def __call__(self, I_J):
ret = {}
[[I_J_tl, _, _], [T_m_e_ml, one_mm, _], [_, e_bm, I_J_br]] = I_J
e_ml = T_m_e_ml.args[1].args[0] # Unpack e_ml from -T(e_ml)
ret[I_J_tl] = matrix([[I_J_tl.update(l_ind="00")]])
ret[T_m_e_ml] = matrix([[-T(e_ml).update(l_ind="10")]])
ret[one_mm] = matrix([[one_mm]])
ret[e_bm] = matrix([[-one, one], [zero, e_bm.update(l_ind="32")]])
ret[I_J_br] = matrix([[T(Zero)], [I_J_br.update(l_ind="33")]])
return ret
def __call__(self, I_U):
ret = {}
[[I_U_tl, u_tm, U_tr],
[_, i_u_mm, t_u_mr],
[_, _, I_U_br]] = I_U
u_mr = t_u_mr.args[0]
ret[I_U_tl] = matrix([[I_U_tl.update(l_ind="00")]])
ret[u_tm] = matrix([[u_tm.update(l_ind="01")]])
ret[U_tr] = matrix([[U_tr.update(l_ind="02", rank=1), U_tr.update(l_ind="03")]])
ret[i_u_mm] = matrix([[one]])
ret[t_u_mr] = matrix([[u_mr.update(l_ind="12", rank=0), T(u_mr.update(l_ind="13"))]])
ret[I_U_br] = matrix([[one, T(I_U_br.update(l_ind="23", rank=1))],
[Zero, I_U_br.update(l_ind="33")]])
return ret
def __call__(self, I):
ret = {}
[[I_tl, _, _], [_, o, _], [_, _, I_br]] = I
ret[I_tl] = matrix([[I_tl.update(l_ind="00"), Zero], [T(Zero), one]])
ret[o] = matrix([[one]])
ret[I_br] = matrix([[I_br.update(l_ind="33")]])
return ret
def __call__(self, D):
ret = {}
[[D_tl, _, _], [_, delta_mm, _], [_, _, D_br]] = D
ret[D_tl] = matrix([[D_tl.update(l_ind="00"), Zero],
[T(Zero), delta_mm.update(l_ind="11")]])
ret[delta_mm] = matrix([[delta_mm.update(l_ind="22")]])
ret[D_br] = matrix([[D_br.update(l_ind="33")]])
return ret
def __call__(self, J):
ret = {}
[[J_tl, _, _], [Tj_ml, _, _], [_, j_bm, J_br]] = J
ret[J_tl] = matrix([[J_tl.update(l_ind="00")]])
ret[Tj_ml] = matrix([[Tj_ml.update(l_ind="10")]])
ret[j_bm] = matrix([[one], [Zero]])
ret[J_br] = matrix([[zero, T(Zero)],
[j_bm.update(l_ind="32"),
J_br.update(l_ind="33")]])
return ret
def __call__(self, J):
ret = {}
[[J_tl, _, _], [Tj_ml, _, _], [_, j_bm, J_br]] = J
print "Fuse_J_3x3: Tj_ml", Tj_ml
ret[J_tl] = matrix([[J_tl.update(l_ind="00"), Zero],
[Tj_ml.update(l_ind="10"), zero]])
ret[Tj_ml] = matrix([T(Zero), one])
# FIXME: Bug with Fuse printing layout should be
ret[j_bm] = matrix([[j_bm.update(l_ind="32")]])
ret[J_br] = matrix([[J_br.update(l_ind="33")]])
return ret
def __call__(self, U):
ret = {}
[[U_tl, u_tm, _], [_, _, T_u_mr], [_, _, U_br]] = U
ret[U_tl] = matrix([[U_tl.update(l_ind="00"),
u_tm.update(l_ind="01")], [T(Zero), zero]])
ret[u_tm] = matrix([[Zero], [u_tm.update(l_ind="12", rank=0)]])
ret[T_u_mr] = matrix([[T_u_mr.update(l_ind="23")]])
ret[U_br] = matrix([[U_br.update(l_ind="33")]])
return ret
def __call__(self, I_U):
ret = {}
[[I_U_tl, u_tm, U_tr], [_, i_u_mm, t_u_mr], [_, _, I_U_br]] = I_U
ret[I_U_tl] = matrix(
[[I_U_tl.update(l_ind="00"),
I_U_tl.update(l_ind="01", rank=1)], [T(Zero), one]])
ret[u_tm] = matrix([[u_tm.update(l_ind="01")],
[u_tm.update(l_ind="12", rank=0)]])
ret[U_tr] = matrix([[U_tr.update(l_ind="03")],
[U_tr.update(l_ind="13", rank=1)]])
ret[i_u_mm] = matrix([[one]])
ret[t_u_mr] = matrix([[t_u_mr.update(l_ind="23")]])
ret[I_U_br] = matrix([[I_U_br.update(l_ind="33")]])
return ret
def __call__(self, H):
ret = {}
[[H_tl, h_tm, H_tr],
[Th_ml, eta_mm, Th_mr],
[_, h_bm, H_br]] = H
ret[H_tl] = matrix([[H_tl.update(l_ind="00"), h_tm.update(l_ind="01")],
[Th_ml.update(l_ind="10"), eta_mm.update(l_ind="11")]])
ret[h_tm] = matrix([[h_tm.update(l_ind="02")],
[eta_mm.update(l_ind="12")]])
ret[H_tr] = matrix([[H_tr.update(l_ind="03")],
[Th_mr.update(l_ind="13")]])
ret[Th_ml] = matrix([[T(Zero), eta_mm.update(l_ind="21")]])
ret[eta_mm] = matrix([[eta_mm.update(l_ind="22")]])
ret[Th_mr] = matrix([[Th_mr.update(l_ind="23")]])
ret[h_bm] = matrix([[h_bm.update(l_ind="32")]])
ret[H_br] = matrix([[H_br.update(l_ind="33")]])
return ret
def __call__(self, H):
return \
[[H.update(l_ind="tl"), H.update(l_ind="tm", rank=1), H.update(l_ind="tr")],
[T(H.update(l_ind="ml", rank=1)), H.update(l_ind="mm", rank=0), T(H.update(l_ind="mr", rank=1))],
[ZERO, H.update(l_ind="bm", rank=1), H.update(l_ind="br")]]
def __call__(self, I_U):
return \
[[I_U.update(l_ind="tl"), I_U.update(l_ind="tm", rank=1), I_U.update(l_ind="tr")],
[T(Zero), one, T(I_U.update(l_ind="mm", rank=1))],
[ZERO, Zero, I_U.update(l_ind="br")]]
def __call__(self, I_J):
return \
[[I_J.update(l_ind="tl"), Zero, Zero],
[-T(I_J.update(l_ind="ml", rank=1)), one, T(Zero)],
[ZERO, I_J.update(l_ind="bm", rank=1), I_J.update(l_ind="br")]]
def __call__(self, J):
return \
[[J.update(l_ind="tl"), Zero, ZERO],
[T(J.update(l_ind="ml", rank=J.rank - 1)), Zero, T(Zero)],
[ZERO, J.update(l_ind="bm", rank=J.rank - 1), J.update(l_ind="br")]]
def __call__(self, I):
return \
[[I.update(l_ind="tl"), Zero, ZERO],
[T(Zero), one, T(Zero)],
[ZERO, Zero, I.update(l_ind="br")]]
def __call__(self, U):
return \
[[U.update(l_ind="tl"), U.update(l_ind="tm", rank=1), ZERO],
[T(Zero), zero, T(U.update(l_ind="mr", rank=1))],
[ZERO, Zero, U.update(l_ind="br")]]
def __call__(self, M):
return \
[[M.update(l_ind="tl"), M.update(l_ind="tm", rank=1), M.update(l_ind="tr")],
[T(M.update(l_ind="ml", rank=1)), M.update(l_ind="mm", rank=0), T(M.update(l_ind="mr", rank=1))],
[M.update(l_ind="bl"), M.update(l_ind="bm", rank=1), M.update(l_ind="br")]]
def __call__(self, D):
return \
[[D.update(l_ind="tl"), Zero, ZERO],
[T(Zero), D.update(l_ind="mm", rank=0), T(Zero)],
[ZERO, Zero, D.update(l_ind="br")]]