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| <h1>arm_mat_inverse_f32.c</h1> </div> |
| </div> |
| <div class="contents"> |
| <a href="arm__mat__inverse__f32_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* ---------------------------------------------------------------------- </span> |
| <a name="l00002"></a>00002 <span class="comment">* Copyright (C) 2010 ARM Limited. All rights reserved. </span> |
| <a name="l00003"></a>00003 <span class="comment">* </span> |
| <a name="l00004"></a>00004 <span class="comment">* $Date: 15. July 2011 </span> |
| <a name="l00005"></a>00005 <span class="comment">* $Revision: V1.0.10 </span> |
| <a name="l00006"></a>00006 <span class="comment">* </span> |
| <a name="l00007"></a>00007 <span class="comment">* Project: CMSIS DSP Library </span> |
| <a name="l00008"></a>00008 <span class="comment">* Title: arm_mat_inverse_f32.c </span> |
| <a name="l00009"></a>00009 <span class="comment">* </span> |
| <a name="l00010"></a>00010 <span class="comment">* Description: Floating-point matrix inverse. </span> |
| <a name="l00011"></a>00011 <span class="comment">* </span> |
| <a name="l00012"></a>00012 <span class="comment">* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0</span> |
| <a name="l00013"></a>00013 <span class="comment">* </span> |
| <a name="l00014"></a>00014 <span class="comment">* Version 1.0.10 2011/7/15 </span> |
| <a name="l00015"></a>00015 <span class="comment">* Big Endian support added and Merged M0 and M3/M4 Source code. </span> |
| <a name="l00016"></a>00016 <span class="comment">* </span> |
| <a name="l00017"></a>00017 <span class="comment">* Version 1.0.3 2010/11/29 </span> |
| <a name="l00018"></a>00018 <span class="comment">* Re-organized the CMSIS folders and updated documentation. </span> |
| <a name="l00019"></a>00019 <span class="comment">* </span> |
| <a name="l00020"></a>00020 <span class="comment">* Version 1.0.2 2010/11/11 </span> |
| <a name="l00021"></a>00021 <span class="comment">* Documentation updated. </span> |
| <a name="l00022"></a>00022 <span class="comment">* </span> |
| <a name="l00023"></a>00023 <span class="comment">* Version 1.0.1 2010/10/05 </span> |
| <a name="l00024"></a>00024 <span class="comment">* Production release and review comments incorporated. </span> |
| <a name="l00025"></a>00025 <span class="comment">* </span> |
| <a name="l00026"></a>00026 <span class="comment">* Version 1.0.0 2010/09/20 </span> |
| <a name="l00027"></a>00027 <span class="comment">* Production release and review comments incorporated. </span> |
| <a name="l00028"></a>00028 <span class="comment">* -------------------------------------------------------------------- */</span> |
| <a name="l00029"></a>00029 |
| <a name="l00030"></a>00030 <span class="preprocessor">#include "<a class="code" href="arm__math_8h.html">arm_math.h</a>"</span> |
| <a name="l00031"></a>00031 |
| <a name="l00074"></a><a class="code" href="group___matrix_inv.html#ga542be7aabbf7a2297a4b62cf212910e3">00074</a> <a class="code" href="arm__math_8h.html#a5e459c6409dfcd2927bb8a57491d7cf6" title="Error status returned by some functions in the library.">arm_status</a> <a class="code" href="group___matrix_inv.html#ga542be7aabbf7a2297a4b62cf212910e3" title="Floating-point matrix inverse.">arm_mat_inverse_f32</a>( |
| <a name="l00075"></a>00075 <span class="keyword">const</span> <a class="code" href="structarm__matrix__instance__f32.html" title="Instance structure for the floating-point matrix structure.">arm_matrix_instance_f32</a> * pSrc, |
| <a name="l00076"></a>00076 <a class="code" href="structarm__matrix__instance__f32.html" title="Instance structure for the floating-point matrix structure.">arm_matrix_instance_f32</a> * pDst) |
| <a name="l00077"></a>00077 { |
| <a name="l00078"></a>00078 <a class="code" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715" title="32-bit floating-point type definition.">float32_t</a> *pIn = pSrc-><a class="code" href="structarm__matrix__instance__f32.html#af3917c032600a9dfd5ed4a96f074910a">pData</a>; <span class="comment">/* input data matrix pointer */</span> |
| <a name="l00079"></a>00079 <a class="code" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715" title="32-bit floating-point type definition.">float32_t</a> *pOut = pDst-><a class="code" href="structarm__matrix__instance__f32.html#af3917c032600a9dfd5ed4a96f074910a">pData</a>; <span class="comment">/* output data matrix pointer */</span> |
| <a name="l00080"></a>00080 <a class="code" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715" title="32-bit floating-point type definition.">float32_t</a> *pInT1, *pInT2; <span class="comment">/* Temporary input data matrix pointer */</span> |
| <a name="l00081"></a>00081 <a class="code" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715" title="32-bit floating-point type definition.">float32_t</a> *pInT3, *pInT4; <span class="comment">/* Temporary output data matrix pointer */</span> |
| <a name="l00082"></a>00082 <a class="code" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715" title="32-bit floating-point type definition.">float32_t</a> *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst; <span class="comment">/* Temporary input and output data matrix pointer */</span> |
| <a name="l00083"></a>00083 uint32_t numRows = pSrc-><a class="code" href="structarm__matrix__instance__f32.html#a23f4e34d70a82c9cad7612add5640b7b">numRows</a>; <span class="comment">/* Number of rows in the matrix */</span> |
| <a name="l00084"></a>00084 uint32_t numCols = pSrc-><a class="code" href="structarm__matrix__instance__f32.html#acdd1fb73734df68b89565c54f1dd8ae2">numCols</a>; <span class="comment">/* Number of Cols in the matrix */</span> |
| <a name="l00085"></a>00085 |
| <a name="l00086"></a>00086 <span class="preprocessor">#ifndef ARM_MATH_CM0</span> |
| <a name="l00087"></a>00087 <span class="preprocessor"></span> |
| <a name="l00088"></a>00088 <span class="comment">/* Run the below code for Cortex-M4 and Cortex-M3 */</span> |
| <a name="l00089"></a>00089 |
| <a name="l00090"></a>00090 <a class="code" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715" title="32-bit floating-point type definition.">float32_t</a> Xchg, in = 0.0f, in1; <span class="comment">/* Temporary input values */</span> |
| <a name="l00091"></a>00091 uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l; <span class="comment">/* loop counters */</span> |
| <a name="l00092"></a>00092 <a class="code" href="arm__math_8h.html#a5e459c6409dfcd2927bb8a57491d7cf6" title="Error status returned by some functions in the library.">arm_status</a> <a class="code" href="arm__dotproduct__example__f32_8c.html#a88ccb294236ab22b00310c47164c53c3">status</a>; <span class="comment">/* status of matrix inverse */</span> |
| <a name="l00093"></a>00093 |
| <a name="l00094"></a>00094 <span class="preprocessor">#ifdef ARM_MATH_MATRIX_CHECK</span> |
| <a name="l00095"></a>00095 <span class="preprocessor"></span> |
| <a name="l00096"></a>00096 |
| <a name="l00097"></a>00097 <span class="comment">/* Check for matrix mismatch condition */</span> |
| <a name="l00098"></a>00098 <span class="keywordflow">if</span>((pSrc-><a class="code" href="structarm__matrix__instance__f32.html#a23f4e34d70a82c9cad7612add5640b7b">numRows</a> != pSrc-><a class="code" href="structarm__matrix__instance__f32.html#acdd1fb73734df68b89565c54f1dd8ae2">numCols</a>) || (pDst-><a class="code" href="structarm__matrix__instance__f32.html#a23f4e34d70a82c9cad7612add5640b7b">numRows</a> != pDst-><a class="code" href="structarm__matrix__instance__f32.html#acdd1fb73734df68b89565c54f1dd8ae2">numCols</a>) |
| <a name="l00099"></a>00099 || (pSrc-><a class="code" href="structarm__matrix__instance__f32.html#a23f4e34d70a82c9cad7612add5640b7b">numRows</a> != pDst-><a class="code" href="structarm__matrix__instance__f32.html#a23f4e34d70a82c9cad7612add5640b7b">numRows</a>)) |
| <a name="l00100"></a>00100 { |
| <a name="l00101"></a>00101 <span class="comment">/* Set status as ARM_MATH_SIZE_MISMATCH */</span> |
| <a name="l00102"></a>00102 status = <a class="code" href="arm__math_8h.html#a5e459c6409dfcd2927bb8a57491d7cf6a7071b92f1f6bc3c5c312a237ea91105b">ARM_MATH_SIZE_MISMATCH</a>; |
| <a name="l00103"></a>00103 } |
| <a name="l00104"></a>00104 <span class="keywordflow">else</span> |
| <a name="l00105"></a>00105 <span class="preprocessor">#endif </span><span class="comment">/* #ifdef ARM_MATH_MATRIX_CHECK */</span> |
| <a name="l00106"></a>00106 |
| <a name="l00107"></a>00107 { |
| <a name="l00108"></a>00108 |
| <a name="l00109"></a>00109 <span class="comment">/*-------------------------------------------------------------------------------------------------------------- </span> |
| <a name="l00110"></a>00110 <span class="comment"> * Matrix Inverse can be solved using elementary row operations. </span> |
| <a name="l00111"></a>00111 <span class="comment"> * </span> |
| <a name="l00112"></a>00112 <span class="comment"> * Gauss-Jordan Method: </span> |
| <a name="l00113"></a>00113 <span class="comment"> * </span> |
| <a name="l00114"></a>00114 <span class="comment"> * 1. First combine the identity matrix and the input matrix separated by a bar to form an </span> |
| <a name="l00115"></a>00115 <span class="comment"> * augmented matrix as follows: </span> |
| <a name="l00116"></a>00116 <span class="comment"> * _ _ _ _ </span> |
| <a name="l00117"></a>00117 <span class="comment"> * | a11 a12 | 1 0 | | X11 X12 | </span> |
| <a name="l00118"></a>00118 <span class="comment"> * | | | = | | </span> |
| <a name="l00119"></a>00119 <span class="comment"> * |_ a21 a22 | 0 1 _| |_ X21 X21 _| </span> |
| <a name="l00120"></a>00120 <span class="comment"> * </span> |
| <a name="l00121"></a>00121 <span class="comment"> * 2. In our implementation, pDst Matrix is used as identity matrix. </span> |
| <a name="l00122"></a>00122 <span class="comment"> * </span> |
| <a name="l00123"></a>00123 <span class="comment"> * 3. Begin with the first row. Let i = 1. </span> |
| <a name="l00124"></a>00124 <span class="comment"> * </span> |
| <a name="l00125"></a>00125 <span class="comment"> * 4. Check to see if the pivot for row i is zero. </span> |
| <a name="l00126"></a>00126 <span class="comment"> * The pivot is the element of the main diagonal that is on the current row. </span> |
| <a name="l00127"></a>00127 <span class="comment"> * For instance, if working with row i, then the pivot element is aii. </span> |
| <a name="l00128"></a>00128 <span class="comment"> * If the pivot is zero, exchange that row with a row below it that does not </span> |
| <a name="l00129"></a>00129 <span class="comment"> * contain a zero in column i. If this is not possible, then an inverse </span> |
| <a name="l00130"></a>00130 <span class="comment"> * to that matrix does not exist. </span> |
| <a name="l00131"></a>00131 <span class="comment"> * </span> |
| <a name="l00132"></a>00132 <span class="comment"> * 5. Divide every element of row i by the pivot. </span> |
| <a name="l00133"></a>00133 <span class="comment"> * </span> |
| <a name="l00134"></a>00134 <span class="comment"> * 6. For every row below and row i, replace that row with the sum of that row and </span> |
| <a name="l00135"></a>00135 <span class="comment"> * a multiple of row i so that each new element in column i below row i is zero. </span> |
| <a name="l00136"></a>00136 <span class="comment"> * </span> |
| <a name="l00137"></a>00137 <span class="comment"> * 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros </span> |
| <a name="l00138"></a>00138 <span class="comment"> * for every element below and above the main diagonal. </span> |
| <a name="l00139"></a>00139 <span class="comment"> * </span> |
| <a name="l00140"></a>00140 <span class="comment"> * 8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc). </span> |
| <a name="l00141"></a>00141 <span class="comment"> * Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst). </span> |
| <a name="l00142"></a>00142 <span class="comment"> *----------------------------------------------------------------------------------------------------------------*/</span> |
| <a name="l00143"></a>00143 |
| <a name="l00144"></a>00144 <span class="comment">/* Working pointer for destination matrix */</span> |
| <a name="l00145"></a>00145 pInT2 = pOut; |
| <a name="l00146"></a>00146 |
| <a name="l00147"></a>00147 <span class="comment">/* Loop over the number of rows */</span> |
| <a name="l00148"></a>00148 rowCnt = numRows; |
| <a name="l00149"></a>00149 |
| <a name="l00150"></a>00150 <span class="comment">/* Making the destination matrix as identity matrix */</span> |
| <a name="l00151"></a>00151 <span class="keywordflow">while</span>(rowCnt > 0u) |
| <a name="l00152"></a>00152 { |
| <a name="l00153"></a>00153 <span class="comment">/* Writing all zeroes in lower triangle of the destination matrix */</span> |
| <a name="l00154"></a>00154 j = numRows - rowCnt; |
| <a name="l00155"></a>00155 <span class="keywordflow">while</span>(j > 0u) |
| <a name="l00156"></a>00156 { |
| <a name="l00157"></a>00157 *pInT2++ = 0.0f; |
| <a name="l00158"></a>00158 j--; |
| <a name="l00159"></a>00159 } |
| <a name="l00160"></a>00160 |
| <a name="l00161"></a>00161 <span class="comment">/* Writing all ones in the diagonal of the destination matrix */</span> |
| <a name="l00162"></a>00162 *pInT2++ = 1.0f; |
| <a name="l00163"></a>00163 |
| <a name="l00164"></a>00164 <span class="comment">/* Writing all zeroes in upper triangle of the destination matrix */</span> |
| <a name="l00165"></a>00165 j = rowCnt - 1u; |
| <a name="l00166"></a>00166 <span class="keywordflow">while</span>(j > 0u) |
| <a name="l00167"></a>00167 { |
| <a name="l00168"></a>00168 *pInT2++ = 0.0f; |
| <a name="l00169"></a>00169 j--; |
| <a name="l00170"></a>00170 } |
| <a name="l00171"></a>00171 |
| <a name="l00172"></a>00172 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00173"></a>00173 rowCnt--; |
| <a name="l00174"></a>00174 } |
| <a name="l00175"></a>00175 |
| <a name="l00176"></a>00176 <span class="comment">/* Loop over the number of columns of the input matrix. </span> |
| <a name="l00177"></a>00177 <span class="comment"> All the elements in each column are processed by the row operations */</span> |
| <a name="l00178"></a>00178 loopCnt = numCols; |
| <a name="l00179"></a>00179 |
| <a name="l00180"></a>00180 <span class="comment">/* Index modifier to navigate through the columns */</span> |
| <a name="l00181"></a>00181 l = 0u; |
| <a name="l00182"></a>00182 |
| <a name="l00183"></a>00183 <span class="keywordflow">while</span>(loopCnt > 0u) |
| <a name="l00184"></a>00184 { |
| <a name="l00185"></a>00185 <span class="comment">/* Check if the pivot element is zero.. </span> |
| <a name="l00186"></a>00186 <span class="comment"> * If it is zero then interchange the row with non zero row below. </span> |
| <a name="l00187"></a>00187 <span class="comment"> * If there is no non zero element to replace in the rows below, </span> |
| <a name="l00188"></a>00188 <span class="comment"> * then the matrix is Singular. */</span> |
| <a name="l00189"></a>00189 |
| <a name="l00190"></a>00190 <span class="comment">/* Working pointer for the input matrix that points </span> |
| <a name="l00191"></a>00191 <span class="comment"> * to the pivot element of the particular row */</span> |
| <a name="l00192"></a>00192 pInT1 = pIn + (l * numCols); |
| <a name="l00193"></a>00193 |
| <a name="l00194"></a>00194 <span class="comment">/* Working pointer for the destination matrix that points </span> |
| <a name="l00195"></a>00195 <span class="comment"> * to the pivot element of the particular row */</span> |
| <a name="l00196"></a>00196 pInT3 = pOut + (l * numCols); |
| <a name="l00197"></a>00197 |
| <a name="l00198"></a>00198 <span class="comment">/* Temporary variable to hold the pivot value */</span> |
| <a name="l00199"></a>00199 in = *pInT1; |
| <a name="l00200"></a>00200 |
| <a name="l00201"></a>00201 <span class="comment">/* Destination pointer modifier */</span> |
| <a name="l00202"></a>00202 k = 1u; |
| <a name="l00203"></a>00203 |
| <a name="l00204"></a>00204 <span class="comment">/* Check if the pivot element is zero */</span> |
| <a name="l00205"></a>00205 <span class="keywordflow">if</span>(*pInT1 == 0.0f) |
| <a name="l00206"></a>00206 { |
| <a name="l00207"></a>00207 <span class="comment">/* Loop over the number rows present below */</span> |
| <a name="l00208"></a>00208 i = numRows - (l + 1u); |
| <a name="l00209"></a>00209 |
| <a name="l00210"></a>00210 <span class="keywordflow">while</span>(i > 0u) |
| <a name="l00211"></a>00211 { |
| <a name="l00212"></a>00212 <span class="comment">/* Update the input and destination pointers */</span> |
| <a name="l00213"></a>00213 pInT2 = pInT1 + (numCols * l); |
| <a name="l00214"></a>00214 pInT4 = pInT3 + (numCols * k); |
| <a name="l00215"></a>00215 |
| <a name="l00216"></a>00216 <span class="comment">/* Check if there is a non zero pivot element to </span> |
| <a name="l00217"></a>00217 <span class="comment"> * replace in the rows below */</span> |
| <a name="l00218"></a>00218 <span class="keywordflow">if</span>(*pInT2 != 0.0f) |
| <a name="l00219"></a>00219 { |
| <a name="l00220"></a>00220 <span class="comment">/* Loop over number of columns </span> |
| <a name="l00221"></a>00221 <span class="comment"> * to the right of the pilot element */</span> |
| <a name="l00222"></a>00222 j = numCols - l; |
| <a name="l00223"></a>00223 |
| <a name="l00224"></a>00224 <span class="keywordflow">while</span>(j > 0u) |
| <a name="l00225"></a>00225 { |
| <a name="l00226"></a>00226 <span class="comment">/* Exchange the row elements of the input matrix */</span> |
| <a name="l00227"></a>00227 Xchg = *pInT2; |
| <a name="l00228"></a>00228 *pInT2++ = *pInT1; |
| <a name="l00229"></a>00229 *pInT1++ = Xchg; |
| <a name="l00230"></a>00230 |
| <a name="l00231"></a>00231 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00232"></a>00232 j--; |
| <a name="l00233"></a>00233 } |
| <a name="l00234"></a>00234 |
| <a name="l00235"></a>00235 <span class="comment">/* Loop over number of columns of the destination matrix */</span> |
| <a name="l00236"></a>00236 j = numCols; |
| <a name="l00237"></a>00237 |
| <a name="l00238"></a>00238 <span class="keywordflow">while</span>(j > 0u) |
| <a name="l00239"></a>00239 { |
| <a name="l00240"></a>00240 <span class="comment">/* Exchange the row elements of the destination matrix */</span> |
| <a name="l00241"></a>00241 Xchg = *pInT4; |
| <a name="l00242"></a>00242 *pInT4++ = *pInT3; |
| <a name="l00243"></a>00243 *pInT3++ = Xchg; |
| <a name="l00244"></a>00244 |
| <a name="l00245"></a>00245 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00246"></a>00246 j--; |
| <a name="l00247"></a>00247 } |
| <a name="l00248"></a>00248 |
| <a name="l00249"></a>00249 <span class="comment">/* Flag to indicate whether exchange is done or not */</span> |
| <a name="l00250"></a>00250 flag = 1u; |
| <a name="l00251"></a>00251 |
| <a name="l00252"></a>00252 <span class="comment">/* Break after exchange is done */</span> |
| <a name="l00253"></a>00253 <span class="keywordflow">break</span>; |
| <a name="l00254"></a>00254 } |
| <a name="l00255"></a>00255 |
| <a name="l00256"></a>00256 <span class="comment">/* Update the destination pointer modifier */</span> |
| <a name="l00257"></a>00257 k++; |
| <a name="l00258"></a>00258 |
| <a name="l00259"></a>00259 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00260"></a>00260 i--; |
| <a name="l00261"></a>00261 } |
| <a name="l00262"></a>00262 } |
| <a name="l00263"></a>00263 |
| <a name="l00264"></a>00264 <span class="comment">/* Update the status if the matrix is singular */</span> |
| <a name="l00265"></a>00265 <span class="keywordflow">if</span>((flag != 1u) && (in == 0.0f)) |
| <a name="l00266"></a>00266 { |
| <a name="l00267"></a>00267 status = <a class="code" href="arm__math_8h.html#a5e459c6409dfcd2927bb8a57491d7cf6a91509ea9c819dbd592ac13a6b05382dc">ARM_MATH_SINGULAR</a>; |
| <a name="l00268"></a>00268 |
| <a name="l00269"></a>00269 <span class="keywordflow">break</span>; |
| <a name="l00270"></a>00270 } |
| <a name="l00271"></a>00271 |
| <a name="l00272"></a>00272 <span class="comment">/* Points to the pivot row of input and destination matrices */</span> |
| <a name="l00273"></a>00273 pPivotRowIn = pIn + (l * numCols); |
| <a name="l00274"></a>00274 pPivotRowDst = pOut + (l * numCols); |
| <a name="l00275"></a>00275 |
| <a name="l00276"></a>00276 <span class="comment">/* Temporary pointers to the pivot row pointers */</span> |
| <a name="l00277"></a>00277 pInT1 = pPivotRowIn; |
| <a name="l00278"></a>00278 pInT2 = pPivotRowDst; |
| <a name="l00279"></a>00279 |
| <a name="l00280"></a>00280 <span class="comment">/* Pivot element of the row */</span> |
| <a name="l00281"></a>00281 in = *(pIn + (l * numCols)); |
| <a name="l00282"></a>00282 |
| <a name="l00283"></a>00283 <span class="comment">/* Loop over number of columns </span> |
| <a name="l00284"></a>00284 <span class="comment"> * to the right of the pilot element */</span> |
| <a name="l00285"></a>00285 j = (numCols - l); |
| <a name="l00286"></a>00286 |
| <a name="l00287"></a>00287 <span class="keywordflow">while</span>(j > 0u) |
| <a name="l00288"></a>00288 { |
| <a name="l00289"></a>00289 <span class="comment">/* Divide each element of the row of the input matrix </span> |
| <a name="l00290"></a>00290 <span class="comment"> * by the pivot element */</span> |
| <a name="l00291"></a>00291 in1 = *pInT1; |
| <a name="l00292"></a>00292 *pInT1++ = in1 / in; |
| <a name="l00293"></a>00293 |
| <a name="l00294"></a>00294 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00295"></a>00295 j--; |
| <a name="l00296"></a>00296 } |
| <a name="l00297"></a>00297 |
| <a name="l00298"></a>00298 <span class="comment">/* Loop over number of columns of the destination matrix */</span> |
| <a name="l00299"></a>00299 j = numCols; |
| <a name="l00300"></a>00300 |
| <a name="l00301"></a>00301 <span class="keywordflow">while</span>(j > 0u) |
| <a name="l00302"></a>00302 { |
| <a name="l00303"></a>00303 <span class="comment">/* Divide each element of the row of the destination matrix </span> |
| <a name="l00304"></a>00304 <span class="comment"> * by the pivot element */</span> |
| <a name="l00305"></a>00305 in1 = *pInT2; |
| <a name="l00306"></a>00306 *pInT2++ = in1 / in; |
| <a name="l00307"></a>00307 |
| <a name="l00308"></a>00308 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00309"></a>00309 j--; |
| <a name="l00310"></a>00310 } |
| <a name="l00311"></a>00311 |
| <a name="l00312"></a>00312 <span class="comment">/* Replace the rows with the sum of that row and a multiple of row i </span> |
| <a name="l00313"></a>00313 <span class="comment"> * so that each new element in column i above row i is zero.*/</span> |
| <a name="l00314"></a>00314 |
| <a name="l00315"></a>00315 <span class="comment">/* Temporary pointers for input and destination matrices */</span> |
| <a name="l00316"></a>00316 pInT1 = pIn; |
| <a name="l00317"></a>00317 pInT2 = pOut; |
| <a name="l00318"></a>00318 |
| <a name="l00319"></a>00319 <span class="comment">/* index used to check for pivot element */</span> |
| <a name="l00320"></a>00320 i = 0u; |
| <a name="l00321"></a>00321 |
| <a name="l00322"></a>00322 <span class="comment">/* Loop over number of rows */</span> |
| <a name="l00323"></a>00323 <span class="comment">/* to be replaced by the sum of that row and a multiple of row i */</span> |
| <a name="l00324"></a>00324 k = numRows; |
| <a name="l00325"></a>00325 |
| <a name="l00326"></a>00326 <span class="keywordflow">while</span>(k > 0u) |
| <a name="l00327"></a>00327 { |
| <a name="l00328"></a>00328 <span class="comment">/* Check for the pivot element */</span> |
| <a name="l00329"></a>00329 <span class="keywordflow">if</span>(i == l) |
| <a name="l00330"></a>00330 { |
| <a name="l00331"></a>00331 <span class="comment">/* If the processing element is the pivot element, </span> |
| <a name="l00332"></a>00332 <span class="comment"> only the columns to the right are to be processed */</span> |
| <a name="l00333"></a>00333 pInT1 += numCols - l; |
| <a name="l00334"></a>00334 |
| <a name="l00335"></a>00335 pInT2 += numCols; |
| <a name="l00336"></a>00336 } |
| <a name="l00337"></a>00337 <span class="keywordflow">else</span> |
| <a name="l00338"></a>00338 { |
| <a name="l00339"></a>00339 <span class="comment">/* Element of the reference row */</span> |
| <a name="l00340"></a>00340 in = *pInT1; |
| <a name="l00341"></a>00341 |
| <a name="l00342"></a>00342 <span class="comment">/* Working pointers for input and destination pivot rows */</span> |
| <a name="l00343"></a>00343 pPRT_in = pPivotRowIn; |
| <a name="l00344"></a>00344 pPRT_pDst = pPivotRowDst; |
| <a name="l00345"></a>00345 |
| <a name="l00346"></a>00346 <span class="comment">/* Loop over the number of columns to the right of the pivot element, </span> |
| <a name="l00347"></a>00347 <span class="comment"> to replace the elements in the input matrix */</span> |
| <a name="l00348"></a>00348 j = (numCols - l); |
| <a name="l00349"></a>00349 |
| <a name="l00350"></a>00350 <span class="keywordflow">while</span>(j > 0u) |
| <a name="l00351"></a>00351 { |
| <a name="l00352"></a>00352 <span class="comment">/* Replace the element by the sum of that row </span> |
| <a name="l00353"></a>00353 <span class="comment"> and a multiple of the reference row */</span> |
| <a name="l00354"></a>00354 in1 = *pInT1; |
| <a name="l00355"></a>00355 *pInT1++ = in1 - (in * *pPRT_in++); |
| <a name="l00356"></a>00356 |
| <a name="l00357"></a>00357 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00358"></a>00358 j--; |
| <a name="l00359"></a>00359 } |
| <a name="l00360"></a>00360 |
| <a name="l00361"></a>00361 <span class="comment">/* Loop over the number of columns to </span> |
| <a name="l00362"></a>00362 <span class="comment"> replace the elements in the destination matrix */</span> |
| <a name="l00363"></a>00363 j = numCols; |
| <a name="l00364"></a>00364 |
| <a name="l00365"></a>00365 <span class="keywordflow">while</span>(j > 0u) |
| <a name="l00366"></a>00366 { |
| <a name="l00367"></a>00367 <span class="comment">/* Replace the element by the sum of that row </span> |
| <a name="l00368"></a>00368 <span class="comment"> and a multiple of the reference row */</span> |
| <a name="l00369"></a>00369 in1 = *pInT2; |
| <a name="l00370"></a>00370 *pInT2++ = in1 - (in * *pPRT_pDst++); |
| <a name="l00371"></a>00371 |
| <a name="l00372"></a>00372 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00373"></a>00373 j--; |
| <a name="l00374"></a>00374 } |
| <a name="l00375"></a>00375 |
| <a name="l00376"></a>00376 } |
| <a name="l00377"></a>00377 |
| <a name="l00378"></a>00378 <span class="comment">/* Increment the temporary input pointer */</span> |
| <a name="l00379"></a>00379 pInT1 = pInT1 + l; |
| <a name="l00380"></a>00380 |
| <a name="l00381"></a>00381 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00382"></a>00382 k--; |
| <a name="l00383"></a>00383 |
| <a name="l00384"></a>00384 <span class="comment">/* Increment the pivot index */</span> |
| <a name="l00385"></a>00385 i++; |
| <a name="l00386"></a>00386 } |
| <a name="l00387"></a>00387 |
| <a name="l00388"></a>00388 <span class="comment">/* Increment the input pointer */</span> |
| <a name="l00389"></a>00389 pIn++; |
| <a name="l00390"></a>00390 |
| <a name="l00391"></a>00391 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00392"></a>00392 loopCnt--; |
| <a name="l00393"></a>00393 |
| <a name="l00394"></a>00394 <span class="comment">/* Increment the index modifier */</span> |
| <a name="l00395"></a>00395 l++; |
| <a name="l00396"></a>00396 } |
| <a name="l00397"></a>00397 |
| <a name="l00398"></a>00398 |
| <a name="l00399"></a>00399 <span class="preprocessor">#else</span> |
| <a name="l00400"></a>00400 <span class="preprocessor"></span> |
| <a name="l00401"></a>00401 <span class="comment">/* Run the below code for Cortex-M0 */</span> |
| <a name="l00402"></a>00402 |
| <a name="l00403"></a>00403 <a class="code" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715" title="32-bit floating-point type definition.">float32_t</a> Xchg, in = 0.0f; <span class="comment">/* Temporary input values */</span> |
| <a name="l00404"></a>00404 uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l; <span class="comment">/* loop counters */</span> |
| <a name="l00405"></a>00405 <a class="code" href="arm__math_8h.html#a5e459c6409dfcd2927bb8a57491d7cf6" title="Error status returned by some functions in the library.">arm_status</a> <a class="code" href="arm__dotproduct__example__f32_8c.html#a88ccb294236ab22b00310c47164c53c3">status</a>; <span class="comment">/* status of matrix inverse */</span> |
| <a name="l00406"></a>00406 |
| <a name="l00407"></a>00407 <span class="preprocessor">#ifdef ARM_MATH_MATRIX_CHECK</span> |
| <a name="l00408"></a>00408 <span class="preprocessor"></span> |
| <a name="l00409"></a>00409 <span class="comment">/* Check for matrix mismatch condition */</span> |
| <a name="l00410"></a>00410 <span class="keywordflow">if</span>((pSrc-><a class="code" href="structarm__matrix__instance__f32.html#a23f4e34d70a82c9cad7612add5640b7b">numRows</a> != pSrc-><a class="code" href="structarm__matrix__instance__f32.html#acdd1fb73734df68b89565c54f1dd8ae2">numCols</a>) || (pDst-><a class="code" href="structarm__matrix__instance__f32.html#a23f4e34d70a82c9cad7612add5640b7b">numRows</a> != pDst-><a class="code" href="structarm__matrix__instance__f32.html#acdd1fb73734df68b89565c54f1dd8ae2">numCols</a>) |
| <a name="l00411"></a>00411 || (pSrc-><a class="code" href="structarm__matrix__instance__f32.html#a23f4e34d70a82c9cad7612add5640b7b">numRows</a> != pDst-><a class="code" href="structarm__matrix__instance__f32.html#a23f4e34d70a82c9cad7612add5640b7b">numRows</a>)) |
| <a name="l00412"></a>00412 { |
| <a name="l00413"></a>00413 <span class="comment">/* Set status as ARM_MATH_SIZE_MISMATCH */</span> |
| <a name="l00414"></a>00414 status = <a class="code" href="arm__math_8h.html#a5e459c6409dfcd2927bb8a57491d7cf6a7071b92f1f6bc3c5c312a237ea91105b">ARM_MATH_SIZE_MISMATCH</a>; |
| <a name="l00415"></a>00415 } |
| <a name="l00416"></a>00416 <span class="keywordflow">else</span> |
| <a name="l00417"></a>00417 <span class="preprocessor">#endif </span><span class="comment">/* #ifdef ARM_MATH_MATRIX_CHECK */</span> |
| <a name="l00418"></a>00418 { |
| <a name="l00419"></a>00419 |
| <a name="l00420"></a>00420 <span class="comment">/*-------------------------------------------------------------------------------------------------------------- </span> |
| <a name="l00421"></a>00421 <span class="comment"> * Matrix Inverse can be solved using elementary row operations. </span> |
| <a name="l00422"></a>00422 <span class="comment"> * </span> |
| <a name="l00423"></a>00423 <span class="comment"> * Gauss-Jordan Method: </span> |
| <a name="l00424"></a>00424 <span class="comment"> * </span> |
| <a name="l00425"></a>00425 <span class="comment"> * 1. First combine the identity matrix and the input matrix separated by a bar to form an </span> |
| <a name="l00426"></a>00426 <span class="comment"> * augmented matrix as follows: </span> |
| <a name="l00427"></a>00427 <span class="comment"> * _ _ _ _ _ _ _ _ </span> |
| <a name="l00428"></a>00428 <span class="comment"> * | | a11 a12 | | | 1 0 | | | X11 X12 | </span> |
| <a name="l00429"></a>00429 <span class="comment"> * | | | | | | | = | | </span> |
| <a name="l00430"></a>00430 <span class="comment"> * |_ |_ a21 a22 _| | |_0 1 _| _| |_ X21 X21 _| </span> |
| <a name="l00431"></a>00431 <span class="comment"> * </span> |
| <a name="l00432"></a>00432 <span class="comment"> * 2. In our implementation, pDst Matrix is used as identity matrix. </span> |
| <a name="l00433"></a>00433 <span class="comment"> * </span> |
| <a name="l00434"></a>00434 <span class="comment"> * 3. Begin with the first row. Let i = 1. </span> |
| <a name="l00435"></a>00435 <span class="comment"> * </span> |
| <a name="l00436"></a>00436 <span class="comment"> * 4. Check to see if the pivot for row i is zero. </span> |
| <a name="l00437"></a>00437 <span class="comment"> * The pivot is the element of the main diagonal that is on the current row. </span> |
| <a name="l00438"></a>00438 <span class="comment"> * For instance, if working with row i, then the pivot element is aii. </span> |
| <a name="l00439"></a>00439 <span class="comment"> * If the pivot is zero, exchange that row with a row below it that does not </span> |
| <a name="l00440"></a>00440 <span class="comment"> * contain a zero in column i. If this is not possible, then an inverse </span> |
| <a name="l00441"></a>00441 <span class="comment"> * to that matrix does not exist. </span> |
| <a name="l00442"></a>00442 <span class="comment"> * </span> |
| <a name="l00443"></a>00443 <span class="comment"> * 5. Divide every element of row i by the pivot. </span> |
| <a name="l00444"></a>00444 <span class="comment"> * </span> |
| <a name="l00445"></a>00445 <span class="comment"> * 6. For every row below and row i, replace that row with the sum of that row and </span> |
| <a name="l00446"></a>00446 <span class="comment"> * a multiple of row i so that each new element in column i below row i is zero. </span> |
| <a name="l00447"></a>00447 <span class="comment"> * </span> |
| <a name="l00448"></a>00448 <span class="comment"> * 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros </span> |
| <a name="l00449"></a>00449 <span class="comment"> * for every element below and above the main diagonal. </span> |
| <a name="l00450"></a>00450 <span class="comment"> * </span> |
| <a name="l00451"></a>00451 <span class="comment"> * 8. Now an identical matrix is formed to the left of the bar(input matrix, src). </span> |
| <a name="l00452"></a>00452 <span class="comment"> * Therefore, the matrix to the right of the bar is our solution(dst matrix, dst). </span> |
| <a name="l00453"></a>00453 <span class="comment"> *----------------------------------------------------------------------------------------------------------------*/</span> |
| <a name="l00454"></a>00454 |
| <a name="l00455"></a>00455 <span class="comment">/* Working pointer for destination matrix */</span> |
| <a name="l00456"></a>00456 pInT2 = pOut; |
| <a name="l00457"></a>00457 |
| <a name="l00458"></a>00458 <span class="comment">/* Loop over the number of rows */</span> |
| <a name="l00459"></a>00459 rowCnt = numRows; |
| <a name="l00460"></a>00460 |
| <a name="l00461"></a>00461 <span class="comment">/* Making the destination matrix as identity matrix */</span> |
| <a name="l00462"></a>00462 <span class="keywordflow">while</span>(rowCnt > 0u) |
| <a name="l00463"></a>00463 { |
| <a name="l00464"></a>00464 <span class="comment">/* Writing all zeroes in lower triangle of the destination matrix */</span> |
| <a name="l00465"></a>00465 j = numRows - rowCnt; |
| <a name="l00466"></a>00466 <span class="keywordflow">while</span>(j > 0u) |
| <a name="l00467"></a>00467 { |
| <a name="l00468"></a>00468 *pInT2++ = 0.0f; |
| <a name="l00469"></a>00469 j--; |
| <a name="l00470"></a>00470 } |
| <a name="l00471"></a>00471 |
| <a name="l00472"></a>00472 <span class="comment">/* Writing all ones in the diagonal of the destination matrix */</span> |
| <a name="l00473"></a>00473 *pInT2++ = 1.0f; |
| <a name="l00474"></a>00474 |
| <a name="l00475"></a>00475 <span class="comment">/* Writing all zeroes in upper triangle of the destination matrix */</span> |
| <a name="l00476"></a>00476 j = rowCnt - 1u; |
| <a name="l00477"></a>00477 <span class="keywordflow">while</span>(j > 0u) |
| <a name="l00478"></a>00478 { |
| <a name="l00479"></a>00479 *pInT2++ = 0.0f; |
| <a name="l00480"></a>00480 j--; |
| <a name="l00481"></a>00481 } |
| <a name="l00482"></a>00482 |
| <a name="l00483"></a>00483 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00484"></a>00484 rowCnt--; |
| <a name="l00485"></a>00485 } |
| <a name="l00486"></a>00486 |
| <a name="l00487"></a>00487 <span class="comment">/* Loop over the number of columns of the input matrix. </span> |
| <a name="l00488"></a>00488 <span class="comment"> All the elements in each column are processed by the row operations */</span> |
| <a name="l00489"></a>00489 loopCnt = numCols; |
| <a name="l00490"></a>00490 |
| <a name="l00491"></a>00491 <span class="comment">/* Index modifier to navigate through the columns */</span> |
| <a name="l00492"></a>00492 l = 0u; |
| <a name="l00493"></a>00493 <span class="comment">//for(loopCnt = 0u; loopCnt < numCols; loopCnt++) </span> |
| <a name="l00494"></a>00494 <span class="keywordflow">while</span>(loopCnt > 0u) |
| <a name="l00495"></a>00495 { |
| <a name="l00496"></a>00496 <span class="comment">/* Check if the pivot element is zero.. </span> |
| <a name="l00497"></a>00497 <span class="comment"> * If it is zero then interchange the row with non zero row below. </span> |
| <a name="l00498"></a>00498 <span class="comment"> * If there is no non zero element to replace in the rows below, </span> |
| <a name="l00499"></a>00499 <span class="comment"> * then the matrix is Singular. */</span> |
| <a name="l00500"></a>00500 |
| <a name="l00501"></a>00501 <span class="comment">/* Working pointer for the input matrix that points </span> |
| <a name="l00502"></a>00502 <span class="comment"> * to the pivot element of the particular row */</span> |
| <a name="l00503"></a>00503 pInT1 = pIn + (l * numCols); |
| <a name="l00504"></a>00504 |
| <a name="l00505"></a>00505 <span class="comment">/* Working pointer for the destination matrix that points </span> |
| <a name="l00506"></a>00506 <span class="comment"> * to the pivot element of the particular row */</span> |
| <a name="l00507"></a>00507 pInT3 = pOut + (l * numCols); |
| <a name="l00508"></a>00508 |
| <a name="l00509"></a>00509 <span class="comment">/* Temporary variable to hold the pivot value */</span> |
| <a name="l00510"></a>00510 in = *pInT1; |
| <a name="l00511"></a>00511 |
| <a name="l00512"></a>00512 <span class="comment">/* Destination pointer modifier */</span> |
| <a name="l00513"></a>00513 k = 1u; |
| <a name="l00514"></a>00514 |
| <a name="l00515"></a>00515 <span class="comment">/* Check if the pivot element is zero */</span> |
| <a name="l00516"></a>00516 <span class="keywordflow">if</span>(*pInT1 == 0.0f) |
| <a name="l00517"></a>00517 { |
| <a name="l00518"></a>00518 <span class="comment">/* Loop over the number rows present below */</span> |
| <a name="l00519"></a>00519 <span class="keywordflow">for</span> (i = (l + 1u); i < numRows; i++) |
| <a name="l00520"></a>00520 { |
| <a name="l00521"></a>00521 <span class="comment">/* Update the input and destination pointers */</span> |
| <a name="l00522"></a>00522 pInT2 = pInT1 + (numCols * l); |
| <a name="l00523"></a>00523 pInT4 = pInT3 + (numCols * k); |
| <a name="l00524"></a>00524 |
| <a name="l00525"></a>00525 <span class="comment">/* Check if there is a non zero pivot element to </span> |
| <a name="l00526"></a>00526 <span class="comment"> * replace in the rows below */</span> |
| <a name="l00527"></a>00527 <span class="keywordflow">if</span>(*pInT2 != 0.0f) |
| <a name="l00528"></a>00528 { |
| <a name="l00529"></a>00529 <span class="comment">/* Loop over number of columns </span> |
| <a name="l00530"></a>00530 <span class="comment"> * to the right of the pilot element */</span> |
| <a name="l00531"></a>00531 <span class="keywordflow">for</span> (j = 0u; j < (numCols - l); j++) |
| <a name="l00532"></a>00532 { |
| <a name="l00533"></a>00533 <span class="comment">/* Exchange the row elements of the input matrix */</span> |
| <a name="l00534"></a>00534 Xchg = *pInT2; |
| <a name="l00535"></a>00535 *pInT2++ = *pInT1; |
| <a name="l00536"></a>00536 *pInT1++ = Xchg; |
| <a name="l00537"></a>00537 } |
| <a name="l00538"></a>00538 |
| <a name="l00539"></a>00539 <span class="keywordflow">for</span> (j = 0u; j < numCols; j++) |
| <a name="l00540"></a>00540 { |
| <a name="l00541"></a>00541 Xchg = *pInT4; |
| <a name="l00542"></a>00542 *pInT4++ = *pInT3; |
| <a name="l00543"></a>00543 *pInT3++ = Xchg; |
| <a name="l00544"></a>00544 } |
| <a name="l00545"></a>00545 |
| <a name="l00546"></a>00546 <span class="comment">/* Flag to indicate whether exchange is done or not */</span> |
| <a name="l00547"></a>00547 flag = 1u; |
| <a name="l00548"></a>00548 |
| <a name="l00549"></a>00549 <span class="comment">/* Break after exchange is done */</span> |
| <a name="l00550"></a>00550 <span class="keywordflow">break</span>; |
| <a name="l00551"></a>00551 } |
| <a name="l00552"></a>00552 |
| <a name="l00553"></a>00553 <span class="comment">/* Update the destination pointer modifier */</span> |
| <a name="l00554"></a>00554 k++; |
| <a name="l00555"></a>00555 } |
| <a name="l00556"></a>00556 } |
| <a name="l00557"></a>00557 |
| <a name="l00558"></a>00558 <span class="comment">/* Update the status if the matrix is singular */</span> |
| <a name="l00559"></a>00559 <span class="keywordflow">if</span>((flag != 1u) && (in == 0.0f)) |
| <a name="l00560"></a>00560 { |
| <a name="l00561"></a>00561 status = <a class="code" href="arm__math_8h.html#a5e459c6409dfcd2927bb8a57491d7cf6a91509ea9c819dbd592ac13a6b05382dc">ARM_MATH_SINGULAR</a>; |
| <a name="l00562"></a>00562 |
| <a name="l00563"></a>00563 <span class="keywordflow">break</span>; |
| <a name="l00564"></a>00564 } |
| <a name="l00565"></a>00565 |
| <a name="l00566"></a>00566 <span class="comment">/* Points to the pivot row of input and destination matrices */</span> |
| <a name="l00567"></a>00567 pPivotRowIn = pIn + (l * numCols); |
| <a name="l00568"></a>00568 pPivotRowDst = pOut + (l * numCols); |
| <a name="l00569"></a>00569 |
| <a name="l00570"></a>00570 <span class="comment">/* Temporary pointers to the pivot row pointers */</span> |
| <a name="l00571"></a>00571 pInT1 = pPivotRowIn; |
| <a name="l00572"></a>00572 pInT2 = pPivotRowDst; |
| <a name="l00573"></a>00573 |
| <a name="l00574"></a>00574 <span class="comment">/* Pivot element of the row */</span> |
| <a name="l00575"></a>00575 in = *(pIn + (l * numCols)); |
| <a name="l00576"></a>00576 |
| <a name="l00577"></a>00577 <span class="comment">/* Loop over number of columns </span> |
| <a name="l00578"></a>00578 <span class="comment"> * to the right of the pilot element */</span> |
| <a name="l00579"></a>00579 <span class="keywordflow">for</span> (j = 0u; j < (numCols - l); j++) |
| <a name="l00580"></a>00580 { |
| <a name="l00581"></a>00581 <span class="comment">/* Divide each element of the row of the input matrix </span> |
| <a name="l00582"></a>00582 <span class="comment"> * by the pivot element */</span> |
| <a name="l00583"></a>00583 *pInT1++ = *pInT1 / in; |
| <a name="l00584"></a>00584 } |
| <a name="l00585"></a>00585 <span class="keywordflow">for</span> (j = 0u; j < numCols; j++) |
| <a name="l00586"></a>00586 { |
| <a name="l00587"></a>00587 <span class="comment">/* Divide each element of the row of the destination matrix </span> |
| <a name="l00588"></a>00588 <span class="comment"> * by the pivot element */</span> |
| <a name="l00589"></a>00589 *pInT2++ = *pInT2 / in; |
| <a name="l00590"></a>00590 } |
| <a name="l00591"></a>00591 |
| <a name="l00592"></a>00592 <span class="comment">/* Replace the rows with the sum of that row and a multiple of row i </span> |
| <a name="l00593"></a>00593 <span class="comment"> * so that each new element in column i above row i is zero.*/</span> |
| <a name="l00594"></a>00594 |
| <a name="l00595"></a>00595 <span class="comment">/* Temporary pointers for input and destination matrices */</span> |
| <a name="l00596"></a>00596 pInT1 = pIn; |
| <a name="l00597"></a>00597 pInT2 = pOut; |
| <a name="l00598"></a>00598 |
| <a name="l00599"></a>00599 <span class="keywordflow">for</span> (i = 0u; i < numRows; i++) |
| <a name="l00600"></a>00600 { |
| <a name="l00601"></a>00601 <span class="comment">/* Check for the pivot element */</span> |
| <a name="l00602"></a>00602 <span class="keywordflow">if</span>(i == l) |
| <a name="l00603"></a>00603 { |
| <a name="l00604"></a>00604 <span class="comment">/* If the processing element is the pivot element, </span> |
| <a name="l00605"></a>00605 <span class="comment"> only the columns to the right are to be processed */</span> |
| <a name="l00606"></a>00606 pInT1 += numCols - l; |
| <a name="l00607"></a>00607 pInT2 += numCols; |
| <a name="l00608"></a>00608 } |
| <a name="l00609"></a>00609 <span class="keywordflow">else</span> |
| <a name="l00610"></a>00610 { |
| <a name="l00611"></a>00611 <span class="comment">/* Element of the reference row */</span> |
| <a name="l00612"></a>00612 in = *pInT1; |
| <a name="l00613"></a>00613 |
| <a name="l00614"></a>00614 <span class="comment">/* Working pointers for input and destination pivot rows */</span> |
| <a name="l00615"></a>00615 pPRT_in = pPivotRowIn; |
| <a name="l00616"></a>00616 pPRT_pDst = pPivotRowDst; |
| <a name="l00617"></a>00617 |
| <a name="l00618"></a>00618 <span class="comment">/* Loop over the number of columns to the right of the pivot element, </span> |
| <a name="l00619"></a>00619 <span class="comment"> to replace the elements in the input matrix */</span> |
| <a name="l00620"></a>00620 <span class="keywordflow">for</span> (j = 0u; j < (numCols - l); j++) |
| <a name="l00621"></a>00621 { |
| <a name="l00622"></a>00622 <span class="comment">/* Replace the element by the sum of that row </span> |
| <a name="l00623"></a>00623 <span class="comment"> and a multiple of the reference row */</span> |
| <a name="l00624"></a>00624 *pInT1++ = *pInT1 - (in * *pPRT_in++); |
| <a name="l00625"></a>00625 } |
| <a name="l00626"></a>00626 <span class="comment">/* Loop over the number of columns to </span> |
| <a name="l00627"></a>00627 <span class="comment"> replace the elements in the destination matrix */</span> |
| <a name="l00628"></a>00628 <span class="keywordflow">for</span> (j = 0u; j < numCols; j++) |
| <a name="l00629"></a>00629 { |
| <a name="l00630"></a>00630 <span class="comment">/* Replace the element by the sum of that row </span> |
| <a name="l00631"></a>00631 <span class="comment"> and a multiple of the reference row */</span> |
| <a name="l00632"></a>00632 *pInT2++ = *pInT2 - (in * *pPRT_pDst++); |
| <a name="l00633"></a>00633 } |
| <a name="l00634"></a>00634 |
| <a name="l00635"></a>00635 } |
| <a name="l00636"></a>00636 <span class="comment">/* Increment the temporary input pointer */</span> |
| <a name="l00637"></a>00637 pInT1 = pInT1 + l; |
| <a name="l00638"></a>00638 } |
| <a name="l00639"></a>00639 <span class="comment">/* Increment the input pointer */</span> |
| <a name="l00640"></a>00640 pIn++; |
| <a name="l00641"></a>00641 |
| <a name="l00642"></a>00642 <span class="comment">/* Decrement the loop counter */</span> |
| <a name="l00643"></a>00643 loopCnt--; |
| <a name="l00644"></a>00644 <span class="comment">/* Increment the index modifier */</span> |
| <a name="l00645"></a>00645 l++; |
| <a name="l00646"></a>00646 } |
| <a name="l00647"></a>00647 |
| <a name="l00648"></a>00648 |
| <a name="l00649"></a>00649 <span class="preprocessor">#endif </span><span class="comment">/* #ifndef ARM_MATH_CM0 */</span> |
| <a name="l00650"></a>00650 |
| <a name="l00651"></a>00651 <span class="comment">/* Set status as ARM_MATH_SUCCESS */</span> |
| <a name="l00652"></a>00652 status = <a class="code" href="arm__math_8h.html#a5e459c6409dfcd2927bb8a57491d7cf6a9f8b2a10bd827fb4600e77d455902eb0">ARM_MATH_SUCCESS</a>; |
| <a name="l00653"></a>00653 |
| <a name="l00654"></a>00654 <span class="keywordflow">if</span>((flag != 1u) && (in == 0.0f)) |
| <a name="l00655"></a>00655 { |
| <a name="l00656"></a>00656 status = <a class="code" href="arm__math_8h.html#a5e459c6409dfcd2927bb8a57491d7cf6a91509ea9c819dbd592ac13a6b05382dc">ARM_MATH_SINGULAR</a>; |
| <a name="l00657"></a>00657 } |
| <a name="l00658"></a>00658 } |
| <a name="l00659"></a>00659 <span class="comment">/* Return to application */</span> |
| <a name="l00660"></a>00660 <span class="keywordflow">return</span> (status); |
| <a name="l00661"></a>00661 } |
| <a name="l00662"></a>00662 |
| </pre></div></div> |
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