Cooper Liu
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Eurobot2013_Co-Processor
working version with calibration done
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tvmet/xpr/MatrixDiag.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?
User | Revision | Line number | New 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: MatrixDiag.h,v 1.17 2007-06-23 15:59:00 opetzold Exp $ |
sv | 1:6799c07fe510 | 22 | */ |
sv | 1:6799c07fe510 | 23 | |
sv | 1:6799c07fe510 | 24 | #ifndef TVMET_XPR_MATRIX_DIAG_H |
sv | 1:6799c07fe510 | 25 | #define TVMET_XPR_MATRIX_DIAG_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 XprMatrixDiag MatrixDiag.h "tvmet/xpr/MatrixDiag.h" |
sv | 1:6799c07fe510 | 32 | * \brief Expression on matrix used for access on the diagonal vector. |
sv | 1:6799c07fe510 | 33 | */ |
sv | 1:6799c07fe510 | 34 | template<class E, std::size_t Sz> |
sv | 1:6799c07fe510 | 35 | class XprMatrixDiag |
sv | 1:6799c07fe510 | 36 | : public TvmetBase< XprMatrixDiag<E, Sz> > |
sv | 1:6799c07fe510 | 37 | { |
sv | 1:6799c07fe510 | 38 | XprMatrixDiag(); |
sv | 1:6799c07fe510 | 39 | XprMatrixDiag& operator=(const XprMatrixDiag<E, Sz>&); |
sv | 1:6799c07fe510 | 40 | |
sv | 1:6799c07fe510 | 41 | public: |
sv | 1:6799c07fe510 | 42 | typedef typename E::value_type value_type; |
sv | 1:6799c07fe510 | 43 | |
sv | 1:6799c07fe510 | 44 | public: |
sv | 1:6799c07fe510 | 45 | /** Complexity counter. */ |
sv | 1:6799c07fe510 | 46 | enum { |
sv | 1:6799c07fe510 | 47 | ops_expr = E::ops, |
sv | 1:6799c07fe510 | 48 | ops = ops_expr/Sz |
sv | 1:6799c07fe510 | 49 | }; |
sv | 1:6799c07fe510 | 50 | |
sv | 1:6799c07fe510 | 51 | public: |
sv | 1:6799c07fe510 | 52 | /** Constructor. */ |
sv | 1:6799c07fe510 | 53 | explicit XprMatrixDiag(const E& e) |
sv | 1:6799c07fe510 | 54 | : m_expr(e) |
sv | 1:6799c07fe510 | 55 | { } |
sv | 1:6799c07fe510 | 56 | |
sv | 1:6799c07fe510 | 57 | /** Copy Constructor. Not explicit! */ |
sv | 1:6799c07fe510 | 58 | #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) |
sv | 1:6799c07fe510 | 59 | XprMatrixDiag(const XprMatrixDiag& e) |
sv | 1:6799c07fe510 | 60 | : m_expr(e.m_expr) |
sv | 1:6799c07fe510 | 61 | { } |
sv | 1:6799c07fe510 | 62 | #endif |
sv | 1:6799c07fe510 | 63 | |
sv | 1:6799c07fe510 | 64 | /** index operator for arrays/matrizes */ |
sv | 1:6799c07fe510 | 65 | value_type operator()(std::size_t i) const { |
sv | 1:6799c07fe510 | 66 | TVMET_RT_CONDITION(i < Sz, "XprMatrixDiag Bounce Violation") |
sv | 1:6799c07fe510 | 67 | return m_expr(i, i); |
sv | 1:6799c07fe510 | 68 | } |
sv | 1:6799c07fe510 | 69 | |
sv | 1:6799c07fe510 | 70 | public: // debugging Xpr parse tree |
sv | 1:6799c07fe510 | 71 | void print_xpr(std::ostream& os, std::size_t l=0) const { |
sv | 1:6799c07fe510 | 72 | os << IndentLevel(l++) |
sv | 1:6799c07fe510 | 73 | << "XprMatrixDiag[O=" << ops << ", (O=" << ops_expr << ")]<" |
sv | 1:6799c07fe510 | 74 | << std::endl; |
sv | 1:6799c07fe510 | 75 | m_expr.print_xpr(os, l); |
sv | 1:6799c07fe510 | 76 | os << IndentLevel(l) |
sv | 1:6799c07fe510 | 77 | << "Sz=" << Sz << std::endl |
sv | 1:6799c07fe510 | 78 | << IndentLevel(--l) << ">" |
sv | 1:6799c07fe510 | 79 | << ((l != 0) ? "," : "") << std::endl; |
sv | 1:6799c07fe510 | 80 | } |
sv | 1:6799c07fe510 | 81 | |
sv | 1:6799c07fe510 | 82 | private: |
sv | 1:6799c07fe510 | 83 | const E m_expr; |
sv | 1:6799c07fe510 | 84 | }; |
sv | 1:6799c07fe510 | 85 | |
sv | 1:6799c07fe510 | 86 | |
sv | 1:6799c07fe510 | 87 | } // namespace tvmet |
sv | 1:6799c07fe510 | 88 | |
sv | 1:6799c07fe510 | 89 | #endif // TVMET_XPR_MATRIX_DIAG_H |
sv | 1:6799c07fe510 | 90 | |
sv | 1:6799c07fe510 | 91 | // Local Variables: |
sv | 1:6799c07fe510 | 92 | // mode:C++ |
sv | 1:6799c07fe510 | 93 | // tab-width:8 |
sv | 1:6799c07fe510 | 94 | // End: |