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inv3x3.c
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Fri, May 30, 07:46
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R6832 iCAPs public
inv3x3.c
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#include <math.h>
#include <matrix.h>
#include <mex.h>
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
/*declare variables*/
const mwSize *dims;
mwSize *dimsout;
mwIndex indx;
int i, j, k, numdims;
int numelin;
mxClassID classid;
double *input1r, *input1i, *output1r, *output1i;
double x[3][3], adjx[3][3];
double xi[3][3], adjxi[3][3];
double D,Di,Dabs;
/*figure out the classid*/
classid = mxGetClassID(prhs[0]);
/*check inputs*/
if (nrhs>1)
mexErrMsgTxt("Too many input arguments");
/*associate inputs*/
input1r = mxGetData(prhs[0]);
input1i = mxGetImagData(prhs[0]);
/*figure out dimension info and number of elements*/
dims = mxGetDimensions(prhs[0]);
numdims = mxGetNumberOfDimensions(prhs[0]);
numelin = mxGetNumberOfElements(prhs[0]);
dimsout = mxMalloc(numdims * sizeof(mwSize));
for (i=0; i<numdims; i++)
{
dimsout[i] = dims[i];
}
/*associate output*/
if (input1i == NULL)
{
plhs[0] = mxCreateNumericArray(numdims, dimsout, classid, mxREAL);
output1r = mxGetData(plhs[0]);
}
else
{
plhs[0] = mxCreateNumericArray(numdims, dimsout, classid, mxCOMPLEX);
output1r = mxGetData(plhs[0]);
output1i = mxGetImagData(plhs[0]);
}
/* do the computation*/
if (input1i == NULL)
{
for (i=0; i<numelin/9; i++)
{
for (j=0; j<3; j++)
for (k=0; k<3; k++)
{x[k][j]=input1r[i*9+j*3+k];}
adjx[0][0] = x[1][1]*x[2][2]-x[1][2]*x[2][1];
adjx[1][0] = -x[1][0]*x[2][2]+x[1][2]*x[2][0];
adjx[2][0] = x[1][0]*x[2][1]-x[1][1]*x[2][0];
adjx[0][1] = -x[0][1]*x[2][2]+x[0][2]*x[2][1];
adjx[1][1] = x[0][0]*x[2][2]-x[0][2]*x[2][0];
adjx[2][1] = -x[0][0]*x[2][1]+x[0][1]*x[2][0];
adjx[0][2] = x[0][1]*x[1][2]-x[0][2]*x[1][1];
adjx[1][2] = -x[0][0]*x[1][2]+x[0][2]*x[1][0];
adjx[2][2] = x[0][0]*x[1][1]-x[0][1]*x[1][0];
D = adjx[0][0]*x[0][0]+adjx[1][0]*x[0][1]+adjx[2][0]*x[0][2];
output1r[i*9 ] = adjx[0][0]/D;
output1r[i*9+1 ] = adjx[1][0]/D;
output1r[i*9+2 ] = adjx[2][0]/D;
output1r[i*9+3 ] = adjx[0][1]/D;
output1r[i*9+4 ] = adjx[1][1]/D;
output1r[i*9+5 ] = adjx[2][1]/D;
output1r[i*9+6 ] = adjx[0][2]/D;
output1r[i*9+7 ] = adjx[1][2]/D;
output1r[i*9+8 ] = adjx[2][2]/D;
}
return;
}
else
{
for (i=0; i<numelin/9; i++)
{
for (j=0; j<3; j++)
for (k=0; k<3; k++)
{
x[k][j] = input1r[i*9+j*3+k];
xi[k][j] = input1i[i*9+j*3+k];
}
adjx[0][0] = x[1][1]*x[2][2]-x[1][2]*x[2][1]-xi[1][1]*xi[2][2]+xi[1][2]*xi[2][1];
adjx[1][0] = -x[1][0]*x[2][2]+x[1][2]*x[2][0]+xi[1][0]*xi[2][2]-xi[1][2]*xi[2][0];
adjx[2][0] = x[1][0]*x[2][1]-x[1][1]*x[2][0]-xi[1][0]*xi[2][1]+xi[1][1]*xi[2][0];
adjxi[0][0] = x[1][1]*xi[2][2]-x[1][2]*xi[2][1]+xi[1][1]*x[2][2]-xi[1][2]*x[2][1];
adjxi[1][0] = -x[1][0]*xi[2][2]+x[1][2]*xi[2][0]-xi[1][0]*x[2][2]+xi[1][2]*x[2][0];
adjxi[2][0] = x[1][0]*xi[2][1]-x[1][1]*xi[2][0]+xi[1][0]*x[2][1]-xi[1][1]*x[2][0];
D = adjx[0][0]*x[0][0]+adjx[1][0]*x[0][1]+adjx[2][0]*x[0][2]-adjxi[0][0]*xi[0][0]-adjxi[1][0]*xi[0][1]-adjxi[2][0]*xi[0][2];
Di = adjx[0][0]*xi[0][0]+adjx[1][0]*xi[0][1]+adjx[2][0]*xi[0][2]+adjxi[0][0]*x[0][0]+adjxi[1][0]*x[0][1]+adjxi[2][0]*x[0][2];
Dabs = D*D+Di*Di;
adjx[0][1] = -x[0][1]*x[2][2]+x[0][2]*x[2][1]+xi[0][1]*xi[2][2]-xi[0][2]*xi[2][1];
adjx[1][1] = x[0][0]*x[2][2]-x[0][2]*x[2][0]-xi[0][0]*xi[2][2]+xi[0][2]*xi[2][0];
adjx[2][1] = -x[0][0]*x[2][1]+x[0][1]*x[2][0]+xi[0][0]*xi[2][1]-xi[0][1]*xi[2][0];
adjx[0][2] = x[0][1]*x[1][2]-x[0][2]*x[1][1]-xi[0][1]*xi[1][2]+xi[0][2]*xi[1][1];
adjx[1][2] = -x[0][0]*x[1][2]+x[0][2]*x[1][0]+xi[0][0]*xi[1][2]-xi[0][2]*xi[1][0];
adjx[2][2] = x[0][0]*x[1][1]-x[0][1]*x[1][0]-xi[0][0]*xi[1][1]+xi[0][1]*xi[1][0];
adjxi[0][1] = -x[0][1]*xi[2][2]+x[0][2]*xi[2][1]-xi[0][1]*x[2][2]+xi[0][2]*x[2][1];
adjxi[1][1] = x[0][0]*xi[2][2]-x[0][2]*xi[2][0]+xi[0][0]*x[2][2]-xi[0][2]*x[2][0];
adjxi[2][1] = -x[0][0]*xi[2][1]+x[0][1]*xi[2][0]-xi[0][0]*x[2][1]+xi[0][1]*x[2][0];
adjxi[0][2] = x[0][1]*xi[1][2]-x[0][2]*xi[1][1]+xi[0][1]*x[1][2]-xi[0][2]*x[1][1];
adjxi[1][2] = -x[0][0]*xi[1][2]+x[0][2]*xi[1][0]-xi[0][0]*x[1][2]+xi[0][2]*x[1][0];
adjxi[2][2] = x[0][0]*xi[1][1]-x[0][1]*xi[1][0]+xi[0][0]*x[1][1]-xi[0][1]*x[1][0];
output1r[i*9 ] = (D*adjx[0][0]+Di*adjxi[0][0])/Dabs;
output1r[i*9+1 ] = (D*adjx[1][0]+Di*adjxi[1][0])/Dabs;
output1r[i*9+2 ] = (D*adjx[2][0]+Di*adjxi[2][0])/Dabs;
output1r[i*9+3 ] = (D*adjx[0][1]+Di*adjxi[0][1])/Dabs;
output1r[i*9+4 ] = (D*adjx[1][1]+Di*adjxi[1][1])/Dabs;
output1r[i*9+5 ] = (D*adjx[2][1]+Di*adjxi[2][1])/Dabs;
output1r[i*9+6 ] = (D*adjx[0][2]+Di*adjxi[0][2])/Dabs;
output1r[i*9+7 ] = (D*adjx[1][2]+Di*adjxi[1][2])/Dabs;
output1r[i*9+8 ] = (D*adjx[2][2]+Di*adjxi[2][2])/Dabs;
output1i[i*9 ] = (D*adjxi[0][0]-Di*adjx[0][0])/Dabs;
output1i[i*9+1 ] = (D*adjxi[1][0]-Di*adjx[1][0])/Dabs;
output1i[i*9+2 ] = (D*adjxi[2][0]-Di*adjx[2][0])/Dabs;
output1i[i*9+3 ] = (D*adjxi[0][1]-Di*adjx[0][1])/Dabs;
output1i[i*9+4 ] = (D*adjxi[1][1]-Di*adjx[1][1])/Dabs;
output1i[i*9+5 ] = (D*adjxi[2][1]-Di*adjx[2][1])/Dabs;
output1i[i*9+6 ] = (D*adjxi[0][2]-Di*adjx[0][2])/Dabs;
output1i[i*9+7 ] = (D*adjxi[1][2]-Di*adjx[1][2])/Dabs;
output1i[i*9+8 ] = (D*adjxi[2][2]-Di*adjx[2][2])/Dabs;
}
return;
}
}
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