Shuto Naruse
/
Eurobot2012_Secondary
Eurobot2012_Secondary
Fork of Eurobot_2012_Secondary by
tvmet/MatrixImpl.h@1:cc2a9eb0bd55, 2012-10-17 (annotated)
- Committer:
- narshu
- Date:
- Wed Oct 17 22:25:31 2012 +0000
- Revision:
- 1:cc2a9eb0bd55
Commit before publishing
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 1:cc2a9eb0bd55 | 1 | /* |
narshu | 1:cc2a9eb0bd55 | 2 | * Tiny Vector Matrix Library |
narshu | 1:cc2a9eb0bd55 | 3 | * Dense Vector Matrix Libary of Tiny size using Expression Templates |
narshu | 1:cc2a9eb0bd55 | 4 | * |
narshu | 1:cc2a9eb0bd55 | 5 | * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net> |
narshu | 1:cc2a9eb0bd55 | 6 | * |
narshu | 1:cc2a9eb0bd55 | 7 | * This library is free software; you can redistribute it and/or |
narshu | 1:cc2a9eb0bd55 | 8 | * modify it under the terms of the GNU lesser General Public |
narshu | 1:cc2a9eb0bd55 | 9 | * License as published by the Free Software Foundation; either |
narshu | 1:cc2a9eb0bd55 | 10 | * version 2.1 of the License, or (at your option) any later version. |
narshu | 1:cc2a9eb0bd55 | 11 | * |
narshu | 1:cc2a9eb0bd55 | 12 | * This library is distributed in the hope that it will be useful, |
narshu | 1:cc2a9eb0bd55 | 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
narshu | 1:cc2a9eb0bd55 | 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
narshu | 1:cc2a9eb0bd55 | 15 | * lesser General Public License for more details. |
narshu | 1:cc2a9eb0bd55 | 16 | * |
narshu | 1:cc2a9eb0bd55 | 17 | * You should have received a copy of the GNU lesser General Public |
narshu | 1:cc2a9eb0bd55 | 18 | * License along with this library; if not, write to the Free Software |
narshu | 1:cc2a9eb0bd55 | 19 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
narshu | 1:cc2a9eb0bd55 | 20 | * |
narshu | 1:cc2a9eb0bd55 | 21 | * $Id: MatrixImpl.h,v 1.31 2007-06-23 15:58:58 opetzold Exp $ |
narshu | 1:cc2a9eb0bd55 | 22 | */ |
narshu | 1:cc2a9eb0bd55 | 23 | |
narshu | 1:cc2a9eb0bd55 | 24 | #ifndef TVMET_MATRIX_IMPL_H |
narshu | 1:cc2a9eb0bd55 | 25 | #define TVMET_MATRIX_IMPL_H |
narshu | 1:cc2a9eb0bd55 | 26 | |
narshu | 1:cc2a9eb0bd55 | 27 | #include <iomanip> // setw |
narshu | 1:cc2a9eb0bd55 | 28 | |
narshu | 1:cc2a9eb0bd55 | 29 | #include <tvmet/Functional.h> |
narshu | 1:cc2a9eb0bd55 | 30 | #include <tvmet/Io.h> |
narshu | 1:cc2a9eb0bd55 | 31 | |
narshu | 1:cc2a9eb0bd55 | 32 | |
narshu | 1:cc2a9eb0bd55 | 33 | namespace tvmet { |
narshu | 1:cc2a9eb0bd55 | 34 | |
narshu | 1:cc2a9eb0bd55 | 35 | |
narshu | 1:cc2a9eb0bd55 | 36 | /* |
narshu | 1:cc2a9eb0bd55 | 37 | * member operators for i/o |
narshu | 1:cc2a9eb0bd55 | 38 | */ |
narshu | 1:cc2a9eb0bd55 | 39 | template<class T, std::size_t NRows, std::size_t NCols> |
narshu | 1:cc2a9eb0bd55 | 40 | std::ostream& Matrix<T, NRows, NCols>::print_xpr(std::ostream& os, std::size_t l) const |
narshu | 1:cc2a9eb0bd55 | 41 | { |
narshu | 1:cc2a9eb0bd55 | 42 | os << IndentLevel(l++) << "Matrix[" << ops << "]<" |
narshu | 1:cc2a9eb0bd55 | 43 | << typeid(T).name() << ", " << Rows << ", " << Cols << ">," |
narshu | 1:cc2a9eb0bd55 | 44 | << IndentLevel(--l) |
narshu | 1:cc2a9eb0bd55 | 45 | << std::endl; |
narshu | 1:cc2a9eb0bd55 | 46 | |
narshu | 1:cc2a9eb0bd55 | 47 | return os; |
narshu | 1:cc2a9eb0bd55 | 48 | } |
narshu | 1:cc2a9eb0bd55 | 49 | |
narshu | 1:cc2a9eb0bd55 | 50 | |
narshu | 1:cc2a9eb0bd55 | 51 | template<class T, std::size_t NRows, std::size_t NCols> |
narshu | 1:cc2a9eb0bd55 | 52 | std::ostream& Matrix<T, NRows, NCols>::print_on(std::ostream& os) const |
narshu | 1:cc2a9eb0bd55 | 53 | { |
narshu | 1:cc2a9eb0bd55 | 54 | enum { |
narshu | 1:cc2a9eb0bd55 | 55 | complex_type = NumericTraits<value_type>::is_complex |
narshu | 1:cc2a9eb0bd55 | 56 | }; |
narshu | 1:cc2a9eb0bd55 | 57 | |
narshu | 1:cc2a9eb0bd55 | 58 | std::streamsize w = IoPrintHelper<Matrix>::width(dispatch<complex_type>(), *this); |
narshu | 1:cc2a9eb0bd55 | 59 | |
narshu | 1:cc2a9eb0bd55 | 60 | os << std::setw(0) << "[\n"; |
narshu | 1:cc2a9eb0bd55 | 61 | for(std::size_t i = 0; i < Rows; ++i) { |
narshu | 1:cc2a9eb0bd55 | 62 | os << " ["; |
narshu | 1:cc2a9eb0bd55 | 63 | for(std::size_t j = 0; j < (Cols - 1); ++j) { |
narshu | 1:cc2a9eb0bd55 | 64 | os << std::setw(w) << this->operator()(i, j) << ", "; |
narshu | 1:cc2a9eb0bd55 | 65 | } |
narshu | 1:cc2a9eb0bd55 | 66 | os << std::setw(w) << this->operator()(i, Cols - 1) |
narshu | 1:cc2a9eb0bd55 | 67 | << (i != (Rows-1) ? "],\n" : "]\n"); |
narshu | 1:cc2a9eb0bd55 | 68 | } |
narshu | 1:cc2a9eb0bd55 | 69 | os << "]"; |
narshu | 1:cc2a9eb0bd55 | 70 | |
narshu | 1:cc2a9eb0bd55 | 71 | return os; |
narshu | 1:cc2a9eb0bd55 | 72 | } |
narshu | 1:cc2a9eb0bd55 | 73 | |
narshu | 1:cc2a9eb0bd55 | 74 | |
narshu | 1:cc2a9eb0bd55 | 75 | /* |
narshu | 1:cc2a9eb0bd55 | 76 | * member operators with scalars, per se element wise |
narshu | 1:cc2a9eb0bd55 | 77 | */ |
narshu | 1:cc2a9eb0bd55 | 78 | #define TVMET_IMPLEMENT_MACRO(NAME, OP) \ |
narshu | 1:cc2a9eb0bd55 | 79 | template<class T, std::size_t NRows, std::size_t NCols> \ |
narshu | 1:cc2a9eb0bd55 | 80 | inline \ |
narshu | 1:cc2a9eb0bd55 | 81 | Matrix<T, NRows, NCols>& \ |
narshu | 1:cc2a9eb0bd55 | 82 | Matrix<T, NRows, NCols>::operator OP (value_type rhs) { \ |
narshu | 1:cc2a9eb0bd55 | 83 | typedef XprLiteral<value_type> expr_type; \ |
narshu | 1:cc2a9eb0bd55 | 84 | this->M_##NAME(XprMatrix<expr_type, Rows, Cols>(expr_type(rhs))); \ |
narshu | 1:cc2a9eb0bd55 | 85 | return *this; \ |
narshu | 1:cc2a9eb0bd55 | 86 | } |
narshu | 1:cc2a9eb0bd55 | 87 | |
narshu | 1:cc2a9eb0bd55 | 88 | TVMET_IMPLEMENT_MACRO(add_eq, +=) |
narshu | 1:cc2a9eb0bd55 | 89 | TVMET_IMPLEMENT_MACRO(sub_eq, -=) |
narshu | 1:cc2a9eb0bd55 | 90 | TVMET_IMPLEMENT_MACRO(mul_eq, *=) |
narshu | 1:cc2a9eb0bd55 | 91 | TVMET_IMPLEMENT_MACRO(div_eq, /=) |
narshu | 1:cc2a9eb0bd55 | 92 | #undef TVMET_IMPLEMENT_MACRO |
narshu | 1:cc2a9eb0bd55 | 93 | |
narshu | 1:cc2a9eb0bd55 | 94 | |
narshu | 1:cc2a9eb0bd55 | 95 | #define TVMET_IMPLEMENT_MACRO(NAME, OP) \ |
narshu | 1:cc2a9eb0bd55 | 96 | template<class T, std::size_t NRows, std::size_t NCols> \ |
narshu | 1:cc2a9eb0bd55 | 97 | inline \ |
narshu | 1:cc2a9eb0bd55 | 98 | Matrix<T, NRows, NCols>& \ |
narshu | 1:cc2a9eb0bd55 | 99 | Matrix<T, NRows, NCols>::operator OP (std::size_t rhs) { \ |
narshu | 1:cc2a9eb0bd55 | 100 | typedef XprLiteral<value_type> expr_type; \ |
narshu | 1:cc2a9eb0bd55 | 101 | this->M_##NAME(XprMatrix<expr_type, Rows, Cols>(expr_type(rhs))); \ |
narshu | 1:cc2a9eb0bd55 | 102 | return *this; \ |
narshu | 1:cc2a9eb0bd55 | 103 | } |
narshu | 1:cc2a9eb0bd55 | 104 | |
narshu | 1:cc2a9eb0bd55 | 105 | TVMET_IMPLEMENT_MACRO(mod_eq, %=) |
narshu | 1:cc2a9eb0bd55 | 106 | TVMET_IMPLEMENT_MACRO(xor_eq,^=) |
narshu | 1:cc2a9eb0bd55 | 107 | TVMET_IMPLEMENT_MACRO(and_eq, &=) |
narshu | 1:cc2a9eb0bd55 | 108 | TVMET_IMPLEMENT_MACRO(or_eq, |=) |
narshu | 1:cc2a9eb0bd55 | 109 | TVMET_IMPLEMENT_MACRO(shl_eq, <<=) |
narshu | 1:cc2a9eb0bd55 | 110 | TVMET_IMPLEMENT_MACRO(shr_eq, >>=) |
narshu | 1:cc2a9eb0bd55 | 111 | #undef TVMET_IMPLEMENT_MACRO |
narshu | 1:cc2a9eb0bd55 | 112 | |
narshu | 1:cc2a9eb0bd55 | 113 | |
narshu | 1:cc2a9eb0bd55 | 114 | /* |
narshu | 1:cc2a9eb0bd55 | 115 | * member functions (operators) with matrizes, for use with +=,-= ... <<= |
narshu | 1:cc2a9eb0bd55 | 116 | */ |
narshu | 1:cc2a9eb0bd55 | 117 | #define TVMET_IMPLEMENT_MACRO(NAME) \ |
narshu | 1:cc2a9eb0bd55 | 118 | template<class T1, std::size_t NRows, std::size_t NCols> \ |
narshu | 1:cc2a9eb0bd55 | 119 | template <class T2> \ |
narshu | 1:cc2a9eb0bd55 | 120 | inline \ |
narshu | 1:cc2a9eb0bd55 | 121 | Matrix<T1, NRows, NCols>& \ |
narshu | 1:cc2a9eb0bd55 | 122 | Matrix<T1, NRows, NCols>::M_##NAME (const Matrix<T2, Rows, Cols>& rhs) { \ |
narshu | 1:cc2a9eb0bd55 | 123 | this->M_##NAME( XprMatrix<typename Matrix<T2, Rows, Cols>::ConstReference, Rows, Cols>(rhs.const_ref()) ); \ |
narshu | 1:cc2a9eb0bd55 | 124 | return *this; \ |
narshu | 1:cc2a9eb0bd55 | 125 | } |
narshu | 1:cc2a9eb0bd55 | 126 | |
narshu | 1:cc2a9eb0bd55 | 127 | TVMET_IMPLEMENT_MACRO(add_eq) |
narshu | 1:cc2a9eb0bd55 | 128 | TVMET_IMPLEMENT_MACRO(sub_eq) |
narshu | 1:cc2a9eb0bd55 | 129 | TVMET_IMPLEMENT_MACRO(mul_eq) |
narshu | 1:cc2a9eb0bd55 | 130 | TVMET_IMPLEMENT_MACRO(div_eq) |
narshu | 1:cc2a9eb0bd55 | 131 | TVMET_IMPLEMENT_MACRO(mod_eq) |
narshu | 1:cc2a9eb0bd55 | 132 | TVMET_IMPLEMENT_MACRO(xor_eq) |
narshu | 1:cc2a9eb0bd55 | 133 | TVMET_IMPLEMENT_MACRO(and_eq) |
narshu | 1:cc2a9eb0bd55 | 134 | TVMET_IMPLEMENT_MACRO(or_eq) |
narshu | 1:cc2a9eb0bd55 | 135 | TVMET_IMPLEMENT_MACRO(shl_eq) |
narshu | 1:cc2a9eb0bd55 | 136 | TVMET_IMPLEMENT_MACRO(shr_eq) |
narshu | 1:cc2a9eb0bd55 | 137 | #undef TVMET_IMPLEMENT_MACRO |
narshu | 1:cc2a9eb0bd55 | 138 | |
narshu | 1:cc2a9eb0bd55 | 139 | |
narshu | 1:cc2a9eb0bd55 | 140 | /* |
narshu | 1:cc2a9eb0bd55 | 141 | * member functions (operators) with expressions, for use width +=,-= ... <<= |
narshu | 1:cc2a9eb0bd55 | 142 | */ |
narshu | 1:cc2a9eb0bd55 | 143 | #define TVMET_IMPLEMENT_MACRO(NAME) \ |
narshu | 1:cc2a9eb0bd55 | 144 | template<class T, std::size_t NRows, std::size_t NCols> \ |
narshu | 1:cc2a9eb0bd55 | 145 | template<class E> \ |
narshu | 1:cc2a9eb0bd55 | 146 | inline \ |
narshu | 1:cc2a9eb0bd55 | 147 | Matrix<T, NRows, NCols>& \ |
narshu | 1:cc2a9eb0bd55 | 148 | Matrix<T, NRows, NCols>::M_##NAME (const XprMatrix<E, Rows, Cols>& rhs) { \ |
narshu | 1:cc2a9eb0bd55 | 149 | rhs.assign_to(*this, Fcnl_##NAME<value_type, typename E::value_type>()); \ |
narshu | 1:cc2a9eb0bd55 | 150 | return *this; \ |
narshu | 1:cc2a9eb0bd55 | 151 | } |
narshu | 1:cc2a9eb0bd55 | 152 | |
narshu | 1:cc2a9eb0bd55 | 153 | TVMET_IMPLEMENT_MACRO(add_eq) |
narshu | 1:cc2a9eb0bd55 | 154 | TVMET_IMPLEMENT_MACRO(sub_eq) |
narshu | 1:cc2a9eb0bd55 | 155 | TVMET_IMPLEMENT_MACRO(mul_eq) |
narshu | 1:cc2a9eb0bd55 | 156 | TVMET_IMPLEMENT_MACRO(div_eq) |
narshu | 1:cc2a9eb0bd55 | 157 | TVMET_IMPLEMENT_MACRO(mod_eq) |
narshu | 1:cc2a9eb0bd55 | 158 | TVMET_IMPLEMENT_MACRO(xor_eq) |
narshu | 1:cc2a9eb0bd55 | 159 | TVMET_IMPLEMENT_MACRO(and_eq) |
narshu | 1:cc2a9eb0bd55 | 160 | TVMET_IMPLEMENT_MACRO(or_eq) |
narshu | 1:cc2a9eb0bd55 | 161 | TVMET_IMPLEMENT_MACRO(shl_eq) |
narshu | 1:cc2a9eb0bd55 | 162 | TVMET_IMPLEMENT_MACRO(shr_eq) |
narshu | 1:cc2a9eb0bd55 | 163 | #undef TVMET_IMPLEMENT_MACRO |
narshu | 1:cc2a9eb0bd55 | 164 | |
narshu | 1:cc2a9eb0bd55 | 165 | |
narshu | 1:cc2a9eb0bd55 | 166 | /* |
narshu | 1:cc2a9eb0bd55 | 167 | * aliased member functions (operators) with matrizes, |
narshu | 1:cc2a9eb0bd55 | 168 | * for use with +=,-= ... <<= |
narshu | 1:cc2a9eb0bd55 | 169 | */ |
narshu | 1:cc2a9eb0bd55 | 170 | #define TVMET_IMPLEMENT_MACRO(NAME) \ |
narshu | 1:cc2a9eb0bd55 | 171 | template<class T1, std::size_t NRows, std::size_t NCols> \ |
narshu | 1:cc2a9eb0bd55 | 172 | template <class T2> \ |
narshu | 1:cc2a9eb0bd55 | 173 | inline \ |
narshu | 1:cc2a9eb0bd55 | 174 | Matrix<T1, NRows, NCols>& \ |
narshu | 1:cc2a9eb0bd55 | 175 | Matrix<T1, NRows, NCols>::alias_##NAME (const Matrix<T2, Rows, Cols>& rhs) { \ |
narshu | 1:cc2a9eb0bd55 | 176 | this->alias_##NAME( XprMatrix<typename Matrix<T2, Rows, Cols>::ConstReference, Rows, Cols>(rhs.const_ref()) ); \ |
narshu | 1:cc2a9eb0bd55 | 177 | return *this; \ |
narshu | 1:cc2a9eb0bd55 | 178 | } |
narshu | 1:cc2a9eb0bd55 | 179 | |
narshu | 1:cc2a9eb0bd55 | 180 | TVMET_IMPLEMENT_MACRO(assign) |
narshu | 1:cc2a9eb0bd55 | 181 | TVMET_IMPLEMENT_MACRO(add_eq) |
narshu | 1:cc2a9eb0bd55 | 182 | TVMET_IMPLEMENT_MACRO(sub_eq) |
narshu | 1:cc2a9eb0bd55 | 183 | TVMET_IMPLEMENT_MACRO(mul_eq) |
narshu | 1:cc2a9eb0bd55 | 184 | TVMET_IMPLEMENT_MACRO(div_eq) |
narshu | 1:cc2a9eb0bd55 | 185 | #undef TVMET_IMPLEMENT_MACRO |
narshu | 1:cc2a9eb0bd55 | 186 | |
narshu | 1:cc2a9eb0bd55 | 187 | |
narshu | 1:cc2a9eb0bd55 | 188 | /* |
narshu | 1:cc2a9eb0bd55 | 189 | * aliased member functions (operators) with expressions, |
narshu | 1:cc2a9eb0bd55 | 190 | * for use width +=,-= ... <<= and aliased(), |
narshu | 1:cc2a9eb0bd55 | 191 | */ |
narshu | 1:cc2a9eb0bd55 | 192 | #define TVMET_IMPLEMENT_MACRO(NAME) \ |
narshu | 1:cc2a9eb0bd55 | 193 | template<class T, std::size_t NRows, std::size_t NCols> \ |
narshu | 1:cc2a9eb0bd55 | 194 | template<class E> \ |
narshu | 1:cc2a9eb0bd55 | 195 | inline \ |
narshu | 1:cc2a9eb0bd55 | 196 | Matrix<T, NRows, NCols>& \ |
narshu | 1:cc2a9eb0bd55 | 197 | Matrix<T, NRows, NCols>::alias_##NAME (const XprMatrix<E, Rows, Cols>& rhs) { \ |
narshu | 1:cc2a9eb0bd55 | 198 | typedef Matrix<T, NRows, NCols> temp_type; \ |
narshu | 1:cc2a9eb0bd55 | 199 | temp_type(rhs).assign_to(*this, Fcnl_##NAME<value_type, typename E::value_type>()); \ |
narshu | 1:cc2a9eb0bd55 | 200 | return *this; \ |
narshu | 1:cc2a9eb0bd55 | 201 | } |
narshu | 1:cc2a9eb0bd55 | 202 | |
narshu | 1:cc2a9eb0bd55 | 203 | TVMET_IMPLEMENT_MACRO(assign) |
narshu | 1:cc2a9eb0bd55 | 204 | TVMET_IMPLEMENT_MACRO(add_eq) |
narshu | 1:cc2a9eb0bd55 | 205 | TVMET_IMPLEMENT_MACRO(sub_eq) |
narshu | 1:cc2a9eb0bd55 | 206 | TVMET_IMPLEMENT_MACRO(mul_eq) |
narshu | 1:cc2a9eb0bd55 | 207 | TVMET_IMPLEMENT_MACRO(div_eq) |
narshu | 1:cc2a9eb0bd55 | 208 | #undef TVMET_IMPLEMENT_MACRO |
narshu | 1:cc2a9eb0bd55 | 209 | |
narshu | 1:cc2a9eb0bd55 | 210 | |
narshu | 1:cc2a9eb0bd55 | 211 | } // namespace tvmet |
narshu | 1:cc2a9eb0bd55 | 212 | |
narshu | 1:cc2a9eb0bd55 | 213 | #endif // TVMET_MATRIX_IMPL_H |
narshu | 1:cc2a9eb0bd55 | 214 | |
narshu | 1:cc2a9eb0bd55 | 215 | // Local Variables: |
narshu | 1:cc2a9eb0bd55 | 216 | // mode:C++ |
narshu | 1:cc2a9eb0bd55 | 217 | // tab-width:8 |
narshu | 1:cc2a9eb0bd55 | 218 | // End: |