mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-05 00:05:52 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
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||||
extern const uint8_t gitversion[19];
|
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const uint8_t gitversion[19] = "DEV-a30dc40b-DEBUG";
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||||
const uint8_t gitversion[19] = "DEV-53766ff6-DEBUG";
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@@ -1 +1 @@
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DEV-a30dc40b-DEBUG
|
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DEV-53766ff6-DEBUG
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_6201369500890241283) {
|
||||
out_6201369500890241283[0] = delta_x[0] + nom_x[0];
|
||||
out_6201369500890241283[1] = delta_x[1] + nom_x[1];
|
||||
out_6201369500890241283[2] = delta_x[2] + nom_x[2];
|
||||
out_6201369500890241283[3] = delta_x[3] + nom_x[3];
|
||||
out_6201369500890241283[4] = delta_x[4] + nom_x[4];
|
||||
out_6201369500890241283[5] = delta_x[5] + nom_x[5];
|
||||
out_6201369500890241283[6] = delta_x[6] + nom_x[6];
|
||||
out_6201369500890241283[7] = delta_x[7] + nom_x[7];
|
||||
out_6201369500890241283[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_7681400738027994255) {
|
||||
out_7681400738027994255[0] = delta_x[0] + nom_x[0];
|
||||
out_7681400738027994255[1] = delta_x[1] + nom_x[1];
|
||||
out_7681400738027994255[2] = delta_x[2] + nom_x[2];
|
||||
out_7681400738027994255[3] = delta_x[3] + nom_x[3];
|
||||
out_7681400738027994255[4] = delta_x[4] + nom_x[4];
|
||||
out_7681400738027994255[5] = delta_x[5] + nom_x[5];
|
||||
out_7681400738027994255[6] = delta_x[6] + nom_x[6];
|
||||
out_7681400738027994255[7] = delta_x[7] + nom_x[7];
|
||||
out_7681400738027994255[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124) {
|
||||
out_6748403134246456124[0] = -nom_x[0] + true_x[0];
|
||||
out_6748403134246456124[1] = -nom_x[1] + true_x[1];
|
||||
out_6748403134246456124[2] = -nom_x[2] + true_x[2];
|
||||
out_6748403134246456124[3] = -nom_x[3] + true_x[3];
|
||||
out_6748403134246456124[4] = -nom_x[4] + true_x[4];
|
||||
out_6748403134246456124[5] = -nom_x[5] + true_x[5];
|
||||
out_6748403134246456124[6] = -nom_x[6] + true_x[6];
|
||||
out_6748403134246456124[7] = -nom_x[7] + true_x[7];
|
||||
out_6748403134246456124[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_5789638956557325357) {
|
||||
out_5789638956557325357[0] = -nom_x[0] + true_x[0];
|
||||
out_5789638956557325357[1] = -nom_x[1] + true_x[1];
|
||||
out_5789638956557325357[2] = -nom_x[2] + true_x[2];
|
||||
out_5789638956557325357[3] = -nom_x[3] + true_x[3];
|
||||
out_5789638956557325357[4] = -nom_x[4] + true_x[4];
|
||||
out_5789638956557325357[5] = -nom_x[5] + true_x[5];
|
||||
out_5789638956557325357[6] = -nom_x[6] + true_x[6];
|
||||
out_5789638956557325357[7] = -nom_x[7] + true_x[7];
|
||||
out_5789638956557325357[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_2042585132715859694) {
|
||||
out_2042585132715859694[0] = 1.0;
|
||||
out_2042585132715859694[1] = 0.0;
|
||||
out_2042585132715859694[2] = 0.0;
|
||||
out_2042585132715859694[3] = 0.0;
|
||||
out_2042585132715859694[4] = 0.0;
|
||||
out_2042585132715859694[5] = 0.0;
|
||||
out_2042585132715859694[6] = 0.0;
|
||||
out_2042585132715859694[7] = 0.0;
|
||||
out_2042585132715859694[8] = 0.0;
|
||||
out_2042585132715859694[9] = 0.0;
|
||||
out_2042585132715859694[10] = 1.0;
|
||||
out_2042585132715859694[11] = 0.0;
|
||||
out_2042585132715859694[12] = 0.0;
|
||||
out_2042585132715859694[13] = 0.0;
|
||||
out_2042585132715859694[14] = 0.0;
|
||||
out_2042585132715859694[15] = 0.0;
|
||||
out_2042585132715859694[16] = 0.0;
|
||||
out_2042585132715859694[17] = 0.0;
|
||||
out_2042585132715859694[18] = 0.0;
|
||||
out_2042585132715859694[19] = 0.0;
|
||||
out_2042585132715859694[20] = 1.0;
|
||||
out_2042585132715859694[21] = 0.0;
|
||||
out_2042585132715859694[22] = 0.0;
|
||||
out_2042585132715859694[23] = 0.0;
|
||||
out_2042585132715859694[24] = 0.0;
|
||||
out_2042585132715859694[25] = 0.0;
|
||||
out_2042585132715859694[26] = 0.0;
|
||||
out_2042585132715859694[27] = 0.0;
|
||||
out_2042585132715859694[28] = 0.0;
|
||||
out_2042585132715859694[29] = 0.0;
|
||||
out_2042585132715859694[30] = 1.0;
|
||||
out_2042585132715859694[31] = 0.0;
|
||||
out_2042585132715859694[32] = 0.0;
|
||||
out_2042585132715859694[33] = 0.0;
|
||||
out_2042585132715859694[34] = 0.0;
|
||||
out_2042585132715859694[35] = 0.0;
|
||||
out_2042585132715859694[36] = 0.0;
|
||||
out_2042585132715859694[37] = 0.0;
|
||||
out_2042585132715859694[38] = 0.0;
|
||||
out_2042585132715859694[39] = 0.0;
|
||||
out_2042585132715859694[40] = 1.0;
|
||||
out_2042585132715859694[41] = 0.0;
|
||||
out_2042585132715859694[42] = 0.0;
|
||||
out_2042585132715859694[43] = 0.0;
|
||||
out_2042585132715859694[44] = 0.0;
|
||||
out_2042585132715859694[45] = 0.0;
|
||||
out_2042585132715859694[46] = 0.0;
|
||||
out_2042585132715859694[47] = 0.0;
|
||||
out_2042585132715859694[48] = 0.0;
|
||||
out_2042585132715859694[49] = 0.0;
|
||||
out_2042585132715859694[50] = 1.0;
|
||||
out_2042585132715859694[51] = 0.0;
|
||||
out_2042585132715859694[52] = 0.0;
|
||||
out_2042585132715859694[53] = 0.0;
|
||||
out_2042585132715859694[54] = 0.0;
|
||||
out_2042585132715859694[55] = 0.0;
|
||||
out_2042585132715859694[56] = 0.0;
|
||||
out_2042585132715859694[57] = 0.0;
|
||||
out_2042585132715859694[58] = 0.0;
|
||||
out_2042585132715859694[59] = 0.0;
|
||||
out_2042585132715859694[60] = 1.0;
|
||||
out_2042585132715859694[61] = 0.0;
|
||||
out_2042585132715859694[62] = 0.0;
|
||||
out_2042585132715859694[63] = 0.0;
|
||||
out_2042585132715859694[64] = 0.0;
|
||||
out_2042585132715859694[65] = 0.0;
|
||||
out_2042585132715859694[66] = 0.0;
|
||||
out_2042585132715859694[67] = 0.0;
|
||||
out_2042585132715859694[68] = 0.0;
|
||||
out_2042585132715859694[69] = 0.0;
|
||||
out_2042585132715859694[70] = 1.0;
|
||||
out_2042585132715859694[71] = 0.0;
|
||||
out_2042585132715859694[72] = 0.0;
|
||||
out_2042585132715859694[73] = 0.0;
|
||||
out_2042585132715859694[74] = 0.0;
|
||||
out_2042585132715859694[75] = 0.0;
|
||||
out_2042585132715859694[76] = 0.0;
|
||||
out_2042585132715859694[77] = 0.0;
|
||||
out_2042585132715859694[78] = 0.0;
|
||||
out_2042585132715859694[79] = 0.0;
|
||||
out_2042585132715859694[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_770586316396255671) {
|
||||
out_770586316396255671[0] = 1.0;
|
||||
out_770586316396255671[1] = 0.0;
|
||||
out_770586316396255671[2] = 0.0;
|
||||
out_770586316396255671[3] = 0.0;
|
||||
out_770586316396255671[4] = 0.0;
|
||||
out_770586316396255671[5] = 0.0;
|
||||
out_770586316396255671[6] = 0.0;
|
||||
out_770586316396255671[7] = 0.0;
|
||||
out_770586316396255671[8] = 0.0;
|
||||
out_770586316396255671[9] = 0.0;
|
||||
out_770586316396255671[10] = 1.0;
|
||||
out_770586316396255671[11] = 0.0;
|
||||
out_770586316396255671[12] = 0.0;
|
||||
out_770586316396255671[13] = 0.0;
|
||||
out_770586316396255671[14] = 0.0;
|
||||
out_770586316396255671[15] = 0.0;
|
||||
out_770586316396255671[16] = 0.0;
|
||||
out_770586316396255671[17] = 0.0;
|
||||
out_770586316396255671[18] = 0.0;
|
||||
out_770586316396255671[19] = 0.0;
|
||||
out_770586316396255671[20] = 1.0;
|
||||
out_770586316396255671[21] = 0.0;
|
||||
out_770586316396255671[22] = 0.0;
|
||||
out_770586316396255671[23] = 0.0;
|
||||
out_770586316396255671[24] = 0.0;
|
||||
out_770586316396255671[25] = 0.0;
|
||||
out_770586316396255671[26] = 0.0;
|
||||
out_770586316396255671[27] = 0.0;
|
||||
out_770586316396255671[28] = 0.0;
|
||||
out_770586316396255671[29] = 0.0;
|
||||
out_770586316396255671[30] = 1.0;
|
||||
out_770586316396255671[31] = 0.0;
|
||||
out_770586316396255671[32] = 0.0;
|
||||
out_770586316396255671[33] = 0.0;
|
||||
out_770586316396255671[34] = 0.0;
|
||||
out_770586316396255671[35] = 0.0;
|
||||
out_770586316396255671[36] = 0.0;
|
||||
out_770586316396255671[37] = 0.0;
|
||||
out_770586316396255671[38] = 0.0;
|
||||
out_770586316396255671[39] = 0.0;
|
||||
out_770586316396255671[40] = 1.0;
|
||||
out_770586316396255671[41] = 0.0;
|
||||
out_770586316396255671[42] = 0.0;
|
||||
out_770586316396255671[43] = 0.0;
|
||||
out_770586316396255671[44] = 0.0;
|
||||
out_770586316396255671[45] = 0.0;
|
||||
out_770586316396255671[46] = 0.0;
|
||||
out_770586316396255671[47] = 0.0;
|
||||
out_770586316396255671[48] = 0.0;
|
||||
out_770586316396255671[49] = 0.0;
|
||||
out_770586316396255671[50] = 1.0;
|
||||
out_770586316396255671[51] = 0.0;
|
||||
out_770586316396255671[52] = 0.0;
|
||||
out_770586316396255671[53] = 0.0;
|
||||
out_770586316396255671[54] = 0.0;
|
||||
out_770586316396255671[55] = 0.0;
|
||||
out_770586316396255671[56] = 0.0;
|
||||
out_770586316396255671[57] = 0.0;
|
||||
out_770586316396255671[58] = 0.0;
|
||||
out_770586316396255671[59] = 0.0;
|
||||
out_770586316396255671[60] = 1.0;
|
||||
out_770586316396255671[61] = 0.0;
|
||||
out_770586316396255671[62] = 0.0;
|
||||
out_770586316396255671[63] = 0.0;
|
||||
out_770586316396255671[64] = 0.0;
|
||||
out_770586316396255671[65] = 0.0;
|
||||
out_770586316396255671[66] = 0.0;
|
||||
out_770586316396255671[67] = 0.0;
|
||||
out_770586316396255671[68] = 0.0;
|
||||
out_770586316396255671[69] = 0.0;
|
||||
out_770586316396255671[70] = 1.0;
|
||||
out_770586316396255671[71] = 0.0;
|
||||
out_770586316396255671[72] = 0.0;
|
||||
out_770586316396255671[73] = 0.0;
|
||||
out_770586316396255671[74] = 0.0;
|
||||
out_770586316396255671[75] = 0.0;
|
||||
out_770586316396255671[76] = 0.0;
|
||||
out_770586316396255671[77] = 0.0;
|
||||
out_770586316396255671[78] = 0.0;
|
||||
out_770586316396255671[79] = 0.0;
|
||||
out_770586316396255671[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_4209455390444840494) {
|
||||
out_4209455390444840494[0] = state[0];
|
||||
out_4209455390444840494[1] = state[1];
|
||||
out_4209455390444840494[2] = state[2];
|
||||
out_4209455390444840494[3] = state[3];
|
||||
out_4209455390444840494[4] = state[4];
|
||||
out_4209455390444840494[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_4209455390444840494[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_4209455390444840494[7] = state[7];
|
||||
out_4209455390444840494[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_5606339599600049351) {
|
||||
out_5606339599600049351[0] = state[0];
|
||||
out_5606339599600049351[1] = state[1];
|
||||
out_5606339599600049351[2] = state[2];
|
||||
out_5606339599600049351[3] = state[3];
|
||||
out_5606339599600049351[4] = state[4];
|
||||
out_5606339599600049351[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_5606339599600049351[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_5606339599600049351[7] = state[7];
|
||||
out_5606339599600049351[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_2724900345805544233) {
|
||||
out_2724900345805544233[0] = 1;
|
||||
out_2724900345805544233[1] = 0;
|
||||
out_2724900345805544233[2] = 0;
|
||||
out_2724900345805544233[3] = 0;
|
||||
out_2724900345805544233[4] = 0;
|
||||
out_2724900345805544233[5] = 0;
|
||||
out_2724900345805544233[6] = 0;
|
||||
out_2724900345805544233[7] = 0;
|
||||
out_2724900345805544233[8] = 0;
|
||||
out_2724900345805544233[9] = 0;
|
||||
out_2724900345805544233[10] = 1;
|
||||
out_2724900345805544233[11] = 0;
|
||||
out_2724900345805544233[12] = 0;
|
||||
out_2724900345805544233[13] = 0;
|
||||
out_2724900345805544233[14] = 0;
|
||||
out_2724900345805544233[15] = 0;
|
||||
out_2724900345805544233[16] = 0;
|
||||
out_2724900345805544233[17] = 0;
|
||||
out_2724900345805544233[18] = 0;
|
||||
out_2724900345805544233[19] = 0;
|
||||
out_2724900345805544233[20] = 1;
|
||||
out_2724900345805544233[21] = 0;
|
||||
out_2724900345805544233[22] = 0;
|
||||
out_2724900345805544233[23] = 0;
|
||||
out_2724900345805544233[24] = 0;
|
||||
out_2724900345805544233[25] = 0;
|
||||
out_2724900345805544233[26] = 0;
|
||||
out_2724900345805544233[27] = 0;
|
||||
out_2724900345805544233[28] = 0;
|
||||
out_2724900345805544233[29] = 0;
|
||||
out_2724900345805544233[30] = 1;
|
||||
out_2724900345805544233[31] = 0;
|
||||
out_2724900345805544233[32] = 0;
|
||||
out_2724900345805544233[33] = 0;
|
||||
out_2724900345805544233[34] = 0;
|
||||
out_2724900345805544233[35] = 0;
|
||||
out_2724900345805544233[36] = 0;
|
||||
out_2724900345805544233[37] = 0;
|
||||
out_2724900345805544233[38] = 0;
|
||||
out_2724900345805544233[39] = 0;
|
||||
out_2724900345805544233[40] = 1;
|
||||
out_2724900345805544233[41] = 0;
|
||||
out_2724900345805544233[42] = 0;
|
||||
out_2724900345805544233[43] = 0;
|
||||
out_2724900345805544233[44] = 0;
|
||||
out_2724900345805544233[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_2724900345805544233[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2724900345805544233[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2724900345805544233[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2724900345805544233[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_2724900345805544233[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2724900345805544233[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2724900345805544233[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2724900345805544233[53] = -9.8100000000000005*dt;
|
||||
out_2724900345805544233[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_2724900345805544233[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2724900345805544233[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2724900345805544233[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2724900345805544233[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_2724900345805544233[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2724900345805544233[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_2724900345805544233[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2724900345805544233[62] = 0;
|
||||
out_2724900345805544233[63] = 0;
|
||||
out_2724900345805544233[64] = 0;
|
||||
out_2724900345805544233[65] = 0;
|
||||
out_2724900345805544233[66] = 0;
|
||||
out_2724900345805544233[67] = 0;
|
||||
out_2724900345805544233[68] = 0;
|
||||
out_2724900345805544233[69] = 0;
|
||||
out_2724900345805544233[70] = 1;
|
||||
out_2724900345805544233[71] = 0;
|
||||
out_2724900345805544233[72] = 0;
|
||||
out_2724900345805544233[73] = 0;
|
||||
out_2724900345805544233[74] = 0;
|
||||
out_2724900345805544233[75] = 0;
|
||||
out_2724900345805544233[76] = 0;
|
||||
out_2724900345805544233[77] = 0;
|
||||
out_2724900345805544233[78] = 0;
|
||||
out_2724900345805544233[79] = 0;
|
||||
out_2724900345805544233[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_7025079641144486959) {
|
||||
out_7025079641144486959[0] = 1;
|
||||
out_7025079641144486959[1] = 0;
|
||||
out_7025079641144486959[2] = 0;
|
||||
out_7025079641144486959[3] = 0;
|
||||
out_7025079641144486959[4] = 0;
|
||||
out_7025079641144486959[5] = 0;
|
||||
out_7025079641144486959[6] = 0;
|
||||
out_7025079641144486959[7] = 0;
|
||||
out_7025079641144486959[8] = 0;
|
||||
out_7025079641144486959[9] = 0;
|
||||
out_7025079641144486959[10] = 1;
|
||||
out_7025079641144486959[11] = 0;
|
||||
out_7025079641144486959[12] = 0;
|
||||
out_7025079641144486959[13] = 0;
|
||||
out_7025079641144486959[14] = 0;
|
||||
out_7025079641144486959[15] = 0;
|
||||
out_7025079641144486959[16] = 0;
|
||||
out_7025079641144486959[17] = 0;
|
||||
out_7025079641144486959[18] = 0;
|
||||
out_7025079641144486959[19] = 0;
|
||||
out_7025079641144486959[20] = 1;
|
||||
out_7025079641144486959[21] = 0;
|
||||
out_7025079641144486959[22] = 0;
|
||||
out_7025079641144486959[23] = 0;
|
||||
out_7025079641144486959[24] = 0;
|
||||
out_7025079641144486959[25] = 0;
|
||||
out_7025079641144486959[26] = 0;
|
||||
out_7025079641144486959[27] = 0;
|
||||
out_7025079641144486959[28] = 0;
|
||||
out_7025079641144486959[29] = 0;
|
||||
out_7025079641144486959[30] = 1;
|
||||
out_7025079641144486959[31] = 0;
|
||||
out_7025079641144486959[32] = 0;
|
||||
out_7025079641144486959[33] = 0;
|
||||
out_7025079641144486959[34] = 0;
|
||||
out_7025079641144486959[35] = 0;
|
||||
out_7025079641144486959[36] = 0;
|
||||
out_7025079641144486959[37] = 0;
|
||||
out_7025079641144486959[38] = 0;
|
||||
out_7025079641144486959[39] = 0;
|
||||
out_7025079641144486959[40] = 1;
|
||||
out_7025079641144486959[41] = 0;
|
||||
out_7025079641144486959[42] = 0;
|
||||
out_7025079641144486959[43] = 0;
|
||||
out_7025079641144486959[44] = 0;
|
||||
out_7025079641144486959[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_7025079641144486959[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_7025079641144486959[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7025079641144486959[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7025079641144486959[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_7025079641144486959[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_7025079641144486959[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_7025079641144486959[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7025079641144486959[53] = -9.8100000000000005*dt;
|
||||
out_7025079641144486959[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_7025079641144486959[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_7025079641144486959[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7025079641144486959[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7025079641144486959[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_7025079641144486959[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_7025079641144486959[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_7025079641144486959[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7025079641144486959[62] = 0;
|
||||
out_7025079641144486959[63] = 0;
|
||||
out_7025079641144486959[64] = 0;
|
||||
out_7025079641144486959[65] = 0;
|
||||
out_7025079641144486959[66] = 0;
|
||||
out_7025079641144486959[67] = 0;
|
||||
out_7025079641144486959[68] = 0;
|
||||
out_7025079641144486959[69] = 0;
|
||||
out_7025079641144486959[70] = 1;
|
||||
out_7025079641144486959[71] = 0;
|
||||
out_7025079641144486959[72] = 0;
|
||||
out_7025079641144486959[73] = 0;
|
||||
out_7025079641144486959[74] = 0;
|
||||
out_7025079641144486959[75] = 0;
|
||||
out_7025079641144486959[76] = 0;
|
||||
out_7025079641144486959[77] = 0;
|
||||
out_7025079641144486959[78] = 0;
|
||||
out_7025079641144486959[79] = 0;
|
||||
out_7025079641144486959[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_2892803162940124204) {
|
||||
out_2892803162940124204[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_4577152348291642136) {
|
||||
out_4577152348291642136[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_4054323233890514922) {
|
||||
out_4054323233890514922[0] = 0;
|
||||
out_4054323233890514922[1] = 0;
|
||||
out_4054323233890514922[2] = 0;
|
||||
out_4054323233890514922[3] = 0;
|
||||
out_4054323233890514922[4] = 0;
|
||||
out_4054323233890514922[5] = 0;
|
||||
out_4054323233890514922[6] = 1;
|
||||
out_4054323233890514922[7] = 0;
|
||||
out_4054323233890514922[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_5674278141580920511) {
|
||||
out_5674278141580920511[0] = 0;
|
||||
out_5674278141580920511[1] = 0;
|
||||
out_5674278141580920511[2] = 0;
|
||||
out_5674278141580920511[3] = 0;
|
||||
out_5674278141580920511[4] = 0;
|
||||
out_5674278141580920511[5] = 0;
|
||||
out_5674278141580920511[6] = 1;
|
||||
out_5674278141580920511[7] = 0;
|
||||
out_5674278141580920511[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_2360383510230698975) {
|
||||
out_2360383510230698975[0] = state[4];
|
||||
out_2360383510230698975[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_2260271043136596652) {
|
||||
out_2260271043136596652[0] = state[4];
|
||||
out_2260271043136596652[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_1828615449911646360) {
|
||||
out_1828615449911646360[0] = 0;
|
||||
out_1828615449911646360[1] = 0;
|
||||
out_1828615449911646360[2] = 0;
|
||||
out_1828615449911646360[3] = 0;
|
||||
out_1828615449911646360[4] = 1;
|
||||
out_1828615449911646360[5] = 0;
|
||||
out_1828615449911646360[6] = 0;
|
||||
out_1828615449911646360[7] = 0;
|
||||
out_1828615449911646360[8] = 0;
|
||||
out_1828615449911646360[9] = 0;
|
||||
out_1828615449911646360[10] = 0;
|
||||
out_1828615449911646360[11] = 0;
|
||||
out_1828615449911646360[12] = 0;
|
||||
out_1828615449911646360[13] = 0;
|
||||
out_1828615449911646360[14] = 1;
|
||||
out_1828615449911646360[15] = 0;
|
||||
out_1828615449911646360[16] = 0;
|
||||
out_1828615449911646360[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_7498971649215618511) {
|
||||
out_7498971649215618511[0] = 0;
|
||||
out_7498971649215618511[1] = 0;
|
||||
out_7498971649215618511[2] = 0;
|
||||
out_7498971649215618511[3] = 0;
|
||||
out_7498971649215618511[4] = 1;
|
||||
out_7498971649215618511[5] = 0;
|
||||
out_7498971649215618511[6] = 0;
|
||||
out_7498971649215618511[7] = 0;
|
||||
out_7498971649215618511[8] = 0;
|
||||
out_7498971649215618511[9] = 0;
|
||||
out_7498971649215618511[10] = 0;
|
||||
out_7498971649215618511[11] = 0;
|
||||
out_7498971649215618511[12] = 0;
|
||||
out_7498971649215618511[13] = 0;
|
||||
out_7498971649215618511[14] = 1;
|
||||
out_7498971649215618511[15] = 0;
|
||||
out_7498971649215618511[16] = 0;
|
||||
out_7498971649215618511[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_801115166891129847) {
|
||||
out_801115166891129847[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_715468871863140484) {
|
||||
out_715468871863140484[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_2862367107601101833) {
|
||||
out_2862367107601101833[0] = 0;
|
||||
out_2862367107601101833[1] = 0;
|
||||
out_2862367107601101833[2] = 0;
|
||||
out_2862367107601101833[3] = 0;
|
||||
out_2862367107601101833[4] = 1;
|
||||
out_2862367107601101833[5] = 0;
|
||||
out_2862367107601101833[6] = 0;
|
||||
out_2862367107601101833[7] = 0;
|
||||
out_2862367107601101833[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_8192611100088169138) {
|
||||
out_8192611100088169138[0] = 0;
|
||||
out_8192611100088169138[1] = 0;
|
||||
out_8192611100088169138[2] = 0;
|
||||
out_8192611100088169138[3] = 0;
|
||||
out_8192611100088169138[4] = 1;
|
||||
out_8192611100088169138[5] = 0;
|
||||
out_8192611100088169138[6] = 0;
|
||||
out_8192611100088169138[7] = 0;
|
||||
out_8192611100088169138[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_1833676042436215552) {
|
||||
out_1833676042436215552[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_8710731789405934690) {
|
||||
out_8710731789405934690[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_749797264129714321) {
|
||||
out_749797264129714321[0] = 0;
|
||||
out_749797264129714321[1] = 0;
|
||||
out_749797264129714321[2] = 0;
|
||||
out_749797264129714321[3] = 0;
|
||||
out_749797264129714321[4] = 0;
|
||||
out_749797264129714321[5] = 0;
|
||||
out_749797264129714321[6] = 0;
|
||||
out_749797264129714321[7] = 1;
|
||||
out_749797264129714321[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_1932774822706864287) {
|
||||
out_1932774822706864287[0] = 0;
|
||||
out_1932774822706864287[1] = 0;
|
||||
out_1932774822706864287[2] = 0;
|
||||
out_1932774822706864287[3] = 0;
|
||||
out_1932774822706864287[4] = 0;
|
||||
out_1932774822706864287[5] = 0;
|
||||
out_1932774822706864287[6] = 0;
|
||||
out_1932774822706864287[7] = 1;
|
||||
out_1932774822706864287[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_512631790305905855) {
|
||||
out_512631790305905855[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_5953042931828939605) {
|
||||
out_5953042931828939605[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_687603795800676922) {
|
||||
out_687603795800676922[0] = 0;
|
||||
out_687603795800676922[1] = 0;
|
||||
out_687603795800676922[2] = 0;
|
||||
out_687603795800676922[3] = 1;
|
||||
out_687603795800676922[4] = 0;
|
||||
out_687603795800676922[5] = 0;
|
||||
out_687603795800676922[6] = 0;
|
||||
out_687603795800676922[7] = 0;
|
||||
out_687603795800676922[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_6017847788287744227) {
|
||||
out_6017847788287744227[0] = 0;
|
||||
out_6017847788287744227[1] = 0;
|
||||
out_6017847788287744227[2] = 0;
|
||||
out_6017847788287744227[3] = 1;
|
||||
out_6017847788287744227[4] = 0;
|
||||
out_6017847788287744227[5] = 0;
|
||||
out_6017847788287744227[6] = 0;
|
||||
out_6017847788287744227[7] = 0;
|
||||
out_6017847788287744227[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_355445121954776710) {
|
||||
out_355445121954776710[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_5677848869544433716) {
|
||||
out_5677848869544433716[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_3372598451915494017) {
|
||||
out_3372598451915494017[0] = 0;
|
||||
out_3372598451915494017[1] = 1;
|
||||
out_3372598451915494017[2] = 0;
|
||||
out_3372598451915494017[3] = 0;
|
||||
out_3372598451915494017[4] = 0;
|
||||
out_3372598451915494017[5] = 0;
|
||||
out_3372598451915494017[6] = 0;
|
||||
out_3372598451915494017[7] = 0;
|
||||
out_3372598451915494017[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_8702842444402561322) {
|
||||
out_8702842444402561322[0] = 0;
|
||||
out_8702842444402561322[1] = 1;
|
||||
out_8702842444402561322[2] = 0;
|
||||
out_8702842444402561322[3] = 0;
|
||||
out_8702842444402561322[4] = 0;
|
||||
out_8702842444402561322[5] = 0;
|
||||
out_8702842444402561322[6] = 0;
|
||||
out_8702842444402561322[7] = 0;
|
||||
out_8702842444402561322[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_4713758757429658086) {
|
||||
out_4713758757429658086[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_8557448252637637256) {
|
||||
out_8557448252637637256[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_6108157948138404685) {
|
||||
out_6108157948138404685[0] = 1;
|
||||
out_6108157948138404685[1] = 0;
|
||||
out_6108157948138404685[2] = 0;
|
||||
out_6108157948138404685[3] = 0;
|
||||
out_6108157948138404685[4] = 0;
|
||||
out_6108157948138404685[5] = 0;
|
||||
out_6108157948138404685[6] = 0;
|
||||
out_6108157948138404685[7] = 0;
|
||||
out_6108157948138404685[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_3620443427333030748) {
|
||||
out_3620443427333030748[0] = 1;
|
||||
out_3620443427333030748[1] = 0;
|
||||
out_3620443427333030748[2] = 0;
|
||||
out_3620443427333030748[3] = 0;
|
||||
out_3620443427333030748[4] = 0;
|
||||
out_3620443427333030748[5] = 0;
|
||||
out_3620443427333030748[6] = 0;
|
||||
out_3620443427333030748[7] = 0;
|
||||
out_3620443427333030748[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_744646365313898146) {
|
||||
out_744646365313898146[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_1336580678379106237) {
|
||||
out_1336580678379106237[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_3022352016621302331) {
|
||||
out_3022352016621302331[0] = 0;
|
||||
out_3022352016621302331[1] = 0;
|
||||
out_3022352016621302331[2] = 0;
|
||||
out_3022352016621302331[3] = 0;
|
||||
out_3022352016621302331[4] = 0;
|
||||
out_3022352016621302331[5] = 0;
|
||||
out_3022352016621302331[6] = 0;
|
||||
out_3022352016621302331[7] = 0;
|
||||
out_3022352016621302331[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_1306566720473512811) {
|
||||
out_1306566720473512811[0] = 0;
|
||||
out_1306566720473512811[1] = 0;
|
||||
out_1306566720473512811[2] = 0;
|
||||
out_1306566720473512811[3] = 0;
|
||||
out_1306566720473512811[4] = 0;
|
||||
out_1306566720473512811[5] = 0;
|
||||
out_1306566720473512811[6] = 0;
|
||||
out_1306566720473512811[7] = 0;
|
||||
out_1306566720473512811[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_6201369500890241283) {
|
||||
err_fun(nom_x, delta_x, out_6201369500890241283);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7681400738027994255) {
|
||||
err_fun(nom_x, delta_x, out_7681400738027994255);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124) {
|
||||
inv_err_fun(nom_x, true_x, out_6748403134246456124);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5789638956557325357) {
|
||||
inv_err_fun(nom_x, true_x, out_5789638956557325357);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_2042585132715859694) {
|
||||
H_mod_fun(state, out_2042585132715859694);
|
||||
void car_H_mod_fun(double *state, double *out_770586316396255671) {
|
||||
H_mod_fun(state, out_770586316396255671);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_4209455390444840494) {
|
||||
f_fun(state, dt, out_4209455390444840494);
|
||||
void car_f_fun(double *state, double dt, double *out_5606339599600049351) {
|
||||
f_fun(state, dt, out_5606339599600049351);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_2724900345805544233) {
|
||||
F_fun(state, dt, out_2724900345805544233);
|
||||
void car_F_fun(double *state, double dt, double *out_7025079641144486959) {
|
||||
F_fun(state, dt, out_7025079641144486959);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_2892803162940124204) {
|
||||
h_25(state, unused, out_2892803162940124204);
|
||||
void car_h_25(double *state, double *unused, double *out_4577152348291642136) {
|
||||
h_25(state, unused, out_4577152348291642136);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_4054323233890514922) {
|
||||
H_25(state, unused, out_4054323233890514922);
|
||||
void car_H_25(double *state, double *unused, double *out_5674278141580920511) {
|
||||
H_25(state, unused, out_5674278141580920511);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_2360383510230698975) {
|
||||
h_24(state, unused, out_2360383510230698975);
|
||||
void car_h_24(double *state, double *unused, double *out_2260271043136596652) {
|
||||
h_24(state, unused, out_2260271043136596652);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_1828615449911646360) {
|
||||
H_24(state, unused, out_1828615449911646360);
|
||||
void car_H_24(double *state, double *unused, double *out_7498971649215618511) {
|
||||
H_24(state, unused, out_7498971649215618511);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_801115166891129847) {
|
||||
h_30(state, unused, out_801115166891129847);
|
||||
void car_h_30(double *state, double *unused, double *out_715468871863140484) {
|
||||
h_30(state, unused, out_715468871863140484);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_2862367107601101833) {
|
||||
H_30(state, unused, out_2862367107601101833);
|
||||
void car_H_30(double *state, double *unused, double *out_8192611100088169138) {
|
||||
H_30(state, unused, out_8192611100088169138);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_1833676042436215552) {
|
||||
h_26(state, unused, out_1833676042436215552);
|
||||
void car_h_26(double *state, double *unused, double *out_8710731789405934690) {
|
||||
h_26(state, unused, out_8710731789405934690);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_749797264129714321) {
|
||||
H_26(state, unused, out_749797264129714321);
|
||||
void car_H_26(double *state, double *unused, double *out_1932774822706864287) {
|
||||
H_26(state, unused, out_1932774822706864287);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_512631790305905855) {
|
||||
h_27(state, unused, out_512631790305905855);
|
||||
void car_h_27(double *state, double *unused, double *out_5953042931828939605) {
|
||||
h_27(state, unused, out_5953042931828939605);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_687603795800676922) {
|
||||
H_27(state, unused, out_687603795800676922);
|
||||
void car_H_27(double *state, double *unused, double *out_6017847788287744227) {
|
||||
H_27(state, unused, out_6017847788287744227);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_355445121954776710) {
|
||||
h_29(state, unused, out_355445121954776710);
|
||||
void car_h_29(double *state, double *unused, double *out_5677848869544433716) {
|
||||
h_29(state, unused, out_5677848869544433716);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_3372598451915494017) {
|
||||
H_29(state, unused, out_3372598451915494017);
|
||||
void car_H_29(double *state, double *unused, double *out_8702842444402561322) {
|
||||
H_29(state, unused, out_8702842444402561322);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_4713758757429658086) {
|
||||
h_28(state, unused, out_4713758757429658086);
|
||||
void car_h_28(double *state, double *unused, double *out_8557448252637637256) {
|
||||
h_28(state, unused, out_8557448252637637256);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_6108157948138404685) {
|
||||
H_28(state, unused, out_6108157948138404685);
|
||||
void car_H_28(double *state, double *unused, double *out_3620443427333030748) {
|
||||
H_28(state, unused, out_3620443427333030748);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_744646365313898146) {
|
||||
h_31(state, unused, out_744646365313898146);
|
||||
void car_h_31(double *state, double *unused, double *out_1336580678379106237) {
|
||||
h_31(state, unused, out_1336580678379106237);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_3022352016621302331) {
|
||||
H_31(state, unused, out_3022352016621302331);
|
||||
void car_H_31(double *state, double *unused, double *out_1306566720473512811) {
|
||||
H_31(state, unused, out_1306566720473512811);
|
||||
}
|
||||
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_6201369500890241283);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124);
|
||||
void car_H_mod_fun(double *state, double *out_2042585132715859694);
|
||||
void car_f_fun(double *state, double dt, double *out_4209455390444840494);
|
||||
void car_F_fun(double *state, double dt, double *out_2724900345805544233);
|
||||
void car_h_25(double *state, double *unused, double *out_2892803162940124204);
|
||||
void car_H_25(double *state, double *unused, double *out_4054323233890514922);
|
||||
void car_h_24(double *state, double *unused, double *out_2360383510230698975);
|
||||
void car_H_24(double *state, double *unused, double *out_1828615449911646360);
|
||||
void car_h_30(double *state, double *unused, double *out_801115166891129847);
|
||||
void car_H_30(double *state, double *unused, double *out_2862367107601101833);
|
||||
void car_h_26(double *state, double *unused, double *out_1833676042436215552);
|
||||
void car_H_26(double *state, double *unused, double *out_749797264129714321);
|
||||
void car_h_27(double *state, double *unused, double *out_512631790305905855);
|
||||
void car_H_27(double *state, double *unused, double *out_687603795800676922);
|
||||
void car_h_29(double *state, double *unused, double *out_355445121954776710);
|
||||
void car_H_29(double *state, double *unused, double *out_3372598451915494017);
|
||||
void car_h_28(double *state, double *unused, double *out_4713758757429658086);
|
||||
void car_H_28(double *state, double *unused, double *out_6108157948138404685);
|
||||
void car_h_31(double *state, double *unused, double *out_744646365313898146);
|
||||
void car_H_31(double *state, double *unused, double *out_3022352016621302331);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7681400738027994255);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5789638956557325357);
|
||||
void car_H_mod_fun(double *state, double *out_770586316396255671);
|
||||
void car_f_fun(double *state, double dt, double *out_5606339599600049351);
|
||||
void car_F_fun(double *state, double dt, double *out_7025079641144486959);
|
||||
void car_h_25(double *state, double *unused, double *out_4577152348291642136);
|
||||
void car_H_25(double *state, double *unused, double *out_5674278141580920511);
|
||||
void car_h_24(double *state, double *unused, double *out_2260271043136596652);
|
||||
void car_H_24(double *state, double *unused, double *out_7498971649215618511);
|
||||
void car_h_30(double *state, double *unused, double *out_715468871863140484);
|
||||
void car_H_30(double *state, double *unused, double *out_8192611100088169138);
|
||||
void car_h_26(double *state, double *unused, double *out_8710731789405934690);
|
||||
void car_H_26(double *state, double *unused, double *out_1932774822706864287);
|
||||
void car_h_27(double *state, double *unused, double *out_5953042931828939605);
|
||||
void car_H_27(double *state, double *unused, double *out_6017847788287744227);
|
||||
void car_h_29(double *state, double *unused, double *out_5677848869544433716);
|
||||
void car_H_29(double *state, double *unused, double *out_8702842444402561322);
|
||||
void car_h_28(double *state, double *unused, double *out_8557448252637637256);
|
||||
void car_H_28(double *state, double *unused, double *out_3620443427333030748);
|
||||
void car_h_31(double *state, double *unused, double *out_1336580678379106237);
|
||||
void car_H_31(double *state, double *unused, double *out_1306566720473512811);
|
||||
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_2815596288453817821);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8761485569796980977);
|
||||
void pose_H_mod_fun(double *state, double *out_9016812017969752156);
|
||||
void pose_f_fun(double *state, double dt, double *out_5314151849166190903);
|
||||
void pose_F_fun(double *state, double dt, double *out_3978107798910374878);
|
||||
void pose_h_4(double *state, double *unused, double *out_6702643113920812120);
|
||||
void pose_H_4(double *state, double *unused, double *out_1181133811394856104);
|
||||
void pose_h_10(double *state, double *unused, double *out_329728007611436907);
|
||||
void pose_H_10(double *state, double *unused, double *out_8047171094370826367);
|
||||
void pose_h_13(double *state, double *unused, double *out_8195155792174923791);
|
||||
void pose_H_13(double *state, double *unused, double *out_2031140013937476697);
|
||||
void pose_h_14(double *state, double *unused, double *out_3839043433562085237);
|
||||
void pose_H_14(double *state, double *unused, double *out_2782107044944628425);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_6990659364596708462);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1561026677999837058);
|
||||
void pose_H_mod_fun(double *state, double *out_308647198819961252);
|
||||
void pose_f_fun(double *state, double dt, double *out_7010110275742074957);
|
||||
void pose_F_fun(double *state, double dt, double *out_321710036859700647);
|
||||
void pose_h_4(double *state, double *unused, double *out_8984471206441981160);
|
||||
void pose_H_4(double *state, double *unused, double *out_1511051527086335609);
|
||||
void pose_h_10(double *state, double *unused, double *out_1160903693658888330);
|
||||
void pose_H_10(double *state, double *unused, double *out_8626357209504260991);
|
||||
void pose_h_13(double *state, double *unused, double *out_8776526610688936203);
|
||||
void pose_H_13(double *state, double *unused, double *out_6099579681230365320);
|
||||
void pose_h_14(double *state, double *unused, double *out_3918582584245710569);
|
||||
void pose_H_14(double *state, double *unused, double *out_2452189329253148920);
|
||||
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