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
xpr/BinOperator.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: BinOperator.h,v 1.19 2007-06-23 15:58:59 opetzold Exp $ |
| madcowswe | 0:feb4117d16d8 | 22 | */ |
| madcowswe | 0:feb4117d16d8 | 23 | |
| madcowswe | 0:feb4117d16d8 | 24 | #ifndef TVMET_XPR_BINOPERATOR_H |
| madcowswe | 0:feb4117d16d8 | 25 | #define TVMET_XPR_BINOPERATOR_H |
| madcowswe | 0:feb4117d16d8 | 26 | |
| madcowswe | 0:feb4117d16d8 | 27 | #include <tvmet/TypePromotion.h> |
| madcowswe | 0:feb4117d16d8 | 28 | |
| madcowswe | 0:feb4117d16d8 | 29 | namespace tvmet { |
| madcowswe | 0:feb4117d16d8 | 30 | |
| madcowswe | 0:feb4117d16d8 | 31 | |
| madcowswe | 0:feb4117d16d8 | 32 | /** |
| madcowswe | 0:feb4117d16d8 | 33 | * \class XprBinOp BinOperator.h "tvmet/xpr/BinOperator.h" |
| madcowswe | 0:feb4117d16d8 | 34 | * \brief Binary operators working on two sub expressions. |
| madcowswe | 0:feb4117d16d8 | 35 | * |
| madcowswe | 0:feb4117d16d8 | 36 | * On acessing using the index operator() the binary operation will be |
| madcowswe | 0:feb4117d16d8 | 37 | * evaluated at compile time. |
| madcowswe | 0:feb4117d16d8 | 38 | */ |
| madcowswe | 0:feb4117d16d8 | 39 | template<class BinOp, class E1, class E2> |
| madcowswe | 0:feb4117d16d8 | 40 | class XprBinOp |
| madcowswe | 0:feb4117d16d8 | 41 | : public TvmetBase< XprBinOp<BinOp, E1, E2> > |
| madcowswe | 0:feb4117d16d8 | 42 | { |
| madcowswe | 0:feb4117d16d8 | 43 | XprBinOp(); |
| madcowswe | 0:feb4117d16d8 | 44 | XprBinOp& operator=(const XprBinOp&); |
| madcowswe | 0:feb4117d16d8 | 45 | |
| madcowswe | 0:feb4117d16d8 | 46 | public: |
| madcowswe | 0:feb4117d16d8 | 47 | typedef typename BinOp::value_type value_type; |
| madcowswe | 0:feb4117d16d8 | 48 | |
| madcowswe | 0:feb4117d16d8 | 49 | public: |
| madcowswe | 0:feb4117d16d8 | 50 | /** Complexity counter. */ |
| madcowswe | 0:feb4117d16d8 | 51 | enum { |
| madcowswe | 0:feb4117d16d8 | 52 | ops_lhs = E1::ops, |
| madcowswe | 0:feb4117d16d8 | 53 | ops_rhs = E2::ops, |
| madcowswe | 0:feb4117d16d8 | 54 | ops = 2 * (ops_lhs + ops_rhs) // lhs op rhs |
| madcowswe | 0:feb4117d16d8 | 55 | }; |
| madcowswe | 0:feb4117d16d8 | 56 | |
| madcowswe | 0:feb4117d16d8 | 57 | public: |
| madcowswe | 0:feb4117d16d8 | 58 | /** Constructor for two expressions. */ |
| madcowswe | 0:feb4117d16d8 | 59 | explicit XprBinOp(const E1& lhs, const E2& rhs) |
| madcowswe | 0:feb4117d16d8 | 60 | : m_lhs(lhs), m_rhs(rhs) |
| madcowswe | 0:feb4117d16d8 | 61 | { } |
| madcowswe | 0:feb4117d16d8 | 62 | |
| madcowswe | 0:feb4117d16d8 | 63 | /** Copy Constructor. Not explicit! */ |
| madcowswe | 0:feb4117d16d8 | 64 | #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) |
| madcowswe | 0:feb4117d16d8 | 65 | XprBinOp(const XprBinOp& e) |
| madcowswe | 0:feb4117d16d8 | 66 | : m_lhs(e.m_lhs), m_rhs(e.m_rhs) |
| madcowswe | 0:feb4117d16d8 | 67 | { } |
| madcowswe | 0:feb4117d16d8 | 68 | #endif |
| madcowswe | 0:feb4117d16d8 | 69 | |
| madcowswe | 0:feb4117d16d8 | 70 | /** Index operator, evaluates the expression inside. */ |
| madcowswe | 0:feb4117d16d8 | 71 | value_type operator()(std::size_t i) const { |
| madcowswe | 0:feb4117d16d8 | 72 | return BinOp::apply_on(m_lhs(i), m_rhs(i)); |
| madcowswe | 0:feb4117d16d8 | 73 | } |
| madcowswe | 0:feb4117d16d8 | 74 | |
| madcowswe | 0:feb4117d16d8 | 75 | /** Index operator for arrays/matrices */ |
| madcowswe | 0:feb4117d16d8 | 76 | value_type operator()(std::size_t i, std::size_t j) const { |
| madcowswe | 0:feb4117d16d8 | 77 | return BinOp::apply_on(m_lhs(i, j), m_rhs(i, j)); |
| madcowswe | 0:feb4117d16d8 | 78 | } |
| madcowswe | 0:feb4117d16d8 | 79 | |
| madcowswe | 0:feb4117d16d8 | 80 | public: // debugging Xpr parse tree |
| madcowswe | 0:feb4117d16d8 | 81 | void print_xpr(std::ostream& os, std::size_t l=0) const { |
| madcowswe | 0:feb4117d16d8 | 82 | os << IndentLevel(l++) |
| madcowswe | 0:feb4117d16d8 | 83 | << "XprBinOp[O="<< ops << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<" |
| madcowswe | 0:feb4117d16d8 | 84 | << std::endl; |
| madcowswe | 0:feb4117d16d8 | 85 | BinOp::print_xpr(os, l); |
| madcowswe | 0:feb4117d16d8 | 86 | m_lhs.print_xpr(os, l); |
| madcowswe | 0:feb4117d16d8 | 87 | m_rhs.print_xpr(os, l); |
| madcowswe | 0:feb4117d16d8 | 88 | os << IndentLevel(--l) |
| madcowswe | 0:feb4117d16d8 | 89 | << ">," << std::endl; |
| madcowswe | 0:feb4117d16d8 | 90 | } |
| madcowswe | 0:feb4117d16d8 | 91 | |
| madcowswe | 0:feb4117d16d8 | 92 | private: |
| madcowswe | 0:feb4117d16d8 | 93 | const E1 m_lhs; |
| madcowswe | 0:feb4117d16d8 | 94 | const E2 m_rhs; |
| madcowswe | 0:feb4117d16d8 | 95 | }; |
| madcowswe | 0:feb4117d16d8 | 96 | |
| madcowswe | 0:feb4117d16d8 | 97 | |
| madcowswe | 0:feb4117d16d8 | 98 | } // namespace tvmet |
| madcowswe | 0:feb4117d16d8 | 99 | |
| madcowswe | 0:feb4117d16d8 | 100 | #endif // TVMET_XPR_BINOPERATOR_H |
| madcowswe | 0:feb4117d16d8 | 101 | |
| madcowswe | 0:feb4117d16d8 | 102 | // Local Variables: |
| madcowswe | 0:feb4117d16d8 | 103 | // mode:C++ |
| madcowswe | 0:feb4117d16d8 | 104 | // tab-width:8 |
| madcowswe | 0:feb4117d16d8 | 105 | // End: |