1 files changed, 158 insertions, 0 deletions
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/apps/attitude_estimator_ekf/codegen/mrdivide.c
new file mode 100755
index 000000000..cb81b5328
--- /dev/null
+++ b/apps/attitude_estimator_ekf/codegen/mrdivide.c
@@ -0,0 +1,158 @@
+/*
+ * mrdivide.c
+ *
+ * Code generation for function 'mrdivide'
+ *
+ * C source code generated on: Wed Jul 11 08:38:35 2012
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "mrdivide.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+
+/*
+ *
+ */
+void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
+{
+  int32_T jy;
+  int32_T iy;
+  real32_T b_A[81];
+  int8_T ipiv[9];
+  int32_T j;
+  int32_T mmj;
+  int32_T jj;
+  int32_T jp1j;
+  int32_T c;
+  int32_T ix;
+  real32_T temp;
+  int32_T k;
+  real32_T s;
+  int32_T loop_ub;
+  real32_T Y[108];
+  for (jy = 0; jy < 9; jy++) {
+    for (iy = 0; iy < 9; iy++) {
+      b_A[iy + 9 * jy] = B[jy + 9 * iy];
+    }
+
+    ipiv[jy] = (int8_T)(1 + jy);
+  }
+
+  for (j = 0; j < 8; j++) {
+    mmj = -j;
+    jj = j * 10;
+    jp1j = jj + 1;
+    c = mmj + 9;
+    jy = 0;
+    ix = jj;
+    temp = fabsf(b_A[jj]);
+    for (k = 2; k <= c; k++) {
+      ix++;
+      s = fabsf(b_A[ix]);
+      if (s > temp) {
+        jy = k - 1;
+        temp = s;
+      }
+    }
+
+    if ((real_T)b_A[jj + jy] != 0.0) {
+      if (jy != 0) {
+        ipiv[j] = (int8_T)((j + jy) + 1);
+        ix = j;
+        iy = j + jy;
+        for (k = 0; k < 9; k++) {
+          temp = b_A[ix];
+          b_A[ix] = b_A[iy];
+          b_A[iy] = temp;
+          ix += 9;
+          iy += 9;
+        }
+      }
+
+      loop_ub = (jp1j + mmj) + 8;
+      for (iy = jp1j; iy + 1 <= loop_ub; iy++) {
+        b_A[iy] /= b_A[jj];
+      }
+    }
+
+    c = 8 - j;
+    jy = jj + 9;
+    for (iy = 1; iy <= c; iy++) {
+      if ((real_T)b_A[jy] != 0.0) {
+        temp = b_A[jy] * -1.0F;
+        ix = jp1j;
+        loop_ub = (mmj + jj) + 18;
+        for (k = 10 + jj; k + 1 <= loop_ub; k++) {
+          b_A[k] += b_A[ix] * temp;
+          ix++;
+        }
+      }
+
+      jy += 9;
+      jj += 9;
+    }
+  }
+
+  for (jy = 0; jy < 12; jy++) {
+    for (iy = 0; iy < 9; iy++) {
+      Y[iy + 9 * jy] = A[jy + 12 * iy];
+    }
+  }
+
+  for (iy = 0; iy < 9; iy++) {
+    if (ipiv[iy] != iy + 1) {
+      for (j = 0; j < 12; j++) {
+        temp = Y[iy + 9 * j];
+        Y[iy + 9 * j] = Y[(ipiv[iy] + 9 * j) - 1];
+        Y[(ipiv[iy] + 9 * j) - 1] = temp;
+      }
+    }
+  }
+
+  for (j = 0; j < 12; j++) {
+    c = 9 * j;
+    for (k = 0; k < 9; k++) {
+      jy = 9 * k;
+      if ((real_T)Y[k + c] != 0.0) {
+        for (iy = k + 2; iy < 10; iy++) {
+          Y[(iy + c) - 1] -= Y[k + c] * b_A[(iy + jy) - 1];
+        }
+      }
+    }
+  }
+
+  for (j = 0; j < 12; j++) {
+    c = 9 * j;
+    for (k = 8; k > -1; k += -1) {
+      jy = 9 * k;
+      if ((real_T)Y[k + c] != 0.0) {
+        Y[k + c] /= b_A[k + jy];
+        for (iy = 0; iy + 1 <= k; iy++) {
+          Y[iy + c] -= Y[k + c] * b_A[iy + jy];
+        }
+      }
+    }
+  }
+
+  for (jy = 0; jy < 9; jy++) {
+    for (iy = 0; iy < 12; iy++) {
+      y[iy + 12 * jy] = Y[jy + 9 * iy];
+    }
+  }
+}
+
+/* End of code generation (mrdivide.c) */