root/applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.h @ 1205

Revision 1179, 1.1 kB (checked in by smidl, 15 years ago)

fast versions of thorton and bierman

Line 
1/************************************
2        Extended Kalman Filter
3        Matrix operations
4
5        V. Smidl
6
7Rev. 30.8.2010
8
930.8.2010      Prvni verze
10
11*************************************/
12/* Matrix multiply Full matrix by upper diagonal matrix; */
13extern void mmultAU(int *m1, int *up, int *result, unsigned int rows, unsigned int columns);
14
15/* perform Thorton update of UD matrix using PSI*U, Q, and temporaries G, Dold, for size dimx*/
16extern void thorton(int *U, int *D, int *PSIU, int *Q, int *G, int *Dold, unsigned int dimx);
17
18/* perform Bierman update of UD matrix using difz, R and xp, for size dimx*/
19extern void bierman(int *difz, int *xp, int *U, int *D, int *R, unsigned int dimy, unsigned int dimx );
20
21/* perform Thorton update of UD matrix using PSI*U, Q, and temporaries G, Dold, for size dimx*/
22extern void thorton_fast(int *U, int *D, int *PSIU, int *Q, int *G, int *Dold, unsigned int dimx);
23
24/* perform Bierman update of UD matrix using difz, R and xp, for size dimx*/
25extern void bierman_fast(int *difz, int *xp, int *U, int *D, int *R, unsigned int dimy, unsigned int dimx );
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