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/Vector.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tvmet/xpr/Vector.h	Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,157 @@
+/*
+ * 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 1.28 2007-06-23 15:59:00 opetzold Exp $
+ */
+
+#ifndef TVMET_XPR_VECTOR_H
+#define TVMET_XPR_VECTOR_H
+
+#include <tvmet/meta/Vector.h>
+#include <tvmet/loop/Vector.h>
+
+namespace tvmet {
+
+
+/* forwards */
+template <class T, std::size_t Sz> class Vector;
+
+/**
+ * \class XprVector Vector.h "tvmet/xpr/Vector.h"
+ * \brief Represents the expression for vectors at any node in the parse tree.
+ *
+ * Specifically, XprVector is the class that wraps the expression, and the
+ * expression itself is represented by the template parameter E. The
+ * class XprVector is known as an anonymizing expression wrapper because
+ * it can hold any subexpression of arbitrary complexity, allowing
+ * clients to work with any expression by holding on to it via the
+ * wrapper, without having to know the name of the type object that
+ * actually implements the expression.
+ * \note leave the Ctors non-explicit to allow implicit type conversation.
+ */
+template<class E, std::size_t Sz>
+class XprVector : public TvmetBase< XprVector<E, Sz> >
+{
+  XprVector();
+  XprVector& operator=(const XprVector&);
+
+public:
+  typedef typename E::value_type            value_type;
+
+public:
+  /** Dimensions. */
+  enum {
+    Size = Sz            /**< The size of the vector. */
+  };
+
+public:
+  /** Complexity counter */
+  enum {
+    ops_assign = Size,
+    ops        = E::ops,
+    use_meta   = ops_assign < TVMET_COMPLEXITY_V_ASSIGN_TRIGGER ? true : false
+  };
+
+public:
+  /** Constructor. */
+  explicit XprVector(const E& e)
+    : m_expr(e)
+  { }
+
+  /** Copy Constructor. Not explicit! */
+#if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
+  XprVector(const XprVector& e)
+    : m_expr(e.m_expr)
+  { }
+#endif
+
+ /** const index operator for vectors. */
+  value_type operator()(std::size_t i) const {
+    TVMET_RT_CONDITION(i < Size, "XprVector Bounce Violation")
+    return m_expr(i);
+  }
+
+  /** const index operator for vectors. */
+  value_type operator[](std::size_t i) const {
+    return this->operator()(i);
+  }
+
+private:
+  /** Wrapper for meta assign. */
+  template<class Dest, class Src, class Assign>
+  static inline
+  void do_assign(dispatch<true>, Dest& dest, const Src& src, const Assign& assign_fn) {
+    meta::Vector<Size, 0>::assign(dest, src, assign_fn);
+  }
+
+  /** Wrapper for loop assign. */
+  template<class Dest, class Src, class Assign>
+  static inline
+  void do_assign(dispatch<false>, Dest& dest, const Src& src, const Assign& assign_fn) {
+    loop::Vector<Size>::assign(dest, src, assign_fn);
+  }
+
+public:
+  /** assign this expression to Vector dest. */
+  template<class Dest, class Assign>
+  void assign_to(Dest& dest, const Assign& assign_fn) const {
+    /* here is a way for caching, since each complex 'Node'
+       is of type XprVector. */
+    do_assign(dispatch<use_meta>(), dest, *this, assign_fn);
+  }
+
+public: // debugging Xpr parse tree
+  void print_xpr(std::ostream& os, std::size_t l=0) const {
+    os << IndentLevel(l++)
+       << "XprVector["
+       << (use_meta ? "M" :  "L") << ", O=" << ops << "]<"
+       << std::endl;
+    m_expr.print_xpr(os, l);
+    os << IndentLevel(l)
+       << "Sz=" << Size << std::endl;
+    os << IndentLevel(--l) << ">"
+       << ((l != 0) ? "," : "") << std::endl;
+  }
+
+private:
+  const E                        m_expr;
+};
+
+
+} // namespace tvmet
+
+#include <tvmet/Functional.h>
+
+#include <tvmet/xpr/BinOperator.h>
+#include <tvmet/xpr/UnOperator.h>
+#include <tvmet/xpr/Literal.h>
+
+#include <tvmet/xpr/VectorFunctions.h>
+#include <tvmet/xpr/VectorBinaryFunctions.h>
+#include <tvmet/xpr/VectorUnaryFunctions.h>
+#include <tvmet/xpr/VectorOperators.h>
+#include <tvmet/xpr/Eval.h>
+
+#endif // TVMET_XPR_VECTOR_H
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End: