mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-05 16:26:14 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
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||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-e5cc7460-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-743ff679-DEBUG";
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||||
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@@ -1 +1 @@
|
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DEV-e5cc7460-DEBUG
|
||||
DEV-743ff679-DEBUG
|
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@@ -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_2765937094321424100) {
|
||||
out_2765937094321424100[0] = delta_x[0] + nom_x[0];
|
||||
out_2765937094321424100[1] = delta_x[1] + nom_x[1];
|
||||
out_2765937094321424100[2] = delta_x[2] + nom_x[2];
|
||||
out_2765937094321424100[3] = delta_x[3] + nom_x[3];
|
||||
out_2765937094321424100[4] = delta_x[4] + nom_x[4];
|
||||
out_2765937094321424100[5] = delta_x[5] + nom_x[5];
|
||||
out_2765937094321424100[6] = delta_x[6] + nom_x[6];
|
||||
out_2765937094321424100[7] = delta_x[7] + nom_x[7];
|
||||
out_2765937094321424100[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_6669412735228971409) {
|
||||
out_6669412735228971409[0] = delta_x[0] + nom_x[0];
|
||||
out_6669412735228971409[1] = delta_x[1] + nom_x[1];
|
||||
out_6669412735228971409[2] = delta_x[2] + nom_x[2];
|
||||
out_6669412735228971409[3] = delta_x[3] + nom_x[3];
|
||||
out_6669412735228971409[4] = delta_x[4] + nom_x[4];
|
||||
out_6669412735228971409[5] = delta_x[5] + nom_x[5];
|
||||
out_6669412735228971409[6] = delta_x[6] + nom_x[6];
|
||||
out_6669412735228971409[7] = delta_x[7] + nom_x[7];
|
||||
out_6669412735228971409[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1382255689110899984) {
|
||||
out_1382255689110899984[0] = -nom_x[0] + true_x[0];
|
||||
out_1382255689110899984[1] = -nom_x[1] + true_x[1];
|
||||
out_1382255689110899984[2] = -nom_x[2] + true_x[2];
|
||||
out_1382255689110899984[3] = -nom_x[3] + true_x[3];
|
||||
out_1382255689110899984[4] = -nom_x[4] + true_x[4];
|
||||
out_1382255689110899984[5] = -nom_x[5] + true_x[5];
|
||||
out_1382255689110899984[6] = -nom_x[6] + true_x[6];
|
||||
out_1382255689110899984[7] = -nom_x[7] + true_x[7];
|
||||
out_1382255689110899984[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_6779967762183071907) {
|
||||
out_6779967762183071907[0] = -nom_x[0] + true_x[0];
|
||||
out_6779967762183071907[1] = -nom_x[1] + true_x[1];
|
||||
out_6779967762183071907[2] = -nom_x[2] + true_x[2];
|
||||
out_6779967762183071907[3] = -nom_x[3] + true_x[3];
|
||||
out_6779967762183071907[4] = -nom_x[4] + true_x[4];
|
||||
out_6779967762183071907[5] = -nom_x[5] + true_x[5];
|
||||
out_6779967762183071907[6] = -nom_x[6] + true_x[6];
|
||||
out_6779967762183071907[7] = -nom_x[7] + true_x[7];
|
||||
out_6779967762183071907[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_6175643942212596402) {
|
||||
out_6175643942212596402[0] = 1.0;
|
||||
out_6175643942212596402[1] = 0.0;
|
||||
out_6175643942212596402[2] = 0.0;
|
||||
out_6175643942212596402[3] = 0.0;
|
||||
out_6175643942212596402[4] = 0.0;
|
||||
out_6175643942212596402[5] = 0.0;
|
||||
out_6175643942212596402[6] = 0.0;
|
||||
out_6175643942212596402[7] = 0.0;
|
||||
out_6175643942212596402[8] = 0.0;
|
||||
out_6175643942212596402[9] = 0.0;
|
||||
out_6175643942212596402[10] = 1.0;
|
||||
out_6175643942212596402[11] = 0.0;
|
||||
out_6175643942212596402[12] = 0.0;
|
||||
out_6175643942212596402[13] = 0.0;
|
||||
out_6175643942212596402[14] = 0.0;
|
||||
out_6175643942212596402[15] = 0.0;
|
||||
out_6175643942212596402[16] = 0.0;
|
||||
out_6175643942212596402[17] = 0.0;
|
||||
out_6175643942212596402[18] = 0.0;
|
||||
out_6175643942212596402[19] = 0.0;
|
||||
out_6175643942212596402[20] = 1.0;
|
||||
out_6175643942212596402[21] = 0.0;
|
||||
out_6175643942212596402[22] = 0.0;
|
||||
out_6175643942212596402[23] = 0.0;
|
||||
out_6175643942212596402[24] = 0.0;
|
||||
out_6175643942212596402[25] = 0.0;
|
||||
out_6175643942212596402[26] = 0.0;
|
||||
out_6175643942212596402[27] = 0.0;
|
||||
out_6175643942212596402[28] = 0.0;
|
||||
out_6175643942212596402[29] = 0.0;
|
||||
out_6175643942212596402[30] = 1.0;
|
||||
out_6175643942212596402[31] = 0.0;
|
||||
out_6175643942212596402[32] = 0.0;
|
||||
out_6175643942212596402[33] = 0.0;
|
||||
out_6175643942212596402[34] = 0.0;
|
||||
out_6175643942212596402[35] = 0.0;
|
||||
out_6175643942212596402[36] = 0.0;
|
||||
out_6175643942212596402[37] = 0.0;
|
||||
out_6175643942212596402[38] = 0.0;
|
||||
out_6175643942212596402[39] = 0.0;
|
||||
out_6175643942212596402[40] = 1.0;
|
||||
out_6175643942212596402[41] = 0.0;
|
||||
out_6175643942212596402[42] = 0.0;
|
||||
out_6175643942212596402[43] = 0.0;
|
||||
out_6175643942212596402[44] = 0.0;
|
||||
out_6175643942212596402[45] = 0.0;
|
||||
out_6175643942212596402[46] = 0.0;
|
||||
out_6175643942212596402[47] = 0.0;
|
||||
out_6175643942212596402[48] = 0.0;
|
||||
out_6175643942212596402[49] = 0.0;
|
||||
out_6175643942212596402[50] = 1.0;
|
||||
out_6175643942212596402[51] = 0.0;
|
||||
out_6175643942212596402[52] = 0.0;
|
||||
out_6175643942212596402[53] = 0.0;
|
||||
out_6175643942212596402[54] = 0.0;
|
||||
out_6175643942212596402[55] = 0.0;
|
||||
out_6175643942212596402[56] = 0.0;
|
||||
out_6175643942212596402[57] = 0.0;
|
||||
out_6175643942212596402[58] = 0.0;
|
||||
out_6175643942212596402[59] = 0.0;
|
||||
out_6175643942212596402[60] = 1.0;
|
||||
out_6175643942212596402[61] = 0.0;
|
||||
out_6175643942212596402[62] = 0.0;
|
||||
out_6175643942212596402[63] = 0.0;
|
||||
out_6175643942212596402[64] = 0.0;
|
||||
out_6175643942212596402[65] = 0.0;
|
||||
out_6175643942212596402[66] = 0.0;
|
||||
out_6175643942212596402[67] = 0.0;
|
||||
out_6175643942212596402[68] = 0.0;
|
||||
out_6175643942212596402[69] = 0.0;
|
||||
out_6175643942212596402[70] = 1.0;
|
||||
out_6175643942212596402[71] = 0.0;
|
||||
out_6175643942212596402[72] = 0.0;
|
||||
out_6175643942212596402[73] = 0.0;
|
||||
out_6175643942212596402[74] = 0.0;
|
||||
out_6175643942212596402[75] = 0.0;
|
||||
out_6175643942212596402[76] = 0.0;
|
||||
out_6175643942212596402[77] = 0.0;
|
||||
out_6175643942212596402[78] = 0.0;
|
||||
out_6175643942212596402[79] = 0.0;
|
||||
out_6175643942212596402[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_6491699675187271682) {
|
||||
out_6491699675187271682[0] = 1.0;
|
||||
out_6491699675187271682[1] = 0.0;
|
||||
out_6491699675187271682[2] = 0.0;
|
||||
out_6491699675187271682[3] = 0.0;
|
||||
out_6491699675187271682[4] = 0.0;
|
||||
out_6491699675187271682[5] = 0.0;
|
||||
out_6491699675187271682[6] = 0.0;
|
||||
out_6491699675187271682[7] = 0.0;
|
||||
out_6491699675187271682[8] = 0.0;
|
||||
out_6491699675187271682[9] = 0.0;
|
||||
out_6491699675187271682[10] = 1.0;
|
||||
out_6491699675187271682[11] = 0.0;
|
||||
out_6491699675187271682[12] = 0.0;
|
||||
out_6491699675187271682[13] = 0.0;
|
||||
out_6491699675187271682[14] = 0.0;
|
||||
out_6491699675187271682[15] = 0.0;
|
||||
out_6491699675187271682[16] = 0.0;
|
||||
out_6491699675187271682[17] = 0.0;
|
||||
out_6491699675187271682[18] = 0.0;
|
||||
out_6491699675187271682[19] = 0.0;
|
||||
out_6491699675187271682[20] = 1.0;
|
||||
out_6491699675187271682[21] = 0.0;
|
||||
out_6491699675187271682[22] = 0.0;
|
||||
out_6491699675187271682[23] = 0.0;
|
||||
out_6491699675187271682[24] = 0.0;
|
||||
out_6491699675187271682[25] = 0.0;
|
||||
out_6491699675187271682[26] = 0.0;
|
||||
out_6491699675187271682[27] = 0.0;
|
||||
out_6491699675187271682[28] = 0.0;
|
||||
out_6491699675187271682[29] = 0.0;
|
||||
out_6491699675187271682[30] = 1.0;
|
||||
out_6491699675187271682[31] = 0.0;
|
||||
out_6491699675187271682[32] = 0.0;
|
||||
out_6491699675187271682[33] = 0.0;
|
||||
out_6491699675187271682[34] = 0.0;
|
||||
out_6491699675187271682[35] = 0.0;
|
||||
out_6491699675187271682[36] = 0.0;
|
||||
out_6491699675187271682[37] = 0.0;
|
||||
out_6491699675187271682[38] = 0.0;
|
||||
out_6491699675187271682[39] = 0.0;
|
||||
out_6491699675187271682[40] = 1.0;
|
||||
out_6491699675187271682[41] = 0.0;
|
||||
out_6491699675187271682[42] = 0.0;
|
||||
out_6491699675187271682[43] = 0.0;
|
||||
out_6491699675187271682[44] = 0.0;
|
||||
out_6491699675187271682[45] = 0.0;
|
||||
out_6491699675187271682[46] = 0.0;
|
||||
out_6491699675187271682[47] = 0.0;
|
||||
out_6491699675187271682[48] = 0.0;
|
||||
out_6491699675187271682[49] = 0.0;
|
||||
out_6491699675187271682[50] = 1.0;
|
||||
out_6491699675187271682[51] = 0.0;
|
||||
out_6491699675187271682[52] = 0.0;
|
||||
out_6491699675187271682[53] = 0.0;
|
||||
out_6491699675187271682[54] = 0.0;
|
||||
out_6491699675187271682[55] = 0.0;
|
||||
out_6491699675187271682[56] = 0.0;
|
||||
out_6491699675187271682[57] = 0.0;
|
||||
out_6491699675187271682[58] = 0.0;
|
||||
out_6491699675187271682[59] = 0.0;
|
||||
out_6491699675187271682[60] = 1.0;
|
||||
out_6491699675187271682[61] = 0.0;
|
||||
out_6491699675187271682[62] = 0.0;
|
||||
out_6491699675187271682[63] = 0.0;
|
||||
out_6491699675187271682[64] = 0.0;
|
||||
out_6491699675187271682[65] = 0.0;
|
||||
out_6491699675187271682[66] = 0.0;
|
||||
out_6491699675187271682[67] = 0.0;
|
||||
out_6491699675187271682[68] = 0.0;
|
||||
out_6491699675187271682[69] = 0.0;
|
||||
out_6491699675187271682[70] = 1.0;
|
||||
out_6491699675187271682[71] = 0.0;
|
||||
out_6491699675187271682[72] = 0.0;
|
||||
out_6491699675187271682[73] = 0.0;
|
||||
out_6491699675187271682[74] = 0.0;
|
||||
out_6491699675187271682[75] = 0.0;
|
||||
out_6491699675187271682[76] = 0.0;
|
||||
out_6491699675187271682[77] = 0.0;
|
||||
out_6491699675187271682[78] = 0.0;
|
||||
out_6491699675187271682[79] = 0.0;
|
||||
out_6491699675187271682[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_2437881867604815540) {
|
||||
out_2437881867604815540[0] = state[0];
|
||||
out_2437881867604815540[1] = state[1];
|
||||
out_2437881867604815540[2] = state[2];
|
||||
out_2437881867604815540[3] = state[3];
|
||||
out_2437881867604815540[4] = state[4];
|
||||
out_2437881867604815540[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_2437881867604815540[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_2437881867604815540[7] = state[7];
|
||||
out_2437881867604815540[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_2858314681790673269) {
|
||||
out_2858314681790673269[0] = state[0];
|
||||
out_2858314681790673269[1] = state[1];
|
||||
out_2858314681790673269[2] = state[2];
|
||||
out_2858314681790673269[3] = state[3];
|
||||
out_2858314681790673269[4] = state[4];
|
||||
out_2858314681790673269[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_2858314681790673269[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_2858314681790673269[7] = state[7];
|
||||
out_2858314681790673269[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_3645925778664752399) {
|
||||
out_3645925778664752399[0] = 1;
|
||||
out_3645925778664752399[1] = 0;
|
||||
out_3645925778664752399[2] = 0;
|
||||
out_3645925778664752399[3] = 0;
|
||||
out_3645925778664752399[4] = 0;
|
||||
out_3645925778664752399[5] = 0;
|
||||
out_3645925778664752399[6] = 0;
|
||||
out_3645925778664752399[7] = 0;
|
||||
out_3645925778664752399[8] = 0;
|
||||
out_3645925778664752399[9] = 0;
|
||||
out_3645925778664752399[10] = 1;
|
||||
out_3645925778664752399[11] = 0;
|
||||
out_3645925778664752399[12] = 0;
|
||||
out_3645925778664752399[13] = 0;
|
||||
out_3645925778664752399[14] = 0;
|
||||
out_3645925778664752399[15] = 0;
|
||||
out_3645925778664752399[16] = 0;
|
||||
out_3645925778664752399[17] = 0;
|
||||
out_3645925778664752399[18] = 0;
|
||||
out_3645925778664752399[19] = 0;
|
||||
out_3645925778664752399[20] = 1;
|
||||
out_3645925778664752399[21] = 0;
|
||||
out_3645925778664752399[22] = 0;
|
||||
out_3645925778664752399[23] = 0;
|
||||
out_3645925778664752399[24] = 0;
|
||||
out_3645925778664752399[25] = 0;
|
||||
out_3645925778664752399[26] = 0;
|
||||
out_3645925778664752399[27] = 0;
|
||||
out_3645925778664752399[28] = 0;
|
||||
out_3645925778664752399[29] = 0;
|
||||
out_3645925778664752399[30] = 1;
|
||||
out_3645925778664752399[31] = 0;
|
||||
out_3645925778664752399[32] = 0;
|
||||
out_3645925778664752399[33] = 0;
|
||||
out_3645925778664752399[34] = 0;
|
||||
out_3645925778664752399[35] = 0;
|
||||
out_3645925778664752399[36] = 0;
|
||||
out_3645925778664752399[37] = 0;
|
||||
out_3645925778664752399[38] = 0;
|
||||
out_3645925778664752399[39] = 0;
|
||||
out_3645925778664752399[40] = 1;
|
||||
out_3645925778664752399[41] = 0;
|
||||
out_3645925778664752399[42] = 0;
|
||||
out_3645925778664752399[43] = 0;
|
||||
out_3645925778664752399[44] = 0;
|
||||
out_3645925778664752399[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_3645925778664752399[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3645925778664752399[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3645925778664752399[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3645925778664752399[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_3645925778664752399[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3645925778664752399[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3645925778664752399[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3645925778664752399[53] = -9.8100000000000005*dt;
|
||||
out_3645925778664752399[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_3645925778664752399[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3645925778664752399[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3645925778664752399[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3645925778664752399[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_3645925778664752399[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3645925778664752399[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_3645925778664752399[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3645925778664752399[62] = 0;
|
||||
out_3645925778664752399[63] = 0;
|
||||
out_3645925778664752399[64] = 0;
|
||||
out_3645925778664752399[65] = 0;
|
||||
out_3645925778664752399[66] = 0;
|
||||
out_3645925778664752399[67] = 0;
|
||||
out_3645925778664752399[68] = 0;
|
||||
out_3645925778664752399[69] = 0;
|
||||
out_3645925778664752399[70] = 1;
|
||||
out_3645925778664752399[71] = 0;
|
||||
out_3645925778664752399[72] = 0;
|
||||
out_3645925778664752399[73] = 0;
|
||||
out_3645925778664752399[74] = 0;
|
||||
out_3645925778664752399[75] = 0;
|
||||
out_3645925778664752399[76] = 0;
|
||||
out_3645925778664752399[77] = 0;
|
||||
out_3645925778664752399[78] = 0;
|
||||
out_3645925778664752399[79] = 0;
|
||||
out_3645925778664752399[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_1519249616957804461) {
|
||||
out_1519249616957804461[0] = 1;
|
||||
out_1519249616957804461[1] = 0;
|
||||
out_1519249616957804461[2] = 0;
|
||||
out_1519249616957804461[3] = 0;
|
||||
out_1519249616957804461[4] = 0;
|
||||
out_1519249616957804461[5] = 0;
|
||||
out_1519249616957804461[6] = 0;
|
||||
out_1519249616957804461[7] = 0;
|
||||
out_1519249616957804461[8] = 0;
|
||||
out_1519249616957804461[9] = 0;
|
||||
out_1519249616957804461[10] = 1;
|
||||
out_1519249616957804461[11] = 0;
|
||||
out_1519249616957804461[12] = 0;
|
||||
out_1519249616957804461[13] = 0;
|
||||
out_1519249616957804461[14] = 0;
|
||||
out_1519249616957804461[15] = 0;
|
||||
out_1519249616957804461[16] = 0;
|
||||
out_1519249616957804461[17] = 0;
|
||||
out_1519249616957804461[18] = 0;
|
||||
out_1519249616957804461[19] = 0;
|
||||
out_1519249616957804461[20] = 1;
|
||||
out_1519249616957804461[21] = 0;
|
||||
out_1519249616957804461[22] = 0;
|
||||
out_1519249616957804461[23] = 0;
|
||||
out_1519249616957804461[24] = 0;
|
||||
out_1519249616957804461[25] = 0;
|
||||
out_1519249616957804461[26] = 0;
|
||||
out_1519249616957804461[27] = 0;
|
||||
out_1519249616957804461[28] = 0;
|
||||
out_1519249616957804461[29] = 0;
|
||||
out_1519249616957804461[30] = 1;
|
||||
out_1519249616957804461[31] = 0;
|
||||
out_1519249616957804461[32] = 0;
|
||||
out_1519249616957804461[33] = 0;
|
||||
out_1519249616957804461[34] = 0;
|
||||
out_1519249616957804461[35] = 0;
|
||||
out_1519249616957804461[36] = 0;
|
||||
out_1519249616957804461[37] = 0;
|
||||
out_1519249616957804461[38] = 0;
|
||||
out_1519249616957804461[39] = 0;
|
||||
out_1519249616957804461[40] = 1;
|
||||
out_1519249616957804461[41] = 0;
|
||||
out_1519249616957804461[42] = 0;
|
||||
out_1519249616957804461[43] = 0;
|
||||
out_1519249616957804461[44] = 0;
|
||||
out_1519249616957804461[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_1519249616957804461[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_1519249616957804461[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1519249616957804461[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1519249616957804461[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_1519249616957804461[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_1519249616957804461[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_1519249616957804461[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1519249616957804461[53] = -9.8100000000000005*dt;
|
||||
out_1519249616957804461[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_1519249616957804461[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_1519249616957804461[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1519249616957804461[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1519249616957804461[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_1519249616957804461[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_1519249616957804461[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_1519249616957804461[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1519249616957804461[62] = 0;
|
||||
out_1519249616957804461[63] = 0;
|
||||
out_1519249616957804461[64] = 0;
|
||||
out_1519249616957804461[65] = 0;
|
||||
out_1519249616957804461[66] = 0;
|
||||
out_1519249616957804461[67] = 0;
|
||||
out_1519249616957804461[68] = 0;
|
||||
out_1519249616957804461[69] = 0;
|
||||
out_1519249616957804461[70] = 1;
|
||||
out_1519249616957804461[71] = 0;
|
||||
out_1519249616957804461[72] = 0;
|
||||
out_1519249616957804461[73] = 0;
|
||||
out_1519249616957804461[74] = 0;
|
||||
out_1519249616957804461[75] = 0;
|
||||
out_1519249616957804461[76] = 0;
|
||||
out_1519249616957804461[77] = 0;
|
||||
out_1519249616957804461[78] = 0;
|
||||
out_1519249616957804461[79] = 0;
|
||||
out_1519249616957804461[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_1347552076965832871) {
|
||||
out_1347552076965832871[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7032479070992890953) {
|
||||
out_7032479070992890953[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_6035190491488835800) {
|
||||
out_6035190491488835800[0] = 0;
|
||||
out_6035190491488835800[1] = 0;
|
||||
out_6035190491488835800[2] = 0;
|
||||
out_6035190491488835800[3] = 0;
|
||||
out_6035190491488835800[4] = 0;
|
||||
out_6035190491488835800[5] = 0;
|
||||
out_6035190491488835800[6] = 1;
|
||||
out_6035190491488835800[7] = 0;
|
||||
out_6035190491488835800[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_2968651036541906534) {
|
||||
out_2968651036541906534[0] = 0;
|
||||
out_2968651036541906534[1] = 0;
|
||||
out_2968651036541906534[2] = 0;
|
||||
out_2968651036541906534[3] = 0;
|
||||
out_2968651036541906534[4] = 0;
|
||||
out_2968651036541906534[5] = 0;
|
||||
out_2968651036541906534[6] = 1;
|
||||
out_2968651036541906534[7] = 0;
|
||||
out_2968651036541906534[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7176999251413506765) {
|
||||
out_7176999251413506765[0] = state[4];
|
||||
out_7176999251413506765[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_5672934374792452147) {
|
||||
out_5672934374792452147[0] = state[4];
|
||||
out_5672934374792452147[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_6210520902369554390) {
|
||||
out_6210520902369554390[0] = 0;
|
||||
out_6210520902369554390[1] = 0;
|
||||
out_6210520902369554390[2] = 0;
|
||||
out_6210520902369554390[3] = 0;
|
||||
out_6210520902369554390[4] = 1;
|
||||
out_6210520902369554390[5] = 0;
|
||||
out_6210520902369554390[6] = 0;
|
||||
out_6210520902369554390[7] = 0;
|
||||
out_6210520902369554390[8] = 0;
|
||||
out_6210520902369554390[9] = 0;
|
||||
out_6210520902369554390[10] = 0;
|
||||
out_6210520902369554390[11] = 0;
|
||||
out_6210520902369554390[12] = 0;
|
||||
out_6210520902369554390[13] = 0;
|
||||
out_6210520902369554390[14] = 1;
|
||||
out_6210520902369554390[15] = 0;
|
||||
out_6210520902369554390[16] = 0;
|
||||
out_6210520902369554390[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_5194358820520775096) {
|
||||
out_5194358820520775096[0] = 0;
|
||||
out_5194358820520775096[1] = 0;
|
||||
out_5194358820520775096[2] = 0;
|
||||
out_5194358820520775096[3] = 0;
|
||||
out_5194358820520775096[4] = 1;
|
||||
out_5194358820520775096[5] = 0;
|
||||
out_5194358820520775096[6] = 0;
|
||||
out_5194358820520775096[7] = 0;
|
||||
out_5194358820520775096[8] = 0;
|
||||
out_5194358820520775096[9] = 0;
|
||||
out_5194358820520775096[10] = 0;
|
||||
out_5194358820520775096[11] = 0;
|
||||
out_5194358820520775096[12] = 0;
|
||||
out_5194358820520775096[13] = 0;
|
||||
out_5194358820520775096[14] = 1;
|
||||
out_5194358820520775096[15] = 0;
|
||||
out_5194358820520775096[16] = 0;
|
||||
out_5194358820520775096[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_2798183469594716038) {
|
||||
out_2798183469594716038[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_6875292402641761808) {
|
||||
out_6875292402641761808[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_881499850002780955) {
|
||||
out_881499850002780955[0] = 0;
|
||||
out_881499850002780955[1] = 0;
|
||||
out_881499850002780955[2] = 0;
|
||||
out_881499850002780955[3] = 0;
|
||||
out_881499850002780955[4] = 1;
|
||||
out_881499850002780955[5] = 0;
|
||||
out_881499850002780955[6] = 0;
|
||||
out_881499850002780955[7] = 0;
|
||||
out_881499850002780955[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_8561402695676028327) {
|
||||
out_8561402695676028327[0] = 0;
|
||||
out_8561402695676028327[1] = 0;
|
||||
out_8561402695676028327[2] = 0;
|
||||
out_8561402695676028327[3] = 0;
|
||||
out_8561402695676028327[4] = 1;
|
||||
out_8561402695676028327[5] = 0;
|
||||
out_8561402695676028327[6] = 0;
|
||||
out_8561402695676028327[7] = 0;
|
||||
out_8561402695676028327[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_7428563492211452550) {
|
||||
out_7428563492211452550[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_5172410153653940662) {
|
||||
out_5172410153653940662[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_8670050263346659592) {
|
||||
out_8670050263346659592[0] = 0;
|
||||
out_8670050263346659592[1] = 0;
|
||||
out_8670050263346659592[2] = 0;
|
||||
out_8670050263346659592[3] = 0;
|
||||
out_8670050263346659592[4] = 0;
|
||||
out_8670050263346659592[5] = 0;
|
||||
out_8670050263346659592[6] = 0;
|
||||
out_8670050263346659592[7] = 1;
|
||||
out_8670050263346659592[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_6273177006302707135) {
|
||||
out_6273177006302707135[0] = 0;
|
||||
out_6273177006302707135[1] = 0;
|
||||
out_6273177006302707135[2] = 0;
|
||||
out_6273177006302707135[3] = 0;
|
||||
out_6273177006302707135[4] = 0;
|
||||
out_6273177006302707135[5] = 0;
|
||||
out_6273177006302707135[6] = 0;
|
||||
out_6273177006302707135[7] = 1;
|
||||
out_6273177006302707135[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3654121190695012774) {
|
||||
out_3654121190695012774[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_402664363435809860) {
|
||||
out_402664363435809860[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_8339292750432500781) {
|
||||
out_8339292750432500781[0] = 0;
|
||||
out_8339292750432500781[1] = 0;
|
||||
out_8339292750432500781[2] = 0;
|
||||
out_8339292750432500781[3] = 1;
|
||||
out_8339292750432500781[4] = 0;
|
||||
out_8339292750432500781[5] = 0;
|
||||
out_8339292750432500781[6] = 0;
|
||||
out_8339292750432500781[7] = 0;
|
||||
out_8339292750432500781[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_7710578066233098378) {
|
||||
out_7710578066233098378[0] = 0;
|
||||
out_7710578066233098378[1] = 0;
|
||||
out_7710578066233098378[2] = 0;
|
||||
out_7710578066233098378[3] = 1;
|
||||
out_7710578066233098378[4] = 0;
|
||||
out_7710578066233098378[5] = 0;
|
||||
out_7710578066233098378[6] = 0;
|
||||
out_7710578066233098378[7] = 0;
|
||||
out_7710578066233098378[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_2203489798066129607) {
|
||||
out_2203489798066129607[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_7173499589786160796) {
|
||||
out_7173499589786160796[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_5654298094317683686) {
|
||||
out_5654298094317683686[0] = 0;
|
||||
out_5654298094317683686[1] = 1;
|
||||
out_5654298094317683686[2] = 0;
|
||||
out_5654298094317683686[3] = 0;
|
||||
out_5654298094317683686[4] = 0;
|
||||
out_5654298094317683686[5] = 0;
|
||||
out_5654298094317683686[6] = 0;
|
||||
out_5654298094317683686[7] = 0;
|
||||
out_5654298094317683686[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_8051171351361636143) {
|
||||
out_8051171351361636143[0] = 0;
|
||||
out_8051171351361636143[1] = 1;
|
||||
out_8051171351361636143[2] = 0;
|
||||
out_8051171351361636143[3] = 0;
|
||||
out_8051171351361636143[4] = 0;
|
||||
out_8051171351361636143[5] = 0;
|
||||
out_8051171351361636143[6] = 0;
|
||||
out_8051171351361636143[7] = 0;
|
||||
out_8051171351361636143[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_3781022243733688039) {
|
||||
out_3781022243733688039[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_1346174216337472295) {
|
||||
out_1346174216337472295[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_3690667822752357435) {
|
||||
out_3690667822752357435[0] = 1;
|
||||
out_3690667822752357435[1] = 0;
|
||||
out_3690667822752357435[2] = 0;
|
||||
out_3690667822752357435[3] = 0;
|
||||
out_3690667822752357435[4] = 0;
|
||||
out_3690667822752357435[5] = 0;
|
||||
out_3690667822752357435[6] = 0;
|
||||
out_3690667822752357435[7] = 0;
|
||||
out_3690667822752357435[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_5313173705278384899) {
|
||||
out_5313173705278384899[0] = 1;
|
||||
out_5313173705278384899[1] = 0;
|
||||
out_5313173705278384899[2] = 0;
|
||||
out_5313173705278384899[3] = 0;
|
||||
out_5313173705278384899[4] = 0;
|
||||
out_5313173705278384899[5] = 0;
|
||||
out_5313173705278384899[6] = 0;
|
||||
out_5313173705278384899[7] = 0;
|
||||
out_5313173705278384899[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_5423283149384518065) {
|
||||
out_5423283149384518065[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6757285008708385064) {
|
||||
out_6757285008708385064[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_6004544529611875372) {
|
||||
out_6004544529611875372[0] = 0;
|
||||
out_6004544529611875372[1] = 0;
|
||||
out_6004544529611875372[2] = 0;
|
||||
out_6004544529611875372[3] = 0;
|
||||
out_6004544529611875372[4] = 0;
|
||||
out_6004544529611875372[5] = 0;
|
||||
out_6004544529611875372[6] = 0;
|
||||
out_6004544529611875372[7] = 0;
|
||||
out_6004544529611875372[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_2999296998418866962) {
|
||||
out_2999296998418866962[0] = 0;
|
||||
out_2999296998418866962[1] = 0;
|
||||
out_2999296998418866962[2] = 0;
|
||||
out_2999296998418866962[3] = 0;
|
||||
out_2999296998418866962[4] = 0;
|
||||
out_2999296998418866962[5] = 0;
|
||||
out_2999296998418866962[6] = 0;
|
||||
out_2999296998418866962[7] = 0;
|
||||
out_2999296998418866962[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_2765937094321424100) {
|
||||
err_fun(nom_x, delta_x, out_2765937094321424100);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6669412735228971409) {
|
||||
err_fun(nom_x, delta_x, out_6669412735228971409);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1382255689110899984) {
|
||||
inv_err_fun(nom_x, true_x, out_1382255689110899984);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6779967762183071907) {
|
||||
inv_err_fun(nom_x, true_x, out_6779967762183071907);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_6175643942212596402) {
|
||||
H_mod_fun(state, out_6175643942212596402);
|
||||
void car_H_mod_fun(double *state, double *out_6491699675187271682) {
|
||||
H_mod_fun(state, out_6491699675187271682);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_2437881867604815540) {
|
||||
f_fun(state, dt, out_2437881867604815540);
|
||||
void car_f_fun(double *state, double dt, double *out_2858314681790673269) {
|
||||
f_fun(state, dt, out_2858314681790673269);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_3645925778664752399) {
|
||||
F_fun(state, dt, out_3645925778664752399);
|
||||
void car_F_fun(double *state, double dt, double *out_1519249616957804461) {
|
||||
F_fun(state, dt, out_1519249616957804461);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_1347552076965832871) {
|
||||
h_25(state, unused, out_1347552076965832871);
|
||||
void car_h_25(double *state, double *unused, double *out_7032479070992890953) {
|
||||
h_25(state, unused, out_7032479070992890953);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_6035190491488835800) {
|
||||
H_25(state, unused, out_6035190491488835800);
|
||||
void car_H_25(double *state, double *unused, double *out_2968651036541906534) {
|
||||
H_25(state, unused, out_2968651036541906534);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7176999251413506765) {
|
||||
h_24(state, unused, out_7176999251413506765);
|
||||
void car_h_24(double *state, double *unused, double *out_5672934374792452147) {
|
||||
h_24(state, unused, out_5672934374792452147);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_6210520902369554390) {
|
||||
H_24(state, unused, out_6210520902369554390);
|
||||
void car_H_24(double *state, double *unused, double *out_5194358820520775096) {
|
||||
H_24(state, unused, out_5194358820520775096);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_2798183469594716038) {
|
||||
h_30(state, unused, out_2798183469594716038);
|
||||
void car_h_30(double *state, double *unused, double *out_6875292402641761808) {
|
||||
h_30(state, unused, out_6875292402641761808);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_881499850002780955) {
|
||||
H_30(state, unused, out_881499850002780955);
|
||||
void car_H_30(double *state, double *unused, double *out_8561402695676028327) {
|
||||
H_30(state, unused, out_8561402695676028327);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_7428563492211452550) {
|
||||
h_26(state, unused, out_7428563492211452550);
|
||||
void car_h_26(double *state, double *unused, double *out_5172410153653940662) {
|
||||
h_26(state, unused, out_5172410153653940662);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_8670050263346659592) {
|
||||
H_26(state, unused, out_8670050263346659592);
|
||||
void car_H_26(double *state, double *unused, double *out_6273177006302707135) {
|
||||
H_26(state, unused, out_6273177006302707135);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3654121190695012774) {
|
||||
h_27(state, unused, out_3654121190695012774);
|
||||
void car_h_27(double *state, double *unused, double *out_402664363435809860) {
|
||||
h_27(state, unused, out_402664363435809860);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_8339292750432500781) {
|
||||
H_27(state, unused, out_8339292750432500781);
|
||||
void car_H_27(double *state, double *unused, double *out_7710578066233098378) {
|
||||
H_27(state, unused, out_7710578066233098378);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_2203489798066129607) {
|
||||
h_29(state, unused, out_2203489798066129607);
|
||||
void car_h_29(double *state, double *unused, double *out_7173499589786160796) {
|
||||
h_29(state, unused, out_7173499589786160796);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_5654298094317683686) {
|
||||
H_29(state, unused, out_5654298094317683686);
|
||||
void car_H_29(double *state, double *unused, double *out_8051171351361636143) {
|
||||
H_29(state, unused, out_8051171351361636143);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_3781022243733688039) {
|
||||
h_28(state, unused, out_3781022243733688039);
|
||||
void car_h_28(double *state, double *unused, double *out_1346174216337472295) {
|
||||
h_28(state, unused, out_1346174216337472295);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_3690667822752357435) {
|
||||
H_28(state, unused, out_3690667822752357435);
|
||||
void car_H_28(double *state, double *unused, double *out_5313173705278384899) {
|
||||
H_28(state, unused, out_5313173705278384899);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_5423283149384518065) {
|
||||
h_31(state, unused, out_5423283149384518065);
|
||||
void car_h_31(double *state, double *unused, double *out_6757285008708385064) {
|
||||
h_31(state, unused, out_6757285008708385064);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_6004544529611875372) {
|
||||
H_31(state, unused, out_6004544529611875372);
|
||||
void car_H_31(double *state, double *unused, double *out_2999296998418866962) {
|
||||
H_31(state, unused, out_2999296998418866962);
|
||||
}
|
||||
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_2765937094321424100);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1382255689110899984);
|
||||
void car_H_mod_fun(double *state, double *out_6175643942212596402);
|
||||
void car_f_fun(double *state, double dt, double *out_2437881867604815540);
|
||||
void car_F_fun(double *state, double dt, double *out_3645925778664752399);
|
||||
void car_h_25(double *state, double *unused, double *out_1347552076965832871);
|
||||
void car_H_25(double *state, double *unused, double *out_6035190491488835800);
|
||||
void car_h_24(double *state, double *unused, double *out_7176999251413506765);
|
||||
void car_H_24(double *state, double *unused, double *out_6210520902369554390);
|
||||
void car_h_30(double *state, double *unused, double *out_2798183469594716038);
|
||||
void car_H_30(double *state, double *unused, double *out_881499850002780955);
|
||||
void car_h_26(double *state, double *unused, double *out_7428563492211452550);
|
||||
void car_H_26(double *state, double *unused, double *out_8670050263346659592);
|
||||
void car_h_27(double *state, double *unused, double *out_3654121190695012774);
|
||||
void car_H_27(double *state, double *unused, double *out_8339292750432500781);
|
||||
void car_h_29(double *state, double *unused, double *out_2203489798066129607);
|
||||
void car_H_29(double *state, double *unused, double *out_5654298094317683686);
|
||||
void car_h_28(double *state, double *unused, double *out_3781022243733688039);
|
||||
void car_H_28(double *state, double *unused, double *out_3690667822752357435);
|
||||
void car_h_31(double *state, double *unused, double *out_5423283149384518065);
|
||||
void car_H_31(double *state, double *unused, double *out_6004544529611875372);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6669412735228971409);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6779967762183071907);
|
||||
void car_H_mod_fun(double *state, double *out_6491699675187271682);
|
||||
void car_f_fun(double *state, double dt, double *out_2858314681790673269);
|
||||
void car_F_fun(double *state, double dt, double *out_1519249616957804461);
|
||||
void car_h_25(double *state, double *unused, double *out_7032479070992890953);
|
||||
void car_H_25(double *state, double *unused, double *out_2968651036541906534);
|
||||
void car_h_24(double *state, double *unused, double *out_5672934374792452147);
|
||||
void car_H_24(double *state, double *unused, double *out_5194358820520775096);
|
||||
void car_h_30(double *state, double *unused, double *out_6875292402641761808);
|
||||
void car_H_30(double *state, double *unused, double *out_8561402695676028327);
|
||||
void car_h_26(double *state, double *unused, double *out_5172410153653940662);
|
||||
void car_H_26(double *state, double *unused, double *out_6273177006302707135);
|
||||
void car_h_27(double *state, double *unused, double *out_402664363435809860);
|
||||
void car_H_27(double *state, double *unused, double *out_7710578066233098378);
|
||||
void car_h_29(double *state, double *unused, double *out_7173499589786160796);
|
||||
void car_H_29(double *state, double *unused, double *out_8051171351361636143);
|
||||
void car_h_28(double *state, double *unused, double *out_1346174216337472295);
|
||||
void car_H_28(double *state, double *unused, double *out_5313173705278384899);
|
||||
void car_h_31(double *state, double *unused, double *out_6757285008708385064);
|
||||
void car_H_31(double *state, double *unused, double *out_2999296998418866962);
|
||||
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_2822233615381903085);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3556797172859207138);
|
||||
void pose_H_mod_fun(double *state, double *out_4158952900173024917);
|
||||
void pose_f_fun(double *state, double dt, double *out_4480310224533440205);
|
||||
void pose_F_fun(double *state, double dt, double *out_2252133042369597057);
|
||||
void pose_h_4(double *state, double *unused, double *out_1225931617160521679);
|
||||
void pose_H_4(double *state, double *unused, double *out_3404791898118312310);
|
||||
void pose_h_10(double *state, double *unused, double *out_8314558572170779017);
|
||||
void pose_H_10(double *state, double *unused, double *out_3543553484029179274);
|
||||
void pose_h_13(double *state, double *unused, double *out_7492025966781743409);
|
||||
void pose_H_13(double *state, double *unused, double *out_4205839310198388619);
|
||||
void pose_h_14(double *state, double *unused, double *out_8444019918627598165);
|
||||
void pose_H_14(double *state, double *unused, double *out_6487580330413684606);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_609976965150865312);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8281732551506992950);
|
||||
void pose_H_mod_fun(double *state, double *out_4168561321210011185);
|
||||
void pose_f_fun(double *state, double dt, double *out_7595162637232814159);
|
||||
void pose_F_fun(double *state, double dt, double *out_1091902965475609973);
|
||||
void pose_h_4(double *state, double *unused, double *out_4271893182613978797);
|
||||
void pose_H_4(double *state, double *unused, double *out_5265198332585855939);
|
||||
void pose_h_10(double *state, double *unused, double *out_6068675735727225828);
|
||||
void pose_H_10(double *state, double *unused, double *out_4012474741247108873);
|
||||
void pose_h_13(double *state, double *unused, double *out_860321329376649767);
|
||||
void pose_H_13(double *state, double *unused, double *out_2052924507253523138);
|
||||
void pose_h_14(double *state, double *unused, double *out_5677441075365347292);
|
||||
void pose_H_14(double *state, double *unused, double *out_1301957476246371410);
|
||||
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