Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/meta/Gemtm.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: Gemtm.h,v 1.12 2007-06-23 15:58:59 opetzold Exp $
sv 1:6799c07fe510 22 */
sv 1:6799c07fe510 23
sv 1:6799c07fe510 24 #ifndef TVMET_META_GEMTM_H
sv 1:6799c07fe510 25 #define TVMET_META_GEMTM_H
sv 1:6799c07fe510 26
sv 1:6799c07fe510 27 #include <tvmet/xpr/Null.h>
sv 1:6799c07fe510 28
sv 1:6799c07fe510 29 namespace tvmet {
sv 1:6799c07fe510 30
sv 1:6799c07fe510 31 namespace meta {
sv 1:6799c07fe510 32
sv 1:6799c07fe510 33
sv 1:6799c07fe510 34 /**
sv 1:6799c07fe510 35 * \class gemtm Gemtm.h "tvmet/meta/Gemtm.h"
sv 1:6799c07fe510 36 * \brief Meta class for trans(matrix)-matrix operations, like product.
sv 1:6799c07fe510 37 * using formula
sv 1:6799c07fe510 38 * \f[
sv 1:6799c07fe510 39 * M_1^{T}\,M_2
sv 1:6799c07fe510 40 * \f]
sv 1:6799c07fe510 41 * \note The number of cols of matrix 2 have to be equal to number of rows of
sv 1:6799c07fe510 42 * matrix 1, since matrix 1 is transposed - the result is a (Cols1 x Cols2)
sv 1:6799c07fe510 43 * matrix.
sv 1:6799c07fe510 44 */
sv 1:6799c07fe510 45
sv 1:6799c07fe510 46 template<std::size_t Rows1, std::size_t Cols1,
sv 1:6799c07fe510 47 std::size_t Cols2,
sv 1:6799c07fe510 48 std::size_t K>
sv 1:6799c07fe510 49 class gemtm
sv 1:6799c07fe510 50 {
sv 1:6799c07fe510 51 private:
sv 1:6799c07fe510 52 gemtm();
sv 1:6799c07fe510 53 gemtm(const gemtm&);
sv 1:6799c07fe510 54 gemtm& operator=(const gemtm&);
sv 1:6799c07fe510 55
sv 1:6799c07fe510 56 private:
sv 1:6799c07fe510 57 enum {
sv 1:6799c07fe510 58 doIt = (K != Rows1 - 1) /**< recursive counter */
sv 1:6799c07fe510 59 };
sv 1:6799c07fe510 60
sv 1:6799c07fe510 61 public:
sv 1:6799c07fe510 62 template<class E1, class E2>
sv 1:6799c07fe510 63 static inline
sv 1:6799c07fe510 64 typename PromoteTraits<
sv 1:6799c07fe510 65 typename E1::value_type,
sv 1:6799c07fe510 66 typename E2::value_type
sv 1:6799c07fe510 67 >::value_type
sv 1:6799c07fe510 68 prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
sv 1:6799c07fe510 69 return lhs(K, i) * rhs(K, j)
sv 1:6799c07fe510 70 + gemtm<Rows1 * doIt, Cols1 * doIt,
sv 1:6799c07fe510 71 Cols2 * doIt,
sv 1:6799c07fe510 72 (K+1) * doIt>::prod(lhs, rhs, i, j);
sv 1:6799c07fe510 73 }
sv 1:6799c07fe510 74 };
sv 1:6799c07fe510 75
sv 1:6799c07fe510 76
sv 1:6799c07fe510 77 /**
sv 1:6799c07fe510 78 * \class gemtm<0,0,0,0> Gemtm.h "tvmet/meta/Gemtm.h"
sv 1:6799c07fe510 79 * \brief gemtm Specialized for recursion.
sv 1:6799c07fe510 80 */
sv 1:6799c07fe510 81 template<>
sv 1:6799c07fe510 82 class gemtm<0,0,0,0>
sv 1:6799c07fe510 83 {
sv 1:6799c07fe510 84 gemtm();
sv 1:6799c07fe510 85 gemtm(const gemtm&);
sv 1:6799c07fe510 86 gemtm& operator=(const gemtm&);
sv 1:6799c07fe510 87
sv 1:6799c07fe510 88 public:
sv 1:6799c07fe510 89 template<class E1, class E2>
sv 1:6799c07fe510 90 static inline
sv 1:6799c07fe510 91 XprNull prod(const E1&, const E2&, std::size_t, std::size_t) {
sv 1:6799c07fe510 92 return XprNull();
sv 1:6799c07fe510 93 }
sv 1:6799c07fe510 94 };
sv 1:6799c07fe510 95
sv 1:6799c07fe510 96
sv 1:6799c07fe510 97 } // namespace meta
sv 1:6799c07fe510 98
sv 1:6799c07fe510 99 } // namespace tvmet
sv 1:6799c07fe510 100
sv 1:6799c07fe510 101 #endif /* TVMET_META_GEMTM_H */
sv 1:6799c07fe510 102
sv 1:6799c07fe510 103 // Local Variables:
sv 1:6799c07fe510 104 // mode:C++
sv 1:6799c07fe510 105 // tab-width:8
sv 1:6799c07fe510 106 // End: