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: xpr/MMtProduct.h
- Revision:
- 0:feb4117d16d8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xpr/MMtProduct.h Wed Mar 28 15:53:45 2012 +0000 @@ -0,0 +1,138 @@ +/* + * 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: MMtProduct.h,v 1.20 2007-06-23 15:58:59 opetzold Exp $ + */ + +#ifndef TVMET_XPR_MMTPRODUCT_H +#define TVMET_XPR_MMTPRODUCT_H + +#include <tvmet/meta/Gemmt.h> +#include <tvmet/loop/Gemmt.h> + +namespace tvmet { + + +/** + * \class XprMMtProduct MMtProduct.h "tvmet/xpr/MMtProduct.h" + * \brief Expression for matrix-matrix product. + * Using formula: + * \f[ + * M_1\,M_2^T + * \f] + * \note The number of cols of rhs matrix have to be equal to cols of rhs matrix. + * The result is a (Rows1 x Rows2) matrix. + */ +template<class E1, std::size_t Rows1, std::size_t Cols1, + class E2, std::size_t Cols2> +class XprMMtProduct + : public TvmetBase< XprMMtProduct<E1, Rows1, Cols1, E2, Cols2> > +{ +private: + XprMMtProduct(); + XprMMtProduct& operator=(const XprMMtProduct&); + +public: + typedef typename PromoteTraits< + typename E1::value_type, + typename E2::value_type + >::value_type value_type; + +public: + /** Complexity counter. */ + enum { + ops_lhs = E1::ops, + ops_rhs = E2::ops, + Rows2 = Cols1, + M = Rows1 * Cols1 * Rows1, + N = Rows1 * (Cols1 - 1) * Rows2, + ops_plus = M * NumericTraits<value_type>::ops_plus, + ops_muls = N * NumericTraits<value_type>::ops_muls, + ops = ops_plus + ops_muls, + use_meta = Rows1*Rows2 < TVMET_COMPLEXITY_MM_TRIGGER ? true : false + }; + +public: + /** Constructor. */ + explicit XprMMtProduct(const E1& lhs, const E2& rhs) + : m_lhs(lhs), m_rhs(rhs) + { } + + /** Copy Constructor. Not explicit! */ +#if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) + XprMMtProduct(const XprMMtProduct& e) + : m_lhs(e.m_lhs), m_rhs(e.m_rhs) + { } +#endif + +private: + /** Wrapper for meta gemm. */ + static inline + value_type do_gemmt(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { + return meta::gemmt<Rows1, Cols1, + Cols2, + 0>::prod(lhs, rhs, i, j); + } + + /** Wrapper for loop gemm. */ + static inline + value_type do_gemmt(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { + return loop::gemmt<Rows1, Cols1, Cols1>::prod(lhs, rhs, i, j); + } + +public: + /** index operator for arrays/matrices */ + value_type operator()(std::size_t i, std::size_t j) const { + TVMET_RT_CONDITION((i < Rows1) && (j < Rows2), "XprMMtProduct Bounce Violation") + return do_gemmt(dispatch<use_meta>(), m_lhs, m_rhs, i, j); + } + +public: // debugging Xpr parse tree + void print_xpr(std::ostream& os, std::size_t l=0) const { + os << IndentLevel(l++) + << "XprMMtProduct[" + << (use_meta ? "M" : "L") << ", O=" << ops + << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<" + << std::endl; + m_lhs.print_xpr(os, l); + os << IndentLevel(l) + << "R1=" << Rows1 << ", C1=" << Cols1 << ",\n"; + m_rhs.print_xpr(os, l); + os << IndentLevel(l) + << "C2=" << Cols2 << ",\n" + << "\n" + << IndentLevel(--l) + << ">," << std::endl; + } + +private: + const E1 m_lhs; + const E2 m_rhs; +}; + + +} // namespace tvmet + +#endif // TVMET_XPR_MMTPRODUCT_H + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: