Eurobot2012_Secondary

Fork of Eurobot_2012_Secondary by Shuto Naruse

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: Vector.h,v 1.24 2007-06-23 15:58:59 opetzold Exp $
narshu 1:cc2a9eb0bd55 22 */
narshu 1:cc2a9eb0bd55 23
narshu 1:cc2a9eb0bd55 24 #ifndef TVMET_META_VECTOR_H
narshu 1:cc2a9eb0bd55 25 #define TVMET_META_VECTOR_H
narshu 1:cc2a9eb0bd55 26
narshu 1:cc2a9eb0bd55 27 #include <tvmet/NumericTraits.h>
narshu 1:cc2a9eb0bd55 28 #include <tvmet/xpr/Null.h>
narshu 1:cc2a9eb0bd55 29
narshu 1:cc2a9eb0bd55 30 namespace tvmet {
narshu 1:cc2a9eb0bd55 31
narshu 1:cc2a9eb0bd55 32 /* forwards */
narshu 1:cc2a9eb0bd55 33 template<class T, std::size_t Sz> class Vector;
narshu 1:cc2a9eb0bd55 34
narshu 1:cc2a9eb0bd55 35
narshu 1:cc2a9eb0bd55 36 namespace meta {
narshu 1:cc2a9eb0bd55 37
narshu 1:cc2a9eb0bd55 38
narshu 1:cc2a9eb0bd55 39 /**
narshu 1:cc2a9eb0bd55 40 * \class Vector Vector.h "tvmet/meta/Vector.h"
narshu 1:cc2a9eb0bd55 41 * \brief Meta %Vector class using expression templates
narshu 1:cc2a9eb0bd55 42 */
narshu 1:cc2a9eb0bd55 43 template<std::size_t Sz, std::size_t K=0>
narshu 1:cc2a9eb0bd55 44 class Vector
narshu 1:cc2a9eb0bd55 45 {
narshu 1:cc2a9eb0bd55 46 Vector();
narshu 1:cc2a9eb0bd55 47 Vector(const Vector&);
narshu 1:cc2a9eb0bd55 48 Vector& operator=(const Vector&);
narshu 1:cc2a9eb0bd55 49
narshu 1:cc2a9eb0bd55 50 private:
narshu 1:cc2a9eb0bd55 51 enum {
narshu 1:cc2a9eb0bd55 52 doIt = (K < (Sz-1)) ? 1 : 0 /**< recursive counter */
narshu 1:cc2a9eb0bd55 53 };
narshu 1:cc2a9eb0bd55 54
narshu 1:cc2a9eb0bd55 55 public:
narshu 1:cc2a9eb0bd55 56 /** assign an expression expr using the functional assign_fn. */
narshu 1:cc2a9eb0bd55 57 template <class Dest, class Src, class Assign>
narshu 1:cc2a9eb0bd55 58 static inline
narshu 1:cc2a9eb0bd55 59 void assign(Dest& lhs, const Src& rhs, const Assign& assign_fn) {
narshu 1:cc2a9eb0bd55 60 assign_fn.apply_on(lhs(K), rhs(K));
narshu 1:cc2a9eb0bd55 61 meta::Vector<Sz * doIt, (K+1) * doIt>::assign(lhs, rhs, assign_fn);
narshu 1:cc2a9eb0bd55 62 }
narshu 1:cc2a9eb0bd55 63
narshu 1:cc2a9eb0bd55 64 /** build the sum of the vector. */
narshu 1:cc2a9eb0bd55 65 template<class E>
narshu 1:cc2a9eb0bd55 66 static inline
narshu 1:cc2a9eb0bd55 67 typename E::value_type
narshu 1:cc2a9eb0bd55 68 sum(const E& e) {
narshu 1:cc2a9eb0bd55 69 return e(K) + meta::Vector<Sz * doIt, (K+1) * doIt>::sum(e);
narshu 1:cc2a9eb0bd55 70 }
narshu 1:cc2a9eb0bd55 71
narshu 1:cc2a9eb0bd55 72 /** build the product of the vector. */
narshu 1:cc2a9eb0bd55 73 template<class E>
narshu 1:cc2a9eb0bd55 74 static inline
narshu 1:cc2a9eb0bd55 75 typename NumericTraits<
narshu 1:cc2a9eb0bd55 76 typename E::value_type
narshu 1:cc2a9eb0bd55 77 >::sum_type
narshu 1:cc2a9eb0bd55 78 product(const E& e) {
narshu 1:cc2a9eb0bd55 79 return e(K) * meta::Vector<Sz * doIt, (K+1) * doIt>::product(e);
narshu 1:cc2a9eb0bd55 80 }
narshu 1:cc2a9eb0bd55 81
narshu 1:cc2a9eb0bd55 82 /** build the dot product of the vector. */
narshu 1:cc2a9eb0bd55 83 template<class Dest, class Src>
narshu 1:cc2a9eb0bd55 84 static inline
narshu 1:cc2a9eb0bd55 85 typename PromoteTraits<
narshu 1:cc2a9eb0bd55 86 typename Dest::value_type,
narshu 1:cc2a9eb0bd55 87 typename Src::value_type
narshu 1:cc2a9eb0bd55 88 >::value_type
narshu 1:cc2a9eb0bd55 89 dot(const Dest& lhs, const Src& rhs) {
narshu 1:cc2a9eb0bd55 90 return lhs(K) * rhs(K)
narshu 1:cc2a9eb0bd55 91 + meta::Vector<Sz * doIt, (K+1) * doIt>::dot(lhs, rhs);
narshu 1:cc2a9eb0bd55 92 }
narshu 1:cc2a9eb0bd55 93
narshu 1:cc2a9eb0bd55 94 /** check for all elements */
narshu 1:cc2a9eb0bd55 95 template<class E>
narshu 1:cc2a9eb0bd55 96 static inline
narshu 1:cc2a9eb0bd55 97 bool
narshu 1:cc2a9eb0bd55 98 all_elements(const E& e) {
narshu 1:cc2a9eb0bd55 99 if(!e(K)) return false;
narshu 1:cc2a9eb0bd55 100 return meta::Vector<Sz * doIt, (K+1) * doIt>::all_elements(e);
narshu 1:cc2a9eb0bd55 101 }
narshu 1:cc2a9eb0bd55 102
narshu 1:cc2a9eb0bd55 103 /** check for any elements */
narshu 1:cc2a9eb0bd55 104 template<class E>
narshu 1:cc2a9eb0bd55 105 static inline
narshu 1:cc2a9eb0bd55 106 bool
narshu 1:cc2a9eb0bd55 107 any_elements(const E& e) {
narshu 1:cc2a9eb0bd55 108 if(e(K)) return true;
narshu 1:cc2a9eb0bd55 109 return meta::Vector<Sz * doIt, (K+1) * doIt>::any_elements(e);
narshu 1:cc2a9eb0bd55 110 }
narshu 1:cc2a9eb0bd55 111 };
narshu 1:cc2a9eb0bd55 112
narshu 1:cc2a9eb0bd55 113
narshu 1:cc2a9eb0bd55 114 /**
narshu 1:cc2a9eb0bd55 115 * \class Vector<0,0> Vector.h "tvmet/meta/Vector.h"
narshu 1:cc2a9eb0bd55 116 * \brief Meta %Vector Specialized for recursion
narshu 1:cc2a9eb0bd55 117 */
narshu 1:cc2a9eb0bd55 118 template<>
narshu 1:cc2a9eb0bd55 119 class Vector<0,0>
narshu 1:cc2a9eb0bd55 120 {
narshu 1:cc2a9eb0bd55 121 Vector();
narshu 1:cc2a9eb0bd55 122 Vector(const Vector&);
narshu 1:cc2a9eb0bd55 123 Vector& operator=(const Vector&);
narshu 1:cc2a9eb0bd55 124
narshu 1:cc2a9eb0bd55 125 public:
narshu 1:cc2a9eb0bd55 126 template <class Dest, class Src, class Assign>
narshu 1:cc2a9eb0bd55 127 static inline void assign(Dest&, const Src&, const Assign&) { }
narshu 1:cc2a9eb0bd55 128
narshu 1:cc2a9eb0bd55 129 template<class E>
narshu 1:cc2a9eb0bd55 130 static inline XprNull sum(const E&) { return XprNull(); }
narshu 1:cc2a9eb0bd55 131
narshu 1:cc2a9eb0bd55 132 template<class E>
narshu 1:cc2a9eb0bd55 133 static inline XprNull product(const E&) { return XprNull(); }
narshu 1:cc2a9eb0bd55 134
narshu 1:cc2a9eb0bd55 135 template<class Dest, class Src>
narshu 1:cc2a9eb0bd55 136 static inline XprNull dot(const Dest&, const Src&) { return XprNull(); }
narshu 1:cc2a9eb0bd55 137
narshu 1:cc2a9eb0bd55 138 template<class E>
narshu 1:cc2a9eb0bd55 139 static inline bool all_elements(const E&) { return true; }
narshu 1:cc2a9eb0bd55 140
narshu 1:cc2a9eb0bd55 141 template<class E>
narshu 1:cc2a9eb0bd55 142 static inline bool any_elements(const E&) { return false; }
narshu 1:cc2a9eb0bd55 143 };
narshu 1:cc2a9eb0bd55 144
narshu 1:cc2a9eb0bd55 145
narshu 1:cc2a9eb0bd55 146 } // namespace meta
narshu 1:cc2a9eb0bd55 147
narshu 1:cc2a9eb0bd55 148 } // namespace tvmet
narshu 1:cc2a9eb0bd55 149
narshu 1:cc2a9eb0bd55 150 #endif /* TVMET_META_VECTOR_H */
narshu 1:cc2a9eb0bd55 151
narshu 1:cc2a9eb0bd55 152 // Local Variables:
narshu 1:cc2a9eb0bd55 153 // mode:C++
narshu 1:cc2a9eb0bd55 154 // tab-width:8
narshu 1:cc2a9eb0bd55 155 // End: