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

#include <stdlib.h>
#include <IKOR/general.h>

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Defines
#define	SVD_THRESHOLD   1.0e-6
#define	PrintIfBiggerThan   0.0e+0
#define	TINY   1.0e-20
#define	SV_SMALL   1.0e-6
Functions
void	ludcmp ()
void	lubksb ()
void	svdcmp (float **a, int m, int n, float *w, float **v)
void	svbksb ()
void	mat_free (MATRIX *m)
void	mat_pr (MATRIX *a)
void	mat_prf (MATRIX *a)
void	mat_mul (MATRIX *a, MATRIX *b, MATRIX *c)
void	mat_add (MATRIX *a, MATRIX *b, MATRIX *c)
void	mat_sub (MATRIX *a, MATRIX *b, MATRIX *c)
void	mat_sca (MATRIX *a, float c)
void	mat_LU_inv (MATRIX *a)
void	mat_pseudoinv (MATRIX *a)
double	mat_det (MATRIX *a)
double	mat_eigen (MATRIX *a)
void	mat_tra (MATRIX *a)
void	mat_cp (MATRIX *a, MATRIX *cpy)
float	mat_vec_dot ()
void	mat_vec_cross ()
float	mat_vec_abs ()
void	mat_null (MATRIX *a, int *n_rank, MATRIX *n, float *K2)
MATRIX *	mat_malloc (int rows, int cols)
MATRIX *	mat_mul2 (MATRIX *a, MATRIX *b)
MATRIX *	mat_cp2 ()
MATRIX *	mat_add2 (MATRIX *a, MATRIX *b)
MATRIX *	mat_sub2 (MATRIX *a, MATRIX *b)
MATRIX *	mat_tra2 (MATRIX *A)

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Define Documentation

#define PrintIfBiggerThan   0.0e+0

Definition at line 14 of file matrix.h. Referenced by mat_pr().

#define SV_SMALL   1.0e-6

Definition at line 16 of file matrix.h. Referenced by mat_null().

#define SVD_THRESHOLD   1.0e-6

Definition at line 13 of file matrix.h. Referenced by mat_pseudoinv().

#define TINY   1.0e-20

Definition at line 15 of file matrix.h. Referenced by ludcmp().

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Function Documentation

void lubksb (   )

Referenced by mat_LU_inv().

void ludcmp (   )

Referenced by mat_LU_inv().

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 (   )

Referenced by findt_with_Betas_Holonomic(), findt_with_Betas_Nonholonomic(), findt_without_Betas_Holonomic(), findt_without_Betas_Nonholonomic(), mat_det(), and Rebuild_gs().

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 (   )

void mat_vec_cross (   )

float mat_vec_dot (   )

void svbksb (   )

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().

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