Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/meta/Matrix.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: Matrix.h,v 1.19 2007-06-23 15:58:59 opetzold Exp $
sv 1:6799c07fe510 22 */
sv 1:6799c07fe510 23
sv 1:6799c07fe510 24 #ifndef TVMET_META_MATRIX_H
sv 1:6799c07fe510 25 #define TVMET_META_MATRIX_H
sv 1:6799c07fe510 26
sv 1:6799c07fe510 27 #include <tvmet/NumericTraits.h>
sv 1:6799c07fe510 28 #include <tvmet/xpr/Null.h>
sv 1:6799c07fe510 29
sv 1:6799c07fe510 30 namespace tvmet {
sv 1:6799c07fe510 31
sv 1:6799c07fe510 32 namespace meta {
sv 1:6799c07fe510 33
sv 1:6799c07fe510 34
sv 1:6799c07fe510 35 /**
sv 1:6799c07fe510 36 * \class Matrix Matrix.h "tvmet/meta/Matrix.h"
sv 1:6799c07fe510 37 * \brief Meta %Matrix class using expression and meta templates.
sv 1:6799c07fe510 38 */
sv 1:6799c07fe510 39 template<std::size_t Rows, std::size_t Cols,
sv 1:6799c07fe510 40 std::size_t M=0, std::size_t N=0>
sv 1:6799c07fe510 41 class Matrix
sv 1:6799c07fe510 42 {
sv 1:6799c07fe510 43 Matrix();
sv 1:6799c07fe510 44 Matrix(const Matrix&);
sv 1:6799c07fe510 45 Matrix& operator=(const Matrix&);
sv 1:6799c07fe510 46
sv 1:6799c07fe510 47 private:
sv 1:6799c07fe510 48 enum {
sv 1:6799c07fe510 49 doRows = (M < Rows - 1) ? 1 : 0, /**< recursive counter Rows. */
sv 1:6799c07fe510 50 doCols = (N < Cols - 1) ? 1 : 0 /**< recursive counter Cols. */
sv 1:6799c07fe510 51 };
sv 1:6799c07fe510 52
sv 1:6799c07fe510 53 public:
sv 1:6799c07fe510 54 /** assign an expression on columns on given row using the functional assign_fn. */
sv 1:6799c07fe510 55 template<class Dest, class Src, class Assign>
sv 1:6799c07fe510 56 static inline
sv 1:6799c07fe510 57 void assign2(Dest& lhs, const Src& rhs, const Assign& assign_fn) {
sv 1:6799c07fe510 58 assign_fn.apply_on(lhs(M, N), rhs(M, N));
sv 1:6799c07fe510 59 Matrix<Rows * doCols, Cols * doCols,
sv 1:6799c07fe510 60 M * doCols, (N+1) * doCols>::assign2(lhs, rhs, assign_fn);
sv 1:6799c07fe510 61 }
sv 1:6799c07fe510 62
sv 1:6799c07fe510 63 /** assign an expression on row-wise using the functional assign_fn. */
sv 1:6799c07fe510 64 template<class Dest, class Src, class Assign>
sv 1:6799c07fe510 65 static inline
sv 1:6799c07fe510 66 void assign(Dest& lhs, const Src& rhs, const Assign& assign_fn) {
sv 1:6799c07fe510 67 Matrix<Rows, Cols,
sv 1:6799c07fe510 68 M, 0>::assign2(lhs, rhs, assign_fn);
sv 1:6799c07fe510 69 Matrix<Rows * doRows, Cols * doRows,
sv 1:6799c07fe510 70 (M+1) * doRows, 0>::assign(lhs, rhs, assign_fn);
sv 1:6799c07fe510 71 }
sv 1:6799c07fe510 72
sv 1:6799c07fe510 73 /** evaluate a given matrix expression, column wise. */
sv 1:6799c07fe510 74 template<class E>
sv 1:6799c07fe510 75 static inline
sv 1:6799c07fe510 76 bool all_elements2(const E& e) {
sv 1:6799c07fe510 77 if(!e(M, N)) return false;
sv 1:6799c07fe510 78 return Matrix<Rows * doCols, Cols * doCols,
sv 1:6799c07fe510 79 M * doCols, (N+1) * doCols>::all_elements2(e);
sv 1:6799c07fe510 80 }
sv 1:6799c07fe510 81
sv 1:6799c07fe510 82 /** evaluate a given matrix expression, row wise. */
sv 1:6799c07fe510 83 template<class E>
sv 1:6799c07fe510 84 static inline
sv 1:6799c07fe510 85 bool all_elements(const E& e) {
sv 1:6799c07fe510 86 if(!Matrix<Rows, Cols, M, 0>::all_elements2(e) ) return false;
sv 1:6799c07fe510 87 return Matrix<Rows * doRows, Cols * doRows,
sv 1:6799c07fe510 88 (M+1) * doRows, 0>::all_elements(e);
sv 1:6799c07fe510 89 }
sv 1:6799c07fe510 90
sv 1:6799c07fe510 91 /** evaluate a given matrix expression, column wise. */
sv 1:6799c07fe510 92 template<class E>
sv 1:6799c07fe510 93 static inline
sv 1:6799c07fe510 94 bool any_elements2(const E& e) {
sv 1:6799c07fe510 95 if(e(M, N)) return true;
sv 1:6799c07fe510 96 return Matrix<Rows * doCols, Cols * doCols,
sv 1:6799c07fe510 97 M * doCols, (N+1) * doCols>::any_elements2(e);
sv 1:6799c07fe510 98 }
sv 1:6799c07fe510 99
sv 1:6799c07fe510 100 /** evaluate a given matrix expression, row wise. */
sv 1:6799c07fe510 101 template<class E>
sv 1:6799c07fe510 102 static inline
sv 1:6799c07fe510 103 bool any_elements(const E& e) {
sv 1:6799c07fe510 104 if(Matrix<Rows, Cols, M, 0>::any_elements2(e) ) return true;
sv 1:6799c07fe510 105 return Matrix<Rows * doRows, Cols * doRows,
sv 1:6799c07fe510 106 (M+1) * doRows, 0>::any_elements(e);
sv 1:6799c07fe510 107 }
sv 1:6799c07fe510 108
sv 1:6799c07fe510 109 /** trace a given matrix expression. */
sv 1:6799c07fe510 110 template<class E>
sv 1:6799c07fe510 111 static inline
sv 1:6799c07fe510 112 typename E::value_type
sv 1:6799c07fe510 113 trace(const E& e) {
sv 1:6799c07fe510 114 return e(M, N)
sv 1:6799c07fe510 115 + Matrix<Rows * doCols, Cols * doCols,
sv 1:6799c07fe510 116 (M+1) * doCols, (N+1) * doCols>::trace(e);
sv 1:6799c07fe510 117 }
sv 1:6799c07fe510 118
sv 1:6799c07fe510 119 };
sv 1:6799c07fe510 120
sv 1:6799c07fe510 121
sv 1:6799c07fe510 122 /**
sv 1:6799c07fe510 123 * \class Matrix<0, 0, 0, 0> Matrix.h "tvmet/meta/Matrix.h"
sv 1:6799c07fe510 124 * \brief Meta %Matrix specialized for recursion.
sv 1:6799c07fe510 125 */
sv 1:6799c07fe510 126 template<>
sv 1:6799c07fe510 127 class Matrix<0, 0, 0, 0>
sv 1:6799c07fe510 128 {
sv 1:6799c07fe510 129 Matrix();
sv 1:6799c07fe510 130 Matrix(const Matrix&);
sv 1:6799c07fe510 131 Matrix& operator=(const Matrix&);
sv 1:6799c07fe510 132
sv 1:6799c07fe510 133 public:
sv 1:6799c07fe510 134 template<class Dest, class Src, class Assign>
sv 1:6799c07fe510 135 static inline void assign2(Dest&, const Src&, const Assign&) { }
sv 1:6799c07fe510 136
sv 1:6799c07fe510 137 template<class Dest, class Src, class Assign>
sv 1:6799c07fe510 138 static inline void assign(Dest&, const Src&, const Assign&) { }
sv 1:6799c07fe510 139
sv 1:6799c07fe510 140 template<class E>
sv 1:6799c07fe510 141 static inline bool all_elements2(const E&) { return true; }
sv 1:6799c07fe510 142
sv 1:6799c07fe510 143 template<class E>
sv 1:6799c07fe510 144 static inline bool all_elements(const E&) { return true; }
sv 1:6799c07fe510 145
sv 1:6799c07fe510 146 template<class E>
sv 1:6799c07fe510 147 static inline bool any_elements2(const E&) { return false; }
sv 1:6799c07fe510 148
sv 1:6799c07fe510 149 template<class E>
sv 1:6799c07fe510 150 static inline bool any_elements(const E&) { return false; }
sv 1:6799c07fe510 151
sv 1:6799c07fe510 152 template<class E>
sv 1:6799c07fe510 153 static inline XprNull trace(const E&) { return XprNull(); }
sv 1:6799c07fe510 154 };
sv 1:6799c07fe510 155
sv 1:6799c07fe510 156
sv 1:6799c07fe510 157 } // namespace meta
sv 1:6799c07fe510 158
sv 1:6799c07fe510 159 } // namespace tvmet
sv 1:6799c07fe510 160
sv 1:6799c07fe510 161 #endif /* TVMET_META_MATRIX_H */
sv 1:6799c07fe510 162
sv 1:6799c07fe510 163 // Local Variables:
sv 1:6799c07fe510 164 // mode:C++
sv 1:6799c07fe510 165 // tab-width:8
sv 1:6799c07fe510 166 // End: