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@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; |
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* * |
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* * |
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* This file is part of 'ekf' * |
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* This file is part of 'ekf' * |
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******************************************************************************/ |
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******************************************************************************/ |
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void err_fun(double *nom_x, double *delta_x, double *out_3675669119552892075) { |
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void err_fun(double *nom_x, double *delta_x, double *out_7345504276725310336) { |
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out_3675669119552892075[0] = delta_x[0] + nom_x[0]; |
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out_7345504276725310336[0] = delta_x[0] + nom_x[0]; |
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out_3675669119552892075[1] = delta_x[1] + nom_x[1]; |
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out_7345504276725310336[1] = delta_x[1] + nom_x[1]; |
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out_3675669119552892075[2] = delta_x[2] + nom_x[2]; |
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out_7345504276725310336[2] = delta_x[2] + nom_x[2]; |
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out_3675669119552892075[3] = delta_x[3] + nom_x[3]; |
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out_7345504276725310336[3] = delta_x[3] + nom_x[3]; |
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out_3675669119552892075[4] = delta_x[4] + nom_x[4]; |
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out_7345504276725310336[4] = delta_x[4] + nom_x[4]; |
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out_3675669119552892075[5] = delta_x[5] + nom_x[5]; |
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out_7345504276725310336[5] = delta_x[5] + nom_x[5]; |
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out_3675669119552892075[6] = delta_x[6] + nom_x[6]; |
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out_7345504276725310336[6] = delta_x[6] + nom_x[6]; |
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out_3675669119552892075[7] = delta_x[7] + nom_x[7]; |
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out_7345504276725310336[7] = delta_x[7] + nom_x[7]; |
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out_3675669119552892075[8] = delta_x[8] + nom_x[8]; |
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out_7345504276725310336[8] = delta_x[8] + nom_x[8]; |
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} |
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} |
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void inv_err_fun(double *nom_x, double *true_x, double *out_1525509250774896015) { |
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void inv_err_fun(double *nom_x, double *true_x, double *out_1483419534327179826) { |
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out_1525509250774896015[0] = -nom_x[0] + true_x[0]; |
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out_1483419534327179826[0] = -nom_x[0] + true_x[0]; |
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out_1525509250774896015[1] = -nom_x[1] + true_x[1]; |
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out_1483419534327179826[1] = -nom_x[1] + true_x[1]; |
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out_1525509250774896015[2] = -nom_x[2] + true_x[2]; |
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out_1483419534327179826[2] = -nom_x[2] + true_x[2]; |
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out_1525509250774896015[3] = -nom_x[3] + true_x[3]; |
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out_1483419534327179826[3] = -nom_x[3] + true_x[3]; |
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out_1525509250774896015[4] = -nom_x[4] + true_x[4]; |
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out_1483419534327179826[4] = -nom_x[4] + true_x[4]; |
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out_1525509250774896015[5] = -nom_x[5] + true_x[5]; |
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out_1483419534327179826[5] = -nom_x[5] + true_x[5]; |
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out_1525509250774896015[6] = -nom_x[6] + true_x[6]; |
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out_1483419534327179826[6] = -nom_x[6] + true_x[6]; |
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out_1525509250774896015[7] = -nom_x[7] + true_x[7]; |
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out_1483419534327179826[7] = -nom_x[7] + true_x[7]; |
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out_1525509250774896015[8] = -nom_x[8] + true_x[8]; |
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out_1483419534327179826[8] = -nom_x[8] + true_x[8]; |
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} |
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} |
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void H_mod_fun(double *state, double *out_8908179234073782012) { |
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void H_mod_fun(double *state, double *out_5980828091480380917) { |
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out_8908179234073782012[0] = 1.0; |
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out_5980828091480380917[0] = 1.0; |
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out_8908179234073782012[1] = 0.0; |
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out_5980828091480380917[1] = 0.0; |
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out_8908179234073782012[2] = 0.0; |
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out_5980828091480380917[2] = 0.0; |
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out_8908179234073782012[3] = 0.0; |
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out_5980828091480380917[3] = 0.0; |
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out_8908179234073782012[4] = 0.0; |
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out_5980828091480380917[4] = 0.0; |
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out_8908179234073782012[5] = 0.0; |
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out_5980828091480380917[5] = 0.0; |
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out_8908179234073782012[6] = 0.0; |
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out_5980828091480380917[6] = 0.0; |
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out_8908179234073782012[7] = 0.0; |
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out_5980828091480380917[7] = 0.0; |
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out_8908179234073782012[8] = 0.0; |
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out_5980828091480380917[8] = 0.0; |
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out_8908179234073782012[9] = 0.0; |
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out_5980828091480380917[9] = 0.0; |
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out_8908179234073782012[10] = 1.0; |
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out_5980828091480380917[10] = 1.0; |
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out_8908179234073782012[11] = 0.0; |
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out_5980828091480380917[11] = 0.0; |
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out_8908179234073782012[12] = 0.0; |
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out_5980828091480380917[12] = 0.0; |
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out_8908179234073782012[13] = 0.0; |
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out_5980828091480380917[13] = 0.0; |
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out_8908179234073782012[14] = 0.0; |
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out_5980828091480380917[14] = 0.0; |
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out_8908179234073782012[15] = 0.0; |
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out_5980828091480380917[15] = 0.0; |
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out_8908179234073782012[16] = 0.0; |
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out_5980828091480380917[16] = 0.0; |
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out_8908179234073782012[17] = 0.0; |
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out_5980828091480380917[17] = 0.0; |
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out_8908179234073782012[18] = 0.0; |
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out_5980828091480380917[18] = 0.0; |
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out_8908179234073782012[19] = 0.0; |
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out_5980828091480380917[19] = 0.0; |
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out_8908179234073782012[20] = 1.0; |
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out_5980828091480380917[20] = 1.0; |
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out_8908179234073782012[21] = 0.0; |
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out_5980828091480380917[21] = 0.0; |
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out_8908179234073782012[22] = 0.0; |
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out_5980828091480380917[22] = 0.0; |
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out_8908179234073782012[23] = 0.0; |
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out_5980828091480380917[23] = 0.0; |
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out_8908179234073782012[24] = 0.0; |
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out_5980828091480380917[24] = 0.0; |
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out_8908179234073782012[25] = 0.0; |
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out_5980828091480380917[25] = 0.0; |
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out_8908179234073782012[26] = 0.0; |
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out_5980828091480380917[26] = 0.0; |
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out_8908179234073782012[27] = 0.0; |
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out_5980828091480380917[27] = 0.0; |
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out_8908179234073782012[28] = 0.0; |
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out_5980828091480380917[28] = 0.0; |
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out_8908179234073782012[29] = 0.0; |
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out_5980828091480380917[29] = 0.0; |
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out_8908179234073782012[30] = 1.0; |
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out_5980828091480380917[30] = 1.0; |
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out_8908179234073782012[31] = 0.0; |
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out_5980828091480380917[31] = 0.0; |
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out_8908179234073782012[32] = 0.0; |
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out_5980828091480380917[32] = 0.0; |
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out_8908179234073782012[33] = 0.0; |
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out_5980828091480380917[33] = 0.0; |
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out_8908179234073782012[34] = 0.0; |
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out_5980828091480380917[34] = 0.0; |
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out_8908179234073782012[35] = 0.0; |
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out_5980828091480380917[35] = 0.0; |
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out_8908179234073782012[36] = 0.0; |
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out_5980828091480380917[36] = 0.0; |
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out_8908179234073782012[37] = 0.0; |
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out_5980828091480380917[37] = 0.0; |
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out_8908179234073782012[38] = 0.0; |
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out_5980828091480380917[38] = 0.0; |
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out_8908179234073782012[39] = 0.0; |
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out_5980828091480380917[39] = 0.0; |
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out_8908179234073782012[40] = 1.0; |
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out_5980828091480380917[40] = 1.0; |
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out_8908179234073782012[41] = 0.0; |
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out_5980828091480380917[41] = 0.0; |
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out_8908179234073782012[42] = 0.0; |
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out_5980828091480380917[42] = 0.0; |
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out_8908179234073782012[43] = 0.0; |
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out_5980828091480380917[43] = 0.0; |
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out_8908179234073782012[44] = 0.0; |
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out_5980828091480380917[44] = 0.0; |
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out_8908179234073782012[45] = 0.0; |
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out_5980828091480380917[45] = 0.0; |
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out_8908179234073782012[46] = 0.0; |
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out_5980828091480380917[46] = 0.0; |
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out_8908179234073782012[47] = 0.0; |
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out_5980828091480380917[47] = 0.0; |
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out_8908179234073782012[48] = 0.0; |
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out_5980828091480380917[48] = 0.0; |
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out_8908179234073782012[49] = 0.0; |
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out_5980828091480380917[49] = 0.0; |
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out_8908179234073782012[50] = 1.0; |
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out_5980828091480380917[50] = 1.0; |
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out_8908179234073782012[51] = 0.0; |
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out_5980828091480380917[51] = 0.0; |
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out_8908179234073782012[52] = 0.0; |
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out_5980828091480380917[52] = 0.0; |
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out_8908179234073782012[53] = 0.0; |
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out_5980828091480380917[53] = 0.0; |
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out_8908179234073782012[54] = 0.0; |
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out_5980828091480380917[54] = 0.0; |
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out_8908179234073782012[55] = 0.0; |
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out_5980828091480380917[55] = 0.0; |
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out_8908179234073782012[56] = 0.0; |
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out_5980828091480380917[56] = 0.0; |
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out_8908179234073782012[57] = 0.0; |
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out_5980828091480380917[57] = 0.0; |
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out_8908179234073782012[58] = 0.0; |
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out_5980828091480380917[58] = 0.0; |
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out_8908179234073782012[59] = 0.0; |
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out_5980828091480380917[59] = 0.0; |
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out_8908179234073782012[60] = 1.0; |
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out_5980828091480380917[60] = 1.0; |
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out_8908179234073782012[61] = 0.0; |
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out_5980828091480380917[61] = 0.0; |
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out_8908179234073782012[62] = 0.0; |
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out_5980828091480380917[62] = 0.0; |
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out_8908179234073782012[63] = 0.0; |
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out_5980828091480380917[63] = 0.0; |
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out_8908179234073782012[64] = 0.0; |
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out_5980828091480380917[64] = 0.0; |
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out_8908179234073782012[65] = 0.0; |
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out_5980828091480380917[65] = 0.0; |
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out_8908179234073782012[66] = 0.0; |
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out_5980828091480380917[66] = 0.0; |
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out_8908179234073782012[67] = 0.0; |
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out_5980828091480380917[67] = 0.0; |
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out_8908179234073782012[68] = 0.0; |
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out_5980828091480380917[68] = 0.0; |
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out_8908179234073782012[69] = 0.0; |
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out_5980828091480380917[69] = 0.0; |
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out_8908179234073782012[70] = 1.0; |
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out_5980828091480380917[70] = 1.0; |
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out_8908179234073782012[71] = 0.0; |
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out_5980828091480380917[71] = 0.0; |
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out_8908179234073782012[72] = 0.0; |
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out_5980828091480380917[72] = 0.0; |
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out_8908179234073782012[73] = 0.0; |
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out_5980828091480380917[73] = 0.0; |
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out_8908179234073782012[74] = 0.0; |
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out_5980828091480380917[74] = 0.0; |
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out_8908179234073782012[75] = 0.0; |
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out_5980828091480380917[75] = 0.0; |
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out_8908179234073782012[76] = 0.0; |
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out_5980828091480380917[76] = 0.0; |
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out_8908179234073782012[77] = 0.0; |
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out_5980828091480380917[77] = 0.0; |
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out_8908179234073782012[78] = 0.0; |
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out_5980828091480380917[78] = 0.0; |
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out_8908179234073782012[79] = 0.0; |
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out_5980828091480380917[79] = 0.0; |
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out_8908179234073782012[80] = 1.0; |
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out_5980828091480380917[80] = 1.0; |
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} |
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} |
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void f_fun(double *state, double dt, double *out_2817676241617045765) { |
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void f_fun(double *state, double dt, double *out_6771744444959754452) { |
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out_2817676241617045765[0] = state[0]; |
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out_6771744444959754452[0] = state[0]; |
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out_2817676241617045765[1] = state[1]; |
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out_6771744444959754452[1] = state[1]; |
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out_2817676241617045765[2] = state[2]; |
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out_6771744444959754452[2] = state[2]; |
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out_2817676241617045765[3] = state[3]; |
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out_6771744444959754452[3] = state[3]; |
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out_2817676241617045765[4] = state[4]; |
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out_6771744444959754452[4] = state[4]; |
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out_2817676241617045765[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*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_6771744444959754452[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*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_2817676241617045765[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_6771744444959754452[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_2817676241617045765[7] = state[7]; |
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out_6771744444959754452[7] = state[7]; |
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out_2817676241617045765[8] = state[8]; |
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out_6771744444959754452[8] = state[8]; |
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} |
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} |
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void F_fun(double *state, double dt, double *out_587119351607645481) { |
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void F_fun(double *state, double dt, double *out_8079006821062657786) { |
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out_587119351607645481[0] = 1; |
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out_8079006821062657786[0] = 1; |
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out_587119351607645481[1] = 0; |
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out_8079006821062657786[1] = 0; |
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out_587119351607645481[2] = 0; |
|
|
|
out_8079006821062657786[2] = 0; |
|
|
|
out_587119351607645481[3] = 0; |
|
|
|
out_8079006821062657786[3] = 0; |
|
|
|
out_587119351607645481[4] = 0; |
|
|
|
out_8079006821062657786[4] = 0; |
|
|
|
out_587119351607645481[5] = 0; |
|
|
|
out_8079006821062657786[5] = 0; |
|
|
|
out_587119351607645481[6] = 0; |
|
|
|
out_8079006821062657786[6] = 0; |
|
|
|
out_587119351607645481[7] = 0; |
|
|
|
out_8079006821062657786[7] = 0; |
|
|
|
out_587119351607645481[8] = 0; |
|
|
|
out_8079006821062657786[8] = 0; |
|
|
|
out_587119351607645481[9] = 0; |
|
|
|
out_8079006821062657786[9] = 0; |
|
|
|
out_587119351607645481[10] = 1; |
|
|
|
out_8079006821062657786[10] = 1; |
|
|
|
out_587119351607645481[11] = 0; |
|
|
|
out_8079006821062657786[11] = 0; |
|
|
|
out_587119351607645481[12] = 0; |
|
|
|
out_8079006821062657786[12] = 0; |
|
|
|
out_587119351607645481[13] = 0; |
|
|
|
out_8079006821062657786[13] = 0; |
|
|
|
out_587119351607645481[14] = 0; |
|
|
|
out_8079006821062657786[14] = 0; |
|
|
|
out_587119351607645481[15] = 0; |
|
|
|
out_8079006821062657786[15] = 0; |
|
|
|
out_587119351607645481[16] = 0; |
|
|
|
out_8079006821062657786[16] = 0; |
|
|
|
out_587119351607645481[17] = 0; |
|
|
|
out_8079006821062657786[17] = 0; |
|
|
|
out_587119351607645481[18] = 0; |
|
|
|
out_8079006821062657786[18] = 0; |
|
|
|
out_587119351607645481[19] = 0; |
|
|
|
out_8079006821062657786[19] = 0; |
|
|
|
out_587119351607645481[20] = 1; |
|
|
|
out_8079006821062657786[20] = 1; |
|
|
|
out_587119351607645481[21] = 0; |
|
|
|
out_8079006821062657786[21] = 0; |
|
|
|
out_587119351607645481[22] = 0; |
|
|
|
out_8079006821062657786[22] = 0; |
|
|
|
out_587119351607645481[23] = 0; |
|
|
|
out_8079006821062657786[23] = 0; |
|
|
|
out_587119351607645481[24] = 0; |
|
|
|
out_8079006821062657786[24] = 0; |
|
|
|
out_587119351607645481[25] = 0; |
|
|
|
out_8079006821062657786[25] = 0; |
|
|
|
out_587119351607645481[26] = 0; |
|
|
|
out_8079006821062657786[26] = 0; |
|
|
|
out_587119351607645481[27] = 0; |
|
|
|
out_8079006821062657786[27] = 0; |
|
|
|
out_587119351607645481[28] = 0; |
|
|
|
out_8079006821062657786[28] = 0; |
|
|
|
out_587119351607645481[29] = 0; |
|
|
|
out_8079006821062657786[29] = 0; |
|
|
|
out_587119351607645481[30] = 1; |
|
|
|
out_8079006821062657786[30] = 1; |
|
|
|
out_587119351607645481[31] = 0; |
|
|
|
out_8079006821062657786[31] = 0; |
|
|
|
out_587119351607645481[32] = 0; |
|
|
|
out_8079006821062657786[32] = 0; |
|
|
|
out_587119351607645481[33] = 0; |
|
|
|
out_8079006821062657786[33] = 0; |
|
|
|
out_587119351607645481[34] = 0; |
|
|
|
out_8079006821062657786[34] = 0; |
|
|
|
out_587119351607645481[35] = 0; |
|
|
|
out_8079006821062657786[35] = 0; |
|
|
|
out_587119351607645481[36] = 0; |
|
|
|
out_8079006821062657786[36] = 0; |
|
|
|
out_587119351607645481[37] = 0; |
|
|
|
out_8079006821062657786[37] = 0; |
|
|
|
out_587119351607645481[38] = 0; |
|
|
|
out_8079006821062657786[38] = 0; |
|
|
|
out_587119351607645481[39] = 0; |
|
|
|
out_8079006821062657786[39] = 0; |
|
|
|
out_587119351607645481[40] = 1; |
|
|
|
out_8079006821062657786[40] = 1; |
|
|
|
out_587119351607645481[41] = 0; |
|
|
|
out_8079006821062657786[41] = 0; |
|
|
|
out_587119351607645481[42] = 0; |
|
|
|
out_8079006821062657786[42] = 0; |
|
|
|
out_587119351607645481[43] = 0; |
|
|
|
out_8079006821062657786[43] = 0; |
|
|
|
out_587119351607645481[44] = 0; |
|
|
|
out_8079006821062657786[44] = 0; |
|
|
|
out_587119351607645481[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_8079006821062657786[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_587119351607645481[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); |
|
|
|
out_8079006821062657786[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); |
|
|
|
out_587119351607645481[47] = -dt*stiffness_front*state[0]/(mass*state[1]); |
|
|
|
out_8079006821062657786[47] = -dt*stiffness_front*state[0]/(mass*state[1]); |
|
|
|
out_587119351607645481[48] = -dt*stiffness_front*state[0]/(mass*state[1]); |
|
|
|
out_8079006821062657786[48] = -dt*stiffness_front*state[0]/(mass*state[1]); |
|
|
|
out_587119351607645481[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_8079006821062657786[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_587119351607645481[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; |
|
|
|
out_8079006821062657786[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; |
|
|
|
out_587119351607645481[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); |
|
|
|
out_8079006821062657786[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); |
|
|
|
out_587119351607645481[52] = dt*stiffness_front*state[0]/(mass*state[1]); |
|
|
|
out_8079006821062657786[52] = dt*stiffness_front*state[0]/(mass*state[1]); |
|
|
|
out_587119351607645481[53] = -9.8000000000000007*dt; |
|
|
|
out_8079006821062657786[53] = -9.8000000000000007*dt; |
|
|
|
out_587119351607645481[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_8079006821062657786[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_587119351607645481[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); |
|
|
|
out_8079006821062657786[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); |
|
|
|
out_587119351607645481[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); |
|
|
|
out_8079006821062657786[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); |
|
|
|
out_587119351607645481[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); |
|
|
|
out_8079006821062657786[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); |
|
|
|
out_587119351607645481[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_8079006821062657786[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_587119351607645481[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); |
|
|
|
out_8079006821062657786[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); |
|
|
|
out_587119351607645481[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_8079006821062657786[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_587119351607645481[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); |
|
|
|
out_8079006821062657786[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); |
|
|
|
out_587119351607645481[62] = 0; |
|
|
|
out_8079006821062657786[62] = 0; |
|
|
|
out_587119351607645481[63] = 0; |
|
|
|
out_8079006821062657786[63] = 0; |
|
|
|
out_587119351607645481[64] = 0; |
|
|
|
out_8079006821062657786[64] = 0; |
|
|
|
out_587119351607645481[65] = 0; |
|
|
|
out_8079006821062657786[65] = 0; |
|
|
|
out_587119351607645481[66] = 0; |
|
|
|
out_8079006821062657786[66] = 0; |
|
|
|
out_587119351607645481[67] = 0; |
|
|
|
out_8079006821062657786[67] = 0; |
|
|
|
out_587119351607645481[68] = 0; |
|
|
|
out_8079006821062657786[68] = 0; |
|
|
|
out_587119351607645481[69] = 0; |
|
|
|
out_8079006821062657786[69] = 0; |
|
|
|
out_587119351607645481[70] = 1; |
|
|
|
out_8079006821062657786[70] = 1; |
|
|
|
out_587119351607645481[71] = 0; |
|
|
|
out_8079006821062657786[71] = 0; |
|
|
|
out_587119351607645481[72] = 0; |
|
|
|
out_8079006821062657786[72] = 0; |
|
|
|
out_587119351607645481[73] = 0; |
|
|
|
out_8079006821062657786[73] = 0; |
|
|
|
out_587119351607645481[74] = 0; |
|
|
|
out_8079006821062657786[74] = 0; |
|
|
|
out_587119351607645481[75] = 0; |
|
|
|
out_8079006821062657786[75] = 0; |
|
|
|
out_587119351607645481[76] = 0; |
|
|
|
out_8079006821062657786[76] = 0; |
|
|
|
out_587119351607645481[77] = 0; |
|
|
|
out_8079006821062657786[77] = 0; |
|
|
|
out_587119351607645481[78] = 0; |
|
|
|
out_8079006821062657786[78] = 0; |
|
|
|
out_587119351607645481[79] = 0; |
|
|
|
out_8079006821062657786[79] = 0; |
|
|
|
out_587119351607645481[80] = 1; |
|
|
|
out_8079006821062657786[80] = 1; |
|
|
|
} |
|
|
|
} |
|
|
|
void h_25(double *state, double *unused, double *out_2948496957738460434) { |
|
|
|
void h_25(double *state, double *unused, double *out_6013514099318955817) { |
|
|
|
out_2948496957738460434[0] = state[6]; |
|
|
|
out_6013514099318955817[0] = state[6]; |
|
|
|
} |
|
|
|
} |
|
|
|
void H_25(double *state, double *unused, double *out_345376613723532367) { |
|
|
|
void H_25(double *state, double *unused, double *out_8892173204326502465) { |
|
|
|
out_345376613723532367[0] = 0; |
|
|
|
out_8892173204326502465[0] = 0; |
|
|
|
out_345376613723532367[1] = 0; |
|
|
|
out_8892173204326502465[1] = 0; |
|
|
|
out_345376613723532367[2] = 0; |
|
|
|
out_8892173204326502465[2] = 0; |
|
|
|
out_345376613723532367[3] = 0; |
|
|
|
out_8892173204326502465[3] = 0; |
|
|
|
out_345376613723532367[4] = 0; |
|
|
|
out_8892173204326502465[4] = 0; |
|
|
|
out_345376613723532367[5] = 0; |
|
|
|
out_8892173204326502465[5] = 0; |
|
|
|
out_345376613723532367[6] = 1; |
|
|
|
out_8892173204326502465[6] = 1; |
|
|
|
out_345376613723532367[7] = 0; |
|
|
|
out_8892173204326502465[7] = 0; |
|
|
|
out_345376613723532367[8] = 0; |
|
|
|
out_8892173204326502465[8] = 0; |
|
|
|
} |
|
|
|
} |
|
|
|
void h_24(double *state, double *unused, double *out_1253312341000543437) { |
|
|
|
void h_24(double *state, double *unused, double *out_6766398854122891435) { |
|
|
|
out_1253312341000543437[0] = state[4]; |
|
|
|
out_6766398854122891435[0] = state[4]; |
|
|
|
out_1253312341000543437[1] = state[5]; |
|
|
|
out_6766398854122891435[1] = state[5]; |
|
|
|
} |
|
|
|
} |
|
|
|
void H_24(double *state, double *unused, double *out_8873302273916824024) { |
|
|
|
void H_24(double *state, double *unused, double *out_7204356768457398274) { |
|
|
|
out_8873302273916824024[0] = 0; |
|
|
|
out_7204356768457398274[0] = 0; |
|
|
|
out_8873302273916824024[1] = 0; |
|
|
|
out_7204356768457398274[1] = 0; |
|
|
|
out_8873302273916824024[2] = 0; |
|
|
|
out_7204356768457398274[2] = 0; |
|
|
|
out_8873302273916824024[3] = 0; |
|
|
|
out_7204356768457398274[3] = 0; |
|
|
|
out_8873302273916824024[4] = 1; |
|
|
|
out_7204356768457398274[4] = 1; |
|
|
|
out_8873302273916824024[5] = 0; |
|
|
|
out_7204356768457398274[5] = 0; |
|
|
|
out_8873302273916824024[6] = 0; |
|
|
|
out_7204356768457398274[6] = 0; |
|
|
|
out_8873302273916824024[7] = 0; |
|
|
|
out_7204356768457398274[7] = 0; |
|
|
|
out_8873302273916824024[8] = 0; |
|
|
|
out_7204356768457398274[8] = 0; |
|
|
|
out_8873302273916824024[9] = 0; |
|
|
|
out_7204356768457398274[9] = 0; |
|
|
|
out_8873302273916824024[10] = 0; |
|
|
|
out_7204356768457398274[10] = 0; |
|
|
|
out_8873302273916824024[11] = 0; |
|
|
|
out_7204356768457398274[11] = 0; |
|
|
|
out_8873302273916824024[12] = 0; |
|
|
|
out_7204356768457398274[12] = 0; |
|
|
|
out_8873302273916824024[13] = 0; |
|
|
|
out_7204356768457398274[13] = 0; |
|
|
|
out_8873302273916824024[14] = 1; |
|
|
|
out_7204356768457398274[14] = 1; |
|
|
|
out_8873302273916824024[15] = 0; |
|
|
|
out_7204356768457398274[15] = 0; |
|
|
|
out_8873302273916824024[16] = 0; |
|
|
|
out_7204356768457398274[16] = 0; |
|
|
|
out_8873302273916824024[17] = 0; |
|
|
|
out_7204356768457398274[17] = 0; |
|
|
|
} |
|
|
|
} |
|
|
|
void h_30(double *state, double *unused, double *out_4399128350367343601) { |
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|
|
void h_30(double *state, double *unused, double *out_5662394748040244863) { |
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|
|
out_4399128350367343601[0] = state[4]; |
|
|
|
out_5662394748040244863[0] = state[4]; |
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|
} |
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|
|
} |
|
|
|
void H_30(double *state, double *unused, double *out_216037666580292297) { |
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|
void H_30(double *state, double *unused, double *out_5026874539255440953) { |
|
|
|
out_216037666580292297[0] = 0; |
|
|
|
out_5026874539255440953[0] = 0; |
|
|
|
out_216037666580292297[1] = 0; |
|
|
|
out_5026874539255440953[1] = 0; |
|
|
|
out_216037666580292297[2] = 0; |
|
|
|
out_5026874539255440953[2] = 0; |
|
|
|
out_216037666580292297[3] = 0; |
|
|
|
out_5026874539255440953[3] = 0; |
|
|
|
out_216037666580292297[4] = 1; |
|
|
|
out_5026874539255440953[4] = 1; |
|
|
|
out_216037666580292297[5] = 0; |
|
|
|
out_5026874539255440953[5] = 0; |
|
|
|
out_216037666580292297[6] = 0; |
|
|
|
out_5026874539255440953[6] = 0; |
|
|
|
out_216037666580292297[7] = 0; |
|
|
|
out_5026874539255440953[7] = 0; |
|
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|
out_216037666580292297[8] = 0; |
|
|
|
out_5026874539255440953[8] = 0; |
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|
|
} |
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|
|
} |
|
|
|
void h_26(double *state, double *unused, double *out_1362342298923010916) { |
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|
void h_26(double *state, double *unused, double *out_253236005693617473) { |
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|
out_1362342298923010916[0] = state[7]; |
|
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|
out_253236005693617473[0] = state[7]; |
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|
} |
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|
} |
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|
void H_26(double *state, double *unused, double *out_3396126705150523857) { |
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|
void H_26(double *state, double *unused, double *out_5813067550508992927) { |
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|
out_3396126705150523857[0] = 0; |
|
|
|
out_5813067550508992927[0] = 0; |
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|
out_3396126705150523857[1] = 0; |
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|
out_5813067550508992927[1] = 0; |
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|
out_3396126705150523857[2] = 0; |
|
|
|
out_5813067550508992927[2] = 0; |
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|
out_3396126705150523857[3] = 0; |
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|
out_5813067550508992927[3] = 0; |
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|
out_3396126705150523857[4] = 0; |
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|
out_5813067550508992927[4] = 0; |
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|
out_3396126705150523857[5] = 0; |
|
|
|
out_5813067550508992927[5] = 0; |
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|
out_3396126705150523857[6] = 0; |
|
|
|
out_5813067550508992927[6] = 0; |
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|
|
out_3396126705150523857[7] = 1; |
|
|
|
out_5813067550508992927[7] = 1; |
|
|
|
out_3396126705150523857[8] = 0; |
|
|
|
out_5813067550508992927[8] = 0; |
|
|
|
} |
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|
} |
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|
|
void h_27(double *state, double *unused, double *out_9204321679697507688) { |
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|
void h_27(double *state, double *unused, double *out_6177405252431548545) { |
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|
out_9204321679697507688[0] = state[3]; |
|
|
|
out_6177405252431548545[0] = state[3]; |
|
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|
} |
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|
} |
|
|
|
void H_27(double *state, double *unused, double *out_1958725645220132614) { |
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|
void H_27(double *state, double *unused, double *out_2852111227455016042) { |
|
|
|
out_1958725645220132614[0] = 0; |
|
|
|
out_2852111227455016042[0] = 0; |
|
|
|
out_1958725645220132614[1] = 0; |
|
|
|
out_2852111227455016042[1] = 0; |
|
|
|
out_1958725645220132614[2] = 0; |
|
|
|
out_2852111227455016042[2] = 0; |
|
|
|
out_1958725645220132614[3] = 1; |
|
|
|
out_2852111227455016042[3] = 1; |
|
|
|
out_1958725645220132614[4] = 0; |
|
|
|
out_2852111227455016042[4] = 0; |
|
|
|
out_1958725645220132614[5] = 0; |
|
|
|
out_2852111227455016042[5] = 0; |
|
|
|
out_1958725645220132614[6] = 0; |
|
|
|
out_2852111227455016042[6] = 0; |
|
|
|
out_1958725645220132614[7] = 0; |
|
|
|
out_2852111227455016042[7] = 0; |
|
|
|
out_1958725645220132614[8] = 0; |
|
|
|
out_2852111227455016042[8] = 0; |
|
|
|
} |
|
|
|
} |
|
|
|
void h_29(double *state, double *unused, double *out_602544917293502044) { |
|
|
|
void h_29(double *state, double *unused, double *out_8631889293023980721) { |
|
|
|
out_602544917293502044[0] = state[1]; |
|
|
|
out_8631889293023980721[0] = state[1]; |
|
|
|
} |
|
|
|
} |
|
|
|
void H_29(double *state, double *unused, double *out_3672088372089683647) { |
|
|
|
void H_29(double *state, double *unused, double *out_5537105883569833137) { |
|
|
|
out_3672088372089683647[0] = 0; |
|
|
|
out_5537105883569833137[0] = 0; |
|
|
|
out_3672088372089683647[1] = 1; |
|
|
|
out_5537105883569833137[1] = 1; |
|
|
|
out_3672088372089683647[2] = 0; |
|
|
|
out_5537105883569833137[2] = 0; |
|
|
|
out_3672088372089683647[3] = 0; |
|
|
|
out_5537105883569833137[3] = 0; |
|
|
|
out_3672088372089683647[4] = 0; |
|
|
|
out_5537105883569833137[4] = 0; |
|
|
|
out_3672088372089683647[5] = 0; |
|
|
|
out_5537105883569833137[5] = 0; |
|
|
|
out_3672088372089683647[6] = 0; |
|
|
|
out_5537105883569833137[6] = 0; |
|
|
|
out_3672088372089683647[7] = 0; |
|
|
|
out_5537105883569833137[7] = 0; |
|
|
|
out_3672088372089683647[8] = 0; |
|
|
|
out_5537105883569833137[8] = 0; |
|
|
|
} |
|
|
|
} |
|
|
|
void h_28(double *state, double *unused, double *out_4281120956433966857) { |
|
|
|
void h_28(double *state, double *unused, double *out_7267665553617157426) { |
|
|
|
out_4281120956433966857[0] = state[0]; |
|
|
|
out_7267665553617157426[0] = state[0]; |
|
|
|
} |
|
|
|
} |
|
|
|
void H_28(double *state, double *unused, double *out_1708458100524357396) { |
|
|
|
void H_28(double *state, double *unused, double *out_454706866500302563) { |
|
|
|
out_1708458100524357396[0] = 1; |
|
|
|
out_454706866500302563[0] = 1; |
|
|
|
out_1708458100524357396[1] = 0; |
|
|
|
out_454706866500302563[1] = 0; |
|
|
|
out_1708458100524357396[2] = 0; |
|
|
|
out_454706866500302563[2] = 0; |
|
|
|
out_1708458100524357396[3] = 0; |
|
|
|
out_454706866500302563[3] = 0; |
|
|
|
out_1708458100524357396[4] = 0; |
|
|
|
out_454706866500302563[4] = 0; |
|
|
|
out_1708458100524357396[5] = 0; |
|
|
|
out_454706866500302563[5] = 0; |
|
|
|
out_1708458100524357396[6] = 0; |
|
|
|
out_454706866500302563[6] = 0; |
|
|
|
out_1708458100524357396[7] = 0; |
|
|
|
out_454706866500302563[7] = 0; |
|
|
|
out_1708458100524357396[8] = 0; |
|
|
|
out_454706866500302563[8] = 0; |
|
|
|
} |
|
|
|
} |
|
|
|
void h_31(double *state, double *unused, double *out_5944889882572371594) { |
|
|
|
void h_31(double *state, double *unused, double *out_2626363377399586067) { |
|
|
|
out_5944889882572371594[0] = state[8]; |
|
|
|
out_2626363377399586067[0] = state[8]; |
|
|
|
} |
|
|
|
} |
|
|
|
void H_31(double *state, double *unused, double *out_376022575600492795) { |
|
|
|
void H_31(double *state, double *unused, double *out_5186859448275641451) { |
|
|
|
out_376022575600492795[0] = 0; |
|
|
|
out_5186859448275641451[0] = 0; |
|
|
|
out_376022575600492795[1] = 0; |
|
|
|
out_5186859448275641451[1] = 0; |
|
|
|
out_376022575600492795[2] = 0; |
|
|
|
out_5186859448275641451[2] = 0; |
|
|
|
out_376022575600492795[3] = 0; |
|
|
|
out_5186859448275641451[3] = 0; |
|
|
|
out_376022575600492795[4] = 0; |
|
|
|
out_5186859448275641451[4] = 0; |
|
|
|
out_376022575600492795[5] = 0; |
|
|
|
out_5186859448275641451[5] = 0; |
|
|
|
out_376022575600492795[6] = 0; |
|
|
|
out_5186859448275641451[6] = 0; |
|
|
|
out_376022575600492795[7] = 0; |
|
|
|
out_5186859448275641451[7] = 0; |
|
|
|
out_376022575600492795[8] = 1; |
|
|
|
out_5186859448275641451[8] = 1; |
|
|
|
} |
|
|
|
} |
|
|
|
#include <eigen3/Eigen/Dense> |
|
|
|
#include <eigen3/Eigen/Dense> |
|
|
|
#include <iostream> |
|
|
|
#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) { |
|
|
|
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); |
|
|
|
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_3675669119552892075) { |
|
|
|
void car_err_fun(double *nom_x, double *delta_x, double *out_7345504276725310336) { |
|
|
|
err_fun(nom_x, delta_x, out_3675669119552892075); |
|
|
|
err_fun(nom_x, delta_x, out_7345504276725310336); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1525509250774896015) { |
|
|
|
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1483419534327179826) { |
|
|
|
inv_err_fun(nom_x, true_x, out_1525509250774896015); |
|
|
|
inv_err_fun(nom_x, true_x, out_1483419534327179826); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_H_mod_fun(double *state, double *out_8908179234073782012) { |
|
|
|
void car_H_mod_fun(double *state, double *out_5980828091480380917) { |
|
|
|
H_mod_fun(state, out_8908179234073782012); |
|
|
|
H_mod_fun(state, out_5980828091480380917); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_f_fun(double *state, double dt, double *out_2817676241617045765) { |
|
|
|
void car_f_fun(double *state, double dt, double *out_6771744444959754452) { |
|
|
|
f_fun(state, dt, out_2817676241617045765); |
|
|
|
f_fun(state, dt, out_6771744444959754452); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_F_fun(double *state, double dt, double *out_587119351607645481) { |
|
|
|
void car_F_fun(double *state, double dt, double *out_8079006821062657786) { |
|
|
|
F_fun(state, dt, out_587119351607645481); |
|
|
|
F_fun(state, dt, out_8079006821062657786); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_h_25(double *state, double *unused, double *out_2948496957738460434) { |
|
|
|
void car_h_25(double *state, double *unused, double *out_6013514099318955817) { |
|
|
|
h_25(state, unused, out_2948496957738460434); |
|
|
|
h_25(state, unused, out_6013514099318955817); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_H_25(double *state, double *unused, double *out_345376613723532367) { |
|
|
|
void car_H_25(double *state, double *unused, double *out_8892173204326502465) { |
|
|
|
H_25(state, unused, out_345376613723532367); |
|
|
|
H_25(state, unused, out_8892173204326502465); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_h_24(double *state, double *unused, double *out_1253312341000543437) { |
|
|
|
void car_h_24(double *state, double *unused, double *out_6766398854122891435) { |
|
|
|
h_24(state, unused, out_1253312341000543437); |
|
|
|
h_24(state, unused, out_6766398854122891435); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_H_24(double *state, double *unused, double *out_8873302273916824024) { |
|
|
|
void car_H_24(double *state, double *unused, double *out_7204356768457398274) { |
|
|
|
H_24(state, unused, out_8873302273916824024); |
|
|
|
H_24(state, unused, out_7204356768457398274); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_h_30(double *state, double *unused, double *out_4399128350367343601) { |
|
|
|
void car_h_30(double *state, double *unused, double *out_5662394748040244863) { |
|
|
|
h_30(state, unused, out_4399128350367343601); |
|
|
|
h_30(state, unused, out_5662394748040244863); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_H_30(double *state, double *unused, double *out_216037666580292297) { |
|
|
|
void car_H_30(double *state, double *unused, double *out_5026874539255440953) { |
|
|
|
H_30(state, unused, out_216037666580292297); |
|
|
|
H_30(state, unused, out_5026874539255440953); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_h_26(double *state, double *unused, double *out_1362342298923010916) { |
|
|
|
void car_h_26(double *state, double *unused, double *out_253236005693617473) { |
|
|
|
h_26(state, unused, out_1362342298923010916); |
|
|
|
h_26(state, unused, out_253236005693617473); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_H_26(double *state, double *unused, double *out_3396126705150523857) { |
|
|
|
void car_H_26(double *state, double *unused, double *out_5813067550508992927) { |
|
|
|
H_26(state, unused, out_3396126705150523857); |
|
|
|
H_26(state, unused, out_5813067550508992927); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_h_27(double *state, double *unused, double *out_9204321679697507688) { |
|
|
|
void car_h_27(double *state, double *unused, double *out_6177405252431548545) { |
|
|
|
h_27(state, unused, out_9204321679697507688); |
|
|
|
h_27(state, unused, out_6177405252431548545); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_H_27(double *state, double *unused, double *out_1958725645220132614) { |
|
|
|
void car_H_27(double *state, double *unused, double *out_2852111227455016042) { |
|
|
|
H_27(state, unused, out_1958725645220132614); |
|
|
|
H_27(state, unused, out_2852111227455016042); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_h_29(double *state, double *unused, double *out_602544917293502044) { |
|
|
|
void car_h_29(double *state, double *unused, double *out_8631889293023980721) { |
|
|
|
h_29(state, unused, out_602544917293502044); |
|
|
|
h_29(state, unused, out_8631889293023980721); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_H_29(double *state, double *unused, double *out_3672088372089683647) { |
|
|
|
void car_H_29(double *state, double *unused, double *out_5537105883569833137) { |
|
|
|
H_29(state, unused, out_3672088372089683647); |
|
|
|
H_29(state, unused, out_5537105883569833137); |
|
|
|
} |
|
|
|
} |
|
|
|
void car_h_28(double *state, double *unused, double *out_4281120956433966857) { |
|
|
|
void car_h_28(double *state, double *unused, double *out_7267665553617157426) { |
|
|
|
h_28(state, unused, out_4281120956433966857); |
|
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|
h_28(state, unused, out_7267665553617157426); |
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} |
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} |
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void car_H_28(double *state, double *unused, double *out_1708458100524357396) { |
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void car_H_28(double *state, double *unused, double *out_454706866500302563) { |
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H_28(state, unused, out_1708458100524357396); |
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H_28(state, unused, out_454706866500302563); |
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} |
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} |
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void car_h_31(double *state, double *unused, double *out_5944889882572371594) { |
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void car_h_31(double *state, double *unused, double *out_2626363377399586067) { |
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h_31(state, unused, out_5944889882572371594); |
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h_31(state, unused, out_2626363377399586067); |
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} |
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} |
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void car_H_31(double *state, double *unused, double *out_376022575600492795) { |
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void car_H_31(double *state, double *unused, double *out_5186859448275641451) { |
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H_31(state, unused, out_376022575600492795); |
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H_31(state, unused, out_5186859448275641451); |
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} |
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} |
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void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { |
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void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { |
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predict(in_x, in_P, in_Q, dt); |
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predict(in_x, in_P, in_Q, dt); |
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Adeeb Shihadeh
3 weeks ago