mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-06 00:36:25 +08:00
lies
This commit is contained in:
firestar5683
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#define COMMA_VERSION "0.10.3"
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#define COMMA_VERSION "0.11.2"
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extern const uint8_t gitversion[19];
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const uint8_t gitversion[19] = "DEV-d89371c5-DEBUG";
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const uint8_t gitversion[19] = "DEV-2175217e-DEBUG";
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@@ -1 +1 @@
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DEV-d89371c5-DEBUG
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DEV-2175217e-DEBUG
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@@ -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_3928386937016580969) {
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out_3928386937016580969[0] = delta_x[0] + nom_x[0];
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out_3928386937016580969[1] = delta_x[1] + nom_x[1];
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out_3928386937016580969[2] = delta_x[2] + nom_x[2];
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out_3928386937016580969[3] = delta_x[3] + nom_x[3];
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out_3928386937016580969[4] = delta_x[4] + nom_x[4];
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out_3928386937016580969[5] = delta_x[5] + nom_x[5];
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out_3928386937016580969[6] = delta_x[6] + nom_x[6];
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out_3928386937016580969[7] = delta_x[7] + nom_x[7];
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out_3928386937016580969[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_1506475022093702388) {
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out_1506475022093702388[0] = delta_x[0] + nom_x[0];
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out_1506475022093702388[1] = delta_x[1] + nom_x[1];
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out_1506475022093702388[2] = delta_x[2] + nom_x[2];
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out_1506475022093702388[3] = delta_x[3] + nom_x[3];
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out_1506475022093702388[4] = delta_x[4] + nom_x[4];
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out_1506475022093702388[5] = delta_x[5] + nom_x[5];
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out_1506475022093702388[6] = delta_x[6] + nom_x[6];
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out_1506475022093702388[7] = delta_x[7] + nom_x[7];
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out_1506475022093702388[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_5072261536488927858) {
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out_5072261536488927858[0] = -nom_x[0] + true_x[0];
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out_5072261536488927858[1] = -nom_x[1] + true_x[1];
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out_5072261536488927858[2] = -nom_x[2] + true_x[2];
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out_5072261536488927858[3] = -nom_x[3] + true_x[3];
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out_5072261536488927858[4] = -nom_x[4] + true_x[4];
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out_5072261536488927858[5] = -nom_x[5] + true_x[5];
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out_5072261536488927858[6] = -nom_x[6] + true_x[6];
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out_5072261536488927858[7] = -nom_x[7] + true_x[7];
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out_5072261536488927858[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_9143363731815594717) {
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out_9143363731815594717[0] = -nom_x[0] + true_x[0];
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out_9143363731815594717[1] = -nom_x[1] + true_x[1];
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out_9143363731815594717[2] = -nom_x[2] + true_x[2];
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out_9143363731815594717[3] = -nom_x[3] + true_x[3];
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out_9143363731815594717[4] = -nom_x[4] + true_x[4];
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out_9143363731815594717[5] = -nom_x[5] + true_x[5];
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||||
out_9143363731815594717[6] = -nom_x[6] + true_x[6];
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||||
out_9143363731815594717[7] = -nom_x[7] + true_x[7];
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||||
out_9143363731815594717[8] = -nom_x[8] + true_x[8];
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||||
}
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||||
void H_mod_fun(double *state, double *out_1805157416881491113) {
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||||
out_1805157416881491113[0] = 1.0;
|
||||
out_1805157416881491113[1] = 0.0;
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||||
out_1805157416881491113[2] = 0.0;
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out_1805157416881491113[3] = 0.0;
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out_1805157416881491113[4] = 0.0;
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out_1805157416881491113[5] = 0.0;
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||||
out_1805157416881491113[6] = 0.0;
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out_1805157416881491113[7] = 0.0;
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out_1805157416881491113[8] = 0.0;
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out_1805157416881491113[9] = 0.0;
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out_1805157416881491113[10] = 1.0;
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||||
out_1805157416881491113[11] = 0.0;
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||||
out_1805157416881491113[12] = 0.0;
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||||
out_1805157416881491113[13] = 0.0;
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||||
out_1805157416881491113[14] = 0.0;
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||||
out_1805157416881491113[15] = 0.0;
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out_1805157416881491113[16] = 0.0;
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out_1805157416881491113[17] = 0.0;
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out_1805157416881491113[18] = 0.0;
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out_1805157416881491113[19] = 0.0;
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out_1805157416881491113[20] = 1.0;
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||||
out_1805157416881491113[21] = 0.0;
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||||
out_1805157416881491113[22] = 0.0;
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||||
out_1805157416881491113[23] = 0.0;
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||||
out_1805157416881491113[24] = 0.0;
|
||||
out_1805157416881491113[25] = 0.0;
|
||||
out_1805157416881491113[26] = 0.0;
|
||||
out_1805157416881491113[27] = 0.0;
|
||||
out_1805157416881491113[28] = 0.0;
|
||||
out_1805157416881491113[29] = 0.0;
|
||||
out_1805157416881491113[30] = 1.0;
|
||||
out_1805157416881491113[31] = 0.0;
|
||||
out_1805157416881491113[32] = 0.0;
|
||||
out_1805157416881491113[33] = 0.0;
|
||||
out_1805157416881491113[34] = 0.0;
|
||||
out_1805157416881491113[35] = 0.0;
|
||||
out_1805157416881491113[36] = 0.0;
|
||||
out_1805157416881491113[37] = 0.0;
|
||||
out_1805157416881491113[38] = 0.0;
|
||||
out_1805157416881491113[39] = 0.0;
|
||||
out_1805157416881491113[40] = 1.0;
|
||||
out_1805157416881491113[41] = 0.0;
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||||
out_1805157416881491113[42] = 0.0;
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||||
out_1805157416881491113[43] = 0.0;
|
||||
out_1805157416881491113[44] = 0.0;
|
||||
out_1805157416881491113[45] = 0.0;
|
||||
out_1805157416881491113[46] = 0.0;
|
||||
out_1805157416881491113[47] = 0.0;
|
||||
out_1805157416881491113[48] = 0.0;
|
||||
out_1805157416881491113[49] = 0.0;
|
||||
out_1805157416881491113[50] = 1.0;
|
||||
out_1805157416881491113[51] = 0.0;
|
||||
out_1805157416881491113[52] = 0.0;
|
||||
out_1805157416881491113[53] = 0.0;
|
||||
out_1805157416881491113[54] = 0.0;
|
||||
out_1805157416881491113[55] = 0.0;
|
||||
out_1805157416881491113[56] = 0.0;
|
||||
out_1805157416881491113[57] = 0.0;
|
||||
out_1805157416881491113[58] = 0.0;
|
||||
out_1805157416881491113[59] = 0.0;
|
||||
out_1805157416881491113[60] = 1.0;
|
||||
out_1805157416881491113[61] = 0.0;
|
||||
out_1805157416881491113[62] = 0.0;
|
||||
out_1805157416881491113[63] = 0.0;
|
||||
out_1805157416881491113[64] = 0.0;
|
||||
out_1805157416881491113[65] = 0.0;
|
||||
out_1805157416881491113[66] = 0.0;
|
||||
out_1805157416881491113[67] = 0.0;
|
||||
out_1805157416881491113[68] = 0.0;
|
||||
out_1805157416881491113[69] = 0.0;
|
||||
out_1805157416881491113[70] = 1.0;
|
||||
out_1805157416881491113[71] = 0.0;
|
||||
out_1805157416881491113[72] = 0.0;
|
||||
out_1805157416881491113[73] = 0.0;
|
||||
out_1805157416881491113[74] = 0.0;
|
||||
out_1805157416881491113[75] = 0.0;
|
||||
out_1805157416881491113[76] = 0.0;
|
||||
out_1805157416881491113[77] = 0.0;
|
||||
out_1805157416881491113[78] = 0.0;
|
||||
out_1805157416881491113[79] = 0.0;
|
||||
out_1805157416881491113[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_9131407703981301731) {
|
||||
out_9131407703981301731[0] = 1.0;
|
||||
out_9131407703981301731[1] = 0.0;
|
||||
out_9131407703981301731[2] = 0.0;
|
||||
out_9131407703981301731[3] = 0.0;
|
||||
out_9131407703981301731[4] = 0.0;
|
||||
out_9131407703981301731[5] = 0.0;
|
||||
out_9131407703981301731[6] = 0.0;
|
||||
out_9131407703981301731[7] = 0.0;
|
||||
out_9131407703981301731[8] = 0.0;
|
||||
out_9131407703981301731[9] = 0.0;
|
||||
out_9131407703981301731[10] = 1.0;
|
||||
out_9131407703981301731[11] = 0.0;
|
||||
out_9131407703981301731[12] = 0.0;
|
||||
out_9131407703981301731[13] = 0.0;
|
||||
out_9131407703981301731[14] = 0.0;
|
||||
out_9131407703981301731[15] = 0.0;
|
||||
out_9131407703981301731[16] = 0.0;
|
||||
out_9131407703981301731[17] = 0.0;
|
||||
out_9131407703981301731[18] = 0.0;
|
||||
out_9131407703981301731[19] = 0.0;
|
||||
out_9131407703981301731[20] = 1.0;
|
||||
out_9131407703981301731[21] = 0.0;
|
||||
out_9131407703981301731[22] = 0.0;
|
||||
out_9131407703981301731[23] = 0.0;
|
||||
out_9131407703981301731[24] = 0.0;
|
||||
out_9131407703981301731[25] = 0.0;
|
||||
out_9131407703981301731[26] = 0.0;
|
||||
out_9131407703981301731[27] = 0.0;
|
||||
out_9131407703981301731[28] = 0.0;
|
||||
out_9131407703981301731[29] = 0.0;
|
||||
out_9131407703981301731[30] = 1.0;
|
||||
out_9131407703981301731[31] = 0.0;
|
||||
out_9131407703981301731[32] = 0.0;
|
||||
out_9131407703981301731[33] = 0.0;
|
||||
out_9131407703981301731[34] = 0.0;
|
||||
out_9131407703981301731[35] = 0.0;
|
||||
out_9131407703981301731[36] = 0.0;
|
||||
out_9131407703981301731[37] = 0.0;
|
||||
out_9131407703981301731[38] = 0.0;
|
||||
out_9131407703981301731[39] = 0.0;
|
||||
out_9131407703981301731[40] = 1.0;
|
||||
out_9131407703981301731[41] = 0.0;
|
||||
out_9131407703981301731[42] = 0.0;
|
||||
out_9131407703981301731[43] = 0.0;
|
||||
out_9131407703981301731[44] = 0.0;
|
||||
out_9131407703981301731[45] = 0.0;
|
||||
out_9131407703981301731[46] = 0.0;
|
||||
out_9131407703981301731[47] = 0.0;
|
||||
out_9131407703981301731[48] = 0.0;
|
||||
out_9131407703981301731[49] = 0.0;
|
||||
out_9131407703981301731[50] = 1.0;
|
||||
out_9131407703981301731[51] = 0.0;
|
||||
out_9131407703981301731[52] = 0.0;
|
||||
out_9131407703981301731[53] = 0.0;
|
||||
out_9131407703981301731[54] = 0.0;
|
||||
out_9131407703981301731[55] = 0.0;
|
||||
out_9131407703981301731[56] = 0.0;
|
||||
out_9131407703981301731[57] = 0.0;
|
||||
out_9131407703981301731[58] = 0.0;
|
||||
out_9131407703981301731[59] = 0.0;
|
||||
out_9131407703981301731[60] = 1.0;
|
||||
out_9131407703981301731[61] = 0.0;
|
||||
out_9131407703981301731[62] = 0.0;
|
||||
out_9131407703981301731[63] = 0.0;
|
||||
out_9131407703981301731[64] = 0.0;
|
||||
out_9131407703981301731[65] = 0.0;
|
||||
out_9131407703981301731[66] = 0.0;
|
||||
out_9131407703981301731[67] = 0.0;
|
||||
out_9131407703981301731[68] = 0.0;
|
||||
out_9131407703981301731[69] = 0.0;
|
||||
out_9131407703981301731[70] = 1.0;
|
||||
out_9131407703981301731[71] = 0.0;
|
||||
out_9131407703981301731[72] = 0.0;
|
||||
out_9131407703981301731[73] = 0.0;
|
||||
out_9131407703981301731[74] = 0.0;
|
||||
out_9131407703981301731[75] = 0.0;
|
||||
out_9131407703981301731[76] = 0.0;
|
||||
out_9131407703981301731[77] = 0.0;
|
||||
out_9131407703981301731[78] = 0.0;
|
||||
out_9131407703981301731[79] = 0.0;
|
||||
out_9131407703981301731[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_779920196187082914) {
|
||||
out_779920196187082914[0] = state[0];
|
||||
out_779920196187082914[1] = state[1];
|
||||
out_779920196187082914[2] = state[2];
|
||||
out_779920196187082914[3] = state[3];
|
||||
out_779920196187082914[4] = state[4];
|
||||
out_779920196187082914[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_779920196187082914[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_779920196187082914[7] = state[7];
|
||||
out_779920196187082914[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_384729614673600146) {
|
||||
out_384729614673600146[0] = state[0];
|
||||
out_384729614673600146[1] = state[1];
|
||||
out_384729614673600146[2] = state[2];
|
||||
out_384729614673600146[3] = state[3];
|
||||
out_384729614673600146[4] = state[4];
|
||||
out_384729614673600146[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_384729614673600146[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_384729614673600146[7] = state[7];
|
||||
out_384729614673600146[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_3629707451146971735) {
|
||||
out_3629707451146971735[0] = 1;
|
||||
out_3629707451146971735[1] = 0;
|
||||
out_3629707451146971735[2] = 0;
|
||||
out_3629707451146971735[3] = 0;
|
||||
out_3629707451146971735[4] = 0;
|
||||
out_3629707451146971735[5] = 0;
|
||||
out_3629707451146971735[6] = 0;
|
||||
out_3629707451146971735[7] = 0;
|
||||
out_3629707451146971735[8] = 0;
|
||||
out_3629707451146971735[9] = 0;
|
||||
out_3629707451146971735[10] = 1;
|
||||
out_3629707451146971735[11] = 0;
|
||||
out_3629707451146971735[12] = 0;
|
||||
out_3629707451146971735[13] = 0;
|
||||
out_3629707451146971735[14] = 0;
|
||||
out_3629707451146971735[15] = 0;
|
||||
out_3629707451146971735[16] = 0;
|
||||
out_3629707451146971735[17] = 0;
|
||||
out_3629707451146971735[18] = 0;
|
||||
out_3629707451146971735[19] = 0;
|
||||
out_3629707451146971735[20] = 1;
|
||||
out_3629707451146971735[21] = 0;
|
||||
out_3629707451146971735[22] = 0;
|
||||
out_3629707451146971735[23] = 0;
|
||||
out_3629707451146971735[24] = 0;
|
||||
out_3629707451146971735[25] = 0;
|
||||
out_3629707451146971735[26] = 0;
|
||||
out_3629707451146971735[27] = 0;
|
||||
out_3629707451146971735[28] = 0;
|
||||
out_3629707451146971735[29] = 0;
|
||||
out_3629707451146971735[30] = 1;
|
||||
out_3629707451146971735[31] = 0;
|
||||
out_3629707451146971735[32] = 0;
|
||||
out_3629707451146971735[33] = 0;
|
||||
out_3629707451146971735[34] = 0;
|
||||
out_3629707451146971735[35] = 0;
|
||||
out_3629707451146971735[36] = 0;
|
||||
out_3629707451146971735[37] = 0;
|
||||
out_3629707451146971735[38] = 0;
|
||||
out_3629707451146971735[39] = 0;
|
||||
out_3629707451146971735[40] = 1;
|
||||
out_3629707451146971735[41] = 0;
|
||||
out_3629707451146971735[42] = 0;
|
||||
out_3629707451146971735[43] = 0;
|
||||
out_3629707451146971735[44] = 0;
|
||||
out_3629707451146971735[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_3629707451146971735[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3629707451146971735[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3629707451146971735[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3629707451146971735[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_3629707451146971735[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3629707451146971735[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3629707451146971735[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3629707451146971735[53] = -9.8100000000000005*dt;
|
||||
out_3629707451146971735[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_3629707451146971735[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3629707451146971735[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3629707451146971735[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3629707451146971735[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_3629707451146971735[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3629707451146971735[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_3629707451146971735[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3629707451146971735[62] = 0;
|
||||
out_3629707451146971735[63] = 0;
|
||||
out_3629707451146971735[64] = 0;
|
||||
out_3629707451146971735[65] = 0;
|
||||
out_3629707451146971735[66] = 0;
|
||||
out_3629707451146971735[67] = 0;
|
||||
out_3629707451146971735[68] = 0;
|
||||
out_3629707451146971735[69] = 0;
|
||||
out_3629707451146971735[70] = 1;
|
||||
out_3629707451146971735[71] = 0;
|
||||
out_3629707451146971735[72] = 0;
|
||||
out_3629707451146971735[73] = 0;
|
||||
out_3629707451146971735[74] = 0;
|
||||
out_3629707451146971735[75] = 0;
|
||||
out_3629707451146971735[76] = 0;
|
||||
out_3629707451146971735[77] = 0;
|
||||
out_3629707451146971735[78] = 0;
|
||||
out_3629707451146971735[79] = 0;
|
||||
out_3629707451146971735[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_7440730494263305444) {
|
||||
out_7440730494263305444[0] = 1;
|
||||
out_7440730494263305444[1] = 0;
|
||||
out_7440730494263305444[2] = 0;
|
||||
out_7440730494263305444[3] = 0;
|
||||
out_7440730494263305444[4] = 0;
|
||||
out_7440730494263305444[5] = 0;
|
||||
out_7440730494263305444[6] = 0;
|
||||
out_7440730494263305444[7] = 0;
|
||||
out_7440730494263305444[8] = 0;
|
||||
out_7440730494263305444[9] = 0;
|
||||
out_7440730494263305444[10] = 1;
|
||||
out_7440730494263305444[11] = 0;
|
||||
out_7440730494263305444[12] = 0;
|
||||
out_7440730494263305444[13] = 0;
|
||||
out_7440730494263305444[14] = 0;
|
||||
out_7440730494263305444[15] = 0;
|
||||
out_7440730494263305444[16] = 0;
|
||||
out_7440730494263305444[17] = 0;
|
||||
out_7440730494263305444[18] = 0;
|
||||
out_7440730494263305444[19] = 0;
|
||||
out_7440730494263305444[20] = 1;
|
||||
out_7440730494263305444[21] = 0;
|
||||
out_7440730494263305444[22] = 0;
|
||||
out_7440730494263305444[23] = 0;
|
||||
out_7440730494263305444[24] = 0;
|
||||
out_7440730494263305444[25] = 0;
|
||||
out_7440730494263305444[26] = 0;
|
||||
out_7440730494263305444[27] = 0;
|
||||
out_7440730494263305444[28] = 0;
|
||||
out_7440730494263305444[29] = 0;
|
||||
out_7440730494263305444[30] = 1;
|
||||
out_7440730494263305444[31] = 0;
|
||||
out_7440730494263305444[32] = 0;
|
||||
out_7440730494263305444[33] = 0;
|
||||
out_7440730494263305444[34] = 0;
|
||||
out_7440730494263305444[35] = 0;
|
||||
out_7440730494263305444[36] = 0;
|
||||
out_7440730494263305444[37] = 0;
|
||||
out_7440730494263305444[38] = 0;
|
||||
out_7440730494263305444[39] = 0;
|
||||
out_7440730494263305444[40] = 1;
|
||||
out_7440730494263305444[41] = 0;
|
||||
out_7440730494263305444[42] = 0;
|
||||
out_7440730494263305444[43] = 0;
|
||||
out_7440730494263305444[44] = 0;
|
||||
out_7440730494263305444[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_7440730494263305444[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_7440730494263305444[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7440730494263305444[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7440730494263305444[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_7440730494263305444[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_7440730494263305444[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_7440730494263305444[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7440730494263305444[53] = -9.8100000000000005*dt;
|
||||
out_7440730494263305444[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_7440730494263305444[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_7440730494263305444[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7440730494263305444[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7440730494263305444[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_7440730494263305444[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_7440730494263305444[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_7440730494263305444[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7440730494263305444[62] = 0;
|
||||
out_7440730494263305444[63] = 0;
|
||||
out_7440730494263305444[64] = 0;
|
||||
out_7440730494263305444[65] = 0;
|
||||
out_7440730494263305444[66] = 0;
|
||||
out_7440730494263305444[67] = 0;
|
||||
out_7440730494263305444[68] = 0;
|
||||
out_7440730494263305444[69] = 0;
|
||||
out_7440730494263305444[70] = 1;
|
||||
out_7440730494263305444[71] = 0;
|
||||
out_7440730494263305444[72] = 0;
|
||||
out_7440730494263305444[73] = 0;
|
||||
out_7440730494263305444[74] = 0;
|
||||
out_7440730494263305444[75] = 0;
|
||||
out_7440730494263305444[76] = 0;
|
||||
out_7440730494263305444[77] = 0;
|
||||
out_7440730494263305444[78] = 0;
|
||||
out_7440730494263305444[79] = 0;
|
||||
out_7440730494263305444[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_3062657207957604668) {
|
||||
out_3062657207957604668[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_4252950562849966829) {
|
||||
out_4252950562849966829[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_6170957893956391582) {
|
||||
out_6170957893956391582[0] = 0;
|
||||
out_6170957893956391582[1] = 0;
|
||||
out_6170957893956391582[2] = 0;
|
||||
out_6170957893956391582[3] = 0;
|
||||
out_6170957893956391582[4] = 0;
|
||||
out_6170957893956391582[5] = 0;
|
||||
out_6170957893956391582[6] = 1;
|
||||
out_6170957893956391582[7] = 0;
|
||||
out_6170957893956391582[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_6221318096935853377) {
|
||||
out_6221318096935853377[0] = 0;
|
||||
out_6221318096935853377[1] = 0;
|
||||
out_6221318096935853377[2] = 0;
|
||||
out_6221318096935853377[3] = 0;
|
||||
out_6221318096935853377[4] = 0;
|
||||
out_6221318096935853377[5] = 0;
|
||||
out_6221318096935853377[6] = 1;
|
||||
out_6221318096935853377[7] = 0;
|
||||
out_6221318096935853377[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_4363661235373079824) {
|
||||
out_4363661235373079824[0] = state[4];
|
||||
out_4363661235373079824[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_3680087672280189791) {
|
||||
out_3680087672280189791[0] = state[4];
|
||||
out_3680087672280189791[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_6464400548730383069) {
|
||||
out_6464400548730383069[0] = 0;
|
||||
out_6464400548730383069[1] = 0;
|
||||
out_6464400548730383069[2] = 0;
|
||||
out_6464400548730383069[3] = 0;
|
||||
out_6464400548730383069[4] = 1;
|
||||
out_6464400548730383069[5] = 0;
|
||||
out_6464400548730383069[6] = 0;
|
||||
out_6464400548730383069[7] = 0;
|
||||
out_6464400548730383069[8] = 0;
|
||||
out_6464400548730383069[9] = 0;
|
||||
out_6464400548730383069[10] = 0;
|
||||
out_6464400548730383069[11] = 0;
|
||||
out_6464400548730383069[12] = 0;
|
||||
out_6464400548730383069[13] = 0;
|
||||
out_6464400548730383069[14] = 1;
|
||||
out_6464400548730383069[15] = 0;
|
||||
out_6464400548730383069[16] = 0;
|
||||
out_6464400548730383069[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_9166284664138259719) {
|
||||
out_9166284664138259719[0] = 0;
|
||||
out_9166284664138259719[1] = 0;
|
||||
out_9166284664138259719[2] = 0;
|
||||
out_9166284664138259719[3] = 0;
|
||||
out_9166284664138259719[4] = 1;
|
||||
out_9166284664138259719[5] = 0;
|
||||
out_9166284664138259719[6] = 0;
|
||||
out_9166284664138259719[7] = 0;
|
||||
out_9166284664138259719[8] = 0;
|
||||
out_9166284664138259719[9] = 0;
|
||||
out_9166284664138259719[10] = 0;
|
||||
out_9166284664138259719[11] = 0;
|
||||
out_9166284664138259719[12] = 0;
|
||||
out_9166284664138259719[13] = 0;
|
||||
out_9166284664138259719[14] = 1;
|
||||
out_9166284664138259719[15] = 0;
|
||||
out_9166284664138259719[16] = 0;
|
||||
out_9166284664138259719[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_8192537752896435152) {
|
||||
out_8192537752896435152[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_7996626645345091737) {
|
||||
out_7996626645345091737[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_5359095838261543279) {
|
||||
out_5359095838261543279[0] = 0;
|
||||
out_5359095838261543279[1] = 0;
|
||||
out_5359095838261543279[2] = 0;
|
||||
out_5359095838261543279[3] = 0;
|
||||
out_5359095838261543279[4] = 1;
|
||||
out_5359095838261543279[5] = 0;
|
||||
out_5359095838261543279[6] = 0;
|
||||
out_5359095838261543279[7] = 0;
|
||||
out_5359095838261543279[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_7697729646646090041) {
|
||||
out_7697729646646090041[0] = 0;
|
||||
out_7697729646646090041[1] = 0;
|
||||
out_7697729646646090041[2] = 0;
|
||||
out_7697729646646090041[3] = 0;
|
||||
out_7697729646646090041[4] = 1;
|
||||
out_7697729646646090041[5] = 0;
|
||||
out_7697729646646090041[6] = 0;
|
||||
out_7697729646646090041[7] = 0;
|
||||
out_7697729646646090041[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_1793496235482586006) {
|
||||
out_1793496235482586006[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_3034246647663798505) {
|
||||
out_3034246647663798505[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_8971260209992359433) {
|
||||
out_8971260209992359433[0] = 0;
|
||||
out_8971260209992359433[1] = 0;
|
||||
out_8971260209992359433[2] = 0;
|
||||
out_8971260209992359433[3] = 0;
|
||||
out_8971260209992359433[4] = 0;
|
||||
out_8971260209992359433[5] = 0;
|
||||
out_8971260209992359433[6] = 0;
|
||||
out_8971260209992359433[7] = 1;
|
||||
out_8971260209992359433[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_8483922657899642015) {
|
||||
out_8483922657899642015[0] = 0;
|
||||
out_8483922657899642015[1] = 0;
|
||||
out_8483922657899642015[2] = 0;
|
||||
out_8483922657899642015[3] = 0;
|
||||
out_8483922657899642015[4] = 0;
|
||||
out_8483922657899642015[5] = 0;
|
||||
out_8483922657899642015[6] = 0;
|
||||
out_8483922657899642015[7] = 1;
|
||||
out_8483922657899642015[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_8064330475618450313) {
|
||||
out_8064330475618450313[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_3649634678173489312) {
|
||||
out_3649634678173489312[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_7533859150061968190) {
|
||||
out_7533859150061968190[0] = 0;
|
||||
out_7533859150061968190[1] = 0;
|
||||
out_7533859150061968190[2] = 0;
|
||||
out_7533859150061968190[3] = 1;
|
||||
out_7533859150061968190[4] = 0;
|
||||
out_7533859150061968190[5] = 0;
|
||||
out_7533859150061968190[6] = 0;
|
||||
out_7533859150061968190[7] = 0;
|
||||
out_7533859150061968190[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_5522966334845665130) {
|
||||
out_5522966334845665130[0] = 0;
|
||||
out_5522966334845665130[1] = 0;
|
||||
out_5522966334845665130[2] = 0;
|
||||
out_5522966334845665130[3] = 1;
|
||||
out_5522966334845665130[4] = 0;
|
||||
out_5522966334845665130[5] = 0;
|
||||
out_5522966334845665130[6] = 0;
|
||||
out_5522966334845665130[7] = 0;
|
||||
out_5522966334845665130[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_6613699082989567146) {
|
||||
out_6613699082989567146[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_3374440615888983423) {
|
||||
out_3374440615888983423[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_4848864493947151095) {
|
||||
out_4848864493947151095[0] = 0;
|
||||
out_4848864493947151095[1] = 1;
|
||||
out_4848864493947151095[2] = 0;
|
||||
out_4848864493947151095[3] = 0;
|
||||
out_4848864493947151095[4] = 0;
|
||||
out_4848864493947151095[5] = 0;
|
||||
out_4848864493947151095[6] = 0;
|
||||
out_4848864493947151095[7] = 0;
|
||||
out_4848864493947151095[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_8207960990960482225) {
|
||||
out_8207960990960482225[0] = 0;
|
||||
out_8207960990960482225[1] = 1;
|
||||
out_8207960990960482225[2] = 0;
|
||||
out_8207960990960482225[3] = 0;
|
||||
out_8207960990960482225[4] = 0;
|
||||
out_8207960990960482225[5] = 0;
|
||||
out_8207960990960482225[6] = 0;
|
||||
out_8207960990960482225[7] = 0;
|
||||
out_8207960990960482225[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_7120820622716787878) {
|
||||
out_7120820622716787878[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_1352038589487356333) {
|
||||
out_1352038589487356333[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_4117123179708501819) {
|
||||
out_4117123179708501819[0] = 1;
|
||||
out_4117123179708501819[1] = 0;
|
||||
out_4117123179708501819[2] = 0;
|
||||
out_4117123179708501819[3] = 0;
|
||||
out_4117123179708501819[4] = 0;
|
||||
out_4117123179708501819[5] = 0;
|
||||
out_4117123179708501819[6] = 0;
|
||||
out_4117123179708501819[7] = 0;
|
||||
out_4117123179708501819[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_3125561973890951651) {
|
||||
out_3125561973890951651[0] = 1;
|
||||
out_3125561973890951651[1] = 0;
|
||||
out_3125561973890951651[2] = 0;
|
||||
out_3125561973890951651[3] = 0;
|
||||
out_3125561973890951651[4] = 0;
|
||||
out_3125561973890951651[5] = 0;
|
||||
out_3125561973890951651[6] = 0;
|
||||
out_3125561973890951651[7] = 0;
|
||||
out_3125561973890951651[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_574792320296417682) {
|
||||
out_574792320296417682[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_8114634039278468481) {
|
||||
out_8114634039278468481[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_5199110929241342781) {
|
||||
out_5199110929241342781[0] = 0;
|
||||
out_5199110929241342781[1] = 0;
|
||||
out_5199110929241342781[2] = 0;
|
||||
out_5199110929241342781[3] = 0;
|
||||
out_5199110929241342781[4] = 0;
|
||||
out_5199110929241342781[5] = 0;
|
||||
out_5199110929241342781[6] = 0;
|
||||
out_5199110929241342781[7] = 0;
|
||||
out_5199110929241342781[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_7857714555666290539) {
|
||||
out_7857714555666290539[0] = 0;
|
||||
out_7857714555666290539[1] = 0;
|
||||
out_7857714555666290539[2] = 0;
|
||||
out_7857714555666290539[3] = 0;
|
||||
out_7857714555666290539[4] = 0;
|
||||
out_7857714555666290539[5] = 0;
|
||||
out_7857714555666290539[6] = 0;
|
||||
out_7857714555666290539[7] = 0;
|
||||
out_7857714555666290539[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_3928386937016580969) {
|
||||
err_fun(nom_x, delta_x, out_3928386937016580969);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1506475022093702388) {
|
||||
err_fun(nom_x, delta_x, out_1506475022093702388);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5072261536488927858) {
|
||||
inv_err_fun(nom_x, true_x, out_5072261536488927858);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_9143363731815594717) {
|
||||
inv_err_fun(nom_x, true_x, out_9143363731815594717);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_1805157416881491113) {
|
||||
H_mod_fun(state, out_1805157416881491113);
|
||||
void car_H_mod_fun(double *state, double *out_9131407703981301731) {
|
||||
H_mod_fun(state, out_9131407703981301731);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_779920196187082914) {
|
||||
f_fun(state, dt, out_779920196187082914);
|
||||
void car_f_fun(double *state, double dt, double *out_384729614673600146) {
|
||||
f_fun(state, dt, out_384729614673600146);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_3629707451146971735) {
|
||||
F_fun(state, dt, out_3629707451146971735);
|
||||
void car_F_fun(double *state, double dt, double *out_7440730494263305444) {
|
||||
F_fun(state, dt, out_7440730494263305444);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_3062657207957604668) {
|
||||
h_25(state, unused, out_3062657207957604668);
|
||||
void car_h_25(double *state, double *unused, double *out_4252950562849966829) {
|
||||
h_25(state, unused, out_4252950562849966829);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_6170957893956391582) {
|
||||
H_25(state, unused, out_6170957893956391582);
|
||||
void car_H_25(double *state, double *unused, double *out_6221318096935853377) {
|
||||
H_25(state, unused, out_6221318096935853377);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_4363661235373079824) {
|
||||
h_24(state, unused, out_4363661235373079824);
|
||||
void car_h_24(double *state, double *unused, double *out_3680087672280189791) {
|
||||
h_24(state, unused, out_3680087672280189791);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_6464400548730383069) {
|
||||
H_24(state, unused, out_6464400548730383069);
|
||||
void car_H_24(double *state, double *unused, double *out_9166284664138259719) {
|
||||
H_24(state, unused, out_9166284664138259719);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_8192537752896435152) {
|
||||
h_30(state, unused, out_8192537752896435152);
|
||||
void car_h_30(double *state, double *unused, double *out_7996626645345091737) {
|
||||
h_30(state, unused, out_7996626645345091737);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_5359095838261543279) {
|
||||
H_30(state, unused, out_5359095838261543279);
|
||||
void car_H_30(double *state, double *unused, double *out_7697729646646090041) {
|
||||
H_30(state, unused, out_7697729646646090041);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_1793496235482586006) {
|
||||
h_26(state, unused, out_1793496235482586006);
|
||||
void car_h_26(double *state, double *unused, double *out_3034246647663798505) {
|
||||
h_26(state, unused, out_3034246647663798505);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_8971260209992359433) {
|
||||
H_26(state, unused, out_8971260209992359433);
|
||||
void car_H_26(double *state, double *unused, double *out_8483922657899642015) {
|
||||
H_26(state, unused, out_8483922657899642015);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_8064330475618450313) {
|
||||
h_27(state, unused, out_8064330475618450313);
|
||||
void car_h_27(double *state, double *unused, double *out_3649634678173489312) {
|
||||
h_27(state, unused, out_3649634678173489312);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_7533859150061968190) {
|
||||
H_27(state, unused, out_7533859150061968190);
|
||||
void car_H_27(double *state, double *unused, double *out_5522966334845665130) {
|
||||
H_27(state, unused, out_5522966334845665130);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_6613699082989567146) {
|
||||
h_29(state, unused, out_6613699082989567146);
|
||||
void car_h_29(double *state, double *unused, double *out_3374440615888983423) {
|
||||
h_29(state, unused, out_3374440615888983423);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_4848864493947151095) {
|
||||
H_29(state, unused, out_4848864493947151095);
|
||||
void car_H_29(double *state, double *unused, double *out_8207960990960482225) {
|
||||
H_29(state, unused, out_8207960990960482225);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_7120820622716787878) {
|
||||
h_28(state, unused, out_7120820622716787878);
|
||||
void car_h_28(double *state, double *unused, double *out_1352038589487356333) {
|
||||
h_28(state, unused, out_1352038589487356333);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_4117123179708501819) {
|
||||
H_28(state, unused, out_4117123179708501819);
|
||||
void car_H_28(double *state, double *unused, double *out_3125561973890951651) {
|
||||
H_28(state, unused, out_3125561973890951651);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_574792320296417682) {
|
||||
h_31(state, unused, out_574792320296417682);
|
||||
void car_h_31(double *state, double *unused, double *out_8114634039278468481) {
|
||||
h_31(state, unused, out_8114634039278468481);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_5199110929241342781) {
|
||||
H_31(state, unused, out_5199110929241342781);
|
||||
void car_H_31(double *state, double *unused, double *out_7857714555666290539) {
|
||||
H_31(state, unused, out_7857714555666290539);
|
||||
}
|
||||
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_3928386937016580969);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5072261536488927858);
|
||||
void car_H_mod_fun(double *state, double *out_1805157416881491113);
|
||||
void car_f_fun(double *state, double dt, double *out_779920196187082914);
|
||||
void car_F_fun(double *state, double dt, double *out_3629707451146971735);
|
||||
void car_h_25(double *state, double *unused, double *out_3062657207957604668);
|
||||
void car_H_25(double *state, double *unused, double *out_6170957893956391582);
|
||||
void car_h_24(double *state, double *unused, double *out_4363661235373079824);
|
||||
void car_H_24(double *state, double *unused, double *out_6464400548730383069);
|
||||
void car_h_30(double *state, double *unused, double *out_8192537752896435152);
|
||||
void car_H_30(double *state, double *unused, double *out_5359095838261543279);
|
||||
void car_h_26(double *state, double *unused, double *out_1793496235482586006);
|
||||
void car_H_26(double *state, double *unused, double *out_8971260209992359433);
|
||||
void car_h_27(double *state, double *unused, double *out_8064330475618450313);
|
||||
void car_H_27(double *state, double *unused, double *out_7533859150061968190);
|
||||
void car_h_29(double *state, double *unused, double *out_6613699082989567146);
|
||||
void car_H_29(double *state, double *unused, double *out_4848864493947151095);
|
||||
void car_h_28(double *state, double *unused, double *out_7120820622716787878);
|
||||
void car_H_28(double *state, double *unused, double *out_4117123179708501819);
|
||||
void car_h_31(double *state, double *unused, double *out_574792320296417682);
|
||||
void car_H_31(double *state, double *unused, double *out_5199110929241342781);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1506475022093702388);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_9143363731815594717);
|
||||
void car_H_mod_fun(double *state, double *out_9131407703981301731);
|
||||
void car_f_fun(double *state, double dt, double *out_384729614673600146);
|
||||
void car_F_fun(double *state, double dt, double *out_7440730494263305444);
|
||||
void car_h_25(double *state, double *unused, double *out_4252950562849966829);
|
||||
void car_H_25(double *state, double *unused, double *out_6221318096935853377);
|
||||
void car_h_24(double *state, double *unused, double *out_3680087672280189791);
|
||||
void car_H_24(double *state, double *unused, double *out_9166284664138259719);
|
||||
void car_h_30(double *state, double *unused, double *out_7996626645345091737);
|
||||
void car_H_30(double *state, double *unused, double *out_7697729646646090041);
|
||||
void car_h_26(double *state, double *unused, double *out_3034246647663798505);
|
||||
void car_H_26(double *state, double *unused, double *out_8483922657899642015);
|
||||
void car_h_27(double *state, double *unused, double *out_3649634678173489312);
|
||||
void car_H_27(double *state, double *unused, double *out_5522966334845665130);
|
||||
void car_h_29(double *state, double *unused, double *out_3374440615888983423);
|
||||
void car_H_29(double *state, double *unused, double *out_8207960990960482225);
|
||||
void car_h_28(double *state, double *unused, double *out_1352038589487356333);
|
||||
void car_H_28(double *state, double *unused, double *out_3125561973890951651);
|
||||
void car_h_31(double *state, double *unused, double *out_8114634039278468481);
|
||||
void car_H_31(double *state, double *unused, double *out_7857714555666290539);
|
||||
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_9137514370372247790);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3476070474607186610);
|
||||
void pose_H_mod_fun(double *state, double *out_2374218852650606410);
|
||||
void pose_f_fun(double *state, double dt, double *out_4392889107205501252);
|
||||
void pose_F_fun(double *state, double dt, double *out_5161498735714983758);
|
||||
void pose_h_4(double *state, double *unused, double *out_6700070712992729001);
|
||||
void pose_H_4(double *state, double *unused, double *out_554520126744309549);
|
||||
void pose_h_10(double *state, double *unused, double *out_326755883218172788);
|
||||
void pose_H_10(double *state, double *unused, double *out_3618077715207225770);
|
||||
void pose_h_13(double *state, double *unused, double *out_8852328989829848020);
|
||||
void pose_H_13(double *state, double *unused, double *out_3279235336558214475);
|
||||
void pose_h_14(double *state, double *unused, double *out_2099262646432106248);
|
||||
void pose_H_14(double *state, double *unused, double *out_2528268305551062747);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_5763415234273933913);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1417325942549329712);
|
||||
void pose_H_mod_fun(double *state, double *out_7849761791714406524);
|
||||
void pose_f_fun(double *state, double dt, double *out_4127372900134371769);
|
||||
void pose_F_fun(double *state, double dt, double *out_6790734299023463428);
|
||||
void pose_h_4(double *state, double *unused, double *out_7856717095735989173);
|
||||
void pose_H_4(double *state, double *unused, double *out_6651814309831508420);
|
||||
void pose_h_10(double *state, double *unused, double *out_7802819887885526758);
|
||||
void pose_H_10(double *state, double *unused, double *out_2391217134998665876);
|
||||
void pose_h_13(double *state, double *unused, double *out_7948582274063627909);
|
||||
void pose_H_13(double *state, double *unused, double *out_3439540484499175619);
|
||||
void pose_h_14(double *state, double *unused, double *out_223099352326779878);
|
||||
void pose_H_14(double *state, double *unused, double *out_8712141331582670900);
|
||||
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