ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
MatrixUnaryFunctions.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: MatrixUnaryFunctions.h,v 1.13 2007-06-23 15:58:58 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_MATRIX_UNARY_FUNCTIONS_H 00025 #define TVMET_MATRIX_UNARY_FUNCTIONS_H 00026 00027 namespace tvmet { 00028 00029 00030 /********************************************************* 00031 * PART I: DECLARATION 00032 *********************************************************/ 00033 00034 /* 00035 * unary_function(Matrix<T, Rows, Cols>) 00036 */ 00037 #define TVMET_DECLARE_MACRO(NAME) \ 00038 template<class T, std::size_t Rows, std::size_t Cols> \ 00039 inline \ 00040 XprMatrix< \ 00041 XprUnOp< \ 00042 Fcnl_##NAME<T>, \ 00043 MatrixConstReference<T, Rows, Cols> \ 00044 >, \ 00045 Rows, Cols \ 00046 > \ 00047 NAME(const Matrix<T, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE; 00048 00049 TVMET_DECLARE_MACRO(abs) 00050 TVMET_DECLARE_MACRO(cbrt) 00051 TVMET_DECLARE_MACRO(ceil) 00052 TVMET_DECLARE_MACRO(floor) 00053 TVMET_DECLARE_MACRO(rint) 00054 TVMET_DECLARE_MACRO(sin) 00055 TVMET_DECLARE_MACRO(cos) 00056 TVMET_DECLARE_MACRO(tan) 00057 TVMET_DECLARE_MACRO(sinh) 00058 TVMET_DECLARE_MACRO(cosh) 00059 TVMET_DECLARE_MACRO(tanh) 00060 TVMET_DECLARE_MACRO(asin) 00061 TVMET_DECLARE_MACRO(acos) 00062 TVMET_DECLARE_MACRO(atan) 00063 TVMET_DECLARE_MACRO(exp) 00064 TVMET_DECLARE_MACRO(log) 00065 TVMET_DECLARE_MACRO(log10) 00066 TVMET_DECLARE_MACRO(sqrt) 00067 00068 #if defined(TVMET_HAVE_IEEE_MATH) 00069 TVMET_DECLARE_MACRO(asinh) 00070 TVMET_DECLARE_MACRO(acosh) 00071 TVMET_DECLARE_MACRO(atanh) 00072 TVMET_DECLARE_MACRO(expm1) 00073 TVMET_DECLARE_MACRO(log1p) 00074 TVMET_DECLARE_MACRO(erf) 00075 TVMET_DECLARE_MACRO(erfc) 00076 TVMET_DECLARE_MACRO(j0) 00077 TVMET_DECLARE_MACRO(j1) 00078 TVMET_DECLARE_MACRO(y0) 00079 TVMET_DECLARE_MACRO(y1) 00080 TVMET_DECLARE_MACRO(lgamma) 00081 /** \todo isnan etc. - default return is only an int! */ 00082 00083 TVMET_DECLARE_MACRO(finite) 00084 #endif // defined(TVMET_HAVE_IEEE_MATH) 00085 00086 #undef TVMET_DECLARE_MACRO 00087 00088 00089 /* 00090 * unary_function(Matrix<std::complex<T>, Rows, Cols>) 00091 */ 00092 #if defined(TVMET_HAVE_COMPLEX) 00093 #define TVMET_DECLARE_MACRO(NAME) \ 00094 template<class T, std::size_t Rows, std::size_t Cols> \ 00095 inline \ 00096 XprMatrix< \ 00097 XprUnOp< \ 00098 Fcnl_##NAME< std::complex<T> >, \ 00099 MatrixConstReference<std::complex<T>, Rows, Cols> \ 00100 >, \ 00101 Rows, Cols \ 00102 > \ 00103 NAME(const Matrix<std::complex<T>, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE; 00104 00105 TVMET_DECLARE_MACRO(real) 00106 TVMET_DECLARE_MACRO(imag) 00107 TVMET_DECLARE_MACRO(arg) 00108 TVMET_DECLARE_MACRO(norm) 00109 TVMET_DECLARE_MACRO(conj) 00110 00111 #undef TVMET_DECLARE_MACRO 00112 00113 #endif // defined(TVMET_HAVE_COMPLEX) 00114 00115 00116 /********************************************************* 00117 * PART II: IMPLEMENTATION 00118 *********************************************************/ 00119 00120 00121 /* 00122 * unary_function(Matrix<T, Rows, Cols>) 00123 */ 00124 #define TVMET_IMPLEMENT_MACRO(NAME) \ 00125 template<class T, std::size_t Rows, std::size_t Cols> \ 00126 inline \ 00127 XprMatrix< \ 00128 XprUnOp< \ 00129 Fcnl_##NAME<T>, \ 00130 MatrixConstReference<T, Rows, Cols> \ 00131 >, \ 00132 Rows, Cols \ 00133 > \ 00134 NAME(const Matrix<T, Rows, Cols>& rhs) { \ 00135 typedef XprUnOp< \ 00136 Fcnl_##NAME<T>, \ 00137 MatrixConstReference<T, Rows, Cols> \ 00138 > expr_type; \ 00139 return XprMatrix<expr_type, Rows, Cols>(expr_type(rhs.const_ref())); \ 00140 } 00141 00142 TVMET_IMPLEMENT_MACRO(abs) 00143 TVMET_IMPLEMENT_MACRO(cbrt) 00144 TVMET_IMPLEMENT_MACRO(ceil) 00145 TVMET_IMPLEMENT_MACRO(floor) 00146 TVMET_IMPLEMENT_MACRO(rint) 00147 TVMET_IMPLEMENT_MACRO(sin) 00148 TVMET_IMPLEMENT_MACRO(cos) 00149 TVMET_IMPLEMENT_MACRO(tan) 00150 TVMET_IMPLEMENT_MACRO(sinh) 00151 TVMET_IMPLEMENT_MACRO(cosh) 00152 TVMET_IMPLEMENT_MACRO(tanh) 00153 TVMET_IMPLEMENT_MACRO(asin) 00154 TVMET_IMPLEMENT_MACRO(acos) 00155 TVMET_IMPLEMENT_MACRO(atan) 00156 TVMET_IMPLEMENT_MACRO(exp) 00157 TVMET_IMPLEMENT_MACRO(log) 00158 TVMET_IMPLEMENT_MACRO(log10) 00159 TVMET_IMPLEMENT_MACRO(sqrt) 00160 00161 #if defined(TVMET_HAVE_IEEE_MATH) 00162 TVMET_IMPLEMENT_MACRO(asinh) 00163 TVMET_IMPLEMENT_MACRO(acosh) 00164 TVMET_IMPLEMENT_MACRO(atanh) 00165 TVMET_IMPLEMENT_MACRO(expm1) 00166 TVMET_IMPLEMENT_MACRO(log1p) 00167 TVMET_IMPLEMENT_MACRO(erf) 00168 TVMET_IMPLEMENT_MACRO(erfc) 00169 TVMET_IMPLEMENT_MACRO(j0) 00170 TVMET_IMPLEMENT_MACRO(j1) 00171 TVMET_IMPLEMENT_MACRO(y0) 00172 TVMET_IMPLEMENT_MACRO(y1) 00173 TVMET_IMPLEMENT_MACRO(lgamma) 00174 /** \todo isnan etc. - default return is only an int! */ 00175 00176 TVMET_IMPLEMENT_MACRO(finite) 00177 #endif // defined(TVMET_HAVE_IEEE_MATH) 00178 00179 #undef TVMET_IMPLEMENT_MACRO 00180 00181 00182 /* 00183 * unary_function(Matrix<std::complex<T>, Rows, Cols>) 00184 */ 00185 #if defined(TVMET_HAVE_COMPLEX) 00186 #define TVMET_IMPLEMENT_MACRO(NAME) \ 00187 template<class T, std::size_t Rows, std::size_t Cols> \ 00188 inline \ 00189 XprMatrix< \ 00190 XprUnOp< \ 00191 Fcnl_##NAME< std::complex<T> >, \ 00192 MatrixConstReference<std::complex<T>, Rows, Cols> \ 00193 >, \ 00194 Rows, Cols \ 00195 > \ 00196 NAME(const Matrix<std::complex<T>, Rows, Cols>& rhs) { \ 00197 typedef XprUnOp< \ 00198 Fcnl_##NAME< std::complex<T> >, \ 00199 MatrixConstReference<std::complex<T>, Rows, Cols> \ 00200 > expr_type; \ 00201 return XprMatrix<expr_type, Rows, Cols>(expr_type(rhs.const_ref())); \ 00202 } 00203 00204 TVMET_IMPLEMENT_MACRO(real) 00205 TVMET_IMPLEMENT_MACRO(imag) 00206 TVMET_IMPLEMENT_MACRO(arg) 00207 TVMET_IMPLEMENT_MACRO(norm) 00208 TVMET_IMPLEMENT_MACRO(conj) 00209 00210 #undef TVMET_IMPLEMENT_MACRO 00211 00212 #endif // defined(TVMET_HAVE_COMPLEX) 00213 00214 00215 } // namespace tvmet 00216 00217 #endif // TVMET_MATRIX_UNARY_FUNCTIONS_H 00218 00219 // Local Variables: 00220 // mode:C++ 00221 // tab-width:8 00222 // End:
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