Submitted version of the thesis - Airlab, the Artificial Intelligence ...

116 Appendix B. Documentation of the programming
for (i = 0; i < 3; i++)
for (j = 0; j < 3; j++)
for (k = 0; k < 4; k++)
a3[i][j] += a1[i][k] * a2[k][j];
}
void Inverse(double A[][3], double X[][3]) {
float B[3][3];//the transpose of a matrix A
float C[3][3];//the adjunct matrix of transpose of a matrix A not adjunct of
int i, j;
float x, n = 0;//n is the determinant of A
for (i = 0, j = 0; j < 3; j++) {
if (j == 2)
n += A[i][j] * A[i + 1][0] * A[i + 2][1];
else if (j == 1)
n += A[i][j] * A[i + 1][j + 1] * A[i + 2][0];
else
n += A[i][j] * A[i + 1][j + 1]
* A[i + 2][j + 2];
}
for (i = 2, j = 0; j < 3; j++) {
if (j == 2)
n -= A[i][j] * A[i - 1][0] * A[i - 2][1];
else if (j == 1)
n -= A[i][j] * A[i - 1][j + 1] * A[i - 2][0];
else
n -= A[i][j] * A[i - 1][j + 1]
* A[i - 2][j + 2];
}
if (n != 0)
x = 1.0 / n;
else {
}
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
}
}
B[i][j] = A[j][i];
C[0][0] = B[1][1] * B[2][2] - (B[2][1] * B[1][2]);
C[0][1] = (-1) * (B[1][0] * B[2][2] - (B[2][0]
* B[1][2]));
C[0][2] = B[1][0] * B[2][1] - (B[2][0] * B[1][1]);
C[1][0] = (-1)