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/Matrix.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: Matrix.h,v 1.26 2007-06-23 15:59:00 opetzold Exp $





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 */





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#ifndef TVMET_XPR_MATRIX_H





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#define TVMET_XPR_MATRIX_H





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#include <tvmet/meta/Matrix.h>





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#include <tvmet/loop/Matrix.h>





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namespace tvmet {





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/* forwards */





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template <class T, std::size_t Rows, std::size_t Cols> class Matrix;





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/**





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 * \class XprMatrix Matrix.h "tvmet/xpr/Matrix.h"





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 * \brief Represents the expression for vectors at any node in the parse tree.





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 *





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 * Specifically, XprMatrix is the class that wraps the expression, and the





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 * expression itself is represented by the template parameter E. The





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 * class XprMatrix is known as an anonymizing expression wrapper because





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 * it can hold any subexpression of arbitrary complexity, allowing





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 * clients to work with any expression by holding on to it via the





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 * wrapper, without having to know the name of the type object that





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 * actually implements the expression.





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 * \note leave the CCtors non-explicit to allow implicit type conversation.





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 */





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template<class E, std::size_t NRows, std::size_t NCols>





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class XprMatrix





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  : public TvmetBase< XprMatrix<E, NRows, NCols> >





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{





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  XprMatrix();





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  XprMatrix& operator=(const XprMatrix&);





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public:





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  /** Dimensions. */





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  enum {





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    Rows = NRows,			/**< Number of rows. */





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    Cols = NCols,			/**< Number of cols. */





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    Size = Rows * Cols			/**< Complete Size of Matrix. */





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  };





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public:





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  /** Complexity counter. */





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  enum {





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    ops_assign = Rows * Cols,





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    ops        = E::ops,





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    use_meta   = ops_assign < TVMET_COMPLEXITY_M_ASSIGN_TRIGGER ? true : false





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  };





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public:





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  typedef typename E::value_type			value_type;





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public:





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  /** Constructor. */





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  explicit XprMatrix(const E& e)





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    : m_expr(e)





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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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  XprMatrix(const XprMatrix& rhs)





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    : m_expr(rhs.m_expr)





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  { }





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#endif





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  /** access by index. */





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





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    TVMET_RT_CONDITION((i < Rows) && (j < Cols), "XprMatrix Bounce Violation")





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    return m_expr(i, j);





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  }





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private:





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  /** Wrapper for meta assign. */





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  template<class Dest, class Src, class Assign>





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  static inline





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  void do_assign(dispatch<true>, Dest& dest, const Src& src, const Assign& assign_fn) {





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    meta::Matrix<Rows, Cols, 0, 0>::assign(dest, src, assign_fn);





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  }





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  /** Wrapper for loop assign. */





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  template<class Dest, class Src, class Assign>





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  static inline





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  void do_assign(dispatch<false>, Dest& dest, const Src& src, const Assign& assign_fn) {





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    loop::Matrix<Rows, Cols>::assign(dest, src, assign_fn);





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  }





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public:





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  /** assign this expression to Matrix dest. */





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  template<class Dest, class Assign>





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  void assign_to(Dest& dest, const Assign& assign_fn) const {





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    /* here is a way for caching, since each complex 'Node'





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       is of type XprMatrix. */





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    do_assign(dispatch<use_meta>(), dest, *this, assign_fn);





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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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       << "XprMatrix["





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





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       << std::endl;





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    m_expr.print_xpr(os, l);





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    os << IndentLevel(l)





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       << "R=" << Rows << ", C=" << Cols << std::endl;





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    os << IndentLevel(--l) << ">"





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       << ((l != 0) ? "," : "") << std::endl;





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  }





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private:





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  const E						m_expr;





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};





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} // namespace tvmet





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#include <tvmet/Functional.h>





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#include <tvmet/xpr/BinOperator.h>





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#include <tvmet/xpr/UnOperator.h>





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#include <tvmet/xpr/Literal.h>





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#include <tvmet/xpr/Identity.h>





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#include <tvmet/xpr/MMProduct.h>





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#include <tvmet/xpr/MMProductTransposed.h>





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#include <tvmet/xpr/MMtProduct.h>





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#include <tvmet/xpr/MtMProduct.h>





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#include <tvmet/xpr/MVProduct.h>





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#include <tvmet/xpr/MtVProduct.h>





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#include <tvmet/xpr/MatrixTranspose.h>





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#include <tvmet/xpr/MatrixFunctions.h>





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#include <tvmet/xpr/MatrixBinaryFunctions.h>





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#include <tvmet/xpr/MatrixUnaryFunctions.h>





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#include <tvmet/xpr/MatrixOperators.h>





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#include <tvmet/xpr/Eval.h>





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#endif // TVMET_XPR_MATRIX_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: