working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

Revision:
1:6799c07fe510
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tvmet/AliasProxy.h	Wed Nov 07 14:37:35 2012 +0000
@@ -0,0 +1,128 @@
+/*
+ * Tiny Vector Matrix Library
+ * Dense Vector Matrix Libary of Tiny size using Expression Templates
+ *
+ * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ * $Id: AliasProxy.h,v 1.8 2007-06-23 15:58:58 opetzold Exp $
+ */
+
+#ifndef TVMET_ALIAS_PROXY_H
+#define TVMET_ALIAS_PROXY_H
+
+namespace tvmet {
+
+
+/** forwards */
+template<class E> class AliasProxy;
+
+
+/**
+ * \brief Simplify syntax for alias Matrices and Vectors,
+ *        where aliasing left hand values appear in the
+ *        expression.
+ * \par Example:
+ * \code
+ * typedef tvmet::Matrix<double, 10, 10>    matrix_type;
+ * matrix_type                    m;
+ * ...
+ * alias(m) += trans(m);
+ * \endcode
+ * \sa AliasProxy
+ * \sa Some Notes \ref alias
+ */
+template<class E>
+AliasProxy<E> alias(E& expr) { return AliasProxy<E>(expr); }
+
+
+/**
+ * \class AliasProxy AliasProxy.h "tvmet/AliasProxy.h"
+ * \brief Assign proxy for alias Matrices and Vectors.
+ *
+ *        A short lived object to provide simplified alias syntax.
+ *        Only the friend function alias is allowed to create
+ *        such a object. The proxy calls the appropriate member
+ *        alias_xyz() which have to use temporaries to avoid
+ *        overlapping memory regions.
+ * \sa alias
+ * \sa Some Notes \ref alias
+ * \note Thanks to ublas-dev group, where the principle idea
+ *       comes from.
+ */
+template<class E>
+class AliasProxy
+{
+  AliasProxy(const AliasProxy&);
+  AliasProxy& operator=(const AliasProxy&);
+
+  friend AliasProxy<E> alias<>(E& expr);
+
+public:
+  AliasProxy(E& expr) : m_expr(expr) { }
+
+
+  template<class E2>
+  E& operator=(const E2& expr) {
+    return m_expr.alias_assign(expr);
+  }
+
+  template<class E2>
+  E& operator+=(const E2& expr) {
+    return m_expr.alias_add_eq(expr);
+  }
+
+  template<class E2>
+  E& operator-=(const E2& expr) {
+    return m_expr.alias_sub_eq(expr);
+  }
+
+  template<class E2>
+  E& operator*=(const E2& expr) {
+    return m_expr.alias_mul_eq(expr);
+  }
+
+  template<class E2>
+  E& operator/=(const E2& expr) {
+    return m_expr.alias_div_eq(expr);
+  }
+
+private:
+  E&                        m_expr;
+};
+
+
+#if 0
+namespace element_wise {
+// \todo to write
+template<class E, class E2>
+E& operator/=(AliasProxy<E>& proxy, const E2& rhs) {
+  return proxy.div_upd(rhs);
+}
+
+}
+#endif
+
+
+} // namespace tvmet
+
+
+#endif /* TVMET_ALIAS_PROXY_H */
+
+// Local Variables:
+// mode:C++
+// tab-width:8
+// End: