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
MtMProduct.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: MtMProduct.h,v 1.19 2007-06-23 15:59:00 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_XPR_MTMPRODUCT_H 00025 #define TVMET_XPR_MTMPRODUCT_H 00026 00027 #include <tvmet/meta/Gemtm.h> 00028 #include <tvmet/loop/Gemtm.h> 00029 00030 namespace tvmet { 00031 00032 00033 /** 00034 * \class XprMtMProduct MtMProduct.h "tvmet/xpr/MtMProduct.h" 00035 * \brief Expression for product of transposed(matrix)-matrix product. 00036 * using formula 00037 * \f[ 00038 * M_1^{T}\,M_2 00039 * \f] 00040 * \note The number of rows of rhs matrix have to be equal rows of rhs matrix, 00041 * since lhs matrix 1 is transposed. 00042 * The result is a (Cols1 x Cols2) matrix. 00043 */ 00044 template<class E1, std::size_t Rows1, std::size_t Cols1, 00045 class E2, std::size_t Cols2> 00046 class XprMtMProduct 00047 : public TvmetBase< XprMtMProduct<E1, Rows1, Cols1, E2, Cols2> > 00048 { 00049 private: 00050 XprMtMProduct(); 00051 XprMtMProduct& operator=(const XprMtMProduct&); 00052 00053 public: 00054 typedef typename PromoteTraits< 00055 typename E1::value_type, 00056 typename E2::value_type 00057 >::value_type value_type; 00058 00059 public: 00060 /** Complexity counter. */ 00061 enum { 00062 ops_lhs = E1::ops, 00063 ops_rhs = E2::ops, 00064 M = Rows1 * Cols1 * Cols2, 00065 N = (Rows1-1) * Cols1 * Cols2, 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 = Cols1*Cols2 < TVMET_COMPLEXITY_MM_TRIGGER ? true : false 00070 }; 00071 00072 public: 00073 /** Constructor. */ 00074 explicit XprMtMProduct(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 XprMtMProduct(const XprMtMProduct& e) 00081 : m_lhs(e.m_lhs), m_rhs(e.m_rhs) { } 00082 #endif 00083 00084 private: 00085 /** Wrapper for meta gemm. */ 00086 static inline 00087 value_type do_gemtm(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { 00088 return meta::gemtm<Rows1, Cols1, 00089 Cols2, 00090 0>::prod(lhs, rhs, i, j); 00091 } 00092 00093 /** Wrapper for loop gemm. */ 00094 static inline 00095 value_type do_gemtm(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { 00096 return loop::gemtm<Rows1, Cols1, 00097 Cols2>::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 < Cols1) && (j < Cols2), "XprMtMProduct Bounce Violation") 00104 return do_gemtm(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 << "XprMtMProduct[" 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 << IndentLevel(l) 00121 << "\n" 00122 << IndentLevel(--l) 00123 << ">," << std::endl; 00124 } 00125 00126 private: 00127 const E1 m_lhs; 00128 const E2 m_rhs; 00129 }; 00130 00131 00132 } // namespace tvmet 00133 00134 #endif // TVMET_XPR_MTMPRODUCT_H 00135 00136 // Local Variables: 00137 // mode:C++ 00138 // tab-width:8 00139 // End:
Generated on Tue Jul 12 2022 19:00:11 by 1.7.2