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Commit c6163b37 authored by POLLIEN Baptiste's avatar POLLIEN Baptiste
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Coq proof lemma

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sw/airborne/.frama-c/wp/script/float_rmat_of_eulers_321_ensures.json
View file @ c6163b37
[ { "prover": "Z3:4.8.6:noBV", "verdict": "timeout", "time": 10. },
{ "prover": "Z3:4.8.6:counterexamples", "verdict": "timeout", "time": 10. },
{ "prover": "Z3:4.8.6", "verdict": "timeout", "time": 10. },
{ "prover": "CVC4:1.9-prerelease:strings+counterexamples",
"verdict": "timeout", "time": 10. },
{ "prover": "Alt-Ergo:2.3.3", "verdict": "timeout", "time": 10. } ]
[ { "prover": "script", "verdict": "timeout", "time": 10., "steps": 2332912 },
{ "header": "Definition", "tactic": "Wp.unfold", "params": {},
"select": { "select": "inside-goal", "occur": 0,
"target": "let a_0 = (shiftfield_F9_FloatRMat_m rm_0) in\nlet r_0 = Mf32_9[(shiftfield_F10_FloatEulers_psi e_1)] in\nlet r_1 = (\\cos r_0) in\nlet r_2 = Mf32_9[(shiftfield_F10_FloatEulers_theta e_1)] in\nlet r_3 = (\\cos r_2) in\nlet r_4 = (\\sin r_0) in\nlet r_5 = (\\sin r_2) in\nlet r_6 = Mf32_9[(shiftfield_F10_FloatEulers_phi e_1)] in\nlet r_7 = (\\cos r_6) in\nlet r_8 = (\\sin r_6) in\n(L_l_RMat_of_FloatRMat\n Mf32_9[(shift_float32 a_0 0)->r_1*r_3][(shift_float32 a_0 1)->r_4*r_3]\n [(shift_float32 a_0 2)->-r_5][(shift_float32 a_0 3)\n ->(r_8*r_5*r_1)-(r_4*r_7)][(shift_float32 a_0 4)\n ->(r_7*r_1)+(r_8*r_4*r_5)][(shift_float32 a_0 5)->r_8*r_3]\n [(shift_float32 a_0 6)->(r_8*r_4)+(r_5*r_7*r_1)][(shift_float32 a_0 7)\n ->(r_4*r_5*r_7)-(r_8*r_1)][(shift_float32 a_0 8)->r_7*r_3] rm_0)",
"pattern": "L_l_RMat_of_FloatRMat[=]$rm[=]shift_float32" },
"children": { "Unfold 'L_l_RMat_of_FloatRMat'": [ { "header": "Definition",
"tactic": "Wp.unfold",
"params": {},
"select": { "select": "clause-goal",
"target": "let r_0 = Mf32_9[(shiftfield_F10_FloatEulers_psi e_1)] in\nlet r_1 = (\\cos r_0) in\nlet r_2 = Mf32_9[(shiftfield_F10_FloatEulers_theta e_1)] in\nlet r_3 = (\\cos r_2) in\nlet r_4 = (\\sin r_0) in\nlet r_5 = (\\sin r_2) in\nlet r_6 = Mf32_9[(shiftfield_F10_FloatEulers_phi e_1)] in\nlet r_7 = (\\cos r_6) in\nlet r_8 = (\\sin r_6) in\n(P_rotation_matrix\n {\n F12_RealRMat_s_a00 = r_1*r_3 ;\n F12_RealRMat_s_a01 = r_4*r_3 ;\n F12_RealRMat_s_a02 = -r_5 ;\n F12_RealRMat_s_a10 = (r_8*r_5*r_1)-(r_4*r_7) ;\n F12_RealRMat_s_a11 = (r_7*r_1)+(r_8*r_4*r_5) ;\n F12_RealRMat_s_a12 = r_8*r_3 ;\n F12_RealRMat_s_a20 = (r_8*r_4)+(r_5*r_7*r_1) ;\n F12_RealRMat_s_a21 = (r_4*r_5*r_7)-(r_8*r_1) ;\n F12_RealRMat_s_a22 = r_7*r_3\n })",
"pattern": "P_rotation_matrix{RealRMat_s}**.-1" },
"children": { "Unfold 'P_rotation_matrix'":
[ { "header": "Definition",
"tactic": "Wp.unfold",
"params": {},
"select":
{ "select": "inside-goal",
"occur": 0,
"target": "let r_0 = Mf32_9[(shiftfield_F10_FloatEulers_psi e_1)] in\nlet r_1 = (\\cos r_0) in\nlet r_2 = Mf32_9[(shiftfield_F10_FloatEulers_theta e_1)] in\nlet r_3 = (\\cos r_2) in\nlet r_4 = (\\sin r_0) in\nlet r_5 = (\\sin r_2) in\nlet r_6 = Mf32_9[(shiftfield_F10_FloatEulers_phi e_1)] in\nlet r_7 = (\\cos r_6) in\nlet r_8 = (\\sin r_6) in\n(L_transpose\n {\n F12_RealRMat_s_a00 = r_1*r_3 ;\n F12_RealRMat_s_a01 = r_4*r_3 ;\n F12_RealRMat_s_a02 = -r_5 ;\n F12_RealRMat_s_a10 = (r_8*r_5*r_1)-(r_4*r_7) ;\n F12_RealRMat_s_a11 = (r_7*r_1)+(r_8*r_4*r_5) ;\n F12_RealRMat_s_a12 = r_8*r_3 ;\n F12_RealRMat_s_a20 = (r_8*r_4)+(r_5*r_7*r_1) ;\n F12_RealRMat_s_a21 = (r_4*r_5*r_7)-(r_8*r_1) ;\n F12_RealRMat_s_a22 = r_7*r_3\n })",
"pattern": "L_transpose{RealRMat_s}**.-1++*+" },
"children":
{ "Unfold 'L_transpose'":
[ { "header": "Definition",
"tactic": "Wp.unfold",
"params": {},
"select":
{ "select": "inside-goal",
"occur": 0,
"target": "L_id_rmat",
"pattern": "L_id_rmat" },
"children":
{ "Unfold 'L_id_rmat'":
[ { "header": "Definition",
"tactic": "Wp.unfold",
"params": {},
"select":
{ "select": "inside-goal",
"occur": 0,
"target": "let r_0 = Mf32_9[(shiftfield_F10_FloatEulers_psi e_1)] in\nlet r_1 = (\\cos r_0) in\nlet r_2 = Mf32_9[(shiftfield_F10_FloatEulers_theta e_1)] in\nlet r_3 = (\\cos r_2) in\nlet r_4 = (r_1*r_3) in\nlet r_5 = (\\sin r_0) in\nlet r_6 = (r_5*r_3) in\nlet r_7 = (\\sin r_2) in\nlet r_8 = (-r_7) in\nlet r_9 = Mf32_9[(shiftfield_F10_FloatEulers_phi e_1)] in\nlet r_10 = (\\cos r_9) in\nlet r_11 = (\\sin r_9) in\nlet r_12 = ((r_11*r_7*r_1)-(r_5*r_10)) in\nlet r_13 = ((r_10*r_1)+(r_11*r_5*r_7)) in\nlet r_14 = (r_11*r_3) in\nlet r_15 = ((r_11*r_5)+(r_7*r_10*r_1)) in\nlet r_16 = ((r_5*r_7*r_10)-(r_11*r_1)) in\nlet r_17 = (r_10*r_3) in\n(L_mult_RealRMat\n {\n F12_RealRMat_s_a00 = r_4 ;\n F12_RealRMat_s_a01 = r_6 ;\n F12_RealRMat_s_a02 = r_8 ;\n F12_RealRMat_s_a10 = r_12 ;\n F12_RealRMat_s_a11 = r_13 ;\n F12_RealRMat_s_a12 = r_14 ;\n F12_RealRMat_s_a20 = r_15 ;\n F12_RealRMat_s_a21 = r_16 ;\n F12_RealRMat_s_a22 = r_17\n }\n {\n F12_RealRMat_s_a00 = r_4 ;\n F12_RealRMat_s_a01 = r_12 ;\n F12_RealRMat_s_a02 = r_15 ;\n F12_RealRMat_s_a10 = r_6 ;\n F12_RealRMat_s_a11 = r_13 ;\n F12_RealRMat_s_a12 = r_16 ;\n F12_RealRMat_s_a20 = r_8 ;\n F12_RealRMat_s_a21 = r_14 ;\n F12_RealRMat_s_a22 = r_17\n })",
"pattern": "L_mult_RealRMat{RealRMat_s}{RealRMat_s}" },
"children":
{ "Unfold 'L_mult_RealRMat'":
[ { "header": "Definition",
"tactic": "Wp.unfold",
"params": {},
"select":
{ "select": "clause-goal",
"target": "let r_0 = Mf32_9[(shiftfield_F10_FloatEulers_theta e_1)] in\nlet r_1 = (\\sin r_0) in\nlet r_2 = Mf32_9[(shiftfield_F10_FloatEulers_psi e_1)] in\nlet r_3 = (\\sin r_2) in\nlet r_4 = (\\cos r_0) in\nlet r_5 = (\\cos r_2) in\nlet r_6 = Mf32_9[(shiftfield_F10_FloatEulers_phi e_1)] in\nlet r_7 = (\\sin r_6) in\nlet r_8 = (\\cos r_6) in\nlet r_9 = ((r_8*r_5)+(r_7*r_3*r_1)) in\nlet r_10 = ((r_7*r_1*r_5)-(r_3*r_8)) in\nlet r_11 = ((-1*r_7*r_1*r_4)+(r_3*r_4*r_9)+(r_5*r_4*r_10)) in\nlet r_12 = ((r_3*r_1*r_8)-(r_7*r_5)) in\nlet r_13 = ((r_7*r_3)+(r_1*r_8*r_5)) in\nlet r_14 = ((-1*r_1*r_8*r_4)+(r_3*r_4*r_12)+(r_5*r_4*r_13)) in\nlet r_15 = ((r_7*r_8*r_4*r_4)+(r_12*r_9)+(r_10*r_13)) in\n(EqS12_RealRMat_s\n {\n F12_RealRMat_s_a00 = (r_1*r_1)+(r_3*r_3*r_4*r_4)+(r_5*r_5*r_4*r_4) ;\n F12_RealRMat_s_a01 = r_11 ;\n F12_RealRMat_s_a02 = r_14 ;\n F12_RealRMat_s_a10 = r_11 ;\n F12_RealRMat_s_a11 = (r_7*r_7*r_4*r_4)+(r_10*r_10)+(r_9*r_9) ;\n F12_RealRMat_s_a12 = r_15 ;\n F12_RealRMat_s_a20 = r_14 ;\n F12_RealRMat_s_a21 = r_15 ;\n F12_RealRMat_s_a22 = (r_8*r_8*r_4*r_4)+(r_12*r_12)+(r_13*r_13)\n }\n {\n F12_RealRMat_s_a00 = 1 ;\n F12_RealRMat_s_a01 = 0 ;\n F12_RealRMat_s_a02 = 0 ;\n F12_RealRMat_s_a10 = 0 ;\n F12_RealRMat_s_a11 = 1 ;\n F12_RealRMat_s_a12 = 0 ;\n F12_RealRMat_s_a20 = 0 ;\n F12_RealRMat_s_a21 = 0 ;\n F12_RealRMat_s_a22 = 1\n })",
"pattern": "EqS12_RealRMat_s{RealRMat_s}{RealRMat_s}" },
"children":
{ "Unfold 'EqS12_RealRMat_s'":
[ { "header": "Split",
"tactic": "Wp.split",
"params": {},
"select":
{ "select": "clause-goal",
"target": "let r_0 = Mf32_9[(shiftfield_F10_FloatEulers_theta e_1)] in\nlet r_1 = (\\sin r_0) in\nlet r_2 = Mf32_9[(shiftfield_F10_FloatEulers_psi e_1)] in\nlet r_3 = (\\sin r_2) in\nlet r_4 = (\\cos r_0) in\nlet r_5 = (\\cos r_2) in\nlet r_6 = Mf32_9[(shiftfield_F10_FloatEulers_phi e_1)] in\nlet r_7 = (\\sin r_6) in\nlet r_8 = (\\cos r_6) in\nlet r_9 = ((r_7*r_1*r_5)-(r_3*r_8)) in\nlet r_10 = ((r_8*r_5)+(r_7*r_3*r_1)) in\nlet r_11 = ((r_3*r_1*r_8)-(r_7*r_5)) in\nlet r_12 = ((r_7*r_3)+(r_1*r_8*r_5)) in\n(((r_1*r_1)+(r_3*r_3*r_4*r_4)+(r_5*r_5*r_4*r_4))=1)\n/\\ (((r_7*r_7*r_4*r_4)+(r_9*r_9)+(r_10*r_10))=1)\n/\\ (((r_7*r_8*r_4*r_4)+(r_11*r_10)+(r_9*r_12))=0)\n/\\ (((r_8*r_8*r_4*r_4)+(r_11*r_11)+(r_12*r_12))=1)\n/\\ (((-1*r_7*r_1*r_4)+(r_3*r_4*r_10)+(r_5*r_4*r_9))=0)\n/\\ (((-1*r_1*r_8*r_4)+(r_3*r_4*r_11)+(r_5*r_4*r_12))=0)",
"pattern": "&======+1+1+0+1+0+0*************" },
"children":
{ "Goal 1/6":
[ { "prover": "Alt-Ergo:2.3.3",
"verdict": "valid",
"time": 0.5,
"steps": 102 } ],
"Goal 2/6":
[ { "prover": "Z3:4.8.6",
"verdict": "valid",
"time": 0.48,
"steps": 2332912 },
{ "prover": "CVC4:1.9-prerelease:strings+counterexamples",
"verdict": "timeout",
"time": 10. },
{ "prover": "Alt-Ergo:2.3.3",
"verdict": "timeout",
"time": 10. } ],
"Goal 3/6":
[ { "prover": "CVC4:1.9-prerelease:strings+counterexamples",
"verdict": "timeout",
"time": 10. },
{ "prover": "Alt-Ergo:2.3.3",
"verdict": "valid",
"time": 1.1626,
"steps": 102 } ],
"Goal 4/6":
[ { "prover": "Z3:4.8.6:noBV",
"verdict": "timeout",
"time": 10. },
{ "prover": "Z3:4.8.6:counterexamples",
"verdict": "timeout",
"time": 10. },
{ "prover": "Z3:4.8.6",
"verdict": "timeout",
"time": 10. },
{ "prover": "CVC4:1.9-prerelease:strings+counterexamples",
"verdict": "timeout",
"time": 10. },
{ "prover": "Alt-Ergo:2.3.3",
"verdict": "timeout",
"time": 10. } ],
"Goal 5/6":
[ { "prover": "Alt-Ergo:2.3.3",
"verdict": "valid",
"time": 0.6993,
"steps": 102 } ],
"Goal 6/6":
[ { "prover": "Alt-Ergo:2.3.3",
"verdict": "valid",
"time": 0.7479,
"steps": 102 } ] } } ] } } ] } } ] } } ] } } ] } } ] } } ]
sw/airborne/.frama-c/wp/script/lemma_float_rmat_of_eulers_321.json 0 → 100644
View file @ c6163b37
[ { "prover": "Z3:4.8.6:noBV", "verdict": "timeout", "time": 10. },
{ "prover": "Z3:4.8.6:counterexamples", "verdict": "timeout", "time": 10. },
{ "prover": "Z3:4.8.6", "verdict": "timeout", "time": 10. },
{ "prover": "CVC4:1.9-prerelease:strings+counterexamples",
"verdict": "timeout", "time": 10. },
{ "prover": "Alt-Ergo:2.3.3", "verdict": "timeout", "time": 10. } ]
sw/airborne/math/libc_frama_c.h 0 → 100644
View file @ c6163b37
#ifndef LIBC_FRAMA_C_H
#define LIBC_FRAMA_C_H
#ifdef __cplusplus
extern "C" {
#endif
#include <limits.h>
#include <stdlib.h>
#define PI2 1.5707963
/****************************************************
* Redefinition of the contract of libC functions
* **************************************************/
/*@ requires finite_arg: \is_finite(x);
assigns \result \from x;
ensures finite_result: \is_finite(\result);
ensures result_domain: -1. <= \result <= 1.;
ensures result_value: \result == \cos(x);
*/
extern float cosf(float x);
/*@ requires finite_arg: \is_finite(x);
assigns \result \from x;
ensures finite_result: \is_finite(\result);
ensures result_domain: -1. <= \result <= 1.;
ensures result_value: \result == \sin(x);
*/
extern float sinf(float x);
/*@ requires finite_args: \is_finite(x) && \is_finite(y);
requires finite_logic_result: \is_finite(atan2f(x, y));
assigns \result \from x, y;
ensures finite_result: \is_finite(\result);
ensures -PI2 <= \result <= PI2;
*/
extern float atan2f(float y, float x);
/*@ requires in_domain: \is_finite(x) && \abs(x) <= 1;
assigns \result \from x;
ensures finite_result: \is_finite(\result);
ensures -PI2 <= \result <= PI2;
*/
extern float asinf(float x);
/*
typedef struct __fc_lldiv_t {
long long int quot; / Quotient. /
long long int rem; / Remainder. /
} lldiv_t;
*/
/*@ assigns \result \from numer, denom;
ensures \result.quot == numer / denom;
ensures \result.rem == numer % denom; */
extern lldiv_t lldiv(long long int numer, long long int denom);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif
\ No newline at end of file
sw/airborne/math/pprz_algebra_float.c
View file @ c6163b37
......@@ -189,12 +189,65 @@ void float_rmat_of_axis_angle(struct FloatRMat *rm, struct FloatVect3 *uv, float
RMAT_ELMT(*rm, 2, 2) = uz2 + (1. - uz2) * can;
}
/*@
lemma cos_add:
\forall real a, b;
\cos(a + b) == \cos(a) * \cos(b) - \sin(a)* \sin(b);
*/
/*@
lemma cos_sub:
\forall real a, b;
\cos(a - b) == \cos(a) * \cos(b) + \sin(a)* \sin(b);
*/
/*@
lemma sin_add:
\forall real a, b;
\sin(a + b) == \sin(a) * \cos(b) + \cos(a) * \sin(b);
*/
/*@
lemma sin_sub:
\forall real a, b;
\sin(a - b) == \sin(a) * \cos(b) - \cos(a)* \sin(b);
*/
/*@
lemma cos_sin_square:
\forall real a;
SQR(\cos(a)) + SQR(\sin(a)) == 1.0;
*/
/*@
lemma remarkable_identity_1:
\forall real a, b;
SQR(a + b) == SQR(a) + 2 * a * b + SQR(b);
lemma remarkable_identity_2:
\forall real a, b;
SQR(a - b) == SQR(a) - 2 * a * b + SQR(b);
lemma factorisation:
\forall real a, b, c;
a * b + a * c == a * (b + c);
*/
/*@
lemma float_rmat_of_eulers_321:
\forall real a, b, c;
SQR(\sin(a)) * SQR(\cos(b))
+ SQR(\sin(a) * \sin(b) * \cos(c) - \sin(c) * \cos(a))
+ SQR(\cos(c) * \cos(a) + \sin(a) * \sin(b) * \sin(c)) == 1.0;
*/
/* C n->b rotation matrix */
void float_rmat_of_eulers_321(struct FloatRMat *rm, struct FloatEulers *e)
{
const float sphi = sinf(e->phi);
//@ assert sphi == \sin(e->phi);
const float cphi = cosf(e->phi);
//@assert cphi == \cos(e->phi);
const float stheta = sinf(e->theta);
const float ctheta = cosf(e->theta);
const float spsi = sinf(e->psi);
......@@ -617,6 +670,18 @@ void float_quat_of_rmat(struct FloatQuat *q, struct FloatRMat *rm)
q->qx = (RMAT_ELMT(*rm, 1, 2) - RMAT_ELMT(*rm, 2, 1)) / four_qi;
q->qy = (RMAT_ELMT(*rm, 2, 0) - RMAT_ELMT(*rm, 0, 2)) / four_qi;
q->qz = (RMAT_ELMT(*rm, 0, 1) - RMAT_ELMT(*rm, 1, 0)) / four_qi;
//@ assert q->qi * q->qi == 0.5* 0.5 * (1 + tr);
//@ assert \at(rm->m[0], Pre) == rm->m[0];
//@ assert \at(rm->m[1], Pre) == rm->m[1];
//@ assert \at(rm->m[2], Pre) == rm->m[2];
//@ assert \at(rm->m[3], Pre) == rm->m[3];
//@ assert \at(rm->m[4], Pre) == rm->m[4];
//@ assert \at(rm->m[5], Pre) == rm->m[5];
//@ assert \at(rm->m[6], Pre) == rm->m[6];
//@ assert \at(rm->m[7], Pre) == rm->m[7];
//@ assert \at(rm->m[8], Pre) == rm->m[8];
//@ assert SQR(rm->m[0]) + SQR(rm->m[1]) + SQR(rm->m[2]) == 1;
//@ assert unary_quaterion(q);
/*printf("tr > 0\n");*/
} else {
if (RMAT_ELMT(*rm, 0, 0) > RMAT_ELMT(*rm, 1, 1) &&
......
sw/airborne/math/pprz_algebra_float.h
View file @ c6163b37
......@@ -586,6 +586,7 @@ extern void float_rmat_of_axis_angle(struct FloatRMat *rm, struct FloatVect3 *uv
/*@
requires valid_FloatRMat(rm);
requires rvalid_FloatEulers(e);
ensures rotation_matrix(l_RMat_of_FloatRMat(rm));
assigns *rm;
*/
extern void float_rmat_of_eulers_321(struct FloatRMat *rm, struct FloatEulers *e);
......@@ -883,6 +884,7 @@ extern void float_quat_of_orientation_vect(struct FloatQuat *q, const struct Flo
requires rvalid_FloatRMat(rm);
requires rotation_matrix(l_RMat_of_FloatRMat(rm));
requires \separated(rm, q);
ensures unary_quaterion(q);
assigns *q;
behavior trace_pos:
......
sw/airborne/math/pprz_algebra_float_convert_rmat_frama_c.h
View file @ c6163b37
......@@ -16,7 +16,7 @@ extern "C" {
* RealRMat definition
* *****************************/
#define SQR(a) (a*a)
#define SQR(a) ((a)*(a))
/*@ ghost
struct RealRMat_s {float a00; float a01; float a02;
......@@ -199,8 +199,6 @@ logic RealRMat l_RMat_of_FloatQuat_bis_2(struct FloatQuat *q) =
* RealQuat definition
* *****************************/
#define SQR(a) (a*a)
/*@ ghost
struct RealQuat_s {float qi;
float qx;
......
sw/airborne/math/pprz_algebra_float_frama_c.h
View file @ c6163b37
......@@ -5,6 +5,8 @@
extern "C" {
#endif
#include "libc_frama_c.h"
/*******************************
* INTERVAL
* *****************************/
......
sw/airborne/math/pprz_algebra_int_frama_c.h
View file @ c6163b37
#ifndef PPRZ_ALGEBRA_INT_FRAM_C_H
#define PPRZ_ALGEBRA_INT_FRAM_C_H
#ifndef PPRZ_ALGEBRA_INT_FRAMA_C_H
#define PPRZ_ALGEBRA_INT_FRAMA_C_H
#ifdef __cplusplus
extern "C" {
......@@ -7,6 +7,8 @@ extern "C" {
#include <limits.h>
#include "libc_frama_c.h"
#define SQRT_INT_MAX 46340
// 46340 = sqrt(INT_MAX);
......@@ -259,39 +261,6 @@ extern "C" {
&& valid_size(c);
*/
/*******************************
* LIBC
* *****************************/
#define PI2 1.5707963
/*@ requires finite_args: \is_finite(x) && \is_finite(y);
requires finite_logic_result: \is_finite(atan2f(x, y));
assigns \result \from x, y;
ensures finite_result: \is_finite(\result);
ensures -PI2 <= \result <= PI2;
*/
extern float atan2f(float y, float x);
/*@ requires in_domain: \is_finite(x) && \abs(x) <= 1;
assigns \result \from x;
ensures finite_result: \is_finite(\result);
ensures -PI2 <= \result <= PI2;
*/
extern float asinf(float x);
/*
typedef struct __fc_lldiv_t {
long long int quot; / Quotient. /
long long int rem; / Remainder. /
} lldiv_t;
*/
/*@ assigns \result \from numer, denom;
ensures \result.quot == numer / denom;
ensures \result.rem == numer % denom; */
extern lldiv_t lldiv(long long int numer, long long int denom);
/*******************************
* LEMMA for MAT_MUL
* *****************************/
......
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