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dquat2mat_maxima_generated.cpp File Reference
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Functions

void compute_dq_dR_w (Eigen::Matrix< double, 3, 9 > &dq_dR_w, const double &qw, const double &r00, const double &r10, const double &r20, const double &r01, const double &r11, const double &r21, const double &r02, const double &r12, const double &r22)
 
void compute_dq_dR_x (Eigen::Matrix< double, 3, 9 > &dq_dR_x, const double &qx, const double &r00, const double &r10, const double &r20, const double &r01, const double &r11, const double &r21, const double &r02, const double &r12, const double &r22)
 
void compute_dq_dR_y (Eigen::Matrix< double, 3, 9 > &dq_dR_y, const double &qy, const double &r00, const double &r10, const double &r20, const double &r01, const double &r11, const double &r21, const double &r02, const double &r12, const double &r22)
 
void compute_dq_dR_z (Eigen::Matrix< double, 3, 9 > &dq_dR_z, const double &qz, const double &r00, const double &r10, const double &r20, const double &r01, const double &r11, const double &r21, const double &r02, const double &r12, const double &r22)
 
void compute_dR_dq (Eigen::Matrix< double, 9, 3 > &dR_dq, const double &qx, const double &qy, const double &qz, const double &qw)
 

Function Documentation

◆ compute_dq_dR_w()

void compute_dq_dR_w ( Eigen::Matrix< double, 3, 9 > &  dq_dR_w,
const double &  qw,
const double &  r00,
const double &  r10,
const double &  r20,
const double &  r01,
const double &  r11,
const double &  r21,
const double &  r02,
const double &  r12,
const double &  r22 
)

Definition at line 27 of file dquat2mat_maxima_generated.cpp.

30 {
31 (void)r00;
32 (void)r11;
33 (void)r22;
34 double _aux1 = 1 / pow(qw, 3);
35 double _aux2 = -0.03125 * (r21 - r12) * _aux1;
36 double _aux3 = 1 / qw;
37 double _aux4 = 0.25 * _aux3;
38 double _aux5 = -0.25 * _aux3;
39 double _aux6 = 0.03125 * (r20 - r02) * _aux1;
40 double _aux7 = -0.03125 * (r10 - r01) * _aux1;
41 dq_dR_w(0, 0) = _aux2;
42 dq_dR_w(0, 1) = 0;
43 dq_dR_w(0, 2) = 0;
44 dq_dR_w(0, 3) = 0;
45 dq_dR_w(0, 4) = _aux2;
46 dq_dR_w(0, 5) = _aux4;
47 dq_dR_w(0, 6) = 0;
48 dq_dR_w(0, 7) = _aux5;
49 dq_dR_w(0, 8) = _aux2;
50 dq_dR_w(1, 0) = _aux6;
51 dq_dR_w(1, 1) = 0;
52 dq_dR_w(1, 2) = _aux5;
53 dq_dR_w(1, 3) = 0;
54 dq_dR_w(1, 4) = _aux6;
55 dq_dR_w(1, 5) = 0;
56 dq_dR_w(1, 6) = _aux4;
57 dq_dR_w(1, 7) = 0;
58 dq_dR_w(1, 8) = _aux6;
59 dq_dR_w(2, 0) = _aux7;
60 dq_dR_w(2, 1) = _aux4;
61 dq_dR_w(2, 2) = 0;
62 dq_dR_w(2, 3) = _aux5;
63 dq_dR_w(2, 4) = _aux7;
64 dq_dR_w(2, 5) = 0;
65 dq_dR_w(2, 6) = 0;
66 dq_dR_w(2, 7) = 0;
67 dq_dR_w(2, 8) = _aux7;
68}
g2o::ceres::pow
Jet< T, N > pow(const Jet< T, N > &f, double g)
Definition jet.h:743

Referenced by g2o::internal::compute_dq_dR().

◆ compute_dq_dR_x()

void compute_dq_dR_x ( Eigen::Matrix< double, 3, 9 > &  dq_dR_x,
const double &  qx,
const double &  r00,
const double &  r10,
const double &  r20,
const double &  r01,
const double &  r11,
const double &  r21,
const double &  r02,
const double &  r12,
const double &  r22 
)

Definition at line 69 of file dquat2mat_maxima_generated.cpp.

72 {
73 (void)r00;
74 (void)r11;
75 (void)r21;
76 (void)r12;
77 (void)r22;
78 double _aux1 = 1 / qx;
79 double _aux2 = -0.125 * _aux1;
80 double _aux3 = 1 / pow(qx, 3);
81 double _aux4 = r10 + r01;
82 double _aux5 = 0.25 * _aux1;
83 double _aux6 = 0.03125 * _aux3 * _aux4;
84 double _aux7 = r20 + r02;
85 double _aux8 = 0.03125 * _aux3 * _aux7;
86 dq_dR_x(0, 0) = 0.125 * _aux1;
87 dq_dR_x(0, 1) = 0;
88 dq_dR_x(0, 2) = 0;
89 dq_dR_x(0, 3) = 0;
90 dq_dR_x(0, 4) = _aux2;
91 dq_dR_x(0, 5) = 0;
92 dq_dR_x(0, 6) = 0;
93 dq_dR_x(0, 7) = 0;
94 dq_dR_x(0, 8) = _aux2;
95 dq_dR_x(1, 0) = -0.03125 * _aux3 * _aux4;
96 dq_dR_x(1, 1) = _aux5;
97 dq_dR_x(1, 2) = 0;
98 dq_dR_x(1, 3) = _aux5;
99 dq_dR_x(1, 4) = _aux6;
100 dq_dR_x(1, 5) = 0;
101 dq_dR_x(1, 6) = 0;
102 dq_dR_x(1, 7) = 0;
103 dq_dR_x(1, 8) = _aux6;
104 dq_dR_x(2, 0) = -0.03125 * _aux3 * _aux7;
105 dq_dR_x(2, 1) = 0;
106 dq_dR_x(2, 2) = _aux5;
107 dq_dR_x(2, 3) = 0;
108 dq_dR_x(2, 4) = _aux8;
109 dq_dR_x(2, 5) = 0;
110 dq_dR_x(2, 6) = _aux5;
111 dq_dR_x(2, 7) = 0;
112 dq_dR_x(2, 8) = _aux8;
113}

Referenced by g2o::internal::compute_dq_dR().

◆ compute_dq_dR_y()

void compute_dq_dR_y ( Eigen::Matrix< double, 3, 9 > &  dq_dR_y,
const double &  qy,
const double &  r00,
const double &  r10,
const double &  r20,
const double &  r01,
const double &  r11,
const double &  r21,
const double &  r02,
const double &  r12,
const double &  r22 
)

Definition at line 114 of file dquat2mat_maxima_generated.cpp.

117 {
118 (void)r00;
119 (void)r20;
120 (void)r11;
121 (void)r02;
122 (void)r22;
123 double _aux1 = 1 / pow(qy, 3);
124 double _aux2 = r10 + r01;
125 double _aux3 = 0.03125 * _aux1 * _aux2;
126 double _aux4 = 1 / qy;
127 double _aux5 = 0.25 * _aux4;
128 double _aux6 = -0.125 * _aux4;
129 double _aux7 = r21 + r12;
130 double _aux8 = 0.03125 * _aux1 * _aux7;
131 dq_dR_y(0, 0) = _aux3;
132 dq_dR_y(0, 1) = _aux5;
133 dq_dR_y(0, 2) = 0;
134 dq_dR_y(0, 3) = _aux5;
135 dq_dR_y(0, 4) = -0.03125 * _aux1 * _aux2;
136 dq_dR_y(0, 5) = 0;
137 dq_dR_y(0, 6) = 0;
138 dq_dR_y(0, 7) = 0;
139 dq_dR_y(0, 8) = _aux3;
140 dq_dR_y(1, 0) = _aux6;
141 dq_dR_y(1, 1) = 0;
142 dq_dR_y(1, 2) = 0;
143 dq_dR_y(1, 3) = 0;
144 dq_dR_y(1, 4) = 0.125 * _aux4;
145 dq_dR_y(1, 5) = 0;
146 dq_dR_y(1, 6) = 0;
147 dq_dR_y(1, 7) = 0;
148 dq_dR_y(1, 8) = _aux6;
149 dq_dR_y(2, 0) = _aux8;
150 dq_dR_y(2, 1) = 0;
151 dq_dR_y(2, 2) = 0;
152 dq_dR_y(2, 3) = 0;
153 dq_dR_y(2, 4) = -0.03125 * _aux1 * _aux7;
154 dq_dR_y(2, 5) = _aux5;
155 dq_dR_y(2, 6) = 0;
156 dq_dR_y(2, 7) = _aux5;
157 dq_dR_y(2, 8) = _aux8;
158}

Referenced by g2o::internal::compute_dq_dR().

◆ compute_dq_dR_z()

void compute_dq_dR_z ( Eigen::Matrix< double, 3, 9 > &  dq_dR_z,
const double &  qz,
const double &  r00,
const double &  r10,
const double &  r20,
const double &  r01,
const double &  r11,
const double &  r21,
const double &  r02,
const double &  r12,
const double &  r22 
)

Definition at line 159 of file dquat2mat_maxima_generated.cpp.

162 {
163 (void)r00;
164 (void)r10;
165 (void)r01;
166 (void)r11;
167 (void)r22;
168 double _aux1 = 1 / pow(qz, 3);
169 double _aux2 = r20 + r02;
170 double _aux3 = 0.03125 * _aux1 * _aux2;
171 double _aux4 = 1 / qz;
172 double _aux5 = 0.25 * _aux4;
173 double _aux6 = r21 + r12;
174 double _aux7 = 0.03125 * _aux1 * _aux6;
175 double _aux8 = -0.125 * _aux4;
176 dq_dR_z(0, 0) = _aux3;
177 dq_dR_z(0, 1) = 0;
178 dq_dR_z(0, 2) = _aux5;
179 dq_dR_z(0, 3) = 0;
180 dq_dR_z(0, 4) = _aux3;
181 dq_dR_z(0, 5) = 0;
182 dq_dR_z(0, 6) = _aux5;
183 dq_dR_z(0, 7) = 0;
184 dq_dR_z(0, 8) = -0.03125 * _aux1 * _aux2;
185 dq_dR_z(1, 0) = _aux7;
186 dq_dR_z(1, 1) = 0;
187 dq_dR_z(1, 2) = 0;
188 dq_dR_z(1, 3) = 0;
189 dq_dR_z(1, 4) = _aux7;
190 dq_dR_z(1, 5) = _aux5;
191 dq_dR_z(1, 6) = 0;
192 dq_dR_z(1, 7) = _aux5;
193 dq_dR_z(1, 8) = -0.03125 * _aux1 * _aux6;
194 dq_dR_z(2, 0) = _aux8;
195 dq_dR_z(2, 1) = 0;
196 dq_dR_z(2, 2) = 0;
197 dq_dR_z(2, 3) = 0;
198 dq_dR_z(2, 4) = _aux8;
199 dq_dR_z(2, 5) = 0;
200 dq_dR_z(2, 6) = 0;
201 dq_dR_z(2, 7) = 0;
202 dq_dR_z(2, 8) = 0.125 * _aux4;
203}

Referenced by g2o::internal::compute_dq_dR().

◆ compute_dR_dq()

void compute_dR_dq ( Eigen::Matrix< double, 9, 3 > &  dR_dq,
const double &  qx,
const double &  qy,
const double &  qz,
const double &  qw 
)

Definition at line 204 of file dquat2mat_maxima_generated.cpp.

205 {
206 double _aux1 = -4 * qy;
207 double _aux2 = -4 * qz;
208 double _aux3 = 1 / qw;
209 double _aux4 = 2 * qx * qz;
210 double _aux5 = -_aux3 * (_aux4 - 2 * qw * qy);
211 double _aux6 = 2 * qy * qz;
212 double _aux7 = -_aux3 * (_aux6 - 2 * qw * qx);
213 double _aux8 = -2 * pow(qw, 2);
214 double _aux9 = _aux8 + 2 * pow(qz, 2);
215 double _aux10 = 2 * qw * qz;
216 double _aux11 = (_aux10 + 2 * qx * qy) * _aux3;
217 double _aux12 = _aux8 + 2 * pow(qy, 2);
218 double _aux13 = _aux3 * (_aux6 + 2 * qw * qx);
219 double _aux14 = _aux3 * (_aux4 + 2 * qw * qy);
220 double _aux15 = -4 * qx;
221 double _aux16 = _aux8 + 2 * pow(qx, 2);
222 double _aux17 = (_aux10 - 2 * qx * qy) * _aux3;
223 dR_dq(0, 0) = 0;
224 dR_dq(0, 1) = _aux1;
225 dR_dq(0, 2) = _aux2;
226 dR_dq(1, 0) = _aux5;
227 dR_dq(1, 1) = _aux7;
228 dR_dq(1, 2) = -_aux3 * _aux9;
229 dR_dq(2, 0) = _aux11;
230 dR_dq(2, 1) = _aux12 * _aux3;
231 dR_dq(2, 2) = _aux13;
232 dR_dq(3, 0) = _aux14;
233 dR_dq(3, 1) = _aux13;
234 dR_dq(3, 2) = _aux3 * _aux9;
235 dR_dq(4, 0) = _aux15;
236 dR_dq(4, 1) = 0;
237 dR_dq(4, 2) = _aux2;
238 dR_dq(5, 0) = -_aux16 * _aux3;
239 dR_dq(5, 1) = _aux17;
240 dR_dq(5, 2) = _aux5;
241 dR_dq(6, 0) = _aux17;
242 dR_dq(6, 1) = -_aux12 * _aux3;
243 dR_dq(6, 2) = _aux7;
244 dR_dq(7, 0) = _aux16 * _aux3;
245 dR_dq(7, 1) = _aux11;
246 dR_dq(7, 2) = _aux14;
247 dR_dq(8, 0) = _aux15;
248 dR_dq(8, 1) = _aux1;
249 dR_dq(8, 2) = 0;
250}
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