depth_tracker_ros_vr8: crossTimesMatrix.cpp Source File

Go to the documentation of this file.
00001 /*
00002  * crossTimesMatrix.cpp
00003  *
00004  * Code generation for function 'crossTimesMatrix'
00005  *
00006  * C source code generated on: Wed Jul 24 16:11:35 2013
00007  *
00008  */
00009 
00010 /* Include files */
00011 #include "rt_nonfinite.h"
00012 #include "Optimal_affine_tracking_3d16_fast_realtime.h"
00013 #include "crossTimesMatrix.h"
00014 
00015 /* Type Definitions */
00016 
00017 /* Named Constants */
00018 
00019 /* Variable Declarations */
00020 
00021 /* Variable Definitions */
00022 
00023 /* Function Declarations */
00024 
00025 /* Function Definitions */
00026 void crossTimesMatrix(const real_T V[3888], real_T V_times[11664])
00027 {
00028   int32_T i15;
00029 
00030   /*  CROSSTIMESMATRIX */
00031   /*    V_TIMES = CROSSTIMESMATRIX(V) returns a 3x3 (or a series of 3x3) cross times matrices of input vector(s) V */
00032   /*   */
00033   /*    Input: */
00034   /*        V a 3xN matrix, rpresenting a series of 3x1 vectors */
00035   /*   */
00036   /*    Output:    */
00037   /*        V_TIMES (Vx) a series of 3x3 matrices where V_times(:,:,i) is the Vx matrix for the vector V(:,i) */
00038   /*   */
00039   /*    Babak Taati, 2003 */
00040   /*    (revised 2009) */
00041   memset(&V_times[0], 0, 11664U * sizeof(real_T));
00042 
00043   /*  V_times(1,1,:) = 0; */
00044   for (i15 = 0; i15 < 1296; i15++) {
00045     V_times[3 + 9 * i15] = -V[2 + 3 * i15];
00046     V_times[6 + 9 * i15] = V[1 + 3 * i15];
00047     V_times[1 + 9 * i15] = V[2 + 3 * i15];
00048 
00049     /*  V_times(2,2,:) = 0; */
00050     V_times[7 + 9 * i15] = -V[3 * i15];
00051     V_times[2 + 9 * i15] = -V[1 + 3 * i15];
00052     V_times[5 + 9 * i15] = V[3 * i15];
00053   }
00054 
00055   /*  V_times(3,3,:) = 0; */
00056 }
00057 
00058 /* End of code generation (crossTimesMatrix.cpp) */