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ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
tvmet/meta/Gemmt.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: Gemmt.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $ */ #ifndef TVMET_META_GEMMT_H #define TVMET_META_GEMMT_H #include <tvmet/xpr/Null.h> namespace tvmet { namespace meta { /** * \class gemmt Gemmt.h "tvmet/meta/Gemmt.h" * \brief Meta class for product matrix-transpose(matrix) operations. * using formula * \f[ * M_1\,M_2^{T} * \f] * \note The rows of matrix 2 have to be equal to cols of matrix 1. The result * is a rows1 * cols2 matrix. */ template<std::size_t Rows1, std::size_t Cols1, std::size_t Cols2, std::size_t K> class gemmt { gemmt(); gemmt(const gemmt&); gemmt& operator=(const gemmt&); private: enum { doIt = (K != Cols2 - 1) /**< recursive counter */ }; public: template<class E1, class E2> static inline typename PromoteTraits< typename E1::value_type, typename E2::value_type >::value_type prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { return lhs(i, K) * rhs(j, K) + gemmt<Rows1 * doIt, Cols1 * doIt, Cols2 * doIt, (K+1) * doIt>::prod(lhs, rhs, i, j); } }; /** * \class gemmt<0,0,0,0> Gemmt.h "tvmet/meta/Gemmt.h" * \brief gemmt Specialized for recursion. */ template<> class gemmt<0,0,0,0> { gemmt(); gemmt(const gemmt&); gemmt& operator=(const gemmt&); public: template<class E1, class E2> static inline XprNull prod(const E1&, const E2&, std::size_t, std::size_t) { return XprNull(); } }; } // namespace meta } // namespace tvmet #endif /* TVMET_META_GEMMT_H */ // Local Variables: // mode:C++ // tab-width:8 // End: