mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-20 15:54:13 +08:00
build
This commit is contained in:
firestar5683
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-00895836-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-3f6ccd10-DEBUG";
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
DEV-00895836-DEBUG
|
||||
DEV-3f6ccd10-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_3464059133551141831) {
|
||||
out_3464059133551141831[0] = delta_x[0] + nom_x[0];
|
||||
out_3464059133551141831[1] = delta_x[1] + nom_x[1];
|
||||
out_3464059133551141831[2] = delta_x[2] + nom_x[2];
|
||||
out_3464059133551141831[3] = delta_x[3] + nom_x[3];
|
||||
out_3464059133551141831[4] = delta_x[4] + nom_x[4];
|
||||
out_3464059133551141831[5] = delta_x[5] + nom_x[5];
|
||||
out_3464059133551141831[6] = delta_x[6] + nom_x[6];
|
||||
out_3464059133551141831[7] = delta_x[7] + nom_x[7];
|
||||
out_3464059133551141831[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_9188106750313616310) {
|
||||
out_9188106750313616310[0] = delta_x[0] + nom_x[0];
|
||||
out_9188106750313616310[1] = delta_x[1] + nom_x[1];
|
||||
out_9188106750313616310[2] = delta_x[2] + nom_x[2];
|
||||
out_9188106750313616310[3] = delta_x[3] + nom_x[3];
|
||||
out_9188106750313616310[4] = delta_x[4] + nom_x[4];
|
||||
out_9188106750313616310[5] = delta_x[5] + nom_x[5];
|
||||
out_9188106750313616310[6] = delta_x[6] + nom_x[6];
|
||||
out_9188106750313616310[7] = delta_x[7] + nom_x[7];
|
||||
out_9188106750313616310[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163) {
|
||||
out_3057034877580327163[0] = -nom_x[0] + true_x[0];
|
||||
out_3057034877580327163[1] = -nom_x[1] + true_x[1];
|
||||
out_3057034877580327163[2] = -nom_x[2] + true_x[2];
|
||||
out_3057034877580327163[3] = -nom_x[3] + true_x[3];
|
||||
out_3057034877580327163[4] = -nom_x[4] + true_x[4];
|
||||
out_3057034877580327163[5] = -nom_x[5] + true_x[5];
|
||||
out_3057034877580327163[6] = -nom_x[6] + true_x[6];
|
||||
out_3057034877580327163[7] = -nom_x[7] + true_x[7];
|
||||
out_3057034877580327163[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_7483849663979101547) {
|
||||
out_7483849663979101547[0] = -nom_x[0] + true_x[0];
|
||||
out_7483849663979101547[1] = -nom_x[1] + true_x[1];
|
||||
out_7483849663979101547[2] = -nom_x[2] + true_x[2];
|
||||
out_7483849663979101547[3] = -nom_x[3] + true_x[3];
|
||||
out_7483849663979101547[4] = -nom_x[4] + true_x[4];
|
||||
out_7483849663979101547[5] = -nom_x[5] + true_x[5];
|
||||
out_7483849663979101547[6] = -nom_x[6] + true_x[6];
|
||||
out_7483849663979101547[7] = -nom_x[7] + true_x[7];
|
||||
out_7483849663979101547[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_1278642935192462594) {
|
||||
out_1278642935192462594[0] = 1.0;
|
||||
out_1278642935192462594[1] = 0.0;
|
||||
out_1278642935192462594[2] = 0.0;
|
||||
out_1278642935192462594[3] = 0.0;
|
||||
out_1278642935192462594[4] = 0.0;
|
||||
out_1278642935192462594[5] = 0.0;
|
||||
out_1278642935192462594[6] = 0.0;
|
||||
out_1278642935192462594[7] = 0.0;
|
||||
out_1278642935192462594[8] = 0.0;
|
||||
out_1278642935192462594[9] = 0.0;
|
||||
out_1278642935192462594[10] = 1.0;
|
||||
out_1278642935192462594[11] = 0.0;
|
||||
out_1278642935192462594[12] = 0.0;
|
||||
out_1278642935192462594[13] = 0.0;
|
||||
out_1278642935192462594[14] = 0.0;
|
||||
out_1278642935192462594[15] = 0.0;
|
||||
out_1278642935192462594[16] = 0.0;
|
||||
out_1278642935192462594[17] = 0.0;
|
||||
out_1278642935192462594[18] = 0.0;
|
||||
out_1278642935192462594[19] = 0.0;
|
||||
out_1278642935192462594[20] = 1.0;
|
||||
out_1278642935192462594[21] = 0.0;
|
||||
out_1278642935192462594[22] = 0.0;
|
||||
out_1278642935192462594[23] = 0.0;
|
||||
out_1278642935192462594[24] = 0.0;
|
||||
out_1278642935192462594[25] = 0.0;
|
||||
out_1278642935192462594[26] = 0.0;
|
||||
out_1278642935192462594[27] = 0.0;
|
||||
out_1278642935192462594[28] = 0.0;
|
||||
out_1278642935192462594[29] = 0.0;
|
||||
out_1278642935192462594[30] = 1.0;
|
||||
out_1278642935192462594[31] = 0.0;
|
||||
out_1278642935192462594[32] = 0.0;
|
||||
out_1278642935192462594[33] = 0.0;
|
||||
out_1278642935192462594[34] = 0.0;
|
||||
out_1278642935192462594[35] = 0.0;
|
||||
out_1278642935192462594[36] = 0.0;
|
||||
out_1278642935192462594[37] = 0.0;
|
||||
out_1278642935192462594[38] = 0.0;
|
||||
out_1278642935192462594[39] = 0.0;
|
||||
out_1278642935192462594[40] = 1.0;
|
||||
out_1278642935192462594[41] = 0.0;
|
||||
out_1278642935192462594[42] = 0.0;
|
||||
out_1278642935192462594[43] = 0.0;
|
||||
out_1278642935192462594[44] = 0.0;
|
||||
out_1278642935192462594[45] = 0.0;
|
||||
out_1278642935192462594[46] = 0.0;
|
||||
out_1278642935192462594[47] = 0.0;
|
||||
out_1278642935192462594[48] = 0.0;
|
||||
out_1278642935192462594[49] = 0.0;
|
||||
out_1278642935192462594[50] = 1.0;
|
||||
out_1278642935192462594[51] = 0.0;
|
||||
out_1278642935192462594[52] = 0.0;
|
||||
out_1278642935192462594[53] = 0.0;
|
||||
out_1278642935192462594[54] = 0.0;
|
||||
out_1278642935192462594[55] = 0.0;
|
||||
out_1278642935192462594[56] = 0.0;
|
||||
out_1278642935192462594[57] = 0.0;
|
||||
out_1278642935192462594[58] = 0.0;
|
||||
out_1278642935192462594[59] = 0.0;
|
||||
out_1278642935192462594[60] = 1.0;
|
||||
out_1278642935192462594[61] = 0.0;
|
||||
out_1278642935192462594[62] = 0.0;
|
||||
out_1278642935192462594[63] = 0.0;
|
||||
out_1278642935192462594[64] = 0.0;
|
||||
out_1278642935192462594[65] = 0.0;
|
||||
out_1278642935192462594[66] = 0.0;
|
||||
out_1278642935192462594[67] = 0.0;
|
||||
out_1278642935192462594[68] = 0.0;
|
||||
out_1278642935192462594[69] = 0.0;
|
||||
out_1278642935192462594[70] = 1.0;
|
||||
out_1278642935192462594[71] = 0.0;
|
||||
out_1278642935192462594[72] = 0.0;
|
||||
out_1278642935192462594[73] = 0.0;
|
||||
out_1278642935192462594[74] = 0.0;
|
||||
out_1278642935192462594[75] = 0.0;
|
||||
out_1278642935192462594[76] = 0.0;
|
||||
out_1278642935192462594[77] = 0.0;
|
||||
out_1278642935192462594[78] = 0.0;
|
||||
out_1278642935192462594[79] = 0.0;
|
||||
out_1278642935192462594[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8322118016658148449) {
|
||||
out_8322118016658148449[0] = 1.0;
|
||||
out_8322118016658148449[1] = 0.0;
|
||||
out_8322118016658148449[2] = 0.0;
|
||||
out_8322118016658148449[3] = 0.0;
|
||||
out_8322118016658148449[4] = 0.0;
|
||||
out_8322118016658148449[5] = 0.0;
|
||||
out_8322118016658148449[6] = 0.0;
|
||||
out_8322118016658148449[7] = 0.0;
|
||||
out_8322118016658148449[8] = 0.0;
|
||||
out_8322118016658148449[9] = 0.0;
|
||||
out_8322118016658148449[10] = 1.0;
|
||||
out_8322118016658148449[11] = 0.0;
|
||||
out_8322118016658148449[12] = 0.0;
|
||||
out_8322118016658148449[13] = 0.0;
|
||||
out_8322118016658148449[14] = 0.0;
|
||||
out_8322118016658148449[15] = 0.0;
|
||||
out_8322118016658148449[16] = 0.0;
|
||||
out_8322118016658148449[17] = 0.0;
|
||||
out_8322118016658148449[18] = 0.0;
|
||||
out_8322118016658148449[19] = 0.0;
|
||||
out_8322118016658148449[20] = 1.0;
|
||||
out_8322118016658148449[21] = 0.0;
|
||||
out_8322118016658148449[22] = 0.0;
|
||||
out_8322118016658148449[23] = 0.0;
|
||||
out_8322118016658148449[24] = 0.0;
|
||||
out_8322118016658148449[25] = 0.0;
|
||||
out_8322118016658148449[26] = 0.0;
|
||||
out_8322118016658148449[27] = 0.0;
|
||||
out_8322118016658148449[28] = 0.0;
|
||||
out_8322118016658148449[29] = 0.0;
|
||||
out_8322118016658148449[30] = 1.0;
|
||||
out_8322118016658148449[31] = 0.0;
|
||||
out_8322118016658148449[32] = 0.0;
|
||||
out_8322118016658148449[33] = 0.0;
|
||||
out_8322118016658148449[34] = 0.0;
|
||||
out_8322118016658148449[35] = 0.0;
|
||||
out_8322118016658148449[36] = 0.0;
|
||||
out_8322118016658148449[37] = 0.0;
|
||||
out_8322118016658148449[38] = 0.0;
|
||||
out_8322118016658148449[39] = 0.0;
|
||||
out_8322118016658148449[40] = 1.0;
|
||||
out_8322118016658148449[41] = 0.0;
|
||||
out_8322118016658148449[42] = 0.0;
|
||||
out_8322118016658148449[43] = 0.0;
|
||||
out_8322118016658148449[44] = 0.0;
|
||||
out_8322118016658148449[45] = 0.0;
|
||||
out_8322118016658148449[46] = 0.0;
|
||||
out_8322118016658148449[47] = 0.0;
|
||||
out_8322118016658148449[48] = 0.0;
|
||||
out_8322118016658148449[49] = 0.0;
|
||||
out_8322118016658148449[50] = 1.0;
|
||||
out_8322118016658148449[51] = 0.0;
|
||||
out_8322118016658148449[52] = 0.0;
|
||||
out_8322118016658148449[53] = 0.0;
|
||||
out_8322118016658148449[54] = 0.0;
|
||||
out_8322118016658148449[55] = 0.0;
|
||||
out_8322118016658148449[56] = 0.0;
|
||||
out_8322118016658148449[57] = 0.0;
|
||||
out_8322118016658148449[58] = 0.0;
|
||||
out_8322118016658148449[59] = 0.0;
|
||||
out_8322118016658148449[60] = 1.0;
|
||||
out_8322118016658148449[61] = 0.0;
|
||||
out_8322118016658148449[62] = 0.0;
|
||||
out_8322118016658148449[63] = 0.0;
|
||||
out_8322118016658148449[64] = 0.0;
|
||||
out_8322118016658148449[65] = 0.0;
|
||||
out_8322118016658148449[66] = 0.0;
|
||||
out_8322118016658148449[67] = 0.0;
|
||||
out_8322118016658148449[68] = 0.0;
|
||||
out_8322118016658148449[69] = 0.0;
|
||||
out_8322118016658148449[70] = 1.0;
|
||||
out_8322118016658148449[71] = 0.0;
|
||||
out_8322118016658148449[72] = 0.0;
|
||||
out_8322118016658148449[73] = 0.0;
|
||||
out_8322118016658148449[74] = 0.0;
|
||||
out_8322118016658148449[75] = 0.0;
|
||||
out_8322118016658148449[76] = 0.0;
|
||||
out_8322118016658148449[77] = 0.0;
|
||||
out_8322118016658148449[78] = 0.0;
|
||||
out_8322118016658148449[79] = 0.0;
|
||||
out_8322118016658148449[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_258465026591330744) {
|
||||
out_258465026591330744[0] = state[0];
|
||||
out_258465026591330744[1] = state[1];
|
||||
out_258465026591330744[2] = state[2];
|
||||
out_258465026591330744[3] = state[3];
|
||||
out_258465026591330744[4] = state[4];
|
||||
out_258465026591330744[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_258465026591330744[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_258465026591330744[7] = state[7];
|
||||
out_258465026591330744[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_764867040202035176) {
|
||||
out_764867040202035176[0] = state[0];
|
||||
out_764867040202035176[1] = state[1];
|
||||
out_764867040202035176[2] = state[2];
|
||||
out_764867040202035176[3] = state[3];
|
||||
out_764867040202035176[4] = state[4];
|
||||
out_764867040202035176[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_764867040202035176[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_764867040202035176[7] = state[7];
|
||||
out_764867040202035176[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_5399477112920697267) {
|
||||
out_5399477112920697267[0] = 1;
|
||||
out_5399477112920697267[1] = 0;
|
||||
out_5399477112920697267[2] = 0;
|
||||
out_5399477112920697267[3] = 0;
|
||||
out_5399477112920697267[4] = 0;
|
||||
out_5399477112920697267[5] = 0;
|
||||
out_5399477112920697267[6] = 0;
|
||||
out_5399477112920697267[7] = 0;
|
||||
out_5399477112920697267[8] = 0;
|
||||
out_5399477112920697267[9] = 0;
|
||||
out_5399477112920697267[10] = 1;
|
||||
out_5399477112920697267[11] = 0;
|
||||
out_5399477112920697267[12] = 0;
|
||||
out_5399477112920697267[13] = 0;
|
||||
out_5399477112920697267[14] = 0;
|
||||
out_5399477112920697267[15] = 0;
|
||||
out_5399477112920697267[16] = 0;
|
||||
out_5399477112920697267[17] = 0;
|
||||
out_5399477112920697267[18] = 0;
|
||||
out_5399477112920697267[19] = 0;
|
||||
out_5399477112920697267[20] = 1;
|
||||
out_5399477112920697267[21] = 0;
|
||||
out_5399477112920697267[22] = 0;
|
||||
out_5399477112920697267[23] = 0;
|
||||
out_5399477112920697267[24] = 0;
|
||||
out_5399477112920697267[25] = 0;
|
||||
out_5399477112920697267[26] = 0;
|
||||
out_5399477112920697267[27] = 0;
|
||||
out_5399477112920697267[28] = 0;
|
||||
out_5399477112920697267[29] = 0;
|
||||
out_5399477112920697267[30] = 1;
|
||||
out_5399477112920697267[31] = 0;
|
||||
out_5399477112920697267[32] = 0;
|
||||
out_5399477112920697267[33] = 0;
|
||||
out_5399477112920697267[34] = 0;
|
||||
out_5399477112920697267[35] = 0;
|
||||
out_5399477112920697267[36] = 0;
|
||||
out_5399477112920697267[37] = 0;
|
||||
out_5399477112920697267[38] = 0;
|
||||
out_5399477112920697267[39] = 0;
|
||||
out_5399477112920697267[40] = 1;
|
||||
out_5399477112920697267[41] = 0;
|
||||
out_5399477112920697267[42] = 0;
|
||||
out_5399477112920697267[43] = 0;
|
||||
out_5399477112920697267[44] = 0;
|
||||
out_5399477112920697267[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_5399477112920697267[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5399477112920697267[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5399477112920697267[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5399477112920697267[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_5399477112920697267[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5399477112920697267[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5399477112920697267[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5399477112920697267[53] = -9.8100000000000005*dt;
|
||||
out_5399477112920697267[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_5399477112920697267[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5399477112920697267[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5399477112920697267[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5399477112920697267[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_5399477112920697267[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5399477112920697267[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_5399477112920697267[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5399477112920697267[62] = 0;
|
||||
out_5399477112920697267[63] = 0;
|
||||
out_5399477112920697267[64] = 0;
|
||||
out_5399477112920697267[65] = 0;
|
||||
out_5399477112920697267[66] = 0;
|
||||
out_5399477112920697267[67] = 0;
|
||||
out_5399477112920697267[68] = 0;
|
||||
out_5399477112920697267[69] = 0;
|
||||
out_5399477112920697267[70] = 1;
|
||||
out_5399477112920697267[71] = 0;
|
||||
out_5399477112920697267[72] = 0;
|
||||
out_5399477112920697267[73] = 0;
|
||||
out_5399477112920697267[74] = 0;
|
||||
out_5399477112920697267[75] = 0;
|
||||
out_5399477112920697267[76] = 0;
|
||||
out_5399477112920697267[77] = 0;
|
||||
out_5399477112920697267[78] = 0;
|
||||
out_5399477112920697267[79] = 0;
|
||||
out_5399477112920697267[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_3503154027384229832) {
|
||||
out_3503154027384229832[0] = 1;
|
||||
out_3503154027384229832[1] = 0;
|
||||
out_3503154027384229832[2] = 0;
|
||||
out_3503154027384229832[3] = 0;
|
||||
out_3503154027384229832[4] = 0;
|
||||
out_3503154027384229832[5] = 0;
|
||||
out_3503154027384229832[6] = 0;
|
||||
out_3503154027384229832[7] = 0;
|
||||
out_3503154027384229832[8] = 0;
|
||||
out_3503154027384229832[9] = 0;
|
||||
out_3503154027384229832[10] = 1;
|
||||
out_3503154027384229832[11] = 0;
|
||||
out_3503154027384229832[12] = 0;
|
||||
out_3503154027384229832[13] = 0;
|
||||
out_3503154027384229832[14] = 0;
|
||||
out_3503154027384229832[15] = 0;
|
||||
out_3503154027384229832[16] = 0;
|
||||
out_3503154027384229832[17] = 0;
|
||||
out_3503154027384229832[18] = 0;
|
||||
out_3503154027384229832[19] = 0;
|
||||
out_3503154027384229832[20] = 1;
|
||||
out_3503154027384229832[21] = 0;
|
||||
out_3503154027384229832[22] = 0;
|
||||
out_3503154027384229832[23] = 0;
|
||||
out_3503154027384229832[24] = 0;
|
||||
out_3503154027384229832[25] = 0;
|
||||
out_3503154027384229832[26] = 0;
|
||||
out_3503154027384229832[27] = 0;
|
||||
out_3503154027384229832[28] = 0;
|
||||
out_3503154027384229832[29] = 0;
|
||||
out_3503154027384229832[30] = 1;
|
||||
out_3503154027384229832[31] = 0;
|
||||
out_3503154027384229832[32] = 0;
|
||||
out_3503154027384229832[33] = 0;
|
||||
out_3503154027384229832[34] = 0;
|
||||
out_3503154027384229832[35] = 0;
|
||||
out_3503154027384229832[36] = 0;
|
||||
out_3503154027384229832[37] = 0;
|
||||
out_3503154027384229832[38] = 0;
|
||||
out_3503154027384229832[39] = 0;
|
||||
out_3503154027384229832[40] = 1;
|
||||
out_3503154027384229832[41] = 0;
|
||||
out_3503154027384229832[42] = 0;
|
||||
out_3503154027384229832[43] = 0;
|
||||
out_3503154027384229832[44] = 0;
|
||||
out_3503154027384229832[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_3503154027384229832[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3503154027384229832[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3503154027384229832[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3503154027384229832[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_3503154027384229832[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3503154027384229832[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3503154027384229832[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3503154027384229832[53] = -9.8100000000000005*dt;
|
||||
out_3503154027384229832[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_3503154027384229832[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3503154027384229832[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3503154027384229832[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3503154027384229832[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_3503154027384229832[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3503154027384229832[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_3503154027384229832[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3503154027384229832[62] = 0;
|
||||
out_3503154027384229832[63] = 0;
|
||||
out_3503154027384229832[64] = 0;
|
||||
out_3503154027384229832[65] = 0;
|
||||
out_3503154027384229832[66] = 0;
|
||||
out_3503154027384229832[67] = 0;
|
||||
out_3503154027384229832[68] = 0;
|
||||
out_3503154027384229832[69] = 0;
|
||||
out_3503154027384229832[70] = 1;
|
||||
out_3503154027384229832[71] = 0;
|
||||
out_3503154027384229832[72] = 0;
|
||||
out_3503154027384229832[73] = 0;
|
||||
out_3503154027384229832[74] = 0;
|
||||
out_3503154027384229832[75] = 0;
|
||||
out_3503154027384229832[76] = 0;
|
||||
out_3503154027384229832[77] = 0;
|
||||
out_3503154027384229832[78] = 0;
|
||||
out_3503154027384229832[79] = 0;
|
||||
out_3503154027384229832[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_7067526126189904312) {
|
||||
out_7067526126189904312[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_8616684642006491626) {
|
||||
out_8616684642006491626[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_7914545290719774643) {
|
||||
out_7914545290719774643[0] = 0;
|
||||
out_7914545290719774643[1] = 0;
|
||||
out_7914545290719774643[2] = 0;
|
||||
out_7914545290719774643[3] = 0;
|
||||
out_7914545290719774643[4] = 0;
|
||||
out_7914545290719774643[5] = 0;
|
||||
out_7914545290719774643[6] = 1;
|
||||
out_7914545290719774643[7] = 0;
|
||||
out_7914545290719774643[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_8659603401543260529) {
|
||||
out_8659603401543260529[0] = 0;
|
||||
out_8659603401543260529[1] = 0;
|
||||
out_8659603401543260529[2] = 0;
|
||||
out_8659603401543260529[3] = 0;
|
||||
out_8659603401543260529[4] = 0;
|
||||
out_8659603401543260529[5] = 0;
|
||||
out_8659603401543260529[6] = 1;
|
||||
out_8659603401543260529[7] = 0;
|
||||
out_8659603401543260529[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_5828690765636070596) {
|
||||
out_5828690765636070596[0] = state[4];
|
||||
out_5828690765636070596[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_1016016545338744668) {
|
||||
out_1016016545338744668[0] = state[4];
|
||||
out_1016016545338744668[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_1260339832611588886) {
|
||||
out_1260339832611588886[0] = 0;
|
||||
out_1260339832611588886[1] = 0;
|
||||
out_1260339832611588886[2] = 0;
|
||||
out_1260339832611588886[3] = 0;
|
||||
out_1260339832611588886[4] = 1;
|
||||
out_1260339832611588886[5] = 0;
|
||||
out_1260339832611588886[6] = 0;
|
||||
out_1260339832611588886[7] = 0;
|
||||
out_1260339832611588886[8] = 0;
|
||||
out_1260339832611588886[9] = 0;
|
||||
out_1260339832611588886[10] = 0;
|
||||
out_1260339832611588886[11] = 0;
|
||||
out_1260339832611588886[12] = 0;
|
||||
out_1260339832611588886[13] = 0;
|
||||
out_1260339832611588886[14] = 1;
|
||||
out_1260339832611588886[15] = 0;
|
||||
out_1260339832611588886[16] = 0;
|
||||
out_1260339832611588886[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1012248264354120193) {
|
||||
out_1012248264354120193[0] = 0;
|
||||
out_1012248264354120193[1] = 0;
|
||||
out_1012248264354120193[2] = 0;
|
||||
out_1012248264354120193[3] = 0;
|
||||
out_1012248264354120193[4] = 1;
|
||||
out_1012248264354120193[5] = 0;
|
||||
out_1012248264354120193[6] = 0;
|
||||
out_1012248264354120193[7] = 0;
|
||||
out_1012248264354120193[8] = 0;
|
||||
out_1012248264354120193[9] = 0;
|
||||
out_1012248264354120193[10] = 0;
|
||||
out_1012248264354120193[11] = 0;
|
||||
out_1012248264354120193[12] = 0;
|
||||
out_1012248264354120193[13] = 0;
|
||||
out_1012248264354120193[14] = 1;
|
||||
out_1012248264354120193[15] = 0;
|
||||
out_1012248264354120193[16] = 0;
|
||||
out_1012248264354120193[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_2572974398256279399) {
|
||||
out_2572974398256279399[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_7791032536218648770) {
|
||||
out_7791032536218648770[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_6004502452862168775) {
|
||||
out_6004502452862168775[0] = 0;
|
||||
out_6004502452862168775[1] = 0;
|
||||
out_6004502452862168775[2] = 0;
|
||||
out_6004502452862168775[3] = 0;
|
||||
out_6004502452862168775[4] = 1;
|
||||
out_6004502452862168775[5] = 0;
|
||||
out_6004502452862168775[6] = 0;
|
||||
out_6004502452862168775[7] = 0;
|
||||
out_6004502452862168775[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_8788942348686500599) {
|
||||
out_8788942348686500599[0] = 0;
|
||||
out_8788942348686500599[1] = 0;
|
||||
out_8788942348686500599[2] = 0;
|
||||
out_8788942348686500599[3] = 0;
|
||||
out_8788942348686500599[4] = 1;
|
||||
out_8788942348686500599[5] = 0;
|
||||
out_8788942348686500599[6] = 0;
|
||||
out_8788942348686500599[7] = 0;
|
||||
out_8788942348686500599[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_3176290282932756916) {
|
||||
out_3176290282932756916[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_2789359268557803125) {
|
||||
out_2789359268557803125[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6790695464115720749) {
|
||||
out_6790695464115720749[0] = 0;
|
||||
out_6790695464115720749[1] = 0;
|
||||
out_6790695464115720749[2] = 0;
|
||||
out_6790695464115720749[3] = 0;
|
||||
out_6790695464115720749[4] = 0;
|
||||
out_6790695464115720749[5] = 0;
|
||||
out_6790695464115720749[6] = 0;
|
||||
out_6790695464115720749[7] = 1;
|
||||
out_6790695464115720749[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_8002749337432948625) {
|
||||
out_8002749337432948625[0] = 0;
|
||||
out_8002749337432948625[1] = 0;
|
||||
out_8002749337432948625[2] = 0;
|
||||
out_8002749337432948625[3] = 0;
|
||||
out_8002749337432948625[4] = 0;
|
||||
out_8002749337432948625[5] = 0;
|
||||
out_8002749337432948625[6] = 0;
|
||||
out_8002749337432948625[7] = 1;
|
||||
out_8002749337432948625[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_7048987171797560597) {
|
||||
out_7048987171797560597[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_9220000526682969143) {
|
||||
out_9220000526682969143[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_3829739141061743864) {
|
||||
out_3829739141061743864[0] = 0;
|
||||
out_3829739141061743864[1] = 0;
|
||||
out_3829739141061743864[2] = 0;
|
||||
out_3829739141061743864[3] = 1;
|
||||
out_3829739141061743864[4] = 0;
|
||||
out_3829739141061743864[5] = 0;
|
||||
out_3829739141061743864[6] = 0;
|
||||
out_3829739141061743864[7] = 0;
|
||||
out_3829739141061743864[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_7483038413222626106) {
|
||||
out_7483038413222626106[0] = 0;
|
||||
out_7483038413222626106[1] = 0;
|
||||
out_7483038413222626106[2] = 0;
|
||||
out_7483038413222626106[3] = 1;
|
||||
out_7483038413222626106[4] = 0;
|
||||
out_7483038413222626106[5] = 0;
|
||||
out_7483038413222626106[6] = 0;
|
||||
out_7483038413222626106[7] = 0;
|
||||
out_7483038413222626106[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_3516484251157941834) {
|
||||
out_3516484251157941834[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_2449165300332618207) {
|
||||
out_2449165300332618207[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_6514733797176560959) {
|
||||
out_6514733797176560959[0] = 0;
|
||||
out_6514733797176560959[1] = 1;
|
||||
out_6514733797176560959[2] = 0;
|
||||
out_6514733797176560959[3] = 0;
|
||||
out_6514733797176560959[4] = 0;
|
||||
out_6514733797176560959[5] = 0;
|
||||
out_6514733797176560959[6] = 0;
|
||||
out_6514733797176560959[7] = 0;
|
||||
out_6514733797176560959[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_8278711004372108415) {
|
||||
out_8278711004372108415[0] = 0;
|
||||
out_8278711004372108415[1] = 1;
|
||||
out_8278711004372108415[2] = 0;
|
||||
out_8278711004372108415[3] = 0;
|
||||
out_8278711004372108415[4] = 0;
|
||||
out_8278711004372108415[5] = 0;
|
||||
out_8278711004372108415[6] = 0;
|
||||
out_8278711004372108415[7] = 0;
|
||||
out_8278711004372108415[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_6396083634251145374) {
|
||||
out_6396083634251145374[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_4225070279365736828) {
|
||||
out_4225070279365736828[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_1432334780107030385) {
|
||||
out_1432334780107030385[0] = 1;
|
||||
out_1432334780107030385[1] = 0;
|
||||
out_1432334780107030385[2] = 0;
|
||||
out_1432334780107030385[3] = 0;
|
||||
out_1432334780107030385[4] = 0;
|
||||
out_1432334780107030385[5] = 0;
|
||||
out_1432334780107030385[6] = 0;
|
||||
out_1432334780107030385[7] = 0;
|
||||
out_1432334780107030385[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_5085634052267912627) {
|
||||
out_5085634052267912627[0] = 1;
|
||||
out_5085634052267912627[1] = 0;
|
||||
out_5085634052267912627[2] = 0;
|
||||
out_5085634052267912627[3] = 0;
|
||||
out_5085634052267912627[4] = 0;
|
||||
out_5085634052267912627[5] = 0;
|
||||
out_5085634052267912627[6] = 0;
|
||||
out_5085634052267912627[7] = 0;
|
||||
out_5085634052267912627[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_3497945296765598119) {
|
||||
out_3497945296765598119[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_5668958651651006665) {
|
||||
out_5668958651651006665[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_6164487361882369273) {
|
||||
out_6164487361882369273[0] = 0;
|
||||
out_6164487361882369273[1] = 0;
|
||||
out_6164487361882369273[2] = 0;
|
||||
out_6164487361882369273[3] = 0;
|
||||
out_6164487361882369273[4] = 0;
|
||||
out_6164487361882369273[5] = 0;
|
||||
out_6164487361882369273[6] = 0;
|
||||
out_6164487361882369273[7] = 0;
|
||||
out_6164487361882369273[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_8628957439666300101) {
|
||||
out_8628957439666300101[0] = 0;
|
||||
out_8628957439666300101[1] = 0;
|
||||
out_8628957439666300101[2] = 0;
|
||||
out_8628957439666300101[3] = 0;
|
||||
out_8628957439666300101[4] = 0;
|
||||
out_8628957439666300101[5] = 0;
|
||||
out_8628957439666300101[6] = 0;
|
||||
out_8628957439666300101[7] = 0;
|
||||
out_8628957439666300101[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_3464059133551141831) {
|
||||
err_fun(nom_x, delta_x, out_3464059133551141831);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_9188106750313616310) {
|
||||
err_fun(nom_x, delta_x, out_9188106750313616310);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163) {
|
||||
inv_err_fun(nom_x, true_x, out_3057034877580327163);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7483849663979101547) {
|
||||
inv_err_fun(nom_x, true_x, out_7483849663979101547);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_1278642935192462594) {
|
||||
H_mod_fun(state, out_1278642935192462594);
|
||||
void car_H_mod_fun(double *state, double *out_8322118016658148449) {
|
||||
H_mod_fun(state, out_8322118016658148449);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_258465026591330744) {
|
||||
f_fun(state, dt, out_258465026591330744);
|
||||
void car_f_fun(double *state, double dt, double *out_764867040202035176) {
|
||||
f_fun(state, dt, out_764867040202035176);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_5399477112920697267) {
|
||||
F_fun(state, dt, out_5399477112920697267);
|
||||
void car_F_fun(double *state, double dt, double *out_3503154027384229832) {
|
||||
F_fun(state, dt, out_3503154027384229832);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_7067526126189904312) {
|
||||
h_25(state, unused, out_7067526126189904312);
|
||||
void car_h_25(double *state, double *unused, double *out_8616684642006491626) {
|
||||
h_25(state, unused, out_8616684642006491626);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_7914545290719774643) {
|
||||
H_25(state, unused, out_7914545290719774643);
|
||||
void car_H_25(double *state, double *unused, double *out_8659603401543260529) {
|
||||
H_25(state, unused, out_8659603401543260529);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_5828690765636070596) {
|
||||
h_24(state, unused, out_5828690765636070596);
|
||||
void car_h_24(double *state, double *unused, double *out_1016016545338744668) {
|
||||
h_24(state, unused, out_1016016545338744668);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_1260339832611588886) {
|
||||
H_24(state, unused, out_1260339832611588886);
|
||||
void car_H_24(double *state, double *unused, double *out_1012248264354120193) {
|
||||
H_24(state, unused, out_1012248264354120193);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_2572974398256279399) {
|
||||
h_30(state, unused, out_2572974398256279399);
|
||||
void car_h_30(double *state, double *unused, double *out_7791032536218648770) {
|
||||
h_30(state, unused, out_7791032536218648770);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_6004502452862168775) {
|
||||
H_30(state, unused, out_6004502452862168775);
|
||||
void car_H_30(double *state, double *unused, double *out_8788942348686500599) {
|
||||
H_30(state, unused, out_8788942348686500599);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_3176290282932756916) {
|
||||
h_26(state, unused, out_3176290282932756916);
|
||||
void car_h_26(double *state, double *unused, double *out_2789359268557803125) {
|
||||
h_26(state, unused, out_2789359268557803125);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6790695464115720749) {
|
||||
H_26(state, unused, out_6790695464115720749);
|
||||
void car_H_26(double *state, double *unused, double *out_8002749337432948625) {
|
||||
H_26(state, unused, out_8002749337432948625);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_7048987171797560597) {
|
||||
h_27(state, unused, out_7048987171797560597);
|
||||
void car_h_27(double *state, double *unused, double *out_9220000526682969143) {
|
||||
h_27(state, unused, out_9220000526682969143);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_3829739141061743864) {
|
||||
H_27(state, unused, out_3829739141061743864);
|
||||
void car_H_27(double *state, double *unused, double *out_7483038413222626106) {
|
||||
H_27(state, unused, out_7483038413222626106);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_3516484251157941834) {
|
||||
h_29(state, unused, out_3516484251157941834);
|
||||
void car_h_29(double *state, double *unused, double *out_2449165300332618207) {
|
||||
h_29(state, unused, out_2449165300332618207);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_6514733797176560959) {
|
||||
H_29(state, unused, out_6514733797176560959);
|
||||
void car_H_29(double *state, double *unused, double *out_8278711004372108415) {
|
||||
H_29(state, unused, out_8278711004372108415);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_6396083634251145374) {
|
||||
h_28(state, unused, out_6396083634251145374);
|
||||
void car_h_28(double *state, double *unused, double *out_4225070279365736828) {
|
||||
h_28(state, unused, out_4225070279365736828);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_1432334780107030385) {
|
||||
H_28(state, unused, out_1432334780107030385);
|
||||
void car_H_28(double *state, double *unused, double *out_5085634052267912627) {
|
||||
H_28(state, unused, out_5085634052267912627);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_3497945296765598119) {
|
||||
h_31(state, unused, out_3497945296765598119);
|
||||
void car_h_31(double *state, double *unused, double *out_5668958651651006665) {
|
||||
h_31(state, unused, out_5668958651651006665);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_6164487361882369273) {
|
||||
H_31(state, unused, out_6164487361882369273);
|
||||
void car_H_31(double *state, double *unused, double *out_8628957439666300101) {
|
||||
H_31(state, unused, out_8628957439666300101);
|
||||
}
|
||||
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_3464059133551141831);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163);
|
||||
void car_H_mod_fun(double *state, double *out_1278642935192462594);
|
||||
void car_f_fun(double *state, double dt, double *out_258465026591330744);
|
||||
void car_F_fun(double *state, double dt, double *out_5399477112920697267);
|
||||
void car_h_25(double *state, double *unused, double *out_7067526126189904312);
|
||||
void car_H_25(double *state, double *unused, double *out_7914545290719774643);
|
||||
void car_h_24(double *state, double *unused, double *out_5828690765636070596);
|
||||
void car_H_24(double *state, double *unused, double *out_1260339832611588886);
|
||||
void car_h_30(double *state, double *unused, double *out_2572974398256279399);
|
||||
void car_H_30(double *state, double *unused, double *out_6004502452862168775);
|
||||
void car_h_26(double *state, double *unused, double *out_3176290282932756916);
|
||||
void car_H_26(double *state, double *unused, double *out_6790695464115720749);
|
||||
void car_h_27(double *state, double *unused, double *out_7048987171797560597);
|
||||
void car_H_27(double *state, double *unused, double *out_3829739141061743864);
|
||||
void car_h_29(double *state, double *unused, double *out_3516484251157941834);
|
||||
void car_H_29(double *state, double *unused, double *out_6514733797176560959);
|
||||
void car_h_28(double *state, double *unused, double *out_6396083634251145374);
|
||||
void car_H_28(double *state, double *unused, double *out_1432334780107030385);
|
||||
void car_h_31(double *state, double *unused, double *out_3497945296765598119);
|
||||
void car_H_31(double *state, double *unused, double *out_6164487361882369273);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_9188106750313616310);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7483849663979101547);
|
||||
void car_H_mod_fun(double *state, double *out_8322118016658148449);
|
||||
void car_f_fun(double *state, double dt, double *out_764867040202035176);
|
||||
void car_F_fun(double *state, double dt, double *out_3503154027384229832);
|
||||
void car_h_25(double *state, double *unused, double *out_8616684642006491626);
|
||||
void car_H_25(double *state, double *unused, double *out_8659603401543260529);
|
||||
void car_h_24(double *state, double *unused, double *out_1016016545338744668);
|
||||
void car_H_24(double *state, double *unused, double *out_1012248264354120193);
|
||||
void car_h_30(double *state, double *unused, double *out_7791032536218648770);
|
||||
void car_H_30(double *state, double *unused, double *out_8788942348686500599);
|
||||
void car_h_26(double *state, double *unused, double *out_2789359268557803125);
|
||||
void car_H_26(double *state, double *unused, double *out_8002749337432948625);
|
||||
void car_h_27(double *state, double *unused, double *out_9220000526682969143);
|
||||
void car_H_27(double *state, double *unused, double *out_7483038413222626106);
|
||||
void car_h_29(double *state, double *unused, double *out_2449165300332618207);
|
||||
void car_H_29(double *state, double *unused, double *out_8278711004372108415);
|
||||
void car_h_28(double *state, double *unused, double *out_4225070279365736828);
|
||||
void car_H_28(double *state, double *unused, double *out_5085634052267912627);
|
||||
void car_h_31(double *state, double *unused, double *out_5668958651651006665);
|
||||
void car_H_31(double *state, double *unused, double *out_8628957439666300101);
|
||||
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_7431505958311813382);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8551627000098797431);
|
||||
void pose_H_mod_fun(double *state, double *out_4284093078770863471);
|
||||
void pose_f_fun(double *state, double dt, double *out_6442140298881834415);
|
||||
void pose_F_fun(double *state, double dt, double *out_3934539972733810872);
|
||||
void pose_h_4(double *state, double *unused, double *out_9108176221739377223);
|
||||
void pose_H_4(double *state, double *unused, double *out_3529932076716150864);
|
||||
void pose_h_10(double *state, double *unused, double *out_7468804800035159097);
|
||||
void pose_H_10(double *state, double *unused, double *out_3178743347505224989);
|
||||
void pose_h_13(double *state, double *unused, double *out_2582510020496882256);
|
||||
void pose_H_13(double *state, double *unused, double *out_317658251383818063);
|
||||
void pose_h_14(double *state, double *unused, double *out_7414566035535505034);
|
||||
void pose_H_14(double *state, double *unused, double *out_6612720509011523160);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_776419627085520882);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3246049781621128423);
|
||||
void pose_H_mod_fun(double *state, double *out_5710430290201935803);
|
||||
void pose_f_fun(double *state, double dt, double *out_5795859550853760244);
|
||||
void pose_F_fun(double *state, double dt, double *out_391118642873528758);
|
||||
void pose_h_4(double *state, double *unused, double *out_3587574498855600647);
|
||||
void pose_H_4(double *state, double *unused, double *out_1095803253272619439);
|
||||
void pose_h_10(double *state, double *unused, double *out_5054997698151726674);
|
||||
void pose_H_10(double *state, double *unused, double *out_4117080739741493196);
|
||||
void pose_h_13(double *state, double *unused, double *out_3693365734857647821);
|
||||
void pose_H_13(double *state, double *unused, double *out_6514827955044081490);
|
||||
void pose_h_14(double *state, double *unused, double *out_1461011669399451348);
|
||||
void pose_H_14(double *state, double *unused, double *out_2867437603066865090);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Reference in New Issue
Block a user