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Indexing validation #1259

@baltzell

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@baltzell

I was looking for optimizations, in this case some smaller methods for potential inlining in #1258 in RungeKuttaDoca.computeCovMat, and was curious about the indexing here, particularly theC.get(2,0/1):

cNext[3][0] = C.get(2,0)*sF.dtydtx0+C.get(3,0)*sF.dtydty0+C.get(4,0)*sF.dtydq0
+ sF.dxdq0 *(C.get(2,4)*sF.dtydtx0+C.get(3,4)*sF.dtydty0+C.get(4,4)*sF.dtydq0)
+ sF.dxdtx0*(C.get(2,2)*sF.dtydtx0+C.get(3,2)*sF.dtydty0+C.get(4,2)*sF.dtydq0)
+ sF.dxdty0*(C.get(2,3)*sF.dtydtx0+C.get(3,3)*sF.dtydty0+C.get(4,3)*sF.dtydq0);
cNext[3][1] = C.get(2,1)*sF.dtydtx0+C.get(3,1)*sF.dtydty0+C.get(4,1)*sF.dtydq0
+ sF.dydq0 *(C.get(2,4)*sF.dtydtx0+C.get(3,4)*sF.dtydty0+C.get(4,4)*sF.dtydq0)
+ sF.dydtx0*(C.get(2,2)*sF.dtydtx0+C.get(3,2)*sF.dtydty0+C.get(4,2)*sF.dtydq0)
+ sF.dydty0*(C.get(2,3)*sF.dtydtx0+C.get(3,3)*sF.dtydty0+C.get(4,3)*sF.dtydq0);
cNext[3][2] = sF.dtxdq0 *(C.get(2,4)*sF.dtydtx0+C.get(3,4)*sF.dtydty0+C.get(4,4)*sF.dtydq0)
+ sF.dtxdtx0*(C.get(2,2)*sF.dtydtx0+C.get(3,2)*sF.dtydty0+C.get(4,2)*sF.dtydq0)
+ sF.dtxdty0*(C.get(2,3)*sF.dtydtx0+C.get(3,3)*sF.dtydty0+C.get(4,3)*sF.dtydq0);
cNext[3][3] = sF.dtydq0 *(C.get(2,4)*sF.dtydtx0+C.get(3,4)*sF.dtydty0+C.get(4,4)*sF.dtydq0)
+ sF.dtydtx0*(C.get(2,2)*sF.dtydtx0+C.get(3,2)*sF.dtydty0+C.get(4,2)*sF.dtydq0)
+ sF.dtydty0*(C.get(2,3)*sF.dtydtx0+C.get(3,3)*sF.dtydty0+C.get(4,3)*sF.dtydq0);

Is this snippet really correct relative to the previous 3 indices? Those do C.get(i,0/1).

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