Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/loop/Gemmt.h@11:5ba926692210, 2013-04-09 (annotated)

Committer:
xiaxia686
Date:
Tue Apr 09 15:32:47 2013 +0000
Revision:
11:5ba926692210
Parent:
1:6799c07fe510 
woking version (calibrated)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sv 1:6799c07fe510 1 /*
sv 1:6799c07fe510 2 * Tiny Vector Matrix Library
sv 1:6799c07fe510 3 * Dense Vector Matrix Libary of Tiny size using Expression Templates
sv 1:6799c07fe510 4 *
sv 1:6799c07fe510 5 * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
sv 1:6799c07fe510 6 *
sv 1:6799c07fe510 7 * This library is free software; you can redistribute it and/or
sv 1:6799c07fe510 8 * modify it under the terms of the GNU Lesser General Public
sv 1:6799c07fe510 9 * License as published by the Free Software Foundation; either
sv 1:6799c07fe510 10 * version 2.1 of the License, or (at your option) any later version.
sv 1:6799c07fe510 11 *
sv 1:6799c07fe510 12 * This library is distributed in the hope that it will be useful,
sv 1:6799c07fe510 13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
sv 1:6799c07fe510 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sv 1:6799c07fe510 15 * Lesser General Public License for more details.
sv 1:6799c07fe510 16 *
sv 1:6799c07fe510 17 * You should have received a copy of the GNU Lesser General Public
sv 1:6799c07fe510 18 * License along with this library; if not, write to the Free Software
sv 1:6799c07fe510 19 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sv 1:6799c07fe510 20 *
sv 1:6799c07fe510 21 * $Id: Gemmt.h,v 1.9 2007-06-23 15:58:59 opetzold Exp $
sv 1:6799c07fe510 22 */
sv 1:6799c07fe510 23
sv 1:6799c07fe510 24 #ifndef TVMET_LOOP_GEMMT_H
sv 1:6799c07fe510 25 #define TVMET_LOOP_GEMMT_H
sv 1:6799c07fe510 26
sv 1:6799c07fe510 27 namespace tvmet {
sv 1:6799c07fe510 28
sv 1:6799c07fe510 29 namespace loop {
sv 1:6799c07fe510 30
sv 1:6799c07fe510 31
sv 1:6799c07fe510 32 /**
sv 1:6799c07fe510 33 * \class gemmt Gemmt.h "tvmet/loop/Gemmt.h"
sv 1:6799c07fe510 34 * \brief class for for product matrix-transpose(matrix) operations.
sv 1:6799c07fe510 35 * using formula
sv 1:6799c07fe510 36 * \f[
sv 1:6799c07fe510 37 * M_1\,M_2^{T}
sv 1:6799c07fe510 38 * \f]
sv 1:6799c07fe510 39 * \par Example:
sv 1:6799c07fe510 40 * \code
sv 1:6799c07fe510 41 * template<class T, std::size_t Rows1, std::size_t Cols1, std::size_t Cols2>
sv 1:6799c07fe510 42 * inline
sv 1:6799c07fe510 43 * void
sv 1:6799c07fe510 44 * prod(const Matrix<T, Rows1, Cols1>& lhs, const Matrix<T, Rows2, Cols1>& rhs,
sv 1:6799c07fe510 45 * Matrix<T, Rows1, Rows2>& dest)
sv 1:6799c07fe510 46 * {
sv 1:6799c07fe510 47 * for (std::size_t i = 0; i != Rows1; ++i) {
sv 1:6799c07fe510 48 * for (std::size_t j = 0; j != Rows2; ++j) {
sv 1:6799c07fe510 49 * dest(i, j) = tvmet::loop::gemmt<Rows1, Cols1, Cols1>().prod(lhs, rhs, i, j);
sv 1:6799c07fe510 50 * }
sv 1:6799c07fe510 51 * }
sv 1:6799c07fe510 52 * }
sv 1:6799c07fe510 53 * \endcode
sv 1:6799c07fe510 54 * \note The number of cols of rhs matrix have to be equal to cols of rhs matrix.
sv 1:6799c07fe510 55 * The result is a (Rows1 x Rows2) matrix.
sv 1:6799c07fe510 56 */
sv 1:6799c07fe510 57 template<std::size_t Rows1, std::size_t Cols1,
sv 1:6799c07fe510 58 std::size_t Cols2 /* unused */>
sv 1:6799c07fe510 59 class gemmt
sv 1:6799c07fe510 60 {
sv 1:6799c07fe510 61 gemmt(const gemmt&);
sv 1:6799c07fe510 62 gemmt& operator=(const gemmt&);
sv 1:6799c07fe510 63
sv 1:6799c07fe510 64 private:
sv 1:6799c07fe510 65 enum {
sv 1:6799c07fe510 66 count = Cols1,
sv 1:6799c07fe510 67 N = (count+7)/8
sv 1:6799c07fe510 68 };
sv 1:6799c07fe510 69
sv 1:6799c07fe510 70 public:
sv 1:6799c07fe510 71 gemmt() { }
sv 1:6799c07fe510 72
sv 1:6799c07fe510 73 public:
sv 1:6799c07fe510 74 template<class E1, class E2>
sv 1:6799c07fe510 75 static inline
sv 1:6799c07fe510 76 typename PromoteTraits<
sv 1:6799c07fe510 77 typename E1::value_type,
sv 1:6799c07fe510 78 typename E2::value_type
sv 1:6799c07fe510 79 >::value_type
sv 1:6799c07fe510 80 prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
sv 1:6799c07fe510 81 typename PromoteTraits<
sv 1:6799c07fe510 82 typename E1::value_type,
sv 1:6799c07fe510 83 typename E2::value_type
sv 1:6799c07fe510 84 >::value_type sum(0);
sv 1:6799c07fe510 85 std::size_t k(0);
sv 1:6799c07fe510 86 std::size_t n(N);
sv 1:6799c07fe510 87
sv 1:6799c07fe510 88 // Duff's device
sv 1:6799c07fe510 89 switch(count % 8) {
sv 1:6799c07fe510 90 case 0: do { sum += lhs(i, k) * rhs(j, k); ++k;
sv 1:6799c07fe510 91 case 7: sum += lhs(i, k) * rhs(j, k); ++k;
sv 1:6799c07fe510 92 case 6: sum += lhs(i, k) * rhs(j, k); ++k;
sv 1:6799c07fe510 93 case 5: sum += lhs(i, k) * rhs(j, k); ++k;
sv 1:6799c07fe510 94 case 4: sum += lhs(i, k) * rhs(j, k); ++k;
sv 1:6799c07fe510 95 case 3: sum += lhs(i, k) * rhs(j, k); ++k;
sv 1:6799c07fe510 96 case 2: sum += lhs(i, k) * rhs(j, k); ++k;
sv 1:6799c07fe510 97 case 1: sum += lhs(i, k) * rhs(j, k); ++k;
sv 1:6799c07fe510 98 } while(--n != 0);
sv 1:6799c07fe510 99 }
sv 1:6799c07fe510 100
sv 1:6799c07fe510 101 return sum;
sv 1:6799c07fe510 102 }
sv 1:6799c07fe510 103 };
sv 1:6799c07fe510 104
sv 1:6799c07fe510 105
sv 1:6799c07fe510 106 } // namespace loop
sv 1:6799c07fe510 107
sv 1:6799c07fe510 108 } // namespace tvmet
sv 1:6799c07fe510 109
sv 1:6799c07fe510 110 #endif /* TVMET_LOOP_GEMMT_H */
sv 1:6799c07fe510 111
sv 1:6799c07fe510 112 // Local Variables:
sv 1:6799c07fe510 113 // mode:C++
sv 1:6799c07fe510 114 // tab-width:8
sv 1:6799c07fe510 115 // End: