mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-05 16:26:06 +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-d1fad265-DEBUG";
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const uint8_t gitversion[19] = "DEV-357d7e54-DEBUG";
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@@ -1 +1 @@
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DEV-d1fad265-DEBUG
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DEV-357d7e54-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_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 err_fun(double *nom_x, double *delta_x, double *out_1038389500972116158) {
|
||||
out_1038389500972116158[0] = delta_x[0] + nom_x[0];
|
||||
out_1038389500972116158[1] = delta_x[1] + nom_x[1];
|
||||
out_1038389500972116158[2] = delta_x[2] + nom_x[2];
|
||||
out_1038389500972116158[3] = delta_x[3] + nom_x[3];
|
||||
out_1038389500972116158[4] = delta_x[4] + nom_x[4];
|
||||
out_1038389500972116158[5] = delta_x[5] + nom_x[5];
|
||||
out_1038389500972116158[6] = delta_x[6] + nom_x[6];
|
||||
out_1038389500972116158[7] = delta_x[7] + nom_x[7];
|
||||
out_1038389500972116158[8] = delta_x[8] + nom_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 inv_err_fun(double *nom_x, double *true_x, double *out_6418752408535262595) {
|
||||
out_6418752408535262595[0] = -nom_x[0] + true_x[0];
|
||||
out_6418752408535262595[1] = -nom_x[1] + true_x[1];
|
||||
out_6418752408535262595[2] = -nom_x[2] + true_x[2];
|
||||
out_6418752408535262595[3] = -nom_x[3] + true_x[3];
|
||||
out_6418752408535262595[4] = -nom_x[4] + true_x[4];
|
||||
out_6418752408535262595[5] = -nom_x[5] + true_x[5];
|
||||
out_6418752408535262595[6] = -nom_x[6] + true_x[6];
|
||||
out_6418752408535262595[7] = -nom_x[7] + true_x[7];
|
||||
out_6418752408535262595[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
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 H_mod_fun(double *state, double *out_2855368609596965229) {
|
||||
out_2855368609596965229[0] = 1.0;
|
||||
out_2855368609596965229[1] = 0.0;
|
||||
out_2855368609596965229[2] = 0.0;
|
||||
out_2855368609596965229[3] = 0.0;
|
||||
out_2855368609596965229[4] = 0.0;
|
||||
out_2855368609596965229[5] = 0.0;
|
||||
out_2855368609596965229[6] = 0.0;
|
||||
out_2855368609596965229[7] = 0.0;
|
||||
out_2855368609596965229[8] = 0.0;
|
||||
out_2855368609596965229[9] = 0.0;
|
||||
out_2855368609596965229[10] = 1.0;
|
||||
out_2855368609596965229[11] = 0.0;
|
||||
out_2855368609596965229[12] = 0.0;
|
||||
out_2855368609596965229[13] = 0.0;
|
||||
out_2855368609596965229[14] = 0.0;
|
||||
out_2855368609596965229[15] = 0.0;
|
||||
out_2855368609596965229[16] = 0.0;
|
||||
out_2855368609596965229[17] = 0.0;
|
||||
out_2855368609596965229[18] = 0.0;
|
||||
out_2855368609596965229[19] = 0.0;
|
||||
out_2855368609596965229[20] = 1.0;
|
||||
out_2855368609596965229[21] = 0.0;
|
||||
out_2855368609596965229[22] = 0.0;
|
||||
out_2855368609596965229[23] = 0.0;
|
||||
out_2855368609596965229[24] = 0.0;
|
||||
out_2855368609596965229[25] = 0.0;
|
||||
out_2855368609596965229[26] = 0.0;
|
||||
out_2855368609596965229[27] = 0.0;
|
||||
out_2855368609596965229[28] = 0.0;
|
||||
out_2855368609596965229[29] = 0.0;
|
||||
out_2855368609596965229[30] = 1.0;
|
||||
out_2855368609596965229[31] = 0.0;
|
||||
out_2855368609596965229[32] = 0.0;
|
||||
out_2855368609596965229[33] = 0.0;
|
||||
out_2855368609596965229[34] = 0.0;
|
||||
out_2855368609596965229[35] = 0.0;
|
||||
out_2855368609596965229[36] = 0.0;
|
||||
out_2855368609596965229[37] = 0.0;
|
||||
out_2855368609596965229[38] = 0.0;
|
||||
out_2855368609596965229[39] = 0.0;
|
||||
out_2855368609596965229[40] = 1.0;
|
||||
out_2855368609596965229[41] = 0.0;
|
||||
out_2855368609596965229[42] = 0.0;
|
||||
out_2855368609596965229[43] = 0.0;
|
||||
out_2855368609596965229[44] = 0.0;
|
||||
out_2855368609596965229[45] = 0.0;
|
||||
out_2855368609596965229[46] = 0.0;
|
||||
out_2855368609596965229[47] = 0.0;
|
||||
out_2855368609596965229[48] = 0.0;
|
||||
out_2855368609596965229[49] = 0.0;
|
||||
out_2855368609596965229[50] = 1.0;
|
||||
out_2855368609596965229[51] = 0.0;
|
||||
out_2855368609596965229[52] = 0.0;
|
||||
out_2855368609596965229[53] = 0.0;
|
||||
out_2855368609596965229[54] = 0.0;
|
||||
out_2855368609596965229[55] = 0.0;
|
||||
out_2855368609596965229[56] = 0.0;
|
||||
out_2855368609596965229[57] = 0.0;
|
||||
out_2855368609596965229[58] = 0.0;
|
||||
out_2855368609596965229[59] = 0.0;
|
||||
out_2855368609596965229[60] = 1.0;
|
||||
out_2855368609596965229[61] = 0.0;
|
||||
out_2855368609596965229[62] = 0.0;
|
||||
out_2855368609596965229[63] = 0.0;
|
||||
out_2855368609596965229[64] = 0.0;
|
||||
out_2855368609596965229[65] = 0.0;
|
||||
out_2855368609596965229[66] = 0.0;
|
||||
out_2855368609596965229[67] = 0.0;
|
||||
out_2855368609596965229[68] = 0.0;
|
||||
out_2855368609596965229[69] = 0.0;
|
||||
out_2855368609596965229[70] = 1.0;
|
||||
out_2855368609596965229[71] = 0.0;
|
||||
out_2855368609596965229[72] = 0.0;
|
||||
out_2855368609596965229[73] = 0.0;
|
||||
out_2855368609596965229[74] = 0.0;
|
||||
out_2855368609596965229[75] = 0.0;
|
||||
out_2855368609596965229[76] = 0.0;
|
||||
out_2855368609596965229[77] = 0.0;
|
||||
out_2855368609596965229[78] = 0.0;
|
||||
out_2855368609596965229[79] = 0.0;
|
||||
out_2855368609596965229[80] = 1.0;
|
||||
}
|
||||
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_1397092929687677159) {
|
||||
out_1397092929687677159[0] = state[0];
|
||||
out_1397092929687677159[1] = state[1];
|
||||
out_1397092929687677159[2] = state[2];
|
||||
out_1397092929687677159[3] = state[3];
|
||||
out_1397092929687677159[4] = state[4];
|
||||
out_1397092929687677159[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_1397092929687677159[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_1397092929687677159[7] = state[7];
|
||||
out_1397092929687677159[8] = state[8];
|
||||
}
|
||||
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 F_fun(double *state, double dt, double *out_7780451684963738443) {
|
||||
out_7780451684963738443[0] = 1;
|
||||
out_7780451684963738443[1] = 0;
|
||||
out_7780451684963738443[2] = 0;
|
||||
out_7780451684963738443[3] = 0;
|
||||
out_7780451684963738443[4] = 0;
|
||||
out_7780451684963738443[5] = 0;
|
||||
out_7780451684963738443[6] = 0;
|
||||
out_7780451684963738443[7] = 0;
|
||||
out_7780451684963738443[8] = 0;
|
||||
out_7780451684963738443[9] = 0;
|
||||
out_7780451684963738443[10] = 1;
|
||||
out_7780451684963738443[11] = 0;
|
||||
out_7780451684963738443[12] = 0;
|
||||
out_7780451684963738443[13] = 0;
|
||||
out_7780451684963738443[14] = 0;
|
||||
out_7780451684963738443[15] = 0;
|
||||
out_7780451684963738443[16] = 0;
|
||||
out_7780451684963738443[17] = 0;
|
||||
out_7780451684963738443[18] = 0;
|
||||
out_7780451684963738443[19] = 0;
|
||||
out_7780451684963738443[20] = 1;
|
||||
out_7780451684963738443[21] = 0;
|
||||
out_7780451684963738443[22] = 0;
|
||||
out_7780451684963738443[23] = 0;
|
||||
out_7780451684963738443[24] = 0;
|
||||
out_7780451684963738443[25] = 0;
|
||||
out_7780451684963738443[26] = 0;
|
||||
out_7780451684963738443[27] = 0;
|
||||
out_7780451684963738443[28] = 0;
|
||||
out_7780451684963738443[29] = 0;
|
||||
out_7780451684963738443[30] = 1;
|
||||
out_7780451684963738443[31] = 0;
|
||||
out_7780451684963738443[32] = 0;
|
||||
out_7780451684963738443[33] = 0;
|
||||
out_7780451684963738443[34] = 0;
|
||||
out_7780451684963738443[35] = 0;
|
||||
out_7780451684963738443[36] = 0;
|
||||
out_7780451684963738443[37] = 0;
|
||||
out_7780451684963738443[38] = 0;
|
||||
out_7780451684963738443[39] = 0;
|
||||
out_7780451684963738443[40] = 1;
|
||||
out_7780451684963738443[41] = 0;
|
||||
out_7780451684963738443[42] = 0;
|
||||
out_7780451684963738443[43] = 0;
|
||||
out_7780451684963738443[44] = 0;
|
||||
out_7780451684963738443[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_7780451684963738443[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_7780451684963738443[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7780451684963738443[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7780451684963738443[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_7780451684963738443[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_7780451684963738443[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_7780451684963738443[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7780451684963738443[53] = -9.8100000000000005*dt;
|
||||
out_7780451684963738443[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_7780451684963738443[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_7780451684963738443[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7780451684963738443[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7780451684963738443[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_7780451684963738443[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_7780451684963738443[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_7780451684963738443[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7780451684963738443[62] = 0;
|
||||
out_7780451684963738443[63] = 0;
|
||||
out_7780451684963738443[64] = 0;
|
||||
out_7780451684963738443[65] = 0;
|
||||
out_7780451684963738443[66] = 0;
|
||||
out_7780451684963738443[67] = 0;
|
||||
out_7780451684963738443[68] = 0;
|
||||
out_7780451684963738443[69] = 0;
|
||||
out_7780451684963738443[70] = 1;
|
||||
out_7780451684963738443[71] = 0;
|
||||
out_7780451684963738443[72] = 0;
|
||||
out_7780451684963738443[73] = 0;
|
||||
out_7780451684963738443[74] = 0;
|
||||
out_7780451684963738443[75] = 0;
|
||||
out_7780451684963738443[76] = 0;
|
||||
out_7780451684963738443[77] = 0;
|
||||
out_7780451684963738443[78] = 0;
|
||||
out_7780451684963738443[79] = 0;
|
||||
out_7780451684963738443[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_8788151648350399353) {
|
||||
out_8788151648350399353[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_894848580994361563) {
|
||||
out_894848580994361563[0] = state[6];
|
||||
}
|
||||
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_25(double *state, double *unused, double *out_6378349259586456906) {
|
||||
out_6378349259586456906[0] = 0;
|
||||
out_6378349259586456906[1] = 0;
|
||||
out_6378349259586456906[2] = 0;
|
||||
out_6378349259586456906[3] = 0;
|
||||
out_6378349259586456906[4] = 0;
|
||||
out_6378349259586456906[5] = 0;
|
||||
out_6378349259586456906[6] = 1;
|
||||
out_6378349259586456906[7] = 0;
|
||||
out_6378349259586456906[8] = 0;
|
||||
}
|
||||
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_6711296683837743925) {
|
||||
out_6711296683837743925[0] = state[4];
|
||||
out_6711296683837743925[1] = state[5];
|
||||
}
|
||||
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_24(double *state, double *unused, double *out_5414189356014908953) {
|
||||
out_5414189356014908953[0] = 0;
|
||||
out_5414189356014908953[1] = 0;
|
||||
out_5414189356014908953[2] = 0;
|
||||
out_5414189356014908953[3] = 0;
|
||||
out_5414189356014908953[4] = 1;
|
||||
out_5414189356014908953[5] = 0;
|
||||
out_5414189356014908953[6] = 0;
|
||||
out_5414189356014908953[7] = 0;
|
||||
out_5414189356014908953[8] = 0;
|
||||
out_5414189356014908953[9] = 0;
|
||||
out_5414189356014908953[10] = 0;
|
||||
out_5414189356014908953[11] = 0;
|
||||
out_5414189356014908953[12] = 0;
|
||||
out_5414189356014908953[13] = 0;
|
||||
out_5414189356014908953[14] = 1;
|
||||
out_5414189356014908953[15] = 0;
|
||||
out_5414189356014908953[16] = 0;
|
||||
out_5414189356014908953[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_3908301040633649848) {
|
||||
out_3908301040633649848[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_619654518709855674) {
|
||||
out_619654518709855674[0] = state[4];
|
||||
}
|
||||
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_30(double *state, double *unused, double *out_6249010312443216836) {
|
||||
out_6249010312443216836[0] = 0;
|
||||
out_6249010312443216836[1] = 0;
|
||||
out_6249010312443216836[2] = 0;
|
||||
out_6249010312443216836[3] = 0;
|
||||
out_6249010312443216836[4] = 1;
|
||||
out_6249010312443216836[5] = 0;
|
||||
out_6249010312443216836[6] = 0;
|
||||
out_6249010312443216836[7] = 0;
|
||||
out_6249010312443216836[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_8870681038314943080) {
|
||||
out_8870681038314943080[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_6497940006268570762) {
|
||||
out_6497940006268570762[0] = state[7];
|
||||
}
|
||||
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_26(double *state, double *unused, double *out_2636845940712400682) {
|
||||
out_2636845940712400682[0] = 0;
|
||||
out_2636845940712400682[1] = 0;
|
||||
out_2636845940712400682[2] = 0;
|
||||
out_2636845940712400682[3] = 0;
|
||||
out_2636845940712400682[4] = 0;
|
||||
out_2636845940712400682[5] = 0;
|
||||
out_2636845940712400682[6] = 0;
|
||||
out_2636845940712400682[7] = 1;
|
||||
out_2636845940712400682[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_8988688432248319824) {
|
||||
out_8988688432248319824[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_7293890098408210709) {
|
||||
out_7293890098408210709[0] = state[3];
|
||||
}
|
||||
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_27(double *state, double *unused, double *out_4074247000642791925) {
|
||||
out_4074247000642791925[0] = 0;
|
||||
out_4074247000642791925[1] = 0;
|
||||
out_4074247000642791925[2] = 0;
|
||||
out_4074247000642791925[3] = 1;
|
||||
out_4074247000642791925[4] = 0;
|
||||
out_4074247000642791925[5] = 0;
|
||||
out_4074247000642791925[6] = 0;
|
||||
out_4074247000642791925[7] = 0;
|
||||
out_4074247000642791925[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_149028852435531358) {
|
||||
out_149028852435531358[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_3432206621979709057) {
|
||||
out_3432206621979709057[0] = state[1];
|
||||
}
|
||||
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_29(double *state, double *unused, double *out_2360884273773240892) {
|
||||
out_2360884273773240892[0] = 0;
|
||||
out_2360884273773240892[1] = 1;
|
||||
out_2360884273773240892[2] = 0;
|
||||
out_2360884273773240892[3] = 0;
|
||||
out_2360884273773240892[4] = 0;
|
||||
out_2360884273773240892[5] = 0;
|
||||
out_2360884273773240892[6] = 0;
|
||||
out_2360884273773240892[7] = 0;
|
||||
out_2360884273773240892[8] = 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_5622082467174375208) {
|
||||
out_5622082467174375208[0] = state[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_28(double *state, double *unused, double *out_2721514743296289682) {
|
||||
out_2721514743296289682[0] = 1;
|
||||
out_2721514743296289682[1] = 0;
|
||||
out_2721514743296289682[2] = 0;
|
||||
out_2721514743296289682[3] = 0;
|
||||
out_2721514743296289682[4] = 0;
|
||||
out_2721514743296289682[5] = 0;
|
||||
out_2721514743296289682[6] = 0;
|
||||
out_2721514743296289682[7] = 0;
|
||||
out_2721514743296289682[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7610421138374421687) {
|
||||
out_7610421138374421687[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6998090913890161796) {
|
||||
out_6998090913890161796[0] = state[8];
|
||||
}
|
||||
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;
|
||||
void H_31(double *state, double *unused, double *out_6408995221463417334) {
|
||||
out_6408995221463417334[0] = 0;
|
||||
out_6408995221463417334[1] = 0;
|
||||
out_6408995221463417334[2] = 0;
|
||||
out_6408995221463417334[3] = 0;
|
||||
out_6408995221463417334[4] = 0;
|
||||
out_6408995221463417334[5] = 0;
|
||||
out_6408995221463417334[6] = 0;
|
||||
out_6408995221463417334[7] = 0;
|
||||
out_6408995221463417334[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_8137803062968279058) {
|
||||
err_fun(nom_x, delta_x, out_8137803062968279058);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1038389500972116158) {
|
||||
err_fun(nom_x, delta_x, out_1038389500972116158);
|
||||
}
|
||||
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_inv_err_fun(double *nom_x, double *true_x, double *out_6418752408535262595) {
|
||||
inv_err_fun(nom_x, true_x, out_6418752408535262595);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_250780943344312618) {
|
||||
H_mod_fun(state, out_250780943344312618);
|
||||
void car_H_mod_fun(double *state, double *out_2855368609596965229) {
|
||||
H_mod_fun(state, out_2855368609596965229);
|
||||
}
|
||||
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_1397092929687677159) {
|
||||
f_fun(state, dt, out_1397092929687677159);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_3517018389212170475) {
|
||||
F_fun(state, dt, out_3517018389212170475);
|
||||
void car_F_fun(double *state, double dt, double *out_7780451684963738443) {
|
||||
F_fun(state, dt, out_7780451684963738443);
|
||||
}
|
||||
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_894848580994361563) {
|
||||
h_25(state, unused, out_894848580994361563);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_3773761593333804295) {
|
||||
H_25(state, unused, out_3773761593333804295);
|
||||
void car_H_25(double *state, double *unused, double *out_6378349259586456906) {
|
||||
H_25(state, unused, out_6378349259586456906);
|
||||
}
|
||||
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_6711296683837743925) {
|
||||
h_24(state, unused, out_6711296683837743925);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_5950976016940954268) {
|
||||
H_24(state, unused, out_5950976016940954268);
|
||||
void car_H_24(double *state, double *unused, double *out_5414189356014908953) {
|
||||
H_24(state, unused, out_5414189356014908953);
|
||||
}
|
||||
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_619654518709855674) {
|
||||
h_30(state, unused, out_619654518709855674);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_6292094551841052922) {
|
||||
H_30(state, unused, out_6292094551841052922);
|
||||
void car_H_30(double *state, double *unused, double *out_6249010312443216836) {
|
||||
H_30(state, unused, out_6249010312443216836);
|
||||
}
|
||||
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_6497940006268570762) {
|
||||
h_26(state, unused, out_6497940006268570762);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_32258274459748071) {
|
||||
H_26(state, unused, out_32258274459748071);
|
||||
void car_H_26(double *state, double *unused, double *out_2636845940712400682) {
|
||||
H_26(state, unused, out_2636845940712400682);
|
||||
}
|
||||
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_7293890098408210709) {
|
||||
h_27(state, unused, out_7293890098408210709);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_1469659334390139314) {
|
||||
H_27(state, unused, out_1469659334390139314);
|
||||
void car_H_27(double *state, double *unused, double *out_4074247000642791925) {
|
||||
H_27(state, unused, out_4074247000642791925);
|
||||
}
|
||||
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_3432206621979709057) {
|
||||
h_29(state, unused, out_3432206621979709057);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_243703392479411719) {
|
||||
H_29(state, unused, out_243703392479411719);
|
||||
void car_H_29(double *state, double *unused, double *out_2360884273773240892) {
|
||||
H_29(state, unused, out_2360884273773240892);
|
||||
}
|
||||
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_5622082467174375208) {
|
||||
h_28(state, unused, out_5622082467174375208);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_1719926879085914532) {
|
||||
H_28(state, unused, out_1719926879085914532);
|
||||
void car_H_28(double *state, double *unused, double *out_2721514743296289682) {
|
||||
H_28(state, unused, out_2721514743296289682);
|
||||
}
|
||||
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_6998090913890161796) {
|
||||
h_31(state, unused, out_6998090913890161796);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_3804407555210764723) {
|
||||
H_31(state, unused, out_3804407555210764723);
|
||||
void car_H_31(double *state, double *unused, double *out_6408995221463417334) {
|
||||
H_31(state, unused, out_6408995221463417334);
|
||||
}
|
||||
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_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_err_fun(double *nom_x, double *delta_x, double *out_1038389500972116158);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6418752408535262595);
|
||||
void car_H_mod_fun(double *state, double *out_2855368609596965229);
|
||||
void car_f_fun(double *state, double dt, double *out_1397092929687677159);
|
||||
void car_F_fun(double *state, double dt, double *out_7780451684963738443);
|
||||
void car_h_25(double *state, double *unused, double *out_894848580994361563);
|
||||
void car_H_25(double *state, double *unused, double *out_6378349259586456906);
|
||||
void car_h_24(double *state, double *unused, double *out_6711296683837743925);
|
||||
void car_H_24(double *state, double *unused, double *out_5414189356014908953);
|
||||
void car_h_30(double *state, double *unused, double *out_619654518709855674);
|
||||
void car_H_30(double *state, double *unused, double *out_6249010312443216836);
|
||||
void car_h_26(double *state, double *unused, double *out_6497940006268570762);
|
||||
void car_H_26(double *state, double *unused, double *out_2636845940712400682);
|
||||
void car_h_27(double *state, double *unused, double *out_7293890098408210709);
|
||||
void car_H_27(double *state, double *unused, double *out_4074247000642791925);
|
||||
void car_h_29(double *state, double *unused, double *out_3432206621979709057);
|
||||
void car_H_29(double *state, double *unused, double *out_2360884273773240892);
|
||||
void car_h_28(double *state, double *unused, double *out_5622082467174375208);
|
||||
void car_H_28(double *state, double *unused, double *out_2721514743296289682);
|
||||
void car_h_31(double *state, double *unused, double *out_6998090913890161796);
|
||||
void car_H_31(double *state, double *unused, double *out_6408995221463417334);
|
||||
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);
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||||
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_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_err_fun(double *nom_x, double *delta_x, double *out_6395110133292861521);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5574902989131587335);
|
||||
void pose_H_mod_fun(double *state, double *out_6860086072787592800);
|
||||
void pose_f_fun(double *state, double dt, double *out_6157473931416548839);
|
||||
void pose_F_fun(double *state, double dt, double *out_2563232569638129684);
|
||||
void pose_h_4(double *state, double *unused, double *out_9057789463521636950);
|
||||
void pose_H_4(double *state, double *unused, double *out_6434139615882878081);
|
||||
void pose_h_10(double *state, double *unused, double *out_439040734435285181);
|
||||
void pose_H_10(double *state, double *unused, double *out_1840785913394498883);
|
||||
void pose_h_13(double *state, double *unused, double *out_7181492765475252926);
|
||||
void pose_H_13(double *state, double *unused, double *out_3221865790550545280);
|
||||
void pose_h_14(double *state, double *unused, double *out_1398557426791028034);
|
||||
void pose_H_14(double *state, double *unused, double *out_2470898759543393552);
|
||||
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