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Merge pull request #12 from leggedrobotics/feature/cwise_max_min
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Feature/cwise max min
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@marcel-goldschen-ohm
marcel-goldschen-ohm authored Sep 16, 2017
2 parents bf51858 + d9cd2f1 commit 0c8ddcc
Showing 1 changed file with 62 additions and 20 deletions.
82 changes: 62 additions & 20 deletions EigenLab.h
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Original file line number Diff line number Diff line change
Expand Up @@ -255,6 +255,8 @@ namespace EigenLab
mFunctions.push_back("min");
mFunctions.push_back("max");
mFunctions.push_back("absmax");
mFunctions.push_back("cwiseMin");
mFunctions.push_back("cwiseMax");
}
mFunctions.push_back("mean");
mFunctions.push_back("sum");
Expand Down Expand Up @@ -694,12 +696,12 @@ namespace EigenLab
template <typename Derived>
bool Parser<Derived>::evalFunction_2_lt(const std::string & name, Value<Derived> & arg0, Value<Derived> & arg1, Value<Derived> & result, std::true_type)
{
if(name == "min") {
if(arg1.matrix().size() != 1)
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
int dim = floor(std::real(arg1.matrix()(0, 0)));
if((dim != 0 && dim != 1) || dim != std::real(arg1.matrix()(0, 0)))
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
if(name == "min") {
if(arg1.matrix().size() != 1)
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
int dim = floor(std::real(arg1.matrix()(0, 0)));
if((dim != 0 && dim != 1) || dim != std::real(arg1.matrix()(0, 0)))
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
if(dim == 0) {
result.local() = arg0.matrix().colwise().minCoeff();
result.mapLocal();
Expand All @@ -709,12 +711,12 @@ namespace EigenLab
result.mapLocal();
return true;
}
} else if(name == "max") {
if(arg1.matrix().size() != 1)
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
int dim = floor(std::real(arg1.matrix()(0, 0)));
if((dim != 0 && dim != 1) || dim != std::real(arg1.matrix()(0, 0)))
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
} else if(name == "max") {
if(arg1.matrix().size() != 1)
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
int dim = floor(std::real(arg1.matrix()(0, 0)));
if((dim != 0 && dim != 1) || dim != std::real(arg1.matrix()(0, 0)))
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
if(dim == 0) {
result.local() = arg0.matrix().colwise().maxCoeff();
result.mapLocal();
Expand All @@ -724,12 +726,12 @@ namespace EigenLab
result.mapLocal();
return true;
}
} else if(name == "absmax") {
if(arg1.matrix().size() != 1)
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
int dim = floor(std::real(arg1.matrix()(0, 0)));
if((dim != 0 && dim != 1) || dim != std::real(arg1.matrix()(0, 0)))
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
} else if(name == "absmax") {
if(arg1.matrix().size() != 1)
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
int dim = floor(std::real(arg1.matrix()(0, 0)));
if((dim != 0 && dim != 1) || dim != std::real(arg1.matrix()(0, 0)))
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
if(dim == 0) {
result.local() = arg0.matrix().colwise().maxCoeff();
result.mapLocal();
Expand All @@ -748,7 +750,35 @@ namespace EigenLab
result.matrix()(i) = minimum(i);
}
return true;
}
}
} else if (name == "cwiseMin") {
if (arg1.matrix().size() == 1) {
typename Derived::Scalar arg1scalar = arg1.matrix()(0, 0);
Derived arg1matrix = Derived::Constant(arg0.matrix().rows(), arg0.matrix().cols(), arg1scalar);
result.local() = arg0.matrix().cwiseMin(arg1matrix);
result.mapLocal();
return true;
} else if (arg0.matrix().cols() == arg1.matrix().cols() && arg0.matrix().rows() == arg1.matrix().rows()) {
result.local() = arg0.matrix().cwiseMin(arg1.matrix());
result.mapLocal();
return true;
} else {
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
}
} else if (name == "cwiseMax") {
if (arg1.matrix().size() == 1) {
typename Derived::Scalar arg1scalar = arg1.matrix()(0, 0);
Derived arg1matrix = Derived::Constant(arg0.matrix().rows(), arg0.matrix().cols(), arg1scalar);
result.local() = arg0.matrix().cwiseMax(arg1matrix);
result.mapLocal();
return true;
} else if (arg0.matrix().cols() == arg1.matrix().cols() && arg0.matrix().rows() == arg1.matrix().rows()) {
result.local() = arg0.matrix().cwiseMax(arg1.matrix());
result.mapLocal();
return true;
} else {
throw std::runtime_error("Invalid dimension argument for function '" + name + "(...)'.");
}
}
return false;
}
Expand Down Expand Up @@ -1549,7 +1579,7 @@ namespace EigenLab
Parser<Derived>::test_w_lt(size_t & numFails,
typename Derived::Scalar & /* s */,
Derived & a34,
Derived & /* b34 */,
Derived & b34,
Derived & /* c43 */,
Derived & /* v */, std::true_type)
{
Expand Down Expand Up @@ -1622,6 +1652,18 @@ namespace EigenLab
}
if(resultMatrix.isApprox(resultValue.matrix())) std::cout << "OK" << std::endl;
else { std::cout << "FAIL" << std::endl; ++numFails; }

std::cout << "Test cwiseMin(a, b): ";
resultValue = eval("cwiseMin(a, b)");
resultMatrix = a34.cwiseMin(b34);
if(resultMatrix.isApprox(resultValue.matrix())) std::cout << "OK" << std::endl;
else { std::cout << "FAIL" << std::endl; ++numFails; }

std::cout << "Test cwiseMax(a, b): ";
resultValue = eval("cwiseMax(a, b)");
resultMatrix = a34.cwiseMax(b34);
if(resultMatrix.isApprox(resultValue.matrix())) std::cout << "OK" << std::endl;
else { std::cout << "FAIL" << std::endl; ++numFails; }
}

template <typename Derived>
Expand Down

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