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dragonpilot 2022-12-23T08:15:11 for EON/C2

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version: dragonpilot v0.9.1 beta for EON/C2
date: 2022-12-23T08:15:11
dp-dev(priv2) master commit: 3cc44ae87d697a5e07bfa58c4e799730bea0b63a
This commit is contained in:
Dragonpilot Team
2022-12-23 07:06:38 +00:00
committed by Comma Device
parent de34fa87ee
commit 398aeb927b
39 changed files with 2592 additions and 2535 deletions
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724
selfdrive/locationd/models/generated/gnss.cpp
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@@ -17,354 +17,354 @@ const static double MAHA_THRESH_21 = 3.8414588206941227;
* *
* This file is part of 'ekf' *
******************************************************************************/
void err_fun(double *nom_x, double *delta_x, double *out_1734633203049768488) {
out_1734633203049768488[0] = delta_x[0] + nom_x[0];
out_1734633203049768488[1] = delta_x[1] + nom_x[1];
out_1734633203049768488[2] = delta_x[2] + nom_x[2];
out_1734633203049768488[3] = delta_x[3] + nom_x[3];
out_1734633203049768488[4] = delta_x[4] + nom_x[4];
out_1734633203049768488[5] = delta_x[5] + nom_x[5];
out_1734633203049768488[6] = delta_x[6] + nom_x[6];
out_1734633203049768488[7] = delta_x[7] + nom_x[7];
out_1734633203049768488[8] = delta_x[8] + nom_x[8];
out_1734633203049768488[9] = delta_x[9] + nom_x[9];
out_1734633203049768488[10] = delta_x[10] + nom_x[10];
void err_fun(double *nom_x, double *delta_x, double *out_6740791193231733360) {
out_6740791193231733360[0] = delta_x[0] + nom_x[0];
out_6740791193231733360[1] = delta_x[1] + nom_x[1];
out_6740791193231733360[2] = delta_x[2] + nom_x[2];
out_6740791193231733360[3] = delta_x[3] + nom_x[3];
out_6740791193231733360[4] = delta_x[4] + nom_x[4];
out_6740791193231733360[5] = delta_x[5] + nom_x[5];
out_6740791193231733360[6] = delta_x[6] + nom_x[6];
out_6740791193231733360[7] = delta_x[7] + nom_x[7];
out_6740791193231733360[8] = delta_x[8] + nom_x[8];
out_6740791193231733360[9] = delta_x[9] + nom_x[9];
out_6740791193231733360[10] = delta_x[10] + nom_x[10];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_7226800202829737504) {
out_7226800202829737504[0] = -nom_x[0] + true_x[0];
out_7226800202829737504[1] = -nom_x[1] + true_x[1];
out_7226800202829737504[2] = -nom_x[2] + true_x[2];
out_7226800202829737504[3] = -nom_x[3] + true_x[3];
out_7226800202829737504[4] = -nom_x[4] + true_x[4];
out_7226800202829737504[5] = -nom_x[5] + true_x[5];
out_7226800202829737504[6] = -nom_x[6] + true_x[6];
out_7226800202829737504[7] = -nom_x[7] + true_x[7];
out_7226800202829737504[8] = -nom_x[8] + true_x[8];
out_7226800202829737504[9] = -nom_x[9] + true_x[9];
out_7226800202829737504[10] = -nom_x[10] + true_x[10];
void inv_err_fun(double *nom_x, double *true_x, double *out_5435998030533772419) {
out_5435998030533772419[0] = -nom_x[0] + true_x[0];
out_5435998030533772419[1] = -nom_x[1] + true_x[1];
out_5435998030533772419[2] = -nom_x[2] + true_x[2];
out_5435998030533772419[3] = -nom_x[3] + true_x[3];
out_5435998030533772419[4] = -nom_x[4] + true_x[4];
out_5435998030533772419[5] = -nom_x[5] + true_x[5];
out_5435998030533772419[6] = -nom_x[6] + true_x[6];
out_5435998030533772419[7] = -nom_x[7] + true_x[7];
out_5435998030533772419[8] = -nom_x[8] + true_x[8];
out_5435998030533772419[9] = -nom_x[9] + true_x[9];
out_5435998030533772419[10] = -nom_x[10] + true_x[10];
}
void H_mod_fun(double *state, double *out_7212715412967761026) {
out_7212715412967761026[0] = 1.0;
out_7212715412967761026[1] = 0;
out_7212715412967761026[2] = 0;
out_7212715412967761026[3] = 0;
out_7212715412967761026[4] = 0;
out_7212715412967761026[5] = 0;
out_7212715412967761026[6] = 0;
out_7212715412967761026[7] = 0;
out_7212715412967761026[8] = 0;
out_7212715412967761026[9] = 0;
out_7212715412967761026[10] = 0;
out_7212715412967761026[11] = 0;
out_7212715412967761026[12] = 1.0;
out_7212715412967761026[13] = 0;
out_7212715412967761026[14] = 0;
out_7212715412967761026[15] = 0;
out_7212715412967761026[16] = 0;
out_7212715412967761026[17] = 0;
out_7212715412967761026[18] = 0;
out_7212715412967761026[19] = 0;
out_7212715412967761026[20] = 0;
out_7212715412967761026[21] = 0;
out_7212715412967761026[22] = 0;
out_7212715412967761026[23] = 0;
out_7212715412967761026[24] = 1.0;
out_7212715412967761026[25] = 0;
out_7212715412967761026[26] = 0;
out_7212715412967761026[27] = 0;
out_7212715412967761026[28] = 0;
out_7212715412967761026[29] = 0;
out_7212715412967761026[30] = 0;
out_7212715412967761026[31] = 0;
out_7212715412967761026[32] = 0;
out_7212715412967761026[33] = 0;
out_7212715412967761026[34] = 0;
out_7212715412967761026[35] = 0;
out_7212715412967761026[36] = 1.0;
out_7212715412967761026[37] = 0;
out_7212715412967761026[38] = 0;
out_7212715412967761026[39] = 0;
out_7212715412967761026[40] = 0;
out_7212715412967761026[41] = 0;
out_7212715412967761026[42] = 0;
out_7212715412967761026[43] = 0;
out_7212715412967761026[44] = 0;
out_7212715412967761026[45] = 0;
out_7212715412967761026[46] = 0;
out_7212715412967761026[47] = 0;
out_7212715412967761026[48] = 1.0;
out_7212715412967761026[49] = 0;
out_7212715412967761026[50] = 0;
out_7212715412967761026[51] = 0;
out_7212715412967761026[52] = 0;
out_7212715412967761026[53] = 0;
out_7212715412967761026[54] = 0;
out_7212715412967761026[55] = 0;
out_7212715412967761026[56] = 0;
out_7212715412967761026[57] = 0;
out_7212715412967761026[58] = 0;
out_7212715412967761026[59] = 0;
out_7212715412967761026[60] = 1.0;
out_7212715412967761026[61] = 0;
out_7212715412967761026[62] = 0;
out_7212715412967761026[63] = 0;
out_7212715412967761026[64] = 0;
out_7212715412967761026[65] = 0;
out_7212715412967761026[66] = 0;
out_7212715412967761026[67] = 0;
out_7212715412967761026[68] = 0;
out_7212715412967761026[69] = 0;
out_7212715412967761026[70] = 0;
out_7212715412967761026[71] = 0;
out_7212715412967761026[72] = 1.0;
out_7212715412967761026[73] = 0;
out_7212715412967761026[74] = 0;
out_7212715412967761026[75] = 0;
out_7212715412967761026[76] = 0;
out_7212715412967761026[77] = 0;
out_7212715412967761026[78] = 0;
out_7212715412967761026[79] = 0;
out_7212715412967761026[80] = 0;
out_7212715412967761026[81] = 0;
out_7212715412967761026[82] = 0;
out_7212715412967761026[83] = 0;
out_7212715412967761026[84] = 1.0;
out_7212715412967761026[85] = 0;
out_7212715412967761026[86] = 0;
out_7212715412967761026[87] = 0;
out_7212715412967761026[88] = 0;
out_7212715412967761026[89] = 0;
out_7212715412967761026[90] = 0;
out_7212715412967761026[91] = 0;
out_7212715412967761026[92] = 0;
out_7212715412967761026[93] = 0;
out_7212715412967761026[94] = 0;
out_7212715412967761026[95] = 0;
out_7212715412967761026[96] = 1.0;
out_7212715412967761026[97] = 0;
out_7212715412967761026[98] = 0;
out_7212715412967761026[99] = 0;
out_7212715412967761026[100] = 0;
out_7212715412967761026[101] = 0;
out_7212715412967761026[102] = 0;
out_7212715412967761026[103] = 0;
out_7212715412967761026[104] = 0;
out_7212715412967761026[105] = 0;
out_7212715412967761026[106] = 0;
out_7212715412967761026[107] = 0;
out_7212715412967761026[108] = 1.0;
out_7212715412967761026[109] = 0;
out_7212715412967761026[110] = 0;
out_7212715412967761026[111] = 0;
out_7212715412967761026[112] = 0;
out_7212715412967761026[113] = 0;
out_7212715412967761026[114] = 0;
out_7212715412967761026[115] = 0;
out_7212715412967761026[116] = 0;
out_7212715412967761026[117] = 0;
out_7212715412967761026[118] = 0;
out_7212715412967761026[119] = 0;
out_7212715412967761026[120] = 1.0;
void H_mod_fun(double *state, double *out_8750904480143678209) {
out_8750904480143678209[0] = 1.0;
out_8750904480143678209[1] = 0;
out_8750904480143678209[2] = 0;
out_8750904480143678209[3] = 0;
out_8750904480143678209[4] = 0;
out_8750904480143678209[5] = 0;
out_8750904480143678209[6] = 0;
out_8750904480143678209[7] = 0;
out_8750904480143678209[8] = 0;
out_8750904480143678209[9] = 0;
out_8750904480143678209[10] = 0;
out_8750904480143678209[11] = 0;
out_8750904480143678209[12] = 1.0;
out_8750904480143678209[13] = 0;
out_8750904480143678209[14] = 0;
out_8750904480143678209[15] = 0;
out_8750904480143678209[16] = 0;
out_8750904480143678209[17] = 0;
out_8750904480143678209[18] = 0;
out_8750904480143678209[19] = 0;
out_8750904480143678209[20] = 0;
out_8750904480143678209[21] = 0;
out_8750904480143678209[22] = 0;
out_8750904480143678209[23] = 0;
out_8750904480143678209[24] = 1.0;
out_8750904480143678209[25] = 0;
out_8750904480143678209[26] = 0;
out_8750904480143678209[27] = 0;
out_8750904480143678209[28] = 0;
out_8750904480143678209[29] = 0;
out_8750904480143678209[30] = 0;
out_8750904480143678209[31] = 0;
out_8750904480143678209[32] = 0;
out_8750904480143678209[33] = 0;
out_8750904480143678209[34] = 0;
out_8750904480143678209[35] = 0;
out_8750904480143678209[36] = 1.0;
out_8750904480143678209[37] = 0;
out_8750904480143678209[38] = 0;
out_8750904480143678209[39] = 0;
out_8750904480143678209[40] = 0;
out_8750904480143678209[41] = 0;
out_8750904480143678209[42] = 0;
out_8750904480143678209[43] = 0;
out_8750904480143678209[44] = 0;
out_8750904480143678209[45] = 0;
out_8750904480143678209[46] = 0;
out_8750904480143678209[47] = 0;
out_8750904480143678209[48] = 1.0;
out_8750904480143678209[49] = 0;
out_8750904480143678209[50] = 0;
out_8750904480143678209[51] = 0;
out_8750904480143678209[52] = 0;
out_8750904480143678209[53] = 0;
out_8750904480143678209[54] = 0;
out_8750904480143678209[55] = 0;
out_8750904480143678209[56] = 0;
out_8750904480143678209[57] = 0;
out_8750904480143678209[58] = 0;
out_8750904480143678209[59] = 0;
out_8750904480143678209[60] = 1.0;
out_8750904480143678209[61] = 0;
out_8750904480143678209[62] = 0;
out_8750904480143678209[63] = 0;
out_8750904480143678209[64] = 0;
out_8750904480143678209[65] = 0;
out_8750904480143678209[66] = 0;
out_8750904480143678209[67] = 0;
out_8750904480143678209[68] = 0;
out_8750904480143678209[69] = 0;
out_8750904480143678209[70] = 0;
out_8750904480143678209[71] = 0;
out_8750904480143678209[72] = 1.0;
out_8750904480143678209[73] = 0;
out_8750904480143678209[74] = 0;
out_8750904480143678209[75] = 0;
out_8750904480143678209[76] = 0;
out_8750904480143678209[77] = 0;
out_8750904480143678209[78] = 0;
out_8750904480143678209[79] = 0;
out_8750904480143678209[80] = 0;
out_8750904480143678209[81] = 0;
out_8750904480143678209[82] = 0;
out_8750904480143678209[83] = 0;
out_8750904480143678209[84] = 1.0;
out_8750904480143678209[85] = 0;
out_8750904480143678209[86] = 0;
out_8750904480143678209[87] = 0;
out_8750904480143678209[88] = 0;
out_8750904480143678209[89] = 0;
out_8750904480143678209[90] = 0;
out_8750904480143678209[91] = 0;
out_8750904480143678209[92] = 0;
out_8750904480143678209[93] = 0;
out_8750904480143678209[94] = 0;
out_8750904480143678209[95] = 0;
out_8750904480143678209[96] = 1.0;
out_8750904480143678209[97] = 0;
out_8750904480143678209[98] = 0;
out_8750904480143678209[99] = 0;
out_8750904480143678209[100] = 0;
out_8750904480143678209[101] = 0;
out_8750904480143678209[102] = 0;
out_8750904480143678209[103] = 0;
out_8750904480143678209[104] = 0;
out_8750904480143678209[105] = 0;
out_8750904480143678209[106] = 0;
out_8750904480143678209[107] = 0;
out_8750904480143678209[108] = 1.0;
out_8750904480143678209[109] = 0;
out_8750904480143678209[110] = 0;
out_8750904480143678209[111] = 0;
out_8750904480143678209[112] = 0;
out_8750904480143678209[113] = 0;
out_8750904480143678209[114] = 0;
out_8750904480143678209[115] = 0;
out_8750904480143678209[116] = 0;
out_8750904480143678209[117] = 0;
out_8750904480143678209[118] = 0;
out_8750904480143678209[119] = 0;
out_8750904480143678209[120] = 1.0;
}
void f_fun(double *state, double dt, double *out_4622219999608348212) {
out_4622219999608348212[0] = dt*state[3] + state[0];
out_4622219999608348212[1] = dt*state[4] + state[1];
out_4622219999608348212[2] = dt*state[5] + state[2];
out_4622219999608348212[3] = state[3];
out_4622219999608348212[4] = state[4];
out_4622219999608348212[5] = state[5];
out_4622219999608348212[6] = dt*state[7] + state[6];
out_4622219999608348212[7] = dt*state[8] + state[7];
out_4622219999608348212[8] = state[8];
out_4622219999608348212[9] = state[9];
out_4622219999608348212[10] = state[10];
void f_fun(double *state, double dt, double *out_571033032076185663) {
out_571033032076185663[0] = dt*state[3] + state[0];
out_571033032076185663[1] = dt*state[4] + state[1];
out_571033032076185663[2] = dt*state[5] + state[2];
out_571033032076185663[3] = state[3];
out_571033032076185663[4] = state[4];
out_571033032076185663[5] = state[5];
out_571033032076185663[6] = dt*state[7] + state[6];
out_571033032076185663[7] = dt*state[8] + state[7];
out_571033032076185663[8] = state[8];
out_571033032076185663[9] = state[9];
out_571033032076185663[10] = state[10];
}
void F_fun(double *state, double dt, double *out_1489675256084431222) {
out_1489675256084431222[0] = 1;
out_1489675256084431222[1] = 0;
out_1489675256084431222[2] = 0;
out_1489675256084431222[3] = dt;
out_1489675256084431222[4] = 0;
out_1489675256084431222[5] = 0;
out_1489675256084431222[6] = 0;
out_1489675256084431222[7] = 0;
out_1489675256084431222[8] = 0;
out_1489675256084431222[9] = 0;
out_1489675256084431222[10] = 0;
out_1489675256084431222[11] = 0;
out_1489675256084431222[12] = 1;
out_1489675256084431222[13] = 0;
out_1489675256084431222[14] = 0;
out_1489675256084431222[15] = dt;
out_1489675256084431222[16] = 0;
out_1489675256084431222[17] = 0;
out_1489675256084431222[18] = 0;
out_1489675256084431222[19] = 0;
out_1489675256084431222[20] = 0;
out_1489675256084431222[21] = 0;
out_1489675256084431222[22] = 0;
out_1489675256084431222[23] = 0;
out_1489675256084431222[24] = 1;
out_1489675256084431222[25] = 0;
out_1489675256084431222[26] = 0;
out_1489675256084431222[27] = dt;
out_1489675256084431222[28] = 0;
out_1489675256084431222[29] = 0;
out_1489675256084431222[30] = 0;
out_1489675256084431222[31] = 0;
out_1489675256084431222[32] = 0;
out_1489675256084431222[33] = 0;
out_1489675256084431222[34] = 0;
out_1489675256084431222[35] = 0;
out_1489675256084431222[36] = 1;
out_1489675256084431222[37] = 0;
out_1489675256084431222[38] = 0;
out_1489675256084431222[39] = 0;
out_1489675256084431222[40] = 0;
out_1489675256084431222[41] = 0;
out_1489675256084431222[42] = 0;
out_1489675256084431222[43] = 0;
out_1489675256084431222[44] = 0;
out_1489675256084431222[45] = 0;
out_1489675256084431222[46] = 0;
out_1489675256084431222[47] = 0;
out_1489675256084431222[48] = 1;
out_1489675256084431222[49] = 0;
out_1489675256084431222[50] = 0;
out_1489675256084431222[51] = 0;
out_1489675256084431222[52] = 0;
out_1489675256084431222[53] = 0;
out_1489675256084431222[54] = 0;
out_1489675256084431222[55] = 0;
out_1489675256084431222[56] = 0;
out_1489675256084431222[57] = 0;
out_1489675256084431222[58] = 0;
out_1489675256084431222[59] = 0;
out_1489675256084431222[60] = 1;
out_1489675256084431222[61] = 0;
out_1489675256084431222[62] = 0;
out_1489675256084431222[63] = 0;
out_1489675256084431222[64] = 0;
out_1489675256084431222[65] = 0;
out_1489675256084431222[66] = 0;
out_1489675256084431222[67] = 0;
out_1489675256084431222[68] = 0;
out_1489675256084431222[69] = 0;
out_1489675256084431222[70] = 0;
out_1489675256084431222[71] = 0;
out_1489675256084431222[72] = 1;
out_1489675256084431222[73] = dt;
out_1489675256084431222[74] = 0;
out_1489675256084431222[75] = 0;
out_1489675256084431222[76] = 0;
out_1489675256084431222[77] = 0;
out_1489675256084431222[78] = 0;
out_1489675256084431222[79] = 0;
out_1489675256084431222[80] = 0;
out_1489675256084431222[81] = 0;
out_1489675256084431222[82] = 0;
out_1489675256084431222[83] = 0;
out_1489675256084431222[84] = 1;
out_1489675256084431222[85] = dt;
out_1489675256084431222[86] = 0;
out_1489675256084431222[87] = 0;
out_1489675256084431222[88] = 0;
out_1489675256084431222[89] = 0;
out_1489675256084431222[90] = 0;
out_1489675256084431222[91] = 0;
out_1489675256084431222[92] = 0;
out_1489675256084431222[93] = 0;
out_1489675256084431222[94] = 0;
out_1489675256084431222[95] = 0;
out_1489675256084431222[96] = 1;
out_1489675256084431222[97] = 0;
out_1489675256084431222[98] = 0;
out_1489675256084431222[99] = 0;
out_1489675256084431222[100] = 0;
out_1489675256084431222[101] = 0;
out_1489675256084431222[102] = 0;
out_1489675256084431222[103] = 0;
out_1489675256084431222[104] = 0;
out_1489675256084431222[105] = 0;
out_1489675256084431222[106] = 0;
out_1489675256084431222[107] = 0;
out_1489675256084431222[108] = 1;
out_1489675256084431222[109] = 0;
out_1489675256084431222[110] = 0;
out_1489675256084431222[111] = 0;
out_1489675256084431222[112] = 0;
out_1489675256084431222[113] = 0;
out_1489675256084431222[114] = 0;
out_1489675256084431222[115] = 0;
out_1489675256084431222[116] = 0;
out_1489675256084431222[117] = 0;
out_1489675256084431222[118] = 0;
out_1489675256084431222[119] = 0;
out_1489675256084431222[120] = 1;
void F_fun(double *state, double dt, double *out_8071961880976414619) {
out_8071961880976414619[0] = 1;
out_8071961880976414619[1] = 0;
out_8071961880976414619[2] = 0;
out_8071961880976414619[3] = dt;
out_8071961880976414619[4] = 0;
out_8071961880976414619[5] = 0;
out_8071961880976414619[6] = 0;
out_8071961880976414619[7] = 0;
out_8071961880976414619[8] = 0;
out_8071961880976414619[9] = 0;
out_8071961880976414619[10] = 0;
out_8071961880976414619[11] = 0;
out_8071961880976414619[12] = 1;
out_8071961880976414619[13] = 0;
out_8071961880976414619[14] = 0;
out_8071961880976414619[15] = dt;
out_8071961880976414619[16] = 0;
out_8071961880976414619[17] = 0;
out_8071961880976414619[18] = 0;
out_8071961880976414619[19] = 0;
out_8071961880976414619[20] = 0;
out_8071961880976414619[21] = 0;
out_8071961880976414619[22] = 0;
out_8071961880976414619[23] = 0;
out_8071961880976414619[24] = 1;
out_8071961880976414619[25] = 0;
out_8071961880976414619[26] = 0;
out_8071961880976414619[27] = dt;
out_8071961880976414619[28] = 0;
out_8071961880976414619[29] = 0;
out_8071961880976414619[30] = 0;
out_8071961880976414619[31] = 0;
out_8071961880976414619[32] = 0;
out_8071961880976414619[33] = 0;
out_8071961880976414619[34] = 0;
out_8071961880976414619[35] = 0;
out_8071961880976414619[36] = 1;
out_8071961880976414619[37] = 0;
out_8071961880976414619[38] = 0;
out_8071961880976414619[39] = 0;
out_8071961880976414619[40] = 0;
out_8071961880976414619[41] = 0;
out_8071961880976414619[42] = 0;
out_8071961880976414619[43] = 0;
out_8071961880976414619[44] = 0;
out_8071961880976414619[45] = 0;
out_8071961880976414619[46] = 0;
out_8071961880976414619[47] = 0;
out_8071961880976414619[48] = 1;
out_8071961880976414619[49] = 0;
out_8071961880976414619[50] = 0;
out_8071961880976414619[51] = 0;
out_8071961880976414619[52] = 0;
out_8071961880976414619[53] = 0;
out_8071961880976414619[54] = 0;
out_8071961880976414619[55] = 0;
out_8071961880976414619[56] = 0;
out_8071961880976414619[57] = 0;
out_8071961880976414619[58] = 0;
out_8071961880976414619[59] = 0;
out_8071961880976414619[60] = 1;
out_8071961880976414619[61] = 0;
out_8071961880976414619[62] = 0;
out_8071961880976414619[63] = 0;
out_8071961880976414619[64] = 0;
out_8071961880976414619[65] = 0;
out_8071961880976414619[66] = 0;
out_8071961880976414619[67] = 0;
out_8071961880976414619[68] = 0;
out_8071961880976414619[69] = 0;
out_8071961880976414619[70] = 0;
out_8071961880976414619[71] = 0;
out_8071961880976414619[72] = 1;
out_8071961880976414619[73] = dt;
out_8071961880976414619[74] = 0;
out_8071961880976414619[75] = 0;
out_8071961880976414619[76] = 0;
out_8071961880976414619[77] = 0;
out_8071961880976414619[78] = 0;
out_8071961880976414619[79] = 0;
out_8071961880976414619[80] = 0;
out_8071961880976414619[81] = 0;
out_8071961880976414619[82] = 0;
out_8071961880976414619[83] = 0;
out_8071961880976414619[84] = 1;
out_8071961880976414619[85] = dt;
out_8071961880976414619[86] = 0;
out_8071961880976414619[87] = 0;
out_8071961880976414619[88] = 0;
out_8071961880976414619[89] = 0;
out_8071961880976414619[90] = 0;
out_8071961880976414619[91] = 0;
out_8071961880976414619[92] = 0;
out_8071961880976414619[93] = 0;
out_8071961880976414619[94] = 0;
out_8071961880976414619[95] = 0;
out_8071961880976414619[96] = 1;
out_8071961880976414619[97] = 0;
out_8071961880976414619[98] = 0;
out_8071961880976414619[99] = 0;
out_8071961880976414619[100] = 0;
out_8071961880976414619[101] = 0;
out_8071961880976414619[102] = 0;
out_8071961880976414619[103] = 0;
out_8071961880976414619[104] = 0;
out_8071961880976414619[105] = 0;
out_8071961880976414619[106] = 0;
out_8071961880976414619[107] = 0;
out_8071961880976414619[108] = 1;
out_8071961880976414619[109] = 0;
out_8071961880976414619[110] = 0;
out_8071961880976414619[111] = 0;
out_8071961880976414619[112] = 0;
out_8071961880976414619[113] = 0;
out_8071961880976414619[114] = 0;
out_8071961880976414619[115] = 0;
out_8071961880976414619[116] = 0;
out_8071961880976414619[117] = 0;
out_8071961880976414619[118] = 0;
out_8071961880976414619[119] = 0;
out_8071961880976414619[120] = 1;
}
void h_6(double *state, double *sat_pos, double *out_7567908033892933921) {
out_7567908033892933921[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6];
void h_6(double *state, double *sat_pos, double *out_3924727623087114070) {
out_3924727623087114070[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6];
}
void H_6(double *state, double *sat_pos, double *out_7455993273502557413) {
out_7455993273502557413[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_7455993273502557413[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_7455993273502557413[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_7455993273502557413[3] = 0;
out_7455993273502557413[4] = 0;
out_7455993273502557413[5] = 0;
out_7455993273502557413[6] = 1;
out_7455993273502557413[7] = 0;
out_7455993273502557413[8] = 0;
out_7455993273502557413[9] = 0;
out_7455993273502557413[10] = 0;
void H_6(double *state, double *sat_pos, double *out_3168437365824362595) {
out_3168437365824362595[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_3168437365824362595[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_3168437365824362595[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_3168437365824362595[3] = 0;
out_3168437365824362595[4] = 0;
out_3168437365824362595[5] = 0;
out_3168437365824362595[6] = 1;
out_3168437365824362595[7] = 0;
out_3168437365824362595[8] = 0;
out_3168437365824362595[9] = 0;
out_3168437365824362595[10] = 0;
}
void h_20(double *state, double *sat_pos, double *out_3841468768416351937) {
out_3841468768416351937[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9];
void h_20(double *state, double *sat_pos, double *out_7434817830173438872) {
out_7434817830173438872[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9];
}
void H_20(double *state, double *sat_pos, double *out_5623941665124898301) {
out_5623941665124898301[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_5623941665124898301[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_5623941665124898301[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_5623941665124898301[3] = 0;
out_5623941665124898301[4] = 0;
out_5623941665124898301[5] = 0;
out_5623941665124898301[6] = 1;
out_5623941665124898301[7] = 0;
out_5623941665124898301[8] = 0;
out_5623941665124898301[9] = 1;
out_5623941665124898301[10] = sat_pos[3];
void H_20(double *state, double *sat_pos, double *out_7560749815445785198) {
out_7560749815445785198[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_7560749815445785198[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_7560749815445785198[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_7560749815445785198[3] = 0;
out_7560749815445785198[4] = 0;
out_7560749815445785198[5] = 0;
out_7560749815445785198[6] = 1;
out_7560749815445785198[7] = 0;
out_7560749815445785198[8] = 0;
out_7560749815445785198[9] = 1;
out_7560749815445785198[10] = sat_pos[3];
}
void h_7(double *state, double *sat_pos_vel, double *out_1211039377275791210) {
out_1211039377275791210[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
void h_7(double *state, double *sat_pos_vel, double *out_7603906676528442007) {
out_7603906676528442007[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
}
void H_7(double *state, double *sat_pos_vel, double *out_2159917500592958723) {
out_2159917500592958723[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[6] = 0;
out_2159917500592958723[7] = 1;
out_2159917500592958723[8] = 0;
out_2159917500592958723[9] = 0;
out_2159917500592958723[10] = 0;
void H_7(double *state, double *sat_pos_vel, double *out_8038884862828261433) {
out_8038884862828261433[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[6] = 0;
out_8038884862828261433[7] = 1;
out_8038884862828261433[8] = 0;
out_8038884862828261433[9] = 0;
out_8038884862828261433[10] = 0;
}
void h_21(double *state, double *sat_pos_vel, double *out_1211039377275791210) {
out_1211039377275791210[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
void h_21(double *state, double *sat_pos_vel, double *out_7603906676528442007) {
out_7603906676528442007[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
}
void H_21(double *state, double *sat_pos_vel, double *out_2159917500592958723) {
out_2159917500592958723[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_2159917500592958723[6] = 0;
out_2159917500592958723[7] = 1;
out_2159917500592958723[8] = 0;
out_2159917500592958723[9] = 0;
out_2159917500592958723[10] = 0;
void H_21(double *state, double *sat_pos_vel, double *out_8038884862828261433) {
out_8038884862828261433[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_8038884862828261433[6] = 0;
out_8038884862828261433[7] = 1;
out_8038884862828261433[8] = 0;
out_8038884862828261433[9] = 0;
out_8038884862828261433[10] = 0;
}
#include <eigen3/Eigen/Dense>
#include <iostream>
@@ -506,44 +506,44 @@ void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_21, H_21, NULL, in_z, in_R, in_ea, MAHA_THRESH_21);
}
void gnss_err_fun(double *nom_x, double *delta_x, double *out_1734633203049768488) {
err_fun(nom_x, delta_x, out_1734633203049768488);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_6740791193231733360) {
err_fun(nom_x, delta_x, out_6740791193231733360);
}
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_7226800202829737504) {
inv_err_fun(nom_x, true_x, out_7226800202829737504);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_5435998030533772419) {
inv_err_fun(nom_x, true_x, out_5435998030533772419);
}
void gnss_H_mod_fun(double *state, double *out_7212715412967761026) {
H_mod_fun(state, out_7212715412967761026);
void gnss_H_mod_fun(double *state, double *out_8750904480143678209) {
H_mod_fun(state, out_8750904480143678209);
}
void gnss_f_fun(double *state, double dt, double *out_4622219999608348212) {
f_fun(state, dt, out_4622219999608348212);
void gnss_f_fun(double *state, double dt, double *out_571033032076185663) {
f_fun(state, dt, out_571033032076185663);
}
void gnss_F_fun(double *state, double dt, double *out_1489675256084431222) {
F_fun(state, dt, out_1489675256084431222);
void gnss_F_fun(double *state, double dt, double *out_8071961880976414619) {
F_fun(state, dt, out_8071961880976414619);
}
void gnss_h_6(double *state, double *sat_pos, double *out_7567908033892933921) {
h_6(state, sat_pos, out_7567908033892933921);
void gnss_h_6(double *state, double *sat_pos, double *out_3924727623087114070) {
h_6(state, sat_pos, out_3924727623087114070);
}
void gnss_H_6(double *state, double *sat_pos, double *out_7455993273502557413) {
H_6(state, sat_pos, out_7455993273502557413);
void gnss_H_6(double *state, double *sat_pos, double *out_3168437365824362595) {
H_6(state, sat_pos, out_3168437365824362595);
}
void gnss_h_20(double *state, double *sat_pos, double *out_3841468768416351937) {
h_20(state, sat_pos, out_3841468768416351937);
void gnss_h_20(double *state, double *sat_pos, double *out_7434817830173438872) {
h_20(state, sat_pos, out_7434817830173438872);
}
void gnss_H_20(double *state, double *sat_pos, double *out_5623941665124898301) {
H_20(state, sat_pos, out_5623941665124898301);
void gnss_H_20(double *state, double *sat_pos, double *out_7560749815445785198) {
H_20(state, sat_pos, out_7560749815445785198);
}
void gnss_h_7(double *state, double *sat_pos_vel, double *out_1211039377275791210) {
h_7(state, sat_pos_vel, out_1211039377275791210);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_7603906676528442007) {
h_7(state, sat_pos_vel, out_7603906676528442007);
}
void gnss_H_7(double *state, double *sat_pos_vel, double *out_2159917500592958723) {
H_7(state, sat_pos_vel, out_2159917500592958723);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_8038884862828261433) {
H_7(state, sat_pos_vel, out_8038884862828261433);
}
void gnss_h_21(double *state, double *sat_pos_vel, double *out_1211039377275791210) {
h_21(state, sat_pos_vel, out_1211039377275791210);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_7603906676528442007) {
h_21(state, sat_pos_vel, out_7603906676528442007);
}
void gnss_H_21(double *state, double *sat_pos_vel, double *out_2159917500592958723) {
H_21(state, sat_pos_vel, out_2159917500592958723);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_8038884862828261433) {
H_21(state, sat_pos_vel, out_8038884862828261433);
}
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);