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: