From aceeb1fe05a8ff6c126ea9ba166a19249488dbd1 Mon Sep 17 00:00:00 2001
From: siddhu8990
Date: Thu, 13 Apr 2017 10:42:02 +0530
Subject: Functions added - balance,rcond,obscont
---
src/c/CACSD/includes/obscont.h | 28 ++
src/c/CACSD/interfaces/int_obscont.h | 29 +++
src/c/CACSD/obscont/dobsconta.c | 284 +++++++++++++++++++++
.../hardware/rasberrypi/gpio/u8RPIDigitalSetups.c | 7 +-
.../rasberrypi/includes/RPIPeripheralSerial.h | 4 +-
.../rasberrypi/serial/u16RPISerialSetups.c | 25 ++
.../hardware/rasberrypi/serial/u8RPISerialSetups.c | 25 --
src/c/linearAlgebra/balanc/dbalanca.c | 75 ++++++
src/c/linearAlgebra/includes/balanc.h | 27 ++
src/c/linearAlgebra/includes/rcond.h | 26 ++
src/c/linearAlgebra/interfaces/int_balanc.h | 29 +++
src/c/linearAlgebra/interfaces/int_rcond.h | 25 ++
src/c/linearAlgebra/rcond/drconda.c | 46 ++++
src/c/linearAlgebra/schur/dschura.c | 2 +-
14 files changed, 601 insertions(+), 31 deletions(-)
create mode 100644 src/c/CACSD/includes/obscont.h
create mode 100644 src/c/CACSD/interfaces/int_obscont.h
create mode 100644 src/c/CACSD/obscont/dobsconta.c
create mode 100644 src/c/hardware/rasberrypi/serial/u16RPISerialSetups.c
delete mode 100644 src/c/hardware/rasberrypi/serial/u8RPISerialSetups.c
create mode 100644 src/c/linearAlgebra/balanc/dbalanca.c
create mode 100644 src/c/linearAlgebra/includes/balanc.h
create mode 100644 src/c/linearAlgebra/includes/rcond.h
create mode 100644 src/c/linearAlgebra/interfaces/int_balanc.h
create mode 100644 src/c/linearAlgebra/interfaces/int_rcond.h
create mode 100644 src/c/linearAlgebra/rcond/drconda.c
(limited to 'src/c')
diff --git a/src/c/CACSD/includes/obscont.h b/src/c/CACSD/includes/obscont.h
new file mode 100644
index 0000000..f316adb
--- /dev/null
+++ b/src/c/CACSD/includes/obscont.h
@@ -0,0 +1,28 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __OBSCONT_H__
+#define __OBSCONT_H__
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void dobsconta(double* sys, int sys_rows, int sys_cols, double* Kc, double* Kf, \
+ double *K, double *r);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__OBSCONT_H__*/
diff --git a/src/c/CACSD/interfaces/int_obscont.h b/src/c/CACSD/interfaces/int_obscont.h
new file mode 100644
index 0000000..fd3a823
--- /dev/null
+++ b/src/c/CACSD/interfaces/int_obscont.h
@@ -0,0 +1,29 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_OBSCONT_H__
+#define __INT_OBSCONT_H__
+
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+
+#define ss2d2d2obscontd2(in1,size1,in2,size2,in3,size3,out) \
+ dobsconta(in1,size1[0],size1[1],in2,in3,out,NULL)
+
+#define ss2d2d2obscontd2d2(in1,size1,in2,size2,in3,size3,out1,out2) \
+ dobsconta(in1,size1[0],size1[1],in2,in3,out1,out2)
+
+ #ifdef __cplusplus
+ } /* extern "C" */
+ #endif
+
+#endif /*__INT_OBSCONT_H__*/
diff --git a/src/c/CACSD/obscont/dobsconta.c b/src/c/CACSD/obscont/dobsconta.c
new file mode 100644
index 0000000..7e29752
--- /dev/null
+++ b/src/c/CACSD/obscont/dobsconta.c
@@ -0,0 +1,284 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/*Function for calculating observer controller.
+ Refer 'obscont.sci' in scilab source.*/
+
+#include <stdlib.h>
+#include "matrixMultiplication.h"
+#include "addition.h"
+
+void dobsconta(double* sys, int sys_rows, int sys_cols, double* Kc, double* Kf, \
+ double *K, double *r)
+{
+ int no_of_states, no_of_inputs, no_of_outputs, dom = 1;
+ int row,col;
+ no_of_states = sys[sys_rows*(sys_cols-1)];
+ no_of_inputs = sys[sys_rows*(sys_cols-1) + 1];
+ no_of_outputs = sys_rows - no_of_states;
+
+ int no_of_cols;
+ int no_of_rows;
+
+ double *A, *B, *C, *D;
+ double *BKc, *KfC, *KfD,*DKc;
+ double *buf, *buf1, *buf2;
+
+ A = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+ B = (double*) malloc (no_of_states*no_of_inputs*sizeof(double));
+ C = (double*) malloc (no_of_states*no_of_outputs*sizeof(double));
+ D = (double*) malloc (no_of_inputs*no_of_outputs*sizeof(double));
+
+ BKc = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+ KfC = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+ KfD = (double*) malloc (no_of_states*no_of_inputs*sizeof(double));
+ DKc = (double*) malloc (no_of_outputs*no_of_states*sizeof(double));
+ buf = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+ buf1 = (double*) malloc (no_of_states*no_of_inputs*sizeof(double));
+ buf2 = (double*) malloc (no_of_outputs*no_of_states*sizeof(double));
+
+ /*Get A from system matrix*/
+ for(col = 0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ A[col*no_of_states + row] = sys[col*sys_rows + row];
+ }
+ }
+
+ /*Get matrix B from system matrix*/
+ for(col=0; col < no_of_inputs; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ B[col * no_of_states + row] = \
+ sys[col * sys_rows + no_of_states*sys_rows + row];
+ }
+ }
+
+ /*Get matrix C from system matrix*/
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_outputs; row++)
+ {
+ C[col * no_of_outputs + row] = \
+ sys[no_of_states + (col*sys_rows) + row];
+ }
+ }
+
+ /*Get matrix D from system matrix*/
+ for(col=0; col < no_of_inputs; col++)
+ {
+ for(row = 0; row < no_of_outputs; row++)
+ {
+ D[col * no_of_outputs + row] = \
+ sys[(no_of_states+col)*sys_rows + no_of_states + row];
+ }
+ }
+
+ dom = sys[(sys_rows*(sys_cols-2)) + no_of_states];
+
+ dmulma(B,no_of_states,no_of_inputs,Kc,no_of_inputs,no_of_states,BKc);
+ dmulma(Kf,no_of_states,no_of_outputs,C,no_of_outputs,no_of_states,KfC);
+ dmulma(Kf,no_of_states,no_of_outputs,D,no_of_outputs,no_of_inputs,KfD);
+
+ /*Variables are reused to save memory*/
+ /*A+BKc*/
+ dadda(A,no_of_states*no_of_states,BKc,no_of_states*no_of_states,buf);
+ /*A+BKc+KfC*/
+ dadda(KfC,no_of_states*no_of_states,buf,no_of_states*no_of_states,A);
+ /*KfDKc*/
+ dmulma(KfD,no_of_states,no_of_inputs,Kc,no_of_inputs,no_of_states,BKc);
+ /*A+BKc+KfC+KfDKc*/
+ dadda(A,no_of_states*no_of_states,BKc,no_of_states*no_of_states,buf);
+
+ /*Dimensions of K*/
+ no_of_cols = no_of_states + no_of_inputs + 2;
+ no_of_rows = no_of_states + no_of_outputs;
+
+ if(r == NULL)
+ {
+ /*Dimensions of K*/
+ no_of_cols = no_of_states + no_of_outputs + 2;
+ no_of_rows = no_of_states + no_of_inputs;
+
+ for(col = 0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ K[col*no_of_rows + row] = buf[col*no_of_states + row];
+ }
+
+ }
+
+ /*Copy matrix -Kf in out matrix*/
+ for(col=0; col < no_of_outputs; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ K[col * no_of_rows + no_of_states*no_of_rows + row] \
+ = -1.0*Kf[col * no_of_states + row];
+ }
+ }
+
+ /*Copy matrix Kc in out matrix*/
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_inputs; row++)
+ {
+ K[no_of_states + (col*no_of_rows) + row] = Kc[col * no_of_inputs + row];
+ }
+ }
+
+ K[(no_of_rows*(no_of_cols-2)) + no_of_states] = dom;
+ /*Insert no of states and inputs in last column*/
+ K[(no_of_rows*(no_of_cols-1))] = no_of_states;
+ K[(no_of_rows*(no_of_cols-1))+1] = no_of_outputs;
+ /*For K, no_of_outputs is no of inputs*/
+
+ }
+ else
+ {
+ /*Dimensions of K*/
+ no_of_cols = no_of_states + no_of_inputs + no_of_outputs + 2;
+ no_of_rows = no_of_states + no_of_outputs + no_of_inputs;
+
+ r[0] = no_of_outputs;
+ r[1] = no_of_inputs;
+
+ for(col = 0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ K[col*no_of_rows + row] = buf[col*no_of_states + row];
+ }
+
+ }
+
+ /*Copy matrix -Kf in out matrix*/
+ for(col=0; col < no_of_outputs; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ K[col * no_of_rows + no_of_states*no_of_rows + row] \
+ = -1.0*Kf[col * no_of_states + row];
+ }
+ }
+
+ /*B+Kf*D*/
+ dadda(B,no_of_states*no_of_inputs,KfD,no_of_states*no_of_inputs,buf1);
+
+ /*Copy matrix (B+KfD) in out matrix*/
+ for(col=0; col < no_of_inputs; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ K[col * no_of_rows + (no_of_states+no_of_outputs)*no_of_rows \
+ + row] = buf1[col * no_of_states + row];
+ }
+ }
+
+ /*DKc*/
+ dmulma(D,no_of_outputs,no_of_inputs,Kc,no_of_inputs,no_of_states,DKc);
+ /*C+DKc*/
+ dadda(C,no_of_outputs*no_of_states,DKc,no_of_outputs*no_of_states,buf2);
+
+ /*Copy matrix Kc in out matrix*/
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_inputs; row++)
+ {
+ K[no_of_states + (col*no_of_rows) + row] \
+ = Kc[col * no_of_inputs + row];
+ }
+ }
+
+ /*Copy -(C+DKc) in out matrix*/
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_outputs; row++)
+ {
+ K[(no_of_states+no_of_inputs) + (col*no_of_rows) + row] \
+ = -1.0*buf2[col * no_of_outputs + row];
+ }
+ }
+
+ /*Block 22 for K*/
+ for(col=0; col < no_of_outputs; col++)
+ {
+ for(row = 0; row < no_of_inputs; row++)
+ {
+ K[no_of_states + (col*no_of_rows) + no_of_states*no_of_rows \
+ + row] = 0;
+ }
+ }
+
+ for(col=0; col < no_of_inputs; col++)
+ {
+ for(row = 0; row < no_of_inputs; row++)
+ {
+ if(row == col)
+ K[no_of_states + (col*no_of_rows) + \
+ (no_of_states+no_of_outputs)*no_of_rows + row] = 1;
+ else
+ K[no_of_states + (col*no_of_rows) + \
+ (no_of_states+no_of_outputs)*no_of_rows + row] = 0;
+ }
+ }
+
+ for(col=0; col < no_of_outputs; col++)
+ {
+ for(row = 0; row < no_of_outputs; row++)
+ {
+ if(row == col)
+ K[no_of_states + no_of_inputs + (col*no_of_rows) + \
+ no_of_states*no_of_rows + row] = 1;
+ else
+ K[no_of_states + no_of_inputs + (col*no_of_rows) + \
+ no_of_states*no_of_rows + row] = 0;
+ }
+ }
+
+
+ for(col=0; col < no_of_inputs; col++)
+ {
+ for(row = 0; row < no_of_outputs; row++)
+ {
+ K[no_of_states + no_of_inputs + (col*no_of_rows) + \
+ (no_of_states+no_of_outputs)*no_of_rows + row] \
+ = -1.0*D[col*no_of_inputs + row];
+ }
+ }
+
+
+ K[(no_of_rows*(no_of_cols-2))+ no_of_states] = dom;
+ /*Insert no of states and inputs in last column*/
+ K[(no_of_rows*(no_of_cols-1))] = no_of_states;
+ K[(no_of_rows*(no_of_cols-1))+1] = no_of_outputs + no_of_inputs;
+ /*For K, (no_of_outputs+no_of_inputs) is no of inputs*/
+
+
+ }
+
+
+ free(A);
+ free(B);
+ free(C);
+ free(D);
+ free(BKc);
+ free(KfC);
+ free(KfD);
+ free(DKc);
+ free(buf);
+ free(buf1);
+ free(buf2);
+}
diff --git a/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c b/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c
index fa86025..f5fefe0 100644
--- a/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c
+++ b/src/c/hardware/rasberrypi/gpio/u8RPIDigitalSetups.c
@@ -21,9 +21,10 @@
/*This array maps pin numbers on RPi board, with pin numbers corrsponding
to WiringPi library*/
-int phy_pin[] = {17, 17, 8, 17, 9, 17, 7, 15, 17, 16, /*Pin 1 to 10*/
- 0, 1, 2, 17, 3, 4, 17, 5, 12, 17, /*Pin 11 to 20*/
- 13, 6, 14, 10, 17, 11 }; /*Pin 21 to 26*/
+int phy_pin[] = {17, 17, 8, 17, 9, 17, 7, 15, 17, 16, /*Pin 1 to 10*/
+ 0, 1, 2, 17, 3, 4, 17, 5, 12, 17, /*Pin 11 to 20*/
+ 13, 6, 14, 10, 17, 11, 30, 31, 21, 17, /*Pin 21 to 30*/
+ 22, 26, 23, 17, 24, 27, 25, 28, 17, 29 }; /*Pin 31 to 40*/
/*pin is reduced by one as arrayiindex starts from 0 and pin no starts from 1*/
void u8RPIDigitalSetups(uint8 pin, uint8 direction)
diff --git a/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h b/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h
index 76a229e..14df95b 100644
--- a/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h
+++ b/src/c/hardware/rasberrypi/includes/RPIPeripheralSerial.h
@@ -29,13 +29,13 @@ void u16RPISerialSendDatas(int fd, uint16 data);
void i16RPISerialSendDatas(int fd, int16 data);
void sRPISerialSendDatas(int fd, float data);
void dRPISerialSendDatas(int fd, double data);
-void u8RPISerialSendDataa(int fd, void* data, int size);
+void u8RPISerialSendDataa(int fd, uint8* data, int size);
void i8RPISerialSendDataa(int fd, int8* data, int size);
void u16RPISerialSendDataa(int fd, uint16* data, int size);
void i16RPISerialSendDataa(int fd, int16* data, int size);
void sRPISerialSendDataa(int fd, float* data, int size);
void dRPISerialSendDataa(int fd, double* data, int size);
-void gRPISerialSendDatas(int fd, void* data, int size);
+void gRPISerialSendDatas(int fd, uint8* data, int size);
int16 i16RPISerialDataAvails(int fd);
int16 i16RPISerialGetChars(int fd);
diff --git a/src/c/hardware/rasberrypi/serial/u16RPISerialSetups.c b/src/c/hardware/rasberrypi/serial/u16RPISerialSetups.c
new file mode 100644
index 0000000..cde4cba
--- /dev/null
+++ b/src/c/hardware/rasberrypi/serial/u16RPISerialSetups.c
@@ -0,0 +1,25 @@
+/* Copyright (C) 2016 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/* Function to setup port with desired baud rate. */
+
+#include "types.h"
+#include "RPIPeripheralSerial.h"
+
+int u16RPISerialSetups(char* port, int baudrate)
+{
+ int fd;
+
+ fd = serialOpen (port, baudrate);
+
+ return fd;
+}
diff --git a/src/c/hardware/rasberrypi/serial/u8RPISerialSetups.c b/src/c/hardware/rasberrypi/serial/u8RPISerialSetups.c
deleted file mode 100644
index cde4cba..0000000
--- a/src/c/hardware/rasberrypi/serial/u8RPISerialSetups.c
+++ /dev/null
@@ -1,25 +0,0 @@
-/* Copyright (C) 2016 - IIT Bombay - FOSSEE
-
- This file must be used under the terms of the CeCILL.
- This source file is licensed as described in the file COPYING, which
- you should have received as part of this distribution. The terms
- are also available at
- http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
- Author: Siddhesh Wani
- Organization: FOSSEE, IIT Bombay
- Email: toolbox@scilab.in
-*/
-
-/* Function to setup port with desired baud rate. */
-
-#include "types.h"
-#include "RPIPeripheralSerial.h"
-
-int u16RPISerialSetups(char* port, int baudrate)
-{
- int fd;
-
- fd = serialOpen (port, baudrate);
-
- return fd;
-}
diff --git a/src/c/linearAlgebra/balanc/dbalanca.c b/src/c/linearAlgebra/balanc/dbalanca.c
new file mode 100644
index 0000000..558c614
--- /dev/null
+++ b/src/c/linearAlgebra/balanc/dbalanca.c
@@ -0,0 +1,75 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+
+/*Funtion to balance given square matrix to improve its condition number*/
+#include "balanc.h"
+#include "lapack.h"
+#include "stdlib.h"
+#include "string.h"
+#include "eye.h"
+
+void dbalanca(double* in1, int rows, double* in2, double* out1, \
+ double* out2, double* out3, double* out4)
+{
+ char JOB = 'B';
+ char RSIDE = 'R';
+ char LSIDE = 'L';
+
+ int ILO, IHI, INFO;
+ double *buf1, *buf2, *LSCALE, *RSCALE;
+ double *LWORK;
+
+
+ if(in2 == NULL)
+ {
+ /*Single input matrix*/
+ buf1 = (double*) malloc((double) rows*rows*sizeof(double));
+ LSCALE = (double*) malloc((double) rows*sizeof(double));
+
+ /*copy input to temp buf as lapack function modifies input*/
+ memcpy(buf1,in1,rows*rows*sizeof(double));
+
+ dgebal_(&JOB,&rows,buf1,&rows,&ILO,&IHI,LSCALE,&INFO);
+ deyea(out2,rows,rows);
+ dgebak_(&JOB,&RSIDE,&rows,&ILO,&IHI,LSCALE,&rows,out2,&rows,&INFO);
+
+ /*copy computed matrix to output*/
+ memcpy(out1,buf1,rows*rows*sizeof(double));
+ }
+ else
+ {
+ /*two matrices as inputs*/
+ buf1 = (double*) malloc((double) rows*rows*sizeof(double));
+ buf2 = (double*) malloc((double) rows*rows*sizeof(double));
+ LSCALE = (double*) malloc((double) rows*sizeof(double));
+ RSCALE = (double*) malloc((double) rows*sizeof(double));
+ LWORK = (double*) malloc((double) 6*rows*sizeof(double));
+
+ /*copy input to temp buf as lapack function modifies input*/
+ memcpy(buf1,in1,rows*rows*sizeof(double));
+ memcpy(buf2,in2,rows*rows*sizeof(double));
+
+ dggbal_(&JOB,&rows,buf1,&rows,buf2,&rows,&ILO,&IHI,LSCALE,RSCALE, \
+ LWORK,INFO);
+ deyea(out3,rows,rows);
+ deyea(out4,rows,rows);
+
+ dgebak_(&JOB,&LSIDE,&rows,&ILO,&IHI,LSCALE,&rows,out3,&rows,&INFO);
+ dgebak_(&JOB,&RSIDE,&rows,&ILO,&IHI,LSCALE,&rows,out4,&rows,&INFO);
+
+ /*copy computed matrix to output*/
+ memcpy(out1,buf1,rows*rows*sizeof(double));
+ memcpy(out2,buf2,rows*rows*sizeof(double));
+
+ }
+
+}
\ No newline at end of file
diff --git a/src/c/linearAlgebra/includes/balanc.h b/src/c/linearAlgebra/includes/balanc.h
new file mode 100644
index 0000000..dcc66b2
--- /dev/null
+++ b/src/c/linearAlgebra/includes/balanc.h
@@ -0,0 +1,27 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __BALANC_H__
+#define __BALANC_H__
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void dbalanca(double* in1, int rows, double* in2, double* out1, \
+ double* out2, double* out3, double* out4);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__BALANC_H__*/
diff --git a/src/c/linearAlgebra/includes/rcond.h b/src/c/linearAlgebra/includes/rcond.h
new file mode 100644
index 0000000..4796f02
--- /dev/null
+++ b/src/c/linearAlgebra/includes/rcond.h
@@ -0,0 +1,26 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __RCOND_H__
+#define __RCOND_H__
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+double drconda(double* in1, int rows);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__RCOND_H__*/
diff --git a/src/c/linearAlgebra/interfaces/int_balanc.h b/src/c/linearAlgebra/interfaces/int_balanc.h
new file mode 100644
index 0000000..a16ba8c
--- /dev/null
+++ b/src/c/linearAlgebra/interfaces/int_balanc.h
@@ -0,0 +1,29 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_BALANC_H__
+#define __INT_BALANC_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define d2balancd2d2(in1,size1,out1,out2) dbalanca(in1,size1[0],NULL,out1, \
+ out2,NULL,NULL)
+
+#define d2d2balancd2d2d2d2(in1,size1,in2,size2,out1,out2,out3,out4) \
+ dbalanca(in1,size1[0],in2,out1,out2,out3,out4)
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__INT_BALANC_H__*/
diff --git a/src/c/linearAlgebra/interfaces/int_rcond.h b/src/c/linearAlgebra/interfaces/int_rcond.h
new file mode 100644
index 0000000..6e6a445
--- /dev/null
+++ b/src/c/linearAlgebra/interfaces/int_rcond.h
@@ -0,0 +1,25 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_RCOND_H__
+#define __INT_RCOND_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define d2rcondd0(in1,size1) drconda(in1,size1[0])
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__INT_RCOND_H__*/
diff --git a/src/c/linearAlgebra/rcond/drconda.c b/src/c/linearAlgebra/rcond/drconda.c
new file mode 100644
index 0000000..2082e9d
--- /dev/null
+++ b/src/c/linearAlgebra/rcond/drconda.c
@@ -0,0 +1,46 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+
+/*Funtion to find inverse condition number of square matrix*/
+
+#include "lapack.h"
+#include "stdlib.h"
+#include "string.h"
+
+double drconda(double* in1, int rows)
+{
+ double *buf, *IPIV, *LDWORK, *LIWORK;
+ int INFO;
+ char one = '1';
+ double ANORM;
+ double RCOND = 1;
+
+ buf = (double*) malloc((double) rows*rows*sizeof(double));
+ IPIV = (double*) malloc((double) rows*sizeof(double));
+ LIWORK = (double*) malloc((double) rows*sizeof(double));
+ LDWORK = (double*) malloc((double) 4*rows*sizeof(double));
+
+ /*Copy input in temp buf, as lapack modifies input*/
+ memcpy(buf,in1,rows*rows*sizeof(double));
+
+ ANORM = dlange_(&one,&rows,&rows,buf,&rows,LDWORK);
+
+ dgetrf_(&rows,&rows,buf,&rows,IPIV,&INFO);
+
+ if(INFO == 0)
+ {
+ dgecon_(&one,&rows,buf,&rows,&ANORM,&RCOND,LDWORK,LIWORK,&INFO);
+ }
+
+ return RCOND;
+
+}
\ No newline at end of file
diff --git a/src/c/linearAlgebra/schur/dschura.c b/src/c/linearAlgebra/schur/dschura.c
index 79c4197..802caa8 100644
--- a/src/c/linearAlgebra/schur/dschura.c
+++ b/src/c/linearAlgebra/schur/dschura.c
@@ -10,7 +10,7 @@
Email: toolbox@scilab.in
*/
-/*Fucntion to find schur decomposition of given square matrix */
+/*Funtion to find schur decomposition of given square matrix */
#include "schur.h"
#include "lapack.h"
#include "stdlib.h"
--
cgit