working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

tvmet/xpr/VectorBinaryFunctions.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: VectorBinaryFunctions.h,v 1.12 2007-06-23 15:59:00 opetzold Exp $
 */

#ifndef TVMET_XPR_VECTOR_BINARY_FUNCTIONS_H
#define TVMET_XPR_VECTOR_BINARY_FUNCTIONS_H

namespace tvmet {


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


/*
 * binary_function(XprVector<E1, Sz>, XprVector<E2, Sz>)
 */
#define TVMET_DECLARE_MACRO(NAME)                    \
template<class E1, class E2, std::size_t Sz>                \
inline                                    \
XprVector<                                \
  XprBinOp<                                \
    Fcnl_##NAME<typename E1::value_type, typename E2::value_type>,    \
    XprVector<E1, Sz>,                            \
    XprVector<E2, Sz>                            \
  >,                                    \
  Sz                                    \
>                                    \
NAME(const XprVector<E1, Sz>& lhs,                     \
     const XprVector<E2, Sz>& rhs) TVMET_CXX_ALWAYS_INLINE;

TVMET_DECLARE_MACRO(atan2)
TVMET_DECLARE_MACRO(drem)
TVMET_DECLARE_MACRO(fmod)
TVMET_DECLARE_MACRO(hypot)
TVMET_DECLARE_MACRO(jn)
TVMET_DECLARE_MACRO(yn)
TVMET_DECLARE_MACRO(pow)
#if defined(TVMET_HAVE_COMPLEX)
TVMET_DECLARE_MACRO(polar)
#endif

#undef TVMET_DECLARE_MACRO


/*
 * binary_function(XprVector<E, Sz>, POD)
 */
#define TVMET_DECLARE_MACRO(NAME, TP)        \
template<class E, std::size_t Sz>        \
inline                        \
XprVector<                    \
  XprBinOp<                    \
    Fcnl_##NAME<typename E::value_type, TP >,    \
    XprVector<E, Sz>,                \
    XprLiteral< TP >                \
  >,                        \
  Sz                        \
>                        \
NAME(const XprVector<E, Sz>& lhs,         \
     TP rhs) TVMET_CXX_ALWAYS_INLINE;

TVMET_DECLARE_MACRO(atan2, int)
TVMET_DECLARE_MACRO(drem, int)
TVMET_DECLARE_MACRO(fmod, int)
TVMET_DECLARE_MACRO(hypot, int)
TVMET_DECLARE_MACRO(jn, int)
TVMET_DECLARE_MACRO(yn, int)
TVMET_DECLARE_MACRO(pow, int)

#if defined(TVMET_HAVE_LONG_LONG)
TVMET_DECLARE_MACRO(atan2, long long int)
TVMET_DECLARE_MACRO(drem, long long int)
TVMET_DECLARE_MACRO(fmod, long long int)
TVMET_DECLARE_MACRO(hypot, long long int)
TVMET_DECLARE_MACRO(jn, long long int)
TVMET_DECLARE_MACRO(yn, long long int)
TVMET_DECLARE_MACRO(pow, long long int)
#endif // defined(TVMET_HAVE_LONG_LONG)

TVMET_DECLARE_MACRO(atan2, float)
TVMET_DECLARE_MACRO(drem, float)
TVMET_DECLARE_MACRO(fmod, float)
TVMET_DECLARE_MACRO(hypot, float)
TVMET_DECLARE_MACRO(jn, float)
TVMET_DECLARE_MACRO(yn, float)
TVMET_DECLARE_MACRO(pow, float)

TVMET_DECLARE_MACRO(atan2, double)
TVMET_DECLARE_MACRO(drem, double)
TVMET_DECLARE_MACRO(fmod, double)
TVMET_DECLARE_MACRO(hypot, double)
TVMET_DECLARE_MACRO(jn, double)
TVMET_DECLARE_MACRO(yn, double)
TVMET_DECLARE_MACRO(pow, double)

#if defined(TVMET_HAVE_LONG_DOUBLE)
TVMET_DECLARE_MACRO(atan2, long double)
TVMET_DECLARE_MACRO(drem, long double)
TVMET_DECLARE_MACRO(fmod, long double)
TVMET_DECLARE_MACRO(hypot, long double)
TVMET_DECLARE_MACRO(jn, long double)
TVMET_DECLARE_MACRO(yn, long double)
TVMET_DECLARE_MACRO(pow, long double)
#endif // defined(TVMET_HAVE_LONG_DOUBLE)

#undef TVMET_DECLARE_MACRO


#if defined(TVMET_HAVE_COMPLEX)
/*
 * binary_function(XprVector<E, Sz>, std::complex<>)
 */
#define TVMET_DECLARE_MACRO(NAME)                \
template<class E, std::size_t Sz, class T>            \
inline                                \
XprVector<                            \
  XprBinOp<                            \
    Fcnl_##NAME<typename E::value_type, std::complex<T> >,    \
    XprVector<E, Sz>,                        \
    XprLiteral< std::complex<T> >                \
  >,                                \
  Sz                                \
>                                \
NAME(const XprVector<E, Sz>& lhs,                 \
     const std::complex<T>& rhs) TVMET_CXX_ALWAYS_INLINE;

TVMET_DECLARE_MACRO(atan2)
TVMET_DECLARE_MACRO(drem)
TVMET_DECLARE_MACRO(fmod)
TVMET_DECLARE_MACRO(hypot)
TVMET_DECLARE_MACRO(jn)
TVMET_DECLARE_MACRO(yn)
TVMET_DECLARE_MACRO(pow)

#undef TVMET_DECLARE_MACRO

#endif // defined(TVMET_HAVE_COMPLEX)


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


/*
 * binary_function(XprVector<E1, Sz>, XprVector<E2, Sz>)
 */
#define TVMET_IMPLEMENT_MACRO(NAME)                    \
template<class E1, class E2, std::size_t Sz>                \
inline                                    \
XprVector<                                \
  XprBinOp<                                \
    Fcnl_##NAME<typename E1::value_type, typename E2::value_type>,    \
    XprVector<E1, Sz>,                            \
    XprVector<E2, Sz>                            \
  >,                                    \
  Sz                                    \
>                                    \
NAME(const XprVector<E1, Sz>& lhs, const XprVector<E2, Sz>& rhs) {    \
  typedef XprBinOp<                            \
    Fcnl_##NAME<typename E1::value_type, typename E2::value_type>,    \
    XprVector<E1, Sz>,                            \
    XprVector<E2, Sz>                            \
  >                                expr_type;    \
  return XprVector<expr_type, Sz>(                    \
    expr_type(lhs, rhs));                        \
}

TVMET_IMPLEMENT_MACRO(atan2)
TVMET_IMPLEMENT_MACRO(drem)
TVMET_IMPLEMENT_MACRO(fmod)
TVMET_IMPLEMENT_MACRO(hypot)
TVMET_IMPLEMENT_MACRO(jn)
TVMET_IMPLEMENT_MACRO(yn)
TVMET_IMPLEMENT_MACRO(pow)
#if defined(TVMET_HAVE_COMPLEX)
TVMET_IMPLEMENT_MACRO(polar)
#endif

#undef TVMET_IMPLEMENT_MACRO


/*
 * binary_function(XprVector<E, Sz>, POD)
 */
#define TVMET_IMPLEMENT_MACRO(NAME, TP)                    \
template<class E, std::size_t Sz>                    \
inline                                    \
XprVector<                                \
  XprBinOp<                                \
    Fcnl_##NAME<typename E::value_type, TP >,                \
    XprVector<E, Sz>,                            \
    XprLiteral< TP >                            \
  >,                                    \
  Sz                                    \
>                                    \
NAME(const XprVector<E, Sz>& lhs, TP rhs) {                \
  typedef XprBinOp<                            \
    Fcnl_##NAME<typename E::value_type, TP >,                \
    XprVector<E, Sz>,                            \
    XprLiteral< TP >                            \
  >                            expr_type;    \
  return XprVector<expr_type, Sz>(                    \
    expr_type(lhs, XprLiteral< TP >(rhs)));                \
}

TVMET_IMPLEMENT_MACRO(atan2, int)
TVMET_IMPLEMENT_MACRO(drem, int)
TVMET_IMPLEMENT_MACRO(fmod, int)
TVMET_IMPLEMENT_MACRO(hypot, int)
TVMET_IMPLEMENT_MACRO(jn, int)
TVMET_IMPLEMENT_MACRO(yn, int)
TVMET_IMPLEMENT_MACRO(pow, int)

#if defined(TVMET_HAVE_LONG_LONG)
TVMET_IMPLEMENT_MACRO(atan2, long long int)
TVMET_IMPLEMENT_MACRO(drem, long long int)
TVMET_IMPLEMENT_MACRO(fmod, long long int)
TVMET_IMPLEMENT_MACRO(hypot, long long int)
TVMET_IMPLEMENT_MACRO(jn, long long int)
TVMET_IMPLEMENT_MACRO(yn, long long int)
TVMET_IMPLEMENT_MACRO(pow, long long int)
#endif // defined(TVMET_HAVE_LONG_LONG)

TVMET_IMPLEMENT_MACRO(atan2, float)
TVMET_IMPLEMENT_MACRO(drem, float)
TVMET_IMPLEMENT_MACRO(fmod, float)
TVMET_IMPLEMENT_MACRO(hypot, float)
TVMET_IMPLEMENT_MACRO(jn, float)
TVMET_IMPLEMENT_MACRO(yn, float)
TVMET_IMPLEMENT_MACRO(pow, float)

TVMET_IMPLEMENT_MACRO(atan2, double)
TVMET_IMPLEMENT_MACRO(drem, double)
TVMET_IMPLEMENT_MACRO(fmod, double)
TVMET_IMPLEMENT_MACRO(hypot, double)
TVMET_IMPLEMENT_MACRO(jn, double)
TVMET_IMPLEMENT_MACRO(yn, double)
TVMET_IMPLEMENT_MACRO(pow, double)

#if defined(TVMET_HAVE_LONG_DOUBLE)
TVMET_IMPLEMENT_MACRO(atan2, long double)
TVMET_IMPLEMENT_MACRO(drem, long double)
TVMET_IMPLEMENT_MACRO(fmod, long double)
TVMET_IMPLEMENT_MACRO(hypot, long double)
TVMET_IMPLEMENT_MACRO(jn, long double)
TVMET_IMPLEMENT_MACRO(yn, long double)
TVMET_IMPLEMENT_MACRO(pow, long double)
#endif // defined(TVMET_HAVE_LONG_DOUBLE)

#undef TVMET_IMPLEMENT_MACRO


#if defined(TVMET_HAVE_COMPLEX)
/*
 * binary_function(XprVector<E, Sz>, std::complex<>)
 */
#define TVMET_IMPLEMENT_MACRO(NAME)                    \
template<class E, std::size_t Sz, class T>                \
inline                                    \
XprVector<                                \
  XprBinOp<                                \
    Fcnl_##NAME<typename E::value_type, std::complex<T> >,        \
    XprVector<E, Sz>,                            \
    XprLiteral< std::complex<T> >                    \
  >,                                    \
  Sz                                    \
>                                    \
NAME(const XprVector<E, Sz>& lhs, const std::complex<T>& rhs) {        \
  typedef XprBinOp<                            \
    Fcnl_##NAME<typename E::value_type, std::complex<T> >,        \
    XprVector<E, Sz>,                            \
    XprLiteral< std::complex<T> >                    \
  >                            expr_type;    \
  return XprVector<expr_type, Sz>(                    \
    expr_type(lhs, XprLiteral< std::complex<T> >(rhs)));        \
}

TVMET_IMPLEMENT_MACRO(atan2)
TVMET_IMPLEMENT_MACRO(drem)
TVMET_IMPLEMENT_MACRO(fmod)
TVMET_IMPLEMENT_MACRO(hypot)
TVMET_IMPLEMENT_MACRO(jn)
TVMET_IMPLEMENT_MACRO(yn)
TVMET_IMPLEMENT_MACRO(pow)

#undef TVMET_IMPLEMENT_MACRO

#endif // defined(TVMET_HAVE_COMPLEX)


} // namespace tvmet

#endif // TVMET_XPR_VECTOR_BINARY_FUNCTIONS_H

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