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/zscilib-3.4.0/src/orientation/fusion/
Dcalibration.c15 static zsl_real_t zsl_fus_cal_magn_f_shp(struct zsl_vec *H, struct zsl_vec *b) in zsl_fus_cal_magn_f_shp() argument
18 zsl_vec_add(H, b, &Hb); in zsl_fus_cal_magn_f_shp()
25 static zsl_real_t zsl_fus_cal_magn_f_elli(struct zsl_vec *H, struct zsl_mtx *g) in zsl_fus_cal_magn_f_elli() argument
36 Hb.data[0] = H->data[0] + g->data[6]; in zsl_fus_cal_magn_f_elli()
37 Hb.data[1] = H->data[1] + g->data[7]; in zsl_fus_cal_magn_f_elli()
38 Hb.data[2] = H->data[2] + g->data[8]; in zsl_fus_cal_magn_f_elli()
135 ZSL_VECTOR_DEF(H, 3); in zsl_fus_cal_magn()
151 zsl_mtx_get_row(m, i, H.data); in zsl_fus_cal_magn()
152 f = zsl_fus_cal_magn_f_shp(&H, b); in zsl_fus_cal_magn()
154 J.data[1] += -(H.data[0] - b->data[0]) / f; in zsl_fus_cal_magn()
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Dkalman.c136 ZSL_MATRIX_DEF(H, 6, 4); in zsl_fus_kalman()
158 zsl_mtx_from_arr(&H, H_data); in zsl_fus_kalman()
159 zsl_mtx_scalar_mult_d(&H, 2.0); in zsl_fus_kalman()
160 zsl_mtx_trans(&H, &Ht); in zsl_fus_kalman()
184 zsl_mtx_mult(&H, P, &HP); in zsl_fus_kalman()
199 zsl_mtx_mult(&K, &H, &KH); in zsl_fus_kalman()
/zscilib-3.4.0/samples/orientation/apitest/src/
Dmain.c190 ZSL_VECTOR_DEF(H, 3); in magn_cal_demo()
193 zsl_mtx_get_row(&zsl_fus_data_magn_cal, i, H.data); in magn_cal_demo()
194 zsl_fus_cal_corr_vec(&H, &K, &b, &H_out); in magn_cal_demo()