mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-13 21:32:14 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
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||||
extern const uint8_t gitversion[19];
|
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const uint8_t gitversion[19] = "DEV-5d86b7ac-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-fabf1226-DEBUG";
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||||
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@@ -1 +1 @@
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DEV-5d86b7ac-DEBUG
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DEV-fabf1226-DEBUG
|
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_1626624007171975298) {
|
||||
out_1626624007171975298[0] = delta_x[0] + nom_x[0];
|
||||
out_1626624007171975298[1] = delta_x[1] + nom_x[1];
|
||||
out_1626624007171975298[2] = delta_x[2] + nom_x[2];
|
||||
out_1626624007171975298[3] = delta_x[3] + nom_x[3];
|
||||
out_1626624007171975298[4] = delta_x[4] + nom_x[4];
|
||||
out_1626624007171975298[5] = delta_x[5] + nom_x[5];
|
||||
out_1626624007171975298[6] = delta_x[6] + nom_x[6];
|
||||
out_1626624007171975298[7] = delta_x[7] + nom_x[7];
|
||||
out_1626624007171975298[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_4189395199092511703) {
|
||||
out_4189395199092511703[0] = delta_x[0] + nom_x[0];
|
||||
out_4189395199092511703[1] = delta_x[1] + nom_x[1];
|
||||
out_4189395199092511703[2] = delta_x[2] + nom_x[2];
|
||||
out_4189395199092511703[3] = delta_x[3] + nom_x[3];
|
||||
out_4189395199092511703[4] = delta_x[4] + nom_x[4];
|
||||
out_4189395199092511703[5] = delta_x[5] + nom_x[5];
|
||||
out_4189395199092511703[6] = delta_x[6] + nom_x[6];
|
||||
out_4189395199092511703[7] = delta_x[7] + nom_x[7];
|
||||
out_4189395199092511703[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3841721694315715550) {
|
||||
out_3841721694315715550[0] = -nom_x[0] + true_x[0];
|
||||
out_3841721694315715550[1] = -nom_x[1] + true_x[1];
|
||||
out_3841721694315715550[2] = -nom_x[2] + true_x[2];
|
||||
out_3841721694315715550[3] = -nom_x[3] + true_x[3];
|
||||
out_3841721694315715550[4] = -nom_x[4] + true_x[4];
|
||||
out_3841721694315715550[5] = -nom_x[5] + true_x[5];
|
||||
out_3841721694315715550[6] = -nom_x[6] + true_x[6];
|
||||
out_3841721694315715550[7] = -nom_x[7] + true_x[7];
|
||||
out_3841721694315715550[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_5755129993245429730) {
|
||||
out_5755129993245429730[0] = -nom_x[0] + true_x[0];
|
||||
out_5755129993245429730[1] = -nom_x[1] + true_x[1];
|
||||
out_5755129993245429730[2] = -nom_x[2] + true_x[2];
|
||||
out_5755129993245429730[3] = -nom_x[3] + true_x[3];
|
||||
out_5755129993245429730[4] = -nom_x[4] + true_x[4];
|
||||
out_5755129993245429730[5] = -nom_x[5] + true_x[5];
|
||||
out_5755129993245429730[6] = -nom_x[6] + true_x[6];
|
||||
out_5755129993245429730[7] = -nom_x[7] + true_x[7];
|
||||
out_5755129993245429730[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_7646044064038577504) {
|
||||
out_7646044064038577504[0] = 1.0;
|
||||
out_7646044064038577504[1] = 0.0;
|
||||
out_7646044064038577504[2] = 0.0;
|
||||
out_7646044064038577504[3] = 0.0;
|
||||
out_7646044064038577504[4] = 0.0;
|
||||
out_7646044064038577504[5] = 0.0;
|
||||
out_7646044064038577504[6] = 0.0;
|
||||
out_7646044064038577504[7] = 0.0;
|
||||
out_7646044064038577504[8] = 0.0;
|
||||
out_7646044064038577504[9] = 0.0;
|
||||
out_7646044064038577504[10] = 1.0;
|
||||
out_7646044064038577504[11] = 0.0;
|
||||
out_7646044064038577504[12] = 0.0;
|
||||
out_7646044064038577504[13] = 0.0;
|
||||
out_7646044064038577504[14] = 0.0;
|
||||
out_7646044064038577504[15] = 0.0;
|
||||
out_7646044064038577504[16] = 0.0;
|
||||
out_7646044064038577504[17] = 0.0;
|
||||
out_7646044064038577504[18] = 0.0;
|
||||
out_7646044064038577504[19] = 0.0;
|
||||
out_7646044064038577504[20] = 1.0;
|
||||
out_7646044064038577504[21] = 0.0;
|
||||
out_7646044064038577504[22] = 0.0;
|
||||
out_7646044064038577504[23] = 0.0;
|
||||
out_7646044064038577504[24] = 0.0;
|
||||
out_7646044064038577504[25] = 0.0;
|
||||
out_7646044064038577504[26] = 0.0;
|
||||
out_7646044064038577504[27] = 0.0;
|
||||
out_7646044064038577504[28] = 0.0;
|
||||
out_7646044064038577504[29] = 0.0;
|
||||
out_7646044064038577504[30] = 1.0;
|
||||
out_7646044064038577504[31] = 0.0;
|
||||
out_7646044064038577504[32] = 0.0;
|
||||
out_7646044064038577504[33] = 0.0;
|
||||
out_7646044064038577504[34] = 0.0;
|
||||
out_7646044064038577504[35] = 0.0;
|
||||
out_7646044064038577504[36] = 0.0;
|
||||
out_7646044064038577504[37] = 0.0;
|
||||
out_7646044064038577504[38] = 0.0;
|
||||
out_7646044064038577504[39] = 0.0;
|
||||
out_7646044064038577504[40] = 1.0;
|
||||
out_7646044064038577504[41] = 0.0;
|
||||
out_7646044064038577504[42] = 0.0;
|
||||
out_7646044064038577504[43] = 0.0;
|
||||
out_7646044064038577504[44] = 0.0;
|
||||
out_7646044064038577504[45] = 0.0;
|
||||
out_7646044064038577504[46] = 0.0;
|
||||
out_7646044064038577504[47] = 0.0;
|
||||
out_7646044064038577504[48] = 0.0;
|
||||
out_7646044064038577504[49] = 0.0;
|
||||
out_7646044064038577504[50] = 1.0;
|
||||
out_7646044064038577504[51] = 0.0;
|
||||
out_7646044064038577504[52] = 0.0;
|
||||
out_7646044064038577504[53] = 0.0;
|
||||
out_7646044064038577504[54] = 0.0;
|
||||
out_7646044064038577504[55] = 0.0;
|
||||
out_7646044064038577504[56] = 0.0;
|
||||
out_7646044064038577504[57] = 0.0;
|
||||
out_7646044064038577504[58] = 0.0;
|
||||
out_7646044064038577504[59] = 0.0;
|
||||
out_7646044064038577504[60] = 1.0;
|
||||
out_7646044064038577504[61] = 0.0;
|
||||
out_7646044064038577504[62] = 0.0;
|
||||
out_7646044064038577504[63] = 0.0;
|
||||
out_7646044064038577504[64] = 0.0;
|
||||
out_7646044064038577504[65] = 0.0;
|
||||
out_7646044064038577504[66] = 0.0;
|
||||
out_7646044064038577504[67] = 0.0;
|
||||
out_7646044064038577504[68] = 0.0;
|
||||
out_7646044064038577504[69] = 0.0;
|
||||
out_7646044064038577504[70] = 1.0;
|
||||
out_7646044064038577504[71] = 0.0;
|
||||
out_7646044064038577504[72] = 0.0;
|
||||
out_7646044064038577504[73] = 0.0;
|
||||
out_7646044064038577504[74] = 0.0;
|
||||
out_7646044064038577504[75] = 0.0;
|
||||
out_7646044064038577504[76] = 0.0;
|
||||
out_7646044064038577504[77] = 0.0;
|
||||
out_7646044064038577504[78] = 0.0;
|
||||
out_7646044064038577504[79] = 0.0;
|
||||
out_7646044064038577504[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_3130611196753066809) {
|
||||
out_3130611196753066809[0] = 1.0;
|
||||
out_3130611196753066809[1] = 0.0;
|
||||
out_3130611196753066809[2] = 0.0;
|
||||
out_3130611196753066809[3] = 0.0;
|
||||
out_3130611196753066809[4] = 0.0;
|
||||
out_3130611196753066809[5] = 0.0;
|
||||
out_3130611196753066809[6] = 0.0;
|
||||
out_3130611196753066809[7] = 0.0;
|
||||
out_3130611196753066809[8] = 0.0;
|
||||
out_3130611196753066809[9] = 0.0;
|
||||
out_3130611196753066809[10] = 1.0;
|
||||
out_3130611196753066809[11] = 0.0;
|
||||
out_3130611196753066809[12] = 0.0;
|
||||
out_3130611196753066809[13] = 0.0;
|
||||
out_3130611196753066809[14] = 0.0;
|
||||
out_3130611196753066809[15] = 0.0;
|
||||
out_3130611196753066809[16] = 0.0;
|
||||
out_3130611196753066809[17] = 0.0;
|
||||
out_3130611196753066809[18] = 0.0;
|
||||
out_3130611196753066809[19] = 0.0;
|
||||
out_3130611196753066809[20] = 1.0;
|
||||
out_3130611196753066809[21] = 0.0;
|
||||
out_3130611196753066809[22] = 0.0;
|
||||
out_3130611196753066809[23] = 0.0;
|
||||
out_3130611196753066809[24] = 0.0;
|
||||
out_3130611196753066809[25] = 0.0;
|
||||
out_3130611196753066809[26] = 0.0;
|
||||
out_3130611196753066809[27] = 0.0;
|
||||
out_3130611196753066809[28] = 0.0;
|
||||
out_3130611196753066809[29] = 0.0;
|
||||
out_3130611196753066809[30] = 1.0;
|
||||
out_3130611196753066809[31] = 0.0;
|
||||
out_3130611196753066809[32] = 0.0;
|
||||
out_3130611196753066809[33] = 0.0;
|
||||
out_3130611196753066809[34] = 0.0;
|
||||
out_3130611196753066809[35] = 0.0;
|
||||
out_3130611196753066809[36] = 0.0;
|
||||
out_3130611196753066809[37] = 0.0;
|
||||
out_3130611196753066809[38] = 0.0;
|
||||
out_3130611196753066809[39] = 0.0;
|
||||
out_3130611196753066809[40] = 1.0;
|
||||
out_3130611196753066809[41] = 0.0;
|
||||
out_3130611196753066809[42] = 0.0;
|
||||
out_3130611196753066809[43] = 0.0;
|
||||
out_3130611196753066809[44] = 0.0;
|
||||
out_3130611196753066809[45] = 0.0;
|
||||
out_3130611196753066809[46] = 0.0;
|
||||
out_3130611196753066809[47] = 0.0;
|
||||
out_3130611196753066809[48] = 0.0;
|
||||
out_3130611196753066809[49] = 0.0;
|
||||
out_3130611196753066809[50] = 1.0;
|
||||
out_3130611196753066809[51] = 0.0;
|
||||
out_3130611196753066809[52] = 0.0;
|
||||
out_3130611196753066809[53] = 0.0;
|
||||
out_3130611196753066809[54] = 0.0;
|
||||
out_3130611196753066809[55] = 0.0;
|
||||
out_3130611196753066809[56] = 0.0;
|
||||
out_3130611196753066809[57] = 0.0;
|
||||
out_3130611196753066809[58] = 0.0;
|
||||
out_3130611196753066809[59] = 0.0;
|
||||
out_3130611196753066809[60] = 1.0;
|
||||
out_3130611196753066809[61] = 0.0;
|
||||
out_3130611196753066809[62] = 0.0;
|
||||
out_3130611196753066809[63] = 0.0;
|
||||
out_3130611196753066809[64] = 0.0;
|
||||
out_3130611196753066809[65] = 0.0;
|
||||
out_3130611196753066809[66] = 0.0;
|
||||
out_3130611196753066809[67] = 0.0;
|
||||
out_3130611196753066809[68] = 0.0;
|
||||
out_3130611196753066809[69] = 0.0;
|
||||
out_3130611196753066809[70] = 1.0;
|
||||
out_3130611196753066809[71] = 0.0;
|
||||
out_3130611196753066809[72] = 0.0;
|
||||
out_3130611196753066809[73] = 0.0;
|
||||
out_3130611196753066809[74] = 0.0;
|
||||
out_3130611196753066809[75] = 0.0;
|
||||
out_3130611196753066809[76] = 0.0;
|
||||
out_3130611196753066809[77] = 0.0;
|
||||
out_3130611196753066809[78] = 0.0;
|
||||
out_3130611196753066809[79] = 0.0;
|
||||
out_3130611196753066809[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_3692802059814366209) {
|
||||
out_3692802059814366209[0] = state[0];
|
||||
out_3692802059814366209[1] = state[1];
|
||||
out_3692802059814366209[2] = state[2];
|
||||
out_3692802059814366209[3] = state[3];
|
||||
out_3692802059814366209[4] = state[4];
|
||||
out_3692802059814366209[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_3692802059814366209[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_3692802059814366209[7] = state[7];
|
||||
out_3692802059814366209[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_5961640813003379683) {
|
||||
out_5961640813003379683[0] = state[0];
|
||||
out_5961640813003379683[1] = state[1];
|
||||
out_5961640813003379683[2] = state[2];
|
||||
out_5961640813003379683[3] = state[3];
|
||||
out_5961640813003379683[4] = state[4];
|
||||
out_5961640813003379683[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_5961640813003379683[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_5961640813003379683[7] = state[7];
|
||||
out_5961640813003379683[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_6278869713612932388) {
|
||||
out_6278869713612932388[0] = 1;
|
||||
out_6278869713612932388[1] = 0;
|
||||
out_6278869713612932388[2] = 0;
|
||||
out_6278869713612932388[3] = 0;
|
||||
out_6278869713612932388[4] = 0;
|
||||
out_6278869713612932388[5] = 0;
|
||||
out_6278869713612932388[6] = 0;
|
||||
out_6278869713612932388[7] = 0;
|
||||
out_6278869713612932388[8] = 0;
|
||||
out_6278869713612932388[9] = 0;
|
||||
out_6278869713612932388[10] = 1;
|
||||
out_6278869713612932388[11] = 0;
|
||||
out_6278869713612932388[12] = 0;
|
||||
out_6278869713612932388[13] = 0;
|
||||
out_6278869713612932388[14] = 0;
|
||||
out_6278869713612932388[15] = 0;
|
||||
out_6278869713612932388[16] = 0;
|
||||
out_6278869713612932388[17] = 0;
|
||||
out_6278869713612932388[18] = 0;
|
||||
out_6278869713612932388[19] = 0;
|
||||
out_6278869713612932388[20] = 1;
|
||||
out_6278869713612932388[21] = 0;
|
||||
out_6278869713612932388[22] = 0;
|
||||
out_6278869713612932388[23] = 0;
|
||||
out_6278869713612932388[24] = 0;
|
||||
out_6278869713612932388[25] = 0;
|
||||
out_6278869713612932388[26] = 0;
|
||||
out_6278869713612932388[27] = 0;
|
||||
out_6278869713612932388[28] = 0;
|
||||
out_6278869713612932388[29] = 0;
|
||||
out_6278869713612932388[30] = 1;
|
||||
out_6278869713612932388[31] = 0;
|
||||
out_6278869713612932388[32] = 0;
|
||||
out_6278869713612932388[33] = 0;
|
||||
out_6278869713612932388[34] = 0;
|
||||
out_6278869713612932388[35] = 0;
|
||||
out_6278869713612932388[36] = 0;
|
||||
out_6278869713612932388[37] = 0;
|
||||
out_6278869713612932388[38] = 0;
|
||||
out_6278869713612932388[39] = 0;
|
||||
out_6278869713612932388[40] = 1;
|
||||
out_6278869713612932388[41] = 0;
|
||||
out_6278869713612932388[42] = 0;
|
||||
out_6278869713612932388[43] = 0;
|
||||
out_6278869713612932388[44] = 0;
|
||||
out_6278869713612932388[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_6278869713612932388[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6278869713612932388[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6278869713612932388[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6278869713612932388[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_6278869713612932388[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6278869713612932388[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6278869713612932388[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6278869713612932388[53] = -9.8100000000000005*dt;
|
||||
out_6278869713612932388[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_6278869713612932388[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6278869713612932388[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6278869713612932388[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6278869713612932388[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_6278869713612932388[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6278869713612932388[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_6278869713612932388[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6278869713612932388[62] = 0;
|
||||
out_6278869713612932388[63] = 0;
|
||||
out_6278869713612932388[64] = 0;
|
||||
out_6278869713612932388[65] = 0;
|
||||
out_6278869713612932388[66] = 0;
|
||||
out_6278869713612932388[67] = 0;
|
||||
out_6278869713612932388[68] = 0;
|
||||
out_6278869713612932388[69] = 0;
|
||||
out_6278869713612932388[70] = 1;
|
||||
out_6278869713612932388[71] = 0;
|
||||
out_6278869713612932388[72] = 0;
|
||||
out_6278869713612932388[73] = 0;
|
||||
out_6278869713612932388[74] = 0;
|
||||
out_6278869713612932388[75] = 0;
|
||||
out_6278869713612932388[76] = 0;
|
||||
out_6278869713612932388[77] = 0;
|
||||
out_6278869713612932388[78] = 0;
|
||||
out_6278869713612932388[79] = 0;
|
||||
out_6278869713612932388[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_2654082016279909676) {
|
||||
out_2654082016279909676[0] = 1;
|
||||
out_2654082016279909676[1] = 0;
|
||||
out_2654082016279909676[2] = 0;
|
||||
out_2654082016279909676[3] = 0;
|
||||
out_2654082016279909676[4] = 0;
|
||||
out_2654082016279909676[5] = 0;
|
||||
out_2654082016279909676[6] = 0;
|
||||
out_2654082016279909676[7] = 0;
|
||||
out_2654082016279909676[8] = 0;
|
||||
out_2654082016279909676[9] = 0;
|
||||
out_2654082016279909676[10] = 1;
|
||||
out_2654082016279909676[11] = 0;
|
||||
out_2654082016279909676[12] = 0;
|
||||
out_2654082016279909676[13] = 0;
|
||||
out_2654082016279909676[14] = 0;
|
||||
out_2654082016279909676[15] = 0;
|
||||
out_2654082016279909676[16] = 0;
|
||||
out_2654082016279909676[17] = 0;
|
||||
out_2654082016279909676[18] = 0;
|
||||
out_2654082016279909676[19] = 0;
|
||||
out_2654082016279909676[20] = 1;
|
||||
out_2654082016279909676[21] = 0;
|
||||
out_2654082016279909676[22] = 0;
|
||||
out_2654082016279909676[23] = 0;
|
||||
out_2654082016279909676[24] = 0;
|
||||
out_2654082016279909676[25] = 0;
|
||||
out_2654082016279909676[26] = 0;
|
||||
out_2654082016279909676[27] = 0;
|
||||
out_2654082016279909676[28] = 0;
|
||||
out_2654082016279909676[29] = 0;
|
||||
out_2654082016279909676[30] = 1;
|
||||
out_2654082016279909676[31] = 0;
|
||||
out_2654082016279909676[32] = 0;
|
||||
out_2654082016279909676[33] = 0;
|
||||
out_2654082016279909676[34] = 0;
|
||||
out_2654082016279909676[35] = 0;
|
||||
out_2654082016279909676[36] = 0;
|
||||
out_2654082016279909676[37] = 0;
|
||||
out_2654082016279909676[38] = 0;
|
||||
out_2654082016279909676[39] = 0;
|
||||
out_2654082016279909676[40] = 1;
|
||||
out_2654082016279909676[41] = 0;
|
||||
out_2654082016279909676[42] = 0;
|
||||
out_2654082016279909676[43] = 0;
|
||||
out_2654082016279909676[44] = 0;
|
||||
out_2654082016279909676[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_2654082016279909676[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2654082016279909676[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2654082016279909676[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2654082016279909676[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_2654082016279909676[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2654082016279909676[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2654082016279909676[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2654082016279909676[53] = -9.8100000000000005*dt;
|
||||
out_2654082016279909676[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_2654082016279909676[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2654082016279909676[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2654082016279909676[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2654082016279909676[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_2654082016279909676[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2654082016279909676[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_2654082016279909676[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2654082016279909676[62] = 0;
|
||||
out_2654082016279909676[63] = 0;
|
||||
out_2654082016279909676[64] = 0;
|
||||
out_2654082016279909676[65] = 0;
|
||||
out_2654082016279909676[66] = 0;
|
||||
out_2654082016279909676[67] = 0;
|
||||
out_2654082016279909676[68] = 0;
|
||||
out_2654082016279909676[69] = 0;
|
||||
out_2654082016279909676[70] = 1;
|
||||
out_2654082016279909676[71] = 0;
|
||||
out_2654082016279909676[72] = 0;
|
||||
out_2654082016279909676[73] = 0;
|
||||
out_2654082016279909676[74] = 0;
|
||||
out_2654082016279909676[75] = 0;
|
||||
out_2654082016279909676[76] = 0;
|
||||
out_2654082016279909676[77] = 0;
|
||||
out_2654082016279909676[78] = 0;
|
||||
out_2654082016279909676[79] = 0;
|
||||
out_2654082016279909676[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_1903293770744417105) {
|
||||
out_1903293770744417105[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_3340180793096633183) {
|
||||
out_3340180793096633183[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_1607511783758736875) {
|
||||
out_1607511783758736875[0] = 0;
|
||||
out_1607511783758736875[1] = 0;
|
||||
out_1607511783758736875[2] = 0;
|
||||
out_1607511783758736875[3] = 0;
|
||||
out_1607511783758736875[4] = 0;
|
||||
out_1607511783758736875[5] = 0;
|
||||
out_1607511783758736875[6] = 1;
|
||||
out_1607511783758736875[7] = 0;
|
||||
out_1607511783758736875[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_4434950306945038429) {
|
||||
out_4434950306945038429[0] = 0;
|
||||
out_4434950306945038429[1] = 0;
|
||||
out_4434950306945038429[2] = 0;
|
||||
out_4434950306945038429[3] = 0;
|
||||
out_4434950306945038429[4] = 0;
|
||||
out_4434950306945038429[5] = 0;
|
||||
out_4434950306945038429[6] = 1;
|
||||
out_4434950306945038429[7] = 0;
|
||||
out_4434950306945038429[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_3019943109680816786) {
|
||||
out_3019943109680816786[0] = state[4];
|
||||
out_3019943109680816786[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_7854800018825826791) {
|
||||
out_7854800018825826791[0] = state[4];
|
||||
out_7854800018825826791[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_565137815246762691) {
|
||||
out_565137815246762691[0] = 0;
|
||||
out_565137815246762691[1] = 0;
|
||||
out_565137815246762691[2] = 0;
|
||||
out_565137815246762691[3] = 0;
|
||||
out_565137815246762691[4] = 1;
|
||||
out_565137815246762691[5] = 0;
|
||||
out_565137815246762691[6] = 0;
|
||||
out_565137815246762691[7] = 0;
|
||||
out_565137815246762691[8] = 0;
|
||||
out_565137815246762691[9] = 0;
|
||||
out_565137815246762691[10] = 0;
|
||||
out_565137815246762691[11] = 0;
|
||||
out_565137815246762691[12] = 0;
|
||||
out_565137815246762691[13] = 0;
|
||||
out_565137815246762691[14] = 1;
|
||||
out_565137815246762691[15] = 0;
|
||||
out_565137815246762691[16] = 0;
|
||||
out_565137815246762691[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_6607599905950537995) {
|
||||
out_6607599905950537995[0] = 0;
|
||||
out_6607599905950537995[1] = 0;
|
||||
out_6607599905950537995[2] = 0;
|
||||
out_6607599905950537995[3] = 0;
|
||||
out_6607599905950537995[4] = 1;
|
||||
out_6607599905950537995[5] = 0;
|
||||
out_6607599905950537995[6] = 0;
|
||||
out_6607599905950537995[7] = 0;
|
||||
out_6607599905950537995[8] = 0;
|
||||
out_6607599905950537995[9] = 0;
|
||||
out_6607599905950537995[10] = 0;
|
||||
out_6607599905950537995[11] = 0;
|
||||
out_6607599905950537995[12] = 0;
|
||||
out_6607599905950537995[13] = 0;
|
||||
out_6607599905950537995[14] = 1;
|
||||
out_6607599905950537995[15] = 0;
|
||||
out_6607599905950537995[16] = 0;
|
||||
out_6607599905950537995[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5540743298998439455) {
|
||||
out_5540743298998439455[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_3104430337924860088) {
|
||||
out_3104430337924860088[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_4125844742265985502) {
|
||||
out_4125844742265985502[0] = 0;
|
||||
out_4125844742265985502[1] = 0;
|
||||
out_4125844742265985502[2] = 0;
|
||||
out_4125844742265985502[3] = 0;
|
||||
out_4125844742265985502[4] = 1;
|
||||
out_4125844742265985502[5] = 0;
|
||||
out_4125844742265985502[6] = 0;
|
||||
out_4125844742265985502[7] = 0;
|
||||
out_4125844742265985502[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_1916617348437789802) {
|
||||
out_1916617348437789802[0] = 0;
|
||||
out_1916617348437789802[1] = 0;
|
||||
out_1916617348437789802[2] = 0;
|
||||
out_1916617348437789802[3] = 0;
|
||||
out_1916617348437789802[4] = 1;
|
||||
out_1916617348437789802[5] = 0;
|
||||
out_1916617348437789802[6] = 0;
|
||||
out_1916617348437789802[7] = 0;
|
||||
out_1916617348437789802[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_539070031337593810) {
|
||||
out_539070031337593810[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_4544914835386474254) {
|
||||
out_4544914835386474254[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_2133991535115319349) {
|
||||
out_2133991535115319349[0] = 0;
|
||||
out_2133991535115319349[1] = 0;
|
||||
out_2133991535115319349[2] = 0;
|
||||
out_2133991535115319349[3] = 0;
|
||||
out_2133991535115319349[4] = 0;
|
||||
out_2133991535115319349[5] = 0;
|
||||
out_2133991535115319349[6] = 0;
|
||||
out_2133991535115319349[7] = 1;
|
||||
out_2133991535115319349[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_8176453625819094653) {
|
||||
out_8176453625819094653[0] = 0;
|
||||
out_8176453625819094653[1] = 0;
|
||||
out_8176453625819094653[2] = 0;
|
||||
out_8176453625819094653[3] = 0;
|
||||
out_8176453625819094653[4] = 0;
|
||||
out_8176453625819094653[5] = 0;
|
||||
out_8176453625819094653[6] = 0;
|
||||
out_8176453625819094653[7] = 1;
|
||||
out_8176453625819094653[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_7078675401262423660) {
|
||||
out_7078675401262423660[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_4426907441453097510) {
|
||||
out_4426907441453097510[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_1951081430465560591) {
|
||||
out_1951081430465560591[0] = 0;
|
||||
out_1951081430465560591[1] = 0;
|
||||
out_1951081430465560591[2] = 0;
|
||||
out_1951081430465560591[3] = 1;
|
||||
out_1951081430465560591[4] = 0;
|
||||
out_1951081430465560591[5] = 0;
|
||||
out_1951081430465560591[6] = 0;
|
||||
out_1951081430465560591[7] = 0;
|
||||
out_1951081430465560591[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_306976722746153415) {
|
||||
out_306976722746153415[0] = 0;
|
||||
out_306976722746153415[1] = 0;
|
||||
out_306976722746153415[2] = 0;
|
||||
out_306976722746153415[3] = 1;
|
||||
out_306976722746153415[4] = 0;
|
||||
out_306976722746153415[5] = 0;
|
||||
out_306976722746153415[6] = 0;
|
||||
out_306976722746153415[7] = 0;
|
||||
out_306976722746153415[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_4597233446096777020) {
|
||||
out_4597233446096777020[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_2160920485023197653) {
|
||||
out_2160920485023197653[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_4636076086580377686) {
|
||||
out_4636076086580377686[0] = 0;
|
||||
out_4636076086580377686[1] = 1;
|
||||
out_4636076086580377686[2] = 0;
|
||||
out_4636076086580377686[3] = 0;
|
||||
out_4636076086580377686[4] = 0;
|
||||
out_4636076086580377686[5] = 0;
|
||||
out_4636076086580377686[6] = 0;
|
||||
out_4636076086580377686[7] = 0;
|
||||
out_4636076086580377686[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_1406386004123397618) {
|
||||
out_1406386004123397618[0] = 0;
|
||||
out_1406386004123397618[1] = 1;
|
||||
out_1406386004123397618[2] = 0;
|
||||
out_1406386004123397618[3] = 0;
|
||||
out_1406386004123397618[4] = 0;
|
||||
out_1406386004123397618[5] = 0;
|
||||
out_1406386004123397618[6] = 0;
|
||||
out_1406386004123397618[7] = 0;
|
||||
out_1406386004123397618[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2077002133601578015) {
|
||||
out_2077002133601578015[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_7017073928463388327) {
|
||||
out_7017073928463388327[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_446322930489152888) {
|
||||
out_446322930489152888[0] = 1;
|
||||
out_446322930489152888[1] = 0;
|
||||
out_446322930489152888[2] = 0;
|
||||
out_446322930489152888[3] = 0;
|
||||
out_446322930489152888[4] = 0;
|
||||
out_446322930489152888[5] = 0;
|
||||
out_446322930489152888[6] = 0;
|
||||
out_446322930489152888[7] = 0;
|
||||
out_446322930489152888[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6488785021192928192) {
|
||||
out_6488785021192928192[0] = 1;
|
||||
out_6488785021192928192[1] = 0;
|
||||
out_6488785021192928192[2] = 0;
|
||||
out_6488785021192928192[3] = 0;
|
||||
out_6488785021192928192[4] = 0;
|
||||
out_6488785021192928192[5] = 0;
|
||||
out_6488785021192928192[6] = 0;
|
||||
out_6488785021192928192[7] = 0;
|
||||
out_6488785021192928192[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7817026797415165478) {
|
||||
out_7817026797415165478[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_5156479888167106809) {
|
||||
out_5156479888167106809[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_2760199637348670825) {
|
||||
out_2760199637348670825[0] = 0;
|
||||
out_2760199637348670825[1] = 0;
|
||||
out_2760199637348670825[2] = 0;
|
||||
out_2760199637348670825[3] = 0;
|
||||
out_2760199637348670825[4] = 0;
|
||||
out_2760199637348670825[5] = 0;
|
||||
out_2760199637348670825[6] = 0;
|
||||
out_2760199637348670825[7] = 0;
|
||||
out_2760199637348670825[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_4404304345068078001) {
|
||||
out_4404304345068078001[0] = 0;
|
||||
out_4404304345068078001[1] = 0;
|
||||
out_4404304345068078001[2] = 0;
|
||||
out_4404304345068078001[3] = 0;
|
||||
out_4404304345068078001[4] = 0;
|
||||
out_4404304345068078001[5] = 0;
|
||||
out_4404304345068078001[6] = 0;
|
||||
out_4404304345068078001[7] = 0;
|
||||
out_4404304345068078001[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_1626624007171975298) {
|
||||
err_fun(nom_x, delta_x, out_1626624007171975298);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_4189395199092511703) {
|
||||
err_fun(nom_x, delta_x, out_4189395199092511703);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3841721694315715550) {
|
||||
inv_err_fun(nom_x, true_x, out_3841721694315715550);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5755129993245429730) {
|
||||
inv_err_fun(nom_x, true_x, out_5755129993245429730);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_7646044064038577504) {
|
||||
H_mod_fun(state, out_7646044064038577504);
|
||||
void car_H_mod_fun(double *state, double *out_3130611196753066809) {
|
||||
H_mod_fun(state, out_3130611196753066809);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_3692802059814366209) {
|
||||
f_fun(state, dt, out_3692802059814366209);
|
||||
void car_f_fun(double *state, double dt, double *out_5961640813003379683) {
|
||||
f_fun(state, dt, out_5961640813003379683);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6278869713612932388) {
|
||||
F_fun(state, dt, out_6278869713612932388);
|
||||
void car_F_fun(double *state, double dt, double *out_2654082016279909676) {
|
||||
F_fun(state, dt, out_2654082016279909676);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_1903293770744417105) {
|
||||
h_25(state, unused, out_1903293770744417105);
|
||||
void car_h_25(double *state, double *unused, double *out_3340180793096633183) {
|
||||
h_25(state, unused, out_3340180793096633183);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_1607511783758736875) {
|
||||
H_25(state, unused, out_1607511783758736875);
|
||||
void car_H_25(double *state, double *unused, double *out_4434950306945038429) {
|
||||
H_25(state, unused, out_4434950306945038429);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_3019943109680816786) {
|
||||
h_24(state, unused, out_3019943109680816786);
|
||||
void car_h_24(double *state, double *unused, double *out_7854800018825826791) {
|
||||
h_24(state, unused, out_7854800018825826791);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_565137815246762691) {
|
||||
H_24(state, unused, out_565137815246762691);
|
||||
void car_H_24(double *state, double *unused, double *out_6607599905950537995) {
|
||||
H_24(state, unused, out_6607599905950537995);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5540743298998439455) {
|
||||
h_30(state, unused, out_5540743298998439455);
|
||||
void car_h_30(double *state, double *unused, double *out_3104430337924860088) {
|
||||
h_30(state, unused, out_3104430337924860088);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_4125844742265985502) {
|
||||
H_30(state, unused, out_4125844742265985502);
|
||||
void car_H_30(double *state, double *unused, double *out_1916617348437789802) {
|
||||
H_30(state, unused, out_1916617348437789802);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_539070031337593810) {
|
||||
h_26(state, unused, out_539070031337593810);
|
||||
void car_h_26(double *state, double *unused, double *out_4544914835386474254) {
|
||||
h_26(state, unused, out_4544914835386474254);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_2133991535115319349) {
|
||||
H_26(state, unused, out_2133991535115319349);
|
||||
void car_H_26(double *state, double *unused, double *out_8176453625819094653) {
|
||||
H_26(state, unused, out_8176453625819094653);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_7078675401262423660) {
|
||||
h_27(state, unused, out_7078675401262423660);
|
||||
void car_h_27(double *state, double *unused, double *out_4426907441453097510) {
|
||||
h_27(state, unused, out_4426907441453097510);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_1951081430465560591) {
|
||||
H_27(state, unused, out_1951081430465560591);
|
||||
void car_H_27(double *state, double *unused, double *out_306976722746153415) {
|
||||
H_27(state, unused, out_306976722746153415);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_4597233446096777020) {
|
||||
h_29(state, unused, out_4597233446096777020);
|
||||
void car_h_29(double *state, double *unused, double *out_2160920485023197653) {
|
||||
h_29(state, unused, out_2160920485023197653);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_4636076086580377686) {
|
||||
H_29(state, unused, out_4636076086580377686);
|
||||
void car_H_29(double *state, double *unused, double *out_1406386004123397618) {
|
||||
H_29(state, unused, out_1406386004123397618);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2077002133601578015) {
|
||||
h_28(state, unused, out_2077002133601578015);
|
||||
void car_h_28(double *state, double *unused, double *out_7017073928463388327) {
|
||||
h_28(state, unused, out_7017073928463388327);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_446322930489152888) {
|
||||
H_28(state, unused, out_446322930489152888);
|
||||
void car_H_28(double *state, double *unused, double *out_6488785021192928192) {
|
||||
H_28(state, unused, out_6488785021192928192);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7817026797415165478) {
|
||||
h_31(state, unused, out_7817026797415165478);
|
||||
void car_h_31(double *state, double *unused, double *out_5156479888167106809) {
|
||||
h_31(state, unused, out_5156479888167106809);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_2760199637348670825) {
|
||||
H_31(state, unused, out_2760199637348670825);
|
||||
void car_H_31(double *state, double *unused, double *out_4404304345068078001) {
|
||||
H_31(state, unused, out_4404304345068078001);
|
||||
}
|
||||
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_1626624007171975298);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3841721694315715550);
|
||||
void car_H_mod_fun(double *state, double *out_7646044064038577504);
|
||||
void car_f_fun(double *state, double dt, double *out_3692802059814366209);
|
||||
void car_F_fun(double *state, double dt, double *out_6278869713612932388);
|
||||
void car_h_25(double *state, double *unused, double *out_1903293770744417105);
|
||||
void car_H_25(double *state, double *unused, double *out_1607511783758736875);
|
||||
void car_h_24(double *state, double *unused, double *out_3019943109680816786);
|
||||
void car_H_24(double *state, double *unused, double *out_565137815246762691);
|
||||
void car_h_30(double *state, double *unused, double *out_5540743298998439455);
|
||||
void car_H_30(double *state, double *unused, double *out_4125844742265985502);
|
||||
void car_h_26(double *state, double *unused, double *out_539070031337593810);
|
||||
void car_H_26(double *state, double *unused, double *out_2133991535115319349);
|
||||
void car_h_27(double *state, double *unused, double *out_7078675401262423660);
|
||||
void car_H_27(double *state, double *unused, double *out_1951081430465560591);
|
||||
void car_h_29(double *state, double *unused, double *out_4597233446096777020);
|
||||
void car_H_29(double *state, double *unused, double *out_4636076086580377686);
|
||||
void car_h_28(double *state, double *unused, double *out_2077002133601578015);
|
||||
void car_H_28(double *state, double *unused, double *out_446322930489152888);
|
||||
void car_h_31(double *state, double *unused, double *out_7817026797415165478);
|
||||
void car_H_31(double *state, double *unused, double *out_2760199637348670825);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_4189395199092511703);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5755129993245429730);
|
||||
void car_H_mod_fun(double *state, double *out_3130611196753066809);
|
||||
void car_f_fun(double *state, double dt, double *out_5961640813003379683);
|
||||
void car_F_fun(double *state, double dt, double *out_2654082016279909676);
|
||||
void car_h_25(double *state, double *unused, double *out_3340180793096633183);
|
||||
void car_H_25(double *state, double *unused, double *out_4434950306945038429);
|
||||
void car_h_24(double *state, double *unused, double *out_7854800018825826791);
|
||||
void car_H_24(double *state, double *unused, double *out_6607599905950537995);
|
||||
void car_h_30(double *state, double *unused, double *out_3104430337924860088);
|
||||
void car_H_30(double *state, double *unused, double *out_1916617348437789802);
|
||||
void car_h_26(double *state, double *unused, double *out_4544914835386474254);
|
||||
void car_H_26(double *state, double *unused, double *out_8176453625819094653);
|
||||
void car_h_27(double *state, double *unused, double *out_4426907441453097510);
|
||||
void car_H_27(double *state, double *unused, double *out_306976722746153415);
|
||||
void car_h_29(double *state, double *unused, double *out_2160920485023197653);
|
||||
void car_H_29(double *state, double *unused, double *out_1406386004123397618);
|
||||
void car_h_28(double *state, double *unused, double *out_7017073928463388327);
|
||||
void car_H_28(double *state, double *unused, double *out_6488785021192928192);
|
||||
void car_h_31(double *state, double *unused, double *out_5156479888167106809);
|
||||
void car_H_31(double *state, double *unused, double *out_4404304345068078001);
|
||||
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_1277882425838003162);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5395183656796766);
|
||||
void pose_H_mod_fun(double *state, double *out_4641299731180659481);
|
||||
void pose_f_fun(double *state, double dt, double *out_4475655607956648045);
|
||||
void pose_F_fun(double *state, double dt, double *out_1490364464464661376);
|
||||
void pose_h_4(double *state, double *unused, double *out_4985239385195179173);
|
||||
void pose_H_4(double *state, double *unused, double *out_2821601005274362620);
|
||||
void pose_h_10(double *state, double *unused, double *out_5766917160067306951);
|
||||
void pose_H_10(double *state, double *unused, double *out_393429258268914973);
|
||||
void pose_h_13(double *state, double *unused, double *out_7359463090555700335);
|
||||
void pose_H_13(double *state, double *unused, double *out_6033874830606695421);
|
||||
void pose_h_14(double *state, double *unused, double *out_1914760434129654014);
|
||||
void pose_H_14(double *state, double *unused, double *out_261187427021009676);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_842964569186968919);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7637995249051351300);
|
||||
void pose_H_mod_fun(double *state, double *out_8306889626903079841);
|
||||
void pose_f_fun(double *state, double dt, double *out_5013225008344736149);
|
||||
void pose_F_fun(double *state, double dt, double *out_8990818239492707931);
|
||||
void pose_h_4(double *state, double *unused, double *out_4553534383789500912);
|
||||
void pose_H_4(double *state, double *unused, double *out_637472039154741501);
|
||||
void pose_h_10(double *state, double *unused, double *out_5896232866039695568);
|
||||
void pose_H_10(double *state, double *unused, double *out_6470002192212990620);
|
||||
void pose_h_13(double *state, double *unused, double *out_5564060116117934481);
|
||||
void pose_H_13(double *state, double *unused, double *out_2574801786177591300);
|
||||
void pose_h_14(double *state, double *unused, double *out_9129729305013669813);
|
||||
void pose_H_14(double *state, double *unused, double *out_3325768817184743028);
|
||||
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