mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-05 00:05:59 +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-5312ce30-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-016e657e-DEBUG";
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||||
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@@ -1 +1 @@
|
||||
DEV-5312ce30-DEBUG
|
||||
DEV-016e657e-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_8994217345304474551) {
|
||||
out_8994217345304474551[0] = delta_x[0] + nom_x[0];
|
||||
out_8994217345304474551[1] = delta_x[1] + nom_x[1];
|
||||
out_8994217345304474551[2] = delta_x[2] + nom_x[2];
|
||||
out_8994217345304474551[3] = delta_x[3] + nom_x[3];
|
||||
out_8994217345304474551[4] = delta_x[4] + nom_x[4];
|
||||
out_8994217345304474551[5] = delta_x[5] + nom_x[5];
|
||||
out_8994217345304474551[6] = delta_x[6] + nom_x[6];
|
||||
out_8994217345304474551[7] = delta_x[7] + nom_x[7];
|
||||
out_8994217345304474551[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_3321760492551468366) {
|
||||
out_3321760492551468366[0] = delta_x[0] + nom_x[0];
|
||||
out_3321760492551468366[1] = delta_x[1] + nom_x[1];
|
||||
out_3321760492551468366[2] = delta_x[2] + nom_x[2];
|
||||
out_3321760492551468366[3] = delta_x[3] + nom_x[3];
|
||||
out_3321760492551468366[4] = delta_x[4] + nom_x[4];
|
||||
out_3321760492551468366[5] = delta_x[5] + nom_x[5];
|
||||
out_3321760492551468366[6] = delta_x[6] + nom_x[6];
|
||||
out_3321760492551468366[7] = delta_x[7] + nom_x[7];
|
||||
out_3321760492551468366[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_8635883422281677209) {
|
||||
out_8635883422281677209[0] = -nom_x[0] + true_x[0];
|
||||
out_8635883422281677209[1] = -nom_x[1] + true_x[1];
|
||||
out_8635883422281677209[2] = -nom_x[2] + true_x[2];
|
||||
out_8635883422281677209[3] = -nom_x[3] + true_x[3];
|
||||
out_8635883422281677209[4] = -nom_x[4] + true_x[4];
|
||||
out_8635883422281677209[5] = -nom_x[5] + true_x[5];
|
||||
out_8635883422281677209[6] = -nom_x[6] + true_x[6];
|
||||
out_8635883422281677209[7] = -nom_x[7] + true_x[7];
|
||||
out_8635883422281677209[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3697485090417495632) {
|
||||
out_3697485090417495632[0] = -nom_x[0] + true_x[0];
|
||||
out_3697485090417495632[1] = -nom_x[1] + true_x[1];
|
||||
out_3697485090417495632[2] = -nom_x[2] + true_x[2];
|
||||
out_3697485090417495632[3] = -nom_x[3] + true_x[3];
|
||||
out_3697485090417495632[4] = -nom_x[4] + true_x[4];
|
||||
out_3697485090417495632[5] = -nom_x[5] + true_x[5];
|
||||
out_3697485090417495632[6] = -nom_x[6] + true_x[6];
|
||||
out_3697485090417495632[7] = -nom_x[7] + true_x[7];
|
||||
out_3697485090417495632[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_5835492163818982048) {
|
||||
out_5835492163818982048[0] = 1.0;
|
||||
out_5835492163818982048[1] = 0.0;
|
||||
out_5835492163818982048[2] = 0.0;
|
||||
out_5835492163818982048[3] = 0.0;
|
||||
out_5835492163818982048[4] = 0.0;
|
||||
out_5835492163818982048[5] = 0.0;
|
||||
out_5835492163818982048[6] = 0.0;
|
||||
out_5835492163818982048[7] = 0.0;
|
||||
out_5835492163818982048[8] = 0.0;
|
||||
out_5835492163818982048[9] = 0.0;
|
||||
out_5835492163818982048[10] = 1.0;
|
||||
out_5835492163818982048[11] = 0.0;
|
||||
out_5835492163818982048[12] = 0.0;
|
||||
out_5835492163818982048[13] = 0.0;
|
||||
out_5835492163818982048[14] = 0.0;
|
||||
out_5835492163818982048[15] = 0.0;
|
||||
out_5835492163818982048[16] = 0.0;
|
||||
out_5835492163818982048[17] = 0.0;
|
||||
out_5835492163818982048[18] = 0.0;
|
||||
out_5835492163818982048[19] = 0.0;
|
||||
out_5835492163818982048[20] = 1.0;
|
||||
out_5835492163818982048[21] = 0.0;
|
||||
out_5835492163818982048[22] = 0.0;
|
||||
out_5835492163818982048[23] = 0.0;
|
||||
out_5835492163818982048[24] = 0.0;
|
||||
out_5835492163818982048[25] = 0.0;
|
||||
out_5835492163818982048[26] = 0.0;
|
||||
out_5835492163818982048[27] = 0.0;
|
||||
out_5835492163818982048[28] = 0.0;
|
||||
out_5835492163818982048[29] = 0.0;
|
||||
out_5835492163818982048[30] = 1.0;
|
||||
out_5835492163818982048[31] = 0.0;
|
||||
out_5835492163818982048[32] = 0.0;
|
||||
out_5835492163818982048[33] = 0.0;
|
||||
out_5835492163818982048[34] = 0.0;
|
||||
out_5835492163818982048[35] = 0.0;
|
||||
out_5835492163818982048[36] = 0.0;
|
||||
out_5835492163818982048[37] = 0.0;
|
||||
out_5835492163818982048[38] = 0.0;
|
||||
out_5835492163818982048[39] = 0.0;
|
||||
out_5835492163818982048[40] = 1.0;
|
||||
out_5835492163818982048[41] = 0.0;
|
||||
out_5835492163818982048[42] = 0.0;
|
||||
out_5835492163818982048[43] = 0.0;
|
||||
out_5835492163818982048[44] = 0.0;
|
||||
out_5835492163818982048[45] = 0.0;
|
||||
out_5835492163818982048[46] = 0.0;
|
||||
out_5835492163818982048[47] = 0.0;
|
||||
out_5835492163818982048[48] = 0.0;
|
||||
out_5835492163818982048[49] = 0.0;
|
||||
out_5835492163818982048[50] = 1.0;
|
||||
out_5835492163818982048[51] = 0.0;
|
||||
out_5835492163818982048[52] = 0.0;
|
||||
out_5835492163818982048[53] = 0.0;
|
||||
out_5835492163818982048[54] = 0.0;
|
||||
out_5835492163818982048[55] = 0.0;
|
||||
out_5835492163818982048[56] = 0.0;
|
||||
out_5835492163818982048[57] = 0.0;
|
||||
out_5835492163818982048[58] = 0.0;
|
||||
out_5835492163818982048[59] = 0.0;
|
||||
out_5835492163818982048[60] = 1.0;
|
||||
out_5835492163818982048[61] = 0.0;
|
||||
out_5835492163818982048[62] = 0.0;
|
||||
out_5835492163818982048[63] = 0.0;
|
||||
out_5835492163818982048[64] = 0.0;
|
||||
out_5835492163818982048[65] = 0.0;
|
||||
out_5835492163818982048[66] = 0.0;
|
||||
out_5835492163818982048[67] = 0.0;
|
||||
out_5835492163818982048[68] = 0.0;
|
||||
out_5835492163818982048[69] = 0.0;
|
||||
out_5835492163818982048[70] = 1.0;
|
||||
out_5835492163818982048[71] = 0.0;
|
||||
out_5835492163818982048[72] = 0.0;
|
||||
out_5835492163818982048[73] = 0.0;
|
||||
out_5835492163818982048[74] = 0.0;
|
||||
out_5835492163818982048[75] = 0.0;
|
||||
out_5835492163818982048[76] = 0.0;
|
||||
out_5835492163818982048[77] = 0.0;
|
||||
out_5835492163818982048[78] = 0.0;
|
||||
out_5835492163818982048[79] = 0.0;
|
||||
out_5835492163818982048[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_4190227621087458402) {
|
||||
out_4190227621087458402[0] = 1.0;
|
||||
out_4190227621087458402[1] = 0.0;
|
||||
out_4190227621087458402[2] = 0.0;
|
||||
out_4190227621087458402[3] = 0.0;
|
||||
out_4190227621087458402[4] = 0.0;
|
||||
out_4190227621087458402[5] = 0.0;
|
||||
out_4190227621087458402[6] = 0.0;
|
||||
out_4190227621087458402[7] = 0.0;
|
||||
out_4190227621087458402[8] = 0.0;
|
||||
out_4190227621087458402[9] = 0.0;
|
||||
out_4190227621087458402[10] = 1.0;
|
||||
out_4190227621087458402[11] = 0.0;
|
||||
out_4190227621087458402[12] = 0.0;
|
||||
out_4190227621087458402[13] = 0.0;
|
||||
out_4190227621087458402[14] = 0.0;
|
||||
out_4190227621087458402[15] = 0.0;
|
||||
out_4190227621087458402[16] = 0.0;
|
||||
out_4190227621087458402[17] = 0.0;
|
||||
out_4190227621087458402[18] = 0.0;
|
||||
out_4190227621087458402[19] = 0.0;
|
||||
out_4190227621087458402[20] = 1.0;
|
||||
out_4190227621087458402[21] = 0.0;
|
||||
out_4190227621087458402[22] = 0.0;
|
||||
out_4190227621087458402[23] = 0.0;
|
||||
out_4190227621087458402[24] = 0.0;
|
||||
out_4190227621087458402[25] = 0.0;
|
||||
out_4190227621087458402[26] = 0.0;
|
||||
out_4190227621087458402[27] = 0.0;
|
||||
out_4190227621087458402[28] = 0.0;
|
||||
out_4190227621087458402[29] = 0.0;
|
||||
out_4190227621087458402[30] = 1.0;
|
||||
out_4190227621087458402[31] = 0.0;
|
||||
out_4190227621087458402[32] = 0.0;
|
||||
out_4190227621087458402[33] = 0.0;
|
||||
out_4190227621087458402[34] = 0.0;
|
||||
out_4190227621087458402[35] = 0.0;
|
||||
out_4190227621087458402[36] = 0.0;
|
||||
out_4190227621087458402[37] = 0.0;
|
||||
out_4190227621087458402[38] = 0.0;
|
||||
out_4190227621087458402[39] = 0.0;
|
||||
out_4190227621087458402[40] = 1.0;
|
||||
out_4190227621087458402[41] = 0.0;
|
||||
out_4190227621087458402[42] = 0.0;
|
||||
out_4190227621087458402[43] = 0.0;
|
||||
out_4190227621087458402[44] = 0.0;
|
||||
out_4190227621087458402[45] = 0.0;
|
||||
out_4190227621087458402[46] = 0.0;
|
||||
out_4190227621087458402[47] = 0.0;
|
||||
out_4190227621087458402[48] = 0.0;
|
||||
out_4190227621087458402[49] = 0.0;
|
||||
out_4190227621087458402[50] = 1.0;
|
||||
out_4190227621087458402[51] = 0.0;
|
||||
out_4190227621087458402[52] = 0.0;
|
||||
out_4190227621087458402[53] = 0.0;
|
||||
out_4190227621087458402[54] = 0.0;
|
||||
out_4190227621087458402[55] = 0.0;
|
||||
out_4190227621087458402[56] = 0.0;
|
||||
out_4190227621087458402[57] = 0.0;
|
||||
out_4190227621087458402[58] = 0.0;
|
||||
out_4190227621087458402[59] = 0.0;
|
||||
out_4190227621087458402[60] = 1.0;
|
||||
out_4190227621087458402[61] = 0.0;
|
||||
out_4190227621087458402[62] = 0.0;
|
||||
out_4190227621087458402[63] = 0.0;
|
||||
out_4190227621087458402[64] = 0.0;
|
||||
out_4190227621087458402[65] = 0.0;
|
||||
out_4190227621087458402[66] = 0.0;
|
||||
out_4190227621087458402[67] = 0.0;
|
||||
out_4190227621087458402[68] = 0.0;
|
||||
out_4190227621087458402[69] = 0.0;
|
||||
out_4190227621087458402[70] = 1.0;
|
||||
out_4190227621087458402[71] = 0.0;
|
||||
out_4190227621087458402[72] = 0.0;
|
||||
out_4190227621087458402[73] = 0.0;
|
||||
out_4190227621087458402[74] = 0.0;
|
||||
out_4190227621087458402[75] = 0.0;
|
||||
out_4190227621087458402[76] = 0.0;
|
||||
out_4190227621087458402[77] = 0.0;
|
||||
out_4190227621087458402[78] = 0.0;
|
||||
out_4190227621087458402[79] = 0.0;
|
||||
out_4190227621087458402[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_9046400166044584491) {
|
||||
out_9046400166044584491[0] = state[0];
|
||||
out_9046400166044584491[1] = state[1];
|
||||
out_9046400166044584491[2] = state[2];
|
||||
out_9046400166044584491[3] = state[3];
|
||||
out_9046400166044584491[4] = state[4];
|
||||
out_9046400166044584491[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_9046400166044584491[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_9046400166044584491[7] = state[7];
|
||||
out_9046400166044584491[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_6456348943274406543) {
|
||||
out_6456348943274406543[0] = state[0];
|
||||
out_6456348943274406543[1] = state[1];
|
||||
out_6456348943274406543[2] = state[2];
|
||||
out_6456348943274406543[3] = state[3];
|
||||
out_6456348943274406543[4] = state[4];
|
||||
out_6456348943274406543[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_6456348943274406543[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_6456348943274406543[7] = state[7];
|
||||
out_6456348943274406543[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_8585883916966185499) {
|
||||
out_8585883916966185499[0] = 1;
|
||||
out_8585883916966185499[1] = 0;
|
||||
out_8585883916966185499[2] = 0;
|
||||
out_8585883916966185499[3] = 0;
|
||||
out_8585883916966185499[4] = 0;
|
||||
out_8585883916966185499[5] = 0;
|
||||
out_8585883916966185499[6] = 0;
|
||||
out_8585883916966185499[7] = 0;
|
||||
out_8585883916966185499[8] = 0;
|
||||
out_8585883916966185499[9] = 0;
|
||||
out_8585883916966185499[10] = 1;
|
||||
out_8585883916966185499[11] = 0;
|
||||
out_8585883916966185499[12] = 0;
|
||||
out_8585883916966185499[13] = 0;
|
||||
out_8585883916966185499[14] = 0;
|
||||
out_8585883916966185499[15] = 0;
|
||||
out_8585883916966185499[16] = 0;
|
||||
out_8585883916966185499[17] = 0;
|
||||
out_8585883916966185499[18] = 0;
|
||||
out_8585883916966185499[19] = 0;
|
||||
out_8585883916966185499[20] = 1;
|
||||
out_8585883916966185499[21] = 0;
|
||||
out_8585883916966185499[22] = 0;
|
||||
out_8585883916966185499[23] = 0;
|
||||
out_8585883916966185499[24] = 0;
|
||||
out_8585883916966185499[25] = 0;
|
||||
out_8585883916966185499[26] = 0;
|
||||
out_8585883916966185499[27] = 0;
|
||||
out_8585883916966185499[28] = 0;
|
||||
out_8585883916966185499[29] = 0;
|
||||
out_8585883916966185499[30] = 1;
|
||||
out_8585883916966185499[31] = 0;
|
||||
out_8585883916966185499[32] = 0;
|
||||
out_8585883916966185499[33] = 0;
|
||||
out_8585883916966185499[34] = 0;
|
||||
out_8585883916966185499[35] = 0;
|
||||
out_8585883916966185499[36] = 0;
|
||||
out_8585883916966185499[37] = 0;
|
||||
out_8585883916966185499[38] = 0;
|
||||
out_8585883916966185499[39] = 0;
|
||||
out_8585883916966185499[40] = 1;
|
||||
out_8585883916966185499[41] = 0;
|
||||
out_8585883916966185499[42] = 0;
|
||||
out_8585883916966185499[43] = 0;
|
||||
out_8585883916966185499[44] = 0;
|
||||
out_8585883916966185499[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_8585883916966185499[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8585883916966185499[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8585883916966185499[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8585883916966185499[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_8585883916966185499[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8585883916966185499[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8585883916966185499[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8585883916966185499[53] = -9.8100000000000005*dt;
|
||||
out_8585883916966185499[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_8585883916966185499[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8585883916966185499[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8585883916966185499[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8585883916966185499[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_8585883916966185499[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8585883916966185499[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_8585883916966185499[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8585883916966185499[62] = 0;
|
||||
out_8585883916966185499[63] = 0;
|
||||
out_8585883916966185499[64] = 0;
|
||||
out_8585883916966185499[65] = 0;
|
||||
out_8585883916966185499[66] = 0;
|
||||
out_8585883916966185499[67] = 0;
|
||||
out_8585883916966185499[68] = 0;
|
||||
out_8585883916966185499[69] = 0;
|
||||
out_8585883916966185499[70] = 1;
|
||||
out_8585883916966185499[71] = 0;
|
||||
out_8585883916966185499[72] = 0;
|
||||
out_8585883916966185499[73] = 0;
|
||||
out_8585883916966185499[74] = 0;
|
||||
out_8585883916966185499[75] = 0;
|
||||
out_8585883916966185499[76] = 0;
|
||||
out_8585883916966185499[77] = 0;
|
||||
out_8585883916966185499[78] = 0;
|
||||
out_8585883916966185499[79] = 0;
|
||||
out_8585883916966185499[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_4201765287475637381) {
|
||||
out_4201765287475637381[0] = 1;
|
||||
out_4201765287475637381[1] = 0;
|
||||
out_4201765287475637381[2] = 0;
|
||||
out_4201765287475637381[3] = 0;
|
||||
out_4201765287475637381[4] = 0;
|
||||
out_4201765287475637381[5] = 0;
|
||||
out_4201765287475637381[6] = 0;
|
||||
out_4201765287475637381[7] = 0;
|
||||
out_4201765287475637381[8] = 0;
|
||||
out_4201765287475637381[9] = 0;
|
||||
out_4201765287475637381[10] = 1;
|
||||
out_4201765287475637381[11] = 0;
|
||||
out_4201765287475637381[12] = 0;
|
||||
out_4201765287475637381[13] = 0;
|
||||
out_4201765287475637381[14] = 0;
|
||||
out_4201765287475637381[15] = 0;
|
||||
out_4201765287475637381[16] = 0;
|
||||
out_4201765287475637381[17] = 0;
|
||||
out_4201765287475637381[18] = 0;
|
||||
out_4201765287475637381[19] = 0;
|
||||
out_4201765287475637381[20] = 1;
|
||||
out_4201765287475637381[21] = 0;
|
||||
out_4201765287475637381[22] = 0;
|
||||
out_4201765287475637381[23] = 0;
|
||||
out_4201765287475637381[24] = 0;
|
||||
out_4201765287475637381[25] = 0;
|
||||
out_4201765287475637381[26] = 0;
|
||||
out_4201765287475637381[27] = 0;
|
||||
out_4201765287475637381[28] = 0;
|
||||
out_4201765287475637381[29] = 0;
|
||||
out_4201765287475637381[30] = 1;
|
||||
out_4201765287475637381[31] = 0;
|
||||
out_4201765287475637381[32] = 0;
|
||||
out_4201765287475637381[33] = 0;
|
||||
out_4201765287475637381[34] = 0;
|
||||
out_4201765287475637381[35] = 0;
|
||||
out_4201765287475637381[36] = 0;
|
||||
out_4201765287475637381[37] = 0;
|
||||
out_4201765287475637381[38] = 0;
|
||||
out_4201765287475637381[39] = 0;
|
||||
out_4201765287475637381[40] = 1;
|
||||
out_4201765287475637381[41] = 0;
|
||||
out_4201765287475637381[42] = 0;
|
||||
out_4201765287475637381[43] = 0;
|
||||
out_4201765287475637381[44] = 0;
|
||||
out_4201765287475637381[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_4201765287475637381[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_4201765287475637381[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4201765287475637381[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4201765287475637381[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_4201765287475637381[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_4201765287475637381[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_4201765287475637381[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4201765287475637381[53] = -9.8100000000000005*dt;
|
||||
out_4201765287475637381[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_4201765287475637381[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_4201765287475637381[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4201765287475637381[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4201765287475637381[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_4201765287475637381[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_4201765287475637381[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_4201765287475637381[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4201765287475637381[62] = 0;
|
||||
out_4201765287475637381[63] = 0;
|
||||
out_4201765287475637381[64] = 0;
|
||||
out_4201765287475637381[65] = 0;
|
||||
out_4201765287475637381[66] = 0;
|
||||
out_4201765287475637381[67] = 0;
|
||||
out_4201765287475637381[68] = 0;
|
||||
out_4201765287475637381[69] = 0;
|
||||
out_4201765287475637381[70] = 1;
|
||||
out_4201765287475637381[71] = 0;
|
||||
out_4201765287475637381[72] = 0;
|
||||
out_4201765287475637381[73] = 0;
|
||||
out_4201765287475637381[74] = 0;
|
||||
out_4201765287475637381[75] = 0;
|
||||
out_4201765287475637381[76] = 0;
|
||||
out_4201765287475637381[77] = 0;
|
||||
out_4201765287475637381[78] = 0;
|
||||
out_4201765287475637381[79] = 0;
|
||||
out_4201765287475637381[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_1895365982627284096) {
|
||||
out_1895365982627284096[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_9136101134851125551) {
|
||||
out_9136101134851125551[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_3357696062093255189) {
|
||||
out_3357696062093255189[0] = 0;
|
||||
out_3357696062093255189[1] = 0;
|
||||
out_3357696062093255189[2] = 0;
|
||||
out_3357696062093255189[3] = 0;
|
||||
out_3357696062093255189[4] = 0;
|
||||
out_3357696062093255189[5] = 0;
|
||||
out_3357696062093255189[6] = 1;
|
||||
out_3357696062093255189[7] = 0;
|
||||
out_3357696062093255189[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_7713208271076950079) {
|
||||
out_7713208271076950079[0] = 0;
|
||||
out_7713208271076950079[1] = 0;
|
||||
out_7713208271076950079[2] = 0;
|
||||
out_7713208271076950079[3] = 0;
|
||||
out_7713208271076950079[4] = 0;
|
||||
out_7713208271076950079[5] = 0;
|
||||
out_7713208271076950079[6] = 1;
|
||||
out_7713208271076950079[7] = 0;
|
||||
out_7713208271076950079[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_5360338391580302842) {
|
||||
out_5360338391580302842[0] = state[4];
|
||||
out_5360338391580302842[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_8665340836537612490) {
|
||||
out_8665340836537612490[0] = state[4];
|
||||
out_8665340836537612490[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_5530345661098754755) {
|
||||
out_5530345661098754755[0] = 0;
|
||||
out_5530345661098754755[1] = 0;
|
||||
out_5530345661098754755[2] = 0;
|
||||
out_5530345661098754755[3] = 0;
|
||||
out_5530345661098754755[4] = 1;
|
||||
out_5530345661098754755[5] = 0;
|
||||
out_5530345661098754755[6] = 0;
|
||||
out_5530345661098754755[7] = 0;
|
||||
out_5530345661098754755[8] = 0;
|
||||
out_5530345661098754755[9] = 0;
|
||||
out_5530345661098754755[10] = 0;
|
||||
out_5530345661098754755[11] = 0;
|
||||
out_5530345661098754755[12] = 0;
|
||||
out_5530345661098754755[13] = 0;
|
||||
out_5530345661098754755[14] = 1;
|
||||
out_5530345661098754755[15] = 0;
|
||||
out_5530345661098754755[16] = 0;
|
||||
out_5530345661098754755[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_7175610203830278401) {
|
||||
out_7175610203830278401[0] = 0;
|
||||
out_7175610203830278401[1] = 0;
|
||||
out_7175610203830278401[2] = 0;
|
||||
out_7175610203830278401[3] = 0;
|
||||
out_7175610203830278401[4] = 1;
|
||||
out_7175610203830278401[5] = 0;
|
||||
out_7175610203830278401[6] = 0;
|
||||
out_7175610203830278401[7] = 0;
|
||||
out_7175610203830278401[8] = 0;
|
||||
out_7175610203830278401[9] = 0;
|
||||
out_7175610203830278401[10] = 0;
|
||||
out_7175610203830278401[11] = 0;
|
||||
out_7175610203830278401[12] = 0;
|
||||
out_7175610203830278401[13] = 0;
|
||||
out_7175610203830278401[14] = 1;
|
||||
out_7175610203830278401[15] = 0;
|
||||
out_7175610203830278401[16] = 0;
|
||||
out_7175610203830278401[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_2052552650978413241) {
|
||||
out_2052552650978413241[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_4641549406917500638) {
|
||||
out_4641549406917500638[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_839363103586006562) {
|
||||
out_839363103586006562[0] = 0;
|
||||
out_839363103586006562[1] = 0;
|
||||
out_839363103586006562[2] = 0;
|
||||
out_839363103586006562[3] = 0;
|
||||
out_839363103586006562[4] = 1;
|
||||
out_839363103586006562[5] = 0;
|
||||
out_839363103586006562[6] = 0;
|
||||
out_839363103586006562[7] = 0;
|
||||
out_839363103586006562[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_3185511940949341881) {
|
||||
out_3185511940949341881[0] = 0;
|
||||
out_3185511940949341881[1] = 0;
|
||||
out_3185511940949341881[2] = 0;
|
||||
out_3185511940949341881[3] = 0;
|
||||
out_3185511940949341881[4] = 1;
|
||||
out_3185511940949341881[5] = 0;
|
||||
out_3185511940949341881[6] = 0;
|
||||
out_3185511940949341881[7] = 0;
|
||||
out_3185511940949341881[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_2655868535654890758) {
|
||||
out_2655868535654890758[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_2793594027511200175) {
|
||||
out_2793594027511200175[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_53170092332454588) {
|
||||
out_53170092332454588[0] = 0;
|
||||
out_53170092332454588[1] = 0;
|
||||
out_53170092332454588[2] = 0;
|
||||
out_53170092332454588[3] = 0;
|
||||
out_53170092332454588[4] = 0;
|
||||
out_53170092332454588[5] = 0;
|
||||
out_53170092332454588[6] = 0;
|
||||
out_53170092332454588[7] = 1;
|
||||
out_53170092332454588[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_3971704952202893855) {
|
||||
out_3971704952202893855[0] = 0;
|
||||
out_3971704952202893855[1] = 0;
|
||||
out_3971704952202893855[2] = 0;
|
||||
out_3971704952202893855[3] = 0;
|
||||
out_3971704952202893855[4] = 0;
|
||||
out_3971704952202893855[5] = 0;
|
||||
out_3971704952202893855[6] = 0;
|
||||
out_3971704952202893855[7] = 1;
|
||||
out_3971704952202893855[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3774772722470275260) {
|
||||
out_3774772722470275260[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_5860253322103668962) {
|
||||
out_5860253322103668962[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_1384230967597936655) {
|
||||
out_1384230967597936655[0] = 0;
|
||||
out_1384230967597936655[1] = 0;
|
||||
out_1384230967597936655[2] = 0;
|
||||
out_1384230967597936655[3] = 1;
|
||||
out_1384230967597936655[4] = 0;
|
||||
out_1384230967597936655[5] = 0;
|
||||
out_1384230967597936655[6] = 0;
|
||||
out_1384230967597936655[7] = 0;
|
||||
out_1384230967597936655[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_5409106012133285098) {
|
||||
out_5409106012133285098[0] = 0;
|
||||
out_5409106012133285098[1] = 0;
|
||||
out_5409106012133285098[2] = 0;
|
||||
out_5409106012133285098[3] = 1;
|
||||
out_5409106012133285098[4] = 0;
|
||||
out_5409106012133285098[5] = 0;
|
||||
out_5409106012133285098[6] = 0;
|
||||
out_5409106012133285098[7] = 0;
|
||||
out_5409106012133285098[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_4656957971787110892) {
|
||||
out_4656957971787110892[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_5585059259819163073) {
|
||||
out_5585059259819163073[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_329131759271614378) {
|
||||
out_329131759271614378[0] = 0;
|
||||
out_329131759271614378[1] = 1;
|
||||
out_329131759271614378[2] = 0;
|
||||
out_329131759271614378[3] = 0;
|
||||
out_329131759271614378[4] = 0;
|
||||
out_329131759271614378[5] = 0;
|
||||
out_329131759271614378[6] = 0;
|
||||
out_329131759271614378[7] = 0;
|
||||
out_329131759271614378[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_3695743285263734065) {
|
||||
out_3695743285263734065[0] = 0;
|
||||
out_3695743285263734065[1] = 1;
|
||||
out_3695743285263734065[2] = 0;
|
||||
out_3695743285263734065[3] = 0;
|
||||
out_3695743285263734065[4] = 0;
|
||||
out_3695743285263734065[5] = 0;
|
||||
out_3695743285263734065[6] = 0;
|
||||
out_3695743285263734065[7] = 0;
|
||||
out_3695743285263734065[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_1170367401661577609) {
|
||||
out_1170367401661577609[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_6187449234192033508) {
|
||||
out_6187449234192033508[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_5411530776341144952) {
|
||||
out_5411530776341144952[0] = 1;
|
||||
out_5411530776341144952[1] = 0;
|
||||
out_5411530776341144952[2] = 0;
|
||||
out_5411530776341144952[3] = 0;
|
||||
out_5411530776341144952[4] = 0;
|
||||
out_5411530776341144952[5] = 0;
|
||||
out_5411530776341144952[6] = 0;
|
||||
out_5411530776341144952[7] = 0;
|
||||
out_5411530776341144952[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_1386655731805796509) {
|
||||
out_1386655731805796509[0] = 1;
|
||||
out_1386655731805796509[1] = 0;
|
||||
out_1386655731805796509[2] = 0;
|
||||
out_1386655731805796509[3] = 0;
|
||||
out_1386655731805796509[4] = 0;
|
||||
out_1386655731805796509[5] = 0;
|
||||
out_1386655731805796509[6] = 0;
|
||||
out_1386655731805796509[7] = 0;
|
||||
out_1386655731805796509[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_1437164620468722434) {
|
||||
out_1437164620468722434[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_2365265908500774615) {
|
||||
out_2365265908500774615[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_7725407483200662889) {
|
||||
out_7725407483200662889[0] = 0;
|
||||
out_7725407483200662889[1] = 0;
|
||||
out_7725407483200662889[2] = 0;
|
||||
out_7725407483200662889[3] = 0;
|
||||
out_7725407483200662889[4] = 0;
|
||||
out_7725407483200662889[5] = 0;
|
||||
out_7725407483200662889[6] = 0;
|
||||
out_7725407483200662889[7] = 0;
|
||||
out_7725407483200662889[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_7743854232953910507) {
|
||||
out_7743854232953910507[0] = 0;
|
||||
out_7743854232953910507[1] = 0;
|
||||
out_7743854232953910507[2] = 0;
|
||||
out_7743854232953910507[3] = 0;
|
||||
out_7743854232953910507[4] = 0;
|
||||
out_7743854232953910507[5] = 0;
|
||||
out_7743854232953910507[6] = 0;
|
||||
out_7743854232953910507[7] = 0;
|
||||
out_7743854232953910507[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_8994217345304474551) {
|
||||
err_fun(nom_x, delta_x, out_8994217345304474551);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3321760492551468366) {
|
||||
err_fun(nom_x, delta_x, out_3321760492551468366);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8635883422281677209) {
|
||||
inv_err_fun(nom_x, true_x, out_8635883422281677209);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3697485090417495632) {
|
||||
inv_err_fun(nom_x, true_x, out_3697485090417495632);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_5835492163818982048) {
|
||||
H_mod_fun(state, out_5835492163818982048);
|
||||
void car_H_mod_fun(double *state, double *out_4190227621087458402) {
|
||||
H_mod_fun(state, out_4190227621087458402);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_9046400166044584491) {
|
||||
f_fun(state, dt, out_9046400166044584491);
|
||||
void car_f_fun(double *state, double dt, double *out_6456348943274406543) {
|
||||
f_fun(state, dt, out_6456348943274406543);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_8585883916966185499) {
|
||||
F_fun(state, dt, out_8585883916966185499);
|
||||
void car_F_fun(double *state, double dt, double *out_4201765287475637381) {
|
||||
F_fun(state, dt, out_4201765287475637381);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_1895365982627284096) {
|
||||
h_25(state, unused, out_1895365982627284096);
|
||||
void car_h_25(double *state, double *unused, double *out_9136101134851125551) {
|
||||
h_25(state, unused, out_9136101134851125551);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_3357696062093255189) {
|
||||
H_25(state, unused, out_3357696062093255189);
|
||||
void car_H_25(double *state, double *unused, double *out_7713208271076950079) {
|
||||
H_25(state, unused, out_7713208271076950079);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_5360338391580302842) {
|
||||
h_24(state, unused, out_5360338391580302842);
|
||||
void car_h_24(double *state, double *unused, double *out_8665340836537612490) {
|
||||
h_24(state, unused, out_8665340836537612490);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_5530345661098754755) {
|
||||
H_24(state, unused, out_5530345661098754755);
|
||||
void car_H_24(double *state, double *unused, double *out_7175610203830278401) {
|
||||
H_24(state, unused, out_7175610203830278401);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_2052552650978413241) {
|
||||
h_30(state, unused, out_2052552650978413241);
|
||||
void car_h_30(double *state, double *unused, double *out_4641549406917500638) {
|
||||
h_30(state, unused, out_4641549406917500638);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_839363103586006562) {
|
||||
H_30(state, unused, out_839363103586006562);
|
||||
void car_H_30(double *state, double *unused, double *out_3185511940949341881) {
|
||||
H_30(state, unused, out_3185511940949341881);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_2655868535654890758) {
|
||||
h_26(state, unused, out_2655868535654890758);
|
||||
void car_h_26(double *state, double *unused, double *out_2793594027511200175) {
|
||||
h_26(state, unused, out_2793594027511200175);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_53170092332454588) {
|
||||
H_26(state, unused, out_53170092332454588);
|
||||
void car_H_26(double *state, double *unused, double *out_3971704952202893855) {
|
||||
H_26(state, unused, out_3971704952202893855);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3774772722470275260) {
|
||||
h_27(state, unused, out_3774772722470275260);
|
||||
void car_h_27(double *state, double *unused, double *out_5860253322103668962) {
|
||||
h_27(state, unused, out_5860253322103668962);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_1384230967597936655) {
|
||||
H_27(state, unused, out_1384230967597936655);
|
||||
void car_H_27(double *state, double *unused, double *out_5409106012133285098) {
|
||||
H_27(state, unused, out_5409106012133285098);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_4656957971787110892) {
|
||||
h_29(state, unused, out_4656957971787110892);
|
||||
void car_h_29(double *state, double *unused, double *out_5585059259819163073) {
|
||||
h_29(state, unused, out_5585059259819163073);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_329131759271614378) {
|
||||
H_29(state, unused, out_329131759271614378);
|
||||
void car_H_29(double *state, double *unused, double *out_3695743285263734065) {
|
||||
H_29(state, unused, out_3695743285263734065);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_1170367401661577609) {
|
||||
h_28(state, unused, out_1170367401661577609);
|
||||
void car_h_28(double *state, double *unused, double *out_6187449234192033508) {
|
||||
h_28(state, unused, out_6187449234192033508);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_5411530776341144952) {
|
||||
H_28(state, unused, out_5411530776341144952);
|
||||
void car_H_28(double *state, double *unused, double *out_1386655731805796509) {
|
||||
H_28(state, unused, out_1386655731805796509);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_1437164620468722434) {
|
||||
h_31(state, unused, out_1437164620468722434);
|
||||
void car_h_31(double *state, double *unused, double *out_2365265908500774615) {
|
||||
h_31(state, unused, out_2365265908500774615);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_7725407483200662889) {
|
||||
H_31(state, unused, out_7725407483200662889);
|
||||
void car_H_31(double *state, double *unused, double *out_7743854232953910507) {
|
||||
H_31(state, unused, out_7743854232953910507);
|
||||
}
|
||||
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_8994217345304474551);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8635883422281677209);
|
||||
void car_H_mod_fun(double *state, double *out_5835492163818982048);
|
||||
void car_f_fun(double *state, double dt, double *out_9046400166044584491);
|
||||
void car_F_fun(double *state, double dt, double *out_8585883916966185499);
|
||||
void car_h_25(double *state, double *unused, double *out_1895365982627284096);
|
||||
void car_H_25(double *state, double *unused, double *out_3357696062093255189);
|
||||
void car_h_24(double *state, double *unused, double *out_5360338391580302842);
|
||||
void car_H_24(double *state, double *unused, double *out_5530345661098754755);
|
||||
void car_h_30(double *state, double *unused, double *out_2052552650978413241);
|
||||
void car_H_30(double *state, double *unused, double *out_839363103586006562);
|
||||
void car_h_26(double *state, double *unused, double *out_2655868535654890758);
|
||||
void car_H_26(double *state, double *unused, double *out_53170092332454588);
|
||||
void car_h_27(double *state, double *unused, double *out_3774772722470275260);
|
||||
void car_H_27(double *state, double *unused, double *out_1384230967597936655);
|
||||
void car_h_29(double *state, double *unused, double *out_4656957971787110892);
|
||||
void car_H_29(double *state, double *unused, double *out_329131759271614378);
|
||||
void car_h_28(double *state, double *unused, double *out_1170367401661577609);
|
||||
void car_H_28(double *state, double *unused, double *out_5411530776341144952);
|
||||
void car_h_31(double *state, double *unused, double *out_1437164620468722434);
|
||||
void car_H_31(double *state, double *unused, double *out_7725407483200662889);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3321760492551468366);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3697485090417495632);
|
||||
void car_H_mod_fun(double *state, double *out_4190227621087458402);
|
||||
void car_f_fun(double *state, double dt, double *out_6456348943274406543);
|
||||
void car_F_fun(double *state, double dt, double *out_4201765287475637381);
|
||||
void car_h_25(double *state, double *unused, double *out_9136101134851125551);
|
||||
void car_H_25(double *state, double *unused, double *out_7713208271076950079);
|
||||
void car_h_24(double *state, double *unused, double *out_8665340836537612490);
|
||||
void car_H_24(double *state, double *unused, double *out_7175610203830278401);
|
||||
void car_h_30(double *state, double *unused, double *out_4641549406917500638);
|
||||
void car_H_30(double *state, double *unused, double *out_3185511940949341881);
|
||||
void car_h_26(double *state, double *unused, double *out_2793594027511200175);
|
||||
void car_H_26(double *state, double *unused, double *out_3971704952202893855);
|
||||
void car_h_27(double *state, double *unused, double *out_5860253322103668962);
|
||||
void car_H_27(double *state, double *unused, double *out_5409106012133285098);
|
||||
void car_h_29(double *state, double *unused, double *out_5585059259819163073);
|
||||
void car_H_29(double *state, double *unused, double *out_3695743285263734065);
|
||||
void car_h_28(double *state, double *unused, double *out_6187449234192033508);
|
||||
void car_H_28(double *state, double *unused, double *out_1386655731805796509);
|
||||
void car_h_31(double *state, double *unused, double *out_2365265908500774615);
|
||||
void car_H_31(double *state, double *unused, double *out_7743854232953910507);
|
||||
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_5188089899736494345);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_516319331577825853);
|
||||
void pose_H_mod_fun(double *state, double *out_4951567132479851062);
|
||||
void pose_f_fun(double *state, double dt, double *out_898454825503606476);
|
||||
void pose_F_fun(double *state, double dt, double *out_906698228237069812);
|
||||
void pose_h_4(double *state, double *unused, double *out_6577940567349030778);
|
||||
void pose_H_4(double *state, double *unused, double *out_913158878120160673);
|
||||
void pose_h_10(double *state, double *unused, double *out_3373051515203641771);
|
||||
void pose_H_10(double *state, double *unused, double *out_7288760212554836769);
|
||||
void pose_h_13(double *state, double *unused, double *out_413669578140119338);
|
||||
void pose_H_13(double *state, double *unused, double *out_8523790086436861602);
|
||||
void pose_h_14(double *state, double *unused, double *out_8770101800505378255);
|
||||
void pose_H_14(double *state, double *unused, double *out_4876399734459645202);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_6247163002975687744);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2784495282432373016);
|
||||
void pose_H_mod_fun(double *state, double *out_662979392671356586);
|
||||
void pose_f_fun(double *state, double dt, double *out_5358842043988680887);
|
||||
void pose_F_fun(double *state, double dt, double *out_6970610951587922797);
|
||||
void pose_h_4(double *state, double *unused, double *out_3613363558024225199);
|
||||
void pose_H_4(double *state, double *unused, double *out_8770780261124510538);
|
||||
void pose_h_10(double *state, double *unused, double *out_7325246586980236980);
|
||||
void pose_H_10(double *state, double *unused, double *out_8143750738918534214);
|
||||
void pose_h_13(double *state, double *unused, double *out_4440237870440636920);
|
||||
void pose_H_13(double *state, double *unused, double *out_5558506435792177737);
|
||||
void pose_h_14(double *state, double *unused, double *out_854572314087465107);
|
||||
void pose_H_14(double *state, double *unused, double *out_4807539404785026009);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
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Reference in New Issue
Block a user