Colour sensors calibrated
Dependencies: mbed-rtos mbed Servo QEI
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tvmet/VectorImpl.h@26:b16f1045108f, 2013-04-10 (annotated)
- Committer:
- madcowswe
- Date:
- Wed Apr 10 02:01:51 2013 +0000
- Revision:
- 26:b16f1045108f
- Parent:
- 15:9c5aaeda36dc
Motion and motor works, but needs tuning
Who changed what in which revision?
User | Revision | Line number | New 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: VectorImpl.h,v 1.31 2007-06-23 15:58:58 opetzold Exp $ |
madcowswe | 15:9c5aaeda36dc | 22 | */ |
madcowswe | 15:9c5aaeda36dc | 23 | |
madcowswe | 15:9c5aaeda36dc | 24 | #ifndef TVMET_VECTOR_IMPL_H |
madcowswe | 15:9c5aaeda36dc | 25 | #define TVMET_VECTOR_IMPL_H |
madcowswe | 15:9c5aaeda36dc | 26 | |
madcowswe | 15:9c5aaeda36dc | 27 | #include <iomanip> // setw |
madcowswe | 15:9c5aaeda36dc | 28 | |
madcowswe | 15:9c5aaeda36dc | 29 | #include <tvmet/Functional.h> |
madcowswe | 15:9c5aaeda36dc | 30 | #include <tvmet/Io.h> |
madcowswe | 15:9c5aaeda36dc | 31 | |
madcowswe | 15:9c5aaeda36dc | 32 | |
madcowswe | 15:9c5aaeda36dc | 33 | namespace tvmet { |
madcowswe | 15:9c5aaeda36dc | 34 | |
madcowswe | 15:9c5aaeda36dc | 35 | |
madcowswe | 15:9c5aaeda36dc | 36 | /* |
madcowswe | 15:9c5aaeda36dc | 37 | * member operators for i/o |
madcowswe | 15:9c5aaeda36dc | 38 | */ |
madcowswe | 15:9c5aaeda36dc | 39 | template<class T, std::size_t Sz> |
madcowswe | 15:9c5aaeda36dc | 40 | std::ostream& Vector<T, Sz>::print_xpr(std::ostream& os, std::size_t l) const |
madcowswe | 15:9c5aaeda36dc | 41 | { |
madcowswe | 15:9c5aaeda36dc | 42 | os << IndentLevel(l++) << "Vector[" << ops << "]<" |
madcowswe | 15:9c5aaeda36dc | 43 | << typeid(T).name() << ", " << Size << ">," |
madcowswe | 15:9c5aaeda36dc | 44 | << IndentLevel(--l) |
madcowswe | 15:9c5aaeda36dc | 45 | << std::endl; |
madcowswe | 15:9c5aaeda36dc | 46 | |
madcowswe | 15:9c5aaeda36dc | 47 | return os; |
madcowswe | 15:9c5aaeda36dc | 48 | } |
madcowswe | 15:9c5aaeda36dc | 49 | |
madcowswe | 15:9c5aaeda36dc | 50 | |
madcowswe | 15:9c5aaeda36dc | 51 | template<class T, std::size_t Sz> |
madcowswe | 15:9c5aaeda36dc | 52 | std::ostream& Vector<T, Sz>::print_on(std::ostream& os) const |
madcowswe | 15:9c5aaeda36dc | 53 | { |
madcowswe | 15:9c5aaeda36dc | 54 | enum { |
madcowswe | 15:9c5aaeda36dc | 55 | complex_type = NumericTraits<value_type>::is_complex |
madcowswe | 15:9c5aaeda36dc | 56 | }; |
madcowswe | 15:9c5aaeda36dc | 57 | |
madcowswe | 15:9c5aaeda36dc | 58 | std::streamsize w = IoPrintHelper<Vector>::width(dispatch<complex_type>(), *this); |
madcowswe | 15:9c5aaeda36dc | 59 | |
madcowswe | 15:9c5aaeda36dc | 60 | os << std::setw(0) << "[\n "; |
madcowswe | 15:9c5aaeda36dc | 61 | for(std::size_t i = 0; i < (Size - 1); ++i) { |
madcowswe | 15:9c5aaeda36dc | 62 | os << std::setw(w) << m_data[i] << ", "; |
madcowswe | 15:9c5aaeda36dc | 63 | } |
madcowswe | 15:9c5aaeda36dc | 64 | os << std::setw(w) << m_data[Size - 1] << "\n]"; |
madcowswe | 15:9c5aaeda36dc | 65 | |
madcowswe | 15:9c5aaeda36dc | 66 | return os; |
madcowswe | 15:9c5aaeda36dc | 67 | } |
madcowswe | 15:9c5aaeda36dc | 68 | |
madcowswe | 15:9c5aaeda36dc | 69 | |
madcowswe | 15:9c5aaeda36dc | 70 | /* |
madcowswe | 15:9c5aaeda36dc | 71 | * member operators with scalars, per se element wise |
madcowswe | 15:9c5aaeda36dc | 72 | */ |
madcowswe | 15:9c5aaeda36dc | 73 | #define TVMET_IMPLEMENT_MACRO(NAME, OP) \ |
madcowswe | 15:9c5aaeda36dc | 74 | template<class T, std::size_t Sz> \ |
madcowswe | 15:9c5aaeda36dc | 75 | inline \ |
madcowswe | 15:9c5aaeda36dc | 76 | Vector<T, Sz>& Vector<T, Sz>::operator OP (value_type rhs) { \ |
madcowswe | 15:9c5aaeda36dc | 77 | typedef XprLiteral<value_type> expr_type; \ |
madcowswe | 15:9c5aaeda36dc | 78 | this->M_##NAME(XprVector<expr_type, Size>(expr_type(rhs))); \ |
madcowswe | 15:9c5aaeda36dc | 79 | return *this; \ |
madcowswe | 15:9c5aaeda36dc | 80 | } |
madcowswe | 15:9c5aaeda36dc | 81 | |
madcowswe | 15:9c5aaeda36dc | 82 | TVMET_IMPLEMENT_MACRO(add_eq, +=) |
madcowswe | 15:9c5aaeda36dc | 83 | TVMET_IMPLEMENT_MACRO(sub_eq, -=) |
madcowswe | 15:9c5aaeda36dc | 84 | TVMET_IMPLEMENT_MACRO(mul_eq, *=) |
madcowswe | 15:9c5aaeda36dc | 85 | TVMET_IMPLEMENT_MACRO(div_eq, /=) |
madcowswe | 15:9c5aaeda36dc | 86 | #undef TVMET_IMPLEMENT_MACRO |
madcowswe | 15:9c5aaeda36dc | 87 | |
madcowswe | 15:9c5aaeda36dc | 88 | |
madcowswe | 15:9c5aaeda36dc | 89 | #define TVMET_IMPLEMENT_MACRO(NAME, OP) \ |
madcowswe | 15:9c5aaeda36dc | 90 | template<class T, std::size_t Sz> \ |
madcowswe | 15:9c5aaeda36dc | 91 | inline \ |
madcowswe | 15:9c5aaeda36dc | 92 | Vector<T, Sz>& Vector<T, Sz>::operator OP (std::size_t rhs) { \ |
madcowswe | 15:9c5aaeda36dc | 93 | typedef XprLiteral<value_type> expr_type; \ |
madcowswe | 15:9c5aaeda36dc | 94 | this->M_##NAME(XprVector<expr_type, Size>(expr_type(rhs))); \ |
madcowswe | 15:9c5aaeda36dc | 95 | return *this; \ |
madcowswe | 15:9c5aaeda36dc | 96 | } |
madcowswe | 15:9c5aaeda36dc | 97 | |
madcowswe | 15:9c5aaeda36dc | 98 | TVMET_IMPLEMENT_MACRO(mod_eq, %=) |
madcowswe | 15:9c5aaeda36dc | 99 | TVMET_IMPLEMENT_MACRO(xor_eq,^=) |
madcowswe | 15:9c5aaeda36dc | 100 | TVMET_IMPLEMENT_MACRO(and_eq, &=) |
madcowswe | 15:9c5aaeda36dc | 101 | TVMET_IMPLEMENT_MACRO(or_eq, |=) |
madcowswe | 15:9c5aaeda36dc | 102 | TVMET_IMPLEMENT_MACRO(shl_eq, <<=) |
madcowswe | 15:9c5aaeda36dc | 103 | TVMET_IMPLEMENT_MACRO(shr_eq, >>=) |
madcowswe | 15:9c5aaeda36dc | 104 | #undef TVMET_IMPLEMENT_MACRO |
madcowswe | 15:9c5aaeda36dc | 105 | |
madcowswe | 15:9c5aaeda36dc | 106 | |
madcowswe | 15:9c5aaeda36dc | 107 | /* |
madcowswe | 15:9c5aaeda36dc | 108 | * member functions (operators) with vectors, for use with +=,-= ... <<= |
madcowswe | 15:9c5aaeda36dc | 109 | */ |
madcowswe | 15:9c5aaeda36dc | 110 | #define TVMET_IMPLEMENT_MACRO(NAME) \ |
madcowswe | 15:9c5aaeda36dc | 111 | template<class T1, std::size_t Sz> \ |
madcowswe | 15:9c5aaeda36dc | 112 | template <class T2> \ |
madcowswe | 15:9c5aaeda36dc | 113 | inline Vector<T1, Sz>& \ |
madcowswe | 15:9c5aaeda36dc | 114 | Vector<T1, Sz>::M_##NAME (const Vector<T2, Size>& rhs) { \ |
madcowswe | 15:9c5aaeda36dc | 115 | this->M_##NAME( XprVector<typename Vector<T2, Size>::ConstReference, Size>(rhs.const_ref()) ); \ |
madcowswe | 15:9c5aaeda36dc | 116 | return *this; \ |
madcowswe | 15:9c5aaeda36dc | 117 | } |
madcowswe | 15:9c5aaeda36dc | 118 | |
madcowswe | 15:9c5aaeda36dc | 119 | TVMET_IMPLEMENT_MACRO(add_eq) |
madcowswe | 15:9c5aaeda36dc | 120 | TVMET_IMPLEMENT_MACRO(sub_eq) |
madcowswe | 15:9c5aaeda36dc | 121 | TVMET_IMPLEMENT_MACRO(mul_eq) |
madcowswe | 15:9c5aaeda36dc | 122 | TVMET_IMPLEMENT_MACRO(div_eq) |
madcowswe | 15:9c5aaeda36dc | 123 | TVMET_IMPLEMENT_MACRO(mod_eq) |
madcowswe | 15:9c5aaeda36dc | 124 | TVMET_IMPLEMENT_MACRO(xor_eq) |
madcowswe | 15:9c5aaeda36dc | 125 | TVMET_IMPLEMENT_MACRO(and_eq) |
madcowswe | 15:9c5aaeda36dc | 126 | TVMET_IMPLEMENT_MACRO(or_eq) |
madcowswe | 15:9c5aaeda36dc | 127 | TVMET_IMPLEMENT_MACRO(shl_eq) |
madcowswe | 15:9c5aaeda36dc | 128 | TVMET_IMPLEMENT_MACRO(shr_eq) |
madcowswe | 15:9c5aaeda36dc | 129 | #undef TVMET_IMPLEMENT_MACRO |
madcowswe | 15:9c5aaeda36dc | 130 | |
madcowswe | 15:9c5aaeda36dc | 131 | |
madcowswe | 15:9c5aaeda36dc | 132 | /* |
madcowswe | 15:9c5aaeda36dc | 133 | * member functions (operators) with expressions, for use width +=,-= ... <<= |
madcowswe | 15:9c5aaeda36dc | 134 | */ |
madcowswe | 15:9c5aaeda36dc | 135 | #define TVMET_IMPLEMENT_MACRO(NAME) \ |
madcowswe | 15:9c5aaeda36dc | 136 | template<class T, std::size_t Sz> \ |
madcowswe | 15:9c5aaeda36dc | 137 | template <class E> \ |
madcowswe | 15:9c5aaeda36dc | 138 | inline \ |
madcowswe | 15:9c5aaeda36dc | 139 | Vector<T, Sz>& \ |
madcowswe | 15:9c5aaeda36dc | 140 | Vector<T, Sz>::M_##NAME (const XprVector<E, Size>& rhs) { \ |
madcowswe | 15:9c5aaeda36dc | 141 | rhs.assign_to(*this, Fcnl_##NAME<value_type, typename E::value_type>()); \ |
madcowswe | 15:9c5aaeda36dc | 142 | return *this; \ |
madcowswe | 15:9c5aaeda36dc | 143 | } |
madcowswe | 15:9c5aaeda36dc | 144 | |
madcowswe | 15:9c5aaeda36dc | 145 | TVMET_IMPLEMENT_MACRO(add_eq) |
madcowswe | 15:9c5aaeda36dc | 146 | TVMET_IMPLEMENT_MACRO(sub_eq) |
madcowswe | 15:9c5aaeda36dc | 147 | TVMET_IMPLEMENT_MACRO(mul_eq) |
madcowswe | 15:9c5aaeda36dc | 148 | TVMET_IMPLEMENT_MACRO(div_eq) |
madcowswe | 15:9c5aaeda36dc | 149 | TVMET_IMPLEMENT_MACRO(mod_eq) |
madcowswe | 15:9c5aaeda36dc | 150 | TVMET_IMPLEMENT_MACRO(xor_eq) |
madcowswe | 15:9c5aaeda36dc | 151 | TVMET_IMPLEMENT_MACRO(and_eq) |
madcowswe | 15:9c5aaeda36dc | 152 | TVMET_IMPLEMENT_MACRO(or_eq) |
madcowswe | 15:9c5aaeda36dc | 153 | TVMET_IMPLEMENT_MACRO(shl_eq) |
madcowswe | 15:9c5aaeda36dc | 154 | TVMET_IMPLEMENT_MACRO(shr_eq) |
madcowswe | 15:9c5aaeda36dc | 155 | #undef TVMET_IMPLEMENT_MACRO |
madcowswe | 15:9c5aaeda36dc | 156 | |
madcowswe | 15:9c5aaeda36dc | 157 | |
madcowswe | 15:9c5aaeda36dc | 158 | /* |
madcowswe | 15:9c5aaeda36dc | 159 | * aliased member functions (operators) with vectors, |
madcowswe | 15:9c5aaeda36dc | 160 | * for use with +=,-= ... <<= |
madcowswe | 15:9c5aaeda36dc | 161 | */ |
madcowswe | 15:9c5aaeda36dc | 162 | #define TVMET_IMPLEMENT_MACRO(NAME) \ |
madcowswe | 15:9c5aaeda36dc | 163 | template<class T1, std::size_t Sz> \ |
madcowswe | 15:9c5aaeda36dc | 164 | template <class T2> \ |
madcowswe | 15:9c5aaeda36dc | 165 | inline \ |
madcowswe | 15:9c5aaeda36dc | 166 | Vector<T1, Sz>& \ |
madcowswe | 15:9c5aaeda36dc | 167 | Vector<T1, Sz>::alias_##NAME (const Vector<T2, Size>& rhs) { \ |
madcowswe | 15:9c5aaeda36dc | 168 | this->alias_##NAME( XprVector<typename Vector<T2, Size>::ConstReference, Size>(rhs.const_ref()) ); \ |
madcowswe | 15:9c5aaeda36dc | 169 | return *this; \ |
madcowswe | 15:9c5aaeda36dc | 170 | } |
madcowswe | 15:9c5aaeda36dc | 171 | |
madcowswe | 15:9c5aaeda36dc | 172 | TVMET_IMPLEMENT_MACRO(assign) |
madcowswe | 15:9c5aaeda36dc | 173 | TVMET_IMPLEMENT_MACRO(add_eq) |
madcowswe | 15:9c5aaeda36dc | 174 | TVMET_IMPLEMENT_MACRO(sub_eq) |
madcowswe | 15:9c5aaeda36dc | 175 | TVMET_IMPLEMENT_MACRO(mul_eq) |
madcowswe | 15:9c5aaeda36dc | 176 | TVMET_IMPLEMENT_MACRO(div_eq) |
madcowswe | 15:9c5aaeda36dc | 177 | #undef TVMET_IMPLEMENT_MACRO |
madcowswe | 15:9c5aaeda36dc | 178 | |
madcowswe | 15:9c5aaeda36dc | 179 | |
madcowswe | 15:9c5aaeda36dc | 180 | /* |
madcowswe | 15:9c5aaeda36dc | 181 | * aliased member functions (operators) with expressions, |
madcowswe | 15:9c5aaeda36dc | 182 | * for use width +=,-= ... <<= |
madcowswe | 15:9c5aaeda36dc | 183 | */ |
madcowswe | 15:9c5aaeda36dc | 184 | #define TVMET_IMPLEMENT_MACRO(NAME) \ |
madcowswe | 15:9c5aaeda36dc | 185 | template<class T, std::size_t Sz> \ |
madcowswe | 15:9c5aaeda36dc | 186 | template <class E> \ |
madcowswe | 15:9c5aaeda36dc | 187 | inline \ |
madcowswe | 15:9c5aaeda36dc | 188 | Vector<T, Sz>& \ |
madcowswe | 15:9c5aaeda36dc | 189 | Vector<T, Sz>::alias_##NAME (const XprVector<E, Size>& rhs) { \ |
madcowswe | 15:9c5aaeda36dc | 190 | typedef Vector<T, Sz> temp_type; \ |
madcowswe | 15:9c5aaeda36dc | 191 | temp_type(rhs).assign_to(*this, Fcnl_##NAME<value_type, typename E::value_type>()); \ |
madcowswe | 15:9c5aaeda36dc | 192 | return *this; \ |
madcowswe | 15:9c5aaeda36dc | 193 | } |
madcowswe | 15:9c5aaeda36dc | 194 | |
madcowswe | 15:9c5aaeda36dc | 195 | TVMET_IMPLEMENT_MACRO(assign) |
madcowswe | 15:9c5aaeda36dc | 196 | TVMET_IMPLEMENT_MACRO(add_eq) |
madcowswe | 15:9c5aaeda36dc | 197 | TVMET_IMPLEMENT_MACRO(sub_eq) |
madcowswe | 15:9c5aaeda36dc | 198 | TVMET_IMPLEMENT_MACRO(mul_eq) |
madcowswe | 15:9c5aaeda36dc | 199 | TVMET_IMPLEMENT_MACRO(div_eq) |
madcowswe | 15:9c5aaeda36dc | 200 | #undef TVMET_IMPLEMENT_MACRO |
madcowswe | 15:9c5aaeda36dc | 201 | |
madcowswe | 15:9c5aaeda36dc | 202 | |
madcowswe | 15:9c5aaeda36dc | 203 | } // namespace tvmet |
madcowswe | 15:9c5aaeda36dc | 204 | |
madcowswe | 15:9c5aaeda36dc | 205 | #endif // TVMET_VECTOR_IMPL_H |
madcowswe | 15:9c5aaeda36dc | 206 | |
madcowswe | 15:9c5aaeda36dc | 207 | // Local Variables: |
madcowswe | 15:9c5aaeda36dc | 208 | // mode:C++ |
madcowswe | 15:9c5aaeda36dc | 209 | // tab-width:8 |
madcowswe | 15:9c5aaeda36dc | 210 | // End: |