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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_7493683132655164884) {
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out_7493683132655164884[0] = delta_x[0] + nom_x[0];
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out_7493683132655164884[1] = delta_x[1] + nom_x[1];
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out_7493683132655164884[2] = delta_x[2] + nom_x[2];
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out_7493683132655164884[3] = delta_x[3] + nom_x[3];
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out_7493683132655164884[4] = delta_x[4] + nom_x[4];
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out_7493683132655164884[5] = delta_x[5] + nom_x[5];
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out_7493683132655164884[6] = delta_x[6] + nom_x[6];
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out_7493683132655164884[7] = delta_x[7] + nom_x[7];
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out_7493683132655164884[8] = delta_x[8] + nom_x[8];
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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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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_4749075189989820222) {
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out_4749075189989820222[0] = -nom_x[0] + true_x[0];
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out_4749075189989820222[1] = -nom_x[1] + true_x[1];
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out_4749075189989820222[2] = -nom_x[2] + true_x[2];
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out_4749075189989820222[3] = -nom_x[3] + true_x[3];
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out_4749075189989820222[4] = -nom_x[4] + true_x[4];
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out_4749075189989820222[5] = -nom_x[5] + true_x[5];
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out_4749075189989820222[6] = -nom_x[6] + true_x[6];
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out_4749075189989820222[7] = -nom_x[7] + true_x[7];
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out_4749075189989820222[8] = -nom_x[8] + true_x[8];
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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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}
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void H_mod_fun(double *state, double *out_38424272915726002) {
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out_38424272915726002[0] = 1.0;
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out_38424272915726002[1] = 0.0;
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out_38424272915726002[2] = 0.0;
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out_38424272915726002[3] = 0.0;
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out_38424272915726002[4] = 0.0;
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out_38424272915726002[5] = 0.0;
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out_38424272915726002[6] = 0.0;
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out_38424272915726002[7] = 0.0;
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out_38424272915726002[8] = 0.0;
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out_38424272915726002[9] = 0.0;
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out_38424272915726002[10] = 1.0;
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out_38424272915726002[11] = 0.0;
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out_38424272915726002[12] = 0.0;
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out_38424272915726002[13] = 0.0;
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out_38424272915726002[14] = 0.0;
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out_38424272915726002[15] = 0.0;
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out_38424272915726002[16] = 0.0;
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out_38424272915726002[17] = 0.0;
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out_38424272915726002[18] = 0.0;
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out_38424272915726002[19] = 0.0;
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out_38424272915726002[20] = 1.0;
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out_38424272915726002[21] = 0.0;
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out_38424272915726002[22] = 0.0;
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out_38424272915726002[23] = 0.0;
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out_38424272915726002[24] = 0.0;
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out_38424272915726002[25] = 0.0;
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out_38424272915726002[26] = 0.0;
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out_38424272915726002[27] = 0.0;
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out_38424272915726002[28] = 0.0;
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out_38424272915726002[29] = 0.0;
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out_38424272915726002[30] = 1.0;
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out_38424272915726002[31] = 0.0;
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out_38424272915726002[32] = 0.0;
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out_38424272915726002[33] = 0.0;
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out_38424272915726002[34] = 0.0;
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out_38424272915726002[35] = 0.0;
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out_38424272915726002[36] = 0.0;
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out_38424272915726002[37] = 0.0;
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out_38424272915726002[38] = 0.0;
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out_38424272915726002[39] = 0.0;
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out_38424272915726002[40] = 1.0;
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out_38424272915726002[41] = 0.0;
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out_38424272915726002[42] = 0.0;
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out_38424272915726002[43] = 0.0;
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out_38424272915726002[44] = 0.0;
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out_38424272915726002[45] = 0.0;
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out_38424272915726002[46] = 0.0;
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out_38424272915726002[47] = 0.0;
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out_38424272915726002[48] = 0.0;
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out_38424272915726002[49] = 0.0;
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out_38424272915726002[50] = 1.0;
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out_38424272915726002[51] = 0.0;
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out_38424272915726002[52] = 0.0;
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out_38424272915726002[53] = 0.0;
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out_38424272915726002[54] = 0.0;
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out_38424272915726002[55] = 0.0;
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out_38424272915726002[56] = 0.0;
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out_38424272915726002[57] = 0.0;
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out_38424272915726002[58] = 0.0;
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out_38424272915726002[59] = 0.0;
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out_38424272915726002[60] = 1.0;
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out_38424272915726002[61] = 0.0;
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out_38424272915726002[62] = 0.0;
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out_38424272915726002[63] = 0.0;
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out_38424272915726002[64] = 0.0;
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out_38424272915726002[65] = 0.0;
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out_38424272915726002[66] = 0.0;
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out_38424272915726002[67] = 0.0;
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out_38424272915726002[68] = 0.0;
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out_38424272915726002[69] = 0.0;
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out_38424272915726002[70] = 1.0;
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out_38424272915726002[71] = 0.0;
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out_38424272915726002[72] = 0.0;
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out_38424272915726002[73] = 0.0;
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out_38424272915726002[74] = 0.0;
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out_38424272915726002[75] = 0.0;
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out_38424272915726002[76] = 0.0;
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out_38424272915726002[77] = 0.0;
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out_38424272915726002[78] = 0.0;
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out_38424272915726002[79] = 0.0;
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out_38424272915726002[80] = 1.0;
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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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}
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void f_fun(double *state, double dt, double *out_8006930805773121944) {
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out_8006930805773121944[0] = state[0];
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out_8006930805773121944[1] = state[1];
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out_8006930805773121944[2] = state[2];
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out_8006930805773121944[3] = state[3];
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out_8006930805773121944[4] = state[4];
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out_8006930805773121944[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_8006930805773121944[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_8006930805773121944[7] = state[7];
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out_8006930805773121944[8] = state[8];
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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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}
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void F_fun(double *state, double dt, double *out_8761604196310819941) {
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out_8761604196310819941[0] = 1;
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out_8761604196310819941[1] = 0;
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out_8761604196310819941[2] = 0;
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out_8761604196310819941[3] = 0;
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out_8761604196310819941[4] = 0;
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out_8761604196310819941[5] = 0;
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out_8761604196310819941[6] = 0;
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out_8761604196310819941[7] = 0;
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||||
out_8761604196310819941[8] = 0;
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||||
out_8761604196310819941[9] = 0;
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out_8761604196310819941[10] = 1;
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out_8761604196310819941[11] = 0;
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out_8761604196310819941[12] = 0;
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||||
out_8761604196310819941[13] = 0;
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||||
out_8761604196310819941[14] = 0;
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||||
out_8761604196310819941[15] = 0;
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||||
out_8761604196310819941[16] = 0;
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||||
out_8761604196310819941[17] = 0;
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||||
out_8761604196310819941[18] = 0;
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||||
out_8761604196310819941[19] = 0;
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||||
out_8761604196310819941[20] = 1;
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||||
out_8761604196310819941[21] = 0;
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||||
out_8761604196310819941[22] = 0;
|
||||
out_8761604196310819941[23] = 0;
|
||||
out_8761604196310819941[24] = 0;
|
||||
out_8761604196310819941[25] = 0;
|
||||
out_8761604196310819941[26] = 0;
|
||||
out_8761604196310819941[27] = 0;
|
||||
out_8761604196310819941[28] = 0;
|
||||
out_8761604196310819941[29] = 0;
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||||
out_8761604196310819941[30] = 1;
|
||||
out_8761604196310819941[31] = 0;
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||||
out_8761604196310819941[32] = 0;
|
||||
out_8761604196310819941[33] = 0;
|
||||
out_8761604196310819941[34] = 0;
|
||||
out_8761604196310819941[35] = 0;
|
||||
out_8761604196310819941[36] = 0;
|
||||
out_8761604196310819941[37] = 0;
|
||||
out_8761604196310819941[38] = 0;
|
||||
out_8761604196310819941[39] = 0;
|
||||
out_8761604196310819941[40] = 1;
|
||||
out_8761604196310819941[41] = 0;
|
||||
out_8761604196310819941[42] = 0;
|
||||
out_8761604196310819941[43] = 0;
|
||||
out_8761604196310819941[44] = 0;
|
||||
out_8761604196310819941[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_8761604196310819941[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8761604196310819941[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8761604196310819941[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8761604196310819941[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_8761604196310819941[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8761604196310819941[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8761604196310819941[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8761604196310819941[53] = -9.8100000000000005*dt;
|
||||
out_8761604196310819941[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_8761604196310819941[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8761604196310819941[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8761604196310819941[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8761604196310819941[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_8761604196310819941[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8761604196310819941[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_8761604196310819941[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8761604196310819941[62] = 0;
|
||||
out_8761604196310819941[63] = 0;
|
||||
out_8761604196310819941[64] = 0;
|
||||
out_8761604196310819941[65] = 0;
|
||||
out_8761604196310819941[66] = 0;
|
||||
out_8761604196310819941[67] = 0;
|
||||
out_8761604196310819941[68] = 0;
|
||||
out_8761604196310819941[69] = 0;
|
||||
out_8761604196310819941[70] = 1;
|
||||
out_8761604196310819941[71] = 0;
|
||||
out_8761604196310819941[72] = 0;
|
||||
out_8761604196310819941[73] = 0;
|
||||
out_8761604196310819941[74] = 0;
|
||||
out_8761604196310819941[75] = 0;
|
||||
out_8761604196310819941[76] = 0;
|
||||
out_8761604196310819941[77] = 0;
|
||||
out_8761604196310819941[78] = 0;
|
||||
out_8761604196310819941[79] = 0;
|
||||
out_8761604196310819941[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_727133835749799749) {
|
||||
out_727133835749799749[0] = 1;
|
||||
out_727133835749799749[1] = 0;
|
||||
out_727133835749799749[2] = 0;
|
||||
out_727133835749799749[3] = 0;
|
||||
out_727133835749799749[4] = 0;
|
||||
out_727133835749799749[5] = 0;
|
||||
out_727133835749799749[6] = 0;
|
||||
out_727133835749799749[7] = 0;
|
||||
out_727133835749799749[8] = 0;
|
||||
out_727133835749799749[9] = 0;
|
||||
out_727133835749799749[10] = 1;
|
||||
out_727133835749799749[11] = 0;
|
||||
out_727133835749799749[12] = 0;
|
||||
out_727133835749799749[13] = 0;
|
||||
out_727133835749799749[14] = 0;
|
||||
out_727133835749799749[15] = 0;
|
||||
out_727133835749799749[16] = 0;
|
||||
out_727133835749799749[17] = 0;
|
||||
out_727133835749799749[18] = 0;
|
||||
out_727133835749799749[19] = 0;
|
||||
out_727133835749799749[20] = 1;
|
||||
out_727133835749799749[21] = 0;
|
||||
out_727133835749799749[22] = 0;
|
||||
out_727133835749799749[23] = 0;
|
||||
out_727133835749799749[24] = 0;
|
||||
out_727133835749799749[25] = 0;
|
||||
out_727133835749799749[26] = 0;
|
||||
out_727133835749799749[27] = 0;
|
||||
out_727133835749799749[28] = 0;
|
||||
out_727133835749799749[29] = 0;
|
||||
out_727133835749799749[30] = 1;
|
||||
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 h_25(double *state, double *unused, double *out_6303836805314891079) {
|
||||
out_6303836805314891079[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_577890879895288968) {
|
||||
out_577890879895288968[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_987545194944208211) {
|
||||
out_987545194944208211[0] = 0;
|
||||
out_987545194944208211[1] = 0;
|
||||
out_987545194944208211[2] = 0;
|
||||
out_987545194944208211[3] = 0;
|
||||
out_987545194944208211[4] = 0;
|
||||
out_987545194944208211[5] = 0;
|
||||
out_987545194944208211[6] = 1;
|
||||
out_987545194944208211[7] = 0;
|
||||
out_987545194944208211[8] = 0;
|
||||
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_24(double *state, double *unused, double *out_656755319644127702) {
|
||||
out_656755319644127702[0] = state[4];
|
||||
out_656755319644127702[1] = state[5];
|
||||
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_4545470793746531347) {
|
||||
out_4545470793746531347[0] = 0;
|
||||
out_4545470793746531347[1] = 0;
|
||||
out_4545470793746531347[2] = 0;
|
||||
out_4545470793746531347[3] = 0;
|
||||
out_4545470793746531347[4] = 1;
|
||||
out_4545470793746531347[5] = 0;
|
||||
out_4545470793746531347[6] = 0;
|
||||
out_4545470793746531347[7] = 0;
|
||||
out_4545470793746531347[8] = 0;
|
||||
out_4545470793746531347[9] = 0;
|
||||
out_4545470793746531347[10] = 0;
|
||||
out_4545470793746531347[11] = 0;
|
||||
out_4545470793746531347[12] = 0;
|
||||
out_4545470793746531347[13] = 0;
|
||||
out_4545470793746531347[14] = 1;
|
||||
out_4545470793746531347[15] = 0;
|
||||
out_4545470793746531347[16] = 0;
|
||||
out_4545470793746531347[17] = 0;
|
||||
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_30(double *state, double *unused, double *out_6158316981094236108) {
|
||||
out_6158316981094236108[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_1619678494567612724) {
|
||||
out_1619678494567612724[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_3540151135183399987) {
|
||||
out_3540151135183399987[0] = 0;
|
||||
out_3540151135183399987[1] = 0;
|
||||
out_3540151135183399987[2] = 0;
|
||||
out_3540151135183399987[3] = 0;
|
||||
out_3540151135183399987[4] = 1;
|
||||
out_3540151135183399987[5] = 0;
|
||||
out_3540151135183399987[6] = 0;
|
||||
out_3540151135183399987[7] = 0;
|
||||
out_3540151135183399987[8] = 0;
|
||||
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_26(double *state, double *unused, double *out_7286753824954469863) {
|
||||
out_7286753824954469863[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_2710552281154473983) {
|
||||
out_2710552281154473983[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_2753958123929848013) {
|
||||
out_2753958123929848013[0] = 0;
|
||||
out_2753958123929848013[1] = 0;
|
||||
out_2753958123929848013[2] = 0;
|
||||
out_2753958123929848013[3] = 0;
|
||||
out_2753958123929848013[4] = 0;
|
||||
out_2753958123929848013[5] = 0;
|
||||
out_2753958123929848013[6] = 0;
|
||||
out_2753958123929848013[7] = 1;
|
||||
out_2753958123929848013[8] = 0;
|
||||
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_27(double *state, double *unused, double *out_6159983429088518784) {
|
||||
out_6159983429088518784[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_1112556954840391992) {
|
||||
out_1112556954840391992[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_5714914446983824898) {
|
||||
out_5714914446983824898[0] = 0;
|
||||
out_5714914446983824898[1] = 0;
|
||||
out_5714914446983824898[2] = 0;
|
||||
out_5714914446983824898[3] = 1;
|
||||
out_5714914446983824898[4] = 0;
|
||||
out_5714914446983824898[5] = 0;
|
||||
out_5714914446983824898[6] = 0;
|
||||
out_5714914446983824898[7] = 0;
|
||||
out_5714914446983824898[8] = 0;
|
||||
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_29(double *state, double *unused, double *out_6946559856729284945) {
|
||||
out_6946559856729284945[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_1269743623191521137) {
|
||||
out_1269743623191521137[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_3029919790869007803) {
|
||||
out_3029919790869007803[0] = 0;
|
||||
out_3029919790869007803[1] = 1;
|
||||
out_3029919790869007803[2] = 0;
|
||||
out_3029919790869007803[3] = 0;
|
||||
out_3029919790869007803[4] = 0;
|
||||
out_3029919790869007803[5] = 0;
|
||||
out_3029919790869007803[6] = 0;
|
||||
out_3029919790869007803[7] = 0;
|
||||
out_3029919790869007803[8] = 0;
|
||||
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_28(double *state, double *unused, double *out_2245673390555707869) {
|
||||
out_2245673390555707869[0] = state[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_1066289519303681552) {
|
||||
out_1066289519303681552[0] = 1;
|
||||
out_1066289519303681552[1] = 0;
|
||||
out_1066289519303681552[2] = 0;
|
||||
out_1066289519303681552[3] = 0;
|
||||
out_1066289519303681552[4] = 0;
|
||||
out_1066289519303681552[5] = 0;
|
||||
out_1066289519303681552[6] = 0;
|
||||
out_1066289519303681552[7] = 0;
|
||||
out_1066289519303681552[8] = 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_31(double *state, double *unused, double *out_8007617932175328889) {
|
||||
out_8007617932175328889[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_656605003849113299) {
|
||||
out_656605003849113299[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_3380166226163199489) {
|
||||
out_3380166226163199489[0] = 0;
|
||||
out_3380166226163199489[1] = 0;
|
||||
out_3380166226163199489[2] = 0;
|
||||
out_3380166226163199489[3] = 0;
|
||||
out_3380166226163199489[4] = 0;
|
||||
out_3380166226163199489[5] = 0;
|
||||
out_3380166226163199489[6] = 0;
|
||||
out_3380166226163199489[7] = 0;
|
||||
out_3380166226163199489[8] = 1;
|
||||
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;
|
||||
}
|
||||
#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_7493683132655164884) {
|
||||
err_fun(nom_x, delta_x, out_7493683132655164884);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8999648935700225800) {
|
||||
err_fun(nom_x, delta_x, out_8999648935700225800);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4749075189989820222) {
|
||||
inv_err_fun(nom_x, true_x, out_4749075189989820222);
|
||||
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_H_mod_fun(double *state, double *out_38424272915726002) {
|
||||
H_mod_fun(state, out_38424272915726002);
|
||||
void car_H_mod_fun(double *state, double *out_2102418200973278943) {
|
||||
H_mod_fun(state, out_2102418200973278943);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_8006930805773121944) {
|
||||
f_fun(state, dt, out_8006930805773121944);
|
||||
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_8761604196310819941) {
|
||||
F_fun(state, dt, out_8761604196310819941);
|
||||
void car_F_fun(double *state, double dt, double *out_727133835749799749) {
|
||||
F_fun(state, dt, out_727133835749799749);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_6303836805314891079) {
|
||||
h_25(state, unused, out_6303836805314891079);
|
||||
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_987545194944208211) {
|
||||
H_25(state, unused, out_987545194944208211);
|
||||
void car_H_25(double *state, double *unused, double *out_6386951471255294300) {
|
||||
H_25(state, unused, out_6386951471255294300);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_656755319644127702) {
|
||||
h_24(state, unused, out_656755319644127702);
|
||||
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_4545470793746531347) {
|
||||
H_24(state, unused, out_4545470793746531347);
|
||||
void car_H_24(double *state, double *unused, double *out_7231948080038989699) {
|
||||
H_24(state, unused, out_7231948080038989699);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_6158316981094236108) {
|
||||
h_30(state, unused, out_6158316981094236108);
|
||||
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_3540151135183399987) {
|
||||
H_30(state, unused, out_3540151135183399987);
|
||||
void car_H_30(double *state, double *unused, double *out_8905284429762542927) {
|
||||
H_30(state, unused, out_8905284429762542927);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_7286753824954469863) {
|
||||
h_26(state, unused, out_7286753824954469863);
|
||||
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_2753958123929848013) {
|
||||
H_26(state, unused, out_2753958123929848013);
|
||||
void car_H_26(double *state, double *unused, double *out_2645448152381238076) {
|
||||
H_26(state, unused, out_2645448152381238076);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_6159983429088518784) {
|
||||
h_27(state, unused, out_6159983429088518784);
|
||||
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_5714914446983824898) {
|
||||
H_27(state, unused, out_5714914446983824898);
|
||||
void car_H_27(double *state, double *unused, double *out_7317865572763065472) {
|
||||
H_27(state, unused, out_7317865572763065472);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_6946559856729284945) {
|
||||
h_29(state, unused, out_6946559856729284945);
|
||||
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_3029919790869007803) {
|
||||
H_29(state, unused, out_3029919790869007803);
|
||||
void car_H_29(double *state, double *unused, double *out_9031228299632616505) {
|
||||
H_29(state, unused, out_9031228299632616505);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2245673390555707869) {
|
||||
h_28(state, unused, out_2245673390555707869);
|
||||
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_1066289519303681552) {
|
||||
H_28(state, unused, out_1066289519303681552);
|
||||
void car_H_28(double *state, double *unused, double *out_4333116757007404537) {
|
||||
H_28(state, unused, out_4333116757007404537);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_8007617932175328889) {
|
||||
h_31(state, unused, out_8007617932175328889);
|
||||
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_3380166226163199489) {
|
||||
H_31(state, unused, out_3380166226163199489);
|
||||
void car_H_31(double *state, double *unused, double *out_2019240050147886600) {
|
||||
H_31(state, unused, out_2019240050147886600);
|
||||
}
|
||||
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_7493683132655164884);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4749075189989820222);
|
||||
void car_H_mod_fun(double *state, double *out_38424272915726002);
|
||||
void car_f_fun(double *state, double dt, double *out_8006930805773121944);
|
||||
void car_F_fun(double *state, double dt, double *out_8761604196310819941);
|
||||
void car_h_25(double *state, double *unused, double *out_6303836805314891079);
|
||||
void car_H_25(double *state, double *unused, double *out_987545194944208211);
|
||||
void car_h_24(double *state, double *unused, double *out_656755319644127702);
|
||||
void car_H_24(double *state, double *unused, double *out_4545470793746531347);
|
||||
void car_h_30(double *state, double *unused, double *out_6158316981094236108);
|
||||
void car_H_30(double *state, double *unused, double *out_3540151135183399987);
|
||||
void car_h_26(double *state, double *unused, double *out_7286753824954469863);
|
||||
void car_H_26(double *state, double *unused, double *out_2753958123929848013);
|
||||
void car_h_27(double *state, double *unused, double *out_6159983429088518784);
|
||||
void car_H_27(double *state, double *unused, double *out_5714914446983824898);
|
||||
void car_h_29(double *state, double *unused, double *out_6946559856729284945);
|
||||
void car_H_29(double *state, double *unused, double *out_3029919790869007803);
|
||||
void car_h_28(double *state, double *unused, double *out_2245673390555707869);
|
||||
void car_H_28(double *state, double *unused, double *out_1066289519303681552);
|
||||
void car_h_31(double *state, double *unused, double *out_8007617932175328889);
|
||||
void car_H_31(double *state, double *unused, double *out_3380166226163199489);
|
||||
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_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_7263283861877820451);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5554489381921509580);
|
||||
void pose_H_mod_fun(double *state, double *out_8221733452837955123);
|
||||
void pose_f_fun(double *state, double dt, double *out_6005799925322513099);
|
||||
void pose_F_fun(double *state, double dt, double *out_8053498741610314229);
|
||||
void pose_h_4(double *state, double *unused, double *out_8491036372839021910);
|
||||
void pose_H_4(double *state, double *unused, double *out_4947511374047005870);
|
||||
void pose_h_10(double *state, double *unused, double *out_5511963967555442025);
|
||||
void pose_H_10(double *state, double *unused, double *out_4954425742172604258);
|
||||
void pose_h_13(double *state, double *unused, double *out_2978335881196755829);
|
||||
void pose_H_13(double *state, double *unused, double *out_8159785199379338671);
|
||||
void pose_h_14(double *state, double *unused, double *out_3775673678134670228);
|
||||
void pose_H_14(double *state, double *unused, double *out_8910752230386490399);
|
||||
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_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
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|
||||
#pragma once
|
||||
|
||||
extern const uint8_t gitversion[29];
|
||||
const uint8_t gitversion[29] = "DEV-5910ddb7-Pa5919516-DEBUG";
|
||||
const uint8_t gitversion[29] = "DEV-fae3f5cc-Pa5919516-DEBUG";
|
||||
|
||||
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@@ -1 +1 @@
|
||||
DEV-6adfa75c-Pa5919516-DEBUG
|
||||
DEV-fae3f5cc-Pa5919516-DEBUG
|
||||
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+1
-1
@@ -1 +1 @@
|
||||
{"protected_inventory_sha256": "b9182b338c30bc5d725acd77fa1d7fe68c7cee1832292bb6fc66de07d5a7f467", "schema_version": 1}
|
||||
{"protected_inventory_sha256": "f1566fdd59080d87bfd9d41359e007a06fc87b2794d44baf38797707aa07aae4", "schema_version": 1}
|
||||
|
||||
Reference in New Issue
Block a user