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eigen_helpers.h
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// Copyright (C) 2013 The Regents of the University of California (Regents)
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following
// disclaimer in the documentation and/or other materials provided
// with the distribution.
//
// * Neither the name of The Regents or University of California
// nor the names of its contributors may be used to endorse or promote
// products derived from this software without specific prior written
// permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Please contact the author of this library if you have any questions.
// Author: Chris Sweeney ([email protected])
#ifndef EIGEN_HELPERS_H_
#define EIGEN_HELPERS_H_
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/StdVector>
#include <Eigen/src/StlSupport/details.h>
// Custom specialization of stl vector when using Eigen types. This is exactly
// the same as the specialization of Eigen 3.2.0 except that we add an
// initializer list option. This is a c++11 feature (Eigen is only supported up
// to c++0x) but is extremely useful, especially for testing. This _should_ work
// on all platforms, but needs to be tested on MSVC.
#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(...) \
namespace std { \
template <> \
class vector<__VA_ARGS__, std::allocator<__VA_ARGS__> > : public vector< \
__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > { \
typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
vector_base; \
public: \
typedef __VA_ARGS__ value_type; \
typedef vector_base::allocator_type allocator_type; \
typedef vector_base::size_type size_type; \
typedef vector_base::iterator iterator; \
explicit vector(const allocator_type& a = allocator_type()) \
: vector_base(a) {} \
template <typename InputIterator> \
vector(InputIterator first, InputIterator last, \
const allocator_type& a = allocator_type()) \
: vector_base(first, last, a) {} \
vector(const vector& c) : vector_base(c) {} \
explicit vector(size_type num, const value_type& val = value_type()) \
: vector_base(num, val) {} \
vector(iterator start, iterator end) : vector_base(start, end) {} \
vector& operator=(const vector& x) { \
vector_base::operator=(x); \
return *this; \
} \
/* This initializer list is the only thing modified! */ \
vector(initializer_list<__VA_ARGS__> list) \
: vector_base(list.begin(), list.end()) {} \
}; \
} // namespace std
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Vector2d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Vector4d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Vector4f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix2d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Matrix<double, 3, 4>)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(Eigen::Quaterniond)
#endif // EIGEN_HELPERS_H_