Since AA=A RT=-R (A,Rv)A s=vR'Ays'=-v RAus"=-v Bus, (A,RAs”=Rs (A,R）Ay=-B, The constraint equation can be obtained as - 4)-小(R4)A-(R4)As” -vBv h n tev      ij j T j j i T i i P i T T i P i i T i i P ij j T i P ij j T i P ij j T T i P j j T i i T j ij T i A Rv A v v B v A Rv A s v R s A Rv A s v R A s v RA s v B s A A A R R                         Since  ,   The constraint equation can be obtained as                  0                                                                i ij j P i i Q i i j i i i j j i ij j P i i i i Q i i j i i i j j i ij j P i i i Q i i j j j i ij j t i j i i v B v v B r r v B s v R s v B v RAv r r RAv A s RAv A s v B v RAv r A s r A s v B v RAv h T T T T T T T T T T T T T T ( , ) 