// Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. // All rights reserved. // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions are met: // // * Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // // * Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the distribution. // // * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of // its contributors may be used to endorse or promote products derived // from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE // POSSIBILITY OF SUCH DAMAGE. // // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) { const double* b = B.data(); coeffs(0) = b[0] * b[17] * b[34] + b[26] * b[4] * b[21] - b[26] * b[17] * b[8] - b[13] * b[4] * b[34] - b[0] * b[21] * b[30] + b[13] * b[30] * b[8]; coeffs(1) = b[26] * b[4] * b[22] + b[14] * b[30] * b[8] + b[13] * b[31] * b[8] + b[1] * b[17] * b[34] - b[13] * b[5] * b[34] + b[26] * b[5] * b[21] - b[0] * b[21] * b[31] - b[26] * b[17] * b[9] - b[1] * b[21] * b[30] + b[27] * b[4] * b[21] + b[0] * b[17] * b[35] - b[0] * b[22] * b[30] + b[13] * b[30] * b[9] + b[0] * b[18] * b[34] - b[27] * b[17] * b[8] - b[14] * b[4] * b[34] - b[13] * b[4] * b[35] - b[26] * b[18] * b[8]; coeffs(2) = b[14] * b[30] * b[9] + b[14] * b[31] * b[8] + b[13] * b[31] * b[9] - b[13] * b[4] * b[36] - b[13] * b[5] * b[35] + b[15] * b[30] * b[8] - b[13] * b[6] * b[34] + b[13] * b[30] * b[10] + b[13] * b[32] * b[8] - b[14] * b[4] * b[35] - b[14] * b[5] * b[34] + b[26] * b[4] * b[23] + b[26] * b[5] * b[22] + b[26] * b[6] * b[21] - b[26] * b[17] * b[10] - b[15] * b[4] * b[34] - b[26] * b[18] * b[9] - b[26] * b[19] * b[8] + b[27] * b[4] * b[22] + b[27] * b[5] * b[21] - b[27] * b[17] * b[9] - b[27] * b[18] * b[8] - b[1] * b[21] * b[31] - b[0] * b[23] * b[30] - b[0] * b[21] * b[32] + b[28] * b[4] * b[21] - b[28] * b[17] * b[8] + b[2] * b[17] * b[34] + b[0] * b[18] * b[35] - b[0] * b[22] * b[31] + b[0] * b[17] * b[36] + b[0] * b[19] * b[34] - b[1] * b[22] * b[30] + b[1] * b[18] * b[34] + b[1] * b[17] * b[35] - b[2] * b[21] * b[30]; coeffs(3) = b[14] * b[30] * b[10] + b[14] * b[32] * b[8] - b[3] * b[21] * b[30] + b[3] * b[17] * b[34] + b[13] * b[32] * b[9] + b[13] * b[33] * b[8] - b[13] * b[4] * b[37] - b[13] * b[5] * b[36] + b[15] * b[30] * b[9] + b[15] * b[31] * b[8] - b[16] * b[4] * b[34] - b[13] * b[6] * b[35] - b[13] * b[7] * b[34] + b[13] * b[30] * b[11] + b[13] * b[31] * b[10] + b[14] * b[31] * b[9] - b[14] * b[4] * b[36] - b[14] * b[5] * b[35] - b[14] * b[6] * b[34] + b[16] * b[30] * b[8] - b[26] * b[20] * b[8] + b[26] * b[4] * b[24] + b[26] * b[5] * b[23] + b[26] * b[6] * b[22] + b[26] * b[7] * b[21] - b[26] * b[17] * b[11] - b[15] * b[4] * b[35] - b[15] * b[5] * b[34] - b[26] * b[18] * b[10] - b[26] * b[19] * b[9] + b[27] * b[4] * b[23] + b[27] * b[5] * b[22] + b[27] * b[6] * b[21] - b[27] * b[17] * b[10] - b[27] * b[18] * b[9] - b[27] * b[19] * b[8] + b[0] * b[17] * b[37] - b[0] * b[23] * b[31] - b[0] * b[24] * b[30] - b[0] * b[21] * b[33] - b[29] * b[17] * b[8] + b[28] * b[4] * b[22] + b[28] * b[5] * b[21] - b[28] * b[17] * b[9] - b[28] * b[18] * b[8] + b[29] * b[4] * b[21] + b[1] * b[19] * b[34] - b[2] * b[21] * b[31] + b[0] * b[20] * b[34] + b[0] * b[19] * b[35] + b[0] * b[18] * b[36] - b[0] * b[22] * b[32] - b[1] * b[23] * b[30] - b[1] * b[21] * b[32] + b[1] * b[18] * b[35] - b[1] * b[22] * b[31] - b[2] * b[22] * b[30] + b[2] * b[17] * b[35] + b[1] * b[17] * b[36] + b[2] * b[18] * b[34]; coeffs(4) = -b[14] * b[6] * b[35] - b[14] * b[7] * b[34] - b[3] * b[22] * b[30] - b[3] * b[21] * b[31] + b[3] * b[17] * b[35] + b[3] * b[18] * b[34] + b[13] * b[32] * b[10] + b[13] * b[33] * b[9] - b[13] * b[4] * b[38] - b[13] * b[5] * b[37] - b[15] * b[6] * b[34] + b[15] * b[30] * b[10] + b[15] * b[32] * b[8] - b[16] * b[4] * b[35] - b[13] * b[6] * b[36] - b[13] * b[7] * b[35] + b[13] * b[31] * b[11] + b[13] * b[30] * b[12] + b[14] * b[32] * b[9] + b[14] * b[33] * b[8] - b[14] * b[4] * b[37] - b[14] * b[5] * b[36] + b[16] * b[30] * b[9] + b[16] * b[31] * b[8] - b[26] * b[20] * b[9] + b[26] * b[4] * b[25] + b[26] * b[5] * b[24] + b[26] * b[6] * b[23] + b[26] * b[7] * b[22] - b[26] * b[17] * b[12] + b[14] * b[30] * b[11] + b[14] * b[31] * b[10] + b[15] * b[31] * b[9] - b[15] * b[4] * b[36] - b[15] * b[5] * b[35] - b[26] * b[18] * b[11] - b[26] * b[19] * b[10] - b[27] * b[20] * b[8] + b[27] * b[4] * b[24] + b[27] * b[5] * b[23] + b[27] * b[6] * b[22] + b[27] * b[7] * b[21] - b[27] * b[17] * b[11] - b[27] * b[18] * b[10] - b[27] * b[19] * b[9] - b[16] * b[5] * b[34] - b[29] * b[17] * b[9] - b[29] * b[18] * b[8] + b[28] * b[4] * b[23] + b[28] * b[5] * b[22] + b[28] * b[6] * b[21] - b[28] * b[17] * b[10] - b[28] * b[18] * b[9] - b[28] * b[19] * b[8] + b[29] * b[4] * b[22] + b[29] * b[5] * b[21] - b[2] * b[23] * b[30] + b[2] * b[18] * b[35] - b[1] * b[22] * b[32] - b[2] * b[21] * b[32] + b[2] * b[19] * b[34] + b[0] * b[19] * b[36] - b[0] * b[22] * b[33] + b[0] * b[20] * b[35] - b[0] * b[23] * b[32] - b[0] * b[25] * b[30] + b[0] * b[17] * b[38] + b[0] * b[18] * b[37] - b[0] * b[24] * b[31] + b[1] * b[17] * b[37] - b[1] * b[23] * b[31] - b[1] * b[24] * b[30] - b[1] * b[21] * b[33] + b[1] * b[20] * b[34] + b[1] * b[19] * b[35] + b[1] * b[18] * b[36] + b[2] * b[17] * b[36] - b[2] * b[22] * b[31]; coeffs(5) = -b[14] * b[6] * b[36] - b[14] * b[7] * b[35] + b[14] * b[31] * b[11] - b[3] * b[23] * b[30] - b[3] * b[21] * b[32] + b[3] * b[18] * b[35] - b[3] * b[22] * b[31] + b[3] * b[17] * b[36] + b[3] * b[19] * b[34] + b[13] * b[32] * b[11] + b[13] * b[33] * b[10] - b[13] * b[5] * b[38] - b[15] * b[6] * b[35] - b[15] * b[7] * b[34] + b[15] * b[30] * b[11] + b[15] * b[31] * b[10] + b[16] * b[31] * b[9] - b[13] * b[6] * b[37] - b[13] * b[7] * b[36] + b[13] * b[31] * b[12] + b[14] * b[32] * b[10] + b[14] * b[33] * b[9] - b[14] * b[4] * b[38] - b[14] * b[5] * b[37] - b[16] * b[6] * b[34] + b[16] * b[30] * b[10] + b[16] * b[32] * b[8] - b[26] * b[20] * b[10] + b[26] * b[5] * b[25] + b[26] * b[6] * b[24] + b[26] * b[7] * b[23] + b[14] * b[30] * b[12] + b[15] * b[32] * b[9] + b[15] * b[33] * b[8] - b[15] * b[4] * b[37] - b[15] * b[5] * b[36] + b[29] * b[5] * b[22] + b[29] * b[6] * b[21] - b[26] * b[18] * b[12] - b[26] * b[19] * b[11] - b[27] * b[20] * b[9] + b[27] * b[4] * b[25] + b[27] * b[5] * b[24] + b[27] * b[6] * b[23] + b[27] * b[7] * b[22] - b[27] * b[17] * b[12] - b[27] * b[18] * b[11] - b[27] * b[19] * b[10] - b[28] * b[20] * b[8] - b[16] * b[4] * b[36] - b[16] * b[5] * b[35] - b[29] * b[17] * b[10] - b[29] * b[18] * b[9] - b[29] * b[19] * b[8] + b[28] * b[4] * b[24] + b[28] * b[5] * b[23] + b[28] * b[6] * b[22] + b[28] * b[7] * b[21] - b[28] * b[17] * b[11] - b[28] * b[18] * b[10] - b[28] * b[19] * b[9] + b[29] * b[4] * b[23] - b[2] * b[22] * b[32] - b[2] * b[21] * b[33] - b[1] * b[24] * b[31] + b[0] * b[18] * b[38] - b[0] * b[24] * b[32] + b[0] * b[19] * b[37] + b[0] * b[20] * b[36] - b[0] * b[25] * b[31] - b[0] * b[23] * b[33] + b[1] * b[19] * b[36] - b[1] * b[22] * b[33] + b[1] * b[20] * b[35] + b[2] * b[19] * b[35] - b[2] * b[24] * b[30] - b[2] * b[23] * b[31] + b[2] * b[20] * b[34] + b[2] * b[17] * b[37] - b[1] * b[25] * b[30] + b[1] * b[18] * b[37] + b[1] * b[17] * b[38] - b[1] * b[23] * b[32] + b[2] * b[18] * b[36]; coeffs(6) = -b[14] * b[6] * b[37] - b[14] * b[7] * b[36] + b[14] * b[31] * b[12] + b[3] * b[17] * b[37] - b[3] * b[23] * b[31] - b[3] * b[24] * b[30] - b[3] * b[21] * b[33] + b[3] * b[20] * b[34] + b[3] * b[19] * b[35] + b[3] * b[18] * b[36] - b[3] * b[22] * b[32] + b[13] * b[32] * b[12] + b[13] * b[33] * b[11] - b[15] * b[6] * b[36] - b[15] * b[7] * b[35] + b[15] * b[31] * b[11] + b[15] * b[30] * b[12] + b[16] * b[32] * b[9] + b[16] * b[33] * b[8] - b[13] * b[6] * b[38] - b[13] * b[7] * b[37] + b[14] * b[32] * b[11] + b[14] * b[33] * b[10] - b[14] * b[5] * b[38] - b[16] * b[6] * b[35] - b[16] * b[7] * b[34] + b[16] * b[30] * b[11] + b[16] * b[31] * b[10] - b[26] * b[19] * b[12] - b[26] * b[20] * b[11] + b[26] * b[6] * b[25] + b[26] * b[7] * b[24] + b[15] * b[32] * b[10] + b[15] * b[33] * b[9] - b[15] * b[4] * b[38] - b[15] * b[5] * b[37] + b[29] * b[5] * b[23] + b[29] * b[6] * b[22] + b[29] * b[7] * b[21] - b[27] * b[20] * b[10] + b[27] * b[5] * b[25] + b[27] * b[6] * b[24] + b[27] * b[7] * b[23] - b[27] * b[18] * b[12] - b[27] * b[19] * b[11] - b[28] * b[20] * b[9] - b[16] * b[4] * b[37] - b[16] * b[5] * b[36] + b[0] * b[19] * b[38] - b[0] * b[24] * b[33] + b[0] * b[20] * b[37] - b[29] * b[17] * b[11] - b[29] * b[18] * b[10] - b[29] * b[19] * b[9] + b[28] * b[4] * b[25] + b[28] * b[5] * b[24] + b[28] * b[6] * b[23] + b[28] * b[7] * b[22] - b[28] * b[17] * b[12] - b[28] * b[18] * b[11] - b[28] * b[19] * b[10] - b[29] * b[20] * b[8] + b[29] * b[4] * b[24] + b[2] * b[18] * b[37] - b[0] * b[25] * b[32] + b[1] * b[18] * b[38] - b[1] * b[24] * b[32] + b[1] * b[19] * b[37] + b[1] * b[20] * b[36] - b[1] * b[25] * b[31] + b[2] * b[17] * b[38] + b[2] * b[19] * b[36] - b[2] * b[24] * b[31] - b[2] * b[22] * b[33] - b[2] * b[23] * b[32] + b[2] * b[20] * b[35] - b[1] * b[23] * b[33] - b[2] * b[25] * b[30]; coeffs(7) = -b[14] * b[6] * b[38] - b[14] * b[7] * b[37] + b[3] * b[19] * b[36] - b[3] * b[22] * b[33] + b[3] * b[20] * b[35] - b[3] * b[23] * b[32] - b[3] * b[25] * b[30] + b[3] * b[17] * b[38] + b[3] * b[18] * b[37] - b[3] * b[24] * b[31] - b[15] * b[6] * b[37] - b[15] * b[7] * b[36] + b[15] * b[31] * b[12] + b[16] * b[32] * b[10] + b[16] * b[33] * b[9] + b[13] * b[33] * b[12] - b[13] * b[7] * b[38] + b[14] * b[32] * b[12] + b[14] * b[33] * b[11] - b[16] * b[6] * b[36] - b[16] * b[7] * b[35] + b[16] * b[31] * b[11] + b[16] * b[30] * b[12] + b[15] * b[32] * b[11] + b[15] * b[33] * b[10] - b[15] * b[5] * b[38] + b[29] * b[5] * b[24] + b[29] * b[6] * b[23] - b[26] * b[20] * b[12] + b[26] * b[7] * b[25] - b[27] * b[19] * b[12] - b[27] * b[20] * b[11] + b[27] * b[6] * b[25] + b[27] * b[7] * b[24] - b[28] * b[20] * b[10] - b[16] * b[4] * b[38] - b[16] * b[5] * b[37] + b[29] * b[7] * b[22] - b[29] * b[17] * b[12] - b[29] * b[18] * b[11] - b[29] * b[19] * b[10] + b[28] * b[5] * b[25] + b[28] * b[6] * b[24] + b[28] * b[7] * b[23] - b[28] * b[18] * b[12] - b[28] * b[19] * b[11] - b[29] * b[20] * b[9] + b[29] * b[4] * b[25] - b[2] * b[24] * b[32] + b[0] * b[20] * b[38] - b[0] * b[25] * b[33] + b[1] * b[19] * b[38] - b[1] * b[24] * b[33] + b[1] * b[20] * b[37] - b[2] * b[25] * b[31] + b[2] * b[20] * b[36] - b[1] * b[25] * b[32] + b[2] * b[19] * b[37] + b[2] * b[18] * b[38] - b[2] * b[23] * b[33]; coeffs(8) = b[3] * b[18] * b[38] - b[3] * b[24] * b[32] + b[3] * b[19] * b[37] + b[3] * b[20] * b[36] - b[3] * b[25] * b[31] - b[3] * b[23] * b[33] - b[15] * b[6] * b[38] - b[15] * b[7] * b[37] + b[16] * b[32] * b[11] + b[16] * b[33] * b[10] - b[16] * b[5] * b[38] - b[16] * b[6] * b[37] - b[16] * b[7] * b[36] + b[16] * b[31] * b[12] + b[14] * b[33] * b[12] - b[14] * b[7] * b[38] + b[15] * b[32] * b[12] + b[15] * b[33] * b[11] + b[29] * b[5] * b[25] + b[29] * b[6] * b[24] - b[27] * b[20] * b[12] + b[27] * b[7] * b[25] - b[28] * b[19] * b[12] - b[28] * b[20] * b[11] + b[29] * b[7] * b[23] - b[29] * b[18] * b[12] - b[29] * b[19] * b[11] + b[28] * b[6] * b[25] + b[28] * b[7] * b[24] - b[29] * b[20] * b[10] + b[2] * b[19] * b[38] - b[1] * b[25] * b[33] + b[2] * b[20] * b[37] - b[2] * b[24] * b[33] - b[2] * b[25] * b[32] + b[1] * b[20] * b[38]; coeffs(9) = b[29] * b[7] * b[24] - b[29] * b[20] * b[11] + b[2] * b[20] * b[38] - b[2] * b[25] * b[33] - b[28] * b[20] * b[12] + b[28] * b[7] * b[25] - b[29] * b[19] * b[12] - b[3] * b[24] * b[33] + b[15] * b[33] * b[12] + b[3] * b[19] * b[38] - b[16] * b[6] * b[38] + b[3] * b[20] * b[37] + b[16] * b[32] * b[12] + b[29] * b[6] * b[25] - b[16] * b[7] * b[37] - b[3] * b[25] * b[32] - b[15] * b[7] * b[38] + b[16] * b[33] * b[11]; coeffs(10) = -b[29] * b[20] * b[12] + b[29] * b[7] * b[25] + b[16] * b[33] * b[12] - b[16] * b[7] * b[38] + b[3] * b[20] * b[38] - b[3] * b[25] * b[33]; }