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Added native implementation of Magento to calibrate sensors

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Eiren Rain
2021-01-06 21:54:31 +03:00
parent befbf745df
commit a0f7ce251a
14 changed files with 3423 additions and 1 deletions
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.gitignore vendored
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/bin/
# Syncthing ignore file
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.stignore
MagnetoLib.dll

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// This is the main DLL file.
#include "stdafx.h"
#include "magnetolib.h"
#include "magneto.h"
void calculate(double data[], int nlines, double nxsrej, double hm, double B[3], double A_1[6 * 6])
{
int nlines2 = 0;
char buf[120];
double *D, *S, *C, *S11, *S12, *S12t, *S22, *S22_1, *S22a, *S22b, *SS, *E, *d, *U, *SSS;
double *eigen_real, *eigen_imag, *v1, *v2, *v, *Q, *Q_1, *QB, J, hmb, *SSSS;
int *p;
int i, j, index;
double maxval, norm, btqb, *eigen_real3, *eigen_imag3, *Dz, *vdz, *SQ, norm1, norm2, norm3;
double x, y, z, x2, xs, xave;
double *raw; //raw obs
char filename[64];
//
// calculate mean (norm) and standard deviation for possible outlier rejection
//
xs = 0;
xave = 0;
for (i = 0; i < nlines; i++)
{
x = data[i * 3 + 0];
y = data[i * 3 + 1];
z = data[i * 3 + 2];
x2 = x*x + y*y + z*z;
xs += x2;
xave += sqrt(x2);
}
xave = xave / nlines; //mean vector length
xs = sqrt(xs / nlines - (xave*xave)); //std. dev.
// summarize statistics, give opportunity to reject outlier measurements
//printf("verage magnitude (sigma) of %d vectors (default Hm) = %6.1lf (%6.1lf)\r\n", nlines, xave, xs);
//printf("Rejection level selected: %lf\r\n ", nxsrej);
// scan file again
nlines2 = 0; //count non-rejected
if (nxsrej > 0) {
//printf("\r\nRejecting measurements if abs(vector_length-average)/(std. dev.) > %5.1lf", nxsrej);
// outlier rejection, count them
for (i = 0; i < nlines; i++)
{
x = data[i * 3 + 0];
y = data[i * 3 + 1];
z = data[i * 3 + 2];
x2 = sqrt(x*x + y*y + z*z); //vector length
x2 = fabs(x2 - xave) / xs; //standard deviations from mean
if (x2 < nxsrej) nlines2++;
}
//printf("\r\n%3d measurements will be rejected", nlines - nlines2);
}
// third time through!
if (nlines2 == 0) nlines2 = nlines; //none rejected
j = 0; //index for good measurements
// allocate array space for accepted measurements
D = (double*)malloc(10 * nlines2 * sizeof(double));
raw = (double*)malloc(3 * nlines2 * sizeof(double));
for (i = 0; i < nlines; i++)
{
x = data[i * 3 + 0];
y = data[i * 3 + 1];
z = data[i * 3 + 2];
x2 = sqrt(x*x + y*y + z*z); //vector length
x2 = fabs(x2 - xave) / xs; //standard deviations from mean
if ((nxsrej == 0) || (x2 < nxsrej)) {
raw[3 * j] = x;
raw[3 * j + 1] = y;
raw[3 * j + 2] = z;
D[j] = x * x;
D[nlines2 + j] = y * y;
D[nlines2 * 2 + j] = z * z;
D[nlines2 * 3 + j] = 2.0 * y * z;
D[nlines2 * 4 + j] = 2.0 * x * z;
D[nlines2 * 5 + j] = 2.0 * x * y;
D[nlines2 * 6 + j] = 2.0 * x;
D[nlines2 * 7 + j] = 2.0 * y;
D[nlines2 * 8 + j] = 2.0 * z;
D[nlines2 * 9 + j] = 1.0;
j++; //index good measurements
}
}
//printf("\r\n%3d measurements processed, expected %d", j, nlines2);
nlines = nlines2; //reset number of measurements
if (hm == 0.0) hm = xave;
// allocate memory for matrix S
S = (double*)malloc(10 * 10 * sizeof(double));
Multiply_Self_Transpose(S, D, 10, nlines);
// Create pre-inverted constraint matrix C
C = (double*)malloc(6 * 6 * sizeof(double));
C[0] = 0.0; C[1] = 0.5; C[2] = 0.5; C[3] = 0.0; C[4] = 0.0; C[5] = 0.0;
C[6] = 0.5; C[7] = 0.0; C[8] = 0.5; C[9] = 0.0; C[10] = 0.0; C[11] = 0.0;
C[12] = 0.5; C[13] = 0.5; C[14] = 0.0; C[15] = 0.0; C[16] = 0.0; C[17] = 0.0;
C[18] = 0.0; C[19] = 0.0; C[20] = 0.0; C[21] = -0.25; C[22] = 0.0; C[23] = 0.0;
C[24] = 0.0; C[25] = 0.0; C[26] = 0.0; C[27] = 0.0; C[28] = -0.25; C[29] = 0.0;
C[30] = 0.0; C[31] = 0.0; C[32] = 0.0; C[33] = 0.0; C[34] = 0.0; C[35] = -0.25;
S11 = (double*)malloc(6 * 6 * sizeof(double));
Get_Submatrix(S11, 6, 6, S, 10, 0, 0);
S12 = (double*)malloc(6 * 4 * sizeof(double));
Get_Submatrix(S12, 6, 4, S, 10, 0, 6);
S12t = (double*)malloc(4 * 6 * sizeof(double));
Get_Submatrix(S12t, 4, 6, S, 10, 6, 0);
S22 = (double*)malloc(4 * 4 * sizeof(double));
Get_Submatrix(S22, 4, 4, S, 10, 6, 6);
S22_1 = (double*)malloc(4 * 4 * sizeof(double));
for (i = 0; i < 16; i++)
S22_1[i] = S22[i];
Choleski_LU_Decomposition(S22_1, 4);
Choleski_LU_Inverse(S22_1, 4);
// Calculate S22a = S22_1 * S12t 4*6 = 4x4 * 4x6 C = AB
S22a = (double*)malloc(4 * 6 * sizeof(double));
Multiply_Matrices(S22a, S22_1, 4, 4, S12t, 6);
// Then calculate S22b = S12 * S22a ( 6x6 = 6x4 * 4x6)
S22b = (double*)malloc(6 * 6 * sizeof(double));
Multiply_Matrices(S22b, S12, 6, 4, S22a, 6);
// Calculate SS = S11 - S22b
SS = (double*)malloc(6 * 6 * sizeof(double));
for (i = 0; i < 36; i++)
SS[i] = S11[i] - S22b[i];
E = (double*)malloc(6 * 6 * sizeof(double));
Multiply_Matrices(E, C, 6, 6, SS, 6);
SSS = (double*)malloc(6 * 6 * sizeof(double));
Hessenberg_Form_Elementary(E, SSS, 6);
eigen_real = (double*)malloc(6 * sizeof(double));
eigen_imag = (double*)malloc(6 * sizeof(double));
QR_Hessenberg_Matrix(E, SSS, eigen_real, eigen_imag, 6, 100);
index = 0;
maxval = eigen_real[0];
for (i = 1; i < 6; i++)
{
if (eigen_real[i] > maxval)
{
maxval = eigen_real[i];
index = i;
}
}
v1 = (double*)malloc(6 * sizeof(double));
v1[0] = SSS[index];
v1[1] = SSS[index + 6];
v1[2] = SSS[index + 12];
v1[3] = SSS[index + 18];
v1[4] = SSS[index + 24];
v1[5] = SSS[index + 30];
// normalize v1
norm = sqrt(v1[0] * v1[0] + v1[1] * v1[1] + v1[2] * v1[2] + v1[3] * v1[3] + v1[4] * v1[4] + v1[5] * v1[5]);
v1[0] /= norm;
v1[1] /= norm;
v1[2] /= norm;
v1[3] /= norm;
v1[4] /= norm;
v1[5] /= norm;
if (v1[0] < 0.0)
{
v1[0] = -v1[0];
v1[1] = -v1[1];
v1[2] = -v1[2];
v1[3] = -v1[3];
v1[4] = -v1[4];
v1[5] = -v1[5];
}
// Calculate v2 = S22a * v1 ( 4x1 = 4x6 * 6x1)
v2 = (double*)malloc(4 * sizeof(double));
Multiply_Matrices(v2, S22a, 4, 6, v1, 1);
v = (double*)malloc(10 * sizeof(double));
v[0] = v1[0];
v[1] = v1[1];
v[2] = v1[2];
v[3] = v1[3];
v[4] = v1[4];
v[5] = v1[5];
v[6] = -v2[0];
v[7] = -v2[1];
v[8] = -v2[2];
v[9] = -v2[3];
Q = (double*)malloc(3 * 3 * sizeof(double));
Q[0] = v[0];
Q[1] = v[5];
Q[2] = v[4];
Q[3] = v[5];
Q[4] = v[1];
Q[5] = v[3];
Q[6] = v[4];
Q[7] = v[3];
Q[8] = v[2];
U = (double*)malloc(3 * sizeof(double));
U[0] = v[6];
U[1] = v[7];
U[2] = v[8];
Q_1 = (double*)malloc(3 * 3 * sizeof(double));
for (i = 0; i < 9; i++)
Q_1[i] = Q[i];
Choleski_LU_Decomposition(Q_1, 3);
Choleski_LU_Inverse(Q_1, 3);
// Calculate B = Q-1 * U ( 3x1 = 3x3 * 3x1)
Multiply_Matrices(B, Q_1, 3, 3, U, 1);
B[0] = -B[0]; // x-axis combined bias
B[1] = -B[1]; // y-axis combined bias
B[2] = -B[2]; // z-axis combined bias
// for(i = 0; i < 3; i++)
//printf("\r\nCombined bias vector B:\r\n");
//printf("%8.2lf %8.2lf %8.2lf \r\n", B[0], B[1], B[2]);
// First calculate QB = Q * B ( 3x1 = 3x3 * 3x1)
QB = (double*)malloc(3 * sizeof(double));
Multiply_Matrices(QB, Q, 3, 3, B, 1);
// Then calculate btqb = BT * QB ( 1x1 = 1x3 * 3x1)
Multiply_Matrices(&btqb, B, 1, 3, QB, 1);
// Calculate hmb = sqrt(btqb - J).
J = v[9];
hmb = sqrt(btqb - J);
// Calculate SQ, the square root of matrix Q
SSSS = (double*)malloc(3 * 3 * sizeof(double));
Hessenberg_Form_Elementary(Q, SSSS, 3);
eigen_real3 = (double*)malloc(3 * sizeof(double));
eigen_imag3 = (double*)malloc(3 * sizeof(double));
QR_Hessenberg_Matrix(Q, SSSS, eigen_real3, eigen_imag3, 3, 100);
// normalize eigenvectors
norm1 = sqrt(SSSS[0] * SSSS[0] + SSSS[3] * SSSS[3] + SSSS[6] * SSSS[6]);
SSSS[0] /= norm1;
SSSS[3] /= norm1;
SSSS[6] /= norm1;
norm2 = sqrt(SSSS[1] * SSSS[1] + SSSS[4] * SSSS[4] + SSSS[7] * SSSS[7]);
SSSS[1] /= norm2;
SSSS[4] /= norm2;
SSSS[7] /= norm2;
norm3 = sqrt(SSSS[2] * SSSS[2] + SSSS[5] * SSSS[5] + SSSS[8] * SSSS[8]);
SSSS[2] /= norm3;
SSSS[5] /= norm3;
SSSS[8] /= norm3;
Dz = (double*)malloc(3 * 3 * sizeof(double));
for (i = 0; i < 9; i++)
Dz[i] = 0.0;
Dz[0] = sqrt(eigen_real3[0]);
Dz[4] = sqrt(eigen_real3[1]);
Dz[8] = sqrt(eigen_real3[2]);
vdz = (double*)malloc(3 * 3 * sizeof(double));
Multiply_Matrices(vdz, SSSS, 3, 3, Dz, 3);
Transpose_Square_Matrix(SSSS, 3);
SQ = (double*)malloc(3 * 3 * sizeof(double));
Multiply_Matrices(SQ, vdz, 3, 3, SSSS, 3);
// hm = 0.569;
for (i = 0; i < 9; i++)
A_1[i] = SQ[i] * hm / hmb;
/*
printf("\r\nCorrection matrix Ainv, using Hm=%lf:\r\n", hm);
for (i = 0; i < 3; i++)
printf("%9.5lf %9.5lf %9.5lf\r\n", A_1[i * 3], A_1[i * 3 + 1], A_1[i * 3 + 2]);
printf("\r\nWhere Hcalc = Ainv*(H-B)\r\n");
printf("\r\nCode initialization statements...\r\n");
printf("\r\n float B[3]\r\n {%8.2lf,%8.2lf,%8.2lf};\r\n", B[0], B[1], B[2]);
printf("\r\n float Ainv[3][3]\r\n {{%9.5lf,%9.5lf,%9.5lf},\r\n", A_1[0], A_1[1], A_1[2]);
printf(" {%9.5lf,%9.5lf,%9.5lf},\r\n", A_1[3], A_1[4], A_1[5]);
printf(" {%9.5lf,%9.5lf,%9.5lf}};\r\n", A_1[6], A_1[7], A_1[8]);
//*/
free(D);
free(S);
free(C);
free(S11);
free(S12);
free(S12t);
free(S22);
free(S22_1);
free(S22a);
free(S22b);
free(SS);
free(E);
free(U);
free(SSS);
free(eigen_real);
free(eigen_imag);
free(v1);
free(v2);
free(v);
free(Q);
free(Q_1);
free(QB);
free(SSSS);
free(eigen_real3);
free(eigen_imag3);
free(Dz);
free(vdz);
free(SQ);
}

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Microsoft Visual Studio Solution File, Format Version 12.00
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{E9872CD1-7CFB-4344-B141-8583E3A52C34}.Release|x64.Build.0 = Release|x64
{E9872CD1-7CFB-4344-B141-8583E3A52C34}.Release|x86.ActiveCfg = Release|Win32
{E9872CD1-7CFB-4344-B141-8583E3A52C34}.Release|x86.Build.0 = Release|Win32
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GlobalSection(SolutionProperties) = preSolution
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GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {3F5C7B4A-6B24-4FE5-A65E-8CCED5E98FD6}
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<?xml version="1.0" encoding="utf-8"?>
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<Configuration>Debug</Configuration>
<Platform>Win32</Platform>
</ProjectConfiguration>
<ProjectConfiguration Include="Release|Win32">
<Configuration>Release</Configuration>
<Platform>Win32</Platform>
</ProjectConfiguration>
<ProjectConfiguration Include="Debug|x64">
<Configuration>Debug</Configuration>
<Platform>x64</Platform>
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native/MagnetoLib/assemblyinfo.cpp Normal file
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#include "stdafx.h"
using namespace System;
using namespace System::Reflection;
using namespace System::Runtime::CompilerServices;
using namespace System::Runtime::InteropServices;
using namespace System::Security::Permissions;
//
// General Information about an assembly is controlled through the following
// set of attributes. Change these attribute values to modify the information
// associated with an assembly.
//
[assembly:AssemblyTitleAttribute(L"MagnetoLib")];
[assembly:AssemblyDescriptionAttribute(L"")];
[assembly:AssemblyConfigurationAttribute(L"")];
[assembly:AssemblyCompanyAttribute(L"")];
[assembly:AssemblyProductAttribute(L"MagnetoLib")];
[assembly:AssemblyCopyrightAttribute(L"Copyright (c) 2021")];
[assembly:AssemblyTrademarkAttribute(L"")];
[assembly:AssemblyCultureAttribute(L"")];
//
// Version information for an assembly consists of the following four values:
//
// Major Version
// Minor Version
// Build Number
// Revision
//
// You can specify all the value or you can default the Revision and Build Numbers
// by using the '*' as shown below:
[assembly:AssemblyVersionAttribute("1.0.*")];
[assembly:ComVisible(false)];
[assembly:CLSCompliantAttribute(true)];

32
native/MagnetoLib/magneto.h Normal file
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#pragma once
// Forward declarations of mymathlib.com routines
void Multiply_Self_Transpose(double*, double*, int, int);
void Get_Submatrix(double*, int, int, double*, int, int, int);
int Choleski_LU_Decomposition(double*, int);
int Choleski_LU_Inverse(double*, int);
void Multiply_Matrices(double*, double*, int, int, double*, int);
void Identity_Matrix(double*, int);
int Hessenberg_Form_Elementary(double*, double*, int);
static void Hessenberg_Elementary_Transform(double*, double*, int[], int);
void Copy_Vector(double*, double*, int);
int QR_Hessenberg_Matrix(double*, double*, double[], double[], int, int);
static void One_Real_Eigenvalue(double[], double[], double[], int, double);
static void Two_Eigenvalues(double*, double*, double[], double[], int, int, double);
static void Update_Row(double*, double, double, int, int);
static void Update_Column(double*, double, double, int, int);
static void Update_Transformation(double*, double, double, int, int);
static void Double_QR_Iteration(double*, double*, int, int, int, double*, int);
static void Product_and_Sum_of_Shifts(double*, int, int, double*, double*, double*, int);
static int Two_Consecutive_Small_Subdiagonal(double*, int, int, int, double, double);
static void Double_QR_Step(double*, int, int, int, double, double, double*, int);
static void BackSubstitution(double*, double[], double[], int);
static void BackSubstitute_Real_Vector(double*, double[], double[], int, double, int);
static void BackSubstitute_Complex_Vector(double*, double[], double[], int, double, int);
static void Calculate_Eigenvectors(double*, double*, double[], double[], int);
static void Complex_Division(double, double, double, double, double*, double*);
void Transpose_Square_Matrix(double*, int);

31
native/MagnetoLib/magnetolib.h Normal file
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// MagnetoLib.h
#pragma once
// Define EXPORTED for any platform
#if defined _WIN32 || defined __CYGWIN__
#ifdef WIN_EXPORT
// Exporting...
#ifdef __GNUC__
#define EXPORTED __attribute__ ((dllexport))
#else
#define EXPORTED __declspec(dllexport) // Note: actually gcc seems to also supports this syntax.
#endif
#else
#ifdef __GNUC__
#define EXPORTED __attribute__ ((dllimport))
#else
#define EXPORTED __declspec(dllimport) // Note: actually gcc seems to also supports this syntax.
#endif
#endif
#define NOT_EXPORTED
#else
#if __GNUC__ >= 4
#define EXPORTED __attribute__ ((visibility ("default")))
#define NOT_EXPORTED __attribute__ ((visibility ("hidden")))
#else
#define EXPORTED
#define NOT_EXPORTED
#endif
#endif
extern "C" EXPORTED void calculate(double data[], int nlines, double nxsrej, double hm, double B[3], double A_1[6 * 6]);

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native/MagnetoLib/resource.h Normal file
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//{{NO_DEPENDENCIES}}
// Microsoft Visual C++ generated include file.
// Used by app.rc

5
native/MagnetoLib/stdafx.cpp Normal file
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// stdafx.cpp : source file that includes just the standard includes
// MagnetoLib.pch will be the pre-compiled header
// stdafx.obj will contain the pre-compiled type information
#include "stdafx.h"

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native/MagnetoLib/stdafx.h Normal file
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// stdafx.h : include file for standard system include files,
// or project specific include files that are used frequently,
// but are changed infrequently
#pragma once
#include <stdio.h>
#include <tchar.h>
#include <math.h>
#include <malloc.h>
#include <string.h>
#include <float.h>