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robot/control/oldikor/UTILS/matrix.c File Reference

#include <UTILS/matrix.h>

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Functions

void mat_null (MATRIX *a, int *n_rank, MATRIX *n, float *K2)
void ludcmp (float **a, int n, int *indx, float *d)
void lubksb (float **a, int n, int *indx, b)
void svbksb (float **u, w, float **v, int m, int n, b, x)
void svdcmp (float **a, int m, int n, float *w, float **v)
MATRIXmat_malloc (int rows, int cols)
void mat_free (MATRIX *m)
void mat_pr (MATRIX *a)
void mat_prf (MATRIX *a)
void mat_LU_inv (MATRIX *a)
void mat_pseudoinv (MATRIX *a)
double mat_det (MATRIX *a)
double mat_eigen (MATRIX *a)
void mat_mul (MATRIX *a, MATRIX *b, MATRIX *c)
MATRIXmat_mul2 (MATRIX *a, MATRIX *b)
void mat_add (MATRIX *a, MATRIX *b, MATRIX *c)
MATRIXmat_add2 (MATRIX *a, MATRIX *b)
void mat_sub (MATRIX *a, MATRIX *b, MATRIX *c)
MATRIXmat_sub2 (MATRIX *a, MATRIX *b)
void mat_sca (MATRIX *a, float c)
void mat_tra (MATRIX *a)
MATRIXmat_tra2 (MATRIX *A)
void mat_cp (MATRIX *a, MATRIX *cpy)
MATRIXmat_cp2 (MATRIX *a)
float ** conv_2_nric_ptr (MATRIX *a)
void free_nric_ptr (float **p)
float mat_vec_dot (MATRIX *a, int ar, MATRIX *b, int br)
void mat_vec_cross (MATRIX *a, int ar, MATRIX *b, int br, MATRIX *c)
float mat_vec_abs (MATRIX *a, int r)

Variables

FILE * gcheck


Function Documentation

float** conv_2_nric_ptr MATRIX a  ) 
 

Definition at line 1075 of file matrix.c.

Referenced by mat_det(), mat_eigen(), mat_LU_inv(), mat_null(), and mat_pseudoinv().

void free_nric_ptr float **  p  ) 
 

Definition at line 1101 of file matrix.c.

void lubksb float **  a,
int  n,
int*  indx,
 

Definition at line 186 of file matrix.c.

void ludcmp float **  a,
int  n,
int*  indx,
float*  d
 

Definition at line 131 of file matrix.c.

References free_vector(), nrerror(), TINY, and vector().

void mat_add MATRIX a,
MATRIX b,
MATRIX c
 

Definition at line 878 of file matrix.c.

Referenced by findt_with_Betas_Nonholonomic(), findt_without_Betas_Holonomic(), findt_without_Betas_Nonholonomic(), and mat_add2().

MATRIX* mat_add2 MATRIX a,
MATRIX b
 

Definition at line 896 of file matrix.c.

References mat_add(), and mat_malloc().

void mat_cp MATRIX a,
MATRIX cpy
 

Definition at line 1038 of file matrix.c.

Referenced by Build_Grammian2(), CALC_PSEUDO(), findt_with_Betas_Holonomic(), mat_cp2(), mat_LU_inv(), mat_null(), mat_tra(), and Update_History().

MATRIX* mat_cp2 MATRIX a  ) 
 

Definition at line 1055 of file matrix.c.

References mat_cp(), and mat_malloc().

double mat_det MATRIX a  ) 
 

Definition at line 750 of file matrix.c.

References conv_2_nric_ptr(), free_vector(), mat_cp2(), mat_free(), mat_malloc(), svdcmp(), and vector().

double mat_eigen MATRIX a  ) 
 

Definition at line 795 of file matrix.c.

References conv_2_nric_ptr(), free_vector(), mat_free(), mat_malloc(), svdcmp(), and vector().

void mat_free MATRIX m  ) 
 

Definition at line 543 of file matrix.c.

Referenced by BLOCK_COL_FIND_X(), Build_Grammian2(), CALC_PSEUDO(), find_obs_beta(), findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_BANGBANG(), findt_without_Betas_Holonomic(), findt_without_Betas_Nonholonomic(), FSP(), IKOR_driver(), mat_det(), mat_eigen(), mat_LU_inv(), mat_null(), mat_pseudoinv(), mat_tra(), Rebuild_gs(), ReduceA(), RestofSoln(), Solution_generator(), and Solutions_free().

void mat_LU_inv MATRIX a  ) 
 

Definition at line 593 of file matrix.c.

References conv_2_nric_ptr(), free_vector(), lubksb(), ludcmp(), mat_cp(), mat_free(), mat_malloc(), and vector().

Referenced by BLOCK_COL_FIND_X(), findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_Holonomic(), and findt_without_Betas_Nonholonomic().

MATRIX* mat_malloc int  rows,
int  cols
 

Definition at line 491 of file matrix.c.

References MAX.

Referenced by BLOCK_COL_FIND_X(), Build_Grammian2(), CALC_PSEUDO(), find_obs_beta(), findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_BANGBANG(), findt_without_Betas_Holonomic(), findt_without_Betas_Nonholonomic(), findt_without_Betas_SIMPLX(), FSP(), getT2(), IKOR_driver(), init_ARM(), Init_Globals(), mat_add2(), mat_cp2(), mat_det(), mat_eigen(), mat_LU_inv(), mat_mul2(), mat_null(), mat_pseudoinv(), mat_sub2(), mat_tra(), mat_tra2(), ReduceA(), RestofSoln(), Solution_generator(), and Solutions_init().

void mat_mul MATRIX a,
MATRIX b,
MATRIX c
 

Definition at line 843 of file matrix.c.

Referenced by findt_with_Betas_Nonholonomic(), findt_without_Betas_Nonholonomic(), IKOR_driver(), mat_mul2(), and mat_pseudoinv().

MATRIX* mat_mul2 MATRIX a,
MATRIX b
 

Definition at line 861 of file matrix.c.

References mat_malloc(), and mat_mul().

Referenced by BLOCK_COL_FIND_X(), Build_Grammian2(), CALC_PSEUDO(), findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_Holonomic(), findt_without_Betas_Nonholonomic(), and mat_pseudoinv().

void mat_null MATRIX a,
int *  n_rank,
MATRIX n,
float *  K2
 

Definition at line 28 of file matrix.c.

References conv_2_nric_ptr(), free_ivector(), free_vector(), ivector(), mat_cp(), mat_free(), mat_malloc(), MATRIX::p, MATRIX::rows, SV_SMALL, svdcmp(), and vector().

Referenced by ReduceA(), RestofSoln(), and Solution_generator().

void mat_pr MATRIX a  ) 
 

Definition at line 552 of file matrix.c.

References PrintIfBiggerThan.

void mat_prf MATRIX a  ) 
 

Definition at line 573 of file matrix.c.

void mat_pseudoinv MATRIX a  ) 
 

Definition at line 651 of file matrix.c.

References conv_2_nric_ptr(), free_vector(), mat_free(), mat_malloc(), mat_mul(), mat_mul2(), mat_tra(), MATRIX::p, SVD_THRESHOLD, svdcmp(), and vector().

Referenced by CALC_PSEUDO().

void mat_sca MATRIX a,
float  c
 

Definition at line 948 of file matrix.c.

Referenced by findt_with_Betas_Nonholonomic(), findt_without_Betas_Holonomic(), and findt_without_Betas_Nonholonomic().

void mat_sub MATRIX a,
MATRIX b,
MATRIX c
 

Definition at line 913 of file matrix.c.

Referenced by findt_with_Betas_Nonholonomic(), and mat_sub2().

MATRIX* mat_sub2 MATRIX a,
MATRIX b
 

Definition at line 932 of file matrix.c.

References mat_malloc(), and mat_sub().

void mat_tra MATRIX a  ) 
 

Definition at line 965 of file matrix.c.

References mat_cp(), mat_free(), mat_malloc(), MATRIX::p, and SWAP.

Referenced by findt_with_Betas_Nonholonomic(), and mat_pseudoinv().

MATRIX* mat_tra2 MATRIX A  ) 
 

Definition at line 1019 of file matrix.c.

References mat_malloc(), and MATRIX::p.

float mat_vec_abs MATRIX a,
int  r
 

Definition at line 1142 of file matrix.c.

void mat_vec_cross MATRIX a,
int  ar,
MATRIX b,
int  br,
MATRIX c
 

Definition at line 1129 of file matrix.c.

float mat_vec_dot MATRIX a,
int  ar,
MATRIX b,
int  br
 

Definition at line 1111 of file matrix.c.

void svbksb float **  u,
,
float**  v,
int  m,
int  n,
,
 

Definition at line 210 of file matrix.c.

References free_vector(), and vector().

void svdcmp float **  a,
int  m,
int  n,
float *  w,
float **  v
 

Definition at line 236 of file matrix.c.

References f, free_vector(), MAX, nrerror(), PYTHAG, SIGN, and vector().

Referenced by mat_det(), mat_eigen(), mat_null(), and mat_pseudoinv().


Variable Documentation

FILE* gcheck
 

Definition at line 18 of file matrix.c.


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