aboutsummaryrefslogtreecommitdiff
path: root/apps/attitude_estimator_ekf/codegen/mrdivide.c
diff options
context:
space:
mode:
Diffstat (limited to 'apps/attitude_estimator_ekf/codegen/mrdivide.c')
-rwxr-xr-xapps/attitude_estimator_ekf/codegen/mrdivide.c218
1 files changed, 104 insertions, 114 deletions
diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/apps/attitude_estimator_ekf/codegen/mrdivide.c
index ce29e42cd..1c69f1ef7 100755
--- a/apps/attitude_estimator_ekf/codegen/mrdivide.c
+++ b/apps/attitude_estimator_ekf/codegen/mrdivide.c
@@ -3,7 +3,7 @@
*
* Code generation for function 'mrdivide'
*
- * C source code generated on: Mon Oct 01 19:38:49 2012
+ * C source code generated on: Sat Oct 13 16:28:18 2012
*
*/
@@ -29,9 +29,9 @@
*/
void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
{
+ real32_T b_A[9];
int32_T rtemp;
int32_T k;
- real32_T b_A[9];
real32_T b_B[36];
int32_T r1;
int32_T r2;
@@ -54,15 +54,15 @@ void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
r1 = 0;
r2 = 1;
r3 = 2;
- maxval = (real32_T)fabsf(b_A[0]);
- a21 = (real32_T)fabsf(b_A[1]);
+ maxval = (real32_T)fabs(b_A[0]);
+ a21 = (real32_T)fabs(b_A[1]);
if (a21 > maxval) {
maxval = a21;
r1 = 1;
r2 = 0;
}
- if ((real32_T)fabsf(b_A[2]) > maxval) {
+ if ((real32_T)fabs(b_A[2]) > maxval) {
r1 = 2;
r2 = 1;
r3 = 0;
@@ -74,7 +74,7 @@ void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
b_A[3 + r3] -= b_A[r3] * b_A[3 + r1];
b_A[6 + r2] -= b_A[r2] * b_A[6 + r1];
b_A[6 + r3] -= b_A[r3] * b_A[6 + r1];
- if ((real32_T)fabsf(b_A[3 + r3]) > (real32_T)fabsf(b_A[3 + r2])) {
+ if ((real32_T)fabs(b_A[3 + r3]) > (real32_T)fabs(b_A[3 + r2])) {
rtemp = r2;
r2 = r3;
r3 = rtemp;
@@ -107,51 +107,46 @@ void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36])
*/
void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
{
- int32_T jy;
- int32_T iy;
real32_T b_A[36];
int8_T ipiv[6];
+ int32_T i3;
+ int32_T iy;
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;
+ int32_T jy;
+ int32_T ijA;
real32_T Y[72];
- for (jy = 0; jy < 6; jy++) {
+ for (i3 = 0; i3 < 6; i3++) {
for (iy = 0; iy < 6; iy++) {
- b_A[iy + 6 * jy] = B[jy + 6 * iy];
+ b_A[iy + 6 * i3] = B[i3 + 6 * iy];
}
- ipiv[jy] = (int8_T)(1 + jy);
+ ipiv[i3] = (int8_T)(1 + i3);
}
for (j = 0; j < 5; j++) {
- mmj = -j;
- jj = j * 7;
- jp1j = jj + 1;
- c = mmj + 6;
- jy = 0;
- ix = jj;
- temp = (real32_T)fabsf(b_A[jj]);
- for (k = 2; k <= c; k++) {
+ c = j * 7;
+ iy = 0;
+ ix = c;
+ temp = (real32_T)fabs(b_A[c]);
+ for (k = 2; k <= 6 - j; k++) {
ix++;
- s = (real32_T)fabsf(b_A[ix]);
+ s = (real32_T)fabs(b_A[ix]);
if (s > temp) {
- jy = k - 1;
+ iy = k - 1;
temp = s;
}
}
- if ((real_T)b_A[jj + jy] != 0.0) {
- if (jy != 0) {
- ipiv[j] = (int8_T)((j + jy) + 1);
+ if (b_A[c + iy] != 0.0F) {
+ if (iy != 0) {
+ ipiv[j] = (int8_T)((j + iy) + 1);
ix = j;
- iy = j + jy;
+ iy += j;
for (k = 0; k < 6; k++) {
temp = b_A[ix];
b_A[ix] = b_A[iy];
@@ -161,42 +156,42 @@ void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
}
}
- loop_ub = (jp1j + mmj) + 5;
- for (iy = jp1j; iy + 1 <= loop_ub; iy++) {
- b_A[iy] /= b_A[jj];
+ i3 = (c - j) + 6;
+ for (jy = c + 1; jy + 1 <= i3; jy++) {
+ b_A[jy] /= b_A[c];
}
}
- c = 5 - j;
- jy = jj + 6;
- 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) + 12;
- for (k = 7 + jj; k + 1 <= loop_ub; k++) {
- b_A[k] += b_A[ix] * temp;
+ iy = c;
+ jy = c + 6;
+ for (k = 1; k <= 5 - j; k++) {
+ temp = b_A[jy];
+ if (b_A[jy] != 0.0F) {
+ ix = c + 1;
+ i3 = (iy - j) + 12;
+ for (ijA = 7 + iy; ijA + 1 <= i3; ijA++) {
+ b_A[ijA] += b_A[ix] * -temp;
ix++;
}
}
jy += 6;
- jj += 6;
+ iy += 6;
}
}
- for (jy = 0; jy < 12; jy++) {
+ for (i3 = 0; i3 < 12; i3++) {
for (iy = 0; iy < 6; iy++) {
- Y[iy + 6 * jy] = A[jy + 12 * iy];
+ Y[iy + 6 * i3] = A[i3 + 12 * iy];
}
}
- for (iy = 0; iy < 6; iy++) {
- if (ipiv[iy] != iy + 1) {
+ for (jy = 0; jy < 6; jy++) {
+ if (ipiv[jy] != jy + 1) {
for (j = 0; j < 12; j++) {
- temp = Y[iy + 6 * j];
- Y[iy + 6 * j] = Y[(ipiv[iy] + 6 * j) - 1];
- Y[(ipiv[iy] + 6 * j) - 1] = temp;
+ temp = Y[jy + 6 * j];
+ Y[jy + 6 * j] = Y[(ipiv[jy] + 6 * j) - 1];
+ Y[(ipiv[jy] + 6 * j) - 1] = temp;
}
}
}
@@ -204,10 +199,10 @@ void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
for (j = 0; j < 12; j++) {
c = 6 * j;
for (k = 0; k < 6; k++) {
- jy = 6 * k;
- if ((real_T)Y[k + c] != 0.0) {
- for (iy = k + 2; iy < 7; iy++) {
- Y[(iy + c) - 1] -= Y[k + c] * b_A[(iy + jy) - 1];
+ iy = 6 * k;
+ if (Y[k + c] != 0.0F) {
+ for (jy = k + 2; jy < 7; jy++) {
+ Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
}
}
}
@@ -216,19 +211,19 @@ void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
for (j = 0; j < 12; j++) {
c = 6 * j;
for (k = 5; k > -1; k += -1) {
- jy = 6 * 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];
+ iy = 6 * k;
+ if (Y[k + c] != 0.0F) {
+ Y[k + c] /= b_A[k + iy];
+ for (jy = 0; jy + 1 <= k; jy++) {
+ Y[jy + c] -= Y[k + c] * b_A[jy + iy];
}
}
}
}
- for (jy = 0; jy < 6; jy++) {
+ for (i3 = 0; i3 < 6; i3++) {
for (iy = 0; iy < 12; iy++) {
- y[iy + 12 * jy] = Y[jy + 6 * iy];
+ y[iy + 12 * i3] = Y[i3 + 6 * iy];
}
}
}
@@ -238,51 +233,46 @@ void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72])
*/
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 i2;
+ int32_T iy;
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;
+ int32_T jy;
+ int32_T ijA;
real32_T Y[108];
- for (jy = 0; jy < 9; jy++) {
+ for (i2 = 0; i2 < 9; i2++) {
for (iy = 0; iy < 9; iy++) {
- b_A[iy + 9 * jy] = B[jy + 9 * iy];
+ b_A[iy + 9 * i2] = B[i2 + 9 * iy];
}
- ipiv[jy] = (int8_T)(1 + jy);
+ ipiv[i2] = (int8_T)(1 + i2);
}
for (j = 0; j < 8; j++) {
- mmj = -j;
- jj = j * 10;
- jp1j = jj + 1;
- c = mmj + 9;
- jy = 0;
- ix = jj;
- temp = (real32_T)fabsf(b_A[jj]);
- for (k = 2; k <= c; k++) {
+ c = j * 10;
+ iy = 0;
+ ix = c;
+ temp = (real32_T)fabs(b_A[c]);
+ for (k = 2; k <= 9 - j; k++) {
ix++;
- s = (real32_T)fabsf(b_A[ix]);
+ s = (real32_T)fabs(b_A[ix]);
if (s > temp) {
- jy = k - 1;
+ iy = k - 1;
temp = s;
}
}
- if ((real_T)b_A[jj + jy] != 0.0) {
- if (jy != 0) {
- ipiv[j] = (int8_T)((j + jy) + 1);
+ if (b_A[c + iy] != 0.0F) {
+ if (iy != 0) {
+ ipiv[j] = (int8_T)((j + iy) + 1);
ix = j;
- iy = j + jy;
+ iy += j;
for (k = 0; k < 9; k++) {
temp = b_A[ix];
b_A[ix] = b_A[iy];
@@ -292,42 +282,42 @@ void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
}
}
- loop_ub = (jp1j + mmj) + 8;
- for (iy = jp1j; iy + 1 <= loop_ub; iy++) {
- b_A[iy] /= b_A[jj];
+ i2 = (c - j) + 9;
+ for (jy = c + 1; jy + 1 <= i2; jy++) {
+ b_A[jy] /= b_A[c];
}
}
- 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;
+ iy = c;
+ jy = c + 9;
+ for (k = 1; k <= 8 - j; k++) {
+ temp = b_A[jy];
+ if (b_A[jy] != 0.0F) {
+ ix = c + 1;
+ i2 = (iy - j) + 18;
+ for (ijA = 10 + iy; ijA + 1 <= i2; ijA++) {
+ b_A[ijA] += b_A[ix] * -temp;
ix++;
}
}
jy += 9;
- jj += 9;
+ iy += 9;
}
}
- for (jy = 0; jy < 12; jy++) {
+ for (i2 = 0; i2 < 12; i2++) {
for (iy = 0; iy < 9; iy++) {
- Y[iy + 9 * jy] = A[jy + 12 * iy];
+ Y[iy + 9 * i2] = A[i2 + 12 * iy];
}
}
- for (iy = 0; iy < 9; iy++) {
- if (ipiv[iy] != iy + 1) {
+ for (jy = 0; jy < 9; jy++) {
+ if (ipiv[jy] != jy + 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;
+ temp = Y[jy + 9 * j];
+ Y[jy + 9 * j] = Y[(ipiv[jy] + 9 * j) - 1];
+ Y[(ipiv[jy] + 9 * j) - 1] = temp;
}
}
}
@@ -335,10 +325,10 @@ void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
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];
+ iy = 9 * k;
+ if (Y[k + c] != 0.0F) {
+ for (jy = k + 2; jy < 10; jy++) {
+ Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1];
}
}
}
@@ -347,19 +337,19 @@ void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108])
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];
+ iy = 9 * k;
+ if (Y[k + c] != 0.0F) {
+ Y[k + c] /= b_A[k + iy];
+ for (jy = 0; jy + 1 <= k; jy++) {
+ Y[jy + c] -= Y[k + c] * b_A[jy + iy];
}
}
}
}
- for (jy = 0; jy < 9; jy++) {
+ for (i2 = 0; i2 < 9; i2++) {
for (iy = 0; iy < 12; iy++) {
- y[iy + 12 * jy] = Y[jy + 9 * iy];
+ y[iy + 12 * i2] = Y[i2 + 9 * iy];
}
}
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-02 16:51:35 +0000