Changeset 1223

Timestamp:

10/21/10 18:24:36 (14 years ago)

Author:

vahalam

Message:

 

Files:

• library/bdm/design/lq_ctrl.h (modified) (2 diffs)

library/bdm/design/lq_ctrl.h

@@ -14 +14 @@
         
         int mbcol = _mB.cols(); 
-        int totsize = utsize + mbcol;
-        int sqs = utsize*utsize;
         int i, j, k;    
         
         double pvt;     
-        double tmp[utsize*totsize];
         double *utA = _utA._data();
         double *mB = _mB._data();
@@ -27 +24 @@
         double *mC = _mC._data();
         
-        //fill tmp array
-        for(i = 0; i < sqs; i++) 
-                tmp[i] = utA[i];
-        for(i = sqs; i < utsize*totsize; i++)                           
-                tmp[i] = mB[i-sqs];                 
+        //copy data     
+        for(i = 0; i < utsize*mbcol; i++) 
+                mC[i] = mB[i];  
                    
         for(i = utsize-1; i >= 0; i--){  //Gauss elimination
-                pvt = tmp[i + utsize*i];    //get pivot 
-                for(j = utsize; j < totsize; j++) tmp[i + utsize*j] /= pvt;     //normalize row - only part on the right                                   
+                pvt = utA[i + utsize*i];    //get pivot 
+                for(j = 0; j < mbcol; j++) mC[i + utsize*j] /= pvt;     //normalize row - only part on the right                                   
                 for(j = 0;j < i; j++){ //subtract normalized row from above ones
-                        pvt = tmp[j + utsize*i]; //get pivot
-                        for(k = utsize; k < totsize; k++) //goes from utsize - do not need make matrix on the left = I  
-                                tmp[j + utsize*k] -= pvt * tmp[i + utsize*k]; //create zero col above                                             
+                        pvt = utA[j + utsize*i]; //get pivot
+                        for(k = 0; k < mbcol; k++) //goes from utsize - do not need make matrix on the left = I 
+                                mC[j + utsize*k] -= pvt * mC[i + utsize*k]; //create zero col above                                       
                 }
                                                                                   
-        }    
-                    
-        for(i = 0; i < utsize*mbcol; i++)
-                mC[i] = tmp[i+sqs];             
+        }                       
         
         return true;