void Ukf(VEC *omega, VEC *mag_vec, VEC *mag_vec_I, VEC *sun_vec, VEC *sun_vec_I, VEC *Torq_ext, double t, double h, int eclipse, VEC *state, VEC *st_error, VEC *residual, int *P_flag, double sim_time)
{
static VEC *omega_prev = VNULL, *mag_vec_prev = VNULL, *sun_vec_prev = VNULL, *q_s_c = VNULL, *x_prev = VNULL, *Torq_prev, *x_m_o;
static MAT *Q = {MNULL}, *R = {MNULL}, *Pprev = {MNULL};
static double alpha, kappa, lambda, sqrt_lambda, w_m_0, w_c_0, w_i, beta;
static int n_states, n_sig_pts, n_err_states, iter_num, initialize=0;
VEC *x = VNULL, *x_priori = VNULL, *x_err_priori = VNULL, *single_sig_pt = VNULL, *v_temp = VNULL, *q_err_quat = VNULL,
*err_vec = VNULL, *v_temp2 = VNULL, *x_ang_vel = VNULL, *meas = VNULL, *meas_priori = VNULL,
*v_temp3 = VNULL, *x_posteriori_err = VNULL, *x_b_m = VNULL, *x_b_g = VNULL;
MAT *sqrt_P = {MNULL}, *P = {MNULL}, *P_priori = {MNULL}, *sig_pt = {MNULL}, *sig_vec_mat = {MNULL},
*err_sig_pt_mat = {MNULL}, *result = {MNULL}, *result_larger = {MNULL}, *result1 = {MNULL}, *Meas_err_mat = {MNULL},
*P_zz = {MNULL}, *iP_vv = {MNULL}, *P_xz = {MNULL}, *K = {MNULL}, *result2 = {MNULL}, *result3 = {MNULL}, *C = {MNULL};
int update_mag_vec, update_sun_vec, update_omega, i, j;
double d_res;
if (inertia == MNULL)
{
inertia = m_get(3,3);
m_ident(inertia);
inertia->me[0][0] = 0.007;
inertia->me[1][1] = 0.014;
inertia->me[2][2] = 0.015;
}
if (initialize == 0){
iter_num = 1;
n_states = (7+6);
n_err_states = (6+6);
n_sig_pts = 2*n_err_states+1;
alpha = sqrt(3);
kappa = 3 - n_states;
lambda = alpha*alpha * (n_err_states+kappa) - n_err_states;
beta = -(1-(alpha*alpha));
w_m_0 = (lambda)/(n_err_states + lambda);
w_c_0 = (lambda/(n_err_states + lambda)) + (1 - (alpha*alpha) + beta);
w_i = 0.5/(n_err_states +lambda);
initialize = 1;
sqrt_lambda = (lambda+n_err_states);
if(q_s_c == VNULL)
{
q_s_c = v_get(4);
q_s_c->ve[0] = -0.020656;
q_s_c->ve[1] = 0.71468;
q_s_c->ve[2] = -0.007319;
q_s_c->ve[3] = 0.6991;
}
if(Torq_prev == VNULL)
{
Torq_prev = v_get(3);
v_zero(Torq_prev);
}
quat_normalize(q_s_c);
}
result = m_get(9,9);
m_zero(result);
result1 = m_get(n_err_states, n_err_states);
m_zero(result1);
if(x_m_o == VNULL)
{
x_m_o = v_get(n_states);
v_zero(x_m_o);
}
x = v_get(n_states);
v_zero(x);
x_err_priori = v_get(n_err_states);
v_zero(x_err_priori);
x_ang_vel = v_get(3);
v_zero(x_ang_vel);
sig_pt = m_get(n_states, n_err_states);
m_zero(sig_pt);
if (C == MNULL)
{
C = m_get(9, 12);
m_zero(C);
}
if (P_priori == MNULL)
{
P_priori = m_get(n_err_states, n_err_states);
m_zero(P_priori);
}
if (Q == MNULL)
{
Q = m_get(n_err_states, n_err_states);
m_ident(Q);
//
Q->me[0][0] = 0.0001;
Q->me[1][1] = 0.0001;
Q->me[2][2] = 0.0001;
Q->me[3][3] = 0.0001;
Q->me[4][4] = 0.0001;
Q->me[5][5] = 0.0001;
Q->me[6][6] = 0.000001;
Q->me[7][7] = 0.000001;
Q->me[8][8] = 0.000001;
Q->me[9][9] = 0.000001;
Q->me[10][10] = 0.000001;
Q->me[11][11] = 0.000001;
}
if( Pprev == MNULL)
{
Pprev = m_get(n_err_states, n_err_states);
m_ident(Pprev);
Pprev->me[0][0] = 1e-3;
Pprev->me[1][1] = 1e-3;
Pprev->me[2][2] = 1e-3;
Pprev->me[3][3] = 1e-3;
Pprev->me[4][4] = 1e-3;
Pprev->me[5][5] = 1e-3;
Pprev->me[6][6] = 1e-4;
Pprev->me[7][7] = 1e-4;
Pprev->me[8][8] = 1e-4;
Pprev->me[9][9] = 1e-3;
Pprev->me[10][10] = 1e-3;
Pprev->me[11][11] = 1e-3;
}
if (R == MNULL)
{
R = m_get(9,9);
m_ident(R);
R->me[0][0] = 0.034;
R->me[1][1] = 0.034;
R->me[2][2] = 0.034;
R->me[3][3] = 0.00027;
R->me[4][4] = 0.00027;
R->me[5][5] = 0.00027;
R->me[6][6] = 0.000012;
R->me[7][7] = 0.000012;
R->me[8][8] = 0.000012;
}
if(eclipse==0)
{
R->me[0][0] = 0.00034;
R->me[1][1] = 0.00034;
R->me[2][2] = 0.00034;
R->me[3][3] = 0.00027;
R->me[4][4] = 0.00027;
R->me[5][5] = 0.00027;
R->me[6][6] = 0.0000012;
R->me[7][7] = 0.0000012;
R->me[8][8] = 0.0000012;
Q->me[0][0] = 0.00001;
Q->me[1][1] = 0.00001;
Q->me[2][2] = 0.00001;
Q->me[3][3] = 0.0001;//0.000012;//0.0175;//1e-3;
Q->me[4][4] = 0.0001;//0.0175;//1e-3;
Q->me[5][5] = 0.0001;//0.0175;//1e-3;
Q->me[6][6] = 0.0000000001;//1e-6;
Q->me[7][7] = 0.0000000001;
Q->me[8][8] = 0.0000000001;
Q->me[9][9] = 0.0000000001;
Q->me[10][10] = 0.0000000001;
Q->me[11][11] = 0.0000000001;
}
else
{
R->me[0][0] = 0.34;
R->me[1][1] = 0.34;
R->me[2][2] = 0.34;
R->me[3][3] = 0.0027;
R->me[4][4] = 0.0027;
R->me[5][5] = 0.0027;
R->me[6][6] = 0.0000012;
R->me[7][7] = 0.0000012;
R->me[8][8] = 0.0000012;
Q->me[0][0] = 0.00001;
Q->me[1][1] = 0.00001;
Q->me[2][2] = 0.00001;
Q->me[3][3] = 0.0001;
Q->me[4][4] = 0.0001;
Q->me[5][5] = 0.0001;
Q->me[6][6] = 0.0000000001;
Q->me[7][7] = 0.0000000001;
Q->me[8][8] = 0.0000000001;
Q->me[9][9] = 0.0000000001;
Q->me[10][10] = 0.0000000001;
Q->me[11][11] = 0.0000000001;
}
if(omega_prev == VNULL)
{
omega_prev = v_get(3);
v_zero(omega_prev);
}
if(mag_vec_prev == VNULL)
{
mag_vec_prev = v_get(3);
v_zero(mag_vec_prev);
}
if(sun_vec_prev == VNULL)
{
sun_vec_prev = v_get(3);
v_zero(sun_vec_prev);
}
if (err_sig_pt_mat == MNULL)
{
err_sig_pt_mat = m_get(n_err_states, n_sig_pts);
m_zero(err_sig_pt_mat);
}
if(q_err_quat == VNULL)
{
q_err_quat = v_get(4);
// q_err_quat = v_resize(q_err_quat,4);
v_zero(q_err_quat);
}
if(err_vec == VNULL)
{
err_vec = v_get(3);
v_zero(err_vec);
}
v_temp = v_get(9);
v_resize(v_temp,3);
if(x_prev == VNULL)
{
x_prev = v_get(n_states);
v_zero(x_prev);
x_prev->ve[3] = 1;
quat_mul(x_prev,q_s_c,x_prev);
x_prev->ve[4] = 0.0;
x_prev->ve[5] = 0.0;
x_prev->ve[6] = 0.0;
x_prev->ve[7] = 0.0;
x_prev->ve[8] = 0.0;
x_prev->ve[9] = 0.0;
x_prev->ve[10] = 0.0;
x_prev->ve[11] = 0.0;
x_prev->ve[12] = 0.0;
}
sqrt_P = m_get(n_err_states, n_err_states);
m_zero(sqrt_P);
//result = m_resize(result, n_err_states, n_err_states);
result_larger = m_get(n_err_states, n_err_states);
int n, m;
for(n = 0; n < result->n; n++)
{
for(m = 0; m < result->m; m++)
{
result_larger->me[m][n] = result->me[m][n];
}
}
//v_resize(v_temp, n_err_states);
V_FREE(v_temp);
v_temp = v_get(n_err_states);
symmeig(Pprev, result_larger, v_temp);
i = 0;
for (j=0;j<n_err_states;j++){
if(v_temp->ve[j]>=0);
else{
i = 1;
}
}
m_copy(Pprev, result1);
sm_mlt(sqrt_lambda, result1, result_larger);
catchall(CHfactor(result_larger), printerr(sim_time));
for(i=0; i<n_err_states; i++){
for(j=i+1; j<n_err_states; j++){
result_larger->me[i][j] = 0;
}
}
expandstate(result_larger, x_prev, sig_pt);
sig_vec_mat = m_get(n_states, n_sig_pts);
m_zero(sig_vec_mat);
for(j = 0; j<(n_err_states+1); j++)
{
for(i = 0; i<n_states; i++)
{
if(j==0)
{
sig_vec_mat->me[i][j] = x_prev->ve[i];
}
else if(j>0)
{
sig_vec_mat->me[i][j] = sig_pt->me[i][j-1];
}
}
}
sm_mlt(-1,result_larger,result_larger);
expandstate(result_larger, x_prev, sig_pt);
for(j = (n_err_states+1); j<n_sig_pts; j++)
{
for(i = 0; i<n_states; i++)
{
sig_vec_mat->me[i][j] = sig_pt->me[i][j-(n_err_states+1)];
}
}
single_sig_pt = v_get(n_states);
quat_rot_vec(q_s_c, Torq_ext);
for(j=0; j<(n_sig_pts); j++)
{
//v_temp = v_resize(v_temp,n_states);
V_FREE(v_temp);
v_temp = v_get(n_states);
get_col(sig_vec_mat, j, single_sig_pt);
v_copy(single_sig_pt, v_temp);
rk4(t, v_temp, h, Torq_prev);
set_col(sig_vec_mat, j, v_temp);
}
v_copy(Torq_ext, Torq_prev);
x_priori = v_get(n_states);
v_zero(x_priori);
v_resize(v_temp,n_states);
v_zero(v_temp);
for(j=0; j<n_sig_pts; j++)
{
get_col( sig_vec_mat, j, v_temp);
if(j == 0)
{
v_mltadd(x_priori, v_temp, w_m_0, x_priori);
}
else
{
v_mltadd(x_priori, v_temp, w_i, x_priori);
}
}
v_copy(x_priori, v_temp);
v_resize(v_temp,4);
quat_normalize(v_temp);//zaroori hai ye
for(i=0; i<4; i++)
{
x_priori->ve[i] = v_temp->ve[i];
}
v_resize(v_temp, n_states);
v_copy(x_priori, v_temp);
v_resize(v_temp, 4);
quat_inv(v_temp, v_temp);
for(i=0; i<3; i++)
{
x_ang_vel->ve[i] = x_priori->ve[i+4];
}
x_b_m = v_get(3);
v_zero(x_b_m);
x_b_g = v_get(3);
v_zero(x_b_g);
/////////////////////////check it!!!!!!!! checked... doesnt change much the estimate
for(i=0; i<3; i++)
{
x_b_m->ve[i] = x_priori->ve[i+7];
x_b_g->ve[i] = x_priori->ve[i+10];
}
v_temp2 = v_get(n_states);
v_zero(v_temp2);
for(j=0; j<n_sig_pts; j++)
{
v_resize(v_temp2, n_states);
get_col( sig_vec_mat, j, v_temp2);
for(i=0; i<3; i++)
{
err_vec->ve[i] = v_temp2->ve[i+4];
}
v_resize(v_temp2, 4);
quat_mul(v_temp2, v_temp, q_err_quat);
v_resize(q_err_quat, n_err_states);
v_sub(err_vec, x_ang_vel, err_vec);
for(i=3; i<6; i++)
{
q_err_quat->ve[i] = err_vec->ve[i-3];
}
for(i=0; i<3; i++)
{
err_vec->ve[i] = v_temp2->ve[i+7];
}
v_sub(err_vec, x_b_m, err_vec);
for(i=6; i<9; i++)
{
q_err_quat->ve[i] = err_vec->ve[i-6];
}
for(i=0; i<3; i++)
{
err_vec->ve[i] = v_temp2->ve[i+10];
}
v_sub(err_vec, x_b_g, err_vec);
for(i=9; i<12; i++)
{
q_err_quat->ve[i] = err_vec->ve[i-9];
}
set_col(err_sig_pt_mat, j, q_err_quat);
if(j==0){
v_mltadd(x_err_priori, q_err_quat, w_m_0, x_err_priori);
}
else{
v_mltadd(x_err_priori, q_err_quat, w_i, x_err_priori);
}
}
v_resize(v_temp,n_err_states);
for (j=0;j<13;j++)
{
get_col(err_sig_pt_mat, j, v_temp);
v_sub(v_temp, x_err_priori, v_temp);
get_dyad(v_temp, v_temp, result_larger);
if(j==0){
sm_mlt(w_c_0, result_larger, result_larger);
}
else{
sm_mlt(w_i, result_larger, result_larger);
}
m_add(P_priori, result_larger, P_priori);
}
symmeig(P_priori, result_larger, v_temp);
i = 0;
for (j=0;j<n_err_states;j++){
if(v_temp->ve[j]>=0);
else{
i = 1;
}
}
m_add(P_priori, Q, P_priori);
v_resize(v_temp,3);
meas = v_get(9);
if (!(is_vec_equal(sun_vec, sun_vec_prev)) /*&& (eclipse==0)*/ ){
update_sun_vec =1;
v_copy(sun_vec, sun_vec_prev);
v_copy(sun_vec, v_temp);
normalize_vec(v_temp);
quat_rot_vec(q_s_c, v_temp);
normalize_vec(v_temp);
for(i = 0; i<3;i++){
meas->ve[i] = v_temp->ve[i];
}
}
else{
update_sun_vec =0;
for(i = 0; i<3;i++){
meas->ve[i] = 0;
}
}
if (!(is_vec_equal(mag_vec, mag_vec_prev)) ){
update_mag_vec =1;
v_copy(mag_vec, mag_vec_prev);
v_copy(mag_vec, v_temp);
normalize_vec(v_temp);
quat_rot_vec(q_s_c, v_temp);
normalize_vec(v_temp);
for(i=3; i<6; i++){
meas->ve[i] = v_temp->ve[i-3];
}
}
else{
update_mag_vec =0;
for(i=3; i<6; i++){
meas->ve[i] = 0;//mag_vec_prev->ve[i-3];
}
}
if (!(is_vec_equal(omega, omega_prev) ) ){
update_omega =1;
v_copy(omega, omega_prev);
v_copy(omega, v_temp);
quat_rot_vec(q_s_c, v_temp);
for(i=6; i<9; i++){
meas->ve[i] = v_temp->ve[i-6];
}
}
else{
update_omega =0;
for(i=6; i<9; i++){
meas->ve[i] = 0;
}
}
v_resize(v_temp, 9);
v_resize(v_temp2, n_states);
v_temp3 = v_get(3);
Meas_err_mat = m_get(9, n_sig_pts);
m_zero(Meas_err_mat);
meas_priori = v_get(9);
v_zero(meas_priori);
for(j=0; j<n_sig_pts; j++)
{
get_col( sig_vec_mat, j, v_temp2);
if(update_omega){
for(i=6;i<9;i++){
v_temp->ve[i] = v_temp2->ve[i-2] + x_b_g->ve[i-6];
}
}
else{
for(i=6;i<9;i++){
v_temp->ve[i] = 0;
}
}
v_resize(v_temp2, 4);
if(update_sun_vec){
for(i=0;i<3;i++){
v_temp3->ve[i] = sun_vec_I->ve[i];
}
quat_rot_vec(v_temp2, v_temp3);
normalize_vec(v_temp3);
for(i=0;i<3;i++){
v_temp->ve[i] = v_temp3->ve[i];
}
}
else{
for(i=0;i<3;i++){
v_temp->ve[i] = 0;
}
}
if(update_mag_vec){
for(i=0;i<3;i++){
v_temp3->ve[i] = mag_vec_I->ve[i];
}
normalize_vec(v_temp3);
for(i=0;i<3;i++){
v_temp3->ve[i] = v_temp3->ve[i] + x_b_m->ve[i];
}
quat_rot_vec(v_temp2, v_temp3);
normalize_vec(v_temp3);
for(i=3;i<6;i++){
v_temp->ve[i] = v_temp3->ve[i-3];
}
}
else{
for(i=3;i<6;i++){
v_temp->ve[i] = 0;
}
}
set_col(Meas_err_mat, j, v_temp);
if(j==0){
v_mltadd(meas_priori, v_temp, w_m_0, meas_priori);
}
else{
v_mltadd(meas_priori, v_temp, w_i, meas_priori);
}
}
v_resize(v_temp, 9);
m_resize(result_larger, 9, 9);
m_zero(result_larger);
P_zz = m_get(9, 9);
m_zero(P_zz);
iP_vv = m_get(9, 9);
m_zero(iP_vv);
P_xz = m_get(n_err_states, 9);
m_zero(P_xz);
v_resize(v_temp2, n_err_states);
result1 = m_resize(result1,n_err_states,9);
for (j=0; j<n_sig_pts; j++)
{
get_col( Meas_err_mat, j, v_temp);
get_col( err_sig_pt_mat, j, v_temp2);
v_sub(v_temp, meas_priori, v_temp);
get_dyad(v_temp, v_temp, result_larger);
get_dyad(v_temp2, v_temp, result1);
if(j==0){
sm_mlt(w_c_0, result_larger, result_larger);
sm_mlt(w_c_0, result1, result1);
}
else{
sm_mlt(w_i, result_larger, result_larger);
sm_mlt(w_i, result1, result1);
}
m_add(P_zz, result_larger, P_zz);
m_add(P_xz, result1, P_xz);
}
symmeig(P_zz, result_larger, v_temp);
i = 0;
for (j=0; j<9; j++){
if(v_temp->ve[j]>=0);
else{
i = 1;
}
}
m_add(P_zz, R, P_zz);
m_inverse(P_zz, iP_vv);
K = m_get(n_err_states, 9);
m_zero(K);
m_mlt(P_xz, iP_vv, K);
if(x_posteriori_err == VNULL)
{
x_posteriori_err = v_get(n_err_states);
v_zero(x_posteriori_err);
}
v_resize(v_temp,9);
v_sub(meas, meas_priori, v_temp);
v_copy(v_temp, residual);
mv_mlt(K, v_temp, x_posteriori_err);
v_resize(v_temp2,3);
for(i=0;i<3;i++){
v_temp2->ve[i] = x_posteriori_err->ve[i];
}
for(i=4; i<n_states; i++){
x_prev->ve[i] = (x_posteriori_err->ve[i-1] + x_priori->ve[i]);
}
d_res = v_norm2(v_temp2);
v_resize(v_temp2,4);
if(d_res<=1 /*&& d_res!=0*/){
v_temp2->ve[0] = v_temp2->ve[0];
v_temp2->ve[1] = v_temp2->ve[1];
v_temp2->ve[2] = v_temp2->ve[2];
v_temp2->ve[3] = sqrt(1-d_res);
}
else//baad main daala hai
{
v_temp2->ve[0] = (v_temp2->ve[0])/(sqrt(1+d_res));
v_temp2->ve[1] = (v_temp2->ve[1])/(sqrt(1+d_res));
v_temp2->ve[2] = (v_temp2->ve[2])/(sqrt(1+d_res));
v_temp2->ve[3] = 1/sqrt(1 + d_res);
}
v_resize(x_posteriori_err, n_states);
for(i=(n_states-1); i>3; i--){
x_posteriori_err->ve[i] = x_posteriori_err->ve[i-1];
}
for(i=0; i<4; i++){
x_posteriori_err->ve[i] = v_temp2->ve[i];
}
quat_mul(v_temp2, x_priori, v_temp2);
for(i=0;i<4;i++){
x_prev->ve[i] = v_temp2->ve[i];
}
m_resize(result_larger, n_err_states, 9);
m_mlt(K, P_zz, result_larger);
result2 = m_get(9, n_err_states);
m_transp(K,result2);
m_resize(result1, n_err_states, n_err_states);
m_mlt(result_larger, result2, result1);
v_resize(v_temp, n_err_states);
m_sub(P_priori, result1, Pprev);
symmeig(Pprev, result1 , v_temp);
i = 0;
for (j=0;j<n_err_states;j++){
if(v_temp->ve[j]>=0);
else{
i = 1;
}
}
v_copy(x_prev, v_temp);
v_resize(v_temp,4);
v_copy(x_prev, v_temp2);
v_resize(v_temp2,4);
v_copy(x_prev, x_m_o);
//v_resize(x_m_o, 4);
v_resize(v_temp,3);
quat_inv(q_s_c, v_temp2);
v_copy( x_prev, state);
quat_mul(state, v_temp2, state);
for(i=0; i<3; i++){
v_temp->ve[i] = state->ve[i+4];
}
quat_rot_vec(v_temp2, v_temp);
for(i=0; i<3; i++){
state->ve[i+4] = v_temp->ve[i];
}
v_copy( x_posteriori_err, st_error);
iter_num++;
V_FREE(x);
V_FREE(x_priori);
V_FREE(x_err_priori);
V_FREE(single_sig_pt);
V_FREE(v_temp);
V_FREE(q_err_quat);
V_FREE(err_vec);
V_FREE(v_temp2);
V_FREE(x_ang_vel);
V_FREE(meas);
V_FREE(meas_priori);
V_FREE(v_temp3);
V_FREE(x_posteriori_err);
V_FREE(x_b_m);
V_FREE(x_b_g);
M_FREE(sqrt_P);
M_FREE(P);
M_FREE(P_priori);
M_FREE(sig_pt);
M_FREE(sig_vec_mat);
M_FREE(err_sig_pt_mat);
M_FREE(result);
M_FREE(result_larger);
M_FREE(result1);
M_FREE(Meas_err_mat);
M_FREE(P_zz);
M_FREE(iP_vv);
M_FREE(P_xz);
M_FREE(K);
M_FREE(result2);
M_FREE(result3);
}
void mesch_sev_compute(gpointer m1, gpointer m2, gpointer v)
{
symmeig(m1, m2, v);
}
mitkIpInt4_t mitkIpFuncInertia ( mitkIpPicDescriptor *pic_old,
mitkIpFloat8_t **eigen_vekt,
mitkIpFloat8_t **eigen_val )
{
mitkIpUInt4_t index_vect[_mitkIpPicNDIM]; /* loopindex-vector */
mitkIpInt4_t n[_mitkIpPicNDIM]; /* number of pixels in each */
/* dimension */
mitkIpUInt4_t i, j; /* loop index */
mitkIpFloat8_t *gravity; /* center of gravity */
mitkIpFloat8_t *help_vekt; /* pointer to eigen_vekt */
mitkIpFloat8_t *help_val; /* pointer to eigen_val */
MAT *ev; /* eigenvector */
MAT *tt; /* tensor of inertia */
VEC *ew; /* eigenvalue */
mitkIpFloat8_t *s, *s_diag, *dist; /* used to calculate tt */
/* check data */
if ( _mitkIpFuncError ( pic_old ) != mitkIpFuncOK ) return ( mitkIpFuncERROR );
/* initialisation of vectors */
for ( i = 0; i < pic_old->dim; i++ )
n[i] = pic_old->n[i];
for ( i = pic_old->dim; i < _mitkIpPicNDIM; i++ )
n[i] = 1;
for ( i = 0; i < _mitkIpPicNDIM; i++ )
index_vect[i] = 0;
/* memory allocation */
gravity = ( mitkIpFloat8_t * ) malloc ( pic_old->dim * sizeof ( mitkIpFloat8_t ) );
if ( gravity == NULL )
{
_mitkIpFuncSetErrno ( mitkIpFuncMALLOC_ERROR );
return ( mitkIpFuncERROR );
}
dist = ( mitkIpFloat8_t * ) malloc ( pic_old->dim * sizeof ( mitkIpFloat8_t ) );
if ( dist == NULL )
{
_mitkIpFuncSetErrno ( mitkIpFuncMALLOC_ERROR );
free ( gravity );
return ( mitkIpFuncERROR );
}
s_diag = ( mitkIpFloat8_t * ) malloc ( pic_old->dim * sizeof ( mitkIpFloat8_t ) );
if ( s_diag == NULL )
{
_mitkIpFuncSetErrno ( mitkIpFuncMALLOC_ERROR );
free ( gravity );
free ( dist );
return ( mitkIpFuncERROR );
}
s = ( mitkIpFloat8_t * ) malloc ( pic_old->dim * pic_old->dim * sizeof ( mitkIpFloat8_t ) );
if ( s == NULL )
{
_mitkIpFuncSetErrno ( mitkIpFuncMALLOC_ERROR );
free ( gravity );
free ( dist );
free ( s_diag );
return ( mitkIpFuncERROR );
}
tt = m_get ( pic_old->dim, pic_old->dim );
if ( tt == NULL )
{
_mitkIpFuncSetErrno ( mitkIpFuncMALLOC_ERROR );
free ( gravity );
free ( dist );
free ( s_diag );
free ( s );
return ( mitkIpFuncERROR );
}
ev = m_get ( pic_old->dim, pic_old->dim );
if ( ev == NULL )
{
_mitkIpFuncSetErrno ( mitkIpFuncMALLOC_ERROR );
free ( gravity );
free ( dist );
free ( s_diag );
free ( s );
M_FREE ( tt );
return ( mitkIpFuncERROR );
}
ew = v_get ( pic_old->dim-1 );
if ( ew == NULL )
{
_mitkIpFuncSetErrno ( mitkIpFuncMALLOC_ERROR );
free ( gravity );
free ( dist );
free ( s_diag );
free ( s );
M_FREE ( tt );
M_FREE ( ev );
return ( mitkIpFuncERROR );
}
/* calculate center of gravity */
gravity = mitkIpFuncGrav ( pic_old );
/* Initialization of vectors */
for ( i = 0; i < pic_old->dim; i++ )
{
s_diag[i] = 0.;
dist[i] = 0.;
for ( j = 0; j < pic_old->dim; j++ )
s[i*pic_old->dim+j] = 0.;
}
/* preparation for calculating the tensor of inertia */
mitkIpPicFORALL_4 ( GRAV, pic_old, index_vect, s, s_diag, dist )
/* calculate tensor of inertia */
for ( i = 0; i < pic_old->dim; i++ )
{
tt->me[i][i] = 0.;
for ( j = 0; j < pic_old->dim; j++ )
{
if ( i < j )
tt->me[i][j] = s[i*pic_old->dim+j];
else if ( j < i )
tt->me[i][j] = s[j*pic_old->dim+i];
if ( i != j )
tt->me[i][i] = tt->me[i][i] + s_diag[j];
}
}
/* calculate eigenvectors and eigenvalues of the tensor of inertia */
ew = symmeig ( tt, ev, ew );
*eigen_vekt = ( mitkIpFloat8_t * ) malloc ( pic_old->dim * pic_old->dim * sizeof ( mitkIpFloat8_t ) );
help_vekt = *eigen_vekt;
*eigen_val = ( mitkIpFloat8_t * ) malloc ( pic_old->dim * sizeof ( mitkIpFloat8_t ) );
help_val = *eigen_val;
for ( i = 0; i < pic_old->dim; i++ )
{
help_val[i] = ew->ve[i];
for ( j = 0; j < pic_old->dim; j++ )
help_vekt[i*pic_old->dim+j] = ev->me[i][j];
}
M_FREE ( tt );
M_FREE ( ev );
V_FREE ( ew );
free ( s );
free ( dist );
free ( s_diag );
free ( gravity );
return mitkIpFuncOK;
}
