├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── dependencies.yaml ├── docs ├── DAVIS-00000254.yaml ├── img │ └── video_cover.jpg ├── installation.md ├── live_demo.md ├── patermeters.md └── test_datasets.md ├── include ├── backend │ ├── equirectangular_camera.h │ ├── event_pano_warper.h │ ├── global_focus_funcs.h │ ├── global_optim_contrast_gsl.h │ ├── pose_graph_optimizer.h │ └── trajectory.h ├── cmax_slam.h ├── frontend │ ├── ang_vel_estimator.h │ └── local_focus_funcs.h └── utils │ ├── image_geom_util.h │ ├── image_utils.h │ └── parameters.h ├── launch ├── ecrot_handheld.launch ├── ecrot_mount.launch ├── ecrot_synth.launch ├── ijrr.launch └── live_davis.launch ├── package.xml ├── src ├── backend │ ├── event_pano_warper.cpp │ ├── global_focus_funcs.cpp │ ├── global_optim_contrast_gsl.cpp │ ├── global_optim_contrast_gsl_analytical.cpp │ ├── pose_graph_optimizer.cpp │ └── trajectory.cpp ├── cmax_slam.cpp ├── frontend │ ├── ang_vel_estimator.cpp │ ├── local_focus_funcs.cpp │ ├── local_image_warped_events.cpp │ └── local_optim_contrast_gsl.cpp ├── node.cpp └── utils │ ├── image_geom_util.cpp │ └── image_utils.cpp └── thirdparty └── basalt-headers ├── .clang-format ├── .clang-tidy ├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── cmake_modules ├── FindEigen3.cmake └── PreProjectWorkarounds.cmake ├── doc ├── img │ ├── basalt_light.png │ ├── ds.png │ ├── eucm.png │ ├── fov.png │ ├── kb.png │ ├── mipmap.jpeg │ ├── stereographic.png │ └── ucm.png └── mainpage.dox ├── include └── basalt │ ├── calibration │ ├── calib_bias.hpp │ └── calibration.hpp │ ├── camera │ ├── bal_camera.hpp │ ├── double_sphere_camera.hpp │ ├── extended_camera.hpp │ ├── fov_camera.hpp │ ├── generic_camera.hpp │ ├── kannala_brandt_camera4.hpp │ ├── pinhole_camera.hpp │ ├── stereographic_param.hpp │ └── unified_camera.hpp │ ├── image │ ├── image.h │ └── image_pyr.h │ ├── imu │ ├── imu_types.h │ └── preintegration.h │ ├── serialization │ ├── eigen_io.h │ └── headers_serialization.h │ ├── spline │ ├── ceres_local_param.hpp │ ├── ceres_spline_helper.h │ ├── rd_spline.h │ ├── se3_spline.h │ ├── so3_spline.h │ └── spline_common.h │ └── utils │ ├── assert.h │ ├── eigen_utils.hpp │ ├── hash.h │ └── sophus_utils.hpp ├── scripts └── clang-format-all.sh ├── test ├── CMakeLists.txt ├── benchmark │ ├── .clang-format │ ├── .gitignore │ ├── .travis-libcxx-setup.sh │ ├── .travis.yml │ ├── .ycm_extra_conf.py │ ├── AUTHORS │ ├── BUILD.bazel │ ├── CMakeLists.txt │ ├── CONTRIBUTING.md │ ├── CONTRIBUTORS │ ├── LICENSE │ ├── README.md │ ├── WORKSPACE │ ├── _config.yml │ ├── appveyor.yml │ ├── cmake │ │ ├── AddCXXCompilerFlag.cmake │ │ ├── CXXFeatureCheck.cmake │ │ ├── Config.cmake.in │ │ ├── GetGitVersion.cmake │ │ ├── GoogleTest.cmake │ │ ├── GoogleTest.cmake.in │ │ ├── benchmark.pc.in │ │ ├── gnu_posix_regex.cpp │ │ ├── llvm-toolchain.cmake │ │ ├── posix_regex.cpp │ │ ├── split_list.cmake │ │ ├── std_regex.cpp │ │ ├── steady_clock.cpp │ │ └── thread_safety_attributes.cpp │ ├── conan │ │ ├── CMakeLists.txt │ │ └── test_package │ │ │ ├── CMakeLists.txt │ │ │ ├── conanfile.py │ │ │ └── test_package.cpp │ ├── conanfile.py │ ├── dependencies.md │ ├── docs │ │ ├── AssemblyTests.md │ │ ├── _config.yml │ │ └── tools.md │ ├── include │ │ └── benchmark │ │ │ └── benchmark.h │ ├── mingw.py │ ├── releasing.md │ ├── src │ │ ├── CMakeLists.txt │ │ ├── arraysize.h │ │ ├── benchmark.cc │ │ ├── benchmark_api_internal.cc │ │ ├── benchmark_api_internal.h │ │ ├── benchmark_main.cc │ │ ├── benchmark_name.cc │ │ ├── benchmark_register.cc │ │ ├── benchmark_register.h │ │ ├── benchmark_runner.cc │ │ ├── benchmark_runner.h │ │ ├── check.h │ │ ├── colorprint.cc │ │ ├── colorprint.h │ │ ├── commandlineflags.cc │ │ ├── commandlineflags.h │ │ ├── complexity.cc │ │ ├── complexity.h │ │ ├── console_reporter.cc │ │ ├── counter.cc │ │ ├── counter.h │ │ ├── csv_reporter.cc │ │ ├── cycleclock.h │ │ ├── internal_macros.h │ │ ├── json_reporter.cc │ │ ├── log.h │ │ ├── mutex.h │ │ ├── re.h │ │ ├── reporter.cc │ │ ├── sleep.cc │ │ ├── sleep.h │ │ ├── statistics.cc │ │ ├── statistics.h │ │ ├── string_util.cc │ │ ├── string_util.h │ │ ├── sysinfo.cc │ │ ├── thread_manager.h │ │ ├── thread_timer.h │ │ ├── timers.cc │ │ └── timers.h │ ├── test │ │ ├── AssemblyTests.cmake │ │ ├── BUILD │ │ ├── CMakeLists.txt │ │ ├── basic_test.cc │ │ ├── benchmark_gtest.cc │ │ ├── benchmark_name_gtest.cc │ │ ├── benchmark_test.cc │ │ ├── clobber_memory_assembly_test.cc │ │ ├── commandlineflags_gtest.cc │ │ ├── complexity_test.cc │ │ ├── cxx03_test.cc │ │ ├── diagnostics_test.cc │ │ ├── display_aggregates_only_test.cc │ │ ├── donotoptimize_assembly_test.cc │ │ ├── donotoptimize_test.cc │ │ ├── filter_test.cc │ │ ├── fixture_test.cc │ │ ├── internal_threading_test.cc │ │ ├── link_main_test.cc │ │ ├── map_test.cc │ │ ├── memory_manager_test.cc │ │ ├── multiple_ranges_test.cc │ │ ├── options_test.cc │ │ ├── output_test.h │ │ ├── output_test_helper.cc │ │ ├── register_benchmark_test.cc │ │ ├── report_aggregates_only_test.cc │ │ ├── reporter_output_test.cc │ │ ├── skip_with_error_test.cc │ │ ├── state_assembly_test.cc │ │ ├── statistics_gtest.cc │ │ ├── string_util_gtest.cc │ │ ├── templated_fixture_test.cc │ │ ├── user_counters_tabular_test.cc │ │ ├── user_counters_test.cc │ │ └── user_counters_thousands_test.cc │ └── tools │ │ ├── compare.py │ │ ├── gbench │ │ ├── Inputs │ │ │ ├── test1_run1.json │ │ │ ├── test1_run2.json │ │ │ ├── test2_run.json │ │ │ ├── test3_run0.json │ │ │ └── test3_run1.json │ │ ├── __init__.py │ │ ├── report.py │ │ └── util.py │ │ └── strip_asm.py ├── googletest │ ├── .clang-format │ ├── .github │ │ └── ISSUE_TEMPLATE │ │ │ ├── 00-bug_report.md │ │ │ └── config.yml │ ├── .gitignore │ ├── .travis.yml │ ├── BUILD.bazel │ ├── CMakeLists.txt │ ├── CONTRIBUTING.md │ ├── CONTRIBUTORS │ ├── LICENSE │ ├── README.md │ ├── WORKSPACE │ ├── ci │ │ ├── linux-presubmit.sh │ │ └── macos-presubmit.sh │ ├── docs │ │ ├── _config.yml │ │ ├── _data │ │ │ └── navigation.yml │ │ ├── _layouts │ │ │ └── default.html │ │ ├── _sass │ │ │ └── main.scss │ │ ├── advanced.md │ │ ├── assets │ │ │ └── css │ │ │ │ └── style.scss │ │ ├── community_created_documentation.md │ │ ├── faq.md │ │ ├── gmock_cheat_sheet.md │ │ ├── gmock_cook_book.md │ │ ├── gmock_faq.md │ │ ├── gmock_for_dummies.md │ │ ├── index.md │ │ ├── pkgconfig.md │ │ ├── platforms.md │ │ ├── primer.md │ │ ├── quickstart-bazel.md │ │ ├── quickstart-cmake.md │ │ └── samples.md │ ├── googlemock │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cmake │ │ │ ├── gmock.pc.in │ │ │ └── gmock_main.pc.in │ │ ├── docs │ │ │ └── README.md │ │ ├── include │ │ │ └── gmock │ │ │ │ ├── gmock-actions.h │ │ │ │ ├── gmock-cardinalities.h │ │ │ │ ├── gmock-function-mocker.h │ │ │ │ ├── gmock-matchers.h │ │ │ │ ├── gmock-more-actions.h │ │ │ │ ├── gmock-more-matchers.h │ │ │ │ ├── gmock-nice-strict.h │ │ │ │ ├── gmock-spec-builders.h │ │ │ │ ├── gmock.h │ │ │ │ └── internal │ │ │ │ ├── custom │ │ │ │ ├── README.md │ │ │ │ ├── gmock-generated-actions.h │ │ │ │ ├── gmock-matchers.h │ │ │ │ └── gmock-port.h │ │ │ │ ├── gmock-internal-utils.h │ │ │ │ ├── gmock-port.h │ │ │ │ └── gmock-pp.h │ │ ├── scripts │ │ │ ├── README.md │ │ │ ├── fuse_gmock_files.py │ │ │ └── generator │ │ │ │ ├── LICENSE │ │ │ │ ├── README │ │ │ │ ├── README.cppclean │ │ │ │ ├── cpp │ │ │ │ ├── __init__.py │ │ │ │ ├── ast.py │ │ │ │ ├── gmock_class.py │ │ │ │ ├── gmock_class_test.py │ │ │ │ ├── keywords.py │ │ │ │ ├── tokenize.py │ │ │ │ └── utils.py │ │ │ │ └── gmock_gen.py │ │ ├── src │ │ │ ├── gmock-all.cc │ │ │ ├── gmock-cardinalities.cc │ │ │ ├── gmock-internal-utils.cc │ │ │ ├── gmock-matchers.cc │ │ │ ├── gmock-spec-builders.cc │ │ │ ├── gmock.cc │ │ │ └── gmock_main.cc │ │ └── test │ │ │ ├── BUILD.bazel │ │ │ ├── gmock-actions_test.cc │ │ │ ├── gmock-cardinalities_test.cc │ │ │ ├── gmock-function-mocker_test.cc │ │ │ ├── gmock-internal-utils_test.cc │ │ │ ├── gmock-matchers_test.cc │ │ │ ├── gmock-more-actions_test.cc │ │ │ ├── gmock-nice-strict_test.cc │ │ │ ├── gmock-port_test.cc │ │ │ ├── gmock-pp-string_test.cc │ │ │ ├── gmock-pp_test.cc │ │ │ ├── gmock-spec-builders_test.cc │ │ │ ├── gmock_all_test.cc │ │ │ ├── gmock_ex_test.cc │ │ │ ├── gmock_leak_test.py │ │ │ ├── gmock_leak_test_.cc │ │ │ ├── gmock_link2_test.cc │ │ │ ├── gmock_link_test.cc │ │ │ ├── gmock_link_test.h │ │ │ ├── gmock_output_test.py │ │ │ ├── gmock_output_test_.cc │ │ │ ├── gmock_output_test_golden.txt │ │ │ ├── gmock_stress_test.cc │ │ │ ├── gmock_test.cc │ │ │ └── gmock_test_utils.py │ ├── googletest │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── cmake │ │ │ ├── Config.cmake.in │ │ │ ├── gtest.pc.in │ │ │ ├── gtest_main.pc.in │ │ │ ├── internal_utils.cmake │ │ │ └── libgtest.la.in │ │ ├── docs │ │ │ └── README.md │ │ ├── include │ │ │ └── gtest │ │ │ │ ├── gtest-death-test.h │ │ │ │ ├── gtest-matchers.h │ │ │ │ ├── gtest-message.h │ │ │ │ ├── gtest-param-test.h │ │ │ │ ├── gtest-printers.h │ │ │ │ ├── gtest-spi.h │ │ │ │ ├── gtest-test-part.h │ │ │ │ ├── gtest-typed-test.h │ │ │ │ ├── gtest.h │ │ │ │ ├── gtest_pred_impl.h │ │ │ │ ├── gtest_prod.h │ │ │ │ └── internal │ │ │ │ ├── custom │ │ │ │ ├── README.md │ │ │ │ ├── gtest-port.h │ │ │ │ ├── gtest-printers.h │ │ │ │ └── gtest.h │ │ │ │ ├── gtest-death-test-internal.h │ │ │ │ ├── gtest-filepath.h │ │ │ │ ├── gtest-internal.h │ │ │ │ ├── gtest-param-util.h │ │ │ │ ├── gtest-port-arch.h │ │ │ │ ├── gtest-port.h │ │ │ │ ├── gtest-string.h │ │ │ │ └── gtest-type-util.h │ │ ├── samples │ │ │ ├── prime_tables.h │ │ │ ├── sample1.cc │ │ │ ├── sample1.h │ │ │ ├── sample10_unittest.cc │ │ │ ├── sample1_unittest.cc │ │ │ ├── sample2.cc │ │ │ ├── sample2.h │ │ │ ├── sample2_unittest.cc │ │ │ ├── sample3-inl.h │ │ │ ├── sample3_unittest.cc │ │ │ ├── sample4.cc │ │ │ ├── sample4.h │ │ │ ├── sample4_unittest.cc │ │ │ ├── sample5_unittest.cc │ │ │ ├── sample6_unittest.cc │ │ │ ├── sample7_unittest.cc │ │ │ ├── sample8_unittest.cc │ │ │ └── sample9_unittest.cc │ │ ├── scripts │ │ │ ├── README.md │ │ │ ├── common.py │ │ │ ├── fuse_gtest_files.py │ │ │ ├── gen_gtest_pred_impl.py │ │ │ ├── gtest-config.in │ │ │ ├── release_docs.py │ │ │ ├── run_with_path.py │ │ │ ├── upload.py │ │ │ └── upload_gtest.py │ │ ├── src │ │ │ ├── gtest-all.cc │ │ │ ├── gtest-death-test.cc │ │ │ ├── gtest-filepath.cc │ │ │ ├── gtest-internal-inl.h │ │ │ ├── gtest-matchers.cc │ │ │ ├── gtest-port.cc │ │ │ ├── gtest-printers.cc │ │ │ ├── gtest-test-part.cc │ │ │ ├── gtest-typed-test.cc │ │ │ ├── gtest.cc │ │ │ └── gtest_main.cc │ │ └── test │ │ │ ├── BUILD.bazel │ │ │ ├── googletest-break-on-failure-unittest.py │ │ │ ├── googletest-break-on-failure-unittest_.cc │ │ │ ├── googletest-catch-exceptions-test.py │ │ │ ├── googletest-catch-exceptions-test_.cc │ │ │ ├── googletest-color-test.py │ │ │ ├── googletest-color-test_.cc │ │ │ ├── googletest-death-test-test.cc │ │ │ ├── googletest-death-test_ex_test.cc │ │ │ ├── googletest-env-var-test.py │ │ │ ├── googletest-env-var-test_.cc │ │ │ ├── googletest-failfast-unittest.py │ │ │ ├── googletest-failfast-unittest_.cc │ │ │ ├── googletest-filepath-test.cc │ │ │ ├── googletest-filter-unittest.py │ │ │ ├── googletest-filter-unittest_.cc │ │ │ ├── googletest-global-environment-unittest.py │ │ │ ├── googletest-global-environment-unittest_.cc │ │ │ ├── googletest-json-outfiles-test.py │ │ │ ├── googletest-json-output-unittest.py │ │ │ ├── googletest-list-tests-unittest.py │ │ │ ├── googletest-list-tests-unittest_.cc │ │ │ ├── googletest-listener-test.cc │ │ │ ├── googletest-message-test.cc │ │ │ ├── googletest-options-test.cc │ │ │ ├── googletest-output-test-golden-lin.txt │ │ │ ├── googletest-output-test.py │ │ │ ├── googletest-output-test_.cc │ │ │ ├── googletest-param-test-invalid-name1-test.py │ │ │ ├── googletest-param-test-invalid-name1-test_.cc │ │ │ ├── googletest-param-test-invalid-name2-test.py │ │ │ ├── googletest-param-test-invalid-name2-test_.cc │ │ │ ├── googletest-param-test-test.cc │ │ │ ├── googletest-param-test-test.h │ │ │ ├── googletest-param-test2-test.cc │ │ │ ├── googletest-port-test.cc │ │ │ ├── googletest-printers-test.cc │ │ │ ├── googletest-setuptestsuite-test.py │ │ │ ├── googletest-setuptestsuite-test_.cc │ │ │ ├── googletest-shuffle-test.py │ │ │ ├── googletest-shuffle-test_.cc │ │ │ ├── googletest-test-part-test.cc │ │ │ ├── googletest-throw-on-failure-test.py │ │ │ ├── googletest-throw-on-failure-test_.cc │ │ │ ├── googletest-uninitialized-test.py │ │ │ ├── googletest-uninitialized-test_.cc │ │ │ ├── gtest-typed-test2_test.cc │ │ │ ├── gtest-typed-test_test.cc │ │ │ ├── gtest-typed-test_test.h │ │ │ ├── gtest-unittest-api_test.cc │ │ │ ├── gtest_all_test.cc │ │ │ ├── gtest_assert_by_exception_test.cc │ │ │ ├── gtest_environment_test.cc │ │ │ ├── gtest_help_test.py │ │ │ ├── gtest_help_test_.cc │ │ │ ├── gtest_json_test_utils.py │ │ │ ├── gtest_list_output_unittest.py │ │ │ ├── gtest_list_output_unittest_.cc │ │ │ ├── gtest_main_unittest.cc │ │ │ ├── gtest_no_test_unittest.cc │ │ │ ├── gtest_pred_impl_unittest.cc │ │ │ ├── gtest_premature_exit_test.cc │ │ │ ├── gtest_prod_test.cc │ │ │ ├── gtest_repeat_test.cc │ │ │ ├── gtest_skip_check_output_test.py │ │ │ ├── gtest_skip_environment_check_output_test.py │ │ │ ├── gtest_skip_in_environment_setup_test.cc │ │ │ ├── gtest_skip_test.cc │ │ │ ├── gtest_sole_header_test.cc │ │ │ ├── gtest_stress_test.cc │ │ │ ├── gtest_test_macro_stack_footprint_test.cc │ │ │ ├── gtest_test_utils.py │ │ │ ├── gtest_testbridge_test.py │ │ │ ├── gtest_testbridge_test_.cc │ │ │ ├── gtest_throw_on_failure_ex_test.cc │ │ │ ├── gtest_unittest.cc │ │ │ ├── gtest_xml_outfile1_test_.cc │ │ │ ├── gtest_xml_outfile2_test_.cc │ │ │ ├── gtest_xml_outfiles_test.py │ │ │ ├── gtest_xml_output_unittest.py │ │ │ ├── gtest_xml_output_unittest_.cc │ │ │ ├── gtest_xml_test_utils.py │ │ │ ├── production.cc │ │ │ └── production.h │ └── library.json ├── include │ └── test_utils.h └── src │ ├── benchmark_camera.cpp │ ├── test_camera.cpp │ ├── test_ceres_spline_helper.cpp │ ├── test_image.cpp │ ├── test_preintegration.cpp │ ├── test_sophus.cpp │ ├── test_spline.cpp │ └── test_spline_se3.cpp └── thirdparty ├── Sophus ├── .clang-format ├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── LICENSE.txt ├── README.rst ├── SophusConfig.cmake.in ├── appveyor.yml ├── cmake_modules │ └── FindEigen3.cmake ├── doxyfile ├── doxyrest-config.lua ├── examples │ ├── CMakeLists.txt │ └── HelloSO3.cpp ├── make_docs.sh ├── package.xml ├── py │ ├── cpp_gencode │ │ ├── Se2_Dx_exp_x.cpp │ │ ├── Se2_Dx_this_mul_exp_x_at_0.cpp │ │ ├── Se3_Dx_exp_x.cpp │ │ ├── Se3_Dx_this_mul_exp_x_at_0.cpp │ │ ├── So2_Dx_exp_x.cpp │ │ ├── So2_Dx_this_mul_exp_x_at_0.cpp │ │ ├── So3_Dx_exp_x.cpp │ │ └── So3_Dx_this_mul_exp_x_at_0.cpp │ ├── run_tests.sh │ └── sophus │ │ ├── __init__.py │ │ ├── complex.py │ │ ├── cse_codegen.py │ │ ├── dual_quaternion.py │ │ ├── matrix.py │ │ ├── quaternion.py │ │ ├── se2.py │ │ ├── se3.py │ │ ├── so2.py │ │ ├── so3.py │ │ └── so3_codegen.py ├── rst-dir │ ├── conf.py │ ├── page_index.rst │ └── pysophus.rst ├── run_format.sh ├── scripts │ ├── install_docs_deps.sh │ ├── install_linux_deps.sh │ ├── install_osx_deps.sh │ └── run_cpp_tests.sh ├── sophus │ ├── average.hpp │ ├── common.hpp │ ├── example_ensure_handler.cpp │ ├── formatstring.hpp │ ├── geometry.hpp │ ├── interpolate.hpp │ ├── interpolate_details.hpp │ ├── num_diff.hpp │ ├── rotation_matrix.hpp │ ├── rxso2.hpp │ ├── rxso3.hpp │ ├── se2.hpp │ ├── se3.hpp │ ├── sim2.hpp │ ├── sim3.hpp │ ├── sim_details.hpp │ ├── so2.hpp │ ├── so3.hpp │ ├── test_macros.hpp │ ├── types.hpp │ └── velocities.hpp └── test │ ├── CMakeLists.txt │ ├── ceres │ ├── CMakeLists.txt │ ├── local_parameterization_se3.hpp │ └── test_ceres_se3.cpp │ └── core │ ├── CMakeLists.txt │ ├── test_common.cpp │ ├── test_geometry.cpp │ ├── test_rxso2.cpp │ ├── test_rxso3.cpp │ ├── test_se2.cpp │ ├── test_se3.cpp │ ├── test_sim2.cpp │ ├── test_sim3.cpp │ ├── test_so2.cpp │ ├── test_so3.cpp │ ├── test_velocities.cpp │ └── tests.hpp ├── cereal ├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── Config.cmake.in ├── LICENSE ├── README.md ├── appveyor.yml ├── doc │ ├── CMakeLists.txt │ ├── DoxygenLayout.xml │ ├── doxygen.in │ ├── footer.html │ └── mainpage.dox ├── include │ └── cereal │ │ ├── access.hpp │ │ ├── archives │ │ ├── adapters.hpp │ │ ├── binary.hpp │ │ ├── json.hpp │ │ ├── portable_binary.hpp │ │ └── xml.hpp │ │ ├── cereal.hpp │ │ ├── details │ │ ├── helpers.hpp │ │ ├── polymorphic_impl.hpp │ │ ├── polymorphic_impl_fwd.hpp │ │ ├── static_object.hpp │ │ ├── traits.hpp │ │ └── util.hpp │ │ ├── external │ │ ├── LICENSE │ │ ├── base64.hpp │ │ ├── rapidjson │ │ │ ├── LICENSE │ │ │ ├── allocators.h │ │ │ ├── cursorstreamwrapper.h │ │ │ ├── document.h │ │ │ ├── encodedstream.h │ │ │ ├── encodings.h │ │ │ ├── error │ │ │ │ ├── en.h │ │ │ │ └── error.h │ │ │ ├── filereadstream.h │ │ │ ├── filewritestream.h │ │ │ ├── fwd.h │ │ │ ├── internal │ │ │ │ ├── biginteger.h │ │ │ │ ├── diyfp.h │ │ │ │ ├── dtoa.h │ │ │ │ ├── ieee754.h │ │ │ │ ├── itoa.h │ │ │ │ ├── meta.h │ │ │ │ ├── pow10.h │ │ │ │ ├── regex.h │ │ │ │ ├── stack.h │ │ │ │ ├── strfunc.h │ │ │ │ ├── strtod.h │ │ │ │ └── swap.h │ │ │ ├── istreamwrapper.h │ │ │ ├── memorybuffer.h │ │ │ ├── memorystream.h │ │ │ ├── msinttypes │ │ │ │ ├── LICENSE │ │ │ │ ├── inttypes.h │ │ │ │ └── stdint.h │ │ │ ├── ostreamwrapper.h │ │ │ ├── pointer.h │ │ │ ├── prettywriter.h │ │ │ ├── rapidjson.h │ │ │ ├── reader.h │ │ │ ├── schema.h │ │ │ ├── stream.h │ │ │ ├── stringbuffer.h │ │ │ └── writer.h │ │ └── rapidxml │ │ │ ├── license.txt │ │ │ ├── manual.html │ │ │ ├── rapidxml.hpp │ │ │ ├── rapidxml_iterators.hpp │ │ │ ├── rapidxml_print.hpp │ │ │ └── rapidxml_utils.hpp │ │ ├── macros.hpp │ │ ├── specialize.hpp │ │ ├── types │ │ ├── array.hpp │ │ ├── atomic.hpp │ │ ├── base_class.hpp │ │ ├── bitset.hpp │ │ ├── boost_variant.hpp │ │ ├── chrono.hpp │ │ ├── common.hpp │ │ ├── complex.hpp │ │ ├── concepts │ │ │ └── pair_associative_container.hpp │ │ ├── deque.hpp │ │ ├── forward_list.hpp │ │ ├── functional.hpp │ │ ├── list.hpp │ │ ├── map.hpp │ │ ├── memory.hpp │ │ ├── optional.hpp │ │ ├── polymorphic.hpp │ │ ├── queue.hpp │ │ ├── set.hpp │ │ ├── stack.hpp │ │ ├── string.hpp │ │ ├── tuple.hpp │ │ ├── unordered_map.hpp │ │ ├── unordered_set.hpp │ │ ├── utility.hpp │ │ ├── valarray.hpp │ │ ├── variant.hpp │ │ └── vector.hpp │ │ └── version.hpp ├── sandbox │ ├── CMakeLists.txt │ ├── performance.cpp │ ├── sandbox.cpp │ ├── sandbox_json.cpp │ ├── sandbox_rtti.cpp │ ├── sandbox_shared_lib │ │ ├── CMakeLists.txt │ │ ├── base.cpp │ │ ├── base.hpp │ │ ├── derived.cpp │ │ └── derived.hpp │ └── sandbox_vs.cpp ├── scripts │ ├── add_rapidjson_prefix.sh │ ├── appveyor.bat │ ├── renameincludes.sh │ ├── updatecoverage.sh │ └── updatedoc.in └── unittests │ ├── CMakeLists.txt │ ├── array.cpp │ ├── array.hpp │ ├── atomic.cpp │ ├── atomic.hpp │ ├── basic_string.cpp │ ├── basic_string.hpp │ ├── bitset.cpp │ ├── bitset.hpp │ ├── boost │ ├── CMakeLists.txt │ ├── boost_variant.cpp │ └── boost_variant.hpp │ ├── chrono.cpp │ ├── chrono.hpp │ ├── cmake-config-module.cmake │ ├── common.hpp │ ├── complex.cpp │ ├── complex.hpp │ ├── cpp17 │ ├── CMakeLists.txt │ ├── optional.cpp │ ├── optional.hpp │ ├── variant.cpp │ └── variant.hpp │ ├── defer.cpp │ ├── defer.hpp │ ├── deque.cpp │ ├── deque.hpp │ ├── doctest.h │ ├── forward_list.cpp │ ├── forward_list.hpp │ ├── list.cpp │ ├── list.hpp │ ├── load_construct.cpp │ ├── load_construct.hpp │ ├── map.cpp │ ├── map.hpp │ ├── memory.cpp │ ├── memory.hpp │ ├── memory_cycles.cpp │ ├── memory_cycles.hpp │ ├── multimap.cpp │ ├── multimap.hpp │ ├── multiset.cpp │ ├── multiset.hpp │ ├── pair.cpp │ ├── pair.hpp │ ├── pod.cpp │ ├── pod.hpp │ ├── polymorphic.cpp │ ├── polymorphic.hpp │ ├── portability_test.cpp │ ├── portable_binary_archive.cpp │ ├── portable_binary_archive.hpp │ ├── priority_queue.cpp │ ├── priority_queue.hpp │ ├── queue.cpp │ ├── queue.hpp │ ├── run_portability_test.cmake │ ├── run_valgrind.sh │ ├── set.cpp │ ├── set.hpp │ ├── stack.cpp │ ├── stack.hpp │ ├── structs.cpp │ ├── structs.hpp │ ├── structs_minimal.cpp │ ├── structs_minimal.hpp │ ├── structs_specialized.cpp │ ├── structs_specialized.hpp │ ├── tuple.cpp │ ├── tuple.hpp │ ├── unordered_loads.cpp │ ├── unordered_loads.hpp │ ├── unordered_map.cpp │ ├── unordered_map.hpp │ ├── unordered_multimap.cpp │ ├── unordered_multimap.hpp │ ├── unordered_multiset.cpp │ ├── unordered_multiset.hpp │ ├── unordered_set.cpp │ ├── unordered_set.hpp │ ├── user_data_adapters.cpp │ ├── user_data_adapters.hpp │ ├── valarray.cpp │ ├── valarray.hpp │ ├── vector.cpp │ ├── vector.hpp │ ├── versioning.cpp │ └── versioning.hpp └── eigen ├── .gitignore ├── .hgeol ├── CMakeLists.txt ├── COPYING.BSD ├── COPYING.GPL ├── COPYING.LGPL ├── COPYING.MINPACK ├── COPYING.MPL2 ├── COPYING.README ├── CTestConfig.cmake ├── CTestCustom.cmake.in ├── Eigen ├── CMakeLists.txt ├── Cholesky ├── CholmodSupport ├── Core ├── Dense ├── Eigen ├── Eigenvalues ├── Geometry ├── Householder ├── IterativeLinearSolvers ├── Jacobi ├── LU ├── MetisSupport ├── OrderingMethods ├── PaStiXSupport ├── PardisoSupport ├── QR ├── QtAlignedMalloc ├── SPQRSupport ├── SVD ├── Sparse ├── SparseCholesky ├── SparseCore ├── SparseLU ├── SparseQR ├── StdDeque ├── StdList ├── StdVector ├── SuperLUSupport ├── UmfPackSupport └── src │ ├── Cholesky │ ├── LDLT.h │ ├── LLT.h │ └── LLT_LAPACKE.h │ ├── CholmodSupport │ └── CholmodSupport.h │ ├── Core │ ├── Array.h │ ├── ArrayBase.h │ ├── ArrayWrapper.h │ ├── Assign.h │ ├── AssignEvaluator.h │ ├── Assign_MKL.h │ ├── BandMatrix.h │ ├── Block.h │ ├── BooleanRedux.h │ ├── CommaInitializer.h │ ├── ConditionEstimator.h │ ├── CoreEvaluators.h │ ├── CoreIterators.h │ ├── CwiseBinaryOp.h │ ├── CwiseNullaryOp.h │ ├── CwiseTernaryOp.h │ ├── CwiseUnaryOp.h │ ├── CwiseUnaryView.h │ ├── DenseBase.h │ ├── DenseCoeffsBase.h │ ├── DenseStorage.h │ ├── Diagonal.h │ ├── DiagonalMatrix.h │ ├── DiagonalProduct.h │ ├── Dot.h │ ├── EigenBase.h │ ├── ForceAlignedAccess.h │ ├── Fuzzy.h │ ├── GeneralProduct.h │ ├── GenericPacketMath.h │ ├── GlobalFunctions.h │ ├── IO.h │ ├── Inverse.h │ ├── Map.h │ ├── MapBase.h │ ├── MathFunctions.h │ ├── MathFunctionsImpl.h │ ├── Matrix.h │ ├── MatrixBase.h │ ├── NestByValue.h │ ├── NoAlias.h │ ├── NumTraits.h │ ├── PermutationMatrix.h │ ├── PlainObjectBase.h │ ├── Product.h │ ├── ProductEvaluators.h │ ├── Random.h │ ├── Redux.h │ ├── Ref.h │ ├── Replicate.h │ ├── ReturnByValue.h │ ├── Reverse.h │ ├── Select.h │ ├── SelfAdjointView.h │ ├── SelfCwiseBinaryOp.h │ ├── Solve.h │ ├── SolveTriangular.h │ ├── SolverBase.h │ ├── StableNorm.h │ ├── Stride.h │ ├── Swap.h │ ├── Transpose.h │ ├── Transpositions.h │ ├── TriangularMatrix.h │ ├── VectorBlock.h │ ├── VectorwiseOp.h │ ├── Visitor.h │ ├── arch │ │ ├── AVX │ │ │ ├── Complex.h │ │ │ ├── MathFunctions.h │ │ │ ├── PacketMath.h │ │ │ └── TypeCasting.h │ │ ├── AVX512 │ │ │ ├── MathFunctions.h │ │ │ └── PacketMath.h │ │ ├── AltiVec │ │ │ ├── Complex.h │ │ │ ├── MathFunctions.h │ │ │ └── PacketMath.h │ │ ├── CUDA │ │ │ ├── Complex.h │ │ │ ├── Half.h │ │ │ ├── MathFunctions.h │ │ │ ├── PacketMath.h │ │ │ ├── PacketMathHalf.h │ │ │ └── TypeCasting.h │ │ ├── Default │ │ │ ├── ConjHelper.h │ │ │ └── Settings.h │ │ ├── NEON │ │ │ ├── Complex.h │ │ │ ├── MathFunctions.h │ │ │ └── PacketMath.h │ │ ├── SSE │ │ │ ├── Complex.h │ │ │ ├── MathFunctions.h │ │ │ ├── PacketMath.h │ │ │ └── TypeCasting.h │ │ └── ZVector │ │ │ ├── Complex.h │ │ │ ├── MathFunctions.h │ │ │ └── PacketMath.h │ ├── functors │ │ ├── AssignmentFunctors.h │ │ ├── BinaryFunctors.h │ │ ├── NullaryFunctors.h │ │ ├── StlFunctors.h │ │ ├── TernaryFunctors.h │ │ └── UnaryFunctors.h │ ├── products │ │ ├── GeneralBlockPanelKernel.h │ │ ├── GeneralMatrixMatrix.h │ │ ├── GeneralMatrixMatrixTriangular.h │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ ├── GeneralMatrixVector.h │ │ ├── GeneralMatrixVector_BLAS.h │ │ ├── Parallelizer.h │ │ ├── SelfadjointMatrixMatrix.h │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ ├── SelfadjointMatrixVector.h │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ ├── SelfadjointProduct.h │ │ ├── SelfadjointRank2Update.h │ │ ├── TriangularMatrixMatrix.h │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ ├── TriangularMatrixVector.h │ │ ├── TriangularMatrixVector_BLAS.h │ │ ├── TriangularSolverMatrix.h │ │ ├── TriangularSolverMatrix_BLAS.h │ │ └── TriangularSolverVector.h │ └── util │ │ ├── BlasUtil.h │ │ ├── Constants.h │ │ ├── DisableStupidWarnings.h │ │ ├── ForwardDeclarations.h │ │ ├── MKL_support.h │ │ ├── Macros.h │ │ ├── Memory.h │ │ ├── Meta.h │ │ ├── NonMPL2.h │ │ ├── ReenableStupidWarnings.h │ │ ├── StaticAssert.h │ │ └── XprHelper.h │ ├── Eigenvalues │ ├── ComplexEigenSolver.h │ ├── ComplexSchur.h │ ├── ComplexSchur_LAPACKE.h │ ├── EigenSolver.h │ ├── GeneralizedEigenSolver.h │ ├── GeneralizedSelfAdjointEigenSolver.h │ ├── HessenbergDecomposition.h │ ├── MatrixBaseEigenvalues.h │ ├── RealQZ.h │ ├── RealSchur.h │ ├── RealSchur_LAPACKE.h │ ├── SelfAdjointEigenSolver.h │ ├── SelfAdjointEigenSolver_LAPACKE.h │ └── Tridiagonalization.h │ ├── Geometry │ ├── AlignedBox.h │ ├── AngleAxis.h │ ├── EulerAngles.h │ ├── Homogeneous.h │ ├── Hyperplane.h │ ├── OrthoMethods.h │ ├── ParametrizedLine.h │ ├── Quaternion.h │ ├── Rotation2D.h │ ├── RotationBase.h │ ├── Scaling.h │ ├── Transform.h │ ├── Translation.h │ ├── Umeyama.h │ └── arch │ │ └── Geometry_SSE.h │ ├── Householder │ ├── BlockHouseholder.h │ ├── Householder.h │ └── HouseholderSequence.h │ ├── IterativeLinearSolvers │ ├── BasicPreconditioners.h │ ├── BiCGSTAB.h │ ├── ConjugateGradient.h │ ├── IncompleteCholesky.h │ ├── IncompleteLUT.h │ ├── IterativeSolverBase.h │ ├── LeastSquareConjugateGradient.h │ └── SolveWithGuess.h │ ├── Jacobi │ └── Jacobi.h │ ├── LU │ ├── Determinant.h │ ├── FullPivLU.h │ ├── InverseImpl.h │ ├── PartialPivLU.h │ ├── PartialPivLU_LAPACKE.h │ └── arch │ │ └── Inverse_SSE.h │ ├── MetisSupport │ └── MetisSupport.h │ ├── OrderingMethods │ ├── Amd.h │ ├── Eigen_Colamd.h │ └── Ordering.h │ ├── PaStiXSupport │ └── PaStiXSupport.h │ ├── PardisoSupport │ └── PardisoSupport.h │ ├── QR │ ├── ColPivHouseholderQR.h │ ├── ColPivHouseholderQR_LAPACKE.h │ ├── CompleteOrthogonalDecomposition.h │ ├── FullPivHouseholderQR.h │ ├── HouseholderQR.h │ └── HouseholderQR_LAPACKE.h │ ├── SPQRSupport │ └── SuiteSparseQRSupport.h │ ├── SVD │ ├── BDCSVD.h │ ├── JacobiSVD.h │ ├── JacobiSVD_LAPACKE.h │ ├── SVDBase.h │ └── UpperBidiagonalization.h │ ├── SparseCholesky │ ├── SimplicialCholesky.h │ └── SimplicialCholesky_impl.h │ ├── SparseCore │ ├── AmbiVector.h │ ├── CompressedStorage.h │ ├── ConservativeSparseSparseProduct.h │ ├── MappedSparseMatrix.h │ ├── SparseAssign.h │ ├── SparseBlock.h │ ├── SparseColEtree.h │ ├── SparseCompressedBase.h │ ├── SparseCwiseBinaryOp.h │ ├── SparseCwiseUnaryOp.h │ ├── SparseDenseProduct.h │ ├── SparseDiagonalProduct.h │ ├── SparseDot.h │ ├── SparseFuzzy.h │ ├── SparseMap.h │ ├── SparseMatrix.h │ ├── SparseMatrixBase.h │ ├── SparsePermutation.h │ ├── SparseProduct.h │ ├── SparseRedux.h │ ├── SparseRef.h │ ├── SparseSelfAdjointView.h │ ├── SparseSolverBase.h │ ├── SparseSparseProductWithPruning.h │ ├── SparseTranspose.h │ ├── SparseTriangularView.h │ ├── SparseUtil.h │ ├── SparseVector.h │ ├── SparseView.h │ └── TriangularSolver.h │ ├── SparseLU │ ├── SparseLU.h │ ├── SparseLUImpl.h │ ├── SparseLU_Memory.h │ ├── SparseLU_Structs.h │ ├── SparseLU_SupernodalMatrix.h │ ├── SparseLU_Utils.h │ ├── SparseLU_column_bmod.h │ ├── SparseLU_column_dfs.h │ ├── SparseLU_copy_to_ucol.h │ ├── SparseLU_gemm_kernel.h │ ├── SparseLU_heap_relax_snode.h │ ├── SparseLU_kernel_bmod.h │ ├── SparseLU_panel_bmod.h │ ├── SparseLU_panel_dfs.h │ ├── SparseLU_pivotL.h │ ├── SparseLU_pruneL.h │ └── SparseLU_relax_snode.h │ ├── SparseQR │ └── SparseQR.h │ ├── StlSupport │ ├── StdDeque.h │ ├── StdList.h │ ├── StdVector.h │ └── details.h │ ├── SuperLUSupport │ └── SuperLUSupport.h │ ├── UmfPackSupport │ └── UmfPackSupport.h │ ├── misc │ ├── Image.h │ ├── Kernel.h │ ├── RealSvd2x2.h │ ├── blas.h │ ├── lapack.h │ ├── lapacke.h │ └── lapacke_mangling.h │ └── plugins │ ├── ArrayCwiseBinaryOps.h │ ├── ArrayCwiseUnaryOps.h │ ├── BlockMethods.h │ ├── CommonCwiseBinaryOps.h │ ├── CommonCwiseUnaryOps.h │ ├── MatrixCwiseBinaryOps.h │ └── MatrixCwiseUnaryOps.h ├── INSTALL ├── README.md ├── bench ├── BenchSparseUtil.h ├── BenchTimer.h ├── BenchUtil.h ├── README.txt ├── analyze-blocking-sizes.cpp ├── basicbench.cxxlist ├── basicbenchmark.cpp ├── basicbenchmark.h ├── benchBlasGemm.cpp ├── benchCholesky.cpp ├── benchEigenSolver.cpp ├── benchFFT.cpp ├── benchGeometry.cpp ├── benchVecAdd.cpp ├── bench_gemm.cpp ├── bench_multi_compilers.sh ├── bench_norm.cpp ├── bench_reverse.cpp ├── bench_sum.cpp ├── bench_unrolling ├── benchmark-blocking-sizes.cpp ├── benchmark.cpp ├── benchmarkSlice.cpp ├── benchmarkX.cpp ├── benchmarkXcwise.cpp ├── benchmark_suite ├── btl │ ├── CMakeLists.txt │ ├── COPYING │ ├── README │ ├── actions │ │ ├── action_aat_product.hh │ │ ├── action_ata_product.hh │ │ ├── action_atv_product.hh │ │ ├── action_axpby.hh │ │ ├── action_axpy.hh │ │ ├── action_cholesky.hh │ │ ├── action_ger.hh │ │ ├── action_hessenberg.hh │ │ ├── action_lu_decomp.hh │ │ ├── action_lu_solve.hh │ │ ├── action_matrix_matrix_product.hh │ │ ├── action_matrix_matrix_product_bis.hh │ │ ├── action_matrix_vector_product.hh │ │ ├── action_partial_lu.hh │ │ ├── action_rot.hh │ │ ├── action_symv.hh │ │ ├── action_syr2.hh │ │ ├── action_trisolve.hh │ │ ├── action_trisolve_matrix.hh │ │ ├── action_trmm.hh │ │ └── basic_actions.hh │ ├── cmake │ │ ├── FindACML.cmake │ │ ├── FindATLAS.cmake │ │ ├── FindBLAZE.cmake │ │ ├── FindBlitz.cmake │ │ ├── FindCBLAS.cmake │ │ ├── FindGMM.cmake │ │ ├── FindMKL.cmake │ │ ├── FindMTL4.cmake │ │ ├── FindOPENBLAS.cmake │ │ ├── FindPackageHandleStandardArgs.cmake │ │ ├── FindTvmet.cmake │ │ └── MacroOptionalAddSubdirectory.cmake │ ├── data │ │ ├── CMakeLists.txt │ │ ├── action_settings.txt │ │ ├── gnuplot_common_settings.hh │ │ ├── go_mean │ │ ├── mean.cxx │ │ ├── mk_gnuplot_script.sh │ │ ├── mk_mean_script.sh │ │ ├── mk_new_gnuplot.sh │ │ ├── perlib_plot_settings.txt │ │ ├── regularize.cxx │ │ ├── smooth.cxx │ │ └── smooth_all.sh │ ├── generic_bench │ │ ├── bench.hh │ │ ├── bench_parameter.hh │ │ ├── btl.hh │ │ ├── init │ │ │ ├── init_function.hh │ │ │ ├── init_matrix.hh │ │ │ └── init_vector.hh │ │ ├── static │ │ │ ├── bench_static.hh │ │ │ ├── intel_bench_fixed_size.hh │ │ │ └── static_size_generator.hh │ │ ├── timers │ │ │ ├── STL_perf_analyzer.hh │ │ │ ├── STL_timer.hh │ │ │ ├── mixed_perf_analyzer.hh │ │ │ ├── portable_perf_analyzer.hh │ │ │ ├── portable_perf_analyzer_old.hh │ │ │ ├── portable_timer.hh │ │ │ ├── x86_perf_analyzer.hh │ │ │ └── x86_timer.hh │ │ └── utils │ │ │ ├── size_lin_log.hh │ │ │ ├── size_log.hh │ │ │ ├── utilities.h │ │ │ └── xy_file.hh │ └── libs │ │ ├── BLAS │ │ ├── CMakeLists.txt │ │ ├── blas.h │ │ ├── blas_interface.hh │ │ ├── blas_interface_impl.hh │ │ ├── c_interface_base.h │ │ └── main.cpp │ │ ├── STL │ │ ├── CMakeLists.txt │ │ ├── STL_interface.hh │ │ └── main.cpp │ │ ├── blaze │ │ ├── CMakeLists.txt │ │ ├── blaze_interface.hh │ │ └── main.cpp │ │ ├── blitz │ │ ├── CMakeLists.txt │ │ ├── blitz_LU_solve_interface.hh │ │ ├── blitz_interface.hh │ │ ├── btl_blitz.cpp │ │ ├── btl_tiny_blitz.cpp │ │ └── tiny_blitz_interface.hh │ │ ├── eigen2 │ │ ├── CMakeLists.txt │ │ ├── btl_tiny_eigen2.cpp │ │ ├── eigen2_interface.hh │ │ ├── main_adv.cpp │ │ ├── main_linear.cpp │ │ ├── main_matmat.cpp │ │ └── main_vecmat.cpp │ │ ├── eigen3 │ │ ├── CMakeLists.txt │ │ ├── btl_tiny_eigen3.cpp │ │ ├── eigen3_interface.hh │ │ ├── main_adv.cpp │ │ ├── main_linear.cpp │ │ ├── main_matmat.cpp │ │ └── main_vecmat.cpp │ │ ├── gmm │ │ ├── CMakeLists.txt │ │ ├── gmm_LU_solve_interface.hh │ │ ├── gmm_interface.hh │ │ └── main.cpp │ │ ├── mtl4 │ │ ├── .kdbgrc.main │ │ ├── CMakeLists.txt │ │ ├── main.cpp │ │ ├── mtl4_LU_solve_interface.hh │ │ └── mtl4_interface.hh │ │ ├── tensors │ │ ├── CMakeLists.txt │ │ ├── main_linear.cpp │ │ ├── main_matmat.cpp │ │ ├── main_vecmat.cpp │ │ └── tensor_interface.hh │ │ ├── tvmet │ │ ├── CMakeLists.txt │ │ ├── main.cpp │ │ └── tvmet_interface.hh │ │ └── ublas │ │ ├── CMakeLists.txt │ │ ├── main.cpp │ │ └── ublas_interface.hh ├── check_cache_queries.cpp ├── dense_solvers.cpp ├── eig33.cpp ├── geometry.cpp ├── perf_monitoring │ └── gemm │ │ ├── changesets.txt │ │ ├── gemm.cpp │ │ ├── gemm_settings.txt │ │ ├── lazy_gemm.cpp │ │ ├── lazy_gemm_settings.txt │ │ ├── make_plot.sh │ │ └── run.sh ├── product_threshold.cpp ├── quat_slerp.cpp ├── quatmul.cpp ├── sparse_cholesky.cpp ├── sparse_dense_product.cpp ├── sparse_lu.cpp ├── sparse_product.cpp ├── sparse_randomsetter.cpp ├── sparse_setter.cpp ├── sparse_transpose.cpp ├── sparse_trisolver.cpp ├── spbench │ ├── CMakeLists.txt │ ├── sp_solver.cpp │ ├── spbench.dtd │ ├── spbenchsolver.cpp │ ├── spbenchsolver.h │ ├── spbenchstyle.h │ └── test_sparseLU.cpp ├── spmv.cpp ├── tensors │ ├── README │ ├── benchmark.h │ ├── benchmark_main.cc │ ├── contraction_benchmarks_cpu.cc │ ├── tensor_benchmarks.h │ ├── tensor_benchmarks_cpu.cc │ ├── tensor_benchmarks_fp16_gpu.cu │ ├── tensor_benchmarks_gpu.cu │ └── tensor_benchmarks_sycl.cc └── vdw_new.cpp ├── blas ├── BandTriangularSolver.h ├── CMakeLists.txt ├── GeneralRank1Update.h ├── PackedSelfadjointProduct.h ├── PackedTriangularMatrixVector.h ├── PackedTriangularSolverVector.h ├── README.txt ├── Rank2Update.h ├── common.h ├── complex_double.cpp ├── complex_single.cpp ├── double.cpp ├── f2c │ ├── chbmv.c │ ├── chpmv.c │ ├── complexdots.c │ ├── ctbmv.c │ ├── d_cnjg.c │ ├── datatypes.h │ ├── drotm.c │ ├── drotmg.c │ ├── dsbmv.c │ ├── dspmv.c │ ├── dtbmv.c │ ├── lsame.c │ ├── r_cnjg.c │ ├── srotm.c │ ├── srotmg.c │ ├── ssbmv.c │ ├── sspmv.c │ ├── stbmv.c │ ├── zhbmv.c │ ├── zhpmv.c │ └── ztbmv.c ├── fortran │ └── complexdots.f ├── level1_cplx_impl.h ├── level1_impl.h ├── level1_real_impl.h ├── level2_cplx_impl.h ├── level2_impl.h ├── level2_real_impl.h ├── level3_impl.h ├── single.cpp ├── testing │ ├── CMakeLists.txt │ ├── cblat1.f │ ├── cblat2.dat │ ├── cblat2.f │ ├── cblat3.dat │ ├── cblat3.f │ ├── dblat1.f │ ├── dblat2.dat │ ├── dblat2.f │ ├── dblat3.dat │ ├── dblat3.f │ ├── runblastest.sh │ ├── sblat1.f │ ├── sblat2.dat │ ├── sblat2.f │ ├── sblat3.dat │ ├── sblat3.f │ ├── zblat1.f │ ├── zblat2.dat │ ├── zblat2.f │ ├── zblat3.dat │ └── zblat3.f └── xerbla.cpp ├── cmake ├── Eigen3Config.cmake.in ├── Eigen3ConfigLegacy.cmake.in ├── EigenConfigureTesting.cmake ├── EigenDetermineOSVersion.cmake ├── EigenDetermineVSServicePack.cmake ├── EigenTesting.cmake ├── EigenUninstall.cmake ├── FindAdolc.cmake ├── FindBLAS.cmake ├── FindBLASEXT.cmake ├── FindCholmod.cmake ├── FindComputeCpp.cmake ├── FindEigen2.cmake ├── FindEigen3.cmake ├── FindFFTW.cmake ├── FindGLEW.cmake ├── FindGMP.cmake ├── FindGSL.cmake ├── FindGoogleHash.cmake ├── FindHWLOC.cmake ├── FindLAPACK.cmake ├── FindMPFR.cmake ├── FindMetis.cmake ├── FindPTSCOTCH.cmake ├── FindPastix.cmake ├── FindSPQR.cmake ├── FindScotch.cmake ├── FindStandardMathLibrary.cmake ├── FindSuperLU.cmake ├── FindUmfpack.cmake ├── RegexUtils.cmake ├── UseEigen3.cmake └── language_support.cmake ├── debug ├── gdb │ ├── __init__.py │ └── printers.py └── msvc │ ├── eigen.natvis │ └── eigen_autoexp_part.dat ├── demos ├── CMakeLists.txt ├── mandelbrot │ ├── CMakeLists.txt │ ├── README │ ├── mandelbrot.cpp │ └── mandelbrot.h ├── mix_eigen_and_c │ ├── README │ ├── binary_library.cpp │ ├── binary_library.h │ └── example.c └── opengl │ ├── CMakeLists.txt │ ├── README │ ├── camera.cpp │ ├── camera.h │ ├── gpuhelper.cpp │ ├── gpuhelper.h │ ├── icosphere.cpp │ ├── icosphere.h │ ├── quaternion_demo.cpp │ ├── quaternion_demo.h │ ├── trackball.cpp │ └── trackball.h ├── doc ├── A05_PortingFrom2To3.dox ├── AsciiQuickReference.txt ├── B01_Experimental.dox ├── CMakeLists.txt ├── ClassHierarchy.dox ├── CoeffwiseMathFunctionsTable.dox ├── CustomizingEigen_CustomScalar.dox ├── CustomizingEigen_InheritingMatrix.dox ├── CustomizingEigen_NullaryExpr.dox ├── CustomizingEigen_Plugins.dox ├── DenseDecompositionBenchmark.dox ├── Doxyfile.in ├── Eigen_Silly_Professor_64x64.png ├── FixedSizeVectorizable.dox ├── FunctionsTakingEigenTypes.dox ├── HiPerformance.dox ├── InplaceDecomposition.dox ├── InsideEigenExample.dox ├── LeastSquares.dox ├── Manual.dox ├── MatrixfreeSolverExample.dox ├── NewExpressionType.dox ├── Overview.dox ├── PassingByValue.dox ├── Pitfalls.dox ├── PreprocessorDirectives.dox ├── QuickReference.dox ├── QuickStartGuide.dox ├── SparseLinearSystems.dox ├── SparseQuickReference.dox ├── StlContainers.dox ├── StorageOrders.dox ├── StructHavingEigenMembers.dox ├── TemplateKeyword.dox ├── TopicAliasing.dox ├── TopicAssertions.dox ├── TopicCMakeGuide.dox ├── TopicEigenExpressionTemplates.dox ├── TopicLazyEvaluation.dox ├── TopicLinearAlgebraDecompositions.dox ├── TopicMultithreading.dox ├── TopicResizing.dox ├── TopicScalarTypes.dox ├── TopicVectorization.dox ├── TutorialAdvancedInitialization.dox ├── TutorialArrayClass.dox ├── TutorialBlockOperations.dox ├── TutorialGeometry.dox ├── TutorialLinearAlgebra.dox ├── TutorialMapClass.dox ├── TutorialMatrixArithmetic.dox ├── TutorialMatrixClass.dox ├── TutorialReductionsVisitorsBroadcasting.dox ├── TutorialReshapeSlicing.dox ├── TutorialSparse.dox ├── TutorialSparse_example_details.dox ├── UnalignedArrayAssert.dox ├── UsingBlasLapackBackends.dox ├── UsingIntelMKL.dox ├── UsingNVCC.dox ├── WrongStackAlignment.dox ├── eigen_navtree_hacks.js ├── eigendoxy.css ├── eigendoxy_footer.html.in ├── eigendoxy_header.html.in ├── eigendoxy_layout.xml.in ├── eigendoxy_tabs.css ├── examples │ ├── .krazy │ ├── CMakeLists.txt │ ├── CustomizingEigen_Inheritance.cpp │ ├── Cwise_erf.cpp │ ├── Cwise_erfc.cpp │ ├── Cwise_lgamma.cpp │ ├── DenseBase_middleCols_int.cpp │ ├── DenseBase_middleRows_int.cpp │ ├── DenseBase_template_int_middleCols.cpp │ ├── DenseBase_template_int_middleRows.cpp │ ├── QuickStart_example.cpp │ ├── QuickStart_example2_dynamic.cpp │ ├── QuickStart_example2_fixed.cpp │ ├── TemplateKeyword_flexible.cpp │ ├── TemplateKeyword_simple.cpp │ ├── TutorialInplaceLU.cpp │ ├── TutorialLinAlgComputeTwice.cpp │ ├── TutorialLinAlgExComputeSolveError.cpp │ ├── TutorialLinAlgExSolveColPivHouseholderQR.cpp │ ├── TutorialLinAlgExSolveLDLT.cpp │ ├── TutorialLinAlgInverseDeterminant.cpp │ ├── TutorialLinAlgRankRevealing.cpp │ ├── TutorialLinAlgSVDSolve.cpp │ ├── TutorialLinAlgSelfAdjointEigenSolver.cpp │ ├── TutorialLinAlgSetThreshold.cpp │ ├── Tutorial_ArrayClass_accessors.cpp │ ├── Tutorial_ArrayClass_addition.cpp │ ├── Tutorial_ArrayClass_cwise_other.cpp │ ├── Tutorial_ArrayClass_interop.cpp │ ├── Tutorial_ArrayClass_interop_matrix.cpp │ ├── Tutorial_ArrayClass_mult.cpp │ ├── Tutorial_BlockOperations_block_assignment.cpp │ ├── Tutorial_BlockOperations_colrow.cpp │ ├── Tutorial_BlockOperations_corner.cpp │ ├── Tutorial_BlockOperations_print_block.cpp │ ├── Tutorial_BlockOperations_vector.cpp │ ├── Tutorial_PartialLU_solve.cpp │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_1nn.cpp │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.cpp │ ├── Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp │ ├── Tutorial_ReductionsVisitorsBroadcasting_colwise.cpp │ ├── Tutorial_ReductionsVisitorsBroadcasting_maxnorm.cpp │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_bool.cpp │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_norm.cpp │ ├── Tutorial_ReductionsVisitorsBroadcasting_reductions_operatornorm.cpp │ ├── Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp │ ├── Tutorial_ReductionsVisitorsBroadcasting_visitors.cpp │ ├── Tutorial_simple_example_dynamic_size.cpp │ ├── Tutorial_simple_example_fixed_size.cpp │ ├── class_Block.cpp │ ├── class_CwiseBinaryOp.cpp │ ├── class_CwiseUnaryOp.cpp │ ├── class_CwiseUnaryOp_ptrfun.cpp │ ├── class_FixedBlock.cpp │ ├── class_FixedVectorBlock.cpp │ ├── class_VectorBlock.cpp │ ├── function_taking_eigenbase.cpp │ ├── function_taking_ref.cpp │ ├── make_circulant.cpp │ ├── make_circulant.cpp.entry │ ├── make_circulant.cpp.evaluator │ ├── make_circulant.cpp.expression │ ├── make_circulant.cpp.main │ ├── make_circulant.cpp.preamble │ ├── make_circulant.cpp.traits │ ├── make_circulant2.cpp │ ├── matrixfree_cg.cpp │ ├── nullary_indexing.cpp │ ├── tut_arithmetic_add_sub.cpp │ ├── tut_arithmetic_dot_cross.cpp │ ├── tut_arithmetic_matrix_mul.cpp │ ├── tut_arithmetic_redux_basic.cpp │ ├── tut_arithmetic_scalar_mul_div.cpp │ ├── tut_matrix_coefficient_accessors.cpp │ ├── tut_matrix_resize.cpp │ └── tut_matrix_resize_fixed_size.cpp ├── ftv2node.png ├── ftv2pnode.png ├── snippets │ ├── .krazy │ ├── AngleAxis_mimic_euler.cpp │ ├── BiCGSTAB_simple.cpp │ ├── BiCGSTAB_step_by_step.cpp │ ├── CMakeLists.txt │ ├── ColPivHouseholderQR_solve.cpp │ ├── ComplexEigenSolver_compute.cpp │ ├── ComplexEigenSolver_eigenvalues.cpp │ ├── ComplexEigenSolver_eigenvectors.cpp │ ├── ComplexSchur_compute.cpp │ ├── ComplexSchur_matrixT.cpp │ ├── ComplexSchur_matrixU.cpp │ ├── Cwise_abs.cpp │ ├── Cwise_abs2.cpp │ ├── Cwise_acos.cpp │ ├── Cwise_arg.cpp │ ├── Cwise_array_power_array.cpp │ ├── Cwise_asin.cpp │ ├── Cwise_atan.cpp │ ├── Cwise_boolean_and.cpp │ ├── Cwise_boolean_not.cpp │ ├── Cwise_boolean_or.cpp │ ├── Cwise_boolean_xor.cpp │ ├── Cwise_ceil.cpp │ ├── Cwise_cos.cpp │ ├── Cwise_cosh.cpp │ ├── Cwise_cube.cpp │ ├── Cwise_equal_equal.cpp │ ├── Cwise_exp.cpp │ ├── Cwise_floor.cpp │ ├── Cwise_greater.cpp │ ├── Cwise_greater_equal.cpp │ ├── Cwise_inverse.cpp │ ├── Cwise_isFinite.cpp │ ├── Cwise_isInf.cpp │ ├── Cwise_isNaN.cpp │ ├── Cwise_less.cpp │ ├── Cwise_less_equal.cpp │ ├── Cwise_log.cpp │ ├── Cwise_log10.cpp │ ├── Cwise_max.cpp │ ├── Cwise_min.cpp │ ├── Cwise_minus.cpp │ ├── Cwise_minus_equal.cpp │ ├── Cwise_not_equal.cpp │ ├── Cwise_plus.cpp │ ├── Cwise_plus_equal.cpp │ ├── Cwise_pow.cpp │ ├── Cwise_product.cpp │ ├── Cwise_quotient.cpp │ ├── Cwise_round.cpp │ ├── Cwise_scalar_power_array.cpp │ ├── Cwise_sign.cpp │ ├── Cwise_sin.cpp │ ├── Cwise_sinh.cpp │ ├── Cwise_slash_equal.cpp │ ├── Cwise_sqrt.cpp │ ├── Cwise_square.cpp │ ├── Cwise_tan.cpp │ ├── Cwise_tanh.cpp │ ├── Cwise_times_equal.cpp │ ├── DenseBase_LinSpaced.cpp │ ├── DenseBase_LinSpacedInt.cpp │ ├── DenseBase_LinSpaced_seq.cpp │ ├── DenseBase_setLinSpaced.cpp │ ├── DirectionWise_hnormalized.cpp │ ├── DirectionWise_replicate.cpp │ ├── DirectionWise_replicate_int.cpp │ ├── EigenSolver_EigenSolver_MatrixType.cpp │ ├── EigenSolver_compute.cpp │ ├── EigenSolver_eigenvalues.cpp │ ├── EigenSolver_eigenvectors.cpp │ ├── EigenSolver_pseudoEigenvectors.cpp │ ├── FullPivHouseholderQR_solve.cpp │ ├── FullPivLU_image.cpp │ ├── FullPivLU_kernel.cpp │ ├── FullPivLU_solve.cpp │ ├── GeneralizedEigenSolver.cpp │ ├── HessenbergDecomposition_compute.cpp │ ├── HessenbergDecomposition_matrixH.cpp │ ├── HessenbergDecomposition_packedMatrix.cpp │ ├── HouseholderQR_householderQ.cpp │ ├── HouseholderQR_solve.cpp │ ├── HouseholderSequence_HouseholderSequence.cpp │ ├── IOFormat.cpp │ ├── JacobiSVD_basic.cpp │ ├── Jacobi_makeGivens.cpp │ ├── Jacobi_makeJacobi.cpp │ ├── LLT_example.cpp │ ├── LLT_solve.cpp │ ├── LeastSquaresNormalEquations.cpp │ ├── LeastSquaresQR.cpp │ ├── Map_general_stride.cpp │ ├── Map_inner_stride.cpp │ ├── Map_outer_stride.cpp │ ├── Map_placement_new.cpp │ ├── Map_simple.cpp │ ├── MatrixBase_adjoint.cpp │ ├── MatrixBase_all.cpp │ ├── MatrixBase_applyOnTheLeft.cpp │ ├── MatrixBase_applyOnTheRight.cpp │ ├── MatrixBase_array.cpp │ ├── MatrixBase_array_const.cpp │ ├── MatrixBase_asDiagonal.cpp │ ├── MatrixBase_block_int_int.cpp │ ├── MatrixBase_block_int_int_int_int.cpp │ ├── MatrixBase_bottomLeftCorner_int_int.cpp │ ├── MatrixBase_bottomRightCorner_int_int.cpp │ ├── MatrixBase_bottomRows_int.cpp │ ├── MatrixBase_cast.cpp │ ├── MatrixBase_col.cpp │ ├── MatrixBase_colwise.cpp │ ├── MatrixBase_computeInverseAndDetWithCheck.cpp │ ├── MatrixBase_computeInverseWithCheck.cpp │ ├── MatrixBase_cwiseAbs.cpp │ ├── MatrixBase_cwiseAbs2.cpp │ ├── MatrixBase_cwiseEqual.cpp │ ├── MatrixBase_cwiseInverse.cpp │ ├── MatrixBase_cwiseMax.cpp │ ├── MatrixBase_cwiseMin.cpp │ ├── MatrixBase_cwiseNotEqual.cpp │ ├── MatrixBase_cwiseProduct.cpp │ ├── MatrixBase_cwiseQuotient.cpp │ ├── MatrixBase_cwiseSign.cpp │ ├── MatrixBase_cwiseSqrt.cpp │ ├── MatrixBase_diagonal.cpp │ ├── MatrixBase_diagonal_int.cpp │ ├── MatrixBase_diagonal_template_int.cpp │ ├── MatrixBase_eigenvalues.cpp │ ├── MatrixBase_end_int.cpp │ ├── MatrixBase_eval.cpp │ ├── MatrixBase_fixedBlock_int_int.cpp │ ├── MatrixBase_hnormalized.cpp │ ├── MatrixBase_homogeneous.cpp │ ├── MatrixBase_identity.cpp │ ├── MatrixBase_identity_int_int.cpp │ ├── MatrixBase_inverse.cpp │ ├── MatrixBase_isDiagonal.cpp │ ├── MatrixBase_isIdentity.cpp │ ├── MatrixBase_isOnes.cpp │ ├── MatrixBase_isOrthogonal.cpp │ ├── MatrixBase_isUnitary.cpp │ ├── MatrixBase_isZero.cpp │ ├── MatrixBase_leftCols_int.cpp │ ├── MatrixBase_noalias.cpp │ ├── MatrixBase_ones.cpp │ ├── MatrixBase_ones_int.cpp │ ├── MatrixBase_ones_int_int.cpp │ ├── MatrixBase_operatorNorm.cpp │ ├── MatrixBase_prod.cpp │ ├── MatrixBase_random.cpp │ ├── MatrixBase_random_int.cpp │ ├── MatrixBase_random_int_int.cpp │ ├── MatrixBase_replicate.cpp │ ├── MatrixBase_replicate_int_int.cpp │ ├── MatrixBase_reverse.cpp │ ├── MatrixBase_rightCols_int.cpp │ ├── MatrixBase_row.cpp │ ├── MatrixBase_rowwise.cpp │ ├── MatrixBase_segment_int_int.cpp │ ├── MatrixBase_select.cpp │ ├── MatrixBase_selfadjointView.cpp │ ├── MatrixBase_set.cpp │ ├── MatrixBase_setIdentity.cpp │ ├── MatrixBase_setOnes.cpp │ ├── MatrixBase_setRandom.cpp │ ├── MatrixBase_setZero.cpp │ ├── MatrixBase_start_int.cpp │ ├── MatrixBase_template_int_bottomRows.cpp │ ├── MatrixBase_template_int_end.cpp │ ├── MatrixBase_template_int_int_block_int_int_int_int.cpp │ ├── MatrixBase_template_int_int_bottomLeftCorner.cpp │ ├── MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp │ ├── MatrixBase_template_int_int_bottomRightCorner.cpp │ ├── MatrixBase_template_int_int_bottomRightCorner_int_int.cpp │ ├── MatrixBase_template_int_int_topLeftCorner.cpp │ ├── MatrixBase_template_int_int_topLeftCorner_int_int.cpp │ ├── MatrixBase_template_int_int_topRightCorner.cpp │ ├── MatrixBase_template_int_int_topRightCorner_int_int.cpp │ ├── MatrixBase_template_int_leftCols.cpp │ ├── MatrixBase_template_int_rightCols.cpp │ ├── MatrixBase_template_int_segment.cpp │ ├── MatrixBase_template_int_start.cpp │ ├── MatrixBase_template_int_topRows.cpp │ ├── MatrixBase_topLeftCorner_int_int.cpp │ ├── MatrixBase_topRightCorner_int_int.cpp │ ├── MatrixBase_topRows_int.cpp │ ├── MatrixBase_transpose.cpp │ ├── MatrixBase_triangularView.cpp │ ├── MatrixBase_zero.cpp │ ├── MatrixBase_zero_int.cpp │ ├── MatrixBase_zero_int_int.cpp │ ├── Matrix_Map_stride.cpp │ ├── Matrix_resize_NoChange_int.cpp │ ├── Matrix_resize_int.cpp │ ├── Matrix_resize_int_NoChange.cpp │ ├── Matrix_resize_int_int.cpp │ ├── Matrix_setConstant_int.cpp │ ├── Matrix_setConstant_int_int.cpp │ ├── Matrix_setIdentity_int_int.cpp │ ├── Matrix_setOnes_int.cpp │ ├── Matrix_setOnes_int_int.cpp │ ├── Matrix_setRandom_int.cpp │ ├── Matrix_setRandom_int_int.cpp │ ├── Matrix_setZero_int.cpp │ ├── Matrix_setZero_int_int.cpp │ ├── PartialPivLU_solve.cpp │ ├── PartialRedux_count.cpp │ ├── PartialRedux_maxCoeff.cpp │ ├── PartialRedux_minCoeff.cpp │ ├── PartialRedux_norm.cpp │ ├── PartialRedux_prod.cpp │ ├── PartialRedux_squaredNorm.cpp │ ├── PartialRedux_sum.cpp │ ├── RealQZ_compute.cpp │ ├── RealSchur_RealSchur_MatrixType.cpp │ ├── RealSchur_compute.cpp │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp │ ├── SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp │ ├── SelfAdjointEigenSolver_compute_MatrixType.cpp │ ├── SelfAdjointEigenSolver_compute_MatrixType2.cpp │ ├── SelfAdjointEigenSolver_eigenvalues.cpp │ ├── SelfAdjointEigenSolver_eigenvectors.cpp │ ├── SelfAdjointEigenSolver_operatorInverseSqrt.cpp │ ├── SelfAdjointEigenSolver_operatorSqrt.cpp │ ├── SelfAdjointView_eigenvalues.cpp │ ├── SelfAdjointView_operatorNorm.cpp │ ├── SparseMatrix_coeffs.cpp │ ├── TopicAliasing_block.cpp │ ├── TopicAliasing_block_correct.cpp │ ├── TopicAliasing_cwise.cpp │ ├── TopicAliasing_mult1.cpp │ ├── TopicAliasing_mult2.cpp │ ├── TopicAliasing_mult3.cpp │ ├── TopicAliasing_mult4.cpp │ ├── TopicAliasing_mult5.cpp │ ├── TopicStorageOrders_example.cpp │ ├── Triangular_solve.cpp │ ├── Tridiagonalization_Tridiagonalization_MatrixType.cpp │ ├── Tridiagonalization_compute.cpp │ ├── Tridiagonalization_decomposeInPlace.cpp │ ├── Tridiagonalization_diagonal.cpp │ ├── Tridiagonalization_householderCoefficients.cpp │ ├── Tridiagonalization_packedMatrix.cpp │ ├── Tutorial_AdvancedInitialization_Block.cpp │ ├── Tutorial_AdvancedInitialization_CommaTemporary.cpp │ ├── Tutorial_AdvancedInitialization_Join.cpp │ ├── Tutorial_AdvancedInitialization_LinSpaced.cpp │ ├── Tutorial_AdvancedInitialization_ThreeWays.cpp │ ├── Tutorial_AdvancedInitialization_Zero.cpp │ ├── Tutorial_Map_rowmajor.cpp │ ├── Tutorial_Map_using.cpp │ ├── Tutorial_ReshapeMat2Mat.cpp │ ├── Tutorial_ReshapeMat2Vec.cpp │ ├── Tutorial_SlicingCol.cpp │ ├── Tutorial_SlicingVec.cpp │ ├── Tutorial_commainit_01.cpp │ ├── Tutorial_commainit_01b.cpp │ ├── Tutorial_commainit_02.cpp │ ├── Tutorial_solve_matrix_inverse.cpp │ ├── Tutorial_solve_multiple_rhs.cpp │ ├── Tutorial_solve_reuse_decomposition.cpp │ ├── Tutorial_solve_singular.cpp │ ├── Tutorial_solve_triangular.cpp │ ├── Tutorial_solve_triangular_inplace.cpp │ ├── VectorwiseOp_homogeneous.cpp │ ├── Vectorwise_reverse.cpp │ ├── class_FullPivLU.cpp │ ├── compile_snippet.cpp.in │ ├── tut_arithmetic_redux_minmax.cpp │ ├── tut_arithmetic_transpose_aliasing.cpp │ ├── tut_arithmetic_transpose_conjugate.cpp │ ├── tut_arithmetic_transpose_inplace.cpp │ └── tut_matrix_assignment_resizing.cpp ├── special_examples │ ├── CMakeLists.txt │ ├── Tutorial_sparse_example.cpp │ ├── Tutorial_sparse_example_details.cpp │ └── random_cpp11.cpp └── tutorial.cpp ├── eigen3.pc.in ├── failtest ├── CMakeLists.txt ├── bdcsvd_int.cpp ├── block_nonconst_ctor_on_const_xpr_0.cpp ├── block_nonconst_ctor_on_const_xpr_1.cpp ├── block_nonconst_ctor_on_const_xpr_2.cpp ├── block_on_const_type_actually_const_0.cpp ├── block_on_const_type_actually_const_1.cpp ├── colpivqr_int.cpp ├── const_qualified_block_method_retval_0.cpp ├── const_qualified_block_method_retval_1.cpp ├── const_qualified_diagonal_method_retval.cpp ├── const_qualified_transpose_method_retval.cpp ├── cwiseunaryview_nonconst_ctor_on_const_xpr.cpp ├── cwiseunaryview_on_const_type_actually_const.cpp ├── diagonal_nonconst_ctor_on_const_xpr.cpp ├── diagonal_on_const_type_actually_const.cpp ├── eigensolver_cplx.cpp ├── eigensolver_int.cpp ├── failtest_sanity_check.cpp ├── fullpivlu_int.cpp ├── fullpivqr_int.cpp ├── jacobisvd_int.cpp ├── ldlt_int.cpp ├── llt_int.cpp ├── map_nonconst_ctor_on_const_ptr_0.cpp ├── map_nonconst_ctor_on_const_ptr_1.cpp ├── map_nonconst_ctor_on_const_ptr_2.cpp ├── map_nonconst_ctor_on_const_ptr_3.cpp ├── map_nonconst_ctor_on_const_ptr_4.cpp ├── map_on_const_type_actually_const_0.cpp ├── map_on_const_type_actually_const_1.cpp ├── partialpivlu_int.cpp ├── qr_int.cpp ├── ref_1.cpp ├── ref_2.cpp ├── ref_3.cpp ├── ref_4.cpp ├── ref_5.cpp ├── selfadjointview_nonconst_ctor_on_const_xpr.cpp ├── selfadjointview_on_const_type_actually_const.cpp ├── sparse_ref_1.cpp ├── sparse_ref_2.cpp ├── sparse_ref_3.cpp ├── sparse_ref_4.cpp ├── sparse_ref_5.cpp ├── sparse_storage_mismatch.cpp ├── swap_1.cpp ├── swap_2.cpp ├── ternary_1.cpp ├── ternary_2.cpp ├── transpose_nonconst_ctor_on_const_xpr.cpp ├── transpose_on_const_type_actually_const.cpp ├── triangularview_nonconst_ctor_on_const_xpr.cpp └── triangularview_on_const_type_actually_const.cpp ├── lapack ├── CMakeLists.txt ├── cholesky.cpp ├── clacgv.f ├── cladiv.f ├── clarf.f ├── clarfb.f ├── clarfg.f ├── clarft.f ├── complex_double.cpp ├── complex_single.cpp ├── dladiv.f ├── dlamch.f ├── dlapy2.f ├── dlapy3.f ├── dlarf.f ├── dlarfb.f ├── dlarfg.f ├── dlarft.f ├── double.cpp ├── dsecnd_NONE.f ├── eigenvalues.cpp ├── ilaclc.f ├── ilaclr.f ├── iladlc.f ├── iladlr.f ├── ilaslc.f ├── ilaslr.f ├── ilazlc.f ├── ilazlr.f ├── lapack_common.h ├── lu.cpp ├── second_NONE.f ├── single.cpp ├── sladiv.f ├── slamch.f ├── slapy2.f ├── slapy3.f ├── slarf.f ├── slarfb.f ├── slarfg.f ├── slarft.f ├── svd.cpp ├── zlacgv.f ├── zladiv.f ├── zlarf.f ├── zlarfb.f ├── zlarfg.f └── zlarft.f ├── scripts ├── CMakeLists.txt ├── cdashtesting.cmake.in ├── check.in ├── debug.in ├── eigen_gen_credits.cpp ├── eigen_gen_docs ├── release.in └── relicense.py ├── signature_of_eigen3_matrix_library ├── test ├── CMakeLists.txt ├── adjoint.cpp ├── array_cwise.cpp ├── array_for_matrix.cpp ├── array_of_string.cpp ├── array_replicate.cpp ├── array_reverse.cpp ├── bandmatrix.cpp ├── basicstuff.cpp ├── bdcsvd.cpp ├── bicgstab.cpp ├── block.cpp ├── boostmultiprec.cpp ├── bug1213.cpp ├── bug1213.h ├── bug1213_main.cpp ├── cholesky.cpp ├── cholmod_support.cpp ├── commainitializer.cpp ├── conjugate_gradient.cpp ├── conservative_resize.cpp ├── constructor.cpp ├── corners.cpp ├── ctorleak.cpp ├── cuda_basic.cu ├── cuda_common.h ├── denseLM.cpp ├── dense_storage.cpp ├── determinant.cpp ├── diagonal.cpp ├── diagonalmatrices.cpp ├── dontalign.cpp ├── dynalloc.cpp ├── eigen2support.cpp ├── eigensolver_complex.cpp ├── eigensolver_generalized_real.cpp ├── eigensolver_generic.cpp ├── eigensolver_selfadjoint.cpp ├── evaluator_common.h ├── evaluators.cpp ├── exceptions.cpp ├── fastmath.cpp ├── first_aligned.cpp ├── geo_alignedbox.cpp ├── geo_eulerangles.cpp ├── geo_homogeneous.cpp ├── geo_hyperplane.cpp ├── geo_orthomethods.cpp ├── geo_parametrizedline.cpp ├── geo_quaternion.cpp ├── geo_transformations.cpp ├── half_float.cpp ├── hessenberg.cpp ├── householder.cpp ├── incomplete_cholesky.cpp ├── inplace_decomposition.cpp ├── integer_types.cpp ├── inverse.cpp ├── is_same_dense.cpp ├── jacobi.cpp ├── jacobisvd.cpp ├── linearstructure.cpp ├── lscg.cpp ├── lu.cpp ├── main.h ├── mapped_matrix.cpp ├── mapstaticmethods.cpp ├── mapstride.cpp ├── meta.cpp ├── metis_support.cpp ├── miscmatrices.cpp ├── mixingtypes.cpp ├── mpl2only.cpp ├── nesting_ops.cpp ├── nomalloc.cpp ├── nullary.cpp ├── numext.cpp ├── packetmath.cpp ├── pardiso_support.cpp ├── pastix_support.cpp ├── permutationmatrices.cpp ├── prec_inverse_4x4.cpp ├── product.h ├── product_extra.cpp ├── product_large.cpp ├── product_mmtr.cpp ├── product_notemporary.cpp ├── product_selfadjoint.cpp ├── product_small.cpp ├── product_symm.cpp ├── product_syrk.cpp ├── product_trmm.cpp ├── product_trmv.cpp ├── product_trsolve.cpp ├── qr.cpp ├── qr_colpivoting.cpp ├── qr_fullpivoting.cpp ├── qtvector.cpp ├── rand.cpp ├── real_qz.cpp ├── redux.cpp ├── ref.cpp ├── resize.cpp ├── rvalue_types.cpp ├── schur_complex.cpp ├── schur_real.cpp ├── selfadjoint.cpp ├── simplicial_cholesky.cpp ├── sizeof.cpp ├── sizeoverflow.cpp ├── smallvectors.cpp ├── sparse.h ├── sparseLM.cpp ├── sparse_basic.cpp ├── sparse_block.cpp ├── sparse_permutations.cpp ├── sparse_product.cpp ├── sparse_ref.cpp ├── sparse_solver.h ├── sparse_solvers.cpp ├── sparse_vector.cpp ├── sparselu.cpp ├── sparseqr.cpp ├── special_numbers.cpp ├── spqr_support.cpp ├── stable_norm.cpp ├── stddeque.cpp ├── stddeque_overload.cpp ├── stdlist.cpp ├── stdlist_overload.cpp ├── stdvector.cpp ├── stdvector_overload.cpp ├── superlu_support.cpp ├── svd_common.h ├── svd_fill.h ├── swap.cpp ├── triangular.cpp ├── umeyama.cpp ├── umfpack_support.cpp ├── unalignedassert.cpp ├── unalignedcount.cpp ├── upperbidiagonalization.cpp ├── vectorization_logic.cpp ├── vectorwiseop.cpp ├── visitor.cpp └── zerosized.cpp └── unsupported ├── CMakeLists.txt ├── Eigen ├── AdolcForward ├── AlignedVector3 ├── ArpackSupport ├── AutoDiff ├── BVH ├── CMakeLists.txt ├── CXX11 │ ├── CMakeLists.txt │ ├── Tensor │ ├── TensorSymmetry │ ├── ThreadPool │ └── src │ │ ├── Tensor │ │ ├── README.md │ │ ├── Tensor.h │ │ ├── TensorArgMax.h │ │ ├── TensorAssign.h │ │ ├── TensorBase.h │ │ ├── TensorBroadcasting.h │ │ ├── TensorChipping.h │ │ ├── TensorConcatenation.h │ │ ├── TensorContraction.h │ │ ├── TensorContractionBlocking.h │ │ ├── TensorContractionCuda.h │ │ ├── TensorContractionMapper.h │ │ ├── TensorContractionThreadPool.h │ │ ├── TensorConversion.h │ │ ├── TensorConvolution.h │ │ ├── TensorCostModel.h │ │ ├── TensorCustomOp.h │ │ ├── TensorDevice.h │ │ ├── TensorDeviceCuda.h │ │ ├── TensorDeviceDefault.h │ │ ├── TensorDeviceSycl.h │ │ ├── TensorDeviceThreadPool.h │ │ ├── TensorDimensionList.h │ │ ├── TensorDimensions.h │ │ ├── TensorEvalTo.h │ │ ├── TensorEvaluator.h │ │ ├── TensorExecutor.h │ │ ├── TensorExpr.h │ │ ├── TensorFFT.h │ │ ├── TensorFixedSize.h │ │ ├── TensorForcedEval.h │ │ ├── TensorForwardDeclarations.h │ │ ├── TensorFunctors.h │ │ ├── TensorGenerator.h │ │ ├── TensorGlobalFunctions.h │ │ ├── TensorIO.h │ │ ├── TensorImagePatch.h │ │ ├── TensorIndexList.h │ │ ├── TensorInflation.h │ │ ├── TensorInitializer.h │ │ ├── TensorIntDiv.h │ │ ├── TensorLayoutSwap.h │ │ ├── TensorMacros.h │ │ ├── TensorMap.h │ │ ├── TensorMeta.h │ │ ├── TensorMorphing.h │ │ ├── TensorPadding.h │ │ ├── TensorPatch.h │ │ ├── TensorRandom.h │ │ ├── TensorReduction.h │ │ ├── TensorReductionCuda.h │ │ ├── TensorReductionSycl.h │ │ ├── TensorRef.h │ │ ├── TensorReverse.h │ │ ├── TensorScan.h │ │ ├── TensorShuffling.h │ │ ├── TensorStorage.h │ │ ├── TensorStriding.h │ │ ├── TensorSycl.h │ │ ├── TensorSyclConvertToDeviceExpression.h │ │ ├── TensorSyclExprConstructor.h │ │ ├── TensorSyclExtractAccessor.h │ │ ├── TensorSyclExtractFunctors.h │ │ ├── TensorSyclLeafCount.h │ │ ├── TensorSyclPlaceHolderExpr.h │ │ ├── TensorSyclRun.h │ │ ├── TensorSyclTuple.h │ │ ├── TensorTraits.h │ │ ├── TensorUInt128.h │ │ └── TensorVolumePatch.h │ │ ├── TensorSymmetry │ │ ├── DynamicSymmetry.h │ │ ├── StaticSymmetry.h │ │ ├── Symmetry.h │ │ └── util │ │ │ └── TemplateGroupTheory.h │ │ ├── ThreadPool │ │ ├── EventCount.h │ │ ├── NonBlockingThreadPool.h │ │ ├── RunQueue.h │ │ ├── SimpleThreadPool.h │ │ ├── ThreadEnvironment.h │ │ ├── ThreadLocal.h │ │ ├── ThreadPoolInterface.h │ │ └── ThreadYield.h │ │ └── util │ │ ├── CXX11Meta.h │ │ ├── CXX11Workarounds.h │ │ ├── EmulateArray.h │ │ ├── EmulateCXX11Meta.h │ │ └── MaxSizeVector.h ├── EulerAngles ├── FFT ├── IterativeSolvers ├── KroneckerProduct ├── LevenbergMarquardt ├── MPRealSupport ├── MatrixFunctions ├── MoreVectorization ├── NonLinearOptimization ├── NumericalDiff ├── OpenGLSupport ├── Polynomials ├── Skyline ├── SparseExtra ├── SpecialFunctions ├── Splines └── src │ ├── AutoDiff │ ├── AutoDiffJacobian.h │ ├── AutoDiffScalar.h │ └── AutoDiffVector.h │ ├── BVH │ ├── BVAlgorithms.h │ └── KdBVH.h │ ├── Eigenvalues │ └── ArpackSelfAdjointEigenSolver.h │ ├── EulerAngles │ ├── CMakeLists.txt │ ├── EulerAngles.h │ └── EulerSystem.h │ ├── FFT │ ├── ei_fftw_impl.h │ └── ei_kissfft_impl.h │ ├── IterativeSolvers │ ├── ConstrainedConjGrad.h │ ├── DGMRES.h │ ├── GMRES.h │ ├── IncompleteLU.h │ ├── IterationController.h │ ├── MINRES.h │ └── Scaling.h │ ├── KroneckerProduct │ └── KroneckerTensorProduct.h │ ├── LevenbergMarquardt │ ├── CopyrightMINPACK.txt │ ├── LMcovar.h │ ├── LMonestep.h │ ├── LMpar.h │ ├── LMqrsolv.h │ └── LevenbergMarquardt.h │ ├── MatrixFunctions │ ├── MatrixExponential.h │ ├── MatrixFunction.h │ ├── MatrixLogarithm.h │ ├── MatrixPower.h │ ├── MatrixSquareRoot.h │ └── StemFunction.h │ ├── MoreVectorization │ └── MathFunctions.h │ ├── NonLinearOptimization │ ├── HybridNonLinearSolver.h │ ├── LevenbergMarquardt.h │ ├── chkder.h │ ├── covar.h │ ├── dogleg.h │ ├── fdjac1.h │ ├── lmpar.h │ ├── qrsolv.h │ ├── r1mpyq.h │ ├── r1updt.h │ └── rwupdt.h │ ├── NumericalDiff │ └── NumericalDiff.h │ ├── Polynomials │ ├── Companion.h │ ├── PolynomialSolver.h │ └── PolynomialUtils.h │ ├── Skyline │ ├── SkylineInplaceLU.h │ ├── SkylineMatrix.h │ ├── SkylineMatrixBase.h │ ├── SkylineProduct.h │ ├── SkylineStorage.h │ └── SkylineUtil.h │ ├── SparseExtra │ ├── BlockOfDynamicSparseMatrix.h │ ├── BlockSparseMatrix.h │ ├── DynamicSparseMatrix.h │ ├── MarketIO.h │ ├── MatrixMarketIterator.h │ └── RandomSetter.h │ ├── SpecialFunctions │ ├── SpecialFunctionsArrayAPI.h │ ├── SpecialFunctionsFunctors.h │ ├── SpecialFunctionsHalf.h │ ├── SpecialFunctionsImpl.h │ ├── SpecialFunctionsPacketMath.h │ └── arch │ │ └── CUDA │ │ └── CudaSpecialFunctions.h │ └── Splines │ ├── Spline.h │ ├── SplineFitting.h │ └── SplineFwd.h ├── README.txt ├── bench └── bench_svd.cpp ├── doc ├── CMakeLists.txt ├── Overview.dox ├── eigendoxy_layout.xml.in ├── examples │ ├── BVH_Example.cpp │ ├── CMakeLists.txt │ ├── EulerAngles.cpp │ ├── FFT.cpp │ ├── MatrixExponential.cpp │ ├── MatrixFunction.cpp │ ├── MatrixLogarithm.cpp │ ├── MatrixPower.cpp │ ├── MatrixPower_optimal.cpp │ ├── MatrixSine.cpp │ ├── MatrixSinh.cpp │ ├── MatrixSquareRoot.cpp │ ├── PolynomialSolver1.cpp │ └── PolynomialUtils1.cpp └── snippets │ └── CMakeLists.txt └── test ├── BVH.cpp ├── CMakeLists.txt ├── EulerAngles.cpp ├── FFT.cpp ├── FFTW.cpp ├── NonLinearOptimization.cpp ├── NumericalDiff.cpp ├── alignedvector3.cpp ├── autodiff.cpp ├── autodiff_scalar.cpp ├── cxx11_eventcount.cpp ├── cxx11_meta.cpp ├── cxx11_non_blocking_thread_pool.cpp ├── cxx11_runqueue.cpp ├── cxx11_tensor_argmax.cpp ├── cxx11_tensor_argmax_cuda.cu ├── cxx11_tensor_assign.cpp ├── cxx11_tensor_broadcast_sycl.cpp ├── cxx11_tensor_broadcasting.cpp ├── cxx11_tensor_cast_float16_cuda.cu ├── cxx11_tensor_casts.cpp ├── cxx11_tensor_chipping.cpp ├── cxx11_tensor_comparisons.cpp ├── cxx11_tensor_complex_cuda.cu ├── cxx11_tensor_complex_cwise_ops_cuda.cu ├── cxx11_tensor_concatenation.cpp ├── cxx11_tensor_const.cpp ├── cxx11_tensor_contract_cuda.cu ├── cxx11_tensor_contraction.cpp ├── cxx11_tensor_convolution.cpp ├── cxx11_tensor_cuda.cu ├── cxx11_tensor_custom_index.cpp ├── cxx11_tensor_custom_op.cpp ├── cxx11_tensor_device.cu ├── cxx11_tensor_device_sycl.cpp ├── cxx11_tensor_dimension.cpp ├── cxx11_tensor_empty.cpp ├── cxx11_tensor_expr.cpp ├── cxx11_tensor_fft.cpp ├── cxx11_tensor_fixed_size.cpp ├── cxx11_tensor_forced_eval.cpp ├── cxx11_tensor_forced_eval_sycl.cpp ├── cxx11_tensor_generator.cpp ├── cxx11_tensor_ifft.cpp ├── cxx11_tensor_image_patch.cpp ├── cxx11_tensor_index_list.cpp ├── cxx11_tensor_inflation.cpp ├── cxx11_tensor_intdiv.cpp ├── cxx11_tensor_io.cpp ├── cxx11_tensor_layout_swap.cpp ├── cxx11_tensor_lvalue.cpp ├── cxx11_tensor_map.cpp ├── cxx11_tensor_math.cpp ├── cxx11_tensor_mixed_indices.cpp ├── cxx11_tensor_morphing.cpp ├── cxx11_tensor_notification.cpp ├── cxx11_tensor_of_complex.cpp ├── cxx11_tensor_of_const_values.cpp ├── cxx11_tensor_of_float16_cuda.cu ├── cxx11_tensor_of_strings.cpp ├── cxx11_tensor_padding.cpp ├── cxx11_tensor_patch.cpp ├── cxx11_tensor_random.cpp ├── cxx11_tensor_random_cuda.cu ├── cxx11_tensor_reduction.cpp ├── cxx11_tensor_reduction_cuda.cu ├── cxx11_tensor_reduction_sycl.cpp ├── cxx11_tensor_ref.cpp ├── cxx11_tensor_reverse.cpp ├── cxx11_tensor_roundings.cpp ├── cxx11_tensor_scan.cpp ├── cxx11_tensor_scan_cuda.cu ├── cxx11_tensor_shuffling.cpp ├── cxx11_tensor_simple.cpp ├── cxx11_tensor_striding.cpp ├── cxx11_tensor_sugar.cpp ├── cxx11_tensor_sycl.cpp ├── cxx11_tensor_symmetry.cpp ├── cxx11_tensor_thread_pool.cpp ├── cxx11_tensor_uint128.cpp ├── cxx11_tensor_volume_patch.cpp ├── dgmres.cpp ├── forward_adolc.cpp ├── gmres.cpp ├── kronecker_product.cpp ├── levenberg_marquardt.cpp ├── matrix_exponential.cpp ├── matrix_function.cpp ├── matrix_functions.h ├── matrix_power.cpp ├── matrix_square_root.cpp ├── minres.cpp ├── mpreal └── mpreal.h ├── mpreal_support.cpp ├── openglsupport.cpp ├── polynomialsolver.cpp ├── polynomialutils.cpp ├── sparse_extra.cpp ├── special_functions.cpp └── splines.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | CMakeLists.txt.user 2 | -------------------------------------------------------------------------------- /docs/img/video_cover.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/docs/img/video_cover.jpg -------------------------------------------------------------------------------- /include/backend/global_focus_funcs.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | namespace cmax_slam { 6 | 7 | enum { 8 | VARIANCE_CONTRAST, // 0 9 | MEAN_SQUARE_CONTRAST, 10 | }; 11 | 12 | double computeContrast( 13 | const cv::Mat& image, 14 | std::vector* image_deriv, // list of images 15 | cv::Mat* gradient, 16 | const int contrast_measure 17 | ); 18 | 19 | // Counters for function and gradient evaluations 20 | extern unsigned int fcount, gcount; 21 | 22 | } // namespace 23 | -------------------------------------------------------------------------------- /include/backend/global_optim_contrast_gsl.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "backend/global_focus_funcs.h" 4 | #include "backend/pose_graph_optimizer.h" 5 | #include 6 | #include 7 | 8 | 9 | // GNU-GSL optimizer: Analytical derivative 10 | void global_contrast_fdf (const gsl_vector *v, void* ptr, double *f, gsl_vector *df); 11 | double global_contrast_f (const gsl_vector *v, void* ptr); 12 | void global_contrast_df (const gsl_vector *v, void* ptr, gsl_vector *df); 13 | void global_testDeriv_contrast_fdf (const gsl_vector *v, void* ptr, double *f, gsl_vector *df); 14 | -------------------------------------------------------------------------------- /include/frontend/local_focus_funcs.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | namespace cmax_slam { 6 | 7 | enum { 8 | VARIANCE_CONTRAST, // 0 9 | MEAN_SQUARE_CONTRAST, 10 | IMAGE_GRADIENT_MAGNITUDE_CONTRAST 11 | }; 12 | 13 | double computeContrast( 14 | const cv::Mat& image, 15 | cv::Mat* image_deriv, 16 | cv::Matx13d* gradient, 17 | const int contrast_measure 18 | ); 19 | 20 | // Counters for function and gradient evaluations 21 | extern unsigned int fcount, gcount; 22 | 23 | } // namespace 24 | -------------------------------------------------------------------------------- /src/node.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | #include "cmax_slam.h" 6 | 7 | int main(int argc, char* argv[]) 8 | { 9 | // Initialize Google's logging library. 10 | google::InitGoogleLogging(argv[0]); 11 | google::ParseCommandLineFlags(&argc, &argv, true); 12 | google::InstallFailureSignalHandler(); 13 | FLAGS_alsologtostderr = true; 14 | FLAGS_colorlogtostderr = true; 15 | 16 | ros::init(argc, argv, "cmax_slam"); 17 | 18 | ros::NodeHandle nh; 19 | 20 | cmax_slam::CMaxSLAM slam(nh); 21 | 22 | ros::spin(); 23 | 24 | return 0; 25 | } 26 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/.clang-format: -------------------------------------------------------------------------------- 1 | --- 2 | Language: Cpp 3 | BasedOnStyle: Google 4 | IndentWidth: 2 5 | IncludeBlocks: Preserve 6 | ... 7 | 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/.gitignore: -------------------------------------------------------------------------------- 1 | cmake-build* 2 | .idea 3 | CMakeLists.txt.user 4 | build* 5 | public 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "thirdparty/Sophus"] 2 | path = thirdparty/Sophus 3 | url = https://github.com/strasdat/Sophus.git 4 | [submodule "thirdparty/cereal"] 5 | path = thirdparty/cereal 6 | url = https://github.com/USCiLab/cereal.git 7 | [submodule "test/googletest"] 8 | path = test/googletest 9 | url = https://github.com/google/googletest.git 10 | [submodule "test/benchmark"] 11 | path = test/benchmark 12 | url = https://github.com/google/benchmark.git 13 | [submodule "thirdparty/eigen"] 14 | path = thirdparty/eigen 15 | url = https://gitlab.com/libeigen/eigen.git 16 | 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-------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/.clang-format: -------------------------------------------------------------------------------- 1 | --- 2 | Language: Cpp 3 | BasedOnStyle: Google 4 | PointerAlignment: Left 5 | ... 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/WORKSPACE: -------------------------------------------------------------------------------- 1 | workspace(name = "com_github_google_benchmark") 2 | 3 | load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive") 4 | 5 | http_archive( 6 | name = "com_google_googletest", 7 | urls = ["https://github.com/google/googletest/archive/3f0cf6b62ad1eb50d8736538363d3580dd640c3e.zip"], 8 | strip_prefix = "googletest-3f0cf6b62ad1eb50d8736538363d3580dd640c3e", 9 | ) 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/_config.yml: -------------------------------------------------------------------------------- 1 | theme: jekyll-theme-midnight -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/cmake/Config.cmake.in: -------------------------------------------------------------------------------- 1 | include("${CMAKE_CURRENT_LIST_DIR}/@targets_export_name@.cmake") 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/cmake/benchmark.pc.in: -------------------------------------------------------------------------------- 1 | prefix=@CMAKE_INSTALL_PREFIX@ 2 | exec_prefix=${prefix} 3 | libdir=${prefix}/lib 4 | includedir=${prefix}/include 5 | 6 | Name: @PROJECT_NAME@ 7 | Description: Google microbenchmark framework 8 | Version: @VERSION@ 9 | 10 | Libs: -L${libdir} -lbenchmark 11 | Libs.private: -lpthread 12 | Cflags: -I${includedir} 13 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/cmake/gnu_posix_regex.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | int main() { 4 | std::string str = "test0159"; 5 | regex_t re; 6 | int ec = regcomp(&re, "^[a-z]+[0-9]+$", REG_EXTENDED | REG_NOSUB); 7 | if (ec != 0) { 8 | return ec; 9 | } 10 | return regexec(&re, str.c_str(), 0, nullptr, 0) ? -1 : 0; 11 | } 12 | 13 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/cmake/llvm-toolchain.cmake: -------------------------------------------------------------------------------- 1 | find_package(LLVMAr REQUIRED) 2 | set(CMAKE_AR "${LLVMAR_EXECUTABLE}" CACHE FILEPATH "" FORCE) 3 | 4 | find_package(LLVMNm REQUIRED) 5 | set(CMAKE_NM "${LLVMNM_EXECUTABLE}" CACHE FILEPATH "" FORCE) 6 | 7 | find_package(LLVMRanLib REQUIRED) 8 | set(CMAKE_RANLIB "${LLVMRANLIB_EXECUTABLE}" CACHE FILEPATH "" FORCE) 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/cmake/posix_regex.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | int main() { 4 | std::string str = "test0159"; 5 | regex_t re; 6 | int ec = regcomp(&re, "^[a-z]+[0-9]+$", REG_EXTENDED | REG_NOSUB); 7 | if (ec != 0) { 8 | return ec; 9 | } 10 | int ret = regexec(&re, str.c_str(), 0, nullptr, 0) ? -1 : 0; 11 | regfree(&re); 12 | return ret; 13 | } 14 | 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/cmake/split_list.cmake: -------------------------------------------------------------------------------- 1 | macro(split_list listname) 2 | string(REPLACE ";" " " ${listname} "${${listname}}") 3 | endmacro() 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/cmake/std_regex.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | int main() { 4 | const std::string str = "test0159"; 5 | std::regex re; 6 | re = std::regex("^[a-z]+[0-9]+$", 7 | std::regex_constants::extended | std::regex_constants::nosubs); 8 | return std::regex_search(str, re) ? 0 : -1; 9 | } 10 | 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/cmake/steady_clock.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | int main() { 4 | typedef std::chrono::steady_clock Clock; 5 | Clock::time_point tp = Clock::now(); 6 | ((void)tp); 7 | } 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/cmake/thread_safety_attributes.cpp: -------------------------------------------------------------------------------- 1 | #define HAVE_THREAD_SAFETY_ATTRIBUTES 2 | #include "../src/mutex.h" 3 | 4 | int main() {} 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/conan/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.11) 2 | project(cmake_wrapper) 3 | 4 | include(conanbuildinfo.cmake) 5 | conan_basic_setup() 6 | 7 | include(${CMAKE_SOURCE_DIR}/CMakeListsOriginal.txt) 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/conan/test_package/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.11) 2 | project(test_package) 3 | 4 | set(CMAKE_VERBOSE_MAKEFILE TRUE) 5 | 6 | include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake) 7 | conan_basic_setup() 8 | 9 | add_executable(${PROJECT_NAME} test_package.cpp) 10 | target_link_libraries(${PROJECT_NAME} ${CONAN_LIBS}) 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/conan/test_package/conanfile.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -*- 3 | 4 | from conans import ConanFile, CMake 5 | import os 6 | 7 | 8 | class TestPackageConan(ConanFile): 9 | settings = "os", "compiler", "build_type", "arch" 10 | generators = "cmake" 11 | 12 | def build(self): 13 | cmake = CMake(self) 14 | cmake.configure() 15 | cmake.build() 16 | 17 | def test(self): 18 | bin_path = os.path.join("bin", "test_package") 19 | self.run(bin_path, run_environment=True) 20 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/conan/test_package/test_package.cpp: -------------------------------------------------------------------------------- 1 | #include "benchmark/benchmark.h" 2 | 3 | void BM_StringCreation(benchmark::State& state) { 4 | while (state.KeepRunning()) 5 | std::string empty_string; 6 | } 7 | 8 | BENCHMARK(BM_StringCreation); 9 | 10 | void BM_StringCopy(benchmark::State& state) { 11 | std::string x = "hello"; 12 | while (state.KeepRunning()) 13 | std::string copy(x); 14 | } 15 | 16 | BENCHMARK(BM_StringCopy); 17 | 18 | BENCHMARK_MAIN(); 19 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/docs/_config.yml: -------------------------------------------------------------------------------- 1 | theme: jekyll-theme-midnight -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/src/benchmark_api_internal.cc: -------------------------------------------------------------------------------- 1 | #include "benchmark_api_internal.h" 2 | 3 | namespace benchmark { 4 | namespace internal { 5 | 6 | State BenchmarkInstance::Run(IterationCount iters, int thread_id, 7 | internal::ThreadTimer* timer, 8 | internal::ThreadManager* manager) const { 9 | State st(iters, arg, thread_id, threads, timer, manager); 10 | benchmark->Run(st); 11 | return st; 12 | } 13 | 14 | } // internal 15 | } // benchmark 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/src/sleep.h: -------------------------------------------------------------------------------- 1 | #ifndef BENCHMARK_SLEEP_H_ 2 | #define BENCHMARK_SLEEP_H_ 3 | 4 | namespace benchmark { 5 | const int kNumMillisPerSecond = 1000; 6 | const int kNumMicrosPerMilli = 1000; 7 | const int kNumMicrosPerSecond = kNumMillisPerSecond * 1000; 8 | const int kNumNanosPerMicro = 1000; 9 | const int kNumNanosPerSecond = kNumNanosPerMicro * kNumMicrosPerSecond; 10 | 11 | void SleepForMilliseconds(int milliseconds); 12 | void SleepForSeconds(double seconds); 13 | } // end namespace benchmark 14 | 15 | #endif // BENCHMARK_SLEEP_H_ 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/test/link_main_test.cc: -------------------------------------------------------------------------------- 1 | #include "benchmark/benchmark.h" 2 | 3 | void BM_empty(benchmark::State& state) { 4 | for (auto _ : state) { 5 | benchmark::DoNotOptimize(state.iterations()); 6 | } 7 | } 8 | BENCHMARK(BM_empty); 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/benchmark/tools/gbench/__init__.py: -------------------------------------------------------------------------------- 1 | """Google Benchmark tooling""" 2 | 3 | __author__ = 'Eric Fiselier' 4 | __email__ = 'eric@efcs.ca' 5 | __versioninfo__ = (0, 5, 0) 6 | __version__ = '.'.join(str(v) for v in __versioninfo__) + 'dev' 7 | 8 | __all__ = [] 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/.clang-format: -------------------------------------------------------------------------------- 1 | # Run manually to reformat a file: 2 | # clang-format -i --style=file 3 | Language: Cpp 4 | BasedOnStyle: Google 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/.github/ISSUE_TEMPLATE/config.yml: -------------------------------------------------------------------------------- 1 | blank_issues_enabled: false 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/docs/_config.yml: -------------------------------------------------------------------------------- 1 | title: GoogleTest 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/docs/assets/css/style.scss: -------------------------------------------------------------------------------- 1 | --- 2 | --- 3 | 4 | @import "jekyll-theme-primer"; 5 | @import "main"; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/docs/community_created_documentation.md: -------------------------------------------------------------------------------- 1 | # Community-Created Documentation 2 | 3 | The following is a list, in no particular order, of links to documentation 4 | created by the Googletest community. 5 | 6 | * [Googlemock Insights](https://github.com/ElectricRCAircraftGuy/eRCaGuy_dotfiles/blob/master/googletest/insights.md), 7 | by [ElectricRCAircraftGuy](https://github.com/ElectricRCAircraftGuy) 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googlemock/cmake/gmock.pc.in: -------------------------------------------------------------------------------- 1 | libdir=@CMAKE_INSTALL_FULL_LIBDIR@ 2 | includedir=@CMAKE_INSTALL_FULL_INCLUDEDIR@ 3 | 4 | Name: gmock 5 | Description: GoogleMock (without main() function) 6 | Version: @PROJECT_VERSION@ 7 | URL: https://github.com/google/googletest 8 | Requires: gtest = @PROJECT_VERSION@ 9 | Libs: -L${libdir} -lgmock @CMAKE_THREAD_LIBS_INIT@ 10 | Cflags: -I${includedir} @GTEST_HAS_PTHREAD_MACRO@ 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googlemock/cmake/gmock_main.pc.in: -------------------------------------------------------------------------------- 1 | libdir=@CMAKE_INSTALL_FULL_LIBDIR@ 2 | includedir=@CMAKE_INSTALL_FULL_INCLUDEDIR@ 3 | 4 | Name: gmock_main 5 | Description: GoogleMock (with main() function) 6 | Version: @PROJECT_VERSION@ 7 | URL: https://github.com/google/googletest 8 | Requires: gmock = @PROJECT_VERSION@ 9 | Libs: -L${libdir} -lgmock_main @CMAKE_THREAD_LIBS_INIT@ 10 | Cflags: -I${includedir} @GTEST_HAS_PTHREAD_MACRO@ 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googlemock/docs/README.md: -------------------------------------------------------------------------------- 1 | # Content Moved 2 | 3 | We are working on updates to the GoogleTest documentation, which has moved to 4 | the top-level [docs](../../docs) directory. 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googlemock/include/gmock/internal/custom/README.md: -------------------------------------------------------------------------------- 1 | # Customization Points 2 | 3 | The custom directory is an injection point for custom user configurations. 4 | 5 | ## Header `gmock-port.h` 6 | 7 | The following macros can be defined: 8 | 9 | ### Flag related macros: 10 | 11 | * `GMOCK_DECLARE_bool_(name)` 12 | * `GMOCK_DECLARE_int32_(name)` 13 | * `GMOCK_DECLARE_string_(name)` 14 | * `GMOCK_DEFINE_bool_(name, default_val, doc)` 15 | * `GMOCK_DEFINE_int32_(name, default_val, doc)` 16 | * `GMOCK_DEFINE_string_(name, default_val, doc)` 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googlemock/include/gmock/internal/custom/gmock-generated-actions.h: -------------------------------------------------------------------------------- 1 | // GOOGLETEST_CM0002 DO NOT DELETE 2 | 3 | #ifndef GOOGLEMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_GENERATED_ACTIONS_H_ 4 | #define GOOGLEMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_GENERATED_ACTIONS_H_ 5 | 6 | #endif // GOOGLEMOCK_INCLUDE_GMOCK_INTERNAL_CUSTOM_GMOCK_GENERATED_ACTIONS_H_ 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googlemock/scripts/README.md: -------------------------------------------------------------------------------- 1 | # Please Note: 2 | 3 | Files in this directory are no longer supported by the maintainers. They 4 | represent mostly historical artifacts and supported by the community only. There 5 | is no guarantee whatsoever that these scripts still work. 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googlemock/scripts/generator/cpp/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/test/googletest/googlemock/scripts/generator/cpp/__init__.py -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googletest/cmake/Config.cmake.in: -------------------------------------------------------------------------------- 1 | @PACKAGE_INIT@ 2 | include(CMakeFindDependencyMacro) 3 | if (@GTEST_HAS_PTHREAD@) 4 | set(THREADS_PREFER_PTHREAD_FLAG @THREADS_PREFER_PTHREAD_FLAG@) 5 | find_dependency(Threads) 6 | endif() 7 | 8 | include("${CMAKE_CURRENT_LIST_DIR}/@targets_export_name@.cmake") 9 | check_required_components("@project_name@") 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googletest/cmake/gtest.pc.in: -------------------------------------------------------------------------------- 1 | libdir=@CMAKE_INSTALL_FULL_LIBDIR@ 2 | includedir=@CMAKE_INSTALL_FULL_INCLUDEDIR@ 3 | 4 | Name: gtest 5 | Description: GoogleTest (without main() function) 6 | Version: @PROJECT_VERSION@ 7 | URL: https://github.com/google/googletest 8 | Libs: -L${libdir} -lgtest @CMAKE_THREAD_LIBS_INIT@ 9 | Cflags: -I${includedir} @GTEST_HAS_PTHREAD_MACRO@ 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googletest/cmake/gtest_main.pc.in: -------------------------------------------------------------------------------- 1 | libdir=@CMAKE_INSTALL_FULL_LIBDIR@ 2 | includedir=@CMAKE_INSTALL_FULL_INCLUDEDIR@ 3 | 4 | Name: gtest_main 5 | Description: GoogleTest (with main() function) 6 | Version: @PROJECT_VERSION@ 7 | URL: https://github.com/google/googletest 8 | Requires: gtest = @PROJECT_VERSION@ 9 | Libs: -L${libdir} -lgtest_main @CMAKE_THREAD_LIBS_INIT@ 10 | Cflags: -I${includedir} @GTEST_HAS_PTHREAD_MACRO@ 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googletest/docs/README.md: -------------------------------------------------------------------------------- 1 | # Content Moved 2 | 3 | We are working on updates to the GoogleTest documentation, which has moved to 4 | the top-level [docs](../../docs) directory. 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/test/googletest/googletest/scripts/README.md: -------------------------------------------------------------------------------- 1 | # Please Note: 2 | 3 | Files in this directory are no longer supported by the maintainers. They 4 | represent mosty historical artifacts and supported by the community only. There 5 | is no guarantee whatsoever that these scripts still work. 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/.gitignore: -------------------------------------------------------------------------------- 1 | build 2 | CMakeLists.txt.user 3 | *.pyc 4 | .vscode/settings.json -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/SophusConfig.cmake.in: -------------------------------------------------------------------------------- 1 | @PACKAGE_INIT@ 2 | 3 | include (CMakeFindDependencyMacro) 4 | 5 | @Eigen3_DEPENDENCY@ 6 | 7 | include ("${CMAKE_CURRENT_LIST_DIR}/SophusTargets.cmake") 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/examples/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Tests to run 2 | SET( EXAMPLE_SOURCES HelloSO3) 3 | 4 | FOREACH(example_src ${EXAMPLE_SOURCES}) 5 | ADD_EXECUTABLE( ${example_src} ${example_src}.cpp) 6 | TARGET_LINK_LIBRARIES( ${example_src} sophus ) 7 | ENDFOREACH(example_src) 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/make_docs.sh: -------------------------------------------------------------------------------- 1 | doxygen doxyfile 2 | doxyrest_b/build/doxyrest/bin/Release/doxyrest -c doxyrest-config.lua 3 | sphinx-build -b html rst-dir html-dir -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/py/cpp_gencode/Se2_Dx_this_mul_exp_x_at_0.cpp: -------------------------------------------------------------------------------- 1 | Scalar const c0 = -c[1]; 2 | result[0] = 0; 3 | result[1] = 0; 4 | result[2] = c0; 5 | result[3] = 0; 6 | result[4] = 0; 7 | result[5] = c[0]; 8 | result[6] = c[0]; 9 | result[7] = c0; 10 | result[8] = 0; 11 | result[9] = c[1]; 12 | result[10] = c[0]; 13 | result[11] = 0; 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/py/cpp_gencode/So2_Dx_exp_x.cpp: -------------------------------------------------------------------------------- 1 | result[0] = -sin(theta); 2 | result[1] = cos(theta); 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/py/cpp_gencode/So2_Dx_this_mul_exp_x_at_0.cpp: -------------------------------------------------------------------------------- 1 | result[0] = -c[1]; 2 | result[1] = c[0]; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/py/cpp_gencode/So3_Dx_this_mul_exp_x_at_0.cpp: -------------------------------------------------------------------------------- 1 | Scalar const c0 = 0.5*q.w(); 2 | Scalar const c1 = 0.5*q.z(); 3 | Scalar const c2 = -c1; 4 | Scalar const c3 = 0.5*q.y(); 5 | Scalar const c4 = 0.5*q.x(); 6 | Scalar const c5 = -c4; 7 | Scalar const c6 = -c3; 8 | result[0] = c0; 9 | result[1] = c2; 10 | result[2] = c3; 11 | result[3] = c1; 12 | result[4] = c0; 13 | result[5] = c5; 14 | result[6] = c6; 15 | result[7] = c4; 16 | result[8] = c0; 17 | result[9] = c5; 18 | result[10] = c6; 19 | result[11] = c2; 20 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/py/run_tests.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | EXIT=0 4 | 5 | python3 -m sophus.complex || EXIT=$? 6 | python3 -m sophus.quaternion || EXIT=$? 7 | python3 -m sophus.dual_quaternion || EXIT=$? 8 | python3 -m sophus.so2 || EXIT=$? 9 | python3 -m sophus.se2 || EXIT=$? 10 | python3 -m sophus.so3 || EXIT=$? 11 | python3 -m sophus.se3 || EXIT=$? 12 | 13 | exit $EXIT 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/py/sophus/__init__.py: -------------------------------------------------------------------------------- 1 | from sophus.cse_codegen import cse_codegen 2 | from sophus.matrix import dot, squared_norm, Vector2, Vector3, Vector6, ZeroVector2, ZeroVector3, ZeroVector6, proj, unproj 3 | from sophus.complex import Complex 4 | from sophus.quaternion import Quaternion 5 | from sophus.so2 import So2 6 | from sophus.so3 import So3 7 | from sophus.se3 import Se3 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/py/sophus/cse_codegen.py: -------------------------------------------------------------------------------- 1 | import sympy 2 | import io 3 | 4 | 5 | def cse_codegen(symbols): 6 | cse_results = sympy.cse(symbols, sympy.numbered_symbols("c")) 7 | output = io.StringIO() 8 | for helper in cse_results[0]: 9 | output.write("Scalar const ") 10 | output.write(sympy.printing.ccode(helper[1], helper[0])) 11 | output.write("\n") 12 | assert len(cse_results[1]) == 1 13 | 14 | output.write(sympy.printing.ccode(cse_results[1][0], "result")) 15 | output.write("\n") 16 | output.seek(0) 17 | return output 18 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/py/sophus/so3_codegen.py: -------------------------------------------------------------------------------- 1 | import sophus 2 | from sympy.utilities.codegen import codegen 3 | import sympy 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/rst-dir/page_index.rst: -------------------------------------------------------------------------------- 1 | Sophus - Lie groups for 2d/3d Geometry 2 | ======================================= 3 | 4 | .. toctree:: 5 | :maxdepth: 2 6 | :caption: Contents: 7 | 8 | GitHub Page 9 | pysophus -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/rst-dir/pysophus.rst: -------------------------------------------------------------------------------- 1 | Python API 2 | ========== 3 | 4 | .. automodule:: sophus.matrix 5 | :members: 6 | 7 | .. automodule:: sophus.complex 8 | :members: 9 | 10 | .. automodule:: sophus.quaternion 11 | :members: 12 | 13 | .. automodule:: sophus.so2 14 | :members: 15 | 16 | .. automodule:: sophus.so3 17 | :members: 18 | 19 | .. automodule:: sophus.se2 20 | :members: 21 | 22 | .. automodule:: sophus.se3 23 | :members: -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/run_format.sh: -------------------------------------------------------------------------------- 1 | find . -type d \( -path ./py -o -path ./doxyrest_b -o -path "./*/CMakeFiles/*" \) -prune -o -iname *.hpp -o -iname *.cpp -print | xargs clang-format -i 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/scripts/install_docs_deps.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | set -x # echo on 4 | set -e # exit on error 5 | 6 | sudo apt-get -qq update 7 | sudo apt-get install doxygen liblua5.3-dev 8 | pip3 install 'sphinx==2.0.1' 9 | pip3 install sphinx_rtd_theme 10 | pip3 install sympy 11 | 12 | git clone https://github.com/vovkos/doxyrest_b 13 | cd doxyrest_b 14 | git reset --hard ad45c064d1199e71b8cae5aa66d4251c4228b958 15 | git submodule update --init 16 | mkdir build 17 | cd build 18 | cmake .. 19 | cmake --build . 20 | 21 | cd ../.. -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/scripts/run_cpp_tests.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | set -x # echo on 4 | set -e # exit on error 5 | 6 | mkdir build 7 | cd build 8 | pwd 9 | cmake -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=$BUILD_TYPE .. 10 | make -j2 11 | make CTEST_OUTPUT_ON_FAILURE=1 test 12 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/sophus/example_ensure_handler.cpp: -------------------------------------------------------------------------------- 1 | #include "common.hpp" 2 | 3 | #include 4 | #include 5 | 6 | namespace Sophus { 7 | void ensureFailed(char const* function, char const* file, int line, 8 | char const* description) { 9 | std::printf("Sophus ensure failed in function '%s', file '%s', line %d.\n", 10 | file, function, line); 11 | std::printf("Description: %s\n", description); 12 | std::abort(); 13 | } 14 | } // namespace Sophus 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/Sophus/test/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ADD_SUBDIRECTORY(core) 2 | ADD_SUBDIRECTORY(ceres) 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/cereal/Config.cmake.in: -------------------------------------------------------------------------------- 1 | @PACKAGE_INIT@ 2 | 3 | include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/cereal/sandbox/sandbox_shared_lib/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_library(sandbox_vs_dll SHARED base.cpp derived.cpp) 2 | target_link_libraries(sandbox_vs_dll ${CEREAL_THREAD_LIBS}) 3 | target_include_directories(sandbox_vs_dll PUBLIC 4 | $ 5 | $ 6 | ) 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/cereal/sandbox/sandbox_shared_lib/base.cpp: -------------------------------------------------------------------------------- 1 | #ifndef CEREAL_DLL_USE 2 | #define CEREAL_DLL_MAKE 3 | #endif 4 | #include "base.hpp" 5 | 6 | template void Base::serialize 7 | ( cereal::XMLOutputArchive & ar, std::uint32_t const version ); 8 | template void Base::serialize 9 | ( cereal::XMLInputArchive & ar, std::uint32_t const version ); 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/cereal/sandbox/sandbox_shared_lib/derived.cpp: -------------------------------------------------------------------------------- 1 | #ifndef CEREAL_DLL_USE 2 | #define CEREAL_DLL_MAKE 3 | #endif 4 | #include "derived.hpp" 5 | 6 | template void Derived::serialize 7 | ( cereal::XMLOutputArchive & ar, std::uint32_t const version ); 8 | 9 | template void Derived::serialize 10 | ( cereal::XMLInputArchive & ar, std::uint32_t const version ); 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/cereal/scripts/add_rapidjson_prefix.sh: -------------------------------------------------------------------------------- 1 | # Applies renaming within all of the rapidjson source files to add a cereal prefix 2 | find ./../include/cereal/external/rapidjson/ -type f -name \*.h -exec sed -i "s/RAPIDJSON_/CEREAL_RAPIDJSON_/g" {} \; 3 | echo "Remember to backport any cereal specific changes not in this version of RapidJSON!" 4 | echo "See https://github.com/USCiLab/cereal/commits/develop/include/cereal/external/rapidjson" 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/cereal/scripts/renameincludes.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | destdir="include_renamed" 4 | 5 | echo -n "New prefix: " 6 | read newprefix 7 | 8 | cp -r include ${destdir} 9 | 10 | newprefix=$(echo ${newprefix} | sed -e 's/\//\\\//') 11 | 12 | find ${destdir} -name '*.hpp' -exec sed -i "s/#include 2 | #include 3 | using namespace Eigen; 4 | using namespace std; 5 | 6 | int main() 7 | { 8 | typedef Matrix Vec; 9 | Vec v(SIZE); 10 | v.setZero(); 11 | v[0] = 1; 12 | v[1] = 2; 13 | for(int i = 0; i < 1000000; i++) 14 | { 15 | v.coeffRef(0) += v.sum() * SCALAR(1e-20); 16 | } 17 | cout << v.sum() << endl; 18 | } 19 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/cmake/FindGMM.cmake: -------------------------------------------------------------------------------- 1 | if (GMM_INCLUDE_DIR) 2 | # in cache already 3 | set(GMM_FOUND TRUE) 4 | else (GMM_INCLUDE_DIR) 5 | 6 | find_path(GMM_INCLUDE_DIR NAMES gmm/gmm.h 7 | PATHS 8 | ${INCLUDE_INSTALL_DIR} 9 | ${GMM_INCLUDE_PATH} 10 | ) 11 | 12 | include(FindPackageHandleStandardArgs) 13 | FIND_PACKAGE_HANDLE_STANDARD_ARGS(GMM DEFAULT_MSG GMM_INCLUDE_DIR ) 14 | 15 | mark_as_advanced(GMM_INCLUDE_DIR) 16 | 17 | endif(GMM_INCLUDE_DIR) 18 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/static/intel_bench_fixed_size.hh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/static/intel_bench_fixed_size.hh -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/static/static_size_generator.hh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/static/static_size_generator.hh -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/timers/STL_perf_analyzer.hh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/timers/STL_perf_analyzer.hh -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/timers/STL_timer.hh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/timers/STL_timer.hh -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/timers/mixed_perf_analyzer.hh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/timers/mixed_perf_analyzer.hh -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/utils/size_lin_log.hh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/thirdparty/eigen/bench/btl/generic_bench/utils/size_lin_log.hh -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/libs/STL/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | btl_add_bench(btl_STL main.cpp OFF) 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/libs/blaze/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(BLAZE) 3 | find_package(Boost COMPONENTS system) 4 | if (BLAZE_FOUND AND Boost_FOUND) 5 | include_directories(${BLAZE_INCLUDE_DIR} ${Boost_INCLUDE_DIRS}) 6 | btl_add_bench(btl_blaze main.cpp) 7 | # Note: The newest blaze version requires C++14. 8 | # Ideally, we should set this depending on the version of Blaze we found 9 | set_property(TARGET btl_blaze PROPERTY CXX_STANDARD 14) 10 | if(BUILD_btl_blaze) 11 | target_link_libraries(btl_blaze ${Boost_LIBRARIES}) 12 | endif() 13 | endif () 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/libs/blitz/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(Blitz) 3 | 4 | if (BLITZ_FOUND) 5 | include_directories(${BLITZ_INCLUDES}) 6 | 7 | btl_add_bench(btl_blitz btl_blitz.cpp) 8 | if (BUILD_btl_blitz) 9 | target_link_libraries(btl_blitz ${BLITZ_LIBRARIES}) 10 | endif (BUILD_btl_blitz) 11 | 12 | btl_add_bench(btl_tiny_blitz btl_tiny_blitz.cpp OFF) 13 | if (BUILD_btl_tiny_blitz) 14 | target_link_libraries(btl_tiny_blitz ${BLITZ_LIBRARIES}) 15 | endif (BUILD_btl_tiny_blitz) 16 | 17 | endif (BLITZ_FOUND) 18 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/libs/gmm/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(GMM) 3 | if (GMM_FOUND) 4 | include_directories(${GMM_INCLUDES}) 5 | btl_add_bench(btl_gmm main.cpp) 6 | endif (GMM_FOUND) 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/libs/mtl4/.kdbgrc.main: -------------------------------------------------------------------------------- 1 | [General] 2 | DebuggerCmdStr= 3 | DriverName=GDB 4 | FileVersion=1 5 | OptionsSelected= 6 | ProgramArgs= 7 | TTYLevel=7 8 | WorkingDirectory= 9 | 10 | [Memory] 11 | ColumnWidths=80,0 12 | NumExprs=0 13 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/libs/mtl4/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(MTL4) 3 | if (MTL4_FOUND) 4 | include_directories(${MTL4_INCLUDE_DIR}) 5 | btl_add_bench(btl_mtl4 main.cpp) 6 | endif (MTL4_FOUND) 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/libs/tvmet/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(Tvmet) 3 | if (TVMET_FOUND) 4 | include_directories(${TVMET_INCLUDE_DIR}) 5 | btl_add_bench(btl_tvmet main.cpp OFF) 6 | endif (TVMET_FOUND) 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/btl/libs/ublas/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | find_package(Boost) 3 | if (Boost_FOUND) 4 | include_directories(${Boost_INCLUDE_DIRS}) 5 | include_directories(${Boost_INCLUDES}) 6 | btl_add_bench(btl_ublas main.cpp) 7 | endif (Boost_FOUND) 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/perf_monitoring/gemm/gemm_settings.txt: -------------------------------------------------------------------------------- 1 | 8 8 8 2 | 9 9 9 3 | 24 24 24 4 | 239 239 239 5 | 240 240 240 6 | 2400 24 24 7 | 24 2400 24 8 | 24 24 2400 9 | 24 2400 2400 10 | 2400 24 2400 11 | 2400 2400 24 12 | 2400 2400 64 13 | 4800 23 160 14 | 23 4800 160 15 | 2400 2400 2400 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/bench/perf_monitoring/gemm/lazy_gemm_settings.txt: -------------------------------------------------------------------------------- 1 | 1 1 1 0 2 | 2 2 2 0 3 | 3 3 3 0 4 | 4 4 4 0 5 | 4 4 4 1 6 | 5 5 5 0 7 | 6 6 6 0 8 | 7 7 7 0 9 | 7 7 7 1 10 | 8 8 8 0 11 | 9 9 9 0 12 | 10 10 10 0 13 | 11 11 11 0 14 | 12 12 12 0 15 | 12 12 12 1 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/blas/README.txt: -------------------------------------------------------------------------------- 1 | 2 | This directory contains a BLAS library built on top of Eigen. 3 | 4 | This module is not built by default. In order to compile it, you need to 5 | type 'make blas' from within your build dir. 6 | 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/blas/f2c/d_cnjg.c: -------------------------------------------------------------------------------- 1 | #include "datatypes.h" 2 | 3 | void d_cnjg(doublecomplex *r, doublecomplex *z) { 4 | r->r = z->r; 5 | r->i = -(z->i); 6 | } 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/blas/f2c/r_cnjg.c: -------------------------------------------------------------------------------- 1 | #include "datatypes.h" 2 | 3 | void r_cnjg(complex *r, complex *z) { 4 | r->r = z->r; 5 | r->i = -(z->i); 6 | } 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/blas/xerbla.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include 3 | 4 | #if (defined __GNUC__) && (!defined __MINGW32__) && (!defined __CYGWIN__) 5 | #define EIGEN_WEAK_LINKING __attribute__ ((weak)) 6 | #else 7 | #define EIGEN_WEAK_LINKING 8 | #endif 9 | 10 | #ifdef __cplusplus 11 | extern "C" 12 | { 13 | #endif 14 | 15 | EIGEN_WEAK_LINKING int xerbla_(const char * msg, int *info, int) 16 | { 17 | printf("Eigen BLAS ERROR #%i: %s\n", *info, msg ); 18 | return 0; 19 | } 20 | 21 | #ifdef __cplusplus 22 | } 23 | #endif 24 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/cmake/UseEigen3.cmake: -------------------------------------------------------------------------------- 1 | # -*- cmake -*- 2 | # 3 | # UseEigen3.cmake 4 | 5 | add_definitions ( ${EIGEN3_DEFINITIONS} ) 6 | include_directories ( ${EIGEN3_INCLUDE_DIRS} ) 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/debug/gdb/__init__.py: -------------------------------------------------------------------------------- 1 | # Intentionally empty 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/demos/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | project(EigenDemos) 2 | 3 | add_custom_target(demos) 4 | 5 | if(NOT EIGEN_TEST_NOQT) 6 | find_package(Qt4) 7 | if(QT4_FOUND) 8 | add_subdirectory(mandelbrot) 9 | add_subdirectory(opengl) 10 | else(QT4_FOUND) 11 | message(STATUS "Qt4 not found, so disabling the mandelbrot and opengl demos") 12 | endif(QT4_FOUND) 13 | endif() 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/demos/mandelbrot/README: -------------------------------------------------------------------------------- 1 | *** Mandelbrot demo *** 2 | 3 | Controls: 4 | * Left mouse button to center view at a point. 5 | * Drag vertically with left mouse button to zoom in and out. 6 | 7 | Be sure to enable SSE2 or AltiVec to improve performance. 8 | 9 | The number of iterations, and the choice between single and double precision, are 10 | determined at runtime depending on the zoom level. 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/demos/mix_eigen_and_c/README: -------------------------------------------------------------------------------- 1 | This is an example of how one can wrap some of Eigen into a C library. 2 | 3 | To try this with GCC, do: 4 | 5 | g++ -c binary_library.cpp -O2 -msse2 -I ../.. 6 | gcc example.c binary_library.o -o example -lstdc++ 7 | ./example 8 | 9 | TODO: add CMakeLists, add more explanations here -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/demos/opengl/README: -------------------------------------------------------------------------------- 1 | 2 | Navigation: 3 | left button: rotate around the target 4 | middle button: zoom 5 | left button + ctrl quake rotate (rotate around camera position) 6 | middle button + ctrl walk (progress along camera's z direction) 7 | left button: pan (translate in the XY camera's plane) 8 | 9 | R : move the camera to initial position 10 | A : start/stop animation 11 | C : clear the animation 12 | G : add a key frame 13 | 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/Eigen_Silly_Professor_64x64.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/thirdparty/eigen/doc/Eigen_Silly_Professor_64x64.png -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/TopicEigenExpressionTemplates.dox: -------------------------------------------------------------------------------- 1 | namespace Eigen { 2 | 3 | /** \page TopicEigenExpressionTemplates Expression templates in Eigen 4 | 5 | 6 | TODO: write this dox page! 7 | 8 | Is linked from the tutorial on arithmetic ops. 9 | 10 | */ 11 | 12 | } 13 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/TopicResizing.dox: -------------------------------------------------------------------------------- 1 | namespace Eigen { 2 | 3 | /** \page TopicResizing Resizing 4 | 5 | 6 | TODO: write this dox page! 7 | 8 | Is linked from the tutorial on the Matrix class. 9 | 10 | */ 11 | } 12 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/TopicScalarTypes.dox: -------------------------------------------------------------------------------- 1 | namespace Eigen { 2 | 3 | /** \page TopicScalarTypes Scalar types 4 | 5 | 6 | TODO: write this dox page! 7 | 8 | Is linked from the tutorial on the Matrix class. 9 | 10 | */ 11 | 12 | } 13 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/TopicVectorization.dox: -------------------------------------------------------------------------------- 1 | namespace Eigen { 2 | 3 | /** \page TopicVectorization Vectorization 4 | 5 | 6 | TODO: write this dox page! 7 | 8 | */ 9 | } 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/TutorialSparse_example_details.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \page TutorialSparse_example_details 3 | \include Tutorial_sparse_example_details.cpp 4 | */ 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/.krazy: -------------------------------------------------------------------------------- 1 | EXCLUDE copyright 2 | EXCLUDE license 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Cwise_erf.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | using namespace Eigen; 5 | int main() 6 | { 7 | Array4d v(-0.5,2,0,-7); 8 | std::cout << v.erf() << std::endl; 9 | } 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Cwise_erfc.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | using namespace Eigen; 5 | int main() 6 | { 7 | Array4d v(-0.5,2,0,-7); 8 | std::cout << v.erfc() << std::endl; 9 | } 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Cwise_lgamma.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | using namespace Eigen; 5 | int main() 6 | { 7 | Array4d v(0.5,10,0,-1); 8 | std::cout << v.lgamma() << std::endl; 9 | } 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/DenseBase_middleCols_int.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main(void) 8 | { 9 | int const N = 5; 10 | MatrixXi A(N,N); 11 | A.setRandom(); 12 | cout << "A =\n" << A << '\n' << endl; 13 | cout << "A(1..3,:) =\n" << A.middleCols(1,3) << endl; 14 | return 0; 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/DenseBase_middleRows_int.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main(void) 8 | { 9 | int const N = 5; 10 | MatrixXi A(N,N); 11 | A.setRandom(); 12 | cout << "A =\n" << A << '\n' << endl; 13 | cout << "A(2..3,:) =\n" << A.middleRows(2,2) << endl; 14 | return 0; 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/DenseBase_template_int_middleCols.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main(void) 8 | { 9 | int const N = 5; 10 | MatrixXi A(N,N); 11 | A.setRandom(); 12 | cout << "A =\n" << A << '\n' << endl; 13 | cout << "A(:,1..3) =\n" << A.middleCols<3>(1) << endl; 14 | return 0; 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/DenseBase_template_int_middleRows.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main(void) 8 | { 9 | int const N = 5; 10 | MatrixXi A(N,N); 11 | A.setRandom(); 12 | cout << "A =\n" << A << '\n' << endl; 13 | cout << "A(1..3,:) =\n" << A.middleRows<3>(1) << endl; 14 | return 0; 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/QuickStart_example.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using Eigen::MatrixXd; 5 | 6 | int main() 7 | { 8 | MatrixXd m(2,2); 9 | m(0,0) = 3; 10 | m(1,0) = 2.5; 11 | m(0,1) = -1; 12 | m(1,1) = m(1,0) + m(0,1); 13 | std::cout << m << std::endl; 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/QuickStart_example2_dynamic.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | MatrixXd m = MatrixXd::Random(3,3); 10 | m = (m + MatrixXd::Constant(3,3,1.2)) * 50; 11 | cout << "m =" << endl << m << endl; 12 | VectorXd v(3); 13 | v << 1, 2, 3; 14 | cout << "m * v =" << endl << m * v << endl; 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/QuickStart_example2_fixed.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | Matrix3d m = Matrix3d::Random(); 10 | m = (m + Matrix3d::Constant(1.2)) * 50; 11 | cout << "m =" << endl << m << endl; 12 | Vector3d v(1,2,3); 13 | 14 | cout << "m * v =" << endl << m * v << endl; 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/TutorialLinAlgExComputeSolveError.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | MatrixXd A = MatrixXd::Random(100,100); 10 | MatrixXd b = MatrixXd::Random(100,50); 11 | MatrixXd x = A.fullPivLu().solve(b); 12 | double relative_error = (A*x - b).norm() / b.norm(); // norm() is L2 norm 13 | cout << "The relative error is:\n" << relative_error << endl; 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/TutorialLinAlgExSolveColPivHouseholderQR.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | Matrix3f A; 10 | Vector3f b; 11 | A << 1,2,3, 4,5,6, 7,8,10; 12 | b << 3, 3, 4; 13 | cout << "Here is the matrix A:\n" << A << endl; 14 | cout << "Here is the vector b:\n" << b << endl; 15 | Vector3f x = A.colPivHouseholderQr().solve(b); 16 | cout << "The solution is:\n" << x << endl; 17 | } 18 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/TutorialLinAlgExSolveLDLT.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | Matrix2f A, b; 10 | A << 2, -1, -1, 3; 11 | b << 1, 2, 3, 1; 12 | cout << "Here is the matrix A:\n" << A << endl; 13 | cout << "Here is the right hand side b:\n" << b << endl; 14 | Matrix2f x = A.ldlt().solve(b); 15 | cout << "The solution is:\n" << x << endl; 16 | } 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/TutorialLinAlgInverseDeterminant.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | Matrix3f A; 10 | A << 1, 2, 1, 11 | 2, 1, 0, 12 | -1, 1, 2; 13 | cout << "Here is the matrix A:\n" << A << endl; 14 | cout << "The determinant of A is " << A.determinant() << endl; 15 | cout << "The inverse of A is:\n" << A.inverse() << endl; 16 | } 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/TutorialLinAlgSVDSolve.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | MatrixXf A = MatrixXf::Random(3, 2); 10 | cout << "Here is the matrix A:\n" << A << endl; 11 | VectorXf b = VectorXf::Random(3); 12 | cout << "Here is the right hand side b:\n" << b << endl; 13 | cout << "The least-squares solution is:\n" 14 | << A.bdcSvd(ComputeThinU | ComputeThinV).solve(b) << endl; 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/TutorialLinAlgSetThreshold.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | using namespace Eigen; 6 | 7 | int main() 8 | { 9 | Matrix2d A; 10 | A << 2, 1, 11 | 2, 0.9999999999; 12 | FullPivLU lu(A); 13 | cout << "By default, the rank of A is found to be " << lu.rank() << endl; 14 | lu.setThreshold(1e-5); 15 | cout << "With threshold 1e-5, the rank of A is found to be " << lu.rank() << endl; 16 | } 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_ArrayClass_addition.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | ArrayXXf a(3,3); 10 | ArrayXXf b(3,3); 11 | a << 1,2,3, 12 | 4,5,6, 13 | 7,8,9; 14 | b << 1,2,3, 15 | 1,2,3, 16 | 1,2,3; 17 | 18 | // Adding two arrays 19 | cout << "a + b = " << endl << a + b << endl << endl; 20 | 21 | // Subtracting a scalar from an array 22 | cout << "a - 2 = " << endl << a - 2 << endl; 23 | } 24 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_ArrayClass_cwise_other.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | ArrayXf a = ArrayXf::Random(5); 10 | a *= 2; 11 | cout << "a =" << endl 12 | << a << endl; 13 | cout << "a.abs() =" << endl 14 | << a.abs() << endl; 15 | cout << "a.abs().sqrt() =" << endl 16 | << a.abs().sqrt() << endl; 17 | cout << "a.min(a.abs().sqrt()) =" << endl 18 | << a.min(a.abs().sqrt()) << endl; 19 | } 20 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_ArrayClass_interop.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | MatrixXf m(2,2); 10 | MatrixXf n(2,2); 11 | MatrixXf result(2,2); 12 | 13 | m << 1,2, 14 | 3,4; 15 | n << 5,6, 16 | 7,8; 17 | 18 | result = (m.array() + 4).matrix() * m; 19 | cout << "-- Combination 1: --" << endl << result << endl << endl; 20 | result = (m.array() * n.array()).matrix() * m; 21 | cout << "-- Combination 2: --" << endl << result << endl << endl; 22 | } 23 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_ArrayClass_mult.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | 7 | int main() 8 | { 9 | ArrayXXf a(2,2); 10 | ArrayXXf b(2,2); 11 | a << 1,2, 12 | 3,4; 13 | b << 5,6, 14 | 7,8; 15 | cout << "a * b = " << endl << a * b << endl; 16 | } 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_BlockOperations_colrow.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | 6 | int main() 7 | { 8 | Eigen::MatrixXf m(3,3); 9 | m << 1,2,3, 10 | 4,5,6, 11 | 7,8,9; 12 | cout << "Here is the matrix m:" << endl << m << endl; 13 | cout << "2nd Row: " << m.row(1) << endl; 14 | m.col(2) += 3 * m.col(0); 15 | cout << "After adding 3 times the first column into the third column, the matrix m is:\n"; 16 | cout << m << endl; 17 | } 18 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_BlockOperations_corner.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | 6 | int main() 7 | { 8 | Eigen::Matrix4f m; 9 | m << 1, 2, 3, 4, 10 | 5, 6, 7, 8, 11 | 9, 10,11,12, 12 | 13,14,15,16; 13 | cout << "m.leftCols(2) =" << endl << m.leftCols(2) << endl << endl; 14 | cout << "m.bottomRows<2>() =" << endl << m.bottomRows<2>() << endl << endl; 15 | m.topLeftCorner(1,3) = m.bottomRightCorner(3,1).transpose(); 16 | cout << "After assignment, m = " << endl << m << endl; 17 | } 18 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_BlockOperations_print_block.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | 6 | int main() 7 | { 8 | Eigen::MatrixXf m(4,4); 9 | m << 1, 2, 3, 4, 10 | 5, 6, 7, 8, 11 | 9,10,11,12, 12 | 13,14,15,16; 13 | cout << "Block in the middle" << endl; 14 | cout << m.block<2,2>(1,1) << endl << endl; 15 | for (int i = 1; i <= 3; ++i) 16 | { 17 | cout << "Block of size " << i << "x" << i << endl; 18 | cout << m.block(0,0,i,i) << endl << endl; 19 | } 20 | } 21 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_BlockOperations_vector.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | 6 | int main() 7 | { 8 | Eigen::ArrayXf v(6); 9 | v << 1, 2, 3, 4, 5, 6; 10 | cout << "v.head(3) =" << endl << v.head(3) << endl << endl; 11 | cout << "v.tail<3>() = " << endl << v.tail<3>() << endl << endl; 12 | v.segment(1,4) *= 2; 13 | cout << "after 'v.segment(1,4) *= 2', v =" << endl << v << endl; 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_PartialLU_solve.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | using namespace std; 6 | using namespace Eigen; 7 | 8 | int main() 9 | { 10 | Matrix3f A; 11 | Vector3f b; 12 | A << 1,2,3, 4,5,6, 7,8,10; 13 | b << 3, 3, 4; 14 | cout << "Here is the matrix A:" << endl << A << endl; 15 | cout << "Here is the vector b:" << endl << b << endl; 16 | Vector3f x = A.lu().solve(b); 17 | cout << "The solution is:" << endl << x << endl; 18 | } 19 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | int main() 6 | { 7 | Eigen::MatrixXf mat(2,4); 8 | Eigen::VectorXf v(2); 9 | 10 | mat << 1, 2, 6, 9, 11 | 3, 1, 7, 2; 12 | 13 | v << 0, 14 | 1; 15 | 16 | //add v to each column of m 17 | mat.colwise() += v; 18 | 19 | std::cout << "Broadcasting result: " << std::endl; 20 | std::cout << mat << std::endl; 21 | } 22 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | int main() 6 | { 7 | Eigen::MatrixXf mat(2,4); 8 | Eigen::VectorXf v(4); 9 | 10 | mat << 1, 2, 6, 9, 11 | 3, 1, 7, 2; 12 | 13 | v << 0,1,2,3; 14 | 15 | //add v to each row of m 16 | mat.rowwise() += v.transpose(); 17 | 18 | std::cout << "Broadcasting result: " << std::endl; 19 | std::cout << mat << std::endl; 20 | } 21 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_colwise.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | int main() 6 | { 7 | Eigen::MatrixXf mat(2,4); 8 | mat << 1, 2, 6, 9, 9 | 3, 1, 7, 2; 10 | 11 | std::cout << "Column's maximum: " << std::endl 12 | << mat.colwise().maxCoeff() << std::endl; 13 | } 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace std; 5 | int main() 6 | { 7 | Eigen::MatrixXf mat(2,4); 8 | mat << 1, 2, 6, 9, 9 | 3, 1, 7, 2; 10 | 11 | std::cout << "Row's maximum: " << std::endl 12 | << mat.rowwise().maxCoeff() << std::endl; 13 | } 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/Tutorial_simple_example_fixed_size.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | Matrix3f m3; 9 | m3 << 1, 2, 3, 4, 5, 6, 7, 8, 9; 10 | Matrix4f m4 = Matrix4f::Identity(); 11 | Vector4i v4(1, 2, 3, 4); 12 | 13 | std::cout << "m3\n" << m3 << "\nm4:\n" 14 | << m4 << "\nv4:\n" << v4 << std::endl; 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/class_CwiseUnaryOp_ptrfun.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | using namespace Eigen; 4 | using namespace std; 5 | 6 | // define function to be applied coefficient-wise 7 | double ramp(double x) 8 | { 9 | if (x > 0) 10 | return x; 11 | else 12 | return 0; 13 | } 14 | 15 | int main(int, char**) 16 | { 17 | Matrix4d m1 = Matrix4d::Random(); 18 | cout << m1 << endl << "becomes: " << endl << m1.unaryExpr(ptr_fun(ramp)) << endl; 19 | return 0; 20 | } 21 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/function_taking_eigenbase.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | using namespace Eigen; 4 | 5 | template 6 | void print_size(const EigenBase& b) 7 | { 8 | std::cout << "size (rows, cols): " << b.size() << " (" << b.rows() 9 | << ", " << b.cols() << ")" << std::endl; 10 | } 11 | 12 | int main() 13 | { 14 | Vector3f v; 15 | print_size(v); 16 | // v.asDiagonal() returns a 3x3 diagonal matrix pseudo-expression 17 | print_size(v.asDiagonal()); 18 | } 19 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/make_circulant.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This program is presented in several fragments in the doc page. 3 | Every fragment is in its own file; this file simply combines them. 4 | */ 5 | 6 | #include "make_circulant.cpp.preamble" 7 | #include "make_circulant.cpp.traits" 8 | #include "make_circulant.cpp.expression" 9 | #include "make_circulant.cpp.evaluator" 10 | #include "make_circulant.cpp.entry" 11 | #include "make_circulant.cpp.main" 12 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/make_circulant.cpp.entry: -------------------------------------------------------------------------------- 1 | template 2 | Circulant makeCirculant(const Eigen::MatrixBase& arg) 3 | { 4 | return Circulant(arg.derived()); 5 | } 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/make_circulant.cpp.main: -------------------------------------------------------------------------------- 1 | int main() 2 | { 3 | Eigen::VectorXd vec(4); 4 | vec << 1, 2, 4, 8; 5 | Eigen::MatrixXd mat; 6 | mat = makeCirculant(vec); 7 | std::cout << mat << std::endl; 8 | } 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/make_circulant.cpp.preamble: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | template class Circulant; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/tut_arithmetic_dot_cross.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | using namespace std; 6 | int main() 7 | { 8 | Vector3d v(1,2,3); 9 | Vector3d w(0,1,2); 10 | 11 | cout << "Dot product: " << v.dot(w) << endl; 12 | double dp = v.adjoint()*w; // automatic conversion of the inner product to a scalar 13 | cout << "Dot product via a matrix product: " << dp << endl; 14 | cout << "Cross product:\n" << v.cross(w) << endl; 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/tut_arithmetic_scalar_mul_div.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | Matrix2d a; 9 | a << 1, 2, 10 | 3, 4; 11 | Vector3d v(1,2,3); 12 | std::cout << "a * 2.5 =\n" << a * 2.5 << std::endl; 13 | std::cout << "0.1 * v =\n" << 0.1 * v << std::endl; 14 | std::cout << "Doing v *= 2;" << std::endl; 15 | v *= 2; 16 | std::cout << "Now v =\n" << v << std::endl; 17 | } 18 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/tut_matrix_coefficient_accessors.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | MatrixXd m(2,2); 9 | m(0,0) = 3; 10 | m(1,0) = 2.5; 11 | m(0,1) = -1; 12 | m(1,1) = m(1,0) + m(0,1); 13 | std::cout << "Here is the matrix m:\n" << m << std::endl; 14 | VectorXd v(2); 15 | v(0) = 4; 16 | v(1) = v(0) - 1; 17 | std::cout << "Here is the vector v:\n" << v << std::endl; 18 | } 19 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/examples/tut_matrix_resize_fixed_size.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | Matrix4d m; 9 | m.resize(4,4); // no operation 10 | std::cout << "The matrix m is of size " 11 | << m.rows() << "x" << m.cols() << std::endl; 12 | } 13 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/ftv2node.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/thirdparty/eigen/doc/ftv2node.png -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/ftv2pnode.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/thirdparty/eigen/doc/ftv2pnode.png -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/.krazy: -------------------------------------------------------------------------------- 1 | EXCLUDE copyright 2 | EXCLUDE license 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/AngleAxis_mimic_euler.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m; 2 | m = AngleAxisf(0.25*M_PI, Vector3f::UnitX()) 3 | * AngleAxisf(0.5*M_PI, Vector3f::UnitY()) 4 | * AngleAxisf(0.33*M_PI, Vector3f::UnitZ()); 5 | cout << m << endl << "is unitary: " << m.isUnitary() << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/BiCGSTAB_simple.cpp: -------------------------------------------------------------------------------- 1 | int n = 10000; 2 | VectorXd x(n), b(n); 3 | SparseMatrix A(n,n); 4 | /* ... fill A and b ... */ 5 | BiCGSTAB > solver; 6 | solver.compute(A); 7 | x = solver.solve(b); 8 | std::cout << "#iterations: " << solver.iterations() << std::endl; 9 | std::cout << "estimated error: " << solver.error() << std::endl; 10 | /* ... update b ... */ 11 | x = solver.solve(b); // solve again -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/BiCGSTAB_step_by_step.cpp: -------------------------------------------------------------------------------- 1 | int n = 10000; 2 | VectorXd x(n), b(n); 3 | SparseMatrix A(n,n); 4 | /* ... fill A and b ... */ 5 | BiCGSTAB > solver(A); 6 | // start from a random solution 7 | x = VectorXd::Random(n); 8 | solver.setMaxIterations(1); 9 | int i = 0; 10 | do { 11 | x = solver.solveWithGuess(b,x); 12 | std::cout << i << " : " << solver.error() << std::endl; 13 | ++i; 14 | } while (solver.info()!=Success && i<100); -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/ColPivHouseholderQR_solve.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m = Matrix3f::Random(); 2 | Matrix3f y = Matrix3f::Random(); 3 | cout << "Here is the matrix m:" << endl << m << endl; 4 | cout << "Here is the matrix y:" << endl << y << endl; 5 | Matrix3f x; 6 | x = m.colPivHouseholderQr().solve(y); 7 | assert(y.isApprox(m*x)); 8 | cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/ComplexEigenSolver_eigenvalues.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf ones = MatrixXcf::Ones(3,3); 2 | ComplexEigenSolver ces(ones, /* computeEigenvectors = */ false); 3 | cout << "The eigenvalues of the 3x3 matrix of ones are:" 4 | << endl << ces.eigenvalues() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/ComplexEigenSolver_eigenvectors.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf ones = MatrixXcf::Ones(3,3); 2 | ComplexEigenSolver ces(ones); 3 | cout << "The first eigenvector of the 3x3 matrix of ones is:" 4 | << endl << ces.eigenvectors().col(1) << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/ComplexSchur_compute.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf A = MatrixXcf::Random(4,4); 2 | ComplexSchur schur(4); 3 | schur.compute(A); 4 | cout << "The matrix T in the decomposition of A is:" << endl << schur.matrixT() << endl; 5 | schur.compute(A.inverse()); 6 | cout << "The matrix T in the decomposition of A^(-1) is:" << endl << schur.matrixT() << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/ComplexSchur_matrixT.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf A = MatrixXcf::Random(4,4); 2 | cout << "Here is a random 4x4 matrix, A:" << endl << A << endl << endl; 3 | ComplexSchur schurOfA(A, false); // false means do not compute U 4 | cout << "The triangular matrix T is:" << endl << schurOfA.matrixT() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/ComplexSchur_matrixU.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf A = MatrixXcf::Random(4,4); 2 | cout << "Here is a random 4x4 matrix, A:" << endl << A << endl << endl; 3 | ComplexSchur schurOfA(A); 4 | cout << "The unitary matrix U is:" << endl << schurOfA.matrixU() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_abs.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,-2,-3); 2 | cout << v.abs() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_abs2.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,-2,-3); 2 | cout << v.abs2() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_acos.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(0, sqrt(2.)/2, 1); 2 | cout << v.acos() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_arg.cpp: -------------------------------------------------------------------------------- 1 | ArrayXcf v = ArrayXcf::Random(3); 2 | cout << v << endl << endl; 3 | cout << arg(v) << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_array_power_array.cpp: -------------------------------------------------------------------------------- 1 | Array x(8,25,3), 2 | e(1./3.,0.5,2.); 3 | cout << "[" << x << "]^[" << e << "] = " << x.pow(e) << endl; // using ArrayBase::pow 4 | cout << "[" << x << "]^[" << e << "] = " << pow(x,e) << endl; // using Eigen::pow 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_asin.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(0, sqrt(2.)/2, 1); 2 | cout << v.asin() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_atan.cpp: -------------------------------------------------------------------------------- 1 | ArrayXd v = ArrayXd::LinSpaced(5,0,1); 2 | cout << v.atan() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_boolean_and.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(-1,2,1), w(-3,2,3); 2 | cout << ((vw) << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_greater_equal.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3), w(3,2,1); 2 | cout << (v>=w) << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_inverse.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(2,3,4); 2 | cout << v.inverse() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_isFinite.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3); 2 | v(1) *= 0.0/0.0; 3 | v(2) /= 0.0; 4 | cout << v << endl << endl; 5 | cout << isfinite(v) << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_isInf.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3); 2 | v(1) *= 0.0/0.0; 3 | v(2) /= 0.0; 4 | cout << v << endl << endl; 5 | cout << isinf(v) << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_isNaN.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3); 2 | v(1) *= 0.0/0.0; 3 | v(2) /= 0.0; 4 | cout << v << endl << endl; 5 | cout << isnan(v) << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_less.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3), w(3,2,1); 2 | cout << (v e(2,-3,1./3.); 2 | cout << "10^[" << e << "] = " << pow(10,e) << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_sign.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(-3,5,0); 2 | cout << v.sign() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_sin.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(M_PI, M_PI/2, M_PI/3); 2 | cout << v.sin() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_sinh.cpp: -------------------------------------------------------------------------------- 1 | ArrayXd v = ArrayXd::LinSpaced(5,0,1); 2 | cout << sinh(v) << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_slash_equal.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(3,2,4), w(5,4,2); 2 | v /= w; 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_sqrt.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,4); 2 | cout << v.sqrt() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_square.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(2,3,4); 2 | cout << v.square() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_tan.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(M_PI, M_PI/2, M_PI/3); 2 | cout << v.tan() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_tanh.cpp: -------------------------------------------------------------------------------- 1 | ArrayXd v = ArrayXd::LinSpaced(5,0,1); 2 | cout << tanh(v) << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Cwise_times_equal.cpp: -------------------------------------------------------------------------------- 1 | Array3d v(1,2,3), w(2,3,0); 2 | v *= w; 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/DenseBase_LinSpaced.cpp: -------------------------------------------------------------------------------- 1 | cout << VectorXi::LinSpaced(4,7,10).transpose() << endl; 2 | cout << VectorXd::LinSpaced(5,0.0,1.0).transpose() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/DenseBase_LinSpacedInt.cpp: -------------------------------------------------------------------------------- 1 | cout << "Even spacing inputs:" << endl; 2 | cout << VectorXi::LinSpaced(8,1,4).transpose() << endl; 3 | cout << VectorXi::LinSpaced(8,1,8).transpose() << endl; 4 | cout << VectorXi::LinSpaced(8,1,15).transpose() << endl; 5 | cout << "Uneven spacing inputs:" << endl; 6 | cout << VectorXi::LinSpaced(8,1,7).transpose() << endl; 7 | cout << VectorXi::LinSpaced(8,1,9).transpose() << endl; 8 | cout << VectorXi::LinSpaced(8,1,16).transpose() << endl; 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/DenseBase_LinSpaced_seq.cpp: -------------------------------------------------------------------------------- 1 | cout << VectorXi::LinSpaced(Sequential,4,7,10).transpose() << endl; 2 | cout << VectorXd::LinSpaced(Sequential,5,0.0,1.0).transpose() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/DenseBase_setLinSpaced.cpp: -------------------------------------------------------------------------------- 1 | VectorXf v; 2 | v.setLinSpaced(5,0.5f,1.5f); 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/DirectionWise_hnormalized.cpp: -------------------------------------------------------------------------------- 1 | typedef Matrix Matrix4Xd; 2 | Matrix4Xd M = Matrix4Xd::Random(4,5); 3 | Projective3d P(Matrix4d::Random()); 4 | cout << "The matrix M is:" << endl << M << endl << endl; 5 | cout << "M.colwise().hnormalized():" << endl << M.colwise().hnormalized() << endl << endl; 6 | cout << "P*M:" << endl << P*M << endl << endl; 7 | cout << "(P*M).colwise().hnormalized():" << endl << (P*M).colwise().hnormalized() << endl << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/DirectionWise_replicate.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m = MatrixXi::Random(2,3); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "m.colwise().replicate<3>() = ..." << endl; 4 | cout << m.colwise().replicate<3>() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/DirectionWise_replicate_int.cpp: -------------------------------------------------------------------------------- 1 | Vector3i v = Vector3i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "v.rowwise().replicate(5) = ..." << endl; 4 | cout << v.rowwise().replicate(5) << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/EigenSolver_compute.cpp: -------------------------------------------------------------------------------- 1 | EigenSolver es; 2 | MatrixXf A = MatrixXf::Random(4,4); 3 | es.compute(A, /* computeEigenvectors = */ false); 4 | cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl; 5 | es.compute(A + MatrixXf::Identity(4,4), false); // re-use es to compute eigenvalues of A+I 6 | cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/EigenSolver_eigenvalues.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | EigenSolver es(ones, false); 3 | cout << "The eigenvalues of the 3x3 matrix of ones are:" 4 | << endl << es.eigenvalues() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/EigenSolver_eigenvectors.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | EigenSolver es(ones); 3 | cout << "The first eigenvector of the 3x3 matrix of ones is:" 4 | << endl << es.eigenvectors().col(0) << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/EigenSolver_pseudoEigenvectors.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd A = MatrixXd::Random(6,6); 2 | cout << "Here is a random 6x6 matrix, A:" << endl << A << endl << endl; 3 | 4 | EigenSolver es(A); 5 | MatrixXd D = es.pseudoEigenvalueMatrix(); 6 | MatrixXd V = es.pseudoEigenvectors(); 7 | cout << "The pseudo-eigenvalue matrix D is:" << endl << D << endl; 8 | cout << "The pseudo-eigenvector matrix V is:" << endl << V << endl; 9 | cout << "Finally, V * D * V^(-1) = " << endl << V * D * V.inverse() << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/FullPivHouseholderQR_solve.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m = Matrix3f::Random(); 2 | Matrix3f y = Matrix3f::Random(); 3 | cout << "Here is the matrix m:" << endl << m << endl; 4 | cout << "Here is the matrix y:" << endl << y << endl; 5 | Matrix3f x; 6 | x = m.fullPivHouseholderQr().solve(y); 7 | assert(y.isApprox(m*x)); 8 | cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/FullPivLU_image.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m; 2 | m << 1,1,0, 3 | 1,3,2, 4 | 0,1,1; 5 | cout << "Here is the matrix m:" << endl << m << endl; 6 | cout << "Notice that the middle column is the sum of the two others, so the " 7 | << "columns are linearly dependent." << endl; 8 | cout << "Here is a matrix whose columns have the same span but are linearly independent:" 9 | << endl << m.fullPivLu().image(m) << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/FullPivLU_kernel.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m = MatrixXf::Random(3,5); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | MatrixXf ker = m.fullPivLu().kernel(); 4 | cout << "Here is a matrix whose columns form a basis of the kernel of m:" 5 | << endl << ker << endl; 6 | cout << "By definition of the kernel, m*ker is zero:" 7 | << endl << m*ker << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/FullPivLU_solve.cpp: -------------------------------------------------------------------------------- 1 | Matrix m = Matrix::Random(); 2 | Matrix2f y = Matrix2f::Random(); 3 | cout << "Here is the matrix m:" << endl << m << endl; 4 | cout << "Here is the matrix y:" << endl << y << endl; 5 | Matrix x = m.fullPivLu().solve(y); 6 | if((m*x).isApprox(y)) 7 | { 8 | cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; 9 | } 10 | else 11 | cout << "The equation mx=y does not have any solution." << endl; 12 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/GeneralizedEigenSolver.cpp: -------------------------------------------------------------------------------- 1 | GeneralizedEigenSolver ges; 2 | MatrixXf A = MatrixXf::Random(4,4); 3 | MatrixXf B = MatrixXf::Random(4,4); 4 | ges.compute(A, B); 5 | cout << "The (complex) numerators of the generalzied eigenvalues are: " << ges.alphas().transpose() << endl; 6 | cout << "The (real) denominatore of the generalzied eigenvalues are: " << ges.betas().transpose() << endl; 7 | cout << "The (complex) generalzied eigenvalues are (alphas./beta): " << ges.eigenvalues().transpose() << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/HessenbergDecomposition_compute.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf A = MatrixXcf::Random(4,4); 2 | HessenbergDecomposition hd(4); 3 | hd.compute(A); 4 | cout << "The matrix H in the decomposition of A is:" << endl << hd.matrixH() << endl; 5 | hd.compute(2*A); // re-use hd to compute and store decomposition of 2A 6 | cout << "The matrix H in the decomposition of 2A is:" << endl << hd.matrixH() << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/HessenbergDecomposition_matrixH.cpp: -------------------------------------------------------------------------------- 1 | Matrix4f A = MatrixXf::Random(4,4); 2 | cout << "Here is a random 4x4 matrix:" << endl << A << endl; 3 | HessenbergDecomposition hessOfA(A); 4 | MatrixXf H = hessOfA.matrixH(); 5 | cout << "The Hessenberg matrix H is:" << endl << H << endl; 6 | MatrixXf Q = hessOfA.matrixQ(); 7 | cout << "The orthogonal matrix Q is:" << endl << Q << endl; 8 | cout << "Q H Q^T is:" << endl << Q * H * Q.transpose() << endl; 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/HessenbergDecomposition_packedMatrix.cpp: -------------------------------------------------------------------------------- 1 | Matrix4d A = Matrix4d::Random(4,4); 2 | cout << "Here is a random 4x4 matrix:" << endl << A << endl; 3 | HessenbergDecomposition hessOfA(A); 4 | Matrix4d pm = hessOfA.packedMatrix(); 5 | cout << "The packed matrix M is:" << endl << pm << endl; 6 | cout << "The upper Hessenberg part corresponds to the matrix H, which is:" 7 | << endl << hessOfA.matrixH() << endl; 8 | Vector3d hc = hessOfA.householderCoefficients(); 9 | cout << "The vector of Householder coefficients is:" << endl << hc << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/HouseholderQR_householderQ.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A(MatrixXf::Random(5,3)), thinQ(MatrixXf::Identity(5,3)), Q; 2 | A.setRandom(); 3 | HouseholderQR qr(A); 4 | Q = qr.householderQ(); 5 | thinQ = qr.householderQ() * thinQ; 6 | std::cout << "The complete unitary matrix Q is:\n" << Q << "\n\n"; 7 | std::cout << "The thin matrix Q is:\n" << thinQ << "\n\n"; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/HouseholderQR_solve.cpp: -------------------------------------------------------------------------------- 1 | typedef Matrix Matrix3x3; 2 | Matrix3x3 m = Matrix3x3::Random(); 3 | Matrix3f y = Matrix3f::Random(); 4 | cout << "Here is the matrix m:" << endl << m << endl; 5 | cout << "Here is the matrix y:" << endl << y << endl; 6 | Matrix3f x; 7 | x = m.householderQr().solve(y); 8 | assert(y.isApprox(m*x)); 9 | cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Jacobi_makeGivens.cpp: -------------------------------------------------------------------------------- 1 | Vector2f v = Vector2f::Random(); 2 | JacobiRotation G; 3 | G.makeGivens(v.x(), v.y()); 4 | cout << "Here is the vector v:" << endl << v << endl; 5 | v.applyOnTheLeft(0, 1, G.adjoint()); 6 | cout << "Here is the vector J' * v:" << endl << v << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Jacobi_makeJacobi.cpp: -------------------------------------------------------------------------------- 1 | Matrix2f m = Matrix2f::Random(); 2 | m = (m + m.adjoint()).eval(); 3 | JacobiRotation J; 4 | J.makeJacobi(m, 0, 1); 5 | cout << "Here is the matrix m:" << endl << m << endl; 6 | m.applyOnTheLeft(0, 1, J.adjoint()); 7 | m.applyOnTheRight(0, 1, J); 8 | cout << "Here is the matrix J' * m * J:" << endl << m << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/LLT_solve.cpp: -------------------------------------------------------------------------------- 1 | typedef Matrix DataMatrix; 2 | // let's generate some samples on the 3D plane of equation z = 2x+3y (with some noise) 3 | DataMatrix samples = DataMatrix::Random(12,2); 4 | VectorXf elevations = 2*samples.col(0) + 3*samples.col(1) + VectorXf::Random(12)*0.1; 5 | // and let's solve samples * [x y]^T = elevations in least square sense: 6 | Matrix xy 7 | = (samples.adjoint() * samples).llt().solve((samples.adjoint()*elevations)); 8 | cout << xy << endl; 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/LeastSquaresNormalEquations.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A = MatrixXf::Random(3, 2); 2 | VectorXf b = VectorXf::Random(3); 3 | cout << "The solution using normal equations is:\n" 4 | << (A.transpose() * A).ldlt().solve(A.transpose() * b) << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/LeastSquaresQR.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A = MatrixXf::Random(3, 2); 2 | VectorXf b = VectorXf::Random(3); 3 | cout << "The solution using the QR decomposition is:\n" 4 | << A.colPivHouseholderQr().solve(b) << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Map_general_stride.cpp: -------------------------------------------------------------------------------- 1 | int array[24]; 2 | for(int i = 0; i < 24; ++i) array[i] = i; 3 | cout << Map > 4 | (array, 3, 3, Stride(8, 2)) 5 | << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Map_inner_stride.cpp: -------------------------------------------------------------------------------- 1 | int array[12]; 2 | for(int i = 0; i < 12; ++i) array[i] = i; 3 | cout << Map > 4 | (array, 6) // the inner stride has already been passed as template parameter 5 | << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Map_outer_stride.cpp: -------------------------------------------------------------------------------- 1 | int array[12]; 2 | for(int i = 0; i < 12; ++i) array[i] = i; 3 | cout << Map >(array, 3, 3, OuterStride<>(4)) << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Map_placement_new.cpp: -------------------------------------------------------------------------------- 1 | int data[] = {1,2,3,4,5,6,7,8,9}; 2 | Map v(data,4); 3 | cout << "The mapped vector v is: " << v << "\n"; 4 | new (&v) Map(data+4,5); 5 | cout << "Now v is: " << v << "\n"; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Map_simple.cpp: -------------------------------------------------------------------------------- 1 | int array[9]; 2 | for(int i = 0; i < 9; ++i) array[i] = i; 3 | cout << Map(array) << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_adjoint.cpp: -------------------------------------------------------------------------------- 1 | Matrix2cf m = Matrix2cf::Random(); 2 | cout << "Here is the 2x2 complex matrix m:" << endl << m << endl; 3 | cout << "Here is the adjoint of m:" << endl << m.adjoint() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_all.cpp: -------------------------------------------------------------------------------- 1 | Vector3f boxMin(Vector3f::Zero()), boxMax(Vector3f::Ones()); 2 | Vector3f p0 = Vector3f::Random(), p1 = Vector3f::Random().cwiseAbs(); 3 | // let's check if p0 and p1 are inside the axis aligned box defined by the corners boxMin,boxMax: 4 | cout << "Is (" << p0.transpose() << ") inside the box: " 5 | << ((boxMin.array()p0.array()).all()) << endl; 6 | cout << "Is (" << p1.transpose() << ") inside the box: " 7 | << ((boxMin.array()p1.array()).all()) << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_applyOnTheLeft.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A = Matrix3f::Random(3,3), B; 2 | B << 0,1,0, 3 | 0,0,1, 4 | 1,0,0; 5 | cout << "At start, A = " << endl << A << endl; 6 | A.applyOnTheLeft(B); 7 | cout << "After applyOnTheLeft, A = " << endl << A << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_applyOnTheRight.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A = Matrix3f::Random(3,3), B; 2 | B << 0,1,0, 3 | 0,0,1, 4 | 1,0,0; 5 | cout << "At start, A = " << endl << A << endl; 6 | A *= B; 7 | cout << "After A *= B, A = " << endl << A << endl; 8 | A.applyOnTheRight(B); // equivalent to A *= B 9 | cout << "After applyOnTheRight, A = " << endl << A << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_array.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(1,2,3); 2 | v.array() += 3; 3 | v.array() -= 2; 4 | cout << v << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_array_const.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(-1,2,-3); 2 | cout << "the absolute values:" << endl << v.array().abs() << endl; 3 | cout << "the absolute values plus one:" << endl << v.array().abs()+1 << endl; 4 | cout << "sum of the squares: " << v.array().square().sum() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_asDiagonal.cpp: -------------------------------------------------------------------------------- 1 | cout << Matrix3i(Vector3i(2,5,6).asDiagonal()) << endl; 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_block_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.block<2,2>(1,1):" << endl << m.block<2,2>(1,1) << endl; 4 | m.block<2,2>(1,1).setZero(); 5 | cout << "Now the matrix m is:" << endl << m << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_block_int_int_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.block(1, 1, 2, 2):" << endl << m.block(1, 1, 2, 2) << endl; 4 | m.block(1, 1, 2, 2).setZero(); 5 | cout << "Now the matrix m is:" << endl << m << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_bottomLeftCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomLeftCorner(2, 2):" << endl; 4 | cout << m.bottomLeftCorner(2, 2) << endl; 5 | m.bottomLeftCorner(2, 2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomRightCorner(2, 2):" << endl; 4 | cout << m.bottomRightCorner(2, 2) << endl; 5 | m.bottomRightCorner(2, 2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_bottomRows_int.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.bottomRows(2):" << endl; 4 | cout << a.bottomRows(2) << endl; 5 | a.bottomRows(2).setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cast.cpp: -------------------------------------------------------------------------------- 1 | Matrix2d md = Matrix2d::Identity() * 0.45; 2 | Matrix2f mf = Matrix2f::Identity(); 3 | cout << md + mf.cast() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_col.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Identity(); 2 | m.col(1) = Vector3d(4,5,6); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_colwise.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the sum of each column:" << endl << m.colwise().sum() << endl; 4 | cout << "Here is the maximum absolute value of each column:" 5 | << endl << m.cwiseAbs().colwise().maxCoeff() << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_computeInverseAndDetWithCheck.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | Matrix3d inverse; 4 | bool invertible; 5 | double determinant; 6 | m.computeInverseAndDetWithCheck(inverse,determinant,invertible); 7 | cout << "Its determinant is " << determinant << endl; 8 | if(invertible) { 9 | cout << "It is invertible, and its inverse is:" << endl << inverse << endl; 10 | } 11 | else { 12 | cout << "It is not invertible." << endl; 13 | } 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_computeInverseWithCheck.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | Matrix3d inverse; 4 | bool invertible; 5 | m.computeInverseWithCheck(inverse,invertible); 6 | if(invertible) { 7 | cout << "It is invertible, and its inverse is:" << endl << inverse << endl; 8 | } 9 | else { 10 | cout << "It is not invertible." << endl; 11 | } 12 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseAbs.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(2,3); 2 | m << 2, -4, 6, 3 | -5, 1, 0; 4 | cout << m.cwiseAbs() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseAbs2.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(2,3); 2 | m << 2, -4, 6, 3 | -5, 1, 0; 4 | cout << m.cwiseAbs2() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseEqual.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m(2,2); 2 | m << 1, 0, 3 | 1, 1; 4 | cout << "Comparing m with identity matrix:" << endl; 5 | cout << m.cwiseEqual(MatrixXi::Identity(2,2)) << endl; 6 | Index count = m.cwiseEqual(MatrixXi::Identity(2,2)).count(); 7 | cout << "Number of coefficients that are equal: " << count << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseInverse.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(2,3); 2 | m << 2, 0.5, 1, 3 | 3, 0.25, 1; 4 | cout << m.cwiseInverse() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseMax.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(2,3,4), w(4,2,3); 2 | cout << v.cwiseMax(w) << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseMin.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(2,3,4), w(4,2,3); 2 | cout << v.cwiseMin(w) << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseNotEqual.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m(2,2); 2 | m << 1, 0, 3 | 1, 1; 4 | cout << "Comparing m with identity matrix:" << endl; 5 | cout << m.cwiseNotEqual(MatrixXi::Identity(2,2)) << endl; 6 | Index count = m.cwiseNotEqual(MatrixXi::Identity(2,2)).count(); 7 | cout << "Number of coefficients that are not equal: " << count << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseProduct.cpp: -------------------------------------------------------------------------------- 1 | Matrix3i a = Matrix3i::Random(), b = Matrix3i::Random(); 2 | Matrix3i c = a.cwiseProduct(b); 3 | cout << "a:\n" << a << "\nb:\n" << b << "\nc:\n" << c << endl; 4 | 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseQuotient.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(2,3,4), w(4,2,3); 2 | cout << v.cwiseQuotient(w) << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseSign.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(2,3); 2 | m << 2, -4, 6, 3 | -5, 1, 0; 4 | cout << m.cwiseSign() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_cwiseSqrt.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(1,2,4); 2 | cout << v.cwiseSqrt() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_diagonal.cpp: -------------------------------------------------------------------------------- 1 | Matrix3i m = Matrix3i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here are the coefficients on the main diagonal of m:" << endl 4 | << m.diagonal() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_diagonal_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here are the coefficients on the 1st super-diagonal and 2nd sub-diagonal of m:" << endl 4 | << m.diagonal(1).transpose() << endl 5 | << m.diagonal(-2).transpose() << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_diagonal_template_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here are the coefficients on the 1st super-diagonal and 2nd sub-diagonal of m:" << endl 4 | << m.diagonal<1>().transpose() << endl 5 | << m.diagonal<-2>().transpose() << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_eigenvalues.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | VectorXcd eivals = ones.eigenvalues(); 3 | cout << "The eigenvalues of the 3x3 matrix of ones are:" << endl << eivals << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_end_int.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.tail(2):" << endl << v.tail(2) << endl; 4 | v.tail(2).setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_eval.cpp: -------------------------------------------------------------------------------- 1 | Matrix2f M = Matrix2f::Random(); 2 | Matrix2f m; 3 | m = M; 4 | cout << "Here is the matrix m:" << endl << m << endl; 5 | cout << "Now we want to copy a column into a row." << endl; 6 | cout << "If we do m.col(1) = m.row(0), then m becomes:" << endl; 7 | m.col(1) = m.row(0); 8 | cout << m << endl << "which is wrong!" << endl; 9 | cout << "Now let us instead do m.col(1) = m.row(0).eval(). Then m becomes" << endl; 10 | m = M; 11 | m.col(1) = m.row(0).eval(); 12 | cout << m << endl << "which is right." << endl; 13 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_fixedBlock_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4d m = Vector4d(1,2,3,4).asDiagonal(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.fixed<2, 2>(2, 2):" << endl << m.block<2, 2>(2, 2) << endl; 4 | m.block<2, 2>(2, 0) = m.block<2, 2>(2, 2); 5 | cout << "Now the matrix m is:" << endl << m << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_hnormalized.cpp: -------------------------------------------------------------------------------- 1 | Vector4d v = Vector4d::Random(); 2 | Projective3d P(Matrix4d::Random()); 3 | cout << "v = " << v.transpose() << "]^T" << endl; 4 | cout << "v.hnormalized() = " << v.hnormalized().transpose() << "]^T" << endl; 5 | cout << "P*v = " << (P*v).transpose() << "]^T" << endl; 6 | cout << "(P*v).hnormalized() = " << (P*v).hnormalized().transpose() << "]^T" << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_homogeneous.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v = Vector3d::Random(), w; 2 | Projective3d P(Matrix4d::Random()); 3 | cout << "v = [" << v.transpose() << "]^T" << endl; 4 | cout << "h.homogeneous() = [" << v.homogeneous().transpose() << "]^T" << endl; 5 | cout << "(P * v.homogeneous()) = [" << (P * v.homogeneous()).transpose() << "]^T" << endl; 6 | cout << "(P * v.homogeneous()).hnormalized() = [" << (P * v.homogeneous()).eval().hnormalized().transpose() << "]^T" << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_identity.cpp: -------------------------------------------------------------------------------- 1 | cout << Matrix::Identity() << endl; 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_identity_int_int.cpp: -------------------------------------------------------------------------------- 1 | cout << MatrixXd::Identity(4, 3) << endl; 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_inverse.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Its inverse is:" << endl << m.inverse() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_isDiagonal.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = 10000 * Matrix3d::Identity(); 2 | m(0,2) = 1; 3 | cout << "Here's the matrix m:" << endl << m << endl; 4 | cout << "m.isDiagonal() returns: " << m.isDiagonal() << endl; 5 | cout << "m.isDiagonal(1e-3) returns: " << m.isDiagonal(1e-3) << endl; 6 | 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_isIdentity.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Identity(); 2 | m(0,2) = 1e-4; 3 | cout << "Here's the matrix m:" << endl << m << endl; 4 | cout << "m.isIdentity() returns: " << m.isIdentity() << endl; 5 | cout << "m.isIdentity(1e-3) returns: " << m.isIdentity(1e-3) << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_isOnes.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Ones(); 2 | m(0,2) += 1e-4; 3 | cout << "Here's the matrix m:" << endl << m << endl; 4 | cout << "m.isOnes() returns: " << m.isOnes() << endl; 5 | cout << "m.isOnes(1e-3) returns: " << m.isOnes(1e-3) << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_isOrthogonal.cpp: -------------------------------------------------------------------------------- 1 | Vector3d v(1,0,0); 2 | Vector3d w(1e-4,0,1); 3 | cout << "Here's the vector v:" << endl << v << endl; 4 | cout << "Here's the vector w:" << endl << w << endl; 5 | cout << "v.isOrthogonal(w) returns: " << v.isOrthogonal(w) << endl; 6 | cout << "v.isOrthogonal(w,1e-3) returns: " << v.isOrthogonal(w,1e-3) << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_isUnitary.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Identity(); 2 | m(0,2) = 1e-4; 3 | cout << "Here's the matrix m:" << endl << m << endl; 4 | cout << "m.isUnitary() returns: " << m.isUnitary() << endl; 5 | cout << "m.isUnitary(1e-3) returns: " << m.isUnitary(1e-3) << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_isZero.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Zero(); 2 | m(0,2) = 1e-4; 3 | cout << "Here's the matrix m:" << endl << m << endl; 4 | cout << "m.isZero() returns: " << m.isZero() << endl; 5 | cout << "m.isZero(1e-3) returns: " << m.isZero(1e-3) << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_leftCols_int.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.leftCols(2):" << endl; 4 | cout << a.leftCols(2) << endl; 5 | a.leftCols(2).setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_noalias.cpp: -------------------------------------------------------------------------------- 1 | Matrix2d a, b, c; a << 1,2,3,4; b << 5,6,7,8; 2 | c.noalias() = a * b; // this computes the product directly to c 3 | cout << c << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_ones.cpp: -------------------------------------------------------------------------------- 1 | cout << Matrix2d::Ones() << endl; 2 | cout << 6 * RowVector4i::Ones() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_ones_int.cpp: -------------------------------------------------------------------------------- 1 | cout << 6 * RowVectorXi::Ones(4) << endl; 2 | cout << VectorXf::Ones(2) << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_ones_int_int.cpp: -------------------------------------------------------------------------------- 1 | cout << MatrixXi::Ones(2,3) << endl; 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_operatorNorm.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | cout << "The operator norm of the 3x3 matrix of ones is " 3 | << ones.operatorNorm() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_prod.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the product of all the coefficients:" << endl << m.prod() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_random.cpp: -------------------------------------------------------------------------------- 1 | cout << 100 * Matrix2i::Random() << endl; 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_random_int.cpp: -------------------------------------------------------------------------------- 1 | cout << VectorXi::Random(2) << endl; 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_random_int_int.cpp: -------------------------------------------------------------------------------- 1 | cout << MatrixXi::Random(2,3) << endl; 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_replicate.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m = MatrixXi::Random(2,3); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "m.replicate<3,2>() = ..." << endl; 4 | cout << m.replicate<3,2>() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_replicate_int_int.cpp: -------------------------------------------------------------------------------- 1 | Vector3i v = Vector3i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "v.replicate(2,5) = ..." << endl; 4 | cout << v.replicate(2,5) << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_reverse.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m = MatrixXi::Random(3,4); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the reverse of m:" << endl << m.reverse() << endl; 4 | cout << "Here is the coefficient (1,0) in the reverse of m:" << endl 5 | << m.reverse()(1,0) << endl; 6 | cout << "Let us overwrite this coefficient with the value 4." << endl; 7 | m.reverse()(1,0) = 4; 8 | cout << "Now the matrix m is:" << endl << m << endl; 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_rightCols_int.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.rightCols(2):" << endl; 4 | cout << a.rightCols(2) << endl; 5 | a.rightCols(2).setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_row.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Identity(); 2 | m.row(1) = Vector3d(4,5,6); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_rowwise.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the sum of each row:" << endl << m.rowwise().sum() << endl; 4 | cout << "Here is the maximum absolute value of each row:" 5 | << endl << m.cwiseAbs().rowwise().maxCoeff() << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_segment_int_int.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.segment(1, 2):" << endl << v.segment(1, 2) << endl; 4 | v.segment(1, 2).setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_select.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi m(3, 3); 2 | m << 1, 2, 3, 3 | 4, 5, 6, 4 | 7, 8, 9; 5 | m = (m.array() >= 5).select(-m, m); 6 | cout << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_selfadjointView.cpp: -------------------------------------------------------------------------------- 1 | Matrix3i m = Matrix3i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the symmetric matrix extracted from the upper part of m:" << endl 4 | << Matrix3i(m.selfadjointView()) << endl; 5 | cout << "Here is the symmetric matrix extracted from the lower part of m:" << endl 6 | << Matrix3i(m.selfadjointView()) << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_set.cpp: -------------------------------------------------------------------------------- 1 | Matrix3i m1; 2 | m1 << 1, 2, 3, 3 | 4, 5, 6, 4 | 7, 8, 9; 5 | cout << m1 << endl << endl; 6 | Matrix3i m2 = Matrix3i::Identity(); 7 | m2.block(0,0, 2,2) << 10, 11, 12, 13; 8 | cout << m2 << endl << endl; 9 | Vector2i v1; 10 | v1 << 14, 15; 11 | m2 << v1.transpose(), 16, 12 | v1, m1.block(1,1,2,2); 13 | cout << m2 << endl; 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_setIdentity.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Zero(); 2 | m.block<3,3>(1,0).setIdentity(); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_setOnes.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | m.row(1).setOnes(); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_setRandom.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Zero(); 2 | m.col(1).setRandom(); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_setZero.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | m.row(1).setZero(); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_start_int.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.head(2):" << endl << v.head(2) << endl; 4 | v.head(2).setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_bottomRows.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.bottomRows<2>():" << endl; 4 | cout << a.bottomRows<2>() << endl; 5 | a.bottomRows<2>().setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_end.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.tail(2):" << endl << v.tail<2>() << endl; 4 | v.tail<2>().setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_block_int_int_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the block:" << endl << m.block<2, Dynamic>(1, 1, 2, 3) << endl; 4 | m.block<2, Dynamic>(1, 1, 2, 3).setZero(); 5 | cout << "Now the matrix m is:" << endl << m << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomLeftCorner<2,2>():" << endl; 4 | cout << m.bottomLeftCorner<2,2>() << endl; 5 | m.bottomLeftCorner<2,2>().setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomLeftCorner<2,Dynamic>(2,2):" << endl; 4 | cout << m.bottomLeftCorner<2,Dynamic>(2,2) << endl; 5 | m.bottomLeftCorner<2,Dynamic>(2,2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomRightCorner<2,2>():" << endl; 4 | cout << m.bottomRightCorner<2,2>() << endl; 5 | m.bottomRightCorner<2,2>().setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.bottomRightCorner<2,Dynamic>(2,2):" << endl; 4 | cout << m.bottomRightCorner<2,Dynamic>(2,2) << endl; 5 | m.bottomRightCorner<2,Dynamic>(2,2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topLeftCorner<2,2>():" << endl; 4 | cout << m.topLeftCorner<2,2>() << endl; 5 | m.topLeftCorner<2,2>().setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topLeftCorner<2,Dynamic>(2,2):" << endl; 4 | cout << m.topLeftCorner<2,Dynamic>(2,2) << endl; 5 | m.topLeftCorner<2,Dynamic>(2,2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topRightCorner<2,2>():" << endl; 4 | cout << m.topRightCorner<2,2>() << endl; 5 | m.topRightCorner<2,2>().setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topRightCorner<2,Dynamic>(2,2):" << endl; 4 | cout << m.topRightCorner<2,Dynamic>(2,2) << endl; 5 | m.topRightCorner<2,Dynamic>(2,2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_leftCols.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.leftCols<2>():" << endl; 4 | cout << a.leftCols<2>() << endl; 5 | a.leftCols<2>().setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_rightCols.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.rightCols<2>():" << endl; 4 | cout << a.rightCols<2>() << endl; 5 | a.rightCols<2>().setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_segment.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.segment<2>(1):" << endl << v.segment<2>(1) << endl; 4 | v.segment<2>(2).setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_start.cpp: -------------------------------------------------------------------------------- 1 | RowVector4i v = RowVector4i::Random(); 2 | cout << "Here is the vector v:" << endl << v << endl; 3 | cout << "Here is v.head(2):" << endl << v.head<2>() << endl; 4 | v.head<2>().setZero(); 5 | cout << "Now the vector v is:" << endl << v << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_template_int_topRows.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.topRows<2>():" << endl; 4 | cout << a.topRows<2>() << endl; 5 | a.topRows<2>().setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_topLeftCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topLeftCorner(2, 2):" << endl; 4 | cout << m.topLeftCorner(2, 2) << endl; 5 | m.topLeftCorner(2, 2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_topRightCorner_int_int.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i m = Matrix4i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is m.topRightCorner(2, 2):" << endl; 4 | cout << m.topRightCorner(2, 2) << endl; 5 | m.topRightCorner(2, 2).setZero(); 6 | cout << "Now the matrix m is:" << endl << m << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_topRows_int.cpp: -------------------------------------------------------------------------------- 1 | Array44i a = Array44i::Random(); 2 | cout << "Here is the array a:" << endl << a << endl; 3 | cout << "Here is a.topRows(2):" << endl; 4 | cout << a.topRows(2) << endl; 5 | a.topRows(2).setZero(); 6 | cout << "Now the array a is:" << endl << a << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_transpose.cpp: -------------------------------------------------------------------------------- 1 | Matrix2i m = Matrix2i::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the transpose of m:" << endl << m.transpose() << endl; 4 | cout << "Here is the coefficient (1,0) in the transpose of m:" << endl 5 | << m.transpose()(1,0) << endl; 6 | cout << "Let us overwrite this coefficient with the value 0." << endl; 7 | m.transpose()(1,0) = 0; 8 | cout << "Now the matrix m is:" << endl << m << endl; 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_zero.cpp: -------------------------------------------------------------------------------- 1 | cout << Matrix2d::Zero() << endl; 2 | cout << RowVector4i::Zero() << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_zero_int.cpp: -------------------------------------------------------------------------------- 1 | cout << RowVectorXi::Zero(4) << endl; 2 | cout << VectorXf::Zero(2) << endl; 3 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/MatrixBase_zero_int_int.cpp: -------------------------------------------------------------------------------- 1 | cout << MatrixXi::Zero(2,3) << endl; 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_Map_stride.cpp: -------------------------------------------------------------------------------- 1 | Matrix4i A; 2 | A << 1, 2, 3, 4, 3 | 5, 6, 7, 8, 4 | 9, 10, 11, 12, 5 | 13, 14, 15, 16; 6 | 7 | std::cout << Matrix2i::Map(&A(1,1),Stride<8,2>()) << std::endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_resize_NoChange_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(3,4); 2 | m.resize(NoChange, 5); 3 | cout << "m: " << m.rows() << " rows, " << m.cols() << " cols" << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_resize_int.cpp: -------------------------------------------------------------------------------- 1 | VectorXd v(10); 2 | v.resize(3); 3 | RowVector3d w; 4 | w.resize(3); // this is legal, but has no effect 5 | cout << "v: " << v.rows() << " rows, " << v.cols() << " cols" << endl; 6 | cout << "w: " << w.rows() << " rows, " << w.cols() << " cols" << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_resize_int_NoChange.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(3,4); 2 | m.resize(5, NoChange); 3 | cout << "m: " << m.rows() << " rows, " << m.cols() << " cols" << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_resize_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd m(2,3); 2 | m << 1,2,3,4,5,6; 3 | cout << "here's the 2x3 matrix m:" << endl << m << endl; 4 | cout << "let's resize m to 3x2. This is a conservative resizing because 2*3==3*2." << endl; 5 | m.resize(3,2); 6 | cout << "here's the 3x2 matrix m:" << endl << m << endl; 7 | cout << "now let's resize m to size 2x2. This is NOT a conservative resizing, so it becomes uninitialized:" << endl; 8 | m.resize(2,2); 9 | cout << m << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_setConstant_int.cpp: -------------------------------------------------------------------------------- 1 | VectorXf v; 2 | v.setConstant(3, 5); 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_setConstant_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m; 2 | m.setConstant(3, 3, 5); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_setIdentity_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m; 2 | m.setIdentity(3, 3); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_setOnes_int.cpp: -------------------------------------------------------------------------------- 1 | VectorXf v; 2 | v.setOnes(3); 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_setOnes_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m; 2 | m.setOnes(3, 3); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_setRandom_int.cpp: -------------------------------------------------------------------------------- 1 | VectorXf v; 2 | v.setRandom(3); 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_setRandom_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m; 2 | m.setRandom(3, 3); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_setZero_int.cpp: -------------------------------------------------------------------------------- 1 | VectorXf v; 2 | v.setZero(3); 3 | cout << v << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Matrix_setZero_int_int.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf m; 2 | m.setZero(3, 3); 3 | cout << m << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/PartialPivLU_solve.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd A = MatrixXd::Random(3,3); 2 | MatrixXd B = MatrixXd::Random(3,2); 3 | cout << "Here is the invertible matrix A:" << endl << A << endl; 4 | cout << "Here is the matrix B:" << endl << B << endl; 5 | MatrixXd X = A.lu().solve(B); 6 | cout << "Here is the (unique) solution X to the equation AX=B:" << endl << X << endl; 7 | cout << "Relative error: " << (A*X-B).norm() / B.norm() << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/PartialRedux_count.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | Matrix res = (m.array() >= 0.5).rowwise().count(); 4 | cout << "Here is the count of elements larger or equal than 0.5 of each row:" << endl; 5 | cout << res << endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/PartialRedux_maxCoeff.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the maximum of each column:" << endl << m.colwise().maxCoeff() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/PartialRedux_minCoeff.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the minimum of each column:" << endl << m.colwise().minCoeff() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/PartialRedux_norm.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the norm of each column:" << endl << m.colwise().norm() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/PartialRedux_prod.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the product of each row:" << endl << m.rowwise().prod() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/PartialRedux_squaredNorm.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the square norm of each row:" << endl << m.rowwise().squaredNorm() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/PartialRedux_sum.cpp: -------------------------------------------------------------------------------- 1 | Matrix3d m = Matrix3d::Random(); 2 | cout << "Here is the matrix m:" << endl << m << endl; 3 | cout << "Here is the sum of each row:" << endl << m.rowwise().sum() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/RealSchur_RealSchur_MatrixType.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd A = MatrixXd::Random(6,6); 2 | cout << "Here is a random 6x6 matrix, A:" << endl << A << endl << endl; 3 | 4 | RealSchur schur(A); 5 | cout << "The orthogonal matrix U is:" << endl << schur.matrixU() << endl; 6 | cout << "The quasi-triangular matrix T is:" << endl << schur.matrixT() << endl << endl; 7 | 8 | MatrixXd U = schur.matrixU(); 9 | MatrixXd T = schur.matrixT(); 10 | cout << "U * T * U^T = " << endl << U * T * U.transpose() << endl; 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/RealSchur_compute.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A = MatrixXf::Random(4,4); 2 | RealSchur schur(4); 3 | schur.compute(A, /* computeU = */ false); 4 | cout << "The matrix T in the decomposition of A is:" << endl << schur.matrixT() << endl; 5 | schur.compute(A.inverse(), /* computeU = */ false); 6 | cout << "The matrix T in the decomposition of A^(-1) is:" << endl << schur.matrixT() << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp: -------------------------------------------------------------------------------- 1 | SelfAdjointEigenSolver es; 2 | Matrix4f X = Matrix4f::Random(4,4); 3 | Matrix4f A = X + X.transpose(); 4 | es.compute(A); 5 | cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl; 6 | es.compute(A + Matrix4f::Identity(4,4)); // re-use es to compute eigenvalues of A+I 7 | cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType.cpp: -------------------------------------------------------------------------------- 1 | SelfAdjointEigenSolver es(4); 2 | MatrixXf X = MatrixXf::Random(4,4); 3 | MatrixXf A = X + X.transpose(); 4 | es.compute(A); 5 | cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl; 6 | es.compute(A + MatrixXf::Identity(4,4)); // re-use es to compute eigenvalues of A+I 7 | cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType2.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd X = MatrixXd::Random(5,5); 2 | MatrixXd A = X * X.transpose(); 3 | X = MatrixXd::Random(5,5); 4 | MatrixXd B = X * X.transpose(); 5 | 6 | GeneralizedSelfAdjointEigenSolver es(A,B,EigenvaluesOnly); 7 | cout << "The eigenvalues of the pencil (A,B) are:" << endl << es.eigenvalues() << endl; 8 | es.compute(B,A,false); 9 | cout << "The eigenvalues of the pencil (B,A) are:" << endl << es.eigenvalues() << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvalues.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | SelfAdjointEigenSolver es(ones); 3 | cout << "The eigenvalues of the 3x3 matrix of ones are:" 4 | << endl << es.eigenvalues() << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvectors.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | SelfAdjointEigenSolver es(ones); 3 | cout << "The first eigenvector of the 3x3 matrix of ones is:" 4 | << endl << es.eigenvectors().col(1) << endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_operatorInverseSqrt.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd X = MatrixXd::Random(4,4); 2 | MatrixXd A = X * X.transpose(); 3 | cout << "Here is a random positive-definite matrix, A:" << endl << A << endl << endl; 4 | 5 | SelfAdjointEigenSolver es(A); 6 | cout << "The inverse square root of A is: " << endl; 7 | cout << es.operatorInverseSqrt() << endl; 8 | cout << "We can also compute it with operatorSqrt() and inverse(). That yields: " << endl; 9 | cout << es.operatorSqrt().inverse() << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/SelfAdjointEigenSolver_operatorSqrt.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd X = MatrixXd::Random(4,4); 2 | MatrixXd A = X * X.transpose(); 3 | cout << "Here is a random positive-definite matrix, A:" << endl << A << endl << endl; 4 | 5 | SelfAdjointEigenSolver es(A); 6 | MatrixXd sqrtA = es.operatorSqrt(); 7 | cout << "The square root of A is: " << endl << sqrtA << endl; 8 | cout << "If we square this, we get: " << endl << sqrtA*sqrtA << endl; 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/SelfAdjointView_eigenvalues.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | VectorXd eivals = ones.selfadjointView().eigenvalues(); 3 | cout << "The eigenvalues of the 3x3 matrix of ones are:" << endl << eivals << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/SelfAdjointView_operatorNorm.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd ones = MatrixXd::Ones(3,3); 2 | cout << "The operator norm of the 3x3 matrix of ones is " 3 | << ones.selfadjointView().operatorNorm() << endl; 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/SparseMatrix_coeffs.cpp: -------------------------------------------------------------------------------- 1 | SparseMatrix A(3,3); 2 | A.insert(1,2) = 0; 3 | A.insert(0,1) = 1; 4 | A.insert(2,0) = 2; 5 | A.makeCompressed(); 6 | cout << "The matrix A is:" << endl << MatrixXd(A) << endl; 7 | cout << "it has " << A.nonZeros() << " stored non zero coefficients that are: " << A.coeffs().transpose() << endl; 8 | A.coeffs() += 10; 9 | cout << "After adding 10 to every stored non zero coefficient, the matrix A is:" << endl << MatrixXd(A) << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/TopicAliasing_block.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi mat(3,3); 2 | mat << 1, 2, 3, 4, 5, 6, 7, 8, 9; 3 | cout << "Here is the matrix mat:\n" << mat << endl; 4 | 5 | // This assignment shows the aliasing problem 6 | mat.bottomRightCorner(2,2) = mat.topLeftCorner(2,2); 7 | cout << "After the assignment, mat = \n" << mat << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/TopicAliasing_block_correct.cpp: -------------------------------------------------------------------------------- 1 | MatrixXi mat(3,3); 2 | mat << 1, 2, 3, 4, 5, 6, 7, 8, 9; 3 | cout << "Here is the matrix mat:\n" << mat << endl; 4 | 5 | // The eval() solves the aliasing problem 6 | mat.bottomRightCorner(2,2) = mat.topLeftCorner(2,2).eval(); 7 | cout << "After the assignment, mat = \n" << mat << endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/TopicAliasing_mult1.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf matA(2,2); 2 | matA << 2, 0, 0, 2; 3 | matA = matA * matA; 4 | cout << matA; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/TopicAliasing_mult2.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf matA(2,2), matB(2,2); 2 | matA << 2, 0, 0, 2; 3 | 4 | // Simple but not quite as efficient 5 | matB = matA * matA; 6 | cout << matB << endl << endl; 7 | 8 | // More complicated but also more efficient 9 | matB.noalias() = matA * matA; 10 | cout << matB; 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/TopicAliasing_mult3.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf matA(2,2); 2 | matA << 2, 0, 0, 2; 3 | matA.noalias() = matA * matA; 4 | cout << matA; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/TopicAliasing_mult4.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A(2,2), B(3,2); 2 | B << 2, 0, 0, 3, 1, 1; 3 | A << 2, 0, 0, -2; 4 | A = (B * A).cwiseAbs(); 5 | cout << A; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/TopicAliasing_mult5.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf A(2,2), B(3,2); 2 | B << 2, 0, 0, 3, 1, 1; 3 | A << 2, 0, 0, -2; 4 | A = (B * A).eval().cwiseAbs(); 5 | cout << A; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tridiagonalization_Tridiagonalization_MatrixType.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd X = MatrixXd::Random(5,5); 2 | MatrixXd A = X + X.transpose(); 3 | cout << "Here is a random symmetric 5x5 matrix:" << endl << A << endl << endl; 4 | Tridiagonalization triOfA(A); 5 | MatrixXd Q = triOfA.matrixQ(); 6 | cout << "The orthogonal matrix Q is:" << endl << Q << endl; 7 | MatrixXd T = triOfA.matrixT(); 8 | cout << "The tridiagonal matrix T is:" << endl << T << endl << endl; 9 | cout << "Q * T * Q^T = " << endl << Q * T * Q.transpose() << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tridiagonalization_compute.cpp: -------------------------------------------------------------------------------- 1 | Tridiagonalization tri; 2 | MatrixXf X = MatrixXf::Random(4,4); 3 | MatrixXf A = X + X.transpose(); 4 | tri.compute(A); 5 | cout << "The matrix T in the tridiagonal decomposition of A is: " << endl; 6 | cout << tri.matrixT() << endl; 7 | tri.compute(2*A); // re-use tri to compute eigenvalues of 2A 8 | cout << "The matrix T in the tridiagonal decomposition of 2A is: " << endl; 9 | cout << tri.matrixT() << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tridiagonalization_decomposeInPlace.cpp: -------------------------------------------------------------------------------- 1 | MatrixXd X = MatrixXd::Random(5,5); 2 | MatrixXd A = X + X.transpose(); 3 | cout << "Here is a random symmetric 5x5 matrix:" << endl << A << endl << endl; 4 | 5 | VectorXd diag(5); 6 | VectorXd subdiag(4); 7 | internal::tridiagonalization_inplace(A, diag, subdiag, true); 8 | cout << "The orthogonal matrix Q is:" << endl << A << endl; 9 | cout << "The diagonal of the tridiagonal matrix T is:" << endl << diag << endl; 10 | cout << "The subdiagonal of the tridiagonal matrix T is:" << endl << subdiag << endl; 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tridiagonalization_householderCoefficients.cpp: -------------------------------------------------------------------------------- 1 | Matrix4d X = Matrix4d::Random(4,4); 2 | Matrix4d A = X + X.transpose(); 3 | cout << "Here is a random symmetric 4x4 matrix:" << endl << A << endl; 4 | Tridiagonalization triOfA(A); 5 | Vector3d hc = triOfA.householderCoefficients(); 6 | cout << "The vector of Householder coefficients is:" << endl << hc << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tridiagonalization_packedMatrix.cpp: -------------------------------------------------------------------------------- 1 | Matrix4d X = Matrix4d::Random(4,4); 2 | Matrix4d A = X + X.transpose(); 3 | cout << "Here is a random symmetric 4x4 matrix:" << endl << A << endl; 4 | Tridiagonalization triOfA(A); 5 | Matrix4d pm = triOfA.packedMatrix(); 6 | cout << "The packed matrix M is:" << endl << pm << endl; 7 | cout << "The diagonal and subdiagonal corresponds to the matrix T, which is:" 8 | << endl << triOfA.matrixT() << endl; 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_AdvancedInitialization_Block.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf matA(2, 2); 2 | matA << 1, 2, 3, 4; 3 | MatrixXf matB(4, 4); 4 | matB << matA, matA/10, matA/10, matA; 5 | std::cout << matB << std::endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_AdvancedInitialization_CommaTemporary.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf mat = MatrixXf::Random(2, 3); 2 | std::cout << mat << std::endl << std::endl; 3 | mat = (MatrixXf(2,2) << 0, 1, 1, 0).finished() * mat; 4 | std::cout << mat << std::endl; 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_AdvancedInitialization_Join.cpp: -------------------------------------------------------------------------------- 1 | RowVectorXd vec1(3); 2 | vec1 << 1, 2, 3; 3 | std::cout << "vec1 = " << vec1 << std::endl; 4 | 5 | RowVectorXd vec2(4); 6 | vec2 << 1, 4, 9, 16; 7 | std::cout << "vec2 = " << vec2 << std::endl; 8 | 9 | RowVectorXd joined(7); 10 | joined << vec1, vec2; 11 | std::cout << "joined = " << joined << std::endl; 12 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp: -------------------------------------------------------------------------------- 1 | ArrayXXf table(10, 4); 2 | table.col(0) = ArrayXf::LinSpaced(10, 0, 90); 3 | table.col(1) = M_PI / 180 * table.col(0); 4 | table.col(2) = table.col(1).sin(); 5 | table.col(3) = table.col(1).cos(); 6 | std::cout << " Degrees Radians Sine Cosine\n"; 7 | std::cout << table << std::endl; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_AdvancedInitialization_Zero.cpp: -------------------------------------------------------------------------------- 1 | std::cout << "A fixed-size array:\n"; 2 | Array33f a1 = Array33f::Zero(); 3 | std::cout << a1 << "\n\n"; 4 | 5 | 6 | std::cout << "A one-dimensional dynamic-size array:\n"; 7 | ArrayXf a2 = ArrayXf::Zero(3); 8 | std::cout << a2 << "\n\n"; 9 | 10 | 11 | std::cout << "A two-dimensional dynamic-size array:\n"; 12 | ArrayXXf a3 = ArrayXXf::Zero(3, 4); 13 | std::cout << a3 << "\n"; 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_Map_rowmajor.cpp: -------------------------------------------------------------------------------- 1 | int array[8]; 2 | for(int i = 0; i < 8; ++i) array[i] = i; 3 | cout << "Column-major:\n" << Map >(array) << endl; 4 | cout << "Row-major:\n" << Map >(array) << endl; 5 | cout << "Row-major using stride:\n" << 6 | Map, Unaligned, Stride<1,4> >(array) << endl; 7 | 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_ReshapeMat2Mat.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf M1(2,6); // Column-major storage 2 | M1 << 1, 2, 3, 4, 5, 6, 3 | 7, 8, 9, 10, 11, 12; 4 | 5 | Map M2(M1.data(), 6,2); 6 | cout << "M2:" << endl << M2 << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_ReshapeMat2Vec.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf M1(3,3); // Column-major storage 2 | M1 << 1, 2, 3, 3 | 4, 5, 6, 4 | 7, 8, 9; 5 | 6 | Map v1(M1.data(), M1.size()); 7 | cout << "v1:" << endl << v1 << endl; 8 | 9 | Matrix M2(M1); 10 | Map v2(M2.data(), M2.size()); 11 | cout << "v2:" << endl << v2 << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_SlicingVec.cpp: -------------------------------------------------------------------------------- 1 | RowVectorXf v = RowVectorXf::LinSpaced(20,0,19); 2 | cout << "Input:" << endl << v << endl; 3 | Map > v2(v.data(), v.size()/2); 4 | cout << "Even:" << v2 << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_commainit_01.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m; 2 | m << 1, 2, 3, 3 | 4, 5, 6, 4 | 7, 8, 9; 5 | std::cout << m; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_commainit_01b.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m; 2 | m.row(0) << 1, 2, 3; 3 | m.block(1,0,2,2) << 4, 5, 7, 8; 4 | m.col(2).tail(2) << 6, 9; 5 | std::cout << m; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_commainit_02.cpp: -------------------------------------------------------------------------------- 1 | int rows=5, cols=5; 2 | MatrixXf m(rows,cols); 3 | m << (Matrix3f() << 1, 2, 3, 4, 5, 6, 7, 8, 9).finished(), 4 | MatrixXf::Zero(3,cols-3), 5 | MatrixXf::Zero(rows-3,3), 6 | MatrixXf::Identity(rows-3,cols-3); 7 | cout << m; 8 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_solve_matrix_inverse.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A; 2 | Vector3f b; 3 | A << 1,2,3, 4,5,6, 7,8,10; 4 | b << 3, 3, 4; 5 | Vector3f x = A.inverse() * b; 6 | cout << "The solution is:" << endl << x << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_solve_multiple_rhs.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A(3,3); 2 | A << 1,2,3, 4,5,6, 7,8,10; 3 | Matrix B; 4 | B << 3,1, 3,1, 4,1; 5 | Matrix X; 6 | X = A.fullPivLu().solve(B); 7 | cout << "The solution with right-hand side (3,3,4) is:" << endl; 8 | cout << X.col(0) << endl; 9 | cout << "The solution with right-hand side (1,1,1) is:" << endl; 10 | cout << X.col(1) << endl; 11 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_solve_reuse_decomposition.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A(3,3); 2 | A << 1,2,3, 4,5,6, 7,8,10; 3 | PartialPivLU luOfA(A); // compute LU decomposition of A 4 | Vector3f b; 5 | b << 3,3,4; 6 | Vector3f x; 7 | x = luOfA.solve(b); 8 | cout << "The solution with right-hand side (3,3,4) is:" << endl; 9 | cout << x << endl; 10 | b << 1,1,1; 11 | x = luOfA.solve(b); 12 | cout << "The solution with right-hand side (1,1,1) is:" << endl; 13 | cout << x << endl; 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_solve_singular.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A; 2 | Vector3f b; 3 | A << 1,2,3, 4,5,6, 7,8,9; 4 | b << 3, 3, 4; 5 | cout << "Here is the matrix A:" << endl << A << endl; 6 | cout << "Here is the vector b:" << endl << b << endl; 7 | Vector3f x; 8 | x = A.lu().solve(b); 9 | cout << "The solution is:" << endl << x << endl; 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_solve_triangular.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A; 2 | Vector3f b; 3 | A << 1,2,3, 0,5,6, 0,0,10; 4 | b << 3, 3, 4; 5 | cout << "Here is the matrix A:" << endl << A << endl; 6 | cout << "Here is the vector b:" << endl << b << endl; 7 | Vector3f x = A.triangularView().solve(b); 8 | cout << "The solution is:" << endl << x << endl; 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/Tutorial_solve_triangular_inplace.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f A; 2 | Vector3f b; 3 | A << 1,2,3, 0,5,6, 0,0,10; 4 | b << 3, 3, 4; 5 | A.triangularView().solveInPlace(b); 6 | cout << "The solution is:" << endl << b << endl; 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/VectorwiseOp_homogeneous.cpp: -------------------------------------------------------------------------------- 1 | typedef Matrix Matrix3Xd; 2 | Matrix3Xd M = Matrix3Xd::Random(3,5); 3 | Projective3d P(Matrix4d::Random()); 4 | cout << "The matrix M is:" << endl << M << endl << endl; 5 | cout << "M.colwise().homogeneous():" << endl << M.colwise().homogeneous() << endl << endl; 6 | cout << "P * M.colwise().homogeneous():" << endl << P * M.colwise().homogeneous() << endl << endl; 7 | cout << "P * M.colwise().homogeneous().hnormalized(): " << endl << (P * M.colwise().homogeneous()).colwise().hnormalized() << endl << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/tut_arithmetic_redux_minmax.cpp: -------------------------------------------------------------------------------- 1 | Matrix3f m = Matrix3f::Random(); 2 | std::ptrdiff_t i, j; 3 | float minOfM = m.minCoeff(&i,&j); 4 | cout << "Here is the matrix m:\n" << m << endl; 5 | cout << "Its minimum coefficient (" << minOfM 6 | << ") is at position (" << i << "," << j << ")\n\n"; 7 | 8 | RowVector4i v = RowVector4i::Random(); 9 | int maxOfV = v.maxCoeff(&i); 10 | cout << "Here is the vector v: " << v << endl; 11 | cout << "Its maximum coefficient (" << maxOfV 12 | << ") is at position " << i << endl; 13 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/tut_arithmetic_transpose_aliasing.cpp: -------------------------------------------------------------------------------- 1 | Matrix2i a; a << 1, 2, 3, 4; 2 | cout << "Here is the matrix a:\n" << a << endl; 3 | 4 | a = a.transpose(); // !!! do NOT do this !!! 5 | cout << "and the result of the aliasing effect:\n" << a << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/tut_arithmetic_transpose_conjugate.cpp: -------------------------------------------------------------------------------- 1 | MatrixXcf a = MatrixXcf::Random(2,2); 2 | cout << "Here is the matrix a\n" << a << endl; 3 | 4 | cout << "Here is the matrix a^T\n" << a.transpose() << endl; 5 | 6 | 7 | cout << "Here is the conjugate of a\n" << a.conjugate() << endl; 8 | 9 | 10 | cout << "Here is the matrix a^*\n" << a.adjoint() << endl; 11 | 12 | 13 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/tut_arithmetic_transpose_inplace.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf a(2,3); a << 1, 2, 3, 4, 5, 6; 2 | cout << "Here is the initial matrix a:\n" << a << endl; 3 | 4 | 5 | a.transposeInPlace(); 6 | cout << "and after being transposed:\n" << a << endl; -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/snippets/tut_matrix_assignment_resizing.cpp: -------------------------------------------------------------------------------- 1 | MatrixXf a(2,2); 2 | std::cout << "a is of size " << a.rows() << "x" << a.cols() << std::endl; 3 | MatrixXf b(3,3); 4 | a = b; 5 | std::cout << "a is now of size " << a.rows() << "x" << a.cols() << std::endl; 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/doc/special_examples/random_cpp11.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | using namespace Eigen; 6 | 7 | int main() { 8 | std::default_random_engine generator; 9 | std::poisson_distribution distribution(4.1); 10 | auto poisson = [&] () {return distribution(generator);}; 11 | 12 | RowVectorXi v = RowVectorXi::NullaryExpr(10, poisson ); 13 | std::cout << v << "\n"; 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/eigen3.pc.in: -------------------------------------------------------------------------------- 1 | prefix=@CMAKE_INSTALL_PREFIX@ 2 | exec_prefix=${prefix} 3 | 4 | Name: Eigen3 5 | Description: A C++ template library for linear algebra: vectors, matrices, and related algorithms 6 | Requires: 7 | Version: @EIGEN_VERSION_NUMBER@ 8 | Libs: 9 | Cflags: -I${prefix}/@INCLUDE_INSTALL_DIR@ 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/bdcsvd_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/SVD" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | BDCSVD > qr(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/block_nonconst_ctor_on_const_xpr_0.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Block b(m,0,0); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/block_nonconst_ctor_on_const_xpr_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Block b(m,0,0,3,3); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/block_nonconst_ctor_on_const_xpr_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | // row/column constructor 13 | Block b(m,0); 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/block_on_const_type_actually_const_0.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | Matrix3f m; 13 | Block(m, 0, 0, 3, 3).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/block_on_const_type_actually_const_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | Block(m, 0, 0).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/colpivqr_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/QR" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | ColPivHouseholderQR > qr(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/const_qualified_block_method_retval_0.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Block b(m.block<3,3>(0,0)); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/const_qualified_block_method_retval_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Block b(m.block(0,0,3,3)); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/const_qualified_diagonal_method_retval.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Diagonal b(m.diagonal()); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/const_qualified_transpose_method_retval.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Transpose b(m.transpose()); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/cwiseunaryview_nonconst_ctor_on_const_xpr.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | CwiseUnaryView,Matrix3d> t(m); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/cwiseunaryview_on_const_type_actually_const.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | CwiseUnaryView,CV_QUALIFIER MatrixXf>(m).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/diagonal_nonconst_ctor_on_const_xpr.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Diagonal d(m); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/diagonal_on_const_type_actually_const.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | Diagonal(m).coeffRef(0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/eigensolver_cplx.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Eigenvalues" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR std::complex 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | EigenSolver > eig(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/eigensolver_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Eigenvalues" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | EigenSolver > eig(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/failtest_sanity_check.cpp: -------------------------------------------------------------------------------- 1 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 2 | This is just some text that won't compile as a C++ file, as a basic sanity check for failtest. 3 | #else 4 | int main() {} 5 | #endif 6 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/fullpivlu_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/LU" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | FullPivLU > lu(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/fullpivqr_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/QR" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | FullPivHouseholderQR > qr(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/jacobisvd_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/SVD" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | JacobiSVD > qr(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/ldlt_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Cholesky" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | LDLT > ldlt(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/llt_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Cholesky" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | LLT > llt(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/map_nonconst_ctor_on_const_ptr_0.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER float *ptr){ 12 | Map m(ptr); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/map_nonconst_ctor_on_const_ptr_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER float *ptr, DenseIndex size){ 12 | Map m(ptr, size); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/map_nonconst_ctor_on_const_ptr_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER float *ptr, DenseIndex rows, DenseIndex cols){ 12 | Map m(ptr, rows, cols); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/map_nonconst_ctor_on_const_ptr_3.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER float *ptr, DenseIndex rows, DenseIndex cols){ 12 | Map > m(ptr, rows, cols, InnerStride<2>()); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/map_nonconst_ctor_on_const_ptr_4.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER 5 | #else 6 | #define CV_QUALIFIER const 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(const float *ptr, DenseIndex rows, DenseIndex cols){ 12 | Map > m(ptr, rows, cols, OuterStride<>(2)); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/map_on_const_type_actually_const_0.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(float *ptr){ 12 | Map(ptr, 1, 1).coeffRef(0,0) = 1.0f; 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/map_on_const_type_actually_const_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(float *ptr){ 12 | Map(ptr).coeffRef(0) = 1.0f; 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/partialpivlu_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/LU" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | PartialPivLU > lu(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/qr_int.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/QR" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define SCALAR int 5 | #else 6 | #define SCALAR float 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | int main() 12 | { 13 | HouseholderQR > qr(Matrix::Random(10,10)); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/ref_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void call_ref(Ref a) { } 12 | 13 | int main() 14 | { 15 | VectorXf a(10); 16 | CV_QUALIFIER VectorXf& ac(a); 17 | call_ref(ac); 18 | } 19 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/ref_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref a) { } 6 | 7 | int main() 8 | { 9 | MatrixXf A(10,10); 10 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 11 | call_ref(A.row(3)); 12 | #else 13 | call_ref(A.col(3)); 14 | #endif 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/ref_3.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 6 | void call_ref(Ref a) { } 7 | #else 8 | void call_ref(const Ref &a) { } 9 | #endif 10 | 11 | int main() 12 | { 13 | VectorXf a(10); 14 | call_ref(a+a); 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/ref_4.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref > a) {} 6 | 7 | int main() 8 | { 9 | MatrixXf A(10,10); 10 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 11 | call_ref(A.transpose()); 12 | #else 13 | call_ref(A); 14 | #endif 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/ref_5.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref a) { } 6 | 7 | int main() 8 | { 9 | VectorXf a(10); 10 | DenseBase &ac(a); 11 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 12 | call_ref(ac); 13 | #else 14 | call_ref(ac.derived()); 15 | #endif 16 | } 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/selfadjointview_nonconst_ctor_on_const_xpr.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | SelfAdjointView t(m); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/selfadjointview_on_const_type_actually_const.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | SelfAdjointView(m).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/sparse_ref_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void call_ref(Ref > a) { } 12 | 13 | int main() 14 | { 15 | SparseMatrix a(10,10); 16 | CV_QUALIFIER SparseMatrix& ac(a); 17 | call_ref(ac); 18 | } 19 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/sparse_ref_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref > a) { } 6 | 7 | int main() 8 | { 9 | SparseMatrix A(10,10); 10 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 11 | call_ref(A.row(3)); 12 | #else 13 | call_ref(A.col(3)); 14 | #endif 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/sparse_ref_3.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | 3 | using namespace Eigen; 4 | 5 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 6 | void call_ref(Ref > a) { } 7 | #else 8 | void call_ref(const Ref > &a) { } 9 | #endif 10 | 11 | int main() 12 | { 13 | SparseMatrix a(10,10); 14 | call_ref(a+a); 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/sparse_ref_4.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref > a) {} 6 | 7 | int main() 8 | { 9 | SparseMatrix A(10,10); 10 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 11 | call_ref(A.transpose()); 12 | #else 13 | call_ref(A); 14 | #endif 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/sparse_ref_5.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | 3 | using namespace Eigen; 4 | 5 | void call_ref(Ref > a) { } 6 | 7 | int main() 8 | { 9 | SparseMatrix a(10,10); 10 | SparseMatrixBase > &ac(a); 11 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 12 | call_ref(ac); 13 | #else 14 | call_ref(ac.derived()); 15 | #endif 16 | } 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/sparse_storage_mismatch.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Sparse" 2 | using namespace Eigen; 3 | 4 | typedef SparseMatrix Mat1; 5 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 6 | typedef SparseMatrix Mat2; 7 | #else 8 | typedef SparseMatrix Mat2; 9 | #endif 10 | 11 | int main() 12 | { 13 | Mat1 a(10,10); 14 | Mat2 b(10,10); 15 | a += b; 16 | } 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/swap_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | int main() 6 | { 7 | VectorXf a(10), b(10); 8 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 9 | const DenseBase &ac(a); 10 | #else 11 | DenseBase &ac(a); 12 | #endif 13 | b.swap(ac); 14 | } 15 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/swap_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | int main() 6 | { 7 | VectorXf a(10), b(10); 8 | VectorXf const &ac(a); 9 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 10 | b.swap(ac); 11 | #else 12 | b.swap(ac.const_cast_derived()); 13 | #endif 14 | } -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/ternary_1.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | int main(int argc,char **) 6 | { 7 | VectorXf a(10), b(10); 8 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 9 | b = argc>1 ? 2*a : -a; 10 | #else 11 | b = argc>1 ? 2*a : VectorXf(-a); 12 | #endif 13 | } 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/ternary_2.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | using namespace Eigen; 4 | 5 | int main(int argc,char **) 6 | { 7 | VectorXf a(10), b(10); 8 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 9 | b = argc>1 ? 2*a : a+a; 10 | #else 11 | b = argc>1 ? VectorXf(2*a) : VectorXf(a+a); 12 | #endif 13 | } 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/transpose_nonconst_ctor_on_const_xpr.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | Transpose t(m); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/transpose_on_const_type_actually_const.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | Transpose(m).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(CV_QUALIFIER Matrix3d &m){ 12 | TriangularView t(m); 13 | } 14 | 15 | int main() {} 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/failtest/triangularview_on_const_type_actually_const.cpp: -------------------------------------------------------------------------------- 1 | #include "../Eigen/Core" 2 | 3 | #ifdef EIGEN_SHOULD_FAIL_TO_BUILD 4 | #define CV_QUALIFIER const 5 | #else 6 | #define CV_QUALIFIER 7 | #endif 8 | 9 | using namespace Eigen; 10 | 11 | void foo(){ 12 | MatrixXf m; 13 | TriangularView(m).coeffRef(0, 0) = 1.0f; 14 | } 15 | 16 | int main() {} 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/scripts/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | get_property(EIGEN_TESTS_LIST GLOBAL PROPERTY EIGEN_TESTS_LIST) 2 | configure_file(buildtests.in ${CMAKE_BINARY_DIR}/buildtests.sh @ONLY) 3 | 4 | configure_file(check.in ${CMAKE_BINARY_DIR}/check.sh COPYONLY) 5 | configure_file(debug.in ${CMAKE_BINARY_DIR}/debug.sh COPYONLY) 6 | configure_file(release.in ${CMAKE_BINARY_DIR}/release.sh COPYONLY) 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/scripts/debug.in: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | cmake -DCMAKE_BUILD_TYPE=Debug . 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/scripts/release.in: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | cmake -DCMAKE_BUILD_TYPE=Release . 4 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/signature_of_eigen3_matrix_library: -------------------------------------------------------------------------------- 1 | This file is just there as a signature to help identify directories containing Eigen3. When writing a script looking for Eigen3, just look for this file. This is especially useful to help disambiguate with Eigen2... 2 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/test/bug1213.cpp: -------------------------------------------------------------------------------- 1 | 2 | // This anonymous enum is essential to trigger the linking issue 3 | enum { 4 | Foo 5 | }; 6 | 7 | #include "bug1213.h" 8 | 9 | bool bug1213_1(const Eigen::Vector3f& x) 10 | { 11 | return bug1213_2(x); 12 | } 13 | 14 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/test/bug1213.h: -------------------------------------------------------------------------------- 1 | 2 | #include 3 | 4 | template 5 | bool bug1213_2(const Eigen::Matrix& x); 6 | 7 | bool bug1213_1(const Eigen::Vector3f& x); 8 | 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/test/bug1213_main.cpp: -------------------------------------------------------------------------------- 1 | 2 | // This is a regression unit regarding a weird linking issue with gcc. 3 | 4 | #include "bug1213.h" 5 | 6 | int main() 7 | { 8 | return 0; 9 | } 10 | 11 | 12 | template 13 | bool bug1213_2(const Eigen::Matrix& ) 14 | { 15 | return true; 16 | } 17 | 18 | template bool bug1213_2(const Eigen::Vector3f&); 19 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/test/evaluator_common.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/tub-rip/cmax_slam/12342de85cf46b81fc45211714853ee0233284a3/thirdparty/basalt-headers/thirdparty/eigen/test/evaluator_common.h -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/unsupported/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(Eigen) 2 | add_subdirectory(doc EXCLUDE_FROM_ALL) 3 | if(BUILD_TESTING) 4 | if(EIGEN_LEAVE_TEST_IN_ALL_TARGET) 5 | add_subdirectory(test) # can't do EXCLUDE_FROM_ALL here, breaks CTest 6 | else() 7 | add_subdirectory(test EXCLUDE_FROM_ALL) 8 | endif() 9 | endif() 10 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/unsupported/Eigen/CXX11/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(Eigen_CXX11_HEADERS Tensor TensorSymmetry ThreadPool) 2 | 3 | install(FILES 4 | ${Eigen_CXX11_HEADERS} 5 | DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/CXX11 COMPONENT Devel 6 | ) 7 | 8 | install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/CXX11 COMPONENT Devel FILES_MATCHING PATTERN "*.h") 9 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/unsupported/Eigen/src/EulerAngles/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | FILE(GLOB Eigen_EulerAngles_SRCS "*.h") 2 | 3 | INSTALL(FILES 4 | ${Eigen_EulerAngles_SRCS} 5 | DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/EulerAngles COMPONENT Devel 6 | ) 7 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/unsupported/doc/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set_directory_properties(PROPERTIES EXCLUDE_FROM_ALL TRUE) 2 | 3 | add_subdirectory(examples) 4 | add_subdirectory(snippets) 5 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/unsupported/doc/examples/MatrixExponential.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | const double pi = std::acos(-1.0); 9 | 10 | MatrixXd A(3,3); 11 | A << 0, -pi/4, 0, 12 | pi/4, 0, 0, 13 | 0, 0, 0; 14 | std::cout << "The matrix A is:\n" << A << "\n\n"; 15 | std::cout << "The matrix exponential of A is:\n" << A.exp() << "\n\n"; 16 | } 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/unsupported/doc/examples/MatrixLogarithm.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | using std::sqrt; 9 | MatrixXd A(3,3); 10 | A << 0.5*sqrt(2), -0.5*sqrt(2), 0, 11 | 0.5*sqrt(2), 0.5*sqrt(2), 0, 12 | 0, 0, 1; 13 | std::cout << "The matrix A is:\n" << A << "\n\n"; 14 | std::cout << "The matrix logarithm of A is:\n" << A.log() << "\n"; 15 | } 16 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/unsupported/doc/examples/MatrixPower.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | const double pi = std::acos(-1.0); 9 | Matrix3d A; 10 | A << cos(1), -sin(1), 0, 11 | sin(1), cos(1), 0, 12 | 0 , 0 , 1; 13 | std::cout << "The matrix A is:\n" << A << "\n\n" 14 | "The matrix power A^(pi/4) is:\n" << A.pow(pi/4) << std::endl; 15 | return 0; 16 | } 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/unsupported/doc/examples/MatrixPower_optimal.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | Matrix4cd A = Matrix4cd::Random(); 9 | MatrixPower Apow(A); 10 | 11 | std::cout << "The matrix A is:\n" << A << "\n\n" 12 | "A^3.1 is:\n" << Apow(3.1) << "\n\n" 13 | "A^3.3 is:\n" << Apow(3.3) << "\n\n" 14 | "A^3.7 is:\n" << Apow(3.7) << "\n\n" 15 | "A^3.9 is:\n" << Apow(3.9) << std::endl; 16 | return 0; 17 | } 18 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/unsupported/doc/examples/MatrixSquareRoot.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | using namespace Eigen; 5 | 6 | int main() 7 | { 8 | const double pi = std::acos(-1.0); 9 | 10 | MatrixXd A(2,2); 11 | A << cos(pi/3), -sin(pi/3), 12 | sin(pi/3), cos(pi/3); 13 | std::cout << "The matrix A is:\n" << A << "\n\n"; 14 | std::cout << "The matrix square root of A is:\n" << A.sqrt() << "\n\n"; 15 | std::cout << "The square of the last matrix is:\n" << A.sqrt() * A.sqrt() << "\n"; 16 | } 17 | -------------------------------------------------------------------------------- /thirdparty/basalt-headers/thirdparty/eigen/unsupported/test/FFT.cpp: -------------------------------------------------------------------------------- 1 | #define test_FFTW test_FFT 2 | #include "FFTW.cpp" 3 | --------------------------------------------------------------------------------