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8 lines
325 B
8 lines
325 B
t2 = 1.0/range; |
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A0[0][0] = -t2*(q2*vd*-2.0+q3*ve*2.0+q0*vn*2.0); |
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A0[0][1] = -t2*(q3*vd*2.0+q2*ve*2.0+q1*vn*2.0); |
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A0[0][2] = t2*(q0*vd*2.0-q1*ve*2.0+q2*vn*2.0); |
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A0[0][3] = -t2*(q1*vd*2.0+q0*ve*2.0-q3*vn*2.0); |
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A0[0][4] = -t2*(q0*q0+q1*q1-q2*q2-q3*q3); |
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A0[0][5] = -t2*(q0*q3*2.0+q1*q2*2.0); |
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A0[0][6] = t2*(q0*q2*2.0-q1*q3*2.0);
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