radiotester - Sample of program breaking when a certain set of …

Users » narshu » Code » radiotester

Shuto Naruse / Mbed 2 deprecated radiotester

Sample of program breaking when a certain set of source files are in a folder, but is fine when it is in the root. In this case, it is tested with RF12B.cpp, RF12B.h and rfdefs

Dependencies: mbed

Kalman/MatrixMath/MatrixMath.cpp@0:349dc9b0984f, 2012-03-25 (annotated)

Committer:: narshu
Date:: Sun Mar 25 13:39:11 2012 +0000
Revision:: 0:349dc9b0984f

Who changed what in which revision?

User	Revision	Line number	New contents of line
narshu	0:349dc9b0984f	1	/**
narshu	0:349dc9b0984f	2	* @brief Still under work version 0.2
narshu	0:349dc9b0984f	3	* @file MatrixMath.cpp
narshu	0:349dc9b0984f	4	* @author Erneseto Palacios
narshu	0:349dc9b0984f	5	*
narshu	0:349dc9b0984f	6	* Develop Under GPL v3.0 License
narshu	0:349dc9b0984f	7	* http://www.gnu.org/licenses/gpl-3.0.html
narshu	0:349dc9b0984f	8	*/
narshu	0:349dc9b0984f	9
narshu	0:349dc9b0984f	10	#include "mbed.h"
narshu	0:349dc9b0984f	11	#include "MatrixMath.h"
narshu	0:349dc9b0984f	12
narshu	0:349dc9b0984f	13	///Transpose matrix
narshu	0:349dc9b0984f	14	Matrix MatrixMath::Transpose(const Matrix& Mat)
narshu	0:349dc9b0984f	15	{
narshu	0:349dc9b0984f	16	Matrix result( Mat._nCols, Mat._nRows ); //Transpose Matrix
narshu	0:349dc9b0984f	17
narshu	0:349dc9b0984f	18	for( int i = 0; i < result._nRows; i++ )
narshu	0:349dc9b0984f	19	for( int j = 0; j < result._nCols; j++ )
narshu	0:349dc9b0984f	20	result._matrix[i][j] = Mat._matrix[j][i];
narshu	0:349dc9b0984f	21
narshu	0:349dc9b0984f	22	return result;
narshu	0:349dc9b0984f	23	}
narshu	0:349dc9b0984f	24
narshu	0:349dc9b0984f	25	Matrix MatrixMath::Inv(const Matrix& Mat)
narshu	0:349dc9b0984f	26	{
narshu	0:349dc9b0984f	27	if( Mat._nRows == Mat._nCols )
narshu	0:349dc9b0984f	28	{
narshu	0:349dc9b0984f	29	if( Mat._nRows == 2 ) // 2x2 Matrices
narshu	0:349dc9b0984f	30	{
narshu	0:349dc9b0984f	31	float det = MatrixMath::det( Mat );
narshu	0:349dc9b0984f	32	if( det != 0 )
narshu	0:349dc9b0984f	33	{
narshu	0:349dc9b0984f	34	Matrix Inv(2,2);
narshu	0:349dc9b0984f	35	Inv._matrix[0][0] = Mat._matrix[1][1];
narshu	0:349dc9b0984f	36	Inv._matrix[1][0] = -Mat._matrix[1][0];
narshu	0:349dc9b0984f	37	Inv._matrix[0][1] = -Mat._matrix[0][1];
narshu	0:349dc9b0984f	38	Inv._matrix[1][1] = Mat._matrix[0][0] ;
narshu	0:349dc9b0984f	39
narshu	0:349dc9b0984f	40	Inv *= 1/det;
narshu	0:349dc9b0984f	41
narshu	0:349dc9b0984f	42	return Inv;
narshu	0:349dc9b0984f	43
narshu	0:349dc9b0984f	44	}else{
narshu	0:349dc9b0984f	45	printf( "\n\nWANRING: same matrix returned");
narshu	0:349dc9b0984f	46	printf( "\nSingular Matrix, cannot perform Invert @matrix " );
narshu	0:349dc9b0984f	47	// Mat.print();
narshu	0:349dc9b0984f	48	printf( "\n _____________\n" );
narshu	0:349dc9b0984f	49
narshu	0:349dc9b0984f	50	return Mat;
narshu	0:349dc9b0984f	51	}
narshu	0:349dc9b0984f	52
narshu	0:349dc9b0984f	53	}else{ // nxn Matrices
narshu	0:349dc9b0984f	54
narshu	0:349dc9b0984f	55	float det = MatrixMath::det( Mat );
narshu	0:349dc9b0984f	56	if( det!= 0 )
narshu	0:349dc9b0984f	57	{
narshu	0:349dc9b0984f	58	Matrix Inv( Mat ); //
narshu	0:349dc9b0984f	59	Matrix SubMat;
narshu	0:349dc9b0984f	60
narshu	0:349dc9b0984f	61	// Matrix of Co-factors
narshu	0:349dc9b0984f	62	for( int i = 0; i < Mat._nRows; i++ )
narshu	0:349dc9b0984f	63	for( int j = 0; j < Mat._nCols; j++ )
narshu	0:349dc9b0984f	64	{
narshu	0:349dc9b0984f	65	SubMat = Mat ;
narshu	0:349dc9b0984f	66
narshu	0:349dc9b0984f	67	Matrix::DeleteRow( SubMat, i+1 );
narshu	0:349dc9b0984f	68	Matrix::DeleteCol( SubMat, j+1 );
narshu	0:349dc9b0984f	69
narshu	0:349dc9b0984f	70	if( (i+j)%2 == 0 )
narshu	0:349dc9b0984f	71	Inv._matrix[i][j] = MatrixMath::det( SubMat );
narshu	0:349dc9b0984f	72	else
narshu	0:349dc9b0984f	73	Inv._matrix[i][j] = -MatrixMath::det( SubMat );
narshu	0:349dc9b0984f	74	}
narshu	0:349dc9b0984f	75
narshu	0:349dc9b0984f	76	// Adjugate Matrix
narshu	0:349dc9b0984f	77	Inv = MatrixMath::Transpose( Inv );
narshu	0:349dc9b0984f	78
narshu	0:349dc9b0984f	79	// Inverse Matrix
narshu	0:349dc9b0984f	80	Inv = 1/det * Inv;
narshu	0:349dc9b0984f	81
narshu	0:349dc9b0984f	82	return Inv;
narshu	0:349dc9b0984f	83
narshu	0:349dc9b0984f	84	}else{
narshu	0:349dc9b0984f	85	printf( "\n\nWANRING: same matrix returned");
narshu	0:349dc9b0984f	86	printf( "\nSingular Matrix, cannot perform Invert @matrix " );
narshu	0:349dc9b0984f	87	// Mat.print();
narshu	0:349dc9b0984f	88	printf( "\n _____________\n" );
narshu	0:349dc9b0984f	89
narshu	0:349dc9b0984f	90	return Mat;
narshu	0:349dc9b0984f	91	}
narshu	0:349dc9b0984f	92
narshu	0:349dc9b0984f	93	}
narshu	0:349dc9b0984f	94
narshu	0:349dc9b0984f	95	}else{
narshu	0:349dc9b0984f	96	printf( "\n\nERROR:\nMust be square Matrix @ MatrixMath::Determinant " );
narshu	0:349dc9b0984f	97
narshu	0:349dc9b0984f	98	return Mat;
narshu	0:349dc9b0984f	99	}
narshu	0:349dc9b0984f	100	}
narshu	0:349dc9b0984f	101
narshu	0:349dc9b0984f	102	float MatrixMath::det(const Matrix& Mat)
narshu	0:349dc9b0984f	103	{
narshu	0:349dc9b0984f	104	if( Mat._nRows == Mat._nCols )
narshu	0:349dc9b0984f	105	{
narshu	0:349dc9b0984f	106
narshu	0:349dc9b0984f	107	if( Mat._nRows == 2 ) // 2x2 Matrix
narshu	0:349dc9b0984f	108	{
narshu	0:349dc9b0984f	109	float det;
narshu	0:349dc9b0984f	110	det = Mat._matrix[0][0] * Mat._matrix[1][1] -
narshu	0:349dc9b0984f	111	Mat._matrix[1][0] * Mat._matrix[0][1];
narshu	0:349dc9b0984f	112	return det;
narshu	0:349dc9b0984f	113	}
narshu	0:349dc9b0984f	114	else if( Mat._nRows == 3 ) // 3x3 Matrix
narshu	0:349dc9b0984f	115	{
narshu	0:349dc9b0984f	116	float det;
narshu	0:349dc9b0984f	117	MatrixMath dummy;
narshu	0:349dc9b0984f	118
narshu	0:349dc9b0984f	119	det = dummy.Det3x3( Mat );
narshu	0:349dc9b0984f	120	return det;
narshu	0:349dc9b0984f	121
narshu	0:349dc9b0984f	122	} else {
narshu	0:349dc9b0984f	123
narshu	0:349dc9b0984f	124	float part1= 0;
narshu	0:349dc9b0984f	125	float part2= 0;
narshu	0:349dc9b0984f	126
narshu	0:349dc9b0984f	127	//Find +/- on First Row
narshu	0:349dc9b0984f	128	for( int i = 0; i < Mat._nCols; i++)
narshu	0:349dc9b0984f	129	{
narshu	0:349dc9b0984f	130	Matrix reduced( Mat ); // Copy Original Matrix
narshu	0:349dc9b0984f	131	Matrix::DeleteRow( reduced, 1); // Delete First Row
narshu	0:349dc9b0984f	132
narshu	0:349dc9b0984f	133	if( i%2 == 0 ) //Odd Rows
narshu	0:349dc9b0984f	134	{
narshu	0:349dc9b0984f	135
narshu	0:349dc9b0984f	136	Matrix::DeleteCol( reduced, i+1);
narshu	0:349dc9b0984f	137	part1 += Mat._matrix[0][i] * MatrixMath::det(reduced);
narshu	0:349dc9b0984f	138	}
narshu	0:349dc9b0984f	139	else // Even Rows
narshu	0:349dc9b0984f	140	{
narshu	0:349dc9b0984f	141	Matrix::DeleteCol( reduced, i+1);
narshu	0:349dc9b0984f	142	part2 += Mat._matrix[0][i] * MatrixMath::det(reduced);
narshu	0:349dc9b0984f	143	}
narshu	0:349dc9b0984f	144	}
narshu	0:349dc9b0984f	145	return part1 - part2; //
narshu	0:349dc9b0984f	146	}
narshu	0:349dc9b0984f	147
narshu	0:349dc9b0984f	148	}else{
narshu	0:349dc9b0984f	149	printf("\n\nERROR:\nMatrix must be square Matrix @ MatrixMath::Det");
narshu	0:349dc9b0984f	150	return 0;
narshu	0:349dc9b0984f	151	}
narshu	0:349dc9b0984f	152	}
narshu	0:349dc9b0984f	153
narshu	0:349dc9b0984f	154
narshu	0:349dc9b0984f	155	/************************************/
narshu	0:349dc9b0984f	156
narshu	0:349dc9b0984f	157	//Private Functions
narshu	0:349dc9b0984f	158
narshu	0:349dc9b0984f	159	/**@brief
narshu	0:349dc9b0984f	160	* Expands the Matrix adding first and second column to the Matrix then
narshu	0:349dc9b0984f	161	* performs the Algorithm.
narshu	0:349dc9b0984f	162	* @param Mat
narshu	0:349dc9b0984f	163	* @return Determinant
narshu	0:349dc9b0984f	164	*/
narshu	0:349dc9b0984f	165	float MatrixMath::Det3x3(const Matrix& Mat)
narshu	0:349dc9b0984f	166	{
narshu	0:349dc9b0984f	167	Matrix D( Mat ); //Copy Initial matrix
narshu	0:349dc9b0984f	168
narshu	0:349dc9b0984f	169	Matrix::AddCol(D, Matrix::ExportCol(Mat, 1), 4); //Repeat First Column
narshu	0:349dc9b0984f	170	Matrix::AddCol(D, Matrix::ExportCol(Mat, 2), 5); //Repeat Second Column
narshu	0:349dc9b0984f	171
narshu	0:349dc9b0984f	172	float det = 0;
narshu	0:349dc9b0984f	173	for( int i = 0; i < 3; i++ )
narshu	0:349dc9b0984f	174	det += D._matrix[0][i] * D._matrix[1][1+i] * D._matrix[2][2+i]
narshu	0:349dc9b0984f	175	- D._matrix[0][2+i] * D._matrix[1][1+i] * D._matrix[2][i];
narshu	0:349dc9b0984f	176
narshu	0:349dc9b0984f	177	return det;
narshu	0:349dc9b0984f	178	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	25 Mar 2012
Imports:	2
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	1

Kalman/MatrixMath/MatrixMath.cpp@0:349dc9b0984f, 2012-03-25 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning