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
Diff: meta/Gemmt.h
- Revision:
- 0:feb4117d16d8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/meta/Gemmt.h Wed Mar 28 15:53:45 2012 +0000 @@ -0,0 +1,103 @@ +/* + * 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: Gemmt.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $ + */ + +#ifndef TVMET_META_GEMMT_H +#define TVMET_META_GEMMT_H + +#include <tvmet/xpr/Null.h> + +namespace tvmet { + +namespace meta { + + +/** + * \class gemmt Gemmt.h "tvmet/meta/Gemmt.h" + * \brief Meta class for product matrix-transpose(matrix) operations. + * using formula + * \f[ + * M_1\,M_2^{T} + * \f] + * \note The rows of matrix 2 have to be equal to cols of matrix 1. The result + * is a rows1 * cols2 matrix. + */ +template<std::size_t Rows1, std::size_t Cols1, + std::size_t Cols2, + std::size_t K> +class gemmt +{ + gemmt(); + gemmt(const gemmt&); + gemmt& operator=(const gemmt&); + +private: + enum { + doIt = (K != Cols2 - 1) /**< recursive counter */ + }; + +public: + template<class E1, class E2> + static inline + typename PromoteTraits< + typename E1::value_type, + typename E2::value_type + >::value_type + prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { + return lhs(i, K) * rhs(j, K) + + gemmt<Rows1 * doIt, Cols1 * doIt, + Cols2 * doIt, + (K+1) * doIt>::prod(lhs, rhs, i, j); + } +}; + + +/** + * \class gemmt<0,0,0,0> Gemmt.h "tvmet/meta/Gemmt.h" + * \brief gemmt Specialized for recursion. + */ +template<> +class gemmt<0,0,0,0> +{ + gemmt(); + gemmt(const gemmt&); + gemmt& operator=(const gemmt&); + +public: + template<class E1, class E2> + static inline + XprNull prod(const E1&, const E2&, std::size_t, std::size_t) { + return XprNull(); + } +}; + + +} // namespace meta + +} // namespace tvmet + +#endif /* TVMET_META_GEMMT_H */ + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: