diff options
Diffstat (limited to 'src/survive_reproject.generated.h')
| -rw-r--r-- | src/survive_reproject.generated.h | 350 |
1 files changed, 176 insertions, 174 deletions
diff --git a/src/survive_reproject.generated.h b/src/survive_reproject.generated.h index e184775..6d834f7 100644 --- a/src/survive_reproject.generated.h +++ b/src/survive_reproject.generated.h @@ -1,6 +1,9 @@ - // NOTE: Auto-generated code; see tools/generate_reprojection_functions +// NOTE: Auto-generated code; see tools/generate_reprojection_functions #include <math.h> -static inline void gen_reproject_jac_obj_p(FLT* out, const FLT *obj, const FLT *sensor, const FLT *lh, FLT phase_scale, FLT phase_0, FLT phase_1, FLT tilt_scale, FLT tilt_0, FLT tilt_1, FLT curve_scale, FLT curve_0, FLT curve_1, FLT gib_scale, FLT gibPhase_0, FLT gibPhase_1, FLT gibMag_0, FLT gibMag_1) { +static inline void gen_reproject_jac_obj_p(FLT *out, const FLT *obj, const FLT *sensor, const FLT *lh, FLT phase_scale, + FLT phase_0, FLT phase_1, FLT tilt_scale, FLT tilt_0, FLT tilt_1, + FLT curve_scale, FLT curve_0, FLT curve_1, FLT gib_scale, FLT gibPhase_0, + FLT gibPhase_1, FLT gibMag_0, FLT gibMag_1) { FLT obj_px = *(obj++); FLT obj_py = *(obj++); FLT obj_pz = *(obj++); @@ -18,196 +21,195 @@ static inline void gen_reproject_jac_obj_p(FLT* out, const FLT *obj, const FLT * FLT lh_qi = *(lh++); FLT lh_qj = *(lh++); FLT lh_qk = *(lh++); - FLT x0 = tan(tilt_0*tilt_scale); - FLT x1 = lh_qi*lh_qj; - FLT x2 = lh_qk*lh_qw; + FLT x0 = tan(tilt_0 * tilt_scale); + FLT x1 = lh_qi * lh_qj; + FLT x2 = lh_qk * lh_qw; FLT x3 = x1 - x2; FLT x4 = (lh_qi * lh_qi); FLT x5 = (lh_qj * lh_qj); FLT x6 = x4 + x5; FLT x7 = (lh_qk * lh_qk); FLT x8 = sqrt((lh_qw * lh_qw) + x6 + x7); - FLT x9 = lh_qi*lh_qk; - FLT x10 = lh_qj*lh_qw; + FLT x9 = lh_qi * lh_qk; + FLT x10 = lh_qj * lh_qw; FLT x11 = x10 + x9; - FLT x12 = 2*lh_px*x8; - FLT x13 = lh_qj*lh_qk; - FLT x14 = lh_qi*lh_qw; + FLT x12 = 2 * lh_px * x8; + FLT x13 = lh_qj * lh_qk; + FLT x14 = lh_qi * lh_qw; FLT x15 = x13 - x14; - FLT x16 = 2*lh_py*x8; - FLT x17 = 2*x8; - FLT x18 = x17*x6 - 1; - FLT x19 = obj_qi*obj_qk; - FLT x20 = obj_qj*obj_qw; - FLT x21 = sensor_z*(x19 + x20); + FLT x16 = 2 * lh_py * x8; + FLT x17 = 2 * x8; + FLT x18 = x17 * x6 - 1; + FLT x19 = obj_qi * obj_qk; + FLT x20 = obj_qj * obj_qw; + FLT x21 = sensor_z * (x19 + x20); FLT x22 = (obj_qi * obj_qi); FLT x23 = (obj_qj * obj_qj); FLT x24 = x22 + x23; FLT x25 = (obj_qk * obj_qk); FLT x26 = sqrt((obj_qw * obj_qw) + x24 + x25); - FLT x27 = 2*x26; - FLT x28 = obj_qi*obj_qj; - FLT x29 = obj_qk*obj_qw; - FLT x30 = sensor_y*(x28 - x29); + FLT x27 = 2 * x26; + FLT x28 = obj_qi * obj_qj; + FLT x29 = obj_qk * obj_qw; + FLT x30 = sensor_y * (x28 - x29); FLT x31 = x23 + x25; - FLT x32 = obj_px - sensor_x*(x27*x31 - 1) + x21*x27 + x27*x30; - FLT x33 = 2*x32*x8; - FLT x34 = sensor_x*(x28 + x29); - FLT x35 = obj_qj*obj_qk; - FLT x36 = obj_qi*obj_qw; - FLT x37 = sensor_z*(x35 - x36); + FLT x32 = obj_px - sensor_x * (x27 * x31 - 1) + x21 * x27 + x27 * x30; + FLT x33 = 2 * x32 * x8; + FLT x34 = sensor_x * (x28 + x29); + FLT x35 = obj_qj * obj_qk; + FLT x36 = obj_qi * obj_qw; + FLT x37 = sensor_z * (x35 - x36); FLT x38 = x22 + x25; - FLT x39 = obj_py - sensor_y*(x27*x38 - 1) + x27*x34 + x27*x37; - FLT x40 = 2*x39*x8; - FLT x41 = sensor_y*(x35 + x36); - FLT x42 = sensor_x*(x19 - x20); - FLT x43 = obj_pz - sensor_z*(x24*x27 - 1) + x27*x41 + x27*x42; - FLT x44 = lh_pz*x18 - x11*x12 + x11*x33 - x15*x16 + x15*x40 - x18*x43; - FLT x45 = 1.0/x44; - FLT x46 = 2*x45*x8; + FLT x39 = obj_py - sensor_y * (x27 * x38 - 1) + x27 * x34 + x27 * x37; + FLT x40 = 2 * x39 * x8; + FLT x41 = sensor_y * (x35 + x36); + FLT x42 = sensor_x * (x19 - x20); + FLT x43 = obj_pz - sensor_z * (x24 * x27 - 1) + x27 * x41 + x27 * x42; + FLT x44 = lh_pz * x18 - x11 * x12 + x11 * x33 - x15 * x16 + x15 * x40 - x18 * x43; + FLT x45 = 1.0 / x44; + FLT x46 = 2 * x45 * x8; FLT x47 = x13 + x14; - FLT x48 = 2*lh_pz*x8; - FLT x49 = x17*(x4 + x7) - 1; - FLT x50 = 2*x43*x8; - FLT x51 = lh_py*x49 - x12*x3 + x3*x33 - x39*x49 - x47*x48 + x47*x50; + FLT x48 = 2 * lh_pz * x8; + FLT x49 = x17 * (x4 + x7) - 1; + FLT x50 = 2 * x43 * x8; + FLT x51 = lh_py * x49 - x12 * x3 + x3 * x33 - x39 * x49 - x47 * x48 + x47 * x50; FLT x52 = 1. / (x44 * x44); - FLT x53 = 4*curve_0*curve_scale*x51*x52*x8; - FLT x54 = x11*x52; - FLT x55 = (x51*x51); - FLT x56 = curve_0*x55; - FLT x57 = 1. / (x44*x44*x44); - FLT x58 = 4*curve_scale*x11*x57*x8; + FLT x53 = 4 * curve_0 * curve_scale * x51 * x52 * x8; + FLT x54 = x11 * x52; + FLT x55 = (x51 * x51); + FLT x56 = curve_0 * x55; + FLT x57 = 1. / (x44 * x44 * x44); + FLT x58 = 4 * curve_scale * x11 * x57 * x8; FLT x59 = x1 + x2; FLT x60 = -x10 + x9; - FLT x61 = x17*(x5 + x7) - 1; - FLT x62 = lh_px*x61 - x16*x59 - x32*x61 + x40*x59 - x48*x60 + x50*x60; + FLT x61 = x17 * (x5 + x7) - 1; + FLT x62 = lh_px * x61 - x16 * x59 - x32 * x61 + x40 * x59 - x48 * x60 + x50 * x60; FLT x63 = (x62 * x62); - FLT x64 = 1.0/(x52*x63 + 1); - FLT x65 = x45*x61; - FLT x66 = 2*x54*x62*x8; - FLT x67 = x64*(x65 + x66); - FLT x68 = gibMag_0*gib_scale*cos(gibPhase_0 + atan(x45*x62)); - FLT x69 = x45*x49; - FLT x70 = 2*x15*x8; - FLT x71 = x51*x52; - FLT x72 = x70*x71; - FLT x73 = 4*curve_scale*x15*x57*x8; - FLT x74 = 2*x64; - FLT x75 = x45*x8; - FLT x76 = x74*(-x15*x52*x62*x8 + x59*x75); - FLT x77 = x46*x47; - FLT x78 = x18*x71; - FLT x79 = 2*curve_scale*x18*x57; - FLT x80 = x46*x60; - FLT x81 = x52*x62; - FLT x82 = x18*x81; - FLT x83 = x64*(x80 + x82); - FLT x84 = 2*x0; - FLT x85 = obj_qj*x26; - FLT x86 = sensor_x*x85; - FLT x87 = obj_qi*x26; - FLT x88 = sensor_y*x87; - FLT x89 = sensor_z*x24; - FLT x90 = 1.0/x26; - FLT x91 = obj_qw*x90; - FLT x92 = -x41*x91 - x42*x91 + x86 - x88 + x89*x91; - FLT x93 = 2*x8*x92; - FLT x94 = obj_qk*x26; - FLT x95 = sensor_y*x94; - FLT x96 = sensor_z*x85; - FLT x97 = sensor_x*x31; - FLT x98 = -x21*x91 - x30*x91 + x91*x97 + x95 - x96; - FLT x99 = 2*x8*x98; - FLT x100 = sensor_x*x94; - FLT x101 = sensor_z*x87; - FLT x102 = sensor_y*x38; - FLT x103 = x100 - x101 - x102*x91 + x34*x91 + x37*x91; - FLT x104 = x103*x49 + x3*x99 + x47*x93; - FLT x105 = x104*x45; - FLT x106 = 4*curve_0*curve_scale*x51*x52; - FLT x107 = -x103*x70 + x11*x99 - x18*x92; - FLT x108 = x107*x71; - FLT x109 = 4*curve_scale*x107*x57; - FLT x110 = 2*x59*x8; - FLT x111 = x103*x110 - x60*x93 + x61*x98; - FLT x112 = x74*(x107*x81 + x111*x45); - FLT x113 = sensor_y*x85; - FLT x114 = sensor_z*x94; - FLT x115 = obj_qi*x90; - FLT x116 = -x113 - x114 - x115*x21 - x115*x30 + x115*x97; - FLT x117 = 2*x116*x8; - FLT x118 = obj_qw*x26; - FLT x119 = sensor_y*x118; - FLT x120 = obj_qi*x27; - FLT x121 = -sensor_z*(x115*x24 + x120) + x100 + x115*x41 + x115*x42 + x119; - FLT x122 = 2*x121*x8; - FLT x123 = sensor_z*x118; - FLT x124 = -sensor_y*(x115*x38 + x120) + x115*x34 + x115*x37 - x123 + x86; - FLT x125 = x117*x3 - x122*x47 + x124*x49; - FLT x126 = x125*x45; - FLT x127 = x11*x117 + x121*x18 - x124*x70; - FLT x128 = x127*x71; - FLT x129 = 4*curve_0*curve_scale*x55*x57; - FLT x130 = x110*x124 + x116*x61 + x122*x60; - FLT x131 = x74*(x127*x81 + x130*x45); - FLT x132 = sensor_x*x87; - FLT x133 = obj_qj*x90; - FLT x134 = -x102*x133 + x114 + x132 + x133*x34 + x133*x37; - FLT x135 = obj_qj*x27; - FLT x136 = -sensor_x*(x133*x31 + x135) + x123 + x133*x21 + x133*x30 + x88; - FLT x137 = 2*x136*x8; - FLT x138 = sensor_x*x118; - FLT x139 = -sensor_z*(x133*x24 + x135) + x133*x41 + x133*x42 - x138 + x95; - FLT x140 = 2*x139*x8; - FLT x141 = -x134*x49 + x137*x3 + x140*x47; - FLT x142 = x141*x45; - FLT x143 = x11*x137 + x134*x70 - x139*x18; - FLT x144 = x143*x71; - FLT x145 = x110*x134 - x136*x61 + x140*x60; - FLT x146 = x74*(-x143*x81 + x145*x45); - FLT x147 = obj_qk*x90; - FLT x148 = x113 + x132 + x147*x41 + x147*x42 - x147*x89; - FLT x149 = 2*x148*x8; - FLT x150 = obj_qk*x27; - FLT x151 = -sensor_x*(x147*x31 + x150) + x101 - x119 + x147*x21 + x147*x30; - FLT x152 = 2*x151*x8; - FLT x153 = -sensor_y*(x147*x38 + x150) + x138 + x147*x34 + x147*x37 + x96; - FLT x154 = x149*x47 + x152*x3 - x153*x49; - FLT x155 = x154*x45; - FLT x156 = x11*x152 - x148*x18 + x153*x70; - FLT x157 = x156*x71; - FLT x158 = x110*x153 + x149*x60 - x151*x61; - FLT x159 = x74*(-x156*x81 + x158*x45); - FLT x160 = tan(tilt_1*tilt_scale); - FLT x161 = curve_1*x63; - FLT x162 = 1.0/(x52*x55 + 1); - FLT x163 = 2*x162; - FLT x164 = x163*(x3*x75 - x51*x54*x8); - FLT x165 = gibMag_1*gib_scale*cos(gibPhase_1 - atan(x45*x51)); - FLT x166 = 4*curve_1*curve_scale*x52*x62*x8; - FLT x167 = x162*(x69 + x72); - FLT x168 = x162*(x77 + x78); - FLT x169 = 2*x160*x45; - FLT x170 = 4*curve_1*curve_scale*x52*x62; - FLT x171 = 2*x160*x52*x62; - FLT x172 = x163*(-x105 + x108); - FLT x173 = 4*curve_1*curve_scale*x57*x63; - FLT x174 = x163*(-x126 + x128); - FLT x175 = x163*(x142 - x144); - FLT x176 = x163*(x155 - x157); - *(out++) = x0*x3*x46 - 2*x0*x51*x54*x8 - x3*x53 + x56*x58 + x67*x68 - x67; - *(out++) = 2*curve_0*curve_scale*x49*x51*x52 - x0*x69 - x0*x72 + x56*x73 - x68*x76 + x76; - *(out++) = x0*x77 + x0*x78 - x47*x53 - x56*x79 - x68*x83 + x83; - *(out++) = x104*x106 - x105*x84 + x108*x84 - x109*x56 - x112*x68 + x112; - *(out++) = x106*x125 - x126*x84 - x127*x129 + x128*x84 - x131*x68 + x131; - *(out++) = -x106*x141 + x129*x143 + x142*x84 - x144*x84 - x146*x68 + x146; - *(out++) = -x106*x154 + x129*x156 + x155*x84 - x157*x84 - x159*x68 + x159; - *(out++) = 2*curve_1*curve_scale*x52*x61*x62 + x160*x65 + x160*x66 + x161*x58 + x164*x165 - x164; - *(out++) = -x110*x160*x45 + x160*x52*x62*x70 + x161*x73 - x165*x167 - x166*x59 + x167; - *(out++) = -x160*x80 - x160*x82 - x161*x79 + x165*x168 - x166*x60 - x168; - *(out++) = -x107*x171 - x109*x161 - x111*x169 - x111*x170 + x165*x172 - x172; - *(out++) = -x127*x171 - x127*x173 - x130*x169 - x130*x170 + x165*x174 - x174; - *(out++) = x143*x171 + x143*x173 - x145*x169 - x145*x170 + x165*x175 - x175; - *(out++) = x156*x171 + x156*x173 - x158*x169 - x158*x170 + x165*x176 - x176; + FLT x64 = 1.0 / (x52 * x63 + 1); + FLT x65 = x45 * x61; + FLT x66 = 2 * x54 * x62 * x8; + FLT x67 = x64 * (x65 + x66); + FLT x68 = gibMag_0 * gib_scale * cos(gibPhase_0 + atan(x45 * x62)); + FLT x69 = x45 * x49; + FLT x70 = 2 * x15 * x8; + FLT x71 = x51 * x52; + FLT x72 = x70 * x71; + FLT x73 = 4 * curve_scale * x15 * x57 * x8; + FLT x74 = 2 * x64; + FLT x75 = x45 * x8; + FLT x76 = x74 * (-x15 * x52 * x62 * x8 + x59 * x75); + FLT x77 = x46 * x47; + FLT x78 = x18 * x71; + FLT x79 = 2 * curve_scale * x18 * x57; + FLT x80 = x46 * x60; + FLT x81 = x52 * x62; + FLT x82 = x18 * x81; + FLT x83 = x64 * (x80 + x82); + FLT x84 = 2 * x0; + FLT x85 = obj_qj * x26; + FLT x86 = sensor_x * x85; + FLT x87 = obj_qi * x26; + FLT x88 = sensor_y * x87; + FLT x89 = sensor_z * x24; + FLT x90 = 1.0 / x26; + FLT x91 = obj_qw * x90; + FLT x92 = -x41 * x91 - x42 * x91 + x86 - x88 + x89 * x91; + FLT x93 = 2 * x8 * x92; + FLT x94 = obj_qk * x26; + FLT x95 = sensor_y * x94; + FLT x96 = sensor_z * x85; + FLT x97 = sensor_x * x31; + FLT x98 = -x21 * x91 - x30 * x91 + x91 * x97 + x95 - x96; + FLT x99 = 2 * x8 * x98; + FLT x100 = sensor_x * x94; + FLT x101 = sensor_z * x87; + FLT x102 = sensor_y * x38; + FLT x103 = x100 - x101 - x102 * x91 + x34 * x91 + x37 * x91; + FLT x104 = x103 * x49 + x3 * x99 + x47 * x93; + FLT x105 = x104 * x45; + FLT x106 = 4 * curve_0 * curve_scale * x51 * x52; + FLT x107 = -x103 * x70 + x11 * x99 - x18 * x92; + FLT x108 = x107 * x71; + FLT x109 = 4 * curve_scale * x107 * x57; + FLT x110 = 2 * x59 * x8; + FLT x111 = x103 * x110 - x60 * x93 + x61 * x98; + FLT x112 = x74 * (x107 * x81 + x111 * x45); + FLT x113 = sensor_y * x85; + FLT x114 = sensor_z * x94; + FLT x115 = obj_qi * x90; + FLT x116 = -x113 - x114 - x115 * x21 - x115 * x30 + x115 * x97; + FLT x117 = 2 * x116 * x8; + FLT x118 = obj_qw * x26; + FLT x119 = sensor_y * x118; + FLT x120 = obj_qi * x27; + FLT x121 = -sensor_z * (x115 * x24 + x120) + x100 + x115 * x41 + x115 * x42 + x119; + FLT x122 = 2 * x121 * x8; + FLT x123 = sensor_z * x118; + FLT x124 = -sensor_y * (x115 * x38 + x120) + x115 * x34 + x115 * x37 - x123 + x86; + FLT x125 = x117 * x3 - x122 * x47 + x124 * x49; + FLT x126 = x125 * x45; + FLT x127 = x11 * x117 + x121 * x18 - x124 * x70; + FLT x128 = x127 * x71; + FLT x129 = 4 * curve_0 * curve_scale * x55 * x57; + FLT x130 = x110 * x124 + x116 * x61 + x122 * x60; + FLT x131 = x74 * (x127 * x81 + x130 * x45); + FLT x132 = sensor_x * x87; + FLT x133 = obj_qj * x90; + FLT x134 = -x102 * x133 + x114 + x132 + x133 * x34 + x133 * x37; + FLT x135 = obj_qj * x27; + FLT x136 = -sensor_x * (x133 * x31 + x135) + x123 + x133 * x21 + x133 * x30 + x88; + FLT x137 = 2 * x136 * x8; + FLT x138 = sensor_x * x118; + FLT x139 = -sensor_z * (x133 * x24 + x135) + x133 * x41 + x133 * x42 - x138 + x95; + FLT x140 = 2 * x139 * x8; + FLT x141 = -x134 * x49 + x137 * x3 + x140 * x47; + FLT x142 = x141 * x45; + FLT x143 = x11 * x137 + x134 * x70 - x139 * x18; + FLT x144 = x143 * x71; + FLT x145 = x110 * x134 - x136 * x61 + x140 * x60; + FLT x146 = x74 * (-x143 * x81 + x145 * x45); + FLT x147 = obj_qk * x90; + FLT x148 = x113 + x132 + x147 * x41 + x147 * x42 - x147 * x89; + FLT x149 = 2 * x148 * x8; + FLT x150 = obj_qk * x27; + FLT x151 = -sensor_x * (x147 * x31 + x150) + x101 - x119 + x147 * x21 + x147 * x30; + FLT x152 = 2 * x151 * x8; + FLT x153 = -sensor_y * (x147 * x38 + x150) + x138 + x147 * x34 + x147 * x37 + x96; + FLT x154 = x149 * x47 + x152 * x3 - x153 * x49; + FLT x155 = x154 * x45; + FLT x156 = x11 * x152 - x148 * x18 + x153 * x70; + FLT x157 = x156 * x71; + FLT x158 = x110 * x153 + x149 * x60 - x151 * x61; + FLT x159 = x74 * (-x156 * x81 + x158 * x45); + FLT x160 = tan(tilt_1 * tilt_scale); + FLT x161 = curve_1 * x63; + FLT x162 = 1.0 / (x52 * x55 + 1); + FLT x163 = 2 * x162; + FLT x164 = x163 * (x3 * x75 - x51 * x54 * x8); + FLT x165 = gibMag_1 * gib_scale * cos(gibPhase_1 - atan(x45 * x51)); + FLT x166 = 4 * curve_1 * curve_scale * x52 * x62 * x8; + FLT x167 = x162 * (x69 + x72); + FLT x168 = x162 * (x77 + x78); + FLT x169 = 2 * x160 * x45; + FLT x170 = 4 * curve_1 * curve_scale * x52 * x62; + FLT x171 = 2 * x160 * x52 * x62; + FLT x172 = x163 * (-x105 + x108); + FLT x173 = 4 * curve_1 * curve_scale * x57 * x63; + FLT x174 = x163 * (-x126 + x128); + FLT x175 = x163 * (x142 - x144); + FLT x176 = x163 * (x155 - x157); + *(out++) = x0 * x3 * x46 - 2 * x0 * x51 * x54 * x8 - x3 * x53 + x56 * x58 + x67 * x68 - x67; + *(out++) = 2 * curve_0 * curve_scale * x49 * x51 * x52 - x0 * x69 - x0 * x72 + x56 * x73 - x68 * x76 + x76; + *(out++) = x0 * x77 + x0 * x78 - x47 * x53 - x56 * x79 - x68 * x83 + x83; + *(out++) = x104 * x106 - x105 * x84 + x108 * x84 - x109 * x56 - x112 * x68 + x112; + *(out++) = x106 * x125 - x126 * x84 - x127 * x129 + x128 * x84 - x131 * x68 + x131; + *(out++) = -x106 * x141 + x129 * x143 + x142 * x84 - x144 * x84 - x146 * x68 + x146; + *(out++) = -x106 * x154 + x129 * x156 + x155 * x84 - x157 * x84 - x159 * x68 + x159; + *(out++) = 2 * curve_1 * curve_scale * x52 * x61 * x62 + x160 * x65 + x160 * x66 + x161 * x58 + x164 * x165 - x164; + *(out++) = -x110 * x160 * x45 + x160 * x52 * x62 * x70 + x161 * x73 - x165 * x167 - x166 * x59 + x167; + *(out++) = -x160 * x80 - x160 * x82 - x161 * x79 + x165 * x168 - x166 * x60 - x168; + *(out++) = -x107 * x171 - x109 * x161 - x111 * x169 - x111 * x170 + x165 * x172 - x172; + *(out++) = -x127 * x171 - x127 * x173 - x130 * x169 - x130 * x170 + x165 * x174 - x174; + *(out++) = x143 * x171 + x143 * x173 - x145 * x169 - x145 * x170 + x165 * x175 - x175; + *(out++) = x156 * x171 + x156 * x173 - x158 * x169 - x158 * x170 + x165 * x176 - x176; } - |