ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

Committer:
madcowswe
Date:
Tue Apr 09 15:33:36 2013 +0000
Revision:
20:70d651156779
Parent:
15:9c5aaeda36dc
Predict loop running, update loop not done.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 15:9c5aaeda36dc 1 /*
madcowswe 15:9c5aaeda36dc 2 * Tiny Vector Matrix Library
madcowswe 15:9c5aaeda36dc 3 * Dense Vector Matrix Libary of Tiny size using Expression Templates
madcowswe 15:9c5aaeda36dc 4 *
madcowswe 15:9c5aaeda36dc 5 * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
madcowswe 15:9c5aaeda36dc 6 *
madcowswe 15:9c5aaeda36dc 7 * This library is free software; you can redistribute it and/or
madcowswe 15:9c5aaeda36dc 8 * modify it under the terms of the GNU Lesser General Public
madcowswe 15:9c5aaeda36dc 9 * License as published by the Free Software Foundation; either
madcowswe 15:9c5aaeda36dc 10 * version 2.1 of the License, or (at your option) any later version.
madcowswe 15:9c5aaeda36dc 11 *
madcowswe 15:9c5aaeda36dc 12 * This library is distributed in the hope that it will be useful,
madcowswe 15:9c5aaeda36dc 13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
madcowswe 15:9c5aaeda36dc 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
madcowswe 15:9c5aaeda36dc 15 * Lesser General Public License for more details.
madcowswe 15:9c5aaeda36dc 16 *
madcowswe 15:9c5aaeda36dc 17 * You should have received a copy of the GNU Lesser General Public
madcowswe 15:9c5aaeda36dc 18 * License along with this library; if not, write to the Free Software
madcowswe 15:9c5aaeda36dc 19 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
madcowswe 15:9c5aaeda36dc 20 *
madcowswe 15:9c5aaeda36dc 21 * $Id: TypePromotion.h,v 1.10 2007-06-23 15:58:58 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_TYPE_PROMOTION_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_TYPE_PROMOTION_H
madcowswe 15:9c5aaeda36dc 26
madcowswe 15:9c5aaeda36dc 27 namespace tvmet {
madcowswe 15:9c5aaeda36dc 28
madcowswe 15:9c5aaeda36dc 29
madcowswe 15:9c5aaeda36dc 30 /**
madcowswe 15:9c5aaeda36dc 31 * \class PrecisionTraits TypePromotion.h "tvmet/TypePromotion.h"
madcowswe 15:9c5aaeda36dc 32 * \brief Declaring ranks of types to avoid specializing
madcowswe 15:9c5aaeda36dc 33 *
madcowswe 15:9c5aaeda36dc 34 * All possible promoted types. For example, bool=1, int=2, float=3, double=4,
madcowswe 15:9c5aaeda36dc 35 * etc. We can use a traits class to map from a type such as float onto its
madcowswe 15:9c5aaeda36dc 36 * "precision rank". We will promote to whichever type has a higher
madcowswe 15:9c5aaeda36dc 37 * "precision rank". f there is no "precision rank" for a type, we'll
madcowswe 15:9c5aaeda36dc 38 * promote to whichever type requires more storage space
madcowswe 15:9c5aaeda36dc 39 * (and hopefully more precision).
madcowswe 15:9c5aaeda36dc 40 */
madcowswe 15:9c5aaeda36dc 41 template<class T>
madcowswe 15:9c5aaeda36dc 42 struct PrecisionTraits {
madcowswe 15:9c5aaeda36dc 43 enum {
madcowswe 15:9c5aaeda36dc 44 rank = 0, /**< the rank of type. */
madcowswe 15:9c5aaeda36dc 45 known = 0 /**< true, if the rank is specialized = known. */
madcowswe 15:9c5aaeda36dc 46 };
madcowswe 15:9c5aaeda36dc 47 };
madcowswe 15:9c5aaeda36dc 48
madcowswe 15:9c5aaeda36dc 49
madcowswe 15:9c5aaeda36dc 50 #define TVMET_PRECISION(T,R) \
madcowswe 15:9c5aaeda36dc 51 template<> \
madcowswe 15:9c5aaeda36dc 52 struct PrecisionTraits< T > { \
madcowswe 15:9c5aaeda36dc 53 enum { \
madcowswe 15:9c5aaeda36dc 54 rank = R, \
madcowswe 15:9c5aaeda36dc 55 known = 1 \
madcowswe 15:9c5aaeda36dc 56 }; \
madcowswe 15:9c5aaeda36dc 57 };
madcowswe 15:9c5aaeda36dc 58
madcowswe 15:9c5aaeda36dc 59
madcowswe 15:9c5aaeda36dc 60 /*
madcowswe 15:9c5aaeda36dc 61 * pod types
madcowswe 15:9c5aaeda36dc 62 */
madcowswe 15:9c5aaeda36dc 63 TVMET_PRECISION(int, 100)
madcowswe 15:9c5aaeda36dc 64 TVMET_PRECISION(unsigned int, 200)
madcowswe 15:9c5aaeda36dc 65 TVMET_PRECISION(long, 300)
madcowswe 15:9c5aaeda36dc 66 TVMET_PRECISION(unsigned long, 400)
madcowswe 15:9c5aaeda36dc 67
madcowswe 15:9c5aaeda36dc 68 #if defined(TVMET_HAVE_LONG_LONG)
madcowswe 15:9c5aaeda36dc 69 TVMET_PRECISION(long long, 500)
madcowswe 15:9c5aaeda36dc 70 TVMET_PRECISION(unsigned long long, 600)
madcowswe 15:9c5aaeda36dc 71 #endif // defined(TVMET_HAVE_LONG_LONG)
madcowswe 15:9c5aaeda36dc 72
madcowswe 15:9c5aaeda36dc 73 TVMET_PRECISION(float, 700)
madcowswe 15:9c5aaeda36dc 74 TVMET_PRECISION(double, 800)
madcowswe 15:9c5aaeda36dc 75
madcowswe 15:9c5aaeda36dc 76 #if defined(TVMET_HAVE_LONG_DOUBLE)
madcowswe 15:9c5aaeda36dc 77 TVMET_PRECISION(long double, 900)
madcowswe 15:9c5aaeda36dc 78 #endif // defined(TVMET_HAVE_LONG_DOUBLE)
madcowswe 15:9c5aaeda36dc 79
madcowswe 15:9c5aaeda36dc 80
madcowswe 15:9c5aaeda36dc 81 /*
madcowswe 15:9c5aaeda36dc 82 * complex types
madcowswe 15:9c5aaeda36dc 83 */
madcowswe 15:9c5aaeda36dc 84 #if defined(TVMET_HAVE_COMPLEX)
madcowswe 15:9c5aaeda36dc 85 TVMET_PRECISION(std::complex<int>, 1000)
madcowswe 15:9c5aaeda36dc 86 TVMET_PRECISION(std::complex<unsigned int>, 1100)
madcowswe 15:9c5aaeda36dc 87 TVMET_PRECISION(std::complex<long>, 1200)
madcowswe 15:9c5aaeda36dc 88 TVMET_PRECISION(std::complex<unsigned long>, 1300)
madcowswe 15:9c5aaeda36dc 89
madcowswe 15:9c5aaeda36dc 90 #if defined(TVMET_HAVE_LONG_LONG)
madcowswe 15:9c5aaeda36dc 91 TVMET_PRECISION(std::complex<long long>, 1400)
madcowswe 15:9c5aaeda36dc 92 TVMET_PRECISION(std::complex<unsigned long long>, 1500)
madcowswe 15:9c5aaeda36dc 93 #endif // defined(TVMET_HAVE_LONG_LONG)
madcowswe 15:9c5aaeda36dc 94
madcowswe 15:9c5aaeda36dc 95 TVMET_PRECISION(std::complex<float>, 1600)
madcowswe 15:9c5aaeda36dc 96 TVMET_PRECISION(std::complex<double>, 1700)
madcowswe 15:9c5aaeda36dc 97
madcowswe 15:9c5aaeda36dc 98 #if defined(TVMET_HAVE_LONG_DOUBLE)
madcowswe 15:9c5aaeda36dc 99 TVMET_PRECISION(std::complex<long double>, 1800)
madcowswe 15:9c5aaeda36dc 100 #endif // defined(TVMET_HAVE_LONG_DOUBLE)
madcowswe 15:9c5aaeda36dc 101
madcowswe 15:9c5aaeda36dc 102 #endif // defined(TVMET_HAVE_COMPLEX)
madcowswe 15:9c5aaeda36dc 103
madcowswe 15:9c5aaeda36dc 104
madcowswe 15:9c5aaeda36dc 105 /** \class PrecisionTraits<int> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 106 /** \class PrecisionTraits<unsigned int> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 107 /** \class PrecisionTraits<long> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 108 /** \class PrecisionTraits<unsigned long> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 109 /** \class PrecisionTraits<long long> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 110 /** \class PrecisionTraits<unsigned long long> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 111 /** \class PrecisionTraits<float> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 112 /** \class PrecisionTraits<double> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 113 /** \class PrecisionTraits<long double> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 114 /** \class PrecisionTraits< std::complex<int> > TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 115 /** \class PrecisionTraits< std::complex<unsigned int> > TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 116 /** \class PrecisionTraits< std::complex<long> > TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 117 /** \class PrecisionTraits< std::complex<unsigned long> > TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 118 /** \class PrecisionTraits< std::complex<long long> > TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 119 /** \class PrecisionTraits< std::complex<unsigned long long> > TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 120 /** \class PrecisionTraits< std::complex<float> > TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 121 /** \class PrecisionTraits< std::complex<double> > TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 122 /** \class PrecisionTraits< std::complex<long double> > TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 123
madcowswe 15:9c5aaeda36dc 124 #undef TVMET_PRECISION
madcowswe 15:9c5aaeda36dc 125
madcowswe 15:9c5aaeda36dc 126
madcowswe 15:9c5aaeda36dc 127 /**
madcowswe 15:9c5aaeda36dc 128 * \class AutopromoteTraits TypePromotion.h "tvmet/TypePromotion.h"
madcowswe 15:9c5aaeda36dc 129 * \brief The promoted types traits.
madcowswe 15:9c5aaeda36dc 130 */
madcowswe 15:9c5aaeda36dc 131 template<class T>
madcowswe 15:9c5aaeda36dc 132 struct AutopromoteTraits {
madcowswe 15:9c5aaeda36dc 133 typedef T value_type;
madcowswe 15:9c5aaeda36dc 134 };
madcowswe 15:9c5aaeda36dc 135
madcowswe 15:9c5aaeda36dc 136
madcowswe 15:9c5aaeda36dc 137 /*
madcowswe 15:9c5aaeda36dc 138 * Defines a macro for specializing/defining
madcowswe 15:9c5aaeda36dc 139 * the promotion traits. bool, char, unsigned char, short int, etc. will
madcowswe 15:9c5aaeda36dc 140 * be autopromote to int, as in C and C++.
madcowswe 15:9c5aaeda36dc 141 */
madcowswe 15:9c5aaeda36dc 142 #define TVMET_AUTOPROMOTE(T1,T2) \
madcowswe 15:9c5aaeda36dc 143 template<> \
madcowswe 15:9c5aaeda36dc 144 struct AutopromoteTraits<T1> { \
madcowswe 15:9c5aaeda36dc 145 typedef T2 value_type; \
madcowswe 15:9c5aaeda36dc 146 };
madcowswe 15:9c5aaeda36dc 147
madcowswe 15:9c5aaeda36dc 148 TVMET_AUTOPROMOTE(bool, int)
madcowswe 15:9c5aaeda36dc 149 TVMET_AUTOPROMOTE(char, int)
madcowswe 15:9c5aaeda36dc 150 TVMET_AUTOPROMOTE(unsigned char, int)
madcowswe 15:9c5aaeda36dc 151 TVMET_AUTOPROMOTE(short int, int)
madcowswe 15:9c5aaeda36dc 152 TVMET_AUTOPROMOTE(short unsigned int, unsigned int)
madcowswe 15:9c5aaeda36dc 153
madcowswe 15:9c5aaeda36dc 154 /** \class AutopromoteTraits<bool> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 155 /** \class AutopromoteTraits<char> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 156 /** \class AutopromoteTraits<unsigned char> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 157 /** \class AutopromoteTraits<short int> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 158 /** \class AutopromoteTraits<short unsigned int> TypePromotion.h "tvmet/TypePromotion.h" */
madcowswe 15:9c5aaeda36dc 159
madcowswe 15:9c5aaeda36dc 160 #undef TVMET_AUTOPROMOTE
madcowswe 15:9c5aaeda36dc 161
madcowswe 15:9c5aaeda36dc 162
madcowswe 15:9c5aaeda36dc 163 /**
madcowswe 15:9c5aaeda36dc 164 * \class promoteTo TypePromotion.h "tvmet/TypePromotion.h"
madcowswe 15:9c5aaeda36dc 165 * \brief Promote to T1.
madcowswe 15:9c5aaeda36dc 166 */
madcowswe 15:9c5aaeda36dc 167 template<class T1, class T2, int promoteToT1>
madcowswe 15:9c5aaeda36dc 168 struct promoteTo {
madcowswe 15:9c5aaeda36dc 169 typedef T1 value_type;
madcowswe 15:9c5aaeda36dc 170 };
madcowswe 15:9c5aaeda36dc 171
madcowswe 15:9c5aaeda36dc 172
madcowswe 15:9c5aaeda36dc 173 /**
madcowswe 15:9c5aaeda36dc 174 * \class promoteTo<T1,T2,0> TypePromotion.h "tvmet/TypePromotion.h"
madcowswe 15:9c5aaeda36dc 175 * \brief Promote to T2
madcowswe 15:9c5aaeda36dc 176 */
madcowswe 15:9c5aaeda36dc 177 template<class T1, class T2>
madcowswe 15:9c5aaeda36dc 178 struct promoteTo<T1,T2,0> {
madcowswe 15:9c5aaeda36dc 179 typedef T2 value_type;
madcowswe 15:9c5aaeda36dc 180 };
madcowswe 15:9c5aaeda36dc 181
madcowswe 15:9c5aaeda36dc 182
madcowswe 15:9c5aaeda36dc 183 /**
madcowswe 15:9c5aaeda36dc 184 * \class PromoteTraits TypePromotion.h "tvmet/TypePromotion.h"
madcowswe 15:9c5aaeda36dc 185 * \brief Promote type traits
madcowswe 15:9c5aaeda36dc 186 */
madcowswe 15:9c5aaeda36dc 187 template<class T1org, class T2org>
madcowswe 15:9c5aaeda36dc 188 class PromoteTraits {
madcowswe 15:9c5aaeda36dc 189 // Handle promotion of small integers to int/unsigned int
madcowswe 15:9c5aaeda36dc 190 typedef typename AutopromoteTraits<T1org>::value_type T1;
madcowswe 15:9c5aaeda36dc 191 typedef typename AutopromoteTraits<T2org>::value_type T2;
madcowswe 15:9c5aaeda36dc 192
madcowswe 15:9c5aaeda36dc 193 enum {
madcowswe 15:9c5aaeda36dc 194 // True if T1 is higher ranked
madcowswe 15:9c5aaeda36dc 195 T1IsBetter = int(PrecisionTraits<T1>::rank) > int(PrecisionTraits<T2>::rank),
madcowswe 15:9c5aaeda36dc 196
madcowswe 15:9c5aaeda36dc 197 // True if we know ranks for both T1 and T2
madcowswe 15:9c5aaeda36dc 198 knowBothRanks = PrecisionTraits<T1>::known && PrecisionTraits<T2>::known,
madcowswe 15:9c5aaeda36dc 199
madcowswe 15:9c5aaeda36dc 200 // True if we know T1 but not T2
madcowswe 15:9c5aaeda36dc 201 knowT1butNotT2 = PrecisionTraits<T1>::known && !(PrecisionTraits<T2>::known),
madcowswe 15:9c5aaeda36dc 202
madcowswe 15:9c5aaeda36dc 203 // True if we know T2 but not T1
madcowswe 15:9c5aaeda36dc 204 knowT2butNotT1 = PrecisionTraits<T2>::known && !(PrecisionTraits<T1>::known),
madcowswe 15:9c5aaeda36dc 205
madcowswe 15:9c5aaeda36dc 206 // True if T1 is bigger than T2
madcowswe 15:9c5aaeda36dc 207 T1IsLarger = sizeof(T1) >= sizeof(T2),
madcowswe 15:9c5aaeda36dc 208
madcowswe 15:9c5aaeda36dc 209 // We know T1 but not T2: true
madcowswe 15:9c5aaeda36dc 210 // We know T2 but not T1: false
madcowswe 15:9c5aaeda36dc 211 // Otherwise, if T1 is bigger than T2: true
madcowswe 15:9c5aaeda36dc 212 defaultPromotion = knowT1butNotT2 ? false : (knowT2butNotT1 ? true : T1IsLarger),
madcowswe 15:9c5aaeda36dc 213
madcowswe 15:9c5aaeda36dc 214 // If we have both ranks, then use them.
madcowswe 15:9c5aaeda36dc 215 // If we have only one rank, then use the unknown type.
madcowswe 15:9c5aaeda36dc 216 // If we have neither rank, then promote to the larger type.
madcowswe 15:9c5aaeda36dc 217 promoteToT1 = (knowBothRanks ? T1IsBetter : defaultPromotion) ? 1 : 0
madcowswe 15:9c5aaeda36dc 218 };
madcowswe 15:9c5aaeda36dc 219
madcowswe 15:9c5aaeda36dc 220 public:
madcowswe 15:9c5aaeda36dc 221 typedef typename promoteTo<T1,T2,promoteToT1>::value_type value_type;
madcowswe 15:9c5aaeda36dc 222 };
madcowswe 15:9c5aaeda36dc 223
madcowswe 15:9c5aaeda36dc 224
madcowswe 15:9c5aaeda36dc 225 } // namespace tvmet
madcowswe 15:9c5aaeda36dc 226
madcowswe 15:9c5aaeda36dc 227 #endif // TVMET_TYPE_PROMOTION_H
madcowswe 15:9c5aaeda36dc 228
madcowswe 15:9c5aaeda36dc 229 // Local Variables:
madcowswe 15:9c5aaeda36dc 230 // mode:C++
madcowswe 15:9c5aaeda36dc 231 // tab-width:8
madcowswe 15:9c5aaeda36dc 232 // End: