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
Gemv.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: Gemv.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_META_GEMV_H 00025 #define TVMET_META_GEMV_H 00026 00027 #include <tvmet/xpr/Null.h> 00028 00029 namespace tvmet { 00030 00031 namespace meta { 00032 00033 00034 /** 00035 * \class gemv Gemv.h "tvmet/meta/Gemv.h" 00036 * \brief Meta class for matrix-vector operations. 00037 * using formula 00038 * \f[ 00039 * M\,v 00040 * \f] 00041 */ 00042 template<std::size_t Rows, std::size_t Cols, 00043 std::size_t J> 00044 class gemv 00045 { 00046 gemv(); 00047 gemv(const gemv&); 00048 gemv& operator=(const gemv&); 00049 00050 private: 00051 enum { 00052 doIt = J < (Cols-1) /**< recursive counter */ 00053 }; 00054 00055 public: 00056 /** Meta template for %Matrix lhs %Vector rhs product. */ 00057 template<class E1, class E2> 00058 static inline 00059 typename PromoteTraits< 00060 typename E1::value_type, 00061 typename E2::value_type 00062 >::value_type 00063 prod(const E1& lhs, const E2& rhs, std::size_t i) { 00064 return lhs(i, J) * rhs(J) 00065 + gemv<Rows * doIt, Cols * doIt, 00066 (J+1)* doIt>::prod(lhs, rhs, i); 00067 } 00068 }; 00069 00070 00071 /** 00072 * \class gemv<0,0,0> Gemv.h "tvmet/meta/Gemv.h" 00073 * \brief gemv Specialized for recursion 00074 */ 00075 template<> 00076 class gemv<0,0,0> 00077 { 00078 gemv(); 00079 gemv(const gemv&); 00080 gemv& operator=(const gemv&); 00081 00082 public: 00083 template<class E1, class E2> 00084 static inline 00085 XprNull prod(const E1&, const E2&, std::size_t) { 00086 return XprNull(); 00087 } 00088 }; 00089 00090 00091 } // namespace meta 00092 00093 } // namespace tvmet 00094 00095 #endif /* TVMET_META_GEMV_H */ 00096 00097 // Local Variables: 00098 // mode:C++ 00099 // tab-width:8 00100 // End:
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