dense: use lazyProduct

Simple-Robotics · Nov 8, 2022 · 1c8d6d9 · 1c8d6d9
1 parent f57f653
commit 1c8d6d9
Show file tree

Hide file tree

Showing 2 changed files with 25 additions and 9 deletions.
diff --git a/include/proxsuite/linalg/dense/core.hpp b/include/proxsuite/linalg/dense/core.hpp
@@ -792,6 +792,12 @@ noalias_mul_add_impl(Dst dst, Lhs lhs, Rhs rhs, T factor)
     return;
   }
 
+#if !EIGEN_VERSION_AT_LEAST(3, 3, 8)
+#define LAZY_PRODUCT(a, b) a.lazyProdcut(b)
+#else
+#define LAZY_PRODUCT(a, b) a.operator*(b)
+#endif
+
 #if !EIGEN_VERSION_AT_LEAST(3, 3, 8)
   if ((dst.rows() < 20) && (dst.cols() < 20) && (rhs.rows() < 20)) {
     // gemm
@@ -804,12 +810,14 @@ noalias_mul_add_impl(Dst dst, Lhs lhs, Rhs rhs, T factor)
 
     auto dst_ =
       MapMut(dst.data(), dst.rows(), dst.cols(), { dst.outerStride() });
-    dst_.noalias().operator+=(factor * lhs.operator*(rhs));
+    dst_.noalias().operator+=(factor * LAZY_PRODUCT(lhs, rhs));
   } else
 #endif
   {
-    dst.noalias().operator+=(factor * lhs.operator*(rhs));
+    dst.noalias().operator+=(factor * LAZY_PRODUCT(lhs, rhs));
   }
+
+#undef LAZY_PRODUCT
 }
 } // namespace _detail
 namespace util {

diff --git a/include/proxsuite/proxqp/dense/views.hpp b/include/proxsuite/proxqp/dense/views.hpp
@@ -1117,6 +1117,12 @@ noalias_mul_add(MatrixViewMut<T, colmajor> dst,
     return;
   }
 
+#if !EIGEN_VERSION_AT_LEAST(3, 3, 8)
+#define LAZY_PRODUCT(a, b) a.lazyProdcut(b)
+#else
+#define LAZY_PRODUCT(a, b) a.operator*(b)
+#endif
+
   if (dst.cols == 1 && dst.rows == 1) {
     // dot
     auto rhs_col = rhs.col(0);
@@ -1133,7 +1139,7 @@ noalias_mul_add(MatrixViewMut<T, colmajor> dst,
     auto rhs_col = rhs.col(0);
     auto dst_col = dst.col(0);
     dst_col.to_eigen().noalias().operator+=(
-      factor * (lhs.to_eigen().operator*(rhs_col.to_eigen())));
+      factor * (LAZY_PRODUCT(lhs.to_eigen(), rhs_col.to_eigen())));
   }
 
 #if !EIGEN_VERSION_AT_LEAST(3, 3, 8)
@@ -1150,19 +1156,21 @@ noalias_mul_add(MatrixViewMut<T, colmajor> dst,
     MapMut(dst.data, dst.rows, dst.cols, Stride(dst.outer_stride))
       .noalias()
       .
-      operator+=(factor *
-                 Map(lhs.data, lhs.rows, lhs.cols, Stride(lhs.outer_stride))
-                   .
-                   operator*(Map(
-                     rhs.data, rhs.rows, rhs.cols, Stride(rhs.outer_stride))));
+      operator+=(
+        factor *
+        LAZY_PRODUCT(
+          Map(lhs.data, lhs.rows, lhs.cols, Stride(lhs.outer_stride)),
+          Map(rhs.data, rhs.rows, rhs.cols, Stride(rhs.outer_stride))));
   }
 #endif
 
   else {
     // gemm
     dst.to_eigen().noalias().operator+=(
-      factor * lhs.to_eigen().operator*(rhs.to_eigen()));
+      factor * LAZY_PRODUCT(lhs.to_eigen(), rhs.to_eigen()));
   }
+
+#undef LAZY_PRODUCT
 }
 
 template<typename T>