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/VectorBinaryFunctions.h
- Revision:
- 0:feb4117d16d8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xpr/VectorBinaryFunctions.h Wed Mar 28 15:53:45 2012 +0000 @@ -0,0 +1,320 @@ +/* + * 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: VectorBinaryFunctions.h,v 1.12 2007-06-23 15:59:00 opetzold Exp $ + */ + +#ifndef TVMET_XPR_VECTOR_BINARY_FUNCTIONS_H +#define TVMET_XPR_VECTOR_BINARY_FUNCTIONS_H + +namespace tvmet { + + +/********************************************************* + * PART I: DECLARATION + *********************************************************/ + + +/* + * binary_function(XprVector<E1, Sz>, XprVector<E2, Sz>) + */ +#define TVMET_DECLARE_MACRO(NAME) \ +template<class E1, class E2, std::size_t Sz> \ +inline \ +XprVector< \ + XprBinOp< \ + Fcnl_##NAME<typename E1::value_type, typename E2::value_type>, \ + XprVector<E1, Sz>, \ + XprVector<E2, Sz> \ + >, \ + Sz \ +> \ +NAME(const XprVector<E1, Sz>& lhs, \ + const XprVector<E2, Sz>& rhs) TVMET_CXX_ALWAYS_INLINE; + +TVMET_DECLARE_MACRO(atan2) +TVMET_DECLARE_MACRO(drem) +TVMET_DECLARE_MACRO(fmod) +TVMET_DECLARE_MACRO(hypot) +TVMET_DECLARE_MACRO(jn) +TVMET_DECLARE_MACRO(yn) +TVMET_DECLARE_MACRO(pow) +#if defined(TVMET_HAVE_COMPLEX) +TVMET_DECLARE_MACRO(polar) +#endif + +#undef TVMET_DECLARE_MACRO + + +/* + * binary_function(XprVector<E, Sz>, POD) + */ +#define TVMET_DECLARE_MACRO(NAME, TP) \ +template<class E, std::size_t Sz> \ +inline \ +XprVector< \ + XprBinOp< \ + Fcnl_##NAME<typename E::value_type, TP >, \ + XprVector<E, Sz>, \ + XprLiteral< TP > \ + >, \ + Sz \ +> \ +NAME(const XprVector<E, Sz>& lhs, \ + TP rhs) TVMET_CXX_ALWAYS_INLINE; + +TVMET_DECLARE_MACRO(atan2, int) +TVMET_DECLARE_MACRO(drem, int) +TVMET_DECLARE_MACRO(fmod, int) +TVMET_DECLARE_MACRO(hypot, int) +TVMET_DECLARE_MACRO(jn, int) +TVMET_DECLARE_MACRO(yn, int) +TVMET_DECLARE_MACRO(pow, int) + +#if defined(TVMET_HAVE_LONG_LONG) +TVMET_DECLARE_MACRO(atan2, long long int) +TVMET_DECLARE_MACRO(drem, long long int) +TVMET_DECLARE_MACRO(fmod, long long int) +TVMET_DECLARE_MACRO(hypot, long long int) +TVMET_DECLARE_MACRO(jn, long long int) +TVMET_DECLARE_MACRO(yn, long long int) +TVMET_DECLARE_MACRO(pow, long long int) +#endif // defined(TVMET_HAVE_LONG_LONG) + +TVMET_DECLARE_MACRO(atan2, float) +TVMET_DECLARE_MACRO(drem, float) +TVMET_DECLARE_MACRO(fmod, float) +TVMET_DECLARE_MACRO(hypot, float) +TVMET_DECLARE_MACRO(jn, float) +TVMET_DECLARE_MACRO(yn, float) +TVMET_DECLARE_MACRO(pow, float) + +TVMET_DECLARE_MACRO(atan2, double) +TVMET_DECLARE_MACRO(drem, double) +TVMET_DECLARE_MACRO(fmod, double) +TVMET_DECLARE_MACRO(hypot, double) +TVMET_DECLARE_MACRO(jn, double) +TVMET_DECLARE_MACRO(yn, double) +TVMET_DECLARE_MACRO(pow, double) + +#if defined(TVMET_HAVE_LONG_DOUBLE) +TVMET_DECLARE_MACRO(atan2, long double) +TVMET_DECLARE_MACRO(drem, long double) +TVMET_DECLARE_MACRO(fmod, long double) +TVMET_DECLARE_MACRO(hypot, long double) +TVMET_DECLARE_MACRO(jn, long double) +TVMET_DECLARE_MACRO(yn, long double) +TVMET_DECLARE_MACRO(pow, long double) +#endif // defined(TVMET_HAVE_LONG_DOUBLE) + +#undef TVMET_DECLARE_MACRO + + +#if defined(TVMET_HAVE_COMPLEX) +/* + * binary_function(XprVector<E, Sz>, std::complex<>) + */ +#define TVMET_DECLARE_MACRO(NAME) \ +template<class E, std::size_t Sz, class T> \ +inline \ +XprVector< \ + XprBinOp< \ + Fcnl_##NAME<typename E::value_type, std::complex<T> >, \ + XprVector<E, Sz>, \ + XprLiteral< std::complex<T> > \ + >, \ + Sz \ +> \ +NAME(const XprVector<E, Sz>& lhs, \ + const std::complex<T>& rhs) TVMET_CXX_ALWAYS_INLINE; + +TVMET_DECLARE_MACRO(atan2) +TVMET_DECLARE_MACRO(drem) +TVMET_DECLARE_MACRO(fmod) +TVMET_DECLARE_MACRO(hypot) +TVMET_DECLARE_MACRO(jn) +TVMET_DECLARE_MACRO(yn) +TVMET_DECLARE_MACRO(pow) + +#undef TVMET_DECLARE_MACRO + +#endif // defined(TVMET_HAVE_COMPLEX) + + +/********************************************************* + * PART II: IMPLEMENTATION + *********************************************************/ + + +/* + * binary_function(XprVector<E1, Sz>, XprVector<E2, Sz>) + */ +#define TVMET_IMPLEMENT_MACRO(NAME) \ +template<class E1, class E2, std::size_t Sz> \ +inline \ +XprVector< \ + XprBinOp< \ + Fcnl_##NAME<typename E1::value_type, typename E2::value_type>, \ + XprVector<E1, Sz>, \ + XprVector<E2, Sz> \ + >, \ + Sz \ +> \ +NAME(const XprVector<E1, Sz>& lhs, const XprVector<E2, Sz>& rhs) { \ + typedef XprBinOp< \ + Fcnl_##NAME<typename E1::value_type, typename E2::value_type>, \ + XprVector<E1, Sz>, \ + XprVector<E2, Sz> \ + > expr_type; \ + return XprVector<expr_type, Sz>( \ + expr_type(lhs, rhs)); \ +} + +TVMET_IMPLEMENT_MACRO(atan2) +TVMET_IMPLEMENT_MACRO(drem) +TVMET_IMPLEMENT_MACRO(fmod) +TVMET_IMPLEMENT_MACRO(hypot) +TVMET_IMPLEMENT_MACRO(jn) +TVMET_IMPLEMENT_MACRO(yn) +TVMET_IMPLEMENT_MACRO(pow) +#if defined(TVMET_HAVE_COMPLEX) +TVMET_IMPLEMENT_MACRO(polar) +#endif + +#undef TVMET_IMPLEMENT_MACRO + + +/* + * binary_function(XprVector<E, Sz>, POD) + */ +#define TVMET_IMPLEMENT_MACRO(NAME, TP) \ +template<class E, std::size_t Sz> \ +inline \ +XprVector< \ + XprBinOp< \ + Fcnl_##NAME<typename E::value_type, TP >, \ + XprVector<E, Sz>, \ + XprLiteral< TP > \ + >, \ + Sz \ +> \ +NAME(const XprVector<E, Sz>& lhs, TP rhs) { \ + typedef XprBinOp< \ + Fcnl_##NAME<typename E::value_type, TP >, \ + XprVector<E, Sz>, \ + XprLiteral< TP > \ + > expr_type; \ + return XprVector<expr_type, Sz>( \ + expr_type(lhs, XprLiteral< TP >(rhs))); \ +} + +TVMET_IMPLEMENT_MACRO(atan2, int) +TVMET_IMPLEMENT_MACRO(drem, int) +TVMET_IMPLEMENT_MACRO(fmod, int) +TVMET_IMPLEMENT_MACRO(hypot, int) +TVMET_IMPLEMENT_MACRO(jn, int) +TVMET_IMPLEMENT_MACRO(yn, int) +TVMET_IMPLEMENT_MACRO(pow, int) + +#if defined(TVMET_HAVE_LONG_LONG) +TVMET_IMPLEMENT_MACRO(atan2, long long int) +TVMET_IMPLEMENT_MACRO(drem, long long int) +TVMET_IMPLEMENT_MACRO(fmod, long long int) +TVMET_IMPLEMENT_MACRO(hypot, long long int) +TVMET_IMPLEMENT_MACRO(jn, long long int) +TVMET_IMPLEMENT_MACRO(yn, long long int) +TVMET_IMPLEMENT_MACRO(pow, long long int) +#endif // defined(TVMET_HAVE_LONG_LONG) + +TVMET_IMPLEMENT_MACRO(atan2, float) +TVMET_IMPLEMENT_MACRO(drem, float) +TVMET_IMPLEMENT_MACRO(fmod, float) +TVMET_IMPLEMENT_MACRO(hypot, float) +TVMET_IMPLEMENT_MACRO(jn, float) +TVMET_IMPLEMENT_MACRO(yn, float) +TVMET_IMPLEMENT_MACRO(pow, float) + +TVMET_IMPLEMENT_MACRO(atan2, double) +TVMET_IMPLEMENT_MACRO(drem, double) +TVMET_IMPLEMENT_MACRO(fmod, double) +TVMET_IMPLEMENT_MACRO(hypot, double) +TVMET_IMPLEMENT_MACRO(jn, double) +TVMET_IMPLEMENT_MACRO(yn, double) +TVMET_IMPLEMENT_MACRO(pow, double) + +#if defined(TVMET_HAVE_LONG_DOUBLE) +TVMET_IMPLEMENT_MACRO(atan2, long double) +TVMET_IMPLEMENT_MACRO(drem, long double) +TVMET_IMPLEMENT_MACRO(fmod, long double) +TVMET_IMPLEMENT_MACRO(hypot, long double) +TVMET_IMPLEMENT_MACRO(jn, long double) +TVMET_IMPLEMENT_MACRO(yn, long double) +TVMET_IMPLEMENT_MACRO(pow, long double) +#endif // defined(TVMET_HAVE_LONG_DOUBLE) + +#undef TVMET_IMPLEMENT_MACRO + + +#if defined(TVMET_HAVE_COMPLEX) +/* + * binary_function(XprVector<E, Sz>, std::complex<>) + */ +#define TVMET_IMPLEMENT_MACRO(NAME) \ +template<class E, std::size_t Sz, class T> \ +inline \ +XprVector< \ + XprBinOp< \ + Fcnl_##NAME<typename E::value_type, std::complex<T> >, \ + XprVector<E, Sz>, \ + XprLiteral< std::complex<T> > \ + >, \ + Sz \ +> \ +NAME(const XprVector<E, Sz>& lhs, const std::complex<T>& rhs) { \ + typedef XprBinOp< \ + Fcnl_##NAME<typename E::value_type, std::complex<T> >, \ + XprVector<E, Sz>, \ + XprLiteral< std::complex<T> > \ + > expr_type; \ + return XprVector<expr_type, Sz>( \ + expr_type(lhs, XprLiteral< std::complex<T> >(rhs))); \ +} + +TVMET_IMPLEMENT_MACRO(atan2) +TVMET_IMPLEMENT_MACRO(drem) +TVMET_IMPLEMENT_MACRO(fmod) +TVMET_IMPLEMENT_MACRO(hypot) +TVMET_IMPLEMENT_MACRO(jn) +TVMET_IMPLEMENT_MACRO(yn) +TVMET_IMPLEMENT_MACRO(pow) + +#undef TVMET_IMPLEMENT_MACRO + +#endif // defined(TVMET_HAVE_COMPLEX) + + +} // namespace tvmet + +#endif // TVMET_XPR_VECTOR_BINARY_FUNCTIONS_H + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: