mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-11 12:22:14 +08:00
build
This commit is contained in:
StarPilot Build Bot
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@@ -1,2 +1,2 @@
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||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-75dcc077-DEBUG";
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||||
const uint8_t gitversion[19] = "DEV-9d8a055a-DEBUG";
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||||
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||||
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@@ -1 +1 @@
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DEV-75dcc077-DEBUG
|
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DEV-9d8a055a-DEBUG
|
||||
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_5591921399563932369) {
|
||||
out_5591921399563932369[0] = delta_x[0] + nom_x[0];
|
||||
out_5591921399563932369[1] = delta_x[1] + nom_x[1];
|
||||
out_5591921399563932369[2] = delta_x[2] + nom_x[2];
|
||||
out_5591921399563932369[3] = delta_x[3] + nom_x[3];
|
||||
out_5591921399563932369[4] = delta_x[4] + nom_x[4];
|
||||
out_5591921399563932369[5] = delta_x[5] + nom_x[5];
|
||||
out_5591921399563932369[6] = delta_x[6] + nom_x[6];
|
||||
out_5591921399563932369[7] = delta_x[7] + nom_x[7];
|
||||
out_5591921399563932369[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_587611173581676283) {
|
||||
out_587611173581676283[0] = delta_x[0] + nom_x[0];
|
||||
out_587611173581676283[1] = delta_x[1] + nom_x[1];
|
||||
out_587611173581676283[2] = delta_x[2] + nom_x[2];
|
||||
out_587611173581676283[3] = delta_x[3] + nom_x[3];
|
||||
out_587611173581676283[4] = delta_x[4] + nom_x[4];
|
||||
out_587611173581676283[5] = delta_x[5] + nom_x[5];
|
||||
out_587611173581676283[6] = delta_x[6] + nom_x[6];
|
||||
out_587611173581676283[7] = delta_x[7] + nom_x[7];
|
||||
out_587611173581676283[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_806607420895539823) {
|
||||
out_806607420895539823[0] = -nom_x[0] + true_x[0];
|
||||
out_806607420895539823[1] = -nom_x[1] + true_x[1];
|
||||
out_806607420895539823[2] = -nom_x[2] + true_x[2];
|
||||
out_806607420895539823[3] = -nom_x[3] + true_x[3];
|
||||
out_806607420895539823[4] = -nom_x[4] + true_x[4];
|
||||
out_806607420895539823[5] = -nom_x[5] + true_x[5];
|
||||
out_806607420895539823[6] = -nom_x[6] + true_x[6];
|
||||
out_806607420895539823[7] = -nom_x[7] + true_x[7];
|
||||
out_806607420895539823[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_8120728011522269919) {
|
||||
out_8120728011522269919[0] = -nom_x[0] + true_x[0];
|
||||
out_8120728011522269919[1] = -nom_x[1] + true_x[1];
|
||||
out_8120728011522269919[2] = -nom_x[2] + true_x[2];
|
||||
out_8120728011522269919[3] = -nom_x[3] + true_x[3];
|
||||
out_8120728011522269919[4] = -nom_x[4] + true_x[4];
|
||||
out_8120728011522269919[5] = -nom_x[5] + true_x[5];
|
||||
out_8120728011522269919[6] = -nom_x[6] + true_x[6];
|
||||
out_8120728011522269919[7] = -nom_x[7] + true_x[7];
|
||||
out_8120728011522269919[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_5676707820504431668) {
|
||||
out_5676707820504431668[0] = 1.0;
|
||||
out_5676707820504431668[1] = 0.0;
|
||||
out_5676707820504431668[2] = 0.0;
|
||||
out_5676707820504431668[3] = 0.0;
|
||||
out_5676707820504431668[4] = 0.0;
|
||||
out_5676707820504431668[5] = 0.0;
|
||||
out_5676707820504431668[6] = 0.0;
|
||||
out_5676707820504431668[7] = 0.0;
|
||||
out_5676707820504431668[8] = 0.0;
|
||||
out_5676707820504431668[9] = 0.0;
|
||||
out_5676707820504431668[10] = 1.0;
|
||||
out_5676707820504431668[11] = 0.0;
|
||||
out_5676707820504431668[12] = 0.0;
|
||||
out_5676707820504431668[13] = 0.0;
|
||||
out_5676707820504431668[14] = 0.0;
|
||||
out_5676707820504431668[15] = 0.0;
|
||||
out_5676707820504431668[16] = 0.0;
|
||||
out_5676707820504431668[17] = 0.0;
|
||||
out_5676707820504431668[18] = 0.0;
|
||||
out_5676707820504431668[19] = 0.0;
|
||||
out_5676707820504431668[20] = 1.0;
|
||||
out_5676707820504431668[21] = 0.0;
|
||||
out_5676707820504431668[22] = 0.0;
|
||||
out_5676707820504431668[23] = 0.0;
|
||||
out_5676707820504431668[24] = 0.0;
|
||||
out_5676707820504431668[25] = 0.0;
|
||||
out_5676707820504431668[26] = 0.0;
|
||||
out_5676707820504431668[27] = 0.0;
|
||||
out_5676707820504431668[28] = 0.0;
|
||||
out_5676707820504431668[29] = 0.0;
|
||||
out_5676707820504431668[30] = 1.0;
|
||||
out_5676707820504431668[31] = 0.0;
|
||||
out_5676707820504431668[32] = 0.0;
|
||||
out_5676707820504431668[33] = 0.0;
|
||||
out_5676707820504431668[34] = 0.0;
|
||||
out_5676707820504431668[35] = 0.0;
|
||||
out_5676707820504431668[36] = 0.0;
|
||||
out_5676707820504431668[37] = 0.0;
|
||||
out_5676707820504431668[38] = 0.0;
|
||||
out_5676707820504431668[39] = 0.0;
|
||||
out_5676707820504431668[40] = 1.0;
|
||||
out_5676707820504431668[41] = 0.0;
|
||||
out_5676707820504431668[42] = 0.0;
|
||||
out_5676707820504431668[43] = 0.0;
|
||||
out_5676707820504431668[44] = 0.0;
|
||||
out_5676707820504431668[45] = 0.0;
|
||||
out_5676707820504431668[46] = 0.0;
|
||||
out_5676707820504431668[47] = 0.0;
|
||||
out_5676707820504431668[48] = 0.0;
|
||||
out_5676707820504431668[49] = 0.0;
|
||||
out_5676707820504431668[50] = 1.0;
|
||||
out_5676707820504431668[51] = 0.0;
|
||||
out_5676707820504431668[52] = 0.0;
|
||||
out_5676707820504431668[53] = 0.0;
|
||||
out_5676707820504431668[54] = 0.0;
|
||||
out_5676707820504431668[55] = 0.0;
|
||||
out_5676707820504431668[56] = 0.0;
|
||||
out_5676707820504431668[57] = 0.0;
|
||||
out_5676707820504431668[58] = 0.0;
|
||||
out_5676707820504431668[59] = 0.0;
|
||||
out_5676707820504431668[60] = 1.0;
|
||||
out_5676707820504431668[61] = 0.0;
|
||||
out_5676707820504431668[62] = 0.0;
|
||||
out_5676707820504431668[63] = 0.0;
|
||||
out_5676707820504431668[64] = 0.0;
|
||||
out_5676707820504431668[65] = 0.0;
|
||||
out_5676707820504431668[66] = 0.0;
|
||||
out_5676707820504431668[67] = 0.0;
|
||||
out_5676707820504431668[68] = 0.0;
|
||||
out_5676707820504431668[69] = 0.0;
|
||||
out_5676707820504431668[70] = 1.0;
|
||||
out_5676707820504431668[71] = 0.0;
|
||||
out_5676707820504431668[72] = 0.0;
|
||||
out_5676707820504431668[73] = 0.0;
|
||||
out_5676707820504431668[74] = 0.0;
|
||||
out_5676707820504431668[75] = 0.0;
|
||||
out_5676707820504431668[76] = 0.0;
|
||||
out_5676707820504431668[77] = 0.0;
|
||||
out_5676707820504431668[78] = 0.0;
|
||||
out_5676707820504431668[79] = 0.0;
|
||||
out_5676707820504431668[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_4001675034436284807) {
|
||||
out_4001675034436284807[0] = 1.0;
|
||||
out_4001675034436284807[1] = 0.0;
|
||||
out_4001675034436284807[2] = 0.0;
|
||||
out_4001675034436284807[3] = 0.0;
|
||||
out_4001675034436284807[4] = 0.0;
|
||||
out_4001675034436284807[5] = 0.0;
|
||||
out_4001675034436284807[6] = 0.0;
|
||||
out_4001675034436284807[7] = 0.0;
|
||||
out_4001675034436284807[8] = 0.0;
|
||||
out_4001675034436284807[9] = 0.0;
|
||||
out_4001675034436284807[10] = 1.0;
|
||||
out_4001675034436284807[11] = 0.0;
|
||||
out_4001675034436284807[12] = 0.0;
|
||||
out_4001675034436284807[13] = 0.0;
|
||||
out_4001675034436284807[14] = 0.0;
|
||||
out_4001675034436284807[15] = 0.0;
|
||||
out_4001675034436284807[16] = 0.0;
|
||||
out_4001675034436284807[17] = 0.0;
|
||||
out_4001675034436284807[18] = 0.0;
|
||||
out_4001675034436284807[19] = 0.0;
|
||||
out_4001675034436284807[20] = 1.0;
|
||||
out_4001675034436284807[21] = 0.0;
|
||||
out_4001675034436284807[22] = 0.0;
|
||||
out_4001675034436284807[23] = 0.0;
|
||||
out_4001675034436284807[24] = 0.0;
|
||||
out_4001675034436284807[25] = 0.0;
|
||||
out_4001675034436284807[26] = 0.0;
|
||||
out_4001675034436284807[27] = 0.0;
|
||||
out_4001675034436284807[28] = 0.0;
|
||||
out_4001675034436284807[29] = 0.0;
|
||||
out_4001675034436284807[30] = 1.0;
|
||||
out_4001675034436284807[31] = 0.0;
|
||||
out_4001675034436284807[32] = 0.0;
|
||||
out_4001675034436284807[33] = 0.0;
|
||||
out_4001675034436284807[34] = 0.0;
|
||||
out_4001675034436284807[35] = 0.0;
|
||||
out_4001675034436284807[36] = 0.0;
|
||||
out_4001675034436284807[37] = 0.0;
|
||||
out_4001675034436284807[38] = 0.0;
|
||||
out_4001675034436284807[39] = 0.0;
|
||||
out_4001675034436284807[40] = 1.0;
|
||||
out_4001675034436284807[41] = 0.0;
|
||||
out_4001675034436284807[42] = 0.0;
|
||||
out_4001675034436284807[43] = 0.0;
|
||||
out_4001675034436284807[44] = 0.0;
|
||||
out_4001675034436284807[45] = 0.0;
|
||||
out_4001675034436284807[46] = 0.0;
|
||||
out_4001675034436284807[47] = 0.0;
|
||||
out_4001675034436284807[48] = 0.0;
|
||||
out_4001675034436284807[49] = 0.0;
|
||||
out_4001675034436284807[50] = 1.0;
|
||||
out_4001675034436284807[51] = 0.0;
|
||||
out_4001675034436284807[52] = 0.0;
|
||||
out_4001675034436284807[53] = 0.0;
|
||||
out_4001675034436284807[54] = 0.0;
|
||||
out_4001675034436284807[55] = 0.0;
|
||||
out_4001675034436284807[56] = 0.0;
|
||||
out_4001675034436284807[57] = 0.0;
|
||||
out_4001675034436284807[58] = 0.0;
|
||||
out_4001675034436284807[59] = 0.0;
|
||||
out_4001675034436284807[60] = 1.0;
|
||||
out_4001675034436284807[61] = 0.0;
|
||||
out_4001675034436284807[62] = 0.0;
|
||||
out_4001675034436284807[63] = 0.0;
|
||||
out_4001675034436284807[64] = 0.0;
|
||||
out_4001675034436284807[65] = 0.0;
|
||||
out_4001675034436284807[66] = 0.0;
|
||||
out_4001675034436284807[67] = 0.0;
|
||||
out_4001675034436284807[68] = 0.0;
|
||||
out_4001675034436284807[69] = 0.0;
|
||||
out_4001675034436284807[70] = 1.0;
|
||||
out_4001675034436284807[71] = 0.0;
|
||||
out_4001675034436284807[72] = 0.0;
|
||||
out_4001675034436284807[73] = 0.0;
|
||||
out_4001675034436284807[74] = 0.0;
|
||||
out_4001675034436284807[75] = 0.0;
|
||||
out_4001675034436284807[76] = 0.0;
|
||||
out_4001675034436284807[77] = 0.0;
|
||||
out_4001675034436284807[78] = 0.0;
|
||||
out_4001675034436284807[79] = 0.0;
|
||||
out_4001675034436284807[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_4844917589263296834) {
|
||||
out_4844917589263296834[0] = state[0];
|
||||
out_4844917589263296834[1] = state[1];
|
||||
out_4844917589263296834[2] = state[2];
|
||||
out_4844917589263296834[3] = state[3];
|
||||
out_4844917589263296834[4] = state[4];
|
||||
out_4844917589263296834[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_4844917589263296834[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_4844917589263296834[7] = state[7];
|
||||
out_4844917589263296834[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_6995360374056238489) {
|
||||
out_6995360374056238489[0] = state[0];
|
||||
out_6995360374056238489[1] = state[1];
|
||||
out_6995360374056238489[2] = state[2];
|
||||
out_6995360374056238489[3] = state[3];
|
||||
out_6995360374056238489[4] = state[4];
|
||||
out_6995360374056238489[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_6995360374056238489[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_6995360374056238489[7] = state[7];
|
||||
out_6995360374056238489[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_4636534629313466670) {
|
||||
out_4636534629313466670[0] = 1;
|
||||
out_4636534629313466670[1] = 0;
|
||||
out_4636534629313466670[2] = 0;
|
||||
out_4636534629313466670[3] = 0;
|
||||
out_4636534629313466670[4] = 0;
|
||||
out_4636534629313466670[5] = 0;
|
||||
out_4636534629313466670[6] = 0;
|
||||
out_4636534629313466670[7] = 0;
|
||||
out_4636534629313466670[8] = 0;
|
||||
out_4636534629313466670[9] = 0;
|
||||
out_4636534629313466670[10] = 1;
|
||||
out_4636534629313466670[11] = 0;
|
||||
out_4636534629313466670[12] = 0;
|
||||
out_4636534629313466670[13] = 0;
|
||||
out_4636534629313466670[14] = 0;
|
||||
out_4636534629313466670[15] = 0;
|
||||
out_4636534629313466670[16] = 0;
|
||||
out_4636534629313466670[17] = 0;
|
||||
out_4636534629313466670[18] = 0;
|
||||
out_4636534629313466670[19] = 0;
|
||||
out_4636534629313466670[20] = 1;
|
||||
out_4636534629313466670[21] = 0;
|
||||
out_4636534629313466670[22] = 0;
|
||||
out_4636534629313466670[23] = 0;
|
||||
out_4636534629313466670[24] = 0;
|
||||
out_4636534629313466670[25] = 0;
|
||||
out_4636534629313466670[26] = 0;
|
||||
out_4636534629313466670[27] = 0;
|
||||
out_4636534629313466670[28] = 0;
|
||||
out_4636534629313466670[29] = 0;
|
||||
out_4636534629313466670[30] = 1;
|
||||
out_4636534629313466670[31] = 0;
|
||||
out_4636534629313466670[32] = 0;
|
||||
out_4636534629313466670[33] = 0;
|
||||
out_4636534629313466670[34] = 0;
|
||||
out_4636534629313466670[35] = 0;
|
||||
out_4636534629313466670[36] = 0;
|
||||
out_4636534629313466670[37] = 0;
|
||||
out_4636534629313466670[38] = 0;
|
||||
out_4636534629313466670[39] = 0;
|
||||
out_4636534629313466670[40] = 1;
|
||||
out_4636534629313466670[41] = 0;
|
||||
out_4636534629313466670[42] = 0;
|
||||
out_4636534629313466670[43] = 0;
|
||||
out_4636534629313466670[44] = 0;
|
||||
out_4636534629313466670[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_4636534629313466670[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_4636534629313466670[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4636534629313466670[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4636534629313466670[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_4636534629313466670[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_4636534629313466670[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_4636534629313466670[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4636534629313466670[53] = -9.8100000000000005*dt;
|
||||
out_4636534629313466670[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_4636534629313466670[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_4636534629313466670[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4636534629313466670[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4636534629313466670[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_4636534629313466670[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_4636534629313466670[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_4636534629313466670[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4636534629313466670[62] = 0;
|
||||
out_4636534629313466670[63] = 0;
|
||||
out_4636534629313466670[64] = 0;
|
||||
out_4636534629313466670[65] = 0;
|
||||
out_4636534629313466670[66] = 0;
|
||||
out_4636534629313466670[67] = 0;
|
||||
out_4636534629313466670[68] = 0;
|
||||
out_4636534629313466670[69] = 0;
|
||||
out_4636534629313466670[70] = 1;
|
||||
out_4636534629313466670[71] = 0;
|
||||
out_4636534629313466670[72] = 0;
|
||||
out_4636534629313466670[73] = 0;
|
||||
out_4636534629313466670[74] = 0;
|
||||
out_4636534629313466670[75] = 0;
|
||||
out_4636534629313466670[76] = 0;
|
||||
out_4636534629313466670[77] = 0;
|
||||
out_4636534629313466670[78] = 0;
|
||||
out_4636534629313466670[79] = 0;
|
||||
out_4636534629313466670[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_5620828310005666299) {
|
||||
out_5620828310005666299[0] = 1;
|
||||
out_5620828310005666299[1] = 0;
|
||||
out_5620828310005666299[2] = 0;
|
||||
out_5620828310005666299[3] = 0;
|
||||
out_5620828310005666299[4] = 0;
|
||||
out_5620828310005666299[5] = 0;
|
||||
out_5620828310005666299[6] = 0;
|
||||
out_5620828310005666299[7] = 0;
|
||||
out_5620828310005666299[8] = 0;
|
||||
out_5620828310005666299[9] = 0;
|
||||
out_5620828310005666299[10] = 1;
|
||||
out_5620828310005666299[11] = 0;
|
||||
out_5620828310005666299[12] = 0;
|
||||
out_5620828310005666299[13] = 0;
|
||||
out_5620828310005666299[14] = 0;
|
||||
out_5620828310005666299[15] = 0;
|
||||
out_5620828310005666299[16] = 0;
|
||||
out_5620828310005666299[17] = 0;
|
||||
out_5620828310005666299[18] = 0;
|
||||
out_5620828310005666299[19] = 0;
|
||||
out_5620828310005666299[20] = 1;
|
||||
out_5620828310005666299[21] = 0;
|
||||
out_5620828310005666299[22] = 0;
|
||||
out_5620828310005666299[23] = 0;
|
||||
out_5620828310005666299[24] = 0;
|
||||
out_5620828310005666299[25] = 0;
|
||||
out_5620828310005666299[26] = 0;
|
||||
out_5620828310005666299[27] = 0;
|
||||
out_5620828310005666299[28] = 0;
|
||||
out_5620828310005666299[29] = 0;
|
||||
out_5620828310005666299[30] = 1;
|
||||
out_5620828310005666299[31] = 0;
|
||||
out_5620828310005666299[32] = 0;
|
||||
out_5620828310005666299[33] = 0;
|
||||
out_5620828310005666299[34] = 0;
|
||||
out_5620828310005666299[35] = 0;
|
||||
out_5620828310005666299[36] = 0;
|
||||
out_5620828310005666299[37] = 0;
|
||||
out_5620828310005666299[38] = 0;
|
||||
out_5620828310005666299[39] = 0;
|
||||
out_5620828310005666299[40] = 1;
|
||||
out_5620828310005666299[41] = 0;
|
||||
out_5620828310005666299[42] = 0;
|
||||
out_5620828310005666299[43] = 0;
|
||||
out_5620828310005666299[44] = 0;
|
||||
out_5620828310005666299[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_5620828310005666299[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5620828310005666299[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5620828310005666299[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5620828310005666299[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_5620828310005666299[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5620828310005666299[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5620828310005666299[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5620828310005666299[53] = -9.8100000000000005*dt;
|
||||
out_5620828310005666299[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_5620828310005666299[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5620828310005666299[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5620828310005666299[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5620828310005666299[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_5620828310005666299[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5620828310005666299[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_5620828310005666299[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5620828310005666299[62] = 0;
|
||||
out_5620828310005666299[63] = 0;
|
||||
out_5620828310005666299[64] = 0;
|
||||
out_5620828310005666299[65] = 0;
|
||||
out_5620828310005666299[66] = 0;
|
||||
out_5620828310005666299[67] = 0;
|
||||
out_5620828310005666299[68] = 0;
|
||||
out_5620828310005666299[69] = 0;
|
||||
out_5620828310005666299[70] = 1;
|
||||
out_5620828310005666299[71] = 0;
|
||||
out_5620828310005666299[72] = 0;
|
||||
out_5620828310005666299[73] = 0;
|
||||
out_5620828310005666299[74] = 0;
|
||||
out_5620828310005666299[75] = 0;
|
||||
out_5620828310005666299[76] = 0;
|
||||
out_5620828310005666299[77] = 0;
|
||||
out_5620828310005666299[78] = 0;
|
||||
out_5620828310005666299[79] = 0;
|
||||
out_5620828310005666299[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5482647601852736049) {
|
||||
out_5482647601852736049[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_5932710635121359621) {
|
||||
out_5932710635121359621[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_7866344428020455108) {
|
||||
out_7866344428020455108[0] = 0;
|
||||
out_7866344428020455108[1] = 0;
|
||||
out_7866344428020455108[2] = 0;
|
||||
out_7866344428020455108[3] = 0;
|
||||
out_7866344428020455108[4] = 0;
|
||||
out_7866344428020455108[5] = 0;
|
||||
out_7866344428020455108[6] = 1;
|
||||
out_7866344428020455108[7] = 0;
|
||||
out_7866344428020455108[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_4507009476636581519) {
|
||||
out_4507009476636581519[0] = 0;
|
||||
out_4507009476636581519[1] = 0;
|
||||
out_4507009476636581519[2] = 0;
|
||||
out_4507009476636581519[3] = 0;
|
||||
out_4507009476636581519[4] = 0;
|
||||
out_4507009476636581519[5] = 0;
|
||||
out_4507009476636581519[6] = 1;
|
||||
out_4507009476636581519[7] = 0;
|
||||
out_4507009476636581519[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_6159121467458312716) {
|
||||
out_6159121467458312716[0] = state[4];
|
||||
out_6159121467458312716[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_8960081603047522700) {
|
||||
out_8960081603047522700[0] = state[4];
|
||||
out_8960081603047522700[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_3137725052700380188) {
|
||||
out_3137725052700380188[0] = 0;
|
||||
out_3137725052700380188[1] = 0;
|
||||
out_3137725052700380188[2] = 0;
|
||||
out_3137725052700380188[3] = 0;
|
||||
out_3137725052700380188[4] = 1;
|
||||
out_3137725052700380188[5] = 0;
|
||||
out_3137725052700380188[6] = 0;
|
||||
out_3137725052700380188[7] = 0;
|
||||
out_3137725052700380188[8] = 0;
|
||||
out_3137725052700380188[9] = 0;
|
||||
out_3137725052700380188[10] = 0;
|
||||
out_3137725052700380188[11] = 0;
|
||||
out_3137725052700380188[12] = 0;
|
||||
out_3137725052700380188[13] = 0;
|
||||
out_3137725052700380188[14] = 1;
|
||||
out_3137725052700380188[15] = 0;
|
||||
out_3137725052700380188[16] = 0;
|
||||
out_3137725052700380188[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_7364162790481451996) {
|
||||
out_7364162790481451996[0] = 0;
|
||||
out_7364162790481451996[1] = 0;
|
||||
out_7364162790481451996[2] = 0;
|
||||
out_7364162790481451996[3] = 0;
|
||||
out_7364162790481451996[4] = 1;
|
||||
out_7364162790481451996[5] = 0;
|
||||
out_7364162790481451996[6] = 0;
|
||||
out_7364162790481451996[7] = 0;
|
||||
out_7364162790481451996[8] = 0;
|
||||
out_7364162790481451996[9] = 0;
|
||||
out_7364162790481451996[10] = 0;
|
||||
out_7364162790481451996[11] = 0;
|
||||
out_7364162790481451996[12] = 0;
|
||||
out_7364162790481451996[13] = 0;
|
||||
out_7364162790481451996[14] = 1;
|
||||
out_7364162790481451996[15] = 0;
|
||||
out_7364162790481451996[16] = 0;
|
||||
out_7364162790481451996[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5757841664137241938) {
|
||||
out_5757841664137241938[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_6293656255741178026) {
|
||||
out_6293656255741178026[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_7995683375163695178) {
|
||||
out_7995683375163695178[0] = 0;
|
||||
out_7995683375163695178[1] = 0;
|
||||
out_7995683375163695178[2] = 0;
|
||||
out_7995683375163695178[3] = 0;
|
||||
out_7995683375163695178[4] = 1;
|
||||
out_7995683375163695178[5] = 0;
|
||||
out_7995683375163695178[6] = 0;
|
||||
out_7995683375163695178[7] = 0;
|
||||
out_7995683375163695178[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_7023044255581353342) {
|
||||
out_7023044255581353342[0] = 0;
|
||||
out_7023044255581353342[1] = 0;
|
||||
out_7023044255581353342[2] = 0;
|
||||
out_7023044255581353342[3] = 0;
|
||||
out_7023044255581353342[4] = 1;
|
||||
out_7023044255581353342[5] = 0;
|
||||
out_7023044255581353342[6] = 0;
|
||||
out_7023044255581353342[7] = 0;
|
||||
out_7023044255581353342[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_6701351517038904373) {
|
||||
out_6701351517038904373[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_7151414550307527945) {
|
||||
out_7151414550307527945[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6838896326815040284) {
|
||||
out_6838896326815040284[0] = 0;
|
||||
out_6838896326815040284[1] = 0;
|
||||
out_6838896326815040284[2] = 0;
|
||||
out_6838896326815040284[3] = 0;
|
||||
out_6838896326815040284[4] = 0;
|
||||
out_6838896326815040284[5] = 0;
|
||||
out_6838896326815040284[6] = 0;
|
||||
out_6838896326815040284[7] = 1;
|
||||
out_6838896326815040284[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_765506157762525295) {
|
||||
out_765506157762525295[0] = 0;
|
||||
out_765506157762525295[1] = 0;
|
||||
out_765506157762525295[2] = 0;
|
||||
out_765506157762525295[3] = 0;
|
||||
out_765506157762525295[4] = 0;
|
||||
out_765506157762525295[5] = 0;
|
||||
out_765506157762525295[6] = 0;
|
||||
out_765506157762525295[7] = 1;
|
||||
out_765506157762525295[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_7962423204195969922) {
|
||||
out_7962423204195969922[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_7512360170927346350) {
|
||||
out_7512360170927346350[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_8276297386745431527) {
|
||||
out_8276297386745431527[0] = 0;
|
||||
out_8276297386745431527[1] = 0;
|
||||
out_8276297386745431527[2] = 0;
|
||||
out_8276297386745431527[3] = 1;
|
||||
out_8276297386745431527[4] = 0;
|
||||
out_8276297386745431527[5] = 0;
|
||||
out_8276297386745431527[6] = 0;
|
||||
out_8276297386745431527[7] = 0;
|
||||
out_8276297386745431527[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_9197807567381778253) {
|
||||
out_9197807567381778253[0] = 0;
|
||||
out_9197807567381778253[1] = 0;
|
||||
out_9197807567381778253[2] = 0;
|
||||
out_9197807567381778253[3] = 1;
|
||||
out_9197807567381778253[4] = 0;
|
||||
out_9197807567381778253[5] = 0;
|
||||
out_9197807567381778253[6] = 0;
|
||||
out_9197807567381778253[7] = 0;
|
||||
out_9197807567381778253[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_2721055612692909253) {
|
||||
out_2721055612692909253[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_3171118645961532825) {
|
||||
out_3171118645961532825[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_6562934659875880494) {
|
||||
out_6562934659875880494[0] = 0;
|
||||
out_6562934659875880494[1] = 1;
|
||||
out_6562934659875880494[2] = 0;
|
||||
out_6562934659875880494[3] = 0;
|
||||
out_6562934659875880494[4] = 0;
|
||||
out_6562934659875880494[5] = 0;
|
||||
out_6562934659875880494[6] = 0;
|
||||
out_6562934659875880494[7] = 0;
|
||||
out_6562934659875880494[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_6512812911266961158) {
|
||||
out_6512812911266961158[0] = 0;
|
||||
out_6512812911266961158[1] = 1;
|
||||
out_6512812911266961158[2] = 0;
|
||||
out_6512812911266961158[3] = 0;
|
||||
out_6512812911266961158[4] = 0;
|
||||
out_6512812911266961158[5] = 0;
|
||||
out_6512812911266961158[6] = 0;
|
||||
out_6512812911266961158[7] = 0;
|
||||
out_6512812911266961158[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_8408093249132323059) {
|
||||
out_8408093249132323059[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_8329978581973507615) {
|
||||
out_8329978581973507615[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_1480535642806349920) {
|
||||
out_1480535642806349920[0] = 1;
|
||||
out_1480535642806349920[1] = 0;
|
||||
out_1480535642806349920[2] = 0;
|
||||
out_1480535642806349920[3] = 0;
|
||||
out_1480535642806349920[4] = 0;
|
||||
out_1480535642806349920[5] = 0;
|
||||
out_1480535642806349920[6] = 0;
|
||||
out_1480535642806349920[7] = 0;
|
||||
out_1480535642806349920[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_2453174762388691756) {
|
||||
out_2453174762388691756[0] = 1;
|
||||
out_2453174762388691756[1] = 0;
|
||||
out_2453174762388691756[2] = 0;
|
||||
out_2453174762388691756[3] = 0;
|
||||
out_2453174762388691756[4] = 0;
|
||||
out_2453174762388691756[5] = 0;
|
||||
out_2453174762388691756[6] = 0;
|
||||
out_2453174762388691756[7] = 0;
|
||||
out_2453174762388691756[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_4467435790593075575) {
|
||||
out_4467435790593075575[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_222736560719300508) {
|
||||
out_222736560719300508[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_7835698466143494680) {
|
||||
out_7835698466143494680[0] = 0;
|
||||
out_7835698466143494680[1] = 0;
|
||||
out_7835698466143494680[2] = 0;
|
||||
out_7835698466143494680[3] = 0;
|
||||
out_7835698466143494680[4] = 0;
|
||||
out_7835698466143494680[5] = 0;
|
||||
out_7835698466143494680[6] = 0;
|
||||
out_7835698466143494680[7] = 0;
|
||||
out_7835698466143494680[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_4537655438513541947) {
|
||||
out_4537655438513541947[0] = 0;
|
||||
out_4537655438513541947[1] = 0;
|
||||
out_4537655438513541947[2] = 0;
|
||||
out_4537655438513541947[3] = 0;
|
||||
out_4537655438513541947[4] = 0;
|
||||
out_4537655438513541947[5] = 0;
|
||||
out_4537655438513541947[6] = 0;
|
||||
out_4537655438513541947[7] = 0;
|
||||
out_4537655438513541947[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_5591921399563932369) {
|
||||
err_fun(nom_x, delta_x, out_5591921399563932369);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_587611173581676283) {
|
||||
err_fun(nom_x, delta_x, out_587611173581676283);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_806607420895539823) {
|
||||
inv_err_fun(nom_x, true_x, out_806607420895539823);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8120728011522269919) {
|
||||
inv_err_fun(nom_x, true_x, out_8120728011522269919);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_5676707820504431668) {
|
||||
H_mod_fun(state, out_5676707820504431668);
|
||||
void car_H_mod_fun(double *state, double *out_4001675034436284807) {
|
||||
H_mod_fun(state, out_4001675034436284807);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_4844917589263296834) {
|
||||
f_fun(state, dt, out_4844917589263296834);
|
||||
void car_f_fun(double *state, double dt, double *out_6995360374056238489) {
|
||||
f_fun(state, dt, out_6995360374056238489);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_4636534629313466670) {
|
||||
F_fun(state, dt, out_4636534629313466670);
|
||||
void car_F_fun(double *state, double dt, double *out_5620828310005666299) {
|
||||
F_fun(state, dt, out_5620828310005666299);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5482647601852736049) {
|
||||
h_25(state, unused, out_5482647601852736049);
|
||||
void car_h_25(double *state, double *unused, double *out_5932710635121359621) {
|
||||
h_25(state, unused, out_5932710635121359621);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_7866344428020455108) {
|
||||
H_25(state, unused, out_7866344428020455108);
|
||||
void car_H_25(double *state, double *unused, double *out_4507009476636581519) {
|
||||
H_25(state, unused, out_4507009476636581519);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_6159121467458312716) {
|
||||
h_24(state, unused, out_6159121467458312716);
|
||||
void car_h_24(double *state, double *unused, double *out_8960081603047522700) {
|
||||
h_24(state, unused, out_8960081603047522700);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_3137725052700380188) {
|
||||
H_24(state, unused, out_3137725052700380188);
|
||||
void car_H_24(double *state, double *unused, double *out_7364162790481451996) {
|
||||
H_24(state, unused, out_7364162790481451996);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5757841664137241938) {
|
||||
h_30(state, unused, out_5757841664137241938);
|
||||
void car_h_30(double *state, double *unused, double *out_6293656255741178026) {
|
||||
h_30(state, unused, out_6293656255741178026);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_7995683375163695178) {
|
||||
H_30(state, unused, out_7995683375163695178);
|
||||
void car_H_30(double *state, double *unused, double *out_7023044255581353342) {
|
||||
H_30(state, unused, out_7023044255581353342);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_6701351517038904373) {
|
||||
h_26(state, unused, out_6701351517038904373);
|
||||
void car_h_26(double *state, double *unused, double *out_7151414550307527945) {
|
||||
h_26(state, unused, out_7151414550307527945);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6838896326815040284) {
|
||||
H_26(state, unused, out_6838896326815040284);
|
||||
void car_H_26(double *state, double *unused, double *out_765506157762525295) {
|
||||
H_26(state, unused, out_765506157762525295);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_7962423204195969922) {
|
||||
h_27(state, unused, out_7962423204195969922);
|
||||
void car_h_27(double *state, double *unused, double *out_7512360170927346350) {
|
||||
h_27(state, unused, out_7512360170927346350);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_8276297386745431527) {
|
||||
H_27(state, unused, out_8276297386745431527);
|
||||
void car_H_27(double *state, double *unused, double *out_9197807567381778253) {
|
||||
H_27(state, unused, out_9197807567381778253);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_2721055612692909253) {
|
||||
h_29(state, unused, out_2721055612692909253);
|
||||
void car_h_29(double *state, double *unused, double *out_3171118645961532825) {
|
||||
h_29(state, unused, out_3171118645961532825);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_6562934659875880494) {
|
||||
H_29(state, unused, out_6562934659875880494);
|
||||
void car_H_29(double *state, double *unused, double *out_6512812911266961158) {
|
||||
H_29(state, unused, out_6512812911266961158);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_8408093249132323059) {
|
||||
h_28(state, unused, out_8408093249132323059);
|
||||
void car_h_28(double *state, double *unused, double *out_8329978581973507615) {
|
||||
h_28(state, unused, out_8329978581973507615);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_1480535642806349920) {
|
||||
H_28(state, unused, out_1480535642806349920);
|
||||
void car_H_28(double *state, double *unused, double *out_2453174762388691756) {
|
||||
H_28(state, unused, out_2453174762388691756);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_4467435790593075575) {
|
||||
h_31(state, unused, out_4467435790593075575);
|
||||
void car_h_31(double *state, double *unused, double *out_222736560719300508) {
|
||||
h_31(state, unused, out_222736560719300508);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_7835698466143494680) {
|
||||
H_31(state, unused, out_7835698466143494680);
|
||||
void car_H_31(double *state, double *unused, double *out_4537655438513541947) {
|
||||
H_31(state, unused, out_4537655438513541947);
|
||||
}
|
||||
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_5591921399563932369);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_806607420895539823);
|
||||
void car_H_mod_fun(double *state, double *out_5676707820504431668);
|
||||
void car_f_fun(double *state, double dt, double *out_4844917589263296834);
|
||||
void car_F_fun(double *state, double dt, double *out_4636534629313466670);
|
||||
void car_h_25(double *state, double *unused, double *out_5482647601852736049);
|
||||
void car_H_25(double *state, double *unused, double *out_7866344428020455108);
|
||||
void car_h_24(double *state, double *unused, double *out_6159121467458312716);
|
||||
void car_H_24(double *state, double *unused, double *out_3137725052700380188);
|
||||
void car_h_30(double *state, double *unused, double *out_5757841664137241938);
|
||||
void car_H_30(double *state, double *unused, double *out_7995683375163695178);
|
||||
void car_h_26(double *state, double *unused, double *out_6701351517038904373);
|
||||
void car_H_26(double *state, double *unused, double *out_6838896326815040284);
|
||||
void car_h_27(double *state, double *unused, double *out_7962423204195969922);
|
||||
void car_H_27(double *state, double *unused, double *out_8276297386745431527);
|
||||
void car_h_29(double *state, double *unused, double *out_2721055612692909253);
|
||||
void car_H_29(double *state, double *unused, double *out_6562934659875880494);
|
||||
void car_h_28(double *state, double *unused, double *out_8408093249132323059);
|
||||
void car_H_28(double *state, double *unused, double *out_1480535642806349920);
|
||||
void car_h_31(double *state, double *unused, double *out_4467435790593075575);
|
||||
void car_H_31(double *state, double *unused, double *out_7835698466143494680);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_587611173581676283);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8120728011522269919);
|
||||
void car_H_mod_fun(double *state, double *out_4001675034436284807);
|
||||
void car_f_fun(double *state, double dt, double *out_6995360374056238489);
|
||||
void car_F_fun(double *state, double dt, double *out_5620828310005666299);
|
||||
void car_h_25(double *state, double *unused, double *out_5932710635121359621);
|
||||
void car_H_25(double *state, double *unused, double *out_4507009476636581519);
|
||||
void car_h_24(double *state, double *unused, double *out_8960081603047522700);
|
||||
void car_H_24(double *state, double *unused, double *out_7364162790481451996);
|
||||
void car_h_30(double *state, double *unused, double *out_6293656255741178026);
|
||||
void car_H_30(double *state, double *unused, double *out_7023044255581353342);
|
||||
void car_h_26(double *state, double *unused, double *out_7151414550307527945);
|
||||
void car_H_26(double *state, double *unused, double *out_765506157762525295);
|
||||
void car_h_27(double *state, double *unused, double *out_7512360170927346350);
|
||||
void car_H_27(double *state, double *unused, double *out_9197807567381778253);
|
||||
void car_h_29(double *state, double *unused, double *out_3171118645961532825);
|
||||
void car_H_29(double *state, double *unused, double *out_6512812911266961158);
|
||||
void car_h_28(double *state, double *unused, double *out_8329978581973507615);
|
||||
void car_H_28(double *state, double *unused, double *out_2453174762388691756);
|
||||
void car_h_31(double *state, double *unused, double *out_222736560719300508);
|
||||
void car_H_31(double *state, double *unused, double *out_4537655438513541947);
|
||||
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_9183838211698085113);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7880707634176237912);
|
||||
void pose_H_mod_fun(double *state, double *out_4757006295873358620);
|
||||
void pose_f_fun(double *state, double dt, double *out_9118920386528411329);
|
||||
void pose_F_fun(double *state, double dt, double *out_388070008261359487);
|
||||
void pose_h_4(double *state, double *unused, double *out_424143301988092518);
|
||||
void pose_H_4(double *state, double *unused, double *out_6650517199469134710);
|
||||
void pose_h_10(double *state, double *unused, double *out_5429944465818265103);
|
||||
void pose_H_10(double *state, double *unused, double *out_6328749297458135702);
|
||||
void pose_h_13(double *state, double *unused, double *out_7408027604108256403);
|
||||
void pose_H_13(double *state, double *unused, double *out_3438243374136801909);
|
||||
void pose_h_14(double *state, double *unused, double *out_1915359263866192008);
|
||||
void pose_H_14(double *state, double *unused, double *out_2687276343129650181);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7704133318394013706);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5732870200970735889);
|
||||
void pose_H_mod_fun(double *state, double *out_5613029472060395452);
|
||||
void pose_f_fun(double *state, double dt, double *out_3560257805552383557);
|
||||
void pose_F_fun(double *state, double dt, double *out_8405700866591566947);
|
||||
void pose_h_4(double *state, double *unused, double *out_6714333113820678959);
|
||||
void pose_H_4(double *state, double *unused, double *out_6985632794897197443);
|
||||
void pose_h_10(double *state, double *unused, double *out_1436740119579277140);
|
||||
void pose_H_10(double *state, double *unused, double *out_1336760473497929829);
|
||||
void pose_h_13(double *state, double *unused, double *out_8610784800470542827);
|
||||
void pose_H_13(double *state, double *unused, double *out_8248837453480021372);
|
||||
void pose_h_14(double *state, double *unused, double *out_7905030664698657319);
|
||||
void pose_H_14(double *state, double *unused, double *out_6550516268252313844);
|
||||
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