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update EKF derivation auto-generated code

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This commit is contained in:
bresch
2021-07-09 11:50:12 +02:00
committed by Mathieu Bresciani
parent dccd662dfe
commit 2d8e183aa3
13 changed files with 1988 additions and 1694 deletions
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EKF/python/ekf_derivation/generated/3Dmag_generated.cpp
+262 -167
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@@ -1,37 +1,83 @@
// Axis 0 equations
// Sub Expressions
const float HKX0 = -magD*q2 + magE*q3 + magN*q0;
const float HKX1 = magD*q3 + magE*q2 + magN*q1;
const float HKX2 = magE*q1;
const float HKX3 = magD*q0;
const float HKX4 = magN*q2;
const float HKX5 = magD*q1 + magE*q0 - magN*q3;
const float HKX6 = powf(q0, 2) + powf(q1, 2) - powf(q2, 2) - powf(q3, 2);
const float HKX7 = q0*q3 + q1*q2;
const float HKX8 = q1*q3;
const float HKX9 = q0*q2;
const float HKX10 = 2*HKX7;
const float HKX11 = -2*HKX8 + 2*HKX9;
const float HKX12 = 2*HKX1;
const float HKX13 = 2*HKX0;
const float HKX14 = -2*HKX2 + 2*HKX3 + 2*HKX4;
const float HKX15 = 2*HKX5;
const float HKX16 = HKX10*P(0,17) - HKX11*P(0,18) + HKX12*P(0,1) + HKX13*P(0,0) - HKX14*P(0,2) + HKX15*P(0,3) + HKX6*P(0,16) + P(0,19);
const float HKX17 = HKX10*P(16,17) - HKX11*P(16,18) + HKX12*P(1,16) + HKX13*P(0,16) - HKX14*P(2,16) + HKX15*P(3,16) + HKX6*P(16,16) + P(16,19);
const float HKX18 = HKX10*P(17,18) - HKX11*P(18,18) + HKX12*P(1,18) + HKX13*P(0,18) - HKX14*P(2,18) + HKX15*P(3,18) + HKX6*P(16,18) + P(18,19);
const float HKX19 = HKX10*P(2,17) - HKX11*P(2,18) + HKX12*P(1,2) + HKX13*P(0,2) - HKX14*P(2,2) + HKX15*P(2,3) + HKX6*P(2,16) + P(2,19);
const float HKX20 = HKX10*P(17,17) - HKX11*P(17,18) + HKX12*P(1,17) + HKX13*P(0,17) - HKX14*P(2,17) + HKX15*P(3,17) + HKX6*P(16,17) + P(17,19);
const float HKX21 = HKX10*P(3,17) - HKX11*P(3,18) + HKX12*P(1,3) + HKX13*P(0,3) - HKX14*P(2,3) + HKX15*P(3,3) + HKX6*P(3,16) + P(3,19);
const float HKX22 = HKX10*P(1,17) - HKX11*P(1,18) + HKX12*P(1,1) + HKX13*P(0,1) - HKX14*P(1,2) + HKX15*P(1,3) + HKX6*P(1,16) + P(1,19);
const float HKX23 = HKX10*P(17,19) - HKX11*P(18,19) + HKX12*P(1,19) + HKX13*P(0,19) - HKX14*P(2,19) + HKX15*P(3,19) + HKX6*P(16,19) + P(19,19);
const float HKX24 = 1.0F/(HKX10*HKX20 - HKX11*HKX18 + HKX12*HKX22 + HKX13*HKX16 - HKX14*HKX19 + HKX15*HKX21 + HKX17*HKX6 + HKX23 + R_MAG);
const float HKX0 = magE*q3;
const float HKX1 = magD*q2;
const float HKX2 = magD*q3 + magE*q2;
const float HKX3 = magE*q1;
const float HKX4 = magD*q0;
const float HKX5 = 2*magN;
const float HKX6 = HKX5*q2;
const float HKX7 = -HKX5*q3 + magD*q1 + magE*q0;
const float HKX8 = 2*powf(q2, 2);
const float HKX9 = 2*powf(q3, 2);
const float HKX10 = q0*q3 + q1*q2;
const float HKX11 = q1*q3;
const float HKX12 = q0*q2;
const float HKX13 = 2*HKX2;
const float HKX14 = HKX13*P(0,1);
const float HKX15 = 2*HKX10;
const float HKX16 = HKX15*P(0,17);
const float HKX17 = -2*HKX0 + 2*HKX1;
const float HKX18 = HKX17*P(0,0);
const float HKX19 = -2*HKX11 + 2*HKX12;
const float HKX20 = HKX19*P(0,18);
const float HKX21 = HKX8 + HKX9 - 1;
const float HKX22 = HKX21*P(0,16);
const float HKX23 = 2*HKX7;
const float HKX24 = HKX23*P(0,3);
const float HKX25 = -2*HKX3 + 2*HKX4 + 2*HKX6;
const float HKX26 = HKX25*P(0,2);
const float HKX27 = HKX13*P(1,16);
const float HKX28 = HKX15*P(16,17);
const float HKX29 = HKX17*P(0,16);
const float HKX30 = HKX19*P(16,18);
const float HKX31 = HKX23*P(3,16);
const float HKX32 = HKX21*P(16,16);
const float HKX33 = HKX25*P(2,16);
const float HKX34 = HKX13*P(1,1);
const float HKX35 = HKX15*P(1,17);
const float HKX36 = HKX17*P(0,1);
const float HKX37 = HKX19*P(1,18);
const float HKX38 = HKX23*P(1,3);
const float HKX39 = HKX21*P(1,16);
const float HKX40 = HKX25*P(1,2);
const float HKX41 = HKX13*P(1,17);
const float HKX42 = HKX15*P(17,17);
const float HKX43 = HKX17*P(0,17);
const float HKX44 = HKX19*P(17,18);
const float HKX45 = HKX23*P(3,17);
const float HKX46 = HKX21*P(16,17);
const float HKX47 = HKX25*P(2,17);
const float HKX48 = HKX13*P(1,3);
const float HKX49 = HKX15*P(3,17);
const float HKX50 = HKX17*P(0,3);
const float HKX51 = HKX19*P(3,18);
const float HKX52 = HKX23*P(3,3);
const float HKX53 = HKX25*P(2,3);
const float HKX54 = HKX21*P(3,16);
const float HKX55 = HKX13*P(1,18);
const float HKX56 = HKX15*P(17,18);
const float HKX57 = HKX17*P(0,18);
const float HKX58 = HKX19*P(18,18);
const float HKX59 = HKX23*P(3,18);
const float HKX60 = HKX21*P(16,18);
const float HKX61 = HKX25*P(2,18);
const float HKX62 = HKX13*P(1,2);
const float HKX63 = HKX15*P(2,17);
const float HKX64 = HKX17*P(0,2);
const float HKX65 = HKX19*P(2,18);
const float HKX66 = HKX23*P(2,3);
const float HKX67 = HKX21*P(2,16);
const float HKX68 = HKX25*P(2,2);
const float HKX69 = -HKX13*P(1,19) - HKX15*P(17,19) + HKX17*P(0,19) + HKX19*P(18,19) + HKX21*P(16,19) - HKX23*P(3,19) + HKX25*P(2,19) - P(19,19);
const float HKX70 = 1.0F/(-HKX13*(HKX34 + HKX35 - HKX36 - HKX37 + HKX38 - HKX39 - HKX40 + P(1,19)) - HKX15*(HKX41 + HKX42 - HKX43 - HKX44 + HKX45 - HKX46 - HKX47 + P(17,19)) + HKX17*(HKX14 + HKX16 - HKX18 - HKX20 - HKX22 + HKX24 - HKX26 + P(0,19)) + HKX19*(HKX55 + HKX56 - HKX57 - HKX58 + HKX59 - HKX60 - HKX61 + P(18,19)) + HKX21*(HKX27 + HKX28 - HKX29 - HKX30 + HKX31 - HKX32 - HKX33 + P(16,19)) - HKX23*(HKX48 + HKX49 - HKX50 - HKX51 + HKX52 - HKX53 - HKX54 + P(3,19)) + HKX25*(HKX62 + HKX63 - HKX64 - HKX65 + HKX66 - HKX67 - HKX68 + P(2,19)) + HKX69 - R_MAG);
// Observation Jacobians
Hfusion.at<0>() = 2*HKX0;
Hfusion.at<1>() = 2*HKX1;
Hfusion.at<2>() = 2*HKX2 - 2*HKX3 - 2*HKX4;
Hfusion.at<3>() = 2*HKX5;
Hfusion.at<0>() = 2*HKX0 - 2*HKX1;
Hfusion.at<1>() = 2*HKX2;
Hfusion.at<2>() = 2*HKX3 - 2*HKX4 - 2*HKX6;
Hfusion.at<3>() = 2*HKX7;
Hfusion.at<4>() = 0;
Hfusion.at<5>() = 0;
Hfusion.at<6>() = 0;
@@ -44,9 +90,9 @@ Hfusion.at<12>() = 0;
Hfusion.at<13>() = 0;
Hfusion.at<14>() = 0;
Hfusion.at<15>() = 0;
Hfusion.at<16>() = HKX6;
Hfusion.at<17>() = 2*HKX7;
Hfusion.at<18>() = 2*HKX8 - 2*HKX9;
Hfusion.at<16>() = -HKX8 - HKX9 + 1;
Hfusion.at<17>() = 2*HKX10;
Hfusion.at<18>() = 2*HKX11 - 2*HKX12;
Hfusion.at<19>() = 1;
Hfusion.at<20>() = 0;
Hfusion.at<21>() = 0;
@@ -55,66 +101,69 @@ Hfusion.at<23>() = 0;
// Kalman gains
Kfusion(0) = HKX16*HKX24;
Kfusion(1) = HKX22*HKX24;
Kfusion(2) = HKX19*HKX24;
Kfusion(3) = HKX21*HKX24;
Kfusion(4) = HKX24*(HKX10*P(4,17) - HKX11*P(4,18) + HKX12*P(1,4) + HKX13*P(0,4) - HKX14*P(2,4) + HKX15*P(3,4) + HKX6*P(4,16) + P(4,19));
Kfusion(5) = HKX24*(HKX10*P(5,17) - HKX11*P(5,18) + HKX12*P(1,5) + HKX13*P(0,5) - HKX14*P(2,5) + HKX15*P(3,5) + HKX6*P(5,16) + P(5,19));
Kfusion(6) = HKX24*(HKX10*P(6,17) - HKX11*P(6,18) + HKX12*P(1,6) + HKX13*P(0,6) - HKX14*P(2,6) + HKX15*P(3,6) + HKX6*P(6,16) + P(6,19));
Kfusion(7) = HKX24*(HKX10*P(7,17) - HKX11*P(7,18) + HKX12*P(1,7) + HKX13*P(0,7) - HKX14*P(2,7) + HKX15*P(3,7) + HKX6*P(7,16) + P(7,19));
Kfusion(8) = HKX24*(HKX10*P(8,17) - HKX11*P(8,18) + HKX12*P(1,8) + HKX13*P(0,8) - HKX14*P(2,8) + HKX15*P(3,8) + HKX6*P(8,16) + P(8,19));
Kfusion(9) = HKX24*(HKX10*P(9,17) - HKX11*P(9,18) + HKX12*P(1,9) + HKX13*P(0,9) - HKX14*P(2,9) + HKX15*P(3,9) + HKX6*P(9,16) + P(9,19));
Kfusion(10) = HKX24*(HKX10*P(10,17) - HKX11*P(10,18) + HKX12*P(1,10) + HKX13*P(0,10) - HKX14*P(2,10) + HKX15*P(3,10) + HKX6*P(10,16) + P(10,19));
Kfusion(11) = HKX24*(HKX10*P(11,17) - HKX11*P(11,18) + HKX12*P(1,11) + HKX13*P(0,11) - HKX14*P(2,11) + HKX15*P(3,11) + HKX6*P(11,16) + P(11,19));
Kfusion(12) = HKX24*(HKX10*P(12,17) - HKX11*P(12,18) + HKX12*P(1,12) + HKX13*P(0,12) - HKX14*P(2,12) + HKX15*P(3,12) + HKX6*P(12,16) + P(12,19));
Kfusion(13) = HKX24*(HKX10*P(13,17) - HKX11*P(13,18) + HKX12*P(1,13) + HKX13*P(0,13) - HKX14*P(2,13) + HKX15*P(3,13) + HKX6*P(13,16) + P(13,19));
Kfusion(14) = HKX24*(HKX10*P(14,17) - HKX11*P(14,18) + HKX12*P(1,14) + HKX13*P(0,14) - HKX14*P(2,14) + HKX15*P(3,14) + HKX6*P(14,16) + P(14,19));
Kfusion(15) = HKX24*(HKX10*P(15,17) - HKX11*P(15,18) + HKX12*P(1,15) + HKX13*P(0,15) - HKX14*P(2,15) + HKX15*P(3,15) + HKX6*P(15,16) + P(15,19));
Kfusion(16) = HKX17*HKX24;
Kfusion(17) = HKX20*HKX24;
Kfusion(18) = HKX18*HKX24;
Kfusion(19) = HKX23*HKX24;
Kfusion(20) = HKX24*(HKX10*P(17,20) - HKX11*P(18,20) + HKX12*P(1,20) + HKX13*P(0,20) - HKX14*P(2,20) + HKX15*P(3,20) + HKX6*P(16,20) + P(19,20));
Kfusion(21) = HKX24*(HKX10*P(17,21) - HKX11*P(18,21) + HKX12*P(1,21) + HKX13*P(0,21) - HKX14*P(2,21) + HKX15*P(3,21) + HKX6*P(16,21) + P(19,21));
Kfusion(22) = HKX24*(HKX10*P(17,22) - HKX11*P(18,22) + HKX12*P(1,22) + HKX13*P(0,22) - HKX14*P(2,22) + HKX15*P(3,22) + HKX6*P(16,22) + P(19,22));
Kfusion(23) = HKX24*(HKX10*P(17,23) - HKX11*P(18,23) + HKX12*P(1,23) + HKX13*P(0,23) - HKX14*P(2,23) + HKX15*P(3,23) + HKX6*P(16,23) + P(19,23));
Kfusion(0) = HKX70*(-HKX14 - HKX16 + HKX18 + HKX20 + HKX22 - HKX24 + HKX26 - P(0,19));
Kfusion(1) = HKX70*(-HKX34 - HKX35 + HKX36 + HKX37 - HKX38 + HKX39 + HKX40 - P(1,19));
Kfusion(2) = HKX70*(-HKX62 - HKX63 + HKX64 + HKX65 - HKX66 + HKX67 + HKX68 - P(2,19));
Kfusion(3) = HKX70*(-HKX48 - HKX49 + HKX50 + HKX51 - HKX52 + HKX53 + HKX54 - P(3,19));
Kfusion(4) = HKX70*(-HKX13*P(1,4) - HKX15*P(4,17) + HKX17*P(0,4) + HKX19*P(4,18) + HKX21*P(4,16) - HKX23*P(3,4) + HKX25*P(2,4) - P(4,19));
Kfusion(5) = HKX70*(-HKX13*P(1,5) - HKX15*P(5,17) + HKX17*P(0,5) + HKX19*P(5,18) + HKX21*P(5,16) - HKX23*P(3,5) + HKX25*P(2,5) - P(5,19));
Kfusion(6) = HKX70*(-HKX13*P(1,6) - HKX15*P(6,17) + HKX17*P(0,6) + HKX19*P(6,18) + HKX21*P(6,16) - HKX23*P(3,6) + HKX25*P(2,6) - P(6,19));
Kfusion(7) = HKX70*(-HKX13*P(1,7) - HKX15*P(7,17) + HKX17*P(0,7) + HKX19*P(7,18) + HKX21*P(7,16) - HKX23*P(3,7) + HKX25*P(2,7) - P(7,19));
Kfusion(8) = HKX70*(-HKX13*P(1,8) - HKX15*P(8,17) + HKX17*P(0,8) + HKX19*P(8,18) + HKX21*P(8,16) - HKX23*P(3,8) + HKX25*P(2,8) - P(8,19));
Kfusion(9) = HKX70*(-HKX13*P(1,9) - HKX15*P(9,17) + HKX17*P(0,9) + HKX19*P(9,18) + HKX21*P(9,16) - HKX23*P(3,9) + HKX25*P(2,9) - P(9,19));
Kfusion(10) = HKX70*(-HKX13*P(1,10) - HKX15*P(10,17) + HKX17*P(0,10) + HKX19*P(10,18) + HKX21*P(10,16) - HKX23*P(3,10) + HKX25*P(2,10) - P(10,19));
Kfusion(11) = HKX70*(-HKX13*P(1,11) - HKX15*P(11,17) + HKX17*P(0,11) + HKX19*P(11,18) + HKX21*P(11,16) - HKX23*P(3,11) + HKX25*P(2,11) - P(11,19));
Kfusion(12) = HKX70*(-HKX13*P(1,12) - HKX15*P(12,17) + HKX17*P(0,12) + HKX19*P(12,18) + HKX21*P(12,16) - HKX23*P(3,12) + HKX25*P(2,12) - P(12,19));
Kfusion(13) = HKX70*(-HKX13*P(1,13) - HKX15*P(13,17) + HKX17*P(0,13) + HKX19*P(13,18) + HKX21*P(13,16) - HKX23*P(3,13) + HKX25*P(2,13) - P(13,19));
Kfusion(14) = HKX70*(-HKX13*P(1,14) - HKX15*P(14,17) + HKX17*P(0,14) + HKX19*P(14,18) + HKX21*P(14,16) - HKX23*P(3,14) + HKX25*P(2,14) - P(14,19));
Kfusion(15) = HKX70*(-HKX13*P(1,15) - HKX15*P(15,17) + HKX17*P(0,15) + HKX19*P(15,18) + HKX21*P(15,16) - HKX23*P(3,15) + HKX25*P(2,15) - P(15,19));
Kfusion(16) = HKX70*(-HKX27 - HKX28 + HKX29 + HKX30 - HKX31 + HKX32 + HKX33 - P(16,19));
Kfusion(17) = HKX70*(-HKX41 - HKX42 + HKX43 + HKX44 - HKX45 + HKX46 + HKX47 - P(17,19));
Kfusion(18) = HKX70*(-HKX55 - HKX56 + HKX57 + HKX58 - HKX59 + HKX60 + HKX61 - P(18,19));
Kfusion(19) = HKX69*HKX70;
Kfusion(20) = HKX70*(-HKX13*P(1,20) - HKX15*P(17,20) + HKX17*P(0,20) + HKX19*P(18,20) + HKX21*P(16,20) - HKX23*P(3,20) + HKX25*P(2,20) - P(19,20));
Kfusion(21) = HKX70*(-HKX13*P(1,21) - HKX15*P(17,21) + HKX17*P(0,21) + HKX19*P(18,21) + HKX21*P(16,21) - HKX23*P(3,21) + HKX25*P(2,21) - P(19,21));
Kfusion(22) = HKX70*(-HKX13*P(1,22) - HKX15*P(17,22) + HKX17*P(0,22) + HKX19*P(18,22) + HKX21*P(16,22) - HKX23*P(3,22) + HKX25*P(2,22) - P(19,22));
Kfusion(23) = HKX70*(-HKX13*P(1,23) - HKX15*P(17,23) + HKX17*P(0,23) + HKX19*P(18,23) + HKX21*P(16,23) - HKX23*P(3,23) + HKX25*P(2,23) - P(19,23));
// Axis 1 equations
// Sub Expressions
const float HKY0 = magD*q1 + magE*q0 - magN*q3;
const float HKY1 = magD*q0 - magE*q1 + magN*q2;
const float HKY2 = magD*q3 + magE*q2 + magN*q1;
const float HKY3 = magD*q2;
const float HKY4 = magE*q3;
const float HKY5 = magN*q0;
const float HKY6 = q1*q2;
const float HKY7 = q0*q3;
const float HKY8 = powf(q0, 2) - powf(q1, 2) + powf(q2, 2) - powf(q3, 2);
const float HKY9 = q0*q1 + q2*q3;
const float HKY10 = 2*HKY9;
const float HKY11 = -2*HKY6 + 2*HKY7;
const float HKY12 = 2*HKY2;
const float HKY13 = 2*HKY0;
const float HKY14 = 2*HKY1;
const float HKY15 = -2*HKY3 + 2*HKY4 + 2*HKY5;
const float HKY16 = HKY10*P(0,18) - HKY11*P(0,16) + HKY12*P(0,2) + HKY13*P(0,0) + HKY14*P(0,1) - HKY15*P(0,3) + HKY8*P(0,17) + P(0,20);
const float HKY17 = HKY10*P(17,18) - HKY11*P(16,17) + HKY12*P(2,17) + HKY13*P(0,17) + HKY14*P(1,17) - HKY15*P(3,17) + HKY8*P(17,17) + P(17,20);
const float HKY18 = HKY10*P(16,18) - HKY11*P(16,16) + HKY12*P(2,16) + HKY13*P(0,16) + HKY14*P(1,16) - HKY15*P(3,16) + HKY8*P(16,17) + P(16,20);
const float HKY19 = HKY10*P(3,18) - HKY11*P(3,16) + HKY12*P(2,3) + HKY13*P(0,3) + HKY14*P(1,3) - HKY15*P(3,3) + HKY8*P(3,17) + P(3,20);
const float HKY20 = HKY10*P(18,18) - HKY11*P(16,18) + HKY12*P(2,18) + HKY13*P(0,18) + HKY14*P(1,18) - HKY15*P(3,18) + HKY8*P(17,18) + P(18,20);
const float HKY21 = HKY10*P(1,18) - HKY11*P(1,16) + HKY12*P(1,2) + HKY13*P(0,1) + HKY14*P(1,1) - HKY15*P(1,3) + HKY8*P(1,17) + P(1,20);
const float HKY22 = HKY10*P(2,18) - HKY11*P(2,16) + HKY12*P(2,2) + HKY13*P(0,2) + HKY14*P(1,2) - HKY15*P(2,3) + HKY8*P(2,17) + P(2,20);
const float HKY23 = HKY10*P(18,20) - HKY11*P(16,20) + HKY12*P(2,20) + HKY13*P(0,20) + HKY14*P(1,20) - HKY15*P(3,20) + HKY8*P(17,20) + P(20,20);
const float HKY24 = 1.0F/(HKY10*HKY20 - HKY11*HKY18 + HKY12*HKY22 + HKY13*HKY16 + HKY14*HKY21 - HKY15*HKY19 + HKY17*HKY8 + HKY23 + R_MAG);
const float HKY0 = magD*q1 - magN*q3;
const float HKY1 = 2*magE;
const float HKY2 = -HKY1*q1 + magD*q0 + magN*q2;
const float HKY3 = magD*q3 + magN*q1;
const float HKY4 = magD*q2;
const float HKY5 = HKY1*q3;
const float HKY6 = magN*q0;
const float HKY7 = q1*q2;
const float HKY8 = q0*q3;
const float HKY9 = 2*powf(q1, 2);
const float HKY10 = 2*powf(q3, 2);
const float HKY11 = q0*q1 + q2*q3;
const float HKY12 = 2*HKY11;
const float HKY13 = 2*HKY3;
const float HKY14 = 2*HKY0;
const float HKY15 = -2*HKY7 + 2*HKY8;
const float HKY16 = 2*HKY2;
const float HKY17 = HKY10 + HKY9 - 1;
const float HKY18 = -2*HKY4 + 2*HKY5 + 2*HKY6;
const float HKY19 = HKY12*P(0,18) + HKY13*P(0,2) + HKY14*P(0,0) - HKY15*P(0,16) + HKY16*P(0,1) - HKY17*P(0,17) - HKY18*P(0,3) + P(0,20);
const float HKY20 = HKY12*P(17,18) + HKY13*P(2,17) + HKY14*P(0,17) - HKY15*P(16,17) + HKY16*P(1,17) - HKY17*P(17,17) - HKY18*P(3,17) + P(17,20);
const float HKY21 = HKY12*P(16,18) + HKY13*P(2,16) + HKY14*P(0,16) - HKY15*P(16,16) + HKY16*P(1,16) - HKY17*P(16,17) - HKY18*P(3,16) + P(16,20);
const float HKY22 = HKY12*P(3,18) + HKY13*P(2,3) + HKY14*P(0,3) - HKY15*P(3,16) + HKY16*P(1,3) - HKY17*P(3,17) - HKY18*P(3,3) + P(3,20);
const float HKY23 = HKY12*P(2,18) + HKY13*P(2,2) + HKY14*P(0,2) - HKY15*P(2,16) + HKY16*P(1,2) - HKY17*P(2,17) - HKY18*P(2,3) + P(2,20);
const float HKY24 = HKY12*P(18,18) + HKY13*P(2,18) + HKY14*P(0,18) - HKY15*P(16,18) + HKY16*P(1,18) - HKY17*P(17,18) - HKY18*P(3,18) + P(18,20);
const float HKY25 = HKY12*P(1,18) + HKY13*P(1,2) + HKY14*P(0,1) - HKY15*P(1,16) + HKY16*P(1,1) - HKY17*P(1,17) - HKY18*P(1,3) + P(1,20);
const float HKY26 = HKY12*P(18,20) + HKY13*P(2,20) + HKY14*P(0,20) - HKY15*P(16,20) + HKY16*P(1,20) - HKY17*P(17,20) - HKY18*P(3,20) + P(20,20);
const float HKY27 = 1.0F/(HKY12*HKY24 + HKY13*HKY23 + HKY14*HKY19 - HKY15*HKY21 + HKY16*HKY25 - HKY17*HKY20 - HKY18*HKY22 + HKY26 + R_MAG);
// Observation Jacobians
Hfusion.at<0>() = 2*HKY0;
Hfusion.at<1>() = 2*HKY1;
Hfusion.at<2>() = 2*HKY2;
Hfusion.at<3>() = 2*HKY3 - 2*HKY4 - 2*HKY5;
Hfusion.at<1>() = 2*HKY2;
Hfusion.at<2>() = 2*HKY3;
Hfusion.at<3>() = 2*HKY4 - 2*HKY5 - 2*HKY6;
Hfusion.at<4>() = 0;
Hfusion.at<5>() = 0;
Hfusion.at<6>() = 0;
@@ -127,9 +176,9 @@ Hfusion.at<12>() = 0;
Hfusion.at<13>() = 0;
Hfusion.at<14>() = 0;
Hfusion.at<15>() = 0;
Hfusion.at<16>() = 2*HKY6 - 2*HKY7;
Hfusion.at<17>() = HKY8;
Hfusion.at<18>() = 2*HKY9;
Hfusion.at<16>() = 2*HKY7 - 2*HKY8;
Hfusion.at<17>() = -HKY10 - HKY9 + 1;
Hfusion.at<18>() = 2*HKY11;
Hfusion.at<19>() = 0;
Hfusion.at<20>() = 1;
Hfusion.at<21>() = 0;
@@ -138,66 +187,112 @@ Hfusion.at<23>() = 0;
// Kalman gains
Kfusion(0) = HKY16*HKY24;
Kfusion(1) = HKY21*HKY24;
Kfusion(2) = HKY22*HKY24;
Kfusion(3) = HKY19*HKY24;
Kfusion(4) = HKY24*(HKY10*P(4,18) - HKY11*P(4,16) + HKY12*P(2,4) + HKY13*P(0,4) + HKY14*P(1,4) - HKY15*P(3,4) + HKY8*P(4,17) + P(4,20));
Kfusion(5) = HKY24*(HKY10*P(5,18) - HKY11*P(5,16) + HKY12*P(2,5) + HKY13*P(0,5) + HKY14*P(1,5) - HKY15*P(3,5) + HKY8*P(5,17) + P(5,20));
Kfusion(6) = HKY24*(HKY10*P(6,18) - HKY11*P(6,16) + HKY12*P(2,6) + HKY13*P(0,6) + HKY14*P(1,6) - HKY15*P(3,6) + HKY8*P(6,17) + P(6,20));
Kfusion(7) = HKY24*(HKY10*P(7,18) - HKY11*P(7,16) + HKY12*P(2,7) + HKY13*P(0,7) + HKY14*P(1,7) - HKY15*P(3,7) + HKY8*P(7,17) + P(7,20));
Kfusion(8) = HKY24*(HKY10*P(8,18) - HKY11*P(8,16) + HKY12*P(2,8) + HKY13*P(0,8) + HKY14*P(1,8) - HKY15*P(3,8) + HKY8*P(8,17) + P(8,20));
Kfusion(9) = HKY24*(HKY10*P(9,18) - HKY11*P(9,16) + HKY12*P(2,9) + HKY13*P(0,9) + HKY14*P(1,9) - HKY15*P(3,9) + HKY8*P(9,17) + P(9,20));
Kfusion(10) = HKY24*(HKY10*P(10,18) - HKY11*P(10,16) + HKY12*P(2,10) + HKY13*P(0,10) + HKY14*P(1,10) - HKY15*P(3,10) + HKY8*P(10,17) + P(10,20));
Kfusion(11) = HKY24*(HKY10*P(11,18) - HKY11*P(11,16) + HKY12*P(2,11) + HKY13*P(0,11) + HKY14*P(1,11) - HKY15*P(3,11) + HKY8*P(11,17) + P(11,20));
Kfusion(12) = HKY24*(HKY10*P(12,18) - HKY11*P(12,16) + HKY12*P(2,12) + HKY13*P(0,12) + HKY14*P(1,12) - HKY15*P(3,12) + HKY8*P(12,17) + P(12,20));
Kfusion(13) = HKY24*(HKY10*P(13,18) - HKY11*P(13,16) + HKY12*P(2,13) + HKY13*P(0,13) + HKY14*P(1,13) - HKY15*P(3,13) + HKY8*P(13,17) + P(13,20));
Kfusion(14) = HKY24*(HKY10*P(14,18) - HKY11*P(14,16) + HKY12*P(2,14) + HKY13*P(0,14) + HKY14*P(1,14) - HKY15*P(3,14) + HKY8*P(14,17) + P(14,20));
Kfusion(15) = HKY24*(HKY10*P(15,18) - HKY11*P(15,16) + HKY12*P(2,15) + HKY13*P(0,15) + HKY14*P(1,15) - HKY15*P(3,15) + HKY8*P(15,17) + P(15,20));
Kfusion(16) = HKY18*HKY24;
Kfusion(17) = HKY17*HKY24;
Kfusion(18) = HKY20*HKY24;
Kfusion(19) = HKY24*(HKY10*P(18,19) - HKY11*P(16,19) + HKY12*P(2,19) + HKY13*P(0,19) + HKY14*P(1,19) - HKY15*P(3,19) + HKY8*P(17,19) + P(19,20));
Kfusion(20) = HKY23*HKY24;
Kfusion(21) = HKY24*(HKY10*P(18,21) - HKY11*P(16,21) + HKY12*P(2,21) + HKY13*P(0,21) + HKY14*P(1,21) - HKY15*P(3,21) + HKY8*P(17,21) + P(20,21));
Kfusion(22) = HKY24*(HKY10*P(18,22) - HKY11*P(16,22) + HKY12*P(2,22) + HKY13*P(0,22) + HKY14*P(1,22) - HKY15*P(3,22) + HKY8*P(17,22) + P(20,22));
Kfusion(23) = HKY24*(HKY10*P(18,23) - HKY11*P(16,23) + HKY12*P(2,23) + HKY13*P(0,23) + HKY14*P(1,23) - HKY15*P(3,23) + HKY8*P(17,23) + P(20,23));
Kfusion(0) = HKY19*HKY27;
Kfusion(1) = HKY25*HKY27;
Kfusion(2) = HKY23*HKY27;
Kfusion(3) = HKY22*HKY27;
Kfusion(4) = HKY27*(HKY12*P(4,18) + HKY13*P(2,4) + HKY14*P(0,4) - HKY15*P(4,16) + HKY16*P(1,4) - HKY17*P(4,17) - HKY18*P(3,4) + P(4,20));
Kfusion(5) = HKY27*(HKY12*P(5,18) + HKY13*P(2,5) + HKY14*P(0,5) - HKY15*P(5,16) + HKY16*P(1,5) - HKY17*P(5,17) - HKY18*P(3,5) + P(5,20));
Kfusion(6) = HKY27*(HKY12*P(6,18) + HKY13*P(2,6) + HKY14*P(0,6) - HKY15*P(6,16) + HKY16*P(1,6) - HKY17*P(6,17) - HKY18*P(3,6) + P(6,20));
Kfusion(7) = HKY27*(HKY12*P(7,18) + HKY13*P(2,7) + HKY14*P(0,7) - HKY15*P(7,16) + HKY16*P(1,7) - HKY17*P(7,17) - HKY18*P(3,7) + P(7,20));
Kfusion(8) = HKY27*(HKY12*P(8,18) + HKY13*P(2,8) + HKY14*P(0,8) - HKY15*P(8,16) + HKY16*P(1,8) - HKY17*P(8,17) - HKY18*P(3,8) + P(8,20));
Kfusion(9) = HKY27*(HKY12*P(9,18) + HKY13*P(2,9) + HKY14*P(0,9) - HKY15*P(9,16) + HKY16*P(1,9) - HKY17*P(9,17) - HKY18*P(3,9) + P(9,20));
Kfusion(10) = HKY27*(HKY12*P(10,18) + HKY13*P(2,10) + HKY14*P(0,10) - HKY15*P(10,16) + HKY16*P(1,10) - HKY17*P(10,17) - HKY18*P(3,10) + P(10,20));
Kfusion(11) = HKY27*(HKY12*P(11,18) + HKY13*P(2,11) + HKY14*P(0,11) - HKY15*P(11,16) + HKY16*P(1,11) - HKY17*P(11,17) - HKY18*P(3,11) + P(11,20));
Kfusion(12) = HKY27*(HKY12*P(12,18) + HKY13*P(2,12) + HKY14*P(0,12) - HKY15*P(12,16) + HKY16*P(1,12) - HKY17*P(12,17) - HKY18*P(3,12) + P(12,20));
Kfusion(13) = HKY27*(HKY12*P(13,18) + HKY13*P(2,13) + HKY14*P(0,13) - HKY15*P(13,16) + HKY16*P(1,13) - HKY17*P(13,17) - HKY18*P(3,13) + P(13,20));
Kfusion(14) = HKY27*(HKY12*P(14,18) + HKY13*P(2,14) + HKY14*P(0,14) - HKY15*P(14,16) + HKY16*P(1,14) - HKY17*P(14,17) - HKY18*P(3,14) + P(14,20));
Kfusion(15) = HKY27*(HKY12*P(15,18) + HKY13*P(2,15) + HKY14*P(0,15) - HKY15*P(15,16) + HKY16*P(1,15) - HKY17*P(15,17) - HKY18*P(3,15) + P(15,20));
Kfusion(16) = HKY21*HKY27;
Kfusion(17) = HKY20*HKY27;
Kfusion(18) = HKY24*HKY27;
Kfusion(19) = HKY27*(HKY12*P(18,19) + HKY13*P(2,19) + HKY14*P(0,19) - HKY15*P(16,19) + HKY16*P(1,19) - HKY17*P(17,19) - HKY18*P(3,19) + P(19,20));
Kfusion(20) = HKY26*HKY27;
Kfusion(21) = HKY27*(HKY12*P(18,21) + HKY13*P(2,21) + HKY14*P(0,21) - HKY15*P(16,21) + HKY16*P(1,21) - HKY17*P(17,21) - HKY18*P(3,21) + P(20,21));
Kfusion(22) = HKY27*(HKY12*P(18,22) + HKY13*P(2,22) + HKY14*P(0,22) - HKY15*P(16,22) + HKY16*P(1,22) - HKY17*P(17,22) - HKY18*P(3,22) + P(20,22));
Kfusion(23) = HKY27*(HKY12*P(18,23) + HKY13*P(2,23) + HKY14*P(0,23) - HKY15*P(16,23) + HKY16*P(1,23) - HKY17*P(17,23) - HKY18*P(3,23) + P(20,23));
// Axis 2 equations
// Sub Expressions
const float HKZ0 = magD*q0 - magE*q1 + magN*q2;
const float HKZ1 = magN*q3;
const float HKZ2 = magD*q1;
const float HKZ3 = magE*q0;
const float HKZ4 = -magD*q2 + magE*q3 + magN*q0;
const float HKZ5 = magD*q3 + magE*q2 + magN*q1;
const float HKZ6 = q0*q2 + q1*q3;
const float HKZ7 = q2*q3;
const float HKZ8 = q0*q1;
const float HKZ9 = powf(q0, 2) - powf(q1, 2) - powf(q2, 2) + powf(q3, 2);
const float HKZ10 = 2*HKZ6;
const float HKZ11 = -2*HKZ7 + 2*HKZ8;
const float HKZ12 = 2*HKZ5;
const float HKZ13 = 2*HKZ0;
const float HKZ14 = -2*HKZ1 + 2*HKZ2 + 2*HKZ3;
const float HKZ15 = 2*HKZ4;
const float HKZ16 = HKZ10*P(0,16) - HKZ11*P(0,17) + HKZ12*P(0,3) + HKZ13*P(0,0) - HKZ14*P(0,1) + HKZ15*P(0,2) + HKZ9*P(0,18) + P(0,21);
const float HKZ17 = HKZ10*P(16,18) - HKZ11*P(17,18) + HKZ12*P(3,18) + HKZ13*P(0,18) - HKZ14*P(1,18) + HKZ15*P(2,18) + HKZ9*P(18,18) + P(18,21);
const float HKZ18 = HKZ10*P(16,17) - HKZ11*P(17,17) + HKZ12*P(3,17) + HKZ13*P(0,17) - HKZ14*P(1,17) + HKZ15*P(2,17) + HKZ9*P(17,18) + P(17,21);
const float HKZ19 = HKZ10*P(1,16) - HKZ11*P(1,17) + HKZ12*P(1,3) + HKZ13*P(0,1) - HKZ14*P(1,1) + HKZ15*P(1,2) + HKZ9*P(1,18) + P(1,21);
const float HKZ20 = HKZ10*P(16,16) - HKZ11*P(16,17) + HKZ12*P(3,16) + HKZ13*P(0,16) - HKZ14*P(1,16) + HKZ15*P(2,16) + HKZ9*P(16,18) + P(16,21);
const float HKZ21 = HKZ10*P(3,16) - HKZ11*P(3,17) + HKZ12*P(3,3) + HKZ13*P(0,3) - HKZ14*P(1,3) + HKZ15*P(2,3) + HKZ9*P(3,18) + P(3,21);
const float HKZ22 = HKZ10*P(2,16) - HKZ11*P(2,17) + HKZ12*P(2,3) + HKZ13*P(0,2) - HKZ14*P(1,2) + HKZ15*P(2,2) + HKZ9*P(2,18) + P(2,21);
const float HKZ23 = HKZ10*P(16,21) - HKZ11*P(17,21) + HKZ12*P(3,21) + HKZ13*P(0,21) - HKZ14*P(1,21) + HKZ15*P(2,21) + HKZ9*P(18,21) + P(21,21);
const float HKZ24 = 1.0F/(HKZ10*HKZ20 - HKZ11*HKZ18 + HKZ12*HKZ21 + HKZ13*HKZ16 - HKZ14*HKZ19 + HKZ15*HKZ22 + HKZ17*HKZ9 + HKZ23 + R_MAG);
const float HKZ0 = magN*q2;
const float HKZ1 = magE*q1;
const float HKZ2 = magN*q3;
const float HKZ3 = 2*magD;
const float HKZ4 = HKZ3*q1;
const float HKZ5 = magE*q0;
const float HKZ6 = -HKZ3*q2 + magE*q3 + magN*q0;
const float HKZ7 = magE*q2 + magN*q1;
const float HKZ8 = q0*q2 + q1*q3;
const float HKZ9 = q2*q3;
const float HKZ10 = q0*q1;
const float HKZ11 = 2*powf(q1, 2);
const float HKZ12 = 2*powf(q2, 2);
const float HKZ13 = 2*HKZ8;
const float HKZ14 = HKZ13*P(0,16);
const float HKZ15 = 2*HKZ7;
const float HKZ16 = HKZ15*P(0,3);
const float HKZ17 = -2*HKZ0 + 2*HKZ1;
const float HKZ18 = HKZ17*P(0,0);
const float HKZ19 = 2*HKZ10 - 2*HKZ9;
const float HKZ20 = HKZ19*P(0,17);
const float HKZ21 = HKZ11 + HKZ12 - 1;
const float HKZ22 = HKZ21*P(0,18);
const float HKZ23 = 2*HKZ6;
const float HKZ24 = HKZ23*P(0,2);
const float HKZ25 = -2*HKZ2 + 2*HKZ4 + 2*HKZ5;
const float HKZ26 = HKZ25*P(0,1);
const float HKZ27 = HKZ13*P(16,18);
const float HKZ28 = HKZ15*P(3,18);
const float HKZ29 = HKZ17*P(0,18);
const float HKZ30 = HKZ19*P(17,18);
const float HKZ31 = HKZ23*P(2,18);
const float HKZ32 = HKZ25*P(1,18);
const float HKZ33 = HKZ21*P(18,18);
const float HKZ34 = HKZ13*P(3,16);
const float HKZ35 = HKZ15*P(3,3);
const float HKZ36 = HKZ17*P(0,3);
const float HKZ37 = HKZ19*P(3,17);
const float HKZ38 = HKZ23*P(2,3);
const float HKZ39 = HKZ25*P(1,3);
const float HKZ40 = HKZ21*P(3,18);
const float HKZ41 = HKZ13*P(16,16);
const float HKZ42 = HKZ15*P(3,16);
const float HKZ43 = HKZ17*P(0,16);
const float HKZ44 = HKZ19*P(16,17);
const float HKZ45 = HKZ23*P(2,16);
const float HKZ46 = HKZ25*P(1,16);
const float HKZ47 = HKZ21*P(16,18);
const float HKZ48 = HKZ13*P(2,16);
const float HKZ49 = HKZ15*P(2,3);
const float HKZ50 = HKZ17*P(0,2);
const float HKZ51 = HKZ19*P(2,17);
const float HKZ52 = HKZ23*P(2,2);
const float HKZ53 = HKZ25*P(1,2);
const float HKZ54 = HKZ21*P(2,18);
const float HKZ55 = HKZ13*P(16,17);
const float HKZ56 = HKZ15*P(3,17);
const float HKZ57 = HKZ17*P(0,17);
const float HKZ58 = HKZ19*P(17,17);
const float HKZ59 = HKZ23*P(2,17);
const float HKZ60 = HKZ25*P(1,17);
const float HKZ61 = HKZ21*P(17,18);
const float HKZ62 = HKZ13*P(1,16);
const float HKZ63 = HKZ15*P(1,3);
const float HKZ64 = HKZ17*P(0,1);
const float HKZ65 = HKZ19*P(1,17);
const float HKZ66 = HKZ23*P(1,2);
const float HKZ67 = HKZ25*P(1,1);
const float HKZ68 = HKZ21*P(1,18);
const float HKZ69 = -HKZ13*P(16,21) - HKZ15*P(3,21) + HKZ17*P(0,21) + HKZ19*P(17,21) + HKZ21*P(18,21) - HKZ23*P(2,21) + HKZ25*P(1,21) - P(21,21);
const float HKZ70 = 1.0F/(-HKZ13*(HKZ41 + HKZ42 - HKZ43 - HKZ44 + HKZ45 - HKZ46 - HKZ47 + P(16,21)) - HKZ15*(HKZ34 + HKZ35 - HKZ36 - HKZ37 + HKZ38 - HKZ39 - HKZ40 + P(3,21)) + HKZ17*(HKZ14 + HKZ16 - HKZ18 - HKZ20 - HKZ22 + HKZ24 - HKZ26 + P(0,21)) + HKZ19*(HKZ55 + HKZ56 - HKZ57 - HKZ58 + HKZ59 - HKZ60 - HKZ61 + P(17,21)) + HKZ21*(HKZ27 + HKZ28 - HKZ29 - HKZ30 + HKZ31 - HKZ32 - HKZ33 + P(18,21)) - HKZ23*(HKZ48 + HKZ49 - HKZ50 - HKZ51 + HKZ52 - HKZ53 - HKZ54 + P(2,21)) + HKZ25*(HKZ62 + HKZ63 - HKZ64 - HKZ65 + HKZ66 - HKZ67 - HKZ68 + P(1,21)) + HKZ69 - R_MAG);
// Observation Jacobians
Hfusion.at<0>() = 2*HKZ0;
Hfusion.at<1>() = 2*HKZ1 - 2*HKZ2 - 2*HKZ3;
Hfusion.at<2>() = 2*HKZ4;
Hfusion.at<3>() = 2*HKZ5;
Hfusion.at<0>() = 2*HKZ0 - 2*HKZ1;
Hfusion.at<1>() = 2*HKZ2 - 2*HKZ4 - 2*HKZ5;
Hfusion.at<2>() = 2*HKZ6;
Hfusion.at<3>() = 2*HKZ7;
Hfusion.at<4>() = 0;
Hfusion.at<5>() = 0;
Hfusion.at<6>() = 0;
@@ -210,9 +305,9 @@ Hfusion.at<12>() = 0;
Hfusion.at<13>() = 0;
Hfusion.at<14>() = 0;
Hfusion.at<15>() = 0;
Hfusion.at<16>() = 2*HKZ6;
Hfusion.at<17>() = 2*HKZ7 - 2*HKZ8;
Hfusion.at<18>() = HKZ9;
Hfusion.at<16>() = 2*HKZ8;
Hfusion.at<17>() = -2*HKZ10 + 2*HKZ9;
Hfusion.at<18>() = -HKZ11 - HKZ12 + 1;
Hfusion.at<19>() = 0;
Hfusion.at<20>() = 0;
Hfusion.at<21>() = 1;
@@ -221,29 +316,29 @@ Hfusion.at<23>() = 0;
// Kalman gains
Kfusion(0) = HKZ16*HKZ24;
Kfusion(1) = HKZ19*HKZ24;
Kfusion(2) = HKZ22*HKZ24;
Kfusion(3) = HKZ21*HKZ24;
Kfusion(4) = HKZ24*(HKZ10*P(4,16) - HKZ11*P(4,17) + HKZ12*P(3,4) + HKZ13*P(0,4) - HKZ14*P(1,4) + HKZ15*P(2,4) + HKZ9*P(4,18) + P(4,21));
Kfusion(5) = HKZ24*(HKZ10*P(5,16) - HKZ11*P(5,17) + HKZ12*P(3,5) + HKZ13*P(0,5) - HKZ14*P(1,5) + HKZ15*P(2,5) + HKZ9*P(5,18) + P(5,21));
Kfusion(6) = HKZ24*(HKZ10*P(6,16) - HKZ11*P(6,17) + HKZ12*P(3,6) + HKZ13*P(0,6) - HKZ14*P(1,6) + HKZ15*P(2,6) + HKZ9*P(6,18) + P(6,21));
Kfusion(7) = HKZ24*(HKZ10*P(7,16) - HKZ11*P(7,17) + HKZ12*P(3,7) + HKZ13*P(0,7) - HKZ14*P(1,7) + HKZ15*P(2,7) + HKZ9*P(7,18) + P(7,21));
Kfusion(8) = HKZ24*(HKZ10*P(8,16) - HKZ11*P(8,17) + HKZ12*P(3,8) + HKZ13*P(0,8) - HKZ14*P(1,8) + HKZ15*P(2,8) + HKZ9*P(8,18) + P(8,21));
Kfusion(9) = HKZ24*(HKZ10*P(9,16) - HKZ11*P(9,17) + HKZ12*P(3,9) + HKZ13*P(0,9) - HKZ14*P(1,9) + HKZ15*P(2,9) + HKZ9*P(9,18) + P(9,21));
Kfusion(10) = HKZ24*(HKZ10*P(10,16) - HKZ11*P(10,17) + HKZ12*P(3,10) + HKZ13*P(0,10) - HKZ14*P(1,10) + HKZ15*P(2,10) + HKZ9*P(10,18) + P(10,21));
Kfusion(11) = HKZ24*(HKZ10*P(11,16) - HKZ11*P(11,17) + HKZ12*P(3,11) + HKZ13*P(0,11) - HKZ14*P(1,11) + HKZ15*P(2,11) + HKZ9*P(11,18) + P(11,21));
Kfusion(12) = HKZ24*(HKZ10*P(12,16) - HKZ11*P(12,17) + HKZ12*P(3,12) + HKZ13*P(0,12) - HKZ14*P(1,12) + HKZ15*P(2,12) + HKZ9*P(12,18) + P(12,21));
Kfusion(13) = HKZ24*(HKZ10*P(13,16) - HKZ11*P(13,17) + HKZ12*P(3,13) + HKZ13*P(0,13) - HKZ14*P(1,13) + HKZ15*P(2,13) + HKZ9*P(13,18) + P(13,21));
Kfusion(14) = HKZ24*(HKZ10*P(14,16) - HKZ11*P(14,17) + HKZ12*P(3,14) + HKZ13*P(0,14) - HKZ14*P(1,14) + HKZ15*P(2,14) + HKZ9*P(14,18) + P(14,21));
Kfusion(15) = HKZ24*(HKZ10*P(15,16) - HKZ11*P(15,17) + HKZ12*P(3,15) + HKZ13*P(0,15) - HKZ14*P(1,15) + HKZ15*P(2,15) + HKZ9*P(15,18) + P(15,21));
Kfusion(16) = HKZ20*HKZ24;
Kfusion(17) = HKZ18*HKZ24;
Kfusion(18) = HKZ17*HKZ24;
Kfusion(19) = HKZ24*(HKZ10*P(16,19) - HKZ11*P(17,19) + HKZ12*P(3,19) + HKZ13*P(0,19) - HKZ14*P(1,19) + HKZ15*P(2,19) + HKZ9*P(18,19) + P(19,21));
Kfusion(20) = HKZ24*(HKZ10*P(16,20) - HKZ11*P(17,20) + HKZ12*P(3,20) + HKZ13*P(0,20) - HKZ14*P(1,20) + HKZ15*P(2,20) + HKZ9*P(18,20) + P(20,21));
Kfusion(21) = HKZ23*HKZ24;
Kfusion(22) = HKZ24*(HKZ10*P(16,22) - HKZ11*P(17,22) + HKZ12*P(3,22) + HKZ13*P(0,22) - HKZ14*P(1,22) + HKZ15*P(2,22) + HKZ9*P(18,22) + P(21,22));
Kfusion(23) = HKZ24*(HKZ10*P(16,23) - HKZ11*P(17,23) + HKZ12*P(3,23) + HKZ13*P(0,23) - HKZ14*P(1,23) + HKZ15*P(2,23) + HKZ9*P(18,23) + P(21,23));
Kfusion(0) = HKZ70*(-HKZ14 - HKZ16 + HKZ18 + HKZ20 + HKZ22 - HKZ24 + HKZ26 - P(0,21));
Kfusion(1) = HKZ70*(-HKZ62 - HKZ63 + HKZ64 + HKZ65 - HKZ66 + HKZ67 + HKZ68 - P(1,21));
Kfusion(2) = HKZ70*(-HKZ48 - HKZ49 + HKZ50 + HKZ51 - HKZ52 + HKZ53 + HKZ54 - P(2,21));
Kfusion(3) = HKZ70*(-HKZ34 - HKZ35 + HKZ36 + HKZ37 - HKZ38 + HKZ39 + HKZ40 - P(3,21));
Kfusion(4) = HKZ70*(-HKZ13*P(4,16) - HKZ15*P(3,4) + HKZ17*P(0,4) + HKZ19*P(4,17) + HKZ21*P(4,18) - HKZ23*P(2,4) + HKZ25*P(1,4) - P(4,21));
Kfusion(5) = HKZ70*(-HKZ13*P(5,16) - HKZ15*P(3,5) + HKZ17*P(0,5) + HKZ19*P(5,17) + HKZ21*P(5,18) - HKZ23*P(2,5) + HKZ25*P(1,5) - P(5,21));
Kfusion(6) = HKZ70*(-HKZ13*P(6,16) - HKZ15*P(3,6) + HKZ17*P(0,6) + HKZ19*P(6,17) + HKZ21*P(6,18) - HKZ23*P(2,6) + HKZ25*P(1,6) - P(6,21));
Kfusion(7) = HKZ70*(-HKZ13*P(7,16) - HKZ15*P(3,7) + HKZ17*P(0,7) + HKZ19*P(7,17) + HKZ21*P(7,18) - HKZ23*P(2,7) + HKZ25*P(1,7) - P(7,21));
Kfusion(8) = HKZ70*(-HKZ13*P(8,16) - HKZ15*P(3,8) + HKZ17*P(0,8) + HKZ19*P(8,17) + HKZ21*P(8,18) - HKZ23*P(2,8) + HKZ25*P(1,8) - P(8,21));
Kfusion(9) = HKZ70*(-HKZ13*P(9,16) - HKZ15*P(3,9) + HKZ17*P(0,9) + HKZ19*P(9,17) + HKZ21*P(9,18) - HKZ23*P(2,9) + HKZ25*P(1,9) - P(9,21));
Kfusion(10) = HKZ70*(-HKZ13*P(10,16) - HKZ15*P(3,10) + HKZ17*P(0,10) + HKZ19*P(10,17) + HKZ21*P(10,18) - HKZ23*P(2,10) + HKZ25*P(1,10) - P(10,21));
Kfusion(11) = HKZ70*(-HKZ13*P(11,16) - HKZ15*P(3,11) + HKZ17*P(0,11) + HKZ19*P(11,17) + HKZ21*P(11,18) - HKZ23*P(2,11) + HKZ25*P(1,11) - P(11,21));
Kfusion(12) = HKZ70*(-HKZ13*P(12,16) - HKZ15*P(3,12) + HKZ17*P(0,12) + HKZ19*P(12,17) + HKZ21*P(12,18) - HKZ23*P(2,12) + HKZ25*P(1,12) - P(12,21));
Kfusion(13) = HKZ70*(-HKZ13*P(13,16) - HKZ15*P(3,13) + HKZ17*P(0,13) + HKZ19*P(13,17) + HKZ21*P(13,18) - HKZ23*P(2,13) + HKZ25*P(1,13) - P(13,21));
Kfusion(14) = HKZ70*(-HKZ13*P(14,16) - HKZ15*P(3,14) + HKZ17*P(0,14) + HKZ19*P(14,17) + HKZ21*P(14,18) - HKZ23*P(2,14) + HKZ25*P(1,14) - P(14,21));
Kfusion(15) = HKZ70*(-HKZ13*P(15,16) - HKZ15*P(3,15) + HKZ17*P(0,15) + HKZ19*P(15,17) + HKZ21*P(15,18) - HKZ23*P(2,15) + HKZ25*P(1,15) - P(15,21));
Kfusion(16) = HKZ70*(-HKZ41 - HKZ42 + HKZ43 + HKZ44 - HKZ45 + HKZ46 + HKZ47 - P(16,21));
Kfusion(17) = HKZ70*(-HKZ55 - HKZ56 + HKZ57 + HKZ58 - HKZ59 + HKZ60 + HKZ61 - P(17,21));
Kfusion(18) = HKZ70*(-HKZ27 - HKZ28 + HKZ29 + HKZ30 - HKZ31 + HKZ32 + HKZ33 - P(18,21));
Kfusion(19) = HKZ70*(-HKZ13*P(16,19) - HKZ15*P(3,19) + HKZ17*P(0,19) + HKZ19*P(17,19) + HKZ21*P(18,19) - HKZ23*P(2,19) + HKZ25*P(1,19) - P(19,21));
Kfusion(20) = HKZ70*(-HKZ13*P(16,20) - HKZ15*P(3,20) + HKZ17*P(0,20) + HKZ19*P(17,20) + HKZ21*P(18,20) - HKZ23*P(2,20) + HKZ25*P(1,20) - P(20,21));
Kfusion(21) = HKZ69*HKZ70;
Kfusion(22) = HKZ70*(-HKZ13*P(16,22) - HKZ15*P(3,22) + HKZ17*P(0,22) + HKZ19*P(17,22) + HKZ21*P(18,22) - HKZ23*P(2,22) + HKZ25*P(1,22) - P(21,22));
Kfusion(23) = HKZ70*(-HKZ13*P(16,23) - HKZ15*P(3,23) + HKZ17*P(0,23) + HKZ19*P(17,23) + HKZ21*P(18,23) - HKZ23*P(2,23) + HKZ25*P(1,23) - P(21,23));
EKF/python/ekf_derivation/generated/3Dmag_generated_alt.cpp
+262 -172
View File
@@ -1,96 +1,186 @@
// Sub Expressions
const float HK0 = magE*q3;
const float HK1 = magN*q0;
const float HK2 = magD*q2;
const float HK3 = HK0 + HK1 - HK2;
const float HK4 = 2*HK3;
const float HK5 = magD*q3 + magE*q2 + magN*q1;
const float HK6 = 2*HK5;
const float HK7 = magE*q1;
const float HK8 = magD*q0;
const float HK9 = magN*q2;
const float HK1 = magD*q2;
const float HK2 = -HK1;
const float HK3 = magD*q3;
const float HK4 = magE*q2;
const float HK5 = HK3 + HK4;
const float HK6 = magE*q1;
const float HK7 = magD*q0;
const float HK8 = magN*q2;
const float HK9 = 2*HK8;
const float HK10 = magD*q1;
const float HK11 = magE*q0;
const float HK12 = magN*q3;
const float HK13 = HK10 + HK11 - HK12;
const float HK14 = 2*HK13;
const float HK15 = powf(q1, 2);
const float HK16 = powf(q2, 2);
const float HK17 = -HK16;
const float HK18 = powf(q0, 2);
const float HK19 = powf(q3, 2);
const float HK20 = HK18 - HK19;
const float HK21 = HK15 + HK17 + HK20;
const float HK22 = q0*q3;
const float HK23 = q1*q2;
const float HK24 = HK22 + HK23;
const float HK25 = q1*q3;
const float HK26 = q0*q2;
const float HK27 = 2*HK24;
const float HK28 = -2*HK25 + 2*HK26;
const float HK29 = 2*HK5;
const float HK30 = 2*HK3;
const float HK31 = -HK7 + HK8 + HK9;
const float HK32 = 2*HK31;
const float HK33 = HK32*P(0,2);
const float HK13 = HK10 + HK11 - 2*HK12;
const float HK14 = 2*powf(q2, 2);
const float HK15 = -HK14;
const float HK16 = 2*powf(q3, 2);
const float HK17 = 1 - HK16;
const float HK18 = q0*q3;
const float HK19 = q1*q2;
const float HK20 = HK18 + HK19;
const float HK21 = q1*q3;
const float HK22 = q0*q2;
const float HK23 = 2*HK5;
const float HK24 = HK23*P(0,1);
const float HK25 = 2*HK20;
const float HK26 = HK25*P(0,17);
const float HK27 = -2*HK0 + 2*HK1;
const float HK28 = HK27*P(0,0);
const float HK29 = -2*HK21 + 2*HK22;
const float HK30 = HK29*P(0,18);
const float HK31 = HK16 - 1;
const float HK32 = HK14 + HK31;
const float HK33 = HK32*P(0,16);
const float HK34 = 2*HK13;
const float HK35 = HK34*P(0,3);
const float HK36 = HK21*P(0,16) + HK27*P(0,17) - HK28*P(0,18) + HK29*P(0,1) + HK30*P(0,0) - HK33 + HK35 + P(0,19);
const float HK37 = HK21*P(16,16) + HK27*P(16,17) - HK28*P(16,18) + HK29*P(1,16) + HK30*P(0,16) - HK32*P(2,16) + HK34*P(3,16) + P(16,19);
const float HK38 = HK21*P(16,18) + HK27*P(17,18) - HK28*P(18,18) + HK29*P(1,18) + HK30*P(0,18) - HK32*P(2,18) + HK34*P(3,18) + P(18,19);
const float HK39 = HK29*P(1,2);
const float HK40 = HK30*P(0,2);
const float HK41 = HK21*P(2,16) + HK27*P(2,17) - HK28*P(2,18) - HK32*P(2,2) + HK34*P(2,3) + HK39 + HK40 + P(2,19);
const float HK42 = HK21*P(16,17) + HK27*P(17,17) - HK28*P(17,18) + HK29*P(1,17) + HK30*P(0,17) - HK32*P(2,17) + HK34*P(3,17) + P(17,19);
const float HK43 = HK29*P(1,3);
const float HK44 = HK30*P(0,3);
const float HK45 = HK21*P(3,16) + HK27*P(3,17) - HK28*P(3,18) - HK32*P(2,3) + HK34*P(3,3) + HK43 + HK44 + P(3,19);
const float HK46 = HK32*P(1,2);
const float HK47 = HK34*P(1,3);
const float HK48 = HK21*P(1,16) + HK27*P(1,17) - HK28*P(1,18) + HK29*P(1,1) + HK30*P(0,1) - HK46 + HK47 + P(1,19);
const float HK49 = HK21*P(16,19) + HK27*P(17,19) - HK28*P(18,19) + HK29*P(1,19) + HK30*P(0,19) - HK32*P(2,19) + HK34*P(3,19) + P(19,19);
const float HK50 = 1.0F/(HK21*HK37 + HK27*HK42 - HK28*HK38 + HK29*HK48 + HK30*HK36 - HK32*HK41 + HK34*HK45 + HK49 + R_MAG);
const float HK51 = 2*HK31;
const float HK52 = -HK15;
const float HK53 = HK16 + HK20 + HK52;
const float HK54 = q0*q1;
const float HK55 = q2*q3;
const float HK56 = HK54 + HK55;
const float HK57 = 2*HK56;
const float HK58 = 2*HK22 - 2*HK23;
const float HK59 = HK32*P(0,1);
const float HK60 = HK29*P(0,2) + HK34*P(0,0) - HK44 + HK53*P(0,17) + HK57*P(0,18) - HK58*P(0,16) + HK59 + P(0,20);
const float HK61 = HK29*P(2,17) - HK30*P(3,17) + HK32*P(1,17) + HK34*P(0,17) + HK53*P(17,17) + HK57*P(17,18) - HK58*P(16,17) + P(17,20);
const float HK62 = HK29*P(2,16) - HK30*P(3,16) + HK32*P(1,16) + HK34*P(0,16) + HK53*P(16,17) + HK57*P(16,18) - HK58*P(16,16) + P(16,20);
const float HK63 = HK29*P(2,3);
const float HK64 = -HK30*P(3,3) + HK32*P(1,3) + HK35 + HK53*P(3,17) + HK57*P(3,18) - HK58*P(3,16) + HK63 + P(3,20);
const float HK65 = HK29*P(2,18) - HK30*P(3,18) + HK32*P(1,18) + HK34*P(0,18) + HK53*P(17,18) + HK57*P(18,18) - HK58*P(16,18) + P(18,20);
const float HK66 = HK34*P(0,1);
const float HK67 = -HK30*P(1,3) + HK32*P(1,1) + HK39 + HK53*P(1,17) + HK57*P(1,18) - HK58*P(1,16) + HK66 + P(1,20);
const float HK68 = HK30*P(2,3);
const float HK69 = HK29*P(2,2) + HK34*P(0,2) + HK46 + HK53*P(2,17) + HK57*P(2,18) - HK58*P(2,16) - HK68 + P(2,20);
const float HK70 = HK29*P(2,20) - HK30*P(3,20) + HK32*P(1,20) + HK34*P(0,20) + HK53*P(17,20) + HK57*P(18,20) - HK58*P(16,20) + P(20,20);
const float HK71 = 1.0F/(HK29*HK69 - HK30*HK64 + HK32*HK67 + HK34*HK60 + HK53*HK61 + HK57*HK65 - HK58*HK62 + HK70 + R_MAG);
const float HK72 = HK25 + HK26;
const float HK73 = HK17 + HK18 + HK19 + HK52;
const float HK74 = 2*HK72;
const float HK75 = 2*HK54 - 2*HK55;
const float HK76 = HK29*P(0,3) + HK32*P(0,0) + HK40 - HK66 + HK73*P(0,18) + HK74*P(0,16) - HK75*P(0,17) + P(0,21);
const float HK77 = HK29*P(3,18) + HK30*P(2,18) + HK32*P(0,18) - HK34*P(1,18) + HK73*P(18,18) + HK74*P(16,18) - HK75*P(17,18) + P(18,21);
const float HK78 = HK29*P(3,17) + HK30*P(2,17) + HK32*P(0,17) - HK34*P(1,17) + HK73*P(17,18) + HK74*P(16,17) - HK75*P(17,17) + P(17,21);
const float HK79 = HK30*P(1,2) - HK34*P(1,1) + HK43 + HK59 + HK73*P(1,18) + HK74*P(1,16) - HK75*P(1,17) + P(1,21);
const float HK80 = HK29*P(3,16) + HK30*P(2,16) + HK32*P(0,16) - HK34*P(1,16) + HK73*P(16,18) + HK74*P(16,16) - HK75*P(16,17) + P(16,21);
const float HK81 = HK29*P(3,3) + HK32*P(0,3) - HK47 + HK68 + HK73*P(3,18) + HK74*P(3,16) - HK75*P(3,17) + P(3,21);
const float HK82 = HK30*P(2,2) + HK33 - HK34*P(1,2) + HK63 + HK73*P(2,18) + HK74*P(2,16) - HK75*P(2,17) + P(2,21);
const float HK83 = HK29*P(3,21) + HK30*P(2,21) + HK32*P(0,21) - HK34*P(1,21) + HK73*P(18,21) + HK74*P(16,21) - HK75*P(17,21) + P(21,21);
const float HK84 = 1.0F/(HK29*HK81 + HK30*HK82 + HK32*HK76 - HK34*HK79 + HK73*HK77 + HK74*HK80 - HK75*HK78 + HK83 + R_MAG);
const float HK36 = -HK6;
const float HK37 = 2*HK36 + 2*HK7 + 2*HK9;
const float HK38 = HK37*P(0,2);
const float HK39 = -R_MAG;
const float HK40 = HK23*P(1,16);
const float HK41 = HK25*P(16,17);
const float HK42 = HK27*P(0,16);
const float HK43 = HK29*P(16,18);
const float HK44 = HK34*P(3,16);
const float HK45 = HK32*P(16,16);
const float HK46 = HK37*P(2,16);
const float HK47 = HK23*P(1,1);
const float HK48 = HK25*P(1,17);
const float HK49 = HK27*P(0,1);
const float HK50 = HK29*P(1,18);
const float HK51 = HK34*P(1,3);
const float HK52 = HK32*P(1,16);
const float HK53 = HK37*P(1,2);
const float HK54 = HK23*P(1,17);
const float HK55 = HK25*P(17,17);
const float HK56 = HK27*P(0,17);
const float HK57 = HK29*P(17,18);
const float HK58 = HK34*P(3,17);
const float HK59 = HK32*P(16,17);
const float HK60 = HK37*P(2,17);
const float HK61 = HK23*P(1,3);
const float HK62 = HK25*P(3,17);
const float HK63 = HK27*P(0,3);
const float HK64 = HK29*P(3,18);
const float HK65 = HK34*P(3,3);
const float HK66 = HK37*P(2,3);
const float HK67 = HK32*P(3,16);
const float HK68 = HK23*P(1,18);
const float HK69 = HK25*P(17,18);
const float HK70 = HK27*P(0,18);
const float HK71 = HK29*P(18,18);
const float HK72 = HK34*P(3,18);
const float HK73 = HK32*P(16,18);
const float HK74 = HK37*P(2,18);
const float HK75 = HK23*P(1,2);
const float HK76 = HK25*P(2,17);
const float HK77 = HK27*P(0,2);
const float HK78 = HK29*P(2,18);
const float HK79 = HK34*P(2,3);
const float HK80 = HK32*P(2,16);
const float HK81 = HK37*P(2,2);
const float HK82 = -HK23*P(1,19) - HK25*P(17,19) + HK27*P(0,19) + HK29*P(18,19) + HK32*P(16,19) - HK34*P(3,19) + HK37*P(2,19) - P(19,19);
const float HK83 = 1.0F/(-HK23*(HK47 + HK48 - HK49 - HK50 + HK51 - HK52 - HK53 + P(1,19)) - HK25*(HK54 + HK55 - HK56 - HK57 + HK58 - HK59 - HK60 + P(17,19)) + HK27*(HK24 + HK26 - HK28 - HK30 - HK33 + HK35 - HK38 + P(0,19)) + HK29*(HK68 + HK69 - HK70 - HK71 + HK72 - HK73 - HK74 + P(18,19)) + HK32*(HK40 + HK41 - HK42 - HK43 + HK44 - HK45 - HK46 + P(16,19)) - HK34*(HK61 + HK62 - HK63 - HK64 + HK65 - HK66 - HK67 + P(3,19)) + HK37*(HK75 + HK76 - HK77 - HK78 + HK79 - HK80 - HK81 + P(2,19)) + HK39 + HK82);
const float HK84 = -P(19,21);
const float HK85 = -HK12;
const float HK86 = HK10 + HK85;
const float HK87 = -2*HK6 + HK7 + HK8;
const float HK88 = magN*q1;
const float HK89 = HK3 + HK88;
const float HK90 = 2*HK0;
const float HK91 = magN*q0;
const float HK92 = 2*powf(q1, 2);
const float HK93 = -HK92;
const float HK94 = q0*q1;
const float HK95 = q2*q3;
const float HK96 = HK94 + HK95;
const float HK97 = 2*HK96;
const float HK98 = 2*HK89;
const float HK99 = 2*HK86;
const float HK100 = 2*HK18 - 2*HK19;
const float HK101 = 2*HK87;
const float HK102 = HK31 + HK92;
const float HK103 = 2*HK2 + 2*HK90 + 2*HK91;
const float HK104 = -HK100*P(0,16) + HK101*P(0,1) - HK102*P(0,17) - HK103*P(0,3) + HK97*P(0,18) + HK98*P(0,2) + HK99*P(0,0) + P(0,20);
const float HK105 = -HK100*P(16,17) + HK101*P(1,17) - HK102*P(17,17) - HK103*P(3,17) + HK97*P(17,18) + HK98*P(2,17) + HK99*P(0,17) + P(17,20);
const float HK106 = -HK100*P(16,16) + HK101*P(1,16) - HK102*P(16,17) - HK103*P(3,16) + HK97*P(16,18) + HK98*P(2,16) + HK99*P(0,16) + P(16,20);
const float HK107 = -HK100*P(3,16) + HK101*P(1,3) - HK102*P(3,17) - HK103*P(3,3) + HK97*P(3,18) + HK98*P(2,3) + HK99*P(0,3) + P(3,20);
const float HK108 = -HK100*P(2,16) + HK101*P(1,2) - HK102*P(2,17) - HK103*P(2,3) + HK97*P(2,18) + HK98*P(2,2) + HK99*P(0,2) + P(2,20);
const float HK109 = -HK100*P(16,18) + HK101*P(1,18) - HK102*P(17,18) - HK103*P(3,18) + HK97*P(18,18) + HK98*P(2,18) + HK99*P(0,18) + P(18,20);
const float HK110 = -HK100*P(1,16) + HK101*P(1,1) - HK102*P(1,17) - HK103*P(1,3) + HK97*P(1,18) + HK98*P(1,2) + HK99*P(0,1) + P(1,20);
const float HK111 = -HK100*P(16,20) + HK101*P(1,20) - HK102*P(17,20) - HK103*P(3,20) + HK97*P(18,20) + HK98*P(2,20) + HK99*P(0,20) + P(20,20);
const float HK112 = 1.0F/(-HK100*HK106 + HK101*HK110 - HK102*HK105 - HK103*HK107 + HK104*HK99 + HK108*HK98 + HK109*HK97 + HK111 + R_MAG);
const float HK113 = 2*HK10;
const float HK114 = HK0 - 2*HK1 + HK91;
const float HK115 = HK4 + HK88;
const float HK116 = HK21 + HK22;
const float HK117 = 2*HK116;
const float HK118 = HK117*P(0,16);
const float HK119 = 2*HK115;
const float HK120 = HK119*P(0,3);
const float HK121 = 2*HK6 - 2*HK8;
const float HK122 = HK121*P(0,0);
const float HK123 = 2*HK94 - 2*HK95;
const float HK124 = HK123*P(0,17);
const float HK125 = HK14 + HK92 - 1;
const float HK126 = HK125*P(0,18);
const float HK127 = 2*HK114;
const float HK128 = HK127*P(0,2);
const float HK129 = 2*HK11 + 2*HK113 + 2*HK85;
const float HK130 = HK129*P(0,1);
const float HK131 = HK117*P(16,18);
const float HK132 = HK119*P(3,18);
const float HK133 = HK121*P(0,18);
const float HK134 = HK123*P(17,18);
const float HK135 = HK127*P(2,18);
const float HK136 = HK129*P(1,18);
const float HK137 = HK125*P(18,18);
const float HK138 = HK117*P(3,16);
const float HK139 = HK119*P(3,3);
const float HK140 = HK121*P(0,3);
const float HK141 = HK123*P(3,17);
const float HK142 = HK127*P(2,3);
const float HK143 = HK129*P(1,3);
const float HK144 = HK125*P(3,18);
const float HK145 = HK117*P(16,16);
const float HK146 = HK119*P(3,16);
const float HK147 = HK121*P(0,16);
const float HK148 = HK123*P(16,17);
const float HK149 = HK127*P(2,16);
const float HK150 = HK129*P(1,16);
const float HK151 = HK125*P(16,18);
const float HK152 = HK117*P(2,16);
const float HK153 = HK119*P(2,3);
const float HK154 = HK121*P(0,2);
const float HK155 = HK123*P(2,17);
const float HK156 = HK127*P(2,2);
const float HK157 = HK129*P(1,2);
const float HK158 = HK125*P(2,18);
const float HK159 = HK117*P(16,17);
const float HK160 = HK119*P(3,17);
const float HK161 = HK121*P(0,17);
const float HK162 = HK123*P(17,17);
const float HK163 = HK127*P(2,17);
const float HK164 = HK129*P(1,17);
const float HK165 = HK125*P(17,18);
const float HK166 = HK117*P(1,16);
const float HK167 = HK119*P(1,3);
const float HK168 = HK121*P(0,1);
const float HK169 = HK123*P(1,17);
const float HK170 = HK127*P(1,2);
const float HK171 = HK129*P(1,1);
const float HK172 = HK125*P(1,18);
const float HK173 = -HK117*P(16,21) - HK119*P(3,21) + HK121*P(0,21) + HK123*P(17,21) + HK125*P(18,21) - HK127*P(2,21) + HK129*P(1,21) - P(21,21);
const float HK174 = 1.0F/(-HK117*(HK145 + HK146 - HK147 - HK148 + HK149 - HK150 - HK151 + P(16,21)) - HK119*(HK138 + HK139 - HK140 - HK141 + HK142 - HK143 - HK144 + P(3,21)) + HK121*(HK118 + HK120 - HK122 - HK124 - HK126 + HK128 - HK130 + P(0,21)) + HK123*(HK159 + HK160 - HK161 - HK162 + HK163 - HK164 - HK165 + P(17,21)) + HK125*(HK131 + HK132 - HK133 - HK134 + HK135 - HK136 - HK137 + P(18,21)) - HK127*(HK152 + HK153 - HK154 - HK155 + HK156 - HK157 - HK158 + P(2,21)) + HK129*(HK166 + HK167 - HK168 - HK169 + HK170 - HK171 - HK172 + P(1,21)) + HK173 + HK39);
// Observation Jacobians - axis 0
Hfusion.at<0>() = HK4;
Hfusion.at<1>() = HK6;
Hfusion.at<2>() = 2*HK7 - 2*HK8 - 2*HK9;
Hfusion.at<3>() = HK14;
Hfusion.at<0>() = 2*HK0 + 2*HK2;
Hfusion.at<1>() = 2*HK5;
Hfusion.at<2>() = 2*HK6 - 2*HK7 - 2*HK9;
Hfusion.at<3>() = 2*HK13;
Hfusion.at<4>() = 0;
Hfusion.at<5>() = 0;
Hfusion.at<6>() = 0;
@@ -103,9 +193,9 @@ Hfusion.at<12>() = 0;
Hfusion.at<13>() = 0;
Hfusion.at<14>() = 0;
Hfusion.at<15>() = 0;
Hfusion.at<16>() = HK21;
Hfusion.at<17>() = 2*HK24;
Hfusion.at<18>() = 2*HK25 - 2*HK26;
Hfusion.at<16>() = HK15 + HK17;
Hfusion.at<17>() = 2*HK20;
Hfusion.at<18>() = 2*HK21 - 2*HK22;
Hfusion.at<19>() = 1;
Hfusion.at<20>() = 0;
Hfusion.at<21>() = 0;
@@ -114,37 +204,37 @@ Hfusion.at<23>() = 0;
// Kalman gains - axis 0
Kfusion(0) = HK36*HK50;
Kfusion(1) = HK48*HK50;
Kfusion(2) = HK41*HK50;
Kfusion(3) = HK45*HK50;
Kfusion(4) = HK50*(HK21*P(4,16) + HK27*P(4,17) - HK28*P(4,18) + HK29*P(1,4) + HK30*P(0,4) - HK32*P(2,4) + HK34*P(3,4) + P(4,19));
Kfusion(5) = HK50*(HK21*P(5,16) + HK27*P(5,17) - HK28*P(5,18) + HK29*P(1,5) + HK30*P(0,5) - HK32*P(2,5) + HK34*P(3,5) + P(5,19));
Kfusion(6) = HK50*(HK21*P(6,16) + HK27*P(6,17) - HK28*P(6,18) + HK29*P(1,6) + HK30*P(0,6) - HK32*P(2,6) + HK34*P(3,6) + P(6,19));
Kfusion(7) = HK50*(HK21*P(7,16) + HK27*P(7,17) - HK28*P(7,18) + HK29*P(1,7) + HK30*P(0,7) - HK32*P(2,7) + HK34*P(3,7) + P(7,19));
Kfusion(8) = HK50*(HK21*P(8,16) + HK27*P(8,17) - HK28*P(8,18) + HK29*P(1,8) + HK30*P(0,8) - HK32*P(2,8) + HK34*P(3,8) + P(8,19));
Kfusion(9) = HK50*(HK21*P(9,16) + HK27*P(9,17) - HK28*P(9,18) + HK29*P(1,9) + HK30*P(0,9) - HK32*P(2,9) + HK34*P(3,9) + P(9,19));
Kfusion(10) = HK50*(HK21*P(10,16) + HK27*P(10,17) - HK28*P(10,18) + HK29*P(1,10) + HK30*P(0,10) - HK32*P(2,10) + HK34*P(3,10) + P(10,19));
Kfusion(11) = HK50*(HK21*P(11,16) + HK27*P(11,17) - HK28*P(11,18) + HK29*P(1,11) + HK30*P(0,11) - HK32*P(2,11) + HK34*P(3,11) + P(11,19));
Kfusion(12) = HK50*(HK21*P(12,16) + HK27*P(12,17) - HK28*P(12,18) + HK29*P(1,12) + HK30*P(0,12) - HK32*P(2,12) + HK34*P(3,12) + P(12,19));
Kfusion(13) = HK50*(HK21*P(13,16) + HK27*P(13,17) - HK28*P(13,18) + HK29*P(1,13) + HK30*P(0,13) - HK32*P(2,13) + HK34*P(3,13) + P(13,19));
Kfusion(14) = HK50*(HK21*P(14,16) + HK27*P(14,17) - HK28*P(14,18) + HK29*P(1,14) + HK30*P(0,14) - HK32*P(2,14) + HK34*P(3,14) + P(14,19));
Kfusion(15) = HK50*(HK21*P(15,16) + HK27*P(15,17) - HK28*P(15,18) + HK29*P(1,15) + HK30*P(0,15) - HK32*P(2,15) + HK34*P(3,15) + P(15,19));
Kfusion(16) = HK37*HK50;
Kfusion(17) = HK42*HK50;
Kfusion(18) = HK38*HK50;
Kfusion(19) = HK49*HK50;
Kfusion(20) = HK50*(HK21*P(16,20) + HK27*P(17,20) - HK28*P(18,20) + HK29*P(1,20) + HK30*P(0,20) - HK32*P(2,20) + HK34*P(3,20) + P(19,20));
Kfusion(21) = HK50*(HK21*P(16,21) + HK27*P(17,21) - HK28*P(18,21) + HK29*P(1,21) + HK30*P(0,21) - HK32*P(2,21) + HK34*P(3,21) + P(19,21));
Kfusion(22) = HK50*(HK21*P(16,22) + HK27*P(17,22) - HK28*P(18,22) + HK29*P(1,22) + HK30*P(0,22) - HK32*P(2,22) + HK34*P(3,22) + P(19,22));
Kfusion(23) = HK50*(HK21*P(16,23) + HK27*P(17,23) - HK28*P(18,23) + HK29*P(1,23) + HK30*P(0,23) - HK32*P(2,23) + HK34*P(3,23) + P(19,23));
Kfusion(0) = HK83*(-HK24 - HK26 + HK28 + HK30 + HK33 - HK35 + HK38 - P(0,19));
Kfusion(1) = HK83*(-HK47 - HK48 + HK49 + HK50 - HK51 + HK52 + HK53 - P(1,19));
Kfusion(2) = HK83*(-HK75 - HK76 + HK77 + HK78 - HK79 + HK80 + HK81 - P(2,19));
Kfusion(3) = HK83*(-HK61 - HK62 + HK63 + HK64 - HK65 + HK66 + HK67 - P(3,19));
Kfusion(4) = HK83*(-HK23*P(1,4) - HK25*P(4,17) + HK27*P(0,4) + HK29*P(4,18) + HK32*P(4,16) - HK34*P(3,4) + HK37*P(2,4) - P(4,19));
Kfusion(5) = HK83*(-HK23*P(1,5) - HK25*P(5,17) + HK27*P(0,5) + HK29*P(5,18) + HK32*P(5,16) - HK34*P(3,5) + HK37*P(2,5) - P(5,19));
Kfusion(6) = HK83*(-HK23*P(1,6) - HK25*P(6,17) + HK27*P(0,6) + HK29*P(6,18) + HK32*P(6,16) - HK34*P(3,6) + HK37*P(2,6) - P(6,19));
Kfusion(7) = HK83*(-HK23*P(1,7) - HK25*P(7,17) + HK27*P(0,7) + HK29*P(7,18) + HK32*P(7,16) - HK34*P(3,7) + HK37*P(2,7) - P(7,19));
Kfusion(8) = HK83*(-HK23*P(1,8) - HK25*P(8,17) + HK27*P(0,8) + HK29*P(8,18) + HK32*P(8,16) - HK34*P(3,8) + HK37*P(2,8) - P(8,19));
Kfusion(9) = HK83*(-HK23*P(1,9) - HK25*P(9,17) + HK27*P(0,9) + HK29*P(9,18) + HK32*P(9,16) - HK34*P(3,9) + HK37*P(2,9) - P(9,19));
Kfusion(10) = HK83*(-HK23*P(1,10) - HK25*P(10,17) + HK27*P(0,10) + HK29*P(10,18) + HK32*P(10,16) - HK34*P(3,10) + HK37*P(2,10) - P(10,19));
Kfusion(11) = HK83*(-HK23*P(1,11) - HK25*P(11,17) + HK27*P(0,11) + HK29*P(11,18) + HK32*P(11,16) - HK34*P(3,11) + HK37*P(2,11) - P(11,19));
Kfusion(12) = HK83*(-HK23*P(1,12) - HK25*P(12,17) + HK27*P(0,12) + HK29*P(12,18) + HK32*P(12,16) - HK34*P(3,12) + HK37*P(2,12) - P(12,19));
Kfusion(13) = HK83*(-HK23*P(1,13) - HK25*P(13,17) + HK27*P(0,13) + HK29*P(13,18) + HK32*P(13,16) - HK34*P(3,13) + HK37*P(2,13) - P(13,19));
Kfusion(14) = HK83*(-HK23*P(1,14) - HK25*P(14,17) + HK27*P(0,14) + HK29*P(14,18) + HK32*P(14,16) - HK34*P(3,14) + HK37*P(2,14) - P(14,19));
Kfusion(15) = HK83*(-HK23*P(1,15) - HK25*P(15,17) + HK27*P(0,15) + HK29*P(15,18) + HK32*P(15,16) - HK34*P(3,15) + HK37*P(2,15) - P(15,19));
Kfusion(16) = HK83*(-HK40 - HK41 + HK42 + HK43 - HK44 + HK45 + HK46 - P(16,19));
Kfusion(17) = HK83*(-HK54 - HK55 + HK56 + HK57 - HK58 + HK59 + HK60 - P(17,19));
Kfusion(18) = HK83*(-HK68 - HK69 + HK70 + HK71 - HK72 + HK73 + HK74 - P(18,19));
Kfusion(19) = HK82*HK83;
Kfusion(20) = HK83*(-HK23*P(1,20) - HK25*P(17,20) + HK27*P(0,20) + HK29*P(18,20) + HK32*P(16,20) - HK34*P(3,20) + HK37*P(2,20) - P(19,20));
Kfusion(21) = HK83*(-HK23*P(1,21) - HK25*P(17,21) + HK27*P(0,21) + HK29*P(18,21) + HK32*P(16,21) - HK34*P(3,21) + HK37*P(2,21) + HK84);
Kfusion(22) = HK83*(-HK23*P(1,22) - HK25*P(17,22) + HK27*P(0,22) + HK29*P(18,22) + HK32*P(16,22) - HK34*P(3,22) + HK37*P(2,22) - P(19,22));
Kfusion(23) = HK83*(-HK23*P(1,23) - HK25*P(17,23) + HK27*P(0,23) + HK29*P(18,23) + HK32*P(16,23) - HK34*P(3,23) + HK37*P(2,23) - P(19,23));
// Observation Jacobians - axis 1
Hfusion.at<0>() = HK14;
Hfusion.at<1>() = HK51;
Hfusion.at<2>() = HK6;
Hfusion.at<3>() = -2*HK0 - 2*HK1 + 2*HK2;
Hfusion.at<0>() = 2*HK86;
Hfusion.at<1>() = 2*HK87;
Hfusion.at<2>() = 2*HK89;
Hfusion.at<3>() = 2*HK1 - 2*HK90 - 2*HK91;
Hfusion.at<4>() = 0;
Hfusion.at<5>() = 0;
Hfusion.at<6>() = 0;
@@ -157,9 +247,9 @@ Hfusion.at<12>() = 0;
Hfusion.at<13>() = 0;
Hfusion.at<14>() = 0;
Hfusion.at<15>() = 0;
Hfusion.at<16>() = -2*HK22 + 2*HK23;
Hfusion.at<17>() = HK53;
Hfusion.at<18>() = 2*HK56;
Hfusion.at<16>() = -2*HK18 + 2*HK19;
Hfusion.at<17>() = HK17 + HK93;
Hfusion.at<18>() = 2*HK96;
Hfusion.at<19>() = 0;
Hfusion.at<20>() = 1;
Hfusion.at<21>() = 0;
@@ -168,37 +258,37 @@ Hfusion.at<23>() = 0;
// Kalman gains - axis 1
Kfusion(0) = HK60*HK71;
Kfusion(1) = HK67*HK71;
Kfusion(2) = HK69*HK71;
Kfusion(3) = HK64*HK71;
Kfusion(4) = HK71*(HK29*P(2,4) - HK30*P(3,4) + HK32*P(1,4) + HK34*P(0,4) + HK53*P(4,17) + HK57*P(4,18) - HK58*P(4,16) + P(4,20));
Kfusion(5) = HK71*(HK29*P(2,5) - HK30*P(3,5) + HK32*P(1,5) + HK34*P(0,5) + HK53*P(5,17) + HK57*P(5,18) - HK58*P(5,16) + P(5,20));
Kfusion(6) = HK71*(HK29*P(2,6) - HK30*P(3,6) + HK32*P(1,6) + HK34*P(0,6) + HK53*P(6,17) + HK57*P(6,18) - HK58*P(6,16) + P(6,20));
Kfusion(7) = HK71*(HK29*P(2,7) - HK30*P(3,7) + HK32*P(1,7) + HK34*P(0,7) + HK53*P(7,17) + HK57*P(7,18) - HK58*P(7,16) + P(7,20));
Kfusion(8) = HK71*(HK29*P(2,8) - HK30*P(3,8) + HK32*P(1,8) + HK34*P(0,8) + HK53*P(8,17) + HK57*P(8,18) - HK58*P(8,16) + P(8,20));
Kfusion(9) = HK71*(HK29*P(2,9) - HK30*P(3,9) + HK32*P(1,9) + HK34*P(0,9) + HK53*P(9,17) + HK57*P(9,18) - HK58*P(9,16) + P(9,20));
Kfusion(10) = HK71*(HK29*P(2,10) - HK30*P(3,10) + HK32*P(1,10) + HK34*P(0,10) + HK53*P(10,17) + HK57*P(10,18) - HK58*P(10,16) + P(10,20));
Kfusion(11) = HK71*(HK29*P(2,11) - HK30*P(3,11) + HK32*P(1,11) + HK34*P(0,11) + HK53*P(11,17) + HK57*P(11,18) - HK58*P(11,16) + P(11,20));
Kfusion(12) = HK71*(HK29*P(2,12) - HK30*P(3,12) + HK32*P(1,12) + HK34*P(0,12) + HK53*P(12,17) + HK57*P(12,18) - HK58*P(12,16) + P(12,20));
Kfusion(13) = HK71*(HK29*P(2,13) - HK30*P(3,13) + HK32*P(1,13) + HK34*P(0,13) + HK53*P(13,17) + HK57*P(13,18) - HK58*P(13,16) + P(13,20));
Kfusion(14) = HK71*(HK29*P(2,14) - HK30*P(3,14) + HK32*P(1,14) + HK34*P(0,14) + HK53*P(14,17) + HK57*P(14,18) - HK58*P(14,16) + P(14,20));
Kfusion(15) = HK71*(HK29*P(2,15) - HK30*P(3,15) + HK32*P(1,15) + HK34*P(0,15) + HK53*P(15,17) + HK57*P(15,18) - HK58*P(15,16) + P(15,20));
Kfusion(16) = HK62*HK71;
Kfusion(17) = HK61*HK71;
Kfusion(18) = HK65*HK71;
Kfusion(19) = HK71*(HK29*P(2,19) - HK30*P(3,19) + HK32*P(1,19) + HK34*P(0,19) + HK53*P(17,19) + HK57*P(18,19) - HK58*P(16,19) + P(19,20));
Kfusion(20) = HK70*HK71;
Kfusion(21) = HK71*(HK29*P(2,21) - HK30*P(3,21) + HK32*P(1,21) + HK34*P(0,21) + HK53*P(17,21) + HK57*P(18,21) - HK58*P(16,21) + P(20,21));
Kfusion(22) = HK71*(HK29*P(2,22) - HK30*P(3,22) + HK32*P(1,22) + HK34*P(0,22) + HK53*P(17,22) + HK57*P(18,22) - HK58*P(16,22) + P(20,22));
Kfusion(23) = HK71*(HK29*P(2,23) - HK30*P(3,23) + HK32*P(1,23) + HK34*P(0,23) + HK53*P(17,23) + HK57*P(18,23) - HK58*P(16,23) + P(20,23));
Kfusion(0) = HK104*HK112;
Kfusion(1) = HK110*HK112;
Kfusion(2) = HK108*HK112;
Kfusion(3) = HK107*HK112;
Kfusion(4) = HK112*(-HK100*P(4,16) + HK101*P(1,4) - HK102*P(4,17) - HK103*P(3,4) + HK97*P(4,18) + HK98*P(2,4) + HK99*P(0,4) + P(4,20));
Kfusion(5) = HK112*(-HK100*P(5,16) + HK101*P(1,5) - HK102*P(5,17) - HK103*P(3,5) + HK97*P(5,18) + HK98*P(2,5) + HK99*P(0,5) + P(5,20));
Kfusion(6) = HK112*(-HK100*P(6,16) + HK101*P(1,6) - HK102*P(6,17) - HK103*P(3,6) + HK97*P(6,18) + HK98*P(2,6) + HK99*P(0,6) + P(6,20));
Kfusion(7) = HK112*(-HK100*P(7,16) + HK101*P(1,7) - HK102*P(7,17) - HK103*P(3,7) + HK97*P(7,18) + HK98*P(2,7) + HK99*P(0,7) + P(7,20));
Kfusion(8) = HK112*(-HK100*P(8,16) + HK101*P(1,8) - HK102*P(8,17) - HK103*P(3,8) + HK97*P(8,18) + HK98*P(2,8) + HK99*P(0,8) + P(8,20));
Kfusion(9) = HK112*(-HK100*P(9,16) + HK101*P(1,9) - HK102*P(9,17) - HK103*P(3,9) + HK97*P(9,18) + HK98*P(2,9) + HK99*P(0,9) + P(9,20));
Kfusion(10) = HK112*(-HK100*P(10,16) + HK101*P(1,10) - HK102*P(10,17) - HK103*P(3,10) + HK97*P(10,18) + HK98*P(2,10) + HK99*P(0,10) + P(10,20));
Kfusion(11) = HK112*(-HK100*P(11,16) + HK101*P(1,11) - HK102*P(11,17) - HK103*P(3,11) + HK97*P(11,18) + HK98*P(2,11) + HK99*P(0,11) + P(11,20));
Kfusion(12) = HK112*(-HK100*P(12,16) + HK101*P(1,12) - HK102*P(12,17) - HK103*P(3,12) + HK97*P(12,18) + HK98*P(2,12) + HK99*P(0,12) + P(12,20));
Kfusion(13) = HK112*(-HK100*P(13,16) + HK101*P(1,13) - HK102*P(13,17) - HK103*P(3,13) + HK97*P(13,18) + HK98*P(2,13) + HK99*P(0,13) + P(13,20));
Kfusion(14) = HK112*(-HK100*P(14,16) + HK101*P(1,14) - HK102*P(14,17) - HK103*P(3,14) + HK97*P(14,18) + HK98*P(2,14) + HK99*P(0,14) + P(14,20));
Kfusion(15) = HK112*(-HK100*P(15,16) + HK101*P(1,15) - HK102*P(15,17) - HK103*P(3,15) + HK97*P(15,18) + HK98*P(2,15) + HK99*P(0,15) + P(15,20));
Kfusion(16) = HK106*HK112;
Kfusion(17) = HK105*HK112;
Kfusion(18) = HK109*HK112;
Kfusion(19) = HK112*(-HK100*P(16,19) + HK101*P(1,19) - HK102*P(17,19) - HK103*P(3,19) + HK97*P(18,19) + HK98*P(2,19) + HK99*P(0,19) + P(19,20));
Kfusion(20) = HK111*HK112;
Kfusion(21) = HK112*(-HK100*P(16,21) + HK101*P(1,21) - HK102*P(17,21) - HK103*P(3,21) + HK97*P(18,21) + HK98*P(2,21) + HK99*P(0,21) + P(20,21));
Kfusion(22) = HK112*(-HK100*P(16,22) + HK101*P(1,22) - HK102*P(17,22) - HK103*P(3,22) + HK97*P(18,22) + HK98*P(2,22) + HK99*P(0,22) + P(20,22));
Kfusion(23) = HK112*(-HK100*P(16,23) + HK101*P(1,23) - HK102*P(17,23) - HK103*P(3,23) + HK97*P(18,23) + HK98*P(2,23) + HK99*P(0,23) + P(20,23));
// Observation Jacobians - axis 2
Hfusion.at<0>() = HK51;
Hfusion.at<1>() = -2*HK10 - 2*HK11 + 2*HK12;
Hfusion.at<2>() = HK4;
Hfusion.at<3>() = HK6;
Hfusion.at<0>() = 2*HK36 + 2*HK8;
Hfusion.at<1>() = -2*HK11 - 2*HK113 + 2*HK12;
Hfusion.at<2>() = 2*HK114;
Hfusion.at<3>() = 2*HK115;
Hfusion.at<4>() = 0;
Hfusion.at<5>() = 0;
Hfusion.at<6>() = 0;
@@ -211,9 +301,9 @@ Hfusion.at<12>() = 0;
Hfusion.at<13>() = 0;
Hfusion.at<14>() = 0;
Hfusion.at<15>() = 0;
Hfusion.at<16>() = 2*HK72;
Hfusion.at<17>() = -2*HK54 + 2*HK55;
Hfusion.at<18>() = HK73;
Hfusion.at<16>() = 2*HK116;
Hfusion.at<17>() = -2*HK94 + 2*HK95;
Hfusion.at<18>() = HK15 + HK93 + 1;
Hfusion.at<19>() = 0;
Hfusion.at<20>() = 0;
Hfusion.at<21>() = 1;
@@ -222,29 +312,29 @@ Hfusion.at<23>() = 0;
// Kalman gains - axis 2
Kfusion(0) = HK76*HK84;
Kfusion(1) = HK79*HK84;
Kfusion(2) = HK82*HK84;
Kfusion(3) = HK81*HK84;
Kfusion(4) = HK84*(HK29*P(3,4) + HK30*P(2,4) + HK32*P(0,4) - HK34*P(1,4) + HK73*P(4,18) + HK74*P(4,16) - HK75*P(4,17) + P(4,21));
Kfusion(5) = HK84*(HK29*P(3,5) + HK30*P(2,5) + HK32*P(0,5) - HK34*P(1,5) + HK73*P(5,18) + HK74*P(5,16) - HK75*P(5,17) + P(5,21));
Kfusion(6) = HK84*(HK29*P(3,6) + HK30*P(2,6) + HK32*P(0,6) - HK34*P(1,6) + HK73*P(6,18) + HK74*P(6,16) - HK75*P(6,17) + P(6,21));
Kfusion(7) = HK84*(HK29*P(3,7) + HK30*P(2,7) + HK32*P(0,7) - HK34*P(1,7) + HK73*P(7,18) + HK74*P(7,16) - HK75*P(7,17) + P(7,21));
Kfusion(8) = HK84*(HK29*P(3,8) + HK30*P(2,8) + HK32*P(0,8) - HK34*P(1,8) + HK73*P(8,18) + HK74*P(8,16) - HK75*P(8,17) + P(8,21));
Kfusion(9) = HK84*(HK29*P(3,9) + HK30*P(2,9) + HK32*P(0,9) - HK34*P(1,9) + HK73*P(9,18) + HK74*P(9,16) - HK75*P(9,17) + P(9,21));
Kfusion(10) = HK84*(HK29*P(3,10) + HK30*P(2,10) + HK32*P(0,10) - HK34*P(1,10) + HK73*P(10,18) + HK74*P(10,16) - HK75*P(10,17) + P(10,21));
Kfusion(11) = HK84*(HK29*P(3,11) + HK30*P(2,11) + HK32*P(0,11) - HK34*P(1,11) + HK73*P(11,18) + HK74*P(11,16) - HK75*P(11,17) + P(11,21));
Kfusion(12) = HK84*(HK29*P(3,12) + HK30*P(2,12) + HK32*P(0,12) - HK34*P(1,12) + HK73*P(12,18) + HK74*P(12,16) - HK75*P(12,17) + P(12,21));
Kfusion(13) = HK84*(HK29*P(3,13) + HK30*P(2,13) + HK32*P(0,13) - HK34*P(1,13) + HK73*P(13,18) + HK74*P(13,16) - HK75*P(13,17) + P(13,21));
Kfusion(14) = HK84*(HK29*P(3,14) + HK30*P(2,14) + HK32*P(0,14) - HK34*P(1,14) + HK73*P(14,18) + HK74*P(14,16) - HK75*P(14,17) + P(14,21));
Kfusion(15) = HK84*(HK29*P(3,15) + HK30*P(2,15) + HK32*P(0,15) - HK34*P(1,15) + HK73*P(15,18) + HK74*P(15,16) - HK75*P(15,17) + P(15,21));
Kfusion(16) = HK80*HK84;
Kfusion(17) = HK78*HK84;
Kfusion(18) = HK77*HK84;
Kfusion(19) = HK84*(HK29*P(3,19) + HK30*P(2,19) + HK32*P(0,19) - HK34*P(1,19) + HK73*P(18,19) + HK74*P(16,19) - HK75*P(17,19) + P(19,21));
Kfusion(20) = HK84*(HK29*P(3,20) + HK30*P(2,20) + HK32*P(0,20) - HK34*P(1,20) + HK73*P(18,20) + HK74*P(16,20) - HK75*P(17,20) + P(20,21));
Kfusion(21) = HK83*HK84;
Kfusion(22) = HK84*(HK29*P(3,22) + HK30*P(2,22) + HK32*P(0,22) - HK34*P(1,22) + HK73*P(18,22) + HK74*P(16,22) - HK75*P(17,22) + P(21,22));
Kfusion(23) = HK84*(HK29*P(3,23) + HK30*P(2,23) + HK32*P(0,23) - HK34*P(1,23) + HK73*P(18,23) + HK74*P(16,23) - HK75*P(17,23) + P(21,23));
Kfusion(0) = HK174*(-HK118 - HK120 + HK122 + HK124 + HK126 - HK128 + HK130 - P(0,21));
Kfusion(1) = HK174*(-HK166 - HK167 + HK168 + HK169 - HK170 + HK171 + HK172 - P(1,21));
Kfusion(2) = HK174*(-HK152 - HK153 + HK154 + HK155 - HK156 + HK157 + HK158 - P(2,21));
Kfusion(3) = HK174*(-HK138 - HK139 + HK140 + HK141 - HK142 + HK143 + HK144 - P(3,21));
Kfusion(4) = HK174*(-HK117*P(4,16) - HK119*P(3,4) + HK121*P(0,4) + HK123*P(4,17) + HK125*P(4,18) - HK127*P(2,4) + HK129*P(1,4) - P(4,21));
Kfusion(5) = HK174*(-HK117*P(5,16) - HK119*P(3,5) + HK121*P(0,5) + HK123*P(5,17) + HK125*P(5,18) - HK127*P(2,5) + HK129*P(1,5) - P(5,21));
Kfusion(6) = HK174*(-HK117*P(6,16) - HK119*P(3,6) + HK121*P(0,6) + HK123*P(6,17) + HK125*P(6,18) - HK127*P(2,6) + HK129*P(1,6) - P(6,21));
Kfusion(7) = HK174*(-HK117*P(7,16) - HK119*P(3,7) + HK121*P(0,7) + HK123*P(7,17) + HK125*P(7,18) - HK127*P(2,7) + HK129*P(1,7) - P(7,21));
Kfusion(8) = HK174*(-HK117*P(8,16) - HK119*P(3,8) + HK121*P(0,8) + HK123*P(8,17) + HK125*P(8,18) - HK127*P(2,8) + HK129*P(1,8) - P(8,21));
Kfusion(9) = HK174*(-HK117*P(9,16) - HK119*P(3,9) + HK121*P(0,9) + HK123*P(9,17) + HK125*P(9,18) - HK127*P(2,9) + HK129*P(1,9) - P(9,21));
Kfusion(10) = HK174*(-HK117*P(10,16) - HK119*P(3,10) + HK121*P(0,10) + HK123*P(10,17) + HK125*P(10,18) - HK127*P(2,10) + HK129*P(1,10) - P(10,21));
Kfusion(11) = HK174*(-HK117*P(11,16) - HK119*P(3,11) + HK121*P(0,11) + HK123*P(11,17) + HK125*P(11,18) - HK127*P(2,11) + HK129*P(1,11) - P(11,21));
Kfusion(12) = HK174*(-HK117*P(12,16) - HK119*P(3,12) + HK121*P(0,12) + HK123*P(12,17) + HK125*P(12,18) - HK127*P(2,12) + HK129*P(1,12) - P(12,21));
Kfusion(13) = HK174*(-HK117*P(13,16) - HK119*P(3,13) + HK121*P(0,13) + HK123*P(13,17) + HK125*P(13,18) - HK127*P(2,13) + HK129*P(1,13) - P(13,21));
Kfusion(14) = HK174*(-HK117*P(14,16) - HK119*P(3,14) + HK121*P(0,14) + HK123*P(14,17) + HK125*P(14,18) - HK127*P(2,14) + HK129*P(1,14) - P(14,21));
Kfusion(15) = HK174*(-HK117*P(15,16) - HK119*P(3,15) + HK121*P(0,15) + HK123*P(15,17) + HK125*P(15,18) - HK127*P(2,15) + HK129*P(1,15) - P(15,21));
Kfusion(16) = HK174*(-HK145 - HK146 + HK147 + HK148 - HK149 + HK150 + HK151 - P(16,21));
Kfusion(17) = HK174*(-HK159 - HK160 + HK161 + HK162 - HK163 + HK164 + HK165 - P(17,21));
Kfusion(18) = HK174*(-HK131 - HK132 + HK133 + HK134 - HK135 + HK136 + HK137 - P(18,21));
Kfusion(19) = HK174*(-HK117*P(16,19) - HK119*P(3,19) + HK121*P(0,19) + HK123*P(17,19) + HK125*P(18,19) - HK127*P(2,19) + HK129*P(1,19) + HK84);
Kfusion(20) = HK174*(-HK117*P(16,20) - HK119*P(3,20) + HK121*P(0,20) + HK123*P(17,20) + HK125*P(18,20) - HK127*P(2,20) + HK129*P(1,20) - P(20,21));
Kfusion(21) = HK173*HK174;
Kfusion(22) = HK174*(-HK117*P(16,22) - HK119*P(3,22) + HK121*P(0,22) + HK123*P(17,22) + HK125*P(18,22) - HK127*P(2,22) + HK129*P(1,22) - P(21,22));
Kfusion(23) = HK174*(-HK117*P(16,23) - HK119*P(3,23) + HK121*P(0,23) + HK123*P(17,23) + HK125*P(18,23) - HK127*P(2,23) + HK129*P(1,23) - P(21,23));
EKF/python/ekf_derivation/generated/3Dmag_innov_var_generated.cpp
+24 -18
View File
@@ -2,28 +2,34 @@
const float IV0 = q0*q1;
const float IV1 = q2*q3;
const float IV2 = 2*IV0 + 2*IV1;
const float IV3 = 2*q0*q3 - 2*q1*q2;
const float IV4 = 2*magD*q3 + 2*magE*q2 + 2*magN*q1;
const float IV5 = 2*magD*q1 + 2*magE*q0 - 2*magN*q3;
const float IV6 = 2*magD*q0 - 2*magE*q1 + 2*magN*q2;
const float IV7 = -2*magD*q2 + 2*magE*q3 + 2*magN*q0;
const float IV8 = powf(q2, 2);
const float IV9 = powf(q3, 2);
const float IV10 = powf(q0, 2) - powf(q1, 2);
const float IV11 = IV10 + IV8 - IV9;
const float IV12 = IV7*P(2,3);
const float IV13 = IV5*P(0,1);
const float IV14 = IV6*P(0,1);
const float IV15 = IV4*P(2,3);
const float IV16 = 2*q0*q2 + 2*q1*q3;
const float IV17 = 2*IV0 - 2*IV1;
const float IV18 = IV10 - IV8 + IV9;
const float IV3 = magN*q1;
const float IV4 = 2*IV3 + 2*magD*q3;
const float IV5 = magD*q1;
const float IV6 = -magN*q3;
const float IV7 = 2*IV5 + 2*IV6;
const float IV8 = 2*q0*q3 - 2*q1*q2;
const float IV9 = magN*q2;
const float IV10 = magE*q1;
const float IV11 = -4*IV10 + 2*IV9 + 2*magD*q0;
const float IV12 = 2*powf(q1, 2) - 1;
const float IV13 = IV12 + 2*powf(q3, 2);
const float IV14 = magN*q0;
const float IV15 = magD*q2;
const float IV16 = magE*q3;
const float IV17 = 2*IV14 - 2*IV15 + 4*IV16;
const float IV18 = 2*q0*q2 + 2*q1*q3;
const float IV19 = 2*IV3 + 2*magE*q2;
const float IV20 = 2*IV10 - 2*IV9;
const float IV21 = 2*IV0 - 2*IV1;
const float IV22 = 2*IV14 - 4*IV15 + 2*IV16;
const float IV23 = 4*IV5 + 2*IV6 + 2*magE*q0;
const float IV24 = IV12 + 2*powf(q2, 2);
// Observation Jacobians - axis 0
Hfusion.at<0>() = R_MAG;
Hfusion.at<1>() = IV11*P(17,20) + IV11*(IV11*P(17,17) + IV2*P(17,18) - IV3*P(16,17) + IV4*P(2,17) + IV5*P(0,17) + IV6*P(1,17) - IV7*P(3,17) + P(17,20)) + IV2*P(18,20) + IV2*(IV11*P(17,18) + IV2*P(18,18) - IV3*P(16,18) + IV4*P(2,18) + IV5*P(0,18) + IV6*P(1,18) - IV7*P(3,18) + P(18,20)) - IV3*P(16,20) - IV3*(IV11*P(16,17) + IV2*P(16,18) - IV3*P(16,16) + IV4*P(2,16) + IV5*P(0,16) + IV6*P(1,16) - IV7*P(3,16) + P(16,20)) + IV4*P(2,20) + IV4*(IV11*P(2,17) - IV12 + IV2*P(2,18) - IV3*P(2,16) + IV4*P(2,2) + IV5*P(0,2) + IV6*P(1,2) + P(2,20)) + IV5*P(0,20) + IV5*(IV11*P(0,17) + IV14 + IV2*P(0,18) - IV3*P(0,16) + IV4*P(0,2) + IV5*P(0,0) - IV7*P(0,3) + P(0,20)) + IV6*P(1,20) + IV6*(IV11*P(1,17) + IV13 + IV2*P(1,18) - IV3*P(1,16) + IV4*P(1,2) + IV6*P(1,1) - IV7*P(1,3) + P(1,20)) - IV7*P(3,20) - IV7*(IV11*P(3,17) + IV15 + IV2*P(3,18) - IV3*P(3,16) + IV5*P(0,3) + IV6*P(1,3) - IV7*P(3,3) + P(3,20)) + P(20,20) + R_MAG;
Hfusion.at<2>() = IV16*P(16,21) + IV16*(IV16*P(16,16) - IV17*P(16,17) + IV18*P(16,18) + IV4*P(3,16) - IV5*P(1,16) + IV6*P(0,16) + IV7*P(2,16) + P(16,21)) - IV17*P(17,21) - IV17*(IV16*P(16,17) - IV17*P(17,17) + IV18*P(17,18) + IV4*P(3,17) - IV5*P(1,17) + IV6*P(0,17) + IV7*P(2,17) + P(17,21)) + IV18*P(18,21) + IV18*(IV16*P(16,18) - IV17*P(17,18) + IV18*P(18,18) + IV4*P(3,18) - IV5*P(1,18) + IV6*P(0,18) + IV7*P(2,18) + P(18,21)) + IV4*P(3,21) + IV4*(IV12 + IV16*P(3,16) - IV17*P(3,17) + IV18*P(3,18) + IV4*P(3,3) - IV5*P(1,3) + IV6*P(0,3) + P(3,21)) - IV5*P(1,21) - IV5*(IV14 + IV16*P(1,16) - IV17*P(1,17) + IV18*P(1,18) + IV4*P(1,3) - IV5*P(1,1) + IV7*P(1,2) + P(1,21)) + IV6*P(0,21) + IV6*(-IV13 + IV16*P(0,16) - IV17*P(0,17) + IV18*P(0,18) + IV4*P(0,3) + IV6*P(0,0) + IV7*P(0,2) + P(0,21)) + IV7*P(2,21) + IV7*(IV15 + IV16*P(2,16) - IV17*P(2,17) + IV18*P(2,18) - IV5*P(1,2) + IV6*P(0,2) + IV7*P(2,2) + P(2,21)) + P(21,21) + R_MAG;
Hfusion.at<1>() = IV11*P(1,20) + IV11*(IV11*P(1,1) - IV13*P(1,17) - IV17*P(1,3) + IV2*P(1,18) + IV4*P(1,2) + IV7*P(0,1) - IV8*P(1,16) + P(1,20)) - IV13*P(17,20) - IV13*(IV11*P(1,17) - IV13*P(17,17) - IV17*P(3,17) + IV2*P(17,18) + IV4*P(2,17) + IV7*P(0,17) - IV8*P(16,17) + P(17,20)) - IV17*P(3,20) - IV17*(IV11*P(1,3) - IV13*P(3,17) - IV17*P(3,3) + IV2*P(3,18) + IV4*P(2,3) + IV7*P(0,3) - IV8*P(3,16) + P(3,20)) + IV2*P(18,20) + IV2*(IV11*P(1,18) - IV13*P(17,18) - IV17*P(3,18) + IV2*P(18,18) + IV4*P(2,18) + IV7*P(0,18) - IV8*P(16,18) + P(18,20)) + IV4*P(2,20) + IV4*(IV11*P(1,2) - IV13*P(2,17) - IV17*P(2,3) + IV2*P(2,18) + IV4*P(2,2) + IV7*P(0,2) - IV8*P(2,16) + P(2,20)) + IV7*P(0,20) + IV7*(IV11*P(0,1) - IV13*P(0,17) - IV17*P(0,3) + IV2*P(0,18) + IV4*P(0,2) + IV7*P(0,0) - IV8*P(0,16) + P(0,20)) - IV8*P(16,20) - IV8*(IV11*P(1,16) - IV13*P(16,17) - IV17*P(3,16) + IV2*P(16,18) + IV4*P(2,16) + IV7*P(0,16) - IV8*P(16,16) + P(16,20)) + P(20,20) + R_MAG;
Hfusion.at<2>() = IV18*P(16,21) + IV18*(IV18*P(16,16) + IV19*P(3,16) - IV20*P(0,16) - IV21*P(16,17) + IV22*P(2,16) - IV23*P(1,16) - IV24*P(16,18) + P(16,21)) + IV19*P(3,21) + IV19*(IV18*P(3,16) + IV19*P(3,3) - IV20*P(0,3) - IV21*P(3,17) + IV22*P(2,3) - IV23*P(1,3) - IV24*P(3,18) + P(3,21)) - IV20*P(0,21) - IV20*(IV18*P(0,16) + IV19*P(0,3) - IV20*P(0,0) - IV21*P(0,17) + IV22*P(0,2) - IV23*P(0,1) - IV24*P(0,18) + P(0,21)) - IV21*P(17,21) - IV21*(IV18*P(16,17) + IV19*P(3,17) - IV20*P(0,17) - IV21*P(17,17) + IV22*P(2,17) - IV23*P(1,17) - IV24*P(17,18) + P(17,21)) + IV22*P(2,21) + IV22*(IV18*P(2,16) + IV19*P(2,3) - IV20*P(0,2) - IV21*P(2,17) + IV22*P(2,2) - IV23*P(1,2) - IV24*P(2,18) + P(2,21)) - IV23*P(1,21) - IV23*(IV18*P(1,16) + IV19*P(1,3) - IV20*P(0,1) - IV21*P(1,17) + IV22*P(1,2) - IV23*P(1,1) - IV24*P(1,18) + P(1,21)) - IV24*P(18,21) - IV24*(IV18*P(16,18) + IV19*P(3,18) - IV20*P(0,18) - IV21*P(17,18) + IV22*P(2,18) - IV23*P(1,18) - IV24*P(18,18) + P(18,21)) + P(21,21) + R_MAG;
// Kalman gains - axis 0
EKF/python/ekf_derivation/generated/acc_bf_generated.cpp
+125 -112
View File
@@ -1,48 +1,61 @@
// Axis 0 equations
// Sub Expressions
const float HK0 = vn - vwn;
const float HK0 = q2*vd;
const float HK1 = ve - vwe;
const float HK2 = HK0*q0 + HK1*q3 - q2*vd;
const float HK3 = 2*Kaccx;
const float HK4 = HK0*q1 + HK1*q2 + q3*vd;
const float HK5 = HK0*q2 - HK1*q1 + q0*vd;
const float HK6 = -HK0*q3 + HK1*q0 + q1*vd;
const float HK7 = powf(q0, 2) + powf(q1, 2) - powf(q2, 2) - powf(q3, 2);
const float HK8 = HK7*Kaccx;
const float HK9 = q0*q3 + q1*q2;
const float HK10 = HK3*HK9;
const float HK11 = q0*q2 - q1*q3;
const float HK12 = 2*HK9;
const float HK13 = 2*HK11;
const float HK14 = 2*HK4;
const float HK15 = 2*HK2;
const float HK16 = 2*HK5;
const float HK17 = 2*HK6;
const float HK18 = -HK12*P(0,23) + HK12*P(0,5) - HK13*P(0,6) + HK14*P(0,1) + HK15*P(0,0) - HK16*P(0,2) + HK17*P(0,3) - HK7*P(0,22) + HK7*P(0,4);
const float HK19 = HK12*P(5,23);
const float HK20 = -HK12*P(23,23) - HK13*P(6,23) + HK14*P(1,23) + HK15*P(0,23) - HK16*P(2,23) + HK17*P(3,23) + HK19 - HK7*P(22,23) + HK7*P(4,23);
const float HK21 = powf(Kaccx, 2);
const float HK22 = HK12*HK21;
const float HK23 = HK12*P(5,5) - HK13*P(5,6) + HK14*P(1,5) + HK15*P(0,5) - HK16*P(2,5) + HK17*P(3,5) - HK19 + HK7*P(4,5) - HK7*P(5,22);
const float HK24 = HK12*P(5,6) - HK12*P(6,23) - HK13*P(6,6) + HK14*P(1,6) + HK15*P(0,6) - HK16*P(2,6) + HK17*P(3,6) + HK7*P(4,6) - HK7*P(6,22);
const float HK25 = HK7*P(4,22);
const float HK26 = -HK12*P(4,23) + HK12*P(4,5) - HK13*P(4,6) + HK14*P(1,4) + HK15*P(0,4) - HK16*P(2,4) + HK17*P(3,4) - HK25 + HK7*P(4,4);
const float HK27 = HK21*HK7;
const float HK28 = -HK12*P(22,23) + HK12*P(5,22) - HK13*P(6,22) + HK14*P(1,22) + HK15*P(0,22) - HK16*P(2,22) + HK17*P(3,22) + HK25 - HK7*P(22,22);
const float HK29 = -HK12*P(1,23) + HK12*P(1,5) - HK13*P(1,6) + HK14*P(1,1) + HK15*P(0,1) - HK16*P(1,2) + HK17*P(1,3) - HK7*P(1,22) + HK7*P(1,4);
const float HK30 = -HK12*P(2,23) + HK12*P(2,5) - HK13*P(2,6) + HK14*P(1,2) + HK15*P(0,2) - HK16*P(2,2) + HK17*P(2,3) - HK7*P(2,22) + HK7*P(2,4);
const float HK31 = -HK12*P(3,23) + HK12*P(3,5) - HK13*P(3,6) + HK14*P(1,3) + HK15*P(0,3) - HK16*P(2,3) + HK17*P(3,3) - HK7*P(3,22) + HK7*P(3,4);
const float HK32 = Kaccx/(-HK13*HK21*HK24 + HK14*HK21*HK29 + HK15*HK18*HK21 - HK16*HK21*HK30 + HK17*HK21*HK31 - HK20*HK22 + HK22*HK23 + HK26*HK27 - HK27*HK28 + R_ACC);
const float HK2 = HK1*q3;
const float HK3 = HK0 - HK2;
const float HK4 = 2*Kaccx;
const float HK5 = HK1*q2 + q3*vd;
const float HK6 = q0*vd;
const float HK7 = HK1*q1;
const float HK8 = 2*vn - 2*vwn;
const float HK9 = HK8*q2;
const float HK10 = HK6 - HK7 + HK9;
const float HK11 = HK1*q0 - HK8*q3 + q1*vd;
const float HK12 = 2*powf(q2, 2);
const float HK13 = 2*powf(q3, 2);
const float HK14 = HK12 + HK13 - 1;
const float HK15 = HK14*Kaccx;
const float HK16 = q0*q3 + q1*q2;
const float HK17 = HK16*HK4;
const float HK18 = q0*q2;
const float HK19 = q1*q3;
const float HK20 = HK18 - HK19;
const float HK21 = 2*HK3;
const float HK22 = 2*HK10;
const float HK23 = 2*HK20;
const float HK24 = 2*HK16;
const float HK25 = 2*HK5;
const float HK26 = 2*HK11;
const float HK27 = HK14*P(0,22) - HK24*P(0,23) + HK24*P(0,5) + HK25*P(0,1) + HK26*P(0,3);
const float HK28 = -HK12 - HK13 + 1;
const float HK29 = -2*HK0 + 2*HK2;
const float HK30 = -2*HK6 + 2*HK7 - 2*HK9;
const float HK31 = -2*HK18 + 2*HK19;
const float HK32 = HK24*P(5,23);
const float HK33 = HK14*P(22,23) - HK24*P(23,23) + HK25*P(1,23) + HK26*P(3,23) + HK32;
const float HK34 = powf(Kaccx, 2);
const float HK35 = HK24*HK34;
const float HK36 = HK14*P(5,22) + HK24*P(5,5) + HK25*P(1,5) + HK26*P(3,5) - HK32;
const float HK37 = HK14*P(6,22) + HK24*P(5,6) - HK24*P(6,23) + HK25*P(1,6) + HK26*P(3,6);
const float HK38 = HK14*P(1,22) - HK24*P(1,23) + HK24*P(1,5) + HK25*P(1,1) + HK26*P(1,3);
const float HK39 = HK14*P(4,22);
const float HK40 = -HK24*P(4,23) + HK24*P(4,5) + HK25*P(1,4) + HK26*P(3,4) + HK39;
const float HK41 = HK14*HK34;
const float HK42 = HK14*P(22,22) - HK24*P(22,23) + HK24*P(5,22) + HK25*P(1,22) + HK26*P(3,22);
const float HK43 = HK14*P(3,22) - HK24*P(3,23) + HK24*P(3,5) + HK25*P(1,3) + HK26*P(3,3);
const float HK44 = HK14*P(2,22) - HK24*P(2,23) + HK24*P(2,5) + HK25*P(1,2) + HK26*P(2,3);
const float HK45 = Kaccx/(HK21*HK34*(HK27 + HK28*P(0,4) + HK29*P(0,0) + HK30*P(0,2) + HK31*P(0,6)) + HK22*HK34*(HK28*P(2,4) + HK29*P(0,2) + HK30*P(2,2) + HK31*P(2,6) + HK44) + HK23*HK34*(HK28*P(4,6) + HK29*P(0,6) + HK30*P(2,6) + HK31*P(6,6) + HK37) - HK25*HK34*(HK28*P(1,4) + HK29*P(0,1) + HK30*P(1,2) + HK31*P(1,6) + HK38) - HK26*HK34*(HK28*P(3,4) + HK29*P(0,3) + HK30*P(2,3) + HK31*P(3,6) + HK43) + HK35*(HK28*P(4,23) + HK29*P(0,23) + HK30*P(2,23) + HK31*P(6,23) + HK33) - HK35*(HK28*P(4,5) + HK29*P(0,5) + HK30*P(2,5) + HK31*P(5,6) + HK36) - HK41*(HK28*P(4,22) + HK29*P(0,22) + HK30*P(2,22) + HK31*P(6,22) + HK42) + HK41*(HK28*P(4,4) + HK29*P(0,4) + HK30*P(2,4) + HK31*P(4,6) + HK40) - R_ACC);
// Observation Jacobians
Hfusion.at<0>() = -HK2*HK3;
Hfusion.at<1>() = -HK3*HK4;
Hfusion.at<2>() = HK3*HK5;
Hfusion.at<3>() = -HK3*HK6;
Hfusion.at<4>() = -HK8;
Hfusion.at<5>() = -HK10;
Hfusion.at<6>() = HK11*HK3;
Hfusion.at<0>() = HK3*HK4;
Hfusion.at<1>() = -HK4*HK5;
Hfusion.at<2>() = HK10*HK4;
Hfusion.at<3>() = -HK11*HK4;
Hfusion.at<4>() = HK15;
Hfusion.at<5>() = -HK17;
Hfusion.at<6>() = HK20*HK4;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -58,82 +71,82 @@ Hfusion.at<18>() = 0;
Hfusion.at<19>() = 0;
Hfusion.at<20>() = 0;
Hfusion.at<21>() = 0;
Hfusion.at<22>() = HK8;
Hfusion.at<23>() = HK10;
Hfusion.at<22>() = -HK15;
Hfusion.at<23>() = HK17;
// Kalman gains
Kfusion(0) = -HK18*HK32;
Kfusion(1) = -HK29*HK32;
Kfusion(2) = -HK30*HK32;
Kfusion(3) = -HK31*HK32;
Kfusion(4) = -HK26*HK32;
Kfusion(5) = -HK23*HK32;
Kfusion(6) = -HK24*HK32;
Kfusion(7) = -HK32*(HK12*P(5,7) - HK12*P(7,23) - HK13*P(6,7) + HK14*P(1,7) + HK15*P(0,7) - HK16*P(2,7) + HK17*P(3,7) + HK7*P(4,7) - HK7*P(7,22));
Kfusion(8) = -HK32*(HK12*P(5,8) - HK12*P(8,23) - HK13*P(6,8) + HK14*P(1,8) + HK15*P(0,8) - HK16*P(2,8) + HK17*P(3,8) + HK7*P(4,8) - HK7*P(8,22));
Kfusion(9) = -HK32*(HK12*P(5,9) - HK12*P(9,23) - HK13*P(6,9) + HK14*P(1,9) + HK15*P(0,9) - HK16*P(2,9) + HK17*P(3,9) + HK7*P(4,9) - HK7*P(9,22));
Kfusion(10) = -HK32*(-HK12*P(10,23) + HK12*P(5,10) - HK13*P(6,10) + HK14*P(1,10) + HK15*P(0,10) - HK16*P(2,10) + HK17*P(3,10) - HK7*P(10,22) + HK7*P(4,10));
Kfusion(11) = -HK32*(-HK12*P(11,23) + HK12*P(5,11) - HK13*P(6,11) + HK14*P(1,11) + HK15*P(0,11) - HK16*P(2,11) + HK17*P(3,11) - HK7*P(11,22) + HK7*P(4,11));
Kfusion(12) = -HK32*(-HK12*P(12,23) + HK12*P(5,12) - HK13*P(6,12) + HK14*P(1,12) + HK15*P(0,12) - HK16*P(2,12) + HK17*P(3,12) - HK7*P(12,22) + HK7*P(4,12));
Kfusion(13) = -HK32*(-HK12*P(13,23) + HK12*P(5,13) - HK13*P(6,13) + HK14*P(1,13) + HK15*P(0,13) - HK16*P(2,13) + HK17*P(3,13) - HK7*P(13,22) + HK7*P(4,13));
Kfusion(14) = -HK32*(-HK12*P(14,23) + HK12*P(5,14) - HK13*P(6,14) + HK14*P(1,14) + HK15*P(0,14) - HK16*P(2,14) + HK17*P(3,14) - HK7*P(14,22) + HK7*P(4,14));
Kfusion(15) = -HK32*(-HK12*P(15,23) + HK12*P(5,15) - HK13*P(6,15) + HK14*P(1,15) + HK15*P(0,15) - HK16*P(2,15) + HK17*P(3,15) - HK7*P(15,22) + HK7*P(4,15));
Kfusion(16) = -HK32*(-HK12*P(16,23) + HK12*P(5,16) - HK13*P(6,16) + HK14*P(1,16) + HK15*P(0,16) - HK16*P(2,16) + HK17*P(3,16) - HK7*P(16,22) + HK7*P(4,16));
Kfusion(17) = -HK32*(-HK12*P(17,23) + HK12*P(5,17) - HK13*P(6,17) + HK14*P(1,17) + HK15*P(0,17) - HK16*P(2,17) + HK17*P(3,17) - HK7*P(17,22) + HK7*P(4,17));
Kfusion(18) = -HK32*(-HK12*P(18,23) + HK12*P(5,18) - HK13*P(6,18) + HK14*P(1,18) + HK15*P(0,18) - HK16*P(2,18) + HK17*P(3,18) - HK7*P(18,22) + HK7*P(4,18));
Kfusion(19) = -HK32*(-HK12*P(19,23) + HK12*P(5,19) - HK13*P(6,19) + HK14*P(1,19) + HK15*P(0,19) - HK16*P(2,19) + HK17*P(3,19) - HK7*P(19,22) + HK7*P(4,19));
Kfusion(20) = -HK32*(-HK12*P(20,23) + HK12*P(5,20) - HK13*P(6,20) + HK14*P(1,20) + HK15*P(0,20) - HK16*P(2,20) + HK17*P(3,20) - HK7*P(20,22) + HK7*P(4,20));
Kfusion(21) = -HK32*(-HK12*P(21,23) + HK12*P(5,21) - HK13*P(6,21) + HK14*P(1,21) + HK15*P(0,21) - HK16*P(2,21) + HK17*P(3,21) - HK7*P(21,22) + HK7*P(4,21));
Kfusion(22) = -HK28*HK32;
Kfusion(23) = -HK20*HK32;
Kfusion(0) = HK45*(-HK14*P(0,4) - HK21*P(0,0) - HK22*P(0,2) - HK23*P(0,6) + HK27);
Kfusion(1) = HK45*(-HK14*P(1,4) - HK21*P(0,1) - HK22*P(1,2) - HK23*P(1,6) + HK38);
Kfusion(2) = HK45*(-HK14*P(2,4) - HK21*P(0,2) - HK22*P(2,2) - HK23*P(2,6) + HK44);
Kfusion(3) = HK45*(-HK14*P(3,4) - HK21*P(0,3) - HK22*P(2,3) - HK23*P(3,6) + HK43);
Kfusion(4) = HK45*(-HK14*P(4,4) - HK21*P(0,4) - HK22*P(2,4) - HK23*P(4,6) + HK40);
Kfusion(5) = HK45*(-HK14*P(4,5) - HK21*P(0,5) - HK22*P(2,5) - HK23*P(5,6) + HK36);
Kfusion(6) = HK45*(-HK14*P(4,6) - HK21*P(0,6) - HK22*P(2,6) - HK23*P(6,6) + HK37);
Kfusion(7) = HK45*(-HK14*P(4,7) + HK14*P(7,22) - HK21*P(0,7) - HK22*P(2,7) - HK23*P(6,7) + HK24*P(5,7) - HK24*P(7,23) + HK25*P(1,7) + HK26*P(3,7));
Kfusion(8) = HK45*(-HK14*P(4,8) + HK14*P(8,22) - HK21*P(0,8) - HK22*P(2,8) - HK23*P(6,8) + HK24*P(5,8) - HK24*P(8,23) + HK25*P(1,8) + HK26*P(3,8));
Kfusion(9) = HK45*(-HK14*P(4,9) + HK14*P(9,22) - HK21*P(0,9) - HK22*P(2,9) - HK23*P(6,9) + HK24*P(5,9) - HK24*P(9,23) + HK25*P(1,9) + HK26*P(3,9));
Kfusion(10) = HK45*(HK14*P(10,22) - HK14*P(4,10) - HK21*P(0,10) - HK22*P(2,10) - HK23*P(6,10) - HK24*P(10,23) + HK24*P(5,10) + HK25*P(1,10) + HK26*P(3,10));
Kfusion(11) = HK45*(HK14*P(11,22) - HK14*P(4,11) - HK21*P(0,11) - HK22*P(2,11) - HK23*P(6,11) - HK24*P(11,23) + HK24*P(5,11) + HK25*P(1,11) + HK26*P(3,11));
Kfusion(12) = HK45*(HK14*P(12,22) - HK14*P(4,12) - HK21*P(0,12) - HK22*P(2,12) - HK23*P(6,12) - HK24*P(12,23) + HK24*P(5,12) + HK25*P(1,12) + HK26*P(3,12));
Kfusion(13) = HK45*(HK14*P(13,22) - HK14*P(4,13) - HK21*P(0,13) - HK22*P(2,13) - HK23*P(6,13) - HK24*P(13,23) + HK24*P(5,13) + HK25*P(1,13) + HK26*P(3,13));
Kfusion(14) = HK45*(HK14*P(14,22) - HK14*P(4,14) - HK21*P(0,14) - HK22*P(2,14) - HK23*P(6,14) - HK24*P(14,23) + HK24*P(5,14) + HK25*P(1,14) + HK26*P(3,14));
Kfusion(15) = HK45*(HK14*P(15,22) - HK14*P(4,15) - HK21*P(0,15) - HK22*P(2,15) - HK23*P(6,15) - HK24*P(15,23) + HK24*P(5,15) + HK25*P(1,15) + HK26*P(3,15));
Kfusion(16) = HK45*(HK14*P(16,22) - HK14*P(4,16) - HK21*P(0,16) - HK22*P(2,16) - HK23*P(6,16) - HK24*P(16,23) + HK24*P(5,16) + HK25*P(1,16) + HK26*P(3,16));
Kfusion(17) = HK45*(HK14*P(17,22) - HK14*P(4,17) - HK21*P(0,17) - HK22*P(2,17) - HK23*P(6,17) - HK24*P(17,23) + HK24*P(5,17) + HK25*P(1,17) + HK26*P(3,17));
Kfusion(18) = HK45*(HK14*P(18,22) - HK14*P(4,18) - HK21*P(0,18) - HK22*P(2,18) - HK23*P(6,18) - HK24*P(18,23) + HK24*P(5,18) + HK25*P(1,18) + HK26*P(3,18));
Kfusion(19) = HK45*(HK14*P(19,22) - HK14*P(4,19) - HK21*P(0,19) - HK22*P(2,19) - HK23*P(6,19) - HK24*P(19,23) + HK24*P(5,19) + HK25*P(1,19) + HK26*P(3,19));
Kfusion(20) = HK45*(HK14*P(20,22) - HK14*P(4,20) - HK21*P(0,20) - HK22*P(2,20) - HK23*P(6,20) - HK24*P(20,23) + HK24*P(5,20) + HK25*P(1,20) + HK26*P(3,20));
Kfusion(21) = HK45*(HK14*P(21,22) - HK14*P(4,21) - HK21*P(0,21) - HK22*P(2,21) - HK23*P(6,21) - HK24*P(21,23) + HK24*P(5,21) + HK25*P(1,21) + HK26*P(3,21));
Kfusion(22) = HK45*(-HK21*P(0,22) - HK22*P(2,22) - HK23*P(6,22) - HK39 + HK42);
Kfusion(23) = HK45*(-HK14*P(4,23) - HK21*P(0,23) - HK22*P(2,23) - HK23*P(6,23) + HK33);
// Axis 1 equations
// Sub Expressions
const float HK0 = ve - vwe;
const float HK1 = vn - vwn;
const float HK2 = HK0*q0 - HK1*q3 + q1*vd;
const float HK3 = 2*Kaccy;
const float HK4 = -HK0*q1 + HK1*q2 + q0*vd;
const float HK5 = HK0*q2 + HK1*q1 + q3*vd;
const float HK6 = HK0*q3 + HK1*q0 - q2*vd;
const float HK0 = vn - vwn;
const float HK1 = -HK0*q3 + q1*vd;
const float HK2 = 2*Kaccy;
const float HK3 = 2*ve - 2*vwe;
const float HK4 = HK0*q2 - HK3*q1 + q0*vd;
const float HK5 = HK0*q1 + q3*vd;
const float HK6 = HK0*q0 + HK3*q3 - q2*vd;
const float HK7 = q0*q3 - q1*q2;
const float HK8 = HK3*HK7;
const float HK9 = powf(q0, 2) - powf(q1, 2) + powf(q2, 2) - powf(q3, 2);
const float HK8 = HK2*HK7;
const float HK9 = 2*powf(q1, 2) + 2*powf(q3, 2) - 1;
const float HK10 = HK9*Kaccy;
const float HK11 = q0*q1 + q2*q3;
const float HK12 = 2*HK11;
const float HK13 = 2*HK7;
const float HK14 = 2*HK5;
const float HK15 = 2*HK2;
const float HK15 = 2*HK1;
const float HK16 = 2*HK4;
const float HK17 = 2*HK6;
const float HK18 = HK12*P(0,6) + HK13*P(0,22) - HK13*P(0,4) + HK14*P(0,2) + HK15*P(0,0) + HK16*P(0,1) - HK17*P(0,3) - HK9*P(0,23) + HK9*P(0,5);
const float HK18 = HK12*P(0,6) + HK13*P(0,22) - HK13*P(0,4) + HK14*P(0,2) + HK15*P(0,0) + HK16*P(0,1) - HK17*P(0,3) + HK9*P(0,23) - HK9*P(0,5);
const float HK19 = powf(Kaccy, 2);
const float HK20 = HK12*P(6,6) - HK13*P(4,6) + HK13*P(6,22) + HK14*P(2,6) + HK15*P(0,6) + HK16*P(1,6) - HK17*P(3,6) + HK9*P(5,6) - HK9*P(6,23);
const float HK20 = HK12*P(6,6) - HK13*P(4,6) + HK13*P(6,22) + HK14*P(2,6) + HK15*P(0,6) + HK16*P(1,6) - HK17*P(3,6) - HK9*P(5,6) + HK9*P(6,23);
const float HK21 = HK13*P(4,22);
const float HK22 = HK12*P(6,22) + HK13*P(22,22) + HK14*P(2,22) + HK15*P(0,22) + HK16*P(1,22) - HK17*P(3,22) - HK21 - HK9*P(22,23) + HK9*P(5,22);
const float HK22 = HK12*P(6,22) + HK13*P(22,22) + HK14*P(2,22) + HK15*P(0,22) + HK16*P(1,22) - HK17*P(3,22) - HK21 + HK9*P(22,23) - HK9*P(5,22);
const float HK23 = HK13*HK19;
const float HK24 = HK12*P(4,6) - HK13*P(4,4) + HK14*P(2,4) + HK15*P(0,4) + HK16*P(1,4) - HK17*P(3,4) + HK21 - HK9*P(4,23) + HK9*P(4,5);
const float HK25 = HK9*P(5,23);
const float HK26 = HK12*P(5,6) - HK13*P(4,5) + HK13*P(5,22) + HK14*P(2,5) + HK15*P(0,5) + HK16*P(1,5) - HK17*P(3,5) - HK25 + HK9*P(5,5);
const float HK27 = HK19*HK9;
const float HK28 = HK12*P(6,23) + HK13*P(22,23) - HK13*P(4,23) + HK14*P(2,23) + HK15*P(0,23) + HK16*P(1,23) - HK17*P(3,23) + HK25 - HK9*P(23,23);
const float HK29 = HK12*P(2,6) + HK13*P(2,22) - HK13*P(2,4) + HK14*P(2,2) + HK15*P(0,2) + HK16*P(1,2) - HK17*P(2,3) - HK9*P(2,23) + HK9*P(2,5);
const float HK30 = HK12*P(1,6) + HK13*P(1,22) - HK13*P(1,4) + HK14*P(1,2) + HK15*P(0,1) + HK16*P(1,1) - HK17*P(1,3) - HK9*P(1,23) + HK9*P(1,5);
const float HK31 = HK12*P(3,6) + HK13*P(3,22) - HK13*P(3,4) + HK14*P(2,3) + HK15*P(0,3) + HK16*P(1,3) - HK17*P(3,3) - HK9*P(3,23) + HK9*P(3,5);
const float HK32 = Kaccy/(HK12*HK19*HK20 + HK14*HK19*HK29 + HK15*HK18*HK19 + HK16*HK19*HK30 - HK17*HK19*HK31 + HK22*HK23 - HK23*HK24 + HK26*HK27 - HK27*HK28 + R_ACC);
const float HK24 = HK12*P(4,6) - HK13*P(4,4) + HK14*P(2,4) + HK15*P(0,4) + HK16*P(1,4) - HK17*P(3,4) + HK21 + HK9*P(4,23) - HK9*P(4,5);
const float HK25 = HK12*P(2,6) + HK13*P(2,22) - HK13*P(2,4) + HK14*P(2,2) + HK15*P(0,2) + HK16*P(1,2) - HK17*P(2,3) + HK9*P(2,23) - HK9*P(2,5);
const float HK26 = HK9*P(5,23);
const float HK27 = HK12*P(6,23) + HK13*P(22,23) - HK13*P(4,23) + HK14*P(2,23) + HK15*P(0,23) + HK16*P(1,23) - HK17*P(3,23) - HK26 + HK9*P(23,23);
const float HK28 = HK19*HK9;
const float HK29 = HK12*P(5,6) - HK13*P(4,5) + HK13*P(5,22) + HK14*P(2,5) + HK15*P(0,5) + HK16*P(1,5) - HK17*P(3,5) + HK26 - HK9*P(5,5);
const float HK30 = HK12*P(1,6) + HK13*P(1,22) - HK13*P(1,4) + HK14*P(1,2) + HK15*P(0,1) + HK16*P(1,1) - HK17*P(1,3) + HK9*P(1,23) - HK9*P(1,5);
const float HK31 = HK12*P(3,6) + HK13*P(3,22) - HK13*P(3,4) + HK14*P(2,3) + HK15*P(0,3) + HK16*P(1,3) - HK17*P(3,3) + HK9*P(3,23) - HK9*P(3,5);
const float HK32 = Kaccy/(HK12*HK19*HK20 + HK14*HK19*HK25 + HK15*HK18*HK19 + HK16*HK19*HK30 - HK17*HK19*HK31 + HK22*HK23 - HK23*HK24 + HK27*HK28 - HK28*HK29 + R_ACC);
// Observation Jacobians
Hfusion.at<0>() = -HK2*HK3;
Hfusion.at<1>() = -HK3*HK4;
Hfusion.at<2>() = -HK3*HK5;
Hfusion.at<3>() = HK3*HK6;
Hfusion.at<0>() = -HK1*HK2;
Hfusion.at<1>() = -HK2*HK4;
Hfusion.at<2>() = -HK2*HK5;
Hfusion.at<3>() = HK2*HK6;
Hfusion.at<4>() = HK8;
Hfusion.at<5>() = -HK10;
Hfusion.at<6>() = -HK11*HK3;
Hfusion.at<5>() = HK10;
Hfusion.at<6>() = -HK11*HK2;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -150,33 +163,33 @@ Hfusion.at<19>() = 0;
Hfusion.at<20>() = 0;
Hfusion.at<21>() = 0;
Hfusion.at<22>() = -HK8;
Hfusion.at<23>() = HK10;
Hfusion.at<23>() = -HK10;
// Kalman gains
Kfusion(0) = -HK18*HK32;
Kfusion(1) = -HK30*HK32;
Kfusion(2) = -HK29*HK32;
Kfusion(2) = -HK25*HK32;
Kfusion(3) = -HK31*HK32;
Kfusion(4) = -HK24*HK32;
Kfusion(5) = -HK26*HK32;
Kfusion(5) = -HK29*HK32;
Kfusion(6) = -HK20*HK32;
Kfusion(7) = -HK32*(HK12*P(6,7) - HK13*P(4,7) + HK13*P(7,22) + HK14*P(2,7) + HK15*P(0,7) + HK16*P(1,7) - HK17*P(3,7) + HK9*P(5,7) - HK9*P(7,23));
Kfusion(8) = -HK32*(HK12*P(6,8) - HK13*P(4,8) + HK13*P(8,22) + HK14*P(2,8) + HK15*P(0,8) + HK16*P(1,8) - HK17*P(3,8) + HK9*P(5,8) - HK9*P(8,23));
Kfusion(9) = -HK32*(HK12*P(6,9) - HK13*P(4,9) + HK13*P(9,22) + HK14*P(2,9) + HK15*P(0,9) + HK16*P(1,9) - HK17*P(3,9) + HK9*P(5,9) - HK9*P(9,23));
Kfusion(10) = -HK32*(HK12*P(6,10) + HK13*P(10,22) - HK13*P(4,10) + HK14*P(2,10) + HK15*P(0,10) + HK16*P(1,10) - HK17*P(3,10) - HK9*P(10,23) + HK9*P(5,10));
Kfusion(11) = -HK32*(HK12*P(6,11) + HK13*P(11,22) - HK13*P(4,11) + HK14*P(2,11) + HK15*P(0,11) + HK16*P(1,11) - HK17*P(3,11) - HK9*P(11,23) + HK9*P(5,11));
Kfusion(12) = -HK32*(HK12*P(6,12) + HK13*P(12,22) - HK13*P(4,12) + HK14*P(2,12) + HK15*P(0,12) + HK16*P(1,12) - HK17*P(3,12) - HK9*P(12,23) + HK9*P(5,12));
Kfusion(13) = -HK32*(HK12*P(6,13) + HK13*P(13,22) - HK13*P(4,13) + HK14*P(2,13) + HK15*P(0,13) + HK16*P(1,13) - HK17*P(3,13) - HK9*P(13,23) + HK9*P(5,13));
Kfusion(14) = -HK32*(HK12*P(6,14) + HK13*P(14,22) - HK13*P(4,14) + HK14*P(2,14) + HK15*P(0,14) + HK16*P(1,14) - HK17*P(3,14) - HK9*P(14,23) + HK9*P(5,14));
Kfusion(15) = -HK32*(HK12*P(6,15) + HK13*P(15,22) - HK13*P(4,15) + HK14*P(2,15) + HK15*P(0,15) + HK16*P(1,15) - HK17*P(3,15) - HK9*P(15,23) + HK9*P(5,15));
Kfusion(16) = -HK32*(HK12*P(6,16) + HK13*P(16,22) - HK13*P(4,16) + HK14*P(2,16) + HK15*P(0,16) + HK16*P(1,16) - HK17*P(3,16) - HK9*P(16,23) + HK9*P(5,16));
Kfusion(17) = -HK32*(HK12*P(6,17) + HK13*P(17,22) - HK13*P(4,17) + HK14*P(2,17) + HK15*P(0,17) + HK16*P(1,17) - HK17*P(3,17) - HK9*P(17,23) + HK9*P(5,17));
Kfusion(18) = -HK32*(HK12*P(6,18) + HK13*P(18,22) - HK13*P(4,18) + HK14*P(2,18) + HK15*P(0,18) + HK16*P(1,18) - HK17*P(3,18) - HK9*P(18,23) + HK9*P(5,18));
Kfusion(19) = -HK32*(HK12*P(6,19) + HK13*P(19,22) - HK13*P(4,19) + HK14*P(2,19) + HK15*P(0,19) + HK16*P(1,19) - HK17*P(3,19) - HK9*P(19,23) + HK9*P(5,19));
Kfusion(20) = -HK32*(HK12*P(6,20) + HK13*P(20,22) - HK13*P(4,20) + HK14*P(2,20) + HK15*P(0,20) + HK16*P(1,20) - HK17*P(3,20) - HK9*P(20,23) + HK9*P(5,20));
Kfusion(21) = -HK32*(HK12*P(6,21) + HK13*P(21,22) - HK13*P(4,21) + HK14*P(2,21) + HK15*P(0,21) + HK16*P(1,21) - HK17*P(3,21) - HK9*P(21,23) + HK9*P(5,21));
Kfusion(7) = -HK32*(HK12*P(6,7) - HK13*P(4,7) + HK13*P(7,22) + HK14*P(2,7) + HK15*P(0,7) + HK16*P(1,7) - HK17*P(3,7) - HK9*P(5,7) + HK9*P(7,23));
Kfusion(8) = -HK32*(HK12*P(6,8) - HK13*P(4,8) + HK13*P(8,22) + HK14*P(2,8) + HK15*P(0,8) + HK16*P(1,8) - HK17*P(3,8) - HK9*P(5,8) + HK9*P(8,23));
Kfusion(9) = -HK32*(HK12*P(6,9) - HK13*P(4,9) + HK13*P(9,22) + HK14*P(2,9) + HK15*P(0,9) + HK16*P(1,9) - HK17*P(3,9) - HK9*P(5,9) + HK9*P(9,23));
Kfusion(10) = -HK32*(HK12*P(6,10) + HK13*P(10,22) - HK13*P(4,10) + HK14*P(2,10) + HK15*P(0,10) + HK16*P(1,10) - HK17*P(3,10) + HK9*P(10,23) - HK9*P(5,10));
Kfusion(11) = -HK32*(HK12*P(6,11) + HK13*P(11,22) - HK13*P(4,11) + HK14*P(2,11) + HK15*P(0,11) + HK16*P(1,11) - HK17*P(3,11) + HK9*P(11,23) - HK9*P(5,11));
Kfusion(12) = -HK32*(HK12*P(6,12) + HK13*P(12,22) - HK13*P(4,12) + HK14*P(2,12) + HK15*P(0,12) + HK16*P(1,12) - HK17*P(3,12) + HK9*P(12,23) - HK9*P(5,12));
Kfusion(13) = -HK32*(HK12*P(6,13) + HK13*P(13,22) - HK13*P(4,13) + HK14*P(2,13) + HK15*P(0,13) + HK16*P(1,13) - HK17*P(3,13) + HK9*P(13,23) - HK9*P(5,13));
Kfusion(14) = -HK32*(HK12*P(6,14) + HK13*P(14,22) - HK13*P(4,14) + HK14*P(2,14) + HK15*P(0,14) + HK16*P(1,14) - HK17*P(3,14) + HK9*P(14,23) - HK9*P(5,14));
Kfusion(15) = -HK32*(HK12*P(6,15) + HK13*P(15,22) - HK13*P(4,15) + HK14*P(2,15) + HK15*P(0,15) + HK16*P(1,15) - HK17*P(3,15) + HK9*P(15,23) - HK9*P(5,15));
Kfusion(16) = -HK32*(HK12*P(6,16) + HK13*P(16,22) - HK13*P(4,16) + HK14*P(2,16) + HK15*P(0,16) + HK16*P(1,16) - HK17*P(3,16) + HK9*P(16,23) - HK9*P(5,16));
Kfusion(17) = -HK32*(HK12*P(6,17) + HK13*P(17,22) - HK13*P(4,17) + HK14*P(2,17) + HK15*P(0,17) + HK16*P(1,17) - HK17*P(3,17) + HK9*P(17,23) - HK9*P(5,17));
Kfusion(18) = -HK32*(HK12*P(6,18) + HK13*P(18,22) - HK13*P(4,18) + HK14*P(2,18) + HK15*P(0,18) + HK16*P(1,18) - HK17*P(3,18) + HK9*P(18,23) - HK9*P(5,18));
Kfusion(19) = -HK32*(HK12*P(6,19) + HK13*P(19,22) - HK13*P(4,19) + HK14*P(2,19) + HK15*P(0,19) + HK16*P(1,19) - HK17*P(3,19) + HK9*P(19,23) - HK9*P(5,19));
Kfusion(20) = -HK32*(HK12*P(6,20) + HK13*P(20,22) - HK13*P(4,20) + HK14*P(2,20) + HK15*P(0,20) + HK16*P(1,20) - HK17*P(3,20) + HK9*P(20,23) - HK9*P(5,20));
Kfusion(21) = -HK32*(HK12*P(6,21) + HK13*P(21,22) - HK13*P(4,21) + HK14*P(2,21) + HK15*P(0,21) + HK16*P(1,21) - HK17*P(3,21) + HK9*P(21,23) - HK9*P(5,21));
Kfusion(22) = -HK22*HK32;
Kfusion(23) = -HK28*HK32;
Kfusion(23) = -HK27*HK32;
EKF/python/ekf_derivation/generated/acc_bf_generated_alt.cpp
+150 -130
View File
@@ -1,79 +1,99 @@
// Sub Expressions
const float HK0 = vn - vwn;
const float HK0 = q2*vd;
const float HK1 = ve - vwe;
const float HK2 = HK0*q0 + HK1*q3 - q2*vd;
const float HK3 = 2*Kaccx;
const float HK4 = HK0*q1 + HK1*q2 + q3*vd;
const float HK5 = HK0*q2 - HK1*q1 + q0*vd;
const float HK6 = -HK0*q3 + HK1*q0 + q1*vd;
const float HK7 = powf(q1, 2);
const float HK8 = powf(q2, 2);
const float HK9 = powf(q0, 2) - powf(q3, 2);
const float HK10 = HK7 - HK8 + HK9;
const float HK11 = HK10*Kaccx;
const float HK12 = q0*q3;
const float HK13 = q1*q2;
const float HK14 = HK12 + HK13;
const float HK15 = HK14*HK3;
const float HK16 = q0*q2 - q1*q3;
const float HK17 = 2*HK14;
const float HK18 = 2*HK16;
const float HK19 = 2*HK4;
const float HK20 = 2*HK2;
const float HK21 = 2*HK5;
const float HK22 = 2*HK6;
const float HK23 = HK22*P(0,3);
const float HK24 = -HK10*P(0,22) + HK10*P(0,4) - HK17*P(0,23) + HK17*P(0,5) - HK18*P(0,6) + HK19*P(0,1) + HK20*P(0,0) - HK21*P(0,2) + HK23;
const float HK25 = HK17*P(5,23);
const float HK26 = -HK10*P(22,23) + HK10*P(4,23) - HK17*P(23,23) - HK18*P(6,23) + HK19*P(1,23) + HK20*P(0,23) - HK21*P(2,23) + HK22*P(3,23) + HK25;
const float HK27 = powf(Kaccx, 2);
const float HK28 = HK17*HK27;
const float HK29 = HK10*P(4,5) - HK10*P(5,22) + HK17*P(5,5) - HK18*P(5,6) + HK19*P(1,5) + HK20*P(0,5) - HK21*P(2,5) + HK22*P(3,5) - HK25;
const float HK30 = HK10*P(4,6) - HK10*P(6,22) + HK17*P(5,6) - HK17*P(6,23) - HK18*P(6,6) + HK19*P(1,6) + HK20*P(0,6) - HK21*P(2,6) + HK22*P(3,6);
const float HK31 = HK10*P(4,22);
const float HK32 = HK10*P(4,4) - HK17*P(4,23) + HK17*P(4,5) - HK18*P(4,6) + HK19*P(1,4) + HK20*P(0,4) - HK21*P(2,4) + HK22*P(3,4) - HK31;
const float HK33 = HK10*HK27;
const float HK34 = -HK10*P(22,22) - HK17*P(22,23) + HK17*P(5,22) - HK18*P(6,22) + HK19*P(1,22) + HK20*P(0,22) - HK21*P(2,22) + HK22*P(3,22) + HK31;
const float HK35 = HK21*P(1,2);
const float HK36 = -HK10*P(1,22) + HK10*P(1,4) - HK17*P(1,23) + HK17*P(1,5) - HK18*P(1,6) + HK19*P(1,1) + HK20*P(0,1) + HK22*P(1,3) - HK35;
const float HK37 = HK19*P(1,2);
const float HK38 = -HK10*P(2,22) + HK10*P(2,4) - HK17*P(2,23) + HK17*P(2,5) - HK18*P(2,6) + HK20*P(0,2) - HK21*P(2,2) + HK22*P(2,3) + HK37;
const float HK39 = HK20*P(0,3);
const float HK40 = -HK10*P(3,22) + HK10*P(3,4) - HK17*P(3,23) + HK17*P(3,5) - HK18*P(3,6) + HK19*P(1,3) - HK21*P(2,3) + HK22*P(3,3) + HK39;
const float HK41 = Kaccx/(-HK18*HK27*HK30 + HK19*HK27*HK36 + HK20*HK24*HK27 - HK21*HK27*HK38 + HK22*HK27*HK40 - HK26*HK28 + HK28*HK29 + HK32*HK33 - HK33*HK34 + R_ACC);
const float HK42 = HK12 - HK13;
const float HK43 = 2*Kaccy;
const float HK44 = HK42*HK43;
const float HK45 = -HK7 + HK8 + HK9;
const float HK46 = HK45*Kaccy;
const float HK47 = q0*q1 + q2*q3;
const float HK48 = 2*HK47;
const float HK49 = 2*HK42;
const float HK50 = HK19*P(0,2) + HK21*P(0,1) + HK22*P(0,0) - HK39 - HK45*P(0,23) + HK45*P(0,5) + HK48*P(0,6) + HK49*P(0,22) - HK49*P(0,4);
const float HK51 = powf(Kaccy, 2);
const float HK52 = HK19*P(2,6) - HK20*P(3,6) + HK21*P(1,6) + HK22*P(0,6) + HK45*P(5,6) - HK45*P(6,23) + HK48*P(6,6) - HK49*P(4,6) + HK49*P(6,22);
const float HK53 = HK49*P(4,22);
const float HK54 = HK19*P(2,22) - HK20*P(3,22) + HK21*P(1,22) + HK22*P(0,22) - HK45*P(22,23) + HK45*P(5,22) + HK48*P(6,22) + HK49*P(22,22) - HK53;
const float HK55 = HK49*HK51;
const float HK56 = HK19*P(2,4) - HK20*P(3,4) + HK21*P(1,4) + HK22*P(0,4) - HK45*P(4,23) + HK45*P(4,5) + HK48*P(4,6) - HK49*P(4,4) + HK53;
const float HK57 = HK45*P(5,23);
const float HK58 = HK19*P(2,5) - HK20*P(3,5) + HK21*P(1,5) + HK22*P(0,5) + HK45*P(5,5) + HK48*P(5,6) - HK49*P(4,5) + HK49*P(5,22) - HK57;
const float HK59 = HK45*HK51;
const float HK60 = HK19*P(2,23) - HK20*P(3,23) + HK21*P(1,23) + HK22*P(0,23) - HK45*P(23,23) + HK48*P(6,23) + HK49*P(22,23) - HK49*P(4,23) + HK57;
const float HK61 = HK19*P(2,2) - HK20*P(2,3) + HK22*P(0,2) + HK35 - HK45*P(2,23) + HK45*P(2,5) + HK48*P(2,6) + HK49*P(2,22) - HK49*P(2,4);
const float HK62 = -HK20*P(1,3) + HK21*P(1,1) + HK22*P(0,1) + HK37 - HK45*P(1,23) + HK45*P(1,5) + HK48*P(1,6) + HK49*P(1,22) - HK49*P(1,4);
const float HK63 = HK19*P(2,3) - HK20*P(3,3) + HK21*P(1,3) + HK23 - HK45*P(3,23) + HK45*P(3,5) + HK48*P(3,6) + HK49*P(3,22) - HK49*P(3,4);
const float HK64 = Kaccy/(HK19*HK51*HK61 - HK20*HK51*HK63 + HK21*HK51*HK62 + HK22*HK50*HK51 + HK48*HK51*HK52 + HK54*HK55 - HK55*HK56 + HK58*HK59 - HK59*HK60 + R_ACC);
const float HK2 = HK1*q3;
const float HK3 = HK0 - HK2;
const float HK4 = 2*Kaccx;
const float HK5 = q3*vd;
const float HK6 = HK1*q2 + HK5;
const float HK7 = q0*vd;
const float HK8 = HK1*q1;
const float HK9 = vn - vwn;
const float HK10 = HK9*q2;
const float HK11 = 2*HK10;
const float HK12 = HK11 + HK7 - HK8;
const float HK13 = q1*vd;
const float HK14 = HK9*q3;
const float HK15 = HK1*q0 + HK13 - 2*HK14;
const float HK16 = 2*powf(q2, 2);
const float HK17 = 2*powf(q3, 2);
const float HK18 = HK17 - 1;
const float HK19 = HK16 + HK18;
const float HK20 = HK19*Kaccx;
const float HK21 = q0*q3;
const float HK22 = q1*q2;
const float HK23 = HK21 + HK22;
const float HK24 = HK23*HK4;
const float HK25 = q0*q2;
const float HK26 = q1*q3;
const float HK27 = HK25 - HK26;
const float HK28 = 2*HK3;
const float HK29 = 2*HK12;
const float HK30 = 2*HK27;
const float HK31 = 2*HK23;
const float HK32 = 2*HK6;
const float HK33 = 2*HK15;
const float HK34 = HK19*P(0,22) - HK31*P(0,23) + HK31*P(0,5) + HK32*P(0,1) + HK33*P(0,3);
const float HK35 = -HK16 - HK17 + 1;
const float HK36 = -HK0;
const float HK37 = 2*HK2 + 2*HK36;
const float HK38 = -2*HK11 - 2*HK7 + 2*HK8;
const float HK39 = -2*HK25 + 2*HK26;
const float HK40 = HK31*P(5,23);
const float HK41 = HK19*P(22,23) - HK31*P(23,23) + HK32*P(1,23) + HK33*P(3,23) + HK40;
const float HK42 = powf(Kaccx, 2);
const float HK43 = HK31*HK42;
const float HK44 = HK19*P(5,22) + HK31*P(5,5) + HK32*P(1,5) + HK33*P(3,5) - HK40;
const float HK45 = HK19*P(6,22) + HK31*P(5,6) - HK31*P(6,23) + HK32*P(1,6) + HK33*P(3,6);
const float HK46 = HK19*P(1,22) - HK31*P(1,23) + HK31*P(1,5) + HK32*P(1,1) + HK33*P(1,3);
const float HK47 = HK19*P(4,22);
const float HK48 = -HK31*P(4,23) + HK31*P(4,5) + HK32*P(1,4) + HK33*P(3,4) + HK47;
const float HK49 = HK19*HK42;
const float HK50 = HK19*P(22,22) - HK31*P(22,23) + HK31*P(5,22) + HK32*P(1,22) + HK33*P(3,22);
const float HK51 = HK19*P(3,22) - HK31*P(3,23) + HK31*P(3,5) + HK32*P(1,3) + HK33*P(3,3);
const float HK52 = HK19*P(2,22) - HK31*P(2,23) + HK31*P(2,5) + HK32*P(1,2) + HK33*P(2,3);
const float HK53 = Kaccx/(HK28*HK42*(HK34 + HK35*P(0,4) + HK37*P(0,0) + HK38*P(0,2) + HK39*P(0,6)) + HK29*HK42*(HK35*P(2,4) + HK37*P(0,2) + HK38*P(2,2) + HK39*P(2,6) + HK52) + HK30*HK42*(HK35*P(4,6) + HK37*P(0,6) + HK38*P(2,6) + HK39*P(6,6) + HK45) - HK32*HK42*(HK35*P(1,4) + HK37*P(0,1) + HK38*P(1,2) + HK39*P(1,6) + HK46) - HK33*HK42*(HK35*P(3,4) + HK37*P(0,3) + HK38*P(2,3) + HK39*P(3,6) + HK51) + HK43*(HK35*P(4,23) + HK37*P(0,23) + HK38*P(2,23) + HK39*P(6,23) + HK41) - HK43*(HK35*P(4,5) + HK37*P(0,5) + HK38*P(2,5) + HK39*P(5,6) + HK44) - HK49*(HK35*P(4,22) + HK37*P(0,22) + HK38*P(2,22) + HK39*P(6,22) + HK50) + HK49*(HK35*P(4,4) + HK37*P(0,4) + HK38*P(2,4) + HK39*P(4,6) + HK48) - R_ACC);
const float HK54 = HK13 - HK14;
const float HK55 = 2*Kaccy;
const float HK56 = HK10 + HK7 - 2*HK8;
const float HK57 = HK5 + HK9*q1;
const float HK58 = 2*HK2 + HK36 + HK9*q0;
const float HK59 = HK21 - HK22;
const float HK60 = HK55*HK59;
const float HK61 = HK18 + 2*powf(q1, 2);
const float HK62 = HK61*Kaccy;
const float HK63 = q0*q1 + q2*q3;
const float HK64 = 2*HK63;
const float HK65 = 2*HK59;
const float HK66 = 2*HK57;
const float HK67 = 2*HK54;
const float HK68 = 2*HK56;
const float HK69 = 2*HK58;
const float HK70 = HK61*P(0,23) - HK61*P(0,5) + HK64*P(0,6) + HK65*P(0,22) - HK65*P(0,4) + HK66*P(0,2) + HK67*P(0,0) + HK68*P(0,1) - HK69*P(0,3);
const float HK71 = powf(Kaccy, 2);
const float HK72 = -HK61*P(5,6) + HK61*P(6,23) + HK64*P(6,6) - HK65*P(4,6) + HK65*P(6,22) + HK66*P(2,6) + HK67*P(0,6) + HK68*P(1,6) - HK69*P(3,6);
const float HK73 = HK65*P(4,22);
const float HK74 = HK61*P(22,23) - HK61*P(5,22) + HK64*P(6,22) + HK65*P(22,22) + HK66*P(2,22) + HK67*P(0,22) + HK68*P(1,22) - HK69*P(3,22) - HK73;
const float HK75 = HK65*HK71;
const float HK76 = HK61*P(4,23) - HK61*P(4,5) + HK64*P(4,6) - HK65*P(4,4) + HK66*P(2,4) + HK67*P(0,4) + HK68*P(1,4) - HK69*P(3,4) + HK73;
const float HK77 = HK61*P(2,23) - HK61*P(2,5) + HK64*P(2,6) + HK65*P(2,22) - HK65*P(2,4) + HK66*P(2,2) + HK67*P(0,2) + HK68*P(1,2) - HK69*P(2,3);
const float HK78 = HK61*P(5,23);
const float HK79 = HK61*P(23,23) + HK64*P(6,23) + HK65*P(22,23) - HK65*P(4,23) + HK66*P(2,23) + HK67*P(0,23) + HK68*P(1,23) - HK69*P(3,23) - HK78;
const float HK80 = HK61*HK71;
const float HK81 = -HK61*P(5,5) + HK64*P(5,6) - HK65*P(4,5) + HK65*P(5,22) + HK66*P(2,5) + HK67*P(0,5) + HK68*P(1,5) - HK69*P(3,5) + HK78;
const float HK82 = HK61*P(1,23) - HK61*P(1,5) + HK64*P(1,6) + HK65*P(1,22) - HK65*P(1,4) + HK66*P(1,2) + HK67*P(0,1) + HK68*P(1,1) - HK69*P(1,3);
const float HK83 = HK61*P(3,23) - HK61*P(3,5) + HK64*P(3,6) + HK65*P(3,22) - HK65*P(3,4) + HK66*P(2,3) + HK67*P(0,3) + HK68*P(1,3) - HK69*P(3,3);
const float HK84 = Kaccy/(HK64*HK71*HK72 + HK66*HK71*HK77 + HK67*HK70*HK71 + HK68*HK71*HK82 - HK69*HK71*HK83 + HK74*HK75 - HK75*HK76 + HK79*HK80 - HK80*HK81 + R_ACC);
// Observation Jacobians - axis 0
Hfusion.at<0>() = -HK2*HK3;
Hfusion.at<1>() = -HK3*HK4;
Hfusion.at<2>() = HK3*HK5;
Hfusion.at<3>() = -HK3*HK6;
Hfusion.at<4>() = -HK11;
Hfusion.at<5>() = -HK15;
Hfusion.at<6>() = HK16*HK3;
Hfusion.at<0>() = HK3*HK4;
Hfusion.at<1>() = -HK4*HK6;
Hfusion.at<2>() = HK12*HK4;
Hfusion.at<3>() = -HK15*HK4;
Hfusion.at<4>() = HK20;
Hfusion.at<5>() = -HK24;
Hfusion.at<6>() = HK27*HK4;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -89,45 +109,45 @@ Hfusion.at<18>() = 0;
Hfusion.at<19>() = 0;
Hfusion.at<20>() = 0;
Hfusion.at<21>() = 0;
Hfusion.at<22>() = HK11;
Hfusion.at<23>() = HK15;
Hfusion.at<22>() = -HK20;
Hfusion.at<23>() = HK24;
// Kalman gains - axis 0
Kfusion(0) = -HK24*HK41;
Kfusion(1) = -HK36*HK41;
Kfusion(2) = -HK38*HK41;
Kfusion(3) = -HK40*HK41;
Kfusion(4) = -HK32*HK41;
Kfusion(5) = -HK29*HK41;
Kfusion(6) = -HK30*HK41;
Kfusion(7) = -HK41*(HK10*P(4,7) - HK10*P(7,22) + HK17*P(5,7) - HK17*P(7,23) - HK18*P(6,7) + HK19*P(1,7) + HK20*P(0,7) - HK21*P(2,7) + HK22*P(3,7));
Kfusion(8) = -HK41*(HK10*P(4,8) - HK10*P(8,22) + HK17*P(5,8) - HK17*P(8,23) - HK18*P(6,8) + HK19*P(1,8) + HK20*P(0,8) - HK21*P(2,8) + HK22*P(3,8));
Kfusion(9) = -HK41*(HK10*P(4,9) - HK10*P(9,22) + HK17*P(5,9) - HK17*P(9,23) - HK18*P(6,9) + HK19*P(1,9) + HK20*P(0,9) - HK21*P(2,9) + HK22*P(3,9));
Kfusion(10) = -HK41*(-HK10*P(10,22) + HK10*P(4,10) - HK17*P(10,23) + HK17*P(5,10) - HK18*P(6,10) + HK19*P(1,10) + HK20*P(0,10) - HK21*P(2,10) + HK22*P(3,10));
Kfusion(11) = -HK41*(-HK10*P(11,22) + HK10*P(4,11) - HK17*P(11,23) + HK17*P(5,11) - HK18*P(6,11) + HK19*P(1,11) + HK20*P(0,11) - HK21*P(2,11) + HK22*P(3,11));
Kfusion(12) = -HK41*(-HK10*P(12,22) + HK10*P(4,12) - HK17*P(12,23) + HK17*P(5,12) - HK18*P(6,12) + HK19*P(1,12) + HK20*P(0,12) - HK21*P(2,12) + HK22*P(3,12));
Kfusion(13) = -HK41*(-HK10*P(13,22) + HK10*P(4,13) - HK17*P(13,23) + HK17*P(5,13) - HK18*P(6,13) + HK19*P(1,13) + HK20*P(0,13) - HK21*P(2,13) + HK22*P(3,13));
Kfusion(14) = -HK41*(-HK10*P(14,22) + HK10*P(4,14) - HK17*P(14,23) + HK17*P(5,14) - HK18*P(6,14) + HK19*P(1,14) + HK20*P(0,14) - HK21*P(2,14) + HK22*P(3,14));
Kfusion(15) = -HK41*(-HK10*P(15,22) + HK10*P(4,15) - HK17*P(15,23) + HK17*P(5,15) - HK18*P(6,15) + HK19*P(1,15) + HK20*P(0,15) - HK21*P(2,15) + HK22*P(3,15));
Kfusion(16) = -HK41*(-HK10*P(16,22) + HK10*P(4,16) - HK17*P(16,23) + HK17*P(5,16) - HK18*P(6,16) + HK19*P(1,16) + HK20*P(0,16) - HK21*P(2,16) + HK22*P(3,16));
Kfusion(17) = -HK41*(-HK10*P(17,22) + HK10*P(4,17) - HK17*P(17,23) + HK17*P(5,17) - HK18*P(6,17) + HK19*P(1,17) + HK20*P(0,17) - HK21*P(2,17) + HK22*P(3,17));
Kfusion(18) = -HK41*(-HK10*P(18,22) + HK10*P(4,18) - HK17*P(18,23) + HK17*P(5,18) - HK18*P(6,18) + HK19*P(1,18) + HK20*P(0,18) - HK21*P(2,18) + HK22*P(3,18));
Kfusion(19) = -HK41*(-HK10*P(19,22) + HK10*P(4,19) - HK17*P(19,23) + HK17*P(5,19) - HK18*P(6,19) + HK19*P(1,19) + HK20*P(0,19) - HK21*P(2,19) + HK22*P(3,19));
Kfusion(20) = -HK41*(-HK10*P(20,22) + HK10*P(4,20) - HK17*P(20,23) + HK17*P(5,20) - HK18*P(6,20) + HK19*P(1,20) + HK20*P(0,20) - HK21*P(2,20) + HK22*P(3,20));
Kfusion(21) = -HK41*(-HK10*P(21,22) + HK10*P(4,21) - HK17*P(21,23) + HK17*P(5,21) - HK18*P(6,21) + HK19*P(1,21) + HK20*P(0,21) - HK21*P(2,21) + HK22*P(3,21));
Kfusion(22) = -HK34*HK41;
Kfusion(23) = -HK26*HK41;
Kfusion(0) = HK53*(-HK19*P(0,4) - HK28*P(0,0) - HK29*P(0,2) - HK30*P(0,6) + HK34);
Kfusion(1) = HK53*(-HK19*P(1,4) - HK28*P(0,1) - HK29*P(1,2) - HK30*P(1,6) + HK46);
Kfusion(2) = HK53*(-HK19*P(2,4) - HK28*P(0,2) - HK29*P(2,2) - HK30*P(2,6) + HK52);
Kfusion(3) = HK53*(-HK19*P(3,4) - HK28*P(0,3) - HK29*P(2,3) - HK30*P(3,6) + HK51);
Kfusion(4) = HK53*(-HK19*P(4,4) - HK28*P(0,4) - HK29*P(2,4) - HK30*P(4,6) + HK48);
Kfusion(5) = HK53*(-HK19*P(4,5) - HK28*P(0,5) - HK29*P(2,5) - HK30*P(5,6) + HK44);
Kfusion(6) = HK53*(-HK19*P(4,6) - HK28*P(0,6) - HK29*P(2,6) - HK30*P(6,6) + HK45);
Kfusion(7) = HK53*(-HK19*P(4,7) + HK19*P(7,22) - HK28*P(0,7) - HK29*P(2,7) - HK30*P(6,7) + HK31*P(5,7) - HK31*P(7,23) + HK32*P(1,7) + HK33*P(3,7));
Kfusion(8) = HK53*(-HK19*P(4,8) + HK19*P(8,22) - HK28*P(0,8) - HK29*P(2,8) - HK30*P(6,8) + HK31*P(5,8) - HK31*P(8,23) + HK32*P(1,8) + HK33*P(3,8));
Kfusion(9) = HK53*(-HK19*P(4,9) + HK19*P(9,22) - HK28*P(0,9) - HK29*P(2,9) - HK30*P(6,9) + HK31*P(5,9) - HK31*P(9,23) + HK32*P(1,9) + HK33*P(3,9));
Kfusion(10) = HK53*(HK19*P(10,22) - HK19*P(4,10) - HK28*P(0,10) - HK29*P(2,10) - HK30*P(6,10) - HK31*P(10,23) + HK31*P(5,10) + HK32*P(1,10) + HK33*P(3,10));
Kfusion(11) = HK53*(HK19*P(11,22) - HK19*P(4,11) - HK28*P(0,11) - HK29*P(2,11) - HK30*P(6,11) - HK31*P(11,23) + HK31*P(5,11) + HK32*P(1,11) + HK33*P(3,11));
Kfusion(12) = HK53*(HK19*P(12,22) - HK19*P(4,12) - HK28*P(0,12) - HK29*P(2,12) - HK30*P(6,12) - HK31*P(12,23) + HK31*P(5,12) + HK32*P(1,12) + HK33*P(3,12));
Kfusion(13) = HK53*(HK19*P(13,22) - HK19*P(4,13) - HK28*P(0,13) - HK29*P(2,13) - HK30*P(6,13) - HK31*P(13,23) + HK31*P(5,13) + HK32*P(1,13) + HK33*P(3,13));
Kfusion(14) = HK53*(HK19*P(14,22) - HK19*P(4,14) - HK28*P(0,14) - HK29*P(2,14) - HK30*P(6,14) - HK31*P(14,23) + HK31*P(5,14) + HK32*P(1,14) + HK33*P(3,14));
Kfusion(15) = HK53*(HK19*P(15,22) - HK19*P(4,15) - HK28*P(0,15) - HK29*P(2,15) - HK30*P(6,15) - HK31*P(15,23) + HK31*P(5,15) + HK32*P(1,15) + HK33*P(3,15));
Kfusion(16) = HK53*(HK19*P(16,22) - HK19*P(4,16) - HK28*P(0,16) - HK29*P(2,16) - HK30*P(6,16) - HK31*P(16,23) + HK31*P(5,16) + HK32*P(1,16) + HK33*P(3,16));
Kfusion(17) = HK53*(HK19*P(17,22) - HK19*P(4,17) - HK28*P(0,17) - HK29*P(2,17) - HK30*P(6,17) - HK31*P(17,23) + HK31*P(5,17) + HK32*P(1,17) + HK33*P(3,17));
Kfusion(18) = HK53*(HK19*P(18,22) - HK19*P(4,18) - HK28*P(0,18) - HK29*P(2,18) - HK30*P(6,18) - HK31*P(18,23) + HK31*P(5,18) + HK32*P(1,18) + HK33*P(3,18));
Kfusion(19) = HK53*(HK19*P(19,22) - HK19*P(4,19) - HK28*P(0,19) - HK29*P(2,19) - HK30*P(6,19) - HK31*P(19,23) + HK31*P(5,19) + HK32*P(1,19) + HK33*P(3,19));
Kfusion(20) = HK53*(HK19*P(20,22) - HK19*P(4,20) - HK28*P(0,20) - HK29*P(2,20) - HK30*P(6,20) - HK31*P(20,23) + HK31*P(5,20) + HK32*P(1,20) + HK33*P(3,20));
Kfusion(21) = HK53*(HK19*P(21,22) - HK19*P(4,21) - HK28*P(0,21) - HK29*P(2,21) - HK30*P(6,21) - HK31*P(21,23) + HK31*P(5,21) + HK32*P(1,21) + HK33*P(3,21));
Kfusion(22) = HK53*(-HK28*P(0,22) - HK29*P(2,22) - HK30*P(6,22) - HK47 + HK50);
Kfusion(23) = HK53*(-HK19*P(4,23) - HK28*P(0,23) - HK29*P(2,23) - HK30*P(6,23) + HK41);
// Observation Jacobians - axis 1
Hfusion.at<0>() = -HK22*Kaccy;
Hfusion.at<1>() = -HK21*Kaccy;
Hfusion.at<2>() = -HK19*Kaccy;
Hfusion.at<3>() = HK20*Kaccy;
Hfusion.at<4>() = HK44;
Hfusion.at<5>() = -HK46;
Hfusion.at<6>() = -HK43*HK47;
Hfusion.at<0>() = -HK54*HK55;
Hfusion.at<1>() = -HK55*HK56;
Hfusion.at<2>() = -HK55*HK57;
Hfusion.at<3>() = HK55*HK58;
Hfusion.at<4>() = HK60;
Hfusion.at<5>() = HK62;
Hfusion.at<6>() = -HK55*HK63;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -143,35 +163,35 @@ Hfusion.at<18>() = 0;
Hfusion.at<19>() = 0;
Hfusion.at<20>() = 0;
Hfusion.at<21>() = 0;
Hfusion.at<22>() = -HK44;
Hfusion.at<23>() = HK46;
Hfusion.at<22>() = -HK60;
Hfusion.at<23>() = -HK62;
// Kalman gains - axis 1
Kfusion(0) = -HK50*HK64;
Kfusion(1) = -HK62*HK64;
Kfusion(2) = -HK61*HK64;
Kfusion(3) = -HK63*HK64;
Kfusion(4) = -HK56*HK64;
Kfusion(5) = -HK58*HK64;
Kfusion(6) = -HK52*HK64;
Kfusion(7) = -HK64*(HK19*P(2,7) - HK20*P(3,7) + HK21*P(1,7) + HK22*P(0,7) + HK45*P(5,7) - HK45*P(7,23) + HK48*P(6,7) - HK49*P(4,7) + HK49*P(7,22));
Kfusion(8) = -HK64*(HK19*P(2,8) - HK20*P(3,8) + HK21*P(1,8) + HK22*P(0,8) + HK45*P(5,8) - HK45*P(8,23) + HK48*P(6,8) - HK49*P(4,8) + HK49*P(8,22));
Kfusion(9) = -HK64*(HK19*P(2,9) - HK20*P(3,9) + HK21*P(1,9) + HK22*P(0,9) + HK45*P(5,9) - HK45*P(9,23) + HK48*P(6,9) - HK49*P(4,9) + HK49*P(9,22));
Kfusion(10) = -HK64*(HK19*P(2,10) - HK20*P(3,10) + HK21*P(1,10) + HK22*P(0,10) - HK45*P(10,23) + HK45*P(5,10) + HK48*P(6,10) + HK49*P(10,22) - HK49*P(4,10));
Kfusion(11) = -HK64*(HK19*P(2,11) - HK20*P(3,11) + HK21*P(1,11) + HK22*P(0,11) - HK45*P(11,23) + HK45*P(5,11) + HK48*P(6,11) + HK49*P(11,22) - HK49*P(4,11));
Kfusion(12) = -HK64*(HK19*P(2,12) - HK20*P(3,12) + HK21*P(1,12) + HK22*P(0,12) - HK45*P(12,23) + HK45*P(5,12) + HK48*P(6,12) + HK49*P(12,22) - HK49*P(4,12));
Kfusion(13) = -HK64*(HK19*P(2,13) - HK20*P(3,13) + HK21*P(1,13) + HK22*P(0,13) - HK45*P(13,23) + HK45*P(5,13) + HK48*P(6,13) + HK49*P(13,22) - HK49*P(4,13));
Kfusion(14) = -HK64*(HK19*P(2,14) - HK20*P(3,14) + HK21*P(1,14) + HK22*P(0,14) - HK45*P(14,23) + HK45*P(5,14) + HK48*P(6,14) + HK49*P(14,22) - HK49*P(4,14));
Kfusion(15) = -HK64*(HK19*P(2,15) - HK20*P(3,15) + HK21*P(1,15) + HK22*P(0,15) - HK45*P(15,23) + HK45*P(5,15) + HK48*P(6,15) + HK49*P(15,22) - HK49*P(4,15));
Kfusion(16) = -HK64*(HK19*P(2,16) - HK20*P(3,16) + HK21*P(1,16) + HK22*P(0,16) - HK45*P(16,23) + HK45*P(5,16) + HK48*P(6,16) + HK49*P(16,22) - HK49*P(4,16));
Kfusion(17) = -HK64*(HK19*P(2,17) - HK20*P(3,17) + HK21*P(1,17) + HK22*P(0,17) - HK45*P(17,23) + HK45*P(5,17) + HK48*P(6,17) + HK49*P(17,22) - HK49*P(4,17));
Kfusion(18) = -HK64*(HK19*P(2,18) - HK20*P(3,18) + HK21*P(1,18) + HK22*P(0,18) - HK45*P(18,23) + HK45*P(5,18) + HK48*P(6,18) + HK49*P(18,22) - HK49*P(4,18));
Kfusion(19) = -HK64*(HK19*P(2,19) - HK20*P(3,19) + HK21*P(1,19) + HK22*P(0,19) - HK45*P(19,23) + HK45*P(5,19) + HK48*P(6,19) + HK49*P(19,22) - HK49*P(4,19));
Kfusion(20) = -HK64*(HK19*P(2,20) - HK20*P(3,20) + HK21*P(1,20) + HK22*P(0,20) - HK45*P(20,23) + HK45*P(5,20) + HK48*P(6,20) + HK49*P(20,22) - HK49*P(4,20));
Kfusion(21) = -HK64*(HK19*P(2,21) - HK20*P(3,21) + HK21*P(1,21) + HK22*P(0,21) - HK45*P(21,23) + HK45*P(5,21) + HK48*P(6,21) + HK49*P(21,22) - HK49*P(4,21));
Kfusion(22) = -HK54*HK64;
Kfusion(23) = -HK60*HK64;
Kfusion(0) = -HK70*HK84;
Kfusion(1) = -HK82*HK84;
Kfusion(2) = -HK77*HK84;
Kfusion(3) = -HK83*HK84;
Kfusion(4) = -HK76*HK84;
Kfusion(5) = -HK81*HK84;
Kfusion(6) = -HK72*HK84;
Kfusion(7) = -HK84*(-HK61*P(5,7) + HK61*P(7,23) + HK64*P(6,7) - HK65*P(4,7) + HK65*P(7,22) + HK66*P(2,7) + HK67*P(0,7) + HK68*P(1,7) - HK69*P(3,7));
Kfusion(8) = -HK84*(-HK61*P(5,8) + HK61*P(8,23) + HK64*P(6,8) - HK65*P(4,8) + HK65*P(8,22) + HK66*P(2,8) + HK67*P(0,8) + HK68*P(1,8) - HK69*P(3,8));
Kfusion(9) = -HK84*(-HK61*P(5,9) + HK61*P(9,23) + HK64*P(6,9) - HK65*P(4,9) + HK65*P(9,22) + HK66*P(2,9) + HK67*P(0,9) + HK68*P(1,9) - HK69*P(3,9));
Kfusion(10) = -HK84*(HK61*P(10,23) - HK61*P(5,10) + HK64*P(6,10) + HK65*P(10,22) - HK65*P(4,10) + HK66*P(2,10) + HK67*P(0,10) + HK68*P(1,10) - HK69*P(3,10));
Kfusion(11) = -HK84*(HK61*P(11,23) - HK61*P(5,11) + HK64*P(6,11) + HK65*P(11,22) - HK65*P(4,11) + HK66*P(2,11) + HK67*P(0,11) + HK68*P(1,11) - HK69*P(3,11));
Kfusion(12) = -HK84*(HK61*P(12,23) - HK61*P(5,12) + HK64*P(6,12) + HK65*P(12,22) - HK65*P(4,12) + HK66*P(2,12) + HK67*P(0,12) + HK68*P(1,12) - HK69*P(3,12));
Kfusion(13) = -HK84*(HK61*P(13,23) - HK61*P(5,13) + HK64*P(6,13) + HK65*P(13,22) - HK65*P(4,13) + HK66*P(2,13) + HK67*P(0,13) + HK68*P(1,13) - HK69*P(3,13));
Kfusion(14) = -HK84*(HK61*P(14,23) - HK61*P(5,14) + HK64*P(6,14) + HK65*P(14,22) - HK65*P(4,14) + HK66*P(2,14) + HK67*P(0,14) + HK68*P(1,14) - HK69*P(3,14));
Kfusion(15) = -HK84*(HK61*P(15,23) - HK61*P(5,15) + HK64*P(6,15) + HK65*P(15,22) - HK65*P(4,15) + HK66*P(2,15) + HK67*P(0,15) + HK68*P(1,15) - HK69*P(3,15));
Kfusion(16) = -HK84*(HK61*P(16,23) - HK61*P(5,16) + HK64*P(6,16) + HK65*P(16,22) - HK65*P(4,16) + HK66*P(2,16) + HK67*P(0,16) + HK68*P(1,16) - HK69*P(3,16));
Kfusion(17) = -HK84*(HK61*P(17,23) - HK61*P(5,17) + HK64*P(6,17) + HK65*P(17,22) - HK65*P(4,17) + HK66*P(2,17) + HK67*P(0,17) + HK68*P(1,17) - HK69*P(3,17));
Kfusion(18) = -HK84*(HK61*P(18,23) - HK61*P(5,18) + HK64*P(6,18) + HK65*P(18,22) - HK65*P(4,18) + HK66*P(2,18) + HK67*P(0,18) + HK68*P(1,18) - HK69*P(3,18));
Kfusion(19) = -HK84*(HK61*P(19,23) - HK61*P(5,19) + HK64*P(6,19) + HK65*P(19,22) - HK65*P(4,19) + HK66*P(2,19) + HK67*P(0,19) + HK68*P(1,19) - HK69*P(3,19));
Kfusion(20) = -HK84*(HK61*P(20,23) - HK61*P(5,20) + HK64*P(6,20) + HK65*P(20,22) - HK65*P(4,20) + HK66*P(2,20) + HK67*P(0,20) + HK68*P(1,20) - HK69*P(3,20));
Kfusion(21) = -HK84*(HK61*P(21,23) - HK61*P(5,21) + HK64*P(6,21) + HK65*P(21,22) - HK65*P(4,21) + HK66*P(2,21) + HK67*P(0,21) + HK68*P(1,21) - HK69*P(3,21));
Kfusion(22) = -HK74*HK84;
Kfusion(23) = -HK79*HK84;
// Observation Jacobians - axis 2
EKF/python/ekf_derivation/generated/beta_generated.cpp
+88 -85
View File
@@ -1,67 +1,70 @@
// Sub Expressions
const float HK0 = vn - vwn;
const float HK1 = ve - vwe;
const float HK2 = HK0*q0 + HK1*q3 - q2*vd;
const float HK3 = q0*q2 - q1*q3;
const float HK4 = 2*vd;
const float HK5 = q0*q3;
const float HK6 = q1*q2;
const float HK7 = 2*HK5 + 2*HK6;
const float HK8 = powf(q0, 2);
const float HK9 = powf(q3, 2);
const float HK10 = HK8 - HK9;
const float HK11 = powf(q1, 2);
const float HK12 = powf(q2, 2);
const float HK13 = HK11 - HK12;
const float HK14 = HK10 + HK13;
const float HK15 = HK0*HK14 + HK1*HK7 - HK3*HK4;
const float HK16 = 1.0F/HK15;
const float HK0 = q1*vd;
const float HK1 = vn - vwn;
const float HK2 = HK1*q3;
const float HK3 = q2*vd;
const float HK4 = ve - vwe;
const float HK5 = HK4*q3;
const float HK6 = q0*q2 - q1*q3;
const float HK7 = 2*vd;
const float HK8 = HK6*HK7;
const float HK9 = q0*q3;
const float HK10 = q1*q2;
const float HK11 = 2*HK10 + 2*HK9;
const float HK12 = HK11*HK4;
const float HK13 = 2*powf(q3, 2) - 1;
const float HK14 = HK13 + 2*powf(q2, 2);
const float HK15 = HK1*HK14;
const float HK16 = 1.0F/(-HK12 + HK15 + HK8);
const float HK17 = q0*q1 + q2*q3;
const float HK18 = HK10 - HK11 + HK12;
const float HK19 = HK16*(-2*HK0*(HK5 - HK6) + HK1*HK18 + HK17*HK4);
const float HK20 = -HK0*q3 + HK1*q0 + q1*vd;
const float HK21 = -HK19*HK2 + HK20;
const float HK22 = 2*HK16;
const float HK23 = HK0*q1 + HK1*q2 + q3*vd;
const float HK24 = HK0*q2 - HK1*q1 + q0*vd;
const float HK25 = -HK19*HK23 + HK24;
const float HK26 = HK19*HK24 + HK23;
const float HK27 = HK19*HK20 + HK2;
const float HK28 = HK14*HK19 + 2*HK5 - 2*HK6;
const float HK29 = HK16*HK28;
const float HK30 = HK19*HK7;
const float HK31 = HK17 + HK19*HK3;
const float HK32 = HK13 + HK30 - HK8 + HK9;
const float HK33 = 2*HK31;
const float HK34 = 2*HK26;
const float HK35 = 2*HK25;
const float HK36 = 2*HK27;
const float HK37 = 2*HK21;
const float HK38 = HK28*P(0,22) - HK28*P(0,4) + HK32*P(0,23) - HK32*P(0,5) + HK33*P(0,6) + HK34*P(0,2) + HK35*P(0,1) - HK36*P(0,3) + HK37*P(0,0);
const float HK39 = powf(HK15, -2);
const float HK40 = -HK28*P(4,6) + HK28*P(6,22) - HK32*P(5,6) + HK32*P(6,23) + HK33*P(6,6) + HK34*P(2,6) + HK35*P(1,6) - HK36*P(3,6) + HK37*P(0,6);
const float HK41 = HK32*P(5,23);
const float HK42 = HK28*P(22,23) - HK28*P(4,23) + HK32*P(23,23) + HK33*P(6,23) + HK34*P(2,23) + HK35*P(1,23) - HK36*P(3,23) + HK37*P(0,23) - HK41;
const float HK43 = HK32*HK39;
const float HK44 = HK28*P(4,22);
const float HK45 = HK28*P(22,22) + HK32*P(22,23) - HK32*P(5,22) + HK33*P(6,22) + HK34*P(2,22) + HK35*P(1,22) - HK36*P(3,22) + HK37*P(0,22) - HK44;
const float HK46 = HK28*HK39;
const float HK47 = -HK28*P(4,5) + HK28*P(5,22) - HK32*P(5,5) + HK33*P(5,6) + HK34*P(2,5) + HK35*P(1,5) - HK36*P(3,5) + HK37*P(0,5) + HK41;
const float HK48 = -HK28*P(4,4) + HK32*P(4,23) - HK32*P(4,5) + HK33*P(4,6) + HK34*P(2,4) + HK35*P(1,4) - HK36*P(3,4) + HK37*P(0,4) + HK44;
const float HK49 = HK28*P(2,22) - HK28*P(2,4) + HK32*P(2,23) - HK32*P(2,5) + HK33*P(2,6) + HK34*P(2,2) + HK35*P(1,2) - HK36*P(2,3) + HK37*P(0,2);
const float HK50 = HK28*P(1,22) - HK28*P(1,4) + HK32*P(1,23) - HK32*P(1,5) + HK33*P(1,6) + HK34*P(1,2) + HK35*P(1,1) - HK36*P(1,3) + HK37*P(0,1);
const float HK51 = HK28*P(3,22) - HK28*P(3,4) + HK32*P(3,23) - HK32*P(3,5) + HK33*P(3,6) + HK34*P(2,3) + HK35*P(1,3) - HK36*P(3,3) + HK37*P(0,3);
const float HK52 = HK16/(HK33*HK39*HK40 + HK34*HK39*HK49 + HK35*HK39*HK50 - HK36*HK39*HK51 + HK37*HK38*HK39 + HK42*HK43 - HK43*HK47 + HK45*HK46 - HK46*HK48 + R_BETA);
const float HK18 = HK17*HK7;
const float HK19 = 2*HK1*(-HK10 + HK9);
const float HK20 = HK13 + 2*powf(q1, 2);
const float HK21 = HK20*HK4;
const float HK22 = HK16*(-HK18 + HK19 + HK21);
const float HK23 = 2*HK16;
const float HK24 = HK23*(HK0 - HK2 + HK22*(HK3 - HK5));
const float HK25 = q0*vd;
const float HK26 = HK1*q2;
const float HK27 = HK4*q1;
const float HK28 = 2*HK27;
const float HK29 = q3*vd;
const float HK30 = 1.0F/(HK12 - HK15 - HK8);
const float HK31 = HK30*(HK18 - HK19 - HK21);
const float HK32 = HK31*(HK29 + HK4*q2);
const float HK33 = 2*HK30;
const float HK34 = HK23*(HK1*q1 + HK22*(HK25 + 2*HK26 - HK27) + HK29);
const float HK35 = HK33*(HK1*q0 - HK3 + HK31*(HK0 - 2*HK2 + HK4*q0) + 2*HK5);
const float HK36 = HK14*HK31;
const float HK37 = 2*HK9;
const float HK38 = 2*HK10;
const float HK39 = -HK37 + HK38;
const float HK40 = HK30*(HK11*HK31 + HK20);
const float HK41 = HK23*(HK17 + HK22*HK6);
const float HK42 = HK16*(HK14*HK22 + HK39);
const float HK43 = HK16*(HK11*HK22 + HK20);
const float HK44 = HK30*(-HK36 + HK37 - HK38);
const float HK45 = HK33*(-HK25 - HK26 + HK28 + HK32);
const float HK46 = -HK24*P(0,0) - HK34*P(0,2) - HK35*P(0,3) - HK40*P(0,5) - HK41*P(0,6) + HK42*P(0,22) - HK43*P(0,23) - HK44*P(0,4) - HK45*P(0,1);
const float HK47 = -HK24*P(0,6) - HK34*P(2,6) - HK35*P(3,6) - HK40*P(5,6) - HK41*P(6,6) + HK42*P(6,22) - HK43*P(6,23) - HK44*P(4,6) - HK45*P(1,6);
const float HK48 = -HK24*P(0,22) - HK34*P(2,22) - HK35*P(3,22) - HK40*P(5,22) - HK41*P(6,22) + HK42*P(22,22) - HK43*P(22,23) - HK44*P(4,22) - HK45*P(1,22);
const float HK49 = -HK24*P(0,23) - HK34*P(2,23) - HK35*P(3,23) - HK40*P(5,23) - HK41*P(6,23) + HK42*P(22,23) - HK43*P(23,23) - HK44*P(4,23) - HK45*P(1,23);
const float HK50 = -HK24*P(0,5) - HK34*P(2,5) - HK35*P(3,5) - HK40*P(5,5) - HK41*P(5,6) + HK42*P(5,22) - HK43*P(5,23) - HK44*P(4,5) - HK45*P(1,5);
const float HK51 = -HK24*P(0,4) - HK34*P(2,4) - HK35*P(3,4) - HK40*P(4,5) - HK41*P(4,6) + HK42*P(4,22) - HK43*P(4,23) - HK44*P(4,4) - HK45*P(1,4);
const float HK52 = -HK24*P(0,2) - HK34*P(2,2) - HK35*P(2,3) - HK40*P(2,5) - HK41*P(2,6) + HK42*P(2,22) - HK43*P(2,23) - HK44*P(2,4) - HK45*P(1,2);
const float HK53 = -HK24*P(0,1) - HK34*P(1,2) - HK35*P(1,3) - HK40*P(1,5) - HK41*P(1,6) + HK42*P(1,22) - HK43*P(1,23) - HK44*P(1,4) - HK45*P(1,1);
const float HK54 = -HK24*P(0,3) - HK34*P(2,3) - HK35*P(3,3) - HK40*P(3,5) - HK41*P(3,6) + HK42*P(3,22) - HK43*P(3,23) - HK44*P(3,4) - HK45*P(1,3);
const float HK55 = 1.0F/(-HK24*HK46 - HK34*HK52 - HK35*HK54 - HK40*HK50 - HK41*HK47 + HK42*HK48 - HK43*HK49 - HK44*HK51 - HK45*HK53 + R_BETA);
// Observation Jacobians
Hfusion.at<0>() = HK21*HK22;
Hfusion.at<1>() = HK22*HK25;
Hfusion.at<2>() = HK22*HK26;
Hfusion.at<3>() = -HK22*HK27;
Hfusion.at<4>() = -HK29;
Hfusion.at<5>() = HK16*(HK18 - HK30);
Hfusion.at<6>() = HK22*HK31;
Hfusion.at<0>() = -HK24;
Hfusion.at<1>() = HK33*(HK25 + HK26 - HK28 - HK32);
Hfusion.at<2>() = -HK34;
Hfusion.at<3>() = -HK35;
Hfusion.at<4>() = HK30*(HK36 + HK39);
Hfusion.at<5>() = -HK40;
Hfusion.at<6>() = -HK41;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -77,34 +80,34 @@ Hfusion.at<18>() = 0;
Hfusion.at<19>() = 0;
Hfusion.at<20>() = 0;
Hfusion.at<21>() = 0;
Hfusion.at<22>() = HK29;
Hfusion.at<23>() = HK16*HK32;
Hfusion.at<22>() = HK42;
Hfusion.at<23>() = -HK43;
// Kalman gains
Kfusion(0) = HK38*HK52;
Kfusion(1) = HK50*HK52;
Kfusion(2) = HK49*HK52;
Kfusion(3) = HK51*HK52;
Kfusion(4) = HK48*HK52;
Kfusion(5) = HK47*HK52;
Kfusion(6) = HK40*HK52;
Kfusion(7) = HK52*(-HK28*P(4,7) + HK28*P(7,22) - HK32*P(5,7) + HK32*P(7,23) + HK33*P(6,7) + HK34*P(2,7) + HK35*P(1,7) - HK36*P(3,7) + HK37*P(0,7));
Kfusion(8) = HK52*(-HK28*P(4,8) + HK28*P(8,22) - HK32*P(5,8) + HK32*P(8,23) + HK33*P(6,8) + HK34*P(2,8) + HK35*P(1,8) - HK36*P(3,8) + HK37*P(0,8));
Kfusion(9) = HK52*(-HK28*P(4,9) + HK28*P(9,22) - HK32*P(5,9) + HK32*P(9,23) + HK33*P(6,9) + HK34*P(2,9) + HK35*P(1,9) - HK36*P(3,9) + HK37*P(0,9));
Kfusion(10) = HK52*(HK28*P(10,22) - HK28*P(4,10) + HK32*P(10,23) - HK32*P(5,10) + HK33*P(6,10) + HK34*P(2,10) + HK35*P(1,10) - HK36*P(3,10) + HK37*P(0,10));
Kfusion(11) = HK52*(HK28*P(11,22) - HK28*P(4,11) + HK32*P(11,23) - HK32*P(5,11) + HK33*P(6,11) + HK34*P(2,11) + HK35*P(1,11) - HK36*P(3,11) + HK37*P(0,11));
Kfusion(12) = HK52*(HK28*P(12,22) - HK28*P(4,12) + HK32*P(12,23) - HK32*P(5,12) + HK33*P(6,12) + HK34*P(2,12) + HK35*P(1,12) - HK36*P(3,12) + HK37*P(0,12));
Kfusion(13) = HK52*(HK28*P(13,22) - HK28*P(4,13) + HK32*P(13,23) - HK32*P(5,13) + HK33*P(6,13) + HK34*P(2,13) + HK35*P(1,13) - HK36*P(3,13) + HK37*P(0,13));
Kfusion(14) = HK52*(HK28*P(14,22) - HK28*P(4,14) + HK32*P(14,23) - HK32*P(5,14) + HK33*P(6,14) + HK34*P(2,14) + HK35*P(1,14) - HK36*P(3,14) + HK37*P(0,14));
Kfusion(15) = HK52*(HK28*P(15,22) - HK28*P(4,15) + HK32*P(15,23) - HK32*P(5,15) + HK33*P(6,15) + HK34*P(2,15) + HK35*P(1,15) - HK36*P(3,15) + HK37*P(0,15));
Kfusion(16) = HK52*(HK28*P(16,22) - HK28*P(4,16) + HK32*P(16,23) - HK32*P(5,16) + HK33*P(6,16) + HK34*P(2,16) + HK35*P(1,16) - HK36*P(3,16) + HK37*P(0,16));
Kfusion(17) = HK52*(HK28*P(17,22) - HK28*P(4,17) + HK32*P(17,23) - HK32*P(5,17) + HK33*P(6,17) + HK34*P(2,17) + HK35*P(1,17) - HK36*P(3,17) + HK37*P(0,17));
Kfusion(18) = HK52*(HK28*P(18,22) - HK28*P(4,18) + HK32*P(18,23) - HK32*P(5,18) + HK33*P(6,18) + HK34*P(2,18) + HK35*P(1,18) - HK36*P(3,18) + HK37*P(0,18));
Kfusion(19) = HK52*(HK28*P(19,22) - HK28*P(4,19) + HK32*P(19,23) - HK32*P(5,19) + HK33*P(6,19) + HK34*P(2,19) + HK35*P(1,19) - HK36*P(3,19) + HK37*P(0,19));
Kfusion(20) = HK52*(HK28*P(20,22) - HK28*P(4,20) + HK32*P(20,23) - HK32*P(5,20) + HK33*P(6,20) + HK34*P(2,20) + HK35*P(1,20) - HK36*P(3,20) + HK37*P(0,20));
Kfusion(21) = HK52*(HK28*P(21,22) - HK28*P(4,21) + HK32*P(21,23) - HK32*P(5,21) + HK33*P(6,21) + HK34*P(2,21) + HK35*P(1,21) - HK36*P(3,21) + HK37*P(0,21));
Kfusion(22) = HK45*HK52;
Kfusion(23) = HK42*HK52;
Kfusion(0) = HK46*HK55;
Kfusion(1) = HK53*HK55;
Kfusion(2) = HK52*HK55;
Kfusion(3) = HK54*HK55;
Kfusion(4) = HK51*HK55;
Kfusion(5) = HK50*HK55;
Kfusion(6) = HK47*HK55;
Kfusion(7) = HK55*(-HK24*P(0,7) - HK34*P(2,7) - HK35*P(3,7) - HK40*P(5,7) - HK41*P(6,7) + HK42*P(7,22) - HK43*P(7,23) - HK44*P(4,7) - HK45*P(1,7));
Kfusion(8) = HK55*(-HK24*P(0,8) - HK34*P(2,8) - HK35*P(3,8) - HK40*P(5,8) - HK41*P(6,8) + HK42*P(8,22) - HK43*P(8,23) - HK44*P(4,8) - HK45*P(1,8));
Kfusion(9) = HK55*(-HK24*P(0,9) - HK34*P(2,9) - HK35*P(3,9) - HK40*P(5,9) - HK41*P(6,9) + HK42*P(9,22) - HK43*P(9,23) - HK44*P(4,9) - HK45*P(1,9));
Kfusion(10) = HK55*(-HK24*P(0,10) - HK34*P(2,10) - HK35*P(3,10) - HK40*P(5,10) - HK41*P(6,10) + HK42*P(10,22) - HK43*P(10,23) - HK44*P(4,10) - HK45*P(1,10));
Kfusion(11) = HK55*(-HK24*P(0,11) - HK34*P(2,11) - HK35*P(3,11) - HK40*P(5,11) - HK41*P(6,11) + HK42*P(11,22) - HK43*P(11,23) - HK44*P(4,11) - HK45*P(1,11));
Kfusion(12) = HK55*(-HK24*P(0,12) - HK34*P(2,12) - HK35*P(3,12) - HK40*P(5,12) - HK41*P(6,12) + HK42*P(12,22) - HK43*P(12,23) - HK44*P(4,12) - HK45*P(1,12));
Kfusion(13) = HK55*(-HK24*P(0,13) - HK34*P(2,13) - HK35*P(3,13) - HK40*P(5,13) - HK41*P(6,13) + HK42*P(13,22) - HK43*P(13,23) - HK44*P(4,13) - HK45*P(1,13));
Kfusion(14) = HK55*(-HK24*P(0,14) - HK34*P(2,14) - HK35*P(3,14) - HK40*P(5,14) - HK41*P(6,14) + HK42*P(14,22) - HK43*P(14,23) - HK44*P(4,14) - HK45*P(1,14));
Kfusion(15) = HK55*(-HK24*P(0,15) - HK34*P(2,15) - HK35*P(3,15) - HK40*P(5,15) - HK41*P(6,15) + HK42*P(15,22) - HK43*P(15,23) - HK44*P(4,15) - HK45*P(1,15));
Kfusion(16) = HK55*(-HK24*P(0,16) - HK34*P(2,16) - HK35*P(3,16) - HK40*P(5,16) - HK41*P(6,16) + HK42*P(16,22) - HK43*P(16,23) - HK44*P(4,16) - HK45*P(1,16));
Kfusion(17) = HK55*(-HK24*P(0,17) - HK34*P(2,17) - HK35*P(3,17) - HK40*P(5,17) - HK41*P(6,17) + HK42*P(17,22) - HK43*P(17,23) - HK44*P(4,17) - HK45*P(1,17));
Kfusion(18) = HK55*(-HK24*P(0,18) - HK34*P(2,18) - HK35*P(3,18) - HK40*P(5,18) - HK41*P(6,18) + HK42*P(18,22) - HK43*P(18,23) - HK44*P(4,18) - HK45*P(1,18));
Kfusion(19) = HK55*(-HK24*P(0,19) - HK34*P(2,19) - HK35*P(3,19) - HK40*P(5,19) - HK41*P(6,19) + HK42*P(19,22) - HK43*P(19,23) - HK44*P(4,19) - HK45*P(1,19));
Kfusion(20) = HK55*(-HK24*P(0,20) - HK34*P(2,20) - HK35*P(3,20) - HK40*P(5,20) - HK41*P(6,20) + HK42*P(20,22) - HK43*P(20,23) - HK44*P(4,20) - HK45*P(1,20));
Kfusion(21) = HK55*(-HK24*P(0,21) - HK34*P(2,21) - HK35*P(3,21) - HK40*P(5,21) - HK41*P(6,21) + HK42*P(21,22) - HK43*P(21,23) - HK44*P(4,21) - HK45*P(1,21));
Kfusion(22) = HK48*HK55;
Kfusion(23) = HK49*HK55;
EKF/python/ekf_derivation/generated/covariance_generated.cpp
+289 -253
View File
@@ -40,252 +40,288 @@ const float PS37 = q1*q3;
const float PS38 = q0*q2;
const float PS39 = q1*q2;
const float PS40 = q0*q3;
const float PS41 = -PS2;
const float PS42 = powf(q0, 2);
const float PS43 = -PS4 + PS42;
const float PS44 = PS0 + PS41 + PS43;
const float PS45 = P(0,13) - P(1,13)*PS11 + P(10,13)*PS6 + P(11,13)*PS7 + P(12,13)*PS9 - P(2,13)*PS12 - P(3,13)*PS13;
const float PS46 = PS37 + PS38;
const float PS47 = P(0,15) - P(1,15)*PS11 + P(10,15)*PS6 + P(11,15)*PS7 + P(12,15)*PS9 - P(2,15)*PS12 - P(3,15)*PS13;
const float PS48 = 2*PS47;
const float PS49 = dvy - dvy_b;
const float PS50 = dvx - dvx_b;
const float PS51 = dvz - dvz_b;
const float PS52 = PS49*q0 + PS50*q3 - PS51*q1;
const float PS53 = 2*PS29;
const float PS54 = -PS39 + PS40;
const float PS55 = P(0,14) - P(1,14)*PS11 + P(10,14)*PS6 + P(11,14)*PS7 + P(12,14)*PS9 - P(2,14)*PS12 - P(3,14)*PS13;
const float PS56 = 2*PS55;
const float PS57 = -PS49*q3 + PS50*q0 + PS51*q2;
const float PS58 = 2*PS33;
const float PS59 = PS49*q1 - PS50*q2 + PS51*q0;
const float PS60 = 2*PS59;
const float PS61 = PS49*q2 + PS50*q1 + PS51*q3;
const float PS62 = 2*PS61;
const float PS63 = P(0,4) - P(1,4)*PS11 - P(2,4)*PS12 - P(3,4)*PS13 + P(4,10)*PS6 + P(4,11)*PS7 + P(4,12)*PS9;
const float PS64 = -PS0;
const float PS65 = PS2 + PS43 + PS64;
const float PS66 = PS39 + PS40;
const float PS67 = 2*PS45;
const float PS68 = -PS35 + PS36;
const float PS69 = P(0,5) - P(1,5)*PS11 - P(2,5)*PS12 - P(3,5)*PS13 + P(5,10)*PS6 + P(5,11)*PS7 + P(5,12)*PS9;
const float PS70 = PS4 + PS41 + PS42 + PS64;
const float PS71 = PS35 + PS36;
const float PS72 = 2*PS57;
const float PS73 = -PS37 + PS38;
const float PS74 = 2*PS52;
const float PS75 = P(0,6) - P(1,6)*PS11 - P(2,6)*PS12 - P(3,6)*PS13 + P(6,10)*PS6 + P(6,11)*PS7 + P(6,12)*PS9;
const float PS76 = -P(10,11)*PS34;
const float PS77 = P(0,11)*PS11 + P(1,11) + P(11,11)*PS9 + P(2,11)*PS13 - P(3,11)*PS12 - PS19 + PS76;
const float PS78 = P(0,2)*PS13;
const float PS79 = P(0,3)*PS12;
const float PS80 = P(0,0)*PS11 + P(0,1) - P(0,10)*PS34 + P(0,11)*PS9 - P(0,12)*PS7 + PS78 - PS79;
const float PS81 = P(0,2)*PS11;
const float PS82 = P(1,2) - P(2,10)*PS34 + P(2,11)*PS9 - P(2,12)*PS7 + P(2,2)*PS13 + PS28 + PS81;
const float PS83 = P(10,11)*PS9;
const float PS84 = P(10,12)*PS7;
const float PS85 = P(0,10)*PS11 + P(1,10) - P(10,10)*PS34 + P(2,10)*PS13 - P(3,10)*PS12 + PS83 - PS84;
const float PS86 = -P(10,12)*PS34;
const float PS87 = P(0,12)*PS11 + P(1,12) - P(12,12)*PS7 + P(2,12)*PS13 - P(3,12)*PS12 + PS16 + PS86;
const float PS88 = P(0,3)*PS11;
const float PS89 = P(1,3) - P(3,10)*PS34 + P(3,11)*PS9 - P(3,12)*PS7 - P(3,3)*PS12 + PS25 + PS88;
const float PS90 = P(1,2)*PS13;
const float PS91 = P(1,3)*PS12;
const float PS92 = P(1,1) - P(1,10)*PS34 + P(1,11)*PS9 - P(1,12)*PS7 + PS30 + PS90 - PS91;
const float PS93 = P(0,13)*PS11 + P(1,13) - P(10,13)*PS34 + P(11,13)*PS9 - P(12,13)*PS7 + P(2,13)*PS13 - P(3,13)*PS12;
const float PS94 = P(0,15)*PS11 + P(1,15) - P(10,15)*PS34 + P(11,15)*PS9 - P(12,15)*PS7 + P(2,15)*PS13 - P(3,15)*PS12;
const float PS95 = 2*PS94;
const float PS96 = P(0,14)*PS11 + P(1,14) - P(10,14)*PS34 + P(11,14)*PS9 - P(12,14)*PS7 + P(2,14)*PS13 - P(3,14)*PS12;
const float PS97 = 2*PS96;
const float PS98 = P(0,4)*PS11 + P(1,4) + P(2,4)*PS13 - P(3,4)*PS12 - P(4,10)*PS34 + P(4,11)*PS9 - P(4,12)*PS7;
const float PS99 = 2*PS93;
const float PS100 = P(0,5)*PS11 + P(1,5) + P(2,5)*PS13 - P(3,5)*PS12 - P(5,10)*PS34 + P(5,11)*PS9 - P(5,12)*PS7;
const float PS101 = P(0,6)*PS11 + P(1,6) + P(2,6)*PS13 - P(3,6)*PS12 - P(6,10)*PS34 + P(6,11)*PS9 - P(6,12)*PS7;
const float PS102 = -P(11,12)*PS34;
const float PS103 = P(0,12)*PS12 - P(1,12)*PS13 + P(12,12)*PS6 + P(2,12) + P(3,12)*PS11 - PS10 + PS102;
const float PS104 = P(2,3) - P(3,10)*PS9 - P(3,11)*PS34 + P(3,12)*PS6 + P(3,3)*PS11 + PS22 + PS79;
const float PS105 = P(0,1)*PS13;
const float PS106 = P(0,0)*PS12 - P(0,10)*PS9 - P(0,11)*PS34 + P(0,12)*PS6 + P(0,2) - PS105 + PS88;
const float PS107 = P(11,12)*PS6;
const float PS108 = P(0,11)*PS12 - P(1,11)*PS13 - P(11,11)*PS34 + P(2,11) + P(3,11)*PS11 + PS107 - PS83;
const float PS109 = P(0,10)*PS12 - P(1,10)*PS13 - P(10,10)*PS9 + P(2,10) + P(3,10)*PS11 + PS18 + PS76;
const float PS110 = P(0,1)*PS12;
const float PS111 = -P(1,1)*PS13 - P(1,10)*PS9 - P(1,11)*PS34 + P(1,12)*PS6 + P(1,2) + PS110 + PS27;
const float PS112 = P(2,3)*PS11;
const float PS113 = -P(2,10)*PS9 - P(2,11)*PS34 + P(2,12)*PS6 + P(2,2) + PS112 + PS31 - PS90;
const float PS114 = P(0,13)*PS12 - P(1,13)*PS13 - P(10,13)*PS9 - P(11,13)*PS34 + P(12,13)*PS6 + P(2,13) + P(3,13)*PS11;
const float PS115 = P(0,15)*PS12 - P(1,15)*PS13 - P(10,15)*PS9 - P(11,15)*PS34 + P(12,15)*PS6 + P(2,15) + P(3,15)*PS11;
const float PS116 = 2*PS115;
const float PS117 = P(0,14)*PS12 - P(1,14)*PS13 - P(10,14)*PS9 - P(11,14)*PS34 + P(12,14)*PS6 + P(2,14) + P(3,14)*PS11;
const float PS41 = 2*PS2;
const float PS42 = 2*PS4 - 1;
const float PS43 = PS41 + PS42;
const float PS44 = P(0,13) - P(1,13)*PS11 + P(10,13)*PS6 + P(11,13)*PS7 + P(12,13)*PS9 - P(2,13)*PS12 - P(3,13)*PS13;
const float PS45 = PS37 + PS38;
const float PS46 = P(0,15) - P(1,15)*PS11 + P(10,15)*PS6 + P(11,15)*PS7 + P(12,15)*PS9 - P(2,15)*PS12 - P(3,15)*PS13;
const float PS47 = 2*PS46;
const float PS48 = dvy - dvy_b;
const float PS49 = PS48*q0;
const float PS50 = dvz - dvz_b;
const float PS51 = PS50*q1;
const float PS52 = dvx - dvx_b;
const float PS53 = PS52*q3;
const float PS54 = PS49 - PS51 + 2*PS53;
const float PS55 = 2*PS29;
const float PS56 = -PS39 + PS40;
const float PS57 = P(0,14) - P(1,14)*PS11 + P(10,14)*PS6 + P(11,14)*PS7 + P(12,14)*PS9 - P(2,14)*PS12 - P(3,14)*PS13;
const float PS58 = 2*PS57;
const float PS59 = PS48*q2;
const float PS60 = PS50*q3;
const float PS61 = PS59 + PS60;
const float PS62 = 2*PS23;
const float PS63 = PS50*q2;
const float PS64 = PS48*q3;
const float PS65 = -PS64;
const float PS66 = PS63 + PS65;
const float PS67 = 2*PS33;
const float PS68 = PS50*q0;
const float PS69 = PS48*q1;
const float PS70 = PS52*q2;
const float PS71 = PS68 + PS69 - 2*PS70;
const float PS72 = 2*PS26;
const float PS73 = P(0,4) - P(1,4)*PS11 - P(2,4)*PS12 - P(3,4)*PS13 + P(4,10)*PS6 + P(4,11)*PS7 + P(4,12)*PS9;
const float PS74 = 2*PS0;
const float PS75 = PS42 + PS74;
const float PS76 = PS39 + PS40;
const float PS77 = 2*PS44;
const float PS78 = PS51 - PS53;
const float PS79 = -PS70;
const float PS80 = PS68 + 2*PS69 + PS79;
const float PS81 = -PS35 + PS36;
const float PS82 = PS52*q1;
const float PS83 = PS60 + PS82;
const float PS84 = PS52*q0;
const float PS85 = PS63 - 2*PS64 + PS84;
const float PS86 = P(0,5) - P(1,5)*PS11 - P(2,5)*PS12 - P(3,5)*PS13 + P(5,10)*PS6 + P(5,11)*PS7 + P(5,12)*PS9;
const float PS87 = PS41 + PS74 - 1;
const float PS88 = PS35 + PS36;
const float PS89 = 2*PS63 + PS65 + PS84;
const float PS90 = -PS37 + PS38;
const float PS91 = PS59 + PS82;
const float PS92 = PS69 + PS79;
const float PS93 = PS49 - 2*PS51 + PS53;
const float PS94 = P(0,6) - P(1,6)*PS11 - P(2,6)*PS12 - P(3,6)*PS13 + P(6,10)*PS6 + P(6,11)*PS7 + P(6,12)*PS9;
const float PS95 = powf(q0, 2);
const float PS96 = -P(10,11)*PS34;
const float PS97 = P(0,11)*PS11 + P(1,11) + P(11,11)*PS9 + P(2,11)*PS13 - P(3,11)*PS12 - PS19 + PS96;
const float PS98 = P(0,2)*PS13;
const float PS99 = P(0,3)*PS12;
const float PS100 = P(0,0)*PS11 + P(0,1) - P(0,10)*PS34 + P(0,11)*PS9 - P(0,12)*PS7 + PS98 - PS99;
const float PS101 = P(0,2)*PS11;
const float PS102 = P(1,2) - P(2,10)*PS34 + P(2,11)*PS9 - P(2,12)*PS7 + P(2,2)*PS13 + PS101 + PS28;
const float PS103 = P(10,11)*PS9;
const float PS104 = P(10,12)*PS7;
const float PS105 = P(0,10)*PS11 + P(1,10) - P(10,10)*PS34 + P(2,10)*PS13 - P(3,10)*PS12 + PS103 - PS104;
const float PS106 = -P(10,12)*PS34;
const float PS107 = P(0,12)*PS11 + P(1,12) - P(12,12)*PS7 + P(2,12)*PS13 - P(3,12)*PS12 + PS106 + PS16;
const float PS108 = P(0,3)*PS11;
const float PS109 = P(1,3) - P(3,10)*PS34 + P(3,11)*PS9 - P(3,12)*PS7 - P(3,3)*PS12 + PS108 + PS25;
const float PS110 = P(1,2)*PS13;
const float PS111 = P(1,3)*PS12;
const float PS112 = P(1,1) - P(1,10)*PS34 + P(1,11)*PS9 - P(1,12)*PS7 + PS110 - PS111 + PS30;
const float PS113 = P(0,13)*PS11 + P(1,13) - P(10,13)*PS34 + P(11,13)*PS9 - P(12,13)*PS7 + P(2,13)*PS13 - P(3,13)*PS12;
const float PS114 = P(0,15)*PS11 + P(1,15) - P(10,15)*PS34 + P(11,15)*PS9 - P(12,15)*PS7 + P(2,15)*PS13 - P(3,15)*PS12;
const float PS115 = 2*PS114;
const float PS116 = 2*PS109;
const float PS117 = P(0,14)*PS11 + P(1,14) - P(10,14)*PS34 + P(11,14)*PS9 - P(12,14)*PS7 + P(2,14)*PS13 - P(3,14)*PS12;
const float PS118 = 2*PS117;
const float PS119 = P(0,4)*PS12 - P(1,4)*PS13 + P(2,4) + P(3,4)*PS11 - P(4,10)*PS9 - P(4,11)*PS34 + P(4,12)*PS6;
const float PS120 = 2*PS114;
const float PS121 = P(0,5)*PS12 - P(1,5)*PS13 + P(2,5) + P(3,5)*PS11 - P(5,10)*PS9 - P(5,11)*PS34 + P(5,12)*PS6;
const float PS122 = P(0,6)*PS12 - P(1,6)*PS13 + P(2,6) + P(3,6)*PS11 - P(6,10)*PS9 - P(6,11)*PS34 + P(6,12)*PS6;
const float PS123 = P(0,10)*PS13 + P(1,10)*PS12 + P(10,10)*PS7 - P(2,10)*PS11 + P(3,10) - PS15 + PS86;
const float PS124 = P(1,1)*PS12 + P(1,10)*PS7 - P(1,11)*PS6 - P(1,12)*PS34 + P(1,3) + PS105 + PS24;
const float PS125 = P(0,0)*PS13 + P(0,10)*PS7 - P(0,11)*PS6 - P(0,12)*PS34 + P(0,3) + PS110 - PS81;
const float PS126 = P(0,12)*PS13 + P(1,12)*PS12 - P(12,12)*PS34 - P(2,12)*PS11 + P(3,12) - PS107 + PS84;
const float PS127 = P(0,11)*PS13 + P(1,11)*PS12 - P(11,11)*PS6 - P(2,11)*PS11 + P(3,11) + PS102 + PS8;
const float PS128 = P(2,10)*PS7 - P(2,11)*PS6 - P(2,12)*PS34 - P(2,2)*PS11 + P(2,3) + PS21 + PS78;
const float PS129 = P(3,10)*PS7 - P(3,11)*PS6 - P(3,12)*PS34 + P(3,3) - PS112 + PS32 + PS91;
const float PS130 = P(0,13)*PS13 + P(1,13)*PS12 + P(10,13)*PS7 - P(11,13)*PS6 - P(12,13)*PS34 - P(2,13)*PS11 + P(3,13);
const float PS131 = P(0,15)*PS13 + P(1,15)*PS12 + P(10,15)*PS7 - P(11,15)*PS6 - P(12,15)*PS34 - P(2,15)*PS11 + P(3,15);
const float PS132 = 2*PS131;
const float PS133 = P(0,14)*PS13 + P(1,14)*PS12 + P(10,14)*PS7 - P(11,14)*PS6 - P(12,14)*PS34 - P(2,14)*PS11 + P(3,14);
const float PS134 = 2*PS133;
const float PS135 = P(0,4)*PS13 + P(1,4)*PS12 - P(2,4)*PS11 + P(3,4) + P(4,10)*PS7 - P(4,11)*PS6 - P(4,12)*PS34;
const float PS136 = 2*PS130;
const float PS137 = P(0,5)*PS13 + P(1,5)*PS12 - P(2,5)*PS11 + P(3,5) + P(5,10)*PS7 - P(5,11)*PS6 - P(5,12)*PS34;
const float PS138 = P(0,6)*PS13 + P(1,6)*PS12 - P(2,6)*PS11 + P(3,6) + P(6,10)*PS7 - P(6,11)*PS6 - P(6,12)*PS34;
const float PS139 = 2*PS46;
const float PS140 = 2*PS54;
const float PS141 = P(0,13)*PS72 + P(1,13)*PS62 - P(13,13)*PS44 + P(13,14)*PS140 - P(13,15)*PS139 + P(2,13)*PS60 - P(3,13)*PS74 + P(4,13);
const float PS142 = P(0,15)*PS72 + P(1,15)*PS62 - P(13,15)*PS44 + P(14,15)*PS140 - P(15,15)*PS139 + P(2,15)*PS60 - P(3,15)*PS74 + P(4,15);
const float PS143 = P(1,3)*PS62;
const float PS144 = P(0,3)*PS72;
const float PS145 = P(2,3)*PS60 - P(3,13)*PS44 + P(3,14)*PS140 - P(3,15)*PS139 - P(3,3)*PS74 + P(3,4) + PS143 + PS144;
const float PS146 = P(0,14)*PS72 + P(1,14)*PS62 - P(13,14)*PS44 + P(14,14)*PS140 - P(14,15)*PS139 + P(2,14)*PS60 - P(3,14)*PS74 + P(4,14);
const float PS147 = P(0,2)*PS60;
const float PS148 = P(0,3)*PS74;
const float PS149 = P(0,0)*PS72 + P(0,1)*PS62 - P(0,13)*PS44 + P(0,14)*PS140 - P(0,15)*PS139 + P(0,4) + PS147 - PS148;
const float PS150 = P(1,2)*PS62;
const float PS151 = P(0,2)*PS72;
const float PS152 = -P(2,13)*PS44 + P(2,14)*PS140 - P(2,15)*PS139 + P(2,2)*PS60 - P(2,3)*PS74 + P(2,4) + PS150 + PS151;
const float PS153 = P(1,2)*PS60;
const float PS154 = P(1,3)*PS74;
const float PS155 = P(0,1)*PS72 + P(1,1)*PS62 - P(1,13)*PS44 + P(1,14)*PS140 - P(1,15)*PS139 + P(1,4) + PS153 - PS154;
const float PS156 = 4*dvyVar;
const float PS157 = 4*dvzVar;
const float PS158 = P(0,4)*PS72 + P(1,4)*PS62 + P(2,4)*PS60 - P(3,4)*PS74 - P(4,13)*PS44 + P(4,14)*PS140 - P(4,15)*PS139 + P(4,4);
const float PS159 = 2*PS141;
const float PS160 = 2*PS68;
const float PS161 = PS65*dvyVar;
const float PS162 = 2*PS66;
const float PS163 = PS44*dvxVar;
const float PS164 = P(0,5)*PS72 + P(1,5)*PS62 + P(2,5)*PS60 - P(3,5)*PS74 + P(4,5) - P(5,13)*PS44 + P(5,14)*PS140 - P(5,15)*PS139;
const float PS165 = 2*PS71;
const float PS166 = 2*PS73;
const float PS167 = PS70*dvzVar;
const float PS168 = P(0,6)*PS72 + P(1,6)*PS62 + P(2,6)*PS60 - P(3,6)*PS74 + P(4,6) - P(6,13)*PS44 + P(6,14)*PS140 - P(6,15)*PS139;
const float PS169 = P(0,14)*PS74 - P(1,14)*PS60 - P(13,14)*PS162 - P(14,14)*PS65 + P(14,15)*PS160 + P(2,14)*PS62 + P(3,14)*PS72 + P(5,14);
const float PS170 = P(0,13)*PS74 - P(1,13)*PS60 - P(13,13)*PS162 - P(13,14)*PS65 + P(13,15)*PS160 + P(2,13)*PS62 + P(3,13)*PS72 + P(5,13);
const float PS171 = P(0,1)*PS74;
const float PS172 = -P(1,1)*PS60 - P(1,13)*PS162 - P(1,14)*PS65 + P(1,15)*PS160 + P(1,3)*PS72 + P(1,5) + PS150 + PS171;
const float PS173 = P(0,15)*PS74 - P(1,15)*PS60 - P(13,15)*PS162 - P(14,15)*PS65 + P(15,15)*PS160 + P(2,15)*PS62 + P(3,15)*PS72 + P(5,15);
const float PS174 = P(2,3)*PS62;
const float PS175 = -P(1,3)*PS60 - P(3,13)*PS162 - P(3,14)*PS65 + P(3,15)*PS160 + P(3,3)*PS72 + P(3,5) + PS148 + PS174;
const float PS176 = P(0,1)*PS60;
const float PS177 = P(0,0)*PS74 - P(0,13)*PS162 - P(0,14)*PS65 + P(0,15)*PS160 + P(0,2)*PS62 + P(0,5) + PS144 - PS176;
const float PS178 = P(2,3)*PS72;
const float PS179 = P(0,2)*PS74 - P(2,13)*PS162 - P(2,14)*PS65 + P(2,15)*PS160 + P(2,2)*PS62 + P(2,5) - PS153 + PS178;
const float PS180 = 4*dvxVar;
const float PS181 = P(0,5)*PS74 - P(1,5)*PS60 + P(2,5)*PS62 + P(3,5)*PS72 - P(5,13)*PS162 - P(5,14)*PS65 + P(5,15)*PS160 + P(5,5);
const float PS182 = P(0,6)*PS74 - P(1,6)*PS60 + P(2,6)*PS62 + P(3,6)*PS72 + P(5,6) - P(6,13)*PS162 - P(6,14)*PS65 + P(6,15)*PS160;
const float PS183 = P(0,15)*PS60 + P(1,15)*PS74 + P(13,15)*PS166 - P(14,15)*PS165 - P(15,15)*PS70 - P(2,15)*PS72 + P(3,15)*PS62 + P(6,15);
const float PS184 = P(0,14)*PS60 + P(1,14)*PS74 + P(13,14)*PS166 - P(14,14)*PS165 - P(14,15)*PS70 - P(2,14)*PS72 + P(3,14)*PS62 + P(6,14);
const float PS185 = P(0,13)*PS60 + P(1,13)*PS74 + P(13,13)*PS166 - P(13,14)*PS165 - P(13,15)*PS70 - P(2,13)*PS72 + P(3,13)*PS62 + P(6,13);
const float PS186 = P(0,6)*PS60 + P(1,6)*PS74 - P(2,6)*PS72 + P(3,6)*PS62 + P(6,13)*PS166 - P(6,14)*PS165 - P(6,15)*PS70 + P(6,6);
const float PS119 = 2*PS112;
const float PS120 = 2*PS100;
const float PS121 = 2*PS102;
const float PS122 = P(0,4)*PS11 + P(1,4) + P(2,4)*PS13 - P(3,4)*PS12 - P(4,10)*PS34 + P(4,11)*PS9 - P(4,12)*PS7;
const float PS123 = 2*PS113;
const float PS124 = P(0,5)*PS11 + P(1,5) + P(2,5)*PS13 - P(3,5)*PS12 - P(5,10)*PS34 + P(5,11)*PS9 - P(5,12)*PS7;
const float PS125 = P(0,6)*PS11 + P(1,6) + P(2,6)*PS13 - P(3,6)*PS12 - P(6,10)*PS34 + P(6,11)*PS9 - P(6,12)*PS7;
const float PS126 = -P(11,12)*PS34;
const float PS127 = P(0,12)*PS12 - P(1,12)*PS13 + P(12,12)*PS6 + P(2,12) + P(3,12)*PS11 - PS10 + PS126;
const float PS128 = P(2,3) - P(3,10)*PS9 - P(3,11)*PS34 + P(3,12)*PS6 + P(3,3)*PS11 + PS22 + PS99;
const float PS129 = P(0,1)*PS13;
const float PS130 = P(0,0)*PS12 - P(0,10)*PS9 - P(0,11)*PS34 + P(0,12)*PS6 + P(0,2) + PS108 - PS129;
const float PS131 = P(11,12)*PS6;
const float PS132 = P(0,11)*PS12 - P(1,11)*PS13 - P(11,11)*PS34 + P(2,11) + P(3,11)*PS11 - PS103 + PS131;
const float PS133 = P(0,10)*PS12 - P(1,10)*PS13 - P(10,10)*PS9 + P(2,10) + P(3,10)*PS11 + PS18 + PS96;
const float PS134 = P(0,1)*PS12;
const float PS135 = -P(1,1)*PS13 - P(1,10)*PS9 - P(1,11)*PS34 + P(1,12)*PS6 + P(1,2) + PS134 + PS27;
const float PS136 = P(2,3)*PS11;
const float PS137 = -P(2,10)*PS9 - P(2,11)*PS34 + P(2,12)*PS6 + P(2,2) - PS110 + PS136 + PS31;
const float PS138 = P(0,13)*PS12 - P(1,13)*PS13 - P(10,13)*PS9 - P(11,13)*PS34 + P(12,13)*PS6 + P(2,13) + P(3,13)*PS11;
const float PS139 = P(0,15)*PS12 - P(1,15)*PS13 - P(10,15)*PS9 - P(11,15)*PS34 + P(12,15)*PS6 + P(2,15) + P(3,15)*PS11;
const float PS140 = 2*PS139;
const float PS141 = 2*PS128;
const float PS142 = P(0,14)*PS12 - P(1,14)*PS13 - P(10,14)*PS9 - P(11,14)*PS34 + P(12,14)*PS6 + P(2,14) + P(3,14)*PS11;
const float PS143 = 2*PS142;
const float PS144 = 2*PS135;
const float PS145 = 2*PS130;
const float PS146 = 2*PS137;
const float PS147 = P(0,4)*PS12 - P(1,4)*PS13 + P(2,4) + P(3,4)*PS11 - P(4,10)*PS9 - P(4,11)*PS34 + P(4,12)*PS6;
const float PS148 = 2*PS138;
const float PS149 = P(0,5)*PS12 - P(1,5)*PS13 + P(2,5) + P(3,5)*PS11 - P(5,10)*PS9 - P(5,11)*PS34 + P(5,12)*PS6;
const float PS150 = P(0,6)*PS12 - P(1,6)*PS13 + P(2,6) + P(3,6)*PS11 - P(6,10)*PS9 - P(6,11)*PS34 + P(6,12)*PS6;
const float PS151 = P(0,10)*PS13 + P(1,10)*PS12 + P(10,10)*PS7 - P(2,10)*PS11 + P(3,10) + PS106 - PS15;
const float PS152 = P(1,1)*PS12 + P(1,10)*PS7 - P(1,11)*PS6 - P(1,12)*PS34 + P(1,3) + PS129 + PS24;
const float PS153 = P(0,0)*PS13 + P(0,10)*PS7 - P(0,11)*PS6 - P(0,12)*PS34 + P(0,3) - PS101 + PS134;
const float PS154 = P(0,12)*PS13 + P(1,12)*PS12 - P(12,12)*PS34 - P(2,12)*PS11 + P(3,12) + PS104 - PS131;
const float PS155 = P(0,11)*PS13 + P(1,11)*PS12 - P(11,11)*PS6 - P(2,11)*PS11 + P(3,11) + PS126 + PS8;
const float PS156 = P(2,10)*PS7 - P(2,11)*PS6 - P(2,12)*PS34 - P(2,2)*PS11 + P(2,3) + PS21 + PS98;
const float PS157 = P(3,10)*PS7 - P(3,11)*PS6 - P(3,12)*PS34 + P(3,3) + PS111 - PS136 + PS32;
const float PS158 = P(0,13)*PS13 + P(1,13)*PS12 + P(10,13)*PS7 - P(11,13)*PS6 - P(12,13)*PS34 - P(2,13)*PS11 + P(3,13);
const float PS159 = P(0,15)*PS13 + P(1,15)*PS12 + P(10,15)*PS7 - P(11,15)*PS6 - P(12,15)*PS34 - P(2,15)*PS11 + P(3,15);
const float PS160 = 2*PS159;
const float PS161 = 2*PS157;
const float PS162 = P(0,14)*PS13 + P(1,14)*PS12 + P(10,14)*PS7 - P(11,14)*PS6 - P(12,14)*PS34 - P(2,14)*PS11 + P(3,14);
const float PS163 = 2*PS162;
const float PS164 = 2*PS152;
const float PS165 = 2*PS153;
const float PS166 = 2*PS156;
const float PS167 = P(0,4)*PS13 + P(1,4)*PS12 - P(2,4)*PS11 + P(3,4) + P(4,10)*PS7 - P(4,11)*PS6 - P(4,12)*PS34;
const float PS168 = 2*PS158;
const float PS169 = P(0,5)*PS13 + P(1,5)*PS12 - P(2,5)*PS11 + P(3,5) + P(5,10)*PS7 - P(5,11)*PS6 - P(5,12)*PS34;
const float PS170 = P(0,6)*PS13 + P(1,6)*PS12 - P(2,6)*PS11 + P(3,6) + P(6,10)*PS7 - P(6,11)*PS6 - P(6,12)*PS34;
const float PS171 = 2*PS45;
const float PS172 = 2*PS56;
const float PS173 = 2*PS61;
const float PS174 = 2*PS66;
const float PS175 = 2*PS71;
const float PS176 = 2*PS54;
const float PS177 = P(0,13)*PS174 + P(1,13)*PS173 + P(13,13)*PS43 + P(13,14)*PS172 - P(13,15)*PS171 + P(2,13)*PS175 - P(3,13)*PS176 + P(4,13);
const float PS178 = P(0,15)*PS174 + P(1,15)*PS173 + P(13,15)*PS43 + P(14,15)*PS172 - P(15,15)*PS171 + P(2,15)*PS175 - P(3,15)*PS176 + P(4,15);
const float PS179 = P(0,3)*PS174 + P(1,3)*PS173 + P(2,3)*PS175 + P(3,13)*PS43 + P(3,14)*PS172 - P(3,15)*PS171 - P(3,3)*PS176 + P(3,4);
const float PS180 = P(0,14)*PS174 + P(1,14)*PS173 + P(13,14)*PS43 + P(14,14)*PS172 - P(14,15)*PS171 + P(2,14)*PS175 - P(3,14)*PS176 + P(4,14);
const float PS181 = P(0,1)*PS174 + P(1,1)*PS173 + P(1,13)*PS43 + P(1,14)*PS172 - P(1,15)*PS171 + P(1,2)*PS175 - P(1,3)*PS176 + P(1,4);
const float PS182 = P(0,0)*PS174 + P(0,1)*PS173 + P(0,13)*PS43 + P(0,14)*PS172 - P(0,15)*PS171 + P(0,2)*PS175 - P(0,3)*PS176 + P(0,4);
const float PS183 = P(0,2)*PS174 + P(1,2)*PS173 + P(2,13)*PS43 + P(2,14)*PS172 - P(2,15)*PS171 + P(2,2)*PS175 - P(2,3)*PS176 + P(2,4);
const float PS184 = 4*dvyVar;
const float PS185 = 4*dvzVar;
const float PS186 = P(0,4)*PS174 + P(1,4)*PS173 + P(2,4)*PS175 - P(3,4)*PS176 + P(4,13)*PS43 + P(4,14)*PS172 - P(4,15)*PS171 + P(4,4);
const float PS187 = 2*PS177;
const float PS188 = 2*PS182;
const float PS189 = 2*PS181;
const float PS190 = 2*PS81;
const float PS191 = 2*PS183;
const float PS192 = 2*PS179;
const float PS193 = 2*PS76;
const float PS194 = PS43*dvxVar;
const float PS195 = PS75*dvyVar;
const float PS196 = P(0,5)*PS174 + P(1,5)*PS173 + P(2,5)*PS175 - P(3,5)*PS176 + P(4,5) + P(5,13)*PS43 + P(5,14)*PS172 - P(5,15)*PS171;
const float PS197 = 2*PS88;
const float PS198 = PS87*dvzVar;
const float PS199 = 2*PS90;
const float PS200 = P(0,6)*PS174 + P(1,6)*PS173 + P(2,6)*PS175 - P(3,6)*PS176 + P(4,6) + P(6,13)*PS43 + P(6,14)*PS172 - P(6,15)*PS171;
const float PS201 = 2*PS83;
const float PS202 = 2*PS78;
const float PS203 = 2*PS85;
const float PS204 = 2*PS80;
const float PS205 = -P(0,14)*PS202 - P(1,14)*PS204 - P(13,14)*PS193 + P(14,14)*PS75 + P(14,15)*PS190 + P(2,14)*PS201 + P(3,14)*PS203 + P(5,14);
const float PS206 = -P(0,13)*PS202 - P(1,13)*PS204 - P(13,13)*PS193 + P(13,14)*PS75 + P(13,15)*PS190 + P(2,13)*PS201 + P(3,13)*PS203 + P(5,13);
const float PS207 = -P(0,0)*PS202 - P(0,1)*PS204 - P(0,13)*PS193 + P(0,14)*PS75 + P(0,15)*PS190 + P(0,2)*PS201 + P(0,3)*PS203 + P(0,5);
const float PS208 = -P(0,1)*PS202 - P(1,1)*PS204 - P(1,13)*PS193 + P(1,14)*PS75 + P(1,15)*PS190 + P(1,2)*PS201 + P(1,3)*PS203 + P(1,5);
const float PS209 = -P(0,15)*PS202 - P(1,15)*PS204 - P(13,15)*PS193 + P(14,15)*PS75 + P(15,15)*PS190 + P(2,15)*PS201 + P(3,15)*PS203 + P(5,15);
const float PS210 = -P(0,2)*PS202 - P(1,2)*PS204 - P(2,13)*PS193 + P(2,14)*PS75 + P(2,15)*PS190 + P(2,2)*PS201 + P(2,3)*PS203 + P(2,5);
const float PS211 = -P(0,3)*PS202 - P(1,3)*PS204 + P(2,3)*PS201 - P(3,13)*PS193 + P(3,14)*PS75 + P(3,15)*PS190 + P(3,3)*PS203 + P(3,5);
const float PS212 = 4*dvxVar;
const float PS213 = -P(0,5)*PS202 - P(1,5)*PS204 + P(2,5)*PS201 + P(3,5)*PS203 - P(5,13)*PS193 + P(5,14)*PS75 + P(5,15)*PS190 + P(5,5);
const float PS214 = 2*PS89;
const float PS215 = 2*PS91;
const float PS216 = 2*PS92;
const float PS217 = 2*PS93;
const float PS218 = -P(0,6)*PS202 - P(1,6)*PS204 + P(2,6)*PS201 + P(3,6)*PS203 + P(5,6) - P(6,13)*PS193 + P(6,14)*PS75 + P(6,15)*PS190;
const float PS219 = P(0,15)*PS216 + P(1,15)*PS217 + P(13,15)*PS199 - P(14,15)*PS197 + P(15,15)*PS87 - P(2,15)*PS214 + P(3,15)*PS215 + P(6,15);
const float PS220 = P(0,14)*PS216 + P(1,14)*PS217 + P(13,14)*PS199 - P(14,14)*PS197 + P(14,15)*PS87 - P(2,14)*PS214 + P(3,14)*PS215 + P(6,14);
const float PS221 = P(0,13)*PS216 + P(1,13)*PS217 + P(13,13)*PS199 - P(13,14)*PS197 + P(13,15)*PS87 - P(2,13)*PS214 + P(3,13)*PS215 + P(6,13);
const float PS222 = P(0,6)*PS216 + P(1,6)*PS217 - P(2,6)*PS214 + P(3,6)*PS215 + P(6,13)*PS199 - P(6,14)*PS197 + P(6,15)*PS87 + P(6,6);
nextP(0,0) = PS0*PS1 - PS11*PS23 - PS12*PS26 - PS13*PS29 + PS14*PS6 + PS17*PS7 + PS2*PS3 + PS20*PS9 + PS33 + PS4*PS5;
nextP(0,1) = -PS1*PS36 + PS11*PS33 - PS12*PS29 + PS13*PS26 - PS14*PS34 + PS17*PS9 - PS20*PS7 + PS23 + PS3*PS35 - PS35*PS5;
nextP(1,1) = PS1*PS42 + PS11*PS80 - PS12*PS89 + PS13*PS82 + PS2*PS5 + PS3*PS4 - PS34*PS85 - PS7*PS87 + PS77*PS9 + PS92;
nextP(1,1) = PS1*PS95 + PS100*PS11 + PS102*PS13 - PS105*PS34 - PS107*PS7 - PS109*PS12 + PS112 + PS2*PS5 + PS3*PS4 + PS9*PS97;
nextP(0,2) = -PS1*PS37 + PS11*PS29 + PS12*PS33 - PS13*PS23 - PS14*PS9 - PS17*PS34 + PS20*PS6 + PS26 - PS3*PS38 + PS37*PS5;
nextP(1,2) = PS1*PS40 + PS11*PS89 + PS12*PS80 - PS13*PS92 - PS3*PS40 - PS34*PS77 - PS39*PS5 + PS6*PS87 + PS82 - PS85*PS9;
nextP(2,2) = PS0*PS5 + PS1*PS4 + PS103*PS6 + PS104*PS11 + PS106*PS12 - PS108*PS34 - PS109*PS9 - PS111*PS13 + PS113 + PS3*PS42;
nextP(1,2) = PS1*PS40 + PS100*PS12 + PS102 - PS105*PS9 + PS107*PS6 + PS109*PS11 - PS112*PS13 - PS3*PS40 - PS34*PS97 - PS39*PS5;
nextP(2,2) = PS0*PS5 + PS1*PS4 + PS11*PS128 + PS12*PS130 + PS127*PS6 - PS13*PS135 - PS132*PS34 - PS133*PS9 + PS137 + PS3*PS95;
nextP(0,3) = PS1*PS39 - PS11*PS26 + PS12*PS23 + PS13*PS33 + PS14*PS7 - PS17*PS6 - PS20*PS34 + PS29 - PS3*PS39 - PS40*PS5;
nextP(1,3) = -PS1*PS38 - PS11*PS82 + PS12*PS92 + PS13*PS80 - PS3*PS37 - PS34*PS87 + PS38*PS5 - PS6*PS77 + PS7*PS85 + PS89;
nextP(2,3) = -PS1*PS35 - PS103*PS34 + PS104 + PS106*PS13 - PS108*PS6 + PS109*PS7 - PS11*PS113 + PS111*PS12 + PS3*PS36 - PS36*PS5;
nextP(3,3) = PS0*PS3 + PS1*PS2 - PS11*PS128 + PS12*PS124 + PS123*PS7 + PS125*PS13 - PS126*PS34 - PS127*PS6 + PS129 + PS42*PS5;
nextP(0,4) = PS23*PS62 + PS26*PS60 - PS44*PS45 - PS46*PS48 - PS52*PS53 + PS54*PS56 + PS57*PS58 + PS63;
nextP(1,4) = -PS44*PS93 - PS46*PS95 + PS54*PS97 + PS60*PS82 + PS62*PS92 + PS72*PS80 - PS74*PS89 + PS98;
nextP(2,4) = -PS104*PS74 + PS106*PS72 + PS111*PS62 + PS113*PS60 - PS114*PS44 - PS116*PS46 + PS118*PS54 + PS119;
nextP(3,4) = PS124*PS62 + PS125*PS72 + PS128*PS60 - PS129*PS74 - PS130*PS44 - PS132*PS46 + PS134*PS54 + PS135;
nextP(4,4) = -PS139*PS142 + PS140*PS146 - PS141*PS44 - PS145*PS74 + PS149*PS72 + PS152*PS60 + PS155*PS62 + PS156*powf(PS54, 2) + PS157*powf(PS46, 2) + PS158 + powf(PS44, 2)*dvxVar;
nextP(0,5) = -PS23*PS60 + PS26*PS62 + PS48*PS68 + PS52*PS58 + PS53*PS57 - PS55*PS65 - PS66*PS67 + PS69;
nextP(1,5) = PS100 - PS60*PS92 + PS62*PS82 - PS65*PS96 - PS66*PS99 + PS68*PS95 + PS72*PS89 + PS74*PS80;
nextP(2,5) = PS104*PS72 + PS106*PS74 - PS111*PS60 + PS113*PS62 + PS116*PS68 - PS117*PS65 - PS120*PS66 + PS121;
nextP(3,5) = -PS124*PS60 + PS125*PS74 + PS128*PS62 + PS129*PS72 + PS132*PS68 - PS133*PS65 - PS136*PS66 + PS137;
nextP(4,5) = -PS140*PS161 + PS142*PS160 + PS145*PS72 - PS146*PS65 + PS149*PS74 + PS152*PS62 - PS155*PS60 - PS157*PS46*PS68 - PS159*PS66 + PS162*PS163 + PS164;
nextP(5,5) = PS157*powf(PS68, 2) + PS160*PS173 - PS162*PS170 - PS169*PS65 - PS172*PS60 + PS175*PS72 + PS177*PS74 + PS179*PS62 + PS180*powf(PS66, 2) + PS181 + powf(PS65, 2)*dvyVar;
nextP(0,6) = PS23*PS74 - PS26*PS72 - PS47*PS70 + PS53*PS61 - PS56*PS71 + PS58*PS59 + PS67*PS73 + PS75;
nextP(1,6) = PS101 + PS60*PS80 + PS62*PS89 - PS70*PS94 - PS71*PS97 - PS72*PS82 + PS73*PS99 + PS74*PS92;
nextP(2,6) = PS104*PS62 + PS106*PS60 + PS111*PS74 - PS113*PS72 - PS115*PS70 - PS118*PS71 + PS120*PS73 + PS122;
nextP(3,6) = PS124*PS74 + PS125*PS60 - PS128*PS72 + PS129*PS62 - PS131*PS70 - PS134*PS71 + PS136*PS73 + PS138;
nextP(4,6) = PS139*PS167 - PS142*PS70 + PS145*PS62 - PS146*PS165 + PS149*PS60 - PS152*PS72 + PS155*PS74 - PS156*PS54*PS71 + PS159*PS73 - PS163*PS166 + PS168;
nextP(5,6) = -PS160*PS167 + PS161*PS165 - PS165*PS169 + PS166*PS170 + PS172*PS74 - PS173*PS70 + PS175*PS62 + PS177*PS60 - PS179*PS72 - PS180*PS66*PS73 + PS182;
nextP(6,6) = PS156*powf(PS71, 2) - PS165*PS184 + PS166*PS185 + PS180*powf(PS73, 2) - PS183*PS70 + PS186 + PS60*(P(0,0)*PS60 + P(0,13)*PS166 - P(0,14)*PS165 - P(0,15)*PS70 + P(0,3)*PS62 + P(0,6) - PS151 + PS171) + PS62*(P(0,3)*PS60 + P(3,13)*PS166 - P(3,14)*PS165 - P(3,15)*PS70 + P(3,3)*PS62 + P(3,6) + PS154 - PS178) + powf(PS70, 2)*dvzVar - PS72*(P(1,2)*PS74 + P(2,13)*PS166 - P(2,14)*PS165 - P(2,15)*PS70 - P(2,2)*PS72 + P(2,6) + PS147 + PS174) + PS74*(P(1,1)*PS74 + P(1,13)*PS166 - P(1,14)*PS165 - P(1,15)*PS70 - P(1,2)*PS72 + P(1,6) + PS143 + PS176);
nextP(0,7) = P(0,7) - P(1,7)*PS11 - P(2,7)*PS12 - P(3,7)*PS13 + P(7,10)*PS6 + P(7,11)*PS7 + P(7,12)*PS9 + PS63*dt;
nextP(1,7) = P(0,7)*PS11 + P(1,7) + P(2,7)*PS13 - P(3,7)*PS12 - P(7,10)*PS34 + P(7,11)*PS9 - P(7,12)*PS7 + PS98*dt;
nextP(2,7) = P(0,7)*PS12 - P(1,7)*PS13 + P(2,7) + P(3,7)*PS11 - P(7,10)*PS9 - P(7,11)*PS34 + P(7,12)*PS6 + PS119*dt;
nextP(3,7) = P(0,7)*PS13 + P(1,7)*PS12 - P(2,7)*PS11 + P(3,7) + P(7,10)*PS7 - P(7,11)*PS6 - P(7,12)*PS34 + PS135*dt;
nextP(4,7) = P(0,7)*PS72 + P(1,7)*PS62 + P(2,7)*PS60 - P(3,7)*PS74 + P(4,7) - P(7,13)*PS44 + P(7,14)*PS140 - P(7,15)*PS139 + PS158*dt;
nextP(5,7) = P(0,7)*PS74 - P(1,7)*PS60 + P(2,7)*PS62 + P(3,7)*PS72 + P(5,7) - P(7,13)*PS162 - P(7,14)*PS65 + P(7,15)*PS160 + dt*(P(0,4)*PS74 - P(1,4)*PS60 + P(2,4)*PS62 + P(3,4)*PS72 - P(4,13)*PS162 - P(4,14)*PS65 + P(4,15)*PS160 + P(4,5));
nextP(6,7) = P(0,7)*PS60 + P(1,7)*PS74 - P(2,7)*PS72 + P(3,7)*PS62 + P(6,7) + P(7,13)*PS166 - P(7,14)*PS165 - P(7,15)*PS70 + dt*(P(0,4)*PS60 + P(1,4)*PS74 - P(2,4)*PS72 + P(3,4)*PS62 + P(4,13)*PS166 - P(4,14)*PS165 - P(4,15)*PS70 + P(4,6));
nextP(1,3) = -PS1*PS38 + PS100*PS13 - PS102*PS11 + PS105*PS7 - PS107*PS34 + PS109 + PS112*PS12 - PS3*PS37 + PS38*PS5 - PS6*PS97;
nextP(2,3) = -PS1*PS35 - PS11*PS137 + PS12*PS135 - PS127*PS34 + PS128 + PS13*PS130 - PS132*PS6 + PS133*PS7 + PS3*PS36 - PS36*PS5;
nextP(3,3) = PS0*PS3 + PS1*PS2 - PS11*PS156 + PS12*PS152 + PS13*PS153 + PS151*PS7 - PS154*PS34 - PS155*PS6 + PS157 + PS5*PS95;
nextP(0,4) = PS43*PS44 - PS45*PS47 - PS54*PS55 + PS56*PS58 + PS61*PS62 + PS66*PS67 + PS71*PS72 + PS73;
nextP(1,4) = PS113*PS43 - PS115*PS45 - PS116*PS54 + PS118*PS56 + PS119*PS61 + PS120*PS66 + PS121*PS71 + PS122;
nextP(2,4) = PS138*PS43 - PS140*PS45 - PS141*PS54 + PS143*PS56 + PS144*PS61 + PS145*PS66 + PS146*PS71 + PS147;
nextP(3,4) = PS158*PS43 - PS160*PS45 - PS161*PS54 + PS163*PS56 + PS164*PS61 + PS165*PS66 + PS166*PS71 + PS167;
nextP(4,4) = -PS171*PS178 + PS172*PS180 + PS173*PS181 + PS174*PS182 + PS175*PS183 - PS176*PS179 + PS177*PS43 + PS184*powf(PS56, 2) + PS185*powf(PS45, 2) + PS186 + powf(PS43, 2)*dvxVar;
nextP(0,5) = PS47*PS81 + PS55*PS85 + PS57*PS75 - PS62*PS80 - PS67*PS78 + PS72*PS83 - PS76*PS77 + PS86;
nextP(1,5) = PS115*PS81 + PS116*PS85 + PS117*PS75 - PS119*PS80 - PS120*PS78 + PS121*PS83 - PS123*PS76 + PS124;
nextP(2,5) = PS140*PS81 + PS141*PS85 + PS142*PS75 - PS144*PS80 - PS145*PS78 + PS146*PS83 - PS148*PS76 + PS149;
nextP(3,5) = PS160*PS81 + PS161*PS85 + PS162*PS75 - PS164*PS80 - PS165*PS78 + PS166*PS83 - PS168*PS76 + PS169;
nextP(4,5) = PS172*PS195 + PS178*PS190 + PS180*PS75 - PS185*PS45*PS81 - PS187*PS76 - PS188*PS78 - PS189*PS80 + PS191*PS83 + PS192*PS85 - PS193*PS194 + PS196;
nextP(5,5) = PS185*powf(PS81, 2) + PS190*PS209 - PS193*PS206 + PS201*PS210 - PS202*PS207 + PS203*PS211 - PS204*PS208 + PS205*PS75 + PS212*powf(PS76, 2) + PS213 + powf(PS75, 2)*dvyVar;
nextP(0,6) = PS46*PS87 + PS55*PS91 - PS58*PS88 + PS62*PS93 + PS67*PS92 - PS72*PS89 + PS77*PS90 + PS94;
nextP(1,6) = PS114*PS87 + PS116*PS91 - PS118*PS88 + PS119*PS93 + PS120*PS92 - PS121*PS89 + PS123*PS90 + PS125;
nextP(2,6) = PS139*PS87 + PS141*PS91 - PS143*PS88 + PS144*PS93 + PS145*PS92 - PS146*PS89 + PS148*PS90 + PS150;
nextP(3,6) = PS159*PS87 + PS161*PS91 - PS163*PS88 + PS164*PS93 + PS165*PS92 - PS166*PS89 + PS168*PS90 + PS170;
nextP(4,6) = -PS171*PS198 + PS178*PS87 - PS180*PS197 - PS184*PS56*PS88 + PS187*PS90 + PS188*PS92 + PS189*PS93 - PS191*PS89 + PS192*PS91 + PS194*PS199 + PS200;
nextP(5,6) = PS190*PS198 - PS195*PS197 - PS197*PS205 + PS199*PS206 + PS207*PS216 + PS208*PS217 + PS209*PS87 - PS210*PS214 + PS211*PS215 - PS212*PS76*PS90 + PS218;
nextP(6,6) = PS184*powf(PS88, 2) - PS197*PS220 + PS199*PS221 + PS212*powf(PS90, 2) - PS214*(P(0,2)*PS216 + P(1,2)*PS217 + P(2,13)*PS199 - P(2,14)*PS197 + P(2,15)*PS87 - P(2,2)*PS214 + P(2,3)*PS215 + P(2,6)) + PS215*(P(0,3)*PS216 + P(1,3)*PS217 - P(2,3)*PS214 + P(3,13)*PS199 - P(3,14)*PS197 + P(3,15)*PS87 + P(3,3)*PS215 + P(3,6)) + PS216*(P(0,0)*PS216 + P(0,1)*PS217 + P(0,13)*PS199 - P(0,14)*PS197 + P(0,15)*PS87 - P(0,2)*PS214 + P(0,3)*PS215 + P(0,6)) + PS217*(P(0,1)*PS216 + P(1,1)*PS217 + P(1,13)*PS199 - P(1,14)*PS197 + P(1,15)*PS87 - P(1,2)*PS214 + P(1,3)*PS215 + P(1,6)) + PS219*PS87 + PS222 + powf(PS87, 2)*dvzVar;
nextP(0,7) = P(0,7) - P(1,7)*PS11 - P(2,7)*PS12 - P(3,7)*PS13 + P(7,10)*PS6 + P(7,11)*PS7 + P(7,12)*PS9 + PS73*dt;
nextP(1,7) = P(0,7)*PS11 + P(1,7) + P(2,7)*PS13 - P(3,7)*PS12 - P(7,10)*PS34 + P(7,11)*PS9 - P(7,12)*PS7 + PS122*dt;
nextP(2,7) = P(0,7)*PS12 - P(1,7)*PS13 + P(2,7) + P(3,7)*PS11 - P(7,10)*PS9 - P(7,11)*PS34 + P(7,12)*PS6 + PS147*dt;
nextP(3,7) = P(0,7)*PS13 + P(1,7)*PS12 - P(2,7)*PS11 + P(3,7) + P(7,10)*PS7 - P(7,11)*PS6 - P(7,12)*PS34 + PS167*dt;
nextP(4,7) = P(0,7)*PS174 + P(1,7)*PS173 + P(2,7)*PS175 - P(3,7)*PS176 + P(4,7) + P(7,13)*PS43 + P(7,14)*PS172 - P(7,15)*PS171 + PS186*dt;
nextP(5,7) = -P(0,7)*PS202 - P(1,7)*PS204 + P(2,7)*PS201 + P(3,7)*PS203 + P(5,7) - P(7,13)*PS193 + P(7,14)*PS75 + P(7,15)*PS190 + dt*(-P(0,4)*PS202 - P(1,4)*PS204 + P(2,4)*PS201 + P(3,4)*PS203 - P(4,13)*PS193 + P(4,14)*PS75 + P(4,15)*PS190 + P(4,5));
nextP(6,7) = P(0,7)*PS216 + P(1,7)*PS217 - P(2,7)*PS214 + P(3,7)*PS215 + P(6,7) + P(7,13)*PS199 - P(7,14)*PS197 + P(7,15)*PS87 + dt*(P(0,4)*PS216 + P(1,4)*PS217 - P(2,4)*PS214 + P(3,4)*PS215 + P(4,13)*PS199 - P(4,14)*PS197 + P(4,15)*PS87 + P(4,6));
nextP(7,7) = P(4,7)*dt + P(7,7) + dt*(P(4,4)*dt + P(4,7));
nextP(0,8) = P(0,8) - P(1,8)*PS11 - P(2,8)*PS12 - P(3,8)*PS13 + P(8,10)*PS6 + P(8,11)*PS7 + P(8,12)*PS9 + PS69*dt;
nextP(1,8) = P(0,8)*PS11 + P(1,8) + P(2,8)*PS13 - P(3,8)*PS12 - P(8,10)*PS34 + P(8,11)*PS9 - P(8,12)*PS7 + PS100*dt;
nextP(2,8) = P(0,8)*PS12 - P(1,8)*PS13 + P(2,8) + P(3,8)*PS11 - P(8,10)*PS9 - P(8,11)*PS34 + P(8,12)*PS6 + PS121*dt;
nextP(3,8) = P(0,8)*PS13 + P(1,8)*PS12 - P(2,8)*PS11 + P(3,8) + P(8,10)*PS7 - P(8,11)*PS6 - P(8,12)*PS34 + PS137*dt;
nextP(4,8) = P(0,8)*PS72 + P(1,8)*PS62 + P(2,8)*PS60 - P(3,8)*PS74 + P(4,8) - P(8,13)*PS44 + P(8,14)*PS140 - P(8,15)*PS139 + PS164*dt;
nextP(5,8) = P(0,8)*PS74 - P(1,8)*PS60 + P(2,8)*PS62 + P(3,8)*PS72 + P(5,8) - P(8,13)*PS162 - P(8,14)*PS65 + P(8,15)*PS160 + PS181*dt;
nextP(6,8) = P(0,8)*PS60 + P(1,8)*PS74 - P(2,8)*PS72 + P(3,8)*PS62 + P(6,8) + P(8,13)*PS166 - P(8,14)*PS165 - P(8,15)*PS70 + dt*(P(0,5)*PS60 + P(1,5)*PS74 - P(2,5)*PS72 + P(3,5)*PS62 + P(5,13)*PS166 - P(5,14)*PS165 - P(5,15)*PS70 + P(5,6));
nextP(0,8) = P(0,8) - P(1,8)*PS11 - P(2,8)*PS12 - P(3,8)*PS13 + P(8,10)*PS6 + P(8,11)*PS7 + P(8,12)*PS9 + PS86*dt;
nextP(1,8) = P(0,8)*PS11 + P(1,8) + P(2,8)*PS13 - P(3,8)*PS12 - P(8,10)*PS34 + P(8,11)*PS9 - P(8,12)*PS7 + PS124*dt;
nextP(2,8) = P(0,8)*PS12 - P(1,8)*PS13 + P(2,8) + P(3,8)*PS11 - P(8,10)*PS9 - P(8,11)*PS34 + P(8,12)*PS6 + PS149*dt;
nextP(3,8) = P(0,8)*PS13 + P(1,8)*PS12 - P(2,8)*PS11 + P(3,8) + P(8,10)*PS7 - P(8,11)*PS6 - P(8,12)*PS34 + PS169*dt;
nextP(4,8) = P(0,8)*PS174 + P(1,8)*PS173 + P(2,8)*PS175 - P(3,8)*PS176 + P(4,8) + P(8,13)*PS43 + P(8,14)*PS172 - P(8,15)*PS171 + PS196*dt;
nextP(5,8) = -P(0,8)*PS202 - P(1,8)*PS204 + P(2,8)*PS201 + P(3,8)*PS203 + P(5,8) - P(8,13)*PS193 + P(8,14)*PS75 + P(8,15)*PS190 + PS213*dt;
nextP(6,8) = P(0,8)*PS216 + P(1,8)*PS217 - P(2,8)*PS214 + P(3,8)*PS215 + P(6,8) + P(8,13)*PS199 - P(8,14)*PS197 + P(8,15)*PS87 + dt*(P(0,5)*PS216 + P(1,5)*PS217 - P(2,5)*PS214 + P(3,5)*PS215 + P(5,13)*PS199 - P(5,14)*PS197 + P(5,15)*PS87 + P(5,6));
nextP(7,8) = P(4,8)*dt + P(7,8) + dt*(P(4,5)*dt + P(5,7));
nextP(8,8) = P(5,8)*dt + P(8,8) + dt*(P(5,5)*dt + P(5,8));
nextP(0,9) = P(0,9) - P(1,9)*PS11 - P(2,9)*PS12 - P(3,9)*PS13 + P(9,10)*PS6 + P(9,11)*PS7 + P(9,12)*PS9 + PS75*dt;
nextP(1,9) = P(0,9)*PS11 + P(1,9) + P(2,9)*PS13 - P(3,9)*PS12 - P(9,10)*PS34 + P(9,11)*PS9 - P(9,12)*PS7 + PS101*dt;
nextP(2,9) = P(0,9)*PS12 - P(1,9)*PS13 + P(2,9) + P(3,9)*PS11 - P(9,10)*PS9 - P(9,11)*PS34 + P(9,12)*PS6 + PS122*dt;
nextP(3,9) = P(0,9)*PS13 + P(1,9)*PS12 - P(2,9)*PS11 + P(3,9) + P(9,10)*PS7 - P(9,11)*PS6 - P(9,12)*PS34 + PS138*dt;
nextP(4,9) = P(0,9)*PS72 + P(1,9)*PS62 + P(2,9)*PS60 - P(3,9)*PS74 + P(4,9) - P(9,13)*PS44 + P(9,14)*PS140 - P(9,15)*PS139 + PS168*dt;
nextP(5,9) = P(0,9)*PS74 - P(1,9)*PS60 + P(2,9)*PS62 + P(3,9)*PS72 + P(5,9) - P(9,13)*PS162 - P(9,14)*PS65 + P(9,15)*PS160 + PS182*dt;
nextP(6,9) = P(0,9)*PS60 + P(1,9)*PS74 - P(2,9)*PS72 + P(3,9)*PS62 + P(6,9) + P(9,13)*PS166 - P(9,14)*PS165 - P(9,15)*PS70 + PS186*dt;
nextP(0,9) = P(0,9) - P(1,9)*PS11 - P(2,9)*PS12 - P(3,9)*PS13 + P(9,10)*PS6 + P(9,11)*PS7 + P(9,12)*PS9 + PS94*dt;
nextP(1,9) = P(0,9)*PS11 + P(1,9) + P(2,9)*PS13 - P(3,9)*PS12 - P(9,10)*PS34 + P(9,11)*PS9 - P(9,12)*PS7 + PS125*dt;
nextP(2,9) = P(0,9)*PS12 - P(1,9)*PS13 + P(2,9) + P(3,9)*PS11 - P(9,10)*PS9 - P(9,11)*PS34 + P(9,12)*PS6 + PS150*dt;
nextP(3,9) = P(0,9)*PS13 + P(1,9)*PS12 - P(2,9)*PS11 + P(3,9) + P(9,10)*PS7 - P(9,11)*PS6 - P(9,12)*PS34 + PS170*dt;
nextP(4,9) = P(0,9)*PS174 + P(1,9)*PS173 + P(2,9)*PS175 - P(3,9)*PS176 + P(4,9) + P(9,13)*PS43 + P(9,14)*PS172 - P(9,15)*PS171 + PS200*dt;
nextP(5,9) = -P(0,9)*PS202 - P(1,9)*PS204 + P(2,9)*PS201 + P(3,9)*PS203 + P(5,9) - P(9,13)*PS193 + P(9,14)*PS75 + P(9,15)*PS190 + PS218*dt;
nextP(6,9) = P(0,9)*PS216 + P(1,9)*PS217 - P(2,9)*PS214 + P(3,9)*PS215 + P(6,9) + P(9,13)*PS199 - P(9,14)*PS197 + P(9,15)*PS87 + PS222*dt;
nextP(7,9) = P(4,9)*dt + P(7,9) + dt*(P(4,6)*dt + P(6,7));
nextP(8,9) = P(5,9)*dt + P(8,9) + dt*(P(5,6)*dt + P(6,8));
nextP(9,9) = P(6,9)*dt + P(9,9) + dt*(P(6,6)*dt + P(6,9));
nextP(0,10) = PS14;
nextP(1,10) = PS85;
nextP(2,10) = PS109;
nextP(3,10) = PS123;
nextP(4,10) = P(0,10)*PS72 + P(1,10)*PS62 - P(10,13)*PS44 + P(10,14)*PS140 - P(10,15)*PS139 + P(2,10)*PS60 - P(3,10)*PS74 + P(4,10);
nextP(5,10) = P(0,10)*PS74 - P(1,10)*PS60 - P(10,13)*PS162 - P(10,14)*PS65 + P(10,15)*PS160 + P(2,10)*PS62 + P(3,10)*PS72 + P(5,10);
nextP(6,10) = P(0,10)*PS60 + P(1,10)*PS74 + P(10,13)*PS166 - P(10,14)*PS165 - P(10,15)*PS70 - P(2,10)*PS72 + P(3,10)*PS62 + P(6,10);
nextP(1,10) = PS105;
nextP(2,10) = PS133;
nextP(3,10) = PS151;
nextP(4,10) = P(0,10)*PS174 + P(1,10)*PS173 + P(10,13)*PS43 + P(10,14)*PS172 - P(10,15)*PS171 + P(2,10)*PS175 - P(3,10)*PS176 + P(4,10);
nextP(5,10) = -P(0,10)*PS202 - P(1,10)*PS204 - P(10,13)*PS193 + P(10,14)*PS75 + P(10,15)*PS190 + P(2,10)*PS201 + P(3,10)*PS203 + P(5,10);
nextP(6,10) = P(0,10)*PS216 + P(1,10)*PS217 + P(10,13)*PS199 - P(10,14)*PS197 + P(10,15)*PS87 - P(2,10)*PS214 + P(3,10)*PS215 + P(6,10);
nextP(7,10) = P(4,10)*dt + P(7,10);
nextP(8,10) = P(5,10)*dt + P(8,10);
nextP(9,10) = P(6,10)*dt + P(9,10);
nextP(10,10) = P(10,10);
nextP(0,11) = PS17;
nextP(1,11) = PS77;
nextP(2,11) = PS108;
nextP(3,11) = PS127;
nextP(4,11) = P(0,11)*PS72 + P(1,11)*PS62 - P(11,13)*PS44 + P(11,14)*PS140 - P(11,15)*PS139 + P(2,11)*PS60 - P(3,11)*PS74 + P(4,11);
nextP(5,11) = P(0,11)*PS74 - P(1,11)*PS60 - P(11,13)*PS162 - P(11,14)*PS65 + P(11,15)*PS160 + P(2,11)*PS62 + P(3,11)*PS72 + P(5,11);
nextP(6,11) = P(0,11)*PS60 + P(1,11)*PS74 + P(11,13)*PS166 - P(11,14)*PS165 - P(11,15)*PS70 - P(2,11)*PS72 + P(3,11)*PS62 + P(6,11);
nextP(1,11) = PS97;
nextP(2,11) = PS132;
nextP(3,11) = PS155;
nextP(4,11) = P(0,11)*PS174 + P(1,11)*PS173 + P(11,13)*PS43 + P(11,14)*PS172 - P(11,15)*PS171 + P(2,11)*PS175 - P(3,11)*PS176 + P(4,11);
nextP(5,11) = -P(0,11)*PS202 - P(1,11)*PS204 - P(11,13)*PS193 + P(11,14)*PS75 + P(11,15)*PS190 + P(2,11)*PS201 + P(3,11)*PS203 + P(5,11);
nextP(6,11) = P(0,11)*PS216 + P(1,11)*PS217 + P(11,13)*PS199 - P(11,14)*PS197 + P(11,15)*PS87 - P(2,11)*PS214 + P(3,11)*PS215 + P(6,11);
nextP(7,11) = P(4,11)*dt + P(7,11);
nextP(8,11) = P(5,11)*dt + P(8,11);
nextP(9,11) = P(6,11)*dt + P(9,11);
nextP(10,11) = P(10,11);
nextP(11,11) = P(11,11);
nextP(0,12) = PS20;
nextP(1,12) = PS87;
nextP(2,12) = PS103;
nextP(3,12) = PS126;
nextP(4,12) = P(0,12)*PS72 + P(1,12)*PS62 - P(12,13)*PS44 + P(12,14)*PS140 - P(12,15)*PS139 + P(2,12)*PS60 - P(3,12)*PS74 + P(4,12);
nextP(5,12) = P(0,12)*PS74 - P(1,12)*PS60 - P(12,13)*PS162 - P(12,14)*PS65 + P(12,15)*PS160 + P(2,12)*PS62 + P(3,12)*PS72 + P(5,12);
nextP(6,12) = P(0,12)*PS60 + P(1,12)*PS74 + P(12,13)*PS166 - P(12,14)*PS165 - P(12,15)*PS70 - P(2,12)*PS72 + P(3,12)*PS62 + P(6,12);
nextP(1,12) = PS107;
nextP(2,12) = PS127;
nextP(3,12) = PS154;
nextP(4,12) = P(0,12)*PS174 + P(1,12)*PS173 + P(12,13)*PS43 + P(12,14)*PS172 - P(12,15)*PS171 + P(2,12)*PS175 - P(3,12)*PS176 + P(4,12);
nextP(5,12) = -P(0,12)*PS202 - P(1,12)*PS204 - P(12,13)*PS193 + P(12,14)*PS75 + P(12,15)*PS190 + P(2,12)*PS201 + P(3,12)*PS203 + P(5,12);
nextP(6,12) = P(0,12)*PS216 + P(1,12)*PS217 + P(12,13)*PS199 - P(12,14)*PS197 + P(12,15)*PS87 - P(2,12)*PS214 + P(3,12)*PS215 + P(6,12);
nextP(7,12) = P(4,12)*dt + P(7,12);
nextP(8,12) = P(5,12)*dt + P(8,12);
nextP(9,12) = P(6,12)*dt + P(9,12);
nextP(10,12) = P(10,12);
nextP(11,12) = P(11,12);
nextP(12,12) = P(12,12);
nextP(0,13) = PS45;
nextP(1,13) = PS93;
nextP(2,13) = PS114;
nextP(3,13) = PS130;
nextP(4,13) = PS141;
nextP(5,13) = PS170;
nextP(6,13) = PS185;
nextP(0,13) = PS44;
nextP(1,13) = PS113;
nextP(2,13) = PS138;
nextP(3,13) = PS158;
nextP(4,13) = PS177;
nextP(5,13) = PS206;
nextP(6,13) = PS221;
nextP(7,13) = P(4,13)*dt + P(7,13);
nextP(8,13) = P(5,13)*dt + P(8,13);
nextP(9,13) = P(6,13)*dt + P(9,13);
@@ -293,13 +329,13 @@ nextP(10,13) = P(10,13);
nextP(11,13) = P(11,13);
nextP(12,13) = P(12,13);
nextP(13,13) = P(13,13);
nextP(0,14) = PS55;
nextP(1,14) = PS96;
nextP(2,14) = PS117;
nextP(3,14) = PS133;
nextP(4,14) = PS146;
nextP(5,14) = PS169;
nextP(6,14) = PS184;
nextP(0,14) = PS57;
nextP(1,14) = PS117;
nextP(2,14) = PS142;
nextP(3,14) = PS162;
nextP(4,14) = PS180;
nextP(5,14) = PS205;
nextP(6,14) = PS220;
nextP(7,14) = P(4,14)*dt + P(7,14);
nextP(8,14) = P(5,14)*dt + P(8,14);
nextP(9,14) = P(6,14)*dt + P(9,14);
@@ -308,13 +344,13 @@ nextP(11,14) = P(11,14);
nextP(12,14) = P(12,14);
nextP(13,14) = P(13,14);
nextP(14,14) = P(14,14);
nextP(0,15) = PS47;
nextP(1,15) = PS94;
nextP(2,15) = PS115;
nextP(3,15) = PS131;
nextP(4,15) = PS142;
nextP(5,15) = PS173;
nextP(6,15) = PS183;
nextP(0,15) = PS46;
nextP(1,15) = PS114;
nextP(2,15) = PS139;
nextP(3,15) = PS159;
nextP(4,15) = PS178;
nextP(5,15) = PS209;
nextP(6,15) = PS219;
nextP(7,15) = P(4,15)*dt + P(7,15);
nextP(8,15) = P(5,15)*dt + P(8,15);
nextP(9,15) = P(6,15)*dt + P(9,15);
@@ -328,9 +364,9 @@ nextP(0,16) = P(0,16) - P(1,16)*PS11 + P(10,16)*PS6 + P(11,16)*PS7 + P(12,16)*PS
nextP(1,16) = P(0,16)*PS11 + P(1,16) - P(10,16)*PS34 + P(11,16)*PS9 - P(12,16)*PS7 + P(2,16)*PS13 - P(3,16)*PS12;
nextP(2,16) = P(0,16)*PS12 - P(1,16)*PS13 - P(10,16)*PS9 - P(11,16)*PS34 + P(12,16)*PS6 + P(2,16) + P(3,16)*PS11;
nextP(3,16) = P(0,16)*PS13 + P(1,16)*PS12 + P(10,16)*PS7 - P(11,16)*PS6 - P(12,16)*PS34 - P(2,16)*PS11 + P(3,16);
nextP(4,16) = P(0,16)*PS72 + P(1,16)*PS62 - P(13,16)*PS44 + P(14,16)*PS140 - P(15,16)*PS139 + P(2,16)*PS60 - P(3,16)*PS74 + P(4,16);
nextP(5,16) = P(0,16)*PS74 - P(1,16)*PS60 - P(13,16)*PS162 - P(14,16)*PS65 + P(15,16)*PS160 + P(2,16)*PS62 + P(3,16)*PS72 + P(5,16);
nextP(6,16) = P(0,16)*PS60 + P(1,16)*PS74 + P(13,16)*PS166 - P(14,16)*PS165 - P(15,16)*PS70 - P(2,16)*PS72 + P(3,16)*PS62 + P(6,16);
nextP(4,16) = P(0,16)*PS174 + P(1,16)*PS173 + P(13,16)*PS43 + P(14,16)*PS172 - P(15,16)*PS171 + P(2,16)*PS175 - P(3,16)*PS176 + P(4,16);
nextP(5,16) = -P(0,16)*PS202 - P(1,16)*PS204 - P(13,16)*PS193 + P(14,16)*PS75 + P(15,16)*PS190 + P(2,16)*PS201 + P(3,16)*PS203 + P(5,16);
nextP(6,16) = P(0,16)*PS216 + P(1,16)*PS217 + P(13,16)*PS199 - P(14,16)*PS197 + P(15,16)*PS87 - P(2,16)*PS214 + P(3,16)*PS215 + P(6,16);
nextP(7,16) = P(4,16)*dt + P(7,16);
nextP(8,16) = P(5,16)*dt + P(8,16);
nextP(9,16) = P(6,16)*dt + P(9,16);
@@ -345,9 +381,9 @@ nextP(0,17) = P(0,17) - P(1,17)*PS11 + P(10,17)*PS6 + P(11,17)*PS7 + P(12,17)*PS
nextP(1,17) = P(0,17)*PS11 + P(1,17) - P(10,17)*PS34 + P(11,17)*PS9 - P(12,17)*PS7 + P(2,17)*PS13 - P(3,17)*PS12;
nextP(2,17) = P(0,17)*PS12 - P(1,17)*PS13 - P(10,17)*PS9 - P(11,17)*PS34 + P(12,17)*PS6 + P(2,17) + P(3,17)*PS11;
nextP(3,17) = P(0,17)*PS13 + P(1,17)*PS12 + P(10,17)*PS7 - P(11,17)*PS6 - P(12,17)*PS34 - P(2,17)*PS11 + P(3,17);
nextP(4,17) = P(0,17)*PS72 + P(1,17)*PS62 - P(13,17)*PS44 + P(14,17)*PS140 - P(15,17)*PS139 + P(2,17)*PS60 - P(3,17)*PS74 + P(4,17);
nextP(5,17) = P(0,17)*PS74 - P(1,17)*PS60 - P(13,17)*PS162 - P(14,17)*PS65 + P(15,17)*PS160 + P(2,17)*PS62 + P(3,17)*PS72 + P(5,17);
nextP(6,17) = P(0,17)*PS60 + P(1,17)*PS74 + P(13,17)*PS166 - P(14,17)*PS165 - P(15,17)*PS70 - P(2,17)*PS72 + P(3,17)*PS62 + P(6,17);
nextP(4,17) = P(0,17)*PS174 + P(1,17)*PS173 + P(13,17)*PS43 + P(14,17)*PS172 - P(15,17)*PS171 + P(2,17)*PS175 - P(3,17)*PS176 + P(4,17);
nextP(5,17) = -P(0,17)*PS202 - P(1,17)*PS204 - P(13,17)*PS193 + P(14,17)*PS75 + P(15,17)*PS190 + P(2,17)*PS201 + P(3,17)*PS203 + P(5,17);
nextP(6,17) = P(0,17)*PS216 + P(1,17)*PS217 + P(13,17)*PS199 - P(14,17)*PS197 + P(15,17)*PS87 - P(2,17)*PS214 + P(3,17)*PS215 + P(6,17);
nextP(7,17) = P(4,17)*dt + P(7,17);
nextP(8,17) = P(5,17)*dt + P(8,17);
nextP(9,17) = P(6,17)*dt + P(9,17);
@@ -363,9 +399,9 @@ nextP(0,18) = P(0,18) - P(1,18)*PS11 + P(10,18)*PS6 + P(11,18)*PS7 + P(12,18)*PS
nextP(1,18) = P(0,18)*PS11 + P(1,18) - P(10,18)*PS34 + P(11,18)*PS9 - P(12,18)*PS7 + P(2,18)*PS13 - P(3,18)*PS12;
nextP(2,18) = P(0,18)*PS12 - P(1,18)*PS13 - P(10,18)*PS9 - P(11,18)*PS34 + P(12,18)*PS6 + P(2,18) + P(3,18)*PS11;
nextP(3,18) = P(0,18)*PS13 + P(1,18)*PS12 + P(10,18)*PS7 - P(11,18)*PS6 - P(12,18)*PS34 - P(2,18)*PS11 + P(3,18);
nextP(4,18) = P(0,18)*PS72 + P(1,18)*PS62 - P(13,18)*PS44 + P(14,18)*PS140 - P(15,18)*PS139 + P(2,18)*PS60 - P(3,18)*PS74 + P(4,18);
nextP(5,18) = P(0,18)*PS74 - P(1,18)*PS60 - P(13,18)*PS162 - P(14,18)*PS65 + P(15,18)*PS160 + P(2,18)*PS62 + P(3,18)*PS72 + P(5,18);
nextP(6,18) = P(0,18)*PS60 + P(1,18)*PS74 + P(13,18)*PS166 - P(14,18)*PS165 - P(15,18)*PS70 - P(2,18)*PS72 + P(3,18)*PS62 + P(6,18);
nextP(4,18) = P(0,18)*PS174 + P(1,18)*PS173 + P(13,18)*PS43 + P(14,18)*PS172 - P(15,18)*PS171 + P(2,18)*PS175 - P(3,18)*PS176 + P(4,18);
nextP(5,18) = -P(0,18)*PS202 - P(1,18)*PS204 - P(13,18)*PS193 + P(14,18)*PS75 + P(15,18)*PS190 + P(2,18)*PS201 + P(3,18)*PS203 + P(5,18);
nextP(6,18) = P(0,18)*PS216 + P(1,18)*PS217 + P(13,18)*PS199 - P(14,18)*PS197 + P(15,18)*PS87 - P(2,18)*PS214 + P(3,18)*PS215 + P(6,18);
nextP(7,18) = P(4,18)*dt + P(7,18);
nextP(8,18) = P(5,18)*dt + P(8,18);
nextP(9,18) = P(6,18)*dt + P(9,18);
@@ -382,9 +418,9 @@ nextP(0,19) = P(0,19) - P(1,19)*PS11 + P(10,19)*PS6 + P(11,19)*PS7 + P(12,19)*PS
nextP(1,19) = P(0,19)*PS11 + P(1,19) - P(10,19)*PS34 + P(11,19)*PS9 - P(12,19)*PS7 + P(2,19)*PS13 - P(3,19)*PS12;
nextP(2,19) = P(0,19)*PS12 - P(1,19)*PS13 - P(10,19)*PS9 - P(11,19)*PS34 + P(12,19)*PS6 + P(2,19) + P(3,19)*PS11;
nextP(3,19) = P(0,19)*PS13 + P(1,19)*PS12 + P(10,19)*PS7 - P(11,19)*PS6 - P(12,19)*PS34 - P(2,19)*PS11 + P(3,19);
nextP(4,19) = P(0,19)*PS72 + P(1,19)*PS62 - P(13,19)*PS44 + P(14,19)*PS140 - P(15,19)*PS139 + P(2,19)*PS60 - P(3,19)*PS74 + P(4,19);
nextP(5,19) = P(0,19)*PS74 - P(1,19)*PS60 - P(13,19)*PS162 - P(14,19)*PS65 + P(15,19)*PS160 + P(2,19)*PS62 + P(3,19)*PS72 + P(5,19);
nextP(6,19) = P(0,19)*PS60 + P(1,19)*PS74 + P(13,19)*PS166 - P(14,19)*PS165 - P(15,19)*PS70 - P(2,19)*PS72 + P(3,19)*PS62 + P(6,19);
nextP(4,19) = P(0,19)*PS174 + P(1,19)*PS173 + P(13,19)*PS43 + P(14,19)*PS172 - P(15,19)*PS171 + P(2,19)*PS175 - P(3,19)*PS176 + P(4,19);
nextP(5,19) = -P(0,19)*PS202 - P(1,19)*PS204 - P(13,19)*PS193 + P(14,19)*PS75 + P(15,19)*PS190 + P(2,19)*PS201 + P(3,19)*PS203 + P(5,19);
nextP(6,19) = P(0,19)*PS216 + P(1,19)*PS217 + P(13,19)*PS199 - P(14,19)*PS197 + P(15,19)*PS87 - P(2,19)*PS214 + P(3,19)*PS215 + P(6,19);
nextP(7,19) = P(4,19)*dt + P(7,19);
nextP(8,19) = P(5,19)*dt + P(8,19);
nextP(9,19) = P(6,19)*dt + P(9,19);
@@ -402,9 +438,9 @@ nextP(0,20) = P(0,20) - P(1,20)*PS11 + P(10,20)*PS6 + P(11,20)*PS7 + P(12,20)*PS
nextP(1,20) = P(0,20)*PS11 + P(1,20) - P(10,20)*PS34 + P(11,20)*PS9 - P(12,20)*PS7 + P(2,20)*PS13 - P(3,20)*PS12;
nextP(2,20) = P(0,20)*PS12 - P(1,20)*PS13 - P(10,20)*PS9 - P(11,20)*PS34 + P(12,20)*PS6 + P(2,20) + P(3,20)*PS11;
nextP(3,20) = P(0,20)*PS13 + P(1,20)*PS12 + P(10,20)*PS7 - P(11,20)*PS6 - P(12,20)*PS34 - P(2,20)*PS11 + P(3,20);
nextP(4,20) = P(0,20)*PS72 + P(1,20)*PS62 - P(13,20)*PS44 + P(14,20)*PS140 - P(15,20)*PS139 + P(2,20)*PS60 - P(3,20)*PS74 + P(4,20);
nextP(5,20) = P(0,20)*PS74 - P(1,20)*PS60 - P(13,20)*PS162 - P(14,20)*PS65 + P(15,20)*PS160 + P(2,20)*PS62 + P(3,20)*PS72 + P(5,20);
nextP(6,20) = P(0,20)*PS60 + P(1,20)*PS74 + P(13,20)*PS166 - P(14,20)*PS165 - P(15,20)*PS70 - P(2,20)*PS72 + P(3,20)*PS62 + P(6,20);
nextP(4,20) = P(0,20)*PS174 + P(1,20)*PS173 + P(13,20)*PS43 + P(14,20)*PS172 - P(15,20)*PS171 + P(2,20)*PS175 - P(3,20)*PS176 + P(4,20);
nextP(5,20) = -P(0,20)*PS202 - P(1,20)*PS204 - P(13,20)*PS193 + P(14,20)*PS75 + P(15,20)*PS190 + P(2,20)*PS201 + P(3,20)*PS203 + P(5,20);
nextP(6,20) = P(0,20)*PS216 + P(1,20)*PS217 + P(13,20)*PS199 - P(14,20)*PS197 + P(15,20)*PS87 - P(2,20)*PS214 + P(3,20)*PS215 + P(6,20);
nextP(7,20) = P(4,20)*dt + P(7,20);
nextP(8,20) = P(5,20)*dt + P(8,20);
nextP(9,20) = P(6,20)*dt + P(9,20);
@@ -423,9 +459,9 @@ nextP(0,21) = P(0,21) - P(1,21)*PS11 + P(10,21)*PS6 + P(11,21)*PS7 + P(12,21)*PS
nextP(1,21) = P(0,21)*PS11 + P(1,21) - P(10,21)*PS34 + P(11,21)*PS9 - P(12,21)*PS7 + P(2,21)*PS13 - P(3,21)*PS12;
nextP(2,21) = P(0,21)*PS12 - P(1,21)*PS13 - P(10,21)*PS9 - P(11,21)*PS34 + P(12,21)*PS6 + P(2,21) + P(3,21)*PS11;
nextP(3,21) = P(0,21)*PS13 + P(1,21)*PS12 + P(10,21)*PS7 - P(11,21)*PS6 - P(12,21)*PS34 - P(2,21)*PS11 + P(3,21);
nextP(4,21) = P(0,21)*PS72 + P(1,21)*PS62 - P(13,21)*PS44 + P(14,21)*PS140 - P(15,21)*PS139 + P(2,21)*PS60 - P(3,21)*PS74 + P(4,21);
nextP(5,21) = P(0,21)*PS74 - P(1,21)*PS60 - P(13,21)*PS162 - P(14,21)*PS65 + P(15,21)*PS160 + P(2,21)*PS62 + P(3,21)*PS72 + P(5,21);
nextP(6,21) = P(0,21)*PS60 + P(1,21)*PS74 + P(13,21)*PS166 - P(14,21)*PS165 - P(15,21)*PS70 - P(2,21)*PS72 + P(3,21)*PS62 + P(6,21);
nextP(4,21) = P(0,21)*PS174 + P(1,21)*PS173 + P(13,21)*PS43 + P(14,21)*PS172 - P(15,21)*PS171 + P(2,21)*PS175 - P(3,21)*PS176 + P(4,21);
nextP(5,21) = -P(0,21)*PS202 - P(1,21)*PS204 - P(13,21)*PS193 + P(14,21)*PS75 + P(15,21)*PS190 + P(2,21)*PS201 + P(3,21)*PS203 + P(5,21);
nextP(6,21) = P(0,21)*PS216 + P(1,21)*PS217 + P(13,21)*PS199 - P(14,21)*PS197 + P(15,21)*PS87 - P(2,21)*PS214 + P(3,21)*PS215 + P(6,21);
nextP(7,21) = P(4,21)*dt + P(7,21);
nextP(8,21) = P(5,21)*dt + P(8,21);
nextP(9,21) = P(6,21)*dt + P(9,21);
@@ -445,9 +481,9 @@ nextP(0,22) = P(0,22) - P(1,22)*PS11 + P(10,22)*PS6 + P(11,22)*PS7 + P(12,22)*PS
nextP(1,22) = P(0,22)*PS11 + P(1,22) - P(10,22)*PS34 + P(11,22)*PS9 - P(12,22)*PS7 + P(2,22)*PS13 - P(3,22)*PS12;
nextP(2,22) = P(0,22)*PS12 - P(1,22)*PS13 - P(10,22)*PS9 - P(11,22)*PS34 + P(12,22)*PS6 + P(2,22) + P(3,22)*PS11;
nextP(3,22) = P(0,22)*PS13 + P(1,22)*PS12 + P(10,22)*PS7 - P(11,22)*PS6 - P(12,22)*PS34 - P(2,22)*PS11 + P(3,22);
nextP(4,22) = P(0,22)*PS72 + P(1,22)*PS62 - P(13,22)*PS44 + P(14,22)*PS140 - P(15,22)*PS139 + P(2,22)*PS60 - P(3,22)*PS74 + P(4,22);
nextP(5,22) = P(0,22)*PS74 - P(1,22)*PS60 - P(13,22)*PS162 - P(14,22)*PS65 + P(15,22)*PS160 + P(2,22)*PS62 + P(3,22)*PS72 + P(5,22);
nextP(6,22) = P(0,22)*PS60 + P(1,22)*PS74 + P(13,22)*PS166 - P(14,22)*PS165 - P(15,22)*PS70 - P(2,22)*PS72 + P(3,22)*PS62 + P(6,22);
nextP(4,22) = P(0,22)*PS174 + P(1,22)*PS173 + P(13,22)*PS43 + P(14,22)*PS172 - P(15,22)*PS171 + P(2,22)*PS175 - P(3,22)*PS176 + P(4,22);
nextP(5,22) = -P(0,22)*PS202 - P(1,22)*PS204 - P(13,22)*PS193 + P(14,22)*PS75 + P(15,22)*PS190 + P(2,22)*PS201 + P(3,22)*PS203 + P(5,22);
nextP(6,22) = P(0,22)*PS216 + P(1,22)*PS217 + P(13,22)*PS199 - P(14,22)*PS197 + P(15,22)*PS87 - P(2,22)*PS214 + P(3,22)*PS215 + P(6,22);
nextP(7,22) = P(4,22)*dt + P(7,22);
nextP(8,22) = P(5,22)*dt + P(8,22);
nextP(9,22) = P(6,22)*dt + P(9,22);
@@ -468,9 +504,9 @@ nextP(0,23) = P(0,23) - P(1,23)*PS11 + P(10,23)*PS6 + P(11,23)*PS7 + P(12,23)*PS
nextP(1,23) = P(0,23)*PS11 + P(1,23) - P(10,23)*PS34 + P(11,23)*PS9 - P(12,23)*PS7 + P(2,23)*PS13 - P(3,23)*PS12;
nextP(2,23) = P(0,23)*PS12 - P(1,23)*PS13 - P(10,23)*PS9 - P(11,23)*PS34 + P(12,23)*PS6 + P(2,23) + P(3,23)*PS11;
nextP(3,23) = P(0,23)*PS13 + P(1,23)*PS12 + P(10,23)*PS7 - P(11,23)*PS6 - P(12,23)*PS34 - P(2,23)*PS11 + P(3,23);
nextP(4,23) = P(0,23)*PS72 + P(1,23)*PS62 - P(13,23)*PS44 + P(14,23)*PS140 - P(15,23)*PS139 + P(2,23)*PS60 - P(3,23)*PS74 + P(4,23);
nextP(5,23) = P(0,23)*PS74 - P(1,23)*PS60 - P(13,23)*PS162 - P(14,23)*PS65 + P(15,23)*PS160 + P(2,23)*PS62 + P(3,23)*PS72 + P(5,23);
nextP(6,23) = P(0,23)*PS60 + P(1,23)*PS74 + P(13,23)*PS166 - P(14,23)*PS165 - P(15,23)*PS70 - P(2,23)*PS72 + P(3,23)*PS62 + P(6,23);
nextP(4,23) = P(0,23)*PS174 + P(1,23)*PS173 + P(13,23)*PS43 + P(14,23)*PS172 - P(15,23)*PS171 + P(2,23)*PS175 - P(3,23)*PS176 + P(4,23);
nextP(5,23) = -P(0,23)*PS202 - P(1,23)*PS204 - P(13,23)*PS193 + P(14,23)*PS75 + P(15,23)*PS190 + P(2,23)*PS201 + P(3,23)*PS203 + P(5,23);
nextP(6,23) = P(0,23)*PS216 + P(1,23)*PS217 + P(13,23)*PS199 - P(14,23)*PS197 + P(15,23)*PS87 - P(2,23)*PS214 + P(3,23)*PS215 + P(6,23);
nextP(7,23) = P(4,23)*dt + P(7,23);
nextP(8,23) = P(5,23)*dt + P(8,23);
nextP(9,23) = P(6,23)*dt + P(9,23);
EKF/python/ekf_derivation/generated/flow_generated.cpp
+175 -164
View File
@@ -1,57 +1,62 @@
// X Axis Equations
// Sub Expressions
const float HK0 = -Tbs(1,0)*q2 + Tbs(1,1)*q1 + Tbs(1,2)*q0;
const float HK1 = Tbs(1,0)*q3 + Tbs(1,1)*q0 - Tbs(1,2)*q1;
const float HK2 = Tbs(1,0)*q0 - Tbs(1,1)*q3 + Tbs(1,2)*q2;
const float HK3 = HK0*vd + HK1*ve + HK2*vn;
const float HK4 = 1.0F/range;
const float HK5 = 2*HK4;
const float HK6 = Tbs(1,0)*q1 + Tbs(1,1)*q2 + Tbs(1,2)*q3;
const float HK7 = -HK0*ve + HK1*vd + HK6*vn;
const float HK8 = HK0*vn - HK2*vd + HK6*ve;
const float HK9 = -HK1*vn + HK2*ve + HK6*vd;
const float HK10 = q0*q2;
const float HK11 = q1*q3;
const float HK12 = 2*Tbs(1,2);
const float HK13 = q0*q3;
const float HK14 = q1*q2;
const float HK15 = 2*Tbs(1,1);
const float HK16 = powf(q1, 2);
const float HK17 = powf(q2, 2);
const float HK18 = -HK17;
const float HK19 = powf(q0, 2);
const float HK20 = powf(q3, 2);
const float HK21 = HK19 - HK20;
const float HK22 = HK12*(HK10 + HK11) - HK15*(HK13 - HK14) + Tbs(1,0)*(HK16 + HK18 + HK21);
const float HK23 = 2*Tbs(1,0);
const float HK24 = q0*q1;
const float HK25 = q2*q3;
const float HK26 = -HK16;
const float HK27 = -HK12*(HK24 - HK25) + HK23*(HK13 + HK14) + Tbs(1,1)*(HK17 + HK21 + HK26);
const float HK28 = HK15*(HK24 + HK25) - HK23*(HK10 - HK11) + Tbs(1,2)*(HK18 + HK19 + HK20 + HK26);
const float HK29 = 2*HK3;
const float HK30 = 2*HK7;
const float HK31 = 2*HK8;
const float HK32 = 2*HK9;
const float HK33 = HK22*P(0,4) + HK27*P(0,5) + HK28*P(0,6) + HK29*P(0,0) + HK30*P(0,1) + HK31*P(0,2) + HK32*P(0,3);
const float HK34 = powf(range, -2);
const float HK35 = HK22*P(4,6) + HK27*P(5,6) + HK28*P(6,6) + HK29*P(0,6) + HK30*P(1,6) + HK31*P(2,6) + HK32*P(3,6);
const float HK36 = HK22*P(4,5) + HK27*P(5,5) + HK28*P(5,6) + HK29*P(0,5) + HK30*P(1,5) + HK31*P(2,5) + HK32*P(3,5);
const float HK37 = HK22*P(4,4) + HK27*P(4,5) + HK28*P(4,6) + HK29*P(0,4) + HK30*P(1,4) + HK31*P(2,4) + HK32*P(3,4);
const float HK38 = HK22*P(2,4) + HK27*P(2,5) + HK28*P(2,6) + HK29*P(0,2) + HK30*P(1,2) + HK31*P(2,2) + HK32*P(2,3);
const float HK39 = HK22*P(3,4) + HK27*P(3,5) + HK28*P(3,6) + HK29*P(0,3) + HK30*P(1,3) + HK31*P(2,3) + HK32*P(3,3);
const float HK40 = HK22*P(1,4) + HK27*P(1,5) + HK28*P(1,6) + HK29*P(0,1) + HK30*P(1,1) + HK31*P(1,2) + HK32*P(1,3);
const float HK41 = HK4/(HK22*HK34*HK37 + HK27*HK34*HK36 + HK28*HK34*HK35 + HK29*HK33*HK34 + HK30*HK34*HK40 + HK31*HK34*HK38 + HK32*HK34*HK39 + R_LOS);
const float HK0 = Tbs(1,0)*q2;
const float HK1 = Tbs(1,1)*q1;
const float HK2 = Tbs(1,1)*q3;
const float HK3 = Tbs(1,2)*q2;
const float HK4 = Tbs(1,0)*q3;
const float HK5 = Tbs(1,2)*q1;
const float HK6 = -HK5;
const float HK7 = vd*(HK0 - HK1) - ve*(HK4 + HK6) + vn*(HK2 - HK3);
const float HK8 = 1.0F/range;
const float HK9 = 2*HK8;
const float HK10 = Tbs(1,1)*q2;
const float HK11 = Tbs(1,2)*q3;
const float HK12 = Tbs(1,1)*q0;
const float HK13 = Tbs(1,2)*q0;
const float HK14 = vd*(HK12 + HK4 - 2*HK5) - ve*(-HK0 + 2*HK1 + HK13) + vn*(HK10 + HK11);
const float HK15 = Tbs(1,0)*q1;
const float HK16 = Tbs(1,0)*q0;
const float HK17 = -vd*(HK16 - HK2 + 2*HK3) + ve*(HK11 + HK15) + vn*(-2*HK0 + HK1 + HK13);
const float HK18 = vd*(HK10 + HK15) + ve*(HK16 - 2*HK2 + HK3) - vn*(HK12 + 2*HK4 + HK6);
const float HK19 = q0*q2;
const float HK20 = q1*q3;
const float HK21 = 2*Tbs(1,2);
const float HK22 = q0*q3;
const float HK23 = q1*q2;
const float HK24 = 2*Tbs(1,1);
const float HK25 = 2*powf(q2, 2);
const float HK26 = 2*powf(q3, 2) - 1;
const float HK27 = -HK21*(HK19 + HK20) + HK24*(HK22 - HK23) + Tbs(1,0)*(HK25 + HK26);
const float HK28 = 2*Tbs(1,0);
const float HK29 = q0*q1;
const float HK30 = q2*q3;
const float HK31 = 2*powf(q1, 2);
const float HK32 = HK21*(HK29 - HK30) - HK28*(HK22 + HK23) + Tbs(1,1)*(HK26 + HK31);
const float HK33 = -HK24*(HK29 + HK30) + HK28*(HK19 - HK20) + Tbs(1,2)*(HK25 + HK31 - 1);
const float HK34 = 2*HK7;
const float HK35 = 2*HK14;
const float HK36 = 2*HK17;
const float HK37 = 2*HK18;
const float HK38 = -HK27*P(0,4) - HK32*P(0,5) - HK33*P(0,6) - HK34*P(0,0) + HK35*P(0,1) + HK36*P(0,2) + HK37*P(0,3);
const float HK39 = powf(range, -2);
const float HK40 = -HK27*P(4,6) - HK32*P(5,6) - HK33*P(6,6) - HK34*P(0,6) + HK35*P(1,6) + HK36*P(2,6) + HK37*P(3,6);
const float HK41 = -HK27*P(4,5) - HK32*P(5,5) - HK33*P(5,6) - HK34*P(0,5) + HK35*P(1,5) + HK36*P(2,5) + HK37*P(3,5);
const float HK42 = -HK27*P(4,4) - HK32*P(4,5) - HK33*P(4,6) - HK34*P(0,4) + HK35*P(1,4) + HK36*P(2,4) + HK37*P(3,4);
const float HK43 = -HK27*P(3,4) - HK32*P(3,5) - HK33*P(3,6) - HK34*P(0,3) + HK35*P(1,3) + HK36*P(2,3) + HK37*P(3,3);
const float HK44 = -HK27*P(2,4) - HK32*P(2,5) - HK33*P(2,6) - HK34*P(0,2) + HK35*P(1,2) + HK36*P(2,2) + HK37*P(2,3);
const float HK45 = -HK27*P(1,4) - HK32*P(1,5) - HK33*P(1,6) - HK34*P(0,1) + HK35*P(1,1) + HK36*P(1,2) + HK37*P(1,3);
const float HK46 = HK8/(-HK27*HK39*HK42 - HK32*HK39*HK41 - HK33*HK39*HK40 - HK34*HK38*HK39 + HK35*HK39*HK45 + HK36*HK39*HK44 + HK37*HK39*HK43 + R_LOS);
// Observation Jacobians
Hfusion.at<0>() = HK3*HK5;
Hfusion.at<1>() = HK5*HK7;
Hfusion.at<2>() = HK5*HK8;
Hfusion.at<3>() = HK5*HK9;
Hfusion.at<4>() = HK22*HK4;
Hfusion.at<5>() = HK27*HK4;
Hfusion.at<6>() = HK28*HK4;
Hfusion.at<0>() = -HK7*HK9;
Hfusion.at<1>() = HK14*HK9;
Hfusion.at<2>() = HK17*HK9;
Hfusion.at<3>() = HK18*HK9;
Hfusion.at<4>() = -HK27*HK8;
Hfusion.at<5>() = -HK32*HK8;
Hfusion.at<6>() = -HK33*HK8;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -72,105 +77,111 @@ Hfusion.at<23>() = 0;
// Kalman gains
Kfusion(0) = HK33*HK41;
Kfusion(1) = HK40*HK41;
Kfusion(2) = HK38*HK41;
Kfusion(3) = HK39*HK41;
Kfusion(4) = HK37*HK41;
Kfusion(5) = HK36*HK41;
Kfusion(6) = HK35*HK41;
Kfusion(7) = HK41*(HK22*P(4,7) + HK27*P(5,7) + HK28*P(6,7) + HK29*P(0,7) + HK30*P(1,7) + HK31*P(2,7) + HK32*P(3,7));
Kfusion(8) = HK41*(HK22*P(4,8) + HK27*P(5,8) + HK28*P(6,8) + HK29*P(0,8) + HK30*P(1,8) + HK31*P(2,8) + HK32*P(3,8));
Kfusion(9) = HK41*(HK22*P(4,9) + HK27*P(5,9) + HK28*P(6,9) + HK29*P(0,9) + HK30*P(1,9) + HK31*P(2,9) + HK32*P(3,9));
Kfusion(10) = HK41*(HK22*P(4,10) + HK27*P(5,10) + HK28*P(6,10) + HK29*P(0,10) + HK30*P(1,10) + HK31*P(2,10) + HK32*P(3,10));
Kfusion(11) = HK41*(HK22*P(4,11) + HK27*P(5,11) + HK28*P(6,11) + HK29*P(0,11) + HK30*P(1,11) + HK31*P(2,11) + HK32*P(3,11));
Kfusion(12) = HK41*(HK22*P(4,12) + HK27*P(5,12) + HK28*P(6,12) + HK29*P(0,12) + HK30*P(1,12) + HK31*P(2,12) + HK32*P(3,12));
Kfusion(13) = HK41*(HK22*P(4,13) + HK27*P(5,13) + HK28*P(6,13) + HK29*P(0,13) + HK30*P(1,13) + HK31*P(2,13) + HK32*P(3,13));
Kfusion(14) = HK41*(HK22*P(4,14) + HK27*P(5,14) + HK28*P(6,14) + HK29*P(0,14) + HK30*P(1,14) + HK31*P(2,14) + HK32*P(3,14));
Kfusion(15) = HK41*(HK22*P(4,15) + HK27*P(5,15) + HK28*P(6,15) + HK29*P(0,15) + HK30*P(1,15) + HK31*P(2,15) + HK32*P(3,15));
Kfusion(16) = HK41*(HK22*P(4,16) + HK27*P(5,16) + HK28*P(6,16) + HK29*P(0,16) + HK30*P(1,16) + HK31*P(2,16) + HK32*P(3,16));
Kfusion(17) = HK41*(HK22*P(4,17) + HK27*P(5,17) + HK28*P(6,17) + HK29*P(0,17) + HK30*P(1,17) + HK31*P(2,17) + HK32*P(3,17));
Kfusion(18) = HK41*(HK22*P(4,18) + HK27*P(5,18) + HK28*P(6,18) + HK29*P(0,18) + HK30*P(1,18) + HK31*P(2,18) + HK32*P(3,18));
Kfusion(19) = HK41*(HK22*P(4,19) + HK27*P(5,19) + HK28*P(6,19) + HK29*P(0,19) + HK30*P(1,19) + HK31*P(2,19) + HK32*P(3,19));
Kfusion(20) = HK41*(HK22*P(4,20) + HK27*P(5,20) + HK28*P(6,20) + HK29*P(0,20) + HK30*P(1,20) + HK31*P(2,20) + HK32*P(3,20));
Kfusion(21) = HK41*(HK22*P(4,21) + HK27*P(5,21) + HK28*P(6,21) + HK29*P(0,21) + HK30*P(1,21) + HK31*P(2,21) + HK32*P(3,21));
Kfusion(22) = HK41*(HK22*P(4,22) + HK27*P(5,22) + HK28*P(6,22) + HK29*P(0,22) + HK30*P(1,22) + HK31*P(2,22) + HK32*P(3,22));
Kfusion(23) = HK41*(HK22*P(4,23) + HK27*P(5,23) + HK28*P(6,23) + HK29*P(0,23) + HK30*P(1,23) + HK31*P(2,23) + HK32*P(3,23));
Kfusion(0) = HK38*HK46;
Kfusion(1) = HK45*HK46;
Kfusion(2) = HK44*HK46;
Kfusion(3) = HK43*HK46;
Kfusion(4) = HK42*HK46;
Kfusion(5) = HK41*HK46;
Kfusion(6) = HK40*HK46;
Kfusion(7) = HK46*(-HK27*P(4,7) - HK32*P(5,7) - HK33*P(6,7) - HK34*P(0,7) + HK35*P(1,7) + HK36*P(2,7) + HK37*P(3,7));
Kfusion(8) = HK46*(-HK27*P(4,8) - HK32*P(5,8) - HK33*P(6,8) - HK34*P(0,8) + HK35*P(1,8) + HK36*P(2,8) + HK37*P(3,8));
Kfusion(9) = HK46*(-HK27*P(4,9) - HK32*P(5,9) - HK33*P(6,9) - HK34*P(0,9) + HK35*P(1,9) + HK36*P(2,9) + HK37*P(3,9));
Kfusion(10) = HK46*(-HK27*P(4,10) - HK32*P(5,10) - HK33*P(6,10) - HK34*P(0,10) + HK35*P(1,10) + HK36*P(2,10) + HK37*P(3,10));
Kfusion(11) = HK46*(-HK27*P(4,11) - HK32*P(5,11) - HK33*P(6,11) - HK34*P(0,11) + HK35*P(1,11) + HK36*P(2,11) + HK37*P(3,11));
Kfusion(12) = HK46*(-HK27*P(4,12) - HK32*P(5,12) - HK33*P(6,12) - HK34*P(0,12) + HK35*P(1,12) + HK36*P(2,12) + HK37*P(3,12));
Kfusion(13) = HK46*(-HK27*P(4,13) - HK32*P(5,13) - HK33*P(6,13) - HK34*P(0,13) + HK35*P(1,13) + HK36*P(2,13) + HK37*P(3,13));
Kfusion(14) = HK46*(-HK27*P(4,14) - HK32*P(5,14) - HK33*P(6,14) - HK34*P(0,14) + HK35*P(1,14) + HK36*P(2,14) + HK37*P(3,14));
Kfusion(15) = HK46*(-HK27*P(4,15) - HK32*P(5,15) - HK33*P(6,15) - HK34*P(0,15) + HK35*P(1,15) + HK36*P(2,15) + HK37*P(3,15));
Kfusion(16) = HK46*(-HK27*P(4,16) - HK32*P(5,16) - HK33*P(6,16) - HK34*P(0,16) + HK35*P(1,16) + HK36*P(2,16) + HK37*P(3,16));
Kfusion(17) = HK46*(-HK27*P(4,17) - HK32*P(5,17) - HK33*P(6,17) - HK34*P(0,17) + HK35*P(1,17) + HK36*P(2,17) + HK37*P(3,17));
Kfusion(18) = HK46*(-HK27*P(4,18) - HK32*P(5,18) - HK33*P(6,18) - HK34*P(0,18) + HK35*P(1,18) + HK36*P(2,18) + HK37*P(3,18));
Kfusion(19) = HK46*(-HK27*P(4,19) - HK32*P(5,19) - HK33*P(6,19) - HK34*P(0,19) + HK35*P(1,19) + HK36*P(2,19) + HK37*P(3,19));
Kfusion(20) = HK46*(-HK27*P(4,20) - HK32*P(5,20) - HK33*P(6,20) - HK34*P(0,20) + HK35*P(1,20) + HK36*P(2,20) + HK37*P(3,20));
Kfusion(21) = HK46*(-HK27*P(4,21) - HK32*P(5,21) - HK33*P(6,21) - HK34*P(0,21) + HK35*P(1,21) + HK36*P(2,21) + HK37*P(3,21));
Kfusion(22) = HK46*(-HK27*P(4,22) - HK32*P(5,22) - HK33*P(6,22) - HK34*P(0,22) + HK35*P(1,22) + HK36*P(2,22) + HK37*P(3,22));
Kfusion(23) = HK46*(-HK27*P(4,23) - HK32*P(5,23) - HK33*P(6,23) - HK34*P(0,23) + HK35*P(1,23) + HK36*P(2,23) + HK37*P(3,23));
// Y Axis Equations
// Sub Expressions
const float HK0 = Tbs(0,1)*q1;
const float HK1 = Tbs(0,2)*q0;
const float HK2 = Tbs(0,0)*q2;
const float HK3 = HK0 + HK1 - HK2;
const float HK4 = Tbs(0,0)*q3;
const float HK5 = Tbs(0,1)*q0;
const float HK6 = Tbs(0,2)*q1;
const float HK7 = HK4 + HK5 - HK6;
const float HK8 = Tbs(0,0)*q0;
const float HK9 = Tbs(0,2)*q2;
const float HK10 = Tbs(0,1)*q3;
const float HK11 = -HK10 + HK8 + HK9;
const float HK12 = HK11*vn + HK3*vd + HK7*ve;
const float HK13 = 1.0F/range;
const float HK14 = 2*HK13;
const float HK15 = Tbs(0,0)*q1 + Tbs(0,1)*q2 + Tbs(0,2)*q3;
const float HK16 = HK15*vn + HK7*vd;
const float HK17 = HK16 - HK3*ve;
const float HK18 = HK15*ve + HK3*vn;
const float HK19 = -HK11*vd + HK18;
const float HK20 = HK11*ve + HK15*vd;
const float HK21 = HK20 - HK7*vn;
const float HK22 = q0*q3;
const float HK23 = q1*q2;
const float HK24 = 2*Tbs(0,1);
const float HK25 = powf(q1, 2);
const float HK26 = powf(q2, 2);
const float HK27 = -HK26;
const float HK28 = powf(q0, 2);
const float HK29 = powf(q3, 2);
const float HK30 = HK28 - HK29;
const float HK31 = q0*q2;
const float HK32 = q1*q3;
const float HK33 = 2*Tbs(0,2);
const float HK34 = HK33*(HK31 + HK32) + Tbs(0,0)*(HK25 + HK27 + HK30);
const float HK35 = -HK24*(HK22 - HK23) + HK34;
const float HK36 = q0*q1;
const float HK37 = q2*q3;
const float HK38 = -HK25;
const float HK0 = Tbs(0,0)*q3;
const float HK1 = Tbs(0,2)*q1;
const float HK2 = -HK1;
const float HK3 = ve*(HK0 + HK2);
const float HK4 = Tbs(0,0)*q2;
const float HK5 = Tbs(0,1)*q1;
const float HK6 = Tbs(0,1)*q3;
const float HK7 = Tbs(0,2)*q2;
const float HK8 = HK3 - vd*(HK4 - HK5) - vn*(HK6 - HK7);
const float HK9 = 1.0F/range;
const float HK10 = 2*HK9;
const float HK11 = Tbs(0,2)*q0;
const float HK12 = -HK4;
const float HK13 = 2*HK5;
const float HK14 = Tbs(0,1)*q0;
const float HK15 = Tbs(0,1)*q2;
const float HK16 = Tbs(0,2)*q3;
const float HK17 = vd*(HK0 - 2*HK1 + HK14) + vn*(HK15 + HK16);
const float HK18 = HK17 - ve*(HK11 + HK12 + HK13);
const float HK19 = Tbs(0,0)*q0;
const float HK20 = -HK6;
const float HK21 = 2*HK7;
const float HK22 = Tbs(0,0)*q1;
const float HK23 = ve*(HK16 + HK22) + vn*(HK11 - 2*HK4 + HK5);
const float HK24 = HK23 - vd*(HK19 + HK20 + HK21);
const float HK25 = 2*HK0;
const float HK26 = vd*(HK15 + HK22) + ve*(HK19 - 2*HK6 + HK7);
const float HK27 = HK26 - vn*(HK14 + HK2 + HK25);
const float HK28 = q0*q2;
const float HK29 = q1*q3;
const float HK30 = 2*Tbs(0,2);
const float HK31 = HK30*(HK28 + HK29);
const float HK32 = q0*q3;
const float HK33 = q1*q2;
const float HK34 = 2*Tbs(0,1);
const float HK35 = 2*powf(q2, 2);
const float HK36 = 2*powf(q3, 2);
const float HK37 = HK36 - 1;
const float HK38 = HK31 - HK34*(HK32 - HK33) - Tbs(0,0)*(HK35 + HK37);
const float HK39 = 2*Tbs(0,0);
const float HK40 = HK39*(HK22 + HK23) + Tbs(0,1)*(HK26 + HK30 + HK38);
const float HK41 = -HK33*(HK36 - HK37) + HK40;
const float HK42 = HK24*(HK36 + HK37) + Tbs(0,2)*(HK27 + HK28 + HK29 + HK38);
const float HK43 = -HK39*(HK31 - HK32) + HK42;
const float HK44 = 2*HK12;
const float HK45 = 2*HK16 + 2*ve*(-HK0 - HK1 + HK2);
const float HK46 = 2*HK18 + 2*vd*(HK10 - HK8 - HK9);
const float HK47 = 2*HK20 + 2*vn*(-HK4 - HK5 + HK6);
const float HK48 = HK24*(-HK22 + HK23) + HK34;
const float HK49 = HK33*(-HK36 + HK37) + HK40;
const float HK50 = HK39*(-HK31 + HK32) + HK42;
const float HK51 = HK44*P(0,0) + HK45*P(0,1) + HK46*P(0,2) + HK47*P(0,3) + HK48*P(0,4) + HK49*P(0,5) + HK50*P(0,6);
const float HK52 = powf(range, -2);
const float HK53 = HK44*P(0,6) + HK45*P(1,6) + HK46*P(2,6) + HK47*P(3,6) + HK48*P(4,6) + HK49*P(5,6) + HK50*P(6,6);
const float HK54 = HK44*P(0,5) + HK45*P(1,5) + HK46*P(2,5) + HK47*P(3,5) + HK48*P(4,5) + HK49*P(5,5) + HK50*P(5,6);
const float HK55 = HK44*P(0,4) + HK45*P(1,4) + HK46*P(2,4) + HK47*P(3,4) + HK48*P(4,4) + HK49*P(4,5) + HK50*P(4,6);
const float HK56 = HK44*P(0,2) + HK45*P(1,2) + HK46*P(2,2) + HK47*P(2,3) + HK48*P(2,4) + HK49*P(2,5) + HK50*P(2,6);
const float HK57 = 2*HK52;
const float HK58 = HK44*P(0,3) + HK45*P(1,3) + HK46*P(2,3) + HK47*P(3,3) + HK48*P(3,4) + HK49*P(3,5) + HK50*P(3,6);
const float HK59 = HK44*P(0,1) + HK45*P(1,1) + HK46*P(1,2) + HK47*P(1,3) + HK48*P(1,4) + HK49*P(1,5) + HK50*P(1,6);
const float HK60 = HK13/(HK17*HK57*HK59 + HK19*HK56*HK57 + HK21*HK57*HK58 + HK35*HK52*HK55 + HK41*HK52*HK54 + HK43*HK52*HK53 + HK44*HK51*HK52 + R_LOS);
const float HK40 = HK39*(HK32 + HK33);
const float HK41 = q0*q1;
const float HK42 = q2*q3;
const float HK43 = 2*powf(q1, 2);
const float HK44 = -HK30*(HK41 - HK42) + HK40 - Tbs(0,1)*(HK37 + HK43);
const float HK45 = HK34*(HK41 + HK42);
const float HK46 = -HK39*(HK28 - HK29) + HK45 - Tbs(0,2)*(HK35 + HK43 - 1);
const float HK47 = 2*HK3 + 2*vd*(HK12 + HK5) + 2*vn*(HK20 + HK7);
const float HK48 = -HK35;
const float HK49 = 1 - HK36;
const float HK50 = HK31 + HK34*(-HK32 + HK33) + Tbs(0,0)*(HK48 + HK49);
const float HK51 = -HK43;
const float HK52 = HK30*(-HK41 + HK42) + HK40 + Tbs(0,1)*(HK49 + HK51);
const float HK53 = HK39*(-HK28 + HK29) + HK45 + Tbs(0,2)*(HK48 + HK51 + 1);
const float HK54 = 2*HK17 + 2*ve*(-HK11 - HK13 + HK4);
const float HK55 = 2*HK23 + 2*vd*(-HK19 - HK21 + HK6);
const float HK56 = 2*HK26 + 2*vn*(HK1 - HK14 - HK25);
const float HK57 = HK47*P(0,0) + HK50*P(0,4) + HK52*P(0,5) + HK53*P(0,6) + HK54*P(0,1) + HK55*P(0,2) + HK56*P(0,3);
const float HK58 = powf(range, -2);
const float HK59 = 2*HK58;
const float HK60 = HK47*P(0,6) + HK50*P(4,6) + HK52*P(5,6) + HK53*P(6,6) + HK54*P(1,6) + HK55*P(2,6) + HK56*P(3,6);
const float HK61 = HK47*P(0,5) + HK50*P(4,5) + HK52*P(5,5) + HK53*P(5,6) + HK54*P(1,5) + HK55*P(2,5) + HK56*P(3,5);
const float HK62 = HK47*P(0,4) + HK50*P(4,4) + HK52*P(4,5) + HK53*P(4,6) + HK54*P(1,4) + HK55*P(2,4) + HK56*P(3,4);
const float HK63 = HK47*P(0,3) + HK50*P(3,4) + HK52*P(3,5) + HK53*P(3,6) + HK54*P(1,3) + HK55*P(2,3) + HK56*P(3,3);
const float HK64 = HK47*P(0,2) + HK50*P(2,4) + HK52*P(2,5) + HK53*P(2,6) + HK54*P(1,2) + HK55*P(2,2) + HK56*P(2,3);
const float HK65 = HK47*P(0,1) + HK50*P(1,4) + HK52*P(1,5) + HK53*P(1,6) + HK54*P(1,1) + HK55*P(1,2) + HK56*P(1,3);
const float HK66 = HK9/(HK18*HK59*HK65 + HK24*HK59*HK64 + HK27*HK59*HK63 + HK38*HK58*HK62 + HK44*HK58*HK61 + HK46*HK58*HK60 + HK57*HK59*HK8 + R_LOS);
// Observation Jacobians
Hfusion.at<0>() = -HK12*HK14;
Hfusion.at<1>() = -HK14*HK17;
Hfusion.at<2>() = -HK14*HK19;
Hfusion.at<3>() = -HK14*HK21;
Hfusion.at<4>() = -HK13*HK35;
Hfusion.at<5>() = -HK13*HK41;
Hfusion.at<6>() = -HK13*HK43;
Hfusion.at<0>() = -HK10*HK8;
Hfusion.at<1>() = -HK10*HK18;
Hfusion.at<2>() = -HK10*HK24;
Hfusion.at<3>() = -HK10*HK27;
Hfusion.at<4>() = -HK38*HK9;
Hfusion.at<5>() = -HK44*HK9;
Hfusion.at<6>() = -HK46*HK9;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -191,29 +202,29 @@ Hfusion.at<23>() = 0;
// Kalman gains
Kfusion(0) = -HK51*HK60;
Kfusion(1) = -HK59*HK60;
Kfusion(2) = -HK56*HK60;
Kfusion(3) = -HK58*HK60;
Kfusion(4) = -HK55*HK60;
Kfusion(5) = -HK54*HK60;
Kfusion(6) = -HK53*HK60;
Kfusion(7) = -HK60*(HK44*P(0,7) + HK45*P(1,7) + HK46*P(2,7) + HK47*P(3,7) + HK48*P(4,7) + HK49*P(5,7) + HK50*P(6,7));
Kfusion(8) = -HK60*(HK44*P(0,8) + HK45*P(1,8) + HK46*P(2,8) + HK47*P(3,8) + HK48*P(4,8) + HK49*P(5,8) + HK50*P(6,8));
Kfusion(9) = -HK60*(HK44*P(0,9) + HK45*P(1,9) + HK46*P(2,9) + HK47*P(3,9) + HK48*P(4,9) + HK49*P(5,9) + HK50*P(6,9));
Kfusion(10) = -HK60*(HK44*P(0,10) + HK45*P(1,10) + HK46*P(2,10) + HK47*P(3,10) + HK48*P(4,10) + HK49*P(5,10) + HK50*P(6,10));
Kfusion(11) = -HK60*(HK44*P(0,11) + HK45*P(1,11) + HK46*P(2,11) + HK47*P(3,11) + HK48*P(4,11) + HK49*P(5,11) + HK50*P(6,11));
Kfusion(12) = -HK60*(HK44*P(0,12) + HK45*P(1,12) + HK46*P(2,12) + HK47*P(3,12) + HK48*P(4,12) + HK49*P(5,12) + HK50*P(6,12));
Kfusion(13) = -HK60*(HK44*P(0,13) + HK45*P(1,13) + HK46*P(2,13) + HK47*P(3,13) + HK48*P(4,13) + HK49*P(5,13) + HK50*P(6,13));
Kfusion(14) = -HK60*(HK44*P(0,14) + HK45*P(1,14) + HK46*P(2,14) + HK47*P(3,14) + HK48*P(4,14) + HK49*P(5,14) + HK50*P(6,14));
Kfusion(15) = -HK60*(HK44*P(0,15) + HK45*P(1,15) + HK46*P(2,15) + HK47*P(3,15) + HK48*P(4,15) + HK49*P(5,15) + HK50*P(6,15));
Kfusion(16) = -HK60*(HK44*P(0,16) + HK45*P(1,16) + HK46*P(2,16) + HK47*P(3,16) + HK48*P(4,16) + HK49*P(5,16) + HK50*P(6,16));
Kfusion(17) = -HK60*(HK44*P(0,17) + HK45*P(1,17) + HK46*P(2,17) + HK47*P(3,17) + HK48*P(4,17) + HK49*P(5,17) + HK50*P(6,17));
Kfusion(18) = -HK60*(HK44*P(0,18) + HK45*P(1,18) + HK46*P(2,18) + HK47*P(3,18) + HK48*P(4,18) + HK49*P(5,18) + HK50*P(6,18));
Kfusion(19) = -HK60*(HK44*P(0,19) + HK45*P(1,19) + HK46*P(2,19) + HK47*P(3,19) + HK48*P(4,19) + HK49*P(5,19) + HK50*P(6,19));
Kfusion(20) = -HK60*(HK44*P(0,20) + HK45*P(1,20) + HK46*P(2,20) + HK47*P(3,20) + HK48*P(4,20) + HK49*P(5,20) + HK50*P(6,20));
Kfusion(21) = -HK60*(HK44*P(0,21) + HK45*P(1,21) + HK46*P(2,21) + HK47*P(3,21) + HK48*P(4,21) + HK49*P(5,21) + HK50*P(6,21));
Kfusion(22) = -HK60*(HK44*P(0,22) + HK45*P(1,22) + HK46*P(2,22) + HK47*P(3,22) + HK48*P(4,22) + HK49*P(5,22) + HK50*P(6,22));
Kfusion(23) = -HK60*(HK44*P(0,23) + HK45*P(1,23) + HK46*P(2,23) + HK47*P(3,23) + HK48*P(4,23) + HK49*P(5,23) + HK50*P(6,23));
Kfusion(0) = -HK57*HK66;
Kfusion(1) = -HK65*HK66;
Kfusion(2) = -HK64*HK66;
Kfusion(3) = -HK63*HK66;
Kfusion(4) = -HK62*HK66;
Kfusion(5) = -HK61*HK66;
Kfusion(6) = -HK60*HK66;
Kfusion(7) = -HK66*(HK47*P(0,7) + HK50*P(4,7) + HK52*P(5,7) + HK53*P(6,7) + HK54*P(1,7) + HK55*P(2,7) + HK56*P(3,7));
Kfusion(8) = -HK66*(HK47*P(0,8) + HK50*P(4,8) + HK52*P(5,8) + HK53*P(6,8) + HK54*P(1,8) + HK55*P(2,8) + HK56*P(3,8));
Kfusion(9) = -HK66*(HK47*P(0,9) + HK50*P(4,9) + HK52*P(5,9) + HK53*P(6,9) + HK54*P(1,9) + HK55*P(2,9) + HK56*P(3,9));
Kfusion(10) = -HK66*(HK47*P(0,10) + HK50*P(4,10) + HK52*P(5,10) + HK53*P(6,10) + HK54*P(1,10) + HK55*P(2,10) + HK56*P(3,10));
Kfusion(11) = -HK66*(HK47*P(0,11) + HK50*P(4,11) + HK52*P(5,11) + HK53*P(6,11) + HK54*P(1,11) + HK55*P(2,11) + HK56*P(3,11));
Kfusion(12) = -HK66*(HK47*P(0,12) + HK50*P(4,12) + HK52*P(5,12) + HK53*P(6,12) + HK54*P(1,12) + HK55*P(2,12) + HK56*P(3,12));
Kfusion(13) = -HK66*(HK47*P(0,13) + HK50*P(4,13) + HK52*P(5,13) + HK53*P(6,13) + HK54*P(1,13) + HK55*P(2,13) + HK56*P(3,13));
Kfusion(14) = -HK66*(HK47*P(0,14) + HK50*P(4,14) + HK52*P(5,14) + HK53*P(6,14) + HK54*P(1,14) + HK55*P(2,14) + HK56*P(3,14));
Kfusion(15) = -HK66*(HK47*P(0,15) + HK50*P(4,15) + HK52*P(5,15) + HK53*P(6,15) + HK54*P(1,15) + HK55*P(2,15) + HK56*P(3,15));
Kfusion(16) = -HK66*(HK47*P(0,16) + HK50*P(4,16) + HK52*P(5,16) + HK53*P(6,16) + HK54*P(1,16) + HK55*P(2,16) + HK56*P(3,16));
Kfusion(17) = -HK66*(HK47*P(0,17) + HK50*P(4,17) + HK52*P(5,17) + HK53*P(6,17) + HK54*P(1,17) + HK55*P(2,17) + HK56*P(3,17));
Kfusion(18) = -HK66*(HK47*P(0,18) + HK50*P(4,18) + HK52*P(5,18) + HK53*P(6,18) + HK54*P(1,18) + HK55*P(2,18) + HK56*P(3,18));
Kfusion(19) = -HK66*(HK47*P(0,19) + HK50*P(4,19) + HK52*P(5,19) + HK53*P(6,19) + HK54*P(1,19) + HK55*P(2,19) + HK56*P(3,19));
Kfusion(20) = -HK66*(HK47*P(0,20) + HK50*P(4,20) + HK52*P(5,20) + HK53*P(6,20) + HK54*P(1,20) + HK55*P(2,20) + HK56*P(3,20));
Kfusion(21) = -HK66*(HK47*P(0,21) + HK50*P(4,21) + HK52*P(5,21) + HK53*P(6,21) + HK54*P(1,21) + HK55*P(2,21) + HK56*P(3,21));
Kfusion(22) = -HK66*(HK47*P(0,22) + HK50*P(4,22) + HK52*P(5,22) + HK53*P(6,22) + HK54*P(1,22) + HK55*P(2,22) + HK56*P(3,22));
Kfusion(23) = -HK66*(HK47*P(0,23) + HK50*P(4,23) + HK52*P(5,23) + HK53*P(6,23) + HK54*P(1,23) + HK55*P(2,23) + HK56*P(3,23));
EKF/python/ekf_derivation/generated/flow_generated_alt.cpp
+173 -158
View File
@@ -1,110 +1,125 @@
// Sub Expressions
const float HK0 = -Tbs(1,0)*q2 + Tbs(1,1)*q1 + Tbs(1,2)*q0;
const float HK1 = Tbs(1,0)*q3 + Tbs(1,1)*q0 - Tbs(1,2)*q1;
const float HK2 = Tbs(1,0)*q0 - Tbs(1,1)*q3 + Tbs(1,2)*q2;
const float HK3 = HK0*vd + HK1*ve + HK2*vn;
const float HK4 = 1.0F/range;
const float HK5 = 2*HK4;
const float HK6 = Tbs(1,0)*q1 + Tbs(1,1)*q2 + Tbs(1,2)*q3;
const float HK7 = -HK0*ve + HK1*vd + HK6*vn;
const float HK8 = HK0*vn - HK2*vd + HK6*ve;
const float HK9 = -HK1*vn + HK2*ve + HK6*vd;
const float HK10 = q0*q2;
const float HK11 = q1*q3;
const float HK12 = HK10 + HK11;
const float HK13 = 2*Tbs(1,2);
const float HK14 = q0*q3;
const float HK15 = q1*q2;
const float HK16 = HK14 - HK15;
const float HK17 = 2*Tbs(1,1);
const float HK18 = powf(q1, 2);
const float HK19 = powf(q2, 2);
const float HK20 = -HK19;
const float HK21 = powf(q0, 2);
const float HK22 = powf(q3, 2);
const float HK23 = HK21 - HK22;
const float HK24 = HK18 + HK20 + HK23;
const float HK25 = HK12*HK13 - HK16*HK17 + HK24*Tbs(1,0);
const float HK26 = HK14 + HK15;
const float HK27 = 2*Tbs(1,0);
const float HK28 = q0*q1;
const float HK29 = q2*q3;
const float HK30 = HK28 - HK29;
const float HK31 = -HK18;
const float HK32 = HK19 + HK23 + HK31;
const float HK33 = -HK13*HK30 + HK26*HK27 + HK32*Tbs(1,1);
const float HK34 = HK28 + HK29;
const float HK35 = HK10 - HK11;
const float HK36 = HK20 + HK21 + HK22 + HK31;
const float HK37 = HK17*HK34 - HK27*HK35 + HK36*Tbs(1,2);
const float HK38 = 2*HK3;
const float HK39 = 2*HK7;
const float HK40 = 2*HK8;
const float HK41 = 2*HK9;
const float HK42 = HK25*P(0,4) + HK33*P(0,5) + HK37*P(0,6) + HK38*P(0,0) + HK39*P(0,1) + HK40*P(0,2) + HK41*P(0,3);
const float HK43 = powf(range, -2);
const float HK44 = HK25*P(4,6) + HK33*P(5,6) + HK37*P(6,6) + HK38*P(0,6) + HK39*P(1,6) + HK40*P(2,6) + HK41*P(3,6);
const float HK45 = HK25*P(4,5) + HK33*P(5,5) + HK37*P(5,6) + HK38*P(0,5) + HK39*P(1,5) + HK40*P(2,5) + HK41*P(3,5);
const float HK46 = HK25*P(4,4) + HK33*P(4,5) + HK37*P(4,6) + HK38*P(0,4) + HK39*P(1,4) + HK40*P(2,4) + HK41*P(3,4);
const float HK47 = HK25*P(2,4) + HK33*P(2,5) + HK37*P(2,6) + HK38*P(0,2) + HK39*P(1,2) + HK40*P(2,2) + HK41*P(2,3);
const float HK48 = HK25*P(3,4) + HK33*P(3,5) + HK37*P(3,6) + HK38*P(0,3) + HK39*P(1,3) + HK40*P(2,3) + HK41*P(3,3);
const float HK49 = HK25*P(1,4) + HK33*P(1,5) + HK37*P(1,6) + HK38*P(0,1) + HK39*P(1,1) + HK40*P(1,2) + HK41*P(1,3);
const float HK50 = HK4/(HK25*HK43*HK46 + HK33*HK43*HK45 + HK37*HK43*HK44 + HK38*HK42*HK43 + HK39*HK43*HK49 + HK40*HK43*HK47 + HK41*HK43*HK48 + R_LOS);
const float HK51 = Tbs(0,1)*q1;
const float HK52 = Tbs(0,2)*q0;
const float HK53 = Tbs(0,0)*q2;
const float HK54 = HK51 + HK52 - HK53;
const float HK55 = Tbs(0,0)*q3;
const float HK56 = Tbs(0,1)*q0;
const float HK57 = Tbs(0,2)*q1;
const float HK58 = HK55 + HK56 - HK57;
const float HK59 = Tbs(0,0)*q0;
const float HK60 = Tbs(0,2)*q2;
const float HK61 = Tbs(0,1)*q3;
const float HK62 = HK59 + HK60 - HK61;
const float HK63 = HK54*vd + HK58*ve + HK62*vn;
const float HK64 = Tbs(0,0)*q1 + Tbs(0,1)*q2 + Tbs(0,2)*q3;
const float HK65 = HK58*vd + HK64*vn;
const float HK66 = -HK54*ve + HK65;
const float HK67 = HK54*vn + HK64*ve;
const float HK68 = -HK62*vd + HK67;
const float HK69 = HK62*ve + HK64*vd;
const float HK70 = -HK58*vn + HK69;
const float HK71 = 2*Tbs(0,1);
const float HK72 = 2*Tbs(0,2);
const float HK73 = HK12*HK72 + HK24*Tbs(0,0);
const float HK74 = -HK16*HK71 + HK73;
const float HK75 = 2*Tbs(0,0);
const float HK76 = HK26*HK75 + HK32*Tbs(0,1);
const float HK77 = -HK30*HK72 + HK76;
const float HK78 = HK34*HK71 + HK36*Tbs(0,2);
const float HK79 = -HK35*HK75 + HK78;
const float HK80 = 2*HK63;
const float HK81 = 2*HK65 + 2*ve*(-HK51 - HK52 + HK53);
const float HK82 = 2*HK67 + 2*vd*(-HK59 - HK60 + HK61);
const float HK83 = 2*HK69 + 2*vn*(-HK55 - HK56 + HK57);
const float HK84 = HK71*(-HK14 + HK15) + HK73;
const float HK85 = HK72*(-HK28 + HK29) + HK76;
const float HK86 = HK75*(-HK10 + HK11) + HK78;
const float HK87 = HK80*P(0,0) + HK81*P(0,1) + HK82*P(0,2) + HK83*P(0,3) + HK84*P(0,4) + HK85*P(0,5) + HK86*P(0,6);
const float HK88 = HK80*P(0,6) + HK81*P(1,6) + HK82*P(2,6) + HK83*P(3,6) + HK84*P(4,6) + HK85*P(5,6) + HK86*P(6,6);
const float HK89 = HK80*P(0,5) + HK81*P(1,5) + HK82*P(2,5) + HK83*P(3,5) + HK84*P(4,5) + HK85*P(5,5) + HK86*P(5,6);
const float HK90 = HK80*P(0,4) + HK81*P(1,4) + HK82*P(2,4) + HK83*P(3,4) + HK84*P(4,4) + HK85*P(4,5) + HK86*P(4,6);
const float HK91 = HK80*P(0,2) + HK81*P(1,2) + HK82*P(2,2) + HK83*P(2,3) + HK84*P(2,4) + HK85*P(2,5) + HK86*P(2,6);
const float HK92 = 2*HK43;
const float HK93 = HK80*P(0,3) + HK81*P(1,3) + HK82*P(2,3) + HK83*P(3,3) + HK84*P(3,4) + HK85*P(3,5) + HK86*P(3,6);
const float HK94 = HK80*P(0,1) + HK81*P(1,1) + HK82*P(1,2) + HK83*P(1,3) + HK84*P(1,4) + HK85*P(1,5) + HK86*P(1,6);
const float HK95 = HK4/(HK43*HK74*HK90 + HK43*HK77*HK89 + HK43*HK79*HK88 + HK43*HK80*HK87 + HK66*HK92*HK94 + HK68*HK91*HK92 + HK70*HK92*HK93 + R_LOS);
const float HK0 = Tbs(1,0)*q2;
const float HK1 = Tbs(1,1)*q1;
const float HK2 = Tbs(1,1)*q3;
const float HK3 = Tbs(1,2)*q2;
const float HK4 = Tbs(1,0)*q3;
const float HK5 = Tbs(1,2)*q1;
const float HK6 = -HK5;
const float HK7 = vd*(HK0 - HK1) - ve*(HK4 + HK6) + vn*(HK2 - HK3);
const float HK8 = 1.0F/range;
const float HK9 = 2*HK8;
const float HK10 = Tbs(1,1)*q2;
const float HK11 = Tbs(1,2)*q3;
const float HK12 = Tbs(1,1)*q0;
const float HK13 = Tbs(1,2)*q0;
const float HK14 = vd*(HK12 + HK4 - 2*HK5) - ve*(-HK0 + 2*HK1 + HK13) + vn*(HK10 + HK11);
const float HK15 = Tbs(1,0)*q1;
const float HK16 = Tbs(1,0)*q0;
const float HK17 = -vd*(HK16 - HK2 + 2*HK3) + ve*(HK11 + HK15) + vn*(-2*HK0 + HK1 + HK13);
const float HK18 = vd*(HK10 + HK15) + ve*(HK16 - 2*HK2 + HK3) - vn*(HK12 + 2*HK4 + HK6);
const float HK19 = q0*q2;
const float HK20 = q1*q3;
const float HK21 = HK19 + HK20;
const float HK22 = 2*Tbs(1,2);
const float HK23 = q0*q3;
const float HK24 = q1*q2;
const float HK25 = HK23 - HK24;
const float HK26 = 2*Tbs(1,1);
const float HK27 = 2*powf(q2, 2);
const float HK28 = 2*powf(q3, 2);
const float HK29 = HK28 - 1;
const float HK30 = HK27 + HK29;
const float HK31 = -HK21*HK22 + HK25*HK26 + HK30*Tbs(1,0);
const float HK32 = HK23 + HK24;
const float HK33 = 2*Tbs(1,0);
const float HK34 = q0*q1;
const float HK35 = q2*q3;
const float HK36 = HK34 - HK35;
const float HK37 = 2*powf(q1, 2);
const float HK38 = HK29 + HK37;
const float HK39 = HK22*HK36 - HK32*HK33 + HK38*Tbs(1,1);
const float HK40 = HK34 + HK35;
const float HK41 = HK19 - HK20;
const float HK42 = HK27 + HK37 - 1;
const float HK43 = -HK26*HK40 + HK33*HK41 + HK42*Tbs(1,2);
const float HK44 = 2*HK7;
const float HK45 = 2*HK14;
const float HK46 = 2*HK17;
const float HK47 = 2*HK18;
const float HK48 = -HK31*P(0,4) - HK39*P(0,5) - HK43*P(0,6) - HK44*P(0,0) + HK45*P(0,1) + HK46*P(0,2) + HK47*P(0,3);
const float HK49 = powf(range, -2);
const float HK50 = -HK31*P(4,6) - HK39*P(5,6) - HK43*P(6,6) - HK44*P(0,6) + HK45*P(1,6) + HK46*P(2,6) + HK47*P(3,6);
const float HK51 = -HK31*P(4,5) - HK39*P(5,5) - HK43*P(5,6) - HK44*P(0,5) + HK45*P(1,5) + HK46*P(2,5) + HK47*P(3,5);
const float HK52 = -HK31*P(4,4) - HK39*P(4,5) - HK43*P(4,6) - HK44*P(0,4) + HK45*P(1,4) + HK46*P(2,4) + HK47*P(3,4);
const float HK53 = -HK31*P(3,4) - HK39*P(3,5) - HK43*P(3,6) - HK44*P(0,3) + HK45*P(1,3) + HK46*P(2,3) + HK47*P(3,3);
const float HK54 = -HK31*P(2,4) - HK39*P(2,5) - HK43*P(2,6) - HK44*P(0,2) + HK45*P(1,2) + HK46*P(2,2) + HK47*P(2,3);
const float HK55 = -HK31*P(1,4) - HK39*P(1,5) - HK43*P(1,6) - HK44*P(0,1) + HK45*P(1,1) + HK46*P(1,2) + HK47*P(1,3);
const float HK56 = HK8/(-HK31*HK49*HK52 - HK39*HK49*HK51 - HK43*HK49*HK50 - HK44*HK48*HK49 + HK45*HK49*HK55 + HK46*HK49*HK54 + HK47*HK49*HK53 + R_LOS);
const float HK57 = Tbs(0,0)*q3;
const float HK58 = Tbs(0,2)*q1;
const float HK59 = -HK58;
const float HK60 = ve*(HK57 + HK59);
const float HK61 = Tbs(0,0)*q2;
const float HK62 = Tbs(0,1)*q1;
const float HK63 = Tbs(0,1)*q3;
const float HK64 = Tbs(0,2)*q2;
const float HK65 = HK60 - vd*(HK61 - HK62) - vn*(HK63 - HK64);
const float HK66 = Tbs(0,2)*q0;
const float HK67 = -HK61;
const float HK68 = 2*HK62;
const float HK69 = Tbs(0,1)*q0;
const float HK70 = Tbs(0,1)*q2;
const float HK71 = Tbs(0,2)*q3;
const float HK72 = vd*(HK57 - 2*HK58 + HK69) + vn*(HK70 + HK71);
const float HK73 = HK72 - ve*(HK66 + HK67 + HK68);
const float HK74 = Tbs(0,0)*q0;
const float HK75 = -HK63;
const float HK76 = 2*HK64;
const float HK77 = Tbs(0,0)*q1;
const float HK78 = ve*(HK71 + HK77) + vn*(-2*HK61 + HK62 + HK66);
const float HK79 = HK78 - vd*(HK74 + HK75 + HK76);
const float HK80 = 2*HK57;
const float HK81 = vd*(HK70 + HK77) + ve*(-2*HK63 + HK64 + HK74);
const float HK82 = HK81 - vn*(HK59 + HK69 + HK80);
const float HK83 = 2*Tbs(0,2);
const float HK84 = HK21*HK83;
const float HK85 = 2*Tbs(0,1);
const float HK86 = -HK25*HK85 - HK30*Tbs(0,0) + HK84;
const float HK87 = 2*Tbs(0,0);
const float HK88 = HK32*HK87;
const float HK89 = -HK36*HK83 - HK38*Tbs(0,1) + HK88;
const float HK90 = HK40*HK85;
const float HK91 = -HK41*HK87 - HK42*Tbs(0,2) + HK90;
const float HK92 = 2*HK60 + 2*vd*(HK62 + HK67) + 2*vn*(HK64 + HK75);
const float HK93 = -HK27;
const float HK94 = 1 - HK28;
const float HK95 = HK84 + HK85*(-HK23 + HK24) + Tbs(0,0)*(HK93 + HK94);
const float HK96 = -HK37;
const float HK97 = HK83*(-HK34 + HK35) + HK88 + Tbs(0,1)*(HK94 + HK96);
const float HK98 = HK87*(-HK19 + HK20) + HK90 + Tbs(0,2)*(HK93 + HK96 + 1);
const float HK99 = 2*HK72 + 2*ve*(HK61 - HK66 - HK68);
const float HK100 = 2*HK78 + 2*vd*(HK63 - HK74 - HK76);
const float HK101 = 2*HK81 + 2*vn*(HK58 - HK69 - HK80);
const float HK102 = HK100*P(0,2) + HK101*P(0,3) + HK92*P(0,0) + HK95*P(0,4) + HK97*P(0,5) + HK98*P(0,6) + HK99*P(0,1);
const float HK103 = 2*HK49;
const float HK104 = HK100*P(2,6) + HK101*P(3,6) + HK92*P(0,6) + HK95*P(4,6) + HK97*P(5,6) + HK98*P(6,6) + HK99*P(1,6);
const float HK105 = HK100*P(2,5) + HK101*P(3,5) + HK92*P(0,5) + HK95*P(4,5) + HK97*P(5,5) + HK98*P(5,6) + HK99*P(1,5);
const float HK106 = HK100*P(2,4) + HK101*P(3,4) + HK92*P(0,4) + HK95*P(4,4) + HK97*P(4,5) + HK98*P(4,6) + HK99*P(1,4);
const float HK107 = HK100*P(2,3) + HK101*P(3,3) + HK92*P(0,3) + HK95*P(3,4) + HK97*P(3,5) + HK98*P(3,6) + HK99*P(1,3);
const float HK108 = HK100*P(2,2) + HK101*P(2,3) + HK92*P(0,2) + HK95*P(2,4) + HK97*P(2,5) + HK98*P(2,6) + HK99*P(1,2);
const float HK109 = HK100*P(1,2) + HK101*P(1,3) + HK92*P(0,1) + HK95*P(1,4) + HK97*P(1,5) + HK98*P(1,6) + HK99*P(1,1);
const float HK110 = HK8/(HK102*HK103*HK65 + HK103*HK107*HK82 + HK103*HK108*HK79 + HK103*HK109*HK73 + HK104*HK49*HK91 + HK105*HK49*HK89 + HK106*HK49*HK86 + R_LOS);
// Observation Jacobians - axis 0
Hfusion.at<0>() = HK3*HK5;
Hfusion.at<1>() = HK5*HK7;
Hfusion.at<2>() = HK5*HK8;
Hfusion.at<3>() = HK5*HK9;
Hfusion.at<4>() = HK25*HK4;
Hfusion.at<5>() = HK33*HK4;
Hfusion.at<6>() = HK37*HK4;
Hfusion.at<0>() = -HK7*HK9;
Hfusion.at<1>() = HK14*HK9;
Hfusion.at<2>() = HK17*HK9;
Hfusion.at<3>() = HK18*HK9;
Hfusion.at<4>() = -HK31*HK8;
Hfusion.at<5>() = -HK39*HK8;
Hfusion.at<6>() = -HK43*HK8;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -125,40 +140,40 @@ Hfusion.at<23>() = 0;
// Kalman gains - axis 0
Kfusion(0) = HK42*HK50;
Kfusion(1) = HK49*HK50;
Kfusion(2) = HK47*HK50;
Kfusion(3) = HK48*HK50;
Kfusion(4) = HK46*HK50;
Kfusion(5) = HK45*HK50;
Kfusion(6) = HK44*HK50;
Kfusion(7) = HK50*(HK25*P(4,7) + HK33*P(5,7) + HK37*P(6,7) + HK38*P(0,7) + HK39*P(1,7) + HK40*P(2,7) + HK41*P(3,7));
Kfusion(8) = HK50*(HK25*P(4,8) + HK33*P(5,8) + HK37*P(6,8) + HK38*P(0,8) + HK39*P(1,8) + HK40*P(2,8) + HK41*P(3,8));
Kfusion(9) = HK50*(HK25*P(4,9) + HK33*P(5,9) + HK37*P(6,9) + HK38*P(0,9) + HK39*P(1,9) + HK40*P(2,9) + HK41*P(3,9));
Kfusion(10) = HK50*(HK25*P(4,10) + HK33*P(5,10) + HK37*P(6,10) + HK38*P(0,10) + HK39*P(1,10) + HK40*P(2,10) + HK41*P(3,10));
Kfusion(11) = HK50*(HK25*P(4,11) + HK33*P(5,11) + HK37*P(6,11) + HK38*P(0,11) + HK39*P(1,11) + HK40*P(2,11) + HK41*P(3,11));
Kfusion(12) = HK50*(HK25*P(4,12) + HK33*P(5,12) + HK37*P(6,12) + HK38*P(0,12) + HK39*P(1,12) + HK40*P(2,12) + HK41*P(3,12));
Kfusion(13) = HK50*(HK25*P(4,13) + HK33*P(5,13) + HK37*P(6,13) + HK38*P(0,13) + HK39*P(1,13) + HK40*P(2,13) + HK41*P(3,13));
Kfusion(14) = HK50*(HK25*P(4,14) + HK33*P(5,14) + HK37*P(6,14) + HK38*P(0,14) + HK39*P(1,14) + HK40*P(2,14) + HK41*P(3,14));
Kfusion(15) = HK50*(HK25*P(4,15) + HK33*P(5,15) + HK37*P(6,15) + HK38*P(0,15) + HK39*P(1,15) + HK40*P(2,15) + HK41*P(3,15));
Kfusion(16) = HK50*(HK25*P(4,16) + HK33*P(5,16) + HK37*P(6,16) + HK38*P(0,16) + HK39*P(1,16) + HK40*P(2,16) + HK41*P(3,16));
Kfusion(17) = HK50*(HK25*P(4,17) + HK33*P(5,17) + HK37*P(6,17) + HK38*P(0,17) + HK39*P(1,17) + HK40*P(2,17) + HK41*P(3,17));
Kfusion(18) = HK50*(HK25*P(4,18) + HK33*P(5,18) + HK37*P(6,18) + HK38*P(0,18) + HK39*P(1,18) + HK40*P(2,18) + HK41*P(3,18));
Kfusion(19) = HK50*(HK25*P(4,19) + HK33*P(5,19) + HK37*P(6,19) + HK38*P(0,19) + HK39*P(1,19) + HK40*P(2,19) + HK41*P(3,19));
Kfusion(20) = HK50*(HK25*P(4,20) + HK33*P(5,20) + HK37*P(6,20) + HK38*P(0,20) + HK39*P(1,20) + HK40*P(2,20) + HK41*P(3,20));
Kfusion(21) = HK50*(HK25*P(4,21) + HK33*P(5,21) + HK37*P(6,21) + HK38*P(0,21) + HK39*P(1,21) + HK40*P(2,21) + HK41*P(3,21));
Kfusion(22) = HK50*(HK25*P(4,22) + HK33*P(5,22) + HK37*P(6,22) + HK38*P(0,22) + HK39*P(1,22) + HK40*P(2,22) + HK41*P(3,22));
Kfusion(23) = HK50*(HK25*P(4,23) + HK33*P(5,23) + HK37*P(6,23) + HK38*P(0,23) + HK39*P(1,23) + HK40*P(2,23) + HK41*P(3,23));
Kfusion(0) = HK48*HK56;
Kfusion(1) = HK55*HK56;
Kfusion(2) = HK54*HK56;
Kfusion(3) = HK53*HK56;
Kfusion(4) = HK52*HK56;
Kfusion(5) = HK51*HK56;
Kfusion(6) = HK50*HK56;
Kfusion(7) = HK56*(-HK31*P(4,7) - HK39*P(5,7) - HK43*P(6,7) - HK44*P(0,7) + HK45*P(1,7) + HK46*P(2,7) + HK47*P(3,7));
Kfusion(8) = HK56*(-HK31*P(4,8) - HK39*P(5,8) - HK43*P(6,8) - HK44*P(0,8) + HK45*P(1,8) + HK46*P(2,8) + HK47*P(3,8));
Kfusion(9) = HK56*(-HK31*P(4,9) - HK39*P(5,9) - HK43*P(6,9) - HK44*P(0,9) + HK45*P(1,9) + HK46*P(2,9) + HK47*P(3,9));
Kfusion(10) = HK56*(-HK31*P(4,10) - HK39*P(5,10) - HK43*P(6,10) - HK44*P(0,10) + HK45*P(1,10) + HK46*P(2,10) + HK47*P(3,10));
Kfusion(11) = HK56*(-HK31*P(4,11) - HK39*P(5,11) - HK43*P(6,11) - HK44*P(0,11) + HK45*P(1,11) + HK46*P(2,11) + HK47*P(3,11));
Kfusion(12) = HK56*(-HK31*P(4,12) - HK39*P(5,12) - HK43*P(6,12) - HK44*P(0,12) + HK45*P(1,12) + HK46*P(2,12) + HK47*P(3,12));
Kfusion(13) = HK56*(-HK31*P(4,13) - HK39*P(5,13) - HK43*P(6,13) - HK44*P(0,13) + HK45*P(1,13) + HK46*P(2,13) + HK47*P(3,13));
Kfusion(14) = HK56*(-HK31*P(4,14) - HK39*P(5,14) - HK43*P(6,14) - HK44*P(0,14) + HK45*P(1,14) + HK46*P(2,14) + HK47*P(3,14));
Kfusion(15) = HK56*(-HK31*P(4,15) - HK39*P(5,15) - HK43*P(6,15) - HK44*P(0,15) + HK45*P(1,15) + HK46*P(2,15) + HK47*P(3,15));
Kfusion(16) = HK56*(-HK31*P(4,16) - HK39*P(5,16) - HK43*P(6,16) - HK44*P(0,16) + HK45*P(1,16) + HK46*P(2,16) + HK47*P(3,16));
Kfusion(17) = HK56*(-HK31*P(4,17) - HK39*P(5,17) - HK43*P(6,17) - HK44*P(0,17) + HK45*P(1,17) + HK46*P(2,17) + HK47*P(3,17));
Kfusion(18) = HK56*(-HK31*P(4,18) - HK39*P(5,18) - HK43*P(6,18) - HK44*P(0,18) + HK45*P(1,18) + HK46*P(2,18) + HK47*P(3,18));
Kfusion(19) = HK56*(-HK31*P(4,19) - HK39*P(5,19) - HK43*P(6,19) - HK44*P(0,19) + HK45*P(1,19) + HK46*P(2,19) + HK47*P(3,19));
Kfusion(20) = HK56*(-HK31*P(4,20) - HK39*P(5,20) - HK43*P(6,20) - HK44*P(0,20) + HK45*P(1,20) + HK46*P(2,20) + HK47*P(3,20));
Kfusion(21) = HK56*(-HK31*P(4,21) - HK39*P(5,21) - HK43*P(6,21) - HK44*P(0,21) + HK45*P(1,21) + HK46*P(2,21) + HK47*P(3,21));
Kfusion(22) = HK56*(-HK31*P(4,22) - HK39*P(5,22) - HK43*P(6,22) - HK44*P(0,22) + HK45*P(1,22) + HK46*P(2,22) + HK47*P(3,22));
Kfusion(23) = HK56*(-HK31*P(4,23) - HK39*P(5,23) - HK43*P(6,23) - HK44*P(0,23) + HK45*P(1,23) + HK46*P(2,23) + HK47*P(3,23));
// Observation Jacobians - axis 1
Hfusion.at<0>() = -HK5*HK63;
Hfusion.at<1>() = -HK5*HK66;
Hfusion.at<2>() = -HK5*HK68;
Hfusion.at<3>() = -HK5*HK70;
Hfusion.at<4>() = -HK4*HK74;
Hfusion.at<5>() = -HK4*HK77;
Hfusion.at<6>() = -HK4*HK79;
Hfusion.at<0>() = -HK65*HK9;
Hfusion.at<1>() = -HK73*HK9;
Hfusion.at<2>() = -HK79*HK9;
Hfusion.at<3>() = -HK82*HK9;
Hfusion.at<4>() = -HK8*HK86;
Hfusion.at<5>() = -HK8*HK89;
Hfusion.at<6>() = -HK8*HK91;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -179,29 +194,29 @@ Hfusion.at<23>() = 0;
// Kalman gains - axis 1
Kfusion(0) = -HK87*HK95;
Kfusion(1) = -HK94*HK95;
Kfusion(2) = -HK91*HK95;
Kfusion(3) = -HK93*HK95;
Kfusion(4) = -HK90*HK95;
Kfusion(5) = -HK89*HK95;
Kfusion(6) = -HK88*HK95;
Kfusion(7) = -HK95*(HK80*P(0,7) + HK81*P(1,7) + HK82*P(2,7) + HK83*P(3,7) + HK84*P(4,7) + HK85*P(5,7) + HK86*P(6,7));
Kfusion(8) = -HK95*(HK80*P(0,8) + HK81*P(1,8) + HK82*P(2,8) + HK83*P(3,8) + HK84*P(4,8) + HK85*P(5,8) + HK86*P(6,8));
Kfusion(9) = -HK95*(HK80*P(0,9) + HK81*P(1,9) + HK82*P(2,9) + HK83*P(3,9) + HK84*P(4,9) + HK85*P(5,9) + HK86*P(6,9));
Kfusion(10) = -HK95*(HK80*P(0,10) + HK81*P(1,10) + HK82*P(2,10) + HK83*P(3,10) + HK84*P(4,10) + HK85*P(5,10) + HK86*P(6,10));
Kfusion(11) = -HK95*(HK80*P(0,11) + HK81*P(1,11) + HK82*P(2,11) + HK83*P(3,11) + HK84*P(4,11) + HK85*P(5,11) + HK86*P(6,11));
Kfusion(12) = -HK95*(HK80*P(0,12) + HK81*P(1,12) + HK82*P(2,12) + HK83*P(3,12) + HK84*P(4,12) + HK85*P(5,12) + HK86*P(6,12));
Kfusion(13) = -HK95*(HK80*P(0,13) + HK81*P(1,13) + HK82*P(2,13) + HK83*P(3,13) + HK84*P(4,13) + HK85*P(5,13) + HK86*P(6,13));
Kfusion(14) = -HK95*(HK80*P(0,14) + HK81*P(1,14) + HK82*P(2,14) + HK83*P(3,14) + HK84*P(4,14) + HK85*P(5,14) + HK86*P(6,14));
Kfusion(15) = -HK95*(HK80*P(0,15) + HK81*P(1,15) + HK82*P(2,15) + HK83*P(3,15) + HK84*P(4,15) + HK85*P(5,15) + HK86*P(6,15));
Kfusion(16) = -HK95*(HK80*P(0,16) + HK81*P(1,16) + HK82*P(2,16) + HK83*P(3,16) + HK84*P(4,16) + HK85*P(5,16) + HK86*P(6,16));
Kfusion(17) = -HK95*(HK80*P(0,17) + HK81*P(1,17) + HK82*P(2,17) + HK83*P(3,17) + HK84*P(4,17) + HK85*P(5,17) + HK86*P(6,17));
Kfusion(18) = -HK95*(HK80*P(0,18) + HK81*P(1,18) + HK82*P(2,18) + HK83*P(3,18) + HK84*P(4,18) + HK85*P(5,18) + HK86*P(6,18));
Kfusion(19) = -HK95*(HK80*P(0,19) + HK81*P(1,19) + HK82*P(2,19) + HK83*P(3,19) + HK84*P(4,19) + HK85*P(5,19) + HK86*P(6,19));
Kfusion(20) = -HK95*(HK80*P(0,20) + HK81*P(1,20) + HK82*P(2,20) + HK83*P(3,20) + HK84*P(4,20) + HK85*P(5,20) + HK86*P(6,20));
Kfusion(21) = -HK95*(HK80*P(0,21) + HK81*P(1,21) + HK82*P(2,21) + HK83*P(3,21) + HK84*P(4,21) + HK85*P(5,21) + HK86*P(6,21));
Kfusion(22) = -HK95*(HK80*P(0,22) + HK81*P(1,22) + HK82*P(2,22) + HK83*P(3,22) + HK84*P(4,22) + HK85*P(5,22) + HK86*P(6,22));
Kfusion(23) = -HK95*(HK80*P(0,23) + HK81*P(1,23) + HK82*P(2,23) + HK83*P(3,23) + HK84*P(4,23) + HK85*P(5,23) + HK86*P(6,23));
Kfusion(0) = -HK102*HK110;
Kfusion(1) = -HK109*HK110;
Kfusion(2) = -HK108*HK110;
Kfusion(3) = -HK107*HK110;
Kfusion(4) = -HK106*HK110;
Kfusion(5) = -HK105*HK110;
Kfusion(6) = -HK104*HK110;
Kfusion(7) = -HK110*(HK100*P(2,7) + HK101*P(3,7) + HK92*P(0,7) + HK95*P(4,7) + HK97*P(5,7) + HK98*P(6,7) + HK99*P(1,7));
Kfusion(8) = -HK110*(HK100*P(2,8) + HK101*P(3,8) + HK92*P(0,8) + HK95*P(4,8) + HK97*P(5,8) + HK98*P(6,8) + HK99*P(1,8));
Kfusion(9) = -HK110*(HK100*P(2,9) + HK101*P(3,9) + HK92*P(0,9) + HK95*P(4,9) + HK97*P(5,9) + HK98*P(6,9) + HK99*P(1,9));
Kfusion(10) = -HK110*(HK100*P(2,10) + HK101*P(3,10) + HK92*P(0,10) + HK95*P(4,10) + HK97*P(5,10) + HK98*P(6,10) + HK99*P(1,10));
Kfusion(11) = -HK110*(HK100*P(2,11) + HK101*P(3,11) + HK92*P(0,11) + HK95*P(4,11) + HK97*P(5,11) + HK98*P(6,11) + HK99*P(1,11));
Kfusion(12) = -HK110*(HK100*P(2,12) + HK101*P(3,12) + HK92*P(0,12) + HK95*P(4,12) + HK97*P(5,12) + HK98*P(6,12) + HK99*P(1,12));
Kfusion(13) = -HK110*(HK100*P(2,13) + HK101*P(3,13) + HK92*P(0,13) + HK95*P(4,13) + HK97*P(5,13) + HK98*P(6,13) + HK99*P(1,13));
Kfusion(14) = -HK110*(HK100*P(2,14) + HK101*P(3,14) + HK92*P(0,14) + HK95*P(4,14) + HK97*P(5,14) + HK98*P(6,14) + HK99*P(1,14));
Kfusion(15) = -HK110*(HK100*P(2,15) + HK101*P(3,15) + HK92*P(0,15) + HK95*P(4,15) + HK97*P(5,15) + HK98*P(6,15) + HK99*P(1,15));
Kfusion(16) = -HK110*(HK100*P(2,16) + HK101*P(3,16) + HK92*P(0,16) + HK95*P(4,16) + HK97*P(5,16) + HK98*P(6,16) + HK99*P(1,16));
Kfusion(17) = -HK110*(HK100*P(2,17) + HK101*P(3,17) + HK92*P(0,17) + HK95*P(4,17) + HK97*P(5,17) + HK98*P(6,17) + HK99*P(1,17));
Kfusion(18) = -HK110*(HK100*P(2,18) + HK101*P(3,18) + HK92*P(0,18) + HK95*P(4,18) + HK97*P(5,18) + HK98*P(6,18) + HK99*P(1,18));
Kfusion(19) = -HK110*(HK100*P(2,19) + HK101*P(3,19) + HK92*P(0,19) + HK95*P(4,19) + HK97*P(5,19) + HK98*P(6,19) + HK99*P(1,19));
Kfusion(20) = -HK110*(HK100*P(2,20) + HK101*P(3,20) + HK92*P(0,20) + HK95*P(4,20) + HK97*P(5,20) + HK98*P(6,20) + HK99*P(1,20));
Kfusion(21) = -HK110*(HK100*P(2,21) + HK101*P(3,21) + HK92*P(0,21) + HK95*P(4,21) + HK97*P(5,21) + HK98*P(6,21) + HK99*P(1,21));
Kfusion(22) = -HK110*(HK100*P(2,22) + HK101*P(3,22) + HK92*P(0,22) + HK95*P(4,22) + HK97*P(5,22) + HK98*P(6,22) + HK99*P(1,22));
Kfusion(23) = -HK110*(HK100*P(2,23) + HK101*P(3,23) + HK92*P(0,23) + HK95*P(4,23) + HK97*P(5,23) + HK98*P(6,23) + HK99*P(1,23));
EKF/python/ekf_derivation/generated/gps_yaw_generated.cpp
+55 -61
View File
@@ -1,44 +1,38 @@
// Sub Expressions
const float HK0 = sinf(ant_yaw);
const float HK1 = q0*q3;
const float HK2 = q1*q2;
const float HK3 = 2*HK0*(HK1 - HK2);
const float HK4 = cosf(ant_yaw);
const float HK5 = powf(q1, 2);
const float HK6 = powf(q2, 2);
const float HK7 = powf(q0, 2) - powf(q3, 2);
const float HK8 = HK4*(HK5 - HK6 + HK7);
const float HK9 = HK3 - HK8;
const float HK10 = 1.0F/HK9;
const float HK11 = HK4*q0;
const float HK12 = HK0*q3;
const float HK13 = HK0*(-HK5 + HK6 + HK7) + 2*HK4*(HK1 + HK2);
const float HK14 = HK10*HK13;
const float HK15 = HK0*q0 + HK4*q3;
const float HK16 = HK10*(HK14*(HK11 - HK12) + HK15);
const float HK17 = powf(HK13, 2)/powf(HK9, 2) + 1;
const float HK18 = 2/HK17;
const float HK19 = 1.0F/(-HK3 + HK8);
const float HK20 = HK4*q1;
const float HK21 = HK0*q2;
const float HK22 = HK13*HK19;
const float HK23 = HK0*q1 - HK4*q2;
const float HK24 = HK19*(HK22*(HK20 + HK21) + HK23);
const float HK25 = HK19*(-HK20 - HK21 + HK22*HK23);
const float HK26 = HK10*(-HK11 + HK12 + HK14*HK15);
const float HK27 = -HK16*P(0,0) - HK24*P(0,1) - HK25*P(0,2) + HK26*P(0,3);
const float HK28 = -HK16*P(0,1) - HK24*P(1,1) - HK25*P(1,2) + HK26*P(1,3);
const float HK29 = 4/powf(HK17, 2);
const float HK30 = -HK16*P(0,2) - HK24*P(1,2) - HK25*P(2,2) + HK26*P(2,3);
const float HK31 = -HK16*P(0,3) - HK24*P(1,3) - HK25*P(2,3) + HK26*P(3,3);
const float HK32 = HK18/(-HK16*HK27*HK29 - HK24*HK28*HK29 - HK25*HK29*HK30 + HK26*HK29*HK31 + R_YAW);
const float HK0 = cosf(ant_yaw);
const float HK1 = sinf(ant_yaw);
const float HK2 = q0*q3;
const float HK3 = q1*q2;
const float HK4 = 2*HK1;
const float HK5 = 2*powf(q3, 2) - 1;
const float HK6 = HK0*(HK5 + 2*powf(q2, 2)) + HK4*(HK2 - HK3);
const float HK7 = 1.0F/HK6;
const float HK8 = 2*HK0;
const float HK9 = -HK1*(HK5 + 2*powf(q1, 2)) + HK8*(HK2 + HK3);
const float HK10 = HK7*HK9;
const float HK11 = HK1*HK10;
const float HK12 = q3*(-HK0 + HK11);
const float HK13 = powf(HK6, -2);
const float HK14 = HK13*powf(HK9, 2) + 1;
const float HK15 = 2*HK7/HK14;
const float HK16 = HK0*q2;
const float HK17 = HK1*q1;
const float HK18 = HK11*q2 + HK16 - 2*HK17;
const float HK19 = HK0*q1 + HK10*(-2*HK16 + HK17);
const float HK20 = -HK0*q0 + HK10*(HK1*q0 + HK8*q3) + HK4*q3;
const float HK21 = HK12*P(0,0) - HK18*P(0,1) - HK19*P(0,2) + HK20*P(0,3);
const float HK22 = 4*HK13/powf(HK14, 2);
const float HK23 = HK12*P(0,1) - HK18*P(1,1) - HK19*P(1,2) + HK20*P(1,3);
const float HK24 = HK12*P(0,2) - HK18*P(1,2) - HK19*P(2,2) + HK20*P(2,3);
const float HK25 = HK12*P(0,3) - HK18*P(1,3) - HK19*P(2,3) + HK20*P(3,3);
const float HK26 = HK15/(HK12*HK21*HK22 - HK18*HK22*HK23 - HK19*HK22*HK24 + HK20*HK22*HK25 + R_YAW);
// Observation Jacobians
Hfusion.at<0>() = -HK16*HK18;
Hfusion.at<1>() = -HK18*HK24;
Hfusion.at<2>() = -HK18*HK25;
Hfusion.at<3>() = HK18*HK26;
Hfusion.at<0>() = HK12*HK15;
Hfusion.at<1>() = -HK15*HK18;
Hfusion.at<2>() = -HK15*HK19;
Hfusion.at<3>() = HK15*HK20;
Hfusion.at<4>() = 0;
Hfusion.at<5>() = 0;
Hfusion.at<6>() = 0;
@@ -62,29 +56,29 @@ Hfusion.at<23>() = 0;
// Kalman gains
Kfusion(0) = HK27*HK32;
Kfusion(1) = HK28*HK32;
Kfusion(2) = HK30*HK32;
Kfusion(3) = HK31*HK32;
Kfusion(4) = HK32*(-HK16*P(0,4) - HK24*P(1,4) - HK25*P(2,4) + HK26*P(3,4));
Kfusion(5) = HK32*(-HK16*P(0,5) - HK24*P(1,5) - HK25*P(2,5) + HK26*P(3,5));
Kfusion(6) = HK32*(-HK16*P(0,6) - HK24*P(1,6) - HK25*P(2,6) + HK26*P(3,6));
Kfusion(7) = HK32*(-HK16*P(0,7) - HK24*P(1,7) - HK25*P(2,7) + HK26*P(3,7));
Kfusion(8) = HK32*(-HK16*P(0,8) - HK24*P(1,8) - HK25*P(2,8) + HK26*P(3,8));
Kfusion(9) = HK32*(-HK16*P(0,9) - HK24*P(1,9) - HK25*P(2,9) + HK26*P(3,9));
Kfusion(10) = HK32*(-HK16*P(0,10) - HK24*P(1,10) - HK25*P(2,10) + HK26*P(3,10));
Kfusion(11) = HK32*(-HK16*P(0,11) - HK24*P(1,11) - HK25*P(2,11) + HK26*P(3,11));
Kfusion(12) = HK32*(-HK16*P(0,12) - HK24*P(1,12) - HK25*P(2,12) + HK26*P(3,12));
Kfusion(13) = HK32*(-HK16*P(0,13) - HK24*P(1,13) - HK25*P(2,13) + HK26*P(3,13));
Kfusion(14) = HK32*(-HK16*P(0,14) - HK24*P(1,14) - HK25*P(2,14) + HK26*P(3,14));
Kfusion(15) = HK32*(-HK16*P(0,15) - HK24*P(1,15) - HK25*P(2,15) + HK26*P(3,15));
Kfusion(16) = HK32*(-HK16*P(0,16) - HK24*P(1,16) - HK25*P(2,16) + HK26*P(3,16));
Kfusion(17) = HK32*(-HK16*P(0,17) - HK24*P(1,17) - HK25*P(2,17) + HK26*P(3,17));
Kfusion(18) = HK32*(-HK16*P(0,18) - HK24*P(1,18) - HK25*P(2,18) + HK26*P(3,18));
Kfusion(19) = HK32*(-HK16*P(0,19) - HK24*P(1,19) - HK25*P(2,19) + HK26*P(3,19));
Kfusion(20) = HK32*(-HK16*P(0,20) - HK24*P(1,20) - HK25*P(2,20) + HK26*P(3,20));
Kfusion(21) = HK32*(-HK16*P(0,21) - HK24*P(1,21) - HK25*P(2,21) + HK26*P(3,21));
Kfusion(22) = HK32*(-HK16*P(0,22) - HK24*P(1,22) - HK25*P(2,22) + HK26*P(3,22));
Kfusion(23) = HK32*(-HK16*P(0,23) - HK24*P(1,23) - HK25*P(2,23) + HK26*P(3,23));
Kfusion(0) = HK21*HK26;
Kfusion(1) = HK23*HK26;
Kfusion(2) = HK24*HK26;
Kfusion(3) = HK25*HK26;
Kfusion(4) = HK26*(HK12*P(0,4) - HK18*P(1,4) - HK19*P(2,4) + HK20*P(3,4));
Kfusion(5) = HK26*(HK12*P(0,5) - HK18*P(1,5) - HK19*P(2,5) + HK20*P(3,5));
Kfusion(6) = HK26*(HK12*P(0,6) - HK18*P(1,6) - HK19*P(2,6) + HK20*P(3,6));
Kfusion(7) = HK26*(HK12*P(0,7) - HK18*P(1,7) - HK19*P(2,7) + HK20*P(3,7));
Kfusion(8) = HK26*(HK12*P(0,8) - HK18*P(1,8) - HK19*P(2,8) + HK20*P(3,8));
Kfusion(9) = HK26*(HK12*P(0,9) - HK18*P(1,9) - HK19*P(2,9) + HK20*P(3,9));
Kfusion(10) = HK26*(HK12*P(0,10) - HK18*P(1,10) - HK19*P(2,10) + HK20*P(3,10));
Kfusion(11) = HK26*(HK12*P(0,11) - HK18*P(1,11) - HK19*P(2,11) + HK20*P(3,11));
Kfusion(12) = HK26*(HK12*P(0,12) - HK18*P(1,12) - HK19*P(2,12) + HK20*P(3,12));
Kfusion(13) = HK26*(HK12*P(0,13) - HK18*P(1,13) - HK19*P(2,13) + HK20*P(3,13));
Kfusion(14) = HK26*(HK12*P(0,14) - HK18*P(1,14) - HK19*P(2,14) + HK20*P(3,14));
Kfusion(15) = HK26*(HK12*P(0,15) - HK18*P(1,15) - HK19*P(2,15) + HK20*P(3,15));
Kfusion(16) = HK26*(HK12*P(0,16) - HK18*P(1,16) - HK19*P(2,16) + HK20*P(3,16));
Kfusion(17) = HK26*(HK12*P(0,17) - HK18*P(1,17) - HK19*P(2,17) + HK20*P(3,17));
Kfusion(18) = HK26*(HK12*P(0,18) - HK18*P(1,18) - HK19*P(2,18) + HK20*P(3,18));
Kfusion(19) = HK26*(HK12*P(0,19) - HK18*P(1,19) - HK19*P(2,19) + HK20*P(3,19));
Kfusion(20) = HK26*(HK12*P(0,20) - HK18*P(1,20) - HK19*P(2,20) + HK20*P(3,20));
Kfusion(21) = HK26*(HK12*P(0,21) - HK18*P(1,21) - HK19*P(2,21) + HK20*P(3,21));
Kfusion(22) = HK26*(HK12*P(0,22) - HK18*P(1,22) - HK19*P(2,22) + HK20*P(3,22));
Kfusion(23) = HK26*(HK12*P(0,23) - HK18*P(1,23) - HK19*P(2,23) + HK20*P(3,23));
EKF/python/ekf_derivation/generated/vel_bf_generated.cpp
+175 -164
View File
@@ -1,37 +1,41 @@
// axis 0
const float HK0 = q0*vn - q2*vd + q3*ve;
const float HK1 = q1*vn + q2*ve + q3*vd;
const float HK2 = q1*ve;
const float HK3 = q0*vd;
const float HK4 = q2*vn;
const float HK5 = q0*ve + q1*vd - q3*vn;
const float HK6 = powf(q0, 2) + powf(q1, 2) - powf(q2, 2) - powf(q3, 2);
const float HK7 = q0*q3 + q1*q2;
const float HK8 = q1*q3;
const float HK9 = q0*q2;
const float HK10 = 2*HK7;
const float HK11 = -2*HK8 + 2*HK9;
const float HK12 = 2*HK1;
const float HK13 = 2*HK0;
const float HK14 = -2*HK2 + 2*HK3 + 2*HK4;
const float HK15 = 2*HK5;
const float HK16 = HK10*P(0,5) - HK11*P(0,6) + HK12*P(0,1) + HK13*P(0,0) - HK14*P(0,2) + HK15*P(0,3) + HK6*P(0,4);
const float HK17 = HK10*P(5,5) - HK11*P(5,6) + HK12*P(1,5) + HK13*P(0,5) - HK14*P(2,5) + HK15*P(3,5) + HK6*P(4,5);
const float HK18 = HK10*P(5,6) - HK11*P(6,6) + HK12*P(1,6) + HK13*P(0,6) - HK14*P(2,6) + HK15*P(3,6) + HK6*P(4,6);
const float HK19 = HK10*P(1,5) - HK11*P(1,6) + HK12*P(1,1) + HK13*P(0,1) - HK14*P(1,2) + HK15*P(1,3) + HK6*P(1,4);
const float HK20 = HK10*P(2,5) - HK11*P(2,6) + HK12*P(1,2) + HK13*P(0,2) - HK14*P(2,2) + HK15*P(2,3) + HK6*P(2,4);
const float HK21 = HK10*P(3,5) - HK11*P(3,6) + HK12*P(1,3) + HK13*P(0,3) - HK14*P(2,3) + HK15*P(3,3) + HK6*P(3,4);
const float HK22 = HK10*P(4,5) - HK11*P(4,6) + HK12*P(1,4) + HK13*P(0,4) - HK14*P(2,4) + HK15*P(3,4) + HK6*P(4,4);
const float HK23 = 1.0F/(HK10*HK17 - HK11*HK18 + HK12*HK19 + HK13*HK16 - HK14*HK20 + HK15*HK21 + HK22*HK6 + R_VEL);
const float HK0 = q3*ve;
const float HK1 = q2*vd;
const float HK2 = q2*ve + q3*vd;
const float HK3 = q1*ve;
const float HK4 = q0*vd;
const float HK5 = 2*vn;
const float HK6 = HK5*q2;
const float HK7 = -HK5*q3 + q0*ve + q1*vd;
const float HK8 = 2*powf(q2, 2);
const float HK9 = 2*powf(q3, 2);
const float HK10 = q0*q3 + q1*q2;
const float HK11 = q1*q3;
const float HK12 = q0*q2;
const float HK13 = 2*HK2;
const float HK14 = 2*HK10;
const float HK15 = -2*HK0 + 2*HK1;
const float HK16 = -2*HK11 + 2*HK12;
const float HK17 = 2*HK7;
const float HK18 = HK8 + HK9 - 1;
const float HK19 = -2*HK3 + 2*HK4 + 2*HK6;
const float HK20 = -HK13*P(0,1) - HK14*P(0,5) + HK15*P(0,0) + HK16*P(0,6) - HK17*P(0,3) + HK18*P(0,4) + HK19*P(0,2);
const float HK21 = -HK13*P(1,5) - HK14*P(5,5) + HK15*P(0,5) + HK16*P(5,6) - HK17*P(3,5) + HK18*P(4,5) + HK19*P(2,5);
const float HK22 = -HK13*P(1,1) - HK14*P(1,5) + HK15*P(0,1) + HK16*P(1,6) - HK17*P(1,3) + HK18*P(1,4) + HK19*P(1,2);
const float HK23 = -HK13*P(1,6) - HK14*P(5,6) + HK15*P(0,6) + HK16*P(6,6) - HK17*P(3,6) + HK18*P(4,6) + HK19*P(2,6);
const float HK24 = -HK13*P(1,4) - HK14*P(4,5) + HK15*P(0,4) + HK16*P(4,6) - HK17*P(3,4) + HK18*P(4,4) + HK19*P(2,4);
const float HK25 = -HK13*P(1,3) - HK14*P(3,5) + HK15*P(0,3) + HK16*P(3,6) - HK17*P(3,3) + HK18*P(3,4) + HK19*P(2,3);
const float HK26 = -HK13*P(1,2) - HK14*P(2,5) + HK15*P(0,2) + HK16*P(2,6) - HK17*P(2,3) + HK18*P(2,4) + HK19*P(2,2);
const float HK27 = 1.0F/(-HK13*HK22 - HK14*HK21 + HK15*HK20 + HK16*HK23 - HK17*HK25 + HK18*HK24 + HK19*HK26 + R_VEL);
H_VEL(0) = 2*HK0;
H_VEL(1) = 2*HK1;
H_VEL(2) = 2*HK2 - 2*HK3 - 2*HK4;
H_VEL(3) = 2*HK5;
H_VEL(4) = HK6;
H_VEL(5) = 2*HK7;
H_VEL(6) = 2*HK8 - 2*HK9;
H_VEL(0) = 2*HK0 - 2*HK1;
H_VEL(1) = 2*HK2;
H_VEL(2) = 2*HK3 - 2*HK4 - 2*HK6;
H_VEL(3) = 2*HK7;
H_VEL(4) = -HK8 - HK9 + 1;
H_VEL(5) = 2*HK10;
H_VEL(6) = 2*HK11 - 2*HK12;
H_VEL(7) = 0;
H_VEL(8) = 0;
H_VEL(9) = 0;
@@ -51,66 +55,69 @@ H_VEL(22) = 0;
H_VEL(23) = 0;
Kfusion(0) = HK16*HK23;
Kfusion(1) = HK19*HK23;
Kfusion(2) = HK20*HK23;
Kfusion(3) = HK21*HK23;
Kfusion(4) = HK22*HK23;
Kfusion(5) = HK17*HK23;
Kfusion(6) = HK18*HK23;
Kfusion(7) = HK23*(HK10*P(5,7) - HK11*P(6,7) + HK12*P(1,7) + HK13*P(0,7) - HK14*P(2,7) + HK15*P(3,7) + HK6*P(4,7));
Kfusion(8) = HK23*(HK10*P(5,8) - HK11*P(6,8) + HK12*P(1,8) + HK13*P(0,8) - HK14*P(2,8) + HK15*P(3,8) + HK6*P(4,8));
Kfusion(9) = HK23*(HK10*P(5,9) - HK11*P(6,9) + HK12*P(1,9) + HK13*P(0,9) - HK14*P(2,9) + HK15*P(3,9) + HK6*P(4,9));
Kfusion(10) = HK23*(HK10*P(5,10) - HK11*P(6,10) + HK12*P(1,10) + HK13*P(0,10) - HK14*P(2,10) + HK15*P(3,10) + HK6*P(4,10));
Kfusion(11) = HK23*(HK10*P(5,11) - HK11*P(6,11) + HK12*P(1,11) + HK13*P(0,11) - HK14*P(2,11) + HK15*P(3,11) + HK6*P(4,11));
Kfusion(12) = HK23*(HK10*P(5,12) - HK11*P(6,12) + HK12*P(1,12) + HK13*P(0,12) - HK14*P(2,12) + HK15*P(3,12) + HK6*P(4,12));
Kfusion(13) = HK23*(HK10*P(5,13) - HK11*P(6,13) + HK12*P(1,13) + HK13*P(0,13) - HK14*P(2,13) + HK15*P(3,13) + HK6*P(4,13));
Kfusion(14) = HK23*(HK10*P(5,14) - HK11*P(6,14) + HK12*P(1,14) + HK13*P(0,14) - HK14*P(2,14) + HK15*P(3,14) + HK6*P(4,14));
Kfusion(15) = HK23*(HK10*P(5,15) - HK11*P(6,15) + HK12*P(1,15) + HK13*P(0,15) - HK14*P(2,15) + HK15*P(3,15) + HK6*P(4,15));
Kfusion(16) = HK23*(HK10*P(5,16) - HK11*P(6,16) + HK12*P(1,16) + HK13*P(0,16) - HK14*P(2,16) + HK15*P(3,16) + HK6*P(4,16));
Kfusion(17) = HK23*(HK10*P(5,17) - HK11*P(6,17) + HK12*P(1,17) + HK13*P(0,17) - HK14*P(2,17) + HK15*P(3,17) + HK6*P(4,17));
Kfusion(18) = HK23*(HK10*P(5,18) - HK11*P(6,18) + HK12*P(1,18) + HK13*P(0,18) - HK14*P(2,18) + HK15*P(3,18) + HK6*P(4,18));
Kfusion(19) = HK23*(HK10*P(5,19) - HK11*P(6,19) + HK12*P(1,19) + HK13*P(0,19) - HK14*P(2,19) + HK15*P(3,19) + HK6*P(4,19));
Kfusion(20) = HK23*(HK10*P(5,20) - HK11*P(6,20) + HK12*P(1,20) + HK13*P(0,20) - HK14*P(2,20) + HK15*P(3,20) + HK6*P(4,20));
Kfusion(21) = HK23*(HK10*P(5,21) - HK11*P(6,21) + HK12*P(1,21) + HK13*P(0,21) - HK14*P(2,21) + HK15*P(3,21) + HK6*P(4,21));
Kfusion(22) = HK23*(HK10*P(5,22) - HK11*P(6,22) + HK12*P(1,22) + HK13*P(0,22) - HK14*P(2,22) + HK15*P(3,22) + HK6*P(4,22));
Kfusion(23) = HK23*(HK10*P(5,23) - HK11*P(6,23) + HK12*P(1,23) + HK13*P(0,23) - HK14*P(2,23) + HK15*P(3,23) + HK6*P(4,23));
Kfusion(0) = -HK20*HK27;
Kfusion(1) = -HK22*HK27;
Kfusion(2) = -HK26*HK27;
Kfusion(3) = -HK25*HK27;
Kfusion(4) = -HK24*HK27;
Kfusion(5) = -HK21*HK27;
Kfusion(6) = -HK23*HK27;
Kfusion(7) = -HK27*(-HK13*P(1,7) - HK14*P(5,7) + HK15*P(0,7) + HK16*P(6,7) - HK17*P(3,7) + HK18*P(4,7) + HK19*P(2,7));
Kfusion(8) = -HK27*(-HK13*P(1,8) - HK14*P(5,8) + HK15*P(0,8) + HK16*P(6,8) - HK17*P(3,8) + HK18*P(4,8) + HK19*P(2,8));
Kfusion(9) = -HK27*(-HK13*P(1,9) - HK14*P(5,9) + HK15*P(0,9) + HK16*P(6,9) - HK17*P(3,9) + HK18*P(4,9) + HK19*P(2,9));
Kfusion(10) = -HK27*(-HK13*P(1,10) - HK14*P(5,10) + HK15*P(0,10) + HK16*P(6,10) - HK17*P(3,10) + HK18*P(4,10) + HK19*P(2,10));
Kfusion(11) = -HK27*(-HK13*P(1,11) - HK14*P(5,11) + HK15*P(0,11) + HK16*P(6,11) - HK17*P(3,11) + HK18*P(4,11) + HK19*P(2,11));
Kfusion(12) = -HK27*(-HK13*P(1,12) - HK14*P(5,12) + HK15*P(0,12) + HK16*P(6,12) - HK17*P(3,12) + HK18*P(4,12) + HK19*P(2,12));
Kfusion(13) = -HK27*(-HK13*P(1,13) - HK14*P(5,13) + HK15*P(0,13) + HK16*P(6,13) - HK17*P(3,13) + HK18*P(4,13) + HK19*P(2,13));
Kfusion(14) = -HK27*(-HK13*P(1,14) - HK14*P(5,14) + HK15*P(0,14) + HK16*P(6,14) - HK17*P(3,14) + HK18*P(4,14) + HK19*P(2,14));
Kfusion(15) = -HK27*(-HK13*P(1,15) - HK14*P(5,15) + HK15*P(0,15) + HK16*P(6,15) - HK17*P(3,15) + HK18*P(4,15) + HK19*P(2,15));
Kfusion(16) = -HK27*(-HK13*P(1,16) - HK14*P(5,16) + HK15*P(0,16) + HK16*P(6,16) - HK17*P(3,16) + HK18*P(4,16) + HK19*P(2,16));
Kfusion(17) = -HK27*(-HK13*P(1,17) - HK14*P(5,17) + HK15*P(0,17) + HK16*P(6,17) - HK17*P(3,17) + HK18*P(4,17) + HK19*P(2,17));
Kfusion(18) = -HK27*(-HK13*P(1,18) - HK14*P(5,18) + HK15*P(0,18) + HK16*P(6,18) - HK17*P(3,18) + HK18*P(4,18) + HK19*P(2,18));
Kfusion(19) = -HK27*(-HK13*P(1,19) - HK14*P(5,19) + HK15*P(0,19) + HK16*P(6,19) - HK17*P(3,19) + HK18*P(4,19) + HK19*P(2,19));
Kfusion(20) = -HK27*(-HK13*P(1,20) - HK14*P(5,20) + HK15*P(0,20) + HK16*P(6,20) - HK17*P(3,20) + HK18*P(4,20) + HK19*P(2,20));
Kfusion(21) = -HK27*(-HK13*P(1,21) - HK14*P(5,21) + HK15*P(0,21) + HK16*P(6,21) - HK17*P(3,21) + HK18*P(4,21) + HK19*P(2,21));
Kfusion(22) = -HK27*(-HK13*P(1,22) - HK14*P(5,22) + HK15*P(0,22) + HK16*P(6,22) - HK17*P(3,22) + HK18*P(4,22) + HK19*P(2,22));
Kfusion(23) = -HK27*(-HK13*P(1,23) - HK14*P(5,23) + HK15*P(0,23) + HK16*P(6,23) - HK17*P(3,23) + HK18*P(4,23) + HK19*P(2,23));
// axis 1
const float HK0 = q0*ve + q1*vd - q3*vn;
const float HK1 = q0*vd - q1*ve + q2*vn;
const float HK2 = q1*vn + q2*ve + q3*vd;
const float HK3 = q2*vd;
const float HK4 = q0*vn;
const float HK5 = q3*ve;
const float HK6 = q1*q2;
const float HK7 = q0*q3;
const float HK8 = powf(q0, 2) - powf(q1, 2) + powf(q2, 2) - powf(q3, 2);
const float HK9 = q0*q1 + q2*q3;
const float HK10 = 2*HK9;
const float HK11 = -2*HK6 + 2*HK7;
const float HK12 = 2*HK2;
const float HK13 = 2*HK0;
const float HK14 = 2*HK1;
const float HK15 = -2*HK3 + 2*HK4 + 2*HK5;
const float HK16 = HK10*P(0,6) - HK11*P(0,4) + HK12*P(0,2) + HK13*P(0,0) + HK14*P(0,1) - HK15*P(0,3) + HK8*P(0,5);
const float HK17 = HK10*P(6,6) - HK11*P(4,6) + HK12*P(2,6) + HK13*P(0,6) + HK14*P(1,6) - HK15*P(3,6) + HK8*P(5,6);
const float HK18 = HK10*P(4,6) - HK11*P(4,4) + HK12*P(2,4) + HK13*P(0,4) + HK14*P(1,4) - HK15*P(3,4) + HK8*P(4,5);
const float HK19 = HK10*P(2,6) - HK11*P(2,4) + HK12*P(2,2) + HK13*P(0,2) + HK14*P(1,2) - HK15*P(2,3) + HK8*P(2,5);
const float HK20 = HK10*P(1,6) - HK11*P(1,4) + HK12*P(1,2) + HK13*P(0,1) + HK14*P(1,1) - HK15*P(1,3) + HK8*P(1,5);
const float HK21 = HK10*P(3,6) - HK11*P(3,4) + HK12*P(2,3) + HK13*P(0,3) + HK14*P(1,3) - HK15*P(3,3) + HK8*P(3,5);
const float HK22 = HK10*P(5,6) - HK11*P(4,5) + HK12*P(2,5) + HK13*P(0,5) + HK14*P(1,5) - HK15*P(3,5) + HK8*P(5,5);
const float HK23 = 1.0F/(HK10*HK17 - HK11*HK18 + HK12*HK19 + HK13*HK16 + HK14*HK20 - HK15*HK21 + HK22*HK8 + R_VEL);
const float HK0 = q1*vd - q3*vn;
const float HK1 = 2*ve;
const float HK2 = -HK1*q1 + q0*vd + q2*vn;
const float HK3 = q1*vn + q3*vd;
const float HK4 = q2*vd;
const float HK5 = q0*vn;
const float HK6 = HK1*q3;
const float HK7 = q1*q2;
const float HK8 = q0*q3;
const float HK9 = 2*powf(q1, 2);
const float HK10 = 2*powf(q3, 2);
const float HK11 = q0*q1 + q2*q3;
const float HK12 = 2*HK3;
const float HK13 = 2*HK11;
const float HK14 = 2*HK0;
const float HK15 = -2*HK7 + 2*HK8;
const float HK16 = 2*HK2;
const float HK17 = -2*HK4 + 2*HK5 + 2*HK6;
const float HK18 = HK10 + HK9 - 1;
const float HK19 = HK12*P(0,2) + HK13*P(0,6) + HK14*P(0,0) - HK15*P(0,4) + HK16*P(0,1) - HK17*P(0,3) - HK18*P(0,5);
const float HK20 = HK12*P(2,6) + HK13*P(6,6) + HK14*P(0,6) - HK15*P(4,6) + HK16*P(1,6) - HK17*P(3,6) - HK18*P(5,6);
const float HK21 = HK12*P(2,2) + HK13*P(2,6) + HK14*P(0,2) - HK15*P(2,4) + HK16*P(1,2) - HK17*P(2,3) - HK18*P(2,5);
const float HK22 = HK12*P(2,4) + HK13*P(4,6) + HK14*P(0,4) - HK15*P(4,4) + HK16*P(1,4) - HK17*P(3,4) - HK18*P(4,5);
const float HK23 = HK12*P(1,2) + HK13*P(1,6) + HK14*P(0,1) - HK15*P(1,4) + HK16*P(1,1) - HK17*P(1,3) - HK18*P(1,5);
const float HK24 = HK12*P(2,5) + HK13*P(5,6) + HK14*P(0,5) - HK15*P(4,5) + HK16*P(1,5) - HK17*P(3,5) - HK18*P(5,5);
const float HK25 = HK12*P(2,3) + HK13*P(3,6) + HK14*P(0,3) - HK15*P(3,4) + HK16*P(1,3) - HK17*P(3,3) - HK18*P(3,5);
const float HK26 = 1.0F/(HK12*HK21 + HK13*HK20 + HK14*HK19 - HK15*HK22 + HK16*HK23 - HK17*HK25 - HK18*HK24 + R_VEL);
H_VEL(0) = 2*HK0;
H_VEL(1) = 2*HK1;
H_VEL(2) = 2*HK2;
H_VEL(3) = 2*HK3 - 2*HK4 - 2*HK5;
H_VEL(4) = 2*HK6 - 2*HK7;
H_VEL(5) = HK8;
H_VEL(6) = 2*HK9;
H_VEL(1) = 2*HK2;
H_VEL(2) = 2*HK3;
H_VEL(3) = 2*HK4 - 2*HK5 - 2*HK6;
H_VEL(4) = 2*HK7 - 2*HK8;
H_VEL(5) = -HK10 - HK9 + 1;
H_VEL(6) = 2*HK11;
H_VEL(7) = 0;
H_VEL(8) = 0;
H_VEL(9) = 0;
@@ -130,66 +137,70 @@ H_VEL(22) = 0;
H_VEL(23) = 0;
Kfusion(0) = HK16*HK23;
Kfusion(1) = HK20*HK23;
Kfusion(2) = HK19*HK23;
Kfusion(3) = HK21*HK23;
Kfusion(4) = HK18*HK23;
Kfusion(5) = HK22*HK23;
Kfusion(6) = HK17*HK23;
Kfusion(7) = HK23*(HK10*P(6,7) - HK11*P(4,7) + HK12*P(2,7) + HK13*P(0,7) + HK14*P(1,7) - HK15*P(3,7) + HK8*P(5,7));
Kfusion(8) = HK23*(HK10*P(6,8) - HK11*P(4,8) + HK12*P(2,8) + HK13*P(0,8) + HK14*P(1,8) - HK15*P(3,8) + HK8*P(5,8));
Kfusion(9) = HK23*(HK10*P(6,9) - HK11*P(4,9) + HK12*P(2,9) + HK13*P(0,9) + HK14*P(1,9) - HK15*P(3,9) + HK8*P(5,9));
Kfusion(10) = HK23*(HK10*P(6,10) - HK11*P(4,10) + HK12*P(2,10) + HK13*P(0,10) + HK14*P(1,10) - HK15*P(3,10) + HK8*P(5,10));
Kfusion(11) = HK23*(HK10*P(6,11) - HK11*P(4,11) + HK12*P(2,11) + HK13*P(0,11) + HK14*P(1,11) - HK15*P(3,11) + HK8*P(5,11));
Kfusion(12) = HK23*(HK10*P(6,12) - HK11*P(4,12) + HK12*P(2,12) + HK13*P(0,12) + HK14*P(1,12) - HK15*P(3,12) + HK8*P(5,12));
Kfusion(13) = HK23*(HK10*P(6,13) - HK11*P(4,13) + HK12*P(2,13) + HK13*P(0,13) + HK14*P(1,13) - HK15*P(3,13) + HK8*P(5,13));
Kfusion(14) = HK23*(HK10*P(6,14) - HK11*P(4,14) + HK12*P(2,14) + HK13*P(0,14) + HK14*P(1,14) - HK15*P(3,14) + HK8*P(5,14));
Kfusion(15) = HK23*(HK10*P(6,15) - HK11*P(4,15) + HK12*P(2,15) + HK13*P(0,15) + HK14*P(1,15) - HK15*P(3,15) + HK8*P(5,15));
Kfusion(16) = HK23*(HK10*P(6,16) - HK11*P(4,16) + HK12*P(2,16) + HK13*P(0,16) + HK14*P(1,16) - HK15*P(3,16) + HK8*P(5,16));
Kfusion(17) = HK23*(HK10*P(6,17) - HK11*P(4,17) + HK12*P(2,17) + HK13*P(0,17) + HK14*P(1,17) - HK15*P(3,17) + HK8*P(5,17));
Kfusion(18) = HK23*(HK10*P(6,18) - HK11*P(4,18) + HK12*P(2,18) + HK13*P(0,18) + HK14*P(1,18) - HK15*P(3,18) + HK8*P(5,18));
Kfusion(19) = HK23*(HK10*P(6,19) - HK11*P(4,19) + HK12*P(2,19) + HK13*P(0,19) + HK14*P(1,19) - HK15*P(3,19) + HK8*P(5,19));
Kfusion(20) = HK23*(HK10*P(6,20) - HK11*P(4,20) + HK12*P(2,20) + HK13*P(0,20) + HK14*P(1,20) - HK15*P(3,20) + HK8*P(5,20));
Kfusion(21) = HK23*(HK10*P(6,21) - HK11*P(4,21) + HK12*P(2,21) + HK13*P(0,21) + HK14*P(1,21) - HK15*P(3,21) + HK8*P(5,21));
Kfusion(22) = HK23*(HK10*P(6,22) - HK11*P(4,22) + HK12*P(2,22) + HK13*P(0,22) + HK14*P(1,22) - HK15*P(3,22) + HK8*P(5,22));
Kfusion(23) = HK23*(HK10*P(6,23) - HK11*P(4,23) + HK12*P(2,23) + HK13*P(0,23) + HK14*P(1,23) - HK15*P(3,23) + HK8*P(5,23));
Kfusion(0) = HK19*HK26;
Kfusion(1) = HK23*HK26;
Kfusion(2) = HK21*HK26;
Kfusion(3) = HK25*HK26;
Kfusion(4) = HK22*HK26;
Kfusion(5) = HK24*HK26;
Kfusion(6) = HK20*HK26;
Kfusion(7) = HK26*(HK12*P(2,7) + HK13*P(6,7) + HK14*P(0,7) - HK15*P(4,7) + HK16*P(1,7) - HK17*P(3,7) - HK18*P(5,7));
Kfusion(8) = HK26*(HK12*P(2,8) + HK13*P(6,8) + HK14*P(0,8) - HK15*P(4,8) + HK16*P(1,8) - HK17*P(3,8) - HK18*P(5,8));
Kfusion(9) = HK26*(HK12*P(2,9) + HK13*P(6,9) + HK14*P(0,9) - HK15*P(4,9) + HK16*P(1,9) - HK17*P(3,9) - HK18*P(5,9));
Kfusion(10) = HK26*(HK12*P(2,10) + HK13*P(6,10) + HK14*P(0,10) - HK15*P(4,10) + HK16*P(1,10) - HK17*P(3,10) - HK18*P(5,10));
Kfusion(11) = HK26*(HK12*P(2,11) + HK13*P(6,11) + HK14*P(0,11) - HK15*P(4,11) + HK16*P(1,11) - HK17*P(3,11) - HK18*P(5,11));
Kfusion(12) = HK26*(HK12*P(2,12) + HK13*P(6,12) + HK14*P(0,12) - HK15*P(4,12) + HK16*P(1,12) - HK17*P(3,12) - HK18*P(5,12));
Kfusion(13) = HK26*(HK12*P(2,13) + HK13*P(6,13) + HK14*P(0,13) - HK15*P(4,13) + HK16*P(1,13) - HK17*P(3,13) - HK18*P(5,13));
Kfusion(14) = HK26*(HK12*P(2,14) + HK13*P(6,14) + HK14*P(0,14) - HK15*P(4,14) + HK16*P(1,14) - HK17*P(3,14) - HK18*P(5,14));
Kfusion(15) = HK26*(HK12*P(2,15) + HK13*P(6,15) + HK14*P(0,15) - HK15*P(4,15) + HK16*P(1,15) - HK17*P(3,15) - HK18*P(5,15));
Kfusion(16) = HK26*(HK12*P(2,16) + HK13*P(6,16) + HK14*P(0,16) - HK15*P(4,16) + HK16*P(1,16) - HK17*P(3,16) - HK18*P(5,16));
Kfusion(17) = HK26*(HK12*P(2,17) + HK13*P(6,17) + HK14*P(0,17) - HK15*P(4,17) + HK16*P(1,17) - HK17*P(3,17) - HK18*P(5,17));
Kfusion(18) = HK26*(HK12*P(2,18) + HK13*P(6,18) + HK14*P(0,18) - HK15*P(4,18) + HK16*P(1,18) - HK17*P(3,18) - HK18*P(5,18));
Kfusion(19) = HK26*(HK12*P(2,19) + HK13*P(6,19) + HK14*P(0,19) - HK15*P(4,19) + HK16*P(1,19) - HK17*P(3,19) - HK18*P(5,19));
Kfusion(20) = HK26*(HK12*P(2,20) + HK13*P(6,20) + HK14*P(0,20) - HK15*P(4,20) + HK16*P(1,20) - HK17*P(3,20) - HK18*P(5,20));
Kfusion(21) = HK26*(HK12*P(2,21) + HK13*P(6,21) + HK14*P(0,21) - HK15*P(4,21) + HK16*P(1,21) - HK17*P(3,21) - HK18*P(5,21));
Kfusion(22) = HK26*(HK12*P(2,22) + HK13*P(6,22) + HK14*P(0,22) - HK15*P(4,22) + HK16*P(1,22) - HK17*P(3,22) - HK18*P(5,22));
Kfusion(23) = HK26*(HK12*P(2,23) + HK13*P(6,23) + HK14*P(0,23) - HK15*P(4,23) + HK16*P(1,23) - HK17*P(3,23) - HK18*P(5,23));
// axis 2
const float HK0 = q0*vd - q1*ve + q2*vn;
const float HK1 = q3*vn;
const float HK2 = q0*ve;
const float HK3 = q1*vd;
const float HK4 = q0*vn - q2*vd + q3*ve;
const float HK5 = q1*vn + q2*ve + q3*vd;
const float HK6 = q0*q2 + q1*q3;
const float HK7 = q2*q3;
const float HK8 = q0*q1;
const float HK9 = powf(q0, 2) - powf(q1, 2) - powf(q2, 2) + powf(q3, 2);
const float HK10 = 2*HK6;
const float HK11 = -2*HK7 + 2*HK8;
const float HK12 = 2*HK5;
const float HK13 = 2*HK0;
const float HK14 = -2*HK1 + 2*HK2 + 2*HK3;
const float HK15 = 2*HK4;
const float HK16 = HK10*P(0,4) - HK11*P(0,5) + HK12*P(0,3) + HK13*P(0,0) - HK14*P(0,1) + HK15*P(0,2) + HK9*P(0,6);
const float HK17 = HK10*P(4,4) - HK11*P(4,5) + HK12*P(3,4) + HK13*P(0,4) - HK14*P(1,4) + HK15*P(2,4) + HK9*P(4,6);
const float HK18 = HK10*P(4,5) - HK11*P(5,5) + HK12*P(3,5) + HK13*P(0,5) - HK14*P(1,5) + HK15*P(2,5) + HK9*P(5,6);
const float HK19 = HK10*P(3,4) - HK11*P(3,5) + HK12*P(3,3) + HK13*P(0,3) - HK14*P(1,3) + HK15*P(2,3) + HK9*P(3,6);
const float HK20 = HK10*P(1,4) - HK11*P(1,5) + HK12*P(1,3) + HK13*P(0,1) - HK14*P(1,1) + HK15*P(1,2) + HK9*P(1,6);
const float HK21 = HK10*P(2,4) - HK11*P(2,5) + HK12*P(2,3) + HK13*P(0,2) - HK14*P(1,2) + HK15*P(2,2) + HK9*P(2,6);
const float HK22 = HK10*P(4,6) - HK11*P(5,6) + HK12*P(3,6) + HK13*P(0,6) - HK14*P(1,6) + HK15*P(2,6) + HK9*P(6,6);
const float HK23 = 1.0F/(HK10*HK17 - HK11*HK18 + HK12*HK19 + HK13*HK16 - HK14*HK20 + HK15*HK21 + HK22*HK9 + R_VEL);
const float HK0 = q2*vn;
const float HK1 = q1*ve;
const float HK2 = q3*vn;
const float HK3 = q0*ve;
const float HK4 = 2*vd;
const float HK5 = HK4*q1;
const float HK6 = -HK4*q2 + q0*vn + q3*ve;
const float HK7 = q1*vn + q2*ve;
const float HK8 = q0*q2 + q1*q3;
const float HK9 = q2*q3;
const float HK10 = q0*q1;
const float HK11 = 2*powf(q1, 2);
const float HK12 = 2*powf(q2, 2);
const float HK13 = 2*HK7;
const float HK14 = 2*HK8;
const float HK15 = -2*HK0 + 2*HK1;
const float HK16 = 2*HK10 - 2*HK9;
const float HK17 = 2*HK6;
const float HK18 = HK11 + HK12 - 1;
const float HK19 = -2*HK2 + 2*HK3 + 2*HK5;
const float HK20 = -HK13*P(0,3) - HK14*P(0,4) + HK15*P(0,0) + HK16*P(0,5) - HK17*P(0,2) + HK18*P(0,6) + HK19*P(0,1);
const float HK21 = -HK13*P(3,4) - HK14*P(4,4) + HK15*P(0,4) + HK16*P(4,5) - HK17*P(2,4) + HK18*P(4,6) + HK19*P(1,4);
const float HK22 = -HK13*P(3,3) - HK14*P(3,4) + HK15*P(0,3) + HK16*P(3,5) - HK17*P(2,3) + HK18*P(3,6) + HK19*P(1,3);
const float HK23 = -HK13*P(3,5) - HK14*P(4,5) + HK15*P(0,5) + HK16*P(5,5) - HK17*P(2,5) + HK18*P(5,6) + HK19*P(1,5);
const float HK24 = -HK13*P(3,6) - HK14*P(4,6) + HK15*P(0,6) + HK16*P(5,6) - HK17*P(2,6) + HK18*P(6,6) + HK19*P(1,6);
const float HK25 = -HK13*P(2,3) - HK14*P(2,4) + HK15*P(0,2) + HK16*P(2,5) - HK17*P(2,2) + HK18*P(2,6) + HK19*P(1,2);
const float HK26 = -HK13*P(1,3) - HK14*P(1,4) + HK15*P(0,1) + HK16*P(1,5) - HK17*P(1,2) + HK18*P(1,6) + HK19*P(1,1);
const float HK27 = 1.0F/(-HK13*HK22 - HK14*HK21 + HK15*HK20 + HK16*HK23 - HK17*HK25 + HK18*HK24 + HK19*HK26 + R_VEL);
H_VEL(0) = 2*HK0;
H_VEL(1) = 2*HK1 - 2*HK2 - 2*HK3;
H_VEL(2) = 2*HK4;
H_VEL(3) = 2*HK5;
H_VEL(4) = 2*HK6;
H_VEL(5) = 2*HK7 - 2*HK8;
H_VEL(6) = HK9;
H_VEL(0) = 2*HK0 - 2*HK1;
H_VEL(1) = 2*HK2 - 2*HK3 - 2*HK5;
H_VEL(2) = 2*HK6;
H_VEL(3) = 2*HK7;
H_VEL(4) = 2*HK8;
H_VEL(5) = -2*HK10 + 2*HK9;
H_VEL(6) = -HK11 - HK12 + 1;
H_VEL(7) = 0;
H_VEL(8) = 0;
H_VEL(9) = 0;
@@ -209,29 +220,29 @@ H_VEL(22) = 0;
H_VEL(23) = 0;
Kfusion(0) = HK16*HK23;
Kfusion(1) = HK20*HK23;
Kfusion(2) = HK21*HK23;
Kfusion(3) = HK19*HK23;
Kfusion(4) = HK17*HK23;
Kfusion(5) = HK18*HK23;
Kfusion(6) = HK22*HK23;
Kfusion(7) = HK23*(HK10*P(4,7) - HK11*P(5,7) + HK12*P(3,7) + HK13*P(0,7) - HK14*P(1,7) + HK15*P(2,7) + HK9*P(6,7));
Kfusion(8) = HK23*(HK10*P(4,8) - HK11*P(5,8) + HK12*P(3,8) + HK13*P(0,8) - HK14*P(1,8) + HK15*P(2,8) + HK9*P(6,8));
Kfusion(9) = HK23*(HK10*P(4,9) - HK11*P(5,9) + HK12*P(3,9) + HK13*P(0,9) - HK14*P(1,9) + HK15*P(2,9) + HK9*P(6,9));
Kfusion(10) = HK23*(HK10*P(4,10) - HK11*P(5,10) + HK12*P(3,10) + HK13*P(0,10) - HK14*P(1,10) + HK15*P(2,10) + HK9*P(6,10));
Kfusion(11) = HK23*(HK10*P(4,11) - HK11*P(5,11) + HK12*P(3,11) + HK13*P(0,11) - HK14*P(1,11) + HK15*P(2,11) + HK9*P(6,11));
Kfusion(12) = HK23*(HK10*P(4,12) - HK11*P(5,12) + HK12*P(3,12) + HK13*P(0,12) - HK14*P(1,12) + HK15*P(2,12) + HK9*P(6,12));
Kfusion(13) = HK23*(HK10*P(4,13) - HK11*P(5,13) + HK12*P(3,13) + HK13*P(0,13) - HK14*P(1,13) + HK15*P(2,13) + HK9*P(6,13));
Kfusion(14) = HK23*(HK10*P(4,14) - HK11*P(5,14) + HK12*P(3,14) + HK13*P(0,14) - HK14*P(1,14) + HK15*P(2,14) + HK9*P(6,14));
Kfusion(15) = HK23*(HK10*P(4,15) - HK11*P(5,15) + HK12*P(3,15) + HK13*P(0,15) - HK14*P(1,15) + HK15*P(2,15) + HK9*P(6,15));
Kfusion(16) = HK23*(HK10*P(4,16) - HK11*P(5,16) + HK12*P(3,16) + HK13*P(0,16) - HK14*P(1,16) + HK15*P(2,16) + HK9*P(6,16));
Kfusion(17) = HK23*(HK10*P(4,17) - HK11*P(5,17) + HK12*P(3,17) + HK13*P(0,17) - HK14*P(1,17) + HK15*P(2,17) + HK9*P(6,17));
Kfusion(18) = HK23*(HK10*P(4,18) - HK11*P(5,18) + HK12*P(3,18) + HK13*P(0,18) - HK14*P(1,18) + HK15*P(2,18) + HK9*P(6,18));
Kfusion(19) = HK23*(HK10*P(4,19) - HK11*P(5,19) + HK12*P(3,19) + HK13*P(0,19) - HK14*P(1,19) + HK15*P(2,19) + HK9*P(6,19));
Kfusion(20) = HK23*(HK10*P(4,20) - HK11*P(5,20) + HK12*P(3,20) + HK13*P(0,20) - HK14*P(1,20) + HK15*P(2,20) + HK9*P(6,20));
Kfusion(21) = HK23*(HK10*P(4,21) - HK11*P(5,21) + HK12*P(3,21) + HK13*P(0,21) - HK14*P(1,21) + HK15*P(2,21) + HK9*P(6,21));
Kfusion(22) = HK23*(HK10*P(4,22) - HK11*P(5,22) + HK12*P(3,22) + HK13*P(0,22) - HK14*P(1,22) + HK15*P(2,22) + HK9*P(6,22));
Kfusion(23) = HK23*(HK10*P(4,23) - HK11*P(5,23) + HK12*P(3,23) + HK13*P(0,23) - HK14*P(1,23) + HK15*P(2,23) + HK9*P(6,23));
Kfusion(0) = -HK20*HK27;
Kfusion(1) = -HK26*HK27;
Kfusion(2) = -HK25*HK27;
Kfusion(3) = -HK22*HK27;
Kfusion(4) = -HK21*HK27;
Kfusion(5) = -HK23*HK27;
Kfusion(6) = -HK24*HK27;
Kfusion(7) = -HK27*(-HK13*P(3,7) - HK14*P(4,7) + HK15*P(0,7) + HK16*P(5,7) - HK17*P(2,7) + HK18*P(6,7) + HK19*P(1,7));
Kfusion(8) = -HK27*(-HK13*P(3,8) - HK14*P(4,8) + HK15*P(0,8) + HK16*P(5,8) - HK17*P(2,8) + HK18*P(6,8) + HK19*P(1,8));
Kfusion(9) = -HK27*(-HK13*P(3,9) - HK14*P(4,9) + HK15*P(0,9) + HK16*P(5,9) - HK17*P(2,9) + HK18*P(6,9) + HK19*P(1,9));
Kfusion(10) = -HK27*(-HK13*P(3,10) - HK14*P(4,10) + HK15*P(0,10) + HK16*P(5,10) - HK17*P(2,10) + HK18*P(6,10) + HK19*P(1,10));
Kfusion(11) = -HK27*(-HK13*P(3,11) - HK14*P(4,11) + HK15*P(0,11) + HK16*P(5,11) - HK17*P(2,11) + HK18*P(6,11) + HK19*P(1,11));
Kfusion(12) = -HK27*(-HK13*P(3,12) - HK14*P(4,12) + HK15*P(0,12) + HK16*P(5,12) - HK17*P(2,12) + HK18*P(6,12) + HK19*P(1,12));
Kfusion(13) = -HK27*(-HK13*P(3,13) - HK14*P(4,13) + HK15*P(0,13) + HK16*P(5,13) - HK17*P(2,13) + HK18*P(6,13) + HK19*P(1,13));
Kfusion(14) = -HK27*(-HK13*P(3,14) - HK14*P(4,14) + HK15*P(0,14) + HK16*P(5,14) - HK17*P(2,14) + HK18*P(6,14) + HK19*P(1,14));
Kfusion(15) = -HK27*(-HK13*P(3,15) - HK14*P(4,15) + HK15*P(0,15) + HK16*P(5,15) - HK17*P(2,15) + HK18*P(6,15) + HK19*P(1,15));
Kfusion(16) = -HK27*(-HK13*P(3,16) - HK14*P(4,16) + HK15*P(0,16) + HK16*P(5,16) - HK17*P(2,16) + HK18*P(6,16) + HK19*P(1,16));
Kfusion(17) = -HK27*(-HK13*P(3,17) - HK14*P(4,17) + HK15*P(0,17) + HK16*P(5,17) - HK17*P(2,17) + HK18*P(6,17) + HK19*P(1,17));
Kfusion(18) = -HK27*(-HK13*P(3,18) - HK14*P(4,18) + HK15*P(0,18) + HK16*P(5,18) - HK17*P(2,18) + HK18*P(6,18) + HK19*P(1,18));
Kfusion(19) = -HK27*(-HK13*P(3,19) - HK14*P(4,19) + HK15*P(0,19) + HK16*P(5,19) - HK17*P(2,19) + HK18*P(6,19) + HK19*P(1,19));
Kfusion(20) = -HK27*(-HK13*P(3,20) - HK14*P(4,20) + HK15*P(0,20) + HK16*P(5,20) - HK17*P(2,20) + HK18*P(6,20) + HK19*P(1,20));
Kfusion(21) = -HK27*(-HK13*P(3,21) - HK14*P(4,21) + HK15*P(0,21) + HK16*P(5,21) - HK17*P(2,21) + HK18*P(6,21) + HK19*P(1,21));
Kfusion(22) = -HK27*(-HK13*P(3,22) - HK14*P(4,22) + HK15*P(0,22) + HK16*P(5,22) - HK17*P(2,22) + HK18*P(6,22) + HK19*P(1,22));
Kfusion(23) = -HK27*(-HK13*P(3,23) - HK14*P(4,23) + HK15*P(0,23) + HK16*P(5,23) - HK17*P(2,23) + HK18*P(6,23) + HK19*P(1,23));
EKF/python/ekf_derivation/generated/vel_bf_generated_alt.cpp
+174 -170
View File
@@ -1,96 +1,100 @@
// Sub Expressions
const float HK0 = q0*vn;
const float HK1 = q3*ve;
const float HK2 = q2*vd;
const float HK3 = HK0 + HK1 - HK2;
const float HK4 = 2*HK3;
const float HK5 = q1*vn + q2*ve + q3*vd;
const float HK6 = 2*HK5;
const float HK7 = q1*ve;
const float HK8 = q0*vd;
const float HK9 = q2*vn;
const float HK0 = q3*ve;
const float HK1 = q2*vd;
const float HK2 = -HK1;
const float HK3 = q2*ve;
const float HK4 = q3*vd;
const float HK5 = HK3 + HK4;
const float HK6 = q1*ve;
const float HK7 = q0*vd;
const float HK8 = q2*vn;
const float HK9 = 2*HK8;
const float HK10 = q0*ve;
const float HK11 = q1*vd;
const float HK12 = q3*vn;
const float HK13 = HK10 + HK11 - HK12;
const float HK14 = 2*HK13;
const float HK15 = powf(q1, 2);
const float HK16 = powf(q2, 2);
const float HK17 = -HK16;
const float HK18 = powf(q0, 2);
const float HK19 = powf(q3, 2);
const float HK20 = HK18 - HK19;
const float HK21 = HK15 + HK17 + HK20;
const float HK22 = q0*q3;
const float HK23 = q1*q2;
const float HK24 = HK22 + HK23;
const float HK25 = q1*q3;
const float HK26 = q0*q2;
const float HK27 = 2*HK24;
const float HK28 = -2*HK25 + 2*HK26;
const float HK29 = 2*HK5;
const float HK30 = 2*HK3;
const float HK31 = -HK7 + HK8 + HK9;
const float HK32 = 2*HK31;
const float HK33 = HK32*P(0,2);
const float HK34 = 2*HK13;
const float HK35 = HK34*P(0,3);
const float HK36 = HK21*P(0,4) + HK27*P(0,5) - HK28*P(0,6) + HK29*P(0,1) + HK30*P(0,0) - HK33 + HK35;
const float HK37 = HK21*P(4,5) + HK27*P(5,5) - HK28*P(5,6) + HK29*P(1,5) + HK30*P(0,5) - HK32*P(2,5) + HK34*P(3,5);
const float HK38 = HK21*P(4,6) + HK27*P(5,6) - HK28*P(6,6) + HK29*P(1,6) + HK30*P(0,6) - HK32*P(2,6) + HK34*P(3,6);
const float HK39 = HK32*P(1,2);
const float HK40 = HK34*P(1,3);
const float HK41 = HK21*P(1,4) + HK27*P(1,5) - HK28*P(1,6) + HK29*P(1,1) + HK30*P(0,1) - HK39 + HK40;
const float HK42 = HK29*P(1,2);
const float HK43 = HK30*P(0,2);
const float HK44 = HK21*P(2,4) + HK27*P(2,5) - HK28*P(2,6) - HK32*P(2,2) + HK34*P(2,3) + HK42 + HK43;
const float HK45 = HK29*P(1,3);
const float HK46 = HK30*P(0,3);
const float HK47 = HK21*P(3,4) + HK27*P(3,5) - HK28*P(3,6) - HK32*P(2,3) + HK34*P(3,3) + HK45 + HK46;
const float HK48 = HK21*P(4,4) + HK27*P(4,5) - HK28*P(4,6) + HK29*P(1,4) + HK30*P(0,4) - HK32*P(2,4) + HK34*P(3,4);
const float HK49 = 1.0F/(HK21*HK48 + HK27*HK37 - HK28*HK38 + HK29*HK41 + HK30*HK36 - HK32*HK44 + HK34*HK47 + R_VEL);
const float HK50 = 2*HK31;
const float HK51 = -HK15;
const float HK52 = HK16 + HK20 + HK51;
const float HK53 = q0*q1;
const float HK54 = q2*q3;
const float HK55 = HK53 + HK54;
const float HK56 = 2*HK55;
const float HK57 = 2*HK22 - 2*HK23;
const float HK58 = HK32*P(0,1);
const float HK59 = HK29*P(0,2) + HK34*P(0,0) - HK46 + HK52*P(0,5) + HK56*P(0,6) - HK57*P(0,4) + HK58;
const float HK60 = HK29*P(2,6) - HK30*P(3,6) + HK32*P(1,6) + HK34*P(0,6) + HK52*P(5,6) + HK56*P(6,6) - HK57*P(4,6);
const float HK61 = HK29*P(2,4) - HK30*P(3,4) + HK32*P(1,4) + HK34*P(0,4) + HK52*P(4,5) + HK56*P(4,6) - HK57*P(4,4);
const float HK62 = HK30*P(2,3);
const float HK63 = HK29*P(2,2) + HK34*P(0,2) + HK39 + HK52*P(2,5) + HK56*P(2,6) - HK57*P(2,4) - HK62;
const float HK64 = HK34*P(0,1);
const float HK65 = -HK30*P(1,3) + HK32*P(1,1) + HK42 + HK52*P(1,5) + HK56*P(1,6) - HK57*P(1,4) + HK64;
const float HK66 = HK29*P(2,3);
const float HK67 = -HK30*P(3,3) + HK32*P(1,3) + HK35 + HK52*P(3,5) + HK56*P(3,6) - HK57*P(3,4) + HK66;
const float HK68 = HK29*P(2,5) - HK30*P(3,5) + HK32*P(1,5) + HK34*P(0,5) + HK52*P(5,5) + HK56*P(5,6) - HK57*P(4,5);
const float HK69 = 1.0F/(HK29*HK63 - HK30*HK67 + HK32*HK65 + HK34*HK59 + HK52*HK68 + HK56*HK60 - HK57*HK61 + R_VEL);
const float HK70 = HK25 + HK26;
const float HK71 = HK17 + HK18 + HK19 + HK51;
const float HK13 = HK10 + HK11 - 2*HK12;
const float HK14 = 2*powf(q2, 2);
const float HK15 = -HK14;
const float HK16 = 2*powf(q3, 2);
const float HK17 = 1 - HK16;
const float HK18 = q0*q3;
const float HK19 = q1*q2;
const float HK20 = HK18 + HK19;
const float HK21 = q1*q3;
const float HK22 = q0*q2;
const float HK23 = 2*HK5;
const float HK24 = 2*HK20;
const float HK25 = -2*HK0 + 2*HK1;
const float HK26 = -2*HK21 + 2*HK22;
const float HK27 = 2*HK13;
const float HK28 = HK16 - 1;
const float HK29 = HK14 + HK28;
const float HK30 = -HK6;
const float HK31 = 2*HK30 + 2*HK7 + 2*HK9;
const float HK32 = -HK23*P(0,1) - HK24*P(0,5) + HK25*P(0,0) + HK26*P(0,6) - HK27*P(0,3) + HK29*P(0,4) + HK31*P(0,2);
const float HK33 = -HK23*P(1,5) - HK24*P(5,5) + HK25*P(0,5) + HK26*P(5,6) - HK27*P(3,5) + HK29*P(4,5) + HK31*P(2,5);
const float HK34 = -HK23*P(1,1) - HK24*P(1,5) + HK25*P(0,1) + HK26*P(1,6) - HK27*P(1,3) + HK29*P(1,4) + HK31*P(1,2);
const float HK35 = -HK23*P(1,6) - HK24*P(5,6) + HK25*P(0,6) + HK26*P(6,6) - HK27*P(3,6) + HK29*P(4,6) + HK31*P(2,6);
const float HK36 = -HK23*P(1,4) - HK24*P(4,5) + HK25*P(0,4) + HK26*P(4,6) - HK27*P(3,4) + HK29*P(4,4) + HK31*P(2,4);
const float HK37 = -HK23*P(1,3) - HK24*P(3,5) + HK25*P(0,3) + HK26*P(3,6) - HK27*P(3,3) + HK29*P(3,4) + HK31*P(2,3);
const float HK38 = -HK23*P(1,2) - HK24*P(2,5) + HK25*P(0,2) + HK26*P(2,6) - HK27*P(2,3) + HK29*P(2,4) + HK31*P(2,2);
const float HK39 = 1.0F/(-HK23*HK34 - HK24*HK33 + HK25*HK32 + HK26*HK35 - HK27*HK37 + HK29*HK36 + HK31*HK38 + R_VEL);
const float HK40 = -HK12;
const float HK41 = HK11 + HK40;
const float HK42 = -2*HK6 + HK7 + HK8;
const float HK43 = q1*vn;
const float HK44 = HK4 + HK43;
const float HK45 = q0*vn;
const float HK46 = 2*HK0;
const float HK47 = 2*powf(q1, 2);
const float HK48 = -HK47;
const float HK49 = q0*q1;
const float HK50 = q2*q3;
const float HK51 = HK49 + HK50;
const float HK52 = 2*HK44;
const float HK53 = 2*HK51;
const float HK54 = 2*HK41;
const float HK55 = 2*HK18 - 2*HK19;
const float HK56 = 2*HK42;
const float HK57 = 2*HK2 + 2*HK45 + 2*HK46;
const float HK58 = HK28 + HK47;
const float HK59 = HK52*P(0,2) + HK53*P(0,6) + HK54*P(0,0) - HK55*P(0,4) + HK56*P(0,1) - HK57*P(0,3) - HK58*P(0,5);
const float HK60 = HK52*P(2,6) + HK53*P(6,6) + HK54*P(0,6) - HK55*P(4,6) + HK56*P(1,6) - HK57*P(3,6) - HK58*P(5,6);
const float HK61 = HK52*P(2,2) + HK53*P(2,6) + HK54*P(0,2) - HK55*P(2,4) + HK56*P(1,2) - HK57*P(2,3) - HK58*P(2,5);
const float HK62 = HK52*P(2,4) + HK53*P(4,6) + HK54*P(0,4) - HK55*P(4,4) + HK56*P(1,4) - HK57*P(3,4) - HK58*P(4,5);
const float HK63 = HK52*P(1,2) + HK53*P(1,6) + HK54*P(0,1) - HK55*P(1,4) + HK56*P(1,1) - HK57*P(1,3) - HK58*P(1,5);
const float HK64 = HK52*P(2,5) + HK53*P(5,6) + HK54*P(0,5) - HK55*P(4,5) + HK56*P(1,5) - HK57*P(3,5) - HK58*P(5,5);
const float HK65 = HK52*P(2,3) + HK53*P(3,6) + HK54*P(0,3) - HK55*P(3,4) + HK56*P(1,3) - HK57*P(3,3) - HK58*P(3,5);
const float HK66 = 1.0F/(HK52*HK61 + HK53*HK60 + HK54*HK59 - HK55*HK62 + HK56*HK63 - HK57*HK65 - HK58*HK64 + R_VEL);
const float HK67 = 2*HK11;
const float HK68 = HK0 - 2*HK1 + HK45;
const float HK69 = HK3 + HK43;
const float HK70 = HK21 + HK22;
const float HK71 = 2*HK69;
const float HK72 = 2*HK70;
const float HK73 = 2*HK53 - 2*HK54;
const float HK74 = HK29*P(0,3) + HK32*P(0,0) + HK43 - HK64 + HK71*P(0,6) + HK72*P(0,4) - HK73*P(0,5);
const float HK75 = HK29*P(3,4) + HK30*P(2,4) + HK32*P(0,4) - HK34*P(1,4) + HK71*P(4,6) + HK72*P(4,4) - HK73*P(4,5);
const float HK76 = HK29*P(3,5) + HK30*P(2,5) + HK32*P(0,5) - HK34*P(1,5) + HK71*P(5,6) + HK72*P(4,5) - HK73*P(5,5);
const float HK77 = HK29*P(3,3) + HK32*P(0,3) - HK40 + HK62 + HK71*P(3,6) + HK72*P(3,4) - HK73*P(3,5);
const float HK78 = HK30*P(1,2) - HK34*P(1,1) + HK45 + HK58 + HK71*P(1,6) + HK72*P(1,4) - HK73*P(1,5);
const float HK79 = HK30*P(2,2) + HK33 - HK34*P(1,2) + HK66 + HK71*P(2,6) + HK72*P(2,4) - HK73*P(2,5);
const float HK80 = HK29*P(3,6) + HK30*P(2,6) + HK32*P(0,6) - HK34*P(1,6) + HK71*P(6,6) + HK72*P(4,6) - HK73*P(5,6);
const float HK81 = 1.0F/(HK29*HK77 + HK30*HK79 + HK32*HK74 - HK34*HK78 + HK71*HK80 + HK72*HK75 - HK73*HK76 + R_VEL);
const float HK73 = 2*HK6 - 2*HK8;
const float HK74 = 2*HK49 - 2*HK50;
const float HK75 = 2*HK68;
const float HK76 = HK14 + HK47 - 1;
const float HK77 = 2*HK10 + 2*HK40 + 2*HK67;
const float HK78 = -HK71*P(0,3) - HK72*P(0,4) + HK73*P(0,0) + HK74*P(0,5) - HK75*P(0,2) + HK76*P(0,6) + HK77*P(0,1);
const float HK79 = -HK71*P(3,4) - HK72*P(4,4) + HK73*P(0,4) + HK74*P(4,5) - HK75*P(2,4) + HK76*P(4,6) + HK77*P(1,4);
const float HK80 = -HK71*P(3,3) - HK72*P(3,4) + HK73*P(0,3) + HK74*P(3,5) - HK75*P(2,3) + HK76*P(3,6) + HK77*P(1,3);
const float HK81 = -HK71*P(3,5) - HK72*P(4,5) + HK73*P(0,5) + HK74*P(5,5) - HK75*P(2,5) + HK76*P(5,6) + HK77*P(1,5);
const float HK82 = -HK71*P(3,6) - HK72*P(4,6) + HK73*P(0,6) + HK74*P(5,6) - HK75*P(2,6) + HK76*P(6,6) + HK77*P(1,6);
const float HK83 = -HK71*P(2,3) - HK72*P(2,4) + HK73*P(0,2) + HK74*P(2,5) - HK75*P(2,2) + HK76*P(2,6) + HK77*P(1,2);
const float HK84 = -HK71*P(1,3) - HK72*P(1,4) + HK73*P(0,1) + HK74*P(1,5) - HK75*P(1,2) + HK76*P(1,6) + HK77*P(1,1);
const float HK85 = 1.0F/(-HK71*HK80 - HK72*HK79 + HK73*HK78 + HK74*HK81 - HK75*HK83 + HK76*HK82 + HK77*HK84 + R_VEL);
// Observation Jacobians - axis 0
Hfusion.at<0>() = HK4;
Hfusion.at<1>() = HK6;
Hfusion.at<2>() = 2*HK7 - 2*HK8 - 2*HK9;
Hfusion.at<3>() = HK14;
Hfusion.at<4>() = HK21;
Hfusion.at<5>() = 2*HK24;
Hfusion.at<6>() = 2*HK25 - 2*HK26;
Hfusion.at<0>() = 2*HK0 + 2*HK2;
Hfusion.at<1>() = 2*HK5;
Hfusion.at<2>() = 2*HK6 - 2*HK7 - 2*HK9;
Hfusion.at<3>() = 2*HK13;
Hfusion.at<4>() = HK15 + HK17;
Hfusion.at<5>() = 2*HK20;
Hfusion.at<6>() = 2*HK21 - 2*HK22;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -111,40 +115,40 @@ Hfusion.at<23>() = 0;
// Kalman gains - axis 0
Kfusion(0) = HK36*HK49;
Kfusion(1) = HK41*HK49;
Kfusion(2) = HK44*HK49;
Kfusion(3) = HK47*HK49;
Kfusion(4) = HK48*HK49;
Kfusion(5) = HK37*HK49;
Kfusion(6) = HK38*HK49;
Kfusion(7) = HK49*(HK21*P(4,7) + HK27*P(5,7) - HK28*P(6,7) + HK29*P(1,7) + HK30*P(0,7) - HK32*P(2,7) + HK34*P(3,7));
Kfusion(8) = HK49*(HK21*P(4,8) + HK27*P(5,8) - HK28*P(6,8) + HK29*P(1,8) + HK30*P(0,8) - HK32*P(2,8) + HK34*P(3,8));
Kfusion(9) = HK49*(HK21*P(4,9) + HK27*P(5,9) - HK28*P(6,9) + HK29*P(1,9) + HK30*P(0,9) - HK32*P(2,9) + HK34*P(3,9));
Kfusion(10) = HK49*(HK21*P(4,10) + HK27*P(5,10) - HK28*P(6,10) + HK29*P(1,10) + HK30*P(0,10) - HK32*P(2,10) + HK34*P(3,10));
Kfusion(11) = HK49*(HK21*P(4,11) + HK27*P(5,11) - HK28*P(6,11) + HK29*P(1,11) + HK30*P(0,11) - HK32*P(2,11) + HK34*P(3,11));
Kfusion(12) = HK49*(HK21*P(4,12) + HK27*P(5,12) - HK28*P(6,12) + HK29*P(1,12) + HK30*P(0,12) - HK32*P(2,12) + HK34*P(3,12));
Kfusion(13) = HK49*(HK21*P(4,13) + HK27*P(5,13) - HK28*P(6,13) + HK29*P(1,13) + HK30*P(0,13) - HK32*P(2,13) + HK34*P(3,13));
Kfusion(14) = HK49*(HK21*P(4,14) + HK27*P(5,14) - HK28*P(6,14) + HK29*P(1,14) + HK30*P(0,14) - HK32*P(2,14) + HK34*P(3,14));
Kfusion(15) = HK49*(HK21*P(4,15) + HK27*P(5,15) - HK28*P(6,15) + HK29*P(1,15) + HK30*P(0,15) - HK32*P(2,15) + HK34*P(3,15));
Kfusion(16) = HK49*(HK21*P(4,16) + HK27*P(5,16) - HK28*P(6,16) + HK29*P(1,16) + HK30*P(0,16) - HK32*P(2,16) + HK34*P(3,16));
Kfusion(17) = HK49*(HK21*P(4,17) + HK27*P(5,17) - HK28*P(6,17) + HK29*P(1,17) + HK30*P(0,17) - HK32*P(2,17) + HK34*P(3,17));
Kfusion(18) = HK49*(HK21*P(4,18) + HK27*P(5,18) - HK28*P(6,18) + HK29*P(1,18) + HK30*P(0,18) - HK32*P(2,18) + HK34*P(3,18));
Kfusion(19) = HK49*(HK21*P(4,19) + HK27*P(5,19) - HK28*P(6,19) + HK29*P(1,19) + HK30*P(0,19) - HK32*P(2,19) + HK34*P(3,19));
Kfusion(20) = HK49*(HK21*P(4,20) + HK27*P(5,20) - HK28*P(6,20) + HK29*P(1,20) + HK30*P(0,20) - HK32*P(2,20) + HK34*P(3,20));
Kfusion(21) = HK49*(HK21*P(4,21) + HK27*P(5,21) - HK28*P(6,21) + HK29*P(1,21) + HK30*P(0,21) - HK32*P(2,21) + HK34*P(3,21));
Kfusion(22) = HK49*(HK21*P(4,22) + HK27*P(5,22) - HK28*P(6,22) + HK29*P(1,22) + HK30*P(0,22) - HK32*P(2,22) + HK34*P(3,22));
Kfusion(23) = HK49*(HK21*P(4,23) + HK27*P(5,23) - HK28*P(6,23) + HK29*P(1,23) + HK30*P(0,23) - HK32*P(2,23) + HK34*P(3,23));
Kfusion(0) = -HK32*HK39;
Kfusion(1) = -HK34*HK39;
Kfusion(2) = -HK38*HK39;
Kfusion(3) = -HK37*HK39;
Kfusion(4) = -HK36*HK39;
Kfusion(5) = -HK33*HK39;
Kfusion(6) = -HK35*HK39;
Kfusion(7) = -HK39*(-HK23*P(1,7) - HK24*P(5,7) + HK25*P(0,7) + HK26*P(6,7) - HK27*P(3,7) + HK29*P(4,7) + HK31*P(2,7));
Kfusion(8) = -HK39*(-HK23*P(1,8) - HK24*P(5,8) + HK25*P(0,8) + HK26*P(6,8) - HK27*P(3,8) + HK29*P(4,8) + HK31*P(2,8));
Kfusion(9) = -HK39*(-HK23*P(1,9) - HK24*P(5,9) + HK25*P(0,9) + HK26*P(6,9) - HK27*P(3,9) + HK29*P(4,9) + HK31*P(2,9));
Kfusion(10) = -HK39*(-HK23*P(1,10) - HK24*P(5,10) + HK25*P(0,10) + HK26*P(6,10) - HK27*P(3,10) + HK29*P(4,10) + HK31*P(2,10));
Kfusion(11) = -HK39*(-HK23*P(1,11) - HK24*P(5,11) + HK25*P(0,11) + HK26*P(6,11) - HK27*P(3,11) + HK29*P(4,11) + HK31*P(2,11));
Kfusion(12) = -HK39*(-HK23*P(1,12) - HK24*P(5,12) + HK25*P(0,12) + HK26*P(6,12) - HK27*P(3,12) + HK29*P(4,12) + HK31*P(2,12));
Kfusion(13) = -HK39*(-HK23*P(1,13) - HK24*P(5,13) + HK25*P(0,13) + HK26*P(6,13) - HK27*P(3,13) + HK29*P(4,13) + HK31*P(2,13));
Kfusion(14) = -HK39*(-HK23*P(1,14) - HK24*P(5,14) + HK25*P(0,14) + HK26*P(6,14) - HK27*P(3,14) + HK29*P(4,14) + HK31*P(2,14));
Kfusion(15) = -HK39*(-HK23*P(1,15) - HK24*P(5,15) + HK25*P(0,15) + HK26*P(6,15) - HK27*P(3,15) + HK29*P(4,15) + HK31*P(2,15));
Kfusion(16) = -HK39*(-HK23*P(1,16) - HK24*P(5,16) + HK25*P(0,16) + HK26*P(6,16) - HK27*P(3,16) + HK29*P(4,16) + HK31*P(2,16));
Kfusion(17) = -HK39*(-HK23*P(1,17) - HK24*P(5,17) + HK25*P(0,17) + HK26*P(6,17) - HK27*P(3,17) + HK29*P(4,17) + HK31*P(2,17));
Kfusion(18) = -HK39*(-HK23*P(1,18) - HK24*P(5,18) + HK25*P(0,18) + HK26*P(6,18) - HK27*P(3,18) + HK29*P(4,18) + HK31*P(2,18));
Kfusion(19) = -HK39*(-HK23*P(1,19) - HK24*P(5,19) + HK25*P(0,19) + HK26*P(6,19) - HK27*P(3,19) + HK29*P(4,19) + HK31*P(2,19));
Kfusion(20) = -HK39*(-HK23*P(1,20) - HK24*P(5,20) + HK25*P(0,20) + HK26*P(6,20) - HK27*P(3,20) + HK29*P(4,20) + HK31*P(2,20));
Kfusion(21) = -HK39*(-HK23*P(1,21) - HK24*P(5,21) + HK25*P(0,21) + HK26*P(6,21) - HK27*P(3,21) + HK29*P(4,21) + HK31*P(2,21));
Kfusion(22) = -HK39*(-HK23*P(1,22) - HK24*P(5,22) + HK25*P(0,22) + HK26*P(6,22) - HK27*P(3,22) + HK29*P(4,22) + HK31*P(2,22));
Kfusion(23) = -HK39*(-HK23*P(1,23) - HK24*P(5,23) + HK25*P(0,23) + HK26*P(6,23) - HK27*P(3,23) + HK29*P(4,23) + HK31*P(2,23));
// Observation Jacobians - axis 1
Hfusion.at<0>() = HK14;
Hfusion.at<1>() = HK50;
Hfusion.at<2>() = HK6;
Hfusion.at<3>() = -2*HK0 - 2*HK1 + 2*HK2;
Hfusion.at<4>() = -2*HK22 + 2*HK23;
Hfusion.at<5>() = HK52;
Hfusion.at<6>() = 2*HK55;
Hfusion.at<0>() = 2*HK41;
Hfusion.at<1>() = 2*HK42;
Hfusion.at<2>() = 2*HK44;
Hfusion.at<3>() = 2*HK1 - 2*HK45 - 2*HK46;
Hfusion.at<4>() = -2*HK18 + 2*HK19;
Hfusion.at<5>() = HK17 + HK48;
Hfusion.at<6>() = 2*HK51;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -165,40 +169,40 @@ Hfusion.at<23>() = 0;
// Kalman gains - axis 1
Kfusion(0) = HK59*HK69;
Kfusion(1) = HK65*HK69;
Kfusion(2) = HK63*HK69;
Kfusion(3) = HK67*HK69;
Kfusion(4) = HK61*HK69;
Kfusion(5) = HK68*HK69;
Kfusion(6) = HK60*HK69;
Kfusion(7) = HK69*(HK29*P(2,7) - HK30*P(3,7) + HK32*P(1,7) + HK34*P(0,7) + HK52*P(5,7) + HK56*P(6,7) - HK57*P(4,7));
Kfusion(8) = HK69*(HK29*P(2,8) - HK30*P(3,8) + HK32*P(1,8) + HK34*P(0,8) + HK52*P(5,8) + HK56*P(6,8) - HK57*P(4,8));
Kfusion(9) = HK69*(HK29*P(2,9) - HK30*P(3,9) + HK32*P(1,9) + HK34*P(0,9) + HK52*P(5,9) + HK56*P(6,9) - HK57*P(4,9));
Kfusion(10) = HK69*(HK29*P(2,10) - HK30*P(3,10) + HK32*P(1,10) + HK34*P(0,10) + HK52*P(5,10) + HK56*P(6,10) - HK57*P(4,10));
Kfusion(11) = HK69*(HK29*P(2,11) - HK30*P(3,11) + HK32*P(1,11) + HK34*P(0,11) + HK52*P(5,11) + HK56*P(6,11) - HK57*P(4,11));
Kfusion(12) = HK69*(HK29*P(2,12) - HK30*P(3,12) + HK32*P(1,12) + HK34*P(0,12) + HK52*P(5,12) + HK56*P(6,12) - HK57*P(4,12));
Kfusion(13) = HK69*(HK29*P(2,13) - HK30*P(3,13) + HK32*P(1,13) + HK34*P(0,13) + HK52*P(5,13) + HK56*P(6,13) - HK57*P(4,13));
Kfusion(14) = HK69*(HK29*P(2,14) - HK30*P(3,14) + HK32*P(1,14) + HK34*P(0,14) + HK52*P(5,14) + HK56*P(6,14) - HK57*P(4,14));
Kfusion(15) = HK69*(HK29*P(2,15) - HK30*P(3,15) + HK32*P(1,15) + HK34*P(0,15) + HK52*P(5,15) + HK56*P(6,15) - HK57*P(4,15));
Kfusion(16) = HK69*(HK29*P(2,16) - HK30*P(3,16) + HK32*P(1,16) + HK34*P(0,16) + HK52*P(5,16) + HK56*P(6,16) - HK57*P(4,16));
Kfusion(17) = HK69*(HK29*P(2,17) - HK30*P(3,17) + HK32*P(1,17) + HK34*P(0,17) + HK52*P(5,17) + HK56*P(6,17) - HK57*P(4,17));
Kfusion(18) = HK69*(HK29*P(2,18) - HK30*P(3,18) + HK32*P(1,18) + HK34*P(0,18) + HK52*P(5,18) + HK56*P(6,18) - HK57*P(4,18));
Kfusion(19) = HK69*(HK29*P(2,19) - HK30*P(3,19) + HK32*P(1,19) + HK34*P(0,19) + HK52*P(5,19) + HK56*P(6,19) - HK57*P(4,19));
Kfusion(20) = HK69*(HK29*P(2,20) - HK30*P(3,20) + HK32*P(1,20) + HK34*P(0,20) + HK52*P(5,20) + HK56*P(6,20) - HK57*P(4,20));
Kfusion(21) = HK69*(HK29*P(2,21) - HK30*P(3,21) + HK32*P(1,21) + HK34*P(0,21) + HK52*P(5,21) + HK56*P(6,21) - HK57*P(4,21));
Kfusion(22) = HK69*(HK29*P(2,22) - HK30*P(3,22) + HK32*P(1,22) + HK34*P(0,22) + HK52*P(5,22) + HK56*P(6,22) - HK57*P(4,22));
Kfusion(23) = HK69*(HK29*P(2,23) - HK30*P(3,23) + HK32*P(1,23) + HK34*P(0,23) + HK52*P(5,23) + HK56*P(6,23) - HK57*P(4,23));
Kfusion(0) = HK59*HK66;
Kfusion(1) = HK63*HK66;
Kfusion(2) = HK61*HK66;
Kfusion(3) = HK65*HK66;
Kfusion(4) = HK62*HK66;
Kfusion(5) = HK64*HK66;
Kfusion(6) = HK60*HK66;
Kfusion(7) = HK66*(HK52*P(2,7) + HK53*P(6,7) + HK54*P(0,7) - HK55*P(4,7) + HK56*P(1,7) - HK57*P(3,7) - HK58*P(5,7));
Kfusion(8) = HK66*(HK52*P(2,8) + HK53*P(6,8) + HK54*P(0,8) - HK55*P(4,8) + HK56*P(1,8) - HK57*P(3,8) - HK58*P(5,8));
Kfusion(9) = HK66*(HK52*P(2,9) + HK53*P(6,9) + HK54*P(0,9) - HK55*P(4,9) + HK56*P(1,9) - HK57*P(3,9) - HK58*P(5,9));
Kfusion(10) = HK66*(HK52*P(2,10) + HK53*P(6,10) + HK54*P(0,10) - HK55*P(4,10) + HK56*P(1,10) - HK57*P(3,10) - HK58*P(5,10));
Kfusion(11) = HK66*(HK52*P(2,11) + HK53*P(6,11) + HK54*P(0,11) - HK55*P(4,11) + HK56*P(1,11) - HK57*P(3,11) - HK58*P(5,11));
Kfusion(12) = HK66*(HK52*P(2,12) + HK53*P(6,12) + HK54*P(0,12) - HK55*P(4,12) + HK56*P(1,12) - HK57*P(3,12) - HK58*P(5,12));
Kfusion(13) = HK66*(HK52*P(2,13) + HK53*P(6,13) + HK54*P(0,13) - HK55*P(4,13) + HK56*P(1,13) - HK57*P(3,13) - HK58*P(5,13));
Kfusion(14) = HK66*(HK52*P(2,14) + HK53*P(6,14) + HK54*P(0,14) - HK55*P(4,14) + HK56*P(1,14) - HK57*P(3,14) - HK58*P(5,14));
Kfusion(15) = HK66*(HK52*P(2,15) + HK53*P(6,15) + HK54*P(0,15) - HK55*P(4,15) + HK56*P(1,15) - HK57*P(3,15) - HK58*P(5,15));
Kfusion(16) = HK66*(HK52*P(2,16) + HK53*P(6,16) + HK54*P(0,16) - HK55*P(4,16) + HK56*P(1,16) - HK57*P(3,16) - HK58*P(5,16));
Kfusion(17) = HK66*(HK52*P(2,17) + HK53*P(6,17) + HK54*P(0,17) - HK55*P(4,17) + HK56*P(1,17) - HK57*P(3,17) - HK58*P(5,17));
Kfusion(18) = HK66*(HK52*P(2,18) + HK53*P(6,18) + HK54*P(0,18) - HK55*P(4,18) + HK56*P(1,18) - HK57*P(3,18) - HK58*P(5,18));
Kfusion(19) = HK66*(HK52*P(2,19) + HK53*P(6,19) + HK54*P(0,19) - HK55*P(4,19) + HK56*P(1,19) - HK57*P(3,19) - HK58*P(5,19));
Kfusion(20) = HK66*(HK52*P(2,20) + HK53*P(6,20) + HK54*P(0,20) - HK55*P(4,20) + HK56*P(1,20) - HK57*P(3,20) - HK58*P(5,20));
Kfusion(21) = HK66*(HK52*P(2,21) + HK53*P(6,21) + HK54*P(0,21) - HK55*P(4,21) + HK56*P(1,21) - HK57*P(3,21) - HK58*P(5,21));
Kfusion(22) = HK66*(HK52*P(2,22) + HK53*P(6,22) + HK54*P(0,22) - HK55*P(4,22) + HK56*P(1,22) - HK57*P(3,22) - HK58*P(5,22));
Kfusion(23) = HK66*(HK52*P(2,23) + HK53*P(6,23) + HK54*P(0,23) - HK55*P(4,23) + HK56*P(1,23) - HK57*P(3,23) - HK58*P(5,23));
// Observation Jacobians - axis 2
Hfusion.at<0>() = HK50;
Hfusion.at<1>() = -2*HK10 - 2*HK11 + 2*HK12;
Hfusion.at<2>() = HK4;
Hfusion.at<3>() = HK6;
Hfusion.at<0>() = 2*HK30 + 2*HK8;
Hfusion.at<1>() = -2*HK10 + 2*HK12 - 2*HK67;
Hfusion.at<2>() = 2*HK68;
Hfusion.at<3>() = 2*HK69;
Hfusion.at<4>() = 2*HK70;
Hfusion.at<5>() = -2*HK53 + 2*HK54;
Hfusion.at<6>() = HK71;
Hfusion.at<5>() = -2*HK49 + 2*HK50;
Hfusion.at<6>() = HK15 + HK48 + 1;
Hfusion.at<7>() = 0;
Hfusion.at<8>() = 0;
Hfusion.at<9>() = 0;
@@ -219,29 +223,29 @@ Hfusion.at<23>() = 0;
// Kalman gains - axis 2
Kfusion(0) = HK74*HK81;
Kfusion(1) = HK78*HK81;
Kfusion(2) = HK79*HK81;
Kfusion(3) = HK77*HK81;
Kfusion(4) = HK75*HK81;
Kfusion(5) = HK76*HK81;
Kfusion(6) = HK80*HK81;
Kfusion(7) = HK81*(HK29*P(3,7) + HK30*P(2,7) + HK32*P(0,7) - HK34*P(1,7) + HK71*P(6,7) + HK72*P(4,7) - HK73*P(5,7));
Kfusion(8) = HK81*(HK29*P(3,8) + HK30*P(2,8) + HK32*P(0,8) - HK34*P(1,8) + HK71*P(6,8) + HK72*P(4,8) - HK73*P(5,8));
Kfusion(9) = HK81*(HK29*P(3,9) + HK30*P(2,9) + HK32*P(0,9) - HK34*P(1,9) + HK71*P(6,9) + HK72*P(4,9) - HK73*P(5,9));
Kfusion(10) = HK81*(HK29*P(3,10) + HK30*P(2,10) + HK32*P(0,10) - HK34*P(1,10) + HK71*P(6,10) + HK72*P(4,10) - HK73*P(5,10));
Kfusion(11) = HK81*(HK29*P(3,11) + HK30*P(2,11) + HK32*P(0,11) - HK34*P(1,11) + HK71*P(6,11) + HK72*P(4,11) - HK73*P(5,11));
Kfusion(12) = HK81*(HK29*P(3,12) + HK30*P(2,12) + HK32*P(0,12) - HK34*P(1,12) + HK71*P(6,12) + HK72*P(4,12) - HK73*P(5,12));
Kfusion(13) = HK81*(HK29*P(3,13) + HK30*P(2,13) + HK32*P(0,13) - HK34*P(1,13) + HK71*P(6,13) + HK72*P(4,13) - HK73*P(5,13));
Kfusion(14) = HK81*(HK29*P(3,14) + HK30*P(2,14) + HK32*P(0,14) - HK34*P(1,14) + HK71*P(6,14) + HK72*P(4,14) - HK73*P(5,14));
Kfusion(15) = HK81*(HK29*P(3,15) + HK30*P(2,15) + HK32*P(0,15) - HK34*P(1,15) + HK71*P(6,15) + HK72*P(4,15) - HK73*P(5,15));
Kfusion(16) = HK81*(HK29*P(3,16) + HK30*P(2,16) + HK32*P(0,16) - HK34*P(1,16) + HK71*P(6,16) + HK72*P(4,16) - HK73*P(5,16));
Kfusion(17) = HK81*(HK29*P(3,17) + HK30*P(2,17) + HK32*P(0,17) - HK34*P(1,17) + HK71*P(6,17) + HK72*P(4,17) - HK73*P(5,17));
Kfusion(18) = HK81*(HK29*P(3,18) + HK30*P(2,18) + HK32*P(0,18) - HK34*P(1,18) + HK71*P(6,18) + HK72*P(4,18) - HK73*P(5,18));
Kfusion(19) = HK81*(HK29*P(3,19) + HK30*P(2,19) + HK32*P(0,19) - HK34*P(1,19) + HK71*P(6,19) + HK72*P(4,19) - HK73*P(5,19));
Kfusion(20) = HK81*(HK29*P(3,20) + HK30*P(2,20) + HK32*P(0,20) - HK34*P(1,20) + HK71*P(6,20) + HK72*P(4,20) - HK73*P(5,20));
Kfusion(21) = HK81*(HK29*P(3,21) + HK30*P(2,21) + HK32*P(0,21) - HK34*P(1,21) + HK71*P(6,21) + HK72*P(4,21) - HK73*P(5,21));
Kfusion(22) = HK81*(HK29*P(3,22) + HK30*P(2,22) + HK32*P(0,22) - HK34*P(1,22) + HK71*P(6,22) + HK72*P(4,22) - HK73*P(5,22));
Kfusion(23) = HK81*(HK29*P(3,23) + HK30*P(2,23) + HK32*P(0,23) - HK34*P(1,23) + HK71*P(6,23) + HK72*P(4,23) - HK73*P(5,23));
Kfusion(0) = -HK78*HK85;
Kfusion(1) = -HK84*HK85;
Kfusion(2) = -HK83*HK85;
Kfusion(3) = -HK80*HK85;
Kfusion(4) = -HK79*HK85;
Kfusion(5) = -HK81*HK85;
Kfusion(6) = -HK82*HK85;
Kfusion(7) = -HK85*(-HK71*P(3,7) - HK72*P(4,7) + HK73*P(0,7) + HK74*P(5,7) - HK75*P(2,7) + HK76*P(6,7) + HK77*P(1,7));
Kfusion(8) = -HK85*(-HK71*P(3,8) - HK72*P(4,8) + HK73*P(0,8) + HK74*P(5,8) - HK75*P(2,8) + HK76*P(6,8) + HK77*P(1,8));
Kfusion(9) = -HK85*(-HK71*P(3,9) - HK72*P(4,9) + HK73*P(0,9) + HK74*P(5,9) - HK75*P(2,9) + HK76*P(6,9) + HK77*P(1,9));
Kfusion(10) = -HK85*(-HK71*P(3,10) - HK72*P(4,10) + HK73*P(0,10) + HK74*P(5,10) - HK75*P(2,10) + HK76*P(6,10) + HK77*P(1,10));
Kfusion(11) = -HK85*(-HK71*P(3,11) - HK72*P(4,11) + HK73*P(0,11) + HK74*P(5,11) - HK75*P(2,11) + HK76*P(6,11) + HK77*P(1,11));
Kfusion(12) = -HK85*(-HK71*P(3,12) - HK72*P(4,12) + HK73*P(0,12) + HK74*P(5,12) - HK75*P(2,12) + HK76*P(6,12) + HK77*P(1,12));
Kfusion(13) = -HK85*(-HK71*P(3,13) - HK72*P(4,13) + HK73*P(0,13) + HK74*P(5,13) - HK75*P(2,13) + HK76*P(6,13) + HK77*P(1,13));
Kfusion(14) = -HK85*(-HK71*P(3,14) - HK72*P(4,14) + HK73*P(0,14) + HK74*P(5,14) - HK75*P(2,14) + HK76*P(6,14) + HK77*P(1,14));
Kfusion(15) = -HK85*(-HK71*P(3,15) - HK72*P(4,15) + HK73*P(0,15) + HK74*P(5,15) - HK75*P(2,15) + HK76*P(6,15) + HK77*P(1,15));
Kfusion(16) = -HK85*(-HK71*P(3,16) - HK72*P(4,16) + HK73*P(0,16) + HK74*P(5,16) - HK75*P(2,16) + HK76*P(6,16) + HK77*P(1,16));
Kfusion(17) = -HK85*(-HK71*P(3,17) - HK72*P(4,17) + HK73*P(0,17) + HK74*P(5,17) - HK75*P(2,17) + HK76*P(6,17) + HK77*P(1,17));
Kfusion(18) = -HK85*(-HK71*P(3,18) - HK72*P(4,18) + HK73*P(0,18) + HK74*P(5,18) - HK75*P(2,18) + HK76*P(6,18) + HK77*P(1,18));
Kfusion(19) = -HK85*(-HK71*P(3,19) - HK72*P(4,19) + HK73*P(0,19) + HK74*P(5,19) - HK75*P(2,19) + HK76*P(6,19) + HK77*P(1,19));
Kfusion(20) = -HK85*(-HK71*P(3,20) - HK72*P(4,20) + HK73*P(0,20) + HK74*P(5,20) - HK75*P(2,20) + HK76*P(6,20) + HK77*P(1,20));
Kfusion(21) = -HK85*(-HK71*P(3,21) - HK72*P(4,21) + HK73*P(0,21) + HK74*P(5,21) - HK75*P(2,21) + HK76*P(6,21) + HK77*P(1,21));
Kfusion(22) = -HK85*(-HK71*P(3,22) - HK72*P(4,22) + HK73*P(0,22) + HK74*P(5,22) - HK75*P(2,22) + HK76*P(6,22) + HK77*P(1,22));
Kfusion(23) = -HK85*(-HK71*P(3,23) - HK72*P(4,23) + HK73*P(0,23) + HK74*P(5,23) - HK75*P(2,23) + HK76*P(6,23) + HK77*P(1,23));
EKF/python/ekf_derivation/generated/yaw_generated.cpp
+36 -40
View File
@@ -1,20 +1,19 @@
// calculate 321 yaw observation matrix - option A
const float SA0 = 2*q3;
const float SA1 = 2*q2;
const float SA2 = SA0*q0 + SA1*q1;
const float SA3 = powf(q0, 2) + powf(q1, 2) - powf(q2, 2) - powf(q3, 2);
const float SA0 = 2*q0;
const float SA1 = 2*q1;
const float SA2 = SA0*q3 + SA1*q2;
const float SA3 = -2*powf(q2, 2) - 2*powf(q3, 2) + 1;
const float SA4 = powf(SA3, -2);
const float SA5 = 1.0F/(powf(SA2, 2)*SA4 + 1);
const float SA6 = 1.0F/SA3;
const float SA7 = SA2*SA4;
const float SA8 = 2*SA7;
const float SA9 = 2*SA6;
const float SA7 = 2*SA5*SA6;
const float SA8 = 4*SA2*SA4;
H_YAW.at<0>() = SA5*(SA0*SA6 - SA8*q0);
H_YAW.at<1>() = SA5*(SA1*SA6 - SA8*q1);
H_YAW.at<2>() = SA5*(SA1*SA7 + SA9*q1);
H_YAW.at<3>() = SA5*(SA0*SA7 + SA9*q0);
H_YAW.at<0>() = SA7*q3;
H_YAW.at<1>() = SA7*q2;
H_YAW.at<2>() = SA5*(SA1*SA6 + SA8*q2);
H_YAW.at<3>() = SA5*(SA0*SA6 + SA8*q3);
H_YAW.at<4>() = 0;
H_YAW.at<5>() = 0;
H_YAW.at<6>() = 0;
@@ -42,18 +41,17 @@ const float SB0 = 2*q0;
const float SB1 = 2*q1;
const float SB2 = SB0*q3 + SB1*q2;
const float SB3 = powf(SB2, -2);
const float SB4 = powf(q0, 2) + powf(q1, 2) - powf(q2, 2) - powf(q3, 2);
const float SB4 = -2*powf(q2, 2) - 2*powf(q3, 2) + 1;
const float SB5 = 1.0F/(SB3*powf(SB4, 2) + 1);
const float SB6 = 1.0F/SB2;
const float SB7 = SB3*SB4;
const float SB8 = 2*SB7;
const float SB9 = 2*SB6;
const float SB6 = SB3*SB4;
const float SB7 = 2*SB5*SB6;
const float SB8 = 4/SB2;
H_YAW.at<0>() = -SB5*(SB0*SB6 - SB8*q3);
H_YAW.at<1>() = -SB5*(SB1*SB6 - SB8*q2);
H_YAW.at<2>() = -SB5*(-SB1*SB7 - SB9*q2);
H_YAW.at<3>() = -SB5*(-SB0*SB7 - SB9*q3);
H_YAW.at<0>() = SB7*q3;
H_YAW.at<1>() = SB7*q2;
H_YAW.at<2>() = -SB5*(-SB1*SB6 - SB8*q2);
H_YAW.at<3>() = -SB5*(-SB0*SB6 - SB8*q3);
H_YAW.at<4>() = 0;
H_YAW.at<5>() = 0;
H_YAW.at<6>() = 0;
@@ -77,22 +75,21 @@ H_YAW.at<23>() = 0;
// calculate 312 yaw observation matrix - option A
const float SA0 = 2*q3;
const float SA0 = 2*q0;
const float SA1 = 2*q2;
const float SA2 = SA0*q0 - SA1*q1;
const float SA3 = powf(q0, 2) - powf(q1, 2) + powf(q2, 2) - powf(q3, 2);
const float SA2 = SA0*q3 - SA1*q1;
const float SA3 = -2*powf(q1, 2) - 2*powf(q3, 2) + 1;
const float SA4 = powf(SA3, -2);
const float SA5 = 1.0F/(powf(SA2, 2)*SA4 + 1);
const float SA6 = 1.0F/SA3;
const float SA7 = SA2*SA4;
const float SA8 = 2*SA7;
const float SA9 = 2*SA6;
const float SA7 = 2*SA5*SA6;
const float SA8 = 4*SA2*SA4;
H_YAW.at<0>() = SA5*(SA0*SA6 - SA8*q0);
H_YAW.at<0>() = SA7*q3;
H_YAW.at<1>() = SA5*(-SA1*SA6 + SA8*q1);
H_YAW.at<2>() = SA5*(-SA1*SA7 - SA9*q1);
H_YAW.at<3>() = SA5*(SA0*SA7 + SA9*q0);
H_YAW.at<2>() = -SA7*q1;
H_YAW.at<3>() = SA5*(SA0*SA6 + SA8*q3);
H_YAW.at<4>() = 0;
H_YAW.at<5>() = 0;
H_YAW.at<6>() = 0;
@@ -117,21 +114,20 @@ H_YAW.at<23>() = 0;
// calculate 312 yaw observation matrix - option B
const float SB0 = 2*q0;
const float SB1 = 2*q1;
const float SB2 = -SB0*q3 + SB1*q2;
const float SB1 = 2*q2;
const float SB2 = -SB0*q3 + SB1*q1;
const float SB3 = powf(SB2, -2);
const float SB4 = -powf(q0, 2) + powf(q1, 2) - powf(q2, 2) + powf(q3, 2);
const float SB4 = 2*powf(q1, 2) + 2*powf(q3, 2) - 1;
const float SB5 = 1.0F/(SB3*powf(SB4, 2) + 1);
const float SB6 = 1.0F/SB2;
const float SB7 = SB3*SB4;
const float SB8 = 2*SB7;
const float SB9 = 2*SB6;
const float SB6 = SB3*SB4;
const float SB7 = 2*SB5*SB6;
const float SB8 = 4/SB2;
H_YAW.at<0>() = -SB5*(-SB0*SB6 + SB8*q3);
H_YAW.at<1>() = -SB5*(SB1*SB6 - SB8*q2);
H_YAW.at<2>() = -SB5*(-SB1*SB7 - SB9*q2);
H_YAW.at<3>() = -SB5*(SB0*SB7 + SB9*q3);
H_YAW.at<0>() = -SB7*q3;
H_YAW.at<1>() = -SB5*(-SB1*SB6 + SB8*q1);
H_YAW.at<2>() = SB7*q1;
H_YAW.at<3>() = -SB5*(SB0*SB6 + SB8*q3);
H_YAW.at<4>() = 0;
H_YAW.at<5>() = 0;
H_YAW.at<6>() = 0;