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dragonpilot 2023-04-13T02:41:11 for EON/C2

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version: dragonpilot v0.9.2 beta for EON/C2
date: 2023-04-13T02:41:11
dp-dev(priv2) master commit: 4526e2dbd703c5d3e958825e64d5912ae452ab30
This commit is contained in:
Dragonpilot Team
2023-04-13 02:27:39 +00:00
parent ca1186a7bf
commit cf18a8fb09
51 changed files with 5596 additions and 2507 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_8218999594846759964) {
out_8218999594846759964[0] = delta_x[0] + nom_x[0];
out_8218999594846759964[1] = delta_x[1] + nom_x[1];
out_8218999594846759964[2] = delta_x[2] + nom_x[2];
out_8218999594846759964[3] = delta_x[3] + nom_x[3];
out_8218999594846759964[4] = delta_x[4] + nom_x[4];
out_8218999594846759964[5] = delta_x[5] + nom_x[5];
out_8218999594846759964[6] = delta_x[6] + nom_x[6];
out_8218999594846759964[7] = delta_x[7] + nom_x[7];
out_8218999594846759964[8] = delta_x[8] + nom_x[8];
out_8218999594846759964[9] = delta_x[9] + nom_x[9];
out_8218999594846759964[10] = delta_x[10] + nom_x[10];
void err_fun(double *nom_x, double *delta_x, double *out_9093778295671839447) {
out_9093778295671839447[0] = delta_x[0] + nom_x[0];
out_9093778295671839447[1] = delta_x[1] + nom_x[1];
out_9093778295671839447[2] = delta_x[2] + nom_x[2];
out_9093778295671839447[3] = delta_x[3] + nom_x[3];
out_9093778295671839447[4] = delta_x[4] + nom_x[4];
out_9093778295671839447[5] = delta_x[5] + nom_x[5];
out_9093778295671839447[6] = delta_x[6] + nom_x[6];
out_9093778295671839447[7] = delta_x[7] + nom_x[7];
out_9093778295671839447[8] = delta_x[8] + nom_x[8];
out_9093778295671839447[9] = delta_x[9] + nom_x[9];
out_9093778295671839447[10] = delta_x[10] + nom_x[10];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_6004490369099356165) {
out_6004490369099356165[0] = -nom_x[0] + true_x[0];
out_6004490369099356165[1] = -nom_x[1] + true_x[1];
out_6004490369099356165[2] = -nom_x[2] + true_x[2];
out_6004490369099356165[3] = -nom_x[3] + true_x[3];
out_6004490369099356165[4] = -nom_x[4] + true_x[4];
out_6004490369099356165[5] = -nom_x[5] + true_x[5];
out_6004490369099356165[6] = -nom_x[6] + true_x[6];
out_6004490369099356165[7] = -nom_x[7] + true_x[7];
out_6004490369099356165[8] = -nom_x[8] + true_x[8];
out_6004490369099356165[9] = -nom_x[9] + true_x[9];
out_6004490369099356165[10] = -nom_x[10] + true_x[10];
void inv_err_fun(double *nom_x, double *true_x, double *out_9126699124174503695) {
out_9126699124174503695[0] = -nom_x[0] + true_x[0];
out_9126699124174503695[1] = -nom_x[1] + true_x[1];
out_9126699124174503695[2] = -nom_x[2] + true_x[2];
out_9126699124174503695[3] = -nom_x[3] + true_x[3];
out_9126699124174503695[4] = -nom_x[4] + true_x[4];
out_9126699124174503695[5] = -nom_x[5] + true_x[5];
out_9126699124174503695[6] = -nom_x[6] + true_x[6];
out_9126699124174503695[7] = -nom_x[7] + true_x[7];
out_9126699124174503695[8] = -nom_x[8] + true_x[8];
out_9126699124174503695[9] = -nom_x[9] + true_x[9];
out_9126699124174503695[10] = -nom_x[10] + true_x[10];
}
void H_mod_fun(double *state, double *out_5465143194872640210) {
out_5465143194872640210[0] = 1.0;
out_5465143194872640210[1] = 0;
out_5465143194872640210[2] = 0;
out_5465143194872640210[3] = 0;
out_5465143194872640210[4] = 0;
out_5465143194872640210[5] = 0;
out_5465143194872640210[6] = 0;
out_5465143194872640210[7] = 0;
out_5465143194872640210[8] = 0;
out_5465143194872640210[9] = 0;
out_5465143194872640210[10] = 0;
out_5465143194872640210[11] = 0;
out_5465143194872640210[12] = 1.0;
out_5465143194872640210[13] = 0;
out_5465143194872640210[14] = 0;
out_5465143194872640210[15] = 0;
out_5465143194872640210[16] = 0;
out_5465143194872640210[17] = 0;
out_5465143194872640210[18] = 0;
out_5465143194872640210[19] = 0;
out_5465143194872640210[20] = 0;
out_5465143194872640210[21] = 0;
out_5465143194872640210[22] = 0;
out_5465143194872640210[23] = 0;
out_5465143194872640210[24] = 1.0;
out_5465143194872640210[25] = 0;
out_5465143194872640210[26] = 0;
out_5465143194872640210[27] = 0;
out_5465143194872640210[28] = 0;
out_5465143194872640210[29] = 0;
out_5465143194872640210[30] = 0;
out_5465143194872640210[31] = 0;
out_5465143194872640210[32] = 0;
out_5465143194872640210[33] = 0;
out_5465143194872640210[34] = 0;
out_5465143194872640210[35] = 0;
out_5465143194872640210[36] = 1.0;
out_5465143194872640210[37] = 0;
out_5465143194872640210[38] = 0;
out_5465143194872640210[39] = 0;
out_5465143194872640210[40] = 0;
out_5465143194872640210[41] = 0;
out_5465143194872640210[42] = 0;
out_5465143194872640210[43] = 0;
out_5465143194872640210[44] = 0;
out_5465143194872640210[45] = 0;
out_5465143194872640210[46] = 0;
out_5465143194872640210[47] = 0;
out_5465143194872640210[48] = 1.0;
out_5465143194872640210[49] = 0;
out_5465143194872640210[50] = 0;
out_5465143194872640210[51] = 0;
out_5465143194872640210[52] = 0;
out_5465143194872640210[53] = 0;
out_5465143194872640210[54] = 0;
out_5465143194872640210[55] = 0;
out_5465143194872640210[56] = 0;
out_5465143194872640210[57] = 0;
out_5465143194872640210[58] = 0;
out_5465143194872640210[59] = 0;
out_5465143194872640210[60] = 1.0;
out_5465143194872640210[61] = 0;
out_5465143194872640210[62] = 0;
out_5465143194872640210[63] = 0;
out_5465143194872640210[64] = 0;
out_5465143194872640210[65] = 0;
out_5465143194872640210[66] = 0;
out_5465143194872640210[67] = 0;
out_5465143194872640210[68] = 0;
out_5465143194872640210[69] = 0;
out_5465143194872640210[70] = 0;
out_5465143194872640210[71] = 0;
out_5465143194872640210[72] = 1.0;
out_5465143194872640210[73] = 0;
out_5465143194872640210[74] = 0;
out_5465143194872640210[75] = 0;
out_5465143194872640210[76] = 0;
out_5465143194872640210[77] = 0;
out_5465143194872640210[78] = 0;
out_5465143194872640210[79] = 0;
out_5465143194872640210[80] = 0;
out_5465143194872640210[81] = 0;
out_5465143194872640210[82] = 0;
out_5465143194872640210[83] = 0;
out_5465143194872640210[84] = 1.0;
out_5465143194872640210[85] = 0;
out_5465143194872640210[86] = 0;
out_5465143194872640210[87] = 0;
out_5465143194872640210[88] = 0;
out_5465143194872640210[89] = 0;
out_5465143194872640210[90] = 0;
out_5465143194872640210[91] = 0;
out_5465143194872640210[92] = 0;
out_5465143194872640210[93] = 0;
out_5465143194872640210[94] = 0;
out_5465143194872640210[95] = 0;
out_5465143194872640210[96] = 1.0;
out_5465143194872640210[97] = 0;
out_5465143194872640210[98] = 0;
out_5465143194872640210[99] = 0;
out_5465143194872640210[100] = 0;
out_5465143194872640210[101] = 0;
out_5465143194872640210[102] = 0;
out_5465143194872640210[103] = 0;
out_5465143194872640210[104] = 0;
out_5465143194872640210[105] = 0;
out_5465143194872640210[106] = 0;
out_5465143194872640210[107] = 0;
out_5465143194872640210[108] = 1.0;
out_5465143194872640210[109] = 0;
out_5465143194872640210[110] = 0;
out_5465143194872640210[111] = 0;
out_5465143194872640210[112] = 0;
out_5465143194872640210[113] = 0;
out_5465143194872640210[114] = 0;
out_5465143194872640210[115] = 0;
out_5465143194872640210[116] = 0;
out_5465143194872640210[117] = 0;
out_5465143194872640210[118] = 0;
out_5465143194872640210[119] = 0;
out_5465143194872640210[120] = 1.0;
void H_mod_fun(double *state, double *out_854507982997558257) {
out_854507982997558257[0] = 1.0;
out_854507982997558257[1] = 0;
out_854507982997558257[2] = 0;
out_854507982997558257[3] = 0;
out_854507982997558257[4] = 0;
out_854507982997558257[5] = 0;
out_854507982997558257[6] = 0;
out_854507982997558257[7] = 0;
out_854507982997558257[8] = 0;
out_854507982997558257[9] = 0;
out_854507982997558257[10] = 0;
out_854507982997558257[11] = 0;
out_854507982997558257[12] = 1.0;
out_854507982997558257[13] = 0;
out_854507982997558257[14] = 0;
out_854507982997558257[15] = 0;
out_854507982997558257[16] = 0;
out_854507982997558257[17] = 0;
out_854507982997558257[18] = 0;
out_854507982997558257[19] = 0;
out_854507982997558257[20] = 0;
out_854507982997558257[21] = 0;
out_854507982997558257[22] = 0;
out_854507982997558257[23] = 0;
out_854507982997558257[24] = 1.0;
out_854507982997558257[25] = 0;
out_854507982997558257[26] = 0;
out_854507982997558257[27] = 0;
out_854507982997558257[28] = 0;
out_854507982997558257[29] = 0;
out_854507982997558257[30] = 0;
out_854507982997558257[31] = 0;
out_854507982997558257[32] = 0;
out_854507982997558257[33] = 0;
out_854507982997558257[34] = 0;
out_854507982997558257[35] = 0;
out_854507982997558257[36] = 1.0;
out_854507982997558257[37] = 0;
out_854507982997558257[38] = 0;
out_854507982997558257[39] = 0;
out_854507982997558257[40] = 0;
out_854507982997558257[41] = 0;
out_854507982997558257[42] = 0;
out_854507982997558257[43] = 0;
out_854507982997558257[44] = 0;
out_854507982997558257[45] = 0;
out_854507982997558257[46] = 0;
out_854507982997558257[47] = 0;
out_854507982997558257[48] = 1.0;
out_854507982997558257[49] = 0;
out_854507982997558257[50] = 0;
out_854507982997558257[51] = 0;
out_854507982997558257[52] = 0;
out_854507982997558257[53] = 0;
out_854507982997558257[54] = 0;
out_854507982997558257[55] = 0;
out_854507982997558257[56] = 0;
out_854507982997558257[57] = 0;
out_854507982997558257[58] = 0;
out_854507982997558257[59] = 0;
out_854507982997558257[60] = 1.0;
out_854507982997558257[61] = 0;
out_854507982997558257[62] = 0;
out_854507982997558257[63] = 0;
out_854507982997558257[64] = 0;
out_854507982997558257[65] = 0;
out_854507982997558257[66] = 0;
out_854507982997558257[67] = 0;
out_854507982997558257[68] = 0;
out_854507982997558257[69] = 0;
out_854507982997558257[70] = 0;
out_854507982997558257[71] = 0;
out_854507982997558257[72] = 1.0;
out_854507982997558257[73] = 0;
out_854507982997558257[74] = 0;
out_854507982997558257[75] = 0;
out_854507982997558257[76] = 0;
out_854507982997558257[77] = 0;
out_854507982997558257[78] = 0;
out_854507982997558257[79] = 0;
out_854507982997558257[80] = 0;
out_854507982997558257[81] = 0;
out_854507982997558257[82] = 0;
out_854507982997558257[83] = 0;
out_854507982997558257[84] = 1.0;
out_854507982997558257[85] = 0;
out_854507982997558257[86] = 0;
out_854507982997558257[87] = 0;
out_854507982997558257[88] = 0;
out_854507982997558257[89] = 0;
out_854507982997558257[90] = 0;
out_854507982997558257[91] = 0;
out_854507982997558257[92] = 0;
out_854507982997558257[93] = 0;
out_854507982997558257[94] = 0;
out_854507982997558257[95] = 0;
out_854507982997558257[96] = 1.0;
out_854507982997558257[97] = 0;
out_854507982997558257[98] = 0;
out_854507982997558257[99] = 0;
out_854507982997558257[100] = 0;
out_854507982997558257[101] = 0;
out_854507982997558257[102] = 0;
out_854507982997558257[103] = 0;
out_854507982997558257[104] = 0;
out_854507982997558257[105] = 0;
out_854507982997558257[106] = 0;
out_854507982997558257[107] = 0;
out_854507982997558257[108] = 1.0;
out_854507982997558257[109] = 0;
out_854507982997558257[110] = 0;
out_854507982997558257[111] = 0;
out_854507982997558257[112] = 0;
out_854507982997558257[113] = 0;
out_854507982997558257[114] = 0;
out_854507982997558257[115] = 0;
out_854507982997558257[116] = 0;
out_854507982997558257[117] = 0;
out_854507982997558257[118] = 0;
out_854507982997558257[119] = 0;
out_854507982997558257[120] = 1.0;
}
void f_fun(double *state, double dt, double *out_6477589900664112980) {
out_6477589900664112980[0] = dt*state[3] + state[0];
out_6477589900664112980[1] = dt*state[4] + state[1];
out_6477589900664112980[2] = dt*state[5] + state[2];
out_6477589900664112980[3] = state[3];
out_6477589900664112980[4] = state[4];
out_6477589900664112980[5] = state[5];
out_6477589900664112980[6] = dt*state[7] + state[6];
out_6477589900664112980[7] = dt*state[8] + state[7];
out_6477589900664112980[8] = state[8];
out_6477589900664112980[9] = state[9];
out_6477589900664112980[10] = state[10];
void f_fun(double *state, double dt, double *out_7770403001027613956) {
out_7770403001027613956[0] = dt*state[3] + state[0];
out_7770403001027613956[1] = dt*state[4] + state[1];
out_7770403001027613956[2] = dt*state[5] + state[2];
out_7770403001027613956[3] = state[3];
out_7770403001027613956[4] = state[4];
out_7770403001027613956[5] = state[5];
out_7770403001027613956[6] = dt*state[7] + state[6];
out_7770403001027613956[7] = dt*state[8] + state[7];
out_7770403001027613956[8] = state[8];
out_7770403001027613956[9] = state[9];
out_7770403001027613956[10] = state[10];
}
void F_fun(double *state, double dt, double *out_159332577828599777) {
out_159332577828599777[0] = 1;
out_159332577828599777[1] = 0;
out_159332577828599777[2] = 0;
out_159332577828599777[3] = dt;
out_159332577828599777[4] = 0;
out_159332577828599777[5] = 0;
out_159332577828599777[6] = 0;
out_159332577828599777[7] = 0;
out_159332577828599777[8] = 0;
out_159332577828599777[9] = 0;
out_159332577828599777[10] = 0;
out_159332577828599777[11] = 0;
out_159332577828599777[12] = 1;
out_159332577828599777[13] = 0;
out_159332577828599777[14] = 0;
out_159332577828599777[15] = dt;
out_159332577828599777[16] = 0;
out_159332577828599777[17] = 0;
out_159332577828599777[18] = 0;
out_159332577828599777[19] = 0;
out_159332577828599777[20] = 0;
out_159332577828599777[21] = 0;
out_159332577828599777[22] = 0;
out_159332577828599777[23] = 0;
out_159332577828599777[24] = 1;
out_159332577828599777[25] = 0;
out_159332577828599777[26] = 0;
out_159332577828599777[27] = dt;
out_159332577828599777[28] = 0;
out_159332577828599777[29] = 0;
out_159332577828599777[30] = 0;
out_159332577828599777[31] = 0;
out_159332577828599777[32] = 0;
out_159332577828599777[33] = 0;
out_159332577828599777[34] = 0;
out_159332577828599777[35] = 0;
out_159332577828599777[36] = 1;
out_159332577828599777[37] = 0;
out_159332577828599777[38] = 0;
out_159332577828599777[39] = 0;
out_159332577828599777[40] = 0;
out_159332577828599777[41] = 0;
out_159332577828599777[42] = 0;
out_159332577828599777[43] = 0;
out_159332577828599777[44] = 0;
out_159332577828599777[45] = 0;
out_159332577828599777[46] = 0;
out_159332577828599777[47] = 0;
out_159332577828599777[48] = 1;
out_159332577828599777[49] = 0;
out_159332577828599777[50] = 0;
out_159332577828599777[51] = 0;
out_159332577828599777[52] = 0;
out_159332577828599777[53] = 0;
out_159332577828599777[54] = 0;
out_159332577828599777[55] = 0;
out_159332577828599777[56] = 0;
out_159332577828599777[57] = 0;
out_159332577828599777[58] = 0;
out_159332577828599777[59] = 0;
out_159332577828599777[60] = 1;
out_159332577828599777[61] = 0;
out_159332577828599777[62] = 0;
out_159332577828599777[63] = 0;
out_159332577828599777[64] = 0;
out_159332577828599777[65] = 0;
out_159332577828599777[66] = 0;
out_159332577828599777[67] = 0;
out_159332577828599777[68] = 0;
out_159332577828599777[69] = 0;
out_159332577828599777[70] = 0;
out_159332577828599777[71] = 0;
out_159332577828599777[72] = 1;
out_159332577828599777[73] = dt;
out_159332577828599777[74] = 0;
out_159332577828599777[75] = 0;
out_159332577828599777[76] = 0;
out_159332577828599777[77] = 0;
out_159332577828599777[78] = 0;
out_159332577828599777[79] = 0;
out_159332577828599777[80] = 0;
out_159332577828599777[81] = 0;
out_159332577828599777[82] = 0;
out_159332577828599777[83] = 0;
out_159332577828599777[84] = 1;
out_159332577828599777[85] = dt;
out_159332577828599777[86] = 0;
out_159332577828599777[87] = 0;
out_159332577828599777[88] = 0;
out_159332577828599777[89] = 0;
out_159332577828599777[90] = 0;
out_159332577828599777[91] = 0;
out_159332577828599777[92] = 0;
out_159332577828599777[93] = 0;
out_159332577828599777[94] = 0;
out_159332577828599777[95] = 0;
out_159332577828599777[96] = 1;
out_159332577828599777[97] = 0;
out_159332577828599777[98] = 0;
out_159332577828599777[99] = 0;
out_159332577828599777[100] = 0;
out_159332577828599777[101] = 0;
out_159332577828599777[102] = 0;
out_159332577828599777[103] = 0;
out_159332577828599777[104] = 0;
out_159332577828599777[105] = 0;
out_159332577828599777[106] = 0;
out_159332577828599777[107] = 0;
out_159332577828599777[108] = 1;
out_159332577828599777[109] = 0;
out_159332577828599777[110] = 0;
out_159332577828599777[111] = 0;
out_159332577828599777[112] = 0;
out_159332577828599777[113] = 0;
out_159332577828599777[114] = 0;
out_159332577828599777[115] = 0;
out_159332577828599777[116] = 0;
out_159332577828599777[117] = 0;
out_159332577828599777[118] = 0;
out_159332577828599777[119] = 0;
out_159332577828599777[120] = 1;
void F_fun(double *state, double dt, double *out_7798555812212859819) {
out_7798555812212859819[0] = 1;
out_7798555812212859819[1] = 0;
out_7798555812212859819[2] = 0;
out_7798555812212859819[3] = dt;
out_7798555812212859819[4] = 0;
out_7798555812212859819[5] = 0;
out_7798555812212859819[6] = 0;
out_7798555812212859819[7] = 0;
out_7798555812212859819[8] = 0;
out_7798555812212859819[9] = 0;
out_7798555812212859819[10] = 0;
out_7798555812212859819[11] = 0;
out_7798555812212859819[12] = 1;
out_7798555812212859819[13] = 0;
out_7798555812212859819[14] = 0;
out_7798555812212859819[15] = dt;
out_7798555812212859819[16] = 0;
out_7798555812212859819[17] = 0;
out_7798555812212859819[18] = 0;
out_7798555812212859819[19] = 0;
out_7798555812212859819[20] = 0;
out_7798555812212859819[21] = 0;
out_7798555812212859819[22] = 0;
out_7798555812212859819[23] = 0;
out_7798555812212859819[24] = 1;
out_7798555812212859819[25] = 0;
out_7798555812212859819[26] = 0;
out_7798555812212859819[27] = dt;
out_7798555812212859819[28] = 0;
out_7798555812212859819[29] = 0;
out_7798555812212859819[30] = 0;
out_7798555812212859819[31] = 0;
out_7798555812212859819[32] = 0;
out_7798555812212859819[33] = 0;
out_7798555812212859819[34] = 0;
out_7798555812212859819[35] = 0;
out_7798555812212859819[36] = 1;
out_7798555812212859819[37] = 0;
out_7798555812212859819[38] = 0;
out_7798555812212859819[39] = 0;
out_7798555812212859819[40] = 0;
out_7798555812212859819[41] = 0;
out_7798555812212859819[42] = 0;
out_7798555812212859819[43] = 0;
out_7798555812212859819[44] = 0;
out_7798555812212859819[45] = 0;
out_7798555812212859819[46] = 0;
out_7798555812212859819[47] = 0;
out_7798555812212859819[48] = 1;
out_7798555812212859819[49] = 0;
out_7798555812212859819[50] = 0;
out_7798555812212859819[51] = 0;
out_7798555812212859819[52] = 0;
out_7798555812212859819[53] = 0;
out_7798555812212859819[54] = 0;
out_7798555812212859819[55] = 0;
out_7798555812212859819[56] = 0;
out_7798555812212859819[57] = 0;
out_7798555812212859819[58] = 0;
out_7798555812212859819[59] = 0;
out_7798555812212859819[60] = 1;
out_7798555812212859819[61] = 0;
out_7798555812212859819[62] = 0;
out_7798555812212859819[63] = 0;
out_7798555812212859819[64] = 0;
out_7798555812212859819[65] = 0;
out_7798555812212859819[66] = 0;
out_7798555812212859819[67] = 0;
out_7798555812212859819[68] = 0;
out_7798555812212859819[69] = 0;
out_7798555812212859819[70] = 0;
out_7798555812212859819[71] = 0;
out_7798555812212859819[72] = 1;
out_7798555812212859819[73] = dt;
out_7798555812212859819[74] = 0;
out_7798555812212859819[75] = 0;
out_7798555812212859819[76] = 0;
out_7798555812212859819[77] = 0;
out_7798555812212859819[78] = 0;
out_7798555812212859819[79] = 0;
out_7798555812212859819[80] = 0;
out_7798555812212859819[81] = 0;
out_7798555812212859819[82] = 0;
out_7798555812212859819[83] = 0;
out_7798555812212859819[84] = 1;
out_7798555812212859819[85] = dt;
out_7798555812212859819[86] = 0;
out_7798555812212859819[87] = 0;
out_7798555812212859819[88] = 0;
out_7798555812212859819[89] = 0;
out_7798555812212859819[90] = 0;
out_7798555812212859819[91] = 0;
out_7798555812212859819[92] = 0;
out_7798555812212859819[93] = 0;
out_7798555812212859819[94] = 0;
out_7798555812212859819[95] = 0;
out_7798555812212859819[96] = 1;
out_7798555812212859819[97] = 0;
out_7798555812212859819[98] = 0;
out_7798555812212859819[99] = 0;
out_7798555812212859819[100] = 0;
out_7798555812212859819[101] = 0;
out_7798555812212859819[102] = 0;
out_7798555812212859819[103] = 0;
out_7798555812212859819[104] = 0;
out_7798555812212859819[105] = 0;
out_7798555812212859819[106] = 0;
out_7798555812212859819[107] = 0;
out_7798555812212859819[108] = 1;
out_7798555812212859819[109] = 0;
out_7798555812212859819[110] = 0;
out_7798555812212859819[111] = 0;
out_7798555812212859819[112] = 0;
out_7798555812212859819[113] = 0;
out_7798555812212859819[114] = 0;
out_7798555812212859819[115] = 0;
out_7798555812212859819[116] = 0;
out_7798555812212859819[117] = 0;
out_7798555812212859819[118] = 0;
out_7798555812212859819[119] = 0;
out_7798555812212859819[120] = 1;
}
void h_6(double *state, double *sat_pos, double *out_822185378282268145) {
out_822185378282268145[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_9201175564716128809) {
out_9201175564716128809[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_2954217689973778176) {
out_2954217689973778176[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_2954217689973778176[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_2954217689973778176[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_2954217689973778176[3] = 0;
out_2954217689973778176[4] = 0;
out_2954217689973778176[5] = 0;
out_2954217689973778176[6] = 1;
out_2954217689973778176[7] = 0;
out_2954217689973778176[8] = 0;
out_2954217689973778176[9] = 0;
out_2954217689973778176[10] = 0;
void H_6(double *state, double *sat_pos, double *out_1419005819748336970) {
out_1419005819748336970[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_1419005819748336970[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_1419005819748336970[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_1419005819748336970[3] = 0;
out_1419005819748336970[4] = 0;
out_1419005819748336970[5] = 0;
out_1419005819748336970[6] = 1;
out_1419005819748336970[7] = 0;
out_1419005819748336970[8] = 0;
out_1419005819748336970[9] = 0;
out_1419005819748336970[10] = 0;
}
void h_20(double *state, double *sat_pos, double *out_3775340380998125465) {
out_3775340380998125465[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_8590157039648027835) {
out_8590157039648027835[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_4124080333257632986) {
out_4124080333257632986[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_4124080333257632986[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_4124080333257632986[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_4124080333257632986[3] = 0;
out_4124080333257632986[4] = 0;
out_4124080333257632986[5] = 0;
out_4124080333257632986[6] = 1;
out_4124080333257632986[7] = 0;
out_4124080333257632986[8] = 0;
out_4124080333257632986[9] = 1;
out_4124080333257632986[10] = sat_pos[3];
void H_20(double *state, double *sat_pos, double *out_5617129456073796795) {
out_5617129456073796795[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_5617129456073796795[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_5617129456073796795[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_5617129456073796795[3] = 0;
out_5617129456073796795[4] = 0;
out_5617129456073796795[5] = 0;
out_5617129456073796795[6] = 1;
out_5617129456073796795[7] = 0;
out_5617129456073796795[8] = 0;
out_5617129456073796795[9] = 1;
out_5617129456073796795[10] = sat_pos[3];
}
void h_7(double *state, double *sat_pos_vel, double *out_750344228235882460) {
out_750344228235882460[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_8069802722407087087) {
out_8069802722407087087[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_1618262330099536806) {
out_1618262330099536806[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_1618262330099536806[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_1618262330099536806[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_1618262330099536806[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_1618262330099536806[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_1618262330099536806[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_1618262330099536806[6] = 0;
out_1618262330099536806[7] = 1;
out_1618262330099536806[8] = 0;
out_1618262330099536806[9] = 0;
out_1618262330099536806[10] = 0;
void H_7(double *state, double *sat_pos_vel, double *out_7177713928341367106) {
out_7177713928341367106[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_7177713928341367106[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_7177713928341367106[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_7177713928341367106[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_7177713928341367106[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_7177713928341367106[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_7177713928341367106[6] = 0;
out_7177713928341367106[7] = 1;
out_7177713928341367106[8] = 0;
out_7177713928341367106[9] = 0;
out_7177713928341367106[10] = 0;
}
void h_21(double *state, double *sat_pos_vel, double *out_750344228235882460) {
out_750344228235882460[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_8069802722407087087) {
out_8069802722407087087[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_1618262330099536806) {
out_1618262330099536806[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_1618262330099536806[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_1618262330099536806[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_1618262330099536806[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_1618262330099536806[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_1618262330099536806[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_1618262330099536806[6] = 0;
out_1618262330099536806[7] = 1;
out_1618262330099536806[8] = 0;
out_1618262330099536806[9] = 0;
out_1618262330099536806[10] = 0;
void H_21(double *state, double *sat_pos_vel, double *out_7177713928341367106) {
out_7177713928341367106[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_7177713928341367106[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_7177713928341367106[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_7177713928341367106[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_7177713928341367106[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_7177713928341367106[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_7177713928341367106[6] = 0;
out_7177713928341367106[7] = 1;
out_7177713928341367106[8] = 0;
out_7177713928341367106[9] = 0;
out_7177713928341367106[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_8218999594846759964) {
err_fun(nom_x, delta_x, out_8218999594846759964);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_9093778295671839447) {
err_fun(nom_x, delta_x, out_9093778295671839447);
}
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6004490369099356165) {
inv_err_fun(nom_x, true_x, out_6004490369099356165);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_9126699124174503695) {
inv_err_fun(nom_x, true_x, out_9126699124174503695);
}
void gnss_H_mod_fun(double *state, double *out_5465143194872640210) {
H_mod_fun(state, out_5465143194872640210);
void gnss_H_mod_fun(double *state, double *out_854507982997558257) {
H_mod_fun(state, out_854507982997558257);
}
void gnss_f_fun(double *state, double dt, double *out_6477589900664112980) {
f_fun(state, dt, out_6477589900664112980);
void gnss_f_fun(double *state, double dt, double *out_7770403001027613956) {
f_fun(state, dt, out_7770403001027613956);
}
void gnss_F_fun(double *state, double dt, double *out_159332577828599777) {
F_fun(state, dt, out_159332577828599777);
void gnss_F_fun(double *state, double dt, double *out_7798555812212859819) {
F_fun(state, dt, out_7798555812212859819);
}
void gnss_h_6(double *state, double *sat_pos, double *out_822185378282268145) {
h_6(state, sat_pos, out_822185378282268145);
void gnss_h_6(double *state, double *sat_pos, double *out_9201175564716128809) {
h_6(state, sat_pos, out_9201175564716128809);
}
void gnss_H_6(double *state, double *sat_pos, double *out_2954217689973778176) {
H_6(state, sat_pos, out_2954217689973778176);
void gnss_H_6(double *state, double *sat_pos, double *out_1419005819748336970) {
H_6(state, sat_pos, out_1419005819748336970);
}
void gnss_h_20(double *state, double *sat_pos, double *out_3775340380998125465) {
h_20(state, sat_pos, out_3775340380998125465);
void gnss_h_20(double *state, double *sat_pos, double *out_8590157039648027835) {
h_20(state, sat_pos, out_8590157039648027835);
}
void gnss_H_20(double *state, double *sat_pos, double *out_4124080333257632986) {
H_20(state, sat_pos, out_4124080333257632986);
void gnss_H_20(double *state, double *sat_pos, double *out_5617129456073796795) {
H_20(state, sat_pos, out_5617129456073796795);
}
void gnss_h_7(double *state, double *sat_pos_vel, double *out_750344228235882460) {
h_7(state, sat_pos_vel, out_750344228235882460);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_8069802722407087087) {
h_7(state, sat_pos_vel, out_8069802722407087087);
}
void gnss_H_7(double *state, double *sat_pos_vel, double *out_1618262330099536806) {
H_7(state, sat_pos_vel, out_1618262330099536806);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_7177713928341367106) {
H_7(state, sat_pos_vel, out_7177713928341367106);
}
void gnss_h_21(double *state, double *sat_pos_vel, double *out_750344228235882460) {
h_21(state, sat_pos_vel, out_750344228235882460);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_8069802722407087087) {
h_21(state, sat_pos_vel, out_8069802722407087087);
}
void gnss_H_21(double *state, double *sat_pos_vel, double *out_1618262330099536806) {
H_21(state, sat_pos_vel, out_1618262330099536806);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_7177713928341367106) {
H_21(state, sat_pos_vel, out_7177713928341367106);
}
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);