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dragonpilot beta3

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date: 2023-10-09T10:55:55
commit: 91b6e3aecd7170f24bccacb10c515ec281c30295
This commit is contained in:
dragonpilot
2023-10-09 10:54:45 -07:00
parent a9ba3193e2
commit cfe0ae9b8a
518 changed files with 159750 additions and 17402 deletions
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684
selfdrive/locationd/models/generated/car.cpp
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
* *
* This file is part of 'ekf' *
******************************************************************************/
void err_fun(double *nom_x, double *delta_x, double *out_3511157536608921668) {
out_3511157536608921668[0] = delta_x[0] + nom_x[0];
out_3511157536608921668[1] = delta_x[1] + nom_x[1];
out_3511157536608921668[2] = delta_x[2] + nom_x[2];
out_3511157536608921668[3] = delta_x[3] + nom_x[3];
out_3511157536608921668[4] = delta_x[4] + nom_x[4];
out_3511157536608921668[5] = delta_x[5] + nom_x[5];
out_3511157536608921668[6] = delta_x[6] + nom_x[6];
out_3511157536608921668[7] = delta_x[7] + nom_x[7];
out_3511157536608921668[8] = delta_x[8] + nom_x[8];
void err_fun(double *nom_x, double *delta_x, double *out_5396984848100642927) {
out_5396984848100642927[0] = delta_x[0] + nom_x[0];
out_5396984848100642927[1] = delta_x[1] + nom_x[1];
out_5396984848100642927[2] = delta_x[2] + nom_x[2];
out_5396984848100642927[3] = delta_x[3] + nom_x[3];
out_5396984848100642927[4] = delta_x[4] + nom_x[4];
out_5396984848100642927[5] = delta_x[5] + nom_x[5];
out_5396984848100642927[6] = delta_x[6] + nom_x[6];
out_5396984848100642927[7] = delta_x[7] + nom_x[7];
out_5396984848100642927[8] = delta_x[8] + nom_x[8];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_6431969432730020252) {
out_6431969432730020252[0] = -nom_x[0] + true_x[0];
out_6431969432730020252[1] = -nom_x[1] + true_x[1];
out_6431969432730020252[2] = -nom_x[2] + true_x[2];
out_6431969432730020252[3] = -nom_x[3] + true_x[3];
out_6431969432730020252[4] = -nom_x[4] + true_x[4];
out_6431969432730020252[5] = -nom_x[5] + true_x[5];
out_6431969432730020252[6] = -nom_x[6] + true_x[6];
out_6431969432730020252[7] = -nom_x[7] + true_x[7];
out_6431969432730020252[8] = -nom_x[8] + true_x[8];
void inv_err_fun(double *nom_x, double *true_x, double *out_3673760116113969531) {
out_3673760116113969531[0] = -nom_x[0] + true_x[0];
out_3673760116113969531[1] = -nom_x[1] + true_x[1];
out_3673760116113969531[2] = -nom_x[2] + true_x[2];
out_3673760116113969531[3] = -nom_x[3] + true_x[3];
out_3673760116113969531[4] = -nom_x[4] + true_x[4];
out_3673760116113969531[5] = -nom_x[5] + true_x[5];
out_3673760116113969531[6] = -nom_x[6] + true_x[6];
out_3673760116113969531[7] = -nom_x[7] + true_x[7];
out_3673760116113969531[8] = -nom_x[8] + true_x[8];
}
void H_mod_fun(double *state, double *out_7948008639250905645) {
out_7948008639250905645[0] = 1.0;
out_7948008639250905645[1] = 0;
out_7948008639250905645[2] = 0;
out_7948008639250905645[3] = 0;
out_7948008639250905645[4] = 0;
out_7948008639250905645[5] = 0;
out_7948008639250905645[6] = 0;
out_7948008639250905645[7] = 0;
out_7948008639250905645[8] = 0;
out_7948008639250905645[9] = 0;
out_7948008639250905645[10] = 1.0;
out_7948008639250905645[11] = 0;
out_7948008639250905645[12] = 0;
out_7948008639250905645[13] = 0;
out_7948008639250905645[14] = 0;
out_7948008639250905645[15] = 0;
out_7948008639250905645[16] = 0;
out_7948008639250905645[17] = 0;
out_7948008639250905645[18] = 0;
out_7948008639250905645[19] = 0;
out_7948008639250905645[20] = 1.0;
out_7948008639250905645[21] = 0;
out_7948008639250905645[22] = 0;
out_7948008639250905645[23] = 0;
out_7948008639250905645[24] = 0;
out_7948008639250905645[25] = 0;
out_7948008639250905645[26] = 0;
out_7948008639250905645[27] = 0;
out_7948008639250905645[28] = 0;
out_7948008639250905645[29] = 0;
out_7948008639250905645[30] = 1.0;
out_7948008639250905645[31] = 0;
out_7948008639250905645[32] = 0;
out_7948008639250905645[33] = 0;
out_7948008639250905645[34] = 0;
out_7948008639250905645[35] = 0;
out_7948008639250905645[36] = 0;
out_7948008639250905645[37] = 0;
out_7948008639250905645[38] = 0;
out_7948008639250905645[39] = 0;
out_7948008639250905645[40] = 1.0;
out_7948008639250905645[41] = 0;
out_7948008639250905645[42] = 0;
out_7948008639250905645[43] = 0;
out_7948008639250905645[44] = 0;
out_7948008639250905645[45] = 0;
out_7948008639250905645[46] = 0;
out_7948008639250905645[47] = 0;
out_7948008639250905645[48] = 0;
out_7948008639250905645[49] = 0;
out_7948008639250905645[50] = 1.0;
out_7948008639250905645[51] = 0;
out_7948008639250905645[52] = 0;
out_7948008639250905645[53] = 0;
out_7948008639250905645[54] = 0;
out_7948008639250905645[55] = 0;
out_7948008639250905645[56] = 0;
out_7948008639250905645[57] = 0;
out_7948008639250905645[58] = 0;
out_7948008639250905645[59] = 0;
out_7948008639250905645[60] = 1.0;
out_7948008639250905645[61] = 0;
out_7948008639250905645[62] = 0;
out_7948008639250905645[63] = 0;
out_7948008639250905645[64] = 0;
out_7948008639250905645[65] = 0;
out_7948008639250905645[66] = 0;
out_7948008639250905645[67] = 0;
out_7948008639250905645[68] = 0;
out_7948008639250905645[69] = 0;
out_7948008639250905645[70] = 1.0;
out_7948008639250905645[71] = 0;
out_7948008639250905645[72] = 0;
out_7948008639250905645[73] = 0;
out_7948008639250905645[74] = 0;
out_7948008639250905645[75] = 0;
out_7948008639250905645[76] = 0;
out_7948008639250905645[77] = 0;
out_7948008639250905645[78] = 0;
out_7948008639250905645[79] = 0;
out_7948008639250905645[80] = 1.0;
void H_mod_fun(double *state, double *out_8420735785113075149) {
out_8420735785113075149[0] = 1.0;
out_8420735785113075149[1] = 0;
out_8420735785113075149[2] = 0;
out_8420735785113075149[3] = 0;
out_8420735785113075149[4] = 0;
out_8420735785113075149[5] = 0;
out_8420735785113075149[6] = 0;
out_8420735785113075149[7] = 0;
out_8420735785113075149[8] = 0;
out_8420735785113075149[9] = 0;
out_8420735785113075149[10] = 1.0;
out_8420735785113075149[11] = 0;
out_8420735785113075149[12] = 0;
out_8420735785113075149[13] = 0;
out_8420735785113075149[14] = 0;
out_8420735785113075149[15] = 0;
out_8420735785113075149[16] = 0;
out_8420735785113075149[17] = 0;
out_8420735785113075149[18] = 0;
out_8420735785113075149[19] = 0;
out_8420735785113075149[20] = 1.0;
out_8420735785113075149[21] = 0;
out_8420735785113075149[22] = 0;
out_8420735785113075149[23] = 0;
out_8420735785113075149[24] = 0;
out_8420735785113075149[25] = 0;
out_8420735785113075149[26] = 0;
out_8420735785113075149[27] = 0;
out_8420735785113075149[28] = 0;
out_8420735785113075149[29] = 0;
out_8420735785113075149[30] = 1.0;
out_8420735785113075149[31] = 0;
out_8420735785113075149[32] = 0;
out_8420735785113075149[33] = 0;
out_8420735785113075149[34] = 0;
out_8420735785113075149[35] = 0;
out_8420735785113075149[36] = 0;
out_8420735785113075149[37] = 0;
out_8420735785113075149[38] = 0;
out_8420735785113075149[39] = 0;
out_8420735785113075149[40] = 1.0;
out_8420735785113075149[41] = 0;
out_8420735785113075149[42] = 0;
out_8420735785113075149[43] = 0;
out_8420735785113075149[44] = 0;
out_8420735785113075149[45] = 0;
out_8420735785113075149[46] = 0;
out_8420735785113075149[47] = 0;
out_8420735785113075149[48] = 0;
out_8420735785113075149[49] = 0;
out_8420735785113075149[50] = 1.0;
out_8420735785113075149[51] = 0;
out_8420735785113075149[52] = 0;
out_8420735785113075149[53] = 0;
out_8420735785113075149[54] = 0;
out_8420735785113075149[55] = 0;
out_8420735785113075149[56] = 0;
out_8420735785113075149[57] = 0;
out_8420735785113075149[58] = 0;
out_8420735785113075149[59] = 0;
out_8420735785113075149[60] = 1.0;
out_8420735785113075149[61] = 0;
out_8420735785113075149[62] = 0;
out_8420735785113075149[63] = 0;
out_8420735785113075149[64] = 0;
out_8420735785113075149[65] = 0;
out_8420735785113075149[66] = 0;
out_8420735785113075149[67] = 0;
out_8420735785113075149[68] = 0;
out_8420735785113075149[69] = 0;
out_8420735785113075149[70] = 1.0;
out_8420735785113075149[71] = 0;
out_8420735785113075149[72] = 0;
out_8420735785113075149[73] = 0;
out_8420735785113075149[74] = 0;
out_8420735785113075149[75] = 0;
out_8420735785113075149[76] = 0;
out_8420735785113075149[77] = 0;
out_8420735785113075149[78] = 0;
out_8420735785113075149[79] = 0;
out_8420735785113075149[80] = 1.0;
}
void f_fun(double *state, double dt, double *out_2086994761209225774) {
out_2086994761209225774[0] = state[0];
out_2086994761209225774[1] = state[1];
out_2086994761209225774[2] = state[2];
out_2086994761209225774[3] = state[3];
out_2086994761209225774[4] = state[4];
out_2086994761209225774[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
out_2086994761209225774[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
out_2086994761209225774[7] = state[7];
out_2086994761209225774[8] = state[8];
void f_fun(double *state, double dt, double *out_1495193358530267545) {
out_1495193358530267545[0] = state[0];
out_1495193358530267545[1] = state[1];
out_1495193358530267545[2] = state[2];
out_1495193358530267545[3] = state[3];
out_1495193358530267545[4] = state[4];
out_1495193358530267545[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
out_1495193358530267545[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
out_1495193358530267545[7] = state[7];
out_1495193358530267545[8] = state[8];
}
void F_fun(double *state, double dt, double *out_8139310027990993197) {
out_8139310027990993197[0] = 1;
out_8139310027990993197[1] = 0;
out_8139310027990993197[2] = 0;
out_8139310027990993197[3] = 0;
out_8139310027990993197[4] = 0;
out_8139310027990993197[5] = 0;
out_8139310027990993197[6] = 0;
out_8139310027990993197[7] = 0;
out_8139310027990993197[8] = 0;
out_8139310027990993197[9] = 0;
out_8139310027990993197[10] = 1;
out_8139310027990993197[11] = 0;
out_8139310027990993197[12] = 0;
out_8139310027990993197[13] = 0;
out_8139310027990993197[14] = 0;
out_8139310027990993197[15] = 0;
out_8139310027990993197[16] = 0;
out_8139310027990993197[17] = 0;
out_8139310027990993197[18] = 0;
out_8139310027990993197[19] = 0;
out_8139310027990993197[20] = 1;
out_8139310027990993197[21] = 0;
out_8139310027990993197[22] = 0;
out_8139310027990993197[23] = 0;
out_8139310027990993197[24] = 0;
out_8139310027990993197[25] = 0;
out_8139310027990993197[26] = 0;
out_8139310027990993197[27] = 0;
out_8139310027990993197[28] = 0;
out_8139310027990993197[29] = 0;
out_8139310027990993197[30] = 1;
out_8139310027990993197[31] = 0;
out_8139310027990993197[32] = 0;
out_8139310027990993197[33] = 0;
out_8139310027990993197[34] = 0;
out_8139310027990993197[35] = 0;
out_8139310027990993197[36] = 0;
out_8139310027990993197[37] = 0;
out_8139310027990993197[38] = 0;
out_8139310027990993197[39] = 0;
out_8139310027990993197[40] = 1;
out_8139310027990993197[41] = 0;
out_8139310027990993197[42] = 0;
out_8139310027990993197[43] = 0;
out_8139310027990993197[44] = 0;
out_8139310027990993197[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
out_8139310027990993197[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_8139310027990993197[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_8139310027990993197[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_8139310027990993197[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
out_8139310027990993197[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_8139310027990993197[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_8139310027990993197[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_8139310027990993197[53] = -9.8000000000000007*dt;
out_8139310027990993197[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
out_8139310027990993197[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_8139310027990993197[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8139310027990993197[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8139310027990993197[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
out_8139310027990993197[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_8139310027990993197[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
out_8139310027990993197[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8139310027990993197[62] = 0;
out_8139310027990993197[63] = 0;
out_8139310027990993197[64] = 0;
out_8139310027990993197[65] = 0;
out_8139310027990993197[66] = 0;
out_8139310027990993197[67] = 0;
out_8139310027990993197[68] = 0;
out_8139310027990993197[69] = 0;
out_8139310027990993197[70] = 1;
out_8139310027990993197[71] = 0;
out_8139310027990993197[72] = 0;
out_8139310027990993197[73] = 0;
out_8139310027990993197[74] = 0;
out_8139310027990993197[75] = 0;
out_8139310027990993197[76] = 0;
out_8139310027990993197[77] = 0;
out_8139310027990993197[78] = 0;
out_8139310027990993197[79] = 0;
out_8139310027990993197[80] = 1;
void F_fun(double *state, double dt, double *out_8190059203776966087) {
out_8190059203776966087[0] = 1;
out_8190059203776966087[1] = 0;
out_8190059203776966087[2] = 0;
out_8190059203776966087[3] = 0;
out_8190059203776966087[4] = 0;
out_8190059203776966087[5] = 0;
out_8190059203776966087[6] = 0;
out_8190059203776966087[7] = 0;
out_8190059203776966087[8] = 0;
out_8190059203776966087[9] = 0;
out_8190059203776966087[10] = 1;
out_8190059203776966087[11] = 0;
out_8190059203776966087[12] = 0;
out_8190059203776966087[13] = 0;
out_8190059203776966087[14] = 0;
out_8190059203776966087[15] = 0;
out_8190059203776966087[16] = 0;
out_8190059203776966087[17] = 0;
out_8190059203776966087[18] = 0;
out_8190059203776966087[19] = 0;
out_8190059203776966087[20] = 1;
out_8190059203776966087[21] = 0;
out_8190059203776966087[22] = 0;
out_8190059203776966087[23] = 0;
out_8190059203776966087[24] = 0;
out_8190059203776966087[25] = 0;
out_8190059203776966087[26] = 0;
out_8190059203776966087[27] = 0;
out_8190059203776966087[28] = 0;
out_8190059203776966087[29] = 0;
out_8190059203776966087[30] = 1;
out_8190059203776966087[31] = 0;
out_8190059203776966087[32] = 0;
out_8190059203776966087[33] = 0;
out_8190059203776966087[34] = 0;
out_8190059203776966087[35] = 0;
out_8190059203776966087[36] = 0;
out_8190059203776966087[37] = 0;
out_8190059203776966087[38] = 0;
out_8190059203776966087[39] = 0;
out_8190059203776966087[40] = 1;
out_8190059203776966087[41] = 0;
out_8190059203776966087[42] = 0;
out_8190059203776966087[43] = 0;
out_8190059203776966087[44] = 0;
out_8190059203776966087[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
out_8190059203776966087[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_8190059203776966087[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_8190059203776966087[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_8190059203776966087[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
out_8190059203776966087[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_8190059203776966087[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_8190059203776966087[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_8190059203776966087[53] = -9.8000000000000007*dt;
out_8190059203776966087[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
out_8190059203776966087[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_8190059203776966087[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8190059203776966087[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8190059203776966087[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
out_8190059203776966087[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_8190059203776966087[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
out_8190059203776966087[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8190059203776966087[62] = 0;
out_8190059203776966087[63] = 0;
out_8190059203776966087[64] = 0;
out_8190059203776966087[65] = 0;
out_8190059203776966087[66] = 0;
out_8190059203776966087[67] = 0;
out_8190059203776966087[68] = 0;
out_8190059203776966087[69] = 0;
out_8190059203776966087[70] = 1;
out_8190059203776966087[71] = 0;
out_8190059203776966087[72] = 0;
out_8190059203776966087[73] = 0;
out_8190059203776966087[74] = 0;
out_8190059203776966087[75] = 0;
out_8190059203776966087[76] = 0;
out_8190059203776966087[77] = 0;
out_8190059203776966087[78] = 0;
out_8190059203776966087[79] = 0;
out_8190059203776966087[80] = 1;
}
void h_25(double *state, double *unused, double *out_4906131110836938043) {
out_4906131110836938043[0] = state[6];
void h_25(double *state, double *unused, double *out_7770804733125093021) {
out_7770804733125093021[0] = state[6];
}
void H_25(double *state, double *unused, double *out_8920612812001856359) {
out_8920612812001856359[0] = 0;
out_8920612812001856359[1] = 0;
out_8920612812001856359[2] = 0;
out_8920612812001856359[3] = 0;
out_8920612812001856359[4] = 0;
out_8920612812001856359[5] = 0;
out_8920612812001856359[6] = 1;
out_8920612812001856359[7] = 0;
out_8920612812001856359[8] = 0;
void H_25(double *state, double *unused, double *out_3029957647977105485) {
out_3029957647977105485[0] = 0;
out_3029957647977105485[1] = 0;
out_3029957647977105485[2] = 0;
out_3029957647977105485[3] = 0;
out_3029957647977105485[4] = 0;
out_3029957647977105485[5] = 0;
out_3029957647977105485[6] = 1;
out_3029957647977105485[7] = 0;
out_3029957647977105485[8] = 0;
}
void h_24(double *state, double *unused, double *out_3427550057756876624) {
out_3427550057756876624[0] = state[4];
out_3427550057756876624[1] = state[5];
void h_24(double *state, double *unused, double *out_6297919134326163066) {
out_6297919134326163066[0] = state[4];
out_6297919134326163066[1] = state[5];
}
void H_24(double *state, double *unused, double *out_5543808110309927359) {
out_5543808110309927359[0] = 0;
out_5543808110309927359[1] = 0;
out_5543808110309927359[2] = 0;
out_5543808110309927359[3] = 0;
out_5543808110309927359[4] = 1;
out_5543808110309927359[5] = 0;
out_5543808110309927359[6] = 0;
out_5543808110309927359[7] = 0;
out_5543808110309927359[8] = 0;
out_5543808110309927359[9] = 0;
out_5543808110309927359[10] = 0;
out_5543808110309927359[11] = 0;
out_5543808110309927359[12] = 0;
out_5543808110309927359[13] = 0;
out_5543808110309927359[14] = 1;
out_5543808110309927359[15] = 0;
out_5543808110309927359[16] = 0;
out_5543808110309927359[17] = 0;
void H_24(double *state, double *unused, double *out_6188721239663250906) {
out_6188721239663250906[0] = 0;
out_6188721239663250906[1] = 0;
out_6188721239663250906[2] = 0;
out_6188721239663250906[3] = 0;
out_6188721239663250906[4] = 1;
out_6188721239663250906[5] = 0;
out_6188721239663250906[6] = 0;
out_6188721239663250906[7] = 0;
out_6188721239663250906[8] = 0;
out_6188721239663250906[9] = 0;
out_6188721239663250906[10] = 0;
out_6188721239663250906[11] = 0;
out_6188721239663250906[12] = 0;
out_6188721239663250906[13] = 0;
out_6188721239663250906[14] = 1;
out_6188721239663250906[15] = 0;
out_6188721239663250906[16] = 0;
out_6188721239663250906[17] = 0;
}
void h_30(double *state, double *unused, double *out_5063317779188067188) {
out_5063317779188067188[0] = state[4];
void h_30(double *state, double *unused, double *out_4823078742769608060) {
out_4823078742769608060[0] = state[4];
}
void H_30(double *state, double *unused, double *out_2003922470510239604) {
out_2003922470510239604[0] = 0;
out_2003922470510239604[1] = 0;
out_2003922470510239604[2] = 0;
out_2003922470510239604[3] = 0;
out_2003922470510239604[4] = 1;
out_2003922470510239604[5] = 0;
out_2003922470510239604[6] = 0;
out_2003922470510239604[7] = 0;
out_2003922470510239604[8] = 0;
void H_30(double *state, double *unused, double *out_1497738682150502713) {
out_1497738682150502713[0] = 0;
out_1497738682150502713[1] = 0;
out_1497738682150502713[2] = 0;
out_1497738682150502713[3] = 0;
out_1497738682150502713[4] = 1;
out_1497738682150502713[5] = 0;
out_1497738682150502713[6] = 0;
out_1497738682150502713[7] = 0;
out_1497738682150502713[8] = 0;
}
void h_26(double *state, double *unused, double *out_8958065379223252895) {
out_8958065379223252895[0] = state[7];
void h_26(double *state, double *unused, double *out_8621992063279097911) {
out_8621992063279097911[0] = state[7];
}
void H_26(double *state, double *unused, double *out_5784627942833639033) {
out_5784627942833639033[0] = 0;
out_5784627942833639033[1] = 0;
out_5784627942833639033[2] = 0;
out_5784627942833639033[3] = 0;
out_5784627942833639033[4] = 0;
out_5784627942833639033[5] = 0;
out_5784627942833639033[6] = 0;
out_5784627942833639033[7] = 1;
out_5784627942833639033[8] = 0;
void H_26(double *state, double *unused, double *out_711545670896950739) {
out_711545670896950739[0] = 0;
out_711545670896950739[1] = 0;
out_711545670896950739[2] = 0;
out_711545670896950739[3] = 0;
out_711545670896950739[4] = 0;
out_711545670896950739[5] = 0;
out_711545670896950739[6] = 0;
out_711545670896950739[7] = 1;
out_711545670896950739[8] = 0;
}
void h_27(double *state, double *unused, double *out_7942917162281270728) {
out_7942917162281270728[0] = state[3];
void h_27(double *state, double *unused, double *out_1693970168577617830) {
out_1693970168577617830[0] = state[3];
}
void H_27(double *state, double *unused, double *out_4178685782310664515) {
out_4178685782310664515[0] = 0;
out_4178685782310664515[1] = 0;
out_4178685782310664515[2] = 0;
out_4178685782310664515[3] = 1;
out_4178685782310664515[4] = 0;
out_4178685782310664515[5] = 0;
out_4178685782310664515[6] = 0;
out_4178685782310664515[7] = 0;
out_4178685782310664515[8] = 0;
void H_27(double *state, double *unused, double *out_3672501993950927624) {
out_3672501993950927624[0] = 0;
out_3672501993950927624[1] = 0;
out_3672501993950927624[2] = 0;
out_3672501993950927624[3] = 1;
out_3672501993950927624[4] = 0;
out_3672501993950927624[5] = 0;
out_3672501993950927624[6] = 0;
out_3672501993950927624[7] = 0;
out_3672501993950927624[8] = 0;
}
void h_29(double *state, double *unused, double *out_3732991685077929952) {
out_3732991685077929952[0] = state[1];
void h_29(double *state, double *unused, double *out_1092552010964254276) {
out_1092552010964254276[0] = state[1];
}
void H_29(double *state, double *unused, double *out_1493691126195847420) {
out_1493691126195847420[0] = 0;
out_1493691126195847420[1] = 1;
out_1493691126195847420[2] = 0;
out_1493691126195847420[3] = 0;
out_1493691126195847420[4] = 0;
out_1493691126195847420[5] = 0;
out_1493691126195847420[6] = 0;
out_1493691126195847420[7] = 0;
out_1493691126195847420[8] = 0;
void H_29(double *state, double *unused, double *out_987507337836110529) {
out_987507337836110529[0] = 0;
out_987507337836110529[1] = 1;
out_987507337836110529[2] = 0;
out_987507337836110529[3] = 0;
out_987507337836110529[4] = 0;
out_987507337836110529[5] = 0;
out_987507337836110529[6] = 0;
out_987507337836110529[7] = 0;
out_987507337836110529[8] = 0;
}
void h_28(double *state, double *unused, double *out_2300187291200313893) {
out_2300187291200313893[0] = state[0];
void h_28(double *state, double *unused, double *out_6695643436238463475) {
out_6695643436238463475[0] = state[0];
}
void H_28(double *state, double *unused, double *out_6576090143265377994) {
out_6576090143265377994[0] = 1;
out_6576090143265377994[1] = 0;
out_6576090143265377994[2] = 0;
out_6576090143265377994[3] = 0;
out_6576090143265377994[4] = 0;
out_6576090143265377994[5] = 0;
out_6576090143265377994[6] = 0;
out_6576090143265377994[7] = 0;
out_6576090143265377994[8] = 0;
void H_28(double *state, double *unused, double *out_6069906354905641103) {
out_6069906354905641103[0] = 1;
out_6069906354905641103[1] = 0;
out_6069906354905641103[2] = 0;
out_6069906354905641103[3] = 0;
out_6069906354905641103[4] = 0;
out_6069906354905641103[5] = 0;
out_6069906354905641103[6] = 0;
out_6069906354905641103[7] = 0;
out_6069906354905641103[8] = 0;
}
void h_31(double *state, double *unused, double *out_5181325173121443932) {
out_5181325173121443932[0] = state[8];
void h_31(double *state, double *unused, double *out_6945152627337250165) {
out_6945152627337250165[0] = state[8];
}
void H_31(double *state, double *unused, double *out_8889966850124895931) {
out_8889966850124895931[0] = 0;
out_8889966850124895931[1] = 0;
out_8889966850124895931[2] = 0;
out_8889966850124895931[3] = 0;
out_8889966850124895931[4] = 0;
out_8889966850124895931[5] = 0;
out_8889966850124895931[6] = 0;
out_8889966850124895931[7] = 0;
out_8889966850124895931[8] = 1;
void H_31(double *state, double *unused, double *out_1337753773130302215) {
out_1337753773130302215[0] = 0;
out_1337753773130302215[1] = 0;
out_1337753773130302215[2] = 0;
out_1337753773130302215[3] = 0;
out_1337753773130302215[4] = 0;
out_1337753773130302215[5] = 0;
out_1337753773130302215[6] = 0;
out_1337753773130302215[7] = 0;
out_1337753773130302215[8] = 1;
}
#include <eigen3/Eigen/Dense>
#include <iostream>
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
}
void car_err_fun(double *nom_x, double *delta_x, double *out_3511157536608921668) {
err_fun(nom_x, delta_x, out_3511157536608921668);
void car_err_fun(double *nom_x, double *delta_x, double *out_5396984848100642927) {
err_fun(nom_x, delta_x, out_5396984848100642927);
}
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6431969432730020252) {
inv_err_fun(nom_x, true_x, out_6431969432730020252);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3673760116113969531) {
inv_err_fun(nom_x, true_x, out_3673760116113969531);
}
void car_H_mod_fun(double *state, double *out_7948008639250905645) {
H_mod_fun(state, out_7948008639250905645);
void car_H_mod_fun(double *state, double *out_8420735785113075149) {
H_mod_fun(state, out_8420735785113075149);
}
void car_f_fun(double *state, double dt, double *out_2086994761209225774) {
f_fun(state, dt, out_2086994761209225774);
void car_f_fun(double *state, double dt, double *out_1495193358530267545) {
f_fun(state, dt, out_1495193358530267545);
}
void car_F_fun(double *state, double dt, double *out_8139310027990993197) {
F_fun(state, dt, out_8139310027990993197);
void car_F_fun(double *state, double dt, double *out_8190059203776966087) {
F_fun(state, dt, out_8190059203776966087);
}
void car_h_25(double *state, double *unused, double *out_4906131110836938043) {
h_25(state, unused, out_4906131110836938043);
void car_h_25(double *state, double *unused, double *out_7770804733125093021) {
h_25(state, unused, out_7770804733125093021);
}
void car_H_25(double *state, double *unused, double *out_8920612812001856359) {
H_25(state, unused, out_8920612812001856359);
void car_H_25(double *state, double *unused, double *out_3029957647977105485) {
H_25(state, unused, out_3029957647977105485);
}
void car_h_24(double *state, double *unused, double *out_3427550057756876624) {
h_24(state, unused, out_3427550057756876624);
void car_h_24(double *state, double *unused, double *out_6297919134326163066) {
h_24(state, unused, out_6297919134326163066);
}
void car_H_24(double *state, double *unused, double *out_5543808110309927359) {
H_24(state, unused, out_5543808110309927359);
void car_H_24(double *state, double *unused, double *out_6188721239663250906) {
H_24(state, unused, out_6188721239663250906);
}
void car_h_30(double *state, double *unused, double *out_5063317779188067188) {
h_30(state, unused, out_5063317779188067188);
void car_h_30(double *state, double *unused, double *out_4823078742769608060) {
h_30(state, unused, out_4823078742769608060);
}
void car_H_30(double *state, double *unused, double *out_2003922470510239604) {
H_30(state, unused, out_2003922470510239604);
void car_H_30(double *state, double *unused, double *out_1497738682150502713) {
H_30(state, unused, out_1497738682150502713);
}
void car_h_26(double *state, double *unused, double *out_8958065379223252895) {
h_26(state, unused, out_8958065379223252895);
void car_h_26(double *state, double *unused, double *out_8621992063279097911) {
h_26(state, unused, out_8621992063279097911);
}
void car_H_26(double *state, double *unused, double *out_5784627942833639033) {
H_26(state, unused, out_5784627942833639033);
void car_H_26(double *state, double *unused, double *out_711545670896950739) {
H_26(state, unused, out_711545670896950739);
}
void car_h_27(double *state, double *unused, double *out_7942917162281270728) {
h_27(state, unused, out_7942917162281270728);
void car_h_27(double *state, double *unused, double *out_1693970168577617830) {
h_27(state, unused, out_1693970168577617830);
}
void car_H_27(double *state, double *unused, double *out_4178685782310664515) {
H_27(state, unused, out_4178685782310664515);
void car_H_27(double *state, double *unused, double *out_3672501993950927624) {
H_27(state, unused, out_3672501993950927624);
}
void car_h_29(double *state, double *unused, double *out_3732991685077929952) {
h_29(state, unused, out_3732991685077929952);
void car_h_29(double *state, double *unused, double *out_1092552010964254276) {
h_29(state, unused, out_1092552010964254276);
}
void car_H_29(double *state, double *unused, double *out_1493691126195847420) {
H_29(state, unused, out_1493691126195847420);
void car_H_29(double *state, double *unused, double *out_987507337836110529) {
H_29(state, unused, out_987507337836110529);
}
void car_h_28(double *state, double *unused, double *out_2300187291200313893) {
h_28(state, unused, out_2300187291200313893);
void car_h_28(double *state, double *unused, double *out_6695643436238463475) {
h_28(state, unused, out_6695643436238463475);
}
void car_H_28(double *state, double *unused, double *out_6576090143265377994) {
H_28(state, unused, out_6576090143265377994);
void car_H_28(double *state, double *unused, double *out_6069906354905641103) {
H_28(state, unused, out_6069906354905641103);
}
void car_h_31(double *state, double *unused, double *out_5181325173121443932) {
h_31(state, unused, out_5181325173121443932);
void car_h_31(double *state, double *unused, double *out_6945152627337250165) {
h_31(state, unused, out_6945152627337250165);
}
void car_H_31(double *state, double *unused, double *out_8889966850124895931) {
H_31(state, unused, out_8889966850124895931);
void car_H_31(double *state, double *unused, double *out_1337753773130302215) {
H_31(state, unused, out_1337753773130302215);
}
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);

42
selfdrive/locationd/models/generated/car.h
View File

@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void car_err_fun(double *nom_x, double *delta_x, double *out_3511157536608921668);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6431969432730020252);
void car_H_mod_fun(double *state, double *out_7948008639250905645);
void car_f_fun(double *state, double dt, double *out_2086994761209225774);
void car_F_fun(double *state, double dt, double *out_8139310027990993197);
void car_h_25(double *state, double *unused, double *out_4906131110836938043);
void car_H_25(double *state, double *unused, double *out_8920612812001856359);
void car_h_24(double *state, double *unused, double *out_3427550057756876624);
void car_H_24(double *state, double *unused, double *out_5543808110309927359);
void car_h_30(double *state, double *unused, double *out_5063317779188067188);
void car_H_30(double *state, double *unused, double *out_2003922470510239604);
void car_h_26(double *state, double *unused, double *out_8958065379223252895);
void car_H_26(double *state, double *unused, double *out_5784627942833639033);
void car_h_27(double *state, double *unused, double *out_7942917162281270728);
void car_H_27(double *state, double *unused, double *out_4178685782310664515);
void car_h_29(double *state, double *unused, double *out_3732991685077929952);
void car_H_29(double *state, double *unused, double *out_1493691126195847420);
void car_h_28(double *state, double *unused, double *out_2300187291200313893);
void car_H_28(double *state, double *unused, double *out_6576090143265377994);
void car_h_31(double *state, double *unused, double *out_5181325173121443932);
void car_H_31(double *state, double *unused, double *out_8889966850124895931);
void car_err_fun(double *nom_x, double *delta_x, double *out_5396984848100642927);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3673760116113969531);
void car_H_mod_fun(double *state, double *out_8420735785113075149);
void car_f_fun(double *state, double dt, double *out_1495193358530267545);
void car_F_fun(double *state, double dt, double *out_8190059203776966087);
void car_h_25(double *state, double *unused, double *out_7770804733125093021);
void car_H_25(double *state, double *unused, double *out_3029957647977105485);
void car_h_24(double *state, double *unused, double *out_6297919134326163066);
void car_H_24(double *state, double *unused, double *out_6188721239663250906);
void car_h_30(double *state, double *unused, double *out_4823078742769608060);
void car_H_30(double *state, double *unused, double *out_1497738682150502713);
void car_h_26(double *state, double *unused, double *out_8621992063279097911);
void car_H_26(double *state, double *unused, double *out_711545670896950739);
void car_h_27(double *state, double *unused, double *out_1693970168577617830);
void car_H_27(double *state, double *unused, double *out_3672501993950927624);
void car_h_29(double *state, double *unused, double *out_1092552010964254276);
void car_H_29(double *state, double *unused, double *out_987507337836110529);
void car_h_28(double *state, double *unused, double *out_6695643436238463475);
void car_H_28(double *state, double *unused, double *out_6069906354905641103);
void car_h_31(double *state, double *unused, double *out_6945152627337250165);
void car_H_31(double *state, double *unused, double *out_1337753773130302215);
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
void car_set_mass(double x);
void car_set_rotational_inertia(double x);

724
selfdrive/locationd/models/generated/gnss.cpp
View File

@@ -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_2155524759348881706) {
out_2155524759348881706[0] = delta_x[0] + nom_x[0];
out_2155524759348881706[1] = delta_x[1] + nom_x[1];
out_2155524759348881706[2] = delta_x[2] + nom_x[2];
out_2155524759348881706[3] = delta_x[3] + nom_x[3];
out_2155524759348881706[4] = delta_x[4] + nom_x[4];
out_2155524759348881706[5] = delta_x[5] + nom_x[5];
out_2155524759348881706[6] = delta_x[6] + nom_x[6];
out_2155524759348881706[7] = delta_x[7] + nom_x[7];
out_2155524759348881706[8] = delta_x[8] + nom_x[8];
out_2155524759348881706[9] = delta_x[9] + nom_x[9];
out_2155524759348881706[10] = delta_x[10] + nom_x[10];
void err_fun(double *nom_x, double *delta_x, double *out_4849909810210845231) {
out_4849909810210845231[0] = delta_x[0] + nom_x[0];
out_4849909810210845231[1] = delta_x[1] + nom_x[1];
out_4849909810210845231[2] = delta_x[2] + nom_x[2];
out_4849909810210845231[3] = delta_x[3] + nom_x[3];
out_4849909810210845231[4] = delta_x[4] + nom_x[4];
out_4849909810210845231[5] = delta_x[5] + nom_x[5];
out_4849909810210845231[6] = delta_x[6] + nom_x[6];
out_4849909810210845231[7] = delta_x[7] + nom_x[7];
out_4849909810210845231[8] = delta_x[8] + nom_x[8];
out_4849909810210845231[9] = delta_x[9] + nom_x[9];
out_4849909810210845231[10] = delta_x[10] + nom_x[10];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_3000442515133824169) {
out_3000442515133824169[0] = -nom_x[0] + true_x[0];
out_3000442515133824169[1] = -nom_x[1] + true_x[1];
out_3000442515133824169[2] = -nom_x[2] + true_x[2];
out_3000442515133824169[3] = -nom_x[3] + true_x[3];
out_3000442515133824169[4] = -nom_x[4] + true_x[4];
out_3000442515133824169[5] = -nom_x[5] + true_x[5];
out_3000442515133824169[6] = -nom_x[6] + true_x[6];
out_3000442515133824169[7] = -nom_x[7] + true_x[7];
out_3000442515133824169[8] = -nom_x[8] + true_x[8];
out_3000442515133824169[9] = -nom_x[9] + true_x[9];
out_3000442515133824169[10] = -nom_x[10] + true_x[10];
void inv_err_fun(double *nom_x, double *true_x, double *out_9155514165852770581) {
out_9155514165852770581[0] = -nom_x[0] + true_x[0];
out_9155514165852770581[1] = -nom_x[1] + true_x[1];
out_9155514165852770581[2] = -nom_x[2] + true_x[2];
out_9155514165852770581[3] = -nom_x[3] + true_x[3];
out_9155514165852770581[4] = -nom_x[4] + true_x[4];
out_9155514165852770581[5] = -nom_x[5] + true_x[5];
out_9155514165852770581[6] = -nom_x[6] + true_x[6];
out_9155514165852770581[7] = -nom_x[7] + true_x[7];
out_9155514165852770581[8] = -nom_x[8] + true_x[8];
out_9155514165852770581[9] = -nom_x[9] + true_x[9];
out_9155514165852770581[10] = -nom_x[10] + true_x[10];
}
void H_mod_fun(double *state, double *out_6886810493919790975) {
out_6886810493919790975[0] = 1.0;
out_6886810493919790975[1] = 0;
out_6886810493919790975[2] = 0;
out_6886810493919790975[3] = 0;
out_6886810493919790975[4] = 0;
out_6886810493919790975[5] = 0;
out_6886810493919790975[6] = 0;
out_6886810493919790975[7] = 0;
out_6886810493919790975[8] = 0;
out_6886810493919790975[9] = 0;
out_6886810493919790975[10] = 0;
out_6886810493919790975[11] = 0;
out_6886810493919790975[12] = 1.0;
out_6886810493919790975[13] = 0;
out_6886810493919790975[14] = 0;
out_6886810493919790975[15] = 0;
out_6886810493919790975[16] = 0;
out_6886810493919790975[17] = 0;
out_6886810493919790975[18] = 0;
out_6886810493919790975[19] = 0;
out_6886810493919790975[20] = 0;
out_6886810493919790975[21] = 0;
out_6886810493919790975[22] = 0;
out_6886810493919790975[23] = 0;
out_6886810493919790975[24] = 1.0;
out_6886810493919790975[25] = 0;
out_6886810493919790975[26] = 0;
out_6886810493919790975[27] = 0;
out_6886810493919790975[28] = 0;
out_6886810493919790975[29] = 0;
out_6886810493919790975[30] = 0;
out_6886810493919790975[31] = 0;
out_6886810493919790975[32] = 0;
out_6886810493919790975[33] = 0;
out_6886810493919790975[34] = 0;
out_6886810493919790975[35] = 0;
out_6886810493919790975[36] = 1.0;
out_6886810493919790975[37] = 0;
out_6886810493919790975[38] = 0;
out_6886810493919790975[39] = 0;
out_6886810493919790975[40] = 0;
out_6886810493919790975[41] = 0;
out_6886810493919790975[42] = 0;
out_6886810493919790975[43] = 0;
out_6886810493919790975[44] = 0;
out_6886810493919790975[45] = 0;
out_6886810493919790975[46] = 0;
out_6886810493919790975[47] = 0;
out_6886810493919790975[48] = 1.0;
out_6886810493919790975[49] = 0;
out_6886810493919790975[50] = 0;
out_6886810493919790975[51] = 0;
out_6886810493919790975[52] = 0;
out_6886810493919790975[53] = 0;
out_6886810493919790975[54] = 0;
out_6886810493919790975[55] = 0;
out_6886810493919790975[56] = 0;
out_6886810493919790975[57] = 0;
out_6886810493919790975[58] = 0;
out_6886810493919790975[59] = 0;
out_6886810493919790975[60] = 1.0;
out_6886810493919790975[61] = 0;
out_6886810493919790975[62] = 0;
out_6886810493919790975[63] = 0;
out_6886810493919790975[64] = 0;
out_6886810493919790975[65] = 0;
out_6886810493919790975[66] = 0;
out_6886810493919790975[67] = 0;
out_6886810493919790975[68] = 0;
out_6886810493919790975[69] = 0;
out_6886810493919790975[70] = 0;
out_6886810493919790975[71] = 0;
out_6886810493919790975[72] = 1.0;
out_6886810493919790975[73] = 0;
out_6886810493919790975[74] = 0;
out_6886810493919790975[75] = 0;
out_6886810493919790975[76] = 0;
out_6886810493919790975[77] = 0;
out_6886810493919790975[78] = 0;
out_6886810493919790975[79] = 0;
out_6886810493919790975[80] = 0;
out_6886810493919790975[81] = 0;
out_6886810493919790975[82] = 0;
out_6886810493919790975[83] = 0;
out_6886810493919790975[84] = 1.0;
out_6886810493919790975[85] = 0;
out_6886810493919790975[86] = 0;
out_6886810493919790975[87] = 0;
out_6886810493919790975[88] = 0;
out_6886810493919790975[89] = 0;
out_6886810493919790975[90] = 0;
out_6886810493919790975[91] = 0;
out_6886810493919790975[92] = 0;
out_6886810493919790975[93] = 0;
out_6886810493919790975[94] = 0;
out_6886810493919790975[95] = 0;
out_6886810493919790975[96] = 1.0;
out_6886810493919790975[97] = 0;
out_6886810493919790975[98] = 0;
out_6886810493919790975[99] = 0;
out_6886810493919790975[100] = 0;
out_6886810493919790975[101] = 0;
out_6886810493919790975[102] = 0;
out_6886810493919790975[103] = 0;
out_6886810493919790975[104] = 0;
out_6886810493919790975[105] = 0;
out_6886810493919790975[106] = 0;
out_6886810493919790975[107] = 0;
out_6886810493919790975[108] = 1.0;
out_6886810493919790975[109] = 0;
out_6886810493919790975[110] = 0;
out_6886810493919790975[111] = 0;
out_6886810493919790975[112] = 0;
out_6886810493919790975[113] = 0;
out_6886810493919790975[114] = 0;
out_6886810493919790975[115] = 0;
out_6886810493919790975[116] = 0;
out_6886810493919790975[117] = 0;
out_6886810493919790975[118] = 0;
out_6886810493919790975[119] = 0;
out_6886810493919790975[120] = 1.0;
void H_mod_fun(double *state, double *out_1695716312477195060) {
out_1695716312477195060[0] = 1.0;
out_1695716312477195060[1] = 0;
out_1695716312477195060[2] = 0;
out_1695716312477195060[3] = 0;
out_1695716312477195060[4] = 0;
out_1695716312477195060[5] = 0;
out_1695716312477195060[6] = 0;
out_1695716312477195060[7] = 0;
out_1695716312477195060[8] = 0;
out_1695716312477195060[9] = 0;
out_1695716312477195060[10] = 0;
out_1695716312477195060[11] = 0;
out_1695716312477195060[12] = 1.0;
out_1695716312477195060[13] = 0;
out_1695716312477195060[14] = 0;
out_1695716312477195060[15] = 0;
out_1695716312477195060[16] = 0;
out_1695716312477195060[17] = 0;
out_1695716312477195060[18] = 0;
out_1695716312477195060[19] = 0;
out_1695716312477195060[20] = 0;
out_1695716312477195060[21] = 0;
out_1695716312477195060[22] = 0;
out_1695716312477195060[23] = 0;
out_1695716312477195060[24] = 1.0;
out_1695716312477195060[25] = 0;
out_1695716312477195060[26] = 0;
out_1695716312477195060[27] = 0;
out_1695716312477195060[28] = 0;
out_1695716312477195060[29] = 0;
out_1695716312477195060[30] = 0;
out_1695716312477195060[31] = 0;
out_1695716312477195060[32] = 0;
out_1695716312477195060[33] = 0;
out_1695716312477195060[34] = 0;
out_1695716312477195060[35] = 0;
out_1695716312477195060[36] = 1.0;
out_1695716312477195060[37] = 0;
out_1695716312477195060[38] = 0;
out_1695716312477195060[39] = 0;
out_1695716312477195060[40] = 0;
out_1695716312477195060[41] = 0;
out_1695716312477195060[42] = 0;
out_1695716312477195060[43] = 0;
out_1695716312477195060[44] = 0;
out_1695716312477195060[45] = 0;
out_1695716312477195060[46] = 0;
out_1695716312477195060[47] = 0;
out_1695716312477195060[48] = 1.0;
out_1695716312477195060[49] = 0;
out_1695716312477195060[50] = 0;
out_1695716312477195060[51] = 0;
out_1695716312477195060[52] = 0;
out_1695716312477195060[53] = 0;
out_1695716312477195060[54] = 0;
out_1695716312477195060[55] = 0;
out_1695716312477195060[56] = 0;
out_1695716312477195060[57] = 0;
out_1695716312477195060[58] = 0;
out_1695716312477195060[59] = 0;
out_1695716312477195060[60] = 1.0;
out_1695716312477195060[61] = 0;
out_1695716312477195060[62] = 0;
out_1695716312477195060[63] = 0;
out_1695716312477195060[64] = 0;
out_1695716312477195060[65] = 0;
out_1695716312477195060[66] = 0;
out_1695716312477195060[67] = 0;
out_1695716312477195060[68] = 0;
out_1695716312477195060[69] = 0;
out_1695716312477195060[70] = 0;
out_1695716312477195060[71] = 0;
out_1695716312477195060[72] = 1.0;
out_1695716312477195060[73] = 0;
out_1695716312477195060[74] = 0;
out_1695716312477195060[75] = 0;
out_1695716312477195060[76] = 0;
out_1695716312477195060[77] = 0;
out_1695716312477195060[78] = 0;
out_1695716312477195060[79] = 0;
out_1695716312477195060[80] = 0;
out_1695716312477195060[81] = 0;
out_1695716312477195060[82] = 0;
out_1695716312477195060[83] = 0;
out_1695716312477195060[84] = 1.0;
out_1695716312477195060[85] = 0;
out_1695716312477195060[86] = 0;
out_1695716312477195060[87] = 0;
out_1695716312477195060[88] = 0;
out_1695716312477195060[89] = 0;
out_1695716312477195060[90] = 0;
out_1695716312477195060[91] = 0;
out_1695716312477195060[92] = 0;
out_1695716312477195060[93] = 0;
out_1695716312477195060[94] = 0;
out_1695716312477195060[95] = 0;
out_1695716312477195060[96] = 1.0;
out_1695716312477195060[97] = 0;
out_1695716312477195060[98] = 0;
out_1695716312477195060[99] = 0;
out_1695716312477195060[100] = 0;
out_1695716312477195060[101] = 0;
out_1695716312477195060[102] = 0;
out_1695716312477195060[103] = 0;
out_1695716312477195060[104] = 0;
out_1695716312477195060[105] = 0;
out_1695716312477195060[106] = 0;
out_1695716312477195060[107] = 0;
out_1695716312477195060[108] = 1.0;
out_1695716312477195060[109] = 0;
out_1695716312477195060[110] = 0;
out_1695716312477195060[111] = 0;
out_1695716312477195060[112] = 0;
out_1695716312477195060[113] = 0;
out_1695716312477195060[114] = 0;
out_1695716312477195060[115] = 0;
out_1695716312477195060[116] = 0;
out_1695716312477195060[117] = 0;
out_1695716312477195060[118] = 0;
out_1695716312477195060[119] = 0;
out_1695716312477195060[120] = 1.0;
}
void f_fun(double *state, double dt, double *out_8724257366443597251) {
out_8724257366443597251[0] = dt*state[3] + state[0];
out_8724257366443597251[1] = dt*state[4] + state[1];
out_8724257366443597251[2] = dt*state[5] + state[2];
out_8724257366443597251[3] = state[3];
out_8724257366443597251[4] = state[4];
out_8724257366443597251[5] = state[5];
out_8724257366443597251[6] = dt*state[7] + state[6];
out_8724257366443597251[7] = dt*state[8] + state[7];
out_8724257366443597251[8] = state[8];
out_8724257366443597251[9] = state[9];
out_8724257366443597251[10] = state[10];
void f_fun(double *state, double dt, double *out_246318625600254703) {
out_246318625600254703[0] = dt*state[3] + state[0];
out_246318625600254703[1] = dt*state[4] + state[1];
out_246318625600254703[2] = dt*state[5] + state[2];
out_246318625600254703[3] = state[3];
out_246318625600254703[4] = state[4];
out_246318625600254703[5] = state[5];
out_246318625600254703[6] = dt*state[7] + state[6];
out_246318625600254703[7] = dt*state[8] + state[7];
out_246318625600254703[8] = state[8];
out_246318625600254703[9] = state[9];
out_246318625600254703[10] = state[10];
}
void F_fun(double *state, double dt, double *out_2206723714956142118) {
out_2206723714956142118[0] = 1;
out_2206723714956142118[1] = 0;
out_2206723714956142118[2] = 0;
out_2206723714956142118[3] = dt;
out_2206723714956142118[4] = 0;
out_2206723714956142118[5] = 0;
out_2206723714956142118[6] = 0;
out_2206723714956142118[7] = 0;
out_2206723714956142118[8] = 0;
out_2206723714956142118[9] = 0;
out_2206723714956142118[10] = 0;
out_2206723714956142118[11] = 0;
out_2206723714956142118[12] = 1;
out_2206723714956142118[13] = 0;
out_2206723714956142118[14] = 0;
out_2206723714956142118[15] = dt;
out_2206723714956142118[16] = 0;
out_2206723714956142118[17] = 0;
out_2206723714956142118[18] = 0;
out_2206723714956142118[19] = 0;
out_2206723714956142118[20] = 0;
out_2206723714956142118[21] = 0;
out_2206723714956142118[22] = 0;
out_2206723714956142118[23] = 0;
out_2206723714956142118[24] = 1;
out_2206723714956142118[25] = 0;
out_2206723714956142118[26] = 0;
out_2206723714956142118[27] = dt;
out_2206723714956142118[28] = 0;
out_2206723714956142118[29] = 0;
out_2206723714956142118[30] = 0;
out_2206723714956142118[31] = 0;
out_2206723714956142118[32] = 0;
out_2206723714956142118[33] = 0;
out_2206723714956142118[34] = 0;
out_2206723714956142118[35] = 0;
out_2206723714956142118[36] = 1;
out_2206723714956142118[37] = 0;
out_2206723714956142118[38] = 0;
out_2206723714956142118[39] = 0;
out_2206723714956142118[40] = 0;
out_2206723714956142118[41] = 0;
out_2206723714956142118[42] = 0;
out_2206723714956142118[43] = 0;
out_2206723714956142118[44] = 0;
out_2206723714956142118[45] = 0;
out_2206723714956142118[46] = 0;
out_2206723714956142118[47] = 0;
out_2206723714956142118[48] = 1;
out_2206723714956142118[49] = 0;
out_2206723714956142118[50] = 0;
out_2206723714956142118[51] = 0;
out_2206723714956142118[52] = 0;
out_2206723714956142118[53] = 0;
out_2206723714956142118[54] = 0;
out_2206723714956142118[55] = 0;
out_2206723714956142118[56] = 0;
out_2206723714956142118[57] = 0;
out_2206723714956142118[58] = 0;
out_2206723714956142118[59] = 0;
out_2206723714956142118[60] = 1;
out_2206723714956142118[61] = 0;
out_2206723714956142118[62] = 0;
out_2206723714956142118[63] = 0;
out_2206723714956142118[64] = 0;
out_2206723714956142118[65] = 0;
out_2206723714956142118[66] = 0;
out_2206723714956142118[67] = 0;
out_2206723714956142118[68] = 0;
out_2206723714956142118[69] = 0;
out_2206723714956142118[70] = 0;
out_2206723714956142118[71] = 0;
out_2206723714956142118[72] = 1;
out_2206723714956142118[73] = dt;
out_2206723714956142118[74] = 0;
out_2206723714956142118[75] = 0;
out_2206723714956142118[76] = 0;
out_2206723714956142118[77] = 0;
out_2206723714956142118[78] = 0;
out_2206723714956142118[79] = 0;
out_2206723714956142118[80] = 0;
out_2206723714956142118[81] = 0;
out_2206723714956142118[82] = 0;
out_2206723714956142118[83] = 0;
out_2206723714956142118[84] = 1;
out_2206723714956142118[85] = dt;
out_2206723714956142118[86] = 0;
out_2206723714956142118[87] = 0;
out_2206723714956142118[88] = 0;
out_2206723714956142118[89] = 0;
out_2206723714956142118[90] = 0;
out_2206723714956142118[91] = 0;
out_2206723714956142118[92] = 0;
out_2206723714956142118[93] = 0;
out_2206723714956142118[94] = 0;
out_2206723714956142118[95] = 0;
out_2206723714956142118[96] = 1;
out_2206723714956142118[97] = 0;
out_2206723714956142118[98] = 0;
out_2206723714956142118[99] = 0;
out_2206723714956142118[100] = 0;
out_2206723714956142118[101] = 0;
out_2206723714956142118[102] = 0;
out_2206723714956142118[103] = 0;
out_2206723714956142118[104] = 0;
out_2206723714956142118[105] = 0;
out_2206723714956142118[106] = 0;
out_2206723714956142118[107] = 0;
out_2206723714956142118[108] = 1;
out_2206723714956142118[109] = 0;
out_2206723714956142118[110] = 0;
out_2206723714956142118[111] = 0;
out_2206723714956142118[112] = 0;
out_2206723714956142118[113] = 0;
out_2206723714956142118[114] = 0;
out_2206723714956142118[115] = 0;
out_2206723714956142118[116] = 0;
out_2206723714956142118[117] = 0;
out_2206723714956142118[118] = 0;
out_2206723714956142118[119] = 0;
out_2206723714956142118[120] = 1;
void F_fun(double *state, double dt, double *out_991013928034158677) {
out_991013928034158677[0] = 1;
out_991013928034158677[1] = 0;
out_991013928034158677[2] = 0;
out_991013928034158677[3] = dt;
out_991013928034158677[4] = 0;
out_991013928034158677[5] = 0;
out_991013928034158677[6] = 0;
out_991013928034158677[7] = 0;
out_991013928034158677[8] = 0;
out_991013928034158677[9] = 0;
out_991013928034158677[10] = 0;
out_991013928034158677[11] = 0;
out_991013928034158677[12] = 1;
out_991013928034158677[13] = 0;
out_991013928034158677[14] = 0;
out_991013928034158677[15] = dt;
out_991013928034158677[16] = 0;
out_991013928034158677[17] = 0;
out_991013928034158677[18] = 0;
out_991013928034158677[19] = 0;
out_991013928034158677[20] = 0;
out_991013928034158677[21] = 0;
out_991013928034158677[22] = 0;
out_991013928034158677[23] = 0;
out_991013928034158677[24] = 1;
out_991013928034158677[25] = 0;
out_991013928034158677[26] = 0;
out_991013928034158677[27] = dt;
out_991013928034158677[28] = 0;
out_991013928034158677[29] = 0;
out_991013928034158677[30] = 0;
out_991013928034158677[31] = 0;
out_991013928034158677[32] = 0;
out_991013928034158677[33] = 0;
out_991013928034158677[34] = 0;
out_991013928034158677[35] = 0;
out_991013928034158677[36] = 1;
out_991013928034158677[37] = 0;
out_991013928034158677[38] = 0;
out_991013928034158677[39] = 0;
out_991013928034158677[40] = 0;
out_991013928034158677[41] = 0;
out_991013928034158677[42] = 0;
out_991013928034158677[43] = 0;
out_991013928034158677[44] = 0;
out_991013928034158677[45] = 0;
out_991013928034158677[46] = 0;
out_991013928034158677[47] = 0;
out_991013928034158677[48] = 1;
out_991013928034158677[49] = 0;
out_991013928034158677[50] = 0;
out_991013928034158677[51] = 0;
out_991013928034158677[52] = 0;
out_991013928034158677[53] = 0;
out_991013928034158677[54] = 0;
out_991013928034158677[55] = 0;
out_991013928034158677[56] = 0;
out_991013928034158677[57] = 0;
out_991013928034158677[58] = 0;
out_991013928034158677[59] = 0;
out_991013928034158677[60] = 1;
out_991013928034158677[61] = 0;
out_991013928034158677[62] = 0;
out_991013928034158677[63] = 0;
out_991013928034158677[64] = 0;
out_991013928034158677[65] = 0;
out_991013928034158677[66] = 0;
out_991013928034158677[67] = 0;
out_991013928034158677[68] = 0;
out_991013928034158677[69] = 0;
out_991013928034158677[70] = 0;
out_991013928034158677[71] = 0;
out_991013928034158677[72] = 1;
out_991013928034158677[73] = dt;
out_991013928034158677[74] = 0;
out_991013928034158677[75] = 0;
out_991013928034158677[76] = 0;
out_991013928034158677[77] = 0;
out_991013928034158677[78] = 0;
out_991013928034158677[79] = 0;
out_991013928034158677[80] = 0;
out_991013928034158677[81] = 0;
out_991013928034158677[82] = 0;
out_991013928034158677[83] = 0;
out_991013928034158677[84] = 1;
out_991013928034158677[85] = dt;
out_991013928034158677[86] = 0;
out_991013928034158677[87] = 0;
out_991013928034158677[88] = 0;
out_991013928034158677[89] = 0;
out_991013928034158677[90] = 0;
out_991013928034158677[91] = 0;
out_991013928034158677[92] = 0;
out_991013928034158677[93] = 0;
out_991013928034158677[94] = 0;
out_991013928034158677[95] = 0;
out_991013928034158677[96] = 1;
out_991013928034158677[97] = 0;
out_991013928034158677[98] = 0;
out_991013928034158677[99] = 0;
out_991013928034158677[100] = 0;
out_991013928034158677[101] = 0;
out_991013928034158677[102] = 0;
out_991013928034158677[103] = 0;
out_991013928034158677[104] = 0;
out_991013928034158677[105] = 0;
out_991013928034158677[106] = 0;
out_991013928034158677[107] = 0;
out_991013928034158677[108] = 1;
out_991013928034158677[109] = 0;
out_991013928034158677[110] = 0;
out_991013928034158677[111] = 0;
out_991013928034158677[112] = 0;
out_991013928034158677[113] = 0;
out_991013928034158677[114] = 0;
out_991013928034158677[115] = 0;
out_991013928034158677[116] = 0;
out_991013928034158677[117] = 0;
out_991013928034158677[118] = 0;
out_991013928034158677[119] = 0;
out_991013928034158677[120] = 1;
}
void h_6(double *state, double *sat_pos, double *out_9215791719434072081) {
out_9215791719434072081[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_3254589478467387681) {
out_3254589478467387681[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_6079281560797038039) {
out_6079281560797038039[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_6079281560797038039[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_6079281560797038039[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_6079281560797038039[3] = 0;
out_6079281560797038039[4] = 0;
out_6079281560797038039[5] = 0;
out_6079281560797038039[6] = 1;
out_6079281560797038039[7] = 0;
out_6079281560797038039[8] = 0;
out_6079281560797038039[9] = 0;
out_6079281560797038039[10] = 0;
void H_6(double *state, double *sat_pos, double *out_4443399033591840542) {
out_4443399033591840542[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_4443399033591840542[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_4443399033591840542[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_4443399033591840542[3] = 0;
out_4443399033591840542[4] = 0;
out_4443399033591840542[5] = 0;
out_4443399033591840542[6] = 1;
out_4443399033591840542[7] = 0;
out_4443399033591840542[8] = 0;
out_4443399033591840542[9] = 0;
out_4443399033591840542[10] = 0;
}
void h_20(double *state, double *sat_pos, double *out_707679285162606847) {
out_707679285162606847[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_5372212336627346046) {
out_5372212336627346046[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_6425650286104756584) {
out_6425650286104756584[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_6425650286104756584[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_6425650286104756584[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_6425650286104756584[3] = 0;
out_6425650286104756584[4] = 0;
out_6425650286104756584[5] = 0;
out_6425650286104756584[6] = 1;
out_6425650286104756584[7] = 0;
out_6425650286104756584[8] = 0;
out_6425650286104756584[9] = 1;
out_6425650286104756584[10] = sat_pos[3];
void H_20(double *state, double *sat_pos, double *out_2252354659347544918) {
out_2252354659347544918[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_2252354659347544918[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_2252354659347544918[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_2252354659347544918[3] = 0;
out_2252354659347544918[4] = 0;
out_2252354659347544918[5] = 0;
out_2252354659347544918[6] = 1;
out_2252354659347544918[7] = 0;
out_2252354659347544918[8] = 0;
out_2252354659347544918[9] = 1;
out_2252354659347544918[10] = sat_pos[3];
}
void h_7(double *state, double *sat_pos_vel, double *out_8648640613651272087) {
out_8648640613651272087[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_6050116121606786003) {
out_6050116121606786003[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_236788228116502184) {
out_236788228116502184[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_236788228116502184[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_236788228116502184[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_236788228116502184[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_236788228116502184[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_236788228116502184[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_236788228116502184[6] = 0;
out_236788228116502184[7] = 1;
out_236788228116502184[8] = 0;
out_236788228116502184[9] = 0;
out_236788228116502184[10] = 0;
void H_7(double *state, double *sat_pos_vel, double *out_2862955004951087597) {
out_2862955004951087597[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_2862955004951087597[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_2862955004951087597[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_2862955004951087597[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_2862955004951087597[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_2862955004951087597[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_2862955004951087597[6] = 0;
out_2862955004951087597[7] = 1;
out_2862955004951087597[8] = 0;
out_2862955004951087597[9] = 0;
out_2862955004951087597[10] = 0;
}
void h_21(double *state, double *sat_pos_vel, double *out_8648640613651272087) {
out_8648640613651272087[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_6050116121606786003) {
out_6050116121606786003[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_236788228116502184) {
out_236788228116502184[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_236788228116502184[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_236788228116502184[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_236788228116502184[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_236788228116502184[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_236788228116502184[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_236788228116502184[6] = 0;
out_236788228116502184[7] = 1;
out_236788228116502184[8] = 0;
out_236788228116502184[9] = 0;
out_236788228116502184[10] = 0;
void H_21(double *state, double *sat_pos_vel, double *out_2862955004951087597) {
out_2862955004951087597[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_2862955004951087597[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_2862955004951087597[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_2862955004951087597[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_2862955004951087597[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_2862955004951087597[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_2862955004951087597[6] = 0;
out_2862955004951087597[7] = 1;
out_2862955004951087597[8] = 0;
out_2862955004951087597[9] = 0;
out_2862955004951087597[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_2155524759348881706) {
err_fun(nom_x, delta_x, out_2155524759348881706);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_4849909810210845231) {
err_fun(nom_x, delta_x, out_4849909810210845231);
}
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_3000442515133824169) {
inv_err_fun(nom_x, true_x, out_3000442515133824169);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_9155514165852770581) {
inv_err_fun(nom_x, true_x, out_9155514165852770581);
}
void gnss_H_mod_fun(double *state, double *out_6886810493919790975) {
H_mod_fun(state, out_6886810493919790975);
void gnss_H_mod_fun(double *state, double *out_1695716312477195060) {
H_mod_fun(state, out_1695716312477195060);
}
void gnss_f_fun(double *state, double dt, double *out_8724257366443597251) {
f_fun(state, dt, out_8724257366443597251);
void gnss_f_fun(double *state, double dt, double *out_246318625600254703) {
f_fun(state, dt, out_246318625600254703);
}
void gnss_F_fun(double *state, double dt, double *out_2206723714956142118) {
F_fun(state, dt, out_2206723714956142118);
void gnss_F_fun(double *state, double dt, double *out_991013928034158677) {
F_fun(state, dt, out_991013928034158677);
}
void gnss_h_6(double *state, double *sat_pos, double *out_9215791719434072081) {
h_6(state, sat_pos, out_9215791719434072081);
void gnss_h_6(double *state, double *sat_pos, double *out_3254589478467387681) {
h_6(state, sat_pos, out_3254589478467387681);
}
void gnss_H_6(double *state, double *sat_pos, double *out_6079281560797038039) {
H_6(state, sat_pos, out_6079281560797038039);
void gnss_H_6(double *state, double *sat_pos, double *out_4443399033591840542) {
H_6(state, sat_pos, out_4443399033591840542);
}
void gnss_h_20(double *state, double *sat_pos, double *out_707679285162606847) {
h_20(state, sat_pos, out_707679285162606847);
void gnss_h_20(double *state, double *sat_pos, double *out_5372212336627346046) {
h_20(state, sat_pos, out_5372212336627346046);
}
void gnss_H_20(double *state, double *sat_pos, double *out_6425650286104756584) {
H_20(state, sat_pos, out_6425650286104756584);
void gnss_H_20(double *state, double *sat_pos, double *out_2252354659347544918) {
H_20(state, sat_pos, out_2252354659347544918);
}
void gnss_h_7(double *state, double *sat_pos_vel, double *out_8648640613651272087) {
h_7(state, sat_pos_vel, out_8648640613651272087);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_6050116121606786003) {
h_7(state, sat_pos_vel, out_6050116121606786003);
}
void gnss_H_7(double *state, double *sat_pos_vel, double *out_236788228116502184) {
H_7(state, sat_pos_vel, out_236788228116502184);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_2862955004951087597) {
H_7(state, sat_pos_vel, out_2862955004951087597);
}
void gnss_h_21(double *state, double *sat_pos_vel, double *out_8648640613651272087) {
h_21(state, sat_pos_vel, out_8648640613651272087);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_6050116121606786003) {
h_21(state, sat_pos_vel, out_6050116121606786003);
}
void gnss_H_21(double *state, double *sat_pos_vel, double *out_236788228116502184) {
H_21(state, sat_pos_vel, out_236788228116502184);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_2862955004951087597) {
H_21(state, sat_pos_vel, out_2862955004951087597);
}
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);

26
selfdrive/locationd/models/generated/gnss.h
View File

@@ -5,18 +5,18 @@ void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_2155524759348881706);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_3000442515133824169);
void gnss_H_mod_fun(double *state, double *out_6886810493919790975);
void gnss_f_fun(double *state, double dt, double *out_8724257366443597251);
void gnss_F_fun(double *state, double dt, double *out_2206723714956142118);
void gnss_h_6(double *state, double *sat_pos, double *out_9215791719434072081);
void gnss_H_6(double *state, double *sat_pos, double *out_6079281560797038039);
void gnss_h_20(double *state, double *sat_pos, double *out_707679285162606847);
void gnss_H_20(double *state, double *sat_pos, double *out_6425650286104756584);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_8648640613651272087);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_236788228116502184);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_8648640613651272087);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_236788228116502184);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_4849909810210845231);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_9155514165852770581);
void gnss_H_mod_fun(double *state, double *out_1695716312477195060);
void gnss_f_fun(double *state, double dt, double *out_246318625600254703);
void gnss_F_fun(double *state, double dt, double *out_991013928034158677);
void gnss_h_6(double *state, double *sat_pos, double *out_3254589478467387681);
void gnss_H_6(double *state, double *sat_pos, double *out_4443399033591840542);
void gnss_h_20(double *state, double *sat_pos, double *out_5372212336627346046);
void gnss_H_20(double *state, double *sat_pos, double *out_2252354659347544918);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_6050116121606786003);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_2862955004951087597);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_6050116121606786003);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_2862955004951087597);
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt);
}

BIN
selfdrive/locationd/models/generated/libkf.so
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3404
selfdrive/locationd/models/generated/live.cpp
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File diff suppressed because it is too large Load Diff

48
selfdrive/locationd/models/generated/live.h
View File

@@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub
void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
void live_H(double *in_vec, double *out_5027207160750161004);
void live_err_fun(double *nom_x, double *delta_x, double *out_812293829444590878);
void live_inv_err_fun(double *nom_x, double *true_x, double *out_2331899367078236024);
void live_H_mod_fun(double *state, double *out_3350621260021879835);
void live_f_fun(double *state, double dt, double *out_9110479569516509106);
void live_F_fun(double *state, double dt, double *out_956757865849250644);
void live_h_4(double *state, double *unused, double *out_396243034408503816);
void live_H_4(double *state, double *unused, double *out_7955964066782090966);
void live_h_9(double *state, double *unused, double *out_3280179861815054133);
void live_H_9(double *state, double *unused, double *out_8197153713411681611);
void live_h_10(double *state, double *unused, double *out_7028739412274946671);
void live_H_10(double *state, double *unused, double *out_5406505055183973833);
void live_h_12(double *state, double *unused, double *out_2939119697401536762);
void live_H_12(double *state, double *unused, double *out_8577063091829684633);
void live_h_35(double *state, double *unused, double *out_3733220149839256661);
void live_H_35(double *state, double *unused, double *out_7124117949554853274);
void live_h_32(double *state, double *unused, double *out_6268450557573639622);
void live_H_32(double *state, double *unused, double *out_4419093436653103337);
void live_h_13(double *state, double *unused, double *out_7986377932969783217);
void live_H_13(double *state, double *unused, double *out_276341309716065550);
void live_h_14(double *state, double *unused, double *out_3280179861815054133);
void live_H_14(double *state, double *unused, double *out_8197153713411681611);
void live_h_33(double *state, double *unused, double *out_3797754961266519421);
void live_H_33(double *state, double *unused, double *out_3973560944915995670);
void live_H(double *in_vec, double *out_5472226391913428582);
void live_err_fun(double *nom_x, double *delta_x, double *out_6508029974320597245);
void live_inv_err_fun(double *nom_x, double *true_x, double *out_2019856750264798283);
void live_H_mod_fun(double *state, double *out_8564774469718261605);
void live_f_fun(double *state, double dt, double *out_2167758224172516708);
void live_F_fun(double *state, double dt, double *out_6604773883138368354);
void live_h_4(double *state, double *unused, double *out_5070441118667315187);
void live_H_4(double *state, double *unused, double *out_7142926226124309892);
void live_h_9(double *state, double *unused, double *out_1124175015924690318);
void live_H_9(double *state, double *unused, double *out_7146650111230464241);
void live_h_10(double *state, double *unused, double *out_2109137017318231990);
void live_H_10(double *state, double *unused, double *out_5552727043354966226);
void live_h_12(double *state, double *unused, double *out_5291604573526602269);
void live_H_12(double *state, double *unused, double *out_6521827201076716225);
void live_h_35(double *state, double *unused, double *out_2118741506585347044);
void live_H_35(double *state, double *unused, double *out_3776264168751702516);
void live_h_32(double *state, double *unused, double *out_3360608214289959379);
void live_H_32(double *state, double *unused, double *out_7755615401263732744);
void live_h_13(double *state, double *unused, double *out_5506979747554367956);
void live_H_13(double *state, double *unused, double *out_8591558027073825108);
void live_h_14(double *state, double *unused, double *out_1124175015924690318);
void live_H_14(double *state, double *unused, double *out_7146650111230464241);
void live_h_33(double *state, double *unused, double *out_5570441104795240755);
void live_H_33(double *state, double *unused, double *out_625707164112844912);
void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
}