mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-13 03:43:48 +08:00
build
This commit is contained in:
StarPilot Build Bot
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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-21805a54-DEBUG";
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const uint8_t gitversion[19] = "DEV-87b9fd5b-DEBUG";
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||||
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@@ -1 +1 @@
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DEV-21805a54-DEBUG
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DEV-87b9fd5b-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_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_395710906661730109) {
|
||||
out_395710906661730109[0] = delta_x[0] + nom_x[0];
|
||||
out_395710906661730109[1] = delta_x[1] + nom_x[1];
|
||||
out_395710906661730109[2] = delta_x[2] + nom_x[2];
|
||||
out_395710906661730109[3] = delta_x[3] + nom_x[3];
|
||||
out_395710906661730109[4] = delta_x[4] + nom_x[4];
|
||||
out_395710906661730109[5] = delta_x[5] + nom_x[5];
|
||||
out_395710906661730109[6] = delta_x[6] + nom_x[6];
|
||||
out_395710906661730109[7] = delta_x[7] + nom_x[7];
|
||||
out_395710906661730109[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_6370952191766860566) {
|
||||
out_6370952191766860566[0] = -nom_x[0] + true_x[0];
|
||||
out_6370952191766860566[1] = -nom_x[1] + true_x[1];
|
||||
out_6370952191766860566[2] = -nom_x[2] + true_x[2];
|
||||
out_6370952191766860566[3] = -nom_x[3] + true_x[3];
|
||||
out_6370952191766860566[4] = -nom_x[4] + true_x[4];
|
||||
out_6370952191766860566[5] = -nom_x[5] + true_x[5];
|
||||
out_6370952191766860566[6] = -nom_x[6] + true_x[6];
|
||||
out_6370952191766860566[7] = -nom_x[7] + true_x[7];
|
||||
out_6370952191766860566[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_8610422609060100183) {
|
||||
out_8610422609060100183[0] = 1.0;
|
||||
out_8610422609060100183[1] = 0.0;
|
||||
out_8610422609060100183[2] = 0.0;
|
||||
out_8610422609060100183[3] = 0.0;
|
||||
out_8610422609060100183[4] = 0.0;
|
||||
out_8610422609060100183[5] = 0.0;
|
||||
out_8610422609060100183[6] = 0.0;
|
||||
out_8610422609060100183[7] = 0.0;
|
||||
out_8610422609060100183[8] = 0.0;
|
||||
out_8610422609060100183[9] = 0.0;
|
||||
out_8610422609060100183[10] = 1.0;
|
||||
out_8610422609060100183[11] = 0.0;
|
||||
out_8610422609060100183[12] = 0.0;
|
||||
out_8610422609060100183[13] = 0.0;
|
||||
out_8610422609060100183[14] = 0.0;
|
||||
out_8610422609060100183[15] = 0.0;
|
||||
out_8610422609060100183[16] = 0.0;
|
||||
out_8610422609060100183[17] = 0.0;
|
||||
out_8610422609060100183[18] = 0.0;
|
||||
out_8610422609060100183[19] = 0.0;
|
||||
out_8610422609060100183[20] = 1.0;
|
||||
out_8610422609060100183[21] = 0.0;
|
||||
out_8610422609060100183[22] = 0.0;
|
||||
out_8610422609060100183[23] = 0.0;
|
||||
out_8610422609060100183[24] = 0.0;
|
||||
out_8610422609060100183[25] = 0.0;
|
||||
out_8610422609060100183[26] = 0.0;
|
||||
out_8610422609060100183[27] = 0.0;
|
||||
out_8610422609060100183[28] = 0.0;
|
||||
out_8610422609060100183[29] = 0.0;
|
||||
out_8610422609060100183[30] = 1.0;
|
||||
out_8610422609060100183[31] = 0.0;
|
||||
out_8610422609060100183[32] = 0.0;
|
||||
out_8610422609060100183[33] = 0.0;
|
||||
out_8610422609060100183[34] = 0.0;
|
||||
out_8610422609060100183[35] = 0.0;
|
||||
out_8610422609060100183[36] = 0.0;
|
||||
out_8610422609060100183[37] = 0.0;
|
||||
out_8610422609060100183[38] = 0.0;
|
||||
out_8610422609060100183[39] = 0.0;
|
||||
out_8610422609060100183[40] = 1.0;
|
||||
out_8610422609060100183[41] = 0.0;
|
||||
out_8610422609060100183[42] = 0.0;
|
||||
out_8610422609060100183[43] = 0.0;
|
||||
out_8610422609060100183[44] = 0.0;
|
||||
out_8610422609060100183[45] = 0.0;
|
||||
out_8610422609060100183[46] = 0.0;
|
||||
out_8610422609060100183[47] = 0.0;
|
||||
out_8610422609060100183[48] = 0.0;
|
||||
out_8610422609060100183[49] = 0.0;
|
||||
out_8610422609060100183[50] = 1.0;
|
||||
out_8610422609060100183[51] = 0.0;
|
||||
out_8610422609060100183[52] = 0.0;
|
||||
out_8610422609060100183[53] = 0.0;
|
||||
out_8610422609060100183[54] = 0.0;
|
||||
out_8610422609060100183[55] = 0.0;
|
||||
out_8610422609060100183[56] = 0.0;
|
||||
out_8610422609060100183[57] = 0.0;
|
||||
out_8610422609060100183[58] = 0.0;
|
||||
out_8610422609060100183[59] = 0.0;
|
||||
out_8610422609060100183[60] = 1.0;
|
||||
out_8610422609060100183[61] = 0.0;
|
||||
out_8610422609060100183[62] = 0.0;
|
||||
out_8610422609060100183[63] = 0.0;
|
||||
out_8610422609060100183[64] = 0.0;
|
||||
out_8610422609060100183[65] = 0.0;
|
||||
out_8610422609060100183[66] = 0.0;
|
||||
out_8610422609060100183[67] = 0.0;
|
||||
out_8610422609060100183[68] = 0.0;
|
||||
out_8610422609060100183[69] = 0.0;
|
||||
out_8610422609060100183[70] = 1.0;
|
||||
out_8610422609060100183[71] = 0.0;
|
||||
out_8610422609060100183[72] = 0.0;
|
||||
out_8610422609060100183[73] = 0.0;
|
||||
out_8610422609060100183[74] = 0.0;
|
||||
out_8610422609060100183[75] = 0.0;
|
||||
out_8610422609060100183[76] = 0.0;
|
||||
out_8610422609060100183[77] = 0.0;
|
||||
out_8610422609060100183[78] = 0.0;
|
||||
out_8610422609060100183[79] = 0.0;
|
||||
out_8610422609060100183[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_7209711513462721716) {
|
||||
out_7209711513462721716[0] = state[0];
|
||||
out_7209711513462721716[1] = state[1];
|
||||
out_7209711513462721716[2] = state[2];
|
||||
out_7209711513462721716[3] = state[3];
|
||||
out_7209711513462721716[4] = state[4];
|
||||
out_7209711513462721716[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_7209711513462721716[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_7209711513462721716[7] = state[7];
|
||||
out_7209711513462721716[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_832953036043329844) {
|
||||
out_832953036043329844[0] = 1;
|
||||
out_832953036043329844[1] = 0;
|
||||
out_832953036043329844[2] = 0;
|
||||
out_832953036043329844[3] = 0;
|
||||
out_832953036043329844[4] = 0;
|
||||
out_832953036043329844[5] = 0;
|
||||
out_832953036043329844[6] = 0;
|
||||
out_832953036043329844[7] = 0;
|
||||
out_832953036043329844[8] = 0;
|
||||
out_832953036043329844[9] = 0;
|
||||
out_832953036043329844[10] = 1;
|
||||
out_832953036043329844[11] = 0;
|
||||
out_832953036043329844[12] = 0;
|
||||
out_832953036043329844[13] = 0;
|
||||
out_832953036043329844[14] = 0;
|
||||
out_832953036043329844[15] = 0;
|
||||
out_832953036043329844[16] = 0;
|
||||
out_832953036043329844[17] = 0;
|
||||
out_832953036043329844[18] = 0;
|
||||
out_832953036043329844[19] = 0;
|
||||
out_832953036043329844[20] = 1;
|
||||
out_832953036043329844[21] = 0;
|
||||
out_832953036043329844[22] = 0;
|
||||
out_832953036043329844[23] = 0;
|
||||
out_832953036043329844[24] = 0;
|
||||
out_832953036043329844[25] = 0;
|
||||
out_832953036043329844[26] = 0;
|
||||
out_832953036043329844[27] = 0;
|
||||
out_832953036043329844[28] = 0;
|
||||
out_832953036043329844[29] = 0;
|
||||
out_832953036043329844[30] = 1;
|
||||
out_832953036043329844[31] = 0;
|
||||
out_832953036043329844[32] = 0;
|
||||
out_832953036043329844[33] = 0;
|
||||
out_832953036043329844[34] = 0;
|
||||
out_832953036043329844[35] = 0;
|
||||
out_832953036043329844[36] = 0;
|
||||
out_832953036043329844[37] = 0;
|
||||
out_832953036043329844[38] = 0;
|
||||
out_832953036043329844[39] = 0;
|
||||
out_832953036043329844[40] = 1;
|
||||
out_832953036043329844[41] = 0;
|
||||
out_832953036043329844[42] = 0;
|
||||
out_832953036043329844[43] = 0;
|
||||
out_832953036043329844[44] = 0;
|
||||
out_832953036043329844[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_832953036043329844[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_832953036043329844[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_832953036043329844[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_832953036043329844[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_832953036043329844[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_832953036043329844[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_832953036043329844[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_832953036043329844[53] = -9.8100000000000005*dt;
|
||||
out_832953036043329844[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_832953036043329844[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_832953036043329844[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_832953036043329844[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_832953036043329844[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_832953036043329844[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_832953036043329844[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_832953036043329844[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_832953036043329844[62] = 0;
|
||||
out_832953036043329844[63] = 0;
|
||||
out_832953036043329844[64] = 0;
|
||||
out_832953036043329844[65] = 0;
|
||||
out_832953036043329844[66] = 0;
|
||||
out_832953036043329844[67] = 0;
|
||||
out_832953036043329844[68] = 0;
|
||||
out_832953036043329844[69] = 0;
|
||||
out_832953036043329844[70] = 1;
|
||||
out_832953036043329844[71] = 0;
|
||||
out_832953036043329844[72] = 0;
|
||||
out_832953036043329844[73] = 0;
|
||||
out_832953036043329844[74] = 0;
|
||||
out_832953036043329844[75] = 0;
|
||||
out_832953036043329844[76] = 0;
|
||||
out_832953036043329844[77] = 0;
|
||||
out_832953036043329844[78] = 0;
|
||||
out_832953036043329844[79] = 0;
|
||||
out_832953036043329844[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_6217004965884737485) {
|
||||
out_6217004965884737485[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_2113399649170070232) {
|
||||
out_2113399649170070232[0] = 0;
|
||||
out_2113399649170070232[1] = 0;
|
||||
out_2113399649170070232[2] = 0;
|
||||
out_2113399649170070232[3] = 0;
|
||||
out_2113399649170070232[4] = 0;
|
||||
out_2113399649170070232[5] = 0;
|
||||
out_2113399649170070232[6] = 1;
|
||||
out_2113399649170070232[7] = 0;
|
||||
out_2113399649170070232[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_724420575405524496) {
|
||||
out_724420575405524496[0] = state[4];
|
||||
out_724420575405524496[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_2755415215857636620) {
|
||||
out_2755415215857636620[0] = 0;
|
||||
out_2755415215857636620[1] = 0;
|
||||
out_2755415215857636620[2] = 0;
|
||||
out_2755415215857636620[3] = 0;
|
||||
out_2755415215857636620[4] = 1;
|
||||
out_2755415215857636620[5] = 0;
|
||||
out_2755415215857636620[6] = 0;
|
||||
out_2755415215857636620[7] = 0;
|
||||
out_2755415215857636620[8] = 0;
|
||||
out_2755415215857636620[9] = 0;
|
||||
out_2755415215857636620[10] = 0;
|
||||
out_2755415215857636620[11] = 0;
|
||||
out_2755415215857636620[12] = 0;
|
||||
out_2755415215857636620[13] = 0;
|
||||
out_2755415215857636620[14] = 1;
|
||||
out_2755415215857636620[15] = 0;
|
||||
out_2755415215857636620[16] = 0;
|
||||
out_2755415215857636620[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_5458903881474463195) {
|
||||
out_5458903881474463195[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_2414296680957537966) {
|
||||
out_2414296680957537966[0] = 0;
|
||||
out_2414296680957537966[1] = 0;
|
||||
out_2414296680957537966[2] = 0;
|
||||
out_2414296680957537966[3] = 0;
|
||||
out_2414296680957537966[4] = 1;
|
||||
out_2414296680957537966[5] = 0;
|
||||
out_2414296680957537966[6] = 0;
|
||||
out_2414296680957537966[7] = 0;
|
||||
out_2414296680957537966[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_7645972956349057858) {
|
||||
out_7645972956349057858[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_1628103669703985992) {
|
||||
out_1628103669703985992[0] = 0;
|
||||
out_1628103669703985992[1] = 0;
|
||||
out_1628103669703985992[2] = 0;
|
||||
out_1628103669703985992[3] = 0;
|
||||
out_1628103669703985992[4] = 0;
|
||||
out_1628103669703985992[5] = 0;
|
||||
out_1628103669703985992[6] = 0;
|
||||
out_1628103669703985992[7] = 1;
|
||||
out_1628103669703985992[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_2579304498381259655) {
|
||||
out_2579304498381259655[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_190702609773594749) {
|
||||
out_190702609773594749[0] = 0;
|
||||
out_190702609773594749[1] = 0;
|
||||
out_190702609773594749[2] = 0;
|
||||
out_190702609773594749[3] = 1;
|
||||
out_190702609773594749[4] = 0;
|
||||
out_190702609773594749[5] = 0;
|
||||
out_190702609773594749[6] = 0;
|
||||
out_190702609773594749[7] = 0;
|
||||
out_190702609773594749[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_7986166924574242776) {
|
||||
out_7986166924574242776[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_1904065336643145782) {
|
||||
out_1904065336643145782[0] = 0;
|
||||
out_1904065336643145782[1] = 1;
|
||||
out_1904065336643145782[2] = 0;
|
||||
out_1904065336643145782[3] = 0;
|
||||
out_1904065336643145782[4] = 0;
|
||||
out_1904065336643145782[5] = 0;
|
||||
out_1904065336643145782[6] = 0;
|
||||
out_1904065336643145782[7] = 0;
|
||||
out_1904065336643145782[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_3819737019032589491) {
|
||||
out_3819737019032589491[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_6986464353712676356) {
|
||||
out_6986464353712676356[0] = 1;
|
||||
out_6986464353712676356[1] = 0;
|
||||
out_6986464353712676356[2] = 0;
|
||||
out_6986464353712676356[3] = 0;
|
||||
out_6986464353712676356[4] = 0;
|
||||
out_6986464353712676356[5] = 0;
|
||||
out_6986464353712676356[6] = 0;
|
||||
out_6986464353712676356[7] = 0;
|
||||
out_6986464353712676356[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_6059818297533608340) {
|
||||
out_6059818297533608340[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_2254311771937337468) {
|
||||
out_2254311771937337468[0] = 0;
|
||||
out_2254311771937337468[1] = 0;
|
||||
out_2254311771937337468[2] = 0;
|
||||
out_2254311771937337468[3] = 0;
|
||||
out_2254311771937337468[4] = 0;
|
||||
out_2254311771937337468[5] = 0;
|
||||
out_2254311771937337468[6] = 0;
|
||||
out_2254311771937337468[7] = 0;
|
||||
out_2254311771937337468[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_395710906661730109) {
|
||||
err_fun(nom_x, delta_x, out_395710906661730109);
|
||||
}
|
||||
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_6370952191766860566) {
|
||||
inv_err_fun(nom_x, true_x, out_6370952191766860566);
|
||||
}
|
||||
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_8610422609060100183) {
|
||||
H_mod_fun(state, out_8610422609060100183);
|
||||
}
|
||||
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_7209711513462721716) {
|
||||
f_fun(state, dt, out_7209711513462721716);
|
||||
}
|
||||
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_832953036043329844) {
|
||||
F_fun(state, dt, out_832953036043329844);
|
||||
}
|
||||
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_6217004965884737485) {
|
||||
h_25(state, unused, out_6217004965884737485);
|
||||
}
|
||||
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_2113399649170070232) {
|
||||
H_25(state, unused, out_2113399649170070232);
|
||||
}
|
||||
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_724420575405524496) {
|
||||
h_24(state, unused, out_724420575405524496);
|
||||
}
|
||||
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_2755415215857636620) {
|
||||
H_24(state, unused, out_2755415215857636620);
|
||||
}
|
||||
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_5458903881474463195) {
|
||||
h_30(state, unused, out_5458903881474463195);
|
||||
}
|
||||
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_2414296680957537966) {
|
||||
H_30(state, unused, out_2414296680957537966);
|
||||
}
|
||||
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_7645972956349057858) {
|
||||
h_26(state, unused, out_7645972956349057858);
|
||||
}
|
||||
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_1628103669703985992) {
|
||||
H_26(state, unused, out_1628103669703985992);
|
||||
}
|
||||
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_2579304498381259655) {
|
||||
h_27(state, unused, out_2579304498381259655);
|
||||
}
|
||||
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_190702609773594749) {
|
||||
H_27(state, unused, out_190702609773594749);
|
||||
}
|
||||
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_7986166924574242776) {
|
||||
h_29(state, unused, out_7986166924574242776);
|
||||
}
|
||||
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_1904065336643145782) {
|
||||
H_29(state, unused, out_1904065336643145782);
|
||||
}
|
||||
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_3819737019032589491) {
|
||||
h_28(state, unused, out_3819737019032589491);
|
||||
}
|
||||
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_6986464353712676356) {
|
||||
H_28(state, unused, out_6986464353712676356);
|
||||
}
|
||||
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_6059818297533608340) {
|
||||
h_31(state, unused, out_6059818297533608340);
|
||||
}
|
||||
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_2254311771937337468) {
|
||||
H_31(state, unused, out_2254311771937337468);
|
||||
}
|
||||
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_395710906661730109);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6370952191766860566);
|
||||
void car_H_mod_fun(double *state, double *out_8610422609060100183);
|
||||
void car_f_fun(double *state, double dt, double *out_7209711513462721716);
|
||||
void car_F_fun(double *state, double dt, double *out_832953036043329844);
|
||||
void car_h_25(double *state, double *unused, double *out_6217004965884737485);
|
||||
void car_H_25(double *state, double *unused, double *out_2113399649170070232);
|
||||
void car_h_24(double *state, double *unused, double *out_724420575405524496);
|
||||
void car_H_24(double *state, double *unused, double *out_2755415215857636620);
|
||||
void car_h_30(double *state, double *unused, double *out_5458903881474463195);
|
||||
void car_H_30(double *state, double *unused, double *out_2414296680957537966);
|
||||
void car_h_26(double *state, double *unused, double *out_7645972956349057858);
|
||||
void car_H_26(double *state, double *unused, double *out_1628103669703985992);
|
||||
void car_h_27(double *state, double *unused, double *out_2579304498381259655);
|
||||
void car_H_27(double *state, double *unused, double *out_190702609773594749);
|
||||
void car_h_29(double *state, double *unused, double *out_7986166924574242776);
|
||||
void car_H_29(double *state, double *unused, double *out_1904065336643145782);
|
||||
void car_h_28(double *state, double *unused, double *out_3819737019032589491);
|
||||
void car_H_28(double *state, double *unused, double *out_6986464353712676356);
|
||||
void car_h_31(double *state, double *unused, double *out_6059818297533608340);
|
||||
void car_H_31(double *state, double *unused, double *out_2254311771937337468);
|
||||
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_3597460724364137401);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1062002485999931142);
|
||||
void pose_H_mod_fun(double *state, double *out_4662972867475177241);
|
||||
void pose_f_fun(double *state, double dt, double *out_3840229658681249647);
|
||||
void pose_F_fun(double *state, double dt, double *out_8220635292339759608);
|
||||
void pose_h_4(double *state, double *unused, double *out_2097936204583725179);
|
||||
void pose_H_4(double *state, double *unused, double *out_4839409540176553033);
|
||||
void pose_h_10(double *state, double *unused, double *out_29444642201375045);
|
||||
void pose_H_10(double *state, double *unused, double *out_1070049335288984001);
|
||||
void pose_h_13(double *state, double *unused, double *out_61045813616994293);
|
||||
void pose_H_13(double *state, double *unused, double *out_8051683365508885834);
|
||||
void pose_h_14(double *state, double *unused, double *out_8545162578881105562);
|
||||
void pose_H_14(double *state, double *unused, double *out_4404293013531669434);
|
||||
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