RcdMathLib_doc
Open Source Library for Linear and Non-linear Algebra
dist_based_jacobian.h
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1 /*
2  * Copyright (C) 2020 Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
3  * 2020 Freie Universität Berlin
4  *
5  * This file is subject to the terms and conditions of the GNU Lesser General
6  * Public License v2.1. See the file LICENSE in the top level directory for more
7  * details.
8  */
9 
23 #ifndef DIST_BASED_JACOBIAN_H_
24 #define DIST_BASED_JACOBIAN_H_
25 
26 #include "matrix.h"
27 #include "vector.h"
28 
41 void dist_based_jacobian_get_JTf(uint8_t ref_points_num,
42  matrix_t ref_point_matrix[ref_points_num][3],
43  matrix_t point[3],
44  matrix_t dist_vec[ref_points_num],
45  vector_t JTf[3]);
46 
60 void dist_based_jacobian_get_JTJ(uint8_t ref_points_num,
61  matrix_t ref_point_matrix[ref_points_num][3],
62  matrix_t point[3],
63  matrix_t dist_vec[ref_points_num],
64  matrix_t JTJ[3][3]);
65 
78 void dist_based_jacobian_get_J_mul_s(uint8_t ref_points_num,
79  matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3],
80  matrix_t s[3], matrix_t J_s[ref_points_num]);
81 
92 void dist_based_jacobian_get_J(uint8_t ref_points_num, matrix_t point[3],
93  matrix_t ref_point_matrix[ref_points_num][3],
94  matrix_t J[ref_points_num][3]);
95 
96 #endif /* DIST_BASED_JACOBIAN_H_ */
dist_based_jacobian_get_J
void dist_based_jacobian_get_J(uint8_t ref_points_num, matrix_t point[3], matrix_t ref_point_matrix[ref_points_num][3], matrix_t J[ref_points_num][3])
Computes the Jacobian matrix of distance-based localization system.
Definition: dist_based_jacobian.c:100
vector_t
#define vector_t
Define the data type of the vector elements.
Definition: vector.h:33
matrix.h
Matrix computations.
dist_based_jacobian_get_JTJ
void dist_based_jacobian_get_JTJ(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t dist_vec[ref_points_num], matrix_t JTJ[3][3])
Defines of distance-based localization system.
Definition: dist_based_jacobian.c:56
dist_based_jacobian_get_JTf
void dist_based_jacobian_get_JTf(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t dist_vec[ref_points_num], vector_t JTf[3])
Defines of distance-based localization system.
Definition: dist_based_jacobian.c:28
matrix_t
#define matrix_t
Define the data type of the matrix elements.
Definition: matrix.h:38
vector.h
Vector computations.
dist_based_jacobian_get_J_mul_s
void dist_based_jacobian_get_J_mul_s(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t s[3], matrix_t J_s[ref_points_num])
Computes of distance-based localization system.
Definition: dist_based_jacobian.c:132