matrix_operations.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
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#ifndef G2O_CORE_MATRIX_OPERATIONS_H
#define G2O_CORE_MATRIX_OPERATIONS_H

#include <Eigen/Core>

namespace g2o {
  namespace internal {

    template<typename MatrixType>
    inline void axpy(const MatrixType& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
    {
      y.segment<MatrixType::RowsAtCompileTime>(yoff) += A * x.segment<MatrixType::ColsAtCompileTime>(xoff);
    }

    template<int t>
    inline void axpy(const Eigen::Matrix<double, Eigen::Dynamic, t>& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
    {
      y.segment(yoff, A.rows()) += A * x.segment<Eigen::Matrix<double, Eigen::Dynamic, t>::ColsAtCompileTime>(xoff);
    }

    template<>
    inline void axpy<Eigen::MatrixXd>(const Eigen::MatrixXd& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
    {
      y.segment(yoff, A.rows()) += A * x.segment(xoff, A.cols());
    }

    template<typename MatrixType>
    inline void atxpy(const MatrixType& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
    {
      y.segment<MatrixType::ColsAtCompileTime>(yoff) += A.transpose() * x.segment<MatrixType::RowsAtCompileTime>(xoff);
    }

    template<int t>
    inline void atxpy(const Eigen::Matrix<double, Eigen::Dynamic, t>& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
    {
      y.segment<Eigen::Matrix<double, Eigen::Dynamic, t>::ColsAtCompileTime>(yoff) += A.transpose() * x.segment(xoff, A.rows());
    }

    template<>
    inline void atxpy<Eigen::MatrixXd>(const Eigen::MatrixXd& A, const Eigen::Map<const Eigen::VectorXd>& x, int xoff, Eigen::Map<Eigen::VectorXd>& y, int yoff)
    {
      y.segment(yoff, A.cols()) += A.transpose() * x.segment(xoff, A.rows());
    }

  } // end namespace internal
} // end namespace g2o

#endif