mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-29 02:43:47 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-f0601e27-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-f351dbac-DEBUG";
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||||
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||||
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@@ -1 +1 @@
|
||||
DEV-f0601e27-DEBUG
|
||||
DEV-f351dbac-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_2541993810890450617) {
|
||||
out_2541993810890450617[0] = delta_x[0] + nom_x[0];
|
||||
out_2541993810890450617[1] = delta_x[1] + nom_x[1];
|
||||
out_2541993810890450617[2] = delta_x[2] + nom_x[2];
|
||||
out_2541993810890450617[3] = delta_x[3] + nom_x[3];
|
||||
out_2541993810890450617[4] = delta_x[4] + nom_x[4];
|
||||
out_2541993810890450617[5] = delta_x[5] + nom_x[5];
|
||||
out_2541993810890450617[6] = delta_x[6] + nom_x[6];
|
||||
out_2541993810890450617[7] = delta_x[7] + nom_x[7];
|
||||
out_2541993810890450617[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_6892109097522362188) {
|
||||
out_6892109097522362188[0] = delta_x[0] + nom_x[0];
|
||||
out_6892109097522362188[1] = delta_x[1] + nom_x[1];
|
||||
out_6892109097522362188[2] = delta_x[2] + nom_x[2];
|
||||
out_6892109097522362188[3] = delta_x[3] + nom_x[3];
|
||||
out_6892109097522362188[4] = delta_x[4] + nom_x[4];
|
||||
out_6892109097522362188[5] = delta_x[5] + nom_x[5];
|
||||
out_6892109097522362188[6] = delta_x[6] + nom_x[6];
|
||||
out_6892109097522362188[7] = delta_x[7] + nom_x[7];
|
||||
out_6892109097522362188[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_4007732744251149414) {
|
||||
out_4007732744251149414[0] = -nom_x[0] + true_x[0];
|
||||
out_4007732744251149414[1] = -nom_x[1] + true_x[1];
|
||||
out_4007732744251149414[2] = -nom_x[2] + true_x[2];
|
||||
out_4007732744251149414[3] = -nom_x[3] + true_x[3];
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||||
out_4007732744251149414[4] = -nom_x[4] + true_x[4];
|
||||
out_4007732744251149414[5] = -nom_x[5] + true_x[5];
|
||||
out_4007732744251149414[6] = -nom_x[6] + true_x[6];
|
||||
out_4007732744251149414[7] = -nom_x[7] + true_x[7];
|
||||
out_4007732744251149414[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_5432001000781993507) {
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||||
out_5432001000781993507[0] = -nom_x[0] + true_x[0];
|
||||
out_5432001000781993507[1] = -nom_x[1] + true_x[1];
|
||||
out_5432001000781993507[2] = -nom_x[2] + true_x[2];
|
||||
out_5432001000781993507[3] = -nom_x[3] + true_x[3];
|
||||
out_5432001000781993507[4] = -nom_x[4] + true_x[4];
|
||||
out_5432001000781993507[5] = -nom_x[5] + true_x[5];
|
||||
out_5432001000781993507[6] = -nom_x[6] + true_x[6];
|
||||
out_5432001000781993507[7] = -nom_x[7] + true_x[7];
|
||||
out_5432001000781993507[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_6685865118100003284) {
|
||||
out_6685865118100003284[0] = 1.0;
|
||||
out_6685865118100003284[1] = 0.0;
|
||||
out_6685865118100003284[2] = 0.0;
|
||||
out_6685865118100003284[3] = 0.0;
|
||||
out_6685865118100003284[4] = 0.0;
|
||||
out_6685865118100003284[5] = 0.0;
|
||||
out_6685865118100003284[6] = 0.0;
|
||||
out_6685865118100003284[7] = 0.0;
|
||||
out_6685865118100003284[8] = 0.0;
|
||||
out_6685865118100003284[9] = 0.0;
|
||||
out_6685865118100003284[10] = 1.0;
|
||||
out_6685865118100003284[11] = 0.0;
|
||||
out_6685865118100003284[12] = 0.0;
|
||||
out_6685865118100003284[13] = 0.0;
|
||||
out_6685865118100003284[14] = 0.0;
|
||||
out_6685865118100003284[15] = 0.0;
|
||||
out_6685865118100003284[16] = 0.0;
|
||||
out_6685865118100003284[17] = 0.0;
|
||||
out_6685865118100003284[18] = 0.0;
|
||||
out_6685865118100003284[19] = 0.0;
|
||||
out_6685865118100003284[20] = 1.0;
|
||||
out_6685865118100003284[21] = 0.0;
|
||||
out_6685865118100003284[22] = 0.0;
|
||||
out_6685865118100003284[23] = 0.0;
|
||||
out_6685865118100003284[24] = 0.0;
|
||||
out_6685865118100003284[25] = 0.0;
|
||||
out_6685865118100003284[26] = 0.0;
|
||||
out_6685865118100003284[27] = 0.0;
|
||||
out_6685865118100003284[28] = 0.0;
|
||||
out_6685865118100003284[29] = 0.0;
|
||||
out_6685865118100003284[30] = 1.0;
|
||||
out_6685865118100003284[31] = 0.0;
|
||||
out_6685865118100003284[32] = 0.0;
|
||||
out_6685865118100003284[33] = 0.0;
|
||||
out_6685865118100003284[34] = 0.0;
|
||||
out_6685865118100003284[35] = 0.0;
|
||||
out_6685865118100003284[36] = 0.0;
|
||||
out_6685865118100003284[37] = 0.0;
|
||||
out_6685865118100003284[38] = 0.0;
|
||||
out_6685865118100003284[39] = 0.0;
|
||||
out_6685865118100003284[40] = 1.0;
|
||||
out_6685865118100003284[41] = 0.0;
|
||||
out_6685865118100003284[42] = 0.0;
|
||||
out_6685865118100003284[43] = 0.0;
|
||||
out_6685865118100003284[44] = 0.0;
|
||||
out_6685865118100003284[45] = 0.0;
|
||||
out_6685865118100003284[46] = 0.0;
|
||||
out_6685865118100003284[47] = 0.0;
|
||||
out_6685865118100003284[48] = 0.0;
|
||||
out_6685865118100003284[49] = 0.0;
|
||||
out_6685865118100003284[50] = 1.0;
|
||||
out_6685865118100003284[51] = 0.0;
|
||||
out_6685865118100003284[52] = 0.0;
|
||||
out_6685865118100003284[53] = 0.0;
|
||||
out_6685865118100003284[54] = 0.0;
|
||||
out_6685865118100003284[55] = 0.0;
|
||||
out_6685865118100003284[56] = 0.0;
|
||||
out_6685865118100003284[57] = 0.0;
|
||||
out_6685865118100003284[58] = 0.0;
|
||||
out_6685865118100003284[59] = 0.0;
|
||||
out_6685865118100003284[60] = 1.0;
|
||||
out_6685865118100003284[61] = 0.0;
|
||||
out_6685865118100003284[62] = 0.0;
|
||||
out_6685865118100003284[63] = 0.0;
|
||||
out_6685865118100003284[64] = 0.0;
|
||||
out_6685865118100003284[65] = 0.0;
|
||||
out_6685865118100003284[66] = 0.0;
|
||||
out_6685865118100003284[67] = 0.0;
|
||||
out_6685865118100003284[68] = 0.0;
|
||||
out_6685865118100003284[69] = 0.0;
|
||||
out_6685865118100003284[70] = 1.0;
|
||||
out_6685865118100003284[71] = 0.0;
|
||||
out_6685865118100003284[72] = 0.0;
|
||||
out_6685865118100003284[73] = 0.0;
|
||||
out_6685865118100003284[74] = 0.0;
|
||||
out_6685865118100003284[75] = 0.0;
|
||||
out_6685865118100003284[76] = 0.0;
|
||||
out_6685865118100003284[77] = 0.0;
|
||||
out_6685865118100003284[78] = 0.0;
|
||||
out_6685865118100003284[79] = 0.0;
|
||||
out_6685865118100003284[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_1134362066478752987) {
|
||||
out_1134362066478752987[0] = 1.0;
|
||||
out_1134362066478752987[1] = 0.0;
|
||||
out_1134362066478752987[2] = 0.0;
|
||||
out_1134362066478752987[3] = 0.0;
|
||||
out_1134362066478752987[4] = 0.0;
|
||||
out_1134362066478752987[5] = 0.0;
|
||||
out_1134362066478752987[6] = 0.0;
|
||||
out_1134362066478752987[7] = 0.0;
|
||||
out_1134362066478752987[8] = 0.0;
|
||||
out_1134362066478752987[9] = 0.0;
|
||||
out_1134362066478752987[10] = 1.0;
|
||||
out_1134362066478752987[11] = 0.0;
|
||||
out_1134362066478752987[12] = 0.0;
|
||||
out_1134362066478752987[13] = 0.0;
|
||||
out_1134362066478752987[14] = 0.0;
|
||||
out_1134362066478752987[15] = 0.0;
|
||||
out_1134362066478752987[16] = 0.0;
|
||||
out_1134362066478752987[17] = 0.0;
|
||||
out_1134362066478752987[18] = 0.0;
|
||||
out_1134362066478752987[19] = 0.0;
|
||||
out_1134362066478752987[20] = 1.0;
|
||||
out_1134362066478752987[21] = 0.0;
|
||||
out_1134362066478752987[22] = 0.0;
|
||||
out_1134362066478752987[23] = 0.0;
|
||||
out_1134362066478752987[24] = 0.0;
|
||||
out_1134362066478752987[25] = 0.0;
|
||||
out_1134362066478752987[26] = 0.0;
|
||||
out_1134362066478752987[27] = 0.0;
|
||||
out_1134362066478752987[28] = 0.0;
|
||||
out_1134362066478752987[29] = 0.0;
|
||||
out_1134362066478752987[30] = 1.0;
|
||||
out_1134362066478752987[31] = 0.0;
|
||||
out_1134362066478752987[32] = 0.0;
|
||||
out_1134362066478752987[33] = 0.0;
|
||||
out_1134362066478752987[34] = 0.0;
|
||||
out_1134362066478752987[35] = 0.0;
|
||||
out_1134362066478752987[36] = 0.0;
|
||||
out_1134362066478752987[37] = 0.0;
|
||||
out_1134362066478752987[38] = 0.0;
|
||||
out_1134362066478752987[39] = 0.0;
|
||||
out_1134362066478752987[40] = 1.0;
|
||||
out_1134362066478752987[41] = 0.0;
|
||||
out_1134362066478752987[42] = 0.0;
|
||||
out_1134362066478752987[43] = 0.0;
|
||||
out_1134362066478752987[44] = 0.0;
|
||||
out_1134362066478752987[45] = 0.0;
|
||||
out_1134362066478752987[46] = 0.0;
|
||||
out_1134362066478752987[47] = 0.0;
|
||||
out_1134362066478752987[48] = 0.0;
|
||||
out_1134362066478752987[49] = 0.0;
|
||||
out_1134362066478752987[50] = 1.0;
|
||||
out_1134362066478752987[51] = 0.0;
|
||||
out_1134362066478752987[52] = 0.0;
|
||||
out_1134362066478752987[53] = 0.0;
|
||||
out_1134362066478752987[54] = 0.0;
|
||||
out_1134362066478752987[55] = 0.0;
|
||||
out_1134362066478752987[56] = 0.0;
|
||||
out_1134362066478752987[57] = 0.0;
|
||||
out_1134362066478752987[58] = 0.0;
|
||||
out_1134362066478752987[59] = 0.0;
|
||||
out_1134362066478752987[60] = 1.0;
|
||||
out_1134362066478752987[61] = 0.0;
|
||||
out_1134362066478752987[62] = 0.0;
|
||||
out_1134362066478752987[63] = 0.0;
|
||||
out_1134362066478752987[64] = 0.0;
|
||||
out_1134362066478752987[65] = 0.0;
|
||||
out_1134362066478752987[66] = 0.0;
|
||||
out_1134362066478752987[67] = 0.0;
|
||||
out_1134362066478752987[68] = 0.0;
|
||||
out_1134362066478752987[69] = 0.0;
|
||||
out_1134362066478752987[70] = 1.0;
|
||||
out_1134362066478752987[71] = 0.0;
|
||||
out_1134362066478752987[72] = 0.0;
|
||||
out_1134362066478752987[73] = 0.0;
|
||||
out_1134362066478752987[74] = 0.0;
|
||||
out_1134362066478752987[75] = 0.0;
|
||||
out_1134362066478752987[76] = 0.0;
|
||||
out_1134362066478752987[77] = 0.0;
|
||||
out_1134362066478752987[78] = 0.0;
|
||||
out_1134362066478752987[79] = 0.0;
|
||||
out_1134362066478752987[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_6974049569071864212) {
|
||||
out_6974049569071864212[0] = state[0];
|
||||
out_6974049569071864212[1] = state[1];
|
||||
out_6974049569071864212[2] = state[2];
|
||||
out_6974049569071864212[3] = state[3];
|
||||
out_6974049569071864212[4] = state[4];
|
||||
out_6974049569071864212[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_6974049569071864212[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_6974049569071864212[7] = state[7];
|
||||
out_6974049569071864212[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_9123630075498474389) {
|
||||
out_9123630075498474389[0] = state[0];
|
||||
out_9123630075498474389[1] = state[1];
|
||||
out_9123630075498474389[2] = state[2];
|
||||
out_9123630075498474389[3] = state[3];
|
||||
out_9123630075498474389[4] = state[4];
|
||||
out_9123630075498474389[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_9123630075498474389[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_9123630075498474389[7] = state[7];
|
||||
out_9123630075498474389[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_7385013454295441423) {
|
||||
out_7385013454295441423[0] = 1;
|
||||
out_7385013454295441423[1] = 0;
|
||||
out_7385013454295441423[2] = 0;
|
||||
out_7385013454295441423[3] = 0;
|
||||
out_7385013454295441423[4] = 0;
|
||||
out_7385013454295441423[5] = 0;
|
||||
out_7385013454295441423[6] = 0;
|
||||
out_7385013454295441423[7] = 0;
|
||||
out_7385013454295441423[8] = 0;
|
||||
out_7385013454295441423[9] = 0;
|
||||
out_7385013454295441423[10] = 1;
|
||||
out_7385013454295441423[11] = 0;
|
||||
out_7385013454295441423[12] = 0;
|
||||
out_7385013454295441423[13] = 0;
|
||||
out_7385013454295441423[14] = 0;
|
||||
out_7385013454295441423[15] = 0;
|
||||
out_7385013454295441423[16] = 0;
|
||||
out_7385013454295441423[17] = 0;
|
||||
out_7385013454295441423[18] = 0;
|
||||
out_7385013454295441423[19] = 0;
|
||||
out_7385013454295441423[20] = 1;
|
||||
out_7385013454295441423[21] = 0;
|
||||
out_7385013454295441423[22] = 0;
|
||||
out_7385013454295441423[23] = 0;
|
||||
out_7385013454295441423[24] = 0;
|
||||
out_7385013454295441423[25] = 0;
|
||||
out_7385013454295441423[26] = 0;
|
||||
out_7385013454295441423[27] = 0;
|
||||
out_7385013454295441423[28] = 0;
|
||||
out_7385013454295441423[29] = 0;
|
||||
out_7385013454295441423[30] = 1;
|
||||
out_7385013454295441423[31] = 0;
|
||||
out_7385013454295441423[32] = 0;
|
||||
out_7385013454295441423[33] = 0;
|
||||
out_7385013454295441423[34] = 0;
|
||||
out_7385013454295441423[35] = 0;
|
||||
out_7385013454295441423[36] = 0;
|
||||
out_7385013454295441423[37] = 0;
|
||||
out_7385013454295441423[38] = 0;
|
||||
out_7385013454295441423[39] = 0;
|
||||
out_7385013454295441423[40] = 1;
|
||||
out_7385013454295441423[41] = 0;
|
||||
out_7385013454295441423[42] = 0;
|
||||
out_7385013454295441423[43] = 0;
|
||||
out_7385013454295441423[44] = 0;
|
||||
out_7385013454295441423[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_7385013454295441423[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_7385013454295441423[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7385013454295441423[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7385013454295441423[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_7385013454295441423[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_7385013454295441423[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_7385013454295441423[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7385013454295441423[53] = -9.8100000000000005*dt;
|
||||
out_7385013454295441423[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_7385013454295441423[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_7385013454295441423[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7385013454295441423[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7385013454295441423[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_7385013454295441423[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_7385013454295441423[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_7385013454295441423[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7385013454295441423[62] = 0;
|
||||
out_7385013454295441423[63] = 0;
|
||||
out_7385013454295441423[64] = 0;
|
||||
out_7385013454295441423[65] = 0;
|
||||
out_7385013454295441423[66] = 0;
|
||||
out_7385013454295441423[67] = 0;
|
||||
out_7385013454295441423[68] = 0;
|
||||
out_7385013454295441423[69] = 0;
|
||||
out_7385013454295441423[70] = 1;
|
||||
out_7385013454295441423[71] = 0;
|
||||
out_7385013454295441423[72] = 0;
|
||||
out_7385013454295441423[73] = 0;
|
||||
out_7385013454295441423[74] = 0;
|
||||
out_7385013454295441423[75] = 0;
|
||||
out_7385013454295441423[76] = 0;
|
||||
out_7385013454295441423[77] = 0;
|
||||
out_7385013454295441423[78] = 0;
|
||||
out_7385013454295441423[79] = 0;
|
||||
out_7385013454295441423[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_5012636381780854897) {
|
||||
out_5012636381780854897[0] = 1;
|
||||
out_5012636381780854897[1] = 0;
|
||||
out_5012636381780854897[2] = 0;
|
||||
out_5012636381780854897[3] = 0;
|
||||
out_5012636381780854897[4] = 0;
|
||||
out_5012636381780854897[5] = 0;
|
||||
out_5012636381780854897[6] = 0;
|
||||
out_5012636381780854897[7] = 0;
|
||||
out_5012636381780854897[8] = 0;
|
||||
out_5012636381780854897[9] = 0;
|
||||
out_5012636381780854897[10] = 1;
|
||||
out_5012636381780854897[11] = 0;
|
||||
out_5012636381780854897[12] = 0;
|
||||
out_5012636381780854897[13] = 0;
|
||||
out_5012636381780854897[14] = 0;
|
||||
out_5012636381780854897[15] = 0;
|
||||
out_5012636381780854897[16] = 0;
|
||||
out_5012636381780854897[17] = 0;
|
||||
out_5012636381780854897[18] = 0;
|
||||
out_5012636381780854897[19] = 0;
|
||||
out_5012636381780854897[20] = 1;
|
||||
out_5012636381780854897[21] = 0;
|
||||
out_5012636381780854897[22] = 0;
|
||||
out_5012636381780854897[23] = 0;
|
||||
out_5012636381780854897[24] = 0;
|
||||
out_5012636381780854897[25] = 0;
|
||||
out_5012636381780854897[26] = 0;
|
||||
out_5012636381780854897[27] = 0;
|
||||
out_5012636381780854897[28] = 0;
|
||||
out_5012636381780854897[29] = 0;
|
||||
out_5012636381780854897[30] = 1;
|
||||
out_5012636381780854897[31] = 0;
|
||||
out_5012636381780854897[32] = 0;
|
||||
out_5012636381780854897[33] = 0;
|
||||
out_5012636381780854897[34] = 0;
|
||||
out_5012636381780854897[35] = 0;
|
||||
out_5012636381780854897[36] = 0;
|
||||
out_5012636381780854897[37] = 0;
|
||||
out_5012636381780854897[38] = 0;
|
||||
out_5012636381780854897[39] = 0;
|
||||
out_5012636381780854897[40] = 1;
|
||||
out_5012636381780854897[41] = 0;
|
||||
out_5012636381780854897[42] = 0;
|
||||
out_5012636381780854897[43] = 0;
|
||||
out_5012636381780854897[44] = 0;
|
||||
out_5012636381780854897[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_5012636381780854897[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5012636381780854897[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5012636381780854897[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5012636381780854897[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_5012636381780854897[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5012636381780854897[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5012636381780854897[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5012636381780854897[53] = -9.8100000000000005*dt;
|
||||
out_5012636381780854897[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_5012636381780854897[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5012636381780854897[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5012636381780854897[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5012636381780854897[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_5012636381780854897[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5012636381780854897[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_5012636381780854897[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5012636381780854897[62] = 0;
|
||||
out_5012636381780854897[63] = 0;
|
||||
out_5012636381780854897[64] = 0;
|
||||
out_5012636381780854897[65] = 0;
|
||||
out_5012636381780854897[66] = 0;
|
||||
out_5012636381780854897[67] = 0;
|
||||
out_5012636381780854897[68] = 0;
|
||||
out_5012636381780854897[69] = 0;
|
||||
out_5012636381780854897[70] = 1;
|
||||
out_5012636381780854897[71] = 0;
|
||||
out_5012636381780854897[72] = 0;
|
||||
out_5012636381780854897[73] = 0;
|
||||
out_5012636381780854897[74] = 0;
|
||||
out_5012636381780854897[75] = 0;
|
||||
out_5012636381780854897[76] = 0;
|
||||
out_5012636381780854897[77] = 0;
|
||||
out_5012636381780854897[78] = 0;
|
||||
out_5012636381780854897[79] = 0;
|
||||
out_5012636381780854897[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_8051554989951709251) {
|
||||
out_8051554989951709251[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_5169748066208681951) {
|
||||
out_5169748066208681951[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_2507323107812233953) {
|
||||
out_2507323107812233953[0] = 0;
|
||||
out_2507323107812233953[1] = 0;
|
||||
out_2507323107812233953[2] = 0;
|
||||
out_2507323107812233953[3] = 0;
|
||||
out_2507323107812233953[4] = 0;
|
||||
out_2507323107812233953[5] = 0;
|
||||
out_2507323107812233953[6] = 1;
|
||||
out_2507323107812233953[7] = 0;
|
||||
out_2507323107812233953[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_6786975966495106818) {
|
||||
out_6786975966495106818[0] = 0;
|
||||
out_6786975966495106818[1] = 0;
|
||||
out_6786975966495106818[2] = 0;
|
||||
out_6786975966495106818[3] = 0;
|
||||
out_6786975966495106818[4] = 0;
|
||||
out_6786975966495106818[5] = 0;
|
||||
out_6786975966495106818[6] = 1;
|
||||
out_6786975966495106818[7] = 0;
|
||||
out_6786975966495106818[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_3112249856335132889) {
|
||||
out_3112249856335132889[0] = state[4];
|
||||
out_3112249856335132889[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_6620362679693609370) {
|
||||
out_6620362679693609370[0] = state[4];
|
||||
out_6620362679693609370[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_4679972706817733519) {
|
||||
out_4679972706817733519[0] = 0;
|
||||
out_4679972706817733519[1] = 0;
|
||||
out_4679972706817733519[2] = 0;
|
||||
out_4679972706817733519[3] = 0;
|
||||
out_4679972706817733519[4] = 1;
|
||||
out_4679972706817733519[5] = 0;
|
||||
out_4679972706817733519[6] = 0;
|
||||
out_4679972706817733519[7] = 0;
|
||||
out_4679972706817733519[8] = 0;
|
||||
out_4679972706817733519[9] = 0;
|
||||
out_4679972706817733519[10] = 0;
|
||||
out_4679972706817733519[11] = 0;
|
||||
out_4679972706817733519[12] = 0;
|
||||
out_4679972706817733519[13] = 0;
|
||||
out_4679972706817733519[14] = 1;
|
||||
out_4679972706817733519[15] = 0;
|
||||
out_4679972706817733519[16] = 0;
|
||||
out_4679972706817733519[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_8101842508412121662) {
|
||||
out_8101842508412121662[0] = 0;
|
||||
out_8101842508412121662[1] = 0;
|
||||
out_8101842508412121662[2] = 0;
|
||||
out_8101842508412121662[3] = 0;
|
||||
out_8101842508412121662[4] = 1;
|
||||
out_8101842508412121662[5] = 0;
|
||||
out_8101842508412121662[6] = 0;
|
||||
out_8101842508412121662[7] = 0;
|
||||
out_8101842508412121662[8] = 0;
|
||||
out_8101842508412121662[9] = 0;
|
||||
out_8101842508412121662[10] = 0;
|
||||
out_8101842508412121662[11] = 0;
|
||||
out_8101842508412121662[12] = 0;
|
||||
out_8101842508412121662[13] = 0;
|
||||
out_8101842508412121662[14] = 1;
|
||||
out_8101842508412121662[15] = 0;
|
||||
out_8101842508412121662[16] = 0;
|
||||
out_8101842508412121662[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_432221354858015888) {
|
||||
out_432221354858015888[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_5326934734559811096) {
|
||||
out_5326934734559811096[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_11009850695014674) {
|
||||
out_11009850695014674[0] = 0;
|
||||
out_11009850695014674[1] = 0;
|
||||
out_11009850695014674[2] = 0;
|
||||
out_11009850695014674[3] = 0;
|
||||
out_11009850695014674[4] = 1;
|
||||
out_11009850695014674[5] = 0;
|
||||
out_11009850695014674[6] = 0;
|
||||
out_11009850695014674[7] = 0;
|
||||
out_11009850695014674[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_9141435148707196171) {
|
||||
out_9141435148707196171[0] = 0;
|
||||
out_9141435148707196171[1] = 0;
|
||||
out_9141435148707196171[2] = 0;
|
||||
out_9141435148707196171[3] = 0;
|
||||
out_9141435148707196171[4] = 1;
|
||||
out_9141435148707196171[5] = 0;
|
||||
out_9141435148707196171[6] = 0;
|
||||
out_9141435148707196171[7] = 0;
|
||||
out_9141435148707196171[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_8837878174502242541) {
|
||||
out_8837878174502242541[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_5930250619236288613) {
|
||||
out_5930250619236288613[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6248826426686290177) {
|
||||
out_6248826426686290177[0] = 0;
|
||||
out_6248826426686290177[1] = 0;
|
||||
out_6248826426686290177[2] = 0;
|
||||
out_6248826426686290177[3] = 0;
|
||||
out_6248826426686290177[4] = 0;
|
||||
out_6248826426686290177[5] = 0;
|
||||
out_6248826426686290177[6] = 0;
|
||||
out_6248826426686290177[7] = 1;
|
||||
out_6248826426686290177[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_3045472647621050594) {
|
||||
out_3045472647621050594[0] = 0;
|
||||
out_3045472647621050594[1] = 0;
|
||||
out_3045472647621050594[2] = 0;
|
||||
out_3045472647621050594[3] = 0;
|
||||
out_3045472647621050594[4] = 0;
|
||||
out_3045472647621050594[5] = 0;
|
||||
out_3045472647621050594[6] = 0;
|
||||
out_3045472647621050594[7] = 1;
|
||||
out_3045472647621050594[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_5014768938507376566) {
|
||||
out_5014768938507376566[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_7982300169478535334) {
|
||||
out_7982300169478535334[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_2234603921878957891) {
|
||||
out_2234603921878957891[0] = 0;
|
||||
out_2234603921878957891[1] = 0;
|
||||
out_2234603921878957891[2] = 0;
|
||||
out_2234603921878957891[3] = 1;
|
||||
out_2234603921878957891[4] = 0;
|
||||
out_2234603921878957891[5] = 0;
|
||||
out_2234603921878957891[6] = 0;
|
||||
out_2234603921878957891[7] = 0;
|
||||
out_2234603921878957891[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_84516324567073709) {
|
||||
out_84516324567073709[0] = 0;
|
||||
out_84516324567073709[1] = 0;
|
||||
out_84516324567073709[2] = 0;
|
||||
out_84516324567073709[3] = 1;
|
||||
out_84516324567073709[4] = 0;
|
||||
out_84516324567073709[5] = 0;
|
||||
out_84516324567073709[6] = 0;
|
||||
out_84516324567073709[7] = 0;
|
||||
out_84516324567073709[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_5550702484448125865) {
|
||||
out_5550702484448125865[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_3693608677880665346) {
|
||||
out_3693608677880665346[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_521241195009406858) {
|
||||
out_521241195009406858[0] = 0;
|
||||
out_521241195009406858[1] = 1;
|
||||
out_521241195009406858[2] = 0;
|
||||
out_521241195009406858[3] = 0;
|
||||
out_521241195009406858[4] = 0;
|
||||
out_521241195009406858[5] = 0;
|
||||
out_521241195009406858[6] = 0;
|
||||
out_521241195009406858[7] = 0;
|
||||
out_521241195009406858[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_2769510980681890804) {
|
||||
out_2769510980681890804[0] = 0;
|
||||
out_2769510980681890804[1] = 1;
|
||||
out_2769510980681890804[2] = 0;
|
||||
out_2769510980681890804[3] = 0;
|
||||
out_2769510980681890804[4] = 0;
|
||||
out_2769510980681890804[5] = 0;
|
||||
out_2769510980681890804[6] = 0;
|
||||
out_2769510980681890804[7] = 0;
|
||||
out_2769510980681890804[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_8430301867541329405) {
|
||||
out_8430301867541329405[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_9150043970554677071) {
|
||||
out_9150043970554677071[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_4561157822060123716) {
|
||||
out_4561157822060123716[0] = 1;
|
||||
out_4561157822060123716[1] = 0;
|
||||
out_4561157822060123716[2] = 0;
|
||||
out_4561157822060123716[3] = 0;
|
||||
out_4561157822060123716[4] = 0;
|
||||
out_4561157822060123716[5] = 0;
|
||||
out_4561157822060123716[6] = 0;
|
||||
out_4561157822060123716[7] = 0;
|
||||
out_4561157822060123716[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_4733141252247217055) {
|
||||
out_4733141252247217055[0] = 1;
|
||||
out_4733141252247217055[1] = 0;
|
||||
out_4733141252247217055[2] = 0;
|
||||
out_4733141252247217055[3] = 0;
|
||||
out_4733141252247217055[4] = 0;
|
||||
out_4733141252247217055[5] = 0;
|
||||
out_4733141252247217055[6] = 0;
|
||||
out_4733141252247217055[7] = 0;
|
||||
out_4733141252247217055[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_3624353857407491429) {
|
||||
out_3624353857407491429[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_1601087160141668985) {
|
||||
out_1601087160141668985[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_6875034528919641653) {
|
||||
out_6875034528919641653[0] = 0;
|
||||
out_6875034528919641653[1] = 0;
|
||||
out_6875034528919641653[2] = 0;
|
||||
out_6875034528919641653[3] = 0;
|
||||
out_6875034528919641653[4] = 0;
|
||||
out_6875034528919641653[5] = 0;
|
||||
out_6875034528919641653[6] = 0;
|
||||
out_6875034528919641653[7] = 0;
|
||||
out_6875034528919641653[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_2419264545387699118) {
|
||||
out_2419264545387699118[0] = 0;
|
||||
out_2419264545387699118[1] = 0;
|
||||
out_2419264545387699118[2] = 0;
|
||||
out_2419264545387699118[3] = 0;
|
||||
out_2419264545387699118[4] = 0;
|
||||
out_2419264545387699118[5] = 0;
|
||||
out_2419264545387699118[6] = 0;
|
||||
out_2419264545387699118[7] = 0;
|
||||
out_2419264545387699118[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_2541993810890450617) {
|
||||
err_fun(nom_x, delta_x, out_2541993810890450617);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6892109097522362188) {
|
||||
err_fun(nom_x, delta_x, out_6892109097522362188);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4007732744251149414) {
|
||||
inv_err_fun(nom_x, true_x, out_4007732744251149414);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5432001000781993507) {
|
||||
inv_err_fun(nom_x, true_x, out_5432001000781993507);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_6685865118100003284) {
|
||||
H_mod_fun(state, out_6685865118100003284);
|
||||
void car_H_mod_fun(double *state, double *out_1134362066478752987) {
|
||||
H_mod_fun(state, out_1134362066478752987);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_6974049569071864212) {
|
||||
f_fun(state, dt, out_6974049569071864212);
|
||||
void car_f_fun(double *state, double dt, double *out_9123630075498474389) {
|
||||
f_fun(state, dt, out_9123630075498474389);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_7385013454295441423) {
|
||||
F_fun(state, dt, out_7385013454295441423);
|
||||
void car_F_fun(double *state, double dt, double *out_5012636381780854897) {
|
||||
F_fun(state, dt, out_5012636381780854897);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_8051554989951709251) {
|
||||
h_25(state, unused, out_8051554989951709251);
|
||||
void car_h_25(double *state, double *unused, double *out_5169748066208681951) {
|
||||
h_25(state, unused, out_5169748066208681951);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_2507323107812233953) {
|
||||
H_25(state, unused, out_2507323107812233953);
|
||||
void car_H_25(double *state, double *unused, double *out_6786975966495106818) {
|
||||
H_25(state, unused, out_6786975966495106818);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_3112249856335132889) {
|
||||
h_24(state, unused, out_3112249856335132889);
|
||||
void car_h_24(double *state, double *unused, double *out_6620362679693609370) {
|
||||
h_24(state, unused, out_6620362679693609370);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_4679972706817733519) {
|
||||
H_24(state, unused, out_4679972706817733519);
|
||||
void car_H_24(double *state, double *unused, double *out_8101842508412121662) {
|
||||
H_24(state, unused, out_8101842508412121662);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_432221354858015888) {
|
||||
h_30(state, unused, out_432221354858015888);
|
||||
void car_h_30(double *state, double *unused, double *out_5326934734559811096) {
|
||||
h_30(state, unused, out_5326934734559811096);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_11009850695014674) {
|
||||
H_30(state, unused, out_11009850695014674);
|
||||
void car_H_30(double *state, double *unused, double *out_9141435148707196171) {
|
||||
H_30(state, unused, out_9141435148707196171);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_8837878174502242541) {
|
||||
h_26(state, unused, out_8837878174502242541);
|
||||
void car_h_26(double *state, double *unused, double *out_5930250619236288613) {
|
||||
h_26(state, unused, out_5930250619236288613);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6248826426686290177) {
|
||||
H_26(state, unused, out_6248826426686290177);
|
||||
void car_H_26(double *state, double *unused, double *out_3045472647621050594) {
|
||||
H_26(state, unused, out_3045472647621050594);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_5014768938507376566) {
|
||||
h_27(state, unused, out_5014768938507376566);
|
||||
void car_h_27(double *state, double *unused, double *out_7982300169478535334) {
|
||||
h_27(state, unused, out_7982300169478535334);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_2234603921878957891) {
|
||||
H_27(state, unused, out_2234603921878957891);
|
||||
void car_H_27(double *state, double *unused, double *out_84516324567073709) {
|
||||
H_27(state, unused, out_84516324567073709);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_5550702484448125865) {
|
||||
h_29(state, unused, out_5550702484448125865);
|
||||
void car_h_29(double *state, double *unused, double *out_3693608677880665346) {
|
||||
h_29(state, unused, out_3693608677880665346);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_521241195009406858) {
|
||||
H_29(state, unused, out_521241195009406858);
|
||||
void car_H_29(double *state, double *unused, double *out_2769510980681890804) {
|
||||
H_29(state, unused, out_2769510980681890804);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_8430301867541329405) {
|
||||
h_28(state, unused, out_8430301867541329405);
|
||||
void car_h_28(double *state, double *unused, double *out_9150043970554677071) {
|
||||
h_28(state, unused, out_9150043970554677071);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_4561157822060123716) {
|
||||
H_28(state, unused, out_4561157822060123716);
|
||||
void car_H_28(double *state, double *unused, double *out_4733141252247217055) {
|
||||
H_28(state, unused, out_4733141252247217055);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_3624353857407491429) {
|
||||
h_31(state, unused, out_3624353857407491429);
|
||||
void car_h_31(double *state, double *unused, double *out_1601087160141668985) {
|
||||
h_31(state, unused, out_1601087160141668985);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_6875034528919641653) {
|
||||
H_31(state, unused, out_6875034528919641653);
|
||||
void car_H_31(double *state, double *unused, double *out_2419264545387699118) {
|
||||
H_31(state, unused, out_2419264545387699118);
|
||||
}
|
||||
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_2541993810890450617);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4007732744251149414);
|
||||
void car_H_mod_fun(double *state, double *out_6685865118100003284);
|
||||
void car_f_fun(double *state, double dt, double *out_6974049569071864212);
|
||||
void car_F_fun(double *state, double dt, double *out_7385013454295441423);
|
||||
void car_h_25(double *state, double *unused, double *out_8051554989951709251);
|
||||
void car_H_25(double *state, double *unused, double *out_2507323107812233953);
|
||||
void car_h_24(double *state, double *unused, double *out_3112249856335132889);
|
||||
void car_H_24(double *state, double *unused, double *out_4679972706817733519);
|
||||
void car_h_30(double *state, double *unused, double *out_432221354858015888);
|
||||
void car_H_30(double *state, double *unused, double *out_11009850695014674);
|
||||
void car_h_26(double *state, double *unused, double *out_8837878174502242541);
|
||||
void car_H_26(double *state, double *unused, double *out_6248826426686290177);
|
||||
void car_h_27(double *state, double *unused, double *out_5014768938507376566);
|
||||
void car_H_27(double *state, double *unused, double *out_2234603921878957891);
|
||||
void car_h_29(double *state, double *unused, double *out_5550702484448125865);
|
||||
void car_H_29(double *state, double *unused, double *out_521241195009406858);
|
||||
void car_h_28(double *state, double *unused, double *out_8430301867541329405);
|
||||
void car_H_28(double *state, double *unused, double *out_4561157822060123716);
|
||||
void car_h_31(double *state, double *unused, double *out_3624353857407491429);
|
||||
void car_H_31(double *state, double *unused, double *out_6875034528919641653);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6892109097522362188);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5432001000781993507);
|
||||
void car_H_mod_fun(double *state, double *out_1134362066478752987);
|
||||
void car_f_fun(double *state, double dt, double *out_9123630075498474389);
|
||||
void car_F_fun(double *state, double dt, double *out_5012636381780854897);
|
||||
void car_h_25(double *state, double *unused, double *out_5169748066208681951);
|
||||
void car_H_25(double *state, double *unused, double *out_6786975966495106818);
|
||||
void car_h_24(double *state, double *unused, double *out_6620362679693609370);
|
||||
void car_H_24(double *state, double *unused, double *out_8101842508412121662);
|
||||
void car_h_30(double *state, double *unused, double *out_5326934734559811096);
|
||||
void car_H_30(double *state, double *unused, double *out_9141435148707196171);
|
||||
void car_h_26(double *state, double *unused, double *out_5930250619236288613);
|
||||
void car_H_26(double *state, double *unused, double *out_3045472647621050594);
|
||||
void car_h_27(double *state, double *unused, double *out_7982300169478535334);
|
||||
void car_H_27(double *state, double *unused, double *out_84516324567073709);
|
||||
void car_h_29(double *state, double *unused, double *out_3693608677880665346);
|
||||
void car_H_29(double *state, double *unused, double *out_2769510980681890804);
|
||||
void car_h_28(double *state, double *unused, double *out_9150043970554677071);
|
||||
void car_H_28(double *state, double *unused, double *out_4733141252247217055);
|
||||
void car_h_31(double *state, double *unused, double *out_1601087160141668985);
|
||||
void car_H_31(double *state, double *unused, double *out_2419264545387699118);
|
||||
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_3370172615713873468);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3634672358247053874);
|
||||
void pose_H_mod_fun(double *state, double *out_4326808709061064235);
|
||||
void pose_f_fun(double *state, double dt, double *out_4276772873746558675);
|
||||
void pose_F_fun(double *state, double dt, double *out_4500717382901464499);
|
||||
void pose_h_4(double *state, double *unused, double *out_5593213153040418665);
|
||||
void pose_H_4(double *state, double *unused, double *out_8098615918904971807);
|
||||
void pose_h_10(double *state, double *unused, double *out_665779804057694470);
|
||||
void pose_H_10(double *state, double *unused, double *out_1520950660944493368);
|
||||
void pose_h_13(double *state, double *unused, double *out_1559309075612614656);
|
||||
void pose_H_13(double *state, double *unused, double *out_8663217838586815911);
|
||||
void pose_h_14(double *state, double *unused, double *out_3210315045012193153);
|
||||
void pose_H_14(double *state, double *unused, double *out_5015827486609599511);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_2367672105654731741);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5219205296235492699);
|
||||
void pose_H_mod_fun(double *state, double *out_7701265832873588876);
|
||||
void pose_f_fun(double *state, double dt, double *out_2925592785824916722);
|
||||
void pose_F_fun(double *state, double dt, double *out_6409294416375959373);
|
||||
void pose_h_4(double *state, double *unused, double *out_915233285986441516);
|
||||
void pose_H_4(double *state, double *unused, double *out_8851967337240186650);
|
||||
void pose_h_10(double *state, double *unused, double *out_1698568734316977875);
|
||||
void pose_H_10(double *state, double *unused, double *out_2859565754749971930);
|
||||
void pose_h_13(double *state, double *unused, double *out_4058736517215946312);
|
||||
void pose_H_13(double *state, double *unused, double *out_6382502911137032165);
|
||||
void pose_h_14(double *state, double *unused, double *out_6181664354414385783);
|
||||
void pose_H_14(double *state, double *unused, double *out_8416850810595303051);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Binary file not shown.
Reference in New Issue
Block a user