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/xpr/MMProduct.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tvmet/xpr/MMProduct.h	Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,135 @@
+/*
+ * 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: MMProduct.h,v 1.24 2007-06-23 15:58:59 opetzold Exp $
+ */
+
+#ifndef TVMET_XPR_MMPRODUCT_H
+#define TVMET_XPR_MMPRODUCT_H
+
+#include <tvmet/meta/Gemm.h>
+#include <tvmet/loop/Gemm.h>
+
+namespace tvmet {
+
+
+/**
+ * \class XprMMProduct MMProduct.h "tvmet/xpr/MMProduct.h"
+ * \brief Expression for matrix-matrix product.
+ *        Using formula:
+ *        \f[
+ *        M_1\,M_2
+ *        \f]
+ * \note The Rows2 has to be  equal to Cols1.
+ */
+template<class E1, std::size_t Rows1, std::size_t Cols1,
+     class E2, std::size_t Cols2>
+class XprMMProduct
+  : public TvmetBase< XprMMProduct<E1, Rows1, Cols1, E2, Cols2> >
+{
+private:
+  XprMMProduct();
+  XprMMProduct& operator=(const XprMMProduct&);
+
+public:
+  typedef typename PromoteTraits<
+    typename E1::value_type,
+    typename E2::value_type
+  >::value_type                            value_type;
+
+public:
+  /** Complexity counter. */
+  enum {
+    ops_lhs   = E1::ops,
+    ops_rhs   = E2::ops,
+    M         = Rows1 * Cols1 * Cols2,
+    N         = Rows1 * (Cols1 - 1) * Cols2,
+    ops_plus  = M * NumericTraits<value_type>::ops_plus,
+    ops_muls  = N * NumericTraits<value_type>::ops_muls,
+    ops       = ops_plus + ops_muls,
+    use_meta  = Rows1*Cols2 < TVMET_COMPLEXITY_MM_TRIGGER ? true : false
+  };
+
+public:
+  /** Constructor. */
+  explicit XprMMProduct(const E1& lhs, const E2& rhs)
+    : m_lhs(lhs), m_rhs(rhs)
+  { }
+
+  /** Copy Constructor. Not explicit! */
+#if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
+  XprMMProduct(const XprMMProduct& e)
+    : m_lhs(e.m_lhs), m_rhs(e.m_rhs)
+  { }
+#endif
+
+private:
+  /** Wrapper for meta gemm. */
+  static inline
+  value_type do_gemm(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
+    return meta::gemm<Rows1, Cols1,
+                      Cols2,
+                      0>::prod(lhs, rhs, i, j);
+  }
+
+  /** Wrapper for loop gemm. */
+  static inline
+  value_type do_gemm(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
+    return loop::gemm<Rows1, Cols1, Cols2>::prod(lhs, rhs, i, j);
+  }
+
+public:
+  /** index operator for arrays/matrices */
+  value_type operator()(std::size_t i, std::size_t j) const {
+    TVMET_RT_CONDITION((i < Rows1) && (j < Cols2), "XprMMProduct Bounce Violation")
+    return do_gemm(dispatch<use_meta>(), m_lhs, m_rhs, i, j);
+  }
+
+public: // debugging Xpr parse tree
+  void print_xpr(std::ostream& os, std::size_t l=0) const {
+    os << IndentLevel(l++)
+       << "XprMMProduct["
+       << (use_meta ? "M" :  "L") << ", O=" << ops
+       << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<"
+       << std::endl;
+    m_lhs.print_xpr(os, l);
+    os << IndentLevel(l)
+       << "R1=" << Rows1 << ", C1=" << Cols1 << ",\n";
+    m_rhs.print_xpr(os, l);
+    os << IndentLevel(l)
+       << "C2=" << Cols2 << ",\n";
+    os << IndentLevel(--l)
+       << ">," << std::endl;
+  }
+
+private:
+  const E1                         m_lhs;
+  const E2                         m_rhs;
+};
+
+
+} // namespace tvmet
+
+#endif // TVMET_XPR_MMPRODUCT_H
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End: