Thomas Branch
ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
Diff: tvmet/xpr/MatrixOperators.h
- Revision:
- 15:9c5aaeda36dc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tvmet/xpr/MatrixOperators.h Sat Apr 06 20:57:54 2013 +0000
@@ -0,0 +1,947 @@
+/*
+ * 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: MatrixOperators.h,v 1.23 2007-06-23 15:59:00 opetzold Exp $
+ */
+
+#ifndef TVMET_XPR_MATRIX_OPERATORS_H
+#define TVMET_XPR_MATRIX_OPERATORS_H
+
+namespace tvmet {
+
+
+/*********************************************************
+ * PART I: DECLARATION
+ *********************************************************/
+
+
+/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Matrix arithmetic operators implemented by functions
+ * add, sub, mul and div
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/*
+ * operator(const XprMatrix<E1, Rows1, Cols1>& lhs, const XprMatrix<E2, Cols1,Cols2>& rhs)
+ *
+ * Note: operations +,-,*,/ are per se element wise. Further more,
+ * element wise operations make sense only for matrices of the same
+ * size [varg].
+ */
+#define TVMET_DECLARE_MACRO(NAME, OP) \
+template<class E1, std::size_t Rows1, std::size_t Cols1, \
+ class E2> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E1::value_type, typename E2::value_type>, \
+ XprMatrix<E1, Rows1, Cols1>, \
+ XprMatrix<E2, Rows1, Cols1> \
+ >, \
+ Rows1, Cols1 \
+> \
+operator OP (const XprMatrix<E1, Rows1, Cols1>& lhs, \
+ const XprMatrix<E2, Rows1, Cols1>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+TVMET_DECLARE_MACRO(add, +) // per se element wise
+TVMET_DECLARE_MACRO(sub, -) // per se element wise
+namespace element_wise {
+ TVMET_DECLARE_MACRO(mul, *) // see as prod()
+ TVMET_DECLARE_MACRO(div, /) // not defined for matrizes, must be element_wise
+}
+#undef TVMET_DECLARE_MACRO
+
+
+/*
+ * operator(XprMatrix<E, Rows, Cols>, POD)
+ * operator(POD, XprMatrix<E, Rows, Cols>)
+ * Note: operations +,-,*,/ are per se element wise
+ */
+#define TVMET_DECLARE_MACRO(NAME, OP, POD) \
+template<class E, std::size_t Rows, std::size_t Cols> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, POD >, \
+ XprMatrix<E, Rows, Cols>, \
+ XprLiteral< POD > \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E, Rows, Cols>& lhs, \
+ POD rhs) TVMET_CXX_ALWAYS_INLINE; \
+ \
+template<class E,std::size_t Rows, std::size_t Cols> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<POD, typename E::value_type>, \
+ XprLiteral< POD >, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (POD lhs, \
+ const XprMatrix<E, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+TVMET_DECLARE_MACRO(add, +, int)
+TVMET_DECLARE_MACRO(sub, -, int)
+TVMET_DECLARE_MACRO(mul, *, int)
+TVMET_DECLARE_MACRO(div, /, int)
+
+#if defined(TVMET_HAVE_LONG_LONG)
+TVMET_DECLARE_MACRO(add, +, long long int)
+TVMET_DECLARE_MACRO(sub, -, long long int)
+TVMET_DECLARE_MACRO(mul, *, long long int)
+TVMET_DECLARE_MACRO(div, /, long long int)
+#endif // defined(TVMET_HAVE_LONG_LONG)
+
+TVMET_DECLARE_MACRO(add, +, float)
+TVMET_DECLARE_MACRO(sub, -, float)
+TVMET_DECLARE_MACRO(mul, *, float)
+TVMET_DECLARE_MACRO(div, /, float)
+
+TVMET_DECLARE_MACRO(add, +, double)
+TVMET_DECLARE_MACRO(sub, -, double)
+TVMET_DECLARE_MACRO(mul, *, double)
+TVMET_DECLARE_MACRO(div, /, double)
+
+#if defined(TVMET_HAVE_LONG_DOUBLE)
+TVMET_DECLARE_MACRO(add, +, long double)
+TVMET_DECLARE_MACRO(sub, -, long double)
+TVMET_DECLARE_MACRO(mul, *, long double)
+TVMET_DECLARE_MACRO(div, /, long double)
+#endif // defined(TVMET_HAVE_LONG_DOUBLE)
+
+#undef TVMET_DECLARE_MACRO
+
+
+#if defined(TVMET_HAVE_COMPLEX)
+/*
+ * operator(XprMatrix<E, Rows, Cols>, complex<>)
+ * operator(complex<>, XprMatrix<E, Rows, Cols>)
+ * Note: operations +,-,*,/ are per se element wise
+ * \todo type promotion
+ */
+#define TVMET_DECLARE_MACRO(NAME, OP) \
+template<class E, std::size_t Rows, std::size_t Cols, class T> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, std::complex<T> >, \
+ XprMatrix<E, Rows, Cols>, \
+ XprLiteral< std::complex<T> > \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E, Rows, Cols>& lhs, \
+ const std::complex<T>& rhs) TVMET_CXX_ALWAYS_INLINE; \
+ \
+template<class E, std::size_t Rows, std::size_t Cols, class T> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<std::complex<T>, typename E::value_type>, \
+ XprLiteral< std::complex<T> >, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const std::complex<T>& lhs, \
+ const XprMatrix<E, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+TVMET_DECLARE_MACRO(add, +)
+TVMET_DECLARE_MACRO(sub, -)
+TVMET_DECLARE_MACRO(mul, *)
+TVMET_DECLARE_MACRO(div, /)
+
+#undef TVMET_DECLARE_MACRO
+
+#endif // defined(TVMET_HAVE_COMPLEX)
+
+
+/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * matrix specific operator*() = prod() operations
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/**
+ * \fn operator*(const XprMatrix<E1, Rows1, Cols1>& lhs, const XprMatrix<E2, Cols1, Cols2>& rhs)
+ * \brief Evaluate the product of two XprMatrix.
+ * \ingroup _binary_operator
+ * \sa prod(XprMatrix<E1, Rows1, Cols1> lhs, XprMatrix<E2, Cols1, Cols2> rhs)
+ */
+template<class E1, std::size_t Rows1, std::size_t Cols1,
+ class E2, std::size_t Cols2>
+XprMatrix<
+ XprMMProduct<
+ XprMatrix<E1, Rows1, Cols1>, Rows1, Cols1, // M1(Rows1, Cols1)
+ XprMatrix<E2, Cols1, Cols2>, Cols2 // M2(Cols1, Cols2)
+ >,
+ Rows1, Cols2
+>
+operator*(const XprMatrix<E1, Rows1, Cols1>& lhs,
+ const XprMatrix<E2, Cols1, Cols2>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+
+/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * matrix-vector specific prod( ... ) operators
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/**
+ * \fn operator*(const XprMatrix<E1, Rows, Cols>& lhs, const XprVector<E2, Cols>& rhs)
+ * \brief Evaluate the product of XprMatrix and XprVector.
+ * \ingroup _binary_operator
+ * \sa prod(XprMatrix<E1, Rows, Cols> lhs, XprVector<E2, Cols> rhs)
+ */
+template<class E1, std::size_t Rows, std::size_t Cols,
+ class E2>
+XprVector<
+ XprMVProduct<
+ XprMatrix<E1, Rows, Cols>, Rows, Cols,
+ XprVector<E2, Cols>
+ >,
+ Rows
+>
+operator*(const XprMatrix<E1, Rows, Cols>& lhs,
+ const XprVector<E2, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+
+/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Matrix integer and compare operators
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/*
+ * operator(XprMatrix<>, XprMatrix<>)
+ * Note: operations are per se element wise
+ */
+#define TVMET_DECLARE_MACRO(NAME, OP) \
+template<class E1, std::size_t Rows, std::size_t Cols, \
+ class E2> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E1::value_type, typename E2::value_type>, \
+ XprMatrix<E1, Rows, Cols>, \
+ XprMatrix<E2, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E1, Rows, Cols>& lhs, \
+ const XprMatrix<E2, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+// integer operators only, e.g used on double you will get an error
+namespace element_wise {
+ TVMET_DECLARE_MACRO(mod, %)
+ TVMET_DECLARE_MACRO(bitxor, ^)
+ TVMET_DECLARE_MACRO(bitand, &)
+ TVMET_DECLARE_MACRO(bitor, |)
+ TVMET_DECLARE_MACRO(shl, <<)
+ TVMET_DECLARE_MACRO(shr, >>)
+}
+
+// necessary operators for eval functions
+TVMET_DECLARE_MACRO(greater, >)
+TVMET_DECLARE_MACRO(less, <)
+TVMET_DECLARE_MACRO(greater_eq, >=)
+TVMET_DECLARE_MACRO(less_eq, <=)
+TVMET_DECLARE_MACRO(eq, ==)
+TVMET_DECLARE_MACRO(not_eq, !=)
+TVMET_DECLARE_MACRO(and, &&)
+TVMET_DECLARE_MACRO(or, ||)
+
+#undef TVMET_DECLARE_MACRO
+
+
+#if defined(TVMET_HAVE_COMPLEX)
+/*
+ * operator(XprMatrix<E, Rows, Cols>, std::complex<>)
+ * operator(std::complex<>, XprMatrix<E, Rows, Cols>)
+ * Note: - per se element wise
+ * - bit ops on complex<int> doesn't make sense, stay away
+ * \todo type promotion
+ */
+#define TVMET_DECLARE_MACRO(NAME, OP) \
+template<class E, std::size_t Rows, std::size_t Cols, class T> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, std::complex<T> >, \
+ XprMatrix<E, Rows, Cols>, \
+ XprLiteral< std::complex<T> > \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E, Rows, Cols>& lhs, \
+ const std::complex<T>& rhs) TVMET_CXX_ALWAYS_INLINE; \
+ \
+template<class E, std::size_t Rows, std::size_t Cols, class T> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<std::complex<T>, typename E::value_type>, \
+ XprLiteral< std::complex<T> >, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const std::complex<T>& lhs, \
+ const XprMatrix<E, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+// necessary operators for eval functions
+TVMET_DECLARE_MACRO(greater, >)
+TVMET_DECLARE_MACRO(less, <)
+TVMET_DECLARE_MACRO(greater_eq, >=)
+TVMET_DECLARE_MACRO(less_eq, <=)
+TVMET_DECLARE_MACRO(eq, ==)
+TVMET_DECLARE_MACRO(not_eq, !=)
+TVMET_DECLARE_MACRO(and, &&)
+TVMET_DECLARE_MACRO(or, ||)
+
+#undef TVMET_DECLARE_MACRO
+
+#endif // defined(TVMET_HAVE_COMPLEX)
+
+
+/*
+ * operator(XprMatrix<E, Rows, Cols>, POD)
+ * operator(POD, XprMatrix<E, Rows, Cols>)
+ * Note: operations are per se element wise
+ */
+#define TVMET_DECLARE_MACRO(NAME, OP, TP) \
+template<class E, std::size_t Rows, std::size_t Cols> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, TP >, \
+ XprMatrix<E, Rows, Cols>, \
+ XprLiteral< TP > \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E, Rows, Cols>& lhs, \
+ TP rhs) TVMET_CXX_ALWAYS_INLINE; \
+ \
+template<class E, std::size_t Rows, std::size_t Cols> \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<TP, typename E::value_type>, \
+ XprLiteral< TP >, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (TP lhs, \
+ const XprMatrix<E, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE;
+
+// integer operators only, e.g used on double you will get an error
+namespace element_wise {
+ TVMET_DECLARE_MACRO(mod, %, int)
+ TVMET_DECLARE_MACRO(bitxor, ^, int)
+ TVMET_DECLARE_MACRO(bitand, &, int)
+ TVMET_DECLARE_MACRO(bitor, |, int)
+ TVMET_DECLARE_MACRO(shl, <<, int)
+ TVMET_DECLARE_MACRO(shr, >>, int)
+}
+
+// necessary operators for eval functions
+TVMET_DECLARE_MACRO(greater, >, int)
+TVMET_DECLARE_MACRO(less, <, int)
+TVMET_DECLARE_MACRO(greater_eq, >=, int)
+TVMET_DECLARE_MACRO(less_eq, <=, int)
+TVMET_DECLARE_MACRO(eq, ==, int)
+TVMET_DECLARE_MACRO(not_eq, !=, int)
+TVMET_DECLARE_MACRO(and, &&, int)
+TVMET_DECLARE_MACRO(or, ||, int)
+
+#if defined(TVMET_HAVE_LONG_LONG)
+// integer operators only
+namespace element_wise {
+ TVMET_DECLARE_MACRO(mod, %, long long int)
+ TVMET_DECLARE_MACRO(bitxor, ^, long long int)
+ TVMET_DECLARE_MACRO(bitand, &, long long int)
+ TVMET_DECLARE_MACRO(bitor, |, long long int)
+ TVMET_DECLARE_MACRO(shl, <<, long long int)
+ TVMET_DECLARE_MACRO(shr, >>, long long int)
+}
+
+// necessary operators for eval functions
+TVMET_DECLARE_MACRO(greater, >, long long int)
+TVMET_DECLARE_MACRO(less, <, long long int)
+TVMET_DECLARE_MACRO(greater_eq, >=, long long int)
+TVMET_DECLARE_MACRO(less_eq, <=, long long int)
+TVMET_DECLARE_MACRO(eq, ==, long long int)
+TVMET_DECLARE_MACRO(not_eq, !=, long long int)
+TVMET_DECLARE_MACRO(and, &&, long long int)
+TVMET_DECLARE_MACRO(or, ||, long long int)
+#endif // defined(TVMET_HAVE_LONG_LONG)
+
+// necessary operators for eval functions
+TVMET_DECLARE_MACRO(greater, >, float)
+TVMET_DECLARE_MACRO(less, <, float)
+TVMET_DECLARE_MACRO(greater_eq, >=, float)
+TVMET_DECLARE_MACRO(less_eq, <=, float)
+TVMET_DECLARE_MACRO(eq, ==, float)
+TVMET_DECLARE_MACRO(not_eq, !=, float)
+TVMET_DECLARE_MACRO(and, &&, float)
+TVMET_DECLARE_MACRO(or, ||, float)
+
+// necessary operators for eval functions
+TVMET_DECLARE_MACRO(greater, >, double)
+TVMET_DECLARE_MACRO(less, <, double)
+TVMET_DECLARE_MACRO(greater_eq, >=, double)
+TVMET_DECLARE_MACRO(less_eq, <=, double)
+TVMET_DECLARE_MACRO(eq, ==, double)
+TVMET_DECLARE_MACRO(not_eq, !=, double)
+TVMET_DECLARE_MACRO(and, &&, double)
+TVMET_DECLARE_MACRO(or, ||, double)
+
+#if defined(TVMET_HAVE_LONG_DOUBLE)
+// necessary operators for eval functions
+TVMET_DECLARE_MACRO(greater, >, long double)
+TVMET_DECLARE_MACRO(less, <, long double)
+TVMET_DECLARE_MACRO(greater_eq, >=, long double)
+TVMET_DECLARE_MACRO(less_eq, <=, long double)
+TVMET_DECLARE_MACRO(eq, ==, long double)
+TVMET_DECLARE_MACRO(not_eq, !=, long double)
+TVMET_DECLARE_MACRO(and, &&, long double)
+TVMET_DECLARE_MACRO(or, ||, long double)
+#endif // defined(TVMET_HAVE_LONG_DOUBLE)
+
+#undef TVMET_DECLARE_MACRO
+
+
+/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * global unary operators
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/*
+ * unary_operator(const XprMatrix<E, Rows, Cols>& m)
+ * Note: per se element wise
+ */
+#define TVMET_DECLARE_MACRO(NAME, OP) \
+template <class E, std::size_t Rows, std::size_t Cols> \
+XprMatrix< \
+ XprUnOp< \
+ Fcnl_##NAME<typename E::value_type>, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E, Rows, Cols>& m) TVMET_CXX_ALWAYS_INLINE;
+
+TVMET_DECLARE_MACRO(not, !)
+TVMET_DECLARE_MACRO(compl, ~)
+TVMET_DECLARE_MACRO(neg, -)
+
+#undef TVMET_DECLARE_MACRO
+
+
+/*********************************************************
+ * PART II: IMPLEMENTATION
+ *********************************************************/
+
+
+
+/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Matrix arithmetic operators implemented by functions
+ * add, sub, mul and div
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/*
+ * operator(const XprMatrix<E1, Rows1, Cols1>& lhs, const XprMatrix<E2, Cols1,Cols2>& rhs)
+ *
+ * Note: operations +,-,*,/ are per se element wise. Further more,
+ * element wise operations make sense only for matrices of the same
+ * size [varg].
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, OP) \
+template<class E1, std::size_t Rows1, std::size_t Cols1, \
+ class E2> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E1::value_type, typename E2::value_type>, \
+ XprMatrix<E1, Rows1, Cols1>, \
+ XprMatrix<E2, Rows1, Cols1> \
+ >, \
+ Rows1, Cols1 \
+> \
+operator OP (const XprMatrix<E1, Rows1, Cols1>& lhs, \
+ const XprMatrix<E2, Rows1, Cols1>& rhs) { \
+ return NAME (lhs, rhs); \
+}
+
+TVMET_IMPLEMENT_MACRO(add, +) // per se element wise
+TVMET_IMPLEMENT_MACRO(sub, -) // per se element wise
+namespace element_wise {
+ TVMET_IMPLEMENT_MACRO(mul, *) // see as prod()
+ TVMET_IMPLEMENT_MACRO(div, /) // not defined for matrizes, must be element_wise
+}
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*
+ * operator(XprMatrix<E, Rows, Cols>, POD)
+ * operator(POD, XprMatrix<E, Rows, Cols>)
+ * Note: operations +,-,*,/ are per se element wise
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, OP, POD) \
+template<class E, std::size_t Rows, std::size_t Cols> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, POD >, \
+ XprMatrix<E, Rows, Cols>, \
+ XprLiteral< POD > \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E, Rows, Cols>& lhs, POD rhs) { \
+ return NAME (lhs, rhs); \
+} \
+ \
+template<class E,std::size_t Rows, std::size_t Cols> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<POD, typename E::value_type>, \
+ XprLiteral< POD >, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (POD lhs, const XprMatrix<E, Rows, Cols>& rhs) { \
+ return NAME (lhs, rhs); \
+}
+
+TVMET_IMPLEMENT_MACRO(add, +, int)
+TVMET_IMPLEMENT_MACRO(sub, -, int)
+TVMET_IMPLEMENT_MACRO(mul, *, int)
+TVMET_IMPLEMENT_MACRO(div, /, int)
+
+#if defined(TVMET_HAVE_LONG_LONG)
+TVMET_IMPLEMENT_MACRO(add, +, long long int)
+TVMET_IMPLEMENT_MACRO(sub, -, long long int)
+TVMET_IMPLEMENT_MACRO(mul, *, long long int)
+TVMET_IMPLEMENT_MACRO(div, /, long long int)
+#endif // defined(TVMET_HAVE_LONG_LONG)
+
+TVMET_IMPLEMENT_MACRO(add, +, float)
+TVMET_IMPLEMENT_MACRO(sub, -, float)
+TVMET_IMPLEMENT_MACRO(mul, *, float)
+TVMET_IMPLEMENT_MACRO(div, /, float)
+
+TVMET_IMPLEMENT_MACRO(add, +, double)
+TVMET_IMPLEMENT_MACRO(sub, -, double)
+TVMET_IMPLEMENT_MACRO(mul, *, double)
+TVMET_IMPLEMENT_MACRO(div, /, double)
+
+#if defined(TVMET_HAVE_LONG_DOUBLE)
+TVMET_IMPLEMENT_MACRO(add, +, long double)
+TVMET_IMPLEMENT_MACRO(sub, -, long double)
+TVMET_IMPLEMENT_MACRO(mul, *, long double)
+TVMET_IMPLEMENT_MACRO(div, /, long double)
+#endif // defined(TVMET_HAVE_LONG_DOUBLE)
+
+#undef TVMET_IMPLEMENT_MACRO
+
+
+#if defined(TVMET_HAVE_COMPLEX)
+/*
+ * operator(XprMatrix<E, Rows, Cols>, complex<>)
+ * operator(complex<>, XprMatrix<E, Rows, Cols>)
+ * Note: operations +,-,*,/ are per se element wise
+ * \todo type promotion
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, OP) \
+template<class E, std::size_t Rows, std::size_t Cols, class T> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, std::complex<T> >, \
+ XprMatrix<E, Rows, Cols>, \
+ XprLiteral< std::complex<T> > \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E, Rows, Cols>& lhs, \
+ const std::complex<T>& rhs) { \
+ return NAME (lhs, rhs); \
+} \
+ \
+template<class E, std::size_t Rows, std::size_t Cols, class T> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<std::complex<T>, typename E::value_type>, \
+ XprLiteral< std::complex<T> >, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const std::complex<T>& lhs, \
+ const XprMatrix<E, Rows, Cols>& rhs) { \
+ return NAME (lhs, rhs); \
+}
+
+TVMET_IMPLEMENT_MACRO(add, +)
+TVMET_IMPLEMENT_MACRO(sub, -)
+TVMET_IMPLEMENT_MACRO(mul, *)
+TVMET_IMPLEMENT_MACRO(div, /)
+
+#undef TVMET_IMPLEMENT_MACRO
+
+#endif // defined(TVMET_HAVE_COMPLEX)
+
+
+/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * matrix specific operator*() = prod() operations
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/**
+ * \fn operator*(const XprMatrix<E1, Rows1, Cols1>& lhs, const XprMatrix<E2, Cols1, Cols2>& rhs)
+ * \brief Evaluate the product of two XprMatrix.
+ * \ingroup _binary_operator
+ * \sa prod(XprMatrix<E1, Rows1, Cols1> lhs, XprMatrix<E2, Cols1, Cols2> rhs)
+ */
+template<class E1, std::size_t Rows1, std::size_t Cols1,
+ class E2, std::size_t Cols2>
+inline
+XprMatrix<
+ XprMMProduct<
+ XprMatrix<E1, Rows1, Cols1>, Rows1, Cols1, // M1(Rows1, Cols1)
+ XprMatrix<E2, Cols1, Cols2>, Cols2 // M2(Cols1, Cols2)
+ >,
+ Rows1, Cols2
+>
+operator*(const XprMatrix<E1, Rows1, Cols1>& lhs, const XprMatrix<E2, Cols1, Cols2>& rhs) {
+ return prod(lhs, rhs);
+}
+
+
+/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * matrix-vector specific prod( ... ) operators
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/**
+ * \fn operator*(const XprMatrix<E1, Rows, Cols>& lhs, const XprVector<E2, Cols>& rhs)
+ * \brief Evaluate the product of XprMatrix and XprVector.
+ * \ingroup _binary_operator
+ * \sa prod(XprMatrix<E1, Rows, Cols> lhs, XprVector<E2, Cols> rhs)
+ */
+template<class E1, std::size_t Rows, std::size_t Cols,
+ class E2>
+inline
+XprVector<
+ XprMVProduct<
+ XprMatrix<E1, Rows, Cols>, Rows, Cols,
+ XprVector<E2, Cols>
+ >,
+ Rows
+>
+operator*(const XprMatrix<E1, Rows, Cols>& lhs, const XprVector<E2, Cols>& rhs) {
+ return prod(lhs, rhs);
+}
+
+
+/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Matrix integer and compare operators
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/*
+ * operator(XprMatrix<>, XprMatrix<>)
+ * Note: operations are per se element wise
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, OP) \
+template<class E1, std::size_t Rows, std::size_t Cols, \
+ class E2> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E1::value_type, typename E2::value_type>, \
+ XprMatrix<E1, Rows, Cols>, \
+ XprMatrix<E2, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E1, Rows, Cols>& lhs, \
+ const XprMatrix<E2, Rows, Cols>& rhs) { \
+ typedef XprBinOp< \
+ Fcnl_##NAME<typename E1::value_type, typename E2::value_type>, \
+ XprMatrix<E1, Rows, Cols>, \
+ XprMatrix<E2, Rows, Cols> \
+ > expr_type; \
+ return XprMatrix<expr_type, Rows, Cols>(expr_type(lhs, rhs)); \
+}
+
+// integer operators only, e.g used on double you will get an error
+namespace element_wise {
+ TVMET_IMPLEMENT_MACRO(mod, %)
+ TVMET_IMPLEMENT_MACRO(bitxor, ^)
+ TVMET_IMPLEMENT_MACRO(bitand, &)
+ TVMET_IMPLEMENT_MACRO(bitor, |)
+ TVMET_IMPLEMENT_MACRO(shl, <<)
+ TVMET_IMPLEMENT_MACRO(shr, >>)
+}
+
+// necessary operators for eval functions
+TVMET_IMPLEMENT_MACRO(greater, >)
+TVMET_IMPLEMENT_MACRO(less, <)
+TVMET_IMPLEMENT_MACRO(greater_eq, >=)
+TVMET_IMPLEMENT_MACRO(less_eq, <=)
+TVMET_IMPLEMENT_MACRO(eq, ==)
+TVMET_IMPLEMENT_MACRO(not_eq, !=)
+TVMET_IMPLEMENT_MACRO(and, &&)
+TVMET_IMPLEMENT_MACRO(or, ||)
+
+#undef TVMET_IMPLEMENT_MACRO
+
+
+#if defined(TVMET_HAVE_COMPLEX)
+/*
+ * operator(XprMatrix<E, Rows, Cols>, std::complex<>)
+ * operator(std::complex<>, XprMatrix<E, Rows, Cols>)
+ * Note: - per se element wise
+ * - bit ops on complex<int> doesn't make sense, stay away
+ * \todo type promotion
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, OP) \
+template<class E, std::size_t Rows, std::size_t Cols, class T> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, std::complex<T> >, \
+ XprMatrix<E, Rows, Cols>, \
+ XprLiteral< std::complex<T> > \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E, Rows, Cols>& lhs, \
+ const std::complex<T>& rhs) { \
+ typedef XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, std::complex<T> >, \
+ XprMatrix<E, Rows, Cols>, \
+ XprLiteral< std::complex<T> > \
+ > expr_type; \
+ return XprMatrix<expr_type, Rows, Cols>( \
+ expr_type(lhs, XprLiteral< std::complex<T> >(rhs))); \
+} \
+ \
+template<class E, std::size_t Rows, std::size_t Cols, class T> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<std::complex<T>, typename E::value_type>, \
+ XprLiteral< std::complex<T> >, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const std::complex<T>& lhs, \
+ const XprMatrix<E, Rows, Cols>& rhs) { \
+ typedef XprBinOp< \
+ Fcnl_##NAME< std::complex<T>, typename E::value_type>, \
+ XprLiteral< std::complex<T> >, \
+ XprMatrix<E, Rows, Cols> \
+ > expr_type; \
+ return XprMatrix<expr_type, Rows, Cols>( \
+ expr_type(XprLiteral< std::complex<T> >(lhs), rhs)); \
+}
+
+// necessary operators for eval functions
+TVMET_IMPLEMENT_MACRO(greater, >)
+TVMET_IMPLEMENT_MACRO(less, <)
+TVMET_IMPLEMENT_MACRO(greater_eq, >=)
+TVMET_IMPLEMENT_MACRO(less_eq, <=)
+TVMET_IMPLEMENT_MACRO(eq, ==)
+TVMET_IMPLEMENT_MACRO(not_eq, !=)
+TVMET_IMPLEMENT_MACRO(and, &&)
+TVMET_IMPLEMENT_MACRO(or, ||)
+
+#undef TVMET_IMPLEMENT_MACRO
+
+#endif // defined(TVMET_HAVE_COMPLEX)
+
+
+/*
+ * operator(XprMatrix<E, Rows, Cols>, POD)
+ * operator(POD, XprMatrix<E, Rows, Cols>)
+ * Note: operations are per se element wise
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, OP, TP) \
+template<class E, std::size_t Rows, std::size_t Cols> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, TP >, \
+ XprMatrix<E, Rows, Cols>, \
+ XprLiteral< TP > \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E, Rows, Cols>& lhs, TP rhs) { \
+ typedef XprBinOp< \
+ Fcnl_##NAME<typename E::value_type, TP >, \
+ XprMatrix<E, Rows, Cols>, \
+ XprLiteral< TP > \
+ > expr_type; \
+ return XprMatrix<expr_type, Rows, Cols>( \
+ expr_type(lhs, XprLiteral< TP >(rhs))); \
+} \
+ \
+template<class E, std::size_t Rows, std::size_t Cols> \
+inline \
+XprMatrix< \
+ XprBinOp< \
+ Fcnl_##NAME<TP, typename E::value_type>, \
+ XprLiteral< TP >, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (TP lhs, const XprMatrix<E, Rows, Cols>& rhs) { \
+ typedef XprBinOp< \
+ Fcnl_##NAME< TP, typename E::value_type>, \
+ XprLiteral< TP >, \
+ XprMatrix<E, Rows, Cols> \
+ > expr_type; \
+ return XprMatrix<expr_type, Rows, Cols>( \
+ expr_type(XprLiteral< TP >(lhs), rhs)); \
+}
+
+
+// integer operators only, e.g used on double you will get an error
+namespace element_wise {
+ TVMET_IMPLEMENT_MACRO(mod, %, int)
+ TVMET_IMPLEMENT_MACRO(bitxor, ^, int)
+ TVMET_IMPLEMENT_MACRO(bitand, &, int)
+ TVMET_IMPLEMENT_MACRO(bitor, |, int)
+ TVMET_IMPLEMENT_MACRO(shl, <<, int)
+ TVMET_IMPLEMENT_MACRO(shr, >>, int)
+}
+
+// necessary operators for eval functions
+TVMET_IMPLEMENT_MACRO(greater, >, int)
+TVMET_IMPLEMENT_MACRO(less, <, int)
+TVMET_IMPLEMENT_MACRO(greater_eq, >=, int)
+TVMET_IMPLEMENT_MACRO(less_eq, <=, int)
+TVMET_IMPLEMENT_MACRO(eq, ==, int)
+TVMET_IMPLEMENT_MACRO(not_eq, !=, int)
+TVMET_IMPLEMENT_MACRO(and, &&, int)
+TVMET_IMPLEMENT_MACRO(or, ||, int)
+
+#if defined(TVMET_HAVE_LONG_LONG)
+// integer operators only
+namespace element_wise {
+ TVMET_IMPLEMENT_MACRO(mod, %, long long int)
+ TVMET_IMPLEMENT_MACRO(bitxor, ^, long long int)
+ TVMET_IMPLEMENT_MACRO(bitand, &, long long int)
+ TVMET_IMPLEMENT_MACRO(bitor, |, long long int)
+ TVMET_IMPLEMENT_MACRO(shl, <<, long long int)
+ TVMET_IMPLEMENT_MACRO(shr, >>, long long int)
+}
+
+// necessary operators for eval functions
+TVMET_IMPLEMENT_MACRO(greater, >, long long int)
+TVMET_IMPLEMENT_MACRO(less, <, long long int)
+TVMET_IMPLEMENT_MACRO(greater_eq, >=, long long int)
+TVMET_IMPLEMENT_MACRO(less_eq, <=, long long int)
+TVMET_IMPLEMENT_MACRO(eq, ==, long long int)
+TVMET_IMPLEMENT_MACRO(not_eq, !=, long long int)
+TVMET_IMPLEMENT_MACRO(and, &&, long long int)
+TVMET_IMPLEMENT_MACRO(or, ||, long long int)
+#endif // defined(TVMET_HAVE_LONG_LONG)
+
+// necessary operators for eval functions
+TVMET_IMPLEMENT_MACRO(greater, >, float)
+TVMET_IMPLEMENT_MACRO(less, <, float)
+TVMET_IMPLEMENT_MACRO(greater_eq, >=, float)
+TVMET_IMPLEMENT_MACRO(less_eq, <=, float)
+TVMET_IMPLEMENT_MACRO(eq, ==, float)
+TVMET_IMPLEMENT_MACRO(not_eq, !=, float)
+TVMET_IMPLEMENT_MACRO(and, &&, float)
+TVMET_IMPLEMENT_MACRO(or, ||, float)
+
+// necessary operators for eval functions
+TVMET_IMPLEMENT_MACRO(greater, >, double)
+TVMET_IMPLEMENT_MACRO(less, <, double)
+TVMET_IMPLEMENT_MACRO(greater_eq, >=, double)
+TVMET_IMPLEMENT_MACRO(less_eq, <=, double)
+TVMET_IMPLEMENT_MACRO(eq, ==, double)
+TVMET_IMPLEMENT_MACRO(not_eq, !=, double)
+TVMET_IMPLEMENT_MACRO(and, &&, double)
+TVMET_IMPLEMENT_MACRO(or, ||, double)
+
+#if defined(TVMET_HAVE_LONG_DOUBLE)
+// necessary operators for eval functions
+TVMET_IMPLEMENT_MACRO(greater, >, long double)
+TVMET_IMPLEMENT_MACRO(less, <, long double)
+TVMET_IMPLEMENT_MACRO(greater_eq, >=, long double)
+TVMET_IMPLEMENT_MACRO(less_eq, <=, long double)
+TVMET_IMPLEMENT_MACRO(eq, ==, long double)
+TVMET_IMPLEMENT_MACRO(not_eq, !=, long double)
+TVMET_IMPLEMENT_MACRO(and, &&, long double)
+TVMET_IMPLEMENT_MACRO(or, ||, long double)
+#endif // defined(TVMET_HAVE_LONG_DOUBLE)
+
+#undef TVMET_IMPLEMENT_MACRO
+
+
+/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * global unary operators
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/*
+ * unary_operator(const XprMatrix<E, Rows, Cols>& m)
+ * Note: per se element wise
+ */
+#define TVMET_IMPLEMENT_MACRO(NAME, OP) \
+template <class E, std::size_t Rows, std::size_t Cols> \
+inline \
+XprMatrix< \
+ XprUnOp< \
+ Fcnl_##NAME<typename E::value_type>, \
+ XprMatrix<E, Rows, Cols> \
+ >, \
+ Rows, Cols \
+> \
+operator OP (const XprMatrix<E, Rows, Cols>& m) { \
+ typedef XprUnOp< \
+ Fcnl_##NAME<typename E::value_type>, \
+ XprMatrix<E, Rows, Cols> \
+ > expr_type; \
+ return XprMatrix<expr_type, Rows, Cols>(expr_type(m)); \
+}
+
+TVMET_IMPLEMENT_MACRO(not, !)
+TVMET_IMPLEMENT_MACRO(compl, ~)
+TVMET_IMPLEMENT_MACRO(neg, -)
+
+#undef TVMET_IMPLEMENT_MACRO
+
+
+} // namespace tvmet
+
+#endif // TVMET_XPR_MATRIX_OPERATORS_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 |
