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
MMtProduct.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: MMtProduct.h,v 1.20 2007-06-23 15:58:59 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_XPR_MMTPRODUCT_H 00025 #define TVMET_XPR_MMTPRODUCT_H 00026 00027 #include <tvmet/meta/Gemmt.h> 00028 #include <tvmet/loop/Gemmt.h> 00029 00030 namespace tvmet { 00031 00032 00033 /** 00034 * \class XprMMtProduct MMtProduct.h "tvmet/xpr/MMtProduct.h" 00035 * \brief Expression for matrix-matrix product. 00036 * Using formula: 00037 * \f[ 00038 * M_1\,M_2^T 00039 * \f] 00040 * \note The number of cols of rhs matrix have to be equal to cols of rhs matrix. 00041 * The result is a (Rows1 x Rows2) matrix. 00042 */ 00043 template<class E1, std::size_t Rows1, std::size_t Cols1, 00044 class E2, std::size_t Cols2> 00045 class XprMMtProduct 00046 : public TvmetBase< XprMMtProduct<E1, Rows1, Cols1, E2, Cols2> > 00047 { 00048 private: 00049 XprMMtProduct(); 00050 XprMMtProduct& operator=(const XprMMtProduct&); 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 Rows2 = Cols1, 00064 M = Rows1 * Cols1 * Rows1, 00065 N = Rows1 * (Cols1 - 1) * Rows2, 00066 ops_plus = M * NumericTraits<value_type>::ops_plus, 00067 ops_muls = N * NumericTraits<value_type>::ops_muls, 00068 ops = ops_plus + ops_muls, 00069 use_meta = Rows1*Rows2 < TVMET_COMPLEXITY_MM_TRIGGER ? true : false 00070 }; 00071 00072 public: 00073 /** Constructor. */ 00074 explicit XprMMtProduct(const E1& lhs, const E2& rhs) 00075 : m_lhs(lhs), m_rhs(rhs) 00076 { } 00077 00078 /** Copy Constructor. Not explicit! */ 00079 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) 00080 XprMMtProduct(const XprMMtProduct& e) 00081 : m_lhs(e.m_lhs), m_rhs(e.m_rhs) 00082 { } 00083 #endif 00084 00085 private: 00086 /** Wrapper for meta gemm. */ 00087 static inline 00088 value_type do_gemmt(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { 00089 return meta::gemmt<Rows1, Cols1, 00090 Cols2, 00091 0>::prod(lhs, rhs, i, j); 00092 } 00093 00094 /** Wrapper for loop gemm. */ 00095 static inline 00096 value_type do_gemmt(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { 00097 return loop::gemmt<Rows1, Cols1, Cols1>::prod(lhs, rhs, i, j); 00098 } 00099 00100 public: 00101 /** index operator for arrays/matrices */ 00102 value_type operator()(std::size_t i, std::size_t j) const { 00103 TVMET_RT_CONDITION((i < Rows1) && (j < Rows2), "XprMMtProduct Bounce Violation") 00104 return do_gemmt(dispatch<use_meta>(), m_lhs, m_rhs, i, j); 00105 } 00106 00107 public: // debugging Xpr parse tree 00108 void print_xpr(std::ostream& os, std::size_t l=0) const { 00109 os << IndentLevel(l++) 00110 << "XprMMtProduct[" 00111 << (use_meta ? "M" : "L") << ", O=" << ops 00112 << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<" 00113 << std::endl; 00114 m_lhs.print_xpr(os, l); 00115 os << IndentLevel(l) 00116 << "R1=" << Rows1 << ", C1=" << Cols1 << ",\n"; 00117 m_rhs.print_xpr(os, l); 00118 os << IndentLevel(l) 00119 << "C2=" << Cols2 << ",\n" 00120 << "\n" 00121 << IndentLevel(--l) 00122 << ">," << std::endl; 00123 } 00124 00125 private: 00126 const E1 m_lhs; 00127 const E2 m_rhs; 00128 }; 00129 00130 00131 } // namespace tvmet 00132 00133 #endif // TVMET_XPR_MMTPRODUCT_H 00134 00135 // Local Variables: 00136 // mode:C++ 00137 // tab-width:8 00138 // End:
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