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https://github.com/firestar5683/StarPilot.git
synced 2026-08-21 08:14:00 +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_3114295045279175255) {
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out_3114295045279175255[0] = delta_x[0] + nom_x[0];
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out_3114295045279175255[1] = delta_x[1] + nom_x[1];
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out_3114295045279175255[2] = delta_x[2] + nom_x[2];
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out_3114295045279175255[3] = delta_x[3] + nom_x[3];
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out_3114295045279175255[4] = delta_x[4] + nom_x[4];
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out_3114295045279175255[5] = delta_x[5] + nom_x[5];
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out_3114295045279175255[6] = delta_x[6] + nom_x[6];
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out_3114295045279175255[7] = delta_x[7] + nom_x[7];
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out_3114295045279175255[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_1981160884949189432) {
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out_1981160884949189432[0] = delta_x[0] + nom_x[0];
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out_1981160884949189432[1] = delta_x[1] + nom_x[1];
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out_1981160884949189432[2] = delta_x[2] + nom_x[2];
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out_1981160884949189432[3] = delta_x[3] + nom_x[3];
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out_1981160884949189432[4] = delta_x[4] + nom_x[4];
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out_1981160884949189432[5] = delta_x[5] + nom_x[5];
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out_1981160884949189432[6] = delta_x[6] + nom_x[6];
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out_1981160884949189432[7] = delta_x[7] + nom_x[7];
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out_1981160884949189432[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_2774429114405664516) {
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out_2774429114405664516[0] = -nom_x[0] + true_x[0];
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out_2774429114405664516[1] = -nom_x[1] + true_x[1];
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out_2774429114405664516[2] = -nom_x[2] + true_x[2];
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out_2774429114405664516[3] = -nom_x[3] + true_x[3];
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out_2774429114405664516[4] = -nom_x[4] + true_x[4];
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out_2774429114405664516[5] = -nom_x[5] + true_x[5];
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out_2774429114405664516[6] = -nom_x[6] + true_x[6];
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out_2774429114405664516[7] = -nom_x[7] + true_x[7];
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out_2774429114405664516[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388) {
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out_8847679371512298388[0] = -nom_x[0] + true_x[0];
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out_8847679371512298388[1] = -nom_x[1] + true_x[1];
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out_8847679371512298388[2] = -nom_x[2] + true_x[2];
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out_8847679371512298388[3] = -nom_x[3] + true_x[3];
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out_8847679371512298388[4] = -nom_x[4] + true_x[4];
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out_8847679371512298388[5] = -nom_x[5] + true_x[5];
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out_8847679371512298388[6] = -nom_x[6] + true_x[6];
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out_8847679371512298388[7] = -nom_x[7] + true_x[7];
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out_8847679371512298388[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_6080875852390524285) {
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out_6080875852390524285[0] = 1.0;
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out_6080875852390524285[1] = 0.0;
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out_6080875852390524285[2] = 0.0;
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out_6080875852390524285[3] = 0.0;
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out_6080875852390524285[4] = 0.0;
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out_6080875852390524285[5] = 0.0;
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out_6080875852390524285[6] = 0.0;
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out_6080875852390524285[7] = 0.0;
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out_6080875852390524285[8] = 0.0;
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out_6080875852390524285[9] = 0.0;
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out_6080875852390524285[10] = 1.0;
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out_6080875852390524285[11] = 0.0;
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out_6080875852390524285[12] = 0.0;
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out_6080875852390524285[13] = 0.0;
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out_6080875852390524285[14] = 0.0;
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out_6080875852390524285[15] = 0.0;
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out_6080875852390524285[16] = 0.0;
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out_6080875852390524285[17] = 0.0;
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out_6080875852390524285[18] = 0.0;
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out_6080875852390524285[19] = 0.0;
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out_6080875852390524285[20] = 1.0;
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out_6080875852390524285[21] = 0.0;
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out_6080875852390524285[22] = 0.0;
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out_6080875852390524285[23] = 0.0;
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out_6080875852390524285[24] = 0.0;
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out_6080875852390524285[25] = 0.0;
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out_6080875852390524285[26] = 0.0;
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out_6080875852390524285[27] = 0.0;
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out_6080875852390524285[28] = 0.0;
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out_6080875852390524285[29] = 0.0;
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out_6080875852390524285[30] = 1.0;
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out_6080875852390524285[31] = 0.0;
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out_6080875852390524285[32] = 0.0;
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out_6080875852390524285[33] = 0.0;
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out_6080875852390524285[34] = 0.0;
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out_6080875852390524285[35] = 0.0;
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out_6080875852390524285[36] = 0.0;
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out_6080875852390524285[37] = 0.0;
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out_6080875852390524285[38] = 0.0;
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out_6080875852390524285[39] = 0.0;
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out_6080875852390524285[40] = 1.0;
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out_6080875852390524285[41] = 0.0;
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out_6080875852390524285[42] = 0.0;
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out_6080875852390524285[43] = 0.0;
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out_6080875852390524285[44] = 0.0;
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out_6080875852390524285[45] = 0.0;
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out_6080875852390524285[46] = 0.0;
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out_6080875852390524285[47] = 0.0;
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out_6080875852390524285[48] = 0.0;
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out_6080875852390524285[49] = 0.0;
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out_6080875852390524285[50] = 1.0;
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out_6080875852390524285[51] = 0.0;
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out_6080875852390524285[52] = 0.0;
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out_6080875852390524285[53] = 0.0;
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out_6080875852390524285[54] = 0.0;
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out_6080875852390524285[55] = 0.0;
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out_6080875852390524285[56] = 0.0;
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out_6080875852390524285[57] = 0.0;
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out_6080875852390524285[58] = 0.0;
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out_6080875852390524285[59] = 0.0;
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out_6080875852390524285[60] = 1.0;
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out_6080875852390524285[61] = 0.0;
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out_6080875852390524285[62] = 0.0;
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out_6080875852390524285[63] = 0.0;
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out_6080875852390524285[64] = 0.0;
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out_6080875852390524285[65] = 0.0;
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out_6080875852390524285[66] = 0.0;
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out_6080875852390524285[67] = 0.0;
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out_6080875852390524285[68] = 0.0;
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out_6080875852390524285[69] = 0.0;
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out_6080875852390524285[70] = 1.0;
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out_6080875852390524285[71] = 0.0;
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out_6080875852390524285[72] = 0.0;
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out_6080875852390524285[73] = 0.0;
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out_6080875852390524285[74] = 0.0;
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out_6080875852390524285[75] = 0.0;
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out_6080875852390524285[76] = 0.0;
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out_6080875852390524285[77] = 0.0;
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out_6080875852390524285[78] = 0.0;
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out_6080875852390524285[79] = 0.0;
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out_6080875852390524285[80] = 1.0;
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void H_mod_fun(double *state, double *out_5601961838873094342) {
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out_5601961838873094342[0] = 1.0;
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out_5601961838873094342[1] = 0.0;
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out_5601961838873094342[2] = 0.0;
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out_5601961838873094342[3] = 0.0;
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out_5601961838873094342[4] = 0.0;
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out_5601961838873094342[5] = 0.0;
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out_5601961838873094342[6] = 0.0;
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out_5601961838873094342[7] = 0.0;
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out_5601961838873094342[8] = 0.0;
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out_5601961838873094342[9] = 0.0;
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out_5601961838873094342[10] = 1.0;
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out_5601961838873094342[11] = 0.0;
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out_5601961838873094342[12] = 0.0;
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out_5601961838873094342[13] = 0.0;
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out_5601961838873094342[14] = 0.0;
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out_5601961838873094342[15] = 0.0;
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out_5601961838873094342[16] = 0.0;
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out_5601961838873094342[17] = 0.0;
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out_5601961838873094342[18] = 0.0;
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out_5601961838873094342[19] = 0.0;
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out_5601961838873094342[20] = 1.0;
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out_5601961838873094342[21] = 0.0;
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out_5601961838873094342[22] = 0.0;
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out_5601961838873094342[23] = 0.0;
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out_5601961838873094342[24] = 0.0;
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out_5601961838873094342[25] = 0.0;
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out_5601961838873094342[26] = 0.0;
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out_5601961838873094342[27] = 0.0;
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out_5601961838873094342[28] = 0.0;
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out_5601961838873094342[29] = 0.0;
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out_5601961838873094342[30] = 1.0;
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out_5601961838873094342[31] = 0.0;
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out_5601961838873094342[32] = 0.0;
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out_5601961838873094342[33] = 0.0;
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out_5601961838873094342[34] = 0.0;
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out_5601961838873094342[35] = 0.0;
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out_5601961838873094342[36] = 0.0;
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out_5601961838873094342[37] = 0.0;
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out_5601961838873094342[38] = 0.0;
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out_5601961838873094342[39] = 0.0;
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out_5601961838873094342[40] = 1.0;
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out_5601961838873094342[41] = 0.0;
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out_5601961838873094342[42] = 0.0;
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out_5601961838873094342[43] = 0.0;
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out_5601961838873094342[44] = 0.0;
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out_5601961838873094342[45] = 0.0;
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out_5601961838873094342[46] = 0.0;
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out_5601961838873094342[47] = 0.0;
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out_5601961838873094342[48] = 0.0;
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out_5601961838873094342[49] = 0.0;
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out_5601961838873094342[50] = 1.0;
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out_5601961838873094342[51] = 0.0;
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out_5601961838873094342[52] = 0.0;
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out_5601961838873094342[53] = 0.0;
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out_5601961838873094342[54] = 0.0;
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out_5601961838873094342[55] = 0.0;
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out_5601961838873094342[56] = 0.0;
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out_5601961838873094342[57] = 0.0;
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out_5601961838873094342[58] = 0.0;
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out_5601961838873094342[59] = 0.0;
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out_5601961838873094342[60] = 1.0;
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out_5601961838873094342[61] = 0.0;
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out_5601961838873094342[62] = 0.0;
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out_5601961838873094342[63] = 0.0;
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out_5601961838873094342[64] = 0.0;
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out_5601961838873094342[65] = 0.0;
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out_5601961838873094342[66] = 0.0;
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out_5601961838873094342[67] = 0.0;
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out_5601961838873094342[68] = 0.0;
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out_5601961838873094342[69] = 0.0;
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out_5601961838873094342[70] = 1.0;
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out_5601961838873094342[71] = 0.0;
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out_5601961838873094342[72] = 0.0;
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out_5601961838873094342[73] = 0.0;
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out_5601961838873094342[74] = 0.0;
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out_5601961838873094342[75] = 0.0;
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out_5601961838873094342[76] = 0.0;
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out_5601961838873094342[77] = 0.0;
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out_5601961838873094342[78] = 0.0;
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out_5601961838873094342[79] = 0.0;
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out_5601961838873094342[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_6417706388998195307) {
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out_6417706388998195307[0] = state[0];
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out_6417706388998195307[1] = state[1];
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out_6417706388998195307[2] = state[2];
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out_6417706388998195307[3] = state[3];
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out_6417706388998195307[4] = state[4];
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out_6417706388998195307[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_6417706388998195307[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_6417706388998195307[7] = state[7];
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out_6417706388998195307[8] = state[8];
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void f_fun(double *state, double dt, double *out_5149707672518823132) {
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out_5149707672518823132[0] = state[0];
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out_5149707672518823132[1] = state[1];
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out_5149707672518823132[2] = state[2];
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out_5149707672518823132[3] = state[3];
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out_5149707672518823132[4] = state[4];
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out_5149707672518823132[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_5149707672518823132[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_5149707672518823132[7] = state[7];
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out_5149707672518823132[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_883841085229346789) {
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out_883841085229346789[0] = 1;
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out_883841085229346789[1] = 0;
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out_883841085229346789[2] = 0;
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||||
out_883841085229346789[3] = 0;
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out_883841085229346789[4] = 0;
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||||
out_883841085229346789[5] = 0;
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out_883841085229346789[6] = 0;
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||||
out_883841085229346789[7] = 0;
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||||
out_883841085229346789[8] = 0;
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||||
out_883841085229346789[9] = 0;
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||||
out_883841085229346789[10] = 1;
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||||
out_883841085229346789[11] = 0;
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||||
out_883841085229346789[12] = 0;
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||||
out_883841085229346789[13] = 0;
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||||
out_883841085229346789[14] = 0;
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||||
out_883841085229346789[15] = 0;
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||||
out_883841085229346789[16] = 0;
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||||
out_883841085229346789[17] = 0;
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||||
out_883841085229346789[18] = 0;
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||||
out_883841085229346789[19] = 0;
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||||
out_883841085229346789[20] = 1;
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||||
out_883841085229346789[21] = 0;
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||||
out_883841085229346789[22] = 0;
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||||
out_883841085229346789[23] = 0;
|
||||
out_883841085229346789[24] = 0;
|
||||
out_883841085229346789[25] = 0;
|
||||
out_883841085229346789[26] = 0;
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||||
out_883841085229346789[27] = 0;
|
||||
out_883841085229346789[28] = 0;
|
||||
out_883841085229346789[29] = 0;
|
||||
out_883841085229346789[30] = 1;
|
||||
out_883841085229346789[31] = 0;
|
||||
out_883841085229346789[32] = 0;
|
||||
out_883841085229346789[33] = 0;
|
||||
out_883841085229346789[34] = 0;
|
||||
out_883841085229346789[35] = 0;
|
||||
out_883841085229346789[36] = 0;
|
||||
out_883841085229346789[37] = 0;
|
||||
out_883841085229346789[38] = 0;
|
||||
out_883841085229346789[39] = 0;
|
||||
out_883841085229346789[40] = 1;
|
||||
out_883841085229346789[41] = 0;
|
||||
out_883841085229346789[42] = 0;
|
||||
out_883841085229346789[43] = 0;
|
||||
out_883841085229346789[44] = 0;
|
||||
out_883841085229346789[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_883841085229346789[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_883841085229346789[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_883841085229346789[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_883841085229346789[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_883841085229346789[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_883841085229346789[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_883841085229346789[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_883841085229346789[53] = -9.8100000000000005*dt;
|
||||
out_883841085229346789[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_883841085229346789[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_883841085229346789[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_883841085229346789[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_883841085229346789[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_883841085229346789[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_883841085229346789[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_883841085229346789[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_883841085229346789[62] = 0;
|
||||
out_883841085229346789[63] = 0;
|
||||
out_883841085229346789[64] = 0;
|
||||
out_883841085229346789[65] = 0;
|
||||
out_883841085229346789[66] = 0;
|
||||
out_883841085229346789[67] = 0;
|
||||
out_883841085229346789[68] = 0;
|
||||
out_883841085229346789[69] = 0;
|
||||
out_883841085229346789[70] = 1;
|
||||
out_883841085229346789[71] = 0;
|
||||
out_883841085229346789[72] = 0;
|
||||
out_883841085229346789[73] = 0;
|
||||
out_883841085229346789[74] = 0;
|
||||
out_883841085229346789[75] = 0;
|
||||
out_883841085229346789[76] = 0;
|
||||
out_883841085229346789[77] = 0;
|
||||
out_883841085229346789[78] = 0;
|
||||
out_883841085229346789[79] = 0;
|
||||
out_883841085229346789[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_6841526781584604245) {
|
||||
out_6841526781584604245[0] = 1;
|
||||
out_6841526781584604245[1] = 0;
|
||||
out_6841526781584604245[2] = 0;
|
||||
out_6841526781584604245[3] = 0;
|
||||
out_6841526781584604245[4] = 0;
|
||||
out_6841526781584604245[5] = 0;
|
||||
out_6841526781584604245[6] = 0;
|
||||
out_6841526781584604245[7] = 0;
|
||||
out_6841526781584604245[8] = 0;
|
||||
out_6841526781584604245[9] = 0;
|
||||
out_6841526781584604245[10] = 1;
|
||||
out_6841526781584604245[11] = 0;
|
||||
out_6841526781584604245[12] = 0;
|
||||
out_6841526781584604245[13] = 0;
|
||||
out_6841526781584604245[14] = 0;
|
||||
out_6841526781584604245[15] = 0;
|
||||
out_6841526781584604245[16] = 0;
|
||||
out_6841526781584604245[17] = 0;
|
||||
out_6841526781584604245[18] = 0;
|
||||
out_6841526781584604245[19] = 0;
|
||||
out_6841526781584604245[20] = 1;
|
||||
out_6841526781584604245[21] = 0;
|
||||
out_6841526781584604245[22] = 0;
|
||||
out_6841526781584604245[23] = 0;
|
||||
out_6841526781584604245[24] = 0;
|
||||
out_6841526781584604245[25] = 0;
|
||||
out_6841526781584604245[26] = 0;
|
||||
out_6841526781584604245[27] = 0;
|
||||
out_6841526781584604245[28] = 0;
|
||||
out_6841526781584604245[29] = 0;
|
||||
out_6841526781584604245[30] = 1;
|
||||
out_6841526781584604245[31] = 0;
|
||||
out_6841526781584604245[32] = 0;
|
||||
out_6841526781584604245[33] = 0;
|
||||
out_6841526781584604245[34] = 0;
|
||||
out_6841526781584604245[35] = 0;
|
||||
out_6841526781584604245[36] = 0;
|
||||
out_6841526781584604245[37] = 0;
|
||||
out_6841526781584604245[38] = 0;
|
||||
out_6841526781584604245[39] = 0;
|
||||
out_6841526781584604245[40] = 1;
|
||||
out_6841526781584604245[41] = 0;
|
||||
out_6841526781584604245[42] = 0;
|
||||
out_6841526781584604245[43] = 0;
|
||||
out_6841526781584604245[44] = 0;
|
||||
out_6841526781584604245[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_6841526781584604245[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6841526781584604245[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6841526781584604245[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6841526781584604245[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_6841526781584604245[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6841526781584604245[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6841526781584604245[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6841526781584604245[53] = -9.8100000000000005*dt;
|
||||
out_6841526781584604245[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_6841526781584604245[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6841526781584604245[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6841526781584604245[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6841526781584604245[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_6841526781584604245[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6841526781584604245[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_6841526781584604245[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6841526781584604245[62] = 0;
|
||||
out_6841526781584604245[63] = 0;
|
||||
out_6841526781584604245[64] = 0;
|
||||
out_6841526781584604245[65] = 0;
|
||||
out_6841526781584604245[66] = 0;
|
||||
out_6841526781584604245[67] = 0;
|
||||
out_6841526781584604245[68] = 0;
|
||||
out_6841526781584604245[69] = 0;
|
||||
out_6841526781584604245[70] = 1;
|
||||
out_6841526781584604245[71] = 0;
|
||||
out_6841526781584604245[72] = 0;
|
||||
out_6841526781584604245[73] = 0;
|
||||
out_6841526781584604245[74] = 0;
|
||||
out_6841526781584604245[75] = 0;
|
||||
out_6841526781584604245[76] = 0;
|
||||
out_6841526781584604245[77] = 0;
|
||||
out_6841526781584604245[78] = 0;
|
||||
out_6841526781584604245[79] = 0;
|
||||
out_6841526781584604245[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_2855412773557287240) {
|
||||
out_2855412773557287240[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7458155415496567305) {
|
||||
out_7458155415496567305[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_2557895202401032608) {
|
||||
out_2557895202401032608[0] = 0;
|
||||
out_2557895202401032608[1] = 0;
|
||||
out_2557895202401032608[2] = 0;
|
||||
out_2557895202401032608[3] = 0;
|
||||
out_2557895202401032608[4] = 0;
|
||||
out_2557895202401032608[5] = 0;
|
||||
out_2557895202401032608[6] = 1;
|
||||
out_2557895202401032608[7] = 0;
|
||||
out_2557895202401032608[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_698270013688429502) {
|
||||
out_698270013688429502[0] = 0;
|
||||
out_698270013688429502[1] = 0;
|
||||
out_698270013688429502[2] = 0;
|
||||
out_698270013688429502[3] = 0;
|
||||
out_698270013688429502[4] = 0;
|
||||
out_698270013688429502[5] = 0;
|
||||
out_698270013688429502[6] = 1;
|
||||
out_698270013688429502[7] = 0;
|
||||
out_698270013688429502[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_8685899773420353243) {
|
||||
out_8685899773420353243[0] = state[4];
|
||||
out_8685899773420353243[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_8762756803592850260) {
|
||||
out_8762756803592850260[0] = state[4];
|
||||
out_8762756803592850260[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_1000030396401290528) {
|
||||
out_1000030396401290528[0] = 0;
|
||||
out_1000030396401290528[1] = 0;
|
||||
out_1000030396401290528[2] = 0;
|
||||
out_1000030396401290528[3] = 0;
|
||||
out_1000030396401290528[4] = 1;
|
||||
out_1000030396401290528[5] = 0;
|
||||
out_1000030396401290528[6] = 0;
|
||||
out_1000030396401290528[7] = 0;
|
||||
out_1000030396401290528[8] = 0;
|
||||
out_1000030396401290528[9] = 0;
|
||||
out_1000030396401290528[10] = 0;
|
||||
out_1000030396401290528[11] = 0;
|
||||
out_1000030396401290528[12] = 0;
|
||||
out_1000030396401290528[13] = 0;
|
||||
out_1000030396401290528[14] = 1;
|
||||
out_1000030396401290528[15] = 0;
|
||||
out_1000030396401290528[16] = 0;
|
||||
out_1000030396401290528[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_2427133132865743571) {
|
||||
out_2427133132865743571[0] = 0;
|
||||
out_2427133132865743571[1] = 0;
|
||||
out_2427133132865743571[2] = 0;
|
||||
out_2427133132865743571[3] = 0;
|
||||
out_2427133132865743571[4] = 1;
|
||||
out_2427133132865743571[5] = 0;
|
||||
out_2427133132865743571[6] = 0;
|
||||
out_2427133132865743571[7] = 0;
|
||||
out_2427133132865743571[8] = 0;
|
||||
out_2427133132865743571[9] = 0;
|
||||
out_2427133132865743571[10] = 0;
|
||||
out_2427133132865743571[11] = 0;
|
||||
out_2427133132865743571[12] = 0;
|
||||
out_2427133132865743571[13] = 0;
|
||||
out_2427133132865743571[14] = 1;
|
||||
out_2427133132865743571[15] = 0;
|
||||
out_2427133132865743571[16] = 0;
|
||||
out_2427133132865743571[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_3732415152919007923) {
|
||||
out_3732415152919007923[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_434784079387956054) {
|
||||
out_434784079387956054[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_4358795139090584147) {
|
||||
out_4358795139090584147[0] = 0;
|
||||
out_4358795139090584147[1] = 0;
|
||||
out_4358795139090584147[2] = 0;
|
||||
out_4358795139090584147[3] = 0;
|
||||
out_4358795139090584147[4] = 1;
|
||||
out_4358795139090584147[5] = 0;
|
||||
out_4358795139090584147[6] = 0;
|
||||
out_4358795139090584147[7] = 0;
|
||||
out_4358795139090584147[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6218420327803187253) {
|
||||
out_6218420327803187253[0] = 0;
|
||||
out_6218420327803187253[1] = 0;
|
||||
out_6218420327803187253[2] = 0;
|
||||
out_6218420327803187253[3] = 0;
|
||||
out_6218420327803187253[4] = 1;
|
||||
out_6218420327803187253[5] = 0;
|
||||
out_6218420327803187253[6] = 0;
|
||||
out_6218420327803187253[7] = 0;
|
||||
out_6218420327803187253[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_665536928362621089) {
|
||||
out_665536928362621089[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_8798712813018318160) {
|
||||
out_8798712813018318160[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6299398521275088832) {
|
||||
out_6299398521275088832[0] = 0;
|
||||
out_6299398521275088832[1] = 0;
|
||||
out_6299398521275088832[2] = 0;
|
||||
out_6299398521275088832[3] = 0;
|
||||
out_6299398521275088832[4] = 0;
|
||||
out_6299398521275088832[5] = 0;
|
||||
out_6299398521275088832[6] = 0;
|
||||
out_6299398521275088832[7] = 1;
|
||||
out_6299398521275088832[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_4439773332562485726) {
|
||||
out_4439773332562485726[0] = 0;
|
||||
out_4439773332562485726[1] = 0;
|
||||
out_4439773332562485726[2] = 0;
|
||||
out_4439773332562485726[3] = 0;
|
||||
out_4439773332562485726[4] = 0;
|
||||
out_4439773332562485726[5] = 0;
|
||||
out_4439773332562485726[6] = 0;
|
||||
out_4439773332562485726[7] = 1;
|
||||
out_4439773332562485726[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3247106662175907150) {
|
||||
out_3247106662175907150[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_723267455973180046) {
|
||||
out_723267455973180046[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_2184031827290159236) {
|
||||
out_2184031827290159236[0] = 0;
|
||||
out_2184031827290159236[1] = 0;
|
||||
out_2184031827290159236[2] = 0;
|
||||
out_2184031827290159236[3] = 1;
|
||||
out_2184031827290159236[4] = 0;
|
||||
out_2184031827290159236[5] = 0;
|
||||
out_2184031827290159236[6] = 0;
|
||||
out_2184031827290159236[7] = 0;
|
||||
out_2184031827290159236[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_4043657016002762342) {
|
||||
out_4043657016002762342[0] = 0;
|
||||
out_4043657016002762342[1] = 0;
|
||||
out_4043657016002762342[2] = 0;
|
||||
out_4043657016002762342[3] = 1;
|
||||
out_4043657016002762342[4] = 0;
|
||||
out_4043657016002762342[5] = 0;
|
||||
out_4043657016002762342[6] = 0;
|
||||
out_4043657016002762342[7] = 0;
|
||||
out_4043657016002762342[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_9044190215692984337) {
|
||||
out_9044190215692984337[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_4920797374511219811) {
|
||||
out_4920797374511219811[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_470669100420608203) {
|
||||
out_470669100420608203[0] = 0;
|
||||
out_470669100420608203[1] = 1;
|
||||
out_470669100420608203[2] = 0;
|
||||
out_470669100420608203[3] = 0;
|
||||
out_470669100420608203[4] = 0;
|
||||
out_470669100420608203[5] = 0;
|
||||
out_470669100420608203[6] = 0;
|
||||
out_470669100420608203[7] = 0;
|
||||
out_470669100420608203[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_2330294289133211309) {
|
||||
out_2330294289133211309[0] = 0;
|
||||
out_2330294289133211309[1] = 1;
|
||||
out_2330294289133211309[2] = 0;
|
||||
out_2330294289133211309[3] = 0;
|
||||
out_2330294289133211309[4] = 0;
|
||||
out_2330294289133211309[5] = 0;
|
||||
out_2330294289133211309[6] = 0;
|
||||
out_2330294289133211309[7] = 0;
|
||||
out_2330294289133211309[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_8248779929836752795) {
|
||||
out_8248779929836752795[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_3477859511150572185) {
|
||||
out_3477859511150572185[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_4611729916648922371) {
|
||||
out_4611729916648922371[0] = 1;
|
||||
out_4611729916648922371[1] = 0;
|
||||
out_4611729916648922371[2] = 0;
|
||||
out_4611729916648922371[3] = 0;
|
||||
out_4611729916648922371[4] = 0;
|
||||
out_4611729916648922371[5] = 0;
|
||||
out_4611729916648922371[6] = 0;
|
||||
out_4611729916648922371[7] = 0;
|
||||
out_4611729916648922371[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_2752104727936319265) {
|
||||
out_2752104727936319265[0] = 1;
|
||||
out_2752104727936319265[1] = 0;
|
||||
out_2752104727936319265[2] = 0;
|
||||
out_2752104727936319265[3] = 0;
|
||||
out_2752104727936319265[4] = 0;
|
||||
out_2752104727936319265[5] = 0;
|
||||
out_2752104727936319265[6] = 0;
|
||||
out_2752104727936319265[7] = 0;
|
||||
out_2752104727936319265[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_6008698651335733946) {
|
||||
out_6008698651335733946[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_4217753431862633375) {
|
||||
out_4217753431862633375[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_2527249240524072180) {
|
||||
out_2527249240524072180[0] = 0;
|
||||
out_2527249240524072180[1] = 0;
|
||||
out_2527249240524072180[2] = 0;
|
||||
out_2527249240524072180[3] = 0;
|
||||
out_2527249240524072180[4] = 0;
|
||||
out_2527249240524072180[5] = 0;
|
||||
out_2527249240524072180[6] = 0;
|
||||
out_2527249240524072180[7] = 0;
|
||||
out_2527249240524072180[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_667624051811469074) {
|
||||
out_667624051811469074[0] = 0;
|
||||
out_667624051811469074[1] = 0;
|
||||
out_667624051811469074[2] = 0;
|
||||
out_667624051811469074[3] = 0;
|
||||
out_667624051811469074[4] = 0;
|
||||
out_667624051811469074[5] = 0;
|
||||
out_667624051811469074[6] = 0;
|
||||
out_667624051811469074[7] = 0;
|
||||
out_667624051811469074[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_3114295045279175255) {
|
||||
err_fun(nom_x, delta_x, out_3114295045279175255);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1981160884949189432) {
|
||||
err_fun(nom_x, delta_x, out_1981160884949189432);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_2774429114405664516) {
|
||||
inv_err_fun(nom_x, true_x, out_2774429114405664516);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388) {
|
||||
inv_err_fun(nom_x, true_x, out_8847679371512298388);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_6080875852390524285) {
|
||||
H_mod_fun(state, out_6080875852390524285);
|
||||
void car_H_mod_fun(double *state, double *out_5601961838873094342) {
|
||||
H_mod_fun(state, out_5601961838873094342);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_6417706388998195307) {
|
||||
f_fun(state, dt, out_6417706388998195307);
|
||||
void car_f_fun(double *state, double dt, double *out_5149707672518823132) {
|
||||
f_fun(state, dt, out_5149707672518823132);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_883841085229346789) {
|
||||
F_fun(state, dt, out_883841085229346789);
|
||||
void car_F_fun(double *state, double dt, double *out_6841526781584604245) {
|
||||
F_fun(state, dt, out_6841526781584604245);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_2855412773557287240) {
|
||||
h_25(state, unused, out_2855412773557287240);
|
||||
void car_h_25(double *state, double *unused, double *out_7458155415496567305) {
|
||||
h_25(state, unused, out_7458155415496567305);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_2557895202401032608) {
|
||||
H_25(state, unused, out_2557895202401032608);
|
||||
void car_H_25(double *state, double *unused, double *out_698270013688429502) {
|
||||
H_25(state, unused, out_698270013688429502);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_8685899773420353243) {
|
||||
h_24(state, unused, out_8685899773420353243);
|
||||
void car_h_24(double *state, double *unused, double *out_8762756803592850260) {
|
||||
h_24(state, unused, out_8762756803592850260);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_1000030396401290528) {
|
||||
H_24(state, unused, out_1000030396401290528);
|
||||
void car_H_24(double *state, double *unused, double *out_2427133132865743571) {
|
||||
H_24(state, unused, out_2427133132865743571);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_3732415152919007923) {
|
||||
h_30(state, unused, out_3732415152919007923);
|
||||
void car_h_30(double *state, double *unused, double *out_434784079387956054) {
|
||||
h_30(state, unused, out_434784079387956054);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_4358795139090584147) {
|
||||
H_30(state, unused, out_4358795139090584147);
|
||||
void car_H_30(double *state, double *unused, double *out_6218420327803187253) {
|
||||
H_30(state, unused, out_6218420327803187253);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_665536928362621089) {
|
||||
h_26(state, unused, out_665536928362621089);
|
||||
void car_h_26(double *state, double *unused, double *out_8798712813018318160) {
|
||||
h_26(state, unused, out_8798712813018318160);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6299398521275088832) {
|
||||
H_26(state, unused, out_6299398521275088832);
|
||||
void car_H_26(double *state, double *unused, double *out_4439773332562485726) {
|
||||
H_26(state, unused, out_4439773332562485726);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3247106662175907150) {
|
||||
h_27(state, unused, out_3247106662175907150);
|
||||
void car_h_27(double *state, double *unused, double *out_723267455973180046) {
|
||||
h_27(state, unused, out_723267455973180046);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_2184031827290159236) {
|
||||
H_27(state, unused, out_2184031827290159236);
|
||||
void car_H_27(double *state, double *unused, double *out_4043657016002762342) {
|
||||
H_27(state, unused, out_4043657016002762342);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_9044190215692984337) {
|
||||
h_29(state, unused, out_9044190215692984337);
|
||||
void car_h_29(double *state, double *unused, double *out_4920797374511219811) {
|
||||
h_29(state, unused, out_4920797374511219811);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_470669100420608203) {
|
||||
H_29(state, unused, out_470669100420608203);
|
||||
void car_H_29(double *state, double *unused, double *out_2330294289133211309) {
|
||||
H_29(state, unused, out_2330294289133211309);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_8248779929836752795) {
|
||||
h_28(state, unused, out_8248779929836752795);
|
||||
void car_h_28(double *state, double *unused, double *out_3477859511150572185) {
|
||||
h_28(state, unused, out_3477859511150572185);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_4611729916648922371) {
|
||||
H_28(state, unused, out_4611729916648922371);
|
||||
void car_H_28(double *state, double *unused, double *out_2752104727936319265) {
|
||||
H_28(state, unused, out_2752104727936319265);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_6008698651335733946) {
|
||||
h_31(state, unused, out_6008698651335733946);
|
||||
void car_h_31(double *state, double *unused, double *out_4217753431862633375) {
|
||||
h_31(state, unused, out_4217753431862633375);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_2527249240524072180) {
|
||||
H_31(state, unused, out_2527249240524072180);
|
||||
void car_H_31(double *state, double *unused, double *out_667624051811469074) {
|
||||
H_31(state, unused, out_667624051811469074);
|
||||
}
|
||||
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