Hybrid precoding is a cost-effective approach to support directional transmissions for millimeter-wave (mm-wave) communications, but its precoder design is highly complicated. In this paper, we propose a new hybrid precoder implementation, namely the double phase shifter (DPS) implementation, which enables highly tractable hybrid precoder design. Efficient algorithms are then developed for two popular hybrid precoder structures, i.e., the fully- and partially-connected structures. For the fully-connected one, the RF-only precoding and hybrid precoding problems are formulated as a least absolute shrinkage and selection operator (LASSO) problem and a low-rank matrix approximation problem, respectively. In this way, computationally efficient algorithms are provided to approach the performance of the fully digital one with a small number of radio frequency (RF) chains. On the other hand, the hybrid precoder design in the partially-connected structure is identified as an eigenvalue problem. To enhance the performance of this cost-effective structure, dynamic mapping from RF chains to antennas is further proposed, for which a greedy algorithm and a modified K-means algorithm are developed. Simulation results demonstrate the performance gains of the proposed hybrid precoding algorithms over existing ones. It shows that, with the proposed DPS implementation, the fully-connected structure enjoys both satisfactory performance and low design complexity while the partially-connected one serves as an economic solution with low hardware complexity.