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

B.1. Microprocessor Code 117
}
* (B[0][1] * B[2][2] - B[2][1] * B[0][2]);
C[1][1] = B[0][0] * B[2][2] - B[2][0] * B[0][2];
C[1][2] = (-1)
* (B[0][0] * B[2][1] - B[2][0] * B[0][1]);
C[2][0] = B[0][1] * B[1][2] - B[1][1] * B[0][2];
C[2][1] = (-1)
* (B[0][0] * B[1][2] - B[1][0] * B[0][2]);
C[2][2] = B[0][0] * B[1][1] - B[1][0] * B[0][1];
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
X[i][j] = C[i][j] * x;
}
}
————–definitions.h.——————
/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
* File Name : definitions.h
* Author : AST Robotics group
* Date First Issued : 11 May 2007 : Version 1.0
* Description : generic definitions and pin assignments file for Dongle.
********************************************************************************
* History:
* 28 May 2007 : Version 1.2
* 11 May 2007 : Version 1.0
*******************************************************************************
THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS WITH
CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, INDIRECT
OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE CONTENT
OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING INFORMATION
CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Define to prevent recursive inclusion ------------------------------------ */
#ifndef __DEFINITIONS_H
#define __DEFINITIONS_H
// *-------------*-------------*------------*
// | UART2_RxD | N.A. | UART2_RxD |
// | UART2_TxD | N.A. | UART2_TxD |
// | I2C_SCL | P3.4 | SW_I2C_SCL |
// | I2C_SDA | P3.5 | SW_I2C_SDA |
// | CAM_CE | P3.6 | GPIO_OUT |