mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-21 08:14:00 +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-06f6ff66-DEBUG";
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||||
const uint8_t gitversion[19] = "DEV-57ac82d1-DEBUG";
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||||
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||||
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@@ -1 +1 @@
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DEV-06f6ff66-DEBUG
|
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DEV-57ac82d1-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_5769240825907262247) {
|
||||
out_5769240825907262247[0] = delta_x[0] + nom_x[0];
|
||||
out_5769240825907262247[1] = delta_x[1] + nom_x[1];
|
||||
out_5769240825907262247[2] = delta_x[2] + nom_x[2];
|
||||
out_5769240825907262247[3] = delta_x[3] + nom_x[3];
|
||||
out_5769240825907262247[4] = delta_x[4] + nom_x[4];
|
||||
out_5769240825907262247[5] = delta_x[5] + nom_x[5];
|
||||
out_5769240825907262247[6] = delta_x[6] + nom_x[6];
|
||||
out_5769240825907262247[7] = delta_x[7] + nom_x[7];
|
||||
out_5769240825907262247[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_6251513780499274303) {
|
||||
out_6251513780499274303[0] = delta_x[0] + nom_x[0];
|
||||
out_6251513780499274303[1] = delta_x[1] + nom_x[1];
|
||||
out_6251513780499274303[2] = delta_x[2] + nom_x[2];
|
||||
out_6251513780499274303[3] = delta_x[3] + nom_x[3];
|
||||
out_6251513780499274303[4] = delta_x[4] + nom_x[4];
|
||||
out_6251513780499274303[5] = delta_x[5] + nom_x[5];
|
||||
out_6251513780499274303[6] = delta_x[6] + nom_x[6];
|
||||
out_6251513780499274303[7] = delta_x[7] + nom_x[7];
|
||||
out_6251513780499274303[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_2180470504006262414) {
|
||||
out_2180470504006262414[0] = -nom_x[0] + true_x[0];
|
||||
out_2180470504006262414[1] = -nom_x[1] + true_x[1];
|
||||
out_2180470504006262414[2] = -nom_x[2] + true_x[2];
|
||||
out_2180470504006262414[3] = -nom_x[3] + true_x[3];
|
||||
out_2180470504006262414[4] = -nom_x[4] + true_x[4];
|
||||
out_2180470504006262414[5] = -nom_x[5] + true_x[5];
|
||||
out_2180470504006262414[6] = -nom_x[6] + true_x[6];
|
||||
out_2180470504006262414[7] = -nom_x[7] + true_x[7];
|
||||
out_2180470504006262414[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1361283985005059007) {
|
||||
out_1361283985005059007[0] = -nom_x[0] + true_x[0];
|
||||
out_1361283985005059007[1] = -nom_x[1] + true_x[1];
|
||||
out_1361283985005059007[2] = -nom_x[2] + true_x[2];
|
||||
out_1361283985005059007[3] = -nom_x[3] + true_x[3];
|
||||
out_1361283985005059007[4] = -nom_x[4] + true_x[4];
|
||||
out_1361283985005059007[5] = -nom_x[5] + true_x[5];
|
||||
out_1361283985005059007[6] = -nom_x[6] + true_x[6];
|
||||
out_1361283985005059007[7] = -nom_x[7] + true_x[7];
|
||||
out_1361283985005059007[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_199921167776384783) {
|
||||
out_199921167776384783[0] = 1.0;
|
||||
out_199921167776384783[1] = 0.0;
|
||||
out_199921167776384783[2] = 0.0;
|
||||
out_199921167776384783[3] = 0.0;
|
||||
out_199921167776384783[4] = 0.0;
|
||||
out_199921167776384783[5] = 0.0;
|
||||
out_199921167776384783[6] = 0.0;
|
||||
out_199921167776384783[7] = 0.0;
|
||||
out_199921167776384783[8] = 0.0;
|
||||
out_199921167776384783[9] = 0.0;
|
||||
out_199921167776384783[10] = 1.0;
|
||||
out_199921167776384783[11] = 0.0;
|
||||
out_199921167776384783[12] = 0.0;
|
||||
out_199921167776384783[13] = 0.0;
|
||||
out_199921167776384783[14] = 0.0;
|
||||
out_199921167776384783[15] = 0.0;
|
||||
out_199921167776384783[16] = 0.0;
|
||||
out_199921167776384783[17] = 0.0;
|
||||
out_199921167776384783[18] = 0.0;
|
||||
out_199921167776384783[19] = 0.0;
|
||||
out_199921167776384783[20] = 1.0;
|
||||
out_199921167776384783[21] = 0.0;
|
||||
out_199921167776384783[22] = 0.0;
|
||||
out_199921167776384783[23] = 0.0;
|
||||
out_199921167776384783[24] = 0.0;
|
||||
out_199921167776384783[25] = 0.0;
|
||||
out_199921167776384783[26] = 0.0;
|
||||
out_199921167776384783[27] = 0.0;
|
||||
out_199921167776384783[28] = 0.0;
|
||||
out_199921167776384783[29] = 0.0;
|
||||
out_199921167776384783[30] = 1.0;
|
||||
out_199921167776384783[31] = 0.0;
|
||||
out_199921167776384783[32] = 0.0;
|
||||
out_199921167776384783[33] = 0.0;
|
||||
out_199921167776384783[34] = 0.0;
|
||||
out_199921167776384783[35] = 0.0;
|
||||
out_199921167776384783[36] = 0.0;
|
||||
out_199921167776384783[37] = 0.0;
|
||||
out_199921167776384783[38] = 0.0;
|
||||
out_199921167776384783[39] = 0.0;
|
||||
out_199921167776384783[40] = 1.0;
|
||||
out_199921167776384783[41] = 0.0;
|
||||
out_199921167776384783[42] = 0.0;
|
||||
out_199921167776384783[43] = 0.0;
|
||||
out_199921167776384783[44] = 0.0;
|
||||
out_199921167776384783[45] = 0.0;
|
||||
out_199921167776384783[46] = 0.0;
|
||||
out_199921167776384783[47] = 0.0;
|
||||
out_199921167776384783[48] = 0.0;
|
||||
out_199921167776384783[49] = 0.0;
|
||||
out_199921167776384783[50] = 1.0;
|
||||
out_199921167776384783[51] = 0.0;
|
||||
out_199921167776384783[52] = 0.0;
|
||||
out_199921167776384783[53] = 0.0;
|
||||
out_199921167776384783[54] = 0.0;
|
||||
out_199921167776384783[55] = 0.0;
|
||||
out_199921167776384783[56] = 0.0;
|
||||
out_199921167776384783[57] = 0.0;
|
||||
out_199921167776384783[58] = 0.0;
|
||||
out_199921167776384783[59] = 0.0;
|
||||
out_199921167776384783[60] = 1.0;
|
||||
out_199921167776384783[61] = 0.0;
|
||||
out_199921167776384783[62] = 0.0;
|
||||
out_199921167776384783[63] = 0.0;
|
||||
out_199921167776384783[64] = 0.0;
|
||||
out_199921167776384783[65] = 0.0;
|
||||
out_199921167776384783[66] = 0.0;
|
||||
out_199921167776384783[67] = 0.0;
|
||||
out_199921167776384783[68] = 0.0;
|
||||
out_199921167776384783[69] = 0.0;
|
||||
out_199921167776384783[70] = 1.0;
|
||||
out_199921167776384783[71] = 0.0;
|
||||
out_199921167776384783[72] = 0.0;
|
||||
out_199921167776384783[73] = 0.0;
|
||||
out_199921167776384783[74] = 0.0;
|
||||
out_199921167776384783[75] = 0.0;
|
||||
out_199921167776384783[76] = 0.0;
|
||||
out_199921167776384783[77] = 0.0;
|
||||
out_199921167776384783[78] = 0.0;
|
||||
out_199921167776384783[79] = 0.0;
|
||||
out_199921167776384783[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_3699562487368274414) {
|
||||
out_3699562487368274414[0] = 1.0;
|
||||
out_3699562487368274414[1] = 0.0;
|
||||
out_3699562487368274414[2] = 0.0;
|
||||
out_3699562487368274414[3] = 0.0;
|
||||
out_3699562487368274414[4] = 0.0;
|
||||
out_3699562487368274414[5] = 0.0;
|
||||
out_3699562487368274414[6] = 0.0;
|
||||
out_3699562487368274414[7] = 0.0;
|
||||
out_3699562487368274414[8] = 0.0;
|
||||
out_3699562487368274414[9] = 0.0;
|
||||
out_3699562487368274414[10] = 1.0;
|
||||
out_3699562487368274414[11] = 0.0;
|
||||
out_3699562487368274414[12] = 0.0;
|
||||
out_3699562487368274414[13] = 0.0;
|
||||
out_3699562487368274414[14] = 0.0;
|
||||
out_3699562487368274414[15] = 0.0;
|
||||
out_3699562487368274414[16] = 0.0;
|
||||
out_3699562487368274414[17] = 0.0;
|
||||
out_3699562487368274414[18] = 0.0;
|
||||
out_3699562487368274414[19] = 0.0;
|
||||
out_3699562487368274414[20] = 1.0;
|
||||
out_3699562487368274414[21] = 0.0;
|
||||
out_3699562487368274414[22] = 0.0;
|
||||
out_3699562487368274414[23] = 0.0;
|
||||
out_3699562487368274414[24] = 0.0;
|
||||
out_3699562487368274414[25] = 0.0;
|
||||
out_3699562487368274414[26] = 0.0;
|
||||
out_3699562487368274414[27] = 0.0;
|
||||
out_3699562487368274414[28] = 0.0;
|
||||
out_3699562487368274414[29] = 0.0;
|
||||
out_3699562487368274414[30] = 1.0;
|
||||
out_3699562487368274414[31] = 0.0;
|
||||
out_3699562487368274414[32] = 0.0;
|
||||
out_3699562487368274414[33] = 0.0;
|
||||
out_3699562487368274414[34] = 0.0;
|
||||
out_3699562487368274414[35] = 0.0;
|
||||
out_3699562487368274414[36] = 0.0;
|
||||
out_3699562487368274414[37] = 0.0;
|
||||
out_3699562487368274414[38] = 0.0;
|
||||
out_3699562487368274414[39] = 0.0;
|
||||
out_3699562487368274414[40] = 1.0;
|
||||
out_3699562487368274414[41] = 0.0;
|
||||
out_3699562487368274414[42] = 0.0;
|
||||
out_3699562487368274414[43] = 0.0;
|
||||
out_3699562487368274414[44] = 0.0;
|
||||
out_3699562487368274414[45] = 0.0;
|
||||
out_3699562487368274414[46] = 0.0;
|
||||
out_3699562487368274414[47] = 0.0;
|
||||
out_3699562487368274414[48] = 0.0;
|
||||
out_3699562487368274414[49] = 0.0;
|
||||
out_3699562487368274414[50] = 1.0;
|
||||
out_3699562487368274414[51] = 0.0;
|
||||
out_3699562487368274414[52] = 0.0;
|
||||
out_3699562487368274414[53] = 0.0;
|
||||
out_3699562487368274414[54] = 0.0;
|
||||
out_3699562487368274414[55] = 0.0;
|
||||
out_3699562487368274414[56] = 0.0;
|
||||
out_3699562487368274414[57] = 0.0;
|
||||
out_3699562487368274414[58] = 0.0;
|
||||
out_3699562487368274414[59] = 0.0;
|
||||
out_3699562487368274414[60] = 1.0;
|
||||
out_3699562487368274414[61] = 0.0;
|
||||
out_3699562487368274414[62] = 0.0;
|
||||
out_3699562487368274414[63] = 0.0;
|
||||
out_3699562487368274414[64] = 0.0;
|
||||
out_3699562487368274414[65] = 0.0;
|
||||
out_3699562487368274414[66] = 0.0;
|
||||
out_3699562487368274414[67] = 0.0;
|
||||
out_3699562487368274414[68] = 0.0;
|
||||
out_3699562487368274414[69] = 0.0;
|
||||
out_3699562487368274414[70] = 1.0;
|
||||
out_3699562487368274414[71] = 0.0;
|
||||
out_3699562487368274414[72] = 0.0;
|
||||
out_3699562487368274414[73] = 0.0;
|
||||
out_3699562487368274414[74] = 0.0;
|
||||
out_3699562487368274414[75] = 0.0;
|
||||
out_3699562487368274414[76] = 0.0;
|
||||
out_3699562487368274414[77] = 0.0;
|
||||
out_3699562487368274414[78] = 0.0;
|
||||
out_3699562487368274414[79] = 0.0;
|
||||
out_3699562487368274414[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_1042331506821406330) {
|
||||
out_1042331506821406330[0] = state[0];
|
||||
out_1042331506821406330[1] = state[1];
|
||||
out_1042331506821406330[2] = state[2];
|
||||
out_1042331506821406330[3] = state[3];
|
||||
out_1042331506821406330[4] = state[4];
|
||||
out_1042331506821406330[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_1042331506821406330[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_1042331506821406330[7] = state[7];
|
||||
out_1042331506821406330[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_1113205683479280207) {
|
||||
out_1113205683479280207[0] = state[0];
|
||||
out_1113205683479280207[1] = state[1];
|
||||
out_1113205683479280207[2] = state[2];
|
||||
out_1113205683479280207[3] = state[3];
|
||||
out_1113205683479280207[4] = state[4];
|
||||
out_1113205683479280207[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_1113205683479280207[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_1113205683479280207[7] = state[7];
|
||||
out_1113205683479280207[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_8550568359085178836) {
|
||||
out_8550568359085178836[0] = 1;
|
||||
out_8550568359085178836[1] = 0;
|
||||
out_8550568359085178836[2] = 0;
|
||||
out_8550568359085178836[3] = 0;
|
||||
out_8550568359085178836[4] = 0;
|
||||
out_8550568359085178836[5] = 0;
|
||||
out_8550568359085178836[6] = 0;
|
||||
out_8550568359085178836[7] = 0;
|
||||
out_8550568359085178836[8] = 0;
|
||||
out_8550568359085178836[9] = 0;
|
||||
out_8550568359085178836[10] = 1;
|
||||
out_8550568359085178836[11] = 0;
|
||||
out_8550568359085178836[12] = 0;
|
||||
out_8550568359085178836[13] = 0;
|
||||
out_8550568359085178836[14] = 0;
|
||||
out_8550568359085178836[15] = 0;
|
||||
out_8550568359085178836[16] = 0;
|
||||
out_8550568359085178836[17] = 0;
|
||||
out_8550568359085178836[18] = 0;
|
||||
out_8550568359085178836[19] = 0;
|
||||
out_8550568359085178836[20] = 1;
|
||||
out_8550568359085178836[21] = 0;
|
||||
out_8550568359085178836[22] = 0;
|
||||
out_8550568359085178836[23] = 0;
|
||||
out_8550568359085178836[24] = 0;
|
||||
out_8550568359085178836[25] = 0;
|
||||
out_8550568359085178836[26] = 0;
|
||||
out_8550568359085178836[27] = 0;
|
||||
out_8550568359085178836[28] = 0;
|
||||
out_8550568359085178836[29] = 0;
|
||||
out_8550568359085178836[30] = 1;
|
||||
out_8550568359085178836[31] = 0;
|
||||
out_8550568359085178836[32] = 0;
|
||||
out_8550568359085178836[33] = 0;
|
||||
out_8550568359085178836[34] = 0;
|
||||
out_8550568359085178836[35] = 0;
|
||||
out_8550568359085178836[36] = 0;
|
||||
out_8550568359085178836[37] = 0;
|
||||
out_8550568359085178836[38] = 0;
|
||||
out_8550568359085178836[39] = 0;
|
||||
out_8550568359085178836[40] = 1;
|
||||
out_8550568359085178836[41] = 0;
|
||||
out_8550568359085178836[42] = 0;
|
||||
out_8550568359085178836[43] = 0;
|
||||
out_8550568359085178836[44] = 0;
|
||||
out_8550568359085178836[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_8550568359085178836[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8550568359085178836[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8550568359085178836[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8550568359085178836[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_8550568359085178836[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8550568359085178836[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8550568359085178836[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8550568359085178836[53] = -9.8100000000000005*dt;
|
||||
out_8550568359085178836[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_8550568359085178836[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8550568359085178836[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8550568359085178836[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8550568359085178836[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_8550568359085178836[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8550568359085178836[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_8550568359085178836[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8550568359085178836[62] = 0;
|
||||
out_8550568359085178836[63] = 0;
|
||||
out_8550568359085178836[64] = 0;
|
||||
out_8550568359085178836[65] = 0;
|
||||
out_8550568359085178836[66] = 0;
|
||||
out_8550568359085178836[67] = 0;
|
||||
out_8550568359085178836[68] = 0;
|
||||
out_8550568359085178836[69] = 0;
|
||||
out_8550568359085178836[70] = 1;
|
||||
out_8550568359085178836[71] = 0;
|
||||
out_8550568359085178836[72] = 0;
|
||||
out_8550568359085178836[73] = 0;
|
||||
out_8550568359085178836[74] = 0;
|
||||
out_8550568359085178836[75] = 0;
|
||||
out_8550568359085178836[76] = 0;
|
||||
out_8550568359085178836[77] = 0;
|
||||
out_8550568359085178836[78] = 0;
|
||||
out_8550568359085178836[79] = 0;
|
||||
out_8550568359085178836[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_2198054725359611149) {
|
||||
out_2198054725359611149[0] = 1;
|
||||
out_2198054725359611149[1] = 0;
|
||||
out_2198054725359611149[2] = 0;
|
||||
out_2198054725359611149[3] = 0;
|
||||
out_2198054725359611149[4] = 0;
|
||||
out_2198054725359611149[5] = 0;
|
||||
out_2198054725359611149[6] = 0;
|
||||
out_2198054725359611149[7] = 0;
|
||||
out_2198054725359611149[8] = 0;
|
||||
out_2198054725359611149[9] = 0;
|
||||
out_2198054725359611149[10] = 1;
|
||||
out_2198054725359611149[11] = 0;
|
||||
out_2198054725359611149[12] = 0;
|
||||
out_2198054725359611149[13] = 0;
|
||||
out_2198054725359611149[14] = 0;
|
||||
out_2198054725359611149[15] = 0;
|
||||
out_2198054725359611149[16] = 0;
|
||||
out_2198054725359611149[17] = 0;
|
||||
out_2198054725359611149[18] = 0;
|
||||
out_2198054725359611149[19] = 0;
|
||||
out_2198054725359611149[20] = 1;
|
||||
out_2198054725359611149[21] = 0;
|
||||
out_2198054725359611149[22] = 0;
|
||||
out_2198054725359611149[23] = 0;
|
||||
out_2198054725359611149[24] = 0;
|
||||
out_2198054725359611149[25] = 0;
|
||||
out_2198054725359611149[26] = 0;
|
||||
out_2198054725359611149[27] = 0;
|
||||
out_2198054725359611149[28] = 0;
|
||||
out_2198054725359611149[29] = 0;
|
||||
out_2198054725359611149[30] = 1;
|
||||
out_2198054725359611149[31] = 0;
|
||||
out_2198054725359611149[32] = 0;
|
||||
out_2198054725359611149[33] = 0;
|
||||
out_2198054725359611149[34] = 0;
|
||||
out_2198054725359611149[35] = 0;
|
||||
out_2198054725359611149[36] = 0;
|
||||
out_2198054725359611149[37] = 0;
|
||||
out_2198054725359611149[38] = 0;
|
||||
out_2198054725359611149[39] = 0;
|
||||
out_2198054725359611149[40] = 1;
|
||||
out_2198054725359611149[41] = 0;
|
||||
out_2198054725359611149[42] = 0;
|
||||
out_2198054725359611149[43] = 0;
|
||||
out_2198054725359611149[44] = 0;
|
||||
out_2198054725359611149[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_2198054725359611149[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2198054725359611149[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2198054725359611149[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2198054725359611149[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_2198054725359611149[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2198054725359611149[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2198054725359611149[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2198054725359611149[53] = -9.8100000000000005*dt;
|
||||
out_2198054725359611149[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_2198054725359611149[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2198054725359611149[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2198054725359611149[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2198054725359611149[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_2198054725359611149[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2198054725359611149[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_2198054725359611149[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2198054725359611149[62] = 0;
|
||||
out_2198054725359611149[63] = 0;
|
||||
out_2198054725359611149[64] = 0;
|
||||
out_2198054725359611149[65] = 0;
|
||||
out_2198054725359611149[66] = 0;
|
||||
out_2198054725359611149[67] = 0;
|
||||
out_2198054725359611149[68] = 0;
|
||||
out_2198054725359611149[69] = 0;
|
||||
out_2198054725359611149[70] = 1;
|
||||
out_2198054725359611149[71] = 0;
|
||||
out_2198054725359611149[72] = 0;
|
||||
out_2198054725359611149[73] = 0;
|
||||
out_2198054725359611149[74] = 0;
|
||||
out_2198054725359611149[75] = 0;
|
||||
out_2198054725359611149[76] = 0;
|
||||
out_2198054725359611149[77] = 0;
|
||||
out_2198054725359611149[78] = 0;
|
||||
out_2198054725359611149[79] = 0;
|
||||
out_2198054725359611149[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5837605696441742449) {
|
||||
out_5837605696441742449[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_2775617380616102557) {
|
||||
out_2775617380616102557[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_8993267058135852454) {
|
||||
out_8993267058135852454[0] = 0;
|
||||
out_8993267058135852454[1] = 0;
|
||||
out_8993267058135852454[2] = 0;
|
||||
out_8993267058135852454[3] = 0;
|
||||
out_8993267058135852454[4] = 0;
|
||||
out_8993267058135852454[5] = 0;
|
||||
out_8993267058135852454[6] = 1;
|
||||
out_8993267058135852454[7] = 0;
|
||||
out_8993267058135852454[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_5493625738543962823) {
|
||||
out_5493625738543962823[0] = 0;
|
||||
out_5493625738543962823[1] = 0;
|
||||
out_5493625738543962823[2] = 0;
|
||||
out_5493625738543962823[3] = 0;
|
||||
out_5493625738543962823[4] = 0;
|
||||
out_5493625738543962823[5] = 0;
|
||||
out_5493625738543962823[6] = 1;
|
||||
out_5493625738543962823[7] = 0;
|
||||
out_5493625738543962823[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_5044076517459918856) {
|
||||
out_5044076517459918856[0] = state[4];
|
||||
out_5044076517459918856[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_6646117502185914860) {
|
||||
out_6646117502185914860[0] = state[4];
|
||||
out_6646117502185914860[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_7280827416568199596) {
|
||||
out_7280827416568199596[0] = 0;
|
||||
out_7280827416568199596[1] = 0;
|
||||
out_7280827416568199596[2] = 0;
|
||||
out_7280827416568199596[3] = 0;
|
||||
out_7280827416568199596[4] = 1;
|
||||
out_7280827416568199596[5] = 0;
|
||||
out_7280827416568199596[6] = 0;
|
||||
out_7280827416568199596[7] = 0;
|
||||
out_7280827416568199596[8] = 0;
|
||||
out_7280827416568199596[9] = 0;
|
||||
out_7280827416568199596[10] = 0;
|
||||
out_7280827416568199596[11] = 0;
|
||||
out_7280827416568199596[12] = 0;
|
||||
out_7280827416568199596[13] = 0;
|
||||
out_7280827416568199596[14] = 1;
|
||||
out_7280827416568199596[15] = 0;
|
||||
out_7280827416568199596[16] = 0;
|
||||
out_7280827416568199596[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_3267917954565094261) {
|
||||
out_3267917954565094261[0] = 0;
|
||||
out_3267917954565094261[1] = 0;
|
||||
out_3267917954565094261[2] = 0;
|
||||
out_3267917954565094261[3] = 0;
|
||||
out_3267917954565094261[4] = 1;
|
||||
out_3267917954565094261[5] = 0;
|
||||
out_3267917954565094261[6] = 0;
|
||||
out_3267917954565094261[7] = 0;
|
||||
out_3267917954565094261[8] = 0;
|
||||
out_3267917954565094261[9] = 0;
|
||||
out_3267917954565094261[10] = 0;
|
||||
out_3267917954565094261[11] = 0;
|
||||
out_3267917954565094261[12] = 0;
|
||||
out_3267917954565094261[13] = 0;
|
||||
out_3267917954565094261[14] = 1;
|
||||
out_3267917954565094261[15] = 0;
|
||||
out_3267917954565094261[16] = 0;
|
||||
out_3267917954565094261[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5983125520662397420) {
|
||||
out_5983125520662397420[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_6519293463111227465) {
|
||||
out_6519293463111227465[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_2076576716644235699) {
|
||||
out_2076576716644235699[0] = 0;
|
||||
out_2076576716644235699[1] = 0;
|
||||
out_2076576716644235699[2] = 0;
|
||||
out_2076576716644235699[3] = 0;
|
||||
out_2076576716644235699[4] = 1;
|
||||
out_2076576716644235699[5] = 0;
|
||||
out_2076576716644235699[6] = 0;
|
||||
out_2076576716644235699[7] = 0;
|
||||
out_2076576716644235699[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_1423064602947653932) {
|
||||
out_1423064602947653932[0] = 0;
|
||||
out_1423064602947653932[1] = 0;
|
||||
out_1423064602947653932[2] = 0;
|
||||
out_1423064602947653932[3] = 0;
|
||||
out_1423064602947653932[4] = 1;
|
||||
out_1423064602947653932[5] = 0;
|
||||
out_1423064602947653932[6] = 0;
|
||||
out_1423064602947653932[7] = 0;
|
||||
out_1423064602947653932[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_234514271167533250) {
|
||||
out_234514271167533250[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_7122609347787704982) {
|
||||
out_7122609347787704982[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_5688741088375051853) {
|
||||
out_5688741088375051853[0] = 0;
|
||||
out_5688741088375051853[1] = 0;
|
||||
out_5688741088375051853[2] = 0;
|
||||
out_5688741088375051853[3] = 0;
|
||||
out_5688741088375051853[4] = 0;
|
||||
out_5688741088375051853[5] = 0;
|
||||
out_5688741088375051853[6] = 0;
|
||||
out_5688741088375051853[7] = 1;
|
||||
out_5688741088375051853[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_9211615016291532569) {
|
||||
out_9211615016291532569[0] = 0;
|
||||
out_9211615016291532569[1] = 0;
|
||||
out_9211615016291532569[2] = 0;
|
||||
out_9211615016291532569[3] = 0;
|
||||
out_9211615016291532569[4] = 0;
|
||||
out_9211615016291532569[5] = 0;
|
||||
out_9211615016291532569[6] = 0;
|
||||
out_9211615016291532569[7] = 1;
|
||||
out_9211615016291532569[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_7383231161432484220) {
|
||||
out_7383231161432484220[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_7737997378297395789) {
|
||||
out_7737997378297395789[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_4251340028444660610) {
|
||||
out_4251340028444660610[0] = 0;
|
||||
out_4251340028444660610[1] = 0;
|
||||
out_4251340028444660610[2] = 0;
|
||||
out_4251340028444660610[3] = 1;
|
||||
out_4251340028444660610[4] = 0;
|
||||
out_4251340028444660610[5] = 0;
|
||||
out_4251340028444660610[6] = 0;
|
||||
out_4251340028444660610[7] = 0;
|
||||
out_4251340028444660610[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_7797727997487627804) {
|
||||
out_7797727997487627804[0] = 0;
|
||||
out_7797727997487627804[1] = 0;
|
||||
out_7797727997487627804[2] = 0;
|
||||
out_7797727997487627804[3] = 1;
|
||||
out_7797727997487627804[4] = 0;
|
||||
out_7797727997487627804[5] = 0;
|
||||
out_7797727997487627804[6] = 0;
|
||||
out_7797727997487627804[7] = 0;
|
||||
out_7797727997487627804[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_7461945285386308551) {
|
||||
out_7461945285386308551[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_3746027739128576800) {
|
||||
out_3746027739128576800[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_5964702755314211643) {
|
||||
out_5964702755314211643[0] = 0;
|
||||
out_5964702755314211643[1] = 1;
|
||||
out_5964702755314211643[2] = 0;
|
||||
out_5964702755314211643[3] = 0;
|
||||
out_5964702755314211643[4] = 0;
|
||||
out_5964702755314211643[5] = 0;
|
||||
out_5964702755314211643[6] = 0;
|
||||
out_5964702755314211643[7] = 0;
|
||||
out_5964702755314211643[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_5112733341372810709) {
|
||||
out_5112733341372810709[0] = 0;
|
||||
out_5112733341372810709[1] = 1;
|
||||
out_5112733341372810709[2] = 0;
|
||||
out_5112733341372810709[3] = 0;
|
||||
out_5112733341372810709[4] = 0;
|
||||
out_5112733341372810709[5] = 0;
|
||||
out_5112733341372810709[6] = 0;
|
||||
out_5112733341372810709[7] = 0;
|
||||
out_5112733341372810709[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2381557893771638575) {
|
||||
out_2381557893771638575[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_8104341374603458176) {
|
||||
out_8104341374603458176[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_7399642301325809399) {
|
||||
out_7399642301325809399[0] = 1;
|
||||
out_7399642301325809399[1] = 0;
|
||||
out_7399642301325809399[2] = 0;
|
||||
out_7399642301325809399[3] = 0;
|
||||
out_7399642301325809399[4] = 0;
|
||||
out_7399642301325809399[5] = 0;
|
||||
out_7399642301325809399[6] = 0;
|
||||
out_7399642301325809399[7] = 0;
|
||||
out_7399642301325809399[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_3149103069807484458) {
|
||||
out_3149103069807484458[0] = 1;
|
||||
out_3149103069807484458[1] = 0;
|
||||
out_3149103069807484458[2] = 0;
|
||||
out_3149103069807484458[3] = 0;
|
||||
out_3149103069807484458[4] = 0;
|
||||
out_3149103069807484458[5] = 0;
|
||||
out_3149103069807484458[6] = 0;
|
||||
out_3149103069807484458[7] = 0;
|
||||
out_3149103069807484458[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_4845873120447136726) {
|
||||
out_4845873120447136726[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_5721043300647637435) {
|
||||
out_5721043300647637435[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_8962621096258892026) {
|
||||
out_8962621096258892026[0] = 0;
|
||||
out_8962621096258892026[1] = 0;
|
||||
out_8962621096258892026[2] = 0;
|
||||
out_8962621096258892026[3] = 0;
|
||||
out_8962621096258892026[4] = 0;
|
||||
out_8962621096258892026[5] = 0;
|
||||
out_8962621096258892026[6] = 0;
|
||||
out_8962621096258892026[7] = 0;
|
||||
out_8962621096258892026[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_5462979776667002395) {
|
||||
out_5462979776667002395[0] = 0;
|
||||
out_5462979776667002395[1] = 0;
|
||||
out_5462979776667002395[2] = 0;
|
||||
out_5462979776667002395[3] = 0;
|
||||
out_5462979776667002395[4] = 0;
|
||||
out_5462979776667002395[5] = 0;
|
||||
out_5462979776667002395[6] = 0;
|
||||
out_5462979776667002395[7] = 0;
|
||||
out_5462979776667002395[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_5769240825907262247) {
|
||||
err_fun(nom_x, delta_x, out_5769240825907262247);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6251513780499274303) {
|
||||
err_fun(nom_x, delta_x, out_6251513780499274303);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_2180470504006262414) {
|
||||
inv_err_fun(nom_x, true_x, out_2180470504006262414);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1361283985005059007) {
|
||||
inv_err_fun(nom_x, true_x, out_1361283985005059007);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_199921167776384783) {
|
||||
H_mod_fun(state, out_199921167776384783);
|
||||
void car_H_mod_fun(double *state, double *out_3699562487368274414) {
|
||||
H_mod_fun(state, out_3699562487368274414);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_1042331506821406330) {
|
||||
f_fun(state, dt, out_1042331506821406330);
|
||||
void car_f_fun(double *state, double dt, double *out_1113205683479280207) {
|
||||
f_fun(state, dt, out_1113205683479280207);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_8550568359085178836) {
|
||||
F_fun(state, dt, out_8550568359085178836);
|
||||
void car_F_fun(double *state, double dt, double *out_2198054725359611149) {
|
||||
F_fun(state, dt, out_2198054725359611149);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5837605696441742449) {
|
||||
h_25(state, unused, out_5837605696441742449);
|
||||
void car_h_25(double *state, double *unused, double *out_2775617380616102557) {
|
||||
h_25(state, unused, out_2775617380616102557);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_8993267058135852454) {
|
||||
H_25(state, unused, out_8993267058135852454);
|
||||
void car_H_25(double *state, double *unused, double *out_5493625738543962823) {
|
||||
H_25(state, unused, out_5493625738543962823);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_5044076517459918856) {
|
||||
h_24(state, unused, out_5044076517459918856);
|
||||
void car_h_24(double *state, double *unused, double *out_6646117502185914860) {
|
||||
h_24(state, unused, out_6646117502185914860);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_7280827416568199596) {
|
||||
H_24(state, unused, out_7280827416568199596);
|
||||
void car_H_24(double *state, double *unused, double *out_3267917954565094261) {
|
||||
H_24(state, unused, out_3267917954565094261);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5983125520662397420) {
|
||||
h_30(state, unused, out_5983125520662397420);
|
||||
void car_h_30(double *state, double *unused, double *out_6519293463111227465) {
|
||||
h_30(state, unused, out_6519293463111227465);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_2076576716644235699) {
|
||||
H_30(state, unused, out_2076576716644235699);
|
||||
void car_H_30(double *state, double *unused, double *out_1423064602947653932) {
|
||||
H_30(state, unused, out_1423064602947653932);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_234514271167533250) {
|
||||
h_26(state, unused, out_234514271167533250);
|
||||
void car_h_26(double *state, double *unused, double *out_7122609347787704982) {
|
||||
h_26(state, unused, out_7122609347787704982);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_5688741088375051853) {
|
||||
H_26(state, unused, out_5688741088375051853);
|
||||
void car_H_26(double *state, double *unused, double *out_9211615016291532569) {
|
||||
H_26(state, unused, out_9211615016291532569);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_7383231161432484220) {
|
||||
h_27(state, unused, out_7383231161432484220);
|
||||
void car_h_27(double *state, double *unused, double *out_7737997378297395789) {
|
||||
h_27(state, unused, out_7737997378297395789);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_4251340028444660610) {
|
||||
H_27(state, unused, out_4251340028444660610);
|
||||
void car_H_27(double *state, double *unused, double *out_7797727997487627804) {
|
||||
H_27(state, unused, out_7797727997487627804);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_7461945285386308551) {
|
||||
h_29(state, unused, out_7461945285386308551);
|
||||
void car_h_29(double *state, double *unused, double *out_3746027739128576800) {
|
||||
h_29(state, unused, out_3746027739128576800);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_5964702755314211643) {
|
||||
H_29(state, unused, out_5964702755314211643);
|
||||
void car_H_29(double *state, double *unused, double *out_5112733341372810709) {
|
||||
H_29(state, unused, out_5112733341372810709);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2381557893771638575) {
|
||||
h_28(state, unused, out_2381557893771638575);
|
||||
void car_h_28(double *state, double *unused, double *out_8104341374603458176) {
|
||||
h_28(state, unused, out_8104341374603458176);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_7399642301325809399) {
|
||||
H_28(state, unused, out_7399642301325809399);
|
||||
void car_H_28(double *state, double *unused, double *out_3149103069807484458) {
|
||||
H_28(state, unused, out_3149103069807484458);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_4845873120447136726) {
|
||||
h_31(state, unused, out_4845873120447136726);
|
||||
void car_h_31(double *state, double *unused, double *out_5721043300647637435) {
|
||||
h_31(state, unused, out_5721043300647637435);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_8962621096258892026) {
|
||||
H_31(state, unused, out_8962621096258892026);
|
||||
void car_H_31(double *state, double *unused, double *out_5462979776667002395) {
|
||||
H_31(state, unused, out_5462979776667002395);
|
||||
}
|
||||
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_5769240825907262247);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_2180470504006262414);
|
||||
void car_H_mod_fun(double *state, double *out_199921167776384783);
|
||||
void car_f_fun(double *state, double dt, double *out_1042331506821406330);
|
||||
void car_F_fun(double *state, double dt, double *out_8550568359085178836);
|
||||
void car_h_25(double *state, double *unused, double *out_5837605696441742449);
|
||||
void car_H_25(double *state, double *unused, double *out_8993267058135852454);
|
||||
void car_h_24(double *state, double *unused, double *out_5044076517459918856);
|
||||
void car_H_24(double *state, double *unused, double *out_7280827416568199596);
|
||||
void car_h_30(double *state, double *unused, double *out_5983125520662397420);
|
||||
void car_H_30(double *state, double *unused, double *out_2076576716644235699);
|
||||
void car_h_26(double *state, double *unused, double *out_234514271167533250);
|
||||
void car_H_26(double *state, double *unused, double *out_5688741088375051853);
|
||||
void car_h_27(double *state, double *unused, double *out_7383231161432484220);
|
||||
void car_H_27(double *state, double *unused, double *out_4251340028444660610);
|
||||
void car_h_29(double *state, double *unused, double *out_7461945285386308551);
|
||||
void car_H_29(double *state, double *unused, double *out_5964702755314211643);
|
||||
void car_h_28(double *state, double *unused, double *out_2381557893771638575);
|
||||
void car_H_28(double *state, double *unused, double *out_7399642301325809399);
|
||||
void car_h_31(double *state, double *unused, double *out_4845873120447136726);
|
||||
void car_H_31(double *state, double *unused, double *out_8962621096258892026);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6251513780499274303);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1361283985005059007);
|
||||
void car_H_mod_fun(double *state, double *out_3699562487368274414);
|
||||
void car_f_fun(double *state, double dt, double *out_1113205683479280207);
|
||||
void car_F_fun(double *state, double dt, double *out_2198054725359611149);
|
||||
void car_h_25(double *state, double *unused, double *out_2775617380616102557);
|
||||
void car_H_25(double *state, double *unused, double *out_5493625738543962823);
|
||||
void car_h_24(double *state, double *unused, double *out_6646117502185914860);
|
||||
void car_H_24(double *state, double *unused, double *out_3267917954565094261);
|
||||
void car_h_30(double *state, double *unused, double *out_6519293463111227465);
|
||||
void car_H_30(double *state, double *unused, double *out_1423064602947653932);
|
||||
void car_h_26(double *state, double *unused, double *out_7122609347787704982);
|
||||
void car_H_26(double *state, double *unused, double *out_9211615016291532569);
|
||||
void car_h_27(double *state, double *unused, double *out_7737997378297395789);
|
||||
void car_H_27(double *state, double *unused, double *out_7797727997487627804);
|
||||
void car_h_29(double *state, double *unused, double *out_3746027739128576800);
|
||||
void car_H_29(double *state, double *unused, double *out_5112733341372810709);
|
||||
void car_h_28(double *state, double *unused, double *out_8104341374603458176);
|
||||
void car_H_28(double *state, double *unused, double *out_3149103069807484458);
|
||||
void car_h_31(double *state, double *unused, double *out_5721043300647637435);
|
||||
void car_H_31(double *state, double *unused, double *out_5462979776667002395);
|
||||
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_7746602045410251207);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7631524114608656485);
|
||||
void pose_H_mod_fun(double *state, double *out_506241675272442753);
|
||||
void pose_f_fun(double *state, double dt, double *out_4178544833437689493);
|
||||
void pose_F_fun(double *state, double dt, double *out_8152186578689356973);
|
||||
void pose_h_4(double *state, double *unused, double *out_6179676342109340429);
|
||||
void pose_H_4(double *state, double *unused, double *out_1260402677327155360);
|
||||
void pose_h_10(double *state, double *unused, double *out_9202982941819295536);
|
||||
void pose_H_10(double *state, double *unused, double *out_6171075050568888644);
|
||||
void pose_h_13(double *state, double *unused, double *out_5137979176045158123);
|
||||
void pose_H_13(double *state, double *unused, double *out_4472676502659488161);
|
||||
void pose_h_14(double *state, double *unused, double *out_7033934925710428047);
|
||||
void pose_H_14(double *state, double *unused, double *out_1822385754968216936);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7505672412271645129);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_850525553930579209);
|
||||
void pose_H_mod_fun(double *state, double *out_5142011875417202005);
|
||||
void pose_f_fun(double *state, double dt, double *out_203013903358445647);
|
||||
void pose_F_fun(double *state, double dt, double *out_7326468457789213143);
|
||||
void pose_h_4(double *state, double *unused, double *out_8153824291242181436);
|
||||
void pose_H_4(double *state, double *unused, double *out_3058293008556022762);
|
||||
void pose_h_10(double *state, double *unused, double *out_3951144425666594182);
|
||||
void pose_H_10(double *state, double *unused, double *out_3697294613085597244);
|
||||
void pose_h_13(double *state, double *unused, double *out_6907487104961603826);
|
||||
void pose_H_13(double *state, double *unused, double *out_7777819856836827925);
|
||||
void pose_h_14(double *state, double *unused, double *out_2370415612838457693);
|
||||
void pose_H_14(double *state, double *unused, double *out_7021533864895507291);
|
||||
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