Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

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tvmet/meta/Vector.h@90:e4164bb8c60e, 2013-04-17 (annotated)

Committer:
madcowswe
Date:
Wed Apr 17 23:16:25 2013 +0000
Revision:
90:e4164bb8c60e
Parent:
15:9c5aaeda36dc 
final state at end of competition. Includes avoid wooden team hack

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 15:9c5aaeda36dc 1 /*
madcowswe 15:9c5aaeda36dc 2 * Tiny Vector Matrix Library
madcowswe 15:9c5aaeda36dc 3 * Dense Vector Matrix Libary of Tiny size using Expression Templates
madcowswe 15:9c5aaeda36dc 4 *
madcowswe 15:9c5aaeda36dc 5 * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
madcowswe 15:9c5aaeda36dc 6 *
madcowswe 15:9c5aaeda36dc 7 * This library is free software; you can redistribute it and/or
madcowswe 15:9c5aaeda36dc 8 * modify it under the terms of the GNU lesser General Public
madcowswe 15:9c5aaeda36dc 9 * License as published by the Free Software Foundation; either
madcowswe 15:9c5aaeda36dc 10 * version 2.1 of the License, or (at your option) any later version.
madcowswe 15:9c5aaeda36dc 11 *
madcowswe 15:9c5aaeda36dc 12 * This library is distributed in the hope that it will be useful,
madcowswe 15:9c5aaeda36dc 13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
madcowswe 15:9c5aaeda36dc 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
madcowswe 15:9c5aaeda36dc 15 * lesser General Public License for more details.
madcowswe 15:9c5aaeda36dc 16 *
madcowswe 15:9c5aaeda36dc 17 * You should have received a copy of the GNU lesser General Public
madcowswe 15:9c5aaeda36dc 18 * License along with this library; if not, write to the Free Software
madcowswe 15:9c5aaeda36dc 19 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
madcowswe 15:9c5aaeda36dc 20 *
madcowswe 15:9c5aaeda36dc 21 * $Id: Vector.h,v 1.24 2007-06-23 15:58:59 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_META_VECTOR_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_META_VECTOR_H
madcowswe 15:9c5aaeda36dc 26
madcowswe 15:9c5aaeda36dc 27 #include <tvmet/NumericTraits.h>
madcowswe 15:9c5aaeda36dc 28 #include <tvmet/xpr/Null.h>
madcowswe 15:9c5aaeda36dc 29
madcowswe 15:9c5aaeda36dc 30 namespace tvmet {
madcowswe 15:9c5aaeda36dc 31
madcowswe 15:9c5aaeda36dc 32 /* forwards */
madcowswe 15:9c5aaeda36dc 33 template<class T, std::size_t Sz> class Vector;
madcowswe 15:9c5aaeda36dc 34
madcowswe 15:9c5aaeda36dc 35
madcowswe 15:9c5aaeda36dc 36 namespace meta {
madcowswe 15:9c5aaeda36dc 37
madcowswe 15:9c5aaeda36dc 38
madcowswe 15:9c5aaeda36dc 39 /**
madcowswe 15:9c5aaeda36dc 40 * \class Vector Vector.h "tvmet/meta/Vector.h"
madcowswe 15:9c5aaeda36dc 41 * \brief Meta %Vector class using expression templates
madcowswe 15:9c5aaeda36dc 42 */
madcowswe 15:9c5aaeda36dc 43 template<std::size_t Sz, std::size_t K=0>
madcowswe 15:9c5aaeda36dc 44 class Vector
madcowswe 15:9c5aaeda36dc 45 {
madcowswe 15:9c5aaeda36dc 46 Vector();
madcowswe 15:9c5aaeda36dc 47 Vector(const Vector&);
madcowswe 15:9c5aaeda36dc 48 Vector& operator=(const Vector&);
madcowswe 15:9c5aaeda36dc 49
madcowswe 15:9c5aaeda36dc 50 private:
madcowswe 15:9c5aaeda36dc 51 enum {
madcowswe 15:9c5aaeda36dc 52 doIt = (K < (Sz-1)) ? 1 : 0 /**< recursive counter */
madcowswe 15:9c5aaeda36dc 53 };
madcowswe 15:9c5aaeda36dc 54
madcowswe 15:9c5aaeda36dc 55 public:
madcowswe 15:9c5aaeda36dc 56 /** assign an expression expr using the functional assign_fn. */
madcowswe 15:9c5aaeda36dc 57 template <class Dest, class Src, class Assign>
madcowswe 15:9c5aaeda36dc 58 static inline
madcowswe 15:9c5aaeda36dc 59 void assign(Dest& lhs, const Src& rhs, const Assign& assign_fn) {
madcowswe 15:9c5aaeda36dc 60 assign_fn.apply_on(lhs(K), rhs(K));
madcowswe 15:9c5aaeda36dc 61 meta::Vector<Sz * doIt, (K+1) * doIt>::assign(lhs, rhs, assign_fn);
madcowswe 15:9c5aaeda36dc 62 }
madcowswe 15:9c5aaeda36dc 63
madcowswe 15:9c5aaeda36dc 64 /** build the sum of the vector. */
madcowswe 15:9c5aaeda36dc 65 template<class E>
madcowswe 15:9c5aaeda36dc 66 static inline
madcowswe 15:9c5aaeda36dc 67 typename E::value_type
madcowswe 15:9c5aaeda36dc 68 sum(const E& e) {
madcowswe 15:9c5aaeda36dc 69 return e(K) + meta::Vector<Sz * doIt, (K+1) * doIt>::sum(e);
madcowswe 15:9c5aaeda36dc 70 }
madcowswe 15:9c5aaeda36dc 71
madcowswe 15:9c5aaeda36dc 72 /** build the product of the vector. */
madcowswe 15:9c5aaeda36dc 73 template<class E>
madcowswe 15:9c5aaeda36dc 74 static inline
madcowswe 15:9c5aaeda36dc 75 typename NumericTraits<
madcowswe 15:9c5aaeda36dc 76 typename E::value_type
madcowswe 15:9c5aaeda36dc 77 >::sum_type
madcowswe 15:9c5aaeda36dc 78 product(const E& e) {
madcowswe 15:9c5aaeda36dc 79 return e(K) * meta::Vector<Sz * doIt, (K+1) * doIt>::product(e);
madcowswe 15:9c5aaeda36dc 80 }
madcowswe 15:9c5aaeda36dc 81
madcowswe 15:9c5aaeda36dc 82 /** build the dot product of the vector. */
madcowswe 15:9c5aaeda36dc 83 template<class Dest, class Src>
madcowswe 15:9c5aaeda36dc 84 static inline
madcowswe 15:9c5aaeda36dc 85 typename PromoteTraits<
madcowswe 15:9c5aaeda36dc 86 typename Dest::value_type,
madcowswe 15:9c5aaeda36dc 87 typename Src::value_type
madcowswe 15:9c5aaeda36dc 88 >::value_type
madcowswe 15:9c5aaeda36dc 89 dot(const Dest& lhs, const Src& rhs) {
madcowswe 15:9c5aaeda36dc 90 return lhs(K) * rhs(K)
madcowswe 15:9c5aaeda36dc 91 + meta::Vector<Sz * doIt, (K+1) * doIt>::dot(lhs, rhs);
madcowswe 15:9c5aaeda36dc 92 }
madcowswe 15:9c5aaeda36dc 93
madcowswe 15:9c5aaeda36dc 94 /** check for all elements */
madcowswe 15:9c5aaeda36dc 95 template<class E>
madcowswe 15:9c5aaeda36dc 96 static inline
madcowswe 15:9c5aaeda36dc 97 bool
madcowswe 15:9c5aaeda36dc 98 all_elements(const E& e) {
madcowswe 15:9c5aaeda36dc 99 if(!e(K)) return false;
madcowswe 15:9c5aaeda36dc 100 return meta::Vector<Sz * doIt, (K+1) * doIt>::all_elements(e);
madcowswe 15:9c5aaeda36dc 101 }
madcowswe 15:9c5aaeda36dc 102
madcowswe 15:9c5aaeda36dc 103 /** check for any elements */
madcowswe 15:9c5aaeda36dc 104 template<class E>
madcowswe 15:9c5aaeda36dc 105 static inline
madcowswe 15:9c5aaeda36dc 106 bool
madcowswe 15:9c5aaeda36dc 107 any_elements(const E& e) {
madcowswe 15:9c5aaeda36dc 108 if(e(K)) return true;
madcowswe 15:9c5aaeda36dc 109 return meta::Vector<Sz * doIt, (K+1) * doIt>::any_elements(e);
madcowswe 15:9c5aaeda36dc 110 }
madcowswe 15:9c5aaeda36dc 111 };
madcowswe 15:9c5aaeda36dc 112
madcowswe 15:9c5aaeda36dc 113
madcowswe 15:9c5aaeda36dc 114 /**
madcowswe 15:9c5aaeda36dc 115 * \class Vector<0,0> Vector.h "tvmet/meta/Vector.h"
madcowswe 15:9c5aaeda36dc 116 * \brief Meta %Vector Specialized for recursion
madcowswe 15:9c5aaeda36dc 117 */
madcowswe 15:9c5aaeda36dc 118 template<>
madcowswe 15:9c5aaeda36dc 119 class Vector<0,0>
madcowswe 15:9c5aaeda36dc 120 {
madcowswe 15:9c5aaeda36dc 121 Vector();
madcowswe 15:9c5aaeda36dc 122 Vector(const Vector&);
madcowswe 15:9c5aaeda36dc 123 Vector& operator=(const Vector&);
madcowswe 15:9c5aaeda36dc 124
madcowswe 15:9c5aaeda36dc 125 public:
madcowswe 15:9c5aaeda36dc 126 template <class Dest, class Src, class Assign>
madcowswe 15:9c5aaeda36dc 127 static inline void assign(Dest&, const Src&, const Assign&) { }
madcowswe 15:9c5aaeda36dc 128
madcowswe 15:9c5aaeda36dc 129 template<class E>
madcowswe 15:9c5aaeda36dc 130 static inline XprNull sum(const E&) { return XprNull(); }
madcowswe 15:9c5aaeda36dc 131
madcowswe 15:9c5aaeda36dc 132 template<class E>
madcowswe 15:9c5aaeda36dc 133 static inline XprNull product(const E&) { return XprNull(); }
madcowswe 15:9c5aaeda36dc 134
madcowswe 15:9c5aaeda36dc 135 template<class Dest, class Src>
madcowswe 15:9c5aaeda36dc 136 static inline XprNull dot(const Dest&, const Src&) { return XprNull(); }
madcowswe 15:9c5aaeda36dc 137
madcowswe 15:9c5aaeda36dc 138 template<class E>
madcowswe 15:9c5aaeda36dc 139 static inline bool all_elements(const E&) { return true; }
madcowswe 15:9c5aaeda36dc 140
madcowswe 15:9c5aaeda36dc 141 template<class E>
madcowswe 15:9c5aaeda36dc 142 static inline bool any_elements(const E&) { return false; }
madcowswe 15:9c5aaeda36dc 143 };
madcowswe 15:9c5aaeda36dc 144
madcowswe 15:9c5aaeda36dc 145
madcowswe 15:9c5aaeda36dc 146 } // namespace meta
madcowswe 15:9c5aaeda36dc 147
madcowswe 15:9c5aaeda36dc 148 } // namespace tvmet
madcowswe 15:9c5aaeda36dc 149
madcowswe 15:9c5aaeda36dc 150 #endif /* TVMET_META_VECTOR_H */
madcowswe 15:9c5aaeda36dc 151
madcowswe 15:9c5aaeda36dc 152 // Local Variables:
madcowswe 15:9c5aaeda36dc 153 // mode:C++
madcowswe 15:9c5aaeda36dc 154 // tab-width:8
madcowswe 15:9c5aaeda36dc 155 // End: