matrix_alg.cpp File Reference

Matrix algebra on raw arrays. More...

#include "matrix_alg.h"
#include <px4_platform_common/defines.h>

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Functions
float *	mat_mul (float *A, float *B, uint8_t n)
static void	swap (float &a, float &b)
static void	mat_pivot (float *A, float *pivot, uint8_t n)
static void	mat_forward_sub (float *L, float *out, uint8_t n)
static void	mat_back_sub (float *U, float *out, uint8_t n)
static void	mat_LU_decompose (float *A, float *L, float *U, float *P, uint8_t n)
bool	mat_inverse (float *A, float *inv, uint8_t n)
bool	inverse4x4 (float m[], float invOut[])

Detailed Description

Matrix algebra on raw arrays.

Definition in file matrix_alg.cpp.

Function Documentation

inverse4x4()

bool inverse4x4	(	float	m[],
		float	invOut[]
	)

Definition at line 260 of file matrix_alg.cpp.

References f(), and matrix::inv().

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mat_back_sub()

static void mat_back_sub ( float *  U, float *  out, uint8_t  n  )

static

Definition at line 143 of file matrix_alg.cpp.

Referenced by mat_inverse().

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mat_forward_sub()

static void mat_forward_sub ( float *  L, float *  out, uint8_t  n  )

static

Definition at line 119 of file matrix_alg.cpp.

Referenced by mat_inverse().

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mat_inverse()

bool mat_inverse	(	float *	A,
		float *	inv,
		uint8_t	n
	)

Definition at line 215 of file matrix_alg.cpp.

References mat_back_sub(), mat_forward_sub(), mat_LU_decompose(), mat_mul(), and P.

Referenced by run_lm_ellipsoid_fit().

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mat_LU_decompose()

static void mat_LU_decompose ( float *  A, float *  L, float *  U, float *  P, uint8_t  n  )

static

Definition at line 168 of file matrix_alg.cpp.

References mat_mul(), and mat_pivot().

Referenced by mat_inverse().

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mat_mul()

float* mat_mul	(	float *	A,
		float *	B,
		uint8_t	n
	)

Definition at line 53 of file matrix_alg.cpp.

References f().

Referenced by mat_inverse(), and mat_LU_decompose().

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mat_pivot()

static void mat_pivot ( float *  A, float *  pivot, uint8_t  n  )

static

Definition at line 86 of file matrix_alg.cpp.

References swap().

Referenced by mat_LU_decompose().

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swap()

static void swap ( float &  a, float &  b  )

inlinestatic

Definition at line 69 of file matrix_alg.cpp.

Referenced by mat_pivot().

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