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This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
tvmet/xpr/UnOperator.h@90:e4164bb8c60e, 2013-04-17 (annotated)
- Committer:
- madcowswe
- Date:
- Wed Apr 17 23:16:25 2013 +0000
- Revision:
- 90:e4164bb8c60e
- Parent:
- 15:9c5aaeda36dc
final state at end of competition. Includes avoid wooden team hack
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: UnOperator.h,v 1.17 2007-06-23 15:59:00 opetzold Exp $ |
madcowswe | 15:9c5aaeda36dc | 22 | */ |
madcowswe | 15:9c5aaeda36dc | 23 | |
madcowswe | 15:9c5aaeda36dc | 24 | #ifndef TVMET_XPR_UNOPERATOR_H |
madcowswe | 15:9c5aaeda36dc | 25 | #define TVMET_XPR_UNOPERATOR_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 XprUnOp UnOperator.h "tvmet/xpr/UnOperator.h" |
madcowswe | 15:9c5aaeda36dc | 32 | * \brief Unary operator working on one subexpression. |
madcowswe | 15:9c5aaeda36dc | 33 | * |
madcowswe | 15:9c5aaeda36dc | 34 | * Using the access operator() the unary operation will be evaluated. |
madcowswe | 15:9c5aaeda36dc | 35 | */ |
madcowswe | 15:9c5aaeda36dc | 36 | template<class UnOp, class E> |
madcowswe | 15:9c5aaeda36dc | 37 | class XprUnOp |
madcowswe | 15:9c5aaeda36dc | 38 | : public TvmetBase< XprUnOp<UnOp, E> > |
madcowswe | 15:9c5aaeda36dc | 39 | { |
madcowswe | 15:9c5aaeda36dc | 40 | XprUnOp(); |
madcowswe | 15:9c5aaeda36dc | 41 | XprUnOp& operator=(const XprUnOp&); |
madcowswe | 15:9c5aaeda36dc | 42 | |
madcowswe | 15:9c5aaeda36dc | 43 | public: |
madcowswe | 15:9c5aaeda36dc | 44 | typedef typename UnOp::value_type value_type; |
madcowswe | 15:9c5aaeda36dc | 45 | |
madcowswe | 15:9c5aaeda36dc | 46 | public: |
madcowswe | 15:9c5aaeda36dc | 47 | /** Complexity counter. */ |
madcowswe | 15:9c5aaeda36dc | 48 | enum { |
madcowswe | 15:9c5aaeda36dc | 49 | ops_expr = E::ops, |
madcowswe | 15:9c5aaeda36dc | 50 | ops = 1 * ops_expr |
madcowswe | 15:9c5aaeda36dc | 51 | }; |
madcowswe | 15:9c5aaeda36dc | 52 | |
madcowswe | 15:9c5aaeda36dc | 53 | public: |
madcowswe | 15:9c5aaeda36dc | 54 | /** Constructor for an expressions. */ |
madcowswe | 15:9c5aaeda36dc | 55 | explicit XprUnOp(const E& e) |
madcowswe | 15:9c5aaeda36dc | 56 | : m_expr(e) |
madcowswe | 15:9c5aaeda36dc | 57 | { } |
madcowswe | 15:9c5aaeda36dc | 58 | |
madcowswe | 15:9c5aaeda36dc | 59 | /** Copy Constructor. Not explicit! */ |
madcowswe | 15:9c5aaeda36dc | 60 | #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) |
madcowswe | 15:9c5aaeda36dc | 61 | XprUnOp(const XprUnOp& e) |
madcowswe | 15:9c5aaeda36dc | 62 | : m_expr(e.m_expr) |
madcowswe | 15:9c5aaeda36dc | 63 | { } |
madcowswe | 15:9c5aaeda36dc | 64 | #endif |
madcowswe | 15:9c5aaeda36dc | 65 | |
madcowswe | 15:9c5aaeda36dc | 66 | /** Index operator, evaluates the expression inside. */ |
madcowswe | 15:9c5aaeda36dc | 67 | value_type operator()(std::size_t i) const { |
madcowswe | 15:9c5aaeda36dc | 68 | return UnOp::apply_on(m_expr(i)); |
madcowswe | 15:9c5aaeda36dc | 69 | } |
madcowswe | 15:9c5aaeda36dc | 70 | |
madcowswe | 15:9c5aaeda36dc | 71 | /** index operator for arrays/matrices. */ |
madcowswe | 15:9c5aaeda36dc | 72 | value_type operator()(std::size_t i, std::size_t j) const { |
madcowswe | 15:9c5aaeda36dc | 73 | return UnOp::apply_on(m_expr(i, j)); |
madcowswe | 15:9c5aaeda36dc | 74 | } |
madcowswe | 15:9c5aaeda36dc | 75 | |
madcowswe | 15:9c5aaeda36dc | 76 | public: // debugging Xpr parse tree |
madcowswe | 15:9c5aaeda36dc | 77 | void print_xpr(std::ostream& os, std::size_t l=0) const { |
madcowswe | 15:9c5aaeda36dc | 78 | os << IndentLevel(l++) |
madcowswe | 15:9c5aaeda36dc | 79 | << "XprUnOp[O="<< ops << ", (O=" << ops_expr << ")]<" |
madcowswe | 15:9c5aaeda36dc | 80 | << std::endl; |
madcowswe | 15:9c5aaeda36dc | 81 | UnOp::print_xpr(os, l); |
madcowswe | 15:9c5aaeda36dc | 82 | m_expr.print_xpr(os, l); |
madcowswe | 15:9c5aaeda36dc | 83 | os << IndentLevel(--l) |
madcowswe | 15:9c5aaeda36dc | 84 | << ">," << std::endl; |
madcowswe | 15:9c5aaeda36dc | 85 | } |
madcowswe | 15:9c5aaeda36dc | 86 | |
madcowswe | 15:9c5aaeda36dc | 87 | private: |
madcowswe | 15:9c5aaeda36dc | 88 | const E m_expr; |
madcowswe | 15:9c5aaeda36dc | 89 | }; |
madcowswe | 15:9c5aaeda36dc | 90 | |
madcowswe | 15:9c5aaeda36dc | 91 | |
madcowswe | 15:9c5aaeda36dc | 92 | } // namespace tvmet |
madcowswe | 15:9c5aaeda36dc | 93 | |
madcowswe | 15:9c5aaeda36dc | 94 | #endif // TVMET_XPR_UNOPERATOR_H |
madcowswe | 15:9c5aaeda36dc | 95 | |
madcowswe | 15:9c5aaeda36dc | 96 | // Local Variables: |
madcowswe | 15:9c5aaeda36dc | 97 | // mode:C++ |
madcowswe | 15:9c5aaeda36dc | 98 | // tab-width:8 |
madcowswe | 15:9c5aaeda36dc | 99 | // End: |