This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

tvmet/meta/Gemtm.h

Committer:
madcowswe
Date:
2013-04-06
Revision:
15:9c5aaeda36dc

File content as of revision 15:9c5aaeda36dc:

/*
 * 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: Gemtm.h,v 1.12 2007-06-23 15:58:59 opetzold Exp $
 */

#ifndef TVMET_META_GEMTM_H
#define TVMET_META_GEMTM_H

#include <tvmet/xpr/Null.h>

namespace tvmet {

namespace meta {


/**
 * \class gemtm Gemtm.h "tvmet/meta/Gemtm.h"
 * \brief Meta class for trans(matrix)-matrix operations, like product.
 *        using formula
 *        \f[
 *        M_1^{T}\,M_2
 *        \f]
 * \note The number of cols of matrix 2 have to be equal to number of rows of
 *       matrix 1, since matrix 1 is transposed - the result is a (Cols1 x Cols2)
 *       matrix.
 */

template<std::size_t Rows1, std::size_t Cols1,
     std::size_t Cols2,
     std::size_t K>
class gemtm
{
private:
  gemtm();
  gemtm(const gemtm&);
  gemtm& operator=(const gemtm&);

private:
  enum {
    doIt = (K != Rows1 - 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(K, i) * rhs(K, j)
      + gemtm<Rows1 * doIt, Cols1 * doIt,
              Cols2 * doIt,
              (K+1) * doIt>::prod(lhs, rhs, i, j);
  }
};


/**
 * \class gemtm<0,0,0,0> Gemtm.h "tvmet/meta/Gemtm.h"
 * \brief gemtm Specialized for recursion.
 */
template<>
class gemtm<0,0,0,0>
{
  gemtm();
  gemtm(const gemtm&);
  gemtm& operator=(const gemtm&);

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_GEMTM_H */

// Local Variables:
// mode:C++
// tab-width:8
// End: