mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-05 00:05:52 +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-cf1c99cf-DEBUG";
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||||
const uint8_t gitversion[19] = "DEV-c88bebbc-DEBUG";
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||||
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@@ -1 +1 @@
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DEV-cf1c99cf-DEBUG
|
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DEV-c88bebbc-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_5319131797443970272) {
|
||||
out_5319131797443970272[0] = delta_x[0] + nom_x[0];
|
||||
out_5319131797443970272[1] = delta_x[1] + nom_x[1];
|
||||
out_5319131797443970272[2] = delta_x[2] + nom_x[2];
|
||||
out_5319131797443970272[3] = delta_x[3] + nom_x[3];
|
||||
out_5319131797443970272[4] = delta_x[4] + nom_x[4];
|
||||
out_5319131797443970272[5] = delta_x[5] + nom_x[5];
|
||||
out_5319131797443970272[6] = delta_x[6] + nom_x[6];
|
||||
out_5319131797443970272[7] = delta_x[7] + nom_x[7];
|
||||
out_5319131797443970272[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_4102855695027319146) {
|
||||
out_4102855695027319146[0] = delta_x[0] + nom_x[0];
|
||||
out_4102855695027319146[1] = delta_x[1] + nom_x[1];
|
||||
out_4102855695027319146[2] = delta_x[2] + nom_x[2];
|
||||
out_4102855695027319146[3] = delta_x[3] + nom_x[3];
|
||||
out_4102855695027319146[4] = delta_x[4] + nom_x[4];
|
||||
out_4102855695027319146[5] = delta_x[5] + nom_x[5];
|
||||
out_4102855695027319146[6] = delta_x[6] + nom_x[6];
|
||||
out_4102855695027319146[7] = delta_x[7] + nom_x[7];
|
||||
out_4102855695027319146[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3644993322176215676) {
|
||||
out_3644993322176215676[0] = -nom_x[0] + true_x[0];
|
||||
out_3644993322176215676[1] = -nom_x[1] + true_x[1];
|
||||
out_3644993322176215676[2] = -nom_x[2] + true_x[2];
|
||||
out_3644993322176215676[3] = -nom_x[3] + true_x[3];
|
||||
out_3644993322176215676[4] = -nom_x[4] + true_x[4];
|
||||
out_3644993322176215676[5] = -nom_x[5] + true_x[5];
|
||||
out_3644993322176215676[6] = -nom_x[6] + true_x[6];
|
||||
out_3644993322176215676[7] = -nom_x[7] + true_x[7];
|
||||
out_3644993322176215676[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_375370046560025251) {
|
||||
out_375370046560025251[0] = -nom_x[0] + true_x[0];
|
||||
out_375370046560025251[1] = -nom_x[1] + true_x[1];
|
||||
out_375370046560025251[2] = -nom_x[2] + true_x[2];
|
||||
out_375370046560025251[3] = -nom_x[3] + true_x[3];
|
||||
out_375370046560025251[4] = -nom_x[4] + true_x[4];
|
||||
out_375370046560025251[5] = -nom_x[5] + true_x[5];
|
||||
out_375370046560025251[6] = -nom_x[6] + true_x[6];
|
||||
out_375370046560025251[7] = -nom_x[7] + true_x[7];
|
||||
out_375370046560025251[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_3163511227028018782) {
|
||||
out_3163511227028018782[0] = 1.0;
|
||||
out_3163511227028018782[1] = 0.0;
|
||||
out_3163511227028018782[2] = 0.0;
|
||||
out_3163511227028018782[3] = 0.0;
|
||||
out_3163511227028018782[4] = 0.0;
|
||||
out_3163511227028018782[5] = 0.0;
|
||||
out_3163511227028018782[6] = 0.0;
|
||||
out_3163511227028018782[7] = 0.0;
|
||||
out_3163511227028018782[8] = 0.0;
|
||||
out_3163511227028018782[9] = 0.0;
|
||||
out_3163511227028018782[10] = 1.0;
|
||||
out_3163511227028018782[11] = 0.0;
|
||||
out_3163511227028018782[12] = 0.0;
|
||||
out_3163511227028018782[13] = 0.0;
|
||||
out_3163511227028018782[14] = 0.0;
|
||||
out_3163511227028018782[15] = 0.0;
|
||||
out_3163511227028018782[16] = 0.0;
|
||||
out_3163511227028018782[17] = 0.0;
|
||||
out_3163511227028018782[18] = 0.0;
|
||||
out_3163511227028018782[19] = 0.0;
|
||||
out_3163511227028018782[20] = 1.0;
|
||||
out_3163511227028018782[21] = 0.0;
|
||||
out_3163511227028018782[22] = 0.0;
|
||||
out_3163511227028018782[23] = 0.0;
|
||||
out_3163511227028018782[24] = 0.0;
|
||||
out_3163511227028018782[25] = 0.0;
|
||||
out_3163511227028018782[26] = 0.0;
|
||||
out_3163511227028018782[27] = 0.0;
|
||||
out_3163511227028018782[28] = 0.0;
|
||||
out_3163511227028018782[29] = 0.0;
|
||||
out_3163511227028018782[30] = 1.0;
|
||||
out_3163511227028018782[31] = 0.0;
|
||||
out_3163511227028018782[32] = 0.0;
|
||||
out_3163511227028018782[33] = 0.0;
|
||||
out_3163511227028018782[34] = 0.0;
|
||||
out_3163511227028018782[35] = 0.0;
|
||||
out_3163511227028018782[36] = 0.0;
|
||||
out_3163511227028018782[37] = 0.0;
|
||||
out_3163511227028018782[38] = 0.0;
|
||||
out_3163511227028018782[39] = 0.0;
|
||||
out_3163511227028018782[40] = 1.0;
|
||||
out_3163511227028018782[41] = 0.0;
|
||||
out_3163511227028018782[42] = 0.0;
|
||||
out_3163511227028018782[43] = 0.0;
|
||||
out_3163511227028018782[44] = 0.0;
|
||||
out_3163511227028018782[45] = 0.0;
|
||||
out_3163511227028018782[46] = 0.0;
|
||||
out_3163511227028018782[47] = 0.0;
|
||||
out_3163511227028018782[48] = 0.0;
|
||||
out_3163511227028018782[49] = 0.0;
|
||||
out_3163511227028018782[50] = 1.0;
|
||||
out_3163511227028018782[51] = 0.0;
|
||||
out_3163511227028018782[52] = 0.0;
|
||||
out_3163511227028018782[53] = 0.0;
|
||||
out_3163511227028018782[54] = 0.0;
|
||||
out_3163511227028018782[55] = 0.0;
|
||||
out_3163511227028018782[56] = 0.0;
|
||||
out_3163511227028018782[57] = 0.0;
|
||||
out_3163511227028018782[58] = 0.0;
|
||||
out_3163511227028018782[59] = 0.0;
|
||||
out_3163511227028018782[60] = 1.0;
|
||||
out_3163511227028018782[61] = 0.0;
|
||||
out_3163511227028018782[62] = 0.0;
|
||||
out_3163511227028018782[63] = 0.0;
|
||||
out_3163511227028018782[64] = 0.0;
|
||||
out_3163511227028018782[65] = 0.0;
|
||||
out_3163511227028018782[66] = 0.0;
|
||||
out_3163511227028018782[67] = 0.0;
|
||||
out_3163511227028018782[68] = 0.0;
|
||||
out_3163511227028018782[69] = 0.0;
|
||||
out_3163511227028018782[70] = 1.0;
|
||||
out_3163511227028018782[71] = 0.0;
|
||||
out_3163511227028018782[72] = 0.0;
|
||||
out_3163511227028018782[73] = 0.0;
|
||||
out_3163511227028018782[74] = 0.0;
|
||||
out_3163511227028018782[75] = 0.0;
|
||||
out_3163511227028018782[76] = 0.0;
|
||||
out_3163511227028018782[77] = 0.0;
|
||||
out_3163511227028018782[78] = 0.0;
|
||||
out_3163511227028018782[79] = 0.0;
|
||||
out_3163511227028018782[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_4142214806030893418) {
|
||||
out_4142214806030893418[0] = 1.0;
|
||||
out_4142214806030893418[1] = 0.0;
|
||||
out_4142214806030893418[2] = 0.0;
|
||||
out_4142214806030893418[3] = 0.0;
|
||||
out_4142214806030893418[4] = 0.0;
|
||||
out_4142214806030893418[5] = 0.0;
|
||||
out_4142214806030893418[6] = 0.0;
|
||||
out_4142214806030893418[7] = 0.0;
|
||||
out_4142214806030893418[8] = 0.0;
|
||||
out_4142214806030893418[9] = 0.0;
|
||||
out_4142214806030893418[10] = 1.0;
|
||||
out_4142214806030893418[11] = 0.0;
|
||||
out_4142214806030893418[12] = 0.0;
|
||||
out_4142214806030893418[13] = 0.0;
|
||||
out_4142214806030893418[14] = 0.0;
|
||||
out_4142214806030893418[15] = 0.0;
|
||||
out_4142214806030893418[16] = 0.0;
|
||||
out_4142214806030893418[17] = 0.0;
|
||||
out_4142214806030893418[18] = 0.0;
|
||||
out_4142214806030893418[19] = 0.0;
|
||||
out_4142214806030893418[20] = 1.0;
|
||||
out_4142214806030893418[21] = 0.0;
|
||||
out_4142214806030893418[22] = 0.0;
|
||||
out_4142214806030893418[23] = 0.0;
|
||||
out_4142214806030893418[24] = 0.0;
|
||||
out_4142214806030893418[25] = 0.0;
|
||||
out_4142214806030893418[26] = 0.0;
|
||||
out_4142214806030893418[27] = 0.0;
|
||||
out_4142214806030893418[28] = 0.0;
|
||||
out_4142214806030893418[29] = 0.0;
|
||||
out_4142214806030893418[30] = 1.0;
|
||||
out_4142214806030893418[31] = 0.0;
|
||||
out_4142214806030893418[32] = 0.0;
|
||||
out_4142214806030893418[33] = 0.0;
|
||||
out_4142214806030893418[34] = 0.0;
|
||||
out_4142214806030893418[35] = 0.0;
|
||||
out_4142214806030893418[36] = 0.0;
|
||||
out_4142214806030893418[37] = 0.0;
|
||||
out_4142214806030893418[38] = 0.0;
|
||||
out_4142214806030893418[39] = 0.0;
|
||||
out_4142214806030893418[40] = 1.0;
|
||||
out_4142214806030893418[41] = 0.0;
|
||||
out_4142214806030893418[42] = 0.0;
|
||||
out_4142214806030893418[43] = 0.0;
|
||||
out_4142214806030893418[44] = 0.0;
|
||||
out_4142214806030893418[45] = 0.0;
|
||||
out_4142214806030893418[46] = 0.0;
|
||||
out_4142214806030893418[47] = 0.0;
|
||||
out_4142214806030893418[48] = 0.0;
|
||||
out_4142214806030893418[49] = 0.0;
|
||||
out_4142214806030893418[50] = 1.0;
|
||||
out_4142214806030893418[51] = 0.0;
|
||||
out_4142214806030893418[52] = 0.0;
|
||||
out_4142214806030893418[53] = 0.0;
|
||||
out_4142214806030893418[54] = 0.0;
|
||||
out_4142214806030893418[55] = 0.0;
|
||||
out_4142214806030893418[56] = 0.0;
|
||||
out_4142214806030893418[57] = 0.0;
|
||||
out_4142214806030893418[58] = 0.0;
|
||||
out_4142214806030893418[59] = 0.0;
|
||||
out_4142214806030893418[60] = 1.0;
|
||||
out_4142214806030893418[61] = 0.0;
|
||||
out_4142214806030893418[62] = 0.0;
|
||||
out_4142214806030893418[63] = 0.0;
|
||||
out_4142214806030893418[64] = 0.0;
|
||||
out_4142214806030893418[65] = 0.0;
|
||||
out_4142214806030893418[66] = 0.0;
|
||||
out_4142214806030893418[67] = 0.0;
|
||||
out_4142214806030893418[68] = 0.0;
|
||||
out_4142214806030893418[69] = 0.0;
|
||||
out_4142214806030893418[70] = 1.0;
|
||||
out_4142214806030893418[71] = 0.0;
|
||||
out_4142214806030893418[72] = 0.0;
|
||||
out_4142214806030893418[73] = 0.0;
|
||||
out_4142214806030893418[74] = 0.0;
|
||||
out_4142214806030893418[75] = 0.0;
|
||||
out_4142214806030893418[76] = 0.0;
|
||||
out_4142214806030893418[77] = 0.0;
|
||||
out_4142214806030893418[78] = 0.0;
|
||||
out_4142214806030893418[79] = 0.0;
|
||||
out_4142214806030893418[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_1546760495327089109) {
|
||||
out_1546760495327089109[0] = state[0];
|
||||
out_1546760495327089109[1] = state[1];
|
||||
out_1546760495327089109[2] = state[2];
|
||||
out_1546760495327089109[3] = state[3];
|
||||
out_1546760495327089109[4] = state[4];
|
||||
out_1546760495327089109[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_1546760495327089109[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_1546760495327089109[7] = state[7];
|
||||
out_1546760495327089109[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_1332366097619626209) {
|
||||
out_1332366097619626209[0] = state[0];
|
||||
out_1332366097619626209[1] = state[1];
|
||||
out_1332366097619626209[2] = state[2];
|
||||
out_1332366097619626209[3] = state[3];
|
||||
out_1332366097619626209[4] = state[4];
|
||||
out_1332366097619626209[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_1332366097619626209[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_1332366097619626209[7] = state[7];
|
||||
out_1332366097619626209[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_3348391828080031822) {
|
||||
out_3348391828080031822[0] = 1;
|
||||
out_3348391828080031822[1] = 0;
|
||||
out_3348391828080031822[2] = 0;
|
||||
out_3348391828080031822[3] = 0;
|
||||
out_3348391828080031822[4] = 0;
|
||||
out_3348391828080031822[5] = 0;
|
||||
out_3348391828080031822[6] = 0;
|
||||
out_3348391828080031822[7] = 0;
|
||||
out_3348391828080031822[8] = 0;
|
||||
out_3348391828080031822[9] = 0;
|
||||
out_3348391828080031822[10] = 1;
|
||||
out_3348391828080031822[11] = 0;
|
||||
out_3348391828080031822[12] = 0;
|
||||
out_3348391828080031822[13] = 0;
|
||||
out_3348391828080031822[14] = 0;
|
||||
out_3348391828080031822[15] = 0;
|
||||
out_3348391828080031822[16] = 0;
|
||||
out_3348391828080031822[17] = 0;
|
||||
out_3348391828080031822[18] = 0;
|
||||
out_3348391828080031822[19] = 0;
|
||||
out_3348391828080031822[20] = 1;
|
||||
out_3348391828080031822[21] = 0;
|
||||
out_3348391828080031822[22] = 0;
|
||||
out_3348391828080031822[23] = 0;
|
||||
out_3348391828080031822[24] = 0;
|
||||
out_3348391828080031822[25] = 0;
|
||||
out_3348391828080031822[26] = 0;
|
||||
out_3348391828080031822[27] = 0;
|
||||
out_3348391828080031822[28] = 0;
|
||||
out_3348391828080031822[29] = 0;
|
||||
out_3348391828080031822[30] = 1;
|
||||
out_3348391828080031822[31] = 0;
|
||||
out_3348391828080031822[32] = 0;
|
||||
out_3348391828080031822[33] = 0;
|
||||
out_3348391828080031822[34] = 0;
|
||||
out_3348391828080031822[35] = 0;
|
||||
out_3348391828080031822[36] = 0;
|
||||
out_3348391828080031822[37] = 0;
|
||||
out_3348391828080031822[38] = 0;
|
||||
out_3348391828080031822[39] = 0;
|
||||
out_3348391828080031822[40] = 1;
|
||||
out_3348391828080031822[41] = 0;
|
||||
out_3348391828080031822[42] = 0;
|
||||
out_3348391828080031822[43] = 0;
|
||||
out_3348391828080031822[44] = 0;
|
||||
out_3348391828080031822[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_3348391828080031822[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3348391828080031822[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3348391828080031822[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3348391828080031822[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_3348391828080031822[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3348391828080031822[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3348391828080031822[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3348391828080031822[53] = -9.8100000000000005*dt;
|
||||
out_3348391828080031822[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_3348391828080031822[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3348391828080031822[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3348391828080031822[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3348391828080031822[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_3348391828080031822[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3348391828080031822[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_3348391828080031822[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3348391828080031822[62] = 0;
|
||||
out_3348391828080031822[63] = 0;
|
||||
out_3348391828080031822[64] = 0;
|
||||
out_3348391828080031822[65] = 0;
|
||||
out_3348391828080031822[66] = 0;
|
||||
out_3348391828080031822[67] = 0;
|
||||
out_3348391828080031822[68] = 0;
|
||||
out_3348391828080031822[69] = 0;
|
||||
out_3348391828080031822[70] = 1;
|
||||
out_3348391828080031822[71] = 0;
|
||||
out_3348391828080031822[72] = 0;
|
||||
out_3348391828080031822[73] = 0;
|
||||
out_3348391828080031822[74] = 0;
|
||||
out_3348391828080031822[75] = 0;
|
||||
out_3348391828080031822[76] = 0;
|
||||
out_3348391828080031822[77] = 0;
|
||||
out_3348391828080031822[78] = 0;
|
||||
out_3348391828080031822[79] = 0;
|
||||
out_3348391828080031822[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_2970389157093285155) {
|
||||
out_2970389157093285155[0] = 1;
|
||||
out_2970389157093285155[1] = 0;
|
||||
out_2970389157093285155[2] = 0;
|
||||
out_2970389157093285155[3] = 0;
|
||||
out_2970389157093285155[4] = 0;
|
||||
out_2970389157093285155[5] = 0;
|
||||
out_2970389157093285155[6] = 0;
|
||||
out_2970389157093285155[7] = 0;
|
||||
out_2970389157093285155[8] = 0;
|
||||
out_2970389157093285155[9] = 0;
|
||||
out_2970389157093285155[10] = 1;
|
||||
out_2970389157093285155[11] = 0;
|
||||
out_2970389157093285155[12] = 0;
|
||||
out_2970389157093285155[13] = 0;
|
||||
out_2970389157093285155[14] = 0;
|
||||
out_2970389157093285155[15] = 0;
|
||||
out_2970389157093285155[16] = 0;
|
||||
out_2970389157093285155[17] = 0;
|
||||
out_2970389157093285155[18] = 0;
|
||||
out_2970389157093285155[19] = 0;
|
||||
out_2970389157093285155[20] = 1;
|
||||
out_2970389157093285155[21] = 0;
|
||||
out_2970389157093285155[22] = 0;
|
||||
out_2970389157093285155[23] = 0;
|
||||
out_2970389157093285155[24] = 0;
|
||||
out_2970389157093285155[25] = 0;
|
||||
out_2970389157093285155[26] = 0;
|
||||
out_2970389157093285155[27] = 0;
|
||||
out_2970389157093285155[28] = 0;
|
||||
out_2970389157093285155[29] = 0;
|
||||
out_2970389157093285155[30] = 1;
|
||||
out_2970389157093285155[31] = 0;
|
||||
out_2970389157093285155[32] = 0;
|
||||
out_2970389157093285155[33] = 0;
|
||||
out_2970389157093285155[34] = 0;
|
||||
out_2970389157093285155[35] = 0;
|
||||
out_2970389157093285155[36] = 0;
|
||||
out_2970389157093285155[37] = 0;
|
||||
out_2970389157093285155[38] = 0;
|
||||
out_2970389157093285155[39] = 0;
|
||||
out_2970389157093285155[40] = 1;
|
||||
out_2970389157093285155[41] = 0;
|
||||
out_2970389157093285155[42] = 0;
|
||||
out_2970389157093285155[43] = 0;
|
||||
out_2970389157093285155[44] = 0;
|
||||
out_2970389157093285155[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_2970389157093285155[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2970389157093285155[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2970389157093285155[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2970389157093285155[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_2970389157093285155[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2970389157093285155[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2970389157093285155[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2970389157093285155[53] = -9.8100000000000005*dt;
|
||||
out_2970389157093285155[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_2970389157093285155[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2970389157093285155[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2970389157093285155[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2970389157093285155[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_2970389157093285155[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2970389157093285155[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_2970389157093285155[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2970389157093285155[62] = 0;
|
||||
out_2970389157093285155[63] = 0;
|
||||
out_2970389157093285155[64] = 0;
|
||||
out_2970389157093285155[65] = 0;
|
||||
out_2970389157093285155[66] = 0;
|
||||
out_2970389157093285155[67] = 0;
|
||||
out_2970389157093285155[68] = 0;
|
||||
out_2970389157093285155[69] = 0;
|
||||
out_2970389157093285155[70] = 1;
|
||||
out_2970389157093285155[71] = 0;
|
||||
out_2970389157093285155[72] = 0;
|
||||
out_2970389157093285155[73] = 0;
|
||||
out_2970389157093285155[74] = 0;
|
||||
out_2970389157093285155[75] = 0;
|
||||
out_2970389157093285155[76] = 0;
|
||||
out_2970389157093285155[77] = 0;
|
||||
out_2970389157093285155[78] = 0;
|
||||
out_2970389157093285155[79] = 0;
|
||||
out_2970389157093285155[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_4471759016602712561) {
|
||||
out_4471759016602712561[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_3102286071066017000) {
|
||||
out_3102286071066017000[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_1740180598156646058) {
|
||||
out_1740180598156646058[0] = 0;
|
||||
out_1740180598156646058[1] = 0;
|
||||
out_1740180598156646058[2] = 0;
|
||||
out_1740180598156646058[3] = 0;
|
||||
out_1740180598156646058[4] = 0;
|
||||
out_1740180598156646058[5] = 0;
|
||||
out_1740180598156646058[6] = 1;
|
||||
out_1740180598156646058[7] = 0;
|
||||
out_1740180598156646058[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_7624833147842353287) {
|
||||
out_7624833147842353287[0] = 0;
|
||||
out_7624833147842353287[1] = 0;
|
||||
out_7624833147842353287[2] = 0;
|
||||
out_7624833147842353287[3] = 0;
|
||||
out_7624833147842353287[4] = 0;
|
||||
out_7624833147842353287[5] = 0;
|
||||
out_7624833147842353287[6] = 1;
|
||||
out_7624833147842353287[7] = 0;
|
||||
out_7624833147842353287[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_3126254991737006136) {
|
||||
out_3126254991737006136[0] = state[4];
|
||||
out_3126254991737006136[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_423096547607875781) {
|
||||
out_423096547607875781[0] = state[4];
|
||||
out_423096547607875781[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_1269723116113307334) {
|
||||
out_1269723116113307334[0] = 0;
|
||||
out_1269723116113307334[1] = 0;
|
||||
out_1269723116113307334[2] = 0;
|
||||
out_1269723116113307334[3] = 0;
|
||||
out_1269723116113307334[4] = 1;
|
||||
out_1269723116113307334[5] = 0;
|
||||
out_1269723116113307334[6] = 0;
|
||||
out_1269723116113307334[7] = 0;
|
||||
out_1269723116113307334[8] = 0;
|
||||
out_1269723116113307334[9] = 0;
|
||||
out_1269723116113307334[10] = 0;
|
||||
out_1269723116113307334[11] = 0;
|
||||
out_1269723116113307334[12] = 0;
|
||||
out_1269723116113307334[13] = 0;
|
||||
out_1269723116113307334[14] = 1;
|
||||
out_1269723116113307334[15] = 0;
|
||||
out_1269723116113307334[16] = 0;
|
||||
out_1269723116113307334[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_5399125363863484725) {
|
||||
out_5399125363863484725[0] = 0;
|
||||
out_5399125363863484725[1] = 0;
|
||||
out_5399125363863484725[2] = 0;
|
||||
out_5399125363863484725[3] = 0;
|
||||
out_5399125363863484725[4] = 1;
|
||||
out_5399125363863484725[5] = 0;
|
||||
out_5399125363863484725[6] = 0;
|
||||
out_5399125363863484725[7] = 0;
|
||||
out_5399125363863484725[8] = 0;
|
||||
out_5399125363863484725[9] = 0;
|
||||
out_5399125363863484725[10] = 0;
|
||||
out_5399125363863484725[11] = 0;
|
||||
out_5399125363863484725[12] = 0;
|
||||
out_5399125363863484725[13] = 0;
|
||||
out_5399125363863484725[14] = 1;
|
||||
out_5399125363863484725[15] = 0;
|
||||
out_5399125363863484725[16] = 0;
|
||||
out_5399125363863484725[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_4168118460115829323) {
|
||||
out_4168118460115829323[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_3668549155284333936) {
|
||||
out_3668549155284333936[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_1610841651013405988) {
|
||||
out_1610841651013405988[0] = 0;
|
||||
out_1610841651013405988[1] = 0;
|
||||
out_1610841651013405988[2] = 0;
|
||||
out_1610841651013405988[3] = 0;
|
||||
out_1610841651013405988[4] = 1;
|
||||
out_1610841651013405988[5] = 0;
|
||||
out_1610841651013405988[6] = 0;
|
||||
out_1610841651013405988[7] = 0;
|
||||
out_1610841651013405988[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_708142806350736532) {
|
||||
out_708142806350736532[0] = 0;
|
||||
out_708142806350736532[1] = 0;
|
||||
out_708142806350736532[2] = 0;
|
||||
out_708142806350736532[3] = 0;
|
||||
out_708142806350736532[4] = 1;
|
||||
out_708142806350736532[5] = 0;
|
||||
out_708142806350736532[6] = 0;
|
||||
out_708142806350736532[7] = 0;
|
||||
out_708142806350736532[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_2045289894744513329) {
|
||||
out_2045289894744513329[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_7985951944793485901) {
|
||||
out_7985951944793485901[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_2001322720717410166) {
|
||||
out_2001322720717410166[0] = 0;
|
||||
out_2001322720717410166[1] = 0;
|
||||
out_2001322720717410166[2] = 0;
|
||||
out_2001322720717410166[3] = 0;
|
||||
out_2001322720717410166[4] = 0;
|
||||
out_2001322720717410166[5] = 0;
|
||||
out_2001322720717410166[6] = 0;
|
||||
out_2001322720717410166[7] = 1;
|
||||
out_2001322720717410166[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_7080407606993142105) {
|
||||
out_7080407606993142105[0] = 0;
|
||||
out_7080407606993142105[1] = 0;
|
||||
out_7080407606993142105[2] = 0;
|
||||
out_7080407606993142105[3] = 0;
|
||||
out_7080407606993142105[4] = 0;
|
||||
out_7080407606993142105[5] = 0;
|
||||
out_7080407606993142105[6] = 0;
|
||||
out_7080407606993142105[7] = 1;
|
||||
out_7080407606993142105[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_1927282500811136585) {
|
||||
out_1927282500811136585[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_8103959338726862645) {
|
||||
out_8103959338726862645[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_563921660787018923) {
|
||||
out_563921660787018923[0] = 0;
|
||||
out_563921660787018923[1] = 0;
|
||||
out_563921660787018923[2] = 0;
|
||||
out_563921660787018923[3] = 1;
|
||||
out_563921660787018923[4] = 0;
|
||||
out_563921660787018923[5] = 0;
|
||||
out_563921660787018923[6] = 0;
|
||||
out_563921660787018923[7] = 0;
|
||||
out_563921660787018923[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_2882906118151161443) {
|
||||
out_2882906118151161443[0] = 0;
|
||||
out_2882906118151161443[1] = 0;
|
||||
out_2882906118151161443[2] = 0;
|
||||
out_2882906118151161443[3] = 1;
|
||||
out_2882906118151161443[4] = 0;
|
||||
out_2882906118151161443[5] = 0;
|
||||
out_2882906118151161443[6] = 0;
|
||||
out_2882906118151161443[7] = 0;
|
||||
out_2882906118151161443[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_8022800891634675039) {
|
||||
out_8022800891634675039[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_6653327946097979478) {
|
||||
out_6653327946097979478[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_2277284387656569956) {
|
||||
out_2277284387656569956[0] = 0;
|
||||
out_2277284387656569956[1] = 1;
|
||||
out_2277284387656569956[2] = 0;
|
||||
out_2277284387656569956[3] = 0;
|
||||
out_2277284387656569956[4] = 0;
|
||||
out_2277284387656569956[5] = 0;
|
||||
out_2277284387656569956[6] = 0;
|
||||
out_2277284387656569956[7] = 0;
|
||||
out_2277284387656569956[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_197911462036344348) {
|
||||
out_197911462036344348[0] = 0;
|
||||
out_197911462036344348[1] = 1;
|
||||
out_197911462036344348[2] = 0;
|
||||
out_197911462036344348[3] = 0;
|
||||
out_197911462036344348[4] = 0;
|
||||
out_197911462036344348[5] = 0;
|
||||
out_197911462036344348[6] = 0;
|
||||
out_197911462036344348[7] = 0;
|
||||
out_197911462036344348[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_4964068552255469270) {
|
||||
out_4964068552255469270[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_5499554017918164994) {
|
||||
out_5499554017918164994[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_313654116091243705) {
|
||||
out_313654116091243705[0] = 1;
|
||||
out_313654116091243705[1] = 0;
|
||||
out_313654116091243705[2] = 0;
|
||||
out_313654116091243705[3] = 0;
|
||||
out_313654116091243705[4] = 0;
|
||||
out_313654116091243705[5] = 0;
|
||||
out_313654116091243705[6] = 0;
|
||||
out_313654116091243705[7] = 0;
|
||||
out_313654116091243705[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_8768076211619308566) {
|
||||
out_8768076211619308566[0] = 1;
|
||||
out_8768076211619308566[1] = 0;
|
||||
out_8768076211619308566[2] = 0;
|
||||
out_8768076211619308566[3] = 0;
|
||||
out_8768076211619308566[4] = 0;
|
||||
out_8768076211619308566[5] = 0;
|
||||
out_8768076211619308566[6] = 0;
|
||||
out_8768076211619308566[7] = 0;
|
||||
out_8768076211619308566[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_834309488348690211) {
|
||||
out_834309488348690211[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7581192745822862175) {
|
||||
out_7581192745822862175[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_1770826560033606486) {
|
||||
out_1770826560033606486[0] = 0;
|
||||
out_1770826560033606486[1] = 0;
|
||||
out_1770826560033606486[2] = 0;
|
||||
out_1770826560033606486[3] = 0;
|
||||
out_1770826560033606486[4] = 0;
|
||||
out_1770826560033606486[5] = 0;
|
||||
out_1770826560033606486[6] = 0;
|
||||
out_1770826560033606486[7] = 0;
|
||||
out_1770826560033606486[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_7594187185965392859) {
|
||||
out_7594187185965392859[0] = 0;
|
||||
out_7594187185965392859[1] = 0;
|
||||
out_7594187185965392859[2] = 0;
|
||||
out_7594187185965392859[3] = 0;
|
||||
out_7594187185965392859[4] = 0;
|
||||
out_7594187185965392859[5] = 0;
|
||||
out_7594187185965392859[6] = 0;
|
||||
out_7594187185965392859[7] = 0;
|
||||
out_7594187185965392859[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_5319131797443970272) {
|
||||
err_fun(nom_x, delta_x, out_5319131797443970272);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_4102855695027319146) {
|
||||
err_fun(nom_x, delta_x, out_4102855695027319146);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3644993322176215676) {
|
||||
inv_err_fun(nom_x, true_x, out_3644993322176215676);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_375370046560025251) {
|
||||
inv_err_fun(nom_x, true_x, out_375370046560025251);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_3163511227028018782) {
|
||||
H_mod_fun(state, out_3163511227028018782);
|
||||
void car_H_mod_fun(double *state, double *out_4142214806030893418) {
|
||||
H_mod_fun(state, out_4142214806030893418);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_1546760495327089109) {
|
||||
f_fun(state, dt, out_1546760495327089109);
|
||||
void car_f_fun(double *state, double dt, double *out_1332366097619626209) {
|
||||
f_fun(state, dt, out_1332366097619626209);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_3348391828080031822) {
|
||||
F_fun(state, dt, out_3348391828080031822);
|
||||
void car_F_fun(double *state, double dt, double *out_2970389157093285155) {
|
||||
F_fun(state, dt, out_2970389157093285155);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_4471759016602712561) {
|
||||
h_25(state, unused, out_4471759016602712561);
|
||||
void car_h_25(double *state, double *unused, double *out_3102286071066017000) {
|
||||
h_25(state, unused, out_3102286071066017000);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_1740180598156646058) {
|
||||
H_25(state, unused, out_1740180598156646058);
|
||||
void car_H_25(double *state, double *unused, double *out_7624833147842353287) {
|
||||
H_25(state, unused, out_7624833147842353287);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_3126254991737006136) {
|
||||
h_24(state, unused, out_3126254991737006136);
|
||||
void car_h_24(double *state, double *unused, double *out_423096547607875781) {
|
||||
h_24(state, unused, out_423096547607875781);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_1269723116113307334) {
|
||||
H_24(state, unused, out_1269723116113307334);
|
||||
void car_H_24(double *state, double *unused, double *out_5399125363863484725) {
|
||||
H_24(state, unused, out_5399125363863484725);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_4168118460115829323) {
|
||||
h_30(state, unused, out_4168118460115829323);
|
||||
void car_h_30(double *state, double *unused, double *out_3668549155284333936) {
|
||||
h_30(state, unused, out_3668549155284333936);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_1610841651013405988) {
|
||||
H_30(state, unused, out_1610841651013405988);
|
||||
void car_H_30(double *state, double *unused, double *out_708142806350736532) {
|
||||
H_30(state, unused, out_708142806350736532);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_2045289894744513329) {
|
||||
h_26(state, unused, out_2045289894744513329);
|
||||
void car_h_26(double *state, double *unused, double *out_7985951944793485901) {
|
||||
h_26(state, unused, out_7985951944793485901);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_2001322720717410166) {
|
||||
H_26(state, unused, out_2001322720717410166);
|
||||
void car_H_26(double *state, double *unused, double *out_7080407606993142105) {
|
||||
H_26(state, unused, out_7080407606993142105);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_1927282500811136585) {
|
||||
h_27(state, unused, out_1927282500811136585);
|
||||
void car_h_27(double *state, double *unused, double *out_8103959338726862645) {
|
||||
h_27(state, unused, out_8103959338726862645);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_563921660787018923) {
|
||||
H_27(state, unused, out_563921660787018923);
|
||||
void car_H_27(double *state, double *unused, double *out_2882906118151161443) {
|
||||
H_27(state, unused, out_2882906118151161443);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_8022800891634675039) {
|
||||
h_29(state, unused, out_8022800891634675039);
|
||||
void car_h_29(double *state, double *unused, double *out_6653327946097979478) {
|
||||
h_29(state, unused, out_6653327946097979478);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_2277284387656569956) {
|
||||
H_29(state, unused, out_2277284387656569956);
|
||||
void car_H_29(double *state, double *unused, double *out_197911462036344348) {
|
||||
H_29(state, unused, out_197911462036344348);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_4964068552255469270) {
|
||||
h_28(state, unused, out_4964068552255469270);
|
||||
void car_h_28(double *state, double *unused, double *out_5499554017918164994) {
|
||||
h_28(state, unused, out_5499554017918164994);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_313654116091243705) {
|
||||
H_28(state, unused, out_313654116091243705);
|
||||
void car_H_28(double *state, double *unused, double *out_8768076211619308566) {
|
||||
H_28(state, unused, out_8768076211619308566);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_834309488348690211) {
|
||||
h_31(state, unused, out_834309488348690211);
|
||||
void car_h_31(double *state, double *unused, double *out_7581192745822862175) {
|
||||
h_31(state, unused, out_7581192745822862175);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_1770826560033606486) {
|
||||
H_31(state, unused, out_1770826560033606486);
|
||||
void car_H_31(double *state, double *unused, double *out_7594187185965392859) {
|
||||
H_31(state, unused, out_7594187185965392859);
|
||||
}
|
||||
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_5319131797443970272);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3644993322176215676);
|
||||
void car_H_mod_fun(double *state, double *out_3163511227028018782);
|
||||
void car_f_fun(double *state, double dt, double *out_1546760495327089109);
|
||||
void car_F_fun(double *state, double dt, double *out_3348391828080031822);
|
||||
void car_h_25(double *state, double *unused, double *out_4471759016602712561);
|
||||
void car_H_25(double *state, double *unused, double *out_1740180598156646058);
|
||||
void car_h_24(double *state, double *unused, double *out_3126254991737006136);
|
||||
void car_H_24(double *state, double *unused, double *out_1269723116113307334);
|
||||
void car_h_30(double *state, double *unused, double *out_4168118460115829323);
|
||||
void car_H_30(double *state, double *unused, double *out_1610841651013405988);
|
||||
void car_h_26(double *state, double *unused, double *out_2045289894744513329);
|
||||
void car_H_26(double *state, double *unused, double *out_2001322720717410166);
|
||||
void car_h_27(double *state, double *unused, double *out_1927282500811136585);
|
||||
void car_H_27(double *state, double *unused, double *out_563921660787018923);
|
||||
void car_h_29(double *state, double *unused, double *out_8022800891634675039);
|
||||
void car_H_29(double *state, double *unused, double *out_2277284387656569956);
|
||||
void car_h_28(double *state, double *unused, double *out_4964068552255469270);
|
||||
void car_H_28(double *state, double *unused, double *out_313654116091243705);
|
||||
void car_h_31(double *state, double *unused, double *out_834309488348690211);
|
||||
void car_H_31(double *state, double *unused, double *out_1770826560033606486);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_4102855695027319146);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_375370046560025251);
|
||||
void car_H_mod_fun(double *state, double *out_4142214806030893418);
|
||||
void car_f_fun(double *state, double dt, double *out_1332366097619626209);
|
||||
void car_F_fun(double *state, double dt, double *out_2970389157093285155);
|
||||
void car_h_25(double *state, double *unused, double *out_3102286071066017000);
|
||||
void car_H_25(double *state, double *unused, double *out_7624833147842353287);
|
||||
void car_h_24(double *state, double *unused, double *out_423096547607875781);
|
||||
void car_H_24(double *state, double *unused, double *out_5399125363863484725);
|
||||
void car_h_30(double *state, double *unused, double *out_3668549155284333936);
|
||||
void car_H_30(double *state, double *unused, double *out_708142806350736532);
|
||||
void car_h_26(double *state, double *unused, double *out_7985951944793485901);
|
||||
void car_H_26(double *state, double *unused, double *out_7080407606993142105);
|
||||
void car_h_27(double *state, double *unused, double *out_8103959338726862645);
|
||||
void car_H_27(double *state, double *unused, double *out_2882906118151161443);
|
||||
void car_h_29(double *state, double *unused, double *out_6653327946097979478);
|
||||
void car_H_29(double *state, double *unused, double *out_197911462036344348);
|
||||
void car_h_28(double *state, double *unused, double *out_5499554017918164994);
|
||||
void car_H_28(double *state, double *unused, double *out_8768076211619308566);
|
||||
void car_h_31(double *state, double *unused, double *out_7581192745822862175);
|
||||
void car_H_31(double *state, double *unused, double *out_7594187185965392859);
|
||||
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_9044617002367965712);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2986388781113821274);
|
||||
void pose_H_mod_fun(double *state, double *out_5449976102936300367);
|
||||
void pose_f_fun(double *state, double dt, double *out_2001314774583974236);
|
||||
void pose_F_fun(double *state, double dt, double *out_173210708380746968);
|
||||
void pose_h_4(double *state, double *unused, double *out_4290451809527946304);
|
||||
void pose_H_4(double *state, double *unused, double *out_4695815100881587760);
|
||||
void pose_h_10(double *state, double *unused, double *out_6723857678965398132);
|
||||
void pose_H_10(double *state, double *unused, double *out_984080189925557249);
|
||||
void pose_h_13(double *state, double *unused, double *out_1838091537859337419);
|
||||
void pose_H_13(double *state, double *unused, double *out_1483541275549254959);
|
||||
void pose_h_14(double *state, double *unused, double *out_849503921054780572);
|
||||
void pose_H_14(double *state, double *unused, double *out_732574244542103231);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_8979246808243312501);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6182129478777519212);
|
||||
void pose_H_mod_fun(double *state, double *out_5496809482113736276);
|
||||
void pose_f_fun(double *state, double dt, double *out_76749327147481970);
|
||||
void pose_F_fun(double *state, double dt, double *out_7773273273846026145);
|
||||
void pose_h_4(double *state, double *unused, double *out_8836590006675901483);
|
||||
void pose_H_4(double *state, double *unused, double *out_8771031560904685529);
|
||||
void pose_h_10(double *state, double *unused, double *out_7833049906299002536);
|
||||
void pose_H_10(double *state, double *unused, double *out_1676230657278343882);
|
||||
void pose_h_13(double *state, double *unused, double *out_8788718686171382623);
|
||||
void pose_H_13(double *state, double *unused, double *out_5558757735572352728);
|
||||
void pose_h_14(double *state, double *unused, double *out_4044191392879282830);
|
||||
void pose_H_14(double *state, double *unused, double *out_4807790704565201000);
|
||||
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