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Revision 1263, 1.0 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 14 |
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| 15 | #define qCh 14 |
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| 16 | |
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| 17 | #define int16 int // short int |
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| 18 | #define int32 long // int |
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| 19 | |
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| 20 | /* Matrix multiply Full matrix by upper diagonal matrix; */ |
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| 21 | extern void mmultACh(int16 *m1, int16 *up, int16 *result, unsigned int16 rows, unsigned int16 columns); |
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| 22 | |
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| 23 | /* perform Householder update of Ch matrix using PSI*Ch , Q, */ |
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| 24 | extern void householder(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx); |
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| 25 | |
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| 26 | /* perform Givens update of Ch matrix using PSI*Ch , Q, */ |
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| 27 | extern void givens(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx); |
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| 28 | |
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| 29 | /* perform Carlson update of Ch matrix using difz, R and xp, for size dimx*/ |
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| 30 | extern void carlson(int16 *difz, int16 *xp, int16 *Ch, int16 *R, unsigned int16 dimy, unsigned int16 dimx ); |
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