Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/xpr/MatrixRow.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: MatrixRow.h,v 1.18 2007-06-23 15:59:00 opetzold Exp $
sv 1:6799c07fe510 22 */
sv 1:6799c07fe510 23
sv 1:6799c07fe510 24 #ifndef TVMET_XPR_MATRIX_ROW_H
sv 1:6799c07fe510 25 #define TVMET_XPR_MATRIX_ROW_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 XprMatrixRow MatrixRow.h "tvmet/xpr/MatrixRow.h"
sv 1:6799c07fe510 32 * \brief Expression on matrix used for access on the row vector.
sv 1:6799c07fe510 33 */
sv 1:6799c07fe510 34 template<class E, std::size_t Rows, std::size_t Cols>
sv 1:6799c07fe510 35 class XprMatrixRow
sv 1:6799c07fe510 36 : public TvmetBase< XprMatrixRow<E, Rows, Cols> >
sv 1:6799c07fe510 37 {
sv 1:6799c07fe510 38 XprMatrixRow();
sv 1:6799c07fe510 39 XprMatrixRow& operator=(const XprMatrixRow&);
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/Rows // equal Col accesses
sv 1:6799c07fe510 49 };
sv 1:6799c07fe510 50
sv 1:6799c07fe510 51 public:
sv 1:6799c07fe510 52 /** Constructor. */
sv 1:6799c07fe510 53 explicit XprMatrixRow(const E& e, std::size_t no)
sv 1:6799c07fe510 54 : m_expr(e), m_row(no)
sv 1:6799c07fe510 55 {
sv 1:6799c07fe510 56 TVMET_RT_CONDITION(no < Rows, "XprMatrixRow Bounce Violation")
sv 1:6799c07fe510 57 }
sv 1:6799c07fe510 58
sv 1:6799c07fe510 59 /** Copy Constructor. Not explicit! */
sv 1:6799c07fe510 60 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
sv 1:6799c07fe510 61 XprMatrixRow(const XprMatrixRow& rhs)
sv 1:6799c07fe510 62 : m_expr(rhs.m_expr), m_row(rhs.m_row)
sv 1:6799c07fe510 63 { }
sv 1:6799c07fe510 64 #endif
sv 1:6799c07fe510 65
sv 1:6799c07fe510 66 value_type operator()(std::size_t j) const {
sv 1:6799c07fe510 67 TVMET_RT_CONDITION(j < Cols, "XprMatrixRow Bounce Violation")
sv 1:6799c07fe510 68 return m_expr(m_row, j);
sv 1:6799c07fe510 69 }
sv 1:6799c07fe510 70
sv 1:6799c07fe510 71 public: // debugging Xpr parse tree
sv 1:6799c07fe510 72 void print_xpr(std::ostream& os, std::size_t l=0) const {
sv 1:6799c07fe510 73 os << IndentLevel(l++)
sv 1:6799c07fe510 74 << "XprMatrixRow[O=" << ops << ", (O=" << ops_expr << ")]<"
sv 1:6799c07fe510 75 << std::endl;
sv 1:6799c07fe510 76 m_expr.print_xpr(os, l);
sv 1:6799c07fe510 77 os << IndentLevel(l)
sv 1:6799c07fe510 78 << "R=" << Rows << ", C=" << Cols << std::endl
sv 1:6799c07fe510 79 << IndentLevel(--l) << ">"
sv 1:6799c07fe510 80 << ((l != 0) ? "," : "") << std::endl;
sv 1:6799c07fe510 81 }
sv 1:6799c07fe510 82
sv 1:6799c07fe510 83 private:
sv 1:6799c07fe510 84 const E m_expr;
sv 1:6799c07fe510 85 const std::size_t m_row;
sv 1:6799c07fe510 86 };
sv 1:6799c07fe510 87
sv 1:6799c07fe510 88
sv 1:6799c07fe510 89 }
sv 1:6799c07fe510 90
sv 1:6799c07fe510 91 #endif // TVMET_XPR_MATRIX_ROW_H
sv 1:6799c07fe510 92
sv 1:6799c07fe510 93 // Local Variables:
sv 1:6799c07fe510 94 // mode:C++
sv 1:6799c07fe510 95 // tab-width:8
sv 1:6799c07fe510 96 // End: