ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

Revision:
15:9c5aaeda36dc
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tvmet/MatrixImpl.h	Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,218 @@
+/*
+ * 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: MatrixImpl.h,v 1.31 2007-06-23 15:58:58 opetzold Exp $
+ */
+
+#ifndef TVMET_MATRIX_IMPL_H
+#define TVMET_MATRIX_IMPL_H
+
+#include <iomanip>            // setw
+
+#include <tvmet/Functional.h>
+#include <tvmet/Io.h>
+
+
+namespace tvmet {
+
+
+/*
+ * member operators for i/o
+ */
+template<class T, std::size_t NRows, std::size_t NCols>
+std::ostream& Matrix<T, NRows, NCols>::print_xpr(std::ostream& os, std::size_t l) const
+{
+  os << IndentLevel(l++) << "Matrix[" << ops << "]<"
+     << typeid(T).name() << ", " << Rows << ", " << Cols << ">,"
+     << IndentLevel(--l)
+     << std::endl;
+
+  return os;
+}
+
+
+template<class T, std::size_t NRows, std::size_t NCols>
+std::ostream& Matrix<T, NRows, NCols>::print_on(std::ostream& os) const
+{
+  enum {
+    complex_type = NumericTraits<value_type>::is_complex
+  };
+
+  std::streamsize w = IoPrintHelper<Matrix>::width(dispatch<complex_type>(), *this);
+
+  os << std::setw(0) << "[\n";
+  for(std::size_t i = 0; i < Rows; ++i) {
+    os << " [";
+    for(std::size_t j = 0; j < (Cols - 1); ++j) {
+      os << std::setw(w) << this->operator()(i, j) << ", ";
+    }
+    os << std::setw(w) << this->operator()(i, Cols - 1)
+       << (i != (Rows-1) ? "],\n" : "]\n");
+    }
+  os << "]";
+
+  return os;
+}
+
+
+/*
+ * member operators with scalars, per se element wise
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, OP)                    \
+template<class T, std::size_t NRows, std::size_t NCols>            \
+inline                                     \
+Matrix<T, NRows, NCols>&                        \
+Matrix<T, NRows, NCols>::operator OP (value_type rhs) {            \
+  typedef XprLiteral<value_type>             expr_type;  \
+  this->M_##NAME(XprMatrix<expr_type, Rows, Cols>(expr_type(rhs))); \
+  return *this;                                \
+}
+
+TVMET_IMPLEMENT_MACRO(add_eq, +=)
+TVMET_IMPLEMENT_MACRO(sub_eq, -=)
+TVMET_IMPLEMENT_MACRO(mul_eq, *=)
+TVMET_IMPLEMENT_MACRO(div_eq, /=)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+#define TVMET_IMPLEMENT_MACRO(NAME, OP)                    \
+template<class T, std::size_t NRows, std::size_t NCols>            \
+inline                                     \
+Matrix<T, NRows, NCols>&                        \
+Matrix<T, NRows, NCols>::operator OP (std::size_t rhs) {        \
+  typedef XprLiteral<value_type>             expr_type;  \
+  this->M_##NAME(XprMatrix<expr_type, Rows, Cols>(expr_type(rhs))); \
+  return *this;                                \
+}
+
+TVMET_IMPLEMENT_MACRO(mod_eq, %=)
+TVMET_IMPLEMENT_MACRO(xor_eq,^=)
+TVMET_IMPLEMENT_MACRO(and_eq, &=)
+TVMET_IMPLEMENT_MACRO(or_eq, |=)
+TVMET_IMPLEMENT_MACRO(shl_eq, <<=)
+TVMET_IMPLEMENT_MACRO(shr_eq, >>=)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ *  member functions (operators) with matrizes, for use with +=,-= ... <<=
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME)                                         \
+template<class T1, std::size_t NRows, std::size_t NCols>                             \
+template <class T2>                                                 \
+inline                                                          \
+Matrix<T1, NRows, NCols>&                                             \
+Matrix<T1, NRows, NCols>::M_##NAME (const Matrix<T2, Rows, Cols>& rhs) {                     \
+  this->M_##NAME( XprMatrix<typename Matrix<T2, Rows, Cols>::ConstReference, Rows, Cols>(rhs.const_ref()) ); \
+  return *this;                                                     \
+}
+
+TVMET_IMPLEMENT_MACRO(add_eq)
+TVMET_IMPLEMENT_MACRO(sub_eq)
+TVMET_IMPLEMENT_MACRO(mul_eq)
+TVMET_IMPLEMENT_MACRO(div_eq)
+TVMET_IMPLEMENT_MACRO(mod_eq)
+TVMET_IMPLEMENT_MACRO(xor_eq)
+TVMET_IMPLEMENT_MACRO(and_eq)
+TVMET_IMPLEMENT_MACRO(or_eq)
+TVMET_IMPLEMENT_MACRO(shl_eq)
+TVMET_IMPLEMENT_MACRO(shr_eq)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * member functions (operators) with expressions, for use width +=,-= ... <<=
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME)                       \
+template<class T, std::size_t NRows, std::size_t NCols>               \
+template<class E>                               \
+inline                                        \
+Matrix<T, NRows, NCols>&                           \
+Matrix<T, NRows, NCols>::M_##NAME (const XprMatrix<E, Rows, Cols>& rhs) {  \
+  rhs.assign_to(*this, Fcnl_##NAME<value_type, typename E::value_type>()); \
+  return *this;                                   \
+}
+
+TVMET_IMPLEMENT_MACRO(add_eq)
+TVMET_IMPLEMENT_MACRO(sub_eq)
+TVMET_IMPLEMENT_MACRO(mul_eq)
+TVMET_IMPLEMENT_MACRO(div_eq)
+TVMET_IMPLEMENT_MACRO(mod_eq)
+TVMET_IMPLEMENT_MACRO(xor_eq)
+TVMET_IMPLEMENT_MACRO(and_eq)
+TVMET_IMPLEMENT_MACRO(or_eq)
+TVMET_IMPLEMENT_MACRO(shl_eq)
+TVMET_IMPLEMENT_MACRO(shr_eq)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * aliased member functions (operators) with matrizes,
+ * for use with +=,-= ... <<=
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME)                                         \
+template<class T1, std::size_t NRows, std::size_t NCols>                             \
+template <class T2>                                                 \
+inline                                                          \
+Matrix<T1, NRows, NCols>&                                             \
+Matrix<T1, NRows, NCols>::alias_##NAME (const Matrix<T2, Rows, Cols>& rhs) {                     \
+  this->alias_##NAME( XprMatrix<typename Matrix<T2, Rows, Cols>::ConstReference, Rows, Cols>(rhs.const_ref()) ); \
+  return *this;                                                     \
+}
+
+TVMET_IMPLEMENT_MACRO(assign)
+TVMET_IMPLEMENT_MACRO(add_eq)
+TVMET_IMPLEMENT_MACRO(sub_eq)
+TVMET_IMPLEMENT_MACRO(mul_eq)
+TVMET_IMPLEMENT_MACRO(div_eq)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * aliased member functions (operators) with expressions,
+ * for use width +=,-= ... <<= and aliased(),
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME)                              \
+template<class T, std::size_t NRows, std::size_t NCols>                      \
+template<class E>                                      \
+inline                                               \
+Matrix<T, NRows, NCols>&                                  \
+Matrix<T, NRows, NCols>::alias_##NAME (const XprMatrix<E, Rows, Cols>& rhs) {          \
+  typedef Matrix<T, NRows, NCols>             temp_type;              \
+  temp_type(rhs).assign_to(*this, Fcnl_##NAME<value_type, typename E::value_type>()); \
+  return *this;                                          \
+}
+
+TVMET_IMPLEMENT_MACRO(assign)
+TVMET_IMPLEMENT_MACRO(add_eq)
+TVMET_IMPLEMENT_MACRO(sub_eq)
+TVMET_IMPLEMENT_MACRO(mul_eq)
+TVMET_IMPLEMENT_MACRO(div_eq)
+#undef TVMET_IMPLEMENT_MACRO
+
+
+} // namespace tvmet
+
+#endif // TVMET_MATRIX_IMPL_H
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End: