mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-05 00:05:52 +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-da88d20b-DEBUG";
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||||
const uint8_t gitversion[19] = "DEV-0cddc630-DEBUG";
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||||
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@@ -1 +1 @@
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DEV-da88d20b-DEBUG
|
||||
DEV-0cddc630-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_3568804456057098654) {
|
||||
out_3568804456057098654[0] = delta_x[0] + nom_x[0];
|
||||
out_3568804456057098654[1] = delta_x[1] + nom_x[1];
|
||||
out_3568804456057098654[2] = delta_x[2] + nom_x[2];
|
||||
out_3568804456057098654[3] = delta_x[3] + nom_x[3];
|
||||
out_3568804456057098654[4] = delta_x[4] + nom_x[4];
|
||||
out_3568804456057098654[5] = delta_x[5] + nom_x[5];
|
||||
out_3568804456057098654[6] = delta_x[6] + nom_x[6];
|
||||
out_3568804456057098654[7] = delta_x[7] + nom_x[7];
|
||||
out_3568804456057098654[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_8308214496735031777) {
|
||||
out_8308214496735031777[0] = delta_x[0] + nom_x[0];
|
||||
out_8308214496735031777[1] = delta_x[1] + nom_x[1];
|
||||
out_8308214496735031777[2] = delta_x[2] + nom_x[2];
|
||||
out_8308214496735031777[3] = delta_x[3] + nom_x[3];
|
||||
out_8308214496735031777[4] = delta_x[4] + nom_x[4];
|
||||
out_8308214496735031777[5] = delta_x[5] + nom_x[5];
|
||||
out_8308214496735031777[6] = delta_x[6] + nom_x[6];
|
||||
out_8308214496735031777[7] = delta_x[7] + nom_x[7];
|
||||
out_8308214496735031777[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031) {
|
||||
out_1840397183166108031[0] = -nom_x[0] + true_x[0];
|
||||
out_1840397183166108031[1] = -nom_x[1] + true_x[1];
|
||||
out_1840397183166108031[2] = -nom_x[2] + true_x[2];
|
||||
out_1840397183166108031[3] = -nom_x[3] + true_x[3];
|
||||
out_1840397183166108031[4] = -nom_x[4] + true_x[4];
|
||||
out_1840397183166108031[5] = -nom_x[5] + true_x[5];
|
||||
out_1840397183166108031[6] = -nom_x[6] + true_x[6];
|
||||
out_1840397183166108031[7] = -nom_x[7] + true_x[7];
|
||||
out_1840397183166108031[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_8999766425853420329) {
|
||||
out_8999766425853420329[0] = -nom_x[0] + true_x[0];
|
||||
out_8999766425853420329[1] = -nom_x[1] + true_x[1];
|
||||
out_8999766425853420329[2] = -nom_x[2] + true_x[2];
|
||||
out_8999766425853420329[3] = -nom_x[3] + true_x[3];
|
||||
out_8999766425853420329[4] = -nom_x[4] + true_x[4];
|
||||
out_8999766425853420329[5] = -nom_x[5] + true_x[5];
|
||||
out_8999766425853420329[6] = -nom_x[6] + true_x[6];
|
||||
out_8999766425853420329[7] = -nom_x[7] + true_x[7];
|
||||
out_8999766425853420329[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_8921258435077713963) {
|
||||
out_8921258435077713963[0] = 1.0;
|
||||
out_8921258435077713963[1] = 0.0;
|
||||
out_8921258435077713963[2] = 0.0;
|
||||
out_8921258435077713963[3] = 0.0;
|
||||
out_8921258435077713963[4] = 0.0;
|
||||
out_8921258435077713963[5] = 0.0;
|
||||
out_8921258435077713963[6] = 0.0;
|
||||
out_8921258435077713963[7] = 0.0;
|
||||
out_8921258435077713963[8] = 0.0;
|
||||
out_8921258435077713963[9] = 0.0;
|
||||
out_8921258435077713963[10] = 1.0;
|
||||
out_8921258435077713963[11] = 0.0;
|
||||
out_8921258435077713963[12] = 0.0;
|
||||
out_8921258435077713963[13] = 0.0;
|
||||
out_8921258435077713963[14] = 0.0;
|
||||
out_8921258435077713963[15] = 0.0;
|
||||
out_8921258435077713963[16] = 0.0;
|
||||
out_8921258435077713963[17] = 0.0;
|
||||
out_8921258435077713963[18] = 0.0;
|
||||
out_8921258435077713963[19] = 0.0;
|
||||
out_8921258435077713963[20] = 1.0;
|
||||
out_8921258435077713963[21] = 0.0;
|
||||
out_8921258435077713963[22] = 0.0;
|
||||
out_8921258435077713963[23] = 0.0;
|
||||
out_8921258435077713963[24] = 0.0;
|
||||
out_8921258435077713963[25] = 0.0;
|
||||
out_8921258435077713963[26] = 0.0;
|
||||
out_8921258435077713963[27] = 0.0;
|
||||
out_8921258435077713963[28] = 0.0;
|
||||
out_8921258435077713963[29] = 0.0;
|
||||
out_8921258435077713963[30] = 1.0;
|
||||
out_8921258435077713963[31] = 0.0;
|
||||
out_8921258435077713963[32] = 0.0;
|
||||
out_8921258435077713963[33] = 0.0;
|
||||
out_8921258435077713963[34] = 0.0;
|
||||
out_8921258435077713963[35] = 0.0;
|
||||
out_8921258435077713963[36] = 0.0;
|
||||
out_8921258435077713963[37] = 0.0;
|
||||
out_8921258435077713963[38] = 0.0;
|
||||
out_8921258435077713963[39] = 0.0;
|
||||
out_8921258435077713963[40] = 1.0;
|
||||
out_8921258435077713963[41] = 0.0;
|
||||
out_8921258435077713963[42] = 0.0;
|
||||
out_8921258435077713963[43] = 0.0;
|
||||
out_8921258435077713963[44] = 0.0;
|
||||
out_8921258435077713963[45] = 0.0;
|
||||
out_8921258435077713963[46] = 0.0;
|
||||
out_8921258435077713963[47] = 0.0;
|
||||
out_8921258435077713963[48] = 0.0;
|
||||
out_8921258435077713963[49] = 0.0;
|
||||
out_8921258435077713963[50] = 1.0;
|
||||
out_8921258435077713963[51] = 0.0;
|
||||
out_8921258435077713963[52] = 0.0;
|
||||
out_8921258435077713963[53] = 0.0;
|
||||
out_8921258435077713963[54] = 0.0;
|
||||
out_8921258435077713963[55] = 0.0;
|
||||
out_8921258435077713963[56] = 0.0;
|
||||
out_8921258435077713963[57] = 0.0;
|
||||
out_8921258435077713963[58] = 0.0;
|
||||
out_8921258435077713963[59] = 0.0;
|
||||
out_8921258435077713963[60] = 1.0;
|
||||
out_8921258435077713963[61] = 0.0;
|
||||
out_8921258435077713963[62] = 0.0;
|
||||
out_8921258435077713963[63] = 0.0;
|
||||
out_8921258435077713963[64] = 0.0;
|
||||
out_8921258435077713963[65] = 0.0;
|
||||
out_8921258435077713963[66] = 0.0;
|
||||
out_8921258435077713963[67] = 0.0;
|
||||
out_8921258435077713963[68] = 0.0;
|
||||
out_8921258435077713963[69] = 0.0;
|
||||
out_8921258435077713963[70] = 1.0;
|
||||
out_8921258435077713963[71] = 0.0;
|
||||
out_8921258435077713963[72] = 0.0;
|
||||
out_8921258435077713963[73] = 0.0;
|
||||
out_8921258435077713963[74] = 0.0;
|
||||
out_8921258435077713963[75] = 0.0;
|
||||
out_8921258435077713963[76] = 0.0;
|
||||
out_8921258435077713963[77] = 0.0;
|
||||
out_8921258435077713963[78] = 0.0;
|
||||
out_8921258435077713963[79] = 0.0;
|
||||
out_8921258435077713963[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8671923853756600219) {
|
||||
out_8671923853756600219[0] = 1.0;
|
||||
out_8671923853756600219[1] = 0.0;
|
||||
out_8671923853756600219[2] = 0.0;
|
||||
out_8671923853756600219[3] = 0.0;
|
||||
out_8671923853756600219[4] = 0.0;
|
||||
out_8671923853756600219[5] = 0.0;
|
||||
out_8671923853756600219[6] = 0.0;
|
||||
out_8671923853756600219[7] = 0.0;
|
||||
out_8671923853756600219[8] = 0.0;
|
||||
out_8671923853756600219[9] = 0.0;
|
||||
out_8671923853756600219[10] = 1.0;
|
||||
out_8671923853756600219[11] = 0.0;
|
||||
out_8671923853756600219[12] = 0.0;
|
||||
out_8671923853756600219[13] = 0.0;
|
||||
out_8671923853756600219[14] = 0.0;
|
||||
out_8671923853756600219[15] = 0.0;
|
||||
out_8671923853756600219[16] = 0.0;
|
||||
out_8671923853756600219[17] = 0.0;
|
||||
out_8671923853756600219[18] = 0.0;
|
||||
out_8671923853756600219[19] = 0.0;
|
||||
out_8671923853756600219[20] = 1.0;
|
||||
out_8671923853756600219[21] = 0.0;
|
||||
out_8671923853756600219[22] = 0.0;
|
||||
out_8671923853756600219[23] = 0.0;
|
||||
out_8671923853756600219[24] = 0.0;
|
||||
out_8671923853756600219[25] = 0.0;
|
||||
out_8671923853756600219[26] = 0.0;
|
||||
out_8671923853756600219[27] = 0.0;
|
||||
out_8671923853756600219[28] = 0.0;
|
||||
out_8671923853756600219[29] = 0.0;
|
||||
out_8671923853756600219[30] = 1.0;
|
||||
out_8671923853756600219[31] = 0.0;
|
||||
out_8671923853756600219[32] = 0.0;
|
||||
out_8671923853756600219[33] = 0.0;
|
||||
out_8671923853756600219[34] = 0.0;
|
||||
out_8671923853756600219[35] = 0.0;
|
||||
out_8671923853756600219[36] = 0.0;
|
||||
out_8671923853756600219[37] = 0.0;
|
||||
out_8671923853756600219[38] = 0.0;
|
||||
out_8671923853756600219[39] = 0.0;
|
||||
out_8671923853756600219[40] = 1.0;
|
||||
out_8671923853756600219[41] = 0.0;
|
||||
out_8671923853756600219[42] = 0.0;
|
||||
out_8671923853756600219[43] = 0.0;
|
||||
out_8671923853756600219[44] = 0.0;
|
||||
out_8671923853756600219[45] = 0.0;
|
||||
out_8671923853756600219[46] = 0.0;
|
||||
out_8671923853756600219[47] = 0.0;
|
||||
out_8671923853756600219[48] = 0.0;
|
||||
out_8671923853756600219[49] = 0.0;
|
||||
out_8671923853756600219[50] = 1.0;
|
||||
out_8671923853756600219[51] = 0.0;
|
||||
out_8671923853756600219[52] = 0.0;
|
||||
out_8671923853756600219[53] = 0.0;
|
||||
out_8671923853756600219[54] = 0.0;
|
||||
out_8671923853756600219[55] = 0.0;
|
||||
out_8671923853756600219[56] = 0.0;
|
||||
out_8671923853756600219[57] = 0.0;
|
||||
out_8671923853756600219[58] = 0.0;
|
||||
out_8671923853756600219[59] = 0.0;
|
||||
out_8671923853756600219[60] = 1.0;
|
||||
out_8671923853756600219[61] = 0.0;
|
||||
out_8671923853756600219[62] = 0.0;
|
||||
out_8671923853756600219[63] = 0.0;
|
||||
out_8671923853756600219[64] = 0.0;
|
||||
out_8671923853756600219[65] = 0.0;
|
||||
out_8671923853756600219[66] = 0.0;
|
||||
out_8671923853756600219[67] = 0.0;
|
||||
out_8671923853756600219[68] = 0.0;
|
||||
out_8671923853756600219[69] = 0.0;
|
||||
out_8671923853756600219[70] = 1.0;
|
||||
out_8671923853756600219[71] = 0.0;
|
||||
out_8671923853756600219[72] = 0.0;
|
||||
out_8671923853756600219[73] = 0.0;
|
||||
out_8671923853756600219[74] = 0.0;
|
||||
out_8671923853756600219[75] = 0.0;
|
||||
out_8671923853756600219[76] = 0.0;
|
||||
out_8671923853756600219[77] = 0.0;
|
||||
out_8671923853756600219[78] = 0.0;
|
||||
out_8671923853756600219[79] = 0.0;
|
||||
out_8671923853756600219[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_3277027219914288776) {
|
||||
out_3277027219914288776[0] = state[0];
|
||||
out_3277027219914288776[1] = state[1];
|
||||
out_3277027219914288776[2] = state[2];
|
||||
out_3277027219914288776[3] = state[3];
|
||||
out_3277027219914288776[4] = state[4];
|
||||
out_3277027219914288776[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_3277027219914288776[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_3277027219914288776[7] = state[7];
|
||||
out_3277027219914288776[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_3762356930851513593) {
|
||||
out_3762356930851513593[0] = state[0];
|
||||
out_3762356930851513593[1] = state[1];
|
||||
out_3762356930851513593[2] = state[2];
|
||||
out_3762356930851513593[3] = state[3];
|
||||
out_3762356930851513593[4] = state[4];
|
||||
out_3762356930851513593[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_3762356930851513593[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_3762356930851513593[7] = state[7];
|
||||
out_3762356930851513593[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_370955893725369602) {
|
||||
out_370955893725369602[0] = 1;
|
||||
out_370955893725369602[1] = 0;
|
||||
out_370955893725369602[2] = 0;
|
||||
out_370955893725369602[3] = 0;
|
||||
out_370955893725369602[4] = 0;
|
||||
out_370955893725369602[5] = 0;
|
||||
out_370955893725369602[6] = 0;
|
||||
out_370955893725369602[7] = 0;
|
||||
out_370955893725369602[8] = 0;
|
||||
out_370955893725369602[9] = 0;
|
||||
out_370955893725369602[10] = 1;
|
||||
out_370955893725369602[11] = 0;
|
||||
out_370955893725369602[12] = 0;
|
||||
out_370955893725369602[13] = 0;
|
||||
out_370955893725369602[14] = 0;
|
||||
out_370955893725369602[15] = 0;
|
||||
out_370955893725369602[16] = 0;
|
||||
out_370955893725369602[17] = 0;
|
||||
out_370955893725369602[18] = 0;
|
||||
out_370955893725369602[19] = 0;
|
||||
out_370955893725369602[20] = 1;
|
||||
out_370955893725369602[21] = 0;
|
||||
out_370955893725369602[22] = 0;
|
||||
out_370955893725369602[23] = 0;
|
||||
out_370955893725369602[24] = 0;
|
||||
out_370955893725369602[25] = 0;
|
||||
out_370955893725369602[26] = 0;
|
||||
out_370955893725369602[27] = 0;
|
||||
out_370955893725369602[28] = 0;
|
||||
out_370955893725369602[29] = 0;
|
||||
out_370955893725369602[30] = 1;
|
||||
out_370955893725369602[31] = 0;
|
||||
out_370955893725369602[32] = 0;
|
||||
out_370955893725369602[33] = 0;
|
||||
out_370955893725369602[34] = 0;
|
||||
out_370955893725369602[35] = 0;
|
||||
out_370955893725369602[36] = 0;
|
||||
out_370955893725369602[37] = 0;
|
||||
out_370955893725369602[38] = 0;
|
||||
out_370955893725369602[39] = 0;
|
||||
out_370955893725369602[40] = 1;
|
||||
out_370955893725369602[41] = 0;
|
||||
out_370955893725369602[42] = 0;
|
||||
out_370955893725369602[43] = 0;
|
||||
out_370955893725369602[44] = 0;
|
||||
out_370955893725369602[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_370955893725369602[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_370955893725369602[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_370955893725369602[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_370955893725369602[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_370955893725369602[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_370955893725369602[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_370955893725369602[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_370955893725369602[53] = -9.8100000000000005*dt;
|
||||
out_370955893725369602[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_370955893725369602[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_370955893725369602[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_370955893725369602[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_370955893725369602[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_370955893725369602[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_370955893725369602[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_370955893725369602[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_370955893725369602[62] = 0;
|
||||
out_370955893725369602[63] = 0;
|
||||
out_370955893725369602[64] = 0;
|
||||
out_370955893725369602[65] = 0;
|
||||
out_370955893725369602[66] = 0;
|
||||
out_370955893725369602[67] = 0;
|
||||
out_370955893725369602[68] = 0;
|
||||
out_370955893725369602[69] = 0;
|
||||
out_370955893725369602[70] = 1;
|
||||
out_370955893725369602[71] = 0;
|
||||
out_370955893725369602[72] = 0;
|
||||
out_370955893725369602[73] = 0;
|
||||
out_370955893725369602[74] = 0;
|
||||
out_370955893725369602[75] = 0;
|
||||
out_370955893725369602[76] = 0;
|
||||
out_370955893725369602[77] = 0;
|
||||
out_370955893725369602[78] = 0;
|
||||
out_370955893725369602[79] = 0;
|
||||
out_370955893725369602[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_110226856445903204) {
|
||||
out_110226856445903204[0] = 1;
|
||||
out_110226856445903204[1] = 0;
|
||||
out_110226856445903204[2] = 0;
|
||||
out_110226856445903204[3] = 0;
|
||||
out_110226856445903204[4] = 0;
|
||||
out_110226856445903204[5] = 0;
|
||||
out_110226856445903204[6] = 0;
|
||||
out_110226856445903204[7] = 0;
|
||||
out_110226856445903204[8] = 0;
|
||||
out_110226856445903204[9] = 0;
|
||||
out_110226856445903204[10] = 1;
|
||||
out_110226856445903204[11] = 0;
|
||||
out_110226856445903204[12] = 0;
|
||||
out_110226856445903204[13] = 0;
|
||||
out_110226856445903204[14] = 0;
|
||||
out_110226856445903204[15] = 0;
|
||||
out_110226856445903204[16] = 0;
|
||||
out_110226856445903204[17] = 0;
|
||||
out_110226856445903204[18] = 0;
|
||||
out_110226856445903204[19] = 0;
|
||||
out_110226856445903204[20] = 1;
|
||||
out_110226856445903204[21] = 0;
|
||||
out_110226856445903204[22] = 0;
|
||||
out_110226856445903204[23] = 0;
|
||||
out_110226856445903204[24] = 0;
|
||||
out_110226856445903204[25] = 0;
|
||||
out_110226856445903204[26] = 0;
|
||||
out_110226856445903204[27] = 0;
|
||||
out_110226856445903204[28] = 0;
|
||||
out_110226856445903204[29] = 0;
|
||||
out_110226856445903204[30] = 1;
|
||||
out_110226856445903204[31] = 0;
|
||||
out_110226856445903204[32] = 0;
|
||||
out_110226856445903204[33] = 0;
|
||||
out_110226856445903204[34] = 0;
|
||||
out_110226856445903204[35] = 0;
|
||||
out_110226856445903204[36] = 0;
|
||||
out_110226856445903204[37] = 0;
|
||||
out_110226856445903204[38] = 0;
|
||||
out_110226856445903204[39] = 0;
|
||||
out_110226856445903204[40] = 1;
|
||||
out_110226856445903204[41] = 0;
|
||||
out_110226856445903204[42] = 0;
|
||||
out_110226856445903204[43] = 0;
|
||||
out_110226856445903204[44] = 0;
|
||||
out_110226856445903204[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_110226856445903204[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_110226856445903204[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_110226856445903204[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_110226856445903204[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_110226856445903204[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_110226856445903204[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_110226856445903204[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_110226856445903204[53] = -9.8100000000000005*dt;
|
||||
out_110226856445903204[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_110226856445903204[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_110226856445903204[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_110226856445903204[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_110226856445903204[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_110226856445903204[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_110226856445903204[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_110226856445903204[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_110226856445903204[62] = 0;
|
||||
out_110226856445903204[63] = 0;
|
||||
out_110226856445903204[64] = 0;
|
||||
out_110226856445903204[65] = 0;
|
||||
out_110226856445903204[66] = 0;
|
||||
out_110226856445903204[67] = 0;
|
||||
out_110226856445903204[68] = 0;
|
||||
out_110226856445903204[69] = 0;
|
||||
out_110226856445903204[70] = 1;
|
||||
out_110226856445903204[71] = 0;
|
||||
out_110226856445903204[72] = 0;
|
||||
out_110226856445903204[73] = 0;
|
||||
out_110226856445903204[74] = 0;
|
||||
out_110226856445903204[75] = 0;
|
||||
out_110226856445903204[76] = 0;
|
||||
out_110226856445903204[77] = 0;
|
||||
out_110226856445903204[78] = 0;
|
||||
out_110226856445903204[79] = 0;
|
||||
out_110226856445903204[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_8154090013633331696) {
|
||||
out_8154090013633331696[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_5646094358831955306) {
|
||||
out_5646094358831955306[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_8415923992877417251) {
|
||||
out_8415923992877417251[0] = 0;
|
||||
out_8415923992877417251[1] = 0;
|
||||
out_8415923992877417251[2] = 0;
|
||||
out_8415923992877417251[3] = 0;
|
||||
out_8415923992877417251[4] = 0;
|
||||
out_8415923992877417251[5] = 0;
|
||||
out_8415923992877417251[6] = 1;
|
||||
out_8415923992877417251[7] = 0;
|
||||
out_8415923992877417251[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_4871128394768286557) {
|
||||
out_4871128394768286557[0] = 0;
|
||||
out_4871128394768286557[1] = 0;
|
||||
out_4871128394768286557[2] = 0;
|
||||
out_4871128394768286557[3] = 0;
|
||||
out_4871128394768286557[4] = 0;
|
||||
out_4871128394768286557[5] = 0;
|
||||
out_4871128394768286557[6] = 1;
|
||||
out_4871128394768286557[7] = 0;
|
||||
out_4871128394768286557[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7351280482288278166) {
|
||||
out_7351280482288278166[0] = state[4];
|
||||
out_7351280482288278166[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_7079061790558552168) {
|
||||
out_7079061790558552168[0] = state[4];
|
||||
out_7079061790558552168[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_8301956961654820296) {
|
||||
out_8301956961654820296[0] = 0;
|
||||
out_8301956961654820296[1] = 0;
|
||||
out_8301956961654820296[2] = 0;
|
||||
out_8301956961654820296[3] = 0;
|
||||
out_8301956961654820296[4] = 1;
|
||||
out_8301956961654820296[5] = 0;
|
||||
out_8301956961654820296[6] = 0;
|
||||
out_8301956961654820296[7] = 0;
|
||||
out_8301956961654820296[8] = 0;
|
||||
out_8301956961654820296[9] = 0;
|
||||
out_8301956961654820296[10] = 0;
|
||||
out_8301956961654820296[11] = 0;
|
||||
out_8301956961654820296[12] = 0;
|
||||
out_8301956961654820296[13] = 0;
|
||||
out_8301956961654820296[14] = 1;
|
||||
out_8301956961654820296[15] = 0;
|
||||
out_8301956961654820296[16] = 0;
|
||||
out_8301956961654820296[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_7374582999090103633) {
|
||||
out_7374582999090103633[0] = 0;
|
||||
out_7374582999090103633[1] = 0;
|
||||
out_7374582999090103633[2] = 0;
|
||||
out_7374582999090103633[3] = 0;
|
||||
out_7374582999090103633[4] = 1;
|
||||
out_7374582999090103633[5] = 0;
|
||||
out_7374582999090103633[6] = 0;
|
||||
out_7374582999090103633[7] = 0;
|
||||
out_7374582999090103633[8] = 0;
|
||||
out_7374582999090103633[9] = 0;
|
||||
out_7374582999090103633[10] = 0;
|
||||
out_7374582999090103633[11] = 0;
|
||||
out_7374582999090103633[12] = 0;
|
||||
out_7374582999090103633[13] = 0;
|
||||
out_7374582999090103633[14] = 1;
|
||||
out_7374582999090103633[15] = 0;
|
||||
out_7374582999090103633[16] = 0;
|
||||
out_7374582999090103633[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_4292406537204830044) {
|
||||
out_4292406537204830044[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_2117170897988717135) {
|
||||
out_2117170897988717135[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_1499233651385800496) {
|
||||
out_1499233651385800496[0] = 0;
|
||||
out_1499233651385800496[1] = 0;
|
||||
out_1499233651385800496[2] = 0;
|
||||
out_1499233651385800496[3] = 0;
|
||||
out_1499233651385800496[4] = 1;
|
||||
out_1499233651385800496[5] = 0;
|
||||
out_1499233651385800496[6] = 0;
|
||||
out_1499233651385800496[7] = 0;
|
||||
out_1499233651385800496[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_2352795436261037930) {
|
||||
out_2352795436261037930[0] = 0;
|
||||
out_2352795436261037930[1] = 0;
|
||||
out_2352795436261037930[2] = 0;
|
||||
out_2352795436261037930[3] = 0;
|
||||
out_2352795436261037930[4] = 1;
|
||||
out_2352795436261037930[5] = 0;
|
||||
out_2352795436261037930[6] = 0;
|
||||
out_2352795436261037930[7] = 0;
|
||||
out_2352795436261037930[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_7000316085453517212) {
|
||||
out_7000316085453517212[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_7183588416707059858) {
|
||||
out_7183588416707059858[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6289316761958078141) {
|
||||
out_6289316761958078141[0] = 0;
|
||||
out_6289316761958078141[1] = 0;
|
||||
out_6289316761958078141[2] = 0;
|
||||
out_6289316761958078141[3] = 0;
|
||||
out_6289316761958078141[4] = 0;
|
||||
out_6289316761958078141[5] = 0;
|
||||
out_6289316761958078141[6] = 0;
|
||||
out_6289316761958078141[7] = 1;
|
||||
out_6289316761958078141[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_8612631713642342781) {
|
||||
out_8612631713642342781[0] = 0;
|
||||
out_8612631713642342781[1] = 0;
|
||||
out_8612631713642342781[2] = 0;
|
||||
out_8612631713642342781[3] = 0;
|
||||
out_8612631713642342781[4] = 0;
|
||||
out_8612631713642342781[5] = 0;
|
||||
out_8612631713642342781[6] = 0;
|
||||
out_8612631713642342781[7] = 1;
|
||||
out_8612631713642342781[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3964284714812858416) {
|
||||
out_3964284714812858416[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_3041689038023257655) {
|
||||
out_3041689038023257655[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_3673996963186225407) {
|
||||
out_3673996963186225407[0] = 0;
|
||||
out_3673996963186225407[1] = 0;
|
||||
out_3673996963186225407[2] = 0;
|
||||
out_3673996963186225407[3] = 1;
|
||||
out_3673996963186225407[4] = 0;
|
||||
out_3673996963186225407[5] = 0;
|
||||
out_3673996963186225407[6] = 0;
|
||||
out_3673996963186225407[7] = 0;
|
||||
out_3673996963186225407[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_129201365077094713) {
|
||||
out_129201365077094713[0] = 0;
|
||||
out_129201365077094713[1] = 0;
|
||||
out_129201365077094713[2] = 0;
|
||||
out_129201365077094713[3] = 1;
|
||||
out_129201365077094713[4] = 0;
|
||||
out_129201365077094713[5] = 0;
|
||||
out_129201365077094713[6] = 0;
|
||||
out_129201365077094713[7] = 0;
|
||||
out_129201365077094713[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_3689090652528352527) {
|
||||
out_3689090652528352527[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_2884502369672128510) {
|
||||
out_2884502369672128510[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_989002307071408312) {
|
||||
out_989002307071408312[0] = 0;
|
||||
out_989002307071408312[1] = 1;
|
||||
out_989002307071408312[2] = 0;
|
||||
out_989002307071408312[3] = 0;
|
||||
out_989002307071408312[4] = 0;
|
||||
out_989002307071408312[5] = 0;
|
||||
out_989002307071408312[6] = 0;
|
||||
out_989002307071408312[7] = 0;
|
||||
out_989002307071408312[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_1842564091946645746) {
|
||||
out_1842564091946645746[0] = 0;
|
||||
out_1842564091946645746[1] = 1;
|
||||
out_1842564091946645746[2] = 0;
|
||||
out_1842564091946645746[3] = 0;
|
||||
out_1842564091946645746[4] = 0;
|
||||
out_1842564091946645746[5] = 0;
|
||||
out_1842564091946645746[6] = 0;
|
||||
out_1842564091946645746[7] = 0;
|
||||
out_1842564091946645746[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_1914000772745856672) {
|
||||
out_1914000772745856672[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_4902986578924970) {
|
||||
out_4902986578924970[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_6071401324140938886) {
|
||||
out_6071401324140938886[0] = 1;
|
||||
out_6071401324140938886[1] = 0;
|
||||
out_6071401324140938886[2] = 0;
|
||||
out_6071401324140938886[3] = 0;
|
||||
out_6071401324140938886[4] = 0;
|
||||
out_6071401324140938886[5] = 0;
|
||||
out_6071401324140938886[6] = 0;
|
||||
out_6071401324140938886[7] = 0;
|
||||
out_6071401324140938886[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6924963109016176320) {
|
||||
out_6924963109016176320[0] = 1;
|
||||
out_6924963109016176320[1] = 0;
|
||||
out_6924963109016176320[2] = 0;
|
||||
out_6924963109016176320[3] = 0;
|
||||
out_6924963109016176320[4] = 0;
|
||||
out_6924963109016176320[5] = 0;
|
||||
out_6924963109016176320[6] = 0;
|
||||
out_6924963109016176320[7] = 0;
|
||||
out_6924963109016176320[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_8205050127743358283) {
|
||||
out_8205050127743358283[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_8547812156113883153) {
|
||||
out_8547812156113883153[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_8385278031000456823) {
|
||||
out_8385278031000456823[0] = 0;
|
||||
out_8385278031000456823[1] = 0;
|
||||
out_8385278031000456823[2] = 0;
|
||||
out_8385278031000456823[3] = 0;
|
||||
out_8385278031000456823[4] = 0;
|
||||
out_8385278031000456823[5] = 0;
|
||||
out_8385278031000456823[6] = 0;
|
||||
out_8385278031000456823[7] = 0;
|
||||
out_8385278031000456823[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_4840482432891326129) {
|
||||
out_4840482432891326129[0] = 0;
|
||||
out_4840482432891326129[1] = 0;
|
||||
out_4840482432891326129[2] = 0;
|
||||
out_4840482432891326129[3] = 0;
|
||||
out_4840482432891326129[4] = 0;
|
||||
out_4840482432891326129[5] = 0;
|
||||
out_4840482432891326129[6] = 0;
|
||||
out_4840482432891326129[7] = 0;
|
||||
out_4840482432891326129[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_3568804456057098654) {
|
||||
err_fun(nom_x, delta_x, out_3568804456057098654);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8308214496735031777) {
|
||||
err_fun(nom_x, delta_x, out_8308214496735031777);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031) {
|
||||
inv_err_fun(nom_x, true_x, out_1840397183166108031);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8999766425853420329) {
|
||||
inv_err_fun(nom_x, true_x, out_8999766425853420329);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_8921258435077713963) {
|
||||
H_mod_fun(state, out_8921258435077713963);
|
||||
void car_H_mod_fun(double *state, double *out_8671923853756600219) {
|
||||
H_mod_fun(state, out_8671923853756600219);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_3277027219914288776) {
|
||||
f_fun(state, dt, out_3277027219914288776);
|
||||
void car_f_fun(double *state, double dt, double *out_3762356930851513593) {
|
||||
f_fun(state, dt, out_3762356930851513593);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_370955893725369602) {
|
||||
F_fun(state, dt, out_370955893725369602);
|
||||
void car_F_fun(double *state, double dt, double *out_110226856445903204) {
|
||||
F_fun(state, dt, out_110226856445903204);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_8154090013633331696) {
|
||||
h_25(state, unused, out_8154090013633331696);
|
||||
void car_h_25(double *state, double *unused, double *out_5646094358831955306) {
|
||||
h_25(state, unused, out_5646094358831955306);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_8415923992877417251) {
|
||||
H_25(state, unused, out_8415923992877417251);
|
||||
void car_H_25(double *state, double *unused, double *out_4871128394768286557) {
|
||||
H_25(state, unused, out_4871128394768286557);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7351280482288278166) {
|
||||
h_24(state, unused, out_7351280482288278166);
|
||||
void car_h_24(double *state, double *unused, double *out_7079061790558552168) {
|
||||
h_24(state, unused, out_7079061790558552168);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_8301956961654820296) {
|
||||
H_24(state, unused, out_8301956961654820296);
|
||||
void car_H_24(double *state, double *unused, double *out_7374582999090103633) {
|
||||
H_24(state, unused, out_7374582999090103633);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_4292406537204830044) {
|
||||
h_30(state, unused, out_4292406537204830044);
|
||||
void car_h_30(double *state, double *unused, double *out_2117170897988717135) {
|
||||
h_30(state, unused, out_2117170897988717135);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_1499233651385800496) {
|
||||
H_30(state, unused, out_1499233651385800496);
|
||||
void car_H_30(double *state, double *unused, double *out_2352795436261037930) {
|
||||
H_30(state, unused, out_2352795436261037930);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_7000316085453517212) {
|
||||
h_26(state, unused, out_7000316085453517212);
|
||||
void car_h_26(double *state, double *unused, double *out_7183588416707059858) {
|
||||
h_26(state, unused, out_7183588416707059858);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6289316761958078141) {
|
||||
H_26(state, unused, out_6289316761958078141);
|
||||
void car_H_26(double *state, double *unused, double *out_8612631713642342781) {
|
||||
H_26(state, unused, out_8612631713642342781);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3964284714812858416) {
|
||||
h_27(state, unused, out_3964284714812858416);
|
||||
void car_h_27(double *state, double *unused, double *out_3041689038023257655) {
|
||||
h_27(state, unused, out_3041689038023257655);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_3673996963186225407) {
|
||||
H_27(state, unused, out_3673996963186225407);
|
||||
void car_H_27(double *state, double *unused, double *out_129201365077094713) {
|
||||
H_27(state, unused, out_129201365077094713);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_3689090652528352527) {
|
||||
h_29(state, unused, out_3689090652528352527);
|
||||
void car_h_29(double *state, double *unused, double *out_2884502369672128510) {
|
||||
h_29(state, unused, out_2884502369672128510);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_989002307071408312) {
|
||||
H_29(state, unused, out_989002307071408312);
|
||||
void car_H_29(double *state, double *unused, double *out_1842564091946645746) {
|
||||
H_29(state, unused, out_1842564091946645746);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_1914000772745856672) {
|
||||
h_28(state, unused, out_1914000772745856672);
|
||||
void car_h_28(double *state, double *unused, double *out_4902986578924970) {
|
||||
h_28(state, unused, out_4902986578924970);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_6071401324140938886) {
|
||||
H_28(state, unused, out_6071401324140938886);
|
||||
void car_H_28(double *state, double *unused, double *out_6924963109016176320) {
|
||||
H_28(state, unused, out_6924963109016176320);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_8205050127743358283) {
|
||||
h_31(state, unused, out_8205050127743358283);
|
||||
void car_h_31(double *state, double *unused, double *out_8547812156113883153) {
|
||||
h_31(state, unused, out_8547812156113883153);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_8385278031000456823) {
|
||||
H_31(state, unused, out_8385278031000456823);
|
||||
void car_H_31(double *state, double *unused, double *out_4840482432891326129) {
|
||||
H_31(state, unused, out_4840482432891326129);
|
||||
}
|
||||
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_3568804456057098654);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031);
|
||||
void car_H_mod_fun(double *state, double *out_8921258435077713963);
|
||||
void car_f_fun(double *state, double dt, double *out_3277027219914288776);
|
||||
void car_F_fun(double *state, double dt, double *out_370955893725369602);
|
||||
void car_h_25(double *state, double *unused, double *out_8154090013633331696);
|
||||
void car_H_25(double *state, double *unused, double *out_8415923992877417251);
|
||||
void car_h_24(double *state, double *unused, double *out_7351280482288278166);
|
||||
void car_H_24(double *state, double *unused, double *out_8301956961654820296);
|
||||
void car_h_30(double *state, double *unused, double *out_4292406537204830044);
|
||||
void car_H_30(double *state, double *unused, double *out_1499233651385800496);
|
||||
void car_h_26(double *state, double *unused, double *out_7000316085453517212);
|
||||
void car_H_26(double *state, double *unused, double *out_6289316761958078141);
|
||||
void car_h_27(double *state, double *unused, double *out_3964284714812858416);
|
||||
void car_H_27(double *state, double *unused, double *out_3673996963186225407);
|
||||
void car_h_29(double *state, double *unused, double *out_3689090652528352527);
|
||||
void car_H_29(double *state, double *unused, double *out_989002307071408312);
|
||||
void car_h_28(double *state, double *unused, double *out_1914000772745856672);
|
||||
void car_H_28(double *state, double *unused, double *out_6071401324140938886);
|
||||
void car_h_31(double *state, double *unused, double *out_8205050127743358283);
|
||||
void car_H_31(double *state, double *unused, double *out_8385278031000456823);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8308214496735031777);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8999766425853420329);
|
||||
void car_H_mod_fun(double *state, double *out_8671923853756600219);
|
||||
void car_f_fun(double *state, double dt, double *out_3762356930851513593);
|
||||
void car_F_fun(double *state, double dt, double *out_110226856445903204);
|
||||
void car_h_25(double *state, double *unused, double *out_5646094358831955306);
|
||||
void car_H_25(double *state, double *unused, double *out_4871128394768286557);
|
||||
void car_h_24(double *state, double *unused, double *out_7079061790558552168);
|
||||
void car_H_24(double *state, double *unused, double *out_7374582999090103633);
|
||||
void car_h_30(double *state, double *unused, double *out_2117170897988717135);
|
||||
void car_H_30(double *state, double *unused, double *out_2352795436261037930);
|
||||
void car_h_26(double *state, double *unused, double *out_7183588416707059858);
|
||||
void car_H_26(double *state, double *unused, double *out_8612631713642342781);
|
||||
void car_h_27(double *state, double *unused, double *out_3041689038023257655);
|
||||
void car_H_27(double *state, double *unused, double *out_129201365077094713);
|
||||
void car_h_29(double *state, double *unused, double *out_2884502369672128510);
|
||||
void car_H_29(double *state, double *unused, double *out_1842564091946645746);
|
||||
void car_h_28(double *state, double *unused, double *out_4902986578924970);
|
||||
void car_H_28(double *state, double *unused, double *out_6924963109016176320);
|
||||
void car_h_31(double *state, double *unused, double *out_8547812156113883153);
|
||||
void car_H_31(double *state, double *unused, double *out_4840482432891326129);
|
||||
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_3667758909157266385);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3255008687637156165);
|
||||
void pose_H_mod_fun(double *state, double *out_1678148223451849404);
|
||||
void pose_f_fun(double *state, double dt, double *out_4390690219844123460);
|
||||
void pose_F_fun(double *state, double dt, double *out_5251920544283288288);
|
||||
void pose_h_4(double *state, double *unused, double *out_2086181486544094617);
|
||||
void pose_H_4(double *state, double *unused, double *out_141550502454447457);
|
||||
void pose_h_10(double *state, double *unused, double *out_2304974017593414723);
|
||||
void pose_H_10(double *state, double *unused, double *out_521311265061217175);
|
||||
void pose_h_13(double *state, double *unused, double *out_6563098082746675966);
|
||||
void pose_H_13(double *state, double *unused, double *out_3070723322877885344);
|
||||
void pose_h_14(double *state, double *unused, double *out_4832039927491863335);
|
||||
void pose_H_14(double *state, double *unused, double *out_3821690353885037072);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_8958383251573640);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3510167321874192836);
|
||||
void pose_H_mod_fun(double *state, double *out_10314592692584858);
|
||||
void pose_f_fun(double *state, double dt, double *out_3469176563342886468);
|
||||
void pose_F_fun(double *state, double dt, double *out_6053143964145098388);
|
||||
void pose_h_4(double *state, double *unused, double *out_4331217932147478278);
|
||||
void pose_H_4(double *state, double *unused, double *out_3761492617151322714);
|
||||
void pose_h_10(double *state, double *unused, double *out_1904703987337421912);
|
||||
void pose_H_10(double *state, double *unused, double *out_4366147958481579120);
|
||||
void pose_h_13(double *state, double *unused, double *out_9149454562438237975);
|
||||
void pose_H_13(double *state, double *unused, double *out_6973766442483655515);
|
||||
void pose_h_14(double *state, double *unused, double *out_1095581425659281568);
|
||||
void pose_H_14(double *state, double *unused, double *out_678704184855950418);
|
||||
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