mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-20 15:54:13 +08:00
build
This commit is contained in:
firestar5683
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-21805a54-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-4078e6fc-DEBUG";
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
DEV-21805a54-DEBUG
|
||||
DEV-4078e6fc-DEBUG
|
||||
@@ -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_5328892797193692082) {
|
||||
out_5328892797193692082[0] = delta_x[0] + nom_x[0];
|
||||
out_5328892797193692082[1] = delta_x[1] + nom_x[1];
|
||||
out_5328892797193692082[2] = delta_x[2] + nom_x[2];
|
||||
out_5328892797193692082[3] = delta_x[3] + nom_x[3];
|
||||
out_5328892797193692082[4] = delta_x[4] + nom_x[4];
|
||||
out_5328892797193692082[5] = delta_x[5] + nom_x[5];
|
||||
out_5328892797193692082[6] = delta_x[6] + nom_x[6];
|
||||
out_5328892797193692082[7] = delta_x[7] + nom_x[7];
|
||||
out_5328892797193692082[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_555027713999943867) {
|
||||
out_555027713999943867[0] = delta_x[0] + nom_x[0];
|
||||
out_555027713999943867[1] = delta_x[1] + nom_x[1];
|
||||
out_555027713999943867[2] = delta_x[2] + nom_x[2];
|
||||
out_555027713999943867[3] = delta_x[3] + nom_x[3];
|
||||
out_555027713999943867[4] = delta_x[4] + nom_x[4];
|
||||
out_555027713999943867[5] = delta_x[5] + nom_x[5];
|
||||
out_555027713999943867[6] = delta_x[6] + nom_x[6];
|
||||
out_555027713999943867[7] = delta_x[7] + nom_x[7];
|
||||
out_555027713999943867[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465) {
|
||||
out_6664197118630309465[0] = -nom_x[0] + true_x[0];
|
||||
out_6664197118630309465[1] = -nom_x[1] + true_x[1];
|
||||
out_6664197118630309465[2] = -nom_x[2] + true_x[2];
|
||||
out_6664197118630309465[3] = -nom_x[3] + true_x[3];
|
||||
out_6664197118630309465[4] = -nom_x[4] + true_x[4];
|
||||
out_6664197118630309465[5] = -nom_x[5] + true_x[5];
|
||||
out_6664197118630309465[6] = -nom_x[6] + true_x[6];
|
||||
out_6664197118630309465[7] = -nom_x[7] + true_x[7];
|
||||
out_6664197118630309465[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589) {
|
||||
out_7816877518147233589[0] = -nom_x[0] + true_x[0];
|
||||
out_7816877518147233589[1] = -nom_x[1] + true_x[1];
|
||||
out_7816877518147233589[2] = -nom_x[2] + true_x[2];
|
||||
out_7816877518147233589[3] = -nom_x[3] + true_x[3];
|
||||
out_7816877518147233589[4] = -nom_x[4] + true_x[4];
|
||||
out_7816877518147233589[5] = -nom_x[5] + true_x[5];
|
||||
out_7816877518147233589[6] = -nom_x[6] + true_x[6];
|
||||
out_7816877518147233589[7] = -nom_x[7] + true_x[7];
|
||||
out_7816877518147233589[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_7049792320674666550) {
|
||||
out_7049792320674666550[0] = 1.0;
|
||||
out_7049792320674666550[1] = 0.0;
|
||||
out_7049792320674666550[2] = 0.0;
|
||||
out_7049792320674666550[3] = 0.0;
|
||||
out_7049792320674666550[4] = 0.0;
|
||||
out_7049792320674666550[5] = 0.0;
|
||||
out_7049792320674666550[6] = 0.0;
|
||||
out_7049792320674666550[7] = 0.0;
|
||||
out_7049792320674666550[8] = 0.0;
|
||||
out_7049792320674666550[9] = 0.0;
|
||||
out_7049792320674666550[10] = 1.0;
|
||||
out_7049792320674666550[11] = 0.0;
|
||||
out_7049792320674666550[12] = 0.0;
|
||||
out_7049792320674666550[13] = 0.0;
|
||||
out_7049792320674666550[14] = 0.0;
|
||||
out_7049792320674666550[15] = 0.0;
|
||||
out_7049792320674666550[16] = 0.0;
|
||||
out_7049792320674666550[17] = 0.0;
|
||||
out_7049792320674666550[18] = 0.0;
|
||||
out_7049792320674666550[19] = 0.0;
|
||||
out_7049792320674666550[20] = 1.0;
|
||||
out_7049792320674666550[21] = 0.0;
|
||||
out_7049792320674666550[22] = 0.0;
|
||||
out_7049792320674666550[23] = 0.0;
|
||||
out_7049792320674666550[24] = 0.0;
|
||||
out_7049792320674666550[25] = 0.0;
|
||||
out_7049792320674666550[26] = 0.0;
|
||||
out_7049792320674666550[27] = 0.0;
|
||||
out_7049792320674666550[28] = 0.0;
|
||||
out_7049792320674666550[29] = 0.0;
|
||||
out_7049792320674666550[30] = 1.0;
|
||||
out_7049792320674666550[31] = 0.0;
|
||||
out_7049792320674666550[32] = 0.0;
|
||||
out_7049792320674666550[33] = 0.0;
|
||||
out_7049792320674666550[34] = 0.0;
|
||||
out_7049792320674666550[35] = 0.0;
|
||||
out_7049792320674666550[36] = 0.0;
|
||||
out_7049792320674666550[37] = 0.0;
|
||||
out_7049792320674666550[38] = 0.0;
|
||||
out_7049792320674666550[39] = 0.0;
|
||||
out_7049792320674666550[40] = 1.0;
|
||||
out_7049792320674666550[41] = 0.0;
|
||||
out_7049792320674666550[42] = 0.0;
|
||||
out_7049792320674666550[43] = 0.0;
|
||||
out_7049792320674666550[44] = 0.0;
|
||||
out_7049792320674666550[45] = 0.0;
|
||||
out_7049792320674666550[46] = 0.0;
|
||||
out_7049792320674666550[47] = 0.0;
|
||||
out_7049792320674666550[48] = 0.0;
|
||||
out_7049792320674666550[49] = 0.0;
|
||||
out_7049792320674666550[50] = 1.0;
|
||||
out_7049792320674666550[51] = 0.0;
|
||||
out_7049792320674666550[52] = 0.0;
|
||||
out_7049792320674666550[53] = 0.0;
|
||||
out_7049792320674666550[54] = 0.0;
|
||||
out_7049792320674666550[55] = 0.0;
|
||||
out_7049792320674666550[56] = 0.0;
|
||||
out_7049792320674666550[57] = 0.0;
|
||||
out_7049792320674666550[58] = 0.0;
|
||||
out_7049792320674666550[59] = 0.0;
|
||||
out_7049792320674666550[60] = 1.0;
|
||||
out_7049792320674666550[61] = 0.0;
|
||||
out_7049792320674666550[62] = 0.0;
|
||||
out_7049792320674666550[63] = 0.0;
|
||||
out_7049792320674666550[64] = 0.0;
|
||||
out_7049792320674666550[65] = 0.0;
|
||||
out_7049792320674666550[66] = 0.0;
|
||||
out_7049792320674666550[67] = 0.0;
|
||||
out_7049792320674666550[68] = 0.0;
|
||||
out_7049792320674666550[69] = 0.0;
|
||||
out_7049792320674666550[70] = 1.0;
|
||||
out_7049792320674666550[71] = 0.0;
|
||||
out_7049792320674666550[72] = 0.0;
|
||||
out_7049792320674666550[73] = 0.0;
|
||||
out_7049792320674666550[74] = 0.0;
|
||||
out_7049792320674666550[75] = 0.0;
|
||||
out_7049792320674666550[76] = 0.0;
|
||||
out_7049792320674666550[77] = 0.0;
|
||||
out_7049792320674666550[78] = 0.0;
|
||||
out_7049792320674666550[79] = 0.0;
|
||||
out_7049792320674666550[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_4533074481319696241) {
|
||||
out_4533074481319696241[0] = 1.0;
|
||||
out_4533074481319696241[1] = 0.0;
|
||||
out_4533074481319696241[2] = 0.0;
|
||||
out_4533074481319696241[3] = 0.0;
|
||||
out_4533074481319696241[4] = 0.0;
|
||||
out_4533074481319696241[5] = 0.0;
|
||||
out_4533074481319696241[6] = 0.0;
|
||||
out_4533074481319696241[7] = 0.0;
|
||||
out_4533074481319696241[8] = 0.0;
|
||||
out_4533074481319696241[9] = 0.0;
|
||||
out_4533074481319696241[10] = 1.0;
|
||||
out_4533074481319696241[11] = 0.0;
|
||||
out_4533074481319696241[12] = 0.0;
|
||||
out_4533074481319696241[13] = 0.0;
|
||||
out_4533074481319696241[14] = 0.0;
|
||||
out_4533074481319696241[15] = 0.0;
|
||||
out_4533074481319696241[16] = 0.0;
|
||||
out_4533074481319696241[17] = 0.0;
|
||||
out_4533074481319696241[18] = 0.0;
|
||||
out_4533074481319696241[19] = 0.0;
|
||||
out_4533074481319696241[20] = 1.0;
|
||||
out_4533074481319696241[21] = 0.0;
|
||||
out_4533074481319696241[22] = 0.0;
|
||||
out_4533074481319696241[23] = 0.0;
|
||||
out_4533074481319696241[24] = 0.0;
|
||||
out_4533074481319696241[25] = 0.0;
|
||||
out_4533074481319696241[26] = 0.0;
|
||||
out_4533074481319696241[27] = 0.0;
|
||||
out_4533074481319696241[28] = 0.0;
|
||||
out_4533074481319696241[29] = 0.0;
|
||||
out_4533074481319696241[30] = 1.0;
|
||||
out_4533074481319696241[31] = 0.0;
|
||||
out_4533074481319696241[32] = 0.0;
|
||||
out_4533074481319696241[33] = 0.0;
|
||||
out_4533074481319696241[34] = 0.0;
|
||||
out_4533074481319696241[35] = 0.0;
|
||||
out_4533074481319696241[36] = 0.0;
|
||||
out_4533074481319696241[37] = 0.0;
|
||||
out_4533074481319696241[38] = 0.0;
|
||||
out_4533074481319696241[39] = 0.0;
|
||||
out_4533074481319696241[40] = 1.0;
|
||||
out_4533074481319696241[41] = 0.0;
|
||||
out_4533074481319696241[42] = 0.0;
|
||||
out_4533074481319696241[43] = 0.0;
|
||||
out_4533074481319696241[44] = 0.0;
|
||||
out_4533074481319696241[45] = 0.0;
|
||||
out_4533074481319696241[46] = 0.0;
|
||||
out_4533074481319696241[47] = 0.0;
|
||||
out_4533074481319696241[48] = 0.0;
|
||||
out_4533074481319696241[49] = 0.0;
|
||||
out_4533074481319696241[50] = 1.0;
|
||||
out_4533074481319696241[51] = 0.0;
|
||||
out_4533074481319696241[52] = 0.0;
|
||||
out_4533074481319696241[53] = 0.0;
|
||||
out_4533074481319696241[54] = 0.0;
|
||||
out_4533074481319696241[55] = 0.0;
|
||||
out_4533074481319696241[56] = 0.0;
|
||||
out_4533074481319696241[57] = 0.0;
|
||||
out_4533074481319696241[58] = 0.0;
|
||||
out_4533074481319696241[59] = 0.0;
|
||||
out_4533074481319696241[60] = 1.0;
|
||||
out_4533074481319696241[61] = 0.0;
|
||||
out_4533074481319696241[62] = 0.0;
|
||||
out_4533074481319696241[63] = 0.0;
|
||||
out_4533074481319696241[64] = 0.0;
|
||||
out_4533074481319696241[65] = 0.0;
|
||||
out_4533074481319696241[66] = 0.0;
|
||||
out_4533074481319696241[67] = 0.0;
|
||||
out_4533074481319696241[68] = 0.0;
|
||||
out_4533074481319696241[69] = 0.0;
|
||||
out_4533074481319696241[70] = 1.0;
|
||||
out_4533074481319696241[71] = 0.0;
|
||||
out_4533074481319696241[72] = 0.0;
|
||||
out_4533074481319696241[73] = 0.0;
|
||||
out_4533074481319696241[74] = 0.0;
|
||||
out_4533074481319696241[75] = 0.0;
|
||||
out_4533074481319696241[76] = 0.0;
|
||||
out_4533074481319696241[77] = 0.0;
|
||||
out_4533074481319696241[78] = 0.0;
|
||||
out_4533074481319696241[79] = 0.0;
|
||||
out_4533074481319696241[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_8058289693715916474) {
|
||||
out_8058289693715916474[0] = state[0];
|
||||
out_8058289693715916474[1] = state[1];
|
||||
out_8058289693715916474[2] = state[2];
|
||||
out_8058289693715916474[3] = state[3];
|
||||
out_8058289693715916474[4] = state[4];
|
||||
out_8058289693715916474[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_8058289693715916474[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_8058289693715916474[7] = state[7];
|
||||
out_8058289693715916474[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_5039337670867030572) {
|
||||
out_5039337670867030572[0] = state[0];
|
||||
out_5039337670867030572[1] = state[1];
|
||||
out_5039337670867030572[2] = state[2];
|
||||
out_5039337670867030572[3] = state[3];
|
||||
out_5039337670867030572[4] = state[4];
|
||||
out_5039337670867030572[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_5039337670867030572[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_5039337670867030572[7] = state[7];
|
||||
out_5039337670867030572[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_6834456908135559848) {
|
||||
out_6834456908135559848[0] = 1;
|
||||
out_6834456908135559848[1] = 0;
|
||||
out_6834456908135559848[2] = 0;
|
||||
out_6834456908135559848[3] = 0;
|
||||
out_6834456908135559848[4] = 0;
|
||||
out_6834456908135559848[5] = 0;
|
||||
out_6834456908135559848[6] = 0;
|
||||
out_6834456908135559848[7] = 0;
|
||||
out_6834456908135559848[8] = 0;
|
||||
out_6834456908135559848[9] = 0;
|
||||
out_6834456908135559848[10] = 1;
|
||||
out_6834456908135559848[11] = 0;
|
||||
out_6834456908135559848[12] = 0;
|
||||
out_6834456908135559848[13] = 0;
|
||||
out_6834456908135559848[14] = 0;
|
||||
out_6834456908135559848[15] = 0;
|
||||
out_6834456908135559848[16] = 0;
|
||||
out_6834456908135559848[17] = 0;
|
||||
out_6834456908135559848[18] = 0;
|
||||
out_6834456908135559848[19] = 0;
|
||||
out_6834456908135559848[20] = 1;
|
||||
out_6834456908135559848[21] = 0;
|
||||
out_6834456908135559848[22] = 0;
|
||||
out_6834456908135559848[23] = 0;
|
||||
out_6834456908135559848[24] = 0;
|
||||
out_6834456908135559848[25] = 0;
|
||||
out_6834456908135559848[26] = 0;
|
||||
out_6834456908135559848[27] = 0;
|
||||
out_6834456908135559848[28] = 0;
|
||||
out_6834456908135559848[29] = 0;
|
||||
out_6834456908135559848[30] = 1;
|
||||
out_6834456908135559848[31] = 0;
|
||||
out_6834456908135559848[32] = 0;
|
||||
out_6834456908135559848[33] = 0;
|
||||
out_6834456908135559848[34] = 0;
|
||||
out_6834456908135559848[35] = 0;
|
||||
out_6834456908135559848[36] = 0;
|
||||
out_6834456908135559848[37] = 0;
|
||||
out_6834456908135559848[38] = 0;
|
||||
out_6834456908135559848[39] = 0;
|
||||
out_6834456908135559848[40] = 1;
|
||||
out_6834456908135559848[41] = 0;
|
||||
out_6834456908135559848[42] = 0;
|
||||
out_6834456908135559848[43] = 0;
|
||||
out_6834456908135559848[44] = 0;
|
||||
out_6834456908135559848[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_6834456908135559848[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6834456908135559848[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6834456908135559848[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6834456908135559848[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_6834456908135559848[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6834456908135559848[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6834456908135559848[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6834456908135559848[53] = -9.8100000000000005*dt;
|
||||
out_6834456908135559848[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_6834456908135559848[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6834456908135559848[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6834456908135559848[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6834456908135559848[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_6834456908135559848[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6834456908135559848[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_6834456908135559848[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6834456908135559848[62] = 0;
|
||||
out_6834456908135559848[63] = 0;
|
||||
out_6834456908135559848[64] = 0;
|
||||
out_6834456908135559848[65] = 0;
|
||||
out_6834456908135559848[66] = 0;
|
||||
out_6834456908135559848[67] = 0;
|
||||
out_6834456908135559848[68] = 0;
|
||||
out_6834456908135559848[69] = 0;
|
||||
out_6834456908135559848[70] = 1;
|
||||
out_6834456908135559848[71] = 0;
|
||||
out_6834456908135559848[72] = 0;
|
||||
out_6834456908135559848[73] = 0;
|
||||
out_6834456908135559848[74] = 0;
|
||||
out_6834456908135559848[75] = 0;
|
||||
out_6834456908135559848[76] = 0;
|
||||
out_6834456908135559848[77] = 0;
|
||||
out_6834456908135559848[78] = 0;
|
||||
out_6834456908135559848[79] = 0;
|
||||
out_6834456908135559848[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_5181832378332727216) {
|
||||
out_5181832378332727216[0] = 1;
|
||||
out_5181832378332727216[1] = 0;
|
||||
out_5181832378332727216[2] = 0;
|
||||
out_5181832378332727216[3] = 0;
|
||||
out_5181832378332727216[4] = 0;
|
||||
out_5181832378332727216[5] = 0;
|
||||
out_5181832378332727216[6] = 0;
|
||||
out_5181832378332727216[7] = 0;
|
||||
out_5181832378332727216[8] = 0;
|
||||
out_5181832378332727216[9] = 0;
|
||||
out_5181832378332727216[10] = 1;
|
||||
out_5181832378332727216[11] = 0;
|
||||
out_5181832378332727216[12] = 0;
|
||||
out_5181832378332727216[13] = 0;
|
||||
out_5181832378332727216[14] = 0;
|
||||
out_5181832378332727216[15] = 0;
|
||||
out_5181832378332727216[16] = 0;
|
||||
out_5181832378332727216[17] = 0;
|
||||
out_5181832378332727216[18] = 0;
|
||||
out_5181832378332727216[19] = 0;
|
||||
out_5181832378332727216[20] = 1;
|
||||
out_5181832378332727216[21] = 0;
|
||||
out_5181832378332727216[22] = 0;
|
||||
out_5181832378332727216[23] = 0;
|
||||
out_5181832378332727216[24] = 0;
|
||||
out_5181832378332727216[25] = 0;
|
||||
out_5181832378332727216[26] = 0;
|
||||
out_5181832378332727216[27] = 0;
|
||||
out_5181832378332727216[28] = 0;
|
||||
out_5181832378332727216[29] = 0;
|
||||
out_5181832378332727216[30] = 1;
|
||||
out_5181832378332727216[31] = 0;
|
||||
out_5181832378332727216[32] = 0;
|
||||
out_5181832378332727216[33] = 0;
|
||||
out_5181832378332727216[34] = 0;
|
||||
out_5181832378332727216[35] = 0;
|
||||
out_5181832378332727216[36] = 0;
|
||||
out_5181832378332727216[37] = 0;
|
||||
out_5181832378332727216[38] = 0;
|
||||
out_5181832378332727216[39] = 0;
|
||||
out_5181832378332727216[40] = 1;
|
||||
out_5181832378332727216[41] = 0;
|
||||
out_5181832378332727216[42] = 0;
|
||||
out_5181832378332727216[43] = 0;
|
||||
out_5181832378332727216[44] = 0;
|
||||
out_5181832378332727216[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_5181832378332727216[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5181832378332727216[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5181832378332727216[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5181832378332727216[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_5181832378332727216[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5181832378332727216[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5181832378332727216[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5181832378332727216[53] = -9.8100000000000005*dt;
|
||||
out_5181832378332727216[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_5181832378332727216[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5181832378332727216[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5181832378332727216[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5181832378332727216[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_5181832378332727216[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5181832378332727216[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_5181832378332727216[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5181832378332727216[62] = 0;
|
||||
out_5181832378332727216[63] = 0;
|
||||
out_5181832378332727216[64] = 0;
|
||||
out_5181832378332727216[65] = 0;
|
||||
out_5181832378332727216[66] = 0;
|
||||
out_5181832378332727216[67] = 0;
|
||||
out_5181832378332727216[68] = 0;
|
||||
out_5181832378332727216[69] = 0;
|
||||
out_5181832378332727216[70] = 1;
|
||||
out_5181832378332727216[71] = 0;
|
||||
out_5181832378332727216[72] = 0;
|
||||
out_5181832378332727216[73] = 0;
|
||||
out_5181832378332727216[74] = 0;
|
||||
out_5181832378332727216[75] = 0;
|
||||
out_5181832378332727216[76] = 0;
|
||||
out_5181832378332727216[77] = 0;
|
||||
out_5181832378332727216[78] = 0;
|
||||
out_5181832378332727216[79] = 0;
|
||||
out_5181832378332727216[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_3817993858643920850) {
|
||||
out_3817993858643920850[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_9064502358369772671) {
|
||||
out_9064502358369772671[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_2203763527122647829) {
|
||||
out_2203763527122647829[0] = 0;
|
||||
out_2203763527122647829[1] = 0;
|
||||
out_2203763527122647829[2] = 0;
|
||||
out_2203763527122647829[3] = 0;
|
||||
out_2203763527122647829[4] = 0;
|
||||
out_2203763527122647829[5] = 0;
|
||||
out_2203763527122647829[6] = 1;
|
||||
out_2203763527122647829[7] = 0;
|
||||
out_2203763527122647829[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_9009977767205190535) {
|
||||
out_9009977767205190535[0] = 0;
|
||||
out_9009977767205190535[1] = 0;
|
||||
out_9009977767205190535[2] = 0;
|
||||
out_9009977767205190535[3] = 0;
|
||||
out_9009977767205190535[4] = 0;
|
||||
out_9009977767205190535[5] = 0;
|
||||
out_9009977767205190535[6] = 1;
|
||||
out_9009977767205190535[7] = 0;
|
||||
out_9009977767205190535[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_589890583681194954) {
|
||||
out_589890583681194954[0] = state[4];
|
||||
out_589890583681194954[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_4315668618686905201) {
|
||||
out_4315668618686905201[0] = state[4];
|
||||
out_4315668618686905201[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_31113928117148263) {
|
||||
out_31113928117148263[0] = 0;
|
||||
out_31113928117148263[1] = 0;
|
||||
out_31113928117148263[2] = 0;
|
||||
out_31113928117148263[3] = 0;
|
||||
out_31113928117148263[4] = 1;
|
||||
out_31113928117148263[5] = 0;
|
||||
out_31113928117148263[6] = 0;
|
||||
out_31113928117148263[7] = 0;
|
||||
out_31113928117148263[8] = 0;
|
||||
out_31113928117148263[9] = 0;
|
||||
out_31113928117148263[10] = 0;
|
||||
out_31113928117148263[11] = 0;
|
||||
out_31113928117148263[12] = 0;
|
||||
out_31113928117148263[13] = 0;
|
||||
out_31113928117148263[14] = 1;
|
||||
out_31113928117148263[15] = 0;
|
||||
out_31113928117148263[16] = 0;
|
||||
out_31113928117148263[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_4579303311377586733) {
|
||||
out_4579303311377586733[0] = 0;
|
||||
out_4579303311377586733[1] = 0;
|
||||
out_4579303311377586733[2] = 0;
|
||||
out_4579303311377586733[3] = 0;
|
||||
out_4579303311377586733[4] = 1;
|
||||
out_4579303311377586733[5] = 0;
|
||||
out_4579303311377586733[6] = 0;
|
||||
out_4579303311377586733[7] = 0;
|
||||
out_4579303311377586733[8] = 0;
|
||||
out_4579303311377586733[9] = 0;
|
||||
out_4579303311377586733[10] = 0;
|
||||
out_4579303311377586733[11] = 0;
|
||||
out_4579303311377586733[12] = 0;
|
||||
out_4579303311377586733[13] = 0;
|
||||
out_4579303311377586733[14] = 1;
|
||||
out_4579303311377586733[15] = 0;
|
||||
out_4579303311377586733[16] = 0;
|
||||
out_4579303311377586733[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_855557586624953167) {
|
||||
out_855557586624953167[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_8507922675073509890) {
|
||||
out_8507922675073509890[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_4722096485629896456) {
|
||||
out_4722096485629896456[0] = 0;
|
||||
out_4722096485629896456[1] = 0;
|
||||
out_4722096485629896456[2] = 0;
|
||||
out_4722096485629896456[3] = 0;
|
||||
out_4722096485629896456[4] = 1;
|
||||
out_4722096485629896456[5] = 0;
|
||||
out_4722096485629896456[6] = 0;
|
||||
out_4722096485629896456[7] = 0;
|
||||
out_4722096485629896456[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_2093287425713573780) {
|
||||
out_2093287425713573780[0] = 0;
|
||||
out_2093287425713573780[1] = 0;
|
||||
out_2093287425713573780[2] = 0;
|
||||
out_2093287425713573780[3] = 0;
|
||||
out_2093287425713573780[4] = 1;
|
||||
out_2093287425713573780[5] = 0;
|
||||
out_2093287425713573780[6] = 0;
|
||||
out_2093287425713573780[7] = 0;
|
||||
out_2093287425713573780[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_3459962907433650818) {
|
||||
out_3459962907433650818[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_4180836484642303770) {
|
||||
out_4180836484642303770[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_1537739791751408395) {
|
||||
out_1537739791751408395[0] = 0;
|
||||
out_1537739791751408395[1] = 0;
|
||||
out_1537739791751408395[2] = 0;
|
||||
out_1537739791751408395[3] = 0;
|
||||
out_1537739791751408395[4] = 0;
|
||||
out_1537739791751408395[5] = 0;
|
||||
out_1537739791751408395[6] = 0;
|
||||
out_1537739791751408395[7] = 1;
|
||||
out_1537739791751408395[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_5695262987630304857) {
|
||||
out_5695262987630304857[0] = 0;
|
||||
out_5695262987630304857[1] = 0;
|
||||
out_5695262987630304857[2] = 0;
|
||||
out_5695262987630304857[3] = 0;
|
||||
out_5695262987630304857[4] = 0;
|
||||
out_5695262987630304857[5] = 0;
|
||||
out_5695262987630304857[6] = 0;
|
||||
out_5695262987630304857[7] = 1;
|
||||
out_5695262987630304857[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_2284525577089273540) {
|
||||
out_2284525577089273540[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_4062829090708927026) {
|
||||
out_4062829090708927026[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_6945690556813839673) {
|
||||
out_6945690556813839673[0] = 0;
|
||||
out_6945690556813839673[1] = 0;
|
||||
out_6945690556813839673[2] = 0;
|
||||
out_6945690556813839673[3] = 1;
|
||||
out_6945690556813839673[4] = 0;
|
||||
out_6945690556813839673[5] = 0;
|
||||
out_6945690556813839673[6] = 0;
|
||||
out_6945690556813839673[7] = 0;
|
||||
out_6945690556813839673[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_4268050737513998691) {
|
||||
out_4268050737513998691[0] = 0;
|
||||
out_4268050737513998691[1] = 0;
|
||||
out_4268050737513998691[2] = 0;
|
||||
out_4268050737513998691[3] = 1;
|
||||
out_4268050737513998691[4] = 0;
|
||||
out_4268050737513998691[5] = 0;
|
||||
out_4268050737513998691[6] = 0;
|
||||
out_4268050737513998691[7] = 0;
|
||||
out_4268050737513998691[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_1458873471301430684) {
|
||||
out_1458873471301430684[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_7564412822171847455) {
|
||||
out_7564412822171847455[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_5232327829944288640) {
|
||||
out_5232327829944288640[0] = 0;
|
||||
out_5232327829944288640[1] = 1;
|
||||
out_5232327829944288640[2] = 0;
|
||||
out_5232327829944288640[3] = 0;
|
||||
out_5232327829944288640[4] = 0;
|
||||
out_5232327829944288640[5] = 0;
|
||||
out_5232327829944288640[6] = 0;
|
||||
out_5232327829944288640[7] = 0;
|
||||
out_5232327829944288640[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_5981413464383549724) {
|
||||
out_5981413464383549724[0] = 0;
|
||||
out_5981413464383549724[1] = 1;
|
||||
out_5981413464383549724[2] = 0;
|
||||
out_5981413464383549724[3] = 0;
|
||||
out_5981413464383549724[4] = 0;
|
||||
out_5981413464383549724[5] = 0;
|
||||
out_5981413464383549724[6] = 0;
|
||||
out_5981413464383549724[7] = 0;
|
||||
out_5981413464383549724[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_7286198844750119185) {
|
||||
out_7286198844750119185[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_1579900780372029809) {
|
||||
out_1579900780372029809[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_149928812874758066) {
|
||||
out_149928812874758066[0] = 1;
|
||||
out_149928812874758066[1] = 0;
|
||||
out_149928812874758066[2] = 0;
|
||||
out_149928812874758066[3] = 0;
|
||||
out_149928812874758066[4] = 0;
|
||||
out_149928812874758066[5] = 0;
|
||||
out_149928812874758066[6] = 0;
|
||||
out_149928812874758066[7] = 0;
|
||||
out_149928812874758066[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_7382931592256471318) {
|
||||
out_7382931592256471318[0] = 1;
|
||||
out_7382931592256471318[1] = 0;
|
||||
out_7382931592256471318[2] = 0;
|
||||
out_7382931592256471318[3] = 0;
|
||||
out_7382931592256471318[4] = 0;
|
||||
out_7382931592256471318[5] = 0;
|
||||
out_7382931592256471318[6] = 0;
|
||||
out_7382931592256471318[7] = 0;
|
||||
out_7382931592256471318[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_9220241001058989162) {
|
||||
out_9220241001058989162[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6613551970606485049) {
|
||||
out_6613551970606485049[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_2163947893984759871) {
|
||||
out_2163947893984759871[0] = 0;
|
||||
out_2163947893984759871[1] = 0;
|
||||
out_2163947893984759871[2] = 0;
|
||||
out_2163947893984759871[3] = 0;
|
||||
out_2163947893984759871[4] = 0;
|
||||
out_2163947893984759871[5] = 0;
|
||||
out_2163947893984759871[6] = 0;
|
||||
out_2163947893984759871[7] = 0;
|
||||
out_2163947893984759871[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_8979331805328230107) {
|
||||
out_8979331805328230107[0] = 0;
|
||||
out_8979331805328230107[1] = 0;
|
||||
out_8979331805328230107[2] = 0;
|
||||
out_8979331805328230107[3] = 0;
|
||||
out_8979331805328230107[4] = 0;
|
||||
out_8979331805328230107[5] = 0;
|
||||
out_8979331805328230107[6] = 0;
|
||||
out_8979331805328230107[7] = 0;
|
||||
out_8979331805328230107[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_5328892797193692082) {
|
||||
err_fun(nom_x, delta_x, out_5328892797193692082);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_555027713999943867) {
|
||||
err_fun(nom_x, delta_x, out_555027713999943867);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465) {
|
||||
inv_err_fun(nom_x, true_x, out_6664197118630309465);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589) {
|
||||
inv_err_fun(nom_x, true_x, out_7816877518147233589);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_7049792320674666550) {
|
||||
H_mod_fun(state, out_7049792320674666550);
|
||||
void car_H_mod_fun(double *state, double *out_4533074481319696241) {
|
||||
H_mod_fun(state, out_4533074481319696241);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_8058289693715916474) {
|
||||
f_fun(state, dt, out_8058289693715916474);
|
||||
void car_f_fun(double *state, double dt, double *out_5039337670867030572) {
|
||||
f_fun(state, dt, out_5039337670867030572);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6834456908135559848) {
|
||||
F_fun(state, dt, out_6834456908135559848);
|
||||
void car_F_fun(double *state, double dt, double *out_5181832378332727216) {
|
||||
F_fun(state, dt, out_5181832378332727216);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_3817993858643920850) {
|
||||
h_25(state, unused, out_3817993858643920850);
|
||||
void car_h_25(double *state, double *unused, double *out_9064502358369772671) {
|
||||
h_25(state, unused, out_9064502358369772671);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_2203763527122647829) {
|
||||
H_25(state, unused, out_2203763527122647829);
|
||||
void car_H_25(double *state, double *unused, double *out_9009977767205190535) {
|
||||
H_25(state, unused, out_9009977767205190535);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_589890583681194954) {
|
||||
h_24(state, unused, out_589890583681194954);
|
||||
void car_h_24(double *state, double *unused, double *out_4315668618686905201) {
|
||||
h_24(state, unused, out_4315668618686905201);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_31113928117148263) {
|
||||
H_24(state, unused, out_31113928117148263);
|
||||
void car_H_24(double *state, double *unused, double *out_4579303311377586733) {
|
||||
H_24(state, unused, out_4579303311377586733);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_855557586624953167) {
|
||||
h_30(state, unused, out_855557586624953167);
|
||||
void car_h_30(double *state, double *unused, double *out_8507922675073509890) {
|
||||
h_30(state, unused, out_8507922675073509890);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_4722096485629896456) {
|
||||
H_30(state, unused, out_4722096485629896456);
|
||||
void car_H_30(double *state, double *unused, double *out_2093287425713573780) {
|
||||
H_30(state, unused, out_2093287425713573780);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_3459962907433650818) {
|
||||
h_26(state, unused, out_3459962907433650818);
|
||||
void car_h_26(double *state, double *unused, double *out_4180836484642303770) {
|
||||
h_26(state, unused, out_4180836484642303770);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_1537739791751408395) {
|
||||
H_26(state, unused, out_1537739791751408395);
|
||||
void car_H_26(double *state, double *unused, double *out_5695262987630304857) {
|
||||
H_26(state, unused, out_5695262987630304857);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_2284525577089273540) {
|
||||
h_27(state, unused, out_2284525577089273540);
|
||||
void car_h_27(double *state, double *unused, double *out_4062829090708927026) {
|
||||
h_27(state, unused, out_4062829090708927026);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_6945690556813839673) {
|
||||
H_27(state, unused, out_6945690556813839673);
|
||||
void car_H_27(double *state, double *unused, double *out_4268050737513998691) {
|
||||
H_27(state, unused, out_4268050737513998691);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_1458873471301430684) {
|
||||
h_29(state, unused, out_1458873471301430684);
|
||||
void car_h_29(double *state, double *unused, double *out_7564412822171847455) {
|
||||
h_29(state, unused, out_7564412822171847455);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_5232327829944288640) {
|
||||
H_29(state, unused, out_5232327829944288640);
|
||||
void car_H_29(double *state, double *unused, double *out_5981413464383549724) {
|
||||
H_29(state, unused, out_5981413464383549724);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_7286198844750119185) {
|
||||
h_28(state, unused, out_7286198844750119185);
|
||||
void car_h_28(double *state, double *unused, double *out_1579900780372029809) {
|
||||
h_28(state, unused, out_1579900780372029809);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_149928812874758066) {
|
||||
H_28(state, unused, out_149928812874758066);
|
||||
void car_H_28(double *state, double *unused, double *out_7382931592256471318) {
|
||||
H_28(state, unused, out_7382931592256471318);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_9220241001058989162) {
|
||||
h_31(state, unused, out_9220241001058989162);
|
||||
void car_h_31(double *state, double *unused, double *out_6613551970606485049) {
|
||||
h_31(state, unused, out_6613551970606485049);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_2163947893984759871) {
|
||||
H_31(state, unused, out_2163947893984759871);
|
||||
void car_H_31(double *state, double *unused, double *out_8979331805328230107) {
|
||||
H_31(state, unused, out_8979331805328230107);
|
||||
}
|
||||
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_5328892797193692082);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465);
|
||||
void car_H_mod_fun(double *state, double *out_7049792320674666550);
|
||||
void car_f_fun(double *state, double dt, double *out_8058289693715916474);
|
||||
void car_F_fun(double *state, double dt, double *out_6834456908135559848);
|
||||
void car_h_25(double *state, double *unused, double *out_3817993858643920850);
|
||||
void car_H_25(double *state, double *unused, double *out_2203763527122647829);
|
||||
void car_h_24(double *state, double *unused, double *out_589890583681194954);
|
||||
void car_H_24(double *state, double *unused, double *out_31113928117148263);
|
||||
void car_h_30(double *state, double *unused, double *out_855557586624953167);
|
||||
void car_H_30(double *state, double *unused, double *out_4722096485629896456);
|
||||
void car_h_26(double *state, double *unused, double *out_3459962907433650818);
|
||||
void car_H_26(double *state, double *unused, double *out_1537739791751408395);
|
||||
void car_h_27(double *state, double *unused, double *out_2284525577089273540);
|
||||
void car_H_27(double *state, double *unused, double *out_6945690556813839673);
|
||||
void car_h_29(double *state, double *unused, double *out_1458873471301430684);
|
||||
void car_H_29(double *state, double *unused, double *out_5232327829944288640);
|
||||
void car_h_28(double *state, double *unused, double *out_7286198844750119185);
|
||||
void car_H_28(double *state, double *unused, double *out_149928812874758066);
|
||||
void car_h_31(double *state, double *unused, double *out_9220241001058989162);
|
||||
void car_H_31(double *state, double *unused, double *out_2163947893984759871);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_555027713999943867);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589);
|
||||
void car_H_mod_fun(double *state, double *out_4533074481319696241);
|
||||
void car_f_fun(double *state, double dt, double *out_5039337670867030572);
|
||||
void car_F_fun(double *state, double dt, double *out_5181832378332727216);
|
||||
void car_h_25(double *state, double *unused, double *out_9064502358369772671);
|
||||
void car_H_25(double *state, double *unused, double *out_9009977767205190535);
|
||||
void car_h_24(double *state, double *unused, double *out_4315668618686905201);
|
||||
void car_H_24(double *state, double *unused, double *out_4579303311377586733);
|
||||
void car_h_30(double *state, double *unused, double *out_8507922675073509890);
|
||||
void car_H_30(double *state, double *unused, double *out_2093287425713573780);
|
||||
void car_h_26(double *state, double *unused, double *out_4180836484642303770);
|
||||
void car_H_26(double *state, double *unused, double *out_5695262987630304857);
|
||||
void car_h_27(double *state, double *unused, double *out_4062829090708927026);
|
||||
void car_H_27(double *state, double *unused, double *out_4268050737513998691);
|
||||
void car_h_29(double *state, double *unused, double *out_7564412822171847455);
|
||||
void car_H_29(double *state, double *unused, double *out_5981413464383549724);
|
||||
void car_h_28(double *state, double *unused, double *out_1579900780372029809);
|
||||
void car_H_28(double *state, double *unused, double *out_7382931592256471318);
|
||||
void car_h_31(double *state, double *unused, double *out_6613551970606485049);
|
||||
void car_H_31(double *state, double *unused, double *out_8979331805328230107);
|
||||
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_8334628911363265031);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963);
|
||||
void pose_H_mod_fun(double *state, double *out_2207458853057691014);
|
||||
void pose_f_fun(double *state, double dt, double *out_7635303320387631810);
|
||||
void pose_F_fun(double *state, double dt, double *out_8324840199262111301);
|
||||
void pose_h_4(double *state, double *unused, double *out_2118179578320955915);
|
||||
void pose_H_4(double *state, double *unused, double *out_7359977238096771749);
|
||||
void pose_h_10(double *state, double *unused, double *out_863109591849531819);
|
||||
void pose_H_10(double *state, double *unused, double *out_6053481103905099724);
|
||||
void pose_h_13(double *state, double *unused, double *out_8506504787708500859);
|
||||
void pose_H_13(double *state, double *unused, double *out_7874493010280447066);
|
||||
void pose_h_14(double *state, double *unused, double *out_6030639671543279411);
|
||||
void pose_H_14(double *state, double *unused, double *out_7123525979273295338);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7828077856483360191);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_978622641958652250);
|
||||
void pose_H_mod_fun(double *state, double *out_7441553898687288237);
|
||||
void pose_f_fun(double *state, double dt, double *out_8648120814934185415);
|
||||
void pose_F_fun(double *state, double dt, double *out_5073381682457521558);
|
||||
void pose_h_4(double *state, double *unused, double *out_2401275546657747080);
|
||||
void pose_H_4(double *state, double *unused, double *out_1593472091935329516);
|
||||
void pose_h_10(double *state, double *unused, double *out_7020895229304053766);
|
||||
void pose_H_10(double *state, double *unused, double *out_299233475658510513);
|
||||
void pose_h_13(double *state, double *unused, double *out_2810480351238834931);
|
||||
void pose_H_13(double *state, double *unused, double *out_4805745917267662317);
|
||||
void pose_h_14(double *state, double *unused, double *out_6318162405249945056);
|
||||
void pose_H_14(double *state, double *unused, double *out_5556712948274814045);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Reference in New Issue
Block a user