Révision 242
Ajouté par magraffin il y a presque 4 ans
| branch/graffin/sp4a3/sp4a3_kalman.c | ||
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#include "sp4a3_kalman_extra.h"
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#define assert(cond) if(!cond) exit(-1)
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//#define assert(cond) if(!cond) exit(-1)
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void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double out[na][ma]){
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| ... | ... | |
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}
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void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
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B[0][0]=A[1][1];
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B[0][1]=-A[0][1];
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B[1][0]=-A[1][0];
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B[0][1]=A[1][0];
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float fac;
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fac=1/((A[0][0]*A[1][1])-(A[0][1]*A[1][0]));
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B[0][0]=fac*A[1][1];
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B[0][1]=fac*(-1*A[0][1]);
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B[1][0]=fac*(-1*A[1][0]);
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B[1][1]=fac*A[0][0];
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}
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void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
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| ... | ... | |
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}
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void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double out[na][mb]){
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int i,j,k,somme;
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for (i=0;i<na;i++){
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for (j=0;j<mb;j++){
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somme=0;
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for (k=0;k<ma;k++){
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somme+=A[i][k]*B[k][i];
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}
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out[i][j]=somme;
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}
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}
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}
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Formats disponibles : Unified diff
kalman : implantation de la fonction multiplier et changement de la fonction inverse