mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-05 08:15:58 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
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extern const uint8_t gitversion[19];
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const uint8_t gitversion[19] = "DEV-c88bebbc-DEBUG";
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const uint8_t gitversion[19] = "DEV-8a1bfb92-DEBUG";
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@@ -1 +1 @@
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DEV-c88bebbc-DEBUG
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DEV-8a1bfb92-DEBUG
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
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* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_4102855695027319146) {
|
||||
out_4102855695027319146[0] = delta_x[0] + nom_x[0];
|
||||
out_4102855695027319146[1] = delta_x[1] + nom_x[1];
|
||||
out_4102855695027319146[2] = delta_x[2] + nom_x[2];
|
||||
out_4102855695027319146[3] = delta_x[3] + nom_x[3];
|
||||
out_4102855695027319146[4] = delta_x[4] + nom_x[4];
|
||||
out_4102855695027319146[5] = delta_x[5] + nom_x[5];
|
||||
out_4102855695027319146[6] = delta_x[6] + nom_x[6];
|
||||
out_4102855695027319146[7] = delta_x[7] + nom_x[7];
|
||||
out_4102855695027319146[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_8250891246740759679) {
|
||||
out_8250891246740759679[0] = delta_x[0] + nom_x[0];
|
||||
out_8250891246740759679[1] = delta_x[1] + nom_x[1];
|
||||
out_8250891246740759679[2] = delta_x[2] + nom_x[2];
|
||||
out_8250891246740759679[3] = delta_x[3] + nom_x[3];
|
||||
out_8250891246740759679[4] = delta_x[4] + nom_x[4];
|
||||
out_8250891246740759679[5] = delta_x[5] + nom_x[5];
|
||||
out_8250891246740759679[6] = delta_x[6] + nom_x[6];
|
||||
out_8250891246740759679[7] = delta_x[7] + nom_x[7];
|
||||
out_8250891246740759679[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_375370046560025251) {
|
||||
out_375370046560025251[0] = -nom_x[0] + true_x[0];
|
||||
out_375370046560025251[1] = -nom_x[1] + true_x[1];
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||||
out_375370046560025251[2] = -nom_x[2] + true_x[2];
|
||||
out_375370046560025251[3] = -nom_x[3] + true_x[3];
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||||
out_375370046560025251[4] = -nom_x[4] + true_x[4];
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||||
out_375370046560025251[5] = -nom_x[5] + true_x[5];
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out_375370046560025251[6] = -nom_x[6] + true_x[6];
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||||
out_375370046560025251[7] = -nom_x[7] + true_x[7];
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||||
out_375370046560025251[8] = -nom_x[8] + true_x[8];
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||||
void inv_err_fun(double *nom_x, double *true_x, double *out_6699306425357192023) {
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out_6699306425357192023[0] = -nom_x[0] + true_x[0];
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||||
out_6699306425357192023[1] = -nom_x[1] + true_x[1];
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||||
out_6699306425357192023[2] = -nom_x[2] + true_x[2];
|
||||
out_6699306425357192023[3] = -nom_x[3] + true_x[3];
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||||
out_6699306425357192023[4] = -nom_x[4] + true_x[4];
|
||||
out_6699306425357192023[5] = -nom_x[5] + true_x[5];
|
||||
out_6699306425357192023[6] = -nom_x[6] + true_x[6];
|
||||
out_6699306425357192023[7] = -nom_x[7] + true_x[7];
|
||||
out_6699306425357192023[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_4142214806030893418) {
|
||||
out_4142214806030893418[0] = 1.0;
|
||||
out_4142214806030893418[1] = 0.0;
|
||||
out_4142214806030893418[2] = 0.0;
|
||||
out_4142214806030893418[3] = 0.0;
|
||||
out_4142214806030893418[4] = 0.0;
|
||||
out_4142214806030893418[5] = 0.0;
|
||||
out_4142214806030893418[6] = 0.0;
|
||||
out_4142214806030893418[7] = 0.0;
|
||||
out_4142214806030893418[8] = 0.0;
|
||||
out_4142214806030893418[9] = 0.0;
|
||||
out_4142214806030893418[10] = 1.0;
|
||||
out_4142214806030893418[11] = 0.0;
|
||||
out_4142214806030893418[12] = 0.0;
|
||||
out_4142214806030893418[13] = 0.0;
|
||||
out_4142214806030893418[14] = 0.0;
|
||||
out_4142214806030893418[15] = 0.0;
|
||||
out_4142214806030893418[16] = 0.0;
|
||||
out_4142214806030893418[17] = 0.0;
|
||||
out_4142214806030893418[18] = 0.0;
|
||||
out_4142214806030893418[19] = 0.0;
|
||||
out_4142214806030893418[20] = 1.0;
|
||||
out_4142214806030893418[21] = 0.0;
|
||||
out_4142214806030893418[22] = 0.0;
|
||||
out_4142214806030893418[23] = 0.0;
|
||||
out_4142214806030893418[24] = 0.0;
|
||||
out_4142214806030893418[25] = 0.0;
|
||||
out_4142214806030893418[26] = 0.0;
|
||||
out_4142214806030893418[27] = 0.0;
|
||||
out_4142214806030893418[28] = 0.0;
|
||||
out_4142214806030893418[29] = 0.0;
|
||||
out_4142214806030893418[30] = 1.0;
|
||||
out_4142214806030893418[31] = 0.0;
|
||||
out_4142214806030893418[32] = 0.0;
|
||||
out_4142214806030893418[33] = 0.0;
|
||||
out_4142214806030893418[34] = 0.0;
|
||||
out_4142214806030893418[35] = 0.0;
|
||||
out_4142214806030893418[36] = 0.0;
|
||||
out_4142214806030893418[37] = 0.0;
|
||||
out_4142214806030893418[38] = 0.0;
|
||||
out_4142214806030893418[39] = 0.0;
|
||||
out_4142214806030893418[40] = 1.0;
|
||||
out_4142214806030893418[41] = 0.0;
|
||||
out_4142214806030893418[42] = 0.0;
|
||||
out_4142214806030893418[43] = 0.0;
|
||||
out_4142214806030893418[44] = 0.0;
|
||||
out_4142214806030893418[45] = 0.0;
|
||||
out_4142214806030893418[46] = 0.0;
|
||||
out_4142214806030893418[47] = 0.0;
|
||||
out_4142214806030893418[48] = 0.0;
|
||||
out_4142214806030893418[49] = 0.0;
|
||||
out_4142214806030893418[50] = 1.0;
|
||||
out_4142214806030893418[51] = 0.0;
|
||||
out_4142214806030893418[52] = 0.0;
|
||||
out_4142214806030893418[53] = 0.0;
|
||||
out_4142214806030893418[54] = 0.0;
|
||||
out_4142214806030893418[55] = 0.0;
|
||||
out_4142214806030893418[56] = 0.0;
|
||||
out_4142214806030893418[57] = 0.0;
|
||||
out_4142214806030893418[58] = 0.0;
|
||||
out_4142214806030893418[59] = 0.0;
|
||||
out_4142214806030893418[60] = 1.0;
|
||||
out_4142214806030893418[61] = 0.0;
|
||||
out_4142214806030893418[62] = 0.0;
|
||||
out_4142214806030893418[63] = 0.0;
|
||||
out_4142214806030893418[64] = 0.0;
|
||||
out_4142214806030893418[65] = 0.0;
|
||||
out_4142214806030893418[66] = 0.0;
|
||||
out_4142214806030893418[67] = 0.0;
|
||||
out_4142214806030893418[68] = 0.0;
|
||||
out_4142214806030893418[69] = 0.0;
|
||||
out_4142214806030893418[70] = 1.0;
|
||||
out_4142214806030893418[71] = 0.0;
|
||||
out_4142214806030893418[72] = 0.0;
|
||||
out_4142214806030893418[73] = 0.0;
|
||||
out_4142214806030893418[74] = 0.0;
|
||||
out_4142214806030893418[75] = 0.0;
|
||||
out_4142214806030893418[76] = 0.0;
|
||||
out_4142214806030893418[77] = 0.0;
|
||||
out_4142214806030893418[78] = 0.0;
|
||||
out_4142214806030893418[79] = 0.0;
|
||||
out_4142214806030893418[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_2914898107951165883) {
|
||||
out_2914898107951165883[0] = 1.0;
|
||||
out_2914898107951165883[1] = 0.0;
|
||||
out_2914898107951165883[2] = 0.0;
|
||||
out_2914898107951165883[3] = 0.0;
|
||||
out_2914898107951165883[4] = 0.0;
|
||||
out_2914898107951165883[5] = 0.0;
|
||||
out_2914898107951165883[6] = 0.0;
|
||||
out_2914898107951165883[7] = 0.0;
|
||||
out_2914898107951165883[8] = 0.0;
|
||||
out_2914898107951165883[9] = 0.0;
|
||||
out_2914898107951165883[10] = 1.0;
|
||||
out_2914898107951165883[11] = 0.0;
|
||||
out_2914898107951165883[12] = 0.0;
|
||||
out_2914898107951165883[13] = 0.0;
|
||||
out_2914898107951165883[14] = 0.0;
|
||||
out_2914898107951165883[15] = 0.0;
|
||||
out_2914898107951165883[16] = 0.0;
|
||||
out_2914898107951165883[17] = 0.0;
|
||||
out_2914898107951165883[18] = 0.0;
|
||||
out_2914898107951165883[19] = 0.0;
|
||||
out_2914898107951165883[20] = 1.0;
|
||||
out_2914898107951165883[21] = 0.0;
|
||||
out_2914898107951165883[22] = 0.0;
|
||||
out_2914898107951165883[23] = 0.0;
|
||||
out_2914898107951165883[24] = 0.0;
|
||||
out_2914898107951165883[25] = 0.0;
|
||||
out_2914898107951165883[26] = 0.0;
|
||||
out_2914898107951165883[27] = 0.0;
|
||||
out_2914898107951165883[28] = 0.0;
|
||||
out_2914898107951165883[29] = 0.0;
|
||||
out_2914898107951165883[30] = 1.0;
|
||||
out_2914898107951165883[31] = 0.0;
|
||||
out_2914898107951165883[32] = 0.0;
|
||||
out_2914898107951165883[33] = 0.0;
|
||||
out_2914898107951165883[34] = 0.0;
|
||||
out_2914898107951165883[35] = 0.0;
|
||||
out_2914898107951165883[36] = 0.0;
|
||||
out_2914898107951165883[37] = 0.0;
|
||||
out_2914898107951165883[38] = 0.0;
|
||||
out_2914898107951165883[39] = 0.0;
|
||||
out_2914898107951165883[40] = 1.0;
|
||||
out_2914898107951165883[41] = 0.0;
|
||||
out_2914898107951165883[42] = 0.0;
|
||||
out_2914898107951165883[43] = 0.0;
|
||||
out_2914898107951165883[44] = 0.0;
|
||||
out_2914898107951165883[45] = 0.0;
|
||||
out_2914898107951165883[46] = 0.0;
|
||||
out_2914898107951165883[47] = 0.0;
|
||||
out_2914898107951165883[48] = 0.0;
|
||||
out_2914898107951165883[49] = 0.0;
|
||||
out_2914898107951165883[50] = 1.0;
|
||||
out_2914898107951165883[51] = 0.0;
|
||||
out_2914898107951165883[52] = 0.0;
|
||||
out_2914898107951165883[53] = 0.0;
|
||||
out_2914898107951165883[54] = 0.0;
|
||||
out_2914898107951165883[55] = 0.0;
|
||||
out_2914898107951165883[56] = 0.0;
|
||||
out_2914898107951165883[57] = 0.0;
|
||||
out_2914898107951165883[58] = 0.0;
|
||||
out_2914898107951165883[59] = 0.0;
|
||||
out_2914898107951165883[60] = 1.0;
|
||||
out_2914898107951165883[61] = 0.0;
|
||||
out_2914898107951165883[62] = 0.0;
|
||||
out_2914898107951165883[63] = 0.0;
|
||||
out_2914898107951165883[64] = 0.0;
|
||||
out_2914898107951165883[65] = 0.0;
|
||||
out_2914898107951165883[66] = 0.0;
|
||||
out_2914898107951165883[67] = 0.0;
|
||||
out_2914898107951165883[68] = 0.0;
|
||||
out_2914898107951165883[69] = 0.0;
|
||||
out_2914898107951165883[70] = 1.0;
|
||||
out_2914898107951165883[71] = 0.0;
|
||||
out_2914898107951165883[72] = 0.0;
|
||||
out_2914898107951165883[73] = 0.0;
|
||||
out_2914898107951165883[74] = 0.0;
|
||||
out_2914898107951165883[75] = 0.0;
|
||||
out_2914898107951165883[76] = 0.0;
|
||||
out_2914898107951165883[77] = 0.0;
|
||||
out_2914898107951165883[78] = 0.0;
|
||||
out_2914898107951165883[79] = 0.0;
|
||||
out_2914898107951165883[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_1332366097619626209) {
|
||||
out_1332366097619626209[0] = state[0];
|
||||
out_1332366097619626209[1] = state[1];
|
||||
out_1332366097619626209[2] = state[2];
|
||||
out_1332366097619626209[3] = state[3];
|
||||
out_1332366097619626209[4] = state[4];
|
||||
out_1332366097619626209[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_1332366097619626209[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_1332366097619626209[7] = state[7];
|
||||
out_1332366097619626209[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_2675178968316523152) {
|
||||
out_2675178968316523152[0] = state[0];
|
||||
out_2675178968316523152[1] = state[1];
|
||||
out_2675178968316523152[2] = state[2];
|
||||
out_2675178968316523152[3] = state[3];
|
||||
out_2675178968316523152[4] = state[4];
|
||||
out_2675178968316523152[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_2675178968316523152[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_2675178968316523152[7] = state[7];
|
||||
out_2675178968316523152[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_2970389157093285155) {
|
||||
out_2970389157093285155[0] = 1;
|
||||
out_2970389157093285155[1] = 0;
|
||||
out_2970389157093285155[2] = 0;
|
||||
out_2970389157093285155[3] = 0;
|
||||
out_2970389157093285155[4] = 0;
|
||||
out_2970389157093285155[5] = 0;
|
||||
out_2970389157093285155[6] = 0;
|
||||
out_2970389157093285155[7] = 0;
|
||||
out_2970389157093285155[8] = 0;
|
||||
out_2970389157093285155[9] = 0;
|
||||
out_2970389157093285155[10] = 1;
|
||||
out_2970389157093285155[11] = 0;
|
||||
out_2970389157093285155[12] = 0;
|
||||
out_2970389157093285155[13] = 0;
|
||||
out_2970389157093285155[14] = 0;
|
||||
out_2970389157093285155[15] = 0;
|
||||
out_2970389157093285155[16] = 0;
|
||||
out_2970389157093285155[17] = 0;
|
||||
out_2970389157093285155[18] = 0;
|
||||
out_2970389157093285155[19] = 0;
|
||||
out_2970389157093285155[20] = 1;
|
||||
out_2970389157093285155[21] = 0;
|
||||
out_2970389157093285155[22] = 0;
|
||||
out_2970389157093285155[23] = 0;
|
||||
out_2970389157093285155[24] = 0;
|
||||
out_2970389157093285155[25] = 0;
|
||||
out_2970389157093285155[26] = 0;
|
||||
out_2970389157093285155[27] = 0;
|
||||
out_2970389157093285155[28] = 0;
|
||||
out_2970389157093285155[29] = 0;
|
||||
out_2970389157093285155[30] = 1;
|
||||
out_2970389157093285155[31] = 0;
|
||||
out_2970389157093285155[32] = 0;
|
||||
out_2970389157093285155[33] = 0;
|
||||
out_2970389157093285155[34] = 0;
|
||||
out_2970389157093285155[35] = 0;
|
||||
out_2970389157093285155[36] = 0;
|
||||
out_2970389157093285155[37] = 0;
|
||||
out_2970389157093285155[38] = 0;
|
||||
out_2970389157093285155[39] = 0;
|
||||
out_2970389157093285155[40] = 1;
|
||||
out_2970389157093285155[41] = 0;
|
||||
out_2970389157093285155[42] = 0;
|
||||
out_2970389157093285155[43] = 0;
|
||||
out_2970389157093285155[44] = 0;
|
||||
out_2970389157093285155[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_2970389157093285155[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2970389157093285155[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2970389157093285155[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2970389157093285155[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_2970389157093285155[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2970389157093285155[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2970389157093285155[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2970389157093285155[53] = -9.8100000000000005*dt;
|
||||
out_2970389157093285155[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_2970389157093285155[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2970389157093285155[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2970389157093285155[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2970389157093285155[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_2970389157093285155[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2970389157093285155[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_2970389157093285155[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2970389157093285155[62] = 0;
|
||||
out_2970389157093285155[63] = 0;
|
||||
out_2970389157093285155[64] = 0;
|
||||
out_2970389157093285155[65] = 0;
|
||||
out_2970389157093285155[66] = 0;
|
||||
out_2970389157093285155[67] = 0;
|
||||
out_2970389157093285155[68] = 0;
|
||||
out_2970389157093285155[69] = 0;
|
||||
out_2970389157093285155[70] = 1;
|
||||
out_2970389157093285155[71] = 0;
|
||||
out_2970389157093285155[72] = 0;
|
||||
out_2970389157093285155[73] = 0;
|
||||
out_2970389157093285155[74] = 0;
|
||||
out_2970389157093285155[75] = 0;
|
||||
out_2970389157093285155[76] = 0;
|
||||
out_2970389157093285155[77] = 0;
|
||||
out_2970389157093285155[78] = 0;
|
||||
out_2970389157093285155[79] = 0;
|
||||
out_2970389157093285155[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_5308189961048980992) {
|
||||
out_5308189961048980992[0] = 1;
|
||||
out_5308189961048980992[1] = 0;
|
||||
out_5308189961048980992[2] = 0;
|
||||
out_5308189961048980992[3] = 0;
|
||||
out_5308189961048980992[4] = 0;
|
||||
out_5308189961048980992[5] = 0;
|
||||
out_5308189961048980992[6] = 0;
|
||||
out_5308189961048980992[7] = 0;
|
||||
out_5308189961048980992[8] = 0;
|
||||
out_5308189961048980992[9] = 0;
|
||||
out_5308189961048980992[10] = 1;
|
||||
out_5308189961048980992[11] = 0;
|
||||
out_5308189961048980992[12] = 0;
|
||||
out_5308189961048980992[13] = 0;
|
||||
out_5308189961048980992[14] = 0;
|
||||
out_5308189961048980992[15] = 0;
|
||||
out_5308189961048980992[16] = 0;
|
||||
out_5308189961048980992[17] = 0;
|
||||
out_5308189961048980992[18] = 0;
|
||||
out_5308189961048980992[19] = 0;
|
||||
out_5308189961048980992[20] = 1;
|
||||
out_5308189961048980992[21] = 0;
|
||||
out_5308189961048980992[22] = 0;
|
||||
out_5308189961048980992[23] = 0;
|
||||
out_5308189961048980992[24] = 0;
|
||||
out_5308189961048980992[25] = 0;
|
||||
out_5308189961048980992[26] = 0;
|
||||
out_5308189961048980992[27] = 0;
|
||||
out_5308189961048980992[28] = 0;
|
||||
out_5308189961048980992[29] = 0;
|
||||
out_5308189961048980992[30] = 1;
|
||||
out_5308189961048980992[31] = 0;
|
||||
out_5308189961048980992[32] = 0;
|
||||
out_5308189961048980992[33] = 0;
|
||||
out_5308189961048980992[34] = 0;
|
||||
out_5308189961048980992[35] = 0;
|
||||
out_5308189961048980992[36] = 0;
|
||||
out_5308189961048980992[37] = 0;
|
||||
out_5308189961048980992[38] = 0;
|
||||
out_5308189961048980992[39] = 0;
|
||||
out_5308189961048980992[40] = 1;
|
||||
out_5308189961048980992[41] = 0;
|
||||
out_5308189961048980992[42] = 0;
|
||||
out_5308189961048980992[43] = 0;
|
||||
out_5308189961048980992[44] = 0;
|
||||
out_5308189961048980992[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_5308189961048980992[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5308189961048980992[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5308189961048980992[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5308189961048980992[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_5308189961048980992[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5308189961048980992[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5308189961048980992[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5308189961048980992[53] = -9.8100000000000005*dt;
|
||||
out_5308189961048980992[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_5308189961048980992[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5308189961048980992[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5308189961048980992[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5308189961048980992[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_5308189961048980992[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5308189961048980992[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_5308189961048980992[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5308189961048980992[62] = 0;
|
||||
out_5308189961048980992[63] = 0;
|
||||
out_5308189961048980992[64] = 0;
|
||||
out_5308189961048980992[65] = 0;
|
||||
out_5308189961048980992[66] = 0;
|
||||
out_5308189961048980992[67] = 0;
|
||||
out_5308189961048980992[68] = 0;
|
||||
out_5308189961048980992[69] = 0;
|
||||
out_5308189961048980992[70] = 1;
|
||||
out_5308189961048980992[71] = 0;
|
||||
out_5308189961048980992[72] = 0;
|
||||
out_5308189961048980992[73] = 0;
|
||||
out_5308189961048980992[74] = 0;
|
||||
out_5308189961048980992[75] = 0;
|
||||
out_5308189961048980992[76] = 0;
|
||||
out_5308189961048980992[77] = 0;
|
||||
out_5308189961048980992[78] = 0;
|
||||
out_5308189961048980992[79] = 0;
|
||||
out_5308189961048980992[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_3102286071066017000) {
|
||||
out_3102286071066017000[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_6353754508244043817) {
|
||||
out_6353754508244043817[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_7624833147842353287) {
|
||||
out_7624833147842353287[0] = 0;
|
||||
out_7624833147842353287[1] = 0;
|
||||
out_7624833147842353287[2] = 0;
|
||||
out_7624833147842353287[3] = 0;
|
||||
out_7624833147842353287[4] = 0;
|
||||
out_7624833147842353287[5] = 0;
|
||||
out_7624833147842353287[6] = 1;
|
||||
out_7624833147842353287[7] = 0;
|
||||
out_7624833147842353287[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_6338657739846148496) {
|
||||
out_6338657739846148496[0] = 0;
|
||||
out_6338657739846148496[1] = 0;
|
||||
out_6338657739846148496[2] = 0;
|
||||
out_6338657739846148496[3] = 0;
|
||||
out_6338657739846148496[4] = 0;
|
||||
out_6338657739846148496[5] = 0;
|
||||
out_6338657739846148496[6] = 1;
|
||||
out_6338657739846148496[7] = 0;
|
||||
out_6338657739846148496[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_423096547607875781) {
|
||||
out_423096547607875781[0] = state[4];
|
||||
out_423096547607875781[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_2065669686396091997) {
|
||||
out_2065669686396091997[0] = state[4];
|
||||
out_2065669686396091997[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_5399125363863484725) {
|
||||
out_5399125363863484725[0] = 0;
|
||||
out_5399125363863484725[1] = 0;
|
||||
out_5399125363863484725[2] = 0;
|
||||
out_5399125363863484725[3] = 0;
|
||||
out_5399125363863484725[4] = 1;
|
||||
out_5399125363863484725[5] = 0;
|
||||
out_5399125363863484725[6] = 0;
|
||||
out_5399125363863484725[7] = 0;
|
||||
out_5399125363863484725[8] = 0;
|
||||
out_5399125363863484725[9] = 0;
|
||||
out_5399125363863484725[10] = 0;
|
||||
out_5399125363863484725[11] = 0;
|
||||
out_5399125363863484725[12] = 0;
|
||||
out_5399125363863484725[13] = 0;
|
||||
out_5399125363863484725[14] = 1;
|
||||
out_5399125363863484725[15] = 0;
|
||||
out_5399125363863484725[16] = 0;
|
||||
out_5399125363863484725[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1518336235190160233) {
|
||||
out_1518336235190160233[0] = 0;
|
||||
out_1518336235190160233[1] = 0;
|
||||
out_1518336235190160233[2] = 0;
|
||||
out_1518336235190160233[3] = 0;
|
||||
out_1518336235190160233[4] = 1;
|
||||
out_1518336235190160233[5] = 0;
|
||||
out_1518336235190160233[6] = 0;
|
||||
out_1518336235190160233[7] = 0;
|
||||
out_1518336235190160233[8] = 0;
|
||||
out_1518336235190160233[9] = 0;
|
||||
out_1518336235190160233[10] = 0;
|
||||
out_1518336235190160233[11] = 0;
|
||||
out_1518336235190160233[12] = 0;
|
||||
out_1518336235190160233[13] = 0;
|
||||
out_1518336235190160233[14] = 1;
|
||||
out_1518336235190160233[15] = 0;
|
||||
out_1518336235190160233[16] = 0;
|
||||
out_1518336235190160233[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_3668549155284333936) {
|
||||
out_3668549155284333936[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_4759906320160358758) {
|
||||
out_4759906320160358758[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_708142806350736532) {
|
||||
out_708142806350736532[0] = 0;
|
||||
out_708142806350736532[1] = 0;
|
||||
out_708142806350736532[2] = 0;
|
||||
out_708142806350736532[3] = 0;
|
||||
out_708142806350736532[4] = 1;
|
||||
out_708142806350736532[5] = 0;
|
||||
out_708142806350736532[6] = 0;
|
||||
out_708142806350736532[7] = 0;
|
||||
out_708142806350736532[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6209318792702908426) {
|
||||
out_6209318792702908426[0] = 0;
|
||||
out_6209318792702908426[1] = 0;
|
||||
out_6209318792702908426[2] = 0;
|
||||
out_6209318792702908426[3] = 0;
|
||||
out_6209318792702908426[4] = 1;
|
||||
out_6209318792702908426[5] = 0;
|
||||
out_6209318792702908426[6] = 0;
|
||||
out_6209318792702908426[7] = 0;
|
||||
out_6209318792702908426[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_7985951944793485901) {
|
||||
out_7985951944793485901[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_163294403103182073) {
|
||||
out_163294403103182073[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_7080407606993142105) {
|
||||
out_7080407606993142105[0] = 0;
|
||||
out_7080407606993142105[1] = 0;
|
||||
out_7080407606993142105[2] = 0;
|
||||
out_7080407606993142105[3] = 0;
|
||||
out_7080407606993142105[4] = 0;
|
||||
out_7080407606993142105[5] = 0;
|
||||
out_7080407606993142105[6] = 0;
|
||||
out_7080407606993142105[7] = 1;
|
||||
out_7080407606993142105[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_2597154420972092272) {
|
||||
out_2597154420972092272[0] = 0;
|
||||
out_2597154420972092272[1] = 0;
|
||||
out_2597154420972092272[2] = 0;
|
||||
out_2597154420972092272[3] = 0;
|
||||
out_2597154420972092272[4] = 0;
|
||||
out_2597154420972092272[5] = 0;
|
||||
out_2597154420972092272[6] = 0;
|
||||
out_2597154420972092272[7] = 1;
|
||||
out_2597154420972092272[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_8103959338726862645) {
|
||||
out_8103959338726862645[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_45287009169805329) {
|
||||
out_45287009169805329[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_2882906118151161443) {
|
||||
out_2882906118151161443[0] = 0;
|
||||
out_2882906118151161443[1] = 0;
|
||||
out_2882906118151161443[2] = 0;
|
||||
out_2882906118151161443[3] = 1;
|
||||
out_2882906118151161443[4] = 0;
|
||||
out_2882906118151161443[5] = 0;
|
||||
out_2882906118151161443[6] = 0;
|
||||
out_2882906118151161443[7] = 0;
|
||||
out_2882906118151161443[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_4034555480902483515) {
|
||||
out_4034555480902483515[0] = 0;
|
||||
out_4034555480902483515[1] = 0;
|
||||
out_4034555480902483515[2] = 0;
|
||||
out_4034555480902483515[3] = 1;
|
||||
out_4034555480902483515[4] = 0;
|
||||
out_4034555480902483515[5] = 0;
|
||||
out_4034555480902483515[6] = 0;
|
||||
out_4034555480902483515[7] = 0;
|
||||
out_4034555480902483515[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_6653327946097979478) {
|
||||
out_6653327946097979478[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_4143590307449177193) {
|
||||
out_4143590307449177193[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_197911462036344348) {
|
||||
out_197911462036344348[0] = 0;
|
||||
out_197911462036344348[1] = 1;
|
||||
out_197911462036344348[2] = 0;
|
||||
out_197911462036344348[3] = 0;
|
||||
out_197911462036344348[4] = 0;
|
||||
out_197911462036344348[5] = 0;
|
||||
out_197911462036344348[6] = 0;
|
||||
out_197911462036344348[7] = 0;
|
||||
out_197911462036344348[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_6719550137017300610) {
|
||||
out_6719550137017300610[0] = 0;
|
||||
out_6719550137017300610[1] = 1;
|
||||
out_6719550137017300610[2] = 0;
|
||||
out_6719550137017300610[3] = 0;
|
||||
out_6719550137017300610[4] = 0;
|
||||
out_6719550137017300610[5] = 0;
|
||||
out_6719550137017300610[6] = 0;
|
||||
out_6719550137017300610[7] = 0;
|
||||
out_6719550137017300610[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_5499554017918164994) {
|
||||
out_5499554017918164994[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_8542875672635036079) {
|
||||
out_8542875672635036079[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_8768076211619308566) {
|
||||
out_8768076211619308566[0] = 1;
|
||||
out_8768076211619308566[1] = 0;
|
||||
out_8768076211619308566[2] = 0;
|
||||
out_8768076211619308566[3] = 0;
|
||||
out_8768076211619308566[4] = 0;
|
||||
out_8768076211619308566[5] = 0;
|
||||
out_8768076211619308566[6] = 0;
|
||||
out_8768076211619308566[7] = 0;
|
||||
out_8768076211619308566[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_1637151119947770036) {
|
||||
out_1637151119947770036[0] = 1;
|
||||
out_1637151119947770036[1] = 0;
|
||||
out_1637151119947770036[2] = 0;
|
||||
out_1637151119947770036[3] = 0;
|
||||
out_1637151119947770036[4] = 0;
|
||||
out_1637151119947770036[5] = 0;
|
||||
out_1637151119947770036[6] = 0;
|
||||
out_1637151119947770036[7] = 0;
|
||||
out_1637151119947770036[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7581192745822862175) {
|
||||
out_7581192745822862175[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_5322154339115156863) {
|
||||
out_5322154339115156863[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_7594187185965392859) {
|
||||
out_7594187185965392859[0] = 0;
|
||||
out_7594187185965392859[1] = 0;
|
||||
out_7594187185965392859[2] = 0;
|
||||
out_7594187185965392859[3] = 0;
|
||||
out_7594187185965392859[4] = 0;
|
||||
out_7594187185965392859[5] = 0;
|
||||
out_7594187185965392859[6] = 0;
|
||||
out_7594187185965392859[7] = 0;
|
||||
out_7594187185965392859[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6369303701723108924) {
|
||||
out_6369303701723108924[0] = 0;
|
||||
out_6369303701723108924[1] = 0;
|
||||
out_6369303701723108924[2] = 0;
|
||||
out_6369303701723108924[3] = 0;
|
||||
out_6369303701723108924[4] = 0;
|
||||
out_6369303701723108924[5] = 0;
|
||||
out_6369303701723108924[6] = 0;
|
||||
out_6369303701723108924[7] = 0;
|
||||
out_6369303701723108924[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_4102855695027319146) {
|
||||
err_fun(nom_x, delta_x, out_4102855695027319146);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8250891246740759679) {
|
||||
err_fun(nom_x, delta_x, out_8250891246740759679);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_375370046560025251) {
|
||||
inv_err_fun(nom_x, true_x, out_375370046560025251);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6699306425357192023) {
|
||||
inv_err_fun(nom_x, true_x, out_6699306425357192023);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_4142214806030893418) {
|
||||
H_mod_fun(state, out_4142214806030893418);
|
||||
void car_H_mod_fun(double *state, double *out_2914898107951165883) {
|
||||
H_mod_fun(state, out_2914898107951165883);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_1332366097619626209) {
|
||||
f_fun(state, dt, out_1332366097619626209);
|
||||
void car_f_fun(double *state, double dt, double *out_2675178968316523152) {
|
||||
f_fun(state, dt, out_2675178968316523152);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_2970389157093285155) {
|
||||
F_fun(state, dt, out_2970389157093285155);
|
||||
void car_F_fun(double *state, double dt, double *out_5308189961048980992) {
|
||||
F_fun(state, dt, out_5308189961048980992);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_3102286071066017000) {
|
||||
h_25(state, unused, out_3102286071066017000);
|
||||
void car_h_25(double *state, double *unused, double *out_6353754508244043817) {
|
||||
h_25(state, unused, out_6353754508244043817);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_7624833147842353287) {
|
||||
H_25(state, unused, out_7624833147842353287);
|
||||
void car_H_25(double *state, double *unused, double *out_6338657739846148496) {
|
||||
H_25(state, unused, out_6338657739846148496);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_423096547607875781) {
|
||||
h_24(state, unused, out_423096547607875781);
|
||||
void car_h_24(double *state, double *unused, double *out_2065669686396091997) {
|
||||
h_24(state, unused, out_2065669686396091997);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_5399125363863484725) {
|
||||
H_24(state, unused, out_5399125363863484725);
|
||||
void car_H_24(double *state, double *unused, double *out_1518336235190160233) {
|
||||
H_24(state, unused, out_1518336235190160233);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_3668549155284333936) {
|
||||
h_30(state, unused, out_3668549155284333936);
|
||||
void car_h_30(double *state, double *unused, double *out_4759906320160358758) {
|
||||
h_30(state, unused, out_4759906320160358758);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_708142806350736532) {
|
||||
H_30(state, unused, out_708142806350736532);
|
||||
void car_H_30(double *state, double *unused, double *out_6209318792702908426) {
|
||||
H_30(state, unused, out_6209318792702908426);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_7985951944793485901) {
|
||||
h_26(state, unused, out_7985951944793485901);
|
||||
void car_h_26(double *state, double *unused, double *out_163294403103182073) {
|
||||
h_26(state, unused, out_163294403103182073);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_7080407606993142105) {
|
||||
H_26(state, unused, out_7080407606993142105);
|
||||
void car_H_26(double *state, double *unused, double *out_2597154420972092272) {
|
||||
H_26(state, unused, out_2597154420972092272);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_8103959338726862645) {
|
||||
h_27(state, unused, out_8103959338726862645);
|
||||
void car_h_27(double *state, double *unused, double *out_45287009169805329) {
|
||||
h_27(state, unused, out_45287009169805329);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_2882906118151161443) {
|
||||
H_27(state, unused, out_2882906118151161443);
|
||||
void car_H_27(double *state, double *unused, double *out_4034555480902483515) {
|
||||
H_27(state, unused, out_4034555480902483515);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_6653327946097979478) {
|
||||
h_29(state, unused, out_6653327946097979478);
|
||||
void car_h_29(double *state, double *unused, double *out_4143590307449177193) {
|
||||
h_29(state, unused, out_4143590307449177193);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_197911462036344348) {
|
||||
H_29(state, unused, out_197911462036344348);
|
||||
void car_H_29(double *state, double *unused, double *out_6719550137017300610) {
|
||||
H_29(state, unused, out_6719550137017300610);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_5499554017918164994) {
|
||||
h_28(state, unused, out_5499554017918164994);
|
||||
void car_h_28(double *state, double *unused, double *out_8542875672635036079) {
|
||||
h_28(state, unused, out_8542875672635036079);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_8768076211619308566) {
|
||||
H_28(state, unused, out_8768076211619308566);
|
||||
void car_H_28(double *state, double *unused, double *out_1637151119947770036) {
|
||||
H_28(state, unused, out_1637151119947770036);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7581192745822862175) {
|
||||
h_31(state, unused, out_7581192745822862175);
|
||||
void car_h_31(double *state, double *unused, double *out_5322154339115156863) {
|
||||
h_31(state, unused, out_5322154339115156863);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_7594187185965392859) {
|
||||
H_31(state, unused, out_7594187185965392859);
|
||||
void car_H_31(double *state, double *unused, double *out_6369303701723108924) {
|
||||
H_31(state, unused, out_6369303701723108924);
|
||||
}
|
||||
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_4102855695027319146);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_375370046560025251);
|
||||
void car_H_mod_fun(double *state, double *out_4142214806030893418);
|
||||
void car_f_fun(double *state, double dt, double *out_1332366097619626209);
|
||||
void car_F_fun(double *state, double dt, double *out_2970389157093285155);
|
||||
void car_h_25(double *state, double *unused, double *out_3102286071066017000);
|
||||
void car_H_25(double *state, double *unused, double *out_7624833147842353287);
|
||||
void car_h_24(double *state, double *unused, double *out_423096547607875781);
|
||||
void car_H_24(double *state, double *unused, double *out_5399125363863484725);
|
||||
void car_h_30(double *state, double *unused, double *out_3668549155284333936);
|
||||
void car_H_30(double *state, double *unused, double *out_708142806350736532);
|
||||
void car_h_26(double *state, double *unused, double *out_7985951944793485901);
|
||||
void car_H_26(double *state, double *unused, double *out_7080407606993142105);
|
||||
void car_h_27(double *state, double *unused, double *out_8103959338726862645);
|
||||
void car_H_27(double *state, double *unused, double *out_2882906118151161443);
|
||||
void car_h_29(double *state, double *unused, double *out_6653327946097979478);
|
||||
void car_H_29(double *state, double *unused, double *out_197911462036344348);
|
||||
void car_h_28(double *state, double *unused, double *out_5499554017918164994);
|
||||
void car_H_28(double *state, double *unused, double *out_8768076211619308566);
|
||||
void car_h_31(double *state, double *unused, double *out_7581192745822862175);
|
||||
void car_H_31(double *state, double *unused, double *out_7594187185965392859);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8250891246740759679);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6699306425357192023);
|
||||
void car_H_mod_fun(double *state, double *out_2914898107951165883);
|
||||
void car_f_fun(double *state, double dt, double *out_2675178968316523152);
|
||||
void car_F_fun(double *state, double dt, double *out_5308189961048980992);
|
||||
void car_h_25(double *state, double *unused, double *out_6353754508244043817);
|
||||
void car_H_25(double *state, double *unused, double *out_6338657739846148496);
|
||||
void car_h_24(double *state, double *unused, double *out_2065669686396091997);
|
||||
void car_H_24(double *state, double *unused, double *out_1518336235190160233);
|
||||
void car_h_30(double *state, double *unused, double *out_4759906320160358758);
|
||||
void car_H_30(double *state, double *unused, double *out_6209318792702908426);
|
||||
void car_h_26(double *state, double *unused, double *out_163294403103182073);
|
||||
void car_H_26(double *state, double *unused, double *out_2597154420972092272);
|
||||
void car_h_27(double *state, double *unused, double *out_45287009169805329);
|
||||
void car_H_27(double *state, double *unused, double *out_4034555480902483515);
|
||||
void car_h_29(double *state, double *unused, double *out_4143590307449177193);
|
||||
void car_H_29(double *state, double *unused, double *out_6719550137017300610);
|
||||
void car_h_28(double *state, double *unused, double *out_8542875672635036079);
|
||||
void car_H_28(double *state, double *unused, double *out_1637151119947770036);
|
||||
void car_h_31(double *state, double *unused, double *out_5322154339115156863);
|
||||
void car_H_31(double *state, double *unused, double *out_6369303701723108924);
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
void car_set_mass(double x);
|
||||
void car_set_rotational_inertia(double x);
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_8979246808243312501);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6182129478777519212);
|
||||
void pose_H_mod_fun(double *state, double *out_5496809482113736276);
|
||||
void pose_f_fun(double *state, double dt, double *out_76749327147481970);
|
||||
void pose_F_fun(double *state, double dt, double *out_7773273273846026145);
|
||||
void pose_h_4(double *state, double *unused, double *out_8836590006675901483);
|
||||
void pose_H_4(double *state, double *unused, double *out_8771031560904685529);
|
||||
void pose_h_10(double *state, double *unused, double *out_7833049906299002536);
|
||||
void pose_H_10(double *state, double *unused, double *out_1676230657278343882);
|
||||
void pose_h_13(double *state, double *unused, double *out_8788718686171382623);
|
||||
void pose_H_13(double *state, double *unused, double *out_5558757735572352728);
|
||||
void pose_h_14(double *state, double *unused, double *out_4044191392879282830);
|
||||
void pose_H_14(double *state, double *unused, double *out_4807790704565201000);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_1942165964233553274);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2238116153961167505);
|
||||
void pose_H_mod_fun(double *state, double *out_4990084456757481789);
|
||||
void pose_f_fun(double *state, double dt, double *out_6296202895308932040);
|
||||
void pose_F_fun(double *state, double dt, double *out_909355394007943716);
|
||||
void pose_h_4(double *state, double *unused, double *out_6818977063477642683);
|
||||
void pose_H_4(double *state, double *unused, double *out_3954277209300339553);
|
||||
void pose_h_10(double *state, double *unused, double *out_3834013708689822319);
|
||||
void pose_H_10(double *state, double *unused, double *out_3533519720904001040);
|
||||
void pose_h_13(double *state, double *unused, double *out_3025354993842492520);
|
||||
void pose_H_13(double *state, double *unused, double *out_3389675289618495449);
|
||||
void pose_h_14(double *state, double *unused, double *out_278507277292912803);
|
||||
void pose_H_14(double *state, double *unused, double *out_7037065641595711849);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
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Reference in New Issue
Block a user