mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-02 22:23:42 +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-ec64617f-DEBUG";
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const uint8_t gitversion[19] = "DEV-3fb2bcdc-DEBUG";
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||||
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||||
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@@ -1 +1 @@
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DEV-ec64617f-DEBUG
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DEV-3fb2bcdc-DEBUG
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
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* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_1982741958495934934) {
|
||||
out_1982741958495934934[0] = delta_x[0] + nom_x[0];
|
||||
out_1982741958495934934[1] = delta_x[1] + nom_x[1];
|
||||
out_1982741958495934934[2] = delta_x[2] + nom_x[2];
|
||||
out_1982741958495934934[3] = delta_x[3] + nom_x[3];
|
||||
out_1982741958495934934[4] = delta_x[4] + nom_x[4];
|
||||
out_1982741958495934934[5] = delta_x[5] + nom_x[5];
|
||||
out_1982741958495934934[6] = delta_x[6] + nom_x[6];
|
||||
out_1982741958495934934[7] = delta_x[7] + nom_x[7];
|
||||
out_1982741958495934934[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_7311248151803822396) {
|
||||
out_7311248151803822396[0] = delta_x[0] + nom_x[0];
|
||||
out_7311248151803822396[1] = delta_x[1] + nom_x[1];
|
||||
out_7311248151803822396[2] = delta_x[2] + nom_x[2];
|
||||
out_7311248151803822396[3] = delta_x[3] + nom_x[3];
|
||||
out_7311248151803822396[4] = delta_x[4] + nom_x[4];
|
||||
out_7311248151803822396[5] = delta_x[5] + nom_x[5];
|
||||
out_7311248151803822396[6] = delta_x[6] + nom_x[6];
|
||||
out_7311248151803822396[7] = delta_x[7] + nom_x[7];
|
||||
out_7311248151803822396[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805) {
|
||||
out_1965858196176103805[0] = -nom_x[0] + true_x[0];
|
||||
out_1965858196176103805[1] = -nom_x[1] + true_x[1];
|
||||
out_1965858196176103805[2] = -nom_x[2] + true_x[2];
|
||||
out_1965858196176103805[3] = -nom_x[3] + true_x[3];
|
||||
out_1965858196176103805[4] = -nom_x[4] + true_x[4];
|
||||
out_1965858196176103805[5] = -nom_x[5] + true_x[5];
|
||||
out_1965858196176103805[6] = -nom_x[6] + true_x[6];
|
||||
out_1965858196176103805[7] = -nom_x[7] + true_x[7];
|
||||
out_1965858196176103805[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501) {
|
||||
out_5602719869542378501[0] = -nom_x[0] + true_x[0];
|
||||
out_5602719869542378501[1] = -nom_x[1] + true_x[1];
|
||||
out_5602719869542378501[2] = -nom_x[2] + true_x[2];
|
||||
out_5602719869542378501[3] = -nom_x[3] + true_x[3];
|
||||
out_5602719869542378501[4] = -nom_x[4] + true_x[4];
|
||||
out_5602719869542378501[5] = -nom_x[5] + true_x[5];
|
||||
out_5602719869542378501[6] = -nom_x[6] + true_x[6];
|
||||
out_5602719869542378501[7] = -nom_x[7] + true_x[7];
|
||||
out_5602719869542378501[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_7322816943518629238) {
|
||||
out_7322816943518629238[0] = 1.0;
|
||||
out_7322816943518629238[1] = 0.0;
|
||||
out_7322816943518629238[2] = 0.0;
|
||||
out_7322816943518629238[3] = 0.0;
|
||||
out_7322816943518629238[4] = 0.0;
|
||||
out_7322816943518629238[5] = 0.0;
|
||||
out_7322816943518629238[6] = 0.0;
|
||||
out_7322816943518629238[7] = 0.0;
|
||||
out_7322816943518629238[8] = 0.0;
|
||||
out_7322816943518629238[9] = 0.0;
|
||||
out_7322816943518629238[10] = 1.0;
|
||||
out_7322816943518629238[11] = 0.0;
|
||||
out_7322816943518629238[12] = 0.0;
|
||||
out_7322816943518629238[13] = 0.0;
|
||||
out_7322816943518629238[14] = 0.0;
|
||||
out_7322816943518629238[15] = 0.0;
|
||||
out_7322816943518629238[16] = 0.0;
|
||||
out_7322816943518629238[17] = 0.0;
|
||||
out_7322816943518629238[18] = 0.0;
|
||||
out_7322816943518629238[19] = 0.0;
|
||||
out_7322816943518629238[20] = 1.0;
|
||||
out_7322816943518629238[21] = 0.0;
|
||||
out_7322816943518629238[22] = 0.0;
|
||||
out_7322816943518629238[23] = 0.0;
|
||||
out_7322816943518629238[24] = 0.0;
|
||||
out_7322816943518629238[25] = 0.0;
|
||||
out_7322816943518629238[26] = 0.0;
|
||||
out_7322816943518629238[27] = 0.0;
|
||||
out_7322816943518629238[28] = 0.0;
|
||||
out_7322816943518629238[29] = 0.0;
|
||||
out_7322816943518629238[30] = 1.0;
|
||||
out_7322816943518629238[31] = 0.0;
|
||||
out_7322816943518629238[32] = 0.0;
|
||||
out_7322816943518629238[33] = 0.0;
|
||||
out_7322816943518629238[34] = 0.0;
|
||||
out_7322816943518629238[35] = 0.0;
|
||||
out_7322816943518629238[36] = 0.0;
|
||||
out_7322816943518629238[37] = 0.0;
|
||||
out_7322816943518629238[38] = 0.0;
|
||||
out_7322816943518629238[39] = 0.0;
|
||||
out_7322816943518629238[40] = 1.0;
|
||||
out_7322816943518629238[41] = 0.0;
|
||||
out_7322816943518629238[42] = 0.0;
|
||||
out_7322816943518629238[43] = 0.0;
|
||||
out_7322816943518629238[44] = 0.0;
|
||||
out_7322816943518629238[45] = 0.0;
|
||||
out_7322816943518629238[46] = 0.0;
|
||||
out_7322816943518629238[47] = 0.0;
|
||||
out_7322816943518629238[48] = 0.0;
|
||||
out_7322816943518629238[49] = 0.0;
|
||||
out_7322816943518629238[50] = 1.0;
|
||||
out_7322816943518629238[51] = 0.0;
|
||||
out_7322816943518629238[52] = 0.0;
|
||||
out_7322816943518629238[53] = 0.0;
|
||||
out_7322816943518629238[54] = 0.0;
|
||||
out_7322816943518629238[55] = 0.0;
|
||||
out_7322816943518629238[56] = 0.0;
|
||||
out_7322816943518629238[57] = 0.0;
|
||||
out_7322816943518629238[58] = 0.0;
|
||||
out_7322816943518629238[59] = 0.0;
|
||||
out_7322816943518629238[60] = 1.0;
|
||||
out_7322816943518629238[61] = 0.0;
|
||||
out_7322816943518629238[62] = 0.0;
|
||||
out_7322816943518629238[63] = 0.0;
|
||||
out_7322816943518629238[64] = 0.0;
|
||||
out_7322816943518629238[65] = 0.0;
|
||||
out_7322816943518629238[66] = 0.0;
|
||||
out_7322816943518629238[67] = 0.0;
|
||||
out_7322816943518629238[68] = 0.0;
|
||||
out_7322816943518629238[69] = 0.0;
|
||||
out_7322816943518629238[70] = 1.0;
|
||||
out_7322816943518629238[71] = 0.0;
|
||||
out_7322816943518629238[72] = 0.0;
|
||||
out_7322816943518629238[73] = 0.0;
|
||||
out_7322816943518629238[74] = 0.0;
|
||||
out_7322816943518629238[75] = 0.0;
|
||||
out_7322816943518629238[76] = 0.0;
|
||||
out_7322816943518629238[77] = 0.0;
|
||||
out_7322816943518629238[78] = 0.0;
|
||||
out_7322816943518629238[79] = 0.0;
|
||||
out_7322816943518629238[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_6859429191092688662) {
|
||||
out_6859429191092688662[0] = 1.0;
|
||||
out_6859429191092688662[1] = 0.0;
|
||||
out_6859429191092688662[2] = 0.0;
|
||||
out_6859429191092688662[3] = 0.0;
|
||||
out_6859429191092688662[4] = 0.0;
|
||||
out_6859429191092688662[5] = 0.0;
|
||||
out_6859429191092688662[6] = 0.0;
|
||||
out_6859429191092688662[7] = 0.0;
|
||||
out_6859429191092688662[8] = 0.0;
|
||||
out_6859429191092688662[9] = 0.0;
|
||||
out_6859429191092688662[10] = 1.0;
|
||||
out_6859429191092688662[11] = 0.0;
|
||||
out_6859429191092688662[12] = 0.0;
|
||||
out_6859429191092688662[13] = 0.0;
|
||||
out_6859429191092688662[14] = 0.0;
|
||||
out_6859429191092688662[15] = 0.0;
|
||||
out_6859429191092688662[16] = 0.0;
|
||||
out_6859429191092688662[17] = 0.0;
|
||||
out_6859429191092688662[18] = 0.0;
|
||||
out_6859429191092688662[19] = 0.0;
|
||||
out_6859429191092688662[20] = 1.0;
|
||||
out_6859429191092688662[21] = 0.0;
|
||||
out_6859429191092688662[22] = 0.0;
|
||||
out_6859429191092688662[23] = 0.0;
|
||||
out_6859429191092688662[24] = 0.0;
|
||||
out_6859429191092688662[25] = 0.0;
|
||||
out_6859429191092688662[26] = 0.0;
|
||||
out_6859429191092688662[27] = 0.0;
|
||||
out_6859429191092688662[28] = 0.0;
|
||||
out_6859429191092688662[29] = 0.0;
|
||||
out_6859429191092688662[30] = 1.0;
|
||||
out_6859429191092688662[31] = 0.0;
|
||||
out_6859429191092688662[32] = 0.0;
|
||||
out_6859429191092688662[33] = 0.0;
|
||||
out_6859429191092688662[34] = 0.0;
|
||||
out_6859429191092688662[35] = 0.0;
|
||||
out_6859429191092688662[36] = 0.0;
|
||||
out_6859429191092688662[37] = 0.0;
|
||||
out_6859429191092688662[38] = 0.0;
|
||||
out_6859429191092688662[39] = 0.0;
|
||||
out_6859429191092688662[40] = 1.0;
|
||||
out_6859429191092688662[41] = 0.0;
|
||||
out_6859429191092688662[42] = 0.0;
|
||||
out_6859429191092688662[43] = 0.0;
|
||||
out_6859429191092688662[44] = 0.0;
|
||||
out_6859429191092688662[45] = 0.0;
|
||||
out_6859429191092688662[46] = 0.0;
|
||||
out_6859429191092688662[47] = 0.0;
|
||||
out_6859429191092688662[48] = 0.0;
|
||||
out_6859429191092688662[49] = 0.0;
|
||||
out_6859429191092688662[50] = 1.0;
|
||||
out_6859429191092688662[51] = 0.0;
|
||||
out_6859429191092688662[52] = 0.0;
|
||||
out_6859429191092688662[53] = 0.0;
|
||||
out_6859429191092688662[54] = 0.0;
|
||||
out_6859429191092688662[55] = 0.0;
|
||||
out_6859429191092688662[56] = 0.0;
|
||||
out_6859429191092688662[57] = 0.0;
|
||||
out_6859429191092688662[58] = 0.0;
|
||||
out_6859429191092688662[59] = 0.0;
|
||||
out_6859429191092688662[60] = 1.0;
|
||||
out_6859429191092688662[61] = 0.0;
|
||||
out_6859429191092688662[62] = 0.0;
|
||||
out_6859429191092688662[63] = 0.0;
|
||||
out_6859429191092688662[64] = 0.0;
|
||||
out_6859429191092688662[65] = 0.0;
|
||||
out_6859429191092688662[66] = 0.0;
|
||||
out_6859429191092688662[67] = 0.0;
|
||||
out_6859429191092688662[68] = 0.0;
|
||||
out_6859429191092688662[69] = 0.0;
|
||||
out_6859429191092688662[70] = 1.0;
|
||||
out_6859429191092688662[71] = 0.0;
|
||||
out_6859429191092688662[72] = 0.0;
|
||||
out_6859429191092688662[73] = 0.0;
|
||||
out_6859429191092688662[74] = 0.0;
|
||||
out_6859429191092688662[75] = 0.0;
|
||||
out_6859429191092688662[76] = 0.0;
|
||||
out_6859429191092688662[77] = 0.0;
|
||||
out_6859429191092688662[78] = 0.0;
|
||||
out_6859429191092688662[79] = 0.0;
|
||||
out_6859429191092688662[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_6429621653186063469) {
|
||||
out_6429621653186063469[0] = state[0];
|
||||
out_6429621653186063469[1] = state[1];
|
||||
out_6429621653186063469[2] = state[2];
|
||||
out_6429621653186063469[3] = state[3];
|
||||
out_6429621653186063469[4] = state[4];
|
||||
out_6429621653186063469[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_6429621653186063469[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_6429621653186063469[7] = state[7];
|
||||
out_6429621653186063469[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_3400060270232460893) {
|
||||
out_3400060270232460893[0] = state[0];
|
||||
out_3400060270232460893[1] = state[1];
|
||||
out_3400060270232460893[2] = state[2];
|
||||
out_3400060270232460893[3] = state[3];
|
||||
out_3400060270232460893[4] = state[4];
|
||||
out_3400060270232460893[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_3400060270232460893[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_3400060270232460893[7] = state[7];
|
||||
out_3400060270232460893[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_4451613020495234820) {
|
||||
out_4451613020495234820[0] = 1;
|
||||
out_4451613020495234820[1] = 0;
|
||||
out_4451613020495234820[2] = 0;
|
||||
out_4451613020495234820[3] = 0;
|
||||
out_4451613020495234820[4] = 0;
|
||||
out_4451613020495234820[5] = 0;
|
||||
out_4451613020495234820[6] = 0;
|
||||
out_4451613020495234820[7] = 0;
|
||||
out_4451613020495234820[8] = 0;
|
||||
out_4451613020495234820[9] = 0;
|
||||
out_4451613020495234820[10] = 1;
|
||||
out_4451613020495234820[11] = 0;
|
||||
out_4451613020495234820[12] = 0;
|
||||
out_4451613020495234820[13] = 0;
|
||||
out_4451613020495234820[14] = 0;
|
||||
out_4451613020495234820[15] = 0;
|
||||
out_4451613020495234820[16] = 0;
|
||||
out_4451613020495234820[17] = 0;
|
||||
out_4451613020495234820[18] = 0;
|
||||
out_4451613020495234820[19] = 0;
|
||||
out_4451613020495234820[20] = 1;
|
||||
out_4451613020495234820[21] = 0;
|
||||
out_4451613020495234820[22] = 0;
|
||||
out_4451613020495234820[23] = 0;
|
||||
out_4451613020495234820[24] = 0;
|
||||
out_4451613020495234820[25] = 0;
|
||||
out_4451613020495234820[26] = 0;
|
||||
out_4451613020495234820[27] = 0;
|
||||
out_4451613020495234820[28] = 0;
|
||||
out_4451613020495234820[29] = 0;
|
||||
out_4451613020495234820[30] = 1;
|
||||
out_4451613020495234820[31] = 0;
|
||||
out_4451613020495234820[32] = 0;
|
||||
out_4451613020495234820[33] = 0;
|
||||
out_4451613020495234820[34] = 0;
|
||||
out_4451613020495234820[35] = 0;
|
||||
out_4451613020495234820[36] = 0;
|
||||
out_4451613020495234820[37] = 0;
|
||||
out_4451613020495234820[38] = 0;
|
||||
out_4451613020495234820[39] = 0;
|
||||
out_4451613020495234820[40] = 1;
|
||||
out_4451613020495234820[41] = 0;
|
||||
out_4451613020495234820[42] = 0;
|
||||
out_4451613020495234820[43] = 0;
|
||||
out_4451613020495234820[44] = 0;
|
||||
out_4451613020495234820[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_4451613020495234820[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_4451613020495234820[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4451613020495234820[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4451613020495234820[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_4451613020495234820[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_4451613020495234820[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_4451613020495234820[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4451613020495234820[53] = -9.8100000000000005*dt;
|
||||
out_4451613020495234820[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_4451613020495234820[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_4451613020495234820[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4451613020495234820[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4451613020495234820[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_4451613020495234820[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_4451613020495234820[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_4451613020495234820[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4451613020495234820[62] = 0;
|
||||
out_4451613020495234820[63] = 0;
|
||||
out_4451613020495234820[64] = 0;
|
||||
out_4451613020495234820[65] = 0;
|
||||
out_4451613020495234820[66] = 0;
|
||||
out_4451613020495234820[67] = 0;
|
||||
out_4451613020495234820[68] = 0;
|
||||
out_4451613020495234820[69] = 0;
|
||||
out_4451613020495234820[70] = 1;
|
||||
out_4451613020495234820[71] = 0;
|
||||
out_4451613020495234820[72] = 0;
|
||||
out_4451613020495234820[73] = 0;
|
||||
out_4451613020495234820[74] = 0;
|
||||
out_4451613020495234820[75] = 0;
|
||||
out_4451613020495234820[76] = 0;
|
||||
out_4451613020495234820[77] = 0;
|
||||
out_4451613020495234820[78] = 0;
|
||||
out_4451613020495234820[79] = 0;
|
||||
out_4451613020495234820[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_6511275578440991802) {
|
||||
out_6511275578440991802[0] = 1;
|
||||
out_6511275578440991802[1] = 0;
|
||||
out_6511275578440991802[2] = 0;
|
||||
out_6511275578440991802[3] = 0;
|
||||
out_6511275578440991802[4] = 0;
|
||||
out_6511275578440991802[5] = 0;
|
||||
out_6511275578440991802[6] = 0;
|
||||
out_6511275578440991802[7] = 0;
|
||||
out_6511275578440991802[8] = 0;
|
||||
out_6511275578440991802[9] = 0;
|
||||
out_6511275578440991802[10] = 1;
|
||||
out_6511275578440991802[11] = 0;
|
||||
out_6511275578440991802[12] = 0;
|
||||
out_6511275578440991802[13] = 0;
|
||||
out_6511275578440991802[14] = 0;
|
||||
out_6511275578440991802[15] = 0;
|
||||
out_6511275578440991802[16] = 0;
|
||||
out_6511275578440991802[17] = 0;
|
||||
out_6511275578440991802[18] = 0;
|
||||
out_6511275578440991802[19] = 0;
|
||||
out_6511275578440991802[20] = 1;
|
||||
out_6511275578440991802[21] = 0;
|
||||
out_6511275578440991802[22] = 0;
|
||||
out_6511275578440991802[23] = 0;
|
||||
out_6511275578440991802[24] = 0;
|
||||
out_6511275578440991802[25] = 0;
|
||||
out_6511275578440991802[26] = 0;
|
||||
out_6511275578440991802[27] = 0;
|
||||
out_6511275578440991802[28] = 0;
|
||||
out_6511275578440991802[29] = 0;
|
||||
out_6511275578440991802[30] = 1;
|
||||
out_6511275578440991802[31] = 0;
|
||||
out_6511275578440991802[32] = 0;
|
||||
out_6511275578440991802[33] = 0;
|
||||
out_6511275578440991802[34] = 0;
|
||||
out_6511275578440991802[35] = 0;
|
||||
out_6511275578440991802[36] = 0;
|
||||
out_6511275578440991802[37] = 0;
|
||||
out_6511275578440991802[38] = 0;
|
||||
out_6511275578440991802[39] = 0;
|
||||
out_6511275578440991802[40] = 1;
|
||||
out_6511275578440991802[41] = 0;
|
||||
out_6511275578440991802[42] = 0;
|
||||
out_6511275578440991802[43] = 0;
|
||||
out_6511275578440991802[44] = 0;
|
||||
out_6511275578440991802[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_6511275578440991802[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6511275578440991802[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6511275578440991802[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6511275578440991802[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_6511275578440991802[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6511275578440991802[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6511275578440991802[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6511275578440991802[53] = -9.8100000000000005*dt;
|
||||
out_6511275578440991802[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_6511275578440991802[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6511275578440991802[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6511275578440991802[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6511275578440991802[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_6511275578440991802[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6511275578440991802[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_6511275578440991802[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6511275578440991802[62] = 0;
|
||||
out_6511275578440991802[63] = 0;
|
||||
out_6511275578440991802[64] = 0;
|
||||
out_6511275578440991802[65] = 0;
|
||||
out_6511275578440991802[66] = 0;
|
||||
out_6511275578440991802[67] = 0;
|
||||
out_6511275578440991802[68] = 0;
|
||||
out_6511275578440991802[69] = 0;
|
||||
out_6511275578440991802[70] = 1;
|
||||
out_6511275578440991802[71] = 0;
|
||||
out_6511275578440991802[72] = 0;
|
||||
out_6511275578440991802[73] = 0;
|
||||
out_6511275578440991802[74] = 0;
|
||||
out_6511275578440991802[75] = 0;
|
||||
out_6511275578440991802[76] = 0;
|
||||
out_6511275578440991802[77] = 0;
|
||||
out_6511275578440991802[78] = 0;
|
||||
out_6511275578440991802[79] = 0;
|
||||
out_6511275578440991802[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5140546513771631716) {
|
||||
out_5140546513771631716[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_2633570630840598096) {
|
||||
out_2633570630840598096[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_1930738904278685141) {
|
||||
out_1930738904278685141[0] = 0;
|
||||
out_1930738904278685141[1] = 0;
|
||||
out_1930738904278685141[2] = 0;
|
||||
out_1930738904278685141[3] = 0;
|
||||
out_1930738904278685141[4] = 0;
|
||||
out_1930738904278685141[5] = 0;
|
||||
out_1930738904278685141[6] = 1;
|
||||
out_1930738904278685141[7] = 0;
|
||||
out_1930738904278685141[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_2394126656704625717) {
|
||||
out_2394126656704625717[0] = 0;
|
||||
out_2394126656704625717[1] = 0;
|
||||
out_2394126656704625717[2] = 0;
|
||||
out_2394126656704625717[3] = 0;
|
||||
out_2394126656704625717[4] = 0;
|
||||
out_2394126656704625717[5] = 0;
|
||||
out_2394126656704625717[6] = 1;
|
||||
out_2394126656704625717[7] = 0;
|
||||
out_2394126656704625717[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_867003127290538570) {
|
||||
out_867003127290538570[0] = state[4];
|
||||
out_867003127290538570[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_3094145344632818755) {
|
||||
out_3094145344632818755[0] = state[4];
|
||||
out_3094145344632818755[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_4156446688257553703) {
|
||||
out_4156446688257553703[0] = 0;
|
||||
out_4156446688257553703[1] = 0;
|
||||
out_4156446688257553703[2] = 0;
|
||||
out_4156446688257553703[3] = 0;
|
||||
out_4156446688257553703[4] = 1;
|
||||
out_4156446688257553703[5] = 0;
|
||||
out_4156446688257553703[6] = 0;
|
||||
out_4156446688257553703[7] = 0;
|
||||
out_4156446688257553703[8] = 0;
|
||||
out_4156446688257553703[9] = 0;
|
||||
out_4156446688257553703[10] = 0;
|
||||
out_4156446688257553703[11] = 0;
|
||||
out_4156446688257553703[12] = 0;
|
||||
out_4156446688257553703[13] = 0;
|
||||
out_4156446688257553703[14] = 1;
|
||||
out_4156446688257553703[15] = 0;
|
||||
out_4156446688257553703[16] = 0;
|
||||
out_4156446688257553703[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_665263537527311648) {
|
||||
out_665263537527311648[0] = 0;
|
||||
out_665263537527311648[1] = 0;
|
||||
out_665263537527311648[2] = 0;
|
||||
out_665263537527311648[3] = 0;
|
||||
out_665263537527311648[4] = 1;
|
||||
out_665263537527311648[5] = 0;
|
||||
out_665263537527311648[6] = 0;
|
||||
out_665263537527311648[7] = 0;
|
||||
out_665263537527311648[8] = 0;
|
||||
out_665263537527311648[9] = 0;
|
||||
out_665263537527311648[10] = 0;
|
||||
out_665263537527311648[11] = 0;
|
||||
out_665263537527311648[12] = 0;
|
||||
out_665263537527311648[13] = 0;
|
||||
out_665263537527311648[14] = 1;
|
||||
out_665263537527311648[15] = 0;
|
||||
out_665263537527311648[16] = 0;
|
||||
out_665263537527311648[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5297733182122760861) {
|
||||
out_5297733182122760861[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_1872662776110252318) {
|
||||
out_1872662776110252318[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_8847429245770301896) {
|
||||
out_8847429245770301896[0] = 0;
|
||||
out_8847429245770301896[1] = 0;
|
||||
out_8847429245770301896[2] = 0;
|
||||
out_8847429245770301896[3] = 0;
|
||||
out_8847429245770301896[4] = 1;
|
||||
out_8847429245770301896[5] = 0;
|
||||
out_8847429245770301896[6] = 0;
|
||||
out_8847429245770301896[7] = 0;
|
||||
out_8847429245770301896[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_9135927075513309144) {
|
||||
out_9135927075513309144[0] = 0;
|
||||
out_9135927075513309144[1] = 0;
|
||||
out_9135927075513309144[2] = 0;
|
||||
out_9135927075513309144[3] = 0;
|
||||
out_9135927075513309144[4] = 1;
|
||||
out_9135927075513309144[5] = 0;
|
||||
out_9135927075513309144[6] = 0;
|
||||
out_9135927075513309144[7] = 0;
|
||||
out_9135927075513309144[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_8147337623925945110) {
|
||||
out_8147337623925945110[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_2552698139187979215) {
|
||||
out_2552698139187979215[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_1810764414595371083) {
|
||||
out_1810764414595371083[0] = 0;
|
||||
out_1810764414595371083[1] = 0;
|
||||
out_1810764414595371083[2] = 0;
|
||||
out_1810764414595371083[3] = 0;
|
||||
out_1810764414595371083[4] = 0;
|
||||
out_1810764414595371083[5] = 0;
|
||||
out_1810764414595371083[6] = 0;
|
||||
out_1810764414595371083[7] = 1;
|
||||
out_1810764414595371083[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_1347376662169430507) {
|
||||
out_1347376662169430507[0] = 0;
|
||||
out_1347376662169430507[1] = 0;
|
||||
out_1347376662169430507[2] = 0;
|
||||
out_1347376662169430507[3] = 0;
|
||||
out_1347376662169430507[4] = 0;
|
||||
out_1347376662169430507[5] = 0;
|
||||
out_1347376662169430507[6] = 0;
|
||||
out_1347376662169430507[7] = 1;
|
||||
out_1347376662169430507[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_217345790508090885) {
|
||||
out_217345790508090885[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_8276300501921554931) {
|
||||
out_8276300501921554931[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_6672665933969876985) {
|
||||
out_6672665933969876985[0] = 0;
|
||||
out_6672665933969876985[1] = 0;
|
||||
out_6672665933969876985[2] = 0;
|
||||
out_6672665933969876985[3] = 1;
|
||||
out_6672665933969876985[4] = 0;
|
||||
out_6672665933969876985[5] = 0;
|
||||
out_6672665933969876985[6] = 0;
|
||||
out_6672665933969876985[7] = 0;
|
||||
out_6672665933969876985[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_7136053686395817561) {
|
||||
out_7136053686395817561[0] = 0;
|
||||
out_7136053686395817561[1] = 0;
|
||||
out_7136053686395817561[2] = 0;
|
||||
out_7136053686395817561[3] = 1;
|
||||
out_7136053686395817561[4] = 0;
|
||||
out_7136053686395817561[5] = 0;
|
||||
out_7136053686395817561[6] = 0;
|
||||
out_7136053686395817561[7] = 0;
|
||||
out_7136053686395817561[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_675547152666652547) {
|
||||
out_675547152666652547[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_6874336043771097963) {
|
||||
out_6874336043771097963[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_9089083483624857536) {
|
||||
out_9089083483624857536[0] = 0;
|
||||
out_9089083483624857536[1] = 1;
|
||||
out_9089083483624857536[2] = 0;
|
||||
out_9089083483624857536[3] = 0;
|
||||
out_9089083483624857536[4] = 0;
|
||||
out_9089083483624857536[5] = 0;
|
||||
out_9089083483624857536[6] = 0;
|
||||
out_9089083483624857536[7] = 0;
|
||||
out_9089083483624857536[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_8625695731198916960) {
|
||||
out_8625695731198916960[0] = 0;
|
||||
out_8625695731198916960[1] = 1;
|
||||
out_8625695731198916960[2] = 0;
|
||||
out_8625695731198916960[3] = 0;
|
||||
out_8625695731198916960[4] = 0;
|
||||
out_8625695731198916960[5] = 0;
|
||||
out_8625695731198916960[6] = 0;
|
||||
out_8625695731198916960[7] = 0;
|
||||
out_8625695731198916960[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_4927544272607556652) {
|
||||
out_4927544272607556652[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_1452606651919304359) {
|
||||
out_1452606651919304359[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_123095809969204622) {
|
||||
out_123095809969204622[0] = 1;
|
||||
out_123095809969204622[1] = 0;
|
||||
out_123095809969204622[2] = 0;
|
||||
out_123095809969204622[3] = 0;
|
||||
out_123095809969204622[4] = 0;
|
||||
out_123095809969204622[5] = 0;
|
||||
out_123095809969204622[6] = 0;
|
||||
out_123095809969204622[7] = 0;
|
||||
out_123095809969204622[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_340291942456735954) {
|
||||
out_340291942456735954[0] = 1;
|
||||
out_340291942456735954[1] = 0;
|
||||
out_340291942456735954[2] = 0;
|
||||
out_340291942456735954[3] = 0;
|
||||
out_340291942456735954[4] = 0;
|
||||
out_340291942456735954[5] = 0;
|
||||
out_340291942456735954[6] = 0;
|
||||
out_340291942456735954[7] = 0;
|
||||
out_340291942456735954[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_2544246198651735911) {
|
||||
out_2544246198651735911[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_4557978482014913700) {
|
||||
out_4557978482014913700[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_1961384866155645569) {
|
||||
out_1961384866155645569[0] = 0;
|
||||
out_1961384866155645569[1] = 0;
|
||||
out_1961384866155645569[2] = 0;
|
||||
out_1961384866155645569[3] = 0;
|
||||
out_1961384866155645569[4] = 0;
|
||||
out_1961384866155645569[5] = 0;
|
||||
out_1961384866155645569[6] = 0;
|
||||
out_1961384866155645569[7] = 0;
|
||||
out_1961384866155645569[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_2424772618581586145) {
|
||||
out_2424772618581586145[0] = 0;
|
||||
out_2424772618581586145[1] = 0;
|
||||
out_2424772618581586145[2] = 0;
|
||||
out_2424772618581586145[3] = 0;
|
||||
out_2424772618581586145[4] = 0;
|
||||
out_2424772618581586145[5] = 0;
|
||||
out_2424772618581586145[6] = 0;
|
||||
out_2424772618581586145[7] = 0;
|
||||
out_2424772618581586145[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_1982741958495934934) {
|
||||
err_fun(nom_x, delta_x, out_1982741958495934934);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7311248151803822396) {
|
||||
err_fun(nom_x, delta_x, out_7311248151803822396);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805) {
|
||||
inv_err_fun(nom_x, true_x, out_1965858196176103805);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501) {
|
||||
inv_err_fun(nom_x, true_x, out_5602719869542378501);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_7322816943518629238) {
|
||||
H_mod_fun(state, out_7322816943518629238);
|
||||
void car_H_mod_fun(double *state, double *out_6859429191092688662) {
|
||||
H_mod_fun(state, out_6859429191092688662);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_6429621653186063469) {
|
||||
f_fun(state, dt, out_6429621653186063469);
|
||||
void car_f_fun(double *state, double dt, double *out_3400060270232460893) {
|
||||
f_fun(state, dt, out_3400060270232460893);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_4451613020495234820) {
|
||||
F_fun(state, dt, out_4451613020495234820);
|
||||
void car_F_fun(double *state, double dt, double *out_6511275578440991802) {
|
||||
F_fun(state, dt, out_6511275578440991802);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5140546513771631716) {
|
||||
h_25(state, unused, out_5140546513771631716);
|
||||
void car_h_25(double *state, double *unused, double *out_2633570630840598096) {
|
||||
h_25(state, unused, out_2633570630840598096);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_1930738904278685141) {
|
||||
H_25(state, unused, out_1930738904278685141);
|
||||
void car_H_25(double *state, double *unused, double *out_2394126656704625717) {
|
||||
H_25(state, unused, out_2394126656704625717);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_867003127290538570) {
|
||||
h_24(state, unused, out_867003127290538570);
|
||||
void car_h_24(double *state, double *unused, double *out_3094145344632818755) {
|
||||
h_24(state, unused, out_3094145344632818755);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_4156446688257553703) {
|
||||
H_24(state, unused, out_4156446688257553703);
|
||||
void car_H_24(double *state, double *unused, double *out_665263537527311648) {
|
||||
H_24(state, unused, out_665263537527311648);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5297733182122760861) {
|
||||
h_30(state, unused, out_5297733182122760861);
|
||||
void car_h_30(double *state, double *unused, double *out_1872662776110252318) {
|
||||
h_30(state, unused, out_1872662776110252318);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_8847429245770301896) {
|
||||
H_30(state, unused, out_8847429245770301896);
|
||||
void car_H_30(double *state, double *unused, double *out_9135927075513309144) {
|
||||
H_30(state, unused, out_9135927075513309144);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_8147337623925945110) {
|
||||
h_26(state, unused, out_8147337623925945110);
|
||||
void car_h_26(double *state, double *unused, double *out_2552698139187979215) {
|
||||
h_26(state, unused, out_2552698139187979215);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_1810764414595371083) {
|
||||
H_26(state, unused, out_1810764414595371083);
|
||||
void car_H_26(double *state, double *unused, double *out_1347376662169430507) {
|
||||
H_26(state, unused, out_1347376662169430507);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_217345790508090885) {
|
||||
h_27(state, unused, out_217345790508090885);
|
||||
void car_h_27(double *state, double *unused, double *out_8276300501921554931) {
|
||||
h_27(state, unused, out_8276300501921554931);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_6672665933969876985) {
|
||||
H_27(state, unused, out_6672665933969876985);
|
||||
void car_H_27(double *state, double *unused, double *out_7136053686395817561) {
|
||||
H_27(state, unused, out_7136053686395817561);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_675547152666652547) {
|
||||
h_29(state, unused, out_675547152666652547);
|
||||
void car_h_29(double *state, double *unused, double *out_6874336043771097963) {
|
||||
h_29(state, unused, out_6874336043771097963);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_9089083483624857536) {
|
||||
H_29(state, unused, out_9089083483624857536);
|
||||
void car_H_29(double *state, double *unused, double *out_8625695731198916960) {
|
||||
H_29(state, unused, out_8625695731198916960);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_4927544272607556652) {
|
||||
h_28(state, unused, out_4927544272607556652);
|
||||
void car_h_28(double *state, double *unused, double *out_1452606651919304359) {
|
||||
h_28(state, unused, out_1452606651919304359);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_123095809969204622) {
|
||||
H_28(state, unused, out_123095809969204622);
|
||||
void car_H_28(double *state, double *unused, double *out_340291942456735954) {
|
||||
H_28(state, unused, out_340291942456735954);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_2544246198651735911) {
|
||||
h_31(state, unused, out_2544246198651735911);
|
||||
void car_h_31(double *state, double *unused, double *out_4557978482014913700) {
|
||||
h_31(state, unused, out_4557978482014913700);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_1961384866155645569) {
|
||||
H_31(state, unused, out_1961384866155645569);
|
||||
void car_H_31(double *state, double *unused, double *out_2424772618581586145) {
|
||||
H_31(state, unused, out_2424772618581586145);
|
||||
}
|
||||
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_1982741958495934934);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805);
|
||||
void car_H_mod_fun(double *state, double *out_7322816943518629238);
|
||||
void car_f_fun(double *state, double dt, double *out_6429621653186063469);
|
||||
void car_F_fun(double *state, double dt, double *out_4451613020495234820);
|
||||
void car_h_25(double *state, double *unused, double *out_5140546513771631716);
|
||||
void car_H_25(double *state, double *unused, double *out_1930738904278685141);
|
||||
void car_h_24(double *state, double *unused, double *out_867003127290538570);
|
||||
void car_H_24(double *state, double *unused, double *out_4156446688257553703);
|
||||
void car_h_30(double *state, double *unused, double *out_5297733182122760861);
|
||||
void car_H_30(double *state, double *unused, double *out_8847429245770301896);
|
||||
void car_h_26(double *state, double *unused, double *out_8147337623925945110);
|
||||
void car_H_26(double *state, double *unused, double *out_1810764414595371083);
|
||||
void car_h_27(double *state, double *unused, double *out_217345790508090885);
|
||||
void car_H_27(double *state, double *unused, double *out_6672665933969876985);
|
||||
void car_h_29(double *state, double *unused, double *out_675547152666652547);
|
||||
void car_H_29(double *state, double *unused, double *out_9089083483624857536);
|
||||
void car_h_28(double *state, double *unused, double *out_4927544272607556652);
|
||||
void car_H_28(double *state, double *unused, double *out_123095809969204622);
|
||||
void car_h_31(double *state, double *unused, double *out_2544246198651735911);
|
||||
void car_H_31(double *state, double *unused, double *out_1961384866155645569);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_7311248151803822396);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501);
|
||||
void car_H_mod_fun(double *state, double *out_6859429191092688662);
|
||||
void car_f_fun(double *state, double dt, double *out_3400060270232460893);
|
||||
void car_F_fun(double *state, double dt, double *out_6511275578440991802);
|
||||
void car_h_25(double *state, double *unused, double *out_2633570630840598096);
|
||||
void car_H_25(double *state, double *unused, double *out_2394126656704625717);
|
||||
void car_h_24(double *state, double *unused, double *out_3094145344632818755);
|
||||
void car_H_24(double *state, double *unused, double *out_665263537527311648);
|
||||
void car_h_30(double *state, double *unused, double *out_1872662776110252318);
|
||||
void car_H_30(double *state, double *unused, double *out_9135927075513309144);
|
||||
void car_h_26(double *state, double *unused, double *out_2552698139187979215);
|
||||
void car_H_26(double *state, double *unused, double *out_1347376662169430507);
|
||||
void car_h_27(double *state, double *unused, double *out_8276300501921554931);
|
||||
void car_H_27(double *state, double *unused, double *out_7136053686395817561);
|
||||
void car_h_29(double *state, double *unused, double *out_6874336043771097963);
|
||||
void car_H_29(double *state, double *unused, double *out_8625695731198916960);
|
||||
void car_h_28(double *state, double *unused, double *out_1452606651919304359);
|
||||
void car_H_28(double *state, double *unused, double *out_340291942456735954);
|
||||
void car_h_31(double *state, double *unused, double *out_4557978482014913700);
|
||||
void car_H_31(double *state, double *unused, double *out_2424772618581586145);
|
||||
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_3122087598286484509);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6671609920081726507);
|
||||
void pose_H_mod_fun(double *state, double *out_6807142630278803635);
|
||||
void pose_f_fun(double *state, double dt, double *out_6438279809192142379);
|
||||
void pose_F_fun(double *state, double dt, double *out_8719681830852947447);
|
||||
void pose_h_4(double *state, double *unused, double *out_2598619130748282794);
|
||||
void pose_H_4(double *state, double *unused, double *out_2137219035779017707);
|
||||
void pose_h_10(double *state, double *unused, double *out_7728804711762559661);
|
||||
void pose_H_10(double *state, double *unused, double *out_3682779017075027073);
|
||||
void pose_h_13(double *state, double *unused, double *out_8746038974809318358);
|
||||
void pose_H_13(double *state, double *unused, double *out_1075054789553315094);
|
||||
void pose_h_14(double *state, double *unused, double *out_4279600364142536095);
|
||||
void pose_H_14(double *state, double *unused, double *out_5220007468074390003);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_2665641701635233151);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8375727440013270020);
|
||||
void pose_H_mod_fun(double *state, double *out_6067255468928274013);
|
||||
void pose_f_fun(double *state, double dt, double *out_6773782600033783154);
|
||||
void pose_F_fun(double *state, double dt, double *out_6298375408118706110);
|
||||
void pose_h_4(double *state, double *unused, double *out_6452539322350206189);
|
||||
void pose_H_4(double *state, double *unused, double *out_4829214681067158040);
|
||||
void pose_h_10(double *state, double *unused, double *out_5957134933492111448);
|
||||
void pose_H_10(double *state, double *unused, double *out_3625295134339217134);
|
||||
void pose_h_13(double *state, double *unused, double *out_6701412570788452504);
|
||||
void pose_H_13(double *state, double *unused, double *out_5393816600749002144);
|
||||
void pose_h_14(double *state, double *unused, double *out_192900434341408297);
|
||||
void pose_H_14(double *state, double *unused, double *out_1746426248771785744);
|
||||
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