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dragonpilot 2023-03-27T06:11:06 for EON/C2

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version: dragonpilot v0.9.2 beta for EON/C2
date: 2023-03-27T06:11:06
dp-dev(priv2) master commit: 0a08aa2b73a505e11e4c98ac6c5989464b7d339f
This commit is contained in:
Dragonpilot Team
2023-03-25 08:58:31 +00:00
committed by Comma Device
parent f770882b7f
commit ea800c8f74
452 changed files with 22242 additions and 10694 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_4281415265925619745) {
out_4281415265925619745[0] = delta_x[0] + nom_x[0];
out_4281415265925619745[1] = delta_x[1] + nom_x[1];
out_4281415265925619745[2] = delta_x[2] + nom_x[2];
out_4281415265925619745[3] = delta_x[3] + nom_x[3];
out_4281415265925619745[4] = delta_x[4] + nom_x[4];
out_4281415265925619745[5] = delta_x[5] + nom_x[5];
out_4281415265925619745[6] = delta_x[6] + nom_x[6];
out_4281415265925619745[7] = delta_x[7] + nom_x[7];
out_4281415265925619745[8] = delta_x[8] + nom_x[8];
out_4281415265925619745[9] = delta_x[9] + nom_x[9];
out_4281415265925619745[10] = delta_x[10] + nom_x[10];
void err_fun(double *nom_x, double *delta_x, double *out_654910612427940843) {
out_654910612427940843[0] = delta_x[0] + nom_x[0];
out_654910612427940843[1] = delta_x[1] + nom_x[1];
out_654910612427940843[2] = delta_x[2] + nom_x[2];
out_654910612427940843[3] = delta_x[3] + nom_x[3];
out_654910612427940843[4] = delta_x[4] + nom_x[4];
out_654910612427940843[5] = delta_x[5] + nom_x[5];
out_654910612427940843[6] = delta_x[6] + nom_x[6];
out_654910612427940843[7] = delta_x[7] + nom_x[7];
out_654910612427940843[8] = delta_x[8] + nom_x[8];
out_654910612427940843[9] = delta_x[9] + nom_x[9];
out_654910612427940843[10] = delta_x[10] + nom_x[10];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_8058048663833159220) {
out_8058048663833159220[0] = -nom_x[0] + true_x[0];
out_8058048663833159220[1] = -nom_x[1] + true_x[1];
out_8058048663833159220[2] = -nom_x[2] + true_x[2];
out_8058048663833159220[3] = -nom_x[3] + true_x[3];
out_8058048663833159220[4] = -nom_x[4] + true_x[4];
out_8058048663833159220[5] = -nom_x[5] + true_x[5];
out_8058048663833159220[6] = -nom_x[6] + true_x[6];
out_8058048663833159220[7] = -nom_x[7] + true_x[7];
out_8058048663833159220[8] = -nom_x[8] + true_x[8];
out_8058048663833159220[9] = -nom_x[9] + true_x[9];
out_8058048663833159220[10] = -nom_x[10] + true_x[10];
void inv_err_fun(double *nom_x, double *true_x, double *out_6637724801134549563) {
out_6637724801134549563[0] = -nom_x[0] + true_x[0];
out_6637724801134549563[1] = -nom_x[1] + true_x[1];
out_6637724801134549563[2] = -nom_x[2] + true_x[2];
out_6637724801134549563[3] = -nom_x[3] + true_x[3];
out_6637724801134549563[4] = -nom_x[4] + true_x[4];
out_6637724801134549563[5] = -nom_x[5] + true_x[5];
out_6637724801134549563[6] = -nom_x[6] + true_x[6];
out_6637724801134549563[7] = -nom_x[7] + true_x[7];
out_6637724801134549563[8] = -nom_x[8] + true_x[8];
out_6637724801134549563[9] = -nom_x[9] + true_x[9];
out_6637724801134549563[10] = -nom_x[10] + true_x[10];
}
void H_mod_fun(double *state, double *out_3690945488544052836) {
out_3690945488544052836[0] = 1.0;
out_3690945488544052836[1] = 0;
out_3690945488544052836[2] = 0;
out_3690945488544052836[3] = 0;
out_3690945488544052836[4] = 0;
out_3690945488544052836[5] = 0;
out_3690945488544052836[6] = 0;
out_3690945488544052836[7] = 0;
out_3690945488544052836[8] = 0;
out_3690945488544052836[9] = 0;
out_3690945488544052836[10] = 0;
out_3690945488544052836[11] = 0;
out_3690945488544052836[12] = 1.0;
out_3690945488544052836[13] = 0;
out_3690945488544052836[14] = 0;
out_3690945488544052836[15] = 0;
out_3690945488544052836[16] = 0;
out_3690945488544052836[17] = 0;
out_3690945488544052836[18] = 0;
out_3690945488544052836[19] = 0;
out_3690945488544052836[20] = 0;
out_3690945488544052836[21] = 0;
out_3690945488544052836[22] = 0;
out_3690945488544052836[23] = 0;
out_3690945488544052836[24] = 1.0;
out_3690945488544052836[25] = 0;
out_3690945488544052836[26] = 0;
out_3690945488544052836[27] = 0;
out_3690945488544052836[28] = 0;
out_3690945488544052836[29] = 0;
out_3690945488544052836[30] = 0;
out_3690945488544052836[31] = 0;
out_3690945488544052836[32] = 0;
out_3690945488544052836[33] = 0;
out_3690945488544052836[34] = 0;
out_3690945488544052836[35] = 0;
out_3690945488544052836[36] = 1.0;
out_3690945488544052836[37] = 0;
out_3690945488544052836[38] = 0;
out_3690945488544052836[39] = 0;
out_3690945488544052836[40] = 0;
out_3690945488544052836[41] = 0;
out_3690945488544052836[42] = 0;
out_3690945488544052836[43] = 0;
out_3690945488544052836[44] = 0;
out_3690945488544052836[45] = 0;
out_3690945488544052836[46] = 0;
out_3690945488544052836[47] = 0;
out_3690945488544052836[48] = 1.0;
out_3690945488544052836[49] = 0;
out_3690945488544052836[50] = 0;
out_3690945488544052836[51] = 0;
out_3690945488544052836[52] = 0;
out_3690945488544052836[53] = 0;
out_3690945488544052836[54] = 0;
out_3690945488544052836[55] = 0;
out_3690945488544052836[56] = 0;
out_3690945488544052836[57] = 0;
out_3690945488544052836[58] = 0;
out_3690945488544052836[59] = 0;
out_3690945488544052836[60] = 1.0;
out_3690945488544052836[61] = 0;
out_3690945488544052836[62] = 0;
out_3690945488544052836[63] = 0;
out_3690945488544052836[64] = 0;
out_3690945488544052836[65] = 0;
out_3690945488544052836[66] = 0;
out_3690945488544052836[67] = 0;
out_3690945488544052836[68] = 0;
out_3690945488544052836[69] = 0;
out_3690945488544052836[70] = 0;
out_3690945488544052836[71] = 0;
out_3690945488544052836[72] = 1.0;
out_3690945488544052836[73] = 0;
out_3690945488544052836[74] = 0;
out_3690945488544052836[75] = 0;
out_3690945488544052836[76] = 0;
out_3690945488544052836[77] = 0;
out_3690945488544052836[78] = 0;
out_3690945488544052836[79] = 0;
out_3690945488544052836[80] = 0;
out_3690945488544052836[81] = 0;
out_3690945488544052836[82] = 0;
out_3690945488544052836[83] = 0;
out_3690945488544052836[84] = 1.0;
out_3690945488544052836[85] = 0;
out_3690945488544052836[86] = 0;
out_3690945488544052836[87] = 0;
out_3690945488544052836[88] = 0;
out_3690945488544052836[89] = 0;
out_3690945488544052836[90] = 0;
out_3690945488544052836[91] = 0;
out_3690945488544052836[92] = 0;
out_3690945488544052836[93] = 0;
out_3690945488544052836[94] = 0;
out_3690945488544052836[95] = 0;
out_3690945488544052836[96] = 1.0;
out_3690945488544052836[97] = 0;
out_3690945488544052836[98] = 0;
out_3690945488544052836[99] = 0;
out_3690945488544052836[100] = 0;
out_3690945488544052836[101] = 0;
out_3690945488544052836[102] = 0;
out_3690945488544052836[103] = 0;
out_3690945488544052836[104] = 0;
out_3690945488544052836[105] = 0;
out_3690945488544052836[106] = 0;
out_3690945488544052836[107] = 0;
out_3690945488544052836[108] = 1.0;
out_3690945488544052836[109] = 0;
out_3690945488544052836[110] = 0;
out_3690945488544052836[111] = 0;
out_3690945488544052836[112] = 0;
out_3690945488544052836[113] = 0;
out_3690945488544052836[114] = 0;
out_3690945488544052836[115] = 0;
out_3690945488544052836[116] = 0;
out_3690945488544052836[117] = 0;
out_3690945488544052836[118] = 0;
out_3690945488544052836[119] = 0;
out_3690945488544052836[120] = 1.0;
void H_mod_fun(double *state, double *out_805386010827368873) {
out_805386010827368873[0] = 1.0;
out_805386010827368873[1] = 0;
out_805386010827368873[2] = 0;
out_805386010827368873[3] = 0;
out_805386010827368873[4] = 0;
out_805386010827368873[5] = 0;
out_805386010827368873[6] = 0;
out_805386010827368873[7] = 0;
out_805386010827368873[8] = 0;
out_805386010827368873[9] = 0;
out_805386010827368873[10] = 0;
out_805386010827368873[11] = 0;
out_805386010827368873[12] = 1.0;
out_805386010827368873[13] = 0;
out_805386010827368873[14] = 0;
out_805386010827368873[15] = 0;
out_805386010827368873[16] = 0;
out_805386010827368873[17] = 0;
out_805386010827368873[18] = 0;
out_805386010827368873[19] = 0;
out_805386010827368873[20] = 0;
out_805386010827368873[21] = 0;
out_805386010827368873[22] = 0;
out_805386010827368873[23] = 0;
out_805386010827368873[24] = 1.0;
out_805386010827368873[25] = 0;
out_805386010827368873[26] = 0;
out_805386010827368873[27] = 0;
out_805386010827368873[28] = 0;
out_805386010827368873[29] = 0;
out_805386010827368873[30] = 0;
out_805386010827368873[31] = 0;
out_805386010827368873[32] = 0;
out_805386010827368873[33] = 0;
out_805386010827368873[34] = 0;
out_805386010827368873[35] = 0;
out_805386010827368873[36] = 1.0;
out_805386010827368873[37] = 0;
out_805386010827368873[38] = 0;
out_805386010827368873[39] = 0;
out_805386010827368873[40] = 0;
out_805386010827368873[41] = 0;
out_805386010827368873[42] = 0;
out_805386010827368873[43] = 0;
out_805386010827368873[44] = 0;
out_805386010827368873[45] = 0;
out_805386010827368873[46] = 0;
out_805386010827368873[47] = 0;
out_805386010827368873[48] = 1.0;
out_805386010827368873[49] = 0;
out_805386010827368873[50] = 0;
out_805386010827368873[51] = 0;
out_805386010827368873[52] = 0;
out_805386010827368873[53] = 0;
out_805386010827368873[54] = 0;
out_805386010827368873[55] = 0;
out_805386010827368873[56] = 0;
out_805386010827368873[57] = 0;
out_805386010827368873[58] = 0;
out_805386010827368873[59] = 0;
out_805386010827368873[60] = 1.0;
out_805386010827368873[61] = 0;
out_805386010827368873[62] = 0;
out_805386010827368873[63] = 0;
out_805386010827368873[64] = 0;
out_805386010827368873[65] = 0;
out_805386010827368873[66] = 0;
out_805386010827368873[67] = 0;
out_805386010827368873[68] = 0;
out_805386010827368873[69] = 0;
out_805386010827368873[70] = 0;
out_805386010827368873[71] = 0;
out_805386010827368873[72] = 1.0;
out_805386010827368873[73] = 0;
out_805386010827368873[74] = 0;
out_805386010827368873[75] = 0;
out_805386010827368873[76] = 0;
out_805386010827368873[77] = 0;
out_805386010827368873[78] = 0;
out_805386010827368873[79] = 0;
out_805386010827368873[80] = 0;
out_805386010827368873[81] = 0;
out_805386010827368873[82] = 0;
out_805386010827368873[83] = 0;
out_805386010827368873[84] = 1.0;
out_805386010827368873[85] = 0;
out_805386010827368873[86] = 0;
out_805386010827368873[87] = 0;
out_805386010827368873[88] = 0;
out_805386010827368873[89] = 0;
out_805386010827368873[90] = 0;
out_805386010827368873[91] = 0;
out_805386010827368873[92] = 0;
out_805386010827368873[93] = 0;
out_805386010827368873[94] = 0;
out_805386010827368873[95] = 0;
out_805386010827368873[96] = 1.0;
out_805386010827368873[97] = 0;
out_805386010827368873[98] = 0;
out_805386010827368873[99] = 0;
out_805386010827368873[100] = 0;
out_805386010827368873[101] = 0;
out_805386010827368873[102] = 0;
out_805386010827368873[103] = 0;
out_805386010827368873[104] = 0;
out_805386010827368873[105] = 0;
out_805386010827368873[106] = 0;
out_805386010827368873[107] = 0;
out_805386010827368873[108] = 1.0;
out_805386010827368873[109] = 0;
out_805386010827368873[110] = 0;
out_805386010827368873[111] = 0;
out_805386010827368873[112] = 0;
out_805386010827368873[113] = 0;
out_805386010827368873[114] = 0;
out_805386010827368873[115] = 0;
out_805386010827368873[116] = 0;
out_805386010827368873[117] = 0;
out_805386010827368873[118] = 0;
out_805386010827368873[119] = 0;
out_805386010827368873[120] = 1.0;
}
void f_fun(double *state, double dt, double *out_2954456239899519205) {
out_2954456239899519205[0] = dt*state[3] + state[0];
out_2954456239899519205[1] = dt*state[4] + state[1];
out_2954456239899519205[2] = dt*state[5] + state[2];
out_2954456239899519205[3] = state[3];
out_2954456239899519205[4] = state[4];
out_2954456239899519205[5] = state[5];
out_2954456239899519205[6] = dt*state[7] + state[6];
out_2954456239899519205[7] = dt*state[8] + state[7];
out_2954456239899519205[8] = state[8];
out_2954456239899519205[9] = state[9];
out_2954456239899519205[10] = state[10];
void f_fun(double *state, double dt, double *out_4766656596405504851) {
out_4766656596405504851[0] = dt*state[3] + state[0];
out_4766656596405504851[1] = dt*state[4] + state[1];
out_4766656596405504851[2] = dt*state[5] + state[2];
out_4766656596405504851[3] = state[3];
out_4766656596405504851[4] = state[4];
out_4766656596405504851[5] = state[5];
out_4766656596405504851[6] = dt*state[7] + state[6];
out_4766656596405504851[7] = dt*state[8] + state[7];
out_4766656596405504851[8] = state[8];
out_4766656596405504851[9] = state[9];
out_4766656596405504851[10] = state[10];
}
void F_fun(double *state, double dt, double *out_709514566261682476) {
out_709514566261682476[0] = 1;
out_709514566261682476[1] = 0;
out_709514566261682476[2] = 0;
out_709514566261682476[3] = dt;
out_709514566261682476[4] = 0;
out_709514566261682476[5] = 0;
out_709514566261682476[6] = 0;
out_709514566261682476[7] = 0;
out_709514566261682476[8] = 0;
out_709514566261682476[9] = 0;
out_709514566261682476[10] = 0;
out_709514566261682476[11] = 0;
out_709514566261682476[12] = 1;
out_709514566261682476[13] = 0;
out_709514566261682476[14] = 0;
out_709514566261682476[15] = dt;
out_709514566261682476[16] = 0;
out_709514566261682476[17] = 0;
out_709514566261682476[18] = 0;
out_709514566261682476[19] = 0;
out_709514566261682476[20] = 0;
out_709514566261682476[21] = 0;
out_709514566261682476[22] = 0;
out_709514566261682476[23] = 0;
out_709514566261682476[24] = 1;
out_709514566261682476[25] = 0;
out_709514566261682476[26] = 0;
out_709514566261682476[27] = dt;
out_709514566261682476[28] = 0;
out_709514566261682476[29] = 0;
out_709514566261682476[30] = 0;
out_709514566261682476[31] = 0;
out_709514566261682476[32] = 0;
out_709514566261682476[33] = 0;
out_709514566261682476[34] = 0;
out_709514566261682476[35] = 0;
out_709514566261682476[36] = 1;
out_709514566261682476[37] = 0;
out_709514566261682476[38] = 0;
out_709514566261682476[39] = 0;
out_709514566261682476[40] = 0;
out_709514566261682476[41] = 0;
out_709514566261682476[42] = 0;
out_709514566261682476[43] = 0;
out_709514566261682476[44] = 0;
out_709514566261682476[45] = 0;
out_709514566261682476[46] = 0;
out_709514566261682476[47] = 0;
out_709514566261682476[48] = 1;
out_709514566261682476[49] = 0;
out_709514566261682476[50] = 0;
out_709514566261682476[51] = 0;
out_709514566261682476[52] = 0;
out_709514566261682476[53] = 0;
out_709514566261682476[54] = 0;
out_709514566261682476[55] = 0;
out_709514566261682476[56] = 0;
out_709514566261682476[57] = 0;
out_709514566261682476[58] = 0;
out_709514566261682476[59] = 0;
out_709514566261682476[60] = 1;
out_709514566261682476[61] = 0;
out_709514566261682476[62] = 0;
out_709514566261682476[63] = 0;
out_709514566261682476[64] = 0;
out_709514566261682476[65] = 0;
out_709514566261682476[66] = 0;
out_709514566261682476[67] = 0;
out_709514566261682476[68] = 0;
out_709514566261682476[69] = 0;
out_709514566261682476[70] = 0;
out_709514566261682476[71] = 0;
out_709514566261682476[72] = 1;
out_709514566261682476[73] = dt;
out_709514566261682476[74] = 0;
out_709514566261682476[75] = 0;
out_709514566261682476[76] = 0;
out_709514566261682476[77] = 0;
out_709514566261682476[78] = 0;
out_709514566261682476[79] = 0;
out_709514566261682476[80] = 0;
out_709514566261682476[81] = 0;
out_709514566261682476[82] = 0;
out_709514566261682476[83] = 0;
out_709514566261682476[84] = 1;
out_709514566261682476[85] = dt;
out_709514566261682476[86] = 0;
out_709514566261682476[87] = 0;
out_709514566261682476[88] = 0;
out_709514566261682476[89] = 0;
out_709514566261682476[90] = 0;
out_709514566261682476[91] = 0;
out_709514566261682476[92] = 0;
out_709514566261682476[93] = 0;
out_709514566261682476[94] = 0;
out_709514566261682476[95] = 0;
out_709514566261682476[96] = 1;
out_709514566261682476[97] = 0;
out_709514566261682476[98] = 0;
out_709514566261682476[99] = 0;
out_709514566261682476[100] = 0;
out_709514566261682476[101] = 0;
out_709514566261682476[102] = 0;
out_709514566261682476[103] = 0;
out_709514566261682476[104] = 0;
out_709514566261682476[105] = 0;
out_709514566261682476[106] = 0;
out_709514566261682476[107] = 0;
out_709514566261682476[108] = 1;
out_709514566261682476[109] = 0;
out_709514566261682476[110] = 0;
out_709514566261682476[111] = 0;
out_709514566261682476[112] = 0;
out_709514566261682476[113] = 0;
out_709514566261682476[114] = 0;
out_709514566261682476[115] = 0;
out_709514566261682476[116] = 0;
out_709514566261682476[117] = 0;
out_709514566261682476[118] = 0;
out_709514566261682476[119] = 0;
out_709514566261682476[120] = 1;
void F_fun(double *state, double dt, double *out_4029299056587768608) {
out_4029299056587768608[0] = 1;
out_4029299056587768608[1] = 0;
out_4029299056587768608[2] = 0;
out_4029299056587768608[3] = dt;
out_4029299056587768608[4] = 0;
out_4029299056587768608[5] = 0;
out_4029299056587768608[6] = 0;
out_4029299056587768608[7] = 0;
out_4029299056587768608[8] = 0;
out_4029299056587768608[9] = 0;
out_4029299056587768608[10] = 0;
out_4029299056587768608[11] = 0;
out_4029299056587768608[12] = 1;
out_4029299056587768608[13] = 0;
out_4029299056587768608[14] = 0;
out_4029299056587768608[15] = dt;
out_4029299056587768608[16] = 0;
out_4029299056587768608[17] = 0;
out_4029299056587768608[18] = 0;
out_4029299056587768608[19] = 0;
out_4029299056587768608[20] = 0;
out_4029299056587768608[21] = 0;
out_4029299056587768608[22] = 0;
out_4029299056587768608[23] = 0;
out_4029299056587768608[24] = 1;
out_4029299056587768608[25] = 0;
out_4029299056587768608[26] = 0;
out_4029299056587768608[27] = dt;
out_4029299056587768608[28] = 0;
out_4029299056587768608[29] = 0;
out_4029299056587768608[30] = 0;
out_4029299056587768608[31] = 0;
out_4029299056587768608[32] = 0;
out_4029299056587768608[33] = 0;
out_4029299056587768608[34] = 0;
out_4029299056587768608[35] = 0;
out_4029299056587768608[36] = 1;
out_4029299056587768608[37] = 0;
out_4029299056587768608[38] = 0;
out_4029299056587768608[39] = 0;
out_4029299056587768608[40] = 0;
out_4029299056587768608[41] = 0;
out_4029299056587768608[42] = 0;
out_4029299056587768608[43] = 0;
out_4029299056587768608[44] = 0;
out_4029299056587768608[45] = 0;
out_4029299056587768608[46] = 0;
out_4029299056587768608[47] = 0;
out_4029299056587768608[48] = 1;
out_4029299056587768608[49] = 0;
out_4029299056587768608[50] = 0;
out_4029299056587768608[51] = 0;
out_4029299056587768608[52] = 0;
out_4029299056587768608[53] = 0;
out_4029299056587768608[54] = 0;
out_4029299056587768608[55] = 0;
out_4029299056587768608[56] = 0;
out_4029299056587768608[57] = 0;
out_4029299056587768608[58] = 0;
out_4029299056587768608[59] = 0;
out_4029299056587768608[60] = 1;
out_4029299056587768608[61] = 0;
out_4029299056587768608[62] = 0;
out_4029299056587768608[63] = 0;
out_4029299056587768608[64] = 0;
out_4029299056587768608[65] = 0;
out_4029299056587768608[66] = 0;
out_4029299056587768608[67] = 0;
out_4029299056587768608[68] = 0;
out_4029299056587768608[69] = 0;
out_4029299056587768608[70] = 0;
out_4029299056587768608[71] = 0;
out_4029299056587768608[72] = 1;
out_4029299056587768608[73] = dt;
out_4029299056587768608[74] = 0;
out_4029299056587768608[75] = 0;
out_4029299056587768608[76] = 0;
out_4029299056587768608[77] = 0;
out_4029299056587768608[78] = 0;
out_4029299056587768608[79] = 0;
out_4029299056587768608[80] = 0;
out_4029299056587768608[81] = 0;
out_4029299056587768608[82] = 0;
out_4029299056587768608[83] = 0;
out_4029299056587768608[84] = 1;
out_4029299056587768608[85] = dt;
out_4029299056587768608[86] = 0;
out_4029299056587768608[87] = 0;
out_4029299056587768608[88] = 0;
out_4029299056587768608[89] = 0;
out_4029299056587768608[90] = 0;
out_4029299056587768608[91] = 0;
out_4029299056587768608[92] = 0;
out_4029299056587768608[93] = 0;
out_4029299056587768608[94] = 0;
out_4029299056587768608[95] = 0;
out_4029299056587768608[96] = 1;
out_4029299056587768608[97] = 0;
out_4029299056587768608[98] = 0;
out_4029299056587768608[99] = 0;
out_4029299056587768608[100] = 0;
out_4029299056587768608[101] = 0;
out_4029299056587768608[102] = 0;
out_4029299056587768608[103] = 0;
out_4029299056587768608[104] = 0;
out_4029299056587768608[105] = 0;
out_4029299056587768608[106] = 0;
out_4029299056587768608[107] = 0;
out_4029299056587768608[108] = 1;
out_4029299056587768608[109] = 0;
out_4029299056587768608[110] = 0;
out_4029299056587768608[111] = 0;
out_4029299056587768608[112] = 0;
out_4029299056587768608[113] = 0;
out_4029299056587768608[114] = 0;
out_4029299056587768608[115] = 0;
out_4029299056587768608[116] = 0;
out_4029299056587768608[117] = 0;
out_4029299056587768608[118] = 0;
out_4029299056587768608[119] = 0;
out_4029299056587768608[120] = 1;
}
void h_6(double *state, double *sat_pos, double *out_2648966289655583926) {
out_2648966289655583926[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_1067178731754715050) {
out_1067178731754715050[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_1516634108393932450) {
out_1516634108393932450[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_1516634108393932450[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_1516634108393932450[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_1516634108393932450[3] = 0;
out_1516634108393932450[4] = 0;
out_1516634108393932450[5] = 0;
out_1516634108393932450[6] = 1;
out_1516634108393932450[7] = 0;
out_1516634108393932450[8] = 0;
out_1516634108393932450[9] = 0;
out_1516634108393932450[10] = 0;
void H_6(double *state, double *sat_pos, double *out_7962220724729872721) {
out_7962220724729872721[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_7962220724729872721[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_7962220724729872721[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_7962220724729872721[3] = 0;
out_7962220724729872721[4] = 0;
out_7962220724729872721[5] = 0;
out_7962220724729872721[6] = 1;
out_7962220724729872721[7] = 0;
out_7962220724729872721[8] = 0;
out_7962220724729872721[9] = 0;
out_7962220724729872721[10] = 0;
}
void h_20(double *state, double *sat_pos, double *out_1322673160422067744) {
out_1322673160422067744[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_7444431052127272697) {
out_7444431052127272697[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_6746823634573947585) {
out_6746823634573947585[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_6746823634573947585[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_6746823634573947585[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_6746823634573947585[3] = 0;
out_6746823634573947585[4] = 0;
out_6746823634573947585[5] = 0;
out_6746823634573947585[6] = 1;
out_6746823634573947585[7] = 0;
out_6746823634573947585[8] = 0;
out_6746823634573947585[9] = 1;
out_6746823634573947585[10] = sat_pos[3];
void H_20(double *state, double *sat_pos, double *out_799492558915393744) {
out_799492558915393744[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_799492558915393744[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_799492558915393744[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_799492558915393744[3] = 0;
out_799492558915393744[4] = 0;
out_799492558915393744[5] = 0;
out_799492558915393744[6] = 1;
out_799492558915393744[7] = 0;
out_799492558915393744[8] = 0;
out_799492558915393744[9] = 1;
out_799492558915393744[10] = sat_pos[3];
}
void h_7(double *state, double *sat_pos_vel, double *out_3768133833178917308) {
out_3768133833178917308[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_7430002568771021643) {
out_7430002568771021643[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_6978532755514735815) {
out_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[6] = 0;
out_6978532755514735815[7] = 1;
out_6978532755514735815[8] = 0;
out_6978532755514735815[9] = 0;
out_6978532755514735815[10] = 0;
void H_7(double *state, double *sat_pos_vel, double *out_7060224876276749950) {
out_7060224876276749950[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_7060224876276749950[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_7060224876276749950[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_7060224876276749950[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_7060224876276749950[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_7060224876276749950[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_7060224876276749950[6] = 0;
out_7060224876276749950[7] = 1;
out_7060224876276749950[8] = 0;
out_7060224876276749950[9] = 0;
out_7060224876276749950[10] = 0;
}
void h_21(double *state, double *sat_pos_vel, double *out_3768133833178917308) {
out_3768133833178917308[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_7430002568771021643) {
out_7430002568771021643[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_6978532755514735815) {
out_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[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_6978532755514735815[6] = 0;
out_6978532755514735815[7] = 1;
out_6978532755514735815[8] = 0;
out_6978532755514735815[9] = 0;
out_6978532755514735815[10] = 0;
void H_21(double *state, double *sat_pos_vel, double *out_7060224876276749950) {
out_7060224876276749950[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_7060224876276749950[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_7060224876276749950[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_7060224876276749950[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_7060224876276749950[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_7060224876276749950[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_7060224876276749950[6] = 0;
out_7060224876276749950[7] = 1;
out_7060224876276749950[8] = 0;
out_7060224876276749950[9] = 0;
out_7060224876276749950[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_4281415265925619745) {
err_fun(nom_x, delta_x, out_4281415265925619745);
void gnss_err_fun(double *nom_x, double *delta_x, double *out_654910612427940843) {
err_fun(nom_x, delta_x, out_654910612427940843);
}
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_8058048663833159220) {
inv_err_fun(nom_x, true_x, out_8058048663833159220);
void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6637724801134549563) {
inv_err_fun(nom_x, true_x, out_6637724801134549563);
}
void gnss_H_mod_fun(double *state, double *out_3690945488544052836) {
H_mod_fun(state, out_3690945488544052836);
void gnss_H_mod_fun(double *state, double *out_805386010827368873) {
H_mod_fun(state, out_805386010827368873);
}
void gnss_f_fun(double *state, double dt, double *out_2954456239899519205) {
f_fun(state, dt, out_2954456239899519205);
void gnss_f_fun(double *state, double dt, double *out_4766656596405504851) {
f_fun(state, dt, out_4766656596405504851);
}
void gnss_F_fun(double *state, double dt, double *out_709514566261682476) {
F_fun(state, dt, out_709514566261682476);
void gnss_F_fun(double *state, double dt, double *out_4029299056587768608) {
F_fun(state, dt, out_4029299056587768608);
}
void gnss_h_6(double *state, double *sat_pos, double *out_2648966289655583926) {
h_6(state, sat_pos, out_2648966289655583926);
void gnss_h_6(double *state, double *sat_pos, double *out_1067178731754715050) {
h_6(state, sat_pos, out_1067178731754715050);
}
void gnss_H_6(double *state, double *sat_pos, double *out_1516634108393932450) {
H_6(state, sat_pos, out_1516634108393932450);
void gnss_H_6(double *state, double *sat_pos, double *out_7962220724729872721) {
H_6(state, sat_pos, out_7962220724729872721);
}
void gnss_h_20(double *state, double *sat_pos, double *out_1322673160422067744) {
h_20(state, sat_pos, out_1322673160422067744);
void gnss_h_20(double *state, double *sat_pos, double *out_7444431052127272697) {
h_20(state, sat_pos, out_7444431052127272697);
}
void gnss_H_20(double *state, double *sat_pos, double *out_6746823634573947585) {
H_20(state, sat_pos, out_6746823634573947585);
void gnss_H_20(double *state, double *sat_pos, double *out_799492558915393744) {
H_20(state, sat_pos, out_799492558915393744);
}
void gnss_h_7(double *state, double *sat_pos_vel, double *out_3768133833178917308) {
h_7(state, sat_pos_vel, out_3768133833178917308);
void gnss_h_7(double *state, double *sat_pos_vel, double *out_7430002568771021643) {
h_7(state, sat_pos_vel, out_7430002568771021643);
}
void gnss_H_7(double *state, double *sat_pos_vel, double *out_6978532755514735815) {
H_7(state, sat_pos_vel, out_6978532755514735815);
void gnss_H_7(double *state, double *sat_pos_vel, double *out_7060224876276749950) {
H_7(state, sat_pos_vel, out_7060224876276749950);
}
void gnss_h_21(double *state, double *sat_pos_vel, double *out_3768133833178917308) {
h_21(state, sat_pos_vel, out_3768133833178917308);
void gnss_h_21(double *state, double *sat_pos_vel, double *out_7430002568771021643) {
h_21(state, sat_pos_vel, out_7430002568771021643);
}
void gnss_H_21(double *state, double *sat_pos_vel, double *out_6978532755514735815) {
H_21(state, sat_pos_vel, out_6978532755514735815);
void gnss_H_21(double *state, double *sat_pos_vel, double *out_7060224876276749950) {
H_21(state, sat_pos_vel, out_7060224876276749950);
}
void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);