2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: tvmet/xpr/Matrix.h
- Revision:
- 15:9c5aaeda36dc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tvmet/xpr/Matrix.h Sat Apr 06 20:57:54 2013 +0000 @@ -0,0 +1,165 @@ +/* + * 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: Matrix.h,v 1.26 2007-06-23 15:59:00 opetzold Exp $ + */ + +#ifndef TVMET_XPR_MATRIX_H +#define TVMET_XPR_MATRIX_H + +#include <tvmet/meta/Matrix.h> +#include <tvmet/loop/Matrix.h> + +namespace tvmet { + + +/* forwards */ +template <class T, std::size_t Rows, std::size_t Cols> class Matrix; + +/** + * \class XprMatrix Matrix.h "tvmet/xpr/Matrix.h" + * \brief Represents the expression for vectors at any node in the parse tree. + * + * Specifically, XprMatrix is the class that wraps the expression, and the + * expression itself is represented by the template parameter E. The + * class XprMatrix is known as an anonymizing expression wrapper because + * it can hold any subexpression of arbitrary complexity, allowing + * clients to work with any expression by holding on to it via the + * wrapper, without having to know the name of the type object that + * actually implements the expression. + * \note leave the CCtors non-explicit to allow implicit type conversation. + */ +template<class E, std::size_t NRows, std::size_t NCols> +class XprMatrix + : public TvmetBase< XprMatrix<E, NRows, NCols> > +{ + XprMatrix(); + XprMatrix& operator=(const XprMatrix&); + +public: + /** Dimensions. */ + enum { + Rows = NRows, /**< Number of rows. */ + Cols = NCols, /**< Number of cols. */ + Size = Rows * Cols /**< Complete Size of Matrix. */ + }; + +public: + /** Complexity counter. */ + enum { + ops_assign = Rows * Cols, + ops = E::ops, + use_meta = ops_assign < TVMET_COMPLEXITY_M_ASSIGN_TRIGGER ? true : false + }; + +public: + typedef typename E::value_type value_type; + +public: + /** Constructor. */ + explicit XprMatrix(const E& e) + : m_expr(e) + { } + + /** Copy Constructor. Not explicit! */ +#if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) + XprMatrix(const XprMatrix& rhs) + : m_expr(rhs.m_expr) + { } +#endif + + /** access by index. */ + value_type operator()(std::size_t i, std::size_t j) const { + TVMET_RT_CONDITION((i < Rows) && (j < Cols), "XprMatrix Bounce Violation") + return m_expr(i, j); + } + +private: + /** Wrapper for meta assign. */ + template<class Dest, class Src, class Assign> + static inline + void do_assign(dispatch<true>, Dest& dest, const Src& src, const Assign& assign_fn) { + meta::Matrix<Rows, Cols, 0, 0>::assign(dest, src, assign_fn); + } + + /** Wrapper for loop assign. */ + template<class Dest, class Src, class Assign> + static inline + void do_assign(dispatch<false>, Dest& dest, const Src& src, const Assign& assign_fn) { + loop::Matrix<Rows, Cols>::assign(dest, src, assign_fn); + } + +public: + /** assign this expression to Matrix dest. */ + template<class Dest, class Assign> + void assign_to(Dest& dest, const Assign& assign_fn) const { + /* here is a way for caching, since each complex 'Node' + is of type XprMatrix. */ + do_assign(dispatch<use_meta>(), dest, *this, assign_fn); + } + +public: // debugging Xpr parse tree + void print_xpr(std::ostream& os, std::size_t l=0) const { + os << IndentLevel(l++) + << "XprMatrix[" + << (use_meta ? "M" : "L") << ", O=" << ops << "]<" + << std::endl; + m_expr.print_xpr(os, l); + os << IndentLevel(l) + << "R=" << Rows << ", C=" << Cols << std::endl; + os << IndentLevel(--l) << ">" + << ((l != 0) ? "," : "") << std::endl; + } + +private: + const E m_expr; +}; + + +} // namespace tvmet + +#include <tvmet/Functional.h> + +#include <tvmet/xpr/BinOperator.h> +#include <tvmet/xpr/UnOperator.h> +#include <tvmet/xpr/Literal.h> + +#include <tvmet/xpr/Identity.h> + +#include <tvmet/xpr/MMProduct.h> +#include <tvmet/xpr/MMProductTransposed.h> +#include <tvmet/xpr/MMtProduct.h> +#include <tvmet/xpr/MtMProduct.h> +#include <tvmet/xpr/MVProduct.h> +#include <tvmet/xpr/MtVProduct.h> +#include <tvmet/xpr/MatrixTranspose.h> + +#include <tvmet/xpr/MatrixFunctions.h> +#include <tvmet/xpr/MatrixBinaryFunctions.h> +#include <tvmet/xpr/MatrixUnaryFunctions.h> +#include <tvmet/xpr/MatrixOperators.h> +#include <tvmet/xpr/Eval.h> + +#endif // TVMET_XPR_MATRIX_H + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: