Projet

Général

Profil

« Précédent | Suivant » 

Révision 446

Ajouté par Henri JOUANNY il y a presque 3 ans

-Ajout des fonctions addition, transposé,soustraction et inverse des matrices
-Erreur lors de la vérification de la fonction inverse
-Ajout de la fonction multiplication matriciel encore nécessaire

Voir les différences:

sp4a3_kalman.c
#include "sp4a3_kalman_extra.h"
void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double R[na][ma]){
void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double R[na][ma])
{
int i,j;
for (i=0;i<na;i++)
{
for (j=0;j<ma;j++)
{
R[i][j]=A[i][j]+B[i][j];
}
}
return R[na][ma];
}
void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m])
{
int k;
k=1/(A[0][0]*A[n][m]-A[0][m]*A[n][0]);
B[0][0]=k*A[n][m];
B[1][1]=k*A[0][0];
B[0][1]=-k*A[0][m];
B[1][0]=-k*A[n][0];
}
void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
void Transpose_Mat(int n,int m,double A[n][m],double R[m][n])
{
int i,j;
for (i=0;i<n;i++)
for (j=0;j<m;j++)
R[j][i]=A[i][j];
for (i=0;i<n;i++)
{
for (j=0;j<m;j++)
{
R[j][i]=A[i][j];
}
}
return R[m][n];
}
void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double R[na][ma]){
void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double R[na][ma])
{
int i,j;
for (i=0;i<na;i++)
{
for (j=0;j<ma;j++)
{
R[i][j]=A[i][j]-B[i][j];
}
}
return R[na][ma];
}
void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double R[na][mb]){
/*void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double R[na][mb]){
}
}*/
void tests_unitaires(void){
//Matrices d'entrée
double T21a[2][1]={{7},{-5}};
......
printf("Execution des tests unitaires.\n");
Transpose_Mat(2,4,T24,R42); if (!Equal_Mat_Mat(RTT24,R42)) error("Erreur calcul Transposition 2x4");
Transpose_Mat(4,4,T44a,R44); if (!Equal_Mat_Mat(RTT44,R44)) error("Erreur calcul Transposition 4x4");
Inverse_Mat_22(2,2,T22a,R22); if (!Equal_Mat_Mat(RInvT22,R22)) error("Erreur calcul Inversion 2x2");
Inverse_Mat_22(1,1,T22a,R22); if (!Equal_Mat_Mat(RInvT22,R22)) error("Erreur calcul Inversion 2x2");
Add_Mat_Mat(2,2,T22a,2,2,T22b,R22); if (!Equal_Mat_Mat(RAT22,R22)) error("Erreur calcul Addition 2x2");
Add_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RAT44,R44)) error("Erreur calcul Addition 4x4");
Add_Mat_Mat(4,1,T41a,4,1,T41b,R41); if (!Equal_Mat_Mat(RAT41,R41)) error("Erreur calcul Addition 4x1");
Sub_Mat_Mat(2,1,T21a,2,1,T21b,R21); if (!Equal_Mat_Mat(RST21,R21)) error("Erreur calcul Soustraction 2x1");
Sub_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RST44,R44)) error("Erreur calcul Soustraction 4x4");
Mul_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RMT44T44,R44)) error("Erreur calcul Multiplication 4x4 4x4");
/*Mul_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RMT44T44,R44)) error("Erreur calcul Multiplication 4x4 4x4");
Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41); if (!Equal_Mat_Mat(RMT44T41,R41)) error("Erreur calcul Multiplication 4x4 4x1");
Mul_Mat_Mat(4,4,T44a,4,2,T42a,R42); if (!Equal_Mat_Mat(RMT44T42,R42)) error("Erreur calcul Multiplication 4x4 4x2");
Mul_Mat_Mat(4,2,T42a,2,1,T21a,R41); if (!Equal_Mat_Mat(RMT42T21,R41)) error("Erreur calcul Multiplication 4x2 2x1");
......
Mul_Mat_Mat(4,2,T42a,2,4,T24,R44); if (!Equal_Mat_Mat(RMT42T24,R44)) error("Erreur calcul Multiplication 4x2 2x4");
Mul_Mat_Mat(2,4,T24,4,1,T41a,R21); if (!Equal_Mat_Mat(RMT24T41,R21)) error("Erreur calcul Multiplication 2x4 4x1");
Mul_Mat_Mat(2,4,T24,4,2,T42a,R22); if (!Equal_Mat_Mat(RMT24T42,R22)) error("Erreur calcul Multiplication 2x4 4x2");
Mul_Mat_Mat(2,4,T24,4,4,T44a,R24); if (!Equal_Mat_Mat(RMT24T44,R24)) error("Erreur calcul Multiplication 2x4 4x4");
Mul_Mat_Mat(2,4,T24,4,4,T44a,R24); if (!Equal_Mat_Mat(RMT24T44,R24)) error("Erreur calcul Multiplication 2x4 4x4");*/
printf("Test unitaires OK.\n");
}
int main(int argc,char **argv){
int i,n,j,m;
tests_unitaires();
......
system ("gnuplot -p -e \"plot 'output.dat' u 1:9 w l, '' u 1:4 w l\";");
system ("gnuplot -p -e \"plot 'output.dat' u 9 w l , 'vitesse_reelle.dat' u 2 w l\";");
return 0;
}
}

Formats disponibles : Unified diff