This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Revision:
15:9c5aaeda36dc
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tvmet/VectorImpl.h	Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,210 @@
+/*
+ * Tiny Vector Matrix Library
+ * Dense Vector Matrix Libary of Tiny size using Expression Templates
+ *
+ * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ * $Id: VectorImpl.h,v 1.31 2007-06-23 15:58:58 opetzold Exp $
+ */
+
+#ifndef TVMET_VECTOR_IMPL_H
+#define TVMET_VECTOR_IMPL_H
+
+#include <iomanip>            // setw
+
+#include <tvmet/Functional.h>
+#include <tvmet/Io.h>
+
+
+namespace tvmet {
+
+
+/*
+ * member operators for i/o
+ */
+template<class T, std::size_t Sz>
+std::ostream& Vector<T, Sz>::print_xpr(std::ostream& os, std::size_t l) const
+{
+  os << IndentLevel(l++) << "Vector[" << ops << "]<"
+     << typeid(T).name() << ", " << Size << ">,"
+     << IndentLevel(--l)
+     << std::endl;
+
+  return os;
+}
+
+
+template<class T, std::size_t Sz>
+std::ostream& Vector<T, Sz>::print_on(std::ostream& os) const
+{
+  enum {
+    complex_type = NumericTraits<value_type>::is_complex
+  };
+
+  std::streamsize w = IoPrintHelper<Vector>::width(dispatch<complex_type>(), *this);
+
+  os << std::setw(0) << "[\n  ";
+  for(std::size_t i = 0; i < (Size - 1); ++i) {
+    os << std::setw(w) << m_data[i] << ", ";
+  }
+  os << std::setw(w) << m_data[Size - 1] << "\n]";
+
+  return os;
+}
+
+
+/*
+ * member operators with scalars, per se element wise
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, OP)                    \
+template<class T, std::size_t Sz>                    \
+inline                                    \
+Vector<T, Sz>& Vector<T, Sz>::operator OP (value_type rhs) {        \
+  typedef XprLiteral<value_type>             expr_type;    \
+  this->M_##NAME(XprVector<expr_type, Size>(expr_type(rhs)));        \
+  return *this;                                \
+}
+
+TVMET_IMPLEMENT_MACRO(add_eq, +=)
+TVMET_IMPLEMENT_MACRO(sub_eq, -=)
+TVMET_IMPLEMENT_MACRO(mul_eq, *=)
+TVMET_IMPLEMENT_MACRO(div_eq, /=)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+#define TVMET_IMPLEMENT_MACRO(NAME, OP)                    \
+template<class T, std::size_t Sz>                    \
+inline                                    \
+Vector<T, Sz>& Vector<T, Sz>::operator OP (std::size_t rhs) {        \
+  typedef XprLiteral<value_type>             expr_type;    \
+  this->M_##NAME(XprVector<expr_type, Size>(expr_type(rhs)));        \
+  return *this;                                \
+}
+
+TVMET_IMPLEMENT_MACRO(mod_eq, %=)
+TVMET_IMPLEMENT_MACRO(xor_eq,^=)
+TVMET_IMPLEMENT_MACRO(and_eq, &=)
+TVMET_IMPLEMENT_MACRO(or_eq, |=)
+TVMET_IMPLEMENT_MACRO(shl_eq, <<=)
+TVMET_IMPLEMENT_MACRO(shr_eq, >>=)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * member functions (operators) with vectors, for use with +=,-= ... <<=
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME)                                    \
+template<class T1, std::size_t Sz>                                    \
+template <class T2>                                            \
+inline Vector<T1, Sz>&                                            \
+Vector<T1, Sz>::M_##NAME (const Vector<T2, Size>& rhs) {                        \
+  this->M_##NAME( XprVector<typename Vector<T2, Size>::ConstReference, Size>(rhs.const_ref()) );    \
+  return *this;                                                \
+}
+
+TVMET_IMPLEMENT_MACRO(add_eq)
+TVMET_IMPLEMENT_MACRO(sub_eq)
+TVMET_IMPLEMENT_MACRO(mul_eq)
+TVMET_IMPLEMENT_MACRO(div_eq)
+TVMET_IMPLEMENT_MACRO(mod_eq)
+TVMET_IMPLEMENT_MACRO(xor_eq)
+TVMET_IMPLEMENT_MACRO(and_eq)
+TVMET_IMPLEMENT_MACRO(or_eq)
+TVMET_IMPLEMENT_MACRO(shl_eq)
+TVMET_IMPLEMENT_MACRO(shr_eq)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * member functions (operators) with expressions, for use width +=,-= ... <<=
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME)                       \
+template<class T, std::size_t Sz>                       \
+template <class E>                               \
+inline                                        \
+Vector<T, Sz>&                                   \
+Vector<T, Sz>::M_##NAME (const XprVector<E, Size>& rhs) {           \
+  rhs.assign_to(*this, Fcnl_##NAME<value_type, typename E::value_type>()); \
+  return *this;                                   \
+}
+
+TVMET_IMPLEMENT_MACRO(add_eq)
+TVMET_IMPLEMENT_MACRO(sub_eq)
+TVMET_IMPLEMENT_MACRO(mul_eq)
+TVMET_IMPLEMENT_MACRO(div_eq)
+TVMET_IMPLEMENT_MACRO(mod_eq)
+TVMET_IMPLEMENT_MACRO(xor_eq)
+TVMET_IMPLEMENT_MACRO(and_eq)
+TVMET_IMPLEMENT_MACRO(or_eq)
+TVMET_IMPLEMENT_MACRO(shl_eq)
+TVMET_IMPLEMENT_MACRO(shr_eq)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * aliased member functions (operators) with vectors,
+ * for use with +=,-= ... <<=
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME)                                     \
+template<class T1, std::size_t Sz>                                     \
+template <class T2>                                             \
+inline                                                      \
+Vector<T1, Sz>&                                                 \
+Vector<T1, Sz>::alias_##NAME (const Vector<T2, Size>& rhs) {                         \
+  this->alias_##NAME( XprVector<typename Vector<T2, Size>::ConstReference, Size>(rhs.const_ref()) ); \
+  return *this;                                                 \
+}
+
+TVMET_IMPLEMENT_MACRO(assign)
+TVMET_IMPLEMENT_MACRO(add_eq)
+TVMET_IMPLEMENT_MACRO(sub_eq)
+TVMET_IMPLEMENT_MACRO(mul_eq)
+TVMET_IMPLEMENT_MACRO(div_eq)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * aliased member functions (operators) with expressions,
+ * for use width +=,-= ... <<=
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME)                              \
+template<class T, std::size_t Sz>                              \
+template <class E>                                      \
+inline                                               \
+Vector<T, Sz>&                                          \
+Vector<T, Sz>::alias_##NAME (const XprVector<E, Size>& rhs) {                  \
+  typedef Vector<T, Sz>                    temp_type;              \
+  temp_type(rhs).assign_to(*this, Fcnl_##NAME<value_type, typename E::value_type>()); \
+  return *this;                                          \
+}
+
+TVMET_IMPLEMENT_MACRO(assign)
+TVMET_IMPLEMENT_MACRO(add_eq)
+TVMET_IMPLEMENT_MACRO(sub_eq)
+TVMET_IMPLEMENT_MACRO(mul_eq)
+TVMET_IMPLEMENT_MACRO(div_eq)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+} // namespace tvmet
+
+#endif // TVMET_VECTOR_IMPL_H
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End: