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/Vector.h
- Revision:
- 0:feb4117d16d8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/meta/Vector.h Wed Mar 28 15:53:45 2012 +0000 @@ -0,0 +1,155 @@ +/* + * 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 1.24 2007-06-23 15:58:59 opetzold Exp $ + */ + +#ifndef TVMET_META_VECTOR_H +#define TVMET_META_VECTOR_H + +#include <tvmet/NumericTraits.h> +#include <tvmet/xpr/Null.h> + +namespace tvmet { + +/* forwards */ +template<class T, std::size_t Sz> class Vector; + + +namespace meta { + + +/** + * \class Vector Vector.h "tvmet/meta/Vector.h" + * \brief Meta %Vector class using expression templates + */ +template<std::size_t Sz, std::size_t K=0> +class Vector +{ + Vector(); + Vector(const Vector&); + Vector& operator=(const Vector&); + +private: + enum { + doIt = (K < (Sz-1)) ? 1 : 0 /**< recursive counter */ + }; + +public: + /** assign an expression expr using the functional assign_fn. */ + template <class Dest, class Src, class Assign> + static inline + void assign(Dest& lhs, const Src& rhs, const Assign& assign_fn) { + assign_fn.apply_on(lhs(K), rhs(K)); + meta::Vector<Sz * doIt, (K+1) * doIt>::assign(lhs, rhs, assign_fn); + } + + /** build the sum of the vector. */ + template<class E> + static inline + typename E::value_type + sum(const E& e) { + return e(K) + meta::Vector<Sz * doIt, (K+1) * doIt>::sum(e); + } + + /** build the product of the vector. */ + template<class E> + static inline + typename NumericTraits< + typename E::value_type + >::sum_type + product(const E& e) { + return e(K) * meta::Vector<Sz * doIt, (K+1) * doIt>::product(e); + } + + /** build the dot product of the vector. */ + template<class Dest, class Src> + static inline + typename PromoteTraits< + typename Dest::value_type, + typename Src::value_type + >::value_type + dot(const Dest& lhs, const Src& rhs) { + return lhs(K) * rhs(K) + + meta::Vector<Sz * doIt, (K+1) * doIt>::dot(lhs, rhs); + } + + /** check for all elements */ + template<class E> + static inline + bool + all_elements(const E& e) { + if(!e(K)) return false; + return meta::Vector<Sz * doIt, (K+1) * doIt>::all_elements(e); + } + + /** check for any elements */ + template<class E> + static inline + bool + any_elements(const E& e) { + if(e(K)) return true; + return meta::Vector<Sz * doIt, (K+1) * doIt>::any_elements(e); + } +}; + + +/** + * \class Vector<0,0> Vector.h "tvmet/meta/Vector.h" + * \brief Meta %Vector Specialized for recursion + */ +template<> +class Vector<0,0> +{ + Vector(); + Vector(const Vector&); + Vector& operator=(const Vector&); + +public: + template <class Dest, class Src, class Assign> + static inline void assign(Dest&, const Src&, const Assign&) { } + + template<class E> + static inline XprNull sum(const E&) { return XprNull(); } + + template<class E> + static inline XprNull product(const E&) { return XprNull(); } + + template<class Dest, class Src> + static inline XprNull dot(const Dest&, const Src&) { return XprNull(); } + + template<class E> + static inline bool all_elements(const E&) { return true; } + + template<class E> + static inline bool any_elements(const E&) { return false; } +}; + + +} // namespace meta + +} // namespace tvmet + +#endif /* TVMET_META_VECTOR_H */ + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: