From c6bd93ed401b784d8743da648099fe4b7a056a86 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 4 Apr 2016 10:51:28 -0700 Subject: [PATCH] EKF: Include all output files generated by derivation script --- matlab/scripts/Inertial Nav EKF/Airspeed.mat | Bin 0 -> 8668 bytes matlab/scripts/Inertial Nav EKF/C_code24.txt | 681 ++++++++++++++++ matlab/scripts/Inertial Nav EKF/Drag.mat | Bin 0 -> 18266 bytes matlab/scripts/Inertial Nav EKF/H_LOSX.c | 15 + matlab/scripts/Inertial Nav EKF/H_LOSY.c | 14 + matlab/scripts/Inertial Nav EKF/K_LOSX.c | 89 +++ matlab/scripts/Inertial Nav EKF/K_LOSY.c | 89 +++ matlab/scripts/Inertial Nav EKF/M_code24.txt | 681 ++++++++++++++++ .../scripts/Inertial Nav EKF/Magnetometer.mat | Bin 0 -> 18619 bytes matlab/scripts/Inertial Nav EKF/Sideslip.mat | Bin 0 -> 9665 bytes .../StateAndCovariancePrediction.mat | Bin 0 -> 144862 bytes .../Inertial Nav EKF/StatePrediction.mat | Bin 0 -> 120596 bytes .../Inertial Nav EKF/SymbolicOutput24.mat | Bin 0 -> 194559 bytes .../Inertial Nav EKF/SymbolicOutput24.txt | 737 ++++++++++++++++++ .../scripts/Inertial Nav EKF/calcH_YAW312.c | 16 + .../scripts/Inertial Nav EKF/calcH_YAW321.c | 16 + matlab/scripts/Inertial Nav EKF/calcMAGD.c | 46 ++ matlab/scripts/Inertial Nav EKF/temp1.mat | Bin 0 -> 1310 bytes matlab/scripts/Inertial Nav EKF/temp2.mat | Bin 0 -> 2457 bytes matlab/scripts/Inertial Nav EKF/temp3.mat | Bin 0 -> 2451 bytes 20 files changed, 2384 insertions(+) create mode 100644 matlab/scripts/Inertial Nav EKF/Airspeed.mat create mode 100644 matlab/scripts/Inertial Nav EKF/C_code24.txt create mode 100644 matlab/scripts/Inertial Nav EKF/Drag.mat create mode 100644 matlab/scripts/Inertial Nav EKF/H_LOSX.c create mode 100644 matlab/scripts/Inertial Nav EKF/H_LOSY.c create mode 100644 matlab/scripts/Inertial Nav EKF/K_LOSX.c create mode 100644 matlab/scripts/Inertial Nav EKF/K_LOSY.c create mode 100644 matlab/scripts/Inertial Nav EKF/M_code24.txt create mode 100644 matlab/scripts/Inertial Nav EKF/Magnetometer.mat create mode 100644 matlab/scripts/Inertial Nav EKF/Sideslip.mat create mode 100644 matlab/scripts/Inertial Nav EKF/StateAndCovariancePrediction.mat create mode 100644 matlab/scripts/Inertial Nav EKF/StatePrediction.mat create mode 100644 matlab/scripts/Inertial Nav EKF/SymbolicOutput24.mat create mode 100644 matlab/scripts/Inertial Nav EKF/SymbolicOutput24.txt create mode 100644 matlab/scripts/Inertial Nav EKF/calcH_YAW312.c create mode 100644 matlab/scripts/Inertial Nav EKF/calcH_YAW321.c create mode 100644 matlab/scripts/Inertial Nav EKF/calcMAGD.c create mode 100644 matlab/scripts/Inertial Nav EKF/temp1.mat create mode 100644 matlab/scripts/Inertial Nav EKF/temp2.mat create mode 100644 matlab/scripts/Inertial Nav EKF/temp3.mat diff --git a/matlab/scripts/Inertial Nav EKF/Airspeed.mat b/matlab/scripts/Inertial Nav EKF/Airspeed.mat new file mode 100644 index 0000000000000000000000000000000000000000..9dc46ab0fa96260f4fe15a8d3dc77f9799c8c4d4 GIT binary patch literal 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0000000000..6572c81d01 --- /dev/null +++ b/matlab/scripts/Inertial Nav EKF/C_code24.txt @@ -0,0 +1,681 @@ +float SF[25][1]; +SF[0] = daz_b/2 + dazNoise/2 - (daz*daz_s)/2; +SF[1] = day_b/2 + dayNoise/2 - (day*day_s)/2; +SF[2] = dax_b/2 + daxNoise/2 - (dax*dax_s)/2; +SF[3] = q3/2 - (q0*SF[0])/2 + (q1*SF[1])/2 - (q2*SF[2])/2; +SF[4] = q0/2 - (q1*SF[2])/2 - (q2*SF[1])/2 + (q3*SF[0])/2; +SF[5] = q1/2 + (q0*SF[2])/2 - (q2*SF[0])/2 - (q3*SF[1])/2; +SF[6] = q3/2 + (q0*SF[0])/2 - (q1*SF[1])/2 - (q2*SF[2])/2; +SF[7] = q0/2 - (q1*SF[2])/2 + (q2*SF[1])/2 - (q3*SF[0])/2; +SF[8] = q0/2 + (q1*SF[2])/2 - (q2*SF[1])/2 - (q3*SF[0])/2; +SF[9] = q2/2 + (q0*SF[1])/2 + (q1*SF[0])/2 + (q3*SF[2])/2; +SF[10] = q2/2 - (q0*SF[1])/2 - (q1*SF[0])/2 + (q3*SF[2])/2; +SF[11] = q2/2 + (q0*SF[1])/2 - (q1*SF[0])/2 - (q3*SF[2])/2; +SF[12] = q1/2 + (q0*SF[2])/2 + (q2*SF[0])/2 + (q3*SF[1])/2; +SF[13] = q1/2 - (q0*SF[2])/2 + (q2*SF[0])/2 - (q3*SF[1])/2; +SF[14] = q3/2 + (q0*SF[0])/2 + (q1*SF[1])/2 + (q2*SF[2])/2; +SF[15] = - sq(q0) - sq(q1) - sq(q2) - sq(q3); +SF[16] = dvz_b - dvz + dvzNoise; +SF[17] = dvx - dvxNoise; +SF[18] = dvy - dvyNoise; +SF[19] = sq(q2); +SF[20] = SF[19] - sq(q0) + sq(q1) - sq(q3); +SF[21] = SF[19] + sq(q0) - sq(q1) - sq(q3); +SF[22] = 2*q0*q1 - 2*q2*q3; +SF[23] = SF[19] - sq(q0) - sq(q1) + sq(q3); +SF[24] = 2*q1*q2; +float SG[5][1]; +SG[0] = - sq(q0) - sq(q1) - sq(q2) - sq(q3); +SG[1] = sq(q3); +SG[2] = sq(q2); +SG[3] = sq(q1); +SG[4] = sq(q0); +float SQ[10][1]; +SQ[0] = - sq(dvyNoise)*(2*q0*q1 + 2*q2*q3)*(SG[1] - SG[2] + SG[3] - SG[4]) - sq(dvzNoise)*(2*q0*q1 - 2*q2*q3)*(SG[1] - SG[2] - SG[3] + SG[4]) - sq(dvxNoise)*(2*q0*q2 - 2*q1*q3)*(2*q0*q3 + 2*q1*q2); +SQ[1] = sq(dvxNoise)*(2*q0*q2 - 2*q1*q3)*(SG[1] + SG[2] - SG[3] - SG[4]) + sq(dvzNoise)*(2*q0*q2 + 2*q1*q3)*(SG[1] - SG[2] - SG[3] + SG[4]) - sq(dvyNoise)*(2*q0*q1 + 2*q2*q3)*(2*q0*q3 - 2*q1*q2); +SQ[2] = sq(dvyNoise)*(2*q0*q3 - 2*q1*q2)*(SG[1] - SG[2] + SG[3] - SG[4]) - sq(dvxNoise)*(2*q0*q3 + 2*q1*q2)*(SG[1] + SG[2] - SG[3] - SG[4]) - sq(dvzNoise)*(2*q0*q1 - 2*q2*q3)*(2*q0*q2 + 2*q1*q3); +SQ[3] = sq(SG[0]); +SQ[4] = sq(dvyNoise); +SQ[5] = sq(dvzNoise); +SQ[6] = sq(dvxNoise); +SQ[7] = 2*q2*q3; +SQ[8] = 2*q1*q3; +SQ[9] = 2*q1*q2; +float SPP[23][1]; +SPP[0] = SF[17]*(2*q0*q1 + 2*q2*q3) + SF[18]*(2*q0*q2 - 2*q1*q3); +SPP[1] = SF[18]*(2*q0*q2 + 2*q1*q3) + SF[16]*(SF[24] - 2*q0*q3); +SPP[2] = 2*q3*SF[8] + 2*q1*SF[11] - 2*q0*SF[14] - 2*q2*SF[13]; +SPP[3] = 2*q1*SF[7] + 2*q2*SF[6] - 2*q0*SF[12] - 2*q3*SF[10]; +SPP[4] = 2*q0*SF[6] - 2*q3*SF[7] - 2*q1*SF[10] + 2*q2*SF[12]; +SPP[5] = 2*q0*SF[8] + 2*q2*SF[11] + 2*q1*SF[13] + 2*q3*SF[14]; +SPP[6] = 2*q0*SF[7] + 2*q3*SF[6] + 2*q2*SF[10] + 2*q1*SF[12]; +SPP[7] = 2*q1*SF[3] - 2*q2*SF[4] - 2*q3*SF[5] + 2*q0*SF[9]; +SPP[8] = 2*q0*SF[5] - 2*q1*SF[4] - 2*q2*SF[3] + 2*q3*SF[9]; +SPP[9] = SF[18]*SF[20] - SF[16]*(2*q0*q1 + 2*q2*q3); +SPP[10] = SF[17]*SF[20] + SF[16]*(2*q0*q2 - 2*q1*q3); +SPP[11] = SF[17]*SF[21] - SF[18]*(SF[24] + 2*q0*q3); +SPP[12] = SF[17]*SF[22] - SF[16]*(SF[24] + 2*q0*q3); +SPP[13] = 2*q0*SF[4] + 2*q1*SF[5] + 2*q3*SF[3] + 2*q2*SF[9]; +SPP[14] = 2*q2*SF[8] - 2*q0*SF[11] - 2*q1*SF[14] + 2*q3*SF[13]; +SPP[15] = SF[18]*SF[23] + SF[17]*(SF[24] - 2*q0*q3); +SPP[16] = daz*SF[19] + daz*sq(q0) + daz*sq(q1) + daz*sq(q3); +SPP[17] = day*SF[19] + day*sq(q0) + day*sq(q1) + day*sq(q3); +SPP[18] = dax*SF[19] + dax*sq(q0) + dax*sq(q1) + dax*sq(q3); +SPP[19] = SF[16]*SF[23] - SF[17]*(2*q0*q2 + 2*q1*q3); +SPP[20] = SF[16]*SF[21] - SF[18]*SF[22]; +SPP[21] = 2*q0*q2 + 2*q1*q3; +SPP[22] = SF[15]; +float nextP[24][24]; +nextP[0][0] = SPP[5]*(P[0][0]*SPP[5] - P[1][0]*SPP[4] + P[2][0]*SPP[7] + P[9][0]*SPP[22] + P[12][0]*SPP[18]) - SPP[4]*(P[0][1]*SPP[5] - P[1][1]*SPP[4] + P[2][1]*SPP[7] + P[9][1]*SPP[22] + P[12][1]*SPP[18]) + SPP[7]*(P[0][2]*SPP[5] - P[1][2]*SPP[4] + P[2][2]*SPP[7] + P[9][2]*SPP[22] + P[12][2]*SPP[18]) + SPP[22]*(P[0][9]*SPP[5] - P[1][9]*SPP[4] + P[2][9]*SPP[7] + P[9][9]*SPP[22] + P[12][9]*SPP[18]) + SPP[18]*(P[0][12]*SPP[5] - P[1][12]*SPP[4] + P[2][12]*SPP[7] + P[9][12]*SPP[22] + P[12][12]*SPP[18]) + sq(daxNoise)*SQ[3]; +nextP[0][1] = SPP[6]*(P[0][1]*SPP[5] - P[1][1]*SPP[4] + P[2][1]*SPP[7] + P[9][1]*SPP[22] + P[12][1]*SPP[18]) - SPP[2]*(P[0][0]*SPP[5] - P[1][0]*SPP[4] + P[2][0]*SPP[7] + P[9][0]*SPP[22] + P[12][0]*SPP[18]) - SPP[8]*(P[0][2]*SPP[5] - P[1][2]*SPP[4] + P[2][2]*SPP[7] + P[9][2]*SPP[22] + P[12][2]*SPP[18]) + SPP[22]*(P[0][10]*SPP[5] - P[1][10]*SPP[4] + P[2][10]*SPP[7] + P[9][10]*SPP[22] + P[12][10]*SPP[18]) + SPP[17]*(P[0][13]*SPP[5] - P[1][13]*SPP[4] + P[2][13]*SPP[7] + P[9][13]*SPP[22] + P[12][13]*SPP[18]); +nextP[1][1] = SPP[6]*(P[1][1]*SPP[6] - P[0][1]*SPP[2] - P[2][1]*SPP[8] + P[10][1]*SPP[22] + P[13][1]*SPP[17]) - SPP[2]*(P[1][0]*SPP[6] - P[0][0]*SPP[2] - P[2][0]*SPP[8] + P[10][0]*SPP[22] + P[13][0]*SPP[17]) - SPP[8]*(P[1][2]*SPP[6] - P[0][2]*SPP[2] - P[2][2]*SPP[8] + P[10][2]*SPP[22] + P[13][2]*SPP[17]) + SPP[22]*(P[1][10]*SPP[6] - P[0][10]*SPP[2] - P[2][10]*SPP[8] + P[10][10]*SPP[22] + P[13][10]*SPP[17]) + SPP[17]*(P[1][13]*SPP[6] - P[0][13]*SPP[2] - P[2][13]*SPP[8] + P[10][13]*SPP[22] + P[13][13]*SPP[17]) + sq(dayNoise)*SQ[3]; +nextP[0][2] = SPP[14]*(P[0][0]*SPP[5] - P[1][0]*SPP[4] + P[2][0]*SPP[7] + P[9][0]*SPP[22] + P[12][0]*SPP[18]) - SPP[3]*(P[0][1]*SPP[5] - P[1][1]*SPP[4] + P[2][1]*SPP[7] + P[9][1]*SPP[22] + P[12][1]*SPP[18]) + SPP[13]*(P[0][2]*SPP[5] - P[1][2]*SPP[4] + P[2][2]*SPP[7] + P[9][2]*SPP[22] + P[12][2]*SPP[18]) + SPP[22]*(P[0][11]*SPP[5] - P[1][11]*SPP[4] + P[2][11]*SPP[7] + P[9][11]*SPP[22] + P[12][11]*SPP[18]) + SPP[16]*(P[0][14]*SPP[5] - P[1][14]*SPP[4] + P[2][14]*SPP[7] + P[9][14]*SPP[22] + P[12][14]*SPP[18]); +nextP[1][2] = SPP[14]*(P[1][0]*SPP[6] - P[0][0]*SPP[2] - P[2][0]*SPP[8] + P[10][0]*SPP[22] + P[13][0]*SPP[17]) - SPP[3]*(P[1][1]*SPP[6] - P[0][1]*SPP[2] - P[2][1]*SPP[8] + P[10][1]*SPP[22] + P[13][1]*SPP[17]) + SPP[13]*(P[1][2]*SPP[6] - P[0][2]*SPP[2] - P[2][2]*SPP[8] + P[10][2]*SPP[22] + P[13][2]*SPP[17]) + SPP[22]*(P[1][11]*SPP[6] - P[0][11]*SPP[2] - P[2][11]*SPP[8] + P[10][11]*SPP[22] + P[13][11]*SPP[17]) + SPP[16]*(P[1][14]*SPP[6] - P[0][14]*SPP[2] - P[2][14]*SPP[8] + P[10][14]*SPP[22] + P[13][14]*SPP[17]); +nextP[2][2] = SPP[14]*(P[0][0]*SPP[14] - P[1][0]*SPP[3] + P[2][0]*SPP[13] + P[11][0]*SPP[22] + P[14][0]*SPP[16]) - SPP[3]*(P[0][1]*SPP[14] - P[1][1]*SPP[3] + P[2][1]*SPP[13] + P[11][1]*SPP[22] + P[14][1]*SPP[16]) + SPP[13]*(P[0][2]*SPP[14] - P[1][2]*SPP[3] + P[2][2]*SPP[13] + P[11][2]*SPP[22] + P[14][2]*SPP[16]) + SPP[22]*(P[0][11]*SPP[14] - P[1][11]*SPP[3] + P[2][11]*SPP[13] + P[11][11]*SPP[22] + P[14][11]*SPP[16]) + SPP[16]*(P[0][14]*SPP[14] - P[1][14]*SPP[3] + P[2][14]*SPP[13] + P[11][14]*SPP[22] + P[14][14]*SPP[16]) + sq(dazNoise)*SQ[3]; +nextP[0][3] = P[0][3]*SPP[5] - P[1][3]*SPP[4] + P[2][3]*SPP[7] + P[9][3]*SPP[22] + P[12][3]*SPP[18] + SPP[1]*(P[0][0]*SPP[5] - P[1][0]*SPP[4] + P[2][0]*SPP[7] + P[9][0]*SPP[22] + P[12][0]*SPP[18]) + SPP[19]*(P[0][1]*SPP[5] - P[1][1]*SPP[4] + P[2][1]*SPP[7] + P[9][1]*SPP[22] + P[12][1]*SPP[18]) + SPP[15]*(P[0][2]*SPP[5] - P[1][2]*SPP[4] + P[2][2]*SPP[7] + P[9][2]*SPP[22] + P[12][2]*SPP[18]) - SPP[21]*(P[0][15]*SPP[5] - P[1][15]*SPP[4] + P[2][15]*SPP[7] + P[9][15]*SPP[22] + P[12][15]*SPP[18]); +nextP[1][3] = P[1][3]*SPP[6] - P[0][3]*SPP[2] - P[2][3]*SPP[8] + P[10][3]*SPP[22] + P[13][3]*SPP[17] + SPP[1]*(P[1][0]*SPP[6] - P[0][0]*SPP[2] - P[2][0]*SPP[8] + P[10][0]*SPP[22] + P[13][0]*SPP[17]) + SPP[19]*(P[1][1]*SPP[6] - P[0][1]*SPP[2] - P[2][1]*SPP[8] + P[10][1]*SPP[22] + P[13][1]*SPP[17]) + SPP[15]*(P[1][2]*SPP[6] - P[0][2]*SPP[2] - P[2][2]*SPP[8] + P[10][2]*SPP[22] + P[13][2]*SPP[17]) - SPP[21]*(P[1][15]*SPP[6] - P[0][15]*SPP[2] - P[2][15]*SPP[8] + P[10][15]*SPP[22] + P[13][15]*SPP[17]); +nextP[2][3] = P[0][3]*SPP[14] - P[1][3]*SPP[3] + P[2][3]*SPP[13] + P[11][3]*SPP[22] + P[14][3]*SPP[16] + SPP[1]*(P[0][0]*SPP[14] - P[1][0]*SPP[3] + P[2][0]*SPP[13] + P[11][0]*SPP[22] + P[14][0]*SPP[16]) + SPP[19]*(P[0][1]*SPP[14] - P[1][1]*SPP[3] + P[2][1]*SPP[13] + P[11][1]*SPP[22] + P[14][1]*SPP[16]) + SPP[15]*(P[0][2]*SPP[14] - P[1][2]*SPP[3] + P[2][2]*SPP[13] + P[11][2]*SPP[22] + P[14][2]*SPP[16]) - SPP[21]*(P[0][15]*SPP[14] - P[1][15]*SPP[3] + P[2][15]*SPP[13] + P[11][15]*SPP[22] + P[14][15]*SPP[16]); +nextP[3][3] = P[3][3] + P[0][3]*SPP[1] + P[1][3]*SPP[19] + P[2][3]*SPP[15] - P[15][3]*SPP[21] + SQ[5]*sq(SQ[8] + 2*q0*q2) + SQ[4]*sq(SQ[9] - 2*q0*q3) + SPP[1]*(P[3][0] + P[0][0]*SPP[1] + P[1][0]*SPP[19] + P[2][0]*SPP[15] - P[15][0]*SPP[21]) + SPP[19]*(P[3][1] + P[0][1]*SPP[1] + P[1][1]*SPP[19] + P[2][1]*SPP[15] - P[15][1]*SPP[21]) + SPP[15]*(P[3][2] + P[0][2]*SPP[1] + P[1][2]*SPP[19] + P[2][2]*SPP[15] - P[15][2]*SPP[21]) - SPP[21]*(P[3][15] + P[0][15]*SPP[1] + P[1][15]*SPP[19] + P[2][15]*SPP[15] - P[15][15]*SPP[21]) + SQ[6]*sq(SG[1] + SG[2] - SG[3] - SG[4]); +nextP[0][4] = P[0][4]*SPP[5] - P[1][4]*SPP[4] + P[2][4]*SPP[7] + P[9][4]*SPP[22] + P[12][4]*SPP[18] + SF[22]*(P[0][15]*SPP[5] - P[1][15]*SPP[4] + P[2][15]*SPP[7] + P[9][15]*SPP[22] + P[12][15]*SPP[18]) + SPP[12]*(P[0][1]*SPP[5] - P[1][1]*SPP[4] + P[2][1]*SPP[7] + P[9][1]*SPP[22] + P[12][1]*SPP[18]) + SPP[20]*(P[0][0]*SPP[5] - P[1][0]*SPP[4] + P[2][0]*SPP[7] + P[9][0]*SPP[22] + P[12][0]*SPP[18]) + SPP[11]*(P[0][2]*SPP[5] - P[1][2]*SPP[4] + P[2][2]*SPP[7] + P[9][2]*SPP[22] + P[12][2]*SPP[18]); +nextP[1][4] = P[1][4]*SPP[6] - P[0][4]*SPP[2] - P[2][4]*SPP[8] + P[10][4]*SPP[22] + P[13][4]*SPP[17] + SF[22]*(P[1][15]*SPP[6] - P[0][15]*SPP[2] - P[2][15]*SPP[8] + P[10][15]*SPP[22] + P[13][15]*SPP[17]) + SPP[12]*(P[1][1]*SPP[6] - P[0][1]*SPP[2] - P[2][1]*SPP[8] + P[10][1]*SPP[22] + P[13][1]*SPP[17]) + SPP[20]*(P[1][0]*SPP[6] - P[0][0]*SPP[2] - P[2][0]*SPP[8] + P[10][0]*SPP[22] + P[13][0]*SPP[17]) + SPP[11]*(P[1][2]*SPP[6] - P[0][2]*SPP[2] - P[2][2]*SPP[8] + P[10][2]*SPP[22] + P[13][2]*SPP[17]); +nextP[2][4] = P[0][4]*SPP[14] - P[1][4]*SPP[3] + P[2][4]*SPP[13] + P[11][4]*SPP[22] + P[14][4]*SPP[16] + SF[22]*(P[0][15]*SPP[14] - P[1][15]*SPP[3] + P[2][15]*SPP[13] + P[11][15]*SPP[22] + P[14][15]*SPP[16]) + SPP[12]*(P[0][1]*SPP[14] - P[1][1]*SPP[3] + P[2][1]*SPP[13] + P[11][1]*SPP[22] + P[14][1]*SPP[16]) + SPP[20]*(P[0][0]*SPP[14] - P[1][0]*SPP[3] + P[2][0]*SPP[13] + P[11][0]*SPP[22] + P[14][0]*SPP[16]) + SPP[11]*(P[0][2]*SPP[14] - P[1][2]*SPP[3] + P[2][2]*SPP[13] + P[11][2]*SPP[22] + P[14][2]*SPP[16]); +nextP[3][4] = P[3][4] + SQ[2] + P[0][4]*SPP[1] + P[1][4]*SPP[19] + P[2][4]*SPP[15] - P[15][4]*SPP[21] + SF[22]*(P[3][15] + P[0][15]*SPP[1] + P[1][15]*SPP[19] + P[2][15]*SPP[15] - P[15][15]*SPP[21]) + SPP[12]*(P[3][1] + P[0][1]*SPP[1] + P[1][1]*SPP[19] + P[2][1]*SPP[15] - P[15][1]*SPP[21]) + SPP[20]*(P[3][0] + P[0][0]*SPP[1] + P[1][0]*SPP[19] + P[2][0]*SPP[15] - P[15][0]*SPP[21]) + SPP[11]*(P[3][2] + P[0][2]*SPP[1] + P[1][2]*SPP[19] + P[2][2]*SPP[15] - P[15][2]*SPP[21]); +nextP[4][4] = P[4][4] + P[15][4]*SF[22] + P[0][4]*SPP[20] + P[1][4]*SPP[12] + P[2][4]*SPP[11] + SQ[5]*sq(SQ[7] - 2*q0*q1) + SQ[6]*sq(SQ[9] + 2*q0*q3) + SF[22]*(P[4][15] + P[15][15]*SF[22] + P[0][15]*SPP[20] + P[1][15]*SPP[12] + P[2][15]*SPP[11]) + SPP[12]*(P[4][1] + P[15][1]*SF[22] + P[0][1]*SPP[20] + P[1][1]*SPP[12] + P[2][1]*SPP[11]) + SPP[20]*(P[4][0] + P[15][0]*SF[22] + P[0][0]*SPP[20] + P[1][0]*SPP[12] + P[2][0]*SPP[11]) + SPP[11]*(P[4][2] + P[15][2]*SF[22] + P[0][2]*SPP[20] + P[1][2]*SPP[12] + P[2][2]*SPP[11]) + SQ[4]*sq(SG[1] - SG[2] + SG[3] - SG[4]); +nextP[0][5] = P[0][5]*SPP[5] - P[1][5]*SPP[4] + P[2][5]*SPP[7] + P[9][5]*SPP[22] + P[12][5]*SPP[18] + SF[20]*(P[0][15]*SPP[5] - P[1][15]*SPP[4] + P[2][15]*SPP[7] + P[9][15]*SPP[22] + P[12][15]*SPP[18]) - SPP[9]*(P[0][0]*SPP[5] - P[1][0]*SPP[4] + P[2][0]*SPP[7] + P[9][0]*SPP[22] + P[12][0]*SPP[18]) + SPP[0]*(P[0][2]*SPP[5] - P[1][2]*SPP[4] + P[2][2]*SPP[7] + P[9][2]*SPP[22] + P[12][2]*SPP[18]) + SPP[10]*(P[0][1]*SPP[5] - P[1][1]*SPP[4] + P[2][1]*SPP[7] + P[9][1]*SPP[22] + P[12][1]*SPP[18]); +nextP[1][5] = P[1][5]*SPP[6] - P[0][5]*SPP[2] - P[2][5]*SPP[8] + P[10][5]*SPP[22] + P[13][5]*SPP[17] + SF[20]*(P[1][15]*SPP[6] - P[0][15]*SPP[2] - P[2][15]*SPP[8] + P[10][15]*SPP[22] + P[13][15]*SPP[17]) - SPP[9]*(P[1][0]*SPP[6] - P[0][0]*SPP[2] - P[2][0]*SPP[8] + P[10][0]*SPP[22] + P[13][0]*SPP[17]) + SPP[0]*(P[1][2]*SPP[6] - P[0][2]*SPP[2] - P[2][2]*SPP[8] + P[10][2]*SPP[22] + P[13][2]*SPP[17]) + SPP[10]*(P[1][1]*SPP[6] - P[0][1]*SPP[2] - P[2][1]*SPP[8] + P[10][1]*SPP[22] + P[13][1]*SPP[17]); +nextP[2][5] = P[0][5]*SPP[14] - P[1][5]*SPP[3] + P[2][5]*SPP[13] + P[11][5]*SPP[22] + P[14][5]*SPP[16] + SF[20]*(P[0][15]*SPP[14] - P[1][15]*SPP[3] + P[2][15]*SPP[13] + P[11][15]*SPP[22] + P[14][15]*SPP[16]) - SPP[9]*(P[0][0]*SPP[14] - P[1][0]*SPP[3] + P[2][0]*SPP[13] + P[11][0]*SPP[22] + P[14][0]*SPP[16]) + SPP[0]*(P[0][2]*SPP[14] - P[1][2]*SPP[3] + P[2][2]*SPP[13] + P[11][2]*SPP[22] + P[14][2]*SPP[16]) + SPP[10]*(P[0][1]*SPP[14] - P[1][1]*SPP[3] + P[2][1]*SPP[13] + P[11][1]*SPP[22] + P[14][1]*SPP[16]); +nextP[3][5] = P[3][5] + SQ[1] + P[0][5]*SPP[1] + P[1][5]*SPP[19] + P[2][5]*SPP[15] - P[15][5]*SPP[21] + SF[20]*(P[3][15] + P[0][15]*SPP[1] + P[1][15]*SPP[19] + P[2][15]*SPP[15] - P[15][15]*SPP[21]) - SPP[9]*(P[3][0] + P[0][0]*SPP[1] + P[1][0]*SPP[19] + P[2][0]*SPP[15] - P[15][0]*SPP[21]) + SPP[0]*(P[3][2] + P[0][2]*SPP[1] + P[1][2]*SPP[19] + P[2][2]*SPP[15] - P[15][2]*SPP[21]) + SPP[10]*(P[3][1] + P[0][1]*SPP[1] + P[1][1]*SPP[19] + P[2][1]*SPP[15] - P[15][1]*SPP[21]); +nextP[4][5] = P[4][5] + SQ[0] + P[15][5]*SF[22] + P[0][5]*SPP[20] + P[1][5]*SPP[12] + P[2][5]*SPP[11] + SF[20]*(P[4][15] + P[15][15]*SF[22] + P[0][15]*SPP[20] + P[1][15]*SPP[12] + P[2][15]*SPP[11]) - SPP[9]*(P[4][0] + P[15][0]*SF[22] + P[0][0]*SPP[20] + P[1][0]*SPP[12] + P[2][0]*SPP[11]) + SPP[0]*(P[4][2] + P[15][2]*SF[22] + P[0][2]*SPP[20] + P[1][2]*SPP[12] + P[2][2]*SPP[11]) + SPP[10]*(P[4][1] + P[15][1]*SF[22] + P[0][1]*SPP[20] + P[1][1]*SPP[12] + P[2][1]*SPP[11]); +nextP[5][5] = P[5][5] + P[15][5]*SF[20] - P[0][5]*SPP[9] + P[1][5]*SPP[10] + P[2][5]*SPP[0] + SQ[4]*sq(SQ[7] + 2*q0*q1) + SQ[6]*sq(SQ[8] - 2*q0*q2) + SF[20]*(P[5][15] + P[15][15]*SF[20] - P[0][15]*SPP[9] + P[1][15]*SPP[10] + P[2][15]*SPP[0]) - SPP[9]*(P[5][0] + P[15][0]*SF[20] - P[0][0]*SPP[9] + P[1][0]*SPP[10] + P[2][0]*SPP[0]) + SPP[0]*(P[5][2] + P[15][2]*SF[20] - P[0][2]*SPP[9] + P[1][2]*SPP[10] + P[2][2]*SPP[0]) + SPP[10]*(P[5][1] + P[15][1]*SF[20] - P[0][1]*SPP[9] + P[1][1]*SPP[10] + P[2][1]*SPP[0]) + SQ[5]*sq(SG[1] - SG[2] - SG[3] + SG[4]); +nextP[0][6] = P[0][6]*SPP[5] - P[1][6]*SPP[4] + P[2][6]*SPP[7] + P[9][6]*SPP[22] + P[12][6]*SPP[18] + dt*(P[0][3]*SPP[5] - P[1][3]*SPP[4] + P[2][3]*SPP[7] + P[9][3]*SPP[22] + P[12][3]*SPP[18]); +nextP[1][6] = P[1][6]*SPP[6] - P[0][6]*SPP[2] - P[2][6]*SPP[8] + P[10][6]*SPP[22] + P[13][6]*SPP[17] + dt*(P[1][3]*SPP[6] - P[0][3]*SPP[2] - P[2][3]*SPP[8] + P[10][3]*SPP[22] + P[13][3]*SPP[17]); +nextP[2][6] = P[0][6]*SPP[14] - P[1][6]*SPP[3] + P[2][6]*SPP[13] + P[11][6]*SPP[22] + P[14][6]*SPP[16] + dt*(P[0][3]*SPP[14] - P[1][3]*SPP[3] + P[2][3]*SPP[13] + P[11][3]*SPP[22] + P[14][3]*SPP[16]); +nextP[3][6] = P[3][6] + P[0][6]*SPP[1] + P[1][6]*SPP[19] + P[2][6]*SPP[15] - P[15][6]*SPP[21] + dt*(P[3][3] + P[0][3]*SPP[1] + P[1][3]*SPP[19] + P[2][3]*SPP[15] - P[15][3]*SPP[21]); +nextP[4][6] = P[4][6] + P[15][6]*SF[22] + P[0][6]*SPP[20] + P[1][6]*SPP[12] + P[2][6]*SPP[11] + dt*(P[4][3] + P[15][3]*SF[22] + P[0][3]*SPP[20] + P[1][3]*SPP[12] + P[2][3]*SPP[11]); +nextP[5][6] = P[5][6] + P[15][6]*SF[20] - P[0][6]*SPP[9] + P[1][6]*SPP[10] + P[2][6]*SPP[0] + dt*(P[5][3] + P[15][3]*SF[20] - P[0][3]*SPP[9] + P[1][3]*SPP[10] + P[2][3]*SPP[0]); +nextP[6][6] = P[6][6] + P[3][6]*dt + dt*(P[6][3] + P[3][3]*dt); +nextP[0][7] = P[0][7]*SPP[5] - P[1][7]*SPP[4] + P[2][7]*SPP[7] + P[9][7]*SPP[22] + P[12][7]*SPP[18] + dt*(P[0][4]*SPP[5] - P[1][4]*SPP[4] + P[2][4]*SPP[7] + P[9][4]*SPP[22] + P[12][4]*SPP[18]); +nextP[1][7] = P[1][7]*SPP[6] - P[0][7]*SPP[2] - P[2][7]*SPP[8] + P[10][7]*SPP[22] + P[13][7]*SPP[17] + dt*(P[1][4]*SPP[6] - P[0][4]*SPP[2] - P[2][4]*SPP[8] + P[10][4]*SPP[22] + P[13][4]*SPP[17]); +nextP[2][7] = P[0][7]*SPP[14] - P[1][7]*SPP[3] + P[2][7]*SPP[13] + P[11][7]*SPP[22] + P[14][7]*SPP[16] + dt*(P[0][4]*SPP[14] - P[1][4]*SPP[3] + P[2][4]*SPP[13] + P[11][4]*SPP[22] + P[14][4]*SPP[16]); +nextP[3][7] = P[3][7] + P[0][7]*SPP[1] + P[1][7]*SPP[19] + P[2][7]*SPP[15] - P[15][7]*SPP[21] + dt*(P[3][4] + P[0][4]*SPP[1] + P[1][4]*SPP[19] + P[2][4]*SPP[15] - P[15][4]*SPP[21]); +nextP[4][7] = P[4][7] + P[15][7]*SF[22] + P[0][7]*SPP[20] + P[1][7]*SPP[12] + P[2][7]*SPP[11] + dt*(P[4][4] + P[15][4]*SF[22] + P[0][4]*SPP[20] + P[1][4]*SPP[12] + P[2][4]*SPP[11]); +nextP[5][7] = P[5][7] + P[15][7]*SF[20] - P[0][7]*SPP[9] + P[1][7]*SPP[10] + P[2][7]*SPP[0] + dt*(P[5][4] + P[15][4]*SF[20] - P[0][4]*SPP[9] + P[1][4]*SPP[10] + P[2][4]*SPP[0]); +nextP[6][7] = P[6][7] + P[3][7]*dt + dt*(P[6][4] + P[3][4]*dt); +nextP[7][7] = P[7][7] + P[4][7]*dt + dt*(P[7][4] + P[4][4]*dt); +nextP[0][8] = P[0][8]*SPP[5] - P[1][8]*SPP[4] + P[2][8]*SPP[7] + P[9][8]*SPP[22] + P[12][8]*SPP[18] + dt*(P[0][5]*SPP[5] - P[1][5]*SPP[4] + P[2][5]*SPP[7] + P[9][5]*SPP[22] + P[12][5]*SPP[18]); +nextP[1][8] = P[1][8]*SPP[6] - P[0][8]*SPP[2] - P[2][8]*SPP[8] + P[10][8]*SPP[22] + P[13][8]*SPP[17] + dt*(P[1][5]*SPP[6] - P[0][5]*SPP[2] - P[2][5]*SPP[8] + P[10][5]*SPP[22] + P[13][5]*SPP[17]); +nextP[2][8] = P[0][8]*SPP[14] - P[1][8]*SPP[3] + P[2][8]*SPP[13] + P[11][8]*SPP[22] + P[14][8]*SPP[16] + dt*(P[0][5]*SPP[14] - P[1][5]*SPP[3] + P[2][5]*SPP[13] + P[11][5]*SPP[22] + P[14][5]*SPP[16]); +nextP[3][8] = P[3][8] + P[0][8]*SPP[1] + P[1][8]*SPP[19] + P[2][8]*SPP[15] - P[15][8]*SPP[21] + dt*(P[3][5] + P[0][5]*SPP[1] + P[1][5]*SPP[19] + P[2][5]*SPP[15] - P[15][5]*SPP[21]); +nextP[4][8] = P[4][8] + P[15][8]*SF[22] + P[0][8]*SPP[20] + P[1][8]*SPP[12] + P[2][8]*SPP[11] + dt*(P[4][5] + P[15][5]*SF[22] + P[0][5]*SPP[20] + P[1][5]*SPP[12] + P[2][5]*SPP[11]); +nextP[5][8] = P[5][8] + P[15][8]*SF[20] - P[0][8]*SPP[9] + P[1][8]*SPP[10] + P[2][8]*SPP[0] + dt*(P[5][5] + P[15][5]*SF[20] - P[0][5]*SPP[9] + P[1][5]*SPP[10] + P[2][5]*SPP[0]); +nextP[6][8] = P[6][8] + P[3][8]*dt + dt*(P[6][5] + P[3][5]*dt); +nextP[7][8] = P[7][8] + P[4][8]*dt + dt*(P[7][5] + P[4][5]*dt); +nextP[8][8] = P[8][8] + P[5][8]*dt + dt*(P[8][5] + P[5][5]*dt); +nextP[0][9] = P[0][9]*SPP[5] - P[1][9]*SPP[4] + P[2][9]*SPP[7] + P[9][9]*SPP[22] + P[12][9]*SPP[18]; +nextP[1][9] = P[1][9]*SPP[6] - P[0][9]*SPP[2] - P[2][9]*SPP[8] + P[10][9]*SPP[22] + P[13][9]*SPP[17]; +nextP[2][9] = P[0][9]*SPP[14] - P[1][9]*SPP[3] + P[2][9]*SPP[13] + P[11][9]*SPP[22] + P[14][9]*SPP[16]; +nextP[3][9] = P[3][9] + P[0][9]*SPP[1] + P[1][9]*SPP[19] + P[2][9]*SPP[15] - P[15][9]*SPP[21]; +nextP[4][9] = P[4][9] + P[15][9]*SF[22] + P[0][9]*SPP[20] + P[1][9]*SPP[12] + P[2][9]*SPP[11]; +nextP[5][9] = P[5][9] + P[15][9]*SF[20] - P[0][9]*SPP[9] + P[1][9]*SPP[10] + P[2][9]*SPP[0]; +nextP[6][9] = P[6][9] + P[3][9]*dt; +nextP[7][9] = P[7][9] + P[4][9]*dt; +nextP[8][9] = P[8][9] + P[5][9]*dt; +nextP[9][9] = P[9][9]; +nextP[0][10] = P[0][10]*SPP[5] - P[1][10]*SPP[4] + P[2][10]*SPP[7] + P[9][10]*SPP[22] + P[12][10]*SPP[18]; +nextP[1][10] = P[1][10]*SPP[6] - P[0][10]*SPP[2] - P[2][10]*SPP[8] + P[10][10]*SPP[22] + P[13][10]*SPP[17]; +nextP[2][10] = P[0][10]*SPP[14] - P[1][10]*SPP[3] + P[2][10]*SPP[13] + P[11][10]*SPP[22] + P[14][10]*SPP[16]; +nextP[3][10] = P[3][10] + P[0][10]*SPP[1] + P[1][10]*SPP[19] + P[2][10]*SPP[15] - P[15][10]*SPP[21]; +nextP[4][10] = P[4][10] + P[15][10]*SF[22] + P[0][10]*SPP[20] + P[1][10]*SPP[12] + P[2][10]*SPP[11]; +nextP[5][10] = P[5][10] + P[15][10]*SF[20] - P[0][10]*SPP[9] + P[1][10]*SPP[10] + P[2][10]*SPP[0]; +nextP[6][10] = P[6][10] + P[3][10]*dt; +nextP[7][10] = P[7][10] + P[4][10]*dt; +nextP[8][10] = P[8][10] + P[5][10]*dt; +nextP[9][10] = P[9][10]; +nextP[10][10] = P[10][10]; +nextP[0][11] = P[0][11]*SPP[5] - P[1][11]*SPP[4] + P[2][11]*SPP[7] + P[9][11]*SPP[22] + P[12][11]*SPP[18]; +nextP[1][11] = P[1][11]*SPP[6] - P[0][11]*SPP[2] - P[2][11]*SPP[8] + P[10][11]*SPP[22] + P[13][11]*SPP[17]; +nextP[2][11] = P[0][11]*SPP[14] - P[1][11]*SPP[3] + P[2][11]*SPP[13] + P[11][11]*SPP[22] + P[14][11]*SPP[16]; +nextP[3][11] = P[3][11] + P[0][11]*SPP[1] + P[1][11]*SPP[19] + P[2][11]*SPP[15] - P[15][11]*SPP[21]; +nextP[4][11] = P[4][11] + P[15][11]*SF[22] + P[0][11]*SPP[20] + P[1][11]*SPP[12] + P[2][11]*SPP[11]; +nextP[5][11] = P[5][11] + P[15][11]*SF[20] - P[0][11]*SPP[9] + P[1][11]*SPP[10] + P[2][11]*SPP[0]; +nextP[6][11] = P[6][11] + P[3][11]*dt; +nextP[7][11] = P[7][11] + P[4][11]*dt; +nextP[8][11] = P[8][11] + P[5][11]*dt; +nextP[9][11] = P[9][11]; +nextP[10][11] = P[10][11]; +nextP[11][11] = P[11][11]; +nextP[0][12] = P[0][12]*SPP[5] - P[1][12]*SPP[4] + P[2][12]*SPP[7] + P[9][12]*SPP[22] + P[12][12]*SPP[18]; +nextP[1][12] = P[1][12]*SPP[6] - P[0][12]*SPP[2] - P[2][12]*SPP[8] + P[10][12]*SPP[22] + P[13][12]*SPP[17]; +nextP[2][12] = P[0][12]*SPP[14] - P[1][12]*SPP[3] + P[2][12]*SPP[13] + P[11][12]*SPP[22] + P[14][12]*SPP[16]; +nextP[3][12] = P[3][12] + P[0][12]*SPP[1] + P[1][12]*SPP[19] + P[2][12]*SPP[15] - P[15][12]*SPP[21]; +nextP[4][12] = P[4][12] + P[15][12]*SF[22] + P[0][12]*SPP[20] + P[1][12]*SPP[12] + P[2][12]*SPP[11]; +nextP[5][12] = P[5][12] + P[15][12]*SF[20] - P[0][12]*SPP[9] + P[1][12]*SPP[10] + P[2][12]*SPP[0]; +nextP[6][12] = P[6][12] + P[3][12]*dt; +nextP[7][12] = P[7][12] + P[4][12]*dt; +nextP[8][12] = P[8][12] + P[5][12]*dt; +nextP[9][12] = P[9][12]; +nextP[10][12] = P[10][12]; +nextP[11][12] = P[11][12]; +nextP[12][12] = P[12][12]; +nextP[0][13] = P[0][13]*SPP[5] - P[1][13]*SPP[4] + P[2][13]*SPP[7] + P[9][13]*SPP[22] + P[12][13]*SPP[18]; +nextP[1][13] = P[1][13]*SPP[6] - P[0][13]*SPP[2] - P[2][13]*SPP[8] + P[10][13]*SPP[22] + P[13][13]*SPP[17]; +nextP[2][13] = P[0][13]*SPP[14] - P[1][13]*SPP[3] + P[2][13]*SPP[13] + P[11][13]*SPP[22] + P[14][13]*SPP[16]; +nextP[3][13] = P[3][13] + P[0][13]*SPP[1] + P[1][13]*SPP[19] + P[2][13]*SPP[15] - P[15][13]*SPP[21]; +nextP[4][13] = P[4][13] + P[15][13]*SF[22] + P[0][13]*SPP[20] + P[1][13]*SPP[12] + P[2][13]*SPP[11]; +nextP[5][13] = P[5][13] + P[15][13]*SF[20] - P[0][13]*SPP[9] + P[1][13]*SPP[10] + P[2][13]*SPP[0]; +nextP[6][13] = P[6][13] + P[3][13]*dt; +nextP[7][13] = P[7][13] + P[4][13]*dt; +nextP[8][13] = P[8][13] + P[5][13]*dt; +nextP[9][13] = P[9][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] = P[0][14]*SPP[5] - P[1][14]*SPP[4] + P[2][14]*SPP[7] + P[9][14]*SPP[22] + P[12][14]*SPP[18]; +nextP[1][14] = P[1][14]*SPP[6] - P[0][14]*SPP[2] - P[2][14]*SPP[8] + P[10][14]*SPP[22] + P[13][14]*SPP[17]; +nextP[2][14] = P[0][14]*SPP[14] - P[1][14]*SPP[3] + P[2][14]*SPP[13] + P[11][14]*SPP[22] + P[14][14]*SPP[16]; +nextP[3][14] = P[3][14] + P[0][14]*SPP[1] + P[1][14]*SPP[19] + P[2][14]*SPP[15] - P[15][14]*SPP[21]; +nextP[4][14] = P[4][14] + P[15][14]*SF[22] + P[0][14]*SPP[20] + P[1][14]*SPP[12] + P[2][14]*SPP[11]; +nextP[5][14] = P[5][14] + P[15][14]*SF[20] - P[0][14]*SPP[9] + P[1][14]*SPP[10] + P[2][14]*SPP[0]; +nextP[6][14] = P[6][14] + P[3][14]*dt; +nextP[7][14] = P[7][14] + P[4][14]*dt; +nextP[8][14] = P[8][14] + P[5][14]*dt; +nextP[9][14] = P[9][14]; +nextP[10][14] = P[10][14]; +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] = P[0][15]*SPP[5] - P[1][15]*SPP[4] + P[2][15]*SPP[7] + P[9][15]*SPP[22] + P[12][15]*SPP[18]; +nextP[1][15] = P[1][15]*SPP[6] - P[0][15]*SPP[2] - P[2][15]*SPP[8] + P[10][15]*SPP[22] + P[13][15]*SPP[17]; +nextP[2][15] = P[0][15]*SPP[14] - P[1][15]*SPP[3] + P[2][15]*SPP[13] + P[11][15]*SPP[22] + P[14][15]*SPP[16]; +nextP[3][15] = P[3][15] + P[0][15]*SPP[1] + P[1][15]*SPP[19] + P[2][15]*SPP[15] - P[15][15]*SPP[21]; +nextP[4][15] = P[4][15] + P[15][15]*SF[22] + P[0][15]*SPP[20] + P[1][15]*SPP[12] + P[2][15]*SPP[11]; +nextP[5][15] = P[5][15] + P[15][15]*SF[20] - P[0][15]*SPP[9] + P[1][15]*SPP[10] + P[2][15]*SPP[0]; +nextP[6][15] = P[6][15] + P[3][15]*dt; +nextP[7][15] = P[7][15] + P[4][15]*dt; +nextP[8][15] = P[8][15] + P[5][15]*dt; +nextP[9][15] = P[9][15]; +nextP[10][15] = P[10][15]; +nextP[11][15] = P[11][15]; +nextP[12][15] = P[12][15]; +nextP[13][15] = P[13][15]; +nextP[14][15] = P[14][15]; +nextP[15][15] = P[15][15]; +nextP[0][16] = P[0][16]*SPP[5] - P[1][16]*SPP[4] + P[2][16]*SPP[7] + P[9][16]*SPP[22] + P[12][16]*SPP[18]; +nextP[1][16] = P[1][16]*SPP[6] - P[0][16]*SPP[2] - P[2][16]*SPP[8] + P[10][16]*SPP[22] + P[13][16]*SPP[17]; +nextP[2][16] = P[0][16]*SPP[14] - P[1][16]*SPP[3] + P[2][16]*SPP[13] + P[11][16]*SPP[22] + P[14][16]*SPP[16]; +nextP[3][16] = P[3][16] + P[0][16]*SPP[1] + P[1][16]*SPP[19] + P[2][16]*SPP[15] - P[15][16]*SPP[21]; +nextP[4][16] = P[4][16] + P[15][16]*SF[22] + P[0][16]*SPP[20] + P[1][16]*SPP[12] + P[2][16]*SPP[11]; +nextP[5][16] = P[5][16] + P[15][16]*SF[20] - P[0][16]*SPP[9] + P[1][16]*SPP[10] + P[2][16]*SPP[0]; +nextP[6][16] = P[6][16] + P[3][16]*dt; +nextP[7][16] = P[7][16] + P[4][16]*dt; +nextP[8][16] = P[8][16] + P[5][16]*dt; +nextP[9][16] = P[9][16]; +nextP[10][16] = P[10][16]; +nextP[11][16] = P[11][16]; +nextP[12][16] = P[12][16]; +nextP[13][16] = P[13][16]; +nextP[14][16] = P[14][16]; +nextP[15][16] = P[15][16]; +nextP[16][16] = P[16][16]; +nextP[0][17] = P[0][17]*SPP[5] - P[1][17]*SPP[4] + P[2][17]*SPP[7] + P[9][17]*SPP[22] + P[12][17]*SPP[18]; +nextP[1][17] = P[1][17]*SPP[6] - P[0][17]*SPP[2] - P[2][17]*SPP[8] + P[10][17]*SPP[22] + P[13][17]*SPP[17]; +nextP[2][17] = P[0][17]*SPP[14] - P[1][17]*SPP[3] + P[2][17]*SPP[13] + P[11][17]*SPP[22] + P[14][17]*SPP[16]; +nextP[3][17] = P[3][17] + P[0][17]*SPP[1] + P[1][17]*SPP[19] + P[2][17]*SPP[15] - P[15][17]*SPP[21]; +nextP[4][17] = P[4][17] + P[15][17]*SF[22] + P[0][17]*SPP[20] + P[1][17]*SPP[12] + P[2][17]*SPP[11]; +nextP[5][17] = P[5][17] + P[15][17]*SF[20] - P[0][17]*SPP[9] + P[1][17]*SPP[10] + P[2][17]*SPP[0]; +nextP[6][17] = P[6][17] + P[3][17]*dt; +nextP[7][17] = P[7][17] + P[4][17]*dt; +nextP[8][17] = P[8][17] + P[5][17]*dt; +nextP[9][17] = P[9][17]; +nextP[10][17] = P[10][17]; +nextP[11][17] = P[11][17]; +nextP[12][17] = P[12][17]; +nextP[13][17] = P[13][17]; +nextP[14][17] = P[14][17]; +nextP[15][17] = P[15][17]; +nextP[16][17] = P[16][17]; +nextP[17][17] = P[17][17]; +nextP[0][18] = P[0][18]*SPP[5] - P[1][18]*SPP[4] + P[2][18]*SPP[7] + P[9][18]*SPP[22] + P[12][18]*SPP[18]; +nextP[1][18] = P[1][18]*SPP[6] - P[0][18]*SPP[2] - P[2][18]*SPP[8] + P[10][18]*SPP[22] + P[13][18]*SPP[17]; +nextP[2][18] = P[0][18]*SPP[14] - P[1][18]*SPP[3] + P[2][18]*SPP[13] + P[11][18]*SPP[22] + P[14][18]*SPP[16]; +nextP[3][18] = P[3][18] + P[0][18]*SPP[1] + P[1][18]*SPP[19] + P[2][18]*SPP[15] - P[15][18]*SPP[21]; +nextP[4][18] = P[4][18] + P[15][18]*SF[22] + P[0][18]*SPP[20] + P[1][18]*SPP[12] + P[2][18]*SPP[11]; +nextP[5][18] = P[5][18] + P[15][18]*SF[20] - P[0][18]*SPP[9] + P[1][18]*SPP[10] + P[2][18]*SPP[0]; +nextP[6][18] = P[6][18] + P[3][18]*dt; +nextP[7][18] = P[7][18] + P[4][18]*dt; +nextP[8][18] = P[8][18] + P[5][18]*dt; +nextP[9][18] = P[9][18]; +nextP[10][18] = P[10][18]; +nextP[11][18] = P[11][18]; +nextP[12][18] = P[12][18]; +nextP[13][18] = P[13][18]; +nextP[14][18] = P[14][18]; +nextP[15][18] = P[15][18]; +nextP[16][18] = P[16][18]; +nextP[17][18] = P[17][18]; +nextP[18][18] = P[18][18]; +nextP[0][19] = P[0][19]*SPP[5] - P[1][19]*SPP[4] + P[2][19]*SPP[7] + P[9][19]*SPP[22] + P[12][19]*SPP[18]; +nextP[1][19] = P[1][19]*SPP[6] - P[0][19]*SPP[2] - P[2][19]*SPP[8] + P[10][19]*SPP[22] + P[13][19]*SPP[17]; +nextP[2][19] = P[0][19]*SPP[14] - P[1][19]*SPP[3] + P[2][19]*SPP[13] + P[11][19]*SPP[22] + P[14][19]*SPP[16]; +nextP[3][19] = P[3][19] + P[0][19]*SPP[1] + P[1][19]*SPP[19] + P[2][19]*SPP[15] - P[15][19]*SPP[21]; +nextP[4][19] = P[4][19] + P[15][19]*SF[22] + P[0][19]*SPP[20] + P[1][19]*SPP[12] + P[2][19]*SPP[11]; +nextP[5][19] = P[5][19] + P[15][19]*SF[20] - P[0][19]*SPP[9] + P[1][19]*SPP[10] + P[2][19]*SPP[0]; +nextP[6][19] = P[6][19] + P[3][19]*dt; +nextP[7][19] = P[7][19] + P[4][19]*dt; +nextP[8][19] = P[8][19] + P[5][19]*dt; +nextP[9][19] = P[9][19]; +nextP[10][19] = P[10][19]; +nextP[11][19] = P[11][19]; +nextP[12][19] = P[12][19]; +nextP[13][19] = P[13][19]; +nextP[14][19] = P[14][19]; +nextP[15][19] = P[15][19]; +nextP[16][19] = P[16][19]; +nextP[17][19] = P[17][19]; +nextP[18][19] = P[18][19]; +nextP[19][19] = P[19][19]; +nextP[0][20] = P[0][20]*SPP[5] - P[1][20]*SPP[4] + P[2][20]*SPP[7] + P[9][20]*SPP[22] + P[12][20]*SPP[18]; +nextP[1][20] = P[1][20]*SPP[6] - P[0][20]*SPP[2] - P[2][20]*SPP[8] + P[10][20]*SPP[22] + P[13][20]*SPP[17]; +nextP[2][20] = P[0][20]*SPP[14] - P[1][20]*SPP[3] + P[2][20]*SPP[13] + P[11][20]*SPP[22] + P[14][20]*SPP[16]; +nextP[3][20] = P[3][20] + P[0][20]*SPP[1] + P[1][20]*SPP[19] + P[2][20]*SPP[15] - P[15][20]*SPP[21]; +nextP[4][20] = P[4][20] + P[15][20]*SF[22] + P[0][20]*SPP[20] + P[1][20]*SPP[12] + P[2][20]*SPP[11]; +nextP[5][20] = P[5][20] + P[15][20]*SF[20] - P[0][20]*SPP[9] + P[1][20]*SPP[10] + P[2][20]*SPP[0]; +nextP[6][20] = P[6][20] + P[3][20]*dt; +nextP[7][20] = P[7][20] + P[4][20]*dt; +nextP[8][20] = P[8][20] + P[5][20]*dt; +nextP[9][20] = P[9][20]; +nextP[10][20] = P[10][20]; +nextP[11][20] = P[11][20]; +nextP[12][20] = P[12][20]; +nextP[13][20] = P[13][20]; +nextP[14][20] = P[14][20]; +nextP[15][20] = P[15][20]; +nextP[16][20] = P[16][20]; +nextP[17][20] = P[17][20]; +nextP[18][20] = P[18][20]; +nextP[19][20] = P[19][20]; +nextP[20][20] = P[20][20]; +nextP[0][21] = P[0][21]*SPP[5] - P[1][21]*SPP[4] + P[2][21]*SPP[7] + P[9][21]*SPP[22] + P[12][21]*SPP[18]; +nextP[1][21] = P[1][21]*SPP[6] - P[0][21]*SPP[2] - P[2][21]*SPP[8] + P[10][21]*SPP[22] + P[13][21]*SPP[17]; +nextP[2][21] = P[0][21]*SPP[14] - P[1][21]*SPP[3] + P[2][21]*SPP[13] + P[11][21]*SPP[22] + P[14][21]*SPP[16]; +nextP[3][21] = P[3][21] + P[0][21]*SPP[1] + P[1][21]*SPP[19] + P[2][21]*SPP[15] - P[15][21]*SPP[21]; +nextP[4][21] = P[4][21] + P[15][21]*SF[22] + P[0][21]*SPP[20] + P[1][21]*SPP[12] + P[2][21]*SPP[11]; +nextP[5][21] = P[5][21] + P[15][21]*SF[20] - P[0][21]*SPP[9] + P[1][21]*SPP[10] + P[2][21]*SPP[0]; +nextP[6][21] = P[6][21] + P[3][21]*dt; +nextP[7][21] = P[7][21] + P[4][21]*dt; +nextP[8][21] = P[8][21] + P[5][21]*dt; +nextP[9][21] = P[9][21]; +nextP[10][21] = P[10][21]; +nextP[11][21] = P[11][21]; +nextP[12][21] = P[12][21]; +nextP[13][21] = P[13][21]; +nextP[14][21] = P[14][21]; +nextP[15][21] = P[15][21]; +nextP[16][21] = P[16][21]; +nextP[17][21] = P[17][21]; +nextP[18][21] = P[18][21]; +nextP[19][21] = P[19][21]; +nextP[20][21] = P[20][21]; +nextP[21][21] = P[21][21]; +nextP[0][22] = P[0][22]*SPP[5] - P[1][22]*SPP[4] + P[2][22]*SPP[7] + P[9][22]*SPP[22] + P[12][22]*SPP[18]; +nextP[1][22] = P[1][22]*SPP[6] - P[0][22]*SPP[2] - P[2][22]*SPP[8] + P[10][22]*SPP[22] + P[13][22]*SPP[17]; +nextP[2][22] = P[0][22]*SPP[14] - P[1][22]*SPP[3] + P[2][22]*SPP[13] + P[11][22]*SPP[22] + P[14][22]*SPP[16]; +nextP[3][22] = P[3][22] + P[0][22]*SPP[1] + P[1][22]*SPP[19] + P[2][22]*SPP[15] - P[15][22]*SPP[21]; +nextP[4][22] = P[4][22] + P[15][22]*SF[22] + P[0][22]*SPP[20] + P[1][22]*SPP[12] + P[2][22]*SPP[11]; +nextP[5][22] = P[5][22] + P[15][22]*SF[20] - P[0][22]*SPP[9] + P[1][22]*SPP[10] + P[2][22]*SPP[0]; +nextP[6][22] = P[6][22] + P[3][22]*dt; +nextP[7][22] = P[7][22] + P[4][22]*dt; +nextP[8][22] = P[8][22] + P[5][22]*dt; +nextP[9][22] = P[9][22]; +nextP[10][22] = P[10][22]; +nextP[11][22] = P[11][22]; +nextP[12][22] = P[12][22]; +nextP[13][22] = P[13][22]; +nextP[14][22] = P[14][22]; +nextP[15][22] = P[15][22]; +nextP[16][22] = P[16][22]; +nextP[17][22] = P[17][22]; +nextP[18][22] = P[18][22]; +nextP[19][22] = P[19][22]; +nextP[20][22] = P[20][22]; +nextP[21][22] = P[21][22]; +nextP[22][22] = P[22][22]; +nextP[0][23] = P[0][23]*SPP[5] - P[1][23]*SPP[4] + P[2][23]*SPP[7] + P[9][23]*SPP[22] + P[12][23]*SPP[18]; +nextP[1][23] = P[1][23]*SPP[6] - P[0][23]*SPP[2] - P[2][23]*SPP[8] + P[10][23]*SPP[22] + P[13][23]*SPP[17]; +nextP[2][23] = P[0][23]*SPP[14] - P[1][23]*SPP[3] + P[2][23]*SPP[13] + P[11][23]*SPP[22] + P[14][23]*SPP[16]; +nextP[3][23] = P[3][23] + P[0][23]*SPP[1] + P[1][23]*SPP[19] + P[2][23]*SPP[15] - P[15][23]*SPP[21]; +nextP[4][23] = P[4][23] + P[15][23]*SF[22] + P[0][23]*SPP[20] + P[1][23]*SPP[12] + P[2][23]*SPP[11]; +nextP[5][23] = P[5][23] + P[15][23]*SF[20] - P[0][23]*SPP[9] + P[1][23]*SPP[10] + P[2][23]*SPP[0]; +nextP[6][23] = P[6][23] + P[3][23]*dt; +nextP[7][23] = P[7][23] + P[4][23]*dt; +nextP[8][23] = P[8][23] + P[5][23]*dt; +nextP[9][23] = P[9][23]; +nextP[10][23] = P[10][23]; +nextP[11][23] = P[11][23]; +nextP[12][23] = P[12][23]; +nextP[13][23] = P[13][23]; +nextP[14][23] = P[14][23]; +nextP[15][23] = P[15][23]; +nextP[16][23] = P[16][23]; +nextP[17][23] = P[17][23]; +nextP[18][23] = P[18][23]; +nextP[19][23] = P[19][23]; +nextP[20][23] = P[20][23]; +nextP[21][23] = P[21][23]; +nextP[22][23] = P[22][23]; +nextP[23][23] = P[23][23]; +float SH_TAS[3][1]; +SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd))); +SH_TAS[1] = (SH_TAS[0]*(2*ve - 2*vwe))/2; +SH_TAS[2] = (SH_TAS[0]*(2*vn - 2*vwn))/2; +float H_TAS[1][24]; +H_TAS[0][3] = SH_TAS[2]; +H_TAS[0][4] = SH_TAS[1]; +H_TAS[0][5] = vd*SH_TAS[0]; +H_TAS[0][22] = -SH_TAS[2]; +H_TAS[0][23] = -SH_TAS[1]; +float SK_TAS[2][1]; +SK_TAS[0] = 1/(R_TAS + SH_TAS[2]*(P[3][3]*SH_TAS[2] + P[4][3]*SH_TAS[1] - P[22][3]*SH_TAS[2] - P[23][3]*SH_TAS[1] + P[5][3]*vd*SH_TAS[0]) + SH_TAS[1]*(P[3][4]*SH_TAS[2] + P[4][4]*SH_TAS[1] - P[22][4]*SH_TAS[2] - P[23][4]*SH_TAS[1] + P[5][4]*vd*SH_TAS[0]) - SH_TAS[2]*(P[3][22]*SH_TAS[2] + P[4][22]*SH_TAS[1] - P[22][22]*SH_TAS[2] - P[23][22]*SH_TAS[1] + P[5][22]*vd*SH_TAS[0]) - SH_TAS[1]*(P[3][23]*SH_TAS[2] + P[4][23]*SH_TAS[1] - P[22][23]*SH_TAS[2] - P[23][23]*SH_TAS[1] + P[5][23]*vd*SH_TAS[0]) + vd*SH_TAS[0]*(P[3][5]*SH_TAS[2] + P[4][5]*SH_TAS[1] - P[22][5]*SH_TAS[2] - P[23][5]*SH_TAS[1] + P[5][5]*vd*SH_TAS[0])); +SK_TAS[1] = SH_TAS[1]; +float Kfusion[24][1]; +float Kfusion[1][1]; +Kfusion[0] = SK_TAS[0]*(P[0][3]*SH_TAS[2] - P[0][22]*SH_TAS[2] + P[0][4]*SK_TAS[1] - P[0][23]*SK_TAS[1] + P[0][5]*vd*SH_TAS[0]); +Kfusion[1] = SK_TAS[0]*(P[1][3]*SH_TAS[2] - P[1][22]*SH_TAS[2] + P[1][4]*SK_TAS[1] - P[1][23]*SK_TAS[1] + P[1][5]*vd*SH_TAS[0]); +Kfusion[2] = SK_TAS[0]*(P[2][3]*SH_TAS[2] - P[2][22]*SH_TAS[2] + P[2][4]*SK_TAS[1] - P[2][23]*SK_TAS[1] + P[2][5]*vd*SH_TAS[0]); +Kfusion[3] = SK_TAS[0]*(P[3][3]*SH_TAS[2] - P[3][22]*SH_TAS[2] + P[3][4]*SK_TAS[1] - P[3][23]*SK_TAS[1] + P[3][5]*vd*SH_TAS[0]); +Kfusion[4] = SK_TAS[0]*(P[4][3]*SH_TAS[2] - P[4][22]*SH_TAS[2] + P[4][4]*SK_TAS[1] - P[4][23]*SK_TAS[1] + P[4][5]*vd*SH_TAS[0]); +Kfusion[5] = SK_TAS[0]*(P[5][3]*SH_TAS[2] - P[5][22]*SH_TAS[2] + P[5][4]*SK_TAS[1] - P[5][23]*SK_TAS[1] + P[5][5]*vd*SH_TAS[0]); +Kfusion[6] = SK_TAS[0]*(P[6][3]*SH_TAS[2] - P[6][22]*SH_TAS[2] + P[6][4]*SK_TAS[1] - P[6][23]*SK_TAS[1] + P[6][5]*vd*SH_TAS[0]); +Kfusion[7] = SK_TAS[0]*(P[7][3]*SH_TAS[2] - P[7][22]*SH_TAS[2] + P[7][4]*SK_TAS[1] - P[7][23]*SK_TAS[1] + P[7][5]*vd*SH_TAS[0]); +Kfusion[8] = SK_TAS[0]*(P[8][3]*SH_TAS[2] - P[8][22]*SH_TAS[2] + P[8][4]*SK_TAS[1] - P[8][23]*SK_TAS[1] + P[8][5]*vd*SH_TAS[0]); +Kfusion[9] = SK_TAS[0]*(P[9][3]*SH_TAS[2] - P[9][22]*SH_TAS[2] + P[9][4]*SK_TAS[1] - P[9][23]*SK_TAS[1] + P[9][5]*vd*SH_TAS[0]); +Kfusion[10] = SK_TAS[0]*(P[10][3]*SH_TAS[2] - P[10][22]*SH_TAS[2] + P[10][4]*SK_TAS[1] - P[10][23]*SK_TAS[1] + P[10][5]*vd*SH_TAS[0]); +Kfusion[11] = SK_TAS[0]*(P[11][3]*SH_TAS[2] - P[11][22]*SH_TAS[2] + P[11][4]*SK_TAS[1] - P[11][23]*SK_TAS[1] + P[11][5]*vd*SH_TAS[0]); +Kfusion[12] = SK_TAS[0]*(P[12][3]*SH_TAS[2] - P[12][22]*SH_TAS[2] + P[12][4]*SK_TAS[1] - P[12][23]*SK_TAS[1] + P[12][5]*vd*SH_TAS[0]); +Kfusion[13] = SK_TAS[0]*(P[13][3]*SH_TAS[2] - P[13][22]*SH_TAS[2] + P[13][4]*SK_TAS[1] - P[13][23]*SK_TAS[1] + P[13][5]*vd*SH_TAS[0]); +Kfusion[14] = SK_TAS[0]*(P[14][3]*SH_TAS[2] - P[14][22]*SH_TAS[2] + P[14][4]*SK_TAS[1] - P[14][23]*SK_TAS[1] + P[14][5]*vd*SH_TAS[0]); +Kfusion[15] = SK_TAS[0]*(P[15][3]*SH_TAS[2] - P[15][22]*SH_TAS[2] + P[15][4]*SK_TAS[1] - P[15][23]*SK_TAS[1] + P[15][5]*vd*SH_TAS[0]); +Kfusion[16] = SK_TAS[0]*(P[16][3]*SH_TAS[2] - P[16][22]*SH_TAS[2] + P[16][4]*SK_TAS[1] - P[16][23]*SK_TAS[1] + P[16][5]*vd*SH_TAS[0]); +Kfusion[17] = SK_TAS[0]*(P[17][3]*SH_TAS[2] - P[17][22]*SH_TAS[2] + P[17][4]*SK_TAS[1] - P[17][23]*SK_TAS[1] + P[17][5]*vd*SH_TAS[0]); +Kfusion[18] = SK_TAS[0]*(P[18][3]*SH_TAS[2] - P[18][22]*SH_TAS[2] + P[18][4]*SK_TAS[1] - P[18][23]*SK_TAS[1] + P[18][5]*vd*SH_TAS[0]); +Kfusion[19] = SK_TAS[0]*(P[19][3]*SH_TAS[2] - P[19][22]*SH_TAS[2] + P[19][4]*SK_TAS[1] - P[19][23]*SK_TAS[1] + P[19][5]*vd*SH_TAS[0]); +Kfusion[20] = SK_TAS[0]*(P[20][3]*SH_TAS[2] - P[20][22]*SH_TAS[2] + P[20][4]*SK_TAS[1] - P[20][23]*SK_TAS[1] + P[20][5]*vd*SH_TAS[0]); +Kfusion[21] = SK_TAS[0]*(P[21][3]*SH_TAS[2] - P[21][22]*SH_TAS[2] + P[21][4]*SK_TAS[1] - P[21][23]*SK_TAS[1] + P[21][5]*vd*SH_TAS[0]); +Kfusion[22] = SK_TAS[0]*(P[22][3]*SH_TAS[2] - P[22][22]*SH_TAS[2] + P[22][4]*SK_TAS[1] - P[22][23]*SK_TAS[1] + P[22][5]*vd*SH_TAS[0]); +Kfusion[23] = SK_TAS[0]*(P[23][3]*SH_TAS[2] - P[23][22]*SH_TAS[2] + P[23][4]*SK_TAS[1] - P[23][23]*SK_TAS[1] + P[23][5]*vd*SH_TAS[0]); +float SH_BETA[10][1]; +SH_BETA[0] = (2*conj(q0)*conj(q3) + 2*conj(q1)*conj(q2))*(ve - vwe) - vd*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3)) + (vn - vwn)*(conjsq(q0) + conjsq(q1) - conjsq(q2) - conjsq(q3)); +SH_BETA[1] = vd*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) - (2*conj(q0)*conj(q3) - 2*conj(q1)*conj(q2))*(vn - vwn) + (ve - vwe)*(conjsq(q0) - conjsq(q1) + conjsq(q2) - conjsq(q3)); +SH_BETA[2] = (2*conj(q0)*conj(q2) + 2*conj(q1)*conj(q3))*(vn - vwn) - (2*conj(q0)*conj(q1) - 2*conj(q2)*conj(q3))*(ve - vwe) + vd*(conjsq(q0) - conjsq(q1) - conjsq(q2) + conjsq(q3)); +SH_BETA[3] = (conjsq(q0) - conjsq(q1) + conjsq(q2) - conjsq(q3))/SH_BETA[0]; +SH_BETA[4] = 1/sq(SH_BETA[0]); +SH_BETA[5] = conjsq(q0) + conjsq(q1) - conjsq(q2) - conjsq(q3); +SH_BETA[6] = 2*conj(q0)*conj(q3); +SH_BETA[7] = 1/SH_BETA[0]; +SH_BETA[8] = SH_BETA[6] + 2*conj(q1)*conj(q2); +SH_BETA[9] = SH_BETA[6] - 2*conj(q1)*conj(q2); +float H_BETA[1][24]; +H_BETA[0][0] = SH_BETA[2]*SH_BETA[7]; +H_BETA[0][1] = SH_BETA[1]*SH_BETA[2]*SH_BETA[4]; +H_BETA[0][2] = - sq(SH_BETA[1])*SH_BETA[4] - 1; +H_BETA[0][3] = - SH_BETA[7]*SH_BETA[9] - SH_BETA[1]*SH_BETA[4]*SH_BETA[5]; +H_BETA[0][4] = SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]; +H_BETA[0][5] = SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3)); +H_BETA[0][22] = SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]; +H_BETA[0][23] = SH_BETA[1]*SH_BETA[4]*SH_BETA[8] - SH_BETA[3]; +float SK_BETA[6][1]; +SK_BETA[0] = 1/(R_BETA + (SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3)))*(P[22][5]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[3][5]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[2][5]*(sq(SH_BETA[1])*SH_BETA[4] + 1) + P[5][5]*(SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + P[4][5]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) - P[23][5]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[0][5]*SH_BETA[2]*SH_BETA[7] + P[1][5]*SH_BETA[1]*SH_BETA[2]*SH_BETA[4]) + (SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8])*(P[22][4]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[3][4]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[2][4]*(sq(SH_BETA[1])*SH_BETA[4] + 1) + P[5][4]*(SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + P[4][4]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) - P[23][4]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[0][4]*SH_BETA[2]*SH_BETA[7] + P[1][4]*SH_BETA[1]*SH_BETA[2]*SH_BETA[4]) - (SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8])*(P[22][23]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[3][23]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[2][23]*(sq(SH_BETA[1])*SH_BETA[4] + 1) + P[5][23]*(SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + P[4][23]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) - P[23][23]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[0][23]*SH_BETA[2]*SH_BETA[7] + P[1][23]*SH_BETA[1]*SH_BETA[2]*SH_BETA[4]) - (SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5])*(P[22][3]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[3][3]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[2][3]*(sq(SH_BETA[1])*SH_BETA[4] + 1) + P[5][3]*(SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + P[4][3]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) - P[23][3]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[0][3]*SH_BETA[2]*SH_BETA[7] + P[1][3]*SH_BETA[1]*SH_BETA[2]*SH_BETA[4]) + (SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5])*(P[22][22]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[3][22]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[2][22]*(sq(SH_BETA[1])*SH_BETA[4] + 1) + P[5][22]*(SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + P[4][22]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) - P[23][22]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[0][22]*SH_BETA[2]*SH_BETA[7] + P[1][22]*SH_BETA[1]*SH_BETA[2]*SH_BETA[4]) - (sq(SH_BETA[1])*SH_BETA[4] + 1)*(P[22][2]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[3][2]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[2][2]*(sq(SH_BETA[1])*SH_BETA[4] + 1) + P[5][2]*(SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + P[4][2]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) - P[23][2]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[0][2]*SH_BETA[2]*SH_BETA[7] + P[1][2]*SH_BETA[1]*SH_BETA[2]*SH_BETA[4]) + SH_BETA[2]*SH_BETA[7]*(P[22][0]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[3][0]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[2][0]*(sq(SH_BETA[1])*SH_BETA[4] + 1) + P[5][0]*(SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + P[4][0]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) - P[23][0]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[0][0]*SH_BETA[2]*SH_BETA[7] + P[1][0]*SH_BETA[1]*SH_BETA[2]*SH_BETA[4]) + SH_BETA[1]*SH_BETA[2]*SH_BETA[4]*(P[22][1]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[3][1]*(SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]) - P[2][1]*(sq(SH_BETA[1])*SH_BETA[4] + 1) + P[5][1]*(SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + P[4][1]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) - P[23][1]*(SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[0][1]*SH_BETA[2]*SH_BETA[7] + P[1][1]*SH_BETA[1]*SH_BETA[2]*SH_BETA[4])); +SK_BETA[1] = SH_BETA[7]*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA[1]*SH_BETA[4]*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3)); +SK_BETA[2] = SH_BETA[7]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[5]; +SK_BETA[3] = SH_BETA[3] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8]; +SK_BETA[4] = sq(SH_BETA[1])*SH_BETA[4] + 1; +SK_BETA[5] = SH_BETA[2]; +float Kfusion[24][1]; +float Kfusion[1][1]; +Kfusion[0] = SK_BETA[0]*(P[0][5]*SK_BETA[1] - P[0][2]*SK_BETA[4] - P[0][3]*SK_BETA[2] + P[0][4]*SK_BETA[3] + P[0][22]*SK_BETA[2] - P[0][23]*SK_BETA[3] + P[0][0]*SH_BETA[7]*SK_BETA[5] + P[0][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[1] = SK_BETA[0]*(P[1][5]*SK_BETA[1] - P[1][2]*SK_BETA[4] - P[1][3]*SK_BETA[2] + P[1][4]*SK_BETA[3] + P[1][22]*SK_BETA[2] - P[1][23]*SK_BETA[3] + P[1][0]*SH_BETA[7]*SK_BETA[5] + P[1][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[2] = SK_BETA[0]*(P[2][5]*SK_BETA[1] - P[2][2]*SK_BETA[4] - P[2][3]*SK_BETA[2] + P[2][4]*SK_BETA[3] + P[2][22]*SK_BETA[2] - P[2][23]*SK_BETA[3] + P[2][0]*SH_BETA[7]*SK_BETA[5] + P[2][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[3] = SK_BETA[0]*(P[3][5]*SK_BETA[1] - P[3][2]*SK_BETA[4] - P[3][3]*SK_BETA[2] + P[3][4]*SK_BETA[3] + P[3][22]*SK_BETA[2] - P[3][23]*SK_BETA[3] + P[3][0]*SH_BETA[7]*SK_BETA[5] + P[3][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[4] = SK_BETA[0]*(P[4][5]*SK_BETA[1] - P[4][2]*SK_BETA[4] - P[4][3]*SK_BETA[2] + P[4][4]*SK_BETA[3] + P[4][22]*SK_BETA[2] - P[4][23]*SK_BETA[3] + P[4][0]*SH_BETA[7]*SK_BETA[5] + P[4][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[5] = SK_BETA[0]*(P[5][5]*SK_BETA[1] - P[5][2]*SK_BETA[4] - P[5][3]*SK_BETA[2] + P[5][4]*SK_BETA[3] + P[5][22]*SK_BETA[2] - P[5][23]*SK_BETA[3] + P[5][0]*SH_BETA[7]*SK_BETA[5] + P[5][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[6] = SK_BETA[0]*(P[6][5]*SK_BETA[1] - P[6][2]*SK_BETA[4] - P[6][3]*SK_BETA[2] + P[6][4]*SK_BETA[3] + P[6][22]*SK_BETA[2] - P[6][23]*SK_BETA[3] + P[6][0]*SH_BETA[7]*SK_BETA[5] + P[6][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[7] = SK_BETA[0]*(P[7][5]*SK_BETA[1] - P[7][2]*SK_BETA[4] - P[7][3]*SK_BETA[2] + P[7][4]*SK_BETA[3] + P[7][22]*SK_BETA[2] - P[7][23]*SK_BETA[3] + P[7][0]*SH_BETA[7]*SK_BETA[5] + P[7][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[8] = SK_BETA[0]*(P[8][5]*SK_BETA[1] - P[8][2]*SK_BETA[4] - P[8][3]*SK_BETA[2] + P[8][4]*SK_BETA[3] + P[8][22]*SK_BETA[2] - P[8][23]*SK_BETA[3] + P[8][0]*SH_BETA[7]*SK_BETA[5] + P[8][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[9] = SK_BETA[0]*(P[9][5]*SK_BETA[1] - P[9][2]*SK_BETA[4] - P[9][3]*SK_BETA[2] + P[9][4]*SK_BETA[3] + P[9][22]*SK_BETA[2] - P[9][23]*SK_BETA[3] + P[9][0]*SH_BETA[7]*SK_BETA[5] + P[9][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[10] = SK_BETA[0]*(P[10][5]*SK_BETA[1] - P[10][2]*SK_BETA[4] - P[10][3]*SK_BETA[2] + P[10][4]*SK_BETA[3] + P[10][22]*SK_BETA[2] - P[10][23]*SK_BETA[3] + P[10][0]*SH_BETA[7]*SK_BETA[5] + P[10][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[11] = SK_BETA[0]*(P[11][5]*SK_BETA[1] - P[11][2]*SK_BETA[4] - P[11][3]*SK_BETA[2] + P[11][4]*SK_BETA[3] + P[11][22]*SK_BETA[2] - P[11][23]*SK_BETA[3] + P[11][0]*SH_BETA[7]*SK_BETA[5] + P[11][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[12] = SK_BETA[0]*(P[12][5]*SK_BETA[1] - P[12][2]*SK_BETA[4] - P[12][3]*SK_BETA[2] + P[12][4]*SK_BETA[3] + P[12][22]*SK_BETA[2] - P[12][23]*SK_BETA[3] + P[12][0]*SH_BETA[7]*SK_BETA[5] + P[12][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[13] = SK_BETA[0]*(P[13][5]*SK_BETA[1] - P[13][2]*SK_BETA[4] - P[13][3]*SK_BETA[2] + P[13][4]*SK_BETA[3] + P[13][22]*SK_BETA[2] - P[13][23]*SK_BETA[3] + P[13][0]*SH_BETA[7]*SK_BETA[5] + P[13][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[14] = SK_BETA[0]*(P[14][5]*SK_BETA[1] - P[14][2]*SK_BETA[4] - P[14][3]*SK_BETA[2] + P[14][4]*SK_BETA[3] + P[14][22]*SK_BETA[2] - P[14][23]*SK_BETA[3] + P[14][0]*SH_BETA[7]*SK_BETA[5] + P[14][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[15] = SK_BETA[0]*(P[15][5]*SK_BETA[1] - P[15][2]*SK_BETA[4] - P[15][3]*SK_BETA[2] + P[15][4]*SK_BETA[3] + P[15][22]*SK_BETA[2] - P[15][23]*SK_BETA[3] + P[15][0]*SH_BETA[7]*SK_BETA[5] + P[15][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[16] = SK_BETA[0]*(P[16][5]*SK_BETA[1] - P[16][2]*SK_BETA[4] - P[16][3]*SK_BETA[2] + P[16][4]*SK_BETA[3] + P[16][22]*SK_BETA[2] - P[16][23]*SK_BETA[3] + P[16][0]*SH_BETA[7]*SK_BETA[5] + P[16][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[17] = SK_BETA[0]*(P[17][5]*SK_BETA[1] - P[17][2]*SK_BETA[4] - P[17][3]*SK_BETA[2] + P[17][4]*SK_BETA[3] + P[17][22]*SK_BETA[2] - P[17][23]*SK_BETA[3] + P[17][0]*SH_BETA[7]*SK_BETA[5] + P[17][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[18] = SK_BETA[0]*(P[18][5]*SK_BETA[1] - P[18][2]*SK_BETA[4] - P[18][3]*SK_BETA[2] + P[18][4]*SK_BETA[3] + P[18][22]*SK_BETA[2] - P[18][23]*SK_BETA[3] + P[18][0]*SH_BETA[7]*SK_BETA[5] + P[18][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[19] = SK_BETA[0]*(P[19][5]*SK_BETA[1] - P[19][2]*SK_BETA[4] - P[19][3]*SK_BETA[2] + P[19][4]*SK_BETA[3] + P[19][22]*SK_BETA[2] - P[19][23]*SK_BETA[3] + P[19][0]*SH_BETA[7]*SK_BETA[5] + P[19][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[20] = SK_BETA[0]*(P[20][5]*SK_BETA[1] - P[20][2]*SK_BETA[4] - P[20][3]*SK_BETA[2] + P[20][4]*SK_BETA[3] + P[20][22]*SK_BETA[2] - P[20][23]*SK_BETA[3] + P[20][0]*SH_BETA[7]*SK_BETA[5] + P[20][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[21] = SK_BETA[0]*(P[21][5]*SK_BETA[1] - P[21][2]*SK_BETA[4] - P[21][3]*SK_BETA[2] + P[21][4]*SK_BETA[3] + P[21][22]*SK_BETA[2] - P[21][23]*SK_BETA[3] + P[21][0]*SH_BETA[7]*SK_BETA[5] + P[21][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[22] = SK_BETA[0]*(P[22][5]*SK_BETA[1] - P[22][2]*SK_BETA[4] - P[22][3]*SK_BETA[2] + P[22][4]*SK_BETA[3] + P[22][22]*SK_BETA[2] - P[22][23]*SK_BETA[3] + P[22][0]*SH_BETA[7]*SK_BETA[5] + P[22][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +Kfusion[23] = SK_BETA[0]*(P[23][5]*SK_BETA[1] - P[23][2]*SK_BETA[4] - P[23][3]*SK_BETA[2] + P[23][4]*SK_BETA[3] + P[23][22]*SK_BETA[2] - P[23][23]*SK_BETA[3] + P[23][0]*SH_BETA[7]*SK_BETA[5] + P[23][1]*SH_BETA[1]*SH_BETA[4]*SK_BETA[5]); +float SH_MAG[9][1]; +SH_MAG[0] = sq(q0) - sq(q1) + sq(q2) - sq(q3); +SH_MAG[1] = sq(q0) + sq(q1) - sq(q2) - sq(q3); +SH_MAG[2] = sq(q0) - sq(q1) - sq(q2) + sq(q3); +SH_MAG[3] = 2*q0*q1 + 2*q2*q3; +SH_MAG[4] = 2*q0*q3 + 2*q1*q2; +SH_MAG[5] = 2*q0*q2 + 2*q1*q3; +SH_MAG[6] = magE*(2*q0*q1 - 2*q2*q3); +SH_MAG[7] = 2*q1*q3 - 2*q0*q2; +SH_MAG[8] = 2*q0*q3; +float H_MAG[1][24]; +H_MAG[1] = SH_MAG[6] - magD*SH_MAG[2] - magN*SH_MAG[5]; +H_MAG[2] = magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2); +H_MAG[16] = SH_MAG[1]; +H_MAG[17] = SH_MAG[4]; +H_MAG[18] = SH_MAG[7]; +H_MAG[19] = 1; +float SK_MX[4][1]; +SK_MX[0] = 1/(P[19][19] + R_MAG - P[1][19]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][19]*SH_MAG[1] + P[17][19]*SH_MAG[4] + P[18][19]*SH_MAG[7] + P[2][19]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) - (magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5])*(P[19][1] - P[1][1]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][1]*SH_MAG[1] + P[17][1]*SH_MAG[4] + P[18][1]*SH_MAG[7] + P[2][1]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))) + SH_MAG[1]*(P[19][16] - P[1][16]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][16]*SH_MAG[1] + P[17][16]*SH_MAG[4] + P[18][16]*SH_MAG[7] + P[2][16]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))) + SH_MAG[4]*(P[19][17] - P[1][17]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][17]*SH_MAG[1] + P[17][17]*SH_MAG[4] + P[18][17]*SH_MAG[7] + P[2][17]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))) + SH_MAG[7]*(P[19][18] - P[1][18]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][18]*SH_MAG[1] + P[17][18]*SH_MAG[4] + P[18][18]*SH_MAG[7] + P[2][18]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))) + (magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))*(P[19][2] - P[1][2]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][2]*SH_MAG[1] + P[17][2]*SH_MAG[4] + P[18][2]*SH_MAG[7] + P[2][2]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)))); +SK_MX[1] = magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2); +SK_MX[2] = magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]; +SK_MX[3] = SH_MAG[7]; +float Kfusion[24][1]; +float Kfusion[1][1]; +Kfusion[0] = SK_MX[0]*(P[0][19] + P[0][16]*SH_MAG[1] + P[0][17]*SH_MAG[4] - P[0][1]*SK_MX[2] + P[0][2]*SK_MX[1] + P[0][18]*SK_MX[3]); +Kfusion[1] = SK_MX[0]*(P[1][19] + P[1][16]*SH_MAG[1] + P[1][17]*SH_MAG[4] - P[1][1]*SK_MX[2] + P[1][2]*SK_MX[1] + P[1][18]*SK_MX[3]); +Kfusion[2] = SK_MX[0]*(P[2][19] + P[2][16]*SH_MAG[1] + P[2][17]*SH_MAG[4] - P[2][1]*SK_MX[2] + P[2][2]*SK_MX[1] + P[2][18]*SK_MX[3]); +Kfusion[3] = SK_MX[0]*(P[3][19] + P[3][16]*SH_MAG[1] + P[3][17]*SH_MAG[4] - P[3][1]*SK_MX[2] + P[3][2]*SK_MX[1] + P[3][18]*SK_MX[3]); +Kfusion[4] = SK_MX[0]*(P[4][19] + P[4][16]*SH_MAG[1] + P[4][17]*SH_MAG[4] - P[4][1]*SK_MX[2] + P[4][2]*SK_MX[1] + P[4][18]*SK_MX[3]); +Kfusion[5] = SK_MX[0]*(P[5][19] + P[5][16]*SH_MAG[1] + P[5][17]*SH_MAG[4] - P[5][1]*SK_MX[2] + P[5][2]*SK_MX[1] + P[5][18]*SK_MX[3]); +Kfusion[6] = SK_MX[0]*(P[6][19] + P[6][16]*SH_MAG[1] + P[6][17]*SH_MAG[4] - P[6][1]*SK_MX[2] + P[6][2]*SK_MX[1] + P[6][18]*SK_MX[3]); +Kfusion[7] = SK_MX[0]*(P[7][19] + P[7][16]*SH_MAG[1] + P[7][17]*SH_MAG[4] - P[7][1]*SK_MX[2] + P[7][2]*SK_MX[1] + P[7][18]*SK_MX[3]); +Kfusion[8] = SK_MX[0]*(P[8][19] + P[8][16]*SH_MAG[1] + P[8][17]*SH_MAG[4] - P[8][1]*SK_MX[2] + P[8][2]*SK_MX[1] + P[8][18]*SK_MX[3]); +Kfusion[9] = SK_MX[0]*(P[9][19] + P[9][16]*SH_MAG[1] + P[9][17]*SH_MAG[4] - P[9][1]*SK_MX[2] + P[9][2]*SK_MX[1] + P[9][18]*SK_MX[3]); +Kfusion[10] = SK_MX[0]*(P[10][19] + P[10][16]*SH_MAG[1] + P[10][17]*SH_MAG[4] - P[10][1]*SK_MX[2] + P[10][2]*SK_MX[1] + P[10][18]*SK_MX[3]); +Kfusion[11] = SK_MX[0]*(P[11][19] + P[11][16]*SH_MAG[1] + P[11][17]*SH_MAG[4] - P[11][1]*SK_MX[2] + P[11][2]*SK_MX[1] + P[11][18]*SK_MX[3]); +Kfusion[12] = SK_MX[0]*(P[12][19] + P[12][16]*SH_MAG[1] + P[12][17]*SH_MAG[4] - P[12][1]*SK_MX[2] + P[12][2]*SK_MX[1] + P[12][18]*SK_MX[3]); +Kfusion[13] = SK_MX[0]*(P[13][19] + P[13][16]*SH_MAG[1] + P[13][17]*SH_MAG[4] - P[13][1]*SK_MX[2] + P[13][2]*SK_MX[1] + P[13][18]*SK_MX[3]); +Kfusion[14] = SK_MX[0]*(P[14][19] + P[14][16]*SH_MAG[1] + P[14][17]*SH_MAG[4] - P[14][1]*SK_MX[2] + P[14][2]*SK_MX[1] + P[14][18]*SK_MX[3]); +Kfusion[15] = SK_MX[0]*(P[15][19] + P[15][16]*SH_MAG[1] + P[15][17]*SH_MAG[4] - P[15][1]*SK_MX[2] + P[15][2]*SK_MX[1] + P[15][18]*SK_MX[3]); +Kfusion[16] = SK_MX[0]*(P[16][19] + P[16][16]*SH_MAG[1] + P[16][17]*SH_MAG[4] - P[16][1]*SK_MX[2] + P[16][2]*SK_MX[1] + P[16][18]*SK_MX[3]); +Kfusion[17] = SK_MX[0]*(P[17][19] + P[17][16]*SH_MAG[1] + P[17][17]*SH_MAG[4] - P[17][1]*SK_MX[2] + P[17][2]*SK_MX[1] + P[17][18]*SK_MX[3]); +Kfusion[18] = SK_MX[0]*(P[18][19] + P[18][16]*SH_MAG[1] + P[18][17]*SH_MAG[4] - P[18][1]*SK_MX[2] + P[18][2]*SK_MX[1] + P[18][18]*SK_MX[3]); +Kfusion[19] = SK_MX[0]*(P[19][19] + P[19][16]*SH_MAG[1] + P[19][17]*SH_MAG[4] - P[19][1]*SK_MX[2] + P[19][2]*SK_MX[1] + P[19][18]*SK_MX[3]); +Kfusion[20] = SK_MX[0]*(P[20][19] + P[20][16]*SH_MAG[1] + P[20][17]*SH_MAG[4] - P[20][1]*SK_MX[2] + P[20][2]*SK_MX[1] + P[20][18]*SK_MX[3]); +Kfusion[21] = SK_MX[0]*(P[21][19] + P[21][16]*SH_MAG[1] + P[21][17]*SH_MAG[4] - P[21][1]*SK_MX[2] + P[21][2]*SK_MX[1] + P[21][18]*SK_MX[3]); +Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][16]*SH_MAG[1] + P[22][17]*SH_MAG[4] - P[22][1]*SK_MX[2] + P[22][2]*SK_MX[1] + P[22][18]*SK_MX[3]); +Kfusion[23] = SK_MX[0]*(P[23][19] + P[23][16]*SH_MAG[1] + P[23][17]*SH_MAG[4] - P[23][1]*SK_MX[2] + P[23][2]*SK_MX[1] + P[23][18]*SK_MX[3]); +float H_MAG[1][24]; +H_MAG[0] = magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]; +H_MAG[2] = - magE*SH_MAG[4] - magD*SH_MAG[7] - magN*SH_MAG[1]; +H_MAG[16] = 2*q1*q2 - SH_MAG[8]; +H_MAG[17] = SH_MAG[0]; +H_MAG[18] = SH_MAG[3]; +H_MAG[20] = 1; +float SK_MY[4][1]; +SK_MY[0] = 1/(P[20][20] + R_MAG + P[0][20]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][20]*SH_MAG[0] + P[18][20]*SH_MAG[3] - (SH_MAG[8] - 2*q1*q2)*(P[20][16] + P[0][16]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][16]*SH_MAG[0] + P[18][16]*SH_MAG[3] - P[2][16]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[16][16]*(SH_MAG[8] - 2*q1*q2)) - P[2][20]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) + (magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5])*(P[20][0] + P[0][0]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][0]*SH_MAG[0] + P[18][0]*SH_MAG[3] - P[2][0]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[16][0]*(SH_MAG[8] - 2*q1*q2)) + SH_MAG[0]*(P[20][17] + P[0][17]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][17]*SH_MAG[0] + P[18][17]*SH_MAG[3] - P[2][17]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[16][17]*(SH_MAG[8] - 2*q1*q2)) + SH_MAG[3]*(P[20][18] + P[0][18]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][18]*SH_MAG[0] + P[18][18]*SH_MAG[3] - P[2][18]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[16][18]*(SH_MAG[8] - 2*q1*q2)) - P[16][20]*(SH_MAG[8] - 2*q1*q2) - (magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1])*(P[20][2] + P[0][2]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][2]*SH_MAG[0] + P[18][2]*SH_MAG[3] - P[2][2]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[16][2]*(SH_MAG[8] - 2*q1*q2))); +SK_MY[1] = magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]; +SK_MY[2] = magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]; +SK_MY[3] = SH_MAG[8] - 2*q1*q2; +float Kfusion[24][1]; +float Kfusion[1][1]; +Kfusion[0] = SK_MY[0]*(P[0][20] + P[0][17]*SH_MAG[0] + P[0][18]*SH_MAG[3] + P[0][0]*SK_MY[2] - P[0][2]*SK_MY[1] - P[0][16]*SK_MY[3]); +Kfusion[1] = SK_MY[0]*(P[1][20] + P[1][17]*SH_MAG[0] + P[1][18]*SH_MAG[3] + P[1][0]*SK_MY[2] - P[1][2]*SK_MY[1] - P[1][16]*SK_MY[3]); +Kfusion[2] = SK_MY[0]*(P[2][20] + P[2][17]*SH_MAG[0] + P[2][18]*SH_MAG[3] + P[2][0]*SK_MY[2] - P[2][2]*SK_MY[1] - P[2][16]*SK_MY[3]); +Kfusion[3] = SK_MY[0]*(P[3][20] + P[3][17]*SH_MAG[0] + P[3][18]*SH_MAG[3] + P[3][0]*SK_MY[2] - P[3][2]*SK_MY[1] - P[3][16]*SK_MY[3]); +Kfusion[4] = SK_MY[0]*(P[4][20] + P[4][17]*SH_MAG[0] + P[4][18]*SH_MAG[3] + P[4][0]*SK_MY[2] - P[4][2]*SK_MY[1] - P[4][16]*SK_MY[3]); +Kfusion[5] = SK_MY[0]*(P[5][20] + P[5][17]*SH_MAG[0] + P[5][18]*SH_MAG[3] + P[5][0]*SK_MY[2] - P[5][2]*SK_MY[1] - P[5][16]*SK_MY[3]); +Kfusion[6] = SK_MY[0]*(P[6][20] + P[6][17]*SH_MAG[0] + P[6][18]*SH_MAG[3] + P[6][0]*SK_MY[2] - P[6][2]*SK_MY[1] - P[6][16]*SK_MY[3]); +Kfusion[7] = SK_MY[0]*(P[7][20] + P[7][17]*SH_MAG[0] + P[7][18]*SH_MAG[3] + P[7][0]*SK_MY[2] - P[7][2]*SK_MY[1] - P[7][16]*SK_MY[3]); +Kfusion[8] = SK_MY[0]*(P[8][20] + P[8][17]*SH_MAG[0] + P[8][18]*SH_MAG[3] + P[8][0]*SK_MY[2] - P[8][2]*SK_MY[1] - P[8][16]*SK_MY[3]); +Kfusion[9] = SK_MY[0]*(P[9][20] + P[9][17]*SH_MAG[0] + P[9][18]*SH_MAG[3] + P[9][0]*SK_MY[2] - P[9][2]*SK_MY[1] - P[9][16]*SK_MY[3]); +Kfusion[10] = SK_MY[0]*(P[10][20] + P[10][17]*SH_MAG[0] + P[10][18]*SH_MAG[3] + P[10][0]*SK_MY[2] - P[10][2]*SK_MY[1] - P[10][16]*SK_MY[3]); +Kfusion[11] = SK_MY[0]*(P[11][20] + P[11][17]*SH_MAG[0] + P[11][18]*SH_MAG[3] + P[11][0]*SK_MY[2] - P[11][2]*SK_MY[1] - P[11][16]*SK_MY[3]); +Kfusion[12] = SK_MY[0]*(P[12][20] + P[12][17]*SH_MAG[0] + P[12][18]*SH_MAG[3] + P[12][0]*SK_MY[2] - P[12][2]*SK_MY[1] - P[12][16]*SK_MY[3]); +Kfusion[13] = SK_MY[0]*(P[13][20] + P[13][17]*SH_MAG[0] + P[13][18]*SH_MAG[3] + P[13][0]*SK_MY[2] - P[13][2]*SK_MY[1] - P[13][16]*SK_MY[3]); +Kfusion[14] = SK_MY[0]*(P[14][20] + P[14][17]*SH_MAG[0] + P[14][18]*SH_MAG[3] + P[14][0]*SK_MY[2] - P[14][2]*SK_MY[1] - P[14][16]*SK_MY[3]); +Kfusion[15] = SK_MY[0]*(P[15][20] + P[15][17]*SH_MAG[0] + P[15][18]*SH_MAG[3] + P[15][0]*SK_MY[2] - P[15][2]*SK_MY[1] - P[15][16]*SK_MY[3]); +Kfusion[16] = SK_MY[0]*(P[16][20] + P[16][17]*SH_MAG[0] + P[16][18]*SH_MAG[3] + P[16][0]*SK_MY[2] - P[16][2]*SK_MY[1] - P[16][16]*SK_MY[3]); +Kfusion[17] = SK_MY[0]*(P[17][20] + P[17][17]*SH_MAG[0] + P[17][18]*SH_MAG[3] + P[17][0]*SK_MY[2] - P[17][2]*SK_MY[1] - P[17][16]*SK_MY[3]); +Kfusion[18] = SK_MY[0]*(P[18][20] + P[18][17]*SH_MAG[0] + P[18][18]*SH_MAG[3] + P[18][0]*SK_MY[2] - P[18][2]*SK_MY[1] - P[18][16]*SK_MY[3]); +Kfusion[19] = SK_MY[0]*(P[19][20] + P[19][17]*SH_MAG[0] + P[19][18]*SH_MAG[3] + P[19][0]*SK_MY[2] - P[19][2]*SK_MY[1] - P[19][16]*SK_MY[3]); +Kfusion[20] = SK_MY[0]*(P[20][20] + P[20][17]*SH_MAG[0] + P[20][18]*SH_MAG[3] + P[20][0]*SK_MY[2] - P[20][2]*SK_MY[1] - P[20][16]*SK_MY[3]); +Kfusion[21] = SK_MY[0]*(P[21][20] + P[21][17]*SH_MAG[0] + P[21][18]*SH_MAG[3] + P[21][0]*SK_MY[2] - P[21][2]*SK_MY[1] - P[21][16]*SK_MY[3]); +Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][17]*SH_MAG[0] + P[22][18]*SH_MAG[3] + P[22][0]*SK_MY[2] - P[22][2]*SK_MY[1] - P[22][16]*SK_MY[3]); +Kfusion[23] = SK_MY[0]*(P[23][20] + P[23][17]*SH_MAG[0] + P[23][18]*SH_MAG[3] + P[23][0]*SK_MY[2] - P[23][2]*SK_MY[1] - P[23][16]*SK_MY[3]); +float H_MAG[1][24]; +H_MAG[0] = magN*(SH_MAG[8] - 2*q1*q2) - magD*SH_MAG[3] - magE*SH_MAG[0]; +H_MAG[1] = magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]; +H_MAG[16] = SH_MAG[5]; +H_MAG[17] = 2*q2*q3 - 2*q0*q1; +H_MAG[18] = SH_MAG[2]; +H_MAG[21] = 1; +float SK_MZ[4][1]; +SK_MZ[0] = 1/(P[21][21] + R_MAG + P[16][21]*SH_MAG[5] + P[18][21]*SH_MAG[2] - (2*q0*q1 - 2*q2*q3)*(P[21][17] + P[16][17]*SH_MAG[5] + P[18][17]*SH_MAG[2] - P[0][17]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][17]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[17][17]*(2*q0*q1 - 2*q2*q3)) - P[0][21]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][21]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) + SH_MAG[5]*(P[21][16] + P[16][16]*SH_MAG[5] + P[18][16]*SH_MAG[2] - P[0][16]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][16]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[17][16]*(2*q0*q1 - 2*q2*q3)) + SH_MAG[2]*(P[21][18] + P[16][18]*SH_MAG[5] + P[18][18]*SH_MAG[2] - P[0][18]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][18]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[17][18]*(2*q0*q1 - 2*q2*q3)) - (magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))*(P[21][0] + P[16][0]*SH_MAG[5] + P[18][0]*SH_MAG[2] - P[0][0]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][0]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[17][0]*(2*q0*q1 - 2*q2*q3)) - P[17][21]*(2*q0*q1 - 2*q2*q3) + (magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1])*(P[21][1] + P[16][1]*SH_MAG[5] + P[18][1]*SH_MAG[2] - P[0][1]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][1]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[17][1]*(2*q0*q1 - 2*q2*q3))); +SK_MZ[1] = magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2); +SK_MZ[2] = magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]; +SK_MZ[3] = 2*q0*q1 - 2*q2*q3; +float Kfusion[24][1]; +float Kfusion[1][1]; +Kfusion[0] = SK_MZ[0]*(P[0][21] + P[0][18]*SH_MAG[2] + P[0][16]*SH_MAG[5] - P[0][0]*SK_MZ[1] + P[0][1]*SK_MZ[2] - P[0][17]*SK_MZ[3]); +Kfusion[1] = SK_MZ[0]*(P[1][21] + P[1][18]*SH_MAG[2] + P[1][16]*SH_MAG[5] - P[1][0]*SK_MZ[1] + P[1][1]*SK_MZ[2] - P[1][17]*SK_MZ[3]); +Kfusion[2] = SK_MZ[0]*(P[2][21] + P[2][18]*SH_MAG[2] + P[2][16]*SH_MAG[5] - P[2][0]*SK_MZ[1] + P[2][1]*SK_MZ[2] - P[2][17]*SK_MZ[3]); +Kfusion[3] = SK_MZ[0]*(P[3][21] + P[3][18]*SH_MAG[2] + P[3][16]*SH_MAG[5] - P[3][0]*SK_MZ[1] + P[3][1]*SK_MZ[2] - P[3][17]*SK_MZ[3]); +Kfusion[4] = SK_MZ[0]*(P[4][21] + P[4][18]*SH_MAG[2] + P[4][16]*SH_MAG[5] - P[4][0]*SK_MZ[1] + P[4][1]*SK_MZ[2] - P[4][17]*SK_MZ[3]); +Kfusion[5] = SK_MZ[0]*(P[5][21] + P[5][18]*SH_MAG[2] + P[5][16]*SH_MAG[5] - P[5][0]*SK_MZ[1] + P[5][1]*SK_MZ[2] - P[5][17]*SK_MZ[3]); +Kfusion[6] = SK_MZ[0]*(P[6][21] + P[6][18]*SH_MAG[2] + P[6][16]*SH_MAG[5] - P[6][0]*SK_MZ[1] + P[6][1]*SK_MZ[2] - P[6][17]*SK_MZ[3]); +Kfusion[7] = SK_MZ[0]*(P[7][21] + P[7][18]*SH_MAG[2] + P[7][16]*SH_MAG[5] - P[7][0]*SK_MZ[1] + P[7][1]*SK_MZ[2] - P[7][17]*SK_MZ[3]); +Kfusion[8] = SK_MZ[0]*(P[8][21] + P[8][18]*SH_MAG[2] + P[8][16]*SH_MAG[5] - P[8][0]*SK_MZ[1] + P[8][1]*SK_MZ[2] - P[8][17]*SK_MZ[3]); +Kfusion[9] = SK_MZ[0]*(P[9][21] + P[9][18]*SH_MAG[2] + P[9][16]*SH_MAG[5] - P[9][0]*SK_MZ[1] + P[9][1]*SK_MZ[2] - P[9][17]*SK_MZ[3]); +Kfusion[10] = SK_MZ[0]*(P[10][21] + P[10][18]*SH_MAG[2] + P[10][16]*SH_MAG[5] - P[10][0]*SK_MZ[1] + P[10][1]*SK_MZ[2] - P[10][17]*SK_MZ[3]); +Kfusion[11] = SK_MZ[0]*(P[11][21] + P[11][18]*SH_MAG[2] + P[11][16]*SH_MAG[5] - P[11][0]*SK_MZ[1] + P[11][1]*SK_MZ[2] - P[11][17]*SK_MZ[3]); +Kfusion[12] = SK_MZ[0]*(P[12][21] + P[12][18]*SH_MAG[2] + P[12][16]*SH_MAG[5] - P[12][0]*SK_MZ[1] + P[12][1]*SK_MZ[2] - P[12][17]*SK_MZ[3]); +Kfusion[13] = SK_MZ[0]*(P[13][21] + P[13][18]*SH_MAG[2] + P[13][16]*SH_MAG[5] - P[13][0]*SK_MZ[1] + P[13][1]*SK_MZ[2] - P[13][17]*SK_MZ[3]); +Kfusion[14] = SK_MZ[0]*(P[14][21] + P[14][18]*SH_MAG[2] + P[14][16]*SH_MAG[5] - P[14][0]*SK_MZ[1] + P[14][1]*SK_MZ[2] - P[14][17]*SK_MZ[3]); +Kfusion[15] = SK_MZ[0]*(P[15][21] + P[15][18]*SH_MAG[2] + P[15][16]*SH_MAG[5] - P[15][0]*SK_MZ[1] + P[15][1]*SK_MZ[2] - P[15][17]*SK_MZ[3]); +Kfusion[16] = SK_MZ[0]*(P[16][21] + P[16][18]*SH_MAG[2] + P[16][16]*SH_MAG[5] - P[16][0]*SK_MZ[1] + P[16][1]*SK_MZ[2] - P[16][17]*SK_MZ[3]); +Kfusion[17] = SK_MZ[0]*(P[17][21] + P[17][18]*SH_MAG[2] + P[17][16]*SH_MAG[5] - P[17][0]*SK_MZ[1] + P[17][1]*SK_MZ[2] - P[17][17]*SK_MZ[3]); +Kfusion[18] = SK_MZ[0]*(P[18][21] + P[18][18]*SH_MAG[2] + P[18][16]*SH_MAG[5] - P[18][0]*SK_MZ[1] + P[18][1]*SK_MZ[2] - P[18][17]*SK_MZ[3]); +Kfusion[19] = SK_MZ[0]*(P[19][21] + P[19][18]*SH_MAG[2] + P[19][16]*SH_MAG[5] - P[19][0]*SK_MZ[1] + P[19][1]*SK_MZ[2] - P[19][17]*SK_MZ[3]); +Kfusion[20] = SK_MZ[0]*(P[20][21] + P[20][18]*SH_MAG[2] + P[20][16]*SH_MAG[5] - P[20][0]*SK_MZ[1] + P[20][1]*SK_MZ[2] - P[20][17]*SK_MZ[3]); +Kfusion[21] = SK_MZ[0]*(P[21][21] + P[21][18]*SH_MAG[2] + P[21][16]*SH_MAG[5] - P[21][0]*SK_MZ[1] + P[21][1]*SK_MZ[2] - P[21][17]*SK_MZ[3]); +Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][18]*SH_MAG[2] + P[22][16]*SH_MAG[5] - P[22][0]*SK_MZ[1] + P[22][1]*SK_MZ[2] - P[22][17]*SK_MZ[3]); +Kfusion[23] = SK_MZ[0]*(P[23][21] + P[23][18]*SH_MAG[2] + P[23][16]*SH_MAG[5] - P[23][0]*SK_MZ[1] + P[23][1]*SK_MZ[2] - P[23][17]*SK_MZ[3]); +float SH_ACCX[7][1]; +SH_ACCX[0] = sq(q0) + sq(q1) - sq(q2) - sq(q3); +SH_ACCX[1] = 2*q0*q3 + 2*q1*q2; +SH_ACCX[2] = vn - vwn; +SH_ACCX[3] = ve - vwe; +SH_ACCX[4] = sq(q3); +SH_ACCX[5] = 2*q0*q2; +SH_ACCX[6] = 2*q0*q1; +float H_ACCX[1][24]; +H_ACCX[0][1] = Kaccx*(SH_ACCX[2]*(SH_ACCX[5] + 2*q1*q3) - SH_ACCX[3]*(SH_ACCX[6] - 2*q2*q3) + vd*(SH_ACCX[4] + sq(q0) - sq(q1) - sq(q2))); +H_ACCX[0][2] = Kaccx*(SH_ACCX[2]*(2*q0*q3 - 2*q1*q2) + SH_ACCX[3]*(SH_ACCX[4] - sq(q0) + sq(q1) - sq(q2)) - vd*(SH_ACCX[6] + 2*q2*q3)); +H_ACCX[0][3] = -Kaccx*SH_ACCX[0]; +H_ACCX[0][4] = -Kaccx*SH_ACCX[1]; +H_ACCX[0][5] = Kaccx*(SH_ACCX[5] - 2*q1*q3); +H_ACCX[0][22] = Kaccx*SH_ACCX[0]; +H_ACCX[0][23] = Kaccx*SH_ACCX[1]; +float SK_ACCX[5][1]; +SK_ACCX[0] = 1/(R_ACC - Kaccx*SH_ACCX[0]*(Kaccx*P[22][3]*SH_ACCX[0] - Kaccx*P[4][3]*SH_ACCX[1] - Kaccx*P[3][3]*SH_ACCX[0] + Kaccx*P[23][3]*SH_ACCX[1] + Kaccx*P[2][3]*(SH_ACCX[2]*(2*q0*q3 - 2*q1*q2) + SH_ACCX[3]*(SH_ACCX[4] - sq(q0) + sq(q1) - sq(q2)) - vd*(SH_ACCX[6] + 2*q2*q3)) + Kaccx*P[1][3]*(SH_ACCX[2]*(SH_ACCX[5] + 2*q1*q3) - SH_ACCX[3]*(SH_ACCX[6] - 2*q2*q3) + vd*(SH_ACCX[4] + sq(q0) - sq(q1) - sq(q2))) + Kaccx*P[5][3]*(SH_ACCX[5] - 2*q1*q3)) - Kaccx*SH_ACCX[1]*(Kaccx*P[22][4]*SH_ACCX[0] - Kaccx*P[4][4]*SH_ACCX[1] - Kaccx*P[3][4]*SH_ACCX[0] + Kaccx*P[23][4]*SH_ACCX[1] + Kaccx*P[2][4]*(SH_ACCX[2]*(2*q0*q3 - 2*q1*q2) + SH_ACCX[3]*(SH_ACCX[4] - sq(q0) + sq(q1) - sq(q2)) - vd*(SH_ACCX[6] + 2*q2*q3)) + Kaccx*P[1][4]*(SH_ACCX[2]*(SH_ACCX[5] + 2*q1*q3) - SH_ACCX[3]*(SH_ACCX[6] - 2*q2*q3) + vd*(SH_ACCX[4] + sq(q0) - sq(q1) - sq(q2))) + Kaccx*P[5][4]*(SH_ACCX[5] - 2*q1*q3)) + Kaccx*SH_ACCX[0]*(Kaccx*P[22][22]*SH_ACCX[0] - Kaccx*P[4][22]*SH_ACCX[1] - Kaccx*P[3][22]*SH_ACCX[0] + Kaccx*P[23][22]*SH_ACCX[1] + Kaccx*P[2][22]*(SH_ACCX[2]*(2*q0*q3 - 2*q1*q2) + SH_ACCX[3]*(SH_ACCX[4] - sq(q0) + sq(q1) - sq(q2)) - vd*(SH_ACCX[6] + 2*q2*q3)) + Kaccx*P[1][22]*(SH_ACCX[2]*(SH_ACCX[5] + 2*q1*q3) - SH_ACCX[3]*(SH_ACCX[6] - 2*q2*q3) + vd*(SH_ACCX[4] + sq(q0) - sq(q1) - sq(q2))) + Kaccx*P[5][22]*(SH_ACCX[5] - 2*q1*q3)) + Kaccx*SH_ACCX[1]*(Kaccx*P[22][23]*SH_ACCX[0] - Kaccx*P[4][23]*SH_ACCX[1] - Kaccx*P[3][23]*SH_ACCX[0] + Kaccx*P[23][23]*SH_ACCX[1] + Kaccx*P[2][23]*(SH_ACCX[2]*(2*q0*q3 - 2*q1*q2) + SH_ACCX[3]*(SH_ACCX[4] - sq(q0) + sq(q1) - sq(q2)) - vd*(SH_ACCX[6] + 2*q2*q3)) + Kaccx*P[1][23]*(SH_ACCX[2]*(SH_ACCX[5] + 2*q1*q3) - SH_ACCX[3]*(SH_ACCX[6] - 2*q2*q3) + vd*(SH_ACCX[4] + sq(q0) - sq(q1) - sq(q2))) + Kaccx*P[5][23]*(SH_ACCX[5] - 2*q1*q3)) + Kaccx*(SH_ACCX[2]*(2*q0*q3 - 2*q1*q2) + SH_ACCX[3]*(SH_ACCX[4] - sq(q0) + sq(q1) - sq(q2)) - vd*(SH_ACCX[6] + 2*q2*q3))*(Kaccx*P[22][2]*SH_ACCX[0] - Kaccx*P[4][2]*SH_ACCX[1] - Kaccx*P[3][2]*SH_ACCX[0] + Kaccx*P[23][2]*SH_ACCX[1] + Kaccx*P[2][2]*(SH_ACCX[2]*(2*q0*q3 - 2*q1*q2) + SH_ACCX[3]*(SH_ACCX[4] - sq(q0) + sq(q1) - sq(q2)) - vd*(SH_ACCX[6] + 2*q2*q3)) + Kaccx*P[1][2]*(SH_ACCX[2]*(SH_ACCX[5] + 2*q1*q3) - SH_ACCX[3]*(SH_ACCX[6] - 2*q2*q3) + vd*(SH_ACCX[4] + sq(q0) - sq(q1) - sq(q2))) + Kaccx*P[5][2]*(SH_ACCX[5] - 2*q1*q3)) + Kaccx*(SH_ACCX[2]*(SH_ACCX[5] + 2*q1*q3) - SH_ACCX[3]*(SH_ACCX[6] - 2*q2*q3) + vd*(SH_ACCX[4] + sq(q0) - sq(q1) - sq(q2)))*(Kaccx*P[22][1]*SH_ACCX[0] - Kaccx*P[4][1]*SH_ACCX[1] - Kaccx*P[3][1]*SH_ACCX[0] + Kaccx*P[23][1]*SH_ACCX[1] + Kaccx*P[2][1]*(SH_ACCX[2]*(2*q0*q3 - 2*q1*q2) + SH_ACCX[3]*(SH_ACCX[4] - sq(q0) + sq(q1) - sq(q2)) - vd*(SH_ACCX[6] + 2*q2*q3)) + Kaccx*P[1][1]*(SH_ACCX[2]*(SH_ACCX[5] + 2*q1*q3) - SH_ACCX[3]*(SH_ACCX[6] - 2*q2*q3) + vd*(SH_ACCX[4] + sq(q0) - sq(q1) - sq(q2))) + Kaccx*P[5][1]*(SH_ACCX[5] - 2*q1*q3)) + Kaccx*(SH_ACCX[5] - 2*q1*q3)*(Kaccx*P[22][5]*SH_ACCX[0] - Kaccx*P[4][5]*SH_ACCX[1] - Kaccx*P[3][5]*SH_ACCX[0] + Kaccx*P[23][5]*SH_ACCX[1] + Kaccx*P[2][5]*(SH_ACCX[2]*(2*q0*q3 - 2*q1*q2) + SH_ACCX[3]*(SH_ACCX[4] - sq(q0) + sq(q1) - sq(q2)) - vd*(SH_ACCX[6] + 2*q2*q3)) + Kaccx*P[1][5]*(SH_ACCX[2]*(SH_ACCX[5] + 2*q1*q3) - SH_ACCX[3]*(SH_ACCX[6] - 2*q2*q3) + vd*(SH_ACCX[4] + sq(q0) - sq(q1) - sq(q2))) + Kaccx*P[5][5]*(SH_ACCX[5] - 2*q1*q3))); +SK_ACCX[1] = SH_ACCX[2]*(2*q0*q3 - 2*q1*q2) + SH_ACCX[3]*(SH_ACCX[4] - sq(q0) + sq(q1) - sq(q2)) - vd*(SH_ACCX[6] + 2*q2*q3); +SK_ACCX[2] = SH_ACCX[2]*(SH_ACCX[5] + 2*q1*q3) - SH_ACCX[3]*(SH_ACCX[6] - 2*q2*q3) + vd*(SH_ACCX[4] + sq(q0) - sq(q1) - sq(q2)); +SK_ACCX[3] = SH_ACCX[5] - 2*q1*q3; +SK_ACCX[4] = SH_ACCX[1]; +float Kfusion[24][1]; +float Kfusion[1][1]; +Kfusion[0] = SK_ACCX[0]*(Kaccx*P[0][22]*SH_ACCX[0] - Kaccx*P[0][3]*SH_ACCX[0] + Kaccx*P[0][1]*SK_ACCX[2] + Kaccx*P[0][2]*SK_ACCX[1] - Kaccx*P[0][4]*SK_ACCX[4] + Kaccx*P[0][5]*SK_ACCX[3] + Kaccx*P[0][23]*SK_ACCX[4]); +Kfusion[1] = SK_ACCX[0]*(Kaccx*P[1][22]*SH_ACCX[0] - Kaccx*P[1][3]*SH_ACCX[0] + Kaccx*P[1][1]*SK_ACCX[2] + Kaccx*P[1][2]*SK_ACCX[1] - Kaccx*P[1][4]*SK_ACCX[4] + Kaccx*P[1][5]*SK_ACCX[3] + Kaccx*P[1][23]*SK_ACCX[4]); +Kfusion[2] = SK_ACCX[0]*(Kaccx*P[2][22]*SH_ACCX[0] - Kaccx*P[2][3]*SH_ACCX[0] + Kaccx*P[2][1]*SK_ACCX[2] + Kaccx*P[2][2]*SK_ACCX[1] - Kaccx*P[2][4]*SK_ACCX[4] + Kaccx*P[2][5]*SK_ACCX[3] + Kaccx*P[2][23]*SK_ACCX[4]); +Kfusion[3] = SK_ACCX[0]*(Kaccx*P[3][22]*SH_ACCX[0] - Kaccx*P[3][3]*SH_ACCX[0] + Kaccx*P[3][1]*SK_ACCX[2] + Kaccx*P[3][2]*SK_ACCX[1] - Kaccx*P[3][4]*SK_ACCX[4] + Kaccx*P[3][5]*SK_ACCX[3] + Kaccx*P[3][23]*SK_ACCX[4]); +Kfusion[4] = SK_ACCX[0]*(Kaccx*P[4][22]*SH_ACCX[0] - Kaccx*P[4][3]*SH_ACCX[0] + Kaccx*P[4][1]*SK_ACCX[2] + Kaccx*P[4][2]*SK_ACCX[1] - Kaccx*P[4][4]*SK_ACCX[4] + Kaccx*P[4][5]*SK_ACCX[3] + Kaccx*P[4][23]*SK_ACCX[4]); +Kfusion[5] = SK_ACCX[0]*(Kaccx*P[5][22]*SH_ACCX[0] - Kaccx*P[5][3]*SH_ACCX[0] + Kaccx*P[5][1]*SK_ACCX[2] + Kaccx*P[5][2]*SK_ACCX[1] - Kaccx*P[5][4]*SK_ACCX[4] + Kaccx*P[5][5]*SK_ACCX[3] + Kaccx*P[5][23]*SK_ACCX[4]); +Kfusion[6] = SK_ACCX[0]*(Kaccx*P[6][22]*SH_ACCX[0] - Kaccx*P[6][3]*SH_ACCX[0] + Kaccx*P[6][1]*SK_ACCX[2] + Kaccx*P[6][2]*SK_ACCX[1] - Kaccx*P[6][4]*SK_ACCX[4] + Kaccx*P[6][5]*SK_ACCX[3] + Kaccx*P[6][23]*SK_ACCX[4]); +Kfusion[7] = SK_ACCX[0]*(Kaccx*P[7][22]*SH_ACCX[0] - Kaccx*P[7][3]*SH_ACCX[0] + Kaccx*P[7][1]*SK_ACCX[2] + Kaccx*P[7][2]*SK_ACCX[1] - Kaccx*P[7][4]*SK_ACCX[4] + Kaccx*P[7][5]*SK_ACCX[3] + Kaccx*P[7][23]*SK_ACCX[4]); +Kfusion[8] = SK_ACCX[0]*(Kaccx*P[8][22]*SH_ACCX[0] - Kaccx*P[8][3]*SH_ACCX[0] + Kaccx*P[8][1]*SK_ACCX[2] + Kaccx*P[8][2]*SK_ACCX[1] - Kaccx*P[8][4]*SK_ACCX[4] + Kaccx*P[8][5]*SK_ACCX[3] + Kaccx*P[8][23]*SK_ACCX[4]); +Kfusion[9] = SK_ACCX[0]*(Kaccx*P[9][22]*SH_ACCX[0] - Kaccx*P[9][3]*SH_ACCX[0] + Kaccx*P[9][1]*SK_ACCX[2] + Kaccx*P[9][2]*SK_ACCX[1] - Kaccx*P[9][4]*SK_ACCX[4] + Kaccx*P[9][5]*SK_ACCX[3] + Kaccx*P[9][23]*SK_ACCX[4]); +Kfusion[10] = SK_ACCX[0]*(Kaccx*P[10][22]*SH_ACCX[0] - Kaccx*P[10][3]*SH_ACCX[0] + Kaccx*P[10][1]*SK_ACCX[2] + Kaccx*P[10][2]*SK_ACCX[1] - Kaccx*P[10][4]*SK_ACCX[4] + Kaccx*P[10][5]*SK_ACCX[3] + Kaccx*P[10][23]*SK_ACCX[4]); +Kfusion[11] = SK_ACCX[0]*(Kaccx*P[11][22]*SH_ACCX[0] - Kaccx*P[11][3]*SH_ACCX[0] + Kaccx*P[11][1]*SK_ACCX[2] + Kaccx*P[11][2]*SK_ACCX[1] - Kaccx*P[11][4]*SK_ACCX[4] + Kaccx*P[11][5]*SK_ACCX[3] + Kaccx*P[11][23]*SK_ACCX[4]); +Kfusion[12] = SK_ACCX[0]*(Kaccx*P[12][22]*SH_ACCX[0] - Kaccx*P[12][3]*SH_ACCX[0] + Kaccx*P[12][1]*SK_ACCX[2] + Kaccx*P[12][2]*SK_ACCX[1] - Kaccx*P[12][4]*SK_ACCX[4] + Kaccx*P[12][5]*SK_ACCX[3] + Kaccx*P[12][23]*SK_ACCX[4]); +Kfusion[13] = SK_ACCX[0]*(Kaccx*P[13][22]*SH_ACCX[0] - Kaccx*P[13][3]*SH_ACCX[0] + Kaccx*P[13][1]*SK_ACCX[2] + Kaccx*P[13][2]*SK_ACCX[1] - Kaccx*P[13][4]*SK_ACCX[4] + Kaccx*P[13][5]*SK_ACCX[3] + Kaccx*P[13][23]*SK_ACCX[4]); +Kfusion[14] = SK_ACCX[0]*(Kaccx*P[14][22]*SH_ACCX[0] - Kaccx*P[14][3]*SH_ACCX[0] + Kaccx*P[14][1]*SK_ACCX[2] + Kaccx*P[14][2]*SK_ACCX[1] - Kaccx*P[14][4]*SK_ACCX[4] + Kaccx*P[14][5]*SK_ACCX[3] + Kaccx*P[14][23]*SK_ACCX[4]); +Kfusion[15] = SK_ACCX[0]*(Kaccx*P[15][22]*SH_ACCX[0] - Kaccx*P[15][3]*SH_ACCX[0] + Kaccx*P[15][1]*SK_ACCX[2] + Kaccx*P[15][2]*SK_ACCX[1] - Kaccx*P[15][4]*SK_ACCX[4] + Kaccx*P[15][5]*SK_ACCX[3] + Kaccx*P[15][23]*SK_ACCX[4]); +Kfusion[16] = SK_ACCX[0]*(Kaccx*P[16][22]*SH_ACCX[0] - Kaccx*P[16][3]*SH_ACCX[0] + Kaccx*P[16][1]*SK_ACCX[2] + Kaccx*P[16][2]*SK_ACCX[1] - Kaccx*P[16][4]*SK_ACCX[4] + Kaccx*P[16][5]*SK_ACCX[3] + Kaccx*P[16][23]*SK_ACCX[4]); +Kfusion[17] = SK_ACCX[0]*(Kaccx*P[17][22]*SH_ACCX[0] - Kaccx*P[17][3]*SH_ACCX[0] + Kaccx*P[17][1]*SK_ACCX[2] + Kaccx*P[17][2]*SK_ACCX[1] - Kaccx*P[17][4]*SK_ACCX[4] + Kaccx*P[17][5]*SK_ACCX[3] + Kaccx*P[17][23]*SK_ACCX[4]); +Kfusion[18] = SK_ACCX[0]*(Kaccx*P[18][22]*SH_ACCX[0] - Kaccx*P[18][3]*SH_ACCX[0] + Kaccx*P[18][1]*SK_ACCX[2] + Kaccx*P[18][2]*SK_ACCX[1] - Kaccx*P[18][4]*SK_ACCX[4] + Kaccx*P[18][5]*SK_ACCX[3] + Kaccx*P[18][23]*SK_ACCX[4]); +Kfusion[19] = SK_ACCX[0]*(Kaccx*P[19][22]*SH_ACCX[0] - Kaccx*P[19][3]*SH_ACCX[0] + Kaccx*P[19][1]*SK_ACCX[2] + Kaccx*P[19][2]*SK_ACCX[1] - Kaccx*P[19][4]*SK_ACCX[4] + Kaccx*P[19][5]*SK_ACCX[3] + Kaccx*P[19][23]*SK_ACCX[4]); +Kfusion[20] = SK_ACCX[0]*(Kaccx*P[20][22]*SH_ACCX[0] - Kaccx*P[20][3]*SH_ACCX[0] + Kaccx*P[20][1]*SK_ACCX[2] + Kaccx*P[20][2]*SK_ACCX[1] - Kaccx*P[20][4]*SK_ACCX[4] + Kaccx*P[20][5]*SK_ACCX[3] + Kaccx*P[20][23]*SK_ACCX[4]); +Kfusion[21] = SK_ACCX[0]*(Kaccx*P[21][22]*SH_ACCX[0] - Kaccx*P[21][3]*SH_ACCX[0] + Kaccx*P[21][1]*SK_ACCX[2] + Kaccx*P[21][2]*SK_ACCX[1] - Kaccx*P[21][4]*SK_ACCX[4] + Kaccx*P[21][5]*SK_ACCX[3] + Kaccx*P[21][23]*SK_ACCX[4]); +Kfusion[22] = SK_ACCX[0]*(Kaccx*P[22][22]*SH_ACCX[0] - Kaccx*P[22][3]*SH_ACCX[0] + Kaccx*P[22][1]*SK_ACCX[2] + Kaccx*P[22][2]*SK_ACCX[1] - Kaccx*P[22][4]*SK_ACCX[4] + Kaccx*P[22][5]*SK_ACCX[3] + Kaccx*P[22][23]*SK_ACCX[4]); +Kfusion[23] = SK_ACCX[0]*(Kaccx*P[23][22]*SH_ACCX[0] - Kaccx*P[23][3]*SH_ACCX[0] + Kaccx*P[23][1]*SK_ACCX[2] + Kaccx*P[23][2]*SK_ACCX[1] - Kaccx*P[23][4]*SK_ACCX[4] + Kaccx*P[23][5]*SK_ACCX[3] + Kaccx*P[23][23]*SK_ACCX[4]); +float SH_ACCY[6][1]; +SH_ACCY[0] = sq(q0) - sq(q1) + sq(q2) - sq(q3); +SH_ACCY[1] = ve - vwe; +SH_ACCY[2] = vn - vwn; +SH_ACCY[3] = sq(q1); +SH_ACCY[4] = 2*q0*q1; +SH_ACCY[5] = 2*q0*q3; +float H_ACCY[1][24]; +H_ACCY[0][0] = Kaccy*(SH_ACCY[1]*(SH_ACCY[4] - 2*q2*q3) - SH_ACCY[2]*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY[3] - sq(q0) + sq(q2) - sq(q3))); +H_ACCY[0][2] = Kaccy*(SH_ACCY[2]*(SH_ACCY[3] + sq(q0) - sq(q2) - sq(q3)) + SH_ACCY[1]*(SH_ACCY[5] + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)); +H_ACCY[0][3] = Kaccy*(SH_ACCY[5] - 2*q1*q2); +H_ACCY[0][4] = -Kaccy*SH_ACCY[0]; +H_ACCY[0][5] = -Kaccy*(SH_ACCY[4] + 2*q2*q3); +H_ACCY[0][22] = -2*Kaccy*(q0*q3 - q1*q2); +H_ACCY[0][23] = Kaccy*SH_ACCY[0]; +float SK_ACCY[7][1]; +SK_ACCY[0] = 1/(R_ACC - Kaccy*SH_ACCY[0]*(Kaccy*P[23][4]*SH_ACCY[0] - Kaccy*P[4][4]*SH_ACCY[0] + Kaccy*P[0][4]*(SH_ACCY[1]*(SH_ACCY[4] - 2*q2*q3) - SH_ACCY[2]*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY[3] - sq(q0) + sq(q2) - sq(q3))) + Kaccy*P[2][4]*(SH_ACCY[2]*(SH_ACCY[3] + sq(q0) - sq(q2) - sq(q3)) + SH_ACCY[1]*(SH_ACCY[5] + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*P[22][4]*(q0*q3 - q1*q2) + Kaccy*P[3][4]*(SH_ACCY[5] - 2*q1*q2) - Kaccy*P[5][4]*(SH_ACCY[4] + 2*q2*q3)) + Kaccy*SH_ACCY[0]*(Kaccy*P[23][23]*SH_ACCY[0] - Kaccy*P[4][23]*SH_ACCY[0] + Kaccy*P[0][23]*(SH_ACCY[1]*(SH_ACCY[4] - 2*q2*q3) - SH_ACCY[2]*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY[3] - sq(q0) + sq(q2) - sq(q3))) + Kaccy*P[2][23]*(SH_ACCY[2]*(SH_ACCY[3] + sq(q0) - sq(q2) - sq(q3)) + SH_ACCY[1]*(SH_ACCY[5] + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*P[22][23]*(q0*q3 - q1*q2) + Kaccy*P[3][23]*(SH_ACCY[5] - 2*q1*q2) - Kaccy*P[5][23]*(SH_ACCY[4] + 2*q2*q3)) + Kaccy*(SH_ACCY[1]*(SH_ACCY[4] - 2*q2*q3) - SH_ACCY[2]*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY[3] - sq(q0) + sq(q2) - sq(q3)))*(Kaccy*P[23][0]*SH_ACCY[0] - Kaccy*P[4][0]*SH_ACCY[0] + Kaccy*P[0][0]*(SH_ACCY[1]*(SH_ACCY[4] - 2*q2*q3) - SH_ACCY[2]*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY[3] - sq(q0) + sq(q2) - sq(q3))) + Kaccy*P[2][0]*(SH_ACCY[2]*(SH_ACCY[3] + sq(q0) - sq(q2) - sq(q3)) + SH_ACCY[1]*(SH_ACCY[5] + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*P[22][0]*(q0*q3 - q1*q2) + Kaccy*P[3][0]*(SH_ACCY[5] - 2*q1*q2) - Kaccy*P[5][0]*(SH_ACCY[4] + 2*q2*q3)) + Kaccy*(SH_ACCY[2]*(SH_ACCY[3] + sq(q0) - sq(q2) - sq(q3)) + SH_ACCY[1]*(SH_ACCY[5] + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3))*(Kaccy*P[23][2]*SH_ACCY[0] - Kaccy*P[4][2]*SH_ACCY[0] + Kaccy*P[0][2]*(SH_ACCY[1]*(SH_ACCY[4] - 2*q2*q3) - SH_ACCY[2]*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY[3] - sq(q0) + sq(q2) - sq(q3))) + Kaccy*P[2][2]*(SH_ACCY[2]*(SH_ACCY[3] + sq(q0) - sq(q2) - sq(q3)) + SH_ACCY[1]*(SH_ACCY[5] + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*P[22][2]*(q0*q3 - q1*q2) + Kaccy*P[3][2]*(SH_ACCY[5] - 2*q1*q2) - Kaccy*P[5][2]*(SH_ACCY[4] + 2*q2*q3)) - 2*Kaccy*(q0*q3 - q1*q2)*(Kaccy*P[23][22]*SH_ACCY[0] - Kaccy*P[4][22]*SH_ACCY[0] + Kaccy*P[0][22]*(SH_ACCY[1]*(SH_ACCY[4] - 2*q2*q3) - SH_ACCY[2]*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY[3] - sq(q0) + sq(q2) - sq(q3))) + Kaccy*P[2][22]*(SH_ACCY[2]*(SH_ACCY[3] + sq(q0) - sq(q2) - sq(q3)) + SH_ACCY[1]*(SH_ACCY[5] + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*P[22][22]*(q0*q3 - q1*q2) + Kaccy*P[3][22]*(SH_ACCY[5] - 2*q1*q2) - Kaccy*P[5][22]*(SH_ACCY[4] + 2*q2*q3)) + Kaccy*(SH_ACCY[5] - 2*q1*q2)*(Kaccy*P[23][3]*SH_ACCY[0] - Kaccy*P[4][3]*SH_ACCY[0] + Kaccy*P[0][3]*(SH_ACCY[1]*(SH_ACCY[4] - 2*q2*q3) - SH_ACCY[2]*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY[3] - sq(q0) + sq(q2) - sq(q3))) + Kaccy*P[2][3]*(SH_ACCY[2]*(SH_ACCY[3] + sq(q0) - sq(q2) - sq(q3)) + SH_ACCY[1]*(SH_ACCY[5] + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*P[22][3]*(q0*q3 - q1*q2) + Kaccy*P[3][3]*(SH_ACCY[5] - 2*q1*q2) - Kaccy*P[5][3]*(SH_ACCY[4] + 2*q2*q3)) - Kaccy*(SH_ACCY[4] + 2*q2*q3)*(Kaccy*P[23][5]*SH_ACCY[0] - Kaccy*P[4][5]*SH_ACCY[0] + Kaccy*P[0][5]*(SH_ACCY[1]*(SH_ACCY[4] - 2*q2*q3) - SH_ACCY[2]*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY[3] - sq(q0) + sq(q2) - sq(q3))) + Kaccy*P[2][5]*(SH_ACCY[2]*(SH_ACCY[3] + sq(q0) - sq(q2) - sq(q3)) + SH_ACCY[1]*(SH_ACCY[5] + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*P[22][5]*(q0*q3 - q1*q2) + Kaccy*P[3][5]*(SH_ACCY[5] - 2*q1*q2) - Kaccy*P[5][5]*(SH_ACCY[4] + 2*q2*q3))); +SK_ACCY[1] = SH_ACCY[2]*(SH_ACCY[3] + sq(q0) - sq(q2) - sq(q3)) + SH_ACCY[1]*(SH_ACCY[5] + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3); +SK_ACCY[2] = SH_ACCY[1]*(SH_ACCY[4] - 2*q2*q3) - SH_ACCY[2]*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY[3] - sq(q0) + sq(q2) - sq(q3)); +SK_ACCY[3] = q0*q3 - q1*q2; +SK_ACCY[4] = SH_ACCY[5] - 2*q1*q2; +SK_ACCY[5] = SH_ACCY[4] + 2*q2*q3; +SK_ACCY[6] = SH_ACCY[0]; +float Kfusion[24][1]; +float Kfusion[1][1]; +Kfusion[0] = SK_ACCY[0]*(Kaccy*P[0][0]*SK_ACCY[2] + Kaccy*P[0][2]*SK_ACCY[1] + Kaccy*P[0][3]*SK_ACCY[4] - Kaccy*P[0][4]*SK_ACCY[6] - Kaccy*P[0][5]*SK_ACCY[5] - 2*Kaccy*P[0][22]*SK_ACCY[3] + Kaccy*P[0][23]*SK_ACCY[6]); +Kfusion[1] = SK_ACCY[0]*(Kaccy*P[1][0]*SK_ACCY[2] + Kaccy*P[1][2]*SK_ACCY[1] + Kaccy*P[1][3]*SK_ACCY[4] - Kaccy*P[1][4]*SK_ACCY[6] - Kaccy*P[1][5]*SK_ACCY[5] - 2*Kaccy*P[1][22]*SK_ACCY[3] + Kaccy*P[1][23]*SK_ACCY[6]); +Kfusion[2] = SK_ACCY[0]*(Kaccy*P[2][0]*SK_ACCY[2] + Kaccy*P[2][2]*SK_ACCY[1] + Kaccy*P[2][3]*SK_ACCY[4] - Kaccy*P[2][4]*SK_ACCY[6] - Kaccy*P[2][5]*SK_ACCY[5] - 2*Kaccy*P[2][22]*SK_ACCY[3] + Kaccy*P[2][23]*SK_ACCY[6]); +Kfusion[3] = SK_ACCY[0]*(Kaccy*P[3][0]*SK_ACCY[2] + Kaccy*P[3][2]*SK_ACCY[1] + Kaccy*P[3][3]*SK_ACCY[4] - Kaccy*P[3][4]*SK_ACCY[6] - Kaccy*P[3][5]*SK_ACCY[5] - 2*Kaccy*P[3][22]*SK_ACCY[3] + Kaccy*P[3][23]*SK_ACCY[6]); +Kfusion[4] = SK_ACCY[0]*(Kaccy*P[4][0]*SK_ACCY[2] + Kaccy*P[4][2]*SK_ACCY[1] + Kaccy*P[4][3]*SK_ACCY[4] - Kaccy*P[4][4]*SK_ACCY[6] - Kaccy*P[4][5]*SK_ACCY[5] - 2*Kaccy*P[4][22]*SK_ACCY[3] + Kaccy*P[4][23]*SK_ACCY[6]); +Kfusion[5] = SK_ACCY[0]*(Kaccy*P[5][0]*SK_ACCY[2] + Kaccy*P[5][2]*SK_ACCY[1] + Kaccy*P[5][3]*SK_ACCY[4] - Kaccy*P[5][4]*SK_ACCY[6] - Kaccy*P[5][5]*SK_ACCY[5] - 2*Kaccy*P[5][22]*SK_ACCY[3] + Kaccy*P[5][23]*SK_ACCY[6]); +Kfusion[6] = SK_ACCY[0]*(Kaccy*P[6][0]*SK_ACCY[2] + Kaccy*P[6][2]*SK_ACCY[1] + Kaccy*P[6][3]*SK_ACCY[4] - Kaccy*P[6][4]*SK_ACCY[6] - Kaccy*P[6][5]*SK_ACCY[5] - 2*Kaccy*P[6][22]*SK_ACCY[3] + Kaccy*P[6][23]*SK_ACCY[6]); +Kfusion[7] = SK_ACCY[0]*(Kaccy*P[7][0]*SK_ACCY[2] + Kaccy*P[7][2]*SK_ACCY[1] + Kaccy*P[7][3]*SK_ACCY[4] - Kaccy*P[7][4]*SK_ACCY[6] - Kaccy*P[7][5]*SK_ACCY[5] - 2*Kaccy*P[7][22]*SK_ACCY[3] + Kaccy*P[7][23]*SK_ACCY[6]); +Kfusion[8] = SK_ACCY[0]*(Kaccy*P[8][0]*SK_ACCY[2] + Kaccy*P[8][2]*SK_ACCY[1] + Kaccy*P[8][3]*SK_ACCY[4] - Kaccy*P[8][4]*SK_ACCY[6] - Kaccy*P[8][5]*SK_ACCY[5] - 2*Kaccy*P[8][22]*SK_ACCY[3] + Kaccy*P[8][23]*SK_ACCY[6]); +Kfusion[9] = SK_ACCY[0]*(Kaccy*P[9][0]*SK_ACCY[2] + Kaccy*P[9][2]*SK_ACCY[1] + Kaccy*P[9][3]*SK_ACCY[4] - Kaccy*P[9][4]*SK_ACCY[6] - Kaccy*P[9][5]*SK_ACCY[5] - 2*Kaccy*P[9][22]*SK_ACCY[3] + Kaccy*P[9][23]*SK_ACCY[6]); +Kfusion[10] = SK_ACCY[0]*(Kaccy*P[10][0]*SK_ACCY[2] + Kaccy*P[10][2]*SK_ACCY[1] + Kaccy*P[10][3]*SK_ACCY[4] - Kaccy*P[10][4]*SK_ACCY[6] - Kaccy*P[10][5]*SK_ACCY[5] - 2*Kaccy*P[10][22]*SK_ACCY[3] + Kaccy*P[10][23]*SK_ACCY[6]); +Kfusion[11] = SK_ACCY[0]*(Kaccy*P[11][0]*SK_ACCY[2] + Kaccy*P[11][2]*SK_ACCY[1] + Kaccy*P[11][3]*SK_ACCY[4] - Kaccy*P[11][4]*SK_ACCY[6] - Kaccy*P[11][5]*SK_ACCY[5] - 2*Kaccy*P[11][22]*SK_ACCY[3] + Kaccy*P[11][23]*SK_ACCY[6]); +Kfusion[12] = SK_ACCY[0]*(Kaccy*P[12][0]*SK_ACCY[2] + Kaccy*P[12][2]*SK_ACCY[1] + Kaccy*P[12][3]*SK_ACCY[4] - Kaccy*P[12][4]*SK_ACCY[6] - Kaccy*P[12][5]*SK_ACCY[5] - 2*Kaccy*P[12][22]*SK_ACCY[3] + Kaccy*P[12][23]*SK_ACCY[6]); +Kfusion[13] = SK_ACCY[0]*(Kaccy*P[13][0]*SK_ACCY[2] + Kaccy*P[13][2]*SK_ACCY[1] + Kaccy*P[13][3]*SK_ACCY[4] - Kaccy*P[13][4]*SK_ACCY[6] - Kaccy*P[13][5]*SK_ACCY[5] - 2*Kaccy*P[13][22]*SK_ACCY[3] + Kaccy*P[13][23]*SK_ACCY[6]); +Kfusion[14] = SK_ACCY[0]*(Kaccy*P[14][0]*SK_ACCY[2] + Kaccy*P[14][2]*SK_ACCY[1] + Kaccy*P[14][3]*SK_ACCY[4] - Kaccy*P[14][4]*SK_ACCY[6] - Kaccy*P[14][5]*SK_ACCY[5] - 2*Kaccy*P[14][22]*SK_ACCY[3] + Kaccy*P[14][23]*SK_ACCY[6]); +Kfusion[15] = SK_ACCY[0]*(Kaccy*P[15][0]*SK_ACCY[2] + Kaccy*P[15][2]*SK_ACCY[1] + Kaccy*P[15][3]*SK_ACCY[4] - Kaccy*P[15][4]*SK_ACCY[6] - Kaccy*P[15][5]*SK_ACCY[5] - 2*Kaccy*P[15][22]*SK_ACCY[3] + Kaccy*P[15][23]*SK_ACCY[6]); +Kfusion[16] = SK_ACCY[0]*(Kaccy*P[16][0]*SK_ACCY[2] + Kaccy*P[16][2]*SK_ACCY[1] + Kaccy*P[16][3]*SK_ACCY[4] - Kaccy*P[16][4]*SK_ACCY[6] - Kaccy*P[16][5]*SK_ACCY[5] - 2*Kaccy*P[16][22]*SK_ACCY[3] + Kaccy*P[16][23]*SK_ACCY[6]); +Kfusion[17] = SK_ACCY[0]*(Kaccy*P[17][0]*SK_ACCY[2] + Kaccy*P[17][2]*SK_ACCY[1] + Kaccy*P[17][3]*SK_ACCY[4] - Kaccy*P[17][4]*SK_ACCY[6] - Kaccy*P[17][5]*SK_ACCY[5] - 2*Kaccy*P[17][22]*SK_ACCY[3] + Kaccy*P[17][23]*SK_ACCY[6]); +Kfusion[18] = SK_ACCY[0]*(Kaccy*P[18][0]*SK_ACCY[2] + Kaccy*P[18][2]*SK_ACCY[1] + Kaccy*P[18][3]*SK_ACCY[4] - Kaccy*P[18][4]*SK_ACCY[6] - Kaccy*P[18][5]*SK_ACCY[5] - 2*Kaccy*P[18][22]*SK_ACCY[3] + Kaccy*P[18][23]*SK_ACCY[6]); +Kfusion[19] = SK_ACCY[0]*(Kaccy*P[19][0]*SK_ACCY[2] + Kaccy*P[19][2]*SK_ACCY[1] + Kaccy*P[19][3]*SK_ACCY[4] - Kaccy*P[19][4]*SK_ACCY[6] - Kaccy*P[19][5]*SK_ACCY[5] - 2*Kaccy*P[19][22]*SK_ACCY[3] + Kaccy*P[19][23]*SK_ACCY[6]); +Kfusion[20] = SK_ACCY[0]*(Kaccy*P[20][0]*SK_ACCY[2] + Kaccy*P[20][2]*SK_ACCY[1] + Kaccy*P[20][3]*SK_ACCY[4] - Kaccy*P[20][4]*SK_ACCY[6] - Kaccy*P[20][5]*SK_ACCY[5] - 2*Kaccy*P[20][22]*SK_ACCY[3] + Kaccy*P[20][23]*SK_ACCY[6]); +Kfusion[21] = SK_ACCY[0]*(Kaccy*P[21][0]*SK_ACCY[2] + Kaccy*P[21][2]*SK_ACCY[1] + Kaccy*P[21][3]*SK_ACCY[4] - Kaccy*P[21][4]*SK_ACCY[6] - Kaccy*P[21][5]*SK_ACCY[5] - 2*Kaccy*P[21][22]*SK_ACCY[3] + Kaccy*P[21][23]*SK_ACCY[6]); +Kfusion[22] = SK_ACCY[0]*(Kaccy*P[22][0]*SK_ACCY[2] + Kaccy*P[22][2]*SK_ACCY[1] + Kaccy*P[22][3]*SK_ACCY[4] - Kaccy*P[22][4]*SK_ACCY[6] - Kaccy*P[22][5]*SK_ACCY[5] - 2*Kaccy*P[22][22]*SK_ACCY[3] + Kaccy*P[22][23]*SK_ACCY[6]); +Kfusion[23] = SK_ACCY[0]*(Kaccy*P[23][0]*SK_ACCY[2] + Kaccy*P[23][2]*SK_ACCY[1] + Kaccy*P[23][3]*SK_ACCY[4] - Kaccy*P[23][4]*SK_ACCY[6] - Kaccy*P[23][5]*SK_ACCY[5] - 2*Kaccy*P[23][22]*SK_ACCY[3] + Kaccy*P[23][23]*SK_ACCY[6]); diff --git a/matlab/scripts/Inertial Nav EKF/Drag.mat b/matlab/scripts/Inertial Nav EKF/Drag.mat new file mode 100644 index 0000000000000000000000000000000000000000..7b9b77124a0f79ddbbbc3c5cd816a9f6d0b91645 GIT binary patch literal 18266 zcmb5VbBr&r*X}#E?fH&v+qU=Ewr$(CZQHiJ$KGT6{@!!`yzjZ^y(?+6(lk##dD1lL zYAYwCDk~%mV54UQ$O);^nOWMH(gGB13|-9Zoou=PGbSR%&PodqaWXY@F*O0$+i?R_ zT9yv$G1_l;DM(lu7 zAR{3ND1(qF&k-JO9*KZATDZQspTQWo8Mx8ZPBgcm-z!1F+#= zQ{kjwLm;YCh_wGwRQPWd!HnDh2rm)tE^cu^51Lp$x!=Lq*csSSG|t#>0Zs&xA0CAt ze+qrrE3jh}9g*}whI*z$NFj|ufuv<2uKr6__P>?=59s)R3o6Kk_}`Nnhb;lo&_iVZ 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zAN(J@f6w{D|6Tu&pY(tJFM9M7|Lgbs%P-g4554j~{D1cQ=Kt&W{M&gG&Bu>9-{N2I Gywm{yL({|n literal 0 HcmV?d00001 diff --git a/matlab/scripts/Inertial Nav EKF/SymbolicOutput24.txt b/matlab/scripts/Inertial Nav EKF/SymbolicOutput24.txt new file mode 100644 index 0000000000..5c61fc39e1 --- /dev/null +++ b/matlab/scripts/Inertial Nav EKF/SymbolicOutput24.txt @@ -0,0 +1,737 @@ +SF = zeros(25,1); +SF(1) = daz_b/2 + dazNoise/2 - (daz*daz_s)/2; +SF(2) = day_b/2 + dayNoise/2 - (day*day_s)/2; +SF(3) = dax_b/2 + daxNoise/2 - (dax*dax_s)/2; +SF(4) = q3/2 - (q0*SF(1))/2 + (q1*SF(2))/2 - (q2*SF(3))/2; +SF(5) = q0/2 - (q1*SF(3))/2 - (q2*SF(2))/2 + (q3*SF(1))/2; +SF(6) = q1/2 + (q0*SF(3))/2 - (q2*SF(1))/2 - (q3*SF(2))/2; +SF(7) = q3/2 + (q0*SF(1))/2 - (q1*SF(2))/2 - (q2*SF(3))/2; +SF(8) = q0/2 - (q1*SF(3))/2 + (q2*SF(2))/2 - (q3*SF(1))/2; +SF(9) = q0/2 + (q1*SF(3))/2 - (q2*SF(2))/2 - (q3*SF(1))/2; +SF(10) = q2/2 + (q0*SF(2))/2 + (q1*SF(1))/2 + (q3*SF(3))/2; +SF(11) = q2/2 - (q0*SF(2))/2 - (q1*SF(1))/2 + (q3*SF(3))/2; +SF(12) = q2/2 + (q0*SF(2))/2 - (q1*SF(1))/2 - (q3*SF(3))/2; +SF(13) = q1/2 + (q0*SF(3))/2 + (q2*SF(1))/2 + (q3*SF(2))/2; +SF(14) = q1/2 - (q0*SF(3))/2 + (q2*SF(1))/2 - (q3*SF(2))/2; +SF(15) = q3/2 + (q0*SF(1))/2 + (q1*SF(2))/2 + (q2*SF(3))/2; +SF(16) = - q0^2 - q1^2 - q2^2 - q3^2; +SF(17) = dvz_b - dvz + dvzNoise; +SF(18) = dvx - dvxNoise; +SF(19) = dvy - dvyNoise; +SF(20) = q2^2; +SF(21) = SF(20) - q0^2 + q1^2 - q3^2; +SF(22) = SF(20) + q0^2 - q1^2 - q3^2; +SF(23) = 2*q0*q1 - 2*q2*q3; +SF(24) = SF(20) - q0^2 - q1^2 + q3^2; +SF(25) = 2*q1*q2; + +SG = zeros(5,1); +SG(1) = - q0^2 - q1^2 - q2^2 - q3^2; +SG(2) = q3^2; +SG(3) = q2^2; +SG(4) = q1^2; +SG(5) = q0^2; + + +SQ = zeros(10,1); +SQ(1) = - dvyNoise^2*(2*q0*q1 + 2*q2*q3)*(SG(2) - SG(3) + SG(4) - SG(5)) - dvzNoise^2*(2*q0*q1 - 2*q2*q3)*(SG(2) - SG(3) - SG(4) + SG(5)) - dvxNoise^2*(2*q0*q2 - 2*q1*q3)*(2*q0*q3 + 2*q1*q2); +SQ(2) = dvxNoise^2*(2*q0*q2 - 2*q1*q3)*(SG(2) + SG(3) - SG(4) - SG(5)) + dvzNoise^2*(2*q0*q2 + 2*q1*q3)*(SG(2) - SG(3) - SG(4) + SG(5)) - dvyNoise^2*(2*q0*q1 + 2*q2*q3)*(2*q0*q3 - 2*q1*q2); +SQ(3) = dvyNoise^2*(2*q0*q3 - 2*q1*q2)*(SG(2) - SG(3) + SG(4) - SG(5)) - dvxNoise^2*(2*q0*q3 + 2*q1*q2)*(SG(2) + SG(3) - SG(4) - SG(5)) - dvzNoise^2*(2*q0*q1 - 2*q2*q3)*(2*q0*q2 + 2*q1*q3); +SQ(4) = SG(1)^2; +SQ(5) = dvyNoise^2; +SQ(6) = dvzNoise^2; +SQ(7) = dvxNoise^2; +SQ(8) = 2*q2*q3; +SQ(9) = 2*q1*q3; +SQ(10) = 2*q1*q2; + + +SPP = zeros(23,1); +SPP(1) = SF(18)*(2*q0*q1 + 2*q2*q3) + SF(19)*(2*q0*q2 - 2*q1*q3); +SPP(2) = SF(19)*(2*q0*q2 + 2*q1*q3) + SF(17)*(SF(25) - 2*q0*q3); +SPP(3) = 2*q3*SF(9) + 2*q1*SF(12) - 2*q0*SF(15) - 2*q2*SF(14); +SPP(4) = 2*q1*SF(8) + 2*q2*SF(7) - 2*q0*SF(13) - 2*q3*SF(11); +SPP(5) = 2*q0*SF(7) - 2*q3*SF(8) - 2*q1*SF(11) + 2*q2*SF(13); +SPP(6) = 2*q0*SF(9) + 2*q2*SF(12) + 2*q1*SF(14) + 2*q3*SF(15); +SPP(7) = 2*q0*SF(8) + 2*q3*SF(7) + 2*q2*SF(11) + 2*q1*SF(13); +SPP(8) = 2*q1*SF(4) - 2*q2*SF(5) - 2*q3*SF(6) + 2*q0*SF(10); +SPP(9) = 2*q0*SF(6) - 2*q1*SF(5) - 2*q2*SF(4) + 2*q3*SF(10); +SPP(10) = SF(19)*SF(21) - SF(17)*(2*q0*q1 + 2*q2*q3); +SPP(11) = SF(18)*SF(21) + SF(17)*(2*q0*q2 - 2*q1*q3); +SPP(12) = SF(18)*SF(22) - SF(19)*(SF(25) + 2*q0*q3); +SPP(13) = SF(18)*SF(23) - SF(17)*(SF(25) + 2*q0*q3); +SPP(14) = 2*q0*SF(5) + 2*q1*SF(6) + 2*q3*SF(4) + 2*q2*SF(10); +SPP(15) = 2*q2*SF(9) - 2*q0*SF(12) - 2*q1*SF(15) + 2*q3*SF(14); +SPP(16) = SF(19)*SF(24) + SF(18)*(SF(25) - 2*q0*q3); +SPP(17) = daz*SF(20) + daz*q0^2 + daz*q1^2 + daz*q3^2; +SPP(18) = day*SF(20) + day*q0^2 + day*q1^2 + day*q3^2; +SPP(19) = dax*SF(20) + dax*q0^2 + dax*q1^2 + dax*q3^2; +SPP(20) = SF(17)*SF(24) - SF(18)*(2*q0*q2 + 2*q1*q3); +SPP(21) = SF(17)*SF(22) - SF(19)*SF(23); +SPP(22) = 2*q0*q2 + 2*q1*q3; +SPP(23) = SF(16); + + +nextP = zeros(24,24); +nextP(1,1) = SPP(6)*(OP_l_1_c_1_r_*SPP(6) - OP_l_2_c_1_r_*SPP(5) + OP_l_3_c_1_r_*SPP(8) + OP_l_10_c_1_r_*SPP(23) + OP_l_13_c_1_r_*SPP(19)) - SPP(5)*(OP_l_1_c_2_r_*SPP(6) - OP_l_2_c_2_r_*SPP(5) + OP_l_3_c_2_r_*SPP(8) + OP_l_10_c_2_r_*SPP(23) + OP_l_13_c_2_r_*SPP(19)) + SPP(8)*(OP_l_1_c_3_r_*SPP(6) - OP_l_2_c_3_r_*SPP(5) + OP_l_3_c_3_r_*SPP(8) + OP_l_10_c_3_r_*SPP(23) + OP_l_13_c_3_r_*SPP(19)) + SPP(23)*(OP_l_1_c_10_r_*SPP(6) - OP_l_2_c_10_r_*SPP(5) + OP_l_3_c_10_r_*SPP(8) + OP_l_10_c_10_r_*SPP(23) + OP_l_13_c_10_r_*SPP(19)) + SPP(19)*(OP_l_1_c_13_r_*SPP(6) - OP_l_2_c_13_r_*SPP(5) + OP_l_3_c_13_r_*SPP(8) + OP_l_10_c_13_r_*SPP(23) + OP_l_13_c_13_r_*SPP(19)) + daxNoise^2*SQ(4); +nextP(1,2) = SPP(7)*(OP_l_1_c_2_r_*SPP(6) - OP_l_2_c_2_r_*SPP(5) + OP_l_3_c_2_r_*SPP(8) + OP_l_10_c_2_r_*SPP(23) + OP_l_13_c_2_r_*SPP(19)) - SPP(3)*(OP_l_1_c_1_r_*SPP(6) - OP_l_2_c_1_r_*SPP(5) + OP_l_3_c_1_r_*SPP(8) + OP_l_10_c_1_r_*SPP(23) + OP_l_13_c_1_r_*SPP(19)) - SPP(9)*(OP_l_1_c_3_r_*SPP(6) - OP_l_2_c_3_r_*SPP(5) + OP_l_3_c_3_r_*SPP(8) + OP_l_10_c_3_r_*SPP(23) + OP_l_13_c_3_r_*SPP(19)) + SPP(23)*(OP_l_1_c_11_r_*SPP(6) - OP_l_2_c_11_r_*SPP(5) + OP_l_3_c_11_r_*SPP(8) + OP_l_10_c_11_r_*SPP(23) + OP_l_13_c_11_r_*SPP(19)) + SPP(18)*(OP_l_1_c_14_r_*SPP(6) - OP_l_2_c_14_r_*SPP(5) + OP_l_3_c_14_r_*SPP(8) + OP_l_10_c_14_r_*SPP(23) + OP_l_13_c_14_r_*SPP(19)); +nextP(2,2) = SPP(7)*(OP_l_2_c_2_r_*SPP(7) - OP_l_1_c_2_r_*SPP(3) - OP_l_3_c_2_r_*SPP(9) + OP_l_11_c_2_r_*SPP(23) + OP_l_14_c_2_r_*SPP(18)) - SPP(3)*(OP_l_2_c_1_r_*SPP(7) - OP_l_1_c_1_r_*SPP(3) - OP_l_3_c_1_r_*SPP(9) + OP_l_11_c_1_r_*SPP(23) + OP_l_14_c_1_r_*SPP(18)) - SPP(9)*(OP_l_2_c_3_r_*SPP(7) - OP_l_1_c_3_r_*SPP(3) - OP_l_3_c_3_r_*SPP(9) + OP_l_11_c_3_r_*SPP(23) + OP_l_14_c_3_r_*SPP(18)) + SPP(23)*(OP_l_2_c_11_r_*SPP(7) - OP_l_1_c_11_r_*SPP(3) - OP_l_3_c_11_r_*SPP(9) + OP_l_11_c_11_r_*SPP(23) + OP_l_14_c_11_r_*SPP(18)) + SPP(18)*(OP_l_2_c_14_r_*SPP(7) - OP_l_1_c_14_r_*SPP(3) - OP_l_3_c_14_r_*SPP(9) + OP_l_11_c_14_r_*SPP(23) + OP_l_14_c_14_r_*SPP(18)) + dayNoise^2*SQ(4); +nextP(1,3) = SPP(15)*(OP_l_1_c_1_r_*SPP(6) - OP_l_2_c_1_r_*SPP(5) + OP_l_3_c_1_r_*SPP(8) + OP_l_10_c_1_r_*SPP(23) + OP_l_13_c_1_r_*SPP(19)) - SPP(4)*(OP_l_1_c_2_r_*SPP(6) - OP_l_2_c_2_r_*SPP(5) + OP_l_3_c_2_r_*SPP(8) + OP_l_10_c_2_r_*SPP(23) + OP_l_13_c_2_r_*SPP(19)) + SPP(14)*(OP_l_1_c_3_r_*SPP(6) - OP_l_2_c_3_r_*SPP(5) + OP_l_3_c_3_r_*SPP(8) + OP_l_10_c_3_r_*SPP(23) + OP_l_13_c_3_r_*SPP(19)) + SPP(23)*(OP_l_1_c_12_r_*SPP(6) - OP_l_2_c_12_r_*SPP(5) + OP_l_3_c_12_r_*SPP(8) + OP_l_10_c_12_r_*SPP(23) + OP_l_13_c_12_r_*SPP(19)) + SPP(17)*(OP_l_1_c_15_r_*SPP(6) - OP_l_2_c_15_r_*SPP(5) + OP_l_3_c_15_r_*SPP(8) + OP_l_10_c_15_r_*SPP(23) + OP_l_13_c_15_r_*SPP(19)); +nextP(2,3) = SPP(15)*(OP_l_2_c_1_r_*SPP(7) - OP_l_1_c_1_r_*SPP(3) - OP_l_3_c_1_r_*SPP(9) + OP_l_11_c_1_r_*SPP(23) + OP_l_14_c_1_r_*SPP(18)) - SPP(4)*(OP_l_2_c_2_r_*SPP(7) - OP_l_1_c_2_r_*SPP(3) - OP_l_3_c_2_r_*SPP(9) + OP_l_11_c_2_r_*SPP(23) + OP_l_14_c_2_r_*SPP(18)) + SPP(14)*(OP_l_2_c_3_r_*SPP(7) - OP_l_1_c_3_r_*SPP(3) - OP_l_3_c_3_r_*SPP(9) + OP_l_11_c_3_r_*SPP(23) + OP_l_14_c_3_r_*SPP(18)) + SPP(23)*(OP_l_2_c_12_r_*SPP(7) - OP_l_1_c_12_r_*SPP(3) - OP_l_3_c_12_r_*SPP(9) + OP_l_11_c_12_r_*SPP(23) + OP_l_14_c_12_r_*SPP(18)) + SPP(17)*(OP_l_2_c_15_r_*SPP(7) - OP_l_1_c_15_r_*SPP(3) - OP_l_3_c_15_r_*SPP(9) + OP_l_11_c_15_r_*SPP(23) + OP_l_14_c_15_r_*SPP(18)); +nextP(3,3) = SPP(15)*(OP_l_1_c_1_r_*SPP(15) - OP_l_2_c_1_r_*SPP(4) + OP_l_3_c_1_r_*SPP(14) + OP_l_12_c_1_r_*SPP(23) + OP_l_15_c_1_r_*SPP(17)) - SPP(4)*(OP_l_1_c_2_r_*SPP(15) - OP_l_2_c_2_r_*SPP(4) + OP_l_3_c_2_r_*SPP(14) + OP_l_12_c_2_r_*SPP(23) + OP_l_15_c_2_r_*SPP(17)) + SPP(14)*(OP_l_1_c_3_r_*SPP(15) - OP_l_2_c_3_r_*SPP(4) + OP_l_3_c_3_r_*SPP(14) + OP_l_12_c_3_r_*SPP(23) + OP_l_15_c_3_r_*SPP(17)) + SPP(23)*(OP_l_1_c_12_r_*SPP(15) - OP_l_2_c_12_r_*SPP(4) + OP_l_3_c_12_r_*SPP(14) + OP_l_12_c_12_r_*SPP(23) + OP_l_15_c_12_r_*SPP(17)) + SPP(17)*(OP_l_1_c_15_r_*SPP(15) - OP_l_2_c_15_r_*SPP(4) + OP_l_3_c_15_r_*SPP(14) + OP_l_12_c_15_r_*SPP(23) + OP_l_15_c_15_r_*SPP(17)) + dazNoise^2*SQ(4); +nextP(1,4) = OP_l_1_c_4_r_*SPP(6) - OP_l_2_c_4_r_*SPP(5) + OP_l_3_c_4_r_*SPP(8) + OP_l_10_c_4_r_*SPP(23) + OP_l_13_c_4_r_*SPP(19) + SPP(2)*(OP_l_1_c_1_r_*SPP(6) - OP_l_2_c_1_r_*SPP(5) + OP_l_3_c_1_r_*SPP(8) + OP_l_10_c_1_r_*SPP(23) + OP_l_13_c_1_r_*SPP(19)) + SPP(20)*(OP_l_1_c_2_r_*SPP(6) - OP_l_2_c_2_r_*SPP(5) + OP_l_3_c_2_r_*SPP(8) + OP_l_10_c_2_r_*SPP(23) + OP_l_13_c_2_r_*SPP(19)) + SPP(16)*(OP_l_1_c_3_r_*SPP(6) - OP_l_2_c_3_r_*SPP(5) + OP_l_3_c_3_r_*SPP(8) + OP_l_10_c_3_r_*SPP(23) + OP_l_13_c_3_r_*SPP(19)) - SPP(22)*(OP_l_1_c_16_r_*SPP(6) - OP_l_2_c_16_r_*SPP(5) + OP_l_3_c_16_r_*SPP(8) + OP_l_10_c_16_r_*SPP(23) + OP_l_13_c_16_r_*SPP(19)); +nextP(2,4) = OP_l_2_c_4_r_*SPP(7) - OP_l_1_c_4_r_*SPP(3) - OP_l_3_c_4_r_*SPP(9) + OP_l_11_c_4_r_*SPP(23) + OP_l_14_c_4_r_*SPP(18) + SPP(2)*(OP_l_2_c_1_r_*SPP(7) - OP_l_1_c_1_r_*SPP(3) - OP_l_3_c_1_r_*SPP(9) + OP_l_11_c_1_r_*SPP(23) + OP_l_14_c_1_r_*SPP(18)) + SPP(20)*(OP_l_2_c_2_r_*SPP(7) - OP_l_1_c_2_r_*SPP(3) - OP_l_3_c_2_r_*SPP(9) + OP_l_11_c_2_r_*SPP(23) + OP_l_14_c_2_r_*SPP(18)) + SPP(16)*(OP_l_2_c_3_r_*SPP(7) - OP_l_1_c_3_r_*SPP(3) - OP_l_3_c_3_r_*SPP(9) + OP_l_11_c_3_r_*SPP(23) + OP_l_14_c_3_r_*SPP(18)) - SPP(22)*(OP_l_2_c_16_r_*SPP(7) - OP_l_1_c_16_r_*SPP(3) - OP_l_3_c_16_r_*SPP(9) + OP_l_11_c_16_r_*SPP(23) + OP_l_14_c_16_r_*SPP(18)); +nextP(3,4) = OP_l_1_c_4_r_*SPP(15) - OP_l_2_c_4_r_*SPP(4) + OP_l_3_c_4_r_*SPP(14) + OP_l_12_c_4_r_*SPP(23) + OP_l_15_c_4_r_*SPP(17) + SPP(2)*(OP_l_1_c_1_r_*SPP(15) - OP_l_2_c_1_r_*SPP(4) + OP_l_3_c_1_r_*SPP(14) + OP_l_12_c_1_r_*SPP(23) + OP_l_15_c_1_r_*SPP(17)) + SPP(20)*(OP_l_1_c_2_r_*SPP(15) - OP_l_2_c_2_r_*SPP(4) + OP_l_3_c_2_r_*SPP(14) + OP_l_12_c_2_r_*SPP(23) + OP_l_15_c_2_r_*SPP(17)) + SPP(16)*(OP_l_1_c_3_r_*SPP(15) - OP_l_2_c_3_r_*SPP(4) + OP_l_3_c_3_r_*SPP(14) + OP_l_12_c_3_r_*SPP(23) + OP_l_15_c_3_r_*SPP(17)) - SPP(22)*(OP_l_1_c_16_r_*SPP(15) - OP_l_2_c_16_r_*SPP(4) + OP_l_3_c_16_r_*SPP(14) + OP_l_12_c_16_r_*SPP(23) + OP_l_15_c_16_r_*SPP(17)); +nextP(4,4) = OP_l_4_c_4_r_ + OP_l_1_c_4_r_*SPP(2) + OP_l_2_c_4_r_*SPP(20) + OP_l_3_c_4_r_*SPP(16) - OP_l_16_c_4_r_*SPP(22) + SQ(6)*(SQ(9) + 2*q0*q2)^2 + SQ(5)*(SQ(10) - 2*q0*q3)^2 + SPP(2)*(OP_l_4_c_1_r_ + OP_l_1_c_1_r_*SPP(2) + OP_l_2_c_1_r_*SPP(20) + OP_l_3_c_1_r_*SPP(16) - OP_l_16_c_1_r_*SPP(22)) + SPP(20)*(OP_l_4_c_2_r_ + OP_l_1_c_2_r_*SPP(2) + OP_l_2_c_2_r_*SPP(20) + OP_l_3_c_2_r_*SPP(16) - OP_l_16_c_2_r_*SPP(22)) + SPP(16)*(OP_l_4_c_3_r_ + OP_l_1_c_3_r_*SPP(2) + OP_l_2_c_3_r_*SPP(20) + OP_l_3_c_3_r_*SPP(16) - OP_l_16_c_3_r_*SPP(22)) - SPP(22)*(OP_l_4_c_16_r_ + OP_l_1_c_16_r_*SPP(2) + OP_l_2_c_16_r_*SPP(20) + OP_l_3_c_16_r_*SPP(16) - OP_l_16_c_16_r_*SPP(22)) + SQ(7)*(SG(2) + SG(3) - SG(4) - SG(5))^2; +nextP(1,5) = OP_l_1_c_5_r_*SPP(6) - OP_l_2_c_5_r_*SPP(5) + OP_l_3_c_5_r_*SPP(8) + OP_l_10_c_5_r_*SPP(23) + OP_l_13_c_5_r_*SPP(19) + SF(23)*(OP_l_1_c_16_r_*SPP(6) - OP_l_2_c_16_r_*SPP(5) + OP_l_3_c_16_r_*SPP(8) + OP_l_10_c_16_r_*SPP(23) + OP_l_13_c_16_r_*SPP(19)) + SPP(13)*(OP_l_1_c_2_r_*SPP(6) - OP_l_2_c_2_r_*SPP(5) + OP_l_3_c_2_r_*SPP(8) + OP_l_10_c_2_r_*SPP(23) + OP_l_13_c_2_r_*SPP(19)) + SPP(21)*(OP_l_1_c_1_r_*SPP(6) - OP_l_2_c_1_r_*SPP(5) + OP_l_3_c_1_r_*SPP(8) + OP_l_10_c_1_r_*SPP(23) + OP_l_13_c_1_r_*SPP(19)) + SPP(12)*(OP_l_1_c_3_r_*SPP(6) - OP_l_2_c_3_r_*SPP(5) + OP_l_3_c_3_r_*SPP(8) + OP_l_10_c_3_r_*SPP(23) + OP_l_13_c_3_r_*SPP(19)); +nextP(2,5) = OP_l_2_c_5_r_*SPP(7) - OP_l_1_c_5_r_*SPP(3) - OP_l_3_c_5_r_*SPP(9) + OP_l_11_c_5_r_*SPP(23) + OP_l_14_c_5_r_*SPP(18) + SF(23)*(OP_l_2_c_16_r_*SPP(7) - OP_l_1_c_16_r_*SPP(3) - OP_l_3_c_16_r_*SPP(9) + OP_l_11_c_16_r_*SPP(23) + OP_l_14_c_16_r_*SPP(18)) + SPP(13)*(OP_l_2_c_2_r_*SPP(7) - OP_l_1_c_2_r_*SPP(3) - OP_l_3_c_2_r_*SPP(9) + OP_l_11_c_2_r_*SPP(23) + OP_l_14_c_2_r_*SPP(18)) + SPP(21)*(OP_l_2_c_1_r_*SPP(7) - OP_l_1_c_1_r_*SPP(3) - OP_l_3_c_1_r_*SPP(9) + OP_l_11_c_1_r_*SPP(23) + OP_l_14_c_1_r_*SPP(18)) + SPP(12)*(OP_l_2_c_3_r_*SPP(7) - OP_l_1_c_3_r_*SPP(3) - OP_l_3_c_3_r_*SPP(9) + OP_l_11_c_3_r_*SPP(23) + OP_l_14_c_3_r_*SPP(18)); +nextP(3,5) = OP_l_1_c_5_r_*SPP(15) - OP_l_2_c_5_r_*SPP(4) + OP_l_3_c_5_r_*SPP(14) + OP_l_12_c_5_r_*SPP(23) + OP_l_15_c_5_r_*SPP(17) + SF(23)*(OP_l_1_c_16_r_*SPP(15) - OP_l_2_c_16_r_*SPP(4) + OP_l_3_c_16_r_*SPP(14) + OP_l_12_c_16_r_*SPP(23) + OP_l_15_c_16_r_*SPP(17)) + SPP(13)*(OP_l_1_c_2_r_*SPP(15) - OP_l_2_c_2_r_*SPP(4) + OP_l_3_c_2_r_*SPP(14) + OP_l_12_c_2_r_*SPP(23) + OP_l_15_c_2_r_*SPP(17)) + SPP(21)*(OP_l_1_c_1_r_*SPP(15) - OP_l_2_c_1_r_*SPP(4) + OP_l_3_c_1_r_*SPP(14) + OP_l_12_c_1_r_*SPP(23) + OP_l_15_c_1_r_*SPP(17)) + SPP(12)*(OP_l_1_c_3_r_*SPP(15) - OP_l_2_c_3_r_*SPP(4) + OP_l_3_c_3_r_*SPP(14) + OP_l_12_c_3_r_*SPP(23) + OP_l_15_c_3_r_*SPP(17)); +nextP(4,5) = OP_l_4_c_5_r_ + SQ(3) + OP_l_1_c_5_r_*SPP(2) + OP_l_2_c_5_r_*SPP(20) + OP_l_3_c_5_r_*SPP(16) - OP_l_16_c_5_r_*SPP(22) + SF(23)*(OP_l_4_c_16_r_ + OP_l_1_c_16_r_*SPP(2) + OP_l_2_c_16_r_*SPP(20) + OP_l_3_c_16_r_*SPP(16) - OP_l_16_c_16_r_*SPP(22)) + SPP(13)*(OP_l_4_c_2_r_ + OP_l_1_c_2_r_*SPP(2) + OP_l_2_c_2_r_*SPP(20) + OP_l_3_c_2_r_*SPP(16) - OP_l_16_c_2_r_*SPP(22)) + SPP(21)*(OP_l_4_c_1_r_ + OP_l_1_c_1_r_*SPP(2) + OP_l_2_c_1_r_*SPP(20) + OP_l_3_c_1_r_*SPP(16) - OP_l_16_c_1_r_*SPP(22)) + SPP(12)*(OP_l_4_c_3_r_ + OP_l_1_c_3_r_*SPP(2) + OP_l_2_c_3_r_*SPP(20) + OP_l_3_c_3_r_*SPP(16) - OP_l_16_c_3_r_*SPP(22)); +nextP(5,5) = OP_l_5_c_5_r_ + OP_l_16_c_5_r_*SF(23) + OP_l_1_c_5_r_*SPP(21) + OP_l_2_c_5_r_*SPP(13) + OP_l_3_c_5_r_*SPP(12) + SQ(6)*(SQ(8) - 2*q0*q1)^2 + SQ(7)*(SQ(10) + 2*q0*q3)^2 + SF(23)*(OP_l_5_c_16_r_ + OP_l_16_c_16_r_*SF(23) + OP_l_1_c_16_r_*SPP(21) + OP_l_2_c_16_r_*SPP(13) + OP_l_3_c_16_r_*SPP(12)) + SPP(13)*(OP_l_5_c_2_r_ + OP_l_16_c_2_r_*SF(23) + OP_l_1_c_2_r_*SPP(21) + OP_l_2_c_2_r_*SPP(13) + OP_l_3_c_2_r_*SPP(12)) + SPP(21)*(OP_l_5_c_1_r_ + OP_l_16_c_1_r_*SF(23) + OP_l_1_c_1_r_*SPP(21) + OP_l_2_c_1_r_*SPP(13) + OP_l_3_c_1_r_*SPP(12)) + SPP(12)*(OP_l_5_c_3_r_ + OP_l_16_c_3_r_*SF(23) + OP_l_1_c_3_r_*SPP(21) + OP_l_2_c_3_r_*SPP(13) + OP_l_3_c_3_r_*SPP(12)) + SQ(5)*(SG(2) - SG(3) + SG(4) - SG(5))^2; +nextP(1,6) = OP_l_1_c_6_r_*SPP(6) - OP_l_2_c_6_r_*SPP(5) + OP_l_3_c_6_r_*SPP(8) + OP_l_10_c_6_r_*SPP(23) + OP_l_13_c_6_r_*SPP(19) + SF(21)*(OP_l_1_c_16_r_*SPP(6) - OP_l_2_c_16_r_*SPP(5) + OP_l_3_c_16_r_*SPP(8) + OP_l_10_c_16_r_*SPP(23) + OP_l_13_c_16_r_*SPP(19)) - SPP(10)*(OP_l_1_c_1_r_*SPP(6) - OP_l_2_c_1_r_*SPP(5) + OP_l_3_c_1_r_*SPP(8) + OP_l_10_c_1_r_*SPP(23) + OP_l_13_c_1_r_*SPP(19)) + SPP(1)*(OP_l_1_c_3_r_*SPP(6) - OP_l_2_c_3_r_*SPP(5) + OP_l_3_c_3_r_*SPP(8) + OP_l_10_c_3_r_*SPP(23) + OP_l_13_c_3_r_*SPP(19)) + SPP(11)*(OP_l_1_c_2_r_*SPP(6) - OP_l_2_c_2_r_*SPP(5) + OP_l_3_c_2_r_*SPP(8) + OP_l_10_c_2_r_*SPP(23) + OP_l_13_c_2_r_*SPP(19)); +nextP(2,6) = OP_l_2_c_6_r_*SPP(7) - OP_l_1_c_6_r_*SPP(3) - OP_l_3_c_6_r_*SPP(9) + OP_l_11_c_6_r_*SPP(23) + OP_l_14_c_6_r_*SPP(18) + SF(21)*(OP_l_2_c_16_r_*SPP(7) - OP_l_1_c_16_r_*SPP(3) - OP_l_3_c_16_r_*SPP(9) + OP_l_11_c_16_r_*SPP(23) + OP_l_14_c_16_r_*SPP(18)) - SPP(10)*(OP_l_2_c_1_r_*SPP(7) - OP_l_1_c_1_r_*SPP(3) - OP_l_3_c_1_r_*SPP(9) + OP_l_11_c_1_r_*SPP(23) + OP_l_14_c_1_r_*SPP(18)) + SPP(1)*(OP_l_2_c_3_r_*SPP(7) - OP_l_1_c_3_r_*SPP(3) - OP_l_3_c_3_r_*SPP(9) + OP_l_11_c_3_r_*SPP(23) + OP_l_14_c_3_r_*SPP(18)) + SPP(11)*(OP_l_2_c_2_r_*SPP(7) - OP_l_1_c_2_r_*SPP(3) - OP_l_3_c_2_r_*SPP(9) + OP_l_11_c_2_r_*SPP(23) + OP_l_14_c_2_r_*SPP(18)); +nextP(3,6) = OP_l_1_c_6_r_*SPP(15) - OP_l_2_c_6_r_*SPP(4) + OP_l_3_c_6_r_*SPP(14) + OP_l_12_c_6_r_*SPP(23) + OP_l_15_c_6_r_*SPP(17) + SF(21)*(OP_l_1_c_16_r_*SPP(15) - OP_l_2_c_16_r_*SPP(4) + OP_l_3_c_16_r_*SPP(14) + OP_l_12_c_16_r_*SPP(23) + OP_l_15_c_16_r_*SPP(17)) - SPP(10)*(OP_l_1_c_1_r_*SPP(15) - OP_l_2_c_1_r_*SPP(4) + OP_l_3_c_1_r_*SPP(14) + OP_l_12_c_1_r_*SPP(23) + OP_l_15_c_1_r_*SPP(17)) + SPP(1)*(OP_l_1_c_3_r_*SPP(15) - OP_l_2_c_3_r_*SPP(4) + OP_l_3_c_3_r_*SPP(14) + OP_l_12_c_3_r_*SPP(23) + OP_l_15_c_3_r_*SPP(17)) + SPP(11)*(OP_l_1_c_2_r_*SPP(15) - OP_l_2_c_2_r_*SPP(4) + OP_l_3_c_2_r_*SPP(14) + OP_l_12_c_2_r_*SPP(23) + OP_l_15_c_2_r_*SPP(17)); +nextP(4,6) = OP_l_4_c_6_r_ + SQ(2) + OP_l_1_c_6_r_*SPP(2) + OP_l_2_c_6_r_*SPP(20) + OP_l_3_c_6_r_*SPP(16) - OP_l_16_c_6_r_*SPP(22) + SF(21)*(OP_l_4_c_16_r_ + OP_l_1_c_16_r_*SPP(2) + OP_l_2_c_16_r_*SPP(20) + OP_l_3_c_16_r_*SPP(16) - OP_l_16_c_16_r_*SPP(22)) - SPP(10)*(OP_l_4_c_1_r_ + OP_l_1_c_1_r_*SPP(2) + OP_l_2_c_1_r_*SPP(20) + OP_l_3_c_1_r_*SPP(16) - OP_l_16_c_1_r_*SPP(22)) + SPP(1)*(OP_l_4_c_3_r_ + OP_l_1_c_3_r_*SPP(2) + OP_l_2_c_3_r_*SPP(20) + OP_l_3_c_3_r_*SPP(16) - OP_l_16_c_3_r_*SPP(22)) + SPP(11)*(OP_l_4_c_2_r_ + OP_l_1_c_2_r_*SPP(2) + OP_l_2_c_2_r_*SPP(20) + OP_l_3_c_2_r_*SPP(16) - OP_l_16_c_2_r_*SPP(22)); +nextP(5,6) = OP_l_5_c_6_r_ + SQ(1) + OP_l_16_c_6_r_*SF(23) + OP_l_1_c_6_r_*SPP(21) + OP_l_2_c_6_r_*SPP(13) + OP_l_3_c_6_r_*SPP(12) + SF(21)*(OP_l_5_c_16_r_ + OP_l_16_c_16_r_*SF(23) + OP_l_1_c_16_r_*SPP(21) + OP_l_2_c_16_r_*SPP(13) + OP_l_3_c_16_r_*SPP(12)) - SPP(10)*(OP_l_5_c_1_r_ + OP_l_16_c_1_r_*SF(23) + OP_l_1_c_1_r_*SPP(21) + OP_l_2_c_1_r_*SPP(13) + OP_l_3_c_1_r_*SPP(12)) + SPP(1)*(OP_l_5_c_3_r_ + OP_l_16_c_3_r_*SF(23) + OP_l_1_c_3_r_*SPP(21) + OP_l_2_c_3_r_*SPP(13) + OP_l_3_c_3_r_*SPP(12)) + SPP(11)*(OP_l_5_c_2_r_ + OP_l_16_c_2_r_*SF(23) + OP_l_1_c_2_r_*SPP(21) + OP_l_2_c_2_r_*SPP(13) + OP_l_3_c_2_r_*SPP(12)); +nextP(6,6) = OP_l_6_c_6_r_ + OP_l_16_c_6_r_*SF(21) - OP_l_1_c_6_r_*SPP(10) + OP_l_2_c_6_r_*SPP(11) + OP_l_3_c_6_r_*SPP(1) + SQ(5)*(SQ(8) + 2*q0*q1)^2 + SQ(7)*(SQ(9) - 2*q0*q2)^2 + SF(21)*(OP_l_6_c_16_r_ + OP_l_16_c_16_r_*SF(21) - OP_l_1_c_16_r_*SPP(10) + OP_l_2_c_16_r_*SPP(11) + OP_l_3_c_16_r_*SPP(1)) - SPP(10)*(OP_l_6_c_1_r_ + OP_l_16_c_1_r_*SF(21) - OP_l_1_c_1_r_*SPP(10) + OP_l_2_c_1_r_*SPP(11) + OP_l_3_c_1_r_*SPP(1)) + SPP(1)*(OP_l_6_c_3_r_ + OP_l_16_c_3_r_*SF(21) - OP_l_1_c_3_r_*SPP(10) + OP_l_2_c_3_r_*SPP(11) + OP_l_3_c_3_r_*SPP(1)) + SPP(11)*(OP_l_6_c_2_r_ + OP_l_16_c_2_r_*SF(21) - OP_l_1_c_2_r_*SPP(10) + OP_l_2_c_2_r_*SPP(11) + OP_l_3_c_2_r_*SPP(1)) + SQ(6)*(SG(2) - SG(3) - SG(4) + SG(5))^2; +nextP(1,7) = OP_l_1_c_7_r_*SPP(6) - OP_l_2_c_7_r_*SPP(5) + OP_l_3_c_7_r_*SPP(8) + OP_l_10_c_7_r_*SPP(23) + OP_l_13_c_7_r_*SPP(19) + dt*(OP_l_1_c_4_r_*SPP(6) - OP_l_2_c_4_r_*SPP(5) + OP_l_3_c_4_r_*SPP(8) + OP_l_10_c_4_r_*SPP(23) + OP_l_13_c_4_r_*SPP(19)); +nextP(2,7) = OP_l_2_c_7_r_*SPP(7) - OP_l_1_c_7_r_*SPP(3) - OP_l_3_c_7_r_*SPP(9) + OP_l_11_c_7_r_*SPP(23) + OP_l_14_c_7_r_*SPP(18) + dt*(OP_l_2_c_4_r_*SPP(7) - OP_l_1_c_4_r_*SPP(3) - OP_l_3_c_4_r_*SPP(9) + OP_l_11_c_4_r_*SPP(23) + OP_l_14_c_4_r_*SPP(18)); +nextP(3,7) = OP_l_1_c_7_r_*SPP(15) - OP_l_2_c_7_r_*SPP(4) + OP_l_3_c_7_r_*SPP(14) + OP_l_12_c_7_r_*SPP(23) + OP_l_15_c_7_r_*SPP(17) + dt*(OP_l_1_c_4_r_*SPP(15) - OP_l_2_c_4_r_*SPP(4) + OP_l_3_c_4_r_*SPP(14) + OP_l_12_c_4_r_*SPP(23) + OP_l_15_c_4_r_*SPP(17)); +nextP(4,7) = OP_l_4_c_7_r_ + OP_l_1_c_7_r_*SPP(2) + OP_l_2_c_7_r_*SPP(20) + OP_l_3_c_7_r_*SPP(16) - OP_l_16_c_7_r_*SPP(22) + dt*(OP_l_4_c_4_r_ + OP_l_1_c_4_r_*SPP(2) + OP_l_2_c_4_r_*SPP(20) + OP_l_3_c_4_r_*SPP(16) - OP_l_16_c_4_r_*SPP(22)); +nextP(5,7) = OP_l_5_c_7_r_ + OP_l_16_c_7_r_*SF(23) + OP_l_1_c_7_r_*SPP(21) + OP_l_2_c_7_r_*SPP(13) + OP_l_3_c_7_r_*SPP(12) + dt*(OP_l_5_c_4_r_ + OP_l_16_c_4_r_*SF(23) + OP_l_1_c_4_r_*SPP(21) + OP_l_2_c_4_r_*SPP(13) + OP_l_3_c_4_r_*SPP(12)); +nextP(6,7) = OP_l_6_c_7_r_ + OP_l_16_c_7_r_*SF(21) - OP_l_1_c_7_r_*SPP(10) + OP_l_2_c_7_r_*SPP(11) + OP_l_3_c_7_r_*SPP(1) + dt*(OP_l_6_c_4_r_ + OP_l_16_c_4_r_*SF(21) - OP_l_1_c_4_r_*SPP(10) + OP_l_2_c_4_r_*SPP(11) + OP_l_3_c_4_r_*SPP(1)); +nextP(7,7) = OP_l_7_c_7_r_ + OP_l_4_c_7_r_*dt + dt*(OP_l_7_c_4_r_ + OP_l_4_c_4_r_*dt); +nextP(1,8) = OP_l_1_c_8_r_*SPP(6) - OP_l_2_c_8_r_*SPP(5) + OP_l_3_c_8_r_*SPP(8) + OP_l_10_c_8_r_*SPP(23) + OP_l_13_c_8_r_*SPP(19) + dt*(OP_l_1_c_5_r_*SPP(6) - OP_l_2_c_5_r_*SPP(5) + OP_l_3_c_5_r_*SPP(8) + OP_l_10_c_5_r_*SPP(23) + OP_l_13_c_5_r_*SPP(19)); +nextP(2,8) = OP_l_2_c_8_r_*SPP(7) - OP_l_1_c_8_r_*SPP(3) - OP_l_3_c_8_r_*SPP(9) + OP_l_11_c_8_r_*SPP(23) + OP_l_14_c_8_r_*SPP(18) + dt*(OP_l_2_c_5_r_*SPP(7) - OP_l_1_c_5_r_*SPP(3) - OP_l_3_c_5_r_*SPP(9) + OP_l_11_c_5_r_*SPP(23) + OP_l_14_c_5_r_*SPP(18)); +nextP(3,8) = OP_l_1_c_8_r_*SPP(15) - OP_l_2_c_8_r_*SPP(4) + OP_l_3_c_8_r_*SPP(14) + OP_l_12_c_8_r_*SPP(23) + OP_l_15_c_8_r_*SPP(17) + dt*(OP_l_1_c_5_r_*SPP(15) - OP_l_2_c_5_r_*SPP(4) + OP_l_3_c_5_r_*SPP(14) + OP_l_12_c_5_r_*SPP(23) + OP_l_15_c_5_r_*SPP(17)); +nextP(4,8) = OP_l_4_c_8_r_ + OP_l_1_c_8_r_*SPP(2) + OP_l_2_c_8_r_*SPP(20) + OP_l_3_c_8_r_*SPP(16) - OP_l_16_c_8_r_*SPP(22) + dt*(OP_l_4_c_5_r_ + OP_l_1_c_5_r_*SPP(2) + OP_l_2_c_5_r_*SPP(20) + OP_l_3_c_5_r_*SPP(16) - OP_l_16_c_5_r_*SPP(22)); +nextP(5,8) = OP_l_5_c_8_r_ + OP_l_16_c_8_r_*SF(23) + OP_l_1_c_8_r_*SPP(21) + OP_l_2_c_8_r_*SPP(13) + OP_l_3_c_8_r_*SPP(12) + dt*(OP_l_5_c_5_r_ + OP_l_16_c_5_r_*SF(23) + OP_l_1_c_5_r_*SPP(21) + OP_l_2_c_5_r_*SPP(13) + OP_l_3_c_5_r_*SPP(12)); +nextP(6,8) = OP_l_6_c_8_r_ + OP_l_16_c_8_r_*SF(21) - OP_l_1_c_8_r_*SPP(10) + OP_l_2_c_8_r_*SPP(11) + OP_l_3_c_8_r_*SPP(1) + dt*(OP_l_6_c_5_r_ + OP_l_16_c_5_r_*SF(21) - OP_l_1_c_5_r_*SPP(10) + OP_l_2_c_5_r_*SPP(11) + OP_l_3_c_5_r_*SPP(1)); +nextP(7,8) = OP_l_7_c_8_r_ + OP_l_4_c_8_r_*dt + dt*(OP_l_7_c_5_r_ + OP_l_4_c_5_r_*dt); +nextP(8,8) = OP_l_8_c_8_r_ + OP_l_5_c_8_r_*dt + dt*(OP_l_8_c_5_r_ + OP_l_5_c_5_r_*dt); +nextP(1,9) = OP_l_1_c_9_r_*SPP(6) - OP_l_2_c_9_r_*SPP(5) + OP_l_3_c_9_r_*SPP(8) + OP_l_10_c_9_r_*SPP(23) + OP_l_13_c_9_r_*SPP(19) + dt*(OP_l_1_c_6_r_*SPP(6) - OP_l_2_c_6_r_*SPP(5) + OP_l_3_c_6_r_*SPP(8) + OP_l_10_c_6_r_*SPP(23) + OP_l_13_c_6_r_*SPP(19)); +nextP(2,9) = OP_l_2_c_9_r_*SPP(7) - OP_l_1_c_9_r_*SPP(3) - OP_l_3_c_9_r_*SPP(9) + OP_l_11_c_9_r_*SPP(23) + OP_l_14_c_9_r_*SPP(18) + dt*(OP_l_2_c_6_r_*SPP(7) - OP_l_1_c_6_r_*SPP(3) - OP_l_3_c_6_r_*SPP(9) + OP_l_11_c_6_r_*SPP(23) + OP_l_14_c_6_r_*SPP(18)); +nextP(3,9) = OP_l_1_c_9_r_*SPP(15) - OP_l_2_c_9_r_*SPP(4) + OP_l_3_c_9_r_*SPP(14) + OP_l_12_c_9_r_*SPP(23) + OP_l_15_c_9_r_*SPP(17) + dt*(OP_l_1_c_6_r_*SPP(15) - OP_l_2_c_6_r_*SPP(4) + OP_l_3_c_6_r_*SPP(14) + OP_l_12_c_6_r_*SPP(23) + OP_l_15_c_6_r_*SPP(17)); +nextP(4,9) = OP_l_4_c_9_r_ + OP_l_1_c_9_r_*SPP(2) + OP_l_2_c_9_r_*SPP(20) + OP_l_3_c_9_r_*SPP(16) - OP_l_16_c_9_r_*SPP(22) + dt*(OP_l_4_c_6_r_ + OP_l_1_c_6_r_*SPP(2) + OP_l_2_c_6_r_*SPP(20) + OP_l_3_c_6_r_*SPP(16) - OP_l_16_c_6_r_*SPP(22)); +nextP(5,9) = OP_l_5_c_9_r_ + OP_l_16_c_9_r_*SF(23) + OP_l_1_c_9_r_*SPP(21) + OP_l_2_c_9_r_*SPP(13) + OP_l_3_c_9_r_*SPP(12) + dt*(OP_l_5_c_6_r_ + OP_l_16_c_6_r_*SF(23) + OP_l_1_c_6_r_*SPP(21) + OP_l_2_c_6_r_*SPP(13) + OP_l_3_c_6_r_*SPP(12)); +nextP(6,9) = OP_l_6_c_9_r_ + OP_l_16_c_9_r_*SF(21) - OP_l_1_c_9_r_*SPP(10) + OP_l_2_c_9_r_*SPP(11) + OP_l_3_c_9_r_*SPP(1) + dt*(OP_l_6_c_6_r_ + OP_l_16_c_6_r_*SF(21) - OP_l_1_c_6_r_*SPP(10) + OP_l_2_c_6_r_*SPP(11) + OP_l_3_c_6_r_*SPP(1)); +nextP(7,9) = OP_l_7_c_9_r_ + OP_l_4_c_9_r_*dt + dt*(OP_l_7_c_6_r_ + OP_l_4_c_6_r_*dt); +nextP(8,9) = OP_l_8_c_9_r_ + OP_l_5_c_9_r_*dt + dt*(OP_l_8_c_6_r_ + OP_l_5_c_6_r_*dt); +nextP(9,9) = OP_l_9_c_9_r_ + OP_l_6_c_9_r_*dt + dt*(OP_l_9_c_6_r_ + OP_l_6_c_6_r_*dt); +nextP(1,10) = OP_l_1_c_10_r_*SPP(6) - OP_l_2_c_10_r_*SPP(5) + OP_l_3_c_10_r_*SPP(8) + OP_l_10_c_10_r_*SPP(23) + OP_l_13_c_10_r_*SPP(19); +nextP(2,10) = OP_l_2_c_10_r_*SPP(7) - OP_l_1_c_10_r_*SPP(3) - OP_l_3_c_10_r_*SPP(9) + OP_l_11_c_10_r_*SPP(23) + OP_l_14_c_10_r_*SPP(18); +nextP(3,10) = OP_l_1_c_10_r_*SPP(15) - OP_l_2_c_10_r_*SPP(4) + OP_l_3_c_10_r_*SPP(14) + OP_l_12_c_10_r_*SPP(23) + OP_l_15_c_10_r_*SPP(17); +nextP(4,10) = OP_l_4_c_10_r_ + OP_l_1_c_10_r_*SPP(2) + OP_l_2_c_10_r_*SPP(20) + OP_l_3_c_10_r_*SPP(16) - OP_l_16_c_10_r_*SPP(22); +nextP(5,10) = OP_l_5_c_10_r_ + OP_l_16_c_10_r_*SF(23) + OP_l_1_c_10_r_*SPP(21) + OP_l_2_c_10_r_*SPP(13) + OP_l_3_c_10_r_*SPP(12); +nextP(6,10) = OP_l_6_c_10_r_ + OP_l_16_c_10_r_*SF(21) - OP_l_1_c_10_r_*SPP(10) + OP_l_2_c_10_r_*SPP(11) + OP_l_3_c_10_r_*SPP(1); +nextP(7,10) = OP_l_7_c_10_r_ + OP_l_4_c_10_r_*dt; +nextP(8,10) = OP_l_8_c_10_r_ + OP_l_5_c_10_r_*dt; +nextP(9,10) = OP_l_9_c_10_r_ + OP_l_6_c_10_r_*dt; +nextP(10,10) = OP_l_10_c_10_r_; +nextP(1,11) = OP_l_1_c_11_r_*SPP(6) - OP_l_2_c_11_r_*SPP(5) + OP_l_3_c_11_r_*SPP(8) + OP_l_10_c_11_r_*SPP(23) + OP_l_13_c_11_r_*SPP(19); +nextP(2,11) = OP_l_2_c_11_r_*SPP(7) - OP_l_1_c_11_r_*SPP(3) - OP_l_3_c_11_r_*SPP(9) + OP_l_11_c_11_r_*SPP(23) + OP_l_14_c_11_r_*SPP(18); +nextP(3,11) = OP_l_1_c_11_r_*SPP(15) - OP_l_2_c_11_r_*SPP(4) + OP_l_3_c_11_r_*SPP(14) + OP_l_12_c_11_r_*SPP(23) + OP_l_15_c_11_r_*SPP(17); +nextP(4,11) = OP_l_4_c_11_r_ + OP_l_1_c_11_r_*SPP(2) + OP_l_2_c_11_r_*SPP(20) + OP_l_3_c_11_r_*SPP(16) - OP_l_16_c_11_r_*SPP(22); +nextP(5,11) = OP_l_5_c_11_r_ + OP_l_16_c_11_r_*SF(23) + OP_l_1_c_11_r_*SPP(21) + OP_l_2_c_11_r_*SPP(13) + OP_l_3_c_11_r_*SPP(12); +nextP(6,11) = OP_l_6_c_11_r_ + OP_l_16_c_11_r_*SF(21) - OP_l_1_c_11_r_*SPP(10) + OP_l_2_c_11_r_*SPP(11) + OP_l_3_c_11_r_*SPP(1); +nextP(7,11) = OP_l_7_c_11_r_ + OP_l_4_c_11_r_*dt; +nextP(8,11) = OP_l_8_c_11_r_ + OP_l_5_c_11_r_*dt; +nextP(9,11) = OP_l_9_c_11_r_ + OP_l_6_c_11_r_*dt; +nextP(10,11) = OP_l_10_c_11_r_; +nextP(11,11) = OP_l_11_c_11_r_; +nextP(1,12) = OP_l_1_c_12_r_*SPP(6) - OP_l_2_c_12_r_*SPP(5) + OP_l_3_c_12_r_*SPP(8) + OP_l_10_c_12_r_*SPP(23) + OP_l_13_c_12_r_*SPP(19); +nextP(2,12) = OP_l_2_c_12_r_*SPP(7) - OP_l_1_c_12_r_*SPP(3) - OP_l_3_c_12_r_*SPP(9) + OP_l_11_c_12_r_*SPP(23) + OP_l_14_c_12_r_*SPP(18); +nextP(3,12) = OP_l_1_c_12_r_*SPP(15) - OP_l_2_c_12_r_*SPP(4) + OP_l_3_c_12_r_*SPP(14) + OP_l_12_c_12_r_*SPP(23) + OP_l_15_c_12_r_*SPP(17); +nextP(4,12) = OP_l_4_c_12_r_ + OP_l_1_c_12_r_*SPP(2) + OP_l_2_c_12_r_*SPP(20) + OP_l_3_c_12_r_*SPP(16) - OP_l_16_c_12_r_*SPP(22); +nextP(5,12) = OP_l_5_c_12_r_ + OP_l_16_c_12_r_*SF(23) + OP_l_1_c_12_r_*SPP(21) + OP_l_2_c_12_r_*SPP(13) + OP_l_3_c_12_r_*SPP(12); +nextP(6,12) = OP_l_6_c_12_r_ + OP_l_16_c_12_r_*SF(21) - OP_l_1_c_12_r_*SPP(10) + OP_l_2_c_12_r_*SPP(11) + OP_l_3_c_12_r_*SPP(1); +nextP(7,12) = OP_l_7_c_12_r_ + OP_l_4_c_12_r_*dt; +nextP(8,12) = OP_l_8_c_12_r_ + OP_l_5_c_12_r_*dt; +nextP(9,12) = OP_l_9_c_12_r_ + OP_l_6_c_12_r_*dt; +nextP(10,12) = OP_l_10_c_12_r_; +nextP(11,12) = OP_l_11_c_12_r_; +nextP(12,12) = OP_l_12_c_12_r_; +nextP(1,13) = OP_l_1_c_13_r_*SPP(6) - OP_l_2_c_13_r_*SPP(5) + OP_l_3_c_13_r_*SPP(8) + OP_l_10_c_13_r_*SPP(23) + OP_l_13_c_13_r_*SPP(19); +nextP(2,13) = OP_l_2_c_13_r_*SPP(7) - OP_l_1_c_13_r_*SPP(3) - OP_l_3_c_13_r_*SPP(9) + OP_l_11_c_13_r_*SPP(23) + OP_l_14_c_13_r_*SPP(18); +nextP(3,13) = OP_l_1_c_13_r_*SPP(15) - OP_l_2_c_13_r_*SPP(4) + OP_l_3_c_13_r_*SPP(14) + OP_l_12_c_13_r_*SPP(23) + OP_l_15_c_13_r_*SPP(17); +nextP(4,13) = OP_l_4_c_13_r_ + OP_l_1_c_13_r_*SPP(2) + OP_l_2_c_13_r_*SPP(20) + OP_l_3_c_13_r_*SPP(16) - OP_l_16_c_13_r_*SPP(22); +nextP(5,13) = OP_l_5_c_13_r_ + OP_l_16_c_13_r_*SF(23) + OP_l_1_c_13_r_*SPP(21) + OP_l_2_c_13_r_*SPP(13) + OP_l_3_c_13_r_*SPP(12); +nextP(6,13) = OP_l_6_c_13_r_ + OP_l_16_c_13_r_*SF(21) - OP_l_1_c_13_r_*SPP(10) + OP_l_2_c_13_r_*SPP(11) + OP_l_3_c_13_r_*SPP(1); +nextP(7,13) = OP_l_7_c_13_r_ + OP_l_4_c_13_r_*dt; +nextP(8,13) = OP_l_8_c_13_r_ + OP_l_5_c_13_r_*dt; +nextP(9,13) = OP_l_9_c_13_r_ + OP_l_6_c_13_r_*dt; +nextP(10,13) = OP_l_10_c_13_r_; +nextP(11,13) = OP_l_11_c_13_r_; +nextP(12,13) = OP_l_12_c_13_r_; +nextP(13,13) = OP_l_13_c_13_r_; +nextP(1,14) = OP_l_1_c_14_r_*SPP(6) - OP_l_2_c_14_r_*SPP(5) + OP_l_3_c_14_r_*SPP(8) + OP_l_10_c_14_r_*SPP(23) + OP_l_13_c_14_r_*SPP(19); +nextP(2,14) = OP_l_2_c_14_r_*SPP(7) - OP_l_1_c_14_r_*SPP(3) - OP_l_3_c_14_r_*SPP(9) + OP_l_11_c_14_r_*SPP(23) + OP_l_14_c_14_r_*SPP(18); +nextP(3,14) = OP_l_1_c_14_r_*SPP(15) - OP_l_2_c_14_r_*SPP(4) + OP_l_3_c_14_r_*SPP(14) + OP_l_12_c_14_r_*SPP(23) + OP_l_15_c_14_r_*SPP(17); +nextP(4,14) = OP_l_4_c_14_r_ + OP_l_1_c_14_r_*SPP(2) + OP_l_2_c_14_r_*SPP(20) + OP_l_3_c_14_r_*SPP(16) - OP_l_16_c_14_r_*SPP(22); +nextP(5,14) = OP_l_5_c_14_r_ + OP_l_16_c_14_r_*SF(23) + OP_l_1_c_14_r_*SPP(21) + OP_l_2_c_14_r_*SPP(13) + OP_l_3_c_14_r_*SPP(12); +nextP(6,14) = OP_l_6_c_14_r_ + OP_l_16_c_14_r_*SF(21) - OP_l_1_c_14_r_*SPP(10) + OP_l_2_c_14_r_*SPP(11) + OP_l_3_c_14_r_*SPP(1); +nextP(7,14) = OP_l_7_c_14_r_ + OP_l_4_c_14_r_*dt; +nextP(8,14) = OP_l_8_c_14_r_ + OP_l_5_c_14_r_*dt; +nextP(9,14) = OP_l_9_c_14_r_ + OP_l_6_c_14_r_*dt; +nextP(10,14) = OP_l_10_c_14_r_; +nextP(11,14) = OP_l_11_c_14_r_; +nextP(12,14) = OP_l_12_c_14_r_; +nextP(13,14) = OP_l_13_c_14_r_; +nextP(14,14) = OP_l_14_c_14_r_; +nextP(1,15) = OP_l_1_c_15_r_*SPP(6) - OP_l_2_c_15_r_*SPP(5) + OP_l_3_c_15_r_*SPP(8) + OP_l_10_c_15_r_*SPP(23) + OP_l_13_c_15_r_*SPP(19); +nextP(2,15) = OP_l_2_c_15_r_*SPP(7) - OP_l_1_c_15_r_*SPP(3) - OP_l_3_c_15_r_*SPP(9) + OP_l_11_c_15_r_*SPP(23) + OP_l_14_c_15_r_*SPP(18); +nextP(3,15) = OP_l_1_c_15_r_*SPP(15) - OP_l_2_c_15_r_*SPP(4) + OP_l_3_c_15_r_*SPP(14) + OP_l_12_c_15_r_*SPP(23) + OP_l_15_c_15_r_*SPP(17); +nextP(4,15) = OP_l_4_c_15_r_ + OP_l_1_c_15_r_*SPP(2) + OP_l_2_c_15_r_*SPP(20) + OP_l_3_c_15_r_*SPP(16) - OP_l_16_c_15_r_*SPP(22); +nextP(5,15) = OP_l_5_c_15_r_ + OP_l_16_c_15_r_*SF(23) + OP_l_1_c_15_r_*SPP(21) + OP_l_2_c_15_r_*SPP(13) + OP_l_3_c_15_r_*SPP(12); +nextP(6,15) = OP_l_6_c_15_r_ + OP_l_16_c_15_r_*SF(21) - OP_l_1_c_15_r_*SPP(10) + OP_l_2_c_15_r_*SPP(11) + OP_l_3_c_15_r_*SPP(1); +nextP(7,15) = OP_l_7_c_15_r_ + OP_l_4_c_15_r_*dt; +nextP(8,15) = OP_l_8_c_15_r_ + OP_l_5_c_15_r_*dt; +nextP(9,15) = OP_l_9_c_15_r_ + OP_l_6_c_15_r_*dt; +nextP(10,15) = OP_l_10_c_15_r_; +nextP(11,15) = OP_l_11_c_15_r_; +nextP(12,15) = OP_l_12_c_15_r_; +nextP(13,15) = OP_l_13_c_15_r_; +nextP(14,15) = OP_l_14_c_15_r_; +nextP(15,15) = OP_l_15_c_15_r_; +nextP(1,16) = OP_l_1_c_16_r_*SPP(6) - OP_l_2_c_16_r_*SPP(5) + OP_l_3_c_16_r_*SPP(8) + OP_l_10_c_16_r_*SPP(23) + OP_l_13_c_16_r_*SPP(19); +nextP(2,16) = OP_l_2_c_16_r_*SPP(7) - OP_l_1_c_16_r_*SPP(3) - OP_l_3_c_16_r_*SPP(9) + OP_l_11_c_16_r_*SPP(23) + OP_l_14_c_16_r_*SPP(18); +nextP(3,16) = OP_l_1_c_16_r_*SPP(15) - OP_l_2_c_16_r_*SPP(4) + OP_l_3_c_16_r_*SPP(14) + OP_l_12_c_16_r_*SPP(23) + OP_l_15_c_16_r_*SPP(17); +nextP(4,16) = OP_l_4_c_16_r_ + OP_l_1_c_16_r_*SPP(2) + OP_l_2_c_16_r_*SPP(20) + OP_l_3_c_16_r_*SPP(16) - OP_l_16_c_16_r_*SPP(22); +nextP(5,16) = OP_l_5_c_16_r_ + OP_l_16_c_16_r_*SF(23) + OP_l_1_c_16_r_*SPP(21) + OP_l_2_c_16_r_*SPP(13) + OP_l_3_c_16_r_*SPP(12); +nextP(6,16) = OP_l_6_c_16_r_ + OP_l_16_c_16_r_*SF(21) - OP_l_1_c_16_r_*SPP(10) + OP_l_2_c_16_r_*SPP(11) + OP_l_3_c_16_r_*SPP(1); +nextP(7,16) = OP_l_7_c_16_r_ + OP_l_4_c_16_r_*dt; +nextP(8,16) = OP_l_8_c_16_r_ + OP_l_5_c_16_r_*dt; +nextP(9,16) = OP_l_9_c_16_r_ + OP_l_6_c_16_r_*dt; +nextP(10,16) = OP_l_10_c_16_r_; +nextP(11,16) = OP_l_11_c_16_r_; +nextP(12,16) = OP_l_12_c_16_r_; +nextP(13,16) = OP_l_13_c_16_r_; +nextP(14,16) = OP_l_14_c_16_r_; +nextP(15,16) = OP_l_15_c_16_r_; +nextP(16,16) = OP_l_16_c_16_r_; +nextP(1,17) = OP_l_1_c_17_r_*SPP(6) - OP_l_2_c_17_r_*SPP(5) + OP_l_3_c_17_r_*SPP(8) + OP_l_10_c_17_r_*SPP(23) + OP_l_13_c_17_r_*SPP(19); +nextP(2,17) = OP_l_2_c_17_r_*SPP(7) - OP_l_1_c_17_r_*SPP(3) - OP_l_3_c_17_r_*SPP(9) + OP_l_11_c_17_r_*SPP(23) + OP_l_14_c_17_r_*SPP(18); +nextP(3,17) = OP_l_1_c_17_r_*SPP(15) - OP_l_2_c_17_r_*SPP(4) + OP_l_3_c_17_r_*SPP(14) + OP_l_12_c_17_r_*SPP(23) + OP_l_15_c_17_r_*SPP(17); +nextP(4,17) = OP_l_4_c_17_r_ + OP_l_1_c_17_r_*SPP(2) + OP_l_2_c_17_r_*SPP(20) + OP_l_3_c_17_r_*SPP(16) - OP_l_16_c_17_r_*SPP(22); +nextP(5,17) = OP_l_5_c_17_r_ + OP_l_16_c_17_r_*SF(23) + OP_l_1_c_17_r_*SPP(21) + OP_l_2_c_17_r_*SPP(13) + OP_l_3_c_17_r_*SPP(12); +nextP(6,17) = OP_l_6_c_17_r_ + OP_l_16_c_17_r_*SF(21) - OP_l_1_c_17_r_*SPP(10) + OP_l_2_c_17_r_*SPP(11) + OP_l_3_c_17_r_*SPP(1); +nextP(7,17) = OP_l_7_c_17_r_ + OP_l_4_c_17_r_*dt; +nextP(8,17) = OP_l_8_c_17_r_ + OP_l_5_c_17_r_*dt; +nextP(9,17) = OP_l_9_c_17_r_ + OP_l_6_c_17_r_*dt; +nextP(10,17) = OP_l_10_c_17_r_; +nextP(11,17) = OP_l_11_c_17_r_; +nextP(12,17) = OP_l_12_c_17_r_; +nextP(13,17) = OP_l_13_c_17_r_; +nextP(14,17) = OP_l_14_c_17_r_; +nextP(15,17) = OP_l_15_c_17_r_; +nextP(16,17) = OP_l_16_c_17_r_; +nextP(17,17) = OP_l_17_c_17_r_; +nextP(1,18) = OP_l_1_c_18_r_*SPP(6) - OP_l_2_c_18_r_*SPP(5) + OP_l_3_c_18_r_*SPP(8) + OP_l_10_c_18_r_*SPP(23) + OP_l_13_c_18_r_*SPP(19); +nextP(2,18) = OP_l_2_c_18_r_*SPP(7) - OP_l_1_c_18_r_*SPP(3) - OP_l_3_c_18_r_*SPP(9) + OP_l_11_c_18_r_*SPP(23) + OP_l_14_c_18_r_*SPP(18); +nextP(3,18) = OP_l_1_c_18_r_*SPP(15) - OP_l_2_c_18_r_*SPP(4) + OP_l_3_c_18_r_*SPP(14) + OP_l_12_c_18_r_*SPP(23) + OP_l_15_c_18_r_*SPP(17); +nextP(4,18) = OP_l_4_c_18_r_ + OP_l_1_c_18_r_*SPP(2) + OP_l_2_c_18_r_*SPP(20) + OP_l_3_c_18_r_*SPP(16) - OP_l_16_c_18_r_*SPP(22); +nextP(5,18) = OP_l_5_c_18_r_ + OP_l_16_c_18_r_*SF(23) + OP_l_1_c_18_r_*SPP(21) + OP_l_2_c_18_r_*SPP(13) + OP_l_3_c_18_r_*SPP(12); +nextP(6,18) = OP_l_6_c_18_r_ + OP_l_16_c_18_r_*SF(21) - OP_l_1_c_18_r_*SPP(10) + OP_l_2_c_18_r_*SPP(11) + OP_l_3_c_18_r_*SPP(1); +nextP(7,18) = OP_l_7_c_18_r_ + OP_l_4_c_18_r_*dt; +nextP(8,18) = OP_l_8_c_18_r_ + OP_l_5_c_18_r_*dt; +nextP(9,18) = OP_l_9_c_18_r_ + OP_l_6_c_18_r_*dt; +nextP(10,18) = OP_l_10_c_18_r_; +nextP(11,18) = OP_l_11_c_18_r_; +nextP(12,18) = OP_l_12_c_18_r_; +nextP(13,18) = OP_l_13_c_18_r_; +nextP(14,18) = OP_l_14_c_18_r_; +nextP(15,18) = OP_l_15_c_18_r_; +nextP(16,18) = OP_l_16_c_18_r_; +nextP(17,18) = OP_l_17_c_18_r_; +nextP(18,18) = OP_l_18_c_18_r_; +nextP(1,19) = OP_l_1_c_19_r_*SPP(6) - OP_l_2_c_19_r_*SPP(5) + OP_l_3_c_19_r_*SPP(8) + OP_l_10_c_19_r_*SPP(23) + OP_l_13_c_19_r_*SPP(19); +nextP(2,19) = OP_l_2_c_19_r_*SPP(7) - OP_l_1_c_19_r_*SPP(3) - OP_l_3_c_19_r_*SPP(9) + OP_l_11_c_19_r_*SPP(23) + OP_l_14_c_19_r_*SPP(18); +nextP(3,19) = OP_l_1_c_19_r_*SPP(15) - OP_l_2_c_19_r_*SPP(4) + OP_l_3_c_19_r_*SPP(14) + OP_l_12_c_19_r_*SPP(23) + OP_l_15_c_19_r_*SPP(17); +nextP(4,19) = OP_l_4_c_19_r_ + OP_l_1_c_19_r_*SPP(2) + OP_l_2_c_19_r_*SPP(20) + OP_l_3_c_19_r_*SPP(16) - OP_l_16_c_19_r_*SPP(22); +nextP(5,19) = OP_l_5_c_19_r_ + OP_l_16_c_19_r_*SF(23) + OP_l_1_c_19_r_*SPP(21) + OP_l_2_c_19_r_*SPP(13) + OP_l_3_c_19_r_*SPP(12); +nextP(6,19) = OP_l_6_c_19_r_ + OP_l_16_c_19_r_*SF(21) - OP_l_1_c_19_r_*SPP(10) + OP_l_2_c_19_r_*SPP(11) + OP_l_3_c_19_r_*SPP(1); +nextP(7,19) = OP_l_7_c_19_r_ + OP_l_4_c_19_r_*dt; +nextP(8,19) = OP_l_8_c_19_r_ + OP_l_5_c_19_r_*dt; +nextP(9,19) = OP_l_9_c_19_r_ + OP_l_6_c_19_r_*dt; +nextP(10,19) = OP_l_10_c_19_r_; +nextP(11,19) = OP_l_11_c_19_r_; +nextP(12,19) = OP_l_12_c_19_r_; +nextP(13,19) = OP_l_13_c_19_r_; +nextP(14,19) = OP_l_14_c_19_r_; +nextP(15,19) = OP_l_15_c_19_r_; +nextP(16,19) = OP_l_16_c_19_r_; +nextP(17,19) = OP_l_17_c_19_r_; +nextP(18,19) = OP_l_18_c_19_r_; +nextP(19,19) = OP_l_19_c_19_r_; +nextP(1,20) = OP_l_1_c_20_r_*SPP(6) - OP_l_2_c_20_r_*SPP(5) + OP_l_3_c_20_r_*SPP(8) + OP_l_10_c_20_r_*SPP(23) + OP_l_13_c_20_r_*SPP(19); +nextP(2,20) = OP_l_2_c_20_r_*SPP(7) - OP_l_1_c_20_r_*SPP(3) - OP_l_3_c_20_r_*SPP(9) + OP_l_11_c_20_r_*SPP(23) + OP_l_14_c_20_r_*SPP(18); +nextP(3,20) = OP_l_1_c_20_r_*SPP(15) - OP_l_2_c_20_r_*SPP(4) + OP_l_3_c_20_r_*SPP(14) + OP_l_12_c_20_r_*SPP(23) + OP_l_15_c_20_r_*SPP(17); +nextP(4,20) = OP_l_4_c_20_r_ + OP_l_1_c_20_r_*SPP(2) + OP_l_2_c_20_r_*SPP(20) + OP_l_3_c_20_r_*SPP(16) - OP_l_16_c_20_r_*SPP(22); +nextP(5,20) = OP_l_5_c_20_r_ + OP_l_16_c_20_r_*SF(23) + OP_l_1_c_20_r_*SPP(21) + OP_l_2_c_20_r_*SPP(13) + OP_l_3_c_20_r_*SPP(12); +nextP(6,20) = OP_l_6_c_20_r_ + OP_l_16_c_20_r_*SF(21) - OP_l_1_c_20_r_*SPP(10) + OP_l_2_c_20_r_*SPP(11) + OP_l_3_c_20_r_*SPP(1); +nextP(7,20) = OP_l_7_c_20_r_ + OP_l_4_c_20_r_*dt; +nextP(8,20) = OP_l_8_c_20_r_ + OP_l_5_c_20_r_*dt; +nextP(9,20) = OP_l_9_c_20_r_ + OP_l_6_c_20_r_*dt; +nextP(10,20) = OP_l_10_c_20_r_; +nextP(11,20) = OP_l_11_c_20_r_; +nextP(12,20) = OP_l_12_c_20_r_; +nextP(13,20) = OP_l_13_c_20_r_; +nextP(14,20) = OP_l_14_c_20_r_; +nextP(15,20) = OP_l_15_c_20_r_; +nextP(16,20) = OP_l_16_c_20_r_; +nextP(17,20) = OP_l_17_c_20_r_; +nextP(18,20) = OP_l_18_c_20_r_; +nextP(19,20) = OP_l_19_c_20_r_; +nextP(20,20) = OP_l_20_c_20_r_; +nextP(1,21) = OP_l_1_c_21_r_*SPP(6) - OP_l_2_c_21_r_*SPP(5) + OP_l_3_c_21_r_*SPP(8) + OP_l_10_c_21_r_*SPP(23) + OP_l_13_c_21_r_*SPP(19); +nextP(2,21) = OP_l_2_c_21_r_*SPP(7) - OP_l_1_c_21_r_*SPP(3) - OP_l_3_c_21_r_*SPP(9) + OP_l_11_c_21_r_*SPP(23) + OP_l_14_c_21_r_*SPP(18); +nextP(3,21) = OP_l_1_c_21_r_*SPP(15) - OP_l_2_c_21_r_*SPP(4) + OP_l_3_c_21_r_*SPP(14) + OP_l_12_c_21_r_*SPP(23) + OP_l_15_c_21_r_*SPP(17); +nextP(4,21) = OP_l_4_c_21_r_ + OP_l_1_c_21_r_*SPP(2) + OP_l_2_c_21_r_*SPP(20) + OP_l_3_c_21_r_*SPP(16) - OP_l_16_c_21_r_*SPP(22); +nextP(5,21) = OP_l_5_c_21_r_ + OP_l_16_c_21_r_*SF(23) + OP_l_1_c_21_r_*SPP(21) + OP_l_2_c_21_r_*SPP(13) + OP_l_3_c_21_r_*SPP(12); +nextP(6,21) = OP_l_6_c_21_r_ + OP_l_16_c_21_r_*SF(21) - OP_l_1_c_21_r_*SPP(10) + OP_l_2_c_21_r_*SPP(11) + OP_l_3_c_21_r_*SPP(1); +nextP(7,21) = OP_l_7_c_21_r_ + OP_l_4_c_21_r_*dt; +nextP(8,21) = OP_l_8_c_21_r_ + OP_l_5_c_21_r_*dt; +nextP(9,21) = OP_l_9_c_21_r_ + OP_l_6_c_21_r_*dt; +nextP(10,21) = OP_l_10_c_21_r_; +nextP(11,21) = OP_l_11_c_21_r_; +nextP(12,21) = OP_l_12_c_21_r_; +nextP(13,21) = OP_l_13_c_21_r_; +nextP(14,21) = OP_l_14_c_21_r_; +nextP(15,21) = OP_l_15_c_21_r_; +nextP(16,21) = OP_l_16_c_21_r_; +nextP(17,21) = OP_l_17_c_21_r_; +nextP(18,21) = OP_l_18_c_21_r_; +nextP(19,21) = OP_l_19_c_21_r_; +nextP(20,21) = OP_l_20_c_21_r_; +nextP(21,21) = OP_l_21_c_21_r_; +nextP(1,22) = OP_l_1_c_22_r_*SPP(6) - OP_l_2_c_22_r_*SPP(5) + OP_l_3_c_22_r_*SPP(8) + OP_l_10_c_22_r_*SPP(23) + OP_l_13_c_22_r_*SPP(19); +nextP(2,22) = OP_l_2_c_22_r_*SPP(7) - OP_l_1_c_22_r_*SPP(3) - OP_l_3_c_22_r_*SPP(9) + OP_l_11_c_22_r_*SPP(23) + OP_l_14_c_22_r_*SPP(18); +nextP(3,22) = OP_l_1_c_22_r_*SPP(15) - OP_l_2_c_22_r_*SPP(4) + OP_l_3_c_22_r_*SPP(14) + OP_l_12_c_22_r_*SPP(23) + OP_l_15_c_22_r_*SPP(17); +nextP(4,22) = OP_l_4_c_22_r_ + OP_l_1_c_22_r_*SPP(2) + OP_l_2_c_22_r_*SPP(20) + OP_l_3_c_22_r_*SPP(16) - OP_l_16_c_22_r_*SPP(22); +nextP(5,22) = OP_l_5_c_22_r_ + OP_l_16_c_22_r_*SF(23) + OP_l_1_c_22_r_*SPP(21) + OP_l_2_c_22_r_*SPP(13) + OP_l_3_c_22_r_*SPP(12); +nextP(6,22) = OP_l_6_c_22_r_ + OP_l_16_c_22_r_*SF(21) - OP_l_1_c_22_r_*SPP(10) + OP_l_2_c_22_r_*SPP(11) + OP_l_3_c_22_r_*SPP(1); +nextP(7,22) = OP_l_7_c_22_r_ + OP_l_4_c_22_r_*dt; +nextP(8,22) = OP_l_8_c_22_r_ + OP_l_5_c_22_r_*dt; +nextP(9,22) = OP_l_9_c_22_r_ + OP_l_6_c_22_r_*dt; +nextP(10,22) = OP_l_10_c_22_r_; +nextP(11,22) = OP_l_11_c_22_r_; +nextP(12,22) = OP_l_12_c_22_r_; +nextP(13,22) = OP_l_13_c_22_r_; +nextP(14,22) = OP_l_14_c_22_r_; +nextP(15,22) = OP_l_15_c_22_r_; +nextP(16,22) = OP_l_16_c_22_r_; +nextP(17,22) = OP_l_17_c_22_r_; +nextP(18,22) = OP_l_18_c_22_r_; +nextP(19,22) = OP_l_19_c_22_r_; +nextP(20,22) = OP_l_20_c_22_r_; +nextP(21,22) = OP_l_21_c_22_r_; +nextP(22,22) = OP_l_22_c_22_r_; +nextP(1,23) = OP_l_1_c_23_r_*SPP(6) - OP_l_2_c_23_r_*SPP(5) + OP_l_3_c_23_r_*SPP(8) + OP_l_10_c_23_r_*SPP(23) + OP_l_13_c_23_r_*SPP(19); +nextP(2,23) = OP_l_2_c_23_r_*SPP(7) - OP_l_1_c_23_r_*SPP(3) - OP_l_3_c_23_r_*SPP(9) + OP_l_11_c_23_r_*SPP(23) + OP_l_14_c_23_r_*SPP(18); +nextP(3,23) = OP_l_1_c_23_r_*SPP(15) - OP_l_2_c_23_r_*SPP(4) + OP_l_3_c_23_r_*SPP(14) + OP_l_12_c_23_r_*SPP(23) + OP_l_15_c_23_r_*SPP(17); +nextP(4,23) = OP_l_4_c_23_r_ + OP_l_1_c_23_r_*SPP(2) + OP_l_2_c_23_r_*SPP(20) + OP_l_3_c_23_r_*SPP(16) - OP_l_16_c_23_r_*SPP(22); +nextP(5,23) = OP_l_5_c_23_r_ + OP_l_16_c_23_r_*SF(23) + OP_l_1_c_23_r_*SPP(21) + OP_l_2_c_23_r_*SPP(13) + OP_l_3_c_23_r_*SPP(12); +nextP(6,23) = OP_l_6_c_23_r_ + OP_l_16_c_23_r_*SF(21) - OP_l_1_c_23_r_*SPP(10) + OP_l_2_c_23_r_*SPP(11) + OP_l_3_c_23_r_*SPP(1); +nextP(7,23) = OP_l_7_c_23_r_ + OP_l_4_c_23_r_*dt; +nextP(8,23) = OP_l_8_c_23_r_ + OP_l_5_c_23_r_*dt; +nextP(9,23) = OP_l_9_c_23_r_ + OP_l_6_c_23_r_*dt; +nextP(10,23) = OP_l_10_c_23_r_; +nextP(11,23) = OP_l_11_c_23_r_; +nextP(12,23) = OP_l_12_c_23_r_; +nextP(13,23) = OP_l_13_c_23_r_; +nextP(14,23) = OP_l_14_c_23_r_; +nextP(15,23) = OP_l_15_c_23_r_; +nextP(16,23) = OP_l_16_c_23_r_; +nextP(17,23) = OP_l_17_c_23_r_; +nextP(18,23) = OP_l_18_c_23_r_; +nextP(19,23) = OP_l_19_c_23_r_; +nextP(20,23) = OP_l_20_c_23_r_; +nextP(21,23) = OP_l_21_c_23_r_; +nextP(22,23) = OP_l_22_c_23_r_; +nextP(23,23) = OP_l_23_c_23_r_; +nextP(1,24) = OP_l_1_c_24_r_*SPP(6) - OP_l_2_c_24_r_*SPP(5) + OP_l_3_c_24_r_*SPP(8) + OP_l_10_c_24_r_*SPP(23) + OP_l_13_c_24_r_*SPP(19); +nextP(2,24) = OP_l_2_c_24_r_*SPP(7) - OP_l_1_c_24_r_*SPP(3) - OP_l_3_c_24_r_*SPP(9) + OP_l_11_c_24_r_*SPP(23) + OP_l_14_c_24_r_*SPP(18); +nextP(3,24) = OP_l_1_c_24_r_*SPP(15) - OP_l_2_c_24_r_*SPP(4) + OP_l_3_c_24_r_*SPP(14) + OP_l_12_c_24_r_*SPP(23) + OP_l_15_c_24_r_*SPP(17); +nextP(4,24) = OP_l_4_c_24_r_ + OP_l_1_c_24_r_*SPP(2) + OP_l_2_c_24_r_*SPP(20) + OP_l_3_c_24_r_*SPP(16) - OP_l_16_c_24_r_*SPP(22); +nextP(5,24) = OP_l_5_c_24_r_ + OP_l_16_c_24_r_*SF(23) + OP_l_1_c_24_r_*SPP(21) + OP_l_2_c_24_r_*SPP(13) + OP_l_3_c_24_r_*SPP(12); +nextP(6,24) = OP_l_6_c_24_r_ + OP_l_16_c_24_r_*SF(21) - OP_l_1_c_24_r_*SPP(10) + OP_l_2_c_24_r_*SPP(11) + OP_l_3_c_24_r_*SPP(1); +nextP(7,24) = OP_l_7_c_24_r_ + OP_l_4_c_24_r_*dt; +nextP(8,24) = OP_l_8_c_24_r_ + OP_l_5_c_24_r_*dt; +nextP(9,24) = OP_l_9_c_24_r_ + OP_l_6_c_24_r_*dt; +nextP(10,24) = OP_l_10_c_24_r_; +nextP(11,24) = OP_l_11_c_24_r_; +nextP(12,24) = OP_l_12_c_24_r_; +nextP(13,24) = OP_l_13_c_24_r_; +nextP(14,24) = OP_l_14_c_24_r_; +nextP(15,24) = OP_l_15_c_24_r_; +nextP(16,24) = OP_l_16_c_24_r_; +nextP(17,24) = OP_l_17_c_24_r_; +nextP(18,24) = OP_l_18_c_24_r_; +nextP(19,24) = OP_l_19_c_24_r_; +nextP(20,24) = OP_l_20_c_24_r_; +nextP(21,24) = OP_l_21_c_24_r_; +nextP(22,24) = OP_l_22_c_24_r_; +nextP(23,24) = OP_l_23_c_24_r_; +nextP(24,24) = OP_l_24_c_24_r_; + + +SH_TAS = zeros(3,1); +SH_TAS(1) = 1/((ve - vwe)^2 + (vn - vwn)^2 + vd^2)^(1/2); +SH_TAS(2) = (SH_TAS(1)*(2*ve - 2*vwe))/2; +SH_TAS(3) = (SH_TAS(1)*(2*vn - 2*vwn))/2; + +H_TAS = zeros(1,24); +H_TAS(1,4) = SH_TAS(3); +H_TAS(1,5) = SH_TAS(2); +H_TAS(1,6) = vd*SH_TAS(1); +H_TAS(1,23) = -SH_TAS(3); +H_TAS(1,24) = -SH_TAS(2); + + +SK_TAS = zeros(2,1); +SK_TAS(1) = 1/(R_TAS + SH_TAS(3)*(OP_l_4_c_4_r_*SH_TAS(3) + OP_l_5_c_4_r_*SH_TAS(2) - OP_l_23_c_4_r_*SH_TAS(3) - OP_l_24_c_4_r_*SH_TAS(2) + OP_l_6_c_4_r_*vd*SH_TAS(1)) + SH_TAS(2)*(OP_l_4_c_5_r_*SH_TAS(3) + OP_l_5_c_5_r_*SH_TAS(2) - OP_l_23_c_5_r_*SH_TAS(3) - OP_l_24_c_5_r_*SH_TAS(2) + OP_l_6_c_5_r_*vd*SH_TAS(1)) - SH_TAS(3)*(OP_l_4_c_23_r_*SH_TAS(3) + OP_l_5_c_23_r_*SH_TAS(2) - OP_l_23_c_23_r_*SH_TAS(3) - OP_l_24_c_23_r_*SH_TAS(2) + OP_l_6_c_23_r_*vd*SH_TAS(1)) - SH_TAS(2)*(OP_l_4_c_24_r_*SH_TAS(3) + OP_l_5_c_24_r_*SH_TAS(2) - OP_l_23_c_24_r_*SH_TAS(3) - OP_l_24_c_24_r_*SH_TAS(2) + OP_l_6_c_24_r_*vd*SH_TAS(1)) + vd*SH_TAS(1)*(OP_l_4_c_6_r_*SH_TAS(3) + OP_l_5_c_6_r_*SH_TAS(2) - OP_l_23_c_6_r_*SH_TAS(3) - OP_l_24_c_6_r_*SH_TAS(2) + OP_l_6_c_6_r_*vd*SH_TAS(1))); +SK_TAS(2) = SH_TAS(2); + + +Kfusion = zeros(24,1); +Kfusion = zeros(1,1); +Kfusion(1) = SK_TAS(1)*(OP_l_1_c_4_r_*SH_TAS(3) - OP_l_1_c_23_r_*SH_TAS(3) + OP_l_1_c_5_r_*SK_TAS(2) - OP_l_1_c_24_r_*SK_TAS(2) + OP_l_1_c_6_r_*vd*SH_TAS(1)); +Kfusion(2) = SK_TAS(1)*(OP_l_2_c_4_r_*SH_TAS(3) - OP_l_2_c_23_r_*SH_TAS(3) + OP_l_2_c_5_r_*SK_TAS(2) - OP_l_2_c_24_r_*SK_TAS(2) + OP_l_2_c_6_r_*vd*SH_TAS(1)); +Kfusion(3) = SK_TAS(1)*(OP_l_3_c_4_r_*SH_TAS(3) - OP_l_3_c_23_r_*SH_TAS(3) + OP_l_3_c_5_r_*SK_TAS(2) - OP_l_3_c_24_r_*SK_TAS(2) + OP_l_3_c_6_r_*vd*SH_TAS(1)); +Kfusion(4) = SK_TAS(1)*(OP_l_4_c_4_r_*SH_TAS(3) - OP_l_4_c_23_r_*SH_TAS(3) + OP_l_4_c_5_r_*SK_TAS(2) - OP_l_4_c_24_r_*SK_TAS(2) + OP_l_4_c_6_r_*vd*SH_TAS(1)); +Kfusion(5) = SK_TAS(1)*(OP_l_5_c_4_r_*SH_TAS(3) - OP_l_5_c_23_r_*SH_TAS(3) + OP_l_5_c_5_r_*SK_TAS(2) - OP_l_5_c_24_r_*SK_TAS(2) + OP_l_5_c_6_r_*vd*SH_TAS(1)); +Kfusion(6) = SK_TAS(1)*(OP_l_6_c_4_r_*SH_TAS(3) - OP_l_6_c_23_r_*SH_TAS(3) + OP_l_6_c_5_r_*SK_TAS(2) - OP_l_6_c_24_r_*SK_TAS(2) + OP_l_6_c_6_r_*vd*SH_TAS(1)); +Kfusion(7) = SK_TAS(1)*(OP_l_7_c_4_r_*SH_TAS(3) - OP_l_7_c_23_r_*SH_TAS(3) + OP_l_7_c_5_r_*SK_TAS(2) - OP_l_7_c_24_r_*SK_TAS(2) + OP_l_7_c_6_r_*vd*SH_TAS(1)); +Kfusion(8) = SK_TAS(1)*(OP_l_8_c_4_r_*SH_TAS(3) - OP_l_8_c_23_r_*SH_TAS(3) + OP_l_8_c_5_r_*SK_TAS(2) - OP_l_8_c_24_r_*SK_TAS(2) + OP_l_8_c_6_r_*vd*SH_TAS(1)); +Kfusion(9) = SK_TAS(1)*(OP_l_9_c_4_r_*SH_TAS(3) - OP_l_9_c_23_r_*SH_TAS(3) + OP_l_9_c_5_r_*SK_TAS(2) - OP_l_9_c_24_r_*SK_TAS(2) + OP_l_9_c_6_r_*vd*SH_TAS(1)); +Kfusion(10) = SK_TAS(1)*(OP_l_10_c_4_r_*SH_TAS(3) - OP_l_10_c_23_r_*SH_TAS(3) + OP_l_10_c_5_r_*SK_TAS(2) - OP_l_10_c_24_r_*SK_TAS(2) + OP_l_10_c_6_r_*vd*SH_TAS(1)); +Kfusion(11) = SK_TAS(1)*(OP_l_11_c_4_r_*SH_TAS(3) - OP_l_11_c_23_r_*SH_TAS(3) + OP_l_11_c_5_r_*SK_TAS(2) - OP_l_11_c_24_r_*SK_TAS(2) + OP_l_11_c_6_r_*vd*SH_TAS(1)); +Kfusion(12) = SK_TAS(1)*(OP_l_12_c_4_r_*SH_TAS(3) - OP_l_12_c_23_r_*SH_TAS(3) + OP_l_12_c_5_r_*SK_TAS(2) - OP_l_12_c_24_r_*SK_TAS(2) + OP_l_12_c_6_r_*vd*SH_TAS(1)); +Kfusion(13) = SK_TAS(1)*(OP_l_13_c_4_r_*SH_TAS(3) - OP_l_13_c_23_r_*SH_TAS(3) + OP_l_13_c_5_r_*SK_TAS(2) - OP_l_13_c_24_r_*SK_TAS(2) + OP_l_13_c_6_r_*vd*SH_TAS(1)); +Kfusion(14) = SK_TAS(1)*(OP_l_14_c_4_r_*SH_TAS(3) - OP_l_14_c_23_r_*SH_TAS(3) + OP_l_14_c_5_r_*SK_TAS(2) - OP_l_14_c_24_r_*SK_TAS(2) + OP_l_14_c_6_r_*vd*SH_TAS(1)); +Kfusion(15) = SK_TAS(1)*(OP_l_15_c_4_r_*SH_TAS(3) - OP_l_15_c_23_r_*SH_TAS(3) + OP_l_15_c_5_r_*SK_TAS(2) - OP_l_15_c_24_r_*SK_TAS(2) + OP_l_15_c_6_r_*vd*SH_TAS(1)); +Kfusion(16) = SK_TAS(1)*(OP_l_16_c_4_r_*SH_TAS(3) - OP_l_16_c_23_r_*SH_TAS(3) + OP_l_16_c_5_r_*SK_TAS(2) - OP_l_16_c_24_r_*SK_TAS(2) + OP_l_16_c_6_r_*vd*SH_TAS(1)); +Kfusion(17) = SK_TAS(1)*(OP_l_17_c_4_r_*SH_TAS(3) - OP_l_17_c_23_r_*SH_TAS(3) + OP_l_17_c_5_r_*SK_TAS(2) - OP_l_17_c_24_r_*SK_TAS(2) + OP_l_17_c_6_r_*vd*SH_TAS(1)); +Kfusion(18) = SK_TAS(1)*(OP_l_18_c_4_r_*SH_TAS(3) - OP_l_18_c_23_r_*SH_TAS(3) + OP_l_18_c_5_r_*SK_TAS(2) - OP_l_18_c_24_r_*SK_TAS(2) + OP_l_18_c_6_r_*vd*SH_TAS(1)); +Kfusion(19) = SK_TAS(1)*(OP_l_19_c_4_r_*SH_TAS(3) - OP_l_19_c_23_r_*SH_TAS(3) + OP_l_19_c_5_r_*SK_TAS(2) - OP_l_19_c_24_r_*SK_TAS(2) + OP_l_19_c_6_r_*vd*SH_TAS(1)); +Kfusion(20) = SK_TAS(1)*(OP_l_20_c_4_r_*SH_TAS(3) - OP_l_20_c_23_r_*SH_TAS(3) + OP_l_20_c_5_r_*SK_TAS(2) - OP_l_20_c_24_r_*SK_TAS(2) + OP_l_20_c_6_r_*vd*SH_TAS(1)); +Kfusion(21) = SK_TAS(1)*(OP_l_21_c_4_r_*SH_TAS(3) - OP_l_21_c_23_r_*SH_TAS(3) + OP_l_21_c_5_r_*SK_TAS(2) - OP_l_21_c_24_r_*SK_TAS(2) + OP_l_21_c_6_r_*vd*SH_TAS(1)); +Kfusion(22) = SK_TAS(1)*(OP_l_22_c_4_r_*SH_TAS(3) - OP_l_22_c_23_r_*SH_TAS(3) + OP_l_22_c_5_r_*SK_TAS(2) - OP_l_22_c_24_r_*SK_TAS(2) + OP_l_22_c_6_r_*vd*SH_TAS(1)); +Kfusion(23) = SK_TAS(1)*(OP_l_23_c_4_r_*SH_TAS(3) - OP_l_23_c_23_r_*SH_TAS(3) + OP_l_23_c_5_r_*SK_TAS(2) - OP_l_23_c_24_r_*SK_TAS(2) + OP_l_23_c_6_r_*vd*SH_TAS(1)); +Kfusion(24) = SK_TAS(1)*(OP_l_24_c_4_r_*SH_TAS(3) - OP_l_24_c_23_r_*SH_TAS(3) + OP_l_24_c_5_r_*SK_TAS(2) - OP_l_24_c_24_r_*SK_TAS(2) + OP_l_24_c_6_r_*vd*SH_TAS(1)); + + +SH_BETA = zeros(10,1); +SH_BETA(1) = (2*conj(q0)*conj(q3) + 2*conj(q1)*conj(q2))*(ve - vwe) - vd*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3)) + (vn - vwn)*(conj(q0)^2 + conj(q1)^2 - conj(q2)^2 - conj(q3)^2); +SH_BETA(2) = vd*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) - (2*conj(q0)*conj(q3) - 2*conj(q1)*conj(q2))*(vn - vwn) + (ve - vwe)*(conj(q0)^2 - conj(q1)^2 + conj(q2)^2 - conj(q3)^2); +SH_BETA(3) = (2*conj(q0)*conj(q2) + 2*conj(q1)*conj(q3))*(vn - vwn) - (2*conj(q0)*conj(q1) - 2*conj(q2)*conj(q3))*(ve - vwe) + vd*(conj(q0)^2 - conj(q1)^2 - conj(q2)^2 + conj(q3)^2); +SH_BETA(4) = (conj(q0)^2 - conj(q1)^2 + conj(q2)^2 - conj(q3)^2)/SH_BETA(1); +SH_BETA(5) = 1/SH_BETA(1)^2; +SH_BETA(6) = conj(q0)^2 + conj(q1)^2 - conj(q2)^2 - conj(q3)^2; +SH_BETA(7) = 2*conj(q0)*conj(q3); +SH_BETA(8) = 1/SH_BETA(1); +SH_BETA(9) = SH_BETA(7) + 2*conj(q1)*conj(q2); +SH_BETA(10) = SH_BETA(7) - 2*conj(q1)*conj(q2); + +H_BETA = zeros(1,24); +H_BETA(1,1) = SH_BETA(3)*SH_BETA(8); +H_BETA(1,2) = SH_BETA(2)*SH_BETA(3)*SH_BETA(5); +H_BETA(1,3) = - SH_BETA(2)^2*SH_BETA(5) - 1; +H_BETA(1,4) = - SH_BETA(8)*SH_BETA(10) - SH_BETA(2)*SH_BETA(5)*SH_BETA(6); +H_BETA(1,5) = SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9); +H_BETA(1,6) = SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3)); +H_BETA(1,23) = SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6); +H_BETA(1,24) = SH_BETA(2)*SH_BETA(5)*SH_BETA(9) - SH_BETA(4); + + +SK_BETA = zeros(6,1); +SK_BETA(1) = 1/(R_BETA + (SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3)))*(OP_l_23_c_6_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_4_c_6_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_3_c_6_r_*(SH_BETA(2)^2*SH_BETA(5) + 1) + OP_l_6_c_6_r_*(SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + OP_l_5_c_6_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) - OP_l_24_c_6_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) + OP_l_1_c_6_r_*SH_BETA(3)*SH_BETA(8) + OP_l_2_c_6_r_*SH_BETA(2)*SH_BETA(3)*SH_BETA(5)) + (SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9))*(OP_l_23_c_5_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_4_c_5_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_3_c_5_r_*(SH_BETA(2)^2*SH_BETA(5) + 1) + OP_l_6_c_5_r_*(SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + OP_l_5_c_5_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) - OP_l_24_c_5_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) + OP_l_1_c_5_r_*SH_BETA(3)*SH_BETA(8) + OP_l_2_c_5_r_*SH_BETA(2)*SH_BETA(3)*SH_BETA(5)) - (SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9))*(OP_l_23_c_24_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_4_c_24_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_3_c_24_r_*(SH_BETA(2)^2*SH_BETA(5) + 1) + OP_l_6_c_24_r_*(SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + OP_l_5_c_24_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) - OP_l_24_c_24_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) + OP_l_1_c_24_r_*SH_BETA(3)*SH_BETA(8) + OP_l_2_c_24_r_*SH_BETA(2)*SH_BETA(3)*SH_BETA(5)) - (SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6))*(OP_l_23_c_4_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_4_c_4_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_3_c_4_r_*(SH_BETA(2)^2*SH_BETA(5) + 1) + OP_l_6_c_4_r_*(SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + OP_l_5_c_4_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) - OP_l_24_c_4_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) + OP_l_1_c_4_r_*SH_BETA(3)*SH_BETA(8) + OP_l_2_c_4_r_*SH_BETA(2)*SH_BETA(3)*SH_BETA(5)) + (SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6))*(OP_l_23_c_23_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_4_c_23_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_3_c_23_r_*(SH_BETA(2)^2*SH_BETA(5) + 1) + OP_l_6_c_23_r_*(SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + OP_l_5_c_23_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) - OP_l_24_c_23_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) + OP_l_1_c_23_r_*SH_BETA(3)*SH_BETA(8) + OP_l_2_c_23_r_*SH_BETA(2)*SH_BETA(3)*SH_BETA(5)) - (SH_BETA(2)^2*SH_BETA(5) + 1)*(OP_l_23_c_3_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_4_c_3_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_3_c_3_r_*(SH_BETA(2)^2*SH_BETA(5) + 1) + OP_l_6_c_3_r_*(SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + OP_l_5_c_3_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) - OP_l_24_c_3_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) + OP_l_1_c_3_r_*SH_BETA(3)*SH_BETA(8) + OP_l_2_c_3_r_*SH_BETA(2)*SH_BETA(3)*SH_BETA(5)) + SH_BETA(3)*SH_BETA(8)*(OP_l_23_c_1_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_4_c_1_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_3_c_1_r_*(SH_BETA(2)^2*SH_BETA(5) + 1) + OP_l_6_c_1_r_*(SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + OP_l_5_c_1_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) - OP_l_24_c_1_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) + OP_l_1_c_1_r_*SH_BETA(3)*SH_BETA(8) + OP_l_2_c_1_r_*SH_BETA(2)*SH_BETA(3)*SH_BETA(5)) + SH_BETA(2)*SH_BETA(3)*SH_BETA(5)*(OP_l_23_c_2_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_4_c_2_r_*(SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6)) - OP_l_3_c_2_r_*(SH_BETA(2)^2*SH_BETA(5) + 1) + OP_l_6_c_2_r_*(SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3))) + OP_l_5_c_2_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) - OP_l_24_c_2_r_*(SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9)) + OP_l_1_c_2_r_*SH_BETA(3)*SH_BETA(8) + OP_l_2_c_2_r_*SH_BETA(2)*SH_BETA(3)*SH_BETA(5))); +SK_BETA(2) = SH_BETA(8)*(2*conj(q0)*conj(q1) + 2*conj(q2)*conj(q3)) + SH_BETA(2)*SH_BETA(5)*(2*conj(q0)*conj(q2) - 2*conj(q1)*conj(q3)); +SK_BETA(3) = SH_BETA(8)*SH_BETA(10) + SH_BETA(2)*SH_BETA(5)*SH_BETA(6); +SK_BETA(4) = SH_BETA(4) - SH_BETA(2)*SH_BETA(5)*SH_BETA(9); +SK_BETA(5) = SH_BETA(2)^2*SH_BETA(5) + 1; +SK_BETA(6) = SH_BETA(3); + + +Kfusion = zeros(24,1); +Kfusion = zeros(1,1); +Kfusion(1) = SK_BETA(1)*(OP_l_1_c_6_r_*SK_BETA(2) - OP_l_1_c_3_r_*SK_BETA(5) - OP_l_1_c_4_r_*SK_BETA(3) + OP_l_1_c_5_r_*SK_BETA(4) + OP_l_1_c_23_r_*SK_BETA(3) - OP_l_1_c_24_r_*SK_BETA(4) + OP_l_1_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_1_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(2) = SK_BETA(1)*(OP_l_2_c_6_r_*SK_BETA(2) - OP_l_2_c_3_r_*SK_BETA(5) - OP_l_2_c_4_r_*SK_BETA(3) + OP_l_2_c_5_r_*SK_BETA(4) + OP_l_2_c_23_r_*SK_BETA(3) - OP_l_2_c_24_r_*SK_BETA(4) + OP_l_2_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_2_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(3) = SK_BETA(1)*(OP_l_3_c_6_r_*SK_BETA(2) - OP_l_3_c_3_r_*SK_BETA(5) - OP_l_3_c_4_r_*SK_BETA(3) + OP_l_3_c_5_r_*SK_BETA(4) + OP_l_3_c_23_r_*SK_BETA(3) - OP_l_3_c_24_r_*SK_BETA(4) + OP_l_3_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_3_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(4) = SK_BETA(1)*(OP_l_4_c_6_r_*SK_BETA(2) - OP_l_4_c_3_r_*SK_BETA(5) - OP_l_4_c_4_r_*SK_BETA(3) + OP_l_4_c_5_r_*SK_BETA(4) + OP_l_4_c_23_r_*SK_BETA(3) - OP_l_4_c_24_r_*SK_BETA(4) + OP_l_4_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_4_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(5) = SK_BETA(1)*(OP_l_5_c_6_r_*SK_BETA(2) - OP_l_5_c_3_r_*SK_BETA(5) - OP_l_5_c_4_r_*SK_BETA(3) + OP_l_5_c_5_r_*SK_BETA(4) + OP_l_5_c_23_r_*SK_BETA(3) - OP_l_5_c_24_r_*SK_BETA(4) + OP_l_5_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_5_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(6) = SK_BETA(1)*(OP_l_6_c_6_r_*SK_BETA(2) - OP_l_6_c_3_r_*SK_BETA(5) - OP_l_6_c_4_r_*SK_BETA(3) + OP_l_6_c_5_r_*SK_BETA(4) + OP_l_6_c_23_r_*SK_BETA(3) - OP_l_6_c_24_r_*SK_BETA(4) + OP_l_6_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_6_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(7) = SK_BETA(1)*(OP_l_7_c_6_r_*SK_BETA(2) - OP_l_7_c_3_r_*SK_BETA(5) - OP_l_7_c_4_r_*SK_BETA(3) + OP_l_7_c_5_r_*SK_BETA(4) + OP_l_7_c_23_r_*SK_BETA(3) - OP_l_7_c_24_r_*SK_BETA(4) + OP_l_7_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_7_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(8) = SK_BETA(1)*(OP_l_8_c_6_r_*SK_BETA(2) - OP_l_8_c_3_r_*SK_BETA(5) - OP_l_8_c_4_r_*SK_BETA(3) + OP_l_8_c_5_r_*SK_BETA(4) + OP_l_8_c_23_r_*SK_BETA(3) - OP_l_8_c_24_r_*SK_BETA(4) + OP_l_8_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_8_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(9) = SK_BETA(1)*(OP_l_9_c_6_r_*SK_BETA(2) - OP_l_9_c_3_r_*SK_BETA(5) - OP_l_9_c_4_r_*SK_BETA(3) + OP_l_9_c_5_r_*SK_BETA(4) + OP_l_9_c_23_r_*SK_BETA(3) - OP_l_9_c_24_r_*SK_BETA(4) + OP_l_9_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_9_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(10) = SK_BETA(1)*(OP_l_10_c_6_r_*SK_BETA(2) - OP_l_10_c_3_r_*SK_BETA(5) - OP_l_10_c_4_r_*SK_BETA(3) + OP_l_10_c_5_r_*SK_BETA(4) + OP_l_10_c_23_r_*SK_BETA(3) - OP_l_10_c_24_r_*SK_BETA(4) + OP_l_10_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_10_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(11) = SK_BETA(1)*(OP_l_11_c_6_r_*SK_BETA(2) - OP_l_11_c_3_r_*SK_BETA(5) - OP_l_11_c_4_r_*SK_BETA(3) + OP_l_11_c_5_r_*SK_BETA(4) + OP_l_11_c_23_r_*SK_BETA(3) - OP_l_11_c_24_r_*SK_BETA(4) + OP_l_11_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_11_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(12) = SK_BETA(1)*(OP_l_12_c_6_r_*SK_BETA(2) - OP_l_12_c_3_r_*SK_BETA(5) - OP_l_12_c_4_r_*SK_BETA(3) + OP_l_12_c_5_r_*SK_BETA(4) + OP_l_12_c_23_r_*SK_BETA(3) - OP_l_12_c_24_r_*SK_BETA(4) + OP_l_12_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_12_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(13) = SK_BETA(1)*(OP_l_13_c_6_r_*SK_BETA(2) - OP_l_13_c_3_r_*SK_BETA(5) - OP_l_13_c_4_r_*SK_BETA(3) + OP_l_13_c_5_r_*SK_BETA(4) + OP_l_13_c_23_r_*SK_BETA(3) - OP_l_13_c_24_r_*SK_BETA(4) + OP_l_13_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_13_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(14) = SK_BETA(1)*(OP_l_14_c_6_r_*SK_BETA(2) - OP_l_14_c_3_r_*SK_BETA(5) - OP_l_14_c_4_r_*SK_BETA(3) + OP_l_14_c_5_r_*SK_BETA(4) + OP_l_14_c_23_r_*SK_BETA(3) - OP_l_14_c_24_r_*SK_BETA(4) + OP_l_14_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_14_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(15) = SK_BETA(1)*(OP_l_15_c_6_r_*SK_BETA(2) - OP_l_15_c_3_r_*SK_BETA(5) - OP_l_15_c_4_r_*SK_BETA(3) + OP_l_15_c_5_r_*SK_BETA(4) + OP_l_15_c_23_r_*SK_BETA(3) - OP_l_15_c_24_r_*SK_BETA(4) + OP_l_15_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_15_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(16) = SK_BETA(1)*(OP_l_16_c_6_r_*SK_BETA(2) - OP_l_16_c_3_r_*SK_BETA(5) - OP_l_16_c_4_r_*SK_BETA(3) + OP_l_16_c_5_r_*SK_BETA(4) + OP_l_16_c_23_r_*SK_BETA(3) - OP_l_16_c_24_r_*SK_BETA(4) + OP_l_16_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_16_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(17) = SK_BETA(1)*(OP_l_17_c_6_r_*SK_BETA(2) - OP_l_17_c_3_r_*SK_BETA(5) - OP_l_17_c_4_r_*SK_BETA(3) + OP_l_17_c_5_r_*SK_BETA(4) + OP_l_17_c_23_r_*SK_BETA(3) - OP_l_17_c_24_r_*SK_BETA(4) + OP_l_17_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_17_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(18) = SK_BETA(1)*(OP_l_18_c_6_r_*SK_BETA(2) - OP_l_18_c_3_r_*SK_BETA(5) - OP_l_18_c_4_r_*SK_BETA(3) + OP_l_18_c_5_r_*SK_BETA(4) + OP_l_18_c_23_r_*SK_BETA(3) - OP_l_18_c_24_r_*SK_BETA(4) + OP_l_18_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_18_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(19) = SK_BETA(1)*(OP_l_19_c_6_r_*SK_BETA(2) - OP_l_19_c_3_r_*SK_BETA(5) - OP_l_19_c_4_r_*SK_BETA(3) + OP_l_19_c_5_r_*SK_BETA(4) + OP_l_19_c_23_r_*SK_BETA(3) - OP_l_19_c_24_r_*SK_BETA(4) + OP_l_19_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_19_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(20) = SK_BETA(1)*(OP_l_20_c_6_r_*SK_BETA(2) - OP_l_20_c_3_r_*SK_BETA(5) - OP_l_20_c_4_r_*SK_BETA(3) + OP_l_20_c_5_r_*SK_BETA(4) + OP_l_20_c_23_r_*SK_BETA(3) - OP_l_20_c_24_r_*SK_BETA(4) + OP_l_20_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_20_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(21) = SK_BETA(1)*(OP_l_21_c_6_r_*SK_BETA(2) - OP_l_21_c_3_r_*SK_BETA(5) - OP_l_21_c_4_r_*SK_BETA(3) + OP_l_21_c_5_r_*SK_BETA(4) + OP_l_21_c_23_r_*SK_BETA(3) - OP_l_21_c_24_r_*SK_BETA(4) + OP_l_21_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_21_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(22) = SK_BETA(1)*(OP_l_22_c_6_r_*SK_BETA(2) - OP_l_22_c_3_r_*SK_BETA(5) - OP_l_22_c_4_r_*SK_BETA(3) + OP_l_22_c_5_r_*SK_BETA(4) + OP_l_22_c_23_r_*SK_BETA(3) - OP_l_22_c_24_r_*SK_BETA(4) + OP_l_22_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_22_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(23) = SK_BETA(1)*(OP_l_23_c_6_r_*SK_BETA(2) - OP_l_23_c_3_r_*SK_BETA(5) - OP_l_23_c_4_r_*SK_BETA(3) + OP_l_23_c_5_r_*SK_BETA(4) + OP_l_23_c_23_r_*SK_BETA(3) - OP_l_23_c_24_r_*SK_BETA(4) + OP_l_23_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_23_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); +Kfusion(24) = SK_BETA(1)*(OP_l_24_c_6_r_*SK_BETA(2) - OP_l_24_c_3_r_*SK_BETA(5) - OP_l_24_c_4_r_*SK_BETA(3) + OP_l_24_c_5_r_*SK_BETA(4) + OP_l_24_c_23_r_*SK_BETA(3) - OP_l_24_c_24_r_*SK_BETA(4) + OP_l_24_c_1_r_*SH_BETA(8)*SK_BETA(6) + OP_l_24_c_2_r_*SH_BETA(2)*SH_BETA(5)*SK_BETA(6)); + + +SH_MAG = zeros(9,1); +SH_MAG(1) = q0^2 - q1^2 + q2^2 - q3^2; +SH_MAG(2) = q0^2 + q1^2 - q2^2 - q3^2; +SH_MAG(3) = q0^2 - q1^2 - q2^2 + q3^2; +SH_MAG(4) = 2*q0*q1 + 2*q2*q3; +SH_MAG(5) = 2*q0*q3 + 2*q1*q2; +SH_MAG(6) = 2*q0*q2 + 2*q1*q3; +SH_MAG(7) = magE*(2*q0*q1 - 2*q2*q3); +SH_MAG(8) = 2*q1*q3 - 2*q0*q2; +SH_MAG(9) = 2*q0*q3; + + +H_MAG = zeros(1,24); +H_MAG(2) = SH_MAG(7) - magD*SH_MAG(3) - magN*SH_MAG(6); +H_MAG(3) = magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2); +H_MAG(17) = SH_MAG(2); +H_MAG(18) = SH_MAG(5); +H_MAG(19) = SH_MAG(8); +H_MAG(20) = 1; + + +SK_MX = zeros(4,1); +SK_MX(1) = 1/(OP_l_20_c_20_r_ + R_MAG - OP_l_2_c_20_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_17_c_20_r_*SH_MAG(2) + OP_l_18_c_20_r_*SH_MAG(5) + OP_l_19_c_20_r_*SH_MAG(8) + OP_l_3_c_20_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2)) - (magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6))*(OP_l_20_c_2_r_ - OP_l_2_c_2_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_17_c_2_r_*SH_MAG(2) + OP_l_18_c_2_r_*SH_MAG(5) + OP_l_19_c_2_r_*SH_MAG(8) + OP_l_3_c_2_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2))) + SH_MAG(2)*(OP_l_20_c_17_r_ - OP_l_2_c_17_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_17_c_17_r_*SH_MAG(2) + OP_l_18_c_17_r_*SH_MAG(5) + OP_l_19_c_17_r_*SH_MAG(8) + OP_l_3_c_17_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2))) + SH_MAG(5)*(OP_l_20_c_18_r_ - OP_l_2_c_18_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_17_c_18_r_*SH_MAG(2) + OP_l_18_c_18_r_*SH_MAG(5) + OP_l_19_c_18_r_*SH_MAG(8) + OP_l_3_c_18_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2))) + SH_MAG(8)*(OP_l_20_c_19_r_ - OP_l_2_c_19_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_17_c_19_r_*SH_MAG(2) + OP_l_18_c_19_r_*SH_MAG(5) + OP_l_19_c_19_r_*SH_MAG(8) + OP_l_3_c_19_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2))) + (magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2))*(OP_l_20_c_3_r_ - OP_l_2_c_3_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_17_c_3_r_*SH_MAG(2) + OP_l_18_c_3_r_*SH_MAG(5) + OP_l_19_c_3_r_*SH_MAG(8) + OP_l_3_c_3_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2)))); +SK_MX(2) = magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2); +SK_MX(3) = magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6); +SK_MX(4) = SH_MAG(8); + + +Kfusion = zeros(24,1); +Kfusion = zeros(1,1); +Kfusion(1) = SK_MX(1)*(OP_l_1_c_20_r_ + OP_l_1_c_17_r_*SH_MAG(2) + OP_l_1_c_18_r_*SH_MAG(5) - OP_l_1_c_2_r_*SK_MX(3) + OP_l_1_c_3_r_*SK_MX(2) + OP_l_1_c_19_r_*SK_MX(4)); +Kfusion(2) = SK_MX(1)*(OP_l_2_c_20_r_ + OP_l_2_c_17_r_*SH_MAG(2) + OP_l_2_c_18_r_*SH_MAG(5) - OP_l_2_c_2_r_*SK_MX(3) + OP_l_2_c_3_r_*SK_MX(2) + OP_l_2_c_19_r_*SK_MX(4)); +Kfusion(3) = SK_MX(1)*(OP_l_3_c_20_r_ + OP_l_3_c_17_r_*SH_MAG(2) + OP_l_3_c_18_r_*SH_MAG(5) - OP_l_3_c_2_r_*SK_MX(3) + OP_l_3_c_3_r_*SK_MX(2) + OP_l_3_c_19_r_*SK_MX(4)); +Kfusion(4) = SK_MX(1)*(OP_l_4_c_20_r_ + OP_l_4_c_17_r_*SH_MAG(2) + OP_l_4_c_18_r_*SH_MAG(5) - OP_l_4_c_2_r_*SK_MX(3) + OP_l_4_c_3_r_*SK_MX(2) + OP_l_4_c_19_r_*SK_MX(4)); +Kfusion(5) = SK_MX(1)*(OP_l_5_c_20_r_ + OP_l_5_c_17_r_*SH_MAG(2) + OP_l_5_c_18_r_*SH_MAG(5) - OP_l_5_c_2_r_*SK_MX(3) + OP_l_5_c_3_r_*SK_MX(2) + OP_l_5_c_19_r_*SK_MX(4)); +Kfusion(6) = SK_MX(1)*(OP_l_6_c_20_r_ + OP_l_6_c_17_r_*SH_MAG(2) + OP_l_6_c_18_r_*SH_MAG(5) - OP_l_6_c_2_r_*SK_MX(3) + OP_l_6_c_3_r_*SK_MX(2) + OP_l_6_c_19_r_*SK_MX(4)); +Kfusion(7) = SK_MX(1)*(OP_l_7_c_20_r_ + OP_l_7_c_17_r_*SH_MAG(2) + OP_l_7_c_18_r_*SH_MAG(5) - OP_l_7_c_2_r_*SK_MX(3) + OP_l_7_c_3_r_*SK_MX(2) + OP_l_7_c_19_r_*SK_MX(4)); +Kfusion(8) = SK_MX(1)*(OP_l_8_c_20_r_ + OP_l_8_c_17_r_*SH_MAG(2) + OP_l_8_c_18_r_*SH_MAG(5) - OP_l_8_c_2_r_*SK_MX(3) + OP_l_8_c_3_r_*SK_MX(2) + OP_l_8_c_19_r_*SK_MX(4)); +Kfusion(9) = SK_MX(1)*(OP_l_9_c_20_r_ + OP_l_9_c_17_r_*SH_MAG(2) + OP_l_9_c_18_r_*SH_MAG(5) - OP_l_9_c_2_r_*SK_MX(3) + OP_l_9_c_3_r_*SK_MX(2) + OP_l_9_c_19_r_*SK_MX(4)); +Kfusion(10) = SK_MX(1)*(OP_l_10_c_20_r_ + OP_l_10_c_17_r_*SH_MAG(2) + OP_l_10_c_18_r_*SH_MAG(5) - OP_l_10_c_2_r_*SK_MX(3) + OP_l_10_c_3_r_*SK_MX(2) + OP_l_10_c_19_r_*SK_MX(4)); +Kfusion(11) = SK_MX(1)*(OP_l_11_c_20_r_ + OP_l_11_c_17_r_*SH_MAG(2) + OP_l_11_c_18_r_*SH_MAG(5) - OP_l_11_c_2_r_*SK_MX(3) + OP_l_11_c_3_r_*SK_MX(2) + OP_l_11_c_19_r_*SK_MX(4)); +Kfusion(12) = SK_MX(1)*(OP_l_12_c_20_r_ + OP_l_12_c_17_r_*SH_MAG(2) + OP_l_12_c_18_r_*SH_MAG(5) - OP_l_12_c_2_r_*SK_MX(3) + OP_l_12_c_3_r_*SK_MX(2) + OP_l_12_c_19_r_*SK_MX(4)); +Kfusion(13) = SK_MX(1)*(OP_l_13_c_20_r_ + OP_l_13_c_17_r_*SH_MAG(2) + OP_l_13_c_18_r_*SH_MAG(5) - OP_l_13_c_2_r_*SK_MX(3) + OP_l_13_c_3_r_*SK_MX(2) + OP_l_13_c_19_r_*SK_MX(4)); +Kfusion(14) = SK_MX(1)*(OP_l_14_c_20_r_ + OP_l_14_c_17_r_*SH_MAG(2) + OP_l_14_c_18_r_*SH_MAG(5) - OP_l_14_c_2_r_*SK_MX(3) + OP_l_14_c_3_r_*SK_MX(2) + OP_l_14_c_19_r_*SK_MX(4)); +Kfusion(15) = SK_MX(1)*(OP_l_15_c_20_r_ + OP_l_15_c_17_r_*SH_MAG(2) + OP_l_15_c_18_r_*SH_MAG(5) - OP_l_15_c_2_r_*SK_MX(3) + OP_l_15_c_3_r_*SK_MX(2) + OP_l_15_c_19_r_*SK_MX(4)); +Kfusion(16) = SK_MX(1)*(OP_l_16_c_20_r_ + OP_l_16_c_17_r_*SH_MAG(2) + OP_l_16_c_18_r_*SH_MAG(5) - OP_l_16_c_2_r_*SK_MX(3) + OP_l_16_c_3_r_*SK_MX(2) + OP_l_16_c_19_r_*SK_MX(4)); +Kfusion(17) = SK_MX(1)*(OP_l_17_c_20_r_ + OP_l_17_c_17_r_*SH_MAG(2) + OP_l_17_c_18_r_*SH_MAG(5) - OP_l_17_c_2_r_*SK_MX(3) + OP_l_17_c_3_r_*SK_MX(2) + OP_l_17_c_19_r_*SK_MX(4)); +Kfusion(18) = SK_MX(1)*(OP_l_18_c_20_r_ + OP_l_18_c_17_r_*SH_MAG(2) + OP_l_18_c_18_r_*SH_MAG(5) - OP_l_18_c_2_r_*SK_MX(3) + OP_l_18_c_3_r_*SK_MX(2) + OP_l_18_c_19_r_*SK_MX(4)); +Kfusion(19) = SK_MX(1)*(OP_l_19_c_20_r_ + OP_l_19_c_17_r_*SH_MAG(2) + OP_l_19_c_18_r_*SH_MAG(5) - OP_l_19_c_2_r_*SK_MX(3) + OP_l_19_c_3_r_*SK_MX(2) + OP_l_19_c_19_r_*SK_MX(4)); +Kfusion(20) = SK_MX(1)*(OP_l_20_c_20_r_ + OP_l_20_c_17_r_*SH_MAG(2) + OP_l_20_c_18_r_*SH_MAG(5) - OP_l_20_c_2_r_*SK_MX(3) + OP_l_20_c_3_r_*SK_MX(2) + OP_l_20_c_19_r_*SK_MX(4)); +Kfusion(21) = SK_MX(1)*(OP_l_21_c_20_r_ + OP_l_21_c_17_r_*SH_MAG(2) + OP_l_21_c_18_r_*SH_MAG(5) - OP_l_21_c_2_r_*SK_MX(3) + OP_l_21_c_3_r_*SK_MX(2) + OP_l_21_c_19_r_*SK_MX(4)); +Kfusion(22) = SK_MX(1)*(OP_l_22_c_20_r_ + OP_l_22_c_17_r_*SH_MAG(2) + OP_l_22_c_18_r_*SH_MAG(5) - OP_l_22_c_2_r_*SK_MX(3) + OP_l_22_c_3_r_*SK_MX(2) + OP_l_22_c_19_r_*SK_MX(4)); +Kfusion(23) = SK_MX(1)*(OP_l_23_c_20_r_ + OP_l_23_c_17_r_*SH_MAG(2) + OP_l_23_c_18_r_*SH_MAG(5) - OP_l_23_c_2_r_*SK_MX(3) + OP_l_23_c_3_r_*SK_MX(2) + OP_l_23_c_19_r_*SK_MX(4)); +Kfusion(24) = SK_MX(1)*(OP_l_24_c_20_r_ + OP_l_24_c_17_r_*SH_MAG(2) + OP_l_24_c_18_r_*SH_MAG(5) - OP_l_24_c_2_r_*SK_MX(3) + OP_l_24_c_3_r_*SK_MX(2) + OP_l_24_c_19_r_*SK_MX(4)); + + +H_MAG = zeros(1,24); +H_MAG(1) = magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6); +H_MAG(3) = - magE*SH_MAG(5) - magD*SH_MAG(8) - magN*SH_MAG(2); +H_MAG(17) = 2*q1*q2 - SH_MAG(9); +H_MAG(18) = SH_MAG(1); +H_MAG(19) = SH_MAG(4); +H_MAG(21) = 1; + + +SK_MY = zeros(4,1); +SK_MY(1) = 1/(OP_l_21_c_21_r_ + R_MAG + OP_l_1_c_21_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_18_c_21_r_*SH_MAG(1) + OP_l_19_c_21_r_*SH_MAG(4) - (SH_MAG(9) - 2*q1*q2)*(OP_l_21_c_17_r_ + OP_l_1_c_17_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_18_c_17_r_*SH_MAG(1) + OP_l_19_c_17_r_*SH_MAG(4) - OP_l_3_c_17_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) - OP_l_17_c_17_r_*(SH_MAG(9) - 2*q1*q2)) - OP_l_3_c_21_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) + (magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6))*(OP_l_21_c_1_r_ + OP_l_1_c_1_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_18_c_1_r_*SH_MAG(1) + OP_l_19_c_1_r_*SH_MAG(4) - OP_l_3_c_1_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) - OP_l_17_c_1_r_*(SH_MAG(9) - 2*q1*q2)) + SH_MAG(1)*(OP_l_21_c_18_r_ + OP_l_1_c_18_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_18_c_18_r_*SH_MAG(1) + OP_l_19_c_18_r_*SH_MAG(4) - OP_l_3_c_18_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) - OP_l_17_c_18_r_*(SH_MAG(9) - 2*q1*q2)) + SH_MAG(4)*(OP_l_21_c_19_r_ + OP_l_1_c_19_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_18_c_19_r_*SH_MAG(1) + OP_l_19_c_19_r_*SH_MAG(4) - OP_l_3_c_19_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) - OP_l_17_c_19_r_*(SH_MAG(9) - 2*q1*q2)) - OP_l_17_c_21_r_*(SH_MAG(9) - 2*q1*q2) - (magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2))*(OP_l_21_c_3_r_ + OP_l_1_c_3_r_*(magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6)) + OP_l_18_c_3_r_*SH_MAG(1) + OP_l_19_c_3_r_*SH_MAG(4) - OP_l_3_c_3_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) - OP_l_17_c_3_r_*(SH_MAG(9) - 2*q1*q2))); +SK_MY(2) = magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2); +SK_MY(3) = magD*SH_MAG(3) - SH_MAG(7) + magN*SH_MAG(6); +SK_MY(4) = SH_MAG(9) - 2*q1*q2; + + +Kfusion = zeros(24,1); +Kfusion = zeros(1,1); +Kfusion(1) = SK_MY(1)*(OP_l_1_c_21_r_ + OP_l_1_c_18_r_*SH_MAG(1) + OP_l_1_c_19_r_*SH_MAG(4) + OP_l_1_c_1_r_*SK_MY(3) - OP_l_1_c_3_r_*SK_MY(2) - OP_l_1_c_17_r_*SK_MY(4)); +Kfusion(2) = SK_MY(1)*(OP_l_2_c_21_r_ + OP_l_2_c_18_r_*SH_MAG(1) + OP_l_2_c_19_r_*SH_MAG(4) + OP_l_2_c_1_r_*SK_MY(3) - OP_l_2_c_3_r_*SK_MY(2) - OP_l_2_c_17_r_*SK_MY(4)); +Kfusion(3) = SK_MY(1)*(OP_l_3_c_21_r_ + OP_l_3_c_18_r_*SH_MAG(1) + OP_l_3_c_19_r_*SH_MAG(4) + OP_l_3_c_1_r_*SK_MY(3) - OP_l_3_c_3_r_*SK_MY(2) - OP_l_3_c_17_r_*SK_MY(4)); +Kfusion(4) = SK_MY(1)*(OP_l_4_c_21_r_ + OP_l_4_c_18_r_*SH_MAG(1) + OP_l_4_c_19_r_*SH_MAG(4) + OP_l_4_c_1_r_*SK_MY(3) - OP_l_4_c_3_r_*SK_MY(2) - OP_l_4_c_17_r_*SK_MY(4)); +Kfusion(5) = SK_MY(1)*(OP_l_5_c_21_r_ + OP_l_5_c_18_r_*SH_MAG(1) + OP_l_5_c_19_r_*SH_MAG(4) + OP_l_5_c_1_r_*SK_MY(3) - OP_l_5_c_3_r_*SK_MY(2) - OP_l_5_c_17_r_*SK_MY(4)); +Kfusion(6) = SK_MY(1)*(OP_l_6_c_21_r_ + OP_l_6_c_18_r_*SH_MAG(1) + OP_l_6_c_19_r_*SH_MAG(4) + OP_l_6_c_1_r_*SK_MY(3) - OP_l_6_c_3_r_*SK_MY(2) - OP_l_6_c_17_r_*SK_MY(4)); +Kfusion(7) = SK_MY(1)*(OP_l_7_c_21_r_ + OP_l_7_c_18_r_*SH_MAG(1) + OP_l_7_c_19_r_*SH_MAG(4) + OP_l_7_c_1_r_*SK_MY(3) - OP_l_7_c_3_r_*SK_MY(2) - OP_l_7_c_17_r_*SK_MY(4)); +Kfusion(8) = SK_MY(1)*(OP_l_8_c_21_r_ + OP_l_8_c_18_r_*SH_MAG(1) + OP_l_8_c_19_r_*SH_MAG(4) + OP_l_8_c_1_r_*SK_MY(3) - OP_l_8_c_3_r_*SK_MY(2) - OP_l_8_c_17_r_*SK_MY(4)); +Kfusion(9) = SK_MY(1)*(OP_l_9_c_21_r_ + OP_l_9_c_18_r_*SH_MAG(1) + OP_l_9_c_19_r_*SH_MAG(4) + OP_l_9_c_1_r_*SK_MY(3) - OP_l_9_c_3_r_*SK_MY(2) - OP_l_9_c_17_r_*SK_MY(4)); +Kfusion(10) = SK_MY(1)*(OP_l_10_c_21_r_ + OP_l_10_c_18_r_*SH_MAG(1) + OP_l_10_c_19_r_*SH_MAG(4) + OP_l_10_c_1_r_*SK_MY(3) - OP_l_10_c_3_r_*SK_MY(2) - OP_l_10_c_17_r_*SK_MY(4)); +Kfusion(11) = SK_MY(1)*(OP_l_11_c_21_r_ + OP_l_11_c_18_r_*SH_MAG(1) + OP_l_11_c_19_r_*SH_MAG(4) + OP_l_11_c_1_r_*SK_MY(3) - OP_l_11_c_3_r_*SK_MY(2) - OP_l_11_c_17_r_*SK_MY(4)); +Kfusion(12) = SK_MY(1)*(OP_l_12_c_21_r_ + OP_l_12_c_18_r_*SH_MAG(1) + OP_l_12_c_19_r_*SH_MAG(4) + OP_l_12_c_1_r_*SK_MY(3) - OP_l_12_c_3_r_*SK_MY(2) - OP_l_12_c_17_r_*SK_MY(4)); +Kfusion(13) = SK_MY(1)*(OP_l_13_c_21_r_ + OP_l_13_c_18_r_*SH_MAG(1) + OP_l_13_c_19_r_*SH_MAG(4) + OP_l_13_c_1_r_*SK_MY(3) - OP_l_13_c_3_r_*SK_MY(2) - OP_l_13_c_17_r_*SK_MY(4)); +Kfusion(14) = SK_MY(1)*(OP_l_14_c_21_r_ + OP_l_14_c_18_r_*SH_MAG(1) + OP_l_14_c_19_r_*SH_MAG(4) + OP_l_14_c_1_r_*SK_MY(3) - OP_l_14_c_3_r_*SK_MY(2) - OP_l_14_c_17_r_*SK_MY(4)); +Kfusion(15) = SK_MY(1)*(OP_l_15_c_21_r_ + OP_l_15_c_18_r_*SH_MAG(1) + OP_l_15_c_19_r_*SH_MAG(4) + OP_l_15_c_1_r_*SK_MY(3) - OP_l_15_c_3_r_*SK_MY(2) - OP_l_15_c_17_r_*SK_MY(4)); +Kfusion(16) = SK_MY(1)*(OP_l_16_c_21_r_ + OP_l_16_c_18_r_*SH_MAG(1) + OP_l_16_c_19_r_*SH_MAG(4) + OP_l_16_c_1_r_*SK_MY(3) - OP_l_16_c_3_r_*SK_MY(2) - OP_l_16_c_17_r_*SK_MY(4)); +Kfusion(17) = SK_MY(1)*(OP_l_17_c_21_r_ + OP_l_17_c_18_r_*SH_MAG(1) + OP_l_17_c_19_r_*SH_MAG(4) + OP_l_17_c_1_r_*SK_MY(3) - OP_l_17_c_3_r_*SK_MY(2) - OP_l_17_c_17_r_*SK_MY(4)); +Kfusion(18) = SK_MY(1)*(OP_l_18_c_21_r_ + OP_l_18_c_18_r_*SH_MAG(1) + OP_l_18_c_19_r_*SH_MAG(4) + OP_l_18_c_1_r_*SK_MY(3) - OP_l_18_c_3_r_*SK_MY(2) - OP_l_18_c_17_r_*SK_MY(4)); +Kfusion(19) = SK_MY(1)*(OP_l_19_c_21_r_ + OP_l_19_c_18_r_*SH_MAG(1) + OP_l_19_c_19_r_*SH_MAG(4) + OP_l_19_c_1_r_*SK_MY(3) - OP_l_19_c_3_r_*SK_MY(2) - OP_l_19_c_17_r_*SK_MY(4)); +Kfusion(20) = SK_MY(1)*(OP_l_20_c_21_r_ + OP_l_20_c_18_r_*SH_MAG(1) + OP_l_20_c_19_r_*SH_MAG(4) + OP_l_20_c_1_r_*SK_MY(3) - OP_l_20_c_3_r_*SK_MY(2) - OP_l_20_c_17_r_*SK_MY(4)); +Kfusion(21) = SK_MY(1)*(OP_l_21_c_21_r_ + OP_l_21_c_18_r_*SH_MAG(1) + OP_l_21_c_19_r_*SH_MAG(4) + OP_l_21_c_1_r_*SK_MY(3) - OP_l_21_c_3_r_*SK_MY(2) - OP_l_21_c_17_r_*SK_MY(4)); +Kfusion(22) = SK_MY(1)*(OP_l_22_c_21_r_ + OP_l_22_c_18_r_*SH_MAG(1) + OP_l_22_c_19_r_*SH_MAG(4) + OP_l_22_c_1_r_*SK_MY(3) - OP_l_22_c_3_r_*SK_MY(2) - OP_l_22_c_17_r_*SK_MY(4)); +Kfusion(23) = SK_MY(1)*(OP_l_23_c_21_r_ + OP_l_23_c_18_r_*SH_MAG(1) + OP_l_23_c_19_r_*SH_MAG(4) + OP_l_23_c_1_r_*SK_MY(3) - OP_l_23_c_3_r_*SK_MY(2) - OP_l_23_c_17_r_*SK_MY(4)); +Kfusion(24) = SK_MY(1)*(OP_l_24_c_21_r_ + OP_l_24_c_18_r_*SH_MAG(1) + OP_l_24_c_19_r_*SH_MAG(4) + OP_l_24_c_1_r_*SK_MY(3) - OP_l_24_c_3_r_*SK_MY(2) - OP_l_24_c_17_r_*SK_MY(4)); + + +H_MAG = zeros(1,24); +H_MAG(1) = magN*(SH_MAG(9) - 2*q1*q2) - magD*SH_MAG(4) - magE*SH_MAG(1); +H_MAG(2) = magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2); +H_MAG(17) = SH_MAG(6); +H_MAG(18) = 2*q2*q3 - 2*q0*q1; +H_MAG(19) = SH_MAG(3); +H_MAG(22) = 1; + + +SK_MZ = zeros(4,1); +SK_MZ(1) = 1/(OP_l_22_c_22_r_ + R_MAG + OP_l_17_c_22_r_*SH_MAG(6) + OP_l_19_c_22_r_*SH_MAG(3) - (2*q0*q1 - 2*q2*q3)*(OP_l_22_c_18_r_ + OP_l_17_c_18_r_*SH_MAG(6) + OP_l_19_c_18_r_*SH_MAG(3) - OP_l_1_c_18_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2)) + OP_l_2_c_18_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) - OP_l_18_c_18_r_*(2*q0*q1 - 2*q2*q3)) - OP_l_1_c_22_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2)) + OP_l_2_c_22_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) + SH_MAG(6)*(OP_l_22_c_17_r_ + OP_l_17_c_17_r_*SH_MAG(6) + OP_l_19_c_17_r_*SH_MAG(3) - OP_l_1_c_17_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2)) + OP_l_2_c_17_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) - OP_l_18_c_17_r_*(2*q0*q1 - 2*q2*q3)) + SH_MAG(3)*(OP_l_22_c_19_r_ + OP_l_17_c_19_r_*SH_MAG(6) + OP_l_19_c_19_r_*SH_MAG(3) - OP_l_1_c_19_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2)) + OP_l_2_c_19_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) - OP_l_18_c_19_r_*(2*q0*q1 - 2*q2*q3)) - (magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2))*(OP_l_22_c_1_r_ + OP_l_17_c_1_r_*SH_MAG(6) + OP_l_19_c_1_r_*SH_MAG(3) - OP_l_1_c_1_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2)) + OP_l_2_c_1_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) - OP_l_18_c_1_r_*(2*q0*q1 - 2*q2*q3)) - OP_l_18_c_22_r_*(2*q0*q1 - 2*q2*q3) + (magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2))*(OP_l_22_c_2_r_ + OP_l_17_c_2_r_*SH_MAG(6) + OP_l_19_c_2_r_*SH_MAG(3) - OP_l_1_c_2_r_*(magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2)) + OP_l_2_c_2_r_*(magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2)) - OP_l_18_c_2_r_*(2*q0*q1 - 2*q2*q3))); +SK_MZ(2) = magE*SH_MAG(1) + magD*SH_MAG(4) - magN*(SH_MAG(9) - 2*q1*q2); +SK_MZ(3) = magE*SH_MAG(5) + magD*SH_MAG(8) + magN*SH_MAG(2); +SK_MZ(4) = 2*q0*q1 - 2*q2*q3; + + +Kfusion = zeros(24,1); +Kfusion = zeros(1,1); +Kfusion(1) = SK_MZ(1)*(OP_l_1_c_22_r_ + OP_l_1_c_19_r_*SH_MAG(3) + OP_l_1_c_17_r_*SH_MAG(6) - OP_l_1_c_1_r_*SK_MZ(2) + OP_l_1_c_2_r_*SK_MZ(3) - OP_l_1_c_18_r_*SK_MZ(4)); +Kfusion(2) = SK_MZ(1)*(OP_l_2_c_22_r_ + OP_l_2_c_19_r_*SH_MAG(3) + OP_l_2_c_17_r_*SH_MAG(6) - OP_l_2_c_1_r_*SK_MZ(2) + OP_l_2_c_2_r_*SK_MZ(3) - OP_l_2_c_18_r_*SK_MZ(4)); +Kfusion(3) = SK_MZ(1)*(OP_l_3_c_22_r_ + OP_l_3_c_19_r_*SH_MAG(3) + OP_l_3_c_17_r_*SH_MAG(6) - OP_l_3_c_1_r_*SK_MZ(2) + OP_l_3_c_2_r_*SK_MZ(3) - OP_l_3_c_18_r_*SK_MZ(4)); +Kfusion(4) = SK_MZ(1)*(OP_l_4_c_22_r_ + OP_l_4_c_19_r_*SH_MAG(3) + OP_l_4_c_17_r_*SH_MAG(6) - OP_l_4_c_1_r_*SK_MZ(2) + OP_l_4_c_2_r_*SK_MZ(3) - OP_l_4_c_18_r_*SK_MZ(4)); +Kfusion(5) = SK_MZ(1)*(OP_l_5_c_22_r_ + OP_l_5_c_19_r_*SH_MAG(3) + OP_l_5_c_17_r_*SH_MAG(6) - OP_l_5_c_1_r_*SK_MZ(2) + OP_l_5_c_2_r_*SK_MZ(3) - OP_l_5_c_18_r_*SK_MZ(4)); +Kfusion(6) = SK_MZ(1)*(OP_l_6_c_22_r_ + OP_l_6_c_19_r_*SH_MAG(3) + OP_l_6_c_17_r_*SH_MAG(6) - OP_l_6_c_1_r_*SK_MZ(2) + OP_l_6_c_2_r_*SK_MZ(3) - OP_l_6_c_18_r_*SK_MZ(4)); +Kfusion(7) = SK_MZ(1)*(OP_l_7_c_22_r_ + OP_l_7_c_19_r_*SH_MAG(3) + OP_l_7_c_17_r_*SH_MAG(6) - OP_l_7_c_1_r_*SK_MZ(2) + OP_l_7_c_2_r_*SK_MZ(3) - OP_l_7_c_18_r_*SK_MZ(4)); +Kfusion(8) = SK_MZ(1)*(OP_l_8_c_22_r_ + OP_l_8_c_19_r_*SH_MAG(3) + OP_l_8_c_17_r_*SH_MAG(6) - OP_l_8_c_1_r_*SK_MZ(2) + OP_l_8_c_2_r_*SK_MZ(3) - OP_l_8_c_18_r_*SK_MZ(4)); +Kfusion(9) = SK_MZ(1)*(OP_l_9_c_22_r_ + OP_l_9_c_19_r_*SH_MAG(3) + OP_l_9_c_17_r_*SH_MAG(6) - OP_l_9_c_1_r_*SK_MZ(2) + OP_l_9_c_2_r_*SK_MZ(3) - OP_l_9_c_18_r_*SK_MZ(4)); +Kfusion(10) = SK_MZ(1)*(OP_l_10_c_22_r_ + OP_l_10_c_19_r_*SH_MAG(3) + OP_l_10_c_17_r_*SH_MAG(6) - OP_l_10_c_1_r_*SK_MZ(2) + OP_l_10_c_2_r_*SK_MZ(3) - OP_l_10_c_18_r_*SK_MZ(4)); +Kfusion(11) = SK_MZ(1)*(OP_l_11_c_22_r_ + OP_l_11_c_19_r_*SH_MAG(3) + OP_l_11_c_17_r_*SH_MAG(6) - OP_l_11_c_1_r_*SK_MZ(2) + OP_l_11_c_2_r_*SK_MZ(3) - OP_l_11_c_18_r_*SK_MZ(4)); +Kfusion(12) = SK_MZ(1)*(OP_l_12_c_22_r_ + OP_l_12_c_19_r_*SH_MAG(3) + OP_l_12_c_17_r_*SH_MAG(6) - OP_l_12_c_1_r_*SK_MZ(2) + OP_l_12_c_2_r_*SK_MZ(3) - OP_l_12_c_18_r_*SK_MZ(4)); +Kfusion(13) = SK_MZ(1)*(OP_l_13_c_22_r_ + OP_l_13_c_19_r_*SH_MAG(3) + OP_l_13_c_17_r_*SH_MAG(6) - OP_l_13_c_1_r_*SK_MZ(2) + OP_l_13_c_2_r_*SK_MZ(3) - OP_l_13_c_18_r_*SK_MZ(4)); +Kfusion(14) = SK_MZ(1)*(OP_l_14_c_22_r_ + OP_l_14_c_19_r_*SH_MAG(3) + OP_l_14_c_17_r_*SH_MAG(6) - OP_l_14_c_1_r_*SK_MZ(2) + OP_l_14_c_2_r_*SK_MZ(3) - OP_l_14_c_18_r_*SK_MZ(4)); +Kfusion(15) = SK_MZ(1)*(OP_l_15_c_22_r_ + OP_l_15_c_19_r_*SH_MAG(3) + OP_l_15_c_17_r_*SH_MAG(6) - OP_l_15_c_1_r_*SK_MZ(2) + OP_l_15_c_2_r_*SK_MZ(3) - OP_l_15_c_18_r_*SK_MZ(4)); +Kfusion(16) = SK_MZ(1)*(OP_l_16_c_22_r_ + OP_l_16_c_19_r_*SH_MAG(3) + OP_l_16_c_17_r_*SH_MAG(6) - OP_l_16_c_1_r_*SK_MZ(2) + OP_l_16_c_2_r_*SK_MZ(3) - OP_l_16_c_18_r_*SK_MZ(4)); +Kfusion(17) = SK_MZ(1)*(OP_l_17_c_22_r_ + OP_l_17_c_19_r_*SH_MAG(3) + OP_l_17_c_17_r_*SH_MAG(6) - OP_l_17_c_1_r_*SK_MZ(2) + OP_l_17_c_2_r_*SK_MZ(3) - OP_l_17_c_18_r_*SK_MZ(4)); +Kfusion(18) = SK_MZ(1)*(OP_l_18_c_22_r_ + OP_l_18_c_19_r_*SH_MAG(3) + OP_l_18_c_17_r_*SH_MAG(6) - OP_l_18_c_1_r_*SK_MZ(2) + OP_l_18_c_2_r_*SK_MZ(3) - OP_l_18_c_18_r_*SK_MZ(4)); +Kfusion(19) = SK_MZ(1)*(OP_l_19_c_22_r_ + OP_l_19_c_19_r_*SH_MAG(3) + OP_l_19_c_17_r_*SH_MAG(6) - OP_l_19_c_1_r_*SK_MZ(2) + OP_l_19_c_2_r_*SK_MZ(3) - OP_l_19_c_18_r_*SK_MZ(4)); +Kfusion(20) = SK_MZ(1)*(OP_l_20_c_22_r_ + OP_l_20_c_19_r_*SH_MAG(3) + OP_l_20_c_17_r_*SH_MAG(6) - OP_l_20_c_1_r_*SK_MZ(2) + OP_l_20_c_2_r_*SK_MZ(3) - OP_l_20_c_18_r_*SK_MZ(4)); +Kfusion(21) = SK_MZ(1)*(OP_l_21_c_22_r_ + OP_l_21_c_19_r_*SH_MAG(3) + OP_l_21_c_17_r_*SH_MAG(6) - OP_l_21_c_1_r_*SK_MZ(2) + OP_l_21_c_2_r_*SK_MZ(3) - OP_l_21_c_18_r_*SK_MZ(4)); +Kfusion(22) = SK_MZ(1)*(OP_l_22_c_22_r_ + OP_l_22_c_19_r_*SH_MAG(3) + OP_l_22_c_17_r_*SH_MAG(6) - OP_l_22_c_1_r_*SK_MZ(2) + OP_l_22_c_2_r_*SK_MZ(3) - OP_l_22_c_18_r_*SK_MZ(4)); +Kfusion(23) = SK_MZ(1)*(OP_l_23_c_22_r_ + OP_l_23_c_19_r_*SH_MAG(3) + OP_l_23_c_17_r_*SH_MAG(6) - OP_l_23_c_1_r_*SK_MZ(2) + OP_l_23_c_2_r_*SK_MZ(3) - OP_l_23_c_18_r_*SK_MZ(4)); +Kfusion(24) = SK_MZ(1)*(OP_l_24_c_22_r_ + OP_l_24_c_19_r_*SH_MAG(3) + OP_l_24_c_17_r_*SH_MAG(6) - OP_l_24_c_1_r_*SK_MZ(2) + OP_l_24_c_2_r_*SK_MZ(3) - OP_l_24_c_18_r_*SK_MZ(4)); + + +SH_ACCX = zeros(7,1); +SH_ACCX(1) = q0^2 + q1^2 - q2^2 - q3^2; +SH_ACCX(2) = 2*q0*q3 + 2*q1*q2; +SH_ACCX(3) = vn - vwn; +SH_ACCX(4) = ve - vwe; +SH_ACCX(5) = q3^2; +SH_ACCX(6) = 2*q0*q2; +SH_ACCX(7) = 2*q0*q1; + +H_ACCX = zeros(1,24); +H_ACCX(1,2) = Kaccx*(SH_ACCX(3)*(SH_ACCX(6) + 2*q1*q3) - SH_ACCX(4)*(SH_ACCX(7) - 2*q2*q3) + vd*(SH_ACCX(5) + q0^2 - q1^2 - q2^2)); +H_ACCX(1,3) = Kaccx*(SH_ACCX(3)*(2*q0*q3 - 2*q1*q2) + SH_ACCX(4)*(SH_ACCX(5) - q0^2 + q1^2 - q2^2) - vd*(SH_ACCX(7) + 2*q2*q3)); +H_ACCX(1,4) = -Kaccx*SH_ACCX(1); +H_ACCX(1,5) = -Kaccx*SH_ACCX(2); +H_ACCX(1,6) = Kaccx*(SH_ACCX(6) - 2*q1*q3); +H_ACCX(1,23) = Kaccx*SH_ACCX(1); +H_ACCX(1,24) = Kaccx*SH_ACCX(2); + + +SK_ACCX = zeros(5,1); +SK_ACCX(1) = 1/(R_ACC - Kaccx*SH_ACCX(1)*(Kaccx*OP_l_23_c_4_r_*SH_ACCX(1) - Kaccx*OP_l_5_c_4_r_*SH_ACCX(2) - Kaccx*OP_l_4_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_24_c_4_r_*SH_ACCX(2) + Kaccx*OP_l_3_c_4_r_*(SH_ACCX(3)*(2*q0*q3 - 2*q1*q2) + SH_ACCX(4)*(SH_ACCX(5) - q0^2 + q1^2 - q2^2) - vd*(SH_ACCX(7) + 2*q2*q3)) + Kaccx*OP_l_2_c_4_r_*(SH_ACCX(3)*(SH_ACCX(6) + 2*q1*q3) - SH_ACCX(4)*(SH_ACCX(7) - 2*q2*q3) + vd*(SH_ACCX(5) + q0^2 - q1^2 - q2^2)) + Kaccx*OP_l_6_c_4_r_*(SH_ACCX(6) - 2*q1*q3)) - Kaccx*SH_ACCX(2)*(Kaccx*OP_l_23_c_5_r_*SH_ACCX(1) - Kaccx*OP_l_5_c_5_r_*SH_ACCX(2) - Kaccx*OP_l_4_c_5_r_*SH_ACCX(1) + Kaccx*OP_l_24_c_5_r_*SH_ACCX(2) + Kaccx*OP_l_3_c_5_r_*(SH_ACCX(3)*(2*q0*q3 - 2*q1*q2) + SH_ACCX(4)*(SH_ACCX(5) - q0^2 + q1^2 - q2^2) - vd*(SH_ACCX(7) + 2*q2*q3)) + Kaccx*OP_l_2_c_5_r_*(SH_ACCX(3)*(SH_ACCX(6) + 2*q1*q3) - SH_ACCX(4)*(SH_ACCX(7) - 2*q2*q3) + vd*(SH_ACCX(5) + q0^2 - q1^2 - q2^2)) + Kaccx*OP_l_6_c_5_r_*(SH_ACCX(6) - 2*q1*q3)) + Kaccx*SH_ACCX(1)*(Kaccx*OP_l_23_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_5_c_23_r_*SH_ACCX(2) - Kaccx*OP_l_4_c_23_r_*SH_ACCX(1) + Kaccx*OP_l_24_c_23_r_*SH_ACCX(2) + Kaccx*OP_l_3_c_23_r_*(SH_ACCX(3)*(2*q0*q3 - 2*q1*q2) + SH_ACCX(4)*(SH_ACCX(5) - q0^2 + q1^2 - q2^2) - vd*(SH_ACCX(7) + 2*q2*q3)) + Kaccx*OP_l_2_c_23_r_*(SH_ACCX(3)*(SH_ACCX(6) + 2*q1*q3) - SH_ACCX(4)*(SH_ACCX(7) - 2*q2*q3) + vd*(SH_ACCX(5) + q0^2 - q1^2 - q2^2)) + Kaccx*OP_l_6_c_23_r_*(SH_ACCX(6) - 2*q1*q3)) + Kaccx*SH_ACCX(2)*(Kaccx*OP_l_23_c_24_r_*SH_ACCX(1) - Kaccx*OP_l_5_c_24_r_*SH_ACCX(2) - Kaccx*OP_l_4_c_24_r_*SH_ACCX(1) + Kaccx*OP_l_24_c_24_r_*SH_ACCX(2) + Kaccx*OP_l_3_c_24_r_*(SH_ACCX(3)*(2*q0*q3 - 2*q1*q2) + SH_ACCX(4)*(SH_ACCX(5) - q0^2 + q1^2 - q2^2) - vd*(SH_ACCX(7) + 2*q2*q3)) + Kaccx*OP_l_2_c_24_r_*(SH_ACCX(3)*(SH_ACCX(6) + 2*q1*q3) - SH_ACCX(4)*(SH_ACCX(7) - 2*q2*q3) + vd*(SH_ACCX(5) + q0^2 - q1^2 - q2^2)) + Kaccx*OP_l_6_c_24_r_*(SH_ACCX(6) - 2*q1*q3)) + Kaccx*(SH_ACCX(3)*(2*q0*q3 - 2*q1*q2) + SH_ACCX(4)*(SH_ACCX(5) - q0^2 + q1^2 - q2^2) - vd*(SH_ACCX(7) + 2*q2*q3))*(Kaccx*OP_l_23_c_3_r_*SH_ACCX(1) - Kaccx*OP_l_5_c_3_r_*SH_ACCX(2) - Kaccx*OP_l_4_c_3_r_*SH_ACCX(1) + Kaccx*OP_l_24_c_3_r_*SH_ACCX(2) + Kaccx*OP_l_3_c_3_r_*(SH_ACCX(3)*(2*q0*q3 - 2*q1*q2) + SH_ACCX(4)*(SH_ACCX(5) - q0^2 + q1^2 - q2^2) - vd*(SH_ACCX(7) + 2*q2*q3)) + Kaccx*OP_l_2_c_3_r_*(SH_ACCX(3)*(SH_ACCX(6) + 2*q1*q3) - SH_ACCX(4)*(SH_ACCX(7) - 2*q2*q3) + vd*(SH_ACCX(5) + q0^2 - q1^2 - q2^2)) + Kaccx*OP_l_6_c_3_r_*(SH_ACCX(6) - 2*q1*q3)) + Kaccx*(SH_ACCX(3)*(SH_ACCX(6) + 2*q1*q3) - SH_ACCX(4)*(SH_ACCX(7) - 2*q2*q3) + vd*(SH_ACCX(5) + q0^2 - q1^2 - q2^2))*(Kaccx*OP_l_23_c_2_r_*SH_ACCX(1) - Kaccx*OP_l_5_c_2_r_*SH_ACCX(2) - Kaccx*OP_l_4_c_2_r_*SH_ACCX(1) + Kaccx*OP_l_24_c_2_r_*SH_ACCX(2) + Kaccx*OP_l_3_c_2_r_*(SH_ACCX(3)*(2*q0*q3 - 2*q1*q2) + SH_ACCX(4)*(SH_ACCX(5) - q0^2 + q1^2 - q2^2) - vd*(SH_ACCX(7) + 2*q2*q3)) + Kaccx*OP_l_2_c_2_r_*(SH_ACCX(3)*(SH_ACCX(6) + 2*q1*q3) - SH_ACCX(4)*(SH_ACCX(7) - 2*q2*q3) + vd*(SH_ACCX(5) + q0^2 - q1^2 - q2^2)) + Kaccx*OP_l_6_c_2_r_*(SH_ACCX(6) - 2*q1*q3)) + Kaccx*(SH_ACCX(6) - 2*q1*q3)*(Kaccx*OP_l_23_c_6_r_*SH_ACCX(1) - Kaccx*OP_l_5_c_6_r_*SH_ACCX(2) - Kaccx*OP_l_4_c_6_r_*SH_ACCX(1) + Kaccx*OP_l_24_c_6_r_*SH_ACCX(2) + Kaccx*OP_l_3_c_6_r_*(SH_ACCX(3)*(2*q0*q3 - 2*q1*q2) + SH_ACCX(4)*(SH_ACCX(5) - q0^2 + q1^2 - q2^2) - vd*(SH_ACCX(7) + 2*q2*q3)) + Kaccx*OP_l_2_c_6_r_*(SH_ACCX(3)*(SH_ACCX(6) + 2*q1*q3) - SH_ACCX(4)*(SH_ACCX(7) - 2*q2*q3) + vd*(SH_ACCX(5) + q0^2 - q1^2 - q2^2)) + Kaccx*OP_l_6_c_6_r_*(SH_ACCX(6) - 2*q1*q3))); +SK_ACCX(2) = SH_ACCX(3)*(2*q0*q3 - 2*q1*q2) + SH_ACCX(4)*(SH_ACCX(5) - q0^2 + q1^2 - q2^2) - vd*(SH_ACCX(7) + 2*q2*q3); +SK_ACCX(3) = SH_ACCX(3)*(SH_ACCX(6) + 2*q1*q3) - SH_ACCX(4)*(SH_ACCX(7) - 2*q2*q3) + vd*(SH_ACCX(5) + q0^2 - q1^2 - q2^2); +SK_ACCX(4) = SH_ACCX(6) - 2*q1*q3; +SK_ACCX(5) = SH_ACCX(2); + + +Kfusion = zeros(24,1); +Kfusion = zeros(1,1); +Kfusion(1) = SK_ACCX(1)*(Kaccx*OP_l_1_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_1_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_1_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_1_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_1_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_1_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_1_c_24_r_*SK_ACCX(5)); +Kfusion(2) = SK_ACCX(1)*(Kaccx*OP_l_2_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_2_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_2_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_2_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_2_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_2_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_2_c_24_r_*SK_ACCX(5)); +Kfusion(3) = SK_ACCX(1)*(Kaccx*OP_l_3_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_3_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_3_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_3_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_3_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_3_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_3_c_24_r_*SK_ACCX(5)); +Kfusion(4) = SK_ACCX(1)*(Kaccx*OP_l_4_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_4_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_4_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_4_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_4_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_4_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_4_c_24_r_*SK_ACCX(5)); +Kfusion(5) = SK_ACCX(1)*(Kaccx*OP_l_5_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_5_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_5_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_5_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_5_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_5_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_5_c_24_r_*SK_ACCX(5)); +Kfusion(6) = SK_ACCX(1)*(Kaccx*OP_l_6_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_6_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_6_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_6_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_6_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_6_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_6_c_24_r_*SK_ACCX(5)); +Kfusion(7) = SK_ACCX(1)*(Kaccx*OP_l_7_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_7_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_7_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_7_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_7_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_7_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_7_c_24_r_*SK_ACCX(5)); +Kfusion(8) = SK_ACCX(1)*(Kaccx*OP_l_8_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_8_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_8_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_8_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_8_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_8_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_8_c_24_r_*SK_ACCX(5)); +Kfusion(9) = SK_ACCX(1)*(Kaccx*OP_l_9_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_9_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_9_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_9_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_9_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_9_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_9_c_24_r_*SK_ACCX(5)); +Kfusion(10) = SK_ACCX(1)*(Kaccx*OP_l_10_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_10_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_10_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_10_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_10_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_10_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_10_c_24_r_*SK_ACCX(5)); +Kfusion(11) = SK_ACCX(1)*(Kaccx*OP_l_11_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_11_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_11_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_11_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_11_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_11_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_11_c_24_r_*SK_ACCX(5)); +Kfusion(12) = SK_ACCX(1)*(Kaccx*OP_l_12_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_12_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_12_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_12_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_12_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_12_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_12_c_24_r_*SK_ACCX(5)); +Kfusion(13) = SK_ACCX(1)*(Kaccx*OP_l_13_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_13_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_13_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_13_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_13_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_13_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_13_c_24_r_*SK_ACCX(5)); +Kfusion(14) = SK_ACCX(1)*(Kaccx*OP_l_14_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_14_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_14_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_14_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_14_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_14_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_14_c_24_r_*SK_ACCX(5)); +Kfusion(15) = SK_ACCX(1)*(Kaccx*OP_l_15_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_15_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_15_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_15_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_15_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_15_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_15_c_24_r_*SK_ACCX(5)); +Kfusion(16) = SK_ACCX(1)*(Kaccx*OP_l_16_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_16_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_16_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_16_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_16_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_16_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_16_c_24_r_*SK_ACCX(5)); +Kfusion(17) = SK_ACCX(1)*(Kaccx*OP_l_17_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_17_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_17_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_17_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_17_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_17_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_17_c_24_r_*SK_ACCX(5)); +Kfusion(18) = SK_ACCX(1)*(Kaccx*OP_l_18_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_18_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_18_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_18_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_18_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_18_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_18_c_24_r_*SK_ACCX(5)); +Kfusion(19) = SK_ACCX(1)*(Kaccx*OP_l_19_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_19_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_19_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_19_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_19_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_19_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_19_c_24_r_*SK_ACCX(5)); +Kfusion(20) = SK_ACCX(1)*(Kaccx*OP_l_20_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_20_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_20_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_20_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_20_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_20_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_20_c_24_r_*SK_ACCX(5)); +Kfusion(21) = SK_ACCX(1)*(Kaccx*OP_l_21_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_21_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_21_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_21_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_21_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_21_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_21_c_24_r_*SK_ACCX(5)); +Kfusion(22) = SK_ACCX(1)*(Kaccx*OP_l_22_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_22_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_22_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_22_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_22_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_22_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_22_c_24_r_*SK_ACCX(5)); +Kfusion(23) = SK_ACCX(1)*(Kaccx*OP_l_23_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_23_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_23_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_23_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_23_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_23_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_23_c_24_r_*SK_ACCX(5)); +Kfusion(24) = SK_ACCX(1)*(Kaccx*OP_l_24_c_23_r_*SH_ACCX(1) - Kaccx*OP_l_24_c_4_r_*SH_ACCX(1) + Kaccx*OP_l_24_c_2_r_*SK_ACCX(3) + Kaccx*OP_l_24_c_3_r_*SK_ACCX(2) - Kaccx*OP_l_24_c_5_r_*SK_ACCX(5) + Kaccx*OP_l_24_c_6_r_*SK_ACCX(4) + Kaccx*OP_l_24_c_24_r_*SK_ACCX(5)); + + +SH_ACCY = zeros(6,1); +SH_ACCY(1) = q0^2 - q1^2 + q2^2 - q3^2; +SH_ACCY(2) = ve - vwe; +SH_ACCY(3) = vn - vwn; +SH_ACCY(4) = q1^2; +SH_ACCY(5) = 2*q0*q1; +SH_ACCY(6) = 2*q0*q3; + +H_ACCY = zeros(1,24); +H_ACCY(1,1) = Kaccy*(SH_ACCY(2)*(SH_ACCY(5) - 2*q2*q3) - SH_ACCY(3)*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY(4) - q0^2 + q2^2 - q3^2)); +H_ACCY(1,3) = Kaccy*(SH_ACCY(3)*(SH_ACCY(4) + q0^2 - q2^2 - q3^2) + SH_ACCY(2)*(SH_ACCY(6) + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)); +H_ACCY(1,4) = Kaccy*(SH_ACCY(6) - 2*q1*q2); +H_ACCY(1,5) = -Kaccy*SH_ACCY(1); +H_ACCY(1,6) = -Kaccy*(SH_ACCY(5) + 2*q2*q3); +H_ACCY(1,23) = -2*Kaccy*(q0*q3 - q1*q2); +H_ACCY(1,24) = Kaccy*SH_ACCY(1); + + +SK_ACCY = zeros(7,1); +SK_ACCY(1) = 1/(R_ACC - Kaccy*SH_ACCY(1)*(Kaccy*OP_l_24_c_5_r_*SH_ACCY(1) - Kaccy*OP_l_5_c_5_r_*SH_ACCY(1) + Kaccy*OP_l_1_c_5_r_*(SH_ACCY(2)*(SH_ACCY(5) - 2*q2*q3) - SH_ACCY(3)*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY(4) - q0^2 + q2^2 - q3^2)) + Kaccy*OP_l_3_c_5_r_*(SH_ACCY(3)*(SH_ACCY(4) + q0^2 - q2^2 - q3^2) + SH_ACCY(2)*(SH_ACCY(6) + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*OP_l_23_c_5_r_*(q0*q3 - q1*q2) + Kaccy*OP_l_4_c_5_r_*(SH_ACCY(6) - 2*q1*q2) - Kaccy*OP_l_6_c_5_r_*(SH_ACCY(5) + 2*q2*q3)) + Kaccy*SH_ACCY(1)*(Kaccy*OP_l_24_c_24_r_*SH_ACCY(1) - Kaccy*OP_l_5_c_24_r_*SH_ACCY(1) + Kaccy*OP_l_1_c_24_r_*(SH_ACCY(2)*(SH_ACCY(5) - 2*q2*q3) - SH_ACCY(3)*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY(4) - q0^2 + q2^2 - q3^2)) + Kaccy*OP_l_3_c_24_r_*(SH_ACCY(3)*(SH_ACCY(4) + q0^2 - q2^2 - q3^2) + SH_ACCY(2)*(SH_ACCY(6) + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*OP_l_23_c_24_r_*(q0*q3 - q1*q2) + Kaccy*OP_l_4_c_24_r_*(SH_ACCY(6) - 2*q1*q2) - Kaccy*OP_l_6_c_24_r_*(SH_ACCY(5) + 2*q2*q3)) + Kaccy*(SH_ACCY(2)*(SH_ACCY(5) - 2*q2*q3) - SH_ACCY(3)*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY(4) - q0^2 + q2^2 - q3^2))*(Kaccy*OP_l_24_c_1_r_*SH_ACCY(1) - Kaccy*OP_l_5_c_1_r_*SH_ACCY(1) + Kaccy*OP_l_1_c_1_r_*(SH_ACCY(2)*(SH_ACCY(5) - 2*q2*q3) - SH_ACCY(3)*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY(4) - q0^2 + q2^2 - q3^2)) + Kaccy*OP_l_3_c_1_r_*(SH_ACCY(3)*(SH_ACCY(4) + q0^2 - q2^2 - q3^2) + SH_ACCY(2)*(SH_ACCY(6) + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*OP_l_23_c_1_r_*(q0*q3 - q1*q2) + Kaccy*OP_l_4_c_1_r_*(SH_ACCY(6) - 2*q1*q2) - Kaccy*OP_l_6_c_1_r_*(SH_ACCY(5) + 2*q2*q3)) + Kaccy*(SH_ACCY(3)*(SH_ACCY(4) + q0^2 - q2^2 - q3^2) + SH_ACCY(2)*(SH_ACCY(6) + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3))*(Kaccy*OP_l_24_c_3_r_*SH_ACCY(1) - Kaccy*OP_l_5_c_3_r_*SH_ACCY(1) + Kaccy*OP_l_1_c_3_r_*(SH_ACCY(2)*(SH_ACCY(5) - 2*q2*q3) - SH_ACCY(3)*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY(4) - q0^2 + q2^2 - q3^2)) + Kaccy*OP_l_3_c_3_r_*(SH_ACCY(3)*(SH_ACCY(4) + q0^2 - q2^2 - q3^2) + SH_ACCY(2)*(SH_ACCY(6) + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*OP_l_23_c_3_r_*(q0*q3 - q1*q2) + Kaccy*OP_l_4_c_3_r_*(SH_ACCY(6) - 2*q1*q2) - Kaccy*OP_l_6_c_3_r_*(SH_ACCY(5) + 2*q2*q3)) - 2*Kaccy*(q0*q3 - q1*q2)*(Kaccy*OP_l_24_c_23_r_*SH_ACCY(1) - Kaccy*OP_l_5_c_23_r_*SH_ACCY(1) + Kaccy*OP_l_1_c_23_r_*(SH_ACCY(2)*(SH_ACCY(5) - 2*q2*q3) - SH_ACCY(3)*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY(4) - q0^2 + q2^2 - q3^2)) + Kaccy*OP_l_3_c_23_r_*(SH_ACCY(3)*(SH_ACCY(4) + q0^2 - q2^2 - q3^2) + SH_ACCY(2)*(SH_ACCY(6) + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*OP_l_23_c_23_r_*(q0*q3 - q1*q2) + Kaccy*OP_l_4_c_23_r_*(SH_ACCY(6) - 2*q1*q2) - Kaccy*OP_l_6_c_23_r_*(SH_ACCY(5) + 2*q2*q3)) + Kaccy*(SH_ACCY(6) - 2*q1*q2)*(Kaccy*OP_l_24_c_4_r_*SH_ACCY(1) - Kaccy*OP_l_5_c_4_r_*SH_ACCY(1) + Kaccy*OP_l_1_c_4_r_*(SH_ACCY(2)*(SH_ACCY(5) - 2*q2*q3) - SH_ACCY(3)*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY(4) - q0^2 + q2^2 - q3^2)) + Kaccy*OP_l_3_c_4_r_*(SH_ACCY(3)*(SH_ACCY(4) + q0^2 - q2^2 - q3^2) + SH_ACCY(2)*(SH_ACCY(6) + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*OP_l_23_c_4_r_*(q0*q3 - q1*q2) + Kaccy*OP_l_4_c_4_r_*(SH_ACCY(6) - 2*q1*q2) - Kaccy*OP_l_6_c_4_r_*(SH_ACCY(5) + 2*q2*q3)) - Kaccy*(SH_ACCY(5) + 2*q2*q3)*(Kaccy*OP_l_24_c_6_r_*SH_ACCY(1) - Kaccy*OP_l_5_c_6_r_*SH_ACCY(1) + Kaccy*OP_l_1_c_6_r_*(SH_ACCY(2)*(SH_ACCY(5) - 2*q2*q3) - SH_ACCY(3)*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY(4) - q0^2 + q2^2 - q3^2)) + Kaccy*OP_l_3_c_6_r_*(SH_ACCY(3)*(SH_ACCY(4) + q0^2 - q2^2 - q3^2) + SH_ACCY(2)*(SH_ACCY(6) + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3)) - 2*Kaccy*OP_l_23_c_6_r_*(q0*q3 - q1*q2) + Kaccy*OP_l_4_c_6_r_*(SH_ACCY(6) - 2*q1*q2) - Kaccy*OP_l_6_c_6_r_*(SH_ACCY(5) + 2*q2*q3))); +SK_ACCY(2) = SH_ACCY(3)*(SH_ACCY(4) + q0^2 - q2^2 - q3^2) + SH_ACCY(2)*(SH_ACCY(6) + 2*q1*q2) - 2*vd*(q0*q2 - q1*q3); +SK_ACCY(3) = SH_ACCY(2)*(SH_ACCY(5) - 2*q2*q3) - SH_ACCY(3)*(2*q0*q2 + 2*q1*q3) + vd*(SH_ACCY(4) - q0^2 + q2^2 - q3^2); +SK_ACCY(4) = q0*q3 - q1*q2; +SK_ACCY(5) = SH_ACCY(6) - 2*q1*q2; +SK_ACCY(6) = SH_ACCY(5) + 2*q2*q3; +SK_ACCY(7) = SH_ACCY(1); + + +Kfusion = zeros(24,1); +Kfusion = zeros(1,1); +Kfusion(1) = SK_ACCY(1)*(Kaccy*OP_l_1_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_1_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_1_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_1_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_1_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_1_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_1_c_24_r_*SK_ACCY(7)); +Kfusion(2) = SK_ACCY(1)*(Kaccy*OP_l_2_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_2_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_2_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_2_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_2_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_2_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_2_c_24_r_*SK_ACCY(7)); +Kfusion(3) = SK_ACCY(1)*(Kaccy*OP_l_3_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_3_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_3_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_3_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_3_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_3_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_3_c_24_r_*SK_ACCY(7)); +Kfusion(4) = SK_ACCY(1)*(Kaccy*OP_l_4_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_4_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_4_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_4_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_4_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_4_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_4_c_24_r_*SK_ACCY(7)); +Kfusion(5) = SK_ACCY(1)*(Kaccy*OP_l_5_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_5_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_5_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_5_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_5_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_5_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_5_c_24_r_*SK_ACCY(7)); +Kfusion(6) = SK_ACCY(1)*(Kaccy*OP_l_6_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_6_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_6_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_6_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_6_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_6_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_6_c_24_r_*SK_ACCY(7)); +Kfusion(7) = SK_ACCY(1)*(Kaccy*OP_l_7_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_7_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_7_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_7_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_7_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_7_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_7_c_24_r_*SK_ACCY(7)); +Kfusion(8) = SK_ACCY(1)*(Kaccy*OP_l_8_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_8_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_8_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_8_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_8_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_8_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_8_c_24_r_*SK_ACCY(7)); +Kfusion(9) = SK_ACCY(1)*(Kaccy*OP_l_9_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_9_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_9_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_9_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_9_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_9_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_9_c_24_r_*SK_ACCY(7)); +Kfusion(10) = SK_ACCY(1)*(Kaccy*OP_l_10_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_10_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_10_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_10_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_10_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_10_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_10_c_24_r_*SK_ACCY(7)); +Kfusion(11) = SK_ACCY(1)*(Kaccy*OP_l_11_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_11_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_11_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_11_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_11_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_11_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_11_c_24_r_*SK_ACCY(7)); +Kfusion(12) = SK_ACCY(1)*(Kaccy*OP_l_12_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_12_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_12_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_12_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_12_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_12_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_12_c_24_r_*SK_ACCY(7)); +Kfusion(13) = SK_ACCY(1)*(Kaccy*OP_l_13_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_13_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_13_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_13_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_13_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_13_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_13_c_24_r_*SK_ACCY(7)); +Kfusion(14) = SK_ACCY(1)*(Kaccy*OP_l_14_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_14_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_14_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_14_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_14_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_14_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_14_c_24_r_*SK_ACCY(7)); +Kfusion(15) = SK_ACCY(1)*(Kaccy*OP_l_15_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_15_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_15_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_15_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_15_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_15_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_15_c_24_r_*SK_ACCY(7)); +Kfusion(16) = SK_ACCY(1)*(Kaccy*OP_l_16_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_16_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_16_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_16_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_16_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_16_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_16_c_24_r_*SK_ACCY(7)); +Kfusion(17) = SK_ACCY(1)*(Kaccy*OP_l_17_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_17_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_17_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_17_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_17_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_17_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_17_c_24_r_*SK_ACCY(7)); +Kfusion(18) = SK_ACCY(1)*(Kaccy*OP_l_18_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_18_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_18_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_18_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_18_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_18_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_18_c_24_r_*SK_ACCY(7)); +Kfusion(19) = SK_ACCY(1)*(Kaccy*OP_l_19_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_19_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_19_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_19_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_19_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_19_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_19_c_24_r_*SK_ACCY(7)); +Kfusion(20) = SK_ACCY(1)*(Kaccy*OP_l_20_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_20_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_20_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_20_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_20_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_20_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_20_c_24_r_*SK_ACCY(7)); +Kfusion(21) = SK_ACCY(1)*(Kaccy*OP_l_21_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_21_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_21_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_21_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_21_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_21_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_21_c_24_r_*SK_ACCY(7)); +Kfusion(22) = SK_ACCY(1)*(Kaccy*OP_l_22_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_22_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_22_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_22_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_22_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_22_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_22_c_24_r_*SK_ACCY(7)); +Kfusion(23) = SK_ACCY(1)*(Kaccy*OP_l_23_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_23_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_23_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_23_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_23_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_23_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_23_c_24_r_*SK_ACCY(7)); +Kfusion(24) = SK_ACCY(1)*(Kaccy*OP_l_24_c_1_r_*SK_ACCY(3) + Kaccy*OP_l_24_c_3_r_*SK_ACCY(2) + Kaccy*OP_l_24_c_4_r_*SK_ACCY(5) - Kaccy*OP_l_24_c_5_r_*SK_ACCY(7) - Kaccy*OP_l_24_c_6_r_*SK_ACCY(6) - 2*Kaccy*OP_l_24_c_23_r_*SK_ACCY(4) + Kaccy*OP_l_24_c_24_r_*SK_ACCY(7)); + diff --git a/matlab/scripts/Inertial Nav EKF/calcH_YAW312.c b/matlab/scripts/Inertial Nav EKF/calcH_YAW312.c new file mode 100644 index 0000000000..19868e1a17 --- /dev/null +++ b/matlab/scripts/Inertial Nav EKF/calcH_YAW312.c @@ -0,0 +1,16 @@ +t2 = q0*q0; +t3 = q1*q1; +t4 = q2*q2; +t5 = q3*q3; +t6 = t2-t3+t4-t5; +t7 = q0*q3*2.0; +t10 = q1*q2*2.0; +t8 = t7-t10; +t9 = 1.0/(t6*t6); +t11 = t8*t8; +t12 = t9*t11; +t13 = t12+1.0; +t14 = 1.0/t13; +t15 = 1.0/t6; +A0[0][0] = -t14*(t15*(q0*q2*2.0+q1*q3*2.0)-t8*t9*(q0*q1*2.0-q2*q3*2.0)); +A0[0][2] = t14*(t15*(t2+t3-t4-t5)+t8*t9*(t7+t10)); diff --git a/matlab/scripts/Inertial Nav EKF/calcH_YAW321.c b/matlab/scripts/Inertial Nav EKF/calcH_YAW321.c new file mode 100644 index 0000000000..1e303866cb --- /dev/null +++ b/matlab/scripts/Inertial Nav EKF/calcH_YAW321.c @@ -0,0 +1,16 @@ +t2 = q0*q0; +t3 = q1*q1; +t4 = q2*q2; +t5 = q3*q3; +t6 = t2+t3-t4-t5; +t7 = q0*q3*2.0; +t8 = q1*q2*2.0; +t9 = t7+t8; +t10 = 1.0/(t6*t6); +t11 = t9*t9; +t12 = t10*t11; +t13 = t12+1.0; +t14 = 1.0/t13; +t15 = 1.0/t6; +A0[0][1] = t14*(t15*(q0*q1*2.0-q2*q3*2.0)+t9*t10*(q0*q2*2.0+q1*q3*2.0)); +A0[0][2] = t14*(t15*(t2-t3+t4-t5)+t9*t10*(t7-t8)); diff --git a/matlab/scripts/Inertial Nav EKF/calcMAGD.c b/matlab/scripts/Inertial Nav EKF/calcMAGD.c new file mode 100644 index 0000000000..a9d71649f0 --- /dev/null +++ b/matlab/scripts/Inertial Nav EKF/calcMAGD.c @@ -0,0 +1,46 @@ +t2 = magE*magE; +t3 = magN*magN; +t4 = t2+t3; +t5 = P[16][16]*t2; +t6 = P[17][17]*t3; +t7 = t2*t2; +t8 = R_DECL*t7; +t9 = t3*t3; +t10 = R_DECL*t9; +t11 = R_DECL*t2*t3*2.0; +t14 = P[16][17]*magE*magN; +t15 = P[17][16]*magE*magN; +t12 = t5+t6+t8+t10+t11-t14-t15; +t13 = 1.0/t12; +t16 = conjugate(magE); +t17 = conjugate(magN); +t18 = t16*t16; +t19 = t17*t17; +t20 = t18+t19; +t21 = 1.0/t20; +A0[0][0] = -t4*t13*(P[0][16]*magE-P[0][17]*magN); +A0[1][0] = -t4*t13*(P[1][16]*magE-P[1][17]*magN); +A0[2][0] = -t4*t13*(P[2][16]*magE-P[2][17]*magN); +A0[3][0] = -t4*t13*(P[3][16]*magE-P[3][17]*magN); +A0[4][0] = -t4*t13*(P[4][16]*magE-P[4][17]*magN); +A0[5][0] = -t4*t13*(P[5][16]*magE-P[5][17]*magN); +A0[6][0] = -t4*t13*(P[6][16]*magE-P[6][17]*magN); +A0[7][0] = -t4*t13*(P[7][16]*magE-P[7][17]*magN); +A0[8][0] = -t4*t13*(P[8][16]*magE-P[8][17]*magN); +A0[9][0] = -t4*t13*(P[9][16]*magE-P[9][17]*magN); +A0[10][0] = -t4*t13*(P[10][16]*magE-P[10][17]*magN); +A0[11][0] = -t4*t13*(P[11][16]*magE-P[11][17]*magN); +A0[12][0] = -t4*t13*(P[12][16]*magE-P[12][17]*magN); +A0[13][0] = -t4*t13*(P[13][16]*magE-P[13][17]*magN); +A0[14][0] = -t4*t13*(P[14][16]*magE-P[14][17]*magN); +A0[15][0] = -t4*t13*(P[15][16]*magE-P[15][17]*magN); +A0[16][0] = -t4*t13*(P[16][16]*magE-P[16][17]*magN); +A0[16][1] = -t16*t21; +A0[17][0] = -t4*t13*(P[17][16]*magE-P[17][17]*magN); +A0[17][1] = t17*t21; +A0[18][0] = -t4*t13*(P[18][16]*magE-P[18][17]*magN); +A0[19][0] = -t4*t13*(P[19][16]*magE-P[19][17]*magN); +A0[20][0] = -t4*t13*(P[20][16]*magE-P[20][17]*magN); +A0[21][0] = -t4*t13*(P[21][16]*magE-P[21][17]*magN); +A0[22][0] = -t4*t13*(P[22][16]*magE-P[22][17]*magN); +A0[23][0] = -t4*t13*(P[23][16]*magE-P[23][17]*magN); diff --git a/matlab/scripts/Inertial Nav EKF/temp1.mat b/matlab/scripts/Inertial Nav EKF/temp1.mat new file mode 100644 index 0000000000000000000000000000000000000000..804be63a426f48efeae2bd63faea3f6c0fb917b9 GIT binary patch literal 1310 zcmeZu4DoSvQZUssQ1EpO(M`+DN!3vZ$Vn_o%P-2c0*X0%nwjV*I2WZRmZYXASdk8CjW_S(%zE7#SFvDG&>^85tme(bJb7$npi^iaC#y6B05QlFSsI zF(f&%aU`^SD*n{nEaV-eEFl>oQ8V{%v!vt<$u8|;$sY|xavr}b7XFG@SYx(AvL~QW zAfD;ap3^NV?1ve47;~_I4D};ms3h@*CNnean8U#aGW9hx$f;*Ty(cYp6L9VNcBbMX 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