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lines changed Original file line number Diff line number Diff line change @@ -192,6 +192,14 @@ the loop must be unwound sufficient enough times.
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For example, the PID function <code>climb_pid_run</code> needs to be called at
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least six times for evaluating the condition
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<code>climb_sum_err>MAX_CLIMB_SUM_ERR</code> in line 48 to <em>true</em>.
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+ This corresponds to the test suite below.
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+ <pre><code>(desired_climb=-1.000000f, estimator_z_dot=1.000000f);
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+ (desired_climb=-1.000000f, estimator_z_dot=0.000000f);
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+ (desired_climb=-1.000000f, estimator_z_dot=1.000000f);
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+ (desired_climb=-1.000000f, estimator_z_dot=1.000000f);
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+ (desired_climb=-1.000000f, estimator_z_dot=1.000000f);
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+ (desired_climb=-1.000000f, estimator_z_dot=1.000000f).
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+ </code></pre>
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An introduction to the use of loop unwinding can be found
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in <a href="cbmc-loops.shtml">Understanding Loop Unwinding</a>.
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