mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-10-01 03:43:46 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
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extern const uint8_t gitversion[19];
|
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const uint8_t gitversion[19] = "DEV-5ff108af-DEBUG";
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const uint8_t gitversion[19] = "DEV-1c2aedcc-DEBUG";
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@@ -1 +1 @@
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DEV-5ff108af-DEBUG
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DEV-1c2aedcc-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_885257502884011965) {
|
||||
out_885257502884011965[0] = delta_x[0] + nom_x[0];
|
||||
out_885257502884011965[1] = delta_x[1] + nom_x[1];
|
||||
out_885257502884011965[2] = delta_x[2] + nom_x[2];
|
||||
out_885257502884011965[3] = delta_x[3] + nom_x[3];
|
||||
out_885257502884011965[4] = delta_x[4] + nom_x[4];
|
||||
out_885257502884011965[5] = delta_x[5] + nom_x[5];
|
||||
out_885257502884011965[6] = delta_x[6] + nom_x[6];
|
||||
out_885257502884011965[7] = delta_x[7] + nom_x[7];
|
||||
out_885257502884011965[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_488496692945809667) {
|
||||
out_488496692945809667[0] = delta_x[0] + nom_x[0];
|
||||
out_488496692945809667[1] = delta_x[1] + nom_x[1];
|
||||
out_488496692945809667[2] = delta_x[2] + nom_x[2];
|
||||
out_488496692945809667[3] = delta_x[3] + nom_x[3];
|
||||
out_488496692945809667[4] = delta_x[4] + nom_x[4];
|
||||
out_488496692945809667[5] = delta_x[5] + nom_x[5];
|
||||
out_488496692945809667[6] = delta_x[6] + nom_x[6];
|
||||
out_488496692945809667[7] = delta_x[7] + nom_x[7];
|
||||
out_488496692945809667[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_6192379265473109268) {
|
||||
out_6192379265473109268[0] = -nom_x[0] + true_x[0];
|
||||
out_6192379265473109268[1] = -nom_x[1] + true_x[1];
|
||||
out_6192379265473109268[2] = -nom_x[2] + true_x[2];
|
||||
out_6192379265473109268[3] = -nom_x[3] + true_x[3];
|
||||
out_6192379265473109268[4] = -nom_x[4] + true_x[4];
|
||||
out_6192379265473109268[5] = -nom_x[5] + true_x[5];
|
||||
out_6192379265473109268[6] = -nom_x[6] + true_x[6];
|
||||
out_6192379265473109268[7] = -nom_x[7] + true_x[7];
|
||||
out_6192379265473109268[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_4539209272711951056) {
|
||||
out_4539209272711951056[0] = -nom_x[0] + true_x[0];
|
||||
out_4539209272711951056[1] = -nom_x[1] + true_x[1];
|
||||
out_4539209272711951056[2] = -nom_x[2] + true_x[2];
|
||||
out_4539209272711951056[3] = -nom_x[3] + true_x[3];
|
||||
out_4539209272711951056[4] = -nom_x[4] + true_x[4];
|
||||
out_4539209272711951056[5] = -nom_x[5] + true_x[5];
|
||||
out_4539209272711951056[6] = -nom_x[6] + true_x[6];
|
||||
out_4539209272711951056[7] = -nom_x[7] + true_x[7];
|
||||
out_4539209272711951056[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_1067171112169386981) {
|
||||
out_1067171112169386981[0] = 1.0;
|
||||
out_1067171112169386981[1] = 0.0;
|
||||
out_1067171112169386981[2] = 0.0;
|
||||
out_1067171112169386981[3] = 0.0;
|
||||
out_1067171112169386981[4] = 0.0;
|
||||
out_1067171112169386981[5] = 0.0;
|
||||
out_1067171112169386981[6] = 0.0;
|
||||
out_1067171112169386981[7] = 0.0;
|
||||
out_1067171112169386981[8] = 0.0;
|
||||
out_1067171112169386981[9] = 0.0;
|
||||
out_1067171112169386981[10] = 1.0;
|
||||
out_1067171112169386981[11] = 0.0;
|
||||
out_1067171112169386981[12] = 0.0;
|
||||
out_1067171112169386981[13] = 0.0;
|
||||
out_1067171112169386981[14] = 0.0;
|
||||
out_1067171112169386981[15] = 0.0;
|
||||
out_1067171112169386981[16] = 0.0;
|
||||
out_1067171112169386981[17] = 0.0;
|
||||
out_1067171112169386981[18] = 0.0;
|
||||
out_1067171112169386981[19] = 0.0;
|
||||
out_1067171112169386981[20] = 1.0;
|
||||
out_1067171112169386981[21] = 0.0;
|
||||
out_1067171112169386981[22] = 0.0;
|
||||
out_1067171112169386981[23] = 0.0;
|
||||
out_1067171112169386981[24] = 0.0;
|
||||
out_1067171112169386981[25] = 0.0;
|
||||
out_1067171112169386981[26] = 0.0;
|
||||
out_1067171112169386981[27] = 0.0;
|
||||
out_1067171112169386981[28] = 0.0;
|
||||
out_1067171112169386981[29] = 0.0;
|
||||
out_1067171112169386981[30] = 1.0;
|
||||
out_1067171112169386981[31] = 0.0;
|
||||
out_1067171112169386981[32] = 0.0;
|
||||
out_1067171112169386981[33] = 0.0;
|
||||
out_1067171112169386981[34] = 0.0;
|
||||
out_1067171112169386981[35] = 0.0;
|
||||
out_1067171112169386981[36] = 0.0;
|
||||
out_1067171112169386981[37] = 0.0;
|
||||
out_1067171112169386981[38] = 0.0;
|
||||
out_1067171112169386981[39] = 0.0;
|
||||
out_1067171112169386981[40] = 1.0;
|
||||
out_1067171112169386981[41] = 0.0;
|
||||
out_1067171112169386981[42] = 0.0;
|
||||
out_1067171112169386981[43] = 0.0;
|
||||
out_1067171112169386981[44] = 0.0;
|
||||
out_1067171112169386981[45] = 0.0;
|
||||
out_1067171112169386981[46] = 0.0;
|
||||
out_1067171112169386981[47] = 0.0;
|
||||
out_1067171112169386981[48] = 0.0;
|
||||
out_1067171112169386981[49] = 0.0;
|
||||
out_1067171112169386981[50] = 1.0;
|
||||
out_1067171112169386981[51] = 0.0;
|
||||
out_1067171112169386981[52] = 0.0;
|
||||
out_1067171112169386981[53] = 0.0;
|
||||
out_1067171112169386981[54] = 0.0;
|
||||
out_1067171112169386981[55] = 0.0;
|
||||
out_1067171112169386981[56] = 0.0;
|
||||
out_1067171112169386981[57] = 0.0;
|
||||
out_1067171112169386981[58] = 0.0;
|
||||
out_1067171112169386981[59] = 0.0;
|
||||
out_1067171112169386981[60] = 1.0;
|
||||
out_1067171112169386981[61] = 0.0;
|
||||
out_1067171112169386981[62] = 0.0;
|
||||
out_1067171112169386981[63] = 0.0;
|
||||
out_1067171112169386981[64] = 0.0;
|
||||
out_1067171112169386981[65] = 0.0;
|
||||
out_1067171112169386981[66] = 0.0;
|
||||
out_1067171112169386981[67] = 0.0;
|
||||
out_1067171112169386981[68] = 0.0;
|
||||
out_1067171112169386981[69] = 0.0;
|
||||
out_1067171112169386981[70] = 1.0;
|
||||
out_1067171112169386981[71] = 0.0;
|
||||
out_1067171112169386981[72] = 0.0;
|
||||
out_1067171112169386981[73] = 0.0;
|
||||
out_1067171112169386981[74] = 0.0;
|
||||
out_1067171112169386981[75] = 0.0;
|
||||
out_1067171112169386981[76] = 0.0;
|
||||
out_1067171112169386981[77] = 0.0;
|
||||
out_1067171112169386981[78] = 0.0;
|
||||
out_1067171112169386981[79] = 0.0;
|
||||
out_1067171112169386981[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8602256134349546689) {
|
||||
out_8602256134349546689[0] = 1.0;
|
||||
out_8602256134349546689[1] = 0.0;
|
||||
out_8602256134349546689[2] = 0.0;
|
||||
out_8602256134349546689[3] = 0.0;
|
||||
out_8602256134349546689[4] = 0.0;
|
||||
out_8602256134349546689[5] = 0.0;
|
||||
out_8602256134349546689[6] = 0.0;
|
||||
out_8602256134349546689[7] = 0.0;
|
||||
out_8602256134349546689[8] = 0.0;
|
||||
out_8602256134349546689[9] = 0.0;
|
||||
out_8602256134349546689[10] = 1.0;
|
||||
out_8602256134349546689[11] = 0.0;
|
||||
out_8602256134349546689[12] = 0.0;
|
||||
out_8602256134349546689[13] = 0.0;
|
||||
out_8602256134349546689[14] = 0.0;
|
||||
out_8602256134349546689[15] = 0.0;
|
||||
out_8602256134349546689[16] = 0.0;
|
||||
out_8602256134349546689[17] = 0.0;
|
||||
out_8602256134349546689[18] = 0.0;
|
||||
out_8602256134349546689[19] = 0.0;
|
||||
out_8602256134349546689[20] = 1.0;
|
||||
out_8602256134349546689[21] = 0.0;
|
||||
out_8602256134349546689[22] = 0.0;
|
||||
out_8602256134349546689[23] = 0.0;
|
||||
out_8602256134349546689[24] = 0.0;
|
||||
out_8602256134349546689[25] = 0.0;
|
||||
out_8602256134349546689[26] = 0.0;
|
||||
out_8602256134349546689[27] = 0.0;
|
||||
out_8602256134349546689[28] = 0.0;
|
||||
out_8602256134349546689[29] = 0.0;
|
||||
out_8602256134349546689[30] = 1.0;
|
||||
out_8602256134349546689[31] = 0.0;
|
||||
out_8602256134349546689[32] = 0.0;
|
||||
out_8602256134349546689[33] = 0.0;
|
||||
out_8602256134349546689[34] = 0.0;
|
||||
out_8602256134349546689[35] = 0.0;
|
||||
out_8602256134349546689[36] = 0.0;
|
||||
out_8602256134349546689[37] = 0.0;
|
||||
out_8602256134349546689[38] = 0.0;
|
||||
out_8602256134349546689[39] = 0.0;
|
||||
out_8602256134349546689[40] = 1.0;
|
||||
out_8602256134349546689[41] = 0.0;
|
||||
out_8602256134349546689[42] = 0.0;
|
||||
out_8602256134349546689[43] = 0.0;
|
||||
out_8602256134349546689[44] = 0.0;
|
||||
out_8602256134349546689[45] = 0.0;
|
||||
out_8602256134349546689[46] = 0.0;
|
||||
out_8602256134349546689[47] = 0.0;
|
||||
out_8602256134349546689[48] = 0.0;
|
||||
out_8602256134349546689[49] = 0.0;
|
||||
out_8602256134349546689[50] = 1.0;
|
||||
out_8602256134349546689[51] = 0.0;
|
||||
out_8602256134349546689[52] = 0.0;
|
||||
out_8602256134349546689[53] = 0.0;
|
||||
out_8602256134349546689[54] = 0.0;
|
||||
out_8602256134349546689[55] = 0.0;
|
||||
out_8602256134349546689[56] = 0.0;
|
||||
out_8602256134349546689[57] = 0.0;
|
||||
out_8602256134349546689[58] = 0.0;
|
||||
out_8602256134349546689[59] = 0.0;
|
||||
out_8602256134349546689[60] = 1.0;
|
||||
out_8602256134349546689[61] = 0.0;
|
||||
out_8602256134349546689[62] = 0.0;
|
||||
out_8602256134349546689[63] = 0.0;
|
||||
out_8602256134349546689[64] = 0.0;
|
||||
out_8602256134349546689[65] = 0.0;
|
||||
out_8602256134349546689[66] = 0.0;
|
||||
out_8602256134349546689[67] = 0.0;
|
||||
out_8602256134349546689[68] = 0.0;
|
||||
out_8602256134349546689[69] = 0.0;
|
||||
out_8602256134349546689[70] = 1.0;
|
||||
out_8602256134349546689[71] = 0.0;
|
||||
out_8602256134349546689[72] = 0.0;
|
||||
out_8602256134349546689[73] = 0.0;
|
||||
out_8602256134349546689[74] = 0.0;
|
||||
out_8602256134349546689[75] = 0.0;
|
||||
out_8602256134349546689[76] = 0.0;
|
||||
out_8602256134349546689[77] = 0.0;
|
||||
out_8602256134349546689[78] = 0.0;
|
||||
out_8602256134349546689[79] = 0.0;
|
||||
out_8602256134349546689[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_6825209250572789160) {
|
||||
out_6825209250572789160[0] = state[0];
|
||||
out_6825209250572789160[1] = state[1];
|
||||
out_6825209250572789160[2] = state[2];
|
||||
out_6825209250572789160[3] = state[3];
|
||||
out_6825209250572789160[4] = state[4];
|
||||
out_6825209250572789160[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_6825209250572789160[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_6825209250572789160[7] = state[7];
|
||||
out_6825209250572789160[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_5404650696097251297) {
|
||||
out_5404650696097251297[0] = state[0];
|
||||
out_5404650696097251297[1] = state[1];
|
||||
out_5404650696097251297[2] = state[2];
|
||||
out_5404650696097251297[3] = state[3];
|
||||
out_5404650696097251297[4] = state[4];
|
||||
out_5404650696097251297[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_5404650696097251297[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_5404650696097251297[7] = state[7];
|
||||
out_5404650696097251297[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_1474779246882826642) {
|
||||
out_1474779246882826642[0] = 1;
|
||||
out_1474779246882826642[1] = 0;
|
||||
out_1474779246882826642[2] = 0;
|
||||
out_1474779246882826642[3] = 0;
|
||||
out_1474779246882826642[4] = 0;
|
||||
out_1474779246882826642[5] = 0;
|
||||
out_1474779246882826642[6] = 0;
|
||||
out_1474779246882826642[7] = 0;
|
||||
out_1474779246882826642[8] = 0;
|
||||
out_1474779246882826642[9] = 0;
|
||||
out_1474779246882826642[10] = 1;
|
||||
out_1474779246882826642[11] = 0;
|
||||
out_1474779246882826642[12] = 0;
|
||||
out_1474779246882826642[13] = 0;
|
||||
out_1474779246882826642[14] = 0;
|
||||
out_1474779246882826642[15] = 0;
|
||||
out_1474779246882826642[16] = 0;
|
||||
out_1474779246882826642[17] = 0;
|
||||
out_1474779246882826642[18] = 0;
|
||||
out_1474779246882826642[19] = 0;
|
||||
out_1474779246882826642[20] = 1;
|
||||
out_1474779246882826642[21] = 0;
|
||||
out_1474779246882826642[22] = 0;
|
||||
out_1474779246882826642[23] = 0;
|
||||
out_1474779246882826642[24] = 0;
|
||||
out_1474779246882826642[25] = 0;
|
||||
out_1474779246882826642[26] = 0;
|
||||
out_1474779246882826642[27] = 0;
|
||||
out_1474779246882826642[28] = 0;
|
||||
out_1474779246882826642[29] = 0;
|
||||
out_1474779246882826642[30] = 1;
|
||||
out_1474779246882826642[31] = 0;
|
||||
out_1474779246882826642[32] = 0;
|
||||
out_1474779246882826642[33] = 0;
|
||||
out_1474779246882826642[34] = 0;
|
||||
out_1474779246882826642[35] = 0;
|
||||
out_1474779246882826642[36] = 0;
|
||||
out_1474779246882826642[37] = 0;
|
||||
out_1474779246882826642[38] = 0;
|
||||
out_1474779246882826642[39] = 0;
|
||||
out_1474779246882826642[40] = 1;
|
||||
out_1474779246882826642[41] = 0;
|
||||
out_1474779246882826642[42] = 0;
|
||||
out_1474779246882826642[43] = 0;
|
||||
out_1474779246882826642[44] = 0;
|
||||
out_1474779246882826642[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_1474779246882826642[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_1474779246882826642[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1474779246882826642[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1474779246882826642[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_1474779246882826642[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_1474779246882826642[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_1474779246882826642[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1474779246882826642[53] = -9.8100000000000005*dt;
|
||||
out_1474779246882826642[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_1474779246882826642[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_1474779246882826642[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1474779246882826642[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1474779246882826642[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_1474779246882826642[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_1474779246882826642[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_1474779246882826642[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1474779246882826642[62] = 0;
|
||||
out_1474779246882826642[63] = 0;
|
||||
out_1474779246882826642[64] = 0;
|
||||
out_1474779246882826642[65] = 0;
|
||||
out_1474779246882826642[66] = 0;
|
||||
out_1474779246882826642[67] = 0;
|
||||
out_1474779246882826642[68] = 0;
|
||||
out_1474779246882826642[69] = 0;
|
||||
out_1474779246882826642[70] = 1;
|
||||
out_1474779246882826642[71] = 0;
|
||||
out_1474779246882826642[72] = 0;
|
||||
out_1474779246882826642[73] = 0;
|
||||
out_1474779246882826642[74] = 0;
|
||||
out_1474779246882826642[75] = 0;
|
||||
out_1474779246882826642[76] = 0;
|
||||
out_1474779246882826642[77] = 0;
|
||||
out_1474779246882826642[78] = 0;
|
||||
out_1474779246882826642[79] = 0;
|
||||
out_1474779246882826642[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_3720686995353807718) {
|
||||
out_3720686995353807718[0] = 1;
|
||||
out_3720686995353807718[1] = 0;
|
||||
out_3720686995353807718[2] = 0;
|
||||
out_3720686995353807718[3] = 0;
|
||||
out_3720686995353807718[4] = 0;
|
||||
out_3720686995353807718[5] = 0;
|
||||
out_3720686995353807718[6] = 0;
|
||||
out_3720686995353807718[7] = 0;
|
||||
out_3720686995353807718[8] = 0;
|
||||
out_3720686995353807718[9] = 0;
|
||||
out_3720686995353807718[10] = 1;
|
||||
out_3720686995353807718[11] = 0;
|
||||
out_3720686995353807718[12] = 0;
|
||||
out_3720686995353807718[13] = 0;
|
||||
out_3720686995353807718[14] = 0;
|
||||
out_3720686995353807718[15] = 0;
|
||||
out_3720686995353807718[16] = 0;
|
||||
out_3720686995353807718[17] = 0;
|
||||
out_3720686995353807718[18] = 0;
|
||||
out_3720686995353807718[19] = 0;
|
||||
out_3720686995353807718[20] = 1;
|
||||
out_3720686995353807718[21] = 0;
|
||||
out_3720686995353807718[22] = 0;
|
||||
out_3720686995353807718[23] = 0;
|
||||
out_3720686995353807718[24] = 0;
|
||||
out_3720686995353807718[25] = 0;
|
||||
out_3720686995353807718[26] = 0;
|
||||
out_3720686995353807718[27] = 0;
|
||||
out_3720686995353807718[28] = 0;
|
||||
out_3720686995353807718[29] = 0;
|
||||
out_3720686995353807718[30] = 1;
|
||||
out_3720686995353807718[31] = 0;
|
||||
out_3720686995353807718[32] = 0;
|
||||
out_3720686995353807718[33] = 0;
|
||||
out_3720686995353807718[34] = 0;
|
||||
out_3720686995353807718[35] = 0;
|
||||
out_3720686995353807718[36] = 0;
|
||||
out_3720686995353807718[37] = 0;
|
||||
out_3720686995353807718[38] = 0;
|
||||
out_3720686995353807718[39] = 0;
|
||||
out_3720686995353807718[40] = 1;
|
||||
out_3720686995353807718[41] = 0;
|
||||
out_3720686995353807718[42] = 0;
|
||||
out_3720686995353807718[43] = 0;
|
||||
out_3720686995353807718[44] = 0;
|
||||
out_3720686995353807718[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_3720686995353807718[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3720686995353807718[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3720686995353807718[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3720686995353807718[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_3720686995353807718[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3720686995353807718[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3720686995353807718[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3720686995353807718[53] = -9.8100000000000005*dt;
|
||||
out_3720686995353807718[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_3720686995353807718[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3720686995353807718[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3720686995353807718[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3720686995353807718[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_3720686995353807718[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3720686995353807718[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_3720686995353807718[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3720686995353807718[62] = 0;
|
||||
out_3720686995353807718[63] = 0;
|
||||
out_3720686995353807718[64] = 0;
|
||||
out_3720686995353807718[65] = 0;
|
||||
out_3720686995353807718[66] = 0;
|
||||
out_3720686995353807718[67] = 0;
|
||||
out_3720686995353807718[68] = 0;
|
||||
out_3720686995353807718[69] = 0;
|
||||
out_3720686995353807718[70] = 1;
|
||||
out_3720686995353807718[71] = 0;
|
||||
out_3720686995353807718[72] = 0;
|
||||
out_3720686995353807718[73] = 0;
|
||||
out_3720686995353807718[74] = 0;
|
||||
out_3720686995353807718[75] = 0;
|
||||
out_3720686995353807718[76] = 0;
|
||||
out_3720686995353807718[77] = 0;
|
||||
out_3720686995353807718[78] = 0;
|
||||
out_3720686995353807718[79] = 0;
|
||||
out_3720686995353807718[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_4524197194175300932) {
|
||||
out_4524197194175300932[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_2947196115150604911) {
|
||||
out_2947196115150604911[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_8126017113742850256) {
|
||||
out_8126017113742850256[0] = 0;
|
||||
out_8126017113742850256[1] = 0;
|
||||
out_8126017113742850256[2] = 0;
|
||||
out_8126017113742850256[3] = 0;
|
||||
out_8126017113742850256[4] = 0;
|
||||
out_8126017113742850256[5] = 0;
|
||||
out_8126017113742850256[6] = 1;
|
||||
out_8126017113742850256[7] = 0;
|
||||
out_8126017113742850256[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_5079207495704181541) {
|
||||
out_5079207495704181541[0] = 0;
|
||||
out_5079207495704181541[1] = 0;
|
||||
out_5079207495704181541[2] = 0;
|
||||
out_5079207495704181541[3] = 0;
|
||||
out_5079207495704181541[4] = 0;
|
||||
out_5079207495704181541[5] = 0;
|
||||
out_5079207495704181541[6] = 1;
|
||||
out_5079207495704181541[7] = 0;
|
||||
out_5079207495704181541[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7846417075360830243) {
|
||||
out_7846417075360830243[0] = state[4];
|
||||
out_7846417075360830243[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_5743512623925098853) {
|
||||
out_5743512623925098853[0] = state[4];
|
||||
out_5743512623925098853[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_5500405455310713097) {
|
||||
out_5500405455310713097[0] = 0;
|
||||
out_5500405455310713097[1] = 0;
|
||||
out_5500405455310713097[2] = 0;
|
||||
out_5500405455310713097[3] = 0;
|
||||
out_5500405455310713097[4] = 1;
|
||||
out_5500405455310713097[5] = 0;
|
||||
out_5500405455310713097[6] = 0;
|
||||
out_5500405455310713097[7] = 0;
|
||||
out_5500405455310713097[8] = 0;
|
||||
out_5500405455310713097[9] = 0;
|
||||
out_5500405455310713097[10] = 0;
|
||||
out_5500405455310713097[11] = 0;
|
||||
out_5500405455310713097[12] = 0;
|
||||
out_5500405455310713097[13] = 0;
|
||||
out_5500405455310713097[14] = 1;
|
||||
out_5500405455310713097[15] = 0;
|
||||
out_5500405455310713097[16] = 0;
|
||||
out_5500405455310713097[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_8637133094506504677) {
|
||||
out_8637133094506504677[0] = 0;
|
||||
out_8637133094506504677[1] = 0;
|
||||
out_8637133094506504677[2] = 0;
|
||||
out_8637133094506504677[3] = 0;
|
||||
out_8637133094506504677[4] = 1;
|
||||
out_8637133094506504677[5] = 0;
|
||||
out_8637133094506504677[6] = 0;
|
||||
out_8637133094506504677[7] = 0;
|
||||
out_8637133094506504677[8] = 0;
|
||||
out_8637133094506504677[9] = 0;
|
||||
out_8637133094506504677[10] = 0;
|
||||
out_8637133094506504677[11] = 0;
|
||||
out_8637133094506504677[12] = 0;
|
||||
out_8637133094506504677[13] = 0;
|
||||
out_8637133094506504677[14] = 1;
|
||||
out_8637133094506504677[15] = 0;
|
||||
out_8637133094506504677[16] = 0;
|
||||
out_8637133094506504677[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_4249003131890795043) {
|
||||
out_4249003131890795043[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_1496564722521721744) {
|
||||
out_1496564722521721744[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_8255356060886090326) {
|
||||
out_8255356060886090326[0] = 0;
|
||||
out_8255356060886090326[1] = 0;
|
||||
out_8255356060886090326[2] = 0;
|
||||
out_8255356060886090326[3] = 0;
|
||||
out_8255356060886090326[4] = 1;
|
||||
out_8255356060886090326[5] = 0;
|
||||
out_8255356060886090326[6] = 0;
|
||||
out_8255356060886090326[7] = 0;
|
||||
out_8255356060886090326[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6450846236513753320) {
|
||||
out_6450846236513753320[0] = 0;
|
||||
out_6450846236513753320[1] = 0;
|
||||
out_6450846236513753320[2] = 0;
|
||||
out_6450846236513753320[3] = 0;
|
||||
out_6450846236513753320[4] = 1;
|
||||
out_6450846236513753320[5] = 0;
|
||||
out_6450846236513753320[6] = 0;
|
||||
out_6450846236513753320[7] = 0;
|
||||
out_6450846236513753320[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_4941641912900521878) {
|
||||
out_4941641912900521878[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_7752389444480768998) {
|
||||
out_7752389444480768998[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6579223641092645136) {
|
||||
out_6579223641092645136[0] = 0;
|
||||
out_6579223641092645136[1] = 0;
|
||||
out_6579223641092645136[2] = 0;
|
||||
out_6579223641092645136[3] = 0;
|
||||
out_6579223641092645136[4] = 0;
|
||||
out_6579223641092645136[5] = 0;
|
||||
out_6579223641092645136[6] = 0;
|
||||
out_6579223641092645136[7] = 1;
|
||||
out_6579223641092645136[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_8383733465464982142) {
|
||||
out_8383733465464982142[0] = 0;
|
||||
out_8383733465464982142[1] = 0;
|
||||
out_8383733465464982142[2] = 0;
|
||||
out_8383733465464982142[3] = 0;
|
||||
out_8383733465464982142[4] = 0;
|
||||
out_8383733465464982142[5] = 0;
|
||||
out_8383733465464982142[6] = 0;
|
||||
out_8383733465464982142[7] = 1;
|
||||
out_8383733465464982142[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_8854285503439050117) {
|
||||
out_8854285503439050117[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_6576952114136391720) {
|
||||
out_6576952114136391720[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_8016624701023036379) {
|
||||
out_8016624701023036379[0] = 0;
|
||||
out_8016624701023036379[1] = 0;
|
||||
out_8016624701023036379[2] = 0;
|
||||
out_8016624701023036379[3] = 1;
|
||||
out_8016624701023036379[4] = 0;
|
||||
out_8016624701023036379[5] = 0;
|
||||
out_8016624701023036379[6] = 0;
|
||||
out_8016624701023036379[7] = 0;
|
||||
out_8016624701023036379[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_8625609548314178231) {
|
||||
out_8625609548314178231[0] = 0;
|
||||
out_8625609548314178231[1] = 0;
|
||||
out_8625609548314178231[2] = 0;
|
||||
out_8625609548314178231[3] = 1;
|
||||
out_8625609548314178231[4] = 0;
|
||||
out_8625609548314178231[5] = 0;
|
||||
out_8625609548314178231[6] = 0;
|
||||
out_8625609548314178231[7] = 0;
|
||||
out_8625609548314178231[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_6762597507390055760) {
|
||||
out_6762597507390055760[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_6498237990182567389) {
|
||||
out_6498237990182567389[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_7745124716571698142) {
|
||||
out_7745124716571698142[0] = 0;
|
||||
out_7745124716571698142[1] = 1;
|
||||
out_7745124716571698142[2] = 0;
|
||||
out_7745124716571698142[3] = 0;
|
||||
out_7745124716571698142[4] = 0;
|
||||
out_7745124716571698142[5] = 0;
|
||||
out_7745124716571698142[6] = 0;
|
||||
out_7745124716571698142[7] = 0;
|
||||
out_7745124716571698142[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_5940614892199361136) {
|
||||
out_5940614892199361136[0] = 0;
|
||||
out_5940614892199361136[1] = 1;
|
||||
out_5940614892199361136[2] = 0;
|
||||
out_5940614892199361136[3] = 0;
|
||||
out_5940614892199361136[4] = 0;
|
||||
out_5940614892199361136[5] = 0;
|
||||
out_5940614892199361136[6] = 0;
|
||||
out_5940614892199361136[7] = 0;
|
||||
out_5940614892199361136[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_4366551354435176552) {
|
||||
out_4366551354435176552[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_6868118691912314251) {
|
||||
out_6868118691912314251[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_5619220340068322900) {
|
||||
out_5619220340068322900[0] = 1;
|
||||
out_5619220340068322900[1] = 0;
|
||||
out_5619220340068322900[2] = 0;
|
||||
out_5619220340068322900[3] = 0;
|
||||
out_5619220340068322900[4] = 0;
|
||||
out_5619220340068322900[5] = 0;
|
||||
out_5619220340068322900[6] = 0;
|
||||
out_5619220340068322900[7] = 0;
|
||||
out_5619220340068322900[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_3025372781456291778) {
|
||||
out_3025372781456291778[0] = 1;
|
||||
out_3025372781456291778[1] = 0;
|
||||
out_3025372781456291778[2] = 0;
|
||||
out_3025372781456291778[3] = 0;
|
||||
out_3025372781456291778[4] = 0;
|
||||
out_3025372781456291778[5] = 0;
|
||||
out_3025372781456291778[6] = 0;
|
||||
out_3025372781456291778[7] = 0;
|
||||
out_3025372781456291778[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_4613520090508550250) {
|
||||
out_4613520090508550250[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_8728712732208595769) {
|
||||
out_8728712732208595769[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_8095371151865889828) {
|
||||
out_8095371151865889828[0] = 0;
|
||||
out_8095371151865889828[1] = 0;
|
||||
out_8095371151865889828[2] = 0;
|
||||
out_8095371151865889828[3] = 0;
|
||||
out_8095371151865889828[4] = 0;
|
||||
out_8095371151865889828[5] = 0;
|
||||
out_8095371151865889828[6] = 0;
|
||||
out_8095371151865889828[7] = 0;
|
||||
out_8095371151865889828[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6290861327493552822) {
|
||||
out_6290861327493552822[0] = 0;
|
||||
out_6290861327493552822[1] = 0;
|
||||
out_6290861327493552822[2] = 0;
|
||||
out_6290861327493552822[3] = 0;
|
||||
out_6290861327493552822[4] = 0;
|
||||
out_6290861327493552822[5] = 0;
|
||||
out_6290861327493552822[6] = 0;
|
||||
out_6290861327493552822[7] = 0;
|
||||
out_6290861327493552822[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_885257502884011965) {
|
||||
err_fun(nom_x, delta_x, out_885257502884011965);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_488496692945809667) {
|
||||
err_fun(nom_x, delta_x, out_488496692945809667);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6192379265473109268) {
|
||||
inv_err_fun(nom_x, true_x, out_6192379265473109268);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4539209272711951056) {
|
||||
inv_err_fun(nom_x, true_x, out_4539209272711951056);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_1067171112169386981) {
|
||||
H_mod_fun(state, out_1067171112169386981);
|
||||
void car_H_mod_fun(double *state, double *out_8602256134349546689) {
|
||||
H_mod_fun(state, out_8602256134349546689);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_6825209250572789160) {
|
||||
f_fun(state, dt, out_6825209250572789160);
|
||||
void car_f_fun(double *state, double dt, double *out_5404650696097251297) {
|
||||
f_fun(state, dt, out_5404650696097251297);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_1474779246882826642) {
|
||||
F_fun(state, dt, out_1474779246882826642);
|
||||
void car_F_fun(double *state, double dt, double *out_3720686995353807718) {
|
||||
F_fun(state, dt, out_3720686995353807718);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_4524197194175300932) {
|
||||
h_25(state, unused, out_4524197194175300932);
|
||||
void car_h_25(double *state, double *unused, double *out_2947196115150604911) {
|
||||
h_25(state, unused, out_2947196115150604911);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_8126017113742850256) {
|
||||
H_25(state, unused, out_8126017113742850256);
|
||||
void car_H_25(double *state, double *unused, double *out_5079207495704181541) {
|
||||
H_25(state, unused, out_5079207495704181541);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7846417075360830243) {
|
||||
h_24(state, unused, out_7846417075360830243);
|
||||
void car_h_24(double *state, double *unused, double *out_5743512623925098853) {
|
||||
h_24(state, unused, out_5743512623925098853);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_5500405455310713097) {
|
||||
H_24(state, unused, out_5500405455310713097);
|
||||
void car_H_24(double *state, double *unused, double *out_8637133094506504677) {
|
||||
H_24(state, unused, out_8637133094506504677);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_4249003131890795043) {
|
||||
h_30(state, unused, out_4249003131890795043);
|
||||
void car_h_30(double *state, double *unused, double *out_1496564722521721744) {
|
||||
h_30(state, unused, out_1496564722521721744);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_8255356060886090326) {
|
||||
H_30(state, unused, out_8255356060886090326);
|
||||
void car_H_30(double *state, double *unused, double *out_6450846236513753320) {
|
||||
H_30(state, unused, out_6450846236513753320);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_4941641912900521878) {
|
||||
h_26(state, unused, out_4941641912900521878);
|
||||
void car_h_26(double *state, double *unused, double *out_7752389444480768998) {
|
||||
h_26(state, unused, out_7752389444480768998);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6579223641092645136) {
|
||||
H_26(state, unused, out_6579223641092645136);
|
||||
void car_H_26(double *state, double *unused, double *out_8383733465464982142) {
|
||||
H_26(state, unused, out_8383733465464982142);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_8854285503439050117) {
|
||||
h_27(state, unused, out_8854285503439050117);
|
||||
void car_h_27(double *state, double *unused, double *out_6576952114136391720) {
|
||||
h_27(state, unused, out_6576952114136391720);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_8016624701023036379) {
|
||||
H_27(state, unused, out_8016624701023036379);
|
||||
void car_H_27(double *state, double *unused, double *out_8625609548314178231) {
|
||||
H_27(state, unused, out_8625609548314178231);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_6762597507390055760) {
|
||||
h_29(state, unused, out_6762597507390055760);
|
||||
void car_h_29(double *state, double *unused, double *out_6498237990182567389) {
|
||||
h_29(state, unused, out_6498237990182567389);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_7745124716571698142) {
|
||||
H_29(state, unused, out_7745124716571698142);
|
||||
void car_H_29(double *state, double *unused, double *out_5940614892199361136) {
|
||||
H_29(state, unused, out_5940614892199361136);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_4366551354435176552) {
|
||||
h_28(state, unused, out_4366551354435176552);
|
||||
void car_h_28(double *state, double *unused, double *out_6868118691912314251) {
|
||||
h_28(state, unused, out_6868118691912314251);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_5619220340068322900) {
|
||||
H_28(state, unused, out_5619220340068322900);
|
||||
void car_H_28(double *state, double *unused, double *out_3025372781456291778) {
|
||||
H_28(state, unused, out_3025372781456291778);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_4613520090508550250) {
|
||||
h_31(state, unused, out_4613520090508550250);
|
||||
void car_h_31(double *state, double *unused, double *out_8728712732208595769) {
|
||||
h_31(state, unused, out_8728712732208595769);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_8095371151865889828) {
|
||||
H_31(state, unused, out_8095371151865889828);
|
||||
void car_H_31(double *state, double *unused, double *out_6290861327493552822) {
|
||||
H_31(state, unused, out_6290861327493552822);
|
||||
}
|
||||
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_885257502884011965);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6192379265473109268);
|
||||
void car_H_mod_fun(double *state, double *out_1067171112169386981);
|
||||
void car_f_fun(double *state, double dt, double *out_6825209250572789160);
|
||||
void car_F_fun(double *state, double dt, double *out_1474779246882826642);
|
||||
void car_h_25(double *state, double *unused, double *out_4524197194175300932);
|
||||
void car_H_25(double *state, double *unused, double *out_8126017113742850256);
|
||||
void car_h_24(double *state, double *unused, double *out_7846417075360830243);
|
||||
void car_H_24(double *state, double *unused, double *out_5500405455310713097);
|
||||
void car_h_30(double *state, double *unused, double *out_4249003131890795043);
|
||||
void car_H_30(double *state, double *unused, double *out_8255356060886090326);
|
||||
void car_h_26(double *state, double *unused, double *out_4941641912900521878);
|
||||
void car_H_26(double *state, double *unused, double *out_6579223641092645136);
|
||||
void car_h_27(double *state, double *unused, double *out_8854285503439050117);
|
||||
void car_H_27(double *state, double *unused, double *out_8016624701023036379);
|
||||
void car_h_29(double *state, double *unused, double *out_6762597507390055760);
|
||||
void car_H_29(double *state, double *unused, double *out_7745124716571698142);
|
||||
void car_h_28(double *state, double *unused, double *out_4366551354435176552);
|
||||
void car_H_28(double *state, double *unused, double *out_5619220340068322900);
|
||||
void car_h_31(double *state, double *unused, double *out_4613520090508550250);
|
||||
void car_H_31(double *state, double *unused, double *out_8095371151865889828);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_488496692945809667);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4539209272711951056);
|
||||
void car_H_mod_fun(double *state, double *out_8602256134349546689);
|
||||
void car_f_fun(double *state, double dt, double *out_5404650696097251297);
|
||||
void car_F_fun(double *state, double dt, double *out_3720686995353807718);
|
||||
void car_h_25(double *state, double *unused, double *out_2947196115150604911);
|
||||
void car_H_25(double *state, double *unused, double *out_5079207495704181541);
|
||||
void car_h_24(double *state, double *unused, double *out_5743512623925098853);
|
||||
void car_H_24(double *state, double *unused, double *out_8637133094506504677);
|
||||
void car_h_30(double *state, double *unused, double *out_1496564722521721744);
|
||||
void car_H_30(double *state, double *unused, double *out_6450846236513753320);
|
||||
void car_h_26(double *state, double *unused, double *out_7752389444480768998);
|
||||
void car_H_26(double *state, double *unused, double *out_8383733465464982142);
|
||||
void car_h_27(double *state, double *unused, double *out_6576952114136391720);
|
||||
void car_H_27(double *state, double *unused, double *out_8625609548314178231);
|
||||
void car_h_29(double *state, double *unused, double *out_6498237990182567389);
|
||||
void car_H_29(double *state, double *unused, double *out_5940614892199361136);
|
||||
void car_h_28(double *state, double *unused, double *out_6868118691912314251);
|
||||
void car_H_28(double *state, double *unused, double *out_3025372781456291778);
|
||||
void car_h_31(double *state, double *unused, double *out_8728712732208595769);
|
||||
void car_H_31(double *state, double *unused, double *out_6290861327493552822);
|
||||
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_4294292118997978771);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4013254910072164359);
|
||||
void pose_H_mod_fun(double *state, double *out_896657555631845271);
|
||||
void pose_f_fun(double *state, double dt, double *out_8443743878960458350);
|
||||
void pose_F_fun(double *state, double dt, double *out_8213357667145446301);
|
||||
void pose_h_4(double *state, double *unused, double *out_70651799205578182);
|
||||
void pose_H_4(double *state, double *unused, double *out_6049175940670926006);
|
||||
void pose_h_10(double *state, double *unused, double *out_3996731865855353315);
|
||||
void pose_H_10(double *state, double *unused, double *out_1029675721885226562);
|
||||
void pose_h_13(double *state, double *unused, double *out_5486873982549130902);
|
||||
void pose_H_13(double *state, double *unused, double *out_9185294307706292809);
|
||||
void pose_h_14(double *state, double *unused, double *out_5889763171134805790);
|
||||
void pose_H_14(double *state, double *unused, double *out_8434327276699141081);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_486750963754107954);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1555487183493314770);
|
||||
void pose_H_mod_fun(double *state, double *out_2668724034635220264);
|
||||
void pose_f_fun(double *state, double dt, double *out_9201625055442330332);
|
||||
void pose_F_fun(double *state, double dt, double *out_435223935958301203);
|
||||
void pose_h_4(double *state, double *unused, double *out_6259395131604772748);
|
||||
void pose_H_4(double *state, double *unused, double *out_4488422760541517125);
|
||||
void pose_h_10(double *state, double *unused, double *out_8979834360034398189);
|
||||
void pose_H_10(double *state, double *unused, double *out_5518597412603733548);
|
||||
void pose_h_13(double *state, double *unused, double *out_627396395224579253);
|
||||
void pose_H_13(double *state, double *unused, double *out_1276148935209184324);
|
||||
void pose_h_14(double *state, double *unused, double *out_7453788352524990403);
|
||||
void pose_H_14(double *state, double *unused, double *out_7571211192836889421);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
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Reference in New Issue
Block a user