USNA-UMBC-Project Receiver - Add noise to CAN-bus received data and Implement Kalman Filter
Dependencies: ServoOut mcp2515 BNO055
gtrackMatrix.c@1:5794ff4efa9a, 2022-05-20 (annotated)
- Committer:
- professorrodriguezse
- Date:
- Fri May 20 18:37:10 2022 +0000
- Revision:
- 1:5794ff4efa9a
USNA-UMBC-KalmanFilter-ReceiverSide
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
professorrodriguezse | 1:5794ff4efa9a | 1 | /** |
professorrodriguezse | 1:5794ff4efa9a | 2 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 3 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 4 | * This function is used to create identity matrix |
professorrodriguezse | 1:5794ff4efa9a | 5 | * |
professorrodriguezse | 1:5794ff4efa9a | 6 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 7 | * Size of identity matrix |
professorrodriguezse | 1:5794ff4efa9a | 8 | * @param[out] A |
professorrodriguezse | 1:5794ff4efa9a | 9 | * Matrix A(size,size) = eye(size) |
professorrodriguezse | 1:5794ff4efa9a | 10 | * |
professorrodriguezse | 1:5794ff4efa9a | 11 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 12 | * |
professorrodriguezse | 1:5794ff4efa9a | 13 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 14 | * None |
professorrodriguezse | 1:5794ff4efa9a | 15 | */ |
professorrodriguezse | 1:5794ff4efa9a | 16 | void gtrack_matrixEye(int size, float *A) |
professorrodriguezse | 1:5794ff4efa9a | 17 | { |
professorrodriguezse | 1:5794ff4efa9a | 18 | /* A(size*size) = eye(size) */ |
professorrodriguezse | 1:5794ff4efa9a | 19 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 20 | |
professorrodriguezse | 1:5794ff4efa9a | 21 | for (i = 0U; i < size*size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 22 | A[i] = 0.f; |
professorrodriguezse | 1:5794ff4efa9a | 23 | } |
professorrodriguezse | 1:5794ff4efa9a | 24 | |
professorrodriguezse | 1:5794ff4efa9a | 25 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 26 | A[i+i*size] = 1.0f; |
professorrodriguezse | 1:5794ff4efa9a | 27 | } |
professorrodriguezse | 1:5794ff4efa9a | 28 | } |
professorrodriguezse | 1:5794ff4efa9a | 29 | |
professorrodriguezse | 1:5794ff4efa9a | 30 | /** |
professorrodriguezse | 1:5794ff4efa9a | 31 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 32 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 33 | * This function is used to initialise matrix to a value |
professorrodriguezse | 1:5794ff4efa9a | 34 | * |
professorrodriguezse | 1:5794ff4efa9a | 35 | * @param[in] rows |
professorrodriguezse | 1:5794ff4efa9a | 36 | * Number of rows |
professorrodriguezse | 1:5794ff4efa9a | 37 | * @param[in] cols |
professorrodriguezse | 1:5794ff4efa9a | 38 | * Number of cols |
professorrodriguezse | 1:5794ff4efa9a | 39 | * @param[in] value |
professorrodriguezse | 1:5794ff4efa9a | 40 | * value to set |
professorrodriguezse | 1:5794ff4efa9a | 41 | * @param[out] A |
professorrodriguezse | 1:5794ff4efa9a | 42 | * Matrix A(rows,cols) = ones(rows,cols)*value |
professorrodriguezse | 1:5794ff4efa9a | 43 | * |
professorrodriguezse | 1:5794ff4efa9a | 44 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 45 | * |
professorrodriguezse | 1:5794ff4efa9a | 46 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 47 | * None |
professorrodriguezse | 1:5794ff4efa9a | 48 | */ |
professorrodriguezse | 1:5794ff4efa9a | 49 | void gtrack_matrixInit(int rows, int cols, float value, float *A) |
professorrodriguezse | 1:5794ff4efa9a | 50 | { |
professorrodriguezse | 1:5794ff4efa9a | 51 | /* A(rows*cols) = ones(rows,cols)*value */ |
professorrodriguezse | 1:5794ff4efa9a | 52 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 53 | |
professorrodriguezse | 1:5794ff4efa9a | 54 | for (i = 0U; i < rows*cols; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 55 | A[i] = value; |
professorrodriguezse | 1:5794ff4efa9a | 56 | } |
professorrodriguezse | 1:5794ff4efa9a | 57 | } |
professorrodriguezse | 1:5794ff4efa9a | 58 | |
professorrodriguezse | 1:5794ff4efa9a | 59 | /** |
professorrodriguezse | 1:5794ff4efa9a | 60 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 61 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 62 | * This function is used to create diagonal square matrix |
professorrodriguezse | 1:5794ff4efa9a | 63 | * |
professorrodriguezse | 1:5794ff4efa9a | 64 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 65 | * Size of square matrix |
professorrodriguezse | 1:5794ff4efa9a | 66 | * @param[in] v |
professorrodriguezse | 1:5794ff4efa9a | 67 | * Diagonal vector |
professorrodriguezse | 1:5794ff4efa9a | 68 | * @param[out] A |
professorrodriguezse | 1:5794ff4efa9a | 69 | * Matrix A(size,size) = diag(v(size)) |
professorrodriguezse | 1:5794ff4efa9a | 70 | * |
professorrodriguezse | 1:5794ff4efa9a | 71 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 72 | * |
professorrodriguezse | 1:5794ff4efa9a | 73 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 74 | * None |
professorrodriguezse | 1:5794ff4efa9a | 75 | */ |
professorrodriguezse | 1:5794ff4efa9a | 76 | void gtrack_matrixSetDiag(int size, float *v, float *A) |
professorrodriguezse | 1:5794ff4efa9a | 77 | { |
professorrodriguezse | 1:5794ff4efa9a | 78 | /* A(size*size) = diag(v(size)) */ |
professorrodriguezse | 1:5794ff4efa9a | 79 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 80 | |
professorrodriguezse | 1:5794ff4efa9a | 81 | for (i = 0U; i < size*size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 82 | A[i] = 0; |
professorrodriguezse | 1:5794ff4efa9a | 83 | } |
professorrodriguezse | 1:5794ff4efa9a | 84 | |
professorrodriguezse | 1:5794ff4efa9a | 85 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 86 | A[i+i*size] = v[i]; |
professorrodriguezse | 1:5794ff4efa9a | 87 | } |
professorrodriguezse | 1:5794ff4efa9a | 88 | } |
professorrodriguezse | 1:5794ff4efa9a | 89 | |
professorrodriguezse | 1:5794ff4efa9a | 90 | /** |
professorrodriguezse | 1:5794ff4efa9a | 91 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 92 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 93 | * This function is used to get diagonal from the square matrix |
professorrodriguezse | 1:5794ff4efa9a | 94 | * |
professorrodriguezse | 1:5794ff4efa9a | 95 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 96 | * Size of square matrix |
professorrodriguezse | 1:5794ff4efa9a | 97 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 98 | * Matrix A(size,size) |
professorrodriguezse | 1:5794ff4efa9a | 99 | * @param[out] v |
professorrodriguezse | 1:5794ff4efa9a | 100 | * Diagonal vector, v(size) = diag(A(size*size)) |
professorrodriguezse | 1:5794ff4efa9a | 101 | * |
professorrodriguezse | 1:5794ff4efa9a | 102 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 103 | * |
professorrodriguezse | 1:5794ff4efa9a | 104 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 105 | * None |
professorrodriguezse | 1:5794ff4efa9a | 106 | */ |
professorrodriguezse | 1:5794ff4efa9a | 107 | void gtrack_matrixGetDiag(int size, float *A, float *v) |
professorrodriguezse | 1:5794ff4efa9a | 108 | { |
professorrodriguezse | 1:5794ff4efa9a | 109 | /* v(size) = diag(A(size*size)) */ |
professorrodriguezse | 1:5794ff4efa9a | 110 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 111 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 112 | v[i] = A[i+i*size]; |
professorrodriguezse | 1:5794ff4efa9a | 113 | } |
professorrodriguezse | 1:5794ff4efa9a | 114 | } |
professorrodriguezse | 1:5794ff4efa9a | 115 | |
professorrodriguezse | 1:5794ff4efa9a | 116 | /** |
professorrodriguezse | 1:5794ff4efa9a | 117 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 118 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 119 | * This function is used to multiply two matrices. |
professorrodriguezse | 1:5794ff4efa9a | 120 | * Matrices are all real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 121 | * Matrices are in row-major order |
professorrodriguezse | 1:5794ff4efa9a | 122 | * |
professorrodriguezse | 1:5794ff4efa9a | 123 | * @param[in] rows |
professorrodriguezse | 1:5794ff4efa9a | 124 | * Outer dimension, number of rows |
professorrodriguezse | 1:5794ff4efa9a | 125 | * @param[in] m |
professorrodriguezse | 1:5794ff4efa9a | 126 | * Inner dimension |
professorrodriguezse | 1:5794ff4efa9a | 127 | * @param[in] cols |
professorrodriguezse | 1:5794ff4efa9a | 128 | * Outer dimension, number of cols |
professorrodriguezse | 1:5794ff4efa9a | 129 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 130 | * Matrix A |
professorrodriguezse | 1:5794ff4efa9a | 131 | * @param[in] B |
professorrodriguezse | 1:5794ff4efa9a | 132 | * Matrix B |
professorrodriguezse | 1:5794ff4efa9a | 133 | * @param[out] C |
professorrodriguezse | 1:5794ff4efa9a | 134 | * Matrix C(rows,cols) = A(rows,m) X B(cols,m)T |
professorrodriguezse | 1:5794ff4efa9a | 135 | * |
professorrodriguezse | 1:5794ff4efa9a | 136 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 137 | * |
professorrodriguezse | 1:5794ff4efa9a | 138 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 139 | * None |
professorrodriguezse | 1:5794ff4efa9a | 140 | */ |
professorrodriguezse | 1:5794ff4efa9a | 141 | void gtrack_matrixMultiply(int rows, int m, int cols, float *A, float *B, float *C) |
professorrodriguezse | 1:5794ff4efa9a | 142 | { |
professorrodriguezse | 1:5794ff4efa9a | 143 | /* C(rows*cols) = A(rows*m)*B(m*cols) */ |
professorrodriguezse | 1:5794ff4efa9a | 144 | int i,j, k; |
professorrodriguezse | 1:5794ff4efa9a | 145 | for (i = 0; i < rows; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 146 | for (j = 0; j < cols; j++) { |
professorrodriguezse | 1:5794ff4efa9a | 147 | C[i*cols + j] = 0; |
professorrodriguezse | 1:5794ff4efa9a | 148 | for (k = 0; k < m; k++) { |
professorrodriguezse | 1:5794ff4efa9a | 149 | C[i*cols+j] += A[i*m+k] * B[k*cols + j]; |
professorrodriguezse | 1:5794ff4efa9a | 150 | } |
professorrodriguezse | 1:5794ff4efa9a | 151 | } |
professorrodriguezse | 1:5794ff4efa9a | 152 | } |
professorrodriguezse | 1:5794ff4efa9a | 153 | } |
professorrodriguezse | 1:5794ff4efa9a | 154 | |
professorrodriguezse | 1:5794ff4efa9a | 155 | /** |
professorrodriguezse | 1:5794ff4efa9a | 156 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 157 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 158 | * This function is used to multiply two matrices. Second Matrix is getting transposed first |
professorrodriguezse | 1:5794ff4efa9a | 159 | * Matrices are all real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 160 | * Matrices are in row-major order |
professorrodriguezse | 1:5794ff4efa9a | 161 | * |
professorrodriguezse | 1:5794ff4efa9a | 162 | * @param[in] rows |
professorrodriguezse | 1:5794ff4efa9a | 163 | * Outer dimension, number of rows |
professorrodriguezse | 1:5794ff4efa9a | 164 | * @param[in] m |
professorrodriguezse | 1:5794ff4efa9a | 165 | * Inner dimension |
professorrodriguezse | 1:5794ff4efa9a | 166 | * @param[in] cols |
professorrodriguezse | 1:5794ff4efa9a | 167 | * Outer dimension, number of cols |
professorrodriguezse | 1:5794ff4efa9a | 168 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 169 | * Matrix A |
professorrodriguezse | 1:5794ff4efa9a | 170 | * @param[in] B |
professorrodriguezse | 1:5794ff4efa9a | 171 | * Matrix B |
professorrodriguezse | 1:5794ff4efa9a | 172 | * @param[out] C |
professorrodriguezse | 1:5794ff4efa9a | 173 | * Matrix C(rows,cols) = A(rows,m) X B(cols,m)T |
professorrodriguezse | 1:5794ff4efa9a | 174 | * |
professorrodriguezse | 1:5794ff4efa9a | 175 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 176 | * |
professorrodriguezse | 1:5794ff4efa9a | 177 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 178 | * None |
professorrodriguezse | 1:5794ff4efa9a | 179 | */ |
professorrodriguezse | 1:5794ff4efa9a | 180 | void gtrack_matrixTransposeMultiply(int rows, int m, int cols, float *A, float *B, float *C) |
professorrodriguezse | 1:5794ff4efa9a | 181 | { |
professorrodriguezse | 1:5794ff4efa9a | 182 | /* C(rows*cols) = A(rows*m)*B(cols*m)T */ |
professorrodriguezse | 1:5794ff4efa9a | 183 | int i,j, k; |
professorrodriguezse | 1:5794ff4efa9a | 184 | for (i = 0; i < rows; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 185 | for (j = 0; j < cols; j++) { |
professorrodriguezse | 1:5794ff4efa9a | 186 | C[i*cols + j] = 0; |
professorrodriguezse | 1:5794ff4efa9a | 187 | for (k = 0; k < m; k++) { |
professorrodriguezse | 1:5794ff4efa9a | 188 | C[i*cols+j] += A[i*m+k] * B[k + j*m]; |
professorrodriguezse | 1:5794ff4efa9a | 189 | } |
professorrodriguezse | 1:5794ff4efa9a | 190 | } |
professorrodriguezse | 1:5794ff4efa9a | 191 | } |
professorrodriguezse | 1:5794ff4efa9a | 192 | } |
professorrodriguezse | 1:5794ff4efa9a | 193 | |
professorrodriguezse | 1:5794ff4efa9a | 194 | /** |
professorrodriguezse | 1:5794ff4efa9a | 195 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 196 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 197 | * This function is used to multiply matrix by a scalar. |
professorrodriguezse | 1:5794ff4efa9a | 198 | * Matrices are all real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 199 | * Matrices are in row-major order |
professorrodriguezse | 1:5794ff4efa9a | 200 | * |
professorrodriguezse | 1:5794ff4efa9a | 201 | * @param[in] rows |
professorrodriguezse | 1:5794ff4efa9a | 202 | * Number of rows |
professorrodriguezse | 1:5794ff4efa9a | 203 | * @param[in] cols |
professorrodriguezse | 1:5794ff4efa9a | 204 | * Number of cols |
professorrodriguezse | 1:5794ff4efa9a | 205 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 206 | * Matrix A |
professorrodriguezse | 1:5794ff4efa9a | 207 | * @param[in] c |
professorrodriguezse | 1:5794ff4efa9a | 208 | * Scalar c |
professorrodriguezse | 1:5794ff4efa9a | 209 | * @param[out] B |
professorrodriguezse | 1:5794ff4efa9a | 210 | * Matrix B(rows,cols) = A(rows,cols) * c |
professorrodriguezse | 1:5794ff4efa9a | 211 | * |
professorrodriguezse | 1:5794ff4efa9a | 212 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 213 | * |
professorrodriguezse | 1:5794ff4efa9a | 214 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 215 | * None |
professorrodriguezse | 1:5794ff4efa9a | 216 | */ |
professorrodriguezse | 1:5794ff4efa9a | 217 | void gtrack_matrixScalarMultiply(int rows, int cols, float *A, float c, float *B) |
professorrodriguezse | 1:5794ff4efa9a | 218 | { |
professorrodriguezse | 1:5794ff4efa9a | 219 | /* B(rows*cols) = A(rows*cols)*C */ |
professorrodriguezse | 1:5794ff4efa9a | 220 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 221 | for (i = 0U; i < rows*cols; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 222 | B[i] = A[i] * c; |
professorrodriguezse | 1:5794ff4efa9a | 223 | } |
professorrodriguezse | 1:5794ff4efa9a | 224 | } |
professorrodriguezse | 1:5794ff4efa9a | 225 | |
professorrodriguezse | 1:5794ff4efa9a | 226 | /** |
professorrodriguezse | 1:5794ff4efa9a | 227 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 228 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 229 | * This function is used to add two matrices. |
professorrodriguezse | 1:5794ff4efa9a | 230 | * Matrices are all real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 231 | * Matrices are in row-major order |
professorrodriguezse | 1:5794ff4efa9a | 232 | * |
professorrodriguezse | 1:5794ff4efa9a | 233 | * @param[in] rows |
professorrodriguezse | 1:5794ff4efa9a | 234 | * Number of rows |
professorrodriguezse | 1:5794ff4efa9a | 235 | * @param[in] cols |
professorrodriguezse | 1:5794ff4efa9a | 236 | * Number of cols |
professorrodriguezse | 1:5794ff4efa9a | 237 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 238 | * Matrix A |
professorrodriguezse | 1:5794ff4efa9a | 239 | * @param[in] B |
professorrodriguezse | 1:5794ff4efa9a | 240 | * Matrix B |
professorrodriguezse | 1:5794ff4efa9a | 241 | * @param[out] C |
professorrodriguezse | 1:5794ff4efa9a | 242 | * Matrix C(rows,cols) = A(rows,cols) + B(rows,cols) |
professorrodriguezse | 1:5794ff4efa9a | 243 | * |
professorrodriguezse | 1:5794ff4efa9a | 244 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 245 | * |
professorrodriguezse | 1:5794ff4efa9a | 246 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 247 | * None |
professorrodriguezse | 1:5794ff4efa9a | 248 | */ |
professorrodriguezse | 1:5794ff4efa9a | 249 | void gtrack_matrixAdd(int rows, int cols, float *A, float *B, float *C) |
professorrodriguezse | 1:5794ff4efa9a | 250 | { |
professorrodriguezse | 1:5794ff4efa9a | 251 | /* C(rows*cols) = A(rows*cols) + B(rows*cols) */ |
professorrodriguezse | 1:5794ff4efa9a | 252 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 253 | for (i = 0U; i < rows*cols; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 254 | C[i] = A[i] + B[i]; |
professorrodriguezse | 1:5794ff4efa9a | 255 | } |
professorrodriguezse | 1:5794ff4efa9a | 256 | } |
professorrodriguezse | 1:5794ff4efa9a | 257 | |
professorrodriguezse | 1:5794ff4efa9a | 258 | /** |
professorrodriguezse | 1:5794ff4efa9a | 259 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 260 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 261 | * This function is used to subtract two matrices. |
professorrodriguezse | 1:5794ff4efa9a | 262 | * Matrices are all real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 263 | * Matrices are in row-major order |
professorrodriguezse | 1:5794ff4efa9a | 264 | * |
professorrodriguezse | 1:5794ff4efa9a | 265 | * @param[in] rows |
professorrodriguezse | 1:5794ff4efa9a | 266 | * Number of rows |
professorrodriguezse | 1:5794ff4efa9a | 267 | * @param[in] cols |
professorrodriguezse | 1:5794ff4efa9a | 268 | * Number of cols |
professorrodriguezse | 1:5794ff4efa9a | 269 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 270 | * Matrix A |
professorrodriguezse | 1:5794ff4efa9a | 271 | * @param[in] B |
professorrodriguezse | 1:5794ff4efa9a | 272 | * Matrix B |
professorrodriguezse | 1:5794ff4efa9a | 273 | * @param[out] C |
professorrodriguezse | 1:5794ff4efa9a | 274 | * Matrix C(rows,cols) = A(rows,cols) - B(rows,cols) |
professorrodriguezse | 1:5794ff4efa9a | 275 | * |
professorrodriguezse | 1:5794ff4efa9a | 276 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 277 | * |
professorrodriguezse | 1:5794ff4efa9a | 278 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 279 | * None |
professorrodriguezse | 1:5794ff4efa9a | 280 | */ |
professorrodriguezse | 1:5794ff4efa9a | 281 | void gtrack_matrixSub(int rows, int cols, float *A, float *B, float *C) |
professorrodriguezse | 1:5794ff4efa9a | 282 | { |
professorrodriguezse | 1:5794ff4efa9a | 283 | /* C(rows*cols) = A(rows*cols) - B(rows*cols) */ |
professorrodriguezse | 1:5794ff4efa9a | 284 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 285 | for (i = 0U; i < rows*cols; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 286 | C[i] = A[i] - B[i]; |
professorrodriguezse | 1:5794ff4efa9a | 287 | } |
professorrodriguezse | 1:5794ff4efa9a | 288 | } |
professorrodriguezse | 1:5794ff4efa9a | 289 | |
professorrodriguezse | 1:5794ff4efa9a | 290 | /** |
professorrodriguezse | 1:5794ff4efa9a | 291 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 292 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 293 | * This function is used to force matrix symmetry by averaging off-diagonal elements |
professorrodriguezse | 1:5794ff4efa9a | 294 | * Matrices are squared, real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 295 | * Matrices are in row-major order |
professorrodriguezse | 1:5794ff4efa9a | 296 | * |
professorrodriguezse | 1:5794ff4efa9a | 297 | * @param[in] m (m=rows=cols) |
professorrodriguezse | 1:5794ff4efa9a | 298 | * Number of rows and cols |
professorrodriguezse | 1:5794ff4efa9a | 299 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 300 | * Matrix A |
professorrodriguezse | 1:5794ff4efa9a | 301 | * @param[out] B |
professorrodriguezse | 1:5794ff4efa9a | 302 | * Matrix B |
professorrodriguezse | 1:5794ff4efa9a | 303 | * |
professorrodriguezse | 1:5794ff4efa9a | 304 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 305 | * |
professorrodriguezse | 1:5794ff4efa9a | 306 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 307 | * None |
professorrodriguezse | 1:5794ff4efa9a | 308 | */ |
professorrodriguezse | 1:5794ff4efa9a | 309 | void gtrack_matrixMakeSymmetrical(int m, float *A, float *B) |
professorrodriguezse | 1:5794ff4efa9a | 310 | { |
professorrodriguezse | 1:5794ff4efa9a | 311 | /* Make square matrix symmetrical by averaging off-diagonal elements */ |
professorrodriguezse | 1:5794ff4efa9a | 312 | int i,j; |
professorrodriguezse | 1:5794ff4efa9a | 313 | for (i = 0U; i < m-1; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 314 | B[i*m + i] = A[i*m + i]; |
professorrodriguezse | 1:5794ff4efa9a | 315 | for (j = i+1; j < m; j++) { |
professorrodriguezse | 1:5794ff4efa9a | 316 | B[i*m+j] = B[j*m+i] = 0.5f*(A[i*m+j]+A[j*m+i]); |
professorrodriguezse | 1:5794ff4efa9a | 317 | } |
professorrodriguezse | 1:5794ff4efa9a | 318 | } |
professorrodriguezse | 1:5794ff4efa9a | 319 | B[i*m + i] = A[i*m + i]; |
professorrodriguezse | 1:5794ff4efa9a | 320 | } |
professorrodriguezse | 1:5794ff4efa9a | 321 | |
professorrodriguezse | 1:5794ff4efa9a | 322 | |
professorrodriguezse | 1:5794ff4efa9a | 323 | /** |
professorrodriguezse | 1:5794ff4efa9a | 324 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 325 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 326 | * This function is used to initialise vector to a value |
professorrodriguezse | 1:5794ff4efa9a | 327 | * |
professorrodriguezse | 1:5794ff4efa9a | 328 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 329 | * Size of vector |
professorrodriguezse | 1:5794ff4efa9a | 330 | * @param[in] value |
professorrodriguezse | 1:5794ff4efa9a | 331 | * value to set |
professorrodriguezse | 1:5794ff4efa9a | 332 | * @param[out] A |
professorrodriguezse | 1:5794ff4efa9a | 333 | * Vector A |
professorrodriguezse | 1:5794ff4efa9a | 334 | * |
professorrodriguezse | 1:5794ff4efa9a | 335 | * A(size) = ones(size,1)*value |
professorrodriguezse | 1:5794ff4efa9a | 336 | * |
professorrodriguezse | 1:5794ff4efa9a | 337 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 338 | * |
professorrodriguezse | 1:5794ff4efa9a | 339 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 340 | * None |
professorrodriguezse | 1:5794ff4efa9a | 341 | */ |
professorrodriguezse | 1:5794ff4efa9a | 342 | void gtrack_vectorInit(int size, float value, float *A) |
professorrodriguezse | 1:5794ff4efa9a | 343 | { |
professorrodriguezse | 1:5794ff4efa9a | 344 | /* A(size) = ones(size,1)*value */ |
professorrodriguezse | 1:5794ff4efa9a | 345 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 346 | |
professorrodriguezse | 1:5794ff4efa9a | 347 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 348 | A[i] = value; |
professorrodriguezse | 1:5794ff4efa9a | 349 | } |
professorrodriguezse | 1:5794ff4efa9a | 350 | } |
professorrodriguezse | 1:5794ff4efa9a | 351 | /** |
professorrodriguezse | 1:5794ff4efa9a | 352 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 353 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 354 | * This function adds two vectors |
professorrodriguezse | 1:5794ff4efa9a | 355 | * Vectors are real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 356 | * |
professorrodriguezse | 1:5794ff4efa9a | 357 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 358 | * Size of vector |
professorrodriguezse | 1:5794ff4efa9a | 359 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 360 | * Vector A |
professorrodriguezse | 1:5794ff4efa9a | 361 | * @param[in] B |
professorrodriguezse | 1:5794ff4efa9a | 362 | * Vector B |
professorrodriguezse | 1:5794ff4efa9a | 363 | * @param[out] C |
professorrodriguezse | 1:5794ff4efa9a | 364 | * Vector C = A + B; |
professorrodriguezse | 1:5794ff4efa9a | 365 | * |
professorrodriguezse | 1:5794ff4efa9a | 366 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 367 | * |
professorrodriguezse | 1:5794ff4efa9a | 368 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 369 | * None |
professorrodriguezse | 1:5794ff4efa9a | 370 | */ |
professorrodriguezse | 1:5794ff4efa9a | 371 | void gtrack_vectorAdd(int size, float *A, float *B, float *C) |
professorrodriguezse | 1:5794ff4efa9a | 372 | { |
professorrodriguezse | 1:5794ff4efa9a | 373 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 374 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 375 | C[i] = A[i] + B[i]; |
professorrodriguezse | 1:5794ff4efa9a | 376 | } |
professorrodriguezse | 1:5794ff4efa9a | 377 | } |
professorrodriguezse | 1:5794ff4efa9a | 378 | |
professorrodriguezse | 1:5794ff4efa9a | 379 | /** |
professorrodriguezse | 1:5794ff4efa9a | 380 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 381 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 382 | * This function subtracts two vectors |
professorrodriguezse | 1:5794ff4efa9a | 383 | * Vectors are real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 384 | * |
professorrodriguezse | 1:5794ff4efa9a | 385 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 386 | * Size of vectors |
professorrodriguezse | 1:5794ff4efa9a | 387 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 388 | * Vector A |
professorrodriguezse | 1:5794ff4efa9a | 389 | * @param[in] B |
professorrodriguezse | 1:5794ff4efa9a | 390 | * Vector B |
professorrodriguezse | 1:5794ff4efa9a | 391 | * @param[out] C |
professorrodriguezse | 1:5794ff4efa9a | 392 | * Vector C = A - B; |
professorrodriguezse | 1:5794ff4efa9a | 393 | * |
professorrodriguezse | 1:5794ff4efa9a | 394 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 395 | * |
professorrodriguezse | 1:5794ff4efa9a | 396 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 397 | * None |
professorrodriguezse | 1:5794ff4efa9a | 398 | */ |
professorrodriguezse | 1:5794ff4efa9a | 399 | void gtrack_vectorSub(int size, float *A, float *B, float *C) |
professorrodriguezse | 1:5794ff4efa9a | 400 | { |
professorrodriguezse | 1:5794ff4efa9a | 401 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 402 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 403 | C[i] = A[i] - B[i]; |
professorrodriguezse | 1:5794ff4efa9a | 404 | } |
professorrodriguezse | 1:5794ff4efa9a | 405 | } |
professorrodriguezse | 1:5794ff4efa9a | 406 | |
professorrodriguezse | 1:5794ff4efa9a | 407 | /** |
professorrodriguezse | 1:5794ff4efa9a | 408 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 409 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 410 | * This function multiplies vector by scalar |
professorrodriguezse | 1:5794ff4efa9a | 411 | * Vectors are real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 412 | * Scalar is real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 413 | * |
professorrodriguezse | 1:5794ff4efa9a | 414 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 415 | * Size of vector |
professorrodriguezse | 1:5794ff4efa9a | 416 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 417 | * Vector A |
professorrodriguezse | 1:5794ff4efa9a | 418 | * @param[in] c |
professorrodriguezse | 1:5794ff4efa9a | 419 | * Scalar c |
professorrodriguezse | 1:5794ff4efa9a | 420 | * @param[out] B |
professorrodriguezse | 1:5794ff4efa9a | 421 | * Vector B = A*c; |
professorrodriguezse | 1:5794ff4efa9a | 422 | * |
professorrodriguezse | 1:5794ff4efa9a | 423 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 424 | * |
professorrodriguezse | 1:5794ff4efa9a | 425 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 426 | * None |
professorrodriguezse | 1:5794ff4efa9a | 427 | */ |
professorrodriguezse | 1:5794ff4efa9a | 428 | void gtrack_vectorScalarMul(int size, float *A, float c, float *B) |
professorrodriguezse | 1:5794ff4efa9a | 429 | { |
professorrodriguezse | 1:5794ff4efa9a | 430 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 431 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 432 | B[i] = A[i]*c; |
professorrodriguezse | 1:5794ff4efa9a | 433 | } |
professorrodriguezse | 1:5794ff4efa9a | 434 | } |
professorrodriguezse | 1:5794ff4efa9a | 435 | |
professorrodriguezse | 1:5794ff4efa9a | 436 | /** |
professorrodriguezse | 1:5794ff4efa9a | 437 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 438 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 439 | * This function performs multiplies vector by scalar and accumulates the results |
professorrodriguezse | 1:5794ff4efa9a | 440 | * Vectors are real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 441 | * Scalar is real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 442 | * |
professorrodriguezse | 1:5794ff4efa9a | 443 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 444 | * Size of vector |
professorrodriguezse | 1:5794ff4efa9a | 445 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 446 | * Vector A |
professorrodriguezse | 1:5794ff4efa9a | 447 | * @param[in] c |
professorrodriguezse | 1:5794ff4efa9a | 448 | * Scalar c |
professorrodriguezse | 1:5794ff4efa9a | 449 | * @param[in, out] B |
professorrodriguezse | 1:5794ff4efa9a | 450 | * Vector B = B + A*c; |
professorrodriguezse | 1:5794ff4efa9a | 451 | * |
professorrodriguezse | 1:5794ff4efa9a | 452 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 453 | * |
professorrodriguezse | 1:5794ff4efa9a | 454 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 455 | * None |
professorrodriguezse | 1:5794ff4efa9a | 456 | */ |
professorrodriguezse | 1:5794ff4efa9a | 457 | void gtrack_vectorScalarMulAcc(int size, float *A, float c, float *B) |
professorrodriguezse | 1:5794ff4efa9a | 458 | { |
professorrodriguezse | 1:5794ff4efa9a | 459 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 460 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 461 | B[i] = B[i] + A[i]*c; |
professorrodriguezse | 1:5794ff4efa9a | 462 | } |
professorrodriguezse | 1:5794ff4efa9a | 463 | } |
professorrodriguezse | 1:5794ff4efa9a | 464 | |
professorrodriguezse | 1:5794ff4efa9a | 465 | /** |
professorrodriguezse | 1:5794ff4efa9a | 466 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 467 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 468 | * This function performs IIR vector filtering |
professorrodriguezse | 1:5794ff4efa9a | 469 | * Vectors are real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 470 | * Alpha is real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 471 | * |
professorrodriguezse | 1:5794ff4efa9a | 472 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 473 | * Size of vector |
professorrodriguezse | 1:5794ff4efa9a | 474 | * @param[in, out] A |
professorrodriguezse | 1:5794ff4efa9a | 475 | * Vector A |
professorrodriguezse | 1:5794ff4efa9a | 476 | * @param[in] alpha |
professorrodriguezse | 1:5794ff4efa9a | 477 | * Weighting factor for new information, (0<=alpha<=1.0f) |
professorrodriguezse | 1:5794ff4efa9a | 478 | * @param[in] B |
professorrodriguezse | 1:5794ff4efa9a | 479 | * New information vector B |
professorrodriguezse | 1:5794ff4efa9a | 480 | * |
professorrodriguezse | 1:5794ff4efa9a | 481 | * Vector A = A*(1.0f-alpha) + B*alpha; |
professorrodriguezse | 1:5794ff4efa9a | 482 | * |
professorrodriguezse | 1:5794ff4efa9a | 483 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 484 | * |
professorrodriguezse | 1:5794ff4efa9a | 485 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 486 | * None |
professorrodriguezse | 1:5794ff4efa9a | 487 | */ |
professorrodriguezse | 1:5794ff4efa9a | 488 | void gtrack_vectorFilter(int size, float *A, float alpha, float *B) |
professorrodriguezse | 1:5794ff4efa9a | 489 | { |
professorrodriguezse | 1:5794ff4efa9a | 490 | int i; |
professorrodriguezse | 1:5794ff4efa9a | 491 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 492 | A[i] = A[i]*(1.0f - alpha) + B[i]*alpha; |
professorrodriguezse | 1:5794ff4efa9a | 493 | } |
professorrodriguezse | 1:5794ff4efa9a | 494 | } |
professorrodriguezse | 1:5794ff4efa9a | 495 | |
professorrodriguezse | 1:5794ff4efa9a | 496 | |
professorrodriguezse | 1:5794ff4efa9a | 497 | /** |
professorrodriguezse | 1:5794ff4efa9a | 498 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 499 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 500 | * This function accumulates covariance matrix with variances from input vector and mean |
professorrodriguezse | 1:5794ff4efa9a | 501 | * Matrices are all real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 502 | * Vectors are real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 503 | * |
professorrodriguezse | 1:5794ff4efa9a | 504 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 505 | * Size of square matrix |
professorrodriguezse | 1:5794ff4efa9a | 506 | * @param[in] A |
professorrodriguezse | 1:5794ff4efa9a | 507 | * Matrix A |
professorrodriguezse | 1:5794ff4efa9a | 508 | * @param[in] v |
professorrodriguezse | 1:5794ff4efa9a | 509 | * Vector v |
professorrodriguezse | 1:5794ff4efa9a | 510 | * @param[in] mean |
professorrodriguezse | 1:5794ff4efa9a | 511 | * Vector mean |
professorrodriguezse | 1:5794ff4efa9a | 512 | * |
professorrodriguezse | 1:5794ff4efa9a | 513 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 514 | * |
professorrodriguezse | 1:5794ff4efa9a | 515 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 516 | * None |
professorrodriguezse | 1:5794ff4efa9a | 517 | */ |
professorrodriguezse | 1:5794ff4efa9a | 518 | void gtrack_matrixCovAcc(int size, float *A, float *v, float *mean) |
professorrodriguezse | 1:5794ff4efa9a | 519 | { |
professorrodriguezse | 1:5794ff4efa9a | 520 | int i,j; |
professorrodriguezse | 1:5794ff4efa9a | 521 | float d1, d2; |
professorrodriguezse | 1:5794ff4efa9a | 522 | |
professorrodriguezse | 1:5794ff4efa9a | 523 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 524 | d1 = v[i]-mean[i]; |
professorrodriguezse | 1:5794ff4efa9a | 525 | for (j = i; j < size; j++) { |
professorrodriguezse | 1:5794ff4efa9a | 526 | d2 = v[j]-mean[j]; |
professorrodriguezse | 1:5794ff4efa9a | 527 | A[i*size+j] += d1*d2; |
professorrodriguezse | 1:5794ff4efa9a | 528 | } |
professorrodriguezse | 1:5794ff4efa9a | 529 | } |
professorrodriguezse | 1:5794ff4efa9a | 530 | } |
professorrodriguezse | 1:5794ff4efa9a | 531 | |
professorrodriguezse | 1:5794ff4efa9a | 532 | /** |
professorrodriguezse | 1:5794ff4efa9a | 533 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 534 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 535 | * This function normalizes covariance matrix |
professorrodriguezse | 1:5794ff4efa9a | 536 | * Matrices are all real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 537 | * |
professorrodriguezse | 1:5794ff4efa9a | 538 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 539 | * Size of square matrix |
professorrodriguezse | 1:5794ff4efa9a | 540 | * @param[in,out] A |
professorrodriguezse | 1:5794ff4efa9a | 541 | * Matrix A |
professorrodriguezse | 1:5794ff4efa9a | 542 | * @param[in] num |
professorrodriguezse | 1:5794ff4efa9a | 543 | * Number of measurments num |
professorrodriguezse | 1:5794ff4efa9a | 544 | * |
professorrodriguezse | 1:5794ff4efa9a | 545 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 546 | * |
professorrodriguezse | 1:5794ff4efa9a | 547 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 548 | * None |
professorrodriguezse | 1:5794ff4efa9a | 549 | */ |
professorrodriguezse | 1:5794ff4efa9a | 550 | void gtrack_matrixCovNormalize(int size, float *A, int num) |
professorrodriguezse | 1:5794ff4efa9a | 551 | { |
professorrodriguezse | 1:5794ff4efa9a | 552 | int i,j; |
professorrodriguezse | 1:5794ff4efa9a | 553 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 554 | A[i*size+i] /= num; |
professorrodriguezse | 1:5794ff4efa9a | 555 | for (j = i+1; j < size; j++) { |
professorrodriguezse | 1:5794ff4efa9a | 556 | A[i*size+j] /= num; |
professorrodriguezse | 1:5794ff4efa9a | 557 | A[i+j*size] = A[i*size+j]; |
professorrodriguezse | 1:5794ff4efa9a | 558 | } |
professorrodriguezse | 1:5794ff4efa9a | 559 | } |
professorrodriguezse | 1:5794ff4efa9a | 560 | } |
professorrodriguezse | 1:5794ff4efa9a | 561 | /** |
professorrodriguezse | 1:5794ff4efa9a | 562 | * @b Description |
professorrodriguezse | 1:5794ff4efa9a | 563 | * @n |
professorrodriguezse | 1:5794ff4efa9a | 564 | * This function filters covariance matrix |
professorrodriguezse | 1:5794ff4efa9a | 565 | * Matrices are all real, single precision floating point. |
professorrodriguezse | 1:5794ff4efa9a | 566 | * |
professorrodriguezse | 1:5794ff4efa9a | 567 | * @param[in] size |
professorrodriguezse | 1:5794ff4efa9a | 568 | * Size of square matrix |
professorrodriguezse | 1:5794ff4efa9a | 569 | * @param[in,out] A |
professorrodriguezse | 1:5794ff4efa9a | 570 | * Matrix A |
professorrodriguezse | 1:5794ff4efa9a | 571 | * @param[in] B |
professorrodriguezse | 1:5794ff4efa9a | 572 | * Matrix B |
professorrodriguezse | 1:5794ff4efa9a | 573 | * @param[in] alpha |
professorrodriguezse | 1:5794ff4efa9a | 574 | * Filtering coefficient alpha |
professorrodriguezse | 1:5794ff4efa9a | 575 | * Matrix A = (1-alpha)*A + alpha*B |
professorrodriguezse | 1:5794ff4efa9a | 576 | * \ingroup GTRACK_ALG_MATH_FUNCTION |
professorrodriguezse | 1:5794ff4efa9a | 577 | * |
professorrodriguezse | 1:5794ff4efa9a | 578 | * @retval |
professorrodriguezse | 1:5794ff4efa9a | 579 | * None |
professorrodriguezse | 1:5794ff4efa9a | 580 | */ |
professorrodriguezse | 1:5794ff4efa9a | 581 | |
professorrodriguezse | 1:5794ff4efa9a | 582 | void gtrack_matrixCovFilter(int size, float *A, float *B, float alpha) |
professorrodriguezse | 1:5794ff4efa9a | 583 | { |
professorrodriguezse | 1:5794ff4efa9a | 584 | int i,j; |
professorrodriguezse | 1:5794ff4efa9a | 585 | for (i = 0U; i < size; i++) { |
professorrodriguezse | 1:5794ff4efa9a | 586 | A[i*size+i] = (1-alpha)*A[i*size+i] + alpha*B[i*size+i]; |
professorrodriguezse | 1:5794ff4efa9a | 587 | for (j = i+1; j < size; j++) { |
professorrodriguezse | 1:5794ff4efa9a | 588 | A[i*size+j] = (1-alpha)*A[i*size+j] + alpha*B[i*size+j]; |
professorrodriguezse | 1:5794ff4efa9a | 589 | A[i+j*size] = A[i*size+j]; |
professorrodriguezse | 1:5794ff4efa9a | 590 | } |
professorrodriguezse | 1:5794ff4efa9a | 591 | } |
professorrodriguezse | 1:5794ff4efa9a | 592 | } |
professorrodriguezse | 1:5794ff4efa9a | 593 | |
professorrodriguezse | 1:5794ff4efa9a | 594 | void gtrack_matrixPrint(int rows, int cols, float *A) |
professorrodriguezse | 1:5794ff4efa9a | 595 | { |
professorrodriguezse | 1:5794ff4efa9a | 596 | int i,j; |
professorrodriguezse | 1:5794ff4efa9a | 597 | for (i = 0U; i < rows; i++) |
professorrodriguezse | 1:5794ff4efa9a | 598 | { |
professorrodriguezse | 1:5794ff4efa9a | 599 | for (j = 0U; j < cols-1; j++) |
professorrodriguezse | 1:5794ff4efa9a | 600 | { |
professorrodriguezse | 1:5794ff4efa9a | 601 | printf("%6.4f\t", A[i*cols +j]); |
professorrodriguezse | 1:5794ff4efa9a | 602 | } |
professorrodriguezse | 1:5794ff4efa9a | 603 | printf("%6.4f\n\r", A[i*cols +j]); |
professorrodriguezse | 1:5794ff4efa9a | 604 | } |
professorrodriguezse | 1:5794ff4efa9a | 605 | printf("\n\r"); |
professorrodriguezse | 1:5794ff4efa9a | 606 | } |