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/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: