/*!
* \brief Reading::errorPropagationPolarToCart
* Variance propagation to get sigma values for cartesian coordinates
* \return
*/
OiVec Reading::errorPropagationPolarToCart(){
OiVec sigmaCartXyz;
OiMat F(3,3);
F.setAt(0, 0, qSin(this->rPolar.zenith) * qCos(this->rPolar.azimuth));
F.setAt(0, 1, this->rPolar.distance * qSin(this->rPolar.zenith) * -qSin(this->rPolar.azimuth));
F.setAt(0, 2, this->rPolar.distance * qCos(this->rPolar.zenith) * qCos(this->rPolar.azimuth));
F.setAt(1, 0, qSin(this->rPolar.zenith) * qSin(this->rPolar.azimuth));
F.setAt(1, 1, this->rPolar.distance * qSin(this->rPolar.zenith) * qCos(this->rPolar.azimuth));
F.setAt(1, 2, this->rPolar.distance * qCos(this->rPolar.zenith) * qSin(this->rPolar.azimuth));
F.setAt(2, 0, qCos(this->rPolar.zenith));
F.setAt(2, 1, 0.0);
F.setAt(2, 2, this->rPolar.distance * -qSin(this->rPolar.zenith));
OiMat Sll(3,3);
Sll.setAt(0, 0, this->rPolar.sigmaDistance * this->rPolar.sigmaDistance);
Sll.setAt(1, 1, this->rPolar.sigmaAzimuth * this->rPolar.sigmaAzimuth);
Sll.setAt(2, 2, this->rPolar.sigmaZenith * this->rPolar.sigmaZenith);
OiMat Qxx = F * Sll * F.t();
//transform Qxx into homogeneous coordinates
OiMat Qxx_hc(4,4);
for(int i = 0; i < 3; i++){
for(int j = 0; j < 3; j++){
Qxx_hc.setAt(i,j, Qxx.getAt(i,j));
}
}
sigmaCartXyz.add(qSqrt(Qxx.getAt(0,0)));
sigmaCartXyz.add(qSqrt(Qxx.getAt(1,1)));
sigmaCartXyz.add(qSqrt(Qxx.getAt(2,2)));
sigmaCartXyz.add(1.0);
if(this->obs != NULL){
this->obs->myStatistic.qxx = Qxx_hc;
this->obs->myStatistic.s0_apriori = 1.0;
this->obs->myOriginalStatistic = this->obs->myStatistic;
}
return sigmaCartXyz;
}
void excute(){
if(stall){
extype = 0;
EX = "NOP";
}else {
extype = idtype;
EX = ID;
}
if(strcmp(EX,"ADD") == 0){
if(Add(rs,rt,rd) < 0){
error_no = 1;
}
}else if(strcmp(EX,"SUB") == 0){
if(Sub(rs,rt,rd) < 0){
error_no = 1;
}
}else if(strcmp(EX,"ADDU") == 0){
Add(rs,rt,rd);
}else if(strcmp(EX,"AND") == 0){
And(rs,rt,rd);
}else if(strcmp(EX,"OR") == 0){
Or(rs,rt,rd);
}else if(strcmp(EX,"XOR") == 0){
Xor(rs,rt,rd);
}else if(strcmp(EX,"NOR") == 0){
Nor(rs,rt,rd);
}else if(strcmp(EX,"NAND") == 0){
Nand(rs,rt,rd);
}else if(strcmp(EX,"SLT") == 0){
Slt(rs,rt,rd);
}else if(strcmp(EX,"SLL") == 0){
Sll(rt,rd,shamt);
}else if(strcmp(EX,"SRL") == 0){
Srl(rt,rd,shamt);
}else if(strcmp(EX,"SRA") == 0){
Sra(rt,rd,shamt);
}else if(strcmp(EX,"JR") == 0){
PC = registers[rs];
}else if(strcmp(EX,"ADDI") == 0){
if(Addi(rs,rt,imm)<0){
error_no = 1;
}
}else if(strcmp(EX,"ADDIU") == 0){
Addiu(rs,rt,imm);
}else if(strcmp(EX,"LW") == 0){
Lw(rs,rt,imm);
}else if(strcmp(EX,"LH") == 0){
Lh(rs,rt,imm);
}else if(strcmp(EX,"LHU") == 0){
Lhu(rs,rt,imm);
}else if(strcmp(EX,"LB") == 0){
Lb(rs,rt,imm);
}else if(strcmp(EX,"LBU") == 0){
Lbu(rs,rt,imm);
}else if(strcmp(EX,"SW") == 0){
Sw(rs,rt,imm);
}else if(strcmp(EX,"SH") == 0){
Sh(rs,rt,imm);
}else if(strcmp(EX,"SB") == 0){
Sb(rs,rt,imm);
}else if(strcmp(EX,"LUI") == 0){
Lui(rt,imm);
}else if(strcmp(EX,"ANDI") == 0){
Andi(rs,rt,imm);
}else if(strcmp(EX,"ORI") == 0){
Ori(rs,rt,imm);
}else if(strcmp(EX,"NORI") == 0){
Nori(rs,rt,imm);
}else if(strcmp(EX,"SLTI") == 0){
Slti(rs,rt,imm);
}else if(strcmp(EX,"JAL") == 0){
registers[31] = PC;
PC = (PC)/(int)(Pow(2,28)+0.01)*(int)(Pow(2,28)+0.01) + ads*4;
}else if(strcmp(EX,"J") == 0){
PC = (PC)/(int)(Pow(2,28)+0.01)*(int)(Pow(2,28)+0.01) + ads*4;
}/*else if(strcmp(EX,"BEQ") == 0 || strcmp(EX,"BNE") == 0 || strcmp(EX,"BGTZ") == 0){
PC = go;
}*/
}