Index: branch/sacco/sp4a3/sp4a3_kalman.c
===================================================================
--- branch/sacco/sp4a3/sp4a3_kalman.c	(revision 274)
+++ branch/sacco/sp4a3/sp4a3_kalman.c	(revision 275)
@@ -7,26 +7,78 @@
 #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 out[na][ma]){
+void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double out[na][ma]){
+    if (na ==nb && ma ==mb)
+    {
+        int i,j;
+        for (i=0;i<=na-1;i++)
+        {
+            for (j=0;j<=ma-1;j++)
+            {
+                out[i][j] = A[i][j] + B[i][j];
+            }
+        }
+    }
 
 }
 
-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]){
+   if (n==2 && m ==2)
+    {
+        double det = A[0][0]*A[1][1]- A[0][1]*A[1][0];
+        if (det !=0)
+        {
+         B[0][0] = (double) A[1][1]/det;
+         B[1][1] = (double) A[0][0]/det;
+         B[0][1] = (double) -A[0][1]/det;
+         B[1][0] = (double) -A[1][0]/det;
+        }
+    }
 
 }
 
 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];
+        }
+    }
 }
 
-void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double b[nb][mb], double out[na][ma]){
-
+void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb], double out[na][ma]){
+    if (na ==nb && ma ==mb)
+    {
+        int i,j;
+        for (i=0;i<=na-1;i++)
+        {
+            for (j=0;j<=ma-1;j++)
+            {
+                out[i][j] = A[i][j] - B[i][j];
+            }
+        }
+
+    }
 }
 
-void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double out[na][mb]){
+void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double out[na][mb]){
+    if (ma == nb)
+    {
+        for (int i=0;i<na;i++)
+        {
+            for (int j=0;j<mb;j++)
+            {
+                out[i][j] = 0;
+                for (int k=0; k<ma;k++)
+                {
+                    out[i][j] += A[i][k]*B[k][j];
+                }
+            }
+        }
+
+    }
 
 }
 
@@ -65,12 +117,17 @@
 	double RMT44T42[4][2]={{-308,-268},{-611,-99},{-816,118},{-432,122}};
 	double RAT44[4][4]={{13,15,21,19},{27,27,30,48},{87,53,19,9},{59,14,15,49}};
 	double RST44[4][4]={{-11,-11,-7,-11},{-15,-17,-16,-32},{-69,-37,-5,3},{-49,-6,-9,-45}};
-	double RMT44T44[4][4]={{816,412,192,304},{1155,583,379,687},{1146,668,466,758},{486,308,222,338}};
+	double RMT44T44[4][4]={{816,412,192,304},{1155,583,379,687},{1146,668,466,758},{486,308,222,338}};
+
+	double Y1[2][2] = {{5,2},{3,8}};
 
+
 	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(2,2,T22a,R22);	if (!Equal_Mat_Mat(RInvT22,R22)) 	error("Erreur calcul Inversion 2x2");
+
+	//Add_Mat_Mat(2,2,T22b, 4,2, R22, R42);   if (Equal_Mat_Mat(RAT22, R42)    error("Erreur calcul Y1");
 	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");
@@ -85,7 +142,8 @@
 	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");
-	printf("Test unitaires OK.\n");
+	printf("Test unitaires OK.\n");
+
 }
 
 int main(int argc,char **argv){
@@ -138,6 +196,10 @@
 						 {0, 0, 0, 1}};
 	double FT[4][4];
 	Transpose_Mat(4,4,F,FT);
+
+	double tampon_1[4][4];
+	double tampon_2[2][4];
+
 
 	while(fscanf(fichier, "%lf %lf %lf", &t, &x, &y)>0){
 		printf("-------------%04d--------------\n",cpt);
@@ -158,13 +220,25 @@
 			///Ajouter votre code ci-dessous///
 			// Kalman
 
-			// X = F*X
+			// X = F*X
+			Mul_Mat_Mat(4,4,F, 4,1, X, X);
 			Plot_Mat(X," X(k+1|k) = ");
 
-			//P = F*P*F'+Q;
+			//P = F*P*F'+Q;
+			Mul_Mat_Mat(4,4,F,4,4,P,tampon_1);
+			Mul_Mat_Mat(4,4,tampon_1,4,4, FT, tampon_1);
+			Add_Mat_Mat(4,4,tampon_1,4,4,Q, P);
 			Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
 
-			// K = P*H' / ( H*P*H' + R);
+			// K = P*H' / ( H*P*H' + R);
+
+			Mul_Mat_Mat(4,4,P,4,2, HT, K);
+			Mul_Mat_Mat(2,4,H,4,4,P, tampon_2);
+			Mul_Mat_Mat(2,4,tampon_2, 4,2,HT, tampon_2);
+			Add_Mat_Mat(2,2,tampon_2,2,2,R, tampon_2);
+			Inverse_Mat_22(2,2,tampon_2, tampon_2);
+			Mul_Mat_Mat(4,2,K, 2,2, tampon_2, K);
+
 			Plot_Mat(K,"K = ");
 
 			//X = X + K*([xb(i);yb(i)]-H*X);
