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Rev	Author	Line No.	Line
2	mjames	1	/* ----------------------------------------------------------------------
		2	* Copyright (C) 2010-2014 ARM Limited. All rights reserved.
		3	*
		4	* $Date: 19. March 2015
		5	* $Revision: V.1.4.5
		6	*
		7	* Project: CMSIS DSP Library
		8	* Title: arm_mat_inverse_f32.c
		9	*
		10	* Description: Floating-point matrix inverse.
		11	*
		12	* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
		13	*
		14	* Redistribution and use in source and binary forms, with or without
		15	* modification, are permitted provided that the following conditions
		16	* are met:
		17	* - Redistributions of source code must retain the above copyright
		18	* notice, this list of conditions and the following disclaimer.
		19	* - Redistributions in binary form must reproduce the above copyright
		20	* notice, this list of conditions and the following disclaimer in
		21	* the documentation and/or other materials provided with the
		22	* distribution.
		23	* - Neither the name of ARM LIMITED nor the names of its contributors
		24	* may be used to endorse or promote products derived from this
		25	* software without specific prior written permission.
		26	*
		27	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
		28	* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
		29	* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
		30	* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
		31	* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
		32	* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
		33	* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
		34	* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
		35	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
		36	* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
		37	* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
		38	* POSSIBILITY OF SUCH DAMAGE.
		39	* -------------------------------------------------------------------- */
		40
		41	#include "arm_math.h"
		42
		43	/**
		44	* @ingroup groupMatrix
		45	*/
		46
		47	/**
		48	* @defgroup MatrixInv Matrix Inverse
		49	*
		50	* Computes the inverse of a matrix.
		51	*
		52	* The inverse is defined only if the input matrix is square and non-singular (the determinant
		53	* is non-zero). The function checks that the input and output matrices are square and of the
		54	* same size.
		55	*
		56	* Matrix inversion is numerically sensitive and the CMSIS DSP library only supports matrix
		57	* inversion of floating-point matrices.
		58	*
		59	* \par Algorithm
		60	* The Gauss-Jordan method is used to find the inverse.
		61	* The algorithm performs a sequence of elementary row-operations until it
		62	* reduces the input matrix to an identity matrix. Applying the same sequence
		63	* of elementary row-operations to an identity matrix yields the inverse matrix.
		64	* If the input matrix is singular, then the algorithm terminates and returns error status
		65	* <code>ARM_MATH_SINGULAR</code>.
		66	* \image html MatrixInverse.gif "Matrix Inverse of a 3 x 3 matrix using Gauss-Jordan Method"
		67	*/
		68
		69	/**
		70	* @addtogroup MatrixInv
		71	* @{
		72	*/
		73
		74	/**
		75	* @brief Floating-point matrix inverse.
		76	* @param[in] *pSrc points to input matrix structure
		77	* @param[out] *pDst points to output matrix structure
		78	* @return The function returns
		79	* <code>ARM_MATH_SIZE_MISMATCH</code> if the input matrix is not square or if the size
		80	* of the output matrix does not match the size of the input matrix.
		81	* If the input matrix is found to be singular (non-invertible), then the function returns
		82	* <code>ARM_MATH_SINGULAR</code>. Otherwise, the function returns <code>ARM_MATH_SUCCESS</code>.
		83	*/
		84
		85	arm_status arm_mat_inverse_f32(
		86	const arm_matrix_instance_f32 * pSrc,
		87	arm_matrix_instance_f32 * pDst)
		88	{
		89	float32_t pIn = pSrc->pData; / input data matrix pointer */
		90	float32_t pOut = pDst->pData; / output data matrix pointer */
		91	float32_t pInT1, pInT2; /* Temporary input data matrix pointer */
		92	float32_t pOutT1, pOutT2; /* Temporary output data matrix pointer */
		93	float32_t pPivotRowIn, pPRT_in, pPivotRowDst, pPRT_pDst; /* Temporary input and output data matrix pointer */
		94	uint32_t numRows = pSrc->numRows; /* Number of rows in the matrix */
		95	uint32_t numCols = pSrc->numCols; /* Number of Cols in the matrix */
		96
		97	#ifndef ARM_MATH_CM0_FAMILY
		98	float32_t maxC; /* maximum value in the column */
		99
		100	/* Run the below code for Cortex-M4 and Cortex-M3 */
		101
		102	float32_t Xchg, in = 0.0f, in1; /* Temporary input values */
		103	uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l; /* loop counters */
		104	arm_status status; /* status of matrix inverse */
		105
		106	#ifdef ARM_MATH_MATRIX_CHECK
		107
		108
		109	/* Check for matrix mismatch condition */
		110	if((pSrc->numRows != pSrc->numCols) \|\| (pDst->numRows != pDst->numCols)
		111	\|\| (pSrc->numRows != pDst->numRows))
		112	{
		113	/* Set status as ARM_MATH_SIZE_MISMATCH */
		114	status = ARM_MATH_SIZE_MISMATCH;
		115	}
		116	else
		117	#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
		118
		119	{
		120
		121	/*--------------------------------------------------------------------------------------------------------------
		122	* Matrix Inverse can be solved using elementary row operations.
		123	*
		124	* Gauss-Jordan Method:
		125	*
		126	* 1. First combine the identity matrix and the input matrix separated by a bar to form an
		127	* augmented matrix as follows:
		128	* _ _ _ _
		129	* \| a11 a12 \| 1 0 \| \| X11 X12 \|
		130	* \| \| \| = \| \|
		131	* \|_ a21 a22 \| 0 1 _\| \|_ X21 X21 _\|
		132	*
		133	* 2. In our implementation, pDst Matrix is used as identity matrix.
		134	*
		135	* 3. Begin with the first row. Let i = 1.
		136	*
		137	* 4. Check to see if the pivot for column i is the greatest of the column.
		138	* The pivot is the element of the main diagonal that is on the current row.
		139	* For instance, if working with row i, then the pivot element is aii.
		140	* If the pivot is not the most significant of the columns, exchange that row with a row
		141	* below it that does contain the most significant value in column i. If the most
		142	* significant value of the column is zero, then an inverse to that matrix does not exist.
		143	* The most significant value of the column is the absolute maximum.
		144	*
		145	* 5. Divide every element of row i by the pivot.
		146	*
		147	* 6. For every row below and row i, replace that row with the sum of that row and
		148	* a multiple of row i so that each new element in column i below row i is zero.
		149	*
		150	* 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
		151	* for every element below and above the main diagonal.
		152	*
		153	* 8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).
		154	* Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).
		155	----------------------------------------------------------------------------------------------------------------/
		156
		157	/* Working pointer for destination matrix */
		158	pOutT1 = pOut;
		159
		160	/* Loop over the number of rows */
		161	rowCnt = numRows;
		162
		163	/* Making the destination matrix as identity matrix */
		164	while(rowCnt > 0u)
		165	{
		166	/* Writing all zeroes in lower triangle of the destination matrix */
		167	j = numRows - rowCnt;
		168	while(j > 0u)
		169	{
		170	*pOutT1++ = 0.0f;
		171	j--;
		172	}
		173
		174	/* Writing all ones in the diagonal of the destination matrix */
		175	*pOutT1++ = 1.0f;
		176
		177	/* Writing all zeroes in upper triangle of the destination matrix */
		178	j = rowCnt - 1u;
		179	while(j > 0u)
		180	{
		181	*pOutT1++ = 0.0f;
		182	j--;
		183	}
		184
		185	/* Decrement the loop counter */
		186	rowCnt--;
		187	}
		188
		189	/* Loop over the number of columns of the input matrix.
		190	All the elements in each column are processed by the row operations */
		191	loopCnt = numCols;
		192
		193	/* Index modifier to navigate through the columns */
		194	l = 0u;
		195
		196	while(loopCnt > 0u)
		197	{
		198	/* Check if the pivot element is zero..
		199	* If it is zero then interchange the row with non zero row below.
		200	* If there is no non zero element to replace in the rows below,
		201	* then the matrix is Singular. */
		202
		203	/* Working pointer for the input matrix that points
		204	* to the pivot element of the particular row */
		205	pInT1 = pIn + (l * numCols);
		206
		207	/* Working pointer for the destination matrix that points
		208	* to the pivot element of the particular row */
		209	pOutT1 = pOut + (l * numCols);
		210
		211	/* Temporary variable to hold the pivot value */
		212	in = *pInT1;
		213
		214	/* Grab the most significant value from column l */
		215	maxC = 0;
		216	for (i = l; i < numRows; i++)
		217	{
		218	maxC = pInT1 > 0 ? (pInT1 > maxC ? pInT1 : maxC) : (-pInT1 > maxC ? -*pInT1 : maxC);
		219	pInT1 += numCols;
		220	}
		221
		222	/* Update the status if the matrix is singular */
		223	if(maxC == 0.0f)
		224	{
		225	return ARM_MATH_SINGULAR;
		226	}
		227
		228	/* Restore pInT1 */
		229	pInT1 = pIn;
		230
		231	/* Destination pointer modifier */
		232	k = 1u;
		233
		234	/* Check if the pivot element is the most significant of the column */
		235	if( (in > 0.0f ? in : -in) != maxC)
		236	{
		237	/* Loop over the number rows present below */
		238	i = numRows - (l + 1u);
		239
		240	while(i > 0u)
		241	{
		242	/* Update the input and destination pointers */
		243	pInT2 = pInT1 + (numCols * l);
		244	pOutT2 = pOutT1 + (numCols * k);
		245
		246	/* Look for the most significant element to
		247	* replace in the rows below */
		248	if((pInT2 > 0.0f ? pInT2: -*pInT2) == maxC)
		249	{
		250	/* Loop over number of columns
		251	* to the right of the pilot element */
		252	j = numCols - l;
		253
		254	while(j > 0u)
		255	{
		256	/* Exchange the row elements of the input matrix */
		257	Xchg = *pInT2;
		258	pInT2++ = pInT1;
		259	*pInT1++ = Xchg;
		260
		261	/* Decrement the loop counter */
		262	j--;
		263	}
		264
		265	/* Loop over number of columns of the destination matrix */
		266	j = numCols;
		267
		268	while(j > 0u)
		269	{
		270	/* Exchange the row elements of the destination matrix */
		271	Xchg = *pOutT2;
		272	pOutT2++ = pOutT1;
		273	*pOutT1++ = Xchg;
		274
		275	/* Decrement the loop counter */
		276	j--;
		277	}
		278
		279	/* Flag to indicate whether exchange is done or not */
		280	flag = 1u;
		281
		282	/* Break after exchange is done */
		283	break;
		284	}
		285
		286	/* Update the destination pointer modifier */
		287	k++;
		288
		289	/* Decrement the loop counter */
		290	i--;
		291	}
		292	}
		293
		294	/* Update the status if the matrix is singular */
		295	if((flag != 1u) && (in == 0.0f))
		296	{
		297	return ARM_MATH_SINGULAR;
		298	}
		299
		300	/* Points to the pivot row of input and destination matrices */
		301	pPivotRowIn = pIn + (l * numCols);
		302	pPivotRowDst = pOut + (l * numCols);
		303
		304	/* Temporary pointers to the pivot row pointers */
		305	pInT1 = pPivotRowIn;
		306	pInT2 = pPivotRowDst;
		307
		308	/* Pivot element of the row */
		309	in = *pPivotRowIn;
		310
		311	/* Loop over number of columns
		312	* to the right of the pilot element */
		313	j = (numCols - l);
		314
		315	while(j > 0u)
		316	{
		317	/* Divide each element of the row of the input matrix
		318	* by the pivot element */
		319	in1 = *pInT1;
		320	*pInT1++ = in1 / in;
		321
		322	/* Decrement the loop counter */
		323	j--;
		324	}
		325
		326	/* Loop over number of columns of the destination matrix */
		327	j = numCols;
		328
		329	while(j > 0u)
		330	{
		331	/* Divide each element of the row of the destination matrix
		332	* by the pivot element */
		333	in1 = *pInT2;
		334	*pInT2++ = in1 / in;
		335
		336	/* Decrement the loop counter */
		337	j--;
		338	}
		339
		340	/* Replace the rows with the sum of that row and a multiple of row i
		341	* so that each new element in column i above row i is zero.*/
		342
		343	/* Temporary pointers for input and destination matrices */
		344	pInT1 = pIn;
		345	pInT2 = pOut;
		346
		347	/* index used to check for pivot element */
		348	i = 0u;
		349
		350	/* Loop over number of rows */
		351	/* to be replaced by the sum of that row and a multiple of row i */
		352	k = numRows;
		353
		354	while(k > 0u)
		355	{
		356	/* Check for the pivot element */
		357	if(i == l)
		358	{
		359	/* If the processing element is the pivot element,
		360	only the columns to the right are to be processed */
		361	pInT1 += numCols - l;
		362
		363	pInT2 += numCols;
		364	}
		365	else
		366	{
		367	/* Element of the reference row */
		368	in = *pInT1;
		369
		370	/* Working pointers for input and destination pivot rows */
		371	pPRT_in = pPivotRowIn;
		372	pPRT_pDst = pPivotRowDst;
		373
		374	/* Loop over the number of columns to the right of the pivot element,
		375	to replace the elements in the input matrix */
		376	j = (numCols - l);
		377
		378	while(j > 0u)
		379	{
		380	/* Replace the element by the sum of that row
		381	and a multiple of the reference row */
		382	in1 = *pInT1;
		383	pInT1++ = in1 - (in *pPRT_in++);
		384
		385	/* Decrement the loop counter */
		386	j--;
		387	}
		388
		389	/* Loop over the number of columns to
		390	replace the elements in the destination matrix */
		391	j = numCols;
		392
		393	while(j > 0u)
		394	{
		395	/* Replace the element by the sum of that row
		396	and a multiple of the reference row */
		397	in1 = *pInT2;
		398	pInT2++ = in1 - (in *pPRT_pDst++);
		399
		400	/* Decrement the loop counter */
		401	j--;
		402	}
		403
		404	}
		405
		406	/* Increment the temporary input pointer */
		407	pInT1 = pInT1 + l;
		408
		409	/* Decrement the loop counter */
		410	k--;
		411
		412	/* Increment the pivot index */
		413	i++;
		414	}
		415
		416	/* Increment the input pointer */
		417	pIn++;
		418
		419	/* Decrement the loop counter */
		420	loopCnt--;
		421
		422	/* Increment the index modifier */
		423	l++;
		424	}
		425
		426
		427	#else
		428
		429	/* Run the below code for Cortex-M0 */
		430
		431	float32_t Xchg, in = 0.0f; /* Temporary input values */
		432	uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l; /* loop counters */
		433	arm_status status; /* status of matrix inverse */
		434
		435	#ifdef ARM_MATH_MATRIX_CHECK
		436
		437	/* Check for matrix mismatch condition */
		438	if((pSrc->numRows != pSrc->numCols) \|\| (pDst->numRows != pDst->numCols)
		439	\|\| (pSrc->numRows != pDst->numRows))
		440	{
		441	/* Set status as ARM_MATH_SIZE_MISMATCH */
		442	status = ARM_MATH_SIZE_MISMATCH;
		443	}
		444	else
		445	#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
		446	{
		447
		448	/*--------------------------------------------------------------------------------------------------------------
		449	* Matrix Inverse can be solved using elementary row operations.
		450	*
		451	* Gauss-Jordan Method:
		452	*
		453	* 1. First combine the identity matrix and the input matrix separated by a bar to form an
		454	* augmented matrix as follows:
		455	* _ _ _ _ _ _ _ _
		456	* \| \| a11 a12 \| \| \| 1 0 \| \| \| X11 X12 \|
		457	* \| \| \| \| \| \| \| = \| \|
		458	* \|_ \|_ a21 a22 _\| \| \|_0 1 _\| _\| \|_ X21 X21 _\|
		459	*
		460	* 2. In our implementation, pDst Matrix is used as identity matrix.
		461	*
		462	* 3. Begin with the first row. Let i = 1.
		463	*
		464	* 4. Check to see if the pivot for row i is zero.
		465	* The pivot is the element of the main diagonal that is on the current row.
		466	* For instance, if working with row i, then the pivot element is aii.
		467	* If the pivot is zero, exchange that row with a row below it that does not
		468	* contain a zero in column i. If this is not possible, then an inverse
		469	* to that matrix does not exist.
		470	*
		471	* 5. Divide every element of row i by the pivot.
		472	*
		473	* 6. For every row below and row i, replace that row with the sum of that row and
		474	* a multiple of row i so that each new element in column i below row i is zero.
		475	*
		476	* 7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
		477	* for every element below and above the main diagonal.
		478	*
		479	* 8. Now an identical matrix is formed to the left of the bar(input matrix, src).
		480	* Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).
		481	----------------------------------------------------------------------------------------------------------------/
		482
		483	/* Working pointer for destination matrix */
		484	pOutT1 = pOut;
		485
		486	/* Loop over the number of rows */
		487	rowCnt = numRows;
		488
		489	/* Making the destination matrix as identity matrix */
		490	while(rowCnt > 0u)
		491	{
		492	/* Writing all zeroes in lower triangle of the destination matrix */
		493	j = numRows - rowCnt;
		494	while(j > 0u)
		495	{
		496	*pOutT1++ = 0.0f;
		497	j--;
		498	}
		499
		500	/* Writing all ones in the diagonal of the destination matrix */
		501	*pOutT1++ = 1.0f;
		502
		503	/* Writing all zeroes in upper triangle of the destination matrix */
		504	j = rowCnt - 1u;
		505	while(j > 0u)
		506	{
		507	*pOutT1++ = 0.0f;
		508	j--;
		509	}
		510
		511	/* Decrement the loop counter */
		512	rowCnt--;
		513	}
		514
		515	/* Loop over the number of columns of the input matrix.
		516	All the elements in each column are processed by the row operations */
		517	loopCnt = numCols;
		518
		519	/* Index modifier to navigate through the columns */
		520	l = 0u;
		521	//for(loopCnt = 0u; loopCnt < numCols; loopCnt++)
		522	while(loopCnt > 0u)
		523	{
		524	/* Check if the pivot element is zero..
		525	* If it is zero then interchange the row with non zero row below.
		526	* If there is no non zero element to replace in the rows below,
		527	* then the matrix is Singular. */
		528
		529	/* Working pointer for the input matrix that points
		530	* to the pivot element of the particular row */
		531	pInT1 = pIn + (l * numCols);
		532
		533	/* Working pointer for the destination matrix that points
		534	* to the pivot element of the particular row */
		535	pOutT1 = pOut + (l * numCols);
		536
		537	/* Temporary variable to hold the pivot value */
		538	in = *pInT1;
		539
		540	/* Destination pointer modifier */
		541	k = 1u;
		542
		543	/* Check if the pivot element is zero */
		544	if(*pInT1 == 0.0f)
		545	{
		546	/* Loop over the number rows present below */
		547	for (i = (l + 1u); i < numRows; i++)
		548	{
		549	/* Update the input and destination pointers */
		550	pInT2 = pInT1 + (numCols * l);
		551	pOutT2 = pOutT1 + (numCols * k);
		552
		553	/* Check if there is a non zero pivot element to
		554	* replace in the rows below */
		555	if(*pInT2 != 0.0f)
		556	{
		557	/* Loop over number of columns
		558	* to the right of the pilot element */
		559	for (j = 0u; j < (numCols - l); j++)
		560	{
		561	/* Exchange the row elements of the input matrix */
		562	Xchg = *pInT2;
		563	pInT2++ = pInT1;
		564	*pInT1++ = Xchg;
		565	}
		566
		567	for (j = 0u; j < numCols; j++)
		568	{
		569	Xchg = *pOutT2;
		570	pOutT2++ = pOutT1;
		571	*pOutT1++ = Xchg;
		572	}
		573
		574	/* Flag to indicate whether exchange is done or not */
		575	flag = 1u;
		576
		577	/* Break after exchange is done */
		578	break;
		579	}
		580
		581	/* Update the destination pointer modifier */
		582	k++;
		583	}
		584	}
		585
		586	/* Update the status if the matrix is singular */
		587	if((flag != 1u) && (in == 0.0f))
		588	{
		589	return ARM_MATH_SINGULAR;
		590	}
		591
		592	/* Points to the pivot row of input and destination matrices */
		593	pPivotRowIn = pIn + (l * numCols);
		594	pPivotRowDst = pOut + (l * numCols);
		595
		596	/* Temporary pointers to the pivot row pointers */
		597	pInT1 = pPivotRowIn;
		598	pOutT1 = pPivotRowDst;
		599
		600	/* Pivot element of the row */
		601	in = (pIn + (l numCols));
		602
		603	/* Loop over number of columns
		604	* to the right of the pilot element */
		605	for (j = 0u; j < (numCols - l); j++)
		606	{
		607	/* Divide each element of the row of the input matrix
		608	* by the pivot element */
		609	pInT1 = pInT1 / in;
		610	pInT1++;
		611	}
		612	for (j = 0u; j < numCols; j++)
		613	{
		614	/* Divide each element of the row of the destination matrix
		615	* by the pivot element */
		616	pOutT1 = pOutT1 / in;
		617	pOutT1++;
		618	}
		619
		620	/* Replace the rows with the sum of that row and a multiple of row i
		621	* so that each new element in column i above row i is zero.*/
		622
		623	/* Temporary pointers for input and destination matrices */
		624	pInT1 = pIn;
		625	pOutT1 = pOut;
		626
		627	for (i = 0u; i < numRows; i++)
		628	{
		629	/* Check for the pivot element */
		630	if(i == l)
		631	{
		632	/* If the processing element is the pivot element,
		633	only the columns to the right are to be processed */
		634	pInT1 += numCols - l;
		635	pOutT1 += numCols;
		636	}
		637	else
		638	{
		639	/* Element of the reference row */
		640	in = *pInT1;
		641
		642	/* Working pointers for input and destination pivot rows */
		643	pPRT_in = pPivotRowIn;
		644	pPRT_pDst = pPivotRowDst;
		645
		646	/* Loop over the number of columns to the right of the pivot element,
		647	to replace the elements in the input matrix */
		648	for (j = 0u; j < (numCols - l); j++)
		649	{
		650	/* Replace the element by the sum of that row
		651	and a multiple of the reference row */
		652	pInT1 = pInT1 - (in * *pPRT_in++);
		653	pInT1++;
		654	}
		655	/* Loop over the number of columns to
		656	replace the elements in the destination matrix */
		657	for (j = 0u; j < numCols; j++)
		658	{
		659	/* Replace the element by the sum of that row
		660	and a multiple of the reference row */
		661	pOutT1 = pOutT1 - (in * *pPRT_pDst++);
		662	pOutT1++;
		663	}
		664
		665	}
		666	/* Increment the temporary input pointer */
		667	pInT1 = pInT1 + l;
		668	}
		669	/* Increment the input pointer */
		670	pIn++;
		671
		672	/* Decrement the loop counter */
		673	loopCnt--;
		674	/* Increment the index modifier */
		675	l++;
		676	}
		677
		678
		679	#endif /* #ifndef ARM_MATH_CM0_FAMILY */
		680
		681	/* Set status as ARM_MATH_SUCCESS */
		682	status = ARM_MATH_SUCCESS;
		683
		684	if((flag != 1u) && (in == 0.0f))
		685	{
		686	pIn = pSrc->pData;
		687	for (i = 0; i < numRows * numCols; i++)
		688	{
		689	if (pIn[i] != 0.0f)
		690	break;
		691	}
		692
		693	if (i == numRows * numCols)
		694	status = ARM_MATH_SINGULAR;
		695	}
		696	}
		697	/* Return to application */
		698	return (status);
		699	}
		700
		701	/**
		702	* @} end of MatrixInv group
		703	*/

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(root)/branches/Dashboard_L152/Drivers/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c – Rev 2