Matrix manipulation functions. More...

#include "stdio.h"
#include "math.h"
#include "stdlib.h"
#include "time.h"
#include "sensor_fusion.h"
#include "matrix.h"

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Go to the source code of this file.

Macros
#define	CORRUPTMATRIX 0.001F

#define	NITERATIONS 15

#define	NITERATIONS 15

Functions
void	f3x3matrixAeqI (float A[][3])
	function sets the 3x3 matrix A to the identity matrix More...

void	f3x3matrixAeqB (float A[][3], float B[][3])
	function sets 3x3 matrix A to 3x3 matrix B More...

void	fmatrixAeqI (float *A[], int16 rc)
	function sets the matrix A to the identity matrix More...

void	f3x3matrixAeqScalar (float A[][3], float Scalar)
	function sets every entry in the 3x3 matrix A to a constant scalar More...

void	f3x3matrixAeqAxScalar (float A[][3], float Scalar)
	function multiplies all elements of 3x3 matrix A by the specified scalar More...

void	f3x3matrixAeqMinusA (float A[][3])
	function negates all elements of 3x3 matrix A More...

void	f3x3matrixAeqInvSymB (float A[][3], float B[][3])

float	f3x3matrixDetA (float A[][3])
	function calculates the determinant of a 3x3 matrix More...

void	fEigenCompute10 (float A[][10], float eigval[], float eigvec[][10], int8 n)

void	fEigenCompute4 (float A[][4], float eigval[], float eigvec[][4], int8 n)

void	fComputeEigSlice (float fmatA[10][10], float fmatB[10][10], float fvecA[10], int8 i, int8 j, int8 iMatrixSize)

void	fmatrixAeqInvA (float A[], int8 iColInd[], int8 iRowInd[], int8 iPivot[], int8 isize, int8 pierror)

void	fveqRu (float fv[], float fR[][3], float fu[], int8 itranspose)

void	fVeq3x3AxV (float V[3], float A[][3])
	function multiplies the 3x1 vector V by a 3x3 matrix A More...

Detailed Description

Matrix manipulation functions.

Contains functions for basic manipulation of 3x3 matrices

Definition in file matrix.c.

Macro Definition Documentation

◆ CORRUPTMATRIX

#define CORRUPTMATRIX 0.001F

Definition at line 24 of file matrix.c.

◆ NITERATIONS [1/2]

#define NITERATIONS 15

Referenced by fEigenCompute10(), and fEigenCompute4().

◆ NITERATIONS [2/2]

#define NITERATIONS 15

Function Documentation

◆ f3x3matrixAeqAxScalar()

void f3x3matrixAeqAxScalar	(	float	A[][3],
		float	Scalar
	)

function multiplies all elements of 3x3 matrix A by the specified scalar

Definition at line 110 of file matrix.c.

Referenced by fComputeMagCalibration10(), fComputeMagCalibration7(), and fUpdateMagCalibration10Slice().

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◆ f3x3matrixAeqB()

void f3x3matrixAeqB	(	float	A[][3],
		float	B[][3]
	)

function sets 3x3 matrix A to 3x3 matrix B

Definition at line 48 of file matrix.c.

Referenced by fRun_6DOF_GY_KALMAN().

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◆ f3x3matrixAeqI()

void f3x3matrixAeqI ( float A[][3] )

function sets the 3x3 matrix A to the identity matrix

Definition at line 27 of file matrix.c.

Referenced by f3DOFMagnetometerMatrixAndroid(), f3DOFMagnetometerMatrixNED(), f3x3matrixAeqInvSymB(), fComputeMagCalibration4(), fComputeMagCalibration7(), feCompassAndroid(), feCompassNED(), feCompassWin8(), fInit_3DOF_Y_BASIC(), fInitializeAccelCalibration(), fInitializeMagCalibration(), and fUpdateMagCalibration4Slice().

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◆ f3x3matrixAeqInvSymB()

void f3x3matrixAeqInvSymB	(	float	A[][3],
		float	B[][3]
	)

function directly calculates the symmetric inverse of a symmetric 3x3 matrix only the on and above diagonal terms in B are used and need to be specified

Definition at line 150 of file matrix.c.

References f3x3matrixAeqI().

Referenced by fComputeAccelCalibration10(), fComputeMagCalibration10(), and fUpdateMagCalibration10Slice().

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◆ f3x3matrixAeqMinusA()

void f3x3matrixAeqMinusA ( float A[][3] )

function negates all elements of 3x3 matrix A

Definition at line 129 of file matrix.c.

Referenced by fComputeAccelCalibration10(), fComputeMagCalibration10(), fComputeMagCalibration7(), and fUpdateMagCalibration10Slice().

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◆ f3x3matrixAeqScalar()

void f3x3matrixAeqScalar	(	float	A[][3],
		float	Scalar
	)

function sets every entry in the 3x3 matrix A to a constant scalar

Definition at line 91 of file matrix.c.

Referenced by fComputeAccelCalibration7(), and fComputeMagCalibration7().

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◆ f3x3matrixDetA()

float f3x3matrixDetA ( float A[][3] )

function calculates the determinant of a 3x3 matrix

Definition at line 191 of file matrix.c.

References CHX, CHY, and CHZ.

Referenced by fComputeAccelCalibration10(), fComputeMagCalibration10(), and fUpdateMagCalibration10Slice().

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◆ fComputeEigSlice()

void fComputeEigSlice	(	float	fmatA[10][10],
		float	fmatB[10][10],
		float	fvecA[10],
		int8	i,
		int8	j,
		int8	iMatrixSize
	)

Definition at line 554 of file matrix.c.

Referenced by fUpdateMagCalibration10Slice(), and fUpdateMagCalibration7Slice().

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◆ fEigenCompute10()

void fEigenCompute10	(	float	A[][10],
		float	eigval[],
		float	eigvec[][10],
		int8	n
	)

function computes all eigenvalues and eigenvectors of a real symmetric matrix A[0..n-1][0..n-1] stored in the top left of a 10x10 array A[10][10]

Parameters

A	real symmetric matrix A[0..n-1][0..n-1]
eigval	eigval[0..n-1] returns the eigenvalues of A[][].
eigvec	eigvec[0..n-1][0..n-1] returns the normalized eigenvectors of A[][]
n	n can vary up to and including 10 but the matrices A and eigvec must have 10 columns.

Definition at line 216 of file matrix.c.

References NITERATIONS.

Referenced by fComputeAccelCalibration10(), fComputeAccelCalibration7(), fComputeMagCalibration10(), and fComputeMagCalibration7().

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◆ fEigenCompute4()

void fEigenCompute4	(	float	A[][4],
		float	eigval[],
		float	eigvec[][4],
		int8	n
	)

function computes all eigenvalues and eigenvectors of a real symmetric matrix A[0..n-1][0..n-1] stored in the top left of a 4x4 array A[4][4] A[][] is changed on output. The eigenvectors are not sorted by value. This function is identical to eigencompute10 except for the workaround for 4x4 matrices since C cannot handle functions accepting matrices with variable numbers of columns.

Parameters

eigval	eigval[0..n-1] returns the eigenvalues of A[][].
eigvec	eigvec[0..n-1][0..n-1] returns the normalized eigenvectors of A[][]
n	n can vary up to and including 4 but the matrices A and eigvec must have 4 columns.

Definition at line 389 of file matrix.c.

References NITERATIONS.

◆ fmatrixAeqI()

void fmatrixAeqI	(	float *	A[],
		int16	rc
	)

function sets the matrix A to the identity matrix

Parameters

A	pointer to the matrix
rc	dimension of the matrix

Definition at line 69 of file matrix.c.

Referenced by fmatrixAeqInvA().

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◆ fmatrixAeqInvA()

void fmatrixAeqInvA	(	float *	A[],
		int8	iColInd[],
		int8	iRowInd[],
		int8	iPivot[],
		int8	isize,
		int8 *	pierror
	)

function uses Gauss-Jordan elimination to compute the inverse of matrix A in situ on exit, A is replaced with its inverse

Definition at line 648 of file matrix.c.

References fmatrixAeqI().

Referenced by fComputeAccelCalibration4(), fComputeMagCalibration4(), fRun_6DOF_GY_KALMAN(), and fUpdateMagCalibration4Slice().

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◆ fVeq3x3AxV()

void fVeq3x3AxV	(	float	V[3],
		float	A[][3]
	)

function multiplies the 3x1 vector V by a 3x3 matrix A

Parameters

V	used for both input and output

Definition at line 853 of file matrix.c.

References CHX, CHY, and CHZ.

Referenced by fRunAccelCalibration().

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◆ fveqRu()

void fveqRu	(	float	fv[],
		float	fR[][3],
		float	fu[],
		int8	itranspose
	)

function rotates 3x1 vector u onto 3x1 vector using 3x3 rotation matrix fR. the rotation is applied in the inverse direction if itranpose is true

Parameters

fv	3x1 output vector
fR	rotation matrix
fu	3x1 input vector
itranspose	true if inverse direction desired

Definition at line 802 of file matrix.c.

References CHX, CHY, and CHZ.

Referenced by fRun_6DOF_GY_KALMAN().

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Macros

Functions

Detailed Description

Macro Definition Documentation

◆ CORRUPTMATRIX

◆ NITERATIONS [1/2]

◆ NITERATIONS [2/2]

Function Documentation

◆ f3x3matrixAeqAxScalar()

◆ f3x3matrixAeqB()

◆ f3x3matrixAeqI()

◆ f3x3matrixAeqInvSymB()

◆ f3x3matrixAeqMinusA()

◆ f3x3matrixAeqScalar()

◆ f3x3matrixDetA()

◆ fComputeEigSlice()

◆ fEigenCompute10()

◆ fEigenCompute4()

◆ fmatrixAeqI()

◆ fmatrixAeqInvA()

◆ fVeq3x3AxV()

◆ fveqRu()