100vnl_matrix_fixed<T, 4, 4>
vnl_adjugate(vnl_matrix_fixed<T, 4, 4>
const & m)
103 d[0] = m(1, 1) * m(2, 2) * m(3, 3) - m(1, 1) * m(2, 3) * m(3, 2) - m(2, 1) * m(1, 2) * m(3, 3) +
104 m(2, 1) * m(1, 3) * m(3, 2) + m(3, 1) * m(1, 2) * m(2, 3) - m(3, 1) * m(1, 3) * m(2, 2);
105 d[1] = -m(0, 1) * m(2, 2) * m(3, 3) + m(0, 1) * m(2, 3) * m(3, 2) + m(2, 1) * m(0, 2) * m(3, 3) -
106 m(2, 1) * m(0, 3) * m(3, 2) - m(3, 1) * m(0, 2) * m(2, 3) + m(3, 1) * m(0, 3) * m(2, 2);
107 d[2] = m(0, 1) * m(1, 2) * m(3, 3) - m(0, 1) * m(1, 3) * m(3, 2) - m(1, 1) * m(0, 2) * m(3, 3) +
108 m(1, 1) * m(0, 3) * m(3, 2) + m(3, 1) * m(0, 2) * m(1, 3) - m(3, 1) * m(0, 3) * m(1, 2);
109 d[3] = -m(0, 1) * m(1, 2) * m(2, 3) + m(0, 1) * m(1, 3) * m(2, 2) + m(1, 1) * m(0, 2) * m(2, 3) -
110 m(1, 1) * m(0, 3) * m(2, 2) - m(2, 1) * m(0, 2) * m(1, 3) + m(2, 1) * m(0, 3) * m(1, 2);
111 d[4] = -m(1, 0) * m(2, 2) * m(3, 3) + m(1, 0) * m(2, 3) * m(3, 2) + m(2, 0) * m(1, 2) * m(3, 3) -
112 m(2, 0) * m(1, 3) * m(3, 2) - m(3, 0) * m(1, 2) * m(2, 3) + m(3, 0) * m(1, 3) * m(2, 2);
113 d[5] = m(0, 0) * m(2, 2) * m(3, 3) - m(0, 0) * m(2, 3) * m(3, 2) - m(2, 0) * m(0, 2) * m(3, 3) +
114 m(2, 0) * m(0, 3) * m(3, 2) + m(3, 0) * m(0, 2) * m(2, 3) - m(3, 0) * m(0, 3) * m(2, 2);
115 d[6] = -m(0, 0) * m(1, 2) * m(3, 3) + m(0, 0) * m(1, 3) * m(3, 2) + m(1, 0) * m(0, 2) * m(3, 3) -
116 m(1, 0) * m(0, 3) * m(3, 2) - m(3, 0) * m(0, 2) * m(1, 3) + m(3, 0) * m(0, 3) * m(1, 2);
117 d[7] = m(0, 0) * m(1, 2) * m(2, 3) - m(0, 0) * m(1, 3) * m(2, 2) - m(1, 0) * m(0, 2) * m(2, 3) +
118 m(1, 0) * m(0, 3) * m(2, 2) + m(2, 0) * m(0, 2) * m(1, 3) - m(2, 0) * m(0, 3) * m(1, 2);
119 d[8] = m(1, 0) * m(2, 1) * m(3, 3) - m(1, 0) * m(2, 3) * m(3, 1) - m(2, 0) * m(1, 1) * m(3, 3) +
120 m(2, 0) * m(1, 3) * m(3, 1) + m(3, 0) * m(1, 1) * m(2, 3) - m(3, 0) * m(1, 3) * m(2, 1);
121 d[9] = -m(0, 0) * m(2, 1) * m(3, 3) + m(0, 0) * m(2, 3) * m(3, 1) + m(2, 0) * m(0, 1) * m(3, 3) -
122 m(2, 0) * m(0, 3) * m(3, 1) - m(3, 0) * m(0, 1) * m(2, 3) + m(3, 0) * m(0, 3) * m(2, 1);
123 d[10] = m(0, 0) * m(1, 1) * m(3, 3) - m(0, 0) * m(1, 3) * m(3, 1) - m(1, 0) * m(0, 1) * m(3, 3) +
124 m(1, 0) * m(0, 3) * m(3, 1) + m(3, 0) * m(0, 1) * m(1, 3) - m(3, 0) * m(0, 3) * m(1, 1);
125 d[11] = -m(0, 0) * m(1, 1) * m(2, 3) + m(0, 0) * m(1, 3) * m(2, 1) + m(1, 0) * m(0, 1) * m(2, 3) -
126 m(1, 0) * m(0, 3) * m(2, 1) - m(2, 0) * m(0, 1) * m(1, 3) + m(2, 0) * m(0, 3) * m(1, 1);
127 d[12] = -m(1, 0) * m(2, 1) * m(3, 2) + m(1, 0) * m(2, 2) * m(3, 1) + m(2, 0) * m(1, 1) * m(3, 2) -
128 m(2, 0) * m(1, 2) * m(3, 1) - m(3, 0) * m(1, 1) * m(2, 2) + m(3, 0) * m(1, 2) * m(2, 1);
129 d[13] = m(0, 0) * m(2, 1) * m(3, 2) - m(0, 0) * m(2, 2) * m(3, 1) - m(2, 0) * m(0, 1) * m(3, 2) +
130 m(2, 0) * m(0, 2) * m(3, 1) + m(3, 0) * m(0, 1) * m(2, 2) - m(3, 0) * m(0, 2) * m(2, 1);
131 d[14] = -m(0, 0) * m(1, 1) * m(3, 2) + m(0, 0) * m(1, 2) * m(3, 1) + m(1, 0) * m(0, 1) * m(3, 2) -
132 m(1, 0) * m(0, 2) * m(3, 1) - m(3, 0) * m(0, 1) * m(1, 2) + m(3, 0) * m(0, 2) * m(1, 1);
133 d[15] = m(0, 0) * m(1, 1) * m(2, 2) - m(0, 0) * m(1, 2) * m(2, 1) - m(1, 0) * m(0, 1) * m(2, 2) +
134 m(1, 0) * m(0, 2) * m(2, 1) + m(2, 0) * m(0, 1) * m(1, 2) - m(2, 0) * m(0, 2) * m(1, 1);
135 return vnl_matrix_fixed<T, 4, 4>(d);
253vnl_matrix_fixed<T, 4, 4>
vnl_cofactor(vnl_matrix_fixed<T, 4, 4>
const & m)
256 d[0] = m(1, 1) * m(2, 2) * m(3, 3) - m(1, 1) * m(2, 3) * m(3, 2) - m(2, 1) * m(1, 2) * m(3, 3) +
257 m(2, 1) * m(1, 3) * m(3, 2) + m(3, 1) * m(1, 2) * m(2, 3) - m(3, 1) * m(1, 3) * m(2, 2);
258 d[4] = -m(0, 1) * m(2, 2) * m(3, 3) + m(0, 1) * m(2, 3) * m(3, 2) + m(2, 1) * m(0, 2) * m(3, 3) -
259 m(2, 1) * m(0, 3) * m(3, 2) - m(3, 1) * m(0, 2) * m(2, 3) + m(3, 1) * m(0, 3) * m(2, 2);
260 d[8] = m(0, 1) * m(1, 2) * m(3, 3) - m(0, 1) * m(1, 3) * m(3, 2) - m(1, 1) * m(0, 2) * m(3, 3) +
261 m(1, 1) * m(0, 3) * m(3, 2) + m(3, 1) * m(0, 2) * m(1, 3) - m(3, 1) * m(0, 3) * m(1, 2);
262 d[12] = -m(0, 1) * m(1, 2) * m(2, 3) + m(0, 1) * m(1, 3) * m(2, 2) + m(1, 1) * m(0, 2) * m(2, 3) -
263 m(1, 1) * m(0, 3) * m(2, 2) - m(2, 1) * m(0, 2) * m(1, 3) + m(2, 1) * m(0, 3) * m(1, 2);
264 d[1] = -m(1, 0) * m(2, 2) * m(3, 3) + m(1, 0) * m(2, 3) * m(3, 2) + m(2, 0) * m(1, 2) * m(3, 3) -
265 m(2, 0) * m(1, 3) * m(3, 2) - m(3, 0) * m(1, 2) * m(2, 3) + m(3, 0) * m(1, 3) * m(2, 2);
266 d[5] = m(0, 0) * m(2, 2) * m(3, 3) - m(0, 0) * m(2, 3) * m(3, 2) - m(2, 0) * m(0, 2) * m(3, 3) +
267 m(2, 0) * m(0, 3) * m(3, 2) + m(3, 0) * m(0, 2) * m(2, 3) - m(3, 0) * m(0, 3) * m(2, 2);
268 d[9] = -m(0, 0) * m(1, 2) * m(3, 3) + m(0, 0) * m(1, 3) * m(3, 2) + m(1, 0) * m(0, 2) * m(3, 3) -
269 m(1, 0) * m(0, 3) * m(3, 2) - m(3, 0) * m(0, 2) * m(1, 3) + m(3, 0) * m(0, 3) * m(1, 2);
270 d[13] = m(0, 0) * m(1, 2) * m(2, 3) - m(0, 0) * m(1, 3) * m(2, 2) - m(1, 0) * m(0, 2) * m(2, 3) +
271 m(1, 0) * m(0, 3) * m(2, 2) + m(2, 0) * m(0, 2) * m(1, 3) - m(2, 0) * m(0, 3) * m(1, 2);
272 d[2] = m(1, 0) * m(2, 1) * m(3, 3) - m(1, 0) * m(2, 3) * m(3, 1) - m(2, 0) * m(1, 1) * m(3, 3) +
273 m(2, 0) * m(1, 3) * m(3, 1) + m(3, 0) * m(1, 1) * m(2, 3) - m(3, 0) * m(1, 3) * m(2, 1);
274 d[6] = -m(0, 0) * m(2, 1) * m(3, 3) + m(0, 0) * m(2, 3) * m(3, 1) + m(2, 0) * m(0, 1) * m(3, 3) -
275 m(2, 0) * m(0, 3) * m(3, 1) - m(3, 0) * m(0, 1) * m(2, 3) + m(3, 0) * m(0, 3) * m(2, 1);
276 d[10] = m(0, 0) * m(1, 1) * m(3, 3) - m(0, 0) * m(1, 3) * m(3, 1) - m(1, 0) * m(0, 1) * m(3, 3) +
277 m(1, 0) * m(0, 3) * m(3, 1) + m(3, 0) * m(0, 1) * m(1, 3) - m(3, 0) * m(0, 3) * m(1, 1);
278 d[14] = -m(0, 0) * m(1, 1) * m(2, 3) + m(0, 0) * m(1, 3) * m(2, 1) + m(1, 0) * m(0, 1) * m(2, 3) -
279 m(1, 0) * m(0, 3) * m(2, 1) - m(2, 0) * m(0, 1) * m(1, 3) + m(2, 0) * m(0, 3) * m(1, 1);
280 d[3] = -m(1, 0) * m(2, 1) * m(3, 2) + m(1, 0) * m(2, 2) * m(3, 1) + m(2, 0) * m(1, 1) * m(3, 2) -
281 m(2, 0) * m(1, 2) * m(3, 1) - m(3, 0) * m(1, 1) * m(2, 2) + m(3, 0) * m(1, 2) * m(2, 1);
282 d[7] = m(0, 0) * m(2, 1) * m(3, 2) - m(0, 0) * m(2, 2) * m(3, 1) - m(2, 0) * m(0, 1) * m(3, 2) +
283 m(2, 0) * m(0, 2) * m(3, 1) + m(3, 0) * m(0, 1) * m(2, 2) - m(3, 0) * m(0, 2) * m(2, 1);
284 d[11] = -m(0, 0) * m(1, 1) * m(3, 2) + m(0, 0) * m(1, 2) * m(3, 1) + m(1, 0) * m(0, 1) * m(3, 2) -
285 m(1, 0) * m(0, 2) * m(3, 1) - m(3, 0) * m(0, 1) * m(1, 2) + m(3, 0) * m(0, 2) * m(1, 1);
286 d[15] = m(0, 0) * m(1, 1) * m(2, 2) - m(0, 0) * m(1, 2) * m(2, 1) - m(1, 0) * m(0, 1) * m(2, 2) +
287 m(1, 0) * m(0, 2) * m(2, 1) + m(2, 0) * m(0, 1) * m(1, 2) - m(2, 0) * m(0, 2) * m(1, 1);
288 return vnl_matrix_fixed<T, 4, 4>(d);