Oskar Weigl / tvmet

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

xpr/MMtProduct.h@0:feb4117d16d8, 2012-03-28 (annotated)

Committer:
madcowswe
Date:
Wed Mar 28 15:53:45 2012 +0000
Revision:
0:feb4117d16d8

        

        
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/*





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 * Tiny Vector Matrix Library





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 * Dense Vector Matrix Libary of Tiny size using Expression Templates





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 *





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 * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>





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 *





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 * This library is free software; you can redistribute it and/or





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 * modify it under the terms of the GNU Lesser General Public





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 * License as published by the Free Software Foundation; either





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 * version 2.1 of the License, or (at your option) any later version.





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 *





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 * This library is distributed in the hope that it will be useful,





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 * but WITHOUT ANY WARRANTY; without even the implied warranty of





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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU





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 * Lesser General Public License for more details.





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 *





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 * You should have received a copy of the GNU Lesser General Public





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 * License along with this library; if not, write to the Free Software





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 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA





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 *





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 * $Id: MMtProduct.h,v 1.20 2007-06-23 15:58:59 opetzold Exp $





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 */





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#ifndef TVMET_XPR_MMTPRODUCT_H





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#define TVMET_XPR_MMTPRODUCT_H





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#include <tvmet/meta/Gemmt.h>





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#include <tvmet/loop/Gemmt.h>





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namespace tvmet {





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/**





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 * \class XprMMtProduct MMtProduct.h "tvmet/xpr/MMtProduct.h"





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 * \brief Expression for matrix-matrix product.





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 *        Using formula:





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 *        \f[





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 *        M_1\,M_2^T





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 *        \f]





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 * \note The number of cols of rhs matrix have to be equal to cols of rhs matrix.





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 *       The result is a (Rows1 x Rows2) matrix.





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 */





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template<class E1, std::size_t Rows1, std::size_t Cols1,





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	 class E2, std::size_t Cols2>





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class XprMMtProduct





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  : public TvmetBase< XprMMtProduct<E1, Rows1, Cols1, E2, Cols2> >





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{





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private:





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  XprMMtProduct();





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  XprMMtProduct& operator=(const XprMMtProduct&);





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public:





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  typedef typename PromoteTraits<





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    typename E1::value_type,





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    typename E2::value_type





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  >::value_type							value_type;





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public:





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  /** Complexity counter. */





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  enum {





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    ops_lhs   = E1::ops,





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    ops_rhs   = E2::ops,





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    Rows2 = Cols1,





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    M = Rows1 * Cols1 * Rows1,





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    N = Rows1 * (Cols1 - 1) * Rows2,





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    ops_plus  = M * NumericTraits<value_type>::ops_plus,





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    ops_muls  = N * NumericTraits<value_type>::ops_muls,





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    ops       = ops_plus + ops_muls,





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    use_meta  = Rows1*Rows2 < TVMET_COMPLEXITY_MM_TRIGGER ? true : false





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  };





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public:





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  /** Constructor. */





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  explicit XprMMtProduct(const E1& lhs, const E2& rhs)





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    : m_lhs(lhs), m_rhs(rhs)





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  { }





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  /** Copy Constructor. Not explicit! */





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#if defined(TVMET_OPTIMIZE_XPR_MANUAL_CCTOR)





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  XprMMtProduct(const XprMMtProduct& e)





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    : m_lhs(e.m_lhs), m_rhs(e.m_rhs)





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  { }





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#endif





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private:





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  /** Wrapper for meta gemm. */





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  static inline





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  value_type do_gemmt(dispatch<true>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {





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    return meta::gemmt<Rows1, Cols1,





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                       Cols2,





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                       0>::prod(lhs, rhs, i, j);





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  }





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  /** Wrapper for loop gemm. */





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  static inline





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  value_type do_gemmt(dispatch<false>, const E1& lhs, const E2& rhs, std::size_t i, std::size_t j) {





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    return loop::gemmt<Rows1, Cols1, Cols1>::prod(lhs, rhs, i, j);





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  }





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public:





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  /** index operator for arrays/matrices */





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  value_type operator()(std::size_t i, std::size_t j) const {





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    TVMET_RT_CONDITION((i < Rows1) && (j < Rows2), "XprMMtProduct Bounce Violation")





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    return do_gemmt(dispatch<use_meta>(), m_lhs, m_rhs, i, j);





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  }





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public: // debugging Xpr parse tree





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  void print_xpr(std::ostream& os, std::size_t l=0) const {





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    os << IndentLevel(l++)





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       << "XprMMtProduct["





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       << (use_meta ? "M" :  "L") << ", O=" << ops





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       << ", (O1=" << ops_lhs << ", O2=" << ops_rhs << ")]<"





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       << std::endl;





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    m_lhs.print_xpr(os, l);





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    os << IndentLevel(l)





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       << "R1=" << Rows1 << ", C1=" << Cols1 << ",\n";





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    m_rhs.print_xpr(os, l);





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    os << IndentLevel(l)





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       << "C2=" << Cols2 << ",\n"





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       << "\n"





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       << IndentLevel(--l)





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       << ">," << std::endl;





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  }





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private:





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  const E1		 				m_lhs;





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  const E2 						m_rhs;





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};





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} // namespace tvmet





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#endif // TVMET_XPR_MMTPRODUCT_H





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// Local Variables:





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// mode:C++





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// tab-width:8





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// End: