root/applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.h @ 1465

Revision 1465, 2.9 kB (checked in by smidl, 13 years ago)

oprava pretekani A*Ch

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 qCU 15
15#define qD 13
16#define qCh 13
17
18#define int16 short
19#define int32 int
20#define int64 long
21
22/* Matrix multiply Full matrix by upper diagonal matrix with unit diagonal; */
23extern void mmultAU(int16 *m1, int16 *up, int16 *result, unsigned int16 rows, unsigned int16 columns);
24
25/* Matrix multiply Full matrix by upper diagonal matrix with unit diagonal; */
26extern void mmultCU(int16 *m1, int16 *up, int16 *result, unsigned int16 rows, unsigned int16 columns);
27
28/* Matrix multiply Full matrix by upper diagonal matrix; */
29extern void mmultACh(int16 *m1, int16 *up, int16 *result, unsigned int16 rows, unsigned int16 columns);
30
31/* perform Thorton update of UD matrix using PSI*U, Q, and temporaries G, Dold, for size dimx*/
32extern void thorton(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(int16 *difz, int16 *xp, int16 *U, int16 *D, int16 *R, unsigned int16 dimy, unsigned int16 dimx );
36
37/* perform Thorton update of UD matrix using PSI*U, Q, and temporaries G, Dold, for size dimx*/
38extern void thorton_fast(int16 *U, int16 *D, int16 *PSIU, int16 *Q, int16 *G, int16 *Dold, unsigned int16 dimx);
39
40/* perform Bierman update of UD matrix using difz, R and xp, for size dimx*/
41extern void bierman_fast(int16 *difz, int16 *xp, int16 *U, int16 *D, int16 *R, unsigned int16 dimy, unsigned int16 dimx );
42
43/* perform Bierman update of UD matrix using difz, R and xp, for size dimx*/
44extern void bierman_fastC(int16 *difz, int16 *xp, int16 *U, int16 *D, int16 *C, int16 *R, unsigned int16 dimy, unsigned int16 dimx );
45
46/* perform Householder update of Ch matrix using PSI*Ch , Q, */
47extern void householder(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx);
48
49/* perform Givens update of Ch matrix using PSI*Ch , Q, */
50extern void givens(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx);
51
52/* perform Carlson update of Ch matrix using difz, R and xp, for size dimx*/
53extern void carlson(int16 *difz, int16 *xp, int16 *Ch, int16 *R, unsigned int16 dimy, unsigned int16 dimx );
54
55/* perform Givens update of Ch matrix using PSI*Ch and Q, */
56extern void givens_fast(int16 *Ch /*= int16 *PSICh*/, int16 *Q, unsigned int16 dimx);
57
58/* perform Carlson update of Ch matrix using difz, R and xp, for size dimx, asuming identity matrix C*/
59extern void carlson_fast(int16 *difz, int16 *xp, int16 *Ch, int16 *R, unsigned int16 dimy, unsigned int16 dimx );
60
61/* perform Carlson update of Ch matrix using difz, R and xp, for size dimx*/
62extern void carlson_fastC(int16* difz, int16* xp, int16* Ch, int16* C, int16* R, unsigned int16 dimy, unsigned int16 dimx, int16* detS, int16* rem );
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