Thomas Branch
ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
Diff: tvmet/MatrixBinaryFunctions.h
- Revision:
- 15:9c5aaeda36dc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tvmet/MatrixBinaryFunctions.h Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,533 @@
+/*
+ * 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: MatrixBinaryFunctions.h,v 1.16 2007-06-23 15:58:58 opetzold Exp $
+ */
+
+#ifndef TVMET_MATRIX_BINARY_FUNCTIONS_H
+#define TVMET_MATRIX_BINARY_FUNCTIONS_H
+
+namespace tvmet {
+
+/*********************************************************
+ * PART I: DECLARATION
+ *********************************************************/
+
+/*
+ * binary_function(Matrix<T1, Rows, Cols>, Matrix<T2, Rows, Cols>)
+ * binary_function(Matrix<T1, Rows, Cols>, XprMatrix<E, Rows, Cols>)
+ * binary_function(XprMatrix<E, Rows, Cols>, Matrix<T, Rows, Cols>)
+ */
+#define TVMET_DECLARE_MACRO(NAME) \
+template<class T1, class T2, std::size_t Rows, std::size_t Cols> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<T1, T2>, \
+ MatrixConstReference<T1, Rows, Cols>, \
+ MatrixConstReference<T2, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+NAME(const Matrix<T1, Rows, Cols>& lhs, \
+ const Matrix<T2, Cols, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE; \
+ \
+template<class E, class T, std::size_t Rows, std::size_t Cols> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, T>, \
+ MatrixConstReference<T, Rows, Cols>, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+NAME(const XprMatrix<E, Rows, Cols>& lhs, \
+ const Matrix<T, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE; \
+ \
+template<class E, class T, std::size_t Rows, std::size_t Cols> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<T, typename E::value_type>, \
+ MatrixConstReference<T, Rows, Cols>, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+NAME(const Matrix<T, Rows, Cols>& lhs, \
+ const XprMatrix<E, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+TVMET_DECLARE_MACRO(atan2)
+TVMET_DECLARE_MACRO(drem)
+TVMET_DECLARE_MACRO(fmod)
+TVMET_DECLARE_MACRO(hypot)
+TVMET_DECLARE_MACRO(jn)
+TVMET_DECLARE_MACRO(yn)
+TVMET_DECLARE_MACRO(pow)
+#if defined(TVMET_HAVE_COMPLEX)
+TVMET_DECLARE_MACRO(polar)
+#endif
+
+#undef TVMET_DECLARE_MACRO
+
+
+/*
+ * binary_function(Matrix<T, Rows, Cols>, POD)
+ */
+#define TVMET_DECLARE_MACRO(NAME, TP) \
+template<class T, std::size_t Rows, std::size_t Cols> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<T, TP >, \
+ MatrixConstReference<T, Rows, Cols>, \
+ XprLiteral< TP > \
+ >, \
+ Rows, Cols \
+> \
+NAME(const Matrix<T, Rows, Cols>& lhs, TP rhs) TVMET_CXX_ALWAYS_INLINE;
+
+TVMET_DECLARE_MACRO(atan2, int)
+TVMET_DECLARE_MACRO(drem, int)
+TVMET_DECLARE_MACRO(fmod, int)
+TVMET_DECLARE_MACRO(hypot, int)
+TVMET_DECLARE_MACRO(jn, int)
+TVMET_DECLARE_MACRO(yn, int)
+TVMET_DECLARE_MACRO(pow, int)
+
+#if defined(TVMET_HAVE_LONG_LONG)
+TVMET_DECLARE_MACRO(atan2, long long int)
+TVMET_DECLARE_MACRO(drem, long long int)
+TVMET_DECLARE_MACRO(fmod, long long int)
+TVMET_DECLARE_MACRO(hypot, long long int)
+TVMET_DECLARE_MACRO(jn, long long int)
+TVMET_DECLARE_MACRO(yn, long long int)
+TVMET_DECLARE_MACRO(pow, long long int)
+#endif // defined(TVMET_HAVE_LONG_LONG)
+
+TVMET_DECLARE_MACRO(atan2, float)
+TVMET_DECLARE_MACRO(drem, float)
+TVMET_DECLARE_MACRO(fmod, float)
+TVMET_DECLARE_MACRO(hypot, float)
+TVMET_DECLARE_MACRO(jn, float)
+TVMET_DECLARE_MACRO(yn, float)
+TVMET_DECLARE_MACRO(pow, float)
+
+TVMET_DECLARE_MACRO(atan2, double)
+TVMET_DECLARE_MACRO(drem, double)
+TVMET_DECLARE_MACRO(fmod, double)
+TVMET_DECLARE_MACRO(hypot, double)
+TVMET_DECLARE_MACRO(jn, double)
+TVMET_DECLARE_MACRO(yn, double)
+TVMET_DECLARE_MACRO(pow, double)
+
+#if defined(TVMET_HAVE_LONG_DOUBLE)
+TVMET_DECLARE_MACRO(atan2, long double)
+TVMET_DECLARE_MACRO(drem, long double)
+TVMET_DECLARE_MACRO(fmod, long double)
+TVMET_DECLARE_MACRO(hypot, long double)
+TVMET_DECLARE_MACRO(jn, long double)
+TVMET_DECLARE_MACRO(yn, long double)
+TVMET_DECLARE_MACRO(pow, long double)
+#endif // defined(TVMET_HAVE_LONG_DOUBLE)
+
+#undef TVMET_DECLARE_MACRO
+
+
+/*
+ * complex math
+ */
+
+#if defined(TVMET_HAVE_COMPLEX) && defined(TVMET_HAVE_COMPLEX_MATH1)
+template<class T, std::size_t Rows, std::size_t Cols>
+XprMatrix<
+ XprBinOp<
+ Fcnl_pow<T, std::complex<T> >,
+ MatrixConstReference<T, Rows, Cols>,
+ XprLiteral< std::complex<T> >
+ >,
+ Rows, Cols
+>
+pow(const Matrix<T, Rows, Cols>& lhs,
+ const std::complex<T>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+
+template<class T, std::size_t Rows, std::size_t Cols>
+XprMatrix<
+ XprBinOp<
+ Fcnl_pow< std::complex<T>, std::complex<T> >,
+ MatrixConstReference<std::complex<T>, Rows, Cols>,
+ XprLiteral< std::complex<T> >
+ >,
+ Rows, Cols
+>
+pow(const Matrix<std::complex<T>, Rows, Cols>& lhs,
+ const std::complex<T>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+
+/**
+ * \fn pow(const Matrix<std::complex<T>, Rows, Cols>& lhs, const T& rhs)
+ * \ingroup _binary_function
+ */
+template<class T, std::size_t Rows, std::size_t Cols>
+XprMatrix<
+ XprBinOp<
+ Fcnl_pow<std::complex<T>, T>,
+ MatrixConstReference<std::complex<T>, Rows, Cols>,
+ XprLiteral<T>
+ >,
+ Rows, Cols
+>
+pow(const Matrix<std::complex<T>, Rows, Cols>& lhs,
+ const T& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+
+/**
+ * \fn pow(const Matrix<std::complex<T>, Rows, Cols>& lhs, int rhs)
+ * \ingroup _binary_function
+ */
+template<class T, std::size_t Rows, std::size_t Cols>
+XprMatrix<
+ XprBinOp<
+ Fcnl_pow<std::complex<T>, int>,
+ MatrixConstReference<std::complex<T>, Rows, Cols>,
+ XprLiteral<int>
+ >,
+ Rows, Cols
+>
+pow(const Matrix<std::complex<T>, Rows, Cols>& lhs,
+ int rhs) TVMET_CXX_ALWAYS_INLINE;
+
+
+template<class T, std::size_t Rows, std::size_t Cols>
+XprMatrix<
+ XprBinOp<
+ Fcnl_polar<T, T>,
+ MatrixConstReference<T, Rows, Cols>,
+ XprLiteral<T>
+ >,
+ Rows, Cols
+>
+polar(const Matrix<T, Rows, Cols>& lhs,
+ const T& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+#endif // defined(TVMET_HAVE_COMPLEX) && defined(TVMET_HAVE_COMPLEX_MATH1)
+
+
+#if defined(TVMET_HAVE_COMPLEX) && defined(TVMET_HAVE_COMPLEX_MATH2)
+// to be written (atan2)
+#endif // defined(TVMET_HAVE_COMPLEX) && defined(TVMET_HAVE_COMPLEX_MATH2)
+
+
+/*********************************************************
+ * PART II: IMPLEMENTATION
+ *********************************************************/
+
+/*
+ * binary_function(Matrix<T1, Rows, Cols>, Matrix<T2, Rows, Cols>)
+ * binary_function(Matrix<T1, Rows, Cols>, XprMatrix<E, Rows, Cols>)
+ * binary_function(XprMatrix<E, Rows, Cols>, Matrix<T, Rows, Cols>)
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME) \
+template<class T1, class T2, std::size_t Rows, std::size_t Cols> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<T1, T2>, \
+ MatrixConstReference<T1, Rows, Cols>, \
+ MatrixConstReference<T2, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+NAME(const Matrix<T1, Rows, Cols>& lhs, const Matrix<T2, Cols, Cols>& rhs) { \
+ typedef XprBinOp < \
+ Fcnl_##NAME<T1, T2>, \
+ MatrixConstReference<T1, Rows, Cols>, \
+ MatrixConstReference<T2, Rows, Cols> \
+ > expr_type; \
+ return XprMatrix<expr_type, Rows, Cols>( \
+ expr_type(lhs.const_ref(), rhs.const_ref())); \
+} \
+ \
+template<class E, class T, std::size_t Rows, std::size_t Cols> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, T>, \
+ MatrixConstReference<T, Rows, Cols>, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+NAME(const XprMatrix<E, Rows, Cols>& lhs, const Matrix<T, Rows, Cols>& rhs) { \
+ typedef XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, T>, \
+ XprMatrix<E, Rows, Cols>, \
+ MatrixConstReference<T, Rows, Cols> \
+ > expr_type; \
+ return XprMatrix<expr_type, Rows, Cols>( \
+ expr_type(lhs, rhs.const_ref())); \
+} \
+ \
+template<class E, class T, std::size_t Rows, std::size_t Cols> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<T, typename E::value_type>, \
+ MatrixConstReference<T, Rows, Cols>, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+NAME(const Matrix<T, Rows, Cols>& lhs, const XprMatrix<E, Rows, Cols>& rhs) { \
+ typedef XprBinOp< \
+ Fcnl_##NAME<T, typename E::value_type>, \
+ MatrixConstReference<T, Rows, Cols>, \
+ XprMatrix<E, Rows, Cols> \
+ > expr_type; \
+ return XprMatrix<expr_type, Rows, Cols>( \
+ expr_type(lhs.const_ref(), rhs)); \
+}
+
+TVMET_IMPLEMENT_MACRO(atan2)
+TVMET_IMPLEMENT_MACRO(drem)
+TVMET_IMPLEMENT_MACRO(fmod)
+TVMET_IMPLEMENT_MACRO(hypot)
+TVMET_IMPLEMENT_MACRO(jn)
+TVMET_IMPLEMENT_MACRO(yn)
+TVMET_IMPLEMENT_MACRO(pow)
+#if defined(TVMET_HAVE_COMPLEX)
+TVMET_IMPLEMENT_MACRO(polar)
+#endif
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * binary_function(Matrix<T, Rows, Cols>, POD)
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, TP) \
+template<class T, std::size_t Rows, std::size_t Cols> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<T, TP >, \
+ MatrixConstReference<T, Rows, Cols>, \
+ XprLiteral< TP > \
+ >, \
+ Rows, Cols \
+> \
+NAME(const Matrix<T, Rows, Cols>& lhs, TP rhs) { \
+ typedef XprBinOp< \
+ Fcnl_##NAME<T, TP >, \
+ MatrixConstReference<T, Rows, Cols>, \
+ XprLiteral< TP > \
+ > expr_type; \
+ return XprMatrix<expr_type, Rows, Cols>( \
+ expr_type(lhs.const_ref(), XprLiteral< TP >(rhs))); \
+}
+
+TVMET_IMPLEMENT_MACRO(atan2, int)
+TVMET_IMPLEMENT_MACRO(drem, int)
+TVMET_IMPLEMENT_MACRO(fmod, int)
+TVMET_IMPLEMENT_MACRO(hypot, int)
+TVMET_IMPLEMENT_MACRO(jn, int)
+TVMET_IMPLEMENT_MACRO(yn, int)
+TVMET_IMPLEMENT_MACRO(pow, int)
+
+#if defined(TVMET_HAVE_LONG_LONG)
+TVMET_IMPLEMENT_MACRO(atan2, long long int)
+TVMET_IMPLEMENT_MACRO(drem, long long int)
+TVMET_IMPLEMENT_MACRO(fmod, long long int)
+TVMET_IMPLEMENT_MACRO(hypot, long long int)
+TVMET_IMPLEMENT_MACRO(jn, long long int)
+TVMET_IMPLEMENT_MACRO(yn, long long int)
+TVMET_IMPLEMENT_MACRO(pow, long long int)
+#endif // defined(TVMET_HAVE_LONG_LONG)
+
+TVMET_IMPLEMENT_MACRO(atan2, float)
+TVMET_IMPLEMENT_MACRO(drem, float)
+TVMET_IMPLEMENT_MACRO(fmod, float)
+TVMET_IMPLEMENT_MACRO(hypot, float)
+TVMET_IMPLEMENT_MACRO(jn, float)
+TVMET_IMPLEMENT_MACRO(yn, float)
+TVMET_IMPLEMENT_MACRO(pow, float)
+
+TVMET_IMPLEMENT_MACRO(atan2, double)
+TVMET_IMPLEMENT_MACRO(drem, double)
+TVMET_IMPLEMENT_MACRO(fmod, double)
+TVMET_IMPLEMENT_MACRO(hypot, double)
+TVMET_IMPLEMENT_MACRO(jn, double)
+TVMET_IMPLEMENT_MACRO(yn, double)
+TVMET_IMPLEMENT_MACRO(pow, double)
+
+#if defined(TVMET_HAVE_LONG_DOUBLE)
+TVMET_IMPLEMENT_MACRO(atan2, long double)
+TVMET_IMPLEMENT_MACRO(drem, long double)
+TVMET_IMPLEMENT_MACRO(fmod, long double)
+TVMET_IMPLEMENT_MACRO(hypot, long double)
+TVMET_IMPLEMENT_MACRO(jn, long double)
+TVMET_IMPLEMENT_MACRO(yn, long double)
+TVMET_IMPLEMENT_MACRO(pow, long double)
+#endif // defined(TVMET_HAVE_LONG_DOUBLE)
+
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * complex math
+ */
+
+#if defined(TVMET_HAVE_COMPLEX) && defined(TVMET_HAVE_COMPLEX_MATH1)
+/**
+ * \fn pow(const Matrix<T, Rows, Cols>& lhs, const std::complex<T>& rhs)
+ * \ingroup _binary_function
+ */
+template<class T, std::size_t Rows, std::size_t Cols>
+inline
+XprMatrix<
+ XprBinOp<
+ Fcnl_pow<T, std::complex<T> >,
+ MatrixConstReference<T, Rows, Cols>,
+ XprLiteral< std::complex<T> >
+ >,
+ Rows, Cols
+>
+pow(const Matrix<T, Rows, Cols>& lhs, const std::complex<T>& rhs) {
+ typedef XprBinOp<
+ Fcnl_pow<T, std::complex<T> >,
+ MatrixConstReference<T, Rows, Cols>,
+ XprLiteral< std::complex<T> >
+ > expr_type;
+ return XprMatrix<expr_type, Rows, Cols>(
+ expr_type(lhs.const_ref(), XprLiteral< std::complex<T> >(rhs)));
+}
+
+
+/**
+ * \fn pow(const Matrix<std::complex<T>, Rows, Cols>& lhs, const std::complex<T>& rhs)
+ * \ingroup _binary_function
+ */
+template<class T, std::size_t Rows, std::size_t Cols>
+inline
+XprMatrix<
+ XprBinOp<
+ Fcnl_pow< std::complex<T>, std::complex<T> >,
+ MatrixConstReference<std::complex<T>, Rows, Cols>,
+ XprLiteral< std::complex<T> >
+ >,
+ Rows, Cols
+>
+pow(const Matrix<std::complex<T>, Rows, Cols>& lhs, const std::complex<T>& rhs) {
+ typedef XprBinOp<
+ Fcnl_pow< std::complex<T>, std::complex<T> >,
+ MatrixConstReference<std::complex<T>, Rows, Cols>,
+ XprLiteral< std::complex<T> >
+ > expr_type;
+ return XprMatrix<expr_type, Rows, Cols>(
+ expr_type(lhs.const_ref(), XprLiteral< std::complex<T> >(rhs)));
+}
+
+
+/**
+ * \fn pow(const Matrix<std::complex<T>, Rows, Cols>& lhs, const T& rhs)
+ * \ingroup _binary_function
+ */
+template<class T, std::size_t Rows, std::size_t Cols>
+inline
+XprMatrix<
+ XprBinOp<
+ Fcnl_pow<std::complex<T>, T>,
+ MatrixConstReference<std::complex<T>, Rows, Cols>,
+ XprLiteral<T>
+ >,
+ Rows, Cols
+>
+pow(const Matrix<std::complex<T>, Rows, Cols>& lhs, const T& rhs) {
+ typedef XprBinOp<
+ Fcnl_pow<std::complex<T>, T>,
+ MatrixConstReference<std::complex<T>, Rows, Cols>,
+ XprLiteral<T>
+ > expr_type;
+ return XprMatrix<expr_type, Rows, Cols>(
+ expr_type(lhs.const_ref(), XprLiteral<T>(rhs)));
+}
+
+
+/**
+ * \fn pow(const Matrix<std::complex<T>, Rows, Cols>& lhs, int rhs)
+ * \ingroup _binary_function
+ */
+template<class T, std::size_t Rows, std::size_t Cols>
+inline
+XprMatrix<
+ XprBinOp<
+ Fcnl_pow<std::complex<T>, int>,
+ MatrixConstReference<std::complex<T>, Rows, Cols>,
+ XprLiteral<int>
+ >,
+ Rows, Cols
+>
+pow(const Matrix<std::complex<T>, Rows, Cols>& lhs, int rhs) {
+ typedef XprBinOp<
+ Fcnl_pow<std::complex<T>, int>,
+ MatrixConstReference<std::complex<T>, Rows, Cols>,
+ XprLiteral<int>
+ > expr_type;
+ return XprMatrix<expr_type, Rows, Cols>(
+ expr_type(lhs.const_ref(), XprLiteral<int>(rhs)));
+}
+
+
+/**
+ * \fn polar(const Matrix<T, Rows, Cols>& lhs, const T& rhs)
+ * \ingroup _binary_function
+ */
+template<class T, std::size_t Rows, std::size_t Cols>
+inline
+XprMatrix<
+ XprBinOp<
+ Fcnl_polar<T, T>,
+ MatrixConstReference<T, Rows, Cols>,
+ XprLiteral<T>
+ >,
+ Rows, Cols
+>
+polar(const Matrix<T, Rows, Cols>& lhs, const T& rhs) {
+ typedef XprBinOp<
+ Fcnl_polar<T, T>,
+ MatrixConstReference<T, Rows, Cols>,
+ XprLiteral<T>
+ > expr_type;
+ return XprMatrix<expr_type, Rows, Cols>(
+ expr_type(lhs.const_ref(), XprLiteral<T>(rhs)));
+}
+
+#endif // defined(TVMET_HAVE_COMPLEX) && defined(TVMET_HAVE_COMPLEX_MATH1)
+
+#if defined(TVMET_HAVE_COMPLEX) && defined(TVMET_HAVE_COMPLEX_MATH2)
+// to be written (atan2)
+#endif // defined(TVMET_HAVE_COMPLEX) && defined(TVMET_HAVE_COMPLEX_MATH2)
+
+
+} // namespace tvmet
+
+#endif // TVMET_MATRIX_BINARY_FUNCTIONS_H
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End:
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Repository details
| Type: | Program |
|---|---|
| Mbed OS support: | Mbed 2 deprecated |
| Created: | 29 Mar 2013 |
| Imports: | 11 |
| Forks: | 2 |
| Commits: | 21 |
| Dependents: | 0 |
| Dependencies: | 4 |
| Followers: | 2 |
