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Fork of Eurobot_2012_Secondary by
tvmet/loop/Gemtv.h
- Committer:
- narshu
- Date:
- 2012-10-17
- Revision:
- 1:cc2a9eb0bd55
File content as of revision 1:cc2a9eb0bd55:
/* * Tiny Vector Matrix Library * Dense Vector Matrix Libary of Tiny size using Expression Templates * * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net> * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * * $Id: Gemtv.h,v 1.7 2007-06-23 15:58:59 opetzold Exp $ */ #ifndef TVMET_LOOP_GEMTV_H #define TVMET_LOOP_GEMTV_H namespace tvmet { namespace loop { /** * \class gemtv Gemtv.h "tvmet/loop/Gemtv.h" * \brief class for transposed(matrix)-vector product using loop unrolling. * using formula * \f[ * M^T\,v * \f] * \par Example: * \code * template<class T, std::size_t Rows, std::size_t Cols> * inline * void * prod(const Matrix<T, Rows, Cols>& lhs, const Vector<T, Rows>& rhs, * Vector<T, Cols>& dest) * { * for (std::size_t i = 0; i != Cols; ++i) { * dest(i) = tvmet::loop::gemtv<Rows, Cols>().prod(lhs, rhs, i); * } * } * \endcode */ template<std::size_t Rows, std::size_t Cols> class gemtv { gemtv(const gemtv&); gemtv& operator=(const gemtv&); private: enum { count = Rows, N = (count+7)/8 }; public: gemtv() { } public: template<class E1, class E2> static inline typename PromoteTraits< typename E1::value_type, typename E2::value_type >::value_type prod(const E1& lhs, const E2& rhs, std::size_t i) { typename PromoteTraits< typename E1::value_type, typename E2::value_type >::value_type sum(0); std::size_t j(0); std::size_t n(N); // Duff's device switch(count % 8) { case 0: do { sum += lhs(j, i) * rhs(j); ++j; case 7: sum += lhs(j, i) * rhs(j); ++j; case 6: sum += lhs(j, i) * rhs(j); ++j; case 5: sum += lhs(j, i) * rhs(j); ++j; case 4: sum += lhs(j, i) * rhs(j); ++j; case 3: sum += lhs(j, i) * rhs(j); ++j; case 2: sum += lhs(j, i) * rhs(j); ++j; case 1: sum += lhs(j, i) * rhs(j); ++j; } while(--n != 0); } return sum; } }; } // namespace loop } // namespace tvmet #endif /* TVMET_LOOP_GEMTV_H */ // Local Variables: // mode:C++ // tab-width:8 // End: