H_OPT.c File Reference

Go to the source code of this file.

Variables
	t2 = q0*q0
	t3 = q1*q1
	t4 = q2*q2
	t5 = q3*q3
	t6 = pd-ptd
	t7 = 1.0/(t6*t6)
	t8 = q0*q3*2.0
	t9 = t2-t3-t4+t5
	A0 [0][0] = -t7*t9*(vel_z*(q0*q1*2.0+q2*q3*2.0)+vel_y*(t2-t3+t4-t5)-vel_x*(t8-q1*q2*2.0))

Variable Documentation

A0

A0[1][0] = -t7*t9*(vel_z*(q0*q1*2.0+q2*q3*2.0)+vel_y*(t2-t3+t4-t5)-vel_x*(t8-q1*q2*2.0))

Definition at line 9 of file H_OPT.c.

t2

t2 = q0*q0

Definition at line 1 of file H_OPT.c.

t3

t3 = q1*q1

Definition at line 2 of file H_OPT.c.

t4

t4 = q2*q2

Definition at line 3 of file H_OPT.c.

t5

t5 = q3*q3

Definition at line 4 of file H_OPT.c.

t6

t6 = pd-ptd

Definition at line 5 of file H_OPT.c.

t7

t7 = 1.0/(t6*t6)

Definition at line 6 of file H_OPT.c.

t8

t8 = q0*q3*2.0

Definition at line 7 of file H_OPT.c.

t9

t9 = t2-t3-t4+t5

Definition at line 8 of file H_OPT.c.