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dragonpilot 2022-11-30T09:37:39 for EON/C2

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version: dragonpilot v0.9.1 beta for EON/C2
date: 2022-11-30T09:37:39
dp-dev(priv2) master commit: e2204c868277f20a263c2f93e88c42999d0b0c15
This commit is contained in:
Dragonpilot Team
2022-11-30 09:29:13 +00:00
committed by Comma Device
parent 1fdc1202d1
commit de34fa87ee
149 changed files with 9492 additions and 3631 deletions
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724
selfdrive/locationd/models/generated/gnss.cpp
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@@ -17,354 +17,354 @@ const static double MAHA_THRESH_21 = 3.8414588206941227;
* *
* This file is part of 'ekf' *
******************************************************************************/
void err_fun(double *nom_x, double *delta_x, double *out_2351947283659598660) {
out_2351947283659598660[0] = delta_x[0] + nom_x[0];
out_2351947283659598660[1] = delta_x[1] + nom_x[1];
out_2351947283659598660[2] = delta_x[2] + nom_x[2];
out_2351947283659598660[3] = delta_x[3] + nom_x[3];
out_2351947283659598660[4] = delta_x[4] + nom_x[4];
out_2351947283659598660[5] = delta_x[5] + nom_x[5];
out_2351947283659598660[6] = delta_x[6] + nom_x[6];
out_2351947283659598660[7] = delta_x[7] + nom_x[7];
out_2351947283659598660[8] = delta_x[8] + nom_x[8];
out_2351947283659598660[9] = delta_x[9] + nom_x[9];
out_2351947283659598660[10] = delta_x[10] + nom_x[10];
void err_fun(double *nom_x, double *delta_x, double *out_1734633203049768488) {
out_1734633203049768488[0] = delta_x[0] + nom_x[0];
out_1734633203049768488[1] = delta_x[1] + nom_x[1];
out_1734633203049768488[2] = delta_x[2] + nom_x[2];
out_1734633203049768488[3] = delta_x[3] + nom_x[3];
out_1734633203049768488[4] = delta_x[4] + nom_x[4];
out_1734633203049768488[5] = delta_x[5] + nom_x[5];
out_1734633203049768488[6] = delta_x[6] + nom_x[6];
out_1734633203049768488[7] = delta_x[7] + nom_x[7];
out_1734633203049768488[8] = delta_x[8] + nom_x[8];
out_1734633203049768488[9] = delta_x[9] + nom_x[9];
out_1734633203049768488[10] = delta_x[10] + nom_x[10];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_8539310053726918653) {
out_8539310053726918653[0] = -nom_x[0] + true_x[0];
out_8539310053726918653[1] = -nom_x[1] + true_x[1];
out_8539310053726918653[2] = -nom_x[2] + true_x[2];
out_8539310053726918653[3] = -nom_x[3] + true_x[3];
out_8539310053726918653[4] = -nom_x[4] + true_x[4];
out_8539310053726918653[5] = -nom_x[5] + true_x[5];
out_8539310053726918653[6] = -nom_x[6] + true_x[6];
out_8539310053726918653[7] = -nom_x[7] + true_x[7];
out_8539310053726918653[8] = -nom_x[8] + true_x[8];
out_8539310053726918653[9] = -nom_x[9] + true_x[9];
out_8539310053726918653[10] = -nom_x[10] + true_x[10];
void inv_err_fun(double *nom_x, double *true_x, double *out_7226800202829737504) {
out_7226800202829737504[0] = -nom_x[0] + true_x[0];
out_7226800202829737504[1] = -nom_x[1] + true_x[1];
out_7226800202829737504[2] = -nom_x[2] + true_x[2];
out_7226800202829737504[3] = -nom_x[3] + true_x[3];
out_7226800202829737504[4] = -nom_x[4] + true_x[4];
out_7226800202829737504[5] = -nom_x[5] + true_x[5];
out_7226800202829737504[6] = -nom_x[6] + true_x[6];
out_7226800202829737504[7] = -nom_x[7] + true_x[7];
out_7226800202829737504[8] = -nom_x[8] + true_x[8];
out_7226800202829737504[9] = -nom_x[9] + true_x[9];
out_7226800202829737504[10] = -nom_x[10] + true_x[10];
}
void H_mod_fun(double *state, double *out_2843304307356815987) {
out_2843304307356815987[0] = 1.0;
out_2843304307356815987[1] = 0;
out_2843304307356815987[2] = 0;
out_2843304307356815987[3] = 0;
out_2843304307356815987[4] = 0;
out_2843304307356815987[5] = 0;
out_2843304307356815987[6] = 0;
out_2843304307356815987[7] = 0;
out_2843304307356815987[8] = 0;
out_2843304307356815987[9] = 0;
out_2843304307356815987[10] = 0;
out_2843304307356815987[11] = 0;
out_2843304307356815987[12] = 1.0;
out_2843304307356815987[13] = 0;
out_2843304307356815987[14] = 0;
out_2843304307356815987[15] = 0;
out_2843304307356815987[16] = 0;
out_2843304307356815987[17] = 0;
out_2843304307356815987[18] = 0;
out_2843304307356815987[19] = 0;
out_2843304307356815987[20] = 0;
out_2843304307356815987[21] = 0;
out_2843304307356815987[22] = 0;
out_2843304307356815987[23] = 0;
out_2843304307356815987[24] = 1.0;
out_2843304307356815987[25] = 0;
out_2843304307356815987[26] = 0;
out_2843304307356815987[27] = 0;
out_2843304307356815987[28] = 0;
out_2843304307356815987[29] = 0;
out_2843304307356815987[30] = 0;
out_2843304307356815987[31] = 0;
out_2843304307356815987[32] = 0;
out_2843304307356815987[33] = 0;
out_2843304307356815987[34] = 0;
out_2843304307356815987[35] = 0;
out_2843304307356815987[36] = 1.0;
out_2843304307356815987[37] = 0;
out_2843304307356815987[38] = 0;
out_2843304307356815987[39] = 0;
out_2843304307356815987[40] = 0;
out_2843304307356815987[41] = 0;
out_2843304307356815987[42] = 0;
out_2843304307356815987[43] = 0;
out_2843304307356815987[44] = 0;
out_2843304307356815987[45] = 0;
out_2843304307356815987[46] = 0;
out_2843304307356815987[47] = 0;
out_2843304307356815987[48] = 1.0;
out_2843304307356815987[49] = 0;
out_2843304307356815987[50] = 0;
out_2843304307356815987[51] = 0;
out_2843304307356815987[52] = 0;
out_2843304307356815987[53] = 0;
out_2843304307356815987[54] = 0;
out_2843304307356815987[55] = 0;
out_2843304307356815987[56] = 0;
out_2843304307356815987[57] = 0;
out_2843304307356815987[58] = 0;
out_2843304307356815987[59] = 0;
out_2843304307356815987[60] = 1.0;
out_2843304307356815987[61] = 0;
out_2843304307356815987[62] = 0;
out_2843304307356815987[63] = 0;
out_2843304307356815987[64] = 0;
out_2843304307356815987[65] = 0;
out_2843304307356815987[66] = 0;
out_2843304307356815987[67] = 0;
out_2843304307356815987[68] = 0;
out_2843304307356815987[69] = 0;
out_2843304307356815987[70] = 0;
out_2843304307356815987[71] = 0;
out_2843304307356815987[72] = 1.0;
out_2843304307356815987[73] = 0;
out_2843304307356815987[74] = 0;
out_2843304307356815987[75] = 0;
out_2843304307356815987[76] = 0;
out_2843304307356815987[77] = 0;
out_2843304307356815987[78] = 0;
out_2843304307356815987[79] = 0;
out_2843304307356815987[80] = 0;
out_2843304307356815987[81] = 0;
out_2843304307356815987[82] = 0;
out_2843304307356815987[83] = 0;
out_2843304307356815987[84] = 1.0;
out_2843304307356815987[85] = 0;
out_2843304307356815987[86] = 0;
out_2843304307356815987[87] = 0;
out_2843304307356815987[88] = 0;
out_2843304307356815987[89] = 0;
out_2843304307356815987[90] = 0;
out_2843304307356815987[91] = 0;
out_2843304307356815987[92] = 0;
out_2843304307356815987[93] = 0;
out_2843304307356815987[94] = 0;
out_2843304307356815987[95] = 0;
out_2843304307356815987[96] = 1.0;
out_2843304307356815987[97] = 0;
out_2843304307356815987[98] = 0;
out_2843304307356815987[99] = 0;
out_2843304307356815987[100] = 0;
out_2843304307356815987[101] = 0;
out_2843304307356815987[102] = 0;
out_2843304307356815987[103] = 0;
out_2843304307356815987[104] = 0;
out_2843304307356815987[105] = 0;
out_2843304307356815987[106] = 0;
out_2843304307356815987[107] = 0;
out_2843304307356815987[108] = 1.0;
out_2843304307356815987[109] = 0;
out_2843304307356815987[110] = 0;
out_2843304307356815987[111] = 0;
out_2843304307356815987[112] = 0;
out_2843304307356815987[113] = 0;
out_2843304307356815987[114] = 0;
out_2843304307356815987[115] = 0;
out_2843304307356815987[116] = 0;
out_2843304307356815987[117] = 0;
out_2843304307356815987[118] = 0;
out_2843304307356815987[119] = 0;
out_2843304307356815987[120] = 1.0;
void H_mod_fun(double *state, double *out_7212715412967761026) {
out_7212715412967761026[0] = 1.0;
out_7212715412967761026[1] = 0;
out_7212715412967761026[2] = 0;
out_7212715412967761026[3] = 0;
out_7212715412967761026[4] = 0;
out_7212715412967761026[5] = 0;
out_7212715412967761026[6] = 0;
out_7212715412967761026[7] = 0;
out_7212715412967761026[8] = 0;
out_7212715412967761026[9] = 0;
out_7212715412967761026[10] = 0;
out_7212715412967761026[11] = 0;
out_7212715412967761026[12] = 1.0;
out_7212715412967761026[13] = 0;
out_7212715412967761026[14] = 0;
out_7212715412967761026[15] = 0;
out_7212715412967761026[16] = 0;
out_7212715412967761026[17] = 0;
out_7212715412967761026[18] = 0;
out_7212715412967761026[19] = 0;
out_7212715412967761026[20] = 0;
out_7212715412967761026[21] = 0;
out_7212715412967761026[22] = 0;
out_7212715412967761026[23] = 0;
out_7212715412967761026[24] = 1.0;
out_7212715412967761026[25] = 0;
out_7212715412967761026[26] = 0;
out_7212715412967761026[27] = 0;
out_7212715412967761026[28] = 0;
out_7212715412967761026[29] = 0;
out_7212715412967761026[30] = 0;
out_7212715412967761026[31] = 0;
out_7212715412967761026[32] = 0;
out_7212715412967761026[33] = 0;
out_7212715412967761026[34] = 0;
out_7212715412967761026[35] = 0;
out_7212715412967761026[36] = 1.0;
out_7212715412967761026[37] = 0;
out_7212715412967761026[38] = 0;
out_7212715412967761026[39] = 0;
out_7212715412967761026[40] = 0;
out_7212715412967761026[41] = 0;
out_7212715412967761026[42] = 0;
out_7212715412967761026[43] = 0;
out_7212715412967761026[44] = 0;
out_7212715412967761026[45] = 0;
out_7212715412967761026[46] = 0;
out_7212715412967761026[47] = 0;
out_7212715412967761026[48] = 1.0;
out_7212715412967761026[49] = 0;
out_7212715412967761026[50] = 0;
out_7212715412967761026[51] = 0;
out_7212715412967761026[52] = 0;
out_7212715412967761026[53] = 0;
out_7212715412967761026[54] = 0;
out_7212715412967761026[55] = 0;
out_7212715412967761026[56] = 0;
out_7212715412967761026[57] = 0;
out_7212715412967761026[58] = 0;
out_7212715412967761026[59] = 0;
out_7212715412967761026[60] = 1.0;
out_7212715412967761026[61] = 0;
out_7212715412967761026[62] = 0;
out_7212715412967761026[63] = 0;
out_7212715412967761026[64] = 0;
out_7212715412967761026[65] = 0;
out_7212715412967761026[66] = 0;
out_7212715412967761026[67] = 0;
out_7212715412967761026[68] = 0;
out_7212715412967761026[69] = 0;
out_7212715412967761026[70] = 0;
out_7212715412967761026[71] = 0;
out_7212715412967761026[72] = 1.0;
out_7212715412967761026[73] = 0;
out_7212715412967761026[74] = 0;
out_7212715412967761026[75] = 0;
out_7212715412967761026[76] = 0;
out_7212715412967761026[77] = 0;
out_7212715412967761026[78] = 0;
out_7212715412967761026[79] = 0;
out_7212715412967761026[80] = 0;
out_7212715412967761026[81] = 0;
out_7212715412967761026[82] = 0;
out_7212715412967761026[83] = 0;
out_7212715412967761026[84] = 1.0;
out_7212715412967761026[85] = 0;
out_7212715412967761026[86] = 0;
out_7212715412967761026[87] = 0;
out_7212715412967761026[88] = 0;
out_7212715412967761026[89] = 0;
out_7212715412967761026[90] = 0;
out_7212715412967761026[91] = 0;
out_7212715412967761026[92] = 0;
out_7212715412967761026[93] = 0;
out_7212715412967761026[94] = 0;
out_7212715412967761026[95] = 0;
out_7212715412967761026[96] = 1.0;
out_7212715412967761026[97] = 0;
out_7212715412967761026[98] = 0;
out_7212715412967761026[99] = 0;
out_7212715412967761026[100] = 0;
out_7212715412967761026[101] = 0;
out_7212715412967761026[102] = 0;
out_7212715412967761026[103] = 0;
out_7212715412967761026[104] = 0;
out_7212715412967761026[105] = 0;
out_7212715412967761026[106] = 0;
out_7212715412967761026[107] = 0;
out_7212715412967761026[108] = 1.0;
out_7212715412967761026[109] = 0;
out_7212715412967761026[110] = 0;
out_7212715412967761026[111] = 0;
out_7212715412967761026[112] = 0;
out_7212715412967761026[113] = 0;
out_7212715412967761026[114] = 0;
out_7212715412967761026[115] = 0;
out_7212715412967761026[116] = 0;
out_7212715412967761026[117] = 0;
out_7212715412967761026[118] = 0;
out_7212715412967761026[119] = 0;
out_7212715412967761026[120] = 1.0;
}
void f_fun(double *state, double dt, double *out_774769938980785647) {
out_774769938980785647[0] = dt*state[3] + state[0];
out_774769938980785647[1] = dt*state[4] + state[1];
out_774769938980785647[2] = dt*state[5] + state[2];
out_774769938980785647[3] = state[3];
out_774769938980785647[4] = state[4];
out_774769938980785647[5] = state[5];
out_774769938980785647[6] = dt*state[7] + state[6];
out_774769938980785647[7] = dt*state[8] + state[7];
out_774769938980785647[8] = state[8];
out_774769938980785647[9] = state[9];
out_774769938980785647[10] = state[10];
void f_fun(double *state, double dt, double *out_4622219999608348212) {
out_4622219999608348212[0] = dt*state[3] + state[0];
out_4622219999608348212[1] = dt*state[4] + state[1];
out_4622219999608348212[2] = dt*state[5] + state[2];
out_4622219999608348212[3] = state[3];
out_4622219999608348212[4] = state[4];
out_4622219999608348212[5] = state[5];
out_4622219999608348212[6] = dt*state[7] + state[6];
out_4622219999608348212[7] = dt*state[8] + state[7];
out_4622219999608348212[8] = state[8];
out_4622219999608348212[9] = state[9];
out_4622219999608348212[10] = state[10];
}
void F_fun(double *state, double dt, double *out_4467768114936024642) {
out_4467768114936024642[0] = 1;
out_4467768114936024642[1] = 0;
out_4467768114936024642[2] = 0;
out_4467768114936024642[3] = dt;
out_4467768114936024642[4] = 0;
out_4467768114936024642[5] = 0;
out_4467768114936024642[6] = 0;
out_4467768114936024642[7] = 0;
out_4467768114936024642[8] = 0;
out_4467768114936024642[9] = 0;
out_4467768114936024642[10] = 0;
out_4467768114936024642[11] = 0;
out_4467768114936024642[12] = 1;
out_4467768114936024642[13] = 0;
out_4467768114936024642[14] = 0;
out_4467768114936024642[15] = dt;
out_4467768114936024642[16] = 0;
out_4467768114936024642[17] = 0;
out_4467768114936024642[18] = 0;
out_4467768114936024642[19] = 0;
out_4467768114936024642[20] = 0;
out_4467768114936024642[21] = 0;
out_4467768114936024642[22] = 0;
out_4467768114936024642[23] = 0;
out_4467768114936024642[24] = 1;
out_4467768114936024642[25] = 0;
out_4467768114936024642[26] = 0;
out_4467768114936024642[27] = dt;
out_4467768114936024642[28] = 0;
out_4467768114936024642[29] = 0;
out_4467768114936024642[30] = 0;
out_4467768114936024642[31] = 0;
out_4467768114936024642[32] = 0;
out_4467768114936024642[33] = 0;
out_4467768114936024642[34] = 0;
out_4467768114936024642[35] = 0;
out_4467768114936024642[36] = 1;
out_4467768114936024642[37] = 0;
out_4467768114936024642[38] = 0;
out_4467768114936024642[39] = 0;
out_4467768114936024642[40] = 0;
out_4467768114936024642[41] = 0;
out_4467768114936024642[42] = 0;
out_4467768114936024642[43] = 0;
out_4467768114936024642[44] = 0;
out_4467768114936024642[45] = 0;
out_4467768114936024642[46] = 0;
out_4467768114936024642[47] = 0;
out_4467768114936024642[48] = 1;
out_4467768114936024642[49] = 0;
out_4467768114936024642[50] = 0;
out_4467768114936024642[51] = 0;
out_4467768114936024642[52] = 0;
out_4467768114936024642[53] = 0;
out_4467768114936024642[54] = 0;
out_4467768114936024642[55] = 0;
out_4467768114936024642[56] = 0;
out_4467768114936024642[57] = 0;
out_4467768114936024642[58] = 0;
out_4467768114936024642[59] = 0;
out_4467768114936024642[60] = 1;
out_4467768114936024642[61] = 0;
out_4467768114936024642[62] = 0;
out_4467768114936024642[63] = 0;
out_4467768114936024642[64] = 0;
out_4467768114936024642[65] = 0;
out_4467768114936024642[66] = 0;
out_4467768114936024642[67] = 0;
out_4467768114936024642[68] = 0;
out_4467768114936024642[69] = 0;
out_4467768114936024642[70] = 0;
out_4467768114936024642[71] = 0;
out_4467768114936024642[72] = 1;
out_4467768114936024642[73] = dt;
out_4467768114936024642[74] = 0;
out_4467768114936024642[75] = 0;
out_4467768114936024642[76] = 0;
out_4467768114936024642[77] = 0;
out_4467768114936024642[78] = 0;
out_4467768114936024642[79] = 0;
out_4467768114936024642[80] = 0;
out_4467768114936024642[81] = 0;
out_4467768114936024642[82] = 0;
out_4467768114936024642[83] = 0;
out_4467768114936024642[84] = 1;
out_4467768114936024642[85] = dt;
out_4467768114936024642[86] = 0;
out_4467768114936024642[87] = 0;
out_4467768114936024642[88] = 0;
out_4467768114936024642[89] = 0;
out_4467768114936024642[90] = 0;
out_4467768114936024642[91] = 0;
out_4467768114936024642[92] = 0;
out_4467768114936024642[93] = 0;
out_4467768114936024642[94] = 0;
out_4467768114936024642[95] = 0;
out_4467768114936024642[96] = 1;
out_4467768114936024642[97] = 0;
out_4467768114936024642[98] = 0;
out_4467768114936024642[99] = 0;
out_4467768114936024642[100] = 0;
out_4467768114936024642[101] = 0;
out_4467768114936024642[102] = 0;
out_4467768114936024642[103] = 0;
out_4467768114936024642[104] = 0;
out_4467768114936024642[105] = 0;
out_4467768114936024642[106] = 0;
out_4467768114936024642[107] = 0;
out_4467768114936024642[108] = 1;
out_4467768114936024642[109] = 0;
out_4467768114936024642[110] = 0;
out_4467768114936024642[111] = 0;
out_4467768114936024642[112] = 0;
out_4467768114936024642[113] = 0;
out_4467768114936024642[114] = 0;
out_4467768114936024642[115] = 0;
out_4467768114936024642[116] = 0;
out_4467768114936024642[117] = 0;
out_4467768114936024642[118] = 0;
out_4467768114936024642[119] = 0;
out_4467768114936024642[120] = 1;
void F_fun(double *state, double dt, double *out_1489675256084431222) {
out_1489675256084431222[0] = 1;
out_1489675256084431222[1] = 0;
out_1489675256084431222[2] = 0;
out_1489675256084431222[3] = dt;
out_1489675256084431222[4] = 0;
out_1489675256084431222[5] = 0;
out_1489675256084431222[6] = 0;
out_1489675256084431222[7] = 0;
out_1489675256084431222[8] = 0;
out_1489675256084431222[9] = 0;
out_1489675256084431222[10] = 0;
out_1489675256084431222[11] = 0;
out_1489675256084431222[12] = 1;
out_1489675256084431222[13] = 0;
out_1489675256084431222[14] = 0;
out_1489675256084431222[15] = dt;
out_1489675256084431222[16] = 0;
out_1489675256084431222[17] = 0;
out_1489675256084431222[18] = 0;
out_1489675256084431222[19] = 0;
out_1489675256084431222[20] = 0;
out_1489675256084431222[21] = 0;
out_1489675256084431222[22] = 0;
out_1489675256084431222[23] = 0;
out_1489675256084431222[24] = 1;
out_1489675256084431222[25] = 0;
out_1489675256084431222[26] = 0;
out_1489675256084431222[27] = dt;
out_1489675256084431222[28] = 0;
out_1489675256084431222[29] = 0;
out_1489675256084431222[30] = 0;
out_1489675256084431222[31] = 0;
out_1489675256084431222[32] = 0;
out_1489675256084431222[33] = 0;
out_1489675256084431222[34] = 0;
out_1489675256084431222[35] = 0;
out_1489675256084431222[36] = 1;
out_1489675256084431222[37] = 0;
out_1489675256084431222[38] = 0;
out_1489675256084431222[39] = 0;
out_1489675256084431222[40] = 0;
out_1489675256084431222[41] = 0;
out_1489675256084431222[42] = 0;
out_1489675256084431222[43] = 0;
out_1489675256084431222[44] = 0;
out_1489675256084431222[45] = 0;
out_1489675256084431222[46] = 0;
out_1489675256084431222[47] = 0;
out_1489675256084431222[48] = 1;
out_1489675256084431222[49] = 0;
out_1489675256084431222[50] = 0;
out_1489675256084431222[51] = 0;
out_1489675256084431222[52] = 0;
out_1489675256084431222[53] = 0;
out_1489675256084431222[54] = 0;
out_1489675256084431222[55] = 0;
out_1489675256084431222[56] = 0;
out_1489675256084431222[57] = 0;
out_1489675256084431222[58] = 0;
out_1489675256084431222[59] = 0;
out_1489675256084431222[60] = 1;
out_1489675256084431222[61] = 0;
out_1489675256084431222[62] = 0;
out_1489675256084431222[63] = 0;
out_1489675256084431222[64] = 0;
out_1489675256084431222[65] = 0;
out_1489675256084431222[66] = 0;
out_1489675256084431222[67] = 0;
out_1489675256084431222[68] = 0;
out_1489675256084431222[69] = 0;
out_1489675256084431222[70] = 0;
out_1489675256084431222[71] = 0;
out_1489675256084431222[72] = 1;
out_1489675256084431222[73] = dt;
out_1489675256084431222[74] = 0;
out_1489675256084431222[75] = 0;
out_1489675256084431222[76] = 0;
out_1489675256084431222[77] = 0;
out_1489675256084431222[78] = 0;
out_1489675256084431222[79] = 0;
out_1489675256084431222[80] = 0;
out_1489675256084431222[81] = 0;
out_1489675256084431222[82] = 0;
out_1489675256084431222[83] = 0;
out_1489675256084431222[84] = 1;
out_1489675256084431222[85] = dt;
out_1489675256084431222[86] = 0;
out_1489675256084431222[87] = 0;
out_1489675256084431222[88] = 0;
out_1489675256084431222[89] = 0;
out_1489675256084431222[90] = 0;
out_1489675256084431222[91] = 0;
out_1489675256084431222[92] = 0;
out_1489675256084431222[93] = 0;
out_1489675256084431222[94] = 0;
out_1489675256084431222[95] = 0;
out_1489675256084431222[96] = 1;
out_1489675256084431222[97] = 0;
out_1489675256084431222[98] = 0;
out_1489675256084431222[99] = 0;
out_1489675256084431222[100] = 0;
out_1489675256084431222[101] = 0;
out_1489675256084431222[102] = 0;
out_1489675256084431222[103] = 0;
out_1489675256084431222[104] = 0;
out_1489675256084431222[105] = 0;
out_1489675256084431222[106] = 0;
out_1489675256084431222[107] = 0;
out_1489675256084431222[108] = 1;
out_1489675256084431222[109] = 0;
out_1489675256084431222[110] = 0;
out_1489675256084431222[111] = 0;
out_1489675256084431222[112] = 0;
out_1489675256084431222[113] = 0;
out_1489675256084431222[114] = 0;
out_1489675256084431222[115] = 0;
out_1489675256084431222[116] = 0;
out_1489675256084431222[117] = 0;
out_1489675256084431222[118] = 0;
out_1489675256084431222[119] = 0;
out_1489675256084431222[120] = 1;
}
void h_6(double *state, double *sat_pos, double *out_8206867657584711155) {
out_8206867657584711155[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6];
void h_6(double *state, double *sat_pos, double *out_7567908033892933921) {
out_7567908033892933921[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6];
}
void H_6(double *state, double *sat_pos, double *out_2748205046550560630) {
out_2748205046550560630[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_2748205046550560630[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_2748205046550560630[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_2748205046550560630[3] = 0;
out_2748205046550560630[4] = 0;
out_2748205046550560630[5] = 0;
out_2748205046550560630[6] = 1;
out_2748205046550560630[7] = 0;
out_2748205046550560630[8] = 0;
out_2748205046550560630[9] = 0;
out_2748205046550560630[10] = 0;
void H_6(double *state, double *sat_pos, double *out_7455993273502557413) {
out_7455993273502557413[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_7455993273502557413[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_7455993273502557413[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_7455993273502557413[3] = 0;
out_7455993273502557413[4] = 0;
out_7455993273502557413[5] = 0;
out_7455993273502557413[6] = 1;
out_7455993273502557413[7] = 0;
out_7455993273502557413[8] = 0;
out_7455993273502557413[9] = 0;
out_7455993273502557413[10] = 0;
}
void h_20(double *state, double *sat_pos, double *out_3144072620339266513) {
out_3144072620339266513[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9];
void h_20(double *state, double *sat_pos, double *out_3841468768416351937) {
out_3841468768416351937[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9];
}
void H_20(double *state, double *sat_pos, double *out_8303647801952025828) {
out_8303647801952025828[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_8303647801952025828[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_8303647801952025828[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
out_8303647801952025828[3] = 0;
out_8303647801952025828[4] = 0;
out_8303647801952025828[5] = 0;
out_8303647801952025828[6] = 1;
out_8303647801952025828[7] = 0;
out_8303647801952025828[8] = 0;
out_8303647801952025828[9] = 1;
out_8303647801952025828[10] = sat_pos[3];
void H_20(double *state, double *sat_pos, double *out_5623941665124898301) {
out_5623941665124898301[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_5623941665124898301[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_5623941665124898301[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_5623941665124898301[3] = 0;
out_5623941665124898301[4] = 0;
out_5623941665124898301[5] = 0;
out_5623941665124898301[6] = 1;
out_5623941665124898301[7] = 0;
out_5623941665124898301[8] = 0;
out_5623941665124898301[9] = 1;
out_5623941665124898301[10] = sat_pos[3];
}
void h_7(double *state, double *sat_pos_vel, double *out_7730590468597126339) {
out_7730590468597126339[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
void h_7(double *state, double *sat_pos_vel, double *out_1211039377275791210) {
out_1211039377275791210[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
}
void H_7(double *state, double *sat_pos_vel, double *out_1168235388167943403) {
out_1168235388167943403[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[6] = 0;
out_1168235388167943403[7] = 1;
out_1168235388167943403[8] = 0;
out_1168235388167943403[9] = 0;
out_1168235388167943403[10] = 0;
void H_7(double *state, double *sat_pos_vel, double *out_2159917500592958723) {
out_2159917500592958723[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_2159917500592958723[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_2159917500592958723[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_2159917500592958723[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_2159917500592958723[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_2159917500592958723[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_2159917500592958723[6] = 0;
out_2159917500592958723[7] = 1;
out_2159917500592958723[8] = 0;
out_2159917500592958723[9] = 0;
out_2159917500592958723[10] = 0;
}
void h_21(double *state, double *sat_pos_vel, double *out_7730590468597126339) {
out_7730590468597126339[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
void h_21(double *state, double *sat_pos_vel, double *out_1211039377275791210) {
out_1211039377275791210[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
}
void H_21(double *state, double *sat_pos_vel, double *out_1168235388167943403) {
out_1168235388167943403[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
out_1168235388167943403[6] = 0;
out_1168235388167943403[7] = 1;
out_1168235388167943403[8] = 0;
out_1168235388167943403[9] = 0;
out_1168235388167943403[10] = 0;
void H_21(double *state, double *sat_pos_vel, double *out_2159917500592958723) {
out_2159917500592958723[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_2159917500592958723[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_2159917500592958723[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_2159917500592958723[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_2159917500592958723[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_2159917500592958723[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_2159917500592958723[6] = 0;
out_2159917500592958723[7] = 1;
out_2159917500592958723[8] = 0;
out_2159917500592958723[9] = 0;
out_2159917500592958723[10] = 0;
}
#include <eigen3/Eigen/Dense>
#include <iostream>
@@ -506,44 +506,44 @@ void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, doubl
void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_21, H_21, NULL, in_z, in_R, in_ea, MAHA_THRESH_21);
}
void gnss_err_fun(double *nom_x, double *delta_x, double *out_2351947283659598660) {
err_fun(nom_x, delta_x, out_2351947283659598660);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_1734633203049768488) {
err_fun(nom_x, delta_x, out_1734633203049768488);
}
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_8539310053726918653) {
inv_err_fun(nom_x, true_x, out_8539310053726918653);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_7226800202829737504) {
inv_err_fun(nom_x, true_x, out_7226800202829737504);
}
void gnss_H_mod_fun(double *state, double *out_2843304307356815987) {
H_mod_fun(state, out_2843304307356815987);
void gnss_H_mod_fun(double *state, double *out_7212715412967761026) {
H_mod_fun(state, out_7212715412967761026);
}
void gnss_f_fun(double *state, double dt, double *out_774769938980785647) {
f_fun(state, dt, out_774769938980785647);
void gnss_f_fun(double *state, double dt, double *out_4622219999608348212) {
f_fun(state, dt, out_4622219999608348212);
}
void gnss_F_fun(double *state, double dt, double *out_4467768114936024642) {
F_fun(state, dt, out_4467768114936024642);
void gnss_F_fun(double *state, double dt, double *out_1489675256084431222) {
F_fun(state, dt, out_1489675256084431222);
}
void gnss_h_6(double *state, double *sat_pos, double *out_8206867657584711155) {
h_6(state, sat_pos, out_8206867657584711155);
void gnss_h_6(double *state, double *sat_pos, double *out_7567908033892933921) {
h_6(state, sat_pos, out_7567908033892933921);
}
void gnss_H_6(double *state, double *sat_pos, double *out_2748205046550560630) {
H_6(state, sat_pos, out_2748205046550560630);
void gnss_H_6(double *state, double *sat_pos, double *out_7455993273502557413) {
H_6(state, sat_pos, out_7455993273502557413);
}
void gnss_h_20(double *state, double *sat_pos, double *out_3144072620339266513) {
h_20(state, sat_pos, out_3144072620339266513);
void gnss_h_20(double *state, double *sat_pos, double *out_3841468768416351937) {
h_20(state, sat_pos, out_3841468768416351937);
}
void gnss_H_20(double *state, double *sat_pos, double *out_8303647801952025828) {
H_20(state, sat_pos, out_8303647801952025828);
void gnss_H_20(double *state, double *sat_pos, double *out_5623941665124898301) {
H_20(state, sat_pos, out_5623941665124898301);
}
void gnss_h_7(double *state, double *sat_pos_vel, double *out_7730590468597126339) {
h_7(state, sat_pos_vel, out_7730590468597126339);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_1211039377275791210) {
h_7(state, sat_pos_vel, out_1211039377275791210);
}
void gnss_H_7(double *state, double *sat_pos_vel, double *out_1168235388167943403) {
H_7(state, sat_pos_vel, out_1168235388167943403);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_2159917500592958723) {
H_7(state, sat_pos_vel, out_2159917500592958723);
}
void gnss_h_21(double *state, double *sat_pos_vel, double *out_7730590468597126339) {
h_21(state, sat_pos_vel, out_7730590468597126339);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_1211039377275791210) {
h_21(state, sat_pos_vel, out_1211039377275791210);
}
void gnss_H_21(double *state, double *sat_pos_vel, double *out_1168235388167943403) {
H_21(state, sat_pos_vel, out_1168235388167943403);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_2159917500592958723) {
H_21(state, sat_pos_vel, out_2159917500592958723);
}
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);