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firestar5683
2026-08-16 10:53:26 -05:00
parent a143e6ee93
commit 83e8064044
83 changed files with 1347 additions and 1347 deletions
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selfdrive/locationd/models/generated/car.cpp
+342 -342
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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_648770422652277661) {
out_648770422652277661[0] = delta_x[0] + nom_x[0];
out_648770422652277661[1] = delta_x[1] + nom_x[1];
out_648770422652277661[2] = delta_x[2] + nom_x[2];
out_648770422652277661[3] = delta_x[3] + nom_x[3];
out_648770422652277661[4] = delta_x[4] + nom_x[4];
out_648770422652277661[5] = delta_x[5] + nom_x[5];
out_648770422652277661[6] = delta_x[6] + nom_x[6];
out_648770422652277661[7] = delta_x[7] + nom_x[7];
out_648770422652277661[8] = delta_x[8] + nom_x[8];
void err_fun(double *nom_x, double *delta_x, double *out_5397134643365763284) {
out_5397134643365763284[0] = delta_x[0] + nom_x[0];
out_5397134643365763284[1] = delta_x[1] + nom_x[1];
out_5397134643365763284[2] = delta_x[2] + nom_x[2];
out_5397134643365763284[3] = delta_x[3] + nom_x[3];
out_5397134643365763284[4] = delta_x[4] + nom_x[4];
out_5397134643365763284[5] = delta_x[5] + nom_x[5];
out_5397134643365763284[6] = delta_x[6] + nom_x[6];
out_5397134643365763284[7] = delta_x[7] + nom_x[7];
out_5397134643365763284[8] = delta_x[8] + nom_x[8];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_8433637752559620590) {
out_8433637752559620590[0] = -nom_x[0] + true_x[0];
out_8433637752559620590[1] = -nom_x[1] + true_x[1];
out_8433637752559620590[2] = -nom_x[2] + true_x[2];
out_8433637752559620590[3] = -nom_x[3] + true_x[3];
out_8433637752559620590[4] = -nom_x[4] + true_x[4];
out_8433637752559620590[5] = -nom_x[5] + true_x[5];
out_8433637752559620590[6] = -nom_x[6] + true_x[6];
out_8433637752559620590[7] = -nom_x[7] + true_x[7];
out_8433637752559620590[8] = -nom_x[8] + true_x[8];
void inv_err_fun(double *nom_x, double *true_x, double *out_643379036491463030) {
out_643379036491463030[0] = -nom_x[0] + true_x[0];
out_643379036491463030[1] = -nom_x[1] + true_x[1];
out_643379036491463030[2] = -nom_x[2] + true_x[2];
out_643379036491463030[3] = -nom_x[3] + true_x[3];
out_643379036491463030[4] = -nom_x[4] + true_x[4];
out_643379036491463030[5] = -nom_x[5] + true_x[5];
out_643379036491463030[6] = -nom_x[6] + true_x[6];
out_643379036491463030[7] = -nom_x[7] + true_x[7];
out_643379036491463030[8] = -nom_x[8] + true_x[8];
}
void H_mod_fun(double *state, double *out_8422599956511423720) {
out_8422599956511423720[0] = 1.0;
out_8422599956511423720[1] = 0.0;
out_8422599956511423720[2] = 0.0;
out_8422599956511423720[3] = 0.0;
out_8422599956511423720[4] = 0.0;
out_8422599956511423720[5] = 0.0;
out_8422599956511423720[6] = 0.0;
out_8422599956511423720[7] = 0.0;
out_8422599956511423720[8] = 0.0;
out_8422599956511423720[9] = 0.0;
out_8422599956511423720[10] = 1.0;
out_8422599956511423720[11] = 0.0;
out_8422599956511423720[12] = 0.0;
out_8422599956511423720[13] = 0.0;
out_8422599956511423720[14] = 0.0;
out_8422599956511423720[15] = 0.0;
out_8422599956511423720[16] = 0.0;
out_8422599956511423720[17] = 0.0;
out_8422599956511423720[18] = 0.0;
out_8422599956511423720[19] = 0.0;
out_8422599956511423720[20] = 1.0;
out_8422599956511423720[21] = 0.0;
out_8422599956511423720[22] = 0.0;
out_8422599956511423720[23] = 0.0;
out_8422599956511423720[24] = 0.0;
out_8422599956511423720[25] = 0.0;
out_8422599956511423720[26] = 0.0;
out_8422599956511423720[27] = 0.0;
out_8422599956511423720[28] = 0.0;
out_8422599956511423720[29] = 0.0;
out_8422599956511423720[30] = 1.0;
out_8422599956511423720[31] = 0.0;
out_8422599956511423720[32] = 0.0;
out_8422599956511423720[33] = 0.0;
out_8422599956511423720[34] = 0.0;
out_8422599956511423720[35] = 0.0;
out_8422599956511423720[36] = 0.0;
out_8422599956511423720[37] = 0.0;
out_8422599956511423720[38] = 0.0;
out_8422599956511423720[39] = 0.0;
out_8422599956511423720[40] = 1.0;
out_8422599956511423720[41] = 0.0;
out_8422599956511423720[42] = 0.0;
out_8422599956511423720[43] = 0.0;
out_8422599956511423720[44] = 0.0;
out_8422599956511423720[45] = 0.0;
out_8422599956511423720[46] = 0.0;
out_8422599956511423720[47] = 0.0;
out_8422599956511423720[48] = 0.0;
out_8422599956511423720[49] = 0.0;
out_8422599956511423720[50] = 1.0;
out_8422599956511423720[51] = 0.0;
out_8422599956511423720[52] = 0.0;
out_8422599956511423720[53] = 0.0;
out_8422599956511423720[54] = 0.0;
out_8422599956511423720[55] = 0.0;
out_8422599956511423720[56] = 0.0;
out_8422599956511423720[57] = 0.0;
out_8422599956511423720[58] = 0.0;
out_8422599956511423720[59] = 0.0;
out_8422599956511423720[60] = 1.0;
out_8422599956511423720[61] = 0.0;
out_8422599956511423720[62] = 0.0;
out_8422599956511423720[63] = 0.0;
out_8422599956511423720[64] = 0.0;
out_8422599956511423720[65] = 0.0;
out_8422599956511423720[66] = 0.0;
out_8422599956511423720[67] = 0.0;
out_8422599956511423720[68] = 0.0;
out_8422599956511423720[69] = 0.0;
out_8422599956511423720[70] = 1.0;
out_8422599956511423720[71] = 0.0;
out_8422599956511423720[72] = 0.0;
out_8422599956511423720[73] = 0.0;
out_8422599956511423720[74] = 0.0;
out_8422599956511423720[75] = 0.0;
out_8422599956511423720[76] = 0.0;
out_8422599956511423720[77] = 0.0;
out_8422599956511423720[78] = 0.0;
out_8422599956511423720[79] = 0.0;
out_8422599956511423720[80] = 1.0;
void H_mod_fun(double *state, double *out_8008223313057305919) {
out_8008223313057305919[0] = 1.0;
out_8008223313057305919[1] = 0.0;
out_8008223313057305919[2] = 0.0;
out_8008223313057305919[3] = 0.0;
out_8008223313057305919[4] = 0.0;
out_8008223313057305919[5] = 0.0;
out_8008223313057305919[6] = 0.0;
out_8008223313057305919[7] = 0.0;
out_8008223313057305919[8] = 0.0;
out_8008223313057305919[9] = 0.0;
out_8008223313057305919[10] = 1.0;
out_8008223313057305919[11] = 0.0;
out_8008223313057305919[12] = 0.0;
out_8008223313057305919[13] = 0.0;
out_8008223313057305919[14] = 0.0;
out_8008223313057305919[15] = 0.0;
out_8008223313057305919[16] = 0.0;
out_8008223313057305919[17] = 0.0;
out_8008223313057305919[18] = 0.0;
out_8008223313057305919[19] = 0.0;
out_8008223313057305919[20] = 1.0;
out_8008223313057305919[21] = 0.0;
out_8008223313057305919[22] = 0.0;
out_8008223313057305919[23] = 0.0;
out_8008223313057305919[24] = 0.0;
out_8008223313057305919[25] = 0.0;
out_8008223313057305919[26] = 0.0;
out_8008223313057305919[27] = 0.0;
out_8008223313057305919[28] = 0.0;
out_8008223313057305919[29] = 0.0;
out_8008223313057305919[30] = 1.0;
out_8008223313057305919[31] = 0.0;
out_8008223313057305919[32] = 0.0;
out_8008223313057305919[33] = 0.0;
out_8008223313057305919[34] = 0.0;
out_8008223313057305919[35] = 0.0;
out_8008223313057305919[36] = 0.0;
out_8008223313057305919[37] = 0.0;
out_8008223313057305919[38] = 0.0;
out_8008223313057305919[39] = 0.0;
out_8008223313057305919[40] = 1.0;
out_8008223313057305919[41] = 0.0;
out_8008223313057305919[42] = 0.0;
out_8008223313057305919[43] = 0.0;
out_8008223313057305919[44] = 0.0;
out_8008223313057305919[45] = 0.0;
out_8008223313057305919[46] = 0.0;
out_8008223313057305919[47] = 0.0;
out_8008223313057305919[48] = 0.0;
out_8008223313057305919[49] = 0.0;
out_8008223313057305919[50] = 1.0;
out_8008223313057305919[51] = 0.0;
out_8008223313057305919[52] = 0.0;
out_8008223313057305919[53] = 0.0;
out_8008223313057305919[54] = 0.0;
out_8008223313057305919[55] = 0.0;
out_8008223313057305919[56] = 0.0;
out_8008223313057305919[57] = 0.0;
out_8008223313057305919[58] = 0.0;
out_8008223313057305919[59] = 0.0;
out_8008223313057305919[60] = 1.0;
out_8008223313057305919[61] = 0.0;
out_8008223313057305919[62] = 0.0;
out_8008223313057305919[63] = 0.0;
out_8008223313057305919[64] = 0.0;
out_8008223313057305919[65] = 0.0;
out_8008223313057305919[66] = 0.0;
out_8008223313057305919[67] = 0.0;
out_8008223313057305919[68] = 0.0;
out_8008223313057305919[69] = 0.0;
out_8008223313057305919[70] = 1.0;
out_8008223313057305919[71] = 0.0;
out_8008223313057305919[72] = 0.0;
out_8008223313057305919[73] = 0.0;
out_8008223313057305919[74] = 0.0;
out_8008223313057305919[75] = 0.0;
out_8008223313057305919[76] = 0.0;
out_8008223313057305919[77] = 0.0;
out_8008223313057305919[78] = 0.0;
out_8008223313057305919[79] = 0.0;
out_8008223313057305919[80] = 1.0;
}
void f_fun(double *state, double dt, double *out_9124674145630526498) {
out_9124674145630526498[0] = state[0];
out_9124674145630526498[1] = state[1];
out_9124674145630526498[2] = state[2];
out_9124674145630526498[3] = state[3];
out_9124674145630526498[4] = state[4];
out_9124674145630526498[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_9124674145630526498[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_9124674145630526498[7] = state[7];
out_9124674145630526498[8] = state[8];
void f_fun(double *state, double dt, double *out_1320186800141293730) {
out_1320186800141293730[0] = state[0];
out_1320186800141293730[1] = state[1];
out_1320186800141293730[2] = state[2];
out_1320186800141293730[3] = state[3];
out_1320186800141293730[4] = state[4];
out_1320186800141293730[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_1320186800141293730[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_1320186800141293730[7] = state[7];
out_1320186800141293730[8] = state[8];
}
void F_fun(double *state, double dt, double *out_7980063177758984153) {
out_7980063177758984153[0] = 1;
out_7980063177758984153[1] = 0;
out_7980063177758984153[2] = 0;
out_7980063177758984153[3] = 0;
out_7980063177758984153[4] = 0;
out_7980063177758984153[5] = 0;
out_7980063177758984153[6] = 0;
out_7980063177758984153[7] = 0;
out_7980063177758984153[8] = 0;
out_7980063177758984153[9] = 0;
out_7980063177758984153[10] = 1;
out_7980063177758984153[11] = 0;
out_7980063177758984153[12] = 0;
out_7980063177758984153[13] = 0;
out_7980063177758984153[14] = 0;
out_7980063177758984153[15] = 0;
out_7980063177758984153[16] = 0;
out_7980063177758984153[17] = 0;
out_7980063177758984153[18] = 0;
out_7980063177758984153[19] = 0;
out_7980063177758984153[20] = 1;
out_7980063177758984153[21] = 0;
out_7980063177758984153[22] = 0;
out_7980063177758984153[23] = 0;
out_7980063177758984153[24] = 0;
out_7980063177758984153[25] = 0;
out_7980063177758984153[26] = 0;
out_7980063177758984153[27] = 0;
out_7980063177758984153[28] = 0;
out_7980063177758984153[29] = 0;
out_7980063177758984153[30] = 1;
out_7980063177758984153[31] = 0;
out_7980063177758984153[32] = 0;
out_7980063177758984153[33] = 0;
out_7980063177758984153[34] = 0;
out_7980063177758984153[35] = 0;
out_7980063177758984153[36] = 0;
out_7980063177758984153[37] = 0;
out_7980063177758984153[38] = 0;
out_7980063177758984153[39] = 0;
out_7980063177758984153[40] = 1;
out_7980063177758984153[41] = 0;
out_7980063177758984153[42] = 0;
out_7980063177758984153[43] = 0;
out_7980063177758984153[44] = 0;
out_7980063177758984153[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_7980063177758984153[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_7980063177758984153[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_7980063177758984153[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_7980063177758984153[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_7980063177758984153[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_7980063177758984153[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_7980063177758984153[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_7980063177758984153[53] = -9.8100000000000005*dt;
out_7980063177758984153[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_7980063177758984153[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_7980063177758984153[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_7980063177758984153[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_7980063177758984153[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_7980063177758984153[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_7980063177758984153[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_7980063177758984153[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_7980063177758984153[62] = 0;
out_7980063177758984153[63] = 0;
out_7980063177758984153[64] = 0;
out_7980063177758984153[65] = 0;
out_7980063177758984153[66] = 0;
out_7980063177758984153[67] = 0;
out_7980063177758984153[68] = 0;
out_7980063177758984153[69] = 0;
out_7980063177758984153[70] = 1;
out_7980063177758984153[71] = 0;
out_7980063177758984153[72] = 0;
out_7980063177758984153[73] = 0;
out_7980063177758984153[74] = 0;
out_7980063177758984153[75] = 0;
out_7980063177758984153[76] = 0;
out_7980063177758984153[77] = 0;
out_7980063177758984153[78] = 0;
out_7980063177758984153[79] = 0;
out_7980063177758984153[80] = 1;
void F_fun(double *state, double dt, double *out_4790924461105660686) {
out_4790924461105660686[0] = 1;
out_4790924461105660686[1] = 0;
out_4790924461105660686[2] = 0;
out_4790924461105660686[3] = 0;
out_4790924461105660686[4] = 0;
out_4790924461105660686[5] = 0;
out_4790924461105660686[6] = 0;
out_4790924461105660686[7] = 0;
out_4790924461105660686[8] = 0;
out_4790924461105660686[9] = 0;
out_4790924461105660686[10] = 1;
out_4790924461105660686[11] = 0;
out_4790924461105660686[12] = 0;
out_4790924461105660686[13] = 0;
out_4790924461105660686[14] = 0;
out_4790924461105660686[15] = 0;
out_4790924461105660686[16] = 0;
out_4790924461105660686[17] = 0;
out_4790924461105660686[18] = 0;
out_4790924461105660686[19] = 0;
out_4790924461105660686[20] = 1;
out_4790924461105660686[21] = 0;
out_4790924461105660686[22] = 0;
out_4790924461105660686[23] = 0;
out_4790924461105660686[24] = 0;
out_4790924461105660686[25] = 0;
out_4790924461105660686[26] = 0;
out_4790924461105660686[27] = 0;
out_4790924461105660686[28] = 0;
out_4790924461105660686[29] = 0;
out_4790924461105660686[30] = 1;
out_4790924461105660686[31] = 0;
out_4790924461105660686[32] = 0;
out_4790924461105660686[33] = 0;
out_4790924461105660686[34] = 0;
out_4790924461105660686[35] = 0;
out_4790924461105660686[36] = 0;
out_4790924461105660686[37] = 0;
out_4790924461105660686[38] = 0;
out_4790924461105660686[39] = 0;
out_4790924461105660686[40] = 1;
out_4790924461105660686[41] = 0;
out_4790924461105660686[42] = 0;
out_4790924461105660686[43] = 0;
out_4790924461105660686[44] = 0;
out_4790924461105660686[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_4790924461105660686[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_4790924461105660686[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_4790924461105660686[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_4790924461105660686[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_4790924461105660686[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_4790924461105660686[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_4790924461105660686[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_4790924461105660686[53] = -9.8100000000000005*dt;
out_4790924461105660686[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_4790924461105660686[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_4790924461105660686[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_4790924461105660686[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_4790924461105660686[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_4790924461105660686[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_4790924461105660686[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_4790924461105660686[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_4790924461105660686[62] = 0;
out_4790924461105660686[63] = 0;
out_4790924461105660686[64] = 0;
out_4790924461105660686[65] = 0;
out_4790924461105660686[66] = 0;
out_4790924461105660686[67] = 0;
out_4790924461105660686[68] = 0;
out_4790924461105660686[69] = 0;
out_4790924461105660686[70] = 1;
out_4790924461105660686[71] = 0;
out_4790924461105660686[72] = 0;
out_4790924461105660686[73] = 0;
out_4790924461105660686[74] = 0;
out_4790924461105660686[75] = 0;
out_4790924461105660686[76] = 0;
out_4790924461105660686[77] = 0;
out_4790924461105660686[78] = 0;
out_4790924461105660686[79] = 0;
out_4790924461105660686[80] = 1;
}
void h_25(double *state, double *unused, double *out_7427457988301314284) {
out_7427457988301314284[0] = state[6];
void h_25(double *state, double *unused, double *out_4267314374776649182) {
out_4267314374776649182[0] = state[6];
}
void H_25(double *state, double *unused, double *out_770588269400813517) {
out_770588269400813517[0] = 0;
out_770588269400813517[1] = 0;
out_770588269400813517[2] = 0;
out_770588269400813517[3] = 0;
out_770588269400813517[4] = 0;
out_770588269400813517[5] = 0;
out_770588269400813517[6] = 1;
out_770588269400813517[7] = 0;
out_770588269400813517[8] = 0;
void H_25(double *state, double *unused, double *out_5534828935467580857) {
out_5534828935467580857[0] = 0;
out_5534828935467580857[1] = 0;
out_5534828935467580857[2] = 0;
out_5534828935467580857[3] = 0;
out_5534828935467580857[4] = 0;
out_5534828935467580857[5] = 0;
out_5534828935467580857[6] = 1;
out_5534828935467580857[7] = 0;
out_5534828935467580857[8] = 0;
}
void h_24(double *state, double *unused, double *out_3062542313716558558) {
out_3062542313716558558[0] = state[4];
out_3062542313716558558[1] = state[5];
void h_24(double *state, double *unused, double *out_544790792172897547) {
out_544790792172897547[0] = state[4];
out_544790792172897547[1] = state[5];
}
void H_24(double *state, double *unused, double *out_5590909774056801780) {
out_5590909774056801780[0] = 0;
out_5590909774056801780[1] = 0;
out_5590909774056801780[2] = 0;
out_5590909774056801780[3] = 0;
out_5590909774056801780[4] = 1;
out_5590909774056801780[5] = 0;
out_5590909774056801780[6] = 0;
out_5590909774056801780[7] = 0;
out_5590909774056801780[8] = 0;
out_5590909774056801780[9] = 0;
out_5590909774056801780[10] = 0;
out_5590909774056801780[11] = 0;
out_5590909774056801780[12] = 0;
out_5590909774056801780[13] = 0;
out_5590909774056801780[14] = 1;
out_5590909774056801780[15] = 0;
out_5590909774056801780[16] = 0;
out_5590909774056801780[17] = 0;
void H_24(double *state, double *unused, double *out_7263692054644894926) {
out_7263692054644894926[0] = 0;
out_7263692054644894926[1] = 0;
out_7263692054644894926[2] = 0;
out_7263692054644894926[3] = 0;
out_7263692054644894926[4] = 1;
out_7263692054644894926[5] = 0;
out_7263692054644894926[6] = 0;
out_7263692054644894926[7] = 0;
out_7263692054644894926[8] = 0;
out_7263692054644894926[9] = 0;
out_7263692054644894926[10] = 0;
out_7263692054644894926[11] = 0;
out_7263692054644894926[12] = 0;
out_7263692054644894926[13] = 0;
out_7263692054644894926[14] = 1;
out_7263692054644894926[15] = 0;
out_7263692054644894926[16] = 0;
out_7263692054644894926[17] = 0;
}
void h_30(double *state, double *unused, double *out_1260343948330179981) {
out_1260343948330179981[0] = state[4];
void h_30(double *state, double *unused, double *out_1899799665194485121) {
out_1899799665194485121[0] = state[4];
}
void H_30(double *state, double *unused, double *out_899927216544053587) {
out_899927216544053587[0] = 0;
out_899927216544053587[1] = 0;
out_899927216544053587[2] = 0;
out_899927216544053587[3] = 0;
out_899927216544053587[4] = 1;
out_899927216544053587[5] = 0;
out_899927216544053587[6] = 0;
out_899927216544053587[7] = 0;
out_899927216544053587[8] = 0;
void H_30(double *state, double *unused, double *out_1381861406024035898) {
out_1381861406024035898[0] = 0;
out_1381861406024035898[1] = 0;
out_1381861406024035898[2] = 0;
out_1381861406024035898[3] = 0;
out_1381861406024035898[4] = 1;
out_1381861406024035898[5] = 0;
out_1381861406024035898[6] = 0;
out_1381861406024035898[7] = 0;
out_1381861406024035898[8] = 0;
}
void h_26(double *state, double *unused, double *out_4488267301164684189) {
out_4488267301164684189[0] = state[7];
void h_26(double *state, double *unused, double *out_956289812292822686) {
out_956289812292822686[0] = state[7];
}
void H_26(double *state, double *unused, double *out_4512091588274869741) {
out_4512091588274869741[0] = 0;
out_4512091588274869741[1] = 0;
out_4512091588274869741[2] = 0;
out_4512091588274869741[3] = 0;
out_4512091588274869741[4] = 0;
out_4512091588274869741[5] = 0;
out_4512091588274869741[6] = 0;
out_4512091588274869741[7] = 1;
out_4512091588274869741[8] = 0;
void H_26(double *state, double *unused, double *out_2230302965706780256) {
out_2230302965706780256[0] = 0;
out_2230302965706780256[1] = 0;
out_2230302965706780256[2] = 0;
out_2230302965706780256[3] = 0;
out_2230302965706780256[4] = 0;
out_2230302965706780256[5] = 0;
out_2230302965706780256[6] = 0;
out_2230302965706780256[7] = 1;
out_2230302965706780256[8] = 0;
}
void h_27(double *state, double *unused, double *out_6340731339944849957) {
out_6340731339944849957[0] = state[3];
void h_27(double *state, double *unused, double *out_9177756431272056789) {
out_9177756431272056789[0] = state[3];
}
void H_27(double *state, double *unused, double *out_3074690528344478498) {
out_3074690528344478498[0] = 0;
out_3074690528344478498[1] = 0;
out_3074690528344478498[2] = 0;
out_3074690528344478498[3] = 1;
out_3074690528344478498[4] = 0;
out_3074690528344478498[5] = 0;
out_3074690528344478498[6] = 0;
out_3074690528344478498[7] = 0;
out_3074690528344478498[8] = 0;
void H_27(double *state, double *unused, double *out_792901905776389013) {
out_792901905776389013[0] = 0;
out_792901905776389013[1] = 0;
out_792901905776389013[2] = 0;
out_792901905776389013[3] = 1;
out_792901905776389013[4] = 0;
out_792901905776389013[5] = 0;
out_792901905776389013[6] = 0;
out_792901905776389013[7] = 0;
out_792901905776389013[8] = 0;
}
void h_29(double *state, double *unused, double *out_8468563205510679309) {
out_8468563205510679309[0] = state[1];
void h_29(double *state, double *unused, double *out_8902562368987550900) {
out_8902562368987550900[0] = state[1];
}
void H_29(double *state, double *unused, double *out_389695872229661403) {
out_389695872229661403[0] = 0;
out_389695872229661403[1] = 1;
out_389695872229661403[2] = 0;
out_389695872229661403[3] = 0;
out_389695872229661403[4] = 0;
out_389695872229661403[5] = 0;
out_389695872229661403[6] = 0;
out_389695872229661403[7] = 0;
out_389695872229661403[8] = 0;
void H_29(double *state, double *unused, double *out_2506264632645940046) {
out_2506264632645940046[0] = 0;
out_2506264632645940046[1] = 1;
out_2506264632645940046[2] = 0;
out_2506264632645940046[3] = 0;
out_2506264632645940046[4] = 0;
out_2506264632645940046[5] = 0;
out_2506264632645940046[6] = 0;
out_2506264632645940046[7] = 0;
out_2506264632645940046[8] = 0;
}
void h_28(double *state, double *unused, double *out_7104339466103856014) {
out_7104339466103856014[0] = state[0];
void h_28(double *state, double *unused, double *out_3951849215436731842) {
out_3951849215436731842[0] = state[0];
}
void H_28(double *state, double *unused, double *out_8576291801425991511) {
out_8576291801425991511[0] = 1;
out_8576291801425991511[1] = 0;
out_8576291801425991511[2] = 0;
out_8576291801425991511[3] = 0;
out_8576291801425991511[4] = 0;
out_8576291801425991511[5] = 0;
out_8576291801425991511[6] = 0;
out_8576291801425991511[7] = 0;
out_8576291801425991511[8] = 0;
void H_28(double *state, double *unused, double *out_7588663649715470620) {
out_7588663649715470620[0] = 1;
out_7588663649715470620[1] = 0;
out_7588663649715470620[2] = 0;
out_7588663649715470620[3] = 0;
out_7588663649715470620[4] = 0;
out_7588663649715470620[5] = 0;
out_7588663649715470620[6] = 0;
out_7588663649715470620[7] = 0;
out_7588663649715470620[8] = 0;
}
void h_31(double *state, double *unused, double *out_2522625404144497340) {
out_2522625404144497340[0] = state[8];
void h_31(double *state, double *unused, double *out_629864846522626832) {
out_629864846522626832[0] = state[8];
}
void H_31(double *state, double *unused, double *out_739942307523853089) {
out_739942307523853089[0] = 0;
out_739942307523853089[1] = 0;
out_739942307523853089[2] = 0;
out_739942307523853089[3] = 0;
out_739942307523853089[4] = 0;
out_739942307523853089[5] = 0;
out_739942307523853089[6] = 0;
out_739942307523853089[7] = 0;
out_739942307523853089[8] = 1;
void H_31(double *state, double *unused, double *out_1541846315044236396) {
out_1541846315044236396[0] = 0;
out_1541846315044236396[1] = 0;
out_1541846315044236396[2] = 0;
out_1541846315044236396[3] = 0;
out_1541846315044236396[4] = 0;
out_1541846315044236396[5] = 0;
out_1541846315044236396[6] = 0;
out_1541846315044236396[7] = 0;
out_1541846315044236396[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_648770422652277661) {
err_fun(nom_x, delta_x, out_648770422652277661);
void car_err_fun(double *nom_x, double *delta_x, double *out_5397134643365763284) {
err_fun(nom_x, delta_x, out_5397134643365763284);
}
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8433637752559620590) {
inv_err_fun(nom_x, true_x, out_8433637752559620590);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_643379036491463030) {
inv_err_fun(nom_x, true_x, out_643379036491463030);
}
void car_H_mod_fun(double *state, double *out_8422599956511423720) {
H_mod_fun(state, out_8422599956511423720);
void car_H_mod_fun(double *state, double *out_8008223313057305919) {
H_mod_fun(state, out_8008223313057305919);
}
void car_f_fun(double *state, double dt, double *out_9124674145630526498) {
f_fun(state, dt, out_9124674145630526498);
void car_f_fun(double *state, double dt, double *out_1320186800141293730) {
f_fun(state, dt, out_1320186800141293730);
}
void car_F_fun(double *state, double dt, double *out_7980063177758984153) {
F_fun(state, dt, out_7980063177758984153);
void car_F_fun(double *state, double dt, double *out_4790924461105660686) {
F_fun(state, dt, out_4790924461105660686);
}
void car_h_25(double *state, double *unused, double *out_7427457988301314284) {
h_25(state, unused, out_7427457988301314284);
void car_h_25(double *state, double *unused, double *out_4267314374776649182) {
h_25(state, unused, out_4267314374776649182);
}
void car_H_25(double *state, double *unused, double *out_770588269400813517) {
H_25(state, unused, out_770588269400813517);
void car_H_25(double *state, double *unused, double *out_5534828935467580857) {
H_25(state, unused, out_5534828935467580857);
}
void car_h_24(double *state, double *unused, double *out_3062542313716558558) {
h_24(state, unused, out_3062542313716558558);
void car_h_24(double *state, double *unused, double *out_544790792172897547) {
h_24(state, unused, out_544790792172897547);
}
void car_H_24(double *state, double *unused, double *out_5590909774056801780) {
H_24(state, unused, out_5590909774056801780);
void car_H_24(double *state, double *unused, double *out_7263692054644894926) {
H_24(state, unused, out_7263692054644894926);
}
void car_h_30(double *state, double *unused, double *out_1260343948330179981) {
h_30(state, unused, out_1260343948330179981);
void car_h_30(double *state, double *unused, double *out_1899799665194485121) {
h_30(state, unused, out_1899799665194485121);
}
void car_H_30(double *state, double *unused, double *out_899927216544053587) {
H_30(state, unused, out_899927216544053587);
void car_H_30(double *state, double *unused, double *out_1381861406024035898) {
H_30(state, unused, out_1381861406024035898);
}
void car_h_26(double *state, double *unused, double *out_4488267301164684189) {
h_26(state, unused, out_4488267301164684189);
void car_h_26(double *state, double *unused, double *out_956289812292822686) {
h_26(state, unused, out_956289812292822686);
}
void car_H_26(double *state, double *unused, double *out_4512091588274869741) {
H_26(state, unused, out_4512091588274869741);
void car_H_26(double *state, double *unused, double *out_2230302965706780256) {
H_26(state, unused, out_2230302965706780256);
}
void car_h_27(double *state, double *unused, double *out_6340731339944849957) {
h_27(state, unused, out_6340731339944849957);
void car_h_27(double *state, double *unused, double *out_9177756431272056789) {
h_27(state, unused, out_9177756431272056789);
}
void car_H_27(double *state, double *unused, double *out_3074690528344478498) {
H_27(state, unused, out_3074690528344478498);
void car_H_27(double *state, double *unused, double *out_792901905776389013) {
H_27(state, unused, out_792901905776389013);
}
void car_h_29(double *state, double *unused, double *out_8468563205510679309) {
h_29(state, unused, out_8468563205510679309);
void car_h_29(double *state, double *unused, double *out_8902562368987550900) {
h_29(state, unused, out_8902562368987550900);
}
void car_H_29(double *state, double *unused, double *out_389695872229661403) {
H_29(state, unused, out_389695872229661403);
void car_H_29(double *state, double *unused, double *out_2506264632645940046) {
H_29(state, unused, out_2506264632645940046);
}
void car_h_28(double *state, double *unused, double *out_7104339466103856014) {
h_28(state, unused, out_7104339466103856014);
void car_h_28(double *state, double *unused, double *out_3951849215436731842) {
h_28(state, unused, out_3951849215436731842);
}
void car_H_28(double *state, double *unused, double *out_8576291801425991511) {
H_28(state, unused, out_8576291801425991511);
void car_H_28(double *state, double *unused, double *out_7588663649715470620) {
H_28(state, unused, out_7588663649715470620);
}
void car_h_31(double *state, double *unused, double *out_2522625404144497340) {
h_31(state, unused, out_2522625404144497340);
void car_h_31(double *state, double *unused, double *out_629864846522626832) {
h_31(state, unused, out_629864846522626832);
}
void car_H_31(double *state, double *unused, double *out_739942307523853089) {
H_31(state, unused, out_739942307523853089);
void car_H_31(double *state, double *unused, double *out_1541846315044236396) {
H_31(state, unused, out_1541846315044236396);
}
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);
selfdrive/locationd/models/generated/car.h
+21 -21
View File
@@ -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_648770422652277661);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8433637752559620590);
void car_H_mod_fun(double *state, double *out_8422599956511423720);
void car_f_fun(double *state, double dt, double *out_9124674145630526498);
void car_F_fun(double *state, double dt, double *out_7980063177758984153);
void car_h_25(double *state, double *unused, double *out_7427457988301314284);
void car_H_25(double *state, double *unused, double *out_770588269400813517);
void car_h_24(double *state, double *unused, double *out_3062542313716558558);
void car_H_24(double *state, double *unused, double *out_5590909774056801780);
void car_h_30(double *state, double *unused, double *out_1260343948330179981);
void car_H_30(double *state, double *unused, double *out_899927216544053587);
void car_h_26(double *state, double *unused, double *out_4488267301164684189);
void car_H_26(double *state, double *unused, double *out_4512091588274869741);
void car_h_27(double *state, double *unused, double *out_6340731339944849957);
void car_H_27(double *state, double *unused, double *out_3074690528344478498);
void car_h_29(double *state, double *unused, double *out_8468563205510679309);
void car_H_29(double *state, double *unused, double *out_389695872229661403);
void car_h_28(double *state, double *unused, double *out_7104339466103856014);
void car_H_28(double *state, double *unused, double *out_8576291801425991511);
void car_h_31(double *state, double *unused, double *out_2522625404144497340);
void car_H_31(double *state, double *unused, double *out_739942307523853089);
void car_err_fun(double *nom_x, double *delta_x, double *out_5397134643365763284);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_643379036491463030);
void car_H_mod_fun(double *state, double *out_8008223313057305919);
void car_f_fun(double *state, double dt, double *out_1320186800141293730);
void car_F_fun(double *state, double dt, double *out_4790924461105660686);
void car_h_25(double *state, double *unused, double *out_4267314374776649182);
void car_H_25(double *state, double *unused, double *out_5534828935467580857);
void car_h_24(double *state, double *unused, double *out_544790792172897547);
void car_H_24(double *state, double *unused, double *out_7263692054644894926);
void car_h_30(double *state, double *unused, double *out_1899799665194485121);
void car_H_30(double *state, double *unused, double *out_1381861406024035898);
void car_h_26(double *state, double *unused, double *out_956289812292822686);
void car_H_26(double *state, double *unused, double *out_2230302965706780256);
void car_h_27(double *state, double *unused, double *out_9177756431272056789);
void car_H_27(double *state, double *unused, double *out_792901905776389013);
void car_h_29(double *state, double *unused, double *out_8902562368987550900);
void car_H_29(double *state, double *unused, double *out_2506264632645940046);
void car_h_28(double *state, double *unused, double *out_3951849215436731842);
void car_H_28(double *state, double *unused, double *out_7588663649715470620);
void car_h_31(double *state, double *unused, double *out_629864846522626832);
void car_H_31(double *state, double *unused, double *out_1541846315044236396);
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);
selfdrive/locationd/models/generated/pose.cpp
+969 -969
View File
File diff suppressed because it is too large Load Diff
selfdrive/locationd/models/generated/pose.h
+13 -13
View File
@@ -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_4926409855120774640);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6187782627613179741);
void pose_H_mod_fun(double *state, double *out_5486902536301149939);
void pose_f_fun(double *state, double dt, double *out_8359863438222097271);
void pose_F_fun(double *state, double dt, double *out_174815157734899050);
void pose_h_4(double *state, double *unused, double *out_388088547893374228);
void pose_H_4(double *state, double *unused, double *out_3526081883612534553);
void pose_h_10(double *state, double *unused, double *out_3651567794159293424);
void pose_H_10(double *state, double *unused, double *out_7553527708872310168);
void pose_h_13(double *state, double *unused, double *out_5975295746890546976);
void pose_H_13(double *state, double *unused, double *out_6738355708944867354);
void pose_h_14(double *state, double *unused, double *out_7017148445173920389);
void pose_H_14(double *state, double *unused, double *out_7489322739952019082);
void pose_err_fun(double *nom_x, double *delta_x, double *out_7783868612103190645);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6605006959385105646);
void pose_H_mod_fun(double *state, double *out_4214017023834556037);
void pose_f_fun(double *state, double dt, double *out_446156685689757577);
void pose_F_fun(double *state, double dt, double *out_1314145057723334901);
void pose_h_4(double *state, double *unused, double *out_3131871851783197102);
void pose_H_4(double *state, double *unused, double *out_7985824233678463609);
void pose_h_10(double *state, double *unused, double *out_4732705393461985535);
void pose_H_10(double *state, double *unused, double *out_25842791302237901);
void pose_h_13(double *state, double *unused, double *out_3855617401361447493);
void pose_H_13(double *state, double *unused, double *out_2850288631714387078);
void pose_h_14(double *state, double *unused, double *out_2052081526966194460);
void pose_H_14(double *state, double *unused, double *out_4903035801383091313);
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
}
selfdrive/pandad/pandad
BIN
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