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CMSIS DSP library

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cmsis_dsp/MatrixFunctions/arm_mat_inverse_f64.c@5:3762170b6d4d, 2015-11-20 (annotated)

Committer:
mbed_official
Date:
Fri Nov 20 08:45:18 2015 +0000
Revision:
5:3762170b6d4d
Synchronized with git revision 2eb940b9a73af188d3004a2575fdfbb05febe62b



Full URL: https://github.com/mbedmicro/mbed/commit/2eb940b9a73af188d3004a2575fdfbb05febe62b/



Added option to build rpc library. closes #1426

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 5:3762170b6d4d 1 /* ----------------------------------------------------------------------
mbed_official 5:3762170b6d4d 2 * Copyright (C) 2010-2014 ARM Limited. All rights reserved.
mbed_official 5:3762170b6d4d 3 *
mbed_official 5:3762170b6d4d 4 * $Date: 19. March 2015
mbed_official 5:3762170b6d4d 5 * $Revision: V.1.4.5
mbed_official 5:3762170b6d4d 6 *
mbed_official 5:3762170b6d4d 7 * Project: CMSIS DSP Library
mbed_official 5:3762170b6d4d 8 * Title: arm_mat_inverse_f64.c
mbed_official 5:3762170b6d4d 9 *
mbed_official 5:3762170b6d4d 10 * Description: Floating-point matrix inverse.
mbed_official 5:3762170b6d4d 11 *
mbed_official 5:3762170b6d4d 12 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
mbed_official 5:3762170b6d4d 13 *
mbed_official 5:3762170b6d4d 14 * Redistribution and use in source and binary forms, with or without
mbed_official 5:3762170b6d4d 15 * modification, are permitted provided that the following conditions
mbed_official 5:3762170b6d4d 16 * are met:
mbed_official 5:3762170b6d4d 17 * - Redistributions of source code must retain the above copyright
mbed_official 5:3762170b6d4d 18 * notice, this list of conditions and the following disclaimer.
mbed_official 5:3762170b6d4d 19 * - Redistributions in binary form must reproduce the above copyright
mbed_official 5:3762170b6d4d 20 * notice, this list of conditions and the following disclaimer in
mbed_official 5:3762170b6d4d 21 * the documentation and/or other materials provided with the
mbed_official 5:3762170b6d4d 22 * distribution.
mbed_official 5:3762170b6d4d 23 * - Neither the name of ARM LIMITED nor the names of its contributors
mbed_official 5:3762170b6d4d 24 * may be used to endorse or promote products derived from this
mbed_official 5:3762170b6d4d 25 * software without specific prior written permission.
mbed_official 5:3762170b6d4d 26 *
mbed_official 5:3762170b6d4d 27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
mbed_official 5:3762170b6d4d 28 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
mbed_official 5:3762170b6d4d 29 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
mbed_official 5:3762170b6d4d 30 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
mbed_official 5:3762170b6d4d 31 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
mbed_official 5:3762170b6d4d 32 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
mbed_official 5:3762170b6d4d 33 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
mbed_official 5:3762170b6d4d 34 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
mbed_official 5:3762170b6d4d 35 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
mbed_official 5:3762170b6d4d 36 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
mbed_official 5:3762170b6d4d 37 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 5:3762170b6d4d 38 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 5:3762170b6d4d 39 * -------------------------------------------------------------------- */
mbed_official 5:3762170b6d4d 40
mbed_official 5:3762170b6d4d 41 #include "arm_math.h"
mbed_official 5:3762170b6d4d 42
mbed_official 5:3762170b6d4d 43 /**
mbed_official 5:3762170b6d4d 44 * @ingroup groupMatrix
mbed_official 5:3762170b6d4d 45 */
mbed_official 5:3762170b6d4d 46
mbed_official 5:3762170b6d4d 47 /**
mbed_official 5:3762170b6d4d 48 * @defgroup MatrixInv Matrix Inverse
mbed_official 5:3762170b6d4d 49 *
mbed_official 5:3762170b6d4d 50 * Computes the inverse of a matrix.
mbed_official 5:3762170b6d4d 51 *
mbed_official 5:3762170b6d4d 52 * The inverse is defined only if the input matrix is square and non-singular (the determinant
mbed_official 5:3762170b6d4d 53 * is non-zero). The function checks that the input and output matrices are square and of the
mbed_official 5:3762170b6d4d 54 * same size.
mbed_official 5:3762170b6d4d 55 *
mbed_official 5:3762170b6d4d 56 * Matrix inversion is numerically sensitive and the CMSIS DSP library only supports matrix
mbed_official 5:3762170b6d4d 57 * inversion of floating-point matrices.
mbed_official 5:3762170b6d4d 58 *
mbed_official 5:3762170b6d4d 59 * \par Algorithm
mbed_official 5:3762170b6d4d 60 * The Gauss-Jordan method is used to find the inverse.
mbed_official 5:3762170b6d4d 61 * The algorithm performs a sequence of elementary row-operations until it
mbed_official 5:3762170b6d4d 62 * reduces the input matrix to an identity matrix. Applying the same sequence
mbed_official 5:3762170b6d4d 63 * of elementary row-operations to an identity matrix yields the inverse matrix.
mbed_official 5:3762170b6d4d 64 * If the input matrix is singular, then the algorithm terminates and returns error status
mbed_official 5:3762170b6d4d 65 * <code>ARM_MATH_SINGULAR</code>.
mbed_official 5:3762170b6d4d 66 * \image html MatrixInverse.gif "Matrix Inverse of a 3 x 3 matrix using Gauss-Jordan Method"
mbed_official 5:3762170b6d4d 67 */
mbed_official 5:3762170b6d4d 68
mbed_official 5:3762170b6d4d 69 /**
mbed_official 5:3762170b6d4d 70 * @addtogroup MatrixInv
mbed_official 5:3762170b6d4d 71 * @{
mbed_official 5:3762170b6d4d 72 */
mbed_official 5:3762170b6d4d 73
mbed_official 5:3762170b6d4d 74 /**
mbed_official 5:3762170b6d4d 75 * @brief Floating-point matrix inverse.
mbed_official 5:3762170b6d4d 76 * @param[in] *pSrc points to input matrix structure
mbed_official 5:3762170b6d4d 77 * @param[out] *pDst points to output matrix structure
mbed_official 5:3762170b6d4d 78 * @return The function returns
mbed_official 5:3762170b6d4d 79 * <code>ARM_MATH_SIZE_MISMATCH</code> if the input matrix is not square or if the size
mbed_official 5:3762170b6d4d 80 * of the output matrix does not match the size of the input matrix.
mbed_official 5:3762170b6d4d 81 * If the input matrix is found to be singular (non-invertible), then the function returns
mbed_official 5:3762170b6d4d 82 * <code>ARM_MATH_SINGULAR</code>. Otherwise, the function returns <code>ARM_MATH_SUCCESS</code>.
mbed_official 5:3762170b6d4d 83 */
mbed_official 5:3762170b6d4d 84
mbed_official 5:3762170b6d4d 85 arm_status arm_mat_inverse_f64(
mbed_official 5:3762170b6d4d 86 const arm_matrix_instance_f64 * pSrc,
mbed_official 5:3762170b6d4d 87 arm_matrix_instance_f64 * pDst)
mbed_official 5:3762170b6d4d 88 {
mbed_official 5:3762170b6d4d 89 float64_t *pIn = pSrc->pData; /* input data matrix pointer */
mbed_official 5:3762170b6d4d 90 float64_t *pOut = pDst->pData; /* output data matrix pointer */
mbed_official 5:3762170b6d4d 91 float64_t *pInT1, *pInT2; /* Temporary input data matrix pointer */
mbed_official 5:3762170b6d4d 92 float64_t *pOutT1, *pOutT2; /* Temporary output data matrix pointer */
mbed_official 5:3762170b6d4d 93 float64_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst; /* Temporary input and output data matrix pointer */
mbed_official 5:3762170b6d4d 94 uint32_t numRows = pSrc->numRows; /* Number of rows in the matrix */
mbed_official 5:3762170b6d4d 95 uint32_t numCols = pSrc->numCols; /* Number of Cols in the matrix */
mbed_official 5:3762170b6d4d 96
mbed_official 5:3762170b6d4d 97 #ifndef ARM_MATH_CM0_FAMILY
mbed_official 5:3762170b6d4d 98 float64_t maxC; /* maximum value in the column */
mbed_official 5:3762170b6d4d 99
mbed_official 5:3762170b6d4d 100 /* Run the below code for Cortex-M4 and Cortex-M3 */
mbed_official 5:3762170b6d4d 101
mbed_official 5:3762170b6d4d 102 float64_t Xchg, in = 0.0f, in1; /* Temporary input values */
mbed_official 5:3762170b6d4d 103 uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l; /* loop counters */
mbed_official 5:3762170b6d4d 104 arm_status status; /* status of matrix inverse */
mbed_official 5:3762170b6d4d 105
mbed_official 5:3762170b6d4d 106 #ifdef ARM_MATH_MATRIX_CHECK
mbed_official 5:3762170b6d4d 107
mbed_official 5:3762170b6d4d 108
mbed_official 5:3762170b6d4d 109 /* Check for matrix mismatch condition */
mbed_official 5:3762170b6d4d 110 if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
mbed_official 5:3762170b6d4d 111 || (pSrc->numRows != pDst->numRows))
mbed_official 5:3762170b6d4d 112 {
mbed_official 5:3762170b6d4d 113 /* Set status as ARM_MATH_SIZE_MISMATCH */
mbed_official 5:3762170b6d4d 114 status = ARM_MATH_SIZE_MISMATCH;
mbed_official 5:3762170b6d4d 115 }
mbed_official 5:3762170b6d4d 116 else
mbed_official 5:3762170b6d4d 117 #endif /* #ifdef ARM_MATH_MATRIX_CHECK */
mbed_official 5:3762170b6d4d 118
mbed_official 5:3762170b6d4d 119 {
mbed_official 5:3762170b6d4d 120
mbed_official 5:3762170b6d4d 121 /*--------------------------------------------------------------------------------------------------------------
mbed_official 5:3762170b6d4d 122 * Matrix Inverse can be solved using elementary row operations.
mbed_official 5:3762170b6d4d 123 *
mbed_official 5:3762170b6d4d 124 * Gauss-Jordan Method:
mbed_official 5:3762170b6d4d 125 *
mbed_official 5:3762170b6d4d 126 * 1. First combine the identity matrix and the input matrix separated by a bar to form an
mbed_official 5:3762170b6d4d 127 * augmented matrix as follows:
mbed_official 5:3762170b6d4d 128 * _ _ _ _
mbed_official 5:3762170b6d4d 129 * | a11 a12 | 1 0 | | X11 X12 |
mbed_official 5:3762170b6d4d 130 * | | | = | |
mbed_official 5:3762170b6d4d 131 * |_ a21 a22 | 0 1 _| |_ X21 X21 _|
mbed_official 5:3762170b6d4d 132 *
mbed_official 5:3762170b6d4d 133 * 2. In our implementation, pDst Matrix is used as identity matrix.
mbed_official 5:3762170b6d4d 134 *
mbed_official 5:3762170b6d4d 135 * 3. Begin with the first row. Let i = 1.
mbed_official 5:3762170b6d4d 136 *
mbed_official 5:3762170b6d4d 137 * 4. Check to see if the pivot for column i is the greatest of the column.
mbed_official 5:3762170b6d4d 138 * The pivot is the element of the main diagonal that is on the current row.
mbed_official 5:3762170b6d4d 139 * For instance, if working with row i, then the pivot element is aii.
mbed_official 5:3762170b6d4d 140 * If the pivot is not the most significant of the columns, exchange that row with a row
mbed_official 5:3762170b6d4d 141 * below it that does contain the most significant value in column i. If the most
mbed_official 5:3762170b6d4d 142 * significant value of the column is zero, then an inverse to that matrix does not exist.
mbed_official 5:3762170b6d4d 143 * The most significant value of the column is the absolute maximum.
mbed_official 5:3762170b6d4d 144 *
mbed_official 5:3762170b6d4d 145 * 5. Divide every element of row i by the pivot.
mbed_official 5:3762170b6d4d 146 *
mbed_official 5:3762170b6d4d 147 * 6. For every row below and row i, replace that row with the sum of that row and
mbed_official 5:3762170b6d4d 148 * a multiple of row i so that each new element in column i below row i is zero.
mbed_official 5:3762170b6d4d 149 *
mbed_official 5:3762170b6d4d 150 * 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
mbed_official 5:3762170b6d4d 151 * for every element below and above the main diagonal.
mbed_official 5:3762170b6d4d 152 *
mbed_official 5:3762170b6d4d 153 * 8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).
mbed_official 5:3762170b6d4d 154 * Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).
mbed_official 5:3762170b6d4d 155 *----------------------------------------------------------------------------------------------------------------*/
mbed_official 5:3762170b6d4d 156
mbed_official 5:3762170b6d4d 157 /* Working pointer for destination matrix */
mbed_official 5:3762170b6d4d 158 pOutT1 = pOut;
mbed_official 5:3762170b6d4d 159
mbed_official 5:3762170b6d4d 160 /* Loop over the number of rows */
mbed_official 5:3762170b6d4d 161 rowCnt = numRows;
mbed_official 5:3762170b6d4d 162
mbed_official 5:3762170b6d4d 163 /* Making the destination matrix as identity matrix */
mbed_official 5:3762170b6d4d 164 while(rowCnt > 0u)
mbed_official 5:3762170b6d4d 165 {
mbed_official 5:3762170b6d4d 166 /* Writing all zeroes in lower triangle of the destination matrix */
mbed_official 5:3762170b6d4d 167 j = numRows - rowCnt;
mbed_official 5:3762170b6d4d 168 while(j > 0u)
mbed_official 5:3762170b6d4d 169 {
mbed_official 5:3762170b6d4d 170 *pOutT1++ = 0.0f;
mbed_official 5:3762170b6d4d 171 j--;
mbed_official 5:3762170b6d4d 172 }
mbed_official 5:3762170b6d4d 173
mbed_official 5:3762170b6d4d 174 /* Writing all ones in the diagonal of the destination matrix */
mbed_official 5:3762170b6d4d 175 *pOutT1++ = 1.0f;
mbed_official 5:3762170b6d4d 176
mbed_official 5:3762170b6d4d 177 /* Writing all zeroes in upper triangle of the destination matrix */
mbed_official 5:3762170b6d4d 178 j = rowCnt - 1u;
mbed_official 5:3762170b6d4d 179 while(j > 0u)
mbed_official 5:3762170b6d4d 180 {
mbed_official 5:3762170b6d4d 181 *pOutT1++ = 0.0f;
mbed_official 5:3762170b6d4d 182 j--;
mbed_official 5:3762170b6d4d 183 }
mbed_official 5:3762170b6d4d 184
mbed_official 5:3762170b6d4d 185 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 186 rowCnt--;
mbed_official 5:3762170b6d4d 187 }
mbed_official 5:3762170b6d4d 188
mbed_official 5:3762170b6d4d 189 /* Loop over the number of columns of the input matrix.
mbed_official 5:3762170b6d4d 190 All the elements in each column are processed by the row operations */
mbed_official 5:3762170b6d4d 191 loopCnt = numCols;
mbed_official 5:3762170b6d4d 192
mbed_official 5:3762170b6d4d 193 /* Index modifier to navigate through the columns */
mbed_official 5:3762170b6d4d 194 l = 0u;
mbed_official 5:3762170b6d4d 195
mbed_official 5:3762170b6d4d 196 while(loopCnt > 0u)
mbed_official 5:3762170b6d4d 197 {
mbed_official 5:3762170b6d4d 198 /* Check if the pivot element is zero..
mbed_official 5:3762170b6d4d 199 * If it is zero then interchange the row with non zero row below.
mbed_official 5:3762170b6d4d 200 * If there is no non zero element to replace in the rows below,
mbed_official 5:3762170b6d4d 201 * then the matrix is Singular. */
mbed_official 5:3762170b6d4d 202
mbed_official 5:3762170b6d4d 203 /* Working pointer for the input matrix that points
mbed_official 5:3762170b6d4d 204 * to the pivot element of the particular row */
mbed_official 5:3762170b6d4d 205 pInT1 = pIn + (l * numCols);
mbed_official 5:3762170b6d4d 206
mbed_official 5:3762170b6d4d 207 /* Working pointer for the destination matrix that points
mbed_official 5:3762170b6d4d 208 * to the pivot element of the particular row */
mbed_official 5:3762170b6d4d 209 pOutT1 = pOut + (l * numCols);
mbed_official 5:3762170b6d4d 210
mbed_official 5:3762170b6d4d 211 /* Temporary variable to hold the pivot value */
mbed_official 5:3762170b6d4d 212 in = *pInT1;
mbed_official 5:3762170b6d4d 213
mbed_official 5:3762170b6d4d 214 /* Grab the most significant value from column l */
mbed_official 5:3762170b6d4d 215 maxC = 0;
mbed_official 5:3762170b6d4d 216 for (i = l; i < numRows; i++)
mbed_official 5:3762170b6d4d 217 {
mbed_official 5:3762170b6d4d 218 maxC = *pInT1 > 0 ? (*pInT1 > maxC ? *pInT1 : maxC) : (-*pInT1 > maxC ? -*pInT1 : maxC);
mbed_official 5:3762170b6d4d 219 pInT1 += numCols;
mbed_official 5:3762170b6d4d 220 }
mbed_official 5:3762170b6d4d 221
mbed_official 5:3762170b6d4d 222 /* Update the status if the matrix is singular */
mbed_official 5:3762170b6d4d 223 if(maxC == 0.0f)
mbed_official 5:3762170b6d4d 224 {
mbed_official 5:3762170b6d4d 225 return ARM_MATH_SINGULAR;
mbed_official 5:3762170b6d4d 226 }
mbed_official 5:3762170b6d4d 227
mbed_official 5:3762170b6d4d 228 /* Restore pInT1 */
mbed_official 5:3762170b6d4d 229 pInT1 = pIn;
mbed_official 5:3762170b6d4d 230
mbed_official 5:3762170b6d4d 231 /* Destination pointer modifier */
mbed_official 5:3762170b6d4d 232 k = 1u;
mbed_official 5:3762170b6d4d 233
mbed_official 5:3762170b6d4d 234 /* Check if the pivot element is the most significant of the column */
mbed_official 5:3762170b6d4d 235 if( (in > 0.0f ? in : -in) != maxC)
mbed_official 5:3762170b6d4d 236 {
mbed_official 5:3762170b6d4d 237 /* Loop over the number rows present below */
mbed_official 5:3762170b6d4d 238 i = numRows - (l + 1u);
mbed_official 5:3762170b6d4d 239
mbed_official 5:3762170b6d4d 240 while(i > 0u)
mbed_official 5:3762170b6d4d 241 {
mbed_official 5:3762170b6d4d 242 /* Update the input and destination pointers */
mbed_official 5:3762170b6d4d 243 pInT2 = pInT1 + (numCols * l);
mbed_official 5:3762170b6d4d 244 pOutT2 = pOutT1 + (numCols * k);
mbed_official 5:3762170b6d4d 245
mbed_official 5:3762170b6d4d 246 /* Look for the most significant element to
mbed_official 5:3762170b6d4d 247 * replace in the rows below */
mbed_official 5:3762170b6d4d 248 if((*pInT2 > 0.0f ? *pInT2: -*pInT2) == maxC)
mbed_official 5:3762170b6d4d 249 {
mbed_official 5:3762170b6d4d 250 /* Loop over number of columns
mbed_official 5:3762170b6d4d 251 * to the right of the pilot element */
mbed_official 5:3762170b6d4d 252 j = numCols - l;
mbed_official 5:3762170b6d4d 253
mbed_official 5:3762170b6d4d 254 while(j > 0u)
mbed_official 5:3762170b6d4d 255 {
mbed_official 5:3762170b6d4d 256 /* Exchange the row elements of the input matrix */
mbed_official 5:3762170b6d4d 257 Xchg = *pInT2;
mbed_official 5:3762170b6d4d 258 *pInT2++ = *pInT1;
mbed_official 5:3762170b6d4d 259 *pInT1++ = Xchg;
mbed_official 5:3762170b6d4d 260
mbed_official 5:3762170b6d4d 261 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 262 j--;
mbed_official 5:3762170b6d4d 263 }
mbed_official 5:3762170b6d4d 264
mbed_official 5:3762170b6d4d 265 /* Loop over number of columns of the destination matrix */
mbed_official 5:3762170b6d4d 266 j = numCols;
mbed_official 5:3762170b6d4d 267
mbed_official 5:3762170b6d4d 268 while(j > 0u)
mbed_official 5:3762170b6d4d 269 {
mbed_official 5:3762170b6d4d 270 /* Exchange the row elements of the destination matrix */
mbed_official 5:3762170b6d4d 271 Xchg = *pOutT2;
mbed_official 5:3762170b6d4d 272 *pOutT2++ = *pOutT1;
mbed_official 5:3762170b6d4d 273 *pOutT1++ = Xchg;
mbed_official 5:3762170b6d4d 274
mbed_official 5:3762170b6d4d 275 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 276 j--;
mbed_official 5:3762170b6d4d 277 }
mbed_official 5:3762170b6d4d 278
mbed_official 5:3762170b6d4d 279 /* Flag to indicate whether exchange is done or not */
mbed_official 5:3762170b6d4d 280 flag = 1u;
mbed_official 5:3762170b6d4d 281
mbed_official 5:3762170b6d4d 282 /* Break after exchange is done */
mbed_official 5:3762170b6d4d 283 break;
mbed_official 5:3762170b6d4d 284 }
mbed_official 5:3762170b6d4d 285
mbed_official 5:3762170b6d4d 286 /* Update the destination pointer modifier */
mbed_official 5:3762170b6d4d 287 k++;
mbed_official 5:3762170b6d4d 288
mbed_official 5:3762170b6d4d 289 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 290 i--;
mbed_official 5:3762170b6d4d 291 }
mbed_official 5:3762170b6d4d 292 }
mbed_official 5:3762170b6d4d 293
mbed_official 5:3762170b6d4d 294 /* Update the status if the matrix is singular */
mbed_official 5:3762170b6d4d 295 if((flag != 1u) && (in == 0.0f))
mbed_official 5:3762170b6d4d 296 {
mbed_official 5:3762170b6d4d 297 return ARM_MATH_SINGULAR;
mbed_official 5:3762170b6d4d 298 }
mbed_official 5:3762170b6d4d 299
mbed_official 5:3762170b6d4d 300 /* Points to the pivot row of input and destination matrices */
mbed_official 5:3762170b6d4d 301 pPivotRowIn = pIn + (l * numCols);
mbed_official 5:3762170b6d4d 302 pPivotRowDst = pOut + (l * numCols);
mbed_official 5:3762170b6d4d 303
mbed_official 5:3762170b6d4d 304 /* Temporary pointers to the pivot row pointers */
mbed_official 5:3762170b6d4d 305 pInT1 = pPivotRowIn;
mbed_official 5:3762170b6d4d 306 pInT2 = pPivotRowDst;
mbed_official 5:3762170b6d4d 307
mbed_official 5:3762170b6d4d 308 /* Pivot element of the row */
mbed_official 5:3762170b6d4d 309 in = *pPivotRowIn;
mbed_official 5:3762170b6d4d 310
mbed_official 5:3762170b6d4d 311 /* Loop over number of columns
mbed_official 5:3762170b6d4d 312 * to the right of the pilot element */
mbed_official 5:3762170b6d4d 313 j = (numCols - l);
mbed_official 5:3762170b6d4d 314
mbed_official 5:3762170b6d4d 315 while(j > 0u)
mbed_official 5:3762170b6d4d 316 {
mbed_official 5:3762170b6d4d 317 /* Divide each element of the row of the input matrix
mbed_official 5:3762170b6d4d 318 * by the pivot element */
mbed_official 5:3762170b6d4d 319 in1 = *pInT1;
mbed_official 5:3762170b6d4d 320 *pInT1++ = in1 / in;
mbed_official 5:3762170b6d4d 321
mbed_official 5:3762170b6d4d 322 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 323 j--;
mbed_official 5:3762170b6d4d 324 }
mbed_official 5:3762170b6d4d 325
mbed_official 5:3762170b6d4d 326 /* Loop over number of columns of the destination matrix */
mbed_official 5:3762170b6d4d 327 j = numCols;
mbed_official 5:3762170b6d4d 328
mbed_official 5:3762170b6d4d 329 while(j > 0u)
mbed_official 5:3762170b6d4d 330 {
mbed_official 5:3762170b6d4d 331 /* Divide each element of the row of the destination matrix
mbed_official 5:3762170b6d4d 332 * by the pivot element */
mbed_official 5:3762170b6d4d 333 in1 = *pInT2;
mbed_official 5:3762170b6d4d 334 *pInT2++ = in1 / in;
mbed_official 5:3762170b6d4d 335
mbed_official 5:3762170b6d4d 336 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 337 j--;
mbed_official 5:3762170b6d4d 338 }
mbed_official 5:3762170b6d4d 339
mbed_official 5:3762170b6d4d 340 /* Replace the rows with the sum of that row and a multiple of row i
mbed_official 5:3762170b6d4d 341 * so that each new element in column i above row i is zero.*/
mbed_official 5:3762170b6d4d 342
mbed_official 5:3762170b6d4d 343 /* Temporary pointers for input and destination matrices */
mbed_official 5:3762170b6d4d 344 pInT1 = pIn;
mbed_official 5:3762170b6d4d 345 pInT2 = pOut;
mbed_official 5:3762170b6d4d 346
mbed_official 5:3762170b6d4d 347 /* index used to check for pivot element */
mbed_official 5:3762170b6d4d 348 i = 0u;
mbed_official 5:3762170b6d4d 349
mbed_official 5:3762170b6d4d 350 /* Loop over number of rows */
mbed_official 5:3762170b6d4d 351 /* to be replaced by the sum of that row and a multiple of row i */
mbed_official 5:3762170b6d4d 352 k = numRows;
mbed_official 5:3762170b6d4d 353
mbed_official 5:3762170b6d4d 354 while(k > 0u)
mbed_official 5:3762170b6d4d 355 {
mbed_official 5:3762170b6d4d 356 /* Check for the pivot element */
mbed_official 5:3762170b6d4d 357 if(i == l)
mbed_official 5:3762170b6d4d 358 {
mbed_official 5:3762170b6d4d 359 /* If the processing element is the pivot element,
mbed_official 5:3762170b6d4d 360 only the columns to the right are to be processed */
mbed_official 5:3762170b6d4d 361 pInT1 += numCols - l;
mbed_official 5:3762170b6d4d 362
mbed_official 5:3762170b6d4d 363 pInT2 += numCols;
mbed_official 5:3762170b6d4d 364 }
mbed_official 5:3762170b6d4d 365 else
mbed_official 5:3762170b6d4d 366 {
mbed_official 5:3762170b6d4d 367 /* Element of the reference row */
mbed_official 5:3762170b6d4d 368 in = *pInT1;
mbed_official 5:3762170b6d4d 369
mbed_official 5:3762170b6d4d 370 /* Working pointers for input and destination pivot rows */
mbed_official 5:3762170b6d4d 371 pPRT_in = pPivotRowIn;
mbed_official 5:3762170b6d4d 372 pPRT_pDst = pPivotRowDst;
mbed_official 5:3762170b6d4d 373
mbed_official 5:3762170b6d4d 374 /* Loop over the number of columns to the right of the pivot element,
mbed_official 5:3762170b6d4d 375 to replace the elements in the input matrix */
mbed_official 5:3762170b6d4d 376 j = (numCols - l);
mbed_official 5:3762170b6d4d 377
mbed_official 5:3762170b6d4d 378 while(j > 0u)
mbed_official 5:3762170b6d4d 379 {
mbed_official 5:3762170b6d4d 380 /* Replace the element by the sum of that row
mbed_official 5:3762170b6d4d 381 and a multiple of the reference row */
mbed_official 5:3762170b6d4d 382 in1 = *pInT1;
mbed_official 5:3762170b6d4d 383 *pInT1++ = in1 - (in * *pPRT_in++);
mbed_official 5:3762170b6d4d 384
mbed_official 5:3762170b6d4d 385 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 386 j--;
mbed_official 5:3762170b6d4d 387 }
mbed_official 5:3762170b6d4d 388
mbed_official 5:3762170b6d4d 389 /* Loop over the number of columns to
mbed_official 5:3762170b6d4d 390 replace the elements in the destination matrix */
mbed_official 5:3762170b6d4d 391 j = numCols;
mbed_official 5:3762170b6d4d 392
mbed_official 5:3762170b6d4d 393 while(j > 0u)
mbed_official 5:3762170b6d4d 394 {
mbed_official 5:3762170b6d4d 395 /* Replace the element by the sum of that row
mbed_official 5:3762170b6d4d 396 and a multiple of the reference row */
mbed_official 5:3762170b6d4d 397 in1 = *pInT2;
mbed_official 5:3762170b6d4d 398 *pInT2++ = in1 - (in * *pPRT_pDst++);
mbed_official 5:3762170b6d4d 399
mbed_official 5:3762170b6d4d 400 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 401 j--;
mbed_official 5:3762170b6d4d 402 }
mbed_official 5:3762170b6d4d 403
mbed_official 5:3762170b6d4d 404 }
mbed_official 5:3762170b6d4d 405
mbed_official 5:3762170b6d4d 406 /* Increment the temporary input pointer */
mbed_official 5:3762170b6d4d 407 pInT1 = pInT1 + l;
mbed_official 5:3762170b6d4d 408
mbed_official 5:3762170b6d4d 409 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 410 k--;
mbed_official 5:3762170b6d4d 411
mbed_official 5:3762170b6d4d 412 /* Increment the pivot index */
mbed_official 5:3762170b6d4d 413 i++;
mbed_official 5:3762170b6d4d 414 }
mbed_official 5:3762170b6d4d 415
mbed_official 5:3762170b6d4d 416 /* Increment the input pointer */
mbed_official 5:3762170b6d4d 417 pIn++;
mbed_official 5:3762170b6d4d 418
mbed_official 5:3762170b6d4d 419 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 420 loopCnt--;
mbed_official 5:3762170b6d4d 421
mbed_official 5:3762170b6d4d 422 /* Increment the index modifier */
mbed_official 5:3762170b6d4d 423 l++;
mbed_official 5:3762170b6d4d 424 }
mbed_official 5:3762170b6d4d 425
mbed_official 5:3762170b6d4d 426
mbed_official 5:3762170b6d4d 427 #else
mbed_official 5:3762170b6d4d 428
mbed_official 5:3762170b6d4d 429 /* Run the below code for Cortex-M0 */
mbed_official 5:3762170b6d4d 430
mbed_official 5:3762170b6d4d 431 float64_t Xchg, in = 0.0f; /* Temporary input values */
mbed_official 5:3762170b6d4d 432 uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l; /* loop counters */
mbed_official 5:3762170b6d4d 433 arm_status status; /* status of matrix inverse */
mbed_official 5:3762170b6d4d 434
mbed_official 5:3762170b6d4d 435 #ifdef ARM_MATH_MATRIX_CHECK
mbed_official 5:3762170b6d4d 436
mbed_official 5:3762170b6d4d 437 /* Check for matrix mismatch condition */
mbed_official 5:3762170b6d4d 438 if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
mbed_official 5:3762170b6d4d 439 || (pSrc->numRows != pDst->numRows))
mbed_official 5:3762170b6d4d 440 {
mbed_official 5:3762170b6d4d 441 /* Set status as ARM_MATH_SIZE_MISMATCH */
mbed_official 5:3762170b6d4d 442 status = ARM_MATH_SIZE_MISMATCH;
mbed_official 5:3762170b6d4d 443 }
mbed_official 5:3762170b6d4d 444 else
mbed_official 5:3762170b6d4d 445 #endif /* #ifdef ARM_MATH_MATRIX_CHECK */
mbed_official 5:3762170b6d4d 446 {
mbed_official 5:3762170b6d4d 447
mbed_official 5:3762170b6d4d 448 /*--------------------------------------------------------------------------------------------------------------
mbed_official 5:3762170b6d4d 449 * Matrix Inverse can be solved using elementary row operations.
mbed_official 5:3762170b6d4d 450 *
mbed_official 5:3762170b6d4d 451 * Gauss-Jordan Method:
mbed_official 5:3762170b6d4d 452 *
mbed_official 5:3762170b6d4d 453 * 1. First combine the identity matrix and the input matrix separated by a bar to form an
mbed_official 5:3762170b6d4d 454 * augmented matrix as follows:
mbed_official 5:3762170b6d4d 455 * _ _ _ _ _ _ _ _
mbed_official 5:3762170b6d4d 456 * | | a11 a12 | | | 1 0 | | | X11 X12 |
mbed_official 5:3762170b6d4d 457 * | | | | | | | = | |
mbed_official 5:3762170b6d4d 458 * |_ |_ a21 a22 _| | |_0 1 _| _| |_ X21 X21 _|
mbed_official 5:3762170b6d4d 459 *
mbed_official 5:3762170b6d4d 460 * 2. In our implementation, pDst Matrix is used as identity matrix.
mbed_official 5:3762170b6d4d 461 *
mbed_official 5:3762170b6d4d 462 * 3. Begin with the first row. Let i = 1.
mbed_official 5:3762170b6d4d 463 *
mbed_official 5:3762170b6d4d 464 * 4. Check to see if the pivot for row i is zero.
mbed_official 5:3762170b6d4d 465 * The pivot is the element of the main diagonal that is on the current row.
mbed_official 5:3762170b6d4d 466 * For instance, if working with row i, then the pivot element is aii.
mbed_official 5:3762170b6d4d 467 * If the pivot is zero, exchange that row with a row below it that does not
mbed_official 5:3762170b6d4d 468 * contain a zero in column i. If this is not possible, then an inverse
mbed_official 5:3762170b6d4d 469 * to that matrix does not exist.
mbed_official 5:3762170b6d4d 470 *
mbed_official 5:3762170b6d4d 471 * 5. Divide every element of row i by the pivot.
mbed_official 5:3762170b6d4d 472 *
mbed_official 5:3762170b6d4d 473 * 6. For every row below and row i, replace that row with the sum of that row and
mbed_official 5:3762170b6d4d 474 * a multiple of row i so that each new element in column i below row i is zero.
mbed_official 5:3762170b6d4d 475 *
mbed_official 5:3762170b6d4d 476 * 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
mbed_official 5:3762170b6d4d 477 * for every element below and above the main diagonal.
mbed_official 5:3762170b6d4d 478 *
mbed_official 5:3762170b6d4d 479 * 8. Now an identical matrix is formed to the left of the bar(input matrix, src).
mbed_official 5:3762170b6d4d 480 * Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).
mbed_official 5:3762170b6d4d 481 *----------------------------------------------------------------------------------------------------------------*/
mbed_official 5:3762170b6d4d 482
mbed_official 5:3762170b6d4d 483 /* Working pointer for destination matrix */
mbed_official 5:3762170b6d4d 484 pOutT1 = pOut;
mbed_official 5:3762170b6d4d 485
mbed_official 5:3762170b6d4d 486 /* Loop over the number of rows */
mbed_official 5:3762170b6d4d 487 rowCnt = numRows;
mbed_official 5:3762170b6d4d 488
mbed_official 5:3762170b6d4d 489 /* Making the destination matrix as identity matrix */
mbed_official 5:3762170b6d4d 490 while(rowCnt > 0u)
mbed_official 5:3762170b6d4d 491 {
mbed_official 5:3762170b6d4d 492 /* Writing all zeroes in lower triangle of the destination matrix */
mbed_official 5:3762170b6d4d 493 j = numRows - rowCnt;
mbed_official 5:3762170b6d4d 494 while(j > 0u)
mbed_official 5:3762170b6d4d 495 {
mbed_official 5:3762170b6d4d 496 *pOutT1++ = 0.0f;
mbed_official 5:3762170b6d4d 497 j--;
mbed_official 5:3762170b6d4d 498 }
mbed_official 5:3762170b6d4d 499
mbed_official 5:3762170b6d4d 500 /* Writing all ones in the diagonal of the destination matrix */
mbed_official 5:3762170b6d4d 501 *pOutT1++ = 1.0f;
mbed_official 5:3762170b6d4d 502
mbed_official 5:3762170b6d4d 503 /* Writing all zeroes in upper triangle of the destination matrix */
mbed_official 5:3762170b6d4d 504 j = rowCnt - 1u;
mbed_official 5:3762170b6d4d 505 while(j > 0u)
mbed_official 5:3762170b6d4d 506 {
mbed_official 5:3762170b6d4d 507 *pOutT1++ = 0.0f;
mbed_official 5:3762170b6d4d 508 j--;
mbed_official 5:3762170b6d4d 509 }
mbed_official 5:3762170b6d4d 510
mbed_official 5:3762170b6d4d 511 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 512 rowCnt--;
mbed_official 5:3762170b6d4d 513 }
mbed_official 5:3762170b6d4d 514
mbed_official 5:3762170b6d4d 515 /* Loop over the number of columns of the input matrix.
mbed_official 5:3762170b6d4d 516 All the elements in each column are processed by the row operations */
mbed_official 5:3762170b6d4d 517 loopCnt = numCols;
mbed_official 5:3762170b6d4d 518
mbed_official 5:3762170b6d4d 519 /* Index modifier to navigate through the columns */
mbed_official 5:3762170b6d4d 520 l = 0u;
mbed_official 5:3762170b6d4d 521 //for(loopCnt = 0u; loopCnt < numCols; loopCnt++)
mbed_official 5:3762170b6d4d 522 while(loopCnt > 0u)
mbed_official 5:3762170b6d4d 523 {
mbed_official 5:3762170b6d4d 524 /* Check if the pivot element is zero..
mbed_official 5:3762170b6d4d 525 * If it is zero then interchange the row with non zero row below.
mbed_official 5:3762170b6d4d 526 * If there is no non zero element to replace in the rows below,
mbed_official 5:3762170b6d4d 527 * then the matrix is Singular. */
mbed_official 5:3762170b6d4d 528
mbed_official 5:3762170b6d4d 529 /* Working pointer for the input matrix that points
mbed_official 5:3762170b6d4d 530 * to the pivot element of the particular row */
mbed_official 5:3762170b6d4d 531 pInT1 = pIn + (l * numCols);
mbed_official 5:3762170b6d4d 532
mbed_official 5:3762170b6d4d 533 /* Working pointer for the destination matrix that points
mbed_official 5:3762170b6d4d 534 * to the pivot element of the particular row */
mbed_official 5:3762170b6d4d 535 pOutT1 = pOut + (l * numCols);
mbed_official 5:3762170b6d4d 536
mbed_official 5:3762170b6d4d 537 /* Temporary variable to hold the pivot value */
mbed_official 5:3762170b6d4d 538 in = *pInT1;
mbed_official 5:3762170b6d4d 539
mbed_official 5:3762170b6d4d 540 /* Destination pointer modifier */
mbed_official 5:3762170b6d4d 541 k = 1u;
mbed_official 5:3762170b6d4d 542
mbed_official 5:3762170b6d4d 543 /* Check if the pivot element is zero */
mbed_official 5:3762170b6d4d 544 if(*pInT1 == 0.0f)
mbed_official 5:3762170b6d4d 545 {
mbed_official 5:3762170b6d4d 546 /* Loop over the number rows present below */
mbed_official 5:3762170b6d4d 547 for (i = (l + 1u); i < numRows; i++)
mbed_official 5:3762170b6d4d 548 {
mbed_official 5:3762170b6d4d 549 /* Update the input and destination pointers */
mbed_official 5:3762170b6d4d 550 pInT2 = pInT1 + (numCols * l);
mbed_official 5:3762170b6d4d 551 pOutT2 = pOutT1 + (numCols * k);
mbed_official 5:3762170b6d4d 552
mbed_official 5:3762170b6d4d 553 /* Check if there is a non zero pivot element to
mbed_official 5:3762170b6d4d 554 * replace in the rows below */
mbed_official 5:3762170b6d4d 555 if(*pInT2 != 0.0f)
mbed_official 5:3762170b6d4d 556 {
mbed_official 5:3762170b6d4d 557 /* Loop over number of columns
mbed_official 5:3762170b6d4d 558 * to the right of the pilot element */
mbed_official 5:3762170b6d4d 559 for (j = 0u; j < (numCols - l); j++)
mbed_official 5:3762170b6d4d 560 {
mbed_official 5:3762170b6d4d 561 /* Exchange the row elements of the input matrix */
mbed_official 5:3762170b6d4d 562 Xchg = *pInT2;
mbed_official 5:3762170b6d4d 563 *pInT2++ = *pInT1;
mbed_official 5:3762170b6d4d 564 *pInT1++ = Xchg;
mbed_official 5:3762170b6d4d 565 }
mbed_official 5:3762170b6d4d 566
mbed_official 5:3762170b6d4d 567 for (j = 0u; j < numCols; j++)
mbed_official 5:3762170b6d4d 568 {
mbed_official 5:3762170b6d4d 569 Xchg = *pOutT2;
mbed_official 5:3762170b6d4d 570 *pOutT2++ = *pOutT1;
mbed_official 5:3762170b6d4d 571 *pOutT1++ = Xchg;
mbed_official 5:3762170b6d4d 572 }
mbed_official 5:3762170b6d4d 573
mbed_official 5:3762170b6d4d 574 /* Flag to indicate whether exchange is done or not */
mbed_official 5:3762170b6d4d 575 flag = 1u;
mbed_official 5:3762170b6d4d 576
mbed_official 5:3762170b6d4d 577 /* Break after exchange is done */
mbed_official 5:3762170b6d4d 578 break;
mbed_official 5:3762170b6d4d 579 }
mbed_official 5:3762170b6d4d 580
mbed_official 5:3762170b6d4d 581 /* Update the destination pointer modifier */
mbed_official 5:3762170b6d4d 582 k++;
mbed_official 5:3762170b6d4d 583 }
mbed_official 5:3762170b6d4d 584 }
mbed_official 5:3762170b6d4d 585
mbed_official 5:3762170b6d4d 586 /* Update the status if the matrix is singular */
mbed_official 5:3762170b6d4d 587 if((flag != 1u) && (in == 0.0f))
mbed_official 5:3762170b6d4d 588 {
mbed_official 5:3762170b6d4d 589 return ARM_MATH_SINGULAR;
mbed_official 5:3762170b6d4d 590 }
mbed_official 5:3762170b6d4d 591
mbed_official 5:3762170b6d4d 592 /* Points to the pivot row of input and destination matrices */
mbed_official 5:3762170b6d4d 593 pPivotRowIn = pIn + (l * numCols);
mbed_official 5:3762170b6d4d 594 pPivotRowDst = pOut + (l * numCols);
mbed_official 5:3762170b6d4d 595
mbed_official 5:3762170b6d4d 596 /* Temporary pointers to the pivot row pointers */
mbed_official 5:3762170b6d4d 597 pInT1 = pPivotRowIn;
mbed_official 5:3762170b6d4d 598 pOutT1 = pPivotRowDst;
mbed_official 5:3762170b6d4d 599
mbed_official 5:3762170b6d4d 600 /* Pivot element of the row */
mbed_official 5:3762170b6d4d 601 in = *(pIn + (l * numCols));
mbed_official 5:3762170b6d4d 602
mbed_official 5:3762170b6d4d 603 /* Loop over number of columns
mbed_official 5:3762170b6d4d 604 * to the right of the pilot element */
mbed_official 5:3762170b6d4d 605 for (j = 0u; j < (numCols - l); j++)
mbed_official 5:3762170b6d4d 606 {
mbed_official 5:3762170b6d4d 607 /* Divide each element of the row of the input matrix
mbed_official 5:3762170b6d4d 608 * by the pivot element */
mbed_official 5:3762170b6d4d 609 *pInT1 = *pInT1 / in;
mbed_official 5:3762170b6d4d 610 pInT1++;
mbed_official 5:3762170b6d4d 611 }
mbed_official 5:3762170b6d4d 612 for (j = 0u; j < numCols; j++)
mbed_official 5:3762170b6d4d 613 {
mbed_official 5:3762170b6d4d 614 /* Divide each element of the row of the destination matrix
mbed_official 5:3762170b6d4d 615 * by the pivot element */
mbed_official 5:3762170b6d4d 616 *pOutT1 = *pOutT1 / in;
mbed_official 5:3762170b6d4d 617 pOutT1++;
mbed_official 5:3762170b6d4d 618 }
mbed_official 5:3762170b6d4d 619
mbed_official 5:3762170b6d4d 620 /* Replace the rows with the sum of that row and a multiple of row i
mbed_official 5:3762170b6d4d 621 * so that each new element in column i above row i is zero.*/
mbed_official 5:3762170b6d4d 622
mbed_official 5:3762170b6d4d 623 /* Temporary pointers for input and destination matrices */
mbed_official 5:3762170b6d4d 624 pInT1 = pIn;
mbed_official 5:3762170b6d4d 625 pOutT1 = pOut;
mbed_official 5:3762170b6d4d 626
mbed_official 5:3762170b6d4d 627 for (i = 0u; i < numRows; i++)
mbed_official 5:3762170b6d4d 628 {
mbed_official 5:3762170b6d4d 629 /* Check for the pivot element */
mbed_official 5:3762170b6d4d 630 if(i == l)
mbed_official 5:3762170b6d4d 631 {
mbed_official 5:3762170b6d4d 632 /* If the processing element is the pivot element,
mbed_official 5:3762170b6d4d 633 only the columns to the right are to be processed */
mbed_official 5:3762170b6d4d 634 pInT1 += numCols - l;
mbed_official 5:3762170b6d4d 635 pOutT1 += numCols;
mbed_official 5:3762170b6d4d 636 }
mbed_official 5:3762170b6d4d 637 else
mbed_official 5:3762170b6d4d 638 {
mbed_official 5:3762170b6d4d 639 /* Element of the reference row */
mbed_official 5:3762170b6d4d 640 in = *pInT1;
mbed_official 5:3762170b6d4d 641
mbed_official 5:3762170b6d4d 642 /* Working pointers for input and destination pivot rows */
mbed_official 5:3762170b6d4d 643 pPRT_in = pPivotRowIn;
mbed_official 5:3762170b6d4d 644 pPRT_pDst = pPivotRowDst;
mbed_official 5:3762170b6d4d 645
mbed_official 5:3762170b6d4d 646 /* Loop over the number of columns to the right of the pivot element,
mbed_official 5:3762170b6d4d 647 to replace the elements in the input matrix */
mbed_official 5:3762170b6d4d 648 for (j = 0u; j < (numCols - l); j++)
mbed_official 5:3762170b6d4d 649 {
mbed_official 5:3762170b6d4d 650 /* Replace the element by the sum of that row
mbed_official 5:3762170b6d4d 651 and a multiple of the reference row */
mbed_official 5:3762170b6d4d 652 *pInT1 = *pInT1 - (in * *pPRT_in++);
mbed_official 5:3762170b6d4d 653 pInT1++;
mbed_official 5:3762170b6d4d 654 }
mbed_official 5:3762170b6d4d 655 /* Loop over the number of columns to
mbed_official 5:3762170b6d4d 656 replace the elements in the destination matrix */
mbed_official 5:3762170b6d4d 657 for (j = 0u; j < numCols; j++)
mbed_official 5:3762170b6d4d 658 {
mbed_official 5:3762170b6d4d 659 /* Replace the element by the sum of that row
mbed_official 5:3762170b6d4d 660 and a multiple of the reference row */
mbed_official 5:3762170b6d4d 661 *pOutT1 = *pOutT1 - (in * *pPRT_pDst++);
mbed_official 5:3762170b6d4d 662 pOutT1++;
mbed_official 5:3762170b6d4d 663 }
mbed_official 5:3762170b6d4d 664
mbed_official 5:3762170b6d4d 665 }
mbed_official 5:3762170b6d4d 666 /* Increment the temporary input pointer */
mbed_official 5:3762170b6d4d 667 pInT1 = pInT1 + l;
mbed_official 5:3762170b6d4d 668 }
mbed_official 5:3762170b6d4d 669 /* Increment the input pointer */
mbed_official 5:3762170b6d4d 670 pIn++;
mbed_official 5:3762170b6d4d 671
mbed_official 5:3762170b6d4d 672 /* Decrement the loop counter */
mbed_official 5:3762170b6d4d 673 loopCnt--;
mbed_official 5:3762170b6d4d 674 /* Increment the index modifier */
mbed_official 5:3762170b6d4d 675 l++;
mbed_official 5:3762170b6d4d 676 }
mbed_official 5:3762170b6d4d 677
mbed_official 5:3762170b6d4d 678
mbed_official 5:3762170b6d4d 679 #endif /* #ifndef ARM_MATH_CM0_FAMILY */
mbed_official 5:3762170b6d4d 680
mbed_official 5:3762170b6d4d 681 /* Set status as ARM_MATH_SUCCESS */
mbed_official 5:3762170b6d4d 682 status = ARM_MATH_SUCCESS;
mbed_official 5:3762170b6d4d 683
mbed_official 5:3762170b6d4d 684 if((flag != 1u) && (in == 0.0f))
mbed_official 5:3762170b6d4d 685 {
mbed_official 5:3762170b6d4d 686 pIn = pSrc->pData;
mbed_official 5:3762170b6d4d 687 for (i = 0; i < numRows * numCols; i++)
mbed_official 5:3762170b6d4d 688 {
mbed_official 5:3762170b6d4d 689 if (pIn[i] != 0.0f)
mbed_official 5:3762170b6d4d 690 break;
mbed_official 5:3762170b6d4d 691 }
mbed_official 5:3762170b6d4d 692
mbed_official 5:3762170b6d4d 693 if (i == numRows * numCols)
mbed_official 5:3762170b6d4d 694 status = ARM_MATH_SINGULAR;
mbed_official 5:3762170b6d4d 695 }
mbed_official 5:3762170b6d4d 696 }
mbed_official 5:3762170b6d4d 697 /* Return to application */
mbed_official 5:3762170b6d4d 698 return (status);
mbed_official 5:3762170b6d4d 699 }
mbed_official 5:3762170b6d4d 700
mbed_official 5:3762170b6d4d 701 /**
mbed_official 5:3762170b6d4d 702 * @} end of MatrixInv group
mbed_official 5:3762170b6d4d 703 */