[ff6cfe1] | 1 | /* netbits.c |
---|
[d1b1380] | 2 | * Miscellaneous primitive network routines for Survex |
---|
[20e064b] | 3 | * Copyright (C) 1992-2003,2006,2011,2013,2014,2015,2019 Olly Betts |
---|
[846746e] | 4 | * |
---|
[89231c4] | 5 | * This program is free software; you can redistribute it and/or modify |
---|
| 6 | * it under the terms of the GNU General Public License as published by |
---|
| 7 | * the Free Software Foundation; either version 2 of the License, or |
---|
| 8 | * (at your option) any later version. |
---|
[846746e] | 9 | * |
---|
| 10 | * This program is distributed in the hope that it will be useful, |
---|
| 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
---|
[89231c4] | 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
---|
| 13 | * GNU General Public License for more details. |
---|
[846746e] | 14 | * |
---|
[89231c4] | 15 | * You should have received a copy of the GNU General Public License |
---|
| 16 | * along with this program; if not, write to the Free Software |
---|
[ecbc6c18] | 17 | * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
---|
[d1b1380] | 18 | */ |
---|
| 19 | |
---|
[a420b49] | 20 | #ifdef HAVE_CONFIG_H |
---|
| 21 | # include <config.h> |
---|
| 22 | #endif |
---|
[d1b1380] | 23 | |
---|
[f98f8a5] | 24 | #if 0 |
---|
[b84a343] | 25 | # define DEBUG_INVALID 1 |
---|
[f98f8a5] | 26 | #endif |
---|
| 27 | |
---|
[7a05e07] | 28 | #include "debug.h" |
---|
[a420b49] | 29 | #include "cavern.h" |
---|
[7a05e07] | 30 | #include "filename.h" |
---|
| 31 | #include "message.h" |
---|
[d1b1380] | 32 | #include "netbits.h" |
---|
[a420b49] | 33 | #include "datain.h" /* for compile_error */ |
---|
[a838042] | 34 | #include "validate.h" /* for compile_error */ |
---|
[20e064b] | 35 | #include <math.h> |
---|
[d1b1380] | 36 | |
---|
[dd368da] | 37 | #define THRESHOLD (REAL_EPSILON * 1000) /* 100 was too small */ |
---|
[daf88e1] | 38 | |
---|
[564f471] | 39 | node *stn_iter = NULL; /* for FOR_EACH_STN */ |
---|
| 40 | |
---|
[dda0ca7] | 41 | static struct { |
---|
| 42 | prefix * to_name; |
---|
| 43 | prefix * fr_name; |
---|
| 44 | linkfor * leg; |
---|
| 45 | int n; |
---|
| 46 | } last_leg = { NULL, NULL, NULL, 0 }; |
---|
| 47 | |
---|
| 48 | void clear_last_leg(void) { |
---|
| 49 | last_leg.to_name = NULL; |
---|
| 50 | } |
---|
| 51 | |
---|
[78d2394] | 52 | static char freeleg(node **stnptr); |
---|
| 53 | |
---|
[f98f8a5] | 54 | #ifdef NO_COVARIANCES |
---|
[407084d] | 55 | static void check_var(/*const*/ var *v) { |
---|
[647407d] | 56 | int bad = 0; |
---|
| 57 | int i; |
---|
| 58 | |
---|
| 59 | for (i = 0; i < 3; i++) { |
---|
[20e064b] | 60 | if (isnan(v[i]) |
---|
[dac18d8] | 61 | printf("*** NaN!!!\n"), bad = 1; |
---|
[647407d] | 62 | } |
---|
| 63 | if (bad) print_var(v); |
---|
| 64 | return; |
---|
[f98f8a5] | 65 | } |
---|
| 66 | #else |
---|
[a862ee8] | 67 | #define V(A,B) ((*v)[A][B]) |
---|
[407084d] | 68 | static void check_var(/*const*/ var *v) { |
---|
[a862ee8] | 69 | int bad = 0; |
---|
| 70 | int ok = 0; |
---|
| 71 | int i, j; |
---|
[407084d] | 72 | #if DEBUG_INVALID |
---|
[a862ee8] | 73 | real det = 0.0; |
---|
[407084d] | 74 | #endif |
---|
[a862ee8] | 75 | |
---|
| 76 | for (i = 0; i < 3; i++) { |
---|
| 77 | for (j = 0; j < 3; j++) { |
---|
[20e064b] | 78 | if (isnan(V(i, j))) |
---|
[dac18d8] | 79 | printf("*** NaN!!!\n"), bad = 1, ok = 1; |
---|
[a5da11c] | 80 | if (V(i, j) != 0.0) ok = 1; |
---|
[a862ee8] | 81 | } |
---|
| 82 | } |
---|
| 83 | if (!ok) return; /* ignore all-zero matrices */ |
---|
| 84 | |
---|
[40fb2e4] | 85 | #if DEBUG_INVALID |
---|
[a862ee8] | 86 | for (i = 0; i < 3; i++) { |
---|
[a5da11c] | 87 | det += V(i, 0) * (V((i + 1) % 3, 1) * V((i + 2) % 3, 2) - |
---|
| 88 | V((i + 1) % 3, 2) * V((i + 2) % 3, 1)); |
---|
[a862ee8] | 89 | } |
---|
| 90 | |
---|
[daf88e1] | 91 | if (fabs(det) < THRESHOLD) |
---|
[a862ee8] | 92 | printf("*** Singular!!!\n"), bad = 1; |
---|
[40fb2e4] | 93 | #endif |
---|
[a862ee8] | 94 | |
---|
| 95 | #if 0 |
---|
[840e496] | 96 | /* don't check this - it isn't always the case! */ |
---|
[daf88e1] | 97 | if (fabs(V(0,1) - V(1,0)) > THRESHOLD || |
---|
| 98 | fabs(V(0,2) - V(2,0)) > THRESHOLD || |
---|
| 99 | fabs(V(1,2) - V(2,1)) > THRESHOLD) |
---|
[a862ee8] | 100 | printf("*** Not symmetric!!!\n"), bad = 1; |
---|
| 101 | if (V(0,0) <= 0.0 || V(1,1) <= 0.0 || V(2,2) <= 0.0) |
---|
| 102 | printf("*** Not positive definite (diag <= 0)!!!\n"), bad = 1; |
---|
| 103 | if (sqrd(V(0,1)) >= V(0,0)*V(1,1) || sqrd(V(0,2)) >= V(0,0)*V(2,2) || |
---|
| 104 | sqrd(V(1,0)) >= V(0,0)*V(1,1) || sqrd(V(2,0)) >= V(0,0)*V(2,2) || |
---|
| 105 | sqrd(V(1,2)) >= V(2,2)*V(1,1) || sqrd(V(2,1)) >= V(2,2)*V(1,1)) |
---|
| 106 | printf("*** Not positive definite (off diag^2 >= diag product)!!!\n"), bad = 1; |
---|
| 107 | #endif |
---|
| 108 | if (bad) print_var(*v); |
---|
| 109 | } |
---|
[59f2dbb] | 110 | |
---|
| 111 | #define SN(V,A,B) ((*(V))[(A)==(B)?(A):2+(A)+(B)]) |
---|
| 112 | #define S(A,B) SN(v,A,B) |
---|
| 113 | |
---|
| 114 | static void check_svar(/*const*/ svar *v) { |
---|
| 115 | int bad = 0; |
---|
| 116 | int ok = 0; |
---|
[dac18d8] | 117 | int i; |
---|
[59f2dbb] | 118 | #if DEBUG_INVALID |
---|
| 119 | real det = 0.0; |
---|
| 120 | #endif |
---|
| 121 | |
---|
[dac18d8] | 122 | for (i = 0; i < 6; i++) { |
---|
[20e064b] | 123 | if (isnan((*v)[i])) |
---|
[dac18d8] | 124 | printf("*** NaN!!!\n"), bad = 1, ok = 1; |
---|
| 125 | if ((*v)[i] != 0.0) ok = 1; |
---|
[59f2dbb] | 126 | } |
---|
| 127 | if (!ok) return; /* ignore all-zero matrices */ |
---|
| 128 | |
---|
| 129 | #if DEBUG_INVALID |
---|
| 130 | for (i = 0; i < 3; i++) { |
---|
| 131 | det += S(i, 0) * (S((i + 1) % 3, 1) * S((i + 2) % 3, 2) - |
---|
| 132 | S((i + 1) % 3, 2) * S((i + 2) % 3, 1)); |
---|
| 133 | } |
---|
| 134 | |
---|
| 135 | if (fabs(det) < THRESHOLD) |
---|
| 136 | printf("*** Singular!!!\n"), bad = 1; |
---|
| 137 | #endif |
---|
| 138 | |
---|
[840e496] | 139 | #if 0 |
---|
| 140 | /* don't check this - it isn't always the case! */ |
---|
[dac18d8] | 141 | if ((*v)[0] <= 0.0 || (*v)[1] <= 0.0 || (*v)[2] <= 0.0) |
---|
[59f2dbb] | 142 | printf("*** Not positive definite (diag <= 0)!!!\n"), bad = 1; |
---|
[dac18d8] | 143 | if (sqrd((*v)[3]) >= (*v)[0]*(*v)[1] || |
---|
| 144 | sqrd((*v)[4]) >= (*v)[0]*(*v)[2] || |
---|
| 145 | sqrd((*v)[5]) >= (*v)[1]*(*v)[2]) |
---|
[59f2dbb] | 146 | printf("*** Not positive definite (off diag^2 >= diag product)!!!\n"), bad = 1; |
---|
[840e496] | 147 | #endif |
---|
[59f2dbb] | 148 | if (bad) print_svar(*v); |
---|
| 149 | } |
---|
[f98f8a5] | 150 | #endif |
---|
[a862ee8] | 151 | |
---|
[eb18f4d] | 152 | static void check_d(/*const*/ delta *d) { |
---|
[5d26a94] | 153 | int bad = 0; |
---|
| 154 | int i; |
---|
| 155 | |
---|
| 156 | for (i = 0; i < 3; i++) { |
---|
[20e064b] | 157 | if (isnan((*d)[i])) |
---|
[dac18d8] | 158 | printf("*** NaN!!!\n"), bad = 1; |
---|
[5d26a94] | 159 | } |
---|
| 160 | |
---|
| 161 | if (bad) printf("(%4.2f,%4.2f,%4.2f)\n", (*d)[0], (*d)[1], (*d)[2]); |
---|
| 162 | } |
---|
| 163 | |
---|
[564f471] | 164 | /* insert at head of double-linked list */ |
---|
| 165 | void |
---|
| 166 | add_stn_to_list(node **list, node *stn) { |
---|
[4c07c51] | 167 | SVX_ASSERT(list); |
---|
| 168 | SVX_ASSERT(stn); |
---|
| 169 | SVX_ASSERT(stn_iter != stn); /* if it does, we're still on a list... */ |
---|
[85fe934] | 170 | #if 0 |
---|
| 171 | printf("add_stn_to_list(%p, [%p] ", list, stn); |
---|
| 172 | if (stn->name) print_prefix(stn->name); |
---|
| 173 | printf(")\n"); |
---|
| 174 | #endif |
---|
[564f471] | 175 | stn->next = *list; |
---|
| 176 | stn->prev = NULL; |
---|
| 177 | if (*list) (*list)->prev = stn; |
---|
| 178 | *list = stn; |
---|
| 179 | } |
---|
| 180 | |
---|
| 181 | /* remove from double-linked list */ |
---|
| 182 | void |
---|
| 183 | remove_stn_from_list(node **list, node *stn) { |
---|
[4c07c51] | 184 | SVX_ASSERT(list); |
---|
| 185 | SVX_ASSERT(stn); |
---|
[85fe934] | 186 | #if 0 |
---|
| 187 | printf("remove_stn_from_list(%p, [%p] ", list, stn); |
---|
| 188 | if (stn->name) print_prefix(stn->name); |
---|
| 189 | printf(")\n"); |
---|
| 190 | #endif |
---|
[b84a343] | 191 | #if DEBUG_INVALID |
---|
[85fe934] | 192 | { |
---|
| 193 | /* check station is actually in this list */ |
---|
| 194 | node *stn_to_remove_is_in_list = *list; |
---|
| 195 | validate(); |
---|
| 196 | while (stn_to_remove_is_in_list != stn) { |
---|
[4c07c51] | 197 | SVX_ASSERT(stn_to_remove_is_in_list); |
---|
[85fe934] | 198 | stn_to_remove_is_in_list = stn_to_remove_is_in_list->next; |
---|
| 199 | } |
---|
| 200 | } |
---|
| 201 | #endif |
---|
[564f471] | 202 | /* adjust the iterator if it points to the element we're deleting */ |
---|
| 203 | if (stn_iter == stn) stn_iter = stn_iter->next; |
---|
| 204 | /* need a special case if we're removing the list head */ |
---|
| 205 | if (stn->prev == NULL) { |
---|
| 206 | *list = stn->next; |
---|
| 207 | if (*list) (*list)->prev = NULL; |
---|
| 208 | } else { |
---|
| 209 | stn->prev->next = stn->next; |
---|
[28ddfe1] | 210 | if (stn->next) stn->next->prev = stn->prev; |
---|
[564f471] | 211 | } |
---|
| 212 | } |
---|
| 213 | |
---|
[d1b1380] | 214 | /* Create (uses osmalloc) a forward leg containing the data in leg, or |
---|
| 215 | * the reversed data in the reverse of leg, if leg doesn't hold data |
---|
| 216 | */ |
---|
[2140502] | 217 | linkfor * |
---|
[a420b49] | 218 | copy_link(linkfor *leg) |
---|
| 219 | { |
---|
[d1b1380] | 220 | linkfor *legOut; |
---|
| 221 | int d; |
---|
[a420b49] | 222 | legOut = osnew(linkfor); |
---|
[d1b1380] | 223 | if (data_here(leg)) { |
---|
[a420b49] | 224 | for (d = 2; d >= 0; d--) legOut->d[d] = leg->d[d]; |
---|
[d1b1380] | 225 | } else { |
---|
[a420b49] | 226 | leg = reverse_leg(leg); |
---|
[4c07c51] | 227 | SVX_ASSERT(data_here(leg)); |
---|
[a420b49] | 228 | for (d = 2; d >= 0; d--) legOut->d[d] = -leg->d[d]; |
---|
[d1b1380] | 229 | } |
---|
| 230 | #if 1 |
---|
[7a05e07] | 231 | # ifndef NO_COVARIANCES |
---|
[59f2dbb] | 232 | check_svar(&(leg->v)); |
---|
[cb3d1e2] | 233 | { |
---|
[59f2dbb] | 234 | int i; |
---|
| 235 | for (i = 0; i < 6; i++) legOut->v[i] = leg->v[i]; |
---|
[d1b1380] | 236 | } |
---|
[7a05e07] | 237 | # else |
---|
[a420b49] | 238 | for (d = 2; d >= 0; d--) legOut->v[d] = leg->v[d]; |
---|
[7a05e07] | 239 | # endif |
---|
[d1b1380] | 240 | #else |
---|
[59f2dbb] | 241 | memcpy(legOut->v, leg->v, sizeof(svar)); |
---|
[d1b1380] | 242 | #endif |
---|
[b5a3219] | 243 | legOut->meta = pcs->meta; |
---|
| 244 | if (pcs->meta) ++pcs->meta->ref_count; |
---|
[d1b1380] | 245 | return legOut; |
---|
| 246 | } |
---|
| 247 | |
---|
[0804fbe] | 248 | /* Adds to the forward leg “leg”, the data in leg2, or the reversed data |
---|
[d1b1380] | 249 | * in the reverse of leg2, if leg2 doesn't hold data |
---|
| 250 | */ |
---|
[2140502] | 251 | linkfor * |
---|
[a5da11c] | 252 | addto_link(linkfor *leg, const linkfor *leg2) |
---|
[a420b49] | 253 | { |
---|
[d1b1380] | 254 | if (data_here(leg2)) { |
---|
[407084d] | 255 | adddd(&leg->d, &leg->d, &((linkfor *)leg2)->d); |
---|
[d1b1380] | 256 | } else { |
---|
[a420b49] | 257 | leg2 = reverse_leg(leg2); |
---|
[4c07c51] | 258 | SVX_ASSERT(data_here(leg2)); |
---|
[407084d] | 259 | subdd(&leg->d, &leg->d, &((linkfor *)leg2)->d); |
---|
[d1b1380] | 260 | } |
---|
[59f2dbb] | 261 | addss(&leg->v, &leg->v, &((linkfor *)leg2)->v); |
---|
[d1b1380] | 262 | return leg; |
---|
| 263 | } |
---|
| 264 | |
---|
[dda0ca7] | 265 | static linkfor * |
---|
[693388e] | 266 | addleg_(node *fr, node *to, |
---|
| 267 | real dx, real dy, real dz, |
---|
| 268 | real vx, real vy, real vz, |
---|
| 269 | #ifndef NO_COVARIANCES |
---|
| 270 | real cyz, real czx, real cxy, |
---|
| 271 | #endif |
---|
| 272 | int leg_flags) |
---|
| 273 | { |
---|
| 274 | int i, j; |
---|
| 275 | linkfor *leg, *leg2; |
---|
| 276 | /* we have been asked to add a leg with the same node at both ends |
---|
| 277 | * - this should be trapped by the caller */ |
---|
[4c07c51] | 278 | SVX_ASSERT(fr->name != to->name); |
---|
[693388e] | 279 | |
---|
| 280 | leg = osnew(linkfor); |
---|
| 281 | leg2 = (linkfor*)osnew(linkrev); |
---|
| 282 | |
---|
| 283 | i = freeleg(&fr); |
---|
| 284 | j = freeleg(&to); |
---|
| 285 | |
---|
| 286 | leg->l.to = to; |
---|
| 287 | leg2->l.to = fr; |
---|
| 288 | leg->d[0] = dx; |
---|
| 289 | leg->d[1] = dy; |
---|
| 290 | leg->d[2] = dz; |
---|
| 291 | #ifndef NO_COVARIANCES |
---|
| 292 | leg->v[0] = vx; |
---|
| 293 | leg->v[1] = vy; |
---|
| 294 | leg->v[2] = vz; |
---|
| 295 | leg->v[3] = cxy; |
---|
| 296 | leg->v[4] = czx; |
---|
| 297 | leg->v[5] = cyz; |
---|
| 298 | check_svar(&(leg->v)); |
---|
| 299 | #else |
---|
| 300 | leg->v[0] = vx; |
---|
| 301 | leg->v[1] = vy; |
---|
| 302 | leg->v[2] = vz; |
---|
| 303 | #endif |
---|
| 304 | leg2->l.reverse = i; |
---|
| 305 | leg->l.reverse = j | FLAG_DATAHERE | leg_flags; |
---|
| 306 | |
---|
[eb5aea0] | 307 | leg->l.flags = pcs->flags | (pcs->style << FLAGS_STYLE_BIT0); |
---|
[b5a3219] | 308 | leg->meta = pcs->meta; |
---|
| 309 | if (pcs->meta) ++pcs->meta->ref_count; |
---|
[693388e] | 310 | |
---|
| 311 | fr->leg[i] = leg; |
---|
| 312 | to->leg[j] = leg2; |
---|
| 313 | |
---|
[f15cde77] | 314 | ++fr->name->shape; |
---|
| 315 | ++to->name->shape; |
---|
[dda0ca7] | 316 | |
---|
| 317 | return leg; |
---|
[693388e] | 318 | } |
---|
| 319 | |
---|
[be374fc] | 320 | /* Add a leg between names *fr_name and *to_name |
---|
| 321 | * If either is a three node, then it is split into two |
---|
| 322 | * and the data structure adjusted as necessary. |
---|
| 323 | */ |
---|
[2140502] | 324 | void |
---|
| 325 | addlegbyname(prefix *fr_name, prefix *to_name, bool fToFirst, |
---|
| 326 | real dx, real dy, real dz, |
---|
| 327 | real vx, real vy, real vz |
---|
| 328 | #ifndef NO_COVARIANCES |
---|
| 329 | , real cyz, real czx, real cxy |
---|
| 330 | #endif |
---|
| 331 | ) |
---|
| 332 | { |
---|
| 333 | node *to, *fr; |
---|
| 334 | if (to_name == fr_name) { |
---|
[736f7df] | 335 | /* TRANSLATORS: Here a "survey leg" is a set of measurements between two |
---|
| 336 | * "survey stations". |
---|
[b49ac56] | 337 | * |
---|
[736f7df] | 338 | * %s is replaced by the name of the station. */ |
---|
[cab0f26] | 339 | compile_diagnostic(DIAG_ERR, /*Survey leg with same station (“%s”) at both ends - typing error?*/50, |
---|
| 340 | sprint_prefix(to_name)); |
---|
[2140502] | 341 | return; |
---|
[421b7d2] | 342 | } |
---|
[2140502] | 343 | if (fToFirst) { |
---|
| 344 | to = StnFromPfx(to_name); |
---|
| 345 | fr = StnFromPfx(fr_name); |
---|
| 346 | } else { |
---|
| 347 | fr = StnFromPfx(fr_name); |
---|
| 348 | to = StnFromPfx(to_name); |
---|
| 349 | } |
---|
[dda0ca7] | 350 | if (last_leg.to_name) { |
---|
| 351 | if (last_leg.to_name == to_name && last_leg.fr_name == fr_name) { |
---|
| 352 | /* FIXME: Not the right way to average... */ |
---|
| 353 | linkfor * leg = last_leg.leg; |
---|
| 354 | int n = last_leg.n++; |
---|
| 355 | leg->d[0] = (leg->d[0] * n + dx) / (n + 1); |
---|
| 356 | leg->d[1] = (leg->d[1] * n + dy) / (n + 1); |
---|
| 357 | leg->d[2] = (leg->d[2] * n + dz) / (n + 1); |
---|
| 358 | #ifndef NO_COVARIANCES |
---|
| 359 | leg->v[0] = (leg->v[0] * n + vx) / (n + 1); |
---|
| 360 | leg->v[1] = (leg->v[1] * n + vy) / (n + 1); |
---|
| 361 | leg->v[2] = (leg->v[2] * n + vz) / (n + 1); |
---|
| 362 | leg->v[3] = (leg->v[3] * n + cxy) / (n + 1); |
---|
| 363 | leg->v[4] = (leg->v[4] * n + czx) / (n + 1); |
---|
| 364 | leg->v[5] = (leg->v[5] * n + cyz) / (n + 1); |
---|
| 365 | check_svar(&(leg->v)); |
---|
| 366 | #else |
---|
| 367 | leg->v[0] = (leg->v[0] * n + vx) / (n + 1); |
---|
| 368 | leg->v[1] = (leg->v[1] * n + vy) / (n + 1); |
---|
| 369 | leg->v[2] = (leg->v[2] * n + vz) / (n + 1); |
---|
| 370 | #endif |
---|
| 371 | return; |
---|
| 372 | } |
---|
| 373 | } |
---|
| 374 | cLegs++; |
---|
| 375 | |
---|
| 376 | last_leg.to_name = to_name; |
---|
| 377 | last_leg.fr_name = fr_name; |
---|
| 378 | last_leg.n = 1; |
---|
| 379 | last_leg.leg = addleg_(fr, to, dx, dy, dz, vx, vy, vz, |
---|
[2140502] | 380 | #ifndef NO_COVARIANCES |
---|
[dda0ca7] | 381 | cyz, czx, cxy, |
---|
[2140502] | 382 | #endif |
---|
[dda0ca7] | 383 | 0); |
---|
[2140502] | 384 | } |
---|
| 385 | |
---|
[be374fc] | 386 | /* helper function for replace_pfx */ |
---|
| 387 | static void |
---|
| 388 | replace_pfx_(node *stn, node *from, pos *pos_replace, pos *pos_with) |
---|
| 389 | { |
---|
| 390 | int d; |
---|
| 391 | stn->name->pos = pos_with; |
---|
| 392 | for (d = 0; d < 3; d++) { |
---|
| 393 | linkfor *leg = stn->leg[d]; |
---|
| 394 | node *to; |
---|
| 395 | if (!leg) break; |
---|
| 396 | to = leg->l.to; |
---|
| 397 | if (to == from) continue; |
---|
| 398 | |
---|
| 399 | if (fZeros(data_here(leg) ? &leg->v : &reverse_leg(leg)->v)) |
---|
| 400 | replace_pfx_(to, stn, pos_replace, pos_with); |
---|
| 401 | } |
---|
| 402 | } |
---|
| 403 | |
---|
| 404 | /* We used to iterate over the whole station list (inefficient) - now we |
---|
| 405 | * just look at any neighbouring nodes to see if they are equated */ |
---|
| 406 | static void |
---|
| 407 | replace_pfx(const prefix *pfx_replace, const prefix *pfx_with) |
---|
| 408 | { |
---|
| 409 | pos *pos_replace; |
---|
[4c07c51] | 410 | SVX_ASSERT(pfx_replace); |
---|
| 411 | SVX_ASSERT(pfx_with); |
---|
[be374fc] | 412 | pos_replace = pfx_replace->pos; |
---|
[4c07c51] | 413 | SVX_ASSERT(pos_replace != pfx_with->pos); |
---|
[be374fc] | 414 | |
---|
| 415 | replace_pfx_(pfx_replace->stn, NULL, pos_replace, pfx_with->pos); |
---|
| 416 | |
---|
| 417 | #if DEBUG_INVALID |
---|
| 418 | { |
---|
| 419 | node *stn; |
---|
| 420 | FOR_EACH_STN(stn, stnlist) { |
---|
[4c07c51] | 421 | SVX_ASSERT(stn->name->pos != pos_replace); |
---|
[be374fc] | 422 | } |
---|
| 423 | } |
---|
| 424 | #endif |
---|
| 425 | |
---|
| 426 | /* free the (now-unused) old pos */ |
---|
| 427 | osfree(pos_replace); |
---|
| 428 | } |
---|
| 429 | |
---|
| 430 | /* Add an equating leg between existing stations *fr and *to (whose names are |
---|
| 431 | * name1 and name2). |
---|
[d1b1380] | 432 | */ |
---|
[a420b49] | 433 | void |
---|
[be374fc] | 434 | process_equate(prefix *name1, prefix *name2) |
---|
[a420b49] | 435 | { |
---|
[925fa451] | 436 | node *stn1, *stn2; |
---|
[dda0ca7] | 437 | clear_last_leg(); |
---|
[be374fc] | 438 | if (name1 == name2) { |
---|
| 439 | /* catch something like *equate "fred fred" */ |
---|
[736f7df] | 440 | /* TRANSLATORS: Here "station" is a survey station, not a train station. |
---|
| 441 | */ |
---|
[cab0f26] | 442 | compile_diagnostic(DIAG_WARN, /*Station “%s” equated to itself*/13, |
---|
| 443 | sprint_prefix(name1)); |
---|
[be374fc] | 444 | return; |
---|
| 445 | } |
---|
[925fa451] | 446 | stn1 = StnFromPfx(name1); |
---|
| 447 | stn2 = StnFromPfx(name2); |
---|
[be374fc] | 448 | /* equate nodes if not already equated */ |
---|
[925fa451] | 449 | if (name1->pos != name2->pos) { |
---|
[be374fc] | 450 | if (pfx_fixed(name1)) { |
---|
| 451 | if (pfx_fixed(name2)) { |
---|
| 452 | /* both are fixed, but let them off iff their coordinates match */ |
---|
| 453 | char *s = osstrdup(sprint_prefix(name1)); |
---|
| 454 | int d; |
---|
| 455 | for (d = 2; d >= 0; d--) { |
---|
| 456 | if (name1->pos->p[d] != name2->pos->p[d]) { |
---|
[cab0f26] | 457 | compile_diagnostic(DIAG_ERR, /*Tried to equate two non-equal fixed stations: “%s” and “%s”*/52, |
---|
| 458 | s, sprint_prefix(name2)); |
---|
[be374fc] | 459 | osfree(s); |
---|
| 460 | return; |
---|
| 461 | } |
---|
| 462 | } |
---|
[736f7df] | 463 | /* TRANSLATORS: "equal" as in: |
---|
| 464 | * |
---|
| 465 | * *fix a 1 2 3 |
---|
| 466 | * *fix b 1 2 3 |
---|
| 467 | * *equate a b */ |
---|
[cab0f26] | 468 | compile_diagnostic(DIAG_WARN, /*Equating two equal fixed points: “%s” and “%s”*/53, |
---|
| 469 | s, sprint_prefix(name2)); |
---|
[be374fc] | 470 | osfree(s); |
---|
| 471 | } |
---|
[925fa451] | 472 | |
---|
[be374fc] | 473 | /* name1 is fixed, so replace all refs to name2's pos with name1's */ |
---|
| 474 | replace_pfx(name2, name1); |
---|
| 475 | } else { |
---|
| 476 | /* name1 isn't fixed, so replace all refs to its pos with name2's */ |
---|
| 477 | replace_pfx(name1, name2); |
---|
| 478 | } |
---|
| 479 | |
---|
| 480 | /* count equates as legs for now... */ |
---|
| 481 | cLegs++; |
---|
| 482 | addleg_(stn1, stn2, |
---|
| 483 | (real)0.0, (real)0.0, (real)0.0, |
---|
| 484 | (real)0.0, (real)0.0, (real)0.0, |
---|
[7a05e07] | 485 | #ifndef NO_COVARIANCES |
---|
[be374fc] | 486 | (real)0.0, (real)0.0, (real)0.0, |
---|
[7a05e07] | 487 | #endif |
---|
[be374fc] | 488 | FLAG_FAKE); |
---|
| 489 | } |
---|
[d1b1380] | 490 | } |
---|
| 491 | |
---|
| 492 | /* Add a 'fake' leg (not counted) between existing stations *fr and *to |
---|
[2140502] | 493 | * (which *must* be different) |
---|
[d1b1380] | 494 | * If either node is a three node, then it is split into two |
---|
| 495 | * and the data structure adjusted as necessary |
---|
| 496 | */ |
---|
[a420b49] | 497 | void |
---|
| 498 | addfakeleg(node *fr, node *to, |
---|
| 499 | real dx, real dy, real dz, |
---|
| 500 | real vx, real vy, real vz |
---|
[7a05e07] | 501 | #ifndef NO_COVARIANCES |
---|
[a420b49] | 502 | , real cyz, real czx, real cxy |
---|
[7a05e07] | 503 | #endif |
---|
[a420b49] | 504 | ) |
---|
| 505 | { |
---|
[dda0ca7] | 506 | clear_last_leg(); |
---|
[693388e] | 507 | addleg_(fr, to, dx, dy, dz, vx, vy, vz, |
---|
[8cf2e04] | 508 | #ifndef NO_COVARIANCES |
---|
[693388e] | 509 | cyz, czx, cxy, |
---|
[8cf2e04] | 510 | #endif |
---|
[693388e] | 511 | FLAG_FAKE); |
---|
[d1b1380] | 512 | } |
---|
| 513 | |
---|
[78d2394] | 514 | static char |
---|
[a420b49] | 515 | freeleg(node **stnptr) |
---|
| 516 | { |
---|
[d1b1380] | 517 | node *stn, *oldstn; |
---|
| 518 | linkfor *leg, *leg2; |
---|
[94f6ef3] | 519 | #ifndef NO_COVARIANCES |
---|
[59f2dbb] | 520 | int i; |
---|
[94f6ef3] | 521 | #endif |
---|
[7a05e07] | 522 | |
---|
[a420b49] | 523 | stn = *stnptr; |
---|
[7a05e07] | 524 | |
---|
[a420b49] | 525 | if (stn->leg[0] == NULL) return 0; /* leg[0] unused */ |
---|
| 526 | if (stn->leg[1] == NULL) return 1; /* leg[1] unused */ |
---|
| 527 | if (stn->leg[2] == NULL) return 2; /* leg[2] unused */ |
---|
[d1b1380] | 528 | |
---|
| 529 | /* All legs used, so split node in two */ |
---|
[a420b49] | 530 | oldstn = stn; |
---|
| 531 | stn = osnew(node); |
---|
| 532 | leg = osnew(linkfor); |
---|
| 533 | leg2 = (linkfor*)osnew(linkrev); |
---|
[d1b1380] | 534 | |
---|
[a420b49] | 535 | *stnptr = stn; |
---|
[d1b1380] | 536 | |
---|
[564f471] | 537 | add_stn_to_list(&stnlist, stn); |
---|
[a420b49] | 538 | stn->name = oldstn->name; |
---|
[d1b1380] | 539 | |
---|
[a420b49] | 540 | leg->l.to = stn; |
---|
| 541 | leg->d[0] = leg->d[1] = leg->d[2] = (real)0.0; |
---|
[7a05e07] | 542 | |
---|
[8cf2e04] | 543 | #ifndef NO_COVARIANCES |
---|
[59f2dbb] | 544 | for (i = 0; i < 6; i++) leg->v[i] = (real)0.0; |
---|
[8cf2e04] | 545 | #else |
---|
[a420b49] | 546 | leg->v[0] = leg->v[1] = leg->v[2] = (real)0.0; |
---|
[8cf2e04] | 547 | #endif |
---|
[693388e] | 548 | leg->l.reverse = 1 | FLAG_DATAHERE | FLAG_FAKE; |
---|
[eb5aea0] | 549 | leg->l.flags = pcs->flags | (pcs->style << FLAGS_STYLE_BIT0); |
---|
[d1b1380] | 550 | |
---|
[a420b49] | 551 | leg2->l.to = oldstn; |
---|
| 552 | leg2->l.reverse = 0; |
---|
[d1b1380] | 553 | |
---|
[eb04711] | 554 | /* NB this preserves pos->stn->leg[0] to point to the "real" fixed point |
---|
| 555 | * for stations fixed with error estimates |
---|
| 556 | */ |
---|
[a420b49] | 557 | stn->leg[0] = oldstn->leg[0]; |
---|
[d1b1380] | 558 | /* correct reverse leg */ |
---|
[a420b49] | 559 | reverse_leg(stn->leg[0])->l.to = stn; |
---|
| 560 | stn->leg[1] = leg2; |
---|
[d1b1380] | 561 | |
---|
[a420b49] | 562 | oldstn->leg[0] = leg; |
---|
[d1b1380] | 563 | |
---|
[a420b49] | 564 | stn->leg[2] = NULL; /* needed as stn->leg[dirn]==NULL indicates unused */ |
---|
[d1b1380] | 565 | |
---|
| 566 | return(2); /* leg[2] unused */ |
---|
| 567 | } |
---|
| 568 | |
---|
[a420b49] | 569 | node * |
---|
| 570 | StnFromPfx(prefix *name) |
---|
| 571 | { |
---|
[d1b1380] | 572 | node *stn; |
---|
[a420b49] | 573 | if (name->stn != NULL) return (name->stn); |
---|
| 574 | stn = osnew(node); |
---|
| 575 | stn->name = name; |
---|
| 576 | if (name->pos == NULL) { |
---|
| 577 | name->pos = osnew(pos); |
---|
[d1b1380] | 578 | unfix(stn); |
---|
| 579 | } |
---|
[a420b49] | 580 | stn->leg[0] = stn->leg[1] = stn->leg[2] = NULL; |
---|
[564f471] | 581 | add_stn_to_list(&stnlist, stn); |
---|
[a420b49] | 582 | name->stn = stn; |
---|
[d1b1380] | 583 | cStns++; |
---|
| 584 | return stn; |
---|
| 585 | } |
---|
| 586 | |
---|
[a420b49] | 587 | extern void |
---|
[a862ee8] | 588 | fprint_prefix(FILE *fh, const prefix *ptr) |
---|
[a420b49] | 589 | { |
---|
[4c07c51] | 590 | SVX_ASSERT(ptr); |
---|
[a2c33ae] | 591 | if (TSTBIT(ptr->sflags, SFLAGS_ANON)) { |
---|
| 592 | /* We release the stations, so ptr->stn is NULL late on, so we can't |
---|
| 593 | * use that to print "anonymous station surveyed from somesurvey.12" |
---|
| 594 | * here. FIXME */ |
---|
| 595 | fputs("anonymous station", fh); |
---|
[55a0527] | 596 | /* FIXME: if ident is set, show it? */ |
---|
[a2c33ae] | 597 | return; |
---|
| 598 | } |
---|
[a420b49] | 599 | if (ptr->up != NULL) { |
---|
| 600 | fprint_prefix(fh, ptr->up); |
---|
| 601 | if (ptr->up->up != NULL) fputc('.', fh); |
---|
[4c07c51] | 602 | SVX_ASSERT(ptr->ident); |
---|
[a420b49] | 603 | fputs(ptr->ident, fh); |
---|
[d1b1380] | 604 | } |
---|
| 605 | } |
---|
| 606 | |
---|
[ee2e333] | 607 | static char *buffer = NULL; |
---|
[95d4862] | 608 | static OSSIZE_T buffer_len = 256; |
---|
[ee2e333] | 609 | |
---|
[95d4862] | 610 | static OSSIZE_T |
---|
[ee2e333] | 611 | sprint_prefix_(const prefix *ptr) |
---|
[a420b49] | 612 | { |
---|
[95d4862] | 613 | OSSIZE_T len = 1; |
---|
[8cf2e04] | 614 | if (ptr->up != NULL) { |
---|
[4c07c51] | 615 | SVX_ASSERT(ptr->ident); |
---|
[95d4862] | 616 | len = sprint_prefix_(ptr->up) + strlen(ptr->ident); |
---|
[ee2e333] | 617 | if (ptr->up->up != NULL) len++; |
---|
| 618 | if (len > buffer_len) { |
---|
| 619 | buffer = osrealloc(buffer, len); |
---|
| 620 | buffer_len = len; |
---|
[a420b49] | 621 | } |
---|
[ee2e333] | 622 | if (ptr->up->up != NULL) strcat(buffer, "."); |
---|
| 623 | strcat(buffer, ptr->ident); |
---|
[d1b1380] | 624 | } |
---|
[ee2e333] | 625 | return len; |
---|
[d1b1380] | 626 | } |
---|
| 627 | |
---|
[a420b49] | 628 | extern char * |
---|
[a862ee8] | 629 | sprint_prefix(const prefix *ptr) |
---|
[a420b49] | 630 | { |
---|
[4c07c51] | 631 | SVX_ASSERT(ptr); |
---|
[ee2e333] | 632 | if (!buffer) buffer = osmalloc(buffer_len); |
---|
[a2c33ae] | 633 | if (TSTBIT(ptr->sflags, SFLAGS_ANON)) { |
---|
| 634 | /* We release the stations, so ptr->stn is NULL late on, so we can't |
---|
| 635 | * use that to print "anonymous station surveyed from somesurvey.12" |
---|
| 636 | * here. FIXME */ |
---|
| 637 | sprintf(buffer, "anonymous station"); |
---|
[55a0527] | 638 | /* FIXME: if ident is set, show it? */ |
---|
[a2c33ae] | 639 | return buffer; |
---|
| 640 | } |
---|
[ee2e333] | 641 | *buffer = '\0'; |
---|
| 642 | sprint_prefix_(ptr); |
---|
[a420b49] | 643 | return buffer; |
---|
[d1b1380] | 644 | } |
---|
| 645 | |
---|
[59f2dbb] | 646 | /* r = ab ; r,a,b are variance matrices */ |
---|
| 647 | void |
---|
| 648 | mulss(var *r, /*const*/ svar *a, /*const*/ svar *b) |
---|
| 649 | { |
---|
| 650 | #ifdef NO_COVARIANCES |
---|
| 651 | /* variance-only version */ |
---|
| 652 | (*r)[0] = (*a)[0] * (*b)[0]; |
---|
| 653 | (*r)[1] = (*a)[1] * (*b)[1]; |
---|
| 654 | (*r)[2] = (*a)[2] * (*b)[2]; |
---|
| 655 | #else |
---|
| 656 | int i, j, k; |
---|
| 657 | real tot; |
---|
| 658 | |
---|
| 659 | #if 0 |
---|
[4c07c51] | 660 | SVX_ASSERT((/*const*/ var *)r != a); |
---|
| 661 | SVX_ASSERT((/*const*/ var *)r != b); |
---|
[59f2dbb] | 662 | #endif |
---|
| 663 | |
---|
| 664 | check_svar(a); |
---|
| 665 | check_svar(b); |
---|
| 666 | |
---|
| 667 | for (i = 0; i < 3; i++) { |
---|
| 668 | for (j = 0; j < 3; j++) { |
---|
| 669 | tot = 0; |
---|
| 670 | for (k = 0; k < 3; k++) { |
---|
| 671 | tot += SN(a,i,k) * SN(b,k,j); |
---|
| 672 | } |
---|
| 673 | (*r)[i][j] = tot; |
---|
| 674 | } |
---|
| 675 | } |
---|
| 676 | check_var(r); |
---|
| 677 | #endif |
---|
| 678 | } |
---|
| 679 | |
---|
[78d2394] | 680 | #ifndef NO_COVARIANCES |
---|
[59f2dbb] | 681 | /* r = ab ; r,a,b are variance matrices */ |
---|
| 682 | void |
---|
| 683 | smulvs(svar *r, /*const*/ var *a, /*const*/ svar *b) |
---|
| 684 | { |
---|
| 685 | int i, j, k; |
---|
| 686 | real tot; |
---|
| 687 | |
---|
| 688 | #if 0 |
---|
[4c07c51] | 689 | SVX_ASSERT((/*const*/ var *)r != a); |
---|
[59f2dbb] | 690 | #endif |
---|
[4c07c51] | 691 | SVX_ASSERT((/*const*/ svar *)r != b); |
---|
[59f2dbb] | 692 | |
---|
| 693 | check_var(a); |
---|
| 694 | check_svar(b); |
---|
| 695 | |
---|
| 696 | (*r)[3]=(*r)[4]=(*r)[5]=-999; |
---|
| 697 | for (i = 0; i < 3; i++) { |
---|
| 698 | for (j = 0; j < 3; j++) { |
---|
| 699 | tot = 0; |
---|
| 700 | for (k = 0; k < 3; k++) { |
---|
| 701 | tot += (*a)[i][k] * SN(b,k,j); |
---|
| 702 | } |
---|
| 703 | if (i <= j) |
---|
| 704 | SN(r,i,j) = tot; |
---|
| 705 | else if (fabs(SN(r,j,i) - tot) > THRESHOLD) { |
---|
| 706 | printf("not sym - %d,%d = %f, %d,%d was %f\n", |
---|
| 707 | i,j,tot,j,i,SN(r,j,i)); |
---|
| 708 | BUG("smulvs didn't produce a sym mx\n"); |
---|
| 709 | } |
---|
| 710 | } |
---|
| 711 | } |
---|
| 712 | check_svar(r); |
---|
| 713 | } |
---|
[d1b1380] | 714 | #endif |
---|
| 715 | |
---|
[59f2dbb] | 716 | /* r = vb ; r,b delta vectors; a variance matrix */ |
---|
| 717 | void |
---|
| 718 | mulsd(delta *r, /*const*/ svar *v, /*const*/ delta *b) |
---|
| 719 | { |
---|
| 720 | #ifdef NO_COVARIANCES |
---|
| 721 | /* variance-only version */ |
---|
| 722 | (*r)[0] = (*v)[0] * (*b)[0]; |
---|
| 723 | (*r)[1] = (*v)[1] * (*b)[1]; |
---|
| 724 | (*r)[2] = (*v)[2] * (*b)[2]; |
---|
| 725 | #else |
---|
| 726 | int i, j; |
---|
| 727 | real tot; |
---|
| 728 | |
---|
[4c07c51] | 729 | SVX_ASSERT((/*const*/ delta*)r != b); |
---|
[59f2dbb] | 730 | check_svar(v); |
---|
| 731 | check_d(b); |
---|
| 732 | |
---|
| 733 | for (i = 0; i < 3; i++) { |
---|
| 734 | tot = 0; |
---|
| 735 | for (j = 0; j < 3; j++) tot += S(i,j) * (*b)[j]; |
---|
| 736 | (*r)[i] = tot; |
---|
| 737 | } |
---|
| 738 | check_d(r); |
---|
| 739 | #endif |
---|
| 740 | } |
---|
| 741 | |
---|
| 742 | /* r = ca ; r,a variance matrices; c real scaling factor */ |
---|
| 743 | void |
---|
| 744 | mulsc(svar *r, /*const*/ svar *a, real c) |
---|
| 745 | { |
---|
| 746 | #ifdef NO_COVARIANCES |
---|
| 747 | /* variance-only version */ |
---|
| 748 | (*r)[0] = (*a)[0] * c; |
---|
| 749 | (*r)[1] = (*a)[1] * c; |
---|
| 750 | (*r)[2] = (*a)[2] * c; |
---|
| 751 | #else |
---|
| 752 | int i; |
---|
| 753 | |
---|
| 754 | check_svar(a); |
---|
| 755 | for (i = 0; i < 6; i++) (*r)[i] = (*a)[i] * c; |
---|
| 756 | check_svar(r); |
---|
| 757 | #endif |
---|
| 758 | } |
---|
| 759 | |
---|
[d1b1380] | 760 | /* r = a + b ; r,a,b delta vectors */ |
---|
[a420b49] | 761 | void |
---|
[eb18f4d] | 762 | adddd(delta *r, /*const*/ delta *a, /*const*/ delta *b) |
---|
[a420b49] | 763 | { |
---|
[5d26a94] | 764 | check_d(a); |
---|
| 765 | check_d(b); |
---|
[d1b1380] | 766 | (*r)[0] = (*a)[0] + (*b)[0]; |
---|
| 767 | (*r)[1] = (*a)[1] + (*b)[1]; |
---|
| 768 | (*r)[2] = (*a)[2] + (*b)[2]; |
---|
[5d26a94] | 769 | check_d(r); |
---|
[d1b1380] | 770 | } |
---|
| 771 | |
---|
| 772 | /* r = a - b ; r,a,b delta vectors */ |
---|
[a420b49] | 773 | void |
---|
[eb18f4d] | 774 | subdd(delta *r, /*const*/ delta *a, /*const*/ delta *b) { |
---|
[5d26a94] | 775 | check_d(a); |
---|
| 776 | check_d(b); |
---|
[d1b1380] | 777 | (*r)[0] = (*a)[0] - (*b)[0]; |
---|
| 778 | (*r)[1] = (*a)[1] - (*b)[1]; |
---|
| 779 | (*r)[2] = (*a)[2] - (*b)[2]; |
---|
[5d26a94] | 780 | check_d(r); |
---|
[d1b1380] | 781 | } |
---|
| 782 | |
---|
[59f2dbb] | 783 | /* r = a + b ; r,a,b variance matrices */ |
---|
| 784 | void |
---|
| 785 | addss(svar *r, /*const*/ svar *a, /*const*/ svar *b) |
---|
| 786 | { |
---|
| 787 | #ifdef NO_COVARIANCES |
---|
| 788 | /* variance-only version */ |
---|
| 789 | (*r)[0] = (*a)[0] + (*b)[0]; |
---|
| 790 | (*r)[1] = (*a)[1] + (*b)[1]; |
---|
| 791 | (*r)[2] = (*a)[2] + (*b)[2]; |
---|
| 792 | #else |
---|
| 793 | int i; |
---|
| 794 | |
---|
| 795 | check_svar(a); |
---|
| 796 | check_svar(b); |
---|
| 797 | for (i = 0; i < 6; i++) (*r)[i] = (*a)[i] + (*b)[i]; |
---|
| 798 | check_svar(r); |
---|
| 799 | #endif |
---|
| 800 | } |
---|
| 801 | |
---|
| 802 | /* r = a - b ; r,a,b variance matrices */ |
---|
| 803 | void |
---|
| 804 | subss(svar *r, /*const*/ svar *a, /*const*/ svar *b) |
---|
| 805 | { |
---|
| 806 | #ifdef NO_COVARIANCES |
---|
| 807 | /* variance-only version */ |
---|
| 808 | (*r)[0] = (*a)[0] - (*b)[0]; |
---|
| 809 | (*r)[1] = (*a)[1] - (*b)[1]; |
---|
| 810 | (*r)[2] = (*a)[2] - (*b)[2]; |
---|
| 811 | #else |
---|
| 812 | int i; |
---|
| 813 | |
---|
| 814 | check_svar(a); |
---|
| 815 | check_svar(b); |
---|
| 816 | for (i = 0; i < 6; i++) (*r)[i] = (*a)[i] - (*b)[i]; |
---|
| 817 | check_svar(r); |
---|
| 818 | #endif |
---|
| 819 | } |
---|
| 820 | |
---|
[7a05e07] | 821 | /* inv = v^-1 ; inv,v variance matrices */ |
---|
[f98f8a5] | 822 | extern int |
---|
[78d2394] | 823 | invert_svar(svar *inv, /*const*/ svar *v) |
---|
[f98f8a5] | 824 | { |
---|
[78d2394] | 825 | #ifdef NO_COVARIANCES |
---|
[f98f8a5] | 826 | int i; |
---|
| 827 | for (i = 0; i < 3; i++) { |
---|
[42d23c5] | 828 | if ((*v)[i] == 0.0) return 0; /* matrix is singular */ |
---|
[f98f8a5] | 829 | (*inv)[i] = 1.0 / (*v)[i]; |
---|
| 830 | } |
---|
| 831 | #else |
---|
[dac18d8] | 832 | real det, a, b, c, d, e, f, bcff, efcd, dfbe; |
---|
[59f2dbb] | 833 | |
---|
| 834 | #if 0 |
---|
[4c07c51] | 835 | SVX_ASSERT((/*const*/ var *)inv != v); |
---|
[59f2dbb] | 836 | #endif |
---|
| 837 | |
---|
| 838 | check_svar(v); |
---|
[dac18d8] | 839 | /* a d e |
---|
| 840 | * d b f |
---|
| 841 | * e f c |
---|
| 842 | */ |
---|
| 843 | a = (*v)[0], b = (*v)[1], c = (*v)[2]; |
---|
| 844 | d = (*v)[3], e = (*v)[4], f = (*v)[5]; |
---|
| 845 | bcff = b * c - f * f; |
---|
| 846 | efcd = e * f - c * d; |
---|
| 847 | dfbe = d * f - b * e; |
---|
| 848 | det = a * bcff + d * efcd + e * dfbe; |
---|
[59f2dbb] | 849 | |
---|
[42d23c5] | 850 | if (det == 0.0) { |
---|
[59f2dbb] | 851 | /* printf("det=%.20f\n", det); */ |
---|
| 852 | return 0; /* matrix is singular */ |
---|
| 853 | } |
---|
| 854 | |
---|
| 855 | det = 1 / det; |
---|
| 856 | |
---|
[dac18d8] | 857 | (*inv)[0] = det * bcff; |
---|
| 858 | (*inv)[1] = det * (c * a - e * e); |
---|
| 859 | (*inv)[2] = det * (a * b - d * d); |
---|
| 860 | (*inv)[3] = det * efcd; |
---|
| 861 | (*inv)[4] = det * dfbe; |
---|
| 862 | (*inv)[5] = det * (e * d - a * f); |
---|
[59f2dbb] | 863 | |
---|
[38193a5] | 864 | #if 0 |
---|
| 865 | /* This test fires very occasionally, and there's not much point in |
---|
| 866 | * it anyhow - the matrix inversion algorithm is simple enough that |
---|
| 867 | * we can be confident it's correctly implemented, so we might as |
---|
| 868 | * well save the cycles and not perform this check. |
---|
| 869 | */ |
---|
[59f2dbb] | 870 | { /* check that original * inverse = identity matrix */ |
---|
[b4fe9fb] | 871 | int i; |
---|
[59f2dbb] | 872 | var p; |
---|
[dac18d8] | 873 | real D = 0; |
---|
| 874 | mulss(&p, v, inv); |
---|
[59f2dbb] | 875 | for (i = 0; i < 3; i++) { |
---|
[dac18d8] | 876 | int j; |
---|
| 877 | for (j = 0; j < 3; j++) D += fabs(p[i][j] - (real)(i==j)); |
---|
[59f2dbb] | 878 | } |
---|
[dac18d8] | 879 | if (D > THRESHOLD) { |
---|
[59f2dbb] | 880 | printf("original * inverse=\n"); |
---|
[dac18d8] | 881 | print_svar(*v); |
---|
[59f2dbb] | 882 | printf("*\n"); |
---|
[dac18d8] | 883 | print_svar(*inv); |
---|
[59f2dbb] | 884 | printf("=\n"); |
---|
| 885 | print_var(p); |
---|
| 886 | BUG("matrix didn't invert"); |
---|
| 887 | } |
---|
[dac18d8] | 888 | check_svar(inv); |
---|
[59f2dbb] | 889 | } |
---|
[78d2394] | 890 | #endif |
---|
[38193a5] | 891 | #endif |
---|
[59f2dbb] | 892 | return 1; |
---|
| 893 | } |
---|
| 894 | |
---|
[d1b1380] | 895 | /* r = (b^-1)a ; r,a delta vectors; b variance matrix */ |
---|
[78d2394] | 896 | #ifndef NO_COVARIANCES |
---|
[a420b49] | 897 | void |
---|
[78d2394] | 898 | divds(delta *r, /*const*/ delta *a, /*const*/ svar *b) |
---|
[a420b49] | 899 | { |
---|
[d1b1380] | 900 | #ifdef NO_COVARIANCES |
---|
| 901 | /* variance-only version */ |
---|
| 902 | (*r)[0] = (*a)[0] / (*b)[0]; |
---|
| 903 | (*r)[1] = (*a)[1] / (*b)[1]; |
---|
| 904 | (*r)[2] = (*a)[2] / (*b)[2]; |
---|
| 905 | #else |
---|
[59f2dbb] | 906 | svar b_inv; |
---|
[dac18d8] | 907 | if (!invert_svar(&b_inv, b)) { |
---|
[59f2dbb] | 908 | print_svar(*b); |
---|
| 909 | BUG("covariance matrix is singular"); |
---|
| 910 | } |
---|
| 911 | mulsd(r, &b_inv, a); |
---|
[d1b1380] | 912 | #endif |
---|
| 913 | } |
---|
[78d2394] | 914 | #endif |
---|
[d1b1380] | 915 | |
---|
[a420b49] | 916 | bool |
---|
[dac18d8] | 917 | fZeros(/*const*/ svar *v) { |
---|
[d1b1380] | 918 | #ifdef NO_COVARIANCES |
---|
| 919 | /* variance-only version */ |
---|
[a420b49] | 920 | return ((*v)[0] == 0.0 && (*v)[1] == 0.0 && (*v)[2] == 0.0); |
---|
[d1b1380] | 921 | #else |
---|
[59f2dbb] | 922 | int i; |
---|
| 923 | |
---|
| 924 | check_svar(v); |
---|
| 925 | for (i = 0; i < 6; i++) if ((*v)[i] != 0.0) return fFalse; |
---|
| 926 | |
---|
| 927 | return fTrue; |
---|
| 928 | #endif |
---|
[dac18d8] | 929 | } |
---|