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TooN 2.1
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00001 // Generated for J*C*J^T, C symmetric 00002 template <class A1, class A2, class A3> inline void transformCovariance(const FixedMatrix<2,2,A1>& A, const FixedMatrix<2,2,A2>& B, FixedMatrix<2,2,A3>& M) 00003 { 00004 M = A*B*A.T(); 00005 } 00006 00007 // Generated for J*C*J^T, C symmetric 00008 template <int N, class A1, class A2, class A3> inline void transformCovariance(const FixedMatrix<2,N,A1>& A, const FixedMatrix<N,N,A2>& B, FixedMatrix<2,2,A3>& M) 00009 { 00010 { const Vector<N> ABi = B * A[0]; 00011 M[0][0] = ABi * A[0]; 00012 M[0][1] = M[1][0] = ABi * A[1]; 00013 } 00014 M[1][1] = (B * A[1]) * A[1]; 00015 } 00016 00017 // Generated for J*C*J^T, C symmetric 00018 template <int N, class A1, class A2, class A3> inline void transformCovariance(const FixedMatrix<3,N,A1>& A, const FixedMatrix<N,N,A2>& B, FixedMatrix<3,3,A3>& M) 00019 { 00020 { const Vector<N> ABi = B * A[0]; 00021 M[0][0] = ABi * A[0]; 00022 M[0][1] = M[1][0] = ABi * A[1]; 00023 M[0][2] = M[2][0] = ABi * A[2]; 00024 } 00025 { const Vector<N> ABi = B * A[1]; 00026 M[1][1] = ABi * A[1]; 00027 M[1][2] = M[2][1] = ABi * A[2]; 00028 } 00029 M[2][2] = (B * A[2]) * A[2]; 00030 } 00031 00032 #if 0 00033 // Generated for J*C*J^T, C symmetric 00034 template <int N, class A1, class A2, class A3> inline void transformCovariance(const FixedMatrix<6,N,A1>& A, const FixedMatrix<N,N,A2>& B, FixedMatrix<6,6,A3>& M) 00035 { 00036 { const Vector<N> ABi = B * A[0]; 00037 M[0][0] = ABi * A[0]; 00038 M[0][1] = M[1][0] = ABi * A[1]; 00039 M[0][2] = M[2][0] = ABi * A[2]; 00040 M[0][3] = M[3][0] = ABi * A[3]; 00041 M[0][4] = M[4][0] = ABi * A[4]; 00042 M[0][5] = M[5][0] = ABi * A[5]; 00043 } 00044 { const Vector<N> ABi = B * A[1]; 00045 M[1][1] = ABi * A[1]; 00046 M[1][2] = M[2][1] = ABi * A[2]; 00047 M[1][3] = M[3][1] = ABi * A[3]; 00048 M[1][4] = M[4][1] = ABi * A[4]; 00049 M[1][5] = M[5][1] = ABi * A[5]; 00050 } 00051 { const Vector<N> ABi = B * A[2]; 00052 M[2][2] = ABi * A[2]; 00053 M[2][3] = M[3][2] = ABi * A[3]; 00054 M[2][4] = M[4][2] = ABi * A[4]; 00055 M[2][5] = M[5][2] = ABi * A[5]; 00056 } 00057 { const Vector<N> ABi = B * A[3]; 00058 M[3][3] = ABi * A[3]; 00059 M[3][4] = M[4][3] = ABi * A[4]; 00060 M[3][5] = M[5][3] = ABi * A[5]; 00061 } 00062 { const Vector<N> ABi = B * A[4]; 00063 M[4][4] = ABi * A[4]; 00064 M[4][5] = M[5][4] = ABi * A[5]; 00065 } 00066 M[5][5] = (B * A[5]) * A[5]; 00067 } 00068 #endif
1.7.4