FastRobustICP
/
include
/eigen
/unsupported
/Eigen
/src
/SpecialFunctions
/SpecialFunctionsFunctors.h
| // This file is part of Eigen, a lightweight C++ template library | |
| // for linear algebra. | |
| // | |
| // Copyright (C) 2016 Eugene Brevdo <ebrevdo@gmail.com> | |
| // Copyright (C) 2016 Gael Guennebaud <gael.guennebaud@inria.fr> | |
| // | |
| // This Source Code Form is subject to the terms of the Mozilla | |
| // Public License v. 2.0. If a copy of the MPL was not distributed | |
| // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. | |
| namespace Eigen { | |
| namespace internal { | |
| /** \internal | |
| * \brief Template functor to compute the incomplete gamma function igamma(a, x) | |
| * | |
| * \sa class CwiseBinaryOp, Cwise::igamma | |
| */ | |
| template<typename Scalar> struct scalar_igamma_op : binary_op_base<Scalar,Scalar> | |
| { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_igamma_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& x) const { | |
| using numext::igamma; return igamma(a, x); | |
| } | |
| template<typename Packet> | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& x) const { | |
| return internal::pigamma(a, x); | |
| } | |
| }; | |
| template<typename Scalar> | |
| struct functor_traits<scalar_igamma_op<Scalar> > { | |
| enum { | |
| // Guesstimate | |
| Cost = 20 * NumTraits<Scalar>::MulCost + 10 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasIGamma | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute the derivative of the incomplete gamma | |
| * function igamma_der_a(a, x) | |
| * | |
| * \sa class CwiseBinaryOp, Cwise::igamma_der_a | |
| */ | |
| template <typename Scalar> | |
| struct scalar_igamma_der_a_op { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_igamma_der_a_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator()(const Scalar& a, const Scalar& x) const { | |
| using numext::igamma_der_a; | |
| return igamma_der_a(a, x); | |
| } | |
| template <typename Packet> | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& x) const { | |
| return internal::pigamma_der_a(a, x); | |
| } | |
| }; | |
| template <typename Scalar> | |
| struct functor_traits<scalar_igamma_der_a_op<Scalar> > { | |
| enum { | |
| // 2x the cost of igamma | |
| Cost = 40 * NumTraits<Scalar>::MulCost + 20 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasIGammaDerA | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute the derivative of the sample | |
| * of a Gamma(alpha, 1) random variable with respect to the parameter alpha | |
| * gamma_sample_der_alpha(alpha, sample) | |
| * | |
| * \sa class CwiseBinaryOp, Cwise::gamma_sample_der_alpha | |
| */ | |
| template <typename Scalar> | |
| struct scalar_gamma_sample_der_alpha_op { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_gamma_sample_der_alpha_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator()(const Scalar& alpha, const Scalar& sample) const { | |
| using numext::gamma_sample_der_alpha; | |
| return gamma_sample_der_alpha(alpha, sample); | |
| } | |
| template <typename Packet> | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& alpha, const Packet& sample) const { | |
| return internal::pgamma_sample_der_alpha(alpha, sample); | |
| } | |
| }; | |
| template <typename Scalar> | |
| struct functor_traits<scalar_gamma_sample_der_alpha_op<Scalar> > { | |
| enum { | |
| // 2x the cost of igamma, minus the lgamma cost (the lgamma cancels out) | |
| Cost = 30 * NumTraits<Scalar>::MulCost + 15 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasGammaSampleDerAlpha | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute the complementary incomplete gamma function igammac(a, x) | |
| * | |
| * \sa class CwiseBinaryOp, Cwise::igammac | |
| */ | |
| template<typename Scalar> struct scalar_igammac_op : binary_op_base<Scalar,Scalar> | |
| { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_igammac_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& x) const { | |
| using numext::igammac; return igammac(a, x); | |
| } | |
| template<typename Packet> | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& x) const | |
| { | |
| return internal::pigammac(a, x); | |
| } | |
| }; | |
| template<typename Scalar> | |
| struct functor_traits<scalar_igammac_op<Scalar> > { | |
| enum { | |
| // Guesstimate | |
| Cost = 20 * NumTraits<Scalar>::MulCost + 10 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasIGammac | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute the incomplete beta integral betainc(a, b, x) | |
| * | |
| */ | |
| template<typename Scalar> struct scalar_betainc_op { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_betainc_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& x, const Scalar& a, const Scalar& b) const { | |
| using numext::betainc; return betainc(x, a, b); | |
| } | |
| template<typename Packet> | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& x, const Packet& a, const Packet& b) const | |
| { | |
| return internal::pbetainc(x, a, b); | |
| } | |
| }; | |
| template<typename Scalar> | |
| struct functor_traits<scalar_betainc_op<Scalar> > { | |
| enum { | |
| // Guesstimate | |
| Cost = 400 * NumTraits<Scalar>::MulCost + 400 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasBetaInc | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute the natural log of the absolute | |
| * value of Gamma of a scalar | |
| * \sa class CwiseUnaryOp, Cwise::lgamma() | |
| */ | |
| template<typename Scalar> struct scalar_lgamma_op { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_lgamma_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { | |
| using numext::lgamma; return lgamma(a); | |
| } | |
| typedef typename packet_traits<Scalar>::type Packet; | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& a) const { return internal::plgamma(a); } | |
| }; | |
| template<typename Scalar> | |
| struct functor_traits<scalar_lgamma_op<Scalar> > | |
| { | |
| enum { | |
| // Guesstimate | |
| Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasLGamma | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute psi, the derivative of lgamma of a scalar. | |
| * \sa class CwiseUnaryOp, Cwise::digamma() | |
| */ | |
| template<typename Scalar> struct scalar_digamma_op { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_digamma_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { | |
| using numext::digamma; return digamma(a); | |
| } | |
| typedef typename packet_traits<Scalar>::type Packet; | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& a) const { return internal::pdigamma(a); } | |
| }; | |
| template<typename Scalar> | |
| struct functor_traits<scalar_digamma_op<Scalar> > | |
| { | |
| enum { | |
| // Guesstimate | |
| Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasDiGamma | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute the Riemann Zeta function of two arguments. | |
| * \sa class CwiseUnaryOp, Cwise::zeta() | |
| */ | |
| template<typename Scalar> struct scalar_zeta_op { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_zeta_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& x, const Scalar& q) const { | |
| using numext::zeta; return zeta(x, q); | |
| } | |
| typedef typename packet_traits<Scalar>::type Packet; | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& x, const Packet& q) const { return internal::pzeta(x, q); } | |
| }; | |
| template<typename Scalar> | |
| struct functor_traits<scalar_zeta_op<Scalar> > | |
| { | |
| enum { | |
| // Guesstimate | |
| Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasZeta | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute the polygamma function. | |
| * \sa class CwiseUnaryOp, Cwise::polygamma() | |
| */ | |
| template<typename Scalar> struct scalar_polygamma_op { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_polygamma_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& n, const Scalar& x) const { | |
| using numext::polygamma; return polygamma(n, x); | |
| } | |
| typedef typename packet_traits<Scalar>::type Packet; | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& n, const Packet& x) const { return internal::ppolygamma(n, x); } | |
| }; | |
| template<typename Scalar> | |
| struct functor_traits<scalar_polygamma_op<Scalar> > | |
| { | |
| enum { | |
| // Guesstimate | |
| Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasPolygamma | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute the error function of a scalar | |
| * \sa class CwiseUnaryOp, ArrayBase::erf() | |
| */ | |
| template<typename Scalar> struct scalar_erf_op { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_erf_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar | |
| operator()(const Scalar& a) const { | |
| return numext::erf(a); | |
| } | |
| template <typename Packet> | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& x) const { | |
| return perf(x); | |
| } | |
| }; | |
| template <typename Scalar> | |
| struct functor_traits<scalar_erf_op<Scalar> > { | |
| enum { | |
| PacketAccess = packet_traits<Scalar>::HasErf, | |
| Cost = | |
| (PacketAccess | |
| // TODO(rmlarsen): Move the FMA cost model to a central location. | |
| // Haswell can issue 2 add/mul/madd per cycle. | |
| // 10 pmadd, 2 pmul, 1 div, 2 other | |
| ? (2 * NumTraits<Scalar>::AddCost + | |
| 7 * NumTraits<Scalar>::MulCost + | |
| scalar_div_cost<Scalar, packet_traits<Scalar>::HasDiv>::value) | |
| ? (12 * NumTraits<Scalar>::AddCost + | |
| 12 * NumTraits<Scalar>::MulCost + | |
| scalar_div_cost<Scalar, packet_traits<Scalar>::HasDiv>::value) | |
| // Assume for simplicity that this is as expensive as an exp(). | |
| : (functor_traits<scalar_exp_op<Scalar> >::Cost)) | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute the Complementary Error Function | |
| * of a scalar | |
| * \sa class CwiseUnaryOp, Cwise::erfc() | |
| */ | |
| template<typename Scalar> struct scalar_erfc_op { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_erfc_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { | |
| using numext::erfc; return erfc(a); | |
| } | |
| typedef typename packet_traits<Scalar>::type Packet; | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& a) const { return internal::perfc(a); } | |
| }; | |
| template<typename Scalar> | |
| struct functor_traits<scalar_erfc_op<Scalar> > | |
| { | |
| enum { | |
| // Guesstimate | |
| Cost = 10 * NumTraits<Scalar>::MulCost + 5 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasErfc | |
| }; | |
| }; | |
| /** \internal | |
| * \brief Template functor to compute the Inverse of the normal distribution | |
| * function of a scalar | |
| * \sa class CwiseUnaryOp, Cwise::ndtri() | |
| */ | |
| template<typename Scalar> struct scalar_ndtri_op { | |
| EIGEN_EMPTY_STRUCT_CTOR(scalar_ndtri_op) | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { | |
| using numext::ndtri; return ndtri(a); | |
| } | |
| typedef typename packet_traits<Scalar>::type Packet; | |
| EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& a) const { return internal::pndtri(a); } | |
| }; | |
| template<typename Scalar> | |
| struct functor_traits<scalar_ndtri_op<Scalar> > | |
| { | |
| enum { | |
| // On average, We are evaluating rational functions with degree N=9 in the | |
| // numerator and denominator. This results in 2*N additions and 2*N | |
| // multiplications. | |
| Cost = 18 * NumTraits<Scalar>::MulCost + 18 * NumTraits<Scalar>::AddCost, | |
| PacketAccess = packet_traits<Scalar>::HasNdtri | |
| }; | |
| }; | |
| } // end namespace internal | |
| } // end namespace Eigen | |