ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

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?

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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: CommaInitializer.h,v 1.18 2007-06-23 15:58:58 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_COMMA_INITIALIZER_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_COMMA_INITIALIZER_H
madcowswe 15:9c5aaeda36dc 26
madcowswe 15:9c5aaeda36dc 27 #include <tvmet/CompileTimeError.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 CommaInitializer CommaInitializer.h "tvmet/CommaInitializer.h"
madcowswe 15:9c5aaeda36dc 34 * \brief Initialize classes using a comma separated lists.
madcowswe 15:9c5aaeda36dc 35 *
madcowswe 15:9c5aaeda36dc 36 * The comma operator is called when it appears next to an object of
madcowswe 15:9c5aaeda36dc 37 * the type the comma is defined for. However, "operator," is not called
madcowswe 15:9c5aaeda36dc 38 * for function argument lists, only for objects that are out in the open,
madcowswe 15:9c5aaeda36dc 39 * separated by commas (Thinking C++
madcowswe 15:9c5aaeda36dc 40 * <a href=http://www.ida.liu.se/~TDDA14/online/v1ticpp/Chapter12.html>
madcowswe 15:9c5aaeda36dc 41 * Ch.12: Operator comma</a>).
madcowswe 15:9c5aaeda36dc 42 *
madcowswe 15:9c5aaeda36dc 43 * This implementation uses the same technique as described in Todd Veldhuizen
madcowswe 15:9c5aaeda36dc 44 * Techniques for Scientific C++
madcowswe 15:9c5aaeda36dc 45 * <a href=http://extreme.indiana.edu/~tveldhui/papers/techniques/techniques01.html#l43>
madcowswe 15:9c5aaeda36dc 46 * chapter 1.11 Comma overloading</a>.
madcowswe 15:9c5aaeda36dc 47 *
madcowswe 15:9c5aaeda36dc 48 * The initializer list is avaible after instanciation of the object,
madcowswe 15:9c5aaeda36dc 49 * therefore use it like:
madcowswe 15:9c5aaeda36dc 50 * \code
madcowswe 15:9c5aaeda36dc 51 * vector3d t;
madcowswe 15:9c5aaeda36dc 52 * t = 1.0, 2.0, 3.0;
madcowswe 15:9c5aaeda36dc 53 * \endcode
madcowswe 15:9c5aaeda36dc 54 * It's evaluated to (((t = 1.0), 2.0), 3.0)
madcowswe 15:9c5aaeda36dc 55 *
madcowswe 15:9c5aaeda36dc 56 * For matrizes the initilization is done row wise.
madcowswe 15:9c5aaeda36dc 57 *
madcowswe 15:9c5aaeda36dc 58 * If the comma separted list of values longer then the size of the vector
madcowswe 15:9c5aaeda36dc 59 * or matrix a compile time error will occour. Otherwise the pending values
madcowswe 15:9c5aaeda36dc 60 * will be written random into the memory.
madcowswe 15:9c5aaeda36dc 61 *
madcowswe 15:9c5aaeda36dc 62 */
madcowswe 15:9c5aaeda36dc 63 template<class Obj, std::size_t LEN>
madcowswe 15:9c5aaeda36dc 64 class CommaInitializer
madcowswe 15:9c5aaeda36dc 65 {
madcowswe 15:9c5aaeda36dc 66 CommaInitializer();
madcowswe 15:9c5aaeda36dc 67 CommaInitializer& operator=(const CommaInitializer&);
madcowswe 15:9c5aaeda36dc 68
madcowswe 15:9c5aaeda36dc 69 private:
madcowswe 15:9c5aaeda36dc 70 /**
madcowswe 15:9c5aaeda36dc 71 * \class Initializer
madcowswe 15:9c5aaeda36dc 72 * \brief Helper fo recursive overloaded comma operator.
madcowswe 15:9c5aaeda36dc 73 */
madcowswe 15:9c5aaeda36dc 74 template<class T, std::size_t N> class Initializer
madcowswe 15:9c5aaeda36dc 75 {
madcowswe 15:9c5aaeda36dc 76 Initializer();
madcowswe 15:9c5aaeda36dc 77 Initializer& operator=(const Initializer&);
madcowswe 15:9c5aaeda36dc 78
madcowswe 15:9c5aaeda36dc 79 public:
madcowswe 15:9c5aaeda36dc 80 typedef T value_type;
madcowswe 15:9c5aaeda36dc 81 typedef T* iterator;
madcowswe 15:9c5aaeda36dc 82
madcowswe 15:9c5aaeda36dc 83 public:
madcowswe 15:9c5aaeda36dc 84 Initializer(iterator iter) : m_iter(iter) { }
madcowswe 15:9c5aaeda36dc 85
madcowswe 15:9c5aaeda36dc 86 /** Overloads the comma operator for recursive assign values from comma
madcowswe 15:9c5aaeda36dc 87 separated list. */
madcowswe 15:9c5aaeda36dc 88 Initializer<value_type, N+1> operator,(value_type rhs)
madcowswe 15:9c5aaeda36dc 89 {
madcowswe 15:9c5aaeda36dc 90 TVMET_CT_CONDITION(N < LEN, CommaInitializerList_is_too_long)
madcowswe 15:9c5aaeda36dc 91 *m_iter = rhs;
madcowswe 15:9c5aaeda36dc 92 return Initializer<value_type, N+1>(m_iter + 1);
madcowswe 15:9c5aaeda36dc 93 }
madcowswe 15:9c5aaeda36dc 94
madcowswe 15:9c5aaeda36dc 95 private:
madcowswe 15:9c5aaeda36dc 96 iterator m_iter;
madcowswe 15:9c5aaeda36dc 97 };
madcowswe 15:9c5aaeda36dc 98
madcowswe 15:9c5aaeda36dc 99 public:
madcowswe 15:9c5aaeda36dc 100 typedef typename Obj::value_type value_type;
madcowswe 15:9c5aaeda36dc 101 typedef value_type* iterator;
madcowswe 15:9c5aaeda36dc 102
madcowswe 15:9c5aaeda36dc 103 public:
madcowswe 15:9c5aaeda36dc 104 CommaInitializer(const CommaInitializer& rhs)
madcowswe 15:9c5aaeda36dc 105 : m_object(rhs.m_object),
madcowswe 15:9c5aaeda36dc 106 m_data(rhs.m_data),
madcowswe 15:9c5aaeda36dc 107 m_wipeout_on_destruct(true)
madcowswe 15:9c5aaeda36dc 108 {
madcowswe 15:9c5aaeda36dc 109 rhs.disable();
madcowswe 15:9c5aaeda36dc 110 }
madcowswe 15:9c5aaeda36dc 111
madcowswe 15:9c5aaeda36dc 112 /** Constructor used by Vector or Matrix operator(value_type rhs) */
madcowswe 15:9c5aaeda36dc 113 CommaInitializer(Obj& obj, value_type x)
madcowswe 15:9c5aaeda36dc 114 : m_object(obj),
madcowswe 15:9c5aaeda36dc 115 m_data(x),
madcowswe 15:9c5aaeda36dc 116 m_wipeout_on_destruct(true)
madcowswe 15:9c5aaeda36dc 117 { }
madcowswe 15:9c5aaeda36dc 118
madcowswe 15:9c5aaeda36dc 119 /** Destructs and assigns the comma separated value. */
madcowswe 15:9c5aaeda36dc 120 ~CommaInitializer() {
madcowswe 15:9c5aaeda36dc 121 if(m_wipeout_on_destruct) m_object.assign_value(m_data);
madcowswe 15:9c5aaeda36dc 122 }
madcowswe 15:9c5aaeda36dc 123
madcowswe 15:9c5aaeda36dc 124 /** Overloaded comma operator, called only once for the first occoured comma. This
madcowswe 15:9c5aaeda36dc 125 means the first value is assigned by %operator=() and the 2nd value after the
madcowswe 15:9c5aaeda36dc 126 comma. Therfore we call the %Initializer::operator,() for the list starting
madcowswe 15:9c5aaeda36dc 127 after the 2nd. */
madcowswe 15:9c5aaeda36dc 128 Initializer<value_type, 2> operator,(value_type rhs);
madcowswe 15:9c5aaeda36dc 129
madcowswe 15:9c5aaeda36dc 130 void disable() const { m_wipeout_on_destruct = false; }
madcowswe 15:9c5aaeda36dc 131
madcowswe 15:9c5aaeda36dc 132 private:
madcowswe 15:9c5aaeda36dc 133 Obj& m_object;
madcowswe 15:9c5aaeda36dc 134 value_type m_data;
madcowswe 15:9c5aaeda36dc 135 mutable bool m_wipeout_on_destruct;
madcowswe 15:9c5aaeda36dc 136 };
madcowswe 15:9c5aaeda36dc 137
madcowswe 15:9c5aaeda36dc 138
madcowswe 15:9c5aaeda36dc 139 /*
madcowswe 15:9c5aaeda36dc 140 * Implementation
madcowswe 15:9c5aaeda36dc 141 */
madcowswe 15:9c5aaeda36dc 142 template<class Obj, std::size_t LEN>
madcowswe 15:9c5aaeda36dc 143 typename CommaInitializer<Obj, LEN>::template Initializer<typename Obj::value_type, 2>
madcowswe 15:9c5aaeda36dc 144 CommaInitializer<Obj, LEN>::operator,(typename Obj::value_type rhs)
madcowswe 15:9c5aaeda36dc 145 {
madcowswe 15:9c5aaeda36dc 146 m_wipeout_on_destruct = false;
madcowswe 15:9c5aaeda36dc 147 iterator iter1 = m_object.data();
madcowswe 15:9c5aaeda36dc 148 *iter1 = m_data;
madcowswe 15:9c5aaeda36dc 149 iterator iter2 = iter1 + 1;
madcowswe 15:9c5aaeda36dc 150 *iter2 = rhs;
madcowswe 15:9c5aaeda36dc 151 return Initializer<value_type, 2>(iter2 + 1);
madcowswe 15:9c5aaeda36dc 152 }
madcowswe 15:9c5aaeda36dc 153
madcowswe 15:9c5aaeda36dc 154
madcowswe 15:9c5aaeda36dc 155
madcowswe 15:9c5aaeda36dc 156 } // namespace tvmet
madcowswe 15:9c5aaeda36dc 157
madcowswe 15:9c5aaeda36dc 158
madcowswe 15:9c5aaeda36dc 159 #endif // TVMET_COMMA_INITIALIZER_H
madcowswe 15:9c5aaeda36dc 160
madcowswe 15:9c5aaeda36dc 161 // Local Variables:
madcowswe 15:9c5aaeda36dc 162 // mode:C++
madcowswe 15:9c5aaeda36dc 163 // tab-width:8
madcowswe 15:9c5aaeda36dc 164 // End: