This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Diff: tvmet/MatrixUnaryFunctions.h
- Revision:
- 15:9c5aaeda36dc
diff -r c638d4b9ee94 -r 9c5aaeda36dc tvmet/MatrixUnaryFunctions.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tvmet/MatrixUnaryFunctions.h Sat Apr 06 20:57:54 2013 +0000 @@ -0,0 +1,222 @@ +/* + * 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: MatrixUnaryFunctions.h,v 1.13 2007-06-23 15:58:58 opetzold Exp $ + */ + +#ifndef TVMET_MATRIX_UNARY_FUNCTIONS_H +#define TVMET_MATRIX_UNARY_FUNCTIONS_H + +namespace tvmet { + + +/********************************************************* + * PART I: DECLARATION + *********************************************************/ + +/* + * unary_function(Matrix<T, Rows, Cols>) + */ +#define TVMET_DECLARE_MACRO(NAME) \ +template<class T, std::size_t Rows, std::size_t Cols> \ +inline \ +XprMatrix< \ + XprUnOp< \ + Fcnl_##NAME<T>, \ + MatrixConstReference<T, Rows, Cols> \ + >, \ + Rows, Cols \ +> \ +NAME(const Matrix<T, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE; + +TVMET_DECLARE_MACRO(abs) +TVMET_DECLARE_MACRO(cbrt) +TVMET_DECLARE_MACRO(ceil) +TVMET_DECLARE_MACRO(floor) +TVMET_DECLARE_MACRO(rint) +TVMET_DECLARE_MACRO(sin) +TVMET_DECLARE_MACRO(cos) +TVMET_DECLARE_MACRO(tan) +TVMET_DECLARE_MACRO(sinh) +TVMET_DECLARE_MACRO(cosh) +TVMET_DECLARE_MACRO(tanh) +TVMET_DECLARE_MACRO(asin) +TVMET_DECLARE_MACRO(acos) +TVMET_DECLARE_MACRO(atan) +TVMET_DECLARE_MACRO(exp) +TVMET_DECLARE_MACRO(log) +TVMET_DECLARE_MACRO(log10) +TVMET_DECLARE_MACRO(sqrt) + +#if defined(TVMET_HAVE_IEEE_MATH) +TVMET_DECLARE_MACRO(asinh) +TVMET_DECLARE_MACRO(acosh) +TVMET_DECLARE_MACRO(atanh) +TVMET_DECLARE_MACRO(expm1) +TVMET_DECLARE_MACRO(log1p) +TVMET_DECLARE_MACRO(erf) +TVMET_DECLARE_MACRO(erfc) +TVMET_DECLARE_MACRO(j0) +TVMET_DECLARE_MACRO(j1) +TVMET_DECLARE_MACRO(y0) +TVMET_DECLARE_MACRO(y1) +TVMET_DECLARE_MACRO(lgamma) +/** \todo isnan etc. - default return is only an int! */ + +TVMET_DECLARE_MACRO(finite) +#endif // defined(TVMET_HAVE_IEEE_MATH) + +#undef TVMET_DECLARE_MACRO + + +/* + * unary_function(Matrix<std::complex<T>, Rows, Cols>) + */ +#if defined(TVMET_HAVE_COMPLEX) +#define TVMET_DECLARE_MACRO(NAME) \ +template<class T, std::size_t Rows, std::size_t Cols> \ +inline \ +XprMatrix< \ + XprUnOp< \ + Fcnl_##NAME< std::complex<T> >, \ + MatrixConstReference<std::complex<T>, Rows, Cols> \ + >, \ + Rows, Cols \ +> \ +NAME(const Matrix<std::complex<T>, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE; + +TVMET_DECLARE_MACRO(real) +TVMET_DECLARE_MACRO(imag) +TVMET_DECLARE_MACRO(arg) +TVMET_DECLARE_MACRO(norm) +TVMET_DECLARE_MACRO(conj) + +#undef TVMET_DECLARE_MACRO + +#endif // defined(TVMET_HAVE_COMPLEX) + + +/********************************************************* + * PART II: IMPLEMENTATION + *********************************************************/ + + +/* + * unary_function(Matrix<T, Rows, Cols>) + */ +#define TVMET_IMPLEMENT_MACRO(NAME) \ +template<class T, std::size_t Rows, std::size_t Cols> \ +inline \ +XprMatrix< \ + XprUnOp< \ + Fcnl_##NAME<T>, \ + MatrixConstReference<T, Rows, Cols> \ + >, \ + Rows, Cols \ +> \ +NAME(const Matrix<T, Rows, Cols>& rhs) { \ + typedef XprUnOp< \ + Fcnl_##NAME<T>, \ + MatrixConstReference<T, Rows, Cols> \ + > expr_type; \ + return XprMatrix<expr_type, Rows, Cols>(expr_type(rhs.const_ref())); \ +} + +TVMET_IMPLEMENT_MACRO(abs) +TVMET_IMPLEMENT_MACRO(cbrt) +TVMET_IMPLEMENT_MACRO(ceil) +TVMET_IMPLEMENT_MACRO(floor) +TVMET_IMPLEMENT_MACRO(rint) +TVMET_IMPLEMENT_MACRO(sin) +TVMET_IMPLEMENT_MACRO(cos) +TVMET_IMPLEMENT_MACRO(tan) +TVMET_IMPLEMENT_MACRO(sinh) +TVMET_IMPLEMENT_MACRO(cosh) +TVMET_IMPLEMENT_MACRO(tanh) +TVMET_IMPLEMENT_MACRO(asin) +TVMET_IMPLEMENT_MACRO(acos) +TVMET_IMPLEMENT_MACRO(atan) +TVMET_IMPLEMENT_MACRO(exp) +TVMET_IMPLEMENT_MACRO(log) +TVMET_IMPLEMENT_MACRO(log10) +TVMET_IMPLEMENT_MACRO(sqrt) + +#if defined(TVMET_HAVE_IEEE_MATH) +TVMET_IMPLEMENT_MACRO(asinh) +TVMET_IMPLEMENT_MACRO(acosh) +TVMET_IMPLEMENT_MACRO(atanh) +TVMET_IMPLEMENT_MACRO(expm1) +TVMET_IMPLEMENT_MACRO(log1p) +TVMET_IMPLEMENT_MACRO(erf) +TVMET_IMPLEMENT_MACRO(erfc) +TVMET_IMPLEMENT_MACRO(j0) +TVMET_IMPLEMENT_MACRO(j1) +TVMET_IMPLEMENT_MACRO(y0) +TVMET_IMPLEMENT_MACRO(y1) +TVMET_IMPLEMENT_MACRO(lgamma) +/** \todo isnan etc. - default return is only an int! */ + +TVMET_IMPLEMENT_MACRO(finite) +#endif // defined(TVMET_HAVE_IEEE_MATH) + +#undef TVMET_IMPLEMENT_MACRO + + +/* + * unary_function(Matrix<std::complex<T>, Rows, Cols>) + */ +#if defined(TVMET_HAVE_COMPLEX) +#define TVMET_IMPLEMENT_MACRO(NAME) \ +template<class T, std::size_t Rows, std::size_t Cols> \ +inline \ +XprMatrix< \ + XprUnOp< \ + Fcnl_##NAME< std::complex<T> >, \ + MatrixConstReference<std::complex<T>, Rows, Cols> \ + >, \ + Rows, Cols \ +> \ +NAME(const Matrix<std::complex<T>, Rows, Cols>& rhs) { \ + typedef XprUnOp< \ + Fcnl_##NAME< std::complex<T> >, \ + MatrixConstReference<std::complex<T>, Rows, Cols> \ + > expr_type; \ + return XprMatrix<expr_type, Rows, Cols>(expr_type(rhs.const_ref())); \ +} + +TVMET_IMPLEMENT_MACRO(real) +TVMET_IMPLEMENT_MACRO(imag) +TVMET_IMPLEMENT_MACRO(arg) +TVMET_IMPLEMENT_MACRO(norm) +TVMET_IMPLEMENT_MACRO(conj) + +#undef TVMET_IMPLEMENT_MACRO + +#endif // defined(TVMET_HAVE_COMPLEX) + + +} // namespace tvmet + +#endif // TVMET_MATRIX_UNARY_FUNCTIONS_H + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: