mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-23 10:12:17 +08:00
build
This commit is contained in:
StarPilot Build Bot
@@ -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_4387195160971747702) {
|
||||
out_4387195160971747702[0] = delta_x[0] + nom_x[0];
|
||||
out_4387195160971747702[1] = delta_x[1] + nom_x[1];
|
||||
out_4387195160971747702[2] = delta_x[2] + nom_x[2];
|
||||
out_4387195160971747702[3] = delta_x[3] + nom_x[3];
|
||||
out_4387195160971747702[4] = delta_x[4] + nom_x[4];
|
||||
out_4387195160971747702[5] = delta_x[5] + nom_x[5];
|
||||
out_4387195160971747702[6] = delta_x[6] + nom_x[6];
|
||||
out_4387195160971747702[7] = delta_x[7] + nom_x[7];
|
||||
out_4387195160971747702[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_1972702472511725479) {
|
||||
out_1972702472511725479[0] = delta_x[0] + nom_x[0];
|
||||
out_1972702472511725479[1] = delta_x[1] + nom_x[1];
|
||||
out_1972702472511725479[2] = delta_x[2] + nom_x[2];
|
||||
out_1972702472511725479[3] = delta_x[3] + nom_x[3];
|
||||
out_1972702472511725479[4] = delta_x[4] + nom_x[4];
|
||||
out_1972702472511725479[5] = delta_x[5] + nom_x[5];
|
||||
out_1972702472511725479[6] = delta_x[6] + nom_x[6];
|
||||
out_1972702472511725479[7] = delta_x[7] + nom_x[7];
|
||||
out_1972702472511725479[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_7707264064834051115) {
|
||||
out_7707264064834051115[0] = -nom_x[0] + true_x[0];
|
||||
out_7707264064834051115[1] = -nom_x[1] + true_x[1];
|
||||
out_7707264064834051115[2] = -nom_x[2] + true_x[2];
|
||||
out_7707264064834051115[3] = -nom_x[3] + true_x[3];
|
||||
out_7707264064834051115[4] = -nom_x[4] + true_x[4];
|
||||
out_7707264064834051115[5] = -nom_x[5] + true_x[5];
|
||||
out_7707264064834051115[6] = -nom_x[6] + true_x[6];
|
||||
out_7707264064834051115[7] = -nom_x[7] + true_x[7];
|
||||
out_7707264064834051115[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3741555659818717473) {
|
||||
out_3741555659818717473[0] = -nom_x[0] + true_x[0];
|
||||
out_3741555659818717473[1] = -nom_x[1] + true_x[1];
|
||||
out_3741555659818717473[2] = -nom_x[2] + true_x[2];
|
||||
out_3741555659818717473[3] = -nom_x[3] + true_x[3];
|
||||
out_3741555659818717473[4] = -nom_x[4] + true_x[4];
|
||||
out_3741555659818717473[5] = -nom_x[5] + true_x[5];
|
||||
out_3741555659818717473[6] = -nom_x[6] + true_x[6];
|
||||
out_3741555659818717473[7] = -nom_x[7] + true_x[7];
|
||||
out_3741555659818717473[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_7178605602671138983) {
|
||||
out_7178605602671138983[0] = 1.0;
|
||||
out_7178605602671138983[1] = 0.0;
|
||||
out_7178605602671138983[2] = 0.0;
|
||||
out_7178605602671138983[3] = 0.0;
|
||||
out_7178605602671138983[4] = 0.0;
|
||||
out_7178605602671138983[5] = 0.0;
|
||||
out_7178605602671138983[6] = 0.0;
|
||||
out_7178605602671138983[7] = 0.0;
|
||||
out_7178605602671138983[8] = 0.0;
|
||||
out_7178605602671138983[9] = 0.0;
|
||||
out_7178605602671138983[10] = 1.0;
|
||||
out_7178605602671138983[11] = 0.0;
|
||||
out_7178605602671138983[12] = 0.0;
|
||||
out_7178605602671138983[13] = 0.0;
|
||||
out_7178605602671138983[14] = 0.0;
|
||||
out_7178605602671138983[15] = 0.0;
|
||||
out_7178605602671138983[16] = 0.0;
|
||||
out_7178605602671138983[17] = 0.0;
|
||||
out_7178605602671138983[18] = 0.0;
|
||||
out_7178605602671138983[19] = 0.0;
|
||||
out_7178605602671138983[20] = 1.0;
|
||||
out_7178605602671138983[21] = 0.0;
|
||||
out_7178605602671138983[22] = 0.0;
|
||||
out_7178605602671138983[23] = 0.0;
|
||||
out_7178605602671138983[24] = 0.0;
|
||||
out_7178605602671138983[25] = 0.0;
|
||||
out_7178605602671138983[26] = 0.0;
|
||||
out_7178605602671138983[27] = 0.0;
|
||||
out_7178605602671138983[28] = 0.0;
|
||||
out_7178605602671138983[29] = 0.0;
|
||||
out_7178605602671138983[30] = 1.0;
|
||||
out_7178605602671138983[31] = 0.0;
|
||||
out_7178605602671138983[32] = 0.0;
|
||||
out_7178605602671138983[33] = 0.0;
|
||||
out_7178605602671138983[34] = 0.0;
|
||||
out_7178605602671138983[35] = 0.0;
|
||||
out_7178605602671138983[36] = 0.0;
|
||||
out_7178605602671138983[37] = 0.0;
|
||||
out_7178605602671138983[38] = 0.0;
|
||||
out_7178605602671138983[39] = 0.0;
|
||||
out_7178605602671138983[40] = 1.0;
|
||||
out_7178605602671138983[41] = 0.0;
|
||||
out_7178605602671138983[42] = 0.0;
|
||||
out_7178605602671138983[43] = 0.0;
|
||||
out_7178605602671138983[44] = 0.0;
|
||||
out_7178605602671138983[45] = 0.0;
|
||||
out_7178605602671138983[46] = 0.0;
|
||||
out_7178605602671138983[47] = 0.0;
|
||||
out_7178605602671138983[48] = 0.0;
|
||||
out_7178605602671138983[49] = 0.0;
|
||||
out_7178605602671138983[50] = 1.0;
|
||||
out_7178605602671138983[51] = 0.0;
|
||||
out_7178605602671138983[52] = 0.0;
|
||||
out_7178605602671138983[53] = 0.0;
|
||||
out_7178605602671138983[54] = 0.0;
|
||||
out_7178605602671138983[55] = 0.0;
|
||||
out_7178605602671138983[56] = 0.0;
|
||||
out_7178605602671138983[57] = 0.0;
|
||||
out_7178605602671138983[58] = 0.0;
|
||||
out_7178605602671138983[59] = 0.0;
|
||||
out_7178605602671138983[60] = 1.0;
|
||||
out_7178605602671138983[61] = 0.0;
|
||||
out_7178605602671138983[62] = 0.0;
|
||||
out_7178605602671138983[63] = 0.0;
|
||||
out_7178605602671138983[64] = 0.0;
|
||||
out_7178605602671138983[65] = 0.0;
|
||||
out_7178605602671138983[66] = 0.0;
|
||||
out_7178605602671138983[67] = 0.0;
|
||||
out_7178605602671138983[68] = 0.0;
|
||||
out_7178605602671138983[69] = 0.0;
|
||||
out_7178605602671138983[70] = 1.0;
|
||||
out_7178605602671138983[71] = 0.0;
|
||||
out_7178605602671138983[72] = 0.0;
|
||||
out_7178605602671138983[73] = 0.0;
|
||||
out_7178605602671138983[74] = 0.0;
|
||||
out_7178605602671138983[75] = 0.0;
|
||||
out_7178605602671138983[76] = 0.0;
|
||||
out_7178605602671138983[77] = 0.0;
|
||||
out_7178605602671138983[78] = 0.0;
|
||||
out_7178605602671138983[79] = 0.0;
|
||||
out_7178605602671138983[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_4845788339544047954) {
|
||||
out_4845788339544047954[0] = 1.0;
|
||||
out_4845788339544047954[1] = 0.0;
|
||||
out_4845788339544047954[2] = 0.0;
|
||||
out_4845788339544047954[3] = 0.0;
|
||||
out_4845788339544047954[4] = 0.0;
|
||||
out_4845788339544047954[5] = 0.0;
|
||||
out_4845788339544047954[6] = 0.0;
|
||||
out_4845788339544047954[7] = 0.0;
|
||||
out_4845788339544047954[8] = 0.0;
|
||||
out_4845788339544047954[9] = 0.0;
|
||||
out_4845788339544047954[10] = 1.0;
|
||||
out_4845788339544047954[11] = 0.0;
|
||||
out_4845788339544047954[12] = 0.0;
|
||||
out_4845788339544047954[13] = 0.0;
|
||||
out_4845788339544047954[14] = 0.0;
|
||||
out_4845788339544047954[15] = 0.0;
|
||||
out_4845788339544047954[16] = 0.0;
|
||||
out_4845788339544047954[17] = 0.0;
|
||||
out_4845788339544047954[18] = 0.0;
|
||||
out_4845788339544047954[19] = 0.0;
|
||||
out_4845788339544047954[20] = 1.0;
|
||||
out_4845788339544047954[21] = 0.0;
|
||||
out_4845788339544047954[22] = 0.0;
|
||||
out_4845788339544047954[23] = 0.0;
|
||||
out_4845788339544047954[24] = 0.0;
|
||||
out_4845788339544047954[25] = 0.0;
|
||||
out_4845788339544047954[26] = 0.0;
|
||||
out_4845788339544047954[27] = 0.0;
|
||||
out_4845788339544047954[28] = 0.0;
|
||||
out_4845788339544047954[29] = 0.0;
|
||||
out_4845788339544047954[30] = 1.0;
|
||||
out_4845788339544047954[31] = 0.0;
|
||||
out_4845788339544047954[32] = 0.0;
|
||||
out_4845788339544047954[33] = 0.0;
|
||||
out_4845788339544047954[34] = 0.0;
|
||||
out_4845788339544047954[35] = 0.0;
|
||||
out_4845788339544047954[36] = 0.0;
|
||||
out_4845788339544047954[37] = 0.0;
|
||||
out_4845788339544047954[38] = 0.0;
|
||||
out_4845788339544047954[39] = 0.0;
|
||||
out_4845788339544047954[40] = 1.0;
|
||||
out_4845788339544047954[41] = 0.0;
|
||||
out_4845788339544047954[42] = 0.0;
|
||||
out_4845788339544047954[43] = 0.0;
|
||||
out_4845788339544047954[44] = 0.0;
|
||||
out_4845788339544047954[45] = 0.0;
|
||||
out_4845788339544047954[46] = 0.0;
|
||||
out_4845788339544047954[47] = 0.0;
|
||||
out_4845788339544047954[48] = 0.0;
|
||||
out_4845788339544047954[49] = 0.0;
|
||||
out_4845788339544047954[50] = 1.0;
|
||||
out_4845788339544047954[51] = 0.0;
|
||||
out_4845788339544047954[52] = 0.0;
|
||||
out_4845788339544047954[53] = 0.0;
|
||||
out_4845788339544047954[54] = 0.0;
|
||||
out_4845788339544047954[55] = 0.0;
|
||||
out_4845788339544047954[56] = 0.0;
|
||||
out_4845788339544047954[57] = 0.0;
|
||||
out_4845788339544047954[58] = 0.0;
|
||||
out_4845788339544047954[59] = 0.0;
|
||||
out_4845788339544047954[60] = 1.0;
|
||||
out_4845788339544047954[61] = 0.0;
|
||||
out_4845788339544047954[62] = 0.0;
|
||||
out_4845788339544047954[63] = 0.0;
|
||||
out_4845788339544047954[64] = 0.0;
|
||||
out_4845788339544047954[65] = 0.0;
|
||||
out_4845788339544047954[66] = 0.0;
|
||||
out_4845788339544047954[67] = 0.0;
|
||||
out_4845788339544047954[68] = 0.0;
|
||||
out_4845788339544047954[69] = 0.0;
|
||||
out_4845788339544047954[70] = 1.0;
|
||||
out_4845788339544047954[71] = 0.0;
|
||||
out_4845788339544047954[72] = 0.0;
|
||||
out_4845788339544047954[73] = 0.0;
|
||||
out_4845788339544047954[74] = 0.0;
|
||||
out_4845788339544047954[75] = 0.0;
|
||||
out_4845788339544047954[76] = 0.0;
|
||||
out_4845788339544047954[77] = 0.0;
|
||||
out_4845788339544047954[78] = 0.0;
|
||||
out_4845788339544047954[79] = 0.0;
|
||||
out_4845788339544047954[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_2416599425795193412) {
|
||||
out_2416599425795193412[0] = state[0];
|
||||
out_2416599425795193412[1] = state[1];
|
||||
out_2416599425795193412[2] = state[2];
|
||||
out_2416599425795193412[3] = state[3];
|
||||
out_2416599425795193412[4] = state[4];
|
||||
out_2416599425795193412[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_2416599425795193412[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_2416599425795193412[7] = state[7];
|
||||
out_2416599425795193412[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_4185306989729419910) {
|
||||
out_4185306989729419910[0] = state[0];
|
||||
out_4185306989729419910[1] = state[1];
|
||||
out_4185306989729419910[2] = state[2];
|
||||
out_4185306989729419910[3] = state[3];
|
||||
out_4185306989729419910[4] = state[4];
|
||||
out_4185306989729419910[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_4185306989729419910[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_4185306989729419910[7] = state[7];
|
||||
out_4185306989729419910[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_6761986232654706930) {
|
||||
out_6761986232654706930[0] = 1;
|
||||
out_6761986232654706930[1] = 0;
|
||||
out_6761986232654706930[2] = 0;
|
||||
out_6761986232654706930[3] = 0;
|
||||
out_6761986232654706930[4] = 0;
|
||||
out_6761986232654706930[5] = 0;
|
||||
out_6761986232654706930[6] = 0;
|
||||
out_6761986232654706930[7] = 0;
|
||||
out_6761986232654706930[8] = 0;
|
||||
out_6761986232654706930[9] = 0;
|
||||
out_6761986232654706930[10] = 1;
|
||||
out_6761986232654706930[11] = 0;
|
||||
out_6761986232654706930[12] = 0;
|
||||
out_6761986232654706930[13] = 0;
|
||||
out_6761986232654706930[14] = 0;
|
||||
out_6761986232654706930[15] = 0;
|
||||
out_6761986232654706930[16] = 0;
|
||||
out_6761986232654706930[17] = 0;
|
||||
out_6761986232654706930[18] = 0;
|
||||
out_6761986232654706930[19] = 0;
|
||||
out_6761986232654706930[20] = 1;
|
||||
out_6761986232654706930[21] = 0;
|
||||
out_6761986232654706930[22] = 0;
|
||||
out_6761986232654706930[23] = 0;
|
||||
out_6761986232654706930[24] = 0;
|
||||
out_6761986232654706930[25] = 0;
|
||||
out_6761986232654706930[26] = 0;
|
||||
out_6761986232654706930[27] = 0;
|
||||
out_6761986232654706930[28] = 0;
|
||||
out_6761986232654706930[29] = 0;
|
||||
out_6761986232654706930[30] = 1;
|
||||
out_6761986232654706930[31] = 0;
|
||||
out_6761986232654706930[32] = 0;
|
||||
out_6761986232654706930[33] = 0;
|
||||
out_6761986232654706930[34] = 0;
|
||||
out_6761986232654706930[35] = 0;
|
||||
out_6761986232654706930[36] = 0;
|
||||
out_6761986232654706930[37] = 0;
|
||||
out_6761986232654706930[38] = 0;
|
||||
out_6761986232654706930[39] = 0;
|
||||
out_6761986232654706930[40] = 1;
|
||||
out_6761986232654706930[41] = 0;
|
||||
out_6761986232654706930[42] = 0;
|
||||
out_6761986232654706930[43] = 0;
|
||||
out_6761986232654706930[44] = 0;
|
||||
out_6761986232654706930[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_6761986232654706930[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6761986232654706930[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6761986232654706930[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6761986232654706930[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_6761986232654706930[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6761986232654706930[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6761986232654706930[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6761986232654706930[53] = -9.8100000000000005*dt;
|
||||
out_6761986232654706930[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_6761986232654706930[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6761986232654706930[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6761986232654706930[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6761986232654706930[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_6761986232654706930[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6761986232654706930[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_6761986232654706930[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6761986232654706930[62] = 0;
|
||||
out_6761986232654706930[63] = 0;
|
||||
out_6761986232654706930[64] = 0;
|
||||
out_6761986232654706930[65] = 0;
|
||||
out_6761986232654706930[66] = 0;
|
||||
out_6761986232654706930[67] = 0;
|
||||
out_6761986232654706930[68] = 0;
|
||||
out_6761986232654706930[69] = 0;
|
||||
out_6761986232654706930[70] = 1;
|
||||
out_6761986232654706930[71] = 0;
|
||||
out_6761986232654706930[72] = 0;
|
||||
out_6761986232654706930[73] = 0;
|
||||
out_6761986232654706930[74] = 0;
|
||||
out_6761986232654706930[75] = 0;
|
||||
out_6761986232654706930[76] = 0;
|
||||
out_6761986232654706930[77] = 0;
|
||||
out_6761986232654706930[78] = 0;
|
||||
out_6761986232654706930[79] = 0;
|
||||
out_6761986232654706930[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_8252178874365212967) {
|
||||
out_8252178874365212967[0] = 1;
|
||||
out_8252178874365212967[1] = 0;
|
||||
out_8252178874365212967[2] = 0;
|
||||
out_8252178874365212967[3] = 0;
|
||||
out_8252178874365212967[4] = 0;
|
||||
out_8252178874365212967[5] = 0;
|
||||
out_8252178874365212967[6] = 0;
|
||||
out_8252178874365212967[7] = 0;
|
||||
out_8252178874365212967[8] = 0;
|
||||
out_8252178874365212967[9] = 0;
|
||||
out_8252178874365212967[10] = 1;
|
||||
out_8252178874365212967[11] = 0;
|
||||
out_8252178874365212967[12] = 0;
|
||||
out_8252178874365212967[13] = 0;
|
||||
out_8252178874365212967[14] = 0;
|
||||
out_8252178874365212967[15] = 0;
|
||||
out_8252178874365212967[16] = 0;
|
||||
out_8252178874365212967[17] = 0;
|
||||
out_8252178874365212967[18] = 0;
|
||||
out_8252178874365212967[19] = 0;
|
||||
out_8252178874365212967[20] = 1;
|
||||
out_8252178874365212967[21] = 0;
|
||||
out_8252178874365212967[22] = 0;
|
||||
out_8252178874365212967[23] = 0;
|
||||
out_8252178874365212967[24] = 0;
|
||||
out_8252178874365212967[25] = 0;
|
||||
out_8252178874365212967[26] = 0;
|
||||
out_8252178874365212967[27] = 0;
|
||||
out_8252178874365212967[28] = 0;
|
||||
out_8252178874365212967[29] = 0;
|
||||
out_8252178874365212967[30] = 1;
|
||||
out_8252178874365212967[31] = 0;
|
||||
out_8252178874365212967[32] = 0;
|
||||
out_8252178874365212967[33] = 0;
|
||||
out_8252178874365212967[34] = 0;
|
||||
out_8252178874365212967[35] = 0;
|
||||
out_8252178874365212967[36] = 0;
|
||||
out_8252178874365212967[37] = 0;
|
||||
out_8252178874365212967[38] = 0;
|
||||
out_8252178874365212967[39] = 0;
|
||||
out_8252178874365212967[40] = 1;
|
||||
out_8252178874365212967[41] = 0;
|
||||
out_8252178874365212967[42] = 0;
|
||||
out_8252178874365212967[43] = 0;
|
||||
out_8252178874365212967[44] = 0;
|
||||
out_8252178874365212967[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_8252178874365212967[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8252178874365212967[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8252178874365212967[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8252178874365212967[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_8252178874365212967[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8252178874365212967[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8252178874365212967[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8252178874365212967[53] = -9.8100000000000005*dt;
|
||||
out_8252178874365212967[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_8252178874365212967[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8252178874365212967[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8252178874365212967[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8252178874365212967[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_8252178874365212967[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8252178874365212967[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_8252178874365212967[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8252178874365212967[62] = 0;
|
||||
out_8252178874365212967[63] = 0;
|
||||
out_8252178874365212967[64] = 0;
|
||||
out_8252178874365212967[65] = 0;
|
||||
out_8252178874365212967[66] = 0;
|
||||
out_8252178874365212967[67] = 0;
|
||||
out_8252178874365212967[68] = 0;
|
||||
out_8252178874365212967[69] = 0;
|
||||
out_8252178874365212967[70] = 1;
|
||||
out_8252178874365212967[71] = 0;
|
||||
out_8252178874365212967[72] = 0;
|
||||
out_8252178874365212967[73] = 0;
|
||||
out_8252178874365212967[74] = 0;
|
||||
out_8252178874365212967[75] = 0;
|
||||
out_8252178874365212967[76] = 0;
|
||||
out_8252178874365212967[77] = 0;
|
||||
out_8252178874365212967[78] = 0;
|
||||
out_8252178874365212967[79] = 0;
|
||||
out_8252178874365212967[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_319074315832850169) {
|
||||
out_319074315832850169[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_4739826667919645243) {
|
||||
out_4739826667919645243[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_3655624952681647306) {
|
||||
out_3655624952681647306[0] = 0;
|
||||
out_3655624952681647306[1] = 0;
|
||||
out_3655624952681647306[2] = 0;
|
||||
out_3655624952681647306[3] = 0;
|
||||
out_3655624952681647306[4] = 0;
|
||||
out_3655624952681647306[5] = 0;
|
||||
out_3655624952681647306[6] = 1;
|
||||
out_3655624952681647306[7] = 0;
|
||||
out_3655624952681647306[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_2698629402266667542) {
|
||||
out_2698629402266667542[0] = 0;
|
||||
out_2698629402266667542[1] = 0;
|
||||
out_2698629402266667542[2] = 0;
|
||||
out_2698629402266667542[3] = 0;
|
||||
out_2698629402266667542[4] = 0;
|
||||
out_2698629402266667542[5] = 0;
|
||||
out_2698629402266667542[6] = 1;
|
||||
out_2698629402266667542[7] = 0;
|
||||
out_2698629402266667542[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_5734853090591072423) {
|
||||
out_5734853090591072423[0] = state[4];
|
||||
out_5734853090591072423[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_6091047700113278923) {
|
||||
out_6091047700113278923[0] = state[4];
|
||||
out_6091047700113278923[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_1429917168702778744) {
|
||||
out_1429917168702778744[0] = 0;
|
||||
out_1429917168702778744[1] = 0;
|
||||
out_1429917168702778744[2] = 0;
|
||||
out_1429917168702778744[3] = 0;
|
||||
out_1429917168702778744[4] = 1;
|
||||
out_1429917168702778744[5] = 0;
|
||||
out_1429917168702778744[6] = 0;
|
||||
out_1429917168702778744[7] = 0;
|
||||
out_1429917168702778744[8] = 0;
|
||||
out_1429917168702778744[9] = 0;
|
||||
out_1429917168702778744[10] = 0;
|
||||
out_1429917168702778744[11] = 0;
|
||||
out_1429917168702778744[12] = 0;
|
||||
out_1429917168702778744[13] = 0;
|
||||
out_1429917168702778744[14] = 1;
|
||||
out_1429917168702778744[15] = 0;
|
||||
out_1429917168702778744[16] = 0;
|
||||
out_1429917168702778744[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_2121692102389320721) {
|
||||
out_2121692102389320721[0] = 0;
|
||||
out_2121692102389320721[1] = 0;
|
||||
out_2121692102389320721[2] = 0;
|
||||
out_2121692102389320721[3] = 0;
|
||||
out_2121692102389320721[4] = 1;
|
||||
out_2121692102389320721[5] = 0;
|
||||
out_2121692102389320721[6] = 0;
|
||||
out_2121692102389320721[7] = 0;
|
||||
out_2121692102389320721[8] = 0;
|
||||
out_2121692102389320721[9] = 0;
|
||||
out_2121692102389320721[10] = 0;
|
||||
out_2121692102389320721[11] = 0;
|
||||
out_2121692102389320721[12] = 0;
|
||||
out_2121692102389320721[13] = 0;
|
||||
out_2121692102389320721[14] = 1;
|
||||
out_2121692102389320721[15] = 0;
|
||||
out_2121692102389320721[16] = 0;
|
||||
out_2121692102389320721[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_8212013810717373528) {
|
||||
out_8212013810717373528[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_7687552658275130204) {
|
||||
out_7687552658275130204[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_3784963899824887376) {
|
||||
out_3784963899824887376[0] = 0;
|
||||
out_3784963899824887376[1] = 0;
|
||||
out_3784963899824887376[2] = 0;
|
||||
out_3784963899824887376[3] = 0;
|
||||
out_3784963899824887376[4] = 1;
|
||||
out_3784963899824887376[5] = 0;
|
||||
out_3784963899824887376[6] = 0;
|
||||
out_3784963899824887376[7] = 0;
|
||||
out_3784963899824887376[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_2569290455123427472) {
|
||||
out_2569290455123427472[0] = 0;
|
||||
out_2569290455123427472[1] = 0;
|
||||
out_2569290455123427472[2] = 0;
|
||||
out_2569290455123427472[3] = 0;
|
||||
out_2569290455123427472[4] = 1;
|
||||
out_2569290455123427472[5] = 0;
|
||||
out_2569290455123427472[6] = 0;
|
||||
out_2569290455123427472[7] = 0;
|
||||
out_2569290455123427472[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_5233056995331332443) {
|
||||
out_5233056995331332443[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_7946639312164568029) {
|
||||
out_7946639312164568029[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_2998770888571335402) {
|
||||
out_2998770888571335402[0] = 0;
|
||||
out_2998770888571335402[1] = 0;
|
||||
out_2998770888571335402[2] = 0;
|
||||
out_2998770888571335402[3] = 0;
|
||||
out_2998770888571335402[4] = 0;
|
||||
out_2998770888571335402[5] = 0;
|
||||
out_2998770888571335402[6] = 0;
|
||||
out_2998770888571335402[7] = 1;
|
||||
out_2998770888571335402[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_1042873916607388682) {
|
||||
out_1042873916607388682[0] = 0;
|
||||
out_1042873916607388682[1] = 0;
|
||||
out_1042873916607388682[2] = 0;
|
||||
out_1042873916607388682[3] = 0;
|
||||
out_1042873916607388682[4] = 0;
|
||||
out_1042873916607388682[5] = 0;
|
||||
out_1042873916607388682[6] = 0;
|
||||
out_1042873916607388682[7] = 1;
|
||||
out_1042873916607388682[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3355860367277182854) {
|
||||
out_3355860367277182854[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_3665830151724581410) {
|
||||
out_3665830151724581410[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_5959727211625312287) {
|
||||
out_5959727211625312287[0] = 0;
|
||||
out_5959727211625312287[1] = 0;
|
||||
out_5959727211625312287[2] = 0;
|
||||
out_5959727211625312287[3] = 1;
|
||||
out_5959727211625312287[4] = 0;
|
||||
out_5959727211625312287[5] = 0;
|
||||
out_5959727211625312287[6] = 0;
|
||||
out_5959727211625312287[7] = 0;
|
||||
out_5959727211625312287[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_394527143323002561) {
|
||||
out_394527143323002561[0] = 0;
|
||||
out_394527143323002561[1] = 0;
|
||||
out_394527143323002561[2] = 0;
|
||||
out_394527143323002561[3] = 1;
|
||||
out_394527143323002561[4] = 0;
|
||||
out_394527143323002561[5] = 0;
|
||||
out_394527143323002561[6] = 0;
|
||||
out_394527143323002561[7] = 0;
|
||||
out_394527143323002561[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_7630324942183480437) {
|
||||
out_7630324942183480437[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_8290868542951607721) {
|
||||
out_8290868542951607721[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_3274732555510495192) {
|
||||
out_3274732555510495192[0] = 0;
|
||||
out_3274732555510495192[1] = 1;
|
||||
out_3274732555510495192[2] = 0;
|
||||
out_3274732555510495192[3] = 0;
|
||||
out_3274732555510495192[4] = 0;
|
||||
out_3274732555510495192[5] = 0;
|
||||
out_3274732555510495192[6] = 0;
|
||||
out_3274732555510495192[7] = 0;
|
||||
out_3274732555510495192[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_3079521799437819656) {
|
||||
out_3079521799437819656[0] = 0;
|
||||
out_3079521799437819656[1] = 1;
|
||||
out_3079521799437819656[2] = 0;
|
||||
out_3079521799437819656[3] = 0;
|
||||
out_3079521799437819656[4] = 0;
|
||||
out_3079521799437819656[5] = 0;
|
||||
out_3079521799437819656[6] = 0;
|
||||
out_3079521799437819656[7] = 0;
|
||||
out_3079521799437819656[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_4299370220178845289) {
|
||||
out_4299370220178845289[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_6846547824895893173) {
|
||||
out_6846547824895893173[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_1311102283945168941) {
|
||||
out_1311102283945168941[0] = 1;
|
||||
out_1311102283945168941[1] = 0;
|
||||
out_1311102283945168941[2] = 0;
|
||||
out_1311102283945168941[3] = 0;
|
||||
out_1311102283945168941[4] = 0;
|
||||
out_1311102283945168941[5] = 0;
|
||||
out_1311102283945168941[6] = 0;
|
||||
out_1311102283945168941[7] = 0;
|
||||
out_1311102283945168941[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_2002877217631710918) {
|
||||
out_2002877217631710918[0] = 1;
|
||||
out_2002877217631710918[1] = 0;
|
||||
out_2002877217631710918[2] = 0;
|
||||
out_2002877217631710918[3] = 0;
|
||||
out_2002877217631710918[4] = 0;
|
||||
out_2002877217631710918[5] = 0;
|
||||
out_2002877217631710918[6] = 0;
|
||||
out_2002877217631710918[7] = 0;
|
||||
out_2002877217631710918[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_594268378117356058) {
|
||||
out_594268378117356058[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_3141445982834403942) {
|
||||
out_3141445982834403942[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_3624978990804686878) {
|
||||
out_3624978990804686878[0] = 0;
|
||||
out_3624978990804686878[1] = 0;
|
||||
out_3624978990804686878[2] = 0;
|
||||
out_3624978990804686878[3] = 0;
|
||||
out_3624978990804686878[4] = 0;
|
||||
out_3624978990804686878[5] = 0;
|
||||
out_3624978990804686878[6] = 0;
|
||||
out_3624978990804686878[7] = 0;
|
||||
out_3624978990804686878[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_2729275364143627970) {
|
||||
out_2729275364143627970[0] = 0;
|
||||
out_2729275364143627970[1] = 0;
|
||||
out_2729275364143627970[2] = 0;
|
||||
out_2729275364143627970[3] = 0;
|
||||
out_2729275364143627970[4] = 0;
|
||||
out_2729275364143627970[5] = 0;
|
||||
out_2729275364143627970[6] = 0;
|
||||
out_2729275364143627970[7] = 0;
|
||||
out_2729275364143627970[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_4387195160971747702) {
|
||||
err_fun(nom_x, delta_x, out_4387195160971747702);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1972702472511725479) {
|
||||
err_fun(nom_x, delta_x, out_1972702472511725479);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7707264064834051115) {
|
||||
inv_err_fun(nom_x, true_x, out_7707264064834051115);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3741555659818717473) {
|
||||
inv_err_fun(nom_x, true_x, out_3741555659818717473);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_7178605602671138983) {
|
||||
H_mod_fun(state, out_7178605602671138983);
|
||||
void car_H_mod_fun(double *state, double *out_4845788339544047954) {
|
||||
H_mod_fun(state, out_4845788339544047954);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_2416599425795193412) {
|
||||
f_fun(state, dt, out_2416599425795193412);
|
||||
void car_f_fun(double *state, double dt, double *out_4185306989729419910) {
|
||||
f_fun(state, dt, out_4185306989729419910);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6761986232654706930) {
|
||||
F_fun(state, dt, out_6761986232654706930);
|
||||
void car_F_fun(double *state, double dt, double *out_8252178874365212967) {
|
||||
F_fun(state, dt, out_8252178874365212967);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_319074315832850169) {
|
||||
h_25(state, unused, out_319074315832850169);
|
||||
void car_h_25(double *state, double *unused, double *out_4739826667919645243) {
|
||||
h_25(state, unused, out_4739826667919645243);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_3655624952681647306) {
|
||||
H_25(state, unused, out_3655624952681647306);
|
||||
void car_H_25(double *state, double *unused, double *out_2698629402266667542) {
|
||||
H_25(state, unused, out_2698629402266667542);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_5734853090591072423) {
|
||||
h_24(state, unused, out_5734853090591072423);
|
||||
void car_h_24(double *state, double *unused, double *out_6091047700113278923) {
|
||||
h_24(state, unused, out_6091047700113278923);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_1429917168702778744) {
|
||||
H_24(state, unused, out_1429917168702778744);
|
||||
void car_H_24(double *state, double *unused, double *out_2121692102389320721) {
|
||||
H_24(state, unused, out_2121692102389320721);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_8212013810717373528) {
|
||||
h_30(state, unused, out_8212013810717373528);
|
||||
void car_h_30(double *state, double *unused, double *out_7687552658275130204) {
|
||||
h_30(state, unused, out_7687552658275130204);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_3784963899824887376) {
|
||||
H_30(state, unused, out_3784963899824887376);
|
||||
void car_H_30(double *state, double *unused, double *out_2569290455123427472) {
|
||||
H_30(state, unused, out_2569290455123427472);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_5233056995331332443) {
|
||||
h_26(state, unused, out_5233056995331332443);
|
||||
void car_h_26(double *state, double *unused, double *out_7946639312164568029) {
|
||||
h_26(state, unused, out_7946639312164568029);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_2998770888571335402) {
|
||||
H_26(state, unused, out_2998770888571335402);
|
||||
void car_H_26(double *state, double *unused, double *out_1042873916607388682) {
|
||||
H_26(state, unused, out_1042873916607388682);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3355860367277182854) {
|
||||
h_27(state, unused, out_3355860367277182854);
|
||||
void car_h_27(double *state, double *unused, double *out_3665830151724581410) {
|
||||
h_27(state, unused, out_3665830151724581410);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_5959727211625312287) {
|
||||
H_27(state, unused, out_5959727211625312287);
|
||||
void car_H_27(double *state, double *unused, double *out_394527143323002561) {
|
||||
H_27(state, unused, out_394527143323002561);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_7630324942183480437) {
|
||||
h_29(state, unused, out_7630324942183480437);
|
||||
void car_h_29(double *state, double *unused, double *out_8290868542951607721) {
|
||||
h_29(state, unused, out_8290868542951607721);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_3274732555510495192) {
|
||||
H_29(state, unused, out_3274732555510495192);
|
||||
void car_H_29(double *state, double *unused, double *out_3079521799437819656) {
|
||||
H_29(state, unused, out_3079521799437819656);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_4299370220178845289) {
|
||||
h_28(state, unused, out_4299370220178845289);
|
||||
void car_h_28(double *state, double *unused, double *out_6846547824895893173) {
|
||||
h_28(state, unused, out_6846547824895893173);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_1311102283945168941) {
|
||||
H_28(state, unused, out_1311102283945168941);
|
||||
void car_H_28(double *state, double *unused, double *out_2002877217631710918) {
|
||||
H_28(state, unused, out_2002877217631710918);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_594268378117356058) {
|
||||
h_31(state, unused, out_594268378117356058);
|
||||
void car_h_31(double *state, double *unused, double *out_3141445982834403942) {
|
||||
h_31(state, unused, out_3141445982834403942);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_3624978990804686878) {
|
||||
H_31(state, unused, out_3624978990804686878);
|
||||
void car_H_31(double *state, double *unused, double *out_2729275364143627970) {
|
||||
H_31(state, unused, out_2729275364143627970);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
Reference in New Issue
Block a user