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This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
tvmet/xpr/MatrixTranspose.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: MatrixTranspose.h,v 1.15 2007-06-23 15:59:00 opetzold Exp $ |
madcowswe | 15:9c5aaeda36dc | 22 | */ |
madcowswe | 15:9c5aaeda36dc | 23 | |
madcowswe | 15:9c5aaeda36dc | 24 | #ifndef TVMET_XPR_MATRIX_TRANSPOSE_H |
madcowswe | 15:9c5aaeda36dc | 25 | #define TVMET_XPR_MATRIX_TRANSPOSE_H |
madcowswe | 15:9c5aaeda36dc | 26 | |
madcowswe | 15:9c5aaeda36dc | 27 | namespace tvmet { |
madcowswe | 15:9c5aaeda36dc | 28 | |
madcowswe | 15:9c5aaeda36dc | 29 | |
madcowswe | 15:9c5aaeda36dc | 30 | /** |
madcowswe | 15:9c5aaeda36dc | 31 | * \class XprMatrixTranspose MatrixTranspose.h "tvmet/xpr/MatrixTranspose.h" |
madcowswe | 15:9c5aaeda36dc | 32 | * \brief Expression for transpose matrix |
madcowswe | 15:9c5aaeda36dc | 33 | */ |
madcowswe | 15:9c5aaeda36dc | 34 | template<class E> |
madcowswe | 15:9c5aaeda36dc | 35 | class XprMatrixTranspose |
madcowswe | 15:9c5aaeda36dc | 36 | : public TvmetBase< XprMatrixTranspose<E> > |
madcowswe | 15:9c5aaeda36dc | 37 | { |
madcowswe | 15:9c5aaeda36dc | 38 | XprMatrixTranspose(); |
madcowswe | 15:9c5aaeda36dc | 39 | XprMatrixTranspose& operator=(const XprMatrixTranspose&); |
madcowswe | 15:9c5aaeda36dc | 40 | |
madcowswe | 15:9c5aaeda36dc | 41 | public: |
madcowswe | 15:9c5aaeda36dc | 42 | typedef typename E::value_type value_type; |
madcowswe | 15:9c5aaeda36dc | 43 | |
madcowswe | 15:9c5aaeda36dc | 44 | /** Complexity counter. */ |
madcowswe | 15:9c5aaeda36dc | 45 | enum { |
madcowswe | 15:9c5aaeda36dc | 46 | ops_expr = E::ops, |
madcowswe | 15:9c5aaeda36dc | 47 | ops = 1 * ops_expr |
madcowswe | 15:9c5aaeda36dc | 48 | }; |
madcowswe | 15:9c5aaeda36dc | 49 | |
madcowswe | 15:9c5aaeda36dc | 50 | public: |
madcowswe | 15:9c5aaeda36dc | 51 | /** Constructor. */ |
madcowswe | 15:9c5aaeda36dc | 52 | explicit XprMatrixTranspose(const E& e) |
madcowswe | 15:9c5aaeda36dc | 53 | : m_expr(e) |
madcowswe | 15:9c5aaeda36dc | 54 | { } |
madcowswe | 15:9c5aaeda36dc | 55 | |
madcowswe | 15:9c5aaeda36dc | 56 | /** Copy Constructor. Not explicit! */ |
madcowswe | 15:9c5aaeda36dc | 57 | #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) |
madcowswe | 15:9c5aaeda36dc | 58 | XprMatrixTranspose(const XprMatrixTranspose& e) |
madcowswe | 15:9c5aaeda36dc | 59 | : m_expr(e.m_expr) |
madcowswe | 15:9c5aaeda36dc | 60 | { } |
madcowswe | 15:9c5aaeda36dc | 61 | #endif |
madcowswe | 15:9c5aaeda36dc | 62 | |
madcowswe | 15:9c5aaeda36dc | 63 | /** index operator for arrays/matrices. This simple swap the index |
madcowswe | 15:9c5aaeda36dc | 64 | access for transpose. */ |
madcowswe | 15:9c5aaeda36dc | 65 | value_type operator()(std::size_t i, std::size_t j) const { return m_expr(j, i); } |
madcowswe | 15:9c5aaeda36dc | 66 | |
madcowswe | 15:9c5aaeda36dc | 67 | public: // debugging Xpr parse tree |
madcowswe | 15:9c5aaeda36dc | 68 | void print_xpr(std::ostream& os, std::size_t l=0) const { |
madcowswe | 15:9c5aaeda36dc | 69 | os << IndentLevel(l++) |
madcowswe | 15:9c5aaeda36dc | 70 | << "XprMatrixTranspose[O=" << ops << ", (O=" << ops_expr << ")]<" |
madcowswe | 15:9c5aaeda36dc | 71 | << std::endl; |
madcowswe | 15:9c5aaeda36dc | 72 | m_expr.print_xpr(os, l); |
madcowswe | 15:9c5aaeda36dc | 73 | os << IndentLevel(--l) |
madcowswe | 15:9c5aaeda36dc | 74 | << ">," << std::endl; |
madcowswe | 15:9c5aaeda36dc | 75 | } |
madcowswe | 15:9c5aaeda36dc | 76 | |
madcowswe | 15:9c5aaeda36dc | 77 | private: |
madcowswe | 15:9c5aaeda36dc | 78 | const E m_expr; |
madcowswe | 15:9c5aaeda36dc | 79 | }; |
madcowswe | 15:9c5aaeda36dc | 80 | |
madcowswe | 15:9c5aaeda36dc | 81 | |
madcowswe | 15:9c5aaeda36dc | 82 | } // namespace tvmet |
madcowswe | 15:9c5aaeda36dc | 83 | |
madcowswe | 15:9c5aaeda36dc | 84 | #endif // TVMET_XPR_MATRIX_TRANSPOSE_H |
madcowswe | 15:9c5aaeda36dc | 85 | |
madcowswe | 15:9c5aaeda36dc | 86 | // Local Variables: |
madcowswe | 15:9c5aaeda36dc | 87 | // mode:C++ |
madcowswe | 15:9c5aaeda36dc | 88 | // tab-width:8 |
madcowswe | 15:9c5aaeda36dc | 89 | // End: |