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334 lines
7.2 KiB
C
334 lines
7.2 KiB
C
/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_mat_solve_lower_triangular_f32.c
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* Description: Solve linear system LT X = A with LT lower triangular matrix
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*
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* $Date: 23 April 2021
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* $Revision: V1.9.0
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*
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* Target Processor: Cortex-M and Cortex-A cores
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* -------------------------------------------------------------------- */
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/*
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* Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "dsp/matrix_functions.h"
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/**
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@ingroup groupMatrix
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*/
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/**
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@addtogroup MatrixInv
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@{
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*/
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/**
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* @brief Solve LT . X = A where LT is a lower triangular matrix
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* @param[in] lt The lower triangular matrix
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* @param[in] a The matrix a
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* @param[out] dst The solution X of LT . X = A
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* @return The function returns ARM_MATH_SINGULAR, if the system can't be solved.
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*/
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#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
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#include "arm_helium_utils.h"
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arm_status arm_mat_solve_lower_triangular_f32(
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const arm_matrix_instance_f32 * lt,
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const arm_matrix_instance_f32 * a,
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arm_matrix_instance_f32 * dst)
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{
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arm_status status; /* status of matrix inverse */
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#ifdef ARM_MATH_MATRIX_CHECK
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/* Check for matrix mismatch condition */
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if ((lt->numRows != lt->numCols) ||
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(lt->numRows != a->numRows) )
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{
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/* Set status as ARM_MATH_SIZE_MISMATCH */
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status = ARM_MATH_SIZE_MISMATCH;
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}
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else
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#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
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{
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/* a1 b1 c1 x1 = a1
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b2 c2 x2 a2
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c3 x3 a3
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x3 = a3 / c3
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x2 = (a2 - c2 x3) / b2
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*/
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int i,j,k,n,cols;
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n = dst->numRows;
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cols = dst->numCols;
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float32_t *pX = dst->pData;
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float32_t *pLT = lt->pData;
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float32_t *pA = a->pData;
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float32_t *lt_row;
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float32_t *a_col;
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float32_t invLT;
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f32x4_t vecA;
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f32x4_t vecX;
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for(i=0; i < n ; i++)
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{
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for(j=0; j+3 < cols; j += 4)
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{
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vecA = vld1q_f32(&pA[i * cols + j]);
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for(k=0; k < i; k++)
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{
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vecX = vld1q_f32(&pX[cols*k+j]);
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vecA = vfmsq(vecA,vdupq_n_f32(pLT[n*i + k]),vecX);
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}
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if (pLT[n*i + i]==0.0f)
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{
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return(ARM_MATH_SINGULAR);
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}
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invLT = 1.0f / pLT[n*i + i];
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vecA = vmulq(vecA,vdupq_n_f32(invLT));
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vst1q(&pX[i*cols+j],vecA);
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}
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for(; j < cols; j ++)
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{
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a_col = &pA[j];
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lt_row = &pLT[n*i];
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float32_t tmp=a_col[i * cols];
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for(k=0; k < i; k++)
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{
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tmp -= lt_row[k] * pX[cols*k+j];
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}
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if (lt_row[i]==0.0f)
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{
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return(ARM_MATH_SINGULAR);
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}
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tmp = tmp / lt_row[i];
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pX[i*cols+j] = tmp;
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}
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}
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status = ARM_MATH_SUCCESS;
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}
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/* Return to application */
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return (status);
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}
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#else
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#if defined(ARM_MATH_NEON) && !defined(ARM_MATH_AUTOVECTORIZE)
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arm_status arm_mat_solve_lower_triangular_f32(
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const arm_matrix_instance_f32 * lt,
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const arm_matrix_instance_f32 * a,
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arm_matrix_instance_f32 * dst)
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{
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arm_status status; /* status of matrix inverse */
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#ifdef ARM_MATH_MATRIX_CHECK
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/* Check for matrix mismatch condition */
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if ((lt->numRows != lt->numCols) ||
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(lt->numRows != a->numRows) )
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{
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/* Set status as ARM_MATH_SIZE_MISMATCH */
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status = ARM_MATH_SIZE_MISMATCH;
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}
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else
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#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
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{
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/* a1 b1 c1 x1 = a1
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b2 c2 x2 a2
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c3 x3 a3
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x3 = a3 / c3
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x2 = (a2 - c2 x3) / b2
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*/
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int i,j,k,n,cols;
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n = dst->numRows;
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cols = dst->numCols;
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float32_t *pX = dst->pData;
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float32_t *pLT = lt->pData;
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float32_t *pA = a->pData;
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float32_t *lt_row;
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float32_t *a_col;
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float32_t invLT;
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f32x4_t vecA;
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f32x4_t vecX;
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for(i=0; i < n ; i++)
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{
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for(j=0; j+3 < cols; j += 4)
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{
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vecA = vld1q_f32(&pA[i * cols + j]);
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for(k=0; k < i; k++)
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{
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vecX = vld1q_f32(&pX[cols*k+j]);
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vecA = vfmsq_f32(vecA,vdupq_n_f32(pLT[n*i + k]),vecX);
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}
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if (pLT[n*i + i]==0.0f)
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{
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return(ARM_MATH_SINGULAR);
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}
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invLT = 1.0f / pLT[n*i + i];
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vecA = vmulq_f32(vecA,vdupq_n_f32(invLT));
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vst1q_f32(&pX[i*cols+j],vecA);
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}
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for(; j < cols; j ++)
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{
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a_col = &pA[j];
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lt_row = &pLT[n*i];
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float32_t tmp=a_col[i * cols];
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for(k=0; k < i; k++)
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{
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tmp -= lt_row[k] * pX[cols*k+j];
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}
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if (lt_row[i]==0.0f)
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{
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return(ARM_MATH_SINGULAR);
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}
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tmp = tmp / lt_row[i];
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pX[i*cols+j] = tmp;
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}
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}
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status = ARM_MATH_SUCCESS;
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}
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/* Return to application */
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return (status);
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}
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#else
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arm_status arm_mat_solve_lower_triangular_f32(
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const arm_matrix_instance_f32 * lt,
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const arm_matrix_instance_f32 * a,
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arm_matrix_instance_f32 * dst)
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{
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arm_status status; /* status of matrix inverse */
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#ifdef ARM_MATH_MATRIX_CHECK
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/* Check for matrix mismatch condition */
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if ((lt->numRows != lt->numCols) ||
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(lt->numRows != a->numRows) )
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{
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/* Set status as ARM_MATH_SIZE_MISMATCH */
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status = ARM_MATH_SIZE_MISMATCH;
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}
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else
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#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
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{
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/* a1 b1 c1 x1 = a1
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b2 c2 x2 a2
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c3 x3 a3
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x3 = a3 / c3
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x2 = (a2 - c2 x3) / b2
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*/
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int i,j,k,n,cols;
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float32_t *pX = dst->pData;
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float32_t *pLT = lt->pData;
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float32_t *pA = a->pData;
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float32_t *lt_row;
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float32_t *a_col;
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n = dst->numRows;
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cols = dst -> numCols;
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for(j=0; j < cols; j ++)
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{
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a_col = &pA[j];
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for(i=0; i < n ; i++)
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{
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float32_t tmp=a_col[i * cols];
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lt_row = &pLT[n*i];
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for(k=0; k < i; k++)
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{
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tmp -= lt_row[k] * pX[cols*k+j];
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}
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if (lt_row[i]==0.0f)
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{
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return(ARM_MATH_SINGULAR);
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}
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tmp = tmp / lt_row[i];
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pX[i*cols+j] = tmp;
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}
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}
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status = ARM_MATH_SUCCESS;
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}
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/* Return to application */
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return (status);
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}
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#endif /* #if defined(ARM_MATH_NEON) */
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#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
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/**
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@} end of MatrixInv group
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*/
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