danielmartensson/ccontrol

Using advanced control and computer vision techniques in an easy way for embedded

ccontrol's Issues

Error in Kalman Filter?

https://github.com/DanielMartensson/CControl/blob/master/src/CControl/Sources/ControlEngineering/kalman.c

Please consider the x as given in line 12 as

 * x = Ax - KCx + Bu + Ky 

the -KCx term should be in terms of predicted x. e.g. -KC(Ax + Bu)

[FR] Project Examples for PlatformIO Registry

Hi,

Currently, the library page in the PlatformIO Registry doesn't contain any quick start projects for developers. Such examples serve both to highlight widespread use cases and to help newcomers to get up and running much more quickly.

Please consider adding a few comprehensive project examples to the PlatformIO Registry.

Useful links:

• https://registry.platformio.org/libraries/donkie/CControl
• https://docs.platformio.org/en/latest/manifests/library-json/fields/examples.html

eig.c function, indexing error?

Hi,

I've been playing with C and MATLAB together, and trying to implement your C code in MATLAB I've come across this indexing error in MATLAB.

Index exceeds the number of array elements (16).

It occurs https://github.com/DanielMartensson/CControl/blob/master/src/CControl/Sources/LinearAlgebra/eig.c#L197 for this line.

When I debug the C code (for a 4x4 matrix), at some point in this https://github.com/DanielMartensson/CControl/blob/master/src/CControl/Sources/LinearAlgebra/eig.c#L194 loop we get i=3, k=2, nn=3. Therefore the line
p += z * *(A + row*i + k+2);
simplifies to
p += z * *(A + 16);
However, since matrix A is a 4 by 4 matrix, this should output randomish? numbers. What is the expected output of this line? I printed the p values, but I couldn't make sense of them so I can't replicate it in MATLAB.

std function causes redefinition error while linking

I am trying to use this library for my home project, on an ESP32 development board, within PlatformIO environment. The core of my program is written in C++, but I would like to use this library since it's pretty lighweight and is able to do what I need it to do.

But I have ran into a problem with linking: the "std" symbol is already existing in C++, as a namespace, so the compiler sees the declaration of your std function as a redefinition of that.

Are you aware of this and if so, is there a workaround, or am I doing something wrong?

Memory leak in inv()

inv() appears to contain two potential memory leaks:

1. one of the temporary variables allocated in inv() is not being freed before returning: https://github.com/DanielMartensson/CControl/blob/master/src/CControl/Sources/LinearAlgebra/inv.c#L28
2. This function has two return statements which bypass freeing the allocated variables.

If you're interested, I can submit a PR for these two issues (which may or may not contain a goto statement :)

Inverse of a matrix fails

Hi,

The status of a square matrix, even though the determinant is 0, equals to 1. For example, consider

float A[2 * 2] = {1, 1, 1, 1};
int status = inv(A, 2);
printf("status is: %d\n", status);
print(A, 2, 2);

In this case, status is 1 while it should be 0. The resultant matrix is all Infs as in MATLAB.

Missing License File

Hi,

This repo seems to be missing a license file. Would you consider to add one?

Best Regards

Cat function

Hello,

Would you be interested in MATLAB's cat function? I think you already have it implemented in EmbeddedLapack with horzcat and vertcat, but maybe something like void cat(int dim, double A[], double B[], double C[], int rowA, int colA, int rowB, int colB, int rowC, int colC) would be of interest to you akin to MATLAB?

I already have the implementation (using only memcpy).