Oskar Weigl
This is the Tiny Vector Matrix Expression Templates library found at http://tvmet.sourceforge.net. It is the fastest and most compact matrix lib out there (for < 10x10 matricies). I have done some minor tweaks to make it compile for mbed. For examples and hints on how to use, see: http://tvmet.sourceforge.net/usage.html
Dependents: Eurobot_2012_Secondary
util/General.h@0:feb4117d16d8, 2012-03-28 (annotated)
- Committer:
- madcowswe
- Date:
- Wed Mar 28 15:53:45 2012 +0000
- Revision:
- 0:feb4117d16d8
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| madcowswe | 0:feb4117d16d8 | 1 | /* |
| madcowswe | 0:feb4117d16d8 | 2 | * Tiny Vector Matrix Library |
| madcowswe | 0:feb4117d16d8 | 3 | * Dense Vector Matrix Libary of Tiny size using Expression Templates |
| madcowswe | 0:feb4117d16d8 | 4 | * |
| madcowswe | 0:feb4117d16d8 | 5 | * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net> |
| madcowswe | 0:feb4117d16d8 | 6 | * |
| madcowswe | 0:feb4117d16d8 | 7 | * This library is free software; you can redistribute it and/or |
| madcowswe | 0:feb4117d16d8 | 8 | * modify it under the terms of the GNU Lesser General Public |
| madcowswe | 0:feb4117d16d8 | 9 | * License as published by the Free Software Foundation; either |
| madcowswe | 0:feb4117d16d8 | 10 | * version 2.1 of the License, or (at your option) any later version. |
| madcowswe | 0:feb4117d16d8 | 11 | * |
| madcowswe | 0:feb4117d16d8 | 12 | * This library is distributed in the hope that it will be useful, |
| madcowswe | 0:feb4117d16d8 | 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| madcowswe | 0:feb4117d16d8 | 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
| madcowswe | 0:feb4117d16d8 | 15 | * Lesser General Public License for more details. |
| madcowswe | 0:feb4117d16d8 | 16 | * |
| madcowswe | 0:feb4117d16d8 | 17 | * You should have received a copy of the GNU Lesser General Public |
| madcowswe | 0:feb4117d16d8 | 18 | * License along with this library; if not, write to the Free Software |
| madcowswe | 0:feb4117d16d8 | 19 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
| madcowswe | 0:feb4117d16d8 | 20 | * |
| madcowswe | 0:feb4117d16d8 | 21 | * $Id: General.h,v 1.13 2007-06-23 15:58:59 opetzold Exp $ |
| madcowswe | 0:feb4117d16d8 | 22 | */ |
| madcowswe | 0:feb4117d16d8 | 23 | |
| madcowswe | 0:feb4117d16d8 | 24 | #ifndef TVMET_UTIL_GENERAL_H |
| madcowswe | 0:feb4117d16d8 | 25 | #define TVMET_UTIL_GENERAL_H |
| madcowswe | 0:feb4117d16d8 | 26 | |
| madcowswe | 0:feb4117d16d8 | 27 | |
| madcowswe | 0:feb4117d16d8 | 28 | /** forward */ |
| madcowswe | 0:feb4117d16d8 | 29 | namespace tvmet { |
| madcowswe | 0:feb4117d16d8 | 30 | template<class T, std::size_t Rows, std::size_t Cols> class Matrix; |
| madcowswe | 0:feb4117d16d8 | 31 | template<class T, std::size_t Sz> class Vector; |
| madcowswe | 0:feb4117d16d8 | 32 | } |
| madcowswe | 0:feb4117d16d8 | 33 | |
| madcowswe | 0:feb4117d16d8 | 34 | namespace tvmet { |
| madcowswe | 0:feb4117d16d8 | 35 | |
| madcowswe | 0:feb4117d16d8 | 36 | namespace util { |
| madcowswe | 0:feb4117d16d8 | 37 | |
| madcowswe | 0:feb4117d16d8 | 38 | /* |
| madcowswe | 0:feb4117d16d8 | 39 | * \defgroup _util_function |
| madcowswe | 0:feb4117d16d8 | 40 | * \brief Usefull utility functions |
| madcowswe | 0:feb4117d16d8 | 41 | */ |
| madcowswe | 0:feb4117d16d8 | 42 | |
| madcowswe | 0:feb4117d16d8 | 43 | /** |
| madcowswe | 0:feb4117d16d8 | 44 | * \fn Gemm(const Matrix<T, Rows, Cols>& m1, const Matrix<T, Rows, Cols>& m2, Matrix<T, Rows, Cols>& m3) |
| madcowswe | 0:feb4117d16d8 | 45 | * \brief General matrix matrix multiplication using loops. |
| madcowswe | 0:feb4117d16d8 | 46 | * \ingroup _util_function |
| madcowswe | 0:feb4117d16d8 | 47 | */ |
| madcowswe | 0:feb4117d16d8 | 48 | template<class T, std::size_t Rows, std::size_t Cols> |
| madcowswe | 0:feb4117d16d8 | 49 | inline |
| madcowswe | 0:feb4117d16d8 | 50 | void |
| madcowswe | 0:feb4117d16d8 | 51 | Gemm(const Matrix<T, Rows, Cols>& m1, const Matrix<T, Rows, Cols>& m2, |
| madcowswe | 0:feb4117d16d8 | 52 | Matrix<T, Rows, Cols>& m3) |
| madcowswe | 0:feb4117d16d8 | 53 | { |
| madcowswe | 0:feb4117d16d8 | 54 | for (std::size_t i = 0; i < Rows; ++i) { |
| madcowswe | 0:feb4117d16d8 | 55 | for (std::size_t j = 0; j < Cols; ++j) { |
| madcowswe | 0:feb4117d16d8 | 56 | T sum(0); |
| madcowswe | 0:feb4117d16d8 | 57 | for (std::size_t k = 0; k < Cols; ++k) { |
| madcowswe | 0:feb4117d16d8 | 58 | sum += m1(i,k) * m2(k,j); |
| madcowswe | 0:feb4117d16d8 | 59 | } |
| madcowswe | 0:feb4117d16d8 | 60 | m3(i,j) = sum; |
| madcowswe | 0:feb4117d16d8 | 61 | } |
| madcowswe | 0:feb4117d16d8 | 62 | } |
| madcowswe | 0:feb4117d16d8 | 63 | } |
| madcowswe | 0:feb4117d16d8 | 64 | |
| madcowswe | 0:feb4117d16d8 | 65 | |
| madcowswe | 0:feb4117d16d8 | 66 | /** |
| madcowswe | 0:feb4117d16d8 | 67 | * \fn Gemv(const Matrix<T, Rows, Cols>& m, const Vector<T, Cols>& v, Vector<T, Cols>& v2) |
| madcowswe | 0:feb4117d16d8 | 68 | * \brief General matrix vector multiplication using loops. |
| madcowswe | 0:feb4117d16d8 | 69 | * \ingroup _util_function |
| madcowswe | 0:feb4117d16d8 | 70 | */ |
| madcowswe | 0:feb4117d16d8 | 71 | template<class T, std::size_t Rows, std::size_t Cols> |
| madcowswe | 0:feb4117d16d8 | 72 | inline |
| madcowswe | 0:feb4117d16d8 | 73 | void |
| madcowswe | 0:feb4117d16d8 | 74 | Gemv(const Matrix<T, Rows, Cols>& m, const Vector<T, Cols>& v, |
| madcowswe | 0:feb4117d16d8 | 75 | Vector<T, Cols>& v2) |
| madcowswe | 0:feb4117d16d8 | 76 | { |
| madcowswe | 0:feb4117d16d8 | 77 | for (std::size_t i = 0; i < Rows; ++i){ |
| madcowswe | 0:feb4117d16d8 | 78 | v2(i) = T(0); // clean up before use |
| madcowswe | 0:feb4117d16d8 | 79 | for (std::size_t j = 0; j < Cols; ++j) { |
| madcowswe | 0:feb4117d16d8 | 80 | v2(i) += m(i,j) * v(j); |
| madcowswe | 0:feb4117d16d8 | 81 | } |
| madcowswe | 0:feb4117d16d8 | 82 | } |
| madcowswe | 0:feb4117d16d8 | 83 | } |
| madcowswe | 0:feb4117d16d8 | 84 | |
| madcowswe | 0:feb4117d16d8 | 85 | |
| madcowswe | 0:feb4117d16d8 | 86 | /** |
| madcowswe | 0:feb4117d16d8 | 87 | * \fn Gevvmul(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, Vector<T, Sz>& v3) |
| madcowswe | 0:feb4117d16d8 | 88 | * \brief General vector vector elementwise multiplication using loop. |
| madcowswe | 0:feb4117d16d8 | 89 | * \ingroup _util_function |
| madcowswe | 0:feb4117d16d8 | 90 | */ |
| madcowswe | 0:feb4117d16d8 | 91 | template<class T, std::size_t Sz> |
| madcowswe | 0:feb4117d16d8 | 92 | inline |
| madcowswe | 0:feb4117d16d8 | 93 | void |
| madcowswe | 0:feb4117d16d8 | 94 | Gevvmul(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, |
| madcowswe | 0:feb4117d16d8 | 95 | Vector<T, Sz>& v3) |
| madcowswe | 0:feb4117d16d8 | 96 | { |
| madcowswe | 0:feb4117d16d8 | 97 | for(std::size_t i = 0; i < Sz; ++i) |
| madcowswe | 0:feb4117d16d8 | 98 | v3(i) = v1(i) * v2(i); |
| madcowswe | 0:feb4117d16d8 | 99 | } |
| madcowswe | 0:feb4117d16d8 | 100 | |
| madcowswe | 0:feb4117d16d8 | 101 | |
| madcowswe | 0:feb4117d16d8 | 102 | /** |
| madcowswe | 0:feb4117d16d8 | 103 | * \fn Gevvadd(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, Vector<T, Sz>& v3) |
| madcowswe | 0:feb4117d16d8 | 104 | * \brief General vector vector elementwise multiplication using loop. |
| madcowswe | 0:feb4117d16d8 | 105 | * \ingroup _util_function |
| madcowswe | 0:feb4117d16d8 | 106 | */ |
| madcowswe | 0:feb4117d16d8 | 107 | template<class T, std::size_t Sz> |
| madcowswe | 0:feb4117d16d8 | 108 | inline |
| madcowswe | 0:feb4117d16d8 | 109 | void |
| madcowswe | 0:feb4117d16d8 | 110 | Gevvadd(const Vector<T, Sz>& v1, const Vector<T, Sz>& v2, |
| madcowswe | 0:feb4117d16d8 | 111 | Vector<T, Sz>& v3) |
| madcowswe | 0:feb4117d16d8 | 112 | { |
| madcowswe | 0:feb4117d16d8 | 113 | for(std::size_t i = 0; i < Sz; ++i) |
| madcowswe | 0:feb4117d16d8 | 114 | v3(i) = v1(i) + v2(i); |
| madcowswe | 0:feb4117d16d8 | 115 | } |
| madcowswe | 0:feb4117d16d8 | 116 | |
| madcowswe | 0:feb4117d16d8 | 117 | } // namespace util |
| madcowswe | 0:feb4117d16d8 | 118 | |
| madcowswe | 0:feb4117d16d8 | 119 | } // namespace tvmet |
| madcowswe | 0:feb4117d16d8 | 120 | |
| madcowswe | 0:feb4117d16d8 | 121 | #endif // TVMET_UTIL_GENERAL_H |
| madcowswe | 0:feb4117d16d8 | 122 | |
| madcowswe | 0:feb4117d16d8 | 123 | // Local Variables: |
| madcowswe | 0:feb4117d16d8 | 124 | // mode:C++ |
| madcowswe | 0:feb4117d16d8 | 125 | // tab-width:8 |
| madcowswe | 0:feb4117d16d8 | 126 | // End: |