Example description
/* nag_kalman_sqrt_filt_cov_invar (g13ebc) Example Program.
 *
 * Copyright 2017 Numerical Algorithms Group.
 *
 * Mark 26.2, 2017.
 */

#include <nag.h>
#include <stdio.h>
#include <nag_stdlib.h>
#include <nagf07.h>
#include <nagf16.h>
#include <nagg13.h>

typedef enum
{ read, print } ioflag;

static int ex1(void);
static int ex2(void);

int main(void)
{
  Integer exit_status_ex1 = 0;
  Integer exit_status_ex2 = 0;

  printf("nag_kalman_sqrt_filt_cov_invar (g13ebc) Example Program "
         "Results\n\n");

  /* Skip the heading in the data file  */
  scanf(" %*[^\n] ");

  exit_status_ex1 = ex1();
  exit_status_ex2 = ex2();

  return (exit_status_ex1 == 0 && exit_status_ex2 == 0) ? 0 : 1;
}

#define A(I, J) a[(I) *tda + J]
#define B(I, J) b[(I) *tdb + J]
#define C(I, J) c[(I) *tdc + J]
#define K(I, J) k[(I) *tdk + J]
#define Q(I, J) q[(I) *tdq + J]
#define R(I, J) r[(I) *tdr + J]
#define S(I, J) s[(I) *tds + J]

static int ex1()
{ /* simple example (matrices A and C are supplied in lower observer
     Hessenberg form) */
  Integer exit_status = 0, i, istep, j, m, n, p, tda, tdb, tdc, tdh, tdk, tdq;
  Integer tdr, tds;
  NagError fail;
  double *a = 0, *b = 0, *c = 0, *h = 0, *k = 0, *q = 0, *r = 0, *s = 0, tol;

  INIT_FAIL(fail);

  /* Skip the heading in the data file  */
  scanf(" %*[^\n]");

  printf("Example 1\n");
  scanf("%" NAG_IFMT "%" NAG_IFMT "%" NAG_IFMT "%lf", &n, &m, &p, &tol);
  if (n >= 1 && m >= 1 && p >= 1) {
    if (!(a = NAG_ALLOC(n * n, double)) ||
        !(b = NAG_ALLOC(n * m, double)) ||
        !(c = NAG_ALLOC(p * n, double)) ||
        !(k = NAG_ALLOC(n * p, double)) ||
        !(q = NAG_ALLOC(m * m, double)) ||
        !(r = NAG_ALLOC(p * p, double)) ||
        !(s = NAG_ALLOC(n * n, double)) || !(h = NAG_ALLOC(n * p, double)))
    {
      printf("Allocation failure\n");
      exit_status = -1;
      goto END;
    }
    tda = n;
    tdb = m;
    tdc = n;
    tdk = p;
    tdq = m;
    tdr = p;
    tds = n;
    tdh = p;
  }
  else {
    printf("Invalid n or m or p.\n");
    exit_status = 1;
    return exit_status;
  }

  /* Read data */
  for (i = 0; i < n; ++i)
    for (j = 0; j < n; ++j)
      scanf("%lf", &S(i, j));
  for (i = 0; i < n; ++i)
    for (j = 0; j < n; ++j)
      scanf("%lf", &A(i, j));
  for (i = 0; i < n; ++i)
    for (j = 0; j < m; ++j)
      scanf("%lf", &B(i, j));

  if (q) {
    for (i = 0; i < m; ++i)
      for (j = 0; j < m; ++j)
        scanf("%lf", &Q(i, j));
  }
  for (i = 0; i < p; ++i)
    for (j = 0; j < n; ++j)
      scanf("%lf", &C(i, j));
  for (i = 0; i < p; ++i)
    for (j = 0; j < p; ++j)
      scanf("%lf", &R(i, j));

  /* Perform three iterations of the Kalman filter recursion  */
  for (istep = 1; istep <= 3; ++istep)
    /* nag_kalman_sqrt_filt_cov_invar (g13ebc).
     * One iteration step of the time-invariant Kalman filter
     * recursion using the square root covariance implementation
     * with (AC) in lower observer Hessenberg form
     */
    nag_kalman_sqrt_filt_cov_invar(n, m, p, s, tds, a, tda, b, tdb, q, tdq,
                                   c, tdc, r, tdr, k, tdk, h, tdh, tol,
                                   &fail);
  if (fail.code != NE_NOERROR) {
    printf("Error from nag_kalman_sqrt_filt_cov_invar (g13ebc).\n%s\n",
           fail.message);
    exit_status = 1;
    goto END;
  }

  printf("\nThe square root of the state covariance matrix is\n\n");
  for (i = 0; i < n; ++i) {
    for (j = 0; j < n; ++j)
      printf("%8.4f ", S(i, j));
    printf("\n");
  }
  if (k) {
    printf("\nThe matrix AK (the product of the Kalman gain\n");
    printf("matrix with the state transition matrix) is\n\n");
    for (i = 0; i < n; ++i) {
      for (j = 0; j < p; ++j)
        printf("%8.4f ", K(i, j));
      printf("\n");
    }
  }
END:
  NAG_FREE(a);
  NAG_FREE(b);
  NAG_FREE(c);
  NAG_FREE(k);
  NAG_FREE(q);
  NAG_FREE(r);
  NAG_FREE(s);
  NAG_FREE(h);

  return exit_status;
}

static void mat_io(Integer n, Integer m, double mat[], Integer tdmat,
                   ioflag flag, const char *message);

#define UB(I, J)    ub[(I) *tdub + J]
#define SF(I, J)    sf[(I) *tdsf + J]
#define SE(I, J)    se[(I) *tdse + J]
#define PF(I, J)    pf[(I) *tdpf + J]
#define UAUT(I, J)  uaut[(I) *tduaut + J]
#define CUT(I, J)   cut[(I) *tdcut + J]
#define U(I, J)     u[(I) *tdu + J]

static int ex2()
{ /* more general example which requires the data to be transformed. The
     results produced by nag_kalman_sqrt_filt_cov_var (g13eac) and
     nag_kalman_sqrt_filt_cov_invar (g13ebc) are compared */
  Integer exit_status = 0, i, istep, j, m, n, p, tda, tdb;
  Integer tdc, tdcut, tdh, tdke, tdkf, tdpe, tdpf, tdq, tdr, tdrwork, tdse;
  Integer tdsf, tdu, tduaut, tdub;
  NagError fail;
  Nag_ObserverForm reduceto = Nag_LH_Observer;
  double *a = 0, *b = 0, *c = 0, *cut = 0, *h = 0;
  double *ke = 0, *kf = 0, one = 1.0, *pe = 0, *pf = 0, *q = 0;
  double *r = 0, *rwork = 0, *se = 0, *sf = 0, tol, *u = 0;
  double *uaut = 0, *ub = 0, zero = 0.0;

  INIT_FAIL(fail);

  printf("\nExample 2\n\n");

  /* skip the heading in the data file */
  scanf(" %*[^\n]");
  scanf("%" NAG_IFMT "%" NAG_IFMT "%" NAG_IFMT "%lf", &n, &m, &p, &tol);
  if (n >= 1 && m >= 1 && p >= 1) {
    if (!(a = NAG_ALLOC(n * n, double)) ||
        !(b = NAG_ALLOC(n * m, double)) ||
        !(c = NAG_ALLOC(p * n, double)) ||
        !(ke = NAG_ALLOC(n * p, double)) ||
        !(kf = NAG_ALLOC(n * p, double)) ||
        !(ub = NAG_ALLOC(n * m, double)) ||
        !(q = NAG_ALLOC(m * m, double)) ||
        !(r = NAG_ALLOC(p * p, double)) ||
        !(rwork = NAG_ALLOC(n * n, double)) ||
        !(sf = NAG_ALLOC(n * n, double)) ||
        !(se = NAG_ALLOC(n * n, double)) ||
        !(h = NAG_ALLOC(n * p, double)) ||
        !(pf = NAG_ALLOC(n * n, double)) ||
        !(pe = NAG_ALLOC(n * n, double)) ||
        !(uaut = NAG_ALLOC(n * n, double)) ||
        !(cut = NAG_ALLOC(p * n, double)) || !(u = NAG_ALLOC(n * n, double)))
    {
      printf("Allocation failure\n");
      exit_status = -1;
      goto END;
    }
    tda = n;
    tdb = m;
    tdc = n;
    tdke = p;
    tdkf = p;
    tdub = m;
    tdq = m;
    tdr = p;
    tdrwork = n;
    tdsf = n;
    tdse = n;
    tdh = p;
    tdpf = n;
    tdpe = n;
    tduaut = n;
    tdcut = n;
    tdu = n;
  }
  else {
    printf("Invalid n or m or p.\n");
    exit_status = 1;
    return exit_status;
  }
  mat_io(n, n, se, tdse, read, "");
  mat_io(n, n, a, tda, read, "");
  mat_io(n, m, b, tdb, read, "");
  if (q)
    mat_io(m, m, q, tdq, read, "");
  mat_io(p, n, c, tdc, read, "");
  mat_io(p, p, r, tdr, read, "");
  for (i = 0; i < n; ++i) {
    for (j = 0; j < n; ++j) {
      if (i < p)
        CUT(i, j) = C(i, j);
      SF(i, j) = SE(i, j);
      UAUT(i, j) = A(i, j);
      U(i, j) = zero;
    }
    U(i, i) = one;
  }
  /* Set up the matrix pair (A,C) in the lower observer hessenberg form */
  /* nag_trans_hessenberg_observer (g13ewc).
   * Unitary state-space transformation to reduce (AC) to
   * lower or upper observer Hessenberg form
   */
  nag_trans_hessenberg_observer(n, p, reduceto, uaut, tduaut, cut, tdcut,
                                u, tdu, &fail);
  if (fail.code != NE_NOERROR) {
    printf("Error from nag_trans_hessenberg_observer (g13ewc).\n%s\n",
           fail.message);
    exit_status = 1;
    goto END;
  }
  for (j = 0; j < m; ++j)
    for (i = 0; i < n; ++i)
      nag_ddot(Nag_NoConj, n, 1.0, &U(i, 0), 1, 0.0, &B(0, j), tdb, &UB(i,j),
               &fail);

  /* Generate noise covariance matrices PE and PF = U * PE * U' */
  nag_dgemm(Nag_RowMajor, Nag_NoTrans, Nag_Trans, n, n, n, one, se, tdse,
            se, tdse, zero, pe, tdpe, &fail);
  nag_dgemm(Nag_RowMajor, Nag_NoTrans, Nag_Trans, n, n, n, one, pe, tdpe,
            u, tdu, zero, rwork, tdrwork, &fail);
  nag_dgemm(Nag_RowMajor, Nag_NoTrans, Nag_NoTrans, n, n, n, one, u, tdu,
            rwork, tdrwork, zero, pf, tdpf, &fail);

  /* Now find the lower triangular (left) Cholesky factor of PF. */
  /* nag_dpotrf (f07fdc).
   * Cholesky factorization of real symmetric positive definite matrix.
   */
  nag_dpotrf(Nag_RowMajor, Nag_Lower, n, pf, tdpf, &fail);
  if (fail.code != NE_NOERROR) {
    printf("Error from nag_dpotrf (f07fdc).\n%s\n", fail.message);
    exit_status = 1;
    goto END;
  }
  for (i = 0; i < n; ++i)
    for (j = 0; j <= i; ++j)
      SF(i, j) = PF(i, j);
  /* Perform three steps of the Kalman filter recursion */
  for (istep = 1; istep <= 3; ++istep) {
    /* nag_kalman_sqrt_filt_cov_var (g13eac).
     * One iteration step of the time-varying Kalman filter
     * recursion using the square root covariance implementation
     */
    nag_kalman_sqrt_filt_cov_var(n, m, p, se, tdse, a, tda, b, tdb, q,
                                 tdq, c, tdc, r, tdr, ke, tdke, h, tdh, tol,
                                 &fail);
    if (fail.code != NE_NOERROR) {
      printf("Error from nag_kalman_sqrt_filt_cov_var (g13eac).\n%s\n",
             fail.message);
      exit_status = 1;
      goto END;
    }
    /* nag_kalman_sqrt_filt_cov_invar (g13ebc), see above. */
    nag_kalman_sqrt_filt_cov_invar(n, m, p, sf, tdsf, uaut, tduaut, ub, tdub,
                                   q, tdq, cut, tdcut, r, tdr, kf, tdkf, h,
                                   tdh, tol, &fail);
    if (fail.code != NE_NOERROR) {
      printf("Error from nag_kalman_sqrt_filt_cov_invar (g13ebc).\n%s\n",
             fail.message);
      exit_status = 1;
      goto END;
    }
  }
  nag_dgemm(Nag_RowMajor, Nag_NoTrans, Nag_Trans, n, n, n, one, se, tdse,
            se, tdse, zero, pe, tdpe, &fail);
  nag_dgemm(Nag_RowMajor, Nag_NoTrans, Nag_Trans, n, n, n, one, sf, tdsf,
            sf, tdsf, zero, pf, tdpf, &fail);
  mat_io(n, n, pe, tdpe, print, "Covariance matrix PE from "
         "nag_kalman_sqrt_filt_cov_var (g13eac) is\n");
  mat_io(n, n, pf, tdpf, print, "Covariance matrix PF from "
         "nag_kalman_sqrt_filt_cov_invar (g13ebc) is\n");

  /* Calculate PF = U' * PF * U */
  nag_dgemm(Nag_RowMajor, Nag_NoTrans, Nag_NoTrans, n, n, n, one, pf, tdpf,
            u, tdu, zero, rwork, tdrwork, &fail);
  nag_dgemm(Nag_RowMajor, Nag_Trans, Nag_NoTrans, n, n, n, one, u, tdu,
            rwork, tdrwork, zero, pf, tdpf, &fail);
  mat_io(n, n, pf, tdpf, print, "Matrix U' * PF * U is \n");
  mat_io(n, p, ke, tdke, print,
         "The matrix KE from nag_kalman_sqrt_filt_cov_var (g13eac) is\n");
  mat_io(n, p, kf, tdkf, print,
         "The matrix KF from nag_kalman_sqrt_filt_cov_invar (g13ebc) is\n");

  /* calculate U' * K */
  nag_dgemm(Nag_RowMajor, Nag_Trans, Nag_NoTrans, n, p, n, one, u, tdu,
            kf, tdkf, zero, rwork, tdrwork, &fail);
  mat_io(n, p, rwork, tdrwork, print, "U' * KF is\n");

END:
  NAG_FREE(a);
  NAG_FREE(b);
  NAG_FREE(c);
  NAG_FREE(ke);
  NAG_FREE(kf);
  NAG_FREE(ub);
  NAG_FREE(q);
  NAG_FREE(r);
  NAG_FREE(rwork);
  NAG_FREE(sf);
  NAG_FREE(se);
  NAG_FREE(h);
  NAG_FREE(pf);
  NAG_FREE(pe);
  NAG_FREE(uaut);
  NAG_FREE(cut);
  NAG_FREE(u);

  return exit_status;
}

static void mat_io(Integer n, Integer m, double mat[], Integer tdmat,
                   ioflag flag, const char *message)
{
  Integer i, j;
#define MAT(I, J) mat[((I) -1)*tdmat + (J) -1]
  if (flag == print)
    printf("%s \n", message);
  for (i = 1; i <= n; ++i) {
    for (j = 1; j <= m; ++j) {
      if (flag == read)
        scanf("%lf", &MAT(i, j));
      if (flag == print)
        printf("%8.4f ", MAT(i, j));
    }
    if (flag == print)
      printf("\n");
  }
  if (flag == print)
    printf("\n");
} /* mat_io */