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>
 
#include "g2o/core/eigen_types.h"
 
namespace g2o {
namespace internal {
 
template <typename MatrixType>
inline void axpy(const MatrixType& A, const Eigen::Map<const VectorX>& x,
                 int xoff, Eigen::Map<VectorX>& y, int yoff) {
  y.segment<MatrixType::RowsAtCompileTime>(yoff) +=
      A * x.segment<MatrixType::ColsAtCompileTime>(xoff);
}
 
template <int t>
inline void axpy(const Eigen::Matrix<double, Eigen::Dynamic, t>& A,
                 const Eigen::Map<const VectorX>& x, int xoff,
                 Eigen::Map<VectorX>& y, int yoff) {
  y.segment(yoff, A.rows()) +=
      A *
      x.segment<Eigen::Matrix<double, Eigen::Dynamic, t>::ColsAtCompileTime>(
          xoff);
}
 
template <>
inline void axpy<MatrixX>(const MatrixX& A, const Eigen::Map<const VectorX>& x,
                          int xoff, Eigen::Map<VectorX>& 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 VectorX>& x,
                  int xoff, Eigen::Map<VectorX>& y, int yoff) {
  y.segment<MatrixType::ColsAtCompileTime>(yoff) +=
      A.transpose() * x.segment<MatrixType::RowsAtCompileTime>(xoff);
}
 
template <int t>
inline void atxpy(const Eigen::Matrix<double, Eigen::Dynamic, t>& A,
                  const Eigen::Map<const VectorX>& x, int xoff,
                  Eigen::Map<VectorX>& y, int yoff) {
  y.segment<Eigen::Matrix<double, Eigen::Dynamic, t>::ColsAtCompileTime>(
      yoff) += A.transpose() * x.segment(xoff, A.rows());
}
 
template <>
inline void atxpy<MatrixX>(const MatrixX& A, const Eigen::Map<const VectorX>& x,
                           int xoff, Eigen::Map<VectorX>& y, int yoff) {
  y.segment(yoff, A.cols()) += A.transpose() * x.segment(xoff, A.rows());
}
 
}  // end namespace internal
}  // end namespace g2o
 
#endif