Révision 426
Ajouté par modia3 il y a presque 4 ans
| branch/dia/sp4a3/sp4a3_kalman.c | ||
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if(n==2 && m==2){
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double det_inverse=1/(T22a[0][0]*T22a[1][1]-T22a[1][0]*T22a[0][1]);
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R22[0][0]=(det_inverse)*T22a[1][1];
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R22[0][1]=-(det_inverse*T22a[0][1]);
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R22[0][1]=-det_inverse*T22a[0][1];
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R22[1][0]=-det_inverse*T22a[1][0];
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R22[1][1]=det_inverse*T22a[0][0];
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}
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| ... | ... | |
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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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void Mul_Mat_Mat(int na,int ma,double T44a[na][ma], int nb,int mb,double T44b[nb][mb], double R44[na][mb]){
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int i,j,k;
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if(ma=nb){
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for(i=0;i<na;i++){
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for(j=0;j<mb;j++){
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for(k=0;k<ma;k++){
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R44[na][mb]=0;
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R44[i][j]=R44[i][j]+T44a[i][k]*T44b[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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| ... | ... | |
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Add_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RAT44,R44)) error("Erreur calcul Addition 4x4");
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Add_Mat_Mat(4,1,T41a,4,1,T41b,R41); if (!Equal_Mat_Mat(RAT41,R41)) error("Erreur calcul Addition 4x1");
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Sub_Mat_Mat(2,1,T21a,2,1,T21b,R21); if (!Equal_Mat_Mat(RST21,R21)) error("Erreur calcul Soustraction 2x1");
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Sub_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RST44,R44)) error("Erreur calcul Soustraction 4x4");
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Sub_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RST44,R44)) error("Erreur calcul Soustraction 4x4");*/
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Mul_Mat_Mat(4,4,T44a,4,4,T44b,R44); if (!Equal_Mat_Mat(RMT44T44,R44)) error("Erreur calcul Multiplication 4x4 4x4");
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Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41); if (!Equal_Mat_Mat(RMT44T41,R41)) error("Erreur calcul Multiplication 4x4 4x1");
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/*Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41); if (!Equal_Mat_Mat(RMT44T41,R41)) error("Erreur calcul Multiplication 4x4 4x1");
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Mul_Mat_Mat(4,4,T44a,4,2,T42a,R42); if (!Equal_Mat_Mat(RMT44T42,R42)) error("Erreur calcul Multiplication 4x4 4x2");
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Mul_Mat_Mat(4,2,T42a,2,1,T21a,R41); if (!Equal_Mat_Mat(RMT42T21,R41)) error("Erreur calcul Multiplication 4x2 2x1");
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Mul_Mat_Mat(4,2,T42a,2,2,T22a,R42); if (!Equal_Mat_Mat(RMT42T22,R42)) error("Erreur calcul Multiplication 4x2 2x2");
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Formats disponibles : Unified diff
question 5: Multiplication ok