Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/meta/Vector.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: Vector.h,v 1.24 2007-06-23 15:58:59 opetzold Exp $
sv 1:6799c07fe510 22 */
sv 1:6799c07fe510 23
sv 1:6799c07fe510 24 #ifndef TVMET_META_VECTOR_H
sv 1:6799c07fe510 25 #define TVMET_META_VECTOR_H
sv 1:6799c07fe510 26
sv 1:6799c07fe510 27 #include <tvmet/NumericTraits.h>
sv 1:6799c07fe510 28 #include <tvmet/xpr/Null.h>
sv 1:6799c07fe510 29
sv 1:6799c07fe510 30 namespace tvmet {
sv 1:6799c07fe510 31
sv 1:6799c07fe510 32 /* forwards */
sv 1:6799c07fe510 33 template<class T, std::size_t Sz> class Vector;
sv 1:6799c07fe510 34
sv 1:6799c07fe510 35
sv 1:6799c07fe510 36 namespace meta {
sv 1:6799c07fe510 37
sv 1:6799c07fe510 38
sv 1:6799c07fe510 39 /**
sv 1:6799c07fe510 40 * \class Vector Vector.h "tvmet/meta/Vector.h"
sv 1:6799c07fe510 41 * \brief Meta %Vector class using expression templates
sv 1:6799c07fe510 42 */
sv 1:6799c07fe510 43 template<std::size_t Sz, std::size_t K=0>
sv 1:6799c07fe510 44 class Vector
sv 1:6799c07fe510 45 {
sv 1:6799c07fe510 46 Vector();
sv 1:6799c07fe510 47 Vector(const Vector&);
sv 1:6799c07fe510 48 Vector& operator=(const Vector&);
sv 1:6799c07fe510 49
sv 1:6799c07fe510 50 private:
sv 1:6799c07fe510 51 enum {
sv 1:6799c07fe510 52 doIt = (K < (Sz-1)) ? 1 : 0 /**< recursive counter */
sv 1:6799c07fe510 53 };
sv 1:6799c07fe510 54
sv 1:6799c07fe510 55 public:
sv 1:6799c07fe510 56 /** assign an expression expr using the functional assign_fn. */
sv 1:6799c07fe510 57 template <class Dest, class Src, class Assign>
sv 1:6799c07fe510 58 static inline
sv 1:6799c07fe510 59 void assign(Dest& lhs, const Src& rhs, const Assign& assign_fn) {
sv 1:6799c07fe510 60 assign_fn.apply_on(lhs(K), rhs(K));
sv 1:6799c07fe510 61 meta::Vector<Sz * doIt, (K+1) * doIt>::assign(lhs, rhs, assign_fn);
sv 1:6799c07fe510 62 }
sv 1:6799c07fe510 63
sv 1:6799c07fe510 64 /** build the sum of the vector. */
sv 1:6799c07fe510 65 template<class E>
sv 1:6799c07fe510 66 static inline
sv 1:6799c07fe510 67 typename E::value_type
sv 1:6799c07fe510 68 sum(const E& e) {
sv 1:6799c07fe510 69 return e(K) + meta::Vector<Sz * doIt, (K+1) * doIt>::sum(e);
sv 1:6799c07fe510 70 }
sv 1:6799c07fe510 71
sv 1:6799c07fe510 72 /** build the product of the vector. */
sv 1:6799c07fe510 73 template<class E>
sv 1:6799c07fe510 74 static inline
sv 1:6799c07fe510 75 typename NumericTraits<
sv 1:6799c07fe510 76 typename E::value_type
sv 1:6799c07fe510 77 >::sum_type
sv 1:6799c07fe510 78 product(const E& e) {
sv 1:6799c07fe510 79 return e(K) * meta::Vector<Sz * doIt, (K+1) * doIt>::product(e);
sv 1:6799c07fe510 80 }
sv 1:6799c07fe510 81
sv 1:6799c07fe510 82 /** build the dot product of the vector. */
sv 1:6799c07fe510 83 template<class Dest, class Src>
sv 1:6799c07fe510 84 static inline
sv 1:6799c07fe510 85 typename PromoteTraits<
sv 1:6799c07fe510 86 typename Dest::value_type,
sv 1:6799c07fe510 87 typename Src::value_type
sv 1:6799c07fe510 88 >::value_type
sv 1:6799c07fe510 89 dot(const Dest& lhs, const Src& rhs) {
sv 1:6799c07fe510 90 return lhs(K) * rhs(K)
sv 1:6799c07fe510 91 + meta::Vector<Sz * doIt, (K+1) * doIt>::dot(lhs, rhs);
sv 1:6799c07fe510 92 }
sv 1:6799c07fe510 93
sv 1:6799c07fe510 94 /** check for all elements */
sv 1:6799c07fe510 95 template<class E>
sv 1:6799c07fe510 96 static inline
sv 1:6799c07fe510 97 bool
sv 1:6799c07fe510 98 all_elements(const E& e) {
sv 1:6799c07fe510 99 if(!e(K)) return false;
sv 1:6799c07fe510 100 return meta::Vector<Sz * doIt, (K+1) * doIt>::all_elements(e);
sv 1:6799c07fe510 101 }
sv 1:6799c07fe510 102
sv 1:6799c07fe510 103 /** check for any elements */
sv 1:6799c07fe510 104 template<class E>
sv 1:6799c07fe510 105 static inline
sv 1:6799c07fe510 106 bool
sv 1:6799c07fe510 107 any_elements(const E& e) {
sv 1:6799c07fe510 108 if(e(K)) return true;
sv 1:6799c07fe510 109 return meta::Vector<Sz * doIt, (K+1) * doIt>::any_elements(e);
sv 1:6799c07fe510 110 }
sv 1:6799c07fe510 111 };
sv 1:6799c07fe510 112
sv 1:6799c07fe510 113
sv 1:6799c07fe510 114 /**
sv 1:6799c07fe510 115 * \class Vector<0,0> Vector.h "tvmet/meta/Vector.h"
sv 1:6799c07fe510 116 * \brief Meta %Vector Specialized for recursion
sv 1:6799c07fe510 117 */
sv 1:6799c07fe510 118 template<>
sv 1:6799c07fe510 119 class Vector<0,0>
sv 1:6799c07fe510 120 {
sv 1:6799c07fe510 121 Vector();
sv 1:6799c07fe510 122 Vector(const Vector&);
sv 1:6799c07fe510 123 Vector& operator=(const Vector&);
sv 1:6799c07fe510 124
sv 1:6799c07fe510 125 public:
sv 1:6799c07fe510 126 template <class Dest, class Src, class Assign>
sv 1:6799c07fe510 127 static inline void assign(Dest&, const Src&, const Assign&) { }
sv 1:6799c07fe510 128
sv 1:6799c07fe510 129 template<class E>
sv 1:6799c07fe510 130 static inline XprNull sum(const E&) { return XprNull(); }
sv 1:6799c07fe510 131
sv 1:6799c07fe510 132 template<class E>
sv 1:6799c07fe510 133 static inline XprNull product(const E&) { return XprNull(); }
sv 1:6799c07fe510 134
sv 1:6799c07fe510 135 template<class Dest, class Src>
sv 1:6799c07fe510 136 static inline XprNull dot(const Dest&, const Src&) { return XprNull(); }
sv 1:6799c07fe510 137
sv 1:6799c07fe510 138 template<class E>
sv 1:6799c07fe510 139 static inline bool all_elements(const E&) { return true; }
sv 1:6799c07fe510 140
sv 1:6799c07fe510 141 template<class E>
sv 1:6799c07fe510 142 static inline bool any_elements(const E&) { return false; }
sv 1:6799c07fe510 143 };
sv 1:6799c07fe510 144
sv 1:6799c07fe510 145
sv 1:6799c07fe510 146 } // namespace meta
sv 1:6799c07fe510 147
sv 1:6799c07fe510 148 } // namespace tvmet
sv 1:6799c07fe510 149
sv 1:6799c07fe510 150 #endif /* TVMET_META_VECTOR_H */
sv 1:6799c07fe510 151
sv 1:6799c07fe510 152 // Local Variables:
sv 1:6799c07fe510 153 // mode:C++
sv 1:6799c07fe510 154 // tab-width:8
sv 1:6799c07fe510 155 // End: