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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_1976458697034392713) {
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out_1976458697034392713[0] = delta_x[0] + nom_x[0];
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out_1976458697034392713[1] = delta_x[1] + nom_x[1];
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out_1976458697034392713[2] = delta_x[2] + nom_x[2];
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out_1976458697034392713[3] = delta_x[3] + nom_x[3];
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out_1976458697034392713[4] = delta_x[4] + nom_x[4];
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out_1976458697034392713[5] = delta_x[5] + nom_x[5];
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out_1976458697034392713[6] = delta_x[6] + nom_x[6];
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out_1976458697034392713[7] = delta_x[7] + nom_x[7];
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out_1976458697034392713[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_7026316075073471994) {
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out_7026316075073471994[0] = delta_x[0] + nom_x[0];
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out_7026316075073471994[1] = delta_x[1] + nom_x[1];
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out_7026316075073471994[2] = delta_x[2] + nom_x[2];
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out_7026316075073471994[3] = delta_x[3] + nom_x[3];
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out_7026316075073471994[4] = delta_x[4] + nom_x[4];
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out_7026316075073471994[5] = delta_x[5] + nom_x[5];
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out_7026316075073471994[6] = delta_x[6] + nom_x[6];
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out_7026316075073471994[7] = delta_x[7] + nom_x[7];
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out_7026316075073471994[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_8774680380747325588) {
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out_8774680380747325588[0] = -nom_x[0] + true_x[0];
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out_8774680380747325588[1] = -nom_x[1] + true_x[1];
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out_8774680380747325588[2] = -nom_x[2] + true_x[2];
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out_8774680380747325588[3] = -nom_x[3] + true_x[3];
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out_8774680380747325588[4] = -nom_x[4] + true_x[4];
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out_8774680380747325588[5] = -nom_x[5] + true_x[5];
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out_8774680380747325588[6] = -nom_x[6] + true_x[6];
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out_8774680380747325588[7] = -nom_x[7] + true_x[7];
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out_8774680380747325588[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_4587773260780687079) {
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out_4587773260780687079[0] = -nom_x[0] + true_x[0];
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out_4587773260780687079[1] = -nom_x[1] + true_x[1];
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out_4587773260780687079[2] = -nom_x[2] + true_x[2];
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out_4587773260780687079[3] = -nom_x[3] + true_x[3];
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out_4587773260780687079[4] = -nom_x[4] + true_x[4];
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out_4587773260780687079[5] = -nom_x[5] + true_x[5];
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out_4587773260780687079[6] = -nom_x[6] + true_x[6];
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out_4587773260780687079[7] = -nom_x[7] + true_x[7];
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out_4587773260780687079[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_1571472922248018296) {
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out_1571472922248018296[0] = 1.0;
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out_1571472922248018296[1] = 0.0;
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out_1571472922248018296[2] = 0.0;
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out_1571472922248018296[3] = 0.0;
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out_1571472922248018296[4] = 0.0;
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out_1571472922248018296[5] = 0.0;
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out_1571472922248018296[6] = 0.0;
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out_1571472922248018296[7] = 0.0;
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out_1571472922248018296[8] = 0.0;
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out_1571472922248018296[9] = 0.0;
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out_1571472922248018296[10] = 1.0;
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out_1571472922248018296[11] = 0.0;
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out_1571472922248018296[12] = 0.0;
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out_1571472922248018296[13] = 0.0;
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out_1571472922248018296[14] = 0.0;
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out_1571472922248018296[15] = 0.0;
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out_1571472922248018296[16] = 0.0;
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out_1571472922248018296[17] = 0.0;
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out_1571472922248018296[18] = 0.0;
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out_1571472922248018296[19] = 0.0;
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out_1571472922248018296[20] = 1.0;
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out_1571472922248018296[21] = 0.0;
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out_1571472922248018296[22] = 0.0;
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out_1571472922248018296[23] = 0.0;
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out_1571472922248018296[24] = 0.0;
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out_1571472922248018296[25] = 0.0;
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out_1571472922248018296[26] = 0.0;
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out_1571472922248018296[27] = 0.0;
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out_1571472922248018296[28] = 0.0;
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out_1571472922248018296[29] = 0.0;
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out_1571472922248018296[30] = 1.0;
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out_1571472922248018296[31] = 0.0;
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out_1571472922248018296[32] = 0.0;
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out_1571472922248018296[33] = 0.0;
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out_1571472922248018296[34] = 0.0;
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out_1571472922248018296[35] = 0.0;
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out_1571472922248018296[36] = 0.0;
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out_1571472922248018296[37] = 0.0;
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out_1571472922248018296[38] = 0.0;
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out_1571472922248018296[39] = 0.0;
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out_1571472922248018296[40] = 1.0;
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out_1571472922248018296[41] = 0.0;
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out_1571472922248018296[42] = 0.0;
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out_1571472922248018296[43] = 0.0;
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out_1571472922248018296[44] = 0.0;
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out_1571472922248018296[45] = 0.0;
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out_1571472922248018296[46] = 0.0;
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out_1571472922248018296[47] = 0.0;
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out_1571472922248018296[48] = 0.0;
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out_1571472922248018296[49] = 0.0;
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out_1571472922248018296[50] = 1.0;
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out_1571472922248018296[51] = 0.0;
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out_1571472922248018296[52] = 0.0;
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out_1571472922248018296[53] = 0.0;
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out_1571472922248018296[54] = 0.0;
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out_1571472922248018296[55] = 0.0;
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out_1571472922248018296[56] = 0.0;
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out_1571472922248018296[57] = 0.0;
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out_1571472922248018296[58] = 0.0;
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out_1571472922248018296[59] = 0.0;
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out_1571472922248018296[60] = 1.0;
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out_1571472922248018296[61] = 0.0;
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out_1571472922248018296[62] = 0.0;
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out_1571472922248018296[63] = 0.0;
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out_1571472922248018296[64] = 0.0;
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out_1571472922248018296[65] = 0.0;
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out_1571472922248018296[66] = 0.0;
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out_1571472922248018296[67] = 0.0;
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out_1571472922248018296[68] = 0.0;
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out_1571472922248018296[69] = 0.0;
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out_1571472922248018296[70] = 1.0;
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out_1571472922248018296[71] = 0.0;
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out_1571472922248018296[72] = 0.0;
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out_1571472922248018296[73] = 0.0;
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out_1571472922248018296[74] = 0.0;
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out_1571472922248018296[75] = 0.0;
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out_1571472922248018296[76] = 0.0;
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out_1571472922248018296[77] = 0.0;
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out_1571472922248018296[78] = 0.0;
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out_1571472922248018296[79] = 0.0;
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out_1571472922248018296[80] = 1.0;
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void H_mod_fun(double *state, double *out_255548955770617621) {
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out_255548955770617621[0] = 1.0;
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out_255548955770617621[1] = 0.0;
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out_255548955770617621[2] = 0.0;
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out_255548955770617621[3] = 0.0;
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out_255548955770617621[4] = 0.0;
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out_255548955770617621[5] = 0.0;
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out_255548955770617621[6] = 0.0;
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out_255548955770617621[7] = 0.0;
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out_255548955770617621[8] = 0.0;
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out_255548955770617621[9] = 0.0;
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out_255548955770617621[10] = 1.0;
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out_255548955770617621[11] = 0.0;
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out_255548955770617621[12] = 0.0;
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out_255548955770617621[13] = 0.0;
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out_255548955770617621[14] = 0.0;
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out_255548955770617621[15] = 0.0;
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out_255548955770617621[16] = 0.0;
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out_255548955770617621[17] = 0.0;
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out_255548955770617621[18] = 0.0;
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out_255548955770617621[19] = 0.0;
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out_255548955770617621[20] = 1.0;
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out_255548955770617621[21] = 0.0;
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out_255548955770617621[22] = 0.0;
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out_255548955770617621[23] = 0.0;
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out_255548955770617621[24] = 0.0;
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out_255548955770617621[25] = 0.0;
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out_255548955770617621[26] = 0.0;
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out_255548955770617621[27] = 0.0;
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out_255548955770617621[28] = 0.0;
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out_255548955770617621[29] = 0.0;
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out_255548955770617621[30] = 1.0;
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out_255548955770617621[31] = 0.0;
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out_255548955770617621[32] = 0.0;
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out_255548955770617621[33] = 0.0;
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out_255548955770617621[34] = 0.0;
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out_255548955770617621[35] = 0.0;
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out_255548955770617621[36] = 0.0;
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out_255548955770617621[37] = 0.0;
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out_255548955770617621[38] = 0.0;
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out_255548955770617621[39] = 0.0;
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out_255548955770617621[40] = 1.0;
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out_255548955770617621[41] = 0.0;
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out_255548955770617621[42] = 0.0;
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out_255548955770617621[43] = 0.0;
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out_255548955770617621[44] = 0.0;
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out_255548955770617621[45] = 0.0;
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out_255548955770617621[46] = 0.0;
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out_255548955770617621[47] = 0.0;
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out_255548955770617621[48] = 0.0;
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out_255548955770617621[49] = 0.0;
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out_255548955770617621[50] = 1.0;
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out_255548955770617621[51] = 0.0;
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out_255548955770617621[52] = 0.0;
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out_255548955770617621[53] = 0.0;
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out_255548955770617621[54] = 0.0;
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out_255548955770617621[55] = 0.0;
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out_255548955770617621[56] = 0.0;
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out_255548955770617621[57] = 0.0;
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out_255548955770617621[58] = 0.0;
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out_255548955770617621[59] = 0.0;
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out_255548955770617621[60] = 1.0;
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out_255548955770617621[61] = 0.0;
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out_255548955770617621[62] = 0.0;
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out_255548955770617621[63] = 0.0;
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out_255548955770617621[64] = 0.0;
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out_255548955770617621[65] = 0.0;
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out_255548955770617621[66] = 0.0;
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out_255548955770617621[67] = 0.0;
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out_255548955770617621[68] = 0.0;
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out_255548955770617621[69] = 0.0;
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out_255548955770617621[70] = 1.0;
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out_255548955770617621[71] = 0.0;
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out_255548955770617621[72] = 0.0;
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out_255548955770617621[73] = 0.0;
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out_255548955770617621[74] = 0.0;
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out_255548955770617621[75] = 0.0;
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out_255548955770617621[76] = 0.0;
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out_255548955770617621[77] = 0.0;
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out_255548955770617621[78] = 0.0;
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out_255548955770617621[79] = 0.0;
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out_255548955770617621[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_3070664500164102760) {
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out_3070664500164102760[0] = state[0];
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out_3070664500164102760[1] = state[1];
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out_3070664500164102760[2] = state[2];
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out_3070664500164102760[3] = state[3];
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out_3070664500164102760[4] = state[4];
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out_3070664500164102760[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_3070664500164102760[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_3070664500164102760[7] = state[7];
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out_3070664500164102760[8] = state[8];
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void f_fun(double *state, double dt, double *out_5905678958362697737) {
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out_5905678958362697737[0] = state[0];
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out_5905678958362697737[1] = state[1];
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out_5905678958362697737[2] = state[2];
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out_5905678958362697737[3] = state[3];
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out_5905678958362697737[4] = state[4];
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out_5905678958362697737[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_5905678958362697737[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_5905678958362697737[7] = state[7];
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out_5905678958362697737[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_2365857006052744488) {
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out_2365857006052744488[0] = 1;
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out_2365857006052744488[1] = 0;
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out_2365857006052744488[2] = 0;
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out_2365857006052744488[3] = 0;
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out_2365857006052744488[4] = 0;
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out_2365857006052744488[5] = 0;
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out_2365857006052744488[6] = 0;
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out_2365857006052744488[7] = 0;
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out_2365857006052744488[8] = 0;
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out_2365857006052744488[9] = 0;
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out_2365857006052744488[10] = 1;
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out_2365857006052744488[11] = 0;
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out_2365857006052744488[12] = 0;
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out_2365857006052744488[13] = 0;
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out_2365857006052744488[14] = 0;
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||||
out_2365857006052744488[15] = 0;
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out_2365857006052744488[16] = 0;
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out_2365857006052744488[17] = 0;
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out_2365857006052744488[18] = 0;
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out_2365857006052744488[19] = 0;
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out_2365857006052744488[20] = 1;
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out_2365857006052744488[21] = 0;
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||||
out_2365857006052744488[22] = 0;
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out_2365857006052744488[23] = 0;
|
||||
out_2365857006052744488[24] = 0;
|
||||
out_2365857006052744488[25] = 0;
|
||||
out_2365857006052744488[26] = 0;
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||||
out_2365857006052744488[27] = 0;
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||||
out_2365857006052744488[28] = 0;
|
||||
out_2365857006052744488[29] = 0;
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||||
out_2365857006052744488[30] = 1;
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||||
out_2365857006052744488[31] = 0;
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||||
out_2365857006052744488[32] = 0;
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out_2365857006052744488[33] = 0;
|
||||
out_2365857006052744488[34] = 0;
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||||
out_2365857006052744488[35] = 0;
|
||||
out_2365857006052744488[36] = 0;
|
||||
out_2365857006052744488[37] = 0;
|
||||
out_2365857006052744488[38] = 0;
|
||||
out_2365857006052744488[39] = 0;
|
||||
out_2365857006052744488[40] = 1;
|
||||
out_2365857006052744488[41] = 0;
|
||||
out_2365857006052744488[42] = 0;
|
||||
out_2365857006052744488[43] = 0;
|
||||
out_2365857006052744488[44] = 0;
|
||||
out_2365857006052744488[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_2365857006052744488[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2365857006052744488[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2365857006052744488[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2365857006052744488[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_2365857006052744488[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2365857006052744488[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2365857006052744488[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2365857006052744488[53] = -9.8100000000000005*dt;
|
||||
out_2365857006052744488[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_2365857006052744488[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2365857006052744488[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2365857006052744488[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2365857006052744488[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_2365857006052744488[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2365857006052744488[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_2365857006052744488[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2365857006052744488[62] = 0;
|
||||
out_2365857006052744488[63] = 0;
|
||||
out_2365857006052744488[64] = 0;
|
||||
out_2365857006052744488[65] = 0;
|
||||
out_2365857006052744488[66] = 0;
|
||||
out_2365857006052744488[67] = 0;
|
||||
out_2365857006052744488[68] = 0;
|
||||
out_2365857006052744488[69] = 0;
|
||||
out_2365857006052744488[70] = 1;
|
||||
out_2365857006052744488[71] = 0;
|
||||
out_2365857006052744488[72] = 0;
|
||||
out_2365857006052744488[73] = 0;
|
||||
out_2365857006052744488[74] = 0;
|
||||
out_2365857006052744488[75] = 0;
|
||||
out_2365857006052744488[76] = 0;
|
||||
out_2365857006052744488[77] = 0;
|
||||
out_2365857006052744488[78] = 0;
|
||||
out_2365857006052744488[79] = 0;
|
||||
out_2365857006052744488[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_2348542156060617804) {
|
||||
out_2348542156060617804[0] = 1;
|
||||
out_2348542156060617804[1] = 0;
|
||||
out_2348542156060617804[2] = 0;
|
||||
out_2348542156060617804[3] = 0;
|
||||
out_2348542156060617804[4] = 0;
|
||||
out_2348542156060617804[5] = 0;
|
||||
out_2348542156060617804[6] = 0;
|
||||
out_2348542156060617804[7] = 0;
|
||||
out_2348542156060617804[8] = 0;
|
||||
out_2348542156060617804[9] = 0;
|
||||
out_2348542156060617804[10] = 1;
|
||||
out_2348542156060617804[11] = 0;
|
||||
out_2348542156060617804[12] = 0;
|
||||
out_2348542156060617804[13] = 0;
|
||||
out_2348542156060617804[14] = 0;
|
||||
out_2348542156060617804[15] = 0;
|
||||
out_2348542156060617804[16] = 0;
|
||||
out_2348542156060617804[17] = 0;
|
||||
out_2348542156060617804[18] = 0;
|
||||
out_2348542156060617804[19] = 0;
|
||||
out_2348542156060617804[20] = 1;
|
||||
out_2348542156060617804[21] = 0;
|
||||
out_2348542156060617804[22] = 0;
|
||||
out_2348542156060617804[23] = 0;
|
||||
out_2348542156060617804[24] = 0;
|
||||
out_2348542156060617804[25] = 0;
|
||||
out_2348542156060617804[26] = 0;
|
||||
out_2348542156060617804[27] = 0;
|
||||
out_2348542156060617804[28] = 0;
|
||||
out_2348542156060617804[29] = 0;
|
||||
out_2348542156060617804[30] = 1;
|
||||
out_2348542156060617804[31] = 0;
|
||||
out_2348542156060617804[32] = 0;
|
||||
out_2348542156060617804[33] = 0;
|
||||
out_2348542156060617804[34] = 0;
|
||||
out_2348542156060617804[35] = 0;
|
||||
out_2348542156060617804[36] = 0;
|
||||
out_2348542156060617804[37] = 0;
|
||||
out_2348542156060617804[38] = 0;
|
||||
out_2348542156060617804[39] = 0;
|
||||
out_2348542156060617804[40] = 1;
|
||||
out_2348542156060617804[41] = 0;
|
||||
out_2348542156060617804[42] = 0;
|
||||
out_2348542156060617804[43] = 0;
|
||||
out_2348542156060617804[44] = 0;
|
||||
out_2348542156060617804[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_2348542156060617804[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2348542156060617804[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2348542156060617804[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2348542156060617804[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_2348542156060617804[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2348542156060617804[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2348542156060617804[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2348542156060617804[53] = -9.8100000000000005*dt;
|
||||
out_2348542156060617804[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_2348542156060617804[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2348542156060617804[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2348542156060617804[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2348542156060617804[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_2348542156060617804[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2348542156060617804[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_2348542156060617804[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2348542156060617804[62] = 0;
|
||||
out_2348542156060617804[63] = 0;
|
||||
out_2348542156060617804[64] = 0;
|
||||
out_2348542156060617804[65] = 0;
|
||||
out_2348542156060617804[66] = 0;
|
||||
out_2348542156060617804[67] = 0;
|
||||
out_2348542156060617804[68] = 0;
|
||||
out_2348542156060617804[69] = 0;
|
||||
out_2348542156060617804[70] = 1;
|
||||
out_2348542156060617804[71] = 0;
|
||||
out_2348542156060617804[72] = 0;
|
||||
out_2348542156060617804[73] = 0;
|
||||
out_2348542156060617804[74] = 0;
|
||||
out_2348542156060617804[75] = 0;
|
||||
out_2348542156060617804[76] = 0;
|
||||
out_2348542156060617804[77] = 0;
|
||||
out_2348542156060617804[78] = 0;
|
||||
out_2348542156060617804[79] = 0;
|
||||
out_2348542156060617804[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_7208997417211176832) {
|
||||
out_7208997417211176832[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_5870924613014703511) {
|
||||
out_5870924613014703511[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_3987544096248591949) {
|
||||
out_3987544096248591949[0] = 0;
|
||||
out_3987544096248591949[1] = 0;
|
||||
out_3987544096248591949[2] = 0;
|
||||
out_3987544096248591949[3] = 0;
|
||||
out_3987544096248591949[4] = 0;
|
||||
out_3987544096248591949[5] = 0;
|
||||
out_3987544096248591949[6] = 1;
|
||||
out_3987544096248591949[7] = 0;
|
||||
out_3987544096248591949[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_7665789077203242184) {
|
||||
out_7665789077203242184[0] = 0;
|
||||
out_7665789077203242184[1] = 0;
|
||||
out_7665789077203242184[2] = 0;
|
||||
out_7665789077203242184[3] = 0;
|
||||
out_7665789077203242184[4] = 0;
|
||||
out_7665789077203242184[5] = 0;
|
||||
out_7665789077203242184[6] = 1;
|
||||
out_7665789077203242184[7] = 0;
|
||||
out_7665789077203242184[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7481715524482624299) {
|
||||
out_7481715524482624299[0] = state[4];
|
||||
out_7481715524482624299[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_7175962086981114995) {
|
||||
out_7175962086981114995[0] = state[4];
|
||||
out_7175962086981114995[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_1810329672641441976) {
|
||||
out_1810329672641441976[0] = 0;
|
||||
out_1810329672641441976[1] = 0;
|
||||
out_1810329672641441976[2] = 0;
|
||||
out_1810329672641441976[3] = 0;
|
||||
out_1810329672641441976[4] = 1;
|
||||
out_1810329672641441976[5] = 0;
|
||||
out_1810329672641441976[6] = 0;
|
||||
out_1810329672641441976[7] = 0;
|
||||
out_1810329672641441976[8] = 0;
|
||||
out_1810329672641441976[9] = 0;
|
||||
out_1810329672641441976[10] = 0;
|
||||
out_1810329672641441976[11] = 0;
|
||||
out_1810329672641441976[12] = 0;
|
||||
out_1810329672641441976[13] = 0;
|
||||
out_1810329672641441976[14] = 1;
|
||||
out_1810329672641441976[15] = 0;
|
||||
out_1810329672641441976[16] = 0;
|
||||
out_1810329672641441976[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_2919279750236733150) {
|
||||
out_2919279750236733150[0] = 0;
|
||||
out_2919279750236733150[1] = 0;
|
||||
out_2919279750236733150[2] = 0;
|
||||
out_2919279750236733150[3] = 0;
|
||||
out_2919279750236733150[4] = 1;
|
||||
out_2919279750236733150[5] = 0;
|
||||
out_2919279750236733150[6] = 0;
|
||||
out_2919279750236733150[7] = 0;
|
||||
out_2919279750236733150[8] = 0;
|
||||
out_2919279750236733150[9] = 0;
|
||||
out_2919279750236733150[10] = 0;
|
||||
out_2919279750236733150[11] = 0;
|
||||
out_2919279750236733150[12] = 0;
|
||||
out_2919279750236733150[13] = 0;
|
||||
out_2919279750236733150[14] = 1;
|
||||
out_2919279750236733150[15] = 0;
|
||||
out_2919279750236733150[16] = 0;
|
||||
out_2919279750236733150[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_438162190860825896) {
|
||||
out_438162190860825896[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_619120766018658974) {
|
||||
out_619120766018658974[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_1469211137741343322) {
|
||||
out_1469211137741343322[0] = 0;
|
||||
out_1469211137741343322[1] = 0;
|
||||
out_1469211137741343322[2] = 0;
|
||||
out_1469211137741343322[3] = 0;
|
||||
out_1469211137741343322[4] = 1;
|
||||
out_1469211137741343322[5] = 0;
|
||||
out_1469211137741343322[6] = 0;
|
||||
out_1469211137741343322[7] = 0;
|
||||
out_1469211137741343322[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_8262622037999060805) {
|
||||
out_8262622037999060805[0] = 0;
|
||||
out_8262622037999060805[1] = 0;
|
||||
out_8262622037999060805[2] = 0;
|
||||
out_8262622037999060805[3] = 0;
|
||||
out_8262622037999060805[4] = 1;
|
||||
out_8262622037999060805[5] = 0;
|
||||
out_8262622037999060805[6] = 0;
|
||||
out_8262622037999060805[7] = 0;
|
||||
out_8262622037999060805[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_4563511076800019749) {
|
||||
out_4563511076800019749[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_2561596907152652789) {
|
||||
out_2561596907152652789[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_7729047415122648173) {
|
||||
out_7729047415122648173[0] = 0;
|
||||
out_7729047415122648173[1] = 0;
|
||||
out_7729047415122648173[2] = 0;
|
||||
out_7729047415122648173[3] = 0;
|
||||
out_7729047415122648173[4] = 0;
|
||||
out_7729047415122648173[5] = 0;
|
||||
out_7729047415122648173[6] = 0;
|
||||
out_7729047415122648173[7] = 1;
|
||||
out_7729047415122648173[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_3924285758329185960) {
|
||||
out_3924285758329185960[0] = 0;
|
||||
out_3924285758329185960[1] = 0;
|
||||
out_3924285758329185960[2] = 0;
|
||||
out_3924285758329185960[3] = 0;
|
||||
out_3924285758329185960[4] = 0;
|
||||
out_3924285758329185960[5] = 0;
|
||||
out_3924285758329185960[6] = 0;
|
||||
out_3924285758329185960[7] = 1;
|
||||
out_3924285758329185960[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_6265487564309514397) {
|
||||
out_6265487564309514397[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_6474240497691181028) {
|
||||
out_6474240497691181028[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_3643974449541768233) {
|
||||
out_3643974449541768233[0] = 0;
|
||||
out_3643974449541768233[1] = 0;
|
||||
out_3643974449541768233[2] = 0;
|
||||
out_3643974449541768233[3] = 1;
|
||||
out_3643974449541768233[4] = 0;
|
||||
out_3643974449541768233[5] = 0;
|
||||
out_3643974449541768233[6] = 0;
|
||||
out_3643974449541768233[7] = 0;
|
||||
out_3643974449541768233[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_6039027966815117588) {
|
||||
out_6039027966815117588[0] = 0;
|
||||
out_6039027966815117588[1] = 0;
|
||||
out_6039027966815117588[2] = 0;
|
||||
out_6039027966815117588[3] = 1;
|
||||
out_6039027966815117588[4] = 0;
|
||||
out_6039027966815117588[5] = 0;
|
||||
out_6039027966815117588[6] = 0;
|
||||
out_6039027966815117588[7] = 0;
|
||||
out_6039027966815117588[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_6316447678419540984) {
|
||||
out_6316447678419540984[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_5627330291441514494) {
|
||||
out_5627330291441514494[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_958979793426951138) {
|
||||
out_958979793426951138[0] = 0;
|
||||
out_958979793426951138[1] = 1;
|
||||
out_958979793426951138[2] = 0;
|
||||
out_958979793426951138[3] = 0;
|
||||
out_958979793426951138[4] = 0;
|
||||
out_958979793426951138[5] = 0;
|
||||
out_958979793426951138[6] = 0;
|
||||
out_958979793426951138[7] = 0;
|
||||
out_958979793426951138[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_7752390693684668621) {
|
||||
out_7752390693684668621[0] = 0;
|
||||
out_7752390693684668621[1] = 1;
|
||||
out_7752390693684668621[2] = 0;
|
||||
out_7752390693684668621[3] = 0;
|
||||
out_7752390693684668621[4] = 0;
|
||||
out_7752390693684668621[5] = 0;
|
||||
out_7752390693684668621[6] = 0;
|
||||
out_7752390693684668621[7] = 0;
|
||||
out_7752390693684668621[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_3384947045134040079) {
|
||||
out_3384947045134040079[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_3437454446246848343) {
|
||||
out_3437454446246848343[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_6041378810496481712) {
|
||||
out_6041378810496481712[0] = 1;
|
||||
out_6041378810496481712[1] = 0;
|
||||
out_6041378810496481712[2] = 0;
|
||||
out_6041378810496481712[3] = 0;
|
||||
out_6041378810496481712[4] = 0;
|
||||
out_6041378810496481712[5] = 0;
|
||||
out_6041378810496481712[6] = 0;
|
||||
out_6041378810496481712[7] = 0;
|
||||
out_6041378810496481712[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_5611954362955352421) {
|
||||
out_5611954362955352421[0] = 1;
|
||||
out_5611954362955352421[1] = 0;
|
||||
out_5611954362955352421[2] = 0;
|
||||
out_5611954362955352421[3] = 0;
|
||||
out_5611954362955352421[4] = 0;
|
||||
out_5611954362955352421[5] = 0;
|
||||
out_5611954362955352421[6] = 0;
|
||||
out_5611954362955352421[7] = 0;
|
||||
out_5611954362955352421[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_2597869179779832900) {
|
||||
out_2597869179779832900[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_556316564325718304) {
|
||||
out_556316564325718304[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_8355255517355999649) {
|
||||
out_8355255517355999649[0] = 0;
|
||||
out_8355255517355999649[1] = 0;
|
||||
out_8355255517355999649[2] = 0;
|
||||
out_8355255517355999649[3] = 0;
|
||||
out_8355255517355999649[4] = 0;
|
||||
out_8355255517355999649[5] = 0;
|
||||
out_8355255517355999649[6] = 0;
|
||||
out_8355255517355999649[7] = 0;
|
||||
out_8355255517355999649[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_3298077656095834484) {
|
||||
out_3298077656095834484[0] = 0;
|
||||
out_3298077656095834484[1] = 0;
|
||||
out_3298077656095834484[2] = 0;
|
||||
out_3298077656095834484[3] = 0;
|
||||
out_3298077656095834484[4] = 0;
|
||||
out_3298077656095834484[5] = 0;
|
||||
out_3298077656095834484[6] = 0;
|
||||
out_3298077656095834484[7] = 0;
|
||||
out_3298077656095834484[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_1976458697034392713) {
|
||||
err_fun(nom_x, delta_x, out_1976458697034392713);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7026316075073471994) {
|
||||
err_fun(nom_x, delta_x, out_7026316075073471994);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8774680380747325588) {
|
||||
inv_err_fun(nom_x, true_x, out_8774680380747325588);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4587773260780687079) {
|
||||
inv_err_fun(nom_x, true_x, out_4587773260780687079);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_1571472922248018296) {
|
||||
H_mod_fun(state, out_1571472922248018296);
|
||||
void car_H_mod_fun(double *state, double *out_255548955770617621) {
|
||||
H_mod_fun(state, out_255548955770617621);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_3070664500164102760) {
|
||||
f_fun(state, dt, out_3070664500164102760);
|
||||
void car_f_fun(double *state, double dt, double *out_5905678958362697737) {
|
||||
f_fun(state, dt, out_5905678958362697737);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_2365857006052744488) {
|
||||
F_fun(state, dt, out_2365857006052744488);
|
||||
void car_F_fun(double *state, double dt, double *out_2348542156060617804) {
|
||||
F_fun(state, dt, out_2348542156060617804);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_7208997417211176832) {
|
||||
h_25(state, unused, out_7208997417211176832);
|
||||
void car_h_25(double *state, double *unused, double *out_5870924613014703511) {
|
||||
h_25(state, unused, out_5870924613014703511);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_3987544096248591949) {
|
||||
H_25(state, unused, out_3987544096248591949);
|
||||
void car_H_25(double *state, double *unused, double *out_7665789077203242184) {
|
||||
H_25(state, unused, out_7665789077203242184);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7481715524482624299) {
|
||||
h_24(state, unused, out_7481715524482624299);
|
||||
void car_h_24(double *state, double *unused, double *out_7175962086981114995) {
|
||||
h_24(state, unused, out_7175962086981114995);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_1810329672641441976) {
|
||||
H_24(state, unused, out_1810329672641441976);
|
||||
void car_H_24(double *state, double *unused, double *out_2919279750236733150) {
|
||||
H_24(state, unused, out_2919279750236733150);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_438162190860825896) {
|
||||
h_30(state, unused, out_438162190860825896);
|
||||
void car_h_30(double *state, double *unused, double *out_619120766018658974) {
|
||||
h_30(state, unused, out_619120766018658974);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_1469211137741343322) {
|
||||
H_30(state, unused, out_1469211137741343322);
|
||||
void car_H_30(double *state, double *unused, double *out_8262622037999060805) {
|
||||
H_30(state, unused, out_8262622037999060805);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_4563511076800019749) {
|
||||
h_26(state, unused, out_4563511076800019749);
|
||||
void car_h_26(double *state, double *unused, double *out_2561596907152652789) {
|
||||
h_26(state, unused, out_2561596907152652789);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_7729047415122648173) {
|
||||
H_26(state, unused, out_7729047415122648173);
|
||||
void car_H_26(double *state, double *unused, double *out_3924285758329185960) {
|
||||
H_26(state, unused, out_3924285758329185960);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_6265487564309514397) {
|
||||
h_27(state, unused, out_6265487564309514397);
|
||||
void car_h_27(double *state, double *unused, double *out_6474240497691181028) {
|
||||
h_27(state, unused, out_6474240497691181028);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_3643974449541768233) {
|
||||
H_27(state, unused, out_3643974449541768233);
|
||||
void car_H_27(double *state, double *unused, double *out_6039027966815117588) {
|
||||
H_27(state, unused, out_6039027966815117588);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_6316447678419540984) {
|
||||
h_29(state, unused, out_6316447678419540984);
|
||||
void car_h_29(double *state, double *unused, double *out_5627330291441514494) {
|
||||
h_29(state, unused, out_5627330291441514494);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_958979793426951138) {
|
||||
H_29(state, unused, out_958979793426951138);
|
||||
void car_H_29(double *state, double *unused, double *out_7752390693684668621) {
|
||||
H_29(state, unused, out_7752390693684668621);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_3384947045134040079) {
|
||||
h_28(state, unused, out_3384947045134040079);
|
||||
void car_h_28(double *state, double *unused, double *out_3437454446246848343) {
|
||||
h_28(state, unused, out_3437454446246848343);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_6041378810496481712) {
|
||||
H_28(state, unused, out_6041378810496481712);
|
||||
void car_H_28(double *state, double *unused, double *out_5611954362955352421) {
|
||||
H_28(state, unused, out_5611954362955352421);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_2597869179779832900) {
|
||||
h_31(state, unused, out_2597869179779832900);
|
||||
void car_h_31(double *state, double *unused, double *out_556316564325718304) {
|
||||
h_31(state, unused, out_556316564325718304);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_8355255517355999649) {
|
||||
H_31(state, unused, out_8355255517355999649);
|
||||
void car_H_31(double *state, double *unused, double *out_3298077656095834484) {
|
||||
H_31(state, unused, out_3298077656095834484);
|
||||
}
|
||||
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