mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-12 21:02:13 +08:00
build
This commit is contained in:
firestar5683
@@ -105,4 +105,8 @@ if [[ "${#shortcut_targets[@]}" -gt 0 ]]; then
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exit "${status}"
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fi
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exec "${ROOT_DIR}/scripts/laptop_device_build.sh" build "${original_args[@]}"
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if [[ "${#original_args[@]}" -gt 0 ]]; then
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exec "${ROOT_DIR}/scripts/laptop_device_build.sh" build "${original_args[@]}"
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fi
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exec "${ROOT_DIR}/scripts/laptop_device_build.sh" build
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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-231eb68f-DEBUG";
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const uint8_t gitversion[19] = "DEV-2a3d2744-DEBUG";
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@@ -1 +1 @@
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DEV-231eb68f-DEBUG
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DEV-2a3d2744-DEBUG
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_1393219424364542669) {
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out_1393219424364542669[0] = delta_x[0] + nom_x[0];
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out_1393219424364542669[1] = delta_x[1] + nom_x[1];
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out_1393219424364542669[2] = delta_x[2] + nom_x[2];
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out_1393219424364542669[3] = delta_x[3] + nom_x[3];
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out_1393219424364542669[4] = delta_x[4] + nom_x[4];
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out_1393219424364542669[5] = delta_x[5] + nom_x[5];
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out_1393219424364542669[6] = delta_x[6] + nom_x[6];
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out_1393219424364542669[7] = delta_x[7] + nom_x[7];
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out_1393219424364542669[8] = delta_x[8] + nom_x[8];
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void err_fun(double *nom_x, double *delta_x, double *out_1054824998219177113) {
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out_1054824998219177113[0] = delta_x[0] + nom_x[0];
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out_1054824998219177113[1] = delta_x[1] + nom_x[1];
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out_1054824998219177113[2] = delta_x[2] + nom_x[2];
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out_1054824998219177113[3] = delta_x[3] + nom_x[3];
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out_1054824998219177113[4] = delta_x[4] + nom_x[4];
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out_1054824998219177113[5] = delta_x[5] + nom_x[5];
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out_1054824998219177113[6] = delta_x[6] + nom_x[6];
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out_1054824998219177113[7] = delta_x[7] + nom_x[7];
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out_1054824998219177113[8] = delta_x[8] + nom_x[8];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121) {
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out_8544281472794776121[0] = -nom_x[0] + true_x[0];
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out_8544281472794776121[1] = -nom_x[1] + true_x[1];
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out_8544281472794776121[2] = -nom_x[2] + true_x[2];
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out_8544281472794776121[3] = -nom_x[3] + true_x[3];
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out_8544281472794776121[4] = -nom_x[4] + true_x[4];
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out_8544281472794776121[5] = -nom_x[5] + true_x[5];
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out_8544281472794776121[6] = -nom_x[6] + true_x[6];
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out_8544281472794776121[7] = -nom_x[7] + true_x[7];
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out_8544281472794776121[8] = -nom_x[8] + true_x[8];
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void inv_err_fun(double *nom_x, double *true_x, double *out_8618844445394053899) {
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out_8618844445394053899[0] = -nom_x[0] + true_x[0];
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out_8618844445394053899[1] = -nom_x[1] + true_x[1];
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out_8618844445394053899[2] = -nom_x[2] + true_x[2];
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out_8618844445394053899[3] = -nom_x[3] + true_x[3];
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out_8618844445394053899[4] = -nom_x[4] + true_x[4];
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out_8618844445394053899[5] = -nom_x[5] + true_x[5];
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out_8618844445394053899[6] = -nom_x[6] + true_x[6];
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out_8618844445394053899[7] = -nom_x[7] + true_x[7];
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out_8618844445394053899[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_542719001883324995) {
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out_542719001883324995[0] = 1.0;
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out_542719001883324995[1] = 0.0;
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out_542719001883324995[2] = 0.0;
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out_542719001883324995[3] = 0.0;
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out_542719001883324995[4] = 0.0;
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out_542719001883324995[5] = 0.0;
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out_542719001883324995[6] = 0.0;
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out_542719001883324995[7] = 0.0;
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out_542719001883324995[8] = 0.0;
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out_542719001883324995[9] = 0.0;
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out_542719001883324995[10] = 1.0;
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out_542719001883324995[11] = 0.0;
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out_542719001883324995[12] = 0.0;
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out_542719001883324995[13] = 0.0;
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out_542719001883324995[14] = 0.0;
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out_542719001883324995[15] = 0.0;
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out_542719001883324995[16] = 0.0;
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out_542719001883324995[17] = 0.0;
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out_542719001883324995[18] = 0.0;
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out_542719001883324995[19] = 0.0;
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out_542719001883324995[20] = 1.0;
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out_542719001883324995[21] = 0.0;
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out_542719001883324995[22] = 0.0;
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out_542719001883324995[23] = 0.0;
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out_542719001883324995[24] = 0.0;
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out_542719001883324995[25] = 0.0;
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out_542719001883324995[26] = 0.0;
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out_542719001883324995[27] = 0.0;
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out_542719001883324995[28] = 0.0;
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out_542719001883324995[29] = 0.0;
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out_542719001883324995[30] = 1.0;
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out_542719001883324995[31] = 0.0;
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out_542719001883324995[32] = 0.0;
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||||
out_542719001883324995[33] = 0.0;
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out_542719001883324995[34] = 0.0;
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out_542719001883324995[35] = 0.0;
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out_542719001883324995[36] = 0.0;
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out_542719001883324995[37] = 0.0;
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out_542719001883324995[38] = 0.0;
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out_542719001883324995[39] = 0.0;
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out_542719001883324995[40] = 1.0;
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out_542719001883324995[41] = 0.0;
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out_542719001883324995[42] = 0.0;
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out_542719001883324995[43] = 0.0;
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out_542719001883324995[44] = 0.0;
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out_542719001883324995[45] = 0.0;
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out_542719001883324995[46] = 0.0;
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out_542719001883324995[47] = 0.0;
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out_542719001883324995[48] = 0.0;
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out_542719001883324995[49] = 0.0;
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out_542719001883324995[50] = 1.0;
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out_542719001883324995[51] = 0.0;
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out_542719001883324995[52] = 0.0;
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||||
out_542719001883324995[53] = 0.0;
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out_542719001883324995[54] = 0.0;
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out_542719001883324995[55] = 0.0;
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out_542719001883324995[56] = 0.0;
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out_542719001883324995[57] = 0.0;
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out_542719001883324995[58] = 0.0;
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out_542719001883324995[59] = 0.0;
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out_542719001883324995[60] = 1.0;
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out_542719001883324995[61] = 0.0;
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out_542719001883324995[62] = 0.0;
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out_542719001883324995[63] = 0.0;
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out_542719001883324995[64] = 0.0;
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out_542719001883324995[65] = 0.0;
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out_542719001883324995[66] = 0.0;
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out_542719001883324995[67] = 0.0;
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out_542719001883324995[68] = 0.0;
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out_542719001883324995[69] = 0.0;
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out_542719001883324995[70] = 1.0;
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out_542719001883324995[71] = 0.0;
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out_542719001883324995[72] = 0.0;
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out_542719001883324995[73] = 0.0;
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out_542719001883324995[74] = 0.0;
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out_542719001883324995[75] = 0.0;
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out_542719001883324995[76] = 0.0;
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out_542719001883324995[77] = 0.0;
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out_542719001883324995[78] = 0.0;
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out_542719001883324995[79] = 0.0;
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out_542719001883324995[80] = 1.0;
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void H_mod_fun(double *state, double *out_9083000739620874267) {
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out_9083000739620874267[0] = 1.0;
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out_9083000739620874267[1] = 0.0;
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out_9083000739620874267[2] = 0.0;
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out_9083000739620874267[3] = 0.0;
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out_9083000739620874267[4] = 0.0;
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out_9083000739620874267[5] = 0.0;
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out_9083000739620874267[6] = 0.0;
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||||
out_9083000739620874267[7] = 0.0;
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out_9083000739620874267[8] = 0.0;
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out_9083000739620874267[9] = 0.0;
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out_9083000739620874267[10] = 1.0;
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out_9083000739620874267[11] = 0.0;
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out_9083000739620874267[12] = 0.0;
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||||
out_9083000739620874267[13] = 0.0;
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||||
out_9083000739620874267[14] = 0.0;
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||||
out_9083000739620874267[15] = 0.0;
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||||
out_9083000739620874267[16] = 0.0;
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||||
out_9083000739620874267[17] = 0.0;
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||||
out_9083000739620874267[18] = 0.0;
|
||||
out_9083000739620874267[19] = 0.0;
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||||
out_9083000739620874267[20] = 1.0;
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||||
out_9083000739620874267[21] = 0.0;
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out_9083000739620874267[22] = 0.0;
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out_9083000739620874267[23] = 0.0;
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out_9083000739620874267[24] = 0.0;
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out_9083000739620874267[25] = 0.0;
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out_9083000739620874267[26] = 0.0;
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out_9083000739620874267[27] = 0.0;
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out_9083000739620874267[28] = 0.0;
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out_9083000739620874267[29] = 0.0;
|
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out_9083000739620874267[30] = 1.0;
|
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out_9083000739620874267[31] = 0.0;
|
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out_9083000739620874267[32] = 0.0;
|
||||
out_9083000739620874267[33] = 0.0;
|
||||
out_9083000739620874267[34] = 0.0;
|
||||
out_9083000739620874267[35] = 0.0;
|
||||
out_9083000739620874267[36] = 0.0;
|
||||
out_9083000739620874267[37] = 0.0;
|
||||
out_9083000739620874267[38] = 0.0;
|
||||
out_9083000739620874267[39] = 0.0;
|
||||
out_9083000739620874267[40] = 1.0;
|
||||
out_9083000739620874267[41] = 0.0;
|
||||
out_9083000739620874267[42] = 0.0;
|
||||
out_9083000739620874267[43] = 0.0;
|
||||
out_9083000739620874267[44] = 0.0;
|
||||
out_9083000739620874267[45] = 0.0;
|
||||
out_9083000739620874267[46] = 0.0;
|
||||
out_9083000739620874267[47] = 0.0;
|
||||
out_9083000739620874267[48] = 0.0;
|
||||
out_9083000739620874267[49] = 0.0;
|
||||
out_9083000739620874267[50] = 1.0;
|
||||
out_9083000739620874267[51] = 0.0;
|
||||
out_9083000739620874267[52] = 0.0;
|
||||
out_9083000739620874267[53] = 0.0;
|
||||
out_9083000739620874267[54] = 0.0;
|
||||
out_9083000739620874267[55] = 0.0;
|
||||
out_9083000739620874267[56] = 0.0;
|
||||
out_9083000739620874267[57] = 0.0;
|
||||
out_9083000739620874267[58] = 0.0;
|
||||
out_9083000739620874267[59] = 0.0;
|
||||
out_9083000739620874267[60] = 1.0;
|
||||
out_9083000739620874267[61] = 0.0;
|
||||
out_9083000739620874267[62] = 0.0;
|
||||
out_9083000739620874267[63] = 0.0;
|
||||
out_9083000739620874267[64] = 0.0;
|
||||
out_9083000739620874267[65] = 0.0;
|
||||
out_9083000739620874267[66] = 0.0;
|
||||
out_9083000739620874267[67] = 0.0;
|
||||
out_9083000739620874267[68] = 0.0;
|
||||
out_9083000739620874267[69] = 0.0;
|
||||
out_9083000739620874267[70] = 1.0;
|
||||
out_9083000739620874267[71] = 0.0;
|
||||
out_9083000739620874267[72] = 0.0;
|
||||
out_9083000739620874267[73] = 0.0;
|
||||
out_9083000739620874267[74] = 0.0;
|
||||
out_9083000739620874267[75] = 0.0;
|
||||
out_9083000739620874267[76] = 0.0;
|
||||
out_9083000739620874267[77] = 0.0;
|
||||
out_9083000739620874267[78] = 0.0;
|
||||
out_9083000739620874267[79] = 0.0;
|
||||
out_9083000739620874267[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_9203753821438188332) {
|
||||
out_9203753821438188332[0] = state[0];
|
||||
out_9203753821438188332[1] = state[1];
|
||||
out_9203753821438188332[2] = state[2];
|
||||
out_9203753821438188332[3] = state[3];
|
||||
out_9203753821438188332[4] = state[4];
|
||||
out_9203753821438188332[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_9203753821438188332[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_9203753821438188332[7] = state[7];
|
||||
out_9203753821438188332[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_2939712332855985662) {
|
||||
out_2939712332855985662[0] = state[0];
|
||||
out_2939712332855985662[1] = state[1];
|
||||
out_2939712332855985662[2] = state[2];
|
||||
out_2939712332855985662[3] = state[3];
|
||||
out_2939712332855985662[4] = state[4];
|
||||
out_2939712332855985662[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_2939712332855985662[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_2939712332855985662[7] = state[7];
|
||||
out_2939712332855985662[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_1821220582526959893) {
|
||||
out_1821220582526959893[0] = 1;
|
||||
out_1821220582526959893[1] = 0;
|
||||
out_1821220582526959893[2] = 0;
|
||||
out_1821220582526959893[3] = 0;
|
||||
out_1821220582526959893[4] = 0;
|
||||
out_1821220582526959893[5] = 0;
|
||||
out_1821220582526959893[6] = 0;
|
||||
out_1821220582526959893[7] = 0;
|
||||
out_1821220582526959893[8] = 0;
|
||||
out_1821220582526959893[9] = 0;
|
||||
out_1821220582526959893[10] = 1;
|
||||
out_1821220582526959893[11] = 0;
|
||||
out_1821220582526959893[12] = 0;
|
||||
out_1821220582526959893[13] = 0;
|
||||
out_1821220582526959893[14] = 0;
|
||||
out_1821220582526959893[15] = 0;
|
||||
out_1821220582526959893[16] = 0;
|
||||
out_1821220582526959893[17] = 0;
|
||||
out_1821220582526959893[18] = 0;
|
||||
out_1821220582526959893[19] = 0;
|
||||
out_1821220582526959893[20] = 1;
|
||||
out_1821220582526959893[21] = 0;
|
||||
out_1821220582526959893[22] = 0;
|
||||
out_1821220582526959893[23] = 0;
|
||||
out_1821220582526959893[24] = 0;
|
||||
out_1821220582526959893[25] = 0;
|
||||
out_1821220582526959893[26] = 0;
|
||||
out_1821220582526959893[27] = 0;
|
||||
out_1821220582526959893[28] = 0;
|
||||
out_1821220582526959893[29] = 0;
|
||||
out_1821220582526959893[30] = 1;
|
||||
out_1821220582526959893[31] = 0;
|
||||
out_1821220582526959893[32] = 0;
|
||||
out_1821220582526959893[33] = 0;
|
||||
out_1821220582526959893[34] = 0;
|
||||
out_1821220582526959893[35] = 0;
|
||||
out_1821220582526959893[36] = 0;
|
||||
out_1821220582526959893[37] = 0;
|
||||
out_1821220582526959893[38] = 0;
|
||||
out_1821220582526959893[39] = 0;
|
||||
out_1821220582526959893[40] = 1;
|
||||
out_1821220582526959893[41] = 0;
|
||||
out_1821220582526959893[42] = 0;
|
||||
out_1821220582526959893[43] = 0;
|
||||
out_1821220582526959893[44] = 0;
|
||||
out_1821220582526959893[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_1821220582526959893[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_1821220582526959893[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1821220582526959893[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1821220582526959893[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_1821220582526959893[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_1821220582526959893[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_1821220582526959893[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1821220582526959893[53] = -9.8100000000000005*dt;
|
||||
out_1821220582526959893[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_1821220582526959893[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_1821220582526959893[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1821220582526959893[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1821220582526959893[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_1821220582526959893[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_1821220582526959893[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_1821220582526959893[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1821220582526959893[62] = 0;
|
||||
out_1821220582526959893[63] = 0;
|
||||
out_1821220582526959893[64] = 0;
|
||||
out_1821220582526959893[65] = 0;
|
||||
out_1821220582526959893[66] = 0;
|
||||
out_1821220582526959893[67] = 0;
|
||||
out_1821220582526959893[68] = 0;
|
||||
out_1821220582526959893[69] = 0;
|
||||
out_1821220582526959893[70] = 1;
|
||||
out_1821220582526959893[71] = 0;
|
||||
out_1821220582526959893[72] = 0;
|
||||
out_1821220582526959893[73] = 0;
|
||||
out_1821220582526959893[74] = 0;
|
||||
out_1821220582526959893[75] = 0;
|
||||
out_1821220582526959893[76] = 0;
|
||||
out_1821220582526959893[77] = 0;
|
||||
out_1821220582526959893[78] = 0;
|
||||
out_1821220582526959893[79] = 0;
|
||||
out_1821220582526959893[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_9197210553723469698) {
|
||||
out_9197210553723469698[0] = 1;
|
||||
out_9197210553723469698[1] = 0;
|
||||
out_9197210553723469698[2] = 0;
|
||||
out_9197210553723469698[3] = 0;
|
||||
out_9197210553723469698[4] = 0;
|
||||
out_9197210553723469698[5] = 0;
|
||||
out_9197210553723469698[6] = 0;
|
||||
out_9197210553723469698[7] = 0;
|
||||
out_9197210553723469698[8] = 0;
|
||||
out_9197210553723469698[9] = 0;
|
||||
out_9197210553723469698[10] = 1;
|
||||
out_9197210553723469698[11] = 0;
|
||||
out_9197210553723469698[12] = 0;
|
||||
out_9197210553723469698[13] = 0;
|
||||
out_9197210553723469698[14] = 0;
|
||||
out_9197210553723469698[15] = 0;
|
||||
out_9197210553723469698[16] = 0;
|
||||
out_9197210553723469698[17] = 0;
|
||||
out_9197210553723469698[18] = 0;
|
||||
out_9197210553723469698[19] = 0;
|
||||
out_9197210553723469698[20] = 1;
|
||||
out_9197210553723469698[21] = 0;
|
||||
out_9197210553723469698[22] = 0;
|
||||
out_9197210553723469698[23] = 0;
|
||||
out_9197210553723469698[24] = 0;
|
||||
out_9197210553723469698[25] = 0;
|
||||
out_9197210553723469698[26] = 0;
|
||||
out_9197210553723469698[27] = 0;
|
||||
out_9197210553723469698[28] = 0;
|
||||
out_9197210553723469698[29] = 0;
|
||||
out_9197210553723469698[30] = 1;
|
||||
out_9197210553723469698[31] = 0;
|
||||
out_9197210553723469698[32] = 0;
|
||||
out_9197210553723469698[33] = 0;
|
||||
out_9197210553723469698[34] = 0;
|
||||
out_9197210553723469698[35] = 0;
|
||||
out_9197210553723469698[36] = 0;
|
||||
out_9197210553723469698[37] = 0;
|
||||
out_9197210553723469698[38] = 0;
|
||||
out_9197210553723469698[39] = 0;
|
||||
out_9197210553723469698[40] = 1;
|
||||
out_9197210553723469698[41] = 0;
|
||||
out_9197210553723469698[42] = 0;
|
||||
out_9197210553723469698[43] = 0;
|
||||
out_9197210553723469698[44] = 0;
|
||||
out_9197210553723469698[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_9197210553723469698[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_9197210553723469698[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_9197210553723469698[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_9197210553723469698[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_9197210553723469698[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_9197210553723469698[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_9197210553723469698[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_9197210553723469698[53] = -9.8100000000000005*dt;
|
||||
out_9197210553723469698[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_9197210553723469698[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_9197210553723469698[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_9197210553723469698[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_9197210553723469698[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_9197210553723469698[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_9197210553723469698[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_9197210553723469698[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_9197210553723469698[62] = 0;
|
||||
out_9197210553723469698[63] = 0;
|
||||
out_9197210553723469698[64] = 0;
|
||||
out_9197210553723469698[65] = 0;
|
||||
out_9197210553723469698[66] = 0;
|
||||
out_9197210553723469698[67] = 0;
|
||||
out_9197210553723469698[68] = 0;
|
||||
out_9197210553723469698[69] = 0;
|
||||
out_9197210553723469698[70] = 1;
|
||||
out_9197210553723469698[71] = 0;
|
||||
out_9197210553723469698[72] = 0;
|
||||
out_9197210553723469698[73] = 0;
|
||||
out_9197210553723469698[74] = 0;
|
||||
out_9197210553723469698[75] = 0;
|
||||
out_9197210553723469698[76] = 0;
|
||||
out_9197210553723469698[77] = 0;
|
||||
out_9197210553723469698[78] = 0;
|
||||
out_9197210553723469698[79] = 0;
|
||||
out_9197210553723469698[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_7848411301120641124) {
|
||||
out_7848411301120641124[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7502443551709492094) {
|
||||
out_7502443551709492094[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_6136977117952979916) {
|
||||
out_6136977117952979916[0] = 0;
|
||||
out_6136977117952979916[1] = 0;
|
||||
out_6136977117952979916[2] = 0;
|
||||
out_6136977117952979916[3] = 0;
|
||||
out_6136977117952979916[4] = 0;
|
||||
out_6136977117952979916[5] = 0;
|
||||
out_6136977117952979916[6] = 1;
|
||||
out_6136977117952979916[7] = 0;
|
||||
out_6136977117952979916[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_2585977779730844316) {
|
||||
out_2585977779730844316[0] = 0;
|
||||
out_2585977779730844316[1] = 0;
|
||||
out_2585977779730844316[2] = 0;
|
||||
out_2585977779730844316[3] = 0;
|
||||
out_2585977779730844316[4] = 0;
|
||||
out_2585977779730844316[5] = 0;
|
||||
out_2585977779730844316[6] = 1;
|
||||
out_2585977779730844316[7] = 0;
|
||||
out_2585977779730844316[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_8292657587405145092) {
|
||||
out_8292657587405145092[0] = state[4];
|
||||
out_8292657587405145092[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_4099652252284200208) {
|
||||
out_4099652252284200208[0] = state[4];
|
||||
out_4099652252284200208[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_3964327518947480350) {
|
||||
out_3964327518947480350[0] = 0;
|
||||
out_3964327518947480350[1] = 0;
|
||||
out_3964327518947480350[2] = 0;
|
||||
out_3964327518947480350[3] = 0;
|
||||
out_3964327518947480350[4] = 1;
|
||||
out_3964327518947480350[5] = 0;
|
||||
out_3964327518947480350[6] = 0;
|
||||
out_3964327518947480350[7] = 0;
|
||||
out_3964327518947480350[8] = 0;
|
||||
out_3964327518947480350[9] = 0;
|
||||
out_3964327518947480350[10] = 0;
|
||||
out_3964327518947480350[11] = 0;
|
||||
out_3964327518947480350[12] = 0;
|
||||
out_3964327518947480350[13] = 0;
|
||||
out_3964327518947480350[14] = 1;
|
||||
out_3964327518947480350[15] = 0;
|
||||
out_3964327518947480350[16] = 0;
|
||||
out_3964327518947480350[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_2115520297687505592) {
|
||||
out_2115520297687505592[0] = 0;
|
||||
out_2115520297687505592[1] = 0;
|
||||
out_2115520297687505592[2] = 0;
|
||||
out_2115520297687505592[3] = 0;
|
||||
out_2115520297687505592[4] = 1;
|
||||
out_2115520297687505592[5] = 0;
|
||||
out_2115520297687505592[6] = 0;
|
||||
out_2115520297687505592[7] = 0;
|
||||
out_2115520297687505592[8] = 0;
|
||||
out_2115520297687505592[9] = 0;
|
||||
out_2115520297687505592[10] = 0;
|
||||
out_2115520297687505592[11] = 0;
|
||||
out_2115520297687505592[12] = 0;
|
||||
out_2115520297687505592[13] = 0;
|
||||
out_2115520297687505592[14] = 1;
|
||||
out_2115520297687505592[15] = 0;
|
||||
out_2115520297687505592[16] = 0;
|
||||
out_2115520297687505592[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_1692964105279980995) {
|
||||
out_1692964105279980995[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_7659630220060621239) {
|
||||
out_7659630220060621239[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_8655310076460228543) {
|
||||
out_8655310076460228543[0] = 0;
|
||||
out_8655310076460228543[1] = 0;
|
||||
out_8655310076460228543[2] = 0;
|
||||
out_8655310076460228543[3] = 0;
|
||||
out_8655310076460228543[4] = 1;
|
||||
out_8655310076460228543[5] = 0;
|
||||
out_8655310076460228543[6] = 0;
|
||||
out_8655310076460228543[7] = 0;
|
||||
out_8655310076460228543[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_2456638832587604246) {
|
||||
out_2456638832587604246[0] = 0;
|
||||
out_2456638832587604246[1] = 0;
|
||||
out_2456638832587604246[2] = 0;
|
||||
out_2456638832587604246[3] = 0;
|
||||
out_2456638832587604246[4] = 1;
|
||||
out_2456638832587604246[5] = 0;
|
||||
out_2456638832587604246[6] = 0;
|
||||
out_2456638832587604246[7] = 0;
|
||||
out_2456638832587604246[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_6694637372940826640) {
|
||||
out_6694637372940826640[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_2198951171844088969) {
|
||||
out_2198951171844088969[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_2395473799078923692) {
|
||||
out_2395473799078923692[0] = 0;
|
||||
out_2395473799078923692[1] = 0;
|
||||
out_2395473799078923692[2] = 0;
|
||||
out_2395473799078923692[3] = 0;
|
||||
out_2395473799078923692[4] = 0;
|
||||
out_2395473799078923692[5] = 0;
|
||||
out_2395473799078923692[6] = 0;
|
||||
out_2395473799078923692[7] = 1;
|
||||
out_2395473799078923692[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_1155525539143211908) {
|
||||
out_1155525539143211908[0] = 0;
|
||||
out_1155525539143211908[1] = 0;
|
||||
out_1155525539143211908[2] = 0;
|
||||
out_1155525539143211908[3] = 0;
|
||||
out_1155525539143211908[4] = 0;
|
||||
out_1155525539143211908[5] = 0;
|
||||
out_1155525539143211908[6] = 0;
|
||||
out_1155525539143211908[7] = 1;
|
||||
out_1155525539143211908[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3658606002300167844) {
|
||||
out_3658606002300167844[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_5981920524318766290) {
|
||||
out_5981920524318766290[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_6480546764659803632) {
|
||||
out_6480546764659803632[0] = 0;
|
||||
out_6480546764659803632[1] = 0;
|
||||
out_6480546764659803632[2] = 0;
|
||||
out_6480546764659803632[3] = 1;
|
||||
out_6480546764659803632[4] = 0;
|
||||
out_6480546764659803632[5] = 0;
|
||||
out_6480546764659803632[6] = 0;
|
||||
out_6480546764659803632[7] = 0;
|
||||
out_6480546764659803632[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_281875520787179335) {
|
||||
out_281875520787179335[0] = 0;
|
||||
out_281875520787179335[1] = 0;
|
||||
out_281875520787179335[2] = 0;
|
||||
out_281875520787179335[3] = 1;
|
||||
out_281875520787179335[4] = 0;
|
||||
out_281875520787179335[5] = 0;
|
||||
out_281875520787179335[6] = 0;
|
||||
out_281875520787179335[7] = 0;
|
||||
out_281875520787179335[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_3383411940015661955) {
|
||||
out_3383411940015661955[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_1781344732501906151) {
|
||||
out_1781344732501906151[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_9165541420774620727) {
|
||||
out_9165541420774620727[0] = 0;
|
||||
out_9165541420774620727[1] = 1;
|
||||
out_9165541420774620727[2] = 0;
|
||||
out_9165541420774620727[3] = 0;
|
||||
out_9165541420774620727[4] = 0;
|
||||
out_9165541420774620727[5] = 0;
|
||||
out_9165541420774620727[6] = 0;
|
||||
out_9165541420774620727[7] = 0;
|
||||
out_9165541420774620727[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_1431487206082371698) {
|
||||
out_1431487206082371698[0] = 0;
|
||||
out_1431487206082371698[1] = 1;
|
||||
out_1431487206082371698[2] = 0;
|
||||
out_1431487206082371698[3] = 0;
|
||||
out_1431487206082371698[4] = 0;
|
||||
out_1431487206082371698[5] = 0;
|
||||
out_1431487206082371698[6] = 0;
|
||||
out_1431487206082371698[7] = 0;
|
||||
out_1431487206082371698[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2219679485258547244) {
|
||||
out_2219679485258547244[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_2565647234669696274) {
|
||||
out_2565647234669696274[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_4083142403705090153) {
|
||||
out_4083142403705090153[0] = 1;
|
||||
out_4083142403705090153[1] = 0;
|
||||
out_4083142403705090153[2] = 0;
|
||||
out_4083142403705090153[3] = 0;
|
||||
out_4083142403705090153[4] = 0;
|
||||
out_4083142403705090153[5] = 0;
|
||||
out_4083142403705090153[6] = 0;
|
||||
out_4083142403705090153[7] = 0;
|
||||
out_4083142403705090153[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6513886223151902272) {
|
||||
out_6513886223151902272[0] = 1;
|
||||
out_6513886223151902272[1] = 0;
|
||||
out_6513886223151902272[2] = 0;
|
||||
out_6513886223151902272[3] = 0;
|
||||
out_6513886223151902272[4] = 0;
|
||||
out_6513886223151902272[5] = 0;
|
||||
out_6513886223151902272[6] = 0;
|
||||
out_6513886223151902272[7] = 0;
|
||||
out_6513886223151902272[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_8123605363405147013) {
|
||||
out_8123605363405147013[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7751082483008271581) {
|
||||
out_7751082483008271581[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_1769265696845572216) {
|
||||
out_1769265696845572216[0] = 0;
|
||||
out_1769265696845572216[1] = 0;
|
||||
out_1769265696845572216[2] = 0;
|
||||
out_1769265696845572216[3] = 0;
|
||||
out_1769265696845572216[4] = 0;
|
||||
out_1769265696845572216[5] = 0;
|
||||
out_1769265696845572216[6] = 0;
|
||||
out_1769265696845572216[7] = 0;
|
||||
out_1769265696845572216[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_2616623741607804744) {
|
||||
out_2616623741607804744[0] = 0;
|
||||
out_2616623741607804744[1] = 0;
|
||||
out_2616623741607804744[2] = 0;
|
||||
out_2616623741607804744[3] = 0;
|
||||
out_2616623741607804744[4] = 0;
|
||||
out_2616623741607804744[5] = 0;
|
||||
out_2616623741607804744[6] = 0;
|
||||
out_2616623741607804744[7] = 0;
|
||||
out_2616623741607804744[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_1393219424364542669) {
|
||||
err_fun(nom_x, delta_x, out_1393219424364542669);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1054824998219177113) {
|
||||
err_fun(nom_x, delta_x, out_1054824998219177113);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121) {
|
||||
inv_err_fun(nom_x, true_x, out_8544281472794776121);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8618844445394053899) {
|
||||
inv_err_fun(nom_x, true_x, out_8618844445394053899);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_542719001883324995) {
|
||||
H_mod_fun(state, out_542719001883324995);
|
||||
void car_H_mod_fun(double *state, double *out_9083000739620874267) {
|
||||
H_mod_fun(state, out_9083000739620874267);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_9203753821438188332) {
|
||||
f_fun(state, dt, out_9203753821438188332);
|
||||
void car_f_fun(double *state, double dt, double *out_2939712332855985662) {
|
||||
f_fun(state, dt, out_2939712332855985662);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_1821220582526959893) {
|
||||
F_fun(state, dt, out_1821220582526959893);
|
||||
void car_F_fun(double *state, double dt, double *out_9197210553723469698) {
|
||||
F_fun(state, dt, out_9197210553723469698);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_7848411301120641124) {
|
||||
h_25(state, unused, out_7848411301120641124);
|
||||
void car_h_25(double *state, double *unused, double *out_7502443551709492094) {
|
||||
h_25(state, unused, out_7502443551709492094);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_6136977117952979916) {
|
||||
H_25(state, unused, out_6136977117952979916);
|
||||
void car_H_25(double *state, double *unused, double *out_2585977779730844316) {
|
||||
H_25(state, unused, out_2585977779730844316);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_8292657587405145092) {
|
||||
h_24(state, unused, out_8292657587405145092);
|
||||
void car_h_24(double *state, double *unused, double *out_4099652252284200208) {
|
||||
h_24(state, unused, out_4099652252284200208);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_3964327518947480350) {
|
||||
H_24(state, unused, out_3964327518947480350);
|
||||
void car_H_24(double *state, double *unused, double *out_2115520297687505592) {
|
||||
H_24(state, unused, out_2115520297687505592);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_1692964105279980995) {
|
||||
h_30(state, unused, out_1692964105279980995);
|
||||
void car_h_30(double *state, double *unused, double *out_7659630220060621239) {
|
||||
h_30(state, unused, out_7659630220060621239);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_8655310076460228543) {
|
||||
H_30(state, unused, out_8655310076460228543);
|
||||
void car_H_30(double *state, double *unused, double *out_2456638832587604246) {
|
||||
H_30(state, unused, out_2456638832587604246);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_6694637372940826640) {
|
||||
h_26(state, unused, out_6694637372940826640);
|
||||
void car_h_26(double *state, double *unused, double *out_2198951171844088969) {
|
||||
h_26(state, unused, out_2198951171844088969);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_2395473799078923692) {
|
||||
H_26(state, unused, out_2395473799078923692);
|
||||
void car_H_26(double *state, double *unused, double *out_1155525539143211908) {
|
||||
H_26(state, unused, out_1155525539143211908);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3658606002300167844) {
|
||||
h_27(state, unused, out_3658606002300167844);
|
||||
void car_h_27(double *state, double *unused, double *out_5981920524318766290) {
|
||||
h_27(state, unused, out_5981920524318766290);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_6480546764659803632) {
|
||||
H_27(state, unused, out_6480546764659803632);
|
||||
void car_H_27(double *state, double *unused, double *out_281875520787179335) {
|
||||
H_27(state, unused, out_281875520787179335);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_3383411940015661955) {
|
||||
h_29(state, unused, out_3383411940015661955);
|
||||
void car_h_29(double *state, double *unused, double *out_1781344732501906151) {
|
||||
h_29(state, unused, out_1781344732501906151);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_9165541420774620727) {
|
||||
H_29(state, unused, out_9165541420774620727);
|
||||
void car_H_29(double *state, double *unused, double *out_1431487206082371698) {
|
||||
H_29(state, unused, out_1431487206082371698);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2219679485258547244) {
|
||||
h_28(state, unused, out_2219679485258547244);
|
||||
void car_h_28(double *state, double *unused, double *out_2565647234669696274) {
|
||||
h_28(state, unused, out_2565647234669696274);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_4083142403705090153) {
|
||||
H_28(state, unused, out_4083142403705090153);
|
||||
void car_H_28(double *state, double *unused, double *out_6513886223151902272) {
|
||||
H_28(state, unused, out_6513886223151902272);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_8123605363405147013) {
|
||||
h_31(state, unused, out_8123605363405147013);
|
||||
void car_h_31(double *state, double *unused, double *out_7751082483008271581) {
|
||||
h_31(state, unused, out_7751082483008271581);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_1769265696845572216) {
|
||||
H_31(state, unused, out_1769265696845572216);
|
||||
void car_H_31(double *state, double *unused, double *out_2616623741607804744) {
|
||||
H_31(state, unused, out_2616623741607804744);
|
||||
}
|
||||
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_1393219424364542669);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121);
|
||||
void car_H_mod_fun(double *state, double *out_542719001883324995);
|
||||
void car_f_fun(double *state, double dt, double *out_9203753821438188332);
|
||||
void car_F_fun(double *state, double dt, double *out_1821220582526959893);
|
||||
void car_h_25(double *state, double *unused, double *out_7848411301120641124);
|
||||
void car_H_25(double *state, double *unused, double *out_6136977117952979916);
|
||||
void car_h_24(double *state, double *unused, double *out_8292657587405145092);
|
||||
void car_H_24(double *state, double *unused, double *out_3964327518947480350);
|
||||
void car_h_30(double *state, double *unused, double *out_1692964105279980995);
|
||||
void car_H_30(double *state, double *unused, double *out_8655310076460228543);
|
||||
void car_h_26(double *state, double *unused, double *out_6694637372940826640);
|
||||
void car_H_26(double *state, double *unused, double *out_2395473799078923692);
|
||||
void car_h_27(double *state, double *unused, double *out_3658606002300167844);
|
||||
void car_H_27(double *state, double *unused, double *out_6480546764659803632);
|
||||
void car_h_29(double *state, double *unused, double *out_3383411940015661955);
|
||||
void car_H_29(double *state, double *unused, double *out_9165541420774620727);
|
||||
void car_h_28(double *state, double *unused, double *out_2219679485258547244);
|
||||
void car_H_28(double *state, double *unused, double *out_4083142403705090153);
|
||||
void car_h_31(double *state, double *unused, double *out_8123605363405147013);
|
||||
void car_H_31(double *state, double *unused, double *out_1769265696845572216);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1054824998219177113);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8618844445394053899);
|
||||
void car_H_mod_fun(double *state, double *out_9083000739620874267);
|
||||
void car_f_fun(double *state, double dt, double *out_2939712332855985662);
|
||||
void car_F_fun(double *state, double dt, double *out_9197210553723469698);
|
||||
void car_h_25(double *state, double *unused, double *out_7502443551709492094);
|
||||
void car_H_25(double *state, double *unused, double *out_2585977779730844316);
|
||||
void car_h_24(double *state, double *unused, double *out_4099652252284200208);
|
||||
void car_H_24(double *state, double *unused, double *out_2115520297687505592);
|
||||
void car_h_30(double *state, double *unused, double *out_7659630220060621239);
|
||||
void car_H_30(double *state, double *unused, double *out_2456638832587604246);
|
||||
void car_h_26(double *state, double *unused, double *out_2198951171844088969);
|
||||
void car_H_26(double *state, double *unused, double *out_1155525539143211908);
|
||||
void car_h_27(double *state, double *unused, double *out_5981920524318766290);
|
||||
void car_H_27(double *state, double *unused, double *out_281875520787179335);
|
||||
void car_h_29(double *state, double *unused, double *out_1781344732501906151);
|
||||
void car_H_29(double *state, double *unused, double *out_1431487206082371698);
|
||||
void car_h_28(double *state, double *unused, double *out_2565647234669696274);
|
||||
void car_H_28(double *state, double *unused, double *out_6513886223151902272);
|
||||
void car_h_31(double *state, double *unused, double *out_7751082483008271581);
|
||||
void car_H_31(double *state, double *unused, double *out_2616623741607804744);
|
||||
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_4967863734907407968);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_554301816764323460);
|
||||
void pose_H_mod_fun(double *state, double *out_3047027985808074405);
|
||||
void pose_f_fun(double *state, double dt, double *out_986492010673501731);
|
||||
void pose_F_fun(double *state, double dt, double *out_4336070434649428420);
|
||||
void pose_h_4(double *state, double *unused, double *out_5526642384709914880);
|
||||
void pose_H_4(double *state, double *unused, double *out_5691168246274914733);
|
||||
void pose_h_10(double *state, double *unused, double *out_6728942981811315921);
|
||||
void pose_H_10(double *state, double *unused, double *out_4278506402956144046);
|
||||
void pose_h_13(double *state, double *unused, double *out_1205451540469147746);
|
||||
void pose_H_13(double *state, double *unused, double *out_8903442071607247534);
|
||||
void pose_h_14(double *state, double *unused, double *out_3303339494882182614);
|
||||
void pose_H_14(double *state, double *unused, double *out_8792334971095152354);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_3926294361318359623);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5231104082209692226);
|
||||
void pose_H_mod_fun(double *state, double *out_5646756432622182646);
|
||||
void pose_f_fun(double *state, double dt, double *out_1137320570887410122);
|
||||
void pose_F_fun(double *state, double dt, double *out_2697011094328554799);
|
||||
void pose_h_4(double *state, double *unused, double *out_1053451418042427012);
|
||||
void pose_H_4(double *state, double *unused, double *out_7540267336217958736);
|
||||
void pose_h_10(double *state, double *unused, double *out_3684376753725260505);
|
||||
void pose_H_10(double *state, double *unused, double *out_5090252371717073425);
|
||||
void pose_h_13(double *state, double *unused, double *out_5749954067458841209);
|
||||
void pose_H_13(double *state, double *unused, double *out_4327993510885625935);
|
||||
void pose_h_14(double *state, double *unused, double *out_9151671114827748167);
|
||||
void pose_H_14(double *state, double *unused, double *out_3577026479878474207);
|
||||
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