Gavan Fantom
62732758a8
This brings in an implementation of some general matrix manipulation routines, not all of which are used at teh moment. Output the DCM on the UART at 50Hz for the host to display it usefully.
20 lines
545 B
C
20 lines
545 B
C
/* matrix.h */
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/* dest[r][c] = m1[r][n] * m2[n][c] */
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void matrix_multiply(float *dest, float *m1, float *m2, int r, int c, int n);
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/* dest[r][c] = m1[r][n] * m2[c][n] */
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void matrix_multiply_t(float *dest, float *m1, float *m2, int r, int c, int n);
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/* dest[r][c] = m1[r][c] + m2[r][c] */
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void matrix_add(float *dest, float *m1, float *m2, int r, int c);
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#ifdef MATRIX_DEBUG
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void dump_matrix(float *m, int r, int c);
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#endif
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/* Invert src into dst.
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* NOTE: destroys the src matrix
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*/
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void matrix_invert(float *dst, float *src, int size);
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