Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/xpr/Eval.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: Eval.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $
sv 1:6799c07fe510 22 */
sv 1:6799c07fe510 23
sv 1:6799c07fe510 24 #ifndef TVMET_XPR_EVAL_H
sv 1:6799c07fe510 25 #define TVMET_XPR_EVAL_H
sv 1:6799c07fe510 26
sv 1:6799c07fe510 27 namespace tvmet {
sv 1:6799c07fe510 28
sv 1:6799c07fe510 29
sv 1:6799c07fe510 30 /**
sv 1:6799c07fe510 31 * \class XprEval Eval.h "tvmet/xpr/Eval.h"
sv 1:6799c07fe510 32 * \brief evaluate the expression
sv 1:6799c07fe510 33 *
sv 1:6799c07fe510 34 * Since we can't overwrite the ? operator we have to write a wrapper
sv 1:6799c07fe510 35 * for expression like return v1>v2 ? true : false
sv 1:6799c07fe510 36 */
sv 1:6799c07fe510 37 template<class E1, class E2, class E3>
sv 1:6799c07fe510 38 class XprEval
sv 1:6799c07fe510 39 : public TvmetBase< XprEval<E1, E2, E3> >
sv 1:6799c07fe510 40 {
sv 1:6799c07fe510 41 public:
sv 1:6799c07fe510 42 typedef E1 expr1_type;
sv 1:6799c07fe510 43 typedef E2 expr2_type;
sv 1:6799c07fe510 44 typedef E3 expr3_type;
sv 1:6799c07fe510 45
sv 1:6799c07fe510 46 typedef typename expr2_type::value_type value2_type;
sv 1:6799c07fe510 47 typedef typename expr3_type::value_type value3_type;
sv 1:6799c07fe510 48
sv 1:6799c07fe510 49 typedef typename
sv 1:6799c07fe510 50 PromoteTraits<value2_type, value3_type>::value_type value_type;
sv 1:6799c07fe510 51
sv 1:6799c07fe510 52 public:
sv 1:6799c07fe510 53 /** Complexity Counter */
sv 1:6799c07fe510 54 enum {
sv 1:6799c07fe510 55 ops_expr1 = E1::ops,
sv 1:6799c07fe510 56 ops_expr2 = E2::ops,
sv 1:6799c07fe510 57 ops_expr3 = E3::ops,
sv 1:6799c07fe510 58 ops = ops_expr1 // only (e1 op e2) are evaluated
sv 1:6799c07fe510 59 };
sv 1:6799c07fe510 60
sv 1:6799c07fe510 61 private:
sv 1:6799c07fe510 62 XprEval();
sv 1:6799c07fe510 63 XprEval& operator=(const XprEval<expr1_type, expr2_type, expr3_type>&);
sv 1:6799c07fe510 64
sv 1:6799c07fe510 65 public:
sv 1:6799c07fe510 66 /** Constructor */
sv 1:6799c07fe510 67 explicit XprEval(const expr1_type& e1, const expr2_type& e2, const expr3_type& e3)
sv 1:6799c07fe510 68 : m_expr1(e1), m_expr2(e2), m_expr3(e3)
sv 1:6799c07fe510 69 { }
sv 1:6799c07fe510 70
sv 1:6799c07fe510 71 /** Copy Constructor. Not explicit! */
sv 1:6799c07fe510 72 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
sv 1:6799c07fe510 73 XprEval(const XprEval& rhs)
sv 1:6799c07fe510 74 : m_expr1(rhs.m_expr1), m_expr2(rhs.m_expr2), m_expr3(rhs.m_expr3)
sv 1:6799c07fe510 75 { }
sv 1:6799c07fe510 76 #endif
sv 1:6799c07fe510 77
sv 1:6799c07fe510 78 public: //access
sv 1:6799c07fe510 79 /** index operator for vectors. */
sv 1:6799c07fe510 80 value_type operator()(std::size_t i) const {
sv 1:6799c07fe510 81 return m_expr1(i) ? m_expr2(i) : m_expr3(i);
sv 1:6799c07fe510 82 }
sv 1:6799c07fe510 83
sv 1:6799c07fe510 84 /** index operator for matrizes. */
sv 1:6799c07fe510 85 value_type operator()(std::size_t i, std::size_t j) const {
sv 1:6799c07fe510 86 return m_expr1(i, j) ? m_expr2(i, j) : m_expr3(i, j);
sv 1:6799c07fe510 87 }
sv 1:6799c07fe510 88
sv 1:6799c07fe510 89 public: // debugging Xpr parse tree
sv 1:6799c07fe510 90 void print_xpr(std::ostream& os, std::size_t l=0) const {
sv 1:6799c07fe510 91 os << IndentLevel(l++)
sv 1:6799c07fe510 92 << "XprEval[" << ops << ", ("
sv 1:6799c07fe510 93 << ops_expr1 << ", " << ops_expr2 << ", " << ops_expr3 << ")]<"
sv 1:6799c07fe510 94 << std::endl;
sv 1:6799c07fe510 95 m_expr1.print_xpr(os, l);
sv 1:6799c07fe510 96 m_expr2.print_xpr(os, l);
sv 1:6799c07fe510 97 m_expr3.print_xpr(os, l);
sv 1:6799c07fe510 98 os << IndentLevel(--l)
sv 1:6799c07fe510 99 << ">," << std::endl;
sv 1:6799c07fe510 100 }
sv 1:6799c07fe510 101
sv 1:6799c07fe510 102 private:
sv 1:6799c07fe510 103 const expr1_type m_expr1;
sv 1:6799c07fe510 104 const expr2_type m_expr2;
sv 1:6799c07fe510 105 const expr3_type m_expr3;
sv 1:6799c07fe510 106 };
sv 1:6799c07fe510 107
sv 1:6799c07fe510 108
sv 1:6799c07fe510 109 } // namespace tvmet
sv 1:6799c07fe510 110
sv 1:6799c07fe510 111 #endif // TVMET_XPR_EVAL_H
sv 1:6799c07fe510 112
sv 1:6799c07fe510 113 // Local Variables:
sv 1:6799c07fe510 114 // mode:C++
sv 1:6799c07fe510 115 // tab-width:8
sv 1:6799c07fe510 116 // End: