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
Gemtm.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: Gemtm.h,v 1.12 2007-06-23 15:58:59 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_META_GEMTM_H 00025 #define TVMET_META_GEMTM_H 00026 00027 #include <tvmet/xpr/Null.h> 00028 00029 namespace tvmet { 00030 00031 namespace meta { 00032 00033 00034 /** 00035 * \class gemtm Gemtm.h "tvmet/meta/Gemtm.h" 00036 * \brief Meta class for trans(matrix)-matrix operations, like product. 00037 * using formula 00038 * \f[ 00039 * M_1^{T}\,M_2 00040 * \f] 00041 * \note The number of cols of matrix 2 have to be equal to number of rows of 00042 * matrix 1, since matrix 1 is transposed - the result is a (Cols1 x Cols2) 00043 * matrix. 00044 */ 00045 00046 template<std::size_t Rows1, std::size_t Cols1, 00047 std::size_t Cols2, 00048 std::size_t K> 00049 class gemtm 00050 { 00051 private: 00052 gemtm(); 00053 gemtm(const gemtm&); 00054 gemtm& operator=(const gemtm&); 00055 00056 private: 00057 enum { 00058 doIt = (K != Rows1 - 1) /**< recursive counter */ 00059 }; 00060 00061 public: 00062 template<class E1, class E2> 00063 static inline 00064 typename PromoteTraits< 00065 typename E1::value_type, 00066 typename E2::value_type 00067 >::value_type 00068 prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { 00069 return lhs(K, i) * rhs(K, j) 00070 + gemtm<Rows1 * doIt, Cols1 * doIt, 00071 Cols2 * doIt, 00072 (K+1) * doIt>::prod(lhs, rhs, i, j); 00073 } 00074 }; 00075 00076 00077 /** 00078 * \class gemtm<0,0,0,0> Gemtm.h "tvmet/meta/Gemtm.h" 00079 * \brief gemtm Specialized for recursion. 00080 */ 00081 template<> 00082 class gemtm<0,0,0,0> 00083 { 00084 gemtm(); 00085 gemtm(const gemtm&); 00086 gemtm& operator=(const gemtm&); 00087 00088 public: 00089 template<class E1, class E2> 00090 static inline 00091 XprNull prod(const E1&, const E2&, std::size_t, std::size_t) { 00092 return XprNull(); 00093 } 00094 }; 00095 00096 00097 } // namespace meta 00098 00099 } // namespace tvmet 00100 00101 #endif /* TVMET_META_GEMTM_H */ 00102 00103 // Local Variables: 00104 // mode:C++ 00105 // tab-width:8 00106 // End:
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