mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-10 03:42:09 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-bec246c6-DEBUG";
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||||
const uint8_t gitversion[19] = "DEV-cf1c99cf-DEBUG";
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||||
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||||
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@@ -1 +1 @@
|
||||
DEV-bec246c6-DEBUG
|
||||
DEV-cf1c99cf-DEBUG
|
||||
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_3499577995962015470) {
|
||||
out_3499577995962015470[0] = delta_x[0] + nom_x[0];
|
||||
out_3499577995962015470[1] = delta_x[1] + nom_x[1];
|
||||
out_3499577995962015470[2] = delta_x[2] + nom_x[2];
|
||||
out_3499577995962015470[3] = delta_x[3] + nom_x[3];
|
||||
out_3499577995962015470[4] = delta_x[4] + nom_x[4];
|
||||
out_3499577995962015470[5] = delta_x[5] + nom_x[5];
|
||||
out_3499577995962015470[6] = delta_x[6] + nom_x[6];
|
||||
out_3499577995962015470[7] = delta_x[7] + nom_x[7];
|
||||
out_3499577995962015470[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_5319131797443970272) {
|
||||
out_5319131797443970272[0] = delta_x[0] + nom_x[0];
|
||||
out_5319131797443970272[1] = delta_x[1] + nom_x[1];
|
||||
out_5319131797443970272[2] = delta_x[2] + nom_x[2];
|
||||
out_5319131797443970272[3] = delta_x[3] + nom_x[3];
|
||||
out_5319131797443970272[4] = delta_x[4] + nom_x[4];
|
||||
out_5319131797443970272[5] = delta_x[5] + nom_x[5];
|
||||
out_5319131797443970272[6] = delta_x[6] + nom_x[6];
|
||||
out_5319131797443970272[7] = delta_x[7] + nom_x[7];
|
||||
out_5319131797443970272[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_7704661140039100406) {
|
||||
out_7704661140039100406[0] = -nom_x[0] + true_x[0];
|
||||
out_7704661140039100406[1] = -nom_x[1] + true_x[1];
|
||||
out_7704661140039100406[2] = -nom_x[2] + true_x[2];
|
||||
out_7704661140039100406[3] = -nom_x[3] + true_x[3];
|
||||
out_7704661140039100406[4] = -nom_x[4] + true_x[4];
|
||||
out_7704661140039100406[5] = -nom_x[5] + true_x[5];
|
||||
out_7704661140039100406[6] = -nom_x[6] + true_x[6];
|
||||
out_7704661140039100406[7] = -nom_x[7] + true_x[7];
|
||||
out_7704661140039100406[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3644993322176215676) {
|
||||
out_3644993322176215676[0] = -nom_x[0] + true_x[0];
|
||||
out_3644993322176215676[1] = -nom_x[1] + true_x[1];
|
||||
out_3644993322176215676[2] = -nom_x[2] + true_x[2];
|
||||
out_3644993322176215676[3] = -nom_x[3] + true_x[3];
|
||||
out_3644993322176215676[4] = -nom_x[4] + true_x[4];
|
||||
out_3644993322176215676[5] = -nom_x[5] + true_x[5];
|
||||
out_3644993322176215676[6] = -nom_x[6] + true_x[6];
|
||||
out_3644993322176215676[7] = -nom_x[7] + true_x[7];
|
||||
out_3644993322176215676[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_3593592511346668572) {
|
||||
out_3593592511346668572[0] = 1.0;
|
||||
out_3593592511346668572[1] = 0.0;
|
||||
out_3593592511346668572[2] = 0.0;
|
||||
out_3593592511346668572[3] = 0.0;
|
||||
out_3593592511346668572[4] = 0.0;
|
||||
out_3593592511346668572[5] = 0.0;
|
||||
out_3593592511346668572[6] = 0.0;
|
||||
out_3593592511346668572[7] = 0.0;
|
||||
out_3593592511346668572[8] = 0.0;
|
||||
out_3593592511346668572[9] = 0.0;
|
||||
out_3593592511346668572[10] = 1.0;
|
||||
out_3593592511346668572[11] = 0.0;
|
||||
out_3593592511346668572[12] = 0.0;
|
||||
out_3593592511346668572[13] = 0.0;
|
||||
out_3593592511346668572[14] = 0.0;
|
||||
out_3593592511346668572[15] = 0.0;
|
||||
out_3593592511346668572[16] = 0.0;
|
||||
out_3593592511346668572[17] = 0.0;
|
||||
out_3593592511346668572[18] = 0.0;
|
||||
out_3593592511346668572[19] = 0.0;
|
||||
out_3593592511346668572[20] = 1.0;
|
||||
out_3593592511346668572[21] = 0.0;
|
||||
out_3593592511346668572[22] = 0.0;
|
||||
out_3593592511346668572[23] = 0.0;
|
||||
out_3593592511346668572[24] = 0.0;
|
||||
out_3593592511346668572[25] = 0.0;
|
||||
out_3593592511346668572[26] = 0.0;
|
||||
out_3593592511346668572[27] = 0.0;
|
||||
out_3593592511346668572[28] = 0.0;
|
||||
out_3593592511346668572[29] = 0.0;
|
||||
out_3593592511346668572[30] = 1.0;
|
||||
out_3593592511346668572[31] = 0.0;
|
||||
out_3593592511346668572[32] = 0.0;
|
||||
out_3593592511346668572[33] = 0.0;
|
||||
out_3593592511346668572[34] = 0.0;
|
||||
out_3593592511346668572[35] = 0.0;
|
||||
out_3593592511346668572[36] = 0.0;
|
||||
out_3593592511346668572[37] = 0.0;
|
||||
out_3593592511346668572[38] = 0.0;
|
||||
out_3593592511346668572[39] = 0.0;
|
||||
out_3593592511346668572[40] = 1.0;
|
||||
out_3593592511346668572[41] = 0.0;
|
||||
out_3593592511346668572[42] = 0.0;
|
||||
out_3593592511346668572[43] = 0.0;
|
||||
out_3593592511346668572[44] = 0.0;
|
||||
out_3593592511346668572[45] = 0.0;
|
||||
out_3593592511346668572[46] = 0.0;
|
||||
out_3593592511346668572[47] = 0.0;
|
||||
out_3593592511346668572[48] = 0.0;
|
||||
out_3593592511346668572[49] = 0.0;
|
||||
out_3593592511346668572[50] = 1.0;
|
||||
out_3593592511346668572[51] = 0.0;
|
||||
out_3593592511346668572[52] = 0.0;
|
||||
out_3593592511346668572[53] = 0.0;
|
||||
out_3593592511346668572[54] = 0.0;
|
||||
out_3593592511346668572[55] = 0.0;
|
||||
out_3593592511346668572[56] = 0.0;
|
||||
out_3593592511346668572[57] = 0.0;
|
||||
out_3593592511346668572[58] = 0.0;
|
||||
out_3593592511346668572[59] = 0.0;
|
||||
out_3593592511346668572[60] = 1.0;
|
||||
out_3593592511346668572[61] = 0.0;
|
||||
out_3593592511346668572[62] = 0.0;
|
||||
out_3593592511346668572[63] = 0.0;
|
||||
out_3593592511346668572[64] = 0.0;
|
||||
out_3593592511346668572[65] = 0.0;
|
||||
out_3593592511346668572[66] = 0.0;
|
||||
out_3593592511346668572[67] = 0.0;
|
||||
out_3593592511346668572[68] = 0.0;
|
||||
out_3593592511346668572[69] = 0.0;
|
||||
out_3593592511346668572[70] = 1.0;
|
||||
out_3593592511346668572[71] = 0.0;
|
||||
out_3593592511346668572[72] = 0.0;
|
||||
out_3593592511346668572[73] = 0.0;
|
||||
out_3593592511346668572[74] = 0.0;
|
||||
out_3593592511346668572[75] = 0.0;
|
||||
out_3593592511346668572[76] = 0.0;
|
||||
out_3593592511346668572[77] = 0.0;
|
||||
out_3593592511346668572[78] = 0.0;
|
||||
out_3593592511346668572[79] = 0.0;
|
||||
out_3593592511346668572[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_3163511227028018782) {
|
||||
out_3163511227028018782[0] = 1.0;
|
||||
out_3163511227028018782[1] = 0.0;
|
||||
out_3163511227028018782[2] = 0.0;
|
||||
out_3163511227028018782[3] = 0.0;
|
||||
out_3163511227028018782[4] = 0.0;
|
||||
out_3163511227028018782[5] = 0.0;
|
||||
out_3163511227028018782[6] = 0.0;
|
||||
out_3163511227028018782[7] = 0.0;
|
||||
out_3163511227028018782[8] = 0.0;
|
||||
out_3163511227028018782[9] = 0.0;
|
||||
out_3163511227028018782[10] = 1.0;
|
||||
out_3163511227028018782[11] = 0.0;
|
||||
out_3163511227028018782[12] = 0.0;
|
||||
out_3163511227028018782[13] = 0.0;
|
||||
out_3163511227028018782[14] = 0.0;
|
||||
out_3163511227028018782[15] = 0.0;
|
||||
out_3163511227028018782[16] = 0.0;
|
||||
out_3163511227028018782[17] = 0.0;
|
||||
out_3163511227028018782[18] = 0.0;
|
||||
out_3163511227028018782[19] = 0.0;
|
||||
out_3163511227028018782[20] = 1.0;
|
||||
out_3163511227028018782[21] = 0.0;
|
||||
out_3163511227028018782[22] = 0.0;
|
||||
out_3163511227028018782[23] = 0.0;
|
||||
out_3163511227028018782[24] = 0.0;
|
||||
out_3163511227028018782[25] = 0.0;
|
||||
out_3163511227028018782[26] = 0.0;
|
||||
out_3163511227028018782[27] = 0.0;
|
||||
out_3163511227028018782[28] = 0.0;
|
||||
out_3163511227028018782[29] = 0.0;
|
||||
out_3163511227028018782[30] = 1.0;
|
||||
out_3163511227028018782[31] = 0.0;
|
||||
out_3163511227028018782[32] = 0.0;
|
||||
out_3163511227028018782[33] = 0.0;
|
||||
out_3163511227028018782[34] = 0.0;
|
||||
out_3163511227028018782[35] = 0.0;
|
||||
out_3163511227028018782[36] = 0.0;
|
||||
out_3163511227028018782[37] = 0.0;
|
||||
out_3163511227028018782[38] = 0.0;
|
||||
out_3163511227028018782[39] = 0.0;
|
||||
out_3163511227028018782[40] = 1.0;
|
||||
out_3163511227028018782[41] = 0.0;
|
||||
out_3163511227028018782[42] = 0.0;
|
||||
out_3163511227028018782[43] = 0.0;
|
||||
out_3163511227028018782[44] = 0.0;
|
||||
out_3163511227028018782[45] = 0.0;
|
||||
out_3163511227028018782[46] = 0.0;
|
||||
out_3163511227028018782[47] = 0.0;
|
||||
out_3163511227028018782[48] = 0.0;
|
||||
out_3163511227028018782[49] = 0.0;
|
||||
out_3163511227028018782[50] = 1.0;
|
||||
out_3163511227028018782[51] = 0.0;
|
||||
out_3163511227028018782[52] = 0.0;
|
||||
out_3163511227028018782[53] = 0.0;
|
||||
out_3163511227028018782[54] = 0.0;
|
||||
out_3163511227028018782[55] = 0.0;
|
||||
out_3163511227028018782[56] = 0.0;
|
||||
out_3163511227028018782[57] = 0.0;
|
||||
out_3163511227028018782[58] = 0.0;
|
||||
out_3163511227028018782[59] = 0.0;
|
||||
out_3163511227028018782[60] = 1.0;
|
||||
out_3163511227028018782[61] = 0.0;
|
||||
out_3163511227028018782[62] = 0.0;
|
||||
out_3163511227028018782[63] = 0.0;
|
||||
out_3163511227028018782[64] = 0.0;
|
||||
out_3163511227028018782[65] = 0.0;
|
||||
out_3163511227028018782[66] = 0.0;
|
||||
out_3163511227028018782[67] = 0.0;
|
||||
out_3163511227028018782[68] = 0.0;
|
||||
out_3163511227028018782[69] = 0.0;
|
||||
out_3163511227028018782[70] = 1.0;
|
||||
out_3163511227028018782[71] = 0.0;
|
||||
out_3163511227028018782[72] = 0.0;
|
||||
out_3163511227028018782[73] = 0.0;
|
||||
out_3163511227028018782[74] = 0.0;
|
||||
out_3163511227028018782[75] = 0.0;
|
||||
out_3163511227028018782[76] = 0.0;
|
||||
out_3163511227028018782[77] = 0.0;
|
||||
out_3163511227028018782[78] = 0.0;
|
||||
out_3163511227028018782[79] = 0.0;
|
||||
out_3163511227028018782[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_5138495986546656101) {
|
||||
out_5138495986546656101[0] = state[0];
|
||||
out_5138495986546656101[1] = state[1];
|
||||
out_5138495986546656101[2] = state[2];
|
||||
out_5138495986546656101[3] = state[3];
|
||||
out_5138495986546656101[4] = state[4];
|
||||
out_5138495986546656101[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_5138495986546656101[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_5138495986546656101[7] = state[7];
|
||||
out_5138495986546656101[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_1546760495327089109) {
|
||||
out_1546760495327089109[0] = state[0];
|
||||
out_1546760495327089109[1] = state[1];
|
||||
out_1546760495327089109[2] = state[2];
|
||||
out_1546760495327089109[3] = state[3];
|
||||
out_1546760495327089109[4] = state[4];
|
||||
out_1546760495327089109[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_1546760495327089109[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_1546760495327089109[7] = state[7];
|
||||
out_1546760495327089109[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_9094696385837044219) {
|
||||
out_9094696385837044219[0] = 1;
|
||||
out_9094696385837044219[1] = 0;
|
||||
out_9094696385837044219[2] = 0;
|
||||
out_9094696385837044219[3] = 0;
|
||||
out_9094696385837044219[4] = 0;
|
||||
out_9094696385837044219[5] = 0;
|
||||
out_9094696385837044219[6] = 0;
|
||||
out_9094696385837044219[7] = 0;
|
||||
out_9094696385837044219[8] = 0;
|
||||
out_9094696385837044219[9] = 0;
|
||||
out_9094696385837044219[10] = 1;
|
||||
out_9094696385837044219[11] = 0;
|
||||
out_9094696385837044219[12] = 0;
|
||||
out_9094696385837044219[13] = 0;
|
||||
out_9094696385837044219[14] = 0;
|
||||
out_9094696385837044219[15] = 0;
|
||||
out_9094696385837044219[16] = 0;
|
||||
out_9094696385837044219[17] = 0;
|
||||
out_9094696385837044219[18] = 0;
|
||||
out_9094696385837044219[19] = 0;
|
||||
out_9094696385837044219[20] = 1;
|
||||
out_9094696385837044219[21] = 0;
|
||||
out_9094696385837044219[22] = 0;
|
||||
out_9094696385837044219[23] = 0;
|
||||
out_9094696385837044219[24] = 0;
|
||||
out_9094696385837044219[25] = 0;
|
||||
out_9094696385837044219[26] = 0;
|
||||
out_9094696385837044219[27] = 0;
|
||||
out_9094696385837044219[28] = 0;
|
||||
out_9094696385837044219[29] = 0;
|
||||
out_9094696385837044219[30] = 1;
|
||||
out_9094696385837044219[31] = 0;
|
||||
out_9094696385837044219[32] = 0;
|
||||
out_9094696385837044219[33] = 0;
|
||||
out_9094696385837044219[34] = 0;
|
||||
out_9094696385837044219[35] = 0;
|
||||
out_9094696385837044219[36] = 0;
|
||||
out_9094696385837044219[37] = 0;
|
||||
out_9094696385837044219[38] = 0;
|
||||
out_9094696385837044219[39] = 0;
|
||||
out_9094696385837044219[40] = 1;
|
||||
out_9094696385837044219[41] = 0;
|
||||
out_9094696385837044219[42] = 0;
|
||||
out_9094696385837044219[43] = 0;
|
||||
out_9094696385837044219[44] = 0;
|
||||
out_9094696385837044219[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_9094696385837044219[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_9094696385837044219[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_9094696385837044219[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_9094696385837044219[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_9094696385837044219[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_9094696385837044219[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_9094696385837044219[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_9094696385837044219[53] = -9.8100000000000005*dt;
|
||||
out_9094696385837044219[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_9094696385837044219[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_9094696385837044219[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_9094696385837044219[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_9094696385837044219[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_9094696385837044219[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_9094696385837044219[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_9094696385837044219[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_9094696385837044219[62] = 0;
|
||||
out_9094696385837044219[63] = 0;
|
||||
out_9094696385837044219[64] = 0;
|
||||
out_9094696385837044219[65] = 0;
|
||||
out_9094696385837044219[66] = 0;
|
||||
out_9094696385837044219[67] = 0;
|
||||
out_9094696385837044219[68] = 0;
|
||||
out_9094696385837044219[69] = 0;
|
||||
out_9094696385837044219[70] = 1;
|
||||
out_9094696385837044219[71] = 0;
|
||||
out_9094696385837044219[72] = 0;
|
||||
out_9094696385837044219[73] = 0;
|
||||
out_9094696385837044219[74] = 0;
|
||||
out_9094696385837044219[75] = 0;
|
||||
out_9094696385837044219[76] = 0;
|
||||
out_9094696385837044219[77] = 0;
|
||||
out_9094696385837044219[78] = 0;
|
||||
out_9094696385837044219[79] = 0;
|
||||
out_9094696385837044219[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_3348391828080031822) {
|
||||
out_3348391828080031822[0] = 1;
|
||||
out_3348391828080031822[1] = 0;
|
||||
out_3348391828080031822[2] = 0;
|
||||
out_3348391828080031822[3] = 0;
|
||||
out_3348391828080031822[4] = 0;
|
||||
out_3348391828080031822[5] = 0;
|
||||
out_3348391828080031822[6] = 0;
|
||||
out_3348391828080031822[7] = 0;
|
||||
out_3348391828080031822[8] = 0;
|
||||
out_3348391828080031822[9] = 0;
|
||||
out_3348391828080031822[10] = 1;
|
||||
out_3348391828080031822[11] = 0;
|
||||
out_3348391828080031822[12] = 0;
|
||||
out_3348391828080031822[13] = 0;
|
||||
out_3348391828080031822[14] = 0;
|
||||
out_3348391828080031822[15] = 0;
|
||||
out_3348391828080031822[16] = 0;
|
||||
out_3348391828080031822[17] = 0;
|
||||
out_3348391828080031822[18] = 0;
|
||||
out_3348391828080031822[19] = 0;
|
||||
out_3348391828080031822[20] = 1;
|
||||
out_3348391828080031822[21] = 0;
|
||||
out_3348391828080031822[22] = 0;
|
||||
out_3348391828080031822[23] = 0;
|
||||
out_3348391828080031822[24] = 0;
|
||||
out_3348391828080031822[25] = 0;
|
||||
out_3348391828080031822[26] = 0;
|
||||
out_3348391828080031822[27] = 0;
|
||||
out_3348391828080031822[28] = 0;
|
||||
out_3348391828080031822[29] = 0;
|
||||
out_3348391828080031822[30] = 1;
|
||||
out_3348391828080031822[31] = 0;
|
||||
out_3348391828080031822[32] = 0;
|
||||
out_3348391828080031822[33] = 0;
|
||||
out_3348391828080031822[34] = 0;
|
||||
out_3348391828080031822[35] = 0;
|
||||
out_3348391828080031822[36] = 0;
|
||||
out_3348391828080031822[37] = 0;
|
||||
out_3348391828080031822[38] = 0;
|
||||
out_3348391828080031822[39] = 0;
|
||||
out_3348391828080031822[40] = 1;
|
||||
out_3348391828080031822[41] = 0;
|
||||
out_3348391828080031822[42] = 0;
|
||||
out_3348391828080031822[43] = 0;
|
||||
out_3348391828080031822[44] = 0;
|
||||
out_3348391828080031822[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_3348391828080031822[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3348391828080031822[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3348391828080031822[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3348391828080031822[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_3348391828080031822[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3348391828080031822[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3348391828080031822[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3348391828080031822[53] = -9.8100000000000005*dt;
|
||||
out_3348391828080031822[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_3348391828080031822[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3348391828080031822[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3348391828080031822[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3348391828080031822[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_3348391828080031822[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3348391828080031822[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_3348391828080031822[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3348391828080031822[62] = 0;
|
||||
out_3348391828080031822[63] = 0;
|
||||
out_3348391828080031822[64] = 0;
|
||||
out_3348391828080031822[65] = 0;
|
||||
out_3348391828080031822[66] = 0;
|
||||
out_3348391828080031822[67] = 0;
|
||||
out_3348391828080031822[68] = 0;
|
||||
out_3348391828080031822[69] = 0;
|
||||
out_3348391828080031822[70] = 1;
|
||||
out_3348391828080031822[71] = 0;
|
||||
out_3348391828080031822[72] = 0;
|
||||
out_3348391828080031822[73] = 0;
|
||||
out_3348391828080031822[74] = 0;
|
||||
out_3348391828080031822[75] = 0;
|
||||
out_3348391828080031822[76] = 0;
|
||||
out_3348391828080031822[77] = 0;
|
||||
out_3348391828080031822[78] = 0;
|
||||
out_3348391828080031822[79] = 0;
|
||||
out_3348391828080031822[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_1209975406708631015) {
|
||||
out_1209975406708631015[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_4471759016602712561) {
|
||||
out_4471759016602712561[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_4098926953546965284) {
|
||||
out_4098926953546965284[0] = 0;
|
||||
out_4098926953546965284[1] = 0;
|
||||
out_4098926953546965284[2] = 0;
|
||||
out_4098926953546965284[3] = 0;
|
||||
out_4098926953546965284[4] = 0;
|
||||
out_4098926953546965284[5] = 0;
|
||||
out_4098926953546965284[6] = 1;
|
||||
out_4098926953546965284[7] = 0;
|
||||
out_4098926953546965284[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_1740180598156646058) {
|
||||
out_1740180598156646058[0] = 0;
|
||||
out_1740180598156646058[1] = 0;
|
||||
out_1740180598156646058[2] = 0;
|
||||
out_1740180598156646058[3] = 0;
|
||||
out_1740180598156646058[4] = 0;
|
||||
out_1740180598156646058[5] = 0;
|
||||
out_1740180598156646058[6] = 1;
|
||||
out_1740180598156646058[7] = 0;
|
||||
out_1740180598156646058[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_5058461778376183297) {
|
||||
out_5058461778376183297[0] = state[4];
|
||||
out_5058461778376183297[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_3126254991737006136) {
|
||||
out_3126254991737006136[0] = state[4];
|
||||
out_3126254991737006136[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_4943923562330660683) {
|
||||
out_4943923562330660683[0] = 0;
|
||||
out_4943923562330660683[1] = 0;
|
||||
out_4943923562330660683[2] = 0;
|
||||
out_4943923562330660683[3] = 0;
|
||||
out_4943923562330660683[4] = 1;
|
||||
out_4943923562330660683[5] = 0;
|
||||
out_4943923562330660683[6] = 0;
|
||||
out_4943923562330660683[7] = 0;
|
||||
out_4943923562330660683[8] = 0;
|
||||
out_4943923562330660683[9] = 0;
|
||||
out_4943923562330660683[10] = 0;
|
||||
out_4943923562330660683[11] = 0;
|
||||
out_4943923562330660683[12] = 0;
|
||||
out_4943923562330660683[13] = 0;
|
||||
out_4943923562330660683[14] = 1;
|
||||
out_4943923562330660683[15] = 0;
|
||||
out_4943923562330660683[16] = 0;
|
||||
out_4943923562330660683[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1269723116113307334) {
|
||||
out_1269723116113307334[0] = 0;
|
||||
out_1269723116113307334[1] = 0;
|
||||
out_1269723116113307334[2] = 0;
|
||||
out_1269723116113307334[3] = 0;
|
||||
out_1269723116113307334[4] = 1;
|
||||
out_1269723116113307334[5] = 0;
|
||||
out_1269723116113307334[6] = 0;
|
||||
out_1269723116113307334[7] = 0;
|
||||
out_1269723116113307334[8] = 0;
|
||||
out_1269723116113307334[9] = 0;
|
||||
out_1269723116113307334[10] = 0;
|
||||
out_1269723116113307334[11] = 0;
|
||||
out_1269723116113307334[12] = 0;
|
||||
out_1269723116113307334[13] = 0;
|
||||
out_1269723116113307334[14] = 1;
|
||||
out_1269723116113307334[15] = 0;
|
||||
out_1269723116113307334[16] = 0;
|
||||
out_1269723116113307334[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5560859819641719921) {
|
||||
out_5560859819641719921[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_4168118460115829323) {
|
||||
out_4168118460115829323[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_7431126778670969577) {
|
||||
out_7431126778670969577[0] = 0;
|
||||
out_7431126778670969577[1] = 0;
|
||||
out_7431126778670969577[2] = 0;
|
||||
out_7431126778670969577[3] = 0;
|
||||
out_7431126778670969577[4] = 1;
|
||||
out_7431126778670969577[5] = 0;
|
||||
out_7431126778670969577[6] = 0;
|
||||
out_7431126778670969577[7] = 0;
|
||||
out_7431126778670969577[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_1610841651013405988) {
|
||||
out_1610841651013405988[0] = 0;
|
||||
out_1610841651013405988[1] = 0;
|
||||
out_1610841651013405988[2] = 0;
|
||||
out_1610841651013405988[3] = 0;
|
||||
out_1610841651013405988[4] = 1;
|
||||
out_1610841651013405988[5] = 0;
|
||||
out_1610841651013405988[6] = 0;
|
||||
out_1610841651013405988[7] = 0;
|
||||
out_1610841651013405988[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_4617349966740057486) {
|
||||
out_4617349966740057486[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_2045289894744513329) {
|
||||
out_2045289894744513329[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_4755781017657277188) {
|
||||
out_4755781017657277188[0] = 0;
|
||||
out_4755781017657277188[1] = 0;
|
||||
out_4755781017657277188[2] = 0;
|
||||
out_4755781017657277188[3] = 0;
|
||||
out_4755781017657277188[4] = 0;
|
||||
out_4755781017657277188[5] = 0;
|
||||
out_4755781017657277188[6] = 0;
|
||||
out_4755781017657277188[7] = 1;
|
||||
out_4755781017657277188[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_2001322720717410166) {
|
||||
out_2001322720717410166[0] = 0;
|
||||
out_2001322720717410166[1] = 0;
|
||||
out_2001322720717410166[2] = 0;
|
||||
out_2001322720717410166[3] = 0;
|
||||
out_2001322720717410166[4] = 0;
|
||||
out_2001322720717410166[5] = 0;
|
||||
out_2001322720717410166[6] = 0;
|
||||
out_2001322720717410166[7] = 1;
|
||||
out_2001322720717410166[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_6211648674369476660) {
|
||||
out_6211648674369476660[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_1927282500811136585) {
|
||||
out_1927282500811136585[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_8840853983238157128) {
|
||||
out_8840853983238157128[0] = 0;
|
||||
out_8840853983238157128[1] = 0;
|
||||
out_8840853983238157128[2] = 0;
|
||||
out_8840853983238157128[3] = 1;
|
||||
out_8840853983238157128[4] = 0;
|
||||
out_8840853983238157128[5] = 0;
|
||||
out_8840853983238157128[6] = 0;
|
||||
out_8840853983238157128[7] = 0;
|
||||
out_8840853983238157128[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_563921660787018923) {
|
||||
out_563921660787018923[0] = 0;
|
||||
out_563921660787018923[1] = 0;
|
||||
out_563921660787018923[2] = 0;
|
||||
out_563921660787018923[3] = 1;
|
||||
out_563921660787018923[4] = 0;
|
||||
out_563921660787018923[5] = 0;
|
||||
out_563921660787018923[6] = 0;
|
||||
out_563921660787018923[7] = 0;
|
||||
out_563921660787018923[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_559186551980874276) {
|
||||
out_559186551980874276[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_8022800891634675039) {
|
||||
out_8022800891634675039[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_6920895434356577393) {
|
||||
out_6920895434356577393[0] = 0;
|
||||
out_6920895434356577393[1] = 1;
|
||||
out_6920895434356577393[2] = 0;
|
||||
out_6920895434356577393[3] = 0;
|
||||
out_6920895434356577393[4] = 0;
|
||||
out_6920895434356577393[5] = 0;
|
||||
out_6920895434356577393[6] = 0;
|
||||
out_6920895434356577393[7] = 0;
|
||||
out_6920895434356577393[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_2277284387656569956) {
|
||||
out_2277284387656569956[0] = 0;
|
||||
out_2277284387656569956[1] = 1;
|
||||
out_2277284387656569956[2] = 0;
|
||||
out_2277284387656569956[3] = 0;
|
||||
out_2277284387656569956[4] = 0;
|
||||
out_2277284387656569956[5] = 0;
|
||||
out_2277284387656569956[6] = 0;
|
||||
out_2277284387656569956[7] = 0;
|
||||
out_2277284387656569956[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_7233422131679229311) {
|
||||
out_7233422131679229311[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_4964068552255469270) {
|
||||
out_4964068552255469270[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_6443449622283443649) {
|
||||
out_6443449622283443649[0] = 1;
|
||||
out_6443449622283443649[1] = 0;
|
||||
out_6443449622283443649[2] = 0;
|
||||
out_6443449622283443649[3] = 0;
|
||||
out_6443449622283443649[4] = 0;
|
||||
out_6443449622283443649[5] = 0;
|
||||
out_6443449622283443649[6] = 0;
|
||||
out_6443449622283443649[7] = 0;
|
||||
out_6443449622283443649[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_313654116091243705) {
|
||||
out_313654116091243705[0] = 1;
|
||||
out_313654116091243705[1] = 0;
|
||||
out_313654116091243705[2] = 0;
|
||||
out_313654116091243705[3] = 0;
|
||||
out_313654116091243705[4] = 0;
|
||||
out_313654116091243705[5] = 0;
|
||||
out_313654116091243705[6] = 0;
|
||||
out_313654116091243705[7] = 0;
|
||||
out_313654116091243705[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_8973240663529303456) {
|
||||
out_8973240663529303456[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_834309488348690211) {
|
||||
out_834309488348690211[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_4129572915423925712) {
|
||||
out_4129572915423925712[0] = 0;
|
||||
out_4129572915423925712[1] = 0;
|
||||
out_4129572915423925712[2] = 0;
|
||||
out_4129572915423925712[3] = 0;
|
||||
out_4129572915423925712[4] = 0;
|
||||
out_4129572915423925712[5] = 0;
|
||||
out_4129572915423925712[6] = 0;
|
||||
out_4129572915423925712[7] = 0;
|
||||
out_4129572915423925712[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_1770826560033606486) {
|
||||
out_1770826560033606486[0] = 0;
|
||||
out_1770826560033606486[1] = 0;
|
||||
out_1770826560033606486[2] = 0;
|
||||
out_1770826560033606486[3] = 0;
|
||||
out_1770826560033606486[4] = 0;
|
||||
out_1770826560033606486[5] = 0;
|
||||
out_1770826560033606486[6] = 0;
|
||||
out_1770826560033606486[7] = 0;
|
||||
out_1770826560033606486[8] = 1;
|
||||
}
|
||||
#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_3499577995962015470) {
|
||||
err_fun(nom_x, delta_x, out_3499577995962015470);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5319131797443970272) {
|
||||
err_fun(nom_x, delta_x, out_5319131797443970272);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7704661140039100406) {
|
||||
inv_err_fun(nom_x, true_x, out_7704661140039100406);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3644993322176215676) {
|
||||
inv_err_fun(nom_x, true_x, out_3644993322176215676);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_3593592511346668572) {
|
||||
H_mod_fun(state, out_3593592511346668572);
|
||||
void car_H_mod_fun(double *state, double *out_3163511227028018782) {
|
||||
H_mod_fun(state, out_3163511227028018782);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_5138495986546656101) {
|
||||
f_fun(state, dt, out_5138495986546656101);
|
||||
void car_f_fun(double *state, double dt, double *out_1546760495327089109) {
|
||||
f_fun(state, dt, out_1546760495327089109);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_9094696385837044219) {
|
||||
F_fun(state, dt, out_9094696385837044219);
|
||||
void car_F_fun(double *state, double dt, double *out_3348391828080031822) {
|
||||
F_fun(state, dt, out_3348391828080031822);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_1209975406708631015) {
|
||||
h_25(state, unused, out_1209975406708631015);
|
||||
void car_h_25(double *state, double *unused, double *out_4471759016602712561) {
|
||||
h_25(state, unused, out_4471759016602712561);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_4098926953546965284) {
|
||||
H_25(state, unused, out_4098926953546965284);
|
||||
void car_H_25(double *state, double *unused, double *out_1740180598156646058) {
|
||||
H_25(state, unused, out_1740180598156646058);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_5058461778376183297) {
|
||||
h_24(state, unused, out_5058461778376183297);
|
||||
void car_h_24(double *state, double *unused, double *out_3126254991737006136) {
|
||||
h_24(state, unused, out_3126254991737006136);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_4943923562330660683) {
|
||||
H_24(state, unused, out_4943923562330660683);
|
||||
void car_H_24(double *state, double *unused, double *out_1269723116113307334) {
|
||||
H_24(state, unused, out_1269723116113307334);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5560859819641719921) {
|
||||
h_30(state, unused, out_5560859819641719921);
|
||||
void car_h_30(double *state, double *unused, double *out_4168118460115829323) {
|
||||
h_30(state, unused, out_4168118460115829323);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_7431126778670969577) {
|
||||
H_30(state, unused, out_7431126778670969577);
|
||||
void car_H_30(double *state, double *unused, double *out_1610841651013405988) {
|
||||
H_30(state, unused, out_1610841651013405988);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_4617349966740057486) {
|
||||
h_26(state, unused, out_4617349966740057486);
|
||||
void car_h_26(double *state, double *unused, double *out_2045289894744513329) {
|
||||
h_26(state, unused, out_2045289894744513329);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_4755781017657277188) {
|
||||
H_26(state, unused, out_4755781017657277188);
|
||||
void car_H_26(double *state, double *unused, double *out_2001322720717410166) {
|
||||
H_26(state, unused, out_2001322720717410166);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_6211648674369476660) {
|
||||
h_27(state, unused, out_6211648674369476660);
|
||||
void car_h_27(double *state, double *unused, double *out_1927282500811136585) {
|
||||
h_27(state, unused, out_1927282500811136585);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_8840853983238157128) {
|
||||
H_27(state, unused, out_8840853983238157128);
|
||||
void car_H_27(double *state, double *unused, double *out_563921660787018923) {
|
||||
H_27(state, unused, out_563921660787018923);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_559186551980874276) {
|
||||
h_29(state, unused, out_559186551980874276);
|
||||
void car_h_29(double *state, double *unused, double *out_8022800891634675039) {
|
||||
h_29(state, unused, out_8022800891634675039);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_6920895434356577393) {
|
||||
H_29(state, unused, out_6920895434356577393);
|
||||
void car_H_29(double *state, double *unused, double *out_2277284387656569956) {
|
||||
H_29(state, unused, out_2277284387656569956);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_7233422131679229311) {
|
||||
h_28(state, unused, out_7233422131679229311);
|
||||
void car_h_28(double *state, double *unused, double *out_4964068552255469270) {
|
||||
h_28(state, unused, out_4964068552255469270);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_6443449622283443649) {
|
||||
H_28(state, unused, out_6443449622283443649);
|
||||
void car_H_28(double *state, double *unused, double *out_313654116091243705) {
|
||||
H_28(state, unused, out_313654116091243705);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_8973240663529303456) {
|
||||
h_31(state, unused, out_8973240663529303456);
|
||||
void car_h_31(double *state, double *unused, double *out_834309488348690211) {
|
||||
h_31(state, unused, out_834309488348690211);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_4129572915423925712) {
|
||||
H_31(state, unused, out_4129572915423925712);
|
||||
void car_H_31(double *state, double *unused, double *out_1770826560033606486) {
|
||||
H_31(state, unused, out_1770826560033606486);
|
||||
}
|
||||
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_3499577995962015470);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7704661140039100406);
|
||||
void car_H_mod_fun(double *state, double *out_3593592511346668572);
|
||||
void car_f_fun(double *state, double dt, double *out_5138495986546656101);
|
||||
void car_F_fun(double *state, double dt, double *out_9094696385837044219);
|
||||
void car_h_25(double *state, double *unused, double *out_1209975406708631015);
|
||||
void car_H_25(double *state, double *unused, double *out_4098926953546965284);
|
||||
void car_h_24(double *state, double *unused, double *out_5058461778376183297);
|
||||
void car_H_24(double *state, double *unused, double *out_4943923562330660683);
|
||||
void car_h_30(double *state, double *unused, double *out_5560859819641719921);
|
||||
void car_H_30(double *state, double *unused, double *out_7431126778670969577);
|
||||
void car_h_26(double *state, double *unused, double *out_4617349966740057486);
|
||||
void car_H_26(double *state, double *unused, double *out_4755781017657277188);
|
||||
void car_h_27(double *state, double *unused, double *out_6211648674369476660);
|
||||
void car_H_27(double *state, double *unused, double *out_8840853983238157128);
|
||||
void car_h_29(double *state, double *unused, double *out_559186551980874276);
|
||||
void car_H_29(double *state, double *unused, double *out_6920895434356577393);
|
||||
void car_h_28(double *state, double *unused, double *out_7233422131679229311);
|
||||
void car_H_28(double *state, double *unused, double *out_6443449622283443649);
|
||||
void car_h_31(double *state, double *unused, double *out_8973240663529303456);
|
||||
void car_H_31(double *state, double *unused, double *out_4129572915423925712);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5319131797443970272);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3644993322176215676);
|
||||
void car_H_mod_fun(double *state, double *out_3163511227028018782);
|
||||
void car_f_fun(double *state, double dt, double *out_1546760495327089109);
|
||||
void car_F_fun(double *state, double dt, double *out_3348391828080031822);
|
||||
void car_h_25(double *state, double *unused, double *out_4471759016602712561);
|
||||
void car_H_25(double *state, double *unused, double *out_1740180598156646058);
|
||||
void car_h_24(double *state, double *unused, double *out_3126254991737006136);
|
||||
void car_H_24(double *state, double *unused, double *out_1269723116113307334);
|
||||
void car_h_30(double *state, double *unused, double *out_4168118460115829323);
|
||||
void car_H_30(double *state, double *unused, double *out_1610841651013405988);
|
||||
void car_h_26(double *state, double *unused, double *out_2045289894744513329);
|
||||
void car_H_26(double *state, double *unused, double *out_2001322720717410166);
|
||||
void car_h_27(double *state, double *unused, double *out_1927282500811136585);
|
||||
void car_H_27(double *state, double *unused, double *out_563921660787018923);
|
||||
void car_h_29(double *state, double *unused, double *out_8022800891634675039);
|
||||
void car_H_29(double *state, double *unused, double *out_2277284387656569956);
|
||||
void car_h_28(double *state, double *unused, double *out_4964068552255469270);
|
||||
void car_H_28(double *state, double *unused, double *out_313654116091243705);
|
||||
void car_h_31(double *state, double *unused, double *out_834309488348690211);
|
||||
void car_H_31(double *state, double *unused, double *out_1770826560033606486);
|
||||
void car_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_4711793940499862270);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8790106481935061031);
|
||||
void pose_H_mod_fun(double *state, double *out_3710500625877642434);
|
||||
void pose_f_fun(double *state, double dt, double *out_5725984385602899057);
|
||||
void pose_F_fun(double *state, double dt, double *out_3503616768446574438);
|
||||
void pose_h_4(double *state, double *unused, double *out_3803432647309987328);
|
||||
void pose_H_4(double *state, double *unused, double *out_7950155699686530755);
|
||||
void pose_h_10(double *state, double *unused, double *out_477421004614984104);
|
||||
void pose_H_10(double *state, double *unused, double *out_8536057142137197060);
|
||||
void pose_h_13(double *state, double *unused, double *out_1243321013145270066);
|
||||
void pose_H_13(double *state, double *unused, double *out_8514757619368374859);
|
||||
void pose_h_14(double *state, double *unused, double *out_7694485530011040401);
|
||||
void pose_H_14(double *state, double *unused, double *out_4867367267391158459);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_9044617002367965712);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2986388781113821274);
|
||||
void pose_H_mod_fun(double *state, double *out_5449976102936300367);
|
||||
void pose_f_fun(double *state, double dt, double *out_2001314774583974236);
|
||||
void pose_F_fun(double *state, double dt, double *out_173210708380746968);
|
||||
void pose_h_4(double *state, double *unused, double *out_4290451809527946304);
|
||||
void pose_H_4(double *state, double *unused, double *out_4695815100881587760);
|
||||
void pose_h_10(double *state, double *unused, double *out_6723857678965398132);
|
||||
void pose_H_10(double *state, double *unused, double *out_984080189925557249);
|
||||
void pose_h_13(double *state, double *unused, double *out_1838091537859337419);
|
||||
void pose_H_13(double *state, double *unused, double *out_1483541275549254959);
|
||||
void pose_h_14(double *state, double *unused, double *out_849503921054780572);
|
||||
void pose_H_14(double *state, double *unused, double *out_732574244542103231);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
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Reference in New Issue
Block a user