ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
Diff: tvmet/loop/Gemm.h
- Revision:
- 15:9c5aaeda36dc
diff -r c638d4b9ee94 -r 9c5aaeda36dc tvmet/loop/Gemm.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tvmet/loop/Gemm.h Sat Apr 06 20:57:54 2013 +0000 @@ -0,0 +1,115 @@ +/* + * 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: Gemm.h,v 1.12 2007-06-23 15:58:59 opetzold Exp $ + */ + +#ifndef TVMET_LOOP_GEMM_H +#define TVMET_LOOP_GEMM_H + +namespace tvmet { + +namespace loop { + + +/** + * \class gemm Gemm.h "tvmet/loop/Gemm.h" + * \brief class for matrix-matrix product using loop unrolling. + * using formula + * \f[ + * M_1\,M_2 + * \f] + * \par Example: + * \code + * template<class T, std::size_t Rows1, std::size_t Cols1, std::size_t Cols2> + * inline + * void + * prod(const Matrix<T, Rows1, Cols1>& lhs, const Matrix<T, Cols1, Cols2>& rhs, + * Matrix<T, Rows1, Cols2>& dest) + * { + * for (std::size_t i = 0; i != Rows1; ++i) { + * for (std::size_t j = 0; j != Cols2; ++j) { + * dest(i, j) = tvmet::loop::gemm<Rows1, Cols1, Cols2>().prod(lhs, rhs, i, j); + * } + * } + * } + * \endcode + * \note The number of rows of rhs matrix have to be equal to cols of lhs matrix. + * The result is a (Rows1 x Cols2) matrix. + */ +template<std::size_t Rows1, std::size_t Cols1, + std::size_t Cols2> +class gemm +{ + gemm(const gemm&); + gemm& operator=(const gemm&); + +private: + enum { + count = Cols1, + N = (count+7)/8 + }; + +public: + gemm() { } + +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) { + typename PromoteTraits< + typename E1::value_type, + typename E2::value_type + >::value_type sum(0); + std::size_t k(0); + std::size_t n(N); + + // Duff's device + switch(count % 8) { + case 0: do { sum += lhs(i, k) * rhs(k, j); ++k; + case 7: sum += lhs(i, k) * rhs(k, j); ++k; + case 6: sum += lhs(i, k) * rhs(k, j); ++k; + case 5: sum += lhs(i, k) * rhs(k, j); ++k; + case 4: sum += lhs(i, k) * rhs(k, j); ++k; + case 3: sum += lhs(i, k) * rhs(k, j); ++k; + case 2: sum += lhs(i, k) * rhs(k, j); ++k; + case 1: sum += lhs(i, k) * rhs(k, j); ++k; + } while(--n != 0); + } + + return sum; + } +}; + + +} // namespace loop + +} // namespace tvmet + +#endif /* TVMET_LOOP_GEMM_H */ + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: