diff --git a/reco/L1/L1Algo/L1TrackParFit.cxx b/reco/L1/L1Algo/L1TrackParFit.cxx
index 2f5277b494b5599985ba60ad60e5a56b1f5a7829..0e191aade65c2a8936e95bfdde2c894742d5d97d 100644
--- a/reco/L1/L1Algo/L1TrackParFit.cxx
+++ b/reco/L1/L1Algo/L1TrackParFit.cxx
@@ -409,18 +409,21 @@ void
// of motion of a particle with parameter qp = Q /P
// in the magnetic field B()
//
- // | x | tx
- // | y | ty
- // d/dz = | tx| = l * ( tx*ty * Bx - (1+tx*tx) * By + ty * Bz )
- // | ty| l * ( (1+ty*ty) * Bx - tx*ty * By - tx * Bz ) ,
- // | qp| 0.
- // | t | ??
+ // ( x ) tx
+ // ( y ) ty
+ // d( tx)/dz = c_light * qp * L * ( tx*ty * Bx - (1+tx*tx) * By + ty * Bz )
+ // ( ty) c_light * qp * L * ( (1+ty*ty) * Bx - tx*ty * By - tx * Bz ) ,
+ // ( qp) 0.
+ // ( t ) L * sqrt ( 1 + m*m * qp*qp ) / c_light_ns
//
- // where l = c_light*qp*sqrt ( 1 + tx*tx + ty*ty ) .
+ // where L = sqrt ( 1 + tx*tx + ty*ty ) .
+ // c_light = 0.000299792458 [(GeV/c)/kG/cm]
+ // c_light_ns = 29.9792458 [cm/ns]
//
- // In the following for RK step :
+ // In the following for RK step :
+ // r[5] = {x,y,tx,ty,t}. ( q/p parameter doesn't change during the extrapolation)
+ // dr(z)/dz = f(z,r)
//
- // x=p[0], y=p[1], tx=p[2], ty=p[3], t=p[4].
//
//========================================================================
//
@@ -433,9 +436,6 @@ void
cnst c_light = 0.000299792458;
- const fvec a[4] = {0., 0.5, 0.5, 1.};
- const fvec c[4] = {1. / 6., 1. / 3., 1. / 3., 1. / 6.};
-
//----------------------------------------------------------------
z_out = iif((fvec(0.f) < w), z_out, fTr.z);
@@ -443,36 +443,33 @@ void
fvec qp_in = fTr.qp;
const fvec h = (z_out - fTr.z);
- // cout<<h<<" h"<<endl;
- // cout<<fTr.tx<<" fTr.tx"<<endl;
- // cout<<fTr.ty<<" fTr.ty"<<endl;
+ const fvec a[4] = {0., h * fvec(0.5), h * fvec(0.5), h};
+ const fvec c[4] = {h / fvec(6.), h / fvec(3.), h / fvec(3.), h / fvec(6.)};
- fvec hC = h * c_light;
+ fvec f0[4]; // ( dx/dz )
+ fvec f1[4]; // ( dy/dz )
+ fvec f2[4]; // ( dtx/dz )
+ fvec f3[4]; // ( dty/dz )
+ fvec f4[4]; // ( dt/dz )
- fvec f0[4]; // ( dx )
- fvec f1[4]; // ( dy )
- fvec f2[4]; // ( dtx )
- fvec f3[4]; // ( dty )
- fvec f4[4]; // ( dqp )
- fvec f5[4]; // ( dt )
+ fvec f2_tx[4], f3_tx[4], f4_tx[4]; // df* / dtx
+ fvec f2_ty[4], f3_ty[4], f4_ty[4]; // df* / dty
+ fvec f2_qp[4], f3_qp[4], f4_qp[4]; // df* / dqp
- fvec f2_tx[4], f3_tx[4], f5_tx[4]; // d(dtx)
- fvec f2_ty[4], f3_ty[4], f5_ty[4]; // d(dty)
- fvec f2_qp[4], f3_qp[4], f5_qp[4]; // d(dty)
+ fvec k[5][5] = {0., 0., 0., 0., 0.};
// Runge-Kutta steps for track parameters
//
{
- fvec p0[5] = {fTr.x, fTr.y, fTr.tx, fTr.ty, fTr.t};
- fvec k[4][5];
+ fvec r0[5] = {fTr.x, fTr.y, fTr.tx, fTr.ty, fTr.t};
for (int step = 0; step < 4; ++step) {
- fvec z = fTr.z + a[step] * h;
- fvec p[5];
+ fvec z = fTr.z + a[step];
+ fvec r[5];
for (int i = 0; i < 5; ++i) {
- if (step == 0) { p[i] = p0[i]; }
+ if (step == 0) { r[i] = r0[i]; }
else {
- p[i] = p0[i] + a[step] * k[step - 1][i];
+ r[i] = r0[i] + a[step] * k[step][i];
}
}
@@ -481,173 +478,127 @@ void
const fvec& By = B[1];
const fvec& Bz = B[2];
- F.Get(p[0], p[1], z, B);
+ F.Get(r[0], r[1], z, B);
- fvec tx = p[2];
- fvec ty = p[3];
- fvec tx2 = tx * tx;
- fvec ty2 = ty * ty;
- fvec txty = tx * ty;
- fvec L2 = fvec(1.) + tx2 + ty2;
- fvec L2i = fvec(1.) / L2;
- fvec L = sqrt(L2);
- fvec hCL = hC * L;
- fvec hCLqp0 = hCL * qp0;
+ fvec tx = r[2];
+ fvec ty = r[3];
+ fvec tx2 = tx * tx;
+ fvec ty2 = ty * ty;
+ fvec txty = tx * ty;
+ fvec L2 = fvec(1.) + tx2 + ty2;
+ fvec L2i = fvec(1.) / L2;
+ fvec L = sqrt(L2);
+ fvec cL = c_light * L;
+ fvec cLqp0 = cL * qp0;
- f0[step] = h * tx;
- f1[step] = h * ty;
+ f0[step] = tx;
+ f1[step] = ty;
fvec f2tmp = (txty * Bx + ty * Bz) - (fvec(1.) + tx2) * By;
- f2[step] = hCLqp0 * f2tmp;
- f2_tx[step] = hCLqp0 * (tx * f2tmp * L2i + ty * Bx - fvec(2.) * tx * By);
- f2_ty[step] = hCLqp0 * (ty * f2tmp * L2i + tx * Bx + Bz);
- f2_qp[step] = hCL * f2tmp;
+ f2[step] = cLqp0 * f2tmp;
+ f2_tx[step] = cLqp0 * (tx * f2tmp * L2i + ty * Bx - fvec(2.) * tx * By);
+ f2_ty[step] = cLqp0 * (ty * f2tmp * L2i + tx * Bx + Bz);
+ f2_qp[step] = cL * f2tmp;
fvec f3tmp = -txty * By - tx * Bz + (fvec(1.) + ty2) * Bx;
- f3[step] = hCLqp0 * f3tmp;
- f3_tx[step] = hCLqp0 * (tx * f3tmp * L2i - ty * By - Bz);
- f3_ty[step] = hCLqp0 * (ty * f3tmp * L2i + fvec(2.) * ty * Bx - tx * By);
- f3_qp[step] = hCL * f3tmp;
-
- f4[step] = 0.;
+ f3[step] = cLqp0 * f3tmp;
+ f3_tx[step] = cLqp0 * (tx * f3tmp * L2i - ty * By - Bz);
+ f3_ty[step] = cLqp0 * (ty * f3tmp * L2i + fvec(2.) * ty * Bx - tx * By);
+ f3_qp[step] = cL * f3tmp;
fvec m2 = fMass2;
- fvec hvi = h * sqrt(fvec(1.) + m2 * qp0 * qp0) / fvec(29.9792458f);
- f5[step] = hvi * L;
- f5_tx[step] = hvi * tx / L;
- f5_ty[step] = hvi * ty / L;
- f5_qp[step] = (m2 * qp0) * (h * L / sqrt(fvec(1.) + m2 * qp0 * qp0) / fvec(29.9792458f));
-
- k[step][0] = f0[step];
- k[step][1] = f1[step];
- k[step][2] = f2[step];
- k[step][3] = f3[step];
- k[step][4] = f5[step];
+ fvec vi = sqrt(fvec(1.) + m2 * qp0 * qp0) / fvec(29.9792458f);
+ f4[step] = vi * L;
+ f4_tx[step] = vi * tx / L;
+ f4_ty[step] = vi * ty / L;
+ f4_qp[step] = (m2 * qp0) * (L / sqrt(fvec(1.) + m2 * qp0 * qp0) / fvec(29.9792458f));
+
+ k[step + 1][0] = f0[step];
+ k[step + 1][1] = f1[step];
+ k[step + 1][2] = f2[step];
+ k[step + 1][3] = f3[step];
+ k[step + 1][4] = f4[step];
} // end of Runge-Kutta step
- fTr.x = p0[0] + c[0] * k[0][0] + c[1] * k[1][0] + c[2] * k[2][0] + c[3] * k[3][0];
- fTr.y = p0[1] + c[0] * k[0][1] + c[1] * k[1][1] + c[2] * k[2][1] + c[3] * k[3][1];
- fTr.tx = p0[2] + c[0] * k[0][2] + c[1] * k[1][2] + c[2] * k[2][2] + c[3] * k[3][2];
- fTr.ty = p0[3] + c[0] * k[0][3] + c[1] * k[1][3] + c[2] * k[2][3] + c[3] * k[3][3];
- fTr.t = p0[4] + c[0] * k[0][4] + c[1] * k[1][4] + c[2] * k[2][4] + c[3] * k[3][4];
+ fTr.x = r0[0] + (c[0] * k[1][0] + c[1] * k[2][0] + c[2] * k[3][0] + c[3] * k[4][0]);
+ fTr.y = r0[1] + (c[0] * k[1][1] + c[1] * k[2][1] + c[2] * k[3][1] + c[3] * k[4][1]);
+ fTr.tx = r0[2] + (c[0] * k[1][2] + c[1] * k[2][2] + c[2] * k[3][2] + c[3] * k[4][2]);
+ fTr.ty = r0[3] + (c[0] * k[1][3] + c[1] * k[2][3] + c[2] * k[3][3] + c[3] * k[4][3]);
+ fTr.t = r0[4] + (c[0] * k[1][4] + c[1] * k[2][4] + c[2] * k[3][4] + c[3] * k[4][4]);
fTr.z = z_out;
}
// Jacobian of extrapolation
-
//
// derivatives d/dx and d/dy
//
- fvec Jx[6] = {1., 0., 0., 0., 0., 0.}; // D new { x,y,tx,ty,qp,t } / D old x
- fvec Jy[6] = {0., 1., 0., 0., 0., 0.}; // D new { x,y,tx,ty,qp,t } / D old y
+ fvec Jx[5] = {1., 0., 0., 0., 0.}; // D new { x,y,tx,ty,t } / D old x
+ fvec Jy[5] = {0., 1., 0., 0., 0.}; // D new { x,y,tx,ty,t } / D old y
//
// Runge-Kutta steps for derivatives d/dtx
//
-
- fvec Jtx[6]; // D new { x,y,tx,ty,qp,t } / D old tx
+ fvec Jtx[5] = {0., 0., 1., 0., 0.}; // D new { x,y,tx,ty,t } / D old tx
{
- fvec p0[5] = {0., 0., 1., 0., 0.};
- fvec k[4][5];
for (int step = 0; step < 4; ++step) {
- fvec p2, p3;
- if (step == 0) {
- p2 = p0[2];
- p3 = p0[3];
- }
- else {
- p2 = p0[2] + a[step] * k[step - 1][2];
- p3 = p0[3] + a[step] * k[step - 1][3];
- }
- k[step][0] = p2 * h;
- k[step][1] = p3 * h;
- k[step][2] = f2_tx[step] * p2 + f2_ty[step] * p3;
- k[step][3] = f3_tx[step] * p2 + f3_ty[step] * p3;
- k[step][4] = f5_tx[step] * p2 + f5_ty[step] * p3;
+ fvec r2 = Jtx[2] + a[step] * k[step][2]; // dtx[step]/dtx0
+ fvec r3 = Jtx[3] + a[step] * k[step][3]; // dty[step]/dtx0
+ k[step + 1][0] = r2;
+ k[step + 1][1] = r3;
+ k[step + 1][2] = f2_tx[step] * r2 + f2_ty[step] * r3;
+ k[step + 1][3] = f3_tx[step] * r2 + f3_ty[step] * r3;
+ k[step + 1][4] = f4_tx[step] * r2 + f4_ty[step] * r3;
}
-
- for (int i = 0; i < 4; ++i) {
- Jtx[i] = p0[i] + c[0] * k[0][i] + c[1] * k[1][i] + c[2] * k[2][i] + c[3] * k[3][i];
+ for (int i = 0; i < 5; ++i) {
+ Jtx[i] += c[0] * k[1][i] + c[1] * k[2][i] + c[2] * k[3][i] + c[3] * k[4][i];
}
-
- Jtx[4] = fvec(0.); // dqp/dtx
- Jtx[5] = p0[4] + c[0] * k[0][4] + c[1] * k[1][4] + c[2] * k[2][4] + c[3] * k[3][4];
-
- } // end of derivatives d/dtx
+ }
//
// Runge-Kutta steps for derivatives d/dty
//
- fvec Jty[6]; // D new { x,y,tx,ty,qp,t } / D old ty
+ fvec Jty[5] = {0., 0., 0., 1., 0.}; // D new { x,y,tx,ty,t } / D old ty
{
- fvec p0[5] = {0., 0., 0., 1., 0.};
- fvec k[4][5];
for (int step = 0; step < 4; ++step) {
- fvec p2, p3;
- if (step == 0) {
- p2 = p0[2];
- p3 = p0[3];
- }
- else {
- p2 = p0[2] + a[step] * k[step - 1][2];
- p3 = p0[3] + a[step] * k[step - 1][3];
- }
- k[step][0] = p2 * h;
- k[step][1] = p3 * h;
- k[step][2] = f2_tx[step] * p2 + f2_ty[step] * p3;
- k[step][3] = f3_tx[step] * p2 + f3_ty[step] * p3;
- k[step][4] = f5_tx[step] * p2 + f5_ty[step] * p3;
+ fvec r2 = Jty[2] + a[step] * k[step][2]; // dtx[step]/dty0
+ fvec r3 = Jty[3] + a[step] * k[step][3]; // dty[step]/dty0
+ k[step + 1][0] = r2;
+ k[step + 1][1] = r3;
+ k[step + 1][2] = f2_tx[step] * r2 + f2_ty[step] * r3;
+ k[step + 1][3] = f3_tx[step] * r2 + f3_ty[step] * r3;
+ k[step + 1][4] = f4_tx[step] * r2 + f4_ty[step] * r3;
}
-
- for (int i = 0; i < 4; ++i) {
- Jty[i] = p0[i] + c[0] * k[0][i] + c[1] * k[1][i] + c[2] * k[2][i] + c[3] * k[3][i];
+ for (int i = 0; i < 5; ++i) {
+ Jty[i] += c[0] * k[1][i] + c[1] * k[2][i] + c[2] * k[3][i] + c[3] * k[4][i];
}
-
- Jty[4] = fvec(0.);
- Jty[5] = p0[4] + c[0] * k[0][4] + c[1] * k[1][4] + c[2] * k[2][4] + c[3] * k[3][4];
-
- } // end of derivatives d/dty
-
+ }
//
// Runge-Kutta steps for derivatives d/dqp
//
- fvec Jqp[6]; // D new { x,y,tx,ty,qp,t } / D old qp
+ fvec Jqp[5] = {0., 0., 0., 0., 0.}; // D new { x,y,tx,ty,t } / D old qp
{
- fvec p0[5] = {0., 0., 0., 0., 0.};
- fvec k[4][6];
for (int step = 0; step < 4; ++step) {
- fvec p2, p3;
- if (step == 0) {
- p2 = p0[2];
- p3 = p0[3];
- }
- else {
- p2 = p0[2] + a[step] * k[step - 1][2];
- p3 = p0[3] + a[step] * k[step - 1][3];
- }
- k[step][0] = h * p2;
- k[step][1] = h * p3;
- k[step][2] = f2_qp[step] + f2_tx[step] * p2 + f2_ty[step] * p3;
- k[step][3] = f3_qp[step] + f3_tx[step] * p2 + f3_ty[step] * p3;
- k[step][4] = 0.;
- k[step][5] = f5_qp[step] + f5_tx[step] * p2 + f5_ty[step] * p3;
+ fvec r2 = Jqp[2] + a[step] * k[step][2]; // dtx/dqp
+ fvec r3 = Jqp[3] + a[step] * k[step][3]; // dty/dqp; (dqp/dqp == 1)
+ k[step + 1][0] = r2;
+ k[step + 1][1] = r3;
+ k[step + 1][2] = f2_qp[step] + f2_tx[step] * r2 + f2_ty[step] * r3;
+ k[step + 1][3] = f3_qp[step] + f3_tx[step] * r2 + f3_ty[step] * r3;
+ k[step + 1][4] = f4_qp[step] + f4_tx[step] * r2 + f4_ty[step] * r3;
}
- for (int i = 0; i < 4; ++i) {
- Jqp[i] = p0[i] + c[0] * k[0][i] + c[1] * k[1][i] + c[2] * k[2][i] + c[3] * k[3][i];
+ for (int i = 0; i < 5; ++i) {
+ Jqp[i] += c[0] * k[1][i] + c[1] * k[2][i] + c[2] * k[3][i] + c[3] * k[4][i];
}
- Jqp[4] = fvec(1.);
- Jqp[5] = p0[4] + c[0] * k[0][5] + c[1] * k[1][5] + c[2] * k[2][5] + c[3] * k[3][5];
-
- } // end of derivatives d/dqp
+ }
//
// derivatives d/dt
//
- fvec Jt[6] = {0., 0., 0., 0., 0., 1.}; // D new { x,y,tx,ty,qp,t } / D old t
+ fvec Jt[5] = {0., 0., 0., 0., 1.}; // D new { x,y,tx,ty,t } / D old t
{ // update parameters
fvec dqp = qp_in - qp0;
@@ -655,117 +606,134 @@ void
fTr.y += Jqp[1] * dqp;
fTr.tx += Jqp[2] * dqp;
fTr.ty += Jqp[3] * dqp;
- fTr.t += Jqp[5] * dqp;
+ fTr.t += Jqp[4] * dqp;
}
// covariance matrix transport
- // debug mode: full matrix multiplication in double precision
- if (1) {
- for (unsigned int iv = 0; iv < fvec::Size; iv++) { // loop over SIMD vector compoinents
- double J[6][6];
- for (int i = 0; i < 6; i++) {
- J[i][0] = Jx[i][iv];
- J[i][1] = Jy[i][iv];
- J[i][2] = Jtx[i][iv];
- J[i][3] = Jty[i][iv];
- J[i][4] = Jqp[i][iv];
- J[i][5] = Jt[i][iv];
- }
- double C[6][6];
- for (int i = 0; i < 6; i++) {
- for (int j = 0; j < 6; j++) {
- C[i][j] = fTr.C(i, j)[iv];
- }
+ // debug mode: full matrix multiplication76y
+ if (0) {
+ fvec J[6][6];
+ for (int i = 0; i < 4; i++) {
+ J[i][0] = Jx[i]; // dx,y,tx,ty / dx
+ J[i][1] = Jy[i]; // dx,y,tx,ty / dy
+ J[i][2] = Jtx[i]; // dx,y,tx,ty / dtx
+ J[i][3] = Jty[i]; // dx,y,tx,ty / dty
+ J[i][4] = Jqp[i]; // dx,y,tx,ty / dqp
+ J[i][5] = Jt[i]; // dx,y,tx,ty / dt
+ }
+ {
+ J[4][0] = 0.; // dqp / dx
+ J[4][1] = 0.; // dqp / dy
+ J[4][2] = 0.; // dqp / dtx
+ J[4][3] = 0.; // dqp / dty
+ J[4][4] = 1.; // dqp / dqp
+ J[4][5] = 0.; // dqp / dt
+ }
+ {
+ J[5][0] = Jx[4]; // dt / dx
+ J[5][1] = Jy[4]; // dt / dy
+ J[5][2] = Jtx[4]; // dt / dtx
+ J[5][3] = Jty[4]; // dt / dty
+ J[5][4] = Jqp[4]; // dt / dqp
+ J[5][5] = Jt[4]; // dt / dt
+ }
+
+ fvec C[6][6];
+ for (int i = 0; i < 6; i++) {
+ for (int j = 0; j < 6; j++) {
+ C[i][j] = fTr.C(i, j);
}
- double JC[6][6];
- for (int i = 0; i < 6; i++) {
- for (int j = 0; j < 6; j++) {
- JC[i][j] = 0.;
- for (int m = 0; m < 6; m++) {
- JC[i][j] += J[i][m] * C[m][j];
- }
+ }
+ fvec JC[6][6];
+ for (int i = 0; i < 6; i++) {
+ for (int j = 0; j < 6; j++) {
+ JC[i][j] = 0.;
+ for (int m = 0; m < 6; m++) {
+ JC[i][j] += J[i][m] * C[m][j];
}
}
- for (int i = 0; i < 6; i++) {
- for (int j = 0; j < 6; j++) {
- double Cij = 0.;
- for (int m = 0; m < 6; m++) {
- Cij += JC[i][m] * J[j][m];
- }
- fTr.C(i, j)[iv] = Cij;
+ }
+ for (int i = 0; i < 6; i++) {
+ for (int j = 0; j < 6; j++) {
+ fvec Cij = 0.;
+ for (int m = 0; m < 6; m++) {
+ Cij += JC[i][m] * J[j][m];
}
+ fTr.C(i, j) = Cij;
}
}
}
- else { // fast calculations
-
- const fvec cj00 = fTr.C00 + fTr.C20 * Jtx[0] + fTr.C30 * Jty[0] + fTr.C40 * Jqp[0];
- const fvec cj10 = fTr.C10 + fTr.C21 * Jtx[0] + fTr.C31 * Jty[0] + fTr.C41 * Jqp[0];
- const fvec cj20 = fTr.C20 + fTr.C22 * Jtx[0] + fTr.C32 * Jty[0] + fTr.C42 * Jqp[0];
- const fvec cj30 = fTr.C30 + fTr.C32 * Jtx[0] + fTr.C33 * Jty[0] + fTr.C43 * Jqp[0];
- const fvec cj40 = fTr.C40 + fTr.C42 * Jtx[0] + fTr.C43 * Jty[0] + fTr.C44 * Jqp[0];
- const fvec cj50 = fTr.C50 + fTr.C52 * Jtx[0] + fTr.C53 * Jty[0] + fTr.C54 * Jqp[0];
-
- // const fvec cj01 = fTr.C10 + fTr.C20*Jtx[1] + fTr.C30*Jty[1] + fTr.C40*Jqp[1];
- const fvec cj11 = fTr.C11 + fTr.C21 * Jtx[1] + fTr.C31 * Jty[1] + fTr.C41 * Jqp[1];
- const fvec cj21 = fTr.C21 + fTr.C22 * Jtx[1] + fTr.C32 * Jty[1] + fTr.C42 * Jqp[1];
- const fvec cj31 = fTr.C31 + fTr.C32 * Jtx[1] + fTr.C33 * Jty[1] + fTr.C43 * Jqp[1];
- const fvec cj41 = fTr.C41 + fTr.C42 * Jtx[1] + fTr.C43 * Jty[1] + fTr.C44 * Jqp[1];
- const fvec cj51 = fTr.C51 + fTr.C52 * Jtx[1] + fTr.C53 * Jty[1] + fTr.C54 * Jqp[1];
-
- // const fvec cj02 = fTr.C20*Jtx[2] + fTr.C30*Jty[2] + fTr.C40*Jqp[2];
- // const fvec cj12 = fTr.C21*Jtx[2] + fTr.C31*Jty[2] + fTr.C41*Jqp[2];
- const fvec cj22 = fTr.C22 * Jtx[2] + fTr.C32 * Jty[2] + fTr.C42 * Jqp[2];
- const fvec cj32 = fTr.C32 * Jtx[2] + fTr.C33 * Jty[2] + fTr.C43 * Jqp[2];
- const fvec cj42 = fTr.C42 * Jtx[2] + fTr.C43 * Jty[2] + fTr.C44 * Jqp[2];
- const fvec cj52 = fTr.C52 * Jtx[2] + fTr.C53 * Jty[2] + fTr.C54 * Jqp[2];
-
- // const fvec cj03 = fTr.C20*Jtx[3] + fTr.C30*Jty[3] + fTr.C40*Jqp[3];
- // const fvec cj13 = fTr.C21*Jtx[3] + fTr.C31*Jty[3] + fTr.C41*Jqp[3];
- const fvec cj23 = fTr.C22 * Jtx[3] + fTr.C32 * Jty[3] + fTr.C42 * Jqp[3];
- const fvec cj33 = fTr.C32 * Jtx[3] + fTr.C33 * Jty[3] + fTr.C43 * Jqp[3];
- const fvec cj43 = fTr.C42 * Jtx[3] + fTr.C43 * Jty[3] + fTr.C44 * Jqp[3];
- const fvec cj53 = fTr.C52 * Jtx[3] + fTr.C53 * Jty[3] + fTr.C54 * Jqp[3];
-
- const fvec cj24 = fTr.C42;
- const fvec cj34 = fTr.C43;
- const fvec cj44 = fTr.C44;
- const fvec cj54 = fTr.C54;
-
- // const fvec cj05 = fTr.C50 + fTr.C20*Jtx[5] + fTr.C30*Jty[5] + fTr.C40*Jqp[5];
- // const fvec cj15 = fTr.C51 + fTr.C21*Jtx[5] + fTr.C31*Jty[5] + fTr.C41*Jqp[5];
- const fvec cj25 = fTr.C52 + fTr.C22 * Jtx[5] + fTr.C32 * Jty[5] + fTr.C42 * Jqp[5];
- const fvec cj35 = fTr.C53 + fTr.C32 * Jtx[5] + fTr.C33 * Jty[5] + fTr.C43 * Jqp[5];
- const fvec cj45 = fTr.C54 + fTr.C42 * Jtx[5] + fTr.C43 * Jty[5] + fTr.C44 * Jqp[5];
- const fvec cj55 = fTr.C55 + fTr.C52 * Jtx[5] + fTr.C53 * Jty[5] + fTr.C54 * Jqp[5];
-
- fTr.C00 = cj00 + cj20 * Jtx[0] + cj30 * Jty[0] + cj40 * Jqp[0];
-
- fTr.C10 = cj10 + cj20 * Jtx[1] + cj30 * Jty[1] + cj40 * Jqp[1];
- fTr.C11 = cj11 + cj21 * Jtx[1] + cj31 * Jty[1] + cj41 * Jqp[1];
-
- fTr.C20 = cj20 + cj30 * Jty[2] + cj40 * Jqp[2];
- fTr.C21 = cj21 + cj31 * Jty[2] + cj41 * Jqp[2];
- fTr.C22 = cj22 + cj32 * Jty[2] + cj42 * Jqp[2];
-
- fTr.C30 = cj30 + cj20 * Jtx[3] + cj40 * Jqp[3];
- fTr.C31 = cj31 + cj21 * Jtx[3] + cj41 * Jqp[3];
- fTr.C32 = cj32 + cj22 * Jtx[3] + cj42 * Jqp[3];
- fTr.C33 = cj33 + cj23 * Jtx[3] + cj43 * Jqp[3];
-
- fTr.C40 = cj40;
- fTr.C41 = cj41;
- fTr.C42 = cj42;
- fTr.C43 = cj43;
- fTr.C44 = cj44;
-
- fTr.C50 = cj50 + cj20 * Jtx[5] + cj30 * Jty[5] + cj40 * Jqp[5];
- fTr.C51 = cj51 + cj21 * Jtx[5] + cj31 * Jty[5] + cj41 * Jqp[5];
- fTr.C52 = cj52 + cj22 * Jtx[5] + cj32 * Jty[5] + cj42 * Jqp[5];
- fTr.C53 = cj53 + cj23 * Jtx[5] + cj33 * Jty[5] + cj43 * Jqp[5];
- fTr.C54 = cj54 + cj24 * Jtx[5] + cj34 * Jty[5] + cj44 * Jqp[5];
- fTr.C55 = cj55 + cj25 * Jtx[5] + cj35 * Jty[5] + cj45 * Jqp[5];
+ else { // unrolled calculations, taking into account that some derivatives are 0 or 1
+
+ fvec JC00 = Jtx[0] * fTr.C20 + Jty[0] * fTr.C30 + Jqp[0] * fTr.C40 + fTr.C00;
+ //fvec JC01 = Jtx[0] * fTr.C21 + Jty[0] * fTr.C31 + Jqp[0] * fTr.C41 + fTr.C10;
+ fvec JC02 = Jtx[0] * fTr.C22 + Jty[0] * fTr.C32 + Jqp[0] * fTr.C42 + fTr.C20;
+ fvec JC03 = Jtx[0] * fTr.C32 + Jty[0] * fTr.C33 + Jqp[0] * fTr.C43 + fTr.C30;
+ fvec JC04 = Jtx[0] * fTr.C42 + Jty[0] * fTr.C43 + Jqp[0] * fTr.C44 + fTr.C40;
+ //fvec JC05 = Jtx[0] * fTr.C52 + Jty[0] * fTr.C53 + Jqp[0] * fTr.C54 + fTr.C50;
+
+ fvec JC10 = Jtx[1] * fTr.C20 + Jty[1] * fTr.C30 + Jqp[1] * fTr.C40 + fTr.C10;
+ fvec JC11 = Jtx[1] * fTr.C21 + Jty[1] * fTr.C31 + Jqp[1] * fTr.C41 + fTr.C11;
+ fvec JC12 = Jtx[1] * fTr.C22 + Jty[1] * fTr.C32 + Jqp[1] * fTr.C42 + fTr.C21;
+ fvec JC13 = Jtx[1] * fTr.C32 + Jty[1] * fTr.C33 + Jqp[1] * fTr.C43 + fTr.C31;
+ fvec JC14 = Jtx[1] * fTr.C42 + Jty[1] * fTr.C43 + Jqp[1] * fTr.C44 + fTr.C41;
+ //fvec JC15 = Jtx[1] * fTr.C52 + Jty[1] * fTr.C53 + Jqp[1] * fTr.C54 + fTr.C51;
+
+ fvec JC20 = Jtx[2] * fTr.C20 + Jty[2] * fTr.C30 + Jqp[2] * fTr.C40;
+ fvec JC21 = Jtx[2] * fTr.C21 + Jty[2] * fTr.C31 + Jqp[2] * fTr.C41;
+ fvec JC22 = Jtx[2] * fTr.C22 + Jty[2] * fTr.C32 + Jqp[2] * fTr.C42;
+ fvec JC23 = Jtx[2] * fTr.C32 + Jty[2] * fTr.C33 + Jqp[2] * fTr.C43;
+ fvec JC24 = Jtx[2] * fTr.C42 + Jty[2] * fTr.C43 + Jqp[2] * fTr.C44;
+ //fvec JC25 = Jtx[2] * fTr.C52 + Jty[2] * fTr.C53 + Jqp[2] * fTr.C54;
+
+ fvec JC30 = Jtx[3] * fTr.C20 + Jty[3] * fTr.C30 + Jqp[3] * fTr.C40;
+ fvec JC31 = Jtx[3] * fTr.C21 + Jty[3] * fTr.C31 + Jqp[3] * fTr.C41;
+ fvec JC32 = Jtx[3] * fTr.C22 + Jty[3] * fTr.C32 + Jqp[3] * fTr.C42;
+ fvec JC33 = Jtx[3] * fTr.C32 + Jty[3] * fTr.C33 + Jqp[3] * fTr.C43;
+ fvec JC34 = Jtx[3] * fTr.C42 + Jty[3] * fTr.C43 + Jqp[3] * fTr.C44;
+ //fvec JC35 = Jtx[3] * fTr.C52 + Jty[3] * fTr.C53 + Jqp[3] * fTr.C54;
+
+ fvec JC40 = fTr.C40;
+ fvec JC41 = fTr.C41;
+ fvec JC42 = fTr.C42;
+ fvec JC43 = fTr.C43;
+ fvec JC44 = fTr.C44;
+ //fvec JC45 = fTr.C54;
+
+ fvec JC50 = Jtx[4] * fTr.C20 + Jty[4] * fTr.C30 + Jqp[4] * fTr.C40 + fTr.C50;
+ fvec JC51 = Jtx[4] * fTr.C21 + Jty[4] * fTr.C31 + Jqp[4] * fTr.C41 + fTr.C51;
+ fvec JC52 = Jtx[4] * fTr.C22 + Jty[4] * fTr.C32 + Jqp[4] * fTr.C42 + fTr.C52;
+ fvec JC53 = Jtx[4] * fTr.C32 + Jty[4] * fTr.C33 + Jqp[4] * fTr.C43 + fTr.C53;
+ fvec JC54 = Jtx[4] * fTr.C42 + Jty[4] * fTr.C43 + Jqp[4] * fTr.C44 + fTr.C54;
+ fvec JC55 = Jtx[4] * fTr.C52 + Jty[4] * fTr.C53 + Jqp[4] * fTr.C54 + fTr.C55;
+
+ fTr.C00 = JC02 * Jtx[0] + JC03 * Jty[0] + JC04 * Jqp[0] + JC00;
+
+ fTr.C10 = JC12 * Jtx[0] + JC13 * Jty[0] + JC14 * Jqp[0] + JC10;
+ fTr.C11 = JC12 * Jtx[1] + JC13 * Jty[1] + JC14 * Jqp[1] + JC11;
+
+ fTr.C20 = JC22 * Jtx[0] + JC23 * Jty[0] + JC24 * Jqp[0] + JC20;
+ fTr.C21 = JC22 * Jtx[1] + JC23 * Jty[1] + JC24 * Jqp[1] + JC21;
+ fTr.C22 = JC22 * Jtx[2] + JC23 * Jty[2] + JC24 * Jqp[2];
+
+ fTr.C30 = JC32 * Jtx[0] + JC33 * Jty[0] + JC34 * Jqp[0] + JC30;
+ fTr.C31 = JC32 * Jtx[1] + JC33 * Jty[1] + JC34 * Jqp[1] + JC31;
+ fTr.C32 = JC32 * Jtx[2] + JC33 * Jty[2] + JC34 * Jqp[2];
+ fTr.C33 = JC32 * Jtx[3] + JC33 * Jty[3] + JC34 * Jqp[3];
+
+ fTr.C40 = JC42 * Jtx[0] + JC43 * Jty[0] + JC44 * Jqp[0] + JC40;
+ fTr.C41 = JC42 * Jtx[1] + JC43 * Jty[1] + JC44 * Jqp[1] + JC41;
+ fTr.C42 = JC42 * Jtx[2] + JC43 * Jty[2] + JC44 * Jqp[2];
+ fTr.C43 = JC42 * Jtx[3] + JC43 * Jty[3] + JC44 * Jqp[3];
+ fTr.C44 = JC44;
+
+ fTr.C50 = JC52 * Jtx[0] + JC53 * Jty[0] + JC54 * Jqp[0] + JC50;
+ fTr.C51 = JC52 * Jtx[1] + JC53 * Jty[1] + JC54 * Jqp[1] + JC51;
+ fTr.C52 = JC52 * Jtx[2] + JC53 * Jty[2] + JC54 * Jqp[2];
+ fTr.C53 = JC52 * Jtx[3] + JC53 * Jty[3] + JC54 * Jqp[3];
+ fTr.C54 = JC54;
+ fTr.C55 = JC52 * Jtx[4] + JC53 * Jty[4] + JC54 * Jqp[4] + JC55;
}
}