- update to Eigen 3.2.5

Author: janbender

CMakeLists.txt

@@ -6,6 +6,7 @@ set(PROJECT_PATH ${PROJECT_SOURCE_DIR})
 include_directories(${PROJECT_SOURCE_DIR})
 
 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/CMake" ${CMAKE_MODULE_PATH})
+set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
 include(${PROJECT_PATH}/CMake/Common.cmake)
 

Changelog.txt

@@ -1,3 +1,6 @@
+	- update to Eigen 3.2.5
+	- resolve compiler errors in Visual Studio 2010
+
 1.2.0
 	- added rigid body demo
 	- added balljoint constraint

extern/eigen/Eigen/Core

@@ -123,7 +123,7 @@
     #undef bool
     #undef vector
     #undef pixel
-  #elif defined  __ARM_NEON__
+  #elif defined  __ARM_NEON
     #define EIGEN_VECTORIZE
     #define EIGEN_VECTORIZE_NEON
     #include <arm_neon.h>

extern/eigen/Eigen/src/Cholesky/LDLT.h

@@ -235,6 +235,11 @@ template<typename _MatrixType, int _UpLo> class LDLT
     }
 
   protected:
+    
+    static void check_template_parameters()
+    {
+      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+    }
 
     /** \internal
       * Used to compute and store the Cholesky decomposition A = L D L^* = U^* D U.
@@ -434,6 +439,8 @@ template<typename MatrixType> struct LDLT_Traits<MatrixType,Upper>
 template<typename MatrixType, int _UpLo>
 LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::compute(const MatrixType& a)
 {
+  check_template_parameters();
+  
   eigen_assert(a.rows()==a.cols());
   const Index size = a.rows();
 

extern/eigen/Eigen/src/Cholesky/LLT.h

@@ -174,6 +174,12 @@ template<typename _MatrixType, int _UpLo> class LLT
     LLT rankUpdate(const VectorType& vec, const RealScalar& sigma = 1);
 
   protected:
+    
+    static void check_template_parameters()
+    {
+      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+    }
+    
     /** \internal
       * Used to compute and store L
       * The strict upper part is not used and even not initialized.
@@ -384,6 +390,8 @@ template<typename MatrixType> struct LLT_Traits<MatrixType,Upper>
 template<typename MatrixType, int _UpLo>
 LLT<MatrixType,_UpLo>& LLT<MatrixType,_UpLo>::compute(const MatrixType& a)
 {
+  check_template_parameters();
+  
   eigen_assert(a.rows()==a.cols());
   const Index size = a.rows();
   m_matrix.resize(size, size);

extern/eigen/Eigen/src/Cholesky/LLT_MKL.h

@@ -60,7 +60,7 @@ template<> struct mkl_llt<EIGTYPE> \
     lda = m.outerStride(); \
 \
     info = LAPACKE_##MKLPREFIX##potrf( matrix_order, uplo, size, (MKLTYPE*)a, lda ); \
-    info = (info==0) ? Success : NumericalIssue; \
+    info = (info==0) ? -1 : info>0 ? info-1 : size; \
     return info; \
   } \
 }; \

extern/eigen/Eigen/src/Core/Assign.h

@@ -439,19 +439,26 @@ struct assign_impl<Derived1, Derived2, SliceVectorizedTraversal, NoUnrolling, Ve
   typedef typename Derived1::Index Index;
   static inline void run(Derived1 &dst, const Derived2 &src)
   {
-    typedef packet_traits<typename Derived1::Scalar> PacketTraits;
+    typedef typename Derived1::Scalar Scalar;
+    typedef packet_traits<Scalar> PacketTraits;
     enum {
       packetSize = PacketTraits::size,
       alignable = PacketTraits::AlignedOnScalar,
-      dstAlignment = alignable ? Aligned : int(assign_traits<Derived1,Derived2>::DstIsAligned) ,
+      dstIsAligned = assign_traits<Derived1,Derived2>::DstIsAligned,
+      dstAlignment = alignable ? Aligned : int(dstIsAligned),
       srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment
     };
+    const Scalar *dst_ptr = &dst.coeffRef(0,0);
+    if((!bool(dstIsAligned)) && (Index(dst_ptr) % sizeof(Scalar))>0)
+    {
+      // the pointer is not aligend-on scalar, so alignment is not possible
+      return assign_impl<Derived1,Derived2,DefaultTraversal,NoUnrolling>::run(dst, src);
+    }
     const Index packetAlignedMask = packetSize - 1;
     const Index innerSize = dst.innerSize();
     const Index outerSize = dst.outerSize();
     const Index alignedStep = alignable ? (packetSize - dst.outerStride() % packetSize) & packetAlignedMask : 0;
-    Index alignedStart = ((!alignable) || assign_traits<Derived1,Derived2>::DstIsAligned) ? 0
-                       : internal::first_aligned(&dst.coeffRef(0,0), innerSize);
+    Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned(dst_ptr, innerSize);
 
     for(Index outer = 0; outer < outerSize; ++outer)
     {

extern/eigen/Eigen/src/Core/Block.h

@@ -66,8 +66,9 @@ struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprTyp
                          : ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime)
                          : int(traits<XprType>::MaxColsAtCompileTime),
     XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0,
-    IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
-               : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+    IsDense = is_same<StorageKind,Dense>::value,
+    IsRowMajor = (IsDense&&MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+               : (IsDense&&MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
                : XprTypeIsRowMajor,
     HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor),
     InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),

extern/eigen/Eigen/src/Core/DenseBase.h

@@ -266,11 +266,13 @@ template<typename Derived> class DenseBase
     template<typename OtherDerived>
     Derived& operator=(const ReturnByValue<OtherDerived>& func);
 
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** Copies \a other into *this without evaluating other. \returns a reference to *this. */
+    /** \internal Copies \a other into *this without evaluating other. \returns a reference to *this. */
     template<typename OtherDerived>
     Derived& lazyAssign(const DenseBase<OtherDerived>& other);
-#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+    /** \internal Evaluates \a other into *this. \returns a reference to *this. */
+    template<typename OtherDerived>
+    Derived& lazyAssign(const ReturnByValue<OtherDerived>& other);
 
     CommaInitializer<Derived> operator<< (const Scalar& s);
 

extern/eigen/Eigen/src/Core/DiagonalProduct.h

@@ -34,7 +34,7 @@ struct traits<DiagonalProduct<MatrixType, DiagonalType, ProductOrder> >
     _Vectorizable = bool(int(MatrixType::Flags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagonalType::DiagonalVectorType::Flags)&PacketAccessBit))),
     _LinearAccessMask = (RowsAtCompileTime==1 || ColsAtCompileTime==1) ? LinearAccessBit : 0,
 
-    Flags = ((HereditaryBits|_LinearAccessMask) & (unsigned int)(MatrixType::Flags)) | (_Vectorizable ? PacketAccessBit : 0) | AlignedBit,//(int(MatrixType::Flags)&int(DiagonalType::DiagonalVectorType::Flags)&AlignedBit),
+    Flags = ((HereditaryBits|_LinearAccessMask|AlignedBit) & (unsigned int)(MatrixType::Flags)) | (_Vectorizable ? PacketAccessBit : 0),//(int(MatrixType::Flags)&int(DiagonalType::DiagonalVectorType::Flags)&AlignedBit),
     CoeffReadCost = NumTraits<Scalar>::MulCost + MatrixType::CoeffReadCost + DiagonalType::DiagonalVectorType::CoeffReadCost
   };
 };