mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-05 16:26:14 +08:00
build
This commit is contained in:
firestar5683
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-71260b52-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-47c2cc99-DEBUG";
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
DEV-71260b52-DEBUG
|
||||
DEV-47c2cc99-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_4080197981179722536) {
|
||||
out_4080197981179722536[0] = delta_x[0] + nom_x[0];
|
||||
out_4080197981179722536[1] = delta_x[1] + nom_x[1];
|
||||
out_4080197981179722536[2] = delta_x[2] + nom_x[2];
|
||||
out_4080197981179722536[3] = delta_x[3] + nom_x[3];
|
||||
out_4080197981179722536[4] = delta_x[4] + nom_x[4];
|
||||
out_4080197981179722536[5] = delta_x[5] + nom_x[5];
|
||||
out_4080197981179722536[6] = delta_x[6] + nom_x[6];
|
||||
out_4080197981179722536[7] = delta_x[7] + nom_x[7];
|
||||
out_4080197981179722536[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_2057434223379957831) {
|
||||
out_2057434223379957831[0] = delta_x[0] + nom_x[0];
|
||||
out_2057434223379957831[1] = delta_x[1] + nom_x[1];
|
||||
out_2057434223379957831[2] = delta_x[2] + nom_x[2];
|
||||
out_2057434223379957831[3] = delta_x[3] + nom_x[3];
|
||||
out_2057434223379957831[4] = delta_x[4] + nom_x[4];
|
||||
out_2057434223379957831[5] = delta_x[5] + nom_x[5];
|
||||
out_2057434223379957831[6] = delta_x[6] + nom_x[6];
|
||||
out_2057434223379957831[7] = delta_x[7] + nom_x[7];
|
||||
out_2057434223379957831[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3164357961811210311) {
|
||||
out_3164357961811210311[0] = -nom_x[0] + true_x[0];
|
||||
out_3164357961811210311[1] = -nom_x[1] + true_x[1];
|
||||
out_3164357961811210311[2] = -nom_x[2] + true_x[2];
|
||||
out_3164357961811210311[3] = -nom_x[3] + true_x[3];
|
||||
out_3164357961811210311[4] = -nom_x[4] + true_x[4];
|
||||
out_3164357961811210311[5] = -nom_x[5] + true_x[5];
|
||||
out_3164357961811210311[6] = -nom_x[6] + true_x[6];
|
||||
out_3164357961811210311[7] = -nom_x[7] + true_x[7];
|
||||
out_3164357961811210311[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_4924816816161575884) {
|
||||
out_4924816816161575884[0] = -nom_x[0] + true_x[0];
|
||||
out_4924816816161575884[1] = -nom_x[1] + true_x[1];
|
||||
out_4924816816161575884[2] = -nom_x[2] + true_x[2];
|
||||
out_4924816816161575884[3] = -nom_x[3] + true_x[3];
|
||||
out_4924816816161575884[4] = -nom_x[4] + true_x[4];
|
||||
out_4924816816161575884[5] = -nom_x[5] + true_x[5];
|
||||
out_4924816816161575884[6] = -nom_x[6] + true_x[6];
|
||||
out_4924816816161575884[7] = -nom_x[7] + true_x[7];
|
||||
out_4924816816161575884[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_4408837966520463957) {
|
||||
out_4408837966520463957[0] = 1.0;
|
||||
out_4408837966520463957[1] = 0.0;
|
||||
out_4408837966520463957[2] = 0.0;
|
||||
out_4408837966520463957[3] = 0.0;
|
||||
out_4408837966520463957[4] = 0.0;
|
||||
out_4408837966520463957[5] = 0.0;
|
||||
out_4408837966520463957[6] = 0.0;
|
||||
out_4408837966520463957[7] = 0.0;
|
||||
out_4408837966520463957[8] = 0.0;
|
||||
out_4408837966520463957[9] = 0.0;
|
||||
out_4408837966520463957[10] = 1.0;
|
||||
out_4408837966520463957[11] = 0.0;
|
||||
out_4408837966520463957[12] = 0.0;
|
||||
out_4408837966520463957[13] = 0.0;
|
||||
out_4408837966520463957[14] = 0.0;
|
||||
out_4408837966520463957[15] = 0.0;
|
||||
out_4408837966520463957[16] = 0.0;
|
||||
out_4408837966520463957[17] = 0.0;
|
||||
out_4408837966520463957[18] = 0.0;
|
||||
out_4408837966520463957[19] = 0.0;
|
||||
out_4408837966520463957[20] = 1.0;
|
||||
out_4408837966520463957[21] = 0.0;
|
||||
out_4408837966520463957[22] = 0.0;
|
||||
out_4408837966520463957[23] = 0.0;
|
||||
out_4408837966520463957[24] = 0.0;
|
||||
out_4408837966520463957[25] = 0.0;
|
||||
out_4408837966520463957[26] = 0.0;
|
||||
out_4408837966520463957[27] = 0.0;
|
||||
out_4408837966520463957[28] = 0.0;
|
||||
out_4408837966520463957[29] = 0.0;
|
||||
out_4408837966520463957[30] = 1.0;
|
||||
out_4408837966520463957[31] = 0.0;
|
||||
out_4408837966520463957[32] = 0.0;
|
||||
out_4408837966520463957[33] = 0.0;
|
||||
out_4408837966520463957[34] = 0.0;
|
||||
out_4408837966520463957[35] = 0.0;
|
||||
out_4408837966520463957[36] = 0.0;
|
||||
out_4408837966520463957[37] = 0.0;
|
||||
out_4408837966520463957[38] = 0.0;
|
||||
out_4408837966520463957[39] = 0.0;
|
||||
out_4408837966520463957[40] = 1.0;
|
||||
out_4408837966520463957[41] = 0.0;
|
||||
out_4408837966520463957[42] = 0.0;
|
||||
out_4408837966520463957[43] = 0.0;
|
||||
out_4408837966520463957[44] = 0.0;
|
||||
out_4408837966520463957[45] = 0.0;
|
||||
out_4408837966520463957[46] = 0.0;
|
||||
out_4408837966520463957[47] = 0.0;
|
||||
out_4408837966520463957[48] = 0.0;
|
||||
out_4408837966520463957[49] = 0.0;
|
||||
out_4408837966520463957[50] = 1.0;
|
||||
out_4408837966520463957[51] = 0.0;
|
||||
out_4408837966520463957[52] = 0.0;
|
||||
out_4408837966520463957[53] = 0.0;
|
||||
out_4408837966520463957[54] = 0.0;
|
||||
out_4408837966520463957[55] = 0.0;
|
||||
out_4408837966520463957[56] = 0.0;
|
||||
out_4408837966520463957[57] = 0.0;
|
||||
out_4408837966520463957[58] = 0.0;
|
||||
out_4408837966520463957[59] = 0.0;
|
||||
out_4408837966520463957[60] = 1.0;
|
||||
out_4408837966520463957[61] = 0.0;
|
||||
out_4408837966520463957[62] = 0.0;
|
||||
out_4408837966520463957[63] = 0.0;
|
||||
out_4408837966520463957[64] = 0.0;
|
||||
out_4408837966520463957[65] = 0.0;
|
||||
out_4408837966520463957[66] = 0.0;
|
||||
out_4408837966520463957[67] = 0.0;
|
||||
out_4408837966520463957[68] = 0.0;
|
||||
out_4408837966520463957[69] = 0.0;
|
||||
out_4408837966520463957[70] = 1.0;
|
||||
out_4408837966520463957[71] = 0.0;
|
||||
out_4408837966520463957[72] = 0.0;
|
||||
out_4408837966520463957[73] = 0.0;
|
||||
out_4408837966520463957[74] = 0.0;
|
||||
out_4408837966520463957[75] = 0.0;
|
||||
out_4408837966520463957[76] = 0.0;
|
||||
out_4408837966520463957[77] = 0.0;
|
||||
out_4408837966520463957[78] = 0.0;
|
||||
out_4408837966520463957[79] = 0.0;
|
||||
out_4408837966520463957[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8615316232539034437) {
|
||||
out_8615316232539034437[0] = 1.0;
|
||||
out_8615316232539034437[1] = 0.0;
|
||||
out_8615316232539034437[2] = 0.0;
|
||||
out_8615316232539034437[3] = 0.0;
|
||||
out_8615316232539034437[4] = 0.0;
|
||||
out_8615316232539034437[5] = 0.0;
|
||||
out_8615316232539034437[6] = 0.0;
|
||||
out_8615316232539034437[7] = 0.0;
|
||||
out_8615316232539034437[8] = 0.0;
|
||||
out_8615316232539034437[9] = 0.0;
|
||||
out_8615316232539034437[10] = 1.0;
|
||||
out_8615316232539034437[11] = 0.0;
|
||||
out_8615316232539034437[12] = 0.0;
|
||||
out_8615316232539034437[13] = 0.0;
|
||||
out_8615316232539034437[14] = 0.0;
|
||||
out_8615316232539034437[15] = 0.0;
|
||||
out_8615316232539034437[16] = 0.0;
|
||||
out_8615316232539034437[17] = 0.0;
|
||||
out_8615316232539034437[18] = 0.0;
|
||||
out_8615316232539034437[19] = 0.0;
|
||||
out_8615316232539034437[20] = 1.0;
|
||||
out_8615316232539034437[21] = 0.0;
|
||||
out_8615316232539034437[22] = 0.0;
|
||||
out_8615316232539034437[23] = 0.0;
|
||||
out_8615316232539034437[24] = 0.0;
|
||||
out_8615316232539034437[25] = 0.0;
|
||||
out_8615316232539034437[26] = 0.0;
|
||||
out_8615316232539034437[27] = 0.0;
|
||||
out_8615316232539034437[28] = 0.0;
|
||||
out_8615316232539034437[29] = 0.0;
|
||||
out_8615316232539034437[30] = 1.0;
|
||||
out_8615316232539034437[31] = 0.0;
|
||||
out_8615316232539034437[32] = 0.0;
|
||||
out_8615316232539034437[33] = 0.0;
|
||||
out_8615316232539034437[34] = 0.0;
|
||||
out_8615316232539034437[35] = 0.0;
|
||||
out_8615316232539034437[36] = 0.0;
|
||||
out_8615316232539034437[37] = 0.0;
|
||||
out_8615316232539034437[38] = 0.0;
|
||||
out_8615316232539034437[39] = 0.0;
|
||||
out_8615316232539034437[40] = 1.0;
|
||||
out_8615316232539034437[41] = 0.0;
|
||||
out_8615316232539034437[42] = 0.0;
|
||||
out_8615316232539034437[43] = 0.0;
|
||||
out_8615316232539034437[44] = 0.0;
|
||||
out_8615316232539034437[45] = 0.0;
|
||||
out_8615316232539034437[46] = 0.0;
|
||||
out_8615316232539034437[47] = 0.0;
|
||||
out_8615316232539034437[48] = 0.0;
|
||||
out_8615316232539034437[49] = 0.0;
|
||||
out_8615316232539034437[50] = 1.0;
|
||||
out_8615316232539034437[51] = 0.0;
|
||||
out_8615316232539034437[52] = 0.0;
|
||||
out_8615316232539034437[53] = 0.0;
|
||||
out_8615316232539034437[54] = 0.0;
|
||||
out_8615316232539034437[55] = 0.0;
|
||||
out_8615316232539034437[56] = 0.0;
|
||||
out_8615316232539034437[57] = 0.0;
|
||||
out_8615316232539034437[58] = 0.0;
|
||||
out_8615316232539034437[59] = 0.0;
|
||||
out_8615316232539034437[60] = 1.0;
|
||||
out_8615316232539034437[61] = 0.0;
|
||||
out_8615316232539034437[62] = 0.0;
|
||||
out_8615316232539034437[63] = 0.0;
|
||||
out_8615316232539034437[64] = 0.0;
|
||||
out_8615316232539034437[65] = 0.0;
|
||||
out_8615316232539034437[66] = 0.0;
|
||||
out_8615316232539034437[67] = 0.0;
|
||||
out_8615316232539034437[68] = 0.0;
|
||||
out_8615316232539034437[69] = 0.0;
|
||||
out_8615316232539034437[70] = 1.0;
|
||||
out_8615316232539034437[71] = 0.0;
|
||||
out_8615316232539034437[72] = 0.0;
|
||||
out_8615316232539034437[73] = 0.0;
|
||||
out_8615316232539034437[74] = 0.0;
|
||||
out_8615316232539034437[75] = 0.0;
|
||||
out_8615316232539034437[76] = 0.0;
|
||||
out_8615316232539034437[77] = 0.0;
|
||||
out_8615316232539034437[78] = 0.0;
|
||||
out_8615316232539034437[79] = 0.0;
|
||||
out_8615316232539034437[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_5836050664863580465) {
|
||||
out_5836050664863580465[0] = state[0];
|
||||
out_5836050664863580465[1] = state[1];
|
||||
out_5836050664863580465[2] = state[2];
|
||||
out_5836050664863580465[3] = state[3];
|
||||
out_5836050664863580465[4] = state[4];
|
||||
out_5836050664863580465[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_5836050664863580465[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_5836050664863580465[7] = state[7];
|
||||
out_5836050664863580465[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_8159180570289535402) {
|
||||
out_8159180570289535402[0] = state[0];
|
||||
out_8159180570289535402[1] = state[1];
|
||||
out_8159180570289535402[2] = state[2];
|
||||
out_8159180570289535402[3] = state[3];
|
||||
out_8159180570289535402[4] = state[4];
|
||||
out_8159180570289535402[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_8159180570289535402[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_8159180570289535402[7] = state[7];
|
||||
out_8159180570289535402[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_584824642242628871) {
|
||||
out_584824642242628871[0] = 1;
|
||||
out_584824642242628871[1] = 0;
|
||||
out_584824642242628871[2] = 0;
|
||||
out_584824642242628871[3] = 0;
|
||||
out_584824642242628871[4] = 0;
|
||||
out_584824642242628871[5] = 0;
|
||||
out_584824642242628871[6] = 0;
|
||||
out_584824642242628871[7] = 0;
|
||||
out_584824642242628871[8] = 0;
|
||||
out_584824642242628871[9] = 0;
|
||||
out_584824642242628871[10] = 1;
|
||||
out_584824642242628871[11] = 0;
|
||||
out_584824642242628871[12] = 0;
|
||||
out_584824642242628871[13] = 0;
|
||||
out_584824642242628871[14] = 0;
|
||||
out_584824642242628871[15] = 0;
|
||||
out_584824642242628871[16] = 0;
|
||||
out_584824642242628871[17] = 0;
|
||||
out_584824642242628871[18] = 0;
|
||||
out_584824642242628871[19] = 0;
|
||||
out_584824642242628871[20] = 1;
|
||||
out_584824642242628871[21] = 0;
|
||||
out_584824642242628871[22] = 0;
|
||||
out_584824642242628871[23] = 0;
|
||||
out_584824642242628871[24] = 0;
|
||||
out_584824642242628871[25] = 0;
|
||||
out_584824642242628871[26] = 0;
|
||||
out_584824642242628871[27] = 0;
|
||||
out_584824642242628871[28] = 0;
|
||||
out_584824642242628871[29] = 0;
|
||||
out_584824642242628871[30] = 1;
|
||||
out_584824642242628871[31] = 0;
|
||||
out_584824642242628871[32] = 0;
|
||||
out_584824642242628871[33] = 0;
|
||||
out_584824642242628871[34] = 0;
|
||||
out_584824642242628871[35] = 0;
|
||||
out_584824642242628871[36] = 0;
|
||||
out_584824642242628871[37] = 0;
|
||||
out_584824642242628871[38] = 0;
|
||||
out_584824642242628871[39] = 0;
|
||||
out_584824642242628871[40] = 1;
|
||||
out_584824642242628871[41] = 0;
|
||||
out_584824642242628871[42] = 0;
|
||||
out_584824642242628871[43] = 0;
|
||||
out_584824642242628871[44] = 0;
|
||||
out_584824642242628871[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_584824642242628871[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_584824642242628871[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_584824642242628871[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_584824642242628871[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_584824642242628871[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_584824642242628871[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_584824642242628871[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_584824642242628871[53] = -9.8100000000000005*dt;
|
||||
out_584824642242628871[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_584824642242628871[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_584824642242628871[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_584824642242628871[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_584824642242628871[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_584824642242628871[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_584824642242628871[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_584824642242628871[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_584824642242628871[62] = 0;
|
||||
out_584824642242628871[63] = 0;
|
||||
out_584824642242628871[64] = 0;
|
||||
out_584824642242628871[65] = 0;
|
||||
out_584824642242628871[66] = 0;
|
||||
out_584824642242628871[67] = 0;
|
||||
out_584824642242628871[68] = 0;
|
||||
out_584824642242628871[69] = 0;
|
||||
out_584824642242628871[70] = 1;
|
||||
out_584824642242628871[71] = 0;
|
||||
out_584824642242628871[72] = 0;
|
||||
out_584824642242628871[73] = 0;
|
||||
out_584824642242628871[74] = 0;
|
||||
out_584824642242628871[75] = 0;
|
||||
out_584824642242628871[76] = 0;
|
||||
out_584824642242628871[77] = 0;
|
||||
out_584824642242628871[78] = 0;
|
||||
out_584824642242628871[79] = 0;
|
||||
out_584824642242628871[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_8855850861951736689) {
|
||||
out_8855850861951736689[0] = 1;
|
||||
out_8855850861951736689[1] = 0;
|
||||
out_8855850861951736689[2] = 0;
|
||||
out_8855850861951736689[3] = 0;
|
||||
out_8855850861951736689[4] = 0;
|
||||
out_8855850861951736689[5] = 0;
|
||||
out_8855850861951736689[6] = 0;
|
||||
out_8855850861951736689[7] = 0;
|
||||
out_8855850861951736689[8] = 0;
|
||||
out_8855850861951736689[9] = 0;
|
||||
out_8855850861951736689[10] = 1;
|
||||
out_8855850861951736689[11] = 0;
|
||||
out_8855850861951736689[12] = 0;
|
||||
out_8855850861951736689[13] = 0;
|
||||
out_8855850861951736689[14] = 0;
|
||||
out_8855850861951736689[15] = 0;
|
||||
out_8855850861951736689[16] = 0;
|
||||
out_8855850861951736689[17] = 0;
|
||||
out_8855850861951736689[18] = 0;
|
||||
out_8855850861951736689[19] = 0;
|
||||
out_8855850861951736689[20] = 1;
|
||||
out_8855850861951736689[21] = 0;
|
||||
out_8855850861951736689[22] = 0;
|
||||
out_8855850861951736689[23] = 0;
|
||||
out_8855850861951736689[24] = 0;
|
||||
out_8855850861951736689[25] = 0;
|
||||
out_8855850861951736689[26] = 0;
|
||||
out_8855850861951736689[27] = 0;
|
||||
out_8855850861951736689[28] = 0;
|
||||
out_8855850861951736689[29] = 0;
|
||||
out_8855850861951736689[30] = 1;
|
||||
out_8855850861951736689[31] = 0;
|
||||
out_8855850861951736689[32] = 0;
|
||||
out_8855850861951736689[33] = 0;
|
||||
out_8855850861951736689[34] = 0;
|
||||
out_8855850861951736689[35] = 0;
|
||||
out_8855850861951736689[36] = 0;
|
||||
out_8855850861951736689[37] = 0;
|
||||
out_8855850861951736689[38] = 0;
|
||||
out_8855850861951736689[39] = 0;
|
||||
out_8855850861951736689[40] = 1;
|
||||
out_8855850861951736689[41] = 0;
|
||||
out_8855850861951736689[42] = 0;
|
||||
out_8855850861951736689[43] = 0;
|
||||
out_8855850861951736689[44] = 0;
|
||||
out_8855850861951736689[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_8855850861951736689[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8855850861951736689[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8855850861951736689[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8855850861951736689[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_8855850861951736689[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8855850861951736689[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8855850861951736689[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8855850861951736689[53] = -9.8100000000000005*dt;
|
||||
out_8855850861951736689[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_8855850861951736689[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8855850861951736689[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8855850861951736689[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8855850861951736689[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_8855850861951736689[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8855850861951736689[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_8855850861951736689[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8855850861951736689[62] = 0;
|
||||
out_8855850861951736689[63] = 0;
|
||||
out_8855850861951736689[64] = 0;
|
||||
out_8855850861951736689[65] = 0;
|
||||
out_8855850861951736689[66] = 0;
|
||||
out_8855850861951736689[67] = 0;
|
||||
out_8855850861951736689[68] = 0;
|
||||
out_8855850861951736689[69] = 0;
|
||||
out_8855850861951736689[70] = 1;
|
||||
out_8855850861951736689[71] = 0;
|
||||
out_8855850861951736689[72] = 0;
|
||||
out_8855850861951736689[73] = 0;
|
||||
out_8855850861951736689[74] = 0;
|
||||
out_8855850861951736689[75] = 0;
|
||||
out_8855850861951736689[76] = 0;
|
||||
out_8855850861951736689[77] = 0;
|
||||
out_8855850861951736689[78] = 0;
|
||||
out_8855850861951736689[79] = 0;
|
||||
out_8855850861951736689[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_3846550558690327557) {
|
||||
out_3846550558690327557[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7057179500116168670) {
|
||||
out_7057179500116168670[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_3533529222181460977) {
|
||||
out_3533529222181460977[0] = 0;
|
||||
out_3533529222181460977[1] = 0;
|
||||
out_3533529222181460977[2] = 0;
|
||||
out_3533529222181460977[3] = 0;
|
||||
out_3533529222181460977[4] = 0;
|
||||
out_3533529222181460977[5] = 0;
|
||||
out_3533529222181460977[6] = 1;
|
||||
out_3533529222181460977[7] = 0;
|
||||
out_3533529222181460977[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_8109981790338737725) {
|
||||
out_8109981790338737725[0] = 0;
|
||||
out_8109981790338737725[1] = 0;
|
||||
out_8109981790338737725[2] = 0;
|
||||
out_8109981790338737725[3] = 0;
|
||||
out_8109981790338737725[4] = 0;
|
||||
out_8109981790338737725[5] = 0;
|
||||
out_8109981790338737725[6] = 1;
|
||||
out_8109981790338737725[7] = 0;
|
||||
out_8109981790338737725[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_5575782566501311775) {
|
||||
out_5575782566501311775[0] = state[4];
|
||||
out_5575782566501311775[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_6854320894517861807) {
|
||||
out_6854320894517861807[0] = state[4];
|
||||
out_6854320894517861807[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_24396376620862159) {
|
||||
out_24396376620862159[0] = 0;
|
||||
out_24396376620862159[1] = 0;
|
||||
out_24396376620862159[2] = 0;
|
||||
out_24396376620862159[3] = 0;
|
||||
out_24396376620862159[4] = 1;
|
||||
out_24396376620862159[5] = 0;
|
||||
out_24396376620862159[6] = 0;
|
||||
out_24396376620862159[7] = 0;
|
||||
out_24396376620862159[8] = 0;
|
||||
out_24396376620862159[9] = 0;
|
||||
out_24396376620862159[10] = 0;
|
||||
out_24396376620862159[11] = 0;
|
||||
out_24396376620862159[12] = 0;
|
||||
out_24396376620862159[13] = 0;
|
||||
out_24396376620862159[14] = 1;
|
||||
out_24396376620862159[15] = 0;
|
||||
out_24396376620862159[16] = 0;
|
||||
out_24396376620862159[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_8607899164193499822) {
|
||||
out_8607899164193499822[0] = 0;
|
||||
out_8607899164193499822[1] = 0;
|
||||
out_8607899164193499822[2] = 0;
|
||||
out_8607899164193499822[3] = 0;
|
||||
out_8607899164193499822[4] = 1;
|
||||
out_8607899164193499822[5] = 0;
|
||||
out_8607899164193499822[6] = 0;
|
||||
out_8607899164193499822[7] = 0;
|
||||
out_8607899164193499822[8] = 0;
|
||||
out_8607899164193499822[9] = 0;
|
||||
out_8607899164193499822[10] = 0;
|
||||
out_8607899164193499822[11] = 0;
|
||||
out_8607899164193499822[12] = 0;
|
||||
out_8607899164193499822[13] = 0;
|
||||
out_8607899164193499822[14] = 1;
|
||||
out_8607899164193499822[15] = 0;
|
||||
out_8607899164193499822[16] = 0;
|
||||
out_8607899164193499822[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_6794276549045812518) {
|
||||
out_6794276549045812518[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_3929005809344494621) {
|
||||
out_3929005809344494621[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_1015196263674212350) {
|
||||
out_1015196263674212350[0] = 0;
|
||||
out_1015196263674212350[1] = 0;
|
||||
out_1015196263674212350[2] = 0;
|
||||
out_1015196263674212350[3] = 0;
|
||||
out_1015196263674212350[4] = 1;
|
||||
out_1015196263674212350[5] = 0;
|
||||
out_1015196263674212350[6] = 0;
|
||||
out_1015196263674212350[7] = 0;
|
||||
out_1015196263674212350[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_1193291448847120970) {
|
||||
out_1193291448847120970[0] = 0;
|
||||
out_1193291448847120970[1] = 0;
|
||||
out_1193291448847120970[2] = 0;
|
||||
out_1193291448847120970[3] = 0;
|
||||
out_1193291448847120970[4] = 1;
|
||||
out_1193291448847120970[5] = 0;
|
||||
out_1193291448847120970[6] = 0;
|
||||
out_1193291448847120970[7] = 0;
|
||||
out_1193291448847120970[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_9048062203855041447) {
|
||||
out_9048062203855041447[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_6807016989944022268) {
|
||||
out_6807016989944022268[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_229003252420660376) {
|
||||
out_229003252420660376[0] = 0;
|
||||
out_229003252420660376[1] = 0;
|
||||
out_229003252420660376[2] = 0;
|
||||
out_229003252420660376[3] = 0;
|
||||
out_229003252420660376[4] = 0;
|
||||
out_229003252420660376[5] = 0;
|
||||
out_229003252420660376[6] = 0;
|
||||
out_229003252420660376[7] = 1;
|
||||
out_229003252420660376[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_6595258964496757667) {
|
||||
out_6595258964496757667[0] = 0;
|
||||
out_6595258964496757667[1] = 0;
|
||||
out_6595258964496757667[2] = 0;
|
||||
out_6595258964496757667[3] = 0;
|
||||
out_6595258964496757667[4] = 0;
|
||||
out_6595258964496757667[5] = 0;
|
||||
out_6595258964496757667[6] = 0;
|
||||
out_6595258964496757667[7] = 1;
|
||||
out_6595258964496757667[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_5135418613316513208) {
|
||||
out_5135418613316513208[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_2055506232455323025) {
|
||||
out_2055506232455323025[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_3189959575474637261) {
|
||||
out_3189959575474637261[0] = 0;
|
||||
out_3189959575474637261[1] = 0;
|
||||
out_3189959575474637261[2] = 0;
|
||||
out_3189959575474637261[3] = 1;
|
||||
out_3189959575474637261[4] = 0;
|
||||
out_3189959575474637261[5] = 0;
|
||||
out_3189959575474637261[6] = 0;
|
||||
out_3189959575474637261[7] = 0;
|
||||
out_3189959575474637261[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_3368054760647545881) {
|
||||
out_3368054760647545881[0] = 0;
|
||||
out_3368054760647545881[1] = 0;
|
||||
out_3368054760647545881[2] = 0;
|
||||
out_3368054760647545881[3] = 1;
|
||||
out_3368054760647545881[4] = 0;
|
||||
out_3368054760647545881[5] = 0;
|
||||
out_3368054760647545881[6] = 0;
|
||||
out_3368054760647545881[7] = 0;
|
||||
out_3368054760647545881[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_5850766696144150083) {
|
||||
out_5850766696144150083[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_7581563669006346138) {
|
||||
out_7581563669006346138[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_504964919359820166) {
|
||||
out_504964919359820166[0] = 0;
|
||||
out_504964919359820166[1] = 1;
|
||||
out_504964919359820166[2] = 0;
|
||||
out_504964919359820166[3] = 0;
|
||||
out_504964919359820166[4] = 0;
|
||||
out_504964919359820166[5] = 0;
|
||||
out_504964919359820166[6] = 0;
|
||||
out_504964919359820166[7] = 0;
|
||||
out_504964919359820166[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_683060104532728786) {
|
||||
out_683060104532728786[0] = 0;
|
||||
out_683060104532728786[1] = 1;
|
||||
out_683060104532728786[2] = 0;
|
||||
out_683060104532728786[3] = 0;
|
||||
out_683060104532728786[4] = 0;
|
||||
out_683060104532728786[5] = 0;
|
||||
out_683060104532728786[6] = 0;
|
||||
out_683060104532728786[7] = 0;
|
||||
out_683060104532728786[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_133745345655667563) {
|
||||
out_133745345655667563[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_7985581021610001938) {
|
||||
out_7985581021610001938[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_5587363936429350740) {
|
||||
out_5587363936429350740[0] = 1;
|
||||
out_5587363936429350740[1] = 0;
|
||||
out_5587363936429350740[2] = 0;
|
||||
out_5587363936429350740[3] = 0;
|
||||
out_5587363936429350740[4] = 0;
|
||||
out_5587363936429350740[5] = 0;
|
||||
out_5587363936429350740[6] = 0;
|
||||
out_5587363936429350740[7] = 0;
|
||||
out_5587363936429350740[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_5765459121602259360) {
|
||||
out_5765459121602259360[0] = 1;
|
||||
out_5765459121602259360[1] = 0;
|
||||
out_5765459121602259360[2] = 0;
|
||||
out_5765459121602259360[3] = 0;
|
||||
out_5765459121602259360[4] = 0;
|
||||
out_5765459121602259360[5] = 0;
|
||||
out_5765459121602259360[6] = 0;
|
||||
out_5765459121602259360[7] = 0;
|
||||
out_5765459121602259360[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_4672202664478170413) {
|
||||
out_4672202664478170413[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_706085756704503771) {
|
||||
out_706085756704503771[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_7901240643288868677) {
|
||||
out_7901240643288868677[0] = 0;
|
||||
out_7901240643288868677[1] = 0;
|
||||
out_7901240643288868677[2] = 0;
|
||||
out_7901240643288868677[3] = 0;
|
||||
out_7901240643288868677[4] = 0;
|
||||
out_7901240643288868677[5] = 0;
|
||||
out_7901240643288868677[6] = 0;
|
||||
out_7901240643288868677[7] = 0;
|
||||
out_7901240643288868677[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_8079335828461777297) {
|
||||
out_8079335828461777297[0] = 0;
|
||||
out_8079335828461777297[1] = 0;
|
||||
out_8079335828461777297[2] = 0;
|
||||
out_8079335828461777297[3] = 0;
|
||||
out_8079335828461777297[4] = 0;
|
||||
out_8079335828461777297[5] = 0;
|
||||
out_8079335828461777297[6] = 0;
|
||||
out_8079335828461777297[7] = 0;
|
||||
out_8079335828461777297[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_4080197981179722536) {
|
||||
err_fun(nom_x, delta_x, out_4080197981179722536);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2057434223379957831) {
|
||||
err_fun(nom_x, delta_x, out_2057434223379957831);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3164357961811210311) {
|
||||
inv_err_fun(nom_x, true_x, out_3164357961811210311);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4924816816161575884) {
|
||||
inv_err_fun(nom_x, true_x, out_4924816816161575884);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_4408837966520463957) {
|
||||
H_mod_fun(state, out_4408837966520463957);
|
||||
void car_H_mod_fun(double *state, double *out_8615316232539034437) {
|
||||
H_mod_fun(state, out_8615316232539034437);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_5836050664863580465) {
|
||||
f_fun(state, dt, out_5836050664863580465);
|
||||
void car_f_fun(double *state, double dt, double *out_8159180570289535402) {
|
||||
f_fun(state, dt, out_8159180570289535402);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_584824642242628871) {
|
||||
F_fun(state, dt, out_584824642242628871);
|
||||
void car_F_fun(double *state, double dt, double *out_8855850861951736689) {
|
||||
F_fun(state, dt, out_8855850861951736689);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_3846550558690327557) {
|
||||
h_25(state, unused, out_3846550558690327557);
|
||||
void car_h_25(double *state, double *unused, double *out_7057179500116168670) {
|
||||
h_25(state, unused, out_7057179500116168670);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_3533529222181460977) {
|
||||
H_25(state, unused, out_3533529222181460977);
|
||||
void car_H_25(double *state, double *unused, double *out_8109981790338737725) {
|
||||
H_25(state, unused, out_8109981790338737725);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_5575782566501311775) {
|
||||
h_24(state, unused, out_5575782566501311775);
|
||||
void car_h_24(double *state, double *unused, double *out_6854320894517861807) {
|
||||
h_24(state, unused, out_6854320894517861807);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_24396376620862159) {
|
||||
H_24(state, unused, out_24396376620862159);
|
||||
void car_H_24(double *state, double *unused, double *out_8607899164193499822) {
|
||||
H_24(state, unused, out_8607899164193499822);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_6794276549045812518) {
|
||||
h_30(state, unused, out_6794276549045812518);
|
||||
void car_h_30(double *state, double *unused, double *out_3929005809344494621) {
|
||||
h_30(state, unused, out_3929005809344494621);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_1015196263674212350) {
|
||||
H_30(state, unused, out_1015196263674212350);
|
||||
void car_H_30(double *state, double *unused, double *out_1193291448847120970) {
|
||||
H_30(state, unused, out_1193291448847120970);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_9048062203855041447) {
|
||||
h_26(state, unused, out_9048062203855041447);
|
||||
void car_h_26(double *state, double *unused, double *out_6807016989944022268) {
|
||||
h_26(state, unused, out_6807016989944022268);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_229003252420660376) {
|
||||
H_26(state, unused, out_229003252420660376);
|
||||
void car_H_26(double *state, double *unused, double *out_6595258964496757667) {
|
||||
H_26(state, unused, out_6595258964496757667);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_5135418613316513208) {
|
||||
h_27(state, unused, out_5135418613316513208);
|
||||
void car_h_27(double *state, double *unused, double *out_2055506232455323025) {
|
||||
h_27(state, unused, out_2055506232455323025);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_3189959575474637261) {
|
||||
H_27(state, unused, out_3189959575474637261);
|
||||
void car_H_27(double *state, double *unused, double *out_3368054760647545881) {
|
||||
H_27(state, unused, out_3368054760647545881);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_5850766696144150083) {
|
||||
h_29(state, unused, out_5850766696144150083);
|
||||
void car_h_29(double *state, double *unused, double *out_7581563669006346138) {
|
||||
h_29(state, unused, out_7581563669006346138);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_504964919359820166) {
|
||||
H_29(state, unused, out_504964919359820166);
|
||||
void car_H_29(double *state, double *unused, double *out_683060104532728786) {
|
||||
H_29(state, unused, out_683060104532728786);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_133745345655667563) {
|
||||
h_28(state, unused, out_133745345655667563);
|
||||
void car_h_28(double *state, double *unused, double *out_7985581021610001938) {
|
||||
h_28(state, unused, out_7985581021610001938);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_5587363936429350740) {
|
||||
H_28(state, unused, out_5587363936429350740);
|
||||
void car_H_28(double *state, double *unused, double *out_5765459121602259360) {
|
||||
H_28(state, unused, out_5765459121602259360);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_4672202664478170413) {
|
||||
h_31(state, unused, out_4672202664478170413);
|
||||
void car_h_31(double *state, double *unused, double *out_706085756704503771) {
|
||||
h_31(state, unused, out_706085756704503771);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_7901240643288868677) {
|
||||
H_31(state, unused, out_7901240643288868677);
|
||||
void car_H_31(double *state, double *unused, double *out_8079335828461777297) {
|
||||
H_31(state, unused, out_8079335828461777297);
|
||||
}
|
||||
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_4080197981179722536);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3164357961811210311);
|
||||
void car_H_mod_fun(double *state, double *out_4408837966520463957);
|
||||
void car_f_fun(double *state, double dt, double *out_5836050664863580465);
|
||||
void car_F_fun(double *state, double dt, double *out_584824642242628871);
|
||||
void car_h_25(double *state, double *unused, double *out_3846550558690327557);
|
||||
void car_H_25(double *state, double *unused, double *out_3533529222181460977);
|
||||
void car_h_24(double *state, double *unused, double *out_5575782566501311775);
|
||||
void car_H_24(double *state, double *unused, double *out_24396376620862159);
|
||||
void car_h_30(double *state, double *unused, double *out_6794276549045812518);
|
||||
void car_H_30(double *state, double *unused, double *out_1015196263674212350);
|
||||
void car_h_26(double *state, double *unused, double *out_9048062203855041447);
|
||||
void car_H_26(double *state, double *unused, double *out_229003252420660376);
|
||||
void car_h_27(double *state, double *unused, double *out_5135418613316513208);
|
||||
void car_H_27(double *state, double *unused, double *out_3189959575474637261);
|
||||
void car_h_29(double *state, double *unused, double *out_5850766696144150083);
|
||||
void car_H_29(double *state, double *unused, double *out_504964919359820166);
|
||||
void car_h_28(double *state, double *unused, double *out_133745345655667563);
|
||||
void car_H_28(double *state, double *unused, double *out_5587363936429350740);
|
||||
void car_h_31(double *state, double *unused, double *out_4672202664478170413);
|
||||
void car_H_31(double *state, double *unused, double *out_7901240643288868677);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2057434223379957831);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4924816816161575884);
|
||||
void car_H_mod_fun(double *state, double *out_8615316232539034437);
|
||||
void car_f_fun(double *state, double dt, double *out_8159180570289535402);
|
||||
void car_F_fun(double *state, double dt, double *out_8855850861951736689);
|
||||
void car_h_25(double *state, double *unused, double *out_7057179500116168670);
|
||||
void car_H_25(double *state, double *unused, double *out_8109981790338737725);
|
||||
void car_h_24(double *state, double *unused, double *out_6854320894517861807);
|
||||
void car_H_24(double *state, double *unused, double *out_8607899164193499822);
|
||||
void car_h_30(double *state, double *unused, double *out_3929005809344494621);
|
||||
void car_H_30(double *state, double *unused, double *out_1193291448847120970);
|
||||
void car_h_26(double *state, double *unused, double *out_6807016989944022268);
|
||||
void car_H_26(double *state, double *unused, double *out_6595258964496757667);
|
||||
void car_h_27(double *state, double *unused, double *out_2055506232455323025);
|
||||
void car_H_27(double *state, double *unused, double *out_3368054760647545881);
|
||||
void car_h_29(double *state, double *unused, double *out_7581563669006346138);
|
||||
void car_H_29(double *state, double *unused, double *out_683060104532728786);
|
||||
void car_h_28(double *state, double *unused, double *out_7985581021610001938);
|
||||
void car_H_28(double *state, double *unused, double *out_5765459121602259360);
|
||||
void car_h_31(double *state, double *unused, double *out_706085756704503771);
|
||||
void car_H_31(double *state, double *unused, double *out_8079335828461777297);
|
||||
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
|
||||
void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_616508134330162473);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3534488348241865019);
|
||||
void pose_H_mod_fun(double *state, double *out_5384152065241129084);
|
||||
void pose_f_fun(double *state, double dt, double *out_1966290028419981018);
|
||||
void pose_F_fun(double *state, double dt, double *out_8500986371107107872);
|
||||
void pose_h_4(double *state, double *unused, double *out_5400718070291809963);
|
||||
void pose_H_4(double *state, double *unused, double *out_9155959275085036656);
|
||||
void pose_h_10(double *state, double *unused, double *out_2963274022918519597);
|
||||
void pose_H_10(double *state, double *unused, double *out_5627581855619872909);
|
||||
void pose_h_13(double *state, double *unused, double *out_6005618121794927988);
|
||||
void pose_H_13(double *state, double *unused, double *out_1680153590307814031);
|
||||
void pose_h_14(double *state, double *unused, double *out_5652518326669022365);
|
||||
void pose_H_14(double *state, double *unused, double *out_6073170842789664360);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_2423125642091007723);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1501585610038659930);
|
||||
void pose_H_mod_fun(double *state, double *out_313504174478215792);
|
||||
void pose_f_fun(double *state, double dt, double *out_8978916703249748052);
|
||||
void pose_F_fun(double *state, double dt, double *out_3060487946531646253);
|
||||
void pose_h_4(double *state, double *unused, double *out_2072690755108230087);
|
||||
void pose_H_4(double *state, double *unused, double *out_440656827576496815);
|
||||
void pose_h_10(double *state, double *unused, double *out_3685903144892211871);
|
||||
void pose_H_10(double *state, double *unused, double *out_7274933657249705055);
|
||||
void pose_h_13(double *state, double *unused, double *out_7605941513603236476);
|
||||
void pose_H_13(double *state, double *unused, double *out_3652930652908829616);
|
||||
void pose_h_14(double *state, double *unused, double *out_732635666688386653);
|
||||
void pose_H_14(double *state, double *unused, double *out_4403897683915981344);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Reference in New Issue
Block a user