Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

tvmet/xpr/BinOperator.h@15:9c5aaeda36dc, 2013-04-06 (annotated)

Committer:
madcowswe
Date:
Sat Apr 06 20:57:54 2013 +0000
Revision:
15:9c5aaeda36dc
Encoders fairly tuned, still has random noise in it

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 15:9c5aaeda36dc 1 /*
madcowswe 15:9c5aaeda36dc 2 * Tiny Vector Matrix Library
madcowswe 15:9c5aaeda36dc 3 * Dense Vector Matrix Libary of Tiny size using Expression Templates
madcowswe 15:9c5aaeda36dc 4 *
madcowswe 15:9c5aaeda36dc 5 * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
madcowswe 15:9c5aaeda36dc 6 *
madcowswe 15:9c5aaeda36dc 7 * This library is free software; you can redistribute it and/or
madcowswe 15:9c5aaeda36dc 8 * modify it under the terms of the GNU Lesser General Public
madcowswe 15:9c5aaeda36dc 9 * License as published by the Free Software Foundation; either
madcowswe 15:9c5aaeda36dc 10 * version 2.1 of the License, or (at your option) any later version.
madcowswe 15:9c5aaeda36dc 11 *
madcowswe 15:9c5aaeda36dc 12 * This library is distributed in the hope that it will be useful,
madcowswe 15:9c5aaeda36dc 13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
madcowswe 15:9c5aaeda36dc 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
madcowswe 15:9c5aaeda36dc 15 * Lesser General Public License for more details.
madcowswe 15:9c5aaeda36dc 16 *
madcowswe 15:9c5aaeda36dc 17 * You should have received a copy of the GNU Lesser General Public
madcowswe 15:9c5aaeda36dc 18 * License along with this library; if not, write to the Free Software
madcowswe 15:9c5aaeda36dc 19 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
madcowswe 15:9c5aaeda36dc 20 *
madcowswe 15:9c5aaeda36dc 21 * $Id: BinOperator.h,v 1.19 2007-06-23 15:58:59 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_XPR_BINOPERATOR_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_XPR_BINOPERATOR_H
madcowswe 15:9c5aaeda36dc 26
madcowswe 15:9c5aaeda36dc 27 #include <tvmet/TypePromotion.h>
madcowswe 15:9c5aaeda36dc 28
madcowswe 15:9c5aaeda36dc 29 namespace tvmet {
madcowswe 15:9c5aaeda36dc 30
madcowswe 15:9c5aaeda36dc 31
madcowswe 15:9c5aaeda36dc 32 /**
madcowswe 15:9c5aaeda36dc 33 * \class XprBinOp BinOperator.h "tvmet/xpr/BinOperator.h"
madcowswe 15:9c5aaeda36dc 34 * \brief Binary operators working on two sub expressions.
madcowswe 15:9c5aaeda36dc 35 *
madcowswe 15:9c5aaeda36dc 36 * On acessing using the index operator() the binary operation will be
madcowswe 15:9c5aaeda36dc 37 * evaluated at compile time.
madcowswe 15:9c5aaeda36dc 38 */
madcowswe 15:9c5aaeda36dc 39 template<class BinOp, class E1, class E2>
madcowswe 15:9c5aaeda36dc 40 class XprBinOp
madcowswe 15:9c5aaeda36dc 41 : public TvmetBase< XprBinOp<BinOp, E1, E2> >
madcowswe 15:9c5aaeda36dc 42 {
madcowswe 15:9c5aaeda36dc 43 XprBinOp();
madcowswe 15:9c5aaeda36dc 44 XprBinOp& operator=(const XprBinOp&);
madcowswe 15:9c5aaeda36dc 45
madcowswe 15:9c5aaeda36dc 46 public:
madcowswe 15:9c5aaeda36dc 47 typedef typename BinOp::value_type value_type;
madcowswe 15:9c5aaeda36dc 48
madcowswe 15:9c5aaeda36dc 49 public:
madcowswe 15:9c5aaeda36dc 50 /** Complexity counter. */
madcowswe 15:9c5aaeda36dc 51 enum {
madcowswe 15:9c5aaeda36dc 52 ops_lhs = E1::ops,
madcowswe 15:9c5aaeda36dc 53 ops_rhs = E2::ops,
madcowswe 15:9c5aaeda36dc 54 ops = 2 * (ops_lhs + ops_rhs) // lhs op rhs
madcowswe 15:9c5aaeda36dc 55 };
madcowswe 15:9c5aaeda36dc 56
madcowswe 15:9c5aaeda36dc 57 public:
madcowswe 15:9c5aaeda36dc 58 /** Constructor for two expressions. */
madcowswe 15:9c5aaeda36dc 59 explicit XprBinOp(const E1& lhs, const E2& rhs)
madcowswe 15:9c5aaeda36dc 60 : m_lhs(lhs), m_rhs(rhs)
madcowswe 15:9c5aaeda36dc 61 { }
madcowswe 15:9c5aaeda36dc 62
madcowswe 15:9c5aaeda36dc 63 /** Copy Constructor. Not explicit! */
madcowswe 15:9c5aaeda36dc 64 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
madcowswe 15:9c5aaeda36dc 65 XprBinOp(const XprBinOp& e)
madcowswe 15:9c5aaeda36dc 66 : m_lhs(e.m_lhs), m_rhs(e.m_rhs)
madcowswe 15:9c5aaeda36dc 67 { }
madcowswe 15:9c5aaeda36dc 68 #endif
madcowswe 15:9c5aaeda36dc 69
madcowswe 15:9c5aaeda36dc 70 /** Index operator, evaluates the expression inside. */
madcowswe 15:9c5aaeda36dc 71 value_type operator()(std::size_t i) const {
madcowswe 15:9c5aaeda36dc 72 return BinOp::apply_on(m_lhs(i), m_rhs(i));
madcowswe 15:9c5aaeda36dc 73 }
madcowswe 15:9c5aaeda36dc 74
madcowswe 15:9c5aaeda36dc 75 /** Index operator for arrays/matrices */
madcowswe 15:9c5aaeda36dc 76 value_type operator()(std::size_t i, std::size_t j) const {
madcowswe 15:9c5aaeda36dc 77 return BinOp::apply_on(m_lhs(i, j), m_rhs(i, j));
madcowswe 15:9c5aaeda36dc 78 }
madcowswe 15:9c5aaeda36dc 79
madcowswe 15:9c5aaeda36dc 80 public: // debugging Xpr parse tree
madcowswe 15:9c5aaeda36dc 81 void print_xpr(std::ostream& os, std::size_t l=0) const {
madcowswe 15:9c5aaeda36dc 82 os << IndentLevel(l++)
madcowswe 15:9c5aaeda36dc 83 << "XprBinOp[O="<< ops << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<"
madcowswe 15:9c5aaeda36dc 84 << std::endl;
madcowswe 15:9c5aaeda36dc 85 BinOp::print_xpr(os, l);
madcowswe 15:9c5aaeda36dc 86 m_lhs.print_xpr(os, l);
madcowswe 15:9c5aaeda36dc 87 m_rhs.print_xpr(os, l);
madcowswe 15:9c5aaeda36dc 88 os << IndentLevel(--l)
madcowswe 15:9c5aaeda36dc 89 << ">," << std::endl;
madcowswe 15:9c5aaeda36dc 90 }
madcowswe 15:9c5aaeda36dc 91
madcowswe 15:9c5aaeda36dc 92 private:
madcowswe 15:9c5aaeda36dc 93 const E1 m_lhs;
madcowswe 15:9c5aaeda36dc 94 const E2 m_rhs;
madcowswe 15:9c5aaeda36dc 95 };
madcowswe 15:9c5aaeda36dc 96
madcowswe 15:9c5aaeda36dc 97
madcowswe 15:9c5aaeda36dc 98 } // namespace tvmet
madcowswe 15:9c5aaeda36dc 99
madcowswe 15:9c5aaeda36dc 100 #endif // TVMET_XPR_BINOPERATOR_H
madcowswe 15:9c5aaeda36dc 101
madcowswe 15:9c5aaeda36dc 102 // Local Variables:
madcowswe 15:9c5aaeda36dc 103 // mode:C++
madcowswe 15:9c5aaeda36dc 104 // tab-width:8
madcowswe 15:9c5aaeda36dc 105 // End: