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https://github.com/firestar5683/StarPilot.git
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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_3403548426686276780) {
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out_3403548426686276780[0] = delta_x[0] + nom_x[0];
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out_3403548426686276780[1] = delta_x[1] + nom_x[1];
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out_3403548426686276780[2] = delta_x[2] + nom_x[2];
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out_3403548426686276780[3] = delta_x[3] + nom_x[3];
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out_3403548426686276780[4] = delta_x[4] + nom_x[4];
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out_3403548426686276780[5] = delta_x[5] + nom_x[5];
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out_3403548426686276780[6] = delta_x[6] + nom_x[6];
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out_3403548426686276780[7] = delta_x[7] + nom_x[7];
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out_3403548426686276780[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_6201369500890241283) {
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out_6201369500890241283[0] = delta_x[0] + nom_x[0];
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out_6201369500890241283[1] = delta_x[1] + nom_x[1];
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out_6201369500890241283[2] = delta_x[2] + nom_x[2];
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out_6201369500890241283[3] = delta_x[3] + nom_x[3];
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out_6201369500890241283[4] = delta_x[4] + nom_x[4];
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out_6201369500890241283[5] = delta_x[5] + nom_x[5];
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out_6201369500890241283[6] = delta_x[6] + nom_x[6];
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out_6201369500890241283[7] = delta_x[7] + nom_x[7];
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out_6201369500890241283[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_8258286328329043480) {
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out_8258286328329043480[0] = -nom_x[0] + true_x[0];
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out_8258286328329043480[1] = -nom_x[1] + true_x[1];
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out_8258286328329043480[2] = -nom_x[2] + true_x[2];
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out_8258286328329043480[3] = -nom_x[3] + true_x[3];
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out_8258286328329043480[4] = -nom_x[4] + true_x[4];
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out_8258286328329043480[5] = -nom_x[5] + true_x[5];
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out_8258286328329043480[6] = -nom_x[6] + true_x[6];
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out_8258286328329043480[7] = -nom_x[7] + true_x[7];
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out_8258286328329043480[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124) {
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out_6748403134246456124[0] = -nom_x[0] + true_x[0];
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out_6748403134246456124[1] = -nom_x[1] + true_x[1];
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out_6748403134246456124[2] = -nom_x[2] + true_x[2];
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out_6748403134246456124[3] = -nom_x[3] + true_x[3];
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out_6748403134246456124[4] = -nom_x[4] + true_x[4];
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out_6748403134246456124[5] = -nom_x[5] + true_x[5];
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out_6748403134246456124[6] = -nom_x[6] + true_x[6];
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out_6748403134246456124[7] = -nom_x[7] + true_x[7];
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out_6748403134246456124[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_1856540843006378518) {
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out_1856540843006378518[0] = 1.0;
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out_1856540843006378518[1] = 0.0;
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out_1856540843006378518[2] = 0.0;
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out_1856540843006378518[3] = 0.0;
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out_1856540843006378518[4] = 0.0;
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out_1856540843006378518[5] = 0.0;
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out_1856540843006378518[6] = 0.0;
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out_1856540843006378518[7] = 0.0;
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out_1856540843006378518[8] = 0.0;
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out_1856540843006378518[9] = 0.0;
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out_1856540843006378518[10] = 1.0;
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out_1856540843006378518[11] = 0.0;
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out_1856540843006378518[12] = 0.0;
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out_1856540843006378518[13] = 0.0;
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out_1856540843006378518[14] = 0.0;
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out_1856540843006378518[15] = 0.0;
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out_1856540843006378518[16] = 0.0;
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out_1856540843006378518[17] = 0.0;
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out_1856540843006378518[18] = 0.0;
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out_1856540843006378518[19] = 0.0;
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out_1856540843006378518[20] = 1.0;
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out_1856540843006378518[21] = 0.0;
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out_1856540843006378518[22] = 0.0;
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out_1856540843006378518[23] = 0.0;
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out_1856540843006378518[24] = 0.0;
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out_1856540843006378518[25] = 0.0;
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out_1856540843006378518[26] = 0.0;
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out_1856540843006378518[27] = 0.0;
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out_1856540843006378518[28] = 0.0;
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out_1856540843006378518[29] = 0.0;
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out_1856540843006378518[30] = 1.0;
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out_1856540843006378518[31] = 0.0;
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out_1856540843006378518[32] = 0.0;
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out_1856540843006378518[33] = 0.0;
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out_1856540843006378518[34] = 0.0;
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out_1856540843006378518[35] = 0.0;
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out_1856540843006378518[36] = 0.0;
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out_1856540843006378518[37] = 0.0;
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out_1856540843006378518[38] = 0.0;
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out_1856540843006378518[39] = 0.0;
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out_1856540843006378518[40] = 1.0;
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out_1856540843006378518[41] = 0.0;
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out_1856540843006378518[42] = 0.0;
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out_1856540843006378518[43] = 0.0;
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out_1856540843006378518[44] = 0.0;
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out_1856540843006378518[45] = 0.0;
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out_1856540843006378518[46] = 0.0;
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out_1856540843006378518[47] = 0.0;
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out_1856540843006378518[48] = 0.0;
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out_1856540843006378518[49] = 0.0;
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out_1856540843006378518[50] = 1.0;
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out_1856540843006378518[51] = 0.0;
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out_1856540843006378518[52] = 0.0;
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out_1856540843006378518[53] = 0.0;
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out_1856540843006378518[54] = 0.0;
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out_1856540843006378518[55] = 0.0;
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out_1856540843006378518[56] = 0.0;
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out_1856540843006378518[57] = 0.0;
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out_1856540843006378518[58] = 0.0;
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out_1856540843006378518[59] = 0.0;
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out_1856540843006378518[60] = 1.0;
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out_1856540843006378518[61] = 0.0;
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out_1856540843006378518[62] = 0.0;
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out_1856540843006378518[63] = 0.0;
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out_1856540843006378518[64] = 0.0;
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out_1856540843006378518[65] = 0.0;
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out_1856540843006378518[66] = 0.0;
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out_1856540843006378518[67] = 0.0;
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out_1856540843006378518[68] = 0.0;
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out_1856540843006378518[69] = 0.0;
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out_1856540843006378518[70] = 1.0;
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out_1856540843006378518[71] = 0.0;
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out_1856540843006378518[72] = 0.0;
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out_1856540843006378518[73] = 0.0;
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out_1856540843006378518[74] = 0.0;
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out_1856540843006378518[75] = 0.0;
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out_1856540843006378518[76] = 0.0;
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out_1856540843006378518[77] = 0.0;
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out_1856540843006378518[78] = 0.0;
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out_1856540843006378518[79] = 0.0;
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out_1856540843006378518[80] = 1.0;
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void H_mod_fun(double *state, double *out_2042585132715859694) {
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out_2042585132715859694[0] = 1.0;
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out_2042585132715859694[1] = 0.0;
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out_2042585132715859694[2] = 0.0;
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out_2042585132715859694[3] = 0.0;
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out_2042585132715859694[4] = 0.0;
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out_2042585132715859694[5] = 0.0;
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out_2042585132715859694[6] = 0.0;
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out_2042585132715859694[7] = 0.0;
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out_2042585132715859694[8] = 0.0;
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out_2042585132715859694[9] = 0.0;
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out_2042585132715859694[10] = 1.0;
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out_2042585132715859694[11] = 0.0;
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out_2042585132715859694[12] = 0.0;
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out_2042585132715859694[13] = 0.0;
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out_2042585132715859694[14] = 0.0;
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out_2042585132715859694[15] = 0.0;
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out_2042585132715859694[16] = 0.0;
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out_2042585132715859694[17] = 0.0;
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out_2042585132715859694[18] = 0.0;
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out_2042585132715859694[19] = 0.0;
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out_2042585132715859694[20] = 1.0;
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out_2042585132715859694[21] = 0.0;
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out_2042585132715859694[22] = 0.0;
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out_2042585132715859694[23] = 0.0;
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out_2042585132715859694[24] = 0.0;
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out_2042585132715859694[25] = 0.0;
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out_2042585132715859694[26] = 0.0;
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out_2042585132715859694[27] = 0.0;
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out_2042585132715859694[28] = 0.0;
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out_2042585132715859694[29] = 0.0;
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out_2042585132715859694[30] = 1.0;
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out_2042585132715859694[31] = 0.0;
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out_2042585132715859694[32] = 0.0;
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out_2042585132715859694[33] = 0.0;
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out_2042585132715859694[34] = 0.0;
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out_2042585132715859694[35] = 0.0;
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out_2042585132715859694[36] = 0.0;
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out_2042585132715859694[37] = 0.0;
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out_2042585132715859694[38] = 0.0;
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out_2042585132715859694[39] = 0.0;
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out_2042585132715859694[40] = 1.0;
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out_2042585132715859694[41] = 0.0;
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out_2042585132715859694[42] = 0.0;
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out_2042585132715859694[43] = 0.0;
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out_2042585132715859694[44] = 0.0;
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out_2042585132715859694[45] = 0.0;
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out_2042585132715859694[46] = 0.0;
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out_2042585132715859694[47] = 0.0;
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out_2042585132715859694[48] = 0.0;
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out_2042585132715859694[49] = 0.0;
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out_2042585132715859694[50] = 1.0;
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out_2042585132715859694[51] = 0.0;
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out_2042585132715859694[52] = 0.0;
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out_2042585132715859694[53] = 0.0;
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out_2042585132715859694[54] = 0.0;
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out_2042585132715859694[55] = 0.0;
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out_2042585132715859694[56] = 0.0;
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out_2042585132715859694[57] = 0.0;
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out_2042585132715859694[58] = 0.0;
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out_2042585132715859694[59] = 0.0;
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out_2042585132715859694[60] = 1.0;
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out_2042585132715859694[61] = 0.0;
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out_2042585132715859694[62] = 0.0;
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out_2042585132715859694[63] = 0.0;
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out_2042585132715859694[64] = 0.0;
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out_2042585132715859694[65] = 0.0;
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out_2042585132715859694[66] = 0.0;
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out_2042585132715859694[67] = 0.0;
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out_2042585132715859694[68] = 0.0;
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out_2042585132715859694[69] = 0.0;
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out_2042585132715859694[70] = 1.0;
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out_2042585132715859694[71] = 0.0;
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out_2042585132715859694[72] = 0.0;
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out_2042585132715859694[73] = 0.0;
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out_2042585132715859694[74] = 0.0;
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out_2042585132715859694[75] = 0.0;
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out_2042585132715859694[76] = 0.0;
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out_2042585132715859694[77] = 0.0;
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out_2042585132715859694[78] = 0.0;
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out_2042585132715859694[79] = 0.0;
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out_2042585132715859694[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_2705110536690145384) {
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out_2705110536690145384[0] = state[0];
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out_2705110536690145384[1] = state[1];
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out_2705110536690145384[2] = state[2];
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out_2705110536690145384[3] = state[3];
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out_2705110536690145384[4] = state[4];
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out_2705110536690145384[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_2705110536690145384[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_2705110536690145384[7] = state[7];
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out_2705110536690145384[8] = state[8];
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void f_fun(double *state, double dt, double *out_4209455390444840494) {
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out_4209455390444840494[0] = state[0];
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out_4209455390444840494[1] = state[1];
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out_4209455390444840494[2] = state[2];
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out_4209455390444840494[3] = state[3];
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out_4209455390444840494[4] = state[4];
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out_4209455390444840494[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_4209455390444840494[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_4209455390444840494[7] = state[7];
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out_4209455390444840494[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_8630494868968096727) {
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out_8630494868968096727[0] = 1;
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out_8630494868968096727[1] = 0;
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out_8630494868968096727[2] = 0;
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out_8630494868968096727[3] = 0;
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out_8630494868968096727[4] = 0;
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out_8630494868968096727[5] = 0;
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out_8630494868968096727[6] = 0;
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out_8630494868968096727[7] = 0;
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out_8630494868968096727[8] = 0;
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out_8630494868968096727[9] = 0;
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out_8630494868968096727[10] = 1;
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out_8630494868968096727[11] = 0;
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out_8630494868968096727[12] = 0;
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out_8630494868968096727[13] = 0;
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out_8630494868968096727[14] = 0;
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out_8630494868968096727[15] = 0;
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out_8630494868968096727[16] = 0;
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out_8630494868968096727[17] = 0;
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out_8630494868968096727[18] = 0;
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out_8630494868968096727[19] = 0;
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out_8630494868968096727[20] = 1;
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out_8630494868968096727[21] = 0;
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out_8630494868968096727[22] = 0;
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out_8630494868968096727[23] = 0;
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||||
out_8630494868968096727[24] = 0;
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out_8630494868968096727[25] = 0;
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out_8630494868968096727[26] = 0;
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||||
out_8630494868968096727[27] = 0;
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||||
out_8630494868968096727[28] = 0;
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||||
out_8630494868968096727[29] = 0;
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||||
out_8630494868968096727[30] = 1;
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||||
out_8630494868968096727[31] = 0;
|
||||
out_8630494868968096727[32] = 0;
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out_8630494868968096727[33] = 0;
|
||||
out_8630494868968096727[34] = 0;
|
||||
out_8630494868968096727[35] = 0;
|
||||
out_8630494868968096727[36] = 0;
|
||||
out_8630494868968096727[37] = 0;
|
||||
out_8630494868968096727[38] = 0;
|
||||
out_8630494868968096727[39] = 0;
|
||||
out_8630494868968096727[40] = 1;
|
||||
out_8630494868968096727[41] = 0;
|
||||
out_8630494868968096727[42] = 0;
|
||||
out_8630494868968096727[43] = 0;
|
||||
out_8630494868968096727[44] = 0;
|
||||
out_8630494868968096727[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_8630494868968096727[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8630494868968096727[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8630494868968096727[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8630494868968096727[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_8630494868968096727[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8630494868968096727[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8630494868968096727[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8630494868968096727[53] = -9.8100000000000005*dt;
|
||||
out_8630494868968096727[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_8630494868968096727[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8630494868968096727[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8630494868968096727[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8630494868968096727[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_8630494868968096727[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8630494868968096727[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_8630494868968096727[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8630494868968096727[62] = 0;
|
||||
out_8630494868968096727[63] = 0;
|
||||
out_8630494868968096727[64] = 0;
|
||||
out_8630494868968096727[65] = 0;
|
||||
out_8630494868968096727[66] = 0;
|
||||
out_8630494868968096727[67] = 0;
|
||||
out_8630494868968096727[68] = 0;
|
||||
out_8630494868968096727[69] = 0;
|
||||
out_8630494868968096727[70] = 1;
|
||||
out_8630494868968096727[71] = 0;
|
||||
out_8630494868968096727[72] = 0;
|
||||
out_8630494868968096727[73] = 0;
|
||||
out_8630494868968096727[74] = 0;
|
||||
out_8630494868968096727[75] = 0;
|
||||
out_8630494868968096727[76] = 0;
|
||||
out_8630494868968096727[77] = 0;
|
||||
out_8630494868968096727[78] = 0;
|
||||
out_8630494868968096727[79] = 0;
|
||||
out_8630494868968096727[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_2724900345805544233) {
|
||||
out_2724900345805544233[0] = 1;
|
||||
out_2724900345805544233[1] = 0;
|
||||
out_2724900345805544233[2] = 0;
|
||||
out_2724900345805544233[3] = 0;
|
||||
out_2724900345805544233[4] = 0;
|
||||
out_2724900345805544233[5] = 0;
|
||||
out_2724900345805544233[6] = 0;
|
||||
out_2724900345805544233[7] = 0;
|
||||
out_2724900345805544233[8] = 0;
|
||||
out_2724900345805544233[9] = 0;
|
||||
out_2724900345805544233[10] = 1;
|
||||
out_2724900345805544233[11] = 0;
|
||||
out_2724900345805544233[12] = 0;
|
||||
out_2724900345805544233[13] = 0;
|
||||
out_2724900345805544233[14] = 0;
|
||||
out_2724900345805544233[15] = 0;
|
||||
out_2724900345805544233[16] = 0;
|
||||
out_2724900345805544233[17] = 0;
|
||||
out_2724900345805544233[18] = 0;
|
||||
out_2724900345805544233[19] = 0;
|
||||
out_2724900345805544233[20] = 1;
|
||||
out_2724900345805544233[21] = 0;
|
||||
out_2724900345805544233[22] = 0;
|
||||
out_2724900345805544233[23] = 0;
|
||||
out_2724900345805544233[24] = 0;
|
||||
out_2724900345805544233[25] = 0;
|
||||
out_2724900345805544233[26] = 0;
|
||||
out_2724900345805544233[27] = 0;
|
||||
out_2724900345805544233[28] = 0;
|
||||
out_2724900345805544233[29] = 0;
|
||||
out_2724900345805544233[30] = 1;
|
||||
out_2724900345805544233[31] = 0;
|
||||
out_2724900345805544233[32] = 0;
|
||||
out_2724900345805544233[33] = 0;
|
||||
out_2724900345805544233[34] = 0;
|
||||
out_2724900345805544233[35] = 0;
|
||||
out_2724900345805544233[36] = 0;
|
||||
out_2724900345805544233[37] = 0;
|
||||
out_2724900345805544233[38] = 0;
|
||||
out_2724900345805544233[39] = 0;
|
||||
out_2724900345805544233[40] = 1;
|
||||
out_2724900345805544233[41] = 0;
|
||||
out_2724900345805544233[42] = 0;
|
||||
out_2724900345805544233[43] = 0;
|
||||
out_2724900345805544233[44] = 0;
|
||||
out_2724900345805544233[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_2724900345805544233[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2724900345805544233[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2724900345805544233[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2724900345805544233[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_2724900345805544233[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2724900345805544233[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2724900345805544233[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2724900345805544233[53] = -9.8100000000000005*dt;
|
||||
out_2724900345805544233[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_2724900345805544233[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2724900345805544233[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2724900345805544233[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2724900345805544233[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_2724900345805544233[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2724900345805544233[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_2724900345805544233[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2724900345805544233[62] = 0;
|
||||
out_2724900345805544233[63] = 0;
|
||||
out_2724900345805544233[64] = 0;
|
||||
out_2724900345805544233[65] = 0;
|
||||
out_2724900345805544233[66] = 0;
|
||||
out_2724900345805544233[67] = 0;
|
||||
out_2724900345805544233[68] = 0;
|
||||
out_2724900345805544233[69] = 0;
|
||||
out_2724900345805544233[70] = 1;
|
||||
out_2724900345805544233[71] = 0;
|
||||
out_2724900345805544233[72] = 0;
|
||||
out_2724900345805544233[73] = 0;
|
||||
out_2724900345805544233[74] = 0;
|
||||
out_2724900345805544233[75] = 0;
|
||||
out_2724900345805544233[76] = 0;
|
||||
out_2724900345805544233[77] = 0;
|
||||
out_2724900345805544233[78] = 0;
|
||||
out_2724900345805544233[79] = 0;
|
||||
out_2724900345805544233[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5878308228618872770) {
|
||||
out_5878308228618872770[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_2892803162940124204) {
|
||||
out_2892803162940124204[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_8100833558474599855) {
|
||||
out_8100833558474599855[0] = 0;
|
||||
out_8100833558474599855[1] = 0;
|
||||
out_8100833558474599855[2] = 0;
|
||||
out_8100833558474599855[3] = 0;
|
||||
out_8100833558474599855[4] = 0;
|
||||
out_8100833558474599855[5] = 0;
|
||||
out_8100833558474599855[6] = 1;
|
||||
out_8100833558474599855[7] = 0;
|
||||
out_8100833558474599855[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_4054323233890514922) {
|
||||
out_4054323233890514922[0] = 0;
|
||||
out_4054323233890514922[1] = 0;
|
||||
out_4054323233890514922[2] = 0;
|
||||
out_4054323233890514922[3] = 0;
|
||||
out_4054323233890514922[4] = 0;
|
||||
out_4054323233890514922[5] = 0;
|
||||
out_4054323233890514922[6] = 1;
|
||||
out_4054323233890514922[7] = 0;
|
||||
out_4054323233890514922[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_4629452303819786169) {
|
||||
out_4629452303819786169[0] = state[4];
|
||||
out_4629452303819786169[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_2360383510230698975) {
|
||||
out_2360383510230698975[0] = state[4];
|
||||
out_2360383510230698975[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_6363587363837183863) {
|
||||
out_6363587363837183863[0] = 0;
|
||||
out_6363587363837183863[1] = 0;
|
||||
out_6363587363837183863[2] = 0;
|
||||
out_6363587363837183863[3] = 0;
|
||||
out_6363587363837183863[4] = 1;
|
||||
out_6363587363837183863[5] = 0;
|
||||
out_6363587363837183863[6] = 0;
|
||||
out_6363587363837183863[7] = 0;
|
||||
out_6363587363837183863[8] = 0;
|
||||
out_6363587363837183863[9] = 0;
|
||||
out_6363587363837183863[10] = 0;
|
||||
out_6363587363837183863[11] = 0;
|
||||
out_6363587363837183863[12] = 0;
|
||||
out_6363587363837183863[13] = 0;
|
||||
out_6363587363837183863[14] = 1;
|
||||
out_6363587363837183863[15] = 0;
|
||||
out_6363587363837183863[16] = 0;
|
||||
out_6363587363837183863[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1828615449911646360) {
|
||||
out_1828615449911646360[0] = 0;
|
||||
out_1828615449911646360[1] = 0;
|
||||
out_1828615449911646360[2] = 0;
|
||||
out_1828615449911646360[3] = 0;
|
||||
out_1828615449911646360[4] = 1;
|
||||
out_1828615449911646360[5] = 0;
|
||||
out_1828615449911646360[6] = 0;
|
||||
out_1828615449911646360[7] = 0;
|
||||
out_1828615449911646360[8] = 0;
|
||||
out_1828615449911646360[9] = 0;
|
||||
out_1828615449911646360[10] = 0;
|
||||
out_1828615449911646360[11] = 0;
|
||||
out_1828615449911646360[12] = 0;
|
||||
out_1828615449911646360[13] = 0;
|
||||
out_1828615449911646360[14] = 1;
|
||||
out_1828615449911646360[15] = 0;
|
||||
out_1828615449911646360[16] = 0;
|
||||
out_1828615449911646360[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_892526997731478166) {
|
||||
out_892526997731478166[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_801115166891129847) {
|
||||
out_801115166891129847[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_5582500599967351228) {
|
||||
out_5582500599967351228[0] = 0;
|
||||
out_5582500599967351228[1] = 0;
|
||||
out_5582500599967351228[2] = 0;
|
||||
out_5582500599967351228[3] = 0;
|
||||
out_5582500599967351228[4] = 1;
|
||||
out_5582500599967351228[5] = 0;
|
||||
out_5582500599967351228[6] = 0;
|
||||
out_5582500599967351228[7] = 0;
|
||||
out_5582500599967351228[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_2862367107601101833) {
|
||||
out_2862367107601101833[0] = 0;
|
||||
out_2862367107601101833[1] = 0;
|
||||
out_2862367107601101833[2] = 0;
|
||||
out_2862367107601101833[3] = 0;
|
||||
out_2862367107601101833[4] = 1;
|
||||
out_2862367107601101833[5] = 0;
|
||||
out_2862367107601101833[6] = 0;
|
||||
out_2862367107601101833[7] = 0;
|
||||
out_2862367107601101833[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_275216803344663571) {
|
||||
out_275216803344663571[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_1833676042436215552) {
|
||||
out_1833676042436215552[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6604407196360895537) {
|
||||
out_6604407196360895537[0] = 0;
|
||||
out_6604407196360895537[1] = 0;
|
||||
out_6604407196360895537[2] = 0;
|
||||
out_6604407196360895537[3] = 0;
|
||||
out_6604407196360895537[4] = 0;
|
||||
out_6604407196360895537[5] = 0;
|
||||
out_6604407196360895537[6] = 0;
|
||||
out_6604407196360895537[7] = 1;
|
||||
out_6604407196360895537[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_749797264129714321) {
|
||||
out_749797264129714321[0] = 0;
|
||||
out_749797264129714321[1] = 0;
|
||||
out_749797264129714321[2] = 0;
|
||||
out_749797264129714321[3] = 0;
|
||||
out_749797264129714321[4] = 0;
|
||||
out_749797264129714321[5] = 0;
|
||||
out_749797264129714321[6] = 0;
|
||||
out_749797264129714321[7] = 1;
|
||||
out_749797264129714321[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_8170483763809049834) {
|
||||
out_8170483763809049834[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_512631790305905855) {
|
||||
out_512631790305905855[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_7757263911767776139) {
|
||||
out_7757263911767776139[0] = 0;
|
||||
out_7757263911767776139[1] = 0;
|
||||
out_7757263911767776139[2] = 0;
|
||||
out_7757263911767776139[3] = 1;
|
||||
out_7757263911767776139[4] = 0;
|
||||
out_7757263911767776139[5] = 0;
|
||||
out_7757263911767776139[6] = 0;
|
||||
out_7757263911767776139[7] = 0;
|
||||
out_7757263911767776139[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_687603795800676922) {
|
||||
out_687603795800676922[0] = 0;
|
||||
out_687603795800676922[1] = 0;
|
||||
out_687603795800676922[2] = 0;
|
||||
out_687603795800676922[3] = 1;
|
||||
out_687603795800676922[4] = 0;
|
||||
out_687603795800676922[5] = 0;
|
||||
out_687603795800676922[6] = 0;
|
||||
out_687603795800676922[7] = 0;
|
||||
out_687603795800676922[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_289211113055000649) {
|
||||
out_289211113055000649[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_355445121954776710) {
|
||||
out_355445121954776710[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_5072269255652959044) {
|
||||
out_5072269255652959044[0] = 0;
|
||||
out_5072269255652959044[1] = 1;
|
||||
out_5072269255652959044[2] = 0;
|
||||
out_5072269255652959044[3] = 0;
|
||||
out_5072269255652959044[4] = 0;
|
||||
out_5072269255652959044[5] = 0;
|
||||
out_5072269255652959044[6] = 0;
|
||||
out_5072269255652959044[7] = 0;
|
||||
out_5072269255652959044[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_3372598451915494017) {
|
||||
out_3372598451915494017[0] = 0;
|
||||
out_3372598451915494017[1] = 1;
|
||||
out_3372598451915494017[2] = 0;
|
||||
out_3372598451915494017[3] = 0;
|
||||
out_3372598451915494017[4] = 0;
|
||||
out_3372598451915494017[5] = 0;
|
||||
out_3372598451915494017[6] = 0;
|
||||
out_3372598451915494017[7] = 0;
|
||||
out_3372598451915494017[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_9189533661544037455) {
|
||||
out_9189533661544037455[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_4713758757429658086) {
|
||||
out_4713758757429658086[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_8292075800987061998) {
|
||||
out_8292075800987061998[0] = 1;
|
||||
out_8292075800987061998[1] = 0;
|
||||
out_8292075800987061998[2] = 0;
|
||||
out_8292075800987061998[3] = 0;
|
||||
out_8292075800987061998[4] = 0;
|
||||
out_8292075800987061998[5] = 0;
|
||||
out_8292075800987061998[6] = 0;
|
||||
out_8292075800987061998[7] = 0;
|
||||
out_8292075800987061998[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6108157948138404685) {
|
||||
out_6108157948138404685[0] = 1;
|
||||
out_6108157948138404685[1] = 0;
|
||||
out_6108157948138404685[2] = 0;
|
||||
out_6108157948138404685[3] = 0;
|
||||
out_6108157948138404685[4] = 0;
|
||||
out_6108157948138404685[5] = 0;
|
||||
out_6108157948138404685[6] = 0;
|
||||
out_6108157948138404685[7] = 0;
|
||||
out_6108157948138404685[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_1637137513985633787) {
|
||||
out_1637137513985633787[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_744646365313898146) {
|
||||
out_744646365313898146[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_5978199094127544061) {
|
||||
out_5978199094127544061[0] = 0;
|
||||
out_5978199094127544061[1] = 0;
|
||||
out_5978199094127544061[2] = 0;
|
||||
out_5978199094127544061[3] = 0;
|
||||
out_5978199094127544061[4] = 0;
|
||||
out_5978199094127544061[5] = 0;
|
||||
out_5978199094127544061[6] = 0;
|
||||
out_5978199094127544061[7] = 0;
|
||||
out_5978199094127544061[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_3022352016621302331) {
|
||||
out_3022352016621302331[0] = 0;
|
||||
out_3022352016621302331[1] = 0;
|
||||
out_3022352016621302331[2] = 0;
|
||||
out_3022352016621302331[3] = 0;
|
||||
out_3022352016621302331[4] = 0;
|
||||
out_3022352016621302331[5] = 0;
|
||||
out_3022352016621302331[6] = 0;
|
||||
out_3022352016621302331[7] = 0;
|
||||
out_3022352016621302331[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_3403548426686276780) {
|
||||
err_fun(nom_x, delta_x, out_3403548426686276780);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6201369500890241283) {
|
||||
err_fun(nom_x, delta_x, out_6201369500890241283);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8258286328329043480) {
|
||||
inv_err_fun(nom_x, true_x, out_8258286328329043480);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124) {
|
||||
inv_err_fun(nom_x, true_x, out_6748403134246456124);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_1856540843006378518) {
|
||||
H_mod_fun(state, out_1856540843006378518);
|
||||
void car_H_mod_fun(double *state, double *out_2042585132715859694) {
|
||||
H_mod_fun(state, out_2042585132715859694);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_2705110536690145384) {
|
||||
f_fun(state, dt, out_2705110536690145384);
|
||||
void car_f_fun(double *state, double dt, double *out_4209455390444840494) {
|
||||
f_fun(state, dt, out_4209455390444840494);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_8630494868968096727) {
|
||||
F_fun(state, dt, out_8630494868968096727);
|
||||
void car_F_fun(double *state, double dt, double *out_2724900345805544233) {
|
||||
F_fun(state, dt, out_2724900345805544233);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5878308228618872770) {
|
||||
h_25(state, unused, out_5878308228618872770);
|
||||
void car_h_25(double *state, double *unused, double *out_2892803162940124204) {
|
||||
h_25(state, unused, out_2892803162940124204);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_8100833558474599855) {
|
||||
H_25(state, unused, out_8100833558474599855);
|
||||
void car_H_25(double *state, double *unused, double *out_4054323233890514922) {
|
||||
H_25(state, unused, out_4054323233890514922);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_4629452303819786169) {
|
||||
h_24(state, unused, out_4629452303819786169);
|
||||
void car_h_24(double *state, double *unused, double *out_2360383510230698975) {
|
||||
h_24(state, unused, out_2360383510230698975);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_6363587363837183863) {
|
||||
H_24(state, unused, out_6363587363837183863);
|
||||
void car_H_24(double *state, double *unused, double *out_1828615449911646360) {
|
||||
H_24(state, unused, out_1828615449911646360);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_892526997731478166) {
|
||||
h_30(state, unused, out_892526997731478166);
|
||||
void car_h_30(double *state, double *unused, double *out_801115166891129847) {
|
||||
h_30(state, unused, out_801115166891129847);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_5582500599967351228) {
|
||||
H_30(state, unused, out_5582500599967351228);
|
||||
void car_H_30(double *state, double *unused, double *out_2862367107601101833) {
|
||||
H_30(state, unused, out_2862367107601101833);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_275216803344663571) {
|
||||
h_26(state, unused, out_275216803344663571);
|
||||
void car_h_26(double *state, double *unused, double *out_1833676042436215552) {
|
||||
h_26(state, unused, out_1833676042436215552);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6604407196360895537) {
|
||||
H_26(state, unused, out_6604407196360895537);
|
||||
void car_H_26(double *state, double *unused, double *out_749797264129714321) {
|
||||
H_26(state, unused, out_749797264129714321);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_8170483763809049834) {
|
||||
h_27(state, unused, out_8170483763809049834);
|
||||
void car_h_27(double *state, double *unused, double *out_512631790305905855) {
|
||||
h_27(state, unused, out_512631790305905855);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_7757263911767776139) {
|
||||
H_27(state, unused, out_7757263911767776139);
|
||||
void car_H_27(double *state, double *unused, double *out_687603795800676922) {
|
||||
H_27(state, unused, out_687603795800676922);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_289211113055000649) {
|
||||
h_29(state, unused, out_289211113055000649);
|
||||
void car_h_29(double *state, double *unused, double *out_355445121954776710) {
|
||||
h_29(state, unused, out_355445121954776710);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_5072269255652959044) {
|
||||
H_29(state, unused, out_5072269255652959044);
|
||||
void car_H_29(double *state, double *unused, double *out_3372598451915494017) {
|
||||
H_29(state, unused, out_3372598451915494017);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_9189533661544037455) {
|
||||
h_28(state, unused, out_9189533661544037455);
|
||||
void car_h_28(double *state, double *unused, double *out_4713758757429658086) {
|
||||
h_28(state, unused, out_4713758757429658086);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_8292075800987061998) {
|
||||
H_28(state, unused, out_8292075800987061998);
|
||||
void car_H_28(double *state, double *unused, double *out_6108157948138404685) {
|
||||
H_28(state, unused, out_6108157948138404685);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_1637137513985633787) {
|
||||
h_31(state, unused, out_1637137513985633787);
|
||||
void car_h_31(double *state, double *unused, double *out_744646365313898146) {
|
||||
h_31(state, unused, out_744646365313898146);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_5978199094127544061) {
|
||||
H_31(state, unused, out_5978199094127544061);
|
||||
void car_H_31(double *state, double *unused, double *out_3022352016621302331) {
|
||||
H_31(state, unused, out_3022352016621302331);
|
||||
}
|
||||
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