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ekf2: derivation.py remove sideslip small angle approximation
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@dagar @bresch
dagar authored and bresch committed Nov 25, 2024
1 parent 7462e98 commit e194a52
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Showing 3 changed files with 178 additions and 182 deletions.
4 changes: 1 addition & 3 deletions src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -337,9 +337,7 @@ def predict_sideslip(
vel_rel = state["vel"] - wind
relative_wind_body = state["quat_nominal"].inverse() * vel_rel

# Small angle approximation of side slip model
# Protect division by zero using epsilon
sideslip_pred = add_epsilon_sign(relative_wind_body[1] / relative_wind_body[0], relative_wind_body[0], epsilon)
sideslip_pred = sf.atan2(relative_wind_body[1], relative_wind_body[0], epsilon)

return sideslip_pred

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223 changes: 111 additions & 112 deletions src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h
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Expand Up @@ -30,158 +30,157 @@ void ComputeSideslipHAndK(const matrix::Matrix<Scalar, 25, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar innov_var,
const Scalar epsilon, matrix::Matrix<Scalar, 24, 1>* const H = nullptr,
matrix::Matrix<Scalar, 24, 1>* const K = nullptr) {
// Total ops: 513
// Total ops: 518

// Input arrays

// Intermediate terms (43)
const Scalar _tmp0 = -state(23, 0) + state(5, 0);
const Scalar _tmp1 = 2 * state(1, 0);
const Scalar _tmp2 = -state(22, 0) + state(4, 0);
const Scalar _tmp3 = 4 * _tmp2;
const Scalar _tmp4 = 2 * state(6, 0);
const Scalar _tmp5 = _tmp4 * state(0, 0);
const Scalar _tmp6 = 1 - 2 * std::pow(state(3, 0), Scalar(2));
const Scalar _tmp7 = _tmp6 - 2 * std::pow(state(2, 0), Scalar(2));
const Scalar _tmp8 = 2 * state(0, 0);
const Scalar _tmp9 = _tmp8 * state(3, 0);
const Scalar _tmp10 = 2 * state(2, 0);
const Scalar _tmp11 = _tmp10 * state(1, 0);
const Scalar _tmp12 = _tmp11 + _tmp9;
const Scalar _tmp13 = _tmp1 * state(3, 0) - _tmp10 * state(0, 0);
const Scalar _tmp14 = _tmp0 * _tmp12 + _tmp13 * state(6, 0) + _tmp2 * _tmp7;
const Scalar _tmp15 =
_tmp14 + epsilon * (2 * math::min<Scalar>(0, (((_tmp14) > 0) - ((_tmp14) < 0))) + 1);
const Scalar _tmp16 = _tmp6 - 2 * std::pow(state(1, 0), Scalar(2));
const Scalar _tmp17 = _tmp11 - _tmp9;
const Scalar _tmp18 = _tmp10 * state(3, 0) + _tmp8 * state(1, 0);
const Scalar _tmp19 =
(_tmp0 * _tmp16 + _tmp17 * _tmp2 + _tmp18 * state(6, 0)) / std::pow(_tmp15, Scalar(2));
const Scalar _tmp20 = _tmp4 * state(3, 0);
const Scalar _tmp21 = Scalar(1.0) / (_tmp15);
const Scalar _tmp22 =
-Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp1 - _tmp3 * state(2, 0) - _tmp5) +
(Scalar(1) / Scalar(2)) * _tmp21 * (_tmp1 * _tmp2 + _tmp20);
const Scalar _tmp23 = 4 * _tmp0;
const Scalar _tmp24 =
-Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp10 + _tmp20) +
(Scalar(1) / Scalar(2)) * _tmp21 * (_tmp10 * _tmp2 - _tmp23 * state(1, 0) + _tmp5);
const Scalar _tmp25 = 2 * state(3, 0);
const Scalar _tmp26 = _tmp4 * state(2, 0);
const Scalar _tmp27 = _tmp4 * state(1, 0);
const Scalar _tmp28 = -Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp25 - _tmp26) +
(Scalar(1) / Scalar(2)) * _tmp21 * (-_tmp2 * _tmp25 + _tmp27);
const Scalar _tmp29 =
-Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp8 + _tmp27 - _tmp3 * state(3, 0)) +
(Scalar(1) / Scalar(2)) * _tmp21 * (-_tmp2 * _tmp8 - _tmp23 * state(3, 0) + _tmp26);
// Intermediate terms (50)
const Scalar _tmp0 = -state(22, 0) + state(4, 0);
const Scalar _tmp1 = 2 * _tmp0;
const Scalar _tmp2 = 2 * state(3, 0);
const Scalar _tmp3 = _tmp2 * state(6, 0);
const Scalar _tmp4 = 1 - 2 * std::pow(state(3, 0), Scalar(2));
const Scalar _tmp5 = _tmp4 - 2 * std::pow(state(2, 0), Scalar(2));
const Scalar _tmp6 = _tmp2 * state(0, 0);
const Scalar _tmp7 = 2 * state(1, 0);
const Scalar _tmp8 = _tmp7 * state(2, 0);
const Scalar _tmp9 = _tmp6 + _tmp8;
const Scalar _tmp10 = -state(23, 0) + state(5, 0);
const Scalar _tmp11 = 2 * state(2, 0);
const Scalar _tmp12 = -_tmp11 * state(0, 0) + _tmp2 * state(1, 0);
const Scalar _tmp13 = _tmp0 * _tmp5 + _tmp10 * _tmp9 + _tmp12 * state(6, 0);
const Scalar _tmp14 = _tmp13 + epsilon * ((((_tmp13) > 0) - ((_tmp13) < 0)) + Scalar(0.5));
const Scalar _tmp15 = Scalar(1.0) / (_tmp14);
const Scalar _tmp16 = 2 * _tmp10;
const Scalar _tmp17 = 2 * state(0, 0) * state(6, 0);
const Scalar _tmp18 = std::pow(_tmp14, Scalar(2));
const Scalar _tmp19 = _tmp4 - 2 * std::pow(state(1, 0), Scalar(2));
const Scalar _tmp20 = -_tmp6 + _tmp8;
const Scalar _tmp21 = _tmp2 * state(2, 0) + _tmp7 * state(0, 0);
const Scalar _tmp22 = _tmp0 * _tmp20 + _tmp10 * _tmp19 + _tmp21 * state(6, 0);
const Scalar _tmp23 = _tmp22 / _tmp18;
const Scalar _tmp24 = _tmp15 * (_tmp1 * state(1, 0) + _tmp3) -
_tmp23 * (-4 * _tmp0 * state(2, 0) + _tmp16 * state(1, 0) - _tmp17);
const Scalar _tmp25 = _tmp18 / (_tmp18 + std::pow(_tmp22, Scalar(2)));
const Scalar _tmp26 = (Scalar(1) / Scalar(2)) * _tmp25;
const Scalar _tmp27 = _tmp26 * state(3, 0);
const Scalar _tmp28 = _tmp7 * state(6, 0);
const Scalar _tmp29 = _tmp11 * state(6, 0);
const Scalar _tmp30 =
-_tmp22 * state(3, 0) + _tmp24 * state(0, 0) - _tmp28 * state(1, 0) + _tmp29 * state(2, 0);
const Scalar _tmp31 =
_tmp22 * state(0, 0) + _tmp24 * state(3, 0) - _tmp28 * state(2, 0) - _tmp29 * state(1, 0);
const Scalar _tmp32 =
_tmp22 * state(1, 0) - _tmp24 * state(2, 0) - _tmp28 * state(3, 0) + _tmp29 * state(0, 0);
const Scalar _tmp33 = _tmp19 * _tmp7;
const Scalar _tmp34 = _tmp17 * _tmp21;
const Scalar _tmp35 = -_tmp33 + _tmp34;
const Scalar _tmp36 = _tmp12 * _tmp19;
const Scalar _tmp37 = _tmp16 * _tmp21;
const Scalar _tmp38 = -_tmp36 + _tmp37;
const Scalar _tmp39 = -_tmp13 * _tmp19 + _tmp18 * _tmp21;
const Scalar _tmp40 = _tmp33 - _tmp34;
const Scalar _tmp41 = _tmp36 - _tmp37;
const Scalar _tmp42 = Scalar(1.0) / (math::max<Scalar>(epsilon, innov_var));
_tmp15 * (-_tmp1 * state(3, 0) + _tmp28) - _tmp23 * (_tmp16 * state(3, 0) - _tmp29);
const Scalar _tmp31 = _tmp26 * state(1, 0);
const Scalar _tmp32 = _tmp15 * (_tmp1 * state(2, 0) - 4 * _tmp10 * state(1, 0) + _tmp17) -
_tmp23 * (_tmp16 * state(2, 0) + _tmp3);
const Scalar _tmp33 = _tmp26 * state(0, 0);
const Scalar _tmp34 = 4 * state(3, 0);
const Scalar _tmp35 = _tmp15 * (-_tmp1 * state(0, 0) - _tmp10 * _tmp34 + _tmp29) -
_tmp23 * (-_tmp0 * _tmp34 + _tmp16 * state(0, 0) + _tmp28);
const Scalar _tmp36 = _tmp26 * state(2, 0);
const Scalar _tmp37 = -_tmp24 * _tmp27 - _tmp30 * _tmp31 + _tmp32 * _tmp33 + _tmp35 * _tmp36;
const Scalar _tmp38 = _tmp24 * _tmp33 + _tmp27 * _tmp32 - _tmp30 * _tmp36 - _tmp31 * _tmp35;
const Scalar _tmp39 = _tmp24 * _tmp31 - _tmp27 * _tmp30 - _tmp32 * _tmp36 + _tmp33 * _tmp35;
const Scalar _tmp40 = _tmp23 * _tmp5;
const Scalar _tmp41 = _tmp15 * _tmp20;
const Scalar _tmp42 = _tmp25 * (-_tmp40 + _tmp41);
const Scalar _tmp43 = _tmp15 * _tmp19;
const Scalar _tmp44 = _tmp23 * _tmp9;
const Scalar _tmp45 = _tmp25 * (_tmp43 - _tmp44);
const Scalar _tmp46 = _tmp25 * (-_tmp12 * _tmp23 + _tmp15 * _tmp21);
const Scalar _tmp47 = _tmp25 * (_tmp40 - _tmp41);
const Scalar _tmp48 = _tmp25 * (-_tmp43 + _tmp44);
const Scalar _tmp49 = Scalar(1.0) / (math::max<Scalar>(epsilon, innov_var));

// Output terms (2)
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);

_h.setZero();

_h(0, 0) = _tmp30;
_h(1, 0) = _tmp31;
_h(2, 0) = _tmp32;
_h(3, 0) = _tmp35;
_h(4, 0) = _tmp38;
_h(5, 0) = _tmp39;
_h(21, 0) = _tmp40;
_h(22, 0) = _tmp41;
_h(0, 0) = _tmp37;
_h(1, 0) = _tmp38;
_h(2, 0) = _tmp39;
_h(3, 0) = _tmp42;
_h(4, 0) = _tmp45;
_h(5, 0) = _tmp46;
_h(21, 0) = _tmp47;
_h(22, 0) = _tmp48;
}

if (K != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _k = (*K);

_k(0, 0) =
_tmp42 * (P(0, 0) * _tmp30 + P(0, 1) * _tmp31 + P(0, 2) * _tmp32 + P(0, 21) * _tmp40 +
P(0, 22) * _tmp41 + P(0, 3) * _tmp35 + P(0, 4) * _tmp38 + P(0, 5) * _tmp39);
_tmp49 * (P(0, 0) * _tmp37 + P(0, 1) * _tmp38 + P(0, 2) * _tmp39 + P(0, 21) * _tmp47 +
P(0, 22) * _tmp48 + P(0, 3) * _tmp42 + P(0, 4) * _tmp45 + P(0, 5) * _tmp46);
_k(1, 0) =
_tmp42 * (P(1, 0) * _tmp30 + P(1, 1) * _tmp31 + P(1, 2) * _tmp32 + P(1, 21) * _tmp40 +
P(1, 22) * _tmp41 + P(1, 3) * _tmp35 + P(1, 4) * _tmp38 + P(1, 5) * _tmp39);
_tmp49 * (P(1, 0) * _tmp37 + P(1, 1) * _tmp38 + P(1, 2) * _tmp39 + P(1, 21) * _tmp47 +
P(1, 22) * _tmp48 + P(1, 3) * _tmp42 + P(1, 4) * _tmp45 + P(1, 5) * _tmp46);
_k(2, 0) =
_tmp42 * (P(2, 0) * _tmp30 + P(2, 1) * _tmp31 + P(2, 2) * _tmp32 + P(2, 21) * _tmp40 +
P(2, 22) * _tmp41 + P(2, 3) * _tmp35 + P(2, 4) * _tmp38 + P(2, 5) * _tmp39);
_tmp49 * (P(2, 0) * _tmp37 + P(2, 1) * _tmp38 + P(2, 2) * _tmp39 + P(2, 21) * _tmp47 +
P(2, 22) * _tmp48 + P(2, 3) * _tmp42 + P(2, 4) * _tmp45 + P(2, 5) * _tmp46);
_k(3, 0) =
_tmp42 * (P(3, 0) * _tmp30 + P(3, 1) * _tmp31 + P(3, 2) * _tmp32 + P(3, 21) * _tmp40 +
P(3, 22) * _tmp41 + P(3, 3) * _tmp35 + P(3, 4) * _tmp38 + P(3, 5) * _tmp39);
_tmp49 * (P(3, 0) * _tmp37 + P(3, 1) * _tmp38 + P(3, 2) * _tmp39 + P(3, 21) * _tmp47 +
P(3, 22) * _tmp48 + P(3, 3) * _tmp42 + P(3, 4) * _tmp45 + P(3, 5) * _tmp46);
_k(4, 0) =
_tmp42 * (P(4, 0) * _tmp30 + P(4, 1) * _tmp31 + P(4, 2) * _tmp32 + P(4, 21) * _tmp40 +
P(4, 22) * _tmp41 + P(4, 3) * _tmp35 + P(4, 4) * _tmp38 + P(4, 5) * _tmp39);
_tmp49 * (P(4, 0) * _tmp37 + P(4, 1) * _tmp38 + P(4, 2) * _tmp39 + P(4, 21) * _tmp47 +
P(4, 22) * _tmp48 + P(4, 3) * _tmp42 + P(4, 4) * _tmp45 + P(4, 5) * _tmp46);
_k(5, 0) =
_tmp42 * (P(5, 0) * _tmp30 + P(5, 1) * _tmp31 + P(5, 2) * _tmp32 + P(5, 21) * _tmp40 +
P(5, 22) * _tmp41 + P(5, 3) * _tmp35 + P(5, 4) * _tmp38 + P(5, 5) * _tmp39);
_tmp49 * (P(5, 0) * _tmp37 + P(5, 1) * _tmp38 + P(5, 2) * _tmp39 + P(5, 21) * _tmp47 +
P(5, 22) * _tmp48 + P(5, 3) * _tmp42 + P(5, 4) * _tmp45 + P(5, 5) * _tmp46);
_k(6, 0) =
_tmp42 * (P(6, 0) * _tmp30 + P(6, 1) * _tmp31 + P(6, 2) * _tmp32 + P(6, 21) * _tmp40 +
P(6, 22) * _tmp41 + P(6, 3) * _tmp35 + P(6, 4) * _tmp38 + P(6, 5) * _tmp39);
_tmp49 * (P(6, 0) * _tmp37 + P(6, 1) * _tmp38 + P(6, 2) * _tmp39 + P(6, 21) * _tmp47 +
P(6, 22) * _tmp48 + P(6, 3) * _tmp42 + P(6, 4) * _tmp45 + P(6, 5) * _tmp46);
_k(7, 0) =
_tmp42 * (P(7, 0) * _tmp30 + P(7, 1) * _tmp31 + P(7, 2) * _tmp32 + P(7, 21) * _tmp40 +
P(7, 22) * _tmp41 + P(7, 3) * _tmp35 + P(7, 4) * _tmp38 + P(7, 5) * _tmp39);
_tmp49 * (P(7, 0) * _tmp37 + P(7, 1) * _tmp38 + P(7, 2) * _tmp39 + P(7, 21) * _tmp47 +
P(7, 22) * _tmp48 + P(7, 3) * _tmp42 + P(7, 4) * _tmp45 + P(7, 5) * _tmp46);
_k(8, 0) =
_tmp42 * (P(8, 0) * _tmp30 + P(8, 1) * _tmp31 + P(8, 2) * _tmp32 + P(8, 21) * _tmp40 +
P(8, 22) * _tmp41 + P(8, 3) * _tmp35 + P(8, 4) * _tmp38 + P(8, 5) * _tmp39);
_tmp49 * (P(8, 0) * _tmp37 + P(8, 1) * _tmp38 + P(8, 2) * _tmp39 + P(8, 21) * _tmp47 +
P(8, 22) * _tmp48 + P(8, 3) * _tmp42 + P(8, 4) * _tmp45 + P(8, 5) * _tmp46);
_k(9, 0) =
_tmp42 * (P(9, 0) * _tmp30 + P(9, 1) * _tmp31 + P(9, 2) * _tmp32 + P(9, 21) * _tmp40 +
P(9, 22) * _tmp41 + P(9, 3) * _tmp35 + P(9, 4) * _tmp38 + P(9, 5) * _tmp39);
_tmp49 * (P(9, 0) * _tmp37 + P(9, 1) * _tmp38 + P(9, 2) * _tmp39 + P(9, 21) * _tmp47 +
P(9, 22) * _tmp48 + P(9, 3) * _tmp42 + P(9, 4) * _tmp45 + P(9, 5) * _tmp46);
_k(10, 0) =
_tmp42 * (P(10, 0) * _tmp30 + P(10, 1) * _tmp31 + P(10, 2) * _tmp32 + P(10, 21) * _tmp40 +
P(10, 22) * _tmp41 + P(10, 3) * _tmp35 + P(10, 4) * _tmp38 + P(10, 5) * _tmp39);
_tmp49 * (P(10, 0) * _tmp37 + P(10, 1) * _tmp38 + P(10, 2) * _tmp39 + P(10, 21) * _tmp47 +
P(10, 22) * _tmp48 + P(10, 3) * _tmp42 + P(10, 4) * _tmp45 + P(10, 5) * _tmp46);
_k(11, 0) =
_tmp42 * (P(11, 0) * _tmp30 + P(11, 1) * _tmp31 + P(11, 2) * _tmp32 + P(11, 21) * _tmp40 +
P(11, 22) * _tmp41 + P(11, 3) * _tmp35 + P(11, 4) * _tmp38 + P(11, 5) * _tmp39);
_tmp49 * (P(11, 0) * _tmp37 + P(11, 1) * _tmp38 + P(11, 2) * _tmp39 + P(11, 21) * _tmp47 +
P(11, 22) * _tmp48 + P(11, 3) * _tmp42 + P(11, 4) * _tmp45 + P(11, 5) * _tmp46);
_k(12, 0) =
_tmp42 * (P(12, 0) * _tmp30 + P(12, 1) * _tmp31 + P(12, 2) * _tmp32 + P(12, 21) * _tmp40 +
P(12, 22) * _tmp41 + P(12, 3) * _tmp35 + P(12, 4) * _tmp38 + P(12, 5) * _tmp39);
_tmp49 * (P(12, 0) * _tmp37 + P(12, 1) * _tmp38 + P(12, 2) * _tmp39 + P(12, 21) * _tmp47 +
P(12, 22) * _tmp48 + P(12, 3) * _tmp42 + P(12, 4) * _tmp45 + P(12, 5) * _tmp46);
_k(13, 0) =
_tmp42 * (P(13, 0) * _tmp30 + P(13, 1) * _tmp31 + P(13, 2) * _tmp32 + P(13, 21) * _tmp40 +
P(13, 22) * _tmp41 + P(13, 3) * _tmp35 + P(13, 4) * _tmp38 + P(13, 5) * _tmp39);
_tmp49 * (P(13, 0) * _tmp37 + P(13, 1) * _tmp38 + P(13, 2) * _tmp39 + P(13, 21) * _tmp47 +
P(13, 22) * _tmp48 + P(13, 3) * _tmp42 + P(13, 4) * _tmp45 + P(13, 5) * _tmp46);
_k(14, 0) =
_tmp42 * (P(14, 0) * _tmp30 + P(14, 1) * _tmp31 + P(14, 2) * _tmp32 + P(14, 21) * _tmp40 +
P(14, 22) * _tmp41 + P(14, 3) * _tmp35 + P(14, 4) * _tmp38 + P(14, 5) * _tmp39);
_tmp49 * (P(14, 0) * _tmp37 + P(14, 1) * _tmp38 + P(14, 2) * _tmp39 + P(14, 21) * _tmp47 +
P(14, 22) * _tmp48 + P(14, 3) * _tmp42 + P(14, 4) * _tmp45 + P(14, 5) * _tmp46);
_k(15, 0) =
_tmp42 * (P(15, 0) * _tmp30 + P(15, 1) * _tmp31 + P(15, 2) * _tmp32 + P(15, 21) * _tmp40 +
P(15, 22) * _tmp41 + P(15, 3) * _tmp35 + P(15, 4) * _tmp38 + P(15, 5) * _tmp39);
_tmp49 * (P(15, 0) * _tmp37 + P(15, 1) * _tmp38 + P(15, 2) * _tmp39 + P(15, 21) * _tmp47 +
P(15, 22) * _tmp48 + P(15, 3) * _tmp42 + P(15, 4) * _tmp45 + P(15, 5) * _tmp46);
_k(16, 0) =
_tmp42 * (P(16, 0) * _tmp30 + P(16, 1) * _tmp31 + P(16, 2) * _tmp32 + P(16, 21) * _tmp40 +
P(16, 22) * _tmp41 + P(16, 3) * _tmp35 + P(16, 4) * _tmp38 + P(16, 5) * _tmp39);
_tmp49 * (P(16, 0) * _tmp37 + P(16, 1) * _tmp38 + P(16, 2) * _tmp39 + P(16, 21) * _tmp47 +
P(16, 22) * _tmp48 + P(16, 3) * _tmp42 + P(16, 4) * _tmp45 + P(16, 5) * _tmp46);
_k(17, 0) =
_tmp42 * (P(17, 0) * _tmp30 + P(17, 1) * _tmp31 + P(17, 2) * _tmp32 + P(17, 21) * _tmp40 +
P(17, 22) * _tmp41 + P(17, 3) * _tmp35 + P(17, 4) * _tmp38 + P(17, 5) * _tmp39);
_tmp49 * (P(17, 0) * _tmp37 + P(17, 1) * _tmp38 + P(17, 2) * _tmp39 + P(17, 21) * _tmp47 +
P(17, 22) * _tmp48 + P(17, 3) * _tmp42 + P(17, 4) * _tmp45 + P(17, 5) * _tmp46);
_k(18, 0) =
_tmp42 * (P(18, 0) * _tmp30 + P(18, 1) * _tmp31 + P(18, 2) * _tmp32 + P(18, 21) * _tmp40 +
P(18, 22) * _tmp41 + P(18, 3) * _tmp35 + P(18, 4) * _tmp38 + P(18, 5) * _tmp39);
_tmp49 * (P(18, 0) * _tmp37 + P(18, 1) * _tmp38 + P(18, 2) * _tmp39 + P(18, 21) * _tmp47 +
P(18, 22) * _tmp48 + P(18, 3) * _tmp42 + P(18, 4) * _tmp45 + P(18, 5) * _tmp46);
_k(19, 0) =
_tmp42 * (P(19, 0) * _tmp30 + P(19, 1) * _tmp31 + P(19, 2) * _tmp32 + P(19, 21) * _tmp40 +
P(19, 22) * _tmp41 + P(19, 3) * _tmp35 + P(19, 4) * _tmp38 + P(19, 5) * _tmp39);
_tmp49 * (P(19, 0) * _tmp37 + P(19, 1) * _tmp38 + P(19, 2) * _tmp39 + P(19, 21) * _tmp47 +
P(19, 22) * _tmp48 + P(19, 3) * _tmp42 + P(19, 4) * _tmp45 + P(19, 5) * _tmp46);
_k(20, 0) =
_tmp42 * (P(20, 0) * _tmp30 + P(20, 1) * _tmp31 + P(20, 2) * _tmp32 + P(20, 21) * _tmp40 +
P(20, 22) * _tmp41 + P(20, 3) * _tmp35 + P(20, 4) * _tmp38 + P(20, 5) * _tmp39);
_tmp49 * (P(20, 0) * _tmp37 + P(20, 1) * _tmp38 + P(20, 2) * _tmp39 + P(20, 21) * _tmp47 +
P(20, 22) * _tmp48 + P(20, 3) * _tmp42 + P(20, 4) * _tmp45 + P(20, 5) * _tmp46);
_k(21, 0) =
_tmp42 * (P(21, 0) * _tmp30 + P(21, 1) * _tmp31 + P(21, 2) * _tmp32 + P(21, 21) * _tmp40 +
P(21, 22) * _tmp41 + P(21, 3) * _tmp35 + P(21, 4) * _tmp38 + P(21, 5) * _tmp39);
_tmp49 * (P(21, 0) * _tmp37 + P(21, 1) * _tmp38 + P(21, 2) * _tmp39 + P(21, 21) * _tmp47 +
P(21, 22) * _tmp48 + P(21, 3) * _tmp42 + P(21, 4) * _tmp45 + P(21, 5) * _tmp46);
_k(22, 0) =
_tmp42 * (P(22, 0) * _tmp30 + P(22, 1) * _tmp31 + P(22, 2) * _tmp32 + P(22, 21) * _tmp40 +
P(22, 22) * _tmp41 + P(22, 3) * _tmp35 + P(22, 4) * _tmp38 + P(22, 5) * _tmp39);
_tmp49 * (P(22, 0) * _tmp37 + P(22, 1) * _tmp38 + P(22, 2) * _tmp39 + P(22, 21) * _tmp47 +
P(22, 22) * _tmp48 + P(22, 3) * _tmp42 + P(22, 4) * _tmp45 + P(22, 5) * _tmp46);
_k(23, 0) =
_tmp42 * (P(23, 0) * _tmp30 + P(23, 1) * _tmp31 + P(23, 2) * _tmp32 + P(23, 21) * _tmp40 +
P(23, 22) * _tmp41 + P(23, 3) * _tmp35 + P(23, 4) * _tmp38 + P(23, 5) * _tmp39);
_tmp49 * (P(23, 0) * _tmp37 + P(23, 1) * _tmp38 + P(23, 2) * _tmp39 + P(23, 21) * _tmp47 +
P(23, 22) * _tmp48 + P(23, 3) * _tmp42 + P(23, 4) * _tmp45 + P(23, 5) * _tmp46);
}
} // NOLINT(readability/fn_size)

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