Se3_Dx_exp_x.cpp File Reference

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Variables
const Scalar	c0 = pow(omega[0], 2)
const Scalar	c1 = pow(omega[1], 2)
const Scalar	c10 = c7*c9
const Scalar	c11 = 1.0/c3
const Scalar	c12 = 0.5*c11*cos(c6)
const Scalar	c13 = c10*omega[0]
const Scalar	c14 = omega[0]*omega[1]
const Scalar	c15 = c12*c14 - c13*omega[1]
const Scalar	c16 = omega[0]*omega[2]
const Scalar	c17 = c12*c16 - c13*omega[2]
const Scalar	c18 = omega[1]*omega[2]
const Scalar	c19 = -c10*c18 + c12*c18
const Scalar	c2 = pow(omega[2], 2)
const Scalar	c20 = 0.5*c8
const Scalar	c21 = sin(c4)
const Scalar	c22 = -c21 + c4
const Scalar	c23 = -c1
const Scalar	c24 = -c2
const Scalar	c25 = c23 + c24
const Scalar	c26 = c25*c9
const Scalar	c27 = cos(c4)
const Scalar	c28 = 1 - c27
const Scalar	c29 = c11*c28
const Scalar	c3 = c0 + c1 + c2
const Scalar	c30 = c29*omega[2]
const Scalar	c31 = c22*c9
const Scalar	c32 = c31*omega[1]
const Scalar	c33 = c32*omega[0]
const Scalar	c34 = c29*omega[1]
const Scalar	c35 = c31*omega[2]
const Scalar	c36 = c35*omega[0]
const Scalar	c37 = 3*c22/pow(c3, 5.0/2.0)
const Scalar	c38 = c25*c37
const Scalar	c39 = c5*omega[0]
const Scalar	c4 = sqrt(c3)
const Scalar	c40 = -c27*c39 + c39
const Scalar	c41 = c40*c9
const Scalar	c42 = c0*c37
const Scalar	c43 = c16*c41 + c35 - c42*omega[2]
const Scalar	c44 = c21*c9
const Scalar	c45 = c14*c44
const Scalar	c46 = 2*c28/pow(c3, 2)
const Scalar	c47 = c14*c46
const Scalar	c48 = c45 - c47
const Scalar	c49 = c14*c41 + c32 - c42*omega[1]
const Scalar	c5 = 1.0/c4
const Scalar	c50 = c16*c44
const Scalar	c51 = c16*c46
const Scalar	c52 = -c50 + c51
const Scalar	c53 = -2*c32
const Scalar	c54 = c5*omega[1]
const Scalar	c55 = -c27*c54 + c54
const Scalar	c56 = c1*c44
const Scalar	c57 = c1*c46
const Scalar	c58 = c55*c9
const Scalar	c59 = c16*c58
const Scalar	c6 = 0.5*c4
const Scalar	c60 = c37*omega[0]
const Scalar	c61 = -c18*c60
const Scalar	c62 = c29 + c61
const Scalar	c63 = c31*omega[0]
const Scalar	c64 = -c1*c60 + c14*c58 + c63
const Scalar	c65 = c18*c44
const Scalar	c66 = c18*c46
const Scalar	c67 = -c65 + c66
const Scalar	c68 = -2*c35
const Scalar	c69 = c5*omega[2]
const Scalar	c7 = sin(c6)
const Scalar	c70 = -c27*c69 + c69
const Scalar	c71 = c2*c44
const Scalar	c72 = c2*c46
const Scalar	c73 = c70*c9
const Scalar	c74 = c14*c73
const Scalar	c75 = -c29 + c61
const Scalar	c76 = c65 - c66
const Scalar	c77 = c16*c73 - c2*c60 + c63
const Scalar	c78 = -c0
const Scalar	c79 = c24 + c78
const Scalar	c8 = c5*c7
const Scalar	c80 = c29*omega[0]
const Scalar	c81 = c32*omega[2]
const Scalar	c82 = -2*c63
const Scalar	c83 = c79*c9
const Scalar	c84 = c0*c44
const Scalar	c85 = c0*c46
const Scalar	c86 = c18*c41
const Scalar	c87 = c50 - c51
const Scalar	c88 = c37*c79
const Scalar	c89 = -c45 + c47
const Scalar	c9 = pow(c3, -3.0/2.0)
const Scalar	c90 = c37*omega[2]
const Scalar	c91 = -c1*c90 + c18*c58 + c35
const Scalar	c92 = c37*omega[1]
const Scalar	c93 = c18*c73 - c2*c92 + c32
const Scalar	c94 = c23 + c78
const Scalar	c95 = c9*c94
	result [0] = 0

Variable Documentation

c0

const Scalar c0 = pow(omega[0], 2)

Definition at line 1 of file Se3_Dx_exp_x.cpp.

c1

const Scalar c1 = pow(omega[1], 2)

Definition at line 2 of file Se3_Dx_exp_x.cpp.

c10

const Scalar c10 = c7*c9

Definition at line 11 of file Se3_Dx_exp_x.cpp.

c11

const Scalar c11 = 1.0/c3

Definition at line 12 of file Se3_Dx_exp_x.cpp.

c12

const Scalar c12 = 0.5*c11*cos(c6)

Definition at line 13 of file Se3_Dx_exp_x.cpp.

c13

const Scalar c13 = c10*omega[0]

Definition at line 14 of file Se3_Dx_exp_x.cpp.

c14

const Scalar c14 = omega[0]*omega[1]

Definition at line 15 of file Se3_Dx_exp_x.cpp.

c15

const Scalar c15 = c12*c14 - c13*omega[1]

Definition at line 16 of file Se3_Dx_exp_x.cpp.

c16

const Scalar c16 = omega[0]*omega[2]

Definition at line 17 of file Se3_Dx_exp_x.cpp.

c17

const Scalar c17 = c12*c16 - c13*omega[2]

Definition at line 18 of file Se3_Dx_exp_x.cpp.

c18

const Scalar c18 = omega[1]*omega[2]

Definition at line 19 of file Se3_Dx_exp_x.cpp.

c19

const Scalar c19 = -c10*c18 + c12*c18

Definition at line 20 of file Se3_Dx_exp_x.cpp.

c2

const Scalar c2 = pow(omega[2], 2)

Definition at line 3 of file Se3_Dx_exp_x.cpp.

c20

const Scalar c20 = 0.5*c8

Definition at line 21 of file Se3_Dx_exp_x.cpp.

c21

const Scalar c21 = sin(c4)

Definition at line 22 of file Se3_Dx_exp_x.cpp.

c22

const Scalar c22 = -c21 + c4

Definition at line 23 of file Se3_Dx_exp_x.cpp.

c23

const Scalar c23 = -c1

Definition at line 24 of file Se3_Dx_exp_x.cpp.

c24

const Scalar c24 = -c2

Definition at line 25 of file Se3_Dx_exp_x.cpp.

c25

const Scalar c25 = c23 + c24

Definition at line 26 of file Se3_Dx_exp_x.cpp.

c26

const Scalar c26 = c25*c9

Definition at line 27 of file Se3_Dx_exp_x.cpp.

c27

const Scalar c27 = cos(c4)

Definition at line 28 of file Se3_Dx_exp_x.cpp.

c28

const Scalar c28 = 1 - c27

Definition at line 29 of file Se3_Dx_exp_x.cpp.

c29

const Scalar c29 = c11*c28

Definition at line 30 of file Se3_Dx_exp_x.cpp.

c3

const Scalar c3 = c0 + c1 + c2

Definition at line 4 of file Se3_Dx_exp_x.cpp.

c30

const Scalar c30 = c29*omega[2]

Definition at line 31 of file Se3_Dx_exp_x.cpp.

c31

const Scalar c31 = c22*c9

Definition at line 32 of file Se3_Dx_exp_x.cpp.

c32

const Scalar c32 = c31*omega[1]

Definition at line 33 of file Se3_Dx_exp_x.cpp.

c33

const Scalar c33 = c32*omega[0]

Definition at line 34 of file Se3_Dx_exp_x.cpp.

c34

const Scalar c34 = c29*omega[1]

Definition at line 35 of file Se3_Dx_exp_x.cpp.

c35

const Scalar c35 = c31*omega[2]

Definition at line 36 of file Se3_Dx_exp_x.cpp.

c36

const Scalar c36 = c35*omega[0]

Definition at line 37 of file Se3_Dx_exp_x.cpp.

c37

const Scalar c37 = 3*c22/pow(c3, 5.0/2.0)

Definition at line 38 of file Se3_Dx_exp_x.cpp.

c38

const Scalar c38 = c25*c37

Definition at line 39 of file Se3_Dx_exp_x.cpp.

c39

const Scalar c39 = c5*omega[0]

Definition at line 40 of file Se3_Dx_exp_x.cpp.

c4

const Scalar c4 = sqrt(c3)

Definition at line 5 of file Se3_Dx_exp_x.cpp.

c40

const Scalar c40 = -c27*c39 + c39

Definition at line 41 of file Se3_Dx_exp_x.cpp.

c41

const Scalar c41 = c40*c9

Definition at line 42 of file Se3_Dx_exp_x.cpp.

c42

const Scalar c42 = c0*c37

Definition at line 43 of file Se3_Dx_exp_x.cpp.

c43

const Scalar c43 = c16*c41 + c35 - c42*omega[2]

Definition at line 44 of file Se3_Dx_exp_x.cpp.

c44

const Scalar c44 = c21*c9

Definition at line 45 of file Se3_Dx_exp_x.cpp.

c45

const Scalar c45 = c14*c44

Definition at line 46 of file Se3_Dx_exp_x.cpp.

c46

const Scalar c46 = 2*c28/pow(c3, 2)

Definition at line 47 of file Se3_Dx_exp_x.cpp.

c47

const Scalar c47 = c14*c46

Definition at line 48 of file Se3_Dx_exp_x.cpp.

c48

const Scalar c48 = c45 - c47

Definition at line 49 of file Se3_Dx_exp_x.cpp.

c49

const Scalar c49 = c14*c41 + c32 - c42*omega[1]

Definition at line 50 of file Se3_Dx_exp_x.cpp.

c5

const Scalar c5 = 1.0/c4

Definition at line 6 of file Se3_Dx_exp_x.cpp.

c50

const Scalar c50 = c16*c44

Definition at line 51 of file Se3_Dx_exp_x.cpp.

c51

const Scalar c51 = c16*c46

Definition at line 52 of file Se3_Dx_exp_x.cpp.

c52

const Scalar c52 = -c50 + c51

Definition at line 53 of file Se3_Dx_exp_x.cpp.

c53

const Scalar c53 = -2*c32

Definition at line 54 of file Se3_Dx_exp_x.cpp.

c54

const Scalar c54 = c5*omega[1]

Definition at line 55 of file Se3_Dx_exp_x.cpp.

c55

const Scalar c55 = -c27*c54 + c54

Definition at line 56 of file Se3_Dx_exp_x.cpp.

c56

const Scalar c56 = c1*c44

Definition at line 57 of file Se3_Dx_exp_x.cpp.

c57

const Scalar c57 = c1*c46

Definition at line 58 of file Se3_Dx_exp_x.cpp.

c58

const Scalar c58 = c55*c9

Definition at line 59 of file Se3_Dx_exp_x.cpp.

c59

const Scalar c59 = c16*c58

Definition at line 60 of file Se3_Dx_exp_x.cpp.

c6

const Scalar c6 = 0.5*c4

Definition at line 7 of file Se3_Dx_exp_x.cpp.

c60

const Scalar c60 = c37*omega[0]

Definition at line 61 of file Se3_Dx_exp_x.cpp.

c61

const Scalar c61 = -c18*c60

Definition at line 62 of file Se3_Dx_exp_x.cpp.

c62

const Scalar c62 = c29 + c61

Definition at line 63 of file Se3_Dx_exp_x.cpp.

c63

const Scalar c63 = c31*omega[0]

Definition at line 64 of file Se3_Dx_exp_x.cpp.

c64

const Scalar c64 = -c1*c60 + c14*c58 + c63

Definition at line 65 of file Se3_Dx_exp_x.cpp.

c65

const Scalar c65 = c18*c44

Definition at line 66 of file Se3_Dx_exp_x.cpp.

c66

const Scalar c66 = c18*c46

Definition at line 67 of file Se3_Dx_exp_x.cpp.

c67

const Scalar c67 = -c65 + c66

Definition at line 68 of file Se3_Dx_exp_x.cpp.

c68

const Scalar c68 = -2*c35

Definition at line 69 of file Se3_Dx_exp_x.cpp.

c69

const Scalar c69 = c5*omega[2]

Definition at line 70 of file Se3_Dx_exp_x.cpp.

c7

const Scalar c7 = sin(c6)

Definition at line 8 of file Se3_Dx_exp_x.cpp.

c70

const Scalar c70 = -c27*c69 + c69

Definition at line 71 of file Se3_Dx_exp_x.cpp.

c71

const Scalar c71 = c2*c44

Definition at line 72 of file Se3_Dx_exp_x.cpp.

c72

const Scalar c72 = c2*c46

Definition at line 73 of file Se3_Dx_exp_x.cpp.

c73

const Scalar c73 = c70*c9

Definition at line 74 of file Se3_Dx_exp_x.cpp.

c74

const Scalar c74 = c14*c73

Definition at line 75 of file Se3_Dx_exp_x.cpp.

c75

const Scalar c75 = -c29 + c61

Definition at line 76 of file Se3_Dx_exp_x.cpp.

c76

const Scalar c76 = c65 - c66

Definition at line 77 of file Se3_Dx_exp_x.cpp.

c77

const Scalar c77 = c16*c73 - c2*c60 + c63

Definition at line 78 of file Se3_Dx_exp_x.cpp.

c78

const Scalar c78 = -c0

Definition at line 79 of file Se3_Dx_exp_x.cpp.

c79

const Scalar c79 = c24 + c78

Definition at line 80 of file Se3_Dx_exp_x.cpp.

c8

const Scalar c8 = c5*c7

Definition at line 9 of file Se3_Dx_exp_x.cpp.

c80

const Scalar c80 = c29*omega[0]

Definition at line 81 of file Se3_Dx_exp_x.cpp.

c81

const Scalar c81 = c32*omega[2]

Definition at line 82 of file Se3_Dx_exp_x.cpp.

c82

const Scalar c82 = -2*c63

Definition at line 83 of file Se3_Dx_exp_x.cpp.

c83

const Scalar c83 = c79*c9

Definition at line 84 of file Se3_Dx_exp_x.cpp.

c84

const Scalar c84 = c0*c44

Definition at line 85 of file Se3_Dx_exp_x.cpp.

c85

const Scalar c85 = c0*c46

Definition at line 86 of file Se3_Dx_exp_x.cpp.

c86

const Scalar c86 = c18*c41

Definition at line 87 of file Se3_Dx_exp_x.cpp.

c87

const Scalar c87 = c50 - c51

Definition at line 88 of file Se3_Dx_exp_x.cpp.

c88

const Scalar c88 = c37*c79

Definition at line 89 of file Se3_Dx_exp_x.cpp.

c89

const Scalar c89 = -c45 + c47

Definition at line 90 of file Se3_Dx_exp_x.cpp.

c9

const Scalar c9 = pow(c3, -3.0/2.0)

Definition at line 10 of file Se3_Dx_exp_x.cpp.

c90

const Scalar c90 = c37*omega[2]

Definition at line 91 of file Se3_Dx_exp_x.cpp.

c91

const Scalar c91 = -c1*c90 + c18*c58 + c35

Definition at line 92 of file Se3_Dx_exp_x.cpp.

c92

const Scalar c92 = c37*omega[1]

Definition at line 93 of file Se3_Dx_exp_x.cpp.

c93

const Scalar c93 = c18*c73 - c2*c92 + c32

Definition at line 94 of file Se3_Dx_exp_x.cpp.

c94

const Scalar c94 = c23 + c78

Definition at line 95 of file Se3_Dx_exp_x.cpp.

c95

const Scalar c95 = c9*c94

Definition at line 96 of file Se3_Dx_exp_x.cpp.

result

result[41] = 0

Definition at line 97 of file Se3_Dx_exp_x.cpp.