mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 19:23:33 +08:00
742 lines
19 KiB
C
Executable File
742 lines
19 KiB
C
Executable File
/*
|
|
* mrdivide.c
|
|
*
|
|
* Code generation for function 'mrdivide'
|
|
*
|
|
* C source code generated on: Fri Sep 21 13:56:44 2012
|
|
*
|
|
*/
|
|
|
|
/* Include files */
|
|
#include "rt_nonfinite.h"
|
|
#include "attitudeKalmanfilter.h"
|
|
#include "mrdivide.h"
|
|
|
|
/* Type Definitions */
|
|
|
|
/* Named Constants */
|
|
|
|
/* Variable Declarations */
|
|
|
|
/* Variable Definitions */
|
|
|
|
/* Function Declarations */
|
|
static real32_T b_eml_matlab_zlarfg(real32_T *alpha1, const real32_T *x);
|
|
static void eml_lusolve(const real32_T A_data[81], const int32_T A_sizes[2],
|
|
real32_T B_data[81], int32_T B_sizes[2]);
|
|
static real32_T eml_matlab_zlarfg(int32_T n, real32_T *alpha1, real32_T x_data
|
|
[81], int32_T x_sizes[2], int32_T ix0);
|
|
static void eml_qrsolve(const real32_T A_data[81], const int32_T A_sizes[2],
|
|
real32_T B_data[81], int32_T B_sizes[2], real32_T Y_data[81], int32_T Y_sizes
|
|
[2]);
|
|
static real32_T eml_xnrm2(int32_T n, const real32_T x_data[81], const int32_T
|
|
x_sizes[2], int32_T ix0);
|
|
|
|
/* Function Definitions */
|
|
|
|
/*
|
|
*
|
|
*/
|
|
static real32_T b_eml_matlab_zlarfg(real32_T *alpha1, const real32_T *x)
|
|
{
|
|
return 0.0F;
|
|
}
|
|
|
|
/*
|
|
*
|
|
*/
|
|
static void eml_lusolve(const real32_T A_data[81], const int32_T A_sizes[2],
|
|
real32_T B_data[81], int32_T B_sizes[2])
|
|
{
|
|
int32_T loop_ub;
|
|
int32_T iy;
|
|
real32_T b_A_data[81];
|
|
int32_T jA;
|
|
int32_T tmp_data[9];
|
|
int32_T ipiv_data[9];
|
|
int32_T ldap1;
|
|
int32_T j;
|
|
int32_T mmj;
|
|
int32_T jj;
|
|
int32_T ix;
|
|
real32_T temp;
|
|
int32_T k;
|
|
real32_T s;
|
|
int32_T jrow;
|
|
int32_T b_loop_ub;
|
|
int32_T c;
|
|
loop_ub = A_sizes[0] * A_sizes[1] - 1;
|
|
for (iy = 0; iy <= loop_ub; iy++) {
|
|
b_A_data[iy] = A_data[iy];
|
|
}
|
|
|
|
iy = A_sizes[1];
|
|
jA = A_sizes[1];
|
|
jA = iy <= jA ? iy : jA;
|
|
if (jA < 1) {
|
|
} else {
|
|
loop_ub = jA - 1;
|
|
for (iy = 0; iy <= loop_ub; iy++) {
|
|
tmp_data[iy] = 1 + iy;
|
|
}
|
|
|
|
loop_ub = jA - 1;
|
|
for (iy = 0; iy <= loop_ub; iy++) {
|
|
ipiv_data[iy] = tmp_data[iy];
|
|
}
|
|
}
|
|
|
|
ldap1 = A_sizes[1] + 1;
|
|
iy = A_sizes[1] - 1;
|
|
jA = A_sizes[1];
|
|
loop_ub = iy <= jA ? iy : jA;
|
|
for (j = 1; j <= loop_ub; j++) {
|
|
mmj = (A_sizes[1] - j) + 1;
|
|
jj = (j - 1) * ldap1;
|
|
if (mmj < 1) {
|
|
jA = -1;
|
|
} else {
|
|
jA = 0;
|
|
if (mmj > 1) {
|
|
ix = jj;
|
|
temp = (real32_T)fabs(b_A_data[jj]);
|
|
for (k = 1; k + 1 <= mmj; k++) {
|
|
ix++;
|
|
s = (real32_T)fabs(b_A_data[ix]);
|
|
if (s > temp) {
|
|
jA = k;
|
|
temp = s;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if ((real_T)b_A_data[jj + jA] != 0.0) {
|
|
if (jA != 0) {
|
|
ipiv_data[j - 1] = j + jA;
|
|
jrow = j - 1;
|
|
iy = jrow + jA;
|
|
for (k = 1; k <= A_sizes[1]; k++) {
|
|
temp = b_A_data[jrow];
|
|
b_A_data[jrow] = b_A_data[iy];
|
|
b_A_data[iy] = temp;
|
|
jrow += A_sizes[1];
|
|
iy += A_sizes[1];
|
|
}
|
|
}
|
|
|
|
b_loop_ub = jj + mmj;
|
|
for (jA = jj + 1; jA + 1 <= b_loop_ub; jA++) {
|
|
b_A_data[jA] /= b_A_data[jj];
|
|
}
|
|
}
|
|
|
|
c = A_sizes[1] - j;
|
|
jA = jj + ldap1;
|
|
iy = jj + A_sizes[1];
|
|
for (jrow = 1; jrow <= c; jrow++) {
|
|
if ((real_T)b_A_data[iy] != 0.0) {
|
|
temp = b_A_data[iy] * -1.0F;
|
|
ix = jj;
|
|
b_loop_ub = (mmj + jA) - 1;
|
|
for (k = jA; k + 1 <= b_loop_ub; k++) {
|
|
b_A_data[k] += b_A_data[ix + 1] * temp;
|
|
ix++;
|
|
}
|
|
}
|
|
|
|
iy += A_sizes[1];
|
|
jA += A_sizes[1];
|
|
}
|
|
}
|
|
|
|
for (jA = 0; jA + 1 <= A_sizes[1]; jA++) {
|
|
if (ipiv_data[jA] != jA + 1) {
|
|
for (j = 0; j < 9; j++) {
|
|
temp = B_data[jA + B_sizes[0] * j];
|
|
B_data[jA + B_sizes[0] * j] = B_data[(ipiv_data[jA] + B_sizes[0] * j) -
|
|
1];
|
|
B_data[(ipiv_data[jA] + B_sizes[0] * j) - 1] = temp;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (B_sizes[0] == 0) {
|
|
} else {
|
|
for (j = 0; j < 9; j++) {
|
|
c = A_sizes[1] * j;
|
|
for (k = 0; k + 1 <= A_sizes[1]; k++) {
|
|
iy = A_sizes[1] * k;
|
|
if ((real_T)B_data[k + c] != 0.0) {
|
|
for (jA = k + 1; jA + 1 <= A_sizes[1]; jA++) {
|
|
B_data[jA + c] -= B_data[k + c] * b_A_data[jA + iy];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (B_sizes[0] == 0) {
|
|
} else {
|
|
for (j = 0; j < 9; j++) {
|
|
c = A_sizes[1] * j;
|
|
for (k = A_sizes[1] - 1; k + 1 > 0; k--) {
|
|
iy = A_sizes[1] * k;
|
|
if ((real_T)B_data[k + c] != 0.0) {
|
|
B_data[k + c] /= b_A_data[k + iy];
|
|
for (jA = 0; jA + 1 <= k; jA++) {
|
|
B_data[jA + c] -= B_data[k + c] * b_A_data[jA + iy];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
*
|
|
*/
|
|
static real32_T eml_matlab_zlarfg(int32_T n, real32_T *alpha1, real32_T x_data
|
|
[81], int32_T x_sizes[2], int32_T ix0)
|
|
{
|
|
real32_T tau;
|
|
int32_T nm1;
|
|
real32_T xnorm;
|
|
real32_T a;
|
|
int32_T knt;
|
|
int32_T loop_ub;
|
|
int32_T k;
|
|
tau = 0.0F;
|
|
if (n <= 0) {
|
|
} else {
|
|
nm1 = n - 2;
|
|
xnorm = eml_xnrm2(nm1 + 1, x_data, x_sizes, ix0);
|
|
if ((real_T)xnorm != 0.0) {
|
|
a = (real32_T)fabs(*alpha1);
|
|
xnorm = (real32_T)fabs(xnorm);
|
|
if (a < xnorm) {
|
|
a /= xnorm;
|
|
xnorm *= (real32_T)sqrt(a * a + 1.0F);
|
|
} else if (a > xnorm) {
|
|
xnorm /= a;
|
|
xnorm = (real32_T)sqrt(xnorm * xnorm + 1.0F) * a;
|
|
} else if (rtIsNaNF(xnorm)) {
|
|
} else {
|
|
xnorm = a * 1.41421354F;
|
|
}
|
|
|
|
if ((real_T)*alpha1 >= 0.0) {
|
|
xnorm = -xnorm;
|
|
}
|
|
|
|
if ((real32_T)fabs(xnorm) < 9.86076132E-32F) {
|
|
knt = 0;
|
|
do {
|
|
knt++;
|
|
loop_ub = ix0 + nm1;
|
|
for (k = ix0; k <= loop_ub; k++) {
|
|
x_data[k - 1] *= 1.01412048E+31F;
|
|
}
|
|
|
|
xnorm *= 1.01412048E+31F;
|
|
*alpha1 *= 1.01412048E+31F;
|
|
} while (!((real32_T)fabs(xnorm) >= 9.86076132E-32F));
|
|
|
|
xnorm = eml_xnrm2(nm1 + 1, x_data, x_sizes, ix0);
|
|
a = (real32_T)fabs(*alpha1);
|
|
xnorm = (real32_T)fabs(xnorm);
|
|
if (a < xnorm) {
|
|
a /= xnorm;
|
|
xnorm *= (real32_T)sqrt(a * a + 1.0F);
|
|
} else if (a > xnorm) {
|
|
xnorm /= a;
|
|
xnorm = (real32_T)sqrt(xnorm * xnorm + 1.0F) * a;
|
|
} else if (rtIsNaNF(xnorm)) {
|
|
} else {
|
|
xnorm = a * 1.41421354F;
|
|
}
|
|
|
|
if ((real_T)*alpha1 >= 0.0) {
|
|
xnorm = -xnorm;
|
|
}
|
|
|
|
tau = (xnorm - *alpha1) / xnorm;
|
|
*alpha1 = 1.0F / (*alpha1 - xnorm);
|
|
loop_ub = ix0 + nm1;
|
|
for (k = ix0; k <= loop_ub; k++) {
|
|
x_data[k - 1] *= *alpha1;
|
|
}
|
|
|
|
for (k = 1; k <= knt; k++) {
|
|
xnorm *= 9.86076132E-32F;
|
|
}
|
|
|
|
*alpha1 = xnorm;
|
|
} else {
|
|
tau = (xnorm - *alpha1) / xnorm;
|
|
*alpha1 = 1.0F / (*alpha1 - xnorm);
|
|
loop_ub = ix0 + nm1;
|
|
for (k = ix0; k <= loop_ub; k++) {
|
|
x_data[k - 1] *= *alpha1;
|
|
}
|
|
|
|
*alpha1 = xnorm;
|
|
}
|
|
}
|
|
}
|
|
|
|
return tau;
|
|
}
|
|
|
|
/*
|
|
*
|
|
*/
|
|
static void eml_qrsolve(const real32_T A_data[81], const int32_T A_sizes[2],
|
|
real32_T B_data[81], int32_T B_sizes[2], real32_T Y_data[81], int32_T Y_sizes
|
|
[2])
|
|
{
|
|
real_T rankR;
|
|
real_T u1;
|
|
int32_T mn;
|
|
int32_T b_A_sizes[2];
|
|
int32_T loop_ub;
|
|
int32_T k;
|
|
real32_T b_A_data[81];
|
|
int32_T pvt;
|
|
int32_T b_mn;
|
|
int32_T tmp_data[9];
|
|
int32_T jpvt_data[9];
|
|
int8_T unnamed_idx_0;
|
|
real32_T work_data[9];
|
|
int32_T nmi;
|
|
real32_T vn1_data[9];
|
|
real32_T vn2_data[9];
|
|
int32_T i;
|
|
int32_T i_i;
|
|
int32_T mmi;
|
|
int32_T ix;
|
|
real32_T smax;
|
|
real32_T s;
|
|
int32_T iy;
|
|
real32_T atmp;
|
|
real32_T tau_data[9];
|
|
int32_T i_ip1;
|
|
int32_T lastv;
|
|
int32_T lastc;
|
|
boolean_T exitg2;
|
|
int32_T exitg1;
|
|
boolean_T firstNonZero;
|
|
real32_T t;
|
|
rankR = (real_T)A_sizes[0];
|
|
u1 = (real_T)A_sizes[1];
|
|
rankR = rankR <= u1 ? rankR : u1;
|
|
mn = (int32_T)rankR;
|
|
b_A_sizes[0] = A_sizes[0];
|
|
b_A_sizes[1] = A_sizes[1];
|
|
loop_ub = A_sizes[0] * A_sizes[1] - 1;
|
|
for (k = 0; k <= loop_ub; k++) {
|
|
b_A_data[k] = A_data[k];
|
|
}
|
|
|
|
k = A_sizes[0];
|
|
pvt = A_sizes[1];
|
|
b_mn = k <= pvt ? k : pvt;
|
|
if (A_sizes[1] < 1) {
|
|
} else {
|
|
loop_ub = A_sizes[1] - 1;
|
|
for (k = 0; k <= loop_ub; k++) {
|
|
tmp_data[k] = 1 + k;
|
|
}
|
|
|
|
loop_ub = A_sizes[1] - 1;
|
|
for (k = 0; k <= loop_ub; k++) {
|
|
jpvt_data[k] = tmp_data[k];
|
|
}
|
|
}
|
|
|
|
if ((A_sizes[0] == 0) || (A_sizes[1] == 0)) {
|
|
} else {
|
|
unnamed_idx_0 = (int8_T)A_sizes[1];
|
|
loop_ub = unnamed_idx_0 - 1;
|
|
for (k = 0; k <= loop_ub; k++) {
|
|
work_data[k] = 0.0F;
|
|
}
|
|
|
|
k = 1;
|
|
for (nmi = 0; nmi + 1 <= A_sizes[1]; nmi++) {
|
|
vn1_data[nmi] = eml_xnrm2(A_sizes[0], A_data, A_sizes, k);
|
|
vn2_data[nmi] = vn1_data[nmi];
|
|
k += A_sizes[0];
|
|
}
|
|
|
|
for (i = 0; i + 1 <= b_mn; i++) {
|
|
i_i = i + i * A_sizes[0];
|
|
nmi = A_sizes[1] - i;
|
|
mmi = (A_sizes[0] - i) - 1;
|
|
if (nmi < 1) {
|
|
pvt = -1;
|
|
} else {
|
|
pvt = 0;
|
|
if (nmi > 1) {
|
|
ix = i;
|
|
smax = (real32_T)fabs(vn1_data[i]);
|
|
for (k = 1; k + 1 <= nmi; k++) {
|
|
ix++;
|
|
s = (real32_T)fabs(vn1_data[ix]);
|
|
if (s > smax) {
|
|
pvt = k;
|
|
smax = s;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
pvt += i;
|
|
if (pvt + 1 != i + 1) {
|
|
ix = A_sizes[0] * pvt;
|
|
iy = A_sizes[0] * i;
|
|
for (k = 1; k <= A_sizes[0]; k++) {
|
|
s = b_A_data[ix];
|
|
b_A_data[ix] = b_A_data[iy];
|
|
b_A_data[iy] = s;
|
|
ix++;
|
|
iy++;
|
|
}
|
|
|
|
k = jpvt_data[pvt];
|
|
jpvt_data[pvt] = jpvt_data[i];
|
|
jpvt_data[i] = k;
|
|
vn1_data[pvt] = vn1_data[i];
|
|
vn2_data[pvt] = vn2_data[i];
|
|
}
|
|
|
|
if (i + 1 < A_sizes[0]) {
|
|
atmp = b_A_data[i_i];
|
|
smax = eml_matlab_zlarfg(mmi + 1, &atmp, b_A_data, b_A_sizes, i_i + 2);
|
|
tau_data[i] = smax;
|
|
} else {
|
|
atmp = b_A_data[i_i];
|
|
smax = b_A_data[i_i];
|
|
s = b_eml_matlab_zlarfg(&atmp, &smax);
|
|
b_A_data[i_i] = smax;
|
|
tau_data[i] = s;
|
|
}
|
|
|
|
b_A_data[i_i] = atmp;
|
|
if (i + 1 < A_sizes[1]) {
|
|
atmp = b_A_data[i_i];
|
|
b_A_data[i_i] = 1.0F;
|
|
i_ip1 = (i + (i + 1) * A_sizes[0]) + 1;
|
|
if ((real_T)tau_data[i] != 0.0) {
|
|
lastv = mmi;
|
|
pvt = i_i + mmi;
|
|
while ((lastv + 1 > 0) && ((real_T)b_A_data[pvt] == 0.0)) {
|
|
lastv--;
|
|
pvt--;
|
|
}
|
|
|
|
lastc = nmi - 1;
|
|
exitg2 = 0U;
|
|
while ((exitg2 == 0U) && (lastc > 0)) {
|
|
k = i_ip1 + (lastc - 1) * A_sizes[0];
|
|
pvt = k + lastv;
|
|
do {
|
|
exitg1 = 0U;
|
|
if (k <= pvt) {
|
|
if ((real_T)b_A_data[k - 1] != 0.0) {
|
|
exitg1 = 1U;
|
|
} else {
|
|
k++;
|
|
}
|
|
} else {
|
|
lastc--;
|
|
exitg1 = 2U;
|
|
}
|
|
} while (exitg1 == 0U);
|
|
|
|
if (exitg1 == 1U) {
|
|
exitg2 = 1U;
|
|
}
|
|
}
|
|
} else {
|
|
lastv = -1;
|
|
lastc = 0;
|
|
}
|
|
|
|
if (lastv + 1 > 0) {
|
|
if (lastc == 0) {
|
|
} else {
|
|
for (iy = 1; iy <= lastc; iy++) {
|
|
work_data[iy - 1] = 0.0F;
|
|
}
|
|
|
|
iy = 0;
|
|
loop_ub = i_ip1 + A_sizes[0] * (lastc - 1);
|
|
pvt = i_ip1;
|
|
while ((A_sizes[0] > 0) && (pvt <= loop_ub)) {
|
|
ix = i_i;
|
|
smax = 0.0F;
|
|
k = pvt + lastv;
|
|
for (nmi = pvt; nmi <= k; nmi++) {
|
|
smax += b_A_data[nmi - 1] * b_A_data[ix];
|
|
ix++;
|
|
}
|
|
|
|
work_data[iy] += smax;
|
|
iy++;
|
|
pvt += A_sizes[0];
|
|
}
|
|
}
|
|
|
|
smax = -tau_data[i];
|
|
if ((real_T)smax == 0.0) {
|
|
} else {
|
|
pvt = 0;
|
|
for (nmi = 1; nmi <= lastc; nmi++) {
|
|
if ((real_T)work_data[pvt] != 0.0) {
|
|
s = work_data[pvt] * smax;
|
|
ix = i_i;
|
|
loop_ub = lastv + i_ip1;
|
|
for (k = i_ip1 - 1; k + 1 <= loop_ub; k++) {
|
|
b_A_data[k] += b_A_data[ix] * s;
|
|
ix++;
|
|
}
|
|
}
|
|
|
|
pvt++;
|
|
i_ip1 += A_sizes[0];
|
|
}
|
|
}
|
|
}
|
|
|
|
b_A_data[i_i] = atmp;
|
|
}
|
|
|
|
for (nmi = i + 1; nmi + 1 <= A_sizes[1]; nmi++) {
|
|
if ((real_T)vn1_data[nmi] != 0.0) {
|
|
smax = (real32_T)fabs(b_A_data[i + b_A_sizes[0] * nmi]) / vn1_data[nmi];
|
|
smax = 1.0F - smax * smax;
|
|
if ((real_T)smax < 0.0) {
|
|
smax = 0.0F;
|
|
}
|
|
|
|
s = vn1_data[nmi] / vn2_data[nmi];
|
|
if (smax * (s * s) <= 0.000345266977F) {
|
|
if (i + 1 < A_sizes[0]) {
|
|
k = (i + A_sizes[0] * nmi) + 1;
|
|
smax = 0.0F;
|
|
if (mmi < 1) {
|
|
} else if (mmi == 1) {
|
|
smax = (real32_T)fabs(b_A_data[k]);
|
|
} else {
|
|
s = 0.0F;
|
|
firstNonZero = TRUE;
|
|
pvt = k + mmi;
|
|
while (k + 1 <= pvt) {
|
|
if (b_A_data[k] != 0.0F) {
|
|
atmp = (real32_T)fabs(b_A_data[k]);
|
|
if (firstNonZero) {
|
|
s = atmp;
|
|
smax = 1.0F;
|
|
firstNonZero = FALSE;
|
|
} else if (s < atmp) {
|
|
t = s / atmp;
|
|
smax = 1.0F + smax * t * t;
|
|
s = atmp;
|
|
} else {
|
|
t = atmp / s;
|
|
smax += t * t;
|
|
}
|
|
}
|
|
|
|
k++;
|
|
}
|
|
|
|
smax = s * (real32_T)sqrt(smax);
|
|
}
|
|
|
|
vn1_data[nmi] = smax;
|
|
vn2_data[nmi] = vn1_data[nmi];
|
|
} else {
|
|
vn1_data[nmi] = 0.0F;
|
|
vn2_data[nmi] = 0.0F;
|
|
}
|
|
} else {
|
|
vn1_data[nmi] *= (real32_T)sqrt(smax);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
rankR = (real_T)A_sizes[0];
|
|
u1 = (real_T)A_sizes[1];
|
|
rankR = rankR >= u1 ? rankR : u1;
|
|
smax = (real32_T)rankR * (real32_T)fabs(b_A_data[0]) * 1.1920929E-7F;
|
|
rankR = 0.0;
|
|
k = 0;
|
|
while ((k + 1 <= mn) && (!((real32_T)fabs(b_A_data[k + b_A_sizes[0] * k]) <=
|
|
smax))) {
|
|
rankR++;
|
|
k++;
|
|
}
|
|
|
|
unnamed_idx_0 = (int8_T)A_sizes[1];
|
|
Y_sizes[0] = (int32_T)unnamed_idx_0;
|
|
Y_sizes[1] = 9;
|
|
loop_ub = unnamed_idx_0 * 9 - 1;
|
|
for (k = 0; k <= loop_ub; k++) {
|
|
Y_data[k] = 0.0F;
|
|
}
|
|
|
|
for (nmi = 0; nmi + 1 <= mn; nmi++) {
|
|
if ((real_T)tau_data[nmi] != 0.0) {
|
|
for (k = 0; k < 9; k++) {
|
|
smax = B_data[nmi + B_sizes[0] * k];
|
|
for (i = nmi + 1; i + 1 <= A_sizes[0]; i++) {
|
|
smax += b_A_data[i + b_A_sizes[0] * nmi] * B_data[i + B_sizes[0] * k];
|
|
}
|
|
|
|
smax *= tau_data[nmi];
|
|
if ((real_T)smax != 0.0) {
|
|
B_data[nmi + B_sizes[0] * k] -= smax;
|
|
for (i = nmi + 1; i + 1 <= A_sizes[0]; i++) {
|
|
B_data[i + B_sizes[0] * k] -= b_A_data[i + b_A_sizes[0] * nmi] *
|
|
smax;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (k = 0; k < 9; k++) {
|
|
for (i = 0; (real_T)(i + 1) <= rankR; i++) {
|
|
Y_data[(jpvt_data[i] + Y_sizes[0] * k) - 1] = B_data[i + B_sizes[0] * k];
|
|
}
|
|
|
|
for (nmi = (int32_T)rankR - 1; nmi + 1 >= 1; nmi--) {
|
|
Y_data[(jpvt_data[nmi] + Y_sizes[0] * k) - 1] /= b_A_data[nmi + b_A_sizes
|
|
[0] * nmi];
|
|
for (i = 0; i + 1 <= nmi; i++) {
|
|
Y_data[(jpvt_data[i] + Y_sizes[0] * k) - 1] -= Y_data[(jpvt_data[nmi] +
|
|
Y_sizes[0] * k) - 1] * b_A_data[i + b_A_sizes[0] * nmi];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
*
|
|
*/
|
|
static real32_T eml_xnrm2(int32_T n, const real32_T x_data[81], const int32_T
|
|
x_sizes[2], int32_T ix0)
|
|
{
|
|
real32_T y;
|
|
real32_T scale;
|
|
boolean_T firstNonZero;
|
|
int32_T kend;
|
|
int32_T k;
|
|
real32_T absxk;
|
|
real32_T t;
|
|
y = 0.0F;
|
|
if (n < 1) {
|
|
} else if (n == 1) {
|
|
y = (real32_T)fabs(x_data[ix0 - 1]);
|
|
} else {
|
|
scale = 0.0F;
|
|
firstNonZero = TRUE;
|
|
kend = (ix0 + n) - 1;
|
|
for (k = ix0 - 1; k + 1 <= kend; k++) {
|
|
if (x_data[k] != 0.0F) {
|
|
absxk = (real32_T)fabs(x_data[k]);
|
|
if (firstNonZero) {
|
|
scale = absxk;
|
|
y = 1.0F;
|
|
firstNonZero = FALSE;
|
|
} else if (scale < absxk) {
|
|
t = scale / absxk;
|
|
y = 1.0F + y * t * t;
|
|
scale = absxk;
|
|
} else {
|
|
t = absxk / scale;
|
|
y += t * t;
|
|
}
|
|
}
|
|
}
|
|
|
|
y = scale * (real32_T)sqrt(y);
|
|
}
|
|
|
|
return y;
|
|
}
|
|
|
|
/*
|
|
*
|
|
*/
|
|
void mrdivide(const real32_T A_data[81], const int32_T A_sizes[2], const
|
|
real32_T B_data[81], const int32_T B_sizes[2], real32_T y_data[81],
|
|
int32_T y_sizes[2])
|
|
{
|
|
int32_T b_A_sizes[2];
|
|
int32_T loop_ub;
|
|
int32_T i3;
|
|
int32_T b_loop_ub;
|
|
int32_T i4;
|
|
real32_T b_A_data[81];
|
|
int32_T b_B_sizes[2];
|
|
real32_T b_B_data[81];
|
|
int8_T unnamed_idx_0;
|
|
int32_T c_B_sizes[2];
|
|
real32_T c_B_data[81];
|
|
b_A_sizes[0] = B_sizes[1];
|
|
b_A_sizes[1] = B_sizes[0];
|
|
loop_ub = B_sizes[0] - 1;
|
|
for (i3 = 0; i3 <= loop_ub; i3++) {
|
|
b_loop_ub = B_sizes[1] - 1;
|
|
for (i4 = 0; i4 <= b_loop_ub; i4++) {
|
|
b_A_data[i4 + b_A_sizes[0] * i3] = B_data[i3 + B_sizes[0] * i4];
|
|
}
|
|
}
|
|
|
|
b_B_sizes[0] = A_sizes[1];
|
|
b_B_sizes[1] = 9;
|
|
for (i3 = 0; i3 < 9; i3++) {
|
|
loop_ub = A_sizes[1] - 1;
|
|
for (i4 = 0; i4 <= loop_ub; i4++) {
|
|
b_B_data[i4 + b_B_sizes[0] * i3] = A_data[i3 + A_sizes[0] * i4];
|
|
}
|
|
}
|
|
|
|
if ((b_A_sizes[0] == 0) || (b_A_sizes[1] == 0) || (b_B_sizes[0] == 0)) {
|
|
unnamed_idx_0 = (int8_T)b_A_sizes[1];
|
|
b_B_sizes[0] = (int32_T)unnamed_idx_0;
|
|
b_B_sizes[1] = 9;
|
|
loop_ub = unnamed_idx_0 * 9 - 1;
|
|
for (i3 = 0; i3 <= loop_ub; i3++) {
|
|
b_B_data[i3] = 0.0F;
|
|
}
|
|
} else if (b_A_sizes[0] == b_A_sizes[1]) {
|
|
eml_lusolve(b_A_data, b_A_sizes, b_B_data, b_B_sizes);
|
|
} else {
|
|
c_B_sizes[0] = b_B_sizes[0];
|
|
c_B_sizes[1] = 9;
|
|
loop_ub = b_B_sizes[0] * 9 - 1;
|
|
for (i3 = 0; i3 <= loop_ub; i3++) {
|
|
c_B_data[i3] = b_B_data[i3];
|
|
}
|
|
|
|
eml_qrsolve(b_A_data, b_A_sizes, c_B_data, c_B_sizes, b_B_data, b_B_sizes);
|
|
}
|
|
|
|
y_sizes[0] = 9;
|
|
y_sizes[1] = b_B_sizes[0];
|
|
loop_ub = b_B_sizes[0] - 1;
|
|
for (i3 = 0; i3 <= loop_ub; i3++) {
|
|
for (i4 = 0; i4 < 9; i4++) {
|
|
y_data[i4 + 9 * i3] = b_B_data[i3 + b_B_sizes[0] * i4];
|
|
}
|
|
}
|
|
}
|
|
|
|
/* End of code generation (mrdivide.c) */
|