_start(
_unknown_ __l7, // r23
_unknown_ __i7, // r31
_unknown_ __flags // r33
)
{// addr = 0x000104F4
_unknown_ _t10; // _t10
_unknown_ _t11; // _t11
_unknown_ _t12; // _t12
_unknown_ _t13; // _t13
_unknown_ _t20; // _t20
_unknown_ _t21; // _t21
_unknown_ _t23; // _t23
_unknown_ _t26; // _t26
_unknown_ _t27; // _t27
_unknown_ _t28; // _t28
void _t31; // _t31
_unknown_ _t35; // _t35
_unknown_ _t36; // _t36
_unknown_ _t37; // _t37
_unknown_ _t40; // _t40
_unknown_ _t41; // _t41
_unknown_ _t44; // _t44
_unknown_ _t46; // _t46
_unknown_ _t47; // _t47
_unknown_ _t48; // _t48
_unknown_ _t49; // _t49
char* _t50; // _t50
_unknown_ _t51; // _t51
_unknown_ _t53; // _t53
_unknown_ _t54; // _t54
_unknown_ _t56; // _t56
_unknown_ _t57; // _t57
_unknown_ _t58; // _t58
_unknown_ _t61; // _t61
__i7 = __i7;
asm("orcc %g0, %g1, %g0");
if(__flags) {
atexit();
}
atexit();
_init(__i7);
"/usr/lib/ld.so.1" = "/usr/lib/ld.so.1";
main(__i7);
exit();
"/usr/lib/ld.so.1" = "/usr/lib/ld.so.1";
_exit();
goto (__o7 + 8);
L3();
_t56 = &_START_ + 744;
if( *((void*)( *((void*)(_t56 + ("/usr/lib/ld.so.1" | 12))))) - "/usr/lib/ld.so.1") {
_t31 = *((void*)( *((void*)( *((void*)(_t56 + ("/usr/lib/ld.so.1" | 16)))))));
asm("be,a 0x00000034");
_t50 = "/usr/lib/ld.so.1";
while(1) {
goto (_t31 + "/usr/lib/ld.so.1");
if( *( *_t50) - "/usr/lib/ld.so.1") {
break;
}
}
if( *((void*)(_t56 + ("/usr/lib/ld.so.1" | 36))) - "/usr/lib/ld.so.1") {
L000208E0();
}
}
#define L5(b) (B4(b) << 0xC)
/*
f3x5[]
each symbol is 3x5 => 15 bits
a-z offset 0 length 26
0-9 offset 26 length 10
# offset 36 length 1
*/
unsigned short f3x5[] = {
// A
L1(011) |
L2(101) |
L3(101) |
L4(111) |
L5(101)
,
// B
L1(110) |
L2(101) |
L3(110) |
L4(101) |
L5(110)
,
// C
L1(011) |
L2(101) |
L3(100) |
L4(100) |
void GPTableGenerator::generate_constants_table() {
int i;
bind("gp_constants");
static const GPTemplate gp_templates[] = {
GP_SYMBOLS_DO(DEFINE_GP_POINTER, DEFINE_GP_VALUE)
{NULL, 0, 0, 0}
};
for (const GPTemplate* tmpl = gp_templates; tmpl->name; tmpl++) {
if (tmpl->is_pointer) {
char buff[120];
jvm_sprintf(buff, "gp_%s_ptr", tmpl->name);
bind(buff);
Label L(tmpl->name);
if (!tmpl->is_asm) {
import(L);
}
define_long(L);
} else {
if (jvm_strcmp(tmpl->name, "current_thread") == 0) {
bind("jvm_fast_globals");
}
char buff[120];
jvm_sprintf(buff, "_%s", tmpl->name);
bind(buff);
if (jvm_strcmp(tmpl->name, "bit_selector") == 0) {
// IMPL_NOTE: create a common framework to define initial values
define_long(0x80808080);
} else {
define_zeros(tmpl->size);
}
}
}
if (!GenerateGPTableOnly) {
// Some constants to check we've linked with the right ROM
Label L1(XSTR(_ROM_LINKCHECK_HLE));
import(L1);
define_long(L1);
Label L2(XSTR(_ROM_LINKCHECK_MFFD));
import(L2);
define_long(L2);
Label L3(XSTR(_ROM_LINKCHECK_MFFL));
import(L3);
define_long(L3);
}
if (ENABLE_THUMB_GP_TABLE && GenerateGPTableOnly) {
// These symbols are necessary to link romgen.
// We define a long for each entry, since they
// should be bound to different addresses.
bind("jvm_ladd");
define_long(0);
bind("jvm_lsub");
define_long(0);
bind("jvm_land");
define_long(0);
bind("jvm_lor");
define_long(0);
bind("jvm_lxor");
define_long(0);
bind("jvm_lcmp");
define_long(0);
bind("jvm_lmin");
define_long(0);
bind("jvm_lmax");
define_long(0);
bind("jvm_lmul");
define_long(0);
bind("jvm_lshl");
define_long(0);
bind("jvm_lshr");
define_long(0);
bind("jvm_lushr");
define_long(0);
}
bind("gp_constants_end");
}
MatrixXd der_logarithm_map(Matrix4d T)
{
MatrixXd dlogT_dT = MatrixXd::Zero(6,12);
// Approximate derivative of the logarithm_map wrt the transformation matrix
Matrix3d L1 = Matrix3d::Zero();
Matrix3d L2 = Matrix3d::Zero();
Matrix3d L3 = Matrix3d::Zero();
Matrix3d Vinv = Matrix3d::Identity();
Vector6d x = logmap_se3(T);
// estimates the cosine, sine, and theta
double b;
double cos_ = 0.5 * (T.block(0,0,3,3).trace() - 1.0 );
if(cos_ > 1.f)
cos_ = 1.f;
else if (cos_ < -1.f)
cos_ = -1.f;
double theta = acos(cos_);
double theta2 = theta*theta;
double sin_ = sin(theta);
double cot_ = 1.0 / tan( 0.5*theta );
double csc2_ = pow( 1.0/sin(0.5*theta) ,2);
// if the angle is small...
if( cos_ > 0.9999 )
{
b = 0.5;
L1(1,2) = -b;
L1(2,1) = b;
L2(0,2) = b;
L2(2,0) = -b;
L3(0,1) = -b;
L3(1,0) = b;
// form the full derivative
dlogT_dT.block(3,0,3,3) = L1;
dlogT_dT.block(3,3,3,3) = L2;
dlogT_dT.block(3,6,3,3) = L3;
dlogT_dT.block(0,9,3,3) = Vinv;
}
// if not...
else
{
// rotation part
double k;
Vector3d a;
a(0) = T(2,1) - T(1,2);
a(1) = T(0,2) - T(2,0);
a(2) = T(1,0) - T(0,1);
k = ( theta * cos_ - sin_ ) / ( 4 * pow(sin_,3) );
a = k * a;
L1.block(0,0,3,1) = a;
L2.block(0,1,3,1) = a;
L3.block(0,2,3,1) = a;
// translation part
Matrix3d w_skew = skew( x.tail(3) );
Vinv += w_skew * (1.f-cos_) / theta2 + w_skew * w_skew * (theta - sin_) / pow(theta,3);
Vinv = Vinv.inverse().eval();
// dVinv_dR
Vector3d t;
Matrix3d B, skew_t;
MatrixXd dVinv_dR(3,9);
t = T.block(0,3,3,1);
skew_t = skew( t );
// - form a
a = (theta*cos_-sin_)/(8.0*pow(sin_,3)) * w_skew * t
+ ( (theta*sin_-theta2*cos_)*(0.5*theta*cot_-1.0) - theta*sin_*(0.25*theta*cot_+0.125*theta2*csc2_-1.0))/(4.0*theta2*pow(sin_,4)) * w_skew * w_skew * t;
// - form B
Vector3d w;
Matrix3d dw_dR;
w = x.tail(3);
dw_dR.row(0) << -w(1)*t(1)-w(2)*t(2), 2.0*w(1)*t(0)-w(0)*t(1), 2.0*w(2)*t(0)-w(0)*t(2);
dw_dR.row(1) << -w(1)*t(0)+2.0*w(0)*t(1), -w(0)*t(0)-w(2)*t(2), 2.0*w(2)*t(1)-w(1)*t(2);
dw_dR.row(2) << -w(2)*t(0)+2.0*w(0)*t(2), -w(2)*t(1)+2.0*w(1)*t(2), -w(0)*t(0)-w(1)*t(1);
B = -0.5*theta*skew_t/sin_ - (theta*cot_-2.0)*dw_dR/(8.0*pow(sin_,2));
// - form dVinv_dR
dVinv_dR.col(0) = a;
dVinv_dR.col(1) = -B.col(2);
dVinv_dR.col(2) = B.col(1);
dVinv_dR.col(3) = B.col(2);
dVinv_dR.col(4) = a;
dVinv_dR.col(5) = -B.col(0);
dVinv_dR.col(6) = -B.col(1);
dVinv_dR.col(7) = B.col(0);
dVinv_dR.col(8) = a;
// form the full derivative
dlogT_dT.block(3,0,3,3) = L1;
dlogT_dT.block(3,3,3,3) = L2;
dlogT_dT.block(3,6,3,3) = L3;
dlogT_dT.block(0,9,3,3) = Vinv;
dlogT_dT.block(0,0,3,9) = dVinv_dR;
}
return dlogT_dT;
}
