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
Vector.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: Vector.h,v 1.24 2007-06-23 15:58:59 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_META_VECTOR_H 00025 #define TVMET_META_VECTOR_H 00026 00027 #include <tvmet/NumericTraits.h> 00028 #include <tvmet/xpr/Null.h> 00029 00030 namespace tvmet { 00031 00032 /* forwards */ 00033 template<class T, std::size_t Sz> class Vector; 00034 00035 00036 namespace meta { 00037 00038 00039 /** 00040 * \class Vector Vector.h "tvmet/meta/Vector.h" 00041 * \brief Meta %Vector class using expression templates 00042 */ 00043 template<std::size_t Sz, std::size_t K=0> 00044 class Vector 00045 { 00046 Vector(); 00047 Vector(const Vector&); 00048 Vector& operator=(const Vector&); 00049 00050 private: 00051 enum { 00052 doIt = (K < (Sz-1)) ? 1 : 0 /**< recursive counter */ 00053 }; 00054 00055 public: 00056 /** assign an expression expr using the functional assign_fn. */ 00057 template <class Dest, class Src, class Assign> 00058 static inline 00059 void assign(Dest& lhs, const Src& rhs, const Assign& assign_fn) { 00060 assign_fn.apply_on(lhs(K), rhs(K)); 00061 meta::Vector<Sz * doIt, (K+1) * doIt>::assign(lhs, rhs, assign_fn); 00062 } 00063 00064 /** build the sum of the vector. */ 00065 template<class E> 00066 static inline 00067 typename E::value_type 00068 sum(const E& e) { 00069 return e(K) + meta::Vector<Sz * doIt, (K+1) * doIt>::sum(e); 00070 } 00071 00072 /** build the product of the vector. */ 00073 template<class E> 00074 static inline 00075 typename NumericTraits< 00076 typename E::value_type 00077 >::sum_type 00078 product(const E& e) { 00079 return e(K) * meta::Vector<Sz * doIt, (K+1) * doIt>::product(e); 00080 } 00081 00082 /** build the dot product of the vector. */ 00083 template<class Dest, class Src> 00084 static inline 00085 typename PromoteTraits< 00086 typename Dest::value_type, 00087 typename Src::value_type 00088 >::value_type 00089 dot(const Dest& lhs, const Src& rhs) { 00090 return lhs(K) * rhs(K) 00091 + meta::Vector<Sz * doIt, (K+1) * doIt>::dot(lhs, rhs); 00092 } 00093 00094 /** check for all elements */ 00095 template<class E> 00096 static inline 00097 bool 00098 all_elements(const E& e) { 00099 if(!e(K)) return false; 00100 return meta::Vector<Sz * doIt, (K+1) * doIt>::all_elements(e); 00101 } 00102 00103 /** check for any elements */ 00104 template<class E> 00105 static inline 00106 bool 00107 any_elements(const E& e) { 00108 if(e(K)) return true; 00109 return meta::Vector<Sz * doIt, (K+1) * doIt>::any_elements(e); 00110 } 00111 }; 00112 00113 00114 /** 00115 * \class Vector<0,0> Vector.h "tvmet/meta/Vector.h" 00116 * \brief Meta %Vector Specialized for recursion 00117 */ 00118 template<> 00119 class Vector<0,0> 00120 { 00121 Vector(); 00122 Vector(const Vector&); 00123 Vector& operator=(const Vector&); 00124 00125 public: 00126 template <class Dest, class Src, class Assign> 00127 static inline void assign(Dest&, const Src&, const Assign&) { } 00128 00129 template<class E> 00130 static inline XprNull sum(const E&) { return XprNull(); } 00131 00132 template<class E> 00133 static inline XprNull product(const E&) { return XprNull(); } 00134 00135 template<class Dest, class Src> 00136 static inline XprNull dot(const Dest&, const Src&) { return XprNull(); } 00137 00138 template<class E> 00139 static inline bool all_elements(const E&) { return true; } 00140 00141 template<class E> 00142 static inline bool any_elements(const E&) { return false; } 00143 }; 00144 00145 00146 } // namespace meta 00147 00148 } // namespace tvmet 00149 00150 #endif /* TVMET_META_VECTOR_H */ 00151 00152 // Local Variables: 00153 // mode:C++ 00154 // tab-width:8 00155 // End:
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