matrix.h File Reference

Matrix manipulation functions. More...

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Functions
void	f3x3matrixAeqI (float A[][3])
	function sets the 3x3 matrix A to the identity matrix
void	f3x3matrixAeqB (float A[][3], float B[][3])
	function sets 3x3 matrix A to 3x3 matrix B
void	fmatrixAeqI (float *A[], int16_t rc)
	function sets the matrix A to the identity matrix
void	f3x3matrixAeqScalar (float A[][3], float Scalar)
	function sets every entry in the 3x3 matrix A to a constant scalar
void	f3x3matrixAeqInvSymB (float A[][3], float B[][3])
void	f3x3matrixAeqAxScalar (float A[][3], float Scalar)
	function multiplies all elements of 3x3 matrix A by the specified scalar
void	f3x3matrixAeqMinusA (float A[][3])
	function negates all elements of 3x3 matrix A
float	f3x3matrixDetA (float A[][3])
	function calculates the determinant of a 3x3 matrix
void	fEigenCompute10 (float A[][10], float eigval[], float eigvec[][10], int8_t n)
void	fEigenCompute4 (float A[][4], float eigval[], float eigvec[][4], int8_t n)
void	fComputeEigSlice (float fmatA[10][10], float fmatB[10][10], float fvecA[10], int8_t i, int8_t j, int8_t iMatrixSize)
void	fmatrixAeqInvA (float *A[], int8_t iColInd[], int8_t iRowInd[], int8_t iPivot[], int8_t isize, int8_t *pierror)
void	fveqRu (float fv[], float fR[][3], float fu[], int8_t itranspose)
void	fVeq3x3AxV (float V[3], float A[][3])
	function multiplies the 3x1 vector V by a 3x3 matrix A

Detailed Description

Matrix manipulation functions.

Contains functions for basic manipulation of 3x3 matrices

Definition in file matrix.h.

Function Documentation

f3x3matrixAeqAxScalar()

void f3x3matrixAeqAxScalar	(	float	A[][3],
		float	Scalar
	)

function multiplies all elements of 3x3 matrix A by the specified scalar

Definition at line 109 of file matrix.c.

f3x3matrixAeqB()

void f3x3matrixAeqB	(	float	A[][3],
		float	B[][3]
	)

function sets 3x3 matrix A to 3x3 matrix B

Definition at line 47 of file matrix.c.

f3x3matrixAeqI()

void f3x3matrixAeqI

(

float

A[][3]

)

function sets the 3x3 matrix A to the identity matrix

Definition at line 26 of file matrix.c.

f3x3matrixAeqInvSymB()

void f3x3matrixAeqInvSymB	(	float	A[][3],
		float	B[][3]
	)

function directly calculates the symmetric inverse of a symmetric 3x3 matrix only the on and above diagonal terms in B are used and need to be specified

Definition at line 149 of file matrix.c.

f3x3matrixAeqMinusA()

void f3x3matrixAeqMinusA

(

float

A[][3]

)

function negates all elements of 3x3 matrix A

Definition at line 128 of file matrix.c.

f3x3matrixAeqScalar()

void f3x3matrixAeqScalar	(	float	A[][3],
		float	Scalar
	)

function sets every entry in the 3x3 matrix A to a constant scalar

Definition at line 90 of file matrix.c.

f3x3matrixDetA()

float f3x3matrixDetA

(

float

A[][3]

)

function calculates the determinant of a 3x3 matrix

Definition at line 190 of file matrix.c.

fComputeEigSlice()

void fComputeEigSlice	(	float	fmatA[10][10],
		float	fmatB[10][10],
		float	fvecA[10],
		int8_t	i,
		int8_t	j,
		int8_t	iMatrixSize
	)

Definition at line 553 of file matrix.c.

fEigenCompute10()

void fEigenCompute10	(	float	A[][10],
		float	eigval[],
		float	eigvec[][10],
		int8_t	n
	)

function computes all eigenvalues and eigenvectors of a real symmetric matrix A[0..n-1][0..n-1] stored in the top left of a 10x10 array A[10][10]

Parameters

A	real symmetric matrix A[0..n-1][0..n-1]
eigval	eigval[0..n-1] returns the eigenvalues of A[][].
eigvec	eigvec[0..n-1][0..n-1] returns the normalized eigenvectors of A[][]
n	n can vary up to and including 10 but the matrices A and eigvec must have 10 columns.

Definition at line 215 of file matrix.c.

fEigenCompute4()

void fEigenCompute4	(	float	A[][4],
		float	eigval[],
		float	eigvec[][4],
		int8_t	n
	)

function computes all eigenvalues and eigenvectors of a real symmetric matrix A[0..n-1][0..n-1] stored in the top left of a 4x4 array A[4][4] A[][] is changed on output. The eigenvectors are not sorted by value. This function is identical to eigencompute10 except for the workaround for 4x4 matrices since C cannot handle functions accepting matrices with variable numbers of columns.

Parameters

eigval	eigval[0..n-1] returns the eigenvalues of A[][].
eigvec	eigvec[0..n-1][0..n-1] returns the normalized eigenvectors of A[][]
n	n can vary up to and including 4 but the matrices A and eigvec must have 4 columns.

Definition at line 388 of file matrix.c.

fmatrixAeqI()

void fmatrixAeqI	(	float *	A[],
		int16_t	rc
	)

function sets the matrix A to the identity matrix

Parameters

A	pointer to the matrix
rc	dimension of the matrix

Definition at line 68 of file matrix.c.

fmatrixAeqInvA()

void fmatrixAeqInvA	(	float *	A[],
		int8_t	iColInd[],
		int8_t	iRowInd[],
		int8_t	iPivot[],
		int8_t	isize,
		int8_t *	pierror
	)

function uses Gauss-Jordan elimination to compute the inverse of matrix A in situ on exit, A is replaced with its inverse

Definition at line 647 of file matrix.c.

fVeq3x3AxV()

void fVeq3x3AxV	(	float	V[3],
		float	A[][3]
	)

function multiplies the 3x1 vector V by a 3x3 matrix A

Parameters

V	used for both input and output

Definition at line 852 of file matrix.c.

fveqRu()

void fveqRu	(	float	fv[],
		float	fR[][3],
		float	fu[],
		int8_t	itranspose
	)

function rotates 3x1 vector u onto 3x1 vector using 3x3 rotation matrix fR. the rotation is applied in the inverse direction if itranpose is true

Parameters

fv	3x1 output vector
fR	rotation matrix
fu	3x1 input vector
itranspose	true if inverse direction desired

Definition at line 801 of file matrix.c.