mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-23 09:03:44 +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];
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const uint8_t gitversion[19] = "DEV-e969a96c-DEBUG";
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const uint8_t gitversion[19] = "DEV-eebfd509-DEBUG";
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@@ -1 +1 @@
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DEV-e969a96c-DEBUG
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DEV-eebfd509-DEBUG
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@@ -191,29 +191,29 @@ BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.27
|
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BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.23
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||||
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||||
VOLT_STANDARD_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
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||||
VOLT_STANDARD_FF_GAIN_LEFT = 0.09
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||||
VOLT_STANDARD_FF_GAIN_RIGHT = 0.09
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||||
VOLT_STANDARD_FF_GAIN_LEFT = 0.11
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||||
VOLT_STANDARD_FF_GAIN_RIGHT = 0.08
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||||
VOLT_STANDARD_FF_ONSET = 0.10
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||||
VOLT_STANDARD_FF_ONSET_WIDTH = 0.05
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||||
VOLT_STANDARD_FF_CUTOFF = 1.30
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||||
VOLT_STANDARD_FF_CUTOFF_WIDTH = 0.24
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||||
VOLT_STANDARD_FF_CUTOFF = 1.38
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||||
VOLT_STANDARD_FF_CUTOFF_WIDTH = 0.28
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||||
VOLT_STANDARD_TRANSITION_SPEED = 10.0
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||||
VOLT_STANDARD_PHASE_SCALE = 0.10
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||||
VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.18
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||||
VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.52
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||||
VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.22
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||||
VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.50
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VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.26
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||||
VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.44
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VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.34
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VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.72
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VOLT_STANDARD_FRICTION_MULT = 1.04
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VOLT_STANDARD_FRICTION_LAT_RISE = 0.20
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VOLT_STANDARD_FRICTION_JERK_RISE = 0.24
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VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
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VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.30
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VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.12
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VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.42
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VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.05
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||||
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.16
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||||
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.12
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VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.36
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VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
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VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.24
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||||
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.18
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||||
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.56
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VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.07
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VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.13
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VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.20
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VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.50
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||||
VOLT_STANDARD_CENTER_TAPER_MAX = 0.12
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||||
VOLT_STANDARD_CENTER_TAPER_LAT = 0.10
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||||
VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.018
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||||
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||||
@@ -188,7 +188,7 @@ class TestLatControl:
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||||
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||||
def test_volt_standard_ff_scale_curve(self):
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assert get_volt_standard_ff_scale(0.0, 0.0, 20.0) == 1.0
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||||
assert get_volt_standard_ff_scale(-0.5, 0.0, 20.0) >= get_volt_standard_ff_scale(0.5, 0.0, 20.0)
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||||
assert get_volt_standard_ff_scale(0.5, 0.0, 20.0) >= get_volt_standard_ff_scale(-0.5, 0.0, 20.0)
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||||
assert get_volt_standard_ff_scale(0.6, 0.7, 8.0) > get_volt_standard_ff_scale(0.6, 0.0, 8.0) > get_volt_standard_ff_scale(0.6, -0.7, 8.0)
|
||||
assert get_volt_standard_ff_scale(-0.6, -0.7, 8.0) > get_volt_standard_ff_scale(-0.6, 0.0, 8.0) > get_volt_standard_ff_scale(-0.6, 0.7, 8.0)
|
||||
assert get_volt_standard_ff_scale(2.0, 0.0, 20.0) < get_volt_standard_ff_scale(0.8, 0.0, 20.0)
|
||||
@@ -200,7 +200,7 @@ class TestLatControl:
|
||||
left_unwind = get_volt_standard_friction_threshold(6.0, 0.7, -0.8)
|
||||
right_unwind = get_volt_standard_friction_threshold(6.0, -0.7, 0.8)
|
||||
assert right_turn_in < left_turn_in < base
|
||||
assert base < left_unwind < right_unwind
|
||||
assert base < left_unwind <= right_unwind
|
||||
|
||||
def test_volt_standard_friction_scale_curve(self):
|
||||
base = get_volt_standard_friction_scale(25.0, 0.7, 0.8)
|
||||
@@ -324,10 +324,10 @@ class TestLatControl:
|
||||
assert base > left_unwind >= right_unwind
|
||||
|
||||
def test_ioniq_6_center_taper_curve(self):
|
||||
assert get_ioniq_6_center_taper_scale(0.0, 10.0) < get_ioniq_6_center_taper_scale(0.0, 30.0)
|
||||
assert get_ioniq_6_center_taper_scale(0.0, 10.0) > get_ioniq_6_center_taper_scale(0.0, 30.0)
|
||||
assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.2, 30.0)
|
||||
assert get_ioniq_6_center_taper_scale(0.0, 12.0) < get_ioniq_6_center_taper_scale(0.25, 12.0)
|
||||
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 4.5e-2
|
||||
assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 5.5e-2
|
||||
|
||||
def test_kia_ev6_ff_scale_curve(self):
|
||||
assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0
|
||||
|
||||
@@ -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_2567017903067559466) {
|
||||
out_2567017903067559466[0] = delta_x[0] + nom_x[0];
|
||||
out_2567017903067559466[1] = delta_x[1] + nom_x[1];
|
||||
out_2567017903067559466[2] = delta_x[2] + nom_x[2];
|
||||
out_2567017903067559466[3] = delta_x[3] + nom_x[3];
|
||||
out_2567017903067559466[4] = delta_x[4] + nom_x[4];
|
||||
out_2567017903067559466[5] = delta_x[5] + nom_x[5];
|
||||
out_2567017903067559466[6] = delta_x[6] + nom_x[6];
|
||||
out_2567017903067559466[7] = delta_x[7] + nom_x[7];
|
||||
out_2567017903067559466[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_7149517118868685515) {
|
||||
out_7149517118868685515[0] = delta_x[0] + nom_x[0];
|
||||
out_7149517118868685515[1] = delta_x[1] + nom_x[1];
|
||||
out_7149517118868685515[2] = delta_x[2] + nom_x[2];
|
||||
out_7149517118868685515[3] = delta_x[3] + nom_x[3];
|
||||
out_7149517118868685515[4] = delta_x[4] + nom_x[4];
|
||||
out_7149517118868685515[5] = delta_x[5] + nom_x[5];
|
||||
out_7149517118868685515[6] = delta_x[6] + nom_x[6];
|
||||
out_7149517118868685515[7] = delta_x[7] + nom_x[7];
|
||||
out_7149517118868685515[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1749285410370024184) {
|
||||
out_1749285410370024184[0] = -nom_x[0] + true_x[0];
|
||||
out_1749285410370024184[1] = -nom_x[1] + true_x[1];
|
||||
out_1749285410370024184[2] = -nom_x[2] + true_x[2];
|
||||
out_1749285410370024184[3] = -nom_x[3] + true_x[3];
|
||||
out_1749285410370024184[4] = -nom_x[4] + true_x[4];
|
||||
out_1749285410370024184[5] = -nom_x[5] + true_x[5];
|
||||
out_1749285410370024184[6] = -nom_x[6] + true_x[6];
|
||||
out_1749285410370024184[7] = -nom_x[7] + true_x[7];
|
||||
out_1749285410370024184[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1206282320038144058) {
|
||||
out_1206282320038144058[0] = -nom_x[0] + true_x[0];
|
||||
out_1206282320038144058[1] = -nom_x[1] + true_x[1];
|
||||
out_1206282320038144058[2] = -nom_x[2] + true_x[2];
|
||||
out_1206282320038144058[3] = -nom_x[3] + true_x[3];
|
||||
out_1206282320038144058[4] = -nom_x[4] + true_x[4];
|
||||
out_1206282320038144058[5] = -nom_x[5] + true_x[5];
|
||||
out_1206282320038144058[6] = -nom_x[6] + true_x[6];
|
||||
out_1206282320038144058[7] = -nom_x[7] + true_x[7];
|
||||
out_1206282320038144058[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_8979551951706364182) {
|
||||
out_8979551951706364182[0] = 1.0;
|
||||
out_8979551951706364182[1] = 0.0;
|
||||
out_8979551951706364182[2] = 0.0;
|
||||
out_8979551951706364182[3] = 0.0;
|
||||
out_8979551951706364182[4] = 0.0;
|
||||
out_8979551951706364182[5] = 0.0;
|
||||
out_8979551951706364182[6] = 0.0;
|
||||
out_8979551951706364182[7] = 0.0;
|
||||
out_8979551951706364182[8] = 0.0;
|
||||
out_8979551951706364182[9] = 0.0;
|
||||
out_8979551951706364182[10] = 1.0;
|
||||
out_8979551951706364182[11] = 0.0;
|
||||
out_8979551951706364182[12] = 0.0;
|
||||
out_8979551951706364182[13] = 0.0;
|
||||
out_8979551951706364182[14] = 0.0;
|
||||
out_8979551951706364182[15] = 0.0;
|
||||
out_8979551951706364182[16] = 0.0;
|
||||
out_8979551951706364182[17] = 0.0;
|
||||
out_8979551951706364182[18] = 0.0;
|
||||
out_8979551951706364182[19] = 0.0;
|
||||
out_8979551951706364182[20] = 1.0;
|
||||
out_8979551951706364182[21] = 0.0;
|
||||
out_8979551951706364182[22] = 0.0;
|
||||
out_8979551951706364182[23] = 0.0;
|
||||
out_8979551951706364182[24] = 0.0;
|
||||
out_8979551951706364182[25] = 0.0;
|
||||
out_8979551951706364182[26] = 0.0;
|
||||
out_8979551951706364182[27] = 0.0;
|
||||
out_8979551951706364182[28] = 0.0;
|
||||
out_8979551951706364182[29] = 0.0;
|
||||
out_8979551951706364182[30] = 1.0;
|
||||
out_8979551951706364182[31] = 0.0;
|
||||
out_8979551951706364182[32] = 0.0;
|
||||
out_8979551951706364182[33] = 0.0;
|
||||
out_8979551951706364182[34] = 0.0;
|
||||
out_8979551951706364182[35] = 0.0;
|
||||
out_8979551951706364182[36] = 0.0;
|
||||
out_8979551951706364182[37] = 0.0;
|
||||
out_8979551951706364182[38] = 0.0;
|
||||
out_8979551951706364182[39] = 0.0;
|
||||
out_8979551951706364182[40] = 1.0;
|
||||
out_8979551951706364182[41] = 0.0;
|
||||
out_8979551951706364182[42] = 0.0;
|
||||
out_8979551951706364182[43] = 0.0;
|
||||
out_8979551951706364182[44] = 0.0;
|
||||
out_8979551951706364182[45] = 0.0;
|
||||
out_8979551951706364182[46] = 0.0;
|
||||
out_8979551951706364182[47] = 0.0;
|
||||
out_8979551951706364182[48] = 0.0;
|
||||
out_8979551951706364182[49] = 0.0;
|
||||
out_8979551951706364182[50] = 1.0;
|
||||
out_8979551951706364182[51] = 0.0;
|
||||
out_8979551951706364182[52] = 0.0;
|
||||
out_8979551951706364182[53] = 0.0;
|
||||
out_8979551951706364182[54] = 0.0;
|
||||
out_8979551951706364182[55] = 0.0;
|
||||
out_8979551951706364182[56] = 0.0;
|
||||
out_8979551951706364182[57] = 0.0;
|
||||
out_8979551951706364182[58] = 0.0;
|
||||
out_8979551951706364182[59] = 0.0;
|
||||
out_8979551951706364182[60] = 1.0;
|
||||
out_8979551951706364182[61] = 0.0;
|
||||
out_8979551951706364182[62] = 0.0;
|
||||
out_8979551951706364182[63] = 0.0;
|
||||
out_8979551951706364182[64] = 0.0;
|
||||
out_8979551951706364182[65] = 0.0;
|
||||
out_8979551951706364182[66] = 0.0;
|
||||
out_8979551951706364182[67] = 0.0;
|
||||
out_8979551951706364182[68] = 0.0;
|
||||
out_8979551951706364182[69] = 0.0;
|
||||
out_8979551951706364182[70] = 1.0;
|
||||
out_8979551951706364182[71] = 0.0;
|
||||
out_8979551951706364182[72] = 0.0;
|
||||
out_8979551951706364182[73] = 0.0;
|
||||
out_8979551951706364182[74] = 0.0;
|
||||
out_8979551951706364182[75] = 0.0;
|
||||
out_8979551951706364182[76] = 0.0;
|
||||
out_8979551951706364182[77] = 0.0;
|
||||
out_8979551951706364182[78] = 0.0;
|
||||
out_8979551951706364182[79] = 0.0;
|
||||
out_8979551951706364182[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_2536050837023062909) {
|
||||
out_2536050837023062909[0] = 1.0;
|
||||
out_2536050837023062909[1] = 0.0;
|
||||
out_2536050837023062909[2] = 0.0;
|
||||
out_2536050837023062909[3] = 0.0;
|
||||
out_2536050837023062909[4] = 0.0;
|
||||
out_2536050837023062909[5] = 0.0;
|
||||
out_2536050837023062909[6] = 0.0;
|
||||
out_2536050837023062909[7] = 0.0;
|
||||
out_2536050837023062909[8] = 0.0;
|
||||
out_2536050837023062909[9] = 0.0;
|
||||
out_2536050837023062909[10] = 1.0;
|
||||
out_2536050837023062909[11] = 0.0;
|
||||
out_2536050837023062909[12] = 0.0;
|
||||
out_2536050837023062909[13] = 0.0;
|
||||
out_2536050837023062909[14] = 0.0;
|
||||
out_2536050837023062909[15] = 0.0;
|
||||
out_2536050837023062909[16] = 0.0;
|
||||
out_2536050837023062909[17] = 0.0;
|
||||
out_2536050837023062909[18] = 0.0;
|
||||
out_2536050837023062909[19] = 0.0;
|
||||
out_2536050837023062909[20] = 1.0;
|
||||
out_2536050837023062909[21] = 0.0;
|
||||
out_2536050837023062909[22] = 0.0;
|
||||
out_2536050837023062909[23] = 0.0;
|
||||
out_2536050837023062909[24] = 0.0;
|
||||
out_2536050837023062909[25] = 0.0;
|
||||
out_2536050837023062909[26] = 0.0;
|
||||
out_2536050837023062909[27] = 0.0;
|
||||
out_2536050837023062909[28] = 0.0;
|
||||
out_2536050837023062909[29] = 0.0;
|
||||
out_2536050837023062909[30] = 1.0;
|
||||
out_2536050837023062909[31] = 0.0;
|
||||
out_2536050837023062909[32] = 0.0;
|
||||
out_2536050837023062909[33] = 0.0;
|
||||
out_2536050837023062909[34] = 0.0;
|
||||
out_2536050837023062909[35] = 0.0;
|
||||
out_2536050837023062909[36] = 0.0;
|
||||
out_2536050837023062909[37] = 0.0;
|
||||
out_2536050837023062909[38] = 0.0;
|
||||
out_2536050837023062909[39] = 0.0;
|
||||
out_2536050837023062909[40] = 1.0;
|
||||
out_2536050837023062909[41] = 0.0;
|
||||
out_2536050837023062909[42] = 0.0;
|
||||
out_2536050837023062909[43] = 0.0;
|
||||
out_2536050837023062909[44] = 0.0;
|
||||
out_2536050837023062909[45] = 0.0;
|
||||
out_2536050837023062909[46] = 0.0;
|
||||
out_2536050837023062909[47] = 0.0;
|
||||
out_2536050837023062909[48] = 0.0;
|
||||
out_2536050837023062909[49] = 0.0;
|
||||
out_2536050837023062909[50] = 1.0;
|
||||
out_2536050837023062909[51] = 0.0;
|
||||
out_2536050837023062909[52] = 0.0;
|
||||
out_2536050837023062909[53] = 0.0;
|
||||
out_2536050837023062909[54] = 0.0;
|
||||
out_2536050837023062909[55] = 0.0;
|
||||
out_2536050837023062909[56] = 0.0;
|
||||
out_2536050837023062909[57] = 0.0;
|
||||
out_2536050837023062909[58] = 0.0;
|
||||
out_2536050837023062909[59] = 0.0;
|
||||
out_2536050837023062909[60] = 1.0;
|
||||
out_2536050837023062909[61] = 0.0;
|
||||
out_2536050837023062909[62] = 0.0;
|
||||
out_2536050837023062909[63] = 0.0;
|
||||
out_2536050837023062909[64] = 0.0;
|
||||
out_2536050837023062909[65] = 0.0;
|
||||
out_2536050837023062909[66] = 0.0;
|
||||
out_2536050837023062909[67] = 0.0;
|
||||
out_2536050837023062909[68] = 0.0;
|
||||
out_2536050837023062909[69] = 0.0;
|
||||
out_2536050837023062909[70] = 1.0;
|
||||
out_2536050837023062909[71] = 0.0;
|
||||
out_2536050837023062909[72] = 0.0;
|
||||
out_2536050837023062909[73] = 0.0;
|
||||
out_2536050837023062909[74] = 0.0;
|
||||
out_2536050837023062909[75] = 0.0;
|
||||
out_2536050837023062909[76] = 0.0;
|
||||
out_2536050837023062909[77] = 0.0;
|
||||
out_2536050837023062909[78] = 0.0;
|
||||
out_2536050837023062909[79] = 0.0;
|
||||
out_2536050837023062909[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_3674179640817441392) {
|
||||
out_3674179640817441392[0] = state[0];
|
||||
out_3674179640817441392[1] = state[1];
|
||||
out_3674179640817441392[2] = state[2];
|
||||
out_3674179640817441392[3] = state[3];
|
||||
out_3674179640817441392[4] = state[4];
|
||||
out_3674179640817441392[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_3674179640817441392[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_3674179640817441392[7] = state[7];
|
||||
out_3674179640817441392[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_4666135608333935516) {
|
||||
out_4666135608333935516[0] = state[0];
|
||||
out_4666135608333935516[1] = state[1];
|
||||
out_4666135608333935516[2] = state[2];
|
||||
out_4666135608333935516[3] = state[3];
|
||||
out_4666135608333935516[4] = state[4];
|
||||
out_4666135608333935516[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_4666135608333935516[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_4666135608333935516[7] = state[7];
|
||||
out_4666135608333935516[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_258925546890284745) {
|
||||
out_258925546890284745[0] = 1;
|
||||
out_258925546890284745[1] = 0;
|
||||
out_258925546890284745[2] = 0;
|
||||
out_258925546890284745[3] = 0;
|
||||
out_258925546890284745[4] = 0;
|
||||
out_258925546890284745[5] = 0;
|
||||
out_258925546890284745[6] = 0;
|
||||
out_258925546890284745[7] = 0;
|
||||
out_258925546890284745[8] = 0;
|
||||
out_258925546890284745[9] = 0;
|
||||
out_258925546890284745[10] = 1;
|
||||
out_258925546890284745[11] = 0;
|
||||
out_258925546890284745[12] = 0;
|
||||
out_258925546890284745[13] = 0;
|
||||
out_258925546890284745[14] = 0;
|
||||
out_258925546890284745[15] = 0;
|
||||
out_258925546890284745[16] = 0;
|
||||
out_258925546890284745[17] = 0;
|
||||
out_258925546890284745[18] = 0;
|
||||
out_258925546890284745[19] = 0;
|
||||
out_258925546890284745[20] = 1;
|
||||
out_258925546890284745[21] = 0;
|
||||
out_258925546890284745[22] = 0;
|
||||
out_258925546890284745[23] = 0;
|
||||
out_258925546890284745[24] = 0;
|
||||
out_258925546890284745[25] = 0;
|
||||
out_258925546890284745[26] = 0;
|
||||
out_258925546890284745[27] = 0;
|
||||
out_258925546890284745[28] = 0;
|
||||
out_258925546890284745[29] = 0;
|
||||
out_258925546890284745[30] = 1;
|
||||
out_258925546890284745[31] = 0;
|
||||
out_258925546890284745[32] = 0;
|
||||
out_258925546890284745[33] = 0;
|
||||
out_258925546890284745[34] = 0;
|
||||
out_258925546890284745[35] = 0;
|
||||
out_258925546890284745[36] = 0;
|
||||
out_258925546890284745[37] = 0;
|
||||
out_258925546890284745[38] = 0;
|
||||
out_258925546890284745[39] = 0;
|
||||
out_258925546890284745[40] = 1;
|
||||
out_258925546890284745[41] = 0;
|
||||
out_258925546890284745[42] = 0;
|
||||
out_258925546890284745[43] = 0;
|
||||
out_258925546890284745[44] = 0;
|
||||
out_258925546890284745[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_258925546890284745[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_258925546890284745[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_258925546890284745[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_258925546890284745[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_258925546890284745[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_258925546890284745[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_258925546890284745[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_258925546890284745[53] = -9.8100000000000005*dt;
|
||||
out_258925546890284745[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_258925546890284745[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_258925546890284745[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_258925546890284745[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_258925546890284745[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_258925546890284745[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_258925546890284745[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_258925546890284745[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_258925546890284745[62] = 0;
|
||||
out_258925546890284745[63] = 0;
|
||||
out_258925546890284745[64] = 0;
|
||||
out_258925546890284745[65] = 0;
|
||||
out_258925546890284745[66] = 0;
|
||||
out_258925546890284745[67] = 0;
|
||||
out_258925546890284745[68] = 0;
|
||||
out_258925546890284745[69] = 0;
|
||||
out_258925546890284745[70] = 1;
|
||||
out_258925546890284745[71] = 0;
|
||||
out_258925546890284745[72] = 0;
|
||||
out_258925546890284745[73] = 0;
|
||||
out_258925546890284745[74] = 0;
|
||||
out_258925546890284745[75] = 0;
|
||||
out_258925546890284745[76] = 0;
|
||||
out_258925546890284745[77] = 0;
|
||||
out_258925546890284745[78] = 0;
|
||||
out_258925546890284745[79] = 0;
|
||||
out_258925546890284745[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_2752692491938964849) {
|
||||
out_2752692491938964849[0] = 1;
|
||||
out_2752692491938964849[1] = 0;
|
||||
out_2752692491938964849[2] = 0;
|
||||
out_2752692491938964849[3] = 0;
|
||||
out_2752692491938964849[4] = 0;
|
||||
out_2752692491938964849[5] = 0;
|
||||
out_2752692491938964849[6] = 0;
|
||||
out_2752692491938964849[7] = 0;
|
||||
out_2752692491938964849[8] = 0;
|
||||
out_2752692491938964849[9] = 0;
|
||||
out_2752692491938964849[10] = 1;
|
||||
out_2752692491938964849[11] = 0;
|
||||
out_2752692491938964849[12] = 0;
|
||||
out_2752692491938964849[13] = 0;
|
||||
out_2752692491938964849[14] = 0;
|
||||
out_2752692491938964849[15] = 0;
|
||||
out_2752692491938964849[16] = 0;
|
||||
out_2752692491938964849[17] = 0;
|
||||
out_2752692491938964849[18] = 0;
|
||||
out_2752692491938964849[19] = 0;
|
||||
out_2752692491938964849[20] = 1;
|
||||
out_2752692491938964849[21] = 0;
|
||||
out_2752692491938964849[22] = 0;
|
||||
out_2752692491938964849[23] = 0;
|
||||
out_2752692491938964849[24] = 0;
|
||||
out_2752692491938964849[25] = 0;
|
||||
out_2752692491938964849[26] = 0;
|
||||
out_2752692491938964849[27] = 0;
|
||||
out_2752692491938964849[28] = 0;
|
||||
out_2752692491938964849[29] = 0;
|
||||
out_2752692491938964849[30] = 1;
|
||||
out_2752692491938964849[31] = 0;
|
||||
out_2752692491938964849[32] = 0;
|
||||
out_2752692491938964849[33] = 0;
|
||||
out_2752692491938964849[34] = 0;
|
||||
out_2752692491938964849[35] = 0;
|
||||
out_2752692491938964849[36] = 0;
|
||||
out_2752692491938964849[37] = 0;
|
||||
out_2752692491938964849[38] = 0;
|
||||
out_2752692491938964849[39] = 0;
|
||||
out_2752692491938964849[40] = 1;
|
||||
out_2752692491938964849[41] = 0;
|
||||
out_2752692491938964849[42] = 0;
|
||||
out_2752692491938964849[43] = 0;
|
||||
out_2752692491938964849[44] = 0;
|
||||
out_2752692491938964849[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_2752692491938964849[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2752692491938964849[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2752692491938964849[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2752692491938964849[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_2752692491938964849[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2752692491938964849[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2752692491938964849[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2752692491938964849[53] = -9.8100000000000005*dt;
|
||||
out_2752692491938964849[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_2752692491938964849[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2752692491938964849[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2752692491938964849[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2752692491938964849[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_2752692491938964849[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2752692491938964849[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_2752692491938964849[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2752692491938964849[62] = 0;
|
||||
out_2752692491938964849[63] = 0;
|
||||
out_2752692491938964849[64] = 0;
|
||||
out_2752692491938964849[65] = 0;
|
||||
out_2752692491938964849[66] = 0;
|
||||
out_2752692491938964849[67] = 0;
|
||||
out_2752692491938964849[68] = 0;
|
||||
out_2752692491938964849[69] = 0;
|
||||
out_2752692491938964849[70] = 1;
|
||||
out_2752692491938964849[71] = 0;
|
||||
out_2752692491938964849[72] = 0;
|
||||
out_2752692491938964849[73] = 0;
|
||||
out_2752692491938964849[74] = 0;
|
||||
out_2752692491938964849[75] = 0;
|
||||
out_2752692491938964849[76] = 0;
|
||||
out_2752692491938964849[77] = 0;
|
||||
out_2752692491938964849[78] = 0;
|
||||
out_2752692491938964849[79] = 0;
|
||||
out_2752692491938964849[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5262304077966076166) {
|
||||
out_5262304077966076166[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_3787568519496882893) {
|
||||
out_3787568519496882893[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_4563500296818522594) {
|
||||
out_4563500296818522594[0] = 0;
|
||||
out_4563500296818522594[1] = 0;
|
||||
out_4563500296818522594[2] = 0;
|
||||
out_4563500296818522594[3] = 0;
|
||||
out_4563500296818522594[4] = 0;
|
||||
out_4563500296818522594[5] = 0;
|
||||
out_4563500296818522594[6] = 1;
|
||||
out_4563500296818522594[7] = 0;
|
||||
out_4563500296818522594[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_3699858802985056505) {
|
||||
out_3699858802985056505[0] = 0;
|
||||
out_3699858802985056505[1] = 0;
|
||||
out_3699858802985056505[2] = 0;
|
||||
out_3699858802985056505[3] = 0;
|
||||
out_3699858802985056505[4] = 0;
|
||||
out_3699858802985056505[5] = 0;
|
||||
out_3699858802985056505[6] = 1;
|
||||
out_3699858802985056505[7] = 0;
|
||||
out_3699858802985056505[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_2894074188837958464) {
|
||||
out_2894074188837958464[0] = state[4];
|
||||
out_2894074188837958464[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_1528856480665249325) {
|
||||
out_1528856480665249325[0] = state[4];
|
||||
out_1528856480665249325[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_2012071509772995507) {
|
||||
out_2012071509772995507[0] = 0;
|
||||
out_2012071509772995507[1] = 0;
|
||||
out_2012071509772995507[2] = 0;
|
||||
out_2012071509772995507[3] = 0;
|
||||
out_2012071509772995507[4] = 1;
|
||||
out_2012071509772995507[5] = 0;
|
||||
out_2012071509772995507[6] = 0;
|
||||
out_2012071509772995507[7] = 0;
|
||||
out_2012071509772995507[8] = 0;
|
||||
out_2012071509772995507[9] = 0;
|
||||
out_2012071509772995507[10] = 0;
|
||||
out_2012071509772995507[11] = 0;
|
||||
out_2012071509772995507[12] = 0;
|
||||
out_2012071509772995507[13] = 0;
|
||||
out_2012071509772995507[14] = 1;
|
||||
out_2012071509772995507[15] = 0;
|
||||
out_2012071509772995507[16] = 0;
|
||||
out_2012071509772995507[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1970995683807742436) {
|
||||
out_1970995683807742436[0] = 0;
|
||||
out_1970995683807742436[1] = 0;
|
||||
out_1970995683807742436[2] = 0;
|
||||
out_1970995683807742436[3] = 0;
|
||||
out_1970995683807742436[4] = 1;
|
||||
out_1970995683807742436[5] = 0;
|
||||
out_1970995683807742436[6] = 0;
|
||||
out_1970995683807742436[7] = 0;
|
||||
out_1970995683807742436[8] = 0;
|
||||
out_1970995683807742436[9] = 0;
|
||||
out_1970995683807742436[10] = 0;
|
||||
out_1970995683807742436[11] = 0;
|
||||
out_1970995683807742436[12] = 0;
|
||||
out_1970995683807742436[13] = 0;
|
||||
out_1970995683807742436[14] = 1;
|
||||
out_1970995683807742436[15] = 0;
|
||||
out_1970995683807742436[16] = 0;
|
||||
out_1970995683807742436[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_9005980160461201074) {
|
||||
out_9005980160461201074[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_4709092161766857099) {
|
||||
out_4709092161766857099[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_2045167338311273967) {
|
||||
out_2045167338311273967[0] = 0;
|
||||
out_2045167338311273967[1] = 0;
|
||||
out_2045167338311273967[2] = 0;
|
||||
out_2045167338311273967[3] = 0;
|
||||
out_2045167338311273967[4] = 1;
|
||||
out_2045167338311273967[5] = 0;
|
||||
out_2045167338311273967[6] = 0;
|
||||
out_2045167338311273967[7] = 0;
|
||||
out_2045167338311273967[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_7830194929232878356) {
|
||||
out_7830194929232878356[0] = 0;
|
||||
out_7830194929232878356[1] = 0;
|
||||
out_7830194929232878356[2] = 0;
|
||||
out_7830194929232878356[3] = 0;
|
||||
out_7830194929232878356[4] = 1;
|
||||
out_7830194929232878356[5] = 0;
|
||||
out_7830194929232878356[6] = 0;
|
||||
out_7830194929232878356[7] = 0;
|
||||
out_7830194929232878356[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_8837448028571873025) {
|
||||
out_8837448028571873025[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_1815522905777326306) {
|
||||
out_1815522905777326306[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_1258974327057721993) {
|
||||
out_1258974327057721993[0] = 0;
|
||||
out_1258974327057721993[1] = 0;
|
||||
out_1258974327057721993[2] = 0;
|
||||
out_1258974327057721993[3] = 0;
|
||||
out_1258974327057721993[4] = 0;
|
||||
out_1258974327057721993[5] = 0;
|
||||
out_1258974327057721993[6] = 0;
|
||||
out_1258974327057721993[7] = 1;
|
||||
out_1258974327057721993[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_41644515888999719) {
|
||||
out_41644515888999719[0] = 0;
|
||||
out_41644515888999719[1] = 0;
|
||||
out_41644515888999719[2] = 0;
|
||||
out_41644515888999719[3] = 0;
|
||||
out_41644515888999719[4] = 0;
|
||||
out_41644515888999719[5] = 0;
|
||||
out_41644515888999719[6] = 0;
|
||||
out_41644515888999719[7] = 1;
|
||||
out_41644515888999719[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_6785398478329626304) {
|
||||
out_6785398478329626304[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_8789241787157728538) {
|
||||
out_8789241787157728538[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_178426732872669250) {
|
||||
out_178426732872669250[0] = 0;
|
||||
out_178426732872669250[1] = 0;
|
||||
out_178426732872669250[2] = 0;
|
||||
out_178426732872669250[3] = 1;
|
||||
out_178426732872669250[4] = 0;
|
||||
out_178426732872669250[5] = 0;
|
||||
out_178426732872669250[6] = 0;
|
||||
out_178426732872669250[7] = 0;
|
||||
out_178426732872669250[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_8441785832676248349) {
|
||||
out_8441785832676248349[0] = 0;
|
||||
out_8441785832676248349[1] = 0;
|
||||
out_8441785832676248349[2] = 0;
|
||||
out_8441785832676248349[3] = 1;
|
||||
out_8441785832676248349[4] = 0;
|
||||
out_8441785832676248349[5] = 0;
|
||||
out_8441785832676248349[6] = 0;
|
||||
out_8441785832676248349[7] = 0;
|
||||
out_8441785832676248349[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_8023896067125902962) {
|
||||
out_8023896067125902962[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_8252567880601862062) {
|
||||
out_8252567880601862062[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_1534935993996881783) {
|
||||
out_1534935993996881783[0] = 0;
|
||||
out_1534935993996881783[1] = 1;
|
||||
out_1534935993996881783[2] = 0;
|
||||
out_1534935993996881783[3] = 0;
|
||||
out_1534935993996881783[4] = 0;
|
||||
out_1534935993996881783[5] = 0;
|
||||
out_1534935993996881783[6] = 0;
|
||||
out_1534935993996881783[7] = 0;
|
||||
out_1534935993996881783[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_7319963584918486172) {
|
||||
out_7319963584918486172[0] = 0;
|
||||
out_7319963584918486172[1] = 1;
|
||||
out_7319963584918486172[2] = 0;
|
||||
out_7319963584918486172[3] = 0;
|
||||
out_7319963584918486172[4] = 0;
|
||||
out_7319963584918486172[5] = 0;
|
||||
out_7319963584918486172[6] = 0;
|
||||
out_7319963584918486172[7] = 0;
|
||||
out_7319963584918486172[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_5617654677253484567) {
|
||||
out_5617654677253484567[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_5372968497508658522) {
|
||||
out_5372968497508658522[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_6617335011066412357) {
|
||||
out_6617335011066412357[0] = 1;
|
||||
out_6617335011066412357[1] = 0;
|
||||
out_6617335011066412357[2] = 0;
|
||||
out_6617335011066412357[3] = 0;
|
||||
out_6617335011066412357[4] = 0;
|
||||
out_6617335011066412357[5] = 0;
|
||||
out_6617335011066412357[6] = 0;
|
||||
out_6617335011066412357[7] = 0;
|
||||
out_6617335011066412357[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6044381471721534870) {
|
||||
out_6044381471721534870[0] = 1;
|
||||
out_6044381471721534870[1] = 0;
|
||||
out_6044381471721534870[2] = 0;
|
||||
out_6044381471721534870[3] = 0;
|
||||
out_6044381471721534870[4] = 0;
|
||||
out_6044381471721534870[5] = 0;
|
||||
out_6044381471721534870[6] = 0;
|
||||
out_6044381471721534870[7] = 0;
|
||||
out_6044381471721534870[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_9123987554394577818) {
|
||||
out_9123987554394577818[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6895910297391996282) {
|
||||
out_6895910297391996282[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_4532854334941562166) {
|
||||
out_4532854334941562166[0] = 0;
|
||||
out_4532854334941562166[1] = 0;
|
||||
out_4532854334941562166[2] = 0;
|
||||
out_4532854334941562166[3] = 0;
|
||||
out_4532854334941562166[4] = 0;
|
||||
out_4532854334941562166[5] = 0;
|
||||
out_4532854334941562166[6] = 0;
|
||||
out_4532854334941562166[7] = 0;
|
||||
out_4532854334941562166[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_3730504764862016933) {
|
||||
out_3730504764862016933[0] = 0;
|
||||
out_3730504764862016933[1] = 0;
|
||||
out_3730504764862016933[2] = 0;
|
||||
out_3730504764862016933[3] = 0;
|
||||
out_3730504764862016933[4] = 0;
|
||||
out_3730504764862016933[5] = 0;
|
||||
out_3730504764862016933[6] = 0;
|
||||
out_3730504764862016933[7] = 0;
|
||||
out_3730504764862016933[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_2567017903067559466) {
|
||||
err_fun(nom_x, delta_x, out_2567017903067559466);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7149517118868685515) {
|
||||
err_fun(nom_x, delta_x, out_7149517118868685515);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1749285410370024184) {
|
||||
inv_err_fun(nom_x, true_x, out_1749285410370024184);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1206282320038144058) {
|
||||
inv_err_fun(nom_x, true_x, out_1206282320038144058);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_8979551951706364182) {
|
||||
H_mod_fun(state, out_8979551951706364182);
|
||||
void car_H_mod_fun(double *state, double *out_2536050837023062909) {
|
||||
H_mod_fun(state, out_2536050837023062909);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_3674179640817441392) {
|
||||
f_fun(state, dt, out_3674179640817441392);
|
||||
void car_f_fun(double *state, double dt, double *out_4666135608333935516) {
|
||||
f_fun(state, dt, out_4666135608333935516);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_258925546890284745) {
|
||||
F_fun(state, dt, out_258925546890284745);
|
||||
void car_F_fun(double *state, double dt, double *out_2752692491938964849) {
|
||||
F_fun(state, dt, out_2752692491938964849);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5262304077966076166) {
|
||||
h_25(state, unused, out_5262304077966076166);
|
||||
void car_h_25(double *state, double *unused, double *out_3787568519496882893) {
|
||||
h_25(state, unused, out_3787568519496882893);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_4563500296818522594) {
|
||||
H_25(state, unused, out_4563500296818522594);
|
||||
void car_H_25(double *state, double *unused, double *out_3699858802985056505) {
|
||||
H_25(state, unused, out_3699858802985056505);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_2894074188837958464) {
|
||||
h_24(state, unused, out_2894074188837958464);
|
||||
void car_h_24(double *state, double *unused, double *out_1528856480665249325) {
|
||||
h_24(state, unused, out_1528856480665249325);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_2012071509772995507) {
|
||||
H_24(state, unused, out_2012071509772995507);
|
||||
void car_H_24(double *state, double *unused, double *out_1970995683807742436) {
|
||||
H_24(state, unused, out_1970995683807742436);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_9005980160461201074) {
|
||||
h_30(state, unused, out_9005980160461201074);
|
||||
void car_h_30(double *state, double *unused, double *out_4709092161766857099) {
|
||||
h_30(state, unused, out_4709092161766857099);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_2045167338311273967) {
|
||||
H_30(state, unused, out_2045167338311273967);
|
||||
void car_H_30(double *state, double *unused, double *out_7830194929232878356) {
|
||||
H_30(state, unused, out_7830194929232878356);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_8837448028571873025) {
|
||||
h_26(state, unused, out_8837448028571873025);
|
||||
void car_h_26(double *state, double *unused, double *out_1815522905777326306) {
|
||||
h_26(state, unused, out_1815522905777326306);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_1258974327057721993) {
|
||||
H_26(state, unused, out_1258974327057721993);
|
||||
void car_H_26(double *state, double *unused, double *out_41644515888999719) {
|
||||
H_26(state, unused, out_41644515888999719);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_6785398478329626304) {
|
||||
h_27(state, unused, out_6785398478329626304);
|
||||
void car_h_27(double *state, double *unused, double *out_8789241787157728538) {
|
||||
h_27(state, unused, out_8789241787157728538);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_178426732872669250) {
|
||||
H_27(state, unused, out_178426732872669250);
|
||||
void car_H_27(double *state, double *unused, double *out_8441785832676248349) {
|
||||
H_27(state, unused, out_8441785832676248349);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_8023896067125902962) {
|
||||
h_29(state, unused, out_8023896067125902962);
|
||||
void car_h_29(double *state, double *unused, double *out_8252567880601862062) {
|
||||
h_29(state, unused, out_8252567880601862062);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_1534935993996881783) {
|
||||
H_29(state, unused, out_1534935993996881783);
|
||||
void car_H_29(double *state, double *unused, double *out_7319963584918486172) {
|
||||
H_29(state, unused, out_7319963584918486172);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_5617654677253484567) {
|
||||
h_28(state, unused, out_5617654677253484567);
|
||||
void car_h_28(double *state, double *unused, double *out_5372968497508658522) {
|
||||
h_28(state, unused, out_5372968497508658522);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_6617335011066412357) {
|
||||
H_28(state, unused, out_6617335011066412357);
|
||||
void car_H_28(double *state, double *unused, double *out_6044381471721534870) {
|
||||
H_28(state, unused, out_6044381471721534870);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_9123987554394577818) {
|
||||
h_31(state, unused, out_9123987554394577818);
|
||||
void car_h_31(double *state, double *unused, double *out_6895910297391996282) {
|
||||
h_31(state, unused, out_6895910297391996282);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_4532854334941562166) {
|
||||
H_31(state, unused, out_4532854334941562166);
|
||||
void car_H_31(double *state, double *unused, double *out_3730504764862016933) {
|
||||
H_31(state, unused, out_3730504764862016933);
|
||||
}
|
||||
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_2567017903067559466);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1749285410370024184);
|
||||
void car_H_mod_fun(double *state, double *out_8979551951706364182);
|
||||
void car_f_fun(double *state, double dt, double *out_3674179640817441392);
|
||||
void car_F_fun(double *state, double dt, double *out_258925546890284745);
|
||||
void car_h_25(double *state, double *unused, double *out_5262304077966076166);
|
||||
void car_H_25(double *state, double *unused, double *out_4563500296818522594);
|
||||
void car_h_24(double *state, double *unused, double *out_2894074188837958464);
|
||||
void car_H_24(double *state, double *unused, double *out_2012071509772995507);
|
||||
void car_h_30(double *state, double *unused, double *out_9005980160461201074);
|
||||
void car_H_30(double *state, double *unused, double *out_2045167338311273967);
|
||||
void car_h_26(double *state, double *unused, double *out_8837448028571873025);
|
||||
void car_H_26(double *state, double *unused, double *out_1258974327057721993);
|
||||
void car_h_27(double *state, double *unused, double *out_6785398478329626304);
|
||||
void car_H_27(double *state, double *unused, double *out_178426732872669250);
|
||||
void car_h_29(double *state, double *unused, double *out_8023896067125902962);
|
||||
void car_H_29(double *state, double *unused, double *out_1534935993996881783);
|
||||
void car_h_28(double *state, double *unused, double *out_5617654677253484567);
|
||||
void car_H_28(double *state, double *unused, double *out_6617335011066412357);
|
||||
void car_h_31(double *state, double *unused, double *out_9123987554394577818);
|
||||
void car_H_31(double *state, double *unused, double *out_4532854334941562166);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7149517118868685515);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1206282320038144058);
|
||||
void car_H_mod_fun(double *state, double *out_2536050837023062909);
|
||||
void car_f_fun(double *state, double dt, double *out_4666135608333935516);
|
||||
void car_F_fun(double *state, double dt, double *out_2752692491938964849);
|
||||
void car_h_25(double *state, double *unused, double *out_3787568519496882893);
|
||||
void car_H_25(double *state, double *unused, double *out_3699858802985056505);
|
||||
void car_h_24(double *state, double *unused, double *out_1528856480665249325);
|
||||
void car_H_24(double *state, double *unused, double *out_1970995683807742436);
|
||||
void car_h_30(double *state, double *unused, double *out_4709092161766857099);
|
||||
void car_H_30(double *state, double *unused, double *out_7830194929232878356);
|
||||
void car_h_26(double *state, double *unused, double *out_1815522905777326306);
|
||||
void car_H_26(double *state, double *unused, double *out_41644515888999719);
|
||||
void car_h_27(double *state, double *unused, double *out_8789241787157728538);
|
||||
void car_H_27(double *state, double *unused, double *out_8441785832676248349);
|
||||
void car_h_29(double *state, double *unused, double *out_8252567880601862062);
|
||||
void car_H_29(double *state, double *unused, double *out_7319963584918486172);
|
||||
void car_h_28(double *state, double *unused, double *out_5372968497508658522);
|
||||
void car_H_28(double *state, double *unused, double *out_6044381471721534870);
|
||||
void car_h_31(double *state, double *unused, double *out_6895910297391996282);
|
||||
void car_H_31(double *state, double *unused, double *out_3730504764862016933);
|
||||
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_2526150130430510074);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3515561648914426109);
|
||||
void pose_H_mod_fun(double *state, double *out_6056162720073724257);
|
||||
void pose_f_fun(double *state, double dt, double *out_8780284750928315681);
|
||||
void pose_F_fun(double *state, double dt, double *out_1516035527731464330);
|
||||
void pose_h_4(double *state, double *unused, double *out_4492721189395603550);
|
||||
void pose_H_4(double *state, double *unused, double *out_4858215238190826153);
|
||||
void pose_h_10(double *state, double *unused, double *out_558240635521768637);
|
||||
void pose_H_10(double *state, double *unused, double *out_7377176961528777036);
|
||||
void pose_h_13(double *state, double *unused, double *out_3864223786954470726);
|
||||
void pose_H_13(double *state, double *unused, double *out_1645941412858493352);
|
||||
void pose_h_14(double *state, double *unused, double *out_2242454366414003666);
|
||||
void pose_H_14(double *state, double *unused, double *out_7941003670486198449);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_8259662850093450970);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7477554158578246383);
|
||||
void pose_H_mod_fun(double *state, double *out_6622639630704307229);
|
||||
void pose_f_fun(double *state, double dt, double *out_2747407686181114080);
|
||||
void pose_F_fun(double *state, double dt, double *out_5168326300746653192);
|
||||
void pose_h_4(double *state, double *unused, double *out_8670716112105694718);
|
||||
void pose_H_4(double *state, double *unused, double *out_1470121245665226494);
|
||||
void pose_h_10(double *state, double *unused, double *out_6106389642402371296);
|
||||
void pose_H_10(double *state, double *unused, double *out_8155893514424523240);
|
||||
void pose_h_13(double *state, double *unused, double *out_8157156466131107868);
|
||||
void pose_H_13(double *state, double *unused, double *out_1742152579667106307);
|
||||
void pose_h_14(double *state, double *unused, double *out_568036792274749064);
|
||||
void pose_H_14(double *state, double *unused, double *out_4552909677960598790);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Binary file not shown.
Reference in New Issue
Block a user