Index: branch/NOYAU/sp4a12/sp4a.depend
===================================================================
--- branch/NOYAU/sp4a12/sp4a.depend	(revision 351)
+++ branch/NOYAU/sp4a12/sp4a.depend	(revision 352)
@@ -12,3 +12,17 @@
 	<strings.h>
 	"trame.h"
 
+1620809787 source:d:\tp_sp4_2021_noyau\sp4a12\trame.c
+	<stdio.h>
+	<stdlib.h>
+	"trame.h"
+
+1620809787 d:\tp_sp4_2021_noyau\sp4a12\trame.h
+
+1620811138 source:d:\tp_sp4_2021_noyau\sp4a12\main.c
+	<stdio.h>
+	<stdlib.h>
+	<strings.h>
+	"trame.h"
+	<math.h>
+
Index: branch/NOYAU/sp4a12/sp4a.exe
===================================================================
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Index: branch/NOYAU/sp4a3/sp4a3_kalman.c
===================================================================
--- branch/NOYAU/sp4a3/sp4a3_kalman.c	(revision 351)
+++ branch/NOYAU/sp4a3/sp4a3_kalman.c	(revision 352)
@@ -8,11 +8,44 @@
 
 
 void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double b[nb][mb], double out[na][ma]){
+    int i,j;
+    for (i=0;i<na;i++)
+    {
+        for (j=0;j<ma;j++)
+        {
+            out [i][j] = A[i][j] + b[i][j];
+        }
+    }
+}
+void Init_Mat(int na,int ma,double A[na][ma], double out[na][ma]){
+    int i=0, j=0;
+    for (i=0; i<na; i++)
+        for (j=0; j<ma; j++){
+            out[i][j]=A[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]){
+    int i,j;
+    double det=0;
+    double B1[n][m];
+    det = A[0][0]*A[1][1] - A[0][1]*A[1][0];
+    B1[0][0] = A[1][1];
+    B1[0][1] = A[0][1]*(-1);
+    B1[1][0] = A[1][0]*(-1);
+    B1[1][1] = A[0][0];
+    if (det !=0){
+        for (i=0;i<n;i++)
+        {
+            for (j=0;j<m;j++)
+            {
+                B[i][j]= (1/det)*B1[i][j];
+            }
+        }
+    }
 
+
 }
 
 void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
@@ -23,11 +56,38 @@
 }
 
 void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double b[nb][mb], double out[na][ma]){
-
+    int i,j;
+    for (i=0;i<na;i++)
+    {
+        for (j=0;j<ma;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]){
-
+    int i,j,k,i1,j1;
+    double somme[4][4];
+    for (i1=0;i1<na;i1++)
+    {
+        for (j1=0;j1<mb;j1++)
+        {
+            somme[i1][j1]=0;
+        }
+    }
+    for (i=0;i<na;i++)
+    {
+        for (j=0;j<mb;j++)
+        {
+            for (k=0;k<nb;k++)
+            {
+            somme[i][j] += A[i][k]*B[k][j];
+            out[i][j] = somme [i][j];
+
+            }
+        }
+    }
 }
 
 
@@ -154,24 +214,57 @@
 		{
 			t -= t0;x -= x0;y -= y0;
 
-			debug=0; ///Mettre à 1 pour afficher les matrices.
+			debug=1; ///Mettre à 1 pour afficher les matrices.
 			///Ajouter votre code ci-dessous///
 			// Kalman
 
-			// X = F*X
-			Plot_Mat(X," X(k+1|k) = ");
+			// X = F*X
+            double matx[4][1];
+            Init_Mat(4, 1, X, matx);
+            Mul_Mat_Mat(4, 4, F, 4, 1, matx, X);
+            Plot_Mat(X," X(k+1|k) = ");
+
+            //P = F*P*F'+Q;
+            double out[4][4], out1[4][4];
+            Mul_Mat_Mat(4, 4, F, 4, 4, P, out);
+            Mul_Mat_Mat(4, 4, out, 4, 4, FT, out1);
+            Add_Mat_Mat(4, 4, out1, 4, 4, Q, P);
+            Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
+
+            // K = P*H' / ( H*P*H' + R);
+
+            double mat[4][2];
+            Mul_Mat_Mat(4, 4,  P, 4, 2, HT, mat);
+            Plot_Mat(mat,"P(k+1|k).HT = ");
+
+            double mat1[2][2], mat2[2][2];
+            Mul_Mat_Mat(2, 4, H, 4, 2, mat, mat1);
+            Add_Mat_Mat(2, 2, mat1, 2, 2, R, mat2);
+            Plot_Mat(mat2, "H.P(k+1|k).HT + R = ");
+            double mat3[2][2];
+            Inverse_Mat_22(2,2,mat2,mat3);
+            Mul_Mat_Mat(4,2,mat,2,2,mat3,K);
+            Plot_Mat(K,"K= ");
 
-			//P = F*P*F'+Q;
-			Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
-
-			// K = P*H' / ( H*P*H' + R);
-			Plot_Mat(K,"K = ");
-
 			//X = X + K*([xb(i);yb(i)]-H*X);
-			//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
+			//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
+			         //X = X + K*([xb(i);yb(i)]-H*X);
+            double Obs[2][1]={{x}, {y}}, Delta[2][1], mat4[2][1];
+            Mul_Mat_Mat(2, 4, H, 4, 1, X, mat4);
+            Sub_Mat_Mat(2, 1, Obs, 2, 1, mat4, Delta);
+            Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
+
+            double mat5[4][1];
+            Mul_Mat_Mat(4, 2, K, 2, 1, Delta, mat5);
+            Add_Mat_Mat(4, 1, X, 4, 1, mat5, X);
             Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
 
-			// P = P - K*H*P;
+			// P = P - K*H*P;
+			double mat6 [4][4];
+			Mul_Mat_Mat(4,2,K,2,4,H,mat6);
+			double mat7[4][4];
+			Mul_Mat_Mat(4,4,mat6,4,4,P,mat7);
+			Sub_Mat_Mat(4,4,P,4,4,mat7,P);
             Plot_Mat(P," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
 
 			/// La matrice X doit contenir la position filtrée ///
