Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/xpr/Matrix.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: Matrix.h,v 1.26 2007-06-23 15:59:00 opetzold Exp $
sv 1:6799c07fe510 22 */
sv 1:6799c07fe510 23
sv 1:6799c07fe510 24 #ifndef TVMET_XPR_MATRIX_H
sv 1:6799c07fe510 25 #define TVMET_XPR_MATRIX_H
sv 1:6799c07fe510 26
sv 1:6799c07fe510 27 #include <tvmet/meta/Matrix.h>
sv 1:6799c07fe510 28 #include <tvmet/loop/Matrix.h>
sv 1:6799c07fe510 29
sv 1:6799c07fe510 30 namespace tvmet {
sv 1:6799c07fe510 31
sv 1:6799c07fe510 32
sv 1:6799c07fe510 33 /* forwards */
sv 1:6799c07fe510 34 template <class T, std::size_t Rows, std::size_t Cols> class Matrix;
sv 1:6799c07fe510 35
sv 1:6799c07fe510 36 /**
sv 1:6799c07fe510 37 * \class XprMatrix Matrix.h "tvmet/xpr/Matrix.h"
sv 1:6799c07fe510 38 * \brief Represents the expression for vectors at any node in the parse tree.
sv 1:6799c07fe510 39 *
sv 1:6799c07fe510 40 * Specifically, XprMatrix is the class that wraps the expression, and the
sv 1:6799c07fe510 41 * expression itself is represented by the template parameter E. The
sv 1:6799c07fe510 42 * class XprMatrix is known as an anonymizing expression wrapper because
sv 1:6799c07fe510 43 * it can hold any subexpression of arbitrary complexity, allowing
sv 1:6799c07fe510 44 * clients to work with any expression by holding on to it via the
sv 1:6799c07fe510 45 * wrapper, without having to know the name of the type object that
sv 1:6799c07fe510 46 * actually implements the expression.
sv 1:6799c07fe510 47 * \note leave the CCtors non-explicit to allow implicit type conversation.
sv 1:6799c07fe510 48 */
sv 1:6799c07fe510 49 template<class E, std::size_t NRows, std::size_t NCols>
sv 1:6799c07fe510 50 class XprMatrix
sv 1:6799c07fe510 51 : public TvmetBase< XprMatrix<E, NRows, NCols> >
sv 1:6799c07fe510 52 {
sv 1:6799c07fe510 53 XprMatrix();
sv 1:6799c07fe510 54 XprMatrix& operator=(const XprMatrix&);
sv 1:6799c07fe510 55
sv 1:6799c07fe510 56 public:
sv 1:6799c07fe510 57 /** Dimensions. */
sv 1:6799c07fe510 58 enum {
sv 1:6799c07fe510 59 Rows = NRows, /**< Number of rows. */
sv 1:6799c07fe510 60 Cols = NCols, /**< Number of cols. */
sv 1:6799c07fe510 61 Size = Rows * Cols /**< Complete Size of Matrix. */
sv 1:6799c07fe510 62 };
sv 1:6799c07fe510 63
sv 1:6799c07fe510 64 public:
sv 1:6799c07fe510 65 /** Complexity counter. */
sv 1:6799c07fe510 66 enum {
sv 1:6799c07fe510 67 ops_assign = Rows * Cols,
sv 1:6799c07fe510 68 ops = E::ops,
sv 1:6799c07fe510 69 use_meta = ops_assign < TVMET_COMPLEXITY_M_ASSIGN_TRIGGER ? true : false
sv 1:6799c07fe510 70 };
sv 1:6799c07fe510 71
sv 1:6799c07fe510 72 public:
sv 1:6799c07fe510 73 typedef typename E::value_type value_type;
sv 1:6799c07fe510 74
sv 1:6799c07fe510 75 public:
sv 1:6799c07fe510 76 /** Constructor. */
sv 1:6799c07fe510 77 explicit XprMatrix(const E& e)
sv 1:6799c07fe510 78 : m_expr(e)
sv 1:6799c07fe510 79 { }
sv 1:6799c07fe510 80
sv 1:6799c07fe510 81 /** Copy Constructor. Not explicit! */
sv 1:6799c07fe510 82 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
sv 1:6799c07fe510 83 XprMatrix(const XprMatrix& rhs)
sv 1:6799c07fe510 84 : m_expr(rhs.m_expr)
sv 1:6799c07fe510 85 { }
sv 1:6799c07fe510 86 #endif
sv 1:6799c07fe510 87
sv 1:6799c07fe510 88 /** access by index. */
sv 1:6799c07fe510 89 value_type operator()(std::size_t i, std::size_t j) const {
sv 1:6799c07fe510 90 TVMET_RT_CONDITION((i < Rows) && (j < Cols), "XprMatrix Bounce Violation")
sv 1:6799c07fe510 91 return m_expr(i, j);
sv 1:6799c07fe510 92 }
sv 1:6799c07fe510 93
sv 1:6799c07fe510 94 private:
sv 1:6799c07fe510 95 /** Wrapper for meta assign. */
sv 1:6799c07fe510 96 template<class Dest, class Src, class Assign>
sv 1:6799c07fe510 97 static inline
sv 1:6799c07fe510 98 void do_assign(dispatch<true>, Dest& dest, const Src& src, const Assign& assign_fn) {
sv 1:6799c07fe510 99 meta::Matrix<Rows, Cols, 0, 0>::assign(dest, src, assign_fn);
sv 1:6799c07fe510 100 }
sv 1:6799c07fe510 101
sv 1:6799c07fe510 102 /** Wrapper for loop assign. */
sv 1:6799c07fe510 103 template<class Dest, class Src, class Assign>
sv 1:6799c07fe510 104 static inline
sv 1:6799c07fe510 105 void do_assign(dispatch<false>, Dest& dest, const Src& src, const Assign& assign_fn) {
sv 1:6799c07fe510 106 loop::Matrix<Rows, Cols>::assign(dest, src, assign_fn);
sv 1:6799c07fe510 107 }
sv 1:6799c07fe510 108
sv 1:6799c07fe510 109 public:
sv 1:6799c07fe510 110 /** assign this expression to Matrix dest. */
sv 1:6799c07fe510 111 template<class Dest, class Assign>
sv 1:6799c07fe510 112 void assign_to(Dest& dest, const Assign& assign_fn) const {
sv 1:6799c07fe510 113 /* here is a way for caching, since each complex 'Node'
sv 1:6799c07fe510 114 is of type XprMatrix. */
sv 1:6799c07fe510 115 do_assign(dispatch<use_meta>(), dest, *this, assign_fn);
sv 1:6799c07fe510 116 }
sv 1:6799c07fe510 117
sv 1:6799c07fe510 118 public: // debugging Xpr parse tree
sv 1:6799c07fe510 119 void print_xpr(std::ostream& os, std::size_t l=0) const {
sv 1:6799c07fe510 120 os << IndentLevel(l++)
sv 1:6799c07fe510 121 << "XprMatrix["
sv 1:6799c07fe510 122 << (use_meta ? "M" : "L") << ", O=" << ops << "]<"
sv 1:6799c07fe510 123 << std::endl;
sv 1:6799c07fe510 124 m_expr.print_xpr(os, l);
sv 1:6799c07fe510 125 os << IndentLevel(l)
sv 1:6799c07fe510 126 << "R=" << Rows << ", C=" << Cols << std::endl;
sv 1:6799c07fe510 127 os << IndentLevel(--l) << ">"
sv 1:6799c07fe510 128 << ((l != 0) ? "," : "") << std::endl;
sv 1:6799c07fe510 129 }
sv 1:6799c07fe510 130
sv 1:6799c07fe510 131 private:
sv 1:6799c07fe510 132 const E m_expr;
sv 1:6799c07fe510 133 };
sv 1:6799c07fe510 134
sv 1:6799c07fe510 135
sv 1:6799c07fe510 136 } // namespace tvmet
sv 1:6799c07fe510 137
sv 1:6799c07fe510 138 #include <tvmet/Functional.h>
sv 1:6799c07fe510 139
sv 1:6799c07fe510 140 #include <tvmet/xpr/BinOperator.h>
sv 1:6799c07fe510 141 #include <tvmet/xpr/UnOperator.h>
sv 1:6799c07fe510 142 #include <tvmet/xpr/Literal.h>
sv 1:6799c07fe510 143
sv 1:6799c07fe510 144 #include <tvmet/xpr/Identity.h>
sv 1:6799c07fe510 145
sv 1:6799c07fe510 146 #include <tvmet/xpr/MMProduct.h>
sv 1:6799c07fe510 147 #include <tvmet/xpr/MMProductTransposed.h>
sv 1:6799c07fe510 148 #include <tvmet/xpr/MMtProduct.h>
sv 1:6799c07fe510 149 #include <tvmet/xpr/MtMProduct.h>
sv 1:6799c07fe510 150 #include <tvmet/xpr/MVProduct.h>
sv 1:6799c07fe510 151 #include <tvmet/xpr/MtVProduct.h>
sv 1:6799c07fe510 152 #include <tvmet/xpr/MatrixTranspose.h>
sv 1:6799c07fe510 153
sv 1:6799c07fe510 154 #include <tvmet/xpr/MatrixFunctions.h>
sv 1:6799c07fe510 155 #include <tvmet/xpr/MatrixBinaryFunctions.h>
sv 1:6799c07fe510 156 #include <tvmet/xpr/MatrixUnaryFunctions.h>
sv 1:6799c07fe510 157 #include <tvmet/xpr/MatrixOperators.h>
sv 1:6799c07fe510 158 #include <tvmet/xpr/Eval.h>
sv 1:6799c07fe510 159
sv 1:6799c07fe510 160 #endif // TVMET_XPR_MATRIX_H
sv 1:6799c07fe510 161
sv 1:6799c07fe510 162 // Local Variables:
sv 1:6799c07fe510 163 // mode:C++
sv 1:6799c07fe510 164 // tab-width:8
sv 1:6799c07fe510 165 // End: