mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-13 21:32:14 +08:00
build
This commit is contained in:
firestar5683
@@ -824,8 +824,6 @@ BO_ 736 MANUAL_SPEED_LIMIT_ASSIST: 32 XXX
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SG_ MSLA_ENABLED : 38|1@1+ (1,0) [0|1] "" XXX
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SG_ MAX_SPEED : 55|8@0+ (1,0) [0|255] "" XXX
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SG_ MAX_SPEED_COPY : 144|8@1+ (1,0) [0|255] "" XXX
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SG_ EV_REGEN_STATE : 104|8@1+ (1,0) [0|255] "" XXX
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SG_ EV_REGEN_STATE_2 : 184|8@1+ (1,0) [0|255] "" XXX
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BO_ 837 ADRV_0x345: 8 ADRV
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SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
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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-1ddbc24a-DEBUG";
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const uint8_t gitversion[19] = "DEV-5f51e670-DEBUG";
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@@ -1 +1 @@
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DEV-1ddbc24a-DEBUG
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DEV-5f51e670-DEBUG
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@@ -279,10 +279,7 @@ class LongControl:
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output_accel = clip(a_target, 0.0, starpilot_toggles.startAccel)
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else:
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output_accel = starpilot_toggles.startAccel
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self.pid.reset()
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self.pid.i = a_target
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self.last_a_target = 0.0
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self.integrator_hold_frames = 0
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self.reset()
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else: # LongCtrlState.pid
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error = a_target - CS.aEgo
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_5457591731668657994) {
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out_5457591731668657994[0] = delta_x[0] + nom_x[0];
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out_5457591731668657994[1] = delta_x[1] + nom_x[1];
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out_5457591731668657994[2] = delta_x[2] + nom_x[2];
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out_5457591731668657994[3] = delta_x[3] + nom_x[3];
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out_5457591731668657994[4] = delta_x[4] + nom_x[4];
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out_5457591731668657994[5] = delta_x[5] + nom_x[5];
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out_5457591731668657994[6] = delta_x[6] + nom_x[6];
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out_5457591731668657994[7] = delta_x[7] + nom_x[7];
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out_5457591731668657994[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_2687587277675065552) {
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out_2687587277675065552[0] = delta_x[0] + nom_x[0];
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out_2687587277675065552[1] = delta_x[1] + nom_x[1];
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out_2687587277675065552[2] = delta_x[2] + nom_x[2];
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out_2687587277675065552[3] = delta_x[3] + nom_x[3];
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out_2687587277675065552[4] = delta_x[4] + nom_x[4];
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out_2687587277675065552[5] = delta_x[5] + nom_x[5];
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out_2687587277675065552[6] = delta_x[6] + nom_x[6];
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out_2687587277675065552[7] = delta_x[7] + nom_x[7];
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out_2687587277675065552[8] = delta_x[8] + nom_x[8];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_625468362349040739) {
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out_625468362349040739[0] = -nom_x[0] + true_x[0];
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out_625468362349040739[1] = -nom_x[1] + true_x[1];
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out_625468362349040739[2] = -nom_x[2] + true_x[2];
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out_625468362349040739[3] = -nom_x[3] + true_x[3];
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out_625468362349040739[4] = -nom_x[4] + true_x[4];
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out_625468362349040739[5] = -nom_x[5] + true_x[5];
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out_625468362349040739[6] = -nom_x[6] + true_x[6];
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out_625468362349040739[7] = -nom_x[7] + true_x[7];
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out_625468362349040739[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_6222700140799525089) {
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out_6222700140799525089[0] = -nom_x[0] + true_x[0];
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out_6222700140799525089[1] = -nom_x[1] + true_x[1];
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out_6222700140799525089[2] = -nom_x[2] + true_x[2];
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out_6222700140799525089[3] = -nom_x[3] + true_x[3];
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out_6222700140799525089[4] = -nom_x[4] + true_x[4];
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out_6222700140799525089[5] = -nom_x[5] + true_x[5];
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out_6222700140799525089[6] = -nom_x[6] + true_x[6];
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out_6222700140799525089[7] = -nom_x[7] + true_x[7];
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out_6222700140799525089[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_308877862146519903) {
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out_308877862146519903[0] = 1.0;
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out_308877862146519903[1] = 0.0;
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out_308877862146519903[2] = 0.0;
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out_308877862146519903[3] = 0.0;
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out_308877862146519903[4] = 0.0;
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out_308877862146519903[5] = 0.0;
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out_308877862146519903[6] = 0.0;
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out_308877862146519903[7] = 0.0;
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out_308877862146519903[8] = 0.0;
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out_308877862146519903[9] = 0.0;
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out_308877862146519903[10] = 1.0;
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out_308877862146519903[11] = 0.0;
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out_308877862146519903[12] = 0.0;
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out_308877862146519903[13] = 0.0;
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out_308877862146519903[14] = 0.0;
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out_308877862146519903[15] = 0.0;
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out_308877862146519903[16] = 0.0;
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out_308877862146519903[17] = 0.0;
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out_308877862146519903[18] = 0.0;
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out_308877862146519903[19] = 0.0;
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out_308877862146519903[20] = 1.0;
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out_308877862146519903[21] = 0.0;
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||||
out_308877862146519903[22] = 0.0;
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out_308877862146519903[23] = 0.0;
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out_308877862146519903[24] = 0.0;
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||||
out_308877862146519903[25] = 0.0;
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||||
out_308877862146519903[26] = 0.0;
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||||
out_308877862146519903[27] = 0.0;
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||||
out_308877862146519903[28] = 0.0;
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||||
out_308877862146519903[29] = 0.0;
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out_308877862146519903[30] = 1.0;
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||||
out_308877862146519903[31] = 0.0;
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||||
out_308877862146519903[32] = 0.0;
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||||
out_308877862146519903[33] = 0.0;
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||||
out_308877862146519903[34] = 0.0;
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||||
out_308877862146519903[35] = 0.0;
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out_308877862146519903[36] = 0.0;
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||||
out_308877862146519903[37] = 0.0;
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||||
out_308877862146519903[38] = 0.0;
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||||
out_308877862146519903[39] = 0.0;
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out_308877862146519903[40] = 1.0;
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out_308877862146519903[41] = 0.0;
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||||
out_308877862146519903[42] = 0.0;
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out_308877862146519903[43] = 0.0;
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||||
out_308877862146519903[44] = 0.0;
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||||
out_308877862146519903[45] = 0.0;
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||||
out_308877862146519903[46] = 0.0;
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||||
out_308877862146519903[47] = 0.0;
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||||
out_308877862146519903[48] = 0.0;
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out_308877862146519903[49] = 0.0;
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out_308877862146519903[50] = 1.0;
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||||
out_308877862146519903[51] = 0.0;
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||||
out_308877862146519903[52] = 0.0;
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||||
out_308877862146519903[53] = 0.0;
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||||
out_308877862146519903[54] = 0.0;
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||||
out_308877862146519903[55] = 0.0;
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||||
out_308877862146519903[56] = 0.0;
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||||
out_308877862146519903[57] = 0.0;
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||||
out_308877862146519903[58] = 0.0;
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||||
out_308877862146519903[59] = 0.0;
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out_308877862146519903[60] = 1.0;
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||||
out_308877862146519903[61] = 0.0;
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||||
out_308877862146519903[62] = 0.0;
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||||
out_308877862146519903[63] = 0.0;
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||||
out_308877862146519903[64] = 0.0;
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||||
out_308877862146519903[65] = 0.0;
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||||
out_308877862146519903[66] = 0.0;
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||||
out_308877862146519903[67] = 0.0;
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||||
out_308877862146519903[68] = 0.0;
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||||
out_308877862146519903[69] = 0.0;
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||||
out_308877862146519903[70] = 1.0;
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||||
out_308877862146519903[71] = 0.0;
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||||
out_308877862146519903[72] = 0.0;
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||||
out_308877862146519903[73] = 0.0;
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||||
out_308877862146519903[74] = 0.0;
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||||
out_308877862146519903[75] = 0.0;
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||||
out_308877862146519903[76] = 0.0;
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||||
out_308877862146519903[77] = 0.0;
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||||
out_308877862146519903[78] = 0.0;
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||||
out_308877862146519903[79] = 0.0;
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||||
out_308877862146519903[80] = 1.0;
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||||
void H_mod_fun(double *state, double *out_5736311190330935470) {
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out_5736311190330935470[0] = 1.0;
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||||
out_5736311190330935470[1] = 0.0;
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||||
out_5736311190330935470[2] = 0.0;
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||||
out_5736311190330935470[3] = 0.0;
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||||
out_5736311190330935470[4] = 0.0;
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||||
out_5736311190330935470[5] = 0.0;
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||||
out_5736311190330935470[6] = 0.0;
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||||
out_5736311190330935470[7] = 0.0;
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||||
out_5736311190330935470[8] = 0.0;
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||||
out_5736311190330935470[9] = 0.0;
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||||
out_5736311190330935470[10] = 1.0;
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||||
out_5736311190330935470[11] = 0.0;
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||||
out_5736311190330935470[12] = 0.0;
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||||
out_5736311190330935470[13] = 0.0;
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||||
out_5736311190330935470[14] = 0.0;
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||||
out_5736311190330935470[15] = 0.0;
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||||
out_5736311190330935470[16] = 0.0;
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||||
out_5736311190330935470[17] = 0.0;
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||||
out_5736311190330935470[18] = 0.0;
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out_5736311190330935470[19] = 0.0;
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out_5736311190330935470[20] = 1.0;
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||||
out_5736311190330935470[21] = 0.0;
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||||
out_5736311190330935470[22] = 0.0;
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||||
out_5736311190330935470[23] = 0.0;
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||||
out_5736311190330935470[24] = 0.0;
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||||
out_5736311190330935470[25] = 0.0;
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||||
out_5736311190330935470[26] = 0.0;
|
||||
out_5736311190330935470[27] = 0.0;
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||||
out_5736311190330935470[28] = 0.0;
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||||
out_5736311190330935470[29] = 0.0;
|
||||
out_5736311190330935470[30] = 1.0;
|
||||
out_5736311190330935470[31] = 0.0;
|
||||
out_5736311190330935470[32] = 0.0;
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||||
out_5736311190330935470[33] = 0.0;
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||||
out_5736311190330935470[34] = 0.0;
|
||||
out_5736311190330935470[35] = 0.0;
|
||||
out_5736311190330935470[36] = 0.0;
|
||||
out_5736311190330935470[37] = 0.0;
|
||||
out_5736311190330935470[38] = 0.0;
|
||||
out_5736311190330935470[39] = 0.0;
|
||||
out_5736311190330935470[40] = 1.0;
|
||||
out_5736311190330935470[41] = 0.0;
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||||
out_5736311190330935470[42] = 0.0;
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||||
out_5736311190330935470[43] = 0.0;
|
||||
out_5736311190330935470[44] = 0.0;
|
||||
out_5736311190330935470[45] = 0.0;
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||||
out_5736311190330935470[46] = 0.0;
|
||||
out_5736311190330935470[47] = 0.0;
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||||
out_5736311190330935470[48] = 0.0;
|
||||
out_5736311190330935470[49] = 0.0;
|
||||
out_5736311190330935470[50] = 1.0;
|
||||
out_5736311190330935470[51] = 0.0;
|
||||
out_5736311190330935470[52] = 0.0;
|
||||
out_5736311190330935470[53] = 0.0;
|
||||
out_5736311190330935470[54] = 0.0;
|
||||
out_5736311190330935470[55] = 0.0;
|
||||
out_5736311190330935470[56] = 0.0;
|
||||
out_5736311190330935470[57] = 0.0;
|
||||
out_5736311190330935470[58] = 0.0;
|
||||
out_5736311190330935470[59] = 0.0;
|
||||
out_5736311190330935470[60] = 1.0;
|
||||
out_5736311190330935470[61] = 0.0;
|
||||
out_5736311190330935470[62] = 0.0;
|
||||
out_5736311190330935470[63] = 0.0;
|
||||
out_5736311190330935470[64] = 0.0;
|
||||
out_5736311190330935470[65] = 0.0;
|
||||
out_5736311190330935470[66] = 0.0;
|
||||
out_5736311190330935470[67] = 0.0;
|
||||
out_5736311190330935470[68] = 0.0;
|
||||
out_5736311190330935470[69] = 0.0;
|
||||
out_5736311190330935470[70] = 1.0;
|
||||
out_5736311190330935470[71] = 0.0;
|
||||
out_5736311190330935470[72] = 0.0;
|
||||
out_5736311190330935470[73] = 0.0;
|
||||
out_5736311190330935470[74] = 0.0;
|
||||
out_5736311190330935470[75] = 0.0;
|
||||
out_5736311190330935470[76] = 0.0;
|
||||
out_5736311190330935470[77] = 0.0;
|
||||
out_5736311190330935470[78] = 0.0;
|
||||
out_5736311190330935470[79] = 0.0;
|
||||
out_5736311190330935470[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_9068006394827680313) {
|
||||
out_9068006394827680313[0] = state[0];
|
||||
out_9068006394827680313[1] = state[1];
|
||||
out_9068006394827680313[2] = state[2];
|
||||
out_9068006394827680313[3] = state[3];
|
||||
out_9068006394827680313[4] = state[4];
|
||||
out_9068006394827680313[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_9068006394827680313[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_9068006394827680313[7] = state[7];
|
||||
out_9068006394827680313[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_8059955085909907268) {
|
||||
out_8059955085909907268[0] = state[0];
|
||||
out_8059955085909907268[1] = state[1];
|
||||
out_8059955085909907268[2] = state[2];
|
||||
out_8059955085909907268[3] = state[3];
|
||||
out_8059955085909907268[4] = state[4];
|
||||
out_8059955085909907268[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_8059955085909907268[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_8059955085909907268[7] = state[7];
|
||||
out_8059955085909907268[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_203771605761279388) {
|
||||
out_203771605761279388[0] = 1;
|
||||
out_203771605761279388[1] = 0;
|
||||
out_203771605761279388[2] = 0;
|
||||
out_203771605761279388[3] = 0;
|
||||
out_203771605761279388[4] = 0;
|
||||
out_203771605761279388[5] = 0;
|
||||
out_203771605761279388[6] = 0;
|
||||
out_203771605761279388[7] = 0;
|
||||
out_203771605761279388[8] = 0;
|
||||
out_203771605761279388[9] = 0;
|
||||
out_203771605761279388[10] = 1;
|
||||
out_203771605761279388[11] = 0;
|
||||
out_203771605761279388[12] = 0;
|
||||
out_203771605761279388[13] = 0;
|
||||
out_203771605761279388[14] = 0;
|
||||
out_203771605761279388[15] = 0;
|
||||
out_203771605761279388[16] = 0;
|
||||
out_203771605761279388[17] = 0;
|
||||
out_203771605761279388[18] = 0;
|
||||
out_203771605761279388[19] = 0;
|
||||
out_203771605761279388[20] = 1;
|
||||
out_203771605761279388[21] = 0;
|
||||
out_203771605761279388[22] = 0;
|
||||
out_203771605761279388[23] = 0;
|
||||
out_203771605761279388[24] = 0;
|
||||
out_203771605761279388[25] = 0;
|
||||
out_203771605761279388[26] = 0;
|
||||
out_203771605761279388[27] = 0;
|
||||
out_203771605761279388[28] = 0;
|
||||
out_203771605761279388[29] = 0;
|
||||
out_203771605761279388[30] = 1;
|
||||
out_203771605761279388[31] = 0;
|
||||
out_203771605761279388[32] = 0;
|
||||
out_203771605761279388[33] = 0;
|
||||
out_203771605761279388[34] = 0;
|
||||
out_203771605761279388[35] = 0;
|
||||
out_203771605761279388[36] = 0;
|
||||
out_203771605761279388[37] = 0;
|
||||
out_203771605761279388[38] = 0;
|
||||
out_203771605761279388[39] = 0;
|
||||
out_203771605761279388[40] = 1;
|
||||
out_203771605761279388[41] = 0;
|
||||
out_203771605761279388[42] = 0;
|
||||
out_203771605761279388[43] = 0;
|
||||
out_203771605761279388[44] = 0;
|
||||
out_203771605761279388[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_203771605761279388[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_203771605761279388[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_203771605761279388[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_203771605761279388[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_203771605761279388[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_203771605761279388[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_203771605761279388[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_203771605761279388[53] = -9.8100000000000005*dt;
|
||||
out_203771605761279388[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_203771605761279388[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_203771605761279388[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_203771605761279388[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_203771605761279388[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_203771605761279388[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_203771605761279388[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_203771605761279388[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_203771605761279388[62] = 0;
|
||||
out_203771605761279388[63] = 0;
|
||||
out_203771605761279388[64] = 0;
|
||||
out_203771605761279388[65] = 0;
|
||||
out_203771605761279388[66] = 0;
|
||||
out_203771605761279388[67] = 0;
|
||||
out_203771605761279388[68] = 0;
|
||||
out_203771605761279388[69] = 0;
|
||||
out_203771605761279388[70] = 1;
|
||||
out_203771605761279388[71] = 0;
|
||||
out_203771605761279388[72] = 0;
|
||||
out_203771605761279388[73] = 0;
|
||||
out_203771605761279388[74] = 0;
|
||||
out_203771605761279388[75] = 0;
|
||||
out_203771605761279388[76] = 0;
|
||||
out_203771605761279388[77] = 0;
|
||||
out_203771605761279388[78] = 0;
|
||||
out_203771605761279388[79] = 0;
|
||||
out_203771605761279388[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_535217138807217635) {
|
||||
out_535217138807217635[0] = 1;
|
||||
out_535217138807217635[1] = 0;
|
||||
out_535217138807217635[2] = 0;
|
||||
out_535217138807217635[3] = 0;
|
||||
out_535217138807217635[4] = 0;
|
||||
out_535217138807217635[5] = 0;
|
||||
out_535217138807217635[6] = 0;
|
||||
out_535217138807217635[7] = 0;
|
||||
out_535217138807217635[8] = 0;
|
||||
out_535217138807217635[9] = 0;
|
||||
out_535217138807217635[10] = 1;
|
||||
out_535217138807217635[11] = 0;
|
||||
out_535217138807217635[12] = 0;
|
||||
out_535217138807217635[13] = 0;
|
||||
out_535217138807217635[14] = 0;
|
||||
out_535217138807217635[15] = 0;
|
||||
out_535217138807217635[16] = 0;
|
||||
out_535217138807217635[17] = 0;
|
||||
out_535217138807217635[18] = 0;
|
||||
out_535217138807217635[19] = 0;
|
||||
out_535217138807217635[20] = 1;
|
||||
out_535217138807217635[21] = 0;
|
||||
out_535217138807217635[22] = 0;
|
||||
out_535217138807217635[23] = 0;
|
||||
out_535217138807217635[24] = 0;
|
||||
out_535217138807217635[25] = 0;
|
||||
out_535217138807217635[26] = 0;
|
||||
out_535217138807217635[27] = 0;
|
||||
out_535217138807217635[28] = 0;
|
||||
out_535217138807217635[29] = 0;
|
||||
out_535217138807217635[30] = 1;
|
||||
out_535217138807217635[31] = 0;
|
||||
out_535217138807217635[32] = 0;
|
||||
out_535217138807217635[33] = 0;
|
||||
out_535217138807217635[34] = 0;
|
||||
out_535217138807217635[35] = 0;
|
||||
out_535217138807217635[36] = 0;
|
||||
out_535217138807217635[37] = 0;
|
||||
out_535217138807217635[38] = 0;
|
||||
out_535217138807217635[39] = 0;
|
||||
out_535217138807217635[40] = 1;
|
||||
out_535217138807217635[41] = 0;
|
||||
out_535217138807217635[42] = 0;
|
||||
out_535217138807217635[43] = 0;
|
||||
out_535217138807217635[44] = 0;
|
||||
out_535217138807217635[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_535217138807217635[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_535217138807217635[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_535217138807217635[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_535217138807217635[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_535217138807217635[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_535217138807217635[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_535217138807217635[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_535217138807217635[53] = -9.8100000000000005*dt;
|
||||
out_535217138807217635[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_535217138807217635[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_535217138807217635[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_535217138807217635[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_535217138807217635[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_535217138807217635[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_535217138807217635[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_535217138807217635[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_535217138807217635[62] = 0;
|
||||
out_535217138807217635[63] = 0;
|
||||
out_535217138807217635[64] = 0;
|
||||
out_535217138807217635[65] = 0;
|
||||
out_535217138807217635[66] = 0;
|
||||
out_535217138807217635[67] = 0;
|
||||
out_535217138807217635[68] = 0;
|
||||
out_535217138807217635[69] = 0;
|
||||
out_535217138807217635[70] = 1;
|
||||
out_535217138807217635[71] = 0;
|
||||
out_535217138807217635[72] = 0;
|
||||
out_535217138807217635[73] = 0;
|
||||
out_535217138807217635[74] = 0;
|
||||
out_535217138807217635[75] = 0;
|
||||
out_535217138807217635[76] = 0;
|
||||
out_535217138807217635[77] = 0;
|
||||
out_535217138807217635[78] = 0;
|
||||
out_535217138807217635[79] = 0;
|
||||
out_535217138807217635[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5131794037626248505) {
|
||||
out_5131794037626248505[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7527307434081215851) {
|
||||
out_7527307434081215851[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_640243059881962306) {
|
||||
out_640243059881962306[0] = 0;
|
||||
out_640243059881962306[1] = 0;
|
||||
out_640243059881962306[2] = 0;
|
||||
out_640243059881962306[3] = 0;
|
||||
out_640243059881962306[4] = 0;
|
||||
out_640243059881962306[5] = 0;
|
||||
out_640243059881962306[6] = 1;
|
||||
out_640243059881962306[7] = 0;
|
||||
out_640243059881962306[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_9187452233389124469) {
|
||||
out_9187452233389124469[0] = 0;
|
||||
out_9187452233389124469[1] = 0;
|
||||
out_9187452233389124469[2] = 0;
|
||||
out_9187452233389124469[3] = 0;
|
||||
out_9187452233389124469[4] = 0;
|
||||
out_9187452233389124469[5] = 0;
|
||||
out_9187452233389124469[6] = 1;
|
||||
out_9187452233389124469[7] = 0;
|
||||
out_9187452233389124469[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_2029903564179396636) {
|
||||
out_2029903564179396636[0] = state[4];
|
||||
out_2029903564179396636[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_7476062049775574580) {
|
||||
out_7476062049775574580[0] = state[4];
|
||||
out_7476062049775574580[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_2865950843860830868) {
|
||||
out_2865950843860830868[0] = 0;
|
||||
out_2865950843860830868[1] = 0;
|
||||
out_2865950843860830868[2] = 0;
|
||||
out_2865950843860830868[3] = 0;
|
||||
out_2865950843860830868[4] = 1;
|
||||
out_2865950843860830868[5] = 0;
|
||||
out_2865950843860830868[6] = 0;
|
||||
out_2865950843860830868[7] = 0;
|
||||
out_2865950843860830868[8] = 0;
|
||||
out_2865950843860830868[9] = 0;
|
||||
out_2865950843860830868[10] = 0;
|
||||
out_2865950843860830868[11] = 0;
|
||||
out_2865950843860830868[12] = 0;
|
||||
out_2865950843860830868[13] = 0;
|
||||
out_2865950843860830868[14] = 1;
|
||||
out_2865950843860830868[15] = 0;
|
||||
out_2865950843860830868[16] = 0;
|
||||
out_2865950843860830868[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_5629526634586801333) {
|
||||
out_5629526634586801333[0] = 0;
|
||||
out_5629526634586801333[1] = 0;
|
||||
out_5629526634586801333[2] = 0;
|
||||
out_5629526634586801333[3] = 0;
|
||||
out_5629526634586801333[4] = 1;
|
||||
out_5629526634586801333[5] = 0;
|
||||
out_5629526634586801333[6] = 0;
|
||||
out_5629526634586801333[7] = 0;
|
||||
out_5629526634586801333[8] = 0;
|
||||
out_5629526634586801333[9] = 0;
|
||||
out_5629526634586801333[10] = 0;
|
||||
out_5629526634586801333[11] = 0;
|
||||
out_5629526634586801333[12] = 0;
|
||||
out_5629526634586801333[13] = 0;
|
||||
out_5629526634586801333[14] = 1;
|
||||
out_5629526634586801333[15] = 0;
|
||||
out_5629526634586801333[16] = 0;
|
||||
out_5629526634586801333[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_8651236171946894111) {
|
||||
out_8651236171946894111[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_1371860238240555722) {
|
||||
out_1371860238240555722[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_510904112738722236) {
|
||||
out_510904112738722236[0] = 0;
|
||||
out_510904112738722236[1] = 0;
|
||||
out_510904112738722236[2] = 0;
|
||||
out_510904112738722236[3] = 0;
|
||||
out_510904112738722236[4] = 1;
|
||||
out_510904112738722236[5] = 0;
|
||||
out_510904112738722236[6] = 0;
|
||||
out_510904112738722236[7] = 0;
|
||||
out_510904112738722236[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_2270761891897507714) {
|
||||
out_2270761891897507714[0] = 0;
|
||||
out_2270761891897507714[1] = 0;
|
||||
out_2270761891897507714[2] = 0;
|
||||
out_2270761891897507714[3] = 0;
|
||||
out_2270761891897507714[4] = 1;
|
||||
out_2270761891897507714[5] = 0;
|
||||
out_2270761891897507714[6] = 0;
|
||||
out_2270761891897507714[7] = 0;
|
||||
out_2270761891897507714[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_2252194654533044965) {
|
||||
out_2252194654533044965[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_6063283196188145091) {
|
||||
out_6063283196188145091[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_3101260258992093918) {
|
||||
out_3101260258992093918[0] = 0;
|
||||
out_3101260258992093918[1] = 0;
|
||||
out_3101260258992093918[2] = 0;
|
||||
out_3101260258992093918[3] = 0;
|
||||
out_3101260258992093918[4] = 0;
|
||||
out_3101260258992093918[5] = 0;
|
||||
out_3101260258992093918[6] = 0;
|
||||
out_3101260258992093918[7] = 1;
|
||||
out_3101260258992093918[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_5517788521446370923) {
|
||||
out_5517788521446370923[0] = 0;
|
||||
out_5517788521446370923[1] = 0;
|
||||
out_5517788521446370923[2] = 0;
|
||||
out_5517788521446370923[3] = 0;
|
||||
out_5517788521446370923[4] = 0;
|
||||
out_5517788521446370923[5] = 0;
|
||||
out_5517788521446370923[6] = 0;
|
||||
out_5517788521446370923[7] = 1;
|
||||
out_5517788521446370923[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3283700363150443165) {
|
||||
out_3283700363150443165[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_8470817286982878286) {
|
||||
out_8470817286982878286[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_1663859199061702675) {
|
||||
out_1663859199061702675[0] = 0;
|
||||
out_1663859199061702675[1] = 0;
|
||||
out_1663859199061702675[2] = 0;
|
||||
out_1663859199061702675[3] = 1;
|
||||
out_1663859199061702675[4] = 0;
|
||||
out_1663859199061702675[5] = 0;
|
||||
out_1663859199061702675[6] = 0;
|
||||
out_1663859199061702675[7] = 0;
|
||||
out_1663859199061702675[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_4445525203697932625) {
|
||||
out_4445525203697932625[0] = 0;
|
||||
out_4445525203697932625[1] = 0;
|
||||
out_4445525203697932625[2] = 0;
|
||||
out_4445525203697932625[3] = 1;
|
||||
out_4445525203697932625[4] = 0;
|
||||
out_4445525203697932625[5] = 0;
|
||||
out_4445525203697932625[6] = 0;
|
||||
out_4445525203697932625[7] = 0;
|
||||
out_4445525203697932625[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_3008506300865937276) {
|
||||
out_3008506300865937276[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_7424449226025441418) {
|
||||
out_7424449226025441418[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_1021135457053114420) {
|
||||
out_1021135457053114420[0] = 0;
|
||||
out_1021135457053114420[1] = 1;
|
||||
out_1021135457053114420[2] = 0;
|
||||
out_1021135457053114420[3] = 0;
|
||||
out_1021135457053114420[4] = 0;
|
||||
out_1021135457053114420[5] = 0;
|
||||
out_1021135457053114420[6] = 0;
|
||||
out_1021135457053114420[7] = 0;
|
||||
out_1021135457053114420[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_1760530547583115530) {
|
||||
out_1760530547583115530[0] = 0;
|
||||
out_1760530547583115530[1] = 1;
|
||||
out_1760530547583115530[2] = 0;
|
||||
out_1760530547583115530[3] = 0;
|
||||
out_1760530547583115530[4] = 0;
|
||||
out_1760530547583115530[5] = 0;
|
||||
out_1760530547583115530[6] = 0;
|
||||
out_1760530547583115530[7] = 0;
|
||||
out_1760530547583115530[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_5663871735784661514) {
|
||||
out_5663871735784661514[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_2540783352297972517) {
|
||||
out_2540783352297972517[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_2984765728618440671) {
|
||||
out_2984765728618440671[0] = 1;
|
||||
out_2984765728618440671[1] = 0;
|
||||
out_2984765728618440671[2] = 0;
|
||||
out_2984765728618440671[3] = 0;
|
||||
out_2984765728618440671[4] = 0;
|
||||
out_2984765728618440671[5] = 0;
|
||||
out_2984765728618440671[6] = 0;
|
||||
out_2984765728618440671[7] = 0;
|
||||
out_2984765728618440671[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6842929564652646104) {
|
||||
out_6842929564652646104[0] = 1;
|
||||
out_6842929564652646104[1] = 0;
|
||||
out_6842929564652646104[2] = 0;
|
||||
out_6842929564652646104[3] = 0;
|
||||
out_6842929564652646104[4] = 0;
|
||||
out_6842929564652646104[5] = 0;
|
||||
out_6842929564652646104[6] = 0;
|
||||
out_6842929564652646104[7] = 0;
|
||||
out_6842929564652646104[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7524465776080943032) {
|
||||
out_7524465776080943032[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7802501496365721740) {
|
||||
out_7802501496365721740[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_670889021758922734) {
|
||||
out_670889021758922734[0] = 0;
|
||||
out_670889021758922734[1] = 0;
|
||||
out_670889021758922734[2] = 0;
|
||||
out_670889021758922734[3] = 0;
|
||||
out_670889021758922734[4] = 0;
|
||||
out_670889021758922734[5] = 0;
|
||||
out_670889021758922734[6] = 0;
|
||||
out_670889021758922734[7] = 0;
|
||||
out_670889021758922734[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_9156806271512164041) {
|
||||
out_9156806271512164041[0] = 0;
|
||||
out_9156806271512164041[1] = 0;
|
||||
out_9156806271512164041[2] = 0;
|
||||
out_9156806271512164041[3] = 0;
|
||||
out_9156806271512164041[4] = 0;
|
||||
out_9156806271512164041[5] = 0;
|
||||
out_9156806271512164041[6] = 0;
|
||||
out_9156806271512164041[7] = 0;
|
||||
out_9156806271512164041[8] = 1;
|
||||
}
|
||||
#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_5457591731668657994) {
|
||||
err_fun(nom_x, delta_x, out_5457591731668657994);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2687587277675065552) {
|
||||
err_fun(nom_x, delta_x, out_2687587277675065552);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_625468362349040739) {
|
||||
inv_err_fun(nom_x, true_x, out_625468362349040739);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6222700140799525089) {
|
||||
inv_err_fun(nom_x, true_x, out_6222700140799525089);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_308877862146519903) {
|
||||
H_mod_fun(state, out_308877862146519903);
|
||||
void car_H_mod_fun(double *state, double *out_5736311190330935470) {
|
||||
H_mod_fun(state, out_5736311190330935470);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_9068006394827680313) {
|
||||
f_fun(state, dt, out_9068006394827680313);
|
||||
void car_f_fun(double *state, double dt, double *out_8059955085909907268) {
|
||||
f_fun(state, dt, out_8059955085909907268);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_203771605761279388) {
|
||||
F_fun(state, dt, out_203771605761279388);
|
||||
void car_F_fun(double *state, double dt, double *out_535217138807217635) {
|
||||
F_fun(state, dt, out_535217138807217635);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5131794037626248505) {
|
||||
h_25(state, unused, out_5131794037626248505);
|
||||
void car_h_25(double *state, double *unused, double *out_7527307434081215851) {
|
||||
h_25(state, unused, out_7527307434081215851);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_640243059881962306) {
|
||||
H_25(state, unused, out_640243059881962306);
|
||||
void car_H_25(double *state, double *unused, double *out_9187452233389124469) {
|
||||
H_25(state, unused, out_9187452233389124469);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_2029903564179396636) {
|
||||
h_24(state, unused, out_2029903564179396636);
|
||||
void car_h_24(double *state, double *unused, double *out_7476062049775574580) {
|
||||
h_24(state, unused, out_7476062049775574580);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_2865950843860830868) {
|
||||
H_24(state, unused, out_2865950843860830868);
|
||||
void car_H_24(double *state, double *unused, double *out_5629526634586801333) {
|
||||
H_24(state, unused, out_5629526634586801333);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_8651236171946894111) {
|
||||
h_30(state, unused, out_8651236171946894111);
|
||||
void car_h_30(double *state, double *unused, double *out_1371860238240555722) {
|
||||
h_30(state, unused, out_1371860238240555722);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_510904112738722236) {
|
||||
H_30(state, unused, out_510904112738722236);
|
||||
void car_H_30(double *state, double *unused, double *out_2270761891897507714) {
|
||||
H_30(state, unused, out_2270761891897507714);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_2252194654533044965) {
|
||||
h_26(state, unused, out_2252194654533044965);
|
||||
void car_h_26(double *state, double *unused, double *out_6063283196188145091) {
|
||||
h_26(state, unused, out_6063283196188145091);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_3101260258992093918) {
|
||||
H_26(state, unused, out_3101260258992093918);
|
||||
void car_H_26(double *state, double *unused, double *out_5517788521446370923) {
|
||||
H_26(state, unused, out_5517788521446370923);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3283700363150443165) {
|
||||
h_27(state, unused, out_3283700363150443165);
|
||||
void car_h_27(double *state, double *unused, double *out_8470817286982878286) {
|
||||
h_27(state, unused, out_8470817286982878286);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_1663859199061702675) {
|
||||
H_27(state, unused, out_1663859199061702675);
|
||||
void car_H_27(double *state, double *unused, double *out_4445525203697932625) {
|
||||
H_27(state, unused, out_4445525203697932625);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_3008506300865937276) {
|
||||
h_29(state, unused, out_3008506300865937276);
|
||||
void car_h_29(double *state, double *unused, double *out_7424449226025441418) {
|
||||
h_29(state, unused, out_7424449226025441418);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_1021135457053114420) {
|
||||
H_29(state, unused, out_1021135457053114420);
|
||||
void car_H_29(double *state, double *unused, double *out_1760530547583115530) {
|
||||
H_29(state, unused, out_1760530547583115530);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_5663871735784661514) {
|
||||
h_28(state, unused, out_5663871735784661514);
|
||||
void car_h_28(double *state, double *unused, double *out_2540783352297972517) {
|
||||
h_28(state, unused, out_2540783352297972517);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_2984765728618440671) {
|
||||
H_28(state, unused, out_2984765728618440671);
|
||||
void car_H_28(double *state, double *unused, double *out_6842929564652646104) {
|
||||
H_28(state, unused, out_6842929564652646104);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7524465776080943032) {
|
||||
h_31(state, unused, out_7524465776080943032);
|
||||
void car_h_31(double *state, double *unused, double *out_7802501496365721740) {
|
||||
h_31(state, unused, out_7802501496365721740);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_670889021758922734) {
|
||||
H_31(state, unused, out_670889021758922734);
|
||||
void car_H_31(double *state, double *unused, double *out_9156806271512164041) {
|
||||
H_31(state, unused, out_9156806271512164041);
|
||||
}
|
||||
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_5457591731668657994);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_625468362349040739);
|
||||
void car_H_mod_fun(double *state, double *out_308877862146519903);
|
||||
void car_f_fun(double *state, double dt, double *out_9068006394827680313);
|
||||
void car_F_fun(double *state, double dt, double *out_203771605761279388);
|
||||
void car_h_25(double *state, double *unused, double *out_5131794037626248505);
|
||||
void car_H_25(double *state, double *unused, double *out_640243059881962306);
|
||||
void car_h_24(double *state, double *unused, double *out_2029903564179396636);
|
||||
void car_H_24(double *state, double *unused, double *out_2865950843860830868);
|
||||
void car_h_30(double *state, double *unused, double *out_8651236171946894111);
|
||||
void car_H_30(double *state, double *unused, double *out_510904112738722236);
|
||||
void car_h_26(double *state, double *unused, double *out_2252194654533044965);
|
||||
void car_H_26(double *state, double *unused, double *out_3101260258992093918);
|
||||
void car_h_27(double *state, double *unused, double *out_3283700363150443165);
|
||||
void car_H_27(double *state, double *unused, double *out_1663859199061702675);
|
||||
void car_h_29(double *state, double *unused, double *out_3008506300865937276);
|
||||
void car_H_29(double *state, double *unused, double *out_1021135457053114420);
|
||||
void car_h_28(double *state, double *unused, double *out_5663871735784661514);
|
||||
void car_H_28(double *state, double *unused, double *out_2984765728618440671);
|
||||
void car_h_31(double *state, double *unused, double *out_7524465776080943032);
|
||||
void car_H_31(double *state, double *unused, double *out_670889021758922734);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2687587277675065552);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6222700140799525089);
|
||||
void car_H_mod_fun(double *state, double *out_5736311190330935470);
|
||||
void car_f_fun(double *state, double dt, double *out_8059955085909907268);
|
||||
void car_F_fun(double *state, double dt, double *out_535217138807217635);
|
||||
void car_h_25(double *state, double *unused, double *out_7527307434081215851);
|
||||
void car_H_25(double *state, double *unused, double *out_9187452233389124469);
|
||||
void car_h_24(double *state, double *unused, double *out_7476062049775574580);
|
||||
void car_H_24(double *state, double *unused, double *out_5629526634586801333);
|
||||
void car_h_30(double *state, double *unused, double *out_1371860238240555722);
|
||||
void car_H_30(double *state, double *unused, double *out_2270761891897507714);
|
||||
void car_h_26(double *state, double *unused, double *out_6063283196188145091);
|
||||
void car_H_26(double *state, double *unused, double *out_5517788521446370923);
|
||||
void car_h_27(double *state, double *unused, double *out_8470817286982878286);
|
||||
void car_H_27(double *state, double *unused, double *out_4445525203697932625);
|
||||
void car_h_29(double *state, double *unused, double *out_7424449226025441418);
|
||||
void car_H_29(double *state, double *unused, double *out_1760530547583115530);
|
||||
void car_h_28(double *state, double *unused, double *out_2540783352297972517);
|
||||
void car_H_28(double *state, double *unused, double *out_6842929564652646104);
|
||||
void car_h_31(double *state, double *unused, double *out_7802501496365721740);
|
||||
void car_H_31(double *state, double *unused, double *out_9156806271512164041);
|
||||
void car_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_3212432162194349052);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8973271523308122061);
|
||||
void pose_H_mod_fun(double *state, double *out_7731698092980355432);
|
||||
void pose_f_fun(double *state, double dt, double *out_8923016311880444304);
|
||||
void pose_F_fun(double *state, double dt, double *out_210116950988546947);
|
||||
void pose_h_4(double *state, double *unused, double *out_7648624411257127562);
|
||||
void pose_H_4(double *state, double *unused, double *out_3959890883136447860);
|
||||
void pose_h_10(double *state, double *unused, double *out_6099133755902511145);
|
||||
void pose_H_10(double *state, double *unused, double *out_2569809615037315587);
|
||||
void pose_h_13(double *state, double *unused, double *out_2653699383913433253);
|
||||
void pose_H_13(double *state, double *unused, double *out_747617057804115059);
|
||||
void pose_h_14(double *state, double *unused, double *out_7344654912082976031);
|
||||
void pose_H_14(double *state, double *unused, double *out_3349973203036669);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7389011504566069386);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6795243368226050386);
|
||||
void pose_H_mod_fun(double *state, double *out_6387810172757071512);
|
||||
void pose_f_fun(double *state, double dt, double *out_5190191951972352761);
|
||||
void pose_F_fun(double *state, double dt, double *out_3425534515038953406);
|
||||
void pose_h_4(double *state, double *unused, double *out_7576152197490450413);
|
||||
void pose_H_4(double *state, double *unused, double *out_3320737668869490966);
|
||||
void pose_h_10(double *state, double *unused, double *out_3130452913144701320);
|
||||
void pose_H_10(double *state, double *unused, double *out_2096220204218508864);
|
||||
void pose_h_13(double *state, double *unused, double *out_8767951916852656852);
|
||||
void pose_H_13(double *state, double *unused, double *out_108463843537158165);
|
||||
void pose_h_14(double *state, double *unused, double *out_7181242506613011838);
|
||||
void pose_H_14(double *state, double *unused, double *out_6403526101164863262);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Binary file not shown.
Reference in New Issue
Block a user