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/meta/Gemm.h	Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,102 @@
+/*
+ * 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: Gemm.h,v 1.15 2007-06-23 15:58:59 opetzold Exp $
+ */
+
+#ifndef TVMET_META_GEMM_H
+#define TVMET_META_GEMM_H
+
+#include <tvmet/xpr/Null.h>
+
+namespace tvmet {
+
+namespace meta {
+
+
+/**
+ * \class gemm Gemm.h "tvmet/meta/Gemm.h"
+ * \brief Meta class for matrix-matrix operations, like product
+ *        using formula
+ *        \f[
+ *        M_1\,M_2
+ *        \f]
+ * \note The rows of matrix 2 have to be equal to cols of matrix 1.
+ */
+template<std::size_t Rows1, std::size_t Cols1,
+     std::size_t Cols2,
+     std::size_t K>
+class gemm
+{
+  gemm();
+  gemm(const gemm&);
+  gemm& operator=(const gemm&);
+
+private:
+  enum {
+    doIt = (K != Cols1 - 1)         /**< recursive counter */
+  };
+
+public:
+  template<class E1, class E2>
+  static inline
+  typename PromoteTraits<
+    typename E1::value_type,
+    typename E2::value_type
+  >::value_type
+  prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
+    return lhs(i, K) * rhs(K, j)
+      + gemm<Rows1 * doIt, Cols1 * doIt,
+             Cols2 * doIt,
+             (K+1) * doIt>::prod(lhs, rhs, i, j);
+  }
+};
+
+
+/**
+ * \class gemm<0,0,0,0> Gemm.h "tvmet/meta/Gemm.h"
+ * \brief gemm Specialized for recursion.
+ */
+template<>
+class gemm<0,0,0,0>
+{
+  gemm();
+  gemm(const gemm&);
+  gemm& operator=(const gemm&);
+
+public:
+  template<class E1, class E2>
+  static inline
+  XprNull prod(const E1&, const E2&, std::size_t, std::size_t) {
+    return XprNull();
+  }
+};
+
+
+} // namespace meta
+
+} // namespace tvmet
+
+#endif /* TVMET_META_GEMM_H */
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End: