mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-22 00:23:43 +08:00
patch
This commit is contained in:
firestar5683
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_2165520225426293203) {
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out_2165520225426293203[0] = delta_x[0] + nom_x[0];
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out_2165520225426293203[1] = delta_x[1] + nom_x[1];
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out_2165520225426293203[2] = delta_x[2] + nom_x[2];
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out_2165520225426293203[3] = delta_x[3] + nom_x[3];
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out_2165520225426293203[4] = delta_x[4] + nom_x[4];
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out_2165520225426293203[5] = delta_x[5] + nom_x[5];
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out_2165520225426293203[6] = delta_x[6] + nom_x[6];
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out_2165520225426293203[7] = delta_x[7] + nom_x[7];
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out_2165520225426293203[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_7404715378150782082) {
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out_7404715378150782082[0] = delta_x[0] + nom_x[0];
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out_7404715378150782082[1] = delta_x[1] + nom_x[1];
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out_7404715378150782082[2] = delta_x[2] + nom_x[2];
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out_7404715378150782082[3] = delta_x[3] + nom_x[3];
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out_7404715378150782082[4] = delta_x[4] + nom_x[4];
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out_7404715378150782082[5] = delta_x[5] + nom_x[5];
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out_7404715378150782082[6] = delta_x[6] + nom_x[6];
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out_7404715378150782082[7] = delta_x[7] + nom_x[7];
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out_7404715378150782082[8] = delta_x[8] + nom_x[8];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_48394968560250279) {
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out_48394968560250279[0] = -nom_x[0] + true_x[0];
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out_48394968560250279[1] = -nom_x[1] + true_x[1];
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out_48394968560250279[2] = -nom_x[2] + true_x[2];
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out_48394968560250279[3] = -nom_x[3] + true_x[3];
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out_48394968560250279[4] = -nom_x[4] + true_x[4];
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out_48394968560250279[5] = -nom_x[5] + true_x[5];
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out_48394968560250279[6] = -nom_x[6] + true_x[6];
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out_48394968560250279[7] = -nom_x[7] + true_x[7];
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out_48394968560250279[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_1067581222048175770) {
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out_1067581222048175770[0] = -nom_x[0] + true_x[0];
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out_1067581222048175770[1] = -nom_x[1] + true_x[1];
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out_1067581222048175770[2] = -nom_x[2] + true_x[2];
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out_1067581222048175770[3] = -nom_x[3] + true_x[3];
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out_1067581222048175770[4] = -nom_x[4] + true_x[4];
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out_1067581222048175770[5] = -nom_x[5] + true_x[5];
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out_1067581222048175770[6] = -nom_x[6] + true_x[6];
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out_1067581222048175770[7] = -nom_x[7] + true_x[7];
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out_1067581222048175770[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_8198135828365669542) {
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out_8198135828365669542[0] = 1.0;
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out_8198135828365669542[1] = 0.0;
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out_8198135828365669542[2] = 0.0;
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out_8198135828365669542[3] = 0.0;
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out_8198135828365669542[4] = 0.0;
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out_8198135828365669542[5] = 0.0;
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out_8198135828365669542[6] = 0.0;
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out_8198135828365669542[7] = 0.0;
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out_8198135828365669542[8] = 0.0;
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out_8198135828365669542[9] = 0.0;
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out_8198135828365669542[10] = 1.0;
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out_8198135828365669542[11] = 0.0;
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out_8198135828365669542[12] = 0.0;
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out_8198135828365669542[13] = 0.0;
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out_8198135828365669542[14] = 0.0;
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out_8198135828365669542[15] = 0.0;
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out_8198135828365669542[16] = 0.0;
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out_8198135828365669542[17] = 0.0;
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out_8198135828365669542[18] = 0.0;
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out_8198135828365669542[19] = 0.0;
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out_8198135828365669542[20] = 1.0;
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out_8198135828365669542[21] = 0.0;
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out_8198135828365669542[22] = 0.0;
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out_8198135828365669542[23] = 0.0;
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out_8198135828365669542[24] = 0.0;
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out_8198135828365669542[25] = 0.0;
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out_8198135828365669542[26] = 0.0;
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out_8198135828365669542[27] = 0.0;
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out_8198135828365669542[28] = 0.0;
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out_8198135828365669542[29] = 0.0;
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out_8198135828365669542[30] = 1.0;
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out_8198135828365669542[31] = 0.0;
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out_8198135828365669542[32] = 0.0;
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out_8198135828365669542[33] = 0.0;
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out_8198135828365669542[34] = 0.0;
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out_8198135828365669542[35] = 0.0;
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out_8198135828365669542[36] = 0.0;
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out_8198135828365669542[37] = 0.0;
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out_8198135828365669542[38] = 0.0;
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out_8198135828365669542[39] = 0.0;
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out_8198135828365669542[40] = 1.0;
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out_8198135828365669542[41] = 0.0;
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out_8198135828365669542[42] = 0.0;
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out_8198135828365669542[43] = 0.0;
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out_8198135828365669542[44] = 0.0;
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out_8198135828365669542[45] = 0.0;
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out_8198135828365669542[46] = 0.0;
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out_8198135828365669542[47] = 0.0;
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out_8198135828365669542[48] = 0.0;
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out_8198135828365669542[49] = 0.0;
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out_8198135828365669542[50] = 1.0;
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out_8198135828365669542[51] = 0.0;
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out_8198135828365669542[52] = 0.0;
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out_8198135828365669542[53] = 0.0;
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out_8198135828365669542[54] = 0.0;
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out_8198135828365669542[55] = 0.0;
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out_8198135828365669542[56] = 0.0;
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out_8198135828365669542[57] = 0.0;
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out_8198135828365669542[58] = 0.0;
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out_8198135828365669542[59] = 0.0;
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out_8198135828365669542[60] = 1.0;
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out_8198135828365669542[61] = 0.0;
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out_8198135828365669542[62] = 0.0;
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out_8198135828365669542[63] = 0.0;
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out_8198135828365669542[64] = 0.0;
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out_8198135828365669542[65] = 0.0;
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out_8198135828365669542[66] = 0.0;
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out_8198135828365669542[67] = 0.0;
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out_8198135828365669542[68] = 0.0;
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out_8198135828365669542[69] = 0.0;
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out_8198135828365669542[70] = 1.0;
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out_8198135828365669542[71] = 0.0;
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out_8198135828365669542[72] = 0.0;
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out_8198135828365669542[73] = 0.0;
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out_8198135828365669542[74] = 0.0;
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out_8198135828365669542[75] = 0.0;
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out_8198135828365669542[76] = 0.0;
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out_8198135828365669542[77] = 0.0;
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out_8198135828365669542[78] = 0.0;
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out_8198135828365669542[79] = 0.0;
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out_8198135828365669542[80] = 1.0;
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void H_mod_fun(double *state, double *out_7894099950222537712) {
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out_7894099950222537712[0] = 1.0;
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out_7894099950222537712[1] = 0.0;
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out_7894099950222537712[2] = 0.0;
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out_7894099950222537712[3] = 0.0;
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out_7894099950222537712[4] = 0.0;
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out_7894099950222537712[5] = 0.0;
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out_7894099950222537712[6] = 0.0;
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out_7894099950222537712[7] = 0.0;
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out_7894099950222537712[8] = 0.0;
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out_7894099950222537712[9] = 0.0;
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out_7894099950222537712[10] = 1.0;
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out_7894099950222537712[11] = 0.0;
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out_7894099950222537712[12] = 0.0;
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out_7894099950222537712[13] = 0.0;
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out_7894099950222537712[14] = 0.0;
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out_7894099950222537712[15] = 0.0;
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out_7894099950222537712[16] = 0.0;
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out_7894099950222537712[17] = 0.0;
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out_7894099950222537712[18] = 0.0;
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out_7894099950222537712[19] = 0.0;
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out_7894099950222537712[20] = 1.0;
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out_7894099950222537712[21] = 0.0;
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out_7894099950222537712[22] = 0.0;
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out_7894099950222537712[23] = 0.0;
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out_7894099950222537712[24] = 0.0;
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out_7894099950222537712[25] = 0.0;
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out_7894099950222537712[26] = 0.0;
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out_7894099950222537712[27] = 0.0;
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out_7894099950222537712[28] = 0.0;
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out_7894099950222537712[29] = 0.0;
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out_7894099950222537712[30] = 1.0;
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out_7894099950222537712[31] = 0.0;
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out_7894099950222537712[32] = 0.0;
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out_7894099950222537712[33] = 0.0;
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out_7894099950222537712[34] = 0.0;
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out_7894099950222537712[35] = 0.0;
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out_7894099950222537712[36] = 0.0;
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out_7894099950222537712[37] = 0.0;
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out_7894099950222537712[38] = 0.0;
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out_7894099950222537712[39] = 0.0;
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out_7894099950222537712[40] = 1.0;
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out_7894099950222537712[41] = 0.0;
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out_7894099950222537712[42] = 0.0;
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out_7894099950222537712[43] = 0.0;
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out_7894099950222537712[44] = 0.0;
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out_7894099950222537712[45] = 0.0;
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out_7894099950222537712[46] = 0.0;
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out_7894099950222537712[47] = 0.0;
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out_7894099950222537712[48] = 0.0;
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out_7894099950222537712[49] = 0.0;
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out_7894099950222537712[50] = 1.0;
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out_7894099950222537712[51] = 0.0;
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out_7894099950222537712[52] = 0.0;
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out_7894099950222537712[53] = 0.0;
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out_7894099950222537712[54] = 0.0;
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out_7894099950222537712[55] = 0.0;
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out_7894099950222537712[56] = 0.0;
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out_7894099950222537712[57] = 0.0;
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out_7894099950222537712[58] = 0.0;
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out_7894099950222537712[59] = 0.0;
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out_7894099950222537712[60] = 1.0;
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out_7894099950222537712[61] = 0.0;
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out_7894099950222537712[62] = 0.0;
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out_7894099950222537712[63] = 0.0;
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out_7894099950222537712[64] = 0.0;
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out_7894099950222537712[65] = 0.0;
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out_7894099950222537712[66] = 0.0;
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out_7894099950222537712[67] = 0.0;
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out_7894099950222537712[68] = 0.0;
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out_7894099950222537712[69] = 0.0;
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out_7894099950222537712[70] = 1.0;
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out_7894099950222537712[71] = 0.0;
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out_7894099950222537712[72] = 0.0;
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out_7894099950222537712[73] = 0.0;
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out_7894099950222537712[74] = 0.0;
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out_7894099950222537712[75] = 0.0;
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out_7894099950222537712[76] = 0.0;
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out_7894099950222537712[77] = 0.0;
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out_7894099950222537712[78] = 0.0;
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out_7894099950222537712[79] = 0.0;
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out_7894099950222537712[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_5413666688161130858) {
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out_5413666688161130858[0] = state[0];
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out_5413666688161130858[1] = state[1];
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out_5413666688161130858[2] = state[2];
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out_5413666688161130858[3] = state[3];
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out_5413666688161130858[4] = state[4];
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out_5413666688161130858[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
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out_5413666688161130858[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
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out_5413666688161130858[7] = state[7];
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out_5413666688161130858[8] = state[8];
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void f_fun(double *state, double dt, double *out_18918990587173632) {
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out_18918990587173632[0] = state[0];
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out_18918990587173632[1] = state[1];
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out_18918990587173632[2] = state[2];
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out_18918990587173632[3] = state[3];
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out_18918990587173632[4] = state[4];
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out_18918990587173632[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
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out_18918990587173632[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
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out_18918990587173632[7] = state[7];
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out_18918990587173632[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_7314745635201977822) {
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out_7314745635201977822[0] = 1;
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out_7314745635201977822[1] = 0;
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out_7314745635201977822[2] = 0;
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out_7314745635201977822[3] = 0;
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out_7314745635201977822[4] = 0;
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out_7314745635201977822[5] = 0;
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out_7314745635201977822[6] = 0;
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out_7314745635201977822[7] = 0;
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out_7314745635201977822[8] = 0;
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out_7314745635201977822[9] = 0;
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out_7314745635201977822[10] = 1;
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out_7314745635201977822[11] = 0;
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out_7314745635201977822[12] = 0;
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out_7314745635201977822[13] = 0;
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out_7314745635201977822[14] = 0;
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out_7314745635201977822[15] = 0;
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out_7314745635201977822[16] = 0;
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out_7314745635201977822[17] = 0;
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out_7314745635201977822[18] = 0;
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out_7314745635201977822[19] = 0;
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out_7314745635201977822[20] = 1;
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out_7314745635201977822[21] = 0;
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out_7314745635201977822[22] = 0;
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out_7314745635201977822[23] = 0;
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out_7314745635201977822[24] = 0;
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out_7314745635201977822[25] = 0;
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out_7314745635201977822[26] = 0;
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out_7314745635201977822[27] = 0;
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out_7314745635201977822[28] = 0;
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out_7314745635201977822[29] = 0;
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out_7314745635201977822[30] = 1;
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||||
out_7314745635201977822[31] = 0;
|
||||
out_7314745635201977822[32] = 0;
|
||||
out_7314745635201977822[33] = 0;
|
||||
out_7314745635201977822[34] = 0;
|
||||
out_7314745635201977822[35] = 0;
|
||||
out_7314745635201977822[36] = 0;
|
||||
out_7314745635201977822[37] = 0;
|
||||
out_7314745635201977822[38] = 0;
|
||||
out_7314745635201977822[39] = 0;
|
||||
out_7314745635201977822[40] = 1;
|
||||
out_7314745635201977822[41] = 0;
|
||||
out_7314745635201977822[42] = 0;
|
||||
out_7314745635201977822[43] = 0;
|
||||
out_7314745635201977822[44] = 0;
|
||||
out_7314745635201977822[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_7314745635201977822[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_7314745635201977822[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7314745635201977822[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7314745635201977822[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_7314745635201977822[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_7314745635201977822[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_7314745635201977822[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7314745635201977822[53] = -9.8100000000000005*dt;
|
||||
out_7314745635201977822[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_7314745635201977822[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_7314745635201977822[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7314745635201977822[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7314745635201977822[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_7314745635201977822[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_7314745635201977822[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_7314745635201977822[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7314745635201977822[62] = 0;
|
||||
out_7314745635201977822[63] = 0;
|
||||
out_7314745635201977822[64] = 0;
|
||||
out_7314745635201977822[65] = 0;
|
||||
out_7314745635201977822[66] = 0;
|
||||
out_7314745635201977822[67] = 0;
|
||||
out_7314745635201977822[68] = 0;
|
||||
out_7314745635201977822[69] = 0;
|
||||
out_7314745635201977822[70] = 1;
|
||||
out_7314745635201977822[71] = 0;
|
||||
out_7314745635201977822[72] = 0;
|
||||
out_7314745635201977822[73] = 0;
|
||||
out_7314745635201977822[74] = 0;
|
||||
out_7314745635201977822[75] = 0;
|
||||
out_7314745635201977822[76] = 0;
|
||||
out_7314745635201977822[77] = 0;
|
||||
out_7314745635201977822[78] = 0;
|
||||
out_7314745635201977822[79] = 0;
|
||||
out_7314745635201977822[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_164532203047016632) {
|
||||
out_164532203047016632[0] = 1;
|
||||
out_164532203047016632[1] = 0;
|
||||
out_164532203047016632[2] = 0;
|
||||
out_164532203047016632[3] = 0;
|
||||
out_164532203047016632[4] = 0;
|
||||
out_164532203047016632[5] = 0;
|
||||
out_164532203047016632[6] = 0;
|
||||
out_164532203047016632[7] = 0;
|
||||
out_164532203047016632[8] = 0;
|
||||
out_164532203047016632[9] = 0;
|
||||
out_164532203047016632[10] = 1;
|
||||
out_164532203047016632[11] = 0;
|
||||
out_164532203047016632[12] = 0;
|
||||
out_164532203047016632[13] = 0;
|
||||
out_164532203047016632[14] = 0;
|
||||
out_164532203047016632[15] = 0;
|
||||
out_164532203047016632[16] = 0;
|
||||
out_164532203047016632[17] = 0;
|
||||
out_164532203047016632[18] = 0;
|
||||
out_164532203047016632[19] = 0;
|
||||
out_164532203047016632[20] = 1;
|
||||
out_164532203047016632[21] = 0;
|
||||
out_164532203047016632[22] = 0;
|
||||
out_164532203047016632[23] = 0;
|
||||
out_164532203047016632[24] = 0;
|
||||
out_164532203047016632[25] = 0;
|
||||
out_164532203047016632[26] = 0;
|
||||
out_164532203047016632[27] = 0;
|
||||
out_164532203047016632[28] = 0;
|
||||
out_164532203047016632[29] = 0;
|
||||
out_164532203047016632[30] = 1;
|
||||
out_164532203047016632[31] = 0;
|
||||
out_164532203047016632[32] = 0;
|
||||
out_164532203047016632[33] = 0;
|
||||
out_164532203047016632[34] = 0;
|
||||
out_164532203047016632[35] = 0;
|
||||
out_164532203047016632[36] = 0;
|
||||
out_164532203047016632[37] = 0;
|
||||
out_164532203047016632[38] = 0;
|
||||
out_164532203047016632[39] = 0;
|
||||
out_164532203047016632[40] = 1;
|
||||
out_164532203047016632[41] = 0;
|
||||
out_164532203047016632[42] = 0;
|
||||
out_164532203047016632[43] = 0;
|
||||
out_164532203047016632[44] = 0;
|
||||
out_164532203047016632[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_164532203047016632[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_164532203047016632[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_164532203047016632[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_164532203047016632[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_164532203047016632[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_164532203047016632[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_164532203047016632[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_164532203047016632[53] = -9.8100000000000005*dt;
|
||||
out_164532203047016632[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_164532203047016632[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_164532203047016632[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_164532203047016632[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_164532203047016632[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_164532203047016632[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_164532203047016632[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_164532203047016632[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_164532203047016632[62] = 0;
|
||||
out_164532203047016632[63] = 0;
|
||||
out_164532203047016632[64] = 0;
|
||||
out_164532203047016632[65] = 0;
|
||||
out_164532203047016632[66] = 0;
|
||||
out_164532203047016632[67] = 0;
|
||||
out_164532203047016632[68] = 0;
|
||||
out_164532203047016632[69] = 0;
|
||||
out_164532203047016632[70] = 1;
|
||||
out_164532203047016632[71] = 0;
|
||||
out_164532203047016632[72] = 0;
|
||||
out_164532203047016632[73] = 0;
|
||||
out_164532203047016632[74] = 0;
|
||||
out_164532203047016632[75] = 0;
|
||||
out_164532203047016632[76] = 0;
|
||||
out_164532203047016632[77] = 0;
|
||||
out_164532203047016632[78] = 0;
|
||||
out_164532203047016632[79] = 0;
|
||||
out_164532203047016632[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_1723156805424676224) {
|
||||
out_1723156805424676224[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_513824514853683092) {
|
||||
out_513824514853683092[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_6725559606698516926) {
|
||||
out_6725559606698516926[0] = 0;
|
||||
out_6725559606698516926[1] = 0;
|
||||
out_6725559606698516926[2] = 0;
|
||||
out_6725559606698516926[3] = 0;
|
||||
out_6725559606698516926[4] = 0;
|
||||
out_6725559606698516926[5] = 0;
|
||||
out_6725559606698516926[6] = 1;
|
||||
out_6725559606698516926[7] = 0;
|
||||
out_6725559606698516926[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_4371119300233046035) {
|
||||
out_4371119300233046035[0] = 0;
|
||||
out_4371119300233046035[1] = 0;
|
||||
out_4371119300233046035[2] = 0;
|
||||
out_4371119300233046035[3] = 0;
|
||||
out_4371119300233046035[4] = 0;
|
||||
out_4371119300233046035[5] = 0;
|
||||
out_4371119300233046035[6] = 1;
|
||||
out_4371119300233046035[7] = 0;
|
||||
out_4371119300233046035[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_6301088908339500348) {
|
||||
out_6301088908339500348[0] = state[4];
|
||||
out_6301088908339500348[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_1763325166754368628) {
|
||||
out_1763325166754368628[0] = state[4];
|
||||
out_1763325166754368628[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_8163258868208711554) {
|
||||
out_8163258868208711554[0] = 0;
|
||||
out_8163258868208711554[1] = 0;
|
||||
out_8163258868208711554[2] = 0;
|
||||
out_8163258868208711554[3] = 0;
|
||||
out_8163258868208711554[4] = 1;
|
||||
out_8163258868208711554[5] = 0;
|
||||
out_8163258868208711554[6] = 0;
|
||||
out_8163258868208711554[7] = 0;
|
||||
out_8163258868208711554[8] = 0;
|
||||
out_8163258868208711554[9] = 0;
|
||||
out_8163258868208711554[10] = 0;
|
||||
out_8163258868208711554[11] = 0;
|
||||
out_8163258868208711554[12] = 0;
|
||||
out_8163258868208711554[13] = 0;
|
||||
out_8163258868208711554[14] = 1;
|
||||
out_8163258868208711554[15] = 0;
|
||||
out_8163258868208711554[16] = 0;
|
||||
out_8163258868208711554[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_813193701430722899) {
|
||||
out_813193701430722899[0] = 0;
|
||||
out_813193701430722899[1] = 0;
|
||||
out_813193701430722899[2] = 0;
|
||||
out_813193701430722899[3] = 0;
|
||||
out_813193701430722899[4] = 1;
|
||||
out_813193701430722899[5] = 0;
|
||||
out_813193701430722899[6] = 0;
|
||||
out_813193701430722899[7] = 0;
|
||||
out_813193701430722899[8] = 0;
|
||||
out_813193701430722899[9] = 0;
|
||||
out_813193701430722899[10] = 0;
|
||||
out_813193701430722899[11] = 0;
|
||||
out_813193701430722899[12] = 0;
|
||||
out_813193701430722899[13] = 0;
|
||||
out_813193701430722899[14] = 1;
|
||||
out_813193701430722899[15] = 0;
|
||||
out_813193701430722899[16] = 0;
|
||||
out_813193701430722899[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5821460103704048088) {
|
||||
out_5821460103704048088[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_2433901475501801869) {
|
||||
out_2433901475501801869[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_4804494125519417935) {
|
||||
out_4804494125519417935[0] = 0;
|
||||
out_4804494125519417935[1] = 0;
|
||||
out_4804494125519417935[2] = 0;
|
||||
out_4804494125519417935[3] = 0;
|
||||
out_4804494125519417935[4] = 1;
|
||||
out_4804494125519417935[5] = 0;
|
||||
out_4804494125519417935[6] = 0;
|
||||
out_4804494125519417935[7] = 0;
|
||||
out_4804494125519417935[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_4500458247376286105) {
|
||||
out_4500458247376286105[0] = 0;
|
||||
out_4500458247376286105[1] = 0;
|
||||
out_4500458247376286105[2] = 0;
|
||||
out_4500458247376286105[3] = 0;
|
||||
out_4500458247376286105[4] = 1;
|
||||
out_4500458247376286105[5] = 0;
|
||||
out_4500458247376286105[6] = 0;
|
||||
out_4500458247376286105[7] = 0;
|
||||
out_4500458247376286105[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_3604740557565027086) {
|
||||
out_3604740557565027086[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_1451817382166503757) {
|
||||
out_1451817382166503757[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_8416658497250234089) {
|
||||
out_8416658497250234089[0] = 0;
|
||||
out_8416658497250234089[1] = 0;
|
||||
out_8416658497250234089[2] = 0;
|
||||
out_8416658497250234089[3] = 0;
|
||||
out_8416658497250234089[4] = 0;
|
||||
out_8416658497250234089[5] = 0;
|
||||
out_8416658497250234089[6] = 0;
|
||||
out_8416658497250234089[7] = 1;
|
||||
out_8416658497250234089[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_8112622619107102259) {
|
||||
out_8112622619107102259[0] = 0;
|
||||
out_8112622619107102259[1] = 0;
|
||||
out_8112622619107102259[2] = 0;
|
||||
out_8112622619107102259[3] = 0;
|
||||
out_8112622619107102259[4] = 0;
|
||||
out_8112622619107102259[5] = 0;
|
||||
out_8112622619107102259[6] = 0;
|
||||
out_8112622619107102259[7] = 1;
|
||||
out_8112622619107102259[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_4759942856869008909) {
|
||||
out_4759942856869008909[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_8950950386849027759) {
|
||||
out_8950950386849027759[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_6979257437319842846) {
|
||||
out_6979257437319842846[0] = 0;
|
||||
out_6979257437319842846[1] = 0;
|
||||
out_6979257437319842846[2] = 0;
|
||||
out_6979257437319842846[3] = 1;
|
||||
out_6979257437319842846[4] = 0;
|
||||
out_6979257437319842846[5] = 0;
|
||||
out_6979257437319842846[6] = 0;
|
||||
out_6979257437319842846[7] = 0;
|
||||
out_6979257437319842846[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_6675221559176711016) {
|
||||
out_6675221559176711016[0] = 0;
|
||||
out_6675221559176711016[1] = 0;
|
||||
out_6675221559176711016[2] = 0;
|
||||
out_6675221559176711016[3] = 1;
|
||||
out_6675221559176711016[4] = 0;
|
||||
out_6675221559176711016[5] = 0;
|
||||
out_6675221559176711016[6] = 0;
|
||||
out_6675221559176711016[7] = 0;
|
||||
out_6675221559176711016[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_5218144219027570571) {
|
||||
out_5218144219027570571[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_7435574743162647514) {
|
||||
out_7435574743162647514[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_4294262781205025751) {
|
||||
out_4294262781205025751[0] = 0;
|
||||
out_4294262781205025751[1] = 1;
|
||||
out_4294262781205025751[2] = 0;
|
||||
out_4294262781205025751[3] = 0;
|
||||
out_4294262781205025751[4] = 0;
|
||||
out_4294262781205025751[5] = 0;
|
||||
out_4294262781205025751[6] = 0;
|
||||
out_4294262781205025751[7] = 0;
|
||||
out_4294262781205025751[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_8388584286046262049) {
|
||||
out_8388584286046262049[0] = 0;
|
||||
out_8388584286046262049[1] = 1;
|
||||
out_8388584286046262049[2] = 0;
|
||||
out_8388584286046262049[3] = 0;
|
||||
out_8388584286046262049[4] = 0;
|
||||
out_8388584286046262049[5] = 0;
|
||||
out_8388584286046262049[6] = 0;
|
||||
out_8388584286046262049[7] = 0;
|
||||
out_8388584286046262049[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_5703452709770671344) {
|
||||
out_5703452709770671344[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_4494120419199678212) {
|
||||
out_4494120419199678212[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_4671724892450627163) {
|
||||
out_4671724892450627163[0] = 1;
|
||||
out_4671724892450627163[1] = 0;
|
||||
out_4671724892450627163[2] = 0;
|
||||
out_4671724892450627163[3] = 0;
|
||||
out_4671724892450627163[4] = 0;
|
||||
out_4671724892450627163[5] = 0;
|
||||
out_4671724892450627163[6] = 0;
|
||||
out_4671724892450627163[7] = 0;
|
||||
out_4671724892450627163[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6424954014480935798) {
|
||||
out_6424954014480935798[0] = 1;
|
||||
out_6424954014480935798[1] = 0;
|
||||
out_6424954014480935798[2] = 0;
|
||||
out_6424954014480935798[3] = 0;
|
||||
out_6424954014480935798[4] = 0;
|
||||
out_6424954014480935798[5] = 0;
|
||||
out_6424954014480935798[6] = 0;
|
||||
out_6424954014480935798[7] = 0;
|
||||
out_6424954014480935798[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_1998350867709182113) {
|
||||
out_1998350867709182113[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6257010711496667844) {
|
||||
out_6257010711496667844[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_4644509216499217437) {
|
||||
out_4644509216499217437[0] = 0;
|
||||
out_4644509216499217437[1] = 0;
|
||||
out_4644509216499217437[2] = 0;
|
||||
out_4644509216499217437[3] = 0;
|
||||
out_4644509216499217437[4] = 0;
|
||||
out_4644509216499217437[5] = 0;
|
||||
out_4644509216499217437[6] = 0;
|
||||
out_4644509216499217437[7] = 0;
|
||||
out_4644509216499217437[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_4340473338356085607) {
|
||||
out_4340473338356085607[0] = 0;
|
||||
out_4340473338356085607[1] = 0;
|
||||
out_4340473338356085607[2] = 0;
|
||||
out_4340473338356085607[3] = 0;
|
||||
out_4340473338356085607[4] = 0;
|
||||
out_4340473338356085607[5] = 0;
|
||||
out_4340473338356085607[6] = 0;
|
||||
out_4340473338356085607[7] = 0;
|
||||
out_4340473338356085607[8] = 1;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
|
||||
}
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2165520225426293203) {
|
||||
err_fun(nom_x, delta_x, out_2165520225426293203);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7404715378150782082) {
|
||||
err_fun(nom_x, delta_x, out_7404715378150782082);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_48394968560250279) {
|
||||
inv_err_fun(nom_x, true_x, out_48394968560250279);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1067581222048175770) {
|
||||
inv_err_fun(nom_x, true_x, out_1067581222048175770);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_8198135828365669542) {
|
||||
H_mod_fun(state, out_8198135828365669542);
|
||||
void car_H_mod_fun(double *state, double *out_7894099950222537712) {
|
||||
H_mod_fun(state, out_7894099950222537712);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_5413666688161130858) {
|
||||
f_fun(state, dt, out_5413666688161130858);
|
||||
void car_f_fun(double *state, double dt, double *out_18918990587173632) {
|
||||
f_fun(state, dt, out_18918990587173632);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_7314745635201977822) {
|
||||
F_fun(state, dt, out_7314745635201977822);
|
||||
void car_F_fun(double *state, double dt, double *out_164532203047016632) {
|
||||
F_fun(state, dt, out_164532203047016632);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_1723156805424676224) {
|
||||
h_25(state, unused, out_1723156805424676224);
|
||||
void car_h_25(double *state, double *unused, double *out_513824514853683092) {
|
||||
h_25(state, unused, out_513824514853683092);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_6725559606698516926) {
|
||||
H_25(state, unused, out_6725559606698516926);
|
||||
void car_H_25(double *state, double *unused, double *out_4371119300233046035) {
|
||||
H_25(state, unused, out_4371119300233046035);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_6301088908339500348) {
|
||||
h_24(state, unused, out_6301088908339500348);
|
||||
void car_h_24(double *state, double *unused, double *out_1763325166754368628) {
|
||||
h_24(state, unused, out_1763325166754368628);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_8163258868208711554) {
|
||||
H_24(state, unused, out_8163258868208711554);
|
||||
void car_H_24(double *state, double *unused, double *out_813193701430722899) {
|
||||
H_24(state, unused, out_813193701430722899);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5821460103704048088) {
|
||||
h_30(state, unused, out_5821460103704048088);
|
||||
void car_h_30(double *state, double *unused, double *out_2433901475501801869) {
|
||||
h_30(state, unused, out_2433901475501801869);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_4804494125519417935) {
|
||||
H_30(state, unused, out_4804494125519417935);
|
||||
void car_H_30(double *state, double *unused, double *out_4500458247376286105) {
|
||||
H_30(state, unused, out_4500458247376286105);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_3604740557565027086) {
|
||||
h_26(state, unused, out_3604740557565027086);
|
||||
void car_h_26(double *state, double *unused, double *out_1451817382166503757) {
|
||||
h_26(state, unused, out_1451817382166503757);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_8416658497250234089) {
|
||||
H_26(state, unused, out_8416658497250234089);
|
||||
void car_H_26(double *state, double *unused, double *out_8112622619107102259) {
|
||||
H_26(state, unused, out_8112622619107102259);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_4759942856869008909) {
|
||||
h_27(state, unused, out_4759942856869008909);
|
||||
void car_h_27(double *state, double *unused, double *out_8950950386849027759) {
|
||||
h_27(state, unused, out_8950950386849027759);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_6979257437319842846) {
|
||||
H_27(state, unused, out_6979257437319842846);
|
||||
void car_H_27(double *state, double *unused, double *out_6675221559176711016) {
|
||||
H_27(state, unused, out_6675221559176711016);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_5218144219027570571) {
|
||||
h_29(state, unused, out_5218144219027570571);
|
||||
void car_h_29(double *state, double *unused, double *out_7435574743162647514) {
|
||||
h_29(state, unused, out_7435574743162647514);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_4294262781205025751) {
|
||||
H_29(state, unused, out_4294262781205025751);
|
||||
void car_H_29(double *state, double *unused, double *out_8388584286046262049) {
|
||||
H_29(state, unused, out_8388584286046262049);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_5703452709770671344) {
|
||||
h_28(state, unused, out_5703452709770671344);
|
||||
void car_h_28(double *state, double *unused, double *out_4494120419199678212) {
|
||||
h_28(state, unused, out_4494120419199678212);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_4671724892450627163) {
|
||||
H_28(state, unused, out_4671724892450627163);
|
||||
void car_H_28(double *state, double *unused, double *out_6424954014480935798) {
|
||||
H_28(state, unused, out_6424954014480935798);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_1998350867709182113) {
|
||||
h_31(state, unused, out_1998350867709182113);
|
||||
void car_h_31(double *state, double *unused, double *out_6257010711496667844) {
|
||||
h_31(state, unused, out_6257010711496667844);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_4644509216499217437) {
|
||||
H_31(state, unused, out_4644509216499217437);
|
||||
void car_H_31(double *state, double *unused, double *out_4340473338356085607) {
|
||||
H_31(state, unused, out_4340473338356085607);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
Reference in New Issue
Block a user