mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-07-26 20:32:04 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-0ce8161c-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-a67c8f98-DEBUG";
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||||
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||||
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@@ -1 +1 @@
|
||||
DEV-0ce8161c-DEBUG
|
||||
DEV-a67c8f98-DEBUG
|
||||
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_5325374827696631328) {
|
||||
out_5325374827696631328[0] = delta_x[0] + nom_x[0];
|
||||
out_5325374827696631328[1] = delta_x[1] + nom_x[1];
|
||||
out_5325374827696631328[2] = delta_x[2] + nom_x[2];
|
||||
out_5325374827696631328[3] = delta_x[3] + nom_x[3];
|
||||
out_5325374827696631328[4] = delta_x[4] + nom_x[4];
|
||||
out_5325374827696631328[5] = delta_x[5] + nom_x[5];
|
||||
out_5325374827696631328[6] = delta_x[6] + nom_x[6];
|
||||
out_5325374827696631328[7] = delta_x[7] + nom_x[7];
|
||||
out_5325374827696631328[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_3886210737280219279) {
|
||||
out_3886210737280219279[0] = delta_x[0] + nom_x[0];
|
||||
out_3886210737280219279[1] = delta_x[1] + nom_x[1];
|
||||
out_3886210737280219279[2] = delta_x[2] + nom_x[2];
|
||||
out_3886210737280219279[3] = delta_x[3] + nom_x[3];
|
||||
out_3886210737280219279[4] = delta_x[4] + nom_x[4];
|
||||
out_3886210737280219279[5] = delta_x[5] + nom_x[5];
|
||||
out_3886210737280219279[6] = delta_x[6] + nom_x[6];
|
||||
out_3886210737280219279[7] = delta_x[7] + nom_x[7];
|
||||
out_3886210737280219279[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_263695042767338590) {
|
||||
out_263695042767338590[0] = -nom_x[0] + true_x[0];
|
||||
out_263695042767338590[1] = -nom_x[1] + true_x[1];
|
||||
out_263695042767338590[2] = -nom_x[2] + true_x[2];
|
||||
out_263695042767338590[3] = -nom_x[3] + true_x[3];
|
||||
out_263695042767338590[4] = -nom_x[4] + true_x[4];
|
||||
out_263695042767338590[5] = -nom_x[5] + true_x[5];
|
||||
out_263695042767338590[6] = -nom_x[6] + true_x[6];
|
||||
out_263695042767338590[7] = -nom_x[7] + true_x[7];
|
||||
out_263695042767338590[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_9203878995777804762) {
|
||||
out_9203878995777804762[0] = -nom_x[0] + true_x[0];
|
||||
out_9203878995777804762[1] = -nom_x[1] + true_x[1];
|
||||
out_9203878995777804762[2] = -nom_x[2] + true_x[2];
|
||||
out_9203878995777804762[3] = -nom_x[3] + true_x[3];
|
||||
out_9203878995777804762[4] = -nom_x[4] + true_x[4];
|
||||
out_9203878995777804762[5] = -nom_x[5] + true_x[5];
|
||||
out_9203878995777804762[6] = -nom_x[6] + true_x[6];
|
||||
out_9203878995777804762[7] = -nom_x[7] + true_x[7];
|
||||
out_9203878995777804762[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_2663737869404174494) {
|
||||
out_2663737869404174494[0] = 1.0;
|
||||
out_2663737869404174494[1] = 0.0;
|
||||
out_2663737869404174494[2] = 0.0;
|
||||
out_2663737869404174494[3] = 0.0;
|
||||
out_2663737869404174494[4] = 0.0;
|
||||
out_2663737869404174494[5] = 0.0;
|
||||
out_2663737869404174494[6] = 0.0;
|
||||
out_2663737869404174494[7] = 0.0;
|
||||
out_2663737869404174494[8] = 0.0;
|
||||
out_2663737869404174494[9] = 0.0;
|
||||
out_2663737869404174494[10] = 1.0;
|
||||
out_2663737869404174494[11] = 0.0;
|
||||
out_2663737869404174494[12] = 0.0;
|
||||
out_2663737869404174494[13] = 0.0;
|
||||
out_2663737869404174494[14] = 0.0;
|
||||
out_2663737869404174494[15] = 0.0;
|
||||
out_2663737869404174494[16] = 0.0;
|
||||
out_2663737869404174494[17] = 0.0;
|
||||
out_2663737869404174494[18] = 0.0;
|
||||
out_2663737869404174494[19] = 0.0;
|
||||
out_2663737869404174494[20] = 1.0;
|
||||
out_2663737869404174494[21] = 0.0;
|
||||
out_2663737869404174494[22] = 0.0;
|
||||
out_2663737869404174494[23] = 0.0;
|
||||
out_2663737869404174494[24] = 0.0;
|
||||
out_2663737869404174494[25] = 0.0;
|
||||
out_2663737869404174494[26] = 0.0;
|
||||
out_2663737869404174494[27] = 0.0;
|
||||
out_2663737869404174494[28] = 0.0;
|
||||
out_2663737869404174494[29] = 0.0;
|
||||
out_2663737869404174494[30] = 1.0;
|
||||
out_2663737869404174494[31] = 0.0;
|
||||
out_2663737869404174494[32] = 0.0;
|
||||
out_2663737869404174494[33] = 0.0;
|
||||
out_2663737869404174494[34] = 0.0;
|
||||
out_2663737869404174494[35] = 0.0;
|
||||
out_2663737869404174494[36] = 0.0;
|
||||
out_2663737869404174494[37] = 0.0;
|
||||
out_2663737869404174494[38] = 0.0;
|
||||
out_2663737869404174494[39] = 0.0;
|
||||
out_2663737869404174494[40] = 1.0;
|
||||
out_2663737869404174494[41] = 0.0;
|
||||
out_2663737869404174494[42] = 0.0;
|
||||
out_2663737869404174494[43] = 0.0;
|
||||
out_2663737869404174494[44] = 0.0;
|
||||
out_2663737869404174494[45] = 0.0;
|
||||
out_2663737869404174494[46] = 0.0;
|
||||
out_2663737869404174494[47] = 0.0;
|
||||
out_2663737869404174494[48] = 0.0;
|
||||
out_2663737869404174494[49] = 0.0;
|
||||
out_2663737869404174494[50] = 1.0;
|
||||
out_2663737869404174494[51] = 0.0;
|
||||
out_2663737869404174494[52] = 0.0;
|
||||
out_2663737869404174494[53] = 0.0;
|
||||
out_2663737869404174494[54] = 0.0;
|
||||
out_2663737869404174494[55] = 0.0;
|
||||
out_2663737869404174494[56] = 0.0;
|
||||
out_2663737869404174494[57] = 0.0;
|
||||
out_2663737869404174494[58] = 0.0;
|
||||
out_2663737869404174494[59] = 0.0;
|
||||
out_2663737869404174494[60] = 1.0;
|
||||
out_2663737869404174494[61] = 0.0;
|
||||
out_2663737869404174494[62] = 0.0;
|
||||
out_2663737869404174494[63] = 0.0;
|
||||
out_2663737869404174494[64] = 0.0;
|
||||
out_2663737869404174494[65] = 0.0;
|
||||
out_2663737869404174494[66] = 0.0;
|
||||
out_2663737869404174494[67] = 0.0;
|
||||
out_2663737869404174494[68] = 0.0;
|
||||
out_2663737869404174494[69] = 0.0;
|
||||
out_2663737869404174494[70] = 1.0;
|
||||
out_2663737869404174494[71] = 0.0;
|
||||
out_2663737869404174494[72] = 0.0;
|
||||
out_2663737869404174494[73] = 0.0;
|
||||
out_2663737869404174494[74] = 0.0;
|
||||
out_2663737869404174494[75] = 0.0;
|
||||
out_2663737869404174494[76] = 0.0;
|
||||
out_2663737869404174494[77] = 0.0;
|
||||
out_2663737869404174494[78] = 0.0;
|
||||
out_2663737869404174494[79] = 0.0;
|
||||
out_2663737869404174494[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8506196822923476348) {
|
||||
out_8506196822923476348[0] = 1.0;
|
||||
out_8506196822923476348[1] = 0.0;
|
||||
out_8506196822923476348[2] = 0.0;
|
||||
out_8506196822923476348[3] = 0.0;
|
||||
out_8506196822923476348[4] = 0.0;
|
||||
out_8506196822923476348[5] = 0.0;
|
||||
out_8506196822923476348[6] = 0.0;
|
||||
out_8506196822923476348[7] = 0.0;
|
||||
out_8506196822923476348[8] = 0.0;
|
||||
out_8506196822923476348[9] = 0.0;
|
||||
out_8506196822923476348[10] = 1.0;
|
||||
out_8506196822923476348[11] = 0.0;
|
||||
out_8506196822923476348[12] = 0.0;
|
||||
out_8506196822923476348[13] = 0.0;
|
||||
out_8506196822923476348[14] = 0.0;
|
||||
out_8506196822923476348[15] = 0.0;
|
||||
out_8506196822923476348[16] = 0.0;
|
||||
out_8506196822923476348[17] = 0.0;
|
||||
out_8506196822923476348[18] = 0.0;
|
||||
out_8506196822923476348[19] = 0.0;
|
||||
out_8506196822923476348[20] = 1.0;
|
||||
out_8506196822923476348[21] = 0.0;
|
||||
out_8506196822923476348[22] = 0.0;
|
||||
out_8506196822923476348[23] = 0.0;
|
||||
out_8506196822923476348[24] = 0.0;
|
||||
out_8506196822923476348[25] = 0.0;
|
||||
out_8506196822923476348[26] = 0.0;
|
||||
out_8506196822923476348[27] = 0.0;
|
||||
out_8506196822923476348[28] = 0.0;
|
||||
out_8506196822923476348[29] = 0.0;
|
||||
out_8506196822923476348[30] = 1.0;
|
||||
out_8506196822923476348[31] = 0.0;
|
||||
out_8506196822923476348[32] = 0.0;
|
||||
out_8506196822923476348[33] = 0.0;
|
||||
out_8506196822923476348[34] = 0.0;
|
||||
out_8506196822923476348[35] = 0.0;
|
||||
out_8506196822923476348[36] = 0.0;
|
||||
out_8506196822923476348[37] = 0.0;
|
||||
out_8506196822923476348[38] = 0.0;
|
||||
out_8506196822923476348[39] = 0.0;
|
||||
out_8506196822923476348[40] = 1.0;
|
||||
out_8506196822923476348[41] = 0.0;
|
||||
out_8506196822923476348[42] = 0.0;
|
||||
out_8506196822923476348[43] = 0.0;
|
||||
out_8506196822923476348[44] = 0.0;
|
||||
out_8506196822923476348[45] = 0.0;
|
||||
out_8506196822923476348[46] = 0.0;
|
||||
out_8506196822923476348[47] = 0.0;
|
||||
out_8506196822923476348[48] = 0.0;
|
||||
out_8506196822923476348[49] = 0.0;
|
||||
out_8506196822923476348[50] = 1.0;
|
||||
out_8506196822923476348[51] = 0.0;
|
||||
out_8506196822923476348[52] = 0.0;
|
||||
out_8506196822923476348[53] = 0.0;
|
||||
out_8506196822923476348[54] = 0.0;
|
||||
out_8506196822923476348[55] = 0.0;
|
||||
out_8506196822923476348[56] = 0.0;
|
||||
out_8506196822923476348[57] = 0.0;
|
||||
out_8506196822923476348[58] = 0.0;
|
||||
out_8506196822923476348[59] = 0.0;
|
||||
out_8506196822923476348[60] = 1.0;
|
||||
out_8506196822923476348[61] = 0.0;
|
||||
out_8506196822923476348[62] = 0.0;
|
||||
out_8506196822923476348[63] = 0.0;
|
||||
out_8506196822923476348[64] = 0.0;
|
||||
out_8506196822923476348[65] = 0.0;
|
||||
out_8506196822923476348[66] = 0.0;
|
||||
out_8506196822923476348[67] = 0.0;
|
||||
out_8506196822923476348[68] = 0.0;
|
||||
out_8506196822923476348[69] = 0.0;
|
||||
out_8506196822923476348[70] = 1.0;
|
||||
out_8506196822923476348[71] = 0.0;
|
||||
out_8506196822923476348[72] = 0.0;
|
||||
out_8506196822923476348[73] = 0.0;
|
||||
out_8506196822923476348[74] = 0.0;
|
||||
out_8506196822923476348[75] = 0.0;
|
||||
out_8506196822923476348[76] = 0.0;
|
||||
out_8506196822923476348[77] = 0.0;
|
||||
out_8506196822923476348[78] = 0.0;
|
||||
out_8506196822923476348[79] = 0.0;
|
||||
out_8506196822923476348[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_8230420991833863893) {
|
||||
out_8230420991833863893[0] = state[0];
|
||||
out_8230420991833863893[1] = state[1];
|
||||
out_8230420991833863893[2] = state[2];
|
||||
out_8230420991833863893[3] = state[3];
|
||||
out_8230420991833863893[4] = state[4];
|
||||
out_8230420991833863893[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_8230420991833863893[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_8230420991833863893[7] = state[7];
|
||||
out_8230420991833863893[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_2212415948681408961) {
|
||||
out_2212415948681408961[0] = state[0];
|
||||
out_2212415948681408961[1] = state[1];
|
||||
out_2212415948681408961[2] = state[2];
|
||||
out_2212415948681408961[3] = state[3];
|
||||
out_2212415948681408961[4] = state[4];
|
||||
out_2212415948681408961[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_2212415948681408961[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_2212415948681408961[7] = state[7];
|
||||
out_2212415948681408961[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_2756618938696411588) {
|
||||
out_2756618938696411588[0] = 1;
|
||||
out_2756618938696411588[1] = 0;
|
||||
out_2756618938696411588[2] = 0;
|
||||
out_2756618938696411588[3] = 0;
|
||||
out_2756618938696411588[4] = 0;
|
||||
out_2756618938696411588[5] = 0;
|
||||
out_2756618938696411588[6] = 0;
|
||||
out_2756618938696411588[7] = 0;
|
||||
out_2756618938696411588[8] = 0;
|
||||
out_2756618938696411588[9] = 0;
|
||||
out_2756618938696411588[10] = 1;
|
||||
out_2756618938696411588[11] = 0;
|
||||
out_2756618938696411588[12] = 0;
|
||||
out_2756618938696411588[13] = 0;
|
||||
out_2756618938696411588[14] = 0;
|
||||
out_2756618938696411588[15] = 0;
|
||||
out_2756618938696411588[16] = 0;
|
||||
out_2756618938696411588[17] = 0;
|
||||
out_2756618938696411588[18] = 0;
|
||||
out_2756618938696411588[19] = 0;
|
||||
out_2756618938696411588[20] = 1;
|
||||
out_2756618938696411588[21] = 0;
|
||||
out_2756618938696411588[22] = 0;
|
||||
out_2756618938696411588[23] = 0;
|
||||
out_2756618938696411588[24] = 0;
|
||||
out_2756618938696411588[25] = 0;
|
||||
out_2756618938696411588[26] = 0;
|
||||
out_2756618938696411588[27] = 0;
|
||||
out_2756618938696411588[28] = 0;
|
||||
out_2756618938696411588[29] = 0;
|
||||
out_2756618938696411588[30] = 1;
|
||||
out_2756618938696411588[31] = 0;
|
||||
out_2756618938696411588[32] = 0;
|
||||
out_2756618938696411588[33] = 0;
|
||||
out_2756618938696411588[34] = 0;
|
||||
out_2756618938696411588[35] = 0;
|
||||
out_2756618938696411588[36] = 0;
|
||||
out_2756618938696411588[37] = 0;
|
||||
out_2756618938696411588[38] = 0;
|
||||
out_2756618938696411588[39] = 0;
|
||||
out_2756618938696411588[40] = 1;
|
||||
out_2756618938696411588[41] = 0;
|
||||
out_2756618938696411588[42] = 0;
|
||||
out_2756618938696411588[43] = 0;
|
||||
out_2756618938696411588[44] = 0;
|
||||
out_2756618938696411588[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_2756618938696411588[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2756618938696411588[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2756618938696411588[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2756618938696411588[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_2756618938696411588[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2756618938696411588[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2756618938696411588[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2756618938696411588[53] = -9.8100000000000005*dt;
|
||||
out_2756618938696411588[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_2756618938696411588[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2756618938696411588[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2756618938696411588[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2756618938696411588[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_2756618938696411588[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2756618938696411588[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_2756618938696411588[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2756618938696411588[62] = 0;
|
||||
out_2756618938696411588[63] = 0;
|
||||
out_2756618938696411588[64] = 0;
|
||||
out_2756618938696411588[65] = 0;
|
||||
out_2756618938696411588[66] = 0;
|
||||
out_2756618938696411588[67] = 0;
|
||||
out_2756618938696411588[68] = 0;
|
||||
out_2756618938696411588[69] = 0;
|
||||
out_2756618938696411588[70] = 1;
|
||||
out_2756618938696411588[71] = 0;
|
||||
out_2756618938696411588[72] = 0;
|
||||
out_2756618938696411588[73] = 0;
|
||||
out_2756618938696411588[74] = 0;
|
||||
out_2756618938696411588[75] = 0;
|
||||
out_2756618938696411588[76] = 0;
|
||||
out_2756618938696411588[77] = 0;
|
||||
out_2756618938696411588[78] = 0;
|
||||
out_2756618938696411588[79] = 0;
|
||||
out_2756618938696411588[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_8605893895722033804) {
|
||||
out_8605893895722033804[0] = 1;
|
||||
out_8605893895722033804[1] = 0;
|
||||
out_8605893895722033804[2] = 0;
|
||||
out_8605893895722033804[3] = 0;
|
||||
out_8605893895722033804[4] = 0;
|
||||
out_8605893895722033804[5] = 0;
|
||||
out_8605893895722033804[6] = 0;
|
||||
out_8605893895722033804[7] = 0;
|
||||
out_8605893895722033804[8] = 0;
|
||||
out_8605893895722033804[9] = 0;
|
||||
out_8605893895722033804[10] = 1;
|
||||
out_8605893895722033804[11] = 0;
|
||||
out_8605893895722033804[12] = 0;
|
||||
out_8605893895722033804[13] = 0;
|
||||
out_8605893895722033804[14] = 0;
|
||||
out_8605893895722033804[15] = 0;
|
||||
out_8605893895722033804[16] = 0;
|
||||
out_8605893895722033804[17] = 0;
|
||||
out_8605893895722033804[18] = 0;
|
||||
out_8605893895722033804[19] = 0;
|
||||
out_8605893895722033804[20] = 1;
|
||||
out_8605893895722033804[21] = 0;
|
||||
out_8605893895722033804[22] = 0;
|
||||
out_8605893895722033804[23] = 0;
|
||||
out_8605893895722033804[24] = 0;
|
||||
out_8605893895722033804[25] = 0;
|
||||
out_8605893895722033804[26] = 0;
|
||||
out_8605893895722033804[27] = 0;
|
||||
out_8605893895722033804[28] = 0;
|
||||
out_8605893895722033804[29] = 0;
|
||||
out_8605893895722033804[30] = 1;
|
||||
out_8605893895722033804[31] = 0;
|
||||
out_8605893895722033804[32] = 0;
|
||||
out_8605893895722033804[33] = 0;
|
||||
out_8605893895722033804[34] = 0;
|
||||
out_8605893895722033804[35] = 0;
|
||||
out_8605893895722033804[36] = 0;
|
||||
out_8605893895722033804[37] = 0;
|
||||
out_8605893895722033804[38] = 0;
|
||||
out_8605893895722033804[39] = 0;
|
||||
out_8605893895722033804[40] = 1;
|
||||
out_8605893895722033804[41] = 0;
|
||||
out_8605893895722033804[42] = 0;
|
||||
out_8605893895722033804[43] = 0;
|
||||
out_8605893895722033804[44] = 0;
|
||||
out_8605893895722033804[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_8605893895722033804[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8605893895722033804[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8605893895722033804[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8605893895722033804[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_8605893895722033804[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8605893895722033804[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8605893895722033804[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8605893895722033804[53] = -9.8100000000000005*dt;
|
||||
out_8605893895722033804[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_8605893895722033804[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8605893895722033804[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8605893895722033804[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8605893895722033804[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_8605893895722033804[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8605893895722033804[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_8605893895722033804[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8605893895722033804[62] = 0;
|
||||
out_8605893895722033804[63] = 0;
|
||||
out_8605893895722033804[64] = 0;
|
||||
out_8605893895722033804[65] = 0;
|
||||
out_8605893895722033804[66] = 0;
|
||||
out_8605893895722033804[67] = 0;
|
||||
out_8605893895722033804[68] = 0;
|
||||
out_8605893895722033804[69] = 0;
|
||||
out_8605893895722033804[70] = 1;
|
||||
out_8605893895722033804[71] = 0;
|
||||
out_8605893895722033804[72] = 0;
|
||||
out_8605893895722033804[73] = 0;
|
||||
out_8605893895722033804[74] = 0;
|
||||
out_8605893895722033804[75] = 0;
|
||||
out_8605893895722033804[76] = 0;
|
||||
out_8605893895722033804[77] = 0;
|
||||
out_8605893895722033804[78] = 0;
|
||||
out_8605893895722033804[79] = 0;
|
||||
out_8605893895722033804[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_2585399580963523364) {
|
||||
out_2585399580963523364[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_80606407557009467) {
|
||||
out_80606407557009467[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_4993569966627829866) {
|
||||
out_4993569966627829866[0] = 0;
|
||||
out_4993569966627829866[1] = 0;
|
||||
out_4993569966627829866[2] = 0;
|
||||
out_4993569966627829866[3] = 0;
|
||||
out_4993569966627829866[4] = 0;
|
||||
out_4993569966627829866[5] = 0;
|
||||
out_4993569966627829866[6] = 1;
|
||||
out_4993569966627829866[7] = 0;
|
||||
out_4993569966627829866[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_2019209217812215463) {
|
||||
out_2019209217812215463[0] = 0;
|
||||
out_2019209217812215463[1] = 0;
|
||||
out_2019209217812215463[2] = 0;
|
||||
out_2019209217812215463[3] = 0;
|
||||
out_2019209217812215463[4] = 0;
|
||||
out_2019209217812215463[5] = 0;
|
||||
out_2019209217812215463[6] = 1;
|
||||
out_2019209217812215463[7] = 0;
|
||||
out_2019209217812215463[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7866369606921911129) {
|
||||
out_7866369606921911129[0] = state[4];
|
||||
out_7866369606921911129[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_8156817116559759487) {
|
||||
out_8156817116559759487[0] = state[4];
|
||||
out_8156817116559759487[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_124755101600123014) {
|
||||
out_124755101600123014[0] = 0;
|
||||
out_124755101600123014[1] = 0;
|
||||
out_124755101600123014[2] = 0;
|
||||
out_124755101600123014[3] = 0;
|
||||
out_124755101600123014[4] = 1;
|
||||
out_124755101600123014[5] = 0;
|
||||
out_124755101600123014[6] = 0;
|
||||
out_124755101600123014[7] = 0;
|
||||
out_124755101600123014[8] = 0;
|
||||
out_124755101600123014[9] = 0;
|
||||
out_124755101600123014[10] = 0;
|
||||
out_124755101600123014[11] = 0;
|
||||
out_124755101600123014[12] = 0;
|
||||
out_124755101600123014[13] = 0;
|
||||
out_124755101600123014[14] = 1;
|
||||
out_124755101600123014[15] = 0;
|
||||
out_124755101600123014[16] = 0;
|
||||
out_124755101600123014[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_7208855968256979762) {
|
||||
out_7208855968256979762[0] = 0;
|
||||
out_7208855968256979762[1] = 0;
|
||||
out_7208855968256979762[2] = 0;
|
||||
out_7208855968256979762[3] = 0;
|
||||
out_7208855968256979762[4] = 1;
|
||||
out_7208855968256979762[5] = 0;
|
||||
out_7208855968256979762[6] = 0;
|
||||
out_7208855968256979762[7] = 0;
|
||||
out_7208855968256979762[8] = 0;
|
||||
out_7208855968256979762[9] = 0;
|
||||
out_7208855968256979762[10] = 0;
|
||||
out_7208855968256979762[11] = 0;
|
||||
out_7208855968256979762[12] = 0;
|
||||
out_7208855968256979762[13] = 0;
|
||||
out_7208855968256979762[14] = 1;
|
||||
out_7208855968256979762[15] = 0;
|
||||
out_7208855968256979762[16] = 0;
|
||||
out_7208855968256979762[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_1052049947290498986) {
|
||||
out_1052049947290498986[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_7682658849263662974) {
|
||||
out_7682658849263662974[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_465873636500221668) {
|
||||
out_465873636500221668[0] = 0;
|
||||
out_465873636500221668[1] = 0;
|
||||
out_465873636500221668[2] = 0;
|
||||
out_465873636500221668[3] = 0;
|
||||
out_465873636500221668[4] = 1;
|
||||
out_465873636500221668[5] = 0;
|
||||
out_465873636500221668[6] = 0;
|
||||
out_465873636500221668[7] = 0;
|
||||
out_465873636500221668[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6546905547939823661) {
|
||||
out_6546905547939823661[0] = 0;
|
||||
out_6546905547939823661[1] = 0;
|
||||
out_6546905547939823661[2] = 0;
|
||||
out_6546905547939823661[3] = 0;
|
||||
out_6546905547939823661[4] = 1;
|
||||
out_6546905547939823661[5] = 0;
|
||||
out_6546905547939823661[6] = 0;
|
||||
out_6546905547939823661[7] = 0;
|
||||
out_6546905547939823661[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_3137755351529974294) {
|
||||
out_3137755351529974294[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_2046248304577196316) {
|
||||
out_2046248304577196316[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_1252066647753773642) {
|
||||
out_1252066647753773642[0] = 0;
|
||||
out_1252066647753773642[1] = 0;
|
||||
out_1252066647753773642[2] = 0;
|
||||
out_1252066647753773642[3] = 0;
|
||||
out_1252066647753773642[4] = 0;
|
||||
out_1252066647753773642[5] = 0;
|
||||
out_1252066647753773642[6] = 0;
|
||||
out_1252066647753773642[7] = 1;
|
||||
out_1252066647753773642[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_5760712536686271687) {
|
||||
out_5760712536686271687[0] = 0;
|
||||
out_5760712536686271687[1] = 0;
|
||||
out_5760712536686271687[2] = 0;
|
||||
out_5760712536686271687[3] = 0;
|
||||
out_5760712536686271687[4] = 0;
|
||||
out_5760712536686271687[5] = 0;
|
||||
out_5760712536686271687[6] = 0;
|
||||
out_5760712536686271687[7] = 1;
|
||||
out_5760712536686271687[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3292885906595191724) {
|
||||
out_3292885906595191724[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_4505967322855241000) {
|
||||
out_4505967322855241000[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_2689467707684164885) {
|
||||
out_2689467707684164885[0] = 0;
|
||||
out_2689467707684164885[1] = 0;
|
||||
out_2689467707684164885[2] = 0;
|
||||
out_2689467707684164885[3] = 1;
|
||||
out_2689467707684164885[4] = 0;
|
||||
out_2689467707684164885[5] = 0;
|
||||
out_2689467707684164885[6] = 0;
|
||||
out_2689467707684164885[7] = 0;
|
||||
out_2689467707684164885[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_8721668859740248572) {
|
||||
out_8721668859740248572[0] = 0;
|
||||
out_8721668859740248572[1] = 0;
|
||||
out_8721668859740248572[2] = 0;
|
||||
out_8721668859740248572[3] = 1;
|
||||
out_8721668859740248572[4] = 0;
|
||||
out_8721668859740248572[5] = 0;
|
||||
out_8721668859740248572[6] = 0;
|
||||
out_8721668859740248572[7] = 0;
|
||||
out_8721668859740248572[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_5346991570123350160) {
|
||||
out_5346991570123350160[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_1934047599768798804) {
|
||||
out_1934047599768798804[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_976104980814613852) {
|
||||
out_976104980814613852[0] = 0;
|
||||
out_976104980814613852[1] = 1;
|
||||
out_976104980814613852[2] = 0;
|
||||
out_976104980814613852[3] = 0;
|
||||
out_976104980814613852[4] = 0;
|
||||
out_976104980814613852[5] = 0;
|
||||
out_976104980814613852[6] = 0;
|
||||
out_976104980814613852[7] = 0;
|
||||
out_976104980814613852[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_6036674203625431477) {
|
||||
out_6036674203625431477[0] = 0;
|
||||
out_6036674203625431477[1] = 1;
|
||||
out_6036674203625431477[2] = 0;
|
||||
out_6036674203625431477[3] = 0;
|
||||
out_6036674203625431477[4] = 0;
|
||||
out_6036674203625431477[5] = 0;
|
||||
out_6036674203625431477[6] = 0;
|
||||
out_6036674203625431477[7] = 0;
|
||||
out_6036674203625431477[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_6565695485309518484) {
|
||||
out_6565695485309518484[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_3899689496788985653) {
|
||||
out_3899689496788985653[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_2939735252379940103) {
|
||||
out_2939735252379940103[0] = 1;
|
||||
out_2939735252379940103[1] = 0;
|
||||
out_2939735252379940103[2] = 0;
|
||||
out_2939735252379940103[3] = 0;
|
||||
out_2939735252379940103[4] = 0;
|
||||
out_2939735252379940103[5] = 0;
|
||||
out_2939735252379940103[6] = 0;
|
||||
out_2939735252379940103[7] = 0;
|
||||
out_2939735252379940103[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_7327670853014589565) {
|
||||
out_7327670853014589565[0] = 1;
|
||||
out_7327670853014589565[1] = 0;
|
||||
out_7327670853014589565[2] = 0;
|
||||
out_7327670853014589565[3] = 0;
|
||||
out_7327670853014589565[4] = 0;
|
||||
out_7327670853014589565[5] = 0;
|
||||
out_7327670853014589565[6] = 0;
|
||||
out_7327670853014589565[7] = 0;
|
||||
out_7327670853014589565[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7496068987004855670) {
|
||||
out_7496068987004855670[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_40967961750261831) {
|
||||
out_40967961750261831[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_625858545520422166) {
|
||||
out_625858545520422166[0] = 0;
|
||||
out_625858545520422166[1] = 0;
|
||||
out_625858545520422166[2] = 0;
|
||||
out_625858545520422166[3] = 0;
|
||||
out_625858545520422166[4] = 0;
|
||||
out_625858545520422166[5] = 0;
|
||||
out_625858545520422166[6] = 0;
|
||||
out_625858545520422166[7] = 0;
|
||||
out_625858545520422166[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6386920638919623163) {
|
||||
out_6386920638919623163[0] = 0;
|
||||
out_6386920638919623163[1] = 0;
|
||||
out_6386920638919623163[2] = 0;
|
||||
out_6386920638919623163[3] = 0;
|
||||
out_6386920638919623163[4] = 0;
|
||||
out_6386920638919623163[5] = 0;
|
||||
out_6386920638919623163[6] = 0;
|
||||
out_6386920638919623163[7] = 0;
|
||||
out_6386920638919623163[8] = 1;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
|
||||
}
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5325374827696631328) {
|
||||
err_fun(nom_x, delta_x, out_5325374827696631328);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3886210737280219279) {
|
||||
err_fun(nom_x, delta_x, out_3886210737280219279);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_263695042767338590) {
|
||||
inv_err_fun(nom_x, true_x, out_263695042767338590);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_9203878995777804762) {
|
||||
inv_err_fun(nom_x, true_x, out_9203878995777804762);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_2663737869404174494) {
|
||||
H_mod_fun(state, out_2663737869404174494);
|
||||
void car_H_mod_fun(double *state, double *out_8506196822923476348) {
|
||||
H_mod_fun(state, out_8506196822923476348);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_8230420991833863893) {
|
||||
f_fun(state, dt, out_8230420991833863893);
|
||||
void car_f_fun(double *state, double dt, double *out_2212415948681408961) {
|
||||
f_fun(state, dt, out_2212415948681408961);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_2756618938696411588) {
|
||||
F_fun(state, dt, out_2756618938696411588);
|
||||
void car_F_fun(double *state, double dt, double *out_8605893895722033804) {
|
||||
F_fun(state, dt, out_8605893895722033804);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_2585399580963523364) {
|
||||
h_25(state, unused, out_2585399580963523364);
|
||||
void car_h_25(double *state, double *unused, double *out_80606407557009467) {
|
||||
h_25(state, unused, out_80606407557009467);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_4993569966627829866) {
|
||||
H_25(state, unused, out_4993569966627829866);
|
||||
void car_H_25(double *state, double *unused, double *out_2019209217812215463) {
|
||||
H_25(state, unused, out_2019209217812215463);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7866369606921911129) {
|
||||
h_24(state, unused, out_7866369606921911129);
|
||||
void car_h_24(double *state, double *unused, double *out_8156817116559759487) {
|
||||
h_24(state, unused, out_8156817116559759487);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_124755101600123014) {
|
||||
H_24(state, unused, out_124755101600123014);
|
||||
void car_H_24(double *state, double *unused, double *out_7208855968256979762) {
|
||||
H_24(state, unused, out_7208855968256979762);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_1052049947290498986) {
|
||||
h_30(state, unused, out_1052049947290498986);
|
||||
void car_h_30(double *state, double *unused, double *out_7682658849263662974) {
|
||||
h_30(state, unused, out_7682658849263662974);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_465873636500221668) {
|
||||
H_30(state, unused, out_465873636500221668);
|
||||
void car_H_30(double *state, double *unused, double *out_6546905547939823661) {
|
||||
H_30(state, unused, out_6546905547939823661);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_3137755351529974294) {
|
||||
h_26(state, unused, out_3137755351529974294);
|
||||
void car_h_26(double *state, double *unused, double *out_2046248304577196316) {
|
||||
h_26(state, unused, out_2046248304577196316);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_1252066647753773642) {
|
||||
H_26(state, unused, out_1252066647753773642);
|
||||
void car_H_26(double *state, double *unused, double *out_5760712536686271687) {
|
||||
H_26(state, unused, out_5760712536686271687);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3292885906595191724) {
|
||||
h_27(state, unused, out_3292885906595191724);
|
||||
void car_h_27(double *state, double *unused, double *out_4505967322855241000) {
|
||||
h_27(state, unused, out_4505967322855241000);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_2689467707684164885) {
|
||||
H_27(state, unused, out_2689467707684164885);
|
||||
void car_H_27(double *state, double *unused, double *out_8721668859740248572) {
|
||||
H_27(state, unused, out_8721668859740248572);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_5346991570123350160) {
|
||||
h_29(state, unused, out_5346991570123350160);
|
||||
void car_h_29(double *state, double *unused, double *out_1934047599768798804) {
|
||||
h_29(state, unused, out_1934047599768798804);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_976104980814613852) {
|
||||
H_29(state, unused, out_976104980814613852);
|
||||
void car_H_29(double *state, double *unused, double *out_6036674203625431477) {
|
||||
H_29(state, unused, out_6036674203625431477);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_6565695485309518484) {
|
||||
h_28(state, unused, out_6565695485309518484);
|
||||
void car_h_28(double *state, double *unused, double *out_3899689496788985653) {
|
||||
h_28(state, unused, out_3899689496788985653);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_2939735252379940103) {
|
||||
H_28(state, unused, out_2939735252379940103);
|
||||
void car_H_28(double *state, double *unused, double *out_7327670853014589565) {
|
||||
H_28(state, unused, out_7327670853014589565);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7496068987004855670) {
|
||||
h_31(state, unused, out_7496068987004855670);
|
||||
void car_h_31(double *state, double *unused, double *out_40967961750261831) {
|
||||
h_31(state, unused, out_40967961750261831);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_625858545520422166) {
|
||||
H_31(state, unused, out_625858545520422166);
|
||||
void car_H_31(double *state, double *unused, double *out_6386920638919623163) {
|
||||
H_31(state, unused, out_6386920638919623163);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5325374827696631328);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_263695042767338590);
|
||||
void car_H_mod_fun(double *state, double *out_2663737869404174494);
|
||||
void car_f_fun(double *state, double dt, double *out_8230420991833863893);
|
||||
void car_F_fun(double *state, double dt, double *out_2756618938696411588);
|
||||
void car_h_25(double *state, double *unused, double *out_2585399580963523364);
|
||||
void car_H_25(double *state, double *unused, double *out_4993569966627829866);
|
||||
void car_h_24(double *state, double *unused, double *out_7866369606921911129);
|
||||
void car_H_24(double *state, double *unused, double *out_124755101600123014);
|
||||
void car_h_30(double *state, double *unused, double *out_1052049947290498986);
|
||||
void car_H_30(double *state, double *unused, double *out_465873636500221668);
|
||||
void car_h_26(double *state, double *unused, double *out_3137755351529974294);
|
||||
void car_H_26(double *state, double *unused, double *out_1252066647753773642);
|
||||
void car_h_27(double *state, double *unused, double *out_3292885906595191724);
|
||||
void car_H_27(double *state, double *unused, double *out_2689467707684164885);
|
||||
void car_h_29(double *state, double *unused, double *out_5346991570123350160);
|
||||
void car_H_29(double *state, double *unused, double *out_976104980814613852);
|
||||
void car_h_28(double *state, double *unused, double *out_6565695485309518484);
|
||||
void car_H_28(double *state, double *unused, double *out_2939735252379940103);
|
||||
void car_h_31(double *state, double *unused, double *out_7496068987004855670);
|
||||
void car_H_31(double *state, double *unused, double *out_625858545520422166);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3886210737280219279);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_9203878995777804762);
|
||||
void car_H_mod_fun(double *state, double *out_8506196822923476348);
|
||||
void car_f_fun(double *state, double dt, double *out_2212415948681408961);
|
||||
void car_F_fun(double *state, double dt, double *out_8605893895722033804);
|
||||
void car_h_25(double *state, double *unused, double *out_80606407557009467);
|
||||
void car_H_25(double *state, double *unused, double *out_2019209217812215463);
|
||||
void car_h_24(double *state, double *unused, double *out_8156817116559759487);
|
||||
void car_H_24(double *state, double *unused, double *out_7208855968256979762);
|
||||
void car_h_30(double *state, double *unused, double *out_7682658849263662974);
|
||||
void car_H_30(double *state, double *unused, double *out_6546905547939823661);
|
||||
void car_h_26(double *state, double *unused, double *out_2046248304577196316);
|
||||
void car_H_26(double *state, double *unused, double *out_5760712536686271687);
|
||||
void car_h_27(double *state, double *unused, double *out_4505967322855241000);
|
||||
void car_H_27(double *state, double *unused, double *out_8721668859740248572);
|
||||
void car_h_29(double *state, double *unused, double *out_1934047599768798804);
|
||||
void car_H_29(double *state, double *unused, double *out_6036674203625431477);
|
||||
void car_h_28(double *state, double *unused, double *out_3899689496788985653);
|
||||
void car_H_28(double *state, double *unused, double *out_7327670853014589565);
|
||||
void car_h_31(double *state, double *unused, double *out_40967961750261831);
|
||||
void car_H_31(double *state, double *unused, double *out_6386920638919623163);
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
void car_set_mass(double x);
|
||||
void car_set_rotational_inertia(double x);
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
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void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
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void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
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void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
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void pose_err_fun(double *nom_x, double *delta_x, double *out_4154280524256563890);
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void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5487211563177375728);
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void pose_H_mod_fun(double *state, double *out_6762039440372011872);
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void pose_f_fun(double *state, double dt, double *out_2487690271541209027);
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void pose_F_fun(double *state, double dt, double *out_950182517979020623);
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void pose_h_4(double *state, double *unused, double *out_1064982969821053038);
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void pose_H_4(double *state, double *unused, double *out_1976156791710977266);
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void pose_h_10(double *state, double *unused, double *out_9039008373436645978);
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void pose_H_10(double *state, double *unused, double *out_6832717040485250243);
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void pose_h_13(double *state, double *unused, double *out_6939466162668529956);
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void pose_H_13(double *state, double *unused, double *out_2540758711392821370);
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void pose_h_14(double *state, double *unused, double *out_542665533068743617);
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void pose_H_14(double *state, double *unused, double *out_1106631640584395030);
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void pose_err_fun(double *nom_x, double *delta_x, double *out_7365448194845582757);
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void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1967800537697910635);
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void pose_H_mod_fun(double *state, double *out_8390959249454907977);
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void pose_f_fun(double *state, double dt, double *out_9042230065077868228);
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void pose_F_fun(double *state, double dt, double *out_3211704972733304042);
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void pose_h_4(double *state, double *unused, double *out_4618547932677025290);
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void pose_H_4(double *state, double *unused, double *out_8857837342371745535);
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void pose_h_10(double *state, double *unused, double *out_286079926766125973);
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void pose_H_10(double *state, double *unused, double *out_2479119896376040884);
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void pose_h_13(double *state, double *unused, double *out_829945007780659418);
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void pose_H_13(double *state, double *unused, double *out_5755151268035282057);
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void pose_h_14(double *state, double *unused, double *out_1492834352067073969);
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void pose_H_14(double *state, double *unused, double *out_6506118299042433785);
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void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
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}
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