Line data    Source code

       1              : #ifndef DAD67FEF_0E47_455C_AC3E_CE31BDC7EE3F
       2              : #define DAD67FEF_0E47_455C_AC3E_CE31BDC7EE3F
       3              : 
       4              : #include "math/linalg/matrix_column_view.h"
       5              : 
       6              : #include "math/linalg/matrix.hpp" // IWYU pragma: keep
       7              : 
       8              : namespace tracking
       9              : {
      10              : namespace math
      11              : {
      12              : 
      13              : // Forward declaration to prevent cyclic includes
      14              : template <typename ValueType_, sint32 Size_>
      15              : class Vector;
      16              : 
      17              : template <typename ValueType_, sint32 Rows_, sint32 Cols_, bool IsRowMajor_>
      18         3112 : inline MatrixColumnView<ValueType_, Rows_, Cols_, IsRowMajor_>::MatrixColumnView(
      19              :     const Matrix<ValueType_, Rows_, Cols_, IsRowMajor_>& matrix, const sint32 col, const sint32 rowBegin, const sint32 rowEnd)
      20         3112 :     : _matrix{matrix}
      21         3112 :     , _col{col}
      22         3112 :     , _rowBegin{rowBegin}
      23         3108 :     , _rowCount{rowEnd - rowBegin + 1}
      24              : {
      25         3035 :   assert(_rowBegin >= 0);
      26         3035 :   assert(_rowCount <= Rows_);
      27         3035 : }
      28              : 
      29              : template <typename ValueType_, sint32 Rows_, sint32 Cols_, bool IsRowMajor_>
      30        45760 : inline auto MatrixColumnView<ValueType_, Rows_, Cols_, IsRowMajor_>::at_unsafe(const sint32 idx) const -> ValueType_
      31              : {
      32        45760 :   assert(idx < _rowCount);
      33        45760 :   const auto row = _rowBegin + idx;
      34        45760 :   return _matrix.at_unsafe(row, _col);
      35              : }
      36              : 
      37              : template <typename ValueType_, sint32 Rows_, sint32 Cols_, bool IsRowMajor_>
      38              : template <sint32 Rows2_>
      39           72 : inline auto MatrixColumnView<ValueType_, Rows_, Cols_, IsRowMajor_>::operator*(const Vector<ValueType_, Rows2_>& other) const
      40              :     -> ValueType_
      41              : {
      42              :   static_assert(Rows2_ <= Rows_);
      43           72 :   assert(Rows2_ == _rowCount);
      44              :   // calc dot product
      45              :   ValueType_ result{};
      46          428 :   for (auto row = 0; row < Rows2_; ++row)
      47              :   {
      48          356 :     result += this->at_unsafe(row) * other.at_unsafe(row);
      49              :   }
      50           72 :   return result;
      51              : }
      52              : 
      53              : template <typename ValueType_, sint32 Rows_, sint32 Cols_, bool IsRowMajor_>
      54              : template <sint32 Rows2_, sint32 Cols2_, bool IsRowMajor2_>
      55         1913 : inline auto MatrixColumnView<ValueType_, Rows_, Cols_, IsRowMajor_>::operator*(
      56              :     const MatrixColumnView<ValueType_, Rows2_, Cols2_, IsRowMajor2_>& other) const -> ValueType_
      57              : {
      58         1913 :   assert(other.getRowCount() == _rowCount);
      59              :   // calc dot product
      60              :   ValueType_ result{};
      61         9303 :   for (auto row = 0; row < _rowCount; ++row)
      62              :   {
      63         7390 :     result += this->at_unsafe(row) * other.at_unsafe(row);
      64              :   }
      65         1913 :   return result;
      66              : }
      67              : 
      68              : 
      69              : template <typename ValueType_, sint32 Rows_, sint32 Cols_, bool IsRowMajor_, sint32 Rows2_, sint32 Cols2_, bool IsRowMajor2_>
      70           72 : inline auto operator*(const Matrix<ValueType_, Rows_, Cols_, IsRowMajor_>&              mat,
      71              :                       const MatrixColumnView<ValueType_, Rows2_, Cols2_, IsRowMajor2_>& colView) -> Vector<ValueType_, Rows_>
      72              : {
      73              :   static_assert(Cols_ <= Rows2_);
      74           72 :   assert(Cols_ == colView.getRowCount());
      75              : 
      76           72 :   Vector<ValueType_, Rows_> result{};
      77          428 :   for (auto row = 0; row < Rows_; ++row)
      78              :   {
      79         2191 :     for (auto col = 0; col < Cols_; ++col)
      80              :     {
      81         1835 :       result.at_unsafe(row) += mat.at_unsafe(row, col) * colView.at_unsafe(col);
      82              :     }
      83              :   }
      84           72 :   return result;
      85              : }
      86              : 
      87              : } // namespace math
      88              : } // namespace tracking
      89              : 
      90              : #endif // DAD67FEF_0E47_455C_AC3E_CE31BDC7EE3F