mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-03 22:53:44 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
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extern const uint8_t gitversion[19];
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const uint8_t gitversion[19] = "DEV-289f5e9d-DEBUG";
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||||
const uint8_t gitversion[19] = "DEV-503a395e-DEBUG";
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||||
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||||
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@@ -1 +1 @@
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DEV-289f5e9d-DEBUG
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DEV-503a395e-DEBUG
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
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* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_8986378044421410730) {
|
||||
out_8986378044421410730[0] = delta_x[0] + nom_x[0];
|
||||
out_8986378044421410730[1] = delta_x[1] + nom_x[1];
|
||||
out_8986378044421410730[2] = delta_x[2] + nom_x[2];
|
||||
out_8986378044421410730[3] = delta_x[3] + nom_x[3];
|
||||
out_8986378044421410730[4] = delta_x[4] + nom_x[4];
|
||||
out_8986378044421410730[5] = delta_x[5] + nom_x[5];
|
||||
out_8986378044421410730[6] = delta_x[6] + nom_x[6];
|
||||
out_8986378044421410730[7] = delta_x[7] + nom_x[7];
|
||||
out_8986378044421410730[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_1982741958495934934) {
|
||||
out_1982741958495934934[0] = delta_x[0] + nom_x[0];
|
||||
out_1982741958495934934[1] = delta_x[1] + nom_x[1];
|
||||
out_1982741958495934934[2] = delta_x[2] + nom_x[2];
|
||||
out_1982741958495934934[3] = delta_x[3] + nom_x[3];
|
||||
out_1982741958495934934[4] = delta_x[4] + nom_x[4];
|
||||
out_1982741958495934934[5] = delta_x[5] + nom_x[5];
|
||||
out_1982741958495934934[6] = delta_x[6] + nom_x[6];
|
||||
out_1982741958495934934[7] = delta_x[7] + nom_x[7];
|
||||
out_1982741958495934934[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1940910250995899848) {
|
||||
out_1940910250995899848[0] = -nom_x[0] + true_x[0];
|
||||
out_1940910250995899848[1] = -nom_x[1] + true_x[1];
|
||||
out_1940910250995899848[2] = -nom_x[2] + true_x[2];
|
||||
out_1940910250995899848[3] = -nom_x[3] + true_x[3];
|
||||
out_1940910250995899848[4] = -nom_x[4] + true_x[4];
|
||||
out_1940910250995899848[5] = -nom_x[5] + true_x[5];
|
||||
out_1940910250995899848[6] = -nom_x[6] + true_x[6];
|
||||
out_1940910250995899848[7] = -nom_x[7] + true_x[7];
|
||||
out_1940910250995899848[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805) {
|
||||
out_1965858196176103805[0] = -nom_x[0] + true_x[0];
|
||||
out_1965858196176103805[1] = -nom_x[1] + true_x[1];
|
||||
out_1965858196176103805[2] = -nom_x[2] + true_x[2];
|
||||
out_1965858196176103805[3] = -nom_x[3] + true_x[3];
|
||||
out_1965858196176103805[4] = -nom_x[4] + true_x[4];
|
||||
out_1965858196176103805[5] = -nom_x[5] + true_x[5];
|
||||
out_1965858196176103805[6] = -nom_x[6] + true_x[6];
|
||||
out_1965858196176103805[7] = -nom_x[7] + true_x[7];
|
||||
out_1965858196176103805[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_1327881932680008443) {
|
||||
out_1327881932680008443[0] = 1.0;
|
||||
out_1327881932680008443[1] = 0.0;
|
||||
out_1327881932680008443[2] = 0.0;
|
||||
out_1327881932680008443[3] = 0.0;
|
||||
out_1327881932680008443[4] = 0.0;
|
||||
out_1327881932680008443[5] = 0.0;
|
||||
out_1327881932680008443[6] = 0.0;
|
||||
out_1327881932680008443[7] = 0.0;
|
||||
out_1327881932680008443[8] = 0.0;
|
||||
out_1327881932680008443[9] = 0.0;
|
||||
out_1327881932680008443[10] = 1.0;
|
||||
out_1327881932680008443[11] = 0.0;
|
||||
out_1327881932680008443[12] = 0.0;
|
||||
out_1327881932680008443[13] = 0.0;
|
||||
out_1327881932680008443[14] = 0.0;
|
||||
out_1327881932680008443[15] = 0.0;
|
||||
out_1327881932680008443[16] = 0.0;
|
||||
out_1327881932680008443[17] = 0.0;
|
||||
out_1327881932680008443[18] = 0.0;
|
||||
out_1327881932680008443[19] = 0.0;
|
||||
out_1327881932680008443[20] = 1.0;
|
||||
out_1327881932680008443[21] = 0.0;
|
||||
out_1327881932680008443[22] = 0.0;
|
||||
out_1327881932680008443[23] = 0.0;
|
||||
out_1327881932680008443[24] = 0.0;
|
||||
out_1327881932680008443[25] = 0.0;
|
||||
out_1327881932680008443[26] = 0.0;
|
||||
out_1327881932680008443[27] = 0.0;
|
||||
out_1327881932680008443[28] = 0.0;
|
||||
out_1327881932680008443[29] = 0.0;
|
||||
out_1327881932680008443[30] = 1.0;
|
||||
out_1327881932680008443[31] = 0.0;
|
||||
out_1327881932680008443[32] = 0.0;
|
||||
out_1327881932680008443[33] = 0.0;
|
||||
out_1327881932680008443[34] = 0.0;
|
||||
out_1327881932680008443[35] = 0.0;
|
||||
out_1327881932680008443[36] = 0.0;
|
||||
out_1327881932680008443[37] = 0.0;
|
||||
out_1327881932680008443[38] = 0.0;
|
||||
out_1327881932680008443[39] = 0.0;
|
||||
out_1327881932680008443[40] = 1.0;
|
||||
out_1327881932680008443[41] = 0.0;
|
||||
out_1327881932680008443[42] = 0.0;
|
||||
out_1327881932680008443[43] = 0.0;
|
||||
out_1327881932680008443[44] = 0.0;
|
||||
out_1327881932680008443[45] = 0.0;
|
||||
out_1327881932680008443[46] = 0.0;
|
||||
out_1327881932680008443[47] = 0.0;
|
||||
out_1327881932680008443[48] = 0.0;
|
||||
out_1327881932680008443[49] = 0.0;
|
||||
out_1327881932680008443[50] = 1.0;
|
||||
out_1327881932680008443[51] = 0.0;
|
||||
out_1327881932680008443[52] = 0.0;
|
||||
out_1327881932680008443[53] = 0.0;
|
||||
out_1327881932680008443[54] = 0.0;
|
||||
out_1327881932680008443[55] = 0.0;
|
||||
out_1327881932680008443[56] = 0.0;
|
||||
out_1327881932680008443[57] = 0.0;
|
||||
out_1327881932680008443[58] = 0.0;
|
||||
out_1327881932680008443[59] = 0.0;
|
||||
out_1327881932680008443[60] = 1.0;
|
||||
out_1327881932680008443[61] = 0.0;
|
||||
out_1327881932680008443[62] = 0.0;
|
||||
out_1327881932680008443[63] = 0.0;
|
||||
out_1327881932680008443[64] = 0.0;
|
||||
out_1327881932680008443[65] = 0.0;
|
||||
out_1327881932680008443[66] = 0.0;
|
||||
out_1327881932680008443[67] = 0.0;
|
||||
out_1327881932680008443[68] = 0.0;
|
||||
out_1327881932680008443[69] = 0.0;
|
||||
out_1327881932680008443[70] = 1.0;
|
||||
out_1327881932680008443[71] = 0.0;
|
||||
out_1327881932680008443[72] = 0.0;
|
||||
out_1327881932680008443[73] = 0.0;
|
||||
out_1327881932680008443[74] = 0.0;
|
||||
out_1327881932680008443[75] = 0.0;
|
||||
out_1327881932680008443[76] = 0.0;
|
||||
out_1327881932680008443[77] = 0.0;
|
||||
out_1327881932680008443[78] = 0.0;
|
||||
out_1327881932680008443[79] = 0.0;
|
||||
out_1327881932680008443[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_7322816943518629238) {
|
||||
out_7322816943518629238[0] = 1.0;
|
||||
out_7322816943518629238[1] = 0.0;
|
||||
out_7322816943518629238[2] = 0.0;
|
||||
out_7322816943518629238[3] = 0.0;
|
||||
out_7322816943518629238[4] = 0.0;
|
||||
out_7322816943518629238[5] = 0.0;
|
||||
out_7322816943518629238[6] = 0.0;
|
||||
out_7322816943518629238[7] = 0.0;
|
||||
out_7322816943518629238[8] = 0.0;
|
||||
out_7322816943518629238[9] = 0.0;
|
||||
out_7322816943518629238[10] = 1.0;
|
||||
out_7322816943518629238[11] = 0.0;
|
||||
out_7322816943518629238[12] = 0.0;
|
||||
out_7322816943518629238[13] = 0.0;
|
||||
out_7322816943518629238[14] = 0.0;
|
||||
out_7322816943518629238[15] = 0.0;
|
||||
out_7322816943518629238[16] = 0.0;
|
||||
out_7322816943518629238[17] = 0.0;
|
||||
out_7322816943518629238[18] = 0.0;
|
||||
out_7322816943518629238[19] = 0.0;
|
||||
out_7322816943518629238[20] = 1.0;
|
||||
out_7322816943518629238[21] = 0.0;
|
||||
out_7322816943518629238[22] = 0.0;
|
||||
out_7322816943518629238[23] = 0.0;
|
||||
out_7322816943518629238[24] = 0.0;
|
||||
out_7322816943518629238[25] = 0.0;
|
||||
out_7322816943518629238[26] = 0.0;
|
||||
out_7322816943518629238[27] = 0.0;
|
||||
out_7322816943518629238[28] = 0.0;
|
||||
out_7322816943518629238[29] = 0.0;
|
||||
out_7322816943518629238[30] = 1.0;
|
||||
out_7322816943518629238[31] = 0.0;
|
||||
out_7322816943518629238[32] = 0.0;
|
||||
out_7322816943518629238[33] = 0.0;
|
||||
out_7322816943518629238[34] = 0.0;
|
||||
out_7322816943518629238[35] = 0.0;
|
||||
out_7322816943518629238[36] = 0.0;
|
||||
out_7322816943518629238[37] = 0.0;
|
||||
out_7322816943518629238[38] = 0.0;
|
||||
out_7322816943518629238[39] = 0.0;
|
||||
out_7322816943518629238[40] = 1.0;
|
||||
out_7322816943518629238[41] = 0.0;
|
||||
out_7322816943518629238[42] = 0.0;
|
||||
out_7322816943518629238[43] = 0.0;
|
||||
out_7322816943518629238[44] = 0.0;
|
||||
out_7322816943518629238[45] = 0.0;
|
||||
out_7322816943518629238[46] = 0.0;
|
||||
out_7322816943518629238[47] = 0.0;
|
||||
out_7322816943518629238[48] = 0.0;
|
||||
out_7322816943518629238[49] = 0.0;
|
||||
out_7322816943518629238[50] = 1.0;
|
||||
out_7322816943518629238[51] = 0.0;
|
||||
out_7322816943518629238[52] = 0.0;
|
||||
out_7322816943518629238[53] = 0.0;
|
||||
out_7322816943518629238[54] = 0.0;
|
||||
out_7322816943518629238[55] = 0.0;
|
||||
out_7322816943518629238[56] = 0.0;
|
||||
out_7322816943518629238[57] = 0.0;
|
||||
out_7322816943518629238[58] = 0.0;
|
||||
out_7322816943518629238[59] = 0.0;
|
||||
out_7322816943518629238[60] = 1.0;
|
||||
out_7322816943518629238[61] = 0.0;
|
||||
out_7322816943518629238[62] = 0.0;
|
||||
out_7322816943518629238[63] = 0.0;
|
||||
out_7322816943518629238[64] = 0.0;
|
||||
out_7322816943518629238[65] = 0.0;
|
||||
out_7322816943518629238[66] = 0.0;
|
||||
out_7322816943518629238[67] = 0.0;
|
||||
out_7322816943518629238[68] = 0.0;
|
||||
out_7322816943518629238[69] = 0.0;
|
||||
out_7322816943518629238[70] = 1.0;
|
||||
out_7322816943518629238[71] = 0.0;
|
||||
out_7322816943518629238[72] = 0.0;
|
||||
out_7322816943518629238[73] = 0.0;
|
||||
out_7322816943518629238[74] = 0.0;
|
||||
out_7322816943518629238[75] = 0.0;
|
||||
out_7322816943518629238[76] = 0.0;
|
||||
out_7322816943518629238[77] = 0.0;
|
||||
out_7322816943518629238[78] = 0.0;
|
||||
out_7322816943518629238[79] = 0.0;
|
||||
out_7322816943518629238[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_7832214154397608531) {
|
||||
out_7832214154397608531[0] = state[0];
|
||||
out_7832214154397608531[1] = state[1];
|
||||
out_7832214154397608531[2] = state[2];
|
||||
out_7832214154397608531[3] = state[3];
|
||||
out_7832214154397608531[4] = state[4];
|
||||
out_7832214154397608531[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_7832214154397608531[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_7832214154397608531[7] = state[7];
|
||||
out_7832214154397608531[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_6429621653186063469) {
|
||||
out_6429621653186063469[0] = state[0];
|
||||
out_6429621653186063469[1] = state[1];
|
||||
out_6429621653186063469[2] = state[2];
|
||||
out_6429621653186063469[3] = state[3];
|
||||
out_6429621653186063469[4] = state[4];
|
||||
out_6429621653186063469[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_6429621653186063469[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_6429621653186063469[7] = state[7];
|
||||
out_6429621653186063469[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_4114606570946988857) {
|
||||
out_4114606570946988857[0] = 1;
|
||||
out_4114606570946988857[1] = 0;
|
||||
out_4114606570946988857[2] = 0;
|
||||
out_4114606570946988857[3] = 0;
|
||||
out_4114606570946988857[4] = 0;
|
||||
out_4114606570946988857[5] = 0;
|
||||
out_4114606570946988857[6] = 0;
|
||||
out_4114606570946988857[7] = 0;
|
||||
out_4114606570946988857[8] = 0;
|
||||
out_4114606570946988857[9] = 0;
|
||||
out_4114606570946988857[10] = 1;
|
||||
out_4114606570946988857[11] = 0;
|
||||
out_4114606570946988857[12] = 0;
|
||||
out_4114606570946988857[13] = 0;
|
||||
out_4114606570946988857[14] = 0;
|
||||
out_4114606570946988857[15] = 0;
|
||||
out_4114606570946988857[16] = 0;
|
||||
out_4114606570946988857[17] = 0;
|
||||
out_4114606570946988857[18] = 0;
|
||||
out_4114606570946988857[19] = 0;
|
||||
out_4114606570946988857[20] = 1;
|
||||
out_4114606570946988857[21] = 0;
|
||||
out_4114606570946988857[22] = 0;
|
||||
out_4114606570946988857[23] = 0;
|
||||
out_4114606570946988857[24] = 0;
|
||||
out_4114606570946988857[25] = 0;
|
||||
out_4114606570946988857[26] = 0;
|
||||
out_4114606570946988857[27] = 0;
|
||||
out_4114606570946988857[28] = 0;
|
||||
out_4114606570946988857[29] = 0;
|
||||
out_4114606570946988857[30] = 1;
|
||||
out_4114606570946988857[31] = 0;
|
||||
out_4114606570946988857[32] = 0;
|
||||
out_4114606570946988857[33] = 0;
|
||||
out_4114606570946988857[34] = 0;
|
||||
out_4114606570946988857[35] = 0;
|
||||
out_4114606570946988857[36] = 0;
|
||||
out_4114606570946988857[37] = 0;
|
||||
out_4114606570946988857[38] = 0;
|
||||
out_4114606570946988857[39] = 0;
|
||||
out_4114606570946988857[40] = 1;
|
||||
out_4114606570946988857[41] = 0;
|
||||
out_4114606570946988857[42] = 0;
|
||||
out_4114606570946988857[43] = 0;
|
||||
out_4114606570946988857[44] = 0;
|
||||
out_4114606570946988857[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_4114606570946988857[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_4114606570946988857[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4114606570946988857[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4114606570946988857[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_4114606570946988857[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_4114606570946988857[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_4114606570946988857[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4114606570946988857[53] = -9.8100000000000005*dt;
|
||||
out_4114606570946988857[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_4114606570946988857[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_4114606570946988857[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4114606570946988857[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4114606570946988857[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_4114606570946988857[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_4114606570946988857[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_4114606570946988857[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4114606570946988857[62] = 0;
|
||||
out_4114606570946988857[63] = 0;
|
||||
out_4114606570946988857[64] = 0;
|
||||
out_4114606570946988857[65] = 0;
|
||||
out_4114606570946988857[66] = 0;
|
||||
out_4114606570946988857[67] = 0;
|
||||
out_4114606570946988857[68] = 0;
|
||||
out_4114606570946988857[69] = 0;
|
||||
out_4114606570946988857[70] = 1;
|
||||
out_4114606570946988857[71] = 0;
|
||||
out_4114606570946988857[72] = 0;
|
||||
out_4114606570946988857[73] = 0;
|
||||
out_4114606570946988857[74] = 0;
|
||||
out_4114606570946988857[75] = 0;
|
||||
out_4114606570946988857[76] = 0;
|
||||
out_4114606570946988857[77] = 0;
|
||||
out_4114606570946988857[78] = 0;
|
||||
out_4114606570946988857[79] = 0;
|
||||
out_4114606570946988857[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_4451613020495234820) {
|
||||
out_4451613020495234820[0] = 1;
|
||||
out_4451613020495234820[1] = 0;
|
||||
out_4451613020495234820[2] = 0;
|
||||
out_4451613020495234820[3] = 0;
|
||||
out_4451613020495234820[4] = 0;
|
||||
out_4451613020495234820[5] = 0;
|
||||
out_4451613020495234820[6] = 0;
|
||||
out_4451613020495234820[7] = 0;
|
||||
out_4451613020495234820[8] = 0;
|
||||
out_4451613020495234820[9] = 0;
|
||||
out_4451613020495234820[10] = 1;
|
||||
out_4451613020495234820[11] = 0;
|
||||
out_4451613020495234820[12] = 0;
|
||||
out_4451613020495234820[13] = 0;
|
||||
out_4451613020495234820[14] = 0;
|
||||
out_4451613020495234820[15] = 0;
|
||||
out_4451613020495234820[16] = 0;
|
||||
out_4451613020495234820[17] = 0;
|
||||
out_4451613020495234820[18] = 0;
|
||||
out_4451613020495234820[19] = 0;
|
||||
out_4451613020495234820[20] = 1;
|
||||
out_4451613020495234820[21] = 0;
|
||||
out_4451613020495234820[22] = 0;
|
||||
out_4451613020495234820[23] = 0;
|
||||
out_4451613020495234820[24] = 0;
|
||||
out_4451613020495234820[25] = 0;
|
||||
out_4451613020495234820[26] = 0;
|
||||
out_4451613020495234820[27] = 0;
|
||||
out_4451613020495234820[28] = 0;
|
||||
out_4451613020495234820[29] = 0;
|
||||
out_4451613020495234820[30] = 1;
|
||||
out_4451613020495234820[31] = 0;
|
||||
out_4451613020495234820[32] = 0;
|
||||
out_4451613020495234820[33] = 0;
|
||||
out_4451613020495234820[34] = 0;
|
||||
out_4451613020495234820[35] = 0;
|
||||
out_4451613020495234820[36] = 0;
|
||||
out_4451613020495234820[37] = 0;
|
||||
out_4451613020495234820[38] = 0;
|
||||
out_4451613020495234820[39] = 0;
|
||||
out_4451613020495234820[40] = 1;
|
||||
out_4451613020495234820[41] = 0;
|
||||
out_4451613020495234820[42] = 0;
|
||||
out_4451613020495234820[43] = 0;
|
||||
out_4451613020495234820[44] = 0;
|
||||
out_4451613020495234820[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_4451613020495234820[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_4451613020495234820[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4451613020495234820[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4451613020495234820[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_4451613020495234820[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_4451613020495234820[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_4451613020495234820[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4451613020495234820[53] = -9.8100000000000005*dt;
|
||||
out_4451613020495234820[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_4451613020495234820[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_4451613020495234820[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4451613020495234820[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4451613020495234820[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_4451613020495234820[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_4451613020495234820[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_4451613020495234820[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4451613020495234820[62] = 0;
|
||||
out_4451613020495234820[63] = 0;
|
||||
out_4451613020495234820[64] = 0;
|
||||
out_4451613020495234820[65] = 0;
|
||||
out_4451613020495234820[66] = 0;
|
||||
out_4451613020495234820[67] = 0;
|
||||
out_4451613020495234820[68] = 0;
|
||||
out_4451613020495234820[69] = 0;
|
||||
out_4451613020495234820[70] = 1;
|
||||
out_4451613020495234820[71] = 0;
|
||||
out_4451613020495234820[72] = 0;
|
||||
out_4451613020495234820[73] = 0;
|
||||
out_4451613020495234820[74] = 0;
|
||||
out_4451613020495234820[75] = 0;
|
||||
out_4451613020495234820[76] = 0;
|
||||
out_4451613020495234820[77] = 0;
|
||||
out_4451613020495234820[78] = 0;
|
||||
out_4451613020495234820[79] = 0;
|
||||
out_4451613020495234820[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_8263447783360605785) {
|
||||
out_8263447783360605785[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_5140546513771631716) {
|
||||
out_5140546513771631716[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_5780776564353391637) {
|
||||
out_5780776564353391637[0] = 0;
|
||||
out_5780776564353391637[1] = 0;
|
||||
out_5780776564353391637[2] = 0;
|
||||
out_5780776564353391637[3] = 0;
|
||||
out_5780776564353391637[4] = 0;
|
||||
out_5780776564353391637[5] = 0;
|
||||
out_5780776564353391637[6] = 1;
|
||||
out_5780776564353391637[7] = 0;
|
||||
out_5780776564353391637[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_1930738904278685141) {
|
||||
out_1930738904278685141[0] = 0;
|
||||
out_1930738904278685141[1] = 0;
|
||||
out_1930738904278685141[2] = 0;
|
||||
out_1930738904278685141[3] = 0;
|
||||
out_1930738904278685141[4] = 0;
|
||||
out_1930738904278685141[5] = 0;
|
||||
out_1930738904278685141[6] = 1;
|
||||
out_1930738904278685141[7] = 0;
|
||||
out_1930738904278685141[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_4755010794979530940) {
|
||||
out_4755010794979530940[0] = state[4];
|
||||
out_4755010794979530940[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_867003127290538570) {
|
||||
out_867003127290538570[0] = state[4];
|
||||
out_867003127290538570[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_9108041910553836843) {
|
||||
out_9108041910553836843[0] = 0;
|
||||
out_9108041910553836843[1] = 0;
|
||||
out_9108041910553836843[2] = 0;
|
||||
out_9108041910553836843[3] = 0;
|
||||
out_9108041910553836843[4] = 1;
|
||||
out_9108041910553836843[5] = 0;
|
||||
out_9108041910553836843[6] = 0;
|
||||
out_9108041910553836843[7] = 0;
|
||||
out_9108041910553836843[8] = 0;
|
||||
out_9108041910553836843[9] = 0;
|
||||
out_9108041910553836843[10] = 0;
|
||||
out_9108041910553836843[11] = 0;
|
||||
out_9108041910553836843[12] = 0;
|
||||
out_9108041910553836843[13] = 0;
|
||||
out_9108041910553836843[14] = 1;
|
||||
out_9108041910553836843[15] = 0;
|
||||
out_9108041910553836843[16] = 0;
|
||||
out_9108041910553836843[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_4156446688257553703) {
|
||||
out_4156446688257553703[0] = 0;
|
||||
out_4156446688257553703[1] = 0;
|
||||
out_4156446688257553703[2] = 0;
|
||||
out_4156446688257553703[3] = 0;
|
||||
out_4156446688257553703[4] = 1;
|
||||
out_4156446688257553703[5] = 0;
|
||||
out_4156446688257553703[6] = 0;
|
||||
out_4156446688257553703[7] = 0;
|
||||
out_4156446688257553703[8] = 0;
|
||||
out_4156446688257553703[9] = 0;
|
||||
out_4156446688257553703[10] = 0;
|
||||
out_4156446688257553703[11] = 0;
|
||||
out_4156446688257553703[12] = 0;
|
||||
out_4156446688257553703[13] = 0;
|
||||
out_4156446688257553703[14] = 1;
|
||||
out_4156446688257553703[15] = 0;
|
||||
out_4156446688257553703[16] = 0;
|
||||
out_4156446688257553703[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_6812816390731722618) {
|
||||
out_6812816390731722618[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_5297733182122760861) {
|
||||
out_5297733182122760861[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_5749277167864543224) {
|
||||
out_5749277167864543224[0] = 0;
|
||||
out_5749277167864543224[1] = 0;
|
||||
out_5749277167864543224[2] = 0;
|
||||
out_5749277167864543224[3] = 0;
|
||||
out_5749277167864543224[4] = 1;
|
||||
out_5749277167864543224[5] = 0;
|
||||
out_5749277167864543224[6] = 0;
|
||||
out_5749277167864543224[7] = 0;
|
||||
out_5749277167864543224[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_8847429245770301896) {
|
||||
out_8847429245770301896[0] = 0;
|
||||
out_8847429245770301896[1] = 0;
|
||||
out_8847429245770301896[2] = 0;
|
||||
out_8847429245770301896[3] = 0;
|
||||
out_8847429245770301896[4] = 1;
|
||||
out_8847429245770301896[5] = 0;
|
||||
out_8847429245770301896[6] = 0;
|
||||
out_8847429245770301896[7] = 0;
|
||||
out_8847429245770301896[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_4631164979184763219) {
|
||||
out_4631164979184763219[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_8147337623925945110) {
|
||||
out_8147337623925945110[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_2039273245479335413) {
|
||||
out_2039273245479335413[0] = 0;
|
||||
out_2039273245479335413[1] = 0;
|
||||
out_2039273245479335413[2] = 0;
|
||||
out_2039273245479335413[3] = 0;
|
||||
out_2039273245479335413[4] = 0;
|
||||
out_2039273245479335413[5] = 0;
|
||||
out_2039273245479335413[6] = 0;
|
||||
out_2039273245479335413[7] = 1;
|
||||
out_2039273245479335413[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_1810764414595371083) {
|
||||
out_1810764414595371083[0] = 0;
|
||||
out_1810764414595371083[1] = 0;
|
||||
out_1810764414595371083[2] = 0;
|
||||
out_1810764414595371083[3] = 0;
|
||||
out_1810764414595371083[4] = 0;
|
||||
out_1810764414595371083[5] = 0;
|
||||
out_1810764414595371083[6] = 0;
|
||||
out_1810764414595371083[7] = 1;
|
||||
out_1810764414595371083[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_6907448477601489242) {
|
||||
out_6907448477601489242[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_217345790508090885) {
|
||||
out_217345790508090885[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_7924040479664968135) {
|
||||
out_7924040479664968135[0] = 0;
|
||||
out_7924040479664968135[1] = 0;
|
||||
out_7924040479664968135[2] = 0;
|
||||
out_7924040479664968135[3] = 1;
|
||||
out_7924040479664968135[4] = 0;
|
||||
out_7924040479664968135[5] = 0;
|
||||
out_7924040479664968135[6] = 0;
|
||||
out_7924040479664968135[7] = 0;
|
||||
out_7924040479664968135[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_6672665933969876985) {
|
||||
out_6672665933969876985[0] = 0;
|
||||
out_6672665933969876985[1] = 0;
|
||||
out_6672665933969876985[2] = 0;
|
||||
out_6672665933969876985[3] = 1;
|
||||
out_6672665933969876985[4] = 0;
|
||||
out_6672665933969876985[5] = 0;
|
||||
out_6672665933969876985[6] = 0;
|
||||
out_6672665933969876985[7] = 0;
|
||||
out_6672665933969876985[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_6632254415316983353) {
|
||||
out_6632254415316983353[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_675547152666652547) {
|
||||
out_675547152666652547[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_5239045823550151040) {
|
||||
out_5239045823550151040[0] = 0;
|
||||
out_5239045823550151040[1] = 1;
|
||||
out_5239045823550151040[2] = 0;
|
||||
out_5239045823550151040[3] = 0;
|
||||
out_5239045823550151040[4] = 0;
|
||||
out_5239045823550151040[5] = 0;
|
||||
out_5239045823550151040[6] = 0;
|
||||
out_5239045823550151040[7] = 0;
|
||||
out_5239045823550151040[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_9089083483624857536) {
|
||||
out_9089083483624857536[0] = 0;
|
||||
out_9089083483624857536[1] = 1;
|
||||
out_9089083483624857536[2] = 0;
|
||||
out_9089083483624857536[3] = 0;
|
||||
out_9089083483624857536[4] = 0;
|
||||
out_9089083483624857536[5] = 0;
|
||||
out_9089083483624857536[6] = 0;
|
||||
out_9089083483624857536[7] = 0;
|
||||
out_9089083483624857536[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_4283151879014610665) {
|
||||
out_4283151879014610665[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_4927544272607556652) {
|
||||
out_4927544272607556652[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_8125299233089870002) {
|
||||
out_8125299233089870002[0] = 1;
|
||||
out_8125299233089870002[1] = 0;
|
||||
out_8125299233089870002[2] = 0;
|
||||
out_8125299233089870002[3] = 0;
|
||||
out_8125299233089870002[4] = 0;
|
||||
out_8125299233089870002[5] = 0;
|
||||
out_8125299233089870002[6] = 0;
|
||||
out_8125299233089870002[7] = 0;
|
||||
out_8125299233089870002[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_123095809969204622) {
|
||||
out_123095809969204622[0] = 1;
|
||||
out_123095809969204622[1] = 0;
|
||||
out_123095809969204622[2] = 0;
|
||||
out_123095809969204622[3] = 0;
|
||||
out_123095809969204622[4] = 0;
|
||||
out_123095809969204622[5] = 0;
|
||||
out_123095809969204622[6] = 0;
|
||||
out_123095809969204622[7] = 0;
|
||||
out_123095809969204622[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_7988253721076099896) {
|
||||
out_7988253721076099896[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_2544246198651735911) {
|
||||
out_2544246198651735911[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_5811422526230352065) {
|
||||
out_5811422526230352065[0] = 0;
|
||||
out_5811422526230352065[1] = 0;
|
||||
out_5811422526230352065[2] = 0;
|
||||
out_5811422526230352065[3] = 0;
|
||||
out_5811422526230352065[4] = 0;
|
||||
out_5811422526230352065[5] = 0;
|
||||
out_5811422526230352065[6] = 0;
|
||||
out_5811422526230352065[7] = 0;
|
||||
out_5811422526230352065[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_1961384866155645569) {
|
||||
out_1961384866155645569[0] = 0;
|
||||
out_1961384866155645569[1] = 0;
|
||||
out_1961384866155645569[2] = 0;
|
||||
out_1961384866155645569[3] = 0;
|
||||
out_1961384866155645569[4] = 0;
|
||||
out_1961384866155645569[5] = 0;
|
||||
out_1961384866155645569[6] = 0;
|
||||
out_1961384866155645569[7] = 0;
|
||||
out_1961384866155645569[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_8986378044421410730) {
|
||||
err_fun(nom_x, delta_x, out_8986378044421410730);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1982741958495934934) {
|
||||
err_fun(nom_x, delta_x, out_1982741958495934934);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1940910250995899848) {
|
||||
inv_err_fun(nom_x, true_x, out_1940910250995899848);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805) {
|
||||
inv_err_fun(nom_x, true_x, out_1965858196176103805);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_1327881932680008443) {
|
||||
H_mod_fun(state, out_1327881932680008443);
|
||||
void car_H_mod_fun(double *state, double *out_7322816943518629238) {
|
||||
H_mod_fun(state, out_7322816943518629238);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_7832214154397608531) {
|
||||
f_fun(state, dt, out_7832214154397608531);
|
||||
void car_f_fun(double *state, double dt, double *out_6429621653186063469) {
|
||||
f_fun(state, dt, out_6429621653186063469);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_4114606570946988857) {
|
||||
F_fun(state, dt, out_4114606570946988857);
|
||||
void car_F_fun(double *state, double dt, double *out_4451613020495234820) {
|
||||
F_fun(state, dt, out_4451613020495234820);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_8263447783360605785) {
|
||||
h_25(state, unused, out_8263447783360605785);
|
||||
void car_h_25(double *state, double *unused, double *out_5140546513771631716) {
|
||||
h_25(state, unused, out_5140546513771631716);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_5780776564353391637) {
|
||||
H_25(state, unused, out_5780776564353391637);
|
||||
void car_H_25(double *state, double *unused, double *out_1930738904278685141) {
|
||||
H_25(state, unused, out_1930738904278685141);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_4755010794979530940) {
|
||||
h_24(state, unused, out_4755010794979530940);
|
||||
void car_h_24(double *state, double *unused, double *out_867003127290538570) {
|
||||
h_24(state, unused, out_867003127290538570);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_9108041910553836843) {
|
||||
H_24(state, unused, out_9108041910553836843);
|
||||
void car_H_24(double *state, double *unused, double *out_4156446688257553703) {
|
||||
H_24(state, unused, out_4156446688257553703);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_6812816390731722618) {
|
||||
h_30(state, unused, out_6812816390731722618);
|
||||
void car_h_30(double *state, double *unused, double *out_5297733182122760861) {
|
||||
h_30(state, unused, out_5297733182122760861);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_5749277167864543224) {
|
||||
H_30(state, unused, out_5749277167864543224);
|
||||
void car_H_30(double *state, double *unused, double *out_8847429245770301896) {
|
||||
H_30(state, unused, out_8847429245770301896);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_4631164979184763219) {
|
||||
h_26(state, unused, out_4631164979184763219);
|
||||
void car_h_26(double *state, double *unused, double *out_8147337623925945110) {
|
||||
h_26(state, unused, out_8147337623925945110);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_2039273245479335413) {
|
||||
H_26(state, unused, out_2039273245479335413);
|
||||
void car_H_26(double *state, double *unused, double *out_1810764414595371083) {
|
||||
H_26(state, unused, out_1810764414595371083);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_6907448477601489242) {
|
||||
h_27(state, unused, out_6907448477601489242);
|
||||
void car_h_27(double *state, double *unused, double *out_217345790508090885) {
|
||||
h_27(state, unused, out_217345790508090885);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_7924040479664968135) {
|
||||
H_27(state, unused, out_7924040479664968135);
|
||||
void car_H_27(double *state, double *unused, double *out_6672665933969876985) {
|
||||
H_27(state, unused, out_6672665933969876985);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_6632254415316983353) {
|
||||
h_29(state, unused, out_6632254415316983353);
|
||||
void car_h_29(double *state, double *unused, double *out_675547152666652547) {
|
||||
h_29(state, unused, out_675547152666652547);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_5239045823550151040) {
|
||||
H_29(state, unused, out_5239045823550151040);
|
||||
void car_H_29(double *state, double *unused, double *out_9089083483624857536) {
|
||||
H_29(state, unused, out_9089083483624857536);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_4283151879014610665) {
|
||||
h_28(state, unused, out_4283151879014610665);
|
||||
void car_h_28(double *state, double *unused, double *out_4927544272607556652) {
|
||||
h_28(state, unused, out_4927544272607556652);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_8125299233089870002) {
|
||||
H_28(state, unused, out_8125299233089870002);
|
||||
void car_H_28(double *state, double *unused, double *out_123095809969204622) {
|
||||
H_28(state, unused, out_123095809969204622);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_7988253721076099896) {
|
||||
h_31(state, unused, out_7988253721076099896);
|
||||
void car_h_31(double *state, double *unused, double *out_2544246198651735911) {
|
||||
h_31(state, unused, out_2544246198651735911);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_5811422526230352065) {
|
||||
H_31(state, unused, out_5811422526230352065);
|
||||
void car_H_31(double *state, double *unused, double *out_1961384866155645569) {
|
||||
H_31(state, unused, out_1961384866155645569);
|
||||
}
|
||||
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_8986378044421410730);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1940910250995899848);
|
||||
void car_H_mod_fun(double *state, double *out_1327881932680008443);
|
||||
void car_f_fun(double *state, double dt, double *out_7832214154397608531);
|
||||
void car_F_fun(double *state, double dt, double *out_4114606570946988857);
|
||||
void car_h_25(double *state, double *unused, double *out_8263447783360605785);
|
||||
void car_H_25(double *state, double *unused, double *out_5780776564353391637);
|
||||
void car_h_24(double *state, double *unused, double *out_4755010794979530940);
|
||||
void car_H_24(double *state, double *unused, double *out_9108041910553836843);
|
||||
void car_h_30(double *state, double *unused, double *out_6812816390731722618);
|
||||
void car_H_30(double *state, double *unused, double *out_5749277167864543224);
|
||||
void car_h_26(double *state, double *unused, double *out_4631164979184763219);
|
||||
void car_H_26(double *state, double *unused, double *out_2039273245479335413);
|
||||
void car_h_27(double *state, double *unused, double *out_6907448477601489242);
|
||||
void car_H_27(double *state, double *unused, double *out_7924040479664968135);
|
||||
void car_h_29(double *state, double *unused, double *out_6632254415316983353);
|
||||
void car_H_29(double *state, double *unused, double *out_5239045823550151040);
|
||||
void car_h_28(double *state, double *unused, double *out_4283151879014610665);
|
||||
void car_H_28(double *state, double *unused, double *out_8125299233089870002);
|
||||
void car_h_31(double *state, double *unused, double *out_7988253721076099896);
|
||||
void car_H_31(double *state, double *unused, double *out_5811422526230352065);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1982741958495934934);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805);
|
||||
void car_H_mod_fun(double *state, double *out_7322816943518629238);
|
||||
void car_f_fun(double *state, double dt, double *out_6429621653186063469);
|
||||
void car_F_fun(double *state, double dt, double *out_4451613020495234820);
|
||||
void car_h_25(double *state, double *unused, double *out_5140546513771631716);
|
||||
void car_H_25(double *state, double *unused, double *out_1930738904278685141);
|
||||
void car_h_24(double *state, double *unused, double *out_867003127290538570);
|
||||
void car_H_24(double *state, double *unused, double *out_4156446688257553703);
|
||||
void car_h_30(double *state, double *unused, double *out_5297733182122760861);
|
||||
void car_H_30(double *state, double *unused, double *out_8847429245770301896);
|
||||
void car_h_26(double *state, double *unused, double *out_8147337623925945110);
|
||||
void car_H_26(double *state, double *unused, double *out_1810764414595371083);
|
||||
void car_h_27(double *state, double *unused, double *out_217345790508090885);
|
||||
void car_H_27(double *state, double *unused, double *out_6672665933969876985);
|
||||
void car_h_29(double *state, double *unused, double *out_675547152666652547);
|
||||
void car_H_29(double *state, double *unused, double *out_9089083483624857536);
|
||||
void car_h_28(double *state, double *unused, double *out_4927544272607556652);
|
||||
void car_H_28(double *state, double *unused, double *out_123095809969204622);
|
||||
void car_h_31(double *state, double *unused, double *out_2544246198651735911);
|
||||
void car_H_31(double *state, double *unused, double *out_1961384866155645569);
|
||||
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_1282506072975981321);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8512738075508223963);
|
||||
void pose_H_mod_fun(double *state, double *out_3135048301285292021);
|
||||
void pose_f_fun(double *state, double dt, double *out_8178969782644284561);
|
||||
void pose_F_fun(double *state, double dt, double *out_7659025943100145673);
|
||||
void pose_h_4(double *state, double *unused, double *out_6376674584644624571);
|
||||
void pose_H_4(double *state, double *unused, double *out_1315349575378995160);
|
||||
void pose_h_10(double *state, double *unused, double *out_7386007572913415364);
|
||||
void pose_H_10(double *state, double *unused, double *out_2432083188517445378);
|
||||
void pose_h_13(double *state, double *unused, double *out_2876319704878199880);
|
||||
void pose_H_13(double *state, double *unused, double *out_8925980783695696089);
|
||||
void pose_h_14(double *state, double *unused, double *out_1255542748321681251);
|
||||
void pose_H_14(double *state, double *unused, double *out_5278590431718479689);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_3122087598286484509);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6671609920081726507);
|
||||
void pose_H_mod_fun(double *state, double *out_6807142630278803635);
|
||||
void pose_f_fun(double *state, double dt, double *out_6438279809192142379);
|
||||
void pose_F_fun(double *state, double dt, double *out_8719681830852947447);
|
||||
void pose_h_4(double *state, double *unused, double *out_2598619130748282794);
|
||||
void pose_H_4(double *state, double *unused, double *out_2137219035779017707);
|
||||
void pose_h_10(double *state, double *unused, double *out_7728804711762559661);
|
||||
void pose_H_10(double *state, double *unused, double *out_3682779017075027073);
|
||||
void pose_h_13(double *state, double *unused, double *out_8746038974809318358);
|
||||
void pose_H_13(double *state, double *unused, double *out_1075054789553315094);
|
||||
void pose_h_14(double *state, double *unused, double *out_4279600364142536095);
|
||||
void pose_H_14(double *state, double *unused, double *out_5220007468074390003);
|
||||
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