mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-01 14:16:48 +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-63db3908-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-f777e71c-DEBUG";
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||||
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||||
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@@ -1 +1 @@
|
||||
DEV-63db3908-DEBUG
|
||||
DEV-f777e71c-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_5171593721555630090) {
|
||||
out_5171593721555630090[0] = delta_x[0] + nom_x[0];
|
||||
out_5171593721555630090[1] = delta_x[1] + nom_x[1];
|
||||
out_5171593721555630090[2] = delta_x[2] + nom_x[2];
|
||||
out_5171593721555630090[3] = delta_x[3] + nom_x[3];
|
||||
out_5171593721555630090[4] = delta_x[4] + nom_x[4];
|
||||
out_5171593721555630090[5] = delta_x[5] + nom_x[5];
|
||||
out_5171593721555630090[6] = delta_x[6] + nom_x[6];
|
||||
out_5171593721555630090[7] = delta_x[7] + nom_x[7];
|
||||
out_5171593721555630090[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_2644531489535461779) {
|
||||
out_2644531489535461779[0] = delta_x[0] + nom_x[0];
|
||||
out_2644531489535461779[1] = delta_x[1] + nom_x[1];
|
||||
out_2644531489535461779[2] = delta_x[2] + nom_x[2];
|
||||
out_2644531489535461779[3] = delta_x[3] + nom_x[3];
|
||||
out_2644531489535461779[4] = delta_x[4] + nom_x[4];
|
||||
out_2644531489535461779[5] = delta_x[5] + nom_x[5];
|
||||
out_2644531489535461779[6] = delta_x[6] + nom_x[6];
|
||||
out_2644531489535461779[7] = delta_x[7] + nom_x[7];
|
||||
out_2644531489535461779[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_8159896824054378862) {
|
||||
out_8159896824054378862[0] = -nom_x[0] + true_x[0];
|
||||
out_8159896824054378862[1] = -nom_x[1] + true_x[1];
|
||||
out_8159896824054378862[2] = -nom_x[2] + true_x[2];
|
||||
out_8159896824054378862[3] = -nom_x[3] + true_x[3];
|
||||
out_8159896824054378862[4] = -nom_x[4] + true_x[4];
|
||||
out_8159896824054378862[5] = -nom_x[5] + true_x[5];
|
||||
out_8159896824054378862[6] = -nom_x[6] + true_x[6];
|
||||
out_8159896824054378862[7] = -nom_x[7] + true_x[7];
|
||||
out_8159896824054378862[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1100504365402285318) {
|
||||
out_1100504365402285318[0] = -nom_x[0] + true_x[0];
|
||||
out_1100504365402285318[1] = -nom_x[1] + true_x[1];
|
||||
out_1100504365402285318[2] = -nom_x[2] + true_x[2];
|
||||
out_1100504365402285318[3] = -nom_x[3] + true_x[3];
|
||||
out_1100504365402285318[4] = -nom_x[4] + true_x[4];
|
||||
out_1100504365402285318[5] = -nom_x[5] + true_x[5];
|
||||
out_1100504365402285318[6] = -nom_x[6] + true_x[6];
|
||||
out_1100504365402285318[7] = -nom_x[7] + true_x[7];
|
||||
out_1100504365402285318[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_2621434864577473374) {
|
||||
out_2621434864577473374[0] = 1.0;
|
||||
out_2621434864577473374[1] = 0.0;
|
||||
out_2621434864577473374[2] = 0.0;
|
||||
out_2621434864577473374[3] = 0.0;
|
||||
out_2621434864577473374[4] = 0.0;
|
||||
out_2621434864577473374[5] = 0.0;
|
||||
out_2621434864577473374[6] = 0.0;
|
||||
out_2621434864577473374[7] = 0.0;
|
||||
out_2621434864577473374[8] = 0.0;
|
||||
out_2621434864577473374[9] = 0.0;
|
||||
out_2621434864577473374[10] = 1.0;
|
||||
out_2621434864577473374[11] = 0.0;
|
||||
out_2621434864577473374[12] = 0.0;
|
||||
out_2621434864577473374[13] = 0.0;
|
||||
out_2621434864577473374[14] = 0.0;
|
||||
out_2621434864577473374[15] = 0.0;
|
||||
out_2621434864577473374[16] = 0.0;
|
||||
out_2621434864577473374[17] = 0.0;
|
||||
out_2621434864577473374[18] = 0.0;
|
||||
out_2621434864577473374[19] = 0.0;
|
||||
out_2621434864577473374[20] = 1.0;
|
||||
out_2621434864577473374[21] = 0.0;
|
||||
out_2621434864577473374[22] = 0.0;
|
||||
out_2621434864577473374[23] = 0.0;
|
||||
out_2621434864577473374[24] = 0.0;
|
||||
out_2621434864577473374[25] = 0.0;
|
||||
out_2621434864577473374[26] = 0.0;
|
||||
out_2621434864577473374[27] = 0.0;
|
||||
out_2621434864577473374[28] = 0.0;
|
||||
out_2621434864577473374[29] = 0.0;
|
||||
out_2621434864577473374[30] = 1.0;
|
||||
out_2621434864577473374[31] = 0.0;
|
||||
out_2621434864577473374[32] = 0.0;
|
||||
out_2621434864577473374[33] = 0.0;
|
||||
out_2621434864577473374[34] = 0.0;
|
||||
out_2621434864577473374[35] = 0.0;
|
||||
out_2621434864577473374[36] = 0.0;
|
||||
out_2621434864577473374[37] = 0.0;
|
||||
out_2621434864577473374[38] = 0.0;
|
||||
out_2621434864577473374[39] = 0.0;
|
||||
out_2621434864577473374[40] = 1.0;
|
||||
out_2621434864577473374[41] = 0.0;
|
||||
out_2621434864577473374[42] = 0.0;
|
||||
out_2621434864577473374[43] = 0.0;
|
||||
out_2621434864577473374[44] = 0.0;
|
||||
out_2621434864577473374[45] = 0.0;
|
||||
out_2621434864577473374[46] = 0.0;
|
||||
out_2621434864577473374[47] = 0.0;
|
||||
out_2621434864577473374[48] = 0.0;
|
||||
out_2621434864577473374[49] = 0.0;
|
||||
out_2621434864577473374[50] = 1.0;
|
||||
out_2621434864577473374[51] = 0.0;
|
||||
out_2621434864577473374[52] = 0.0;
|
||||
out_2621434864577473374[53] = 0.0;
|
||||
out_2621434864577473374[54] = 0.0;
|
||||
out_2621434864577473374[55] = 0.0;
|
||||
out_2621434864577473374[56] = 0.0;
|
||||
out_2621434864577473374[57] = 0.0;
|
||||
out_2621434864577473374[58] = 0.0;
|
||||
out_2621434864577473374[59] = 0.0;
|
||||
out_2621434864577473374[60] = 1.0;
|
||||
out_2621434864577473374[61] = 0.0;
|
||||
out_2621434864577473374[62] = 0.0;
|
||||
out_2621434864577473374[63] = 0.0;
|
||||
out_2621434864577473374[64] = 0.0;
|
||||
out_2621434864577473374[65] = 0.0;
|
||||
out_2621434864577473374[66] = 0.0;
|
||||
out_2621434864577473374[67] = 0.0;
|
||||
out_2621434864577473374[68] = 0.0;
|
||||
out_2621434864577473374[69] = 0.0;
|
||||
out_2621434864577473374[70] = 1.0;
|
||||
out_2621434864577473374[71] = 0.0;
|
||||
out_2621434864577473374[72] = 0.0;
|
||||
out_2621434864577473374[73] = 0.0;
|
||||
out_2621434864577473374[74] = 0.0;
|
||||
out_2621434864577473374[75] = 0.0;
|
||||
out_2621434864577473374[76] = 0.0;
|
||||
out_2621434864577473374[77] = 0.0;
|
||||
out_2621434864577473374[78] = 0.0;
|
||||
out_2621434864577473374[79] = 0.0;
|
||||
out_2621434864577473374[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_6242485690446211568) {
|
||||
out_6242485690446211568[0] = 1.0;
|
||||
out_6242485690446211568[1] = 0.0;
|
||||
out_6242485690446211568[2] = 0.0;
|
||||
out_6242485690446211568[3] = 0.0;
|
||||
out_6242485690446211568[4] = 0.0;
|
||||
out_6242485690446211568[5] = 0.0;
|
||||
out_6242485690446211568[6] = 0.0;
|
||||
out_6242485690446211568[7] = 0.0;
|
||||
out_6242485690446211568[8] = 0.0;
|
||||
out_6242485690446211568[9] = 0.0;
|
||||
out_6242485690446211568[10] = 1.0;
|
||||
out_6242485690446211568[11] = 0.0;
|
||||
out_6242485690446211568[12] = 0.0;
|
||||
out_6242485690446211568[13] = 0.0;
|
||||
out_6242485690446211568[14] = 0.0;
|
||||
out_6242485690446211568[15] = 0.0;
|
||||
out_6242485690446211568[16] = 0.0;
|
||||
out_6242485690446211568[17] = 0.0;
|
||||
out_6242485690446211568[18] = 0.0;
|
||||
out_6242485690446211568[19] = 0.0;
|
||||
out_6242485690446211568[20] = 1.0;
|
||||
out_6242485690446211568[21] = 0.0;
|
||||
out_6242485690446211568[22] = 0.0;
|
||||
out_6242485690446211568[23] = 0.0;
|
||||
out_6242485690446211568[24] = 0.0;
|
||||
out_6242485690446211568[25] = 0.0;
|
||||
out_6242485690446211568[26] = 0.0;
|
||||
out_6242485690446211568[27] = 0.0;
|
||||
out_6242485690446211568[28] = 0.0;
|
||||
out_6242485690446211568[29] = 0.0;
|
||||
out_6242485690446211568[30] = 1.0;
|
||||
out_6242485690446211568[31] = 0.0;
|
||||
out_6242485690446211568[32] = 0.0;
|
||||
out_6242485690446211568[33] = 0.0;
|
||||
out_6242485690446211568[34] = 0.0;
|
||||
out_6242485690446211568[35] = 0.0;
|
||||
out_6242485690446211568[36] = 0.0;
|
||||
out_6242485690446211568[37] = 0.0;
|
||||
out_6242485690446211568[38] = 0.0;
|
||||
out_6242485690446211568[39] = 0.0;
|
||||
out_6242485690446211568[40] = 1.0;
|
||||
out_6242485690446211568[41] = 0.0;
|
||||
out_6242485690446211568[42] = 0.0;
|
||||
out_6242485690446211568[43] = 0.0;
|
||||
out_6242485690446211568[44] = 0.0;
|
||||
out_6242485690446211568[45] = 0.0;
|
||||
out_6242485690446211568[46] = 0.0;
|
||||
out_6242485690446211568[47] = 0.0;
|
||||
out_6242485690446211568[48] = 0.0;
|
||||
out_6242485690446211568[49] = 0.0;
|
||||
out_6242485690446211568[50] = 1.0;
|
||||
out_6242485690446211568[51] = 0.0;
|
||||
out_6242485690446211568[52] = 0.0;
|
||||
out_6242485690446211568[53] = 0.0;
|
||||
out_6242485690446211568[54] = 0.0;
|
||||
out_6242485690446211568[55] = 0.0;
|
||||
out_6242485690446211568[56] = 0.0;
|
||||
out_6242485690446211568[57] = 0.0;
|
||||
out_6242485690446211568[58] = 0.0;
|
||||
out_6242485690446211568[59] = 0.0;
|
||||
out_6242485690446211568[60] = 1.0;
|
||||
out_6242485690446211568[61] = 0.0;
|
||||
out_6242485690446211568[62] = 0.0;
|
||||
out_6242485690446211568[63] = 0.0;
|
||||
out_6242485690446211568[64] = 0.0;
|
||||
out_6242485690446211568[65] = 0.0;
|
||||
out_6242485690446211568[66] = 0.0;
|
||||
out_6242485690446211568[67] = 0.0;
|
||||
out_6242485690446211568[68] = 0.0;
|
||||
out_6242485690446211568[69] = 0.0;
|
||||
out_6242485690446211568[70] = 1.0;
|
||||
out_6242485690446211568[71] = 0.0;
|
||||
out_6242485690446211568[72] = 0.0;
|
||||
out_6242485690446211568[73] = 0.0;
|
||||
out_6242485690446211568[74] = 0.0;
|
||||
out_6242485690446211568[75] = 0.0;
|
||||
out_6242485690446211568[76] = 0.0;
|
||||
out_6242485690446211568[77] = 0.0;
|
||||
out_6242485690446211568[78] = 0.0;
|
||||
out_6242485690446211568[79] = 0.0;
|
||||
out_6242485690446211568[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_5898225613213012342) {
|
||||
out_5898225613213012342[0] = state[0];
|
||||
out_5898225613213012342[1] = state[1];
|
||||
out_5898225613213012342[2] = state[2];
|
||||
out_5898225613213012342[3] = state[3];
|
||||
out_5898225613213012342[4] = state[4];
|
||||
out_5898225613213012342[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_5898225613213012342[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_5898225613213012342[7] = state[7];
|
||||
out_5898225613213012342[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_3248907569765849539) {
|
||||
out_3248907569765849539[0] = state[0];
|
||||
out_3248907569765849539[1] = state[1];
|
||||
out_3248907569765849539[2] = state[2];
|
||||
out_3248907569765849539[3] = state[3];
|
||||
out_3248907569765849539[4] = state[4];
|
||||
out_3248907569765849539[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_3248907569765849539[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_3248907569765849539[7] = state[7];
|
||||
out_3248907569765849539[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_289209120563918309) {
|
||||
out_289209120563918309[0] = 1;
|
||||
out_289209120563918309[1] = 0;
|
||||
out_289209120563918309[2] = 0;
|
||||
out_289209120563918309[3] = 0;
|
||||
out_289209120563918309[4] = 0;
|
||||
out_289209120563918309[5] = 0;
|
||||
out_289209120563918309[6] = 0;
|
||||
out_289209120563918309[7] = 0;
|
||||
out_289209120563918309[8] = 0;
|
||||
out_289209120563918309[9] = 0;
|
||||
out_289209120563918309[10] = 1;
|
||||
out_289209120563918309[11] = 0;
|
||||
out_289209120563918309[12] = 0;
|
||||
out_289209120563918309[13] = 0;
|
||||
out_289209120563918309[14] = 0;
|
||||
out_289209120563918309[15] = 0;
|
||||
out_289209120563918309[16] = 0;
|
||||
out_289209120563918309[17] = 0;
|
||||
out_289209120563918309[18] = 0;
|
||||
out_289209120563918309[19] = 0;
|
||||
out_289209120563918309[20] = 1;
|
||||
out_289209120563918309[21] = 0;
|
||||
out_289209120563918309[22] = 0;
|
||||
out_289209120563918309[23] = 0;
|
||||
out_289209120563918309[24] = 0;
|
||||
out_289209120563918309[25] = 0;
|
||||
out_289209120563918309[26] = 0;
|
||||
out_289209120563918309[27] = 0;
|
||||
out_289209120563918309[28] = 0;
|
||||
out_289209120563918309[29] = 0;
|
||||
out_289209120563918309[30] = 1;
|
||||
out_289209120563918309[31] = 0;
|
||||
out_289209120563918309[32] = 0;
|
||||
out_289209120563918309[33] = 0;
|
||||
out_289209120563918309[34] = 0;
|
||||
out_289209120563918309[35] = 0;
|
||||
out_289209120563918309[36] = 0;
|
||||
out_289209120563918309[37] = 0;
|
||||
out_289209120563918309[38] = 0;
|
||||
out_289209120563918309[39] = 0;
|
||||
out_289209120563918309[40] = 1;
|
||||
out_289209120563918309[41] = 0;
|
||||
out_289209120563918309[42] = 0;
|
||||
out_289209120563918309[43] = 0;
|
||||
out_289209120563918309[44] = 0;
|
||||
out_289209120563918309[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_289209120563918309[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_289209120563918309[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_289209120563918309[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_289209120563918309[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_289209120563918309[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_289209120563918309[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_289209120563918309[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_289209120563918309[53] = -9.8100000000000005*dt;
|
||||
out_289209120563918309[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_289209120563918309[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_289209120563918309[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_289209120563918309[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_289209120563918309[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_289209120563918309[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_289209120563918309[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_289209120563918309[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_289209120563918309[62] = 0;
|
||||
out_289209120563918309[63] = 0;
|
||||
out_289209120563918309[64] = 0;
|
||||
out_289209120563918309[65] = 0;
|
||||
out_289209120563918309[66] = 0;
|
||||
out_289209120563918309[67] = 0;
|
||||
out_289209120563918309[68] = 0;
|
||||
out_289209120563918309[69] = 0;
|
||||
out_289209120563918309[70] = 1;
|
||||
out_289209120563918309[71] = 0;
|
||||
out_289209120563918309[72] = 0;
|
||||
out_289209120563918309[73] = 0;
|
||||
out_289209120563918309[74] = 0;
|
||||
out_289209120563918309[75] = 0;
|
||||
out_289209120563918309[76] = 0;
|
||||
out_289209120563918309[77] = 0;
|
||||
out_289209120563918309[78] = 0;
|
||||
out_289209120563918309[79] = 0;
|
||||
out_289209120563918309[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_8360719243632448897) {
|
||||
out_8360719243632448897[0] = 1;
|
||||
out_8360719243632448897[1] = 0;
|
||||
out_8360719243632448897[2] = 0;
|
||||
out_8360719243632448897[3] = 0;
|
||||
out_8360719243632448897[4] = 0;
|
||||
out_8360719243632448897[5] = 0;
|
||||
out_8360719243632448897[6] = 0;
|
||||
out_8360719243632448897[7] = 0;
|
||||
out_8360719243632448897[8] = 0;
|
||||
out_8360719243632448897[9] = 0;
|
||||
out_8360719243632448897[10] = 1;
|
||||
out_8360719243632448897[11] = 0;
|
||||
out_8360719243632448897[12] = 0;
|
||||
out_8360719243632448897[13] = 0;
|
||||
out_8360719243632448897[14] = 0;
|
||||
out_8360719243632448897[15] = 0;
|
||||
out_8360719243632448897[16] = 0;
|
||||
out_8360719243632448897[17] = 0;
|
||||
out_8360719243632448897[18] = 0;
|
||||
out_8360719243632448897[19] = 0;
|
||||
out_8360719243632448897[20] = 1;
|
||||
out_8360719243632448897[21] = 0;
|
||||
out_8360719243632448897[22] = 0;
|
||||
out_8360719243632448897[23] = 0;
|
||||
out_8360719243632448897[24] = 0;
|
||||
out_8360719243632448897[25] = 0;
|
||||
out_8360719243632448897[26] = 0;
|
||||
out_8360719243632448897[27] = 0;
|
||||
out_8360719243632448897[28] = 0;
|
||||
out_8360719243632448897[29] = 0;
|
||||
out_8360719243632448897[30] = 1;
|
||||
out_8360719243632448897[31] = 0;
|
||||
out_8360719243632448897[32] = 0;
|
||||
out_8360719243632448897[33] = 0;
|
||||
out_8360719243632448897[34] = 0;
|
||||
out_8360719243632448897[35] = 0;
|
||||
out_8360719243632448897[36] = 0;
|
||||
out_8360719243632448897[37] = 0;
|
||||
out_8360719243632448897[38] = 0;
|
||||
out_8360719243632448897[39] = 0;
|
||||
out_8360719243632448897[40] = 1;
|
||||
out_8360719243632448897[41] = 0;
|
||||
out_8360719243632448897[42] = 0;
|
||||
out_8360719243632448897[43] = 0;
|
||||
out_8360719243632448897[44] = 0;
|
||||
out_8360719243632448897[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_8360719243632448897[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8360719243632448897[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8360719243632448897[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8360719243632448897[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_8360719243632448897[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8360719243632448897[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8360719243632448897[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8360719243632448897[53] = -9.8100000000000005*dt;
|
||||
out_8360719243632448897[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_8360719243632448897[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8360719243632448897[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8360719243632448897[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8360719243632448897[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_8360719243632448897[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8360719243632448897[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_8360719243632448897[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8360719243632448897[62] = 0;
|
||||
out_8360719243632448897[63] = 0;
|
||||
out_8360719243632448897[64] = 0;
|
||||
out_8360719243632448897[65] = 0;
|
||||
out_8360719243632448897[66] = 0;
|
||||
out_8360719243632448897[67] = 0;
|
||||
out_8360719243632448897[68] = 0;
|
||||
out_8360719243632448897[69] = 0;
|
||||
out_8360719243632448897[70] = 1;
|
||||
out_8360719243632448897[71] = 0;
|
||||
out_8360719243632448897[72] = 0;
|
||||
out_8360719243632448897[73] = 0;
|
||||
out_8360719243632448897[74] = 0;
|
||||
out_8360719243632448897[75] = 0;
|
||||
out_8360719243632448897[76] = 0;
|
||||
out_8360719243632448897[77] = 0;
|
||||
out_8360719243632448897[78] = 0;
|
||||
out_8360719243632448897[79] = 0;
|
||||
out_8360719243632448897[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_1048536752434567181) {
|
||||
out_1048536752434567181[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_8500141102228074854) {
|
||||
out_8500141102228074854[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_6632120983219841005) {
|
||||
out_6632120983219841005[0] = 0;
|
||||
out_6632120983219841005[1] = 0;
|
||||
out_6632120983219841005[2] = 0;
|
||||
out_6632120983219841005[3] = 0;
|
||||
out_6632120983219841005[4] = 0;
|
||||
out_6632120983219841005[5] = 0;
|
||||
out_6632120983219841005[6] = 1;
|
||||
out_6632120983219841005[7] = 0;
|
||||
out_6632120983219841005[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_2719505040456719891) {
|
||||
out_2719505040456719891[0] = 0;
|
||||
out_2719505040456719891[1] = 0;
|
||||
out_2719505040456719891[2] = 0;
|
||||
out_2719505040456719891[3] = 0;
|
||||
out_2719505040456719891[4] = 0;
|
||||
out_2719505040456719891[5] = 0;
|
||||
out_2719505040456719891[6] = 1;
|
||||
out_2719505040456719891[7] = 0;
|
||||
out_2719505040456719891[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7601461491001714773) {
|
||||
out_7601461491001714773[0] = state[4];
|
||||
out_7601461491001714773[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_7897313667940812561) {
|
||||
out_7897313667940812561[0] = state[4];
|
||||
out_7897313667940812561[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_4459471384214341439) {
|
||||
out_4459471384214341439[0] = 0;
|
||||
out_4459471384214341439[1] = 0;
|
||||
out_4459471384214341439[2] = 0;
|
||||
out_4459471384214341439[3] = 0;
|
||||
out_4459471384214341439[4] = 1;
|
||||
out_4459471384214341439[5] = 0;
|
||||
out_4459471384214341439[6] = 0;
|
||||
out_4459471384214341439[7] = 0;
|
||||
out_4459471384214341439[8] = 0;
|
||||
out_4459471384214341439[9] = 0;
|
||||
out_4459471384214341439[10] = 0;
|
||||
out_4459471384214341439[11] = 0;
|
||||
out_4459471384214341439[12] = 0;
|
||||
out_4459471384214341439[13] = 0;
|
||||
out_4459471384214341439[14] = 1;
|
||||
out_4459471384214341439[15] = 0;
|
||||
out_4459471384214341439[16] = 0;
|
||||
out_4459471384214341439[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_838420558345603245) {
|
||||
out_838420558345603245[0] = 0;
|
||||
out_838420558345603245[1] = 0;
|
||||
out_838420558345603245[2] = 0;
|
||||
out_838420558345603245[3] = 0;
|
||||
out_838420558345603245[4] = 1;
|
||||
out_838420558345603245[5] = 0;
|
||||
out_838420558345603245[6] = 0;
|
||||
out_838420558345603245[7] = 0;
|
||||
out_838420558345603245[8] = 0;
|
||||
out_838420558345603245[9] = 0;
|
||||
out_838420558345603245[10] = 0;
|
||||
out_838420558345603245[11] = 0;
|
||||
out_838420558345603245[12] = 0;
|
||||
out_838420558345603245[13] = 0;
|
||||
out_838420558345603245[14] = 1;
|
||||
out_838420558345603245[15] = 0;
|
||||
out_838420558345603245[16] = 0;
|
||||
out_838420558345603245[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_4685986280688589531) {
|
||||
out_4685986280688589531[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_808885686797625580) {
|
||||
out_808885686797625580[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_9150453941727089632) {
|
||||
out_9150453941727089632[0] = 0;
|
||||
out_9150453941727089632[1] = 0;
|
||||
out_9150453941727089632[2] = 0;
|
||||
out_9150453941727089632[3] = 0;
|
||||
out_9150453941727089632[4] = 1;
|
||||
out_9150453941727089632[5] = 0;
|
||||
out_9150453941727089632[6] = 0;
|
||||
out_9150453941727089632[7] = 0;
|
||||
out_9150453941727089632[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_4197185301034896864) {
|
||||
out_4197185301034896864[0] = 0;
|
||||
out_4197185301034896864[1] = 0;
|
||||
out_4197185301034896864[2] = 0;
|
||||
out_4197185301034896864[3] = 0;
|
||||
out_4197185301034896864[4] = 1;
|
||||
out_4197185301034896864[5] = 0;
|
||||
out_4197185301034896864[6] = 0;
|
||||
out_4197185301034896864[7] = 0;
|
||||
out_4197185301034896864[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_4082670396012112014) {
|
||||
out_4082670396012112014[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_4192787580863220065) {
|
||||
out_4192787580863220065[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_8510097120728910010) {
|
||||
out_8510097120728910010[0] = 0;
|
||||
out_8510097120728910010[1] = 0;
|
||||
out_8510097120728910010[2] = 0;
|
||||
out_8510097120728910010[3] = 0;
|
||||
out_8510097120728910010[4] = 0;
|
||||
out_8510097120728910010[5] = 0;
|
||||
out_8510097120728910010[6] = 0;
|
||||
out_8510097120728910010[7] = 1;
|
||||
out_8510097120728910010[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_6461008359330776115) {
|
||||
out_6461008359330776115[0] = 0;
|
||||
out_6461008359330776115[1] = 0;
|
||||
out_6461008359330776115[2] = 0;
|
||||
out_6461008359330776115[3] = 0;
|
||||
out_6461008359330776115[4] = 0;
|
||||
out_6461008359330776115[5] = 0;
|
||||
out_6461008359330776115[6] = 0;
|
||||
out_6461008359330776115[7] = 1;
|
||||
out_6461008359330776115[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_9178210209371601407) {
|
||||
out_9178210209371601407[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_5889273078412295556) {
|
||||
out_5889273078412295556[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_7072696060798518767) {
|
||||
out_7072696060798518767[0] = 0;
|
||||
out_7072696060798518767[1] = 0;
|
||||
out_7072696060798518767[2] = 0;
|
||||
out_7072696060798518767[3] = 1;
|
||||
out_7072696060798518767[4] = 0;
|
||||
out_7072696060798518767[5] = 0;
|
||||
out_7072696060798518767[6] = 0;
|
||||
out_7072696060798518767[7] = 0;
|
||||
out_7072696060798518767[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_2022421989234471953) {
|
||||
out_2022421989234471953[0] = 0;
|
||||
out_2022421989234471953[1] = 0;
|
||||
out_2022421989234471953[2] = 0;
|
||||
out_2022421989234471953[3] = 1;
|
||||
out_2022421989234471953[4] = 0;
|
||||
out_2022421989234471953[5] = 0;
|
||||
out_2022421989234471953[6] = 0;
|
||||
out_2022421989234471953[7] = 0;
|
||||
out_2022421989234471953[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_8534850577185637138) {
|
||||
out_8534850577185637138[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_5810558954458471225) {
|
||||
out_5810558954458471225[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_8786058787668069800) {
|
||||
out_8786058787668069800[0] = 0;
|
||||
out_8786058787668069800[1] = 1;
|
||||
out_8786058787668069800[2] = 0;
|
||||
out_8786058787668069800[3] = 0;
|
||||
out_8786058787668069800[4] = 0;
|
||||
out_8786058787668069800[5] = 0;
|
||||
out_8786058787668069800[6] = 0;
|
||||
out_8786058787668069800[7] = 0;
|
||||
out_8786058787668069800[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_4707416645349289048) {
|
||||
out_4707416645349289048[0] = 0;
|
||||
out_4707416645349289048[1] = 1;
|
||||
out_4707416645349289048[2] = 0;
|
||||
out_4707416645349289048[3] = 0;
|
||||
out_4707416645349289048[4] = 0;
|
||||
out_4707416645349289048[5] = 0;
|
||||
out_4707416645349289048[6] = 0;
|
||||
out_4707416645349289048[7] = 0;
|
||||
out_4707416645349289048[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2931759151911427939) {
|
||||
out_2931759151911427939[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_926893080731002324) {
|
||||
out_926893080731002324[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_4578286268971951242) {
|
||||
out_4578286268971951242[0] = 1;
|
||||
out_4578286268971951242[1] = 0;
|
||||
out_4578286268971951242[2] = 0;
|
||||
out_4578286268971951242[3] = 0;
|
||||
out_4578286268971951242[4] = 0;
|
||||
out_4578286268971951242[5] = 0;
|
||||
out_4578286268971951242[6] = 0;
|
||||
out_4578286268971951242[7] = 0;
|
||||
out_4578286268971951242[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_4773339754704609654) {
|
||||
out_4773339754704609654[0] = 1;
|
||||
out_4773339754704609654[1] = 0;
|
||||
out_4773339754704609654[2] = 0;
|
||||
out_4773339754704609654[3] = 0;
|
||||
out_4773339754704609654[4] = 0;
|
||||
out_4773339754704609654[5] = 0;
|
||||
out_4773339754704609654[6] = 0;
|
||||
out_4773339754704609654[7] = 0;
|
||||
out_4773339754704609654[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_5027768451407450342) {
|
||||
out_5027768451407450342[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_2974083665677051741) {
|
||||
out_2974083665677051741[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_4737947839977893358) {
|
||||
out_4737947839977893358[0] = 0;
|
||||
out_4737947839977893358[1] = 0;
|
||||
out_4737947839977893358[2] = 0;
|
||||
out_4737947839977893358[3] = 0;
|
||||
out_4737947839977893358[4] = 0;
|
||||
out_4737947839977893358[5] = 0;
|
||||
out_4737947839977893358[6] = 0;
|
||||
out_4737947839977893358[7] = 0;
|
||||
out_4737947839977893358[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_2688859078579759463) {
|
||||
out_2688859078579759463[0] = 0;
|
||||
out_2688859078579759463[1] = 0;
|
||||
out_2688859078579759463[2] = 0;
|
||||
out_2688859078579759463[3] = 0;
|
||||
out_2688859078579759463[4] = 0;
|
||||
out_2688859078579759463[5] = 0;
|
||||
out_2688859078579759463[6] = 0;
|
||||
out_2688859078579759463[7] = 0;
|
||||
out_2688859078579759463[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_5171593721555630090) {
|
||||
err_fun(nom_x, delta_x, out_5171593721555630090);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2644531489535461779) {
|
||||
err_fun(nom_x, delta_x, out_2644531489535461779);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8159896824054378862) {
|
||||
inv_err_fun(nom_x, true_x, out_8159896824054378862);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1100504365402285318) {
|
||||
inv_err_fun(nom_x, true_x, out_1100504365402285318);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_2621434864577473374) {
|
||||
H_mod_fun(state, out_2621434864577473374);
|
||||
void car_H_mod_fun(double *state, double *out_6242485690446211568) {
|
||||
H_mod_fun(state, out_6242485690446211568);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_5898225613213012342) {
|
||||
f_fun(state, dt, out_5898225613213012342);
|
||||
void car_f_fun(double *state, double dt, double *out_3248907569765849539) {
|
||||
f_fun(state, dt, out_3248907569765849539);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_289209120563918309) {
|
||||
F_fun(state, dt, out_289209120563918309);
|
||||
void car_F_fun(double *state, double dt, double *out_8360719243632448897) {
|
||||
F_fun(state, dt, out_8360719243632448897);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_1048536752434567181) {
|
||||
h_25(state, unused, out_1048536752434567181);
|
||||
void car_h_25(double *state, double *unused, double *out_8500141102228074854) {
|
||||
h_25(state, unused, out_8500141102228074854);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_6632120983219841005) {
|
||||
H_25(state, unused, out_6632120983219841005);
|
||||
void car_H_25(double *state, double *unused, double *out_2719505040456719891) {
|
||||
H_25(state, unused, out_2719505040456719891);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7601461491001714773) {
|
||||
h_24(state, unused, out_7601461491001714773);
|
||||
void car_h_24(double *state, double *unused, double *out_7897313667940812561) {
|
||||
h_24(state, unused, out_7897313667940812561);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_4459471384214341439) {
|
||||
H_24(state, unused, out_4459471384214341439);
|
||||
void car_H_24(double *state, double *unused, double *out_838420558345603245) {
|
||||
H_24(state, unused, out_838420558345603245);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_4685986280688589531) {
|
||||
h_30(state, unused, out_4685986280688589531);
|
||||
void car_h_30(double *state, double *unused, double *out_808885686797625580) {
|
||||
h_30(state, unused, out_808885686797625580);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_9150453941727089632) {
|
||||
H_30(state, unused, out_9150453941727089632);
|
||||
void car_H_30(double *state, double *unused, double *out_4197185301034896864) {
|
||||
H_30(state, unused, out_4197185301034896864);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_4082670396012112014) {
|
||||
h_26(state, unused, out_4082670396012112014);
|
||||
void car_h_26(double *state, double *unused, double *out_4192787580863220065) {
|
||||
h_26(state, unused, out_4192787580863220065);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_8510097120728910010) {
|
||||
H_26(state, unused, out_8510097120728910010);
|
||||
void car_H_26(double *state, double *unused, double *out_6461008359330776115) {
|
||||
H_26(state, unused, out_6461008359330776115);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_9178210209371601407) {
|
||||
h_27(state, unused, out_9178210209371601407);
|
||||
void car_h_27(double *state, double *unused, double *out_5889273078412295556) {
|
||||
h_27(state, unused, out_5889273078412295556);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_7072696060798518767) {
|
||||
H_27(state, unused, out_7072696060798518767);
|
||||
void car_H_27(double *state, double *unused, double *out_2022421989234471953) {
|
||||
H_27(state, unused, out_2022421989234471953);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_8534850577185637138) {
|
||||
h_29(state, unused, out_8534850577185637138);
|
||||
void car_h_29(double *state, double *unused, double *out_5810558954458471225) {
|
||||
h_29(state, unused, out_5810558954458471225);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_8786058787668069800) {
|
||||
H_29(state, unused, out_8786058787668069800);
|
||||
void car_H_29(double *state, double *unused, double *out_4707416645349289048) {
|
||||
H_29(state, unused, out_4707416645349289048);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2931759151911427939) {
|
||||
h_28(state, unused, out_2931759151911427939);
|
||||
void car_h_28(double *state, double *unused, double *out_926893080731002324) {
|
||||
h_28(state, unused, out_926893080731002324);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_4578286268971951242) {
|
||||
H_28(state, unused, out_4578286268971951242);
|
||||
void car_H_28(double *state, double *unused, double *out_4773339754704609654) {
|
||||
H_28(state, unused, out_4773339754704609654);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_5027768451407450342) {
|
||||
h_31(state, unused, out_5027768451407450342);
|
||||
void car_h_31(double *state, double *unused, double *out_2974083665677051741) {
|
||||
h_31(state, unused, out_2974083665677051741);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_4737947839977893358) {
|
||||
H_31(state, unused, out_4737947839977893358);
|
||||
void car_H_31(double *state, double *unused, double *out_2688859078579759463) {
|
||||
H_31(state, unused, out_2688859078579759463);
|
||||
}
|
||||
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_5171593721555630090);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8159896824054378862);
|
||||
void car_H_mod_fun(double *state, double *out_2621434864577473374);
|
||||
void car_f_fun(double *state, double dt, double *out_5898225613213012342);
|
||||
void car_F_fun(double *state, double dt, double *out_289209120563918309);
|
||||
void car_h_25(double *state, double *unused, double *out_1048536752434567181);
|
||||
void car_H_25(double *state, double *unused, double *out_6632120983219841005);
|
||||
void car_h_24(double *state, double *unused, double *out_7601461491001714773);
|
||||
void car_H_24(double *state, double *unused, double *out_4459471384214341439);
|
||||
void car_h_30(double *state, double *unused, double *out_4685986280688589531);
|
||||
void car_H_30(double *state, double *unused, double *out_9150453941727089632);
|
||||
void car_h_26(double *state, double *unused, double *out_4082670396012112014);
|
||||
void car_H_26(double *state, double *unused, double *out_8510097120728910010);
|
||||
void car_h_27(double *state, double *unused, double *out_9178210209371601407);
|
||||
void car_H_27(double *state, double *unused, double *out_7072696060798518767);
|
||||
void car_h_29(double *state, double *unused, double *out_8534850577185637138);
|
||||
void car_H_29(double *state, double *unused, double *out_8786058787668069800);
|
||||
void car_h_28(double *state, double *unused, double *out_2931759151911427939);
|
||||
void car_H_28(double *state, double *unused, double *out_4578286268971951242);
|
||||
void car_h_31(double *state, double *unused, double *out_5027768451407450342);
|
||||
void car_H_31(double *state, double *unused, double *out_4737947839977893358);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2644531489535461779);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1100504365402285318);
|
||||
void car_H_mod_fun(double *state, double *out_6242485690446211568);
|
||||
void car_f_fun(double *state, double dt, double *out_3248907569765849539);
|
||||
void car_F_fun(double *state, double dt, double *out_8360719243632448897);
|
||||
void car_h_25(double *state, double *unused, double *out_8500141102228074854);
|
||||
void car_H_25(double *state, double *unused, double *out_2719505040456719891);
|
||||
void car_h_24(double *state, double *unused, double *out_7897313667940812561);
|
||||
void car_H_24(double *state, double *unused, double *out_838420558345603245);
|
||||
void car_h_30(double *state, double *unused, double *out_808885686797625580);
|
||||
void car_H_30(double *state, double *unused, double *out_4197185301034896864);
|
||||
void car_h_26(double *state, double *unused, double *out_4192787580863220065);
|
||||
void car_H_26(double *state, double *unused, double *out_6461008359330776115);
|
||||
void car_h_27(double *state, double *unused, double *out_5889273078412295556);
|
||||
void car_H_27(double *state, double *unused, double *out_2022421989234471953);
|
||||
void car_h_29(double *state, double *unused, double *out_5810558954458471225);
|
||||
void car_H_29(double *state, double *unused, double *out_4707416645349289048);
|
||||
void car_h_28(double *state, double *unused, double *out_926893080731002324);
|
||||
void car_H_28(double *state, double *unused, double *out_4773339754704609654);
|
||||
void car_h_31(double *state, double *unused, double *out_2974083665677051741);
|
||||
void car_H_31(double *state, double *unused, double *out_2688859078579759463);
|
||||
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_3892827861815398533);
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void pose_inv_err_fun(double *nom_x, double *true_x, double *out_341451131886162609);
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void pose_H_mod_fun(double *state, double *out_328613363132085737);
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void pose_f_fun(double *state, double dt, double *out_2411932017416861366);
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void pose_F_fun(double *state, double dt, double *out_8127227481367081246);
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void pose_h_4(double *state, double *unused, double *out_3493540261963132576);
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void pose_H_4(double *state, double *unused, double *out_425547638922626870);
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void pose_h_10(double *state, double *unused, double *out_6421583794262292879);
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void pose_H_10(double *state, double *unused, double *out_2093218466854338741);
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void pose_h_13(double *state, double *unused, double *out_3950551688454018720);
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void pose_H_13(double *state, double *unused, double *out_3637821464254959671);
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void pose_h_14(double *state, double *unused, double *out_4675773390607303658);
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void pose_H_14(double *state, double *unused, double *out_2657240793372745426);
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void pose_err_fun(double *nom_x, double *delta_x, double *out_5518524982420716050);
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void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4331401110135306651);
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void pose_H_mod_fun(double *state, double *out_3835336694818914681);
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void pose_f_fun(double *state, double dt, double *out_4487166249411202898);
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void pose_F_fun(double *state, double dt, double *out_5041909296412759665);
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void pose_h_4(double *state, double *unused, double *out_6410794677621402397);
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void pose_H_4(double *state, double *unused, double *out_7109558773609863934);
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void pose_h_10(double *state, double *unused, double *out_7278806369328538184);
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void pose_H_10(double *state, double *unused, double *out_6138938714751040661);
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void pose_h_13(double *state, double *unused, double *out_8268474279687789459);
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void pose_H_13(double *state, double *unused, double *out_3897284948277531133);
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void pose_h_14(double *state, double *unused, double *out_6172142331242380649);
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void pose_H_14(double *state, double *unused, double *out_3146317917270379405);
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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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