Thomas Branch / Mbed 2 deprecated ICRSEurobot13

ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

tvmet/meta/Gemv.h@20:70d651156779, 2013-04-09 (annotated)

Committer:
madcowswe
Date:
Tue Apr 09 15:33:36 2013 +0000
Revision:
20:70d651156779
Parent:
15:9c5aaeda36dc 
Predict loop running, update loop not done.

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: Gemv.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_META_GEMV_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_META_GEMV_H
madcowswe 15:9c5aaeda36dc 26
madcowswe 15:9c5aaeda36dc 27 #include <tvmet/xpr/Null.h>
madcowswe 15:9c5aaeda36dc 28
madcowswe 15:9c5aaeda36dc 29 namespace tvmet {
madcowswe 15:9c5aaeda36dc 30
madcowswe 15:9c5aaeda36dc 31 namespace meta {
madcowswe 15:9c5aaeda36dc 32
madcowswe 15:9c5aaeda36dc 33
madcowswe 15:9c5aaeda36dc 34 /**
madcowswe 15:9c5aaeda36dc 35 * \class gemv Gemv.h "tvmet/meta/Gemv.h"
madcowswe 15:9c5aaeda36dc 36 * \brief Meta class for matrix-vector operations.
madcowswe 15:9c5aaeda36dc 37 * using formula
madcowswe 15:9c5aaeda36dc 38 * \f[
madcowswe 15:9c5aaeda36dc 39 * M\,v
madcowswe 15:9c5aaeda36dc 40 * \f]
madcowswe 15:9c5aaeda36dc 41 */
madcowswe 15:9c5aaeda36dc 42 template<std::size_t Rows, std::size_t Cols,
madcowswe 15:9c5aaeda36dc 43 std::size_t J>
madcowswe 15:9c5aaeda36dc 44 class gemv
madcowswe 15:9c5aaeda36dc 45 {
madcowswe 15:9c5aaeda36dc 46 gemv();
madcowswe 15:9c5aaeda36dc 47 gemv(const gemv&);
madcowswe 15:9c5aaeda36dc 48 gemv& operator=(const gemv&);
madcowswe 15:9c5aaeda36dc 49
madcowswe 15:9c5aaeda36dc 50 private:
madcowswe 15:9c5aaeda36dc 51 enum {
madcowswe 15:9c5aaeda36dc 52 doIt = J < (Cols-1) /**< recursive counter */
madcowswe 15:9c5aaeda36dc 53 };
madcowswe 15:9c5aaeda36dc 54
madcowswe 15:9c5aaeda36dc 55 public:
madcowswe 15:9c5aaeda36dc 56 /** Meta template for %Matrix lhs %Vector rhs product. */
madcowswe 15:9c5aaeda36dc 57 template<class E1, class E2>
madcowswe 15:9c5aaeda36dc 58 static inline
madcowswe 15:9c5aaeda36dc 59 typename PromoteTraits<
madcowswe 15:9c5aaeda36dc 60 typename E1::value_type,
madcowswe 15:9c5aaeda36dc 61 typename E2::value_type
madcowswe 15:9c5aaeda36dc 62 >::value_type
madcowswe 15:9c5aaeda36dc 63 prod(const E1& lhs, const E2& rhs, std::size_t i) {
madcowswe 15:9c5aaeda36dc 64 return lhs(i, J) * rhs(J)
madcowswe 15:9c5aaeda36dc 65 + gemv<Rows * doIt, Cols * doIt,
madcowswe 15:9c5aaeda36dc 66 (J+1)* doIt>::prod(lhs, rhs, i);
madcowswe 15:9c5aaeda36dc 67 }
madcowswe 15:9c5aaeda36dc 68 };
madcowswe 15:9c5aaeda36dc 69
madcowswe 15:9c5aaeda36dc 70
madcowswe 15:9c5aaeda36dc 71 /**
madcowswe 15:9c5aaeda36dc 72 * \class gemv<0,0,0> Gemv.h "tvmet/meta/Gemv.h"
madcowswe 15:9c5aaeda36dc 73 * \brief gemv Specialized for recursion
madcowswe 15:9c5aaeda36dc 74 */
madcowswe 15:9c5aaeda36dc 75 template<>
madcowswe 15:9c5aaeda36dc 76 class gemv<0,0,0>
madcowswe 15:9c5aaeda36dc 77 {
madcowswe 15:9c5aaeda36dc 78 gemv();
madcowswe 15:9c5aaeda36dc 79 gemv(const gemv&);
madcowswe 15:9c5aaeda36dc 80 gemv& operator=(const gemv&);
madcowswe 15:9c5aaeda36dc 81
madcowswe 15:9c5aaeda36dc 82 public:
madcowswe 15:9c5aaeda36dc 83 template<class E1, class E2>
madcowswe 15:9c5aaeda36dc 84 static inline
madcowswe 15:9c5aaeda36dc 85 XprNull prod(const E1&, const E2&, std::size_t) {
madcowswe 15:9c5aaeda36dc 86 return XprNull();
madcowswe 15:9c5aaeda36dc 87 }
madcowswe 15:9c5aaeda36dc 88 };
madcowswe 15:9c5aaeda36dc 89
madcowswe 15:9c5aaeda36dc 90
madcowswe 15:9c5aaeda36dc 91 } // namespace meta
madcowswe 15:9c5aaeda36dc 92
madcowswe 15:9c5aaeda36dc 93 } // namespace tvmet
madcowswe 15:9c5aaeda36dc 94
madcowswe 15:9c5aaeda36dc 95 #endif /* TVMET_META_GEMV_H */
madcowswe 15:9c5aaeda36dc 96
madcowswe 15:9c5aaeda36dc 97 // Local Variables:
madcowswe 15:9c5aaeda36dc 98 // mode:C++
madcowswe 15:9c5aaeda36dc 99 // tab-width:8
madcowswe 15:9c5aaeda36dc 100 // End: