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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Copyright (C) 2008-2010 Benoit Jacob <jacob.benoit.1@gmail.com></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#ifndef EIGEN_INVERSE_H</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor"></span><span class="preprocessor">#define EIGEN_INVERSE_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">namespace </span>Eigen { </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">/**********************************</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">*** General case implementation ***</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">**********************************/</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType, <span class="keywordtype">int</span> Size = MatrixType::RowsAtCompileTime></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="keyword">struct </span>compute_inverse</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> {</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(<span class="keyword">const</span> MatrixType& matrix, ResultType& result)</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  {</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  result = matrix.partialPivLu().inverse();</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  }</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> };</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType, <span class="keywordtype">int</span> Size = MatrixType::RowsAtCompileTime></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keyword">struct </span>compute_inverse_and_det_with_check { <span class="comment">/* nothing! general case not supported. */</span> };</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">/****************************</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment">*** Size 1 implementation ***</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">****************************/</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="keyword">struct </span>compute_inverse<MatrixType, ResultType, 1></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> {</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(<span class="keyword">const</span> MatrixType& matrix, ResultType& result)</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  {</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> MatrixType::Scalar Scalar;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  result.coeffRef(0,0) = Scalar(1) / matrix.coeff(0,0);</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  }</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> };</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">struct </span>compute_inverse_and_det_with_check<MatrixType, ResultType, 1></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">const</span> MatrixType& matrix,</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">const</span> <span class="keyword">typename</span> MatrixType::RealScalar& absDeterminantThreshold,</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  ResultType& result,</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">typename</span> ResultType::Scalar& determinant,</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordtype">bool</span>& invertible</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  )</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">using</span> std::abs;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  determinant = matrix.coeff(0,0);</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  invertible = abs(determinant) > absDeterminantThreshold;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">if</span>(invertible) result.coeffRef(0,0) = <span class="keyword">typename</span> ResultType::Scalar(1) / determinant;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  }</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> };</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment">/****************************</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment">*** Size 2 implementation ***</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment">****************************/</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> compute_inverse_size2_helper(</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">const</span> MatrixType& matrix, <span class="keyword">const</span> <span class="keyword">typename</span> ResultType::Scalar& invdet,</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  ResultType& result)</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> {</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  result.coeffRef(0,0) = matrix.coeff(1,1) * invdet;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  result.coeffRef(1,0) = -matrix.coeff(1,0) * invdet;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  result.coeffRef(0,1) = -matrix.coeff(0,1) * invdet;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  result.coeffRef(1,1) = matrix.coeff(0,0) * invdet;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> }</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">struct </span>compute_inverse<MatrixType, ResultType, 2></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(<span class="keyword">const</span> MatrixType& matrix, ResultType& result)</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  {</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> ResultType::Scalar Scalar;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">const</span> Scalar invdet = <span class="keyword">typename</span> MatrixType::Scalar(1) / matrix.determinant();</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  compute_inverse_size2_helper(matrix, invdet, result);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  }</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> };</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="keyword">struct </span>compute_inverse_and_det_with_check<MatrixType, ResultType, 2></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> {</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keyword">const</span> MatrixType& matrix,</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">const</span> <span class="keyword">typename</span> MatrixType::RealScalar& absDeterminantThreshold,</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  ResultType& inverse,</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">typename</span> ResultType::Scalar& determinant,</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordtype">bool</span>& invertible</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  )</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  {</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">using</span> std::abs;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> ResultType::Scalar Scalar;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  determinant = matrix.determinant();</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  invertible = abs(determinant) > absDeterminantThreshold;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">if</span>(!invertible) <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keyword">const</span> Scalar invdet = Scalar(1) / determinant;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  compute_inverse_size2_helper(matrix, invdet, inverse);</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  }</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> };</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment">/****************************</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment">*** Size 3 implementation ***</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment">****************************/</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="keyword">inline</span> <span class="keyword">typename</span> MatrixType::Scalar cofactor_3x3(<span class="keyword">const</span> MatrixType& m)</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> {</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  i1 = (i+1) % 3,</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  i2 = (i+2) % 3,</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  j1 = (j+1) % 3,</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  j2 = (j+2) % 3</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  };</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordflow">return</span> m.coeff(i1, j1) * m.coeff(i2, j2)</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  - m.coeff(i1, j2) * m.coeff(i2, j1);</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> }</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> compute_inverse_size3_helper(</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keyword">const</span> MatrixType& matrix,</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keyword">const</span> <span class="keyword">typename</span> ResultType::Scalar& invdet,</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keyword">const</span> Matrix<typename ResultType::Scalar,3,1>& cofactors_col0,</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  ResultType& result)</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> {</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  result.row(0) = cofactors_col0 * invdet;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  result.coeffRef(1,0) = cofactor_3x3<MatrixType,0,1>(matrix) * invdet;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  result.coeffRef(1,1) = cofactor_3x3<MatrixType,1,1>(matrix) * invdet;</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  result.coeffRef(1,2) = cofactor_3x3<MatrixType,2,1>(matrix) * invdet;</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  result.coeffRef(2,0) = cofactor_3x3<MatrixType,0,2>(matrix) * invdet;</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  result.coeffRef(2,1) = cofactor_3x3<MatrixType,1,2>(matrix) * invdet;</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  result.coeffRef(2,2) = cofactor_3x3<MatrixType,2,2>(matrix) * invdet;</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> }</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="keyword">struct </span>compute_inverse<MatrixType, ResultType, 3></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> {</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(<span class="keyword">const</span> MatrixType& matrix, ResultType& result)</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  {</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> ResultType::Scalar Scalar;</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  Matrix<typename MatrixType::Scalar,3,1> cofactors_col0;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  cofactors_col0.coeffRef(0) = cofactor_3x3<MatrixType,0,0>(matrix);</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  cofactors_col0.coeffRef(1) = cofactor_3x3<MatrixType,1,0>(matrix);</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  cofactors_col0.coeffRef(2) = cofactor_3x3<MatrixType,2,0>(matrix);</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keyword">const</span> Scalar det = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keyword">const</span> Scalar invdet = Scalar(1) / det;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  compute_inverse_size3_helper(matrix, invdet, cofactors_col0, result);</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  }</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> };</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> <span class="keyword">struct </span>compute_inverse_and_det_with_check<MatrixType, ResultType, 3></div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> {</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keyword">const</span> MatrixType& matrix,</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keyword">const</span> <span class="keyword">typename</span> MatrixType::RealScalar& absDeterminantThreshold,</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  ResultType& inverse,</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keyword">typename</span> ResultType::Scalar& determinant,</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keywordtype">bool</span>& invertible</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  )</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  {</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keyword">using</span> std::abs;</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> ResultType::Scalar Scalar;</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  Matrix<Scalar,3,1> cofactors_col0;</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  cofactors_col0.coeffRef(0) = cofactor_3x3<MatrixType,0,0>(matrix);</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  cofactors_col0.coeffRef(1) = cofactor_3x3<MatrixType,1,0>(matrix);</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  cofactors_col0.coeffRef(2) = cofactor_3x3<MatrixType,2,0>(matrix);</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  determinant = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  invertible = abs(determinant) > absDeterminantThreshold;</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">if</span>(!invertible) <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keyword">const</span> Scalar invdet = Scalar(1) / determinant;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  compute_inverse_size3_helper(matrix, invdet, cofactors_col0, inverse);</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  }</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> };</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="comment">/****************************</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="comment">*** Size 4 implementation ***</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="comment">****************************/</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keyword">typename</span> Derived::Scalar general_det3_helper</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> (<span class="keyword">const</span> MatrixBase<Derived>& matrix, <span class="keywordtype">int</span> i1, <span class="keywordtype">int</span> i2, <span class="keywordtype">int</span> i3, <span class="keywordtype">int</span> j1, <span class="keywordtype">int</span> j2, <span class="keywordtype">int</span> j3)</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> {</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">return</span> matrix.coeff(i1,j1)</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  * (matrix.coeff(i2,j2) * matrix.coeff(i3,j3) - matrix.coeff(i2,j3) * matrix.coeff(i3,j2));</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> }</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> </div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j></div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="keyword">inline</span> <span class="keyword">typename</span> MatrixType::Scalar cofactor_4x4(<span class="keyword">const</span> MatrixType& matrix)</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> {</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  i1 = (i+1) % 4,</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  i2 = (i+2) % 4,</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  i3 = (i+3) % 4,</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  j1 = (j+1) % 4,</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  j2 = (j+2) % 4,</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  j3 = (j+3) % 4</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  };</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">return</span> general_det3_helper(matrix, i1, i2, i3, j1, j2, j3)</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  + general_det3_helper(matrix, i2, i3, i1, j1, j2, j3)</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  + general_det3_helper(matrix, i3, i1, i2, j1, j2, j3);</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> }</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="keyword">template</span><<span class="keywordtype">int</span> Arch, <span class="keyword">typename</span> Scalar, <span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="keyword">struct </span>compute_inverse_size4</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> {</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> run(<span class="keyword">const</span> MatrixType& matrix, ResultType& result)</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  {</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  result.coeffRef(0,0) = cofactor_4x4<MatrixType,0,0>(matrix);</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  result.coeffRef(1,0) = -cofactor_4x4<MatrixType,0,1>(matrix);</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  result.coeffRef(2,0) = cofactor_4x4<MatrixType,0,2>(matrix);</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  result.coeffRef(3,0) = -cofactor_4x4<MatrixType,0,3>(matrix);</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  result.coeffRef(0,2) = cofactor_4x4<MatrixType,2,0>(matrix);</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  result.coeffRef(1,2) = -cofactor_4x4<MatrixType,2,1>(matrix);</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  result.coeffRef(2,2) = cofactor_4x4<MatrixType,2,2>(matrix);</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  result.coeffRef(3,2) = -cofactor_4x4<MatrixType,2,3>(matrix);</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  result.coeffRef(0,1) = -cofactor_4x4<MatrixType,1,0>(matrix);</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  result.coeffRef(1,1) = cofactor_4x4<MatrixType,1,1>(matrix);</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  result.coeffRef(2,1) = -cofactor_4x4<MatrixType,1,2>(matrix);</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  result.coeffRef(3,1) = cofactor_4x4<MatrixType,1,3>(matrix);</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  result.coeffRef(0,3) = -cofactor_4x4<MatrixType,3,0>(matrix);</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  result.coeffRef(1,3) = cofactor_4x4<MatrixType,3,1>(matrix);</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  result.coeffRef(2,3) = -cofactor_4x4<MatrixType,3,2>(matrix);</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  result.coeffRef(3,3) = cofactor_4x4<MatrixType,3,3>(matrix);</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  result /= (matrix.col(0).cwiseProduct(result.row(0).transpose())).sum();</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  }</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> };</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="keyword">struct </span>compute_inverse<MatrixType, ResultType, 4></div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  : compute_inverse_size4<Architecture::Target, typename MatrixType::Scalar,</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  MatrixType, ResultType></div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> {</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> };</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> </div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType, <span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="keyword">struct </span>compute_inverse_and_det_with_check<MatrixType, ResultType, 4></div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> {</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keyword">const</span> MatrixType& matrix,</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keyword">const</span> <span class="keyword">typename</span> MatrixType::RealScalar& absDeterminantThreshold,</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  ResultType& inverse,</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keyword">typename</span> ResultType::Scalar& determinant,</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordtype">bool</span>& invertible</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  )</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  {</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keyword">using</span> std::abs;</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  determinant = matrix.determinant();</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  invertible = abs(determinant) > absDeterminantThreshold;</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">if</span>(invertible) compute_inverse<MatrixType, ResultType>::run(matrix, inverse);</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  }</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> };</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> </div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> <span class="comment">/*************************</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="comment">*** MatrixBase methods ***</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="comment">*************************/</span></div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> </div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType></div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="keyword">struct </span>traits<inverse_impl<MatrixType> ></div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span> {</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> MatrixType::PlainObject ReturnType;</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> };</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="keyword">template</span><<span class="keyword">typename</span> MatrixType></div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> <span class="keyword">struct </span>inverse_impl : <span class="keyword">public</span> ReturnByValue<inverse_impl<MatrixType> ></div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> {</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> MatrixType::Index Index;</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> internal::eval<MatrixType>::type MatrixTypeNested;</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  MatrixTypeNested m_matrix;</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> </div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  inverse_impl(<span class="keyword">const</span> MatrixType& matrix)</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  : m_matrix(matrix)</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  {}</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span> </div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="keyword">inline</span> Index rows()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_matrix.rows(); }</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keyword">inline</span> Index cols()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_matrix.cols(); }</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> </div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keyword">template</span><<span class="keyword">typename</span> Dest> <span class="keyword">inline</span> <span class="keywordtype">void</span> evalTo(Dest& dst)<span class="keyword"> const</span></div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> Size = EIGEN_PLAIN_ENUM_MIN(MatrixType::ColsAtCompileTime,Dest::ColsAtCompileTime);</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  EIGEN_ONLY_USED_FOR_DEBUG(Size);</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  eigen_assert(( (Size<=1) || (Size>4) || (extract_data(m_matrix)!=extract_data(dst)))</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  && <span class="stringliteral">"Aliasing problem detected in inverse(), you need to do inverse().eval() here."</span>);</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> </div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  compute_inverse<MatrixTypeNestedCleaned, Dest>::run(m_matrix, dst);</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  }</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> };</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> </div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> } <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> </div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a name="l00320"></a><span class="lineno"><a class="line" href="classEigen_1_1MatrixBase.html#aa2834da4c855fa35fed8c4030f79f9da"> 320</a></span> <span class="keyword">inline</span> <span class="keyword">const</span> internal::inverse_impl<Derived> <a class="code" href="classEigen_1_1MatrixBase.html#aa2834da4c855fa35fed8c4030f79f9da">MatrixBase<Derived>::inverse</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  EIGEN_STATIC_ASSERT(!<a class="code" href="structEigen_1_1NumTraits.html">NumTraits<Scalar>::IsInteger</a>,THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  eigen_assert(rows() == cols());</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keywordflow">return</span> internal::inverse_impl<Derived>(derived());</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> }</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> </div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span> <span class="keyword">template</span><<span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="classEigen_1_1MatrixBase.html#abcd1eb30af2979b147e1f65477caa209"> 347</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1MatrixBase.html#abcd1eb30af2979b147e1f65477caa209">MatrixBase<Derived>::computeInverseAndDetWithCheck</a>(</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  ResultType& inverse,</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keyword">typename</span> ResultType::Scalar& determinant,</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordtype">bool</span>& invertible,</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keyword">const</span> RealScalar& absDeterminantThreshold</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  )<span class="keyword"> const</span></div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="comment">// i'd love to put some static assertions there, but SFINAE means that they have no effect...</span></div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  eigen_assert(rows() == cols());</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <span class="comment">// for 2x2, it's worth giving a chance to avoid evaluating.</span></div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="comment">// for larger sizes, evaluating has negligible cost and limits code size.</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> internal::conditional<</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  RowsAtCompileTime == 2,</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <span class="keyword">typename</span> internal::remove_all<typename internal::nested<Derived, 2>::type>::type,</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <a class="code" href="classEigen_1_1Matrix.html">PlainObject</a></div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  >::type MatrixType;</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  internal::compute_inverse_and_det_with_check<MatrixType, ResultType>::run</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  (derived(), absDeterminantThreshold, inverse, determinant, invertible);</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> }</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> </div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span> <span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span> <span class="keyword">template</span><<span class="keyword">typename</span> ResultType></div>
<div class="line"><a name="l00386"></a><span class="lineno"><a class="line" href="classEigen_1_1MatrixBase.html#a687bc5340efb79f83dae171828407535"> 386</a></span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1MatrixBase.html#a687bc5340efb79f83dae171828407535">MatrixBase<Derived>::computeInverseWithCheck</a>(</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  ResultType& inverse,</div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keywordtype">bool</span>& invertible,</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keyword">const</span> RealScalar& absDeterminantThreshold</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  )<span class="keyword"> const</span></div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  RealScalar determinant;</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  <span class="comment">// i'd love to put some static assertions there, but SFINAE means that they have no effect...</span></div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  eigen_assert(rows() == cols());</div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  computeInverseAndDetWithCheck(inverse,determinant,invertible,absDeterminantThreshold);</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span> }</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span> </div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span> } <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span> </div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span> <span class="preprocessor">#endif // EIGEN_INVERSE_H</span></div>
<div class="ttc" id="classEigen_1_1MatrixBase_html_abcd1eb30af2979b147e1f65477caa209"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#abcd1eb30af2979b147e1f65477caa209">Eigen::MatrixBase::computeInverseAndDetWithCheck</a></div><div class="ttdeci">void computeInverseAndDetWithCheck(ResultType &inverse, typename ResultType::Scalar &determinant, bool &invertible, const RealScalar &absDeterminantThreshold=NumTraits< Scalar >::dummy_precision()) const </div><div class="ttdef"><b>Definition:</b> Inverse.h:347</div></div>
<div class="ttc" id="structEigen_1_1NumTraits_html"><div class="ttname"><a href="structEigen_1_1NumTraits.html">Eigen::NumTraits</a></div><div class="ttdoc">Holds information about the various numeric (i.e. scalar) types allowed by Eigen. ...</div><div class="ttdef"><b>Definition:</b> NumTraits.h:88</div></div>
<div class="ttc" id="classEigen_1_1MatrixBase_html_a687bc5340efb79f83dae171828407535"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#a687bc5340efb79f83dae171828407535">Eigen::MatrixBase::computeInverseWithCheck</a></div><div class="ttdeci">void computeInverseWithCheck(ResultType &inverse, bool &invertible, const RealScalar &absDeterminantThreshold=NumTraits< Scalar >::dummy_precision()) const </div><div class="ttdef"><b>Definition:</b> Inverse.h:386</div></div>
<div class="ttc" id="classEigen_1_1MatrixBase_html_aa2834da4c855fa35fed8c4030f79f9da"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#aa2834da4c855fa35fed8c4030f79f9da">Eigen::MatrixBase::inverse</a></div><div class="ttdeci">const internal::inverse_impl< Derived > inverse() const </div><div class="ttdef"><b>Definition:</b> Inverse.h:320</div></div>
<div class="ttc" id="classEigen_1_1Matrix_html"><div class="ttname"><a href="classEigen_1_1Matrix.html">Eigen::Matrix</a></div><div class="ttdoc">The matrix class, also used for vectors and row-vectors. </div><div class="ttdef"><b>Definition:</b> Matrix.h:127</div></div>
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