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ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
Diff: tvmet/meta/Gemv.h
- Revision:
- 15:9c5aaeda36dc
diff -r c638d4b9ee94 -r 9c5aaeda36dc tvmet/meta/Gemv.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tvmet/meta/Gemv.h Sat Apr 06 20:57:54 2013 +0000 @@ -0,0 +1,100 @@ +/* + * 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: Gemv.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $ + */ + +#ifndef TVMET_META_GEMV_H +#define TVMET_META_GEMV_H + +#include <tvmet/xpr/Null.h> + +namespace tvmet { + +namespace meta { + + +/** + * \class gemv Gemv.h "tvmet/meta/Gemv.h" + * \brief Meta class for matrix-vector operations. + * using formula + * \f[ + * M\,v + * \f] + */ +template<std::size_t Rows, std::size_t Cols, + std::size_t J> +class gemv +{ + gemv(); + gemv(const gemv&); + gemv& operator=(const gemv&); + +private: + enum { + doIt = J < (Cols-1) /**< recursive counter */ + }; + +public: + /** Meta template for %Matrix lhs %Vector rhs product. */ + 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) { + return lhs(i, J) * rhs(J) + + gemv<Rows * doIt, Cols * doIt, + (J+1)* doIt>::prod(lhs, rhs, i); + } +}; + + +/** + * \class gemv<0,0,0> Gemv.h "tvmet/meta/Gemv.h" + * \brief gemv Specialized for recursion + */ +template<> +class gemv<0,0,0> +{ + gemv(); + gemv(const gemv&); + gemv& operator=(const gemv&); + +public: + template<class E1, class E2> + static inline + XprNull prod(const E1&, const E2&, std::size_t) { + return XprNull(); + } +}; + + +} // namespace meta + +} // namespace tvmet + +#endif /* TVMET_META_GEMV_H */ + +// Local Variables: +// mode:C++ +// tab-width:8 +// End: