From e1fe6009c5de7ef3fa4a579576e945008fcc1b68 Mon Sep 17 00:00:00 2001
From: "yu.dongliang" <18588496441@163.com>
Date: Tue, 5 Sep 2023 21:32:03 +0800
Subject: [PATCH] __ses_ui_r()

---
 ses_core.h    | 6 ++++++
 ses_step_va.c | 8 ++++++++
 2 files changed, 14 insertions(+)

diff --git a/ses_core.h b/ses_core.h
index 62c16d1..5e1d709 100644
--- a/ses_core.h
+++ b/ses_core.h
@@ -36,6 +36,12 @@ struct ses_path_s
 	double         r;
 	double         jr;
 
+	double         v;
+	double         jv;
+
+	double         a;
+	double         ja;
+
 	int            type;
 	int            index;
 };
diff --git a/ses_step_va.c b/ses_step_va.c
index 8d4577d..29b95d5 100644
--- a/ses_step_va.c
+++ b/ses_step_va.c
@@ -10,6 +10,14 @@ static inline void __ses_ur_i(double* a, double* ja, double v, double jv, double
 	*ja = (jv * r -  v * jr) / R;
 }
 
+static inline void __ses_ui_r(double* r, double* jr, double v, double jv, double a, double ja)
+{
+	double R  = a * a + ja * ja;
+
+	*r  = ( v * a + jv * ja) / R;
+	*jr = (jv * a -  v * ja) / R;
+}
+
 static inline void __ses_ir_u(double* v, double* jv, double a, double ja, double r, double jr)
 {
 	*v  =  a * r  - ja * jr;
-- 
2.25.1