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38 lines
753 B
38 lines
753 B
t2 = sin(ant_yaw); |
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t3 = cos(ant_yaw); |
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t4 = q0*q3*2.0; |
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t5 = q0*q0; |
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t6 = q1*q1; |
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t7 = q2*q2; |
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t8 = q3*q3; |
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t9 = q1*q2*2.0; |
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t10 = t5+t6-t7-t8; |
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t11 = t3*t10; |
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t12 = t4+t9; |
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t13 = t3*t12; |
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t14 = t5-t6+t7-t8; |
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t15 = t2*t14; |
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t16 = t13+t15; |
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t17 = t4-t9; |
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t19 = t2*t17; |
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t20 = t11-t19; |
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t18 = 1.0/(t20*t20); |
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t21 = t16*t16; |
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t22 = 1.0/pow(t11-t19][2.0); |
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t23 = q1*t3*2.0; |
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t24 = q2*t2*2.0; |
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t25 = t23+t24; |
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t26 = 1.0/t20; |
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t27 = q1*t2*2.0; |
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t28 = t21*t22; |
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t29 = t28+1.0; |
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t30 = 1.0/t29; |
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t31 = q0*t3*2.0; |
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t32 = t31-q3*t2*2.0; |
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t33 = q3*t3*2.0; |
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t34 = q0*t2*2.0; |
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t35 = t33+t34; |
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A0[0][0] = (t35/(t11-t2*(t4-q1*q2*2.0))-t16*t18*t32)/(t18*t21+1.0); |
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A0[0][1] = -t30*(t26*(t27-q2*t3*2.0)+t16*t22*t25); |
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A0[0][2] = t30*(t25*t26-t16*t22*(t27-q2*t3*2.0)); |
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A0[0][3] = t30*(t26*t32+t16*t22*t35);
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