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    <programlisting>
<codeline lineno="1"><highlight class="comment">/************************************</highlight></codeline>
<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Extended<sp/>Kalman<sp/>Filter</highlight></codeline>
<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Matrix<sp/>operations</highlight></codeline>
<codeline lineno="4"><highlight class="comment"></highlight></codeline>
<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
<codeline lineno="6"><highlight class="comment"></highlight></codeline>
<codeline lineno="7"><highlight class="comment">Rev.<sp/>15.3.2008</highlight></codeline>
<codeline lineno="8"><highlight class="comment"></highlight></codeline>
<codeline lineno="9"><highlight class="comment">15.3.<sp/>2008<sp/><sp/><sp/><sp/><sp/><sp/>Kompletni<sp/>kontrola<sp/>vypoctu<sp/>+<sp/>zamena<sp/>q15-&gt;int<sp/>a<sp/>q30-&gt;long</highlight></codeline>
<codeline lineno="10"><highlight class="comment"></highlight></codeline>
<codeline lineno="11"><highlight class="comment">*************************************/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="12"><highlight class="normal"></highlight></codeline>
<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Vsechny<sp/>meze<sp/>se<sp/>udavaji<sp/>ve<sp/>tvaru<sp/>(rozmer_matice<sp/>-<sp/>1),<sp/>abych<sp/>mel<sp/>ve<sp/>FOR<sp/>konstantni<sp/>horni<sp/>mez)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="14"><highlight class="normal"></highlight></codeline>
<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>addition<sp/>in<sp/>q15:<sp/>m1<sp/>+<sp/>m2<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="16"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>madd(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
<codeline lineno="17"><highlight class="normal"></highlight></codeline>
<codeline lineno="18"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>add<sp/>diagonal<sp/>matrix<sp/>m2<sp/>to<sp/>matrix<sp/>m1<sp/>-<sp/>both<sp/>in<sp/>format<sp/>q15,<sp/>minrowcol<sp/>=<sp/>min(rows,<sp/>columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="19"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>maddD(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
<codeline lineno="20"><highlight class="normal"></highlight></codeline>
<codeline lineno="21"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>substraction<sp/>in<sp/>q15:<sp/>m1<sp/>-<sp/>m2<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>msub(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
<codeline lineno="23"><highlight class="normal"></highlight></codeline>
<codeline lineno="24"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiply<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="26"><highlight class="normal">columns);</highlight></codeline>
<codeline lineno="27"><highlight class="normal"></highlight></codeline>
<codeline lineno="28"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*(m2[columnsx,columns]transpose)<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultt(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="30"><highlight class="normal">columns);</highlight></codeline>
<codeline lineno="31"><highlight class="normal"></highlight></codeline>
<codeline lineno="32"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>matrix<sp/>multiplication<sp/>in<sp/>q15:<sp/>sum<sp/>is<sp/>in<sp/>q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="34"><highlight class="normal">columns);</highlight></codeline>
<codeline lineno="35"><highlight class="normal"></highlight></codeline>
<codeline lineno="36"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>in<sp/>q15<sp/>(sum<sp/>is<sp/>in<sp/>q15):<sp/>m1[rows,columnsx]*(m2[columns,columnsx]transpose)<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultt15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="38"><highlight class="normal">columns);</highlight></codeline>
<codeline lineno="39"><highlight class="normal"></highlight></codeline>
<codeline lineno="40"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>-<sp/>Q15<sp/>*<sp/>Q30<sp/>format<sp/>-&gt;<sp/>RESULT<sp/>in<sp/>Q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="41"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult1530(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="42"><highlight class="normal">columns);</highlight></codeline>
<codeline lineno="43"><highlight class="normal"></highlight></codeline>
<codeline lineno="44"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Left<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>ones<sp/>matrix<sp/>in<sp/>q15:<sp/>DIAG[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
<codeline lineno="45"><highlight class="comment">minrowcol=minimum(rows,<sp/>columnsx)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="46"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDl(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="47"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
<codeline lineno="48"><highlight class="normal"></highlight></codeline>
<codeline lineno="49"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Left<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>matrix<sp/>in<sp/>q15:<sp/>DIAG[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
<codeline lineno="50"><highlight class="comment">minrowcol=minimum(rows,<sp/>columnsx)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="51"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDl15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*DIAG,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="52"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
<codeline lineno="53"><highlight class="normal"></highlight></codeline>
<codeline lineno="54"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Right<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>ones<sp/>matrix<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*DIAG[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
<codeline lineno="55"><highlight class="comment">minrowcol=minimum(columnsx,columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="56"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDr(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="57"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
<codeline lineno="58"><highlight class="normal"></highlight></codeline>
<codeline lineno="59"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Right<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>matrix<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*DIAG[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
<codeline lineno="60"><highlight class="comment">minrowcol=minimum(columnsx,columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="61"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDr15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*DIAG,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="62"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
<codeline lineno="63"><highlight class="normal"></highlight></codeline>
<codeline lineno="64"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>transposition<sp/>in<sp/>q15:<sp/>m1.&apos;<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="65"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mtrans(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
<codeline lineno="66"><highlight class="normal"></highlight></codeline>
<codeline lineno="67"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>[2,2]<sp/>inversion<sp/>in<sp/>q15:<sp/>inv(m1)<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="68"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>minv2(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*matrix,<sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>*result);</highlight></codeline>
<codeline lineno="69"><highlight class="normal"></highlight></codeline>
<codeline lineno="70"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>choice_P(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
<codeline lineno="71"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>choice_x(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result);</highlight></codeline>
<codeline lineno="72"><highlight class="normal"></highlight></codeline>
    </programlisting>
    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h"/>
  </compounddef>
</doxygen>
