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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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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_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);