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/util/General.h	Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,126 @@
+/*
+ * 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: General.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $
+ */
+
+#ifndef TVMET_UTIL_GENERAL_H
+#define TVMET_UTIL_GENERAL_H
+
+
+/** forward */
+namespace tvmet {
+template<class T, std::size_t Rows, std::size_t Cols> class Matrix;
+template<class T, std::size_t Sz> class Vector;
+}
+
+namespace tvmet {
+
+namespace util {
+
+/*
+ * \defgroup _util_function
+ * \brief Usefull utility functions
+ */
+
+/**
+ * \fn Gemm(const Matrix<T, Rows, Cols>& m1, const Matrix<T, Rows, Cols>& m2, Matrix<T, Rows, Cols>& m3)
+ * \brief General matrix matrix multiplication using loops.
+ * \ingroup _util_function
+ */
+template<class T, std::size_t Rows, std::size_t Cols>
+inline
+void
+Gemm(const Matrix<T, Rows, Cols>& m1, const Matrix<T, Rows, Cols>& m2,
+     Matrix<T, Rows, Cols>& m3)
+{
+  for (std::size_t i = 0; i < Rows; ++i) {
+    for (std::size_t j = 0; j < Cols; ++j) {
+      T sum(0);
+      for (std::size_t k = 0; k < Cols; ++k) {
+    sum += m1(i,k) * m2(k,j);
+      }
+      m3(i,j) = sum;
+    }
+  }
+}
+
+
+/**
+ * \fn Gemv(const Matrix<T, Rows, Cols>& m, const Vector<T, Cols>& v, Vector<T, Cols>& v2)
+ * \brief General matrix vector multiplication using loops.
+ * \ingroup _util_function
+ */
+template<class T, std::size_t Rows, std::size_t Cols>
+inline
+void
+Gemv(const Matrix<T, Rows, Cols>& m, const Vector<T, Cols>& v,
+     Vector<T, Cols>& v2)
+{
+  for (std::size_t i = 0; i < Rows; ++i){
+    v2(i) = T(0);    // clean up before use
+    for (std::size_t j = 0; j < Cols; ++j) {
+      v2(i) += m(i,j) * v(j);
+      }
+  }
+}
+
+
+/**
+ * \fn Gevvmul(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, Vector<T, Sz>& v3)
+ * \brief General vector vector elementwise multiplication using loop.
+ * \ingroup _util_function
+ */
+template<class T, std::size_t Sz>
+inline
+void
+Gevvmul(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2,
+       Vector<T, Sz>& v3)
+{
+  for(std::size_t i = 0; i < Sz; ++i)
+    v3(i) = v1(i) * v2(i);
+}
+
+
+/**
+ * \fn Gevvadd(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, Vector<T, Sz>& v3)
+ * \brief General vector vector elementwise multiplication using loop.
+ * \ingroup _util_function
+ */
+template<class T, std::size_t Sz>
+inline
+void
+Gevvadd(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2,
+    Vector<T, Sz>& v3)
+{
+  for(std::size_t i = 0; i < Sz; ++i)
+    v3(i) = v1(i) + v2(i);
+}
+
+} // namespace util
+
+} // namespace tvmet
+
+#endif // TVMET_UTIL_GENERAL_H
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End: