Add file

src/lqg_tf.c

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+/* -*- mode: C; c-basic-offset: 4 -*- */
+/* ex: set shiftwidth=4 tabstop=4 expandtab: */
+/*
+ * Copyright (c) 2013, Georgia Tech Research Corporation
+ * All rights reserved.
+ *
+ * Author(s): Neil T. Dantam <ntd@gatech.edu>
+ * Georgia Tech Humanoid Robotics Lab
+ * Under Direction of Prof. Mike Stilman <mstilman@cc.gatech.edu>
+ *
+ *
+ * This file is provided under the following "BSD-style" License:
+ *
+ *
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+
+#include <amino.h>
+#include <cblas.h>
+#include "reflex.h"
+
+int rfx_tf_filter_update( double dt, struct rfx_tf_filter *F)
+{
+    return rfx_tf_filter_update_work( dt,
+                                      F->X.data, F->U.data, F->Z.data,
+                                      F->P, F->V, F->W );
+}