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solver_WQ_approx_helper.cpp
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solver_WQ_approx_helper.cpp
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// 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
//
//
// solver_WQ_approx_helper.cpp
#include "solver_WQ_approx_helper.h"
void data_func_WQ_approx_sparse(Eigen::SparseMatrix<double>& tmp,
Eigen::MatrixXd& tmp2,
const Eigen::VectorXd& data)
{
double data1 = data(0);
double data2 = data(1);
double data3 = data(2);
double data4 = data(3);
double data5 = data(4);
double data6 = data(5);
double data7 = data(6);
double data8 = data(7);
double data9 = data(8);
double data10 = data(9);
double data11 = data(10);
double data12 = data(11);
double data13 = data(12);
double data14 = data(13);
double data15 = data(14);
double data16 = data(15);
double data17 = data(16);
double data18 = data(17);
double data19 = data(18);
double data20 = data(19);
double data21 = data(20);
double data22 = data(21);
double data23 = data(22);
double data24 = data(23);
double data25 = data(24);
double data26 = data(25);
double data27 = data(26);
double data28 = data(27);
double data29 = data(28);
double data30 = data(29);
double data31 = data(30);
double data32 = data(31);
double data33 = data(32);
double data34 = data(33);
double data35 = data(34);
double data36 = data(35);
double data37 = data(36);
double data38 = data(37);
double data39 = data(38);
double data40 = data(39);
double data41 = data(40);
double data42 = data(41);
double data43 = data(42);
double data44 = data(43);
double data45 = data(44);
double data46 = data(45);
double data47 = data(46);
double data48 = data(47);
double data49 = data(48);
double data50 = data(49);
double data51 = data(50);
double data52 = data(51);
double data53 = data(52);
double data54 = data(53);
double data55 = data(54);
double data56 = data(55);
double data57 = data(56);
double data58 = data(57);
double data59 = data(58);
double data60 = data(59);
double data61 = data(60);
double data62 = data(61);
double data63 = data(62);
double data64 = data(63);
double data65 = data(64);
double data66 = data(65);
double data67 = data(66);
double data68 = data(67);
double data69 = data(68);
double data70 = data(69);
double data71 = data(70);
double data72 = data(71);
double data73 = data(72);
double data74 = data(73);
double data75 = data(74);
double data76 = data(75);
double data77 = data(76);
double data78 = data(77);
double data79 = data(78);
double data80 = data(79);
double data81 = data(80);
double data82 = data(81);
double data83 = data(82);
double data84 = data(83);
double data85 = data(84);
double data86 = data(85);
double data87 = data(86);
double data88 = data(87);
double data89 = data(88);
double data90 = data(89);
double data91 = data(90);
double data92 = data(91);
double data93 = data(92);
double data94 = data(93);
double data95 = data(94);
double data96 = data(95);
double data97 = data(96);
double data98 = data(97);
double data99 = data(98);
double data100 = data(99);
double data101 = data(100);
double data102 = data(101);
double data103 = data(102);
double data104 = data(103);
double data105 = data(104);
double data106 = data(105);
double data107 = data(106);
double data108 = data(107);
double data109 = data(108);
double data110 = data(109);
double data111 = data(110);
double data112 = data(111);
double data113 = data(112);
double data114 = data(113);
double data115 = data(114);
double data116 = data(115);
double data117 = data(116);
double data118 = data(117);
double data119 = data(118);
double data120 = data(119);
double data121 = data(120);
double data122 = data(121);
double data123 = data(122);
double data124 = data(123);
double data125 = data(124);
double data126 = data(125);
double data127 = data(126);
double data128 = data(127);
double data129 = data(128);
double data130 = data(129);
double data131 = data(130);
double data132 = data(131);
double data133 = data(132);
double data134 = data(133);
double data135 = data(134);
double data136 = data(135);
double data137 = data(136);
double data138 = data(137);
double data139 = data(138);
double data140 = data(139);
double data141 = data(140);
double data142 = data(141);
double data143 = data(142);
double data144 = data(143);
double data145 = data(144);
double data146 = data(145);
double data147 = data(146);
double data148 = data(147);
double data149 = data(148);
double data150 = data(149);
double data151 = data(150);
double data152 = data(151);
double data153 = data(152);
double data154 = data(153);
double data155 = data(154);
double data156 = data(155);
double data157 = data(156);
double data158 = data(157);
double data159 = data(158);
double data160 = data(159);
double data161 = data(160);
double data162 = data(161);
double data163 = data(162);
double data164 = data(163);
double data165 = data(164);
double data166 = data(165);
double data167 = data(166);
double data168 = data(167);
double data169 = data(168);
double data170 = data(169);
double data171 = data(170);
double data172 = data(171);
double data173 = data(172);
double data174 = data(173);
double data175 = data(174);
double data176 = data(175);
double data177 = data(176);
double data178 = data(177);
double data179 = data(178);
double data180 = data(179);
double data181 = data(180);
double data182 = data(181);
double data183 = data(182);
double data184 = data(183);
double data185 = data(184);
double data186 = data(185);
double data187 = data(186);
double data188 = data(187);
double data189 = data(188);
double data190 = data(189);
double data191 = data(190);
double data192 = data(191);
double data193 = data(192);
double data194 = data(193);
double data195 = data(194);
double data196 = data(195);
double data197 = data(196);
double data198 = data(197);
double data199 = data(198);
double data200 = data(199);
double data201 = data(200);
double data202 = data(201);
double data203 = data(202);
double data204 = data(203);
tmp.coeffRef(0, 0) = data1;
tmp.coeffRef(0, 1) = data4+data13+data49;
tmp.coeffRef(0, 2) = data16+data52+data61;
tmp.coeffRef(0, 3) = data64;
tmp.coeffRef(0, 7) = data7+data25+data97;
tmp.coeffRef(0, 8) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(0, 9) = data67+data76+data112;
tmp.coeffRef(0, 14) = data31+data103+data121;
tmp.coeffRef(0, 15) = data79+data115+data124;
tmp.coeffRef(0, 20) = data127;
tmp.coeffRef(0, 39) = data10+data37+data145;
tmp.coeffRef(0, 40) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(0, 41) = data70+data88+data160;
tmp.coeffRef(0, 46) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(0, 47) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(0, 52) = data130+data139+data175;
tmp.coeffRef(0, 73) = data46+data154+data181;
tmp.coeffRef(0, 74) = data94+data166+data184;
tmp.coeffRef(0, 79) = data142+data178+data187;
tmp.coeffRef(0, 100) = data190;
tmp.coeffRef(0, 152) = -data193;
tmp.coeffRef(0, 153) = -data196;
tmp.coeffRef(0, 158) = -data199;
tmp.coeffRef(0, 179) = -data202;
tmp.coeffRef(1, 1) = data1;
tmp.coeffRef(1, 2) = data4+data13+data49;
tmp.coeffRef(1, 3) = data16+data52+data61;
tmp.coeffRef(1, 4) = data64;
tmp.coeffRef(1, 8) = data7+data25+data97;
tmp.coeffRef(1, 9) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(1, 10) = data67+data76+data112;
tmp.coeffRef(1, 15) = data31+data103+data121;
tmp.coeffRef(1, 16) = data79+data115+data124;
tmp.coeffRef(1, 21) = data127;
tmp.coeffRef(1, 40) = data10+data37+data145;
tmp.coeffRef(1, 41) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(1, 42) = data70+data88+data160;
tmp.coeffRef(1, 47) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(1, 48) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(1, 53) = data130+data139+data175;
tmp.coeffRef(1, 74) = data46+data154+data181;
tmp.coeffRef(1, 75) = data94+data166+data184;
tmp.coeffRef(1, 80) = data142+data178+data187;
tmp.coeffRef(1, 101) = data190;
tmp.coeffRef(1, 153) = -data193;
tmp.coeffRef(1, 154) = -data196;
tmp.coeffRef(1, 159) = -data199;
tmp.coeffRef(1, 180) = -data202;
tmp.coeffRef(2, 1) = data2;
tmp.coeffRef(2, 2) = data5+data14+data50;
tmp.coeffRef(2, 3) = data17+data53+data62;
tmp.coeffRef(2, 4) = data65;
tmp.coeffRef(2, 8) = data8+data26+data98;
tmp.coeffRef(2, 9) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(2, 10) = data68+data77+data113;
tmp.coeffRef(2, 15) = data32+data104+data122;
tmp.coeffRef(2, 16) = data80+data116+data125;
tmp.coeffRef(2, 21) = data128;
tmp.coeffRef(2, 40) = data11+data38+data146;
tmp.coeffRef(2, 41) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(2, 42) = data71+data89+data161;
tmp.coeffRef(2, 47) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(2, 48) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(2, 53) = data131+data140+data176;
tmp.coeffRef(2, 74) = data47+data155+data182;
tmp.coeffRef(2, 75) = data95+data167+data185;
tmp.coeffRef(2, 80) = data143+data179+data188;
tmp.coeffRef(2, 101) = data191;
tmp.coeffRef(2, 153) = -data194;
tmp.coeffRef(2, 154) = -data197;
tmp.coeffRef(2, 159) = -data200;
tmp.coeffRef(2, 180) = -data203;
tmp.coeffRef(3, 0) = data2;
tmp.coeffRef(3, 1) = data5+data14+data50;
tmp.coeffRef(3, 2) = data17+data53+data62;
tmp.coeffRef(3, 3) = data65;
tmp.coeffRef(3, 7) = data8+data26+data98;
tmp.coeffRef(3, 8) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(3, 9) = data68+data77+data113;
tmp.coeffRef(3, 14) = data32+data104+data122;
tmp.coeffRef(3, 15) = data80+data116+data125;
tmp.coeffRef(3, 20) = data128;
tmp.coeffRef(3, 39) = data11+data38+data146;
tmp.coeffRef(3, 40) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(3, 41) = data71+data89+data161;
tmp.coeffRef(3, 46) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(3, 47) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(3, 52) = data131+data140+data176;
tmp.coeffRef(3, 73) = data47+data155+data182;
tmp.coeffRef(3, 74) = data95+data167+data185;
tmp.coeffRef(3, 79) = data143+data179+data188;
tmp.coeffRef(3, 100) = data191;
tmp.coeffRef(3, 152) = -data194;
tmp.coeffRef(3, 153) = -data197;
tmp.coeffRef(3, 158) = -data200;
tmp.coeffRef(3, 179) = -data203;
tmp.coeffRef(4, 1) = data3;
tmp.coeffRef(4, 2) = data6+data15+data51;
tmp.coeffRef(4, 3) = data18+data54+data63;
tmp.coeffRef(4, 4) = data66;
tmp.coeffRef(4, 8) = data9+data27+data99;
tmp.coeffRef(4, 9) = data21+data30+data57+data75+data102+data111;
tmp.coeffRef(4, 10) = data69+data78+data114;
tmp.coeffRef(4, 15) = data33+data105+data123;
tmp.coeffRef(4, 16) = data81+data117+data126;
tmp.coeffRef(4, 21) = data129;
tmp.coeffRef(4, 40) = data12+data39+data147;
tmp.coeffRef(4, 41) = data24+data42+data60+data87+data150+data159;
tmp.coeffRef(4, 42) = data72+data90+data162;
tmp.coeffRef(4, 47) = data36+data45+data108+data135+data153+data171;
tmp.coeffRef(4, 48) = data84+data93+data120+data138+data165+data174;
tmp.coeffRef(4, 53) = data132+data141+data177;
tmp.coeffRef(4, 74) = data48+data156+data183;
tmp.coeffRef(4, 75) = data96+data168+data186;
tmp.coeffRef(4, 80) = data144+data180+data189;
tmp.coeffRef(4, 101) = data192;
tmp.coeffRef(4, 153) = -data195;
tmp.coeffRef(4, 154) = -data198;
tmp.coeffRef(4, 159) = -data201;
tmp.coeffRef(4, 180) = -data204;
tmp.coeffRef(5, 5) = data1;
tmp.coeffRef(5, 6) = data4+data13+data49;
tmp.coeffRef(5, 7) = data16+data52+data61;
tmp.coeffRef(5, 8) = data64;
tmp.coeffRef(5, 12) = data7+data25+data97;
tmp.coeffRef(5, 13) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(5, 14) = data67+data76+data112;
tmp.coeffRef(5, 18) = data31+data103+data121;
tmp.coeffRef(5, 19) = data79+data115+data124;
tmp.coeffRef(5, 23) = data127;
tmp.coeffRef(5, 44) = data10+data37+data145;
tmp.coeffRef(5, 45) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(5, 46) = data70+data88+data160;
tmp.coeffRef(5, 50) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(5, 51) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(5, 55) = data130+data139+data175;
tmp.coeffRef(5, 77) = data46+data154+data181;
tmp.coeffRef(5, 78) = data94+data166+data184;
tmp.coeffRef(5, 82) = data142+data178+data187;
tmp.coeffRef(5, 103) = data190;
tmp.coeffRef(5, 156) = -data193;
tmp.coeffRef(5, 157) = -data196;
tmp.coeffRef(5, 161) = -data199;
tmp.coeffRef(5, 182) = -data202;
tmp.coeffRef(6, 6) = data1;
tmp.coeffRef(6, 7) = data4+data13+data49;
tmp.coeffRef(6, 8) = data16+data52+data61;
tmp.coeffRef(6, 9) = data64;
tmp.coeffRef(6, 13) = data7+data25+data97;
tmp.coeffRef(6, 14) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(6, 15) = data67+data76+data112;
tmp.coeffRef(6, 19) = data31+data103+data121;
tmp.coeffRef(6, 20) = data79+data115+data124;
tmp.coeffRef(6, 24) = data127;
tmp.coeffRef(6, 45) = data10+data37+data145;
tmp.coeffRef(6, 46) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(6, 47) = data70+data88+data160;
tmp.coeffRef(6, 51) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(6, 52) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(6, 56) = data130+data139+data175;
tmp.coeffRef(6, 78) = data46+data154+data181;
tmp.coeffRef(6, 79) = data94+data166+data184;
tmp.coeffRef(6, 83) = data142+data178+data187;
tmp.coeffRef(6, 104) = data190;
tmp.coeffRef(6, 157) = -data193;
tmp.coeffRef(6, 158) = -data196;
tmp.coeffRef(6, 162) = -data199;
tmp.coeffRef(6, 183) = -data202;
tmp.coeffRef(7, 7) = data1;
tmp.coeffRef(7, 8) = data4+data13+data49;
tmp.coeffRef(7, 9) = data16+data52+data61;
tmp.coeffRef(7, 10) = data64;
tmp.coeffRef(7, 14) = data7+data25+data97;
tmp.coeffRef(7, 15) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(7, 16) = data67+data76+data112;
tmp.coeffRef(7, 20) = data31+data103+data121;
tmp.coeffRef(7, 21) = data79+data115+data124;
tmp.coeffRef(7, 25) = data127;
tmp.coeffRef(7, 46) = data10+data37+data145;
tmp.coeffRef(7, 47) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(7, 48) = data70+data88+data160;
tmp.coeffRef(7, 52) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(7, 53) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(7, 57) = data130+data139+data175;
tmp.coeffRef(7, 79) = data46+data154+data181;
tmp.coeffRef(7, 80) = data94+data166+data184;
tmp.coeffRef(7, 84) = data142+data178+data187;
tmp.coeffRef(7, 105) = data190;
tmp.coeffRef(7, 158) = -data193;
tmp.coeffRef(7, 159) = -data196;
tmp.coeffRef(7, 163) = -data199;
tmp.coeffRef(7, 184) = -data202;
tmp.coeffRef(8, 7) = data2;
tmp.coeffRef(8, 8) = data5+data14+data50;
tmp.coeffRef(8, 9) = data17+data53+data62;
tmp.coeffRef(8, 10) = data65;
tmp.coeffRef(8, 14) = data8+data26+data98;
tmp.coeffRef(8, 15) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(8, 16) = data68+data77+data113;
tmp.coeffRef(8, 20) = data32+data104+data122;
tmp.coeffRef(8, 21) = data80+data116+data125;
tmp.coeffRef(8, 25) = data128;
tmp.coeffRef(8, 46) = data11+data38+data146;
tmp.coeffRef(8, 47) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(8, 48) = data71+data89+data161;
tmp.coeffRef(8, 52) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(8, 53) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(8, 57) = data131+data140+data176;
tmp.coeffRef(8, 79) = data47+data155+data182;
tmp.coeffRef(8, 80) = data95+data167+data185;
tmp.coeffRef(8, 84) = data143+data179+data188;
tmp.coeffRef(8, 105) = data191;
tmp.coeffRef(8, 158) = -data194;
tmp.coeffRef(8, 159) = -data197;
tmp.coeffRef(8, 163) = -data200;
tmp.coeffRef(8, 184) = -data203;
tmp.coeffRef(9, 6) = data2;
tmp.coeffRef(9, 7) = data5+data14+data50;
tmp.coeffRef(9, 8) = data17+data53+data62;
tmp.coeffRef(9, 9) = data65;
tmp.coeffRef(9, 13) = data8+data26+data98;
tmp.coeffRef(9, 14) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(9, 15) = data68+data77+data113;
tmp.coeffRef(9, 19) = data32+data104+data122;
tmp.coeffRef(9, 20) = data80+data116+data125;
tmp.coeffRef(9, 24) = data128;
tmp.coeffRef(9, 45) = data11+data38+data146;
tmp.coeffRef(9, 46) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(9, 47) = data71+data89+data161;
tmp.coeffRef(9, 51) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(9, 52) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(9, 56) = data131+data140+data176;
tmp.coeffRef(9, 78) = data47+data155+data182;
tmp.coeffRef(9, 79) = data95+data167+data185;
tmp.coeffRef(9, 83) = data143+data179+data188;
tmp.coeffRef(9, 104) = data191;
tmp.coeffRef(9, 157) = -data194;
tmp.coeffRef(9, 158) = -data197;
tmp.coeffRef(9, 162) = -data200;
tmp.coeffRef(9, 183) = -data203;
tmp.coeffRef(10, 5) = data2;
tmp.coeffRef(10, 6) = data5+data14+data50;
tmp.coeffRef(10, 7) = data17+data53+data62;
tmp.coeffRef(10, 8) = data65;
tmp.coeffRef(10, 12) = data8+data26+data98;
tmp.coeffRef(10, 13) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(10, 14) = data68+data77+data113;
tmp.coeffRef(10, 18) = data32+data104+data122;
tmp.coeffRef(10, 19) = data80+data116+data125;
tmp.coeffRef(10, 23) = data128;
tmp.coeffRef(10, 44) = data11+data38+data146;
tmp.coeffRef(10, 45) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(10, 46) = data71+data89+data161;
tmp.coeffRef(10, 50) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(10, 51) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(10, 55) = data131+data140+data176;
tmp.coeffRef(10, 77) = data47+data155+data182;
tmp.coeffRef(10, 78) = data95+data167+data185;
tmp.coeffRef(10, 82) = data143+data179+data188;
tmp.coeffRef(10, 103) = data191;
tmp.coeffRef(10, 156) = -data194;
tmp.coeffRef(10, 157) = -data197;
tmp.coeffRef(10, 161) = -data200;
tmp.coeffRef(10, 182) = -data203;
tmp.coeffRef(11, 11) = data1;
tmp.coeffRef(11, 12) = data4+data13+data49;
tmp.coeffRef(11, 13) = data16+data52+data61;
tmp.coeffRef(11, 14) = data64;
tmp.coeffRef(11, 17) = data7+data25+data97;
tmp.coeffRef(11, 18) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(11, 19) = data67+data76+data112;
tmp.coeffRef(11, 22) = data31+data103+data121;
tmp.coeffRef(11, 23) = data79+data115+data124;
tmp.coeffRef(11, 26) = data127;
tmp.coeffRef(11, 49) = data10+data37+data145;
tmp.coeffRef(11, 50) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(11, 51) = data70+data88+data160;
tmp.coeffRef(11, 54) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(11, 55) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(11, 58) = data130+data139+data175;
tmp.coeffRef(11, 81) = data46+data154+data181;
tmp.coeffRef(11, 82) = data94+data166+data184;
tmp.coeffRef(11, 85) = data142+data178+data187;
tmp.coeffRef(11, 106) = data190;
tmp.coeffRef(11, 160) = -data193;
tmp.coeffRef(11, 161) = -data196;
tmp.coeffRef(11, 164) = -data199;
tmp.coeffRef(11, 185) = -data202;
tmp.coeffRef(12, 12) = data1;
tmp.coeffRef(12, 13) = data4+data13+data49;
tmp.coeffRef(12, 14) = data16+data52+data61;
tmp.coeffRef(12, 15) = data64;
tmp.coeffRef(12, 18) = data7+data25+data97;
tmp.coeffRef(12, 19) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(12, 20) = data67+data76+data112;
tmp.coeffRef(12, 23) = data31+data103+data121;
tmp.coeffRef(12, 24) = data79+data115+data124;
tmp.coeffRef(12, 27) = data127;
tmp.coeffRef(12, 50) = data10+data37+data145;
tmp.coeffRef(12, 51) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(12, 52) = data70+data88+data160;
tmp.coeffRef(12, 55) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(12, 56) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(12, 59) = data130+data139+data175;
tmp.coeffRef(12, 82) = data46+data154+data181;
tmp.coeffRef(12, 83) = data94+data166+data184;
tmp.coeffRef(12, 86) = data142+data178+data187;
tmp.coeffRef(12, 107) = data190;
tmp.coeffRef(12, 161) = -data193;
tmp.coeffRef(12, 162) = -data196;
tmp.coeffRef(12, 165) = -data199;
tmp.coeffRef(12, 186) = -data202;
tmp.coeffRef(13, 13) = data1;
tmp.coeffRef(13, 14) = data4+data13+data49;
tmp.coeffRef(13, 15) = data16+data52+data61;
tmp.coeffRef(13, 16) = data64;
tmp.coeffRef(13, 19) = data7+data25+data97;
tmp.coeffRef(13, 20) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(13, 21) = data67+data76+data112;
tmp.coeffRef(13, 24) = data31+data103+data121;
tmp.coeffRef(13, 25) = data79+data115+data124;
tmp.coeffRef(13, 28) = data127;
tmp.coeffRef(13, 51) = data10+data37+data145;
tmp.coeffRef(13, 52) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(13, 53) = data70+data88+data160;
tmp.coeffRef(13, 56) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(13, 57) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(13, 60) = data130+data139+data175;
tmp.coeffRef(13, 83) = data46+data154+data181;
tmp.coeffRef(13, 84) = data94+data166+data184;
tmp.coeffRef(13, 87) = data142+data178+data187;
tmp.coeffRef(13, 108) = data190;
tmp.coeffRef(13, 162) = -data193;
tmp.coeffRef(13, 163) = -data196;
tmp.coeffRef(13, 166) = -data199;
tmp.coeffRef(13, 187) = -data202;
tmp.coeffRef(14, 13) = data2;
tmp.coeffRef(14, 14) = data5+data14+data50;
tmp.coeffRef(14, 15) = data17+data53+data62;
tmp.coeffRef(14, 16) = data65;
tmp.coeffRef(14, 19) = data8+data26+data98;
tmp.coeffRef(14, 20) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(14, 21) = data68+data77+data113;
tmp.coeffRef(14, 24) = data32+data104+data122;
tmp.coeffRef(14, 25) = data80+data116+data125;
tmp.coeffRef(14, 28) = data128;
tmp.coeffRef(14, 51) = data11+data38+data146;
tmp.coeffRef(14, 52) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(14, 53) = data71+data89+data161;
tmp.coeffRef(14, 56) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(14, 57) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(14, 60) = data131+data140+data176;
tmp.coeffRef(14, 83) = data47+data155+data182;
tmp.coeffRef(14, 84) = data95+data167+data185;
tmp.coeffRef(14, 87) = data143+data179+data188;
tmp.coeffRef(14, 108) = data191;
tmp.coeffRef(14, 162) = -data194;
tmp.coeffRef(14, 163) = -data197;
tmp.coeffRef(14, 166) = -data200;
tmp.coeffRef(14, 187) = -data203;
tmp.coeffRef(15, 12) = data2;
tmp.coeffRef(15, 13) = data5+data14+data50;
tmp.coeffRef(15, 14) = data17+data53+data62;
tmp.coeffRef(15, 15) = data65;
tmp.coeffRef(15, 18) = data8+data26+data98;
tmp.coeffRef(15, 19) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(15, 20) = data68+data77+data113;
tmp.coeffRef(15, 23) = data32+data104+data122;
tmp.coeffRef(15, 24) = data80+data116+data125;
tmp.coeffRef(15, 27) = data128;
tmp.coeffRef(15, 50) = data11+data38+data146;
tmp.coeffRef(15, 51) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(15, 52) = data71+data89+data161;
tmp.coeffRef(15, 55) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(15, 56) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(15, 59) = data131+data140+data176;
tmp.coeffRef(15, 82) = data47+data155+data182;
tmp.coeffRef(15, 83) = data95+data167+data185;
tmp.coeffRef(15, 86) = data143+data179+data188;
tmp.coeffRef(15, 107) = data191;
tmp.coeffRef(15, 161) = -data194;
tmp.coeffRef(15, 162) = -data197;
tmp.coeffRef(15, 165) = -data200;
tmp.coeffRef(15, 186) = -data203;
tmp.coeffRef(16, 11) = data2;
tmp.coeffRef(16, 12) = data5+data14+data50;
tmp.coeffRef(16, 13) = data17+data53+data62;
tmp.coeffRef(16, 14) = data65;
tmp.coeffRef(16, 17) = data8+data26+data98;
tmp.coeffRef(16, 18) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(16, 19) = data68+data77+data113;
tmp.coeffRef(16, 22) = data32+data104+data122;
tmp.coeffRef(16, 23) = data80+data116+data125;
tmp.coeffRef(16, 26) = data128;
tmp.coeffRef(16, 49) = data11+data38+data146;
tmp.coeffRef(16, 50) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(16, 51) = data71+data89+data161;
tmp.coeffRef(16, 54) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(16, 55) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(16, 58) = data131+data140+data176;
tmp.coeffRef(16, 81) = data47+data155+data182;
tmp.coeffRef(16, 82) = data95+data167+data185;
tmp.coeffRef(16, 85) = data143+data179+data188;
tmp.coeffRef(16, 106) = data191;
tmp.coeffRef(16, 160) = -data194;
tmp.coeffRef(16, 161) = -data197;
tmp.coeffRef(16, 164) = -data200;
tmp.coeffRef(16, 185) = -data203;
tmp.coeffRef(17, 17) = data1;
tmp.coeffRef(17, 18) = data4+data13+data49;
tmp.coeffRef(17, 19) = data16+data52+data61;
tmp.coeffRef(17, 20) = data64;
tmp.coeffRef(17, 22) = data7+data25+data97;
tmp.coeffRef(17, 23) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(17, 24) = data67+data76+data112;
tmp.coeffRef(17, 26) = data31+data103+data121;
tmp.coeffRef(17, 27) = data79+data115+data124;
tmp.coeffRef(17, 29) = data127;
tmp.coeffRef(17, 54) = data10+data37+data145;
tmp.coeffRef(17, 55) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(17, 56) = data70+data88+data160;
tmp.coeffRef(17, 58) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(17, 59) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(17, 61) = data130+data139+data175;
tmp.coeffRef(17, 85) = data46+data154+data181;
tmp.coeffRef(17, 86) = data94+data166+data184;
tmp.coeffRef(17, 88) = data142+data178+data187;
tmp.coeffRef(17, 109) = data190;
tmp.coeffRef(17, 164) = -data193;
tmp.coeffRef(17, 165) = -data196;
tmp.coeffRef(17, 167) = -data199;
tmp.coeffRef(17, 188) = -data202;
tmp.coeffRef(18, 18) = data1;
tmp.coeffRef(18, 19) = data4+data13+data49;
tmp.coeffRef(18, 20) = data16+data52+data61;
tmp.coeffRef(18, 21) = data64;
tmp.coeffRef(18, 23) = data7+data25+data97;
tmp.coeffRef(18, 24) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(18, 25) = data67+data76+data112;
tmp.coeffRef(18, 27) = data31+data103+data121;
tmp.coeffRef(18, 28) = data79+data115+data124;
tmp.coeffRef(18, 30) = data127;
tmp.coeffRef(18, 55) = data10+data37+data145;
tmp.coeffRef(18, 56) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(18, 57) = data70+data88+data160;
tmp.coeffRef(18, 59) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(18, 60) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(18, 62) = data130+data139+data175;
tmp.coeffRef(18, 86) = data46+data154+data181;
tmp.coeffRef(18, 87) = data94+data166+data184;
tmp.coeffRef(18, 89) = data142+data178+data187;
tmp.coeffRef(18, 110) = data190;
tmp.coeffRef(18, 165) = -data193;
tmp.coeffRef(18, 166) = -data196;
tmp.coeffRef(18, 168) = -data199;
tmp.coeffRef(18, 189) = -data202;
tmp.coeffRef(19, 18) = data2;
tmp.coeffRef(19, 19) = data5+data14+data50;
tmp.coeffRef(19, 20) = data17+data53+data62;
tmp.coeffRef(19, 21) = data65;
tmp.coeffRef(19, 23) = data8+data26+data98;
tmp.coeffRef(19, 24) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(19, 25) = data68+data77+data113;
tmp.coeffRef(19, 27) = data32+data104+data122;
tmp.coeffRef(19, 28) = data80+data116+data125;
tmp.coeffRef(19, 30) = data128;
tmp.coeffRef(19, 55) = data11+data38+data146;
tmp.coeffRef(19, 56) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(19, 57) = data71+data89+data161;
tmp.coeffRef(19, 59) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(19, 60) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(19, 62) = data131+data140+data176;
tmp.coeffRef(19, 86) = data47+data155+data182;
tmp.coeffRef(19, 87) = data95+data167+data185;
tmp.coeffRef(19, 89) = data143+data179+data188;
tmp.coeffRef(19, 110) = data191;
tmp.coeffRef(19, 165) = -data194;
tmp.coeffRef(19, 166) = -data197;
tmp.coeffRef(19, 168) = -data200;
tmp.coeffRef(19, 189) = -data203;
tmp.coeffRef(20, 17) = data2;
tmp.coeffRef(20, 18) = data5+data14+data50;
tmp.coeffRef(20, 19) = data17+data53+data62;
tmp.coeffRef(20, 20) = data65;
tmp.coeffRef(20, 22) = data8+data26+data98;
tmp.coeffRef(20, 23) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(20, 24) = data68+data77+data113;
tmp.coeffRef(20, 26) = data32+data104+data122;
tmp.coeffRef(20, 27) = data80+data116+data125;
tmp.coeffRef(20, 29) = data128;
tmp.coeffRef(20, 54) = data11+data38+data146;
tmp.coeffRef(20, 55) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(20, 56) = data71+data89+data161;
tmp.coeffRef(20, 58) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(20, 59) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(20, 61) = data131+data140+data176;
tmp.coeffRef(20, 85) = data47+data155+data182;
tmp.coeffRef(20, 86) = data95+data167+data185;
tmp.coeffRef(20, 88) = data143+data179+data188;
tmp.coeffRef(20, 109) = data191;
tmp.coeffRef(20, 164) = -data194;
tmp.coeffRef(20, 165) = -data197;
tmp.coeffRef(20, 167) = -data200;
tmp.coeffRef(20, 188) = -data203;
tmp.coeffRef(21, 18) = data3;
tmp.coeffRef(21, 19) = data6+data15+data51;
tmp.coeffRef(21, 20) = data18+data54+data63;
tmp.coeffRef(21, 21) = data66;
tmp.coeffRef(21, 23) = data9+data27+data99;
tmp.coeffRef(21, 24) = data21+data30+data57+data75+data102+data111;
tmp.coeffRef(21, 25) = data69+data78+data114;
tmp.coeffRef(21, 27) = data33+data105+data123;
tmp.coeffRef(21, 28) = data81+data117+data126;
tmp.coeffRef(21, 30) = data129;
tmp.coeffRef(21, 55) = data12+data39+data147;
tmp.coeffRef(21, 56) = data24+data42+data60+data87+data150+data159;
tmp.coeffRef(21, 57) = data72+data90+data162;
tmp.coeffRef(21, 59) = data36+data45+data108+data135+data153+data171;
tmp.coeffRef(21, 60) = data84+data93+data120+data138+data165+data174;
tmp.coeffRef(21, 62) = data132+data141+data177;
tmp.coeffRef(21, 86) = data48+data156+data183;
tmp.coeffRef(21, 87) = data96+data168+data186;
tmp.coeffRef(21, 89) = data144+data180+data189;
tmp.coeffRef(21, 110) = data192;
tmp.coeffRef(21, 165) = -data195;
tmp.coeffRef(21, 166) = -data198;
tmp.coeffRef(21, 168) = -data201;
tmp.coeffRef(21, 189) = -data204;
tmp.coeffRef(22, 22) = data1;
tmp.coeffRef(22, 23) = data4+data13+data49;
tmp.coeffRef(22, 24) = data16+data52+data61;
tmp.coeffRef(22, 25) = data64;
tmp.coeffRef(22, 26) = data7+data25+data97;
tmp.coeffRef(22, 27) = data19+data28+data55+data73+data100+data109;
tmp.coeffRef(22, 28) = data67+data76+data112;
tmp.coeffRef(22, 29) = data31+data103+data121;
tmp.coeffRef(22, 30) = data79+data115+data124;
tmp.coeffRef(22, 31) = data127;
tmp.coeffRef(22, 58) = data10+data37+data145;
tmp.coeffRef(22, 59) = data22+data40+data58+data85+data148+data157;
tmp.coeffRef(22, 60) = data70+data88+data160;
tmp.coeffRef(22, 61) = data34+data43+data106+data133+data151+data169;
tmp.coeffRef(22, 62) = data82+data91+data118+data136+data163+data172;
tmp.coeffRef(22, 63) = data130+data139+data175;
tmp.coeffRef(22, 88) = data46+data154+data181;
tmp.coeffRef(22, 89) = data94+data166+data184;
tmp.coeffRef(22, 90) = data142+data178+data187;
tmp.coeffRef(22, 111) = data190;
tmp.coeffRef(22, 167) = -data193;
tmp.coeffRef(22, 168) = -data196;
tmp.coeffRef(22, 169) = -data199;
tmp.coeffRef(22, 190) = -data202;
tmp.coeffRef(23, 22) = data2;
tmp.coeffRef(23, 23) = data5+data14+data50;
tmp.coeffRef(23, 24) = data17+data53+data62;
tmp.coeffRef(23, 25) = data65;
tmp.coeffRef(23, 26) = data8+data26+data98;
tmp.coeffRef(23, 27) = data20+data29+data56+data74+data101+data110;
tmp.coeffRef(23, 28) = data68+data77+data113;
tmp.coeffRef(23, 29) = data32+data104+data122;
tmp.coeffRef(23, 30) = data80+data116+data125;
tmp.coeffRef(23, 31) = data128;
tmp.coeffRef(23, 58) = data11+data38+data146;
tmp.coeffRef(23, 59) = data23+data41+data59+data86+data149+data158;
tmp.coeffRef(23, 60) = data71+data89+data161;
tmp.coeffRef(23, 61) = data35+data44+data107+data134+data152+data170;
tmp.coeffRef(23, 62) = data83+data92+data119+data137+data164+data173;
tmp.coeffRef(23, 63) = data131+data140+data176;
tmp.coeffRef(23, 88) = data47+data155+data182;
tmp.coeffRef(23, 89) = data95+data167+data185;
tmp.coeffRef(23, 90) = data143+data179+data188;
tmp.coeffRef(23, 111) = data191;
tmp.coeffRef(23, 167) = -data194;
tmp.coeffRef(23, 168) = -data197;
tmp.coeffRef(23, 169) = -data200;
tmp.coeffRef(23, 190) = -data203;
tmp.coeffRef(24, 22) = data3;
tmp.coeffRef(24, 23) = data6+data15+data51;
tmp.coeffRef(24, 24) = data18+data54+data63;
tmp.coeffRef(24, 25) = data66;
tmp.coeffRef(24, 26) = data9+data27+data99;
tmp.coeffRef(24, 27) = data21+data30+data57+data75+data102+data111;
tmp.coeffRef(24, 28) = data69+data78+data114;
tmp.coeffRef(24, 29) = data33+data105+data123;
tmp.coeffRef(24, 30) = data81+data117+data126;
tmp.coeffRef(24, 31) = data129;
tmp.coeffRef(24, 58) = data12+data39+data147;
tmp.coeffRef(24, 59) = data24+data42+data60+data87+data150+data159;
tmp.coeffRef(24, 60) = data72+data90+data162;
tmp.coeffRef(24, 61) = data36+data45+data108+data135+data153+data171;
tmp.coeffRef(24, 62) = data84+data93+data120+data138+data165+data174;
tmp.coeffRef(24, 63) = data132+data141+data177;
tmp.coeffRef(24, 88) = data48+data156+data183;
tmp.coeffRef(24, 89) = data96+data168+data186;
tmp.coeffRef(24, 90) = data144+data180+data189;
tmp.coeffRef(24, 111) = data192;
tmp.coeffRef(24, 167) = -data195;
tmp.coeffRef(24, 168) = -data198;
tmp.coeffRef(24, 169) = -data201;
tmp.coeffRef(24, 190) = -data204;
tmp.coeffRef(25, 13) = data3;
tmp.coeffRef(25, 14) = data6+data15+data51;
tmp.coeffRef(25, 15) = data18+data54+data63;
tmp.coeffRef(25, 16) = data66;
tmp.coeffRef(25, 19) = data9+data27+data99;
tmp.coeffRef(25, 20) = data21+data30+data57+data75+data102+data111;
tmp.coeffRef(25, 21) = data69+data78+data114;
tmp.coeffRef(25, 24) = data33+data105+data123;
tmp.coeffRef(25, 25) = data81+data117+data126;
tmp.coeffRef(25, 28) = data129;
tmp.coeffRef(25, 51) = data12+data39+data147;
tmp.coeffRef(25, 52) = data24+data42+data60+data87+data150+data159;
tmp.coeffRef(25, 53) = data72+data90+data162;
tmp.coeffRef(25, 56) = data36+data45+data108+data135+data153+data171;
tmp.coeffRef(25, 57) = data84+data93+data120+data138+data165+data174;
tmp.coeffRef(25, 60) = data132+data141+data177;
tmp.coeffRef(25, 83) = data48+data156+data183;
tmp.coeffRef(25, 84) = data96+data168+data186;
tmp.coeffRef(25, 87) = data144+data180+data189;
tmp.coeffRef(25, 108) = data192;
tmp.coeffRef(25, 162) = -data195;
tmp.coeffRef(25, 163) = -data198;
tmp.coeffRef(25, 166) = -data201;
tmp.coeffRef(25, 187) = -data204;
tmp.coeffRef(26, 7) = data3;
tmp.coeffRef(26, 8) = data6+data15+data51;
tmp.coeffRef(26, 9) = data18+data54+data63;
tmp.coeffRef(26, 10) = data66;
tmp.coeffRef(26, 14) = data9+data27+data99;
tmp.coeffRef(26, 15) = data21+data30+data57+data75+data102+data111;
tmp.coeffRef(26, 16) = data69+data78+data114;
tmp.coeffRef(26, 20) = data33+data105+data123;
tmp.coeffRef(26, 21) = data81+data117+data126;
tmp.coeffRef(26, 25) = data129;
tmp.coeffRef(26, 46) = data12+data39+data147;
tmp.coeffRef(26, 47) = data24+data42+data60+data87+data150+data159;
tmp.coeffRef(26, 48) = data72+data90+data162;
tmp.coeffRef(26, 52) = data36+data45+data108+data135+data153+data171;
tmp.coeffRef(26, 53) = data84+data93+data120+data138+data165+data174;
tmp.coeffRef(26, 57) = data132+data141+data177;
tmp.coeffRef(26, 79) = data48+data156+data183;
tmp.coeffRef(26, 80) = data96+data168+data186;
tmp.coeffRef(26, 84) = data144+data180+data189;
tmp.coeffRef(26, 105) = data192;
tmp.coeffRef(26, 158) = -data195;
tmp.coeffRef(26, 159) = -data198;
tmp.coeffRef(26, 163) = -data201;
tmp.coeffRef(26, 184) = -data204;
tmp.coeffRef(27, 17) = data3;
tmp.coeffRef(27, 18) = data6+data15+data51;
tmp.coeffRef(27, 19) = data18+data54+data63;
tmp.coeffRef(27, 20) = data66;
tmp.coeffRef(27, 22) = data9+data27+data99;
tmp.coeffRef(27, 23) = data21+data30+data57+data75+data102+data111;
tmp.coeffRef(27, 24) = data69+data78+data114;
tmp.coeffRef(27, 26) = data33+data105+data123;
tmp.coeffRef(27, 27) = data81+data117+data126;
tmp.coeffRef(27, 29) = data129;
tmp.coeffRef(27, 54) = data12+data39+data147;
tmp.coeffRef(27, 55) = data24+data42+data60+data87+data150+data159;
tmp.coeffRef(27, 56) = data72+data90+data162;
tmp.coeffRef(27, 58) = data36+data45+data108+data135+data153+data171;
tmp.coeffRef(27, 59) = data84+data93+data120+data138+data165+data174;
tmp.coeffRef(27, 61) = data132+data141+data177;
tmp.coeffRef(27, 85) = data48+data156+data183;
tmp.coeffRef(27, 86) = data96+data168+data186;
tmp.coeffRef(27, 88) = data144+data180+data189;
tmp.coeffRef(27, 109) = data192;
tmp.coeffRef(27, 164) = -data195;
tmp.coeffRef(27, 165) = -data198;
tmp.coeffRef(27, 167) = -data201;
tmp.coeffRef(27, 188) = -data204;
tmp.coeffRef(28, 12) = data3;
tmp.coeffRef(28, 13) = data6+data15+data51;
tmp.coeffRef(28, 14) = data18+data54+data63;
tmp.coeffRef(28, 15) = data66;
tmp.coeffRef(28, 18) = data9+data27+data99;
tmp.coeffRef(28, 19) = data21+data30+data57+data75+data102+data111;
tmp.coeffRef(28, 20) = data69+data78+data114;
tmp.coeffRef(28, 23) = data33+data105+data123;
tmp.coeffRef(28, 24) = data81+data117+data126;
tmp.coeffRef(28, 27) = data129;
tmp.coeffRef(28, 50) = data12+data39+data147;
tmp.coeffRef(28, 51) = data24+data42+data60+data87+data150+data159;
tmp.coeffRef(28, 52) = data72+data90+data162;
tmp.coeffRef(28, 55) = data36+data45+data108+data135+data153+data171;
tmp.coeffRef(28, 56) = data84+data93+data120+data138+data165+data174;
tmp.coeffRef(28, 59) = data132+data141+data177;
tmp.coeffRef(28, 82) = data48+data156+data183;
tmp.coeffRef(28, 83) = data96+data168+data186;
tmp.coeffRef(28, 86) = data144+data180+data189;
tmp.coeffRef(28, 107) = data192;
tmp.coeffRef(28, 161) = -data195;
tmp.coeffRef(28, 162) = -data198;
tmp.coeffRef(28, 165) = -data201;
tmp.coeffRef(28, 186) = -data204;
tmp.coeffRef(29, 6) = data3;
tmp.coeffRef(29, 7) = data6+data15+data51;
tmp.coeffRef(29, 8) = data18+data54+data63;
tmp.coeffRef(29, 9) = data66;
tmp.coeffRef(29, 13) = data9+data27+data99;
tmp.coeffRef(29, 14) = data21+data30+data57+data75+data102+data111;
tmp.coeffRef(29, 15) = data69+data78+data114;
tmp.coeffRef(29, 19) = data33+data105+data123;
tmp.coeffRef(29, 20) = data81+data117+data126;
tmp.coeffRef(29, 24) = data129;
tmp.coeffRef(29, 45) = data12+data39+data147;
tmp.coeffRef(29, 46) = data24+data42+data60+data87+data150+data159;
tmp.coeffRef(29, 47) = data72+data90+data162;
tmp.coeffRef(29, 51) = data36+data45+data108+data135+data153+data171;
tmp.coeffRef(29, 52) = data84+data93+data120+data138+data165+data174;
tmp.coeffRef(29, 56) = data132+data141+data177;
tmp.coeffRef(29, 78) = data48+data156+data183;
tmp.coeffRef(29, 79) = data96+data168+data186;
tmp.coeffRef(29, 83) = data144+data180+data189;
tmp.coeffRef(29, 104) = data192;
tmp.coeffRef(29, 157) = -data195;
tmp.coeffRef(29, 158) = -data198;
tmp.coeffRef(29, 162) = -data201;
tmp.coeffRef(29, 183) = -data204;
tmp.coeffRef(30, 0) = data3;
tmp.coeffRef(30, 1) = data6+data15+data51;
tmp.coeffRef(30, 2) = data18+data54+data63;
tmp.coeffRef(30, 3) = data66;
tmp.coeffRef(30, 7) = data9+data27+data99;
tmp.coeffRef(30, 8) = data21+data30+data57+data75+data102+data111;
tmp.coeffRef(30, 9) = data69+data78+data114;
tmp.coeffRef(30, 14) = data33+data105+data123;
tmp.coeffRef(30, 15) = data81+data117+data126;
tmp.coeffRef(30, 20) = data129;
tmp.coeffRef(30, 39) = data12+data39+data147;
tmp.coeffRef(30, 40) = data24+data42+data60+data87+data150+data159;
tmp.coeffRef(30, 41) = data72+data90+data162;
tmp.coeffRef(30, 46) = data36+data45+data108+data135+data153+data171;
tmp.coeffRef(30, 47) = data84+data93+data120+data138+data165+data174;
tmp.coeffRef(30, 52) = data132+data141+data177;
tmp.coeffRef(30, 73) = data48+data156+data183;
tmp.coeffRef(30, 74) = data96+data168+data186;
tmp.coeffRef(30, 79) = data144+data180+data189;
tmp.coeffRef(30, 100) = data192;
tmp.coeffRef(30, 152) = -data195;
tmp.coeffRef(30, 153) = -data198;
tmp.coeffRef(30, 158) = -data201;
tmp.coeffRef(30, 179) = -data204;
tmp.coeffRef(31, 11) = data3;
tmp.coeffRef(31, 12) = data6+data15+data51;
tmp.coeffRef(31, 13) = data18+data54+data63;
tmp.coeffRef(31, 14) = data66;
tmp.coeffRef(31, 17) = data9+data27+data99;
tmp.coeffRef(31, 18) = data21+data30+data57+data75+data102+data111;
tmp.coeffRef(31, 19) = data69+data78+data114;
tmp.coeffRef(31, 22) = data33+data105+data123;
tmp.coeffRef(31, 23) = data81+data117+data126;
tmp.coeffRef(31, 26) = data129;
tmp.coeffRef(31, 49) = data12+data39+data147;
tmp.coeffRef(31, 50) = data24+data42+data60+data87+data150+data159;
tmp.coeffRef(31, 51) = data72+data90+data162;
tmp.coeffRef(31, 54) = data36+data45+data108+data135+data153+data171;
tmp.coeffRef(31, 55) = data84+data93+data120+data138+data165+data174;
tmp.coeffRef(31, 58) = data132+data141+data177;
tmp.coeffRef(31, 81) = data48+data156+data183;
tmp.coeffRef(31, 82) = data96+data168+data186;
tmp.coeffRef(31, 85) = data144+data180+data189;
tmp.coeffRef(31, 106) = data192;
tmp.coeffRef(31, 160) = -data195;
tmp.coeffRef(31, 161) = -data198;
tmp.coeffRef(31, 164) = -data201;
tmp.coeffRef(31, 185) = -data204;
tmp.coeffRef(32, 32) = data1;
tmp.coeffRef(32, 33) = data4+data13+data49;
tmp.coeffRef(32, 34) = data16+data52+data61;