Shuto Naruse / Mbed 2 deprecated Eurobot2012_Secondary

Eurobot2012_Secondary

Fork of Eurobot_2012_Secondary by Shuto Naruse

tvmet/loop/Gemtv.h@1:cc2a9eb0bd55, 2012-10-17 (annotated)

Committer:
narshu
Date:
Wed Oct 17 22:25:31 2012 +0000
Revision:
1:cc2a9eb0bd55
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narshu 1:cc2a9eb0bd55 1 /*
narshu 1:cc2a9eb0bd55 2 * Tiny Vector Matrix Library
narshu 1:cc2a9eb0bd55 3 * Dense Vector Matrix Libary of Tiny size using Expression Templates
narshu 1:cc2a9eb0bd55 4 *
narshu 1:cc2a9eb0bd55 5 * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
narshu 1:cc2a9eb0bd55 6 *
narshu 1:cc2a9eb0bd55 7 * This library is free software; you can redistribute it and/or
narshu 1:cc2a9eb0bd55 8 * modify it under the terms of the GNU Lesser General Public
narshu 1:cc2a9eb0bd55 9 * License as published by the Free Software Foundation; either
narshu 1:cc2a9eb0bd55 10 * version 2.1 of the License, or (at your option) any later version.
narshu 1:cc2a9eb0bd55 11 *
narshu 1:cc2a9eb0bd55 12 * This library is distributed in the hope that it will be useful,
narshu 1:cc2a9eb0bd55 13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
narshu 1:cc2a9eb0bd55 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
narshu 1:cc2a9eb0bd55 15 * Lesser General Public License for more details.
narshu 1:cc2a9eb0bd55 16 *
narshu 1:cc2a9eb0bd55 17 * You should have received a copy of the GNU Lesser General Public
narshu 1:cc2a9eb0bd55 18 * License along with this library; if not, write to the Free Software
narshu 1:cc2a9eb0bd55 19 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
narshu 1:cc2a9eb0bd55 20 *
narshu 1:cc2a9eb0bd55 21 * $Id: Gemtv.h,v 1.7 2007-06-23 15:58:59 opetzold Exp $
narshu 1:cc2a9eb0bd55 22 */
narshu 1:cc2a9eb0bd55 23
narshu 1:cc2a9eb0bd55 24 #ifndef TVMET_LOOP_GEMTV_H
narshu 1:cc2a9eb0bd55 25 #define TVMET_LOOP_GEMTV_H
narshu 1:cc2a9eb0bd55 26
narshu 1:cc2a9eb0bd55 27 namespace tvmet {
narshu 1:cc2a9eb0bd55 28
narshu 1:cc2a9eb0bd55 29 namespace loop {
narshu 1:cc2a9eb0bd55 30
narshu 1:cc2a9eb0bd55 31
narshu 1:cc2a9eb0bd55 32 /**
narshu 1:cc2a9eb0bd55 33 * \class gemtv Gemtv.h "tvmet/loop/Gemtv.h"
narshu 1:cc2a9eb0bd55 34 * \brief class for transposed(matrix)-vector product using loop unrolling.
narshu 1:cc2a9eb0bd55 35 * using formula
narshu 1:cc2a9eb0bd55 36 * \f[
narshu 1:cc2a9eb0bd55 37 * M^T\,v
narshu 1:cc2a9eb0bd55 38 * \f]
narshu 1:cc2a9eb0bd55 39 * \par Example:
narshu 1:cc2a9eb0bd55 40 * \code
narshu 1:cc2a9eb0bd55 41 * template<class T, std::size_t Rows, std::size_t Cols>
narshu 1:cc2a9eb0bd55 42 * inline
narshu 1:cc2a9eb0bd55 43 * void
narshu 1:cc2a9eb0bd55 44 * prod(const Matrix<T, Rows, Cols>& lhs, const Vector<T, Rows>& rhs,
narshu 1:cc2a9eb0bd55 45 * Vector<T, Cols>& dest)
narshu 1:cc2a9eb0bd55 46 * {
narshu 1:cc2a9eb0bd55 47 * for (std::size_t i = 0; i != Cols; ++i) {
narshu 1:cc2a9eb0bd55 48 * dest(i) = tvmet::loop::gemtv<Rows, Cols>().prod(lhs, rhs, i);
narshu 1:cc2a9eb0bd55 49 * }
narshu 1:cc2a9eb0bd55 50 * }
narshu 1:cc2a9eb0bd55 51 * \endcode
narshu 1:cc2a9eb0bd55 52 */
narshu 1:cc2a9eb0bd55 53 template<std::size_t Rows, std::size_t Cols>
narshu 1:cc2a9eb0bd55 54 class gemtv
narshu 1:cc2a9eb0bd55 55 {
narshu 1:cc2a9eb0bd55 56 gemtv(const gemtv&);
narshu 1:cc2a9eb0bd55 57 gemtv& operator=(const gemtv&);
narshu 1:cc2a9eb0bd55 58
narshu 1:cc2a9eb0bd55 59 private:
narshu 1:cc2a9eb0bd55 60 enum {
narshu 1:cc2a9eb0bd55 61 count = Rows,
narshu 1:cc2a9eb0bd55 62 N = (count+7)/8
narshu 1:cc2a9eb0bd55 63 };
narshu 1:cc2a9eb0bd55 64
narshu 1:cc2a9eb0bd55 65 public:
narshu 1:cc2a9eb0bd55 66 gemtv() { }
narshu 1:cc2a9eb0bd55 67
narshu 1:cc2a9eb0bd55 68 public:
narshu 1:cc2a9eb0bd55 69 template<class E1, class E2>
narshu 1:cc2a9eb0bd55 70 static inline
narshu 1:cc2a9eb0bd55 71 typename PromoteTraits<
narshu 1:cc2a9eb0bd55 72 typename E1::value_type,
narshu 1:cc2a9eb0bd55 73 typename E2::value_type
narshu 1:cc2a9eb0bd55 74 >::value_type
narshu 1:cc2a9eb0bd55 75 prod(const E1& lhs, const E2& rhs, std::size_t i) {
narshu 1:cc2a9eb0bd55 76 typename PromoteTraits<
narshu 1:cc2a9eb0bd55 77 typename E1::value_type,
narshu 1:cc2a9eb0bd55 78 typename E2::value_type
narshu 1:cc2a9eb0bd55 79 >::value_type sum(0);
narshu 1:cc2a9eb0bd55 80 std::size_t j(0);
narshu 1:cc2a9eb0bd55 81 std::size_t n(N);
narshu 1:cc2a9eb0bd55 82
narshu 1:cc2a9eb0bd55 83 // Duff's device
narshu 1:cc2a9eb0bd55 84 switch(count % 8) {
narshu 1:cc2a9eb0bd55 85 case 0: do { sum += lhs(j, i) * rhs(j); ++j;
narshu 1:cc2a9eb0bd55 86 case 7: sum += lhs(j, i) * rhs(j); ++j;
narshu 1:cc2a9eb0bd55 87 case 6: sum += lhs(j, i) * rhs(j); ++j;
narshu 1:cc2a9eb0bd55 88 case 5: sum += lhs(j, i) * rhs(j); ++j;
narshu 1:cc2a9eb0bd55 89 case 4: sum += lhs(j, i) * rhs(j); ++j;
narshu 1:cc2a9eb0bd55 90 case 3: sum += lhs(j, i) * rhs(j); ++j;
narshu 1:cc2a9eb0bd55 91 case 2: sum += lhs(j, i) * rhs(j); ++j;
narshu 1:cc2a9eb0bd55 92 case 1: sum += lhs(j, i) * rhs(j); ++j;
narshu 1:cc2a9eb0bd55 93 } while(--n != 0);
narshu 1:cc2a9eb0bd55 94 }
narshu 1:cc2a9eb0bd55 95
narshu 1:cc2a9eb0bd55 96 return sum;
narshu 1:cc2a9eb0bd55 97 }
narshu 1:cc2a9eb0bd55 98 };
narshu 1:cc2a9eb0bd55 99
narshu 1:cc2a9eb0bd55 100
narshu 1:cc2a9eb0bd55 101 } // namespace loop
narshu 1:cc2a9eb0bd55 102
narshu 1:cc2a9eb0bd55 103 } // namespace tvmet
narshu 1:cc2a9eb0bd55 104
narshu 1:cc2a9eb0bd55 105 #endif /* TVMET_LOOP_GEMTV_H */
narshu 1:cc2a9eb0bd55 106
narshu 1:cc2a9eb0bd55 107 // Local Variables:
narshu 1:cc2a9eb0bd55 108 // mode:C++
narshu 1:cc2a9eb0bd55 109 // tab-width:8
narshu 1:cc2a9eb0bd55 110 // End: