public static void jacobian_Control3 ( DMatrixRMaj L_full , double beta [ ] , DMatrixRMaj A ) { int indexA = 0 ; double b0 = beta [ 0 ] ; double b1 = beta [ 1 ] ; double b2 = beta [ 2 ] ; final double ld [ ] = L_full . data ; for ( int i = 0 ; i < 3 ; i ++ ) { int li = L_full . numCols * i ; A . data [ indexA ++ ] = 2 * ld [ li + 0 ] * b0 + ld [ li + 1 ] * b1 + ld [ li + 2 ] * b2 ; A . data [ indexA ++ ] = ld [ li + 1 ] * b0 + 2 * ld [ li + 3 ] * b1 + ld [ li + 4 ] * b2 ; A . data [ indexA ++ ] = ld [ li + 2 ] * b0 + ld [ li + 4 ] * b1 + 2 * ld [ li + 5 ] * b2 ; } }
Computes the Jacobian given 3 control points .