From bd03b38be0918837e147e969c6bb2014900009db Mon Sep 17 00:00:00 2001
From: Brijeshcr
Date: Sat, 8 Jul 2017 20:18:17 +0530
Subject: Revert "SCi2cDeps updated, Windows compatibility resolved"
---
src/c/CACSD/lqr/dlqra.c | 45 ---------------------------------------------
1 file changed, 45 deletions(-)
(limited to 'src/c/CACSD/lqr')
diff --git a/src/c/CACSD/lqr/dlqra.c b/src/c/CACSD/lqr/dlqra.c
index 15120f7d..1440c3a8 100644
--- a/src/c/CACSD/lqr/dlqra.c
+++ b/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);
--
cgit