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
Gemmt.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: Gemmt.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_META_GEMMT_H 00025 #define TVMET_META_GEMMT_H 00026 00027 #include <tvmet/xpr/Null.h> 00028 00029 namespace tvmet { 00030 00031 namespace meta { 00032 00033 00034 /** 00035 * \class gemmt Gemmt.h "tvmet/meta/Gemmt.h" 00036 * \brief Meta class for product matrix-transpose(matrix) operations. 00037 * using formula 00038 * \f[ 00039 * M_1\,M_2^{T} 00040 * \f] 00041 * \note The rows of matrix 2 have to be equal to cols of matrix 1. The result 00042 * is a rows1 * cols2 matrix. 00043 */ 00044 template<std::size_t Rows1, std::size_t Cols1, 00045 std::size_t Cols2, 00046 std::size_t K> 00047 class gemmt 00048 { 00049 gemmt(); 00050 gemmt(const gemmt&); 00051 gemmt& operator=(const gemmt&); 00052 00053 private: 00054 enum { 00055 doIt = (K != Cols2 - 1) /**< recursive counter */ 00056 }; 00057 00058 public: 00059 template<class E1, class E2> 00060 static inline 00061 typename PromoteTraits< 00062 typename E1::value_type, 00063 typename E2::value_type 00064 >::value_type 00065 prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { 00066 return lhs(i, K) * rhs(j, K) 00067 + gemmt<Rows1 * doIt, Cols1 * doIt, 00068 Cols2 * doIt, 00069 (K+1) * doIt>::prod(lhs, rhs, i, j); 00070 } 00071 }; 00072 00073 00074 /** 00075 * \class gemmt<0,0,0,0> Gemmt.h "tvmet/meta/Gemmt.h" 00076 * \brief gemmt Specialized for recursion. 00077 */ 00078 template<> 00079 class gemmt<0,0,0,0> 00080 { 00081 gemmt(); 00082 gemmt(const gemmt&); 00083 gemmt& operator=(const gemmt&); 00084 00085 public: 00086 template<class E1, class E2> 00087 static inline 00088 XprNull prod(const E1&, const E2&, std::size_t, std::size_t) { 00089 return XprNull(); 00090 } 00091 }; 00092 00093 00094 } // namespace meta 00095 00096 } // namespace tvmet 00097 00098 #endif /* TVMET_META_GEMMT_H */ 00099 00100 // Local Variables: 00101 // mode:C++ 00102 // tab-width:8 00103 // End:
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