ICRS Eurobot 2013
Dependencies: mbed mbed-rtos Servo QEI
MtVProduct.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: MtVProduct.h,v 1.14 2007-06-23 15:59:00 opetzold Exp $ 00022 */ 00023 00024 #ifndef TVMET_XPR_MTVPRODUCT_H 00025 #define TVMET_XPR_MTVPRODUCT_H 00026 00027 #include <tvmet/meta/Gemtv.h> 00028 #include <tvmet/loop/Gemtv.h> 00029 00030 namespace tvmet { 00031 00032 00033 /** 00034 * \class XprMtVProduct MtVProduct.h "tvmet/xpr/MtVProduct.h" 00035 * \brief Expression for matrix-transposed vector product 00036 * using formula 00037 * \f[ 00038 * M^T\,v 00039 * \f] 00040 */ 00041 template<class E1, std::size_t Rows, std::size_t Cols, 00042 class E2> 00043 class XprMtVProduct 00044 : public TvmetBase< XprMtVProduct<E1, Rows, Cols, E2> > 00045 { 00046 XprMtVProduct(); 00047 XprMtVProduct& operator=(const XprMtVProduct&); 00048 00049 public: 00050 typedef typename PromoteTraits< 00051 typename E1::value_type, 00052 typename E2::value_type 00053 >::value_type value_type; 00054 00055 public: 00056 /** Complexity counter. */ 00057 enum { 00058 ops_lhs = E1::ops, 00059 ops_rhs = E2::ops, 00060 M = Cols * Rows, 00061 N = Cols * (Rows - 1), 00062 ops_plus = M * NumericTraits<value_type>::ops_plus, 00063 ops_muls = N * NumericTraits<value_type>::ops_muls, 00064 ops = ops_plus + ops_muls, 00065 use_meta = Rows*Cols < TVMET_COMPLEXITY_MV_TRIGGER ? true : false 00066 }; 00067 00068 public: 00069 /** Constructor. */ 00070 explicit XprMtVProduct(const E1& lhs, const E2& rhs) 00071 : m_lhs(lhs), m_rhs(rhs) 00072 { } 00073 00074 /** Copy Constructor. Not explicit! */ 00075 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) 00076 XprMtVProduct(const XprMtVProduct& e) 00077 : m_lhs(e.m_lhs), m_rhs(e.m_rhs) 00078 { } 00079 #endif 00080 00081 private: 00082 /** Wrapper for meta gemm. */ 00083 static inline 00084 value_type do_gemtv(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i) { 00085 return meta::gemtv<Rows, Cols, 0>::prod(lhs, rhs, i); 00086 } 00087 00088 /** Wrapper for loop gemm. */ 00089 static inline 00090 value_type do_gemtv(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i) { 00091 return loop::gemtv<Rows, Cols>::prod(lhs, rhs, i); 00092 } 00093 00094 public: 00095 /** index operator, returns the expression by index. This is the vector 00096 style since a matrix*vector gives a vector. */ 00097 value_type operator()(std::size_t j) const { 00098 TVMET_RT_CONDITION(j < Cols , "XprMtVProduct Bounce Violation") 00099 return do_gemtv(dispatch<use_meta>(), m_lhs, m_rhs, j); 00100 } 00101 00102 public: // debugging Xpr parse tree 00103 void print_xpr(std::ostream& os, std::size_t l=0) const { 00104 os << IndentLevel(l++) 00105 << "XprMtVProduct[O=" << ops << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<" 00106 << std::endl; 00107 m_lhs.print_xpr(os, l); 00108 os << IndentLevel(l) 00109 << "R=" << Rows << ", C=" << Cols << ",\n"; 00110 m_rhs.print_xpr(os, l); 00111 os << IndentLevel(--l) 00112 << ">," << std::endl; 00113 } 00114 00115 private: 00116 const E1 m_lhs; 00117 const E2 m_rhs; 00118 }; 00119 00120 00121 } // namespace tvmet 00122 00123 #endif // TVMET_XPR_MTVPRODUCT_H 00124 00125 // Local Variables: 00126 // mode:C++ 00127 // tab-width:8 00128 // End:
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