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14 # pragma warning (disable: 4127)
26 T tau1 = hypot(
T(1), tau),
27 sig =
sinh( eatanhe(tau / tau1,
es ) );
28 return hypot(
T(1), sig) * tau - sig * tau1;
32 static const int numit = 5;
34 T e2m =
T(1) - sq(
es),
46 T taupa = taupf(tau,
es),
47 dtau = (taup - taupa) * (1 + e2m * sq(tau)) /
48 ( e2m * hypot(
T(1), tau) * hypot(
T(1), taupa) );
50 if (!(
abs(dtau) >= stol))
EigenSolver< MatrixXf > es
const EIGEN_DEVICE_FUNC AtanReturnType atan() const
Namespace for GeographicLib.
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static T tauf(T taup, T es)
Eigen::Triplet< double > T
#define GEOGRAPHICLIB_PANIC
Header for GeographicLib::Math class.
static T taupf(T tau, T es)
static T eatanhe(T x, T es)
const EIGEN_DEVICE_FUNC SinhReturnType sinh() const
Jet< T, N > sqrt(const Jet< T, N > &f)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:33:33