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This commit is contained in:
firestarsdog
2026-11-10 17:10:46 -05:00
parent 2a854471fc
commit 37cb8fe772
56 changed files with 2011 additions and 1795 deletions
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openpilot/cereal/gen/cpp/custom.capnp.c++
+546 -444
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File diff suppressed because it is too large Load Diff
openpilot/cereal/gen/cpp/custom.capnp.h
+117 -3
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@@ -749,7 +749,7 @@ struct SlcState {
struct ConditionalModeState;
struct _capnpPrivate {
CAPNP_DECLARE_STRUCT_HEADER(a1680744031fdb2d, 18, 22)
CAPNP_DECLARE_STRUCT_HEADER(a1680744031fdb2d, 21, 22)
#if !CAPNP_LITE
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
#endif // !CAPNP_LITE
@@ -845,7 +845,7 @@ struct SlcAction {
struct _capnpPrivate {
CAPNP_DECLARE_STRUCT_HEADER(9ccdc8676701b412, 4, 4)
CAPNP_DECLARE_STRUCT_HEADER(9ccdc8676701b412, 5, 4)
#if !CAPNP_LITE
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
#endif // !CAPNP_LITE
@@ -897,7 +897,7 @@ struct SlcCruiseEvent {
struct ManualModeGesture;
struct _capnpPrivate {
CAPNP_DECLARE_STRUCT_HEADER(cd96dafb67a082d0, 7, 6)
CAPNP_DECLARE_STRUCT_HEADER(cd96dafb67a082d0, 8, 6)
#if !CAPNP_LITE
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
#endif // !CAPNP_LITE
@@ -4524,6 +4524,14 @@ public:
inline bool hasUpcomingBoundaryId() const;
inline ::capnp::Text::Reader getUpcomingBoundaryId() const;
inline bool getAcceptedIsPreview() const;
inline ::uint64_t getWheelOverrideSince() const;
inline ::uint64_t getWheelAdoptMonoTime() const;
inline float getWheelAdoptTargetMps() const;
private:
::capnp::_::StructReader _reader;
template <typename, ::capnp::Kind>
@@ -4817,6 +4825,18 @@ public:
inline void adoptUpcomingBoundaryId(::capnp::Orphan< ::capnp::Text>&& value);
inline ::capnp::Orphan< ::capnp::Text> disownUpcomingBoundaryId();
inline bool getAcceptedIsPreview();
inline void setAcceptedIsPreview(bool value);
inline ::uint64_t getWheelOverrideSince();
inline void setWheelOverrideSince( ::uint64_t value);
inline ::uint64_t getWheelAdoptMonoTime();
inline void setWheelAdoptMonoTime( ::uint64_t value);
inline float getWheelAdoptTargetMps();
inline void setWheelAdoptTargetMps(float value);
private:
::capnp::_::StructBuilder _builder;
template <typename, ::capnp::Kind>
@@ -5669,6 +5689,8 @@ public:
inline bool hasControllerMode() const;
inline ::cereal::SlcAction::ControllerCruiseAction::Reader getControllerMode() const;
inline ::uint64_t getWheelAdoptMonoTime() const;
private:
::capnp::_::StructReader _reader;
template <typename, ::capnp::Kind>
@@ -5737,6 +5759,9 @@ public:
inline void adoptControllerMode(::capnp::Orphan< ::cereal::SlcAction::ControllerCruiseAction>&& value);
inline ::capnp::Orphan< ::cereal::SlcAction::ControllerCruiseAction> disownControllerMode();
inline ::uint64_t getWheelAdoptMonoTime();
inline void setWheelAdoptMonoTime( ::uint64_t value);
private:
::capnp::_::StructBuilder _builder;
template <typename, ::capnp::Kind>
@@ -6128,6 +6153,8 @@ public:
inline bool hasTeslaStockCruise() const;
inline ::cereal::SlcCruiseEvent::TeslaStockCruise::Reader getTeslaStockCruise() const;
inline ::uint64_t getWheelOverrideSince() const;
private:
::capnp::_::StructReader _reader;
template <typename, ::capnp::Kind>
@@ -6228,6 +6255,9 @@ public:
inline void adoptTeslaStockCruise(::capnp::Orphan< ::cereal::SlcCruiseEvent::TeslaStockCruise>&& value);
inline ::capnp::Orphan< ::cereal::SlcCruiseEvent::TeslaStockCruise> disownTeslaStockCruise();
inline ::uint64_t getWheelOverrideSince();
inline void setWheelOverrideSince( ::uint64_t value);
private:
::capnp::_::StructBuilder _builder;
template <typename, ::capnp::Kind>
@@ -20214,6 +20244,62 @@ inline ::capnp::Orphan< ::capnp::Text> SlcState::Builder::disownUpcomingBoundary
::capnp::bounded<21>() * ::capnp::POINTERS));
}
inline bool SlcState::Reader::getAcceptedIsPreview() const {
return _reader.getDataField<bool>(
::capnp::bounded<141>() * ::capnp::ELEMENTS);
}
inline bool SlcState::Builder::getAcceptedIsPreview() {
return _builder.getDataField<bool>(
::capnp::bounded<141>() * ::capnp::ELEMENTS);
}
inline void SlcState::Builder::setAcceptedIsPreview(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<141>() * ::capnp::ELEMENTS, value);
}
inline ::uint64_t SlcState::Reader::getWheelOverrideSince() const {
return _reader.getDataField< ::uint64_t>(
::capnp::bounded<18>() * ::capnp::ELEMENTS);
}
inline ::uint64_t SlcState::Builder::getWheelOverrideSince() {
return _builder.getDataField< ::uint64_t>(
::capnp::bounded<18>() * ::capnp::ELEMENTS);
}
inline void SlcState::Builder::setWheelOverrideSince( ::uint64_t value) {
_builder.setDataField< ::uint64_t>(
::capnp::bounded<18>() * ::capnp::ELEMENTS, value);
}
inline ::uint64_t SlcState::Reader::getWheelAdoptMonoTime() const {
return _reader.getDataField< ::uint64_t>(
::capnp::bounded<19>() * ::capnp::ELEMENTS);
}
inline ::uint64_t SlcState::Builder::getWheelAdoptMonoTime() {
return _builder.getDataField< ::uint64_t>(
::capnp::bounded<19>() * ::capnp::ELEMENTS);
}
inline void SlcState::Builder::setWheelAdoptMonoTime( ::uint64_t value) {
_builder.setDataField< ::uint64_t>(
::capnp::bounded<19>() * ::capnp::ELEMENTS, value);
}
inline float SlcState::Reader::getWheelAdoptTargetMps() const {
return _reader.getDataField<float>(
::capnp::bounded<40>() * ::capnp::ELEMENTS);
}
inline float SlcState::Builder::getWheelAdoptTargetMps() {
return _builder.getDataField<float>(
::capnp::bounded<40>() * ::capnp::ELEMENTS);
}
inline void SlcState::Builder::setWheelAdoptTargetMps(float value) {
_builder.setDataField<float>(
::capnp::bounded<40>() * ::capnp::ELEMENTS, value);
}
inline bool SlcState::SourceReading::Reader::hasSource() const {
return !_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -21721,6 +21807,20 @@ inline ::capnp::Orphan< ::cereal::SlcAction::ControllerCruiseAction> SlcAction::
::capnp::bounded<3>() * ::capnp::POINTERS));
}
inline ::uint64_t SlcAction::Reader::getWheelAdoptMonoTime() const {
return _reader.getDataField< ::uint64_t>(
::capnp::bounded<4>() * ::capnp::ELEMENTS);
}
inline ::uint64_t SlcAction::Builder::getWheelAdoptMonoTime() {
return _builder.getDataField< ::uint64_t>(
::capnp::bounded<4>() * ::capnp::ELEMENTS);
}
inline void SlcAction::Builder::setWheelAdoptMonoTime( ::uint64_t value) {
_builder.setDataField< ::uint64_t>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
}
inline ::uint16_t SlcAction::ControllerCruiseAction::Reader::getVersion() const {
return _reader.getDataField< ::uint16_t>(
::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -22589,6 +22689,20 @@ inline ::capnp::Orphan< ::cereal::SlcCruiseEvent::TeslaStockCruise> SlcCruiseEve
::capnp::bounded<5>() * ::capnp::POINTERS));
}
inline ::uint64_t SlcCruiseEvent::Reader::getWheelOverrideSince() const {
return _reader.getDataField< ::uint64_t>(
::capnp::bounded<7>() * ::capnp::ELEMENTS);
}
inline ::uint64_t SlcCruiseEvent::Builder::getWheelOverrideSince() {
return _builder.getDataField< ::uint64_t>(
::capnp::bounded<7>() * ::capnp::ELEMENTS);
}
inline void SlcCruiseEvent::Builder::setWheelOverrideSince( ::uint64_t value) {
_builder.setDataField< ::uint64_t>(
::capnp::bounded<7>() * ::capnp::ELEMENTS, value);
}
inline ::uint16_t SlcCruiseEvent::TeslaStockCruise::Reader::getVersion() const {
return _reader.getDataField< ::uint16_t>(
::capnp::bounded<0>() * ::capnp::ELEMENTS);
openpilot/cereal/libcereal.a
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openpilot/common/libcommon.a
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openpilot/common/libparams_c.so
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openpilot/selfdrive/locationd/models/generated/car.cpp
+342 -342
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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_2633990546043802948) {
out_2633990546043802948[0] = delta_x[0] + nom_x[0];
out_2633990546043802948[1] = delta_x[1] + nom_x[1];
out_2633990546043802948[2] = delta_x[2] + nom_x[2];
out_2633990546043802948[3] = delta_x[3] + nom_x[3];
out_2633990546043802948[4] = delta_x[4] + nom_x[4];
out_2633990546043802948[5] = delta_x[5] + nom_x[5];
out_2633990546043802948[6] = delta_x[6] + nom_x[6];
out_2633990546043802948[7] = delta_x[7] + nom_x[7];
out_2633990546043802948[8] = delta_x[8] + nom_x[8];
void err_fun(double *nom_x, double *delta_x, double *out_3392229238668395910) {
out_3392229238668395910[0] = delta_x[0] + nom_x[0];
out_3392229238668395910[1] = delta_x[1] + nom_x[1];
out_3392229238668395910[2] = delta_x[2] + nom_x[2];
out_3392229238668395910[3] = delta_x[3] + nom_x[3];
out_3392229238668395910[4] = delta_x[4] + nom_x[4];
out_3392229238668395910[5] = delta_x[5] + nom_x[5];
out_3392229238668395910[6] = delta_x[6] + nom_x[6];
out_3392229238668395910[7] = delta_x[7] + nom_x[7];
out_3392229238668395910[8] = delta_x[8] + nom_x[8];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_1648181344021920920) {
out_1648181344021920920[0] = -nom_x[0] + true_x[0];
out_1648181344021920920[1] = -nom_x[1] + true_x[1];
out_1648181344021920920[2] = -nom_x[2] + true_x[2];
out_1648181344021920920[3] = -nom_x[3] + true_x[3];
out_1648181344021920920[4] = -nom_x[4] + true_x[4];
out_1648181344021920920[5] = -nom_x[5] + true_x[5];
out_1648181344021920920[6] = -nom_x[6] + true_x[6];
out_1648181344021920920[7] = -nom_x[7] + true_x[7];
out_1648181344021920920[8] = -nom_x[8] + true_x[8];
void inv_err_fun(double *nom_x, double *true_x, double *out_8775703397352493346) {
out_8775703397352493346[0] = -nom_x[0] + true_x[0];
out_8775703397352493346[1] = -nom_x[1] + true_x[1];
out_8775703397352493346[2] = -nom_x[2] + true_x[2];
out_8775703397352493346[3] = -nom_x[3] + true_x[3];
out_8775703397352493346[4] = -nom_x[4] + true_x[4];
out_8775703397352493346[5] = -nom_x[5] + true_x[5];
out_8775703397352493346[6] = -nom_x[6] + true_x[6];
out_8775703397352493346[7] = -nom_x[7] + true_x[7];
out_8775703397352493346[8] = -nom_x[8] + true_x[8];
}
void H_mod_fun(double *state, double *out_6471050303960736584) {
out_6471050303960736584[0] = 1.0;
out_6471050303960736584[1] = 0.0;
out_6471050303960736584[2] = 0.0;
out_6471050303960736584[3] = 0.0;
out_6471050303960736584[4] = 0.0;
out_6471050303960736584[5] = 0.0;
out_6471050303960736584[6] = 0.0;
out_6471050303960736584[7] = 0.0;
out_6471050303960736584[8] = 0.0;
out_6471050303960736584[9] = 0.0;
out_6471050303960736584[10] = 1.0;
out_6471050303960736584[11] = 0.0;
out_6471050303960736584[12] = 0.0;
out_6471050303960736584[13] = 0.0;
out_6471050303960736584[14] = 0.0;
out_6471050303960736584[15] = 0.0;
out_6471050303960736584[16] = 0.0;
out_6471050303960736584[17] = 0.0;
out_6471050303960736584[18] = 0.0;
out_6471050303960736584[19] = 0.0;
out_6471050303960736584[20] = 1.0;
out_6471050303960736584[21] = 0.0;
out_6471050303960736584[22] = 0.0;
out_6471050303960736584[23] = 0.0;
out_6471050303960736584[24] = 0.0;
out_6471050303960736584[25] = 0.0;
out_6471050303960736584[26] = 0.0;
out_6471050303960736584[27] = 0.0;
out_6471050303960736584[28] = 0.0;
out_6471050303960736584[29] = 0.0;
out_6471050303960736584[30] = 1.0;
out_6471050303960736584[31] = 0.0;
out_6471050303960736584[32] = 0.0;
out_6471050303960736584[33] = 0.0;
out_6471050303960736584[34] = 0.0;
out_6471050303960736584[35] = 0.0;
out_6471050303960736584[36] = 0.0;
out_6471050303960736584[37] = 0.0;
out_6471050303960736584[38] = 0.0;
out_6471050303960736584[39] = 0.0;
out_6471050303960736584[40] = 1.0;
out_6471050303960736584[41] = 0.0;
out_6471050303960736584[42] = 0.0;
out_6471050303960736584[43] = 0.0;
out_6471050303960736584[44] = 0.0;
out_6471050303960736584[45] = 0.0;
out_6471050303960736584[46] = 0.0;
out_6471050303960736584[47] = 0.0;
out_6471050303960736584[48] = 0.0;
out_6471050303960736584[49] = 0.0;
out_6471050303960736584[50] = 1.0;
out_6471050303960736584[51] = 0.0;
out_6471050303960736584[52] = 0.0;
out_6471050303960736584[53] = 0.0;
out_6471050303960736584[54] = 0.0;
out_6471050303960736584[55] = 0.0;
out_6471050303960736584[56] = 0.0;
out_6471050303960736584[57] = 0.0;
out_6471050303960736584[58] = 0.0;
out_6471050303960736584[59] = 0.0;
out_6471050303960736584[60] = 1.0;
out_6471050303960736584[61] = 0.0;
out_6471050303960736584[62] = 0.0;
out_6471050303960736584[63] = 0.0;
out_6471050303960736584[64] = 0.0;
out_6471050303960736584[65] = 0.0;
out_6471050303960736584[66] = 0.0;
out_6471050303960736584[67] = 0.0;
out_6471050303960736584[68] = 0.0;
out_6471050303960736584[69] = 0.0;
out_6471050303960736584[70] = 1.0;
out_6471050303960736584[71] = 0.0;
out_6471050303960736584[72] = 0.0;
out_6471050303960736584[73] = 0.0;
out_6471050303960736584[74] = 0.0;
out_6471050303960736584[75] = 0.0;
out_6471050303960736584[76] = 0.0;
out_6471050303960736584[77] = 0.0;
out_6471050303960736584[78] = 0.0;
out_6471050303960736584[79] = 0.0;
out_6471050303960736584[80] = 1.0;
void H_mod_fun(double *state, double *out_4824001013826507625) {
out_4824001013826507625[0] = 1.0;
out_4824001013826507625[1] = 0.0;
out_4824001013826507625[2] = 0.0;
out_4824001013826507625[3] = 0.0;
out_4824001013826507625[4] = 0.0;
out_4824001013826507625[5] = 0.0;
out_4824001013826507625[6] = 0.0;
out_4824001013826507625[7] = 0.0;
out_4824001013826507625[8] = 0.0;
out_4824001013826507625[9] = 0.0;
out_4824001013826507625[10] = 1.0;
out_4824001013826507625[11] = 0.0;
out_4824001013826507625[12] = 0.0;
out_4824001013826507625[13] = 0.0;
out_4824001013826507625[14] = 0.0;
out_4824001013826507625[15] = 0.0;
out_4824001013826507625[16] = 0.0;
out_4824001013826507625[17] = 0.0;
out_4824001013826507625[18] = 0.0;
out_4824001013826507625[19] = 0.0;
out_4824001013826507625[20] = 1.0;
out_4824001013826507625[21] = 0.0;
out_4824001013826507625[22] = 0.0;
out_4824001013826507625[23] = 0.0;
out_4824001013826507625[24] = 0.0;
out_4824001013826507625[25] = 0.0;
out_4824001013826507625[26] = 0.0;
out_4824001013826507625[27] = 0.0;
out_4824001013826507625[28] = 0.0;
out_4824001013826507625[29] = 0.0;
out_4824001013826507625[30] = 1.0;
out_4824001013826507625[31] = 0.0;
out_4824001013826507625[32] = 0.0;
out_4824001013826507625[33] = 0.0;
out_4824001013826507625[34] = 0.0;
out_4824001013826507625[35] = 0.0;
out_4824001013826507625[36] = 0.0;
out_4824001013826507625[37] = 0.0;
out_4824001013826507625[38] = 0.0;
out_4824001013826507625[39] = 0.0;
out_4824001013826507625[40] = 1.0;
out_4824001013826507625[41] = 0.0;
out_4824001013826507625[42] = 0.0;
out_4824001013826507625[43] = 0.0;
out_4824001013826507625[44] = 0.0;
out_4824001013826507625[45] = 0.0;
out_4824001013826507625[46] = 0.0;
out_4824001013826507625[47] = 0.0;
out_4824001013826507625[48] = 0.0;
out_4824001013826507625[49] = 0.0;
out_4824001013826507625[50] = 1.0;
out_4824001013826507625[51] = 0.0;
out_4824001013826507625[52] = 0.0;
out_4824001013826507625[53] = 0.0;
out_4824001013826507625[54] = 0.0;
out_4824001013826507625[55] = 0.0;
out_4824001013826507625[56] = 0.0;
out_4824001013826507625[57] = 0.0;
out_4824001013826507625[58] = 0.0;
out_4824001013826507625[59] = 0.0;
out_4824001013826507625[60] = 1.0;
out_4824001013826507625[61] = 0.0;
out_4824001013826507625[62] = 0.0;
out_4824001013826507625[63] = 0.0;
out_4824001013826507625[64] = 0.0;
out_4824001013826507625[65] = 0.0;
out_4824001013826507625[66] = 0.0;
out_4824001013826507625[67] = 0.0;
out_4824001013826507625[68] = 0.0;
out_4824001013826507625[69] = 0.0;
out_4824001013826507625[70] = 1.0;
out_4824001013826507625[71] = 0.0;
out_4824001013826507625[72] = 0.0;
out_4824001013826507625[73] = 0.0;
out_4824001013826507625[74] = 0.0;
out_4824001013826507625[75] = 0.0;
out_4824001013826507625[76] = 0.0;
out_4824001013826507625[77] = 0.0;
out_4824001013826507625[78] = 0.0;
out_4824001013826507625[79] = 0.0;
out_4824001013826507625[80] = 1.0;
}
void f_fun(double *state, double dt, double *out_3688269730868187383) {
out_3688269730868187383[0] = state[0];
out_3688269730868187383[1] = state[1];
out_3688269730868187383[2] = state[2];
out_3688269730868187383[3] = state[3];
out_3688269730868187383[4] = state[4];
out_3688269730868187383[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_3688269730868187383[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_3688269730868187383[7] = state[7];
out_3688269730868187383[8] = state[8];
void f_fun(double *state, double dt, double *out_6057528982108647722) {
out_6057528982108647722[0] = state[0];
out_6057528982108647722[1] = state[1];
out_6057528982108647722[2] = state[2];
out_6057528982108647722[3] = state[3];
out_6057528982108647722[4] = state[4];
out_6057528982108647722[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_6057528982108647722[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_6057528982108647722[7] = state[7];
out_6057528982108647722[8] = state[8];
}
void F_fun(double *state, double dt, double *out_9019266380936848145) {
out_9019266380936848145[0] = 1;
out_9019266380936848145[1] = 0;
out_9019266380936848145[2] = 0;
out_9019266380936848145[3] = 0;
out_9019266380936848145[4] = 0;
out_9019266380936848145[5] = 0;
out_9019266380936848145[6] = 0;
out_9019266380936848145[7] = 0;
out_9019266380936848145[8] = 0;
out_9019266380936848145[9] = 0;
out_9019266380936848145[10] = 1;
out_9019266380936848145[11] = 0;
out_9019266380936848145[12] = 0;
out_9019266380936848145[13] = 0;
out_9019266380936848145[14] = 0;
out_9019266380936848145[15] = 0;
out_9019266380936848145[16] = 0;
out_9019266380936848145[17] = 0;
out_9019266380936848145[18] = 0;
out_9019266380936848145[19] = 0;
out_9019266380936848145[20] = 1;
out_9019266380936848145[21] = 0;
out_9019266380936848145[22] = 0;
out_9019266380936848145[23] = 0;
out_9019266380936848145[24] = 0;
out_9019266380936848145[25] = 0;
out_9019266380936848145[26] = 0;
out_9019266380936848145[27] = 0;
out_9019266380936848145[28] = 0;
out_9019266380936848145[29] = 0;
out_9019266380936848145[30] = 1;
out_9019266380936848145[31] = 0;
out_9019266380936848145[32] = 0;
out_9019266380936848145[33] = 0;
out_9019266380936848145[34] = 0;
out_9019266380936848145[35] = 0;
out_9019266380936848145[36] = 0;
out_9019266380936848145[37] = 0;
out_9019266380936848145[38] = 0;
out_9019266380936848145[39] = 0;
out_9019266380936848145[40] = 1;
out_9019266380936848145[41] = 0;
out_9019266380936848145[42] = 0;
out_9019266380936848145[43] = 0;
out_9019266380936848145[44] = 0;
out_9019266380936848145[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_9019266380936848145[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_9019266380936848145[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_9019266380936848145[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_9019266380936848145[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_9019266380936848145[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_9019266380936848145[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_9019266380936848145[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_9019266380936848145[53] = -9.8100000000000005*dt;
out_9019266380936848145[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_9019266380936848145[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_9019266380936848145[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_9019266380936848145[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_9019266380936848145[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_9019266380936848145[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_9019266380936848145[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_9019266380936848145[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_9019266380936848145[62] = 0;
out_9019266380936848145[63] = 0;
out_9019266380936848145[64] = 0;
out_9019266380936848145[65] = 0;
out_9019266380936848145[66] = 0;
out_9019266380936848145[67] = 0;
out_9019266380936848145[68] = 0;
out_9019266380936848145[69] = 0;
out_9019266380936848145[70] = 1;
out_9019266380936848145[71] = 0;
out_9019266380936848145[72] = 0;
out_9019266380936848145[73] = 0;
out_9019266380936848145[74] = 0;
out_9019266380936848145[75] = 0;
out_9019266380936848145[76] = 0;
out_9019266380936848145[77] = 0;
out_9019266380936848145[78] = 0;
out_9019266380936848145[79] = 0;
out_9019266380936848145[80] = 1;
void F_fun(double *state, double dt, double *out_178208695147004115) {
out_178208695147004115[0] = 1;
out_178208695147004115[1] = 0;
out_178208695147004115[2] = 0;
out_178208695147004115[3] = 0;
out_178208695147004115[4] = 0;
out_178208695147004115[5] = 0;
out_178208695147004115[6] = 0;
out_178208695147004115[7] = 0;
out_178208695147004115[8] = 0;
out_178208695147004115[9] = 0;
out_178208695147004115[10] = 1;
out_178208695147004115[11] = 0;
out_178208695147004115[12] = 0;
out_178208695147004115[13] = 0;
out_178208695147004115[14] = 0;
out_178208695147004115[15] = 0;
out_178208695147004115[16] = 0;
out_178208695147004115[17] = 0;
out_178208695147004115[18] = 0;
out_178208695147004115[19] = 0;
out_178208695147004115[20] = 1;
out_178208695147004115[21] = 0;
out_178208695147004115[22] = 0;
out_178208695147004115[23] = 0;
out_178208695147004115[24] = 0;
out_178208695147004115[25] = 0;
out_178208695147004115[26] = 0;
out_178208695147004115[27] = 0;
out_178208695147004115[28] = 0;
out_178208695147004115[29] = 0;
out_178208695147004115[30] = 1;
out_178208695147004115[31] = 0;
out_178208695147004115[32] = 0;
out_178208695147004115[33] = 0;
out_178208695147004115[34] = 0;
out_178208695147004115[35] = 0;
out_178208695147004115[36] = 0;
out_178208695147004115[37] = 0;
out_178208695147004115[38] = 0;
out_178208695147004115[39] = 0;
out_178208695147004115[40] = 1;
out_178208695147004115[41] = 0;
out_178208695147004115[42] = 0;
out_178208695147004115[43] = 0;
out_178208695147004115[44] = 0;
out_178208695147004115[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_178208695147004115[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_178208695147004115[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_178208695147004115[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_178208695147004115[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_178208695147004115[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_178208695147004115[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_178208695147004115[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_178208695147004115[53] = -9.8100000000000005*dt;
out_178208695147004115[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_178208695147004115[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_178208695147004115[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_178208695147004115[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_178208695147004115[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_178208695147004115[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_178208695147004115[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_178208695147004115[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_178208695147004115[62] = 0;
out_178208695147004115[63] = 0;
out_178208695147004115[64] = 0;
out_178208695147004115[65] = 0;
out_178208695147004115[66] = 0;
out_178208695147004115[67] = 0;
out_178208695147004115[68] = 0;
out_178208695147004115[69] = 0;
out_178208695147004115[70] = 1;
out_178208695147004115[71] = 0;
out_178208695147004115[72] = 0;
out_178208695147004115[73] = 0;
out_178208695147004115[74] = 0;
out_178208695147004115[75] = 0;
out_178208695147004115[76] = 0;
out_178208695147004115[77] = 0;
out_178208695147004115[78] = 0;
out_178208695147004115[79] = 0;
out_178208695147004115[80] = 1;
}
void h_25(double *state, double *unused, double *out_797744778366010140) {
out_797744778366010140[0] = state[6];
void h_25(double *state, double *unused, double *out_8550702395314279714) {
out_8550702395314279714[0] = state[6];
}
void H_25(double *state, double *unused, double *out_1567358478776071744) {
out_1567358478776071744[0] = 0;
out_1567358478776071744[1] = 0;
out_1567358478776071744[2] = 0;
out_1567358478776071744[3] = 0;
out_1567358478776071744[4] = 0;
out_1567358478776071744[5] = 0;
out_1567358478776071744[6] = 1;
out_1567358478776071744[7] = 0;
out_1567358478776071744[8] = 0;
void H_25(double *state, double *unused, double *out_2187444088811081431) {
out_2187444088811081431[0] = 0;
out_2187444088811081431[1] = 0;
out_2187444088811081431[2] = 0;
out_2187444088811081431[3] = 0;
out_2187444088811081431[4] = 0;
out_2187444088811081431[5] = 0;
out_2187444088811081431[6] = 1;
out_2187444088811081431[7] = 0;
out_2187444088811081431[8] = 0;
}
void h_24(double *state, double *unused, double *out_190155790201239850) {
out_190155790201239850[0] = state[4];
out_190155790201239850[1] = state[5];
void h_24(double *state, double *unused, double *out_3063831735768408815) {
out_3063831735768408815[0] = state[4];
out_3063831735768408815[1] = state[5];
}
void H_24(double *state, double *unused, double *out_5549681630173839642) {
out_5549681630173839642[0] = 0;
out_5549681630173839642[1] = 0;
out_5549681630173839642[2] = 0;
out_5549681630173839642[3] = 0;
out_5549681630173839642[4] = 1;
out_5549681630173839642[5] = 0;
out_5549681630173839642[6] = 0;
out_5549681630173839642[7] = 0;
out_5549681630173839642[8] = 0;
out_5549681630173839642[9] = 0;
out_5549681630173839642[10] = 0;
out_5549681630173839642[11] = 0;
out_5549681630173839642[12] = 0;
out_5549681630173839642[13] = 0;
out_5549681630173839642[14] = 1;
out_5549681630173839642[15] = 0;
out_5549681630173839642[16] = 0;
out_5549681630173839642[17] = 0;
void H_24(double *state, double *unused, double *out_5745369687613404567) {
out_5745369687613404567[0] = 0;
out_5745369687613404567[1] = 0;
out_5745369687613404567[2] = 0;
out_5745369687613404567[3] = 0;
out_5745369687613404567[4] = 1;
out_5745369687613404567[5] = 0;
out_5745369687613404567[6] = 0;
out_5745369687613404567[7] = 0;
out_5745369687613404567[8] = 0;
out_5745369687613404567[9] = 0;
out_5745369687613404567[10] = 0;
out_5745369687613404567[11] = 0;
out_5745369687613404567[12] = 0;
out_5745369687613404567[13] = 0;
out_5745369687613404567[14] = 1;
out_5745369687613404567[15] = 0;
out_5745369687613404567[16] = 0;
out_5745369687613404567[17] = 0;
}
void h_30(double *state, double *unused, double *out_8511282010659690294) {
out_8511282010659690294[0] = state[4];
void h_30(double *state, double *unused, double *out_8471988271360455383) {
out_8471988271360455383[0] = state[4];
}
void H_30(double *state, double *unused, double *out_5349331862715545011) {
out_5349331862715545011[0] = 0;
out_5349331862715545011[1] = 0;
out_5349331862715545011[2] = 0;
out_5349331862715545011[3] = 0;
out_5349331862715545011[4] = 1;
out_5349331862715545011[5] = 0;
out_5349331862715545011[6] = 0;
out_5349331862715545011[7] = 0;
out_5349331862715545011[8] = 0;
void H_30(double *state, double *unused, double *out_2340252241316526767) {
out_2340252241316526767[0] = 0;
out_2340252241316526767[1] = 0;
out_2340252241316526767[2] = 0;
out_2340252241316526767[3] = 0;
out_2340252241316526767[4] = 1;
out_2340252241316526767[5] = 0;
out_2340252241316526767[6] = 0;
out_2340252241316526767[7] = 0;
out_2340252241316526767[8] = 0;
}
void h_26(double *state, double *unused, double *out_5186767263433807506) {
out_5186767263433807506[0] = state[7];
void h_26(double *state, double *unused, double *out_3470315003699609738) {
out_3470315003699609738[0] = state[7];
}
void H_26(double *state, double *unused, double *out_1737167490984728857) {
out_1737167490984728857[0] = 0;
out_1737167490984728857[1] = 0;
out_1737167490984728857[2] = 0;
out_1737167490984728857[3] = 0;
out_1737167490984728857[4] = 0;
out_1737167490984728857[5] = 0;
out_1737167490984728857[6] = 0;
out_1737167490984728857[7] = 1;
out_1737167490984728857[8] = 0;
void H_26(double *state, double *unused, double *out_1554059230062974793) {
out_1554059230062974793[0] = 0;
out_1554059230062974793[1] = 0;
out_1554059230062974793[2] = 0;
out_1554059230062974793[3] = 0;
out_1554059230062974793[4] = 0;
out_1554059230062974793[5] = 0;
out_1554059230062974793[6] = 0;
out_1554059230062974793[7] = 1;
out_1554059230062974793[8] = 0;
}
void h_27(double *state, double *unused, double *out_3402150099174707791) {
out_3402150099174707791[0] = state[3];
void h_27(double *state, double *unused, double *out_4147430428900407732) {
out_4147430428900407732[0] = state[3];
}
void H_27(double *state, double *unused, double *out_3174568550915120100) {
out_3174568550915120100[0] = 0;
out_3174568550915120100[1] = 0;
out_3174568550915120100[2] = 0;
out_3174568550915120100[3] = 1;
out_3174568550915120100[4] = 0;
out_3174568550915120100[5] = 0;
out_3174568550915120100[6] = 0;
out_3174568550915120100[7] = 0;
out_3174568550915120100[8] = 0;
void H_27(double *state, double *unused, double *out_4515015553116951678) {
out_4515015553116951678[0] = 0;
out_4515015553116951678[1] = 0;
out_4515015553116951678[2] = 0;
out_4515015553116951678[3] = 1;
out_4515015553116951678[4] = 0;
out_4515015553116951678[5] = 0;
out_4515015553116951678[6] = 0;
out_4515015553116951678[7] = 0;
out_4515015553116951678[8] = 0;
}
void h_29(double *state, double *unused, double *out_2753297096665952338) {
out_2753297096665952338[0] = state[1];
void h_29(double *state, double *unused, double *out_6344999803363309424) {
out_6344999803363309424[0] = state[1];
}
void H_29(double *state, double *unused, double *out_5859563207029937195) {
out_5859563207029937195[0] = 0;
out_5859563207029937195[1] = 1;
out_5859563207029937195[2] = 0;
out_5859563207029937195[3] = 0;
out_5859563207029937195[4] = 0;
out_5859563207029937195[5] = 0;
out_5859563207029937195[6] = 0;
out_5859563207029937195[7] = 0;
out_5859563207029937195[8] = 0;
void H_29(double *state, double *unused, double *out_1830020897002134583) {
out_1830020897002134583[0] = 0;
out_1830020897002134583[1] = 1;
out_1830020897002134583[2] = 0;
out_1830020897002134583[3] = 0;
out_1830020897002134583[4] = 0;
out_1830020897002134583[5] = 0;
out_1830020897002134583[6] = 0;
out_1830020897002134583[7] = 0;
out_1830020897002134583[8] = 0;
}
void h_28(double *state, double *unused, double *out_6022818472511333083) {
out_6022818472511333083[0] = state[0];
void h_28(double *state, double *unused, double *out_7296550941016078105) {
out_7296550941016078105[0] = state[0];
}
void H_28(double *state, double *unused, double *out_3621193193023961507) {
out_3621193193023961507[0] = 1;
out_3621193193023961507[1] = 0;
out_3621193193023961507[2] = 0;
out_3621193193023961507[3] = 0;
out_3621193193023961507[4] = 0;
out_3621193193023961507[5] = 0;
out_3621193193023961507[6] = 0;
out_3621193193023961507[7] = 0;
out_3621193193023961507[8] = 0;
void H_28(double *state, double *unused, double *out_133609374563191668) {
out_133609374563191668[0] = 1;
out_133609374563191668[1] = 0;
out_133609374563191668[2] = 0;
out_133609374563191668[3] = 0;
out_133609374563191668[4] = 0;
out_133609374563191668[5] = 0;
out_133609374563191668[6] = 0;
out_133609374563191668[7] = 0;
out_133609374563191668[8] = 0;
}
void h_31(double *state, double *unused, double *out_8679017429120059325) {
out_8679017429120059325[0] = state[8];
void h_31(double *state, double *unused, double *out_2132776421574599461) {
out_2132776421574599461[0] = state[8];
}
void H_31(double *state, double *unused, double *out_5509316771735745509) {
out_5509316771735745509[0] = 0;
out_5509316771735745509[1] = 0;
out_5509316771735745509[2] = 0;
out_5509316771735745509[3] = 0;
out_5509316771735745509[4] = 0;
out_5509316771735745509[5] = 0;
out_5509316771735745509[6] = 0;
out_5509316771735745509[7] = 0;
out_5509316771735745509[8] = 1;
void H_31(double *state, double *unused, double *out_2180267332296326269) {
out_2180267332296326269[0] = 0;
out_2180267332296326269[1] = 0;
out_2180267332296326269[2] = 0;
out_2180267332296326269[3] = 0;
out_2180267332296326269[4] = 0;
out_2180267332296326269[5] = 0;
out_2180267332296326269[6] = 0;
out_2180267332296326269[7] = 0;
out_2180267332296326269[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_2633990546043802948) {
err_fun(nom_x, delta_x, out_2633990546043802948);
void car_err_fun(double *nom_x, double *delta_x, double *out_3392229238668395910) {
err_fun(nom_x, delta_x, out_3392229238668395910);
}
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1648181344021920920) {
inv_err_fun(nom_x, true_x, out_1648181344021920920);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8775703397352493346) {
inv_err_fun(nom_x, true_x, out_8775703397352493346);
}
void car_H_mod_fun(double *state, double *out_6471050303960736584) {
H_mod_fun(state, out_6471050303960736584);
void car_H_mod_fun(double *state, double *out_4824001013826507625) {
H_mod_fun(state, out_4824001013826507625);
}
void car_f_fun(double *state, double dt, double *out_3688269730868187383) {
f_fun(state, dt, out_3688269730868187383);
void car_f_fun(double *state, double dt, double *out_6057528982108647722) {
f_fun(state, dt, out_6057528982108647722);
}
void car_F_fun(double *state, double dt, double *out_9019266380936848145) {
F_fun(state, dt, out_9019266380936848145);
void car_F_fun(double *state, double dt, double *out_178208695147004115) {
F_fun(state, dt, out_178208695147004115);
}
void car_h_25(double *state, double *unused, double *out_797744778366010140) {
h_25(state, unused, out_797744778366010140);
void car_h_25(double *state, double *unused, double *out_8550702395314279714) {
h_25(state, unused, out_8550702395314279714);
}
void car_H_25(double *state, double *unused, double *out_1567358478776071744) {
H_25(state, unused, out_1567358478776071744);
void car_H_25(double *state, double *unused, double *out_2187444088811081431) {
H_25(state, unused, out_2187444088811081431);
}
void car_h_24(double *state, double *unused, double *out_190155790201239850) {
h_24(state, unused, out_190155790201239850);
void car_h_24(double *state, double *unused, double *out_3063831735768408815) {
h_24(state, unused, out_3063831735768408815);
}
void car_H_24(double *state, double *unused, double *out_5549681630173839642) {
H_24(state, unused, out_5549681630173839642);
void car_H_24(double *state, double *unused, double *out_5745369687613404567) {
H_24(state, unused, out_5745369687613404567);
}
void car_h_30(double *state, double *unused, double *out_8511282010659690294) {
h_30(state, unused, out_8511282010659690294);
void car_h_30(double *state, double *unused, double *out_8471988271360455383) {
h_30(state, unused, out_8471988271360455383);
}
void car_H_30(double *state, double *unused, double *out_5349331862715545011) {
H_30(state, unused, out_5349331862715545011);
void car_H_30(double *state, double *unused, double *out_2340252241316526767) {
H_30(state, unused, out_2340252241316526767);
}
void car_h_26(double *state, double *unused, double *out_5186767263433807506) {
h_26(state, unused, out_5186767263433807506);
void car_h_26(double *state, double *unused, double *out_3470315003699609738) {
h_26(state, unused, out_3470315003699609738);
}
void car_H_26(double *state, double *unused, double *out_1737167490984728857) {
H_26(state, unused, out_1737167490984728857);
void car_H_26(double *state, double *unused, double *out_1554059230062974793) {
H_26(state, unused, out_1554059230062974793);
}
void car_h_27(double *state, double *unused, double *out_3402150099174707791) {
h_27(state, unused, out_3402150099174707791);
void car_h_27(double *state, double *unused, double *out_4147430428900407732) {
h_27(state, unused, out_4147430428900407732);
}
void car_H_27(double *state, double *unused, double *out_3174568550915120100) {
H_27(state, unused, out_3174568550915120100);
void car_H_27(double *state, double *unused, double *out_4515015553116951678) {
H_27(state, unused, out_4515015553116951678);
}
void car_h_29(double *state, double *unused, double *out_2753297096665952338) {
h_29(state, unused, out_2753297096665952338);
void car_h_29(double *state, double *unused, double *out_6344999803363309424) {
h_29(state, unused, out_6344999803363309424);
}
void car_H_29(double *state, double *unused, double *out_5859563207029937195) {
H_29(state, unused, out_5859563207029937195);
void car_H_29(double *state, double *unused, double *out_1830020897002134583) {
H_29(state, unused, out_1830020897002134583);
}
void car_h_28(double *state, double *unused, double *out_6022818472511333083) {
h_28(state, unused, out_6022818472511333083);
void car_h_28(double *state, double *unused, double *out_7296550941016078105) {
h_28(state, unused, out_7296550941016078105);
}
void car_H_28(double *state, double *unused, double *out_3621193193023961507) {
H_28(state, unused, out_3621193193023961507);
void car_H_28(double *state, double *unused, double *out_133609374563191668) {
H_28(state, unused, out_133609374563191668);
}
void car_h_31(double *state, double *unused, double *out_8679017429120059325) {
h_31(state, unused, out_8679017429120059325);
void car_h_31(double *state, double *unused, double *out_2132776421574599461) {
h_31(state, unused, out_2132776421574599461);
}
void car_H_31(double *state, double *unused, double *out_5509316771735745509) {
H_31(state, unused, out_5509316771735745509);
void car_H_31(double *state, double *unused, double *out_2180267332296326269) {
H_31(state, unused, out_2180267332296326269);
}
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);
openpilot/selfdrive/locationd/models/generated/car.h
+21 -21
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@@ -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_2633990546043802948);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1648181344021920920);
void car_H_mod_fun(double *state, double *out_6471050303960736584);
void car_f_fun(double *state, double dt, double *out_3688269730868187383);
void car_F_fun(double *state, double dt, double *out_9019266380936848145);
void car_h_25(double *state, double *unused, double *out_797744778366010140);
void car_H_25(double *state, double *unused, double *out_1567358478776071744);
void car_h_24(double *state, double *unused, double *out_190155790201239850);
void car_H_24(double *state, double *unused, double *out_5549681630173839642);
void car_h_30(double *state, double *unused, double *out_8511282010659690294);
void car_H_30(double *state, double *unused, double *out_5349331862715545011);
void car_h_26(double *state, double *unused, double *out_5186767263433807506);
void car_H_26(double *state, double *unused, double *out_1737167490984728857);
void car_h_27(double *state, double *unused, double *out_3402150099174707791);
void car_H_27(double *state, double *unused, double *out_3174568550915120100);
void car_h_29(double *state, double *unused, double *out_2753297096665952338);
void car_H_29(double *state, double *unused, double *out_5859563207029937195);
void car_h_28(double *state, double *unused, double *out_6022818472511333083);
void car_H_28(double *state, double *unused, double *out_3621193193023961507);
void car_h_31(double *state, double *unused, double *out_8679017429120059325);
void car_H_31(double *state, double *unused, double *out_5509316771735745509);
void car_err_fun(double *nom_x, double *delta_x, double *out_3392229238668395910);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8775703397352493346);
void car_H_mod_fun(double *state, double *out_4824001013826507625);
void car_f_fun(double *state, double dt, double *out_6057528982108647722);
void car_F_fun(double *state, double dt, double *out_178208695147004115);
void car_h_25(double *state, double *unused, double *out_8550702395314279714);
void car_H_25(double *state, double *unused, double *out_2187444088811081431);
void car_h_24(double *state, double *unused, double *out_3063831735768408815);
void car_H_24(double *state, double *unused, double *out_5745369687613404567);
void car_h_30(double *state, double *unused, double *out_8471988271360455383);
void car_H_30(double *state, double *unused, double *out_2340252241316526767);
void car_h_26(double *state, double *unused, double *out_3470315003699609738);
void car_H_26(double *state, double *unused, double *out_1554059230062974793);
void car_h_27(double *state, double *unused, double *out_4147430428900407732);
void car_H_27(double *state, double *unused, double *out_4515015553116951678);
void car_h_29(double *state, double *unused, double *out_6344999803363309424);
void car_H_29(double *state, double *unused, double *out_1830020897002134583);
void car_h_28(double *state, double *unused, double *out_7296550941016078105);
void car_H_28(double *state, double *unused, double *out_133609374563191668);
void car_h_31(double *state, double *unused, double *out_2132776421574599461);
void car_H_31(double *state, double *unused, double *out_2180267332296326269);
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);
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@@ -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_2521549048397866319);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4368796387448451064);
void pose_H_mod_fun(double *state, double *out_4711938499332200676);
void pose_f_fun(double *state, double dt, double *out_3583623669529018238);
void pose_F_fun(double *state, double dt, double *out_147281941884768427);
void pose_h_4(double *state, double *unused, double *out_8338357592566013610);
void pose_H_4(double *state, double *unused, double *out_940131289488293104);
void pose_h_10(double *state, double *unused, double *out_8345234452777105931);
void pose_H_10(double *state, double *unused, double *out_1248319787069001495);
void pose_h_13(double *state, double *unused, double *out_1047798615184752827);
void pose_H_13(double *state, double *unused, double *out_375529369806449000);
void pose_h_14(double *state, double *unused, double *out_4235679239024063539);
void pose_H_14(double *state, double *unused, double *out_4022919721783665400);
void pose_err_fun(double *nom_x, double *delta_x, double *out_944171533359057280);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5987343215061063396);
void pose_H_mod_fun(double *state, double *out_922696574028504956);
void pose_f_fun(double *state, double dt, double *out_7271275588779717019);
void pose_F_fun(double *state, double dt, double *out_1488608338000593967);
void pose_h_4(double *state, double *unused, double *out_7790743839692054955);
void pose_H_4(double *state, double *unused, double *out_1533656544988368493);
void pose_h_10(double *state, double *unused, double *out_9133294609098034128);
void pose_H_10(double *state, double *unused, double *out_1083055239647106891);
void pose_h_13(double *state, double *unused, double *out_7261076778239694426);
void pose_H_13(double *state, double *unused, double *out_4745930370320701294);
void pose_h_14(double *state, double *unused, double *out_3309539515902900024);
void pose_H_14(double *state, double *unused, double *out_5496897401327853022);
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
}
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@@ -1,4 +1,4 @@
#pragma once
extern const uint8_t gitversion[29];
const uint8_t gitversion[29] = "DEV-5114f466-Pf38f504f-DEBUG";
const uint8_t gitversion[29] = "DEV-3a22ddda-Pf38f504f-DEBUG";
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{"protected_inventory_sha256": "388ca644c98b0c10d27bf009a39b15a2fd7581a42c82ef5e05cce72fde3c5a83", "schema_version": 1}
{"protected_inventory_sha256": "b9672e51fdd2774a1f4c75e2ac164b85ab8bd9459710668197af0b6f4154ff0b", "schema_version": 1}