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Build Galaxy dashboard weather
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firestar5683
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_8999648935700225800) {
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out_8999648935700225800[0] = delta_x[0] + nom_x[0];
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out_8999648935700225800[1] = delta_x[1] + nom_x[1];
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out_8999648935700225800[2] = delta_x[2] + nom_x[2];
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out_8999648935700225800[3] = delta_x[3] + nom_x[3];
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out_8999648935700225800[4] = delta_x[4] + nom_x[4];
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out_8999648935700225800[5] = delta_x[5] + nom_x[5];
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out_8999648935700225800[6] = delta_x[6] + nom_x[6];
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out_8999648935700225800[7] = delta_x[7] + nom_x[7];
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out_8999648935700225800[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_5237522992400909671) {
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out_5237522992400909671[0] = delta_x[0] + nom_x[0];
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out_5237522992400909671[1] = delta_x[1] + nom_x[1];
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out_5237522992400909671[2] = delta_x[2] + nom_x[2];
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out_5237522992400909671[3] = delta_x[3] + nom_x[3];
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out_5237522992400909671[4] = delta_x[4] + nom_x[4];
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out_5237522992400909671[5] = delta_x[5] + nom_x[5];
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out_5237522992400909671[6] = delta_x[6] + nom_x[6];
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out_5237522992400909671[7] = delta_x[7] + nom_x[7];
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out_5237522992400909671[8] = delta_x[8] + nom_x[8];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_1037891798927481552) {
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out_1037891798927481552[0] = -nom_x[0] + true_x[0];
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out_1037891798927481552[1] = -nom_x[1] + true_x[1];
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out_1037891798927481552[2] = -nom_x[2] + true_x[2];
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out_1037891798927481552[3] = -nom_x[3] + true_x[3];
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out_1037891798927481552[4] = -nom_x[4] + true_x[4];
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out_1037891798927481552[5] = -nom_x[5] + true_x[5];
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out_1037891798927481552[6] = -nom_x[6] + true_x[6];
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out_1037891798927481552[7] = -nom_x[7] + true_x[7];
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out_1037891798927481552[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_4520032815172558841) {
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out_4520032815172558841[0] = -nom_x[0] + true_x[0];
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out_4520032815172558841[1] = -nom_x[1] + true_x[1];
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out_4520032815172558841[2] = -nom_x[2] + true_x[2];
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out_4520032815172558841[3] = -nom_x[3] + true_x[3];
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out_4520032815172558841[4] = -nom_x[4] + true_x[4];
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out_4520032815172558841[5] = -nom_x[5] + true_x[5];
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out_4520032815172558841[6] = -nom_x[6] + true_x[6];
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out_4520032815172558841[7] = -nom_x[7] + true_x[7];
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out_4520032815172558841[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_2102418200973278943) {
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out_2102418200973278943[0] = 1.0;
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out_2102418200973278943[1] = 0.0;
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out_2102418200973278943[2] = 0.0;
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out_2102418200973278943[3] = 0.0;
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out_2102418200973278943[4] = 0.0;
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out_2102418200973278943[5] = 0.0;
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out_2102418200973278943[6] = 0.0;
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out_2102418200973278943[7] = 0.0;
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out_2102418200973278943[8] = 0.0;
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out_2102418200973278943[9] = 0.0;
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out_2102418200973278943[10] = 1.0;
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out_2102418200973278943[11] = 0.0;
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out_2102418200973278943[12] = 0.0;
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out_2102418200973278943[13] = 0.0;
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out_2102418200973278943[14] = 0.0;
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out_2102418200973278943[15] = 0.0;
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out_2102418200973278943[16] = 0.0;
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out_2102418200973278943[17] = 0.0;
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out_2102418200973278943[18] = 0.0;
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out_2102418200973278943[19] = 0.0;
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out_2102418200973278943[20] = 1.0;
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out_2102418200973278943[21] = 0.0;
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out_2102418200973278943[22] = 0.0;
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out_2102418200973278943[23] = 0.0;
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out_2102418200973278943[24] = 0.0;
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out_2102418200973278943[25] = 0.0;
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out_2102418200973278943[26] = 0.0;
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out_2102418200973278943[27] = 0.0;
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out_2102418200973278943[28] = 0.0;
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out_2102418200973278943[29] = 0.0;
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out_2102418200973278943[30] = 1.0;
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out_2102418200973278943[31] = 0.0;
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out_2102418200973278943[32] = 0.0;
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out_2102418200973278943[33] = 0.0;
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out_2102418200973278943[34] = 0.0;
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out_2102418200973278943[35] = 0.0;
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out_2102418200973278943[36] = 0.0;
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out_2102418200973278943[37] = 0.0;
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out_2102418200973278943[38] = 0.0;
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out_2102418200973278943[39] = 0.0;
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out_2102418200973278943[40] = 1.0;
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out_2102418200973278943[41] = 0.0;
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out_2102418200973278943[42] = 0.0;
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out_2102418200973278943[43] = 0.0;
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out_2102418200973278943[44] = 0.0;
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out_2102418200973278943[45] = 0.0;
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out_2102418200973278943[46] = 0.0;
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out_2102418200973278943[47] = 0.0;
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out_2102418200973278943[48] = 0.0;
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out_2102418200973278943[49] = 0.0;
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out_2102418200973278943[50] = 1.0;
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out_2102418200973278943[51] = 0.0;
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out_2102418200973278943[52] = 0.0;
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out_2102418200973278943[53] = 0.0;
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out_2102418200973278943[54] = 0.0;
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out_2102418200973278943[55] = 0.0;
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out_2102418200973278943[56] = 0.0;
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out_2102418200973278943[57] = 0.0;
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out_2102418200973278943[58] = 0.0;
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out_2102418200973278943[59] = 0.0;
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out_2102418200973278943[60] = 1.0;
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out_2102418200973278943[61] = 0.0;
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out_2102418200973278943[62] = 0.0;
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out_2102418200973278943[63] = 0.0;
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out_2102418200973278943[64] = 0.0;
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out_2102418200973278943[65] = 0.0;
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out_2102418200973278943[66] = 0.0;
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out_2102418200973278943[67] = 0.0;
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out_2102418200973278943[68] = 0.0;
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out_2102418200973278943[69] = 0.0;
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out_2102418200973278943[70] = 1.0;
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out_2102418200973278943[71] = 0.0;
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out_2102418200973278943[72] = 0.0;
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out_2102418200973278943[73] = 0.0;
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out_2102418200973278943[74] = 0.0;
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out_2102418200973278943[75] = 0.0;
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out_2102418200973278943[76] = 0.0;
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out_2102418200973278943[77] = 0.0;
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out_2102418200973278943[78] = 0.0;
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out_2102418200973278943[79] = 0.0;
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out_2102418200973278943[80] = 1.0;
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void H_mod_fun(double *state, double *out_5454958910934564864) {
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out_5454958910934564864[0] = 1.0;
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out_5454958910934564864[1] = 0.0;
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out_5454958910934564864[2] = 0.0;
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out_5454958910934564864[3] = 0.0;
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out_5454958910934564864[4] = 0.0;
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out_5454958910934564864[5] = 0.0;
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out_5454958910934564864[6] = 0.0;
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out_5454958910934564864[7] = 0.0;
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out_5454958910934564864[8] = 0.0;
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out_5454958910934564864[9] = 0.0;
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out_5454958910934564864[10] = 1.0;
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out_5454958910934564864[11] = 0.0;
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out_5454958910934564864[12] = 0.0;
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out_5454958910934564864[13] = 0.0;
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out_5454958910934564864[14] = 0.0;
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out_5454958910934564864[15] = 0.0;
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out_5454958910934564864[16] = 0.0;
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out_5454958910934564864[17] = 0.0;
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out_5454958910934564864[18] = 0.0;
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out_5454958910934564864[19] = 0.0;
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out_5454958910934564864[20] = 1.0;
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out_5454958910934564864[21] = 0.0;
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out_5454958910934564864[22] = 0.0;
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out_5454958910934564864[23] = 0.0;
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out_5454958910934564864[24] = 0.0;
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out_5454958910934564864[25] = 0.0;
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out_5454958910934564864[26] = 0.0;
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out_5454958910934564864[27] = 0.0;
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out_5454958910934564864[28] = 0.0;
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out_5454958910934564864[29] = 0.0;
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out_5454958910934564864[30] = 1.0;
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out_5454958910934564864[31] = 0.0;
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out_5454958910934564864[32] = 0.0;
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out_5454958910934564864[33] = 0.0;
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out_5454958910934564864[34] = 0.0;
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out_5454958910934564864[35] = 0.0;
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out_5454958910934564864[36] = 0.0;
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out_5454958910934564864[37] = 0.0;
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out_5454958910934564864[38] = 0.0;
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out_5454958910934564864[39] = 0.0;
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out_5454958910934564864[40] = 1.0;
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out_5454958910934564864[41] = 0.0;
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out_5454958910934564864[42] = 0.0;
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out_5454958910934564864[43] = 0.0;
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out_5454958910934564864[44] = 0.0;
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out_5454958910934564864[45] = 0.0;
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out_5454958910934564864[46] = 0.0;
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out_5454958910934564864[47] = 0.0;
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out_5454958910934564864[48] = 0.0;
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out_5454958910934564864[49] = 0.0;
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out_5454958910934564864[50] = 1.0;
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out_5454958910934564864[51] = 0.0;
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out_5454958910934564864[52] = 0.0;
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out_5454958910934564864[53] = 0.0;
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out_5454958910934564864[54] = 0.0;
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out_5454958910934564864[55] = 0.0;
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out_5454958910934564864[56] = 0.0;
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out_5454958910934564864[57] = 0.0;
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out_5454958910934564864[58] = 0.0;
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out_5454958910934564864[59] = 0.0;
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out_5454958910934564864[60] = 1.0;
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out_5454958910934564864[61] = 0.0;
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out_5454958910934564864[62] = 0.0;
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out_5454958910934564864[63] = 0.0;
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out_5454958910934564864[64] = 0.0;
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out_5454958910934564864[65] = 0.0;
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out_5454958910934564864[66] = 0.0;
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out_5454958910934564864[67] = 0.0;
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out_5454958910934564864[68] = 0.0;
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out_5454958910934564864[69] = 0.0;
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out_5454958910934564864[70] = 1.0;
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out_5454958910934564864[71] = 0.0;
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out_5454958910934564864[72] = 0.0;
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out_5454958910934564864[73] = 0.0;
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out_5454958910934564864[74] = 0.0;
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out_5454958910934564864[75] = 0.0;
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out_5454958910934564864[76] = 0.0;
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out_5454958910934564864[77] = 0.0;
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out_5454958910934564864[78] = 0.0;
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out_5454958910934564864[79] = 0.0;
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out_5454958910934564864[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_7837527456128700272) {
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out_7837527456128700272[0] = state[0];
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out_7837527456128700272[1] = state[1];
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out_7837527456128700272[2] = state[2];
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out_7837527456128700272[3] = state[3];
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out_7837527456128700272[4] = state[4];
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out_7837527456128700272[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];
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out_7837527456128700272[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];
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out_7837527456128700272[7] = state[7];
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out_7837527456128700272[8] = state[8];
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void f_fun(double *state, double dt, double *out_8393141651434012145) {
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out_8393141651434012145[0] = state[0];
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out_8393141651434012145[1] = state[1];
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out_8393141651434012145[2] = state[2];
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out_8393141651434012145[3] = state[3];
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out_8393141651434012145[4] = state[4];
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out_8393141651434012145[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];
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out_8393141651434012145[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];
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out_8393141651434012145[7] = state[7];
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out_8393141651434012145[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_727133835749799749) {
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out_727133835749799749[0] = 1;
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out_727133835749799749[1] = 0;
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out_727133835749799749[2] = 0;
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out_727133835749799749[3] = 0;
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out_727133835749799749[4] = 0;
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out_727133835749799749[5] = 0;
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out_727133835749799749[6] = 0;
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out_727133835749799749[7] = 0;
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out_727133835749799749[8] = 0;
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out_727133835749799749[9] = 0;
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out_727133835749799749[10] = 1;
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||||
out_727133835749799749[11] = 0;
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||||
out_727133835749799749[12] = 0;
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||||
out_727133835749799749[13] = 0;
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out_727133835749799749[14] = 0;
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||||
out_727133835749799749[15] = 0;
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||||
out_727133835749799749[16] = 0;
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||||
out_727133835749799749[17] = 0;
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||||
out_727133835749799749[18] = 0;
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||||
out_727133835749799749[19] = 0;
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||||
out_727133835749799749[20] = 1;
|
||||
out_727133835749799749[21] = 0;
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||||
out_727133835749799749[22] = 0;
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||||
out_727133835749799749[23] = 0;
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||||
out_727133835749799749[24] = 0;
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||||
out_727133835749799749[25] = 0;
|
||||
out_727133835749799749[26] = 0;
|
||||
out_727133835749799749[27] = 0;
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||||
out_727133835749799749[28] = 0;
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||||
out_727133835749799749[29] = 0;
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||||
out_727133835749799749[30] = 1;
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||||
out_727133835749799749[31] = 0;
|
||||
out_727133835749799749[32] = 0;
|
||||
out_727133835749799749[33] = 0;
|
||||
out_727133835749799749[34] = 0;
|
||||
out_727133835749799749[35] = 0;
|
||||
out_727133835749799749[36] = 0;
|
||||
out_727133835749799749[37] = 0;
|
||||
out_727133835749799749[38] = 0;
|
||||
out_727133835749799749[39] = 0;
|
||||
out_727133835749799749[40] = 1;
|
||||
out_727133835749799749[41] = 0;
|
||||
out_727133835749799749[42] = 0;
|
||||
out_727133835749799749[43] = 0;
|
||||
out_727133835749799749[44] = 0;
|
||||
out_727133835749799749[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_727133835749799749[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_727133835749799749[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_727133835749799749[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_727133835749799749[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_727133835749799749[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_727133835749799749[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_727133835749799749[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_727133835749799749[53] = -9.8100000000000005*dt;
|
||||
out_727133835749799749[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_727133835749799749[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_727133835749799749[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_727133835749799749[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_727133835749799749[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_727133835749799749[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_727133835749799749[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_727133835749799749[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_727133835749799749[62] = 0;
|
||||
out_727133835749799749[63] = 0;
|
||||
out_727133835749799749[64] = 0;
|
||||
out_727133835749799749[65] = 0;
|
||||
out_727133835749799749[66] = 0;
|
||||
out_727133835749799749[67] = 0;
|
||||
out_727133835749799749[68] = 0;
|
||||
out_727133835749799749[69] = 0;
|
||||
out_727133835749799749[70] = 1;
|
||||
out_727133835749799749[71] = 0;
|
||||
out_727133835749799749[72] = 0;
|
||||
out_727133835749799749[73] = 0;
|
||||
out_727133835749799749[74] = 0;
|
||||
out_727133835749799749[75] = 0;
|
||||
out_727133835749799749[76] = 0;
|
||||
out_727133835749799749[77] = 0;
|
||||
out_727133835749799749[78] = 0;
|
||||
out_727133835749799749[79] = 0;
|
||||
out_727133835749799749[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_3892894923326252036) {
|
||||
out_3892894923326252036[0] = 1;
|
||||
out_3892894923326252036[1] = 0;
|
||||
out_3892894923326252036[2] = 0;
|
||||
out_3892894923326252036[3] = 0;
|
||||
out_3892894923326252036[4] = 0;
|
||||
out_3892894923326252036[5] = 0;
|
||||
out_3892894923326252036[6] = 0;
|
||||
out_3892894923326252036[7] = 0;
|
||||
out_3892894923326252036[8] = 0;
|
||||
out_3892894923326252036[9] = 0;
|
||||
out_3892894923326252036[10] = 1;
|
||||
out_3892894923326252036[11] = 0;
|
||||
out_3892894923326252036[12] = 0;
|
||||
out_3892894923326252036[13] = 0;
|
||||
out_3892894923326252036[14] = 0;
|
||||
out_3892894923326252036[15] = 0;
|
||||
out_3892894923326252036[16] = 0;
|
||||
out_3892894923326252036[17] = 0;
|
||||
out_3892894923326252036[18] = 0;
|
||||
out_3892894923326252036[19] = 0;
|
||||
out_3892894923326252036[20] = 1;
|
||||
out_3892894923326252036[21] = 0;
|
||||
out_3892894923326252036[22] = 0;
|
||||
out_3892894923326252036[23] = 0;
|
||||
out_3892894923326252036[24] = 0;
|
||||
out_3892894923326252036[25] = 0;
|
||||
out_3892894923326252036[26] = 0;
|
||||
out_3892894923326252036[27] = 0;
|
||||
out_3892894923326252036[28] = 0;
|
||||
out_3892894923326252036[29] = 0;
|
||||
out_3892894923326252036[30] = 1;
|
||||
out_3892894923326252036[31] = 0;
|
||||
out_3892894923326252036[32] = 0;
|
||||
out_3892894923326252036[33] = 0;
|
||||
out_3892894923326252036[34] = 0;
|
||||
out_3892894923326252036[35] = 0;
|
||||
out_3892894923326252036[36] = 0;
|
||||
out_3892894923326252036[37] = 0;
|
||||
out_3892894923326252036[38] = 0;
|
||||
out_3892894923326252036[39] = 0;
|
||||
out_3892894923326252036[40] = 1;
|
||||
out_3892894923326252036[41] = 0;
|
||||
out_3892894923326252036[42] = 0;
|
||||
out_3892894923326252036[43] = 0;
|
||||
out_3892894923326252036[44] = 0;
|
||||
out_3892894923326252036[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_3892894923326252036[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3892894923326252036[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3892894923326252036[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3892894923326252036[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_3892894923326252036[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3892894923326252036[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3892894923326252036[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3892894923326252036[53] = -9.8100000000000005*dt;
|
||||
out_3892894923326252036[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_3892894923326252036[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3892894923326252036[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3892894923326252036[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3892894923326252036[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_3892894923326252036[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3892894923326252036[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_3892894923326252036[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3892894923326252036[62] = 0;
|
||||
out_3892894923326252036[63] = 0;
|
||||
out_3892894923326252036[64] = 0;
|
||||
out_3892894923326252036[65] = 0;
|
||||
out_3892894923326252036[66] = 0;
|
||||
out_3892894923326252036[67] = 0;
|
||||
out_3892894923326252036[68] = 0;
|
||||
out_3892894923326252036[69] = 0;
|
||||
out_3892894923326252036[70] = 1;
|
||||
out_3892894923326252036[71] = 0;
|
||||
out_3892894923326252036[72] = 0;
|
||||
out_3892894923326252036[73] = 0;
|
||||
out_3892894923326252036[74] = 0;
|
||||
out_3892894923326252036[75] = 0;
|
||||
out_3892894923326252036[76] = 0;
|
||||
out_3892894923326252036[77] = 0;
|
||||
out_3892894923326252036[78] = 0;
|
||||
out_3892894923326252036[79] = 0;
|
||||
out_3892894923326252036[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_577890879895288968) {
|
||||
out_577890879895288968[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_3399840356834753710) {
|
||||
out_3399840356834753710[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_6386951471255294300) {
|
||||
out_6386951471255294300[0] = 0;
|
||||
out_6386951471255294300[1] = 0;
|
||||
out_6386951471255294300[2] = 0;
|
||||
out_6386951471255294300[3] = 0;
|
||||
out_6386951471255294300[4] = 0;
|
||||
out_6386951471255294300[5] = 0;
|
||||
out_6386951471255294300[6] = 1;
|
||||
out_6386951471255294300[7] = 0;
|
||||
out_6386951471255294300[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_3798596936862749515) {
|
||||
out_3798596936862749515[0] = 0;
|
||||
out_3798596936862749515[1] = 0;
|
||||
out_3798596936862749515[2] = 0;
|
||||
out_3798596936862749515[3] = 0;
|
||||
out_3798596936862749515[4] = 0;
|
||||
out_3798596936862749515[5] = 0;
|
||||
out_3798596936862749515[6] = 1;
|
||||
out_3798596936862749515[7] = 0;
|
||||
out_3798596936862749515[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7629006599360388474) {
|
||||
out_7629006599360388474[0] = state[4];
|
||||
out_7629006599360388474[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_7196280050815861091) {
|
||||
out_7196280050815861091[0] = state[4];
|
||||
out_7196280050815861091[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_7231948080038989699) {
|
||||
out_7231948080038989699[0] = 0;
|
||||
out_7231948080038989699[1] = 0;
|
||||
out_7231948080038989699[2] = 0;
|
||||
out_7231948080038989699[3] = 0;
|
||||
out_7231948080038989699[4] = 1;
|
||||
out_7231948080038989699[5] = 0;
|
||||
out_7231948080038989699[6] = 0;
|
||||
out_7231948080038989699[7] = 0;
|
||||
out_7231948080038989699[8] = 0;
|
||||
out_7231948080038989699[9] = 0;
|
||||
out_7231948080038989699[10] = 0;
|
||||
out_7231948080038989699[11] = 0;
|
||||
out_7231948080038989699[12] = 0;
|
||||
out_7231948080038989699[13] = 0;
|
||||
out_7231948080038989699[14] = 1;
|
||||
out_7231948080038989699[15] = 0;
|
||||
out_7231948080038989699[16] = 0;
|
||||
out_7231948080038989699[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1625947337857249949) {
|
||||
out_1625947337857249949[0] = 0;
|
||||
out_1625947337857249949[1] = 0;
|
||||
out_1625947337857249949[2] = 0;
|
||||
out_1625947337857249949[3] = 0;
|
||||
out_1625947337857249949[4] = 1;
|
||||
out_1625947337857249949[5] = 0;
|
||||
out_1625947337857249949[6] = 0;
|
||||
out_1625947337857249949[7] = 0;
|
||||
out_1625947337857249949[8] = 0;
|
||||
out_1625947337857249949[9] = 0;
|
||||
out_1625947337857249949[10] = 0;
|
||||
out_1625947337857249949[11] = 0;
|
||||
out_1625947337857249949[12] = 0;
|
||||
out_1625947337857249949[13] = 0;
|
||||
out_1625947337857249949[14] = 1;
|
||||
out_1625947337857249949[15] = 0;
|
||||
out_1625947337857249949[16] = 0;
|
||||
out_1625947337857249949[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_1619678494567612724) {
|
||||
out_1619678494567612724[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_237609171419268640) {
|
||||
out_237609171419268640[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_8905284429762542927) {
|
||||
out_8905284429762542927[0] = 0;
|
||||
out_8905284429762542927[1] = 0;
|
||||
out_8905284429762542927[2] = 0;
|
||||
out_8905284429762542927[3] = 0;
|
||||
out_8905284429762542927[4] = 1;
|
||||
out_8905284429762542927[5] = 0;
|
||||
out_8905284429762542927[6] = 0;
|
||||
out_8905284429762542927[7] = 0;
|
||||
out_8905284429762542927[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_3669257989719509445) {
|
||||
out_3669257989719509445[0] = 0;
|
||||
out_3669257989719509445[1] = 0;
|
||||
out_3669257989719509445[2] = 0;
|
||||
out_3669257989719509445[3] = 0;
|
||||
out_3669257989719509445[4] = 1;
|
||||
out_3669257989719509445[5] = 0;
|
||||
out_3669257989719509445[6] = 0;
|
||||
out_3669257989719509445[7] = 0;
|
||||
out_3669257989719509445[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_2710552281154473983) {
|
||||
out_2710552281154473983[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_3274395222863601325) {
|
||||
out_3274395222863601325[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_2645448152381238076) {
|
||||
out_2645448152381238076[0] = 0;
|
||||
out_2645448152381238076[1] = 0;
|
||||
out_2645448152381238076[2] = 0;
|
||||
out_2645448152381238076[3] = 0;
|
||||
out_2645448152381238076[4] = 0;
|
||||
out_2645448152381238076[5] = 0;
|
||||
out_2645448152381238076[6] = 0;
|
||||
out_2645448152381238076[7] = 1;
|
||||
out_2645448152381238076[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_57093617988693291) {
|
||||
out_57093617988693291[0] = 0;
|
||||
out_57093617988693291[1] = 0;
|
||||
out_57093617988693291[2] = 0;
|
||||
out_57093617988693291[3] = 0;
|
||||
out_57093617988693291[4] = 0;
|
||||
out_57093617988693291[5] = 0;
|
||||
out_57093617988693291[6] = 0;
|
||||
out_57093617988693291[7] = 1;
|
||||
out_57093617988693291[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_1112556954840391992) {
|
||||
out_1112556954840391992[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_5620703055605722732) {
|
||||
out_5620703055605722732[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_7317865572763065472) {
|
||||
out_7317865572763065472[0] = 0;
|
||||
out_7317865572763065472[1] = 0;
|
||||
out_7317865572763065472[2] = 0;
|
||||
out_7317865572763065472[3] = 1;
|
||||
out_7317865572763065472[4] = 0;
|
||||
out_7317865572763065472[5] = 0;
|
||||
out_7317865572763065472[6] = 0;
|
||||
out_7317865572763065472[7] = 0;
|
||||
out_7317865572763065472[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_1494494677919084534) {
|
||||
out_1494494677919084534[0] = 0;
|
||||
out_1494494677919084534[1] = 0;
|
||||
out_1494494677919084534[2] = 0;
|
||||
out_1494494677919084534[3] = 1;
|
||||
out_1494494677919084534[4] = 0;
|
||||
out_1494494677919084534[5] = 0;
|
||||
out_1494494677919084534[6] = 0;
|
||||
out_1494494677919084534[7] = 0;
|
||||
out_1494494677919084534[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_1269743623191521137) {
|
||||
out_1269743623191521137[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_5463516387254593587) {
|
||||
out_5463516387254593587[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_9031228299632616505) {
|
||||
out_9031228299632616505[0] = 0;
|
||||
out_9031228299632616505[1] = 1;
|
||||
out_9031228299632616505[2] = 0;
|
||||
out_9031228299632616505[3] = 0;
|
||||
out_9031228299632616505[4] = 0;
|
||||
out_9031228299632616505[5] = 0;
|
||||
out_9031228299632616505[6] = 0;
|
||||
out_9031228299632616505[7] = 0;
|
||||
out_9031228299632616505[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_218868048950466499) {
|
||||
out_218868048950466499[0] = 0;
|
||||
out_218868048950466499[1] = 1;
|
||||
out_218868048950466499[2] = 0;
|
||||
out_218868048950466499[3] = 0;
|
||||
out_218868048950466499[4] = 0;
|
||||
out_218868048950466499[5] = 0;
|
||||
out_218868048950466499[6] = 0;
|
||||
out_218868048950466499[7] = 0;
|
||||
out_218868048950466499[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_4149343006284724677) {
|
||||
out_4149343006284724677[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_7380136261180748830) {
|
||||
out_7380136261180748830[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_4333116757007404537) {
|
||||
out_4333116757007404537[0] = 1;
|
||||
out_4333116757007404537[1] = 0;
|
||||
out_4333116757007404537[2] = 0;
|
||||
out_4333116757007404537[3] = 0;
|
||||
out_4333116757007404537[4] = 0;
|
||||
out_4333116757007404537[5] = 0;
|
||||
out_4333116757007404537[6] = 0;
|
||||
out_4333116757007404537[7] = 0;
|
||||
out_4333116757007404537[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_1744762222614859752) {
|
||||
out_1744762222614859752[0] = 1;
|
||||
out_1744762222614859752[1] = 0;
|
||||
out_1744762222614859752[2] = 0;
|
||||
out_1744762222614859752[3] = 0;
|
||||
out_1744762222614859752[4] = 0;
|
||||
out_1744762222614859752[5] = 0;
|
||||
out_1744762222614859752[6] = 0;
|
||||
out_1744762222614859752[7] = 0;
|
||||
out_1744762222614859752[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_656605003849113299) {
|
||||
out_656605003849113299[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_4363424899985918731) {
|
||||
out_4363424899985918731[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_2019240050147886600) {
|
||||
out_2019240050147886600[0] = 0;
|
||||
out_2019240050147886600[1] = 0;
|
||||
out_2019240050147886600[2] = 0;
|
||||
out_2019240050147886600[3] = 0;
|
||||
out_2019240050147886600[4] = 0;
|
||||
out_2019240050147886600[5] = 0;
|
||||
out_2019240050147886600[6] = 0;
|
||||
out_2019240050147886600[7] = 0;
|
||||
out_2019240050147886600[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_3829242898739709943) {
|
||||
out_3829242898739709943[0] = 0;
|
||||
out_3829242898739709943[1] = 0;
|
||||
out_3829242898739709943[2] = 0;
|
||||
out_3829242898739709943[3] = 0;
|
||||
out_3829242898739709943[4] = 0;
|
||||
out_3829242898739709943[5] = 0;
|
||||
out_3829242898739709943[6] = 0;
|
||||
out_3829242898739709943[7] = 0;
|
||||
out_3829242898739709943[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_8999648935700225800) {
|
||||
err_fun(nom_x, delta_x, out_8999648935700225800);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5237522992400909671) {
|
||||
err_fun(nom_x, delta_x, out_5237522992400909671);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1037891798927481552) {
|
||||
inv_err_fun(nom_x, true_x, out_1037891798927481552);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4520032815172558841) {
|
||||
inv_err_fun(nom_x, true_x, out_4520032815172558841);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_2102418200973278943) {
|
||||
H_mod_fun(state, out_2102418200973278943);
|
||||
void car_H_mod_fun(double *state, double *out_5454958910934564864) {
|
||||
H_mod_fun(state, out_5454958910934564864);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_7837527456128700272) {
|
||||
f_fun(state, dt, out_7837527456128700272);
|
||||
void car_f_fun(double *state, double dt, double *out_8393141651434012145) {
|
||||
f_fun(state, dt, out_8393141651434012145);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_727133835749799749) {
|
||||
F_fun(state, dt, out_727133835749799749);
|
||||
void car_F_fun(double *state, double dt, double *out_3892894923326252036) {
|
||||
F_fun(state, dt, out_3892894923326252036);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_577890879895288968) {
|
||||
h_25(state, unused, out_577890879895288968);
|
||||
void car_h_25(double *state, double *unused, double *out_3399840356834753710) {
|
||||
h_25(state, unused, out_3399840356834753710);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_6386951471255294300) {
|
||||
H_25(state, unused, out_6386951471255294300);
|
||||
void car_H_25(double *state, double *unused, double *out_3798596936862749515) {
|
||||
H_25(state, unused, out_3798596936862749515);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7629006599360388474) {
|
||||
h_24(state, unused, out_7629006599360388474);
|
||||
void car_h_24(double *state, double *unused, double *out_7196280050815861091) {
|
||||
h_24(state, unused, out_7196280050815861091);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_7231948080038989699) {
|
||||
H_24(state, unused, out_7231948080038989699);
|
||||
void car_H_24(double *state, double *unused, double *out_1625947337857249949) {
|
||||
H_24(state, unused, out_1625947337857249949);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_1619678494567612724) {
|
||||
h_30(state, unused, out_1619678494567612724);
|
||||
void car_h_30(double *state, double *unused, double *out_237609171419268640) {
|
||||
h_30(state, unused, out_237609171419268640);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_8905284429762542927) {
|
||||
H_30(state, unused, out_8905284429762542927);
|
||||
void car_H_30(double *state, double *unused, double *out_3669257989719509445) {
|
||||
H_30(state, unused, out_3669257989719509445);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_2710552281154473983) {
|
||||
h_26(state, unused, out_2710552281154473983);
|
||||
void car_h_26(double *state, double *unused, double *out_3274395222863601325) {
|
||||
h_26(state, unused, out_3274395222863601325);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_2645448152381238076) {
|
||||
H_26(state, unused, out_2645448152381238076);
|
||||
void car_H_26(double *state, double *unused, double *out_57093617988693291) {
|
||||
H_26(state, unused, out_57093617988693291);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_1112556954840391992) {
|
||||
h_27(state, unused, out_1112556954840391992);
|
||||
void car_h_27(double *state, double *unused, double *out_5620703055605722732) {
|
||||
h_27(state, unused, out_5620703055605722732);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_7317865572763065472) {
|
||||
H_27(state, unused, out_7317865572763065472);
|
||||
void car_H_27(double *state, double *unused, double *out_1494494677919084534) {
|
||||
H_27(state, unused, out_1494494677919084534);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_1269743623191521137) {
|
||||
h_29(state, unused, out_1269743623191521137);
|
||||
void car_h_29(double *state, double *unused, double *out_5463516387254593587) {
|
||||
h_29(state, unused, out_5463516387254593587);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_9031228299632616505) {
|
||||
H_29(state, unused, out_9031228299632616505);
|
||||
void car_H_29(double *state, double *unused, double *out_218868048950466499) {
|
||||
H_29(state, unused, out_218868048950466499);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_4149343006284724677) {
|
||||
h_28(state, unused, out_4149343006284724677);
|
||||
void car_h_28(double *state, double *unused, double *out_7380136261180748830) {
|
||||
h_28(state, unused, out_7380136261180748830);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_4333116757007404537) {
|
||||
H_28(state, unused, out_4333116757007404537);
|
||||
void car_H_28(double *state, double *unused, double *out_1744762222614859752) {
|
||||
H_28(state, unused, out_1744762222614859752);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_656605003849113299) {
|
||||
h_31(state, unused, out_656605003849113299);
|
||||
void car_h_31(double *state, double *unused, double *out_4363424899985918731) {
|
||||
h_31(state, unused, out_4363424899985918731);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_2019240050147886600) {
|
||||
H_31(state, unused, out_2019240050147886600);
|
||||
void car_H_31(double *state, double *unused, double *out_3829242898739709943) {
|
||||
H_31(state, unused, out_3829242898739709943);
|
||||
}
|
||||
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_8999648935700225800);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1037891798927481552);
|
||||
void car_H_mod_fun(double *state, double *out_2102418200973278943);
|
||||
void car_f_fun(double *state, double dt, double *out_7837527456128700272);
|
||||
void car_F_fun(double *state, double dt, double *out_727133835749799749);
|
||||
void car_h_25(double *state, double *unused, double *out_577890879895288968);
|
||||
void car_H_25(double *state, double *unused, double *out_6386951471255294300);
|
||||
void car_h_24(double *state, double *unused, double *out_7629006599360388474);
|
||||
void car_H_24(double *state, double *unused, double *out_7231948080038989699);
|
||||
void car_h_30(double *state, double *unused, double *out_1619678494567612724);
|
||||
void car_H_30(double *state, double *unused, double *out_8905284429762542927);
|
||||
void car_h_26(double *state, double *unused, double *out_2710552281154473983);
|
||||
void car_H_26(double *state, double *unused, double *out_2645448152381238076);
|
||||
void car_h_27(double *state, double *unused, double *out_1112556954840391992);
|
||||
void car_H_27(double *state, double *unused, double *out_7317865572763065472);
|
||||
void car_h_29(double *state, double *unused, double *out_1269743623191521137);
|
||||
void car_H_29(double *state, double *unused, double *out_9031228299632616505);
|
||||
void car_h_28(double *state, double *unused, double *out_4149343006284724677);
|
||||
void car_H_28(double *state, double *unused, double *out_4333116757007404537);
|
||||
void car_h_31(double *state, double *unused, double *out_656605003849113299);
|
||||
void car_H_31(double *state, double *unused, double *out_2019240050147886600);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5237522992400909671);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4520032815172558841);
|
||||
void car_H_mod_fun(double *state, double *out_5454958910934564864);
|
||||
void car_f_fun(double *state, double dt, double *out_8393141651434012145);
|
||||
void car_F_fun(double *state, double dt, double *out_3892894923326252036);
|
||||
void car_h_25(double *state, double *unused, double *out_3399840356834753710);
|
||||
void car_H_25(double *state, double *unused, double *out_3798596936862749515);
|
||||
void car_h_24(double *state, double *unused, double *out_7196280050815861091);
|
||||
void car_H_24(double *state, double *unused, double *out_1625947337857249949);
|
||||
void car_h_30(double *state, double *unused, double *out_237609171419268640);
|
||||
void car_H_30(double *state, double *unused, double *out_3669257989719509445);
|
||||
void car_h_26(double *state, double *unused, double *out_3274395222863601325);
|
||||
void car_H_26(double *state, double *unused, double *out_57093617988693291);
|
||||
void car_h_27(double *state, double *unused, double *out_5620703055605722732);
|
||||
void car_H_27(double *state, double *unused, double *out_1494494677919084534);
|
||||
void car_h_29(double *state, double *unused, double *out_5463516387254593587);
|
||||
void car_H_29(double *state, double *unused, double *out_218868048950466499);
|
||||
void car_h_28(double *state, double *unused, double *out_7380136261180748830);
|
||||
void car_H_28(double *state, double *unused, double *out_1744762222614859752);
|
||||
void car_h_31(double *state, double *unused, double *out_4363424899985918731);
|
||||
void car_H_31(double *state, double *unused, double *out_3829242898739709943);
|
||||
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);
|
||||
|
||||
Binary file not shown.
Binary file not shown.
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_5807655181837607214);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8974761284027602384);
|
||||
void pose_H_mod_fun(double *state, double *out_7615318893377638193);
|
||||
void pose_f_fun(double *state, double dt, double *out_4539696263163526019);
|
||||
void pose_F_fun(double *state, double dt, double *out_2543913590993509263);
|
||||
void pose_h_4(double *state, double *unused, double *out_8982992753369428231);
|
||||
void pose_H_4(double *state, double *unused, double *out_1965697165790759737);
|
||||
void pose_h_10(double *state, double *unused, double *out_8485879645605284392);
|
||||
void pose_H_10(double *state, double *unused, double *out_7331944868831731257);
|
||||
void pose_h_13(double *state, double *unused, double *out_2838239477305121349);
|
||||
void pose_H_13(double *state, double *unused, double *out_5177970991123092538);
|
||||
void pose_h_14(double *state, double *unused, double *out_3664563598411967491);
|
||||
void pose_H_14(double *state, double *unused, double *out_5928938022130244266);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7865313754094985036);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_9215330386866768578);
|
||||
void pose_H_mod_fun(double *state, double *out_1168964832405445386);
|
||||
void pose_f_fun(double *state, double dt, double *out_1695785533815148768);
|
||||
void pose_F_fun(double *state, double dt, double *out_9012344706101798543);
|
||||
void pose_h_4(double *state, double *unused, double *out_6129393296503332397);
|
||||
void pose_H_4(double *state, double *unused, double *out_2031445068696024638);
|
||||
void pose_h_10(double *state, double *unused, double *out_3045043867218109602);
|
||||
void pose_H_10(double *state, double *unused, double *out_2178011878899672658);
|
||||
void pose_h_13(double *state, double *unused, double *out_516116815365053521);
|
||||
void pose_H_13(double *state, double *unused, double *out_5579186139620676291);
|
||||
void pose_h_14(double *state, double *unused, double *out_327806075788285461);
|
||||
void pose_H_14(double *state, double *unused, double *out_5114233500991396934);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
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|
||||
{"abi":{"SOABI":"cpython-312-aarch64-linux-gnu","cache_tag":"cpython-312","implementation":"cpython","machine":"aarch64","platform":"linux","pointer_bits":64,"python":[3,12]},"artifact_sha256":"c801a7d0413a444813a097d114a6ddd2d7cc8dc554c8a519ad9d505414c02135","revision":"flm-exact-primitives-v1","schema":1,"sources":{"SConscript":"8e7589098349bc9400c9b99578fcdf661db204578762b2121ce9d2a1d34b90bd","SConstruct":"6b51ee8b7f0de882c6d40d02f2c18ac710479ad6452a6457d5d2e3d04d7d7f0f","_primitive_walk.pyx":"564a8f5d0d0d1ac3af6cc873d7502440000a17e8609a1c900d0f90b09fb86a03","native_primitives.py":"1f197b261dde6219735d2d832ef7129c6f9fe8b9e415498115d722c74649acbf"}}
|
||||
{"abi":{"SOABI":"cpython-312-aarch64-linux-gnu","cache_tag":"cpython-312","implementation":"cpython","machine":"aarch64","platform":"linux","pointer_bits":64,"python":[3,12]},"artifact_sha256":"784d1e4627399be5e2b4953c8d406331f534a902dfce01904a17981980de6b5f","revision":"flm-exact-primitives-v1","schema":1,"sources":{"SConscript":"8e7589098349bc9400c9b99578fcdf661db204578762b2121ce9d2a1d34b90bd","SConstruct":"6b51ee8b7f0de882c6d40d02f2c18ac710479ad6452a6457d5d2e3d04d7d7f0f","_primitive_walk.pyx":"564a8f5d0d0d1ac3af6cc873d7502440000a17e8609a1c900d0f90b09fb86a03","native_primitives.py":"1f197b261dde6219735d2d832ef7129c6f9fe8b9e415498115d722c74649acbf"}}
|
||||
|
||||
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|
||||
#pragma once
|
||||
|
||||
extern const uint8_t gitversion[29];
|
||||
const uint8_t gitversion[29] = "DEV-0fcf1277-Pa5919516-DEBUG";
|
||||
const uint8_t gitversion[29] = "DEV-6f2ca2c4-Pa5919516-DEBUG";
|
||||
|
||||
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|
||||
DEV-6f88e790-Pa5919516-DEBUG
|
||||
DEV-6f2ca2c4-Pa5919516-DEBUG
|
||||
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@@ -1 +1 @@
|
||||
{"protected_inventory_sha256": "83f3f3f137084506eb99bd5c1210e8560ebf88d839c673f6db4d796995a1c9d5", "schema_version": 1}
|
||||
{"protected_inventory_sha256": "445c002260e82256626faef7e0b65e6d6f9afb614279bbb36658b6498acdd1e5", "schema_version": 1}
|
||||
|
||||
Reference in New Issue
Block a user