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
General.h
00001 /* 00002 * Tiny Vector Matrix Library 00003 * Dense Vector Matrix Libary of Tiny size using Expression Templates 00004 * 00005 * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net> 00006 * 00007 * This library is free software; you can redistribute it and/or 00008 * modify it under the terms of the GNU Lesser General Public 00009 * License as published by the Free Software Foundation; either 00010 * version 2.1 of the License, or (at your option) any later version. 00011 * 00012 * This library is distributed in the hope that it will be useful, 00013 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00015 * Lesser General Public License for more details. 00016 * 00017 * You should have received a copy of the GNU Lesser General Public 00018 * License along with this library; if not, write to the Free Software 00019 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00020 * 00021 * $Id: General.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_UTIL_GENERAL_H 00025 #define TVMET_UTIL_GENERAL_H 00026 00027 00028 /** forward */ 00029 namespace tvmet { 00030 template<class T, std::size_t Rows, std::size_t Cols> class Matrix; 00031 template<class T, std::size_t Sz> class Vector; 00032 } 00033 00034 namespace tvmet { 00035 00036 namespace util { 00037 00038 /* 00039 * \defgroup _util_function 00040 * \brief Usefull utility functions 00041 */ 00042 00043 /** 00044 * \fn Gemm(const Matrix<T, Rows, Cols>& m1, const Matrix<T, Rows, Cols>& m2, Matrix<T, Rows, Cols>& m3) 00045 * \brief General matrix matrix multiplication using loops. 00046 * \ingroup _util_function 00047 */ 00048 template<class T, std::size_t Rows, std::size_t Cols> 00049 inline 00050 void 00051 Gemm(const Matrix<T, Rows, Cols>& m1, const Matrix<T, Rows, Cols>& m2, 00052 Matrix<T, Rows, Cols>& m3) 00053 { 00054 for (std::size_t i = 0; i < Rows; ++i) { 00055 for (std::size_t j = 0; j < Cols; ++j) { 00056 T sum(0); 00057 for (std::size_t k = 0; k < Cols; ++k) { 00058 sum += m1(i,k) * m2(k,j); 00059 } 00060 m3(i,j) = sum; 00061 } 00062 } 00063 } 00064 00065 00066 /** 00067 * \fn Gemv(const Matrix<T, Rows, Cols>& m, const Vector<T, Cols>& v, Vector<T, Cols>& v2) 00068 * \brief General matrix vector multiplication using loops. 00069 * \ingroup _util_function 00070 */ 00071 template<class T, std::size_t Rows, std::size_t Cols> 00072 inline 00073 void 00074 Gemv(const Matrix<T, Rows, Cols>& m, const Vector<T, Cols>& v, 00075 Vector<T, Cols>& v2) 00076 { 00077 for (std::size_t i = 0; i < Rows; ++i){ 00078 v2(i) = T(0); // clean up before use 00079 for (std::size_t j = 0; j < Cols; ++j) { 00080 v2(i) += m(i,j) * v(j); 00081 } 00082 } 00083 } 00084 00085 00086 /** 00087 * \fn Gevvmul(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, Vector<T, Sz>& v3) 00088 * \brief General vector vector elementwise multiplication using loop. 00089 * \ingroup _util_function 00090 */ 00091 template<class T, std::size_t Sz> 00092 inline 00093 void 00094 Gevvmul(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, 00095 Vector<T, Sz>& v3) 00096 { 00097 for(std::size_t i = 0; i < Sz; ++i) 00098 v3(i) = v1(i) * v2(i); 00099 } 00100 00101 00102 /** 00103 * \fn Gevvadd(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, Vector<T, Sz>& v3) 00104 * \brief General vector vector elementwise multiplication using loop. 00105 * \ingroup _util_function 00106 */ 00107 template<class T, std::size_t Sz> 00108 inline 00109 void 00110 Gevvadd(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, 00111 Vector<T, Sz>& v3) 00112 { 00113 for(std::size_t i = 0; i < Sz; ++i) 00114 v3(i) = v1(i) + v2(i); 00115 } 00116 00117 } // namespace util 00118 00119 } // namespace tvmet 00120 00121 #endif // TVMET_UTIL_GENERAL_H 00122 00123 // Local Variables: 00124 // mode:C++ 00125 // tab-width:8 00126 // End:
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