mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-27 17:42:04 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
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extern const uint8_t gitversion[19];
|
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const uint8_t gitversion[19] = "DEV-bb4f3b74-DEBUG";
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const uint8_t gitversion[19] = "DEV-f1a256da-DEBUG";
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@@ -1 +1 @@
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DEV-bb4f3b74-DEBUG
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DEV-f1a256da-DEBUG
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
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* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_7839106046248465839) {
|
||||
out_7839106046248465839[0] = delta_x[0] + nom_x[0];
|
||||
out_7839106046248465839[1] = delta_x[1] + nom_x[1];
|
||||
out_7839106046248465839[2] = delta_x[2] + nom_x[2];
|
||||
out_7839106046248465839[3] = delta_x[3] + nom_x[3];
|
||||
out_7839106046248465839[4] = delta_x[4] + nom_x[4];
|
||||
out_7839106046248465839[5] = delta_x[5] + nom_x[5];
|
||||
out_7839106046248465839[6] = delta_x[6] + nom_x[6];
|
||||
out_7839106046248465839[7] = delta_x[7] + nom_x[7];
|
||||
out_7839106046248465839[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_822107927183758870) {
|
||||
out_822107927183758870[0] = delta_x[0] + nom_x[0];
|
||||
out_822107927183758870[1] = delta_x[1] + nom_x[1];
|
||||
out_822107927183758870[2] = delta_x[2] + nom_x[2];
|
||||
out_822107927183758870[3] = delta_x[3] + nom_x[3];
|
||||
out_822107927183758870[4] = delta_x[4] + nom_x[4];
|
||||
out_822107927183758870[5] = delta_x[5] + nom_x[5];
|
||||
out_822107927183758870[6] = delta_x[6] + nom_x[6];
|
||||
out_822107927183758870[7] = delta_x[7] + nom_x[7];
|
||||
out_822107927183758870[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_31659364612209693) {
|
||||
out_31659364612209693[0] = -nom_x[0] + true_x[0];
|
||||
out_31659364612209693[1] = -nom_x[1] + true_x[1];
|
||||
out_31659364612209693[2] = -nom_x[2] + true_x[2];
|
||||
out_31659364612209693[3] = -nom_x[3] + true_x[3];
|
||||
out_31659364612209693[4] = -nom_x[4] + true_x[4];
|
||||
out_31659364612209693[5] = -nom_x[5] + true_x[5];
|
||||
out_31659364612209693[6] = -nom_x[6] + true_x[6];
|
||||
out_31659364612209693[7] = -nom_x[7] + true_x[7];
|
||||
out_31659364612209693[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_4567978126636007906) {
|
||||
out_4567978126636007906[0] = -nom_x[0] + true_x[0];
|
||||
out_4567978126636007906[1] = -nom_x[1] + true_x[1];
|
||||
out_4567978126636007906[2] = -nom_x[2] + true_x[2];
|
||||
out_4567978126636007906[3] = -nom_x[3] + true_x[3];
|
||||
out_4567978126636007906[4] = -nom_x[4] + true_x[4];
|
||||
out_4567978126636007906[5] = -nom_x[5] + true_x[5];
|
||||
out_4567978126636007906[6] = -nom_x[6] + true_x[6];
|
||||
out_4567978126636007906[7] = -nom_x[7] + true_x[7];
|
||||
out_4567978126636007906[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_6082546015176302038) {
|
||||
out_6082546015176302038[0] = 1.0;
|
||||
out_6082546015176302038[1] = 0.0;
|
||||
out_6082546015176302038[2] = 0.0;
|
||||
out_6082546015176302038[3] = 0.0;
|
||||
out_6082546015176302038[4] = 0.0;
|
||||
out_6082546015176302038[5] = 0.0;
|
||||
out_6082546015176302038[6] = 0.0;
|
||||
out_6082546015176302038[7] = 0.0;
|
||||
out_6082546015176302038[8] = 0.0;
|
||||
out_6082546015176302038[9] = 0.0;
|
||||
out_6082546015176302038[10] = 1.0;
|
||||
out_6082546015176302038[11] = 0.0;
|
||||
out_6082546015176302038[12] = 0.0;
|
||||
out_6082546015176302038[13] = 0.0;
|
||||
out_6082546015176302038[14] = 0.0;
|
||||
out_6082546015176302038[15] = 0.0;
|
||||
out_6082546015176302038[16] = 0.0;
|
||||
out_6082546015176302038[17] = 0.0;
|
||||
out_6082546015176302038[18] = 0.0;
|
||||
out_6082546015176302038[19] = 0.0;
|
||||
out_6082546015176302038[20] = 1.0;
|
||||
out_6082546015176302038[21] = 0.0;
|
||||
out_6082546015176302038[22] = 0.0;
|
||||
out_6082546015176302038[23] = 0.0;
|
||||
out_6082546015176302038[24] = 0.0;
|
||||
out_6082546015176302038[25] = 0.0;
|
||||
out_6082546015176302038[26] = 0.0;
|
||||
out_6082546015176302038[27] = 0.0;
|
||||
out_6082546015176302038[28] = 0.0;
|
||||
out_6082546015176302038[29] = 0.0;
|
||||
out_6082546015176302038[30] = 1.0;
|
||||
out_6082546015176302038[31] = 0.0;
|
||||
out_6082546015176302038[32] = 0.0;
|
||||
out_6082546015176302038[33] = 0.0;
|
||||
out_6082546015176302038[34] = 0.0;
|
||||
out_6082546015176302038[35] = 0.0;
|
||||
out_6082546015176302038[36] = 0.0;
|
||||
out_6082546015176302038[37] = 0.0;
|
||||
out_6082546015176302038[38] = 0.0;
|
||||
out_6082546015176302038[39] = 0.0;
|
||||
out_6082546015176302038[40] = 1.0;
|
||||
out_6082546015176302038[41] = 0.0;
|
||||
out_6082546015176302038[42] = 0.0;
|
||||
out_6082546015176302038[43] = 0.0;
|
||||
out_6082546015176302038[44] = 0.0;
|
||||
out_6082546015176302038[45] = 0.0;
|
||||
out_6082546015176302038[46] = 0.0;
|
||||
out_6082546015176302038[47] = 0.0;
|
||||
out_6082546015176302038[48] = 0.0;
|
||||
out_6082546015176302038[49] = 0.0;
|
||||
out_6082546015176302038[50] = 1.0;
|
||||
out_6082546015176302038[51] = 0.0;
|
||||
out_6082546015176302038[52] = 0.0;
|
||||
out_6082546015176302038[53] = 0.0;
|
||||
out_6082546015176302038[54] = 0.0;
|
||||
out_6082546015176302038[55] = 0.0;
|
||||
out_6082546015176302038[56] = 0.0;
|
||||
out_6082546015176302038[57] = 0.0;
|
||||
out_6082546015176302038[58] = 0.0;
|
||||
out_6082546015176302038[59] = 0.0;
|
||||
out_6082546015176302038[60] = 1.0;
|
||||
out_6082546015176302038[61] = 0.0;
|
||||
out_6082546015176302038[62] = 0.0;
|
||||
out_6082546015176302038[63] = 0.0;
|
||||
out_6082546015176302038[64] = 0.0;
|
||||
out_6082546015176302038[65] = 0.0;
|
||||
out_6082546015176302038[66] = 0.0;
|
||||
out_6082546015176302038[67] = 0.0;
|
||||
out_6082546015176302038[68] = 0.0;
|
||||
out_6082546015176302038[69] = 0.0;
|
||||
out_6082546015176302038[70] = 1.0;
|
||||
out_6082546015176302038[71] = 0.0;
|
||||
out_6082546015176302038[72] = 0.0;
|
||||
out_6082546015176302038[73] = 0.0;
|
||||
out_6082546015176302038[74] = 0.0;
|
||||
out_6082546015176302038[75] = 0.0;
|
||||
out_6082546015176302038[76] = 0.0;
|
||||
out_6082546015176302038[77] = 0.0;
|
||||
out_6082546015176302038[78] = 0.0;
|
||||
out_6082546015176302038[79] = 0.0;
|
||||
out_6082546015176302038[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_4866635074780860371) {
|
||||
out_4866635074780860371[0] = 1.0;
|
||||
out_4866635074780860371[1] = 0.0;
|
||||
out_4866635074780860371[2] = 0.0;
|
||||
out_4866635074780860371[3] = 0.0;
|
||||
out_4866635074780860371[4] = 0.0;
|
||||
out_4866635074780860371[5] = 0.0;
|
||||
out_4866635074780860371[6] = 0.0;
|
||||
out_4866635074780860371[7] = 0.0;
|
||||
out_4866635074780860371[8] = 0.0;
|
||||
out_4866635074780860371[9] = 0.0;
|
||||
out_4866635074780860371[10] = 1.0;
|
||||
out_4866635074780860371[11] = 0.0;
|
||||
out_4866635074780860371[12] = 0.0;
|
||||
out_4866635074780860371[13] = 0.0;
|
||||
out_4866635074780860371[14] = 0.0;
|
||||
out_4866635074780860371[15] = 0.0;
|
||||
out_4866635074780860371[16] = 0.0;
|
||||
out_4866635074780860371[17] = 0.0;
|
||||
out_4866635074780860371[18] = 0.0;
|
||||
out_4866635074780860371[19] = 0.0;
|
||||
out_4866635074780860371[20] = 1.0;
|
||||
out_4866635074780860371[21] = 0.0;
|
||||
out_4866635074780860371[22] = 0.0;
|
||||
out_4866635074780860371[23] = 0.0;
|
||||
out_4866635074780860371[24] = 0.0;
|
||||
out_4866635074780860371[25] = 0.0;
|
||||
out_4866635074780860371[26] = 0.0;
|
||||
out_4866635074780860371[27] = 0.0;
|
||||
out_4866635074780860371[28] = 0.0;
|
||||
out_4866635074780860371[29] = 0.0;
|
||||
out_4866635074780860371[30] = 1.0;
|
||||
out_4866635074780860371[31] = 0.0;
|
||||
out_4866635074780860371[32] = 0.0;
|
||||
out_4866635074780860371[33] = 0.0;
|
||||
out_4866635074780860371[34] = 0.0;
|
||||
out_4866635074780860371[35] = 0.0;
|
||||
out_4866635074780860371[36] = 0.0;
|
||||
out_4866635074780860371[37] = 0.0;
|
||||
out_4866635074780860371[38] = 0.0;
|
||||
out_4866635074780860371[39] = 0.0;
|
||||
out_4866635074780860371[40] = 1.0;
|
||||
out_4866635074780860371[41] = 0.0;
|
||||
out_4866635074780860371[42] = 0.0;
|
||||
out_4866635074780860371[43] = 0.0;
|
||||
out_4866635074780860371[44] = 0.0;
|
||||
out_4866635074780860371[45] = 0.0;
|
||||
out_4866635074780860371[46] = 0.0;
|
||||
out_4866635074780860371[47] = 0.0;
|
||||
out_4866635074780860371[48] = 0.0;
|
||||
out_4866635074780860371[49] = 0.0;
|
||||
out_4866635074780860371[50] = 1.0;
|
||||
out_4866635074780860371[51] = 0.0;
|
||||
out_4866635074780860371[52] = 0.0;
|
||||
out_4866635074780860371[53] = 0.0;
|
||||
out_4866635074780860371[54] = 0.0;
|
||||
out_4866635074780860371[55] = 0.0;
|
||||
out_4866635074780860371[56] = 0.0;
|
||||
out_4866635074780860371[57] = 0.0;
|
||||
out_4866635074780860371[58] = 0.0;
|
||||
out_4866635074780860371[59] = 0.0;
|
||||
out_4866635074780860371[60] = 1.0;
|
||||
out_4866635074780860371[61] = 0.0;
|
||||
out_4866635074780860371[62] = 0.0;
|
||||
out_4866635074780860371[63] = 0.0;
|
||||
out_4866635074780860371[64] = 0.0;
|
||||
out_4866635074780860371[65] = 0.0;
|
||||
out_4866635074780860371[66] = 0.0;
|
||||
out_4866635074780860371[67] = 0.0;
|
||||
out_4866635074780860371[68] = 0.0;
|
||||
out_4866635074780860371[69] = 0.0;
|
||||
out_4866635074780860371[70] = 1.0;
|
||||
out_4866635074780860371[71] = 0.0;
|
||||
out_4866635074780860371[72] = 0.0;
|
||||
out_4866635074780860371[73] = 0.0;
|
||||
out_4866635074780860371[74] = 0.0;
|
||||
out_4866635074780860371[75] = 0.0;
|
||||
out_4866635074780860371[76] = 0.0;
|
||||
out_4866635074780860371[77] = 0.0;
|
||||
out_4866635074780860371[78] = 0.0;
|
||||
out_4866635074780860371[79] = 0.0;
|
||||
out_4866635074780860371[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_6850955649577617071) {
|
||||
out_6850955649577617071[0] = state[0];
|
||||
out_6850955649577617071[1] = state[1];
|
||||
out_6850955649577617071[2] = state[2];
|
||||
out_6850955649577617071[3] = state[3];
|
||||
out_6850955649577617071[4] = state[4];
|
||||
out_6850955649577617071[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_6850955649577617071[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_6850955649577617071[7] = state[7];
|
||||
out_6850955649577617071[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_982026265070027710) {
|
||||
out_982026265070027710[0] = state[0];
|
||||
out_982026265070027710[1] = state[1];
|
||||
out_982026265070027710[2] = state[2];
|
||||
out_982026265070027710[3] = state[3];
|
||||
out_982026265070027710[4] = state[4];
|
||||
out_982026265070027710[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_982026265070027710[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_982026265070027710[7] = state[7];
|
||||
out_982026265070027710[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_6972181184240044918) {
|
||||
out_6972181184240044918[0] = 1;
|
||||
out_6972181184240044918[1] = 0;
|
||||
out_6972181184240044918[2] = 0;
|
||||
out_6972181184240044918[3] = 0;
|
||||
out_6972181184240044918[4] = 0;
|
||||
out_6972181184240044918[5] = 0;
|
||||
out_6972181184240044918[6] = 0;
|
||||
out_6972181184240044918[7] = 0;
|
||||
out_6972181184240044918[8] = 0;
|
||||
out_6972181184240044918[9] = 0;
|
||||
out_6972181184240044918[10] = 1;
|
||||
out_6972181184240044918[11] = 0;
|
||||
out_6972181184240044918[12] = 0;
|
||||
out_6972181184240044918[13] = 0;
|
||||
out_6972181184240044918[14] = 0;
|
||||
out_6972181184240044918[15] = 0;
|
||||
out_6972181184240044918[16] = 0;
|
||||
out_6972181184240044918[17] = 0;
|
||||
out_6972181184240044918[18] = 0;
|
||||
out_6972181184240044918[19] = 0;
|
||||
out_6972181184240044918[20] = 1;
|
||||
out_6972181184240044918[21] = 0;
|
||||
out_6972181184240044918[22] = 0;
|
||||
out_6972181184240044918[23] = 0;
|
||||
out_6972181184240044918[24] = 0;
|
||||
out_6972181184240044918[25] = 0;
|
||||
out_6972181184240044918[26] = 0;
|
||||
out_6972181184240044918[27] = 0;
|
||||
out_6972181184240044918[28] = 0;
|
||||
out_6972181184240044918[29] = 0;
|
||||
out_6972181184240044918[30] = 1;
|
||||
out_6972181184240044918[31] = 0;
|
||||
out_6972181184240044918[32] = 0;
|
||||
out_6972181184240044918[33] = 0;
|
||||
out_6972181184240044918[34] = 0;
|
||||
out_6972181184240044918[35] = 0;
|
||||
out_6972181184240044918[36] = 0;
|
||||
out_6972181184240044918[37] = 0;
|
||||
out_6972181184240044918[38] = 0;
|
||||
out_6972181184240044918[39] = 0;
|
||||
out_6972181184240044918[40] = 1;
|
||||
out_6972181184240044918[41] = 0;
|
||||
out_6972181184240044918[42] = 0;
|
||||
out_6972181184240044918[43] = 0;
|
||||
out_6972181184240044918[44] = 0;
|
||||
out_6972181184240044918[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_6972181184240044918[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6972181184240044918[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6972181184240044918[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6972181184240044918[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_6972181184240044918[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6972181184240044918[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6972181184240044918[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6972181184240044918[53] = -9.8100000000000005*dt;
|
||||
out_6972181184240044918[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_6972181184240044918[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6972181184240044918[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6972181184240044918[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6972181184240044918[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_6972181184240044918[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6972181184240044918[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_6972181184240044918[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6972181184240044918[62] = 0;
|
||||
out_6972181184240044918[63] = 0;
|
||||
out_6972181184240044918[64] = 0;
|
||||
out_6972181184240044918[65] = 0;
|
||||
out_6972181184240044918[66] = 0;
|
||||
out_6972181184240044918[67] = 0;
|
||||
out_6972181184240044918[68] = 0;
|
||||
out_6972181184240044918[69] = 0;
|
||||
out_6972181184240044918[70] = 1;
|
||||
out_6972181184240044918[71] = 0;
|
||||
out_6972181184240044918[72] = 0;
|
||||
out_6972181184240044918[73] = 0;
|
||||
out_6972181184240044918[74] = 0;
|
||||
out_6972181184240044918[75] = 0;
|
||||
out_6972181184240044918[76] = 0;
|
||||
out_6972181184240044918[77] = 0;
|
||||
out_6972181184240044918[78] = 0;
|
||||
out_6972181184240044918[79] = 0;
|
||||
out_6972181184240044918[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_1254446333762572024) {
|
||||
out_1254446333762572024[0] = 1;
|
||||
out_1254446333762572024[1] = 0;
|
||||
out_1254446333762572024[2] = 0;
|
||||
out_1254446333762572024[3] = 0;
|
||||
out_1254446333762572024[4] = 0;
|
||||
out_1254446333762572024[5] = 0;
|
||||
out_1254446333762572024[6] = 0;
|
||||
out_1254446333762572024[7] = 0;
|
||||
out_1254446333762572024[8] = 0;
|
||||
out_1254446333762572024[9] = 0;
|
||||
out_1254446333762572024[10] = 1;
|
||||
out_1254446333762572024[11] = 0;
|
||||
out_1254446333762572024[12] = 0;
|
||||
out_1254446333762572024[13] = 0;
|
||||
out_1254446333762572024[14] = 0;
|
||||
out_1254446333762572024[15] = 0;
|
||||
out_1254446333762572024[16] = 0;
|
||||
out_1254446333762572024[17] = 0;
|
||||
out_1254446333762572024[18] = 0;
|
||||
out_1254446333762572024[19] = 0;
|
||||
out_1254446333762572024[20] = 1;
|
||||
out_1254446333762572024[21] = 0;
|
||||
out_1254446333762572024[22] = 0;
|
||||
out_1254446333762572024[23] = 0;
|
||||
out_1254446333762572024[24] = 0;
|
||||
out_1254446333762572024[25] = 0;
|
||||
out_1254446333762572024[26] = 0;
|
||||
out_1254446333762572024[27] = 0;
|
||||
out_1254446333762572024[28] = 0;
|
||||
out_1254446333762572024[29] = 0;
|
||||
out_1254446333762572024[30] = 1;
|
||||
out_1254446333762572024[31] = 0;
|
||||
out_1254446333762572024[32] = 0;
|
||||
out_1254446333762572024[33] = 0;
|
||||
out_1254446333762572024[34] = 0;
|
||||
out_1254446333762572024[35] = 0;
|
||||
out_1254446333762572024[36] = 0;
|
||||
out_1254446333762572024[37] = 0;
|
||||
out_1254446333762572024[38] = 0;
|
||||
out_1254446333762572024[39] = 0;
|
||||
out_1254446333762572024[40] = 1;
|
||||
out_1254446333762572024[41] = 0;
|
||||
out_1254446333762572024[42] = 0;
|
||||
out_1254446333762572024[43] = 0;
|
||||
out_1254446333762572024[44] = 0;
|
||||
out_1254446333762572024[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_1254446333762572024[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_1254446333762572024[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1254446333762572024[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1254446333762572024[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_1254446333762572024[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_1254446333762572024[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_1254446333762572024[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1254446333762572024[53] = -9.8100000000000005*dt;
|
||||
out_1254446333762572024[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_1254446333762572024[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_1254446333762572024[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1254446333762572024[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1254446333762572024[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_1254446333762572024[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_1254446333762572024[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_1254446333762572024[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1254446333762572024[62] = 0;
|
||||
out_1254446333762572024[63] = 0;
|
||||
out_1254446333762572024[64] = 0;
|
||||
out_1254446333762572024[65] = 0;
|
||||
out_1254446333762572024[66] = 0;
|
||||
out_1254446333762572024[67] = 0;
|
||||
out_1254446333762572024[68] = 0;
|
||||
out_1254446333762572024[69] = 0;
|
||||
out_1254446333762572024[70] = 1;
|
||||
out_1254446333762572024[71] = 0;
|
||||
out_1254446333762572024[72] = 0;
|
||||
out_1254446333762572024[73] = 0;
|
||||
out_1254446333762572024[74] = 0;
|
||||
out_1254446333762572024[75] = 0;
|
||||
out_1254446333762572024[76] = 0;
|
||||
out_1254446333762572024[77] = 0;
|
||||
out_1254446333762572024[78] = 0;
|
||||
out_1254446333762572024[79] = 0;
|
||||
out_1254446333762572024[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_6429787098118084800) {
|
||||
out_6429787098118084800[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_3612384322752044911) {
|
||||
out_3612384322752044911[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_3171009832621012341) {
|
||||
out_3171009832621012341[0] = 0;
|
||||
out_3171009832621012341[1] = 0;
|
||||
out_3171009832621012341[2] = 0;
|
||||
out_3171009832621012341[3] = 0;
|
||||
out_3171009832621012341[4] = 0;
|
||||
out_3171009832621012341[5] = 0;
|
||||
out_3171009832621012341[6] = 1;
|
||||
out_3171009832621012341[7] = 0;
|
||||
out_3171009832621012341[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_4326553151131376866) {
|
||||
out_4326553151131376866[0] = 0;
|
||||
out_4326553151131376866[1] = 0;
|
||||
out_4326553151131376866[2] = 0;
|
||||
out_4326553151131376866[3] = 0;
|
||||
out_4326553151131376866[4] = 0;
|
||||
out_4326553151131376866[5] = 0;
|
||||
out_4326553151131376866[6] = 1;
|
||||
out_4326553151131376866[7] = 0;
|
||||
out_4326553151131376866[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_6701597119184761045) {
|
||||
out_6701597119184761045[0] = state[4];
|
||||
out_6701597119184761045[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_5341613571554885336) {
|
||||
out_5341613571554885336[0] = state[4];
|
||||
out_5341613571554885336[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_998360233615512775) {
|
||||
out_998360233615512775[0] = 0;
|
||||
out_998360233615512775[1] = 0;
|
||||
out_998360233615512775[2] = 0;
|
||||
out_998360233615512775[3] = 0;
|
||||
out_998360233615512775[4] = 1;
|
||||
out_998360233615512775[5] = 0;
|
||||
out_998360233615512775[6] = 0;
|
||||
out_998360233615512775[7] = 0;
|
||||
out_998360233615512775[8] = 0;
|
||||
out_998360233615512775[9] = 0;
|
||||
out_998360233615512775[10] = 0;
|
||||
out_998360233615512775[11] = 0;
|
||||
out_998360233615512775[12] = 0;
|
||||
out_998360233615512775[13] = 0;
|
||||
out_998360233615512775[14] = 1;
|
||||
out_998360233615512775[15] = 0;
|
||||
out_998360233615512775[16] = 0;
|
||||
out_998360233615512775[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_2100845367152508304) {
|
||||
out_2100845367152508304[0] = 0;
|
||||
out_2100845367152508304[1] = 0;
|
||||
out_2100845367152508304[2] = 0;
|
||||
out_2100845367152508304[3] = 0;
|
||||
out_2100845367152508304[4] = 1;
|
||||
out_2100845367152508304[5] = 0;
|
||||
out_2100845367152508304[6] = 0;
|
||||
out_2100845367152508304[7] = 0;
|
||||
out_2100845367152508304[8] = 0;
|
||||
out_2100845367152508304[9] = 0;
|
||||
out_2100845367152508304[10] = 0;
|
||||
out_2100845367152508304[11] = 0;
|
||||
out_2100845367152508304[12] = 0;
|
||||
out_2100845367152508304[13] = 0;
|
||||
out_2100845367152508304[14] = 1;
|
||||
out_2100845367152508304[15] = 0;
|
||||
out_2100845367152508304[16] = 0;
|
||||
out_2100845367152508304[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5049641810910434322) {
|
||||
out_5049641810910434322[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_3337190260467539022) {
|
||||
out_3337190260467539022[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_8359043899596922520) {
|
||||
out_8359043899596922520[0] = 0;
|
||||
out_8359043899596922520[1] = 0;
|
||||
out_8359043899596922520[2] = 0;
|
||||
out_8359043899596922520[3] = 0;
|
||||
out_8359043899596922520[4] = 1;
|
||||
out_8359043899596922520[5] = 0;
|
||||
out_8359043899596922520[6] = 0;
|
||||
out_8359043899596922520[7] = 0;
|
||||
out_8359043899596922520[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_4455892098274616936) {
|
||||
out_4455892098274616936[0] = 0;
|
||||
out_4455892098274616936[1] = 0;
|
||||
out_4455892098274616936[2] = 0;
|
||||
out_4455892098274616936[3] = 0;
|
||||
out_4455892098274616936[4] = 1;
|
||||
out_4455892098274616936[5] = 0;
|
||||
out_4455892098274616936[6] = 0;
|
||||
out_4455892098274616936[7] = 0;
|
||||
out_4455892098274616936[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_1349399706503414824) {
|
||||
out_1349399706503414824[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_2004676975418491541) {
|
||||
out_2004676975418491541[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_570493486253043883) {
|
||||
out_570493486253043883[0] = 0;
|
||||
out_570493486253043883[1] = 0;
|
||||
out_570493486253043883[2] = 0;
|
||||
out_570493486253043883[3] = 0;
|
||||
out_570493486253043883[4] = 0;
|
||||
out_570493486253043883[5] = 0;
|
||||
out_570493486253043883[6] = 0;
|
||||
out_570493486253043883[7] = 1;
|
||||
out_570493486253043883[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_8068056470005433090) {
|
||||
out_8068056470005433090[0] = 0;
|
||||
out_8068056470005433090[1] = 0;
|
||||
out_8068056470005433090[2] = 0;
|
||||
out_8068056470005433090[3] = 0;
|
||||
out_8068056470005433090[4] = 0;
|
||||
out_8068056470005433090[5] = 0;
|
||||
out_8068056470005433090[6] = 0;
|
||||
out_8068056470005433090[7] = 1;
|
||||
out_8068056470005433090[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_1467407100436791568) {
|
||||
out_1467407100436791568[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_1389288944908800734) {
|
||||
out_1389288944908800734[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_866907573677347360) {
|
||||
out_866907573677347360[0] = 0;
|
||||
out_866907573677347360[1] = 0;
|
||||
out_866907573677347360[2] = 0;
|
||||
out_866907573677347360[3] = 1;
|
||||
out_866907573677347360[4] = 0;
|
||||
out_866907573677347360[5] = 0;
|
||||
out_866907573677347360[6] = 0;
|
||||
out_866907573677347360[7] = 0;
|
||||
out_866907573677347360[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_6630655410075041847) {
|
||||
out_6630655410075041847[0] = 0;
|
||||
out_6630655410075041847[1] = 0;
|
||||
out_6630655410075041847[2] = 0;
|
||||
out_6630655410075041847[3] = 1;
|
||||
out_6630655410075041847[4] = 0;
|
||||
out_6630655410075041847[5] = 0;
|
||||
out_6630655410075041847[6] = 0;
|
||||
out_6630655410075041847[7] = 0;
|
||||
out_6630655410075041847[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_5993151663812096757) {
|
||||
out_5993151663812096757[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_1664483007193306623) {
|
||||
out_1664483007193306623[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_846455153192203673) {
|
||||
out_846455153192203673[0] = 0;
|
||||
out_846455153192203673[1] = 1;
|
||||
out_846455153192203673[2] = 0;
|
||||
out_846455153192203673[3] = 0;
|
||||
out_846455153192203673[4] = 0;
|
||||
out_846455153192203673[5] = 0;
|
||||
out_846455153192203673[6] = 0;
|
||||
out_846455153192203673[7] = 0;
|
||||
out_846455153192203673[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_3945660753960224752) {
|
||||
out_3945660753960224752[0] = 0;
|
||||
out_3945660753960224752[1] = 1;
|
||||
out_3945660753960224752[2] = 0;
|
||||
out_3945660753960224752[3] = 0;
|
||||
out_3945660753960224752[4] = 0;
|
||||
out_3945660753960224752[5] = 0;
|
||||
out_3945660753960224752[6] = 0;
|
||||
out_3945660753960224752[7] = 0;
|
||||
out_3945660753960224752[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_1136998220371906083) {
|
||||
out_1136998220371906083[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_990882427725417615) {
|
||||
out_990882427725417615[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_1117175118373122578) {
|
||||
out_1117175118373122578[0] = 1;
|
||||
out_1117175118373122578[1] = 0;
|
||||
out_1117175118373122578[2] = 0;
|
||||
out_1117175118373122578[3] = 0;
|
||||
out_1117175118373122578[4] = 0;
|
||||
out_1117175118373122578[5] = 0;
|
||||
out_1117175118373122578[6] = 0;
|
||||
out_1117175118373122578[7] = 0;
|
||||
out_1117175118373122578[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_1982030482394898501) {
|
||||
out_1982030482394898501[0] = 1;
|
||||
out_1982030482394898501[1] = 0;
|
||||
out_1982030482394898501[2] = 0;
|
||||
out_1982030482394898501[3] = 0;
|
||||
out_1982030482394898501[4] = 0;
|
||||
out_1982030482394898501[5] = 0;
|
||||
out_1982030482394898501[6] = 0;
|
||||
out_1982030482394898501[7] = 0;
|
||||
out_1982030482394898501[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_4228999089596618364) {
|
||||
out_4228999089596618364[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7249833851006067261) {
|
||||
out_7249833851006067261[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_3201655794497972769) {
|
||||
out_3201655794497972769[0] = 0;
|
||||
out_3201655794497972769[1] = 0;
|
||||
out_3201655794497972769[2] = 0;
|
||||
out_3201655794497972769[3] = 0;
|
||||
out_3201655794497972769[4] = 0;
|
||||
out_3201655794497972769[5] = 0;
|
||||
out_3201655794497972769[6] = 0;
|
||||
out_3201655794497972769[7] = 0;
|
||||
out_3201655794497972769[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_4295907189254416438) {
|
||||
out_4295907189254416438[0] = 0;
|
||||
out_4295907189254416438[1] = 0;
|
||||
out_4295907189254416438[2] = 0;
|
||||
out_4295907189254416438[3] = 0;
|
||||
out_4295907189254416438[4] = 0;
|
||||
out_4295907189254416438[5] = 0;
|
||||
out_4295907189254416438[6] = 0;
|
||||
out_4295907189254416438[7] = 0;
|
||||
out_4295907189254416438[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_7839106046248465839) {
|
||||
err_fun(nom_x, delta_x, out_7839106046248465839);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_822107927183758870) {
|
||||
err_fun(nom_x, delta_x, out_822107927183758870);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_31659364612209693) {
|
||||
inv_err_fun(nom_x, true_x, out_31659364612209693);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4567978126636007906) {
|
||||
inv_err_fun(nom_x, true_x, out_4567978126636007906);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_6082546015176302038) {
|
||||
H_mod_fun(state, out_6082546015176302038);
|
||||
void car_H_mod_fun(double *state, double *out_4866635074780860371) {
|
||||
H_mod_fun(state, out_4866635074780860371);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_6850955649577617071) {
|
||||
f_fun(state, dt, out_6850955649577617071);
|
||||
void car_f_fun(double *state, double dt, double *out_982026265070027710) {
|
||||
f_fun(state, dt, out_982026265070027710);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6972181184240044918) {
|
||||
F_fun(state, dt, out_6972181184240044918);
|
||||
void car_F_fun(double *state, double dt, double *out_1254446333762572024) {
|
||||
F_fun(state, dt, out_1254446333762572024);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_6429787098118084800) {
|
||||
h_25(state, unused, out_6429787098118084800);
|
||||
void car_h_25(double *state, double *unused, double *out_3612384322752044911) {
|
||||
h_25(state, unused, out_3612384322752044911);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_3171009832621012341) {
|
||||
H_25(state, unused, out_3171009832621012341);
|
||||
void car_H_25(double *state, double *unused, double *out_4326553151131376866) {
|
||||
H_25(state, unused, out_4326553151131376866);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_6701597119184761045) {
|
||||
h_24(state, unused, out_6701597119184761045);
|
||||
void car_h_24(double *state, double *unused, double *out_5341613571554885336) {
|
||||
h_24(state, unused, out_5341613571554885336);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_998360233615512775) {
|
||||
H_24(state, unused, out_998360233615512775);
|
||||
void car_H_24(double *state, double *unused, double *out_2100845367152508304) {
|
||||
H_24(state, unused, out_2100845367152508304);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5049641810910434322) {
|
||||
h_30(state, unused, out_5049641810910434322);
|
||||
void car_h_30(double *state, double *unused, double *out_3337190260467539022) {
|
||||
h_30(state, unused, out_3337190260467539022);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_8359043899596922520) {
|
||||
H_30(state, unused, out_8359043899596922520);
|
||||
void car_H_30(double *state, double *unused, double *out_4455892098274616936) {
|
||||
H_30(state, unused, out_4455892098274616936);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_1349399706503414824) {
|
||||
h_26(state, unused, out_1349399706503414824);
|
||||
void car_h_26(double *state, double *unused, double *out_2004676975418491541) {
|
||||
h_26(state, unused, out_2004676975418491541);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_570493486253043883) {
|
||||
H_26(state, unused, out_570493486253043883);
|
||||
void car_H_26(double *state, double *unused, double *out_8068056470005433090) {
|
||||
H_26(state, unused, out_8068056470005433090);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_1467407100436791568) {
|
||||
h_27(state, unused, out_1467407100436791568);
|
||||
void car_h_27(double *state, double *unused, double *out_1389288944908800734) {
|
||||
h_27(state, unused, out_1389288944908800734);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_866907573677347360) {
|
||||
H_27(state, unused, out_866907573677347360);
|
||||
void car_H_27(double *state, double *unused, double *out_6630655410075041847) {
|
||||
H_27(state, unused, out_6630655410075041847);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_5993151663812096757) {
|
||||
h_29(state, unused, out_5993151663812096757);
|
||||
void car_h_29(double *state, double *unused, double *out_1664483007193306623) {
|
||||
h_29(state, unused, out_1664483007193306623);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_846455153192203673) {
|
||||
H_29(state, unused, out_846455153192203673);
|
||||
void car_H_29(double *state, double *unused, double *out_3945660753960224752) {
|
||||
H_29(state, unused, out_3945660753960224752);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_1136998220371906083) {
|
||||
h_28(state, unused, out_1136998220371906083);
|
||||
void car_h_28(double *state, double *unused, double *out_990882427725417615) {
|
||||
h_28(state, unused, out_990882427725417615);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_1117175118373122578) {
|
||||
H_28(state, unused, out_1117175118373122578);
|
||||
void car_H_28(double *state, double *unused, double *out_1982030482394898501) {
|
||||
H_28(state, unused, out_1982030482394898501);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_4228999089596618364) {
|
||||
h_31(state, unused, out_4228999089596618364);
|
||||
void car_h_31(double *state, double *unused, double *out_7249833851006067261) {
|
||||
h_31(state, unused, out_7249833851006067261);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_3201655794497972769) {
|
||||
H_31(state, unused, out_3201655794497972769);
|
||||
void car_H_31(double *state, double *unused, double *out_4295907189254416438) {
|
||||
H_31(state, unused, out_4295907189254416438);
|
||||
}
|
||||
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_7839106046248465839);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_31659364612209693);
|
||||
void car_H_mod_fun(double *state, double *out_6082546015176302038);
|
||||
void car_f_fun(double *state, double dt, double *out_6850955649577617071);
|
||||
void car_F_fun(double *state, double dt, double *out_6972181184240044918);
|
||||
void car_h_25(double *state, double *unused, double *out_6429787098118084800);
|
||||
void car_H_25(double *state, double *unused, double *out_3171009832621012341);
|
||||
void car_h_24(double *state, double *unused, double *out_6701597119184761045);
|
||||
void car_H_24(double *state, double *unused, double *out_998360233615512775);
|
||||
void car_h_30(double *state, double *unused, double *out_5049641810910434322);
|
||||
void car_H_30(double *state, double *unused, double *out_8359043899596922520);
|
||||
void car_h_26(double *state, double *unused, double *out_1349399706503414824);
|
||||
void car_H_26(double *state, double *unused, double *out_570493486253043883);
|
||||
void car_h_27(double *state, double *unused, double *out_1467407100436791568);
|
||||
void car_H_27(double *state, double *unused, double *out_866907573677347360);
|
||||
void car_h_29(double *state, double *unused, double *out_5993151663812096757);
|
||||
void car_H_29(double *state, double *unused, double *out_846455153192203673);
|
||||
void car_h_28(double *state, double *unused, double *out_1136998220371906083);
|
||||
void car_H_28(double *state, double *unused, double *out_1117175118373122578);
|
||||
void car_h_31(double *state, double *unused, double *out_4228999089596618364);
|
||||
void car_H_31(double *state, double *unused, double *out_3201655794497972769);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_822107927183758870);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4567978126636007906);
|
||||
void car_H_mod_fun(double *state, double *out_4866635074780860371);
|
||||
void car_f_fun(double *state, double dt, double *out_982026265070027710);
|
||||
void car_F_fun(double *state, double dt, double *out_1254446333762572024);
|
||||
void car_h_25(double *state, double *unused, double *out_3612384322752044911);
|
||||
void car_H_25(double *state, double *unused, double *out_4326553151131376866);
|
||||
void car_h_24(double *state, double *unused, double *out_5341613571554885336);
|
||||
void car_H_24(double *state, double *unused, double *out_2100845367152508304);
|
||||
void car_h_30(double *state, double *unused, double *out_3337190260467539022);
|
||||
void car_H_30(double *state, double *unused, double *out_4455892098274616936);
|
||||
void car_h_26(double *state, double *unused, double *out_2004676975418491541);
|
||||
void car_H_26(double *state, double *unused, double *out_8068056470005433090);
|
||||
void car_h_27(double *state, double *unused, double *out_1389288944908800734);
|
||||
void car_H_27(double *state, double *unused, double *out_6630655410075041847);
|
||||
void car_h_29(double *state, double *unused, double *out_1664483007193306623);
|
||||
void car_H_29(double *state, double *unused, double *out_3945660753960224752);
|
||||
void car_h_28(double *state, double *unused, double *out_990882427725417615);
|
||||
void car_H_28(double *state, double *unused, double *out_1982030482394898501);
|
||||
void car_h_31(double *state, double *unused, double *out_7249833851006067261);
|
||||
void car_H_31(double *state, double *unused, double *out_4295907189254416438);
|
||||
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_3316982698909296372);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_875278244398304479);
|
||||
void pose_H_mod_fun(double *state, double *out_4269788700262626124);
|
||||
void pose_f_fun(double *state, double dt, double *out_3692668602312034618);
|
||||
void pose_F_fun(double *state, double dt, double *out_2955282305521857746);
|
||||
void pose_h_4(double *state, double *unused, double *out_6086550385890598344);
|
||||
void pose_H_4(double *state, double *unused, double *out_882729684776454611);
|
||||
void pose_h_10(double *state, double *unused, double *out_822146309921429030);
|
||||
void pose_H_10(double *state, double *unused, double *out_8527164112518639864);
|
||||
void pose_h_13(double *state, double *unused, double *out_9110778303873781210);
|
||||
void pose_H_13(double *state, double *unused, double *out_4095003510108787412);
|
||||
void pose_h_14(double *state, double *unused, double *out_6914362473414566847);
|
||||
void pose_H_14(double *state, double *unused, double *out_4845970541115939140);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_521051683878790646);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_210058828153721645);
|
||||
void pose_H_mod_fun(double *state, double *out_4312613236564964080);
|
||||
void pose_f_fun(double *state, double dt, double *out_7807614062433422920);
|
||||
void pose_F_fun(double *state, double dt, double *out_54869773676509633);
|
||||
void pose_h_4(double *state, double *unused, double *out_3501775823039351379);
|
||||
void pose_H_4(double *state, double *unused, double *out_8084420446408871652);
|
||||
void pose_h_10(double *state, double *unused, double *out_8571708459300677945);
|
||||
void pose_H_10(double *state, double *unused, double *out_2059745207116816931);
|
||||
void pose_h_13(double *state, double *unused, double *out_6791205246269589213);
|
||||
void pose_H_13(double *state, double *unused, double *out_8649022366090715756);
|
||||
void pose_h_14(double *state, double *unused, double *out_8615295986968492388);
|
||||
void pose_H_14(double *state, double *unused, double *out_5001632014113499356);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Binary file not shown.
Reference in New Issue
Block a user