ROS2-ORB-SLAM3/Thirdparty/Sophus/py/cpp_gencode/So3_Dx_exp_x.cpp

Scalar const c0 = pow(omega[0], 2);
Scalar const c1 = pow(omega[1], 2);
Scalar const c2 = pow(omega[2], 2);
Scalar const c3 = c0 + c1 + c2;
Scalar const c4 = sqrt(c3);
Scalar const c5 = 0.5*c4;
Scalar const c6 = sin(c5);
Scalar const c7 = c6/c4;
Scalar const c8 = c6/pow(c3, 3.0/2.0);
Scalar const c9 = 0.5*cos(c5)/c3;
Scalar const c10 = c8*omega[0];
Scalar const c11 = c9*omega[0];
Scalar const c12 = -c10*omega[1] + c11*omega[1];
Scalar const c13 = -c10*omega[2] + c11*omega[2];
Scalar const c14 = omega[1]*omega[2];
Scalar const c15 = -c14*c8 + c14*c9;
Scalar const c16 = 0.5*c7;
result[0] = -c0*c8 + c0*c9 + c7;
result[1] = c12;
result[2] = c13;
result[3] = c12;
result[4] = -c1*c8 + c1*c9 + c7;
result[5] = c15;
result[6] = c13;
result[7] = c15;
result[8] = -c2*c8 + c2*c9 + c7;
result[9] = -c16*omega[0];
result[10] = -c16*omega[1];
result[11] = -c16*omega[2];