mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-06 00:36:32 +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-f20b1f2a-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-301a45c7-DEBUG";
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||||
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||||
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@@ -1 +1 @@
|
||||
DEV-f20b1f2a-DEBUG
|
||||
DEV-301a45c7-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_5063363100648596688) {
|
||||
out_5063363100648596688[0] = delta_x[0] + nom_x[0];
|
||||
out_5063363100648596688[1] = delta_x[1] + nom_x[1];
|
||||
out_5063363100648596688[2] = delta_x[2] + nom_x[2];
|
||||
out_5063363100648596688[3] = delta_x[3] + nom_x[3];
|
||||
out_5063363100648596688[4] = delta_x[4] + nom_x[4];
|
||||
out_5063363100648596688[5] = delta_x[5] + nom_x[5];
|
||||
out_5063363100648596688[6] = delta_x[6] + nom_x[6];
|
||||
out_5063363100648596688[7] = delta_x[7] + nom_x[7];
|
||||
out_5063363100648596688[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_3959736040406304353) {
|
||||
out_3959736040406304353[0] = delta_x[0] + nom_x[0];
|
||||
out_3959736040406304353[1] = delta_x[1] + nom_x[1];
|
||||
out_3959736040406304353[2] = delta_x[2] + nom_x[2];
|
||||
out_3959736040406304353[3] = delta_x[3] + nom_x[3];
|
||||
out_3959736040406304353[4] = delta_x[4] + nom_x[4];
|
||||
out_3959736040406304353[5] = delta_x[5] + nom_x[5];
|
||||
out_3959736040406304353[6] = delta_x[6] + nom_x[6];
|
||||
out_3959736040406304353[7] = delta_x[7] + nom_x[7];
|
||||
out_3959736040406304353[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1051973791362877167) {
|
||||
out_1051973791362877167[0] = -nom_x[0] + true_x[0];
|
||||
out_1051973791362877167[1] = -nom_x[1] + true_x[1];
|
||||
out_1051973791362877167[2] = -nom_x[2] + true_x[2];
|
||||
out_1051973791362877167[3] = -nom_x[3] + true_x[3];
|
||||
out_1051973791362877167[4] = -nom_x[4] + true_x[4];
|
||||
out_1051973791362877167[5] = -nom_x[5] + true_x[5];
|
||||
out_1051973791362877167[6] = -nom_x[6] + true_x[6];
|
||||
out_1051973791362877167[7] = -nom_x[7] + true_x[7];
|
||||
out_1051973791362877167[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_7899142377712818401) {
|
||||
out_7899142377712818401[0] = -nom_x[0] + true_x[0];
|
||||
out_7899142377712818401[1] = -nom_x[1] + true_x[1];
|
||||
out_7899142377712818401[2] = -nom_x[2] + true_x[2];
|
||||
out_7899142377712818401[3] = -nom_x[3] + true_x[3];
|
||||
out_7899142377712818401[4] = -nom_x[4] + true_x[4];
|
||||
out_7899142377712818401[5] = -nom_x[5] + true_x[5];
|
||||
out_7899142377712818401[6] = -nom_x[6] + true_x[6];
|
||||
out_7899142377712818401[7] = -nom_x[7] + true_x[7];
|
||||
out_7899142377712818401[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_5315869906856267240) {
|
||||
out_5315869906856267240[0] = 1.0;
|
||||
out_5315869906856267240[1] = 0.0;
|
||||
out_5315869906856267240[2] = 0.0;
|
||||
out_5315869906856267240[3] = 0.0;
|
||||
out_5315869906856267240[4] = 0.0;
|
||||
out_5315869906856267240[5] = 0.0;
|
||||
out_5315869906856267240[6] = 0.0;
|
||||
out_5315869906856267240[7] = 0.0;
|
||||
out_5315869906856267240[8] = 0.0;
|
||||
out_5315869906856267240[9] = 0.0;
|
||||
out_5315869906856267240[10] = 1.0;
|
||||
out_5315869906856267240[11] = 0.0;
|
||||
out_5315869906856267240[12] = 0.0;
|
||||
out_5315869906856267240[13] = 0.0;
|
||||
out_5315869906856267240[14] = 0.0;
|
||||
out_5315869906856267240[15] = 0.0;
|
||||
out_5315869906856267240[16] = 0.0;
|
||||
out_5315869906856267240[17] = 0.0;
|
||||
out_5315869906856267240[18] = 0.0;
|
||||
out_5315869906856267240[19] = 0.0;
|
||||
out_5315869906856267240[20] = 1.0;
|
||||
out_5315869906856267240[21] = 0.0;
|
||||
out_5315869906856267240[22] = 0.0;
|
||||
out_5315869906856267240[23] = 0.0;
|
||||
out_5315869906856267240[24] = 0.0;
|
||||
out_5315869906856267240[25] = 0.0;
|
||||
out_5315869906856267240[26] = 0.0;
|
||||
out_5315869906856267240[27] = 0.0;
|
||||
out_5315869906856267240[28] = 0.0;
|
||||
out_5315869906856267240[29] = 0.0;
|
||||
out_5315869906856267240[30] = 1.0;
|
||||
out_5315869906856267240[31] = 0.0;
|
||||
out_5315869906856267240[32] = 0.0;
|
||||
out_5315869906856267240[33] = 0.0;
|
||||
out_5315869906856267240[34] = 0.0;
|
||||
out_5315869906856267240[35] = 0.0;
|
||||
out_5315869906856267240[36] = 0.0;
|
||||
out_5315869906856267240[37] = 0.0;
|
||||
out_5315869906856267240[38] = 0.0;
|
||||
out_5315869906856267240[39] = 0.0;
|
||||
out_5315869906856267240[40] = 1.0;
|
||||
out_5315869906856267240[41] = 0.0;
|
||||
out_5315869906856267240[42] = 0.0;
|
||||
out_5315869906856267240[43] = 0.0;
|
||||
out_5315869906856267240[44] = 0.0;
|
||||
out_5315869906856267240[45] = 0.0;
|
||||
out_5315869906856267240[46] = 0.0;
|
||||
out_5315869906856267240[47] = 0.0;
|
||||
out_5315869906856267240[48] = 0.0;
|
||||
out_5315869906856267240[49] = 0.0;
|
||||
out_5315869906856267240[50] = 1.0;
|
||||
out_5315869906856267240[51] = 0.0;
|
||||
out_5315869906856267240[52] = 0.0;
|
||||
out_5315869906856267240[53] = 0.0;
|
||||
out_5315869906856267240[54] = 0.0;
|
||||
out_5315869906856267240[55] = 0.0;
|
||||
out_5315869906856267240[56] = 0.0;
|
||||
out_5315869906856267240[57] = 0.0;
|
||||
out_5315869906856267240[58] = 0.0;
|
||||
out_5315869906856267240[59] = 0.0;
|
||||
out_5315869906856267240[60] = 1.0;
|
||||
out_5315869906856267240[61] = 0.0;
|
||||
out_5315869906856267240[62] = 0.0;
|
||||
out_5315869906856267240[63] = 0.0;
|
||||
out_5315869906856267240[64] = 0.0;
|
||||
out_5315869906856267240[65] = 0.0;
|
||||
out_5315869906856267240[66] = 0.0;
|
||||
out_5315869906856267240[67] = 0.0;
|
||||
out_5315869906856267240[68] = 0.0;
|
||||
out_5315869906856267240[69] = 0.0;
|
||||
out_5315869906856267240[70] = 1.0;
|
||||
out_5315869906856267240[71] = 0.0;
|
||||
out_5315869906856267240[72] = 0.0;
|
||||
out_5315869906856267240[73] = 0.0;
|
||||
out_5315869906856267240[74] = 0.0;
|
||||
out_5315869906856267240[75] = 0.0;
|
||||
out_5315869906856267240[76] = 0.0;
|
||||
out_5315869906856267240[77] = 0.0;
|
||||
out_5315869906856267240[78] = 0.0;
|
||||
out_5315869906856267240[79] = 0.0;
|
||||
out_5315869906856267240[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8853016966935855995) {
|
||||
out_8853016966935855995[0] = 1.0;
|
||||
out_8853016966935855995[1] = 0.0;
|
||||
out_8853016966935855995[2] = 0.0;
|
||||
out_8853016966935855995[3] = 0.0;
|
||||
out_8853016966935855995[4] = 0.0;
|
||||
out_8853016966935855995[5] = 0.0;
|
||||
out_8853016966935855995[6] = 0.0;
|
||||
out_8853016966935855995[7] = 0.0;
|
||||
out_8853016966935855995[8] = 0.0;
|
||||
out_8853016966935855995[9] = 0.0;
|
||||
out_8853016966935855995[10] = 1.0;
|
||||
out_8853016966935855995[11] = 0.0;
|
||||
out_8853016966935855995[12] = 0.0;
|
||||
out_8853016966935855995[13] = 0.0;
|
||||
out_8853016966935855995[14] = 0.0;
|
||||
out_8853016966935855995[15] = 0.0;
|
||||
out_8853016966935855995[16] = 0.0;
|
||||
out_8853016966935855995[17] = 0.0;
|
||||
out_8853016966935855995[18] = 0.0;
|
||||
out_8853016966935855995[19] = 0.0;
|
||||
out_8853016966935855995[20] = 1.0;
|
||||
out_8853016966935855995[21] = 0.0;
|
||||
out_8853016966935855995[22] = 0.0;
|
||||
out_8853016966935855995[23] = 0.0;
|
||||
out_8853016966935855995[24] = 0.0;
|
||||
out_8853016966935855995[25] = 0.0;
|
||||
out_8853016966935855995[26] = 0.0;
|
||||
out_8853016966935855995[27] = 0.0;
|
||||
out_8853016966935855995[28] = 0.0;
|
||||
out_8853016966935855995[29] = 0.0;
|
||||
out_8853016966935855995[30] = 1.0;
|
||||
out_8853016966935855995[31] = 0.0;
|
||||
out_8853016966935855995[32] = 0.0;
|
||||
out_8853016966935855995[33] = 0.0;
|
||||
out_8853016966935855995[34] = 0.0;
|
||||
out_8853016966935855995[35] = 0.0;
|
||||
out_8853016966935855995[36] = 0.0;
|
||||
out_8853016966935855995[37] = 0.0;
|
||||
out_8853016966935855995[38] = 0.0;
|
||||
out_8853016966935855995[39] = 0.0;
|
||||
out_8853016966935855995[40] = 1.0;
|
||||
out_8853016966935855995[41] = 0.0;
|
||||
out_8853016966935855995[42] = 0.0;
|
||||
out_8853016966935855995[43] = 0.0;
|
||||
out_8853016966935855995[44] = 0.0;
|
||||
out_8853016966935855995[45] = 0.0;
|
||||
out_8853016966935855995[46] = 0.0;
|
||||
out_8853016966935855995[47] = 0.0;
|
||||
out_8853016966935855995[48] = 0.0;
|
||||
out_8853016966935855995[49] = 0.0;
|
||||
out_8853016966935855995[50] = 1.0;
|
||||
out_8853016966935855995[51] = 0.0;
|
||||
out_8853016966935855995[52] = 0.0;
|
||||
out_8853016966935855995[53] = 0.0;
|
||||
out_8853016966935855995[54] = 0.0;
|
||||
out_8853016966935855995[55] = 0.0;
|
||||
out_8853016966935855995[56] = 0.0;
|
||||
out_8853016966935855995[57] = 0.0;
|
||||
out_8853016966935855995[58] = 0.0;
|
||||
out_8853016966935855995[59] = 0.0;
|
||||
out_8853016966935855995[60] = 1.0;
|
||||
out_8853016966935855995[61] = 0.0;
|
||||
out_8853016966935855995[62] = 0.0;
|
||||
out_8853016966935855995[63] = 0.0;
|
||||
out_8853016966935855995[64] = 0.0;
|
||||
out_8853016966935855995[65] = 0.0;
|
||||
out_8853016966935855995[66] = 0.0;
|
||||
out_8853016966935855995[67] = 0.0;
|
||||
out_8853016966935855995[68] = 0.0;
|
||||
out_8853016966935855995[69] = 0.0;
|
||||
out_8853016966935855995[70] = 1.0;
|
||||
out_8853016966935855995[71] = 0.0;
|
||||
out_8853016966935855995[72] = 0.0;
|
||||
out_8853016966935855995[73] = 0.0;
|
||||
out_8853016966935855995[74] = 0.0;
|
||||
out_8853016966935855995[75] = 0.0;
|
||||
out_8853016966935855995[76] = 0.0;
|
||||
out_8853016966935855995[77] = 0.0;
|
||||
out_8853016966935855995[78] = 0.0;
|
||||
out_8853016966935855995[79] = 0.0;
|
||||
out_8853016966935855995[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_2679807483918754558) {
|
||||
out_2679807483918754558[0] = state[0];
|
||||
out_2679807483918754558[1] = state[1];
|
||||
out_2679807483918754558[2] = state[2];
|
||||
out_2679807483918754558[3] = state[3];
|
||||
out_2679807483918754558[4] = state[4];
|
||||
out_2679807483918754558[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_2679807483918754558[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_2679807483918754558[7] = state[7];
|
||||
out_2679807483918754558[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_8070155753173713130) {
|
||||
out_8070155753173713130[0] = state[0];
|
||||
out_8070155753173713130[1] = state[1];
|
||||
out_8070155753173713130[2] = state[2];
|
||||
out_8070155753173713130[3] = state[3];
|
||||
out_8070155753173713130[4] = state[4];
|
||||
out_8070155753173713130[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_8070155753173713130[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_8070155753173713130[7] = state[7];
|
||||
out_8070155753173713130[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_8053926087528305413) {
|
||||
out_8053926087528305413[0] = 1;
|
||||
out_8053926087528305413[1] = 0;
|
||||
out_8053926087528305413[2] = 0;
|
||||
out_8053926087528305413[3] = 0;
|
||||
out_8053926087528305413[4] = 0;
|
||||
out_8053926087528305413[5] = 0;
|
||||
out_8053926087528305413[6] = 0;
|
||||
out_8053926087528305413[7] = 0;
|
||||
out_8053926087528305413[8] = 0;
|
||||
out_8053926087528305413[9] = 0;
|
||||
out_8053926087528305413[10] = 1;
|
||||
out_8053926087528305413[11] = 0;
|
||||
out_8053926087528305413[12] = 0;
|
||||
out_8053926087528305413[13] = 0;
|
||||
out_8053926087528305413[14] = 0;
|
||||
out_8053926087528305413[15] = 0;
|
||||
out_8053926087528305413[16] = 0;
|
||||
out_8053926087528305413[17] = 0;
|
||||
out_8053926087528305413[18] = 0;
|
||||
out_8053926087528305413[19] = 0;
|
||||
out_8053926087528305413[20] = 1;
|
||||
out_8053926087528305413[21] = 0;
|
||||
out_8053926087528305413[22] = 0;
|
||||
out_8053926087528305413[23] = 0;
|
||||
out_8053926087528305413[24] = 0;
|
||||
out_8053926087528305413[25] = 0;
|
||||
out_8053926087528305413[26] = 0;
|
||||
out_8053926087528305413[27] = 0;
|
||||
out_8053926087528305413[28] = 0;
|
||||
out_8053926087528305413[29] = 0;
|
||||
out_8053926087528305413[30] = 1;
|
||||
out_8053926087528305413[31] = 0;
|
||||
out_8053926087528305413[32] = 0;
|
||||
out_8053926087528305413[33] = 0;
|
||||
out_8053926087528305413[34] = 0;
|
||||
out_8053926087528305413[35] = 0;
|
||||
out_8053926087528305413[36] = 0;
|
||||
out_8053926087528305413[37] = 0;
|
||||
out_8053926087528305413[38] = 0;
|
||||
out_8053926087528305413[39] = 0;
|
||||
out_8053926087528305413[40] = 1;
|
||||
out_8053926087528305413[41] = 0;
|
||||
out_8053926087528305413[42] = 0;
|
||||
out_8053926087528305413[43] = 0;
|
||||
out_8053926087528305413[44] = 0;
|
||||
out_8053926087528305413[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_8053926087528305413[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8053926087528305413[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8053926087528305413[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8053926087528305413[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_8053926087528305413[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8053926087528305413[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8053926087528305413[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8053926087528305413[53] = -9.8100000000000005*dt;
|
||||
out_8053926087528305413[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_8053926087528305413[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8053926087528305413[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8053926087528305413[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8053926087528305413[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_8053926087528305413[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8053926087528305413[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_8053926087528305413[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8053926087528305413[62] = 0;
|
||||
out_8053926087528305413[63] = 0;
|
||||
out_8053926087528305413[64] = 0;
|
||||
out_8053926087528305413[65] = 0;
|
||||
out_8053926087528305413[66] = 0;
|
||||
out_8053926087528305413[67] = 0;
|
||||
out_8053926087528305413[68] = 0;
|
||||
out_8053926087528305413[69] = 0;
|
||||
out_8053926087528305413[70] = 1;
|
||||
out_8053926087528305413[71] = 0;
|
||||
out_8053926087528305413[72] = 0;
|
||||
out_8053926087528305413[73] = 0;
|
||||
out_8053926087528305413[74] = 0;
|
||||
out_8053926087528305413[75] = 0;
|
||||
out_8053926087528305413[76] = 0;
|
||||
out_8053926087528305413[77] = 0;
|
||||
out_8053926087528305413[78] = 0;
|
||||
out_8053926087528305413[79] = 0;
|
||||
out_8053926087528305413[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_2319703520718919116) {
|
||||
out_2319703520718919116[0] = 1;
|
||||
out_2319703520718919116[1] = 0;
|
||||
out_2319703520718919116[2] = 0;
|
||||
out_2319703520718919116[3] = 0;
|
||||
out_2319703520718919116[4] = 0;
|
||||
out_2319703520718919116[5] = 0;
|
||||
out_2319703520718919116[6] = 0;
|
||||
out_2319703520718919116[7] = 0;
|
||||
out_2319703520718919116[8] = 0;
|
||||
out_2319703520718919116[9] = 0;
|
||||
out_2319703520718919116[10] = 1;
|
||||
out_2319703520718919116[11] = 0;
|
||||
out_2319703520718919116[12] = 0;
|
||||
out_2319703520718919116[13] = 0;
|
||||
out_2319703520718919116[14] = 0;
|
||||
out_2319703520718919116[15] = 0;
|
||||
out_2319703520718919116[16] = 0;
|
||||
out_2319703520718919116[17] = 0;
|
||||
out_2319703520718919116[18] = 0;
|
||||
out_2319703520718919116[19] = 0;
|
||||
out_2319703520718919116[20] = 1;
|
||||
out_2319703520718919116[21] = 0;
|
||||
out_2319703520718919116[22] = 0;
|
||||
out_2319703520718919116[23] = 0;
|
||||
out_2319703520718919116[24] = 0;
|
||||
out_2319703520718919116[25] = 0;
|
||||
out_2319703520718919116[26] = 0;
|
||||
out_2319703520718919116[27] = 0;
|
||||
out_2319703520718919116[28] = 0;
|
||||
out_2319703520718919116[29] = 0;
|
||||
out_2319703520718919116[30] = 1;
|
||||
out_2319703520718919116[31] = 0;
|
||||
out_2319703520718919116[32] = 0;
|
||||
out_2319703520718919116[33] = 0;
|
||||
out_2319703520718919116[34] = 0;
|
||||
out_2319703520718919116[35] = 0;
|
||||
out_2319703520718919116[36] = 0;
|
||||
out_2319703520718919116[37] = 0;
|
||||
out_2319703520718919116[38] = 0;
|
||||
out_2319703520718919116[39] = 0;
|
||||
out_2319703520718919116[40] = 1;
|
||||
out_2319703520718919116[41] = 0;
|
||||
out_2319703520718919116[42] = 0;
|
||||
out_2319703520718919116[43] = 0;
|
||||
out_2319703520718919116[44] = 0;
|
||||
out_2319703520718919116[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_2319703520718919116[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2319703520718919116[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2319703520718919116[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2319703520718919116[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_2319703520718919116[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2319703520718919116[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2319703520718919116[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2319703520718919116[53] = -9.8100000000000005*dt;
|
||||
out_2319703520718919116[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_2319703520718919116[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2319703520718919116[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2319703520718919116[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2319703520718919116[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_2319703520718919116[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2319703520718919116[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_2319703520718919116[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2319703520718919116[62] = 0;
|
||||
out_2319703520718919116[63] = 0;
|
||||
out_2319703520718919116[64] = 0;
|
||||
out_2319703520718919116[65] = 0;
|
||||
out_2319703520718919116[66] = 0;
|
||||
out_2319703520718919116[67] = 0;
|
||||
out_2319703520718919116[68] = 0;
|
||||
out_2319703520718919116[69] = 0;
|
||||
out_2319703520718919116[70] = 1;
|
||||
out_2319703520718919116[71] = 0;
|
||||
out_2319703520718919116[72] = 0;
|
||||
out_2319703520718919116[73] = 0;
|
||||
out_2319703520718919116[74] = 0;
|
||||
out_2319703520718919116[75] = 0;
|
||||
out_2319703520718919116[76] = 0;
|
||||
out_2319703520718919116[77] = 0;
|
||||
out_2319703520718919116[78] = 0;
|
||||
out_2319703520718919116[79] = 0;
|
||||
out_2319703520718919116[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5716369086896639497) {
|
||||
out_5716369086896639497[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_4616275488682323747) {
|
||||
out_4616275488682323747[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_3877318319055969997) {
|
||||
out_3877318319055969997[0] = 0;
|
||||
out_3877318319055969997[1] = 0;
|
||||
out_3877318319055969997[2] = 0;
|
||||
out_3877318319055969997[3] = 0;
|
||||
out_3877318319055969997[4] = 0;
|
||||
out_3877318319055969997[5] = 0;
|
||||
out_3877318319055969997[6] = 1;
|
||||
out_3877318319055969997[7] = 0;
|
||||
out_3877318319055969997[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_7903896044907373786) {
|
||||
out_7903896044907373786[0] = 0;
|
||||
out_7903896044907373786[1] = 0;
|
||||
out_7903896044907373786[2] = 0;
|
||||
out_7903896044907373786[3] = 0;
|
||||
out_7903896044907373786[4] = 0;
|
||||
out_7903896044907373786[5] = 0;
|
||||
out_7903896044907373786[6] = 1;
|
||||
out_7903896044907373786[7] = 0;
|
||||
out_7903896044907373786[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_8949486097258288203) {
|
||||
out_8949486097258288203[0] = state[4];
|
||||
out_8949486097258288203[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_1240821179762925085) {
|
||||
out_1240821179762925085[0] = state[4];
|
||||
out_1240821179762925085[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_6049967918061469563) {
|
||||
out_6049967918061469563[0] = 0;
|
||||
out_6049967918061469563[1] = 0;
|
||||
out_6049967918061469563[2] = 0;
|
||||
out_6049967918061469563[3] = 0;
|
||||
out_6049967918061469563[4] = 1;
|
||||
out_6049967918061469563[5] = 0;
|
||||
out_6049967918061469563[6] = 0;
|
||||
out_6049967918061469563[7] = 0;
|
||||
out_6049967918061469563[8] = 0;
|
||||
out_6049967918061469563[9] = 0;
|
||||
out_6049967918061469563[10] = 0;
|
||||
out_6049967918061469563[11] = 0;
|
||||
out_6049967918061469563[12] = 0;
|
||||
out_6049967918061469563[13] = 0;
|
||||
out_6049967918061469563[14] = 1;
|
||||
out_6049967918061469563[15] = 0;
|
||||
out_6049967918061469563[16] = 0;
|
||||
out_6049967918061469563[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_4345970446105050650) {
|
||||
out_4345970446105050650[0] = 0;
|
||||
out_4345970446105050650[1] = 0;
|
||||
out_4345970446105050650[2] = 0;
|
||||
out_4345970446105050650[3] = 0;
|
||||
out_4345970446105050650[4] = 1;
|
||||
out_4345970446105050650[5] = 0;
|
||||
out_4345970446105050650[6] = 0;
|
||||
out_4345970446105050650[7] = 0;
|
||||
out_4345970446105050650[8] = 0;
|
||||
out_4345970446105050650[9] = 0;
|
||||
out_4345970446105050650[10] = 0;
|
||||
out_4345970446105050650[11] = 0;
|
||||
out_4345970446105050650[12] = 0;
|
||||
out_4345970446105050650[13] = 0;
|
||||
out_4345970446105050650[14] = 1;
|
||||
out_4345970446105050650[15] = 0;
|
||||
out_4345970446105050650[16] = 0;
|
||||
out_4345970446105050650[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5873555755247768642) {
|
||||
out_5873555755247768642[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_978825960428301397) {
|
||||
out_978825960428301397[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_3039372022435646758) {
|
||||
out_3039372022435646758[0] = 0;
|
||||
out_3039372022435646758[1] = 0;
|
||||
out_3039372022435646758[2] = 0;
|
||||
out_3039372022435646758[3] = 0;
|
||||
out_3039372022435646758[4] = 1;
|
||||
out_3039372022435646758[5] = 0;
|
||||
out_3039372022435646758[6] = 0;
|
||||
out_3039372022435646758[7] = 0;
|
||||
out_3039372022435646758[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_8033234992050613856) {
|
||||
out_8033234992050613856[0] = 0;
|
||||
out_8033234992050613856[1] = 0;
|
||||
out_8033234992050613856[2] = 0;
|
||||
out_8033234992050613856[3] = 0;
|
||||
out_8033234992050613856[4] = 1;
|
||||
out_8033234992050613856[5] = 0;
|
||||
out_8033234992050613856[6] = 0;
|
||||
out_8033234992050613856[7] = 0;
|
||||
out_8033234992050613856[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_8147827403163551441) {
|
||||
out_8147827403163551441[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_35316107526638962) {
|
||||
out_35316107526638962[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_7618821637930026221) {
|
||||
out_7618821637930026221[0] = 0;
|
||||
out_7618821637930026221[1] = 0;
|
||||
out_7618821637930026221[2] = 0;
|
||||
out_7618821637930026221[3] = 0;
|
||||
out_7618821637930026221[4] = 0;
|
||||
out_7618821637930026221[5] = 0;
|
||||
out_7618821637930026221[6] = 0;
|
||||
out_7618821637930026221[7] = 1;
|
||||
out_7618821637930026221[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_6801344709928121606) {
|
||||
out_6801344709928121606[0] = 0;
|
||||
out_6801344709928121606[1] = 0;
|
||||
out_6801344709928121606[2] = 0;
|
||||
out_6801344709928121606[3] = 0;
|
||||
out_6801344709928121606[4] = 0;
|
||||
out_6801344709928121606[5] = 0;
|
||||
out_6801344709928121606[6] = 0;
|
||||
out_6801344709928121606[7] = 1;
|
||||
out_6801344709928121606[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3868275412420834157) {
|
||||
out_3868275412420834157[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_8256782726505873065) {
|
||||
out_8256782726505873065[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_864608710635221847) {
|
||||
out_864608710635221847[0] = 0;
|
||||
out_864608710635221847[1] = 0;
|
||||
out_864608710635221847[2] = 0;
|
||||
out_864608710635221847[3] = 1;
|
||||
out_864608710635221847[4] = 0;
|
||||
out_864608710635221847[5] = 0;
|
||||
out_864608710635221847[6] = 0;
|
||||
out_864608710635221847[7] = 0;
|
||||
out_864608710635221847[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_8238745769858512849) {
|
||||
out_8238745769858512849[0] = 0;
|
||||
out_8238745769858512849[1] = 0;
|
||||
out_8238745769858512849[2] = 0;
|
||||
out_8238745769858512849[3] = 1;
|
||||
out_8238745769858512849[4] = 0;
|
||||
out_8238745769858512849[5] = 0;
|
||||
out_8238745769858512849[6] = 0;
|
||||
out_8238745769858512849[7] = 0;
|
||||
out_8238745769858512849[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_2922753709018228498) {
|
||||
out_2922753709018228498[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_4022847307232544248) {
|
||||
out_4022847307232544248[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_3549603366750038942) {
|
||||
out_3549603366750038942[0] = 0;
|
||||
out_3549603366750038942[1] = 1;
|
||||
out_3549603366750038942[2] = 0;
|
||||
out_3549603366750038942[3] = 0;
|
||||
out_3549603366750038942[4] = 0;
|
||||
out_3549603366750038942[5] = 0;
|
||||
out_3549603366750038942[6] = 0;
|
||||
out_3549603366750038942[7] = 0;
|
||||
out_3549603366750038942[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_7523003647736221672) {
|
||||
out_7523003647736221672[0] = 0;
|
||||
out_7523003647736221672[1] = 1;
|
||||
out_7523003647736221672[2] = 0;
|
||||
out_7523003647736221672[3] = 0;
|
||||
out_7523003647736221672[4] = 0;
|
||||
out_7523003647736221672[5] = 0;
|
||||
out_7523003647736221672[6] = 0;
|
||||
out_7523003647736221672[7] = 0;
|
||||
out_7523003647736221672[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2837524384607109846) {
|
||||
out_2837524384607109846[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_3255109458845027420) {
|
||||
out_3255109458845027420[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_5931153033303859760) {
|
||||
out_5931153033303859760[0] = 1;
|
||||
out_5931153033303859760[1] = 0;
|
||||
out_5931153033303859760[2] = 0;
|
||||
out_5931153033303859760[3] = 0;
|
||||
out_5931153033303859760[4] = 0;
|
||||
out_5931153033303859760[5] = 0;
|
||||
out_5931153033303859760[6] = 0;
|
||||
out_5931153033303859760[7] = 0;
|
||||
out_5931153033303859760[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_5841341408903799370) {
|
||||
out_5841341408903799370[0] = 1;
|
||||
out_5841341408903799370[1] = 0;
|
||||
out_5841341408903799370[2] = 0;
|
||||
out_5841341408903799370[3] = 0;
|
||||
out_5841341408903799370[4] = 0;
|
||||
out_5841341408903799370[5] = 0;
|
||||
out_5841341408903799370[6] = 0;
|
||||
out_5841341408903799370[7] = 0;
|
||||
out_5841341408903799370[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7419317287452796635) {
|
||||
out_7419317287452796635[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6638919472171716073) {
|
||||
out_6638919472171716073[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_3846672357179009569) {
|
||||
out_3846672357179009569[0] = 0;
|
||||
out_3846672357179009569[1] = 0;
|
||||
out_3846672357179009569[2] = 0;
|
||||
out_3846672357179009569[3] = 0;
|
||||
out_3846672357179009569[4] = 0;
|
||||
out_3846672357179009569[5] = 0;
|
||||
out_3846672357179009569[6] = 0;
|
||||
out_3846672357179009569[7] = 0;
|
||||
out_3846672357179009569[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_7873250083030413358) {
|
||||
out_7873250083030413358[0] = 0;
|
||||
out_7873250083030413358[1] = 0;
|
||||
out_7873250083030413358[2] = 0;
|
||||
out_7873250083030413358[3] = 0;
|
||||
out_7873250083030413358[4] = 0;
|
||||
out_7873250083030413358[5] = 0;
|
||||
out_7873250083030413358[6] = 0;
|
||||
out_7873250083030413358[7] = 0;
|
||||
out_7873250083030413358[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_5063363100648596688) {
|
||||
err_fun(nom_x, delta_x, out_5063363100648596688);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3959736040406304353) {
|
||||
err_fun(nom_x, delta_x, out_3959736040406304353);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1051973791362877167) {
|
||||
inv_err_fun(nom_x, true_x, out_1051973791362877167);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7899142377712818401) {
|
||||
inv_err_fun(nom_x, true_x, out_7899142377712818401);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_5315869906856267240) {
|
||||
H_mod_fun(state, out_5315869906856267240);
|
||||
void car_H_mod_fun(double *state, double *out_8853016966935855995) {
|
||||
H_mod_fun(state, out_8853016966935855995);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_2679807483918754558) {
|
||||
f_fun(state, dt, out_2679807483918754558);
|
||||
void car_f_fun(double *state, double dt, double *out_8070155753173713130) {
|
||||
f_fun(state, dt, out_8070155753173713130);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_8053926087528305413) {
|
||||
F_fun(state, dt, out_8053926087528305413);
|
||||
void car_F_fun(double *state, double dt, double *out_2319703520718919116) {
|
||||
F_fun(state, dt, out_2319703520718919116);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5716369086896639497) {
|
||||
h_25(state, unused, out_5716369086896639497);
|
||||
void car_h_25(double *state, double *unused, double *out_4616275488682323747) {
|
||||
h_25(state, unused, out_4616275488682323747);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_3877318319055969997) {
|
||||
H_25(state, unused, out_3877318319055969997);
|
||||
void car_H_25(double *state, double *unused, double *out_7903896044907373786) {
|
||||
H_25(state, unused, out_7903896044907373786);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_8949486097258288203) {
|
||||
h_24(state, unused, out_8949486097258288203);
|
||||
void car_h_24(double *state, double *unused, double *out_1240821179762925085) {
|
||||
h_24(state, unused, out_1240821179762925085);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_6049967918061469563) {
|
||||
H_24(state, unused, out_6049967918061469563);
|
||||
void car_H_24(double *state, double *unused, double *out_4345970446105050650) {
|
||||
H_24(state, unused, out_4345970446105050650);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5873555755247768642) {
|
||||
h_30(state, unused, out_5873555755247768642);
|
||||
void car_h_30(double *state, double *unused, double *out_978825960428301397) {
|
||||
h_30(state, unused, out_978825960428301397);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_3039372022435646758) {
|
||||
H_30(state, unused, out_3039372022435646758);
|
||||
void car_H_30(double *state, double *unused, double *out_8033234992050613856) {
|
||||
H_30(state, unused, out_8033234992050613856);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_8147827403163551441) {
|
||||
h_26(state, unused, out_8147827403163551441);
|
||||
void car_h_26(double *state, double *unused, double *out_35316107526638962) {
|
||||
h_26(state, unused, out_35316107526638962);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_7618821637930026221) {
|
||||
H_26(state, unused, out_7618821637930026221);
|
||||
void car_H_26(double *state, double *unused, double *out_6801344709928121606) {
|
||||
H_26(state, unused, out_6801344709928121606);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3868275412420834157) {
|
||||
h_27(state, unused, out_3868275412420834157);
|
||||
void car_h_27(double *state, double *unused, double *out_8256782726505873065) {
|
||||
h_27(state, unused, out_8256782726505873065);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_864608710635221847) {
|
||||
H_27(state, unused, out_864608710635221847);
|
||||
void car_H_27(double *state, double *unused, double *out_8238745769858512849) {
|
||||
H_27(state, unused, out_8238745769858512849);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_2922753709018228498) {
|
||||
h_29(state, unused, out_2922753709018228498);
|
||||
void car_h_29(double *state, double *unused, double *out_4022847307232544248) {
|
||||
h_29(state, unused, out_4022847307232544248);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_3549603366750038942) {
|
||||
H_29(state, unused, out_3549603366750038942);
|
||||
void car_H_29(double *state, double *unused, double *out_7523003647736221672) {
|
||||
H_29(state, unused, out_7523003647736221672);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2837524384607109846) {
|
||||
h_28(state, unused, out_2837524384607109846);
|
||||
void car_h_28(double *state, double *unused, double *out_3255109458845027420) {
|
||||
h_28(state, unused, out_3255109458845027420);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_5931153033303859760) {
|
||||
H_28(state, unused, out_5931153033303859760);
|
||||
void car_H_28(double *state, double *unused, double *out_5841341408903799370) {
|
||||
H_28(state, unused, out_5841341408903799370);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7419317287452796635) {
|
||||
h_31(state, unused, out_7419317287452796635);
|
||||
void car_h_31(double *state, double *unused, double *out_6638919472171716073) {
|
||||
h_31(state, unused, out_6638919472171716073);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_3846672357179009569) {
|
||||
H_31(state, unused, out_3846672357179009569);
|
||||
void car_H_31(double *state, double *unused, double *out_7873250083030413358) {
|
||||
H_31(state, unused, out_7873250083030413358);
|
||||
}
|
||||
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_5063363100648596688);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1051973791362877167);
|
||||
void car_H_mod_fun(double *state, double *out_5315869906856267240);
|
||||
void car_f_fun(double *state, double dt, double *out_2679807483918754558);
|
||||
void car_F_fun(double *state, double dt, double *out_8053926087528305413);
|
||||
void car_h_25(double *state, double *unused, double *out_5716369086896639497);
|
||||
void car_H_25(double *state, double *unused, double *out_3877318319055969997);
|
||||
void car_h_24(double *state, double *unused, double *out_8949486097258288203);
|
||||
void car_H_24(double *state, double *unused, double *out_6049967918061469563);
|
||||
void car_h_30(double *state, double *unused, double *out_5873555755247768642);
|
||||
void car_H_30(double *state, double *unused, double *out_3039372022435646758);
|
||||
void car_h_26(double *state, double *unused, double *out_8147827403163551441);
|
||||
void car_H_26(double *state, double *unused, double *out_7618821637930026221);
|
||||
void car_h_27(double *state, double *unused, double *out_3868275412420834157);
|
||||
void car_H_27(double *state, double *unused, double *out_864608710635221847);
|
||||
void car_h_29(double *state, double *unused, double *out_2922753709018228498);
|
||||
void car_H_29(double *state, double *unused, double *out_3549603366750038942);
|
||||
void car_h_28(double *state, double *unused, double *out_2837524384607109846);
|
||||
void car_H_28(double *state, double *unused, double *out_5931153033303859760);
|
||||
void car_h_31(double *state, double *unused, double *out_7419317287452796635);
|
||||
void car_H_31(double *state, double *unused, double *out_3846672357179009569);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3959736040406304353);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7899142377712818401);
|
||||
void car_H_mod_fun(double *state, double *out_8853016966935855995);
|
||||
void car_f_fun(double *state, double dt, double *out_8070155753173713130);
|
||||
void car_F_fun(double *state, double dt, double *out_2319703520718919116);
|
||||
void car_h_25(double *state, double *unused, double *out_4616275488682323747);
|
||||
void car_H_25(double *state, double *unused, double *out_7903896044907373786);
|
||||
void car_h_24(double *state, double *unused, double *out_1240821179762925085);
|
||||
void car_H_24(double *state, double *unused, double *out_4345970446105050650);
|
||||
void car_h_30(double *state, double *unused, double *out_978825960428301397);
|
||||
void car_H_30(double *state, double *unused, double *out_8033234992050613856);
|
||||
void car_h_26(double *state, double *unused, double *out_35316107526638962);
|
||||
void car_H_26(double *state, double *unused, double *out_6801344709928121606);
|
||||
void car_h_27(double *state, double *unused, double *out_8256782726505873065);
|
||||
void car_H_27(double *state, double *unused, double *out_8238745769858512849);
|
||||
void car_h_29(double *state, double *unused, double *out_4022847307232544248);
|
||||
void car_H_29(double *state, double *unused, double *out_7523003647736221672);
|
||||
void car_h_28(double *state, double *unused, double *out_3255109458845027420);
|
||||
void car_H_28(double *state, double *unused, double *out_5841341408903799370);
|
||||
void car_h_31(double *state, double *unused, double *out_6638919472171716073);
|
||||
void car_H_31(double *state, double *unused, double *out_7873250083030413358);
|
||||
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);
|
||||
|
||||
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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_3341780452292505997);
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void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5409150910353518766);
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||||
void pose_H_mod_fun(double *state, double *out_8300172317114018464);
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||||
void pose_f_fun(double *state, double dt, double *out_4063489601932878054);
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||||
void pose_F_fun(double *state, double dt, double *out_493800117352810078);
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void pose_h_4(double *state, double *unused, double *out_6026765849154187968);
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||||
void pose_H_4(double *state, double *unused, double *out_7102224835231120360);
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||||
void pose_h_10(double *state, double *unused, double *out_1866086890220189324);
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||||
void pose_H_10(double *state, double *unused, double *out_834802170779042492);
|
||||
void pose_h_13(double *state, double *unused, double *out_4520826989648677276);
|
||||
void pose_H_13(double *state, double *unused, double *out_3889951009898787559);
|
||||
void pose_h_14(double *state, double *unused, double *out_733646167343188736);
|
||||
void pose_H_14(double *state, double *unused, double *out_8261730806183058960);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_3650099251769799718);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4549899801136771746);
|
||||
void pose_H_mod_fun(double *state, double *out_6815214623410224821);
|
||||
void pose_f_fun(double *state, double dt, double *out_4724171785691844407);
|
||||
void pose_F_fun(double *state, double dt, double *out_638456415896569458);
|
||||
void pose_h_4(double *state, double *unused, double *out_3715383509872023288);
|
||||
void pose_H_4(double *state, double *unused, double *out_7859722240455419223);
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||||
void pose_h_10(double *state, double *unused, double *out_1493881979826544307);
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||||
void pose_H_10(double *state, double *unused, double *out_8226181140571901267);
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||||
void pose_h_13(double *state, double *unused, double *out_820596947016455055);
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||||
void pose_H_13(double *state, double *unused, double *out_4647448415123086422);
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||||
void pose_h_14(double *state, double *unused, double *out_7488710011373447915);
|
||||
void pose_H_14(double *state, double *unused, double *out_3896481384115934694);
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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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Reference in New Issue
Block a user