pan><span class="op">[</span>,<span class="fl">1</span><span class="op">]</span> <span class="op">*</span> <span class="va">Q</span><span class="op">[</span><span class="va">ii</span>,<span class="fl">1</span><span class="op">]</span> <span class="op">-</span> <span class="va">b</span><span class="op">[</span><span class="va">ii</span>,<span class="fl">1</span><span class="op">]</span> <span class="op">+</span>  <span class="va">theta</span><span class="op">[</span>,<span class="fl">2</span><span class="op"