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RcdMathLib_doc
Open Source Library for Linear and Non-linear Algebra
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Jacobian function of DC-pulsed, magnetic localization system. More...
#include <math.h>#include <string.h>#include <stdio.h>#include <stdlib.h>#include "magnetic_based_fi.h"#include "magnetic_based_position.h"#include "matrix.h"Go to the source code of this file.
Functions | |
| void | magnetic_based_jacobian_get_J (uint8_t ref_point_num, matrix_t ref_point_matrix[ref_point_num][3], matrix_t point[], matrix_t J[ref_point_num][3]) |
| Computes the Jacobian matrix of magnetic-based localization system. More... | |
| void | magnetic_based_jacobian_get_JTJ (uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t *unused, matrix_t JTJ[3][3]) |
Defines of magnetic-based localization system. More... | |
| void | magnetic_based_jacobian_get_JTf (uint8_t ref_points_num, matrix_t ref_points_matrix[ref_points_num][3], matrix_t point[3], matrix_t Bi_vec[ref_points_num], matrix_t JTf[3]) |
Defines of magnetic-based localization system. More... | |
| void | magnetic_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 magnetic-based localization system. More... | |
Jacobian function of DC-pulsed, magnetic localization system.
Definition in file magnetic_based_jacobian.c.
| void magnetic_based_jacobian_get_J | ( | uint8_t | ref_point_num, |
| matrix_t | ref_point_matrix[ref_point_num][3], | ||
| matrix_t | point[], | ||
| matrix_t | J[ref_point_num][3] | ||
| ) |
Computes the Jacobian matrix of magnetic-based localization system.
| [in] | ref_point_num | number of the reference stations. |
| [in] | ref_point_matrix[][] | three-dimensional coordinates of the reference stations. |
| [in] | point[] | three-dimensional coordinates of the mobile device. |
| [in,out] | J[][] | includes the Jacobian Matrix. |
Definition at line 32 of file magnetic_based_jacobian.c.
Referenced by magnetic_based_jacobian_get_JTf(), and magnetic_based_jacobian_get_JTJ().
| void magnetic_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 magnetic-based localization system.
Where
is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
| [in] | ref_points_num | number of the reference stations. |
| [in] | ref_point_matrix[][] | three-dimensional coordinates of the reference stations. |
| [in] | point[] | three-dimensional coordinates of the mobile device. |
| [in] | s[] | correction vector. |
| [in,out] | J_s[] | includes the vector. |
Definition at line 130 of file magnetic_based_jacobian.c.
| void magnetic_based_jacobian_get_JTf | ( | uint8_t | ref_points_num, |
| matrix_t | ref_points_matrix[ref_points_num][3], | ||
| matrix_t | point[3], | ||
| matrix_t | Bi_vec[ref_points_num], | ||
| matrix_t | JTf[3] | ||
| ) |
Defines
of magnetic-based localization system.
Where
is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
| [in] | ref_points_num | number of the reference stations. |
| [in] | ref_points_matrix[][] | three-dimensional coordinates of the reference stations. |
| [in] | point[] | three-dimensional coordinates of the mobile device. |
| [in] | Bi_vec[] | magnetic field strengths of the coils (reference stations). |
| [in,out] | JTf[] | includes the vector. |
Definition at line 112 of file magnetic_based_jacobian.c.
References magnetic_based_f_i(), magnetic_based_jacobian_get_J(), matrix_t, and matrix_trans_mul_vec().
| void magnetic_based_jacobian_get_JTJ | ( | uint8_t | ref_points_num, |
| matrix_t | ref_point_matrix[ref_points_num][3], | ||
| matrix_t | point[3], | ||
| matrix_t * | unused, | ||
| matrix_t | JTJ[3][3] | ||
| ) |
Defines
of magnetic-based localization system.
Where
is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
| [in] | ref_points_num | number of the reference stations. |
| [in] | ref_point_matrix[][] | three-dimensional coordinates of the reference stations. |
| [in] | point[] | three-dimensional coordinates of the mobile device. |
| [in] | unused | this variable can be set to NULL. It is introduced to guarantee the compatibility with the dist_based_jacobian_get_JTJ, modified_gauss_newton, and the opt_levenberg_marquardt functions. |
| [in,out] | JTJ[][] | includes the matrix. |
Definition at line 99 of file magnetic_based_jacobian.c.
References magnetic_based_jacobian_get_J(), matrix_t, and matrix_trans_mul_itself().