Cooper Liu / Mbed 2 deprecated ICRSEurobot13

Colour sensors calibrated

Dependencies:   mbed-rtos mbed Servo QEI

Fork of ICRSEurobot13 by Thomas Branch

tvmet/xpr/MatrixDiag.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: MatrixDiag.h,v 1.17 2007-06-23 15:59:00 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_XPR_MATRIX_DIAG_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_XPR_MATRIX_DIAG_H
madcowswe 15:9c5aaeda36dc 26
madcowswe 15:9c5aaeda36dc 27 namespace tvmet {
madcowswe 15:9c5aaeda36dc 28
madcowswe 15:9c5aaeda36dc 29
madcowswe 15:9c5aaeda36dc 30 /**
madcowswe 15:9c5aaeda36dc 31 * \class XprMatrixDiag MatrixDiag.h "tvmet/xpr/MatrixDiag.h"
madcowswe 15:9c5aaeda36dc 32 * \brief Expression on matrix used for access on the diagonal vector.
madcowswe 15:9c5aaeda36dc 33 */
madcowswe 15:9c5aaeda36dc 34 template<class E, std::size_t Sz>
madcowswe 15:9c5aaeda36dc 35 class XprMatrixDiag
madcowswe 15:9c5aaeda36dc 36 : public TvmetBase< XprMatrixDiag<E, Sz> >
madcowswe 15:9c5aaeda36dc 37 {
madcowswe 15:9c5aaeda36dc 38 XprMatrixDiag();
madcowswe 15:9c5aaeda36dc 39 XprMatrixDiag& operator=(const XprMatrixDiag<E, Sz>&);
madcowswe 15:9c5aaeda36dc 40
madcowswe 15:9c5aaeda36dc 41 public:
madcowswe 15:9c5aaeda36dc 42 typedef typename E::value_type value_type;
madcowswe 15:9c5aaeda36dc 43
madcowswe 15:9c5aaeda36dc 44 public:
madcowswe 15:9c5aaeda36dc 45 /** Complexity counter. */
madcowswe 15:9c5aaeda36dc 46 enum {
madcowswe 15:9c5aaeda36dc 47 ops_expr = E::ops,
madcowswe 15:9c5aaeda36dc 48 ops = ops_expr/Sz
madcowswe 15:9c5aaeda36dc 49 };
madcowswe 15:9c5aaeda36dc 50
madcowswe 15:9c5aaeda36dc 51 public:
madcowswe 15:9c5aaeda36dc 52 /** Constructor. */
madcowswe 15:9c5aaeda36dc 53 explicit XprMatrixDiag(const E& e)
madcowswe 15:9c5aaeda36dc 54 : m_expr(e)
madcowswe 15:9c5aaeda36dc 55 { }
madcowswe 15:9c5aaeda36dc 56
madcowswe 15:9c5aaeda36dc 57 /** Copy Constructor. Not explicit! */
madcowswe 15:9c5aaeda36dc 58 #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)
madcowswe 15:9c5aaeda36dc 59 XprMatrixDiag(const XprMatrixDiag& e)
madcowswe 15:9c5aaeda36dc 60 : m_expr(e.m_expr)
madcowswe 15:9c5aaeda36dc 61 { }
madcowswe 15:9c5aaeda36dc 62 #endif
madcowswe 15:9c5aaeda36dc 63
madcowswe 15:9c5aaeda36dc 64 /** index operator for arrays/matrizes */
madcowswe 15:9c5aaeda36dc 65 value_type operator()(std::size_t i) const {
madcowswe 15:9c5aaeda36dc 66 TVMET_RT_CONDITION(i < Sz, "XprMatrixDiag Bounce Violation")
madcowswe 15:9c5aaeda36dc 67 return m_expr(i, i);
madcowswe 15:9c5aaeda36dc 68 }
madcowswe 15:9c5aaeda36dc 69
madcowswe 15:9c5aaeda36dc 70 public: // debugging Xpr parse tree
madcowswe 15:9c5aaeda36dc 71 void print_xpr(std::ostream& os, std::size_t l=0) const {
madcowswe 15:9c5aaeda36dc 72 os << IndentLevel(l++)
madcowswe 15:9c5aaeda36dc 73 << "XprMatrixDiag[O=" << ops << ", (O=" << ops_expr << ")]<"
madcowswe 15:9c5aaeda36dc 74 << std::endl;
madcowswe 15:9c5aaeda36dc 75 m_expr.print_xpr(os, l);
madcowswe 15:9c5aaeda36dc 76 os << IndentLevel(l)
madcowswe 15:9c5aaeda36dc 77 << "Sz=" << Sz << std::endl
madcowswe 15:9c5aaeda36dc 78 << IndentLevel(--l) << ">"
madcowswe 15:9c5aaeda36dc 79 << ((l != 0) ? "," : "") << std::endl;
madcowswe 15:9c5aaeda36dc 80 }
madcowswe 15:9c5aaeda36dc 81
madcowswe 15:9c5aaeda36dc 82 private:
madcowswe 15:9c5aaeda36dc 83 const E m_expr;
madcowswe 15:9c5aaeda36dc 84 };
madcowswe 15:9c5aaeda36dc 85
madcowswe 15:9c5aaeda36dc 86
madcowswe 15:9c5aaeda36dc 87 } // namespace tvmet
madcowswe 15:9c5aaeda36dc 88
madcowswe 15:9c5aaeda36dc 89 #endif // TVMET_XPR_MATRIX_DIAG_H
madcowswe 15:9c5aaeda36dc 90
madcowswe 15:9c5aaeda36dc 91 // Local Variables:
madcowswe 15:9c5aaeda36dc 92 // mode:C++
madcowswe 15:9c5aaeda36dc 93 // tab-width:8
madcowswe 15:9c5aaeda36dc 94 // End: