robot/control/oldikor/UTILS/nrutil.c

Go to the documentation of this file.

#include <malloc.h>
#include <stdio.h>

void nrerror(error_text)
char error_text[];
{
        void exit();

        fprintf(stderr,"Numerical Recipes run-time error...\n");
        fprintf(stderr,"%s\n",error_text);
        fprintf(stderr,"...now exiting to system...\n");
        exit(1);
}



float *vector(nl,nh)
int nl,nh;
{
        float *v;

        v=(float *)malloc((unsigned) (nh-nl+1)*sizeof(float));
        if (!v) nrerror("allocation failure in vector()");
        return v-nl;
}

int *ivector(nl,nh)
int nl,nh;
{
        int *v;

        v=(int *)malloc((unsigned) (nh-nl+1)*sizeof(int));
        if (!v) nrerror("allocation failure in ivector()");
        return v-nl;
}

double *dvector(nl,nh)
int nl,nh;
{
        double *v;

        v=(double *)malloc((unsigned) (nh-nl+1)*sizeof(double));
        if (!v) nrerror("allocation failure in dvector()");
        return v-nl;
}



float **matrix(nrl,nrh,ncl,nch)
int nrl,nrh,ncl,nch;
{
        int i;
        float **m;

        m=(float **) malloc((unsigned) (nrh-nrl+1)*sizeof(float*));
        if (!m) nrerror("allocation failure 1 in matrix()");
        m -= nrl;

        for(i=nrl;i<=nrh;i++) {
                m[i]=(float *) malloc((unsigned) (nch-ncl+1)*sizeof(float));
                if (!m[i]) nrerror("allocation failure 2 in matrix()");
                m[i] -= ncl;
        }
        return m;
}

double **dmatrix(nrl,nrh,ncl,nch)
int nrl,nrh,ncl,nch;
{
        int i;
        double **m;

        m=(double **) malloc((unsigned) (nrh-nrl+1)*sizeof(double*));
        if (!m) nrerror("allocation failure 1 in dmatrix()");
        m -= nrl;

        for(i=nrl;i<=nrh;i++) {
                m[i]=(double *) malloc((unsigned) (nch-ncl+1)*sizeof(double));
                if (!m[i]) nrerror("allocation failure 2 in dmatrix()");
                m[i] -= ncl;
        }
        return m;
}

int **imatrix(nrl,nrh,ncl,nch)
int nrl,nrh,ncl,nch;
{
        int i,**m;

        m=(int **)malloc((unsigned) (nrh-nrl+1)*sizeof(int*));
        if (!m) nrerror("allocation failure 1 in imatrix()");
        m -= nrl;

        for(i=nrl;i<=nrh;i++) {
                m[i]=(int *)malloc((unsigned) (nch-ncl+1)*sizeof(int));
                if (!m[i]) nrerror("allocation failure 2 in imatrix()");
                m[i] -= ncl;
        }
        return m;
}



float **submatrix(a,oldrl,oldrh,oldcl,oldch,newrl,newcl)
float **a;
int oldrl,oldrh,oldcl,oldch,newrl,newcl;
{
        int i,j;
        float **m;

        m=(float **) malloc((unsigned) (oldrh-oldrl+1)*sizeof(float*));
        if (!m) nrerror("allocation failure in submatrix()");
        m -= newrl;

        for(i=oldrl,j=newrl;i<=oldrh;i++,j++) m[j]=a[i]+oldcl-newcl;

        return m;
}



void free_vector(v,nl,nh)
float *v;
int nl,nh;
{
        free((char*) (v+nl));
}

void free_ivector(v,nl,nh)
int *v,nl,nh;
{
        free((char*) (v+nl));
}

void free_dvector(v,nl,nh)
double *v;
int nl,nh;
{
        free((char*) (v+nl));
}



void free_matrix(m,nrl,nrh,ncl,nch)
float **m;
int nrl,nrh,ncl,nch;
{
        int i;

        for(i=nrh;i>=nrl;i--) free((char*) (m[i]+ncl));
        free((char*) (m+nrl));
}

void free_dmatrix(m,nrl,nrh,ncl,nch)
double **m;
int nrl,nrh,ncl,nch;
{
        int i;

        for(i=nrh;i>=nrl;i--) free((char*) (m[i]+ncl));
        free((char*) (m+nrl));
}

void free_imatrix(m,nrl,nrh,ncl,nch)
int **m;
int nrl,nrh,ncl,nch;
{
        int i;

        for(i=nrh;i>=nrl;i--) free((char*) (m[i]+ncl));
        free((char*) (m+nrl));
}



void free_submatrix(b,nrl,nrh,ncl,nch)
float **b;
int nrl,nrh,ncl,nch;
{
        free((char*) (b+nrl));
}



float **convert_matrix(a,nrl,nrh,ncl,nch)
float *a;
int nrl,nrh,ncl,nch;
{
        int i,j,nrow,ncol;
        float **m;

        nrow=nrh-nrl+1;
        ncol=nch-ncl+1;
        m = (float **) malloc((unsigned) (nrow)*sizeof(float*));
        if (!m) nrerror("allocation failure in convert_matrix()");
        m -= nrl;
        for(i=0,j=nrl;i<=nrow-1;i++,j++) m[j]=a+ncol*i-ncl;
        return m;
}



void free_convert_matrix(b,nrl,nrh,ncl,nch)
float **b;
int nrl,nrh,ncl,nch;
{
        free((char*) (b+nrl));
}

---