ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

Embed: (wiki syntax)

« Back to documentation index

Show/hide line numbers MMProduct.h Source File

MMProduct.h

00001 /*
00002  * Tiny Vector Matrix Library
00003  * Dense Vector Matrix Libary of Tiny size using Expression Templates
00004  *
00005  * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
00006  *
00007  * This library is free software; you can redistribute it and/or
00008  * modify it under the terms of the GNU Lesser General Public
00009  * License as published by the Free Software Foundation; either
00010  * version 2.1 of the License, or (at your option) any later version.
00011  *
00012  * This library is distributed in the hope that it will be useful,
00013  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00015  * Lesser General Public License for more details.
00016  *
00017  * You should have received a copy of the GNU Lesser General Public
00018  * License along with this library; if not, write to the Free Software
00019  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00020  *
00021  * $Id: MMProduct.h,v 1.24 2007-06-23 15:58:59 opetzold Exp $
00022  */
00023 
00024 #ifndef TVMET_XPR_MMPRODUCT_H
00025 #define TVMET_XPR_MMPRODUCT_H
00026 
00027 #include <tvmet/meta/Gemm.h>
00028 #include <tvmet/loop/Gemm.h>
00029 
00030 namespace tvmet {
00031 
00032 
00033 /**
00034  * \class XprMMProduct MMProduct.h "tvmet/xpr/MMProduct.h"
00035  * \brief Expression for matrix-matrix product.
00036  *        Using formula:
00037  *        \f[
00038  *        M_1\,M_2
00039  *        \f]
00040  * \note The Rows2 has to be  equal to Cols1.
00041  */
00042 template<class E1, std::size_t Rows1, std::size_t Cols1,
00043      class E2, std::size_t Cols2>
00044 class XprMMProduct
00045   : public TvmetBase< XprMMProduct<E1, Rows1, Cols1, E2, Cols2> >
00046 {
00047 private:
00048   XprMMProduct();
00049   XprMMProduct& operator=(const XprMMProduct&);
00050 
00051 public:
00052   typedef typename PromoteTraits<
00053     typename E1::value_type,
00054     typename E2::value_type
00055   >::value_type                            value_type;
00056 
00057 public:
00058   /** Complexity counter. */
00059   enum {
00060     ops_lhs   = E1::ops,
00061     ops_rhs   = E2::ops,
00062     M         = Rows1 * Cols1 * Cols2,
00063     N         = Rows1 * (Cols1 - 1) * Cols2,
00064     ops_plus  = M * NumericTraits<value_type>::ops_plus,
00065     ops_muls  = N * NumericTraits<value_type>::ops_muls,
00066     ops       = ops_plus + ops_muls,
00067     use_meta  = Rows1*Cols2 < TVMET_COMPLEXITY_MM_TRIGGER ? true : false
00068   };
00069 
00070 public:
00071   /** Constructor. */
00072   explicit XprMMProduct(const E1& lhs, const E2& rhs)
00073     : m_lhs(lhs), m_rhs(rhs)
00074   { }
00075 
00076   /** Copy Constructor. Not explicit! */
00077 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
00078   XprMMProduct(const XprMMProduct& e)
00079     : m_lhs(e.m_lhs), m_rhs(e.m_rhs)
00080   { }
00081 #endif
00082 
00083 private:
00084   /** Wrapper for meta gemm. */
00085   static inline
00086   value_type do_gemm(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
00087     return meta::gemm<Rows1, Cols1,
00088                       Cols2,
00089                       0>::prod(lhs, rhs, i, j);
00090   }
00091 
00092   /** Wrapper for loop gemm. */
00093   static inline
00094   value_type do_gemm(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
00095     return loop::gemm<Rows1, Cols1, Cols2>::prod(lhs, rhs, i, j);
00096   }
00097 
00098 public:
00099   /** index operator for arrays/matrices */
00100   value_type operator()(std::size_t i, std::size_t j) const {
00101     TVMET_RT_CONDITION((i < Rows1) && (j < Cols2), "XprMMProduct Bounce Violation")
00102     return do_gemm(dispatch<use_meta>(), m_lhs, m_rhs, i, j);
00103   }
00104 
00105 public: // debugging Xpr parse tree
00106   void print_xpr(std::ostream& os, std::size_t l=0) const {
00107     os << IndentLevel(l++)
00108        << "XprMMProduct["
00109        << (use_meta ? "M" :  "L") << ", O=" << ops
00110        << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<"
00111        << std::endl;
00112     m_lhs.print_xpr(os, l);
00113     os << IndentLevel(l)
00114        << "R1=" << Rows1 << ", C1=" << Cols1 << ",\n";
00115     m_rhs.print_xpr(os, l);
00116     os << IndentLevel(l)
00117        << "C2=" << Cols2 << ",\n";
00118     os << IndentLevel(--l)
00119        << ">," << std::endl;
00120   }
00121 
00122 private:
00123   const E1                         m_lhs;
00124   const E2                         m_rhs;
00125 };
00126 
00127 
00128 } // namespace tvmet
00129 
00130 #endif // TVMET_XPR_MMPRODUCT_H
00131 
00132 // Local Variables:
00133 // mode:C++
00134 // tab-width:8
00135 // End: