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This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
tvmet/TvmetBase.h@15:9c5aaeda36dc, 2013-04-06 (annotated)
- Committer:
- madcowswe
- Date:
- Sat Apr 06 20:57:54 2013 +0000
- Revision:
- 15:9c5aaeda36dc
Encoders fairly tuned, still has random noise in it
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
madcowswe | 15:9c5aaeda36dc | 1 | /* |
madcowswe | 15:9c5aaeda36dc | 2 | * Tiny Vector Matrix Library |
madcowswe | 15:9c5aaeda36dc | 3 | * Dense Vector Matrix Libary of Tiny size using Expression Templates |
madcowswe | 15:9c5aaeda36dc | 4 | * |
madcowswe | 15:9c5aaeda36dc | 5 | * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net> |
madcowswe | 15:9c5aaeda36dc | 6 | * |
madcowswe | 15:9c5aaeda36dc | 7 | * This library is free software; you can redistribute it and/or |
madcowswe | 15:9c5aaeda36dc | 8 | * modify it under the terms of the GNU Lesser General Public |
madcowswe | 15:9c5aaeda36dc | 9 | * License as published by the Free Software Foundation; either |
madcowswe | 15:9c5aaeda36dc | 10 | * version 2.1 of the License, or (at your option) any later version. |
madcowswe | 15:9c5aaeda36dc | 11 | * |
madcowswe | 15:9c5aaeda36dc | 12 | * This library is distributed in the hope that it will be useful, |
madcowswe | 15:9c5aaeda36dc | 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
madcowswe | 15:9c5aaeda36dc | 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
madcowswe | 15:9c5aaeda36dc | 15 | * Lesser General Public License for more details. |
madcowswe | 15:9c5aaeda36dc | 16 | * |
madcowswe | 15:9c5aaeda36dc | 17 | * You should have received a copy of the GNU Lesser General Public |
madcowswe | 15:9c5aaeda36dc | 18 | * License along with this library; if not, write to the Free Software |
madcowswe | 15:9c5aaeda36dc | 19 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
madcowswe | 15:9c5aaeda36dc | 20 | * |
madcowswe | 15:9c5aaeda36dc | 21 | * $Id: TvmetBase.h,v 1.17 2007-06-23 15:58:58 opetzold Exp $ |
madcowswe | 15:9c5aaeda36dc | 22 | */ |
madcowswe | 15:9c5aaeda36dc | 23 | |
madcowswe | 15:9c5aaeda36dc | 24 | #ifndef TVMET_BASE_H |
madcowswe | 15:9c5aaeda36dc | 25 | #define TVMET_BASE_H |
madcowswe | 15:9c5aaeda36dc | 26 | |
madcowswe | 15:9c5aaeda36dc | 27 | #include <iostream>//<iosfwd> // io streams forward declaration |
madcowswe | 15:9c5aaeda36dc | 28 | #include <typeinfo> // rtti: used by Xpr.h level printing |
madcowswe | 15:9c5aaeda36dc | 29 | #include <cmath> // unary and binary math |
madcowswe | 15:9c5aaeda36dc | 30 | #include <cstdlib> // labs |
madcowswe | 15:9c5aaeda36dc | 31 | |
madcowswe | 15:9c5aaeda36dc | 32 | #if defined(WIN32) && defined(_MSC_VER) && (_MSC_VER == 1310) |
madcowswe | 15:9c5aaeda36dc | 33 | #include <string> // operator<<(ostream) here defined |
madcowswe | 15:9c5aaeda36dc | 34 | #endif |
madcowswe | 15:9c5aaeda36dc | 35 | |
madcowswe | 15:9c5aaeda36dc | 36 | #if defined(__APPLE_CC__) |
madcowswe | 15:9c5aaeda36dc | 37 | // Mac OS X builds seems to miss these functions inside cmath |
madcowswe | 15:9c5aaeda36dc | 38 | extern "C" int isnan(double); |
madcowswe | 15:9c5aaeda36dc | 39 | extern "C" int isinf(double); |
madcowswe | 15:9c5aaeda36dc | 40 | #endif |
madcowswe | 15:9c5aaeda36dc | 41 | |
madcowswe | 15:9c5aaeda36dc | 42 | namespace tvmet { |
madcowswe | 15:9c5aaeda36dc | 43 | |
madcowswe | 15:9c5aaeda36dc | 44 | |
madcowswe | 15:9c5aaeda36dc | 45 | /** |
madcowswe | 15:9c5aaeda36dc | 46 | * \class TvmetBase TvmetBase.h "tvmet/TvmetBase.h" |
madcowswe | 15:9c5aaeda36dc | 47 | * \brief Base class |
madcowswe | 15:9c5aaeda36dc | 48 | * Used for static polymorph call of print_xpr |
madcowswe | 15:9c5aaeda36dc | 49 | */ |
madcowswe | 15:9c5aaeda36dc | 50 | template<class E> class TvmetBase { }; |
madcowswe | 15:9c5aaeda36dc | 51 | |
madcowswe | 15:9c5aaeda36dc | 52 | |
madcowswe | 15:9c5aaeda36dc | 53 | /** |
madcowswe | 15:9c5aaeda36dc | 54 | * \class IndentLevel TvmetBase.h "tvmet/TvmetBase.h" |
madcowswe | 15:9c5aaeda36dc | 55 | * \brief Prints the level indent. |
madcowswe | 15:9c5aaeda36dc | 56 | */ |
madcowswe | 15:9c5aaeda36dc | 57 | class IndentLevel : public TvmetBase< IndentLevel > |
madcowswe | 15:9c5aaeda36dc | 58 | { |
madcowswe | 15:9c5aaeda36dc | 59 | public: |
madcowswe | 15:9c5aaeda36dc | 60 | IndentLevel(std::size_t level) : m_level(level) { } |
madcowswe | 15:9c5aaeda36dc | 61 | |
madcowswe | 15:9c5aaeda36dc | 62 | std::ostream& print_xpr(std::ostream& os) const { |
madcowswe | 15:9c5aaeda36dc | 63 | for(std::size_t i = 0; i != m_level; ++i) os << " "; |
madcowswe | 15:9c5aaeda36dc | 64 | return os; |
madcowswe | 15:9c5aaeda36dc | 65 | } |
madcowswe | 15:9c5aaeda36dc | 66 | |
madcowswe | 15:9c5aaeda36dc | 67 | private: |
madcowswe | 15:9c5aaeda36dc | 68 | std::size_t m_level; |
madcowswe | 15:9c5aaeda36dc | 69 | }; |
madcowswe | 15:9c5aaeda36dc | 70 | |
madcowswe | 15:9c5aaeda36dc | 71 | |
madcowswe | 15:9c5aaeda36dc | 72 | /** |
madcowswe | 15:9c5aaeda36dc | 73 | * \fn operator<<(std::ostream& os, const TvmetBase<E>& e) |
madcowswe | 15:9c5aaeda36dc | 74 | * \brief overloaded ostream operator using static polymorphic. |
madcowswe | 15:9c5aaeda36dc | 75 | * \ingroup _binary_operator |
madcowswe | 15:9c5aaeda36dc | 76 | */ |
madcowswe | 15:9c5aaeda36dc | 77 | template<class E> |
madcowswe | 15:9c5aaeda36dc | 78 | inline |
madcowswe | 15:9c5aaeda36dc | 79 | std::ostream& operator<<(std::ostream& os, const TvmetBase<E>& e) { |
madcowswe | 15:9c5aaeda36dc | 80 | static_cast<const E&>(e).print_xpr(os); |
madcowswe | 15:9c5aaeda36dc | 81 | return os; |
madcowswe | 15:9c5aaeda36dc | 82 | } |
madcowswe | 15:9c5aaeda36dc | 83 | |
madcowswe | 15:9c5aaeda36dc | 84 | |
madcowswe | 15:9c5aaeda36dc | 85 | /** |
madcowswe | 15:9c5aaeda36dc | 86 | * \class dispatch TvmetBase.h "tvmet/TvmetBase.h" |
madcowswe | 15:9c5aaeda36dc | 87 | * \brief Class helper to distuingish between e.g. meta |
madcowswe | 15:9c5aaeda36dc | 88 | * and loop strategy used. |
madcowswe | 15:9c5aaeda36dc | 89 | */ |
madcowswe | 15:9c5aaeda36dc | 90 | template<bool> struct dispatch; |
madcowswe | 15:9c5aaeda36dc | 91 | |
madcowswe | 15:9c5aaeda36dc | 92 | /** |
madcowswe | 15:9c5aaeda36dc | 93 | * \class dispatch<true> TvmetBase.h "tvmet/TvmetBase.h" |
madcowswe | 15:9c5aaeda36dc | 94 | * \brief specialized. |
madcowswe | 15:9c5aaeda36dc | 95 | */ |
madcowswe | 15:9c5aaeda36dc | 96 | template<> struct dispatch<true> { }; |
madcowswe | 15:9c5aaeda36dc | 97 | |
madcowswe | 15:9c5aaeda36dc | 98 | /** |
madcowswe | 15:9c5aaeda36dc | 99 | * \class dispatch<false> TvmetBase.h "tvmet/TvmetBase.h" |
madcowswe | 15:9c5aaeda36dc | 100 | * \brief specialized. |
madcowswe | 15:9c5aaeda36dc | 101 | */ |
madcowswe | 15:9c5aaeda36dc | 102 | template<> struct dispatch<false> { }; |
madcowswe | 15:9c5aaeda36dc | 103 | |
madcowswe | 15:9c5aaeda36dc | 104 | |
madcowswe | 15:9c5aaeda36dc | 105 | } // namespace tvmet |
madcowswe | 15:9c5aaeda36dc | 106 | |
madcowswe | 15:9c5aaeda36dc | 107 | #endif // TVMET_BASE_H |
madcowswe | 15:9c5aaeda36dc | 108 | |
madcowswe | 15:9c5aaeda36dc | 109 | // Local Variables: |
madcowswe | 15:9c5aaeda36dc | 110 | // mode:C++ |
madcowswe | 15:9c5aaeda36dc | 111 | // tab-width:8 |
madcowswe | 15:9c5aaeda36dc | 112 | // End: |