RcdMathLib_doc
Open Source Library for Linear and Non-linear Algebra
magnetic_based_fi.c
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/*
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* Copyright (C) 2020 Zakaria Kasmi <zkasmi@inf.fu-berlin.de>
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* 2020 Freie Universität Berlin
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*
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* This file is subject to the terms and conditions of the GNU Lesser General
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* Public License v2.1. See the file LICENSE in the top level directory for more
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* details.
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*/
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#include <math.h>
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#include <inttypes.h>
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#include <
magnetic_based_position.h
>
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#include "
matrix.h
"
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void
magnetic_based_f_i
(uint8_t ref_points_num,
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matrix_t
ref_points_matrix[][3],
matrix_t
point[],
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matrix_t
Bi_vec[],
matrix_t
f_vec[])
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{
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for
(
int
i = 0; i < ref_points_num; i++) {
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matrix_t
X_Xi_sq = pow(point[0] - ref_points_matrix[i][0], 2);
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matrix_t
Y_Yi_sq = pow(point[1] - ref_points_matrix[i][1], 2);
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matrix_t
Z_Zi_sq = pow(point[2] - ref_points_matrix[i][2], 2);
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f_vec[i] = (
K_T
* (sqrt(X_Xi_sq + Y_Yi_sq + 4.0 * Z_Zi_sq)) /
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pow((X_Xi_sq + Y_Yi_sq + Z_Zi_sq), 2))
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- Bi_vec[i];
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}
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}
magnetic_based_position.h
Functions of of DC-pulsed, magnetic localization system.
matrix.h
Matrix computations.
magnetic_based_f_i
void magnetic_based_f_i(uint8_t ref_points_num, matrix_t ref_points_matrix[][3], matrix_t point[], matrix_t Bi_vec[], matrix_t f_vec[])
Defines the error function of a magnetic-based localization system.
Definition:
magnetic_based_fi.c:29
K_T
#define K_T
The number of turns of the wire.
Definition:
magnetic_based_position.h:75
matrix_t
#define matrix_t
Define the data type of the matrix elements.
Definition:
matrix.h:38
localization
position_algos
magnetic_based
magnetic_based_fi.c
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