root/applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.h @ 1240

Revision 1240, 1.9 kB (checked in by smidl, 14 years ago)

prechod na int16

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
13#define qAU 14
14#define qD 14
15
16#define int16 short int
17#define int32 int
18
19/* Matrix multiply Full matrix by upper diagonal matrix with unit diagonal; */
20extern void mmultAU(int16 *m1, int16 *up, int16 *result, unsigned int16 rows, unsigned int16 columns);
21
22/* Matrix multiply Full matrix by upper diagonal matrix; */
23extern void mmultACh(int16 *m1, int16 *up, int16 *result, unsigned int16 rows, unsigned int16 columns);
24
25/* perform Thorton update of UD matrix using PSI*U, Q, and temporaries G, Dold, for size dimx*/
26extern void thorton(int16 *U, int16 *D, int16 *PSIU, int16 *Q, int16 *G, int16 *Dold, unsigned int16 dimx);
27
28/* perform Bierman update of UD matrix using difz, R and xp, for size dimx*/
29extern void bierman(int16 *difz, int16 *xp, int16 *U, int16 *D, int16 *R, unsigned int16 dimy, unsigned int16 dimx );
30
31/* perform Thorton update of UD matrix using PSI*U, Q, and temporaries G, Dold, for size dimx*/
32extern void thorton_fast(int16 *U, int16 *D, int16 *PSIU, int16 *Q, int16 *G, int16 *Dold, unsigned int16 dimx);
33
34/* perform Bierman update of UD matrix using difz, R and xp, for size dimx*/
35extern void bierman_fast(int16 *difz, int16 *xp, int16 *U, int16 *D, int16 *R, unsigned int16 dimy, unsigned int16 dimx );
36
37/* perform Householder update of Ch matrix using PSI*Ch , Q, */
38extern void householder(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx);
39
40/* perform Givens update of Ch matrix using PSI*Ch , Q, */
41extern void givens(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx);
42
43/* perform Carlson update of Ch matrix using difz, R and xp, for size dimx*/
44extern void carlson(int16 *difz, int16 *xp, int16 *Ch, int16 *R, unsigned int16 dimy, unsigned int16 dimx );
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