| 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 qCU 15 |
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| 15 | #define qD 14 |
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| 16 | #define qCh 14 |
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| 17 | |
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| 18 | #define int16 short |
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| 19 | #define int32 int |
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| 20 | |
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| 21 | /* Matrix multiply Full matrix by upper diagonal matrix with unit diagonal; */ |
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| 22 | extern void mmultAU(int16 *m1, int16 *up, int16 *result, unsigned int16 rows, unsigned int16 columns); |
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| 23 | |
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| 24 | /* Matrix multiply Full matrix by upper diagonal matrix with unit diagonal; */ |
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| 25 | extern void mmultCU(int16 *m1, int16 *up, int16 *result, unsigned int16 rows, unsigned int16 columns); |
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| 26 | |
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| 27 | /* Matrix multiply Full matrix by upper diagonal matrix; */ |
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| 28 | extern void mmultACh(int16 *m1, int16 *up, int16 *result, unsigned int16 rows, unsigned int16 columns); |
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| 29 | |
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| 30 | /* perform Thorton update of UD matrix using PSI*U, Q, and temporaries G, Dold, for size dimx*/ |
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| 31 | extern void thorton(int16 *U, int16 *D, int16 *PSIU, int16 *Q, int16 *G, int16 *Dold, unsigned int16 dimx); |
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| 32 | |
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| 33 | /* perform Bierman update of UD matrix using difz, R and xp, for size dimx*/ |
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| 34 | extern void bierman(int16 *difz, int16 *xp, int16 *U, int16 *D, int16 *R, unsigned int16 dimy, unsigned int16 dimx ); |
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| 35 | |
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| 36 | /* perform Thorton update of UD matrix using PSI*U, Q, and temporaries G, Dold, for size dimx*/ |
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| 37 | extern void thorton_fast(int16 *U, int16 *D, int16 *PSIU, int16 *Q, int16 *G, int16 *Dold, unsigned int16 dimx); |
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| 38 | |
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| 39 | /* perform Bierman update of UD matrix using difz, R and xp, for size dimx*/ |
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| 40 | extern void bierman_fast(int16 *difz, int16 *xp, int16 *U, int16 *D, int16 *R, unsigned int16 dimy, unsigned int16 dimx ); |
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| 41 | |
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| 42 | /* perform Bierman update of UD matrix using difz, R and xp, for size dimx*/ |
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| 43 | extern void bierman_fastC(int16 *difz, int16 *xp, int16 *U, int16 *D, int16 *C, int16 *R, unsigned int16 dimy, unsigned int16 dimx ); |
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| 44 | |
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| 45 | /* perform Householder update of Ch matrix using PSI*Ch , Q, */ |
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| 46 | extern void householder(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx); |
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| 47 | |
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| 48 | /* perform Givens update of Ch matrix using PSI*Ch , Q, */ |
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| 49 | extern void givens(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx); |
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| 50 | |
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| 51 | /* perform Carlson update of Ch matrix using difz, R and xp, for size dimx*/ |
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| 52 | extern void carlson(int16 *difz, int16 *xp, int16 *Ch, int16 *R, unsigned int16 dimy, unsigned int16 dimx ); |
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| 53 | |
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| 54 | /* perform Givens update of Ch matrix using PSI*Ch , Q, */ |
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| 55 | extern void givens_fast(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx); |
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| 56 | |
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| 57 | /* perform Carlson update of Ch matrix using difz, R and xp, for size dimx*/ |
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| 58 | extern void carlson_fast(int16 *difz, int16 *xp, int16 *Ch, int16 *R, unsigned int16 dimy, unsigned int16 dimx ); |
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