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https://github.com/firestar5683/StarPilot.git
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This commit is contained in:
StarPilot Build Bot
@@ -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_3329877133651101623) {
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out_3329877133651101623[0] = delta_x[0] + nom_x[0];
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out_3329877133651101623[1] = delta_x[1] + nom_x[1];
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out_3329877133651101623[2] = delta_x[2] + nom_x[2];
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out_3329877133651101623[3] = delta_x[3] + nom_x[3];
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out_3329877133651101623[4] = delta_x[4] + nom_x[4];
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out_3329877133651101623[5] = delta_x[5] + nom_x[5];
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out_3329877133651101623[6] = delta_x[6] + nom_x[6];
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out_3329877133651101623[7] = delta_x[7] + nom_x[7];
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out_3329877133651101623[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_6104712207101523759) {
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out_6104712207101523759[0] = delta_x[0] + nom_x[0];
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out_6104712207101523759[1] = delta_x[1] + nom_x[1];
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out_6104712207101523759[2] = delta_x[2] + nom_x[2];
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out_6104712207101523759[3] = delta_x[3] + nom_x[3];
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out_6104712207101523759[4] = delta_x[4] + nom_x[4];
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out_6104712207101523759[5] = delta_x[5] + nom_x[5];
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out_6104712207101523759[6] = delta_x[6] + nom_x[6];
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out_6104712207101523759[7] = delta_x[7] + nom_x[7];
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out_6104712207101523759[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_7760882190653564987) {
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out_7760882190653564987[0] = -nom_x[0] + true_x[0];
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out_7760882190653564987[1] = -nom_x[1] + true_x[1];
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out_7760882190653564987[2] = -nom_x[2] + true_x[2];
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out_7760882190653564987[3] = -nom_x[3] + true_x[3];
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out_7760882190653564987[4] = -nom_x[4] + true_x[4];
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out_7760882190653564987[5] = -nom_x[5] + true_x[5];
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out_7760882190653564987[6] = -nom_x[6] + true_x[6];
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out_7760882190653564987[7] = -nom_x[7] + true_x[7];
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out_7760882190653564987[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_4901417542031613009) {
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out_4901417542031613009[0] = -nom_x[0] + true_x[0];
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out_4901417542031613009[1] = -nom_x[1] + true_x[1];
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out_4901417542031613009[2] = -nom_x[2] + true_x[2];
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out_4901417542031613009[3] = -nom_x[3] + true_x[3];
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out_4901417542031613009[4] = -nom_x[4] + true_x[4];
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out_4901417542031613009[5] = -nom_x[5] + true_x[5];
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out_4901417542031613009[6] = -nom_x[6] + true_x[6];
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out_4901417542031613009[7] = -nom_x[7] + true_x[7];
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out_4901417542031613009[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_1773647306661711299) {
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out_1773647306661711299[0] = 1.0;
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out_1773647306661711299[1] = 0.0;
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out_1773647306661711299[2] = 0.0;
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out_1773647306661711299[3] = 0.0;
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out_1773647306661711299[4] = 0.0;
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out_1773647306661711299[5] = 0.0;
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out_1773647306661711299[6] = 0.0;
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out_1773647306661711299[7] = 0.0;
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out_1773647306661711299[8] = 0.0;
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out_1773647306661711299[9] = 0.0;
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out_1773647306661711299[10] = 1.0;
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out_1773647306661711299[11] = 0.0;
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out_1773647306661711299[12] = 0.0;
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out_1773647306661711299[13] = 0.0;
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out_1773647306661711299[14] = 0.0;
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out_1773647306661711299[15] = 0.0;
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out_1773647306661711299[16] = 0.0;
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out_1773647306661711299[17] = 0.0;
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out_1773647306661711299[18] = 0.0;
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out_1773647306661711299[19] = 0.0;
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out_1773647306661711299[20] = 1.0;
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out_1773647306661711299[21] = 0.0;
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out_1773647306661711299[22] = 0.0;
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out_1773647306661711299[23] = 0.0;
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out_1773647306661711299[24] = 0.0;
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out_1773647306661711299[25] = 0.0;
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out_1773647306661711299[26] = 0.0;
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out_1773647306661711299[27] = 0.0;
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out_1773647306661711299[28] = 0.0;
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out_1773647306661711299[29] = 0.0;
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out_1773647306661711299[30] = 1.0;
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out_1773647306661711299[31] = 0.0;
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out_1773647306661711299[32] = 0.0;
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out_1773647306661711299[33] = 0.0;
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out_1773647306661711299[34] = 0.0;
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out_1773647306661711299[35] = 0.0;
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out_1773647306661711299[36] = 0.0;
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out_1773647306661711299[37] = 0.0;
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out_1773647306661711299[38] = 0.0;
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out_1773647306661711299[39] = 0.0;
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out_1773647306661711299[40] = 1.0;
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out_1773647306661711299[41] = 0.0;
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out_1773647306661711299[42] = 0.0;
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out_1773647306661711299[43] = 0.0;
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out_1773647306661711299[44] = 0.0;
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out_1773647306661711299[45] = 0.0;
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out_1773647306661711299[46] = 0.0;
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out_1773647306661711299[47] = 0.0;
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out_1773647306661711299[48] = 0.0;
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out_1773647306661711299[49] = 0.0;
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out_1773647306661711299[50] = 1.0;
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out_1773647306661711299[51] = 0.0;
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out_1773647306661711299[52] = 0.0;
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out_1773647306661711299[53] = 0.0;
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out_1773647306661711299[54] = 0.0;
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out_1773647306661711299[55] = 0.0;
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out_1773647306661711299[56] = 0.0;
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out_1773647306661711299[57] = 0.0;
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out_1773647306661711299[58] = 0.0;
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out_1773647306661711299[59] = 0.0;
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out_1773647306661711299[60] = 1.0;
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out_1773647306661711299[61] = 0.0;
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out_1773647306661711299[62] = 0.0;
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out_1773647306661711299[63] = 0.0;
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out_1773647306661711299[64] = 0.0;
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out_1773647306661711299[65] = 0.0;
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out_1773647306661711299[66] = 0.0;
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out_1773647306661711299[67] = 0.0;
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out_1773647306661711299[68] = 0.0;
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out_1773647306661711299[69] = 0.0;
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out_1773647306661711299[70] = 1.0;
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out_1773647306661711299[71] = 0.0;
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out_1773647306661711299[72] = 0.0;
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out_1773647306661711299[73] = 0.0;
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out_1773647306661711299[74] = 0.0;
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out_1773647306661711299[75] = 0.0;
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out_1773647306661711299[76] = 0.0;
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out_1773647306661711299[77] = 0.0;
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out_1773647306661711299[78] = 0.0;
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out_1773647306661711299[79] = 0.0;
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out_1773647306661711299[80] = 1.0;
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void H_mod_fun(double *state, double *out_4051006717071082906) {
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out_4051006717071082906[0] = 1.0;
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out_4051006717071082906[1] = 0.0;
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out_4051006717071082906[2] = 0.0;
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out_4051006717071082906[3] = 0.0;
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out_4051006717071082906[4] = 0.0;
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out_4051006717071082906[5] = 0.0;
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out_4051006717071082906[6] = 0.0;
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out_4051006717071082906[7] = 0.0;
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out_4051006717071082906[8] = 0.0;
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out_4051006717071082906[9] = 0.0;
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out_4051006717071082906[10] = 1.0;
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out_4051006717071082906[11] = 0.0;
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out_4051006717071082906[12] = 0.0;
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out_4051006717071082906[13] = 0.0;
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out_4051006717071082906[14] = 0.0;
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out_4051006717071082906[15] = 0.0;
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out_4051006717071082906[16] = 0.0;
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out_4051006717071082906[17] = 0.0;
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out_4051006717071082906[18] = 0.0;
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out_4051006717071082906[19] = 0.0;
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out_4051006717071082906[20] = 1.0;
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out_4051006717071082906[21] = 0.0;
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out_4051006717071082906[22] = 0.0;
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out_4051006717071082906[23] = 0.0;
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out_4051006717071082906[24] = 0.0;
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out_4051006717071082906[25] = 0.0;
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out_4051006717071082906[26] = 0.0;
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out_4051006717071082906[27] = 0.0;
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out_4051006717071082906[28] = 0.0;
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out_4051006717071082906[29] = 0.0;
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out_4051006717071082906[30] = 1.0;
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out_4051006717071082906[31] = 0.0;
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out_4051006717071082906[32] = 0.0;
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out_4051006717071082906[33] = 0.0;
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out_4051006717071082906[34] = 0.0;
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out_4051006717071082906[35] = 0.0;
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out_4051006717071082906[36] = 0.0;
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out_4051006717071082906[37] = 0.0;
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out_4051006717071082906[38] = 0.0;
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out_4051006717071082906[39] = 0.0;
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out_4051006717071082906[40] = 1.0;
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out_4051006717071082906[41] = 0.0;
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out_4051006717071082906[42] = 0.0;
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out_4051006717071082906[43] = 0.0;
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out_4051006717071082906[44] = 0.0;
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out_4051006717071082906[45] = 0.0;
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out_4051006717071082906[46] = 0.0;
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out_4051006717071082906[47] = 0.0;
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out_4051006717071082906[48] = 0.0;
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out_4051006717071082906[49] = 0.0;
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out_4051006717071082906[50] = 1.0;
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out_4051006717071082906[51] = 0.0;
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out_4051006717071082906[52] = 0.0;
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out_4051006717071082906[53] = 0.0;
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out_4051006717071082906[54] = 0.0;
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out_4051006717071082906[55] = 0.0;
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out_4051006717071082906[56] = 0.0;
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out_4051006717071082906[57] = 0.0;
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out_4051006717071082906[58] = 0.0;
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out_4051006717071082906[59] = 0.0;
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out_4051006717071082906[60] = 1.0;
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out_4051006717071082906[61] = 0.0;
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out_4051006717071082906[62] = 0.0;
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out_4051006717071082906[63] = 0.0;
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out_4051006717071082906[64] = 0.0;
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out_4051006717071082906[65] = 0.0;
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out_4051006717071082906[66] = 0.0;
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out_4051006717071082906[67] = 0.0;
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out_4051006717071082906[68] = 0.0;
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out_4051006717071082906[69] = 0.0;
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out_4051006717071082906[70] = 1.0;
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out_4051006717071082906[71] = 0.0;
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out_4051006717071082906[72] = 0.0;
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out_4051006717071082906[73] = 0.0;
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out_4051006717071082906[74] = 0.0;
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out_4051006717071082906[75] = 0.0;
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out_4051006717071082906[76] = 0.0;
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out_4051006717071082906[77] = 0.0;
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out_4051006717071082906[78] = 0.0;
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out_4051006717071082906[79] = 0.0;
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out_4051006717071082906[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_8265395554005205627) {
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out_8265395554005205627[0] = state[0];
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out_8265395554005205627[1] = state[1];
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out_8265395554005205627[2] = state[2];
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out_8265395554005205627[3] = state[3];
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out_8265395554005205627[4] = state[4];
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out_8265395554005205627[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_8265395554005205627[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_8265395554005205627[7] = state[7];
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out_8265395554005205627[8] = state[8];
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void f_fun(double *state, double dt, double *out_3418974710290228612) {
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out_3418974710290228612[0] = state[0];
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out_3418974710290228612[1] = state[1];
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out_3418974710290228612[2] = state[2];
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out_3418974710290228612[3] = state[3];
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out_3418974710290228612[4] = state[4];
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out_3418974710290228612[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_3418974710290228612[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_3418974710290228612[7] = state[7];
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||||
out_3418974710290228612[8] = state[8];
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||||
}
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void F_fun(double *state, double dt, double *out_5121501708015469294) {
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out_5121501708015469294[0] = 1;
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out_5121501708015469294[1] = 0;
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||||
out_5121501708015469294[2] = 0;
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||||
out_5121501708015469294[3] = 0;
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out_5121501708015469294[4] = 0;
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||||
out_5121501708015469294[5] = 0;
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||||
out_5121501708015469294[6] = 0;
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out_5121501708015469294[7] = 0;
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||||
out_5121501708015469294[8] = 0;
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||||
out_5121501708015469294[9] = 0;
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||||
out_5121501708015469294[10] = 1;
|
||||
out_5121501708015469294[11] = 0;
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||||
out_5121501708015469294[12] = 0;
|
||||
out_5121501708015469294[13] = 0;
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||||
out_5121501708015469294[14] = 0;
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||||
out_5121501708015469294[15] = 0;
|
||||
out_5121501708015469294[16] = 0;
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||||
out_5121501708015469294[17] = 0;
|
||||
out_5121501708015469294[18] = 0;
|
||||
out_5121501708015469294[19] = 0;
|
||||
out_5121501708015469294[20] = 1;
|
||||
out_5121501708015469294[21] = 0;
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||||
out_5121501708015469294[22] = 0;
|
||||
out_5121501708015469294[23] = 0;
|
||||
out_5121501708015469294[24] = 0;
|
||||
out_5121501708015469294[25] = 0;
|
||||
out_5121501708015469294[26] = 0;
|
||||
out_5121501708015469294[27] = 0;
|
||||
out_5121501708015469294[28] = 0;
|
||||
out_5121501708015469294[29] = 0;
|
||||
out_5121501708015469294[30] = 1;
|
||||
out_5121501708015469294[31] = 0;
|
||||
out_5121501708015469294[32] = 0;
|
||||
out_5121501708015469294[33] = 0;
|
||||
out_5121501708015469294[34] = 0;
|
||||
out_5121501708015469294[35] = 0;
|
||||
out_5121501708015469294[36] = 0;
|
||||
out_5121501708015469294[37] = 0;
|
||||
out_5121501708015469294[38] = 0;
|
||||
out_5121501708015469294[39] = 0;
|
||||
out_5121501708015469294[40] = 1;
|
||||
out_5121501708015469294[41] = 0;
|
||||
out_5121501708015469294[42] = 0;
|
||||
out_5121501708015469294[43] = 0;
|
||||
out_5121501708015469294[44] = 0;
|
||||
out_5121501708015469294[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_5121501708015469294[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5121501708015469294[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5121501708015469294[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5121501708015469294[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_5121501708015469294[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5121501708015469294[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5121501708015469294[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5121501708015469294[53] = -9.8100000000000005*dt;
|
||||
out_5121501708015469294[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_5121501708015469294[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5121501708015469294[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5121501708015469294[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5121501708015469294[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_5121501708015469294[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5121501708015469294[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_5121501708015469294[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5121501708015469294[62] = 0;
|
||||
out_5121501708015469294[63] = 0;
|
||||
out_5121501708015469294[64] = 0;
|
||||
out_5121501708015469294[65] = 0;
|
||||
out_5121501708015469294[66] = 0;
|
||||
out_5121501708015469294[67] = 0;
|
||||
out_5121501708015469294[68] = 0;
|
||||
out_5121501708015469294[69] = 0;
|
||||
out_5121501708015469294[70] = 1;
|
||||
out_5121501708015469294[71] = 0;
|
||||
out_5121501708015469294[72] = 0;
|
||||
out_5121501708015469294[73] = 0;
|
||||
out_5121501708015469294[74] = 0;
|
||||
out_5121501708015469294[75] = 0;
|
||||
out_5121501708015469294[76] = 0;
|
||||
out_5121501708015469294[77] = 0;
|
||||
out_5121501708015469294[78] = 0;
|
||||
out_5121501708015469294[79] = 0;
|
||||
out_5121501708015469294[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_3699468657963228141) {
|
||||
out_3699468657963228141[0] = 1;
|
||||
out_3699468657963228141[1] = 0;
|
||||
out_3699468657963228141[2] = 0;
|
||||
out_3699468657963228141[3] = 0;
|
||||
out_3699468657963228141[4] = 0;
|
||||
out_3699468657963228141[5] = 0;
|
||||
out_3699468657963228141[6] = 0;
|
||||
out_3699468657963228141[7] = 0;
|
||||
out_3699468657963228141[8] = 0;
|
||||
out_3699468657963228141[9] = 0;
|
||||
out_3699468657963228141[10] = 1;
|
||||
out_3699468657963228141[11] = 0;
|
||||
out_3699468657963228141[12] = 0;
|
||||
out_3699468657963228141[13] = 0;
|
||||
out_3699468657963228141[14] = 0;
|
||||
out_3699468657963228141[15] = 0;
|
||||
out_3699468657963228141[16] = 0;
|
||||
out_3699468657963228141[17] = 0;
|
||||
out_3699468657963228141[18] = 0;
|
||||
out_3699468657963228141[19] = 0;
|
||||
out_3699468657963228141[20] = 1;
|
||||
out_3699468657963228141[21] = 0;
|
||||
out_3699468657963228141[22] = 0;
|
||||
out_3699468657963228141[23] = 0;
|
||||
out_3699468657963228141[24] = 0;
|
||||
out_3699468657963228141[25] = 0;
|
||||
out_3699468657963228141[26] = 0;
|
||||
out_3699468657963228141[27] = 0;
|
||||
out_3699468657963228141[28] = 0;
|
||||
out_3699468657963228141[29] = 0;
|
||||
out_3699468657963228141[30] = 1;
|
||||
out_3699468657963228141[31] = 0;
|
||||
out_3699468657963228141[32] = 0;
|
||||
out_3699468657963228141[33] = 0;
|
||||
out_3699468657963228141[34] = 0;
|
||||
out_3699468657963228141[35] = 0;
|
||||
out_3699468657963228141[36] = 0;
|
||||
out_3699468657963228141[37] = 0;
|
||||
out_3699468657963228141[38] = 0;
|
||||
out_3699468657963228141[39] = 0;
|
||||
out_3699468657963228141[40] = 1;
|
||||
out_3699468657963228141[41] = 0;
|
||||
out_3699468657963228141[42] = 0;
|
||||
out_3699468657963228141[43] = 0;
|
||||
out_3699468657963228141[44] = 0;
|
||||
out_3699468657963228141[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_3699468657963228141[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3699468657963228141[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3699468657963228141[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3699468657963228141[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_3699468657963228141[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3699468657963228141[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3699468657963228141[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3699468657963228141[53] = -9.8100000000000005*dt;
|
||||
out_3699468657963228141[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_3699468657963228141[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3699468657963228141[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3699468657963228141[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3699468657963228141[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_3699468657963228141[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3699468657963228141[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_3699468657963228141[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3699468657963228141[62] = 0;
|
||||
out_3699468657963228141[63] = 0;
|
||||
out_3699468657963228141[64] = 0;
|
||||
out_3699468657963228141[65] = 0;
|
||||
out_3699468657963228141[66] = 0;
|
||||
out_3699468657963228141[67] = 0;
|
||||
out_3699468657963228141[68] = 0;
|
||||
out_3699468657963228141[69] = 0;
|
||||
out_3699468657963228141[70] = 1;
|
||||
out_3699468657963228141[71] = 0;
|
||||
out_3699468657963228141[72] = 0;
|
||||
out_3699468657963228141[73] = 0;
|
||||
out_3699468657963228141[74] = 0;
|
||||
out_3699468657963228141[75] = 0;
|
||||
out_3699468657963228141[76] = 0;
|
||||
out_3699468657963228141[77] = 0;
|
||||
out_3699468657963228141[78] = 0;
|
||||
out_3699468657963228141[79] = 0;
|
||||
out_3699468657963228141[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_1871114119926472838) {
|
||||
out_1871114119926472838[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7881868868211418241) {
|
||||
out_7881868868211418241[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_1749401331983653849) {
|
||||
out_1749401331983653849[0] = 0;
|
||||
out_1749401331983653849[1] = 0;
|
||||
out_1749401331983653849[2] = 0;
|
||||
out_1749401331983653849[3] = 0;
|
||||
out_1749401331983653849[4] = 0;
|
||||
out_1749401331983653849[5] = 0;
|
||||
out_1749401331983653849[6] = 1;
|
||||
out_1749401331983653849[7] = 0;
|
||||
out_1749401331983653849[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_7573987367060574583) {
|
||||
out_7573987367060574583[0] = 0;
|
||||
out_7573987367060574583[1] = 0;
|
||||
out_7573987367060574583[2] = 0;
|
||||
out_7573987367060574583[3] = 0;
|
||||
out_7573987367060574583[4] = 0;
|
||||
out_7573987367060574583[5] = 0;
|
||||
out_7573987367060574583[6] = 1;
|
||||
out_7573987367060574583[7] = 0;
|
||||
out_7573987367060574583[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_4177328874243606255) {
|
||||
out_4177328874243606255[0] = state[4];
|
||||
out_4177328874243606255[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_6965493433416690101) {
|
||||
out_6965493433416690101[0] = state[4];
|
||||
out_6965493433416690101[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_1808524266818669287) {
|
||||
out_1808524266818669287[0] = 0;
|
||||
out_1808524266818669287[1] = 0;
|
||||
out_1808524266818669287[2] = 0;
|
||||
out_1808524266818669287[3] = 0;
|
||||
out_1808524266818669287[4] = 1;
|
||||
out_1808524266818669287[5] = 0;
|
||||
out_1808524266818669287[6] = 0;
|
||||
out_1808524266818669287[7] = 0;
|
||||
out_1808524266818669287[8] = 0;
|
||||
out_1808524266818669287[9] = 0;
|
||||
out_1808524266818669287[10] = 0;
|
||||
out_1808524266818669287[11] = 0;
|
||||
out_1808524266818669287[12] = 0;
|
||||
out_1808524266818669287[13] = 0;
|
||||
out_1808524266818669287[14] = 1;
|
||||
out_1808524266818669287[15] = 0;
|
||||
out_1808524266818669287[16] = 0;
|
||||
out_1808524266818669287[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_7314831107846653897) {
|
||||
out_7314831107846653897[0] = 0;
|
||||
out_7314831107846653897[1] = 0;
|
||||
out_7314831107846653897[2] = 0;
|
||||
out_7314831107846653897[3] = 0;
|
||||
out_7314831107846653897[4] = 1;
|
||||
out_7314831107846653897[5] = 0;
|
||||
out_7314831107846653897[6] = 0;
|
||||
out_7314831107846653897[7] = 0;
|
||||
out_7314831107846653897[8] = 0;
|
||||
out_7314831107846653897[9] = 0;
|
||||
out_7314831107846653897[10] = 0;
|
||||
out_7314831107846653897[11] = 0;
|
||||
out_7314831107846653897[12] = 0;
|
||||
out_7314831107846653897[13] = 0;
|
||||
out_7314831107846653897[14] = 1;
|
||||
out_7314831107846653897[15] = 0;
|
||||
out_7314831107846653897[16] = 0;
|
||||
out_7314831107846653897[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_6625546561337267154) {
|
||||
out_6625546561337267154[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_5527754398725254445) {
|
||||
out_5527754398725254445[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_5167289009507962906) {
|
||||
out_5167289009507962906[0] = 0;
|
||||
out_5167289009507962906[1] = 0;
|
||||
out_5167289009507962906[2] = 0;
|
||||
out_5167289009507962906[3] = 0;
|
||||
out_5167289009507962906[4] = 1;
|
||||
out_5167289009507962906[5] = 0;
|
||||
out_5167289009507962906[6] = 0;
|
||||
out_5167289009507962906[7] = 0;
|
||||
out_5167289009507962906[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_8354423748141728406) {
|
||||
out_8354423748141728406[0] = 0;
|
||||
out_8354423748141728406[1] = 0;
|
||||
out_8354423748141728406[2] = 0;
|
||||
out_8354423748141728406[3] = 0;
|
||||
out_8354423748141728406[4] = 1;
|
||||
out_8354423748141728406[5] = 0;
|
||||
out_8354423748141728406[6] = 0;
|
||||
out_8354423748141728406[7] = 0;
|
||||
out_8354423748141728406[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_8545349699624827873) {
|
||||
out_8545349699624827873[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_4047826294150907485) {
|
||||
out_4047826294150907485[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_5490904650857710073) {
|
||||
out_5490904650857710073[0] = 0;
|
||||
out_5490904650857710073[1] = 0;
|
||||
out_5490904650857710073[2] = 0;
|
||||
out_5490904650857710073[3] = 0;
|
||||
out_5490904650857710073[4] = 0;
|
||||
out_5490904650857710073[5] = 0;
|
||||
out_5490904650857710073[6] = 0;
|
||||
out_5490904650857710073[7] = 1;
|
||||
out_5490904650857710073[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_3832484048186518359) {
|
||||
out_3832484048186518359[0] = 0;
|
||||
out_3832484048186518359[1] = 0;
|
||||
out_3832484048186518359[2] = 0;
|
||||
out_3832484048186518359[3] = 0;
|
||||
out_3832484048186518359[4] = 0;
|
||||
out_3832484048186518359[5] = 0;
|
||||
out_3832484048186518359[6] = 0;
|
||||
out_3832484048186518359[7] = 1;
|
||||
out_3832484048186518359[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3470753115959557725) {
|
||||
out_3470753115959557725[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_7960469884689435724) {
|
||||
out_7960469884689435724[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_2992525697707537995) {
|
||||
out_2992525697707537995[0] = 0;
|
||||
out_2992525697707537995[1] = 0;
|
||||
out_2992525697707537995[2] = 0;
|
||||
out_2992525697707537995[3] = 1;
|
||||
out_2992525697707537995[4] = 0;
|
||||
out_2992525697707537995[5] = 0;
|
||||
out_2992525697707537995[6] = 0;
|
||||
out_2992525697707537995[7] = 0;
|
||||
out_2992525697707537995[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_6130829676957785189) {
|
||||
out_6130829676957785189[0] = 0;
|
||||
out_6130829676957785189[1] = 0;
|
||||
out_6130829676957785189[2] = 0;
|
||||
out_6130829676957785189[3] = 1;
|
||||
out_6130829676957785189[4] = 0;
|
||||
out_6130829676957785189[5] = 0;
|
||||
out_6130829676957785189[6] = 0;
|
||||
out_6130829676957785189[7] = 0;
|
||||
out_6130829676957785189[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_7569056414238929589) {
|
||||
out_7569056414238929589[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_4330826993179455763) {
|
||||
out_4330826993179455763[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_1279162970837986962) {
|
||||
out_1279162970837986962[0] = 0;
|
||||
out_1279162970837986962[1] = 1;
|
||||
out_1279162970837986962[2] = 0;
|
||||
out_1279162970837986962[3] = 0;
|
||||
out_1279162970837986962[4] = 0;
|
||||
out_1279162970837986962[5] = 0;
|
||||
out_1279162970837986962[6] = 0;
|
||||
out_1279162970837986962[7] = 0;
|
||||
out_1279162970837986962[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_7844192403827336222) {
|
||||
out_7844192403827336222[0] = 0;
|
||||
out_7844192403827336222[1] = 1;
|
||||
out_7844192403827336222[2] = 0;
|
||||
out_7844192403827336222[3] = 0;
|
||||
out_7844192403827336222[4] = 0;
|
||||
out_7844192403827336222[5] = 0;
|
||||
out_7844192403827336222[6] = 0;
|
||||
out_7844192403827336222[7] = 0;
|
||||
out_7844192403827336222[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_6507539167403890410) {
|
||||
out_6507539167403890410[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_8563785769365913241) {
|
||||
out_8563785769365913241[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_3803236046231543612) {
|
||||
out_3803236046231543612[0] = 1;
|
||||
out_3803236046231543612[1] = 0;
|
||||
out_3803236046231543612[2] = 0;
|
||||
out_3803236046231543612[3] = 0;
|
||||
out_3803236046231543612[4] = 0;
|
||||
out_3803236046231543612[5] = 0;
|
||||
out_3803236046231543612[6] = 0;
|
||||
out_3803236046231543612[7] = 0;
|
||||
out_3803236046231543612[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_5520152652812684820) {
|
||||
out_5520152652812684820[0] = 1;
|
||||
out_5520152652812684820[1] = 0;
|
||||
out_5520152652812684820[2] = 0;
|
||||
out_5520152652812684820[3] = 0;
|
||||
out_5520152652812684820[4] = 0;
|
||||
out_5520152652812684820[5] = 0;
|
||||
out_5520152652812684820[6] = 0;
|
||||
out_5520152652812684820[7] = 0;
|
||||
out_5520152652812684820[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_5594040852719868954) {
|
||||
out_5594040852719868954[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6703191729069631723) {
|
||||
out_6703191729069631723[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_1718755370106693421) {
|
||||
out_1718755370106693421[0] = 0;
|
||||
out_1718755370106693421[1] = 0;
|
||||
out_1718755370106693421[2] = 0;
|
||||
out_1718755370106693421[3] = 0;
|
||||
out_1718755370106693421[4] = 0;
|
||||
out_1718755370106693421[5] = 0;
|
||||
out_1718755370106693421[6] = 0;
|
||||
out_1718755370106693421[7] = 0;
|
||||
out_1718755370106693421[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_7604633328937535011) {
|
||||
out_7604633328937535011[0] = 0;
|
||||
out_7604633328937535011[1] = 0;
|
||||
out_7604633328937535011[2] = 0;
|
||||
out_7604633328937535011[3] = 0;
|
||||
out_7604633328937535011[4] = 0;
|
||||
out_7604633328937535011[5] = 0;
|
||||
out_7604633328937535011[6] = 0;
|
||||
out_7604633328937535011[7] = 0;
|
||||
out_7604633328937535011[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_3329877133651101623) {
|
||||
err_fun(nom_x, delta_x, out_3329877133651101623);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6104712207101523759) {
|
||||
err_fun(nom_x, delta_x, out_6104712207101523759);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) {
|
||||
inv_err_fun(nom_x, true_x, out_7760882190653564987);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4901417542031613009) {
|
||||
inv_err_fun(nom_x, true_x, out_4901417542031613009);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_1773647306661711299) {
|
||||
H_mod_fun(state, out_1773647306661711299);
|
||||
void car_H_mod_fun(double *state, double *out_4051006717071082906) {
|
||||
H_mod_fun(state, out_4051006717071082906);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_8265395554005205627) {
|
||||
f_fun(state, dt, out_8265395554005205627);
|
||||
void car_f_fun(double *state, double dt, double *out_3418974710290228612) {
|
||||
f_fun(state, dt, out_3418974710290228612);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_5121501708015469294) {
|
||||
F_fun(state, dt, out_5121501708015469294);
|
||||
void car_F_fun(double *state, double dt, double *out_3699468657963228141) {
|
||||
F_fun(state, dt, out_3699468657963228141);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_1871114119926472838) {
|
||||
h_25(state, unused, out_1871114119926472838);
|
||||
void car_h_25(double *state, double *unused, double *out_7881868868211418241) {
|
||||
h_25(state, unused, out_7881868868211418241);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_1749401331983653849) {
|
||||
H_25(state, unused, out_1749401331983653849);
|
||||
void car_H_25(double *state, double *unused, double *out_7573987367060574583) {
|
||||
H_25(state, unused, out_7573987367060574583);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_4177328874243606255) {
|
||||
h_24(state, unused, out_4177328874243606255);
|
||||
void car_h_24(double *state, double *unused, double *out_6965493433416690101) {
|
||||
h_24(state, unused, out_6965493433416690101);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_1808524266818669287) {
|
||||
H_24(state, unused, out_1808524266818669287);
|
||||
void car_H_24(double *state, double *unused, double *out_7314831107846653897) {
|
||||
H_24(state, unused, out_7314831107846653897);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_6625546561337267154) {
|
||||
h_30(state, unused, out_6625546561337267154);
|
||||
void car_h_30(double *state, double *unused, double *out_5527754398725254445) {
|
||||
h_30(state, unused, out_5527754398725254445);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_5167289009507962906) {
|
||||
H_30(state, unused, out_5167289009507962906);
|
||||
void car_H_30(double *state, double *unused, double *out_8354423748141728406) {
|
||||
H_30(state, unused, out_8354423748141728406);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_8545349699624827873) {
|
||||
h_26(state, unused, out_8545349699624827873);
|
||||
void car_h_26(double *state, double *unused, double *out_4047826294150907485) {
|
||||
h_26(state, unused, out_4047826294150907485);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_5490904650857710073) {
|
||||
H_26(state, unused, out_5490904650857710073);
|
||||
void car_H_26(double *state, double *unused, double *out_3832484048186518359) {
|
||||
H_26(state, unused, out_3832484048186518359);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3470753115959557725) {
|
||||
h_27(state, unused, out_3470753115959557725);
|
||||
void car_h_27(double *state, double *unused, double *out_7960469884689435724) {
|
||||
h_27(state, unused, out_7960469884689435724);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_2992525697707537995) {
|
||||
H_27(state, unused, out_2992525697707537995);
|
||||
void car_H_27(double *state, double *unused, double *out_6130829676957785189) {
|
||||
H_27(state, unused, out_6130829676957785189);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_7569056414238929589) {
|
||||
h_29(state, unused, out_7569056414238929589);
|
||||
void car_h_29(double *state, double *unused, double *out_4330826993179455763) {
|
||||
h_29(state, unused, out_4330826993179455763);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_1279162970837986962) {
|
||||
H_29(state, unused, out_1279162970837986962);
|
||||
void car_H_29(double *state, double *unused, double *out_7844192403827336222) {
|
||||
H_29(state, unused, out_7844192403827336222);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_6507539167403890410) {
|
||||
h_28(state, unused, out_6507539167403890410);
|
||||
void car_h_28(double *state, double *unused, double *out_8563785769365913241) {
|
||||
h_28(state, unused, out_8563785769365913241);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_3803236046231543612) {
|
||||
H_28(state, unused, out_3803236046231543612);
|
||||
void car_H_28(double *state, double *unused, double *out_5520152652812684820) {
|
||||
H_28(state, unused, out_5520152652812684820);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_5594040852719868954) {
|
||||
h_31(state, unused, out_5594040852719868954);
|
||||
void car_h_31(double *state, double *unused, double *out_6703191729069631723) {
|
||||
h_31(state, unused, out_6703191729069631723);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_1718755370106693421) {
|
||||
H_31(state, unused, out_1718755370106693421);
|
||||
void car_H_31(double *state, double *unused, double *out_7604633328937535011) {
|
||||
H_31(state, unused, out_7604633328937535011);
|
||||
}
|
||||
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