/* Update Jte: X Y */
if(Jte){
- Jte[0] += eX *dxh11 + eY *dyh11;
- Jte[1] += eX *dxh12 + eY *dyh12;
- Jte[2] += eX *dxh13 + eY *dyh13;
- Jte[3] += eX *dxh21 + eY *dyh21;
- Jte[4] += eX *dxh22 + eY *dyh22;
- Jte[5] += eX *dxh23 + eY *dyh23;
- Jte[6] += eX *dxh31 + eY *dyh31;
- Jte[7] += eX *dxh32 + eY *dyh32;
+ Jte[0] += eX *dxh11 ;/* +0 */
+ Jte[1] += eX *dxh12 ;/* +0 */
+ Jte[2] += eX *dxh13 ;/* +0 */
+ Jte[3] += eY *dyh21;/* 0+ */
+ Jte[4] += eY *dyh22;/* 0+ */
+ Jte[5] += eY *dyh23;/* 0+ */
+ Jte[6] += eX *dxh31 + eY *dyh31;/* + */
+ Jte[7] += eX *dxh32 + eY *dyh32;/* + */
}
/* Update JtJ: X Y */
if(JtJ){
- JtJ[0][0] += dxh11*dxh11 + dyh11*dyh11;
-
- JtJ[1][0] += dxh11*dxh12 + dyh11*dyh12;
- JtJ[1][1] += dxh12*dxh12 + dyh12*dyh12;
-
- JtJ[2][0] += dxh11*dxh13 + dyh11*dyh13;
- JtJ[2][1] += dxh12*dxh13 + dyh12*dyh13;
- JtJ[2][2] += dxh13*dxh13 + dyh13*dyh13;
-
- JtJ[3][0] += dxh11*dxh21 + dyh11*dyh21;
- JtJ[3][1] += dxh12*dxh21 + dyh12*dyh21;
- JtJ[3][2] += dxh13*dxh21 + dyh13*dyh21;
- JtJ[3][3] += dxh21*dxh21 + dyh21*dyh21;
-
- JtJ[4][0] += dxh11*dxh22 + dyh11*dyh22;
- JtJ[4][1] += dxh12*dxh22 + dyh12*dyh22;
- JtJ[4][2] += dxh13*dxh22 + dyh13*dyh22;
- JtJ[4][3] += dxh21*dxh22 + dyh21*dyh22;
- JtJ[4][4] += dxh22*dxh22 + dyh22*dyh22;
-
- JtJ[5][0] += dxh11*dxh23 + dyh11*dyh23;
- JtJ[5][1] += dxh12*dxh23 + dyh12*dyh23;
- JtJ[5][2] += dxh13*dxh23 + dyh13*dyh23;
- JtJ[5][3] += dxh21*dxh23 + dyh21*dyh23;
- JtJ[5][4] += dxh22*dxh23 + dyh22*dyh23;
- JtJ[5][5] += dxh23*dxh23 + dyh23*dyh23;
-
- JtJ[6][0] += dxh11*dxh31 + dyh11*dyh31;
- JtJ[6][1] += dxh12*dxh31 + dyh12*dyh31;
- JtJ[6][2] += dxh13*dxh31 + dyh13*dyh31;
- JtJ[6][3] += dxh21*dxh31 + dyh21*dyh31;
- JtJ[6][4] += dxh22*dxh31 + dyh22*dyh31;
- JtJ[6][5] += dxh23*dxh31 + dyh23*dyh31;
- JtJ[6][6] += dxh31*dxh31 + dyh31*dyh31;
-
- JtJ[7][0] += dxh11*dxh32 + dyh11*dyh32;
- JtJ[7][1] += dxh12*dxh32 + dyh12*dyh32;
- JtJ[7][2] += dxh13*dxh32 + dyh13*dyh32;
- JtJ[7][3] += dxh21*dxh32 + dyh21*dyh32;
- JtJ[7][4] += dxh22*dxh32 + dyh22*dyh32;
- JtJ[7][5] += dxh23*dxh32 + dyh23*dyh32;
- JtJ[7][6] += dxh31*dxh32 + dyh31*dyh32;
- JtJ[7][7] += dxh32*dxh32 + dyh32*dyh32;
+ JtJ[0][0] += dxh11*dxh11 ;/* +0 */
+
+ JtJ[1][0] += dxh11*dxh12 ;/* +0 */
+ JtJ[1][1] += dxh12*dxh12 ;/* +0 */
+
+ JtJ[2][0] += dxh11*dxh13 ;/* +0 */
+ JtJ[2][1] += dxh12*dxh13 ;/* +0 */
+ JtJ[2][2] += dxh13*dxh13 ;/* +0 */
+
+ /*JtJ[3][0] += ;/* 0+0 */
+ /*JtJ[3][1] += ;/* 0+0 */
+ /*JtJ[3][2] += ;/* 0+0 */
+ JtJ[3][3] += dyh21*dyh21;/* 0+ */
+
+ /*JtJ[4][0] += ;/* 0+0 */
+ /*JtJ[4][1] += ;/* 0+0 */
+ /*JtJ[4][2] += ;/* 0+0 */
+ JtJ[4][3] += dyh21*dyh22;/* 0+ */
+ JtJ[4][4] += dyh22*dyh22;/* 0+ */
+
+ /*JtJ[5][0] += ;/* 0+0 */
+ /*JtJ[5][1] += ;/* 0+0 */
+ /*JtJ[5][2] += ;/* 0+0 */
+ JtJ[5][3] += dyh21*dyh23;/* 0+ */
+ JtJ[5][4] += dyh22*dyh23;/* 0+ */
+ JtJ[5][5] += dyh23*dyh23;/* 0+ */
+
+ JtJ[6][0] += dxh11*dxh31 ;/* +0 */
+ JtJ[6][1] += dxh12*dxh31 ;/* +0 */
+ JtJ[6][2] += dxh13*dxh31 ;/* +0 */
+ JtJ[6][3] += dyh21*dyh31;/* 0+ */
+ JtJ[6][4] += dyh22*dyh31;/* 0+ */
+ JtJ[6][5] += dyh23*dyh31;/* 0+ */
+ JtJ[6][6] += dxh31*dxh31 + dyh31*dyh31;/* + */
+
+ JtJ[7][0] += dxh11*dxh32 ;/* +0 */
+ JtJ[7][1] += dxh12*dxh32 ;/* +0 */
+ JtJ[7][2] += dxh13*dxh32 ;/* +0 */
+ JtJ[7][3] += dyh21*dyh32;/* 0+ */
+ JtJ[7][4] += dyh22*dyh32;/* 0+ */
+ JtJ[7][5] += dyh23*dyh32;/* 0+ */
+ JtJ[7][6] += dxh31*dxh32 + dyh31*dyh32;/* + */
+ JtJ[7][7] += dxh32*dxh32 + dyh32*dyh32;/* + */
}
}
}