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41 lines
1.9 KiB
41 lines
1.9 KiB
#pragma once
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#include "hash_ext.hpp"
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struct eq_funcs_fn {
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template <typename T, int M, int N>
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bool operator()(const Eigen::Matrix<T, M, N> &lhs,
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const Eigen::Matrix<T, M, N> &rhs,
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double epsilon = detail::float_hash_epsilon) const
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{
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static_assert(M != Eigen::Dynamic && N != Eigen::Dynamic, "only fixed size matrix is supported");
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if constexpr (std::is_integral_v<T>)
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return lhs == rhs;
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else if constexpr (std::is_floating_point_v<T>) {
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using integral_type = typename detail::float_to_int_type<T>::type;
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auto casted_lhs = (lhs.array() / static_cast<T>(epsilon)).template cast<integral_type>();
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auto casted_rhs = (rhs.array() / static_cast<T>(epsilon)).template cast<integral_type>();
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return casted_lhs.cwiseEqual(casted_rhs).all();
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} else
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static_assert(false, "unsupported type in hash<Eigen::Matrix>");
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}
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template <typename T, int N>
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bool operator()(const Eigen::Transform<T, N, Eigen::AffineCompact> &lhs,
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const Eigen::Transform<T, N, Eigen::AffineCompact> &rhs,
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double epsilon = detail::float_hash_epsilon) const
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{
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if constexpr (std::is_integral_v<T>)
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return lhs == rhs;
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else if constexpr (std::is_floating_point_v<T>) {
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using integral_type = typename detail::float_to_int_type<T>::type;
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auto casted_lhs = (lhs.affine().array() / static_cast<T>(epsilon)).template cast<integral_type>();
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auto casted_rhs = (rhs.affine().array() / static_cast<T>(epsilon)).template cast<integral_type>();
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return casted_lhs.cwiseEqual(casted_rhs).all();
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} else
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static_assert(false, "unsupported type in hash<Eigen::Matrix>");
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}
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};
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static constexpr eq_funcs_fn eq_funcs{};
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