mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-01 19:42:07 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
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||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-93ec2a94-DEBUG";
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||||
const uint8_t gitversion[19] = "DEV-a9771a0e-DEBUG";
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||||
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||||
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@@ -1 +1 @@
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||||
DEV-93ec2a94-DEBUG
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||||
DEV-a9771a0e-DEBUG
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_7743770409471347977) {
|
||||
out_7743770409471347977[0] = delta_x[0] + nom_x[0];
|
||||
out_7743770409471347977[1] = delta_x[1] + nom_x[1];
|
||||
out_7743770409471347977[2] = delta_x[2] + nom_x[2];
|
||||
out_7743770409471347977[3] = delta_x[3] + nom_x[3];
|
||||
out_7743770409471347977[4] = delta_x[4] + nom_x[4];
|
||||
out_7743770409471347977[5] = delta_x[5] + nom_x[5];
|
||||
out_7743770409471347977[6] = delta_x[6] + nom_x[6];
|
||||
out_7743770409471347977[7] = delta_x[7] + nom_x[7];
|
||||
out_7743770409471347977[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_7709214462285076644) {
|
||||
out_7709214462285076644[0] = delta_x[0] + nom_x[0];
|
||||
out_7709214462285076644[1] = delta_x[1] + nom_x[1];
|
||||
out_7709214462285076644[2] = delta_x[2] + nom_x[2];
|
||||
out_7709214462285076644[3] = delta_x[3] + nom_x[3];
|
||||
out_7709214462285076644[4] = delta_x[4] + nom_x[4];
|
||||
out_7709214462285076644[5] = delta_x[5] + nom_x[5];
|
||||
out_7709214462285076644[6] = delta_x[6] + nom_x[6];
|
||||
out_7709214462285076644[7] = delta_x[7] + nom_x[7];
|
||||
out_7709214462285076644[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_5655670642369359584) {
|
||||
out_5655670642369359584[0] = -nom_x[0] + true_x[0];
|
||||
out_5655670642369359584[1] = -nom_x[1] + true_x[1];
|
||||
out_5655670642369359584[2] = -nom_x[2] + true_x[2];
|
||||
out_5655670642369359584[3] = -nom_x[3] + true_x[3];
|
||||
out_5655670642369359584[4] = -nom_x[4] + true_x[4];
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||||
out_5655670642369359584[5] = -nom_x[5] + true_x[5];
|
||||
out_5655670642369359584[6] = -nom_x[6] + true_x[6];
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||||
out_5655670642369359584[7] = -nom_x[7] + true_x[7];
|
||||
out_5655670642369359584[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_181432404984807710) {
|
||||
out_181432404984807710[0] = -nom_x[0] + true_x[0];
|
||||
out_181432404984807710[1] = -nom_x[1] + true_x[1];
|
||||
out_181432404984807710[2] = -nom_x[2] + true_x[2];
|
||||
out_181432404984807710[3] = -nom_x[3] + true_x[3];
|
||||
out_181432404984807710[4] = -nom_x[4] + true_x[4];
|
||||
out_181432404984807710[5] = -nom_x[5] + true_x[5];
|
||||
out_181432404984807710[6] = -nom_x[6] + true_x[6];
|
||||
out_181432404984807710[7] = -nom_x[7] + true_x[7];
|
||||
out_181432404984807710[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_6127138549200260168) {
|
||||
out_6127138549200260168[0] = 1.0;
|
||||
out_6127138549200260168[1] = 0.0;
|
||||
out_6127138549200260168[2] = 0.0;
|
||||
out_6127138549200260168[3] = 0.0;
|
||||
out_6127138549200260168[4] = 0.0;
|
||||
out_6127138549200260168[5] = 0.0;
|
||||
out_6127138549200260168[6] = 0.0;
|
||||
out_6127138549200260168[7] = 0.0;
|
||||
out_6127138549200260168[8] = 0.0;
|
||||
out_6127138549200260168[9] = 0.0;
|
||||
out_6127138549200260168[10] = 1.0;
|
||||
out_6127138549200260168[11] = 0.0;
|
||||
out_6127138549200260168[12] = 0.0;
|
||||
out_6127138549200260168[13] = 0.0;
|
||||
out_6127138549200260168[14] = 0.0;
|
||||
out_6127138549200260168[15] = 0.0;
|
||||
out_6127138549200260168[16] = 0.0;
|
||||
out_6127138549200260168[17] = 0.0;
|
||||
out_6127138549200260168[18] = 0.0;
|
||||
out_6127138549200260168[19] = 0.0;
|
||||
out_6127138549200260168[20] = 1.0;
|
||||
out_6127138549200260168[21] = 0.0;
|
||||
out_6127138549200260168[22] = 0.0;
|
||||
out_6127138549200260168[23] = 0.0;
|
||||
out_6127138549200260168[24] = 0.0;
|
||||
out_6127138549200260168[25] = 0.0;
|
||||
out_6127138549200260168[26] = 0.0;
|
||||
out_6127138549200260168[27] = 0.0;
|
||||
out_6127138549200260168[28] = 0.0;
|
||||
out_6127138549200260168[29] = 0.0;
|
||||
out_6127138549200260168[30] = 1.0;
|
||||
out_6127138549200260168[31] = 0.0;
|
||||
out_6127138549200260168[32] = 0.0;
|
||||
out_6127138549200260168[33] = 0.0;
|
||||
out_6127138549200260168[34] = 0.0;
|
||||
out_6127138549200260168[35] = 0.0;
|
||||
out_6127138549200260168[36] = 0.0;
|
||||
out_6127138549200260168[37] = 0.0;
|
||||
out_6127138549200260168[38] = 0.0;
|
||||
out_6127138549200260168[39] = 0.0;
|
||||
out_6127138549200260168[40] = 1.0;
|
||||
out_6127138549200260168[41] = 0.0;
|
||||
out_6127138549200260168[42] = 0.0;
|
||||
out_6127138549200260168[43] = 0.0;
|
||||
out_6127138549200260168[44] = 0.0;
|
||||
out_6127138549200260168[45] = 0.0;
|
||||
out_6127138549200260168[46] = 0.0;
|
||||
out_6127138549200260168[47] = 0.0;
|
||||
out_6127138549200260168[48] = 0.0;
|
||||
out_6127138549200260168[49] = 0.0;
|
||||
out_6127138549200260168[50] = 1.0;
|
||||
out_6127138549200260168[51] = 0.0;
|
||||
out_6127138549200260168[52] = 0.0;
|
||||
out_6127138549200260168[53] = 0.0;
|
||||
out_6127138549200260168[54] = 0.0;
|
||||
out_6127138549200260168[55] = 0.0;
|
||||
out_6127138549200260168[56] = 0.0;
|
||||
out_6127138549200260168[57] = 0.0;
|
||||
out_6127138549200260168[58] = 0.0;
|
||||
out_6127138549200260168[59] = 0.0;
|
||||
out_6127138549200260168[60] = 1.0;
|
||||
out_6127138549200260168[61] = 0.0;
|
||||
out_6127138549200260168[62] = 0.0;
|
||||
out_6127138549200260168[63] = 0.0;
|
||||
out_6127138549200260168[64] = 0.0;
|
||||
out_6127138549200260168[65] = 0.0;
|
||||
out_6127138549200260168[66] = 0.0;
|
||||
out_6127138549200260168[67] = 0.0;
|
||||
out_6127138549200260168[68] = 0.0;
|
||||
out_6127138549200260168[69] = 0.0;
|
||||
out_6127138549200260168[70] = 1.0;
|
||||
out_6127138549200260168[71] = 0.0;
|
||||
out_6127138549200260168[72] = 0.0;
|
||||
out_6127138549200260168[73] = 0.0;
|
||||
out_6127138549200260168[74] = 0.0;
|
||||
out_6127138549200260168[75] = 0.0;
|
||||
out_6127138549200260168[76] = 0.0;
|
||||
out_6127138549200260168[77] = 0.0;
|
||||
out_6127138549200260168[78] = 0.0;
|
||||
out_6127138549200260168[79] = 0.0;
|
||||
out_6127138549200260168[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8282876149494425233) {
|
||||
out_8282876149494425233[0] = 1.0;
|
||||
out_8282876149494425233[1] = 0.0;
|
||||
out_8282876149494425233[2] = 0.0;
|
||||
out_8282876149494425233[3] = 0.0;
|
||||
out_8282876149494425233[4] = 0.0;
|
||||
out_8282876149494425233[5] = 0.0;
|
||||
out_8282876149494425233[6] = 0.0;
|
||||
out_8282876149494425233[7] = 0.0;
|
||||
out_8282876149494425233[8] = 0.0;
|
||||
out_8282876149494425233[9] = 0.0;
|
||||
out_8282876149494425233[10] = 1.0;
|
||||
out_8282876149494425233[11] = 0.0;
|
||||
out_8282876149494425233[12] = 0.0;
|
||||
out_8282876149494425233[13] = 0.0;
|
||||
out_8282876149494425233[14] = 0.0;
|
||||
out_8282876149494425233[15] = 0.0;
|
||||
out_8282876149494425233[16] = 0.0;
|
||||
out_8282876149494425233[17] = 0.0;
|
||||
out_8282876149494425233[18] = 0.0;
|
||||
out_8282876149494425233[19] = 0.0;
|
||||
out_8282876149494425233[20] = 1.0;
|
||||
out_8282876149494425233[21] = 0.0;
|
||||
out_8282876149494425233[22] = 0.0;
|
||||
out_8282876149494425233[23] = 0.0;
|
||||
out_8282876149494425233[24] = 0.0;
|
||||
out_8282876149494425233[25] = 0.0;
|
||||
out_8282876149494425233[26] = 0.0;
|
||||
out_8282876149494425233[27] = 0.0;
|
||||
out_8282876149494425233[28] = 0.0;
|
||||
out_8282876149494425233[29] = 0.0;
|
||||
out_8282876149494425233[30] = 1.0;
|
||||
out_8282876149494425233[31] = 0.0;
|
||||
out_8282876149494425233[32] = 0.0;
|
||||
out_8282876149494425233[33] = 0.0;
|
||||
out_8282876149494425233[34] = 0.0;
|
||||
out_8282876149494425233[35] = 0.0;
|
||||
out_8282876149494425233[36] = 0.0;
|
||||
out_8282876149494425233[37] = 0.0;
|
||||
out_8282876149494425233[38] = 0.0;
|
||||
out_8282876149494425233[39] = 0.0;
|
||||
out_8282876149494425233[40] = 1.0;
|
||||
out_8282876149494425233[41] = 0.0;
|
||||
out_8282876149494425233[42] = 0.0;
|
||||
out_8282876149494425233[43] = 0.0;
|
||||
out_8282876149494425233[44] = 0.0;
|
||||
out_8282876149494425233[45] = 0.0;
|
||||
out_8282876149494425233[46] = 0.0;
|
||||
out_8282876149494425233[47] = 0.0;
|
||||
out_8282876149494425233[48] = 0.0;
|
||||
out_8282876149494425233[49] = 0.0;
|
||||
out_8282876149494425233[50] = 1.0;
|
||||
out_8282876149494425233[51] = 0.0;
|
||||
out_8282876149494425233[52] = 0.0;
|
||||
out_8282876149494425233[53] = 0.0;
|
||||
out_8282876149494425233[54] = 0.0;
|
||||
out_8282876149494425233[55] = 0.0;
|
||||
out_8282876149494425233[56] = 0.0;
|
||||
out_8282876149494425233[57] = 0.0;
|
||||
out_8282876149494425233[58] = 0.0;
|
||||
out_8282876149494425233[59] = 0.0;
|
||||
out_8282876149494425233[60] = 1.0;
|
||||
out_8282876149494425233[61] = 0.0;
|
||||
out_8282876149494425233[62] = 0.0;
|
||||
out_8282876149494425233[63] = 0.0;
|
||||
out_8282876149494425233[64] = 0.0;
|
||||
out_8282876149494425233[65] = 0.0;
|
||||
out_8282876149494425233[66] = 0.0;
|
||||
out_8282876149494425233[67] = 0.0;
|
||||
out_8282876149494425233[68] = 0.0;
|
||||
out_8282876149494425233[69] = 0.0;
|
||||
out_8282876149494425233[70] = 1.0;
|
||||
out_8282876149494425233[71] = 0.0;
|
||||
out_8282876149494425233[72] = 0.0;
|
||||
out_8282876149494425233[73] = 0.0;
|
||||
out_8282876149494425233[74] = 0.0;
|
||||
out_8282876149494425233[75] = 0.0;
|
||||
out_8282876149494425233[76] = 0.0;
|
||||
out_8282876149494425233[77] = 0.0;
|
||||
out_8282876149494425233[78] = 0.0;
|
||||
out_8282876149494425233[79] = 0.0;
|
||||
out_8282876149494425233[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_7372877337496608143) {
|
||||
out_7372877337496608143[0] = state[0];
|
||||
out_7372877337496608143[1] = state[1];
|
||||
out_7372877337496608143[2] = state[2];
|
||||
out_7372877337496608143[3] = state[3];
|
||||
out_7372877337496608143[4] = state[4];
|
||||
out_7372877337496608143[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_7372877337496608143[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_7372877337496608143[7] = state[7];
|
||||
out_7372877337496608143[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_1683945396559752472) {
|
||||
out_1683945396559752472[0] = state[0];
|
||||
out_1683945396559752472[1] = state[1];
|
||||
out_1683945396559752472[2] = state[2];
|
||||
out_1683945396559752472[3] = state[3];
|
||||
out_1683945396559752472[4] = state[4];
|
||||
out_1683945396559752472[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_1683945396559752472[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_1683945396559752472[7] = state[7];
|
||||
out_1683945396559752472[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_6312844150465459340) {
|
||||
out_6312844150465459340[0] = 1;
|
||||
out_6312844150465459340[1] = 0;
|
||||
out_6312844150465459340[2] = 0;
|
||||
out_6312844150465459340[3] = 0;
|
||||
out_6312844150465459340[4] = 0;
|
||||
out_6312844150465459340[5] = 0;
|
||||
out_6312844150465459340[6] = 0;
|
||||
out_6312844150465459340[7] = 0;
|
||||
out_6312844150465459340[8] = 0;
|
||||
out_6312844150465459340[9] = 0;
|
||||
out_6312844150465459340[10] = 1;
|
||||
out_6312844150465459340[11] = 0;
|
||||
out_6312844150465459340[12] = 0;
|
||||
out_6312844150465459340[13] = 0;
|
||||
out_6312844150465459340[14] = 0;
|
||||
out_6312844150465459340[15] = 0;
|
||||
out_6312844150465459340[16] = 0;
|
||||
out_6312844150465459340[17] = 0;
|
||||
out_6312844150465459340[18] = 0;
|
||||
out_6312844150465459340[19] = 0;
|
||||
out_6312844150465459340[20] = 1;
|
||||
out_6312844150465459340[21] = 0;
|
||||
out_6312844150465459340[22] = 0;
|
||||
out_6312844150465459340[23] = 0;
|
||||
out_6312844150465459340[24] = 0;
|
||||
out_6312844150465459340[25] = 0;
|
||||
out_6312844150465459340[26] = 0;
|
||||
out_6312844150465459340[27] = 0;
|
||||
out_6312844150465459340[28] = 0;
|
||||
out_6312844150465459340[29] = 0;
|
||||
out_6312844150465459340[30] = 1;
|
||||
out_6312844150465459340[31] = 0;
|
||||
out_6312844150465459340[32] = 0;
|
||||
out_6312844150465459340[33] = 0;
|
||||
out_6312844150465459340[34] = 0;
|
||||
out_6312844150465459340[35] = 0;
|
||||
out_6312844150465459340[36] = 0;
|
||||
out_6312844150465459340[37] = 0;
|
||||
out_6312844150465459340[38] = 0;
|
||||
out_6312844150465459340[39] = 0;
|
||||
out_6312844150465459340[40] = 1;
|
||||
out_6312844150465459340[41] = 0;
|
||||
out_6312844150465459340[42] = 0;
|
||||
out_6312844150465459340[43] = 0;
|
||||
out_6312844150465459340[44] = 0;
|
||||
out_6312844150465459340[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_6312844150465459340[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6312844150465459340[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6312844150465459340[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6312844150465459340[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_6312844150465459340[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6312844150465459340[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6312844150465459340[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6312844150465459340[53] = -9.8100000000000005*dt;
|
||||
out_6312844150465459340[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_6312844150465459340[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6312844150465459340[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6312844150465459340[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6312844150465459340[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_6312844150465459340[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6312844150465459340[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_6312844150465459340[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6312844150465459340[62] = 0;
|
||||
out_6312844150465459340[63] = 0;
|
||||
out_6312844150465459340[64] = 0;
|
||||
out_6312844150465459340[65] = 0;
|
||||
out_6312844150465459340[66] = 0;
|
||||
out_6312844150465459340[67] = 0;
|
||||
out_6312844150465459340[68] = 0;
|
||||
out_6312844150465459340[69] = 0;
|
||||
out_6312844150465459340[70] = 1;
|
||||
out_6312844150465459340[71] = 0;
|
||||
out_6312844150465459340[72] = 0;
|
||||
out_6312844150465459340[73] = 0;
|
||||
out_6312844150465459340[74] = 0;
|
||||
out_6312844150465459340[75] = 0;
|
||||
out_6312844150465459340[76] = 0;
|
||||
out_6312844150465459340[77] = 0;
|
||||
out_6312844150465459340[78] = 0;
|
||||
out_6312844150465459340[79] = 0;
|
||||
out_6312844150465459340[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_239932902801011581) {
|
||||
out_239932902801011581[0] = 1;
|
||||
out_239932902801011581[1] = 0;
|
||||
out_239932902801011581[2] = 0;
|
||||
out_239932902801011581[3] = 0;
|
||||
out_239932902801011581[4] = 0;
|
||||
out_239932902801011581[5] = 0;
|
||||
out_239932902801011581[6] = 0;
|
||||
out_239932902801011581[7] = 0;
|
||||
out_239932902801011581[8] = 0;
|
||||
out_239932902801011581[9] = 0;
|
||||
out_239932902801011581[10] = 1;
|
||||
out_239932902801011581[11] = 0;
|
||||
out_239932902801011581[12] = 0;
|
||||
out_239932902801011581[13] = 0;
|
||||
out_239932902801011581[14] = 0;
|
||||
out_239932902801011581[15] = 0;
|
||||
out_239932902801011581[16] = 0;
|
||||
out_239932902801011581[17] = 0;
|
||||
out_239932902801011581[18] = 0;
|
||||
out_239932902801011581[19] = 0;
|
||||
out_239932902801011581[20] = 1;
|
||||
out_239932902801011581[21] = 0;
|
||||
out_239932902801011581[22] = 0;
|
||||
out_239932902801011581[23] = 0;
|
||||
out_239932902801011581[24] = 0;
|
||||
out_239932902801011581[25] = 0;
|
||||
out_239932902801011581[26] = 0;
|
||||
out_239932902801011581[27] = 0;
|
||||
out_239932902801011581[28] = 0;
|
||||
out_239932902801011581[29] = 0;
|
||||
out_239932902801011581[30] = 1;
|
||||
out_239932902801011581[31] = 0;
|
||||
out_239932902801011581[32] = 0;
|
||||
out_239932902801011581[33] = 0;
|
||||
out_239932902801011581[34] = 0;
|
||||
out_239932902801011581[35] = 0;
|
||||
out_239932902801011581[36] = 0;
|
||||
out_239932902801011581[37] = 0;
|
||||
out_239932902801011581[38] = 0;
|
||||
out_239932902801011581[39] = 0;
|
||||
out_239932902801011581[40] = 1;
|
||||
out_239932902801011581[41] = 0;
|
||||
out_239932902801011581[42] = 0;
|
||||
out_239932902801011581[43] = 0;
|
||||
out_239932902801011581[44] = 0;
|
||||
out_239932902801011581[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_239932902801011581[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_239932902801011581[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_239932902801011581[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_239932902801011581[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_239932902801011581[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_239932902801011581[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_239932902801011581[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_239932902801011581[53] = -9.8100000000000005*dt;
|
||||
out_239932902801011581[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_239932902801011581[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_239932902801011581[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_239932902801011581[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_239932902801011581[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_239932902801011581[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_239932902801011581[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_239932902801011581[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_239932902801011581[62] = 0;
|
||||
out_239932902801011581[63] = 0;
|
||||
out_239932902801011581[64] = 0;
|
||||
out_239932902801011581[65] = 0;
|
||||
out_239932902801011581[66] = 0;
|
||||
out_239932902801011581[67] = 0;
|
||||
out_239932902801011581[68] = 0;
|
||||
out_239932902801011581[69] = 0;
|
||||
out_239932902801011581[70] = 1;
|
||||
out_239932902801011581[71] = 0;
|
||||
out_239932902801011581[72] = 0;
|
||||
out_239932902801011581[73] = 0;
|
||||
out_239932902801011581[74] = 0;
|
||||
out_239932902801011581[75] = 0;
|
||||
out_239932902801011581[76] = 0;
|
||||
out_239932902801011581[77] = 0;
|
||||
out_239932902801011581[78] = 0;
|
||||
out_239932902801011581[79] = 0;
|
||||
out_239932902801011581[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5527658313899534193) {
|
||||
out_5527658313899534193[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_2505292091765311779) {
|
||||
out_2505292091765311779[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_6632472991400556880) {
|
||||
out_6632472991400556880[0] = 0;
|
||||
out_6632472991400556880[1] = 0;
|
||||
out_6632472991400556880[2] = 0;
|
||||
out_6632472991400556880[3] = 0;
|
||||
out_6632472991400556880[4] = 0;
|
||||
out_6632472991400556880[5] = 0;
|
||||
out_6632472991400556880[6] = 1;
|
||||
out_6632472991400556880[7] = 0;
|
||||
out_6632472991400556880[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_910312076417812004) {
|
||||
out_910312076417812004[0] = 0;
|
||||
out_910312076417812004[1] = 0;
|
||||
out_910312076417812004[2] = 0;
|
||||
out_910312076417812004[3] = 0;
|
||||
out_910312076417812004[4] = 0;
|
||||
out_910312076417812004[5] = 0;
|
||||
out_910312076417812004[6] = 1;
|
||||
out_910312076417812004[7] = 0;
|
||||
out_910312076417812004[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_8053196144855152976) {
|
||||
out_8053196144855152976[0] = state[4];
|
||||
out_8053196144855152976[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_484124202729088643) {
|
||||
out_484124202729088643[0] = state[4];
|
||||
out_484124202729088643[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_5238699275717476635) {
|
||||
out_5238699275717476635[0] = 0;
|
||||
out_5238699275717476635[1] = 0;
|
||||
out_5238699275717476635[2] = 0;
|
||||
out_5238699275717476635[3] = 0;
|
||||
out_5238699275717476635[4] = 1;
|
||||
out_5238699275717476635[5] = 0;
|
||||
out_5238699275717476635[6] = 0;
|
||||
out_5238699275717476635[7] = 0;
|
||||
out_5238699275717476635[8] = 0;
|
||||
out_5238699275717476635[9] = 0;
|
||||
out_5238699275717476635[10] = 0;
|
||||
out_5238699275717476635[11] = 0;
|
||||
out_5238699275717476635[12] = 0;
|
||||
out_5238699275717476635[13] = 0;
|
||||
out_5238699275717476635[14] = 1;
|
||||
out_5238699275717476635[15] = 0;
|
||||
out_5238699275717476635[16] = 0;
|
||||
out_5238699275717476635[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1315395707561056558) {
|
||||
out_1315395707561056558[0] = 0;
|
||||
out_1315395707561056558[1] = 0;
|
||||
out_1315395707561056558[2] = 0;
|
||||
out_1315395707561056558[3] = 0;
|
||||
out_1315395707561056558[4] = 1;
|
||||
out_1315395707561056558[5] = 0;
|
||||
out_1315395707561056558[6] = 0;
|
||||
out_1315395707561056558[7] = 0;
|
||||
out_1315395707561056558[8] = 0;
|
||||
out_1315395707561056558[9] = 0;
|
||||
out_1315395707561056558[10] = 0;
|
||||
out_1315395707561056558[11] = 0;
|
||||
out_1315395707561056558[12] = 0;
|
||||
out_1315395707561056558[13] = 0;
|
||||
out_1315395707561056558[14] = 1;
|
||||
out_1315395707561056558[15] = 0;
|
||||
out_1315395707561056558[16] = 0;
|
||||
out_1315395707561056558[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5715869802824031453) {
|
||||
out_5715869802824031453[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_2556252205875338366) {
|
||||
out_2556252205875338366[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_4897580740817377981) {
|
||||
out_4897580740817377981[0] = 0;
|
||||
out_4897580740817377981[1] = 0;
|
||||
out_4897580740817377981[2] = 0;
|
||||
out_4897580740817377981[3] = 0;
|
||||
out_4897580740817377981[4] = 1;
|
||||
out_4897580740817377981[5] = 0;
|
||||
out_4897580740817377981[6] = 0;
|
||||
out_4897580740817377981[7] = 0;
|
||||
out_4897580740817377981[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6006378265073804751) {
|
||||
out_6006378265073804751[0] = 0;
|
||||
out_6006378265073804751[1] = 0;
|
||||
out_6006378265073804751[2] = 0;
|
||||
out_6006378265073804751[3] = 0;
|
||||
out_6006378265073804751[4] = 1;
|
||||
out_6006378265073804751[5] = 0;
|
||||
out_6006378265073804751[6] = 0;
|
||||
out_6006378265073804751[7] = 0;
|
||||
out_6006378265073804751[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_1526064504003558173) {
|
||||
out_1526064504003558173[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_1841699875406290646) {
|
||||
out_1841699875406290646[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_2890969672526500656) {
|
||||
out_2890969672526500656[0] = 0;
|
||||
out_2890969672526500656[1] = 0;
|
||||
out_2890969672526500656[2] = 0;
|
||||
out_2890969672526500656[3] = 0;
|
||||
out_2890969672526500656[4] = 0;
|
||||
out_2890969672526500656[5] = 0;
|
||||
out_2890969672526500656[6] = 0;
|
||||
out_2890969672526500656[7] = 1;
|
||||
out_2890969672526500656[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_4651815395291868228) {
|
||||
out_4651815395291868228[0] = 0;
|
||||
out_4651815395291868228[1] = 0;
|
||||
out_4651815395291868228[2] = 0;
|
||||
out_4651815395291868228[3] = 0;
|
||||
out_4651815395291868228[4] = 0;
|
||||
out_4651815395291868228[5] = 0;
|
||||
out_4651815395291868228[6] = 0;
|
||||
out_4651815395291868228[7] = 1;
|
||||
out_4651815395291868228[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_8564444365343866878) {
|
||||
out_8564444365343866878[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_3893749425648537367) {
|
||||
out_3893749425648537367[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_7072344052617802892) {
|
||||
out_7072344052617802892[0] = 0;
|
||||
out_7072344052617802892[1] = 0;
|
||||
out_7072344052617802892[2] = 0;
|
||||
out_7072344052617802892[3] = 1;
|
||||
out_7072344052617802892[4] = 0;
|
||||
out_7072344052617802892[5] = 0;
|
||||
out_7072344052617802892[6] = 0;
|
||||
out_7072344052617802892[7] = 0;
|
||||
out_7072344052617802892[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_3831614953273379840) {
|
||||
out_3831614953273379840[0] = 0;
|
||||
out_3831614953273379840[1] = 0;
|
||||
out_3831614953273379840[2] = 0;
|
||||
out_3831614953273379840[3] = 1;
|
||||
out_3831614953273379840[4] = 0;
|
||||
out_3831614953273379840[5] = 0;
|
||||
out_3831614953273379840[6] = 0;
|
||||
out_3831614953273379840[7] = 0;
|
||||
out_3831614953273379840[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_683171714589817693) {
|
||||
out_683171714589817693[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_7782159421710663313) {
|
||||
out_7782159421710663313[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_4387349396502985797) {
|
||||
out_4387349396502985797[0] = 0;
|
||||
out_4387349396502985797[1] = 1;
|
||||
out_4387349396502985797[2] = 0;
|
||||
out_4387349396502985797[3] = 0;
|
||||
out_4387349396502985797[4] = 0;
|
||||
out_4387349396502985797[5] = 0;
|
||||
out_4387349396502985797[6] = 0;
|
||||
out_4387349396502985797[7] = 0;
|
||||
out_4387349396502985797[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_6516609609388196935) {
|
||||
out_6516609609388196935[0] = 0;
|
||||
out_6516609609388196935[1] = 1;
|
||||
out_6516609609388196935[2] = 0;
|
||||
out_6516609609388196935[3] = 0;
|
||||
out_6516609609388196935[4] = 0;
|
||||
out_6516609609388196935[5] = 0;
|
||||
out_6516609609388196935[6] = 0;
|
||||
out_6516609609388196935[7] = 0;
|
||||
out_6516609609388196935[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_8938789855464022303) {
|
||||
out_8938789855464022303[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_5061493226724679104) {
|
||||
out_5061493226724679104[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_8976995660137035245) {
|
||||
out_8976995660137035245[0] = 1;
|
||||
out_8976995660137035245[1] = 0;
|
||||
out_8976995660137035245[2] = 0;
|
||||
out_8976995660137035245[3] = 0;
|
||||
out_8976995660137035245[4] = 0;
|
||||
out_8976995660137035245[5] = 0;
|
||||
out_8976995660137035245[6] = 0;
|
||||
out_8976995660137035245[7] = 0;
|
||||
out_8976995660137035245[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_1434210592318666361) {
|
||||
out_1434210592318666361[0] = 1;
|
||||
out_1434210592318666361[1] = 0;
|
||||
out_1434210592318666361[2] = 0;
|
||||
out_1434210592318666361[3] = 0;
|
||||
out_1434210592318666361[4] = 0;
|
||||
out_1434210592318666361[5] = 0;
|
||||
out_1434210592318666361[6] = 0;
|
||||
out_1434210592318666361[7] = 0;
|
||||
out_1434210592318666361[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_6331257833333722260) {
|
||||
out_6331257833333722260[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7444791300680499845) {
|
||||
out_7444791300680499845[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_6663118953277517308) {
|
||||
out_6663118953277517308[0] = 0;
|
||||
out_6663118953277517308[1] = 0;
|
||||
out_6663118953277517308[2] = 0;
|
||||
out_6663118953277517308[3] = 0;
|
||||
out_6663118953277517308[4] = 0;
|
||||
out_6663118953277517308[5] = 0;
|
||||
out_6663118953277517308[6] = 0;
|
||||
out_6663118953277517308[7] = 0;
|
||||
out_6663118953277517308[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_879666114540851576) {
|
||||
out_879666114540851576[0] = 0;
|
||||
out_879666114540851576[1] = 0;
|
||||
out_879666114540851576[2] = 0;
|
||||
out_879666114540851576[3] = 0;
|
||||
out_879666114540851576[4] = 0;
|
||||
out_879666114540851576[5] = 0;
|
||||
out_879666114540851576[6] = 0;
|
||||
out_879666114540851576[7] = 0;
|
||||
out_879666114540851576[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_7743770409471347977) {
|
||||
err_fun(nom_x, delta_x, out_7743770409471347977);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7709214462285076644) {
|
||||
err_fun(nom_x, delta_x, out_7709214462285076644);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5655670642369359584) {
|
||||
inv_err_fun(nom_x, true_x, out_5655670642369359584);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_181432404984807710) {
|
||||
inv_err_fun(nom_x, true_x, out_181432404984807710);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_6127138549200260168) {
|
||||
H_mod_fun(state, out_6127138549200260168);
|
||||
void car_H_mod_fun(double *state, double *out_8282876149494425233) {
|
||||
H_mod_fun(state, out_8282876149494425233);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_7372877337496608143) {
|
||||
f_fun(state, dt, out_7372877337496608143);
|
||||
void car_f_fun(double *state, double dt, double *out_1683945396559752472) {
|
||||
f_fun(state, dt, out_1683945396559752472);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6312844150465459340) {
|
||||
F_fun(state, dt, out_6312844150465459340);
|
||||
void car_F_fun(double *state, double dt, double *out_239932902801011581) {
|
||||
F_fun(state, dt, out_239932902801011581);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5527658313899534193) {
|
||||
h_25(state, unused, out_5527658313899534193);
|
||||
void car_h_25(double *state, double *unused, double *out_2505292091765311779) {
|
||||
h_25(state, unused, out_2505292091765311779);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_6632472991400556880) {
|
||||
H_25(state, unused, out_6632472991400556880);
|
||||
void car_H_25(double *state, double *unused, double *out_910312076417812004) {
|
||||
H_25(state, unused, out_910312076417812004);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_8053196144855152976) {
|
||||
h_24(state, unused, out_8053196144855152976);
|
||||
void car_h_24(double *state, double *unused, double *out_484124202729088643) {
|
||||
h_24(state, unused, out_484124202729088643);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_5238699275717476635) {
|
||||
H_24(state, unused, out_5238699275717476635);
|
||||
void car_H_24(double *state, double *unused, double *out_1315395707561056558) {
|
||||
H_24(state, unused, out_1315395707561056558);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5715869802824031453) {
|
||||
h_30(state, unused, out_5715869802824031453);
|
||||
void car_h_30(double *state, double *unused, double *out_2556252205875338366) {
|
||||
h_30(state, unused, out_2556252205875338366);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_4897580740817377981) {
|
||||
H_30(state, unused, out_4897580740817377981);
|
||||
void car_H_30(double *state, double *unused, double *out_6006378265073804751) {
|
||||
H_30(state, unused, out_6006378265073804751);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_1526064504003558173) {
|
||||
h_26(state, unused, out_1526064504003558173);
|
||||
void car_h_26(double *state, double *unused, double *out_1841699875406290646) {
|
||||
h_26(state, unused, out_1841699875406290646);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_2890969672526500656) {
|
||||
H_26(state, unused, out_2890969672526500656);
|
||||
void car_H_26(double *state, double *unused, double *out_4651815395291868228) {
|
||||
H_26(state, unused, out_4651815395291868228);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_8564444365343866878) {
|
||||
h_27(state, unused, out_8564444365343866878);
|
||||
void car_h_27(double *state, double *unused, double *out_3893749425648537367) {
|
||||
h_27(state, unused, out_3893749425648537367);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_7072344052617802892) {
|
||||
H_27(state, unused, out_7072344052617802892);
|
||||
void car_H_27(double *state, double *unused, double *out_3831614953273379840) {
|
||||
H_27(state, unused, out_3831614953273379840);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_683171714589817693) {
|
||||
h_29(state, unused, out_683171714589817693);
|
||||
void car_h_29(double *state, double *unused, double *out_7782159421710663313) {
|
||||
h_29(state, unused, out_7782159421710663313);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_4387349396502985797) {
|
||||
H_29(state, unused, out_4387349396502985797);
|
||||
void car_H_29(double *state, double *unused, double *out_6516609609388196935) {
|
||||
H_29(state, unused, out_6516609609388196935);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_8938789855464022303) {
|
||||
h_28(state, unused, out_8938789855464022303);
|
||||
void car_h_28(double *state, double *unused, double *out_5061493226724679104) {
|
||||
h_28(state, unused, out_5061493226724679104);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_8976995660137035245) {
|
||||
H_28(state, unused, out_8976995660137035245);
|
||||
void car_H_28(double *state, double *unused, double *out_1434210592318666361) {
|
||||
H_28(state, unused, out_1434210592318666361);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_6331257833333722260) {
|
||||
h_31(state, unused, out_6331257833333722260);
|
||||
void car_h_31(double *state, double *unused, double *out_7444791300680499845) {
|
||||
h_31(state, unused, out_7444791300680499845);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_6663118953277517308) {
|
||||
H_31(state, unused, out_6663118953277517308);
|
||||
void car_H_31(double *state, double *unused, double *out_879666114540851576) {
|
||||
H_31(state, unused, out_879666114540851576);
|
||||
}
|
||||
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_7743770409471347977);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5655670642369359584);
|
||||
void car_H_mod_fun(double *state, double *out_6127138549200260168);
|
||||
void car_f_fun(double *state, double dt, double *out_7372877337496608143);
|
||||
void car_F_fun(double *state, double dt, double *out_6312844150465459340);
|
||||
void car_h_25(double *state, double *unused, double *out_5527658313899534193);
|
||||
void car_H_25(double *state, double *unused, double *out_6632472991400556880);
|
||||
void car_h_24(double *state, double *unused, double *out_8053196144855152976);
|
||||
void car_H_24(double *state, double *unused, double *out_5238699275717476635);
|
||||
void car_h_30(double *state, double *unused, double *out_5715869802824031453);
|
||||
void car_H_30(double *state, double *unused, double *out_4897580740817377981);
|
||||
void car_h_26(double *state, double *unused, double *out_1526064504003558173);
|
||||
void car_H_26(double *state, double *unused, double *out_2890969672526500656);
|
||||
void car_h_27(double *state, double *unused, double *out_8564444365343866878);
|
||||
void car_H_27(double *state, double *unused, double *out_7072344052617802892);
|
||||
void car_h_29(double *state, double *unused, double *out_683171714589817693);
|
||||
void car_H_29(double *state, double *unused, double *out_4387349396502985797);
|
||||
void car_h_28(double *state, double *unused, double *out_8938789855464022303);
|
||||
void car_H_28(double *state, double *unused, double *out_8976995660137035245);
|
||||
void car_h_31(double *state, double *unused, double *out_6331257833333722260);
|
||||
void car_H_31(double *state, double *unused, double *out_6663118953277517308);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7709214462285076644);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_181432404984807710);
|
||||
void car_H_mod_fun(double *state, double *out_8282876149494425233);
|
||||
void car_f_fun(double *state, double dt, double *out_1683945396559752472);
|
||||
void car_F_fun(double *state, double dt, double *out_239932902801011581);
|
||||
void car_h_25(double *state, double *unused, double *out_2505292091765311779);
|
||||
void car_H_25(double *state, double *unused, double *out_910312076417812004);
|
||||
void car_h_24(double *state, double *unused, double *out_484124202729088643);
|
||||
void car_H_24(double *state, double *unused, double *out_1315395707561056558);
|
||||
void car_h_30(double *state, double *unused, double *out_2556252205875338366);
|
||||
void car_H_30(double *state, double *unused, double *out_6006378265073804751);
|
||||
void car_h_26(double *state, double *unused, double *out_1841699875406290646);
|
||||
void car_H_26(double *state, double *unused, double *out_4651815395291868228);
|
||||
void car_h_27(double *state, double *unused, double *out_3893749425648537367);
|
||||
void car_H_27(double *state, double *unused, double *out_3831614953273379840);
|
||||
void car_h_29(double *state, double *unused, double *out_7782159421710663313);
|
||||
void car_H_29(double *state, double *unused, double *out_6516609609388196935);
|
||||
void car_h_28(double *state, double *unused, double *out_5061493226724679104);
|
||||
void car_H_28(double *state, double *unused, double *out_1434210592318666361);
|
||||
void car_h_31(double *state, double *unused, double *out_7444791300680499845);
|
||||
void car_H_31(double *state, double *unused, double *out_879666114540851576);
|
||||
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_7337273534871130421);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7370167163616029780);
|
||||
void pose_H_mod_fun(double *state, double *out_1839001963735438802);
|
||||
void pose_f_fun(double *state, double dt, double *out_3683398569821655413);
|
||||
void pose_F_fun(double *state, double dt, double *out_3094277237620606525);
|
||||
void pose_h_4(double *state, double *unused, double *out_8966126842197524709);
|
||||
void pose_H_4(double *state, double *unused, double *out_641054481852540698);
|
||||
void pose_h_10(double *state, double *unused, double *out_7218356862001512524);
|
||||
void pose_H_10(double *state, double *unused, double *out_6416512439383232257);
|
||||
void pose_h_13(double *state, double *unused, double *out_4665077883382816557);
|
||||
void pose_H_13(double *state, double *unused, double *out_2571219343479792103);
|
||||
void pose_h_14(double *state, double *unused, double *out_6885640217960215473);
|
||||
void pose_H_14(double *state, double *unused, double *out_3723842914147912994);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_6392571160168570842);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_70108598084165787);
|
||||
void pose_H_mod_fun(double *state, double *out_7031029695439970094);
|
||||
void pose_f_fun(double *state, double dt, double *out_4622611615613940133);
|
||||
void pose_F_fun(double *state, double dt, double *out_542246045313485722);
|
||||
void pose_h_4(double *state, double *unused, double *out_6293306196609579881);
|
||||
void pose_H_4(double *state, double *unused, double *out_1878511310400889359);
|
||||
void pose_h_10(double *state, double *unused, double *out_8801939057301033560);
|
||||
void pose_H_10(double *state, double *unused, double *out_2335330326985309171);
|
||||
void pose_h_13(double *state, double *unused, double *out_442641261201264592);
|
||||
void pose_H_13(double *state, double *unused, double *out_5712266773703413383);
|
||||
void pose_h_14(double *state, double *unused, double *out_6788275849684674744);
|
||||
void pose_H_14(double *state, double *unused, double *out_4961299742696261655);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
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Reference in New Issue
Block a user