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ICRS Eurobot 2013

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tvmet/meta/Gemtm.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: Gemtm.h,v 1.12 2007-06-23 15:58:59 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_META_GEMTM_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_META_GEMTM_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 gemtm Gemtm.h "tvmet/meta/Gemtm.h"
madcowswe 15:9c5aaeda36dc 36 * \brief Meta class for trans(matrix)-matrix operations, like product.
madcowswe 15:9c5aaeda36dc 37 * using formula
madcowswe 15:9c5aaeda36dc 38 * \f[
madcowswe 15:9c5aaeda36dc 39 * M_1^{T}\,M_2
madcowswe 15:9c5aaeda36dc 40 * \f]
madcowswe 15:9c5aaeda36dc 41 * \note The number of cols of matrix 2 have to be equal to number of rows of
madcowswe 15:9c5aaeda36dc 42 * matrix 1, since matrix 1 is transposed - the result is a (Cols1 x Cols2)
madcowswe 15:9c5aaeda36dc 43 * matrix.
madcowswe 15:9c5aaeda36dc 44 */
madcowswe 15:9c5aaeda36dc 45
madcowswe 15:9c5aaeda36dc 46 template<std::size_t Rows1, std::size_t Cols1,
madcowswe 15:9c5aaeda36dc 47 std::size_t Cols2,
madcowswe 15:9c5aaeda36dc 48 std::size_t K>
madcowswe 15:9c5aaeda36dc 49 class gemtm
madcowswe 15:9c5aaeda36dc 50 {
madcowswe 15:9c5aaeda36dc 51 private:
madcowswe 15:9c5aaeda36dc 52 gemtm();
madcowswe 15:9c5aaeda36dc 53 gemtm(const gemtm&);
madcowswe 15:9c5aaeda36dc 54 gemtm& operator=(const gemtm&);
madcowswe 15:9c5aaeda36dc 55
madcowswe 15:9c5aaeda36dc 56 private:
madcowswe 15:9c5aaeda36dc 57 enum {
madcowswe 15:9c5aaeda36dc 58 doIt = (K != Rows1 - 1) /**< recursive counter */
madcowswe 15:9c5aaeda36dc 59 };
madcowswe 15:9c5aaeda36dc 60
madcowswe 15:9c5aaeda36dc 61 public:
madcowswe 15:9c5aaeda36dc 62 template<class E1, class E2>
madcowswe 15:9c5aaeda36dc 63 static inline
madcowswe 15:9c5aaeda36dc 64 typename PromoteTraits<
madcowswe 15:9c5aaeda36dc 65 typename E1::value_type,
madcowswe 15:9c5aaeda36dc 66 typename E2::value_type
madcowswe 15:9c5aaeda36dc 67 >::value_type
madcowswe 15:9c5aaeda36dc 68 prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
madcowswe 15:9c5aaeda36dc 69 return lhs(K, i) * rhs(K, j)
madcowswe 15:9c5aaeda36dc 70 + gemtm<Rows1 * doIt, Cols1 * doIt,
madcowswe 15:9c5aaeda36dc 71 Cols2 * doIt,
madcowswe 15:9c5aaeda36dc 72 (K+1) * doIt>::prod(lhs, rhs, i, j);
madcowswe 15:9c5aaeda36dc 73 }
madcowswe 15:9c5aaeda36dc 74 };
madcowswe 15:9c5aaeda36dc 75
madcowswe 15:9c5aaeda36dc 76
madcowswe 15:9c5aaeda36dc 77 /**
madcowswe 15:9c5aaeda36dc 78 * \class gemtm<0,0,0,0> Gemtm.h "tvmet/meta/Gemtm.h"
madcowswe 15:9c5aaeda36dc 79 * \brief gemtm Specialized for recursion.
madcowswe 15:9c5aaeda36dc 80 */
madcowswe 15:9c5aaeda36dc 81 template<>
madcowswe 15:9c5aaeda36dc 82 class gemtm<0,0,0,0>
madcowswe 15:9c5aaeda36dc 83 {
madcowswe 15:9c5aaeda36dc 84 gemtm();
madcowswe 15:9c5aaeda36dc 85 gemtm(const gemtm&);
madcowswe 15:9c5aaeda36dc 86 gemtm& operator=(const gemtm&);
madcowswe 15:9c5aaeda36dc 87
madcowswe 15:9c5aaeda36dc 88 public:
madcowswe 15:9c5aaeda36dc 89 template<class E1, class E2>
madcowswe 15:9c5aaeda36dc 90 static inline
madcowswe 15:9c5aaeda36dc 91 XprNull prod(const E1&, const E2&, std::size_t, std::size_t) {
madcowswe 15:9c5aaeda36dc 92 return XprNull();
madcowswe 15:9c5aaeda36dc 93 }
madcowswe 15:9c5aaeda36dc 94 };
madcowswe 15:9c5aaeda36dc 95
madcowswe 15:9c5aaeda36dc 96
madcowswe 15:9c5aaeda36dc 97 } // namespace meta
madcowswe 15:9c5aaeda36dc 98
madcowswe 15:9c5aaeda36dc 99 } // namespace tvmet
madcowswe 15:9c5aaeda36dc 100
madcowswe 15:9c5aaeda36dc 101 #endif /* TVMET_META_GEMTM_H */
madcowswe 15:9c5aaeda36dc 102
madcowswe 15:9c5aaeda36dc 103 // Local Variables:
madcowswe 15:9c5aaeda36dc 104 // mode:C++
madcowswe 15:9c5aaeda36dc 105 // tab-width:8
madcowswe 15:9c5aaeda36dc 106 // End: