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: VectorEval.h
- Revision:
- 0:feb4117d16d8
diff -r 000000000000 -r feb4117d16d8 VectorEval.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/VectorEval.h Wed Mar 28 15:53:45 2012 +0000 @@ -0,0 +1,382 @@ +/* + * 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: VectorEval.h,v 1.18 2007-06-23 15:58:58 opetzold Exp $ + */ + +#ifndef TVMET_VECTOR_EVAL_H +#define TVMET_VECTOR_EVAL_H + +namespace tvmet { + + +/******************************************************************** + * functions all_elements/any_elements + ********************************************************************/ + + +/** + * \fn bool all_elements(const XprVector<E, Sz>& e) + * \brief check on statements for all elements + * \ingroup _unary_function + * This is for use with boolean operators like + * \par Example: + * \code + * all_elements(vector > 0) { + * // true branch + * } else { + * // false branch + * } + * \endcode + * \sa \ref compare + */ +template<class E, std::size_t Sz> +inline +bool all_elements(const XprVector<E, Sz>& e) { + return meta::Vector<Sz>::all_elements(e); +} + + +/** + * \fn bool any_elements(const XprVector<E, Sz>& e) + * \brief check on statements for any elements + * \ingroup _unary_function + * This is for use with boolean operators like + * \par Example: + * \code + * any_elements(vector > 0) { + * // true branch + * } else { + * // false branch + * } + * \endcode + * \sa \ref compare + */ +template<class E, std::size_t Sz> +inline +bool any_elements(const XprVector<E, Sz>& e) { + return meta::Vector<Sz>::any_elements(e); +} + + +/* + * trinary evaluation functions with vectors and xpr of + * XprVector<E1, Sz> ? Vector<T2, Sz> : Vector<T3, Sz> + * XprVector<E1, Sz> ? Vector<T2, Sz> : XprVector<E3, Sz> + * XprVector<E1, Sz> ? XprVector<E2, Sz> : Vector<T3, Sz> + * XprVector<E1, Sz> ? XprVector<E2, Sz> : XprVector<E3, Sz> + */ + +/** + * eval(const XprVector<E1, Sz>& e1, const Vector<T2, Sz>& v2, const Vector<T3, Sz>& v3) + * \brief Evals the vector expressions. + * \ingroup _trinary_function + * This eval is for the a?b:c syntax, since it's not allowed to overload + * these operators. + */ +template<class E1, class T2, class T3, std::size_t Sz> +inline +XprVector< + XprEval< + XprVector<E1, Sz>, + VectorConstReference<T2, Sz>, + VectorConstReference<T3, Sz> + >, + Sz +> +eval(const XprVector<E1, Sz>& e1, const Vector<T2, Sz>& v2, const Vector<T3, Sz>& v3) { + typedef XprEval< + XprVector<E1, Sz>, + VectorConstReference<T2, Sz>, + VectorConstReference<T3, Sz> + > expr_type; + return XprVector<expr_type, Sz>( + expr_type(e1, v2.const_ref(), v3.const_ref())); +} + + +/** + * eval(const XprVector<E1, Sz>& e1, const Vector<T2, Sz>& v2, const XprVector<E3, Sz>& e3) + * \brief Evals the vector expressions. + * \ingroup _trinary_function + * This eval is for the a?b:c syntax, since it's not allowed to overload + * these operators. + */ +template<class E1, class T2, class E3, std::size_t Sz> +inline +XprVector< + XprEval< + XprVector<E1, Sz>, + VectorConstReference<T2, Sz>, + XprVector<E3, Sz> + >, + Sz +> +eval(const XprVector<E1, Sz>& e1, const Vector<T2, Sz>& v2, const XprVector<E3, Sz>& e3) { + typedef XprEval< + XprVector<E1, Sz>, + VectorConstReference<T2, Sz>, + XprVector<E3, Sz> + > expr_type; + return XprVector<expr_type, Sz>( + expr_type(e1, v2.const_ref(), e3)); +} + + +/** + * eval(const XprVector<E1, Sz>& e1, const XprVector<E2, Sz>& e2, const Vector<T3, Sz>& v3) + * \brief Evals the vector expressions. + * \ingroup _trinary_function + * This eval is for the a?b:c syntax, since it's not allowed to overload + * these operators. + */ +template<class E1, class E2, class T3, std::size_t Sz> +inline +XprVector< + XprEval< + XprVector<E1, Sz>, + XprVector<E2, Sz>, + VectorConstReference<T3, Sz> + >, + Sz +> +eval(const XprVector<E1, Sz>& e1, const XprVector<E2, Sz>& e2, const Vector<T3, Sz>& v3) { + typedef XprEval< + XprVector<E1, Sz>, + XprVector<E2, Sz>, + VectorConstReference<T3, Sz> + > expr_type; + return XprVector<expr_type, Sz>( + expr_type(e1, e2, v3.const_ref())); +} + + +/** + * eval(const XprVector<E1, Sz>& e1, const XprVector<E2, Sz>& e2, const XprVector<E3, Sz>& e3) + * \brief Evals the vector expressions. + * \ingroup _trinary_function + * This eval is for the a?b:c syntax, since it's not allowed to overload + * these operators. + */ +template<class E1, class E2, class E3, std::size_t Sz> +inline +XprVector< + XprEval< + XprVector<E1, Sz>, + XprVector<E2, Sz>, + XprVector<E3, Sz> + >, + Sz +> +eval(const XprVector<E1, Sz>& e1, const XprVector<E2, Sz>& e2, const XprVector<E3, Sz>& e3) { + typedef XprEval< + XprVector<E1, Sz>, + XprVector<E2, Sz>, + XprVector<E3, Sz> + > expr_type; + return XprVector<expr_type, Sz>(expr_type(e1, e2, e3)); +} + + +/* + * trinary evaluation functions with vectors, xpr of and POD + * + * XprVector<E, Sz> ? POD1 : POD2 + * XprVector<E1, Sz> ? POD : XprVector<E3, Sz> + * XprVector<E1, Sz> ? XprVector<E2, Sz> : POD + */ +#define TVMET_IMPLEMENT_MACRO(POD) \ +template<class E, std::size_t Sz> \ +inline \ +XprVector< \ + XprEval< \ + XprVector<E, Sz>, \ + XprLiteral< POD >, \ + XprLiteral< POD > \ + >, \ + Sz \ +> \ +eval(const XprVector<E, Sz>& e, POD x2, POD x3) { \ + typedef XprEval< \ + XprVector<E, Sz>, \ + XprLiteral< POD >, \ + XprLiteral< POD > \ + > expr_type; \ + return XprVector<expr_type, Sz>( \ + expr_type(e, XprLiteral< POD >(x2), XprLiteral< POD >(x3))); \ +} \ + \ +template<class E1, class E3, std::size_t Sz> \ +inline \ +XprVector< \ + XprEval< \ + XprVector<E1, Sz>, \ + XprLiteral< POD >, \ + XprVector<E3, Sz> \ + >, \ + Sz \ +> \ +eval(const XprVector<E1, Sz>& e1, POD x2, const XprVector<E3, Sz>& e3) { \ + typedef XprEval< \ + XprVector<E1, Sz>, \ + XprLiteral< POD >, \ + XprVector<E3, Sz> \ + > expr_type; \ + return XprVector<expr_type, Sz>( \ + expr_type(e1, XprLiteral< POD >(x2), e3)); \ +} \ + \ +template<class E1, class E2, std::size_t Sz> \ +inline \ +XprVector< \ + XprEval< \ + XprVector<E1, Sz>, \ + XprVector<E2, Sz>, \ + XprLiteral< POD > \ + >, \ + Sz \ +> \ +eval(const XprVector<E1, Sz>& e1, const XprVector<E2, Sz>& e2, POD x3) { \ + typedef XprEval< \ + XprVector<E1, Sz>, \ + XprVector<E2, Sz>, \ + XprLiteral< POD > \ + > expr_type; \ + return XprVector<expr_type, Sz>( \ + expr_type(e1, e2, XprLiteral< POD >(x3))); \ +} + +TVMET_IMPLEMENT_MACRO(int) + +#if defined(TVMET_HAVE_LONG_LONG) +TVMET_IMPLEMENT_MACRO(long long int) +#endif // defined(TVMET_HAVE_LONG_LONG) + +TVMET_IMPLEMENT_MACRO(float) +TVMET_IMPLEMENT_MACRO(double) + +#if defined(TVMET_HAVE_LONG_DOUBLE) +TVMET_IMPLEMENT_MACRO(long double) +#endif // defined(TVMET_HAVE_LONG_DOUBLE) + +#undef TVMET_IMPLEMENT_MACRO + + +/* + * trinary evaluation functions with vectors, xpr of and complex<> types + * + * XprVector<E, Sz> e, std::complex<T> z2, std::complex<T> z3 + * XprVector<E1, Sz> e1, std::complex<T> z2, XprVector<E3, Sz> e3 + * XprVector<E1, Sz> e1, XprVector<E2, Sz> e2, std::complex<T> z3 + */ +#if defined(TVMET_HAVE_COMPLEX) + + +/** + * eval(const XprVector<E, Sz>& e, std::complex<T> z2, std::complex<T> z3) + * \brief Evals the vector expressions. + * \ingroup _trinary_function + * This eval is for the a?b:c syntax, since it's not allowed to overload + * these operators. + */ +template<class E, std::size_t Sz, class T> +inline +XprVector< + XprEval< + XprVector<E, Sz>, + XprLiteral< std::complex<T> >, + XprLiteral< std::complex<T> > + >, + Sz +> +eval(const XprVector<E, Sz>& e, std::complex<T> z2, std::complex<T> z3) { + typedef XprEval< + XprVector<E, Sz>, + XprLiteral< std::complex<T> >, + XprLiteral< std::complex<T> > + > expr_type; + return XprVector<expr_type, Sz>( + expr_type(e, XprLiteral< std::complex<T> >(z2), XprLiteral< std::complex<T> >(z3))); +} + +/** + * eval(const XprVector<E1, Sz>& e1, std::complex<T> z2, const XprVector<E3, Sz>& e3) + * \brief Evals the vector expressions. + * \ingroup _trinary_function + * This eval is for the a?b:c syntax, since it's not allowed to overload + * these operators. + */ +template<class E1, class E3, std::size_t Sz, class T> +inline +XprVector< + XprEval< + XprVector<E1, Sz>, + XprLiteral< std::complex<T> >, + XprVector<E3, Sz> + >, + Sz +> +eval(const XprVector<E1, Sz>& e1, std::complex<T> z2, const XprVector<E3, Sz>& e3) { + typedef XprEval< + XprVector<E1, Sz>, + XprLiteral< std::complex<T> >, + XprVector<E3, Sz> + > expr_type; + return XprVector<expr_type, Sz>( + expr_type(e1, XprLiteral< std::complex<T> >(z2), e3)); +} + +/** + * eval(const XprVector<E1, Sz>& e1, const XprVector<E2, Sz>& e2, std::complex<T> z3) + * \brief Evals the vector expressions. + * \ingroup _trinary_function + * This eval is for the a?b:c syntax, since it's not allowed to overload + * these operators. + */ +template<class E1, class E2, std::size_t Sz, class T> +inline +XprVector< + XprEval< + XprVector<E1, Sz>, + XprVector<E2, Sz>, + XprLiteral< std::complex<T> > + >, + Sz +> +eval(const XprVector<E1, Sz>& e1, const XprVector<E2, Sz>& e2, std::complex<T> z3) { + typedef XprEval< + XprVector<E1, Sz>, + XprVector<E2, Sz>, + XprLiteral< std::complex<T> > + > expr_type; + return XprVector<expr_type, Sz>( + expr_type(e1, e2, XprLiteral< std::complex<T> >(z3))); +} +#endif // defined(TVMET_HAVE_COMPLEX) + + +} // namespace tvmet + +#endif // TVMET_VECTOR_EVAL_H + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: