Thomas Branch / Mbed 2 deprecated ICRSEurobot13

ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

tvmet/Io.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: Io.h,v 1.8 2007-06-23 15:58:58 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_IO_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_IO_H
madcowswe 15:9c5aaeda36dc 26
madcowswe 15:9c5aaeda36dc 27 namespace tvmet {
madcowswe 15:9c5aaeda36dc 28
madcowswe 15:9c5aaeda36dc 29 /**
madcowswe 15:9c5aaeda36dc 30 * \class IoPrintHelper Io.h "tvmet/Io.h"
madcowswe 15:9c5aaeda36dc 31 * \brief Determines the number of digits regarding the sign of the
madcowswe 15:9c5aaeda36dc 32 * container.
madcowswe 15:9c5aaeda36dc 33 * This class is nesessary due to the complex type and the
madcowswe 15:9c5aaeda36dc 34 * function min(), which are not defined for this type.
madcowswe 15:9c5aaeda36dc 35 * So we have to dispatch between pod and complex types
madcowswe 15:9c5aaeda36dc 36 * to get an information about the extra space for signs.
madcowswe 15:9c5aaeda36dc 37 */
madcowswe 15:9c5aaeda36dc 38 template<class C>
madcowswe 15:9c5aaeda36dc 39 class IoPrintHelper {
madcowswe 15:9c5aaeda36dc 40 IoPrintHelper();
madcowswe 15:9c5aaeda36dc 41 IoPrintHelper(const IoPrintHelper&);
madcowswe 15:9c5aaeda36dc 42 IoPrintHelper& operator=(const IoPrintHelper&);
madcowswe 15:9c5aaeda36dc 43
madcowswe 15:9c5aaeda36dc 44 private:
madcowswe 15:9c5aaeda36dc 45 static std::streamsize width(const C& e) {
madcowswe 15:9c5aaeda36dc 46 std::streamsize w = static_cast<std::streamsize>(std::log10(max(abs(e)))+1);
madcowswe 15:9c5aaeda36dc 47 return w > 0 ? w : 0;
madcowswe 15:9c5aaeda36dc 48 }
madcowswe 15:9c5aaeda36dc 49
madcowswe 15:9c5aaeda36dc 50 public:
madcowswe 15:9c5aaeda36dc 51 static std::streamsize width(dispatch<true>, const C& e) {
madcowswe 15:9c5aaeda36dc 52 return width(e);
madcowswe 15:9c5aaeda36dc 53 }
madcowswe 15:9c5aaeda36dc 54 static std::streamsize width(dispatch<false>, const C& e) {
madcowswe 15:9c5aaeda36dc 55 std::streamsize w = width(e);
madcowswe 15:9c5aaeda36dc 56 if(min(e) < 0) return w+1;
madcowswe 15:9c5aaeda36dc 57 else return w;
madcowswe 15:9c5aaeda36dc 58 }
madcowswe 15:9c5aaeda36dc 59 };
madcowswe 15:9c5aaeda36dc 60
madcowswe 15:9c5aaeda36dc 61
madcowswe 15:9c5aaeda36dc 62 }
madcowswe 15:9c5aaeda36dc 63
madcowswe 15:9c5aaeda36dc 64 #endif /* TVMET_IO_H */
madcowswe 15:9c5aaeda36dc 65
madcowswe 15:9c5aaeda36dc 66 // Local Variables:
madcowswe 15:9c5aaeda36dc 67 // mode:C++
madcowswe 15:9c5aaeda36dc 68 // tab-width:8
madcowswe 15:9c5aaeda36dc 69 // End: