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This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
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tvmet/meta/Gemtv.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: Gemtv.h,v 1.8 2007-06-23 15:58:59 opetzold Exp $ */ #ifndef TVMET_META_GEMTV_H #define TVMET_META_GEMTV_H #include <tvmet/xpr/Null.h> namespace tvmet { namespace meta { /** * \class gemtv Gemtv.h "tvmet/meta/Gemtv.h" * \brief Meta class for matrix-transpose-vector operations. * using formula * \f[ * M^T\,v * \f] */ template<std::size_t Rows, std::size_t Cols, std::size_t I> class gemtv { gemtv(); gemtv(const gemtv&); gemtv& operator=(const gemtv&); private: enum { doIt = I < (Rows-1) /**< recursive counter */ }; public: /** Meta template for %Matrix lhs %Vector rhs product. */ 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 j) { return lhs(I, j) * rhs(I) + gemtv<Rows * doIt, Cols * doIt, (I+1)* doIt>::prod(lhs, rhs, j); } }; /** * \class gemtv<0,0,0> Gemtv.h "tvmet/meta/Gemtv.h" * \brief gemtv Specialized for recursion */ template<> class gemtv<0,0,0> { gemtv(); gemtv(const gemtv&); gemtv& operator=(const gemtv&); public: template<class E1, class E2> static inline XprNull prod(const E1&, const E2&, std::size_t) { return XprNull(); } }; } // namespace meta } // namespace tvmet #endif /* TVMET_META_GEMTV_H */ // Local Variables: // mode:C++ // tab-width:8 // End: