void eml_xgesvd(const float A[25], float U[25], float S[5], float V[25])
{
float b_A[25];
float s[5];
float e[5];
float work[5];
int kase;
int q;
int iter;
boolean_T apply_transform;
float ztest0;
int qp1jj;
int qs;
int m;
float rt;
float ztest;
float snorm;
int32_T exitg3;
boolean_T exitg2;
float f;
float varargin_1[5];
float mtmp;
boolean_T exitg1;
float sqds;
float mtmp_inv;
for (int k=0;k<25;k++)
b_A[k] = A[k];
//mem_fp_cpy(&b_A[0], &A[0], 25);
//memcpy(&b_A[0], &A[0], 25U * sizeof(float));
for (kase = 0; kase < 5; kase++) {
s[kase] = 0.0F;
e[kase] = 0.0F;
work[kase] = 0.0F;
}
for (kase = 0; kase < 25; kase++) {
U[kase] = 0.0F;
V[kase] = 0.0F;
}
for (q = 0; q < 4; q++) {
iter = q + 5 * q;
apply_transform = false;
ztest0 = eml_xnrm2(5 - q, b_A, iter + 1);
if (ztest0 > 0.0F) {
apply_transform = true;
if (b_A[iter] < 0.0F) {
s[q] = -ztest0;
} else {
s[q] = ztest0;
}
if (fAbs(s[q]) >= 9.86076132E-32F) {
ztest0 = fDiv(1.0F, s[q]);
kase = (iter - q) + 5;
for (qp1jj = iter; qp1jj + 1 <= kase; qp1jj++) {
b_A[qp1jj] *= ztest0;
}
} else {
kase = (iter - q) + 5;
for (qp1jj = iter; qp1jj + 1 <= kase; qp1jj++) {
b_A[qp1jj] = fDiv(b_A[qp1jj],s[q]);
}
}
b_A[iter]++;
s[q] = -s[q];
} else {
s[q] = 0.0F;
}
for (qs = q + 1; qs + 1 < 6; qs++) {
kase = q + 5 * qs;
if (apply_transform) {
eml_xaxpy(5 - q, -(fDiv(eml_xdotc(5 - q, b_A, iter + 1, b_A, kase + 1), b_A[q + 5 * q])), iter + 1, b_A, kase + 1);
}
e[qs] = b_A[kase];
}
for (qp1jj = q; qp1jj + 1 < 6; qp1jj++) {
U[qp1jj + 5 * q] = b_A[qp1jj + 5 * q];
}
if (q + 1 <= 3) {
ztest0 = b_eml_xnrm2(4 - q, e, q + 2);
if (ztest0 == 0.0F) {
e[q] = 0.0F;
} else {
if (e[q + 1] < 0.0F) {
e[q] = -ztest0;
} else {
e[q] = ztest0;
}
ztest0 = e[q];
if (fAbs(e[q]) >= 9.86076132E-32F) {
ztest0 = fDiv(1.0F, e[q]);
for (qp1jj = q + 1; qp1jj + 1 < 6; qp1jj++) {
e[qp1jj] *= ztest0;
}
} else {
for (qp1jj = q + 1; qp1jj + 1 < 6; qp1jj++) {
e[qp1jj] = fDiv(e[qp1jj],ztest0);
}
}
e[q + 1]++;
e[q] = -e[q];
for (qp1jj = q + 1; qp1jj + 1 < 6; qp1jj++) {
work[qp1jj] = 0.0F;
}
for (qs = q + 1; qs + 1 < 6; qs++) {
b_eml_xaxpy(4 - q, e[qs], b_A, (q + 5 * qs) + 2, work, q + 2);
}
for (qs = q + 1; qs + 1 < 6; qs++) {
c_eml_xaxpy(4 - q, -fDiv(e[qs], e[q + 1]), work, q + 2, b_A, (q + 5 * qs) +
2);
}
}
for (qp1jj = q + 1; qp1jj + 1 < 6; qp1jj++) {
V[qp1jj + 5 * q] = e[qp1jj];
}
}
}
m = 3;
s[4] = b_A[24];
e[3] = b_A[23];
e[4] = 0.0F;
for (qp1jj = 0; qp1jj < 5; qp1jj++) {
U[20 + qp1jj] = 0.0F;
}
U[24] = 1.0F;
for (q = 3; q > -1; q += -1) {
iter = q + 5 * q;
if (s[q] != 0.0F) {
for (qs = q + 1; qs + 1 < 6; qs++) {
kase = (q + 5 * qs) + 1;
eml_xaxpy(5 - q, -(fDiv(eml_xdotc(5 - q, U, iter + 1, U, kase), U[iter])),
iter + 1, U, kase);
}
for (qp1jj = q; qp1jj + 1 < 6; qp1jj++) {
U[qp1jj + 5 * q] = -U[qp1jj + 5 * q];
}
U[iter]++;
for (qp1jj = 1; qp1jj <= q; qp1jj++) {
U[(qp1jj + 5 * q) - 1] = 0.0F;
}
} else {
for (qp1jj = 0; qp1jj < 5; qp1jj++) {
U[qp1jj + 5 * q] = 0.0F;
}
U[iter] = 1.0F;
}
}
for (q = 4; q > -1; q += -1) {
if ((q + 1 <= 3) && (e[q] != 0.0F)) {
kase = (q + 5 * q) + 2;
for (qs = q + 1; qs + 1 < 6; qs++) {
qp1jj = (q + 5 * qs) + 2;
eml_xaxpy(4 - q, -(fDiv(eml_xdotc(4 - q, V, kase, V, qp1jj), V[kase - 1])),
kase, V, qp1jj);
}
}
for (qp1jj = 0; qp1jj < 5; qp1jj++) {
V[qp1jj + 5 * q] = 0.0F;
}
V[q + 5 * q] = 1.0F;
}
for (q = 0; q < 5; q++) {
ztest0 = e[q];
if (s[q] != 0.0F) {
rt = fAbs(s[q]);
ztest = fDiv(s[q], rt);
s[q] = rt;
if (q + 1 < 5) {
ztest0 = fDiv(e[q], ztest);
}
eml_xscal(ztest, U, 1 + 5 * q);
}
if ((q + 1 < 5) && (ztest0 != 0.0F)) {
rt = fAbs(ztest0);
ztest = fDiv(rt, ztest0);
ztest0 = rt;
s[q + 1] *= ztest;
eml_xscal(ztest, V, 1 + 5 * (q + 1));
}
e[q] = ztest0;
}
iter = 0;
snorm = 0.0F;
for (qp1jj = 0; qp1jj < 5; qp1jj++) {
ztest0 = fAbs(s[qp1jj]);
ztest = fAbs(e[qp1jj]);
if ((ztest0 >= ztest) || fIsNan(ztest)) {
} else {
ztest0 = ztest;
}
if ((snorm >= ztest0) || fIsNan(ztest0)) {
} else {
snorm = ztest0;
}
}
while ((m + 2 > 0) && (!(iter >= 75))) {
qp1jj = m;
do {
exitg3 = 0;
q = qp1jj + 1;
if (qp1jj + 1 == 0) {
exitg3 = 1;
} else {
ztest0 = fAbs(e[qp1jj]);
if ((ztest0 <= 1.1920929E-7F * (fAbs(s[qp1jj]) + fAbs(s[qp1jj + 1]))) || (ztest0 <= 9.86076132E-32F) || ((iter > 20)
&& (ztest0 <= 1.1920929E-7F * snorm))) {
e[qp1jj] = 0.0F;
exitg3 = 1;
} else {
qp1jj--;
}
}
} while (exitg3 == 0);
if (qp1jj + 1 == m + 1) {
kase = 4;
} else {
qs = m + 2;
kase = m + 2;
exitg2 = false;
while ((!exitg2) && (kase >= qp1jj + 1)) {
qs = kase;
if (kase == qp1jj + 1) {
exitg2 = true;
} else {
ztest0 = 0.0F;
if (kase < m + 2) {
ztest0 = fAbs(e[kase - 1]);
}
if (kase > qp1jj + 2) {
ztest0 += fAbs(e[kase - 2]);
}
ztest = fAbs(s[kase - 1]);
if ((ztest <= 1.1920929E-7F * ztest0) || (ztest <= 9.86076132E-32F)) {
s[kase - 1] = 0.0F;
exitg2 = true;
} else {
kase--;
}
}
}
if (qs == qp1jj + 1) {
kase = 3;
} else if (qs == m + 2) {
kase = 1;
} else {
kase = 2;
q = qs;
}
}
switch (kase) {
case 1:
f = e[m];
e[m] = 0.0F;
for (qp1jj = m; qp1jj + 1 >= q + 1; qp1jj--) {
ztest0 = s[qp1jj];
eml_xrotg(&ztest0, &f, &ztest, &rt);
s[qp1jj] = ztest0;
if (qp1jj + 1 > q + 1) {
f = -rt * e[qp1jj - 1];
e[qp1jj - 1] *= ztest;
}
eml_xrot(V, 1 + 5 * qp1jj, 1 + 5 * (m + 1), ztest, rt);
}
break;
case 2:
f = e[q - 1];
e[q - 1] = 0.0F;
for (qp1jj = q; qp1jj + 1 <= m + 2; qp1jj++) {
eml_xrotg(&s[qp1jj], &f, &ztest, &rt);
f = -rt * e[qp1jj];
e[qp1jj] *= ztest;
eml_xrot(U, 1 + 5 * qp1jj, 1 + 5 * (q - 1), ztest, rt);
}
break;
case 3:
varargin_1[0] = fAbs(s[m + 1]);
varargin_1[1] = fAbs(s[m]);
varargin_1[2] = fAbs(e[m]);
varargin_1[3] = fAbs(s[q]);
varargin_1[4] = fAbs(e[q]);
kase = 1;
mtmp = varargin_1[0];
if (fIsNan(varargin_1[0])) {
qp1jj = 2;
exitg1 = false;
while ((!exitg1) && (qp1jj < 6)) {
kase = qp1jj;
if (!fIsNan(varargin_1[qp1jj - 1])) {
mtmp = varargin_1[qp1jj - 1];
exitg1 = true;
} else {
qp1jj++;
}
}
}
if (kase < 5) {
while (kase + 1 < 6) {
if (varargin_1[kase] > mtmp) {
mtmp = varargin_1[kase];
}
kase++;
}
}
mtmp_inv = fDiv(1.0F,mtmp);
f = s[m + 1] * mtmp_inv;
ztest0 = s[m] * mtmp_inv;
ztest = e[m] * mtmp_inv;
sqds = s[q] * mtmp_inv;
rt = ((ztest0 + f) * (ztest0 - f) + ztest * ztest) * 0.5F;
ztest0 = f * ztest;
ztest0 *= ztest0;
if ((rt != 0.0F) || (ztest0 != 0.0F)) {
ztest = fSqrt(rt * rt + ztest0);
if (rt < 0.0F) {
ztest = -ztest;
}
ztest = fDiv(ztest0, (rt + ztest));
} else {
ztest = 0.0F;
}
f = (sqds + f) * (sqds - f) + ztest;
ztest0 = sqds * fDiv(e[q], mtmp);
for (qp1jj = q + 1; qp1jj <= m + 1; qp1jj++) {
eml_xrotg(&f, &ztest0, &ztest, &rt);
if (qp1jj > q + 1) {
e[qp1jj - 2] = f;
}
f = ztest * s[qp1jj - 1] + rt * e[qp1jj - 1];
e[qp1jj - 1] = ztest * e[qp1jj - 1] - rt * s[qp1jj - 1];
ztest0 = rt * s[qp1jj];
s[qp1jj] *= ztest;
eml_xrot(V, 1 + 5 * (qp1jj - 1), 1 + 5 * qp1jj, ztest, rt);
s[qp1jj - 1] = f;
eml_xrotg(&s[qp1jj - 1], &ztest0, &ztest, &rt);
f = ztest * e[qp1jj - 1] + rt * s[qp1jj];
s[qp1jj] = -rt * e[qp1jj - 1] + ztest * s[qp1jj];
ztest0 = rt * e[qp1jj];
e[qp1jj] *= ztest;
eml_xrot(U, 1 + 5 * (qp1jj - 1), 1 + 5 * qp1jj, ztest, rt);
}
e[m] = f;
iter++;
break;
default:
if (s[q] < 0.0F) {
s[q] = -s[q];
eml_xscal(-1.0F, V, 1 + 5 * q);
}
kase = q + 1;
while ((q + 1 < 5) && (s[q] < s[kase])) {
rt = s[q];
s[q] = s[kase];
s[kase] = rt;
eml_xswap(V, 1 + 5 * q, 1 + 5 * (q + 1));
eml_xswap(U, 1 + 5 * q, 1 + 5 * (q + 1));
q = kase;
kase++;
}
iter = 0;
m--;
break;
}
}
for (qp1jj = 0; qp1jj < 5; qp1jj++) {
S[qp1jj] = s[qp1jj];
}
}
//
// Arguments : const double A[476]
// double U[476]
// double S[17]
// double V[289]
// Return Type : void
//
static void eml_xgesvd(const double A[476], double U[476], double S[17], double
V[289])
{
double b_A[476];
double s[17];
double e[17];
int kase;
double work[28];
int q;
int iter;
boolean_T apply_transform;
double ztest0;
int qp1jj;
int qs;
int m;
double rt;
double ztest;
double snorm;
int32_T exitg3;
boolean_T exitg2;
double f;
double varargin_1[5];
double mtmp;
boolean_T exitg1;
double sqds;
memcpy(&b_A[0], &A[0], 476U * sizeof(double));
for (kase = 0; kase < 17; kase++) {
s[kase] = 0.0;
e[kase] = 0.0;
}
memset(&work[0], 0, 28U * sizeof(double));
memset(&U[0], 0, 476U * sizeof(double));
memset(&V[0], 0, 289U * sizeof(double));
for (q = 0; q < 17; q++) {
iter = q + 28 * q;
apply_transform = false;
ztest0 = c_eml_xnrm2(28 - q, b_A, iter + 1);
if (ztest0 > 0.0) {
apply_transform = true;
if (b_A[iter] < 0.0) {
s[q] = -ztest0;
} else {
s[q] = ztest0;
}
if (fabs(s[q]) >= 1.0020841800044864E-292) {
ztest0 = 1.0 / s[q];
kase = (iter - q) + 28;
for (qp1jj = iter; qp1jj + 1 <= kase; qp1jj++) {
b_A[qp1jj] *= ztest0;
}
} else {
kase = (iter - q) + 28;
for (qp1jj = iter; qp1jj + 1 <= kase; qp1jj++) {
b_A[qp1jj] /= s[q];
}
}
b_A[iter]++;
s[q] = -s[q];
} else {
s[q] = 0.0;
}
for (qs = q + 1; qs + 1 < 18; qs++) {
kase = q + 28 * qs;
if (apply_transform) {
eml_xaxpy(28 - q, -(eml_xdotc(28 - q, b_A, iter + 1, b_A, kase + 1) /
b_A[q + 28 * q]), iter + 1, b_A, kase + 1);
}
e[qs] = b_A[kase];
}
for (qp1jj = q; qp1jj + 1 < 29; qp1jj++) {
U[qp1jj + 28 * q] = b_A[qp1jj + 28 * q];
}
if (q + 1 <= 15) {
ztest0 = d_eml_xnrm2(16 - q, e, q + 2);
if (ztest0 == 0.0) {
e[q] = 0.0;
} else {
if (e[q + 1] < 0.0) {
e[q] = -ztest0;
} else {
e[q] = ztest0;
}
ztest0 = e[q];
if (fabs(e[q]) >= 1.0020841800044864E-292) {
ztest0 = 1.0 / e[q];
for (qp1jj = q + 1; qp1jj + 1 < 18; qp1jj++) {
e[qp1jj] *= ztest0;
}
} else {
for (qp1jj = q + 1; qp1jj + 1 < 18; qp1jj++) {
e[qp1jj] /= ztest0;
}
}
e[q + 1]++;
e[q] = -e[q];
for (qp1jj = q + 1; qp1jj + 1 < 29; qp1jj++) {
work[qp1jj] = 0.0;
}
for (qs = q + 1; qs + 1 < 18; qs++) {
b_eml_xaxpy(27 - q, e[qs], b_A, (q + 28 * qs) + 2, work, q + 2);
}
for (qs = q + 1; qs + 1 < 18; qs++) {
c_eml_xaxpy(27 - q, -e[qs] / e[q + 1], work, q + 2, b_A, (q + 28 * qs)
+ 2);
}
}
for (qp1jj = q + 1; qp1jj + 1 < 18; qp1jj++) {
V[qp1jj + 17 * q] = e[qp1jj];
}
}
}
m = 15;
e[15] = b_A[463];
e[16] = 0.0;
for (q = 16; q > -1; q += -1) {
iter = q + 28 * q;
if (s[q] != 0.0) {
for (qs = q + 1; qs + 1 < 18; qs++) {
kase = (q + 28 * qs) + 1;
eml_xaxpy(28 - q, -(eml_xdotc(28 - q, U, iter + 1, U, kase) / U[iter]),
iter + 1, U, kase);
}
for (qp1jj = q; qp1jj + 1 < 29; qp1jj++) {
U[qp1jj + 28 * q] = -U[qp1jj + 28 * q];
}
U[iter]++;
for (qp1jj = 1; qp1jj <= q; qp1jj++) {
U[(qp1jj + 28 * q) - 1] = 0.0;
}
} else {
memset(&U[28 * q], 0, 28U * sizeof(double));
U[iter] = 1.0;
}
}
for (q = 16; q > -1; q += -1) {
if ((q + 1 <= 15) && (e[q] != 0.0)) {
kase = (q + 17 * q) + 2;
for (qs = q + 1; qs + 1 < 18; qs++) {
qp1jj = (q + 17 * qs) + 2;
d_eml_xaxpy(16 - q, -(b_eml_xdotc(16 - q, V, kase, V, qp1jj) / V[kase -
1]), kase, V, qp1jj);
}
}
memset(&V[17 * q], 0, 17U * sizeof(double));
V[q + 17 * q] = 1.0;
}
for (q = 0; q < 17; q++) {
ztest0 = e[q];
if (s[q] != 0.0) {
rt = fabs(s[q]);
ztest = s[q] / rt;
s[q] = rt;
if (q + 1 < 17) {
ztest0 = e[q] / ztest;
}
b_eml_xscal(ztest, U, 1 + 28 * q);
}
if ((q + 1 < 17) && (ztest0 != 0.0)) {
rt = fabs(ztest0);
ztest = rt / ztest0;
ztest0 = rt;
s[q + 1] *= ztest;
c_eml_xscal(ztest, V, 1 + 17 * (q + 1));
}
e[q] = ztest0;
}
iter = 0;
snorm = 0.0;
for (qp1jj = 0; qp1jj < 17; qp1jj++) {
ztest0 = fabs(s[qp1jj]);
ztest = fabs(e[qp1jj]);
if ((ztest0 >= ztest) || rtIsNaN(ztest)) {
} else {
ztest0 = ztest;
}
if ((snorm >= ztest0) || rtIsNaN(ztest0)) {
} else {
snorm = ztest0;
}
}
while ((m + 2 > 0) && (!(iter >= 75))) {
qp1jj = m;
do {
exitg3 = 0;
q = qp1jj + 1;
if (qp1jj + 1 == 0) {
exitg3 = 1;
} else {
ztest0 = fabs(e[qp1jj]);
if ((ztest0 <= 2.2204460492503131E-16 * (fabs(s[qp1jj]) + fabs(s[qp1jj +
1]))) || (ztest0 <= 1.0020841800044864E-292) || ((iter > 20) &&
(ztest0 <= 2.2204460492503131E-16 * snorm))) {
e[qp1jj] = 0.0;
exitg3 = 1;
} else {
qp1jj--;
}
}
} while (exitg3 == 0);
if (qp1jj + 1 == m + 1) {
kase = 4;
} else {
qs = m + 2;
kase = m + 2;
exitg2 = false;
while ((!exitg2) && (kase >= qp1jj + 1)) {
qs = kase;
if (kase == qp1jj + 1) {
exitg2 = true;
} else {
ztest0 = 0.0;
if (kase < m + 2) {
ztest0 = fabs(e[kase - 1]);
}
if (kase > qp1jj + 2) {
ztest0 += fabs(e[kase - 2]);
}
ztest = fabs(s[kase - 1]);
if ((ztest <= 2.2204460492503131E-16 * ztest0) || (ztest <=
1.0020841800044864E-292)) {
s[kase - 1] = 0.0;
exitg2 = true;
} else {
kase--;
}
}
}
if (qs == qp1jj + 1) {
kase = 3;
} else if (qs == m + 2) {
kase = 1;
} else {
kase = 2;
q = qs;
}
}
switch (kase) {
case 1:
f = e[m];
e[m] = 0.0;
for (qp1jj = m; qp1jj + 1 >= q + 1; qp1jj--) {
ztest0 = s[qp1jj];
eml_xrotg(&ztest0, &f, &ztest, &rt);
s[qp1jj] = ztest0;
if (qp1jj + 1 > q + 1) {
f = -rt * e[qp1jj - 1];
e[qp1jj - 1] *= ztest;
}
eml_xrot(V, 1 + 17 * qp1jj, 1 + 17 * (m + 1), ztest, rt);
}
break;
case 2:
f = e[q - 1];
e[q - 1] = 0.0;
for (qp1jj = q; qp1jj + 1 <= m + 2; qp1jj++) {
eml_xrotg(&s[qp1jj], &f, &ztest, &rt);
f = -rt * e[qp1jj];
e[qp1jj] *= ztest;
b_eml_xrot(U, 1 + 28 * qp1jj, 1 + 28 * (q - 1), ztest, rt);
}
break;
case 3:
varargin_1[0] = fabs(s[m + 1]);
varargin_1[1] = fabs(s[m]);
varargin_1[2] = fabs(e[m]);
varargin_1[3] = fabs(s[q]);
varargin_1[4] = fabs(e[q]);
kase = 1;
mtmp = varargin_1[0];
if (rtIsNaN(varargin_1[0])) {
qp1jj = 2;
exitg1 = false;
while ((!exitg1) && (qp1jj < 6)) {
kase = qp1jj;
if (!rtIsNaN(varargin_1[qp1jj - 1])) {
mtmp = varargin_1[qp1jj - 1];
exitg1 = true;
} else {
qp1jj++;
}
}
}
if (kase < 5) {
while (kase + 1 < 6) {
if (varargin_1[kase] > mtmp) {
mtmp = varargin_1[kase];
}
kase++;
}
}
f = s[m + 1] / mtmp;
ztest0 = s[m] / mtmp;
ztest = e[m] / mtmp;
sqds = s[q] / mtmp;
rt = ((ztest0 + f) * (ztest0 - f) + ztest * ztest) / 2.0;
ztest0 = f * ztest;
ztest0 *= ztest0;
if ((rt != 0.0) || (ztest0 != 0.0)) {
ztest = sqrt(rt * rt + ztest0);
if (rt < 0.0) {
ztest = -ztest;
}
ztest = ztest0 / (rt + ztest);
} else {
ztest = 0.0;
}
f = (sqds + f) * (sqds - f) + ztest;
ztest0 = sqds * (e[q] / mtmp);
for (qp1jj = q + 1; qp1jj <= m + 1; qp1jj++) {
eml_xrotg(&f, &ztest0, &ztest, &rt);
if (qp1jj > q + 1) {
e[qp1jj - 2] = f;
}
f = ztest * s[qp1jj - 1] + rt * e[qp1jj - 1];
e[qp1jj - 1] = ztest * e[qp1jj - 1] - rt * s[qp1jj - 1];
ztest0 = rt * s[qp1jj];
s[qp1jj] *= ztest;
eml_xrot(V, 1 + 17 * (qp1jj - 1), 1 + 17 * qp1jj, ztest, rt);
s[qp1jj - 1] = f;
eml_xrotg(&s[qp1jj - 1], &ztest0, &ztest, &rt);
f = ztest * e[qp1jj - 1] + rt * s[qp1jj];
s[qp1jj] = -rt * e[qp1jj - 1] + ztest * s[qp1jj];
ztest0 = rt * e[qp1jj];
e[qp1jj] *= ztest;
b_eml_xrot(U, 1 + 28 * (qp1jj - 1), 1 + 28 * qp1jj, ztest, rt);
}
e[m] = f;
iter++;
break;
default:
if (s[q] < 0.0) {
s[q] = -s[q];
c_eml_xscal(-1.0, V, 1 + 17 * q);
}
kase = q + 1;
while ((q + 1 < 17) && (s[q] < s[kase])) {
rt = s[q];
s[q] = s[kase];
s[kase] = rt;
b_eml_xswap(V, 1 + 17 * q, 1 + 17 * (q + 1));
c_eml_xswap(U, 1 + 28 * q, 1 + 28 * (q + 1));
q = kase;
kase++;
}
iter = 0;
m--;
break;
}
}
memcpy(&S[0], &s[0], 17U * sizeof(double));
}
static void eml_xgesvd(const real32_T A[9], real32_T U[9], real32_T S[3],
real32_T V[9])
{
real32_T b_A[9];
int32_T i;
real32_T s[3];
real32_T e[3];
real32_T work[3];
real32_T Vf[9];
int32_T q;
int32_T qs;
real32_T ztest0;
int32_T ii;
real32_T ztest;
int32_T m;
real32_T rt;
int32_T iter;
real32_T tiny;
real32_T snorm;
int32_T exitg3;
boolean_T exitg2;
real32_T sn;
real32_T varargin_1[5];
boolean_T exitg1;
real32_T sqds;
real32_T b;
for (i = 0; i < 9; i++) {
b_A[i] = A[i];
}
for (i = 0; i < 3; i++) {
s[i] = 0.0F;
e[i] = 0.0F;
work[i] = 0.0F;
}
for (i = 0; i < 9; i++) {
U[i] = 0.0F;
Vf[i] = 0.0F;
}
for (q = 0; q < 2; q++) {
qs = q + 3 * q;
ztest0 = eml_xnrm2(3 - q, b_A, qs + 1);
if (ztest0 > 0.0F) {
if (b_A[qs] < 0.0F) {
s[q] = -ztest0;
} else {
s[q] = ztest0;
}
eml_xscal(3 - q, b_eml_div(1.0, s[q]), b_A, qs + 1);
b_A[qs]++;
s[q] = -s[q];
} else {
s[q] = 0.0F;
}
for (ii = q + 1; ii + 1 < 4; ii++) {
i = q + 3 * ii;
if (s[q] != 0.0F) {
ztest0 = -eml_div(eml_xdotc(3 - q, b_A, qs + 1, b_A, i + 1), b_A[q + 3 *
q]);
eml_xaxpy(3 - q, ztest0, qs + 1, b_A, i + 1);
}
e[ii] = b_A[i];
}
for (ii = q; ii + 1 < 4; ii++) {
U[ii + 3 * q] = b_A[ii + 3 * q];
}
if (q + 1 <= 1) {
ztest0 = b_eml_xnrm2(2, e, 2);
if (ztest0 == 0.0F) {
e[0] = 0.0F;
} else {
if (e[1] < 0.0F) {
ztest = -ztest0;
} else {
ztest = ztest0;
}
if (e[1] < 0.0F) {
e[0] = -ztest0;
} else {
e[0] = ztest0;
}
b_eml_xscal(2, b_eml_div(1.0, ztest), e, 2);
e[1]++;
}
e[0] = -e[0];
if (e[0] != 0.0F) {
for (ii = 2; ii < 4; ii++) {
work[ii - 1] = 0.0F;
}
for (ii = 1; ii + 1 < 4; ii++) {
b_eml_xaxpy(2, e[ii], b_A, 2 + 3 * ii, work, 2);
}
for (ii = 1; ii + 1 < 4; ii++) {
c_eml_xaxpy(2, eml_div(-e[ii], e[1]), work, 2, b_A, 2 + 3 * ii);
}
}
for (ii = 1; ii + 1 < 4; ii++) {
Vf[ii] = e[ii];
}
}
}
m = 1;
s[2] = b_A[8];
e[1] = b_A[7];
e[2] = 0.0F;
for (ii = 0; ii < 3; ii++) {
U[6 + ii] = 0.0F;
}
U[8] = 1.0F;
for (q = 1; q > -1; q += -1) {
qs = q + 3 * q;
if (s[q] != 0.0F) {
for (ii = q + 1; ii + 1 < 4; ii++) {
i = (q + 3 * ii) + 1;
ztest0 = -eml_div(eml_xdotc(3 - q, U, qs + 1, U, i), U[qs]);
eml_xaxpy(3 - q, ztest0, qs + 1, U, i);
}
for (ii = q; ii + 1 < 4; ii++) {
U[ii + 3 * q] = -U[ii + 3 * q];
}
U[qs]++;
ii = 1;
while (ii <= q) {
U[3] = 0.0F;
ii = 2;
}
} else {
for (ii = 0; ii < 3; ii++) {
U[ii + 3 * q] = 0.0F;
}
U[qs] = 1.0F;
}
}
for (q = 2; q > -1; q += -1) {
if ((q + 1 <= 1) && (e[0] != 0.0F)) {
for (ii = 2; ii < 4; ii++) {
i = 2 + 3 * (ii - 1);
ztest0 = -eml_div(eml_xdotc(2, Vf, 2, Vf, i), Vf[1]);
eml_xaxpy(2, ztest0, 2, Vf, i);
}
}
for (ii = 0; ii < 3; ii++) {
Vf[ii + 3 * q] = 0.0F;
}
Vf[q + 3 * q] = 1.0F;
}
for (q = 0; q < 3; q++) {
ztest0 = e[q];
if (s[q] != 0.0F) {
rt = (real32_T)fabs(s[q]);
ztest = eml_div(s[q], rt);
s[q] = rt;
if (q + 1 < 3) {
ztest0 = eml_div(e[q], ztest);
}
eml_xscal(3, ztest, U, 3 * q + 1);
}
if ((q + 1 < 3) && (ztest0 != 0.0F)) {
rt = (real32_T)fabs(ztest0);
ztest = eml_div(rt, ztest0);
ztest0 = rt;
s[q + 1] *= ztest;
eml_xscal(3, ztest, Vf, 3 * (q + 1) + 1);
}
e[q] = ztest0;
}
iter = 0;
tiny = eml_div(1.17549435E-38F, 1.1920929E-7F);
snorm = 0.0F;
for (ii = 0; ii < 3; ii++) {
ztest0 = (real32_T)fabs(s[ii]);
ztest = (real32_T)fabs(e[ii]);
if ((ztest0 >= ztest) || rtIsNaNF(ztest)) {
ztest = ztest0;
}
if ((snorm >= ztest) || rtIsNaNF(ztest)) {
} else {
snorm = ztest;
}
}
while ((m + 2 > 0) && (!(iter >= 75))) {
ii = m;
do {
exitg3 = 0;
q = ii + 1;
if (ii + 1 == 0) {
exitg3 = 1;
} else {
ztest0 = (real32_T)fabs(e[ii]);
if ((ztest0 <= 1.1920929E-7F * ((real32_T)fabs(s[ii]) + (real32_T)fabs
(s[ii + 1]))) || (ztest0 <= tiny) || ((iter > 20) && (ztest0 <=
1.1920929E-7F * snorm))) {
e[ii] = 0.0F;
exitg3 = 1;
} else {
ii--;
}
}
} while (exitg3 == 0);
if (ii + 1 == m + 1) {
i = 4;
} else {
qs = m + 2;
i = m + 2;
exitg2 = FALSE;
while ((exitg2 == FALSE) && (i >= ii + 1)) {
qs = i;
if (i == ii + 1) {
exitg2 = TRUE;
} else {
ztest0 = 0.0F;
if (i < m + 2) {
ztest0 = (real32_T)fabs(e[i - 1]);
}
if (i > ii + 2) {
ztest0 += (real32_T)fabs(e[i - 2]);
}
ztest = (real32_T)fabs(s[i - 1]);
if ((ztest <= 1.1920929E-7F * ztest0) || (ztest <= tiny)) {
s[i - 1] = 0.0F;
exitg2 = TRUE;
} else {
i--;
}
}
}
if (qs == ii + 1) {
i = 3;
} else if (qs == m + 2) {
i = 1;
} else {
i = 2;
q = qs;
}
}
switch (i) {
case 1:
ztest = e[m];
e[m] = 0.0F;
for (ii = m; ii + 1 >= q + 1; ii--) {
ztest0 = s[ii];
eml_xrotg(&ztest0, &ztest, &rt, &sn);
s[ii] = ztest0;
if (ii + 1 > q + 1) {
ztest = -sn * e[0];
e[0] *= rt;
}
eml_xrot(Vf, 3 * ii + 1, 3 * (m + 1) + 1, rt, sn);
}
break;
case 2:
ztest = e[q - 1];
e[q - 1] = 0.0F;
for (ii = q; ii + 1 <= m + 2; ii++) {
eml_xrotg(&s[ii], &ztest, &rt, &sn);
ztest = -sn * e[ii];
e[ii] *= rt;
eml_xrot(U, 3 * ii + 1, 3 * (q - 1) + 1, rt, sn);
}
break;
case 3:
varargin_1[0] = (real32_T)fabs(s[m + 1]);
varargin_1[1] = (real32_T)fabs(s[m]);
varargin_1[2] = (real32_T)fabs(e[m]);
varargin_1[3] = (real32_T)fabs(s[q]);
varargin_1[4] = (real32_T)fabs(e[q]);
i = 1;
sn = varargin_1[0];
if (rtIsNaNF(varargin_1[0])) {
ii = 2;
exitg1 = FALSE;
while ((exitg1 == FALSE) && (ii < 6)) {
i = ii;
if (!rtIsNaNF(varargin_1[ii - 1])) {
sn = varargin_1[ii - 1];
exitg1 = TRUE;
} else {
ii++;
}
}
}
if (i < 5) {
while (i + 1 < 6) {
if (varargin_1[i] > sn) {
sn = varargin_1[i];
}
i++;
}
}
rt = eml_div(s[m + 1], sn);
ztest0 = eml_div(s[m], sn);
ztest = eml_div(e[m], sn);
sqds = eml_div(s[q], sn);
b = c_eml_div((ztest0 + rt) * (ztest0 - rt) + ztest * ztest, 2.0);
ztest0 = rt * ztest;
ztest0 *= ztest0;
ztest = 0.0F;
if ((b != 0.0F) || (ztest0 != 0.0F)) {
ztest = (real32_T)sqrt(b * b + ztest0);
if (b < 0.0F) {
ztest = -ztest;
}
ztest = eml_div(ztest0, b + ztest);
}
ztest += (sqds + rt) * (sqds - rt);
ztest0 = sqds * eml_div(e[q], sn);
for (ii = q + 1; ii <= m + 1; ii++) {
eml_xrotg(&ztest, &ztest0, &rt, &sn);
if (ii > q + 1) {
e[0] = ztest;
}
ztest = rt * s[ii - 1];
ztest0 = sn * e[ii - 1];
e[ii - 1] = rt * e[ii - 1] - sn * s[ii - 1];
b = s[ii];
s[ii] *= rt;
eml_xrot(Vf, 3 * (ii - 1) + 1, 3 * ii + 1, rt, sn);
s[ii - 1] = ztest + ztest0;
ztest0 = sn * b;
eml_xrotg(&s[ii - 1], &ztest0, &rt, &sn);
ztest = rt * e[ii - 1] + sn * s[ii];
s[ii] = -sn * e[ii - 1] + rt * s[ii];
ztest0 = sn * e[ii];
e[ii] *= rt;
eml_xrot(U, 3 * (ii - 1) + 1, 3 * ii + 1, rt, sn);
}
e[m] = ztest;
iter++;
break;
default:
if (s[q] < 0.0F) {
s[q] = -s[q];
eml_xscal(3, -1.0F, Vf, 3 * q + 1);
}
i = q + 1;
while ((q + 1 < 3) && (s[q] < s[i])) {
rt = s[q];
s[q] = s[i];
s[i] = rt;
eml_xswap(Vf, 3 * q + 1, 3 * (q + 1) + 1);
eml_xswap(U, 3 * q + 1, 3 * (q + 1) + 1);
q = i;
i++;
}
iter = 0;
m--;
break;
}
}
for (ii = 0; ii < 3; ii++) {
S[ii] = s[ii];
for (i = 0; i < 3; i++) {
V[i + 3 * ii] = Vf[i + 3 * ii];
}
}
}