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ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
tvmet/VectorBinaryFunctions.h
- Committer:
- madcowswe
- Date:
- 2013-04-09
- Revision:
- 20:70d651156779
- Parent:
- 15:9c5aaeda36dc
File content as of revision 20:70d651156779:
/* * 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: VectorBinaryFunctions.h,v 1.17 2007-06-23 15:58:58 opetzold Exp $ */ #ifndef TVMET_VECTOR_BINARY_FUNCTIONS_H #define TVMET_VECTOR_BINARY_FUNCTIONS_H #include <tvmet/NumericTraits.h> #include <tvmet/Extremum.h> namespace tvmet { /********************************************************* * PART I: DECLARATION *********************************************************/ /* * binary_function(Vector<T1, Sz>, Vector<T1, Sz>) * binary_function(Vector<T, Sz>, XprVector<E>) * binary_function(XprVector<E>, Vector<T, Sz>) */ #define TVMET_DECLARE_MACRO(NAME) \ template<class T1, class T2, std::size_t Sz> \ inline \ XprVector< \ XprBinOp< \ Fcnl_##NAME<T1, T2>, \ VectorConstReference<T1, Sz>, \ VectorConstReference<T2, Sz> \ >, \ Sz \ > \ NAME(const Vector<T1, Sz>& lhs, \ const Vector<T2, Sz>& rhs) TVMET_CXX_ALWAYS_INLINE; \ \ template<class E, class T, std::size_t Sz> \ inline \ XprVector< \ XprBinOp< \ Fcnl_##NAME<typename E::value_type, T>, \ VectorConstReference<T, Sz>, \ XprVector<E, Sz> \ >, \ Sz \ > \ NAME(const XprVector<E, Sz>& lhs, \ const Vector<T, Sz>& rhs) TVMET_CXX_ALWAYS_INLINE; \ \ template<class E, class T, std::size_t Sz> \ inline \ XprVector< \ XprBinOp< \ Fcnl_##NAME<T, typename E::value_type>, \ VectorConstReference<T, Sz>, \ XprVector<E, Sz> \ >, \ Sz \ > \ NAME(const Vector<T, Sz>& lhs, \ const XprVector<E, Sz>& 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(Vector<T, Sz>, POD) */ #define TVMET_DECLARE_MACRO(NAME, TP) \ template<class T, std::size_t Sz> \ inline \ XprVector< \ XprBinOp< \ Fcnl_##NAME<T, TP >, \ VectorConstReference<T, Sz>, \ XprLiteral< TP > \ >, \ Sz \ > \ NAME(const Vector<T, Sz>& 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 support */ #if defined(TVMET_HAVE_COMPLEX) && defined(TVMET_HAVE_COMPLEX_MATH1) template<class T, std::size_t Sz> XprVector< XprBinOp< Fcnl_pow<T, std::complex<T> >, VectorConstReference<T, Sz>, XprLiteral< std::complex<T> > >, Sz > pow(const Vector<T, Sz>& lhs, const std::complex<T>& rhs) TVMET_CXX_ALWAYS_INLINE; template<class T, std::size_t Sz> XprVector< XprBinOp< Fcnl_pow<std::complex<T>, std::complex<T> >, VectorConstReference<std::complex<T>, Sz>, XprLiteral< std::complex<T> > >, Sz > pow(const Vector<std::complex<T>, Sz>& lhs, const std::complex<T>& rhs) TVMET_CXX_ALWAYS_INLINE; template<class T, std::size_t Sz> XprVector< XprBinOp< Fcnl_pow<std::complex<T>, T>, VectorConstReference<std::complex<T>, Sz>, XprLiteral<T> >, Sz > pow(const Vector<std::complex<T>, Sz>& lhs, const T& rhs) TVMET_CXX_ALWAYS_INLINE; template<class T, std::size_t Sz> XprVector< XprBinOp< Fcnl_pow<std::complex<T>, int>, VectorConstReference<std::complex<T>, Sz>, XprLiteral<int> >, Sz > pow(const Vector<std::complex<T>, Sz>& lhs, int rhs) TVMET_CXX_ALWAYS_INLINE; template<class T, std::size_t Sz> XprVector< XprBinOp< Fcnl_polar<T, T>, VectorConstReference<T, Sz>, XprLiteral<T> >, Sz > polar(const Vector<T, Sz>& 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(Vector<T1, Sz>, Vector<T1, Sz>) * binary_function(Vector<T, Sz>, XprVector<E>) * binary_function(XprVector<E>, Vector<T, Sz>) */ #define TVMET_IMPLEMENT_MACRO(NAME) \ template<class T1, class T2, std::size_t Sz> \ inline \ XprVector< \ XprBinOp< \ Fcnl_##NAME<T1, T2>, \ VectorConstReference<T1, Sz>, \ VectorConstReference<T2, Sz> \ >, \ Sz \ > \ NAME(const Vector<T1, Sz>& lhs, const Vector<T2, Sz>& rhs) { \ typedef XprBinOp < \ Fcnl_##NAME<T1, T2>, \ VectorConstReference<T1, Sz>, \ VectorConstReference<T2, Sz> \ > expr_type; \ return XprVector<expr_type, Sz>( \ expr_type(lhs.const_ref(), rhs.const_ref())); \ } \ \ template<class E, class T, std::size_t Sz> \ inline \ XprVector< \ XprBinOp< \ Fcnl_##NAME<typename E::value_type, T>, \ VectorConstReference<T, Sz>, \ XprVector<E, Sz> \ >, \ Sz \ > \ NAME(const XprVector<E, Sz>& lhs, const Vector<T, Sz>& rhs) { \ typedef XprBinOp< \ Fcnl_##NAME<typename E::value_type, T>, \ XprVector<E, Sz>, \ VectorConstReference<T, Sz> \ > expr_type; \ return XprVector<expr_type, Sz>( \ expr_type(lhs, rhs.const_ref())); \ } \ \ template<class E, class T, std::size_t Sz> \ inline \ XprVector< \ XprBinOp< \ Fcnl_##NAME<T, typename E::value_type>, \ VectorConstReference<T, Sz>, \ XprVector<E, Sz> \ >, \ Sz \ > \ NAME(const Vector<T, Sz>& lhs, const XprVector<E, Sz>& rhs) { \ typedef XprBinOp< \ Fcnl_##NAME<T, typename E::value_type>, \ VectorConstReference<T, Sz>, \ XprVector<E, Sz> \ > expr_type; \ return XprVector<expr_type, Sz>( \ 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(Vector<T, Sz>, POD) */ #define TVMET_IMPLEMENT_MACRO(NAME, TP) \ template<class T, std::size_t Sz> \ inline \ XprVector< \ XprBinOp< \ Fcnl_##NAME<T, TP >, \ VectorConstReference<T, Sz>, \ XprLiteral< TP > \ >, \ Sz \ > \ NAME(const Vector<T, Sz>& lhs, TP rhs) { \ typedef XprBinOp< \ Fcnl_##NAME<T, TP >, \ VectorConstReference<T, Sz>, \ XprLiteral< TP > \ > expr_type; \ return XprVector<expr_type, Sz>( \ 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 support */ #if defined(TVMET_HAVE_COMPLEX) && defined(TVMET_HAVE_COMPLEX_MATH1) /** * \fn pow(const Vector<T, Sz>& lhs, const std::complex<T>& rhs) * \ingroup _binary_function */ template<class T, std::size_t Sz> inline XprVector< XprBinOp< Fcnl_pow<T, std::complex<T> >, VectorConstReference<T, Sz>, XprLiteral< std::complex<T> > >, Sz > pow(const Vector<T, Sz>& lhs, const std::complex<T>& rhs) { typedef XprBinOp< Fcnl_pow<T, std::complex<T> >, VectorConstReference<T, Sz>, XprLiteral< std::complex<T> > > expr_type; return XprVector<expr_type, Sz>( expr_type(lhs.const_ref(), XprLiteral< std::complex<T> >(rhs))); } /** * \fn pow(const Vector<std::complex<T>, Sz>& lhs, const std::complex<T>& rhs) * \ingroup _binary_function */ template<class T, std::size_t Sz> inline XprVector< XprBinOp< Fcnl_pow<std::complex<T>, std::complex<T> >, VectorConstReference<std::complex<T>, Sz>, XprLiteral< std::complex<T> > >, Sz > pow(const Vector<std::complex<T>, Sz>& lhs, const std::complex<T>& rhs) { typedef XprBinOp< Fcnl_pow<std::complex<T>, std::complex<T> >, VectorConstReference<std::complex<T>, Sz>, XprLiteral< std::complex<T> > > expr_type; return XprVector<expr_type, Sz>( expr_type(lhs.const_ref(), XprLiteral< std::complex<T> >(rhs))); } /** * \fn pow(const Vector<std::complex<T>, Sz>& lhs, const T& rhs) * \ingroup _binary_function */ template<class T, std::size_t Sz> inline XprVector< XprBinOp< Fcnl_pow<std::complex<T>, T>, VectorConstReference<std::complex<T>, Sz>, XprLiteral<T> >, Sz > pow(const Vector<std::complex<T>, Sz>& lhs, const T& rhs) { typedef XprBinOp< Fcnl_pow<std::complex<T>, T>, VectorConstReference<std::complex<T>, Sz>, XprLiteral<T> > expr_type; return XprVector<expr_type, Sz>( expr_type(lhs.const_ref(), XprLiteral<T>(rhs))); } /** * \fn pow(const Vector<std::complex<T>, Sz>& lhs, int rhs) * \ingroup _binary_function */ template<class T, std::size_t Sz> inline XprVector< XprBinOp< Fcnl_pow<std::complex<T>, int>, VectorConstReference<std::complex<T>, Sz>, XprLiteral<int> >, Sz > pow(const Vector<std::complex<T>, Sz>& lhs, int rhs) { typedef XprBinOp< Fcnl_pow<std::complex<T>, int>, VectorConstReference<std::complex<T>, Sz>, XprLiteral<int> > expr_type; return XprVector<expr_type, Sz>( expr_type(lhs.const_ref(), XprLiteral<int>(rhs))); } /** * \fn polar(const Vector<T, Sz>& lhs, const T& rhs) * \ingroup _binary_function */ template<class T, std::size_t Sz> inline XprVector< XprBinOp< Fcnl_polar<T, T>, VectorConstReference<T, Sz>, XprLiteral<T> >, Sz > polar(const Vector<T, Sz>& lhs, const T& rhs) { typedef XprBinOp< Fcnl_polar<T, T>, VectorConstReference<T, Sz>, XprLiteral<T> > expr_type; return XprVector<expr_type, Sz>( 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_VECTOR_BINARY_FUNCTIONS_H // Local Variables: // mode:C++ // tab-width:8 // End: