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/MatrixBinaryFunctions.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tvmet/xpr/MatrixBinaryFunctions.h	Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,318 @@
+/*
+ * 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: MatrixBinaryFunctions.h,v 1.12 2007-06-23 15:59:00 opetzold Exp $
+ */
+
+#ifndef TVMET_XPR_MATRIX_BINARY_FUNCTIONS_H
+#define TVMET_XPR_MATRIX_BINARY_FUNCTIONS_H
+
+namespace tvmet {
+
+
+/*********************************************************
+ * PART I: DECLARATION
+ *********************************************************/
+
+/*
+ * binary_function(XprMatrix<E1, Rows, Cols>, XprMatrix<E2, Rows, Cols>)
+ */
+#define TVMET_DECLARE_MACRO(NAME)                    \
+template<class E1, std::size_t Rows, std::size_t Cols, class E2>    \
+XprMatrix<                                \
+  XprBinOp<                                \
+    Fcnl_##NAME<typename E1::value_type, typename E2::value_type>,    \
+    XprMatrix<E1, Rows, Cols>,                        \
+    XprMatrix<E2, Rows, Cols>                        \
+  >,                                    \
+  Rows, Cols                                \
+>                                    \
+NAME(const XprMatrix<E1, Rows, Cols>& lhs,                 \
+     const XprMatrix<E2, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+TVMET_DECLARE_MACRO(atan2)
+TVMET_DECLARE_MACRO(drem)
+TVMET_DECLARE_MACRO(fmod)
+TVMET_DECLARE_MACRO(hypot)
+TVMET_DECLARE_MACRO(jn)
+TVMET_DECLARE_MACRO(yn)
+TVMET_DECLARE_MACRO(pow)
+#if defined(TVMET_HAVE_COMPLEX)
+  //TVMET_DECLARE_MACRO(polar)
+#endif
+
+#undef TVMET_DECLARE_MACRO
+
+
+/*
+ * binary_function(XprMatrix<E, Rows, Cols>, POD)
+ */
+#define TVMET_DECLARE_MACRO(NAME, TP)            \
+template<class E, std::size_t Rows, std::size_t Cols>    \
+XprMatrix<                        \
+  XprBinOp<                        \
+    Fcnl_##NAME<typename E::value_type, TP >,        \
+    XprMatrix<E, Rows, Cols>,                \
+    XprLiteral< TP >                    \
+  >,                            \
+  Rows, Cols                        \
+>                            \
+NAME(const XprMatrix<E, Rows, Cols>& lhs,         \
+     TP rhs) TVMET_CXX_ALWAYS_INLINE;
+
+TVMET_DECLARE_MACRO(atan2, int)
+TVMET_DECLARE_MACRO(drem, int)
+TVMET_DECLARE_MACRO(fmod, int)
+TVMET_DECLARE_MACRO(hypot, int)
+TVMET_DECLARE_MACRO(jn, int)
+TVMET_DECLARE_MACRO(yn, int)
+TVMET_DECLARE_MACRO(pow, int)
+
+#if defined(TVMET_HAVE_LONG_LONG)
+TVMET_DECLARE_MACRO(atan2, long long int)
+TVMET_DECLARE_MACRO(drem, long long int)
+TVMET_DECLARE_MACRO(fmod, long long int)
+TVMET_DECLARE_MACRO(hypot, long long int)
+TVMET_DECLARE_MACRO(jn, long long int)
+TVMET_DECLARE_MACRO(yn,long long int)
+TVMET_DECLARE_MACRO(pow, long long int)
+#endif // defined(TVMET_HAVE_LONG_LONG)
+
+TVMET_DECLARE_MACRO(atan2, float)
+TVMET_DECLARE_MACRO(drem, float)
+TVMET_DECLARE_MACRO(fmod, float)
+TVMET_DECLARE_MACRO(hypot, float)
+TVMET_DECLARE_MACRO(jn, float)
+TVMET_DECLARE_MACRO(yn, float)
+TVMET_DECLARE_MACRO(pow, float)
+
+TVMET_DECLARE_MACRO(atan2, double)
+TVMET_DECLARE_MACRO(drem, double)
+TVMET_DECLARE_MACRO(fmod, double)
+TVMET_DECLARE_MACRO(hypot,double)
+TVMET_DECLARE_MACRO(jn, double)
+TVMET_DECLARE_MACRO(yn, double)
+TVMET_DECLARE_MACRO(pow, double)
+
+#if defined(TVMET_HAVE_LONG_DOUBLE)
+TVMET_DECLARE_MACRO(atan2, long double)
+TVMET_DECLARE_MACRO(drem, long double)
+TVMET_DECLARE_MACRO(fmod, long double)
+TVMET_DECLARE_MACRO(hypot, long double)
+TVMET_DECLARE_MACRO(jn, long double)
+TVMET_DECLARE_MACRO(yn, long double)
+TVMET_DECLARE_MACRO(pow, long double)
+#endif // defined(TVMET_HAVE_LONG_DOUBLE)
+
+#undef TVMET_DECLARE_MACRO
+
+
+#if defined(TVMET_HAVE_COMPLEX)
+/*
+ * binary_function(XprMatrix<E, Rows, Cols>, std::complex<>)
+ */
+#define TVMET_DECLARE_MACRO(NAME)                \
+template<class E, std::size_t Rows, std::size_t Cols, class T>    \
+XprMatrix<                            \
+  XprBinOp<                            \
+    Fcnl_##NAME<typename E::value_type, std::complex<T> >,    \
+    XprMatrix<E, Rows, Cols>,                    \
+    XprLiteral< std::complex<T> >                \
+  >,                                \
+  Rows, Cols                            \
+>                                \
+NAME(const XprMatrix<E, Rows, Cols>& lhs,             \
+     const std::complex<T>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+TVMET_DECLARE_MACRO(pow)
+
+TVMET_DECLARE_MACRO(atan2)
+TVMET_DECLARE_MACRO(drem)
+TVMET_DECLARE_MACRO(fmod)
+TVMET_DECLARE_MACRO(hypot)
+TVMET_DECLARE_MACRO(jn)
+TVMET_DECLARE_MACRO(yn)
+
+#undef TVMET_DECLARE_MACRO
+
+#endif // defined(TVMET_HAVE_COMPLEX)
+
+
+/*********************************************************
+ * PART II: IMPLEMENTATION
+ *********************************************************/
+
+
+/*
+ * binary_function(XprMatrix<E1, Rows, Cols>, XprMatrix<E2, Rows, Cols>)
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME)                            \
+template<class E1, std::size_t Rows, std::size_t Cols, class E2>            \
+inline                                            \
+XprMatrix<                                        \
+  XprBinOp<                                        \
+    Fcnl_##NAME<typename E1::value_type, typename E2::value_type>,            \
+    XprMatrix<E1, Rows, Cols>,                                \
+    XprMatrix<E2, Rows, Cols>                                \
+  >,                                            \
+  Rows, Cols                                        \
+>                                            \
+NAME(const XprMatrix<E1, Rows, Cols>& lhs, const XprMatrix<E2, Rows, Cols>& rhs) {    \
+  typedef XprBinOp<                                    \
+    Fcnl_##NAME<typename E1::value_type, typename E2::value_type>,            \
+    XprMatrix<E1, Rows, Cols>,                                \
+    XprMatrix<E2, Rows, Cols>                                \
+  >                                expr_type;            \
+  return XprMatrix<expr_type, Rows, Cols>(                        \
+    expr_type(lhs, rhs));                                \
+}
+
+TVMET_IMPLEMENT_MACRO(atan2)
+TVMET_IMPLEMENT_MACRO(drem)
+TVMET_IMPLEMENT_MACRO(fmod)
+TVMET_IMPLEMENT_MACRO(hypot)
+TVMET_IMPLEMENT_MACRO(jn)
+TVMET_IMPLEMENT_MACRO(yn)
+TVMET_IMPLEMENT_MACRO(pow)
+#if defined(TVMET_HAVE_COMPLEX)
+  //TVMET_IMPLEMENT_MACRO(polar)
+#endif
+
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * binary_function(XprMatrix<E, Rows, Cols>, POD)
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, TP)                    \
+template<class E, std::size_t Rows, std::size_t Cols>            \
+inline                                    \
+XprMatrix<                                \
+  XprBinOp<                                \
+    Fcnl_##NAME<typename E::value_type, TP >,                \
+    XprMatrix<E, Rows, Cols>,                        \
+    XprLiteral< TP >                            \
+  >,                                    \
+  Rows, Cols                                \
+>                                    \
+NAME(const XprMatrix<E, Rows, Cols>& lhs, TP rhs) {            \
+  typedef XprBinOp<                            \
+    Fcnl_##NAME<typename E::value_type, TP >,                \
+    XprMatrix<E, Rows, Cols>,                        \
+    XprLiteral< TP >                            \
+  >                            expr_type;    \
+  return XprMatrix<expr_type, Rows, Cols>(                \
+    expr_type(lhs, XprLiteral< TP >(rhs)));                \
+}
+
+TVMET_IMPLEMENT_MACRO(atan2, int)
+TVMET_IMPLEMENT_MACRO(drem, int)
+TVMET_IMPLEMENT_MACRO(fmod, int)
+TVMET_IMPLEMENT_MACRO(hypot, int)
+TVMET_IMPLEMENT_MACRO(jn, int)
+TVMET_IMPLEMENT_MACRO(yn, int)
+TVMET_IMPLEMENT_MACRO(pow, int)
+
+#if defined(TVMET_HAVE_LONG_LONG)
+TVMET_IMPLEMENT_MACRO(atan2, long long int)
+TVMET_IMPLEMENT_MACRO(drem, long long int)
+TVMET_IMPLEMENT_MACRO(fmod, long long int)
+TVMET_IMPLEMENT_MACRO(hypot, long long int)
+TVMET_IMPLEMENT_MACRO(jn, long long int)
+TVMET_IMPLEMENT_MACRO(yn,long long int)
+TVMET_IMPLEMENT_MACRO(pow, long long int)
+#endif // defined(TVMET_HAVE_LONG_LONG)
+
+TVMET_IMPLEMENT_MACRO(atan2, float)
+TVMET_IMPLEMENT_MACRO(drem, float)
+TVMET_IMPLEMENT_MACRO(fmod, float)
+TVMET_IMPLEMENT_MACRO(hypot, float)
+TVMET_IMPLEMENT_MACRO(jn, float)
+TVMET_IMPLEMENT_MACRO(yn, float)
+TVMET_IMPLEMENT_MACRO(pow, float)
+
+TVMET_IMPLEMENT_MACRO(atan2, double)
+TVMET_IMPLEMENT_MACRO(drem, double)
+TVMET_IMPLEMENT_MACRO(fmod, double)
+TVMET_IMPLEMENT_MACRO(hypot,double)
+TVMET_IMPLEMENT_MACRO(jn, double)
+TVMET_IMPLEMENT_MACRO(yn, double)
+TVMET_IMPLEMENT_MACRO(pow, double)
+
+#if defined(TVMET_HAVE_LONG_DOUBLE)
+TVMET_IMPLEMENT_MACRO(atan2, long double)
+TVMET_IMPLEMENT_MACRO(drem, long double)
+TVMET_IMPLEMENT_MACRO(fmod, long double)
+TVMET_IMPLEMENT_MACRO(hypot, long double)
+TVMET_IMPLEMENT_MACRO(jn, long double)
+TVMET_IMPLEMENT_MACRO(yn, long double)
+TVMET_IMPLEMENT_MACRO(pow, long double)
+#endif // defined(TVMET_HAVE_LONG_DOUBLE)
+
+#undef TVMET_IMPLEMENT_MACRO
+
+
+#if defined(TVMET_HAVE_COMPLEX)
+/*
+ * binary_function(XprMatrix<E, Rows, Cols>, std::complex<>)
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME)                    \
+template<class E, std::size_t Rows, std::size_t Cols, class T>        \
+inline                                    \
+XprMatrix<                                \
+  XprBinOp<                                \
+    Fcnl_##NAME<typename E::value_type, std::complex<T> >,        \
+    XprMatrix<E, Rows, Cols>,                        \
+    XprLiteral< std::complex<T> >                    \
+  >,                                    \
+  Rows, Cols                                \
+>                                    \
+NAME(const XprMatrix<E, Rows, Cols>& lhs, const std::complex<T>& rhs) {    \
+  typedef XprBinOp<                            \
+    Fcnl_##NAME<typename E::value_type, std::complex<T> >,        \
+    XprMatrix<E, Rows, Cols>,                        \
+    XprLiteral< std::complex<T> >                    \
+  >                            expr_type;    \
+  return XprMatrix<expr_type, Rows, Cols>(                \
+    expr_type(lhs, XprLiteral< std::complex<T> >(rhs)));        \
+}
+
+TVMET_IMPLEMENT_MACRO(pow)
+
+TVMET_IMPLEMENT_MACRO(atan2)
+TVMET_IMPLEMENT_MACRO(drem)
+TVMET_IMPLEMENT_MACRO(fmod)
+TVMET_IMPLEMENT_MACRO(hypot)
+TVMET_IMPLEMENT_MACRO(jn)
+TVMET_IMPLEMENT_MACRO(yn)
+
+#undef TVMET_IMPLEMENT_MACRO
+
+#endif // defined(TVMET_HAVE_COMPLEX)
+
+
+} // namespace tvmet
+
+#endif // TVMET_XPR_MATRIX_BINARY_FUNCTIONS_H
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End: