Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

tvmet/xpr/MMtProduct.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: MMtProduct.h,v 1.20 2007-06-23 15:58:59 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_XPR_MMTPRODUCT_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_XPR_MMTPRODUCT_H
madcowswe 15:9c5aaeda36dc 26
madcowswe 15:9c5aaeda36dc 27 #include <tvmet/meta/Gemmt.h>
madcowswe 15:9c5aaeda36dc 28 #include <tvmet/loop/Gemmt.h>
madcowswe 15:9c5aaeda36dc 29
madcowswe 15:9c5aaeda36dc 30 namespace tvmet {
madcowswe 15:9c5aaeda36dc 31
madcowswe 15:9c5aaeda36dc 32
madcowswe 15:9c5aaeda36dc 33 /**
madcowswe 15:9c5aaeda36dc 34 * \class XprMMtProduct MMtProduct.h "tvmet/xpr/MMtProduct.h"
madcowswe 15:9c5aaeda36dc 35 * \brief Expression for matrix-matrix product.
madcowswe 15:9c5aaeda36dc 36 * Using formula:
madcowswe 15:9c5aaeda36dc 37 * \f[
madcowswe 15:9c5aaeda36dc 38 * M_1\,M_2^T
madcowswe 15:9c5aaeda36dc 39 * \f]
madcowswe 15:9c5aaeda36dc 40 * \note The number of cols of rhs matrix have to be equal to cols of rhs matrix.
madcowswe 15:9c5aaeda36dc 41 * The result is a (Rows1 x Rows2) matrix.
madcowswe 15:9c5aaeda36dc 42 */
madcowswe 15:9c5aaeda36dc 43 template<class E1, std::size_t Rows1, std::size_t Cols1,
madcowswe 15:9c5aaeda36dc 44 class E2, std::size_t Cols2>
madcowswe 15:9c5aaeda36dc 45 class XprMMtProduct
madcowswe 15:9c5aaeda36dc 46 : public TvmetBase< XprMMtProduct<E1, Rows1, Cols1, E2, Cols2> >
madcowswe 15:9c5aaeda36dc 47 {
madcowswe 15:9c5aaeda36dc 48 private:
madcowswe 15:9c5aaeda36dc 49 XprMMtProduct();
madcowswe 15:9c5aaeda36dc 50 XprMMtProduct& operator=(const XprMMtProduct&);
madcowswe 15:9c5aaeda36dc 51
madcowswe 15:9c5aaeda36dc 52 public:
madcowswe 15:9c5aaeda36dc 53 typedef typename PromoteTraits<
madcowswe 15:9c5aaeda36dc 54 typename E1::value_type,
madcowswe 15:9c5aaeda36dc 55 typename E2::value_type
madcowswe 15:9c5aaeda36dc 56 >::value_type value_type;
madcowswe 15:9c5aaeda36dc 57
madcowswe 15:9c5aaeda36dc 58 public:
madcowswe 15:9c5aaeda36dc 59 /** Complexity counter. */
madcowswe 15:9c5aaeda36dc 60 enum {
madcowswe 15:9c5aaeda36dc 61 ops_lhs = E1::ops,
madcowswe 15:9c5aaeda36dc 62 ops_rhs = E2::ops,
madcowswe 15:9c5aaeda36dc 63 Rows2 = Cols1,
madcowswe 15:9c5aaeda36dc 64 M = Rows1 * Cols1 * Rows1,
madcowswe 15:9c5aaeda36dc 65 N = Rows1 * (Cols1 - 1) * Rows2,
madcowswe 15:9c5aaeda36dc 66 ops_plus = M * NumericTraits<value_type>::ops_plus,
madcowswe 15:9c5aaeda36dc 67 ops_muls = N * NumericTraits<value_type>::ops_muls,
madcowswe 15:9c5aaeda36dc 68 ops = ops_plus + ops_muls,
madcowswe 15:9c5aaeda36dc 69 use_meta = Rows1*Rows2 < TVMET_COMPLEXITY_MM_TRIGGER ? true : false
madcowswe 15:9c5aaeda36dc 70 };
madcowswe 15:9c5aaeda36dc 71
madcowswe 15:9c5aaeda36dc 72 public:
madcowswe 15:9c5aaeda36dc 73 /** Constructor. */
madcowswe 15:9c5aaeda36dc 74 explicit XprMMtProduct(const E1& lhs, const E2& rhs)
madcowswe 15:9c5aaeda36dc 75 : m_lhs(lhs), m_rhs(rhs)
madcowswe 15:9c5aaeda36dc 76 { }
madcowswe 15:9c5aaeda36dc 77
madcowswe 15:9c5aaeda36dc 78 /** Copy Constructor. Not explicit! */
madcowswe 15:9c5aaeda36dc 79 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
madcowswe 15:9c5aaeda36dc 80 XprMMtProduct(const XprMMtProduct& e)
madcowswe 15:9c5aaeda36dc 81 : m_lhs(e.m_lhs), m_rhs(e.m_rhs)
madcowswe 15:9c5aaeda36dc 82 { }
madcowswe 15:9c5aaeda36dc 83 #endif
madcowswe 15:9c5aaeda36dc 84
madcowswe 15:9c5aaeda36dc 85 private:
madcowswe 15:9c5aaeda36dc 86 /** Wrapper for meta gemm. */
madcowswe 15:9c5aaeda36dc 87 static inline
madcowswe 15:9c5aaeda36dc 88 value_type do_gemmt(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
madcowswe 15:9c5aaeda36dc 89 return meta::gemmt<Rows1, Cols1,
madcowswe 15:9c5aaeda36dc 90 Cols2,
madcowswe 15:9c5aaeda36dc 91 0>::prod(lhs, rhs, i, j);
madcowswe 15:9c5aaeda36dc 92 }
madcowswe 15:9c5aaeda36dc 93
madcowswe 15:9c5aaeda36dc 94 /** Wrapper for loop gemm. */
madcowswe 15:9c5aaeda36dc 95 static inline
madcowswe 15:9c5aaeda36dc 96 value_type do_gemmt(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
madcowswe 15:9c5aaeda36dc 97 return loop::gemmt<Rows1, Cols1, Cols1>::prod(lhs, rhs, i, j);
madcowswe 15:9c5aaeda36dc 98 }
madcowswe 15:9c5aaeda36dc 99
madcowswe 15:9c5aaeda36dc 100 public:
madcowswe 15:9c5aaeda36dc 101 /** index operator for arrays/matrices */
madcowswe 15:9c5aaeda36dc 102 value_type operator()(std::size_t i, std::size_t j) const {
madcowswe 15:9c5aaeda36dc 103 TVMET_RT_CONDITION((i < Rows1) && (j < Rows2), "XprMMtProduct Bounce Violation")
madcowswe 15:9c5aaeda36dc 104 return do_gemmt(dispatch<use_meta>(), m_lhs, m_rhs, i, j);
madcowswe 15:9c5aaeda36dc 105 }
madcowswe 15:9c5aaeda36dc 106
madcowswe 15:9c5aaeda36dc 107 public: // debugging Xpr parse tree
madcowswe 15:9c5aaeda36dc 108 void print_xpr(std::ostream& os, std::size_t l=0) const {
madcowswe 15:9c5aaeda36dc 109 os << IndentLevel(l++)
madcowswe 15:9c5aaeda36dc 110 << "XprMMtProduct["
madcowswe 15:9c5aaeda36dc 111 << (use_meta ? "M" : "L") << ", O=" << ops
madcowswe 15:9c5aaeda36dc 112 << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<"
madcowswe 15:9c5aaeda36dc 113 << std::endl;
madcowswe 15:9c5aaeda36dc 114 m_lhs.print_xpr(os, l);
madcowswe 15:9c5aaeda36dc 115 os << IndentLevel(l)
madcowswe 15:9c5aaeda36dc 116 << "R1=" << Rows1 << ", C1=" << Cols1 << ",\n";
madcowswe 15:9c5aaeda36dc 117 m_rhs.print_xpr(os, l);
madcowswe 15:9c5aaeda36dc 118 os << IndentLevel(l)
madcowswe 15:9c5aaeda36dc 119 << "C2=" << Cols2 << ",\n"
madcowswe 15:9c5aaeda36dc 120 << "\n"
madcowswe 15:9c5aaeda36dc 121 << IndentLevel(--l)
madcowswe 15:9c5aaeda36dc 122 << ">," << std::endl;
madcowswe 15:9c5aaeda36dc 123 }
madcowswe 15:9c5aaeda36dc 124
madcowswe 15:9c5aaeda36dc 125 private:
madcowswe 15:9c5aaeda36dc 126 const E1 m_lhs;
madcowswe 15:9c5aaeda36dc 127 const E2 m_rhs;
madcowswe 15:9c5aaeda36dc 128 };
madcowswe 15:9c5aaeda36dc 129
madcowswe 15:9c5aaeda36dc 130
madcowswe 15:9c5aaeda36dc 131 } // namespace tvmet
madcowswe 15:9c5aaeda36dc 132
madcowswe 15:9c5aaeda36dc 133 #endif // TVMET_XPR_MMTPRODUCT_H
madcowswe 15:9c5aaeda36dc 134
madcowswe 15:9c5aaeda36dc 135 // Local Variables:
madcowswe 15:9c5aaeda36dc 136 // mode:C++
madcowswe 15:9c5aaeda36dc 137 // tab-width:8
madcowswe 15:9c5aaeda36dc 138 // End: