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<div class="title">magnetic_based_jacobian.h File Reference<div class="ingroups"><a class="el" href="group__localization.html">LOCALIZATION</a> » <a class="el" href="group__position__algos.html">POSITION_ALGOS</a> » <a class="el" href="group__magnetic__based.html">MAGNETIC_BASED</a></div></div> </div>
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<p>Jacobian function of DC-pulsed, magnetic localization system.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include "<a class="el" href="matrix_8h_source.html">matrix.h</a>"</code><br />
</div>
<p><a href="magnetic__based__jacobian_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ac3aca0a9af6ad84f6c010a215239f224"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="magnetic__based__jacobian_8h.html#ac3aca0a9af6ad84f6c010a215239f224">magnetic_based_jacobian_get_J</a> (uint8_t ref_point_num, <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[ref_point_num][3], <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[], <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> J[ref_point_num][3])</td></tr>
<tr class="memdesc:ac3aca0a9af6ad84f6c010a215239f224"><td class="mdescLeft"> </td><td class="mdescRight">Computes the Jacobian matrix of magnetic-based localization system. <a href="magnetic__based__jacobian_8h.html#ac3aca0a9af6ad84f6c010a215239f224">More...</a><br /></td></tr>
<tr class="separator:ac3aca0a9af6ad84f6c010a215239f224"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa66e6f52fd806c36f4b735b7c4c3307e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="magnetic__based__jacobian_8h.html#aa66e6f52fd806c36f4b735b7c4c3307e">magnetic_based_jacobian_get_JTJ</a> (uint8_t ref_points_num, <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[ref_points_num][3], <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3], <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> *unused, <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTJ[3][3])</td></tr>
<tr class="memdesc:aa66e6f52fd806c36f4b735b7c4c3307e"><td class="mdescLeft"> </td><td class="mdescRight">Defines <img class="formulaInl" alt="$ J_f^{T} J_{f} $" src="form_40.png"/> of magnetic-based localization system. <a href="magnetic__based__jacobian_8h.html#aa66e6f52fd806c36f4b735b7c4c3307e">More...</a><br /></td></tr>
<tr class="separator:aa66e6f52fd806c36f4b735b7c4c3307e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a87f1c7a7d6b151883c2308de275269b8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="magnetic__based__jacobian_8h.html#a87f1c7a7d6b151883c2308de275269b8">magnetic_based_jacobian_get_JTf</a> (uint8_t ref_points_num, <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_points_matrix[ref_points_num][3], <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3], <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> Bi_vec[ref_points_num], <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTf[3])</td></tr>
<tr class="memdesc:a87f1c7a7d6b151883c2308de275269b8"><td class="mdescLeft"> </td><td class="mdescRight">Defines <img class="formulaInl" alt="$ J_f^{T} \vec{f} $" src="form_38.png"/> of magnetic-based localization system. <a href="magnetic__based__jacobian_8h.html#a87f1c7a7d6b151883c2308de275269b8">More...</a><br /></td></tr>
<tr class="separator:a87f1c7a7d6b151883c2308de275269b8"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ae1e7849d86970a33ef5b784705ebc2fc"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="magnetic__based__jacobian_8h.html#ae1e7849d86970a33ef5b784705ebc2fc">magnetic_based_jacobian_get_J_mul_s</a> (uint8_t ref_points_num, <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[ref_points_num][3], <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3], <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> s[3], <a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> J_s[ref_points_num])</td></tr>
<tr class="memdesc:ae1e7849d86970a33ef5b784705ebc2fc"><td class="mdescLeft"> </td><td class="mdescRight">Computes <img class="formulaInl" alt="$ J_f^{T} \vec{s} $" src="form_41.png"/> of magnetic-based localization system. <a href="magnetic__based__jacobian_8h.html#ae1e7849d86970a33ef5b784705ebc2fc">More...</a><br /></td></tr>
<tr class="separator:ae1e7849d86970a33ef5b784705ebc2fc"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Jacobian function of DC-pulsed, magnetic localization system. </p>
<dl class="section author"><dt>Author</dt><dd>Zakaria Kasmi <a href="#" onclick="location.href='mai'+'lto:'+'zka'+'sm'+'i@i'+'nf'+'.fu'+'-b'+'erl'+'in'+'.de'; return false;">zkasm<span style="display: none;">.nosp@m.</span>i@in<span style="display: none;">.nosp@m.</span>f.fu-<span style="display: none;">.nosp@m.</span>berl<span style="display: none;">.nosp@m.</span>in.de</a> </dd>
<dd>
Naouar Guerchali </dd></dl>
<p class="definition">Definition in file <a class="el" href="magnetic__based__jacobian_8h_source.html">magnetic_based_jacobian.h</a>.</p>
</div><h2 class="groupheader">Function Documentation</h2>
<a id="ac3aca0a9af6ad84f6c010a215239f224"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac3aca0a9af6ad84f6c010a215239f224">◆ </a></span>magnetic_based_jacobian_get_J()</h2>
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<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void magnetic_based_jacobian_get_J </td>
<td>(</td>
<td class="paramtype">uint8_t </td>
<td class="paramname"><em>ref_point_num</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>ref_point_matrix</em>[ref_point_num][3], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>point</em>[], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>J</em>[ref_point_num][3] </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Computes the Jacobian matrix of magnetic-based localization system. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">ref_point_num</td><td>number of the reference stations. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">ref_point_matrix[][]</td><td>three-dimensional coordinates of the reference stations. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">point[]</td><td>three-dimensional coordinates of the mobile device. </td></tr>
<tr><td class="paramdir">[in,out]</td><td class="paramname">J[][]</td><td>includes the Jacobian Matrix. </td></tr>
</table>
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="magnetic__based__jacobian_8c_source.html#l00032">32</a> of file <a class="el" href="magnetic__based__jacobian_8c_source.html">magnetic_based_jacobian.c</a>.</p>
<p class="reference">References <a class="el" href="magnetic__based__position_8h_source.html#l00075">K_T</a>, and <a class="el" href="matrix_8h_source.html#l00038">matrix_t</a>.</p>
<p class="reference">Referenced by <a class="el" href="magnetic__based__jacobian_8c_source.html#l00112">magnetic_based_jacobian_get_JTf()</a>, and <a class="el" href="magnetic__based__jacobian_8c_source.html#l00099">magnetic_based_jacobian_get_JTJ()</a>.</p>
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<a id="ae1e7849d86970a33ef5b784705ebc2fc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae1e7849d86970a33ef5b784705ebc2fc">◆ </a></span>magnetic_based_jacobian_get_J_mul_s()</h2>
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<td class="memname">void magnetic_based_jacobian_get_J_mul_s </td>
<td>(</td>
<td class="paramtype">uint8_t </td>
<td class="paramname"><em>ref_points_num</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>ref_point_matrix</em>[ref_points_num][3], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>point</em>[3], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>s</em>[3], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>J_s</em>[ref_points_num] </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Computes <img class="formulaInl" alt="$ J_f^{T} \vec{s} $" src="form_41.png"/> of magnetic-based localization system. </p>
<p>Where <img class="formulaInl" alt="$ J_f $" src="form_39.png"/> is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">ref_points_num</td><td>number of the reference stations. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">ref_point_matrix[][]</td><td>three-dimensional coordinates of the reference stations. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">point[]</td><td>three-dimensional coordinates of the mobile device. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">s[]</td><td>correction vector. </td></tr>
<tr><td class="paramdir">[in,out]</td><td class="paramname">J_s[]</td><td>includes the <img class="formulaInl" alt="$ J_f^{T} \vec{s} $" src="form_41.png"/> vector. </td></tr>
</table>
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="magnetic__based__jacobian_8c_source.html#l00130">130</a> of file <a class="el" href="magnetic__based__jacobian_8c_source.html">magnetic_based_jacobian.c</a>.</p>
<p class="reference">References <a class="el" href="magnetic__based__position_8h_source.html#l00075">K_T</a>, and <a class="el" href="matrix_8h_source.html#l00038">matrix_t</a>.</p>
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<a id="a87f1c7a7d6b151883c2308de275269b8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a87f1c7a7d6b151883c2308de275269b8">◆ </a></span>magnetic_based_jacobian_get_JTf()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void magnetic_based_jacobian_get_JTf </td>
<td>(</td>
<td class="paramtype">uint8_t </td>
<td class="paramname"><em>ref_points_num</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>ref_points_matrix</em>[ref_points_num][3], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>point</em>[3], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>Bi_vec</em>[ref_points_num], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>JTf</em>[3] </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Defines <img class="formulaInl" alt="$ J_f^{T} \vec{f} $" src="form_38.png"/> of magnetic-based localization system. </p>
<p>Where <img class="formulaInl" alt="$ J_f $" src="form_39.png"/> is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">ref_points_num</td><td>number of the reference stations. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">ref_points_matrix[][]</td><td>three-dimensional coordinates of the reference stations. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">point[]</td><td>three-dimensional coordinates of the mobile device. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">Bi_vec[]</td><td>magnetic field strengths of the coils (reference stations). </td></tr>
<tr><td class="paramdir">[in,out]</td><td class="paramname">JTf[]</td><td>includes the <img class="formulaInl" alt="$ J_f^{T} \vec{f} $" src="form_38.png"/> vector. </td></tr>
</table>
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="magnetic__based__jacobian_8c_source.html#l00112">112</a> of file <a class="el" href="magnetic__based__jacobian_8c_source.html">magnetic_based_jacobian.c</a>.</p>
<p class="reference">References <a class="el" href="magnetic__based__fi_8c_source.html#l00029">magnetic_based_f_i()</a>, <a class="el" href="magnetic__based__jacobian_8c_source.html#l00032">magnetic_based_jacobian_get_J()</a>, <a class="el" href="matrix_8h_source.html#l00038">matrix_t</a>, and <a class="el" href="matrix_8c_source.html#l00511">matrix_trans_mul_vec()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa66e6f52fd806c36f4b735b7c4c3307e">◆ </a></span>magnetic_based_jacobian_get_JTJ()</h2>
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<td class="memname">void magnetic_based_jacobian_get_JTJ </td>
<td>(</td>
<td class="paramtype">uint8_t </td>
<td class="paramname"><em>ref_points_num</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>ref_point_matrix</em>[ref_points_num][3], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>point</em>[3], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> * </td>
<td class="paramname"><em>unused</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> </td>
<td class="paramname"><em>JTJ</em>[3][3] </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Defines <img class="formulaInl" alt="$ J_f^{T} J_{f} $" src="form_40.png"/> of magnetic-based localization system. </p>
<p>Where <img class="formulaInl" alt="$ J_f $" src="form_39.png"/> is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">ref_points_num</td><td>number of the reference stations. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">ref_point_matrix[][]</td><td>three-dimensional coordinates of the reference stations. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">point[]</td><td>three-dimensional coordinates of the mobile device. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">unused</td><td>this variable can be set to NULL. It is introduced to guarantee the compatibility with the <a class="el" href="dist__based__jacobian_8h.html#a59b1a3323c2896ff28f71135af0204a2">dist_based_jacobian_get_JTJ</a>, <a class="el" href="modified__gauss__newton_8c.html#a7376799043ad2c27fac02371624051bc">modified_gauss_newton</a>, and the <a class="el" href="levenberg__marquardt_8c.html#a2a72b2b6be15a9998b61a9c0097e3d5f">opt_levenberg_marquardt</a> functions. </td></tr>
<tr><td class="paramdir">[in,out]</td><td class="paramname">JTJ[][]</td><td>includes the <img class="formulaInl" alt="$ J_f^{T} J_{f} $" src="form_40.png"/> matrix. </td></tr>
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</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="magnetic__based__jacobian_8c_source.html#l00099">99</a> of file <a class="el" href="magnetic__based__jacobian_8c_source.html">magnetic_based_jacobian.c</a>.</p>
<p class="reference">References <a class="el" href="magnetic__based__jacobian_8c_source.html#l00032">magnetic_based_jacobian_get_J()</a>, <a class="el" href="matrix_8h_source.html#l00038">matrix_t</a>, and <a class="el" href="matrix_8c_source.html#l00545">matrix_trans_mul_itself()</a>.</p>
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