Révision 283
Ajouté par abseck1 il y a presque 4 ans
| branch/smseck/sp4a3/sp4a3_kalman.c | ||
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#include <math.h>
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#include "sp4a3_kalman_extra.h"
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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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//ADDITION DE MATRICES ET TEST UNITAIRE
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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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int i,j;
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for (i=0; i<na; i++)
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{
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for (j=0; j<ma; j++)
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{
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out[i][j] = A[i][j]+b[i][j];
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}
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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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}
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//INVERSE DE MATRICES ET TEST UNITAIRE
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void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
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float d;
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d=1/((A[0][0]*A[1][1])-(A[0][1]*A[1][0]));
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B[0][0]=d*A[1][1];
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B[1][1]=d*A[0][0];
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B[0][1]=-d*(A[0][1]);
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B[1][0]=-d*(A[1][0]);
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}
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//TRQNSPOSEE DE MATRICES ET TEST UNITAIRE
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void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
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int i,j;
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for (i=0;i<n;i++)
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for (j=0;j<m;j++)
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R[j][i]=A[i][j];
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}
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//SOUSTRACTION DE MATRICES ET TEST UNITAIRE
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void Sub_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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int i,j;
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for (i=0; i<na; i++)
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{
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for (j=0; j<ma;j++){
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out[i][j] = A[i][j]-b[i][j];
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}
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}}
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//MULTIPLICATION DE MATRICES ET TEST UNITAIRE
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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;
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for(i = 0; i < na; i++)
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{
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for(j = 0; j < mb; j++)
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{
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out[i][j]=0;
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for(k = 0; k < ma; k++)
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{
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out[i][j] += A[i][k] * B[k][j];
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}
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}
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}
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}
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| ... | ... | |
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Mul_Mat_Mat(2,4,T24,4,2,T42a,R22); if (!Equal_Mat_Mat(RMT24T42,R22)) error("Erreur calcul Multiplication 2x4 4x2");
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Mul_Mat_Mat(2,4,T24,4,4,T44a,R24); if (!Equal_Mat_Mat(RMT24T44,R24)) error("Erreur calcul Multiplication 2x4 4x4");
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printf("Test unitaires OK.\n");
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}
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}
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int main(int argc,char **argv){
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| ... | ... | |
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///Ajouter votre code ci-dessous///
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// Kalman
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// X = F*X
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Plot_Mat(X," X(k+1|k) = ");
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// prediction
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/* // Xk+1/k = F*Xk/k
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Mul_Mat_Mat(4,4,F,4,1,X); // F*Xk/k
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Mul_Mat_Mat(4,4,F,4,1,P); //F*Pk/k*FT
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Add_Mat_Mat(4,4,F,4,4,Q,P); // F*Pk/k*FT
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Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");*/
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//P = F*P*F'+Q;
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Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
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Formats disponibles : Unified diff
tp3 bloquee sur la prediction