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https://github.com/firestar5683/StarPilot.git
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Big Pass
This commit is contained in:
firestarsdog
@@ -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_6125726627663246664) {
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out_6125726627663246664[0] = delta_x[0] + nom_x[0];
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out_6125726627663246664[1] = delta_x[1] + nom_x[1];
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out_6125726627663246664[2] = delta_x[2] + nom_x[2];
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out_6125726627663246664[3] = delta_x[3] + nom_x[3];
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out_6125726627663246664[4] = delta_x[4] + nom_x[4];
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out_6125726627663246664[5] = delta_x[5] + nom_x[5];
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out_6125726627663246664[6] = delta_x[6] + nom_x[6];
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out_6125726627663246664[7] = delta_x[7] + nom_x[7];
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out_6125726627663246664[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_1393219424364542669) {
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out_1393219424364542669[0] = delta_x[0] + nom_x[0];
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out_1393219424364542669[1] = delta_x[1] + nom_x[1];
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out_1393219424364542669[2] = delta_x[2] + nom_x[2];
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out_1393219424364542669[3] = delta_x[3] + nom_x[3];
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out_1393219424364542669[4] = delta_x[4] + nom_x[4];
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out_1393219424364542669[5] = delta_x[5] + nom_x[5];
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out_1393219424364542669[6] = delta_x[6] + nom_x[6];
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out_1393219424364542669[7] = delta_x[7] + nom_x[7];
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out_1393219424364542669[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_87606233557452672) {
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out_87606233557452672[0] = -nom_x[0] + true_x[0];
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out_87606233557452672[1] = -nom_x[1] + true_x[1];
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out_87606233557452672[2] = -nom_x[2] + true_x[2];
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out_87606233557452672[3] = -nom_x[3] + true_x[3];
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out_87606233557452672[4] = -nom_x[4] + true_x[4];
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out_87606233557452672[5] = -nom_x[5] + true_x[5];
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out_87606233557452672[6] = -nom_x[6] + true_x[6];
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out_87606233557452672[7] = -nom_x[7] + true_x[7];
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out_87606233557452672[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121) {
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out_8544281472794776121[0] = -nom_x[0] + true_x[0];
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out_8544281472794776121[1] = -nom_x[1] + true_x[1];
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out_8544281472794776121[2] = -nom_x[2] + true_x[2];
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out_8544281472794776121[3] = -nom_x[3] + true_x[3];
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out_8544281472794776121[4] = -nom_x[4] + true_x[4];
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out_8544281472794776121[5] = -nom_x[5] + true_x[5];
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out_8544281472794776121[6] = -nom_x[6] + true_x[6];
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out_8544281472794776121[7] = -nom_x[7] + true_x[7];
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out_8544281472794776121[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_1571740516032572076) {
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out_1571740516032572076[0] = 1.0;
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out_1571740516032572076[1] = 0.0;
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out_1571740516032572076[2] = 0.0;
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out_1571740516032572076[3] = 0.0;
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out_1571740516032572076[4] = 0.0;
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out_1571740516032572076[5] = 0.0;
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out_1571740516032572076[6] = 0.0;
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out_1571740516032572076[7] = 0.0;
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out_1571740516032572076[8] = 0.0;
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out_1571740516032572076[9] = 0.0;
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out_1571740516032572076[10] = 1.0;
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out_1571740516032572076[11] = 0.0;
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out_1571740516032572076[12] = 0.0;
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out_1571740516032572076[13] = 0.0;
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out_1571740516032572076[14] = 0.0;
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out_1571740516032572076[15] = 0.0;
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out_1571740516032572076[16] = 0.0;
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out_1571740516032572076[17] = 0.0;
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out_1571740516032572076[18] = 0.0;
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out_1571740516032572076[19] = 0.0;
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out_1571740516032572076[20] = 1.0;
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out_1571740516032572076[21] = 0.0;
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out_1571740516032572076[22] = 0.0;
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out_1571740516032572076[23] = 0.0;
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out_1571740516032572076[24] = 0.0;
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out_1571740516032572076[25] = 0.0;
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out_1571740516032572076[26] = 0.0;
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out_1571740516032572076[27] = 0.0;
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out_1571740516032572076[28] = 0.0;
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out_1571740516032572076[29] = 0.0;
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out_1571740516032572076[30] = 1.0;
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out_1571740516032572076[31] = 0.0;
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out_1571740516032572076[32] = 0.0;
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out_1571740516032572076[33] = 0.0;
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out_1571740516032572076[34] = 0.0;
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out_1571740516032572076[35] = 0.0;
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out_1571740516032572076[36] = 0.0;
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out_1571740516032572076[37] = 0.0;
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out_1571740516032572076[38] = 0.0;
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out_1571740516032572076[39] = 0.0;
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out_1571740516032572076[40] = 1.0;
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out_1571740516032572076[41] = 0.0;
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out_1571740516032572076[42] = 0.0;
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out_1571740516032572076[43] = 0.0;
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out_1571740516032572076[44] = 0.0;
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out_1571740516032572076[45] = 0.0;
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out_1571740516032572076[46] = 0.0;
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out_1571740516032572076[47] = 0.0;
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out_1571740516032572076[48] = 0.0;
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out_1571740516032572076[49] = 0.0;
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out_1571740516032572076[50] = 1.0;
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out_1571740516032572076[51] = 0.0;
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out_1571740516032572076[52] = 0.0;
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out_1571740516032572076[53] = 0.0;
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out_1571740516032572076[54] = 0.0;
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out_1571740516032572076[55] = 0.0;
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out_1571740516032572076[56] = 0.0;
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out_1571740516032572076[57] = 0.0;
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out_1571740516032572076[58] = 0.0;
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out_1571740516032572076[59] = 0.0;
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out_1571740516032572076[60] = 1.0;
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out_1571740516032572076[61] = 0.0;
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out_1571740516032572076[62] = 0.0;
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out_1571740516032572076[63] = 0.0;
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out_1571740516032572076[64] = 0.0;
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out_1571740516032572076[65] = 0.0;
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out_1571740516032572076[66] = 0.0;
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out_1571740516032572076[67] = 0.0;
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out_1571740516032572076[68] = 0.0;
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out_1571740516032572076[69] = 0.0;
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out_1571740516032572076[70] = 1.0;
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out_1571740516032572076[71] = 0.0;
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out_1571740516032572076[72] = 0.0;
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out_1571740516032572076[73] = 0.0;
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out_1571740516032572076[74] = 0.0;
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out_1571740516032572076[75] = 0.0;
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out_1571740516032572076[76] = 0.0;
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out_1571740516032572076[77] = 0.0;
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out_1571740516032572076[78] = 0.0;
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out_1571740516032572076[79] = 0.0;
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out_1571740516032572076[80] = 1.0;
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void H_mod_fun(double *state, double *out_542719001883324995) {
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out_542719001883324995[0] = 1.0;
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out_542719001883324995[1] = 0.0;
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out_542719001883324995[2] = 0.0;
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out_542719001883324995[3] = 0.0;
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out_542719001883324995[4] = 0.0;
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out_542719001883324995[5] = 0.0;
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out_542719001883324995[6] = 0.0;
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out_542719001883324995[7] = 0.0;
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out_542719001883324995[8] = 0.0;
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out_542719001883324995[9] = 0.0;
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out_542719001883324995[10] = 1.0;
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out_542719001883324995[11] = 0.0;
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out_542719001883324995[12] = 0.0;
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out_542719001883324995[13] = 0.0;
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out_542719001883324995[14] = 0.0;
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out_542719001883324995[15] = 0.0;
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out_542719001883324995[16] = 0.0;
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out_542719001883324995[17] = 0.0;
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out_542719001883324995[18] = 0.0;
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out_542719001883324995[19] = 0.0;
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out_542719001883324995[20] = 1.0;
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out_542719001883324995[21] = 0.0;
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out_542719001883324995[22] = 0.0;
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out_542719001883324995[23] = 0.0;
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out_542719001883324995[24] = 0.0;
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out_542719001883324995[25] = 0.0;
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out_542719001883324995[26] = 0.0;
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out_542719001883324995[27] = 0.0;
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out_542719001883324995[28] = 0.0;
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out_542719001883324995[29] = 0.0;
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out_542719001883324995[30] = 1.0;
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out_542719001883324995[31] = 0.0;
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out_542719001883324995[32] = 0.0;
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out_542719001883324995[33] = 0.0;
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out_542719001883324995[34] = 0.0;
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out_542719001883324995[35] = 0.0;
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out_542719001883324995[36] = 0.0;
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out_542719001883324995[37] = 0.0;
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out_542719001883324995[38] = 0.0;
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out_542719001883324995[39] = 0.0;
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out_542719001883324995[40] = 1.0;
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out_542719001883324995[41] = 0.0;
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out_542719001883324995[42] = 0.0;
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out_542719001883324995[43] = 0.0;
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out_542719001883324995[44] = 0.0;
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out_542719001883324995[45] = 0.0;
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out_542719001883324995[46] = 0.0;
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out_542719001883324995[47] = 0.0;
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out_542719001883324995[48] = 0.0;
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out_542719001883324995[49] = 0.0;
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out_542719001883324995[50] = 1.0;
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out_542719001883324995[51] = 0.0;
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out_542719001883324995[52] = 0.0;
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out_542719001883324995[53] = 0.0;
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out_542719001883324995[54] = 0.0;
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out_542719001883324995[55] = 0.0;
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out_542719001883324995[56] = 0.0;
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out_542719001883324995[57] = 0.0;
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out_542719001883324995[58] = 0.0;
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out_542719001883324995[59] = 0.0;
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out_542719001883324995[60] = 1.0;
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out_542719001883324995[61] = 0.0;
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out_542719001883324995[62] = 0.0;
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out_542719001883324995[63] = 0.0;
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out_542719001883324995[64] = 0.0;
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out_542719001883324995[65] = 0.0;
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out_542719001883324995[66] = 0.0;
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out_542719001883324995[67] = 0.0;
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out_542719001883324995[68] = 0.0;
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out_542719001883324995[69] = 0.0;
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out_542719001883324995[70] = 1.0;
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out_542719001883324995[71] = 0.0;
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out_542719001883324995[72] = 0.0;
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out_542719001883324995[73] = 0.0;
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out_542719001883324995[74] = 0.0;
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out_542719001883324995[75] = 0.0;
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out_542719001883324995[76] = 0.0;
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out_542719001883324995[77] = 0.0;
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out_542719001883324995[78] = 0.0;
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out_542719001883324995[79] = 0.0;
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out_542719001883324995[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_7904413896065989389) {
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out_7904413896065989389[0] = state[0];
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out_7904413896065989389[1] = state[1];
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out_7904413896065989389[2] = state[2];
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out_7904413896065989389[3] = state[3];
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out_7904413896065989389[4] = state[4];
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out_7904413896065989389[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
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out_7904413896065989389[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
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out_7904413896065989389[7] = state[7];
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out_7904413896065989389[8] = state[8];
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void f_fun(double *state, double dt, double *out_9203753821438188332) {
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out_9203753821438188332[0] = state[0];
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out_9203753821438188332[1] = state[1];
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out_9203753821438188332[2] = state[2];
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out_9203753821438188332[3] = state[3];
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out_9203753821438188332[4] = state[4];
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out_9203753821438188332[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
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out_9203753821438188332[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
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out_9203753821438188332[7] = state[7];
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out_9203753821438188332[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_6516583174049416628) {
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out_6516583174049416628[0] = 1;
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out_6516583174049416628[1] = 0;
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out_6516583174049416628[2] = 0;
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out_6516583174049416628[3] = 0;
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out_6516583174049416628[4] = 0;
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out_6516583174049416628[5] = 0;
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out_6516583174049416628[6] = 0;
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out_6516583174049416628[7] = 0;
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out_6516583174049416628[8] = 0;
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out_6516583174049416628[9] = 0;
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out_6516583174049416628[10] = 1;
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out_6516583174049416628[11] = 0;
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out_6516583174049416628[12] = 0;
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out_6516583174049416628[13] = 0;
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out_6516583174049416628[14] = 0;
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out_6516583174049416628[15] = 0;
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out_6516583174049416628[16] = 0;
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out_6516583174049416628[17] = 0;
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out_6516583174049416628[18] = 0;
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out_6516583174049416628[19] = 0;
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out_6516583174049416628[20] = 1;
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out_6516583174049416628[21] = 0;
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out_6516583174049416628[22] = 0;
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out_6516583174049416628[23] = 0;
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out_6516583174049416628[24] = 0;
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out_6516583174049416628[25] = 0;
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out_6516583174049416628[26] = 0;
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out_6516583174049416628[27] = 0;
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out_6516583174049416628[28] = 0;
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out_6516583174049416628[29] = 0;
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out_6516583174049416628[30] = 1;
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out_6516583174049416628[31] = 0;
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out_6516583174049416628[32] = 0;
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out_6516583174049416628[33] = 0;
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out_6516583174049416628[34] = 0;
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out_6516583174049416628[35] = 0;
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||||
out_6516583174049416628[36] = 0;
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||||
out_6516583174049416628[37] = 0;
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out_6516583174049416628[38] = 0;
|
||||
out_6516583174049416628[39] = 0;
|
||||
out_6516583174049416628[40] = 1;
|
||||
out_6516583174049416628[41] = 0;
|
||||
out_6516583174049416628[42] = 0;
|
||||
out_6516583174049416628[43] = 0;
|
||||
out_6516583174049416628[44] = 0;
|
||||
out_6516583174049416628[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_6516583174049416628[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6516583174049416628[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6516583174049416628[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6516583174049416628[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_6516583174049416628[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6516583174049416628[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6516583174049416628[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6516583174049416628[53] = -9.8100000000000005*dt;
|
||||
out_6516583174049416628[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_6516583174049416628[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6516583174049416628[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6516583174049416628[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6516583174049416628[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_6516583174049416628[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6516583174049416628[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_6516583174049416628[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6516583174049416628[62] = 0;
|
||||
out_6516583174049416628[63] = 0;
|
||||
out_6516583174049416628[64] = 0;
|
||||
out_6516583174049416628[65] = 0;
|
||||
out_6516583174049416628[66] = 0;
|
||||
out_6516583174049416628[67] = 0;
|
||||
out_6516583174049416628[68] = 0;
|
||||
out_6516583174049416628[69] = 0;
|
||||
out_6516583174049416628[70] = 1;
|
||||
out_6516583174049416628[71] = 0;
|
||||
out_6516583174049416628[72] = 0;
|
||||
out_6516583174049416628[73] = 0;
|
||||
out_6516583174049416628[74] = 0;
|
||||
out_6516583174049416628[75] = 0;
|
||||
out_6516583174049416628[76] = 0;
|
||||
out_6516583174049416628[77] = 0;
|
||||
out_6516583174049416628[78] = 0;
|
||||
out_6516583174049416628[79] = 0;
|
||||
out_6516583174049416628[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_1821220582526959893) {
|
||||
out_1821220582526959893[0] = 1;
|
||||
out_1821220582526959893[1] = 0;
|
||||
out_1821220582526959893[2] = 0;
|
||||
out_1821220582526959893[3] = 0;
|
||||
out_1821220582526959893[4] = 0;
|
||||
out_1821220582526959893[5] = 0;
|
||||
out_1821220582526959893[6] = 0;
|
||||
out_1821220582526959893[7] = 0;
|
||||
out_1821220582526959893[8] = 0;
|
||||
out_1821220582526959893[9] = 0;
|
||||
out_1821220582526959893[10] = 1;
|
||||
out_1821220582526959893[11] = 0;
|
||||
out_1821220582526959893[12] = 0;
|
||||
out_1821220582526959893[13] = 0;
|
||||
out_1821220582526959893[14] = 0;
|
||||
out_1821220582526959893[15] = 0;
|
||||
out_1821220582526959893[16] = 0;
|
||||
out_1821220582526959893[17] = 0;
|
||||
out_1821220582526959893[18] = 0;
|
||||
out_1821220582526959893[19] = 0;
|
||||
out_1821220582526959893[20] = 1;
|
||||
out_1821220582526959893[21] = 0;
|
||||
out_1821220582526959893[22] = 0;
|
||||
out_1821220582526959893[23] = 0;
|
||||
out_1821220582526959893[24] = 0;
|
||||
out_1821220582526959893[25] = 0;
|
||||
out_1821220582526959893[26] = 0;
|
||||
out_1821220582526959893[27] = 0;
|
||||
out_1821220582526959893[28] = 0;
|
||||
out_1821220582526959893[29] = 0;
|
||||
out_1821220582526959893[30] = 1;
|
||||
out_1821220582526959893[31] = 0;
|
||||
out_1821220582526959893[32] = 0;
|
||||
out_1821220582526959893[33] = 0;
|
||||
out_1821220582526959893[34] = 0;
|
||||
out_1821220582526959893[35] = 0;
|
||||
out_1821220582526959893[36] = 0;
|
||||
out_1821220582526959893[37] = 0;
|
||||
out_1821220582526959893[38] = 0;
|
||||
out_1821220582526959893[39] = 0;
|
||||
out_1821220582526959893[40] = 1;
|
||||
out_1821220582526959893[41] = 0;
|
||||
out_1821220582526959893[42] = 0;
|
||||
out_1821220582526959893[43] = 0;
|
||||
out_1821220582526959893[44] = 0;
|
||||
out_1821220582526959893[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_1821220582526959893[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_1821220582526959893[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1821220582526959893[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1821220582526959893[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_1821220582526959893[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_1821220582526959893[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_1821220582526959893[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1821220582526959893[53] = -9.8100000000000005*dt;
|
||||
out_1821220582526959893[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_1821220582526959893[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_1821220582526959893[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1821220582526959893[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1821220582526959893[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_1821220582526959893[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_1821220582526959893[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_1821220582526959893[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1821220582526959893[62] = 0;
|
||||
out_1821220582526959893[63] = 0;
|
||||
out_1821220582526959893[64] = 0;
|
||||
out_1821220582526959893[65] = 0;
|
||||
out_1821220582526959893[66] = 0;
|
||||
out_1821220582526959893[67] = 0;
|
||||
out_1821220582526959893[68] = 0;
|
||||
out_1821220582526959893[69] = 0;
|
||||
out_1821220582526959893[70] = 1;
|
||||
out_1821220582526959893[71] = 0;
|
||||
out_1821220582526959893[72] = 0;
|
||||
out_1821220582526959893[73] = 0;
|
||||
out_1821220582526959893[74] = 0;
|
||||
out_1821220582526959893[75] = 0;
|
||||
out_1821220582526959893[76] = 0;
|
||||
out_1821220582526959893[77] = 0;
|
||||
out_1821220582526959893[78] = 0;
|
||||
out_1821220582526959893[79] = 0;
|
||||
out_1821220582526959893[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_6845996924949086281) {
|
||||
out_6845996924949086281[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7848411301120641124) {
|
||||
out_7848411301120641124[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_4925282443857457875) {
|
||||
out_4925282443857457875[0] = 0;
|
||||
out_4925282443857457875[1] = 0;
|
||||
out_4925282443857457875[2] = 0;
|
||||
out_4925282443857457875[3] = 0;
|
||||
out_4925282443857457875[4] = 0;
|
||||
out_4925282443857457875[5] = 0;
|
||||
out_4925282443857457875[6] = 1;
|
||||
out_4925282443857457875[7] = 0;
|
||||
out_4925282443857457875[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_6136977117952979916) {
|
||||
out_6136977117952979916[0] = 0;
|
||||
out_6136977117952979916[1] = 0;
|
||||
out_6136977117952979916[2] = 0;
|
||||
out_6136977117952979916[3] = 0;
|
||||
out_6136977117952979916[4] = 0;
|
||||
out_6136977117952979916[5] = 0;
|
||||
out_6136977117952979916[6] = 1;
|
||||
out_6136977117952979916[7] = 0;
|
||||
out_6136977117952979916[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_76787194833890602) {
|
||||
out_76787194833890602[0] = state[4];
|
||||
out_76787194833890602[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_8292657587405145092) {
|
||||
out_8292657587405145092[0] = state[4];
|
||||
out_8292657587405145092[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_2493109189819469018) {
|
||||
out_2493109189819469018[0] = 0;
|
||||
out_2493109189819469018[1] = 0;
|
||||
out_2493109189819469018[2] = 0;
|
||||
out_2493109189819469018[3] = 0;
|
||||
out_2493109189819469018[4] = 1;
|
||||
out_2493109189819469018[5] = 0;
|
||||
out_2493109189819469018[6] = 0;
|
||||
out_2493109189819469018[7] = 0;
|
||||
out_2493109189819469018[8] = 0;
|
||||
out_2493109189819469018[9] = 0;
|
||||
out_2493109189819469018[10] = 0;
|
||||
out_2493109189819469018[11] = 0;
|
||||
out_2493109189819469018[12] = 0;
|
||||
out_2493109189819469018[13] = 0;
|
||||
out_2493109189819469018[14] = 1;
|
||||
out_2493109189819469018[15] = 0;
|
||||
out_2493109189819469018[16] = 0;
|
||||
out_2493109189819469018[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_3964327518947480350) {
|
||||
out_3964327518947480350[0] = 0;
|
||||
out_3964327518947480350[1] = 0;
|
||||
out_3964327518947480350[2] = 0;
|
||||
out_3964327518947480350[3] = 0;
|
||||
out_3964327518947480350[4] = 1;
|
||||
out_3964327518947480350[5] = 0;
|
||||
out_3964327518947480350[6] = 0;
|
||||
out_3964327518947480350[7] = 0;
|
||||
out_3964327518947480350[8] = 0;
|
||||
out_3964327518947480350[9] = 0;
|
||||
out_3964327518947480350[10] = 0;
|
||||
out_3964327518947480350[11] = 0;
|
||||
out_3964327518947480350[12] = 0;
|
||||
out_3964327518947480350[13] = 0;
|
||||
out_3964327518947480350[14] = 1;
|
||||
out_3964327518947480350[15] = 0;
|
||||
out_3964327518947480350[16] = 0;
|
||||
out_3964327518947480350[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_7304198287107647943) {
|
||||
out_7304198287107647943[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_1692964105279980995) {
|
||||
out_1692964105279980995[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_8993765299724485543) {
|
||||
out_8993765299724485543[0] = 0;
|
||||
out_8993765299724485543[1] = 0;
|
||||
out_8993765299724485543[2] = 0;
|
||||
out_8993765299724485543[3] = 0;
|
||||
out_8993765299724485543[4] = 1;
|
||||
out_8993765299724485543[5] = 0;
|
||||
out_8993765299724485543[6] = 0;
|
||||
out_8993765299724485543[7] = 0;
|
||||
out_8993765299724485543[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_8655310076460228543) {
|
||||
out_8655310076460228543[0] = 0;
|
||||
out_8655310076460228543[1] = 0;
|
||||
out_8655310076460228543[2] = 0;
|
||||
out_8655310076460228543[3] = 0;
|
||||
out_8655310076460228543[4] = 1;
|
||||
out_8655310076460228543[5] = 0;
|
||||
out_8655310076460228543[6] = 0;
|
||||
out_8655310076460228543[7] = 0;
|
||||
out_8655310076460228543[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_6360688434205985508) {
|
||||
out_6360688434205985508[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_6694637372940826640) {
|
||||
out_6694637372940826640[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_8666785762731514099) {
|
||||
out_8666785762731514099[0] = 0;
|
||||
out_8666785762731514099[1] = 0;
|
||||
out_8666785762731514099[2] = 0;
|
||||
out_8666785762731514099[3] = 0;
|
||||
out_8666785762731514099[4] = 0;
|
||||
out_8666785762731514099[5] = 0;
|
||||
out_8666785762731514099[6] = 0;
|
||||
out_8666785762731514099[7] = 1;
|
||||
out_8666785762731514099[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_2395473799078923692) {
|
||||
out_2395473799078923692[0] = 0;
|
||||
out_2395473799078923692[1] = 0;
|
||||
out_2395473799078923692[2] = 0;
|
||||
out_2395473799078923692[3] = 0;
|
||||
out_2395473799078923692[4] = 0;
|
||||
out_2395473799078923692[5] = 0;
|
||||
out_2395473799078923692[6] = 0;
|
||||
out_2395473799078923692[7] = 1;
|
||||
out_2395473799078923692[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_2448044843667457269) {
|
||||
out_2448044843667457269[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_3658606002300167844) {
|
||||
out_3658606002300167844[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_6819001987924060632) {
|
||||
out_6819001987924060632[0] = 0;
|
||||
out_6819001987924060632[1] = 0;
|
||||
out_6819001987924060632[2] = 0;
|
||||
out_6819001987924060632[3] = 1;
|
||||
out_6819001987924060632[4] = 0;
|
||||
out_6819001987924060632[5] = 0;
|
||||
out_6819001987924060632[6] = 0;
|
||||
out_6819001987924060632[7] = 0;
|
||||
out_6819001987924060632[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_6480546764659803632) {
|
||||
out_6480546764659803632[0] = 0;
|
||||
out_6480546764659803632[1] = 0;
|
||||
out_6480546764659803632[2] = 0;
|
||||
out_6480546764659803632[3] = 1;
|
||||
out_6480546764659803632[4] = 0;
|
||||
out_6480546764659803632[5] = 0;
|
||||
out_6480546764659803632[6] = 0;
|
||||
out_6480546764659803632[7] = 0;
|
||||
out_6480546764659803632[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_2302525019446802298) {
|
||||
out_2302525019446802298[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_3383411940015661955) {
|
||||
out_3383411940015661955[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_8942747429670673889) {
|
||||
out_8942747429670673889[0] = 0;
|
||||
out_8942747429670673889[1] = 1;
|
||||
out_8942747429670673889[2] = 0;
|
||||
out_8942747429670673889[3] = 0;
|
||||
out_8942747429670673889[4] = 0;
|
||||
out_8942747429670673889[5] = 0;
|
||||
out_8942747429670673889[6] = 0;
|
||||
out_8942747429670673889[7] = 0;
|
||||
out_8942747429670673889[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_9165541420774620727) {
|
||||
out_9165541420774620727[0] = 0;
|
||||
out_9165541420774620727[1] = 1;
|
||||
out_9165541420774620727[2] = 0;
|
||||
out_9165541420774620727[3] = 0;
|
||||
out_9165541420774620727[4] = 0;
|
||||
out_9165541420774620727[5] = 0;
|
||||
out_9165541420774620727[6] = 0;
|
||||
out_9165541420774620727[7] = 0;
|
||||
out_9165541420774620727[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2553628423993388376) {
|
||||
out_2553628423993388376[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_2219679485258547244) {
|
||||
out_2219679485258547244[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_4421597626969347153) {
|
||||
out_4421597626969347153[0] = 1;
|
||||
out_4421597626969347153[1] = 0;
|
||||
out_4421597626969347153[2] = 0;
|
||||
out_4421597626969347153[3] = 0;
|
||||
out_4421597626969347153[4] = 0;
|
||||
out_4421597626969347153[5] = 0;
|
||||
out_4421597626969347153[6] = 0;
|
||||
out_4421597626969347153[7] = 0;
|
||||
out_4421597626969347153[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_4083142403705090153) {
|
||||
out_4083142403705090153[0] = 1;
|
||||
out_4083142403705090153[1] = 0;
|
||||
out_4083142403705090153[2] = 0;
|
||||
out_4083142403705090153[3] = 0;
|
||||
out_4083142403705090153[4] = 0;
|
||||
out_4083142403705090153[5] = 0;
|
||||
out_4083142403705090153[6] = 0;
|
||||
out_4083142403705090153[7] = 0;
|
||||
out_4083142403705090153[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7359576434127226352) {
|
||||
out_7359576434127226352[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_8123605363405147013) {
|
||||
out_8123605363405147013[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_9153750208744686041) {
|
||||
out_9153750208744686041[0] = 0;
|
||||
out_9153750208744686041[1] = 0;
|
||||
out_9153750208744686041[2] = 0;
|
||||
out_9153750208744686041[3] = 0;
|
||||
out_9153750208744686041[4] = 0;
|
||||
out_9153750208744686041[5] = 0;
|
||||
out_9153750208744686041[6] = 0;
|
||||
out_9153750208744686041[7] = 0;
|
||||
out_9153750208744686041[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_1769265696845572216) {
|
||||
out_1769265696845572216[0] = 0;
|
||||
out_1769265696845572216[1] = 0;
|
||||
out_1769265696845572216[2] = 0;
|
||||
out_1769265696845572216[3] = 0;
|
||||
out_1769265696845572216[4] = 0;
|
||||
out_1769265696845572216[5] = 0;
|
||||
out_1769265696845572216[6] = 0;
|
||||
out_1769265696845572216[7] = 0;
|
||||
out_1769265696845572216[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_6125726627663246664) {
|
||||
err_fun(nom_x, delta_x, out_6125726627663246664);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1393219424364542669) {
|
||||
err_fun(nom_x, delta_x, out_1393219424364542669);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_87606233557452672) {
|
||||
inv_err_fun(nom_x, true_x, out_87606233557452672);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121) {
|
||||
inv_err_fun(nom_x, true_x, out_8544281472794776121);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_1571740516032572076) {
|
||||
H_mod_fun(state, out_1571740516032572076);
|
||||
void car_H_mod_fun(double *state, double *out_542719001883324995) {
|
||||
H_mod_fun(state, out_542719001883324995);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_7904413896065989389) {
|
||||
f_fun(state, dt, out_7904413896065989389);
|
||||
void car_f_fun(double *state, double dt, double *out_9203753821438188332) {
|
||||
f_fun(state, dt, out_9203753821438188332);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6516583174049416628) {
|
||||
F_fun(state, dt, out_6516583174049416628);
|
||||
void car_F_fun(double *state, double dt, double *out_1821220582526959893) {
|
||||
F_fun(state, dt, out_1821220582526959893);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_6845996924949086281) {
|
||||
h_25(state, unused, out_6845996924949086281);
|
||||
void car_h_25(double *state, double *unused, double *out_7848411301120641124) {
|
||||
h_25(state, unused, out_7848411301120641124);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_4925282443857457875) {
|
||||
H_25(state, unused, out_4925282443857457875);
|
||||
void car_H_25(double *state, double *unused, double *out_6136977117952979916) {
|
||||
H_25(state, unused, out_6136977117952979916);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_76787194833890602) {
|
||||
h_24(state, unused, out_76787194833890602);
|
||||
void car_h_24(double *state, double *unused, double *out_8292657587405145092) {
|
||||
h_24(state, unused, out_8292657587405145092);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_2493109189819469018) {
|
||||
H_24(state, unused, out_2493109189819469018);
|
||||
void car_H_24(double *state, double *unused, double *out_3964327518947480350) {
|
||||
H_24(state, unused, out_3964327518947480350);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_7304198287107647943) {
|
||||
h_30(state, unused, out_7304198287107647943);
|
||||
void car_h_30(double *state, double *unused, double *out_1692964105279980995) {
|
||||
h_30(state, unused, out_1692964105279980995);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_8993765299724485543) {
|
||||
H_30(state, unused, out_8993765299724485543);
|
||||
void car_H_30(double *state, double *unused, double *out_8655310076460228543) {
|
||||
H_30(state, unused, out_8655310076460228543);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_6360688434205985508) {
|
||||
h_26(state, unused, out_6360688434205985508);
|
||||
void car_h_26(double *state, double *unused, double *out_6694637372940826640) {
|
||||
h_26(state, unused, out_6694637372940826640);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_8666785762731514099) {
|
||||
H_26(state, unused, out_8666785762731514099);
|
||||
void car_H_26(double *state, double *unused, double *out_2395473799078923692) {
|
||||
H_26(state, unused, out_2395473799078923692);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_2448044843667457269) {
|
||||
h_27(state, unused, out_2448044843667457269);
|
||||
void car_h_27(double *state, double *unused, double *out_3658606002300167844) {
|
||||
h_27(state, unused, out_3658606002300167844);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_6819001987924060632) {
|
||||
H_27(state, unused, out_6819001987924060632);
|
||||
void car_H_27(double *state, double *unused, double *out_6480546764659803632) {
|
||||
H_27(state, unused, out_6480546764659803632);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_2302525019446802298) {
|
||||
h_29(state, unused, out_2302525019446802298);
|
||||
void car_h_29(double *state, double *unused, double *out_3383411940015661955) {
|
||||
h_29(state, unused, out_3383411940015661955);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_8942747429670673889) {
|
||||
H_29(state, unused, out_8942747429670673889);
|
||||
void car_H_29(double *state, double *unused, double *out_9165541420774620727) {
|
||||
H_29(state, unused, out_9165541420774620727);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2553628423993388376) {
|
||||
h_28(state, unused, out_2553628423993388376);
|
||||
void car_h_28(double *state, double *unused, double *out_2219679485258547244) {
|
||||
h_28(state, unused, out_2219679485258547244);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_4421597626969347153) {
|
||||
H_28(state, unused, out_4421597626969347153);
|
||||
void car_H_28(double *state, double *unused, double *out_4083142403705090153) {
|
||||
H_28(state, unused, out_4083142403705090153);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7359576434127226352) {
|
||||
h_31(state, unused, out_7359576434127226352);
|
||||
void car_h_31(double *state, double *unused, double *out_8123605363405147013) {
|
||||
h_31(state, unused, out_8123605363405147013);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_9153750208744686041) {
|
||||
H_31(state, unused, out_9153750208744686041);
|
||||
void car_H_31(double *state, double *unused, double *out_1769265696845572216) {
|
||||
H_31(state, unused, out_1769265696845572216);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
Reference in New Issue
Block a user