mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-07 06:32:08 +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-9b97124f-DEBUG";
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const uint8_t gitversion[19] = "DEV-d1fad265-DEBUG";
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||||
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@@ -1 +1 @@
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DEV-9b97124f-DEBUG
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DEV-d1fad265-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_4611641411917091701) {
|
||||
out_4611641411917091701[0] = delta_x[0] + nom_x[0];
|
||||
out_4611641411917091701[1] = delta_x[1] + nom_x[1];
|
||||
out_4611641411917091701[2] = delta_x[2] + nom_x[2];
|
||||
out_4611641411917091701[3] = delta_x[3] + nom_x[3];
|
||||
out_4611641411917091701[4] = delta_x[4] + nom_x[4];
|
||||
out_4611641411917091701[5] = delta_x[5] + nom_x[5];
|
||||
out_4611641411917091701[6] = delta_x[6] + nom_x[6];
|
||||
out_4611641411917091701[7] = delta_x[7] + nom_x[7];
|
||||
out_4611641411917091701[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_8137803062968279058) {
|
||||
out_8137803062968279058[0] = delta_x[0] + nom_x[0];
|
||||
out_8137803062968279058[1] = delta_x[1] + nom_x[1];
|
||||
out_8137803062968279058[2] = delta_x[2] + nom_x[2];
|
||||
out_8137803062968279058[3] = delta_x[3] + nom_x[3];
|
||||
out_8137803062968279058[4] = delta_x[4] + nom_x[4];
|
||||
out_8137803062968279058[5] = delta_x[5] + nom_x[5];
|
||||
out_8137803062968279058[6] = delta_x[6] + nom_x[6];
|
||||
out_8137803062968279058[7] = delta_x[7] + nom_x[7];
|
||||
out_8137803062968279058[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3968532722392907058) {
|
||||
out_3968532722392907058[0] = -nom_x[0] + true_x[0];
|
||||
out_3968532722392907058[1] = -nom_x[1] + true_x[1];
|
||||
out_3968532722392907058[2] = -nom_x[2] + true_x[2];
|
||||
out_3968532722392907058[3] = -nom_x[3] + true_x[3];
|
||||
out_3968532722392907058[4] = -nom_x[4] + true_x[4];
|
||||
out_3968532722392907058[5] = -nom_x[5] + true_x[5];
|
||||
out_3968532722392907058[6] = -nom_x[6] + true_x[6];
|
||||
out_3968532722392907058[7] = -nom_x[7] + true_x[7];
|
||||
out_3968532722392907058[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_4803320297930984943) {
|
||||
out_4803320297930984943[0] = -nom_x[0] + true_x[0];
|
||||
out_4803320297930984943[1] = -nom_x[1] + true_x[1];
|
||||
out_4803320297930984943[2] = -nom_x[2] + true_x[2];
|
||||
out_4803320297930984943[3] = -nom_x[3] + true_x[3];
|
||||
out_4803320297930984943[4] = -nom_x[4] + true_x[4];
|
||||
out_4803320297930984943[5] = -nom_x[5] + true_x[5];
|
||||
out_4803320297930984943[6] = -nom_x[6] + true_x[6];
|
||||
out_4803320297930984943[7] = -nom_x[7] + true_x[7];
|
||||
out_4803320297930984943[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_1232909156344202498) {
|
||||
out_1232909156344202498[0] = 1.0;
|
||||
out_1232909156344202498[1] = 0.0;
|
||||
out_1232909156344202498[2] = 0.0;
|
||||
out_1232909156344202498[3] = 0.0;
|
||||
out_1232909156344202498[4] = 0.0;
|
||||
out_1232909156344202498[5] = 0.0;
|
||||
out_1232909156344202498[6] = 0.0;
|
||||
out_1232909156344202498[7] = 0.0;
|
||||
out_1232909156344202498[8] = 0.0;
|
||||
out_1232909156344202498[9] = 0.0;
|
||||
out_1232909156344202498[10] = 1.0;
|
||||
out_1232909156344202498[11] = 0.0;
|
||||
out_1232909156344202498[12] = 0.0;
|
||||
out_1232909156344202498[13] = 0.0;
|
||||
out_1232909156344202498[14] = 0.0;
|
||||
out_1232909156344202498[15] = 0.0;
|
||||
out_1232909156344202498[16] = 0.0;
|
||||
out_1232909156344202498[17] = 0.0;
|
||||
out_1232909156344202498[18] = 0.0;
|
||||
out_1232909156344202498[19] = 0.0;
|
||||
out_1232909156344202498[20] = 1.0;
|
||||
out_1232909156344202498[21] = 0.0;
|
||||
out_1232909156344202498[22] = 0.0;
|
||||
out_1232909156344202498[23] = 0.0;
|
||||
out_1232909156344202498[24] = 0.0;
|
||||
out_1232909156344202498[25] = 0.0;
|
||||
out_1232909156344202498[26] = 0.0;
|
||||
out_1232909156344202498[27] = 0.0;
|
||||
out_1232909156344202498[28] = 0.0;
|
||||
out_1232909156344202498[29] = 0.0;
|
||||
out_1232909156344202498[30] = 1.0;
|
||||
out_1232909156344202498[31] = 0.0;
|
||||
out_1232909156344202498[32] = 0.0;
|
||||
out_1232909156344202498[33] = 0.0;
|
||||
out_1232909156344202498[34] = 0.0;
|
||||
out_1232909156344202498[35] = 0.0;
|
||||
out_1232909156344202498[36] = 0.0;
|
||||
out_1232909156344202498[37] = 0.0;
|
||||
out_1232909156344202498[38] = 0.0;
|
||||
out_1232909156344202498[39] = 0.0;
|
||||
out_1232909156344202498[40] = 1.0;
|
||||
out_1232909156344202498[41] = 0.0;
|
||||
out_1232909156344202498[42] = 0.0;
|
||||
out_1232909156344202498[43] = 0.0;
|
||||
out_1232909156344202498[44] = 0.0;
|
||||
out_1232909156344202498[45] = 0.0;
|
||||
out_1232909156344202498[46] = 0.0;
|
||||
out_1232909156344202498[47] = 0.0;
|
||||
out_1232909156344202498[48] = 0.0;
|
||||
out_1232909156344202498[49] = 0.0;
|
||||
out_1232909156344202498[50] = 1.0;
|
||||
out_1232909156344202498[51] = 0.0;
|
||||
out_1232909156344202498[52] = 0.0;
|
||||
out_1232909156344202498[53] = 0.0;
|
||||
out_1232909156344202498[54] = 0.0;
|
||||
out_1232909156344202498[55] = 0.0;
|
||||
out_1232909156344202498[56] = 0.0;
|
||||
out_1232909156344202498[57] = 0.0;
|
||||
out_1232909156344202498[58] = 0.0;
|
||||
out_1232909156344202498[59] = 0.0;
|
||||
out_1232909156344202498[60] = 1.0;
|
||||
out_1232909156344202498[61] = 0.0;
|
||||
out_1232909156344202498[62] = 0.0;
|
||||
out_1232909156344202498[63] = 0.0;
|
||||
out_1232909156344202498[64] = 0.0;
|
||||
out_1232909156344202498[65] = 0.0;
|
||||
out_1232909156344202498[66] = 0.0;
|
||||
out_1232909156344202498[67] = 0.0;
|
||||
out_1232909156344202498[68] = 0.0;
|
||||
out_1232909156344202498[69] = 0.0;
|
||||
out_1232909156344202498[70] = 1.0;
|
||||
out_1232909156344202498[71] = 0.0;
|
||||
out_1232909156344202498[72] = 0.0;
|
||||
out_1232909156344202498[73] = 0.0;
|
||||
out_1232909156344202498[74] = 0.0;
|
||||
out_1232909156344202498[75] = 0.0;
|
||||
out_1232909156344202498[76] = 0.0;
|
||||
out_1232909156344202498[77] = 0.0;
|
||||
out_1232909156344202498[78] = 0.0;
|
||||
out_1232909156344202498[79] = 0.0;
|
||||
out_1232909156344202498[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_250780943344312618) {
|
||||
out_250780943344312618[0] = 1.0;
|
||||
out_250780943344312618[1] = 0.0;
|
||||
out_250780943344312618[2] = 0.0;
|
||||
out_250780943344312618[3] = 0.0;
|
||||
out_250780943344312618[4] = 0.0;
|
||||
out_250780943344312618[5] = 0.0;
|
||||
out_250780943344312618[6] = 0.0;
|
||||
out_250780943344312618[7] = 0.0;
|
||||
out_250780943344312618[8] = 0.0;
|
||||
out_250780943344312618[9] = 0.0;
|
||||
out_250780943344312618[10] = 1.0;
|
||||
out_250780943344312618[11] = 0.0;
|
||||
out_250780943344312618[12] = 0.0;
|
||||
out_250780943344312618[13] = 0.0;
|
||||
out_250780943344312618[14] = 0.0;
|
||||
out_250780943344312618[15] = 0.0;
|
||||
out_250780943344312618[16] = 0.0;
|
||||
out_250780943344312618[17] = 0.0;
|
||||
out_250780943344312618[18] = 0.0;
|
||||
out_250780943344312618[19] = 0.0;
|
||||
out_250780943344312618[20] = 1.0;
|
||||
out_250780943344312618[21] = 0.0;
|
||||
out_250780943344312618[22] = 0.0;
|
||||
out_250780943344312618[23] = 0.0;
|
||||
out_250780943344312618[24] = 0.0;
|
||||
out_250780943344312618[25] = 0.0;
|
||||
out_250780943344312618[26] = 0.0;
|
||||
out_250780943344312618[27] = 0.0;
|
||||
out_250780943344312618[28] = 0.0;
|
||||
out_250780943344312618[29] = 0.0;
|
||||
out_250780943344312618[30] = 1.0;
|
||||
out_250780943344312618[31] = 0.0;
|
||||
out_250780943344312618[32] = 0.0;
|
||||
out_250780943344312618[33] = 0.0;
|
||||
out_250780943344312618[34] = 0.0;
|
||||
out_250780943344312618[35] = 0.0;
|
||||
out_250780943344312618[36] = 0.0;
|
||||
out_250780943344312618[37] = 0.0;
|
||||
out_250780943344312618[38] = 0.0;
|
||||
out_250780943344312618[39] = 0.0;
|
||||
out_250780943344312618[40] = 1.0;
|
||||
out_250780943344312618[41] = 0.0;
|
||||
out_250780943344312618[42] = 0.0;
|
||||
out_250780943344312618[43] = 0.0;
|
||||
out_250780943344312618[44] = 0.0;
|
||||
out_250780943344312618[45] = 0.0;
|
||||
out_250780943344312618[46] = 0.0;
|
||||
out_250780943344312618[47] = 0.0;
|
||||
out_250780943344312618[48] = 0.0;
|
||||
out_250780943344312618[49] = 0.0;
|
||||
out_250780943344312618[50] = 1.0;
|
||||
out_250780943344312618[51] = 0.0;
|
||||
out_250780943344312618[52] = 0.0;
|
||||
out_250780943344312618[53] = 0.0;
|
||||
out_250780943344312618[54] = 0.0;
|
||||
out_250780943344312618[55] = 0.0;
|
||||
out_250780943344312618[56] = 0.0;
|
||||
out_250780943344312618[57] = 0.0;
|
||||
out_250780943344312618[58] = 0.0;
|
||||
out_250780943344312618[59] = 0.0;
|
||||
out_250780943344312618[60] = 1.0;
|
||||
out_250780943344312618[61] = 0.0;
|
||||
out_250780943344312618[62] = 0.0;
|
||||
out_250780943344312618[63] = 0.0;
|
||||
out_250780943344312618[64] = 0.0;
|
||||
out_250780943344312618[65] = 0.0;
|
||||
out_250780943344312618[66] = 0.0;
|
||||
out_250780943344312618[67] = 0.0;
|
||||
out_250780943344312618[68] = 0.0;
|
||||
out_250780943344312618[69] = 0.0;
|
||||
out_250780943344312618[70] = 1.0;
|
||||
out_250780943344312618[71] = 0.0;
|
||||
out_250780943344312618[72] = 0.0;
|
||||
out_250780943344312618[73] = 0.0;
|
||||
out_250780943344312618[74] = 0.0;
|
||||
out_250780943344312618[75] = 0.0;
|
||||
out_250780943344312618[76] = 0.0;
|
||||
out_250780943344312618[77] = 0.0;
|
||||
out_250780943344312618[78] = 0.0;
|
||||
out_250780943344312618[79] = 0.0;
|
||||
out_250780943344312618[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_241923337051056220) {
|
||||
out_241923337051056220[0] = state[0];
|
||||
out_241923337051056220[1] = state[1];
|
||||
out_241923337051056220[2] = state[2];
|
||||
out_241923337051056220[3] = state[3];
|
||||
out_241923337051056220[4] = state[4];
|
||||
out_241923337051056220[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_241923337051056220[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_241923337051056220[7] = state[7];
|
||||
out_241923337051056220[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_5023554550498675071) {
|
||||
out_5023554550498675071[0] = state[0];
|
||||
out_5023554550498675071[1] = state[1];
|
||||
out_5023554550498675071[2] = state[2];
|
||||
out_5023554550498675071[3] = state[3];
|
||||
out_5023554550498675071[4] = state[4];
|
||||
out_5023554550498675071[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_5023554550498675071[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_5023554550498675071[7] = state[7];
|
||||
out_5023554550498675071[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_2984795699500747305) {
|
||||
out_2984795699500747305[0] = 1;
|
||||
out_2984795699500747305[1] = 0;
|
||||
out_2984795699500747305[2] = 0;
|
||||
out_2984795699500747305[3] = 0;
|
||||
out_2984795699500747305[4] = 0;
|
||||
out_2984795699500747305[5] = 0;
|
||||
out_2984795699500747305[6] = 0;
|
||||
out_2984795699500747305[7] = 0;
|
||||
out_2984795699500747305[8] = 0;
|
||||
out_2984795699500747305[9] = 0;
|
||||
out_2984795699500747305[10] = 1;
|
||||
out_2984795699500747305[11] = 0;
|
||||
out_2984795699500747305[12] = 0;
|
||||
out_2984795699500747305[13] = 0;
|
||||
out_2984795699500747305[14] = 0;
|
||||
out_2984795699500747305[15] = 0;
|
||||
out_2984795699500747305[16] = 0;
|
||||
out_2984795699500747305[17] = 0;
|
||||
out_2984795699500747305[18] = 0;
|
||||
out_2984795699500747305[19] = 0;
|
||||
out_2984795699500747305[20] = 1;
|
||||
out_2984795699500747305[21] = 0;
|
||||
out_2984795699500747305[22] = 0;
|
||||
out_2984795699500747305[23] = 0;
|
||||
out_2984795699500747305[24] = 0;
|
||||
out_2984795699500747305[25] = 0;
|
||||
out_2984795699500747305[26] = 0;
|
||||
out_2984795699500747305[27] = 0;
|
||||
out_2984795699500747305[28] = 0;
|
||||
out_2984795699500747305[29] = 0;
|
||||
out_2984795699500747305[30] = 1;
|
||||
out_2984795699500747305[31] = 0;
|
||||
out_2984795699500747305[32] = 0;
|
||||
out_2984795699500747305[33] = 0;
|
||||
out_2984795699500747305[34] = 0;
|
||||
out_2984795699500747305[35] = 0;
|
||||
out_2984795699500747305[36] = 0;
|
||||
out_2984795699500747305[37] = 0;
|
||||
out_2984795699500747305[38] = 0;
|
||||
out_2984795699500747305[39] = 0;
|
||||
out_2984795699500747305[40] = 1;
|
||||
out_2984795699500747305[41] = 0;
|
||||
out_2984795699500747305[42] = 0;
|
||||
out_2984795699500747305[43] = 0;
|
||||
out_2984795699500747305[44] = 0;
|
||||
out_2984795699500747305[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_2984795699500747305[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2984795699500747305[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2984795699500747305[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2984795699500747305[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_2984795699500747305[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2984795699500747305[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2984795699500747305[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2984795699500747305[53] = -9.8100000000000005*dt;
|
||||
out_2984795699500747305[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_2984795699500747305[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2984795699500747305[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2984795699500747305[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2984795699500747305[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_2984795699500747305[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2984795699500747305[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_2984795699500747305[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2984795699500747305[62] = 0;
|
||||
out_2984795699500747305[63] = 0;
|
||||
out_2984795699500747305[64] = 0;
|
||||
out_2984795699500747305[65] = 0;
|
||||
out_2984795699500747305[66] = 0;
|
||||
out_2984795699500747305[67] = 0;
|
||||
out_2984795699500747305[68] = 0;
|
||||
out_2984795699500747305[69] = 0;
|
||||
out_2984795699500747305[70] = 1;
|
||||
out_2984795699500747305[71] = 0;
|
||||
out_2984795699500747305[72] = 0;
|
||||
out_2984795699500747305[73] = 0;
|
||||
out_2984795699500747305[74] = 0;
|
||||
out_2984795699500747305[75] = 0;
|
||||
out_2984795699500747305[76] = 0;
|
||||
out_2984795699500747305[77] = 0;
|
||||
out_2984795699500747305[78] = 0;
|
||||
out_2984795699500747305[79] = 0;
|
||||
out_2984795699500747305[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_3517018389212170475) {
|
||||
out_3517018389212170475[0] = 1;
|
||||
out_3517018389212170475[1] = 0;
|
||||
out_3517018389212170475[2] = 0;
|
||||
out_3517018389212170475[3] = 0;
|
||||
out_3517018389212170475[4] = 0;
|
||||
out_3517018389212170475[5] = 0;
|
||||
out_3517018389212170475[6] = 0;
|
||||
out_3517018389212170475[7] = 0;
|
||||
out_3517018389212170475[8] = 0;
|
||||
out_3517018389212170475[9] = 0;
|
||||
out_3517018389212170475[10] = 1;
|
||||
out_3517018389212170475[11] = 0;
|
||||
out_3517018389212170475[12] = 0;
|
||||
out_3517018389212170475[13] = 0;
|
||||
out_3517018389212170475[14] = 0;
|
||||
out_3517018389212170475[15] = 0;
|
||||
out_3517018389212170475[16] = 0;
|
||||
out_3517018389212170475[17] = 0;
|
||||
out_3517018389212170475[18] = 0;
|
||||
out_3517018389212170475[19] = 0;
|
||||
out_3517018389212170475[20] = 1;
|
||||
out_3517018389212170475[21] = 0;
|
||||
out_3517018389212170475[22] = 0;
|
||||
out_3517018389212170475[23] = 0;
|
||||
out_3517018389212170475[24] = 0;
|
||||
out_3517018389212170475[25] = 0;
|
||||
out_3517018389212170475[26] = 0;
|
||||
out_3517018389212170475[27] = 0;
|
||||
out_3517018389212170475[28] = 0;
|
||||
out_3517018389212170475[29] = 0;
|
||||
out_3517018389212170475[30] = 1;
|
||||
out_3517018389212170475[31] = 0;
|
||||
out_3517018389212170475[32] = 0;
|
||||
out_3517018389212170475[33] = 0;
|
||||
out_3517018389212170475[34] = 0;
|
||||
out_3517018389212170475[35] = 0;
|
||||
out_3517018389212170475[36] = 0;
|
||||
out_3517018389212170475[37] = 0;
|
||||
out_3517018389212170475[38] = 0;
|
||||
out_3517018389212170475[39] = 0;
|
||||
out_3517018389212170475[40] = 1;
|
||||
out_3517018389212170475[41] = 0;
|
||||
out_3517018389212170475[42] = 0;
|
||||
out_3517018389212170475[43] = 0;
|
||||
out_3517018389212170475[44] = 0;
|
||||
out_3517018389212170475[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_3517018389212170475[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3517018389212170475[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3517018389212170475[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3517018389212170475[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_3517018389212170475[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3517018389212170475[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3517018389212170475[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3517018389212170475[53] = -9.8100000000000005*dt;
|
||||
out_3517018389212170475[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_3517018389212170475[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3517018389212170475[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3517018389212170475[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3517018389212170475[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_3517018389212170475[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3517018389212170475[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_3517018389212170475[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3517018389212170475[62] = 0;
|
||||
out_3517018389212170475[63] = 0;
|
||||
out_3517018389212170475[64] = 0;
|
||||
out_3517018389212170475[65] = 0;
|
||||
out_3517018389212170475[66] = 0;
|
||||
out_3517018389212170475[67] = 0;
|
||||
out_3517018389212170475[68] = 0;
|
||||
out_3517018389212170475[69] = 0;
|
||||
out_3517018389212170475[70] = 1;
|
||||
out_3517018389212170475[71] = 0;
|
||||
out_3517018389212170475[72] = 0;
|
||||
out_3517018389212170475[73] = 0;
|
||||
out_3517018389212170475[74] = 0;
|
||||
out_3517018389212170475[75] = 0;
|
||||
out_3517018389212170475[76] = 0;
|
||||
out_3517018389212170475[77] = 0;
|
||||
out_3517018389212170475[78] = 0;
|
||||
out_3517018389212170475[79] = 0;
|
||||
out_3517018389212170475[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_4848168669919202886) {
|
||||
out_4848168669919202886[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_8788151648350399353) {
|
||||
out_8788151648350399353[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_7960279069568034739) {
|
||||
out_7960279069568034739[0] = 0;
|
||||
out_7960279069568034739[1] = 0;
|
||||
out_7960279069568034739[2] = 0;
|
||||
out_7960279069568034739[3] = 0;
|
||||
out_7960279069568034739[4] = 0;
|
||||
out_7960279069568034739[5] = 0;
|
||||
out_7960279069568034739[6] = 1;
|
||||
out_7960279069568034739[7] = 0;
|
||||
out_7960279069568034739[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_3773761593333804295) {
|
||||
out_3773761593333804295[0] = 0;
|
||||
out_3773761593333804295[1] = 0;
|
||||
out_3773761593333804295[2] = 0;
|
||||
out_3773761593333804295[3] = 0;
|
||||
out_3773761593333804295[4] = 0;
|
||||
out_3773761593333804295[5] = 0;
|
||||
out_3773761593333804295[6] = 1;
|
||||
out_3773761593333804295[7] = 0;
|
||||
out_3773761593333804295[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_5973332433336352466) {
|
||||
out_5973332433336352466[0] = state[4];
|
||||
out_5973332433336352466[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_4617115616065835450) {
|
||||
out_4617115616065835450[0] = state[4];
|
||||
out_4617115616065835450[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_8313815405136017311) {
|
||||
out_8313815405136017311[0] = 0;
|
||||
out_8313815405136017311[1] = 0;
|
||||
out_8313815405136017311[2] = 0;
|
||||
out_8313815405136017311[3] = 0;
|
||||
out_8313815405136017311[4] = 1;
|
||||
out_8313815405136017311[5] = 0;
|
||||
out_8313815405136017311[6] = 0;
|
||||
out_8313815405136017311[7] = 0;
|
||||
out_8313815405136017311[8] = 0;
|
||||
out_8313815405136017311[9] = 0;
|
||||
out_8313815405136017311[10] = 0;
|
||||
out_8313815405136017311[11] = 0;
|
||||
out_8313815405136017311[12] = 0;
|
||||
out_8313815405136017311[13] = 0;
|
||||
out_8313815405136017311[14] = 1;
|
||||
out_8313815405136017311[15] = 0;
|
||||
out_8313815405136017311[16] = 0;
|
||||
out_8313815405136017311[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_5950976016940954268) {
|
||||
out_5950976016940954268[0] = 0;
|
||||
out_5950976016940954268[1] = 0;
|
||||
out_5950976016940954268[2] = 0;
|
||||
out_5950976016940954268[3] = 0;
|
||||
out_5950976016940954268[4] = 1;
|
||||
out_5950976016940954268[5] = 0;
|
||||
out_5950976016940954268[6] = 0;
|
||||
out_5950976016940954268[7] = 0;
|
||||
out_5950976016940954268[8] = 0;
|
||||
out_5950976016940954268[9] = 0;
|
||||
out_5950976016940954268[10] = 0;
|
||||
out_5950976016940954268[11] = 0;
|
||||
out_5950976016940954268[12] = 0;
|
||||
out_5950976016940954268[13] = 0;
|
||||
out_5950976016940954268[14] = 1;
|
||||
out_5950976016940954268[15] = 0;
|
||||
out_5950976016940954268[16] = 0;
|
||||
out_5950976016940954268[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_7443128207949688601) {
|
||||
out_7443128207949688601[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_3908301040633649848) {
|
||||
out_3908301040633649848[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_5441946111060786112) {
|
||||
out_5441946111060786112[0] = 0;
|
||||
out_5441946111060786112[1] = 0;
|
||||
out_5441946111060786112[2] = 0;
|
||||
out_5441946111060786112[3] = 0;
|
||||
out_5441946111060786112[4] = 1;
|
||||
out_5441946111060786112[5] = 0;
|
||||
out_5441946111060786112[6] = 0;
|
||||
out_5441946111060786112[7] = 0;
|
||||
out_5441946111060786112[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6292094551841052922) {
|
||||
out_6292094551841052922[0] = 0;
|
||||
out_6292094551841052922[1] = 0;
|
||||
out_6292094551841052922[2] = 0;
|
||||
out_6292094551841052922[3] = 0;
|
||||
out_6292094551841052922[4] = 1;
|
||||
out_6292094551841052922[5] = 0;
|
||||
out_6292094551841052922[6] = 0;
|
||||
out_6292094551841052922[7] = 0;
|
||||
out_6292094551841052922[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_5333477160662303659) {
|
||||
out_5333477160662303659[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_8870681038314943080) {
|
||||
out_8870681038314943080[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6744961685267460653) {
|
||||
out_6744961685267460653[0] = 0;
|
||||
out_6744961685267460653[1] = 0;
|
||||
out_6744961685267460653[2] = 0;
|
||||
out_6744961685267460653[3] = 0;
|
||||
out_6744961685267460653[4] = 0;
|
||||
out_6744961685267460653[5] = 0;
|
||||
out_6744961685267460653[6] = 0;
|
||||
out_6744961685267460653[7] = 1;
|
||||
out_6744961685267460653[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_32258274459748071) {
|
||||
out_32258274459748071[0] = 0;
|
||||
out_32258274459748071[1] = 0;
|
||||
out_32258274459748071[2] = 0;
|
||||
out_32258274459748071[3] = 0;
|
||||
out_32258274459748071[4] = 0;
|
||||
out_32258274459748071[5] = 0;
|
||||
out_32258274459748071[6] = 0;
|
||||
out_32258274459748071[7] = 1;
|
||||
out_32258274459748071[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_5010412721985507322) {
|
||||
out_5010412721985507322[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_8988688432248319824) {
|
||||
out_8988688432248319824[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_8182362745197851896) {
|
||||
out_8182362745197851896[0] = 0;
|
||||
out_8182362745197851896[1] = 0;
|
||||
out_8182362745197851896[2] = 0;
|
||||
out_8182362745197851896[3] = 1;
|
||||
out_8182362745197851896[4] = 0;
|
||||
out_8182362745197851896[5] = 0;
|
||||
out_8182362745197851896[6] = 0;
|
||||
out_8182362745197851896[7] = 0;
|
||||
out_8182362745197851896[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_1469659334390139314) {
|
||||
out_1469659334390139314[0] = 0;
|
||||
out_1469659334390139314[1] = 0;
|
||||
out_1469659334390139314[2] = 0;
|
||||
out_1469659334390139314[3] = 1;
|
||||
out_1469659334390139314[4] = 0;
|
||||
out_1469659334390139314[5] = 0;
|
||||
out_1469659334390139314[6] = 0;
|
||||
out_1469659334390139314[7] = 0;
|
||||
out_1469659334390139314[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_8399210544951165364) {
|
||||
out_8399210544951165364[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_149028852435531358) {
|
||||
out_149028852435531358[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_6469000018328300863) {
|
||||
out_6469000018328300863[0] = 0;
|
||||
out_6469000018328300863[1] = 1;
|
||||
out_6469000018328300863[2] = 0;
|
||||
out_6469000018328300863[3] = 0;
|
||||
out_6469000018328300863[4] = 0;
|
||||
out_6469000018328300863[5] = 0;
|
||||
out_6469000018328300863[6] = 0;
|
||||
out_6469000018328300863[7] = 0;
|
||||
out_6469000018328300863[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_243703392479411719) {
|
||||
out_243703392479411719[0] = 0;
|
||||
out_243703392479411719[1] = 1;
|
||||
out_243703392479411719[2] = 0;
|
||||
out_243703392479411719[3] = 0;
|
||||
out_243703392479411719[4] = 0;
|
||||
out_243703392479411719[5] = 0;
|
||||
out_243703392479411719[6] = 0;
|
||||
out_243703392479411719[7] = 0;
|
||||
out_243703392479411719[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2638932451325827020) {
|
||||
out_2638932451325827020[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_4456382373800386147) {
|
||||
out_4456382373800386147[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_8432630289893627114) {
|
||||
out_8432630289893627114[0] = 1;
|
||||
out_8432630289893627114[1] = 0;
|
||||
out_8432630289893627114[2] = 0;
|
||||
out_8432630289893627114[3] = 0;
|
||||
out_8432630289893627114[4] = 0;
|
||||
out_8432630289893627114[5] = 0;
|
||||
out_8432630289893627114[6] = 0;
|
||||
out_8432630289893627114[7] = 0;
|
||||
out_8432630289893627114[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_1719926879085914532) {
|
||||
out_1719926879085914532[0] = 1;
|
||||
out_1719926879085914532[1] = 0;
|
||||
out_1719926879085914532[2] = 0;
|
||||
out_1719926879085914532[3] = 0;
|
||||
out_1719926879085914532[4] = 0;
|
||||
out_1719926879085914532[5] = 0;
|
||||
out_1719926879085914532[6] = 0;
|
||||
out_1719926879085914532[7] = 0;
|
||||
out_1719926879085914532[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_4572974607634696997) {
|
||||
out_4572974607634696997[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7610421138374421687) {
|
||||
out_7610421138374421687[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_6118753583034109177) {
|
||||
out_6118753583034109177[0] = 0;
|
||||
out_6118753583034109177[1] = 0;
|
||||
out_6118753583034109177[2] = 0;
|
||||
out_6118753583034109177[3] = 0;
|
||||
out_6118753583034109177[4] = 0;
|
||||
out_6118753583034109177[5] = 0;
|
||||
out_6118753583034109177[6] = 0;
|
||||
out_6118753583034109177[7] = 0;
|
||||
out_6118753583034109177[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_3804407555210764723) {
|
||||
out_3804407555210764723[0] = 0;
|
||||
out_3804407555210764723[1] = 0;
|
||||
out_3804407555210764723[2] = 0;
|
||||
out_3804407555210764723[3] = 0;
|
||||
out_3804407555210764723[4] = 0;
|
||||
out_3804407555210764723[5] = 0;
|
||||
out_3804407555210764723[6] = 0;
|
||||
out_3804407555210764723[7] = 0;
|
||||
out_3804407555210764723[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_4611641411917091701) {
|
||||
err_fun(nom_x, delta_x, out_4611641411917091701);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8137803062968279058) {
|
||||
err_fun(nom_x, delta_x, out_8137803062968279058);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3968532722392907058) {
|
||||
inv_err_fun(nom_x, true_x, out_3968532722392907058);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4803320297930984943) {
|
||||
inv_err_fun(nom_x, true_x, out_4803320297930984943);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_1232909156344202498) {
|
||||
H_mod_fun(state, out_1232909156344202498);
|
||||
void car_H_mod_fun(double *state, double *out_250780943344312618) {
|
||||
H_mod_fun(state, out_250780943344312618);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_241923337051056220) {
|
||||
f_fun(state, dt, out_241923337051056220);
|
||||
void car_f_fun(double *state, double dt, double *out_5023554550498675071) {
|
||||
f_fun(state, dt, out_5023554550498675071);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_2984795699500747305) {
|
||||
F_fun(state, dt, out_2984795699500747305);
|
||||
void car_F_fun(double *state, double dt, double *out_3517018389212170475) {
|
||||
F_fun(state, dt, out_3517018389212170475);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_4848168669919202886) {
|
||||
h_25(state, unused, out_4848168669919202886);
|
||||
void car_h_25(double *state, double *unused, double *out_8788151648350399353) {
|
||||
h_25(state, unused, out_8788151648350399353);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_7960279069568034739) {
|
||||
H_25(state, unused, out_7960279069568034739);
|
||||
void car_H_25(double *state, double *unused, double *out_3773761593333804295) {
|
||||
H_25(state, unused, out_3773761593333804295);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_5973332433336352466) {
|
||||
h_24(state, unused, out_5973332433336352466);
|
||||
void car_h_24(double *state, double *unused, double *out_4617115616065835450) {
|
||||
h_24(state, unused, out_4617115616065835450);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_8313815405136017311) {
|
||||
H_24(state, unused, out_8313815405136017311);
|
||||
void car_H_24(double *state, double *unused, double *out_5950976016940954268) {
|
||||
H_24(state, unused, out_5950976016940954268);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_7443128207949688601) {
|
||||
h_30(state, unused, out_7443128207949688601);
|
||||
void car_h_30(double *state, double *unused, double *out_3908301040633649848) {
|
||||
h_30(state, unused, out_3908301040633649848);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_5441946111060786112) {
|
||||
H_30(state, unused, out_5441946111060786112);
|
||||
void car_H_30(double *state, double *unused, double *out_6292094551841052922) {
|
||||
H_30(state, unused, out_6292094551841052922);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_5333477160662303659) {
|
||||
h_26(state, unused, out_5333477160662303659);
|
||||
void car_h_26(double *state, double *unused, double *out_8870681038314943080) {
|
||||
h_26(state, unused, out_8870681038314943080);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6744961685267460653) {
|
||||
H_26(state, unused, out_6744961685267460653);
|
||||
void car_H_26(double *state, double *unused, double *out_32258274459748071) {
|
||||
H_26(state, unused, out_32258274459748071);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_5010412721985507322) {
|
||||
h_27(state, unused, out_5010412721985507322);
|
||||
void car_h_27(double *state, double *unused, double *out_8988688432248319824) {
|
||||
h_27(state, unused, out_8988688432248319824);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_8182362745197851896) {
|
||||
H_27(state, unused, out_8182362745197851896);
|
||||
void car_H_27(double *state, double *unused, double *out_1469659334390139314) {
|
||||
H_27(state, unused, out_1469659334390139314);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_8399210544951165364) {
|
||||
h_29(state, unused, out_8399210544951165364);
|
||||
void car_h_29(double *state, double *unused, double *out_149028852435531358) {
|
||||
h_29(state, unused, out_149028852435531358);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_6469000018328300863) {
|
||||
H_29(state, unused, out_6469000018328300863);
|
||||
void car_H_29(double *state, double *unused, double *out_243703392479411719) {
|
||||
H_29(state, unused, out_243703392479411719);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2638932451325827020) {
|
||||
h_28(state, unused, out_2638932451325827020);
|
||||
void car_h_28(double *state, double *unused, double *out_4456382373800386147) {
|
||||
h_28(state, unused, out_4456382373800386147);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_8432630289893627114) {
|
||||
H_28(state, unused, out_8432630289893627114);
|
||||
void car_H_28(double *state, double *unused, double *out_1719926879085914532) {
|
||||
H_28(state, unused, out_1719926879085914532);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_4572974607634696997) {
|
||||
h_31(state, unused, out_4572974607634696997);
|
||||
void car_h_31(double *state, double *unused, double *out_7610421138374421687) {
|
||||
h_31(state, unused, out_7610421138374421687);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_6118753583034109177) {
|
||||
H_31(state, unused, out_6118753583034109177);
|
||||
void car_H_31(double *state, double *unused, double *out_3804407555210764723) {
|
||||
H_31(state, unused, out_3804407555210764723);
|
||||
}
|
||||
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_4611641411917091701);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3968532722392907058);
|
||||
void car_H_mod_fun(double *state, double *out_1232909156344202498);
|
||||
void car_f_fun(double *state, double dt, double *out_241923337051056220);
|
||||
void car_F_fun(double *state, double dt, double *out_2984795699500747305);
|
||||
void car_h_25(double *state, double *unused, double *out_4848168669919202886);
|
||||
void car_H_25(double *state, double *unused, double *out_7960279069568034739);
|
||||
void car_h_24(double *state, double *unused, double *out_5973332433336352466);
|
||||
void car_H_24(double *state, double *unused, double *out_8313815405136017311);
|
||||
void car_h_30(double *state, double *unused, double *out_7443128207949688601);
|
||||
void car_H_30(double *state, double *unused, double *out_5441946111060786112);
|
||||
void car_h_26(double *state, double *unused, double *out_5333477160662303659);
|
||||
void car_H_26(double *state, double *unused, double *out_6744961685267460653);
|
||||
void car_h_27(double *state, double *unused, double *out_5010412721985507322);
|
||||
void car_H_27(double *state, double *unused, double *out_8182362745197851896);
|
||||
void car_h_29(double *state, double *unused, double *out_8399210544951165364);
|
||||
void car_H_29(double *state, double *unused, double *out_6469000018328300863);
|
||||
void car_h_28(double *state, double *unused, double *out_2638932451325827020);
|
||||
void car_H_28(double *state, double *unused, double *out_8432630289893627114);
|
||||
void car_h_31(double *state, double *unused, double *out_4572974607634696997);
|
||||
void car_H_31(double *state, double *unused, double *out_6118753583034109177);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8137803062968279058);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4803320297930984943);
|
||||
void car_H_mod_fun(double *state, double *out_250780943344312618);
|
||||
void car_f_fun(double *state, double dt, double *out_5023554550498675071);
|
||||
void car_F_fun(double *state, double dt, double *out_3517018389212170475);
|
||||
void car_h_25(double *state, double *unused, double *out_8788151648350399353);
|
||||
void car_H_25(double *state, double *unused, double *out_3773761593333804295);
|
||||
void car_h_24(double *state, double *unused, double *out_4617115616065835450);
|
||||
void car_H_24(double *state, double *unused, double *out_5950976016940954268);
|
||||
void car_h_30(double *state, double *unused, double *out_3908301040633649848);
|
||||
void car_H_30(double *state, double *unused, double *out_6292094551841052922);
|
||||
void car_h_26(double *state, double *unused, double *out_8870681038314943080);
|
||||
void car_H_26(double *state, double *unused, double *out_32258274459748071);
|
||||
void car_h_27(double *state, double *unused, double *out_8988688432248319824);
|
||||
void car_H_27(double *state, double *unused, double *out_1469659334390139314);
|
||||
void car_h_29(double *state, double *unused, double *out_149028852435531358);
|
||||
void car_H_29(double *state, double *unused, double *out_243703392479411719);
|
||||
void car_h_28(double *state, double *unused, double *out_4456382373800386147);
|
||||
void car_H_28(double *state, double *unused, double *out_1719926879085914532);
|
||||
void car_h_31(double *state, double *unused, double *out_7610421138374421687);
|
||||
void car_H_31(double *state, double *unused, double *out_3804407555210764723);
|
||||
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_8612662017984698055);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6583538545281744086);
|
||||
void pose_H_mod_fun(double *state, double *out_7537065087244600898);
|
||||
void pose_f_fun(double *state, double dt, double *out_6289537546199484080);
|
||||
void pose_F_fun(double *state, double dt, double *out_3263235949829739422);
|
||||
void pose_h_4(double *state, double *unused, double *out_6871661940623032085);
|
||||
void pose_H_4(double *state, double *unused, double *out_5061597179712991997);
|
||||
void pose_h_10(double *state, double *unused, double *out_974669649895256171);
|
||||
void pose_H_10(double *state, double *unused, double *out_3862977066975629010);
|
||||
void pose_h_13(double *state, double *unused, double *out_2719357598944466940);
|
||||
void pose_H_13(double *state, double *unused, double *out_8273871005045324798);
|
||||
void pose_h_14(double *state, double *unused, double *out_5270922229605318979);
|
||||
void pose_H_14(double *state, double *unused, double *out_9024838036052476526);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_6269171790765846050);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1497934558633100347);
|
||||
void pose_H_mod_fun(double *state, double *out_7862392065184069712);
|
||||
void pose_f_fun(double *state, double dt, double *out_4855847476055627778);
|
||||
void pose_F_fun(double *state, double dt, double *out_1703318423524786966);
|
||||
void pose_h_4(double *state, double *unused, double *out_7821603690376207235);
|
||||
void pose_H_4(double *state, double *unused, double *out_1639990342467660562);
|
||||
void pose_h_10(double *state, double *unused, double *out_4627608962100745909);
|
||||
void pose_H_10(double *state, double *unused, double *out_5548344007433806154);
|
||||
void pose_h_13(double *state, double *unused, double *out_5105456950148742445);
|
||||
void pose_H_13(double *state, double *unused, double *out_4852264167799993363);
|
||||
void pose_h_14(double *state, double *unused, double *out_7814084012328434224);
|
||||
void pose_H_14(double *state, double *unused, double *out_5603231198807145091);
|
||||
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