working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/xpr/MatrixUnaryFunctions.h

Committer:
xiaxia686
Date:
2013-04-09
Revision:
11:5ba926692210
Parent:
1:6799c07fe510

File content as of revision 11:5ba926692210:

/*
 * 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: MatrixUnaryFunctions.h,v 1.11 2007-06-23 15:59:00 opetzold Exp $
 */

#ifndef TVMET_XPR_MATRIX_UNARY_FUNCTIONS_H
#define TVMET_XPR_MATRIX_UNARY_FUNCTIONS_H

namespace tvmet {


/*********************************************************
 * PART I: DECLARATION
 *********************************************************/


/*
 * unary_function(XprMatrix<E, Rows, Cols>)
 */
#define TVMET_DECLARE_MACRO(NAME)                    \
template<class E, std::size_t Rows, std::size_t Cols>            \
inline                                    \
XprMatrix<                                \
  XprUnOp<                                \
    Fcnl_##NAME<typename E::value_type>,                \
    XprMatrix<E, Rows, Cols>                        \
  >,                                    \
  Rows, Cols                                \
>                                    \
NAME(const XprMatrix<E, Rows, Cols>& rhs) TVMET_CXX_ALWAYS_INLINE;

TVMET_DECLARE_MACRO(abs)
TVMET_DECLARE_MACRO(cbrt)
TVMET_DECLARE_MACRO(ceil)
TVMET_DECLARE_MACRO(floor)
TVMET_DECLARE_MACRO(rint)
TVMET_DECLARE_MACRO(sin)
TVMET_DECLARE_MACRO(cos)
TVMET_DECLARE_MACRO(tan)
TVMET_DECLARE_MACRO(sinh)
TVMET_DECLARE_MACRO(cosh)
TVMET_DECLARE_MACRO(tanh)
TVMET_DECLARE_MACRO(asin)
TVMET_DECLARE_MACRO(acos)
TVMET_DECLARE_MACRO(atan)
TVMET_DECLARE_MACRO(exp)
TVMET_DECLARE_MACRO(log)
TVMET_DECLARE_MACRO(log10)
TVMET_DECLARE_MACRO(sqrt)

#if defined(TVMET_HAVE_IEEE_MATH)
TVMET_DECLARE_MACRO(asinh)
TVMET_DECLARE_MACRO(acosh)
TVMET_DECLARE_MACRO(atanh)
TVMET_DECLARE_MACRO(expm1)
TVMET_DECLARE_MACRO(log1p)
TVMET_DECLARE_MACRO(erf)
TVMET_DECLARE_MACRO(erfc)
TVMET_DECLARE_MACRO(j0)
TVMET_DECLARE_MACRO(j1)
TVMET_DECLARE_MACRO(y0)
TVMET_DECLARE_MACRO(y1)
TVMET_DECLARE_MACRO(lgamma)
/** \todo isnan etc. - default return is only an int! */

TVMET_DECLARE_MACRO(finite)
#endif // defined(TVMET_HAVE_IEEE_MATH)

#undef TVMET_DECLARE_MACRO


/*********************************************************
 * PART II: IMPLEMENTATION
 *********************************************************/


/*
 * unary_function(XprMatrix<E, Rows, Cols>)
 */
#define TVMET_IMPLEMENT_MACRO(NAME)                   \
template<class E, std::size_t Rows, std::size_t Cols>           \
inline                                   \
XprMatrix<                               \
  XprUnOp<                               \
    Fcnl_##NAME<typename E::value_type>,               \
    XprMatrix<E, Rows, Cols>                       \
  >,                                   \
  Rows, Cols                               \
>                                   \
NAME(const XprMatrix<E, Rows, Cols>& rhs) {               \
  typedef XprUnOp<                           \
    Fcnl_##NAME<typename E::value_type>,               \
    XprMatrix<E, Rows, Cols>                       \
  >                             expr_type; \
  return XprMatrix<expr_type, Rows, Cols>(expr_type(rhs));       \
}

TVMET_IMPLEMENT_MACRO(abs)
TVMET_IMPLEMENT_MACRO(cbrt)
TVMET_IMPLEMENT_MACRO(ceil)
TVMET_IMPLEMENT_MACRO(floor)
TVMET_IMPLEMENT_MACRO(rint)
TVMET_IMPLEMENT_MACRO(sin)
TVMET_IMPLEMENT_MACRO(cos)
TVMET_IMPLEMENT_MACRO(tan)
TVMET_IMPLEMENT_MACRO(sinh)
TVMET_IMPLEMENT_MACRO(cosh)
TVMET_IMPLEMENT_MACRO(tanh)
TVMET_IMPLEMENT_MACRO(asin)
TVMET_IMPLEMENT_MACRO(acos)
TVMET_IMPLEMENT_MACRO(atan)
TVMET_IMPLEMENT_MACRO(exp)
TVMET_IMPLEMENT_MACRO(log)
TVMET_IMPLEMENT_MACRO(log10)
TVMET_IMPLEMENT_MACRO(sqrt)

#if defined(TVMET_HAVE_IEEE_MATH)
TVMET_IMPLEMENT_MACRO(asinh)
TVMET_IMPLEMENT_MACRO(acosh)
TVMET_IMPLEMENT_MACRO(atanh)
TVMET_IMPLEMENT_MACRO(expm1)
TVMET_IMPLEMENT_MACRO(log1p)
TVMET_IMPLEMENT_MACRO(erf)
TVMET_IMPLEMENT_MACRO(erfc)
TVMET_IMPLEMENT_MACRO(j0)
TVMET_IMPLEMENT_MACRO(j1)
TVMET_IMPLEMENT_MACRO(y0)
TVMET_IMPLEMENT_MACRO(y1)
TVMET_IMPLEMENT_MACRO(lgamma)
/** \todo isnan etc. - default return is only an int! */

TVMET_IMPLEMENT_MACRO(finite)
#endif // defined(TVMET_HAVE_IEEE_MATH)

#undef TVMET_IMPLEMENT_MACRO


} // namespace tvmet

#endif // TVMET_XPR_MATRIX_UNARY_FUNCTIONS_H

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