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pInT2 += numCols;
}
else
{
/* Element of the reference row */
in = *pInT1;
/* Working pointers for input and destination pivot rows */
pPRT_in = pPivotRowIn;
pPRT_pDst = pPivotRowDst;
/* Loop over the number of columns to the right of the pivot element,
to replace the elements in the input matrix */
j = (numCols - l);
while(j > 0u)
{
/* Replace the element by the sum of that row
and a multiple of the reference row */
in1 = *pInT1;
*pInT1++ = in1 - (in * *pPRT_in++);
/* Decrement the loop counter */
j--;
}
/* Loop over the number of columns to
replace the elements in the destination matrix */
j = numCols;
while(j > 0u)
{
/* Replace the element by the sum of that row
and a multiple of the reference row */
in1 = *pInT2;
*pInT2++ = in1 - (in * *pPRT_pDst++);
/* Decrement the loop counter */
j--;
}
}
/* Increment the temporary input pointer */
pInT1 = pInT1 + l;
/* Decrement the loop counter */
k--;
/* Increment the pivot index */
i++;
}
/* Increment the input pointer */
pIn++;
/* Decrement the loop counter */
loopCnt--;
/* Increment the index modifier */
l++;
}
#else
/* Run the below code for Cortex-M0 */
float32_t Xchg, in = 0.0f; /* Temporary input values */
uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l; /* loop counters */
arm_status status; /* status of matrix inverse */
#ifdef ARM_MATH_MATRIX_CHECK
/* Check for matrix mismatch condition */
if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
|| (pSrc->numRows != pDst->numRows))
{
/* Set status as ARM_MATH_SIZE_MISMATCH */
status = ARM_MATH_SIZE_MISMATCH;
}
else
#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
{
/*--------------------------------------------------------------------------------------------------------------
* Matrix Inverse can be solved using elementary row operations.
*
* Gauss-Jordan Method:
*
* 1. First combine the identity matrix and the input matrix separated by a bar to form an
* augmented matrix as follows:
* _ _ _ _ _ _ _ _
* | | a11 a12 | | | 1 0 | | | X11 X12 |
* | | | | | | | = | |
* |_ |_ a21 a22 _| | |_0 1 _| _| |_ X21 X21 _|
*
* 2. In our implementation, pDst Matrix is used as identity matrix.
*
* 3. Begin with the first row. Let i = 1.
*
* 4. Check to see if the pivot for row i is zero.
* The pivot is the element of the main diagonal that is on the current row.
* For instance, if working with row i, then the pivot element is aii.
* If the pivot is zero, exchange that row with a row below it that does not
* contain a zero in column i. If this is not possible, then an inverse
* to that matrix does not exist.
*
* 5. Divide every element of row i by the pivot.
*
* 6. For every row below and row i, replace that row with the sum of that row and
* a multiple of row i so that each new element in column i below row i is zero.
*
* 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
* for every element below and above the main diagonal.
*
* 8. Now an identical matrix is formed to the left of the bar(input matrix, src).
* Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).
*----------------------------------------------------------------------------------------------------------------*/
/* Working pointer for destination matrix */
pInT2 = pOut;
/* Loop over the number of rows */
rowCnt = numRows;
/* Making the destination matrix as identity matrix */
while(rowCnt > 0u)
{
/* Writing all zeroes in lower triangle of the destination matrix */
j = numRows - rowCnt;
while(j > 0u)
{
*pInT2++ = 0.0f;
j--;
}
/* Writing all ones in the diagonal of the destination matrix */
*pInT2++ = 1.0f;
/* Writing all zeroes in upper triangle of the destination matrix */
j = rowCnt - 1u;
while(j > 0u)
{
*pInT2++ = 0.0f;
j--;
}
/* Decrement the loop counter */
rowCnt--;
}
/* Loop over the number of columns of the input matrix.
All the elements in each column are processed by the row operations */
loopCnt = numCols;
/* Index modifier to navigate through the columns */
l = 0u;
//for(loopCnt = 0u; loopCnt < numCols; loopCnt++)
while(loopCnt > 0u)
{
/* Check if the pivot element is zero..
* If it is zero then interchange the row with non zero row below.
* If there is no non zero element to replace in the rows below,
* then the matrix is Singular. */
/* Working pointer for the input matrix that points
* to the pivot element of the particular row */
pInT1 = pIn + (l * numCols);
/* Working pointer for the destination matrix that points
* to the pivot element of the particular row */
pInT3 = pOut + (l * numCols);
/* Temporary variable to hold the pivot value */
in = *pInT1;
/* Destination pointer modifier */
k = 1u;
/* Check if the pivot element is zero */
if(*pInT1 == 0.0f)
{
/* Loop over the number rows present below */
for (i = (l + 1u); i < numRows; i++)
{
/* Update the input and destination pointers */
pInT2 = pInT1 + (numCols * l);
pInT4 = pInT3 + (numCols * k);
/* Check if there is a non zero pivot element to
* replace in the rows below */
if(*pInT2 != 0.0f)
{
/* Loop over number of columns
* to the right of the pilot element */
for (j = 0u; j < (numCols - l); j++)
{
/* Exchange the row elements of the input matrix */
Xchg = *pInT2;
*pInT2++ = *pInT1;
*pInT1++ = Xchg;
}
for (j = 0u; j < numCols; j++)
{
Xchg = *pInT4;
*pInT4++ = *pInT3;
*pInT3++ = Xchg;
}
/* Flag to indicate whether exchange is done or not */
flag = 1u;
/* Break after exchange is done */
break;
}
/* Update the destination pointer modifier */
k++;
}
}
/* Update the status if the matrix is singular */
if((flag != 1u) && (in == 0.0f))
{
status = ARM_MATH_SINGULAR;
break;
}
/* Points to the pivot row of input and destination matrices */
pPivotRowIn = pIn + (l * numCols);
pPivotRowDst = pOut + (l * numCols);
/* Temporary pointers to the pivot row pointers */
pInT1 = pPivotRowIn;
pInT2 = pPivotRowDst;
/* Pivot element of the row */
in = *(pIn + (l * numCols));
/* Loop over number of columns
* to the right of the pilot element */
for (j = 0u; j < (numCols - l); j++)
{
/* Divide each element of the row of the input matrix
* by the pivot element */
*pInT1++ = *pInT1 / in;
}
for (j = 0u; j < numCols; j++)
{
/* Divide each element of the row of the destination matrix
* by the pivot element */
*pInT2++ = *pInT2 / in;
}
/* Replace the rows with the sum of that row and a multiple of row i
* so that each new element in column i above row i is zero.*/
/* Temporary pointers for input and destination matrices */
pInT1 = pIn;
pInT2 = pOut;
for (i = 0u; i < numRows; i++)
{
/* Check for the pivot element */
if(i == l)
{
/* If the processing element is the pivot element,
only the columns to the right are to be processed */
pInT1 += numCols - l;
pInT2 += numCols;
}
else
{
/* Element of the reference row */
in = *pInT1;
/* Working pointers for input and destination pivot rows */
pPRT_in = pPivotRowIn;
pPRT_pDst = pPivotRowDst;
/* Loop over the number of columns to the right of the pivot element,
to replace the elements in the input matrix */
for (j = 0u; j < (numCols - l); j++)
{
/* Replace the element by the sum of that row
and a multiple of the reference row */
*pInT1++ = *pInT1 - (in * *pPRT_in++);
}
/* Loop over the number of columns to
replace the elements in the destination matrix */
for (j = 0u; j < numCols; j++)
{
/* Replace the element by the sum of that row
and a multiple of the reference row */
*pInT2++ = *pInT2 - (in * *pPRT_pDst++);
}
}
/* Increment the temporary input pointer */
pInT1 = pInT1 + l;
}
/* Increment the input pointer */
pIn++;
/* Decrement the loop counter */
loopCnt--;
/* Increment the index modifier */
l++;
}
#endif /* #ifndef ARM_MATH_CM0 */
/* Set status as ARM_MATH_SUCCESS */
status = ARM_MATH_SUCCESS;
if((flag != 1u) && (in == 0.0f))
{
status = ARM_MATH_SINGULAR;
}
}
/* Return to application */
return (status);
}
/**
* @} end of MatrixInv group
*/
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