ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
Diff: tvmet/loop/Gemtv.h
- Revision:
- 15:9c5aaeda36dc
diff -r c638d4b9ee94 -r 9c5aaeda36dc tvmet/loop/Gemtv.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tvmet/loop/Gemtv.h Sat Apr 06 20:57:54 2013 +0000 @@ -0,0 +1,110 @@ +/* + * 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: Gemtv.h,v 1.7 2007-06-23 15:58:59 opetzold Exp $ + */ + +#ifndef TVMET_LOOP_GEMTV_H +#define TVMET_LOOP_GEMTV_H + +namespace tvmet { + +namespace loop { + + +/** + * \class gemtv Gemtv.h "tvmet/loop/Gemtv.h" + * \brief class for transposed(matrix)-vector product using loop unrolling. + * using formula + * \f[ + * M^T\,v + * \f] + * \par Example: + * \code + * template<class T, std::size_t Rows, std::size_t Cols> + * inline + * void + * prod(const Matrix<T, Rows, Cols>& lhs, const Vector<T, Rows>& rhs, + * Vector<T, Cols>& dest) + * { + * for (std::size_t i = 0; i != Cols; ++i) { + * dest(i) = tvmet::loop::gemtv<Rows, Cols>().prod(lhs, rhs, i); + * } + * } + * \endcode + */ +template<std::size_t Rows, std::size_t Cols> +class gemtv +{ + gemtv(const gemtv&); + gemtv& operator=(const gemtv&); + +private: + enum { + count = Rows, + N = (count+7)/8 + }; + +public: + gemtv() { } + +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) { + typename PromoteTraits< + typename E1::value_type, + typename E2::value_type + >::value_type sum(0); + std::size_t j(0); + std::size_t n(N); + + // Duff's device + switch(count % 8) { + case 0: do { sum += lhs(j, i) * rhs(j); ++j; + case 7: sum += lhs(j, i) * rhs(j); ++j; + case 6: sum += lhs(j, i) * rhs(j); ++j; + case 5: sum += lhs(j, i) * rhs(j); ++j; + case 4: sum += lhs(j, i) * rhs(j); ++j; + case 3: sum += lhs(j, i) * rhs(j); ++j; + case 2: sum += lhs(j, i) * rhs(j); ++j; + case 1: sum += lhs(j, i) * rhs(j); ++j; + } while(--n != 0); + } + + return sum; + } +}; + + +} // namespace loop + +} // namespace tvmet + +#endif /* TVMET_LOOP_GEMTV_H */ + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: