mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-20 15:54:13 +08:00
build
This commit is contained in:
firestar5683
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-230ed14e-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-f57a7f36-DEBUG";
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
DEV-230ed14e-DEBUG
|
||||
DEV-f57a7f36-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_3009395508469456389) {
|
||||
out_3009395508469456389[0] = delta_x[0] + nom_x[0];
|
||||
out_3009395508469456389[1] = delta_x[1] + nom_x[1];
|
||||
out_3009395508469456389[2] = delta_x[2] + nom_x[2];
|
||||
out_3009395508469456389[3] = delta_x[3] + nom_x[3];
|
||||
out_3009395508469456389[4] = delta_x[4] + nom_x[4];
|
||||
out_3009395508469456389[5] = delta_x[5] + nom_x[5];
|
||||
out_3009395508469456389[6] = delta_x[6] + nom_x[6];
|
||||
out_3009395508469456389[7] = delta_x[7] + nom_x[7];
|
||||
out_3009395508469456389[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_3239626159248919555) {
|
||||
out_3239626159248919555[0] = delta_x[0] + nom_x[0];
|
||||
out_3239626159248919555[1] = delta_x[1] + nom_x[1];
|
||||
out_3239626159248919555[2] = delta_x[2] + nom_x[2];
|
||||
out_3239626159248919555[3] = delta_x[3] + nom_x[3];
|
||||
out_3239626159248919555[4] = delta_x[4] + nom_x[4];
|
||||
out_3239626159248919555[5] = delta_x[5] + nom_x[5];
|
||||
out_3239626159248919555[6] = delta_x[6] + nom_x[6];
|
||||
out_3239626159248919555[7] = delta_x[7] + nom_x[7];
|
||||
out_3239626159248919555[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_6058691817726549063) {
|
||||
out_6058691817726549063[0] = -nom_x[0] + true_x[0];
|
||||
out_6058691817726549063[1] = -nom_x[1] + true_x[1];
|
||||
out_6058691817726549063[2] = -nom_x[2] + true_x[2];
|
||||
out_6058691817726549063[3] = -nom_x[3] + true_x[3];
|
||||
out_6058691817726549063[4] = -nom_x[4] + true_x[4];
|
||||
out_6058691817726549063[5] = -nom_x[5] + true_x[5];
|
||||
out_6058691817726549063[6] = -nom_x[6] + true_x[6];
|
||||
out_6058691817726549063[7] = -nom_x[7] + true_x[7];
|
||||
out_6058691817726549063[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_7776805117874316837) {
|
||||
out_7776805117874316837[0] = -nom_x[0] + true_x[0];
|
||||
out_7776805117874316837[1] = -nom_x[1] + true_x[1];
|
||||
out_7776805117874316837[2] = -nom_x[2] + true_x[2];
|
||||
out_7776805117874316837[3] = -nom_x[3] + true_x[3];
|
||||
out_7776805117874316837[4] = -nom_x[4] + true_x[4];
|
||||
out_7776805117874316837[5] = -nom_x[5] + true_x[5];
|
||||
out_7776805117874316837[6] = -nom_x[6] + true_x[6];
|
||||
out_7776805117874316837[7] = -nom_x[7] + true_x[7];
|
||||
out_7776805117874316837[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_6620632585560778509) {
|
||||
out_6620632585560778509[0] = 1.0;
|
||||
out_6620632585560778509[1] = 0.0;
|
||||
out_6620632585560778509[2] = 0.0;
|
||||
out_6620632585560778509[3] = 0.0;
|
||||
out_6620632585560778509[4] = 0.0;
|
||||
out_6620632585560778509[5] = 0.0;
|
||||
out_6620632585560778509[6] = 0.0;
|
||||
out_6620632585560778509[7] = 0.0;
|
||||
out_6620632585560778509[8] = 0.0;
|
||||
out_6620632585560778509[9] = 0.0;
|
||||
out_6620632585560778509[10] = 1.0;
|
||||
out_6620632585560778509[11] = 0.0;
|
||||
out_6620632585560778509[12] = 0.0;
|
||||
out_6620632585560778509[13] = 0.0;
|
||||
out_6620632585560778509[14] = 0.0;
|
||||
out_6620632585560778509[15] = 0.0;
|
||||
out_6620632585560778509[16] = 0.0;
|
||||
out_6620632585560778509[17] = 0.0;
|
||||
out_6620632585560778509[18] = 0.0;
|
||||
out_6620632585560778509[19] = 0.0;
|
||||
out_6620632585560778509[20] = 1.0;
|
||||
out_6620632585560778509[21] = 0.0;
|
||||
out_6620632585560778509[22] = 0.0;
|
||||
out_6620632585560778509[23] = 0.0;
|
||||
out_6620632585560778509[24] = 0.0;
|
||||
out_6620632585560778509[25] = 0.0;
|
||||
out_6620632585560778509[26] = 0.0;
|
||||
out_6620632585560778509[27] = 0.0;
|
||||
out_6620632585560778509[28] = 0.0;
|
||||
out_6620632585560778509[29] = 0.0;
|
||||
out_6620632585560778509[30] = 1.0;
|
||||
out_6620632585560778509[31] = 0.0;
|
||||
out_6620632585560778509[32] = 0.0;
|
||||
out_6620632585560778509[33] = 0.0;
|
||||
out_6620632585560778509[34] = 0.0;
|
||||
out_6620632585560778509[35] = 0.0;
|
||||
out_6620632585560778509[36] = 0.0;
|
||||
out_6620632585560778509[37] = 0.0;
|
||||
out_6620632585560778509[38] = 0.0;
|
||||
out_6620632585560778509[39] = 0.0;
|
||||
out_6620632585560778509[40] = 1.0;
|
||||
out_6620632585560778509[41] = 0.0;
|
||||
out_6620632585560778509[42] = 0.0;
|
||||
out_6620632585560778509[43] = 0.0;
|
||||
out_6620632585560778509[44] = 0.0;
|
||||
out_6620632585560778509[45] = 0.0;
|
||||
out_6620632585560778509[46] = 0.0;
|
||||
out_6620632585560778509[47] = 0.0;
|
||||
out_6620632585560778509[48] = 0.0;
|
||||
out_6620632585560778509[49] = 0.0;
|
||||
out_6620632585560778509[50] = 1.0;
|
||||
out_6620632585560778509[51] = 0.0;
|
||||
out_6620632585560778509[52] = 0.0;
|
||||
out_6620632585560778509[53] = 0.0;
|
||||
out_6620632585560778509[54] = 0.0;
|
||||
out_6620632585560778509[55] = 0.0;
|
||||
out_6620632585560778509[56] = 0.0;
|
||||
out_6620632585560778509[57] = 0.0;
|
||||
out_6620632585560778509[58] = 0.0;
|
||||
out_6620632585560778509[59] = 0.0;
|
||||
out_6620632585560778509[60] = 1.0;
|
||||
out_6620632585560778509[61] = 0.0;
|
||||
out_6620632585560778509[62] = 0.0;
|
||||
out_6620632585560778509[63] = 0.0;
|
||||
out_6620632585560778509[64] = 0.0;
|
||||
out_6620632585560778509[65] = 0.0;
|
||||
out_6620632585560778509[66] = 0.0;
|
||||
out_6620632585560778509[67] = 0.0;
|
||||
out_6620632585560778509[68] = 0.0;
|
||||
out_6620632585560778509[69] = 0.0;
|
||||
out_6620632585560778509[70] = 1.0;
|
||||
out_6620632585560778509[71] = 0.0;
|
||||
out_6620632585560778509[72] = 0.0;
|
||||
out_6620632585560778509[73] = 0.0;
|
||||
out_6620632585560778509[74] = 0.0;
|
||||
out_6620632585560778509[75] = 0.0;
|
||||
out_6620632585560778509[76] = 0.0;
|
||||
out_6620632585560778509[77] = 0.0;
|
||||
out_6620632585560778509[78] = 0.0;
|
||||
out_6620632585560778509[79] = 0.0;
|
||||
out_6620632585560778509[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_857826347354799703) {
|
||||
out_857826347354799703[0] = 1.0;
|
||||
out_857826347354799703[1] = 0.0;
|
||||
out_857826347354799703[2] = 0.0;
|
||||
out_857826347354799703[3] = 0.0;
|
||||
out_857826347354799703[4] = 0.0;
|
||||
out_857826347354799703[5] = 0.0;
|
||||
out_857826347354799703[6] = 0.0;
|
||||
out_857826347354799703[7] = 0.0;
|
||||
out_857826347354799703[8] = 0.0;
|
||||
out_857826347354799703[9] = 0.0;
|
||||
out_857826347354799703[10] = 1.0;
|
||||
out_857826347354799703[11] = 0.0;
|
||||
out_857826347354799703[12] = 0.0;
|
||||
out_857826347354799703[13] = 0.0;
|
||||
out_857826347354799703[14] = 0.0;
|
||||
out_857826347354799703[15] = 0.0;
|
||||
out_857826347354799703[16] = 0.0;
|
||||
out_857826347354799703[17] = 0.0;
|
||||
out_857826347354799703[18] = 0.0;
|
||||
out_857826347354799703[19] = 0.0;
|
||||
out_857826347354799703[20] = 1.0;
|
||||
out_857826347354799703[21] = 0.0;
|
||||
out_857826347354799703[22] = 0.0;
|
||||
out_857826347354799703[23] = 0.0;
|
||||
out_857826347354799703[24] = 0.0;
|
||||
out_857826347354799703[25] = 0.0;
|
||||
out_857826347354799703[26] = 0.0;
|
||||
out_857826347354799703[27] = 0.0;
|
||||
out_857826347354799703[28] = 0.0;
|
||||
out_857826347354799703[29] = 0.0;
|
||||
out_857826347354799703[30] = 1.0;
|
||||
out_857826347354799703[31] = 0.0;
|
||||
out_857826347354799703[32] = 0.0;
|
||||
out_857826347354799703[33] = 0.0;
|
||||
out_857826347354799703[34] = 0.0;
|
||||
out_857826347354799703[35] = 0.0;
|
||||
out_857826347354799703[36] = 0.0;
|
||||
out_857826347354799703[37] = 0.0;
|
||||
out_857826347354799703[38] = 0.0;
|
||||
out_857826347354799703[39] = 0.0;
|
||||
out_857826347354799703[40] = 1.0;
|
||||
out_857826347354799703[41] = 0.0;
|
||||
out_857826347354799703[42] = 0.0;
|
||||
out_857826347354799703[43] = 0.0;
|
||||
out_857826347354799703[44] = 0.0;
|
||||
out_857826347354799703[45] = 0.0;
|
||||
out_857826347354799703[46] = 0.0;
|
||||
out_857826347354799703[47] = 0.0;
|
||||
out_857826347354799703[48] = 0.0;
|
||||
out_857826347354799703[49] = 0.0;
|
||||
out_857826347354799703[50] = 1.0;
|
||||
out_857826347354799703[51] = 0.0;
|
||||
out_857826347354799703[52] = 0.0;
|
||||
out_857826347354799703[53] = 0.0;
|
||||
out_857826347354799703[54] = 0.0;
|
||||
out_857826347354799703[55] = 0.0;
|
||||
out_857826347354799703[56] = 0.0;
|
||||
out_857826347354799703[57] = 0.0;
|
||||
out_857826347354799703[58] = 0.0;
|
||||
out_857826347354799703[59] = 0.0;
|
||||
out_857826347354799703[60] = 1.0;
|
||||
out_857826347354799703[61] = 0.0;
|
||||
out_857826347354799703[62] = 0.0;
|
||||
out_857826347354799703[63] = 0.0;
|
||||
out_857826347354799703[64] = 0.0;
|
||||
out_857826347354799703[65] = 0.0;
|
||||
out_857826347354799703[66] = 0.0;
|
||||
out_857826347354799703[67] = 0.0;
|
||||
out_857826347354799703[68] = 0.0;
|
||||
out_857826347354799703[69] = 0.0;
|
||||
out_857826347354799703[70] = 1.0;
|
||||
out_857826347354799703[71] = 0.0;
|
||||
out_857826347354799703[72] = 0.0;
|
||||
out_857826347354799703[73] = 0.0;
|
||||
out_857826347354799703[74] = 0.0;
|
||||
out_857826347354799703[75] = 0.0;
|
||||
out_857826347354799703[76] = 0.0;
|
||||
out_857826347354799703[77] = 0.0;
|
||||
out_857826347354799703[78] = 0.0;
|
||||
out_857826347354799703[79] = 0.0;
|
||||
out_857826347354799703[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_3578319971516081169) {
|
||||
out_3578319971516081169[0] = state[0];
|
||||
out_3578319971516081169[1] = state[1];
|
||||
out_3578319971516081169[2] = state[2];
|
||||
out_3578319971516081169[3] = state[3];
|
||||
out_3578319971516081169[4] = state[4];
|
||||
out_3578319971516081169[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_3578319971516081169[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_3578319971516081169[7] = state[7];
|
||||
out_3578319971516081169[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_8901269396414862155) {
|
||||
out_8901269396414862155[0] = state[0];
|
||||
out_8901269396414862155[1] = state[1];
|
||||
out_8901269396414862155[2] = state[2];
|
||||
out_8901269396414862155[3] = state[3];
|
||||
out_8901269396414862155[4] = state[4];
|
||||
out_8901269396414862155[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_8901269396414862155[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_8901269396414862155[7] = state[7];
|
||||
out_8901269396414862155[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_2530937000049298875) {
|
||||
out_2530937000049298875[0] = 1;
|
||||
out_2530937000049298875[1] = 0;
|
||||
out_2530937000049298875[2] = 0;
|
||||
out_2530937000049298875[3] = 0;
|
||||
out_2530937000049298875[4] = 0;
|
||||
out_2530937000049298875[5] = 0;
|
||||
out_2530937000049298875[6] = 0;
|
||||
out_2530937000049298875[7] = 0;
|
||||
out_2530937000049298875[8] = 0;
|
||||
out_2530937000049298875[9] = 0;
|
||||
out_2530937000049298875[10] = 1;
|
||||
out_2530937000049298875[11] = 0;
|
||||
out_2530937000049298875[12] = 0;
|
||||
out_2530937000049298875[13] = 0;
|
||||
out_2530937000049298875[14] = 0;
|
||||
out_2530937000049298875[15] = 0;
|
||||
out_2530937000049298875[16] = 0;
|
||||
out_2530937000049298875[17] = 0;
|
||||
out_2530937000049298875[18] = 0;
|
||||
out_2530937000049298875[19] = 0;
|
||||
out_2530937000049298875[20] = 1;
|
||||
out_2530937000049298875[21] = 0;
|
||||
out_2530937000049298875[22] = 0;
|
||||
out_2530937000049298875[23] = 0;
|
||||
out_2530937000049298875[24] = 0;
|
||||
out_2530937000049298875[25] = 0;
|
||||
out_2530937000049298875[26] = 0;
|
||||
out_2530937000049298875[27] = 0;
|
||||
out_2530937000049298875[28] = 0;
|
||||
out_2530937000049298875[29] = 0;
|
||||
out_2530937000049298875[30] = 1;
|
||||
out_2530937000049298875[31] = 0;
|
||||
out_2530937000049298875[32] = 0;
|
||||
out_2530937000049298875[33] = 0;
|
||||
out_2530937000049298875[34] = 0;
|
||||
out_2530937000049298875[35] = 0;
|
||||
out_2530937000049298875[36] = 0;
|
||||
out_2530937000049298875[37] = 0;
|
||||
out_2530937000049298875[38] = 0;
|
||||
out_2530937000049298875[39] = 0;
|
||||
out_2530937000049298875[40] = 1;
|
||||
out_2530937000049298875[41] = 0;
|
||||
out_2530937000049298875[42] = 0;
|
||||
out_2530937000049298875[43] = 0;
|
||||
out_2530937000049298875[44] = 0;
|
||||
out_2530937000049298875[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_2530937000049298875[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2530937000049298875[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2530937000049298875[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2530937000049298875[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_2530937000049298875[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2530937000049298875[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2530937000049298875[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2530937000049298875[53] = -9.8100000000000005*dt;
|
||||
out_2530937000049298875[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_2530937000049298875[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2530937000049298875[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2530937000049298875[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2530937000049298875[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_2530937000049298875[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2530937000049298875[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_2530937000049298875[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2530937000049298875[62] = 0;
|
||||
out_2530937000049298875[63] = 0;
|
||||
out_2530937000049298875[64] = 0;
|
||||
out_2530937000049298875[65] = 0;
|
||||
out_2530937000049298875[66] = 0;
|
||||
out_2530937000049298875[67] = 0;
|
||||
out_2530937000049298875[68] = 0;
|
||||
out_2530937000049298875[69] = 0;
|
||||
out_2530937000049298875[70] = 1;
|
||||
out_2530937000049298875[71] = 0;
|
||||
out_2530937000049298875[72] = 0;
|
||||
out_2530937000049298875[73] = 0;
|
||||
out_2530937000049298875[74] = 0;
|
||||
out_2530937000049298875[75] = 0;
|
||||
out_2530937000049298875[76] = 0;
|
||||
out_2530937000049298875[77] = 0;
|
||||
out_2530937000049298875[78] = 0;
|
||||
out_2530937000049298875[79] = 0;
|
||||
out_2530937000049298875[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_8699189799260073455) {
|
||||
out_8699189799260073455[0] = 1;
|
||||
out_8699189799260073455[1] = 0;
|
||||
out_8699189799260073455[2] = 0;
|
||||
out_8699189799260073455[3] = 0;
|
||||
out_8699189799260073455[4] = 0;
|
||||
out_8699189799260073455[5] = 0;
|
||||
out_8699189799260073455[6] = 0;
|
||||
out_8699189799260073455[7] = 0;
|
||||
out_8699189799260073455[8] = 0;
|
||||
out_8699189799260073455[9] = 0;
|
||||
out_8699189799260073455[10] = 1;
|
||||
out_8699189799260073455[11] = 0;
|
||||
out_8699189799260073455[12] = 0;
|
||||
out_8699189799260073455[13] = 0;
|
||||
out_8699189799260073455[14] = 0;
|
||||
out_8699189799260073455[15] = 0;
|
||||
out_8699189799260073455[16] = 0;
|
||||
out_8699189799260073455[17] = 0;
|
||||
out_8699189799260073455[18] = 0;
|
||||
out_8699189799260073455[19] = 0;
|
||||
out_8699189799260073455[20] = 1;
|
||||
out_8699189799260073455[21] = 0;
|
||||
out_8699189799260073455[22] = 0;
|
||||
out_8699189799260073455[23] = 0;
|
||||
out_8699189799260073455[24] = 0;
|
||||
out_8699189799260073455[25] = 0;
|
||||
out_8699189799260073455[26] = 0;
|
||||
out_8699189799260073455[27] = 0;
|
||||
out_8699189799260073455[28] = 0;
|
||||
out_8699189799260073455[29] = 0;
|
||||
out_8699189799260073455[30] = 1;
|
||||
out_8699189799260073455[31] = 0;
|
||||
out_8699189799260073455[32] = 0;
|
||||
out_8699189799260073455[33] = 0;
|
||||
out_8699189799260073455[34] = 0;
|
||||
out_8699189799260073455[35] = 0;
|
||||
out_8699189799260073455[36] = 0;
|
||||
out_8699189799260073455[37] = 0;
|
||||
out_8699189799260073455[38] = 0;
|
||||
out_8699189799260073455[39] = 0;
|
||||
out_8699189799260073455[40] = 1;
|
||||
out_8699189799260073455[41] = 0;
|
||||
out_8699189799260073455[42] = 0;
|
||||
out_8699189799260073455[43] = 0;
|
||||
out_8699189799260073455[44] = 0;
|
||||
out_8699189799260073455[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_8699189799260073455[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8699189799260073455[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8699189799260073455[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8699189799260073455[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_8699189799260073455[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8699189799260073455[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8699189799260073455[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8699189799260073455[53] = -9.8100000000000005*dt;
|
||||
out_8699189799260073455[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_8699189799260073455[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8699189799260073455[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8699189799260073455[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8699189799260073455[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_8699189799260073455[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8699189799260073455[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_8699189799260073455[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8699189799260073455[62] = 0;
|
||||
out_8699189799260073455[63] = 0;
|
||||
out_8699189799260073455[64] = 0;
|
||||
out_8699189799260073455[65] = 0;
|
||||
out_8699189799260073455[66] = 0;
|
||||
out_8699189799260073455[67] = 0;
|
||||
out_8699189799260073455[68] = 0;
|
||||
out_8699189799260073455[69] = 0;
|
||||
out_8699189799260073455[70] = 1;
|
||||
out_8699189799260073455[71] = 0;
|
||||
out_8699189799260073455[72] = 0;
|
||||
out_8699189799260073455[73] = 0;
|
||||
out_8699189799260073455[74] = 0;
|
||||
out_8699189799260073455[75] = 0;
|
||||
out_8699189799260073455[76] = 0;
|
||||
out_8699189799260073455[77] = 0;
|
||||
out_8699189799260073455[78] = 0;
|
||||
out_8699189799260073455[79] = 0;
|
||||
out_8699189799260073455[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_2134931354245078390) {
|
||||
out_2134931354245078390[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7376242857501384597) {
|
||||
out_7376242857501384597[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_2632923262236535870) {
|
||||
out_2632923262236535870[0] = 0;
|
||||
out_2632923262236535870[1] = 0;
|
||||
out_2632923262236535870[2] = 0;
|
||||
out_2632923262236535870[3] = 0;
|
||||
out_2632923262236535870[4] = 0;
|
||||
out_2632923262236535870[5] = 0;
|
||||
out_2632923262236535870[6] = 1;
|
||||
out_2632923262236535870[7] = 0;
|
||||
out_2632923262236535870[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_4045865477829865137) {
|
||||
out_4045865477829865137[0] = 0;
|
||||
out_4045865477829865137[1] = 0;
|
||||
out_4045865477829865137[2] = 0;
|
||||
out_4045865477829865137[3] = 0;
|
||||
out_4045865477829865137[4] = 0;
|
||||
out_4045865477829865137[5] = 0;
|
||||
out_4045865477829865137[6] = 1;
|
||||
out_4045865477829865137[7] = 0;
|
||||
out_4045865477829865137[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_8365765087520140722) {
|
||||
out_8365765087520140722[0] = state[4];
|
||||
out_8365765087520140722[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_8059939713516192443) {
|
||||
out_8059939713516192443[0] = state[4];
|
||||
out_8059939713516192443[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_460273663231036304) {
|
||||
out_460273663231036304[0] = 0;
|
||||
out_460273663231036304[1] = 0;
|
||||
out_460273663231036304[2] = 0;
|
||||
out_460273663231036304[3] = 0;
|
||||
out_460273663231036304[4] = 1;
|
||||
out_460273663231036304[5] = 0;
|
||||
out_460273663231036304[6] = 0;
|
||||
out_460273663231036304[7] = 0;
|
||||
out_460273663231036304[8] = 0;
|
||||
out_460273663231036304[9] = 0;
|
||||
out_460273663231036304[10] = 0;
|
||||
out_460273663231036304[11] = 0;
|
||||
out_460273663231036304[12] = 0;
|
||||
out_460273663231036304[13] = 0;
|
||||
out_460273663231036304[14] = 1;
|
||||
out_460273663231036304[15] = 0;
|
||||
out_460273663231036304[16] = 0;
|
||||
out_460273663231036304[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_6223079901437015110) {
|
||||
out_6223079901437015110[0] = 0;
|
||||
out_6223079901437015110[1] = 0;
|
||||
out_6223079901437015110[2] = 0;
|
||||
out_6223079901437015110[3] = 0;
|
||||
out_6223079901437015110[4] = 1;
|
||||
out_6223079901437015110[5] = 0;
|
||||
out_6223079901437015110[6] = 0;
|
||||
out_6223079901437015110[7] = 0;
|
||||
out_6223079901437015110[8] = 0;
|
||||
out_6223079901437015110[9] = 0;
|
||||
out_6223079901437015110[10] = 0;
|
||||
out_6223079901437015110[11] = 0;
|
||||
out_6223079901437015110[12] = 0;
|
||||
out_6223079901437015110[13] = 0;
|
||||
out_6223079901437015110[14] = 1;
|
||||
out_6223079901437015110[15] = 0;
|
||||
out_6223079901437015110[16] = 0;
|
||||
out_6223079901437015110[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5772380882499100740) {
|
||||
out_5772380882499100740[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_4428516867145899636) {
|
||||
out_4428516867145899636[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_5151256220743784497) {
|
||||
out_5151256220743784497[0] = 0;
|
||||
out_5151256220743784497[1] = 0;
|
||||
out_5151256220743784497[2] = 0;
|
||||
out_5151256220743784497[3] = 0;
|
||||
out_5151256220743784497[4] = 1;
|
||||
out_5151256220743784497[5] = 0;
|
||||
out_5151256220743784497[6] = 0;
|
||||
out_5151256220743784497[7] = 0;
|
||||
out_5151256220743784497[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6564198436337113764) {
|
||||
out_6564198436337113764[0] = 0;
|
||||
out_6564198436337113764[1] = 0;
|
||||
out_6564198436337113764[2] = 0;
|
||||
out_6564198436337113764[3] = 0;
|
||||
out_6564198436337113764[4] = 1;
|
||||
out_6564198436337113764[5] = 0;
|
||||
out_6564198436337113764[6] = 0;
|
||||
out_6564198436337113764[7] = 0;
|
||||
out_6564198436337113764[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_770707614838255095) {
|
||||
out_770707614838255095[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_6344022010831827263) {
|
||||
out_6344022010831827263[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_1108580056637520354) {
|
||||
out_1108580056637520354[0] = 0;
|
||||
out_1108580056637520354[1] = 0;
|
||||
out_1108580056637520354[2] = 0;
|
||||
out_1108580056637520354[3] = 0;
|
||||
out_1108580056637520354[4] = 0;
|
||||
out_1108580056637520354[5] = 0;
|
||||
out_1108580056637520354[6] = 0;
|
||||
out_1108580056637520354[7] = 1;
|
||||
out_1108580056637520354[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_7350391447590665738) {
|
||||
out_7350391447590665738[0] = 0;
|
||||
out_7350391447590665738[1] = 0;
|
||||
out_7350391447590665738[2] = 0;
|
||||
out_7350391447590665738[3] = 0;
|
||||
out_7350391447590665738[4] = 0;
|
||||
out_7350391447590665738[5] = 0;
|
||||
out_7350391447590665738[6] = 0;
|
||||
out_7350391447590665738[7] = 1;
|
||||
out_7350391447590665738[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_7593975799595780900) {
|
||||
out_7593975799595780900[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_8466095895399469368) {
|
||||
out_8466095895399469368[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_7374850291927727714) {
|
||||
out_7374850291927727714[0] = 0;
|
||||
out_7374850291927727714[1] = 0;
|
||||
out_7374850291927727714[2] = 0;
|
||||
out_7374850291927727714[3] = 1;
|
||||
out_7374850291927727714[4] = 0;
|
||||
out_7374850291927727714[5] = 0;
|
||||
out_7374850291927727714[6] = 0;
|
||||
out_7374850291927727714[7] = 0;
|
||||
out_7374850291927727714[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_4389435124536688853) {
|
||||
out_4389435124536688853[0] = 0;
|
||||
out_4389435124536688853[1] = 0;
|
||||
out_4389435124536688853[2] = 0;
|
||||
out_4389435124536688853[3] = 1;
|
||||
out_4389435124536688853[4] = 0;
|
||||
out_4389435124536688853[5] = 0;
|
||||
out_4389435124536688853[6] = 0;
|
||||
out_4389435124536688853[7] = 0;
|
||||
out_4389435124536688853[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_287296851158268285) {
|
||||
out_287296851158268285[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_3825200982469422119) {
|
||||
out_3825200982469422119[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_5661487565058176681) {
|
||||
out_5661487565058176681[0] = 0;
|
||||
out_5661487565058176681[1] = 1;
|
||||
out_5661487565058176681[2] = 0;
|
||||
out_5661487565058176681[3] = 0;
|
||||
out_5661487565058176681[4] = 0;
|
||||
out_5661487565058176681[5] = 0;
|
||||
out_5661487565058176681[6] = 0;
|
||||
out_5661487565058176681[7] = 0;
|
||||
out_5661487565058176681[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_7074429780651505948) {
|
||||
out_7074429780651505948[0] = 0;
|
||||
out_7074429780651505948[1] = 1;
|
||||
out_7074429780651505948[2] = 0;
|
||||
out_7074429780651505948[3] = 0;
|
||||
out_7074429780651505948[4] = 0;
|
||||
out_7074429780651505948[5] = 0;
|
||||
out_7074429780651505948[6] = 0;
|
||||
out_7074429780651505948[7] = 0;
|
||||
out_7074429780651505948[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_6243721933085284858) {
|
||||
out_6243721933085284858[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_515873276607371397) {
|
||||
out_515873276607371397[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_579088547988646107) {
|
||||
out_579088547988646107[0] = 1;
|
||||
out_579088547988646107[1] = 0;
|
||||
out_579088547988646107[2] = 0;
|
||||
out_579088547988646107[3] = 0;
|
||||
out_579088547988646107[4] = 0;
|
||||
out_579088547988646107[5] = 0;
|
||||
out_579088547988646107[6] = 0;
|
||||
out_579088547988646107[7] = 0;
|
||||
out_579088547988646107[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_1992030763581975374) {
|
||||
out_1992030763581975374[0] = 1;
|
||||
out_1992030763581975374[1] = 0;
|
||||
out_1992030763581975374[2] = 0;
|
||||
out_1992030763581975374[3] = 0;
|
||||
out_1992030763581975374[4] = 0;
|
||||
out_1992030763581975374[5] = 0;
|
||||
out_1992030763581975374[6] = 0;
|
||||
out_1992030763581975374[7] = 0;
|
||||
out_1992030763581975374[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_8851253955215584901) {
|
||||
out_8851253955215584901[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_3189228565454117834) {
|
||||
out_3189228565454117834[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_2663569224113496298) {
|
||||
out_2663569224113496298[0] = 0;
|
||||
out_2663569224113496298[1] = 0;
|
||||
out_2663569224113496298[2] = 0;
|
||||
out_2663569224113496298[3] = 0;
|
||||
out_2663569224113496298[4] = 0;
|
||||
out_2663569224113496298[5] = 0;
|
||||
out_2663569224113496298[6] = 0;
|
||||
out_2663569224113496298[7] = 0;
|
||||
out_2663569224113496298[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6724183345357314262) {
|
||||
out_6724183345357314262[0] = 0;
|
||||
out_6724183345357314262[1] = 0;
|
||||
out_6724183345357314262[2] = 0;
|
||||
out_6724183345357314262[3] = 0;
|
||||
out_6724183345357314262[4] = 0;
|
||||
out_6724183345357314262[5] = 0;
|
||||
out_6724183345357314262[6] = 0;
|
||||
out_6724183345357314262[7] = 0;
|
||||
out_6724183345357314262[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_3009395508469456389) {
|
||||
err_fun(nom_x, delta_x, out_3009395508469456389);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3239626159248919555) {
|
||||
err_fun(nom_x, delta_x, out_3239626159248919555);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6058691817726549063) {
|
||||
inv_err_fun(nom_x, true_x, out_6058691817726549063);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7776805117874316837) {
|
||||
inv_err_fun(nom_x, true_x, out_7776805117874316837);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_6620632585560778509) {
|
||||
H_mod_fun(state, out_6620632585560778509);
|
||||
void car_H_mod_fun(double *state, double *out_857826347354799703) {
|
||||
H_mod_fun(state, out_857826347354799703);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_3578319971516081169) {
|
||||
f_fun(state, dt, out_3578319971516081169);
|
||||
void car_f_fun(double *state, double dt, double *out_8901269396414862155) {
|
||||
f_fun(state, dt, out_8901269396414862155);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_2530937000049298875) {
|
||||
F_fun(state, dt, out_2530937000049298875);
|
||||
void car_F_fun(double *state, double dt, double *out_8699189799260073455) {
|
||||
F_fun(state, dt, out_8699189799260073455);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_2134931354245078390) {
|
||||
h_25(state, unused, out_2134931354245078390);
|
||||
void car_h_25(double *state, double *unused, double *out_7376242857501384597) {
|
||||
h_25(state, unused, out_7376242857501384597);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_2632923262236535870) {
|
||||
H_25(state, unused, out_2632923262236535870);
|
||||
void car_H_25(double *state, double *unused, double *out_4045865477829865137) {
|
||||
H_25(state, unused, out_4045865477829865137);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_8365765087520140722) {
|
||||
h_24(state, unused, out_8365765087520140722);
|
||||
void car_h_24(double *state, double *unused, double *out_8059939713516192443) {
|
||||
h_24(state, unused, out_8059939713516192443);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_460273663231036304) {
|
||||
H_24(state, unused, out_460273663231036304);
|
||||
void car_H_24(double *state, double *unused, double *out_6223079901437015110) {
|
||||
H_24(state, unused, out_6223079901437015110);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5772380882499100740) {
|
||||
h_30(state, unused, out_5772380882499100740);
|
||||
void car_h_30(double *state, double *unused, double *out_4428516867145899636) {
|
||||
h_30(state, unused, out_4428516867145899636);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_5151256220743784497) {
|
||||
H_30(state, unused, out_5151256220743784497);
|
||||
void car_H_30(double *state, double *unused, double *out_6564198436337113764) {
|
||||
H_30(state, unused, out_6564198436337113764);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_770707614838255095) {
|
||||
h_26(state, unused, out_770707614838255095);
|
||||
void car_h_26(double *state, double *unused, double *out_6344022010831827263) {
|
||||
h_26(state, unused, out_6344022010831827263);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_1108580056637520354) {
|
||||
H_26(state, unused, out_1108580056637520354);
|
||||
void car_H_26(double *state, double *unused, double *out_7350391447590665738) {
|
||||
H_26(state, unused, out_7350391447590665738);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_7593975799595780900) {
|
||||
h_27(state, unused, out_7593975799595780900);
|
||||
void car_h_27(double *state, double *unused, double *out_8466095895399469368) {
|
||||
h_27(state, unused, out_8466095895399469368);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_7374850291927727714) {
|
||||
H_27(state, unused, out_7374850291927727714);
|
||||
void car_H_27(double *state, double *unused, double *out_4389435124536688853) {
|
||||
H_27(state, unused, out_4389435124536688853);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_287296851158268285) {
|
||||
h_29(state, unused, out_287296851158268285);
|
||||
void car_h_29(double *state, double *unused, double *out_3825200982469422119) {
|
||||
h_29(state, unused, out_3825200982469422119);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_5661487565058176681) {
|
||||
H_29(state, unused, out_5661487565058176681);
|
||||
void car_H_29(double *state, double *unused, double *out_7074429780651505948) {
|
||||
H_29(state, unused, out_7074429780651505948);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_6243721933085284858) {
|
||||
h_28(state, unused, out_6243721933085284858);
|
||||
void car_h_28(double *state, double *unused, double *out_515873276607371397) {
|
||||
h_28(state, unused, out_515873276607371397);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_579088547988646107) {
|
||||
H_28(state, unused, out_579088547988646107);
|
||||
void car_H_28(double *state, double *unused, double *out_1992030763581975374) {
|
||||
H_28(state, unused, out_1992030763581975374);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_8851253955215584901) {
|
||||
h_31(state, unused, out_8851253955215584901);
|
||||
void car_h_31(double *state, double *unused, double *out_3189228565454117834) {
|
||||
h_31(state, unused, out_3189228565454117834);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_2663569224113496298) {
|
||||
H_31(state, unused, out_2663569224113496298);
|
||||
void car_H_31(double *state, double *unused, double *out_6724183345357314262) {
|
||||
H_31(state, unused, out_6724183345357314262);
|
||||
}
|
||||
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_3009395508469456389);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6058691817726549063);
|
||||
void car_H_mod_fun(double *state, double *out_6620632585560778509);
|
||||
void car_f_fun(double *state, double dt, double *out_3578319971516081169);
|
||||
void car_F_fun(double *state, double dt, double *out_2530937000049298875);
|
||||
void car_h_25(double *state, double *unused, double *out_2134931354245078390);
|
||||
void car_H_25(double *state, double *unused, double *out_2632923262236535870);
|
||||
void car_h_24(double *state, double *unused, double *out_8365765087520140722);
|
||||
void car_H_24(double *state, double *unused, double *out_460273663231036304);
|
||||
void car_h_30(double *state, double *unused, double *out_5772380882499100740);
|
||||
void car_H_30(double *state, double *unused, double *out_5151256220743784497);
|
||||
void car_h_26(double *state, double *unused, double *out_770707614838255095);
|
||||
void car_H_26(double *state, double *unused, double *out_1108580056637520354);
|
||||
void car_h_27(double *state, double *unused, double *out_7593975799595780900);
|
||||
void car_H_27(double *state, double *unused, double *out_7374850291927727714);
|
||||
void car_h_29(double *state, double *unused, double *out_287296851158268285);
|
||||
void car_H_29(double *state, double *unused, double *out_5661487565058176681);
|
||||
void car_h_28(double *state, double *unused, double *out_6243721933085284858);
|
||||
void car_H_28(double *state, double *unused, double *out_579088547988646107);
|
||||
void car_h_31(double *state, double *unused, double *out_8851253955215584901);
|
||||
void car_H_31(double *state, double *unused, double *out_2663569224113496298);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3239626159248919555);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7776805117874316837);
|
||||
void car_H_mod_fun(double *state, double *out_857826347354799703);
|
||||
void car_f_fun(double *state, double dt, double *out_8901269396414862155);
|
||||
void car_F_fun(double *state, double dt, double *out_8699189799260073455);
|
||||
void car_h_25(double *state, double *unused, double *out_7376242857501384597);
|
||||
void car_H_25(double *state, double *unused, double *out_4045865477829865137);
|
||||
void car_h_24(double *state, double *unused, double *out_8059939713516192443);
|
||||
void car_H_24(double *state, double *unused, double *out_6223079901437015110);
|
||||
void car_h_30(double *state, double *unused, double *out_4428516867145899636);
|
||||
void car_H_30(double *state, double *unused, double *out_6564198436337113764);
|
||||
void car_h_26(double *state, double *unused, double *out_6344022010831827263);
|
||||
void car_H_26(double *state, double *unused, double *out_7350391447590665738);
|
||||
void car_h_27(double *state, double *unused, double *out_8466095895399469368);
|
||||
void car_H_27(double *state, double *unused, double *out_4389435124536688853);
|
||||
void car_h_29(double *state, double *unused, double *out_3825200982469422119);
|
||||
void car_H_29(double *state, double *unused, double *out_7074429780651505948);
|
||||
void car_h_28(double *state, double *unused, double *out_515873276607371397);
|
||||
void car_H_28(double *state, double *unused, double *out_1992030763581975374);
|
||||
void car_h_31(double *state, double *unused, double *out_3189228565454117834);
|
||||
void car_H_31(double *state, double *unused, double *out_6724183345357314262);
|
||||
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_709589957515877441);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3661238081000149023);
|
||||
void pose_H_mod_fun(double *state, double *out_3274536842161333363);
|
||||
void pose_f_fun(double *state, double dt, double *out_54085149498667220);
|
||||
void pose_F_fun(double *state, double dt, double *out_3360900556715541089);
|
||||
void pose_h_4(double *state, double *unused, double *out_6781682784175939845);
|
||||
void pose_H_4(double *state, double *unused, double *out_2076589360278435259);
|
||||
void pose_h_10(double *state, double *unused, double *out_4409132040641892266);
|
||||
void pose_H_10(double *state, double *unused, double *out_6826621589500186302);
|
||||
void pose_h_13(double *state, double *unused, double *out_1754250637475505882);
|
||||
void pose_H_13(double *state, double *unused, double *out_1135684465053897542);
|
||||
void pose_h_14(double *state, double *unused, double *out_2425630726311968111);
|
||||
void pose_H_14(double *state, double *unused, double *out_1886651496061049270);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_4358722787451740543);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8563351397910358896);
|
||||
void pose_H_mod_fun(double *state, double *out_5753197897836805411);
|
||||
void pose_f_fun(double *state, double dt, double *out_4934931273554332776);
|
||||
void pose_F_fun(double *state, double dt, double *out_3951309264317131877);
|
||||
void pose_h_4(double *state, double *unused, double *out_9124951261160774984);
|
||||
void pose_H_4(double *state, double *unused, double *out_1981390687992897839);
|
||||
void pose_h_10(double *state, double *unused, double *out_5902756371163799354);
|
||||
void pose_H_10(double *state, double *unused, double *out_3301172069868817257);
|
||||
void pose_h_13(double *state, double *unused, double *out_1037730484658777493);
|
||||
void pose_H_13(double *state, double *unused, double *out_1230883137339434962);
|
||||
void pose_h_14(double *state, double *unused, double *out_8550422043798884554);
|
||||
void pose_H_14(double *state, double *unused, double *out_5064179120288270135);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Reference in New Issue
Block a user