * #include <unsupported/Eigen/AlignedVector3>
+  * \endcode
+  */
+  //@{
+
+
+/** \class AlignedVector3
+  *
+  * \brief A vectorization friendly 3D vector
+  *
+  * This class represents a 3D vector internally using a 4D vector
+  * such that vectorization can be seamlessly enabled. Of course,
+  * the same result can be achieved by directly using a 4D vector.
+  * This class makes this process simpler.
+  *
+  */
+// TODO specialize Cwise
+template<typename _Scalar> class AlignedVector3;
+
+namespace internal {
+template<typename _Scalar> struct traits<AlignedVector3<_Scalar> >
+  : traits<Matrix<_Scalar,3,1,0,4,1> >
+{
+};
+}
+
+template<typename _Scalar> class AlignedVector3
+  : public MatrixBase<AlignedVector3<_Scalar> >
+{
+    typedef Matrix<_Scalar,4,1> CoeffType;
+    CoeffType m_coeffs;
+  public:
+
+    typedef MatrixBase<AlignedVector3<_Scalar> > Base;	
+    EIGEN_DENSE_PUBLIC_INTERFACE(AlignedVector3)
+    using Base::operator*;
+
+    inline Index rows() const { return 3; }
+    inline Index cols() const { return 1; }
+    
+    Scalar* data() { return m_coeffs.data(); }
+    const Scalar* data() const { return m_coeffs.data(); }
+    Index innerStride() const { return 1; }
+    Index outerStride() const { return 3; }
+
+    inline const Scalar& coeff(Index row, Index col) const
+    { return m_coeffs.coeff(row, col); }
+
+    inline Scalar& coeffRef(Index row, Index col)
+    { return m_coeffs.coeffRef(row, col); }
+
+    inline const Scalar& coeff(Index index) const
+    { return m_coeffs.coeff(index); }
+
+    inline Scalar& coeffRef(Index index)
+    { return m_coeffs.coeffRef(index);}
+
+
+    inline AlignedVector3(const Scalar& x, const Scalar& y, const Scalar& z)
+      : m_coeffs(x, y, z, Scalar(0))
+    {}
+
+    inline AlignedVector3(const AlignedVector3& other)
+      : Base(), m_coeffs(other.m_coeffs)
+    {}
+
+    template<typename XprType, int Size=XprType::SizeAtCompileTime>
+    struct generic_assign_selector {};
+
+    template<typename XprType> struct generic_assign_selector<XprType,4>
+    {
+      inline static void run(AlignedVector3& dest, const XprType& src)
+      {
+        dest.m_coeffs = src;
+      }
+    };
+
+    template<typename XprType> struct generic_assign_selector<XprType,3>
+    {
+      inline static void run(AlignedVector3& dest, const XprType& src)
+      {
+        dest.m_coeffs.template head<3>() = src;
+        dest.m_coeffs.w() = Scalar(0);
+      }
+    };
+
+    template<typename Derived>
+    inline AlignedVector3(const MatrixBase<Derived>& other)
+    {
+      generic_assign_selector<Derived>::run(*this,other.derived());
+    }
+
+    inline AlignedVector3& operator=(const AlignedVector3& other)
+    { m_coeffs = other.m_coeffs; return *this; }
+
+    template <typename Derived>
+    inline AlignedVector3& operator=(const MatrixBase<Derived>& other)
+    {
+      generic_assign_selector<Derived>::run(*this,other.derived());
+      return *this;
+    }
+
+    inline AlignedVector3 operator+(const AlignedVector3& other) const
+    { return AlignedVector3(m_coeffs + other.m_coeffs); }
+
+    inline AlignedVector3& operator+=(const AlignedVector3& other)
+    { m_coeffs += other.m_coeffs; return *this; }
+
+    inline AlignedVector3 operator-(const AlignedVector3& other) const
+    { return AlignedVector3(m_coeffs - other.m_coeffs); }
+
+    inline AlignedVector3 operator-=(const AlignedVector3& other)
+    { m_coeffs -= other.m_coeffs; return *this; }
+
+    inline AlignedVector3 operator*(const Scalar& s) const
+    { return AlignedVector3(m_coeffs * s); }
+
+    inline friend AlignedVector3 operator*(const Scalar& s,const AlignedVector3& vec)
+    { return AlignedVector3(s * vec.m_coeffs); }
+
+    inline AlignedVector3& operator*=(const Scalar& s)
+    { m_coeffs *= s; return *this; }
+
+    inline AlignedVector3 operator/(const Scalar& s) const
+    { return AlignedVector3(m_coeffs / s); }
+
+    inline AlignedVector3& operator/=(const Scalar& s)
+    { m_coeffs /= s; return *this; }
+
+    inline Scalar dot(const AlignedVector3& other) const
+    {
+      eigen_assert(m_coeffs.w()==Scalar(0));
+      eigen_assert(other.m_coeffs.w()==Scalar(0));
+      return m_coeffs.dot(other.m_coeffs);
+    }
+
+    inline void normalize()
+    {
+      m_coeffs /= norm();
+    }
+
+    inline AlignedVector3 normalized() const
+    {
+      return AlignedVector3(m_coeffs / norm());
+    }
+
+    inline Scalar sum() const
+    {
+      eigen_assert(m_coeffs.w()==Scalar(0));
+      return m_coeffs.sum();
+    }
+
+    inline Scalar squaredNorm() const
+    {
+      eigen_assert(m_coeffs.w()==Scalar(0));
+      return m_coeffs.squaredNorm();
+    }
+
+    inline Scalar norm() const
+    {
+      using std::sqrt;
+      return sqrt(squaredNorm());
+    }
+
+    inline AlignedVector3 cross(const AlignedVector3& other) const
+    {
+      return AlignedVector3(m_coeffs.cross3(other.m_coeffs));
+    }
+
+    template<typename Derived>
+    inline bool isApprox(const MatrixBase<Derived>& other, const RealScalar& eps=NumTraits<Scalar>::dummy_precision()) const
+    {
+      return m_coeffs.template head<3>().isApprox(other,eps);
+    }
+    
+    CoeffType& coeffs() { return m_coeffs; }
+    const CoeffType& coeffs() const { return m_coeffs; }
+};
+
+namespace internal {
+
+template<typename _Scalar>
+struct eval<AlignedVector3<_Scalar>, Dense>
+{
+ typedef const AlignedVector3<_Scalar>& type;
+};
+
+template<typename Scalar>
+struct evaluator<AlignedVector3<Scalar> >
+  : evaluator<Matrix<Scalar,4,1> >
+{
+  typedef AlignedVector3<Scalar> XprType;
+  typedef evaluator<Matrix<Scalar,4,1> > Base;
+  
+  evaluator(const XprType &m) : Base(m.coeffs()) {}  
+};
+
+}
+
+//@}
+
+}
+
+#endif // EIGEN_ALIGNED_VECTOR3