tvmet - This is the Tiny Vector Matrix Expression Templat…

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This is the Tiny Vector Matrix Expression Templates library found at http://tvmet.sourceforge.net. It is the fastest and most compact matrix lib out there (for < 10x10 matricies). I have done some minor tweaks to make it compile for mbed. For examples and hints on how to use, see: http://tvmet.sourceforge.net/usage.html

Dependents: Eurobot_2012_Secondary

MatrixImpl.h@0:feb4117d16d8, 2012-03-28 (annotated)

Committer:: madcowswe
Date:: Wed Mar 28 15:53:45 2012 +0000
Revision:: 0:feb4117d16d8

Who changed what in which revision?

User	Revision	Line number	New contents of line
madcowswe	0:feb4117d16d8	1	/*
madcowswe	0:feb4117d16d8	2	* Tiny Vector Matrix Library
madcowswe	0:feb4117d16d8	3	* Dense Vector Matrix Libary of Tiny size using Expression Templates
madcowswe	0:feb4117d16d8	4	*
madcowswe	0:feb4117d16d8	5	* Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
madcowswe	0:feb4117d16d8	6	*
madcowswe	0:feb4117d16d8	7	* This library is free software; you can redistribute it and/or
madcowswe	0:feb4117d16d8	8	* modify it under the terms of the GNU lesser General Public
madcowswe	0:feb4117d16d8	9	* License as published by the Free Software Foundation; either
madcowswe	0:feb4117d16d8	10	* version 2.1 of the License, or (at your option) any later version.
madcowswe	0:feb4117d16d8	11	*
madcowswe	0:feb4117d16d8	12	* This library is distributed in the hope that it will be useful,
madcowswe	0:feb4117d16d8	13	* but WITHOUT ANY WARRANTY; without even the implied warranty of
madcowswe	0:feb4117d16d8	14	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
madcowswe	0:feb4117d16d8	15	* lesser General Public License for more details.
madcowswe	0:feb4117d16d8	16	*
madcowswe	0:feb4117d16d8	17	* You should have received a copy of the GNU lesser General Public
madcowswe	0:feb4117d16d8	18	* License along with this library; if not, write to the Free Software
madcowswe	0:feb4117d16d8	19	* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
madcowswe	0:feb4117d16d8	20	*
madcowswe	0:feb4117d16d8	21	* $Id: MatrixImpl.h,v 1.31 2007-06-23 15:58:58 opetzold Exp $
madcowswe	0:feb4117d16d8	22	*/
madcowswe	0:feb4117d16d8	23
madcowswe	0:feb4117d16d8	24	#ifndef TVMET_MATRIX_IMPL_H
madcowswe	0:feb4117d16d8	25	#define TVMET_MATRIX_IMPL_H
madcowswe	0:feb4117d16d8	26
madcowswe	0:feb4117d16d8	27	#include <iomanip> // setw
madcowswe	0:feb4117d16d8	28
madcowswe	0:feb4117d16d8	29	#include <tvmet/Functional.h>
madcowswe	0:feb4117d16d8	30	#include <tvmet/Io.h>
madcowswe	0:feb4117d16d8	31
madcowswe	0:feb4117d16d8	32
madcowswe	0:feb4117d16d8	33	namespace tvmet {
madcowswe	0:feb4117d16d8	34
madcowswe	0:feb4117d16d8	35
madcowswe	0:feb4117d16d8	36	/*
madcowswe	0:feb4117d16d8	37	* member operators for i/o
madcowswe	0:feb4117d16d8	38	*/
madcowswe	0:feb4117d16d8	39	template<class T, std::size_t NRows, std::size_t NCols>
madcowswe	0:feb4117d16d8	40	std::ostream& Matrix<T, NRows, NCols>::print_xpr(std::ostream& os, std::size_t l) const
madcowswe	0:feb4117d16d8	41	{
madcowswe	0:feb4117d16d8	42	os << IndentLevel(l++) << "Matrix[" << ops << "]<"
madcowswe	0:feb4117d16d8	43	<< typeid(T).name() << ", " << Rows << ", " << Cols << ">,"
madcowswe	0:feb4117d16d8	44	<< IndentLevel(--l)
madcowswe	0:feb4117d16d8	45	<< std::endl;
madcowswe	0:feb4117d16d8	46
madcowswe	0:feb4117d16d8	47	return os;
madcowswe	0:feb4117d16d8	48	}
madcowswe	0:feb4117d16d8	49
madcowswe	0:feb4117d16d8	50
madcowswe	0:feb4117d16d8	51	template<class T, std::size_t NRows, std::size_t NCols>
madcowswe	0:feb4117d16d8	52	std::ostream& Matrix<T, NRows, NCols>::print_on(std::ostream& os) const
madcowswe	0:feb4117d16d8	53	{
madcowswe	0:feb4117d16d8	54	enum {
madcowswe	0:feb4117d16d8	55	complex_type = NumericTraits<value_type>::is_complex
madcowswe	0:feb4117d16d8	56	};
madcowswe	0:feb4117d16d8	57
madcowswe	0:feb4117d16d8	58	std::streamsize w = IoPrintHelper<Matrix>::width(dispatch<complex_type>(), *this);
madcowswe	0:feb4117d16d8	59
madcowswe	0:feb4117d16d8	60	os << std::setw(0) << "[\n";
madcowswe	0:feb4117d16d8	61	for(std::size_t i = 0; i < Rows; ++i) {
madcowswe	0:feb4117d16d8	62	os << " [";
madcowswe	0:feb4117d16d8	63	for(std::size_t j = 0; j < (Cols - 1); ++j) {
madcowswe	0:feb4117d16d8	64	os << std::setw(w) << this->operator()(i, j) << ", ";
madcowswe	0:feb4117d16d8	65	}
madcowswe	0:feb4117d16d8	66	os << std::setw(w) << this->operator()(i, Cols - 1)
madcowswe	0:feb4117d16d8	67	<< (i != (Rows-1) ? "],\n" : "]\n");
madcowswe	0:feb4117d16d8	68	}
madcowswe	0:feb4117d16d8	69	os << "]";
madcowswe	0:feb4117d16d8	70
madcowswe	0:feb4117d16d8	71	return os;
madcowswe	0:feb4117d16d8	72	}
madcowswe	0:feb4117d16d8	73
madcowswe	0:feb4117d16d8	74
madcowswe	0:feb4117d16d8	75	/*
madcowswe	0:feb4117d16d8	76	* member operators with scalars, per se element wise
madcowswe	0:feb4117d16d8	77	*/
madcowswe	0:feb4117d16d8	78	#define TVMET_IMPLEMENT_MACRO(NAME, OP) \
madcowswe	0:feb4117d16d8	79	template<class T, std::size_t NRows, std::size_t NCols> \
madcowswe	0:feb4117d16d8	80	inline \
madcowswe	0:feb4117d16d8	81	Matrix<T, NRows, NCols>& \
madcowswe	0:feb4117d16d8	82	Matrix<T, NRows, NCols>::operator OP (value_type rhs) { \
madcowswe	0:feb4117d16d8	83	typedef XprLiteral<value_type> expr_type; \
madcowswe	0:feb4117d16d8	84	this->M_##NAME(XprMatrix<expr_type, Rows, Cols>(expr_type(rhs))); \
madcowswe	0:feb4117d16d8	85	return *this; \
madcowswe	0:feb4117d16d8	86	}
madcowswe	0:feb4117d16d8	87
madcowswe	0:feb4117d16d8	88	TVMET_IMPLEMENT_MACRO(add_eq, +=)
madcowswe	0:feb4117d16d8	89	TVMET_IMPLEMENT_MACRO(sub_eq, -=)
madcowswe	0:feb4117d16d8	90	TVMET_IMPLEMENT_MACRO(mul_eq, *=)
madcowswe	0:feb4117d16d8	91	TVMET_IMPLEMENT_MACRO(div_eq, /=)
madcowswe	0:feb4117d16d8	92	#undef TVMET_IMPLEMENT_MACRO
madcowswe	0:feb4117d16d8	93
madcowswe	0:feb4117d16d8	94
madcowswe	0:feb4117d16d8	95	#define TVMET_IMPLEMENT_MACRO(NAME, OP) \
madcowswe	0:feb4117d16d8	96	template<class T, std::size_t NRows, std::size_t NCols> \
madcowswe	0:feb4117d16d8	97	inline \
madcowswe	0:feb4117d16d8	98	Matrix<T, NRows, NCols>& \
madcowswe	0:feb4117d16d8	99	Matrix<T, NRows, NCols>::operator OP (std::size_t rhs) { \
madcowswe	0:feb4117d16d8	100	typedef XprLiteral<value_type> expr_type; \
madcowswe	0:feb4117d16d8	101	this->M_##NAME(XprMatrix<expr_type, Rows, Cols>(expr_type(rhs))); \
madcowswe	0:feb4117d16d8	102	return *this; \
madcowswe	0:feb4117d16d8	103	}
madcowswe	0:feb4117d16d8	104
madcowswe	0:feb4117d16d8	105	TVMET_IMPLEMENT_MACRO(mod_eq, %=)
madcowswe	0:feb4117d16d8	106	TVMET_IMPLEMENT_MACRO(xor_eq,^=)
madcowswe	0:feb4117d16d8	107	TVMET_IMPLEMENT_MACRO(and_eq, &=)
madcowswe	0:feb4117d16d8	108	TVMET_IMPLEMENT_MACRO(or_eq, \|=)
madcowswe	0:feb4117d16d8	109	TVMET_IMPLEMENT_MACRO(shl_eq, <<=)
madcowswe	0:feb4117d16d8	110	TVMET_IMPLEMENT_MACRO(shr_eq, >>=)
madcowswe	0:feb4117d16d8	111	#undef TVMET_IMPLEMENT_MACRO
madcowswe	0:feb4117d16d8	112
madcowswe	0:feb4117d16d8	113
madcowswe	0:feb4117d16d8	114	/*
madcowswe	0:feb4117d16d8	115	* member functions (operators) with matrizes, for use with +=,-= ... <<=
madcowswe	0:feb4117d16d8	116	*/
madcowswe	0:feb4117d16d8	117	#define TVMET_IMPLEMENT_MACRO(NAME) \
madcowswe	0:feb4117d16d8	118	template<class T1, std::size_t NRows, std::size_t NCols> \
madcowswe	0:feb4117d16d8	119	template <class T2> \
madcowswe	0:feb4117d16d8	120	inline \
madcowswe	0:feb4117d16d8	121	Matrix<T1, NRows, NCols>& \
madcowswe	0:feb4117d16d8	122	Matrix<T1, NRows, NCols>::M_##NAME (const Matrix<T2, Rows, Cols>& rhs) { \
madcowswe	0:feb4117d16d8	123	this->M_##NAME( XprMatrix<typename Matrix<T2, Rows, Cols>::ConstReference, Rows, Cols>(rhs.const_ref()) ); \
madcowswe	0:feb4117d16d8	124	return *this; \
madcowswe	0:feb4117d16d8	125	}
madcowswe	0:feb4117d16d8	126
madcowswe	0:feb4117d16d8	127	TVMET_IMPLEMENT_MACRO(add_eq)
madcowswe	0:feb4117d16d8	128	TVMET_IMPLEMENT_MACRO(sub_eq)
madcowswe	0:feb4117d16d8	129	TVMET_IMPLEMENT_MACRO(mul_eq)
madcowswe	0:feb4117d16d8	130	TVMET_IMPLEMENT_MACRO(div_eq)
madcowswe	0:feb4117d16d8	131	TVMET_IMPLEMENT_MACRO(mod_eq)
madcowswe	0:feb4117d16d8	132	TVMET_IMPLEMENT_MACRO(xor_eq)
madcowswe	0:feb4117d16d8	133	TVMET_IMPLEMENT_MACRO(and_eq)
madcowswe	0:feb4117d16d8	134	TVMET_IMPLEMENT_MACRO(or_eq)
madcowswe	0:feb4117d16d8	135	TVMET_IMPLEMENT_MACRO(shl_eq)
madcowswe	0:feb4117d16d8	136	TVMET_IMPLEMENT_MACRO(shr_eq)
madcowswe	0:feb4117d16d8	137	#undef TVMET_IMPLEMENT_MACRO
madcowswe	0:feb4117d16d8	138
madcowswe	0:feb4117d16d8	139
madcowswe	0:feb4117d16d8	140	/*
madcowswe	0:feb4117d16d8	141	* member functions (operators) with expressions, for use width +=,-= ... <<=
madcowswe	0:feb4117d16d8	142	*/
madcowswe	0:feb4117d16d8	143	#define TVMET_IMPLEMENT_MACRO(NAME) \
madcowswe	0:feb4117d16d8	144	template<class T, std::size_t NRows, std::size_t NCols> \
madcowswe	0:feb4117d16d8	145	template<class E> \
madcowswe	0:feb4117d16d8	146	inline \
madcowswe	0:feb4117d16d8	147	Matrix<T, NRows, NCols>& \
madcowswe	0:feb4117d16d8	148	Matrix<T, NRows, NCols>::M_##NAME (const XprMatrix<E, Rows, Cols>& rhs) { \
madcowswe	0:feb4117d16d8	149	rhs.assign_to(*this, Fcnl_##NAME<value_type, typename E::value_type>()); \
madcowswe	0:feb4117d16d8	150	return *this; \
madcowswe	0:feb4117d16d8	151	}
madcowswe	0:feb4117d16d8	152
madcowswe	0:feb4117d16d8	153	TVMET_IMPLEMENT_MACRO(add_eq)
madcowswe	0:feb4117d16d8	154	TVMET_IMPLEMENT_MACRO(sub_eq)
madcowswe	0:feb4117d16d8	155	TVMET_IMPLEMENT_MACRO(mul_eq)
madcowswe	0:feb4117d16d8	156	TVMET_IMPLEMENT_MACRO(div_eq)
madcowswe	0:feb4117d16d8	157	TVMET_IMPLEMENT_MACRO(mod_eq)
madcowswe	0:feb4117d16d8	158	TVMET_IMPLEMENT_MACRO(xor_eq)
madcowswe	0:feb4117d16d8	159	TVMET_IMPLEMENT_MACRO(and_eq)
madcowswe	0:feb4117d16d8	160	TVMET_IMPLEMENT_MACRO(or_eq)
madcowswe	0:feb4117d16d8	161	TVMET_IMPLEMENT_MACRO(shl_eq)
madcowswe	0:feb4117d16d8	162	TVMET_IMPLEMENT_MACRO(shr_eq)
madcowswe	0:feb4117d16d8	163	#undef TVMET_IMPLEMENT_MACRO
madcowswe	0:feb4117d16d8	164
madcowswe	0:feb4117d16d8	165
madcowswe	0:feb4117d16d8	166	/*
madcowswe	0:feb4117d16d8	167	* aliased member functions (operators) with matrizes,
madcowswe	0:feb4117d16d8	168	* for use with +=,-= ... <<=
madcowswe	0:feb4117d16d8	169	*/
madcowswe	0:feb4117d16d8	170	#define TVMET_IMPLEMENT_MACRO(NAME) \
madcowswe	0:feb4117d16d8	171	template<class T1, std::size_t NRows, std::size_t NCols> \
madcowswe	0:feb4117d16d8	172	template <class T2> \
madcowswe	0:feb4117d16d8	173	inline \
madcowswe	0:feb4117d16d8	174	Matrix<T1, NRows, NCols>& \
madcowswe	0:feb4117d16d8	175	Matrix<T1, NRows, NCols>::alias_##NAME (const Matrix<T2, Rows, Cols>& rhs) { \
madcowswe	0:feb4117d16d8	176	this->alias_##NAME( XprMatrix<typename Matrix<T2, Rows, Cols>::ConstReference, Rows, Cols>(rhs.const_ref()) ); \
madcowswe	0:feb4117d16d8	177	return *this; \
madcowswe	0:feb4117d16d8	178	}
madcowswe	0:feb4117d16d8	179
madcowswe	0:feb4117d16d8	180	TVMET_IMPLEMENT_MACRO(assign)
madcowswe	0:feb4117d16d8	181	TVMET_IMPLEMENT_MACRO(add_eq)
madcowswe	0:feb4117d16d8	182	TVMET_IMPLEMENT_MACRO(sub_eq)
madcowswe	0:feb4117d16d8	183	TVMET_IMPLEMENT_MACRO(mul_eq)
madcowswe	0:feb4117d16d8	184	TVMET_IMPLEMENT_MACRO(div_eq)
madcowswe	0:feb4117d16d8	185	#undef TVMET_IMPLEMENT_MACRO
madcowswe	0:feb4117d16d8	186
madcowswe	0:feb4117d16d8	187
madcowswe	0:feb4117d16d8	188	/*
madcowswe	0:feb4117d16d8	189	* aliased member functions (operators) with expressions,
madcowswe	0:feb4117d16d8	190	* for use width +=,-= ... <<= and aliased(),
madcowswe	0:feb4117d16d8	191	*/
madcowswe	0:feb4117d16d8	192	#define TVMET_IMPLEMENT_MACRO(NAME) \
madcowswe	0:feb4117d16d8	193	template<class T, std::size_t NRows, std::size_t NCols> \
madcowswe	0:feb4117d16d8	194	template<class E> \
madcowswe	0:feb4117d16d8	195	inline \
madcowswe	0:feb4117d16d8	196	Matrix<T, NRows, NCols>& \
madcowswe	0:feb4117d16d8	197	Matrix<T, NRows, NCols>::alias_##NAME (const XprMatrix<E, Rows, Cols>& rhs) { \
madcowswe	0:feb4117d16d8	198	typedef Matrix<T, NRows, NCols> temp_type; \
madcowswe	0:feb4117d16d8	199	temp_type(rhs).assign_to(*this, Fcnl_##NAME<value_type, typename E::value_type>()); \
madcowswe	0:feb4117d16d8	200	return *this; \
madcowswe	0:feb4117d16d8	201	}
madcowswe	0:feb4117d16d8	202
madcowswe	0:feb4117d16d8	203	TVMET_IMPLEMENT_MACRO(assign)
madcowswe	0:feb4117d16d8	204	TVMET_IMPLEMENT_MACRO(add_eq)
madcowswe	0:feb4117d16d8	205	TVMET_IMPLEMENT_MACRO(sub_eq)
madcowswe	0:feb4117d16d8	206	TVMET_IMPLEMENT_MACRO(mul_eq)
madcowswe	0:feb4117d16d8	207	TVMET_IMPLEMENT_MACRO(div_eq)
madcowswe	0:feb4117d16d8	208	#undef TVMET_IMPLEMENT_MACRO
madcowswe	0:feb4117d16d8	209
madcowswe	0:feb4117d16d8	210
madcowswe	0:feb4117d16d8	211	} // namespace tvmet
madcowswe	0:feb4117d16d8	212
madcowswe	0:feb4117d16d8	213	#endif // TVMET_MATRIX_IMPL_H
madcowswe	0:feb4117d16d8	214
madcowswe	0:feb4117d16d8	215	// Local Variables:
madcowswe	0:feb4117d16d8	216	// mode:C++
madcowswe	0:feb4117d16d8	217	// tab-width:8
madcowswe	0:feb4117d16d8	218	// End:

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Type:	Library
Created:	28 Mar 2012
Imports:	62
Forks:	0
Commits:	1
Dependents:	1
Dependencies:	0
Followers:	2

MatrixImpl.h@0:feb4117d16d8, 2012-03-28 (annotated)

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