Variables:
#self#::RigidBodyDynamics.#_local_coordinates!
jt::RigidBodyDynamics.QuaternionFloating{Float64}
ϕ::Array{Float64,1}
ϕ̇::Array{Float64,1}
q0::Array{Float64,1}
q::Array{Float64,1}
v::Array{Float64,1}
frameBefore::RigidBodyDynamics.CartesianFrame3D
frame0::RigidBodyDynamics.CartesianFrame3D
frameAfter::RigidBodyDynamics.CartesianFrame3D
t0::RigidBodyDynamics.Transform3D{Float64}
t::RigidBodyDynamics.Transform3D{Float64}
relative_transform::RigidBodyDynamics.Transform3D{Float64}
rot::Quaternions.Quaternion{Float64}
trans::StaticArrays.SVector{3,Float64}
Θ_over_2::Float64
Θ::Float64
sΘ_over_2::Float64
cΘ_over_2::Float64
axis::StaticArrays.SVector{3,Float64}
ϕrot::StaticArrays.SVector{3,Float64}
α::Float64
Θ_squared::Float64
p::StaticArrays.SVector{3,Float64}
ϕtrans::StaticArrays.SVector{3,Float64}
ω@_26::StaticArrays.SVector{3,Float64}
ν::StaticArrays.SVector{3,Float64}
β::Float64
A::Float64
B::Float64
#temp#@_31::Int64
ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64}
ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64}
#temp#@_34::Int64
ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64}
ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64}
#temp#@_37::Int64
ϕ̇rot_cross_3::StaticArrays.SVector{3,Float64}
ϕ̇trans_cross_3::StaticArrays.SVector{3,Float64}
#temp#@_40::Int64
ϕ̇rot_cross_4::StaticArrays.SVector{3,Float64}
ϕ̇trans_cross_4::StaticArrays.SVector{3,Float64}
ϕ̇rot::StaticArrays.SVector{3,Float64}
ϕ̇trans::StaticArrays.SVector{3,Float64}
#temp#@_45::StaticArrays.SVector{3,Float64}
#201::StaticArrays.##201#202{Base.#*,Float64}
#203@_47::StaticArrays.##203#204{Base.#*,Float64}
#203@_48::StaticArrays.##203#204{Base.#*,Float64}
#203@_49::StaticArrays.##203#204{Base.#*,Float64}
ω@_50::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true}
J@_51::Tuple{UnitRange{Int64}}
vel::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true}
J@_53::Tuple{UnitRange{Int64}}
angular@_54::StaticArrays.SVector{3,Float64}
linear@_55::StaticArrays.SVector{3,Float64}
angular@_56::StaticArrays.SVector{3,Float64}
linear@_57::StaticArrays.SVector{3,Float64}
angular@_58::StaticArrays.SVector{3,Float64}
linear@_59::StaticArrays.SVector{3,Float64}
angular@_60::StaticArrays.SVector{3,Float64}
linear@_61::StaticArrays.SVector{3,Float64}
#203@_62::StaticArrays.##203#204{Base.#*,Float64}
#203@_63::StaticArrays.##203#204{Base.#*,Float64}
#203@_64::StaticArrays.##203#204{Base.#*,Float64}
#203@_65::StaticArrays.##203#204{Base.#*,Float64}
#203@_66::StaticArrays.##203#204{Base.#*,Float64}
#203@_67::StaticArrays.##203#204{Base.#*,Float64}
J@_68::Tuple{UnitRange{Int64}}
J@_69::Tuple{UnitRange{Int64}}
J@_70::Tuple{UnitRange{Int64}}
J@_71::Tuple{UnitRange{Int64}}
Body:
begin
NewvarNode(:(axis::StaticArrays.SVector{3,Float64}))
NewvarNode(:(ϕrot::StaticArrays.SVector{3,Float64}))
NewvarNode(:(α::Float64))
NewvarNode(:(Θ_squared::Float64))
NewvarNode(:(p::StaticArrays.SVector{3,Float64}))
NewvarNode(:(ϕtrans::StaticArrays.SVector{3,Float64}))
NewvarNode(:(ω@_26::StaticArrays.SVector{3,Float64}))
NewvarNode(:(ν::StaticArrays.SVector{3,Float64}))
NewvarNode(:(β::Float64))
NewvarNode(:(A::Float64))
NewvarNode(:(B::Float64))
NewvarNode(:(#temp#@_31::Int64))
NewvarNode(:(ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64}))
NewvarNode(:(ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64}))
NewvarNode(:(#temp#@_34::Int64))
NewvarNode(:(ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64}))
NewvarNode(:(ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64}))
NewvarNode(:(#temp#@_37::Int64))
NewvarNode(:(ϕ̇rot_cross_3::StaticArrays.SVector{3,Float64}))
NewvarNode(:(ϕ̇trans_cross_3::StaticArrays.SVector{3,Float64}))
NewvarNode(:(#temp#@_40::Int64))
NewvarNode(:(ϕ̇rot_cross_4::StaticArrays.SVector{3,Float64}))
NewvarNode(:(ϕ̇trans_cross_4::StaticArrays.SVector{3,Float64}))
NewvarNode(:(ϕ̇rot::StaticArrays.SVector{3,Float64}))
NewvarNode(:(ϕ̇trans::StaticArrays.SVector{3,Float64}))
frameBefore::RigidBodyDynamics.CartesianFrame3D = $(Expr(:new, :(RigidBodyDynamics.CartesianFrame3D), -1)) # line 203:
frame0::RigidBodyDynamics.CartesianFrame3D = $(Expr(:new, :(RigidBodyDynamics.CartesianFrame3D), -1)) # line 204:
frameAfter::RigidBodyDynamics.CartesianFrame3D = $(Expr(:new, :(RigidBodyDynamics.CartesianFrame3D), -1)) # line 207:
t0::RigidBodyDynamics.Transform3D{Float64} = $(Expr(:invoke, LambdaInfo for _joint_transform(::RigidBodyDynamics.QuaternionFloating{Float64}, ::RigidBodyDynamics.CartesianFrame3D, ::RigidBodyDynamics.CartesianFrame3D, ::Array{Float64,1}), :(RigidBodyDynamics._joint_transform), :(jt), :(frame0), :(frameBefore), :(q0))) # line 208:
t::RigidBodyDynamics.Transform3D{Float64} = $(Expr(:invoke, LambdaInfo for _joint_transform(::RigidBodyDynamics.QuaternionFloating{Float64}, ::RigidBodyDynamics.CartesianFrame3D, ::RigidBodyDynamics.CartesianFrame3D, ::Array{Float64,1}), :(RigidBodyDynamics._joint_transform), :(jt), :(frameAfter), :(frameBefore), :(q))) # line 209:
relative_transform::RigidBodyDynamics.Transform3D{Float64} = $(Expr(:invoke, LambdaInfo for *(::RigidBodyDynamics.Transform3D{Float64}, ::RigidBodyDynamics.Transform3D{Float64}), :(RigidBodyDynamics.*), :($(Expr(:invoke, LambdaInfo for inv(::RigidBodyDynamics.Transform3D{Float64}), :(RigidBodyDynamics.inv), :(t0)))), :(t))) # line 211:
rot::Quaternions.Quaternion{Float64} = (Core.getfield)(relative_transform::RigidBodyDynamics.Transform3D{Float64},:rot)::Quaternions.Quaternion{Float64} # line 212:
trans::StaticArrays.SVector{3,Float64} = (Core.getfield)(relative_transform::RigidBodyDynamics.Transform3D{Float64},:trans)::StaticArrays.SVector{3,Float64} # line 216:
Θ_over_2::Float64 = (Core.ccall)((Core.tuple)(:atan2,Base.Math.libm)::Tuple{Symbol,String},Base.Math.Float64,(Core.svec)(Base.Math.Float64,Base.Math.Float64)::SimpleVector,(Base.Math.box)(Base.Math.Float64,(Base.Math.sqrt_llvm)((Base.box)(Base.Float64,(Base.add_float)((Base.box)(Base.Float64,(Base.add_float)((Base.Math.box)(Base.Math.Float64,(Base.Math.powi_llvm)((Core.getfield)(rot::Quaternions.Quaternion{Float64},:v1)::Float64,(Base.box)(Int32,(Base.checked_trunc_sint)(Int32,2))))::Float64,(Base.Math.box)(Base.Math.Float64,(Base.Math.powi_llvm)((Core.getfield)(rot::Quaternions.Quaternion{Float64},:v2)::Float64,(Base.box)(Int32,(Base.checked_trunc_sint)(Int32,2))))::Float64)),(Base.Math.box)(Base.Math.Float64,(Base.Math.powi_llvm)((Core.getfield)(rot::Quaternions.Quaternion{Float64},:v3)::Float64,(Base.box)(Int32,(Base.checked_trunc_sint)(Int32,2))))::Float64))))::Float64,0,(Core.getfield)(rot::Quaternions.Quaternion{Float64},:s)::Float64,0)::Float64 # line 217:
Θ::Float64 = (Base.box)(Base.Float64,(Base.mul_float)((Base.box)(Float64,(Base.sitofp)(Float64,2)),Θ_over_2::Float64)) # line 218:
sΘ_over_2::Float64 = $(Expr(:invoke, LambdaInfo for sin(::Float64), :(RigidBodyDynamics.sin), :(Θ_over_2))) # line 219:
cΘ_over_2::Float64 = $(Expr(:invoke, LambdaInfo for cos(::Float64), :(RigidBodyDynamics.cos), :(Θ_over_2))) # line 220:
SSAValue(14) = $(Expr(:invoke, LambdaInfo for eps(::Float64), :(RigidBodyDynamics.eps), :(Θ)))
unless (Base.lt_float)(Θ::Float64,SSAValue(14))::Bool goto 54
#temp#@_45::StaticArrays.SVector{3,Float64} = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Float64,(Base.sitofp)(Float64,1)),(Base.box)(Float64,(Base.sitofp)(Float64,0)),(Base.box)(Float64,(Base.sitofp)(Float64,0)))::Tuple{Float64,Float64,Float64})))
goto 74
54:
SSAValue(212) = (Core.getfield)(rot::Quaternions.Quaternion{Float64},:v1)::Float64
SSAValue(213) = (Core.getfield)(rot::Quaternions.Quaternion{Float64},:v2)::Float64
SSAValue(214) = (Core.getfield)(rot::Quaternions.Quaternion{Float64},:v3)::Float64
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl * 26
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl broadcast 250
#201::StaticArrays.##201#202{Base.#*,Float64} = $(Expr(:new, StaticArrays.##201#202{Base.#*,Float64}, :(StaticArrays.*), :((Base.box)(Base.Float64,(Base.div_float)((Base.box)(Float64,(Base.sitofp)(Float64,1)),sΘ_over_2)))))
SSAValue(16) = #201::StaticArrays.##201#202{Base.#*,Float64}
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 7
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 10: # line 11:
SSAValue(17) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.mul_float)(SSAValue(212),(Core.getfield)(SSAValue(16),:n)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)(SSAValue(213),(Core.getfield)(SSAValue(16),:n)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)(SSAValue(214),(Core.getfield)(SSAValue(16),:n)::Float64)))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
#temp#@_45::StaticArrays.SVector{3,Float64} = SSAValue(17)
74:
axis::StaticArrays.SVector{3,Float64} = #temp#@_45::StaticArrays.SVector{3,Float64} # line 221:
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl * 25
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl broadcast 251
#203@_47::StaticArrays.##203#204{Base.#*,Float64} = $(Expr(:new, StaticArrays.##203#204{Base.#*,Float64}, :(StaticArrays.*), :(Θ)))
SSAValue(18) = #203@_47::StaticArrays.##203#204{Base.#*,Float64}
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 7
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 10: # line 11:
SSAValue(19) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(18),:n)::Float64,(Base.getfield)((Core.getfield)(axis,:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(18),:n)::Float64,(Base.getfield)((Core.getfield)(axis,:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(18),:n)::Float64,(Base.getfield)((Core.getfield)(axis,:data)::Tuple{Float64,Float64,Float64},3)::Float64)))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
ϕrot::StaticArrays.SVector{3,Float64} = SSAValue(19) # line 225:
α::Float64 = (Base.box)(Base.Float64,(Base.div_float)((Base.box)(Base.Float64,(Base.mul_float)(Θ_over_2::Float64,cΘ_over_2::Float64)),sΘ_over_2::Float64)) # line 226:
Θ_squared::Float64 = (Base.box)(Base.Float64,(Base.mul_float)(Θ::Float64,Θ::Float64)) # line 227:
p::StaticArrays.SVector{3,Float64} = trans::StaticArrays.SVector{3,Float64} # line 228:
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl * 25
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl broadcast 251
#203@_49::StaticArrays.##203#204{Base.#*,Float64} = $(Expr(:new, StaticArrays.##203#204{Base.#*,Float64}, :(StaticArrays.*), 0.5))
SSAValue(24) = #203@_49::StaticArrays.##203#204{Base.#*,Float64}
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 7
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 10: # line 11:
SSAValue(216) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(24),:n)::Float64,(Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))
SSAValue(217) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(24),:n)::Float64,(Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))
SSAValue(218) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(24),:n)::Float64,(Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(220) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)(SSAValue(217),(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)(SSAValue(218),(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))))
SSAValue(221) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)(SSAValue(218),(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)(SSAValue(216),(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))))
SSAValue(222) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)(SSAValue(216),(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)(SSAValue(217),(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))))
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl - 14
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(224) = (Base.box)(Base.Float64,(Base.sub_float)((Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,SSAValue(220)))
SSAValue(225) = (Base.box)(Base.Float64,(Base.sub_float)((Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,SSAValue(221)))
SSAValue(226) = (Base.box)(Base.Float64,(Base.sub_float)((Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,SSAValue(222)))
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl * 25
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl broadcast 251
#203@_48::StaticArrays.##203#204{Base.#*,Float64} = $(Expr(:new, StaticArrays.##203#204{Base.#*,Float64}, :(StaticArrays.*), :((Base.box)(Base.Float64,(Base.div_float)((Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Float64,(Base.sitofp)(Float64,1)),α)),Θ_squared)))))
SSAValue(21) = #203@_48::StaticArrays.##203#204{Base.#*,Float64}
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 7
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 10: # line 11:
SSAValue(228) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(21),:n)::Float64,(Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))
SSAValue(229) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(21),:n)::Float64,(Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))
SSAValue(230) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(21),:n)::Float64,(Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(232) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))))
SSAValue(233) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))))
SSAValue(234) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(p::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))))
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(236) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)(SSAValue(229),SSAValue(234))),(Base.box)(Base.Float64,(Base.mul_float)(SSAValue(230),SSAValue(233)))))
SSAValue(237) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)(SSAValue(230),SSAValue(232))),(Base.box)(Base.Float64,(Base.mul_float)(SSAValue(228),SSAValue(234)))))
SSAValue(238) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)(SSAValue(228),SSAValue(233))),(Base.box)(Base.Float64,(Base.mul_float)(SSAValue(229),SSAValue(232)))))
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(28) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.add_float)(SSAValue(224),SSAValue(236))),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(225),SSAValue(237))),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(226),SSAValue(238))))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
ϕtrans::StaticArrays.SVector{3,Float64} = SSAValue(28) # line 233:
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/RigidBodyDynamics/src/joint_types.jl angular_velocity 62
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/RigidBodyDynamics/src/joint_types.jl angular_velocity_view 59
$(Expr(:inbounds, true))
SSAValue(45) = $(Expr(:new, UnitRange{Int64}, 1, :((Base.select_value)((Base.sle_int)(1,3)::Bool,3,(Base.box)(Int64,(Base.sub_int)(1,1)))::Int64)))
$(Expr(:inbounds, false))
# meta: location subarray.jl view 64
$(Expr(:boundscheck, true))
SSAValue(30) = (Core.tuple)(SSAValue(45))::Tuple{UnitRange{Int64}}
$(Expr(:inbounds, false))
# meta: location abstractarray.jl checkbounds 284
# meta: location abstractarray.jl checkbounds 270
# meta: location abstractarray.jl indices 67
SSAValue(34) = (Base.arraysize)(v::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(33) = SSAValue(34)
# meta: pop location
# meta: pop location
# meta: location abstractarray.jl checkbounds_indices 319
SSAValue(39) = (Base.select_value)((Base.slt_int)(SSAValue(33),0)::Bool,0,SSAValue(33))::Int64
SSAValue(35) = (Core.getfield)(SSAValue(30),1)::UnitRange{Int64}
# meta: location abstractarray.jl checkindex 371
SSAValue(38) = (Core.getfield)(SSAValue(35),:start)::Int64
SSAValue(37) = (Core.getfield)(SSAValue(35),:stop)::Int64
# meta: pop location
# meta: pop location
# meta: pop location
SSAValue(31) = (Base.box)(Base.Bool,(Base.or_int)((Base.slt_int)((Core.getfield)(SSAValue(35),:stop)::Int64,(Core.getfield)(SSAValue(35),:start)::Int64)::Bool,(Base.box)(Base.Bool,(Base.and_int)((Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(38))::Bool,(Base.sle_int)(SSAValue(38),SSAValue(39))::Bool)),(Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(37))::Bool,(Base.sle_int)(SSAValue(37),SSAValue(39))::Bool))))))
unless SSAValue(31) goto 224
goto 226
224:
$(Expr(:invoke, LambdaInfo for throw_boundserror(::Array{Float64,1}, ::Tuple{UnitRange{Int64}}), :(Base.throw_boundserror), :(v), SSAValue(30)))
226:
# meta: pop location
$(Expr(:inbounds, :pop))
Base.nothing
$(Expr(:boundscheck, :pop)) # line 65:
$(Expr(:inbounds, false))
# meta: location subarray.jl unsafe_view 80
J@_51::Tuple{UnitRange{Int64}} = (Core.tuple)(SSAValue(45))::Tuple{UnitRange{Int64}} # line 81:
# meta: location multidimensional.jl index_shape 224
# meta: location abstractarray.jl indices 67
SSAValue(42) = (Base.arraysize)(v::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(41) = SSAValue(42)
# meta: pop location
# meta: pop location
SSAValue(43) = (Core.getfield)(J@_51::Tuple{UnitRange{Int64}},1)::UnitRange{Int64}
# meta: location multidimensional.jl index_shape_dim 233
# meta: location abstractarray.jl indices 67
# meta: location tuple.jl map 92
SSAValue(44) = (Base.Checked.box)(Int64,(Base.Checked.checked_sadd_int)((Base.Checked.box)(Int64,(Base.Checked.checked_ssub_int)((Core.getfield)(SSAValue(43),:stop)::Int64,(Core.getfield)(SSAValue(43),:start)::Int64))::Int64,1))::Int64
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
# meta: pop location
$(Expr(:inbounds, :pop))
ω@_50::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true} = $(Expr(:invoke, LambdaInfo for SubArray{T,N,P,I,L}(::Base.LinearFast, ::Array{Float64,1}, ::Tuple{UnitRange{Int64}}, ::Tuple{Int64}), :(Base.SubArray), :($(Expr(:new, :(Base.LinearFast)))), :(v), :(J@_51), :((Core.tuple)((Base.select_value)((Base.slt_int)(SSAValue(44),0)::Bool,0,SSAValue(44))::Int64)::Tuple{Int64})))
$(Expr(:inbounds, :pop))
# meta: pop location
$(Expr(:inbounds, :pop))
# meta: pop location
$(Expr(:inbounds, :pop))
ω@_26::StaticArrays.SVector{3,Float64} = $(Expr(:invoke, LambdaInfo for StaticArrays.SVector{3,T}(::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true}), :((Core.apply_type)(RigidBodyDynamics.SVector,3)::Type{StaticArrays.SVector{3,T}}), :(ω@_50))) # line 234:
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/RigidBodyDynamics/src/joint_types.jl linear_velocity 63
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/RigidBodyDynamics/src/joint_types.jl linear_velocity_view 60
$(Expr(:inbounds, true))
SSAValue(62) = $(Expr(:new, UnitRange{Int64}, 4, :((Base.select_value)((Base.sle_int)(4,6)::Bool,6,(Base.box)(Int64,(Base.sub_int)(4,1)))::Int64)))
$(Expr(:inbounds, false))
# meta: location subarray.jl view 64
$(Expr(:boundscheck, true))
SSAValue(47) = (Core.tuple)(SSAValue(62))::Tuple{UnitRange{Int64}}
$(Expr(:inbounds, false))
# meta: location abstractarray.jl checkbounds 284
# meta: location abstractarray.jl checkbounds 270
# meta: location abstractarray.jl indices 67
SSAValue(51) = (Base.arraysize)(v::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(50) = SSAValue(51)
# meta: pop location
# meta: pop location
# meta: location abstractarray.jl checkbounds_indices 319
SSAValue(56) = (Base.select_value)((Base.slt_int)(SSAValue(50),0)::Bool,0,SSAValue(50))::Int64
SSAValue(52) = (Core.getfield)(SSAValue(47),1)::UnitRange{Int64}
# meta: location abstractarray.jl checkindex 371
SSAValue(55) = (Core.getfield)(SSAValue(52),:start)::Int64
SSAValue(54) = (Core.getfield)(SSAValue(52),:stop)::Int64
# meta: pop location
# meta: pop location
# meta: pop location
SSAValue(48) = (Base.box)(Base.Bool,(Base.or_int)((Base.slt_int)((Core.getfield)(SSAValue(52),:stop)::Int64,(Core.getfield)(SSAValue(52),:start)::Int64)::Bool,(Base.box)(Base.Bool,(Base.and_int)((Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(55))::Bool,(Base.sle_int)(SSAValue(55),SSAValue(56))::Bool)),(Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(54))::Bool,(Base.sle_int)(SSAValue(54),SSAValue(56))::Bool))))))
unless SSAValue(48) goto 295
goto 297
295:
$(Expr(:invoke, LambdaInfo for throw_boundserror(::Array{Float64,1}, ::Tuple{UnitRange{Int64}}), :(Base.throw_boundserror), :(v), SSAValue(47)))
297:
# meta: pop location
$(Expr(:inbounds, :pop))
Base.nothing
$(Expr(:boundscheck, :pop)) # line 65:
$(Expr(:inbounds, false))
# meta: location subarray.jl unsafe_view 80
J@_53::Tuple{UnitRange{Int64}} = (Core.tuple)(SSAValue(62))::Tuple{UnitRange{Int64}} # line 81:
# meta: location multidimensional.jl index_shape 224
# meta: location abstractarray.jl indices 67
SSAValue(59) = (Base.arraysize)(v::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(58) = SSAValue(59)
# meta: pop location
# meta: pop location
SSAValue(60) = (Core.getfield)(J@_53::Tuple{UnitRange{Int64}},1)::UnitRange{Int64}
# meta: location multidimensional.jl index_shape_dim 233
# meta: location abstractarray.jl indices 67
# meta: location tuple.jl map 92
SSAValue(61) = (Base.Checked.box)(Int64,(Base.Checked.checked_sadd_int)((Base.Checked.box)(Int64,(Base.Checked.checked_ssub_int)((Core.getfield)(SSAValue(60),:stop)::Int64,(Core.getfield)(SSAValue(60),:start)::Int64))::Int64,1))::Int64
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
# meta: pop location
$(Expr(:inbounds, :pop))
vel::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true} = $(Expr(:invoke, LambdaInfo for SubArray{T,N,P,I,L}(::Base.LinearFast, ::Array{Float64,1}, ::Tuple{UnitRange{Int64}}, ::Tuple{Int64}), :(Base.SubArray), :($(Expr(:new, :(Base.LinearFast)))), :(v), :(J@_53), :((Core.tuple)((Base.select_value)((Base.slt_int)(SSAValue(61),0)::Bool,0,SSAValue(61))::Int64)::Tuple{Int64})))
$(Expr(:inbounds, :pop))
# meta: pop location
$(Expr(:inbounds, :pop))
# meta: pop location
$(Expr(:inbounds, :pop))
ν::StaticArrays.SVector{3,Float64} = $(Expr(:invoke, LambdaInfo for StaticArrays.SVector{3,T}(::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true}), :((Core.apply_type)(RigidBodyDynamics.SVector,3)::Type{StaticArrays.SVector{3,T}}), :(vel))) # line 235:
β::Float64 = (Base.box)(Base.Float64,(Base.div_float)((Base.box)(Base.Float64,(Base.mul_float)(Θ_over_2::Float64,Θ_over_2::Float64)),(Base.box)(Base.Float64,(Base.mul_float)(sΘ_over_2::Float64,sΘ_over_2::Float64)))) # line 236:
A::Float64 = (Base.box)(Base.Float64,(Base.div_float)((Base.box)(Base.Float64,(Base.add_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.box)(Float64,(Base.sitofp)(Float64,2)),(Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Float64,(Base.sitofp)(Float64,1)),α::Float64)))),(Base.box)(Base.Float64,(Base.mul_float)(0.5,(Base.box)(Base.Float64,(Base.sub_float)(α::Float64,β::Float64)))))),Θ_squared::Float64)) # line 237:
B::Float64 = (Base.box)(Base.Float64,(Base.div_float)((Base.box)(Base.Float64,(Base.add_float)((Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Float64,(Base.sitofp)(Float64,1)),α::Float64)),(Base.box)(Base.Float64,(Base.mul_float)(0.5,(Base.box)(Base.Float64,(Base.sub_float)(α::Float64,β::Float64)))))),(Base.box)(Base.Float64,(Base.mul_float)(Θ_squared::Float64,Θ_squared::Float64)))) # line 238:
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/RigidBodyDynamics/src/spatial.jl se3_commutator 422
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(63) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ω@_26,:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ω@_26,:data)::Tuple{Float64,Float64,Float64},2)::Float64)))),(Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ω@_26,:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ω@_26,:data)::Tuple{Float64,Float64,Float64},3)::Float64)))),(Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ω@_26,:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ω@_26,:data)::Tuple{Float64,Float64,Float64},1)::Float64)))))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
angular@_54::StaticArrays.SVector{3,Float64} = SSAValue(63) # line 423:
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(68) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ν::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ν::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))))
SSAValue(69) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ν::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ν::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))))
SSAValue(70) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ν::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ν::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))))
# meta: pop location
# meta: pop location
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(72) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ω@_26::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ω@_26::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))))
SSAValue(73) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ω@_26::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ω@_26::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))))
SSAValue(74) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ω@_26::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ω@_26::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))))
# meta: pop location
# meta: pop location
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(66) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.add_float)(SSAValue(68),SSAValue(72))),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(69),SSAValue(73))),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(70),SSAValue(74))))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
linear@_55::StaticArrays.SVector{3,Float64} = SSAValue(66)
# meta: pop location
$(Expr(:inbounds, :pop))
SSAValue(239) = angular@_54::StaticArrays.SVector{3,Float64}
SSAValue(240) = linear@_55::StaticArrays.SVector{3,Float64}
#temp#@_31::Int64 = $(QuoteNode(1))
SSAValue(241) = (Base.box)(Int64,(Base.add_int)(1,1))
ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64} = SSAValue(239)
#temp#@_31::Int64 = SSAValue(241)
SSAValue(242) = (Base.box)(Int64,(Base.add_int)(2,1))
ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64} = SSAValue(240)
#temp#@_31::Int64 = SSAValue(242) # line 239:
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/RigidBodyDynamics/src/spatial.jl se3_commutator 422
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(75) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1,:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1,:data)::Tuple{Float64,Float64,Float64},2)::Float64)))),(Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1,:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1,:data)::Tuple{Float64,Float64,Float64},3)::Float64)))),(Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1,:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1,:data)::Tuple{Float64,Float64,Float64},1)::Float64)))))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
angular@_56::StaticArrays.SVector{3,Float64} = SSAValue(75) # line 423:
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(80) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))))
SSAValue(81) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))))
SSAValue(82) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))))
# meta: pop location
# meta: pop location
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(84) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))))
SSAValue(85) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))))
SSAValue(86) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))))
# meta: pop location
# meta: pop location
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(78) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.add_float)(SSAValue(80),SSAValue(84))),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(81),SSAValue(85))),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(82),SSAValue(86))))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
linear@_57::StaticArrays.SVector{3,Float64} = SSAValue(78)
# meta: pop location
$(Expr(:inbounds, :pop))
SSAValue(243) = angular@_56::StaticArrays.SVector{3,Float64}
SSAValue(244) = linear@_57::StaticArrays.SVector{3,Float64}
#temp#@_34::Int64 = $(QuoteNode(1))
SSAValue(245) = (Base.box)(Int64,(Base.add_int)(1,1))
ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64} = SSAValue(243)
#temp#@_34::Int64 = SSAValue(245)
SSAValue(246) = (Base.box)(Int64,(Base.add_int)(2,1))
ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64} = SSAValue(244)
#temp#@_34::Int64 = SSAValue(246) # line 240:
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/RigidBodyDynamics/src/spatial.jl se3_commutator 422
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(87) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2,:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2,:data)::Tuple{Float64,Float64,Float64},2)::Float64)))),(Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2,:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2,:data)::Tuple{Float64,Float64,Float64},3)::Float64)))),(Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2,:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2,:data)::Tuple{Float64,Float64,Float64},1)::Float64)))))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
angular@_58::StaticArrays.SVector{3,Float64} = SSAValue(87) # line 423:
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(92) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))))
SSAValue(93) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))))
SSAValue(94) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))))
# meta: pop location
# meta: pop location
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(96) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))))
SSAValue(97) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))))
SSAValue(98) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))))
# meta: pop location
# meta: pop location
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(90) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.add_float)(SSAValue(92),SSAValue(96))),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(93),SSAValue(97))),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(94),SSAValue(98))))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
linear@_59::StaticArrays.SVector{3,Float64} = SSAValue(90)
# meta: pop location
$(Expr(:inbounds, :pop))
SSAValue(247) = angular@_58::StaticArrays.SVector{3,Float64}
SSAValue(248) = linear@_59::StaticArrays.SVector{3,Float64}
#temp#@_37::Int64 = $(QuoteNode(1))
SSAValue(249) = (Base.box)(Int64,(Base.add_int)(1,1))
ϕ̇rot_cross_3::StaticArrays.SVector{3,Float64} = SSAValue(247)
#temp#@_37::Int64 = SSAValue(249)
SSAValue(250) = (Base.box)(Int64,(Base.add_int)(2,1))
ϕ̇trans_cross_3::StaticArrays.SVector{3,Float64} = SSAValue(248)
#temp#@_37::Int64 = SSAValue(250) # line 241:
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/RigidBodyDynamics/src/spatial.jl se3_commutator 422
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(99) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3,:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3,:data)::Tuple{Float64,Float64,Float64},2)::Float64)))),(Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3,:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3,:data)::Tuple{Float64,Float64,Float64},3)::Float64)))),(Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3,:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot,:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3,:data)::Tuple{Float64,Float64,Float64},1)::Float64)))))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
angular@_60::StaticArrays.SVector{3,Float64} = SSAValue(99) # line 423:
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(104) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))))
SSAValue(105) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))))
SSAValue(106) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕrot::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))))
# meta: pop location
# meta: pop location
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl cross 246
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl # line 248: # line 249:
SSAValue(108) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))))
SSAValue(109) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))))
SSAValue(110) = (Base.box)(Base.Float64,(Base.sub_float)((Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Base.getfield)((Core.getfield)(ϕtrans::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_3::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))))
# meta: pop location
# meta: pop location
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(102) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.add_float)(SSAValue(104),SSAValue(108))),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(105),SSAValue(109))),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(106),SSAValue(110))))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
linear@_61::StaticArrays.SVector{3,Float64} = SSAValue(102)
# meta: pop location
$(Expr(:inbounds, :pop))
SSAValue(251) = angular@_60::StaticArrays.SVector{3,Float64}
SSAValue(252) = linear@_61::StaticArrays.SVector{3,Float64}
#temp#@_40::Int64 = $(QuoteNode(1))
SSAValue(253) = (Base.box)(Int64,(Base.add_int)(1,1))
ϕ̇rot_cross_4::StaticArrays.SVector{3,Float64} = SSAValue(251)
#temp#@_40::Int64 = SSAValue(253)
SSAValue(254) = (Base.box)(Int64,(Base.add_int)(2,1))
ϕ̇trans_cross_4::StaticArrays.SVector{3,Float64} = SSAValue(252)
#temp#@_40::Int64 = SSAValue(254) # line 242:
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl * 25
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl broadcast 251
#203@_64::StaticArrays.##203#204{Base.#*,Float64} = $(Expr(:new, StaticArrays.##203#204{Base.#*,Float64}, :(StaticArrays.*), 0.5))
SSAValue(115) = #203@_64::StaticArrays.##203#204{Base.#*,Float64}
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 7
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 10: # line 11:
SSAValue(256) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(115),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))
SSAValue(257) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(115),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))
SSAValue(258) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(115),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl * 25
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl broadcast 251
#203@_63::StaticArrays.##203#204{Base.#*,Float64} = $(Expr(:new, StaticArrays.##203#204{Base.#*,Float64}, :(StaticArrays.*), :(A)))
SSAValue(113) = #203@_63::StaticArrays.##203#204{Base.#*,Float64}
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 7
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 10: # line 11:
SSAValue(260) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(113),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))
SSAValue(261) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(113),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))
SSAValue(262) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(113),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl * 25
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl broadcast 251
#203@_62::StaticArrays.##203#204{Base.#*,Float64} = $(Expr(:new, StaticArrays.##203#204{Base.#*,Float64}, :(StaticArrays.*), :(B)))
SSAValue(111) = #203@_62::StaticArrays.##203#204{Base.#*,Float64}
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 7
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 10: # line 11:
SSAValue(112) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(111),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_4,:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(111),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_4,:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(111),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇rot_cross_4,:data)::Tuple{Float64,Float64,Float64},3)::Float64)))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location operators.jl + 138
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(122) = (Base.box)(Base.Float64,(Base.add_float)((Base.getfield)((Core.getfield)(ω@_26::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,SSAValue(256)))
SSAValue(123) = (Base.box)(Base.Float64,(Base.add_float)((Base.getfield)((Core.getfield)(ω@_26::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,SSAValue(257)))
SSAValue(124) = (Base.box)(Base.Float64,(Base.add_float)((Base.getfield)((Core.getfield)(ω@_26::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,SSAValue(258)))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(126) = (Base.box)(Base.Float64,(Base.add_float)(SSAValue(122),SSAValue(260)))
SSAValue(127) = (Base.box)(Base.Float64,(Base.add_float)(SSAValue(123),SSAValue(261)))
SSAValue(128) = (Base.box)(Base.Float64,(Base.add_float)(SSAValue(124),SSAValue(262)))
# meta: pop location
# meta: pop location
# meta: pop location
SSAValue(119) = SSAValue(112)
# meta: location operators.jl afoldl 125
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(120) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.add_float)(SSAValue(126),(Base.getfield)((Core.getfield)(SSAValue(119),:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(127),(Base.getfield)((Core.getfield)(SSAValue(119),:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(128),(Base.getfield)((Core.getfield)(SSAValue(119),:data)::Tuple{Float64,Float64,Float64},3)::Float64)))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
ϕ̇rot::StaticArrays.SVector{3,Float64} = SSAValue(120) # line 243:
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl * 25
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl broadcast 251
#203@_67::StaticArrays.##203#204{Base.#*,Float64} = $(Expr(:new, StaticArrays.##203#204{Base.#*,Float64}, :(StaticArrays.*), 0.5))
SSAValue(133) = #203@_67::StaticArrays.##203#204{Base.#*,Float64}
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 7
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 10: # line 11:
SSAValue(264) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(133),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))
SSAValue(265) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(133),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))
SSAValue(266) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(133),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_1::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl * 25
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl broadcast 251
#203@_66::StaticArrays.##203#204{Base.#*,Float64} = $(Expr(:new, StaticArrays.##203#204{Base.#*,Float64}, :(StaticArrays.*), :(A)))
SSAValue(131) = #203@_66::StaticArrays.##203#204{Base.#*,Float64}
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 7
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 10: # line 11:
SSAValue(268) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(131),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64))
SSAValue(269) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(131),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64))
SSAValue(270) = (Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(131),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_2::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl * 25
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl broadcast 251
#203@_65::StaticArrays.##203#204{Base.#*,Float64} = $(Expr(:new, StaticArrays.##203#204{Base.#*,Float64}, :(StaticArrays.*), :(B)))
SSAValue(129) = #203@_65::StaticArrays.##203#204{Base.#*,Float64}
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 7
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 10: # line 11:
SSAValue(130) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(129),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_4,:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(129),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_4,:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.mul_float)((Core.getfield)(SSAValue(129),:n)::Float64,(Base.getfield)((Core.getfield)(ϕ̇trans_cross_4,:data)::Tuple{Float64,Float64,Float64},3)::Float64)))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:inbounds, false))
# meta: location operators.jl + 138
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(140) = (Base.box)(Base.Float64,(Base.add_float)((Base.getfield)((Core.getfield)(ν::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},1)::Float64,SSAValue(264)))
SSAValue(141) = (Base.box)(Base.Float64,(Base.add_float)((Base.getfield)((Core.getfield)(ν::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},2)::Float64,SSAValue(265)))
SSAValue(142) = (Base.box)(Base.Float64,(Base.add_float)((Base.getfield)((Core.getfield)(ν::StaticArrays.SVector{3,Float64},:data)::Tuple{Float64,Float64,Float64},3)::Float64,SSAValue(266)))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(144) = (Base.box)(Base.Float64,(Base.add_float)(SSAValue(140),SSAValue(268)))
SSAValue(145) = (Base.box)(Base.Float64,(Base.add_float)(SSAValue(141),SSAValue(269)))
SSAValue(146) = (Base.box)(Base.Float64,(Base.add_float)(SSAValue(142),SSAValue(270)))
# meta: pop location
# meta: pop location
# meta: pop location
SSAValue(137) = SSAValue(130)
# meta: location operators.jl afoldl 125
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/linalg.jl + 10
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl map 17
# meta: location /home/twan/code/RigidBodyDynamics/v0.5/StaticArrays/src/mapreduce.jl # line 24: # line 25:
SSAValue(138) = $(Expr(:new, StaticArrays.SVector{3,Float64}, :((Core.tuple)((Base.box)(Base.Float64,(Base.add_float)(SSAValue(144),(Base.getfield)((Core.getfield)(SSAValue(137),:data)::Tuple{Float64,Float64,Float64},1)::Float64)),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(145),(Base.getfield)((Core.getfield)(SSAValue(137),:data)::Tuple{Float64,Float64,Float64},2)::Float64)),(Base.box)(Base.Float64,(Base.add_float)(SSAValue(146),(Base.getfield)((Core.getfield)(SSAValue(137),:data)::Tuple{Float64,Float64,Float64},3)::Float64)))::Tuple{Float64,Float64,Float64})))
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
ϕ̇trans::StaticArrays.SVector{3,Float64} = SSAValue(138) # line 245:
$(Expr(:inbounds, true))
SSAValue(271) = $(Expr(:new, UnitRange{Int64}, 1, :((Base.select_value)((Base.sle_int)(1,3)::Bool,3,(Base.box)(Int64,(Base.sub_int)(1,1)))::Int64)))
$(Expr(:inbounds, false))
# meta: location subarray.jl view 64
$(Expr(:boundscheck, true))
SSAValue(148) = (Core.tuple)(SSAValue(271))::Tuple{UnitRange{Int64}}
$(Expr(:inbounds, false))
# meta: location abstractarray.jl checkbounds 284
# meta: location abstractarray.jl checkbounds 270
# meta: location abstractarray.jl indices 67
SSAValue(152) = (Base.arraysize)(ϕ::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(151) = SSAValue(152)
# meta: pop location
# meta: pop location
# meta: location abstractarray.jl checkbounds_indices 319
SSAValue(157) = (Base.select_value)((Base.slt_int)(SSAValue(151),0)::Bool,0,SSAValue(151))::Int64
SSAValue(153) = (Core.getfield)(SSAValue(148),1)::UnitRange{Int64}
# meta: location abstractarray.jl checkindex 371
SSAValue(156) = (Core.getfield)(SSAValue(153),:start)::Int64
SSAValue(155) = (Core.getfield)(SSAValue(153),:stop)::Int64
# meta: pop location
# meta: pop location
# meta: pop location
SSAValue(149) = (Base.box)(Base.Bool,(Base.or_int)((Base.slt_int)((Core.getfield)(SSAValue(153),:stop)::Int64,(Core.getfield)(SSAValue(153),:start)::Int64)::Bool,(Base.box)(Base.Bool,(Base.and_int)((Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(156))::Bool,(Base.sle_int)(SSAValue(156),SSAValue(157))::Bool)),(Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(155))::Bool,(Base.sle_int)(SSAValue(155),SSAValue(157))::Bool))))))
unless SSAValue(149) goto 750
goto 752
750:
$(Expr(:invoke, LambdaInfo for throw_boundserror(::Array{Float64,1}, ::Tuple{UnitRange{Int64}}), :(Base.throw_boundserror), :(ϕ), SSAValue(148)))
752:
# meta: pop location
$(Expr(:inbounds, :pop))
Base.nothing
$(Expr(:boundscheck, :pop)) # line 65:
$(Expr(:inbounds, false))
# meta: location subarray.jl unsafe_view 80
J@_68::Tuple{UnitRange{Int64}} = (Core.tuple)(SSAValue(271))::Tuple{UnitRange{Int64}} # line 81:
# meta: location multidimensional.jl index_shape 224
# meta: location abstractarray.jl indices 67
SSAValue(160) = (Base.arraysize)(ϕ::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(159) = SSAValue(160)
# meta: pop location
# meta: pop location
SSAValue(161) = (Core.getfield)(J@_68::Tuple{UnitRange{Int64}},1)::UnitRange{Int64}
# meta: location multidimensional.jl index_shape_dim 233
# meta: location abstractarray.jl indices 67
# meta: location tuple.jl map 92
SSAValue(162) = (Base.Checked.box)(Int64,(Base.Checked.checked_sadd_int)((Base.Checked.box)(Int64,(Base.Checked.checked_ssub_int)((Core.getfield)(SSAValue(161),:stop)::Int64,(Core.getfield)(SSAValue(161),:start)::Int64))::Int64,1))::Int64
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:invoke, LambdaInfo for copy!(::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true}, ::StaticArrays.SVector{3,Float64}), :(RigidBodyDynamics.copy!), :($(Expr(:invoke, LambdaInfo for SubArray{T,N,P,I,L}(::Base.LinearFast, ::Array{Float64,1}, ::Tuple{UnitRange{Int64}}, ::Tuple{Int64}), :(Base.SubArray), :($(Expr(:new, :(Base.LinearFast)))), :(ϕ), :(J@_68), :((Core.tuple)((Base.select_value)((Base.slt_int)(SSAValue(162),0)::Bool,0,SSAValue(162))::Int64)::Tuple{Int64})))), :(ϕrot)))
$(Expr(:inbounds, :pop)) # line 246:
$(Expr(:inbounds, true))
SSAValue(272) = $(Expr(:new, UnitRange{Int64}, 4, :((Base.select_value)((Base.sle_int)(4,6)::Bool,6,(Base.box)(Int64,(Base.sub_int)(4,1)))::Int64)))
$(Expr(:inbounds, false))
# meta: location subarray.jl view 64
$(Expr(:boundscheck, true))
SSAValue(164) = (Core.tuple)(SSAValue(272))::Tuple{UnitRange{Int64}}
$(Expr(:inbounds, false))
# meta: location abstractarray.jl checkbounds 284
# meta: location abstractarray.jl checkbounds 270
# meta: location abstractarray.jl indices 67
SSAValue(168) = (Base.arraysize)(ϕ::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(167) = SSAValue(168)
# meta: pop location
# meta: pop location
# meta: location abstractarray.jl checkbounds_indices 319
SSAValue(173) = (Base.select_value)((Base.slt_int)(SSAValue(167),0)::Bool,0,SSAValue(167))::Int64
SSAValue(169) = (Core.getfield)(SSAValue(164),1)::UnitRange{Int64}
# meta: location abstractarray.jl checkindex 371
SSAValue(172) = (Core.getfield)(SSAValue(169),:start)::Int64
SSAValue(171) = (Core.getfield)(SSAValue(169),:stop)::Int64
# meta: pop location
# meta: pop location
# meta: pop location
SSAValue(165) = (Base.box)(Base.Bool,(Base.or_int)((Base.slt_int)((Core.getfield)(SSAValue(169),:stop)::Int64,(Core.getfield)(SSAValue(169),:start)::Int64)::Bool,(Base.box)(Base.Bool,(Base.and_int)((Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(172))::Bool,(Base.sle_int)(SSAValue(172),SSAValue(173))::Bool)),(Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(171))::Bool,(Base.sle_int)(SSAValue(171),SSAValue(173))::Bool))))))
unless SSAValue(165) goto 812
goto 814
812:
$(Expr(:invoke, LambdaInfo for throw_boundserror(::Array{Float64,1}, ::Tuple{UnitRange{Int64}}), :(Base.throw_boundserror), :(ϕ), SSAValue(164)))
814:
# meta: pop location
$(Expr(:inbounds, :pop))
Base.nothing
$(Expr(:boundscheck, :pop)) # line 65:
$(Expr(:inbounds, false))
# meta: location subarray.jl unsafe_view 80
J@_69::Tuple{UnitRange{Int64}} = (Core.tuple)(SSAValue(272))::Tuple{UnitRange{Int64}} # line 81:
# meta: location multidimensional.jl index_shape 224
# meta: location abstractarray.jl indices 67
SSAValue(176) = (Base.arraysize)(ϕ::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(175) = SSAValue(176)
# meta: pop location
# meta: pop location
SSAValue(177) = (Core.getfield)(J@_69::Tuple{UnitRange{Int64}},1)::UnitRange{Int64}
# meta: location multidimensional.jl index_shape_dim 233
# meta: location abstractarray.jl indices 67
# meta: location tuple.jl map 92
SSAValue(178) = (Base.Checked.box)(Int64,(Base.Checked.checked_sadd_int)((Base.Checked.box)(Int64,(Base.Checked.checked_ssub_int)((Core.getfield)(SSAValue(177),:stop)::Int64,(Core.getfield)(SSAValue(177),:start)::Int64))::Int64,1))::Int64
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:invoke, LambdaInfo for copy!(::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true}, ::StaticArrays.SVector{3,Float64}), :(RigidBodyDynamics.copy!), :($(Expr(:invoke, LambdaInfo for SubArray{T,N,P,I,L}(::Base.LinearFast, ::Array{Float64,1}, ::Tuple{UnitRange{Int64}}, ::Tuple{Int64}), :(Base.SubArray), :($(Expr(:new, :(Base.LinearFast)))), :(ϕ), :(J@_69), :((Core.tuple)((Base.select_value)((Base.slt_int)(SSAValue(178),0)::Bool,0,SSAValue(178))::Int64)::Tuple{Int64})))), :(ϕtrans)))
$(Expr(:inbounds, :pop)) # line 248:
$(Expr(:inbounds, true))
SSAValue(273) = $(Expr(:new, UnitRange{Int64}, 1, :((Base.select_value)((Base.sle_int)(1,3)::Bool,3,(Base.box)(Int64,(Base.sub_int)(1,1)))::Int64)))
$(Expr(:inbounds, false))
# meta: location subarray.jl view 64
$(Expr(:boundscheck, true))
SSAValue(180) = (Core.tuple)(SSAValue(273))::Tuple{UnitRange{Int64}}
$(Expr(:inbounds, false))
# meta: location abstractarray.jl checkbounds 284
# meta: location abstractarray.jl checkbounds 270
# meta: location abstractarray.jl indices 67
SSAValue(184) = (Base.arraysize)(ϕ̇::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(183) = SSAValue(184)
# meta: pop location
# meta: pop location
# meta: location abstractarray.jl checkbounds_indices 319
SSAValue(189) = (Base.select_value)((Base.slt_int)(SSAValue(183),0)::Bool,0,SSAValue(183))::Int64
SSAValue(185) = (Core.getfield)(SSAValue(180),1)::UnitRange{Int64}
# meta: location abstractarray.jl checkindex 371
SSAValue(188) = (Core.getfield)(SSAValue(185),:start)::Int64
SSAValue(187) = (Core.getfield)(SSAValue(185),:stop)::Int64
# meta: pop location
# meta: pop location
# meta: pop location
SSAValue(181) = (Base.box)(Base.Bool,(Base.or_int)((Base.slt_int)((Core.getfield)(SSAValue(185),:stop)::Int64,(Core.getfield)(SSAValue(185),:start)::Int64)::Bool,(Base.box)(Base.Bool,(Base.and_int)((Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(188))::Bool,(Base.sle_int)(SSAValue(188),SSAValue(189))::Bool)),(Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(187))::Bool,(Base.sle_int)(SSAValue(187),SSAValue(189))::Bool))))))
unless SSAValue(181) goto 874
goto 876
874:
$(Expr(:invoke, LambdaInfo for throw_boundserror(::Array{Float64,1}, ::Tuple{UnitRange{Int64}}), :(Base.throw_boundserror), :(ϕ̇), SSAValue(180)))
876:
# meta: pop location
$(Expr(:inbounds, :pop))
Base.nothing
$(Expr(:boundscheck, :pop)) # line 65:
$(Expr(:inbounds, false))
# meta: location subarray.jl unsafe_view 80
J@_70::Tuple{UnitRange{Int64}} = (Core.tuple)(SSAValue(273))::Tuple{UnitRange{Int64}} # line 81:
# meta: location multidimensional.jl index_shape 224
# meta: location abstractarray.jl indices 67
SSAValue(192) = (Base.arraysize)(ϕ̇::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(191) = SSAValue(192)
# meta: pop location
# meta: pop location
SSAValue(193) = (Core.getfield)(J@_70::Tuple{UnitRange{Int64}},1)::UnitRange{Int64}
# meta: location multidimensional.jl index_shape_dim 233
# meta: location abstractarray.jl indices 67
# meta: location tuple.jl map 92
SSAValue(194) = (Base.Checked.box)(Int64,(Base.Checked.checked_sadd_int)((Base.Checked.box)(Int64,(Base.Checked.checked_ssub_int)((Core.getfield)(SSAValue(193),:stop)::Int64,(Core.getfield)(SSAValue(193),:start)::Int64))::Int64,1))::Int64
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:invoke, LambdaInfo for copy!(::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true}, ::StaticArrays.SVector{3,Float64}), :(RigidBodyDynamics.copy!), :($(Expr(:invoke, LambdaInfo for SubArray{T,N,P,I,L}(::Base.LinearFast, ::Array{Float64,1}, ::Tuple{UnitRange{Int64}}, ::Tuple{Int64}), :(Base.SubArray), :($(Expr(:new, :(Base.LinearFast)))), :(ϕ̇), :(J@_70), :((Core.tuple)((Base.select_value)((Base.slt_int)(SSAValue(194),0)::Bool,0,SSAValue(194))::Int64)::Tuple{Int64})))), :(ϕ̇rot)))
$(Expr(:inbounds, :pop)) # line 249:
$(Expr(:inbounds, true))
SSAValue(274) = $(Expr(:new, UnitRange{Int64}, 4, :((Base.select_value)((Base.sle_int)(4,6)::Bool,6,(Base.box)(Int64,(Base.sub_int)(4,1)))::Int64)))
$(Expr(:inbounds, false))
# meta: location subarray.jl view 64
$(Expr(:boundscheck, true))
SSAValue(196) = (Core.tuple)(SSAValue(274))::Tuple{UnitRange{Int64}}
$(Expr(:inbounds, false))
# meta: location abstractarray.jl checkbounds 284
# meta: location abstractarray.jl checkbounds 270
# meta: location abstractarray.jl indices 67
SSAValue(200) = (Base.arraysize)(ϕ̇::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(199) = SSAValue(200)
# meta: pop location
# meta: pop location
# meta: location abstractarray.jl checkbounds_indices 319
SSAValue(205) = (Base.select_value)((Base.slt_int)(SSAValue(199),0)::Bool,0,SSAValue(199))::Int64
SSAValue(201) = (Core.getfield)(SSAValue(196),1)::UnitRange{Int64}
# meta: location abstractarray.jl checkindex 371
SSAValue(204) = (Core.getfield)(SSAValue(201),:start)::Int64
SSAValue(203) = (Core.getfield)(SSAValue(201),:stop)::Int64
# meta: pop location
# meta: pop location
# meta: pop location
SSAValue(197) = (Base.box)(Base.Bool,(Base.or_int)((Base.slt_int)((Core.getfield)(SSAValue(201),:stop)::Int64,(Core.getfield)(SSAValue(201),:start)::Int64)::Bool,(Base.box)(Base.Bool,(Base.and_int)((Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(204))::Bool,(Base.sle_int)(SSAValue(204),SSAValue(205))::Bool)),(Base.box)(Base.Bool,(Base.and_int)((Base.sle_int)(1,SSAValue(203))::Bool,(Base.sle_int)(SSAValue(203),SSAValue(205))::Bool))))))
unless SSAValue(197) goto 936
goto 938
936:
$(Expr(:invoke, LambdaInfo for throw_boundserror(::Array{Float64,1}, ::Tuple{UnitRange{Int64}}), :(Base.throw_boundserror), :(ϕ̇), SSAValue(196)))
938:
# meta: pop location
$(Expr(:inbounds, :pop))
Base.nothing
$(Expr(:boundscheck, :pop)) # line 65:
$(Expr(:inbounds, false))
# meta: location subarray.jl unsafe_view 80
J@_71::Tuple{UnitRange{Int64}} = (Core.tuple)(SSAValue(274))::Tuple{UnitRange{Int64}} # line 81:
# meta: location multidimensional.jl index_shape 224
# meta: location abstractarray.jl indices 67
SSAValue(208) = (Base.arraysize)(ϕ̇::Array{Float64,1},1)::Int64
# meta: location tuple.jl map 92
SSAValue(207) = SSAValue(208)
# meta: pop location
# meta: pop location
SSAValue(209) = (Core.getfield)(J@_71::Tuple{UnitRange{Int64}},1)::UnitRange{Int64}
# meta: location multidimensional.jl index_shape_dim 233
# meta: location abstractarray.jl indices 67
# meta: location tuple.jl map 92
SSAValue(210) = (Base.Checked.box)(Int64,(Base.Checked.checked_sadd_int)((Base.Checked.box)(Int64,(Base.Checked.checked_ssub_int)((Core.getfield)(SSAValue(209),:stop)::Int64,(Core.getfield)(SSAValue(209),:start)::Int64))::Int64,1))::Int64
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
# meta: pop location
$(Expr(:inbounds, :pop))
# meta: pop location
$(Expr(:inbounds, :pop))
$(Expr(:invoke, LambdaInfo for copy!(::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true}, ::StaticArrays.SVector{3,Float64}), :(RigidBodyDynamics.copy!), :($(Expr(:invoke, LambdaInfo for SubArray{T,N,P,I,L}(::Base.LinearFast, ::Array{Float64,1}, ::Tuple{UnitRange{Int64}}, ::Tuple{Int64}), :(Base.SubArray), :($(Expr(:new, :(Base.LinearFast)))), :(ϕ̇), :(J@_71), :((Core.tuple)((Base.select_value)((Base.slt_int)(SSAValue(210),0)::Bool,0,SSAValue(210))::Int64)::Tuple{Int64})))), :(ϕ̇trans)))
$(Expr(:inbounds, :pop)) # line 280:
return RigidBodyDynamics.nothing
end::Void