fmatvec  0.0.0
symbolic_function.h
1#ifndef _FMATVEC_SYMBOLIC_FUNCTION_H_
2#define _FMATVEC_SYMBOLIC_FUNCTION_H_
3
4#include "function.h"
5#include "ast.h"
6#include "symbolic.h"
7
8namespace fmatvec {
9
10namespace {
11 template<class ATIndep>
12 struct Helper {
13 static void initIndep(ATIndep &x, int size) { x=ATIndep(); }
14 static int size1(const ATIndep &x) { return 1; }
15 static int size2(const ATIndep &x) { return 1; }
16 };
17
18 template<class Shape, class ATIndep>
19 struct Helper<Vector<Shape, ATIndep>> {
20 static void initIndep(Vector<Shape, ATIndep> &x, int size) { x <<= Vector<Shape, ATIndep>(size, NONINIT); }
21 static int size1(const Vector<Shape, ATIndep> &x) { return x.size(); }
22 static int size2(const Vector<Shape, ATIndep> &x) { return 1; }
23 };
24
25 template<class Type, class RowShape, class ColShape, class ATIndep>
26 struct Helper<Matrix<Type, RowShape, ColShape, ATIndep>> {
27 static int size1(const Matrix<Type, RowShape, ColShape, ATIndep> &x) { return x.rows(); }
28 static int size2(const Matrix<Type, RowShape, ColShape, ATIndep> &x) { return x.cols(); }
29 };
30}
31
32template<typename Sig>
33class SymbolicFunction;
34
35#define RET Ret
36#define ARG ATArg
37#define TEMPLATE typename Ret, typename ATArg
38#define PARDER
39#define PARDERPARDER
40#include "symbolic_function1_temp.h"
41#undef RET
42#undef ARG
43#undef TEMPLATE
44#undef PARDER
45#undef PARDERPARDER
46
47#define RET Ret
48#define ARG Vector<ArgShape, ATArg>
49#define TEMPLATE typename Ret, typename ArgShape, typename ATArg
50#define PARDER
51//#define PARDERPARDER
52#include "symbolic_function1_temp.h"
53#undef RET
54#undef ARG
55#undef TEMPLATE
56#undef PARDER
57#undef PARDERPARDER
58
59#define RET RowVector<RetShape, ATRet>
60#define ARG Vector<ArgShape, ATArg>
61#define TEMPLATE typename RetShape, typename ATRet, typename ArgShape, typename ATArg
62//#define PARDER
63//#define PARDERPARDER
64#include "symbolic_function1_temp.h"
65#undef RET
66#undef ARG
67#undef TEMPLATE
68#undef PARDER
69#undef PARDERPARDER
70
71#define RET Matrix<Type, ColShape, RowShape, ATRet>
72#define ARG Vector<ArgShape, ATArg>
73#define TEMPLATE typename Type, typename ColShape, typename RowShape, typename ATRet, typename ArgShape, typename ATArg
74//#define PARDER
75//#define PARDERPARDER
76#include "symbolic_function1_temp.h"
77#undef RET
78#undef ARG
79#undef TEMPLATE
80#undef PARDER
81#undef PARDERPARDER
82
83#define RET Matrix<Rotation, Fixed<3>, Fixed<3>, ATRet>
84#define ARG Vector<ArgShape, ATArg>
85#define TEMPLATE typename ATRet, typename ArgShape, typename ATArg
86#define PARDER
87//#define PARDERPARDER
88#include "symbolic_function1_temp.h"
89#undef RET
90#undef ARG
91#undef TEMPLATE
92#undef PARDER
93#undef PARDERPARDER
94
95
96
97#define RET Ret
98#define ARG1 ATArg1
99#define ARG2 ATArg2
100#define TEMPLATE typename Ret, typename ATArg1, typename ATArg2
101#define PARDER1
102#define PARDER2
103#define PARDER1PARDER1
104#define PARDER2PARDER2
105#define PARDER1PARDER2
106#include "symbolic_function2_temp.h"
107#undef RET
108#undef ARG1
109#undef ARG2
110#undef TEMPLATE
111#undef PARDER1
112#undef PARDER2
113#undef PARDER1PARDER1
114#undef PARDER2PARDER2
115#undef PARDER1PARDER2
116
117#define RET Ret
118#define ARG1 Vector<Shape, ATArg>
119#define ARG2 ATArg
120#define TEMPLATE typename Ret, typename Shape, typename ATArg
121#define PARDER1
122#define PARDER2
123//#define PARDER1PARDER1
124#define PARDER2PARDER2
125#define PARDER1PARDER2
126#include "symbolic_function2_temp.h"
127#undef RET
128#undef ARG1
129#undef ARG2
130#undef TEMPLATE
131#undef PARDER1
132#undef PARDER2
133#undef PARDER1PARDER1
134#undef PARDER2PARDER2
135#undef PARDER1PARDER2
136
137#define RET Matrix<Rotation, Fixed<3>, Fixed<3>, ATRet>
138#define ARG1 Vector<Shape, ATArg>
139#define ARG2 ATArg
140#define TEMPLATE typename ATRet, typename Shape, typename ATArg
141#define PARDER1
142#define PARDER2
143//#define PARDER1PARDER1
144#define PARDER2PARDER2
145#define PARDER1PARDER2
146#include "symbolic_function2_temp.h"
147#undef RET
148#undef ARG1
149#undef ARG2
150#undef TEMPLATE
151#undef PARDER1
152#undef PARDER2
153#undef PARDER1PARDER1
154#undef PARDER2PARDER2
155#undef PARDER1PARDER2
156
157#define RET Ret
158#define ARG1 ATArg
159#define ARG2 Vector<Shape, ATArg>
160#define TEMPLATE typename Ret, typename Shape, typename ATArg
161#define PARDER1
162#define PARDER2
163#define PARDER1PARDER1
164//#define PARDER2PARDER2
165#define PARDER1PARDER2
166#include "symbolic_function2_temp.h"
167#undef RET
168#undef ARG1
169#undef ARG2
170#undef TEMPLATE
171#undef PARDER1
172#undef PARDER2
173#undef PARDER1PARDER1
174#undef PARDER2PARDER2
175#undef PARDER1PARDER2
176
177#define RET Matrix<Rotation, Fixed<3>, Fixed<3>, ATRet>
178#define ARG1 ATArg
179#define ARG2 Vector<Shape, ATArg>
180#define TEMPLATE typename ATRet, typename Shape, typename ATArg
181#define PARDER1
182#define PARDER2
183#define PARDER1PARDER1
184//#define PARDER2PARDER2
185#define PARDER1PARDER2
186#include "symbolic_function2_temp.h"
187#undef RET
188#undef ARG1
189#undef ARG2
190#undef TEMPLATE
191#undef PARDER1
192#undef PARDER2
193#undef PARDER1PARDER1
194#undef PARDER2PARDER2
195#undef PARDER1PARDER2
196
197#define RET Ret
198#define ARG1 Vector<Shape1, ATArg>
199#define ARG2 Vector<Shape2, ATArg>
200#define TEMPLATE typename Ret, typename Shape1, typename Shape2, typename ATArg
201#define PARDER1
202#define PARDER2
203//#define PARDER1PARDER1
204//#define PARDER2PARDER2
205//#define PARDER1PARDER2
206#include "symbolic_function2_temp.h"
207#undef RET
208#undef ARG1
209#undef ARG2
210#undef TEMPLATE
211#undef PARDER1
212#undef PARDER2
213#undef PARDER1PARDER1
214#undef PARDER2PARDER2
215#undef PARDER1PARDER2
216
217#define RET Matrix<Rotation, Fixed<3>, Fixed<3>, ATRet>
218#define ARG1 Vector<Shape1, ATArg>
219#define ARG2 Vector<Shape2, ATArg>
220#define TEMPLATE typename ATRet, typename Shape1, typename Shape2, typename ATArg
221#define PARDER1
222#define PARDER2
223//#define PARDER1PARDER1
224//#define PARDER2PARDER2
225//#define PARDER1PARDER2
226#include "symbolic_function2_temp.h"
227#undef RET
228#undef ARG1
229#undef ARG2
230#undef TEMPLATE
231#undef PARDER1
232#undef PARDER2
233#undef PARDER1PARDER1
234#undef PARDER2PARDER2
235#undef PARDER1PARDER2
236
237#define RET RowVector<RetShape, ATRet>
238#define ARG1 Vector<Shape, ATArg>
239#define ARG2 ATArg
240#define TEMPLATE typename RetShape, typename ATRet, typename Shape, typename ATArg
241//#define PARDER1
242#define PARDER2
243//#define PARDER1PARDER1
244#define PARDER2PARDER2
245//#define PARDER1PARDER2
246#include "symbolic_function2_temp.h"
247#undef RET
248#undef ARG1
249#undef ARG2
250#undef TEMPLATE
251#undef PARDER1
252#undef PARDER2
253#undef PARDER1PARDER1
254#undef PARDER2PARDER2
255#undef PARDER1PARDER2
256
257#define RET Matrix<Type, RowShape, ColShape, ATRet>
258#define ARG1 Vector<Shape, ATArg>
259#define ARG2 ATArg
260#define TEMPLATE typename Type, typename RowShape, typename ColShape, typename ATRet, typename Shape, typename ATArg
261//#define PARDER1
262#define PARDER2
263//#define PARDER1PARDER1
264#define PARDER2PARDER2
265//#define PARDER1PARDER2
266#include "symbolic_function2_temp.h"
267#undef RET
268#undef ARG1
269#undef ARG2
270#undef TEMPLATE
271#undef PARDER1
272#undef PARDER2
273#undef PARDER1PARDER1
274#undef PARDER2PARDER2
275#undef PARDER1PARDER2
276
277#define RET RowVector<RetShape, ATRet>
278#define ARG1 ATArg
279#define ARG2 Vector<Shape, ATArg>
280#define TEMPLATE typename RetShape, typename ATRet, typename Shape, typename ATArg
281#define PARDER1
282//#define PARDER2
283#define PARDER1PARDER1
284//#define PARDER2PARDER2
285//#define PARDER1PARDER2
286#include "symbolic_function2_temp.h"
287#undef RET
288#undef ARG1
289#undef ARG2
290#undef TEMPLATE
291#undef PARDER1
292#undef PARDER2
293#undef PARDER1PARDER1
294#undef PARDER2PARDER2
295#undef PARDER1PARDER2
296
297#define RET Matrix<Type, RowShape, ColShape, ATRet>
298#define ARG1 ATArg
299#define ARG2 Vector<Shape, ATArg>
300#define TEMPLATE typename Type, typename RowShape, typename ColShape, typename ATRet, typename Shape, typename ATArg
301#define PARDER1
302//#define PARDER2
303#define PARDER1PARDER1
304//#define PARDER2PARDER2
305//#define PARDER1PARDER2
306#include "symbolic_function2_temp.h"
307#undef RET
308#undef ARG1
309#undef ARG2
310#undef TEMPLATE
311#undef PARDER1
312#undef PARDER2
313#undef PARDER1PARDER1
314#undef PARDER2PARDER2
315#undef PARDER1PARDER2
316
317#define RET RowVector<RetShape, ATRet>
318#define ARG1 Vector<Shape1, ATArg>
319#define ARG2 Vector<Shape2, ATArg>
320#define TEMPLATE typename RetShape, typename ATRet, typename Shape1, typename ATArg, typename Shape2
321//#define PARDER1
322//#define PARDER2
323//#define PARDER1PARDER1
324//#define PARDER2PARDER2
325//#define PARDER1PARDER2
326#include "symbolic_function2_temp.h"
327#undef RET
328#undef ARG1
329#undef ARG2
330#undef TEMPLATE
331#undef PARDER1
332#undef PARDER2
333#undef PARDER1PARDER1
334#undef PARDER2PARDER2
335#undef PARDER1PARDER2
336
337#define RET Matrix<Type, RowShape, ColShape, ATRet>
338#define ARG1 Vector<Shape1, ATArg>
339#define ARG2 Vector<Shape2, ATArg>
340#define TEMPLATE typename Type, typename RowShape, typename ColShape, typename ATRet, typename Shape1, typename ATArg, typename Shape2
341//#define PARDER1
342//#define PARDER2
343//#define PARDER1PARDER1
344//#define PARDER2PARDER2
345//#define PARDER1PARDER2
346#include "symbolic_function2_temp.h"
347#undef RET
348#undef ARG1
349#undef ARG2
350#undef TEMPLATE
351#undef PARDER1
352#undef PARDER2
353#undef PARDER1PARDER1
354#undef PARDER2PARDER2
355#undef PARDER1PARDER2
356
357}
358
359#endif
360
361
362
363
364
365// 1: definition
366// 2: value
367// 3: parDer1
368// 4: dirDer1
369// 5: parDer2
370// 6: dirDer2
371// 7: parDer1ParDer1
372// 8: parDer1DirDer1
373// 9: dirDer1DirDer1
374// 10: parDer2ParDer2
375// 11: parDer2DirDer2
376// 12: dirDer2DirDer2
377// 13: parDer1ParDer2
378// 14: parDer1DirDer2
379// 15: dirDer2DirDer1
380// 16: parDer2DirDer1
381//
382// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
383//
384// sss s s s s s s s s s s s s s s s
385// vss v v v v v v v v v v v v v v v
386// rss r r r r r r r r r r r r r r r
387// Mss M M M M M M M M M M M M M M M
388// Rss R v v v v v v v v v v v v v v
389// svv s r s r s E r s E r s E r s r
390// vvv v M v M v E M v E M v E M v M
391// rvv r E r E r E E r E E r E E r E
392// Mvv M E M E M E E M E E M E E M E
393// Rvv R M v M v E M v E M v E M v M
394// ssv s s s r s s s s E r s r s s r
395// vsv v v v M v v v v E M v M v v M
396// rsv r r r E r r r r E E r E r r E
397// Msv M M M E M M M M E E M E M M E
398// Rsv R v v M v v v v E M v M v v M
399// svs s r s s s E r s s s s r r s s
400// vvs v M v v v E M v v v v M M v v
401// rvs r E r r r E E r r r r E E r r
402// Mvs M E M M M E E M M M M E E M M
403// Rvs R M v v v E M v v v v M M v v
404//
405// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
406//
407//
408//
409// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
410//
411// aaa s s s s s s s s s s s s s s s
412// vaa v v v v v v v v v v v v v v v
413// raa r r r r r r r r r r r r r r r
414// Maa M M M M M M M M M M M M M M M
415// Raa R v v v v v v v v v v v v v v
416//
417// ava s r s s s E r s s s s r r s s
418// vva v M v v v E M v v v v M M v v
419// Rva R M v v v E M v v v v M M v v
420//
421// aav s s s r s s s s E r s r s s r
422// vav v v v M v v v v E M v M v v M
423// Rav R v v M v v v v E M v M v v M
424//
425// avv s r s r s E r s E r s E r s r
426// vvv v M v M v E M v E M v E M v M
427// Rvv R M v M v E M v E M v E M v M
428//
429// rva r E r r r E E r r r r E E r r
430// Mva M E M M M E E M M M M E E M M
431//
432// rav r r r E r r r r E E r E r r E
433// Mav M M M E M M M M E E M E M M E
434//
435// rvv r E r E r E E r E E r E E r E
436// Mvv M E M E M E E M E E M E E M E
437//
438// 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
fmatvec::SymbolicFunction
Definition: symbolic_function.h:33
fmatvec
Namespace fmatvec.
Definition: _memory.cc:28