ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
Diff: tvmet/MatrixImpl.h
- Revision:
- 15:9c5aaeda36dc
diff -r c638d4b9ee94 -r 9c5aaeda36dc tvmet/MatrixImpl.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tvmet/MatrixImpl.h Sat Apr 06 20:57:54 2013 +0000 @@ -0,0 +1,218 @@ +/* + * 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: