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https://github.com/firestar5683/StarPilot.git
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This commit is contained in:
firestar5683
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_2600768462618711997) {
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out_2600768462618711997[0] = delta_x[0] + nom_x[0];
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out_2600768462618711997[1] = delta_x[1] + nom_x[1];
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out_2600768462618711997[2] = delta_x[2] + nom_x[2];
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out_2600768462618711997[3] = delta_x[3] + nom_x[3];
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out_2600768462618711997[4] = delta_x[4] + nom_x[4];
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out_2600768462618711997[5] = delta_x[5] + nom_x[5];
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out_2600768462618711997[6] = delta_x[6] + nom_x[6];
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out_2600768462618711997[7] = delta_x[7] + nom_x[7];
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out_2600768462618711997[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_3645428350016324042) {
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out_3645428350016324042[0] = delta_x[0] + nom_x[0];
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out_3645428350016324042[1] = delta_x[1] + nom_x[1];
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out_3645428350016324042[2] = delta_x[2] + nom_x[2];
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out_3645428350016324042[3] = delta_x[3] + nom_x[3];
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out_3645428350016324042[4] = delta_x[4] + nom_x[4];
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out_3645428350016324042[5] = delta_x[5] + nom_x[5];
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out_3645428350016324042[6] = delta_x[6] + nom_x[6];
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out_3645428350016324042[7] = delta_x[7] + nom_x[7];
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out_3645428350016324042[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_7259494313163356603) {
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out_7259494313163356603[0] = -nom_x[0] + true_x[0];
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out_7259494313163356603[1] = -nom_x[1] + true_x[1];
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out_7259494313163356603[2] = -nom_x[2] + true_x[2];
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out_7259494313163356603[3] = -nom_x[3] + true_x[3];
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out_7259494313163356603[4] = -nom_x[4] + true_x[4];
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out_7259494313163356603[5] = -nom_x[5] + true_x[5];
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out_7259494313163356603[6] = -nom_x[6] + true_x[6];
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out_7259494313163356603[7] = -nom_x[7] + true_x[7];
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out_7259494313163356603[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_6760420506725333180) {
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out_6760420506725333180[0] = -nom_x[0] + true_x[0];
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out_6760420506725333180[1] = -nom_x[1] + true_x[1];
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out_6760420506725333180[2] = -nom_x[2] + true_x[2];
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out_6760420506725333180[3] = -nom_x[3] + true_x[3];
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out_6760420506725333180[4] = -nom_x[4] + true_x[4];
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out_6760420506725333180[5] = -nom_x[5] + true_x[5];
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out_6760420506725333180[6] = -nom_x[6] + true_x[6];
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out_6760420506725333180[7] = -nom_x[7] + true_x[7];
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out_6760420506725333180[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_1493188658696786749) {
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out_1493188658696786749[0] = 1.0;
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out_1493188658696786749[1] = 0.0;
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out_1493188658696786749[2] = 0.0;
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out_1493188658696786749[3] = 0.0;
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out_1493188658696786749[4] = 0.0;
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out_1493188658696786749[5] = 0.0;
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out_1493188658696786749[6] = 0.0;
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out_1493188658696786749[7] = 0.0;
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out_1493188658696786749[8] = 0.0;
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out_1493188658696786749[9] = 0.0;
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out_1493188658696786749[10] = 1.0;
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out_1493188658696786749[11] = 0.0;
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out_1493188658696786749[12] = 0.0;
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out_1493188658696786749[13] = 0.0;
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out_1493188658696786749[14] = 0.0;
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out_1493188658696786749[15] = 0.0;
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out_1493188658696786749[16] = 0.0;
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out_1493188658696786749[17] = 0.0;
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out_1493188658696786749[18] = 0.0;
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out_1493188658696786749[19] = 0.0;
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out_1493188658696786749[20] = 1.0;
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out_1493188658696786749[21] = 0.0;
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out_1493188658696786749[22] = 0.0;
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out_1493188658696786749[23] = 0.0;
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out_1493188658696786749[24] = 0.0;
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out_1493188658696786749[25] = 0.0;
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out_1493188658696786749[26] = 0.0;
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out_1493188658696786749[27] = 0.0;
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out_1493188658696786749[28] = 0.0;
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out_1493188658696786749[29] = 0.0;
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out_1493188658696786749[30] = 1.0;
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out_1493188658696786749[31] = 0.0;
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out_1493188658696786749[32] = 0.0;
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out_1493188658696786749[33] = 0.0;
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out_1493188658696786749[34] = 0.0;
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out_1493188658696786749[35] = 0.0;
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out_1493188658696786749[36] = 0.0;
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out_1493188658696786749[37] = 0.0;
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out_1493188658696786749[38] = 0.0;
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out_1493188658696786749[39] = 0.0;
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out_1493188658696786749[40] = 1.0;
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out_1493188658696786749[41] = 0.0;
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out_1493188658696786749[42] = 0.0;
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out_1493188658696786749[43] = 0.0;
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out_1493188658696786749[44] = 0.0;
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out_1493188658696786749[45] = 0.0;
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out_1493188658696786749[46] = 0.0;
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out_1493188658696786749[47] = 0.0;
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out_1493188658696786749[48] = 0.0;
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out_1493188658696786749[49] = 0.0;
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out_1493188658696786749[50] = 1.0;
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out_1493188658696786749[51] = 0.0;
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out_1493188658696786749[52] = 0.0;
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out_1493188658696786749[53] = 0.0;
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out_1493188658696786749[54] = 0.0;
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out_1493188658696786749[55] = 0.0;
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out_1493188658696786749[56] = 0.0;
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out_1493188658696786749[57] = 0.0;
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out_1493188658696786749[58] = 0.0;
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out_1493188658696786749[59] = 0.0;
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out_1493188658696786749[60] = 1.0;
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out_1493188658696786749[61] = 0.0;
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out_1493188658696786749[62] = 0.0;
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out_1493188658696786749[63] = 0.0;
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out_1493188658696786749[64] = 0.0;
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out_1493188658696786749[65] = 0.0;
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out_1493188658696786749[66] = 0.0;
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out_1493188658696786749[67] = 0.0;
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out_1493188658696786749[68] = 0.0;
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out_1493188658696786749[69] = 0.0;
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out_1493188658696786749[70] = 1.0;
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out_1493188658696786749[71] = 0.0;
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out_1493188658696786749[72] = 0.0;
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out_1493188658696786749[73] = 0.0;
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out_1493188658696786749[74] = 0.0;
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out_1493188658696786749[75] = 0.0;
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out_1493188658696786749[76] = 0.0;
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out_1493188658696786749[77] = 0.0;
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out_1493188658696786749[78] = 0.0;
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out_1493188658696786749[79] = 0.0;
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out_1493188658696786749[80] = 1.0;
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void H_mod_fun(double *state, double *out_2494414039273921066) {
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out_2494414039273921066[0] = 1.0;
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out_2494414039273921066[1] = 0.0;
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out_2494414039273921066[2] = 0.0;
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out_2494414039273921066[3] = 0.0;
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out_2494414039273921066[4] = 0.0;
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out_2494414039273921066[5] = 0.0;
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out_2494414039273921066[6] = 0.0;
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out_2494414039273921066[7] = 0.0;
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out_2494414039273921066[8] = 0.0;
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out_2494414039273921066[9] = 0.0;
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out_2494414039273921066[10] = 1.0;
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out_2494414039273921066[11] = 0.0;
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out_2494414039273921066[12] = 0.0;
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out_2494414039273921066[13] = 0.0;
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out_2494414039273921066[14] = 0.0;
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out_2494414039273921066[15] = 0.0;
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out_2494414039273921066[16] = 0.0;
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out_2494414039273921066[17] = 0.0;
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out_2494414039273921066[18] = 0.0;
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out_2494414039273921066[19] = 0.0;
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out_2494414039273921066[20] = 1.0;
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out_2494414039273921066[21] = 0.0;
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out_2494414039273921066[22] = 0.0;
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out_2494414039273921066[23] = 0.0;
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out_2494414039273921066[24] = 0.0;
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out_2494414039273921066[25] = 0.0;
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out_2494414039273921066[26] = 0.0;
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out_2494414039273921066[27] = 0.0;
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out_2494414039273921066[28] = 0.0;
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out_2494414039273921066[29] = 0.0;
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out_2494414039273921066[30] = 1.0;
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out_2494414039273921066[31] = 0.0;
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out_2494414039273921066[32] = 0.0;
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out_2494414039273921066[33] = 0.0;
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out_2494414039273921066[34] = 0.0;
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out_2494414039273921066[35] = 0.0;
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out_2494414039273921066[36] = 0.0;
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out_2494414039273921066[37] = 0.0;
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out_2494414039273921066[38] = 0.0;
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out_2494414039273921066[39] = 0.0;
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out_2494414039273921066[40] = 1.0;
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out_2494414039273921066[41] = 0.0;
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out_2494414039273921066[42] = 0.0;
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out_2494414039273921066[43] = 0.0;
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out_2494414039273921066[44] = 0.0;
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out_2494414039273921066[45] = 0.0;
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out_2494414039273921066[46] = 0.0;
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out_2494414039273921066[47] = 0.0;
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out_2494414039273921066[48] = 0.0;
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out_2494414039273921066[49] = 0.0;
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out_2494414039273921066[50] = 1.0;
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out_2494414039273921066[51] = 0.0;
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out_2494414039273921066[52] = 0.0;
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out_2494414039273921066[53] = 0.0;
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out_2494414039273921066[54] = 0.0;
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out_2494414039273921066[55] = 0.0;
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out_2494414039273921066[56] = 0.0;
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out_2494414039273921066[57] = 0.0;
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out_2494414039273921066[58] = 0.0;
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out_2494414039273921066[59] = 0.0;
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out_2494414039273921066[60] = 1.0;
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out_2494414039273921066[61] = 0.0;
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out_2494414039273921066[62] = 0.0;
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out_2494414039273921066[63] = 0.0;
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out_2494414039273921066[64] = 0.0;
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out_2494414039273921066[65] = 0.0;
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out_2494414039273921066[66] = 0.0;
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out_2494414039273921066[67] = 0.0;
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out_2494414039273921066[68] = 0.0;
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out_2494414039273921066[69] = 0.0;
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out_2494414039273921066[70] = 1.0;
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out_2494414039273921066[71] = 0.0;
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out_2494414039273921066[72] = 0.0;
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out_2494414039273921066[73] = 0.0;
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out_2494414039273921066[74] = 0.0;
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out_2494414039273921066[75] = 0.0;
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out_2494414039273921066[76] = 0.0;
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out_2494414039273921066[77] = 0.0;
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out_2494414039273921066[78] = 0.0;
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out_2494414039273921066[79] = 0.0;
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out_2494414039273921066[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_5943509684037993570) {
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out_5943509684037993570[0] = state[0];
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out_5943509684037993570[1] = state[1];
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out_5943509684037993570[2] = state[2];
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out_5943509684037993570[3] = state[3];
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out_5943509684037993570[4] = state[4];
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out_5943509684037993570[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_5943509684037993570[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_5943509684037993570[7] = state[7];
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out_5943509684037993570[8] = state[8];
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void f_fun(double *state, double dt, double *out_7248228104803536253) {
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out_7248228104803536253[0] = state[0];
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out_7248228104803536253[1] = state[1];
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out_7248228104803536253[2] = state[2];
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out_7248228104803536253[3] = state[3];
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out_7248228104803536253[4] = state[4];
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out_7248228104803536253[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_7248228104803536253[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_7248228104803536253[7] = state[7];
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out_7248228104803536253[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_6240971521964326149) {
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out_6240971521964326149[0] = 1;
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out_6240971521964326149[1] = 0;
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out_6240971521964326149[2] = 0;
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out_6240971521964326149[3] = 0;
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out_6240971521964326149[4] = 0;
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out_6240971521964326149[5] = 0;
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out_6240971521964326149[6] = 0;
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out_6240971521964326149[7] = 0;
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out_6240971521964326149[8] = 0;
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out_6240971521964326149[9] = 0;
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out_6240971521964326149[10] = 1;
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out_6240971521964326149[11] = 0;
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||||
out_6240971521964326149[12] = 0;
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||||
out_6240971521964326149[13] = 0;
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out_6240971521964326149[14] = 0;
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||||
out_6240971521964326149[15] = 0;
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||||
out_6240971521964326149[16] = 0;
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||||
out_6240971521964326149[17] = 0;
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||||
out_6240971521964326149[18] = 0;
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||||
out_6240971521964326149[19] = 0;
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||||
out_6240971521964326149[20] = 1;
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||||
out_6240971521964326149[21] = 0;
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||||
out_6240971521964326149[22] = 0;
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||||
out_6240971521964326149[23] = 0;
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||||
out_6240971521964326149[24] = 0;
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||||
out_6240971521964326149[25] = 0;
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||||
out_6240971521964326149[26] = 0;
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||||
out_6240971521964326149[27] = 0;
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||||
out_6240971521964326149[28] = 0;
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||||
out_6240971521964326149[29] = 0;
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||||
out_6240971521964326149[30] = 1;
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||||
out_6240971521964326149[31] = 0;
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||||
out_6240971521964326149[32] = 0;
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||||
out_6240971521964326149[33] = 0;
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||||
out_6240971521964326149[34] = 0;
|
||||
out_6240971521964326149[35] = 0;
|
||||
out_6240971521964326149[36] = 0;
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||||
out_6240971521964326149[37] = 0;
|
||||
out_6240971521964326149[38] = 0;
|
||||
out_6240971521964326149[39] = 0;
|
||||
out_6240971521964326149[40] = 1;
|
||||
out_6240971521964326149[41] = 0;
|
||||
out_6240971521964326149[42] = 0;
|
||||
out_6240971521964326149[43] = 0;
|
||||
out_6240971521964326149[44] = 0;
|
||||
out_6240971521964326149[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_6240971521964326149[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6240971521964326149[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6240971521964326149[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6240971521964326149[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_6240971521964326149[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6240971521964326149[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6240971521964326149[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6240971521964326149[53] = -9.8100000000000005*dt;
|
||||
out_6240971521964326149[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_6240971521964326149[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6240971521964326149[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6240971521964326149[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6240971521964326149[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_6240971521964326149[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6240971521964326149[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_6240971521964326149[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6240971521964326149[62] = 0;
|
||||
out_6240971521964326149[63] = 0;
|
||||
out_6240971521964326149[64] = 0;
|
||||
out_6240971521964326149[65] = 0;
|
||||
out_6240971521964326149[66] = 0;
|
||||
out_6240971521964326149[67] = 0;
|
||||
out_6240971521964326149[68] = 0;
|
||||
out_6240971521964326149[69] = 0;
|
||||
out_6240971521964326149[70] = 1;
|
||||
out_6240971521964326149[71] = 0;
|
||||
out_6240971521964326149[72] = 0;
|
||||
out_6240971521964326149[73] = 0;
|
||||
out_6240971521964326149[74] = 0;
|
||||
out_6240971521964326149[75] = 0;
|
||||
out_6240971521964326149[76] = 0;
|
||||
out_6240971521964326149[77] = 0;
|
||||
out_6240971521964326149[78] = 0;
|
||||
out_6240971521964326149[79] = 0;
|
||||
out_6240971521964326149[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_8524982651096840533) {
|
||||
out_8524982651096840533[0] = 1;
|
||||
out_8524982651096840533[1] = 0;
|
||||
out_8524982651096840533[2] = 0;
|
||||
out_8524982651096840533[3] = 0;
|
||||
out_8524982651096840533[4] = 0;
|
||||
out_8524982651096840533[5] = 0;
|
||||
out_8524982651096840533[6] = 0;
|
||||
out_8524982651096840533[7] = 0;
|
||||
out_8524982651096840533[8] = 0;
|
||||
out_8524982651096840533[9] = 0;
|
||||
out_8524982651096840533[10] = 1;
|
||||
out_8524982651096840533[11] = 0;
|
||||
out_8524982651096840533[12] = 0;
|
||||
out_8524982651096840533[13] = 0;
|
||||
out_8524982651096840533[14] = 0;
|
||||
out_8524982651096840533[15] = 0;
|
||||
out_8524982651096840533[16] = 0;
|
||||
out_8524982651096840533[17] = 0;
|
||||
out_8524982651096840533[18] = 0;
|
||||
out_8524982651096840533[19] = 0;
|
||||
out_8524982651096840533[20] = 1;
|
||||
out_8524982651096840533[21] = 0;
|
||||
out_8524982651096840533[22] = 0;
|
||||
out_8524982651096840533[23] = 0;
|
||||
out_8524982651096840533[24] = 0;
|
||||
out_8524982651096840533[25] = 0;
|
||||
out_8524982651096840533[26] = 0;
|
||||
out_8524982651096840533[27] = 0;
|
||||
out_8524982651096840533[28] = 0;
|
||||
out_8524982651096840533[29] = 0;
|
||||
out_8524982651096840533[30] = 1;
|
||||
out_8524982651096840533[31] = 0;
|
||||
out_8524982651096840533[32] = 0;
|
||||
out_8524982651096840533[33] = 0;
|
||||
out_8524982651096840533[34] = 0;
|
||||
out_8524982651096840533[35] = 0;
|
||||
out_8524982651096840533[36] = 0;
|
||||
out_8524982651096840533[37] = 0;
|
||||
out_8524982651096840533[38] = 0;
|
||||
out_8524982651096840533[39] = 0;
|
||||
out_8524982651096840533[40] = 1;
|
||||
out_8524982651096840533[41] = 0;
|
||||
out_8524982651096840533[42] = 0;
|
||||
out_8524982651096840533[43] = 0;
|
||||
out_8524982651096840533[44] = 0;
|
||||
out_8524982651096840533[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_8524982651096840533[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8524982651096840533[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8524982651096840533[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8524982651096840533[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_8524982651096840533[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8524982651096840533[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8524982651096840533[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8524982651096840533[53] = -9.8100000000000005*dt;
|
||||
out_8524982651096840533[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_8524982651096840533[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8524982651096840533[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8524982651096840533[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8524982651096840533[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_8524982651096840533[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8524982651096840533[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_8524982651096840533[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8524982651096840533[62] = 0;
|
||||
out_8524982651096840533[63] = 0;
|
||||
out_8524982651096840533[64] = 0;
|
||||
out_8524982651096840533[65] = 0;
|
||||
out_8524982651096840533[66] = 0;
|
||||
out_8524982651096840533[67] = 0;
|
||||
out_8524982651096840533[68] = 0;
|
||||
out_8524982651096840533[69] = 0;
|
||||
out_8524982651096840533[70] = 1;
|
||||
out_8524982651096840533[71] = 0;
|
||||
out_8524982651096840533[72] = 0;
|
||||
out_8524982651096840533[73] = 0;
|
||||
out_8524982651096840533[74] = 0;
|
||||
out_8524982651096840533[75] = 0;
|
||||
out_8524982651096840533[76] = 0;
|
||||
out_8524982651096840533[77] = 0;
|
||||
out_8524982651096840533[78] = 0;
|
||||
out_8524982651096840533[79] = 0;
|
||||
out_8524982651096840533[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_6066332368842429215) {
|
||||
out_6066332368842429215[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_8901373037917505693) {
|
||||
out_8901373037917505693[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_4603719707909587867) {
|
||||
out_4603719707909587867[0] = 0;
|
||||
out_4603719707909587867[1] = 0;
|
||||
out_4603719707909587867[2] = 0;
|
||||
out_4603719707909587867[3] = 0;
|
||||
out_4603719707909587867[4] = 0;
|
||||
out_4603719707909587867[5] = 0;
|
||||
out_4603719707909587867[6] = 1;
|
||||
out_4603719707909587867[7] = 0;
|
||||
out_4603719707909587867[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_6698774186638316171) {
|
||||
out_6698774186638316171[0] = 0;
|
||||
out_6698774186638316171[1] = 0;
|
||||
out_6698774186638316171[2] = 0;
|
||||
out_6698774186638316171[3] = 0;
|
||||
out_6698774186638316171[4] = 0;
|
||||
out_6698774186638316171[5] = 0;
|
||||
out_6698774186638316171[6] = 1;
|
||||
out_6698774186638316171[7] = 0;
|
||||
out_6698774186638316171[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_3848779066424665825) {
|
||||
out_3848779066424665825[0] = state[4];
|
||||
out_3848779066424665825[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_4440266777255545355) {
|
||||
out_4440266777255545355[0] = state[4];
|
||||
out_4440266777255545355[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_2378011923930719305) {
|
||||
out_2378011923930719305[0] = 0;
|
||||
out_2378011923930719305[1] = 0;
|
||||
out_2378011923930719305[2] = 0;
|
||||
out_2378011923930719305[3] = 0;
|
||||
out_2378011923930719305[4] = 1;
|
||||
out_2378011923930719305[5] = 0;
|
||||
out_2378011923930719305[6] = 0;
|
||||
out_2378011923930719305[7] = 0;
|
||||
out_2378011923930719305[8] = 0;
|
||||
out_2378011923930719305[9] = 0;
|
||||
out_2378011923930719305[10] = 0;
|
||||
out_2378011923930719305[11] = 0;
|
||||
out_2378011923930719305[12] = 0;
|
||||
out_2378011923930719305[13] = 0;
|
||||
out_2378011923930719305[14] = 1;
|
||||
out_2378011923930719305[15] = 0;
|
||||
out_2378011923930719305[16] = 0;
|
||||
out_2378011923930719305[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_2529290999430879054) {
|
||||
out_2529290999430879054[0] = 0;
|
||||
out_2529290999430879054[1] = 0;
|
||||
out_2529290999430879054[2] = 0;
|
||||
out_2529290999430879054[3] = 0;
|
||||
out_2529290999430879054[4] = 1;
|
||||
out_2529290999430879054[5] = 0;
|
||||
out_2529290999430879054[6] = 0;
|
||||
out_2529290999430879054[7] = 0;
|
||||
out_2529290999430879054[8] = 0;
|
||||
out_2529290999430879054[9] = 0;
|
||||
out_2529290999430879054[10] = 0;
|
||||
out_2529290999430879054[11] = 0;
|
||||
out_2529290999430879054[12] = 0;
|
||||
out_2529290999430879054[13] = 0;
|
||||
out_2529290999430879054[14] = 1;
|
||||
out_2529290999430879054[15] = 0;
|
||||
out_2529290999430879054[16] = 0;
|
||||
out_2529290999430879054[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_6341526431126935104) {
|
||||
out_6341526431126935104[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_261495561198963809) {
|
||||
out_261495561198963809[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_2312970633582028888) {
|
||||
out_2312970633582028888[0] = 0;
|
||||
out_2312970633582028888[1] = 0;
|
||||
out_2312970633582028888[2] = 0;
|
||||
out_2312970633582028888[3] = 0;
|
||||
out_2312970633582028888[4] = 1;
|
||||
out_2312970633582028888[5] = 0;
|
||||
out_2312970633582028888[6] = 0;
|
||||
out_2312970633582028888[7] = 0;
|
||||
out_2312970633582028888[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_7220273556943627247) {
|
||||
out_7220273556943627247[0] = 0;
|
||||
out_7220273556943627247[1] = 0;
|
||||
out_7220273556943627247[2] = 0;
|
||||
out_7220273556943627247[3] = 0;
|
||||
out_7220273556943627247[4] = 1;
|
||||
out_7220273556943627247[5] = 0;
|
||||
out_7220273556943627247[6] = 0;
|
||||
out_7220273556943627247[7] = 0;
|
||||
out_7220273556943627247[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_7509270232203076841) {
|
||||
out_7509270232203076841[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_4740177706461881836) {
|
||||
out_4740177706461881836[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_8345223026783644091) {
|
||||
out_8345223026783644091[0] = 0;
|
||||
out_8345223026783644091[1] = 0;
|
||||
out_8345223026783644091[2] = 0;
|
||||
out_8345223026783644091[3] = 0;
|
||||
out_8345223026783644091[4] = 0;
|
||||
out_8345223026783644091[5] = 0;
|
||||
out_8345223026783644091[6] = 0;
|
||||
out_8345223026783644091[7] = 1;
|
||||
out_8345223026783644091[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_8006466568197179221) {
|
||||
out_8006466568197179221[0] = 0;
|
||||
out_8006466568197179221[1] = 0;
|
||||
out_8006466568197179221[2] = 0;
|
||||
out_8006466568197179221[3] = 0;
|
||||
out_8006466568197179221[4] = 0;
|
||||
out_8006466568197179221[5] = 0;
|
||||
out_8006466568197179221[6] = 0;
|
||||
out_8006466568197179221[7] = 1;
|
||||
out_8006466568197179221[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_4731066531555788059) {
|
||||
out_4731066531555788059[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_6088820934647652310) {
|
||||
out_6088820934647652310[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_138207321781603977) {
|
||||
out_138207321781603977[0] = 0;
|
||||
out_138207321781603977[1] = 0;
|
||||
out_138207321781603977[2] = 0;
|
||||
out_138207321781603977[3] = 1;
|
||||
out_138207321781603977[4] = 0;
|
||||
out_138207321781603977[5] = 0;
|
||||
out_138207321781603977[6] = 0;
|
||||
out_138207321781603977[7] = 0;
|
||||
out_138207321781603977[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_9002876445581981152) {
|
||||
out_9002876445581981152[0] = 0;
|
||||
out_9002876445581981152[1] = 0;
|
||||
out_9002876445581981152[2] = 0;
|
||||
out_9002876445581981152[3] = 1;
|
||||
out_9002876445581981152[4] = 0;
|
||||
out_9002876445581981152[5] = 0;
|
||||
out_9002876445581981152[6] = 0;
|
||||
out_9002876445581981152[7] = 0;
|
||||
out_9002876445581981152[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_869383055127286407) {
|
||||
out_869383055127286407[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_906248239877177928) {
|
||||
out_906248239877177928[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_2823201977896421072) {
|
||||
out_2823201977896421072[0] = 0;
|
||||
out_2823201977896421072[1] = 1;
|
||||
out_2823201977896421072[2] = 0;
|
||||
out_2823201977896421072[3] = 0;
|
||||
out_2823201977896421072[4] = 0;
|
||||
out_2823201977896421072[5] = 0;
|
||||
out_2823201977896421072[6] = 0;
|
||||
out_2823201977896421072[7] = 0;
|
||||
out_2823201977896421072[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_7730504901258019431) {
|
||||
out_7730504901258019431[0] = 0;
|
||||
out_7730504901258019431[1] = 1;
|
||||
out_7730504901258019431[2] = 0;
|
||||
out_7730504901258019431[3] = 0;
|
||||
out_7730504901258019431[4] = 0;
|
||||
out_7730504901258019431[5] = 0;
|
||||
out_7730504901258019431[6] = 0;
|
||||
out_7730504901258019431[7] = 0;
|
||||
out_7730504901258019431[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2023156983307100891) {
|
||||
out_2023156983307100891[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_3561613674795902166) {
|
||||
out_3561613674795902166[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_2259197039173109502) {
|
||||
out_2259197039173109502[0] = 1;
|
||||
out_2259197039173109502[1] = 0;
|
||||
out_2259197039173109502[2] = 0;
|
||||
out_2259197039173109502[3] = 0;
|
||||
out_2259197039173109502[4] = 0;
|
||||
out_2259197039173109502[5] = 0;
|
||||
out_2259197039173109502[6] = 0;
|
||||
out_2259197039173109502[7] = 0;
|
||||
out_2259197039173109502[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_2648105884188488857) {
|
||||
out_2648105884188488857[0] = 1;
|
||||
out_2648105884188488857[1] = 0;
|
||||
out_2648105884188488857[2] = 0;
|
||||
out_2648105884188488857[3] = 0;
|
||||
out_2648105884188488857[4] = 0;
|
||||
out_2648105884188488857[5] = 0;
|
||||
out_2648105884188488857[6] = 0;
|
||||
out_2648105884188488857[7] = 0;
|
||||
out_2648105884188488857[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_2428882840588406865) {
|
||||
out_2428882840588406865[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_8626178975632999804) {
|
||||
out_8626178975632999804[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_4573073746032627439) {
|
||||
out_4573073746032627439[0] = 0;
|
||||
out_4573073746032627439[1] = 0;
|
||||
out_4573073746032627439[2] = 0;
|
||||
out_4573073746032627439[3] = 0;
|
||||
out_4573073746032627439[4] = 0;
|
||||
out_4573073746032627439[5] = 0;
|
||||
out_4573073746032627439[6] = 0;
|
||||
out_4573073746032627439[7] = 0;
|
||||
out_4573073746032627439[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6668128224761355743) {
|
||||
out_6668128224761355743[0] = 0;
|
||||
out_6668128224761355743[1] = 0;
|
||||
out_6668128224761355743[2] = 0;
|
||||
out_6668128224761355743[3] = 0;
|
||||
out_6668128224761355743[4] = 0;
|
||||
out_6668128224761355743[5] = 0;
|
||||
out_6668128224761355743[6] = 0;
|
||||
out_6668128224761355743[7] = 0;
|
||||
out_6668128224761355743[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_2600768462618711997) {
|
||||
err_fun(nom_x, delta_x, out_2600768462618711997);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3645428350016324042) {
|
||||
err_fun(nom_x, delta_x, out_3645428350016324042);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7259494313163356603) {
|
||||
inv_err_fun(nom_x, true_x, out_7259494313163356603);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6760420506725333180) {
|
||||
inv_err_fun(nom_x, true_x, out_6760420506725333180);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_1493188658696786749) {
|
||||
H_mod_fun(state, out_1493188658696786749);
|
||||
void car_H_mod_fun(double *state, double *out_2494414039273921066) {
|
||||
H_mod_fun(state, out_2494414039273921066);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_5943509684037993570) {
|
||||
f_fun(state, dt, out_5943509684037993570);
|
||||
void car_f_fun(double *state, double dt, double *out_7248228104803536253) {
|
||||
f_fun(state, dt, out_7248228104803536253);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6240971521964326149) {
|
||||
F_fun(state, dt, out_6240971521964326149);
|
||||
void car_F_fun(double *state, double dt, double *out_8524982651096840533) {
|
||||
F_fun(state, dt, out_8524982651096840533);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_6066332368842429215) {
|
||||
h_25(state, unused, out_6066332368842429215);
|
||||
void car_h_25(double *state, double *unused, double *out_8901373037917505693) {
|
||||
h_25(state, unused, out_8901373037917505693);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_4603719707909587867) {
|
||||
H_25(state, unused, out_4603719707909587867);
|
||||
void car_H_25(double *state, double *unused, double *out_6698774186638316171) {
|
||||
H_25(state, unused, out_6698774186638316171);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_3848779066424665825) {
|
||||
h_24(state, unused, out_3848779066424665825);
|
||||
void car_h_24(double *state, double *unused, double *out_4440266777255545355) {
|
||||
h_24(state, unused, out_4440266777255545355);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_2378011923930719305) {
|
||||
H_24(state, unused, out_2378011923930719305);
|
||||
void car_H_24(double *state, double *unused, double *out_2529290999430879054) {
|
||||
H_24(state, unused, out_2529290999430879054);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_6341526431126935104) {
|
||||
h_30(state, unused, out_6341526431126935104);
|
||||
void car_h_30(double *state, double *unused, double *out_261495561198963809) {
|
||||
h_30(state, unused, out_261495561198963809);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_2312970633582028888) {
|
||||
H_30(state, unused, out_2312970633582028888);
|
||||
void car_H_30(double *state, double *unused, double *out_7220273556943627247) {
|
||||
H_30(state, unused, out_7220273556943627247);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_7509270232203076841) {
|
||||
h_26(state, unused, out_7509270232203076841);
|
||||
void car_h_26(double *state, double *unused, double *out_4740177706461881836) {
|
||||
h_26(state, unused, out_4740177706461881836);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_8345223026783644091) {
|
||||
H_26(state, unused, out_8345223026783644091);
|
||||
void car_H_26(double *state, double *unused, double *out_8006466568197179221) {
|
||||
H_26(state, unused, out_8006466568197179221);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_4731066531555788059) {
|
||||
h_27(state, unused, out_4731066531555788059);
|
||||
void car_h_27(double *state, double *unused, double *out_6088820934647652310) {
|
||||
h_27(state, unused, out_6088820934647652310);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_138207321781603977) {
|
||||
H_27(state, unused, out_138207321781603977);
|
||||
void car_H_27(double *state, double *unused, double *out_9002876445581981152) {
|
||||
H_27(state, unused, out_9002876445581981152);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_869383055127286407) {
|
||||
h_29(state, unused, out_869383055127286407);
|
||||
void car_h_29(double *state, double *unused, double *out_906248239877177928) {
|
||||
h_29(state, unused, out_906248239877177928);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_2823201977896421072) {
|
||||
H_29(state, unused, out_2823201977896421072);
|
||||
void car_H_29(double *state, double *unused, double *out_7730504901258019431) {
|
||||
H_29(state, unused, out_7730504901258019431);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2023156983307100891) {
|
||||
h_28(state, unused, out_2023156983307100891);
|
||||
void car_h_28(double *state, double *unused, double *out_3561613674795902166) {
|
||||
h_28(state, unused, out_3561613674795902166);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_2259197039173109502) {
|
||||
H_28(state, unused, out_2259197039173109502);
|
||||
void car_H_28(double *state, double *unused, double *out_2648105884188488857) {
|
||||
H_28(state, unused, out_2648105884188488857);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_2428882840588406865) {
|
||||
h_31(state, unused, out_2428882840588406865);
|
||||
void car_h_31(double *state, double *unused, double *out_8626178975632999804) {
|
||||
h_31(state, unused, out_8626178975632999804);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_4573073746032627439) {
|
||||
H_31(state, unused, out_4573073746032627439);
|
||||
void car_H_31(double *state, double *unused, double *out_6668128224761355743) {
|
||||
H_31(state, unused, out_6668128224761355743);
|
||||
}
|
||||
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