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- //Create StS_inv
- double det = StS.get(0,0)*(StS.get(2,2)*StS.get(1,1)-StS.get(2,1)*StS.get(1,2)) -
- StS.get(1,0)*(StS.get(2,2)*StS.get(0,1)-StS.get(2,1)*StS.get(0,2)) +
- StS.get(2,0)*(StS.get(1,2)*StS.get(0,1)-StS.get(1,1)*StS.get(0,2));
- StS_inv.set(0,0,(StS.get(2,2)*StS.get(1,1)-StS.get(2,1)*StS.get(1,2))/det);
- StS_inv.set(0,1,(StS.get(2,2)*StS.get(0,1)-StS.get(2,1)*StS.get(0,2))*-1/det);
- StS_inv.set(0,2,(StS.get(1,2)*StS.get(0,1)-StS.get(1,1)*StS.get(0,2))/det);
- StS_inv.set(1,0,(StS.get(2,2)*StS.get(1,0)-StS.get(2,0)*StS.get(1,2))*-1/det);
- StS_inv.set(1,1,(StS.get(2,2)*StS.get(0,0)-StS.get(2,0)*StS.get(0,2))/det);
- StS_inv.set(1,2,(StS.get(1,2)*StS.get(0,0)-StS.get(1,0)*StS.get(0,2))*-1/det);
- StS_inv.set(2,0,(StS.get(2,1)*StS.get(1,0)-StS.get(2,0)*StS.get(1,1))/det);
- StS_inv.set(2,1,(StS.get(2,1)*StS.get(0,0)-StS.get(2,0)*StS.get(0,1))*-1/det);
- StS_inv.set(2,2,(StS.get(1,1)*StS.get(0,0)-StS.get(1,0)*StS.get(0,1))/det);
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