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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_5406094264205448922) {
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out_5406094264205448922[0] = delta_x[0] + nom_x[0];
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out_5406094264205448922[1] = delta_x[1] + nom_x[1];
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out_5406094264205448922[2] = delta_x[2] + nom_x[2];
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out_5406094264205448922[3] = delta_x[3] + nom_x[3];
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out_5406094264205448922[4] = delta_x[4] + nom_x[4];
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out_5406094264205448922[5] = delta_x[5] + nom_x[5];
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out_5406094264205448922[6] = delta_x[6] + nom_x[6];
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out_5406094264205448922[7] = delta_x[7] + nom_x[7];
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out_5406094264205448922[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_1976458697034392713) {
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out_1976458697034392713[0] = delta_x[0] + nom_x[0];
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out_1976458697034392713[1] = delta_x[1] + nom_x[1];
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out_1976458697034392713[2] = delta_x[2] + nom_x[2];
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out_1976458697034392713[3] = delta_x[3] + nom_x[3];
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out_1976458697034392713[4] = delta_x[4] + nom_x[4];
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out_1976458697034392713[5] = delta_x[5] + nom_x[5];
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out_1976458697034392713[6] = delta_x[6] + nom_x[6];
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out_1976458697034392713[7] = delta_x[7] + nom_x[7];
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out_1976458697034392713[8] = delta_x[8] + nom_x[8];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_7302786751934147898) {
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out_7302786751934147898[0] = -nom_x[0] + true_x[0];
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out_7302786751934147898[1] = -nom_x[1] + true_x[1];
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out_7302786751934147898[2] = -nom_x[2] + true_x[2];
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out_7302786751934147898[3] = -nom_x[3] + true_x[3];
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out_7302786751934147898[4] = -nom_x[4] + true_x[4];
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out_7302786751934147898[5] = -nom_x[5] + true_x[5];
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out_7302786751934147898[6] = -nom_x[6] + true_x[6];
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out_7302786751934147898[7] = -nom_x[7] + true_x[7];
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out_7302786751934147898[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_8774680380747325588) {
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out_8774680380747325588[0] = -nom_x[0] + true_x[0];
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out_8774680380747325588[1] = -nom_x[1] + true_x[1];
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out_8774680380747325588[2] = -nom_x[2] + true_x[2];
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out_8774680380747325588[3] = -nom_x[3] + true_x[3];
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out_8774680380747325588[4] = -nom_x[4] + true_x[4];
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out_8774680380747325588[5] = -nom_x[5] + true_x[5];
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out_8774680380747325588[6] = -nom_x[6] + true_x[6];
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out_8774680380747325588[7] = -nom_x[7] + true_x[7];
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out_8774680380747325588[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_8564810489090289784) {
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out_8564810489090289784[0] = 1.0;
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out_8564810489090289784[1] = 0.0;
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out_8564810489090289784[2] = 0.0;
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out_8564810489090289784[3] = 0.0;
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out_8564810489090289784[4] = 0.0;
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out_8564810489090289784[5] = 0.0;
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out_8564810489090289784[6] = 0.0;
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out_8564810489090289784[7] = 0.0;
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out_8564810489090289784[8] = 0.0;
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out_8564810489090289784[9] = 0.0;
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out_8564810489090289784[10] = 1.0;
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out_8564810489090289784[11] = 0.0;
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out_8564810489090289784[12] = 0.0;
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out_8564810489090289784[13] = 0.0;
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out_8564810489090289784[14] = 0.0;
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out_8564810489090289784[15] = 0.0;
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out_8564810489090289784[16] = 0.0;
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out_8564810489090289784[17] = 0.0;
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out_8564810489090289784[18] = 0.0;
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out_8564810489090289784[19] = 0.0;
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out_8564810489090289784[20] = 1.0;
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out_8564810489090289784[21] = 0.0;
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out_8564810489090289784[22] = 0.0;
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out_8564810489090289784[23] = 0.0;
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out_8564810489090289784[24] = 0.0;
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out_8564810489090289784[25] = 0.0;
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out_8564810489090289784[26] = 0.0;
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out_8564810489090289784[27] = 0.0;
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out_8564810489090289784[28] = 0.0;
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out_8564810489090289784[29] = 0.0;
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out_8564810489090289784[30] = 1.0;
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out_8564810489090289784[31] = 0.0;
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out_8564810489090289784[32] = 0.0;
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out_8564810489090289784[33] = 0.0;
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out_8564810489090289784[34] = 0.0;
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out_8564810489090289784[35] = 0.0;
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out_8564810489090289784[36] = 0.0;
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out_8564810489090289784[37] = 0.0;
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out_8564810489090289784[38] = 0.0;
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out_8564810489090289784[39] = 0.0;
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out_8564810489090289784[40] = 1.0;
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out_8564810489090289784[41] = 0.0;
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out_8564810489090289784[42] = 0.0;
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out_8564810489090289784[43] = 0.0;
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out_8564810489090289784[44] = 0.0;
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out_8564810489090289784[45] = 0.0;
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out_8564810489090289784[46] = 0.0;
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out_8564810489090289784[47] = 0.0;
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out_8564810489090289784[48] = 0.0;
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out_8564810489090289784[49] = 0.0;
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out_8564810489090289784[50] = 1.0;
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out_8564810489090289784[51] = 0.0;
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out_8564810489090289784[52] = 0.0;
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out_8564810489090289784[53] = 0.0;
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out_8564810489090289784[54] = 0.0;
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out_8564810489090289784[55] = 0.0;
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out_8564810489090289784[56] = 0.0;
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out_8564810489090289784[57] = 0.0;
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out_8564810489090289784[58] = 0.0;
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out_8564810489090289784[59] = 0.0;
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out_8564810489090289784[60] = 1.0;
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out_8564810489090289784[61] = 0.0;
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out_8564810489090289784[62] = 0.0;
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out_8564810489090289784[63] = 0.0;
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out_8564810489090289784[64] = 0.0;
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out_8564810489090289784[65] = 0.0;
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out_8564810489090289784[66] = 0.0;
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out_8564810489090289784[67] = 0.0;
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out_8564810489090289784[68] = 0.0;
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out_8564810489090289784[69] = 0.0;
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out_8564810489090289784[70] = 1.0;
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out_8564810489090289784[71] = 0.0;
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out_8564810489090289784[72] = 0.0;
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out_8564810489090289784[73] = 0.0;
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out_8564810489090289784[74] = 0.0;
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out_8564810489090289784[75] = 0.0;
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out_8564810489090289784[76] = 0.0;
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out_8564810489090289784[77] = 0.0;
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out_8564810489090289784[78] = 0.0;
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out_8564810489090289784[79] = 0.0;
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out_8564810489090289784[80] = 1.0;
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void H_mod_fun(double *state, double *out_1571472922248018296) {
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out_1571472922248018296[0] = 1.0;
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out_1571472922248018296[1] = 0.0;
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out_1571472922248018296[2] = 0.0;
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out_1571472922248018296[3] = 0.0;
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out_1571472922248018296[4] = 0.0;
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out_1571472922248018296[5] = 0.0;
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out_1571472922248018296[6] = 0.0;
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out_1571472922248018296[7] = 0.0;
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out_1571472922248018296[8] = 0.0;
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out_1571472922248018296[9] = 0.0;
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out_1571472922248018296[10] = 1.0;
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out_1571472922248018296[11] = 0.0;
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out_1571472922248018296[12] = 0.0;
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out_1571472922248018296[13] = 0.0;
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out_1571472922248018296[14] = 0.0;
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out_1571472922248018296[15] = 0.0;
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out_1571472922248018296[16] = 0.0;
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out_1571472922248018296[17] = 0.0;
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out_1571472922248018296[18] = 0.0;
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out_1571472922248018296[19] = 0.0;
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out_1571472922248018296[20] = 1.0;
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out_1571472922248018296[21] = 0.0;
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out_1571472922248018296[22] = 0.0;
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out_1571472922248018296[23] = 0.0;
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out_1571472922248018296[24] = 0.0;
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out_1571472922248018296[25] = 0.0;
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out_1571472922248018296[26] = 0.0;
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out_1571472922248018296[27] = 0.0;
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out_1571472922248018296[28] = 0.0;
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out_1571472922248018296[29] = 0.0;
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out_1571472922248018296[30] = 1.0;
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out_1571472922248018296[31] = 0.0;
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out_1571472922248018296[32] = 0.0;
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out_1571472922248018296[33] = 0.0;
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out_1571472922248018296[34] = 0.0;
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out_1571472922248018296[35] = 0.0;
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out_1571472922248018296[36] = 0.0;
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out_1571472922248018296[37] = 0.0;
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out_1571472922248018296[38] = 0.0;
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out_1571472922248018296[39] = 0.0;
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out_1571472922248018296[40] = 1.0;
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out_1571472922248018296[41] = 0.0;
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out_1571472922248018296[42] = 0.0;
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out_1571472922248018296[43] = 0.0;
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out_1571472922248018296[44] = 0.0;
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out_1571472922248018296[45] = 0.0;
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out_1571472922248018296[46] = 0.0;
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out_1571472922248018296[47] = 0.0;
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out_1571472922248018296[48] = 0.0;
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out_1571472922248018296[49] = 0.0;
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out_1571472922248018296[50] = 1.0;
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out_1571472922248018296[51] = 0.0;
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out_1571472922248018296[52] = 0.0;
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out_1571472922248018296[53] = 0.0;
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out_1571472922248018296[54] = 0.0;
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out_1571472922248018296[55] = 0.0;
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out_1571472922248018296[56] = 0.0;
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out_1571472922248018296[57] = 0.0;
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out_1571472922248018296[58] = 0.0;
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out_1571472922248018296[59] = 0.0;
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out_1571472922248018296[60] = 1.0;
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out_1571472922248018296[61] = 0.0;
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out_1571472922248018296[62] = 0.0;
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out_1571472922248018296[63] = 0.0;
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out_1571472922248018296[64] = 0.0;
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out_1571472922248018296[65] = 0.0;
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out_1571472922248018296[66] = 0.0;
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out_1571472922248018296[67] = 0.0;
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out_1571472922248018296[68] = 0.0;
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out_1571472922248018296[69] = 0.0;
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out_1571472922248018296[70] = 1.0;
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out_1571472922248018296[71] = 0.0;
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out_1571472922248018296[72] = 0.0;
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out_1571472922248018296[73] = 0.0;
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out_1571472922248018296[74] = 0.0;
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out_1571472922248018296[75] = 0.0;
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out_1571472922248018296[76] = 0.0;
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out_1571472922248018296[77] = 0.0;
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out_1571472922248018296[78] = 0.0;
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out_1571472922248018296[79] = 0.0;
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out_1571472922248018296[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_7344896958720977953) {
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out_7344896958720977953[0] = state[0];
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out_7344896958720977953[1] = state[1];
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out_7344896958720977953[2] = state[2];
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out_7344896958720977953[3] = state[3];
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out_7344896958720977953[4] = state[4];
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out_7344896958720977953[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_7344896958720977953[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_7344896958720977953[7] = state[7];
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out_7344896958720977953[8] = state[8];
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void f_fun(double *state, double dt, double *out_3070664500164102760) {
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out_3070664500164102760[0] = state[0];
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out_3070664500164102760[1] = state[1];
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out_3070664500164102760[2] = state[2];
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out_3070664500164102760[3] = state[3];
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out_3070664500164102760[4] = state[4];
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out_3070664500164102760[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
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out_3070664500164102760[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
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out_3070664500164102760[7] = state[7];
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out_3070664500164102760[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_4577316669100378715) {
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out_4577316669100378715[0] = 1;
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out_4577316669100378715[1] = 0;
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out_4577316669100378715[2] = 0;
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out_4577316669100378715[3] = 0;
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out_4577316669100378715[4] = 0;
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out_4577316669100378715[5] = 0;
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out_4577316669100378715[6] = 0;
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out_4577316669100378715[7] = 0;
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out_4577316669100378715[8] = 0;
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out_4577316669100378715[9] = 0;
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out_4577316669100378715[10] = 1;
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out_4577316669100378715[11] = 0;
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out_4577316669100378715[12] = 0;
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out_4577316669100378715[13] = 0;
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out_4577316669100378715[14] = 0;
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out_4577316669100378715[15] = 0;
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out_4577316669100378715[16] = 0;
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out_4577316669100378715[17] = 0;
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out_4577316669100378715[18] = 0;
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out_4577316669100378715[19] = 0;
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out_4577316669100378715[20] = 1;
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out_4577316669100378715[21] = 0;
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out_4577316669100378715[22] = 0;
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out_4577316669100378715[23] = 0;
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out_4577316669100378715[24] = 0;
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out_4577316669100378715[25] = 0;
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out_4577316669100378715[26] = 0;
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out_4577316669100378715[27] = 0;
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out_4577316669100378715[28] = 0;
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out_4577316669100378715[29] = 0;
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out_4577316669100378715[30] = 1;
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out_4577316669100378715[31] = 0;
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out_4577316669100378715[32] = 0;
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out_4577316669100378715[33] = 0;
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out_4577316669100378715[34] = 0;
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out_4577316669100378715[35] = 0;
|
||||
out_4577316669100378715[36] = 0;
|
||||
out_4577316669100378715[37] = 0;
|
||||
out_4577316669100378715[38] = 0;
|
||||
out_4577316669100378715[39] = 0;
|
||||
out_4577316669100378715[40] = 1;
|
||||
out_4577316669100378715[41] = 0;
|
||||
out_4577316669100378715[42] = 0;
|
||||
out_4577316669100378715[43] = 0;
|
||||
out_4577316669100378715[44] = 0;
|
||||
out_4577316669100378715[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_4577316669100378715[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_4577316669100378715[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4577316669100378715[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4577316669100378715[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_4577316669100378715[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_4577316669100378715[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_4577316669100378715[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4577316669100378715[53] = -9.8100000000000005*dt;
|
||||
out_4577316669100378715[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_4577316669100378715[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_4577316669100378715[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4577316669100378715[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4577316669100378715[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_4577316669100378715[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_4577316669100378715[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_4577316669100378715[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4577316669100378715[62] = 0;
|
||||
out_4577316669100378715[63] = 0;
|
||||
out_4577316669100378715[64] = 0;
|
||||
out_4577316669100378715[65] = 0;
|
||||
out_4577316669100378715[66] = 0;
|
||||
out_4577316669100378715[67] = 0;
|
||||
out_4577316669100378715[68] = 0;
|
||||
out_4577316669100378715[69] = 0;
|
||||
out_4577316669100378715[70] = 1;
|
||||
out_4577316669100378715[71] = 0;
|
||||
out_4577316669100378715[72] = 0;
|
||||
out_4577316669100378715[73] = 0;
|
||||
out_4577316669100378715[74] = 0;
|
||||
out_4577316669100378715[75] = 0;
|
||||
out_4577316669100378715[76] = 0;
|
||||
out_4577316669100378715[77] = 0;
|
||||
out_4577316669100378715[78] = 0;
|
||||
out_4577316669100378715[79] = 0;
|
||||
out_4577316669100378715[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_2365857006052744488) {
|
||||
out_2365857006052744488[0] = 1;
|
||||
out_2365857006052744488[1] = 0;
|
||||
out_2365857006052744488[2] = 0;
|
||||
out_2365857006052744488[3] = 0;
|
||||
out_2365857006052744488[4] = 0;
|
||||
out_2365857006052744488[5] = 0;
|
||||
out_2365857006052744488[6] = 0;
|
||||
out_2365857006052744488[7] = 0;
|
||||
out_2365857006052744488[8] = 0;
|
||||
out_2365857006052744488[9] = 0;
|
||||
out_2365857006052744488[10] = 1;
|
||||
out_2365857006052744488[11] = 0;
|
||||
out_2365857006052744488[12] = 0;
|
||||
out_2365857006052744488[13] = 0;
|
||||
out_2365857006052744488[14] = 0;
|
||||
out_2365857006052744488[15] = 0;
|
||||
out_2365857006052744488[16] = 0;
|
||||
out_2365857006052744488[17] = 0;
|
||||
out_2365857006052744488[18] = 0;
|
||||
out_2365857006052744488[19] = 0;
|
||||
out_2365857006052744488[20] = 1;
|
||||
out_2365857006052744488[21] = 0;
|
||||
out_2365857006052744488[22] = 0;
|
||||
out_2365857006052744488[23] = 0;
|
||||
out_2365857006052744488[24] = 0;
|
||||
out_2365857006052744488[25] = 0;
|
||||
out_2365857006052744488[26] = 0;
|
||||
out_2365857006052744488[27] = 0;
|
||||
out_2365857006052744488[28] = 0;
|
||||
out_2365857006052744488[29] = 0;
|
||||
out_2365857006052744488[30] = 1;
|
||||
out_2365857006052744488[31] = 0;
|
||||
out_2365857006052744488[32] = 0;
|
||||
out_2365857006052744488[33] = 0;
|
||||
out_2365857006052744488[34] = 0;
|
||||
out_2365857006052744488[35] = 0;
|
||||
out_2365857006052744488[36] = 0;
|
||||
out_2365857006052744488[37] = 0;
|
||||
out_2365857006052744488[38] = 0;
|
||||
out_2365857006052744488[39] = 0;
|
||||
out_2365857006052744488[40] = 1;
|
||||
out_2365857006052744488[41] = 0;
|
||||
out_2365857006052744488[42] = 0;
|
||||
out_2365857006052744488[43] = 0;
|
||||
out_2365857006052744488[44] = 0;
|
||||
out_2365857006052744488[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_2365857006052744488[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2365857006052744488[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2365857006052744488[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2365857006052744488[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_2365857006052744488[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2365857006052744488[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2365857006052744488[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2365857006052744488[53] = -9.8100000000000005*dt;
|
||||
out_2365857006052744488[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_2365857006052744488[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2365857006052744488[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2365857006052744488[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2365857006052744488[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_2365857006052744488[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2365857006052744488[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_2365857006052744488[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2365857006052744488[62] = 0;
|
||||
out_2365857006052744488[63] = 0;
|
||||
out_2365857006052744488[64] = 0;
|
||||
out_2365857006052744488[65] = 0;
|
||||
out_2365857006052744488[66] = 0;
|
||||
out_2365857006052744488[67] = 0;
|
||||
out_2365857006052744488[68] = 0;
|
||||
out_2365857006052744488[69] = 0;
|
||||
out_2365857006052744488[70] = 1;
|
||||
out_2365857006052744488[71] = 0;
|
||||
out_2365857006052744488[72] = 0;
|
||||
out_2365857006052744488[73] = 0;
|
||||
out_2365857006052744488[74] = 0;
|
||||
out_2365857006052744488[75] = 0;
|
||||
out_2365857006052744488[76] = 0;
|
||||
out_2365857006052744488[77] = 0;
|
||||
out_2365857006052744488[78] = 0;
|
||||
out_2365857006052744488[79] = 0;
|
||||
out_2365857006052744488[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_6986192086353969465) {
|
||||
out_6986192086353969465[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7208997417211176832) {
|
||||
out_7208997417211176832[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_628377736821947453) {
|
||||
out_628377736821947453[0] = 0;
|
||||
out_628377736821947453[1] = 0;
|
||||
out_628377736821947453[2] = 0;
|
||||
out_628377736821947453[3] = 0;
|
||||
out_628377736821947453[4] = 0;
|
||||
out_628377736821947453[5] = 0;
|
||||
out_628377736821947453[6] = 1;
|
||||
out_628377736821947453[7] = 0;
|
||||
out_628377736821947453[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_3987544096248591949) {
|
||||
out_3987544096248591949[0] = 0;
|
||||
out_3987544096248591949[1] = 0;
|
||||
out_3987544096248591949[2] = 0;
|
||||
out_3987544096248591949[3] = 0;
|
||||
out_3987544096248591949[4] = 0;
|
||||
out_3987544096248591949[5] = 0;
|
||||
out_3987544096248591949[6] = 1;
|
||||
out_3987544096248591949[7] = 0;
|
||||
out_3987544096248591949[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_434665502247836674) {
|
||||
out_434665502247836674[0] = state[4];
|
||||
out_434665502247836674[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_7481715524482624299) {
|
||||
out_7481715524482624299[0] = state[4];
|
||||
out_7481715524482624299[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_2801027335827447019) {
|
||||
out_2801027335827447019[0] = 0;
|
||||
out_2801027335827447019[1] = 0;
|
||||
out_2801027335827447019[2] = 0;
|
||||
out_2801027335827447019[3] = 0;
|
||||
out_2801027335827447019[4] = 1;
|
||||
out_2801027335827447019[5] = 0;
|
||||
out_2801027335827447019[6] = 0;
|
||||
out_2801027335827447019[7] = 0;
|
||||
out_2801027335827447019[8] = 0;
|
||||
out_2801027335827447019[9] = 0;
|
||||
out_2801027335827447019[10] = 0;
|
||||
out_2801027335827447019[11] = 0;
|
||||
out_2801027335827447019[12] = 0;
|
||||
out_2801027335827447019[13] = 0;
|
||||
out_2801027335827447019[14] = 1;
|
||||
out_2801027335827447019[15] = 0;
|
||||
out_2801027335827447019[16] = 0;
|
||||
out_2801027335827447019[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1810329672641441976) {
|
||||
out_1810329672641441976[0] = 0;
|
||||
out_1810329672641441976[1] = 0;
|
||||
out_1810329672641441976[2] = 0;
|
||||
out_1810329672641441976[3] = 0;
|
||||
out_1810329672641441976[4] = 1;
|
||||
out_1810329672641441976[5] = 0;
|
||||
out_1810329672641441976[6] = 0;
|
||||
out_1810329672641441976[7] = 0;
|
||||
out_1810329672641441976[8] = 0;
|
||||
out_1810329672641441976[9] = 0;
|
||||
out_1810329672641441976[10] = 0;
|
||||
out_1810329672641441976[11] = 0;
|
||||
out_1810329672641441976[12] = 0;
|
||||
out_1810329672641441976[13] = 0;
|
||||
out_1810329672641441976[14] = 1;
|
||||
out_1810329672641441976[15] = 0;
|
||||
out_1810329672641441976[16] = 0;
|
||||
out_1810329672641441976[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_4915078315896353947) {
|
||||
out_4915078315896353947[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_438162190860825896) {
|
||||
out_438162190860825896[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_6288312604669669302) {
|
||||
out_6288312604669669302[0] = 0;
|
||||
out_6288312604669669302[1] = 0;
|
||||
out_6288312604669669302[2] = 0;
|
||||
out_6288312604669669302[3] = 0;
|
||||
out_6288312604669669302[4] = 1;
|
||||
out_6288312604669669302[5] = 0;
|
||||
out_6288312604669669302[6] = 0;
|
||||
out_6288312604669669302[7] = 0;
|
||||
out_6288312604669669302[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_1469211137741343322) {
|
||||
out_1469211137741343322[0] = 0;
|
||||
out_1469211137741343322[1] = 0;
|
||||
out_1469211137741343322[2] = 0;
|
||||
out_1469211137741343322[3] = 0;
|
||||
out_1469211137741343322[4] = 1;
|
||||
out_1469211137741343322[5] = 0;
|
||||
out_1469211137741343322[6] = 0;
|
||||
out_1469211137741343322[7] = 0;
|
||||
out_1469211137741343322[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_4943503076008356261) {
|
||||
out_4943503076008356261[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_4563511076800019749) {
|
||||
out_4563511076800019749[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_4369881055696003677) {
|
||||
out_4369881055696003677[0] = 0;
|
||||
out_4369881055696003677[1] = 0;
|
||||
out_4369881055696003677[2] = 0;
|
||||
out_4369881055696003677[3] = 0;
|
||||
out_4369881055696003677[4] = 0;
|
||||
out_4369881055696003677[5] = 0;
|
||||
out_4369881055696003677[6] = 0;
|
||||
out_4369881055696003677[7] = 1;
|
||||
out_4369881055696003677[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_7729047415122648173) {
|
||||
out_7729047415122648173[0] = 0;
|
||||
out_7729047415122648173[1] = 0;
|
||||
out_7729047415122648173[2] = 0;
|
||||
out_7729047415122648173[3] = 0;
|
||||
out_7729047415122648173[4] = 0;
|
||||
out_7729047415122648173[5] = 0;
|
||||
out_7729047415122648173[6] = 0;
|
||||
out_7729047415122648173[7] = 1;
|
||||
out_7729047415122648173[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_1984518818693123820) {
|
||||
out_1984518818693123820[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_6265487564309514397) {
|
||||
out_6265487564309514397[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_2932479995765612434) {
|
||||
out_2932479995765612434[0] = 0;
|
||||
out_2932479995765612434[1] = 0;
|
||||
out_2932479995765612434[2] = 0;
|
||||
out_2932479995765612434[3] = 1;
|
||||
out_2932479995765612434[4] = 0;
|
||||
out_2932479995765612434[5] = 0;
|
||||
out_2932479995765612434[6] = 0;
|
||||
out_2932479995765612434[7] = 0;
|
||||
out_2932479995765612434[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_3643974449541768233) {
|
||||
out_3643974449541768233[0] = 0;
|
||||
out_3643974449541768233[1] = 0;
|
||||
out_3643974449541768233[2] = 0;
|
||||
out_3643974449541768233[3] = 1;
|
||||
out_3643974449541768233[4] = 0;
|
||||
out_3643974449541768233[5] = 0;
|
||||
out_3643974449541768233[6] = 0;
|
||||
out_3643974449541768233[7] = 0;
|
||||
out_3643974449541768233[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_963207171662361141) {
|
||||
out_963207171662361141[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_6316447678419540984) {
|
||||
out_6316447678419540984[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_4645842722635163467) {
|
||||
out_4645842722635163467[0] = 0;
|
||||
out_4645842722635163467[1] = 1;
|
||||
out_4645842722635163467[2] = 0;
|
||||
out_4645842722635163467[3] = 0;
|
||||
out_4645842722635163467[4] = 0;
|
||||
out_4645842722635163467[5] = 0;
|
||||
out_4645842722635163467[6] = 0;
|
||||
out_4645842722635163467[7] = 0;
|
||||
out_4645842722635163467[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_958979793426951138) {
|
||||
out_958979793426951138[0] = 0;
|
||||
out_958979793426951138[1] = 1;
|
||||
out_958979793426951138[2] = 0;
|
||||
out_958979793426951138[3] = 0;
|
||||
out_958979793426951138[4] = 0;
|
||||
out_958979793426951138[5] = 0;
|
||||
out_958979793426951138[6] = 0;
|
||||
out_958979793426951138[7] = 0;
|
||||
out_958979793426951138[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_1002434725357825708) {
|
||||
out_1002434725357825708[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_3384947045134040079) {
|
||||
out_3384947045134040079[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_2682212451069837216) {
|
||||
out_2682212451069837216[0] = 1;
|
||||
out_2682212451069837216[1] = 0;
|
||||
out_2682212451069837216[2] = 0;
|
||||
out_2682212451069837216[3] = 0;
|
||||
out_2682212451069837216[4] = 0;
|
||||
out_2682212451069837216[5] = 0;
|
||||
out_2682212451069837216[6] = 0;
|
||||
out_2682212451069837216[7] = 0;
|
||||
out_2682212451069837216[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6041378810496481712) {
|
||||
out_6041378810496481712[0] = 1;
|
||||
out_6041378810496481712[1] = 0;
|
||||
out_6041378810496481712[2] = 0;
|
||||
out_6041378810496481712[3] = 0;
|
||||
out_6041378810496481712[4] = 0;
|
||||
out_6041378810496481712[5] = 0;
|
||||
out_6041378810496481712[6] = 0;
|
||||
out_6041378810496481712[7] = 0;
|
||||
out_6041378810496481712[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7261386148638475354) {
|
||||
out_7261386148638475354[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_2597869179779832900) {
|
||||
out_2597869179779832900[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_597731774944987025) {
|
||||
out_597731774944987025[0] = 0;
|
||||
out_597731774944987025[1] = 0;
|
||||
out_597731774944987025[2] = 0;
|
||||
out_597731774944987025[3] = 0;
|
||||
out_597731774944987025[4] = 0;
|
||||
out_597731774944987025[5] = 0;
|
||||
out_597731774944987025[6] = 0;
|
||||
out_597731774944987025[7] = 0;
|
||||
out_597731774944987025[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_8355255517355999649) {
|
||||
out_8355255517355999649[0] = 0;
|
||||
out_8355255517355999649[1] = 0;
|
||||
out_8355255517355999649[2] = 0;
|
||||
out_8355255517355999649[3] = 0;
|
||||
out_8355255517355999649[4] = 0;
|
||||
out_8355255517355999649[5] = 0;
|
||||
out_8355255517355999649[6] = 0;
|
||||
out_8355255517355999649[7] = 0;
|
||||
out_8355255517355999649[8] = 1;
|
||||
}
|
||||
#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_5406094264205448922) {
|
||||
err_fun(nom_x, delta_x, out_5406094264205448922);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1976458697034392713) {
|
||||
err_fun(nom_x, delta_x, out_1976458697034392713);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7302786751934147898) {
|
||||
inv_err_fun(nom_x, true_x, out_7302786751934147898);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8774680380747325588) {
|
||||
inv_err_fun(nom_x, true_x, out_8774680380747325588);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_8564810489090289784) {
|
||||
H_mod_fun(state, out_8564810489090289784);
|
||||
void car_H_mod_fun(double *state, double *out_1571472922248018296) {
|
||||
H_mod_fun(state, out_1571472922248018296);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_7344896958720977953) {
|
||||
f_fun(state, dt, out_7344896958720977953);
|
||||
void car_f_fun(double *state, double dt, double *out_3070664500164102760) {
|
||||
f_fun(state, dt, out_3070664500164102760);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_4577316669100378715) {
|
||||
F_fun(state, dt, out_4577316669100378715);
|
||||
void car_F_fun(double *state, double dt, double *out_2365857006052744488) {
|
||||
F_fun(state, dt, out_2365857006052744488);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_6986192086353969465) {
|
||||
h_25(state, unused, out_6986192086353969465);
|
||||
void car_h_25(double *state, double *unused, double *out_7208997417211176832) {
|
||||
h_25(state, unused, out_7208997417211176832);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_628377736821947453) {
|
||||
H_25(state, unused, out_628377736821947453);
|
||||
void car_H_25(double *state, double *unused, double *out_3987544096248591949) {
|
||||
H_25(state, unused, out_3987544096248591949);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_434665502247836674) {
|
||||
h_24(state, unused, out_434665502247836674);
|
||||
void car_h_24(double *state, double *unused, double *out_7481715524482624299) {
|
||||
h_24(state, unused, out_7481715524482624299);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_2801027335827447019) {
|
||||
H_24(state, unused, out_2801027335827447019);
|
||||
void car_H_24(double *state, double *unused, double *out_1810329672641441976) {
|
||||
H_24(state, unused, out_1810329672641441976);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_4915078315896353947) {
|
||||
h_30(state, unused, out_4915078315896353947);
|
||||
void car_h_30(double *state, double *unused, double *out_438162190860825896) {
|
||||
h_30(state, unused, out_438162190860825896);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_6288312604669669302) {
|
||||
H_30(state, unused, out_6288312604669669302);
|
||||
void car_H_30(double *state, double *unused, double *out_1469211137741343322) {
|
||||
H_30(state, unused, out_1469211137741343322);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_4943503076008356261) {
|
||||
h_26(state, unused, out_4943503076008356261);
|
||||
void car_h_26(double *state, double *unused, double *out_4563511076800019749) {
|
||||
h_26(state, unused, out_4563511076800019749);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_4369881055696003677) {
|
||||
H_26(state, unused, out_4369881055696003677);
|
||||
void car_H_26(double *state, double *unused, double *out_7729047415122648173) {
|
||||
H_26(state, unused, out_7729047415122648173);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_1984518818693123820) {
|
||||
h_27(state, unused, out_1984518818693123820);
|
||||
void car_h_27(double *state, double *unused, double *out_6265487564309514397) {
|
||||
h_27(state, unused, out_6265487564309514397);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_2932479995765612434) {
|
||||
H_27(state, unused, out_2932479995765612434);
|
||||
void car_H_27(double *state, double *unused, double *out_3643974449541768233) {
|
||||
H_27(state, unused, out_3643974449541768233);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_963207171662361141) {
|
||||
h_29(state, unused, out_963207171662361141);
|
||||
void car_h_29(double *state, double *unused, double *out_6316447678419540984) {
|
||||
h_29(state, unused, out_6316447678419540984);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_4645842722635163467) {
|
||||
H_29(state, unused, out_4645842722635163467);
|
||||
void car_H_29(double *state, double *unused, double *out_958979793426951138) {
|
||||
H_29(state, unused, out_958979793426951138);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_1002434725357825708) {
|
||||
h_28(state, unused, out_1002434725357825708);
|
||||
void car_h_28(double *state, double *unused, double *out_3384947045134040079) {
|
||||
h_28(state, unused, out_3384947045134040079);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_2682212451069837216) {
|
||||
H_28(state, unused, out_2682212451069837216);
|
||||
void car_H_28(double *state, double *unused, double *out_6041378810496481712) {
|
||||
H_28(state, unused, out_6041378810496481712);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7261386148638475354) {
|
||||
h_31(state, unused, out_7261386148638475354);
|
||||
void car_h_31(double *state, double *unused, double *out_2597869179779832900) {
|
||||
h_31(state, unused, out_2597869179779832900);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_597731774944987025) {
|
||||
H_31(state, unused, out_597731774944987025);
|
||||
void car_H_31(double *state, double *unused, double *out_8355255517355999649) {
|
||||
H_31(state, unused, out_8355255517355999649);
|
||||
}
|
||||
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