Oskar Weigl
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
TvmetBase.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: TvmetBase.h,v 1.17 2007-06-23 15:58:58 opetzold Exp $ |
| madcowswe | 0:feb4117d16d8 | 22 | */ |
| madcowswe | 0:feb4117d16d8 | 23 | |
| madcowswe | 0:feb4117d16d8 | 24 | #ifndef TVMET_BASE_H |
| madcowswe | 0:feb4117d16d8 | 25 | #define TVMET_BASE_H |
| madcowswe | 0:feb4117d16d8 | 26 | |
| madcowswe | 0:feb4117d16d8 | 27 | #include <iostream>//<iosfwd> // io streams forward declaration |
| madcowswe | 0:feb4117d16d8 | 28 | #include <typeinfo> // rtti: used by Xpr.h level printing |
| madcowswe | 0:feb4117d16d8 | 29 | #include <cmath> // unary and binary math |
| madcowswe | 0:feb4117d16d8 | 30 | #include <cstdlib> // labs |
| madcowswe | 0:feb4117d16d8 | 31 | |
| madcowswe | 0:feb4117d16d8 | 32 | #if defined(WIN32) && defined(_MSC_VER) && (_MSC_VER == 1310) |
| madcowswe | 0:feb4117d16d8 | 33 | #include <string> // operator<<(ostream) here defined |
| madcowswe | 0:feb4117d16d8 | 34 | #endif |
| madcowswe | 0:feb4117d16d8 | 35 | |
| madcowswe | 0:feb4117d16d8 | 36 | #if defined(__APPLE_CC__) |
| madcowswe | 0:feb4117d16d8 | 37 | // Mac OS X builds seems to miss these functions inside cmath |
| madcowswe | 0:feb4117d16d8 | 38 | extern "C" int isnan(double); |
| madcowswe | 0:feb4117d16d8 | 39 | extern "C" int isinf(double); |
| madcowswe | 0:feb4117d16d8 | 40 | #endif |
| madcowswe | 0:feb4117d16d8 | 41 | |
| madcowswe | 0:feb4117d16d8 | 42 | namespace tvmet { |
| madcowswe | 0:feb4117d16d8 | 43 | |
| madcowswe | 0:feb4117d16d8 | 44 | |
| madcowswe | 0:feb4117d16d8 | 45 | /** |
| madcowswe | 0:feb4117d16d8 | 46 | * \class TvmetBase TvmetBase.h "tvmet/TvmetBase.h" |
| madcowswe | 0:feb4117d16d8 | 47 | * \brief Base class |
| madcowswe | 0:feb4117d16d8 | 48 | * Used for static polymorph call of print_xpr |
| madcowswe | 0:feb4117d16d8 | 49 | */ |
| madcowswe | 0:feb4117d16d8 | 50 | template<class E> class TvmetBase { }; |
| madcowswe | 0:feb4117d16d8 | 51 | |
| madcowswe | 0:feb4117d16d8 | 52 | |
| madcowswe | 0:feb4117d16d8 | 53 | /** |
| madcowswe | 0:feb4117d16d8 | 54 | * \class IndentLevel TvmetBase.h "tvmet/TvmetBase.h" |
| madcowswe | 0:feb4117d16d8 | 55 | * \brief Prints the level indent. |
| madcowswe | 0:feb4117d16d8 | 56 | */ |
| madcowswe | 0:feb4117d16d8 | 57 | class IndentLevel : public TvmetBase< IndentLevel > |
| madcowswe | 0:feb4117d16d8 | 58 | { |
| madcowswe | 0:feb4117d16d8 | 59 | public: |
| madcowswe | 0:feb4117d16d8 | 60 | IndentLevel(std::size_t level) : m_level(level) { } |
| madcowswe | 0:feb4117d16d8 | 61 | |
| madcowswe | 0:feb4117d16d8 | 62 | std::ostream& print_xpr(std::ostream& os) const { |
| madcowswe | 0:feb4117d16d8 | 63 | for(std::size_t i = 0; i != m_level; ++i) os << " "; |
| madcowswe | 0:feb4117d16d8 | 64 | return os; |
| madcowswe | 0:feb4117d16d8 | 65 | } |
| madcowswe | 0:feb4117d16d8 | 66 | |
| madcowswe | 0:feb4117d16d8 | 67 | private: |
| madcowswe | 0:feb4117d16d8 | 68 | std::size_t m_level; |
| madcowswe | 0:feb4117d16d8 | 69 | }; |
| madcowswe | 0:feb4117d16d8 | 70 | |
| madcowswe | 0:feb4117d16d8 | 71 | |
| madcowswe | 0:feb4117d16d8 | 72 | /** |
| madcowswe | 0:feb4117d16d8 | 73 | * \fn operator<<(std::ostream& os, const TvmetBase<E>& e) |
| madcowswe | 0:feb4117d16d8 | 74 | * \brief overloaded ostream operator using static polymorphic. |
| madcowswe | 0:feb4117d16d8 | 75 | * \ingroup _binary_operator |
| madcowswe | 0:feb4117d16d8 | 76 | */ |
| madcowswe | 0:feb4117d16d8 | 77 | template<class E> |
| madcowswe | 0:feb4117d16d8 | 78 | inline |
| madcowswe | 0:feb4117d16d8 | 79 | std::ostream& operator<<(std::ostream& os, const TvmetBase<E>& e) { |
| madcowswe | 0:feb4117d16d8 | 80 | static_cast<const E&>(e).print_xpr(os); |
| madcowswe | 0:feb4117d16d8 | 81 | return os; |
| madcowswe | 0:feb4117d16d8 | 82 | } |
| madcowswe | 0:feb4117d16d8 | 83 | |
| madcowswe | 0:feb4117d16d8 | 84 | |
| madcowswe | 0:feb4117d16d8 | 85 | /** |
| madcowswe | 0:feb4117d16d8 | 86 | * \class dispatch TvmetBase.h "tvmet/TvmetBase.h" |
| madcowswe | 0:feb4117d16d8 | 87 | * \brief Class helper to distuingish between e.g. meta |
| madcowswe | 0:feb4117d16d8 | 88 | * and loop strategy used. |
| madcowswe | 0:feb4117d16d8 | 89 | */ |
| madcowswe | 0:feb4117d16d8 | 90 | template<bool> struct dispatch; |
| madcowswe | 0:feb4117d16d8 | 91 | |
| madcowswe | 0:feb4117d16d8 | 92 | /** |
| madcowswe | 0:feb4117d16d8 | 93 | * \class dispatch<true> TvmetBase.h "tvmet/TvmetBase.h" |
| madcowswe | 0:feb4117d16d8 | 94 | * \brief specialized. |
| madcowswe | 0:feb4117d16d8 | 95 | */ |
| madcowswe | 0:feb4117d16d8 | 96 | template<> struct dispatch<true> { }; |
| madcowswe | 0:feb4117d16d8 | 97 | |
| madcowswe | 0:feb4117d16d8 | 98 | /** |
| madcowswe | 0:feb4117d16d8 | 99 | * \class dispatch<false> TvmetBase.h "tvmet/TvmetBase.h" |
| madcowswe | 0:feb4117d16d8 | 100 | * \brief specialized. |
| madcowswe | 0:feb4117d16d8 | 101 | */ |
| madcowswe | 0:feb4117d16d8 | 102 | template<> struct dispatch<false> { }; |
| madcowswe | 0:feb4117d16d8 | 103 | |
| madcowswe | 0:feb4117d16d8 | 104 | |
| madcowswe | 0:feb4117d16d8 | 105 | } // namespace tvmet |
| madcowswe | 0:feb4117d16d8 | 106 | |
| madcowswe | 0:feb4117d16d8 | 107 | #endif // TVMET_BASE_H |
| madcowswe | 0:feb4117d16d8 | 108 | |
| madcowswe | 0:feb4117d16d8 | 109 | // Local Variables: |
| madcowswe | 0:feb4117d16d8 | 110 | // mode:C++ |
| madcowswe | 0:feb4117d16d8 | 111 | // tab-width:8 |
| madcowswe | 0:feb4117d16d8 | 112 | // End: |