Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/xpr/MtVProduct.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: MtVProduct.h,v 1.14 2007-06-23 15:59:00 opetzold Exp $
sv 1:6799c07fe510 22 */
sv 1:6799c07fe510 23
sv 1:6799c07fe510 24 #ifndef TVMET_XPR_MTVPRODUCT_H
sv 1:6799c07fe510 25 #define TVMET_XPR_MTVPRODUCT_H
sv 1:6799c07fe510 26
sv 1:6799c07fe510 27 #include <tvmet/meta/Gemtv.h>
sv 1:6799c07fe510 28 #include <tvmet/loop/Gemtv.h>
sv 1:6799c07fe510 29
sv 1:6799c07fe510 30 namespace tvmet {
sv 1:6799c07fe510 31
sv 1:6799c07fe510 32
sv 1:6799c07fe510 33 /**
sv 1:6799c07fe510 34 * \class XprMtVProduct MtVProduct.h "tvmet/xpr/MtVProduct.h"
sv 1:6799c07fe510 35 * \brief Expression for matrix-transposed vector product
sv 1:6799c07fe510 36 * using formula
sv 1:6799c07fe510 37 * \f[
sv 1:6799c07fe510 38 * M^T\,v
sv 1:6799c07fe510 39 * \f]
sv 1:6799c07fe510 40 */
sv 1:6799c07fe510 41 template<class E1, std::size_t Rows, std::size_t Cols,
sv 1:6799c07fe510 42 class E2>
sv 1:6799c07fe510 43 class XprMtVProduct
sv 1:6799c07fe510 44 : public TvmetBase< XprMtVProduct<E1, Rows, Cols, E2> >
sv 1:6799c07fe510 45 {
sv 1:6799c07fe510 46 XprMtVProduct();
sv 1:6799c07fe510 47 XprMtVProduct& operator=(const XprMtVProduct&);
sv 1:6799c07fe510 48
sv 1:6799c07fe510 49 public:
sv 1:6799c07fe510 50 typedef typename PromoteTraits<
sv 1:6799c07fe510 51 typename E1::value_type,
sv 1:6799c07fe510 52 typename E2::value_type
sv 1:6799c07fe510 53 >::value_type value_type;
sv 1:6799c07fe510 54
sv 1:6799c07fe510 55 public:
sv 1:6799c07fe510 56 /** Complexity counter. */
sv 1:6799c07fe510 57 enum {
sv 1:6799c07fe510 58 ops_lhs = E1::ops,
sv 1:6799c07fe510 59 ops_rhs = E2::ops,
sv 1:6799c07fe510 60 M = Cols * Rows,
sv 1:6799c07fe510 61 N = Cols * (Rows - 1),
sv 1:6799c07fe510 62 ops_plus = M * NumericTraits<value_type>::ops_plus,
sv 1:6799c07fe510 63 ops_muls = N * NumericTraits<value_type>::ops_muls,
sv 1:6799c07fe510 64 ops = ops_plus + ops_muls,
sv 1:6799c07fe510 65 use_meta = Rows*Cols < TVMET_COMPLEXITY_MV_TRIGGER ? true : false
sv 1:6799c07fe510 66 };
sv 1:6799c07fe510 67
sv 1:6799c07fe510 68 public:
sv 1:6799c07fe510 69 /** Constructor. */
sv 1:6799c07fe510 70 explicit XprMtVProduct(const E1& lhs, const E2& rhs)
sv 1:6799c07fe510 71 : m_lhs(lhs), m_rhs(rhs)
sv 1:6799c07fe510 72 { }
sv 1:6799c07fe510 73
sv 1:6799c07fe510 74 /** Copy Constructor. Not explicit! */
sv 1:6799c07fe510 75 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
sv 1:6799c07fe510 76 XprMtVProduct(const XprMtVProduct& e)
sv 1:6799c07fe510 77 : m_lhs(e.m_lhs), m_rhs(e.m_rhs)
sv 1:6799c07fe510 78 { }
sv 1:6799c07fe510 79 #endif
sv 1:6799c07fe510 80
sv 1:6799c07fe510 81 private:
sv 1:6799c07fe510 82 /** Wrapper for meta gemm. */
sv 1:6799c07fe510 83 static inline
sv 1:6799c07fe510 84 value_type do_gemtv(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i) {
sv 1:6799c07fe510 85 return meta::gemtv<Rows, Cols, 0>::prod(lhs, rhs, i);
sv 1:6799c07fe510 86 }
sv 1:6799c07fe510 87
sv 1:6799c07fe510 88 /** Wrapper for loop gemm. */
sv 1:6799c07fe510 89 static inline
sv 1:6799c07fe510 90 value_type do_gemtv(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i) {
sv 1:6799c07fe510 91 return loop::gemtv<Rows, Cols>::prod(lhs, rhs, i);
sv 1:6799c07fe510 92 }
sv 1:6799c07fe510 93
sv 1:6799c07fe510 94 public:
sv 1:6799c07fe510 95 /** index operator, returns the expression by index. This is the vector
sv 1:6799c07fe510 96 style since a matrix*vector gives a vector. */
sv 1:6799c07fe510 97 value_type operator()(std::size_t j) const {
sv 1:6799c07fe510 98 TVMET_RT_CONDITION(j < Cols , "XprMtVProduct Bounce Violation")
sv 1:6799c07fe510 99 return do_gemtv(dispatch<use_meta>(), m_lhs, m_rhs, j);
sv 1:6799c07fe510 100 }
sv 1:6799c07fe510 101
sv 1:6799c07fe510 102 public: // debugging Xpr parse tree
sv 1:6799c07fe510 103 void print_xpr(std::ostream& os, std::size_t l=0) const {
sv 1:6799c07fe510 104 os << IndentLevel(l++)
sv 1:6799c07fe510 105 << "XprMtVProduct[O=" << ops << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<"
sv 1:6799c07fe510 106 << std::endl;
sv 1:6799c07fe510 107 m_lhs.print_xpr(os, l);
sv 1:6799c07fe510 108 os << IndentLevel(l)
sv 1:6799c07fe510 109 << "R=" << Rows << ", C=" << Cols << ",\n";
sv 1:6799c07fe510 110 m_rhs.print_xpr(os, l);
sv 1:6799c07fe510 111 os << IndentLevel(--l)
sv 1:6799c07fe510 112 << ">," << std::endl;
sv 1:6799c07fe510 113 }
sv 1:6799c07fe510 114
sv 1:6799c07fe510 115 private:
sv 1:6799c07fe510 116 const E1 m_lhs;
sv 1:6799c07fe510 117 const E2 m_rhs;
sv 1:6799c07fe510 118 };
sv 1:6799c07fe510 119
sv 1:6799c07fe510 120
sv 1:6799c07fe510 121 } // namespace tvmet
sv 1:6799c07fe510 122
sv 1:6799c07fe510 123 #endif // TVMET_XPR_MTVPRODUCT_H
sv 1:6799c07fe510 124
sv 1:6799c07fe510 125 // Local Variables:
sv 1:6799c07fe510 126 // mode:C++
sv 1:6799c07fe510 127 // tab-width:8
sv 1:6799c07fe510 128 // End: