mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-02-23 13:43:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

dragonpilot beta3

Browse Source 
date: 2023-08-22T14:21:17
commit: 6148ce3d77530281f890970718e9c42b2acc5ff1
This commit is contained in:
dragonpilot
2023-08-22 14:20:25 -07:00
parent 957d61c2f7
commit d8e5331c6e
722 changed files with 24317 additions and 116310 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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_5270397344340919402) {
out_5270397344340919402[0] = delta_x[0] + nom_x[0];
out_5270397344340919402[1] = delta_x[1] + nom_x[1];
out_5270397344340919402[2] = delta_x[2] + nom_x[2];
out_5270397344340919402[3] = delta_x[3] + nom_x[3];
out_5270397344340919402[4] = delta_x[4] + nom_x[4];
out_5270397344340919402[5] = delta_x[5] + nom_x[5];
out_5270397344340919402[6] = delta_x[6] + nom_x[6];
out_5270397344340919402[7] = delta_x[7] + nom_x[7];
out_5270397344340919402[8] = delta_x[8] + nom_x[8];
out_5270397344340919402[9] = delta_x[9] + nom_x[9];
out_5270397344340919402[10] = delta_x[10] + nom_x[10];
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 inv_err_fun(double *nom_x, double *true_x, double *out_1512259161409062554) {
out_1512259161409062554[0] = -nom_x[0] + true_x[0];
out_1512259161409062554[1] = -nom_x[1] + true_x[1];
out_1512259161409062554[2] = -nom_x[2] + true_x[2];
out_1512259161409062554[3] = -nom_x[3] + true_x[3];
out_1512259161409062554[4] = -nom_x[4] + true_x[4];
out_1512259161409062554[5] = -nom_x[5] + true_x[5];
out_1512259161409062554[6] = -nom_x[6] + true_x[6];
out_1512259161409062554[7] = -nom_x[7] + true_x[7];
out_1512259161409062554[8] = -nom_x[8] + true_x[8];
out_1512259161409062554[9] = -nom_x[9] + true_x[9];
out_1512259161409062554[10] = -nom_x[10] + true_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 H_mod_fun(double *state, double *out_8413937430488034064) {
out_8413937430488034064[0] = 1.0;
out_8413937430488034064[1] = 0;
out_8413937430488034064[2] = 0;
out_8413937430488034064[3] = 0;
out_8413937430488034064[4] = 0;
out_8413937430488034064[5] = 0;
out_8413937430488034064[6] = 0;
out_8413937430488034064[7] = 0;
out_8413937430488034064[8] = 0;
out_8413937430488034064[9] = 0;
out_8413937430488034064[10] = 0;
out_8413937430488034064[11] = 0;
out_8413937430488034064[12] = 1.0;
out_8413937430488034064[13] = 0;
out_8413937430488034064[14] = 0;
out_8413937430488034064[15] = 0;
out_8413937430488034064[16] = 0;
out_8413937430488034064[17] = 0;
out_8413937430488034064[18] = 0;
out_8413937430488034064[19] = 0;
out_8413937430488034064[20] = 0;
out_8413937430488034064[21] = 0;
out_8413937430488034064[22] = 0;
out_8413937430488034064[23] = 0;
out_8413937430488034064[24] = 1.0;
out_8413937430488034064[25] = 0;
out_8413937430488034064[26] = 0;
out_8413937430488034064[27] = 0;
out_8413937430488034064[28] = 0;
out_8413937430488034064[29] = 0;
out_8413937430488034064[30] = 0;
out_8413937430488034064[31] = 0;
out_8413937430488034064[32] = 0;
out_8413937430488034064[33] = 0;
out_8413937430488034064[34] = 0;
out_8413937430488034064[35] = 0;
out_8413937430488034064[36] = 1.0;
out_8413937430488034064[37] = 0;
out_8413937430488034064[38] = 0;
out_8413937430488034064[39] = 0;
out_8413937430488034064[40] = 0;
out_8413937430488034064[41] = 0;
out_8413937430488034064[42] = 0;
out_8413937430488034064[43] = 0;
out_8413937430488034064[44] = 0;
out_8413937430488034064[45] = 0;
out_8413937430488034064[46] = 0;
out_8413937430488034064[47] = 0;
out_8413937430488034064[48] = 1.0;
out_8413937430488034064[49] = 0;
out_8413937430488034064[50] = 0;
out_8413937430488034064[51] = 0;
out_8413937430488034064[52] = 0;
out_8413937430488034064[53] = 0;
out_8413937430488034064[54] = 0;
out_8413937430488034064[55] = 0;
out_8413937430488034064[56] = 0;
out_8413937430488034064[57] = 0;
out_8413937430488034064[58] = 0;
out_8413937430488034064[59] = 0;
out_8413937430488034064[60] = 1.0;
out_8413937430488034064[61] = 0;
out_8413937430488034064[62] = 0;
out_8413937430488034064[63] = 0;
out_8413937430488034064[64] = 0;
out_8413937430488034064[65] = 0;
out_8413937430488034064[66] = 0;
out_8413937430488034064[67] = 0;
out_8413937430488034064[68] = 0;
out_8413937430488034064[69] = 0;
out_8413937430488034064[70] = 0;
out_8413937430488034064[71] = 0;
out_8413937430488034064[72] = 1.0;
out_8413937430488034064[73] = 0;
out_8413937430488034064[74] = 0;
out_8413937430488034064[75] = 0;
out_8413937430488034064[76] = 0;
out_8413937430488034064[77] = 0;
out_8413937430488034064[78] = 0;
out_8413937430488034064[79] = 0;
out_8413937430488034064[80] = 0;
out_8413937430488034064[81] = 0;
out_8413937430488034064[82] = 0;
out_8413937430488034064[83] = 0;
out_8413937430488034064[84] = 1.0;
out_8413937430488034064[85] = 0;
out_8413937430488034064[86] = 0;
out_8413937430488034064[87] = 0;
out_8413937430488034064[88] = 0;
out_8413937430488034064[89] = 0;
out_8413937430488034064[90] = 0;
out_8413937430488034064[91] = 0;
out_8413937430488034064[92] = 0;
out_8413937430488034064[93] = 0;
out_8413937430488034064[94] = 0;
out_8413937430488034064[95] = 0;
out_8413937430488034064[96] = 1.0;
out_8413937430488034064[97] = 0;
out_8413937430488034064[98] = 0;
out_8413937430488034064[99] = 0;
out_8413937430488034064[100] = 0;
out_8413937430488034064[101] = 0;
out_8413937430488034064[102] = 0;
out_8413937430488034064[103] = 0;
out_8413937430488034064[104] = 0;
out_8413937430488034064[105] = 0;
out_8413937430488034064[106] = 0;
out_8413937430488034064[107] = 0;
out_8413937430488034064[108] = 1.0;
out_8413937430488034064[109] = 0;
out_8413937430488034064[110] = 0;
out_8413937430488034064[111] = 0;
out_8413937430488034064[112] = 0;
out_8413937430488034064[113] = 0;
out_8413937430488034064[114] = 0;
out_8413937430488034064[115] = 0;
out_8413937430488034064[116] = 0;
out_8413937430488034064[117] = 0;
out_8413937430488034064[118] = 0;
out_8413937430488034064[119] = 0;
out_8413937430488034064[120] = 1.0;
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 f_fun(double *state, double dt, double *out_8044790491496694058) {
out_8044790491496694058[0] = dt*state[3] + state[0];
out_8044790491496694058[1] = dt*state[4] + state[1];
out_8044790491496694058[2] = dt*state[5] + state[2];
out_8044790491496694058[3] = state[3];
out_8044790491496694058[4] = state[4];
out_8044790491496694058[5] = state[5];
out_8044790491496694058[6] = dt*state[7] + state[6];
out_8044790491496694058[7] = dt*state[8] + state[7];
out_8044790491496694058[8] = state[8];
out_8044790491496694058[9] = state[9];
out_8044790491496694058[10] = state[10];
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_7107643139068643538) {
out_7107643139068643538[0] = 1;
out_7107643139068643538[1] = 0;
out_7107643139068643538[2] = 0;
out_7107643139068643538[3] = dt;
out_7107643139068643538[4] = 0;
out_7107643139068643538[5] = 0;
out_7107643139068643538[6] = 0;
out_7107643139068643538[7] = 0;
out_7107643139068643538[8] = 0;
out_7107643139068643538[9] = 0;
out_7107643139068643538[10] = 0;
out_7107643139068643538[11] = 0;
out_7107643139068643538[12] = 1;
out_7107643139068643538[13] = 0;
out_7107643139068643538[14] = 0;
out_7107643139068643538[15] = dt;
out_7107643139068643538[16] = 0;
out_7107643139068643538[17] = 0;
out_7107643139068643538[18] = 0;
out_7107643139068643538[19] = 0;
out_7107643139068643538[20] = 0;
out_7107643139068643538[21] = 0;
out_7107643139068643538[22] = 0;
out_7107643139068643538[23] = 0;
out_7107643139068643538[24] = 1;
out_7107643139068643538[25] = 0;
out_7107643139068643538[26] = 0;
out_7107643139068643538[27] = dt;
out_7107643139068643538[28] = 0;
out_7107643139068643538[29] = 0;
out_7107643139068643538[30] = 0;
out_7107643139068643538[31] = 0;
out_7107643139068643538[32] = 0;
out_7107643139068643538[33] = 0;
out_7107643139068643538[34] = 0;
out_7107643139068643538[35] = 0;
out_7107643139068643538[36] = 1;
out_7107643139068643538[37] = 0;
out_7107643139068643538[38] = 0;
out_7107643139068643538[39] = 0;
out_7107643139068643538[40] = 0;
out_7107643139068643538[41] = 0;
out_7107643139068643538[42] = 0;
out_7107643139068643538[43] = 0;
out_7107643139068643538[44] = 0;
out_7107643139068643538[45] = 0;
out_7107643139068643538[46] = 0;
out_7107643139068643538[47] = 0;
out_7107643139068643538[48] = 1;
out_7107643139068643538[49] = 0;
out_7107643139068643538[50] = 0;
out_7107643139068643538[51] = 0;
out_7107643139068643538[52] = 0;
out_7107643139068643538[53] = 0;
out_7107643139068643538[54] = 0;
out_7107643139068643538[55] = 0;
out_7107643139068643538[56] = 0;
out_7107643139068643538[57] = 0;
out_7107643139068643538[58] = 0;
out_7107643139068643538[59] = 0;
out_7107643139068643538[60] = 1;
out_7107643139068643538[61] = 0;
out_7107643139068643538[62] = 0;
out_7107643139068643538[63] = 0;
out_7107643139068643538[64] = 0;
out_7107643139068643538[65] = 0;
out_7107643139068643538[66] = 0;
out_7107643139068643538[67] = 0;
out_7107643139068643538[68] = 0;
out_7107643139068643538[69] = 0;
out_7107643139068643538[70] = 0;
out_7107643139068643538[71] = 0;
out_7107643139068643538[72] = 1;
out_7107643139068643538[73] = dt;
out_7107643139068643538[74] = 0;
out_7107643139068643538[75] = 0;
out_7107643139068643538[76] = 0;
out_7107643139068643538[77] = 0;
out_7107643139068643538[78] = 0;
out_7107643139068643538[79] = 0;
out_7107643139068643538[80] = 0;
out_7107643139068643538[81] = 0;
out_7107643139068643538[82] = 0;
out_7107643139068643538[83] = 0;
out_7107643139068643538[84] = 1;
out_7107643139068643538[85] = dt;
out_7107643139068643538[86] = 0;
out_7107643139068643538[87] = 0;
out_7107643139068643538[88] = 0;
out_7107643139068643538[89] = 0;
out_7107643139068643538[90] = 0;
out_7107643139068643538[91] = 0;
out_7107643139068643538[92] = 0;
out_7107643139068643538[93] = 0;
out_7107643139068643538[94] = 0;
out_7107643139068643538[95] = 0;
out_7107643139068643538[96] = 1;
out_7107643139068643538[97] = 0;
out_7107643139068643538[98] = 0;
out_7107643139068643538[99] = 0;
out_7107643139068643538[100] = 0;
out_7107643139068643538[101] = 0;
out_7107643139068643538[102] = 0;
out_7107643139068643538[103] = 0;
out_7107643139068643538[104] = 0;
out_7107643139068643538[105] = 0;
out_7107643139068643538[106] = 0;
out_7107643139068643538[107] = 0;
out_7107643139068643538[108] = 1;
out_7107643139068643538[109] = 0;
out_7107643139068643538[110] = 0;
out_7107643139068643538[111] = 0;
out_7107643139068643538[112] = 0;
out_7107643139068643538[113] = 0;
out_7107643139068643538[114] = 0;
out_7107643139068643538[115] = 0;
out_7107643139068643538[116] = 0;
out_7107643139068643538[117] = 0;
out_7107643139068643538[118] = 0;
out_7107643139068643538[119] = 0;
out_7107643139068643538[120] = 1;
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 h_6(double *state, double *sat_pos, double *out_1014783744438669605) {
out_1014783744438669605[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_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_2647892629803094557) {
out_2647892629803094557[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_2647892629803094557[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_2647892629803094557[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_2647892629803094557[3] = 0;
out_2647892629803094557[4] = 0;
out_2647892629803094557[5] = 0;
out_2647892629803094557[6] = 1;
out_2647892629803094557[7] = 0;
out_2647892629803094557[8] = 0;
out_2647892629803094557[9] = 0;
out_2647892629803094557[10] = 0;
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_20(double *state, double *sat_pos, double *out_4446463785726682298) {
out_4446463785726682298[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_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_2058835805956563056) {
out_2058835805956563056[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_2058835805956563056[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_2058835805956563056[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_2058835805956563056[3] = 0;
out_2058835805956563056[4] = 0;
out_2058835805956563056[5] = 0;
out_2058835805956563056[6] = 1;
out_2058835805956563056[7] = 0;
out_2058835805956563056[8] = 0;
out_2058835805956563056[9] = 1;
out_2058835805956563056[10] = sat_pos[3];
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_7(double *state, double *sat_pos_vel, double *out_6977013047509885177) {
out_6977013047509885177[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_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_3396370189700754510) {
out_3396370189700754510[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_3396370189700754510[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_3396370189700754510[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_3396370189700754510[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_3396370189700754510[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_3396370189700754510[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_3396370189700754510[6] = 0;
out_3396370189700754510[7] = 1;
out_3396370189700754510[8] = 0;
out_3396370189700754510[9] = 0;
out_3396370189700754510[10] = 0;
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_21(double *state, double *sat_pos_vel, double *out_6977013047509885177) {
out_6977013047509885177[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_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_3396370189700754510) {
out_3396370189700754510[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_3396370189700754510[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_3396370189700754510[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_3396370189700754510[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_3396370189700754510[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_3396370189700754510[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_3396370189700754510[6] = 0;
out_3396370189700754510[7] = 1;
out_3396370189700754510[8] = 0;
out_3396370189700754510[9] = 0;
out_3396370189700754510[10] = 0;
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;
}
#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_5270397344340919402) {
err_fun(nom_x, delta_x, out_5270397344340919402);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_2155524759348881706) {
err_fun(nom_x, delta_x, out_2155524759348881706);
}
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_1512259161409062554) {
inv_err_fun(nom_x, true_x, out_1512259161409062554);
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_H_mod_fun(double *state, double *out_8413937430488034064) {
H_mod_fun(state, out_8413937430488034064);
void gnss_H_mod_fun(double *state, double *out_6886810493919790975) {
H_mod_fun(state, out_6886810493919790975);
}
void gnss_f_fun(double *state, double dt, double *out_8044790491496694058) {
f_fun(state, dt, out_8044790491496694058);
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_7107643139068643538) {
F_fun(state, dt, out_7107643139068643538);
void gnss_F_fun(double *state, double dt, double *out_2206723714956142118) {
F_fun(state, dt, out_2206723714956142118);
}
void gnss_h_6(double *state, double *sat_pos, double *out_1014783744438669605) {
h_6(state, sat_pos, out_1014783744438669605);
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_2647892629803094557) {
H_6(state, sat_pos, out_2647892629803094557);
void gnss_H_6(double *state, double *sat_pos, double *out_6079281560797038039) {
H_6(state, sat_pos, out_6079281560797038039);
}
void gnss_h_20(double *state, double *sat_pos, double *out_4446463785726682298) {
h_20(state, sat_pos, out_4446463785726682298);
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_2058835805956563056) {
H_20(state, sat_pos, out_2058835805956563056);
void gnss_H_20(double *state, double *sat_pos, double *out_6425650286104756584) {
H_20(state, sat_pos, out_6425650286104756584);
}
void gnss_h_7(double *state, double *sat_pos_vel, double *out_6977013047509885177) {
h_7(state, sat_pos_vel, out_6977013047509885177);
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_3396370189700754510) {
H_7(state, sat_pos_vel, out_3396370189700754510);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_236788228116502184) {
H_7(state, sat_pos_vel, out_236788228116502184);
}
void gnss_h_21(double *state, double *sat_pos_vel, double *out_6977013047509885177) {
h_21(state, sat_pos_vel, out_6977013047509885177);
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_3396370189700754510) {
H_21(state, sat_pos_vel, out_3396370189700754510);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_236788228116502184) {
H_21(state, sat_pos_vel, out_236788228116502184);
}
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);