Cooper Liu / Mbed 2 deprecated ICRSEurobot13

Colour sensors calibrated

Dependencies:   mbed-rtos mbed Servo QEI

Fork of ICRSEurobot13 by Thomas Branch

tvmet/meta/Gemm.h@46:adcd57a5e402, 2013-04-12 (annotated)

Committer:
xiaxia686
Date:
Fri Apr 12 20:59:18 2013 +0000
Revision:
46:adcd57a5e402
Parent:
15:9c5aaeda36dc 
Colours Sensors fixed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 15:9c5aaeda36dc 1 /*
madcowswe 15:9c5aaeda36dc 2 * Tiny Vector Matrix Library
madcowswe 15:9c5aaeda36dc 3 * Dense Vector Matrix Libary of Tiny size using Expression Templates
madcowswe 15:9c5aaeda36dc 4 *
madcowswe 15:9c5aaeda36dc 5 * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
madcowswe 15:9c5aaeda36dc 6 *
madcowswe 15:9c5aaeda36dc 7 * This library is free software; you can redistribute it and/or
madcowswe 15:9c5aaeda36dc 8 * modify it under the terms of the GNU Lesser General Public
madcowswe 15:9c5aaeda36dc 9 * License as published by the Free Software Foundation; either
madcowswe 15:9c5aaeda36dc 10 * version 2.1 of the License, or (at your option) any later version.
madcowswe 15:9c5aaeda36dc 11 *
madcowswe 15:9c5aaeda36dc 12 * This library is distributed in the hope that it will be useful,
madcowswe 15:9c5aaeda36dc 13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
madcowswe 15:9c5aaeda36dc 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
madcowswe 15:9c5aaeda36dc 15 * Lesser General Public License for more details.
madcowswe 15:9c5aaeda36dc 16 *
madcowswe 15:9c5aaeda36dc 17 * You should have received a copy of the GNU Lesser General Public
madcowswe 15:9c5aaeda36dc 18 * License along with this library; if not, write to the Free Software
madcowswe 15:9c5aaeda36dc 19 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
madcowswe 15:9c5aaeda36dc 20 *
madcowswe 15:9c5aaeda36dc 21 * $Id: Gemm.h,v 1.15 2007-06-23 15:58:59 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_META_GEMM_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_META_GEMM_H
madcowswe 15:9c5aaeda36dc 26
madcowswe 15:9c5aaeda36dc 27 #include <tvmet/xpr/Null.h>
madcowswe 15:9c5aaeda36dc 28
madcowswe 15:9c5aaeda36dc 29 namespace tvmet {
madcowswe 15:9c5aaeda36dc 30
madcowswe 15:9c5aaeda36dc 31 namespace meta {
madcowswe 15:9c5aaeda36dc 32
madcowswe 15:9c5aaeda36dc 33
madcowswe 15:9c5aaeda36dc 34 /**
madcowswe 15:9c5aaeda36dc 35 * \class gemm Gemm.h "tvmet/meta/Gemm.h"
madcowswe 15:9c5aaeda36dc 36 * \brief Meta class for matrix-matrix operations, like product
madcowswe 15:9c5aaeda36dc 37 * using formula
madcowswe 15:9c5aaeda36dc 38 * \f[
madcowswe 15:9c5aaeda36dc 39 * M_1\,M_2
madcowswe 15:9c5aaeda36dc 40 * \f]
madcowswe 15:9c5aaeda36dc 41 * \note The rows of matrix 2 have to be equal to cols of matrix 1.
madcowswe 15:9c5aaeda36dc 42 */
madcowswe 15:9c5aaeda36dc 43 template<std::size_t Rows1, std::size_t Cols1,
madcowswe 15:9c5aaeda36dc 44 std::size_t Cols2,
madcowswe 15:9c5aaeda36dc 45 std::size_t K>
madcowswe 15:9c5aaeda36dc 46 class gemm
madcowswe 15:9c5aaeda36dc 47 {
madcowswe 15:9c5aaeda36dc 48 gemm();
madcowswe 15:9c5aaeda36dc 49 gemm(const gemm&);
madcowswe 15:9c5aaeda36dc 50 gemm& operator=(const gemm&);
madcowswe 15:9c5aaeda36dc 51
madcowswe 15:9c5aaeda36dc 52 private:
madcowswe 15:9c5aaeda36dc 53 enum {
madcowswe 15:9c5aaeda36dc 54 doIt = (K != Cols1 - 1) /**< recursive counter */
madcowswe 15:9c5aaeda36dc 55 };
madcowswe 15:9c5aaeda36dc 56
madcowswe 15:9c5aaeda36dc 57 public:
madcowswe 15:9c5aaeda36dc 58 template<class E1, class E2>
madcowswe 15:9c5aaeda36dc 59 static inline
madcowswe 15:9c5aaeda36dc 60 typename PromoteTraits<
madcowswe 15:9c5aaeda36dc 61 typename E1::value_type,
madcowswe 15:9c5aaeda36dc 62 typename E2::value_type
madcowswe 15:9c5aaeda36dc 63 >::value_type
madcowswe 15:9c5aaeda36dc 64 prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {
madcowswe 15:9c5aaeda36dc 65 return lhs(i, K) * rhs(K, j)
madcowswe 15:9c5aaeda36dc 66 + gemm<Rows1 * doIt, Cols1 * doIt,
madcowswe 15:9c5aaeda36dc 67 Cols2 * doIt,
madcowswe 15:9c5aaeda36dc 68 (K+1) * doIt>::prod(lhs, rhs, i, j);
madcowswe 15:9c5aaeda36dc 69 }
madcowswe 15:9c5aaeda36dc 70 };
madcowswe 15:9c5aaeda36dc 71
madcowswe 15:9c5aaeda36dc 72
madcowswe 15:9c5aaeda36dc 73 /**
madcowswe 15:9c5aaeda36dc 74 * \class gemm<0,0,0,0> Gemm.h "tvmet/meta/Gemm.h"
madcowswe 15:9c5aaeda36dc 75 * \brief gemm Specialized for recursion.
madcowswe 15:9c5aaeda36dc 76 */
madcowswe 15:9c5aaeda36dc 77 template<>
madcowswe 15:9c5aaeda36dc 78 class gemm<0,0,0,0>
madcowswe 15:9c5aaeda36dc 79 {
madcowswe 15:9c5aaeda36dc 80 gemm();
madcowswe 15:9c5aaeda36dc 81 gemm(const gemm&);
madcowswe 15:9c5aaeda36dc 82 gemm& operator=(const gemm&);
madcowswe 15:9c5aaeda36dc 83
madcowswe 15:9c5aaeda36dc 84 public:
madcowswe 15:9c5aaeda36dc 85 template<class E1, class E2>
madcowswe 15:9c5aaeda36dc 86 static inline
madcowswe 15:9c5aaeda36dc 87 XprNull prod(const E1&, const E2&, std::size_t, std::size_t) {
madcowswe 15:9c5aaeda36dc 88 return XprNull();
madcowswe 15:9c5aaeda36dc 89 }
madcowswe 15:9c5aaeda36dc 90 };
madcowswe 15:9c5aaeda36dc 91
madcowswe 15:9c5aaeda36dc 92
madcowswe 15:9c5aaeda36dc 93 } // namespace meta
madcowswe 15:9c5aaeda36dc 94
madcowswe 15:9c5aaeda36dc 95 } // namespace tvmet
madcowswe 15:9c5aaeda36dc 96
madcowswe 15:9c5aaeda36dc 97 #endif /* TVMET_META_GEMM_H */
madcowswe 15:9c5aaeda36dc 98
madcowswe 15:9c5aaeda36dc 99 // Local Variables:
madcowswe 15:9c5aaeda36dc 100 // mode:C++
madcowswe 15:9c5aaeda36dc 101 // tab-width:8
madcowswe 15:9c5aaeda36dc 102 // End: