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
Matrix.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: Matrix.h,v 1.26 2007-06-23 15:59:00 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_XPR_MATRIX_H 00025 #define TVMET_XPR_MATRIX_H 00026 00027 #include <tvmet/meta/Matrix.h> 00028 #include <tvmet/loop/Matrix.h> 00029 00030 namespace tvmet { 00031 00032 00033 /* forwards */ 00034 template <class T, std::size_t Rows, std::size_t Cols> class Matrix; 00035 00036 /** 00037 * \class XprMatrix Matrix.h "tvmet/xpr/Matrix.h" 00038 * \brief Represents the expression for vectors at any node in the parse tree. 00039 * 00040 * Specifically, XprMatrix is the class that wraps the expression, and the 00041 * expression itself is represented by the template parameter E. The 00042 * class XprMatrix is known as an anonymizing expression wrapper because 00043 * it can hold any subexpression of arbitrary complexity, allowing 00044 * clients to work with any expression by holding on to it via the 00045 * wrapper, without having to know the name of the type object that 00046 * actually implements the expression. 00047 * \note leave the CCtors non-explicit to allow implicit type conversation. 00048 */ 00049 template<class E, std::size_t NRows, std::size_t NCols> 00050 class XprMatrix 00051 : public TvmetBase< XprMatrix<E, NRows, NCols> > 00052 { 00053 XprMatrix(); 00054 XprMatrix& operator=(const XprMatrix&); 00055 00056 public: 00057 /** Dimensions. */ 00058 enum { 00059 Rows = NRows, /**< Number of rows. */ 00060 Cols = NCols, /**< Number of cols. */ 00061 Size = Rows * Cols /**< Complete Size of Matrix. */ 00062 }; 00063 00064 public: 00065 /** Complexity counter. */ 00066 enum { 00067 ops_assign = Rows * Cols, 00068 ops = E::ops, 00069 use_meta = ops_assign < TVMET_COMPLEXITY_M_ASSIGN_TRIGGER ? true : false 00070 }; 00071 00072 public: 00073 typedef typename E::value_type value_type; 00074 00075 public: 00076 /** Constructor. */ 00077 explicit XprMatrix(const E& e) 00078 : m_expr(e) 00079 { } 00080 00081 /** Copy Constructor. Not explicit! */ 00082 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) 00083 XprMatrix(const XprMatrix& rhs) 00084 : m_expr(rhs.m_expr) 00085 { } 00086 #endif 00087 00088 /** access by index. */ 00089 value_type operator()(std::size_t i, std::size_t j) const { 00090 TVMET_RT_CONDITION((i < Rows) && (j < Cols), "XprMatrix Bounce Violation") 00091 return m_expr(i, j); 00092 } 00093 00094 private: 00095 /** Wrapper for meta assign. */ 00096 template<class Dest, class Src, class Assign> 00097 static inline 00098 void do_assign(dispatch<true>, Dest& dest, const Src& src, const Assign& assign_fn) { 00099 meta::Matrix<Rows, Cols, 0, 0>::assign(dest, src, assign_fn); 00100 } 00101 00102 /** Wrapper for loop assign. */ 00103 template<class Dest, class Src, class Assign> 00104 static inline 00105 void do_assign(dispatch<false>, Dest& dest, const Src& src, const Assign& assign_fn) { 00106 loop::Matrix<Rows, Cols>::assign(dest, src, assign_fn); 00107 } 00108 00109 public: 00110 /** assign this expression to Matrix dest. */ 00111 template<class Dest, class Assign> 00112 void assign_to(Dest& dest, const Assign& assign_fn) const { 00113 /* here is a way for caching, since each complex 'Node' 00114 is of type XprMatrix. */ 00115 do_assign(dispatch<use_meta>(), dest, *this, assign_fn); 00116 } 00117 00118 public: // debugging Xpr parse tree 00119 void print_xpr(std::ostream& os, std::size_t l=0) const { 00120 os << IndentLevel(l++) 00121 << "XprMatrix[" 00122 << (use_meta ? "M" : "L") << ", O=" << ops << "]<" 00123 << std::endl; 00124 m_expr.print_xpr(os, l); 00125 os << IndentLevel(l) 00126 << "R=" << Rows << ", C=" << Cols << std::endl; 00127 os << IndentLevel(--l) << ">" 00128 << ((l != 0) ? "," : "") << std::endl; 00129 } 00130 00131 private: 00132 const E m_expr; 00133 }; 00134 00135 00136 } // namespace tvmet 00137 00138 #include <tvmet/Functional.h> 00139 00140 #include <tvmet/xpr/BinOperator.h> 00141 #include <tvmet/xpr/UnOperator.h> 00142 #include <tvmet/xpr/Literal.h> 00143 00144 #include <tvmet/xpr/Identity.h> 00145 00146 #include <tvmet/xpr/MMProduct.h> 00147 #include <tvmet/xpr/MMProductTransposed.h> 00148 #include <tvmet/xpr/MMtProduct.h> 00149 #include <tvmet/xpr/MtMProduct.h> 00150 #include <tvmet/xpr/MVProduct.h> 00151 #include <tvmet/xpr/MtVProduct.h> 00152 #include <tvmet/xpr/MatrixTranspose.h> 00153 00154 #include <tvmet/xpr/MatrixFunctions.h> 00155 #include <tvmet/xpr/MatrixBinaryFunctions.h> 00156 #include <tvmet/xpr/MatrixUnaryFunctions.h> 00157 #include <tvmet/xpr/MatrixOperators.h> 00158 #include <tvmet/xpr/Eval.h> 00159 00160 #endif // TVMET_XPR_MATRIX_H 00161 00162 // Local Variables: 00163 // mode:C++ 00164 // tab-width:8 00165 // End:
Generated on Tue Jul 12 2022 19:00:11 by 1.7.2