mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-07-26 20:32:04 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-601b8855-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-da88d20b-DEBUG";
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||||
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||||
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@@ -1 +1 @@
|
||||
DEV-601b8855-DEBUG
|
||||
DEV-da88d20b-DEBUG
|
||||
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_4317163891516196670) {
|
||||
out_4317163891516196670[0] = delta_x[0] + nom_x[0];
|
||||
out_4317163891516196670[1] = delta_x[1] + nom_x[1];
|
||||
out_4317163891516196670[2] = delta_x[2] + nom_x[2];
|
||||
out_4317163891516196670[3] = delta_x[3] + nom_x[3];
|
||||
out_4317163891516196670[4] = delta_x[4] + nom_x[4];
|
||||
out_4317163891516196670[5] = delta_x[5] + nom_x[5];
|
||||
out_4317163891516196670[6] = delta_x[6] + nom_x[6];
|
||||
out_4317163891516196670[7] = delta_x[7] + nom_x[7];
|
||||
out_4317163891516196670[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_3568804456057098654) {
|
||||
out_3568804456057098654[0] = delta_x[0] + nom_x[0];
|
||||
out_3568804456057098654[1] = delta_x[1] + nom_x[1];
|
||||
out_3568804456057098654[2] = delta_x[2] + nom_x[2];
|
||||
out_3568804456057098654[3] = delta_x[3] + nom_x[3];
|
||||
out_3568804456057098654[4] = delta_x[4] + nom_x[4];
|
||||
out_3568804456057098654[5] = delta_x[5] + nom_x[5];
|
||||
out_3568804456057098654[6] = delta_x[6] + nom_x[6];
|
||||
out_3568804456057098654[7] = delta_x[7] + nom_x[7];
|
||||
out_3568804456057098654[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_8278424519720112087) {
|
||||
out_8278424519720112087[0] = -nom_x[0] + true_x[0];
|
||||
out_8278424519720112087[1] = -nom_x[1] + true_x[1];
|
||||
out_8278424519720112087[2] = -nom_x[2] + true_x[2];
|
||||
out_8278424519720112087[3] = -nom_x[3] + true_x[3];
|
||||
out_8278424519720112087[4] = -nom_x[4] + true_x[4];
|
||||
out_8278424519720112087[5] = -nom_x[5] + true_x[5];
|
||||
out_8278424519720112087[6] = -nom_x[6] + true_x[6];
|
||||
out_8278424519720112087[7] = -nom_x[7] + true_x[7];
|
||||
out_8278424519720112087[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031) {
|
||||
out_1840397183166108031[0] = -nom_x[0] + true_x[0];
|
||||
out_1840397183166108031[1] = -nom_x[1] + true_x[1];
|
||||
out_1840397183166108031[2] = -nom_x[2] + true_x[2];
|
||||
out_1840397183166108031[3] = -nom_x[3] + true_x[3];
|
||||
out_1840397183166108031[4] = -nom_x[4] + true_x[4];
|
||||
out_1840397183166108031[5] = -nom_x[5] + true_x[5];
|
||||
out_1840397183166108031[6] = -nom_x[6] + true_x[6];
|
||||
out_1840397183166108031[7] = -nom_x[7] + true_x[7];
|
||||
out_1840397183166108031[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_319627375497114494) {
|
||||
out_319627375497114494[0] = 1.0;
|
||||
out_319627375497114494[1] = 0.0;
|
||||
out_319627375497114494[2] = 0.0;
|
||||
out_319627375497114494[3] = 0.0;
|
||||
out_319627375497114494[4] = 0.0;
|
||||
out_319627375497114494[5] = 0.0;
|
||||
out_319627375497114494[6] = 0.0;
|
||||
out_319627375497114494[7] = 0.0;
|
||||
out_319627375497114494[8] = 0.0;
|
||||
out_319627375497114494[9] = 0.0;
|
||||
out_319627375497114494[10] = 1.0;
|
||||
out_319627375497114494[11] = 0.0;
|
||||
out_319627375497114494[12] = 0.0;
|
||||
out_319627375497114494[13] = 0.0;
|
||||
out_319627375497114494[14] = 0.0;
|
||||
out_319627375497114494[15] = 0.0;
|
||||
out_319627375497114494[16] = 0.0;
|
||||
out_319627375497114494[17] = 0.0;
|
||||
out_319627375497114494[18] = 0.0;
|
||||
out_319627375497114494[19] = 0.0;
|
||||
out_319627375497114494[20] = 1.0;
|
||||
out_319627375497114494[21] = 0.0;
|
||||
out_319627375497114494[22] = 0.0;
|
||||
out_319627375497114494[23] = 0.0;
|
||||
out_319627375497114494[24] = 0.0;
|
||||
out_319627375497114494[25] = 0.0;
|
||||
out_319627375497114494[26] = 0.0;
|
||||
out_319627375497114494[27] = 0.0;
|
||||
out_319627375497114494[28] = 0.0;
|
||||
out_319627375497114494[29] = 0.0;
|
||||
out_319627375497114494[30] = 1.0;
|
||||
out_319627375497114494[31] = 0.0;
|
||||
out_319627375497114494[32] = 0.0;
|
||||
out_319627375497114494[33] = 0.0;
|
||||
out_319627375497114494[34] = 0.0;
|
||||
out_319627375497114494[35] = 0.0;
|
||||
out_319627375497114494[36] = 0.0;
|
||||
out_319627375497114494[37] = 0.0;
|
||||
out_319627375497114494[38] = 0.0;
|
||||
out_319627375497114494[39] = 0.0;
|
||||
out_319627375497114494[40] = 1.0;
|
||||
out_319627375497114494[41] = 0.0;
|
||||
out_319627375497114494[42] = 0.0;
|
||||
out_319627375497114494[43] = 0.0;
|
||||
out_319627375497114494[44] = 0.0;
|
||||
out_319627375497114494[45] = 0.0;
|
||||
out_319627375497114494[46] = 0.0;
|
||||
out_319627375497114494[47] = 0.0;
|
||||
out_319627375497114494[48] = 0.0;
|
||||
out_319627375497114494[49] = 0.0;
|
||||
out_319627375497114494[50] = 1.0;
|
||||
out_319627375497114494[51] = 0.0;
|
||||
out_319627375497114494[52] = 0.0;
|
||||
out_319627375497114494[53] = 0.0;
|
||||
out_319627375497114494[54] = 0.0;
|
||||
out_319627375497114494[55] = 0.0;
|
||||
out_319627375497114494[56] = 0.0;
|
||||
out_319627375497114494[57] = 0.0;
|
||||
out_319627375497114494[58] = 0.0;
|
||||
out_319627375497114494[59] = 0.0;
|
||||
out_319627375497114494[60] = 1.0;
|
||||
out_319627375497114494[61] = 0.0;
|
||||
out_319627375497114494[62] = 0.0;
|
||||
out_319627375497114494[63] = 0.0;
|
||||
out_319627375497114494[64] = 0.0;
|
||||
out_319627375497114494[65] = 0.0;
|
||||
out_319627375497114494[66] = 0.0;
|
||||
out_319627375497114494[67] = 0.0;
|
||||
out_319627375497114494[68] = 0.0;
|
||||
out_319627375497114494[69] = 0.0;
|
||||
out_319627375497114494[70] = 1.0;
|
||||
out_319627375497114494[71] = 0.0;
|
||||
out_319627375497114494[72] = 0.0;
|
||||
out_319627375497114494[73] = 0.0;
|
||||
out_319627375497114494[74] = 0.0;
|
||||
out_319627375497114494[75] = 0.0;
|
||||
out_319627375497114494[76] = 0.0;
|
||||
out_319627375497114494[77] = 0.0;
|
||||
out_319627375497114494[78] = 0.0;
|
||||
out_319627375497114494[79] = 0.0;
|
||||
out_319627375497114494[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8921258435077713963) {
|
||||
out_8921258435077713963[0] = 1.0;
|
||||
out_8921258435077713963[1] = 0.0;
|
||||
out_8921258435077713963[2] = 0.0;
|
||||
out_8921258435077713963[3] = 0.0;
|
||||
out_8921258435077713963[4] = 0.0;
|
||||
out_8921258435077713963[5] = 0.0;
|
||||
out_8921258435077713963[6] = 0.0;
|
||||
out_8921258435077713963[7] = 0.0;
|
||||
out_8921258435077713963[8] = 0.0;
|
||||
out_8921258435077713963[9] = 0.0;
|
||||
out_8921258435077713963[10] = 1.0;
|
||||
out_8921258435077713963[11] = 0.0;
|
||||
out_8921258435077713963[12] = 0.0;
|
||||
out_8921258435077713963[13] = 0.0;
|
||||
out_8921258435077713963[14] = 0.0;
|
||||
out_8921258435077713963[15] = 0.0;
|
||||
out_8921258435077713963[16] = 0.0;
|
||||
out_8921258435077713963[17] = 0.0;
|
||||
out_8921258435077713963[18] = 0.0;
|
||||
out_8921258435077713963[19] = 0.0;
|
||||
out_8921258435077713963[20] = 1.0;
|
||||
out_8921258435077713963[21] = 0.0;
|
||||
out_8921258435077713963[22] = 0.0;
|
||||
out_8921258435077713963[23] = 0.0;
|
||||
out_8921258435077713963[24] = 0.0;
|
||||
out_8921258435077713963[25] = 0.0;
|
||||
out_8921258435077713963[26] = 0.0;
|
||||
out_8921258435077713963[27] = 0.0;
|
||||
out_8921258435077713963[28] = 0.0;
|
||||
out_8921258435077713963[29] = 0.0;
|
||||
out_8921258435077713963[30] = 1.0;
|
||||
out_8921258435077713963[31] = 0.0;
|
||||
out_8921258435077713963[32] = 0.0;
|
||||
out_8921258435077713963[33] = 0.0;
|
||||
out_8921258435077713963[34] = 0.0;
|
||||
out_8921258435077713963[35] = 0.0;
|
||||
out_8921258435077713963[36] = 0.0;
|
||||
out_8921258435077713963[37] = 0.0;
|
||||
out_8921258435077713963[38] = 0.0;
|
||||
out_8921258435077713963[39] = 0.0;
|
||||
out_8921258435077713963[40] = 1.0;
|
||||
out_8921258435077713963[41] = 0.0;
|
||||
out_8921258435077713963[42] = 0.0;
|
||||
out_8921258435077713963[43] = 0.0;
|
||||
out_8921258435077713963[44] = 0.0;
|
||||
out_8921258435077713963[45] = 0.0;
|
||||
out_8921258435077713963[46] = 0.0;
|
||||
out_8921258435077713963[47] = 0.0;
|
||||
out_8921258435077713963[48] = 0.0;
|
||||
out_8921258435077713963[49] = 0.0;
|
||||
out_8921258435077713963[50] = 1.0;
|
||||
out_8921258435077713963[51] = 0.0;
|
||||
out_8921258435077713963[52] = 0.0;
|
||||
out_8921258435077713963[53] = 0.0;
|
||||
out_8921258435077713963[54] = 0.0;
|
||||
out_8921258435077713963[55] = 0.0;
|
||||
out_8921258435077713963[56] = 0.0;
|
||||
out_8921258435077713963[57] = 0.0;
|
||||
out_8921258435077713963[58] = 0.0;
|
||||
out_8921258435077713963[59] = 0.0;
|
||||
out_8921258435077713963[60] = 1.0;
|
||||
out_8921258435077713963[61] = 0.0;
|
||||
out_8921258435077713963[62] = 0.0;
|
||||
out_8921258435077713963[63] = 0.0;
|
||||
out_8921258435077713963[64] = 0.0;
|
||||
out_8921258435077713963[65] = 0.0;
|
||||
out_8921258435077713963[66] = 0.0;
|
||||
out_8921258435077713963[67] = 0.0;
|
||||
out_8921258435077713963[68] = 0.0;
|
||||
out_8921258435077713963[69] = 0.0;
|
||||
out_8921258435077713963[70] = 1.0;
|
||||
out_8921258435077713963[71] = 0.0;
|
||||
out_8921258435077713963[72] = 0.0;
|
||||
out_8921258435077713963[73] = 0.0;
|
||||
out_8921258435077713963[74] = 0.0;
|
||||
out_8921258435077713963[75] = 0.0;
|
||||
out_8921258435077713963[76] = 0.0;
|
||||
out_8921258435077713963[77] = 0.0;
|
||||
out_8921258435077713963[78] = 0.0;
|
||||
out_8921258435077713963[79] = 0.0;
|
||||
out_8921258435077713963[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_6613977481805234540) {
|
||||
out_6613977481805234540[0] = state[0];
|
||||
out_6613977481805234540[1] = state[1];
|
||||
out_6613977481805234540[2] = state[2];
|
||||
out_6613977481805234540[3] = state[3];
|
||||
out_6613977481805234540[4] = state[4];
|
||||
out_6613977481805234540[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_6613977481805234540[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_6613977481805234540[7] = state[7];
|
||||
out_6613977481805234540[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_3277027219914288776) {
|
||||
out_3277027219914288776[0] = state[0];
|
||||
out_3277027219914288776[1] = state[1];
|
||||
out_3277027219914288776[2] = state[2];
|
||||
out_3277027219914288776[3] = state[3];
|
||||
out_3277027219914288776[4] = state[4];
|
||||
out_3277027219914288776[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_3277027219914288776[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_3277027219914288776[7] = state[7];
|
||||
out_3277027219914288776[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_3393066705725541618) {
|
||||
out_3393066705725541618[0] = 1;
|
||||
out_3393066705725541618[1] = 0;
|
||||
out_3393066705725541618[2] = 0;
|
||||
out_3393066705725541618[3] = 0;
|
||||
out_3393066705725541618[4] = 0;
|
||||
out_3393066705725541618[5] = 0;
|
||||
out_3393066705725541618[6] = 0;
|
||||
out_3393066705725541618[7] = 0;
|
||||
out_3393066705725541618[8] = 0;
|
||||
out_3393066705725541618[9] = 0;
|
||||
out_3393066705725541618[10] = 1;
|
||||
out_3393066705725541618[11] = 0;
|
||||
out_3393066705725541618[12] = 0;
|
||||
out_3393066705725541618[13] = 0;
|
||||
out_3393066705725541618[14] = 0;
|
||||
out_3393066705725541618[15] = 0;
|
||||
out_3393066705725541618[16] = 0;
|
||||
out_3393066705725541618[17] = 0;
|
||||
out_3393066705725541618[18] = 0;
|
||||
out_3393066705725541618[19] = 0;
|
||||
out_3393066705725541618[20] = 1;
|
||||
out_3393066705725541618[21] = 0;
|
||||
out_3393066705725541618[22] = 0;
|
||||
out_3393066705725541618[23] = 0;
|
||||
out_3393066705725541618[24] = 0;
|
||||
out_3393066705725541618[25] = 0;
|
||||
out_3393066705725541618[26] = 0;
|
||||
out_3393066705725541618[27] = 0;
|
||||
out_3393066705725541618[28] = 0;
|
||||
out_3393066705725541618[29] = 0;
|
||||
out_3393066705725541618[30] = 1;
|
||||
out_3393066705725541618[31] = 0;
|
||||
out_3393066705725541618[32] = 0;
|
||||
out_3393066705725541618[33] = 0;
|
||||
out_3393066705725541618[34] = 0;
|
||||
out_3393066705725541618[35] = 0;
|
||||
out_3393066705725541618[36] = 0;
|
||||
out_3393066705725541618[37] = 0;
|
||||
out_3393066705725541618[38] = 0;
|
||||
out_3393066705725541618[39] = 0;
|
||||
out_3393066705725541618[40] = 1;
|
||||
out_3393066705725541618[41] = 0;
|
||||
out_3393066705725541618[42] = 0;
|
||||
out_3393066705725541618[43] = 0;
|
||||
out_3393066705725541618[44] = 0;
|
||||
out_3393066705725541618[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_3393066705725541618[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3393066705725541618[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3393066705725541618[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3393066705725541618[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_3393066705725541618[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3393066705725541618[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3393066705725541618[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3393066705725541618[53] = -9.8100000000000005*dt;
|
||||
out_3393066705725541618[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_3393066705725541618[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3393066705725541618[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3393066705725541618[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3393066705725541618[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_3393066705725541618[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3393066705725541618[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_3393066705725541618[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3393066705725541618[62] = 0;
|
||||
out_3393066705725541618[63] = 0;
|
||||
out_3393066705725541618[64] = 0;
|
||||
out_3393066705725541618[65] = 0;
|
||||
out_3393066705725541618[66] = 0;
|
||||
out_3393066705725541618[67] = 0;
|
||||
out_3393066705725541618[68] = 0;
|
||||
out_3393066705725541618[69] = 0;
|
||||
out_3393066705725541618[70] = 1;
|
||||
out_3393066705725541618[71] = 0;
|
||||
out_3393066705725541618[72] = 0;
|
||||
out_3393066705725541618[73] = 0;
|
||||
out_3393066705725541618[74] = 0;
|
||||
out_3393066705725541618[75] = 0;
|
||||
out_3393066705725541618[76] = 0;
|
||||
out_3393066705725541618[77] = 0;
|
||||
out_3393066705725541618[78] = 0;
|
||||
out_3393066705725541618[79] = 0;
|
||||
out_3393066705725541618[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_370955893725369602) {
|
||||
out_370955893725369602[0] = 1;
|
||||
out_370955893725369602[1] = 0;
|
||||
out_370955893725369602[2] = 0;
|
||||
out_370955893725369602[3] = 0;
|
||||
out_370955893725369602[4] = 0;
|
||||
out_370955893725369602[5] = 0;
|
||||
out_370955893725369602[6] = 0;
|
||||
out_370955893725369602[7] = 0;
|
||||
out_370955893725369602[8] = 0;
|
||||
out_370955893725369602[9] = 0;
|
||||
out_370955893725369602[10] = 1;
|
||||
out_370955893725369602[11] = 0;
|
||||
out_370955893725369602[12] = 0;
|
||||
out_370955893725369602[13] = 0;
|
||||
out_370955893725369602[14] = 0;
|
||||
out_370955893725369602[15] = 0;
|
||||
out_370955893725369602[16] = 0;
|
||||
out_370955893725369602[17] = 0;
|
||||
out_370955893725369602[18] = 0;
|
||||
out_370955893725369602[19] = 0;
|
||||
out_370955893725369602[20] = 1;
|
||||
out_370955893725369602[21] = 0;
|
||||
out_370955893725369602[22] = 0;
|
||||
out_370955893725369602[23] = 0;
|
||||
out_370955893725369602[24] = 0;
|
||||
out_370955893725369602[25] = 0;
|
||||
out_370955893725369602[26] = 0;
|
||||
out_370955893725369602[27] = 0;
|
||||
out_370955893725369602[28] = 0;
|
||||
out_370955893725369602[29] = 0;
|
||||
out_370955893725369602[30] = 1;
|
||||
out_370955893725369602[31] = 0;
|
||||
out_370955893725369602[32] = 0;
|
||||
out_370955893725369602[33] = 0;
|
||||
out_370955893725369602[34] = 0;
|
||||
out_370955893725369602[35] = 0;
|
||||
out_370955893725369602[36] = 0;
|
||||
out_370955893725369602[37] = 0;
|
||||
out_370955893725369602[38] = 0;
|
||||
out_370955893725369602[39] = 0;
|
||||
out_370955893725369602[40] = 1;
|
||||
out_370955893725369602[41] = 0;
|
||||
out_370955893725369602[42] = 0;
|
||||
out_370955893725369602[43] = 0;
|
||||
out_370955893725369602[44] = 0;
|
||||
out_370955893725369602[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_370955893725369602[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_370955893725369602[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_370955893725369602[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_370955893725369602[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_370955893725369602[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_370955893725369602[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_370955893725369602[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_370955893725369602[53] = -9.8100000000000005*dt;
|
||||
out_370955893725369602[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_370955893725369602[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_370955893725369602[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_370955893725369602[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_370955893725369602[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_370955893725369602[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_370955893725369602[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_370955893725369602[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_370955893725369602[62] = 0;
|
||||
out_370955893725369602[63] = 0;
|
||||
out_370955893725369602[64] = 0;
|
||||
out_370955893725369602[65] = 0;
|
||||
out_370955893725369602[66] = 0;
|
||||
out_370955893725369602[67] = 0;
|
||||
out_370955893725369602[68] = 0;
|
||||
out_370955893725369602[69] = 0;
|
||||
out_370955893725369602[70] = 1;
|
||||
out_370955893725369602[71] = 0;
|
||||
out_370955893725369602[72] = 0;
|
||||
out_370955893725369602[73] = 0;
|
||||
out_370955893725369602[74] = 0;
|
||||
out_370955893725369602[75] = 0;
|
||||
out_370955893725369602[76] = 0;
|
||||
out_370955893725369602[77] = 0;
|
||||
out_370955893725369602[78] = 0;
|
||||
out_370955893725369602[79] = 0;
|
||||
out_370955893725369602[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_3694283988136956896) {
|
||||
out_3694283988136956896[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_8154090013633331696) {
|
||||
out_8154090013633331696[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_8933928472300199885) {
|
||||
out_8933928472300199885[0] = 0;
|
||||
out_8933928472300199885[1] = 0;
|
||||
out_8933928472300199885[2] = 0;
|
||||
out_8933928472300199885[3] = 0;
|
||||
out_8933928472300199885[4] = 0;
|
||||
out_8933928472300199885[5] = 0;
|
||||
out_8933928472300199885[6] = 1;
|
||||
out_8933928472300199885[7] = 0;
|
||||
out_8933928472300199885[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_8415923992877417251) {
|
||||
out_8415923992877417251[0] = 0;
|
||||
out_8415923992877417251[1] = 0;
|
||||
out_8415923992877417251[2] = 0;
|
||||
out_8415923992877417251[3] = 0;
|
||||
out_8415923992877417251[4] = 0;
|
||||
out_8415923992877417251[5] = 0;
|
||||
out_8415923992877417251[6] = 1;
|
||||
out_8415923992877417251[7] = 0;
|
||||
out_8415923992877417251[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_878940354647202481) {
|
||||
out_878940354647202481[0] = state[4];
|
||||
out_878940354647202481[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_7351280482288278166) {
|
||||
out_7351280482288278166[0] = state[4];
|
||||
out_7351280482288278166[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_7287107817430483169) {
|
||||
out_7287107817430483169[0] = 0;
|
||||
out_7287107817430483169[1] = 0;
|
||||
out_7287107817430483169[2] = 0;
|
||||
out_7287107817430483169[3] = 0;
|
||||
out_7287107817430483169[4] = 1;
|
||||
out_7287107817430483169[5] = 0;
|
||||
out_7287107817430483169[6] = 0;
|
||||
out_7287107817430483169[7] = 0;
|
||||
out_7287107817430483169[8] = 0;
|
||||
out_7287107817430483169[9] = 0;
|
||||
out_7287107817430483169[10] = 0;
|
||||
out_7287107817430483169[11] = 0;
|
||||
out_7287107817430483169[12] = 0;
|
||||
out_7287107817430483169[13] = 0;
|
||||
out_7287107817430483169[14] = 1;
|
||||
out_7287107817430483169[15] = 0;
|
||||
out_7287107817430483169[16] = 0;
|
||||
out_7287107817430483169[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_8301956961654820296) {
|
||||
out_8301956961654820296[0] = 0;
|
||||
out_8301956961654820296[1] = 0;
|
||||
out_8301956961654820296[2] = 0;
|
||||
out_8301956961654820296[3] = 0;
|
||||
out_8301956961654820296[4] = 1;
|
||||
out_8301956961654820296[5] = 0;
|
||||
out_8301956961654820296[6] = 0;
|
||||
out_8301956961654820296[7] = 0;
|
||||
out_8301956961654820296[8] = 0;
|
||||
out_8301956961654820296[9] = 0;
|
||||
out_8301956961654820296[10] = 0;
|
||||
out_8301956961654820296[11] = 0;
|
||||
out_8301956961654820296[12] = 0;
|
||||
out_8301956961654820296[13] = 0;
|
||||
out_8301956961654820296[14] = 1;
|
||||
out_8301956961654820296[15] = 0;
|
||||
out_8301956961654820296[16] = 0;
|
||||
out_8301956961654820296[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_9220341424687980009) {
|
||||
out_9220341424687980009[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_4292406537204830044) {
|
||||
out_4292406537204830044[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_2596125259917734976) {
|
||||
out_2596125259917734976[0] = 0;
|
||||
out_2596125259917734976[1] = 0;
|
||||
out_2596125259917734976[2] = 0;
|
||||
out_2596125259917734976[3] = 0;
|
||||
out_2596125259917734976[4] = 1;
|
||||
out_2596125259917734976[5] = 0;
|
||||
out_2596125259917734976[6] = 0;
|
||||
out_2596125259917734976[7] = 0;
|
||||
out_2596125259917734976[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_1499233651385800496) {
|
||||
out_1499233651385800496[0] = 0;
|
||||
out_1499233651385800496[1] = 0;
|
||||
out_1499233651385800496[2] = 0;
|
||||
out_1499233651385800496[3] = 0;
|
||||
out_1499233651385800496[4] = 1;
|
||||
out_1499233651385800496[5] = 0;
|
||||
out_1499233651385800496[6] = 0;
|
||||
out_1499233651385800496[7] = 0;
|
||||
out_1499233651385800496[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_4022405810528928524) {
|
||||
out_4022405810528928524[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_7000316085453517212) {
|
||||
out_7000316085453517212[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_5192425153426143661) {
|
||||
out_5192425153426143661[0] = 0;
|
||||
out_5192425153426143661[1] = 0;
|
||||
out_5192425153426143661[2] = 0;
|
||||
out_5192425153426143661[3] = 0;
|
||||
out_5192425153426143661[4] = 0;
|
||||
out_5192425153426143661[5] = 0;
|
||||
out_5192425153426143661[6] = 0;
|
||||
out_5192425153426143661[7] = 1;
|
||||
out_5192425153426143661[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_6289316761958078141) {
|
||||
out_6289316761958078141[0] = 0;
|
||||
out_6289316761958078141[1] = 0;
|
||||
out_6289316761958078141[2] = 0;
|
||||
out_6289316761958078141[3] = 0;
|
||||
out_6289316761958078141[4] = 0;
|
||||
out_6289316761958078141[5] = 0;
|
||||
out_6289316761958078141[6] = 0;
|
||||
out_6289316761958078141[7] = 1;
|
||||
out_6289316761958078141[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_4139954033073310033) {
|
||||
out_4139954033073310033[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_3964284714812858416) {
|
||||
out_3964284714812858416[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_4770888571718159887) {
|
||||
out_4770888571718159887[0] = 0;
|
||||
out_4770888571718159887[1] = 0;
|
||||
out_4770888571718159887[2] = 0;
|
||||
out_4770888571718159887[3] = 1;
|
||||
out_4770888571718159887[4] = 0;
|
||||
out_4770888571718159887[5] = 0;
|
||||
out_4770888571718159887[6] = 0;
|
||||
out_4770888571718159887[7] = 0;
|
||||
out_4770888571718159887[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_3673996963186225407) {
|
||||
out_3673996963186225407[0] = 0;
|
||||
out_3673996963186225407[1] = 0;
|
||||
out_3673996963186225407[2] = 0;
|
||||
out_3673996963186225407[3] = 1;
|
||||
out_3673996963186225407[4] = 0;
|
||||
out_3673996963186225407[5] = 0;
|
||||
out_3673996963186225407[6] = 0;
|
||||
out_3673996963186225407[7] = 0;
|
||||
out_3673996963186225407[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_6621997328212873956) {
|
||||
out_6621997328212873956[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_3689090652528352527) {
|
||||
out_3689090652528352527[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_2085893915603342792) {
|
||||
out_2085893915603342792[0] = 0;
|
||||
out_2085893915603342792[1] = 1;
|
||||
out_2085893915603342792[2] = 0;
|
||||
out_2085893915603342792[3] = 0;
|
||||
out_2085893915603342792[4] = 0;
|
||||
out_2085893915603342792[5] = 0;
|
||||
out_2085893915603342792[6] = 0;
|
||||
out_2085893915603342792[7] = 0;
|
||||
out_2085893915603342792[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_989002307071408312) {
|
||||
out_989002307071408312[0] = 0;
|
||||
out_989002307071408312[1] = 1;
|
||||
out_989002307071408312[2] = 0;
|
||||
out_989002307071408312[3] = 0;
|
||||
out_989002307071408312[4] = 0;
|
||||
out_989002307071408312[5] = 0;
|
||||
out_989002307071408312[6] = 0;
|
||||
out_989002307071408312[7] = 0;
|
||||
out_989002307071408312[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_8099632253155620528) {
|
||||
out_8099632253155620528[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_1914000772745856672) {
|
||||
out_1914000772745856672[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_7168292932672873366) {
|
||||
out_7168292932672873366[0] = 1;
|
||||
out_7168292932672873366[1] = 0;
|
||||
out_7168292932672873366[2] = 0;
|
||||
out_7168292932672873366[3] = 0;
|
||||
out_7168292932672873366[4] = 0;
|
||||
out_7168292932672873366[5] = 0;
|
||||
out_7168292932672873366[6] = 0;
|
||||
out_7168292932672873366[7] = 0;
|
||||
out_7168292932672873366[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6071401324140938886) {
|
||||
out_6071401324140938886[0] = 1;
|
||||
out_6071401324140938886[1] = 0;
|
||||
out_6071401324140938886[2] = 0;
|
||||
out_6071401324140938886[3] = 0;
|
||||
out_6071401324140938886[4] = 0;
|
||||
out_6071401324140938886[5] = 0;
|
||||
out_6071401324140938886[6] = 0;
|
||||
out_6071401324140938886[7] = 0;
|
||||
out_6071401324140938886[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_5443433296546894286) {
|
||||
out_5443433296546894286[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_8205050127743358283) {
|
||||
out_8205050127743358283[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_8964574434177160313) {
|
||||
out_8964574434177160313[0] = 0;
|
||||
out_8964574434177160313[1] = 0;
|
||||
out_8964574434177160313[2] = 0;
|
||||
out_8964574434177160313[3] = 0;
|
||||
out_8964574434177160313[4] = 0;
|
||||
out_8964574434177160313[5] = 0;
|
||||
out_8964574434177160313[6] = 0;
|
||||
out_8964574434177160313[7] = 0;
|
||||
out_8964574434177160313[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_8385278031000456823) {
|
||||
out_8385278031000456823[0] = 0;
|
||||
out_8385278031000456823[1] = 0;
|
||||
out_8385278031000456823[2] = 0;
|
||||
out_8385278031000456823[3] = 0;
|
||||
out_8385278031000456823[4] = 0;
|
||||
out_8385278031000456823[5] = 0;
|
||||
out_8385278031000456823[6] = 0;
|
||||
out_8385278031000456823[7] = 0;
|
||||
out_8385278031000456823[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_4317163891516196670) {
|
||||
err_fun(nom_x, delta_x, out_4317163891516196670);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3568804456057098654) {
|
||||
err_fun(nom_x, delta_x, out_3568804456057098654);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8278424519720112087) {
|
||||
inv_err_fun(nom_x, true_x, out_8278424519720112087);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031) {
|
||||
inv_err_fun(nom_x, true_x, out_1840397183166108031);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_319627375497114494) {
|
||||
H_mod_fun(state, out_319627375497114494);
|
||||
void car_H_mod_fun(double *state, double *out_8921258435077713963) {
|
||||
H_mod_fun(state, out_8921258435077713963);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_6613977481805234540) {
|
||||
f_fun(state, dt, out_6613977481805234540);
|
||||
void car_f_fun(double *state, double dt, double *out_3277027219914288776) {
|
||||
f_fun(state, dt, out_3277027219914288776);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_3393066705725541618) {
|
||||
F_fun(state, dt, out_3393066705725541618);
|
||||
void car_F_fun(double *state, double dt, double *out_370955893725369602) {
|
||||
F_fun(state, dt, out_370955893725369602);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_3694283988136956896) {
|
||||
h_25(state, unused, out_3694283988136956896);
|
||||
void car_h_25(double *state, double *unused, double *out_8154090013633331696) {
|
||||
h_25(state, unused, out_8154090013633331696);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_8933928472300199885) {
|
||||
H_25(state, unused, out_8933928472300199885);
|
||||
void car_H_25(double *state, double *unused, double *out_8415923992877417251) {
|
||||
H_25(state, unused, out_8415923992877417251);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_878940354647202481) {
|
||||
h_24(state, unused, out_878940354647202481);
|
||||
void car_h_24(double *state, double *unused, double *out_7351280482288278166) {
|
||||
h_24(state, unused, out_7351280482288278166);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_7287107817430483169) {
|
||||
H_24(state, unused, out_7287107817430483169);
|
||||
void car_H_24(double *state, double *unused, double *out_8301956961654820296) {
|
||||
H_24(state, unused, out_8301956961654820296);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_9220341424687980009) {
|
||||
h_30(state, unused, out_9220341424687980009);
|
||||
void car_h_30(double *state, double *unused, double *out_4292406537204830044) {
|
||||
h_30(state, unused, out_4292406537204830044);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_2596125259917734976) {
|
||||
H_30(state, unused, out_2596125259917734976);
|
||||
void car_H_30(double *state, double *unused, double *out_1499233651385800496) {
|
||||
H_30(state, unused, out_1499233651385800496);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_4022405810528928524) {
|
||||
h_26(state, unused, out_4022405810528928524);
|
||||
void car_h_26(double *state, double *unused, double *out_7000316085453517212) {
|
||||
h_26(state, unused, out_7000316085453517212);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_5192425153426143661) {
|
||||
H_26(state, unused, out_5192425153426143661);
|
||||
void car_H_26(double *state, double *unused, double *out_6289316761958078141) {
|
||||
H_26(state, unused, out_6289316761958078141);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_4139954033073310033) {
|
||||
h_27(state, unused, out_4139954033073310033);
|
||||
void car_h_27(double *state, double *unused, double *out_3964284714812858416) {
|
||||
h_27(state, unused, out_3964284714812858416);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_4770888571718159887) {
|
||||
H_27(state, unused, out_4770888571718159887);
|
||||
void car_H_27(double *state, double *unused, double *out_3673996963186225407) {
|
||||
H_27(state, unused, out_3673996963186225407);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_6621997328212873956) {
|
||||
h_29(state, unused, out_6621997328212873956);
|
||||
void car_h_29(double *state, double *unused, double *out_3689090652528352527) {
|
||||
h_29(state, unused, out_3689090652528352527);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_2085893915603342792) {
|
||||
H_29(state, unused, out_2085893915603342792);
|
||||
void car_H_29(double *state, double *unused, double *out_989002307071408312) {
|
||||
H_29(state, unused, out_989002307071408312);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_8099632253155620528) {
|
||||
h_28(state, unused, out_8099632253155620528);
|
||||
void car_h_28(double *state, double *unused, double *out_1914000772745856672) {
|
||||
h_28(state, unused, out_1914000772745856672);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_7168292932672873366) {
|
||||
H_28(state, unused, out_7168292932672873366);
|
||||
void car_H_28(double *state, double *unused, double *out_6071401324140938886) {
|
||||
H_28(state, unused, out_6071401324140938886);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_5443433296546894286) {
|
||||
h_31(state, unused, out_5443433296546894286);
|
||||
void car_h_31(double *state, double *unused, double *out_8205050127743358283) {
|
||||
h_31(state, unused, out_8205050127743358283);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_8964574434177160313) {
|
||||
H_31(state, unused, out_8964574434177160313);
|
||||
void car_H_31(double *state, double *unused, double *out_8385278031000456823) {
|
||||
H_31(state, unused, out_8385278031000456823);
|
||||
}
|
||||
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_4317163891516196670);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8278424519720112087);
|
||||
void car_H_mod_fun(double *state, double *out_319627375497114494);
|
||||
void car_f_fun(double *state, double dt, double *out_6613977481805234540);
|
||||
void car_F_fun(double *state, double dt, double *out_3393066705725541618);
|
||||
void car_h_25(double *state, double *unused, double *out_3694283988136956896);
|
||||
void car_H_25(double *state, double *unused, double *out_8933928472300199885);
|
||||
void car_h_24(double *state, double *unused, double *out_878940354647202481);
|
||||
void car_H_24(double *state, double *unused, double *out_7287107817430483169);
|
||||
void car_h_30(double *state, double *unused, double *out_9220341424687980009);
|
||||
void car_H_30(double *state, double *unused, double *out_2596125259917734976);
|
||||
void car_h_26(double *state, double *unused, double *out_4022405810528928524);
|
||||
void car_H_26(double *state, double *unused, double *out_5192425153426143661);
|
||||
void car_h_27(double *state, double *unused, double *out_4139954033073310033);
|
||||
void car_H_27(double *state, double *unused, double *out_4770888571718159887);
|
||||
void car_h_29(double *state, double *unused, double *out_6621997328212873956);
|
||||
void car_H_29(double *state, double *unused, double *out_2085893915603342792);
|
||||
void car_h_28(double *state, double *unused, double *out_8099632253155620528);
|
||||
void car_H_28(double *state, double *unused, double *out_7168292932672873366);
|
||||
void car_h_31(double *state, double *unused, double *out_5443433296546894286);
|
||||
void car_H_31(double *state, double *unused, double *out_8964574434177160313);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3568804456057098654);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031);
|
||||
void car_H_mod_fun(double *state, double *out_8921258435077713963);
|
||||
void car_f_fun(double *state, double dt, double *out_3277027219914288776);
|
||||
void car_F_fun(double *state, double dt, double *out_370955893725369602);
|
||||
void car_h_25(double *state, double *unused, double *out_8154090013633331696);
|
||||
void car_H_25(double *state, double *unused, double *out_8415923992877417251);
|
||||
void car_h_24(double *state, double *unused, double *out_7351280482288278166);
|
||||
void car_H_24(double *state, double *unused, double *out_8301956961654820296);
|
||||
void car_h_30(double *state, double *unused, double *out_4292406537204830044);
|
||||
void car_H_30(double *state, double *unused, double *out_1499233651385800496);
|
||||
void car_h_26(double *state, double *unused, double *out_7000316085453517212);
|
||||
void car_H_26(double *state, double *unused, double *out_6289316761958078141);
|
||||
void car_h_27(double *state, double *unused, double *out_3964284714812858416);
|
||||
void car_H_27(double *state, double *unused, double *out_3673996963186225407);
|
||||
void car_h_29(double *state, double *unused, double *out_3689090652528352527);
|
||||
void car_H_29(double *state, double *unused, double *out_989002307071408312);
|
||||
void car_h_28(double *state, double *unused, double *out_1914000772745856672);
|
||||
void car_H_28(double *state, double *unused, double *out_6071401324140938886);
|
||||
void car_h_31(double *state, double *unused, double *out_8205050127743358283);
|
||||
void car_H_31(double *state, double *unused, double *out_8385278031000456823);
|
||||
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_2276930388742637984);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5553036191683273841);
|
||||
void pose_H_mod_fun(double *state, double *out_9138325999640393464);
|
||||
void pose_f_fun(double *state, double dt, double *out_1147502803036589913);
|
||||
void pose_F_fun(double *state, double dt, double *out_5222045031026609980);
|
||||
void pose_h_4(double *state, double *unused, double *out_9011768275853426182);
|
||||
void pose_H_4(double *state, double *unused, double *out_3460336267317199431);
|
||||
void pose_h_10(double *state, double *unused, double *out_678012550926290311);
|
||||
void pose_H_10(double *state, double *unused, double *out_4795577018961183743);
|
||||
void pose_h_13(double *state, double *unused, double *out_7050071971782529116);
|
||||
void pose_H_13(double *state, double *unused, double *out_6672610092649532232);
|
||||
void pose_h_14(double *state, double *unused, double *out_2771996280971910329);
|
||||
void pose_H_14(double *state, double *unused, double *out_7423577123656683960);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_3667758909157266385);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3255008687637156165);
|
||||
void pose_H_mod_fun(double *state, double *out_1678148223451849404);
|
||||
void pose_f_fun(double *state, double dt, double *out_4390690219844123460);
|
||||
void pose_F_fun(double *state, double dt, double *out_5251920544283288288);
|
||||
void pose_h_4(double *state, double *unused, double *out_2086181486544094617);
|
||||
void pose_H_4(double *state, double *unused, double *out_141550502454447457);
|
||||
void pose_h_10(double *state, double *unused, double *out_2304974017593414723);
|
||||
void pose_H_10(double *state, double *unused, double *out_521311265061217175);
|
||||
void pose_h_13(double *state, double *unused, double *out_6563098082746675966);
|
||||
void pose_H_13(double *state, double *unused, double *out_3070723322877885344);
|
||||
void pose_h_14(double *state, double *unused, double *out_4832039927491863335);
|
||||
void pose_H_14(double *state, double *unused, double *out_3821690353885037072);
|
||||
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