This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Diff: tvmet/xpr/BinOperator.h
- Revision:
- 15:9c5aaeda36dc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tvmet/xpr/BinOperator.h Sat Apr 06 20:57:54 2013 +0000 @@ -0,0 +1,105 @@ +/* + * 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: BinOperator.h,v 1.19 2007-06-23 15:58:59 opetzold Exp $ + */ + +#ifndef TVMET_XPR_BINOPERATOR_H +#define TVMET_XPR_BINOPERATOR_H + +#include <tvmet/TypePromotion.h> + +namespace tvmet { + + +/** + * \class XprBinOp BinOperator.h "tvmet/xpr/BinOperator.h" + * \brief Binary operators working on two sub expressions. + * + * On acessing using the index operator() the binary operation will be + * evaluated at compile time. + */ +template<class BinOp, class E1, class E2> +class XprBinOp + : public TvmetBase< XprBinOp<BinOp, E1, E2> > +{ + XprBinOp(); + XprBinOp& operator=(const XprBinOp&); + +public: + typedef typename BinOp::value_type value_type; + +public: + /** Complexity counter. */ + enum { + ops_lhs = E1::ops, + ops_rhs = E2::ops, + ops = 2 * (ops_lhs + ops_rhs) // lhs op rhs + }; + +public: + /** Constructor for two expressions. */ + explicit XprBinOp(const E1& lhs, const E2& rhs) + : m_lhs(lhs), m_rhs(rhs) + { } + + /** Copy Constructor. Not explicit! */ +#if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) + XprBinOp(const XprBinOp& e) + : m_lhs(e.m_lhs), m_rhs(e.m_rhs) + { } +#endif + + /** Index operator, evaluates the expression inside. */ + value_type operator()(std::size_t i) const { + return BinOp::apply_on(m_lhs(i), m_rhs(i)); + } + + /** Index operator for arrays/matrices */ + value_type operator()(std::size_t i, std::size_t j) const { + return BinOp::apply_on(m_lhs(i, j), m_rhs(i, j)); + } + +public: // debugging Xpr parse tree + void print_xpr(std::ostream& os, std::size_t l=0) const { + os << IndentLevel(l++) + << "XprBinOp[O="<< ops << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<" + << std::endl; + BinOp::print_xpr(os, l); + m_lhs.print_xpr(os, l); + m_rhs.print_xpr(os, l); + os << IndentLevel(--l) + << ">," << std::endl; + } + +private: + const E1 m_lhs; + const E2 m_rhs; +}; + + +} // namespace tvmet + +#endif // TVMET_XPR_BINOPERATOR_H + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: