static void update_covariance(
const covariance_t * predicted_cov,
const kalman_gain_t * gain,
covariance_t * dest)
{
matrix2d_t intermediate;
// Adest = Asrc - K1*Asrc
m_mult(&(gain->_k1), &(predicted_cov->_cov_a), &intermediate);
m_diff(&(predicted_cov->_cov_a), &intermediate, &(dest->_cov_a));
// Bdest = Bsrc - K1*Bsrc
m_mult(&(gain->_k1), &(predicted_cov->_cov_b), &intermediate);
m_diff(&(predicted_cov->_cov_b), &intermediate, &(dest->_cov_b));
// Cdest = Csrc - K2*Asrc
m_mult(&(gain->_k2), &(predicted_cov->_cov_a), &intermediate);
m_diff(&(predicted_cov->_cov_c), &intermediate, &(dest->_cov_c));
// Ddest = Dsrc - K2*Bsrc
m_mult(&(gain->_k2), &(predicted_cov->_cov_b), &intermediate);
m_diff(&(predicted_cov->_cov_d), &intermediate, &(dest->_cov_d));
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////// THE MAIN //////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void main()
{
float *a;//Will contain pointer pointing to the resultant matrix
int choice;
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////START OF MENU///////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
do
{
choice=menu();//variable recieves option number selected by the user
switch(choice)
{
case 0:choice=0;
printf("\n\n\nTHANK YOU\n\n");
break;
case 1:compatibility=1;
get_input(compatibility);//will input all data into global struct A and B
a=m_sum(X,Y);//ADDITION of struct matrix X,struct matrix Y
show_output(a);//will print the result in matrix A[][]
break;
case 2:compatibility=1;
get_input(compatibility);//will input all data into global struct A and B
a=m_diff(X,Y);//Subraction of struct matrix X,struct matrix Y
show_output(a);//will print the result in matrix A[][]
break;
case 3:compatibility=2;
get_input(compatibility);//will input all data into global struct A and B
a=m_prod(X,Y);//Product of struct matrix X,struct matrix Y
show_output(a);//will print the result in matrix A[][]
break;
case 4:/*
compatibility=2;
get_input(compatibility);
a=m_div(X,Y);
show_output(a);
*/
break;
case 5:/*
compatibility=refer header comments;
get_input(compatibility);
a=m_funtion(input parameters);
show_output(a);
*/
break;
case 6:/*
compatibility=refer header comments;
get_input(compatibility);
a=m_funtion(input parameters);
show_output(a);
*/
break;
case 7:/*
compatibility=refer header comments;
get_input(compatibility);
a=m_funtion(input parameters);
show_output(a);
*/
break;
case 8:/*
compatibility=refer header comments;
get_input(compatibility);
a=m_funtion(input parameters);
show_output(a);
*/
break;
case 9:
compatibility=3;
get_input(compatibility);
a=m_reshape(X,Y);
show_output(a);
break;
case 10:
compatibility=0;
get_input(compatibility);
ans=m_det(X.arr,X.row_size*X.colm_size);
printf("The result of the determinant is %f",ans);
break;
}
}while(choice!=0);
}
