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r.mapcalc -
r.mapcalc performs arithmetic on raster map layers. New map layers can be created which are arithmetic expressions involving existing raster map layers, integer or floating point constants and functions.
The paper 'r.mapcalc: An Algebra for GIS and Image Processing' provides examples of how some spatial filters commonly used in image processing can be built using r.mapcalc.
Manual entry for r.mapcalc