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dragonpilot 2023-02-07T02:56:39 for EON/C2

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version: dragonpilot v0.9.1 beta for EON/C2
date: 2023-02-07T02:56:39
dp-dev(priv2) master commit: 459790d03b790e5f3a8cff18710ac4d44841a16a
This commit is contained in:
Dragonpilot Team
2023-02-07 02:48:45 +00:00
committed by Comma Device
parent 1f2e3aa8b6
commit 8555e48fc9
79 changed files with 6825 additions and 3185 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_2351947283659598660) {
out_2351947283659598660[0] = delta_x[0] + nom_x[0];
out_2351947283659598660[1] = delta_x[1] + nom_x[1];
out_2351947283659598660[2] = delta_x[2] + nom_x[2];
out_2351947283659598660[3] = delta_x[3] + nom_x[3];
out_2351947283659598660[4] = delta_x[4] + nom_x[4];
out_2351947283659598660[5] = delta_x[5] + nom_x[5];
out_2351947283659598660[6] = delta_x[6] + nom_x[6];
out_2351947283659598660[7] = delta_x[7] + nom_x[7];
out_2351947283659598660[8] = delta_x[8] + nom_x[8];
out_2351947283659598660[9] = delta_x[9] + nom_x[9];
out_2351947283659598660[10] = delta_x[10] + nom_x[10];
void err_fun(double *nom_x, double *delta_x, double *out_4281415265925619745) {
out_4281415265925619745[0] = delta_x[0] + nom_x[0];
out_4281415265925619745[1] = delta_x[1] + nom_x[1];
out_4281415265925619745[2] = delta_x[2] + nom_x[2];
out_4281415265925619745[3] = delta_x[3] + nom_x[3];
out_4281415265925619745[4] = delta_x[4] + nom_x[4];
out_4281415265925619745[5] = delta_x[5] + nom_x[5];
out_4281415265925619745[6] = delta_x[6] + nom_x[6];
out_4281415265925619745[7] = delta_x[7] + nom_x[7];
out_4281415265925619745[8] = delta_x[8] + nom_x[8];
out_4281415265925619745[9] = delta_x[9] + nom_x[9];
out_4281415265925619745[10] = delta_x[10] + nom_x[10];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_8539310053726918653) {
out_8539310053726918653[0] = -nom_x[0] + true_x[0];
out_8539310053726918653[1] = -nom_x[1] + true_x[1];
out_8539310053726918653[2] = -nom_x[2] + true_x[2];
out_8539310053726918653[3] = -nom_x[3] + true_x[3];
out_8539310053726918653[4] = -nom_x[4] + true_x[4];
out_8539310053726918653[5] = -nom_x[5] + true_x[5];
out_8539310053726918653[6] = -nom_x[6] + true_x[6];
out_8539310053726918653[7] = -nom_x[7] + true_x[7];
out_8539310053726918653[8] = -nom_x[8] + true_x[8];
out_8539310053726918653[9] = -nom_x[9] + true_x[9];
out_8539310053726918653[10] = -nom_x[10] + true_x[10];
void inv_err_fun(double *nom_x, double *true_x, double *out_8058048663833159220) {
out_8058048663833159220[0] = -nom_x[0] + true_x[0];
out_8058048663833159220[1] = -nom_x[1] + true_x[1];
out_8058048663833159220[2] = -nom_x[2] + true_x[2];
out_8058048663833159220[3] = -nom_x[3] + true_x[3];
out_8058048663833159220[4] = -nom_x[4] + true_x[4];
out_8058048663833159220[5] = -nom_x[5] + true_x[5];
out_8058048663833159220[6] = -nom_x[6] + true_x[6];
out_8058048663833159220[7] = -nom_x[7] + true_x[7];
out_8058048663833159220[8] = -nom_x[8] + true_x[8];
out_8058048663833159220[9] = -nom_x[9] + true_x[9];
out_8058048663833159220[10] = -nom_x[10] + true_x[10];
}
void H_mod_fun(double *state, double *out_2843304307356815987) {
out_2843304307356815987[0] = 1.0;
out_2843304307356815987[1] = 0;
out_2843304307356815987[2] = 0;
out_2843304307356815987[3] = 0;
out_2843304307356815987[4] = 0;
out_2843304307356815987[5] = 0;
out_2843304307356815987[6] = 0;
out_2843304307356815987[7] = 0;
out_2843304307356815987[8] = 0;
out_2843304307356815987[9] = 0;
out_2843304307356815987[10] = 0;
out_2843304307356815987[11] = 0;
out_2843304307356815987[12] = 1.0;
out_2843304307356815987[13] = 0;
out_2843304307356815987[14] = 0;
out_2843304307356815987[15] = 0;
out_2843304307356815987[16] = 0;
out_2843304307356815987[17] = 0;
out_2843304307356815987[18] = 0;
out_2843304307356815987[19] = 0;
out_2843304307356815987[20] = 0;
out_2843304307356815987[21] = 0;
out_2843304307356815987[22] = 0;
out_2843304307356815987[23] = 0;
out_2843304307356815987[24] = 1.0;
out_2843304307356815987[25] = 0;
out_2843304307356815987[26] = 0;
out_2843304307356815987[27] = 0;
out_2843304307356815987[28] = 0;
out_2843304307356815987[29] = 0;
out_2843304307356815987[30] = 0;
out_2843304307356815987[31] = 0;
out_2843304307356815987[32] = 0;
out_2843304307356815987[33] = 0;
out_2843304307356815987[34] = 0;
out_2843304307356815987[35] = 0;
out_2843304307356815987[36] = 1.0;
out_2843304307356815987[37] = 0;
out_2843304307356815987[38] = 0;
out_2843304307356815987[39] = 0;
out_2843304307356815987[40] = 0;
out_2843304307356815987[41] = 0;
out_2843304307356815987[42] = 0;
out_2843304307356815987[43] = 0;
out_2843304307356815987[44] = 0;
out_2843304307356815987[45] = 0;
out_2843304307356815987[46] = 0;
out_2843304307356815987[47] = 0;
out_2843304307356815987[48] = 1.0;
out_2843304307356815987[49] = 0;
out_2843304307356815987[50] = 0;
out_2843304307356815987[51] = 0;
out_2843304307356815987[52] = 0;
out_2843304307356815987[53] = 0;
out_2843304307356815987[54] = 0;
out_2843304307356815987[55] = 0;
out_2843304307356815987[56] = 0;
out_2843304307356815987[57] = 0;
out_2843304307356815987[58] = 0;
out_2843304307356815987[59] = 0;
out_2843304307356815987[60] = 1.0;
out_2843304307356815987[61] = 0;
out_2843304307356815987[62] = 0;
out_2843304307356815987[63] = 0;
out_2843304307356815987[64] = 0;
out_2843304307356815987[65] = 0;
out_2843304307356815987[66] = 0;
out_2843304307356815987[67] = 0;
out_2843304307356815987[68] = 0;
out_2843304307356815987[69] = 0;
out_2843304307356815987[70] = 0;
out_2843304307356815987[71] = 0;
out_2843304307356815987[72] = 1.0;
out_2843304307356815987[73] = 0;
out_2843304307356815987[74] = 0;
out_2843304307356815987[75] = 0;
out_2843304307356815987[76] = 0;
out_2843304307356815987[77] = 0;
out_2843304307356815987[78] = 0;
out_2843304307356815987[79] = 0;
out_2843304307356815987[80] = 0;
out_2843304307356815987[81] = 0;
out_2843304307356815987[82] = 0;
out_2843304307356815987[83] = 0;
out_2843304307356815987[84] = 1.0;
out_2843304307356815987[85] = 0;
out_2843304307356815987[86] = 0;
out_2843304307356815987[87] = 0;
out_2843304307356815987[88] = 0;
out_2843304307356815987[89] = 0;
out_2843304307356815987[90] = 0;
out_2843304307356815987[91] = 0;
out_2843304307356815987[92] = 0;
out_2843304307356815987[93] = 0;
out_2843304307356815987[94] = 0;
out_2843304307356815987[95] = 0;
out_2843304307356815987[96] = 1.0;
out_2843304307356815987[97] = 0;
out_2843304307356815987[98] = 0;
out_2843304307356815987[99] = 0;
out_2843304307356815987[100] = 0;
out_2843304307356815987[101] = 0;
out_2843304307356815987[102] = 0;
out_2843304307356815987[103] = 0;
out_2843304307356815987[104] = 0;
out_2843304307356815987[105] = 0;
out_2843304307356815987[106] = 0;
out_2843304307356815987[107] = 0;
out_2843304307356815987[108] = 1.0;
out_2843304307356815987[109] = 0;
out_2843304307356815987[110] = 0;
out_2843304307356815987[111] = 0;
out_2843304307356815987[112] = 0;
out_2843304307356815987[113] = 0;
out_2843304307356815987[114] = 0;
out_2843304307356815987[115] = 0;
out_2843304307356815987[116] = 0;
out_2843304307356815987[117] = 0;
out_2843304307356815987[118] = 0;
out_2843304307356815987[119] = 0;
out_2843304307356815987[120] = 1.0;
void H_mod_fun(double *state, double *out_3690945488544052836) {
out_3690945488544052836[0] = 1.0;
out_3690945488544052836[1] = 0;
out_3690945488544052836[2] = 0;
out_3690945488544052836[3] = 0;
out_3690945488544052836[4] = 0;
out_3690945488544052836[5] = 0;
out_3690945488544052836[6] = 0;
out_3690945488544052836[7] = 0;
out_3690945488544052836[8] = 0;
out_3690945488544052836[9] = 0;
out_3690945488544052836[10] = 0;
out_3690945488544052836[11] = 0;
out_3690945488544052836[12] = 1.0;
out_3690945488544052836[13] = 0;
out_3690945488544052836[14] = 0;
out_3690945488544052836[15] = 0;
out_3690945488544052836[16] = 0;
out_3690945488544052836[17] = 0;
out_3690945488544052836[18] = 0;
out_3690945488544052836[19] = 0;
out_3690945488544052836[20] = 0;
out_3690945488544052836[21] = 0;
out_3690945488544052836[22] = 0;
out_3690945488544052836[23] = 0;
out_3690945488544052836[24] = 1.0;
out_3690945488544052836[25] = 0;
out_3690945488544052836[26] = 0;
out_3690945488544052836[27] = 0;
out_3690945488544052836[28] = 0;
out_3690945488544052836[29] = 0;
out_3690945488544052836[30] = 0;
out_3690945488544052836[31] = 0;
out_3690945488544052836[32] = 0;
out_3690945488544052836[33] = 0;
out_3690945488544052836[34] = 0;
out_3690945488544052836[35] = 0;
out_3690945488544052836[36] = 1.0;
out_3690945488544052836[37] = 0;
out_3690945488544052836[38] = 0;
out_3690945488544052836[39] = 0;
out_3690945488544052836[40] = 0;
out_3690945488544052836[41] = 0;
out_3690945488544052836[42] = 0;
out_3690945488544052836[43] = 0;
out_3690945488544052836[44] = 0;
out_3690945488544052836[45] = 0;
out_3690945488544052836[46] = 0;
out_3690945488544052836[47] = 0;
out_3690945488544052836[48] = 1.0;
out_3690945488544052836[49] = 0;
out_3690945488544052836[50] = 0;
out_3690945488544052836[51] = 0;
out_3690945488544052836[52] = 0;
out_3690945488544052836[53] = 0;
out_3690945488544052836[54] = 0;
out_3690945488544052836[55] = 0;
out_3690945488544052836[56] = 0;
out_3690945488544052836[57] = 0;
out_3690945488544052836[58] = 0;
out_3690945488544052836[59] = 0;
out_3690945488544052836[60] = 1.0;
out_3690945488544052836[61] = 0;
out_3690945488544052836[62] = 0;
out_3690945488544052836[63] = 0;
out_3690945488544052836[64] = 0;
out_3690945488544052836[65] = 0;
out_3690945488544052836[66] = 0;
out_3690945488544052836[67] = 0;
out_3690945488544052836[68] = 0;
out_3690945488544052836[69] = 0;
out_3690945488544052836[70] = 0;
out_3690945488544052836[71] = 0;
out_3690945488544052836[72] = 1.0;
out_3690945488544052836[73] = 0;
out_3690945488544052836[74] = 0;
out_3690945488544052836[75] = 0;
out_3690945488544052836[76] = 0;
out_3690945488544052836[77] = 0;
out_3690945488544052836[78] = 0;
out_3690945488544052836[79] = 0;
out_3690945488544052836[80] = 0;
out_3690945488544052836[81] = 0;
out_3690945488544052836[82] = 0;
out_3690945488544052836[83] = 0;
out_3690945488544052836[84] = 1.0;
out_3690945488544052836[85] = 0;
out_3690945488544052836[86] = 0;
out_3690945488544052836[87] = 0;
out_3690945488544052836[88] = 0;
out_3690945488544052836[89] = 0;
out_3690945488544052836[90] = 0;
out_3690945488544052836[91] = 0;
out_3690945488544052836[92] = 0;
out_3690945488544052836[93] = 0;
out_3690945488544052836[94] = 0;
out_3690945488544052836[95] = 0;
out_3690945488544052836[96] = 1.0;
out_3690945488544052836[97] = 0;
out_3690945488544052836[98] = 0;
out_3690945488544052836[99] = 0;
out_3690945488544052836[100] = 0;
out_3690945488544052836[101] = 0;
out_3690945488544052836[102] = 0;
out_3690945488544052836[103] = 0;
out_3690945488544052836[104] = 0;
out_3690945488544052836[105] = 0;
out_3690945488544052836[106] = 0;
out_3690945488544052836[107] = 0;
out_3690945488544052836[108] = 1.0;
out_3690945488544052836[109] = 0;
out_3690945488544052836[110] = 0;
out_3690945488544052836[111] = 0;
out_3690945488544052836[112] = 0;
out_3690945488544052836[113] = 0;
out_3690945488544052836[114] = 0;
out_3690945488544052836[115] = 0;
out_3690945488544052836[116] = 0;
out_3690945488544052836[117] = 0;
out_3690945488544052836[118] = 0;
out_3690945488544052836[119] = 0;
out_3690945488544052836[120] = 1.0;
}
void f_fun(double *state, double dt, double *out_774769938980785647) {
out_774769938980785647[0] = dt*state[3] + state[0];
out_774769938980785647[1] = dt*state[4] + state[1];
out_774769938980785647[2] = dt*state[5] + state[2];
out_774769938980785647[3] = state[3];
out_774769938980785647[4] = state[4];
out_774769938980785647[5] = state[5];
out_774769938980785647[6] = dt*state[7] + state[6];
out_774769938980785647[7] = dt*state[8] + state[7];
out_774769938980785647[8] = state[8];
out_774769938980785647[9] = state[9];
out_774769938980785647[10] = state[10];
void f_fun(double *state, double dt, double *out_2954456239899519205) {
out_2954456239899519205[0] = dt*state[3] + state[0];
out_2954456239899519205[1] = dt*state[4] + state[1];
out_2954456239899519205[2] = dt*state[5] + state[2];
out_2954456239899519205[3] = state[3];
out_2954456239899519205[4] = state[4];
out_2954456239899519205[5] = state[5];
out_2954456239899519205[6] = dt*state[7] + state[6];
out_2954456239899519205[7] = dt*state[8] + state[7];
out_2954456239899519205[8] = state[8];
out_2954456239899519205[9] = state[9];
out_2954456239899519205[10] = state[10];
}
void F_fun(double *state, double dt, double *out_4467768114936024642) {
out_4467768114936024642[0] = 1;
out_4467768114936024642[1] = 0;
out_4467768114936024642[2] = 0;
out_4467768114936024642[3] = dt;
out_4467768114936024642[4] = 0;
out_4467768114936024642[5] = 0;
out_4467768114936024642[6] = 0;
out_4467768114936024642[7] = 0;
out_4467768114936024642[8] = 0;
out_4467768114936024642[9] = 0;
out_4467768114936024642[10] = 0;
out_4467768114936024642[11] = 0;
out_4467768114936024642[12] = 1;
out_4467768114936024642[13] = 0;
out_4467768114936024642[14] = 0;
out_4467768114936024642[15] = dt;
out_4467768114936024642[16] = 0;
out_4467768114936024642[17] = 0;
out_4467768114936024642[18] = 0;
out_4467768114936024642[19] = 0;
out_4467768114936024642[20] = 0;
out_4467768114936024642[21] = 0;
out_4467768114936024642[22] = 0;
out_4467768114936024642[23] = 0;
out_4467768114936024642[24] = 1;
out_4467768114936024642[25] = 0;
out_4467768114936024642[26] = 0;
out_4467768114936024642[27] = dt;
out_4467768114936024642[28] = 0;
out_4467768114936024642[29] = 0;
out_4467768114936024642[30] = 0;
out_4467768114936024642[31] = 0;
out_4467768114936024642[32] = 0;
out_4467768114936024642[33] = 0;
out_4467768114936024642[34] = 0;
out_4467768114936024642[35] = 0;
out_4467768114936024642[36] = 1;
out_4467768114936024642[37] = 0;
out_4467768114936024642[38] = 0;
out_4467768114936024642[39] = 0;
out_4467768114936024642[40] = 0;
out_4467768114936024642[41] = 0;
out_4467768114936024642[42] = 0;
out_4467768114936024642[43] = 0;
out_4467768114936024642[44] = 0;
out_4467768114936024642[45] = 0;
out_4467768114936024642[46] = 0;
out_4467768114936024642[47] = 0;
out_4467768114936024642[48] = 1;
out_4467768114936024642[49] = 0;
out_4467768114936024642[50] = 0;
out_4467768114936024642[51] = 0;
out_4467768114936024642[52] = 0;
out_4467768114936024642[53] = 0;
out_4467768114936024642[54] = 0;
out_4467768114936024642[55] = 0;
out_4467768114936024642[56] = 0;
out_4467768114936024642[57] = 0;
out_4467768114936024642[58] = 0;
out_4467768114936024642[59] = 0;
out_4467768114936024642[60] = 1;
out_4467768114936024642[61] = 0;
out_4467768114936024642[62] = 0;
out_4467768114936024642[63] = 0;
out_4467768114936024642[64] = 0;
out_4467768114936024642[65] = 0;
out_4467768114936024642[66] = 0;
out_4467768114936024642[67] = 0;
out_4467768114936024642[68] = 0;
out_4467768114936024642[69] = 0;
out_4467768114936024642[70] = 0;
out_4467768114936024642[71] = 0;
out_4467768114936024642[72] = 1;
out_4467768114936024642[73] = dt;
out_4467768114936024642[74] = 0;
out_4467768114936024642[75] = 0;
out_4467768114936024642[76] = 0;
out_4467768114936024642[77] = 0;
out_4467768114936024642[78] = 0;
out_4467768114936024642[79] = 0;
out_4467768114936024642[80] = 0;
out_4467768114936024642[81] = 0;
out_4467768114936024642[82] = 0;
out_4467768114936024642[83] = 0;
out_4467768114936024642[84] = 1;
out_4467768114936024642[85] = dt;
out_4467768114936024642[86] = 0;
out_4467768114936024642[87] = 0;
out_4467768114936024642[88] = 0;
out_4467768114936024642[89] = 0;
out_4467768114936024642[90] = 0;
out_4467768114936024642[91] = 0;
out_4467768114936024642[92] = 0;
out_4467768114936024642[93] = 0;
out_4467768114936024642[94] = 0;
out_4467768114936024642[95] = 0;
out_4467768114936024642[96] = 1;
out_4467768114936024642[97] = 0;
out_4467768114936024642[98] = 0;
out_4467768114936024642[99] = 0;
out_4467768114936024642[100] = 0;
out_4467768114936024642[101] = 0;
out_4467768114936024642[102] = 0;
out_4467768114936024642[103] = 0;
out_4467768114936024642[104] = 0;
out_4467768114936024642[105] = 0;
out_4467768114936024642[106] = 0;
out_4467768114936024642[107] = 0;
out_4467768114936024642[108] = 1;
out_4467768114936024642[109] = 0;
out_4467768114936024642[110] = 0;
out_4467768114936024642[111] = 0;
out_4467768114936024642[112] = 0;
out_4467768114936024642[113] = 0;
out_4467768114936024642[114] = 0;
out_4467768114936024642[115] = 0;
out_4467768114936024642[116] = 0;
out_4467768114936024642[117] = 0;
out_4467768114936024642[118] = 0;
out_4467768114936024642[119] = 0;
out_4467768114936024642[120] = 1;
void F_fun(double *state, double dt, double *out_709514566261682476) {
out_709514566261682476[0] = 1;
out_709514566261682476[1] = 0;
out_709514566261682476[2] = 0;
out_709514566261682476[3] = dt;
out_709514566261682476[4] = 0;
out_709514566261682476[5] = 0;
out_709514566261682476[6] = 0;
out_709514566261682476[7] = 0;
out_709514566261682476[8] = 0;
out_709514566261682476[9] = 0;
out_709514566261682476[10] = 0;
out_709514566261682476[11] = 0;
out_709514566261682476[12] = 1;
out_709514566261682476[13] = 0;
out_709514566261682476[14] = 0;
out_709514566261682476[15] = dt;
out_709514566261682476[16] = 0;
out_709514566261682476[17] = 0;
out_709514566261682476[18] = 0;
out_709514566261682476[19] = 0;
out_709514566261682476[20] = 0;
out_709514566261682476[21] = 0;
out_709514566261682476[22] = 0;
out_709514566261682476[23] = 0;
out_709514566261682476[24] = 1;
out_709514566261682476[25] = 0;
out_709514566261682476[26] = 0;
out_709514566261682476[27] = dt;
out_709514566261682476[28] = 0;
out_709514566261682476[29] = 0;
out_709514566261682476[30] = 0;
out_709514566261682476[31] = 0;
out_709514566261682476[32] = 0;
out_709514566261682476[33] = 0;
out_709514566261682476[34] = 0;
out_709514566261682476[35] = 0;
out_709514566261682476[36] = 1;
out_709514566261682476[37] = 0;
out_709514566261682476[38] = 0;
out_709514566261682476[39] = 0;
out_709514566261682476[40] = 0;
out_709514566261682476[41] = 0;
out_709514566261682476[42] = 0;
out_709514566261682476[43] = 0;
out_709514566261682476[44] = 0;
out_709514566261682476[45] = 0;
out_709514566261682476[46] = 0;
out_709514566261682476[47] = 0;
out_709514566261682476[48] = 1;
out_709514566261682476[49] = 0;
out_709514566261682476[50] = 0;
out_709514566261682476[51] = 0;
out_709514566261682476[52] = 0;
out_709514566261682476[53] = 0;
out_709514566261682476[54] = 0;
out_709514566261682476[55] = 0;
out_709514566261682476[56] = 0;
out_709514566261682476[57] = 0;
out_709514566261682476[58] = 0;
out_709514566261682476[59] = 0;
out_709514566261682476[60] = 1;
out_709514566261682476[61] = 0;
out_709514566261682476[62] = 0;
out_709514566261682476[63] = 0;
out_709514566261682476[64] = 0;
out_709514566261682476[65] = 0;
out_709514566261682476[66] = 0;
out_709514566261682476[67] = 0;
out_709514566261682476[68] = 0;
out_709514566261682476[69] = 0;
out_709514566261682476[70] = 0;
out_709514566261682476[71] = 0;
out_709514566261682476[72] = 1;
out_709514566261682476[73] = dt;
out_709514566261682476[74] = 0;
out_709514566261682476[75] = 0;
out_709514566261682476[76] = 0;
out_709514566261682476[77] = 0;
out_709514566261682476[78] = 0;
out_709514566261682476[79] = 0;
out_709514566261682476[80] = 0;
out_709514566261682476[81] = 0;
out_709514566261682476[82] = 0;
out_709514566261682476[83] = 0;
out_709514566261682476[84] = 1;
out_709514566261682476[85] = dt;
out_709514566261682476[86] = 0;
out_709514566261682476[87] = 0;
out_709514566261682476[88] = 0;
out_709514566261682476[89] = 0;
out_709514566261682476[90] = 0;
out_709514566261682476[91] = 0;
out_709514566261682476[92] = 0;
out_709514566261682476[93] = 0;
out_709514566261682476[94] = 0;
out_709514566261682476[95] = 0;
out_709514566261682476[96] = 1;
out_709514566261682476[97] = 0;
out_709514566261682476[98] = 0;
out_709514566261682476[99] = 0;
out_709514566261682476[100] = 0;
out_709514566261682476[101] = 0;
out_709514566261682476[102] = 0;
out_709514566261682476[103] = 0;
out_709514566261682476[104] = 0;
out_709514566261682476[105] = 0;
out_709514566261682476[106] = 0;
out_709514566261682476[107] = 0;
out_709514566261682476[108] = 1;
out_709514566261682476[109] = 0;
out_709514566261682476[110] = 0;
out_709514566261682476[111] = 0;
out_709514566261682476[112] = 0;
out_709514566261682476[113] = 0;
out_709514566261682476[114] = 0;
out_709514566261682476[115] = 0;
out_709514566261682476[116] = 0;
out_709514566261682476[117] = 0;
out_709514566261682476[118] = 0;
out_709514566261682476[119] = 0;
out_709514566261682476[120] = 1;
}
void h_6(double *state, double *sat_pos, double *out_8206867657584711155) {
out_8206867657584711155[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_2648966289655583926) {
out_2648966289655583926[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_2748205046550560630) {
out_2748205046550560630[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_2748205046550560630[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_2748205046550560630[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_2748205046550560630[3] = 0;
out_2748205046550560630[4] = 0;
out_2748205046550560630[5] = 0;
out_2748205046550560630[6] = 1;
out_2748205046550560630[7] = 0;
out_2748205046550560630[8] = 0;
out_2748205046550560630[9] = 0;
out_2748205046550560630[10] = 0;
void H_6(double *state, double *sat_pos, double *out_1516634108393932450) {
out_1516634108393932450[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_1516634108393932450[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_1516634108393932450[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_1516634108393932450[3] = 0;
out_1516634108393932450[4] = 0;
out_1516634108393932450[5] = 0;
out_1516634108393932450[6] = 1;
out_1516634108393932450[7] = 0;
out_1516634108393932450[8] = 0;
out_1516634108393932450[9] = 0;
out_1516634108393932450[10] = 0;
}
void h_20(double *state, double *sat_pos, double *out_3144072620339266513) {
out_3144072620339266513[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_1322673160422067744) {
out_1322673160422067744[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_8303647801952025828) {
out_8303647801952025828[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_8303647801952025828[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_8303647801952025828[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_8303647801952025828[3] = 0;
out_8303647801952025828[4] = 0;
out_8303647801952025828[5] = 0;
out_8303647801952025828[6] = 1;
out_8303647801952025828[7] = 0;
out_8303647801952025828[8] = 0;
out_8303647801952025828[9] = 1;
out_8303647801952025828[10] = sat_pos[3];
void H_20(double *state, double *sat_pos, double *out_6746823634573947585) {
out_6746823634573947585[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_6746823634573947585[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_6746823634573947585[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_6746823634573947585[3] = 0;
out_6746823634573947585[4] = 0;
out_6746823634573947585[5] = 0;
out_6746823634573947585[6] = 1;
out_6746823634573947585[7] = 0;
out_6746823634573947585[8] = 0;
out_6746823634573947585[9] = 1;
out_6746823634573947585[10] = sat_pos[3];
}
void h_7(double *state, double *sat_pos_vel, double *out_7730590468597126339) {
out_7730590468597126339[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_3768133833178917308) {
out_3768133833178917308[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_1168235388167943403) {
out_1168235388167943403[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_1168235388167943403[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_1168235388167943403[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_1168235388167943403[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_1168235388167943403[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_1168235388167943403[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_1168235388167943403[6] = 0;
out_1168235388167943403[7] = 1;
out_1168235388167943403[8] = 0;
out_1168235388167943403[9] = 0;
out_1168235388167943403[10] = 0;
void H_7(double *state, double *sat_pos_vel, double *out_6978532755514735815) {
out_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[6] = 0;
out_6978532755514735815[7] = 1;
out_6978532755514735815[8] = 0;
out_6978532755514735815[9] = 0;
out_6978532755514735815[10] = 0;
}
void h_21(double *state, double *sat_pos_vel, double *out_7730590468597126339) {
out_7730590468597126339[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_3768133833178917308) {
out_3768133833178917308[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_1168235388167943403) {
out_1168235388167943403[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_1168235388167943403[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_1168235388167943403[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_1168235388167943403[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_1168235388167943403[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_1168235388167943403[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_1168235388167943403[6] = 0;
out_1168235388167943403[7] = 1;
out_1168235388167943403[8] = 0;
out_1168235388167943403[9] = 0;
out_1168235388167943403[10] = 0;
void H_21(double *state, double *sat_pos_vel, double *out_6978532755514735815) {
out_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[6] = 0;
out_6978532755514735815[7] = 1;
out_6978532755514735815[8] = 0;
out_6978532755514735815[9] = 0;
out_6978532755514735815[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_2351947283659598660) {
err_fun(nom_x, delta_x, out_2351947283659598660);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_4281415265925619745) {
err_fun(nom_x, delta_x, out_4281415265925619745);
}
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_8539310053726918653) {
inv_err_fun(nom_x, true_x, out_8539310053726918653);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_8058048663833159220) {
inv_err_fun(nom_x, true_x, out_8058048663833159220);
}
void gnss_H_mod_fun(double *state, double *out_2843304307356815987) {
H_mod_fun(state, out_2843304307356815987);
void gnss_H_mod_fun(double *state, double *out_3690945488544052836) {
H_mod_fun(state, out_3690945488544052836);
}
void gnss_f_fun(double *state, double dt, double *out_774769938980785647) {
f_fun(state, dt, out_774769938980785647);
void gnss_f_fun(double *state, double dt, double *out_2954456239899519205) {
f_fun(state, dt, out_2954456239899519205);
}
void gnss_F_fun(double *state, double dt, double *out_4467768114936024642) {
F_fun(state, dt, out_4467768114936024642);
void gnss_F_fun(double *state, double dt, double *out_709514566261682476) {
F_fun(state, dt, out_709514566261682476);
}
void gnss_h_6(double *state, double *sat_pos, double *out_8206867657584711155) {
h_6(state, sat_pos, out_8206867657584711155);
void gnss_h_6(double *state, double *sat_pos, double *out_2648966289655583926) {
h_6(state, sat_pos, out_2648966289655583926);
}
void gnss_H_6(double *state, double *sat_pos, double *out_2748205046550560630) {
H_6(state, sat_pos, out_2748205046550560630);
void gnss_H_6(double *state, double *sat_pos, double *out_1516634108393932450) {
H_6(state, sat_pos, out_1516634108393932450);
}
void gnss_h_20(double *state, double *sat_pos, double *out_3144072620339266513) {
h_20(state, sat_pos, out_3144072620339266513);
void gnss_h_20(double *state, double *sat_pos, double *out_1322673160422067744) {
h_20(state, sat_pos, out_1322673160422067744);
}
void gnss_H_20(double *state, double *sat_pos, double *out_8303647801952025828) {
H_20(state, sat_pos, out_8303647801952025828);
void gnss_H_20(double *state, double *sat_pos, double *out_6746823634573947585) {
H_20(state, sat_pos, out_6746823634573947585);
}
void gnss_h_7(double *state, double *sat_pos_vel, double *out_7730590468597126339) {
h_7(state, sat_pos_vel, out_7730590468597126339);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_3768133833178917308) {
h_7(state, sat_pos_vel, out_3768133833178917308);
}
void gnss_H_7(double *state, double *sat_pos_vel, double *out_1168235388167943403) {
H_7(state, sat_pos_vel, out_1168235388167943403);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_6978532755514735815) {
H_7(state, sat_pos_vel, out_6978532755514735815);
}
void gnss_h_21(double *state, double *sat_pos_vel, double *out_7730590468597126339) {
h_21(state, sat_pos_vel, out_7730590468597126339);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_3768133833178917308) {
h_21(state, sat_pos_vel, out_3768133833178917308);
}
void gnss_H_21(double *state, double *sat_pos_vel, double *out_1168235388167943403) {
H_21(state, sat_pos_vel, out_1168235388167943403);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_6978532755514735815) {
H_21(state, sat_pos_vel, out_6978532755514735815);
}
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);