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<div class="title">Customizing/Extending <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> </div> </div>
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<div class="textblock"><p><a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> can be extended in several ways, for instance, by defining global methods, <a class="el" href="TopicCustomizingEigen.html#ExtendingMatrixBase">by adding custom methods to MatrixBase</a>, adding support to <a class="el" href="TopicCustomizingEigen.html#CustomScalarType">custom types</a> etc.</p>
<h1><a class="anchor" id="ExtendingMatrixBase"></a>
Extending MatrixBase (and other classes)</h1>
<p>In this section we will see how to add custom methods to <a class="el" href="classEigen_1_1MatrixBase.html" title="Base class for all dense matrices, vectors, and expressions. ">MatrixBase</a>. Since all expressions and matrix types inherit <a class="el" href="classEigen_1_1MatrixBase.html" title="Base class for all dense matrices, vectors, and expressions. ">MatrixBase</a>, adding a method to <a class="el" href="classEigen_1_1MatrixBase.html" title="Base class for all dense matrices, vectors, and expressions. ">MatrixBase</a> make it immediately available to all expressions ! A typical use case is, for instance, to make <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> compatible with another API.</p>
<p>You certainly know that in C++ it is not possible to add methods to an existing class. So how that's possible ? Here the trick is to include in the declaration of <a class="el" href="classEigen_1_1MatrixBase.html" title="Base class for all dense matrices, vectors, and expressions. ">MatrixBase</a> a file defined by the preprocessor token <code>EIGEN_MATRIXBASE_PLUGIN:</code> </p>
<div class="fragment"><div class="line"><span class="keyword">class </span>MatrixBase {</div>
<div class="line"> <span class="comment">// ...</span></div>
<div class="line"><span class="preprocessor"> #ifdef EIGEN_MATRIXBASE_PLUGIN</span></div>
<div class="line"><span class="preprocessor"></span><span class="preprocessor"> #include EIGEN_MATRIXBASE_PLUGIN</span></div>
<div class="line"><span class="preprocessor"></span><span class="preprocessor"> #endif</span></div>
<div class="line"><span class="preprocessor">};</span></div>
</div><!-- fragment --><p> Therefore to extend <a class="el" href="classEigen_1_1MatrixBase.html" title="Base class for all dense matrices, vectors, and expressions. ">MatrixBase</a> with your own methods you just have to create a file with your method declaration and define EIGEN_MATRIXBASE_PLUGIN before you include any <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a>'s header file.</p>
<p>You can extend many of the other classes used in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> by defining similarly named preprocessor symbols. For instance, define <code>EIGEN_ARRAYBASE_PLUGIN</code> if you want to extend the <a class="el" href="classEigen_1_1ArrayBase.html" title="Base class for all 1D and 2D array, and related expressions. ">ArrayBase</a> class. A full list of classes that can be extended in this way and the corresponding preprocessor symbols can be found on our page <a class="el" href="TopicPreprocessorDirectives.html">Preprocessor directives</a>.</p>
<p>Here is an example of an extension file for adding methods to <a class="el" href="classEigen_1_1MatrixBase.html" title="Base class for all dense matrices, vectors, and expressions. ">MatrixBase</a>: <br/>
<b>MatrixBaseAddons.h</b> </p>
<div class="fragment"><div class="line"><span class="keyword">inline</span> Scalar at(uint i, uint j)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> this->operator()(i,j); }</div>
<div class="line"><span class="keyword">inline</span> Scalar& at(uint i, uint j) { <span class="keywordflow">return</span> this->operator()(i,j); }</div>
<div class="line"><span class="keyword">inline</span> Scalar at(uint i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> this->operator[](i); }</div>
<div class="line"><span class="keyword">inline</span> Scalar& at(uint i) { <span class="keywordflow">return</span> this->operator[](i); }</div>
<div class="line"></div>
<div class="line"><span class="keyword">inline</span> RealScalar squaredLength()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> squaredNorm(); }</div>
<div class="line"><span class="keyword">inline</span> RealScalar length()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> norm(); }</div>
<div class="line"><span class="keyword">inline</span> RealScalar invLength(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> fast_inv_sqrt(squaredNorm()); }</div>
<div class="line"></div>
<div class="line"><span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived></div>
<div class="line"><span class="keyword">inline</span> Scalar squaredDistanceTo(<span class="keyword">const</span> MatrixBase<OtherDerived>& other)<span class="keyword"> const</span></div>
<div class="line"><span class="keyword"></span>{ <span class="keywordflow">return</span> (derived() - other.derived()).squaredNorm(); }</div>
<div class="line"></div>
<div class="line"><span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived></div>
<div class="line"><span class="keyword">inline</span> RealScalar distanceTo(<span class="keyword">const</span> MatrixBase<OtherDerived>& other)<span class="keyword"> const</span></div>
<div class="line"><span class="keyword"></span>{ <span class="keywordflow">return</span> internal::sqrt(derived().squaredDistanceTo(other)); }</div>
<div class="line"></div>
<div class="line"><span class="keyword">inline</span> <span class="keywordtype">void</span> scaleTo(RealScalar l) { RealScalar vl = norm(); <span class="keywordflow">if</span> (vl>1e-9) derived() *= (l/vl); }</div>
<div class="line"></div>
<div class="line"><span class="keyword">inline</span> Transpose<Derived> transposed() {<span class="keywordflow">return</span> this->transpose();}</div>
<div class="line"><span class="keyword">inline</span> <span class="keyword">const</span> Transpose<Derived> transposed()<span class="keyword"> const </span>{<span class="keywordflow">return</span> this->transpose();}</div>
<div class="line"></div>
<div class="line"><span class="keyword">inline</span> uint minComponentId(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{ <span class="keywordtype">int</span> i; this->minCoeff(&i); <span class="keywordflow">return</span> i; }</div>
<div class="line"><span class="keyword">inline</span> uint maxComponentId(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{ <span class="keywordtype">int</span> i; this->maxCoeff(&i); <span class="keywordflow">return</span> i; }</div>
<div class="line"></div>
<div class="line"><span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived></div>
<div class="line"><span class="keywordtype">void</span> makeFloor(<span class="keyword">const</span> MatrixBase<OtherDerived>& other) { derived() = derived().cwiseMin(other.derived()); }</div>
<div class="line"><span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived></div>
<div class="line"><span class="keywordtype">void</span> makeCeil(<span class="keyword">const</span> MatrixBase<OtherDerived>& other) { derived() = derived().cwiseMax(other.derived()); }</div>
<div class="line"></div>
<div class="line"><span class="keyword">const</span> CwiseUnaryOp<internal::scalar_add_op<Scalar>, Derived></div>
<div class="line">operator+(<span class="keyword">const</span> Scalar& scalar)<span class="keyword"> const</span></div>
<div class="line"><span class="keyword"></span>{ <span class="keywordflow">return</span> CwiseUnaryOp<internal::scalar_add_op<Scalar>, Derived>(derived(), internal::scalar_add_op<Scalar>(scalar)); }</div>
<div class="line"></div>
<div class="line"><span class="keyword">friend</span> <span class="keyword">const</span> CwiseUnaryOp<internal::scalar_add_op<Scalar>, Derived></div>
<div class="line">operator+(<span class="keyword">const</span> Scalar& scalar, <span class="keyword">const</span> MatrixBase<Derived>& mat)</div>
<div class="line">{ <span class="keywordflow">return</span> CwiseUnaryOp<internal::scalar_add_op<Scalar>, Derived>(mat.derived(), internal::scalar_add_op<Scalar>(scalar)); }</div>
</div><!-- fragment --><p>Then one can the following declaration in the config.h or whatever prerequisites header file of his project: </p>
<div class="fragment"><div class="line"><span class="preprocessor">#define EIGEN_MATRIXBASE_PLUGIN "MatrixBaseAddons.h"</span></div>
</div><!-- fragment --><h1><a class="anchor" id="InheritingFromMatrix"></a>
Inheriting from Matrix</h1>
<p>Before inheriting from <a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a>, be really, i mean REALLY sure that using EIGEN_MATRIX_PLUGIN is not what you really want (see previous section). If you just need to add few members to <a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a>, this is the way to go.</p>
<p>An example of when you actually need to inherit <a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a>, is when you have several layers of heritage such as MyVerySpecificVector1,MyVerySpecificVector1 -> MyVector1 -> <a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a> and. MyVerySpecificVector3,MyVerySpecificVector4 -> MyVector2 -> <a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a>.</p>
<p>In order for your object to work within the Eigen framework, you need to define a few members in your inherited class.</p>
<p>Here is a minimalistic example:<br/>
</p>
<div class="fragment"><div class="line"><span class="keyword">class </span>MyVectorType : <span class="keyword">public</span> <a class="code" href="classEigen_1_1Matrix.html">Eigen::VectorXd</a></div>
<div class="line">{</div>
<div class="line"><span class="keyword">public</span>:</div>
<div class="line"> MyVectorType(<span class="keywordtype">void</span>):Eigen::<a class="code" href="group__matrixtypedefs.html#ga3da45e59796fbacf67fa568297927bd1">VectorXd</a>() {}</div>
<div class="line"></div>
<div class="line"> <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Eigen::VectorXd</a> Base;</div>
<div class="line"></div>
<div class="line"> <span class="comment">// This constructor allows you to construct MyVectorType from Eigen expressions</span></div>
<div class="line"> <span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived></div>
<div class="line"> MyVectorType(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase<OtherDerived></a>& other)</div>
<div class="line"> : Eigen::<a class="code" href="group__matrixtypedefs.html#ga2006332f6989f501762673e21f5128f5">Vector3d</a>(other)</div>
<div class="line"> { }</div>
<div class="line"></div>
<div class="line"> <span class="comment">// This method allows you to assign Eigen expressions to MyVectorType</span></div>
<div class="line"> <span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived></div>
<div class="line"> MyVectorType & operator= (<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase <OtherDerived></a>& other)</div>
<div class="line"> {</div>
<div class="line"> this->Base::operator=(other);</div>
<div class="line"> <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"> }</div>
<div class="line">};</div>
</div><!-- fragment --><p>This is the kind of error you can get if you don't provide those methods </p>
<div class="fragment"><div class="line">error: no match <span class="keywordflow">for</span> ‘operator=’ in ‘delta =</div>
<div class="line">(((<a class="code" href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase<Eigen::Matrix<std::complex<float></a>, 10000, 1, 2, 10000,</div>
<div class="line">1> >*)(& delta)) + 8u)->Eigen::MatrixBase<Derived>::cwise [with Derived =</div>
<div class="line"><a class="code" href="classEigen_1_1Matrix.html">Eigen::Matrix<std::complex<float></a>, 10000, 1, 2, 10000,</div>
<div class="line">1>]().Eigen::Cwise<ExpressionType>::operator* [with OtherDerived =</div>
<div class="line"><a class="code" href="classEigen_1_1Matrix.html">Eigen::Matrix</a><std::complex<float>, 10000, 1, 2, 10000, 1>, ExpressionType =</div>
<div class="line"><a class="code" href="classEigen_1_1Matrix.html">Eigen::Matrix</a><std::complex<float>, 10000, 1, 2, 10000, 1>](((<span class="keyword">const</span></div>
<div class="line"><a class="code" href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase</a><<a class="code" href="classEigen_1_1Matrix.html">Eigen::Matrix</a><std::complex<float>, 10000, 1, 2, 10000, 1></div>
<div class="line">>&)(((<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase<Eigen::Matrix<std::complex<float></a>, 10000, 1,</div>
<div class="line">>2, 10000, 1> >*)((<span class="keyword">const</span> spectral1d*)where)) + 8u)))’ </div>
</div><!-- fragment --><p><a class="anchor" id="user_defined_scalars"></a></p>
<h1><a class="anchor" id="CustomScalarType"></a>
Using custom scalar types</h1>
<p>By default, <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> currently supports standard floating-point types (<code>float</code>, <code>double</code>, <code>std::complex<float></code>, <code>std::complex<double></code>, <code>long</code> <code>double</code>), as well as all native integer types (e.g., <code>int</code>, <code>unsigned</code> <code>int</code>, <code>short</code>, etc.), and <code>bool</code>. On x86-64 systems, <code>long</code> <code>double</code> permits to locally enforces the use of x87 registers with extended accuracy (in comparison to SSE).</p>
<p>In order to add support for a custom type <code>T</code> you need:</p>
<ol type="1">
<li>make sure the common operator (+,-,*,/,etc.) are supported by the type <code>T</code> </li>
<li>add a specialization of struct Eigen::NumTraits<T> (see <a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a>)</li>
<li>define the math functions that makes sense for your type. This includes standard ones like sqrt, pow, sin, tan, conj, real, imag, etc, as well as abs2 which is <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> specific. (see the file <a class="el" href="MathFunctions_8h_source.html">Eigen/src/Core/MathFunctions.h</a>)</li>
</ol>
<p>The math function should be defined in the same namespace than <code>T</code>, or in the <code>std</code> namespace though that second approach is not recommended.</p>
<p>Here is a concrete example adding support for the Adolc's <code>adouble</code> type. <a href="https://projects.coin-or.org/ADOL-C">Adolc</a> is an automatic differentiation library. The type <code>adouble</code> is basically a real value tracking the values of any number of partial derivatives.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#ifndef ADOLCSUPPORT_H</span></div>
<div class="line"><span class="preprocessor"></span><span class="preprocessor">#define ADOLCSUPPORT_H</span></div>
<div class="line"><span class="preprocessor"></span></div>
<div class="line"><span class="preprocessor">#define ADOLC_TAPELESS</span></div>
<div class="line"><span class="preprocessor"></span><span class="preprocessor">#include <adolc/adouble.h></span></div>
<div class="line"><span class="preprocessor">#include <Eigen/Core></span></div>
<div class="line"></div>
<div class="line"><span class="keyword">namespace </span>Eigen {</div>
<div class="line"></div>
<div class="line"><span class="keyword">template</span><> <span class="keyword">struct </span>NumTraits<adtl::adouble></div>
<div class="line"> : NumTraits<double> <span class="comment">// permits to get the epsilon, dummy_precision, lowest, highest functions</span></div>
<div class="line">{</div>
<div class="line"> <span class="keyword">typedef</span> adtl::adouble Real;</div>
<div class="line"> <span class="keyword">typedef</span> adtl::adouble NonInteger;</div>
<div class="line"> <span class="keyword">typedef</span> adtl::adouble Nested;</div>
<div class="line"></div>
<div class="line"> <span class="keyword">enum</span> {</div>
<div class="line"> IsComplex = 0,</div>
<div class="line"> IsInteger = 0,</div>
<div class="line"> IsSigned = 1,</div>
<div class="line"> RequireInitialization = 1,</div>
<div class="line"> ReadCost = 1,</div>
<div class="line"> AddCost = 3,</div>
<div class="line"> MulCost = 3</div>
<div class="line"> };</div>
<div class="line">};</div>
<div class="line"></div>
<div class="line">}</div>
<div class="line"></div>
<div class="line"><span class="keyword">namespace </span>adtl {</div>
<div class="line"></div>
<div class="line"><span class="keyword">inline</span> <span class="keyword">const</span> adouble& conj(<span class="keyword">const</span> adouble& x) { <span class="keywordflow">return</span> x; }</div>
<div class="line"><span class="keyword">inline</span> <span class="keyword">const</span> adouble& real(<span class="keyword">const</span> adouble& x) { <span class="keywordflow">return</span> x; }</div>
<div class="line"><span class="keyword">inline</span> adouble imag(<span class="keyword">const</span> adouble&) { <span class="keywordflow">return</span> 0.; }</div>
<div class="line"><span class="keyword">inline</span> adouble abs(<span class="keyword">const</span> adouble& x) { <span class="keywordflow">return</span> fabs(x); }</div>
<div class="line"><span class="keyword">inline</span> adouble abs2(<span class="keyword">const</span> adouble& x) { <span class="keywordflow">return</span> x*x; }</div>
<div class="line"></div>
<div class="line">}</div>
<div class="line"></div>
<div class="line"><span class="preprocessor">#endif // ADOLCSUPPORT_H</span></div>
</div><!-- fragment --><dl class="section see"><dt>See Also</dt><dd><a class="el" href="TopicPreprocessorDirectives.html">Preprocessor directives</a> </dd></dl>
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