ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

Revision:
15:9c5aaeda36dc
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tvmet/Vector.h	Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,563 @@
+/*
+ * 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: Vector.h,v 1.48 2007-06-23 15:58:58 opetzold Exp $
+ */
+
+#ifndef TVMET_VECTOR_H
+#define TVMET_VECTOR_H
+
+#include <iterator>                    // reverse_iterator
+
+#include <tvmet/tvmet.h>
+#include <tvmet/TypePromotion.h>
+#include <tvmet/CommaInitializer.h>
+#include <tvmet/RunTimeError.h>
+
+#include <tvmet/xpr/Vector.h>
+
+namespace tvmet {
+
+
+/* forwards */
+template<class T, std::size_t Sz> class Vector;
+
+
+/**
+ * \class VectorConstReference Vector.h "tvmet/Vector.h"
+ * \brief Const value iterator for ET
+ */
+template<class T, std::size_t Sz>
+class VectorConstReference
+  : public TvmetBase< VectorConstReference<T, Sz> >
+{
+public: // types
+  typedef T                         value_type;
+  typedef T*                        pointer;
+  typedef const T*                    const_pointer;
+
+public:
+  /** Dimensions. */
+  enum {
+    Size = Sz            /**< The size of the vector. */
+  };
+
+public:
+  /** Complexity counter. */
+  enum {
+    ops        = Size
+  };
+
+private:
+  VectorConstReference();
+  VectorConstReference& operator=(const VectorConstReference&);
+
+public:
+  /** Constructor. */
+  explicit VectorConstReference(const Vector<T, Size>& rhs)
+    : m_data(rhs.data())
+  { }
+
+  /** Constructor by a given memory pointer. */
+  explicit VectorConstReference(const_pointer data)
+    : m_data(data)
+  { }
+
+public: // access operators
+  /** access by index. */
+  value_type operator()(std::size_t i) const {
+    TVMET_RT_CONDITION(i < Size, "VectorConstReference Bounce Violation")
+    return m_data[i];
+  }
+
+public: // debugging Xpr parse tree
+  void print_xpr(std::ostream& os, std::size_t l=0) const {
+    os << IndentLevel(l)
+       << "VectorConstReference[O=" << ops << "]<"
+       << "T=" << typeid(T).name() << ">,"
+       << std::endl;
+  }
+
+private:
+  const_pointer _tvmet_restrict             m_data;
+};
+
+
+/**
+ * \class Vector Vector.h "tvmet/Vector.h"
+ * \brief Compile time fixed length vector with evaluation on compile time.
+ */
+template<class T, std::size_t Sz>
+class Vector
+{
+public:
+  /** Data type of the tvmet::Vector. */
+  typedef T                         value_type;
+
+  /** Reference type of the tvmet::Vector data elements. */
+  typedef T&                         reference;
+
+  /** const reference type of the tvmet::Vector data elements. */
+  typedef const T&                         const_reference;
+
+  /** STL iterator interface. */
+  typedef T*                         iterator;
+
+  /** STL const_iterator interface. */
+  typedef const T*                         const_iterator;
+
+  /** STL reverse iterator interface. */
+  typedef std::reverse_iterator<iterator>         reverse_iterator;
+
+  /** STL const reverse iterator interface. */
+  typedef std::reverse_iterator<const_iterator>     const_reverse_iterator;
+
+public:
+  /** Dimensions. */
+  enum {
+    Size = Sz            /**< The size of the vector. */
+  };
+
+public:
+  /** Complexity counter. */
+  enum {
+    ops_assign = Size,
+    ops        = ops_assign,
+    use_meta   = ops < TVMET_COMPLEXITY_V_ASSIGN_TRIGGER ? true : false
+  };
+
+public: // STL  interface
+  /** STL iterator interface. */
+  iterator begin() { return m_data; }
+
+  /** STL iterator interface. */
+  iterator end() { return m_data + Size; }
+
+  /** STL const_iterator interface. */
+  const_iterator begin() const { return m_data; }
+
+  /** STL const_iterator interface. */
+  const_iterator end() const { return m_data + Size; }
+
+  /** STL reverse iterator interface reverse begin. */
+  reverse_iterator rbegin() { return reverse_iterator( end() ); }
+
+  /** STL const reverse iterator interface reverse begin. */
+  const_reverse_iterator rbegin() const {
+    return const_reverse_iterator( end() );
+  }
+
+  /** STL reverse iterator interface reverse end. */
+  reverse_iterator rend() { return reverse_iterator( begin() ); }
+
+  /** STL const reverse iterator interface reverse end. */
+  const_reverse_iterator rend() const {
+    return const_reverse_iterator( begin() );
+  }
+
+  /** STL vector front element. */
+  value_type front() { return m_data[0]; }
+
+  /** STL vector const front element. */
+  const_reference front() const { return m_data[0]; }
+
+  /** STL vector back element. */
+  value_type back() { return m_data[Size-1]; }
+
+  /** STL vector const back element. */
+  const_reference back() const { return m_data[Size-1]; }
+
+  /** STL vector empty() - returns allways false. */
+  static bool empty() { return false; }
+
+  /** The size of the vector. */
+  static std::size_t size() { return Size; }
+
+  /** STL vector max_size() - returns allways Size. */
+  static std::size_t max_size() { return Size; }
+
+public:
+  /** Default Destructor */
+  ~Vector() {
+#if defined(TVMET_DYNAMIC_MEMORY)
+    delete [] m_data;
+#endif
+  }
+
+  /** Default Constructor. The allocated memory region isn't cleared. If you want
+   a clean use the constructor argument zero. */
+  explicit Vector()
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  { }
+
+  /** Copy Constructor, not explicit! */
+  Vector(const Vector& rhs)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    *this = XprVector<ConstReference, Size>(rhs.const_ref());
+  }
+
+  /**
+   * Constructor with STL iterator interface. The data will be copied into the
+   * vector self, there isn't any stored reference to the array pointer.
+   */
+  template<class InputIterator>
+  explicit Vector(InputIterator first, InputIterator last)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_RT_CONDITION( static_cast<std::size_t>(std::distance(first, last)) <= Size,
+            "InputIterator doesn't fits in size" )
+    std::copy(first, last, m_data);
+  }
+
+  /**
+   * Constructor with STL iterator interface. The data will be copied into the
+   * vector self, there isn't any stored reference to the array pointer.
+   */
+  template<class InputIterator>
+  explicit Vector(InputIterator first, std::size_t sz)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_RT_CONDITION( sz <= Size, "InputIterator doesn't fits in size" )
+    std::copy(first, first + sz, m_data);
+  }
+
+  /** Constructor with initializer for all elements.  */
+  explicit Vector(value_type rhs)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    typedef XprLiteral<value_type> expr_type;
+    *this = XprVector<expr_type, Size>(expr_type(rhs));
+  }
+
+  /** Default Constructor with initializer list. */
+  explicit Vector(value_type x0, value_type x1)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_CT_CONDITION(2 <= Size, ArgumentList_is_too_long)
+    m_data[0] = x0; m_data[1] = x1;
+  }
+
+  /** Default Constructor with initializer list. */
+  explicit Vector(value_type x0, value_type x1, value_type x2)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_CT_CONDITION(3 <= Size, ArgumentList_is_too_long)
+    m_data[0] = x0; m_data[1] = x1; m_data[2] = x2;
+  }
+
+  /** Default Constructor with initializer list. */
+  explicit Vector(value_type x0, value_type x1, value_type x2, value_type x3)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_CT_CONDITION(4 <= Size, ArgumentList_is_too_long)
+    m_data[0] = x0; m_data[1] = x1; m_data[2] = x2; m_data[3] = x3;
+  }
+
+  /** Default Constructor with initializer list. */
+  explicit Vector(value_type x0, value_type x1, value_type x2, value_type x3,
+          value_type x4)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_CT_CONDITION(5 <= Size, ArgumentList_is_too_long)
+    m_data[0] = x0; m_data[1] = x1; m_data[2] = x2; m_data[3] = x3; m_data[4] = x4;
+  }
+
+  /** Default Constructor with initializer list. */
+  explicit Vector(value_type x0, value_type x1, value_type x2, value_type x3,
+          value_type x4, value_type x5)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_CT_CONDITION(6 <= Size, ArgumentList_is_too_long)
+    m_data[0] = x0; m_data[1] = x1; m_data[2] = x2; m_data[3] = x3; m_data[4] = x4;
+    m_data[5] = x5;
+  }
+
+  /** Default Constructor with initializer list. */
+  explicit Vector(value_type x0, value_type x1, value_type x2, value_type x3,
+          value_type x4, value_type x5, value_type x6)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_CT_CONDITION(7 <= Size, ArgumentList_is_too_long)
+    m_data[0] = x0; m_data[1] = x1; m_data[2] = x2; m_data[3] = x3; m_data[4] = x4;
+    m_data[5] = x5; m_data[6] = x6;
+  }
+
+  /** Default Constructor with initializer list. */
+  explicit Vector(value_type x0, value_type x1, value_type x2, value_type x3,
+          value_type x4, value_type x5, value_type x6, value_type x7)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_CT_CONDITION(8 <= Size, ArgumentList_is_too_long)
+    m_data[0] = x0; m_data[1] = x1; m_data[2] = x2; m_data[3] = x3; m_data[4] = x4;
+    m_data[5] = x5; m_data[6] = x6; m_data[7] = x7;
+  }
+
+  /** Default Constructor with initializer list. */
+  explicit Vector(value_type x0, value_type x1, value_type x2, value_type x3,
+          value_type x4, value_type x5, value_type x6, value_type x7,
+          value_type x8)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_CT_CONDITION(9 <= Size, ArgumentList_is_too_long)
+    m_data[0] = x0; m_data[1] = x1; m_data[2] = x2; m_data[3] = x3; m_data[4] = x4;
+    m_data[5] = x5; m_data[6] = x6; m_data[7] = x7; m_data[8] = x8;
+  }
+
+  /** Default Constructor with initializer list. */
+  explicit Vector(value_type x0, value_type x1, value_type x2, value_type x3,
+          value_type x4, value_type x5, value_type x6, value_type x7,
+          value_type x8, value_type x9)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    TVMET_CT_CONDITION(10 <= Size, ArgumentList_is_too_long)
+    m_data[0] = x0; m_data[1] = x1; m_data[2] = x2; m_data[3] = x3; m_data[4] = x4;
+    m_data[5] = x5; m_data[6] = x6; m_data[7] = x7; m_data[8] = x8; m_data[9] = x9;
+  }
+
+  /** Construct a vector by expression. */
+  template <class E>
+  explicit Vector(const XprVector<E, Size>& e)
+#if defined(TVMET_DYNAMIC_MEMORY)
+    : m_data( new value_type[Size] )
+#endif
+  {
+    *this = e;
+  }
+
+  /** Assign a value_type on array, this can be used for a single value
+      or a comma separeted list of values. */
+  CommaInitializer<Vector, Size> operator=(value_type rhs) {
+    return CommaInitializer<Vector, Size>(*this, rhs);
+  }
+
+public: // access operators
+  value_type* _tvmet_restrict data() { return m_data; }
+  const value_type* _tvmet_restrict data() const { return m_data; }
+
+public: // index access operators
+  value_type& _tvmet_restrict operator()(std::size_t i) {
+    // Note: g++-2.95.3 does have problems on typedef reference
+    TVMET_RT_CONDITION(i < Size, "Vector Bounce Violation")
+    return m_data[i];
+  }
+
+  value_type operator()(std::size_t i) const {
+    TVMET_RT_CONDITION(i < Size, "Vector Bounce Violation")
+    return m_data[i];
+  }
+
+  value_type& _tvmet_restrict operator[](std::size_t i) {
+    // Note: g++-2.95.3 does have problems on typedef reference
+    return this->operator()(i);
+  }
+
+  value_type operator[](std::size_t i) const {
+    return this->operator()(i);
+  }
+
+public: // ET interface
+  typedef VectorConstReference<T, Size>            ConstReference;
+
+  /** Return a const Reference of the internal data */
+  ConstReference const_ref() const { return ConstReference(*this); }
+
+  /** Return the vector as const expression. */
+  XprVector<ConstReference, Size> as_expr() const {
+    return XprVector<ConstReference, Size>(this->const_ref());
+  }
+
+private:
+  /** Wrapper for meta assign. */
+  template<class Dest, class Src, class Assign>
+  static inline
+  void do_assign(dispatch<true>, Dest& dest, const Src& src, const Assign& assign_fn) {
+    meta::Vector<Size, 0>::assign(dest, src, assign_fn);
+  }
+
+  /** Wrapper for loop assign. */
+  template<class Dest, class Src, class Assign>
+  static inline
+  void do_assign(dispatch<false>, Dest& dest, const Src& src, const Assign& assign_fn) {
+    loop::Vector<Size>::assign(dest, src, assign_fn);
+  }
+
+public:
+  /** assign this to a vector expression using the functional assign_fn. */
+  template<class T2, class Assign>
+  void assign_to(Vector<T2, Size>& dest, const Assign& assign_fn) const {
+    do_assign(dispatch<use_meta>(), dest, *this, assign_fn);
+  }
+
+public:   // assign operations
+  /** assign a given Vector element wise to this vector.
+      The operator=(const Vector&) is compiler generated. */
+  template<class T2>
+  Vector& operator=(const Vector<T2, Size>& rhs) {
+    rhs.assign_to(*this, Fcnl_assign<value_type, T2>());
+    return *this;
+  }
+
+  /** assign a given XprVector element wise to this vector. */
+  template<class E>
+  Vector& operator=(const XprVector<E, Size>& rhs) {
+    rhs.assign_to(*this, Fcnl_assign<value_type, typename E::value_type>());
+    return *this;
+  }
+
+private:
+  template<class Obj, std::size_t LEN> friend class CommaInitializer;
+
+  /** This is a helper for assigning a comma separated initializer
+      list. It's equal to Vector& operator=(value_type) which does
+      replace it. */
+  Vector& assign_value(value_type rhs) {
+    typedef XprLiteral<value_type>             expr_type;
+    *this = XprVector<expr_type, Size>(expr_type(rhs));
+    return *this;
+  }
+
+public: // math operators with scalars
+  // NOTE: this meaning is clear - element wise ops even if not in ns element_wise
+  Vector& operator+=(value_type) TVMET_CXX_ALWAYS_INLINE;
+  Vector& operator-=(value_type) TVMET_CXX_ALWAYS_INLINE;
+  Vector& operator*=(value_type) TVMET_CXX_ALWAYS_INLINE;
+  Vector& operator/=(value_type) TVMET_CXX_ALWAYS_INLINE;
+
+  Vector& operator%=(std::size_t) TVMET_CXX_ALWAYS_INLINE;
+  Vector& operator^=(std::size_t) TVMET_CXX_ALWAYS_INLINE;
+  Vector& operator&=(std::size_t) TVMET_CXX_ALWAYS_INLINE;
+  Vector& operator|=(std::size_t) TVMET_CXX_ALWAYS_INLINE;
+  Vector& operator<<=(std::size_t) TVMET_CXX_ALWAYS_INLINE;
+  Vector& operator>>=(std::size_t) TVMET_CXX_ALWAYS_INLINE;
+
+public: // math assign operators with vectors
+  // NOTE: access using the operators in ns element_wise, since that's what is does
+  template <class T2> Vector& M_add_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& M_sub_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& M_mul_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& M_div_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& M_mod_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& M_xor_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& M_and_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& M_or_eq (const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& M_shl_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& M_shr_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+
+public: // math operators with expressions
+  // NOTE: access using the operators in ns element_wise, since that's what is does
+  template <class E> Vector& M_add_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& M_sub_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& M_mul_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& M_div_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& M_mod_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& M_xor_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& M_and_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& M_or_eq (const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& M_shl_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& M_shr_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+
+public: // aliased math operators with expressions, used with proxy
+  template <class T2> Vector& alias_assign(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& alias_add_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& alias_sub_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& alias_mul_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class T2> Vector& alias_div_eq(const Vector<T2, Size>&) TVMET_CXX_ALWAYS_INLINE;
+
+  template <class E> Vector& alias_assign(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& alias_add_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& alias_sub_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& alias_mul_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+  template <class E> Vector& alias_div_eq(const XprVector<E, Size>&) TVMET_CXX_ALWAYS_INLINE;
+
+public: // io
+  /** Structure for info printing as Vector<T, Size>. */
+  struct Info : public TvmetBase<Info> {
+    std::ostream& print_xpr(std::ostream& os) const {
+      os << "Vector<T=" << typeid(value_type).name()
+     << ", Sz=" << Size << ">";
+      return os;
+    }
+  };
+
+  /** Get an info object of this vector. */
+  static Info info() { return Info(); }
+
+  /** Member function for expression level printing. */
+  std::ostream& print_xpr(std::ostream& os, std::size_t l=0) const;
+
+  /** Member function for printing internal data. */
+  std::ostream& print_on(std::ostream& os) const;
+
+private:
+  /** The data of vector self. */
+
+#if defined(TVMET_DYNAMIC_MEMORY)
+  value_type*                        m_data;
+#else
+  value_type                         m_data[Size];
+#endif
+};
+
+
+} // namespace tvmet
+
+#include <tvmet/VectorImpl.h>
+#include <tvmet/VectorFunctions.h>
+#include <tvmet/VectorBinaryFunctions.h>
+#include <tvmet/VectorUnaryFunctions.h>
+#include <tvmet/VectorOperators.h>
+#include <tvmet/VectorEval.h>
+#include <tvmet/AliasProxy.h>
+
+#endif // TVMET_VECTOR_H
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End: