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// This file is part of Eigen, a lightweight C++ template library
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// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
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// Eigen is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 3 of the License, or (at your option) any later version.
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// Alternatively, you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of
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// the License, or (at your option) any later version.
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// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
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// GNU General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License and a copy of the GNU General Public License along with
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// Eigen. If not, see <http://www.gnu.org/licenses/>.
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#ifndef EIGEN_HOMOGENEOUS_H
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#define EIGEN_HOMOGENEOUS_H
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/** \geometry_module \ingroup Geometry_Module
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* \brief Expression of one (or a set of) homogeneous vector(s)
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* \param MatrixType the type of the object in which we are making homogeneous
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* This class represents an expression of one (or a set of) homogeneous vector(s).
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* It is the return type of MatrixBase::homogeneous() and most of the time
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* this is the only way it is used.
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* \sa MatrixBase::homogeneous()
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template<typename MatrixType,int Direction>
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struct traits<Homogeneous<MatrixType,Direction> >
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typedef typename traits<MatrixType>::StorageKind StorageKind;
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typedef typename nested<MatrixType>::type MatrixTypeNested;
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typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
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RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
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int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
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ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
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int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
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RowsAtCompileTime = Direction==Vertical ? RowsPlusOne : MatrixType::RowsAtCompileTime,
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ColsAtCompileTime = Direction==Horizontal ? ColsPlusOne : MatrixType::ColsAtCompileTime,
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MaxRowsAtCompileTime = RowsAtCompileTime,
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MaxColsAtCompileTime = ColsAtCompileTime,
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TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
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Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
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: RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
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CoeffReadCost = _MatrixTypeNested::CoeffReadCost
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template<typename MatrixType,typename Lhs> struct homogeneous_left_product_impl;
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template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl;
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} // end namespace internal
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template<typename MatrixType,int _Direction> class Homogeneous
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: public MatrixBase<Homogeneous<MatrixType,_Direction> >
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enum { Direction = _Direction };
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typedef MatrixBase<Homogeneous> Base;
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EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
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inline Homogeneous(const MatrixType& matrix)
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inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical ? 1 : 0); }
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inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
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inline Scalar coeff(Index row, Index col) const
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if( (int(Direction)==Vertical && row==m_matrix.rows())
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|| (int(Direction)==Horizontal && col==m_matrix.cols()))
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return m_matrix.coeff(row, col);
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template<typename Rhs>
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inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
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operator* (const MatrixBase<Rhs>& rhs) const
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eigen_assert(int(Direction)==Horizontal);
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return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
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template<typename Lhs> friend
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inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
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operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
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eigen_assert(int(Direction)==Vertical);
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return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
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template<typename Scalar, int Dim, int Mode, int Options> friend
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inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
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operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
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eigen_assert(int(Direction)==Vertical);
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return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
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const typename MatrixType::Nested m_matrix;
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* \return an expression of the equivalent homogeneous vector
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* Example: \include MatrixBase_homogeneous.cpp
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* Output: \verbinclude MatrixBase_homogeneous.out
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* \sa class Homogeneous
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template<typename Derived>
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inline typename MatrixBase<Derived>::HomogeneousReturnType
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MatrixBase<Derived>::homogeneous() const
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EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
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* \returns a matrix expression of homogeneous column (or row) vectors
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* Example: \include VectorwiseOp_homogeneous.cpp
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* Output: \verbinclude VectorwiseOp_homogeneous.out
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* \sa MatrixBase::homogeneous() */
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template<typename ExpressionType, int Direction>
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inline Homogeneous<ExpressionType,Direction>
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VectorwiseOp<ExpressionType,Direction>::homogeneous() const
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return _expression();
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* \returns an expression of the homogeneous normalized vector of \c *this
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* Example: \include MatrixBase_hnormalized.cpp
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* Output: \verbinclude MatrixBase_hnormalized.out
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* \sa VectorwiseOp::hnormalized() */
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template<typename Derived>
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inline const typename MatrixBase<Derived>::HNormalizedReturnType
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MatrixBase<Derived>::hnormalized() const
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EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
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return ConstStartMinusOne(derived(),0,0,
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ColsAtCompileTime==1?size()-1:1,
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ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
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* \returns an expression of the homogeneous normalized vector of \c *this
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* Example: \include DirectionWise_hnormalized.cpp
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* Output: \verbinclude DirectionWise_hnormalized.out
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* \sa MatrixBase::hnormalized() */
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template<typename ExpressionType, int Direction>
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inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
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VectorwiseOp<ExpressionType,Direction>::hnormalized() const
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return HNormalized_Block(_expression(),0,0,
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Direction==Vertical ? _expression().rows()-1 : _expression().rows(),
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Direction==Horizontal ? _expression().cols()-1 : _expression().cols()).cwiseQuotient(
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Replicate<HNormalized_Factors,
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Direction==Vertical ? HNormalized_SizeMinusOne : 1,
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Direction==Horizontal ? HNormalized_SizeMinusOne : 1>
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(HNormalized_Factors(_expression(),
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Direction==Vertical ? _expression().rows()-1:0,
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Direction==Horizontal ? _expression().cols()-1:0,
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Direction==Vertical ? 1 : _expression().rows(),
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Direction==Horizontal ? 1 : _expression().cols()),
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Direction==Vertical ? _expression().rows()-1 : 1,
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Direction==Horizontal ? _expression().cols()-1 : 1));
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template<typename MatrixOrTransformType>
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struct take_matrix_for_product
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typedef MatrixOrTransformType type;
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static const type& run(const type &x) { return x; }
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template<typename Scalar, int Dim, int Mode,int Options>
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struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
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typedef Transform<Scalar, Dim, Mode, Options> TransformType;
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typedef typename TransformType::ConstAffinePart type;
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static const type run (const TransformType& x) { return x.affine(); }
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template<typename Scalar, int Dim, int Options>
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struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
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typedef Transform<Scalar, Dim, Projective, Options> TransformType;
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typedef typename TransformType::MatrixType type;
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static const type& run (const TransformType& x) { return x.matrix(); }
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template<typename MatrixType,typename Lhs>
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struct traits<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
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typedef typename take_matrix_for_product<Lhs>::type LhsMatrixType;
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typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
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typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
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typedef typename make_proper_matrix_type<
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typename traits<MatrixTypeCleaned>::Scalar,
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LhsMatrixTypeCleaned::RowsAtCompileTime,
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MatrixTypeCleaned::ColsAtCompileTime,
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MatrixTypeCleaned::PlainObject::Options,
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LhsMatrixTypeCleaned::MaxRowsAtCompileTime,
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MatrixTypeCleaned::MaxColsAtCompileTime>::type ReturnType;
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template<typename MatrixType,typename Lhs>
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struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
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: public ReturnByValue<homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> >
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typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
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typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
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typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
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typedef typename MatrixType::Index Index;
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homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
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: m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
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inline Index rows() const { return m_lhs.rows(); }
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inline Index cols() const { return m_rhs.cols(); }
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template<typename Dest> void evalTo(Dest& dst) const
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// FIXME investigate how to allow lazy evaluation of this product when possible
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dst = Block<const LhsMatrixTypeNested,
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LhsMatrixTypeNested::RowsAtCompileTime,
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LhsMatrixTypeNested::ColsAtCompileTime==Dynamic?Dynamic:LhsMatrixTypeNested::ColsAtCompileTime-1>
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(m_lhs,0,0,m_lhs.rows(),m_lhs.cols()-1) * m_rhs;
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dst += m_lhs.col(m_lhs.cols()-1).rowwise()
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.template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols());
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const typename LhsMatrixTypeCleaned::Nested m_lhs;
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const typename MatrixType::Nested m_rhs;
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template<typename MatrixType,typename Rhs>
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struct traits<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
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typedef typename make_proper_matrix_type<typename traits<MatrixType>::Scalar,
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MatrixType::RowsAtCompileTime,
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Rhs::ColsAtCompileTime,
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MatrixType::PlainObject::Options,
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MatrixType::MaxRowsAtCompileTime,
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Rhs::MaxColsAtCompileTime>::type ReturnType;
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template<typename MatrixType,typename Rhs>
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struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
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: public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
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typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
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typedef typename MatrixType::Index Index;
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homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
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: m_lhs(lhs), m_rhs(rhs)
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inline Index rows() const { return m_lhs.rows(); }
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inline Index cols() const { return m_rhs.cols(); }
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template<typename Dest> void evalTo(Dest& dst) const
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// FIXME investigate how to allow lazy evaluation of this product when possible
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dst = m_lhs * Block<const RhsNested,
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RhsNested::RowsAtCompileTime==Dynamic?Dynamic:RhsNested::RowsAtCompileTime-1,
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RhsNested::ColsAtCompileTime>
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(m_rhs,0,0,m_rhs.rows()-1,m_rhs.cols());
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dst += m_rhs.row(m_rhs.rows()-1).colwise()
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.template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows());
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const typename MatrixType::Nested m_lhs;
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const typename Rhs::Nested m_rhs;
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} // end namespace internal
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#endif // EIGEN_HOMOGENEOUS_H
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thirdparty/eigen3/Eigen/src/Geometry/Homogeneous.h
