-
Notifications
You must be signed in to change notification settings - Fork 17
/
misc_hand_eye_funcs.cpp
564 lines (547 loc) · 35.7 KB
/
misc_hand_eye_funcs.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
// LibQPEP: A Library for Globally Optimal Solving Quadratic Pose Estimation Problems,
// It also gives highly accurate uncertainty description of the solutions.
//
// Author: Jin Wu
// Affiliation: Hong Kong University of Science and Technology (HKUST)
// Emails: [email protected]; [email protected]
// Reference: Wu, J., et al. (2022) Quadratic Pose Estimation Problems:
// Globally Optimal Solutions,
// Solvability/Observability Analysis,
// and Uncertainty Description.
// IEEE Transactions on Robotics.
// https://doi.org/10.1109/TRO.2022.3155880
//
//
// misc_hand_eye_funcs.cpp: Functions for computation of hand-eye calibration problems
#include "misc_hand_eye_funcs.h"
Eigen::Vector3d
t_hand_eye_func(const Eigen::MatrixXd &pinvG, const Eigen::MatrixXd &coefs_tq, const Eigen::Quaterniond &q) {
double pinvG1_1 = pinvG(0, 0);
double pinvG1_2 = pinvG(0, 1);
double pinvG1_3 = pinvG(0, 2);
double pinvG2_1 = pinvG(1, 0);
double pinvG2_2 = pinvG(1, 1);
double pinvG2_3 = pinvG(1, 2);
double pinvG3_1 = pinvG(2, 0);
double pinvG3_2 = pinvG(2, 1);
double pinvG3_3 = pinvG(2, 2);
double coefs_tq1_1 = coefs_tq(0, 0);
double coefs_tq1_2 = coefs_tq(0, 1);
double coefs_tq1_3 = coefs_tq(0, 2);
double coefs_tq1_4 = coefs_tq(0, 3);
double coefs_tq1_5 = coefs_tq(0, 4);
double coefs_tq1_6 = coefs_tq(0, 5);
double coefs_tq1_7 = coefs_tq(0, 6);
double coefs_tq1_8 = coefs_tq(0, 7);
double coefs_tq1_9 = coefs_tq(0, 8);
double coefs_tq1_10 = coefs_tq(0, 9);
double coefs_tq2_1 = coefs_tq(1, 0);
double coefs_tq2_2 = coefs_tq(1, 1);
double coefs_tq2_3 = coefs_tq(1, 2);
double coefs_tq2_4 = coefs_tq(1, 3);
double coefs_tq2_5 = coefs_tq(1, 4);
double coefs_tq2_6 = coefs_tq(1, 5);
double coefs_tq2_7 = coefs_tq(1, 6);
double coefs_tq2_8 = coefs_tq(1, 7);
double coefs_tq2_9 = coefs_tq(1, 8);
double coefs_tq2_10 = coefs_tq(1, 9);
double coefs_tq3_1 = coefs_tq(2, 0);
double coefs_tq3_2 = coefs_tq(2, 1);
double coefs_tq3_3 = coefs_tq(2, 2);
double coefs_tq3_4 = coefs_tq(2, 3);
double coefs_tq3_5 = coefs_tq(2, 4);
double coefs_tq3_6 = coefs_tq(2, 5);
double coefs_tq3_7 = coefs_tq(2, 6);
double coefs_tq3_8 = coefs_tq(2, 7);
double coefs_tq3_9 = coefs_tq(2, 8);
double coefs_tq3_10 = coefs_tq(2, 9);
double coefs_tq1_11 = coefs_tq(0, 10);
double coefs_tq2_11 = coefs_tq(1, 10);
double coefs_tq3_11 = coefs_tq(2, 10);
double q0 = q.x();
double q1 = q.y();
double q2 = q.z();
double q3 = q.w();
Eigen::Vector3d t;
t(0) = (q0 * q0) * (coefs_tq1_1 * pinvG1_1 + coefs_tq2_1 * pinvG1_2 + coefs_tq3_1 * pinvG1_3) +
(q1 * q1) * (coefs_tq1_5 * pinvG1_1 + coefs_tq2_5 * pinvG1_2 + coefs_tq3_5 * pinvG1_3) +
(q2 * q2) * (coefs_tq1_8 * pinvG1_1 + coefs_tq2_8 * pinvG1_2 + coefs_tq3_8 * pinvG1_3) +
(q3 * q3) * (coefs_tq1_10 * pinvG1_1 + coefs_tq2_10 * pinvG1_2 + coefs_tq3_10 * pinvG1_3) +
coefs_tq1_11 * pinvG1_1 + coefs_tq2_11 * pinvG1_2 + coefs_tq3_11 * pinvG1_3 +
q0 * q1 * (coefs_tq1_2 * pinvG1_1 + coefs_tq2_2 * pinvG1_2 + coefs_tq3_2 * pinvG1_3) +
q0 * q2 * (coefs_tq1_3 * pinvG1_1 + coefs_tq2_3 * pinvG1_2 + coefs_tq3_3 * pinvG1_3) +
q0 * q3 * (coefs_tq1_4 * pinvG1_1 + coefs_tq2_4 * pinvG1_2 + coefs_tq3_4 * pinvG1_3) +
q1 * q2 * (coefs_tq1_6 * pinvG1_1 + coefs_tq2_6 * pinvG1_2 + coefs_tq3_6 * pinvG1_3) +
q1 * q3 * (coefs_tq1_7 * pinvG1_1 + coefs_tq2_7 * pinvG1_2 + coefs_tq3_7 * pinvG1_3) +
q2 * q3 * (coefs_tq1_9 * pinvG1_1 + coefs_tq2_9 * pinvG1_2 + coefs_tq3_9 * pinvG1_3);
t(1) = (q0 * q0) * (coefs_tq1_1 * pinvG2_1 + coefs_tq2_1 * pinvG2_2 + coefs_tq3_1 * pinvG2_3) +
(q1 * q1) * (coefs_tq1_5 * pinvG2_1 + coefs_tq2_5 * pinvG2_2 + coefs_tq3_5 * pinvG2_3) +
(q2 * q2) * (coefs_tq1_8 * pinvG2_1 + coefs_tq2_8 * pinvG2_2 + coefs_tq3_8 * pinvG2_3) +
(q3 * q3) * (coefs_tq1_10 * pinvG2_1 + coefs_tq2_10 * pinvG2_2 + coefs_tq3_10 * pinvG2_3) +
coefs_tq1_11 * pinvG2_1 + coefs_tq2_11 * pinvG2_2 + coefs_tq3_11 * pinvG2_3 +
q0 * q1 * (coefs_tq1_2 * pinvG2_1 + coefs_tq2_2 * pinvG2_2 + coefs_tq3_2 * pinvG2_3) +
q0 * q2 * (coefs_tq1_3 * pinvG2_1 + coefs_tq2_3 * pinvG2_2 + coefs_tq3_3 * pinvG2_3) +
q0 * q3 * (coefs_tq1_4 * pinvG2_1 + coefs_tq2_4 * pinvG2_2 + coefs_tq3_4 * pinvG2_3) +
q1 * q2 * (coefs_tq1_6 * pinvG2_1 + coefs_tq2_6 * pinvG2_2 + coefs_tq3_6 * pinvG2_3) +
q1 * q3 * (coefs_tq1_7 * pinvG2_1 + coefs_tq2_7 * pinvG2_2 + coefs_tq3_7 * pinvG2_3) +
q2 * q3 * (coefs_tq1_9 * pinvG2_1 + coefs_tq2_9 * pinvG2_2 + coefs_tq3_9 * pinvG2_3);
t(2) = (q0 * q0) * (coefs_tq1_1 * pinvG3_1 + coefs_tq2_1 * pinvG3_2 + coefs_tq3_1 * pinvG3_3) +
(q1 * q1) * (coefs_tq1_5 * pinvG3_1 + coefs_tq2_5 * pinvG3_2 + coefs_tq3_5 * pinvG3_3) +
(q2 * q2) * (coefs_tq1_8 * pinvG3_1 + coefs_tq2_8 * pinvG3_2 + coefs_tq3_8 * pinvG3_3) +
(q3 * q3) * (coefs_tq1_10 * pinvG3_1 + coefs_tq2_10 * pinvG3_2 + coefs_tq3_10 * pinvG3_3) +
coefs_tq1_11 * pinvG3_1 + coefs_tq2_11 * pinvG3_2 + coefs_tq3_11 * pinvG3_3 +
q0 * q1 * (coefs_tq1_2 * pinvG3_1 + coefs_tq2_2 * pinvG3_2 + coefs_tq3_2 * pinvG3_3) +
q0 * q2 * (coefs_tq1_3 * pinvG3_1 + coefs_tq2_3 * pinvG3_2 + coefs_tq3_3 * pinvG3_3) +
q0 * q3 * (coefs_tq1_4 * pinvG3_1 + coefs_tq2_4 * pinvG3_2 + coefs_tq3_4 * pinvG3_3) +
q1 * q2 * (coefs_tq1_6 * pinvG3_1 + coefs_tq2_6 * pinvG3_2 + coefs_tq3_6 * pinvG3_3) +
q1 * q3 * (coefs_tq1_7 * pinvG3_1 + coefs_tq2_7 * pinvG3_2 + coefs_tq3_7 * pinvG3_3) +
q2 * q3 * (coefs_tq1_9 * pinvG3_1 + coefs_tq2_9 * pinvG3_2 + coefs_tq3_9 * pinvG3_3);
return t;
}
std::vector<double> mon_J_pure_hand_eye_func(const Eigen::Quaterniond &q, const Eigen::Vector3d &t) {
double q0 = q.x();
double q1 = q.y();
double q2 = q.z();
double q3 = q.w();
double t1 = t(0);
double t2 = t(1);
double t3 = t(2);
double symobj[1][85];
std::memset(symobj, 0, 1 * 85 * sizeof(double));
symobj[0][0] = q0 * q0 * q0 * q0;
symobj[0][1] = (q0 * q0 * q0) * q1;
symobj[0][2] = (q0 * q0 * q0) * q2;
symobj[0][3] = (q0 * q0 * q0) * q3;
symobj[0][4] = (q0 * q0) * (q1 * q1);
symobj[0][5] = (q0 * q0) * q1 * q2;
symobj[0][6] = (q0 * q0) * q1 * q3;
symobj[0][7] = (q0 * q0) * (q2 * q2);
symobj[0][8] = (q0 * q0) * q2 * q3;
symobj[0][9] = (q0 * q0) * (q3 * q3);
symobj[0][10] = (q0 * q0) * t1;
symobj[0][11] = (q0 * q0) * t2;
symobj[0][12] = (q0 * q0) * t3;
symobj[0][13] = q0 * q0;
symobj[0][14] = q0 * (q1 * q1 * q1);
symobj[0][15] = q0 * (q1 * q1) * q2;
symobj[0][16] = q0 * (q1 * q1) * q3;
symobj[0][17] = q0 * q1 * (q2 * q2);
symobj[0][18] = q0 * q1 * q2 * q3;
symobj[0][19] = q0 * q1 * (q3 * q3);
symobj[0][20] = q0 * q1 * t1;
symobj[0][21] = q0 * q1 * t2;
symobj[0][22] = q0 * q1 * t3;
symobj[0][23] = q0 * q1;
symobj[0][24] = q0 * (q2 * q2 * q2);
symobj[0][25] = q0 * (q2 * q2) * q3;
symobj[0][26] = q0 * q2 * (q3 * q3);
symobj[0][27] = q0 * q2 * t1;
symobj[0][28] = q0 * q2 * t2;
symobj[0][29] = q0 * q2 * t3;
symobj[0][30] = q0 * q2;
symobj[0][31] = q0 * (q3 * q3 * q3);
symobj[0][32] = q0 * q3 * t1;
symobj[0][33] = q0 * q3 * t2;
symobj[0][34] = q0 * q3 * t3;
symobj[0][35] = q0 * q3;
symobj[0][36] = q1 * q1 * q1 * q1;
symobj[0][37] = (q1 * q1 * q1) * q2;
symobj[0][38] = (q1 * q1 * q1) * q3;
symobj[0][39] = (q1 * q1) * (q2 * q2);
symobj[0][40] = (q1 * q1) * q2 * q3;
symobj[0][41] = (q1 * q1) * (q3 * q3);
symobj[0][42] = (q1 * q1) * t1;
symobj[0][43] = (q1 * q1) * t2;
symobj[0][44] = (q1 * q1) * t3;
symobj[0][45] = q1 * q1;
symobj[0][46] = q1 * (q2 * q2 * q2);
symobj[0][47] = q1 * (q2 * q2) * q3;
symobj[0][48] = q1 * q2 * (q3 * q3);
symobj[0][49] = q1 * q2 * t1;
symobj[0][50] = q1 * q2 * t2;
symobj[0][51] = q1 * q2 * t3;
symobj[0][52] = q1 * q2;
symobj[0][53] = q1 * (q3 * q3 * q3);
symobj[0][54] = q1 * q3 * t1;
symobj[0][55] = q1 * q3 * t2;
symobj[0][56] = q1 * q3 * t3;
symobj[0][57] = q1 * q3;
symobj[0][58] = q2 * q2 * q2 * q2;
symobj[0][59] = (q2 * q2 * q2) * q3;
symobj[0][60] = (q2 * q2) * (q3 * q3);
symobj[0][61] = (q2 * q2) * t1;
symobj[0][62] = (q2 * q2) * t2;
symobj[0][63] = (q2 * q2) * t3;
symobj[0][64] = q2 * q2;
symobj[0][65] = q2 * (q3 * q3 * q3);
symobj[0][66] = q2 * q3 * t1;
symobj[0][67] = q2 * q3 * t2;
symobj[0][68] = q2 * q3 * t3;
symobj[0][69] = q2 * q3;
symobj[0][70] = q3 * q3 * q3 * q3;
symobj[0][71] = (q3 * q3) * t1;
symobj[0][72] = (q3 * q3) * t2;
symobj[0][73] = (q3 * q3) * t3;
symobj[0][74] = q3 * q3;
symobj[0][75] = t1 * t1;
symobj[0][76] = t1 * t2;
symobj[0][77] = t1 * t3;
symobj[0][78] = t1;
symobj[0][79] = t2 * t2;
symobj[0][80] = t2 * t3;
symobj[0][81] = t2;
symobj[0][82] = t3 * t3;
symobj[0][83] = t3;
symobj[0][84] = 1.0;
std::vector<double> tmp;
for (int i = 0; i < 1; ++i)
for (int j = 0; j < 85; ++j)
tmp.push_back(symobj[i][j]);
return tmp;
}
void eq_Jacob_hand_eye_func(Eigen::Matrix<double, 4, 1> &eq,
Eigen::Matrix<double, 4, 4> &Jacob,
const Eigen::MatrixXd &coef_f_q_sym,
const Eigen::Vector4d &q) {
double coef_f0_q_sym1 = coef_f_q_sym(0, 0);
double coef_f0_q_sym2 = coef_f_q_sym(0, 1);
double coef_f0_q_sym3 = coef_f_q_sym(0, 2);
double coef_f0_q_sym4 = coef_f_q_sym(0, 3);
double coef_f0_q_sym5 = coef_f_q_sym(0, 4);
double coef_f0_q_sym6 = coef_f_q_sym(0, 5);
double coef_f0_q_sym7 = coef_f_q_sym(0, 6);
double coef_f0_q_sym8 = coef_f_q_sym(0, 7);
double coef_f0_q_sym9 = coef_f_q_sym(0, 8);
double coef_f0_q_sym10 = coef_f_q_sym(0, 9);
double coef_f0_q_sym11 = coef_f_q_sym(0, 10);
double coef_f0_q_sym12 = coef_f_q_sym(0, 11);
double coef_f0_q_sym13 = coef_f_q_sym(0, 12);
double coef_f0_q_sym14 = coef_f_q_sym(0, 13);
double coef_f0_q_sym15 = coef_f_q_sym(0, 14);
double coef_f0_q_sym16 = coef_f_q_sym(0, 15);
double coef_f0_q_sym17 = coef_f_q_sym(0, 16);
double coef_f0_q_sym18 = coef_f_q_sym(0, 17);
double coef_f0_q_sym19 = coef_f_q_sym(0, 18);
double coef_f0_q_sym20 = coef_f_q_sym(0, 19);
double coef_f0_q_sym21 = coef_f_q_sym(0, 20);
double coef_f0_q_sym22 = coef_f_q_sym(0, 21);
double coef_f0_q_sym23 = coef_f_q_sym(0, 22);
double coef_f0_q_sym24 = coef_f_q_sym(0, 23);
double coef_f1_q_sym1 = coef_f_q_sym(1, 0);
double coef_f1_q_sym2 = coef_f_q_sym(1, 1);
double coef_f1_q_sym3 = coef_f_q_sym(1, 2);
double coef_f1_q_sym4 = coef_f_q_sym(1, 3);
double coef_f1_q_sym5 = coef_f_q_sym(1, 4);
double coef_f1_q_sym6 = coef_f_q_sym(1, 5);
double coef_f1_q_sym7 = coef_f_q_sym(1, 6);
double coef_f1_q_sym8 = coef_f_q_sym(1, 7);
double coef_f1_q_sym9 = coef_f_q_sym(1, 8);
double coef_f1_q_sym10 = coef_f_q_sym(1, 9);
double coef_f1_q_sym11 = coef_f_q_sym(1, 10);
double coef_f1_q_sym12 = coef_f_q_sym(1, 11);
double coef_f1_q_sym13 = coef_f_q_sym(1, 12);
double coef_f1_q_sym14 = coef_f_q_sym(1, 13);
double coef_f1_q_sym15 = coef_f_q_sym(1, 14);
double coef_f1_q_sym16 = coef_f_q_sym(1, 15);
double coef_f1_q_sym17 = coef_f_q_sym(1, 16);
double coef_f1_q_sym18 = coef_f_q_sym(1, 17);
double coef_f1_q_sym19 = coef_f_q_sym(1, 18);
double coef_f1_q_sym20 = coef_f_q_sym(1, 19);
double coef_f1_q_sym21 = coef_f_q_sym(1, 20);
double coef_f1_q_sym22 = coef_f_q_sym(1, 21);
double coef_f1_q_sym23 = coef_f_q_sym(1, 22);
double coef_f1_q_sym24 = coef_f_q_sym(1, 23);
double coef_f2_q_sym1 = coef_f_q_sym(2, 0);
double coef_f2_q_sym2 = coef_f_q_sym(2, 1);
double coef_f2_q_sym3 = coef_f_q_sym(2, 2);
double coef_f2_q_sym4 = coef_f_q_sym(2, 3);
double coef_f2_q_sym5 = coef_f_q_sym(2, 4);
double coef_f2_q_sym6 = coef_f_q_sym(2, 5);
double coef_f2_q_sym7 = coef_f_q_sym(2, 6);
double coef_f2_q_sym8 = coef_f_q_sym(2, 7);
double coef_f2_q_sym9 = coef_f_q_sym(2, 8);
double coef_f2_q_sym10 = coef_f_q_sym(2, 9);
double coef_f2_q_sym11 = coef_f_q_sym(2, 10);
double coef_f2_q_sym12 = coef_f_q_sym(2, 11);
double coef_f2_q_sym13 = coef_f_q_sym(2, 12);
double coef_f2_q_sym14 = coef_f_q_sym(2, 13);
double coef_f2_q_sym15 = coef_f_q_sym(2, 14);
double coef_f2_q_sym16 = coef_f_q_sym(2, 15);
double coef_f2_q_sym17 = coef_f_q_sym(2, 16);
double coef_f2_q_sym18 = coef_f_q_sym(2, 17);
double coef_f2_q_sym19 = coef_f_q_sym(2, 18);
double coef_f2_q_sym20 = coef_f_q_sym(2, 19);
double coef_f2_q_sym21 = coef_f_q_sym(2, 20);
double coef_f2_q_sym22 = coef_f_q_sym(2, 21);
double coef_f2_q_sym23 = coef_f_q_sym(2, 22);
double coef_f2_q_sym24 = coef_f_q_sym(2, 23);
double coef_f3_q_sym1 = coef_f_q_sym(3, 0);
double coef_f3_q_sym2 = coef_f_q_sym(3, 1);
double coef_f3_q_sym3 = coef_f_q_sym(3, 2);
double coef_f3_q_sym4 = coef_f_q_sym(3, 3);
double coef_f3_q_sym5 = coef_f_q_sym(3, 4);
double coef_f3_q_sym6 = coef_f_q_sym(3, 5);
double coef_f3_q_sym7 = coef_f_q_sym(3, 6);
double coef_f3_q_sym8 = coef_f_q_sym(3, 7);
double coef_f3_q_sym9 = coef_f_q_sym(3, 8);
double coef_f3_q_sym10 = coef_f_q_sym(3, 9);
double coef_f3_q_sym11 = coef_f_q_sym(3, 10);
double coef_f3_q_sym12 = coef_f_q_sym(3, 11);
double coef_f3_q_sym13 = coef_f_q_sym(3, 12);
double coef_f3_q_sym14 = coef_f_q_sym(3, 13);
double coef_f3_q_sym15 = coef_f_q_sym(3, 14);
double coef_f3_q_sym16 = coef_f_q_sym(3, 15);
double coef_f3_q_sym17 = coef_f_q_sym(3, 16);
double coef_f3_q_sym18 = coef_f_q_sym(3, 17);
double coef_f3_q_sym19 = coef_f_q_sym(3, 18);
double coef_f3_q_sym20 = coef_f_q_sym(3, 19);
double coef_f3_q_sym21 = coef_f_q_sym(3, 20);
double coef_f3_q_sym22 = coef_f_q_sym(3, 21);
double coef_f3_q_sym23 = coef_f_q_sym(3, 22);
double coef_f3_q_sym24 = coef_f_q_sym(3, 23);
double q0 = q.x();
double q1 = q.y();
double q2 = q.z();
double q3 = q.w();
double symobj[4][4];
std::memset(symobj, 0, 4 * 1 * sizeof(double));
symobj[0][0] = -coef_f1_q_sym1 * (q0 * q0 * q0 * q0) + coef_f0_q_sym12 * (q1 * q1 * q1 * q1) +
coef_f0_q_sym18 * (q1 * q1) - coef_f1_q_sym11 * (q0 * q0) + coef_f0_q_sym1 * (q0 * q0 * q0) * q1 +
coef_f0_q_sym5 * q0 * (q1 * q1 * q1) - coef_f1_q_sym2 * (q0 * q0 * q0) * q1 -
coef_f1_q_sym3 * (q0 * q0 * q0) * q2 + coef_f0_q_sym13 * (q1 * q1 * q1) * q2 -
coef_f1_q_sym4 * (q0 * q0 * q0) * q3 + coef_f0_q_sym14 * (q1 * q1 * q1) * q3 +
coef_f0_q_sym19 * q1 * (q2 * q2 * q2) + coef_f0_q_sym23 * q1 * (q3 * q3 * q3) -
coef_f1_q_sym12 * q0 * (q1 * q1 * q1) - coef_f1_q_sym19 * q0 * (q2 * q2 * q2) -
coef_f1_q_sym23 * q0 * (q3 * q3 * q3) + coef_f0_q_sym2 * (q0 * q0) * (q1 * q1) -
coef_f1_q_sym5 * (q0 * q0) * (q1 * q1) + coef_f0_q_sym15 * (q1 * q1) * (q2 * q2) -
coef_f1_q_sym8 * (q0 * q0) * (q2 * q2) + coef_f0_q_sym17 * (q1 * q1) * (q3 * q3) -
coef_f1_q_sym10 * (q0 * q0) * (q3 * q3) + coef_f0_q_sym11 * q0 * q1 + coef_f0_q_sym22 * q1 * q2 +
coef_f0_q_sym24 * q1 * q3 - coef_f1_q_sym18 * q0 * q1 - coef_f1_q_sym22 * q0 * q2 -
coef_f1_q_sym24 * q0 * q3 + coef_f0_q_sym3 * (q0 * q0) * q1 * q2 +
coef_f0_q_sym4 * (q0 * q0) * q1 * q3 + coef_f0_q_sym6 * q0 * (q1 * q1) * q2 +
coef_f0_q_sym7 * q0 * (q1 * q1) * q3 + coef_f0_q_sym8 * q0 * q1 * (q2 * q2) +
coef_f0_q_sym10 * q0 * q1 * (q3 * q3) - coef_f1_q_sym6 * (q0 * q0) * q1 * q2 -
coef_f1_q_sym7 * (q0 * q0) * q1 * q3 + coef_f0_q_sym16 * (q1 * q1) * q2 * q3 -
coef_f1_q_sym9 * (q0 * q0) * q2 * q3 + coef_f0_q_sym20 * q1 * (q2 * q2) * q3 +
coef_f0_q_sym21 * q1 * q2 * (q3 * q3) - coef_f1_q_sym13 * q0 * (q1 * q1) * q2 -
coef_f1_q_sym14 * q0 * (q1 * q1) * q3 - coef_f1_q_sym15 * q0 * q1 * (q2 * q2) -
coef_f1_q_sym17 * q0 * q1 * (q3 * q3) - coef_f1_q_sym20 * q0 * (q2 * q2) * q3 -
coef_f1_q_sym21 * q0 * q2 * (q3 * q3) + coef_f0_q_sym9 * q0 * q1 * q2 * q3 -
coef_f1_q_sym16 * q0 * q1 * q2 * q3;
symobj[1][0] =
coef_f0_q_sym19 * (q2 * q2 * q2 * q2) - coef_f2_q_sym1 * (q0 * q0 * q0 * q0) + coef_f0_q_sym22 * (q2 * q2) -
coef_f2_q_sym11 * (q0 * q0) + coef_f0_q_sym1 * (q0 * q0 * q0) * q2 + coef_f0_q_sym8 * q0 * (q2 * q2 * q2) +
coef_f0_q_sym12 * (q1 * q1 * q1) * q2 + coef_f0_q_sym15 * q1 * (q2 * q2 * q2) -
coef_f2_q_sym2 * (q0 * q0 * q0) * q1 + coef_f0_q_sym20 * (q2 * q2 * q2) * q3 -
coef_f2_q_sym3 * (q0 * q0 * q0) * q2 - coef_f2_q_sym4 * (q0 * q0 * q0) * q3 +
coef_f0_q_sym23 * q2 * (q3 * q3 * q3) - coef_f2_q_sym12 * q0 * (q1 * q1 * q1) -
coef_f2_q_sym19 * q0 * (q2 * q2 * q2) - coef_f2_q_sym23 * q0 * (q3 * q3 * q3) +
coef_f0_q_sym3 * (q0 * q0) * (q2 * q2) + coef_f0_q_sym13 * (q1 * q1) * (q2 * q2) +
coef_f0_q_sym21 * (q2 * q2) * (q3 * q3) - coef_f2_q_sym5 * (q0 * q0) * (q1 * q1) -
coef_f2_q_sym8 * (q0 * q0) * (q2 * q2) - coef_f2_q_sym10 * (q0 * q0) * (q3 * q3) +
coef_f0_q_sym11 * q0 * q2 + coef_f0_q_sym18 * q1 * q2 + coef_f0_q_sym24 * q2 * q3 -
coef_f2_q_sym18 * q0 * q1 - coef_f2_q_sym22 * q0 * q2 - coef_f2_q_sym24 * q0 * q3 +
coef_f0_q_sym2 * (q0 * q0) * q1 * q2 + coef_f0_q_sym5 * q0 * (q1 * q1) * q2 +
coef_f0_q_sym4 * (q0 * q0) * q2 * q3 + coef_f0_q_sym6 * q0 * q1 * (q2 * q2) +
coef_f0_q_sym9 * q0 * (q2 * q2) * q3 + coef_f0_q_sym10 * q0 * q2 * (q3 * q3) +
coef_f0_q_sym14 * (q1 * q1) * q2 * q3 + coef_f0_q_sym16 * q1 * (q2 * q2) * q3 +
coef_f0_q_sym17 * q1 * q2 * (q3 * q3) - coef_f2_q_sym6 * (q0 * q0) * q1 * q2 -
coef_f2_q_sym7 * (q0 * q0) * q1 * q3 - coef_f2_q_sym9 * (q0 * q0) * q2 * q3 -
coef_f2_q_sym13 * q0 * (q1 * q1) * q2 - coef_f2_q_sym14 * q0 * (q1 * q1) * q3 -
coef_f2_q_sym15 * q0 * q1 * (q2 * q2) - coef_f2_q_sym17 * q0 * q1 * (q3 * q3) -
coef_f2_q_sym20 * q0 * (q2 * q2) * q3 - coef_f2_q_sym21 * q0 * q2 * (q3 * q3) +
coef_f0_q_sym7 * q0 * q1 * q2 * q3 - coef_f2_q_sym16 * q0 * q1 * q2 * q3;
symobj[2][0] =
coef_f0_q_sym24 * (q3 * q3) + coef_f0_q_sym23 * (q3 * q3 * q3 * q3) - coef_f3_q_sym1 * (q0 * q0 * q0 * q0) -
coef_f3_q_sym11 * (q0 * q0) + coef_f0_q_sym1 * (q0 * q0 * q0) * q3 + coef_f0_q_sym10 * q0 * (q3 * q3 * q3) +
coef_f0_q_sym12 * (q1 * q1 * q1) * q3 + coef_f0_q_sym17 * q1 * (q3 * q3 * q3) +
coef_f0_q_sym19 * (q2 * q2 * q2) * q3 + coef_f0_q_sym21 * q2 * (q3 * q3 * q3) -
coef_f3_q_sym2 * (q0 * q0 * q0) * q1 - coef_f3_q_sym3 * (q0 * q0 * q0) * q2 -
coef_f3_q_sym4 * (q0 * q0 * q0) * q3 - coef_f3_q_sym12 * q0 * (q1 * q1 * q1) -
coef_f3_q_sym19 * q0 * (q2 * q2 * q2) - coef_f3_q_sym23 * q0 * (q3 * q3 * q3) +
coef_f0_q_sym4 * (q0 * q0) * (q3 * q3) + coef_f0_q_sym14 * (q1 * q1) * (q3 * q3) +
coef_f0_q_sym20 * (q2 * q2) * (q3 * q3) - coef_f3_q_sym5 * (q0 * q0) * (q1 * q1) -
coef_f3_q_sym8 * (q0 * q0) * (q2 * q2) - coef_f3_q_sym10 * (q0 * q0) * (q3 * q3) +
coef_f0_q_sym11 * q0 * q3 + coef_f0_q_sym18 * q1 * q3 + coef_f0_q_sym22 * q2 * q3 -
coef_f3_q_sym18 * q0 * q1 - coef_f3_q_sym22 * q0 * q2 - coef_f3_q_sym24 * q0 * q3 +
coef_f0_q_sym2 * (q0 * q0) * q1 * q3 + coef_f0_q_sym3 * (q0 * q0) * q2 * q3 +
coef_f0_q_sym5 * q0 * (q1 * q1) * q3 + coef_f0_q_sym7 * q0 * q1 * (q3 * q3) +
coef_f0_q_sym8 * q0 * (q2 * q2) * q3 + coef_f0_q_sym9 * q0 * q2 * (q3 * q3) +
coef_f0_q_sym13 * (q1 * q1) * q2 * q3 + coef_f0_q_sym15 * q1 * (q2 * q2) * q3 +
coef_f0_q_sym16 * q1 * q2 * (q3 * q3) - coef_f3_q_sym6 * (q0 * q0) * q1 * q2 -
coef_f3_q_sym7 * (q0 * q0) * q1 * q3 - coef_f3_q_sym9 * (q0 * q0) * q2 * q3 -
coef_f3_q_sym13 * q0 * (q1 * q1) * q2 - coef_f3_q_sym14 * q0 * (q1 * q1) * q3 -
coef_f3_q_sym15 * q0 * q1 * (q2 * q2) - coef_f3_q_sym17 * q0 * q1 * (q3 * q3) -
coef_f3_q_sym20 * q0 * (q2 * q2) * q3 - coef_f3_q_sym21 * q0 * q2 * (q3 * q3) +
coef_f0_q_sym6 * q0 * q1 * q2 * q3 - coef_f3_q_sym16 * q0 * q1 * q2 * q3;
symobj[3][0] = q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3 - 1.0;
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 1; ++j)
eq(i, j) = symobj[i][j];
std::memset(symobj, 0, 4 * 4 * sizeof(double));
symobj[0][0] = coef_f0_q_sym11 * q1 - coef_f1_q_sym11 * q0 * 2.0 - coef_f1_q_sym18 * q1 - coef_f1_q_sym22 * q2 -
coef_f1_q_sym24 * q3 + coef_f0_q_sym5 * (q1 * q1 * q1) - coef_f1_q_sym1 * (q0 * q0 * q0) * 4.0 -
coef_f1_q_sym12 * (q1 * q1 * q1) - coef_f1_q_sym19 * (q2 * q2 * q2) -
coef_f1_q_sym23 * (q3 * q3 * q3) + coef_f0_q_sym1 * (q0 * q0) * q1 * 3.0 +
coef_f0_q_sym2 * q0 * (q1 * q1) * 2.0 + coef_f0_q_sym6 * (q1 * q1) * q2 +
coef_f0_q_sym7 * (q1 * q1) * q3 + coef_f0_q_sym8 * q1 * (q2 * q2) -
coef_f1_q_sym2 * (q0 * q0) * q1 * 3.0 + coef_f0_q_sym10 * q1 * (q3 * q3) -
coef_f1_q_sym3 * (q0 * q0) * q2 * 3.0 - coef_f1_q_sym5 * q0 * (q1 * q1) * 2.0 -
coef_f1_q_sym4 * (q0 * q0) * q3 * 3.0 - coef_f1_q_sym8 * q0 * (q2 * q2) * 2.0 -
coef_f1_q_sym10 * q0 * (q3 * q3) * 2.0 - coef_f1_q_sym13 * (q1 * q1) * q2 -
coef_f1_q_sym14 * (q1 * q1) * q3 - coef_f1_q_sym15 * q1 * (q2 * q2) -
coef_f1_q_sym17 * q1 * (q3 * q3) - coef_f1_q_sym20 * (q2 * q2) * q3 -
coef_f1_q_sym21 * q2 * (q3 * q3) + coef_f0_q_sym3 * q0 * q1 * q2 * 2.0 +
coef_f0_q_sym4 * q0 * q1 * q3 * 2.0 + coef_f0_q_sym9 * q1 * q2 * q3 -
coef_f1_q_sym6 * q0 * q1 * q2 * 2.0 - coef_f1_q_sym7 * q0 * q1 * q3 * 2.0 -
coef_f1_q_sym9 * q0 * q2 * q3 * 2.0 - coef_f1_q_sym16 * q1 * q2 * q3;
symobj[0][1] = coef_f0_q_sym11 * q0 + coef_f0_q_sym18 * q1 * 2.0 + coef_f0_q_sym22 * q2 + coef_f0_q_sym24 * q3 -
coef_f1_q_sym18 * q0 + coef_f0_q_sym1 * (q0 * q0 * q0) - coef_f1_q_sym2 * (q0 * q0 * q0) +
coef_f0_q_sym12 * (q1 * q1 * q1) * 4.0 + coef_f0_q_sym19 * (q2 * q2 * q2) +
coef_f0_q_sym23 * (q3 * q3 * q3) + coef_f0_q_sym2 * (q0 * q0) * q1 * 2.0 +
coef_f0_q_sym3 * (q0 * q0) * q2 + coef_f0_q_sym5 * q0 * (q1 * q1) * 3.0 +
coef_f0_q_sym4 * (q0 * q0) * q3 + coef_f0_q_sym8 * q0 * (q2 * q2) +
coef_f0_q_sym10 * q0 * (q3 * q3) + coef_f0_q_sym13 * (q1 * q1) * q2 * 3.0 -
coef_f1_q_sym5 * (q0 * q0) * q1 * 2.0 + coef_f0_q_sym14 * (q1 * q1) * q3 * 3.0 +
coef_f0_q_sym15 * q1 * (q2 * q2) * 2.0 - coef_f1_q_sym6 * (q0 * q0) * q2 -
coef_f1_q_sym7 * (q0 * q0) * q3 + coef_f0_q_sym17 * q1 * (q3 * q3) * 2.0 +
coef_f0_q_sym20 * (q2 * q2) * q3 + coef_f0_q_sym21 * q2 * (q3 * q3) -
coef_f1_q_sym12 * q0 * (q1 * q1) * 3.0 - coef_f1_q_sym15 * q0 * (q2 * q2) -
coef_f1_q_sym17 * q0 * (q3 * q3) + coef_f0_q_sym6 * q0 * q1 * q2 * 2.0 +
coef_f0_q_sym7 * q0 * q1 * q3 * 2.0 + coef_f0_q_sym9 * q0 * q2 * q3 +
coef_f0_q_sym16 * q1 * q2 * q3 * 2.0 - coef_f1_q_sym13 * q0 * q1 * q2 * 2.0 -
coef_f1_q_sym14 * q0 * q1 * q3 * 2.0 - coef_f1_q_sym16 * q0 * q2 * q3;
symobj[0][2] = coef_f0_q_sym22 * q1 - coef_f1_q_sym22 * q0 - coef_f1_q_sym3 * (q0 * q0 * q0) +
coef_f0_q_sym13 * (q1 * q1 * q1) + coef_f0_q_sym3 * (q0 * q0) * q1 +
coef_f0_q_sym6 * q0 * (q1 * q1) - coef_f1_q_sym6 * (q0 * q0) * q1 +
coef_f0_q_sym15 * (q1 * q1) * q2 * 2.0 + coef_f0_q_sym16 * (q1 * q1) * q3 -
coef_f1_q_sym8 * (q0 * q0) * q2 * 2.0 + coef_f0_q_sym19 * q1 * (q2 * q2) * 3.0 -
coef_f1_q_sym9 * (q0 * q0) * q3 + coef_f0_q_sym21 * q1 * (q3 * q3) -
coef_f1_q_sym13 * q0 * (q1 * q1) - coef_f1_q_sym19 * q0 * (q2 * q2) * 3.0 -
coef_f1_q_sym21 * q0 * (q3 * q3) + coef_f0_q_sym8 * q0 * q1 * q2 * 2.0 +
coef_f0_q_sym9 * q0 * q1 * q3 + coef_f0_q_sym20 * q1 * q2 * q3 * 2.0 -
coef_f1_q_sym15 * q0 * q1 * q2 * 2.0 - coef_f1_q_sym16 * q0 * q1 * q3 -
coef_f1_q_sym20 * q0 * q2 * q3 * 2.0;
symobj[0][3] = coef_f0_q_sym24 * q1 - coef_f1_q_sym24 * q0 - coef_f1_q_sym4 * (q0 * q0 * q0) +
coef_f0_q_sym14 * (q1 * q1 * q1) + coef_f0_q_sym4 * (q0 * q0) * q1 +
coef_f0_q_sym7 * q0 * (q1 * q1) - coef_f1_q_sym7 * (q0 * q0) * q1 +
coef_f0_q_sym16 * (q1 * q1) * q2 + coef_f0_q_sym17 * (q1 * q1) * q3 * 2.0 -
coef_f1_q_sym9 * (q0 * q0) * q2 + coef_f0_q_sym20 * q1 * (q2 * q2) +
coef_f0_q_sym23 * q1 * (q3 * q3) * 3.0 - coef_f1_q_sym10 * (q0 * q0) * q3 * 2.0 -
coef_f1_q_sym14 * q0 * (q1 * q1) - coef_f1_q_sym20 * q0 * (q2 * q2) -
coef_f1_q_sym23 * q0 * (q3 * q3) * 3.0 + coef_f0_q_sym9 * q0 * q1 * q2 +
coef_f0_q_sym10 * q0 * q1 * q3 * 2.0 + coef_f0_q_sym21 * q1 * q2 * q3 * 2.0 -
coef_f1_q_sym16 * q0 * q1 * q2 - coef_f1_q_sym17 * q0 * q1 * q3 * 2.0 -
coef_f1_q_sym21 * q0 * q2 * q3 * 2.0;
symobj[1][0] = coef_f0_q_sym11 * q2 - coef_f2_q_sym11 * q0 * 2.0 - coef_f2_q_sym18 * q1 - coef_f2_q_sym22 * q2 -
coef_f2_q_sym24 * q3 + coef_f0_q_sym8 * (q2 * q2 * q2) - coef_f2_q_sym1 * (q0 * q0 * q0) * 4.0 -
coef_f2_q_sym12 * (q1 * q1 * q1) - coef_f2_q_sym19 * (q2 * q2 * q2) -
coef_f2_q_sym23 * (q3 * q3 * q3) + coef_f0_q_sym1 * (q0 * q0) * q2 * 3.0 +
coef_f0_q_sym3 * q0 * (q2 * q2) * 2.0 + coef_f0_q_sym5 * (q1 * q1) * q2 +
coef_f0_q_sym6 * q1 * (q2 * q2) + coef_f0_q_sym9 * (q2 * q2) * q3 +
coef_f0_q_sym10 * q2 * (q3 * q3) - coef_f2_q_sym2 * (q0 * q0) * q1 * 3.0 -
coef_f2_q_sym3 * (q0 * q0) * q2 * 3.0 - coef_f2_q_sym5 * q0 * (q1 * q1) * 2.0 -
coef_f2_q_sym4 * (q0 * q0) * q3 * 3.0 - coef_f2_q_sym8 * q0 * (q2 * q2) * 2.0 -
coef_f2_q_sym10 * q0 * (q3 * q3) * 2.0 - coef_f2_q_sym13 * (q1 * q1) * q2 -
coef_f2_q_sym14 * (q1 * q1) * q3 - coef_f2_q_sym15 * q1 * (q2 * q2) -
coef_f2_q_sym17 * q1 * (q3 * q3) - coef_f2_q_sym20 * (q2 * q2) * q3 -
coef_f2_q_sym21 * q2 * (q3 * q3) + coef_f0_q_sym2 * q0 * q1 * q2 * 2.0 +
coef_f0_q_sym4 * q0 * q2 * q3 * 2.0 + coef_f0_q_sym7 * q1 * q2 * q3 -
coef_f2_q_sym6 * q0 * q1 * q2 * 2.0 - coef_f2_q_sym7 * q0 * q1 * q3 * 2.0 -
coef_f2_q_sym9 * q0 * q2 * q3 * 2.0 - coef_f2_q_sym16 * q1 * q2 * q3;
symobj[1][1] = coef_f0_q_sym18 * q2 - coef_f2_q_sym18 * q0 + coef_f0_q_sym15 * (q2 * q2 * q2) -
coef_f2_q_sym2 * (q0 * q0 * q0) + coef_f0_q_sym2 * (q0 * q0) * q2 + coef_f0_q_sym6 * q0 * (q2 * q2) +
coef_f0_q_sym12 * (q1 * q1) * q2 * 3.0 + coef_f0_q_sym13 * q1 * (q2 * q2) * 2.0 +
coef_f0_q_sym16 * (q2 * q2) * q3 + coef_f0_q_sym17 * q2 * (q3 * q3) -
coef_f2_q_sym5 * (q0 * q0) * q1 * 2.0 - coef_f2_q_sym6 * (q0 * q0) * q2 -
coef_f2_q_sym7 * (q0 * q0) * q3 - coef_f2_q_sym12 * q0 * (q1 * q1) * 3.0 -
coef_f2_q_sym15 * q0 * (q2 * q2) - coef_f2_q_sym17 * q0 * (q3 * q3) +
coef_f0_q_sym5 * q0 * q1 * q2 * 2.0 + coef_f0_q_sym7 * q0 * q2 * q3 +
coef_f0_q_sym14 * q1 * q2 * q3 * 2.0 - coef_f2_q_sym13 * q0 * q1 * q2 * 2.0 -
coef_f2_q_sym14 * q0 * q1 * q3 * 2.0 - coef_f2_q_sym16 * q0 * q2 * q3;
symobj[1][2] = coef_f0_q_sym11 * q0 + coef_f0_q_sym18 * q1 + coef_f0_q_sym22 * q2 * 2.0 + coef_f0_q_sym24 * q3 -
coef_f2_q_sym22 * q0 + coef_f0_q_sym1 * (q0 * q0 * q0) + coef_f0_q_sym12 * (q1 * q1 * q1) +
coef_f0_q_sym19 * (q2 * q2 * q2) * 4.0 - coef_f2_q_sym3 * (q0 * q0 * q0) +
coef_f0_q_sym23 * (q3 * q3 * q3) + coef_f0_q_sym2 * (q0 * q0) * q1 +
coef_f0_q_sym3 * (q0 * q0) * q2 * 2.0 + coef_f0_q_sym5 * q0 * (q1 * q1) +
coef_f0_q_sym4 * (q0 * q0) * q3 + coef_f0_q_sym8 * q0 * (q2 * q2) * 3.0 +
coef_f0_q_sym10 * q0 * (q3 * q3) + coef_f0_q_sym13 * (q1 * q1) * q2 * 2.0 +
coef_f0_q_sym14 * (q1 * q1) * q3 + coef_f0_q_sym15 * q1 * (q2 * q2) * 3.0 +
coef_f0_q_sym17 * q1 * (q3 * q3) + coef_f0_q_sym20 * (q2 * q2) * q3 * 3.0 +
coef_f0_q_sym21 * q2 * (q3 * q3) * 2.0 - coef_f2_q_sym6 * (q0 * q0) * q1 -
coef_f2_q_sym8 * (q0 * q0) * q2 * 2.0 - coef_f2_q_sym9 * (q0 * q0) * q3 -
coef_f2_q_sym13 * q0 * (q1 * q1) - coef_f2_q_sym19 * q0 * (q2 * q2) * 3.0 -
coef_f2_q_sym21 * q0 * (q3 * q3) + coef_f0_q_sym6 * q0 * q1 * q2 * 2.0 +
coef_f0_q_sym7 * q0 * q1 * q3 + coef_f0_q_sym9 * q0 * q2 * q3 * 2.0 +
coef_f0_q_sym16 * q1 * q2 * q3 * 2.0 - coef_f2_q_sym15 * q0 * q1 * q2 * 2.0 -
coef_f2_q_sym16 * q0 * q1 * q3 - coef_f2_q_sym20 * q0 * q2 * q3 * 2.0;
symobj[1][3] = coef_f0_q_sym24 * q2 - coef_f2_q_sym24 * q0 + coef_f0_q_sym20 * (q2 * q2 * q2) -
coef_f2_q_sym4 * (q0 * q0 * q0) + coef_f0_q_sym4 * (q0 * q0) * q2 + coef_f0_q_sym9 * q0 * (q2 * q2) +
coef_f0_q_sym14 * (q1 * q1) * q2 + coef_f0_q_sym16 * q1 * (q2 * q2) +
coef_f0_q_sym21 * (q2 * q2) * q3 * 2.0 + coef_f0_q_sym23 * q2 * (q3 * q3) * 3.0 -
coef_f2_q_sym7 * (q0 * q0) * q1 - coef_f2_q_sym9 * (q0 * q0) * q2 -
coef_f2_q_sym10 * (q0 * q0) * q3 * 2.0 - coef_f2_q_sym14 * q0 * (q1 * q1) -
coef_f2_q_sym20 * q0 * (q2 * q2) - coef_f2_q_sym23 * q0 * (q3 * q3) * 3.0 +
coef_f0_q_sym7 * q0 * q1 * q2 + coef_f0_q_sym10 * q0 * q2 * q3 * 2.0 +
coef_f0_q_sym17 * q1 * q2 * q3 * 2.0 - coef_f2_q_sym16 * q0 * q1 * q2 -
coef_f2_q_sym17 * q0 * q1 * q3 * 2.0 - coef_f2_q_sym21 * q0 * q2 * q3 * 2.0;
symobj[2][0] = coef_f0_q_sym11 * q3 - coef_f3_q_sym11 * q0 * 2.0 - coef_f3_q_sym18 * q1 - coef_f3_q_sym22 * q2 -
coef_f3_q_sym24 * q3 + coef_f0_q_sym10 * (q3 * q3 * q3) - coef_f3_q_sym1 * (q0 * q0 * q0) * 4.0 -
coef_f3_q_sym12 * (q1 * q1 * q1) - coef_f3_q_sym19 * (q2 * q2 * q2) -
coef_f3_q_sym23 * (q3 * q3 * q3) + coef_f0_q_sym1 * (q0 * q0) * q3 * 3.0 +
coef_f0_q_sym4 * q0 * (q3 * q3) * 2.0 + coef_f0_q_sym5 * (q1 * q1) * q3 +
coef_f0_q_sym7 * q1 * (q3 * q3) + coef_f0_q_sym8 * (q2 * q2) * q3 + coef_f0_q_sym9 * q2 * (q3 * q3) -
coef_f3_q_sym2 * (q0 * q0) * q1 * 3.0 - coef_f3_q_sym3 * (q0 * q0) * q2 * 3.0 -
coef_f3_q_sym5 * q0 * (q1 * q1) * 2.0 - coef_f3_q_sym4 * (q0 * q0) * q3 * 3.0 -
coef_f3_q_sym8 * q0 * (q2 * q2) * 2.0 - coef_f3_q_sym10 * q0 * (q3 * q3) * 2.0 -
coef_f3_q_sym13 * (q1 * q1) * q2 - coef_f3_q_sym14 * (q1 * q1) * q3 -
coef_f3_q_sym15 * q1 * (q2 * q2) - coef_f3_q_sym17 * q1 * (q3 * q3) -
coef_f3_q_sym20 * (q2 * q2) * q3 - coef_f3_q_sym21 * q2 * (q3 * q3) +
coef_f0_q_sym2 * q0 * q1 * q3 * 2.0 + coef_f0_q_sym3 * q0 * q2 * q3 * 2.0 +
coef_f0_q_sym6 * q1 * q2 * q3 - coef_f3_q_sym6 * q0 * q1 * q2 * 2.0 -
coef_f3_q_sym7 * q0 * q1 * q3 * 2.0 - coef_f3_q_sym9 * q0 * q2 * q3 * 2.0 -
coef_f3_q_sym16 * q1 * q2 * q3;
symobj[2][1] = coef_f0_q_sym18 * q3 - coef_f3_q_sym18 * q0 + coef_f0_q_sym17 * (q3 * q3 * q3) -
coef_f3_q_sym2 * (q0 * q0 * q0) + coef_f0_q_sym2 * (q0 * q0) * q3 + coef_f0_q_sym7 * q0 * (q3 * q3) +
coef_f0_q_sym12 * (q1 * q1) * q3 * 3.0 + coef_f0_q_sym14 * q1 * (q3 * q3) * 2.0 +
coef_f0_q_sym15 * (q2 * q2) * q3 + coef_f0_q_sym16 * q2 * (q3 * q3) -
coef_f3_q_sym5 * (q0 * q0) * q1 * 2.0 - coef_f3_q_sym6 * (q0 * q0) * q2 -
coef_f3_q_sym7 * (q0 * q0) * q3 - coef_f3_q_sym12 * q0 * (q1 * q1) * 3.0 -
coef_f3_q_sym15 * q0 * (q2 * q2) - coef_f3_q_sym17 * q0 * (q3 * q3) +
coef_f0_q_sym5 * q0 * q1 * q3 * 2.0 + coef_f0_q_sym6 * q0 * q2 * q3 +
coef_f0_q_sym13 * q1 * q2 * q3 * 2.0 - coef_f3_q_sym13 * q0 * q1 * q2 * 2.0 -
coef_f3_q_sym14 * q0 * q1 * q3 * 2.0 - coef_f3_q_sym16 * q0 * q2 * q3;
symobj[2][2] = coef_f0_q_sym22 * q3 - coef_f3_q_sym22 * q0 + coef_f0_q_sym21 * (q3 * q3 * q3) -
coef_f3_q_sym3 * (q0 * q0 * q0) + coef_f0_q_sym3 * (q0 * q0) * q3 + coef_f0_q_sym9 * q0 * (q3 * q3) +
coef_f0_q_sym13 * (q1 * q1) * q3 + coef_f0_q_sym16 * q1 * (q3 * q3) +
coef_f0_q_sym19 * (q2 * q2) * q3 * 3.0 + coef_f0_q_sym20 * q2 * (q3 * q3) * 2.0 -
coef_f3_q_sym6 * (q0 * q0) * q1 - coef_f3_q_sym8 * (q0 * q0) * q2 * 2.0 -
coef_f3_q_sym9 * (q0 * q0) * q3 - coef_f3_q_sym13 * q0 * (q1 * q1) -
coef_f3_q_sym19 * q0 * (q2 * q2) * 3.0 - coef_f3_q_sym21 * q0 * (q3 * q3) +
coef_f0_q_sym6 * q0 * q1 * q3 + coef_f0_q_sym8 * q0 * q2 * q3 * 2.0 +
coef_f0_q_sym15 * q1 * q2 * q3 * 2.0 - coef_f3_q_sym15 * q0 * q1 * q2 * 2.0 -
coef_f3_q_sym16 * q0 * q1 * q3 - coef_f3_q_sym20 * q0 * q2 * q3 * 2.0;
symobj[2][3] = coef_f0_q_sym11 * q0 + coef_f0_q_sym18 * q1 + coef_f0_q_sym22 * q2 + coef_f0_q_sym24 * q3 * 2.0 -
coef_f3_q_sym24 * q0 + coef_f0_q_sym1 * (q0 * q0 * q0) + coef_f0_q_sym12 * (q1 * q1 * q1) +
coef_f0_q_sym19 * (q2 * q2 * q2) + coef_f0_q_sym23 * (q3 * q3 * q3) * 4.0 -
coef_f3_q_sym4 * (q0 * q0 * q0) + coef_f0_q_sym2 * (q0 * q0) * q1 + coef_f0_q_sym3 * (q0 * q0) * q2 +
coef_f0_q_sym5 * q0 * (q1 * q1) + coef_f0_q_sym4 * (q0 * q0) * q3 * 2.0 +
coef_f0_q_sym8 * q0 * (q2 * q2) + coef_f0_q_sym10 * q0 * (q3 * q3) * 3.0 +
coef_f0_q_sym13 * (q1 * q1) * q2 + coef_f0_q_sym14 * (q1 * q1) * q3 * 2.0 +
coef_f0_q_sym15 * q1 * (q2 * q2) + coef_f0_q_sym17 * q1 * (q3 * q3) * 3.0 +
coef_f0_q_sym20 * (q2 * q2) * q3 * 2.0 + coef_f0_q_sym21 * q2 * (q3 * q3) * 3.0 -
coef_f3_q_sym7 * (q0 * q0) * q1 - coef_f3_q_sym9 * (q0 * q0) * q2 -
coef_f3_q_sym10 * (q0 * q0) * q3 * 2.0 - coef_f3_q_sym14 * q0 * (q1 * q1) -
coef_f3_q_sym20 * q0 * (q2 * q2) - coef_f3_q_sym23 * q0 * (q3 * q3) * 3.0 +
coef_f0_q_sym6 * q0 * q1 * q2 + coef_f0_q_sym7 * q0 * q1 * q3 * 2.0 +
coef_f0_q_sym9 * q0 * q2 * q3 * 2.0 + coef_f0_q_sym16 * q1 * q2 * q3 * 2.0 -
coef_f3_q_sym16 * q0 * q1 * q2 - coef_f3_q_sym17 * q0 * q1 * q3 * 2.0 -
coef_f3_q_sym21 * q0 * q2 * q3 * 2.0;
symobj[3][0] = q0 * 2.0;
symobj[3][1] = q1 * 2.0;
symobj[3][2] = q2 * 2.0;
symobj[3][3] = q3 * 2.0;
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 4; ++j)
Jacob(i, j) = symobj[i][j];
}