Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/xpr/BinOperator.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: BinOperator.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_XPR_BINOPERATOR_H
sv 1:6799c07fe510 25 #define TVMET_XPR_BINOPERATOR_H
sv 1:6799c07fe510 26
sv 1:6799c07fe510 27 #include <tvmet/TypePromotion.h>
sv 1:6799c07fe510 28
sv 1:6799c07fe510 29 namespace tvmet {
sv 1:6799c07fe510 30
sv 1:6799c07fe510 31
sv 1:6799c07fe510 32 /**
sv 1:6799c07fe510 33 * \class XprBinOp BinOperator.h "tvmet/xpr/BinOperator.h"
sv 1:6799c07fe510 34 * \brief Binary operators working on two sub expressions.
sv 1:6799c07fe510 35 *
sv 1:6799c07fe510 36 * On acessing using the index operator() the binary operation will be
sv 1:6799c07fe510 37 * evaluated at compile time.
sv 1:6799c07fe510 38 */
sv 1:6799c07fe510 39 template<class BinOp, class E1, class E2>
sv 1:6799c07fe510 40 class XprBinOp
sv 1:6799c07fe510 41 : public TvmetBase< XprBinOp<BinOp, E1, E2> >
sv 1:6799c07fe510 42 {
sv 1:6799c07fe510 43 XprBinOp();
sv 1:6799c07fe510 44 XprBinOp& operator=(const XprBinOp&);
sv 1:6799c07fe510 45
sv 1:6799c07fe510 46 public:
sv 1:6799c07fe510 47 typedef typename BinOp::value_type value_type;
sv 1:6799c07fe510 48
sv 1:6799c07fe510 49 public:
sv 1:6799c07fe510 50 /** Complexity counter. */
sv 1:6799c07fe510 51 enum {
sv 1:6799c07fe510 52 ops_lhs = E1::ops,
sv 1:6799c07fe510 53 ops_rhs = E2::ops,
sv 1:6799c07fe510 54 ops = 2 * (ops_lhs + ops_rhs) // lhs op rhs
sv 1:6799c07fe510 55 };
sv 1:6799c07fe510 56
sv 1:6799c07fe510 57 public:
sv 1:6799c07fe510 58 /** Constructor for two expressions. */
sv 1:6799c07fe510 59 explicit XprBinOp(const E1& lhs, const E2& rhs)
sv 1:6799c07fe510 60 : m_lhs(lhs), m_rhs(rhs)
sv 1:6799c07fe510 61 { }
sv 1:6799c07fe510 62
sv 1:6799c07fe510 63 /** Copy Constructor. Not explicit! */
sv 1:6799c07fe510 64 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
sv 1:6799c07fe510 65 XprBinOp(const XprBinOp& e)
sv 1:6799c07fe510 66 : m_lhs(e.m_lhs), m_rhs(e.m_rhs)
sv 1:6799c07fe510 67 { }
sv 1:6799c07fe510 68 #endif
sv 1:6799c07fe510 69
sv 1:6799c07fe510 70 /** Index operator, evaluates the expression inside. */
sv 1:6799c07fe510 71 value_type operator()(std::size_t i) const {
sv 1:6799c07fe510 72 return BinOp::apply_on(m_lhs(i), m_rhs(i));
sv 1:6799c07fe510 73 }
sv 1:6799c07fe510 74
sv 1:6799c07fe510 75 /** Index operator for arrays/matrices */
sv 1:6799c07fe510 76 value_type operator()(std::size_t i, std::size_t j) const {
sv 1:6799c07fe510 77 return BinOp::apply_on(m_lhs(i, j), m_rhs(i, j));
sv 1:6799c07fe510 78 }
sv 1:6799c07fe510 79
sv 1:6799c07fe510 80 public: // debugging Xpr parse tree
sv 1:6799c07fe510 81 void print_xpr(std::ostream& os, std::size_t l=0) const {
sv 1:6799c07fe510 82 os << IndentLevel(l++)
sv 1:6799c07fe510 83 << "XprBinOp[O="<< ops << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<"
sv 1:6799c07fe510 84 << std::endl;
sv 1:6799c07fe510 85 BinOp::print_xpr(os, l);
sv 1:6799c07fe510 86 m_lhs.print_xpr(os, l);
sv 1:6799c07fe510 87 m_rhs.print_xpr(os, l);
sv 1:6799c07fe510 88 os << IndentLevel(--l)
sv 1:6799c07fe510 89 << ">," << std::endl;
sv 1:6799c07fe510 90 }
sv 1:6799c07fe510 91
sv 1:6799c07fe510 92 private:
sv 1:6799c07fe510 93 const E1 m_lhs;
sv 1:6799c07fe510 94 const E2 m_rhs;
sv 1:6799c07fe510 95 };
sv 1:6799c07fe510 96
sv 1:6799c07fe510 97
sv 1:6799c07fe510 98 } // namespace tvmet
sv 1:6799c07fe510 99
sv 1:6799c07fe510 100 #endif // TVMET_XPR_BINOPERATOR_H
sv 1:6799c07fe510 101
sv 1:6799c07fe510 102 // Local Variables:
sv 1:6799c07fe510 103 // mode:C++
sv 1:6799c07fe510 104 // tab-width:8
sv 1:6799c07fe510 105 // End: