1 | /* netbits.c |
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2 | * Miscellaneous primitive network routines for Survex |
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3 | * Copyright (C) 1992-2003,2006 Olly Betts |
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4 | * |
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5 | * This program is free software; you can redistribute it and/or modify |
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6 | * it under the terms of the GNU General Public License as published by |
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7 | * the Free Software Foundation; either version 2 of the License, or |
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8 | * (at your option) any later version. |
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9 | * |
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10 | * This program is distributed in the hope that it will be useful, |
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11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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13 | * GNU General Public License for more details. |
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14 | * |
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15 | * You should have received a copy of the GNU General Public License |
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16 | * along with this program; if not, write to the Free Software |
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17 | * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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18 | */ |
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19 | |
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20 | #ifdef HAVE_CONFIG_H |
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21 | # include <config.h> |
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22 | #endif |
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23 | |
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24 | #if 0 |
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25 | # define DEBUG_INVALID 1 |
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26 | #endif |
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27 | |
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28 | #include "debug.h" |
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29 | #include "cavern.h" |
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30 | #include "filename.h" |
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31 | #include "message.h" |
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32 | #include "netbits.h" |
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33 | #include "datain.h" /* for compile_error */ |
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34 | #include "validate.h" /* for compile_error */ |
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35 | |
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36 | #define THRESHOLD (REAL_EPSILON * 1000) /* 100 was too small */ |
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37 | |
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38 | node *stn_iter = NULL; /* for FOR_EACH_STN */ |
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39 | |
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40 | static char freeleg(node **stnptr); |
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41 | |
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42 | #ifdef NO_COVARIANCES |
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43 | static void check_var(/*const*/ var *v) { |
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44 | int bad = 0; |
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45 | int i; |
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46 | |
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47 | for (i = 0; i < 3; i++) { |
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48 | char buf[32]; |
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49 | sprintf(buf, "%6.3f", v[i]); |
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50 | if (strstr(buf, "NaN") || strstr(buf, "nan")) |
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51 | printf("*** NaN!!!\n"), bad = 1; |
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52 | } |
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53 | if (bad) print_var(v); |
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54 | return; |
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55 | } |
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56 | #else |
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57 | #define V(A,B) ((*v)[A][B]) |
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58 | static void check_var(/*const*/ var *v) { |
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59 | int bad = 0; |
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60 | int ok = 0; |
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61 | int i, j; |
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62 | #if DEBUG_INVALID |
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63 | real det = 0.0; |
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64 | #endif |
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65 | |
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66 | for (i = 0; i < 3; i++) { |
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67 | for (j = 0; j < 3; j++) { |
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68 | char buf[32]; |
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69 | sprintf(buf, "%6.3f", V(i, j)); |
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70 | if (strstr(buf, "NaN") || strstr(buf, "nan")) |
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71 | printf("*** NaN!!!\n"), bad = 1, ok = 1; |
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72 | if (V(i, j) != 0.0) ok = 1; |
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73 | } |
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74 | } |
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75 | if (!ok) return; /* ignore all-zero matrices */ |
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76 | |
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77 | #if DEBUG_INVALID |
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78 | for (i = 0; i < 3; i++) { |
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79 | det += V(i, 0) * (V((i + 1) % 3, 1) * V((i + 2) % 3, 2) - |
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80 | V((i + 1) % 3, 2) * V((i + 2) % 3, 1)); |
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81 | } |
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82 | |
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83 | if (fabs(det) < THRESHOLD) |
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84 | printf("*** Singular!!!\n"), bad = 1; |
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85 | #endif |
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86 | |
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87 | #if 0 |
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88 | /* don't check this - it isn't always the case! */ |
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89 | if (fabs(V(0,1) - V(1,0)) > THRESHOLD || |
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90 | fabs(V(0,2) - V(2,0)) > THRESHOLD || |
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91 | fabs(V(1,2) - V(2,1)) > THRESHOLD) |
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92 | printf("*** Not symmetric!!!\n"), bad = 1; |
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93 | if (V(0,0) <= 0.0 || V(1,1) <= 0.0 || V(2,2) <= 0.0) |
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94 | printf("*** Not positive definite (diag <= 0)!!!\n"), bad = 1; |
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95 | if (sqrd(V(0,1)) >= V(0,0)*V(1,1) || sqrd(V(0,2)) >= V(0,0)*V(2,2) || |
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96 | sqrd(V(1,0)) >= V(0,0)*V(1,1) || sqrd(V(2,0)) >= V(0,0)*V(2,2) || |
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97 | sqrd(V(1,2)) >= V(2,2)*V(1,1) || sqrd(V(2,1)) >= V(2,2)*V(1,1)) |
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98 | printf("*** Not positive definite (off diag^2 >= diag product)!!!\n"), bad = 1; |
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99 | #endif |
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100 | if (bad) print_var(*v); |
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101 | } |
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102 | |
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103 | #define SN(V,A,B) ((*(V))[(A)==(B)?(A):2+(A)+(B)]) |
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104 | #define S(A,B) SN(v,A,B) |
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105 | |
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106 | static void check_svar(/*const*/ svar *v) { |
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107 | int bad = 0; |
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108 | int ok = 0; |
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109 | int i; |
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110 | #if DEBUG_INVALID |
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111 | real det = 0.0; |
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112 | #endif |
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113 | |
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114 | for (i = 0; i < 6; i++) { |
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115 | char buf[32]; |
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116 | sprintf(buf, "%6.3f", (*v)[i]); |
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117 | if (strstr(buf, "NaN") || strstr(buf, "nan")) |
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118 | printf("*** NaN!!!\n"), bad = 1, ok = 1; |
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119 | if ((*v)[i] != 0.0) ok = 1; |
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120 | } |
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121 | if (!ok) return; /* ignore all-zero matrices */ |
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122 | |
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123 | #if DEBUG_INVALID |
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124 | for (i = 0; i < 3; i++) { |
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125 | det += S(i, 0) * (S((i + 1) % 3, 1) * S((i + 2) % 3, 2) - |
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126 | S((i + 1) % 3, 2) * S((i + 2) % 3, 1)); |
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127 | } |
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128 | |
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129 | if (fabs(det) < THRESHOLD) |
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130 | printf("*** Singular!!!\n"), bad = 1; |
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131 | #endif |
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132 | |
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133 | #if 0 |
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134 | /* don't check this - it isn't always the case! */ |
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135 | if ((*v)[0] <= 0.0 || (*v)[1] <= 0.0 || (*v)[2] <= 0.0) |
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136 | printf("*** Not positive definite (diag <= 0)!!!\n"), bad = 1; |
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137 | if (sqrd((*v)[3]) >= (*v)[0]*(*v)[1] || |
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138 | sqrd((*v)[4]) >= (*v)[0]*(*v)[2] || |
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139 | sqrd((*v)[5]) >= (*v)[1]*(*v)[2]) |
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140 | printf("*** Not positive definite (off diag^2 >= diag product)!!!\n"), bad = 1; |
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141 | #endif |
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142 | if (bad) print_svar(*v); |
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143 | } |
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144 | #endif |
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145 | |
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146 | static void check_d(/*const*/ delta *d) { |
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147 | int bad = 0; |
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148 | int i; |
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149 | |
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150 | for (i = 0; i < 3; i++) { |
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151 | char buf[32]; |
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152 | sprintf(buf, "%6.3f", (*d)[i]); |
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153 | if (strstr(buf, "NaN") || strstr(buf, "nan")) |
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154 | printf("*** NaN!!!\n"), bad = 1; |
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155 | } |
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156 | |
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157 | if (bad) printf("(%4.2f,%4.2f,%4.2f)\n", (*d)[0], (*d)[1], (*d)[2]); |
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158 | } |
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159 | |
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160 | /* insert at head of double-linked list */ |
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161 | void |
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162 | add_stn_to_list(node **list, node *stn) { |
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163 | SVX_ASSERT(list); |
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164 | SVX_ASSERT(stn); |
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165 | SVX_ASSERT(stn_iter != stn); /* if it does, we're still on a list... */ |
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166 | #if 0 |
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167 | printf("add_stn_to_list(%p, [%p] ", list, stn); |
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168 | if (stn->name) print_prefix(stn->name); |
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169 | printf(")\n"); |
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170 | #endif |
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171 | stn->next = *list; |
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172 | stn->prev = NULL; |
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173 | if (*list) (*list)->prev = stn; |
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174 | *list = stn; |
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175 | } |
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176 | |
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177 | /* remove from double-linked list */ |
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178 | void |
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179 | remove_stn_from_list(node **list, node *stn) { |
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180 | SVX_ASSERT(list); |
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181 | SVX_ASSERT(stn); |
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182 | #if 0 |
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183 | printf("remove_stn_from_list(%p, [%p] ", list, stn); |
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184 | if (stn->name) print_prefix(stn->name); |
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185 | printf(")\n"); |
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186 | #endif |
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187 | #if DEBUG_INVALID |
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188 | { |
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189 | /* check station is actually in this list */ |
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190 | node *stn_to_remove_is_in_list = *list; |
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191 | validate(); |
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192 | while (stn_to_remove_is_in_list != stn) { |
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193 | SVX_ASSERT(stn_to_remove_is_in_list); |
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194 | stn_to_remove_is_in_list = stn_to_remove_is_in_list->next; |
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195 | } |
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196 | } |
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197 | #endif |
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198 | /* adjust the iterator if it points to the element we're deleting */ |
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199 | if (stn_iter == stn) stn_iter = stn_iter->next; |
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200 | /* need a special case if we're removing the list head */ |
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201 | if (stn->prev == NULL) { |
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202 | *list = stn->next; |
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203 | if (*list) (*list)->prev = NULL; |
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204 | } else { |
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205 | stn->prev->next = stn->next; |
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206 | if (stn->next) stn->next->prev = stn->prev; |
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207 | } |
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208 | } |
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209 | |
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210 | /* Create (uses osmalloc) a forward leg containing the data in leg, or |
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211 | * the reversed data in the reverse of leg, if leg doesn't hold data |
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212 | */ |
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213 | linkfor * |
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214 | copy_link(linkfor *leg) |
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215 | { |
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216 | linkfor *legOut; |
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217 | int d; |
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218 | legOut = osnew(linkfor); |
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219 | if (data_here(leg)) { |
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220 | for (d = 2; d >= 0; d--) legOut->d[d] = leg->d[d]; |
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221 | } else { |
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222 | leg = reverse_leg(leg); |
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223 | SVX_ASSERT(data_here(leg)); |
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224 | for (d = 2; d >= 0; d--) legOut->d[d] = -leg->d[d]; |
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225 | } |
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226 | #if 1 |
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227 | # ifndef NO_COVARIANCES |
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228 | check_svar(&(leg->v)); |
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229 | { |
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230 | int i; |
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231 | for (i = 0; i < 6; i++) legOut->v[i] = leg->v[i]; |
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232 | } |
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233 | # else |
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234 | for (d = 2; d >= 0; d--) legOut->v[d] = leg->v[d]; |
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235 | # endif |
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236 | #else |
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237 | memcpy(legOut->v, leg->v, sizeof(svar)); |
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238 | #endif |
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239 | legOut->meta = pcs->meta; |
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240 | if (pcs->meta) ++pcs->meta->ref_count; |
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241 | return legOut; |
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242 | } |
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243 | |
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244 | /* Adds to the forward leg `leg', the data in leg2, or the reversed data |
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245 | * in the reverse of leg2, if leg2 doesn't hold data |
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246 | */ |
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247 | linkfor * |
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248 | addto_link(linkfor *leg, const linkfor *leg2) |
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249 | { |
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250 | if (data_here(leg2)) { |
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251 | adddd(&leg->d, &leg->d, &((linkfor *)leg2)->d); |
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252 | } else { |
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253 | leg2 = reverse_leg(leg2); |
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254 | SVX_ASSERT(data_here(leg2)); |
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255 | subdd(&leg->d, &leg->d, &((linkfor *)leg2)->d); |
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256 | } |
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257 | addss(&leg->v, &leg->v, &((linkfor *)leg2)->v); |
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258 | return leg; |
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259 | } |
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260 | |
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261 | static void |
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262 | addleg_(node *fr, node *to, |
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263 | real dx, real dy, real dz, |
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264 | real vx, real vy, real vz, |
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265 | #ifndef NO_COVARIANCES |
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266 | real cyz, real czx, real cxy, |
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267 | #endif |
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268 | int leg_flags) |
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269 | { |
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270 | int i, j; |
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271 | linkfor *leg, *leg2; |
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272 | int shape; |
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273 | /* we have been asked to add a leg with the same node at both ends |
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274 | * - this should be trapped by the caller */ |
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275 | SVX_ASSERT(fr->name != to->name); |
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276 | |
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277 | leg = osnew(linkfor); |
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278 | leg2 = (linkfor*)osnew(linkrev); |
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279 | |
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280 | i = freeleg(&fr); |
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281 | j = freeleg(&to); |
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282 | |
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283 | leg->l.to = to; |
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284 | leg2->l.to = fr; |
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285 | leg->d[0] = dx; |
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286 | leg->d[1] = dy; |
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287 | leg->d[2] = dz; |
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288 | #ifndef NO_COVARIANCES |
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289 | leg->v[0] = vx; |
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290 | leg->v[1] = vy; |
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291 | leg->v[2] = vz; |
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292 | leg->v[3] = cxy; |
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293 | leg->v[4] = czx; |
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294 | leg->v[5] = cyz; |
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295 | check_svar(&(leg->v)); |
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296 | #else |
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297 | leg->v[0] = vx; |
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298 | leg->v[1] = vy; |
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299 | leg->v[2] = vz; |
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300 | #endif |
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301 | leg2->l.reverse = i; |
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302 | leg->l.reverse = j | FLAG_DATAHERE | leg_flags; |
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303 | |
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304 | leg->l.flags = pcs->flags; |
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305 | leg->meta = pcs->meta; |
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306 | if (pcs->meta) ++pcs->meta->ref_count; |
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307 | |
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308 | fr->leg[i] = leg; |
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309 | to->leg[j] = leg2; |
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310 | |
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311 | shape = fr->name->shape + 1; |
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312 | if (shape < 1) shape = 1 - shape; |
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313 | fr->name->shape = shape; |
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314 | |
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315 | shape = to->name->shape + 1; |
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316 | if (shape < 1) shape = 1 - shape; |
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317 | to->name->shape = shape; |
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318 | } |
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319 | |
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320 | /* Add a leg between names *fr_name and *to_name |
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321 | * If either is a three node, then it is split into two |
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322 | * and the data structure adjusted as necessary. |
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323 | */ |
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324 | void |
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325 | addlegbyname(prefix *fr_name, prefix *to_name, bool fToFirst, |
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326 | real dx, real dy, real dz, |
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327 | real vx, real vy, real vz |
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328 | #ifndef NO_COVARIANCES |
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329 | , real cyz, real czx, real cxy |
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330 | #endif |
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331 | ) |
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332 | { |
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333 | node *to, *fr; |
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334 | if (to_name == fr_name) { |
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335 | compile_error(/*Survey leg with same station (`%s') at both ends - typing error?*/50, |
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336 | sprint_prefix(to_name)); |
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337 | return; |
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338 | } |
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339 | if (fToFirst) { |
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340 | to = StnFromPfx(to_name); |
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341 | fr = StnFromPfx(fr_name); |
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342 | } else { |
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343 | fr = StnFromPfx(fr_name); |
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344 | to = StnFromPfx(to_name); |
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345 | } |
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346 | cLegs++; /* increment count (first as compiler may do tail recursion) */ |
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347 | addleg_(fr, to, dx, dy, dz, vx, vy, vz, |
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348 | #ifndef NO_COVARIANCES |
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349 | cyz, czx, cxy, |
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350 | #endif |
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351 | 0); |
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352 | } |
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353 | |
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354 | /* helper function for replace_pfx */ |
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355 | static void |
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356 | replace_pfx_(node *stn, node *from, pos *pos_replace, pos *pos_with) |
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357 | { |
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358 | int d; |
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359 | stn->name->pos = pos_with; |
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360 | for (d = 0; d < 3; d++) { |
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361 | linkfor *leg = stn->leg[d]; |
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362 | node *to; |
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363 | if (!leg) break; |
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364 | to = leg->l.to; |
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365 | if (to == from) continue; |
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366 | |
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367 | if (fZeros(data_here(leg) ? &leg->v : &reverse_leg(leg)->v)) |
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368 | replace_pfx_(to, stn, pos_replace, pos_with); |
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369 | } |
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370 | } |
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371 | |
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372 | /* We used to iterate over the whole station list (inefficient) - now we |
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373 | * just look at any neighbouring nodes to see if they are equated */ |
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374 | static void |
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375 | replace_pfx(const prefix *pfx_replace, const prefix *pfx_with) |
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376 | { |
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377 | pos *pos_replace; |
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378 | SVX_ASSERT(pfx_replace); |
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379 | SVX_ASSERT(pfx_with); |
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380 | pos_replace = pfx_replace->pos; |
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381 | SVX_ASSERT(pos_replace != pfx_with->pos); |
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382 | |
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383 | replace_pfx_(pfx_replace->stn, NULL, pos_replace, pfx_with->pos); |
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384 | |
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385 | #if DEBUG_INVALID |
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386 | { |
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387 | node *stn; |
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388 | FOR_EACH_STN(stn, stnlist) { |
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389 | SVX_ASSERT(stn->name->pos != pos_replace); |
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390 | } |
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391 | } |
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392 | #endif |
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393 | |
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394 | /* free the (now-unused) old pos */ |
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395 | osfree(pos_replace); |
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396 | } |
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397 | |
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398 | /* Add an equating leg between existing stations *fr and *to (whose names are |
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399 | * name1 and name2). |
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400 | */ |
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401 | void |
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402 | process_equate(prefix *name1, prefix *name2) |
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403 | { |
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404 | node *stn1, *stn2; |
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405 | if (name1 == name2) { |
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406 | /* catch something like *equate "fred fred" */ |
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407 | compile_warning(/*Station `%s' equated to itself*/13, |
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408 | sprint_prefix(name1)); |
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409 | return; |
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410 | } |
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411 | stn1 = StnFromPfx(name1); |
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412 | stn2 = StnFromPfx(name2); |
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413 | /* equate nodes if not already equated */ |
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414 | if (name1->pos != name2->pos) { |
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415 | if (pfx_fixed(name1)) { |
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416 | if (pfx_fixed(name2)) { |
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417 | /* both are fixed, but let them off iff their coordinates match */ |
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418 | char *s = osstrdup(sprint_prefix(name1)); |
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419 | int d; |
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420 | for (d = 2; d >= 0; d--) { |
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421 | if (name1->pos->p[d] != name2->pos->p[d]) { |
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422 | compile_error(/*Tried to equate two non-equal fixed stations: `%s' and `%s'*/52, |
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423 | s, sprint_prefix(name2)); |
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424 | osfree(s); |
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425 | return; |
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426 | } |
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427 | } |
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428 | compile_warning(/*Equating two equal fixed points: `%s' and `%s'*/53, |
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429 | s, sprint_prefix(name2)); |
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430 | osfree(s); |
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431 | } |
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432 | |
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433 | /* name1 is fixed, so replace all refs to name2's pos with name1's */ |
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434 | replace_pfx(name2, name1); |
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435 | } else { |
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436 | /* name1 isn't fixed, so replace all refs to its pos with name2's */ |
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437 | replace_pfx(name1, name2); |
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438 | } |
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439 | |
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440 | /* count equates as legs for now... */ |
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441 | cLegs++; |
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442 | addleg_(stn1, stn2, |
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443 | (real)0.0, (real)0.0, (real)0.0, |
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444 | (real)0.0, (real)0.0, (real)0.0, |
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445 | #ifndef NO_COVARIANCES |
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446 | (real)0.0, (real)0.0, (real)0.0, |
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447 | #endif |
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448 | FLAG_FAKE); |
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449 | } |
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450 | } |
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451 | |
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452 | /* Add a 'fake' leg (not counted) between existing stations *fr and *to |
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453 | * (which *must* be different) |
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454 | * If either node is a three node, then it is split into two |
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455 | * and the data structure adjusted as necessary |
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456 | */ |
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457 | void |
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458 | addfakeleg(node *fr, node *to, |
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459 | real dx, real dy, real dz, |
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460 | real vx, real vy, real vz |
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461 | #ifndef NO_COVARIANCES |
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462 | , real cyz, real czx, real cxy |
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463 | #endif |
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464 | ) |
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465 | { |
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466 | addleg_(fr, to, dx, dy, dz, vx, vy, vz, |
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467 | #ifndef NO_COVARIANCES |
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468 | cyz, czx, cxy, |
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469 | #endif |
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470 | FLAG_FAKE); |
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471 | } |
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472 | |
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473 | static char |
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474 | freeleg(node **stnptr) |
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475 | { |
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476 | node *stn, *oldstn; |
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477 | linkfor *leg, *leg2; |
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478 | #ifndef NO_COVARIANCES |
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479 | int i; |
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480 | #endif |
---|
481 | |
---|
482 | stn = *stnptr; |
---|
483 | |
---|
484 | if (stn->leg[0] == NULL) return 0; /* leg[0] unused */ |
---|
485 | if (stn->leg[1] == NULL) return 1; /* leg[1] unused */ |
---|
486 | if (stn->leg[2] == NULL) return 2; /* leg[2] unused */ |
---|
487 | |
---|
488 | /* All legs used, so split node in two */ |
---|
489 | oldstn = stn; |
---|
490 | stn = osnew(node); |
---|
491 | leg = osnew(linkfor); |
---|
492 | leg2 = (linkfor*)osnew(linkrev); |
---|
493 | |
---|
494 | *stnptr = stn; |
---|
495 | |
---|
496 | add_stn_to_list(&stnlist, stn); |
---|
497 | stn->name = oldstn->name; |
---|
498 | |
---|
499 | leg->l.to = stn; |
---|
500 | leg->d[0] = leg->d[1] = leg->d[2] = (real)0.0; |
---|
501 | |
---|
502 | #ifndef NO_COVARIANCES |
---|
503 | for (i = 0; i < 6; i++) leg->v[i] = (real)0.0; |
---|
504 | #else |
---|
505 | leg->v[0] = leg->v[1] = leg->v[2] = (real)0.0; |
---|
506 | #endif |
---|
507 | leg->l.reverse = 1 | FLAG_DATAHERE | FLAG_FAKE; |
---|
508 | leg->l.flags = pcs->flags; |
---|
509 | |
---|
510 | leg2->l.to = oldstn; |
---|
511 | leg2->l.reverse = 0; |
---|
512 | |
---|
513 | /* NB this preserves pos->stn->leg[0] to point to the "real" fixed point |
---|
514 | * for stations fixed with error estimates |
---|
515 | */ |
---|
516 | stn->leg[0] = oldstn->leg[0]; |
---|
517 | /* correct reverse leg */ |
---|
518 | reverse_leg(stn->leg[0])->l.to = stn; |
---|
519 | stn->leg[1] = leg2; |
---|
520 | |
---|
521 | oldstn->leg[0] = leg; |
---|
522 | |
---|
523 | stn->leg[2] = NULL; /* needed as stn->leg[dirn]==NULL indicates unused */ |
---|
524 | |
---|
525 | return(2); /* leg[2] unused */ |
---|
526 | } |
---|
527 | |
---|
528 | node * |
---|
529 | StnFromPfx(prefix *name) |
---|
530 | { |
---|
531 | node *stn; |
---|
532 | if (name->stn != NULL) return (name->stn); |
---|
533 | stn = osnew(node); |
---|
534 | stn->name = name; |
---|
535 | if (name->pos == NULL) { |
---|
536 | name->pos = osnew(pos); |
---|
537 | unfix(stn); |
---|
538 | } |
---|
539 | stn->leg[0] = stn->leg[1] = stn->leg[2] = NULL; |
---|
540 | add_stn_to_list(&stnlist, stn); |
---|
541 | name->stn = stn; |
---|
542 | cStns++; |
---|
543 | return stn; |
---|
544 | } |
---|
545 | |
---|
546 | extern void |
---|
547 | fprint_prefix(FILE *fh, const prefix *ptr) |
---|
548 | { |
---|
549 | SVX_ASSERT(ptr); |
---|
550 | if (ptr->up != NULL) { |
---|
551 | fprint_prefix(fh, ptr->up); |
---|
552 | if (ptr->up->up != NULL) fputc('.', fh); |
---|
553 | SVX_ASSERT(ptr->ident); |
---|
554 | fputs(ptr->ident, fh); |
---|
555 | } |
---|
556 | } |
---|
557 | |
---|
558 | static char *buffer = NULL; |
---|
559 | static OSSIZE_T buffer_len = 256; |
---|
560 | |
---|
561 | static OSSIZE_T |
---|
562 | sprint_prefix_(const prefix *ptr) |
---|
563 | { |
---|
564 | OSSIZE_T len = 1; |
---|
565 | if (ptr->up != NULL) { |
---|
566 | SVX_ASSERT(ptr->ident); |
---|
567 | len = sprint_prefix_(ptr->up) + strlen(ptr->ident); |
---|
568 | if (ptr->up->up != NULL) len++; |
---|
569 | if (len > buffer_len) { |
---|
570 | buffer = osrealloc(buffer, len); |
---|
571 | buffer_len = len; |
---|
572 | } |
---|
573 | if (ptr->up->up != NULL) strcat(buffer, "."); |
---|
574 | strcat(buffer, ptr->ident); |
---|
575 | } |
---|
576 | return len; |
---|
577 | } |
---|
578 | |
---|
579 | extern char * |
---|
580 | sprint_prefix(const prefix *ptr) |
---|
581 | { |
---|
582 | SVX_ASSERT(ptr); |
---|
583 | if (!buffer) buffer = osmalloc(buffer_len); |
---|
584 | *buffer = '\0'; |
---|
585 | sprint_prefix_(ptr); |
---|
586 | return buffer; |
---|
587 | } |
---|
588 | |
---|
589 | /* r = ab ; r,a,b are variance matrices */ |
---|
590 | void |
---|
591 | mulss(var *r, /*const*/ svar *a, /*const*/ svar *b) |
---|
592 | { |
---|
593 | #ifdef NO_COVARIANCES |
---|
594 | /* variance-only version */ |
---|
595 | (*r)[0] = (*a)[0] * (*b)[0]; |
---|
596 | (*r)[1] = (*a)[1] * (*b)[1]; |
---|
597 | (*r)[2] = (*a)[2] * (*b)[2]; |
---|
598 | #else |
---|
599 | int i, j, k; |
---|
600 | real tot; |
---|
601 | |
---|
602 | #if 0 |
---|
603 | SVX_ASSERT((/*const*/ var *)r != a); |
---|
604 | SVX_ASSERT((/*const*/ var *)r != b); |
---|
605 | #endif |
---|
606 | |
---|
607 | check_svar(a); |
---|
608 | check_svar(b); |
---|
609 | |
---|
610 | for (i = 0; i < 3; i++) { |
---|
611 | for (j = 0; j < 3; j++) { |
---|
612 | tot = 0; |
---|
613 | for (k = 0; k < 3; k++) { |
---|
614 | tot += SN(a,i,k) * SN(b,k,j); |
---|
615 | } |
---|
616 | (*r)[i][j] = tot; |
---|
617 | } |
---|
618 | } |
---|
619 | check_var(r); |
---|
620 | #endif |
---|
621 | } |
---|
622 | |
---|
623 | #ifndef NO_COVARIANCES |
---|
624 | /* r = ab ; r,a,b are variance matrices */ |
---|
625 | void |
---|
626 | smulvs(svar *r, /*const*/ var *a, /*const*/ svar *b) |
---|
627 | { |
---|
628 | int i, j, k; |
---|
629 | real tot; |
---|
630 | |
---|
631 | #if 0 |
---|
632 | SVX_ASSERT((/*const*/ var *)r != a); |
---|
633 | #endif |
---|
634 | SVX_ASSERT((/*const*/ svar *)r != b); |
---|
635 | |
---|
636 | check_var(a); |
---|
637 | check_svar(b); |
---|
638 | |
---|
639 | (*r)[3]=(*r)[4]=(*r)[5]=-999; |
---|
640 | for (i = 0; i < 3; i++) { |
---|
641 | for (j = 0; j < 3; j++) { |
---|
642 | tot = 0; |
---|
643 | for (k = 0; k < 3; k++) { |
---|
644 | tot += (*a)[i][k] * SN(b,k,j); |
---|
645 | } |
---|
646 | if (i <= j) |
---|
647 | SN(r,i,j) = tot; |
---|
648 | else if (fabs(SN(r,j,i) - tot) > THRESHOLD) { |
---|
649 | printf("not sym - %d,%d = %f, %d,%d was %f\n", |
---|
650 | i,j,tot,j,i,SN(r,j,i)); |
---|
651 | BUG("smulvs didn't produce a sym mx\n"); |
---|
652 | } |
---|
653 | } |
---|
654 | } |
---|
655 | check_svar(r); |
---|
656 | } |
---|
657 | #endif |
---|
658 | |
---|
659 | /* r = vb ; r,b delta vectors; a variance matrix */ |
---|
660 | void |
---|
661 | mulsd(delta *r, /*const*/ svar *v, /*const*/ delta *b) |
---|
662 | { |
---|
663 | #ifdef NO_COVARIANCES |
---|
664 | /* variance-only version */ |
---|
665 | (*r)[0] = (*v)[0] * (*b)[0]; |
---|
666 | (*r)[1] = (*v)[1] * (*b)[1]; |
---|
667 | (*r)[2] = (*v)[2] * (*b)[2]; |
---|
668 | #else |
---|
669 | int i, j; |
---|
670 | real tot; |
---|
671 | |
---|
672 | SVX_ASSERT((/*const*/ delta*)r != b); |
---|
673 | check_svar(v); |
---|
674 | check_d(b); |
---|
675 | |
---|
676 | for (i = 0; i < 3; i++) { |
---|
677 | tot = 0; |
---|
678 | for (j = 0; j < 3; j++) tot += S(i,j) * (*b)[j]; |
---|
679 | (*r)[i] = tot; |
---|
680 | } |
---|
681 | check_d(r); |
---|
682 | #endif |
---|
683 | } |
---|
684 | |
---|
685 | /* r = ca ; r,a variance matrices; c real scaling factor */ |
---|
686 | void |
---|
687 | mulsc(svar *r, /*const*/ svar *a, real c) |
---|
688 | { |
---|
689 | #ifdef NO_COVARIANCES |
---|
690 | /* variance-only version */ |
---|
691 | (*r)[0] = (*a)[0] * c; |
---|
692 | (*r)[1] = (*a)[1] * c; |
---|
693 | (*r)[2] = (*a)[2] * c; |
---|
694 | #else |
---|
695 | int i; |
---|
696 | |
---|
697 | check_svar(a); |
---|
698 | for (i = 0; i < 6; i++) (*r)[i] = (*a)[i] * c; |
---|
699 | check_svar(r); |
---|
700 | #endif |
---|
701 | } |
---|
702 | |
---|
703 | /* r = a + b ; r,a,b delta vectors */ |
---|
704 | void |
---|
705 | adddd(delta *r, /*const*/ delta *a, /*const*/ delta *b) |
---|
706 | { |
---|
707 | check_d(a); |
---|
708 | check_d(b); |
---|
709 | (*r)[0] = (*a)[0] + (*b)[0]; |
---|
710 | (*r)[1] = (*a)[1] + (*b)[1]; |
---|
711 | (*r)[2] = (*a)[2] + (*b)[2]; |
---|
712 | check_d(r); |
---|
713 | } |
---|
714 | |
---|
715 | /* r = a - b ; r,a,b delta vectors */ |
---|
716 | void |
---|
717 | subdd(delta *r, /*const*/ delta *a, /*const*/ delta *b) { |
---|
718 | check_d(a); |
---|
719 | check_d(b); |
---|
720 | (*r)[0] = (*a)[0] - (*b)[0]; |
---|
721 | (*r)[1] = (*a)[1] - (*b)[1]; |
---|
722 | (*r)[2] = (*a)[2] - (*b)[2]; |
---|
723 | check_d(r); |
---|
724 | } |
---|
725 | |
---|
726 | /* r = a + b ; r,a,b variance matrices */ |
---|
727 | void |
---|
728 | addss(svar *r, /*const*/ svar *a, /*const*/ svar *b) |
---|
729 | { |
---|
730 | #ifdef NO_COVARIANCES |
---|
731 | /* variance-only version */ |
---|
732 | (*r)[0] = (*a)[0] + (*b)[0]; |
---|
733 | (*r)[1] = (*a)[1] + (*b)[1]; |
---|
734 | (*r)[2] = (*a)[2] + (*b)[2]; |
---|
735 | #else |
---|
736 | int i; |
---|
737 | |
---|
738 | check_svar(a); |
---|
739 | check_svar(b); |
---|
740 | for (i = 0; i < 6; i++) (*r)[i] = (*a)[i] + (*b)[i]; |
---|
741 | check_svar(r); |
---|
742 | #endif |
---|
743 | } |
---|
744 | |
---|
745 | /* r = a - b ; r,a,b variance matrices */ |
---|
746 | void |
---|
747 | subss(svar *r, /*const*/ svar *a, /*const*/ svar *b) |
---|
748 | { |
---|
749 | #ifdef NO_COVARIANCES |
---|
750 | /* variance-only version */ |
---|
751 | (*r)[0] = (*a)[0] - (*b)[0]; |
---|
752 | (*r)[1] = (*a)[1] - (*b)[1]; |
---|
753 | (*r)[2] = (*a)[2] - (*b)[2]; |
---|
754 | #else |
---|
755 | int i; |
---|
756 | |
---|
757 | check_svar(a); |
---|
758 | check_svar(b); |
---|
759 | for (i = 0; i < 6; i++) (*r)[i] = (*a)[i] - (*b)[i]; |
---|
760 | check_svar(r); |
---|
761 | #endif |
---|
762 | } |
---|
763 | |
---|
764 | /* inv = v^-1 ; inv,v variance matrices */ |
---|
765 | extern int |
---|
766 | invert_svar(svar *inv, /*const*/ svar *v) |
---|
767 | { |
---|
768 | #ifdef NO_COVARIANCES |
---|
769 | int i; |
---|
770 | for (i = 0; i < 3; i++) { |
---|
771 | if ((*v)[i] == 0.0) return 0; /* matrix is singular */ |
---|
772 | (*inv)[i] = 1.0 / (*v)[i]; |
---|
773 | } |
---|
774 | #else |
---|
775 | real det, a, b, c, d, e, f, bcff, efcd, dfbe; |
---|
776 | |
---|
777 | #if 0 |
---|
778 | SVX_ASSERT((/*const*/ var *)inv != v); |
---|
779 | #endif |
---|
780 | |
---|
781 | check_svar(v); |
---|
782 | /* a d e |
---|
783 | * d b f |
---|
784 | * e f c |
---|
785 | */ |
---|
786 | a = (*v)[0], b = (*v)[1], c = (*v)[2]; |
---|
787 | d = (*v)[3], e = (*v)[4], f = (*v)[5]; |
---|
788 | bcff = b * c - f * f; |
---|
789 | efcd = e * f - c * d; |
---|
790 | dfbe = d * f - b * e; |
---|
791 | det = a * bcff + d * efcd + e * dfbe; |
---|
792 | |
---|
793 | if (det == 0.0) { |
---|
794 | /* printf("det=%.20f\n", det); */ |
---|
795 | return 0; /* matrix is singular */ |
---|
796 | } |
---|
797 | |
---|
798 | det = 1 / det; |
---|
799 | |
---|
800 | (*inv)[0] = det * bcff; |
---|
801 | (*inv)[1] = det * (c * a - e * e); |
---|
802 | (*inv)[2] = det * (a * b - d * d); |
---|
803 | (*inv)[3] = det * efcd; |
---|
804 | (*inv)[4] = det * dfbe; |
---|
805 | (*inv)[5] = det * (e * d - a * f); |
---|
806 | |
---|
807 | #if 0 |
---|
808 | /* This test fires very occasionally, and there's not much point in |
---|
809 | * it anyhow - the matrix inversion algorithm is simple enough that |
---|
810 | * we can be confident it's correctly implemented, so we might as |
---|
811 | * well save the cycles and not perform this check. |
---|
812 | */ |
---|
813 | { /* check that original * inverse = identity matrix */ |
---|
814 | int i; |
---|
815 | var p; |
---|
816 | real D = 0; |
---|
817 | mulss(&p, v, inv); |
---|
818 | for (i = 0; i < 3; i++) { |
---|
819 | int j; |
---|
820 | for (j = 0; j < 3; j++) D += fabs(p[i][j] - (real)(i==j)); |
---|
821 | } |
---|
822 | if (D > THRESHOLD) { |
---|
823 | printf("original * inverse=\n"); |
---|
824 | print_svar(*v); |
---|
825 | printf("*\n"); |
---|
826 | print_svar(*inv); |
---|
827 | printf("=\n"); |
---|
828 | print_var(p); |
---|
829 | BUG("matrix didn't invert"); |
---|
830 | } |
---|
831 | check_svar(inv); |
---|
832 | } |
---|
833 | #endif |
---|
834 | #endif |
---|
835 | return 1; |
---|
836 | } |
---|
837 | |
---|
838 | /* r = (b^-1)a ; r,a delta vectors; b variance matrix */ |
---|
839 | #ifndef NO_COVARIANCES |
---|
840 | void |
---|
841 | divds(delta *r, /*const*/ delta *a, /*const*/ svar *b) |
---|
842 | { |
---|
843 | #ifdef NO_COVARIANCES |
---|
844 | /* variance-only version */ |
---|
845 | (*r)[0] = (*a)[0] / (*b)[0]; |
---|
846 | (*r)[1] = (*a)[1] / (*b)[1]; |
---|
847 | (*r)[2] = (*a)[2] / (*b)[2]; |
---|
848 | #else |
---|
849 | svar b_inv; |
---|
850 | if (!invert_svar(&b_inv, b)) { |
---|
851 | print_svar(*b); |
---|
852 | BUG("covariance matrix is singular"); |
---|
853 | } |
---|
854 | mulsd(r, &b_inv, a); |
---|
855 | #endif |
---|
856 | } |
---|
857 | #endif |
---|
858 | |
---|
859 | bool |
---|
860 | fZeros(/*const*/ svar *v) { |
---|
861 | #ifdef NO_COVARIANCES |
---|
862 | /* variance-only version */ |
---|
863 | return ((*v)[0] == 0.0 && (*v)[1] == 0.0 && (*v)[2] == 0.0); |
---|
864 | #else |
---|
865 | int i; |
---|
866 | |
---|
867 | check_svar(v); |
---|
868 | for (i = 0; i < 6; i++) if ((*v)[i] != 0.0) return fFalse; |
---|
869 | |
---|
870 | return fTrue; |
---|
871 | #endif |
---|
872 | } |
---|