mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-18 15:52:09 +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];
|
||||
const uint8_t gitversion[19] = "DEV-5f51e670-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-2f74f933-DEBUG";
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||||
|
||||
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@@ -1 +1 @@
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||||
DEV-5f51e670-DEBUG
|
||||
DEV-2f74f933-DEBUG
|
||||
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_2687587277675065552) {
|
||||
out_2687587277675065552[0] = delta_x[0] + nom_x[0];
|
||||
out_2687587277675065552[1] = delta_x[1] + nom_x[1];
|
||||
out_2687587277675065552[2] = delta_x[2] + nom_x[2];
|
||||
out_2687587277675065552[3] = delta_x[3] + nom_x[3];
|
||||
out_2687587277675065552[4] = delta_x[4] + nom_x[4];
|
||||
out_2687587277675065552[5] = delta_x[5] + nom_x[5];
|
||||
out_2687587277675065552[6] = delta_x[6] + nom_x[6];
|
||||
out_2687587277675065552[7] = delta_x[7] + nom_x[7];
|
||||
out_2687587277675065552[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_1461273597009064329) {
|
||||
out_1461273597009064329[0] = delta_x[0] + nom_x[0];
|
||||
out_1461273597009064329[1] = delta_x[1] + nom_x[1];
|
||||
out_1461273597009064329[2] = delta_x[2] + nom_x[2];
|
||||
out_1461273597009064329[3] = delta_x[3] + nom_x[3];
|
||||
out_1461273597009064329[4] = delta_x[4] + nom_x[4];
|
||||
out_1461273597009064329[5] = delta_x[5] + nom_x[5];
|
||||
out_1461273597009064329[6] = delta_x[6] + nom_x[6];
|
||||
out_1461273597009064329[7] = delta_x[7] + nom_x[7];
|
||||
out_1461273597009064329[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_6222700140799525089) {
|
||||
out_6222700140799525089[0] = -nom_x[0] + true_x[0];
|
||||
out_6222700140799525089[1] = -nom_x[1] + true_x[1];
|
||||
out_6222700140799525089[2] = -nom_x[2] + true_x[2];
|
||||
out_6222700140799525089[3] = -nom_x[3] + true_x[3];
|
||||
out_6222700140799525089[4] = -nom_x[4] + true_x[4];
|
||||
out_6222700140799525089[5] = -nom_x[5] + true_x[5];
|
||||
out_6222700140799525089[6] = -nom_x[6] + true_x[6];
|
||||
out_6222700140799525089[7] = -nom_x[7] + true_x[7];
|
||||
out_6222700140799525089[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_7289765730580897738) {
|
||||
out_7289765730580897738[0] = -nom_x[0] + true_x[0];
|
||||
out_7289765730580897738[1] = -nom_x[1] + true_x[1];
|
||||
out_7289765730580897738[2] = -nom_x[2] + true_x[2];
|
||||
out_7289765730580897738[3] = -nom_x[3] + true_x[3];
|
||||
out_7289765730580897738[4] = -nom_x[4] + true_x[4];
|
||||
out_7289765730580897738[5] = -nom_x[5] + true_x[5];
|
||||
out_7289765730580897738[6] = -nom_x[6] + true_x[6];
|
||||
out_7289765730580897738[7] = -nom_x[7] + true_x[7];
|
||||
out_7289765730580897738[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_5736311190330935470) {
|
||||
out_5736311190330935470[0] = 1.0;
|
||||
out_5736311190330935470[1] = 0.0;
|
||||
out_5736311190330935470[2] = 0.0;
|
||||
out_5736311190330935470[3] = 0.0;
|
||||
out_5736311190330935470[4] = 0.0;
|
||||
out_5736311190330935470[5] = 0.0;
|
||||
out_5736311190330935470[6] = 0.0;
|
||||
out_5736311190330935470[7] = 0.0;
|
||||
out_5736311190330935470[8] = 0.0;
|
||||
out_5736311190330935470[9] = 0.0;
|
||||
out_5736311190330935470[10] = 1.0;
|
||||
out_5736311190330935470[11] = 0.0;
|
||||
out_5736311190330935470[12] = 0.0;
|
||||
out_5736311190330935470[13] = 0.0;
|
||||
out_5736311190330935470[14] = 0.0;
|
||||
out_5736311190330935470[15] = 0.0;
|
||||
out_5736311190330935470[16] = 0.0;
|
||||
out_5736311190330935470[17] = 0.0;
|
||||
out_5736311190330935470[18] = 0.0;
|
||||
out_5736311190330935470[19] = 0.0;
|
||||
out_5736311190330935470[20] = 1.0;
|
||||
out_5736311190330935470[21] = 0.0;
|
||||
out_5736311190330935470[22] = 0.0;
|
||||
out_5736311190330935470[23] = 0.0;
|
||||
out_5736311190330935470[24] = 0.0;
|
||||
out_5736311190330935470[25] = 0.0;
|
||||
out_5736311190330935470[26] = 0.0;
|
||||
out_5736311190330935470[27] = 0.0;
|
||||
out_5736311190330935470[28] = 0.0;
|
||||
out_5736311190330935470[29] = 0.0;
|
||||
out_5736311190330935470[30] = 1.0;
|
||||
out_5736311190330935470[31] = 0.0;
|
||||
out_5736311190330935470[32] = 0.0;
|
||||
out_5736311190330935470[33] = 0.0;
|
||||
out_5736311190330935470[34] = 0.0;
|
||||
out_5736311190330935470[35] = 0.0;
|
||||
out_5736311190330935470[36] = 0.0;
|
||||
out_5736311190330935470[37] = 0.0;
|
||||
out_5736311190330935470[38] = 0.0;
|
||||
out_5736311190330935470[39] = 0.0;
|
||||
out_5736311190330935470[40] = 1.0;
|
||||
out_5736311190330935470[41] = 0.0;
|
||||
out_5736311190330935470[42] = 0.0;
|
||||
out_5736311190330935470[43] = 0.0;
|
||||
out_5736311190330935470[44] = 0.0;
|
||||
out_5736311190330935470[45] = 0.0;
|
||||
out_5736311190330935470[46] = 0.0;
|
||||
out_5736311190330935470[47] = 0.0;
|
||||
out_5736311190330935470[48] = 0.0;
|
||||
out_5736311190330935470[49] = 0.0;
|
||||
out_5736311190330935470[50] = 1.0;
|
||||
out_5736311190330935470[51] = 0.0;
|
||||
out_5736311190330935470[52] = 0.0;
|
||||
out_5736311190330935470[53] = 0.0;
|
||||
out_5736311190330935470[54] = 0.0;
|
||||
out_5736311190330935470[55] = 0.0;
|
||||
out_5736311190330935470[56] = 0.0;
|
||||
out_5736311190330935470[57] = 0.0;
|
||||
out_5736311190330935470[58] = 0.0;
|
||||
out_5736311190330935470[59] = 0.0;
|
||||
out_5736311190330935470[60] = 1.0;
|
||||
out_5736311190330935470[61] = 0.0;
|
||||
out_5736311190330935470[62] = 0.0;
|
||||
out_5736311190330935470[63] = 0.0;
|
||||
out_5736311190330935470[64] = 0.0;
|
||||
out_5736311190330935470[65] = 0.0;
|
||||
out_5736311190330935470[66] = 0.0;
|
||||
out_5736311190330935470[67] = 0.0;
|
||||
out_5736311190330935470[68] = 0.0;
|
||||
out_5736311190330935470[69] = 0.0;
|
||||
out_5736311190330935470[70] = 1.0;
|
||||
out_5736311190330935470[71] = 0.0;
|
||||
out_5736311190330935470[72] = 0.0;
|
||||
out_5736311190330935470[73] = 0.0;
|
||||
out_5736311190330935470[74] = 0.0;
|
||||
out_5736311190330935470[75] = 0.0;
|
||||
out_5736311190330935470[76] = 0.0;
|
||||
out_5736311190330935470[77] = 0.0;
|
||||
out_5736311190330935470[78] = 0.0;
|
||||
out_5736311190330935470[79] = 0.0;
|
||||
out_5736311190330935470[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8304527178040913025) {
|
||||
out_8304527178040913025[0] = 1.0;
|
||||
out_8304527178040913025[1] = 0.0;
|
||||
out_8304527178040913025[2] = 0.0;
|
||||
out_8304527178040913025[3] = 0.0;
|
||||
out_8304527178040913025[4] = 0.0;
|
||||
out_8304527178040913025[5] = 0.0;
|
||||
out_8304527178040913025[6] = 0.0;
|
||||
out_8304527178040913025[7] = 0.0;
|
||||
out_8304527178040913025[8] = 0.0;
|
||||
out_8304527178040913025[9] = 0.0;
|
||||
out_8304527178040913025[10] = 1.0;
|
||||
out_8304527178040913025[11] = 0.0;
|
||||
out_8304527178040913025[12] = 0.0;
|
||||
out_8304527178040913025[13] = 0.0;
|
||||
out_8304527178040913025[14] = 0.0;
|
||||
out_8304527178040913025[15] = 0.0;
|
||||
out_8304527178040913025[16] = 0.0;
|
||||
out_8304527178040913025[17] = 0.0;
|
||||
out_8304527178040913025[18] = 0.0;
|
||||
out_8304527178040913025[19] = 0.0;
|
||||
out_8304527178040913025[20] = 1.0;
|
||||
out_8304527178040913025[21] = 0.0;
|
||||
out_8304527178040913025[22] = 0.0;
|
||||
out_8304527178040913025[23] = 0.0;
|
||||
out_8304527178040913025[24] = 0.0;
|
||||
out_8304527178040913025[25] = 0.0;
|
||||
out_8304527178040913025[26] = 0.0;
|
||||
out_8304527178040913025[27] = 0.0;
|
||||
out_8304527178040913025[28] = 0.0;
|
||||
out_8304527178040913025[29] = 0.0;
|
||||
out_8304527178040913025[30] = 1.0;
|
||||
out_8304527178040913025[31] = 0.0;
|
||||
out_8304527178040913025[32] = 0.0;
|
||||
out_8304527178040913025[33] = 0.0;
|
||||
out_8304527178040913025[34] = 0.0;
|
||||
out_8304527178040913025[35] = 0.0;
|
||||
out_8304527178040913025[36] = 0.0;
|
||||
out_8304527178040913025[37] = 0.0;
|
||||
out_8304527178040913025[38] = 0.0;
|
||||
out_8304527178040913025[39] = 0.0;
|
||||
out_8304527178040913025[40] = 1.0;
|
||||
out_8304527178040913025[41] = 0.0;
|
||||
out_8304527178040913025[42] = 0.0;
|
||||
out_8304527178040913025[43] = 0.0;
|
||||
out_8304527178040913025[44] = 0.0;
|
||||
out_8304527178040913025[45] = 0.0;
|
||||
out_8304527178040913025[46] = 0.0;
|
||||
out_8304527178040913025[47] = 0.0;
|
||||
out_8304527178040913025[48] = 0.0;
|
||||
out_8304527178040913025[49] = 0.0;
|
||||
out_8304527178040913025[50] = 1.0;
|
||||
out_8304527178040913025[51] = 0.0;
|
||||
out_8304527178040913025[52] = 0.0;
|
||||
out_8304527178040913025[53] = 0.0;
|
||||
out_8304527178040913025[54] = 0.0;
|
||||
out_8304527178040913025[55] = 0.0;
|
||||
out_8304527178040913025[56] = 0.0;
|
||||
out_8304527178040913025[57] = 0.0;
|
||||
out_8304527178040913025[58] = 0.0;
|
||||
out_8304527178040913025[59] = 0.0;
|
||||
out_8304527178040913025[60] = 1.0;
|
||||
out_8304527178040913025[61] = 0.0;
|
||||
out_8304527178040913025[62] = 0.0;
|
||||
out_8304527178040913025[63] = 0.0;
|
||||
out_8304527178040913025[64] = 0.0;
|
||||
out_8304527178040913025[65] = 0.0;
|
||||
out_8304527178040913025[66] = 0.0;
|
||||
out_8304527178040913025[67] = 0.0;
|
||||
out_8304527178040913025[68] = 0.0;
|
||||
out_8304527178040913025[69] = 0.0;
|
||||
out_8304527178040913025[70] = 1.0;
|
||||
out_8304527178040913025[71] = 0.0;
|
||||
out_8304527178040913025[72] = 0.0;
|
||||
out_8304527178040913025[73] = 0.0;
|
||||
out_8304527178040913025[74] = 0.0;
|
||||
out_8304527178040913025[75] = 0.0;
|
||||
out_8304527178040913025[76] = 0.0;
|
||||
out_8304527178040913025[77] = 0.0;
|
||||
out_8304527178040913025[78] = 0.0;
|
||||
out_8304527178040913025[79] = 0.0;
|
||||
out_8304527178040913025[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_8059955085909907268) {
|
||||
out_8059955085909907268[0] = state[0];
|
||||
out_8059955085909907268[1] = state[1];
|
||||
out_8059955085909907268[2] = state[2];
|
||||
out_8059955085909907268[3] = state[3];
|
||||
out_8059955085909907268[4] = state[4];
|
||||
out_8059955085909907268[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_8059955085909907268[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_8059955085909907268[7] = state[7];
|
||||
out_8059955085909907268[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_1355173870151422192) {
|
||||
out_1355173870151422192[0] = state[0];
|
||||
out_1355173870151422192[1] = state[1];
|
||||
out_1355173870151422192[2] = state[2];
|
||||
out_1355173870151422192[3] = state[3];
|
||||
out_1355173870151422192[4] = state[4];
|
||||
out_1355173870151422192[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_1355173870151422192[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_1355173870151422192[7] = state[7];
|
||||
out_1355173870151422192[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_535217138807217635) {
|
||||
out_535217138807217635[0] = 1;
|
||||
out_535217138807217635[1] = 0;
|
||||
out_535217138807217635[2] = 0;
|
||||
out_535217138807217635[3] = 0;
|
||||
out_535217138807217635[4] = 0;
|
||||
out_535217138807217635[5] = 0;
|
||||
out_535217138807217635[6] = 0;
|
||||
out_535217138807217635[7] = 0;
|
||||
out_535217138807217635[8] = 0;
|
||||
out_535217138807217635[9] = 0;
|
||||
out_535217138807217635[10] = 1;
|
||||
out_535217138807217635[11] = 0;
|
||||
out_535217138807217635[12] = 0;
|
||||
out_535217138807217635[13] = 0;
|
||||
out_535217138807217635[14] = 0;
|
||||
out_535217138807217635[15] = 0;
|
||||
out_535217138807217635[16] = 0;
|
||||
out_535217138807217635[17] = 0;
|
||||
out_535217138807217635[18] = 0;
|
||||
out_535217138807217635[19] = 0;
|
||||
out_535217138807217635[20] = 1;
|
||||
out_535217138807217635[21] = 0;
|
||||
out_535217138807217635[22] = 0;
|
||||
out_535217138807217635[23] = 0;
|
||||
out_535217138807217635[24] = 0;
|
||||
out_535217138807217635[25] = 0;
|
||||
out_535217138807217635[26] = 0;
|
||||
out_535217138807217635[27] = 0;
|
||||
out_535217138807217635[28] = 0;
|
||||
out_535217138807217635[29] = 0;
|
||||
out_535217138807217635[30] = 1;
|
||||
out_535217138807217635[31] = 0;
|
||||
out_535217138807217635[32] = 0;
|
||||
out_535217138807217635[33] = 0;
|
||||
out_535217138807217635[34] = 0;
|
||||
out_535217138807217635[35] = 0;
|
||||
out_535217138807217635[36] = 0;
|
||||
out_535217138807217635[37] = 0;
|
||||
out_535217138807217635[38] = 0;
|
||||
out_535217138807217635[39] = 0;
|
||||
out_535217138807217635[40] = 1;
|
||||
out_535217138807217635[41] = 0;
|
||||
out_535217138807217635[42] = 0;
|
||||
out_535217138807217635[43] = 0;
|
||||
out_535217138807217635[44] = 0;
|
||||
out_535217138807217635[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_535217138807217635[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_535217138807217635[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_535217138807217635[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_535217138807217635[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_535217138807217635[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_535217138807217635[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_535217138807217635[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_535217138807217635[53] = -9.8100000000000005*dt;
|
||||
out_535217138807217635[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_535217138807217635[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_535217138807217635[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_535217138807217635[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_535217138807217635[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_535217138807217635[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_535217138807217635[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_535217138807217635[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_535217138807217635[62] = 0;
|
||||
out_535217138807217635[63] = 0;
|
||||
out_535217138807217635[64] = 0;
|
||||
out_535217138807217635[65] = 0;
|
||||
out_535217138807217635[66] = 0;
|
||||
out_535217138807217635[67] = 0;
|
||||
out_535217138807217635[68] = 0;
|
||||
out_535217138807217635[69] = 0;
|
||||
out_535217138807217635[70] = 1;
|
||||
out_535217138807217635[71] = 0;
|
||||
out_535217138807217635[72] = 0;
|
||||
out_535217138807217635[73] = 0;
|
||||
out_535217138807217635[74] = 0;
|
||||
out_535217138807217635[75] = 0;
|
||||
out_535217138807217635[76] = 0;
|
||||
out_535217138807217635[77] = 0;
|
||||
out_535217138807217635[78] = 0;
|
||||
out_535217138807217635[79] = 0;
|
||||
out_535217138807217635[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_3219998669912464347) {
|
||||
out_3219998669912464347[0] = 1;
|
||||
out_3219998669912464347[1] = 0;
|
||||
out_3219998669912464347[2] = 0;
|
||||
out_3219998669912464347[3] = 0;
|
||||
out_3219998669912464347[4] = 0;
|
||||
out_3219998669912464347[5] = 0;
|
||||
out_3219998669912464347[6] = 0;
|
||||
out_3219998669912464347[7] = 0;
|
||||
out_3219998669912464347[8] = 0;
|
||||
out_3219998669912464347[9] = 0;
|
||||
out_3219998669912464347[10] = 1;
|
||||
out_3219998669912464347[11] = 0;
|
||||
out_3219998669912464347[12] = 0;
|
||||
out_3219998669912464347[13] = 0;
|
||||
out_3219998669912464347[14] = 0;
|
||||
out_3219998669912464347[15] = 0;
|
||||
out_3219998669912464347[16] = 0;
|
||||
out_3219998669912464347[17] = 0;
|
||||
out_3219998669912464347[18] = 0;
|
||||
out_3219998669912464347[19] = 0;
|
||||
out_3219998669912464347[20] = 1;
|
||||
out_3219998669912464347[21] = 0;
|
||||
out_3219998669912464347[22] = 0;
|
||||
out_3219998669912464347[23] = 0;
|
||||
out_3219998669912464347[24] = 0;
|
||||
out_3219998669912464347[25] = 0;
|
||||
out_3219998669912464347[26] = 0;
|
||||
out_3219998669912464347[27] = 0;
|
||||
out_3219998669912464347[28] = 0;
|
||||
out_3219998669912464347[29] = 0;
|
||||
out_3219998669912464347[30] = 1;
|
||||
out_3219998669912464347[31] = 0;
|
||||
out_3219998669912464347[32] = 0;
|
||||
out_3219998669912464347[33] = 0;
|
||||
out_3219998669912464347[34] = 0;
|
||||
out_3219998669912464347[35] = 0;
|
||||
out_3219998669912464347[36] = 0;
|
||||
out_3219998669912464347[37] = 0;
|
||||
out_3219998669912464347[38] = 0;
|
||||
out_3219998669912464347[39] = 0;
|
||||
out_3219998669912464347[40] = 1;
|
||||
out_3219998669912464347[41] = 0;
|
||||
out_3219998669912464347[42] = 0;
|
||||
out_3219998669912464347[43] = 0;
|
||||
out_3219998669912464347[44] = 0;
|
||||
out_3219998669912464347[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_3219998669912464347[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3219998669912464347[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3219998669912464347[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3219998669912464347[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_3219998669912464347[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3219998669912464347[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3219998669912464347[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3219998669912464347[53] = -9.8100000000000005*dt;
|
||||
out_3219998669912464347[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_3219998669912464347[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3219998669912464347[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3219998669912464347[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3219998669912464347[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_3219998669912464347[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3219998669912464347[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_3219998669912464347[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3219998669912464347[62] = 0;
|
||||
out_3219998669912464347[63] = 0;
|
||||
out_3219998669912464347[64] = 0;
|
||||
out_3219998669912464347[65] = 0;
|
||||
out_3219998669912464347[66] = 0;
|
||||
out_3219998669912464347[67] = 0;
|
||||
out_3219998669912464347[68] = 0;
|
||||
out_3219998669912464347[69] = 0;
|
||||
out_3219998669912464347[70] = 1;
|
||||
out_3219998669912464347[71] = 0;
|
||||
out_3219998669912464347[72] = 0;
|
||||
out_3219998669912464347[73] = 0;
|
||||
out_3219998669912464347[74] = 0;
|
||||
out_3219998669912464347[75] = 0;
|
||||
out_3219998669912464347[76] = 0;
|
||||
out_3219998669912464347[77] = 0;
|
||||
out_3219998669912464347[78] = 0;
|
||||
out_3219998669912464347[79] = 0;
|
||||
out_3219998669912464347[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_7527307434081215851) {
|
||||
out_7527307434081215851[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7686598041594365016) {
|
||||
out_7686598041594365016[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_9187452233389124469) {
|
||||
out_9187452233389124469[0] = 0;
|
||||
out_9187452233389124469[1] = 0;
|
||||
out_9187452233389124469[2] = 0;
|
||||
out_9187452233389124469[3] = 0;
|
||||
out_9187452233389124469[4] = 0;
|
||||
out_9187452233389124469[5] = 0;
|
||||
out_9187452233389124469[6] = 1;
|
||||
out_9187452233389124469[7] = 0;
|
||||
out_9187452233389124469[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_2220878862694778786) {
|
||||
out_2220878862694778786[0] = 0;
|
||||
out_2220878862694778786[1] = 0;
|
||||
out_2220878862694778786[2] = 0;
|
||||
out_2220878862694778786[3] = 0;
|
||||
out_2220878862694778786[4] = 0;
|
||||
out_2220878862694778786[5] = 0;
|
||||
out_2220878862694778786[6] = 1;
|
||||
out_2220878862694778786[7] = 0;
|
||||
out_2220878862694778786[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7476062049775574580) {
|
||||
out_7476062049775574580[0] = state[4];
|
||||
out_7476062049775574580[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_3813839643785118531) {
|
||||
out_3813839643785118531[0] = state[4];
|
||||
out_3813839643785118531[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_5629526634586801333) {
|
||||
out_5629526634586801333[0] = 0;
|
||||
out_5629526634586801333[1] = 0;
|
||||
out_5629526634586801333[2] = 0;
|
||||
out_5629526634586801333[3] = 0;
|
||||
out_5629526634586801333[4] = 1;
|
||||
out_5629526634586801333[5] = 0;
|
||||
out_5629526634586801333[6] = 0;
|
||||
out_5629526634586801333[7] = 0;
|
||||
out_5629526634586801333[8] = 0;
|
||||
out_5629526634586801333[9] = 0;
|
||||
out_5629526634586801333[10] = 0;
|
||||
out_5629526634586801333[11] = 0;
|
||||
out_5629526634586801333[12] = 0;
|
||||
out_5629526634586801333[13] = 0;
|
||||
out_5629526634586801333[14] = 1;
|
||||
out_5629526634586801333[15] = 0;
|
||||
out_5629526634586801333[16] = 0;
|
||||
out_5629526634586801333[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1337046736107544350) {
|
||||
out_1337046736107544350[0] = 0;
|
||||
out_1337046736107544350[1] = 0;
|
||||
out_1337046736107544350[2] = 0;
|
||||
out_1337046736107544350[3] = 0;
|
||||
out_1337046736107544350[4] = 1;
|
||||
out_1337046736107544350[5] = 0;
|
||||
out_1337046736107544350[6] = 0;
|
||||
out_1337046736107544350[7] = 0;
|
||||
out_1337046736107544350[8] = 0;
|
||||
out_1337046736107544350[9] = 0;
|
||||
out_1337046736107544350[10] = 0;
|
||||
out_1337046736107544350[11] = 0;
|
||||
out_1337046736107544350[12] = 0;
|
||||
out_1337046736107544350[13] = 0;
|
||||
out_1337046736107544350[14] = 1;
|
||||
out_1337046736107544350[15] = 0;
|
||||
out_1337046736107544350[16] = 0;
|
||||
out_1337046736107544350[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_1371860238240555722) {
|
||||
out_1371860238240555722[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_2120268555396644716) {
|
||||
out_2120268555396644716[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_2270761891897507714) {
|
||||
out_2270761891897507714[0] = 0;
|
||||
out_2270761891897507714[1] = 0;
|
||||
out_2270761891897507714[2] = 0;
|
||||
out_2270761891897507714[3] = 0;
|
||||
out_2270761891897507714[4] = 1;
|
||||
out_2270761891897507714[5] = 0;
|
||||
out_2270761891897507714[6] = 0;
|
||||
out_2270761891897507714[7] = 0;
|
||||
out_2270761891897507714[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_297454095812469841) {
|
||||
out_297454095812469841[0] = 0;
|
||||
out_297454095812469841[1] = 0;
|
||||
out_297454095812469841[2] = 0;
|
||||
out_297454095812469841[3] = 0;
|
||||
out_297454095812469841[4] = 1;
|
||||
out_297454095812469841[5] = 0;
|
||||
out_297454095812469841[6] = 0;
|
||||
out_297454095812469841[7] = 0;
|
||||
out_297454095812469841[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_6063283196188145091) {
|
||||
out_6063283196188145091[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_2881404712264200929) {
|
||||
out_2881404712264200929[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_5517788521446370923) {
|
||||
out_5517788521446370923[0] = 0;
|
||||
out_5517788521446370923[1] = 0;
|
||||
out_5517788521446370923[2] = 0;
|
||||
out_5517788521446370923[3] = 0;
|
||||
out_5517788521446370923[4] = 0;
|
||||
out_5517788521446370923[5] = 0;
|
||||
out_5517788521446370923[6] = 0;
|
||||
out_5517788521446370923[7] = 1;
|
||||
out_5517788521446370923[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_5962382181568835010) {
|
||||
out_5962382181568835010[0] = 0;
|
||||
out_5962382181568835010[1] = 0;
|
||||
out_5962382181568835010[2] = 0;
|
||||
out_5962382181568835010[3] = 0;
|
||||
out_5962382181568835010[4] = 0;
|
||||
out_5962382181568835010[5] = 0;
|
||||
out_5962382181568835010[6] = 0;
|
||||
out_5962382181568835010[7] = 1;
|
||||
out_5962382181568835010[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_8470817286982878286) {
|
||||
out_8470817286982878286[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_901564640210476392) {
|
||||
out_901564640210476392[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_4445525203697932625) {
|
||||
out_4445525203697932625[0] = 0;
|
||||
out_4445525203697932625[1] = 0;
|
||||
out_4445525203697932625[2] = 0;
|
||||
out_4445525203697932625[3] = 1;
|
||||
out_4445525203697932625[4] = 0;
|
||||
out_4445525203697932625[5] = 0;
|
||||
out_4445525203697932625[6] = 0;
|
||||
out_4445525203697932625[7] = 0;
|
||||
out_4445525203697932625[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_2521048166996413058) {
|
||||
out_2521048166996413058[0] = 0;
|
||||
out_2521048166996413058[1] = 0;
|
||||
out_2521048166996413058[2] = 0;
|
||||
out_2521048166996413058[3] = 1;
|
||||
out_2521048166996413058[4] = 0;
|
||||
out_2521048166996413058[5] = 0;
|
||||
out_2521048166996413058[6] = 0;
|
||||
out_2521048166996413058[7] = 0;
|
||||
out_2521048166996413058[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_7424449226025441418) {
|
||||
out_7424449226025441418[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_952524754320502979) {
|
||||
out_952524754320502979[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_1760530547583115530) {
|
||||
out_1760530547583115530[0] = 0;
|
||||
out_1760530547583115530[1] = 1;
|
||||
out_1760530547583115530[2] = 0;
|
||||
out_1760530547583115530[3] = 0;
|
||||
out_1760530547583115530[4] = 0;
|
||||
out_1760530547583115530[5] = 0;
|
||||
out_1760530547583115530[6] = 0;
|
||||
out_1760530547583115530[7] = 0;
|
||||
out_1760530547583115530[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_807685440126862025) {
|
||||
out_807685440126862025[0] = 0;
|
||||
out_807685440126862025[1] = 1;
|
||||
out_807685440126862025[2] = 0;
|
||||
out_807685440126862025[3] = 0;
|
||||
out_807685440126862025[4] = 0;
|
||||
out_807685440126862025[5] = 0;
|
||||
out_807685440126862025[6] = 0;
|
||||
out_807685440126862025[7] = 0;
|
||||
out_807685440126862025[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2540783352297972517) {
|
||||
out_2540783352297972517[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_8550909813521810734) {
|
||||
out_8550909813521810734[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_6842929564652646104) {
|
||||
out_6842929564652646104[0] = 1;
|
||||
out_6842929564652646104[1] = 0;
|
||||
out_6842929564652646104[2] = 0;
|
||||
out_6842929564652646104[3] = 0;
|
||||
out_6842929564652646104[4] = 0;
|
||||
out_6842929564652646104[5] = 0;
|
||||
out_6842929564652646104[6] = 0;
|
||||
out_6842929564652646104[7] = 0;
|
||||
out_6842929564652646104[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_4274713576942668549) {
|
||||
out_4274713576942668549[0] = 1;
|
||||
out_4274713576942668549[1] = 0;
|
||||
out_4274713576942668549[2] = 0;
|
||||
out_4274713576942668549[3] = 0;
|
||||
out_4274713576942668549[4] = 0;
|
||||
out_4274713576942668549[5] = 0;
|
||||
out_4274713576942668549[6] = 0;
|
||||
out_4274713576942668549[7] = 0;
|
||||
out_4274713576942668549[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7802501496365721740) {
|
||||
out_7802501496365721740[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7961792103878870905) {
|
||||
out_7961792103878870905[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_9156806271512164041) {
|
||||
out_9156806271512164041[0] = 0;
|
||||
out_9156806271512164041[1] = 0;
|
||||
out_9156806271512164041[2] = 0;
|
||||
out_9156806271512164041[3] = 0;
|
||||
out_9156806271512164041[4] = 0;
|
||||
out_9156806271512164041[5] = 0;
|
||||
out_9156806271512164041[6] = 0;
|
||||
out_9156806271512164041[7] = 0;
|
||||
out_9156806271512164041[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6588590283802186486) {
|
||||
out_6588590283802186486[0] = 0;
|
||||
out_6588590283802186486[1] = 0;
|
||||
out_6588590283802186486[2] = 0;
|
||||
out_6588590283802186486[3] = 0;
|
||||
out_6588590283802186486[4] = 0;
|
||||
out_6588590283802186486[5] = 0;
|
||||
out_6588590283802186486[6] = 0;
|
||||
out_6588590283802186486[7] = 0;
|
||||
out_6588590283802186486[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_2687587277675065552) {
|
||||
err_fun(nom_x, delta_x, out_2687587277675065552);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1461273597009064329) {
|
||||
err_fun(nom_x, delta_x, out_1461273597009064329);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6222700140799525089) {
|
||||
inv_err_fun(nom_x, true_x, out_6222700140799525089);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7289765730580897738) {
|
||||
inv_err_fun(nom_x, true_x, out_7289765730580897738);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_5736311190330935470) {
|
||||
H_mod_fun(state, out_5736311190330935470);
|
||||
void car_H_mod_fun(double *state, double *out_8304527178040913025) {
|
||||
H_mod_fun(state, out_8304527178040913025);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_8059955085909907268) {
|
||||
f_fun(state, dt, out_8059955085909907268);
|
||||
void car_f_fun(double *state, double dt, double *out_1355173870151422192) {
|
||||
f_fun(state, dt, out_1355173870151422192);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_535217138807217635) {
|
||||
F_fun(state, dt, out_535217138807217635);
|
||||
void car_F_fun(double *state, double dt, double *out_3219998669912464347) {
|
||||
F_fun(state, dt, out_3219998669912464347);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_7527307434081215851) {
|
||||
h_25(state, unused, out_7527307434081215851);
|
||||
void car_h_25(double *state, double *unused, double *out_7686598041594365016) {
|
||||
h_25(state, unused, out_7686598041594365016);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_9187452233389124469) {
|
||||
H_25(state, unused, out_9187452233389124469);
|
||||
void car_H_25(double *state, double *unused, double *out_2220878862694778786) {
|
||||
H_25(state, unused, out_2220878862694778786);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7476062049775574580) {
|
||||
h_24(state, unused, out_7476062049775574580);
|
||||
void car_h_24(double *state, double *unused, double *out_3813839643785118531) {
|
||||
h_24(state, unused, out_3813839643785118531);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_5629526634586801333) {
|
||||
H_24(state, unused, out_5629526634586801333);
|
||||
void car_H_24(double *state, double *unused, double *out_1337046736107544350) {
|
||||
H_24(state, unused, out_1337046736107544350);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_1371860238240555722) {
|
||||
h_30(state, unused, out_1371860238240555722);
|
||||
void car_h_30(double *state, double *unused, double *out_2120268555396644716) {
|
||||
h_30(state, unused, out_2120268555396644716);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_2270761891897507714) {
|
||||
H_30(state, unused, out_2270761891897507714);
|
||||
void car_H_30(double *state, double *unused, double *out_297454095812469841) {
|
||||
H_30(state, unused, out_297454095812469841);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_6063283196188145091) {
|
||||
h_26(state, unused, out_6063283196188145091);
|
||||
void car_h_26(double *state, double *unused, double *out_2881404712264200929) {
|
||||
h_26(state, unused, out_2881404712264200929);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_5517788521446370923) {
|
||||
H_26(state, unused, out_5517788521446370923);
|
||||
void car_H_26(double *state, double *unused, double *out_5962382181568835010) {
|
||||
H_26(state, unused, out_5962382181568835010);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_8470817286982878286) {
|
||||
h_27(state, unused, out_8470817286982878286);
|
||||
void car_h_27(double *state, double *unused, double *out_901564640210476392) {
|
||||
h_27(state, unused, out_901564640210476392);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_4445525203697932625) {
|
||||
H_27(state, unused, out_4445525203697932625);
|
||||
void car_H_27(double *state, double *unused, double *out_2521048166996413058) {
|
||||
H_27(state, unused, out_2521048166996413058);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_7424449226025441418) {
|
||||
h_29(state, unused, out_7424449226025441418);
|
||||
void car_h_29(double *state, double *unused, double *out_952524754320502979) {
|
||||
h_29(state, unused, out_952524754320502979);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_1760530547583115530) {
|
||||
H_29(state, unused, out_1760530547583115530);
|
||||
void car_H_29(double *state, double *unused, double *out_807685440126862025) {
|
||||
H_29(state, unused, out_807685440126862025);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2540783352297972517) {
|
||||
h_28(state, unused, out_2540783352297972517);
|
||||
void car_h_28(double *state, double *unused, double *out_8550909813521810734) {
|
||||
h_28(state, unused, out_8550909813521810734);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_6842929564652646104) {
|
||||
H_28(state, unused, out_6842929564652646104);
|
||||
void car_H_28(double *state, double *unused, double *out_4274713576942668549) {
|
||||
H_28(state, unused, out_4274713576942668549);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7802501496365721740) {
|
||||
h_31(state, unused, out_7802501496365721740);
|
||||
void car_h_31(double *state, double *unused, double *out_7961792103878870905) {
|
||||
h_31(state, unused, out_7961792103878870905);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_9156806271512164041) {
|
||||
H_31(state, unused, out_9156806271512164041);
|
||||
void car_H_31(double *state, double *unused, double *out_6588590283802186486) {
|
||||
H_31(state, unused, out_6588590283802186486);
|
||||
}
|
||||
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_2687587277675065552);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6222700140799525089);
|
||||
void car_H_mod_fun(double *state, double *out_5736311190330935470);
|
||||
void car_f_fun(double *state, double dt, double *out_8059955085909907268);
|
||||
void car_F_fun(double *state, double dt, double *out_535217138807217635);
|
||||
void car_h_25(double *state, double *unused, double *out_7527307434081215851);
|
||||
void car_H_25(double *state, double *unused, double *out_9187452233389124469);
|
||||
void car_h_24(double *state, double *unused, double *out_7476062049775574580);
|
||||
void car_H_24(double *state, double *unused, double *out_5629526634586801333);
|
||||
void car_h_30(double *state, double *unused, double *out_1371860238240555722);
|
||||
void car_H_30(double *state, double *unused, double *out_2270761891897507714);
|
||||
void car_h_26(double *state, double *unused, double *out_6063283196188145091);
|
||||
void car_H_26(double *state, double *unused, double *out_5517788521446370923);
|
||||
void car_h_27(double *state, double *unused, double *out_8470817286982878286);
|
||||
void car_H_27(double *state, double *unused, double *out_4445525203697932625);
|
||||
void car_h_29(double *state, double *unused, double *out_7424449226025441418);
|
||||
void car_H_29(double *state, double *unused, double *out_1760530547583115530);
|
||||
void car_h_28(double *state, double *unused, double *out_2540783352297972517);
|
||||
void car_H_28(double *state, double *unused, double *out_6842929564652646104);
|
||||
void car_h_31(double *state, double *unused, double *out_7802501496365721740);
|
||||
void car_H_31(double *state, double *unused, double *out_9156806271512164041);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1461273597009064329);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7289765730580897738);
|
||||
void car_H_mod_fun(double *state, double *out_8304527178040913025);
|
||||
void car_f_fun(double *state, double dt, double *out_1355173870151422192);
|
||||
void car_F_fun(double *state, double dt, double *out_3219998669912464347);
|
||||
void car_h_25(double *state, double *unused, double *out_7686598041594365016);
|
||||
void car_H_25(double *state, double *unused, double *out_2220878862694778786);
|
||||
void car_h_24(double *state, double *unused, double *out_3813839643785118531);
|
||||
void car_H_24(double *state, double *unused, double *out_1337046736107544350);
|
||||
void car_h_30(double *state, double *unused, double *out_2120268555396644716);
|
||||
void car_H_30(double *state, double *unused, double *out_297454095812469841);
|
||||
void car_h_26(double *state, double *unused, double *out_2881404712264200929);
|
||||
void car_H_26(double *state, double *unused, double *out_5962382181568835010);
|
||||
void car_h_27(double *state, double *unused, double *out_901564640210476392);
|
||||
void car_H_27(double *state, double *unused, double *out_2521048166996413058);
|
||||
void car_h_29(double *state, double *unused, double *out_952524754320502979);
|
||||
void car_H_29(double *state, double *unused, double *out_807685440126862025);
|
||||
void car_h_28(double *state, double *unused, double *out_8550909813521810734);
|
||||
void car_H_28(double *state, double *unused, double *out_4274713576942668549);
|
||||
void car_h_31(double *state, double *unused, double *out_7961792103878870905);
|
||||
void car_H_31(double *state, double *unused, double *out_6588590283802186486);
|
||||
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_7389011504566069386);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6795243368226050386);
|
||||
void pose_H_mod_fun(double *state, double *out_6387810172757071512);
|
||||
void pose_f_fun(double *state, double dt, double *out_5190191951972352761);
|
||||
void pose_F_fun(double *state, double dt, double *out_3425534515038953406);
|
||||
void pose_h_4(double *state, double *unused, double *out_7576152197490450413);
|
||||
void pose_H_4(double *state, double *unused, double *out_3320737668869490966);
|
||||
void pose_h_10(double *state, double *unused, double *out_3130452913144701320);
|
||||
void pose_H_10(double *state, double *unused, double *out_2096220204218508864);
|
||||
void pose_h_13(double *state, double *unused, double *out_8767951916852656852);
|
||||
void pose_H_13(double *state, double *unused, double *out_108463843537158165);
|
||||
void pose_h_14(double *state, double *unused, double *out_7181242506613011838);
|
||||
void pose_H_14(double *state, double *unused, double *out_6403526101164863262);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7352766374165151156);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5943722919136625654);
|
||||
void pose_H_mod_fun(double *state, double *out_2863715751586478773);
|
||||
void pose_f_fun(double *state, double dt, double *out_4163803070138990822);
|
||||
void pose_F_fun(double *state, double dt, double *out_3325085581577154625);
|
||||
void pose_h_4(double *state, double *unused, double *out_1824245269356126422);
|
||||
void pose_H_4(double *state, double *unused, double *out_908091458257428799);
|
||||
void pose_h_10(double *state, double *unused, double *out_5992945801677381357);
|
||||
void pose_H_10(double *state, double *unused, double *out_1551783764236526040);
|
||||
void pose_h_13(double *state, double *unused, double *out_4650572533653388734);
|
||||
void pose_H_13(double *state, double *unused, double *out_1472693377939272903);
|
||||
void pose_h_14(double *state, double *unused, double *out_9091688560146400700);
|
||||
void pose_H_14(double *state, double *unused, double *out_2174696974037943497);
|
||||
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