Colour sensors calibrated
Dependencies: mbed-rtos mbed Servo QEI
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tvmet/xpr/MtVProduct.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: MtVProduct.h,v 1.14 2007-06-23 15:59:00 opetzold Exp $ */ #ifndef TVMET_XPR_MTVPRODUCT_H #define TVMET_XPR_MTVPRODUCT_H #include <tvmet/meta/Gemtv.h> #include <tvmet/loop/Gemtv.h> namespace tvmet { /** * \class XprMtVProduct MtVProduct.h "tvmet/xpr/MtVProduct.h" * \brief Expression for matrix-transposed vector product * using formula * \f[ * M^T\,v * \f] */ template<class E1, std::size_t Rows, std::size_t Cols, class E2> class XprMtVProduct : public TvmetBase< XprMtVProduct<E1, Rows, Cols, E2> > { XprMtVProduct(); XprMtVProduct& operator=(const XprMtVProduct&); public: typedef typename PromoteTraits< typename E1::value_type, typename E2::value_type >::value_type value_type; public: /** Complexity counter. */ enum { ops_lhs = E1::ops, ops_rhs = E2::ops, M = Cols * Rows, N = Cols * (Rows - 1), ops_plus = M * NumericTraits<value_type>::ops_plus, ops_muls = N * NumericTraits<value_type>::ops_muls, ops = ops_plus + ops_muls, use_meta = Rows*Cols < TVMET_COMPLEXITY_MV_TRIGGER ? true : false }; public: /** Constructor. */ explicit XprMtVProduct(const E1& lhs, const E2& rhs) : m_lhs(lhs), m_rhs(rhs) { } /** Copy Constructor. Not explicit! */ #if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR) XprMtVProduct(const XprMtVProduct& e) : m_lhs(e.m_lhs), m_rhs(e.m_rhs) { } #endif private: /** Wrapper for meta gemm. */ static inline value_type do_gemtv(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i) { return meta::gemtv<Rows, Cols, 0>::prod(lhs, rhs, i); } /** Wrapper for loop gemm. */ static inline value_type do_gemtv(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i) { return loop::gemtv<Rows, Cols>::prod(lhs, rhs, i); } public: /** index operator, returns the expression by index. This is the vector style since a matrix*vector gives a vector. */ value_type operator()(std::size_t j) const { TVMET_RT_CONDITION(j < Cols , "XprMtVProduct Bounce Violation") return do_gemtv(dispatch<use_meta>(), m_lhs, m_rhs, j); } public: // debugging Xpr parse tree void print_xpr(std::ostream& os, std::size_t l=0) const { os << IndentLevel(l++) << "XprMtVProduct[O=" << ops << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<" << std::endl; m_lhs.print_xpr(os, l); os << IndentLevel(l) << "R=" << Rows << ", C=" << Cols << ",\n"; m_rhs.print_xpr(os, l); os << IndentLevel(--l) << ">," << std::endl; } private: const E1 m_lhs; const E2 m_rhs; }; } // namespace tvmet #endif // TVMET_XPR_MTVPRODUCT_H // Local Variables: // mode:C++ // tab-width:8 // End: