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https://github.com/firestar5683/StarPilot.git
synced 2026-08-21 00:03:45 +08:00
build
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_2689391300508487509) {
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out_2689391300508487509[0] = delta_x[0] + nom_x[0];
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out_2689391300508487509[1] = delta_x[1] + nom_x[1];
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out_2689391300508487509[2] = delta_x[2] + nom_x[2];
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out_2689391300508487509[3] = delta_x[3] + nom_x[3];
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out_2689391300508487509[4] = delta_x[4] + nom_x[4];
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out_2689391300508487509[5] = delta_x[5] + nom_x[5];
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out_2689391300508487509[6] = delta_x[6] + nom_x[6];
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out_2689391300508487509[7] = delta_x[7] + nom_x[7];
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out_2689391300508487509[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_1836217441218094185) {
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out_1836217441218094185[0] = delta_x[0] + nom_x[0];
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out_1836217441218094185[1] = delta_x[1] + nom_x[1];
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out_1836217441218094185[2] = delta_x[2] + nom_x[2];
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out_1836217441218094185[3] = delta_x[3] + nom_x[3];
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out_1836217441218094185[4] = delta_x[4] + nom_x[4];
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out_1836217441218094185[5] = delta_x[5] + nom_x[5];
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out_1836217441218094185[6] = delta_x[6] + nom_x[6];
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out_1836217441218094185[7] = delta_x[7] + nom_x[7];
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out_1836217441218094185[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_7177783815062799236) {
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out_7177783815062799236[0] = -nom_x[0] + true_x[0];
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out_7177783815062799236[1] = -nom_x[1] + true_x[1];
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out_7177783815062799236[2] = -nom_x[2] + true_x[2];
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out_7177783815062799236[3] = -nom_x[3] + true_x[3];
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out_7177783815062799236[4] = -nom_x[4] + true_x[4];
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out_7177783815062799236[5] = -nom_x[5] + true_x[5];
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out_7177783815062799236[6] = -nom_x[6] + true_x[6];
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out_7177783815062799236[7] = -nom_x[7] + true_x[7];
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out_7177783815062799236[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_3664144515047539542) {
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out_3664144515047539542[0] = -nom_x[0] + true_x[0];
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out_3664144515047539542[1] = -nom_x[1] + true_x[1];
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out_3664144515047539542[2] = -nom_x[2] + true_x[2];
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out_3664144515047539542[3] = -nom_x[3] + true_x[3];
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out_3664144515047539542[4] = -nom_x[4] + true_x[4];
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out_3664144515047539542[5] = -nom_x[5] + true_x[5];
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out_3664144515047539542[6] = -nom_x[6] + true_x[6];
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out_3664144515047539542[7] = -nom_x[7] + true_x[7];
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out_3664144515047539542[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_8221602802744378233) {
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out_8221602802744378233[0] = 1.0;
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out_8221602802744378233[1] = 0.0;
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out_8221602802744378233[2] = 0.0;
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out_8221602802744378233[3] = 0.0;
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out_8221602802744378233[4] = 0.0;
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out_8221602802744378233[5] = 0.0;
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out_8221602802744378233[6] = 0.0;
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out_8221602802744378233[7] = 0.0;
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out_8221602802744378233[8] = 0.0;
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out_8221602802744378233[9] = 0.0;
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out_8221602802744378233[10] = 1.0;
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out_8221602802744378233[11] = 0.0;
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out_8221602802744378233[12] = 0.0;
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out_8221602802744378233[13] = 0.0;
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out_8221602802744378233[14] = 0.0;
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out_8221602802744378233[15] = 0.0;
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out_8221602802744378233[16] = 0.0;
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out_8221602802744378233[17] = 0.0;
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out_8221602802744378233[18] = 0.0;
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out_8221602802744378233[19] = 0.0;
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out_8221602802744378233[20] = 1.0;
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out_8221602802744378233[21] = 0.0;
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out_8221602802744378233[22] = 0.0;
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out_8221602802744378233[23] = 0.0;
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out_8221602802744378233[24] = 0.0;
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out_8221602802744378233[25] = 0.0;
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out_8221602802744378233[26] = 0.0;
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out_8221602802744378233[27] = 0.0;
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out_8221602802744378233[28] = 0.0;
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out_8221602802744378233[29] = 0.0;
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out_8221602802744378233[30] = 1.0;
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out_8221602802744378233[31] = 0.0;
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out_8221602802744378233[32] = 0.0;
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out_8221602802744378233[33] = 0.0;
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out_8221602802744378233[34] = 0.0;
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out_8221602802744378233[35] = 0.0;
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out_8221602802744378233[36] = 0.0;
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out_8221602802744378233[37] = 0.0;
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out_8221602802744378233[38] = 0.0;
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out_8221602802744378233[39] = 0.0;
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out_8221602802744378233[40] = 1.0;
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out_8221602802744378233[41] = 0.0;
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out_8221602802744378233[42] = 0.0;
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out_8221602802744378233[43] = 0.0;
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out_8221602802744378233[44] = 0.0;
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out_8221602802744378233[45] = 0.0;
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out_8221602802744378233[46] = 0.0;
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out_8221602802744378233[47] = 0.0;
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out_8221602802744378233[48] = 0.0;
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out_8221602802744378233[49] = 0.0;
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out_8221602802744378233[50] = 1.0;
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out_8221602802744378233[51] = 0.0;
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out_8221602802744378233[52] = 0.0;
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out_8221602802744378233[53] = 0.0;
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out_8221602802744378233[54] = 0.0;
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out_8221602802744378233[55] = 0.0;
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out_8221602802744378233[56] = 0.0;
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out_8221602802744378233[57] = 0.0;
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out_8221602802744378233[58] = 0.0;
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out_8221602802744378233[59] = 0.0;
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out_8221602802744378233[60] = 1.0;
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out_8221602802744378233[61] = 0.0;
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out_8221602802744378233[62] = 0.0;
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out_8221602802744378233[63] = 0.0;
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out_8221602802744378233[64] = 0.0;
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out_8221602802744378233[65] = 0.0;
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out_8221602802744378233[66] = 0.0;
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out_8221602802744378233[67] = 0.0;
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out_8221602802744378233[68] = 0.0;
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out_8221602802744378233[69] = 0.0;
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out_8221602802744378233[70] = 1.0;
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out_8221602802744378233[71] = 0.0;
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out_8221602802744378233[72] = 0.0;
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out_8221602802744378233[73] = 0.0;
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out_8221602802744378233[74] = 0.0;
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out_8221602802744378233[75] = 0.0;
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out_8221602802744378233[76] = 0.0;
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out_8221602802744378233[77] = 0.0;
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out_8221602802744378233[78] = 0.0;
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out_8221602802744378233[79] = 0.0;
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out_8221602802744378233[80] = 1.0;
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void H_mod_fun(double *state, double *out_6584291372032100099) {
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out_6584291372032100099[0] = 1.0;
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out_6584291372032100099[1] = 0.0;
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out_6584291372032100099[2] = 0.0;
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out_6584291372032100099[3] = 0.0;
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out_6584291372032100099[4] = 0.0;
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out_6584291372032100099[5] = 0.0;
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out_6584291372032100099[6] = 0.0;
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out_6584291372032100099[7] = 0.0;
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out_6584291372032100099[8] = 0.0;
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out_6584291372032100099[9] = 0.0;
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out_6584291372032100099[10] = 1.0;
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out_6584291372032100099[11] = 0.0;
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out_6584291372032100099[12] = 0.0;
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out_6584291372032100099[13] = 0.0;
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out_6584291372032100099[14] = 0.0;
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out_6584291372032100099[15] = 0.0;
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out_6584291372032100099[16] = 0.0;
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out_6584291372032100099[17] = 0.0;
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out_6584291372032100099[18] = 0.0;
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out_6584291372032100099[19] = 0.0;
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out_6584291372032100099[20] = 1.0;
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out_6584291372032100099[21] = 0.0;
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out_6584291372032100099[22] = 0.0;
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out_6584291372032100099[23] = 0.0;
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out_6584291372032100099[24] = 0.0;
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out_6584291372032100099[25] = 0.0;
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out_6584291372032100099[26] = 0.0;
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out_6584291372032100099[27] = 0.0;
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out_6584291372032100099[28] = 0.0;
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out_6584291372032100099[29] = 0.0;
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out_6584291372032100099[30] = 1.0;
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out_6584291372032100099[31] = 0.0;
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out_6584291372032100099[32] = 0.0;
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out_6584291372032100099[33] = 0.0;
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out_6584291372032100099[34] = 0.0;
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out_6584291372032100099[35] = 0.0;
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out_6584291372032100099[36] = 0.0;
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out_6584291372032100099[37] = 0.0;
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out_6584291372032100099[38] = 0.0;
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out_6584291372032100099[39] = 0.0;
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out_6584291372032100099[40] = 1.0;
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out_6584291372032100099[41] = 0.0;
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out_6584291372032100099[42] = 0.0;
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out_6584291372032100099[43] = 0.0;
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out_6584291372032100099[44] = 0.0;
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out_6584291372032100099[45] = 0.0;
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out_6584291372032100099[46] = 0.0;
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out_6584291372032100099[47] = 0.0;
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out_6584291372032100099[48] = 0.0;
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out_6584291372032100099[49] = 0.0;
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out_6584291372032100099[50] = 1.0;
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out_6584291372032100099[51] = 0.0;
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out_6584291372032100099[52] = 0.0;
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out_6584291372032100099[53] = 0.0;
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out_6584291372032100099[54] = 0.0;
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out_6584291372032100099[55] = 0.0;
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out_6584291372032100099[56] = 0.0;
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out_6584291372032100099[57] = 0.0;
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out_6584291372032100099[58] = 0.0;
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out_6584291372032100099[59] = 0.0;
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out_6584291372032100099[60] = 1.0;
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out_6584291372032100099[61] = 0.0;
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out_6584291372032100099[62] = 0.0;
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out_6584291372032100099[63] = 0.0;
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out_6584291372032100099[64] = 0.0;
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out_6584291372032100099[65] = 0.0;
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out_6584291372032100099[66] = 0.0;
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out_6584291372032100099[67] = 0.0;
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out_6584291372032100099[68] = 0.0;
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out_6584291372032100099[69] = 0.0;
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out_6584291372032100099[70] = 1.0;
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out_6584291372032100099[71] = 0.0;
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out_6584291372032100099[72] = 0.0;
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out_6584291372032100099[73] = 0.0;
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out_6584291372032100099[74] = 0.0;
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out_6584291372032100099[75] = 0.0;
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out_6584291372032100099[76] = 0.0;
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out_6584291372032100099[77] = 0.0;
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out_6584291372032100099[78] = 0.0;
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out_6584291372032100099[79] = 0.0;
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out_6584291372032100099[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_7651705913211861388) {
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out_7651705913211861388[0] = state[0];
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out_7651705913211861388[1] = state[1];
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out_7651705913211861388[2] = state[2];
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out_7651705913211861388[3] = state[3];
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out_7651705913211861388[4] = state[4];
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out_7651705913211861388[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_7651705913211861388[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_7651705913211861388[7] = state[7];
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out_7651705913211861388[8] = state[8];
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void f_fun(double *state, double dt, double *out_775091494716029244) {
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out_775091494716029244[0] = state[0];
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out_775091494716029244[1] = state[1];
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out_775091494716029244[2] = state[2];
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out_775091494716029244[3] = state[3];
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out_775091494716029244[4] = state[4];
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out_775091494716029244[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_775091494716029244[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_775091494716029244[7] = state[7];
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out_775091494716029244[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_97859790539154602) {
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out_97859790539154602[0] = 1;
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||||
out_97859790539154602[1] = 0;
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||||
out_97859790539154602[2] = 0;
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||||
out_97859790539154602[3] = 0;
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||||
out_97859790539154602[4] = 0;
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||||
out_97859790539154602[5] = 0;
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||||
out_97859790539154602[6] = 0;
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||||
out_97859790539154602[7] = 0;
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||||
out_97859790539154602[8] = 0;
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||||
out_97859790539154602[9] = 0;
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||||
out_97859790539154602[10] = 1;
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||||
out_97859790539154602[11] = 0;
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||||
out_97859790539154602[12] = 0;
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||||
out_97859790539154602[13] = 0;
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||||
out_97859790539154602[14] = 0;
|
||||
out_97859790539154602[15] = 0;
|
||||
out_97859790539154602[16] = 0;
|
||||
out_97859790539154602[17] = 0;
|
||||
out_97859790539154602[18] = 0;
|
||||
out_97859790539154602[19] = 0;
|
||||
out_97859790539154602[20] = 1;
|
||||
out_97859790539154602[21] = 0;
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||||
out_97859790539154602[22] = 0;
|
||||
out_97859790539154602[23] = 0;
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||||
out_97859790539154602[24] = 0;
|
||||
out_97859790539154602[25] = 0;
|
||||
out_97859790539154602[26] = 0;
|
||||
out_97859790539154602[27] = 0;
|
||||
out_97859790539154602[28] = 0;
|
||||
out_97859790539154602[29] = 0;
|
||||
out_97859790539154602[30] = 1;
|
||||
out_97859790539154602[31] = 0;
|
||||
out_97859790539154602[32] = 0;
|
||||
out_97859790539154602[33] = 0;
|
||||
out_97859790539154602[34] = 0;
|
||||
out_97859790539154602[35] = 0;
|
||||
out_97859790539154602[36] = 0;
|
||||
out_97859790539154602[37] = 0;
|
||||
out_97859790539154602[38] = 0;
|
||||
out_97859790539154602[39] = 0;
|
||||
out_97859790539154602[40] = 1;
|
||||
out_97859790539154602[41] = 0;
|
||||
out_97859790539154602[42] = 0;
|
||||
out_97859790539154602[43] = 0;
|
||||
out_97859790539154602[44] = 0;
|
||||
out_97859790539154602[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_97859790539154602[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_97859790539154602[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_97859790539154602[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_97859790539154602[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_97859790539154602[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_97859790539154602[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_97859790539154602[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_97859790539154602[53] = -9.8100000000000005*dt;
|
||||
out_97859790539154602[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_97859790539154602[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_97859790539154602[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_97859790539154602[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_97859790539154602[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_97859790539154602[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_97859790539154602[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_97859790539154602[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_97859790539154602[62] = 0;
|
||||
out_97859790539154602[63] = 0;
|
||||
out_97859790539154602[64] = 0;
|
||||
out_97859790539154602[65] = 0;
|
||||
out_97859790539154602[66] = 0;
|
||||
out_97859790539154602[67] = 0;
|
||||
out_97859790539154602[68] = 0;
|
||||
out_97859790539154602[69] = 0;
|
||||
out_97859790539154602[70] = 1;
|
||||
out_97859790539154602[71] = 0;
|
||||
out_97859790539154602[72] = 0;
|
||||
out_97859790539154602[73] = 0;
|
||||
out_97859790539154602[74] = 0;
|
||||
out_97859790539154602[75] = 0;
|
||||
out_97859790539154602[76] = 0;
|
||||
out_97859790539154602[77] = 0;
|
||||
out_97859790539154602[78] = 0;
|
||||
out_97859790539154602[79] = 0;
|
||||
out_97859790539154602[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_1373692616022552200) {
|
||||
out_1373692616022552200[0] = 1;
|
||||
out_1373692616022552200[1] = 0;
|
||||
out_1373692616022552200[2] = 0;
|
||||
out_1373692616022552200[3] = 0;
|
||||
out_1373692616022552200[4] = 0;
|
||||
out_1373692616022552200[5] = 0;
|
||||
out_1373692616022552200[6] = 0;
|
||||
out_1373692616022552200[7] = 0;
|
||||
out_1373692616022552200[8] = 0;
|
||||
out_1373692616022552200[9] = 0;
|
||||
out_1373692616022552200[10] = 1;
|
||||
out_1373692616022552200[11] = 0;
|
||||
out_1373692616022552200[12] = 0;
|
||||
out_1373692616022552200[13] = 0;
|
||||
out_1373692616022552200[14] = 0;
|
||||
out_1373692616022552200[15] = 0;
|
||||
out_1373692616022552200[16] = 0;
|
||||
out_1373692616022552200[17] = 0;
|
||||
out_1373692616022552200[18] = 0;
|
||||
out_1373692616022552200[19] = 0;
|
||||
out_1373692616022552200[20] = 1;
|
||||
out_1373692616022552200[21] = 0;
|
||||
out_1373692616022552200[22] = 0;
|
||||
out_1373692616022552200[23] = 0;
|
||||
out_1373692616022552200[24] = 0;
|
||||
out_1373692616022552200[25] = 0;
|
||||
out_1373692616022552200[26] = 0;
|
||||
out_1373692616022552200[27] = 0;
|
||||
out_1373692616022552200[28] = 0;
|
||||
out_1373692616022552200[29] = 0;
|
||||
out_1373692616022552200[30] = 1;
|
||||
out_1373692616022552200[31] = 0;
|
||||
out_1373692616022552200[32] = 0;
|
||||
out_1373692616022552200[33] = 0;
|
||||
out_1373692616022552200[34] = 0;
|
||||
out_1373692616022552200[35] = 0;
|
||||
out_1373692616022552200[36] = 0;
|
||||
out_1373692616022552200[37] = 0;
|
||||
out_1373692616022552200[38] = 0;
|
||||
out_1373692616022552200[39] = 0;
|
||||
out_1373692616022552200[40] = 1;
|
||||
out_1373692616022552200[41] = 0;
|
||||
out_1373692616022552200[42] = 0;
|
||||
out_1373692616022552200[43] = 0;
|
||||
out_1373692616022552200[44] = 0;
|
||||
out_1373692616022552200[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_1373692616022552200[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_1373692616022552200[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1373692616022552200[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1373692616022552200[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_1373692616022552200[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_1373692616022552200[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_1373692616022552200[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1373692616022552200[53] = -9.8100000000000005*dt;
|
||||
out_1373692616022552200[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_1373692616022552200[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_1373692616022552200[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1373692616022552200[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1373692616022552200[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_1373692616022552200[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_1373692616022552200[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_1373692616022552200[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1373692616022552200[62] = 0;
|
||||
out_1373692616022552200[63] = 0;
|
||||
out_1373692616022552200[64] = 0;
|
||||
out_1373692616022552200[65] = 0;
|
||||
out_1373692616022552200[66] = 0;
|
||||
out_1373692616022552200[67] = 0;
|
||||
out_1373692616022552200[68] = 0;
|
||||
out_1373692616022552200[69] = 0;
|
||||
out_1373692616022552200[70] = 1;
|
||||
out_1373692616022552200[71] = 0;
|
||||
out_1373692616022552200[72] = 0;
|
||||
out_1373692616022552200[73] = 0;
|
||||
out_1373692616022552200[74] = 0;
|
||||
out_1373692616022552200[75] = 0;
|
||||
out_1373692616022552200[76] = 0;
|
||||
out_1373692616022552200[77] = 0;
|
||||
out_1373692616022552200[78] = 0;
|
||||
out_1373692616022552200[79] = 0;
|
||||
out_1373692616022552200[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_1747255377487496462) {
|
||||
out_1747255377487496462[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_1913811324090937931) {
|
||||
out_1913811324090937931[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_7588584345949747189) {
|
||||
out_7588584345949747189[0] = 0;
|
||||
out_7588584345949747189[1] = 0;
|
||||
out_7588584345949747189[2] = 0;
|
||||
out_7588584345949747189[3] = 0;
|
||||
out_7588584345949747189[4] = 0;
|
||||
out_7588584345949747189[5] = 0;
|
||||
out_7588584345949747189[6] = 1;
|
||||
out_7588584345949747189[7] = 0;
|
||||
out_7588584345949747189[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_3061310722042608422) {
|
||||
out_3061310722042608422[0] = 0;
|
||||
out_3061310722042608422[1] = 0;
|
||||
out_3061310722042608422[2] = 0;
|
||||
out_3061310722042608422[3] = 0;
|
||||
out_3061310722042608422[4] = 0;
|
||||
out_3061310722042608422[5] = 0;
|
||||
out_3061310722042608422[6] = 1;
|
||||
out_3061310722042608422[7] = 0;
|
||||
out_3061310722042608422[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_3070396560078381804) {
|
||||
out_3070396560078381804[0] = state[4];
|
||||
out_3070396560078381804[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_8648690320250273547) {
|
||||
out_8648690320250273547[0] = state[4];
|
||||
out_8648690320250273547[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_7300234128957481291) {
|
||||
out_7300234128957481291[0] = 0;
|
||||
out_7300234128957481291[1] = 0;
|
||||
out_7300234128957481291[2] = 0;
|
||||
out_7300234128957481291[3] = 0;
|
||||
out_7300234128957481291[4] = 1;
|
||||
out_7300234128957481291[5] = 0;
|
||||
out_7300234128957481291[6] = 0;
|
||||
out_7300234128957481291[7] = 0;
|
||||
out_7300234128957481291[8] = 0;
|
||||
out_7300234128957481291[9] = 0;
|
||||
out_7300234128957481291[10] = 0;
|
||||
out_7300234128957481291[11] = 0;
|
||||
out_7300234128957481291[12] = 0;
|
||||
out_7300234128957481291[13] = 0;
|
||||
out_7300234128957481291[14] = 1;
|
||||
out_7300234128957481291[15] = 0;
|
||||
out_7300234128957481291[16] = 0;
|
||||
out_7300234128957481291[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_496614876759714714) {
|
||||
out_496614876759714714[0] = 0;
|
||||
out_496614876759714714[1] = 0;
|
||||
out_496614876759714714[2] = 0;
|
||||
out_496614876759714714[3] = 0;
|
||||
out_496614876759714714[4] = 1;
|
||||
out_496614876759714714[5] = 0;
|
||||
out_496614876759714714[6] = 0;
|
||||
out_496614876759714714[7] = 0;
|
||||
out_496614876759714714[8] = 0;
|
||||
out_496614876759714714[9] = 0;
|
||||
out_496614876759714714[10] = 0;
|
||||
out_496614876759714714[11] = 0;
|
||||
out_496614876759714714[12] = 0;
|
||||
out_496614876759714714[13] = 0;
|
||||
out_496614876759714714[14] = 1;
|
||||
out_496614876759714714[15] = 0;
|
||||
out_496614876759714714[16] = 0;
|
||||
out_496614876759714714[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_2594165583737162996) {
|
||||
out_2594165583737162996[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_537139063672349691) {
|
||||
out_537139063672349691[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_8339826769252555800) {
|
||||
out_8339826769252555800[0] = 0;
|
||||
out_8339826769252555800[1] = 0;
|
||||
out_8339826769252555800[2] = 0;
|
||||
out_8339826769252555800[3] = 0;
|
||||
out_8339826769252555800[4] = 1;
|
||||
out_8339826769252555800[5] = 0;
|
||||
out_8339826769252555800[6] = 0;
|
||||
out_8339826769252555800[7] = 0;
|
||||
out_8339826769252555800[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_3190649669185848492) {
|
||||
out_3190649669185848492[0] = 0;
|
||||
out_3190649669185848492[1] = 0;
|
||||
out_3190649669185848492[2] = 0;
|
||||
out_3190649669185848492[3] = 0;
|
||||
out_3190649669185848492[4] = 1;
|
||||
out_3190649669185848492[5] = 0;
|
||||
out_3190649669185848492[6] = 0;
|
||||
out_3190649669185848492[7] = 0;
|
||||
out_3190649669185848492[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_1234538052727793168) {
|
||||
out_1234538052727793168[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_8588046903789292966) {
|
||||
out_8588046903789292966[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_3847081027075690965) {
|
||||
out_3847081027075690965[0] = 0;
|
||||
out_3847081027075690965[1] = 0;
|
||||
out_3847081027075690965[2] = 0;
|
||||
out_3847081027075690965[3] = 0;
|
||||
out_3847081027075690965[4] = 0;
|
||||
out_3847081027075690965[5] = 0;
|
||||
out_3847081027075690965[6] = 0;
|
||||
out_3847081027075690965[7] = 1;
|
||||
out_3847081027075690965[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_6802814040916664646) {
|
||||
out_6802814040916664646[0] = 0;
|
||||
out_6802814040916664646[1] = 0;
|
||||
out_6802814040916664646[2] = 0;
|
||||
out_6802814040916664646[3] = 0;
|
||||
out_6802814040916664646[4] = 0;
|
||||
out_6802814040916664646[5] = 0;
|
||||
out_6802814040916664646[6] = 0;
|
||||
out_6802814040916664646[7] = 1;
|
||||
out_6802814040916664646[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_4784041428931829147) {
|
||||
out_4784041428931829147[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_5342332393002513778) {
|
||||
out_5342332393002513778[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_886124704021714080) {
|
||||
out_886124704021714080[0] = 0;
|
||||
out_886124704021714080[1] = 0;
|
||||
out_886124704021714080[2] = 0;
|
||||
out_886124704021714080[3] = 1;
|
||||
out_886124704021714080[4] = 0;
|
||||
out_886124704021714080[5] = 0;
|
||||
out_886124704021714080[6] = 0;
|
||||
out_886124704021714080[7] = 0;
|
||||
out_886124704021714080[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_5365412980986273403) {
|
||||
out_5365412980986273403[0] = 0;
|
||||
out_5365412980986273403[1] = 0;
|
||||
out_5365412980986273403[2] = 0;
|
||||
out_5365412980986273403[3] = 1;
|
||||
out_5365412980986273403[4] = 0;
|
||||
out_5365412980986273403[5] = 0;
|
||||
out_5365412980986273403[6] = 0;
|
||||
out_5365412980986273403[7] = 0;
|
||||
out_5365412980986273403[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_2407507683923682649) {
|
||||
out_2407507683923682649[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_4607750999443297846) {
|
||||
out_4607750999443297846[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_3571119360136531175) {
|
||||
out_3571119360136531175[0] = 0;
|
||||
out_3571119360136531175[1] = 1;
|
||||
out_3571119360136531175[2] = 0;
|
||||
out_3571119360136531175[3] = 0;
|
||||
out_3571119360136531175[4] = 0;
|
||||
out_3571119360136531175[5] = 0;
|
||||
out_3571119360136531175[6] = 0;
|
||||
out_3571119360136531175[7] = 0;
|
||||
out_3571119360136531175[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_2680418324871456308) {
|
||||
out_2680418324871456308[0] = 0;
|
||||
out_2680418324871456308[1] = 1;
|
||||
out_2680418324871456308[2] = 0;
|
||||
out_2680418324871456308[3] = 0;
|
||||
out_2680418324871456308[4] = 0;
|
||||
out_2680418324871456308[5] = 0;
|
||||
out_2680418324871456308[6] = 0;
|
||||
out_2680418324871456308[7] = 0;
|
||||
out_2680418324871456308[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_7679778805471580716) {
|
||||
out_7679778805471580716[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_1728151616350094306) {
|
||||
out_1728151616350094306[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_5534749631701857426) {
|
||||
out_5534749631701857426[0] = 1;
|
||||
out_5534749631701857426[1] = 0;
|
||||
out_5534749631701857426[2] = 0;
|
||||
out_5534749631701857426[3] = 0;
|
||||
out_5534749631701857426[4] = 0;
|
||||
out_5534749631701857426[5] = 0;
|
||||
out_5534749631701857426[6] = 0;
|
||||
out_5534749631701857426[7] = 0;
|
||||
out_5534749631701857426[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6285569348784196606) {
|
||||
out_6285569348784196606[0] = 1;
|
||||
out_6285569348784196606[1] = 0;
|
||||
out_6285569348784196606[2] = 0;
|
||||
out_6285569348784196606[3] = 0;
|
||||
out_6285569348784196606[4] = 0;
|
||||
out_6285569348784196606[5] = 0;
|
||||
out_6285569348784196606[6] = 0;
|
||||
out_6285569348784196606[7] = 0;
|
||||
out_6285569348784196606[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_5023579848862854474) {
|
||||
out_5023579848862854474[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7827544350761686304) {
|
||||
out_7827544350761686304[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_3220872924842339489) {
|
||||
out_3220872924842339489[0] = 0;
|
||||
out_3220872924842339489[1] = 0;
|
||||
out_3220872924842339489[2] = 0;
|
||||
out_3220872924842339489[3] = 0;
|
||||
out_3220872924842339489[4] = 0;
|
||||
out_3220872924842339489[5] = 0;
|
||||
out_3220872924842339489[6] = 0;
|
||||
out_3220872924842339489[7] = 0;
|
||||
out_3220872924842339489[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_3030664760165647994) {
|
||||
out_3030664760165647994[0] = 0;
|
||||
out_3030664760165647994[1] = 0;
|
||||
out_3030664760165647994[2] = 0;
|
||||
out_3030664760165647994[3] = 0;
|
||||
out_3030664760165647994[4] = 0;
|
||||
out_3030664760165647994[5] = 0;
|
||||
out_3030664760165647994[6] = 0;
|
||||
out_3030664760165647994[7] = 0;
|
||||
out_3030664760165647994[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_2689391300508487509) {
|
||||
err_fun(nom_x, delta_x, out_2689391300508487509);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1836217441218094185) {
|
||||
err_fun(nom_x, delta_x, out_1836217441218094185);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7177783815062799236) {
|
||||
inv_err_fun(nom_x, true_x, out_7177783815062799236);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3664144515047539542) {
|
||||
inv_err_fun(nom_x, true_x, out_3664144515047539542);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_8221602802744378233) {
|
||||
H_mod_fun(state, out_8221602802744378233);
|
||||
void car_H_mod_fun(double *state, double *out_6584291372032100099) {
|
||||
H_mod_fun(state, out_6584291372032100099);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_7651705913211861388) {
|
||||
f_fun(state, dt, out_7651705913211861388);
|
||||
void car_f_fun(double *state, double dt, double *out_775091494716029244) {
|
||||
f_fun(state, dt, out_775091494716029244);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_97859790539154602) {
|
||||
F_fun(state, dt, out_97859790539154602);
|
||||
void car_F_fun(double *state, double dt, double *out_1373692616022552200) {
|
||||
F_fun(state, dt, out_1373692616022552200);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_1747255377487496462) {
|
||||
h_25(state, unused, out_1747255377487496462);
|
||||
void car_h_25(double *state, double *unused, double *out_1913811324090937931) {
|
||||
h_25(state, unused, out_1913811324090937931);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_7588584345949747189) {
|
||||
H_25(state, unused, out_7588584345949747189);
|
||||
void car_H_25(double *state, double *unused, double *out_3061310722042608422) {
|
||||
H_25(state, unused, out_3061310722042608422);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_3070396560078381804) {
|
||||
h_24(state, unused, out_3070396560078381804);
|
||||
void car_h_24(double *state, double *unused, double *out_8648690320250273547) {
|
||||
h_24(state, unused, out_8648690320250273547);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_7300234128957481291) {
|
||||
H_24(state, unused, out_7300234128957481291);
|
||||
void car_H_24(double *state, double *unused, double *out_496614876759714714) {
|
||||
H_24(state, unused, out_496614876759714714);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_2594165583737162996) {
|
||||
h_30(state, unused, out_2594165583737162996);
|
||||
void car_h_30(double *state, double *unused, double *out_537139063672349691) {
|
||||
h_30(state, unused, out_537139063672349691);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_8339826769252555800) {
|
||||
H_30(state, unused, out_8339826769252555800);
|
||||
void car_H_30(double *state, double *unused, double *out_3190649669185848492) {
|
||||
H_30(state, unused, out_3190649669185848492);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_1234538052727793168) {
|
||||
h_26(state, unused, out_1234538052727793168);
|
||||
void car_h_26(double *state, double *unused, double *out_8588046903789292966) {
|
||||
h_26(state, unused, out_8588046903789292966);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_3847081027075690965) {
|
||||
H_26(state, unused, out_3847081027075690965);
|
||||
void car_H_26(double *state, double *unused, double *out_6802814040916664646) {
|
||||
H_26(state, unused, out_6802814040916664646);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_4784041428931829147) {
|
||||
h_27(state, unused, out_4784041428931829147);
|
||||
void car_h_27(double *state, double *unused, double *out_5342332393002513778) {
|
||||
h_27(state, unused, out_5342332393002513778);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_886124704021714080) {
|
||||
H_27(state, unused, out_886124704021714080);
|
||||
void car_H_27(double *state, double *unused, double *out_5365412980986273403) {
|
||||
H_27(state, unused, out_5365412980986273403);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_2407507683923682649) {
|
||||
h_29(state, unused, out_2407507683923682649);
|
||||
void car_h_29(double *state, double *unused, double *out_4607750999443297846) {
|
||||
h_29(state, unused, out_4607750999443297846);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_3571119360136531175) {
|
||||
H_29(state, unused, out_3571119360136531175);
|
||||
void car_H_29(double *state, double *unused, double *out_2680418324871456308) {
|
||||
H_29(state, unused, out_2680418324871456308);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_7679778805471580716) {
|
||||
h_28(state, unused, out_7679778805471580716);
|
||||
void car_h_28(double *state, double *unused, double *out_1728151616350094306) {
|
||||
h_28(state, unused, out_1728151616350094306);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_5534749631701857426) {
|
||||
H_28(state, unused, out_5534749631701857426);
|
||||
void car_H_28(double *state, double *unused, double *out_6285569348784196606) {
|
||||
H_28(state, unused, out_6285569348784196606);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_5023579848862854474) {
|
||||
h_31(state, unused, out_5023579848862854474);
|
||||
void car_h_31(double *state, double *unused, double *out_7827544350761686304) {
|
||||
h_31(state, unused, out_7827544350761686304);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_3220872924842339489) {
|
||||
H_31(state, unused, out_3220872924842339489);
|
||||
void car_H_31(double *state, double *unused, double *out_3030664760165647994) {
|
||||
H_31(state, unused, out_3030664760165647994);
|
||||
}
|
||||
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