ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
tvmet/MatrixImpl.h
- Committer:
- madcowswe
- Date:
- 2013-04-06
- Revision:
- 15:9c5aaeda36dc
File content as of revision 15:9c5aaeda36dc:
/* * 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: