This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Revision:
15:9c5aaeda36dc
diff -r c638d4b9ee94 -r 9c5aaeda36dc tvmet/meta/Vector.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tvmet/meta/Vector.h	Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,155 @@
+/*
+ * 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: Vector.h,v 1.24 2007-06-23 15:58:59 opetzold Exp $
+ */
+
+#ifndef TVMET_META_VECTOR_H
+#define TVMET_META_VECTOR_H
+
+#include <tvmet/NumericTraits.h>
+#include <tvmet/xpr/Null.h>
+
+namespace tvmet {
+
+/* forwards */
+template<class T, std::size_t Sz> class Vector;
+
+
+namespace meta {
+
+
+/**
+ * \class Vector Vector.h "tvmet/meta/Vector.h"
+ * \brief Meta %Vector class using expression templates
+ */
+template<std::size_t Sz, std::size_t K=0>
+class Vector
+{
+  Vector();
+  Vector(const Vector&);
+  Vector& operator=(const Vector&);
+
+private:
+  enum {
+    doIt = (K < (Sz-1)) ? 1 : 0        /**< recursive counter */
+  };
+
+public:
+  /** assign an expression expr using the functional assign_fn. */
+  template <class Dest, class Src, class Assign>
+  static inline
+  void assign(Dest& lhs, const Src& rhs, const Assign& assign_fn) {
+    assign_fn.apply_on(lhs(K), rhs(K));
+    meta::Vector<Sz * doIt, (K+1) * doIt>::assign(lhs, rhs, assign_fn);
+  }
+
+  /** build the sum of the vector. */
+  template<class E>
+  static inline
+  typename E::value_type
+  sum(const E& e) {
+    return e(K) + meta::Vector<Sz * doIt, (K+1) * doIt>::sum(e);
+  }
+
+  /** build the product of the vector. */
+  template<class E>
+  static inline
+  typename NumericTraits<
+    typename E::value_type
+  >::sum_type
+  product(const E& e) {
+    return e(K) * meta::Vector<Sz * doIt, (K+1) * doIt>::product(e);
+  }
+
+  /** build the dot product of the vector. */
+  template<class Dest, class Src>
+  static inline
+  typename PromoteTraits<
+    typename Dest::value_type,
+    typename Src::value_type
+  >::value_type
+  dot(const Dest& lhs, const Src& rhs) {
+    return lhs(K) * rhs(K)
+      + meta::Vector<Sz * doIt, (K+1) * doIt>::dot(lhs, rhs);
+  }
+
+  /** check for all elements */
+  template<class E>
+  static inline
+  bool
+  all_elements(const E& e) {
+    if(!e(K)) return false;
+    return meta::Vector<Sz * doIt, (K+1) * doIt>::all_elements(e);
+  }
+
+  /** check for any elements */
+  template<class E>
+  static inline
+  bool
+  any_elements(const E& e) {
+    if(e(K)) return true;
+    return meta::Vector<Sz * doIt, (K+1) * doIt>::any_elements(e);
+  }
+};
+
+
+/**
+ * \class Vector<0,0> Vector.h "tvmet/meta/Vector.h"
+ * \brief Meta %Vector Specialized for recursion
+ */
+template<>
+class Vector<0,0>
+{
+  Vector();
+  Vector(const Vector&);
+  Vector& operator=(const Vector&);
+
+public:
+  template <class Dest, class Src, class Assign>
+  static inline void assign(Dest&, const Src&, const Assign&) { }
+
+  template<class E>
+  static inline XprNull sum(const E&) { return XprNull(); }
+
+  template<class E>
+  static inline XprNull product(const E&) { return XprNull(); }
+
+  template<class Dest, class Src>
+  static inline XprNull dot(const Dest&, const Src&) { return XprNull(); }
+
+  template<class E>
+  static inline bool all_elements(const E&) { return true; }
+
+  template<class E>
+  static inline bool any_elements(const E&) { return false; }
+};
+
+
+} // namespace meta
+
+} // namespace tvmet
+
+#endif /* TVMET_META_VECTOR_H */
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End: