Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/meta/Gemmt.h@1:6799c07fe510, 2012-11-07 (annotated)

Committer:
sv
Date:
Wed Nov 07 14:37:35 2012 +0000
Revision:
1:6799c07fe510
Preliminary copy of 2012 code

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: Gemmt.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_META_GEMMT_H
sv 1:6799c07fe510 25 #define TVMET_META_GEMMT_H
sv 1:6799c07fe510 26
sv 1:6799c07fe510 27 #include <tvmet/xpr/Null.h>
sv 1:6799c07fe510 28
sv 1:6799c07fe510 29 namespace tvmet {
sv 1:6799c07fe510 30
sv 1:6799c07fe510 31 namespace meta {
sv 1:6799c07fe510 32
sv 1:6799c07fe510 33
sv 1:6799c07fe510 34 /**
sv 1:6799c07fe510 35 * \class gemmt Gemmt.h "tvmet/meta/Gemmt.h"
sv 1:6799c07fe510 36 * \brief Meta class for product matrix-transpose(matrix) operations.
sv 1:6799c07fe510 37 * using formula
sv 1:6799c07fe510 38 * \f[
sv 1:6799c07fe510 39 * M_1\,M_2^{T}
sv 1:6799c07fe510 40 * \f]
sv 1:6799c07fe510 41 * \note The rows of matrix 2 have to be equal to cols of matrix 1. The result
sv 1:6799c07fe510 42 * is a rows1 * cols2 matrix.
sv 1:6799c07fe510 43 */
sv 1:6799c07fe510 44 template<std::size_t Rows1, std::size_t Cols1,
sv 1:6799c07fe510 45 std::size_t Cols2,
sv 1:6799c07fe510 46 std::size_t K>
sv 1:6799c07fe510 47 class gemmt
sv 1:6799c07fe510 48 {
sv 1:6799c07fe510 49 gemmt();
sv 1:6799c07fe510 50 gemmt(const gemmt&);
sv 1:6799c07fe510 51 gemmt& operator=(const gemmt&);
sv 1:6799c07fe510 52
sv 1:6799c07fe510 53 private:
sv 1:6799c07fe510 54 enum {
sv 1:6799c07fe510 55 doIt = (K != Cols2 - 1) /**< recursive counter */
sv 1:6799c07fe510 56 };
sv 1:6799c07fe510 57
sv 1:6799c07fe510 58 public:
sv 1:6799c07fe510 59 template<class E1, class E2>
sv 1:6799c07fe510 60 static inline
sv 1:6799c07fe510 61 typename PromoteTraits<
sv 1:6799c07fe510 62 typename E1::value_type,
sv 1:6799c07fe510 63 typename E2::value_type
sv 1:6799c07fe510 64 >::value_type
sv 1:6799c07fe510 65 prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
sv 1:6799c07fe510 66 return lhs(i, K) * rhs(j, K)
sv 1:6799c07fe510 67 + gemmt<Rows1 * doIt, Cols1 * doIt,
sv 1:6799c07fe510 68 Cols2 * doIt,
sv 1:6799c07fe510 69 (K+1) * doIt>::prod(lhs, rhs, i, j);
sv 1:6799c07fe510 70 }
sv 1:6799c07fe510 71 };
sv 1:6799c07fe510 72
sv 1:6799c07fe510 73
sv 1:6799c07fe510 74 /**
sv 1:6799c07fe510 75 * \class gemmt<0,0,0,0> Gemmt.h "tvmet/meta/Gemmt.h"
sv 1:6799c07fe510 76 * \brief gemmt Specialized for recursion.
sv 1:6799c07fe510 77 */
sv 1:6799c07fe510 78 template<>
sv 1:6799c07fe510 79 class gemmt<0,0,0,0>
sv 1:6799c07fe510 80 {
sv 1:6799c07fe510 81 gemmt();
sv 1:6799c07fe510 82 gemmt(const gemmt&);
sv 1:6799c07fe510 83 gemmt& operator=(const gemmt&);
sv 1:6799c07fe510 84
sv 1:6799c07fe510 85 public:
sv 1:6799c07fe510 86 template<class E1, class E2>
sv 1:6799c07fe510 87 static inline
sv 1:6799c07fe510 88 XprNull prod(const E1&, const E2&, std::size_t, std::size_t) {
sv 1:6799c07fe510 89 return XprNull();
sv 1:6799c07fe510 90 }
sv 1:6799c07fe510 91 };
sv 1:6799c07fe510 92
sv 1:6799c07fe510 93
sv 1:6799c07fe510 94 } // namespace meta
sv 1:6799c07fe510 95
sv 1:6799c07fe510 96 } // namespace tvmet
sv 1:6799c07fe510 97
sv 1:6799c07fe510 98 #endif /* TVMET_META_GEMMT_H */
sv 1:6799c07fe510 99
sv 1:6799c07fe510 100 // Local Variables:
sv 1:6799c07fe510 101 // mode:C++
sv 1:6799c07fe510 102 // tab-width:8
sv 1:6799c07fe510 103 // End: