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
MMProductTransposed.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: MMProductTransposed.h,v 1.20 2007-06-23 15:58:59 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_XPR_MMPRODUCT_TRANSPOSED_H 00025 #define TVMET_XPR_MMPRODUCT_TRANSPOSED_H 00026 00027 #include <tvmet/meta/Gemm.h> 00028 #include <tvmet/loop/Gemm.h> 00029 00030 namespace tvmet { 00031 00032 00033 /** 00034 * \class XprMMProductTransposed MMProductTransposed.h "tvmet/xpr/MMProductTransposed.h" 00035 * \brief Expression for transpose(matrix-matrix product). 00036 * Using formula: 00037 * \f[ 00038 * (M_1\,M_2)^T 00039 * \f] 00040 * \note The Rows2 has to be equal to Cols1. 00041 * The result is a (Cols2 x Rows1) matrix. 00042 */ 00043 template<class E1, std::size_t Rows1, std::size_t Cols1, 00044 class E2, std::size_t Cols2> 00045 class XprMMProductTransposed 00046 : public TvmetBase< XprMMProductTransposed<E1, Rows1, Cols1, E2, Cols2> > 00047 { 00048 private: 00049 XprMMProductTransposed(); 00050 XprMMProductTransposed& operator=(const XprMMProductTransposed&); 00051 00052 public: 00053 typedef typename PromoteTraits< 00054 typename E1::value_type, 00055 typename E2::value_type 00056 >::value_type value_type; 00057 00058 public: 00059 /** Complexity counter. */ 00060 enum { 00061 ops_lhs = E1::ops, 00062 ops_rhs = E2::ops, 00063 M = Rows1 * Cols1 * Cols2, 00064 N = Rows1 * (Cols1-1) * Cols2, 00065 ops_plus = M * NumericTraits<value_type>::ops_plus, 00066 ops_muls = N * NumericTraits<value_type>::ops_muls, 00067 ops = ops_plus + ops_muls, 00068 use_meta = Cols2*Rows1 < TVMET_COMPLEXITY_MM_TRIGGER ? true : false 00069 }; 00070 00071 public: 00072 /** Constructor. */ 00073 explicit XprMMProductTransposed(const E1& lhs, const E2& rhs) 00074 : m_lhs(lhs), m_rhs(rhs) { } 00075 00076 /** Copy Constructor. Not explicit! */ 00077 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) 00078 XprMMProductTransposed(const XprMMProductTransposed& e) 00079 : m_lhs(e.m_lhs), m_rhs(e.m_rhs) 00080 { } 00081 #endif 00082 00083 private: 00084 /** Wrapper for meta gemm. */ 00085 static inline 00086 value_type do_gemm(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { 00087 return meta::gemm<Rows1, Cols1, 00088 Cols2, 00089 0>::prod(lhs, rhs, i, j); 00090 } 00091 00092 /** Wrapper for loop gemm. */ 00093 static inline 00094 value_type do_gemm(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { 00095 return loop::gemm<Rows1, Cols1, Cols2>::prod(lhs, rhs, i, j); 00096 } 00097 00098 public: 00099 /** index operator for arrays/matrices */ 00100 value_type operator()(std::size_t i, std::size_t j) const { 00101 TVMET_RT_CONDITION((i < Cols2) && (j < Rows1), "XprMMProductTransposed Bounce Violation") 00102 return do_gemm(dispatch<use_meta>(), m_lhs, m_rhs, j, i); 00103 } 00104 00105 public: // debugging Xpr parse tree 00106 void print_xpr(std::ostream& os, std::size_t l=0) const { 00107 os << IndentLevel(l++) 00108 << "XprMMProductTransposed[" 00109 << (use_meta ? "M" : "L") << ", O=" << ops 00110 << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<" 00111 << std::endl; 00112 m_lhs.print_xpr(os, l); 00113 os << IndentLevel(l) 00114 << "R1=" << Rows1 << ", C1=" << Cols1 << ",\n"; 00115 m_rhs.print_xpr(os, l); 00116 os << IndentLevel(l) 00117 << "C2=" << Cols2 << ",\n" 00118 << IndentLevel(l) 00119 << "\n" 00120 << IndentLevel(--l) 00121 << ">," << std::endl; 00122 } 00123 00124 private: 00125 const E1 m_lhs; 00126 const E2 m_rhs; 00127 }; 00128 00129 00130 } // namespace tvmet 00131 00132 #endif // TVMET_XPR_MMPRODUCT_TRANSPOSED_H 00133 00134 // Local Variables: 00135 // mode:C++ 00136 // tab-width:8 00137 // End:
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