diff options
Diffstat (limited to '2.3-1/src/c/CACSD/lqr/dlqra.c')
| -rw-r--r-- | 2.3-1/src/c/CACSD/lqr/dlqra.c | 45 |
1 files changed, 0 insertions, 45 deletions
diff --git a/2.3-1/src/c/CACSD/lqr/dlqra.c b/2.3-1/src/c/CACSD/lqr/dlqra.c index 15120f7d..1440c3a8 100644 --- a/2.3-1/src/c/CACSD/lqr/dlqra.c +++ b/2.3-1/src/c/CACSD/lqr/dlqra.c @@ -22,12 +22,8 @@ #include "schur.h" #include "matrixDivision.h" -<<<<<<< HEAD void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, \ double* S, double* K, double* X) -======= -void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K) ->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0 { int no_of_states, no_of_inputs, no_of_outputs, dom = 1; int row,col; @@ -37,11 +33,7 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K) double *A, *B, *C, *D; double *B_t, *C_t, *D_t; -<<<<<<< HEAD //double *Q, *R, *S; -======= - double *Q, *R, *S; ->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0 double *Ri, *LA, *LE; double *BRi, *StRi, *S_t; double *buf1, *buf2, *buf3, *buf4, *buf5, *buf6; @@ -99,18 +91,10 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K) dom = (int)sys[(sys_rows*(sys_cols-2)) + no_of_states]; -<<<<<<< HEAD -======= - Q = (double*) malloc (no_of_states*no_of_states*sizeof(double)); - R = (double*) malloc (no_of_inputs*no_of_inputs*sizeof(double)); - S = (double*) malloc (no_of_inputs*no_of_states*sizeof(double)); - ->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0 dtransposea(B,no_of_states,no_of_inputs,B_t); dtransposea(C,no_of_outputs,no_of_states,C_t); dtransposea(D,no_of_outputs,no_of_inputs,D_t); -<<<<<<< HEAD if(Q == NULL) {/*If Q is not provided*/ Q = (double*) malloc (no_of_states*no_of_states*sizeof(double)); @@ -130,14 +114,6 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K) } /*Free up unwanted variables*/ -======= - dmulma(C_t,no_of_states,no_of_outputs,C,no_of_outputs,no_of_states,Q); - dmulma(D_t,no_of_inputs,no_of_outputs,D,no_of_outputs,no_of_inputs,R); - dmulma(D_t,no_of_inputs,no_of_outputs,C,no_of_outputs,no_of_states,S); - - /*Free up unwanted variables*/ - ->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0 free(C); free(C_t); free(D); @@ -211,13 +187,8 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K) /*Freeup umwanted variables*/ free(A); -<<<<<<< HEAD //free(Q); //free(R); -======= - free(Q); - free(R); ->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0 free(BRi); free(S_t); free(StRi); @@ -317,11 +288,7 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K) } -<<<<<<< HEAD //free(Q); -======= - free(Q); ->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0 free(BRi); free(S_t); free(StRi); @@ -359,11 +326,7 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K) /*inv(B'XB+R)*/ dmulma(B_t,no_of_inputs,no_of_states,X,no_of_states,no_of_states,buf3); -<<<<<<< HEAD dmulma(buf3,no_of_inputs,no_of_states,B,no_of_states,no_of_inputs,buf6); -======= - dmulma(buf3,no_of_inputs,no_of_states,B_t,no_of_states,no_of_inputs,buf6); ->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0 dadda(buf6,no_of_inputs*no_of_inputs,R,no_of_inputs*no_of_inputs,buf5); dinverma(buf5,buf6,no_of_inputs); /*B'XA+S*/ @@ -380,22 +343,14 @@ void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K) free(A); free(B); -<<<<<<< HEAD //free(R); -======= - free(R); ->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0 free(buf5); free(buf6); } free(B_t); -<<<<<<< HEAD //free(S); -======= - free(S); ->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0 free(wsmall); free(X12); free(phi12); |