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Eurobot2012_Primary

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tvmet/meta/Matrix.h@26:0995f61cb7b8, 2012-10-17 (annotated)

Committer:
narshu
Date:
Wed Oct 17 22:22:47 2012 +0000
Revision:
26:0995f61cb7b8
Parent:
25:143b19c1fb05 
Eurobot 2012 Primary;

Who changed what in which revision?

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narshu 25:143b19c1fb05 1 /*
narshu 25:143b19c1fb05 2 * Tiny Vector Matrix Library
narshu 25:143b19c1fb05 3 * Dense Vector Matrix Libary of Tiny size using Expression Templates
narshu 25:143b19c1fb05 4 *
narshu 25:143b19c1fb05 5 * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
narshu 25:143b19c1fb05 6 *
narshu 25:143b19c1fb05 7 * This library is free software; you can redistribute it and/or
narshu 25:143b19c1fb05 8 * modify it under the terms of the GNU lesser General Public
narshu 25:143b19c1fb05 9 * License as published by the Free Software Foundation; either
narshu 25:143b19c1fb05 10 * version 2.1 of the License, or (at your option) any later version.
narshu 25:143b19c1fb05 11 *
narshu 25:143b19c1fb05 12 * This library is distributed in the hope that it will be useful,
narshu 25:143b19c1fb05 13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
narshu 25:143b19c1fb05 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
narshu 25:143b19c1fb05 15 * lesser General Public License for more details.
narshu 25:143b19c1fb05 16 *
narshu 25:143b19c1fb05 17 * You should have received a copy of the GNU lesser General Public
narshu 25:143b19c1fb05 18 * License along with this library; if not, write to the Free Software
narshu 25:143b19c1fb05 19 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
narshu 25:143b19c1fb05 20 *
narshu 25:143b19c1fb05 21 * $Id: Matrix.h,v 1.19 2007-06-23 15:58:59 opetzold Exp $
narshu 25:143b19c1fb05 22 */
narshu 25:143b19c1fb05 23
narshu 25:143b19c1fb05 24 #ifndef TVMET_META_MATRIX_H
narshu 25:143b19c1fb05 25 #define TVMET_META_MATRIX_H
narshu 25:143b19c1fb05 26
narshu 25:143b19c1fb05 27 #include <tvmet/NumericTraits.h>
narshu 25:143b19c1fb05 28 #include <tvmet/xpr/Null.h>
narshu 25:143b19c1fb05 29
narshu 25:143b19c1fb05 30 namespace tvmet {
narshu 25:143b19c1fb05 31
narshu 25:143b19c1fb05 32 namespace meta {
narshu 25:143b19c1fb05 33
narshu 25:143b19c1fb05 34
narshu 25:143b19c1fb05 35 /**
narshu 25:143b19c1fb05 36 * \class Matrix Matrix.h "tvmet/meta/Matrix.h"
narshu 25:143b19c1fb05 37 * \brief Meta %Matrix class using expression and meta templates.
narshu 25:143b19c1fb05 38 */
narshu 25:143b19c1fb05 39 template<std::size_t Rows, std::size_t Cols,
narshu 25:143b19c1fb05 40 std::size_t M=0, std::size_t N=0>
narshu 25:143b19c1fb05 41 class Matrix
narshu 25:143b19c1fb05 42 {
narshu 25:143b19c1fb05 43 Matrix();
narshu 25:143b19c1fb05 44 Matrix(const Matrix&);
narshu 25:143b19c1fb05 45 Matrix& operator=(const Matrix&);
narshu 25:143b19c1fb05 46
narshu 25:143b19c1fb05 47 private:
narshu 25:143b19c1fb05 48 enum {
narshu 25:143b19c1fb05 49 doRows = (M < Rows - 1) ? 1 : 0, /**< recursive counter Rows. */
narshu 25:143b19c1fb05 50 doCols = (N < Cols - 1) ? 1 : 0 /**< recursive counter Cols. */
narshu 25:143b19c1fb05 51 };
narshu 25:143b19c1fb05 52
narshu 25:143b19c1fb05 53 public:
narshu 25:143b19c1fb05 54 /** assign an expression on columns on given row using the functional assign_fn. */
narshu 25:143b19c1fb05 55 template<class Dest, class Src, class Assign>
narshu 25:143b19c1fb05 56 static inline
narshu 25:143b19c1fb05 57 void assign2(Dest& lhs, const Src& rhs, const Assign& assign_fn) {
narshu 25:143b19c1fb05 58 assign_fn.apply_on(lhs(M, N), rhs(M, N));
narshu 25:143b19c1fb05 59 Matrix<Rows * doCols, Cols * doCols,
narshu 25:143b19c1fb05 60 M * doCols, (N+1) * doCols>::assign2(lhs, rhs, assign_fn);
narshu 25:143b19c1fb05 61 }
narshu 25:143b19c1fb05 62
narshu 25:143b19c1fb05 63 /** assign an expression on row-wise using the functional assign_fn. */
narshu 25:143b19c1fb05 64 template<class Dest, class Src, class Assign>
narshu 25:143b19c1fb05 65 static inline
narshu 25:143b19c1fb05 66 void assign(Dest& lhs, const Src& rhs, const Assign& assign_fn) {
narshu 25:143b19c1fb05 67 Matrix<Rows, Cols,
narshu 25:143b19c1fb05 68 M, 0>::assign2(lhs, rhs, assign_fn);
narshu 25:143b19c1fb05 69 Matrix<Rows * doRows, Cols * doRows,
narshu 25:143b19c1fb05 70 (M+1) * doRows, 0>::assign(lhs, rhs, assign_fn);
narshu 25:143b19c1fb05 71 }
narshu 25:143b19c1fb05 72
narshu 25:143b19c1fb05 73 /** evaluate a given matrix expression, column wise. */
narshu 25:143b19c1fb05 74 template<class E>
narshu 25:143b19c1fb05 75 static inline
narshu 25:143b19c1fb05 76 bool all_elements2(const E& e) {
narshu 25:143b19c1fb05 77 if(!e(M, N)) return false;
narshu 25:143b19c1fb05 78 return Matrix<Rows * doCols, Cols * doCols,
narshu 25:143b19c1fb05 79 M * doCols, (N+1) * doCols>::all_elements2(e);
narshu 25:143b19c1fb05 80 }
narshu 25:143b19c1fb05 81
narshu 25:143b19c1fb05 82 /** evaluate a given matrix expression, row wise. */
narshu 25:143b19c1fb05 83 template<class E>
narshu 25:143b19c1fb05 84 static inline
narshu 25:143b19c1fb05 85 bool all_elements(const E& e) {
narshu 25:143b19c1fb05 86 if(!Matrix<Rows, Cols, M, 0>::all_elements2(e) ) return false;
narshu 25:143b19c1fb05 87 return Matrix<Rows * doRows, Cols * doRows,
narshu 25:143b19c1fb05 88 (M+1) * doRows, 0>::all_elements(e);
narshu 25:143b19c1fb05 89 }
narshu 25:143b19c1fb05 90
narshu 25:143b19c1fb05 91 /** evaluate a given matrix expression, column wise. */
narshu 25:143b19c1fb05 92 template<class E>
narshu 25:143b19c1fb05 93 static inline
narshu 25:143b19c1fb05 94 bool any_elements2(const E& e) {
narshu 25:143b19c1fb05 95 if(e(M, N)) return true;
narshu 25:143b19c1fb05 96 return Matrix<Rows * doCols, Cols * doCols,
narshu 25:143b19c1fb05 97 M * doCols, (N+1) * doCols>::any_elements2(e);
narshu 25:143b19c1fb05 98 }
narshu 25:143b19c1fb05 99
narshu 25:143b19c1fb05 100 /** evaluate a given matrix expression, row wise. */
narshu 25:143b19c1fb05 101 template<class E>
narshu 25:143b19c1fb05 102 static inline
narshu 25:143b19c1fb05 103 bool any_elements(const E& e) {
narshu 25:143b19c1fb05 104 if(Matrix<Rows, Cols, M, 0>::any_elements2(e) ) return true;
narshu 25:143b19c1fb05 105 return Matrix<Rows * doRows, Cols * doRows,
narshu 25:143b19c1fb05 106 (M+1) * doRows, 0>::any_elements(e);
narshu 25:143b19c1fb05 107 }
narshu 25:143b19c1fb05 108
narshu 25:143b19c1fb05 109 /** trace a given matrix expression. */
narshu 25:143b19c1fb05 110 template<class E>
narshu 25:143b19c1fb05 111 static inline
narshu 25:143b19c1fb05 112 typename E::value_type
narshu 25:143b19c1fb05 113 trace(const E& e) {
narshu 25:143b19c1fb05 114 return e(M, N)
narshu 25:143b19c1fb05 115 + Matrix<Rows * doCols, Cols * doCols,
narshu 25:143b19c1fb05 116 (M+1) * doCols, (N+1) * doCols>::trace(e);
narshu 25:143b19c1fb05 117 }
narshu 25:143b19c1fb05 118
narshu 25:143b19c1fb05 119 };
narshu 25:143b19c1fb05 120
narshu 25:143b19c1fb05 121
narshu 25:143b19c1fb05 122 /**
narshu 25:143b19c1fb05 123 * \class Matrix<0, 0, 0, 0> Matrix.h "tvmet/meta/Matrix.h"
narshu 25:143b19c1fb05 124 * \brief Meta %Matrix specialized for recursion.
narshu 25:143b19c1fb05 125 */
narshu 25:143b19c1fb05 126 template<>
narshu 25:143b19c1fb05 127 class Matrix<0, 0, 0, 0>
narshu 25:143b19c1fb05 128 {
narshu 25:143b19c1fb05 129 Matrix();
narshu 25:143b19c1fb05 130 Matrix(const Matrix&);
narshu 25:143b19c1fb05 131 Matrix& operator=(const Matrix&);
narshu 25:143b19c1fb05 132
narshu 25:143b19c1fb05 133 public:
narshu 25:143b19c1fb05 134 template<class Dest, class Src, class Assign>
narshu 25:143b19c1fb05 135 static inline void assign2(Dest&, const Src&, const Assign&) { }
narshu 25:143b19c1fb05 136
narshu 25:143b19c1fb05 137 template<class Dest, class Src, class Assign>
narshu 25:143b19c1fb05 138 static inline void assign(Dest&, const Src&, const Assign&) { }
narshu 25:143b19c1fb05 139
narshu 25:143b19c1fb05 140 template<class E>
narshu 25:143b19c1fb05 141 static inline bool all_elements2(const E&) { return true; }
narshu 25:143b19c1fb05 142
narshu 25:143b19c1fb05 143 template<class E>
narshu 25:143b19c1fb05 144 static inline bool all_elements(const E&) { return true; }
narshu 25:143b19c1fb05 145
narshu 25:143b19c1fb05 146 template<class E>
narshu 25:143b19c1fb05 147 static inline bool any_elements2(const E&) { return false; }
narshu 25:143b19c1fb05 148
narshu 25:143b19c1fb05 149 template<class E>
narshu 25:143b19c1fb05 150 static inline bool any_elements(const E&) { return false; }
narshu 25:143b19c1fb05 151
narshu 25:143b19c1fb05 152 template<class E>
narshu 25:143b19c1fb05 153 static inline XprNull trace(const E&) { return XprNull(); }
narshu 25:143b19c1fb05 154 };
narshu 25:143b19c1fb05 155
narshu 25:143b19c1fb05 156
narshu 25:143b19c1fb05 157 } // namespace meta
narshu 25:143b19c1fb05 158
narshu 25:143b19c1fb05 159 } // namespace tvmet
narshu 25:143b19c1fb05 160
narshu 25:143b19c1fb05 161 #endif /* TVMET_META_MATRIX_H */
narshu 25:143b19c1fb05 162
narshu 25:143b19c1fb05 163 // Local Variables:
narshu 25:143b19c1fb05 164 // mode:C++
narshu 25:143b19c1fb05 165 // tab-width:8
narshu 25:143b19c1fb05 166 // End: