mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-27 17:42:04 +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-ce98b31c-DEBUG";
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const uint8_t gitversion[19] = "DEV-6ee00d3f-DEBUG";
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@@ -1 +1 @@
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DEV-ce98b31c-DEBUG
|
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DEV-6ee00d3f-DEBUG
|
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
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* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_4621547673265240374) {
|
||||
out_4621547673265240374[0] = delta_x[0] + nom_x[0];
|
||||
out_4621547673265240374[1] = delta_x[1] + nom_x[1];
|
||||
out_4621547673265240374[2] = delta_x[2] + nom_x[2];
|
||||
out_4621547673265240374[3] = delta_x[3] + nom_x[3];
|
||||
out_4621547673265240374[4] = delta_x[4] + nom_x[4];
|
||||
out_4621547673265240374[5] = delta_x[5] + nom_x[5];
|
||||
out_4621547673265240374[6] = delta_x[6] + nom_x[6];
|
||||
out_4621547673265240374[7] = delta_x[7] + nom_x[7];
|
||||
out_4621547673265240374[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_1099503832950344155) {
|
||||
out_1099503832950344155[0] = delta_x[0] + nom_x[0];
|
||||
out_1099503832950344155[1] = delta_x[1] + nom_x[1];
|
||||
out_1099503832950344155[2] = delta_x[2] + nom_x[2];
|
||||
out_1099503832950344155[3] = delta_x[3] + nom_x[3];
|
||||
out_1099503832950344155[4] = delta_x[4] + nom_x[4];
|
||||
out_1099503832950344155[5] = delta_x[5] + nom_x[5];
|
||||
out_1099503832950344155[6] = delta_x[6] + nom_x[6];
|
||||
out_1099503832950344155[7] = delta_x[7] + nom_x[7];
|
||||
out_1099503832950344155[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_4527069186343691966) {
|
||||
out_4527069186343691966[0] = -nom_x[0] + true_x[0];
|
||||
out_4527069186343691966[1] = -nom_x[1] + true_x[1];
|
||||
out_4527069186343691966[2] = -nom_x[2] + true_x[2];
|
||||
out_4527069186343691966[3] = -nom_x[3] + true_x[3];
|
||||
out_4527069186343691966[4] = -nom_x[4] + true_x[4];
|
||||
out_4527069186343691966[5] = -nom_x[5] + true_x[5];
|
||||
out_4527069186343691966[6] = -nom_x[6] + true_x[6];
|
||||
out_4527069186343691966[7] = -nom_x[7] + true_x[7];
|
||||
out_4527069186343691966[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1857055699068035744) {
|
||||
out_1857055699068035744[0] = -nom_x[0] + true_x[0];
|
||||
out_1857055699068035744[1] = -nom_x[1] + true_x[1];
|
||||
out_1857055699068035744[2] = -nom_x[2] + true_x[2];
|
||||
out_1857055699068035744[3] = -nom_x[3] + true_x[3];
|
||||
out_1857055699068035744[4] = -nom_x[4] + true_x[4];
|
||||
out_1857055699068035744[5] = -nom_x[5] + true_x[5];
|
||||
out_1857055699068035744[6] = -nom_x[6] + true_x[6];
|
||||
out_1857055699068035744[7] = -nom_x[7] + true_x[7];
|
||||
out_1857055699068035744[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_6693843632392876727) {
|
||||
out_6693843632392876727[0] = 1.0;
|
||||
out_6693843632392876727[1] = 0.0;
|
||||
out_6693843632392876727[2] = 0.0;
|
||||
out_6693843632392876727[3] = 0.0;
|
||||
out_6693843632392876727[4] = 0.0;
|
||||
out_6693843632392876727[5] = 0.0;
|
||||
out_6693843632392876727[6] = 0.0;
|
||||
out_6693843632392876727[7] = 0.0;
|
||||
out_6693843632392876727[8] = 0.0;
|
||||
out_6693843632392876727[9] = 0.0;
|
||||
out_6693843632392876727[10] = 1.0;
|
||||
out_6693843632392876727[11] = 0.0;
|
||||
out_6693843632392876727[12] = 0.0;
|
||||
out_6693843632392876727[13] = 0.0;
|
||||
out_6693843632392876727[14] = 0.0;
|
||||
out_6693843632392876727[15] = 0.0;
|
||||
out_6693843632392876727[16] = 0.0;
|
||||
out_6693843632392876727[17] = 0.0;
|
||||
out_6693843632392876727[18] = 0.0;
|
||||
out_6693843632392876727[19] = 0.0;
|
||||
out_6693843632392876727[20] = 1.0;
|
||||
out_6693843632392876727[21] = 0.0;
|
||||
out_6693843632392876727[22] = 0.0;
|
||||
out_6693843632392876727[23] = 0.0;
|
||||
out_6693843632392876727[24] = 0.0;
|
||||
out_6693843632392876727[25] = 0.0;
|
||||
out_6693843632392876727[26] = 0.0;
|
||||
out_6693843632392876727[27] = 0.0;
|
||||
out_6693843632392876727[28] = 0.0;
|
||||
out_6693843632392876727[29] = 0.0;
|
||||
out_6693843632392876727[30] = 1.0;
|
||||
out_6693843632392876727[31] = 0.0;
|
||||
out_6693843632392876727[32] = 0.0;
|
||||
out_6693843632392876727[33] = 0.0;
|
||||
out_6693843632392876727[34] = 0.0;
|
||||
out_6693843632392876727[35] = 0.0;
|
||||
out_6693843632392876727[36] = 0.0;
|
||||
out_6693843632392876727[37] = 0.0;
|
||||
out_6693843632392876727[38] = 0.0;
|
||||
out_6693843632392876727[39] = 0.0;
|
||||
out_6693843632392876727[40] = 1.0;
|
||||
out_6693843632392876727[41] = 0.0;
|
||||
out_6693843632392876727[42] = 0.0;
|
||||
out_6693843632392876727[43] = 0.0;
|
||||
out_6693843632392876727[44] = 0.0;
|
||||
out_6693843632392876727[45] = 0.0;
|
||||
out_6693843632392876727[46] = 0.0;
|
||||
out_6693843632392876727[47] = 0.0;
|
||||
out_6693843632392876727[48] = 0.0;
|
||||
out_6693843632392876727[49] = 0.0;
|
||||
out_6693843632392876727[50] = 1.0;
|
||||
out_6693843632392876727[51] = 0.0;
|
||||
out_6693843632392876727[52] = 0.0;
|
||||
out_6693843632392876727[53] = 0.0;
|
||||
out_6693843632392876727[54] = 0.0;
|
||||
out_6693843632392876727[55] = 0.0;
|
||||
out_6693843632392876727[56] = 0.0;
|
||||
out_6693843632392876727[57] = 0.0;
|
||||
out_6693843632392876727[58] = 0.0;
|
||||
out_6693843632392876727[59] = 0.0;
|
||||
out_6693843632392876727[60] = 1.0;
|
||||
out_6693843632392876727[61] = 0.0;
|
||||
out_6693843632392876727[62] = 0.0;
|
||||
out_6693843632392876727[63] = 0.0;
|
||||
out_6693843632392876727[64] = 0.0;
|
||||
out_6693843632392876727[65] = 0.0;
|
||||
out_6693843632392876727[66] = 0.0;
|
||||
out_6693843632392876727[67] = 0.0;
|
||||
out_6693843632392876727[68] = 0.0;
|
||||
out_6693843632392876727[69] = 0.0;
|
||||
out_6693843632392876727[70] = 1.0;
|
||||
out_6693843632392876727[71] = 0.0;
|
||||
out_6693843632392876727[72] = 0.0;
|
||||
out_6693843632392876727[73] = 0.0;
|
||||
out_6693843632392876727[74] = 0.0;
|
||||
out_6693843632392876727[75] = 0.0;
|
||||
out_6693843632392876727[76] = 0.0;
|
||||
out_6693843632392876727[77] = 0.0;
|
||||
out_6693843632392876727[78] = 0.0;
|
||||
out_6693843632392876727[79] = 0.0;
|
||||
out_6693843632392876727[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_6364761287714699355) {
|
||||
out_6364761287714699355[0] = 1.0;
|
||||
out_6364761287714699355[1] = 0.0;
|
||||
out_6364761287714699355[2] = 0.0;
|
||||
out_6364761287714699355[3] = 0.0;
|
||||
out_6364761287714699355[4] = 0.0;
|
||||
out_6364761287714699355[5] = 0.0;
|
||||
out_6364761287714699355[6] = 0.0;
|
||||
out_6364761287714699355[7] = 0.0;
|
||||
out_6364761287714699355[8] = 0.0;
|
||||
out_6364761287714699355[9] = 0.0;
|
||||
out_6364761287714699355[10] = 1.0;
|
||||
out_6364761287714699355[11] = 0.0;
|
||||
out_6364761287714699355[12] = 0.0;
|
||||
out_6364761287714699355[13] = 0.0;
|
||||
out_6364761287714699355[14] = 0.0;
|
||||
out_6364761287714699355[15] = 0.0;
|
||||
out_6364761287714699355[16] = 0.0;
|
||||
out_6364761287714699355[17] = 0.0;
|
||||
out_6364761287714699355[18] = 0.0;
|
||||
out_6364761287714699355[19] = 0.0;
|
||||
out_6364761287714699355[20] = 1.0;
|
||||
out_6364761287714699355[21] = 0.0;
|
||||
out_6364761287714699355[22] = 0.0;
|
||||
out_6364761287714699355[23] = 0.0;
|
||||
out_6364761287714699355[24] = 0.0;
|
||||
out_6364761287714699355[25] = 0.0;
|
||||
out_6364761287714699355[26] = 0.0;
|
||||
out_6364761287714699355[27] = 0.0;
|
||||
out_6364761287714699355[28] = 0.0;
|
||||
out_6364761287714699355[29] = 0.0;
|
||||
out_6364761287714699355[30] = 1.0;
|
||||
out_6364761287714699355[31] = 0.0;
|
||||
out_6364761287714699355[32] = 0.0;
|
||||
out_6364761287714699355[33] = 0.0;
|
||||
out_6364761287714699355[34] = 0.0;
|
||||
out_6364761287714699355[35] = 0.0;
|
||||
out_6364761287714699355[36] = 0.0;
|
||||
out_6364761287714699355[37] = 0.0;
|
||||
out_6364761287714699355[38] = 0.0;
|
||||
out_6364761287714699355[39] = 0.0;
|
||||
out_6364761287714699355[40] = 1.0;
|
||||
out_6364761287714699355[41] = 0.0;
|
||||
out_6364761287714699355[42] = 0.0;
|
||||
out_6364761287714699355[43] = 0.0;
|
||||
out_6364761287714699355[44] = 0.0;
|
||||
out_6364761287714699355[45] = 0.0;
|
||||
out_6364761287714699355[46] = 0.0;
|
||||
out_6364761287714699355[47] = 0.0;
|
||||
out_6364761287714699355[48] = 0.0;
|
||||
out_6364761287714699355[49] = 0.0;
|
||||
out_6364761287714699355[50] = 1.0;
|
||||
out_6364761287714699355[51] = 0.0;
|
||||
out_6364761287714699355[52] = 0.0;
|
||||
out_6364761287714699355[53] = 0.0;
|
||||
out_6364761287714699355[54] = 0.0;
|
||||
out_6364761287714699355[55] = 0.0;
|
||||
out_6364761287714699355[56] = 0.0;
|
||||
out_6364761287714699355[57] = 0.0;
|
||||
out_6364761287714699355[58] = 0.0;
|
||||
out_6364761287714699355[59] = 0.0;
|
||||
out_6364761287714699355[60] = 1.0;
|
||||
out_6364761287714699355[61] = 0.0;
|
||||
out_6364761287714699355[62] = 0.0;
|
||||
out_6364761287714699355[63] = 0.0;
|
||||
out_6364761287714699355[64] = 0.0;
|
||||
out_6364761287714699355[65] = 0.0;
|
||||
out_6364761287714699355[66] = 0.0;
|
||||
out_6364761287714699355[67] = 0.0;
|
||||
out_6364761287714699355[68] = 0.0;
|
||||
out_6364761287714699355[69] = 0.0;
|
||||
out_6364761287714699355[70] = 1.0;
|
||||
out_6364761287714699355[71] = 0.0;
|
||||
out_6364761287714699355[72] = 0.0;
|
||||
out_6364761287714699355[73] = 0.0;
|
||||
out_6364761287714699355[74] = 0.0;
|
||||
out_6364761287714699355[75] = 0.0;
|
||||
out_6364761287714699355[76] = 0.0;
|
||||
out_6364761287714699355[77] = 0.0;
|
||||
out_6364761287714699355[78] = 0.0;
|
||||
out_6364761287714699355[79] = 0.0;
|
||||
out_6364761287714699355[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_6624366898111013898) {
|
||||
out_6624366898111013898[0] = state[0];
|
||||
out_6624366898111013898[1] = state[1];
|
||||
out_6624366898111013898[2] = state[2];
|
||||
out_6624366898111013898[3] = state[3];
|
||||
out_6624366898111013898[4] = state[4];
|
||||
out_6624366898111013898[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_6624366898111013898[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_6624366898111013898[7] = state[7];
|
||||
out_6624366898111013898[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_8704640073878126620) {
|
||||
out_8704640073878126620[0] = state[0];
|
||||
out_8704640073878126620[1] = state[1];
|
||||
out_8704640073878126620[2] = state[2];
|
||||
out_8704640073878126620[3] = state[3];
|
||||
out_8704640073878126620[4] = state[4];
|
||||
out_8704640073878126620[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_8704640073878126620[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_8704640073878126620[7] = state[7];
|
||||
out_8704640073878126620[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_6958933586889171013) {
|
||||
out_6958933586889171013[0] = 1;
|
||||
out_6958933586889171013[1] = 0;
|
||||
out_6958933586889171013[2] = 0;
|
||||
out_6958933586889171013[3] = 0;
|
||||
out_6958933586889171013[4] = 0;
|
||||
out_6958933586889171013[5] = 0;
|
||||
out_6958933586889171013[6] = 0;
|
||||
out_6958933586889171013[7] = 0;
|
||||
out_6958933586889171013[8] = 0;
|
||||
out_6958933586889171013[9] = 0;
|
||||
out_6958933586889171013[10] = 1;
|
||||
out_6958933586889171013[11] = 0;
|
||||
out_6958933586889171013[12] = 0;
|
||||
out_6958933586889171013[13] = 0;
|
||||
out_6958933586889171013[14] = 0;
|
||||
out_6958933586889171013[15] = 0;
|
||||
out_6958933586889171013[16] = 0;
|
||||
out_6958933586889171013[17] = 0;
|
||||
out_6958933586889171013[18] = 0;
|
||||
out_6958933586889171013[19] = 0;
|
||||
out_6958933586889171013[20] = 1;
|
||||
out_6958933586889171013[21] = 0;
|
||||
out_6958933586889171013[22] = 0;
|
||||
out_6958933586889171013[23] = 0;
|
||||
out_6958933586889171013[24] = 0;
|
||||
out_6958933586889171013[25] = 0;
|
||||
out_6958933586889171013[26] = 0;
|
||||
out_6958933586889171013[27] = 0;
|
||||
out_6958933586889171013[28] = 0;
|
||||
out_6958933586889171013[29] = 0;
|
||||
out_6958933586889171013[30] = 1;
|
||||
out_6958933586889171013[31] = 0;
|
||||
out_6958933586889171013[32] = 0;
|
||||
out_6958933586889171013[33] = 0;
|
||||
out_6958933586889171013[34] = 0;
|
||||
out_6958933586889171013[35] = 0;
|
||||
out_6958933586889171013[36] = 0;
|
||||
out_6958933586889171013[37] = 0;
|
||||
out_6958933586889171013[38] = 0;
|
||||
out_6958933586889171013[39] = 0;
|
||||
out_6958933586889171013[40] = 1;
|
||||
out_6958933586889171013[41] = 0;
|
||||
out_6958933586889171013[42] = 0;
|
||||
out_6958933586889171013[43] = 0;
|
||||
out_6958933586889171013[44] = 0;
|
||||
out_6958933586889171013[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_6958933586889171013[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6958933586889171013[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6958933586889171013[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6958933586889171013[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_6958933586889171013[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6958933586889171013[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6958933586889171013[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6958933586889171013[53] = -9.8100000000000005*dt;
|
||||
out_6958933586889171013[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_6958933586889171013[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6958933586889171013[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6958933586889171013[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6958933586889171013[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_6958933586889171013[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6958933586889171013[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_6958933586889171013[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6958933586889171013[62] = 0;
|
||||
out_6958933586889171013[63] = 0;
|
||||
out_6958933586889171013[64] = 0;
|
||||
out_6958933586889171013[65] = 0;
|
||||
out_6958933586889171013[66] = 0;
|
||||
out_6958933586889171013[67] = 0;
|
||||
out_6958933586889171013[68] = 0;
|
||||
out_6958933586889171013[69] = 0;
|
||||
out_6958933586889171013[70] = 1;
|
||||
out_6958933586889171013[71] = 0;
|
||||
out_6958933586889171013[72] = 0;
|
||||
out_6958933586889171013[73] = 0;
|
||||
out_6958933586889171013[74] = 0;
|
||||
out_6958933586889171013[75] = 0;
|
||||
out_6958933586889171013[76] = 0;
|
||||
out_6958933586889171013[77] = 0;
|
||||
out_6958933586889171013[78] = 0;
|
||||
out_6958933586889171013[79] = 0;
|
||||
out_6958933586889171013[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_2231700017024740017) {
|
||||
out_2231700017024740017[0] = 1;
|
||||
out_2231700017024740017[1] = 0;
|
||||
out_2231700017024740017[2] = 0;
|
||||
out_2231700017024740017[3] = 0;
|
||||
out_2231700017024740017[4] = 0;
|
||||
out_2231700017024740017[5] = 0;
|
||||
out_2231700017024740017[6] = 0;
|
||||
out_2231700017024740017[7] = 0;
|
||||
out_2231700017024740017[8] = 0;
|
||||
out_2231700017024740017[9] = 0;
|
||||
out_2231700017024740017[10] = 1;
|
||||
out_2231700017024740017[11] = 0;
|
||||
out_2231700017024740017[12] = 0;
|
||||
out_2231700017024740017[13] = 0;
|
||||
out_2231700017024740017[14] = 0;
|
||||
out_2231700017024740017[15] = 0;
|
||||
out_2231700017024740017[16] = 0;
|
||||
out_2231700017024740017[17] = 0;
|
||||
out_2231700017024740017[18] = 0;
|
||||
out_2231700017024740017[19] = 0;
|
||||
out_2231700017024740017[20] = 1;
|
||||
out_2231700017024740017[21] = 0;
|
||||
out_2231700017024740017[22] = 0;
|
||||
out_2231700017024740017[23] = 0;
|
||||
out_2231700017024740017[24] = 0;
|
||||
out_2231700017024740017[25] = 0;
|
||||
out_2231700017024740017[26] = 0;
|
||||
out_2231700017024740017[27] = 0;
|
||||
out_2231700017024740017[28] = 0;
|
||||
out_2231700017024740017[29] = 0;
|
||||
out_2231700017024740017[30] = 1;
|
||||
out_2231700017024740017[31] = 0;
|
||||
out_2231700017024740017[32] = 0;
|
||||
out_2231700017024740017[33] = 0;
|
||||
out_2231700017024740017[34] = 0;
|
||||
out_2231700017024740017[35] = 0;
|
||||
out_2231700017024740017[36] = 0;
|
||||
out_2231700017024740017[37] = 0;
|
||||
out_2231700017024740017[38] = 0;
|
||||
out_2231700017024740017[39] = 0;
|
||||
out_2231700017024740017[40] = 1;
|
||||
out_2231700017024740017[41] = 0;
|
||||
out_2231700017024740017[42] = 0;
|
||||
out_2231700017024740017[43] = 0;
|
||||
out_2231700017024740017[44] = 0;
|
||||
out_2231700017024740017[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_2231700017024740017[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2231700017024740017[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2231700017024740017[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2231700017024740017[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_2231700017024740017[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2231700017024740017[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2231700017024740017[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2231700017024740017[53] = -9.8100000000000005*dt;
|
||||
out_2231700017024740017[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_2231700017024740017[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2231700017024740017[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2231700017024740017[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2231700017024740017[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_2231700017024740017[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2231700017024740017[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_2231700017024740017[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2231700017024740017[62] = 0;
|
||||
out_2231700017024740017[63] = 0;
|
||||
out_2231700017024740017[64] = 0;
|
||||
out_2231700017024740017[65] = 0;
|
||||
out_2231700017024740017[66] = 0;
|
||||
out_2231700017024740017[67] = 0;
|
||||
out_2231700017024740017[68] = 0;
|
||||
out_2231700017024740017[69] = 0;
|
||||
out_2231700017024740017[70] = 1;
|
||||
out_2231700017024740017[71] = 0;
|
||||
out_2231700017024740017[72] = 0;
|
||||
out_2231700017024740017[73] = 0;
|
||||
out_2231700017024740017[74] = 0;
|
||||
out_2231700017024740017[75] = 0;
|
||||
out_2231700017024740017[76] = 0;
|
||||
out_2231700017024740017[77] = 0;
|
||||
out_2231700017024740017[78] = 0;
|
||||
out_2231700017024740017[79] = 0;
|
||||
out_2231700017024740017[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_5696314533542565340) {
|
||||
out_5696314533542565340[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_4358124578925276600) {
|
||||
out_4358124578925276600[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_5255877481426644938) {
|
||||
out_5255877481426644938[0] = 0;
|
||||
out_5255877481426644938[1] = 0;
|
||||
out_5255877481426644938[2] = 0;
|
||||
out_5255877481426644938[3] = 0;
|
||||
out_5255877481426644938[4] = 0;
|
||||
out_5255877481426644938[5] = 0;
|
||||
out_5255877481426644938[6] = 1;
|
||||
out_5255877481426644938[7] = 0;
|
||||
out_5255877481426644938[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_2841780637725207678) {
|
||||
out_2841780637725207678[0] = 0;
|
||||
out_2841780637725207678[1] = 0;
|
||||
out_2841780637725207678[2] = 0;
|
||||
out_2841780637725207678[3] = 0;
|
||||
out_2841780637725207678[4] = 0;
|
||||
out_2841780637725207678[5] = 0;
|
||||
out_2841780637725207678[6] = 1;
|
||||
out_2841780637725207678[7] = 0;
|
||||
out_2841780637725207678[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_5128055596476793433) {
|
||||
out_5128055596476793433[0] = state[4];
|
||||
out_5128055596476793433[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_8493679030338339311) {
|
||||
out_8493679030338339311[0] = state[4];
|
||||
out_8493679030338339311[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_4785419999383306214) {
|
||||
out_4785419999383306214[0] = 0;
|
||||
out_4785419999383306214[1] = 0;
|
||||
out_4785419999383306214[2] = 0;
|
||||
out_4785419999383306214[3] = 0;
|
||||
out_4785419999383306214[4] = 1;
|
||||
out_4785419999383306214[5] = 0;
|
||||
out_4785419999383306214[6] = 0;
|
||||
out_4785419999383306214[7] = 0;
|
||||
out_4785419999383306214[8] = 0;
|
||||
out_4785419999383306214[9] = 0;
|
||||
out_4785419999383306214[10] = 0;
|
||||
out_4785419999383306214[11] = 0;
|
||||
out_4785419999383306214[12] = 0;
|
||||
out_4785419999383306214[13] = 0;
|
||||
out_4785419999383306214[14] = 1;
|
||||
out_4785419999383306214[15] = 0;
|
||||
out_4785419999383306214[16] = 0;
|
||||
out_4785419999383306214[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_716144961077115458) {
|
||||
out_716144961077115458[0] = 0;
|
||||
out_716144961077115458[1] = 0;
|
||||
out_716144961077115458[2] = 0;
|
||||
out_716144961077115458[3] = 0;
|
||||
out_716144961077115458[4] = 1;
|
||||
out_716144961077115458[5] = 0;
|
||||
out_716144961077115458[6] = 0;
|
||||
out_716144961077115458[7] = 0;
|
||||
out_716144961077115458[8] = 0;
|
||||
out_716144961077115458[9] = 0;
|
||||
out_716144961077115458[10] = 0;
|
||||
out_716144961077115458[11] = 0;
|
||||
out_716144961077115458[12] = 0;
|
||||
out_716144961077115458[13] = 0;
|
||||
out_716144961077115458[14] = 1;
|
||||
out_716144961077115458[15] = 0;
|
||||
out_716144961077115458[16] = 0;
|
||||
out_716144961077115458[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_8810273519341179810) {
|
||||
out_8810273519341179810[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_3523148071828772585) {
|
||||
out_3523148071828772585[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_728181151299036740) {
|
||||
out_728181151299036740[0] = 0;
|
||||
out_728181151299036740[1] = 0;
|
||||
out_728181151299036740[2] = 0;
|
||||
out_728181151299036740[3] = 0;
|
||||
out_728181151299036740[4] = 1;
|
||||
out_728181151299036740[5] = 0;
|
||||
out_728181151299036740[6] = 0;
|
||||
out_728181151299036740[7] = 0;
|
||||
out_728181151299036740[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_4074909703766409077) {
|
||||
out_4074909703766409077[0] = 0;
|
||||
out_4074909703766409077[1] = 0;
|
||||
out_4074909703766409077[2] = 0;
|
||||
out_4074909703766409077[3] = 0;
|
||||
out_4074909703766409077[4] = 1;
|
||||
out_4074909703766409077[5] = 0;
|
||||
out_4074909703766409077[6] = 0;
|
||||
out_4074909703766409077[7] = 0;
|
||||
out_4074909703766409077[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_93223108268356141) {
|
||||
out_93223108268356141[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_1478525195832073060) {
|
||||
out_1478525195832073060[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_1514374162552588714) {
|
||||
out_1514374162552588714[0] = 0;
|
||||
out_1514374162552588714[1] = 0;
|
||||
out_1514374162552588714[2] = 0;
|
||||
out_1514374162552588714[3] = 0;
|
||||
out_1514374162552588714[4] = 0;
|
||||
out_1514374162552588714[5] = 0;
|
||||
out_1514374162552588714[6] = 0;
|
||||
out_1514374162552588714[7] = 1;
|
||||
out_1514374162552588714[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_6583283956599263902) {
|
||||
out_6583283956599263902[0] = 0;
|
||||
out_6583283956599263902[1] = 0;
|
||||
out_6583283956599263902[2] = 0;
|
||||
out_6583283956599263902[3] = 0;
|
||||
out_6583283956599263902[4] = 0;
|
||||
out_6583283956599263902[5] = 0;
|
||||
out_6583283956599263902[6] = 0;
|
||||
out_6583283956599263902[7] = 1;
|
||||
out_6583283956599263902[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3729886127726509834) {
|
||||
out_3729886127726509834[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_643548688735569045) {
|
||||
out_643548688735569045[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_2951775222482979957) {
|
||||
out_2951775222482979957[0] = 0;
|
||||
out_2951775222482979957[1] = 0;
|
||||
out_2951775222482979957[2] = 0;
|
||||
out_2951775222482979957[3] = 1;
|
||||
out_2951775222482979957[4] = 0;
|
||||
out_2951775222482979957[5] = 0;
|
||||
out_2951775222482979957[6] = 0;
|
||||
out_2951775222482979957[7] = 0;
|
||||
out_2951775222482979957[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_1900146391965984166) {
|
||||
out_1900146391965984166[0] = 0;
|
||||
out_1900146391965984166[1] = 0;
|
||||
out_1900146391965984166[2] = 0;
|
||||
out_1900146391965984166[3] = 1;
|
||||
out_1900146391965984166[4] = 0;
|
||||
out_1900146391965984166[5] = 0;
|
||||
out_1900146391965984166[6] = 0;
|
||||
out_1900146391965984166[7] = 0;
|
||||
out_1900146391965984166[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_3887072796077638979) {
|
||||
out_3887072796077638979[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_4280998216989591395) {
|
||||
out_4280998216989591395[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_1238412495613428924) {
|
||||
out_1238412495613428924[0] = 0;
|
||||
out_1238412495613428924[1] = 1;
|
||||
out_1238412495613428924[2] = 0;
|
||||
out_1238412495613428924[3] = 0;
|
||||
out_1238412495613428924[4] = 0;
|
||||
out_1238412495613428924[5] = 0;
|
||||
out_1238412495613428924[6] = 0;
|
||||
out_1238412495613428924[7] = 0;
|
||||
out_1238412495613428924[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_4585141048080801261) {
|
||||
out_4585141048080801261[0] = 0;
|
||||
out_4585141048080801261[1] = 1;
|
||||
out_4585141048080801261[2] = 0;
|
||||
out_4585141048080801261[3] = 0;
|
||||
out_4585141048080801261[4] = 0;
|
||||
out_4585141048080801261[5] = 0;
|
||||
out_4585141048080801261[6] = 0;
|
||||
out_4585141048080801261[7] = 0;
|
||||
out_4585141048080801261[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_1271787139934335811) {
|
||||
out_1271787139934335811[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_8338420483271271720) {
|
||||
out_8338420483271271720[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_3843986521456101650) {
|
||||
out_3843986521456101650[0] = 1;
|
||||
out_3843986521456101650[1] = 0;
|
||||
out_3843986521456101650[2] = 0;
|
||||
out_3843986521456101650[3] = 0;
|
||||
out_3843986521456101650[4] = 0;
|
||||
out_3843986521456101650[5] = 0;
|
||||
out_3843986521456101650[6] = 0;
|
||||
out_3843986521456101650[7] = 0;
|
||||
out_3843986521456101650[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_497257968988729313) {
|
||||
out_497257968988729313[0] = 1;
|
||||
out_497257968988729313[1] = 0;
|
||||
out_497257968988729313[2] = 0;
|
||||
out_497257968988729313[3] = 0;
|
||||
out_497257968988729313[4] = 0;
|
||||
out_497257968988729313[5] = 0;
|
||||
out_497257968988729313[6] = 0;
|
||||
out_497257968988729313[7] = 0;
|
||||
out_497257968988729313[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_5853501201893694485) {
|
||||
out_5853501201893694485[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7305850569280761561) {
|
||||
out_7305850569280761561[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_5286523443303605366) {
|
||||
out_5286523443303605366[0] = 0;
|
||||
out_5286523443303605366[1] = 0;
|
||||
out_5286523443303605366[2] = 0;
|
||||
out_5286523443303605366[3] = 0;
|
||||
out_5286523443303605366[4] = 0;
|
||||
out_5286523443303605366[5] = 0;
|
||||
out_5286523443303605366[6] = 0;
|
||||
out_5286523443303605366[7] = 0;
|
||||
out_5286523443303605366[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_2811134675848247250) {
|
||||
out_2811134675848247250[0] = 0;
|
||||
out_2811134675848247250[1] = 0;
|
||||
out_2811134675848247250[2] = 0;
|
||||
out_2811134675848247250[3] = 0;
|
||||
out_2811134675848247250[4] = 0;
|
||||
out_2811134675848247250[5] = 0;
|
||||
out_2811134675848247250[6] = 0;
|
||||
out_2811134675848247250[7] = 0;
|
||||
out_2811134675848247250[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_4621547673265240374) {
|
||||
err_fun(nom_x, delta_x, out_4621547673265240374);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1099503832950344155) {
|
||||
err_fun(nom_x, delta_x, out_1099503832950344155);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4527069186343691966) {
|
||||
inv_err_fun(nom_x, true_x, out_4527069186343691966);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1857055699068035744) {
|
||||
inv_err_fun(nom_x, true_x, out_1857055699068035744);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_6693843632392876727) {
|
||||
H_mod_fun(state, out_6693843632392876727);
|
||||
void car_H_mod_fun(double *state, double *out_6364761287714699355) {
|
||||
H_mod_fun(state, out_6364761287714699355);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_6624366898111013898) {
|
||||
f_fun(state, dt, out_6624366898111013898);
|
||||
void car_f_fun(double *state, double dt, double *out_8704640073878126620) {
|
||||
f_fun(state, dt, out_8704640073878126620);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6958933586889171013) {
|
||||
F_fun(state, dt, out_6958933586889171013);
|
||||
void car_F_fun(double *state, double dt, double *out_2231700017024740017) {
|
||||
F_fun(state, dt, out_2231700017024740017);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_5696314533542565340) {
|
||||
h_25(state, unused, out_5696314533542565340);
|
||||
void car_h_25(double *state, double *unused, double *out_4358124578925276600) {
|
||||
h_25(state, unused, out_4358124578925276600);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_5255877481426644938) {
|
||||
H_25(state, unused, out_5255877481426644938);
|
||||
void car_H_25(double *state, double *unused, double *out_2841780637725207678) {
|
||||
H_25(state, unused, out_2841780637725207678);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_5128055596476793433) {
|
||||
h_24(state, unused, out_5128055596476793433);
|
||||
void car_h_24(double *state, double *unused, double *out_8493679030338339311) {
|
||||
h_24(state, unused, out_8493679030338339311);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_4785419999383306214) {
|
||||
H_24(state, unused, out_4785419999383306214);
|
||||
void car_H_24(double *state, double *unused, double *out_716144961077115458) {
|
||||
H_24(state, unused, out_716144961077115458);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_8810273519341179810) {
|
||||
h_30(state, unused, out_8810273519341179810);
|
||||
void car_h_30(double *state, double *unused, double *out_3523148071828772585) {
|
||||
h_30(state, unused, out_3523148071828772585);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_728181151299036740) {
|
||||
H_30(state, unused, out_728181151299036740);
|
||||
void car_H_30(double *state, double *unused, double *out_4074909703766409077) {
|
||||
H_30(state, unused, out_4074909703766409077);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_93223108268356141) {
|
||||
h_26(state, unused, out_93223108268356141);
|
||||
void car_h_26(double *state, double *unused, double *out_1478525195832073060) {
|
||||
h_26(state, unused, out_1478525195832073060);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_1514374162552588714) {
|
||||
H_26(state, unused, out_1514374162552588714);
|
||||
void car_H_26(double *state, double *unused, double *out_6583283956599263902) {
|
||||
H_26(state, unused, out_6583283956599263902);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3729886127726509834) {
|
||||
h_27(state, unused, out_3729886127726509834);
|
||||
void car_h_27(double *state, double *unused, double *out_643548688735569045) {
|
||||
h_27(state, unused, out_643548688735569045);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_2951775222482979957) {
|
||||
H_27(state, unused, out_2951775222482979957);
|
||||
void car_H_27(double *state, double *unused, double *out_1900146391965984166) {
|
||||
H_27(state, unused, out_1900146391965984166);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_3887072796077638979) {
|
||||
h_29(state, unused, out_3887072796077638979);
|
||||
void car_h_29(double *state, double *unused, double *out_4280998216989591395) {
|
||||
h_29(state, unused, out_4280998216989591395);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_1238412495613428924) {
|
||||
H_29(state, unused, out_1238412495613428924);
|
||||
void car_H_29(double *state, double *unused, double *out_4585141048080801261) {
|
||||
H_29(state, unused, out_4585141048080801261);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_1271787139934335811) {
|
||||
h_28(state, unused, out_1271787139934335811);
|
||||
void car_h_28(double *state, double *unused, double *out_8338420483271271720) {
|
||||
h_28(state, unused, out_8338420483271271720);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_3843986521456101650) {
|
||||
H_28(state, unused, out_3843986521456101650);
|
||||
void car_H_28(double *state, double *unused, double *out_497257968988729313) {
|
||||
H_28(state, unused, out_497257968988729313);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_5853501201893694485) {
|
||||
h_31(state, unused, out_5853501201893694485);
|
||||
void car_h_31(double *state, double *unused, double *out_7305850569280761561) {
|
||||
h_31(state, unused, out_7305850569280761561);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_5286523443303605366) {
|
||||
H_31(state, unused, out_5286523443303605366);
|
||||
void car_H_31(double *state, double *unused, double *out_2811134675848247250) {
|
||||
H_31(state, unused, out_2811134675848247250);
|
||||
}
|
||||
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_4621547673265240374);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4527069186343691966);
|
||||
void car_H_mod_fun(double *state, double *out_6693843632392876727);
|
||||
void car_f_fun(double *state, double dt, double *out_6624366898111013898);
|
||||
void car_F_fun(double *state, double dt, double *out_6958933586889171013);
|
||||
void car_h_25(double *state, double *unused, double *out_5696314533542565340);
|
||||
void car_H_25(double *state, double *unused, double *out_5255877481426644938);
|
||||
void car_h_24(double *state, double *unused, double *out_5128055596476793433);
|
||||
void car_H_24(double *state, double *unused, double *out_4785419999383306214);
|
||||
void car_h_30(double *state, double *unused, double *out_8810273519341179810);
|
||||
void car_H_30(double *state, double *unused, double *out_728181151299036740);
|
||||
void car_h_26(double *state, double *unused, double *out_93223108268356141);
|
||||
void car_H_26(double *state, double *unused, double *out_1514374162552588714);
|
||||
void car_h_27(double *state, double *unused, double *out_3729886127726509834);
|
||||
void car_H_27(double *state, double *unused, double *out_2951775222482979957);
|
||||
void car_h_29(double *state, double *unused, double *out_3887072796077638979);
|
||||
void car_H_29(double *state, double *unused, double *out_1238412495613428924);
|
||||
void car_h_28(double *state, double *unused, double *out_1271787139934335811);
|
||||
void car_H_28(double *state, double *unused, double *out_3843986521456101650);
|
||||
void car_h_31(double *state, double *unused, double *out_5853501201893694485);
|
||||
void car_H_31(double *state, double *unused, double *out_5286523443303605366);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1099503832950344155);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1857055699068035744);
|
||||
void car_H_mod_fun(double *state, double *out_6364761287714699355);
|
||||
void car_f_fun(double *state, double dt, double *out_8704640073878126620);
|
||||
void car_F_fun(double *state, double dt, double *out_2231700017024740017);
|
||||
void car_h_25(double *state, double *unused, double *out_4358124578925276600);
|
||||
void car_H_25(double *state, double *unused, double *out_2841780637725207678);
|
||||
void car_h_24(double *state, double *unused, double *out_8493679030338339311);
|
||||
void car_H_24(double *state, double *unused, double *out_716144961077115458);
|
||||
void car_h_30(double *state, double *unused, double *out_3523148071828772585);
|
||||
void car_H_30(double *state, double *unused, double *out_4074909703766409077);
|
||||
void car_h_26(double *state, double *unused, double *out_1478525195832073060);
|
||||
void car_H_26(double *state, double *unused, double *out_6583283956599263902);
|
||||
void car_h_27(double *state, double *unused, double *out_643548688735569045);
|
||||
void car_H_27(double *state, double *unused, double *out_1900146391965984166);
|
||||
void car_h_29(double *state, double *unused, double *out_4280998216989591395);
|
||||
void car_H_29(double *state, double *unused, double *out_4585141048080801261);
|
||||
void car_h_28(double *state, double *unused, double *out_8338420483271271720);
|
||||
void car_H_28(double *state, double *unused, double *out_497257968988729313);
|
||||
void car_h_31(double *state, double *unused, double *out_7305850569280761561);
|
||||
void car_H_31(double *state, double *unused, double *out_2811134675848247250);
|
||||
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
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void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
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void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
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void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
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void pose_err_fun(double *nom_x, double *delta_x, double *out_8885367235752958450);
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void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4135735359507688267);
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void pose_H_mod_fun(double *state, double *out_2496917717950831316);
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void pose_f_fun(double *state, double dt, double *out_6905768897951283532);
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void pose_F_fun(double *state, double dt, double *out_5307423376078500036);
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void pose_h_4(double *state, double *unused, double *out_1079193932347421775);
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void pose_H_4(double *state, double *unused, double *out_1742756715896118709);
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void pose_h_10(double *state, double *unused, double *out_6922910997507784152);
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void pose_H_10(double *state, double *unused, double *out_283934102184360827);
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void pose_h_13(double *state, double *unused, double *out_6392911292944498098);
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void pose_H_13(double *state, double *unused, double *out_1469517109436214092);
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void pose_h_14(double *state, double *unused, double *out_2710339252461203529);
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void pose_H_14(double *state, double *unused, double *out_2220484140443365820);
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void pose_err_fun(double *nom_x, double *delta_x, double *out_7527833659731555578);
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void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8121371430920178446);
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void pose_H_mod_fun(double *state, double *out_2787357462559363540);
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void pose_f_fun(double *state, double dt, double *out_2997254779517652533);
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void pose_F_fun(double *state, double dt, double *out_3476500674504442735);
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void pose_h_4(double *state, double *unused, double *out_2259436079279725972);
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void pose_H_4(double *state, double *unused, double *out_6715024945092366734);
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void pose_h_10(double *state, double *unused, double *out_4495031819694209583);
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void pose_H_10(double *state, double *unused, double *out_8084729141614988184);
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void pose_h_13(double *state, double *unused, double *out_7265342654384269353);
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void pose_H_13(double *state, double *unused, double *out_8519445303284852081);
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void pose_h_14(double *state, double *unused, double *out_2527703015463387955);
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void pose_H_14(double *state, double *unused, double *out_7768478272277700353);
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void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
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}
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