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Revision 1263, 0.8 kB
(checked in by peroutka, 14 years ago)
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| 1 | /************************************ |
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| 2 | Extended Kalman Filter |
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| 3 | Matrix operations |
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| 4 | |
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| 5 | V. Smidl |
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| 6 | |
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| 7 | Rev. 30.8.2010 |
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| 8 | |
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| 9 | 30.8.2010 Prvni verze |
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| 10 | |
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| 11 | *************************************/ |
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| 12 | |
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| 13 | #define qAU 14 |
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| 14 | #define qD 13 |
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| 15 | |
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| 16 | /* Matrix multiply Full matrix by upper diagonal matrix with unit diagonal; */ |
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| 17 | extern void mmultAU(int *m1, int *up, int *result, unsigned int rows, unsigned int columns); |
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| 18 | |
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| 19 | /* perform Thorton update of UD matrix using PSI*U, Q, and temporaries G, Dold, for size dimx*/ |
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| 20 | extern void thorton_fast(int *U, int *D, int *PSIU, int *Q, int *G, int *Dold, unsigned int dimx); |
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| 21 | |
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| 22 | /* perform Bierman update of UD matrix using difz, R and xp, for size dimx*/ |
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| 23 | extern void bierman_fast(int *difz, int *xp, int *U, int *D, int *R, unsigned int dimy, unsigned int dimx ); |
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