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https://github.com/firestar5683/StarPilot.git
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Build Civic AOL recovery against current Dom
This commit is contained in:
firestar5683
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_1014334527327209848) {
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out_1014334527327209848[0] = delta_x[0] + nom_x[0];
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out_1014334527327209848[1] = delta_x[1] + nom_x[1];
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out_1014334527327209848[2] = delta_x[2] + nom_x[2];
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out_1014334527327209848[3] = delta_x[3] + nom_x[3];
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out_1014334527327209848[4] = delta_x[4] + nom_x[4];
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out_1014334527327209848[5] = delta_x[5] + nom_x[5];
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out_1014334527327209848[6] = delta_x[6] + nom_x[6];
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out_1014334527327209848[7] = delta_x[7] + nom_x[7];
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out_1014334527327209848[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_2633990546043802948) {
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out_2633990546043802948[0] = delta_x[0] + nom_x[0];
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out_2633990546043802948[1] = delta_x[1] + nom_x[1];
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out_2633990546043802948[2] = delta_x[2] + nom_x[2];
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out_2633990546043802948[3] = delta_x[3] + nom_x[3];
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out_2633990546043802948[4] = delta_x[4] + nom_x[4];
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out_2633990546043802948[5] = delta_x[5] + nom_x[5];
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out_2633990546043802948[6] = delta_x[6] + nom_x[6];
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out_2633990546043802948[7] = delta_x[7] + nom_x[7];
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out_2633990546043802948[8] = delta_x[8] + nom_x[8];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_3206419511188405682) {
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out_3206419511188405682[0] = -nom_x[0] + true_x[0];
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out_3206419511188405682[1] = -nom_x[1] + true_x[1];
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out_3206419511188405682[2] = -nom_x[2] + true_x[2];
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out_3206419511188405682[3] = -nom_x[3] + true_x[3];
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out_3206419511188405682[4] = -nom_x[4] + true_x[4];
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out_3206419511188405682[5] = -nom_x[5] + true_x[5];
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out_3206419511188405682[6] = -nom_x[6] + true_x[6];
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out_3206419511188405682[7] = -nom_x[7] + true_x[7];
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out_3206419511188405682[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_1648181344021920920) {
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out_1648181344021920920[0] = -nom_x[0] + true_x[0];
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out_1648181344021920920[1] = -nom_x[1] + true_x[1];
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out_1648181344021920920[2] = -nom_x[2] + true_x[2];
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out_1648181344021920920[3] = -nom_x[3] + true_x[3];
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out_1648181344021920920[4] = -nom_x[4] + true_x[4];
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out_1648181344021920920[5] = -nom_x[5] + true_x[5];
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out_1648181344021920920[6] = -nom_x[6] + true_x[6];
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out_1648181344021920920[7] = -nom_x[7] + true_x[7];
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out_1648181344021920920[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_992849709061666640) {
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out_992849709061666640[0] = 1.0;
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out_992849709061666640[1] = 0.0;
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out_992849709061666640[2] = 0.0;
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out_992849709061666640[3] = 0.0;
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out_992849709061666640[4] = 0.0;
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out_992849709061666640[5] = 0.0;
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out_992849709061666640[6] = 0.0;
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out_992849709061666640[7] = 0.0;
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out_992849709061666640[8] = 0.0;
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out_992849709061666640[9] = 0.0;
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out_992849709061666640[10] = 1.0;
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out_992849709061666640[11] = 0.0;
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out_992849709061666640[12] = 0.0;
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out_992849709061666640[13] = 0.0;
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out_992849709061666640[14] = 0.0;
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out_992849709061666640[15] = 0.0;
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out_992849709061666640[16] = 0.0;
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out_992849709061666640[17] = 0.0;
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out_992849709061666640[18] = 0.0;
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out_992849709061666640[19] = 0.0;
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out_992849709061666640[20] = 1.0;
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out_992849709061666640[21] = 0.0;
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out_992849709061666640[22] = 0.0;
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out_992849709061666640[23] = 0.0;
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out_992849709061666640[24] = 0.0;
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out_992849709061666640[25] = 0.0;
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out_992849709061666640[26] = 0.0;
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out_992849709061666640[27] = 0.0;
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out_992849709061666640[28] = 0.0;
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out_992849709061666640[29] = 0.0;
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out_992849709061666640[30] = 1.0;
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out_992849709061666640[31] = 0.0;
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out_992849709061666640[32] = 0.0;
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out_992849709061666640[33] = 0.0;
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out_992849709061666640[34] = 0.0;
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out_992849709061666640[35] = 0.0;
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out_992849709061666640[36] = 0.0;
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out_992849709061666640[37] = 0.0;
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out_992849709061666640[38] = 0.0;
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out_992849709061666640[39] = 0.0;
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out_992849709061666640[40] = 1.0;
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out_992849709061666640[41] = 0.0;
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out_992849709061666640[42] = 0.0;
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out_992849709061666640[43] = 0.0;
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out_992849709061666640[44] = 0.0;
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out_992849709061666640[45] = 0.0;
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out_992849709061666640[46] = 0.0;
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out_992849709061666640[47] = 0.0;
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out_992849709061666640[48] = 0.0;
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out_992849709061666640[49] = 0.0;
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out_992849709061666640[50] = 1.0;
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out_992849709061666640[51] = 0.0;
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out_992849709061666640[52] = 0.0;
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out_992849709061666640[53] = 0.0;
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out_992849709061666640[54] = 0.0;
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out_992849709061666640[55] = 0.0;
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out_992849709061666640[56] = 0.0;
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out_992849709061666640[57] = 0.0;
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out_992849709061666640[58] = 0.0;
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out_992849709061666640[59] = 0.0;
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out_992849709061666640[60] = 1.0;
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out_992849709061666640[61] = 0.0;
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out_992849709061666640[62] = 0.0;
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out_992849709061666640[63] = 0.0;
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out_992849709061666640[64] = 0.0;
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out_992849709061666640[65] = 0.0;
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out_992849709061666640[66] = 0.0;
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out_992849709061666640[67] = 0.0;
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out_992849709061666640[68] = 0.0;
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out_992849709061666640[69] = 0.0;
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out_992849709061666640[70] = 1.0;
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out_992849709061666640[71] = 0.0;
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out_992849709061666640[72] = 0.0;
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out_992849709061666640[73] = 0.0;
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out_992849709061666640[74] = 0.0;
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out_992849709061666640[75] = 0.0;
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out_992849709061666640[76] = 0.0;
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out_992849709061666640[77] = 0.0;
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out_992849709061666640[78] = 0.0;
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out_992849709061666640[79] = 0.0;
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out_992849709061666640[80] = 1.0;
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void H_mod_fun(double *state, double *out_6471050303960736584) {
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out_6471050303960736584[0] = 1.0;
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out_6471050303960736584[1] = 0.0;
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out_6471050303960736584[2] = 0.0;
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out_6471050303960736584[3] = 0.0;
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out_6471050303960736584[4] = 0.0;
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out_6471050303960736584[5] = 0.0;
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out_6471050303960736584[6] = 0.0;
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out_6471050303960736584[7] = 0.0;
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out_6471050303960736584[8] = 0.0;
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out_6471050303960736584[9] = 0.0;
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out_6471050303960736584[10] = 1.0;
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out_6471050303960736584[11] = 0.0;
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out_6471050303960736584[12] = 0.0;
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out_6471050303960736584[13] = 0.0;
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out_6471050303960736584[14] = 0.0;
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out_6471050303960736584[15] = 0.0;
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out_6471050303960736584[16] = 0.0;
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out_6471050303960736584[17] = 0.0;
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out_6471050303960736584[18] = 0.0;
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out_6471050303960736584[19] = 0.0;
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out_6471050303960736584[20] = 1.0;
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out_6471050303960736584[21] = 0.0;
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out_6471050303960736584[22] = 0.0;
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out_6471050303960736584[23] = 0.0;
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out_6471050303960736584[24] = 0.0;
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out_6471050303960736584[25] = 0.0;
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out_6471050303960736584[26] = 0.0;
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out_6471050303960736584[27] = 0.0;
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out_6471050303960736584[28] = 0.0;
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out_6471050303960736584[29] = 0.0;
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out_6471050303960736584[30] = 1.0;
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out_6471050303960736584[31] = 0.0;
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out_6471050303960736584[32] = 0.0;
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out_6471050303960736584[33] = 0.0;
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out_6471050303960736584[34] = 0.0;
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out_6471050303960736584[35] = 0.0;
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out_6471050303960736584[36] = 0.0;
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out_6471050303960736584[37] = 0.0;
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out_6471050303960736584[38] = 0.0;
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out_6471050303960736584[39] = 0.0;
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out_6471050303960736584[40] = 1.0;
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out_6471050303960736584[41] = 0.0;
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out_6471050303960736584[42] = 0.0;
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out_6471050303960736584[43] = 0.0;
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out_6471050303960736584[44] = 0.0;
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out_6471050303960736584[45] = 0.0;
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out_6471050303960736584[46] = 0.0;
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out_6471050303960736584[47] = 0.0;
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out_6471050303960736584[48] = 0.0;
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out_6471050303960736584[49] = 0.0;
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out_6471050303960736584[50] = 1.0;
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out_6471050303960736584[51] = 0.0;
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out_6471050303960736584[52] = 0.0;
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out_6471050303960736584[53] = 0.0;
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out_6471050303960736584[54] = 0.0;
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out_6471050303960736584[55] = 0.0;
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out_6471050303960736584[56] = 0.0;
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out_6471050303960736584[57] = 0.0;
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out_6471050303960736584[58] = 0.0;
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out_6471050303960736584[59] = 0.0;
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out_6471050303960736584[60] = 1.0;
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out_6471050303960736584[61] = 0.0;
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out_6471050303960736584[62] = 0.0;
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out_6471050303960736584[63] = 0.0;
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out_6471050303960736584[64] = 0.0;
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out_6471050303960736584[65] = 0.0;
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out_6471050303960736584[66] = 0.0;
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out_6471050303960736584[67] = 0.0;
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out_6471050303960736584[68] = 0.0;
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out_6471050303960736584[69] = 0.0;
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out_6471050303960736584[70] = 1.0;
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out_6471050303960736584[71] = 0.0;
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out_6471050303960736584[72] = 0.0;
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out_6471050303960736584[73] = 0.0;
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out_6471050303960736584[74] = 0.0;
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out_6471050303960736584[75] = 0.0;
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out_6471050303960736584[76] = 0.0;
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out_6471050303960736584[77] = 0.0;
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out_6471050303960736584[78] = 0.0;
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out_6471050303960736584[79] = 0.0;
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out_6471050303960736584[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_7284810420003339157) {
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out_7284810420003339157[0] = state[0];
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out_7284810420003339157[1] = state[1];
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out_7284810420003339157[2] = state[2];
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out_7284810420003339157[3] = state[3];
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out_7284810420003339157[4] = state[4];
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out_7284810420003339157[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];
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out_7284810420003339157[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];
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out_7284810420003339157[7] = state[7];
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out_7284810420003339157[8] = state[8];
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void f_fun(double *state, double dt, double *out_3688269730868187383) {
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out_3688269730868187383[0] = state[0];
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out_3688269730868187383[1] = state[1];
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out_3688269730868187383[2] = state[2];
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out_3688269730868187383[3] = state[3];
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out_3688269730868187383[4] = state[4];
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out_3688269730868187383[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
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out_3688269730868187383[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
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out_3688269730868187383[7] = state[7];
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out_3688269730868187383[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_8279640069865100833) {
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out_8279640069865100833[0] = 1;
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out_8279640069865100833[1] = 0;
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out_8279640069865100833[2] = 0;
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out_8279640069865100833[3] = 0;
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out_8279640069865100833[4] = 0;
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out_8279640069865100833[5] = 0;
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out_8279640069865100833[6] = 0;
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out_8279640069865100833[7] = 0;
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out_8279640069865100833[8] = 0;
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out_8279640069865100833[9] = 0;
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out_8279640069865100833[10] = 1;
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out_8279640069865100833[11] = 0;
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out_8279640069865100833[12] = 0;
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out_8279640069865100833[13] = 0;
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||||
out_8279640069865100833[14] = 0;
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||||
out_8279640069865100833[15] = 0;
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||||
out_8279640069865100833[16] = 0;
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||||
out_8279640069865100833[17] = 0;
|
||||
out_8279640069865100833[18] = 0;
|
||||
out_8279640069865100833[19] = 0;
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||||
out_8279640069865100833[20] = 1;
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||||
out_8279640069865100833[21] = 0;
|
||||
out_8279640069865100833[22] = 0;
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||||
out_8279640069865100833[23] = 0;
|
||||
out_8279640069865100833[24] = 0;
|
||||
out_8279640069865100833[25] = 0;
|
||||
out_8279640069865100833[26] = 0;
|
||||
out_8279640069865100833[27] = 0;
|
||||
out_8279640069865100833[28] = 0;
|
||||
out_8279640069865100833[29] = 0;
|
||||
out_8279640069865100833[30] = 1;
|
||||
out_8279640069865100833[31] = 0;
|
||||
out_8279640069865100833[32] = 0;
|
||||
out_8279640069865100833[33] = 0;
|
||||
out_8279640069865100833[34] = 0;
|
||||
out_8279640069865100833[35] = 0;
|
||||
out_8279640069865100833[36] = 0;
|
||||
out_8279640069865100833[37] = 0;
|
||||
out_8279640069865100833[38] = 0;
|
||||
out_8279640069865100833[39] = 0;
|
||||
out_8279640069865100833[40] = 1;
|
||||
out_8279640069865100833[41] = 0;
|
||||
out_8279640069865100833[42] = 0;
|
||||
out_8279640069865100833[43] = 0;
|
||||
out_8279640069865100833[44] = 0;
|
||||
out_8279640069865100833[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_8279640069865100833[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8279640069865100833[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8279640069865100833[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8279640069865100833[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_8279640069865100833[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8279640069865100833[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8279640069865100833[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8279640069865100833[53] = -9.8100000000000005*dt;
|
||||
out_8279640069865100833[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_8279640069865100833[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8279640069865100833[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8279640069865100833[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8279640069865100833[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_8279640069865100833[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8279640069865100833[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_8279640069865100833[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8279640069865100833[62] = 0;
|
||||
out_8279640069865100833[63] = 0;
|
||||
out_8279640069865100833[64] = 0;
|
||||
out_8279640069865100833[65] = 0;
|
||||
out_8279640069865100833[66] = 0;
|
||||
out_8279640069865100833[67] = 0;
|
||||
out_8279640069865100833[68] = 0;
|
||||
out_8279640069865100833[69] = 0;
|
||||
out_8279640069865100833[70] = 1;
|
||||
out_8279640069865100833[71] = 0;
|
||||
out_8279640069865100833[72] = 0;
|
||||
out_8279640069865100833[73] = 0;
|
||||
out_8279640069865100833[74] = 0;
|
||||
out_8279640069865100833[75] = 0;
|
||||
out_8279640069865100833[76] = 0;
|
||||
out_8279640069865100833[77] = 0;
|
||||
out_8279640069865100833[78] = 0;
|
||||
out_8279640069865100833[79] = 0;
|
||||
out_8279640069865100833[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_9019266380936848145) {
|
||||
out_9019266380936848145[0] = 1;
|
||||
out_9019266380936848145[1] = 0;
|
||||
out_9019266380936848145[2] = 0;
|
||||
out_9019266380936848145[3] = 0;
|
||||
out_9019266380936848145[4] = 0;
|
||||
out_9019266380936848145[5] = 0;
|
||||
out_9019266380936848145[6] = 0;
|
||||
out_9019266380936848145[7] = 0;
|
||||
out_9019266380936848145[8] = 0;
|
||||
out_9019266380936848145[9] = 0;
|
||||
out_9019266380936848145[10] = 1;
|
||||
out_9019266380936848145[11] = 0;
|
||||
out_9019266380936848145[12] = 0;
|
||||
out_9019266380936848145[13] = 0;
|
||||
out_9019266380936848145[14] = 0;
|
||||
out_9019266380936848145[15] = 0;
|
||||
out_9019266380936848145[16] = 0;
|
||||
out_9019266380936848145[17] = 0;
|
||||
out_9019266380936848145[18] = 0;
|
||||
out_9019266380936848145[19] = 0;
|
||||
out_9019266380936848145[20] = 1;
|
||||
out_9019266380936848145[21] = 0;
|
||||
out_9019266380936848145[22] = 0;
|
||||
out_9019266380936848145[23] = 0;
|
||||
out_9019266380936848145[24] = 0;
|
||||
out_9019266380936848145[25] = 0;
|
||||
out_9019266380936848145[26] = 0;
|
||||
out_9019266380936848145[27] = 0;
|
||||
out_9019266380936848145[28] = 0;
|
||||
out_9019266380936848145[29] = 0;
|
||||
out_9019266380936848145[30] = 1;
|
||||
out_9019266380936848145[31] = 0;
|
||||
out_9019266380936848145[32] = 0;
|
||||
out_9019266380936848145[33] = 0;
|
||||
out_9019266380936848145[34] = 0;
|
||||
out_9019266380936848145[35] = 0;
|
||||
out_9019266380936848145[36] = 0;
|
||||
out_9019266380936848145[37] = 0;
|
||||
out_9019266380936848145[38] = 0;
|
||||
out_9019266380936848145[39] = 0;
|
||||
out_9019266380936848145[40] = 1;
|
||||
out_9019266380936848145[41] = 0;
|
||||
out_9019266380936848145[42] = 0;
|
||||
out_9019266380936848145[43] = 0;
|
||||
out_9019266380936848145[44] = 0;
|
||||
out_9019266380936848145[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_9019266380936848145[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_9019266380936848145[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_9019266380936848145[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_9019266380936848145[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_9019266380936848145[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_9019266380936848145[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_9019266380936848145[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_9019266380936848145[53] = -9.8100000000000005*dt;
|
||||
out_9019266380936848145[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_9019266380936848145[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_9019266380936848145[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_9019266380936848145[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_9019266380936848145[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_9019266380936848145[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_9019266380936848145[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_9019266380936848145[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_9019266380936848145[62] = 0;
|
||||
out_9019266380936848145[63] = 0;
|
||||
out_9019266380936848145[64] = 0;
|
||||
out_9019266380936848145[65] = 0;
|
||||
out_9019266380936848145[66] = 0;
|
||||
out_9019266380936848145[67] = 0;
|
||||
out_9019266380936848145[68] = 0;
|
||||
out_9019266380936848145[69] = 0;
|
||||
out_9019266380936848145[70] = 1;
|
||||
out_9019266380936848145[71] = 0;
|
||||
out_9019266380936848145[72] = 0;
|
||||
out_9019266380936848145[73] = 0;
|
||||
out_9019266380936848145[74] = 0;
|
||||
out_9019266380936848145[75] = 0;
|
||||
out_9019266380936848145[76] = 0;
|
||||
out_9019266380936848145[77] = 0;
|
||||
out_9019266380936848145[78] = 0;
|
||||
out_9019266380936848145[79] = 0;
|
||||
out_9019266380936848145[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_8642135170742394965) {
|
||||
out_8642135170742394965[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_797744778366010140) {
|
||||
out_797744778366010140[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_8200338516850570597) {
|
||||
out_8200338516850570597[0] = 0;
|
||||
out_8200338516850570597[1] = 0;
|
||||
out_8200338516850570597[2] = 0;
|
||||
out_8200338516850570597[3] = 0;
|
||||
out_8200338516850570597[4] = 0;
|
||||
out_8200338516850570597[5] = 0;
|
||||
out_8200338516850570597[6] = 1;
|
||||
out_8200338516850570597[7] = 0;
|
||||
out_8200338516850570597[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_1567358478776071744) {
|
||||
out_1567358478776071744[0] = 0;
|
||||
out_1567358478776071744[1] = 0;
|
||||
out_1567358478776071744[2] = 0;
|
||||
out_1567358478776071744[3] = 0;
|
||||
out_1567358478776071744[4] = 0;
|
||||
out_1567358478776071744[5] = 0;
|
||||
out_1567358478776071744[6] = 1;
|
||||
out_1567358478776071744[7] = 0;
|
||||
out_1567358478776071744[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_9197263242363141624) {
|
||||
out_9197263242363141624[0] = state[4];
|
||||
out_9197263242363141624[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_190155790201239850) {
|
||||
out_190155790201239850[0] = state[4];
|
||||
out_190155790201239850[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_1027726669218624628) {
|
||||
out_1027726669218624628[0] = 0;
|
||||
out_1027726669218624628[1] = 0;
|
||||
out_1027726669218624628[2] = 0;
|
||||
out_1027726669218624628[3] = 0;
|
||||
out_1027726669218624628[4] = 1;
|
||||
out_1027726669218624628[5] = 0;
|
||||
out_1027726669218624628[6] = 0;
|
||||
out_1027726669218624628[7] = 0;
|
||||
out_1027726669218624628[8] = 0;
|
||||
out_1027726669218624628[9] = 0;
|
||||
out_1027726669218624628[10] = 0;
|
||||
out_1027726669218624628[11] = 0;
|
||||
out_1027726669218624628[12] = 0;
|
||||
out_1027726669218624628[13] = 0;
|
||||
out_1027726669218624628[14] = 1;
|
||||
out_1027726669218624628[15] = 0;
|
||||
out_1027726669218624628[16] = 0;
|
||||
out_1027726669218624628[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_5549681630173839642) {
|
||||
out_5549681630173839642[0] = 0;
|
||||
out_5549681630173839642[1] = 0;
|
||||
out_5549681630173839642[2] = 0;
|
||||
out_5549681630173839642[3] = 0;
|
||||
out_5549681630173839642[4] = 1;
|
||||
out_5549681630173839642[5] = 0;
|
||||
out_5549681630173839642[6] = 0;
|
||||
out_5549681630173839642[7] = 0;
|
||||
out_5549681630173839642[8] = 0;
|
||||
out_5549681630173839642[9] = 0;
|
||||
out_5549681630173839642[10] = 0;
|
||||
out_5549681630173839642[11] = 0;
|
||||
out_5549681630173839642[12] = 0;
|
||||
out_5549681630173839642[13] = 0;
|
||||
out_5549681630173839642[14] = 1;
|
||||
out_5549681630173839642[15] = 0;
|
||||
out_5549681630173839642[16] = 0;
|
||||
out_5549681630173839642[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_8720849294696219296) {
|
||||
out_8720849294696219296[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_8511282010659690294) {
|
||||
out_8511282010659690294[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_5718709226731372821) {
|
||||
out_5718709226731372821[0] = 0;
|
||||
out_5718709226731372821[1] = 0;
|
||||
out_5718709226731372821[2] = 0;
|
||||
out_5718709226731372821[3] = 0;
|
||||
out_5718709226731372821[4] = 1;
|
||||
out_5718709226731372821[5] = 0;
|
||||
out_5718709226731372821[6] = 0;
|
||||
out_5718709226731372821[7] = 0;
|
||||
out_5718709226731372821[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_5349331862715545011) {
|
||||
out_5349331862715545011[0] = 0;
|
||||
out_5349331862715545011[1] = 0;
|
||||
out_5349331862715545011[2] = 0;
|
||||
out_5349331862715545011[3] = 0;
|
||||
out_5349331862715545011[4] = 1;
|
||||
out_5349331862715545011[5] = 0;
|
||||
out_5349331862715545011[6] = 0;
|
||||
out_5349331862715545011[7] = 0;
|
||||
out_5349331862715545011[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_4724221511352486675) {
|
||||
out_4724221511352486675[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_5186767263433807506) {
|
||||
out_5186767263433807506[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6504902237984924795) {
|
||||
out_6504902237984924795[0] = 0;
|
||||
out_6504902237984924795[1] = 0;
|
||||
out_6504902237984924795[2] = 0;
|
||||
out_6504902237984924795[3] = 0;
|
||||
out_6504902237984924795[4] = 0;
|
||||
out_6504902237984924795[5] = 0;
|
||||
out_6504902237984924795[6] = 0;
|
||||
out_6504902237984924795[7] = 1;
|
||||
out_6504902237984924795[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_1737167490984728857) {
|
||||
out_1737167490984728857[0] = 0;
|
||||
out_1737167490984728857[1] = 0;
|
||||
out_1737167490984728857[2] = 0;
|
||||
out_1737167490984728857[3] = 0;
|
||||
out_1737167490984728857[4] = 0;
|
||||
out_1737167490984728857[5] = 0;
|
||||
out_1737167490984728857[6] = 0;
|
||||
out_1737167490984728857[7] = 1;
|
||||
out_1737167490984728857[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_2893523921247530795) {
|
||||
out_2893523921247530795[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_3402150099174707791) {
|
||||
out_3402150099174707791[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_7942303297915316038) {
|
||||
out_7942303297915316038[0] = 0;
|
||||
out_7942303297915316038[1] = 0;
|
||||
out_7942303297915316038[2] = 0;
|
||||
out_7942303297915316038[3] = 1;
|
||||
out_7942303297915316038[4] = 0;
|
||||
out_7942303297915316038[5] = 0;
|
||||
out_7942303297915316038[6] = 0;
|
||||
out_7942303297915316038[7] = 0;
|
||||
out_7942303297915316038[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_3174568550915120100) {
|
||||
out_3174568550915120100[0] = 0;
|
||||
out_3174568550915120100[1] = 0;
|
||||
out_3174568550915120100[2] = 0;
|
||||
out_3174568550915120100[3] = 1;
|
||||
out_3174568550915120100[4] = 0;
|
||||
out_3174568550915120100[5] = 0;
|
||||
out_3174568550915120100[6] = 0;
|
||||
out_3174568550915120100[7] = 0;
|
||||
out_3174568550915120100[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_2618329858963024906) {
|
||||
out_2618329858963024906[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_2753297096665952338) {
|
||||
out_2753297096665952338[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_6228940571045765005) {
|
||||
out_6228940571045765005[0] = 0;
|
||||
out_6228940571045765005[1] = 1;
|
||||
out_6228940571045765005[2] = 0;
|
||||
out_6228940571045765005[3] = 0;
|
||||
out_6228940571045765005[4] = 0;
|
||||
out_6228940571045765005[5] = 0;
|
||||
out_6228940571045765005[6] = 0;
|
||||
out_6228940571045765005[7] = 0;
|
||||
out_6228940571045765005[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_5859563207029937195) {
|
||||
out_5859563207029937195[0] = 0;
|
||||
out_5859563207029937195[1] = 1;
|
||||
out_5859563207029937195[2] = 0;
|
||||
out_5859563207029937195[3] = 0;
|
||||
out_5859563207029937195[4] = 0;
|
||||
out_5859563207029937195[5] = 0;
|
||||
out_5859563207029937195[6] = 0;
|
||||
out_5859563207029937195[7] = 0;
|
||||
out_5859563207029937195[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_8550457448668955042) {
|
||||
out_8550457448668955042[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_6022818472511333083) {
|
||||
out_6022818472511333083[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_1146541553976234431) {
|
||||
out_1146541553976234431[0] = 1;
|
||||
out_1146541553976234431[1] = 0;
|
||||
out_1146541553976234431[2] = 0;
|
||||
out_1146541553976234431[3] = 0;
|
||||
out_1146541553976234431[4] = 0;
|
||||
out_1146541553976234431[5] = 0;
|
||||
out_1146541553976234431[6] = 0;
|
||||
out_1146541553976234431[7] = 0;
|
||||
out_1146541553976234431[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_3621193193023961507) {
|
||||
out_3621193193023961507[0] = 1;
|
||||
out_3621193193023961507[1] = 0;
|
||||
out_3621193193023961507[2] = 0;
|
||||
out_3621193193023961507[3] = 0;
|
||||
out_3621193193023961507[4] = 0;
|
||||
out_3621193193023961507[5] = 0;
|
||||
out_3621193193023961507[6] = 0;
|
||||
out_3621193193023961507[7] = 0;
|
||||
out_3621193193023961507[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7603820894445690215) {
|
||||
out_7603820894445690215[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_8679017429120059325) {
|
||||
out_8679017429120059325[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_8169692554973610169) {
|
||||
out_8169692554973610169[0] = 0;
|
||||
out_8169692554973610169[1] = 0;
|
||||
out_8169692554973610169[2] = 0;
|
||||
out_8169692554973610169[3] = 0;
|
||||
out_8169692554973610169[4] = 0;
|
||||
out_8169692554973610169[5] = 0;
|
||||
out_8169692554973610169[6] = 0;
|
||||
out_8169692554973610169[7] = 0;
|
||||
out_8169692554973610169[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_5509316771735745509) {
|
||||
out_5509316771735745509[0] = 0;
|
||||
out_5509316771735745509[1] = 0;
|
||||
out_5509316771735745509[2] = 0;
|
||||
out_5509316771735745509[3] = 0;
|
||||
out_5509316771735745509[4] = 0;
|
||||
out_5509316771735745509[5] = 0;
|
||||
out_5509316771735745509[6] = 0;
|
||||
out_5509316771735745509[7] = 0;
|
||||
out_5509316771735745509[8] = 1;
|
||||
}
|
||||
#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_1014334527327209848) {
|
||||
err_fun(nom_x, delta_x, out_1014334527327209848);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2633990546043802948) {
|
||||
err_fun(nom_x, delta_x, out_2633990546043802948);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3206419511188405682) {
|
||||
inv_err_fun(nom_x, true_x, out_3206419511188405682);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1648181344021920920) {
|
||||
inv_err_fun(nom_x, true_x, out_1648181344021920920);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_992849709061666640) {
|
||||
H_mod_fun(state, out_992849709061666640);
|
||||
void car_H_mod_fun(double *state, double *out_6471050303960736584) {
|
||||
H_mod_fun(state, out_6471050303960736584);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_7284810420003339157) {
|
||||
f_fun(state, dt, out_7284810420003339157);
|
||||
void car_f_fun(double *state, double dt, double *out_3688269730868187383) {
|
||||
f_fun(state, dt, out_3688269730868187383);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_8279640069865100833) {
|
||||
F_fun(state, dt, out_8279640069865100833);
|
||||
void car_F_fun(double *state, double dt, double *out_9019266380936848145) {
|
||||
F_fun(state, dt, out_9019266380936848145);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_8642135170742394965) {
|
||||
h_25(state, unused, out_8642135170742394965);
|
||||
void car_h_25(double *state, double *unused, double *out_797744778366010140) {
|
||||
h_25(state, unused, out_797744778366010140);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_8200338516850570597) {
|
||||
H_25(state, unused, out_8200338516850570597);
|
||||
void car_H_25(double *state, double *unused, double *out_1567358478776071744) {
|
||||
H_25(state, unused, out_1567358478776071744);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_9197263242363141624) {
|
||||
h_24(state, unused, out_9197263242363141624);
|
||||
void car_h_24(double *state, double *unused, double *out_190155790201239850) {
|
||||
h_24(state, unused, out_190155790201239850);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_1027726669218624628) {
|
||||
H_24(state, unused, out_1027726669218624628);
|
||||
void car_H_24(double *state, double *unused, double *out_5549681630173839642) {
|
||||
H_24(state, unused, out_5549681630173839642);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_8720849294696219296) {
|
||||
h_30(state, unused, out_8720849294696219296);
|
||||
void car_h_30(double *state, double *unused, double *out_8511282010659690294) {
|
||||
h_30(state, unused, out_8511282010659690294);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_5718709226731372821) {
|
||||
H_30(state, unused, out_5718709226731372821);
|
||||
void car_H_30(double *state, double *unused, double *out_5349331862715545011) {
|
||||
H_30(state, unused, out_5349331862715545011);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_4724221511352486675) {
|
||||
h_26(state, unused, out_4724221511352486675);
|
||||
void car_h_26(double *state, double *unused, double *out_5186767263433807506) {
|
||||
h_26(state, unused, out_5186767263433807506);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6504902237984924795) {
|
||||
H_26(state, unused, out_6504902237984924795);
|
||||
void car_H_26(double *state, double *unused, double *out_1737167490984728857) {
|
||||
H_26(state, unused, out_1737167490984728857);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_2893523921247530795) {
|
||||
h_27(state, unused, out_2893523921247530795);
|
||||
void car_h_27(double *state, double *unused, double *out_3402150099174707791) {
|
||||
h_27(state, unused, out_3402150099174707791);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_7942303297915316038) {
|
||||
H_27(state, unused, out_7942303297915316038);
|
||||
void car_H_27(double *state, double *unused, double *out_3174568550915120100) {
|
||||
H_27(state, unused, out_3174568550915120100);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_2618329858963024906) {
|
||||
h_29(state, unused, out_2618329858963024906);
|
||||
void car_h_29(double *state, double *unused, double *out_2753297096665952338) {
|
||||
h_29(state, unused, out_2753297096665952338);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_6228940571045765005) {
|
||||
H_29(state, unused, out_6228940571045765005);
|
||||
void car_H_29(double *state, double *unused, double *out_5859563207029937195) {
|
||||
H_29(state, unused, out_5859563207029937195);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_8550457448668955042) {
|
||||
h_28(state, unused, out_8550457448668955042);
|
||||
void car_h_28(double *state, double *unused, double *out_6022818472511333083) {
|
||||
h_28(state, unused, out_6022818472511333083);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_1146541553976234431) {
|
||||
H_28(state, unused, out_1146541553976234431);
|
||||
void car_H_28(double *state, double *unused, double *out_3621193193023961507) {
|
||||
H_28(state, unused, out_3621193193023961507);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7603820894445690215) {
|
||||
h_31(state, unused, out_7603820894445690215);
|
||||
void car_h_31(double *state, double *unused, double *out_8679017429120059325) {
|
||||
h_31(state, unused, out_8679017429120059325);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_8169692554973610169) {
|
||||
H_31(state, unused, out_8169692554973610169);
|
||||
void car_H_31(double *state, double *unused, double *out_5509316771735745509) {
|
||||
H_31(state, unused, out_5509316771735745509);
|
||||
}
|
||||
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_1014334527327209848);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3206419511188405682);
|
||||
void car_H_mod_fun(double *state, double *out_992849709061666640);
|
||||
void car_f_fun(double *state, double dt, double *out_7284810420003339157);
|
||||
void car_F_fun(double *state, double dt, double *out_8279640069865100833);
|
||||
void car_h_25(double *state, double *unused, double *out_8642135170742394965);
|
||||
void car_H_25(double *state, double *unused, double *out_8200338516850570597);
|
||||
void car_h_24(double *state, double *unused, double *out_9197263242363141624);
|
||||
void car_H_24(double *state, double *unused, double *out_1027726669218624628);
|
||||
void car_h_30(double *state, double *unused, double *out_8720849294696219296);
|
||||
void car_H_30(double *state, double *unused, double *out_5718709226731372821);
|
||||
void car_h_26(double *state, double *unused, double *out_4724221511352486675);
|
||||
void car_H_26(double *state, double *unused, double *out_6504902237984924795);
|
||||
void car_h_27(double *state, double *unused, double *out_2893523921247530795);
|
||||
void car_H_27(double *state, double *unused, double *out_7942303297915316038);
|
||||
void car_h_29(double *state, double *unused, double *out_2618329858963024906);
|
||||
void car_H_29(double *state, double *unused, double *out_6228940571045765005);
|
||||
void car_h_28(double *state, double *unused, double *out_8550457448668955042);
|
||||
void car_H_28(double *state, double *unused, double *out_1146541553976234431);
|
||||
void car_h_31(double *state, double *unused, double *out_7603820894445690215);
|
||||
void car_H_31(double *state, double *unused, double *out_8169692554973610169);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_2633990546043802948);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1648181344021920920);
|
||||
void car_H_mod_fun(double *state, double *out_6471050303960736584);
|
||||
void car_f_fun(double *state, double dt, double *out_3688269730868187383);
|
||||
void car_F_fun(double *state, double dt, double *out_9019266380936848145);
|
||||
void car_h_25(double *state, double *unused, double *out_797744778366010140);
|
||||
void car_H_25(double *state, double *unused, double *out_1567358478776071744);
|
||||
void car_h_24(double *state, double *unused, double *out_190155790201239850);
|
||||
void car_H_24(double *state, double *unused, double *out_5549681630173839642);
|
||||
void car_h_30(double *state, double *unused, double *out_8511282010659690294);
|
||||
void car_H_30(double *state, double *unused, double *out_5349331862715545011);
|
||||
void car_h_26(double *state, double *unused, double *out_5186767263433807506);
|
||||
void car_H_26(double *state, double *unused, double *out_1737167490984728857);
|
||||
void car_h_27(double *state, double *unused, double *out_3402150099174707791);
|
||||
void car_H_27(double *state, double *unused, double *out_3174568550915120100);
|
||||
void car_h_29(double *state, double *unused, double *out_2753297096665952338);
|
||||
void car_H_29(double *state, double *unused, double *out_5859563207029937195);
|
||||
void car_h_28(double *state, double *unused, double *out_6022818472511333083);
|
||||
void car_H_28(double *state, double *unused, double *out_3621193193023961507);
|
||||
void car_h_31(double *state, double *unused, double *out_8679017429120059325);
|
||||
void car_H_31(double *state, double *unused, double *out_5509316771735745509);
|
||||
void car_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);
|
||||
|
||||
Binary file not shown.
Binary file not shown.
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_5912021845748559900);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8843896357291937735);
|
||||
void pose_H_mod_fun(double *state, double *out_2688320196777535589);
|
||||
void pose_f_fun(double *state, double dt, double *out_650263676124789422);
|
||||
void pose_F_fun(double *state, double dt, double *out_7315646842237993430);
|
||||
void pose_h_4(double *state, double *unused, double *out_2905496685476842828);
|
||||
void pose_H_4(double *state, double *unused, double *out_5413221642194876961);
|
||||
void pose_h_10(double *state, double *unused, double *out_1191620274986758585);
|
||||
void pose_H_10(double *state, double *unused, double *out_1027777997724036985);
|
||||
void pose_h_13(double *state, double *unused, double *out_7783237198684558375);
|
||||
void pose_H_13(double *state, double *unused, double *out_2200947816862544160);
|
||||
void pose_h_14(double *state, double *unused, double *out_1027602586512413166);
|
||||
void pose_H_14(double *state, double *unused, double *out_1449980785855392432);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_2521549048397866319);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4368796387448451064);
|
||||
void pose_H_mod_fun(double *state, double *out_4711938499332200676);
|
||||
void pose_f_fun(double *state, double dt, double *out_3583623669529018238);
|
||||
void pose_F_fun(double *state, double dt, double *out_147281941884768427);
|
||||
void pose_h_4(double *state, double *unused, double *out_8338357592566013610);
|
||||
void pose_H_4(double *state, double *unused, double *out_940131289488293104);
|
||||
void pose_h_10(double *state, double *unused, double *out_8345234452777105931);
|
||||
void pose_H_10(double *state, double *unused, double *out_1248319787069001495);
|
||||
void pose_h_13(double *state, double *unused, double *out_1047798615184752827);
|
||||
void pose_H_13(double *state, double *unused, double *out_375529369806449000);
|
||||
void pose_h_14(double *state, double *unused, double *out_4235679239024063539);
|
||||
void pose_H_14(double *state, double *unused, double *out_4022919721783665400);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
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@@ -1,4 +1,4 @@
|
||||
#pragma once
|
||||
|
||||
extern const uint8_t gitversion[29];
|
||||
const uint8_t gitversion[29] = "DEV-46fdb2d8-Pf38f504f-DEBUG";
|
||||
const uint8_t gitversion[29] = "DEV-5114f466-Pf38f504f-DEBUG";
|
||||
|
||||
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@@ -1 +1 @@
|
||||
DEV-46fdb2d8-Pf38f504f-DEBUG
|
||||
DEV-5114f466-Pf38f504f-DEBUG
|
||||
+1
-1
@@ -1 +1 @@
|
||||
{"protected_inventory_sha256": "757c8498e732d366dd42351205a7c16d119d8c6e956816a5ae46ee6a786c6cb4", "schema_version": 1}
|
||||
{"protected_inventory_sha256": "f93faae2636d10177c5b2f99480fcc4f5709bbe74a90d44ca029e6e7526075b7", "schema_version": 1}
|
||||
|
||||
Reference in New Issue
Block a user