summaryrefslogtreecommitdiff
path: root/2.3-1/src/c/CACSD
diff options
context:
space:
mode:
Diffstat (limited to '2.3-1/src/c/CACSD')
-rw-r--r--2.3-1/src/c/CACSD/includes/lqr.h4
-rw-r--r--2.3-1/src/c/CACSD/interfaces/int_lqr.h4
-rw-r--r--2.3-1/src/c/CACSD/lqe/dlqea.c4
-rw-r--r--2.3-1/src/c/CACSD/lqr/dlqra.c45
4 files changed, 0 insertions, 57 deletions
diff --git a/2.3-1/src/c/CACSD/includes/lqr.h b/2.3-1/src/c/CACSD/includes/lqr.h
index aab06d33..5b20ee83 100644
--- a/2.3-1/src/c/CACSD/includes/lqr.h
+++ b/2.3-1/src/c/CACSD/includes/lqr.h
@@ -17,11 +17,7 @@
extern "C" {
#endif
-<<<<<<< HEAD
void dlqra(double* sys, int sys_rows, int sys_cols, double* Q, double* R, double* S, double* X, double* K);
-=======
-void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K);
->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
#ifdef __cplusplus
} /* extern "C" */
diff --git a/2.3-1/src/c/CACSD/interfaces/int_lqr.h b/2.3-1/src/c/CACSD/interfaces/int_lqr.h
index c292f8c1..8deba90b 100644
--- a/2.3-1/src/c/CACSD/interfaces/int_lqr.h
+++ b/2.3-1/src/c/CACSD/interfaces/int_lqr.h
@@ -16,7 +16,6 @@
extern "C" {
#endif
-<<<<<<< HEAD
#define ss2lqrd2d2(in1,size1,out1,out2) dlqra(in1,size1[0],size1[1],NULL,\
NULL,NULL,out1,out2);
@@ -25,9 +24,6 @@ extern "C" {
#define ss2d2d2d2lqrd2d2(in1,size1,in2,size2,in3,size3,in4,size4,out1,out2) \
dlqra(in1,size1[0],size1[1],in2,in3,in4,out1,out2);
-=======
-#define ss2lqrd2d2(in1,size1,out1,out2) dlqra(in1,size1[0],size1[1],out1,out2);
->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
#ifdef __cplusplus
} /* extern "C" */
diff --git a/2.3-1/src/c/CACSD/lqe/dlqea.c b/2.3-1/src/c/CACSD/lqe/dlqea.c
index 06c1c6e0..e0be5b34 100644
--- a/2.3-1/src/c/CACSD/lqe/dlqea.c
+++ b/2.3-1/src/c/CACSD/lqe/dlqea.c
@@ -54,11 +54,7 @@ void dlqea(double* sys, int sys_rows, int sys_cols, double* X, double* K)
/*Calculate LQR gain*/
K_lqr = (double*) malloc(no_of_ip*no_of_st*sizeof(double));
-<<<<<<< HEAD
dlqra(sys_lqr,sys_lqr_rows,sys_lqr_cols,NULL,NULL,NULL,X,K_lqr);
-=======
- dlqra(sys_lqr,sys_lqr_rows,sys_lqr_cols,X,K_lqr);
->>>>>>> 9e5793a7b05b23e6044a6d7a9ddd5db39ba375f0
dtransposea(K_lqr,sys_rows - no_of_st,no_of_st,K);
} \ No newline at end of file
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);
generated by cgit (git 2.34.1) at 2025-01-10 05:45:15 +0000