2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: tvmet/util/General.h
- Revision:
- 15:9c5aaeda36dc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tvmet/util/General.h Sat Apr 06 20:57:54 2013 +0000 @@ -0,0 +1,126 @@ +/* + * 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: General.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $ + */ + +#ifndef TVMET_UTIL_GENERAL_H +#define TVMET_UTIL_GENERAL_H + + +/** forward */ +namespace tvmet { +template<class T, std::size_t Rows, std::size_t Cols> class Matrix; +template<class T, std::size_t Sz> class Vector; +} + +namespace tvmet { + +namespace util { + +/* + * \defgroup _util_function + * \brief Usefull utility functions + */ + +/** + * \fn Gemm(const Matrix<T, Rows, Cols>& m1, const Matrix<T, Rows, Cols>& m2, Matrix<T, Rows, Cols>& m3) + * \brief General matrix matrix multiplication using loops. + * \ingroup _util_function + */ +template<class T, std::size_t Rows, std::size_t Cols> +inline +void +Gemm(const Matrix<T, Rows, Cols>& m1, const Matrix<T, Rows, Cols>& m2, + Matrix<T, Rows, Cols>& m3) +{ + for (std::size_t i = 0; i < Rows; ++i) { + for (std::size_t j = 0; j < Cols; ++j) { + T sum(0); + for (std::size_t k = 0; k < Cols; ++k) { + sum += m1(i,k) * m2(k,j); + } + m3(i,j) = sum; + } + } +} + + +/** + * \fn Gemv(const Matrix<T, Rows, Cols>& m, const Vector<T, Cols>& v, Vector<T, Cols>& v2) + * \brief General matrix vector multiplication using loops. + * \ingroup _util_function + */ +template<class T, std::size_t Rows, std::size_t Cols> +inline +void +Gemv(const Matrix<T, Rows, Cols>& m, const Vector<T, Cols>& v, + Vector<T, Cols>& v2) +{ + for (std::size_t i = 0; i < Rows; ++i){ + v2(i) = T(0); // clean up before use + for (std::size_t j = 0; j < Cols; ++j) { + v2(i) += m(i,j) * v(j); + } + } +} + + +/** + * \fn Gevvmul(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, Vector<T, Sz>& v3) + * \brief General vector vector elementwise multiplication using loop. + * \ingroup _util_function + */ +template<class T, std::size_t Sz> +inline +void +Gevvmul(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, + Vector<T, Sz>& v3) +{ + for(std::size_t i = 0; i < Sz; ++i) + v3(i) = v1(i) * v2(i); +} + + +/** + * \fn Gevvadd(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, Vector<T, Sz>& v3) + * \brief General vector vector elementwise multiplication using loop. + * \ingroup _util_function + */ +template<class T, std::size_t Sz> +inline +void +Gevvadd(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, + Vector<T, Sz>& v3) +{ + for(std::size_t i = 0; i < Sz; ++i) + v3(i) = v1(i) + v2(i); +} + +} // namespace util + +} // namespace tvmet + +#endif // TVMET_UTIL_GENERAL_H + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: