Embedded/common/src/b_TensorEm/RBFMap2D.c - platform/external/neven - Git at Google

 /*
  * Copyright (C) 2008 The Android Open Source Project
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *      http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */

 /* ---- includes ----------------------------------------------------------- */

 #include "b_TensorEm/RBFMap2D.h"
 #include "b_BasicEm/Math.h"
 #include "b_BasicEm/Memory.h"
 #include "b_BasicEm/Functions.h"

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ auxiliary functions } ---------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ constructor / destructor } ----------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 void bts_RBFMap2D_init( struct bbs_Context* cpA,
 					    struct bts_RBFMap2D* ptrA )
 {
 	ptrA->RBFTypeE = bts_RBF_LINEAR;
 	bts_Cluster2D_init( cpA, &ptrA->srcClusterE );
 	bts_Cluster2D_init( cpA, &ptrA->rbfCoeffClusterE );
 	ptrA->altTypeE = bts_ALT_LINEAR;
 	bts_Flt16Alt2D_init( &ptrA->altE );

 	ptrA->altOnlyE = FALSE;

 	bts_Int32Mat_init( cpA, &ptrA->matE );
 	bts_Int32Mat_init( cpA, &ptrA->tempMatE );
 	bbs_Int32Arr_init( cpA, &ptrA->inVecE );
 	bbs_Int32Arr_init( cpA, &ptrA->outVecE );
 	bbs_Int32Arr_init( cpA, &ptrA->tempVecE );
 }

 /* ------------------------------------------------------------------------- */

 void bts_RBFMap2D_exit( struct bbs_Context* cpA,
 					    struct bts_RBFMap2D* ptrA )
 {
 	ptrA->RBFTypeE = bts_RBF_LINEAR;
 	bts_Cluster2D_exit( cpA, &ptrA->srcClusterE );
 	bts_Cluster2D_exit( cpA, &ptrA->rbfCoeffClusterE );
 	ptrA->altTypeE = bts_ALT_LINEAR;
 	bts_Flt16Alt2D_exit( &ptrA->altE );

 	ptrA->altOnlyE = FALSE;

 	bts_Int32Mat_exit( cpA, &ptrA->matE );
 	bts_Int32Mat_exit( cpA, &ptrA->tempMatE );
 	bbs_Int32Arr_exit( cpA, &ptrA->inVecE );
 	bbs_Int32Arr_exit( cpA, &ptrA->outVecE );
 	bbs_Int32Arr_exit( cpA, &ptrA->tempVecE );
 }

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ operators } -------------------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 void bts_RBFMap2D_copy( struct bbs_Context* cpA,
 					    struct bts_RBFMap2D* ptrA,
 						const struct bts_RBFMap2D* srcPtrA )
 {
 	ptrA->RBFTypeE = srcPtrA->RBFTypeE;
 	bts_Cluster2D_copy( cpA, &ptrA->srcClusterE, &srcPtrA->srcClusterE );
 	bts_Cluster2D_copy( cpA, &ptrA->rbfCoeffClusterE, &srcPtrA->rbfCoeffClusterE );
 	ptrA->altTypeE = srcPtrA->altTypeE;
 	bts_Flt16Alt2D_copy( &ptrA->altE, &srcPtrA->altE );
 }

 /* ------------------------------------------------------------------------- */

 flag bts_RBFMap2D_equal( struct bbs_Context* cpA,
 						 const struct bts_RBFMap2D* ptrA,
 						 const struct bts_RBFMap2D* srcPtrA )
 {
 	if( ptrA->RBFTypeE != srcPtrA->RBFTypeE ) return FALSE;
 	if( ! bts_Cluster2D_equal( cpA, &ptrA->srcClusterE, &srcPtrA->srcClusterE ) ) return FALSE;
 	if( ! bts_Cluster2D_equal( cpA, &ptrA->rbfCoeffClusterE, &srcPtrA->rbfCoeffClusterE ) ) return FALSE;
 	if( ptrA->altTypeE != srcPtrA->altTypeE ) return FALSE;
 	if( ! bts_Flt16Alt2D_equal( &ptrA->altE, &srcPtrA->altE ) ) return FALSE;
 	return TRUE;
 }

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ query functions } -------------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ modify functions } ------------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 void bts_RBFMap2D_create( struct bbs_Context* cpA,
 						  struct bts_RBFMap2D* ptrA,
 						  uint32 sizeA,
 				          struct bbs_MemSeg* mspA )
 {
 	if( bbs_Context_error( cpA ) ) return;
 	bts_Cluster2D_create( cpA, &ptrA->srcClusterE, sizeA, mspA );
 	bts_Cluster2D_create( cpA, &ptrA->rbfCoeffClusterE, sizeA, mspA );

 	bts_Int32Mat_create( cpA, &ptrA->matE, sizeA, mspA );
 	bts_Int32Mat_create( cpA, &ptrA->tempMatE, sizeA, mspA );
 	bbs_Int32Arr_create( cpA, &ptrA->inVecE, sizeA, mspA );
 	bbs_Int32Arr_create( cpA, &ptrA->outVecE, sizeA, mspA );
 	bbs_Int32Arr_create( cpA, &ptrA->tempVecE, sizeA, mspA );
 }

 /* ------------------------------------------------------------------------- */

 void bts_RBFMap2D_compute( struct bbs_Context* cpA,
 						   struct bts_RBFMap2D* ptrA,
 						   const struct bts_Cluster2D* srcPtrA,
 						   const struct bts_Cluster2D* dstPtrA )
 {
 	const uint32 sizeL = srcPtrA->sizeE;
 	int32 bbp_internalL = 15;
 	int32 bbp_rbfCoeffL = 12;

 	int32 internalShiftL = bbp_internalL - srcPtrA->bbpE;
 	int32 rbfCoeffShiftL;

 	uint32 iL, jL;

 	if( dstPtrA->sizeE != srcPtrA->sizeE )
 	{
 		bbs_ERROR2( "void bts_RBFMap2D_compute( ... ): size mismatch, src cluster has size %d,"
 			"but dst cluster has size %d\n", srcPtrA->sizeE, dstPtrA->sizeE );
 		return;
 	}

 	ptrA->altOnlyE = FALSE;

 	/* if bbp of src cluster should be larger than bbp_internal, use it instead */
 	if( internalShiftL < 0 )
 	{
 		internalShiftL = 0;
 		bbp_internalL = srcPtrA->bbpE;
 	}

 	/* also checks for sizeL > allocated size */
 	bts_Cluster2D_size( cpA, &ptrA->rbfCoeffClusterE, sizeL );

 	/* set rbf coefficients to 0 in case they don't get computed */
 	for( iL =0; iL < sizeL; iL++ )
 	{
 		ptrA->rbfCoeffClusterE.vecArrE[ iL ].xE = 0;
 		ptrA->rbfCoeffClusterE.vecArrE[ iL ].yE = 0;
 	}

 	/* 1. Compute rigid transformation: if cluster size == 0 returns identity */
 	ptrA->altE = bts_Cluster2D_alt( cpA, srcPtrA, dstPtrA, ptrA->altTypeE );

 	/* if cluster size is less than 3 affine trafo covers whole transformation */
 	if( sizeL < 3 )
 	{
 		bts_Cluster2D_copy( cpA, &ptrA->srcClusterE, srcPtrA );
 		ptrA->altOnlyE = TRUE;
 		return;
 	}

 	/* 2. Compute RBF trafo */
 	ptrA->matE.widthE = sizeL;
 	ptrA->tempMatE.widthE = sizeL;

 	/* Set up linear matrix to invert */
 	switch( ptrA->RBFTypeE )
 	{
 		case bts_RBF_IDENTITY:
 		{
 			return;
 		}

 		case bts_RBF_LINEAR:
 		{
 			/* ||r|| */
 			for( iL = 0; iL < sizeL; iL++ )
 			{
 				struct bts_Int16Vec2D vec0L = srcPtrA->vecArrE[ iL ];
 				int32* ptrL = ptrA->matE.arrE.arrPtrE + iL * sizeL;

 				/* set diagonal elements having null distance */
 				*( ptrL + iL ) = 0;

 				for( jL = 0; jL < iL; jL++ )	/* use symmetry */
 				{
 					int32 normL = 0;
 					struct bts_Int16Vec2D vecL = srcPtrA->vecArrE[ jL ];
 					vecL.xE -= vec0L.xE;
 					vecL.yE -= vec0L.yE;
 					normL = bts_Int16Vec2D_norm( &vecL );
 					*ptrL++ = normL << internalShiftL;
 				}
 			}
 		}
 		break;

 		/* Add a new RBF type here */

 		default:
 		{
 			bbs_ERROR1( "void bts_RBFMap2D_compute( ... ): RBFType %d is not handled\n", ptrA->RBFTypeE );
 			return;
 		}
 	}

 	/* use symmetry: set symmetric elements in matrix */
 	for( iL = 0; iL < sizeL; iL++ )
 	{
 		int32* basePtrL = ptrA->matE.arrE.arrPtrE;
 		uint32 jL;
 		for( jL = iL + 1; jL < sizeL; jL++ )
 		{
 			*( basePtrL + iL * sizeL + jL ) = *( basePtrL + jL * sizeL + iL );
 		}
 	}

 	/* Precompute alt transformed cluster, srcClusterE will be restored at the end */
 	bts_Cluster2D_copy( cpA, &ptrA->srcClusterE, srcPtrA );
 	bts_Cluster2D_transformBbp( cpA, &ptrA->srcClusterE, ptrA->altE, dstPtrA->bbpE );

 	bbs_Int32Arr_size( cpA, &ptrA->inVecE, sizeL );
 	bbs_Int32Arr_size( cpA, &ptrA->outVecE, sizeL );
 	bbs_Int32Arr_size( cpA, &ptrA->tempVecE, sizeL );

 	{
 		flag successL;

 		/* compute right side vector of linear system to be solved, for x */
 		int32* inPtrL = ptrA->inVecE.arrPtrE;
 		struct bts_Int16Vec2D* dstVecL = dstPtrA->vecArrE;
 		struct bts_Int16Vec2D* altVecL = ptrA->srcClusterE.vecArrE;

 		int32 shiftL = srcPtrA->bbpE - ptrA->srcClusterE.bbpE + internalShiftL;
 		if( shiftL >= 0 )
 		{
 			for( iL = 0; iL < sizeL; iL++ ) inPtrL[ iL ] = ( int32 )( dstVecL[ iL ].xE - altVecL[ iL ].xE ) << shiftL;
 		}
 		else
 		{
 			for( iL = 0; iL < sizeL; iL++ ) inPtrL[ iL ] = ( ( ( int32 )( dstVecL[ iL ].xE - altVecL[ iL ].xE ) >> ( ( -shiftL ) - 1 ) ) + 1 ) >> 1;
 		}

 		/* solve linear system in x */
 		successL = bts_Int32Mat_solve(  cpA,
 			                            ptrA->matE.arrE.arrPtrE,
 										sizeL,
 										ptrA->inVecE.arrPtrE,
 										ptrA->outVecE.arrPtrE,
 										bbp_internalL,
 										ptrA->tempMatE.arrE.arrPtrE,
 										ptrA->tempVecE.arrPtrE );

 		/* no error condition here! system must be failsafe */
 		if( !successL ) ptrA->altOnlyE = TRUE;

 		/* store rbf coefficients, x component */
 		rbfCoeffShiftL = bbp_internalL - bbp_rbfCoeffL;
 		for( iL = 0; iL < sizeL; iL++ )
 		{
 			int32 rbfCoeffL = ptrA->outVecE.arrPtrE[ iL ] >> rbfCoeffShiftL;
 			if( rbfCoeffL < -32768 || rbfCoeffL > 32767 ) ptrA->altOnlyE = TRUE; /* check for overflow */
 			ptrA->rbfCoeffClusterE.vecArrE[ iL ].xE = rbfCoeffL;
 		}


 		/* compute right side vector of linear system to be solved, for y */
 		if( shiftL >= 0 )
 		{
 			for( iL = 0; iL < sizeL; iL++ ) inPtrL[ iL ] = ( int32 )( dstVecL[ iL ].yE - altVecL[ iL ].yE ) << shiftL;
 		}
 		else
 		{
 			for( iL = 0; iL < sizeL; iL++ ) inPtrL[ iL ] = ( ( ( int32 )( dstVecL[ iL ].yE - altVecL[ iL ].yE ) >> ( ( -shiftL ) - 1 ) ) + 1 ) >> 1;
 		}

 		/* solve linear system in y */
 		successL = bts_Int32Mat_solve(  cpA,
 			                            ptrA->matE.arrE.arrPtrE,
 										sizeL,
 										ptrA->inVecE.arrPtrE,
 										ptrA->outVecE.arrPtrE,
 										bbp_internalL,
 										ptrA->tempMatE.arrE.arrPtrE,
 										ptrA->tempVecE.arrPtrE );
 		if( !successL )
 		{
 			/* no error condition here! system must be failsafe */
 			ptrA->altOnlyE = TRUE;
 		}

 		/* store rbf coefficients, y component */
 		for( iL = 0; iL < sizeL; iL++ )
 		{
 			int32 rbfCoeffL = ptrA->outVecE.arrPtrE[ iL ] >> rbfCoeffShiftL;
 			if( rbfCoeffL < -32768 || rbfCoeffL > 32767 ) ptrA->altOnlyE = TRUE; /* check for overflow */
 			ptrA->rbfCoeffClusterE.vecArrE[ iL ].yE = rbfCoeffL;
 		}

 		/* set bbp of coeff cluster */
 		ptrA->rbfCoeffClusterE.bbpE = bbp_rbfCoeffL;
 	}

 	/** after having used srcClusterE for temporary storage of the alt src cluster,
 		restore the orig src cluster as needed for the RBF trafo */
 	bts_Cluster2D_copy( cpA, &ptrA->srcClusterE, srcPtrA );
 }

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ I/O } -------------------------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 uint32 bts_RBFMap2D_memSize( struct bbs_Context* cpA,
 							 const struct bts_RBFMap2D *ptrA )
 {
 	return  bbs_SIZEOF16( uint32 )
 		  + bbs_SIZEOF16( uint32 ) /* version */
 		  + bbs_SIZEOF16( ptrA->RBFTypeE )
 		  + bts_Cluster2D_memSize( cpA, &ptrA->srcClusterE )
 		  + bts_Cluster2D_memSize( cpA, &ptrA->rbfCoeffClusterE )
 		  + bbs_SIZEOF16( ptrA->altTypeE )
 		  + bts_Flt16Alt2D_memSize( cpA, &ptrA->altE );
 }

 /* ------------------------------------------------------------------------- */

 uint32 bts_RBFMap2D_memWrite( struct bbs_Context* cpA,
 							  const struct bts_RBFMap2D* ptrA,
 							  uint16* memPtrA )
 {
 	uint32 memSizeL = bts_RBFMap2D_memSize( cpA, ptrA );
 	memPtrA += bbs_memWrite32( &memSizeL, memPtrA );
 	memPtrA += bbs_memWriteUInt32( bts_IRBFMAP2D_VERSION, memPtrA );
 	memPtrA += bbs_memWrite32( &ptrA->RBFTypeE, memPtrA );
 	memPtrA += bts_Cluster2D_memWrite( cpA, &ptrA->srcClusterE, memPtrA );
 	memPtrA += bts_Cluster2D_memWrite( cpA, &ptrA->rbfCoeffClusterE, memPtrA );
 	memPtrA += bbs_memWrite32( &ptrA->altTypeE, memPtrA );
 	memPtrA += bts_Flt16Alt2D_memWrite( cpA, &ptrA->altE, memPtrA );
 	return memSizeL;
 }

 /* ------------------------------------------------------------------------- */

 uint32 bts_RBFMap2D_memRead( struct bbs_Context* cpA,
 							 struct bts_RBFMap2D* ptrA,
 							 const uint16* memPtrA,
 				             struct bbs_MemSeg* mspA )
 {
 	uint32 memSizeL, versionL;
 	if( bbs_Context_error( cpA ) ) return 0;
 	memPtrA += bbs_memRead32( &memSizeL, memPtrA );
 	memPtrA += bbs_memReadVersion32( cpA, &versionL, bts_IRBFMAP2D_VERSION, memPtrA );
 	memPtrA += bbs_memRead32( &ptrA->RBFTypeE, memPtrA );
 	memPtrA += bts_Cluster2D_memRead( cpA, &ptrA->srcClusterE, memPtrA, mspA );
 	memPtrA += bts_Cluster2D_memRead( cpA, &ptrA->rbfCoeffClusterE, memPtrA, mspA );
 	memPtrA += bbs_memRead32( &ptrA->altTypeE, memPtrA );
 	memPtrA += bts_Flt16Alt2D_memRead( cpA, &ptrA->altE, memPtrA );

 	bts_Int32Mat_create( cpA, &ptrA->matE, ptrA->srcClusterE.sizeE, mspA );
 	bts_Int32Mat_create( cpA, &ptrA->tempMatE, ptrA->srcClusterE.sizeE, mspA );

 	if( memSizeL != bts_RBFMap2D_memSize( cpA, ptrA ) )
 	{
 		bbs_ERR0( bbs_ERR_CORRUPT_DATA, "uint32 bts_RBFMap2D_memRead( ... ): size mismatch\n" );
 		return 0;
 	}
 	return memSizeL;
 }

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ exec functions } --------------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */
 /**	R, A are rbf and A affine linear transformations
  *	T( x ) = R( x ) + A( x )
  */
 struct bts_Flt16Vec2D bts_RBFMap2D_mapVector( struct bbs_Context* cpA,
 											  const struct bts_RBFMap2D* ptrA,
 											  struct bts_Flt16Vec2D vecA )
 {
 	const uint32 sizeL = ptrA->srcClusterE.sizeE;
 	const int32 bbp_internalL = ptrA->rbfCoeffClusterE.bbpE;
 	uint32 iL;
 	int32 shL;

 	int32 outXL;
 	int32 outYL;
 	int32 outBbpL;

 	/* 1. Compute rigid transformation, i.e. A( x ) */
 	struct bts_Flt16Vec2D altVecL = bts_Flt16Alt2D_mapFlt( &ptrA->altE, &vecA );

 	/* compute output on 32 bit here to prevent temporary overflows (j.s.) */
 	outXL   = altVecL.xE;
 	outYL   = altVecL.yE;
 	outBbpL = altVecL.bbpE;

 	/* if bbp was altered, change it back to bbp of vecA ( det A is always close to 1 here ) */
 	shL = vecA.bbpE - outBbpL;
 	if( shL > 0 )
 	{
 		outXL <<= shL;
 		outYL <<= shL;
 	}
 	else if( shL < 0 )
 	{
 		outXL = ( ( outXL >> ( -shL - 1 ) ) + 1 ) >> 1;
 		outYL = ( ( outYL >> ( -shL - 1 ) ) + 1 ) >> 1;
 	}
 	outBbpL = vecA.bbpE;

 	/* stop here if rbf coefficients could not be computed  */
 	if( ptrA->altOnlyE )
 	{
 		return bts_Flt16Vec2D_create32( outXL, outYL, outBbpL );
 	}

 	/* 2. Compute RBF transformation, i.e. R( x ) depending on type */
 	switch( ptrA->RBFTypeE )
     {
 		case bts_RBF_IDENTITY:
 		break;

         case bts_RBF_LINEAR:
         {
 			int32 xSumL = 0;
 			int32 ySumL = 0;
 			int32 internalShiftL = bbp_internalL - ptrA->srcClusterE.bbpE;

 			/* first adapt vecA to bbp of srcCluster */
 			int32 xL = vecA.xE;
 			int32 yL = vecA.yE;
 			int32 shiftL = ptrA->srcClusterE.bbpE - vecA.bbpE;
 			if( shiftL > 0 )
 			{
 				xL <<= shiftL;
 				yL <<= shiftL;
 			}
 			else if( shiftL < 0 )
 			{
 				xL = ( ( xL >> ( -shiftL - 1 ) ) + 1 ) >> 1;
 				yL = ( ( yL >> ( -shiftL - 1 ) ) + 1 ) >> 1;
 			}

 			shiftL = ptrA->srcClusterE.bbpE;

             for( iL = 0; iL < sizeL; iL++ )
             {
 				struct bts_Int16Vec2D vecL = ptrA->srcClusterE.vecArrE[ iL ];
 				int32 normL = 0;
 				vecL.xE -= xL;
 				vecL.yE -= yL;
 				normL = bts_Int16Vec2D_norm( &vecL );

 /* printf( "iL = %d, norm = %d\n", iL, normL ); */

 				xSumL += ( normL * ptrA->rbfCoeffClusterE.vecArrE[ iL ].xE ) >> shiftL;
 				ySumL += ( normL * ptrA->rbfCoeffClusterE.vecArrE[ iL ].yE ) >> shiftL;

 /* printf( "iL = %d, xSumL = %d, ySumL = %d\n", iL, xSumL, ySumL ); */

             }

 			xSumL >>= internalShiftL;
 			ySumL >>= internalShiftL;

 			/* change bbp of result back to bbp of vecA */
 		/*	shiftL = vecA.bbpE - ptrA->srcClusterE.bbpE - internalShiftL; */
 			shiftL = vecA.bbpE - ptrA->srcClusterE.bbpE;
 			if( shiftL > 0 )
 			{
 				xSumL <<= shiftL;
 				ySumL <<= shiftL;
 			}
 			else if( shiftL < 0 )
 			{
 				xSumL = ( ( xSumL >> ( -shiftL - 1 ) ) + 1 ) >> 1;
 				ySumL = ( ( ySumL >> ( -shiftL - 1 ) ) + 1 ) >> 1;
 			}

 			/* add rbf part to already computed alt part */
 			outXL += xSumL;
 			outYL += ySumL;
         }
         break;

 		/* Add a new RBF type here */

 		default:
 		{
 			bbs_ERROR1( "struct bts_Flt16Vec2D bts_RBFMap2D_mapVector( ... ): "
 				"RBFType %d is not handled\n", ptrA->RBFTypeE );
 			return bts_Flt16Vec2D_create32( outXL, outYL, outBbpL );
 		}
 	}

 	return bts_Flt16Vec2D_create32( outXL, outYL, outBbpL );
 }

 /* ------------------------------------------------------------------------- */

 void bts_RBFMap2D_mapCluster( struct bbs_Context* cpA,
 							  const struct bts_RBFMap2D* ptrA,
 							  const struct bts_Cluster2D* srcPtrA,
 							  struct bts_Cluster2D* dstPtrA,
 							  int32 dstBbpA )
 {
 	if( dstPtrA->sizeE != srcPtrA->sizeE )
 	{
 		/* resizing of clusters is allowed as long as allocated size is not exceeded */
 		bts_Cluster2D_size( cpA, dstPtrA, srcPtrA->sizeE );
 	}

 	{
 		uint32 iL;
 		int16 bbpL = srcPtrA->bbpE;

 		dstPtrA->bbpE = dstBbpA;

 		for( iL = 0; iL < srcPtrA->sizeE; iL++ )
 		{
 			struct bts_Int16Vec2D vecL = srcPtrA->vecArrE[ iL ];
 			struct bts_Flt16Vec2D srcVecL = bts_Flt16Vec2D_create16( vecL.xE, vecL.yE, bbpL );
 			struct bts_Flt16Vec2D dstVecL = bts_RBFMap2D_mapVector( cpA, ptrA, srcVecL );
 			dstPtrA->vecArrE[ iL ].xE = bbs_convertS32( dstVecL.xE, dstVecL.bbpE, dstBbpA );
 			dstPtrA->vecArrE[ iL ].yE = bbs_convertS32( dstVecL.yE, dstVecL.bbpE, dstBbpA );
 		}
 	}
 }

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
	/*
	* Copyright (C) 2008 The Android Open Source Project
	*
	* Licensed under the Apache License, Version 2.0 (the "License");
	* you may not use this file except in compliance with the License.
	* You may obtain a copy of the License at
	*
	* http://www.apache.org/licenses/LICENSE-2.0
	*
	* Unless required by applicable law or agreed to in writing, software
	* distributed under the License is distributed on an "AS IS" BASIS,
	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	* See the License for the specific language governing permissions and
	* limitations under the License.
	*/

	/* ---- includes ----------------------------------------------------------- */

	#include "b_TensorEm/RBFMap2D.h"
	#include "b_BasicEm/Math.h"
	#include "b_BasicEm/Memory.h"
	#include "b_BasicEm/Functions.h"

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ auxiliary functions } ---------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ constructor / destructor } ----------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	void bts_RBFMap2D_init( struct bbs_Context* cpA,
	struct bts_RBFMap2D* ptrA )
	{
	ptrA->RBFTypeE = bts_RBF_LINEAR;
	bts_Cluster2D_init( cpA, &ptrA->srcClusterE );
	bts_Cluster2D_init( cpA, &ptrA->rbfCoeffClusterE );
	ptrA->altTypeE = bts_ALT_LINEAR;
	bts_Flt16Alt2D_init( &ptrA->altE );

	ptrA->altOnlyE = FALSE;

	bts_Int32Mat_init( cpA, &ptrA->matE );
	bts_Int32Mat_init( cpA, &ptrA->tempMatE );
	bbs_Int32Arr_init( cpA, &ptrA->inVecE );
	bbs_Int32Arr_init( cpA, &ptrA->outVecE );
	bbs_Int32Arr_init( cpA, &ptrA->tempVecE );
	}

	/* ------------------------------------------------------------------------- */

	void bts_RBFMap2D_exit( struct bbs_Context* cpA,
	struct bts_RBFMap2D* ptrA )
	{
	ptrA->RBFTypeE = bts_RBF_LINEAR;
	bts_Cluster2D_exit( cpA, &ptrA->srcClusterE );
	bts_Cluster2D_exit( cpA, &ptrA->rbfCoeffClusterE );
	ptrA->altTypeE = bts_ALT_LINEAR;
	bts_Flt16Alt2D_exit( &ptrA->altE );

	ptrA->altOnlyE = FALSE;

	bts_Int32Mat_exit( cpA, &ptrA->matE );
	bts_Int32Mat_exit( cpA, &ptrA->tempMatE );
	bbs_Int32Arr_exit( cpA, &ptrA->inVecE );
	bbs_Int32Arr_exit( cpA, &ptrA->outVecE );
	bbs_Int32Arr_exit( cpA, &ptrA->tempVecE );
	}

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ operators } -------------------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	void bts_RBFMap2D_copy( struct bbs_Context* cpA,
	struct bts_RBFMap2D* ptrA,
	const struct bts_RBFMap2D* srcPtrA )
	{
	ptrA->RBFTypeE = srcPtrA->RBFTypeE;
	bts_Cluster2D_copy( cpA, &ptrA->srcClusterE, &srcPtrA->srcClusterE );
	bts_Cluster2D_copy( cpA, &ptrA->rbfCoeffClusterE, &srcPtrA->rbfCoeffClusterE );
	ptrA->altTypeE = srcPtrA->altTypeE;
	bts_Flt16Alt2D_copy( &ptrA->altE, &srcPtrA->altE );
	}

	/* ------------------------------------------------------------------------- */

	flag bts_RBFMap2D_equal( struct bbs_Context* cpA,
	const struct bts_RBFMap2D* ptrA,
	const struct bts_RBFMap2D* srcPtrA )
	{
	if( ptrA->RBFTypeE != srcPtrA->RBFTypeE ) return FALSE;
	if( ! bts_Cluster2D_equal( cpA, &ptrA->srcClusterE, &srcPtrA->srcClusterE ) ) return FALSE;
	if( ! bts_Cluster2D_equal( cpA, &ptrA->rbfCoeffClusterE, &srcPtrA->rbfCoeffClusterE ) ) return FALSE;
	if( ptrA->altTypeE != srcPtrA->altTypeE ) return FALSE;
	if( ! bts_Flt16Alt2D_equal( &ptrA->altE, &srcPtrA->altE ) ) return FALSE;
	return TRUE;
	}

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ query functions } -------------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ modify functions } ------------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	void bts_RBFMap2D_create( struct bbs_Context* cpA,
	struct bts_RBFMap2D* ptrA,
	uint32 sizeA,
	struct bbs_MemSeg* mspA )
	{
	if( bbs_Context_error( cpA ) ) return;
	bts_Cluster2D_create( cpA, &ptrA->srcClusterE, sizeA, mspA );
	bts_Cluster2D_create( cpA, &ptrA->rbfCoeffClusterE, sizeA, mspA );

	bts_Int32Mat_create( cpA, &ptrA->matE, sizeA, mspA );
	bts_Int32Mat_create( cpA, &ptrA->tempMatE, sizeA, mspA );
	bbs_Int32Arr_create( cpA, &ptrA->inVecE, sizeA, mspA );
	bbs_Int32Arr_create( cpA, &ptrA->outVecE, sizeA, mspA );
	bbs_Int32Arr_create( cpA, &ptrA->tempVecE, sizeA, mspA );
	}

	/* ------------------------------------------------------------------------- */

	void bts_RBFMap2D_compute( struct bbs_Context* cpA,
	struct bts_RBFMap2D* ptrA,
	const struct bts_Cluster2D* srcPtrA,
	const struct bts_Cluster2D* dstPtrA )
	{
	const uint32 sizeL = srcPtrA->sizeE;
	int32 bbp_internalL = 15;
	int32 bbp_rbfCoeffL = 12;

	int32 internalShiftL = bbp_internalL - srcPtrA->bbpE;
	int32 rbfCoeffShiftL;

	uint32 iL, jL;

	if( dstPtrA->sizeE != srcPtrA->sizeE )
	{
	bbs_ERROR2( "void bts_RBFMap2D_compute( ... ): size mismatch, src cluster has size %d,"
	"but dst cluster has size %d\n", srcPtrA->sizeE, dstPtrA->sizeE );
	return;
	}

	ptrA->altOnlyE = FALSE;

	/* if bbp of src cluster should be larger than bbp_internal, use it instead */
	if( internalShiftL < 0 )
	{
	internalShiftL = 0;
	bbp_internalL = srcPtrA->bbpE;
	}

	/* also checks for sizeL > allocated size */
	bts_Cluster2D_size( cpA, &ptrA->rbfCoeffClusterE, sizeL );

	/* set rbf coefficients to 0 in case they don't get computed */
	for( iL =0; iL < sizeL; iL++ )
	{
	ptrA->rbfCoeffClusterE.vecArrE[ iL ].xE = 0;
	ptrA->rbfCoeffClusterE.vecArrE[ iL ].yE = 0;
	}

	/* 1. Compute rigid transformation: if cluster size == 0 returns identity */
	ptrA->altE = bts_Cluster2D_alt( cpA, srcPtrA, dstPtrA, ptrA->altTypeE );

	/* if cluster size is less than 3 affine trafo covers whole transformation */
	if( sizeL < 3 )
	{
	bts_Cluster2D_copy( cpA, &ptrA->srcClusterE, srcPtrA );
	ptrA->altOnlyE = TRUE;
	return;
	}

	/* 2. Compute RBF trafo */
	ptrA->matE.widthE = sizeL;
	ptrA->tempMatE.widthE = sizeL;

	/* Set up linear matrix to invert */
	switch( ptrA->RBFTypeE )
	{
	case bts_RBF_IDENTITY:
	{
	return;
	}

	case bts_RBF_LINEAR:
	{
	/* \|\|r\|\| */
	for( iL = 0; iL < sizeL; iL++ )
	{
	struct bts_Int16Vec2D vec0L = srcPtrA->vecArrE[ iL ];
	int32* ptrL = ptrA->matE.arrE.arrPtrE + iL * sizeL;

	/* set diagonal elements having null distance */
	*( ptrL + iL ) = 0;

	for( jL = 0; jL < iL; jL++ ) /* use symmetry */
	{
	int32 normL = 0;
	struct bts_Int16Vec2D vecL = srcPtrA->vecArrE[ jL ];
	vecL.xE -= vec0L.xE;
	vecL.yE -= vec0L.yE;
	normL = bts_Int16Vec2D_norm( &vecL );
	*ptrL++ = normL << internalShiftL;
	}
	}
	}
	break;

	/* Add a new RBF type here */

	default:
	{
	bbs_ERROR1( "void bts_RBFMap2D_compute( ... ): RBFType %d is not handled\n", ptrA->RBFTypeE );
	return;
	}
	}

	/* use symmetry: set symmetric elements in matrix */
	for( iL = 0; iL < sizeL; iL++ )
	{
	int32* basePtrL = ptrA->matE.arrE.arrPtrE;
	uint32 jL;
	for( jL = iL + 1; jL < sizeL; jL++ )
	{
	( basePtrL + iL sizeL + jL ) = ( basePtrL + jL sizeL + iL );
	}
	}

	/* Precompute alt transformed cluster, srcClusterE will be restored at the end */
	bts_Cluster2D_copy( cpA, &ptrA->srcClusterE, srcPtrA );
	bts_Cluster2D_transformBbp( cpA, &ptrA->srcClusterE, ptrA->altE, dstPtrA->bbpE );

	bbs_Int32Arr_size( cpA, &ptrA->inVecE, sizeL );
	bbs_Int32Arr_size( cpA, &ptrA->outVecE, sizeL );
	bbs_Int32Arr_size( cpA, &ptrA->tempVecE, sizeL );

	{
	flag successL;

	/* compute right side vector of linear system to be solved, for x */
	int32* inPtrL = ptrA->inVecE.arrPtrE;
	struct bts_Int16Vec2D* dstVecL = dstPtrA->vecArrE;
	struct bts_Int16Vec2D* altVecL = ptrA->srcClusterE.vecArrE;

	int32 shiftL = srcPtrA->bbpE - ptrA->srcClusterE.bbpE + internalShiftL;
	if( shiftL >= 0 )
	{
	for( iL = 0; iL < sizeL; iL++ ) inPtrL[ iL ] = ( int32 )( dstVecL[ iL ].xE - altVecL[ iL ].xE ) << shiftL;
	}
	else
	{
	for( iL = 0; iL < sizeL; iL++ ) inPtrL[ iL ] = ( ( ( int32 )( dstVecL[ iL ].xE - altVecL[ iL ].xE ) >> ( ( -shiftL ) - 1 ) ) + 1 ) >> 1;
	}

	/* solve linear system in x */
	successL = bts_Int32Mat_solve( cpA,
	ptrA->matE.arrE.arrPtrE,
	sizeL,
	ptrA->inVecE.arrPtrE,
	ptrA->outVecE.arrPtrE,
	bbp_internalL,
	ptrA->tempMatE.arrE.arrPtrE,
	ptrA->tempVecE.arrPtrE );

	/* no error condition here! system must be failsafe */
	if( !successL ) ptrA->altOnlyE = TRUE;

	/* store rbf coefficients, x component */
	rbfCoeffShiftL = bbp_internalL - bbp_rbfCoeffL;
	for( iL = 0; iL < sizeL; iL++ )
	{
	int32 rbfCoeffL = ptrA->outVecE.arrPtrE[ iL ] >> rbfCoeffShiftL;
	if( rbfCoeffL < -32768 \|\| rbfCoeffL > 32767 ) ptrA->altOnlyE = TRUE; /* check for overflow */
	ptrA->rbfCoeffClusterE.vecArrE[ iL ].xE = rbfCoeffL;
	}


	/* compute right side vector of linear system to be solved, for y */
	if( shiftL >= 0 )
	{
	for( iL = 0; iL < sizeL; iL++ ) inPtrL[ iL ] = ( int32 )( dstVecL[ iL ].yE - altVecL[ iL ].yE ) << shiftL;
	}
	else
	{
	for( iL = 0; iL < sizeL; iL++ ) inPtrL[ iL ] = ( ( ( int32 )( dstVecL[ iL ].yE - altVecL[ iL ].yE ) >> ( ( -shiftL ) - 1 ) ) + 1 ) >> 1;
	}

	/* solve linear system in y */
	successL = bts_Int32Mat_solve( cpA,
	ptrA->matE.arrE.arrPtrE,
	sizeL,
	ptrA->inVecE.arrPtrE,
	ptrA->outVecE.arrPtrE,
	bbp_internalL,
	ptrA->tempMatE.arrE.arrPtrE,
	ptrA->tempVecE.arrPtrE );
	if( !successL )
	{
	/* no error condition here! system must be failsafe */
	ptrA->altOnlyE = TRUE;
	}

	/* store rbf coefficients, y component */
	for( iL = 0; iL < sizeL; iL++ )
	{
	int32 rbfCoeffL = ptrA->outVecE.arrPtrE[ iL ] >> rbfCoeffShiftL;
	if( rbfCoeffL < -32768 \|\| rbfCoeffL > 32767 ) ptrA->altOnlyE = TRUE; /* check for overflow */
	ptrA->rbfCoeffClusterE.vecArrE[ iL ].yE = rbfCoeffL;
	}

	/* set bbp of coeff cluster */
	ptrA->rbfCoeffClusterE.bbpE = bbp_rbfCoeffL;
	}

	/** after having used srcClusterE for temporary storage of the alt src cluster,
	restore the orig src cluster as needed for the RBF trafo */
	bts_Cluster2D_copy( cpA, &ptrA->srcClusterE, srcPtrA );
	}

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ I/O } -------------------------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	uint32 bts_RBFMap2D_memSize( struct bbs_Context* cpA,
	const struct bts_RBFMap2D *ptrA )
	{
	return bbs_SIZEOF16( uint32 )
	+ bbs_SIZEOF16( uint32 ) /* version */
	+ bbs_SIZEOF16( ptrA->RBFTypeE )
	+ bts_Cluster2D_memSize( cpA, &ptrA->srcClusterE )
	+ bts_Cluster2D_memSize( cpA, &ptrA->rbfCoeffClusterE )
	+ bbs_SIZEOF16( ptrA->altTypeE )
	+ bts_Flt16Alt2D_memSize( cpA, &ptrA->altE );
	}

	/* ------------------------------------------------------------------------- */

	uint32 bts_RBFMap2D_memWrite( struct bbs_Context* cpA,
	const struct bts_RBFMap2D* ptrA,
	uint16* memPtrA )
	{
	uint32 memSizeL = bts_RBFMap2D_memSize( cpA, ptrA );
	memPtrA += bbs_memWrite32( &memSizeL, memPtrA );
	memPtrA += bbs_memWriteUInt32( bts_IRBFMAP2D_VERSION, memPtrA );
	memPtrA += bbs_memWrite32( &ptrA->RBFTypeE, memPtrA );
	memPtrA += bts_Cluster2D_memWrite( cpA, &ptrA->srcClusterE, memPtrA );
	memPtrA += bts_Cluster2D_memWrite( cpA, &ptrA->rbfCoeffClusterE, memPtrA );
	memPtrA += bbs_memWrite32( &ptrA->altTypeE, memPtrA );
	memPtrA += bts_Flt16Alt2D_memWrite( cpA, &ptrA->altE, memPtrA );
	return memSizeL;
	}

	/* ------------------------------------------------------------------------- */

	uint32 bts_RBFMap2D_memRead( struct bbs_Context* cpA,
	struct bts_RBFMap2D* ptrA,
	const uint16* memPtrA,
	struct bbs_MemSeg* mspA )
	{
	uint32 memSizeL, versionL;
	if( bbs_Context_error( cpA ) ) return 0;
	memPtrA += bbs_memRead32( &memSizeL, memPtrA );
	memPtrA += bbs_memReadVersion32( cpA, &versionL, bts_IRBFMAP2D_VERSION, memPtrA );
	memPtrA += bbs_memRead32( &ptrA->RBFTypeE, memPtrA );
	memPtrA += bts_Cluster2D_memRead( cpA, &ptrA->srcClusterE, memPtrA, mspA );
	memPtrA += bts_Cluster2D_memRead( cpA, &ptrA->rbfCoeffClusterE, memPtrA, mspA );
	memPtrA += bbs_memRead32( &ptrA->altTypeE, memPtrA );
	memPtrA += bts_Flt16Alt2D_memRead( cpA, &ptrA->altE, memPtrA );

	bts_Int32Mat_create( cpA, &ptrA->matE, ptrA->srcClusterE.sizeE, mspA );
	bts_Int32Mat_create( cpA, &ptrA->tempMatE, ptrA->srcClusterE.sizeE, mspA );

	if( memSizeL != bts_RBFMap2D_memSize( cpA, ptrA ) )
	{
	bbs_ERR0( bbs_ERR_CORRUPT_DATA, "uint32 bts_RBFMap2D_memRead( ... ): size mismatch\n" );
	return 0;
	}
	return memSizeL;
	}

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ exec functions } --------------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */
	/** R, A are rbf and A affine linear transformations
	* T( x ) = R( x ) + A( x )
	*/
	struct bts_Flt16Vec2D bts_RBFMap2D_mapVector( struct bbs_Context* cpA,
	const struct bts_RBFMap2D* ptrA,
	struct bts_Flt16Vec2D vecA )
	{
	const uint32 sizeL = ptrA->srcClusterE.sizeE;
	const int32 bbp_internalL = ptrA->rbfCoeffClusterE.bbpE;
	uint32 iL;
	int32 shL;

	int32 outXL;
	int32 outYL;
	int32 outBbpL;

	/* 1. Compute rigid transformation, i.e. A( x ) */
	struct bts_Flt16Vec2D altVecL = bts_Flt16Alt2D_mapFlt( &ptrA->altE, &vecA );

	/* compute output on 32 bit here to prevent temporary overflows (j.s.) */
	outXL = altVecL.xE;
	outYL = altVecL.yE;
	outBbpL = altVecL.bbpE;

	/* if bbp was altered, change it back to bbp of vecA ( det A is always close to 1 here ) */
	shL = vecA.bbpE - outBbpL;
	if( shL > 0 )
	{
	outXL <<= shL;
	outYL <<= shL;
	}
	else if( shL < 0 )
	{
	outXL = ( ( outXL >> ( -shL - 1 ) ) + 1 ) >> 1;
	outYL = ( ( outYL >> ( -shL - 1 ) ) + 1 ) >> 1;
	}
	outBbpL = vecA.bbpE;

	/* stop here if rbf coefficients could not be computed */
	if( ptrA->altOnlyE )
	{
	return bts_Flt16Vec2D_create32( outXL, outYL, outBbpL );
	}

	/* 2. Compute RBF transformation, i.e. R( x ) depending on type */
	switch( ptrA->RBFTypeE )
	{
	case bts_RBF_IDENTITY:
	break;

	case bts_RBF_LINEAR:
	{
	int32 xSumL = 0;
	int32 ySumL = 0;
	int32 internalShiftL = bbp_internalL - ptrA->srcClusterE.bbpE;

	/* first adapt vecA to bbp of srcCluster */
	int32 xL = vecA.xE;
	int32 yL = vecA.yE;
	int32 shiftL = ptrA->srcClusterE.bbpE - vecA.bbpE;
	if( shiftL > 0 )
	{
	xL <<= shiftL;
	yL <<= shiftL;
	}
	else if( shiftL < 0 )
	{
	xL = ( ( xL >> ( -shiftL - 1 ) ) + 1 ) >> 1;
	yL = ( ( yL >> ( -shiftL - 1 ) ) + 1 ) >> 1;
	}

	shiftL = ptrA->srcClusterE.bbpE;

	for( iL = 0; iL < sizeL; iL++ )
	{
	struct bts_Int16Vec2D vecL = ptrA->srcClusterE.vecArrE[ iL ];
	int32 normL = 0;
	vecL.xE -= xL;
	vecL.yE -= yL;
	normL = bts_Int16Vec2D_norm( &vecL );

	/* printf( "iL = %d, norm = %d\n", iL, normL ); */

	xSumL += ( normL * ptrA->rbfCoeffClusterE.vecArrE[ iL ].xE ) >> shiftL;
	ySumL += ( normL * ptrA->rbfCoeffClusterE.vecArrE[ iL ].yE ) >> shiftL;

	/* printf( "iL = %d, xSumL = %d, ySumL = %d\n", iL, xSumL, ySumL ); */

	}

	xSumL >>= internalShiftL;
	ySumL >>= internalShiftL;

	/* change bbp of result back to bbp of vecA */
	/* shiftL = vecA.bbpE - ptrA->srcClusterE.bbpE - internalShiftL; */
	shiftL = vecA.bbpE - ptrA->srcClusterE.bbpE;
	if( shiftL > 0 )
	{
	xSumL <<= shiftL;
	ySumL <<= shiftL;
	}
	else if( shiftL < 0 )
	{
	xSumL = ( ( xSumL >> ( -shiftL - 1 ) ) + 1 ) >> 1;
	ySumL = ( ( ySumL >> ( -shiftL - 1 ) ) + 1 ) >> 1;
	}

	/* add rbf part to already computed alt part */
	outXL += xSumL;
	outYL += ySumL;
	}
	break;

	/* Add a new RBF type here */

	default:
	{
	bbs_ERROR1( "struct bts_Flt16Vec2D bts_RBFMap2D_mapVector( ... ): "
	"RBFType %d is not handled\n", ptrA->RBFTypeE );
	return bts_Flt16Vec2D_create32( outXL, outYL, outBbpL );
	}
	}

	return bts_Flt16Vec2D_create32( outXL, outYL, outBbpL );
	}

	/* ------------------------------------------------------------------------- */

	void bts_RBFMap2D_mapCluster( struct bbs_Context* cpA,
	const struct bts_RBFMap2D* ptrA,
	const struct bts_Cluster2D* srcPtrA,
	struct bts_Cluster2D* dstPtrA,
	int32 dstBbpA )
	{
	if( dstPtrA->sizeE != srcPtrA->sizeE )
	{
	/* resizing of clusters is allowed as long as allocated size is not exceeded */
	bts_Cluster2D_size( cpA, dstPtrA, srcPtrA->sizeE );
	}

	{
	uint32 iL;
	int16 bbpL = srcPtrA->bbpE;

	dstPtrA->bbpE = dstBbpA;

	for( iL = 0; iL < srcPtrA->sizeE; iL++ )
	{
	struct bts_Int16Vec2D vecL = srcPtrA->vecArrE[ iL ];
	struct bts_Flt16Vec2D srcVecL = bts_Flt16Vec2D_create16( vecL.xE, vecL.yE, bbpL );
	struct bts_Flt16Vec2D dstVecL = bts_RBFMap2D_mapVector( cpA, ptrA, srcVecL );
	dstPtrA->vecArrE[ iL ].xE = bbs_convertS32( dstVecL.xE, dstVecL.bbpE, dstBbpA );
	dstPtrA->vecArrE[ iL ].yE = bbs_convertS32( dstVecL.yE, dstVecL.bbpE, dstBbpA );
	}
	}
	}

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */