Colour sensors calibrated
Dependencies: mbed-rtos mbed Servo QEI
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tvmet/loop/Gemm.h
- Committer:
- xiaxia686
- Date:
- 2013-04-12
- Revision:
- 46:adcd57a5e402
- Parent:
- 15:9c5aaeda36dc
File content as of revision 46:adcd57a5e402:
/* * 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: Gemm.h,v 1.12 2007-06-23 15:58:59 opetzold Exp $ */ #ifndef TVMET_LOOP_GEMM_H #define TVMET_LOOP_GEMM_H namespace tvmet { namespace loop { /** * \class gemm Gemm.h "tvmet/loop/Gemm.h" * \brief class for matrix-matrix product using loop unrolling. * using formula * \f[ * M_1\,M_2 * \f] * \par Example: * \code * template<class T, std::size_t Rows1, std::size_t Cols1, std::size_t Cols2> * inline * void * prod(const Matrix<T, Rows1, Cols1>& lhs, const Matrix<T, Cols1, Cols2>& rhs, * Matrix<T, Rows1, Cols2>& dest) * { * for (std::size_t i = 0; i != Rows1; ++i) { * for (std::size_t j = 0; j != Cols2; ++j) { * dest(i, j) = tvmet::loop::gemm<Rows1, Cols1, Cols2>().prod(lhs, rhs, i, j); * } * } * } * \endcode * \note The number of rows of rhs matrix have to be equal to cols of lhs matrix. * The result is a (Rows1 x Cols2) matrix. */ template<std::size_t Rows1, std::size_t Cols1, std::size_t Cols2> class gemm { gemm(const gemm&); gemm& operator=(const gemm&); private: enum { count = Cols1, N = (count+7)/8 }; public: gemm() { } public: template<class E1, class E2> static inline typename PromoteTraits< typename E1::value_type, typename E2::value_type >::value_type prod(const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) { typename PromoteTraits< typename E1::value_type, typename E2::value_type >::value_type sum(0); std::size_t k(0); std::size_t n(N); // Duff's device switch(count % 8) { case 0: do { sum += lhs(i, k) * rhs(k, j); ++k; case 7: sum += lhs(i, k) * rhs(k, j); ++k; case 6: sum += lhs(i, k) * rhs(k, j); ++k; case 5: sum += lhs(i, k) * rhs(k, j); ++k; case 4: sum += lhs(i, k) * rhs(k, j); ++k; case 3: sum += lhs(i, k) * rhs(k, j); ++k; case 2: sum += lhs(i, k) * rhs(k, j); ++k; case 1: sum += lhs(i, k) * rhs(k, j); ++k; } while(--n != 0); } return sum; } }; } // namespace loop } // namespace tvmet #endif /* TVMET_LOOP_GEMM_H */ // Local Variables: // mode:C++ // tab-width:8 // End: