mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-28 01:52:06 +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-dc581f63-DEBUG";
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const uint8_t gitversion[19] = "DEV-05c2a90e-DEBUG";
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||||
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@@ -1 +1 @@
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DEV-dc581f63-DEBUG
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DEV-05c2a90e-DEBUG
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@@ -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_7228457580426239955) {
|
||||
out_7228457580426239955[0] = delta_x[0] + nom_x[0];
|
||||
out_7228457580426239955[1] = delta_x[1] + nom_x[1];
|
||||
out_7228457580426239955[2] = delta_x[2] + nom_x[2];
|
||||
out_7228457580426239955[3] = delta_x[3] + nom_x[3];
|
||||
out_7228457580426239955[4] = delta_x[4] + nom_x[4];
|
||||
out_7228457580426239955[5] = delta_x[5] + nom_x[5];
|
||||
out_7228457580426239955[6] = delta_x[6] + nom_x[6];
|
||||
out_7228457580426239955[7] = delta_x[7] + nom_x[7];
|
||||
out_7228457580426239955[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_6972961942535496334) {
|
||||
out_6972961942535496334[0] = delta_x[0] + nom_x[0];
|
||||
out_6972961942535496334[1] = delta_x[1] + nom_x[1];
|
||||
out_6972961942535496334[2] = delta_x[2] + nom_x[2];
|
||||
out_6972961942535496334[3] = delta_x[3] + nom_x[3];
|
||||
out_6972961942535496334[4] = delta_x[4] + nom_x[4];
|
||||
out_6972961942535496334[5] = delta_x[5] + nom_x[5];
|
||||
out_6972961942535496334[6] = delta_x[6] + nom_x[6];
|
||||
out_6972961942535496334[7] = delta_x[7] + nom_x[7];
|
||||
out_6972961942535496334[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1737471906525172971) {
|
||||
out_1737471906525172971[0] = -nom_x[0] + true_x[0];
|
||||
out_1737471906525172971[1] = -nom_x[1] + true_x[1];
|
||||
out_1737471906525172971[2] = -nom_x[2] + true_x[2];
|
||||
out_1737471906525172971[3] = -nom_x[3] + true_x[3];
|
||||
out_1737471906525172971[4] = -nom_x[4] + true_x[4];
|
||||
out_1737471906525172971[5] = -nom_x[5] + true_x[5];
|
||||
out_1737471906525172971[6] = -nom_x[6] + true_x[6];
|
||||
out_1737471906525172971[7] = -nom_x[7] + true_x[7];
|
||||
out_1737471906525172971[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626) {
|
||||
out_2104979621458798626[0] = -nom_x[0] + true_x[0];
|
||||
out_2104979621458798626[1] = -nom_x[1] + true_x[1];
|
||||
out_2104979621458798626[2] = -nom_x[2] + true_x[2];
|
||||
out_2104979621458798626[3] = -nom_x[3] + true_x[3];
|
||||
out_2104979621458798626[4] = -nom_x[4] + true_x[4];
|
||||
out_2104979621458798626[5] = -nom_x[5] + true_x[5];
|
||||
out_2104979621458798626[6] = -nom_x[6] + true_x[6];
|
||||
out_2104979621458798626[7] = -nom_x[7] + true_x[7];
|
||||
out_2104979621458798626[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_2159575818972962605) {
|
||||
out_2159575818972962605[0] = 1.0;
|
||||
out_2159575818972962605[1] = 0.0;
|
||||
out_2159575818972962605[2] = 0.0;
|
||||
out_2159575818972962605[3] = 0.0;
|
||||
out_2159575818972962605[4] = 0.0;
|
||||
out_2159575818972962605[5] = 0.0;
|
||||
out_2159575818972962605[6] = 0.0;
|
||||
out_2159575818972962605[7] = 0.0;
|
||||
out_2159575818972962605[8] = 0.0;
|
||||
out_2159575818972962605[9] = 0.0;
|
||||
out_2159575818972962605[10] = 1.0;
|
||||
out_2159575818972962605[11] = 0.0;
|
||||
out_2159575818972962605[12] = 0.0;
|
||||
out_2159575818972962605[13] = 0.0;
|
||||
out_2159575818972962605[14] = 0.0;
|
||||
out_2159575818972962605[15] = 0.0;
|
||||
out_2159575818972962605[16] = 0.0;
|
||||
out_2159575818972962605[17] = 0.0;
|
||||
out_2159575818972962605[18] = 0.0;
|
||||
out_2159575818972962605[19] = 0.0;
|
||||
out_2159575818972962605[20] = 1.0;
|
||||
out_2159575818972962605[21] = 0.0;
|
||||
out_2159575818972962605[22] = 0.0;
|
||||
out_2159575818972962605[23] = 0.0;
|
||||
out_2159575818972962605[24] = 0.0;
|
||||
out_2159575818972962605[25] = 0.0;
|
||||
out_2159575818972962605[26] = 0.0;
|
||||
out_2159575818972962605[27] = 0.0;
|
||||
out_2159575818972962605[28] = 0.0;
|
||||
out_2159575818972962605[29] = 0.0;
|
||||
out_2159575818972962605[30] = 1.0;
|
||||
out_2159575818972962605[31] = 0.0;
|
||||
out_2159575818972962605[32] = 0.0;
|
||||
out_2159575818972962605[33] = 0.0;
|
||||
out_2159575818972962605[34] = 0.0;
|
||||
out_2159575818972962605[35] = 0.0;
|
||||
out_2159575818972962605[36] = 0.0;
|
||||
out_2159575818972962605[37] = 0.0;
|
||||
out_2159575818972962605[38] = 0.0;
|
||||
out_2159575818972962605[39] = 0.0;
|
||||
out_2159575818972962605[40] = 1.0;
|
||||
out_2159575818972962605[41] = 0.0;
|
||||
out_2159575818972962605[42] = 0.0;
|
||||
out_2159575818972962605[43] = 0.0;
|
||||
out_2159575818972962605[44] = 0.0;
|
||||
out_2159575818972962605[45] = 0.0;
|
||||
out_2159575818972962605[46] = 0.0;
|
||||
out_2159575818972962605[47] = 0.0;
|
||||
out_2159575818972962605[48] = 0.0;
|
||||
out_2159575818972962605[49] = 0.0;
|
||||
out_2159575818972962605[50] = 1.0;
|
||||
out_2159575818972962605[51] = 0.0;
|
||||
out_2159575818972962605[52] = 0.0;
|
||||
out_2159575818972962605[53] = 0.0;
|
||||
out_2159575818972962605[54] = 0.0;
|
||||
out_2159575818972962605[55] = 0.0;
|
||||
out_2159575818972962605[56] = 0.0;
|
||||
out_2159575818972962605[57] = 0.0;
|
||||
out_2159575818972962605[58] = 0.0;
|
||||
out_2159575818972962605[59] = 0.0;
|
||||
out_2159575818972962605[60] = 1.0;
|
||||
out_2159575818972962605[61] = 0.0;
|
||||
out_2159575818972962605[62] = 0.0;
|
||||
out_2159575818972962605[63] = 0.0;
|
||||
out_2159575818972962605[64] = 0.0;
|
||||
out_2159575818972962605[65] = 0.0;
|
||||
out_2159575818972962605[66] = 0.0;
|
||||
out_2159575818972962605[67] = 0.0;
|
||||
out_2159575818972962605[68] = 0.0;
|
||||
out_2159575818972962605[69] = 0.0;
|
||||
out_2159575818972962605[70] = 1.0;
|
||||
out_2159575818972962605[71] = 0.0;
|
||||
out_2159575818972962605[72] = 0.0;
|
||||
out_2159575818972962605[73] = 0.0;
|
||||
out_2159575818972962605[74] = 0.0;
|
||||
out_2159575818972962605[75] = 0.0;
|
||||
out_2159575818972962605[76] = 0.0;
|
||||
out_2159575818972962605[77] = 0.0;
|
||||
out_2159575818972962605[78] = 0.0;
|
||||
out_2159575818972962605[79] = 0.0;
|
||||
out_2159575818972962605[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_2779658660641459178) {
|
||||
out_2779658660641459178[0] = 1.0;
|
||||
out_2779658660641459178[1] = 0.0;
|
||||
out_2779658660641459178[2] = 0.0;
|
||||
out_2779658660641459178[3] = 0.0;
|
||||
out_2779658660641459178[4] = 0.0;
|
||||
out_2779658660641459178[5] = 0.0;
|
||||
out_2779658660641459178[6] = 0.0;
|
||||
out_2779658660641459178[7] = 0.0;
|
||||
out_2779658660641459178[8] = 0.0;
|
||||
out_2779658660641459178[9] = 0.0;
|
||||
out_2779658660641459178[10] = 1.0;
|
||||
out_2779658660641459178[11] = 0.0;
|
||||
out_2779658660641459178[12] = 0.0;
|
||||
out_2779658660641459178[13] = 0.0;
|
||||
out_2779658660641459178[14] = 0.0;
|
||||
out_2779658660641459178[15] = 0.0;
|
||||
out_2779658660641459178[16] = 0.0;
|
||||
out_2779658660641459178[17] = 0.0;
|
||||
out_2779658660641459178[18] = 0.0;
|
||||
out_2779658660641459178[19] = 0.0;
|
||||
out_2779658660641459178[20] = 1.0;
|
||||
out_2779658660641459178[21] = 0.0;
|
||||
out_2779658660641459178[22] = 0.0;
|
||||
out_2779658660641459178[23] = 0.0;
|
||||
out_2779658660641459178[24] = 0.0;
|
||||
out_2779658660641459178[25] = 0.0;
|
||||
out_2779658660641459178[26] = 0.0;
|
||||
out_2779658660641459178[27] = 0.0;
|
||||
out_2779658660641459178[28] = 0.0;
|
||||
out_2779658660641459178[29] = 0.0;
|
||||
out_2779658660641459178[30] = 1.0;
|
||||
out_2779658660641459178[31] = 0.0;
|
||||
out_2779658660641459178[32] = 0.0;
|
||||
out_2779658660641459178[33] = 0.0;
|
||||
out_2779658660641459178[34] = 0.0;
|
||||
out_2779658660641459178[35] = 0.0;
|
||||
out_2779658660641459178[36] = 0.0;
|
||||
out_2779658660641459178[37] = 0.0;
|
||||
out_2779658660641459178[38] = 0.0;
|
||||
out_2779658660641459178[39] = 0.0;
|
||||
out_2779658660641459178[40] = 1.0;
|
||||
out_2779658660641459178[41] = 0.0;
|
||||
out_2779658660641459178[42] = 0.0;
|
||||
out_2779658660641459178[43] = 0.0;
|
||||
out_2779658660641459178[44] = 0.0;
|
||||
out_2779658660641459178[45] = 0.0;
|
||||
out_2779658660641459178[46] = 0.0;
|
||||
out_2779658660641459178[47] = 0.0;
|
||||
out_2779658660641459178[48] = 0.0;
|
||||
out_2779658660641459178[49] = 0.0;
|
||||
out_2779658660641459178[50] = 1.0;
|
||||
out_2779658660641459178[51] = 0.0;
|
||||
out_2779658660641459178[52] = 0.0;
|
||||
out_2779658660641459178[53] = 0.0;
|
||||
out_2779658660641459178[54] = 0.0;
|
||||
out_2779658660641459178[55] = 0.0;
|
||||
out_2779658660641459178[56] = 0.0;
|
||||
out_2779658660641459178[57] = 0.0;
|
||||
out_2779658660641459178[58] = 0.0;
|
||||
out_2779658660641459178[59] = 0.0;
|
||||
out_2779658660641459178[60] = 1.0;
|
||||
out_2779658660641459178[61] = 0.0;
|
||||
out_2779658660641459178[62] = 0.0;
|
||||
out_2779658660641459178[63] = 0.0;
|
||||
out_2779658660641459178[64] = 0.0;
|
||||
out_2779658660641459178[65] = 0.0;
|
||||
out_2779658660641459178[66] = 0.0;
|
||||
out_2779658660641459178[67] = 0.0;
|
||||
out_2779658660641459178[68] = 0.0;
|
||||
out_2779658660641459178[69] = 0.0;
|
||||
out_2779658660641459178[70] = 1.0;
|
||||
out_2779658660641459178[71] = 0.0;
|
||||
out_2779658660641459178[72] = 0.0;
|
||||
out_2779658660641459178[73] = 0.0;
|
||||
out_2779658660641459178[74] = 0.0;
|
||||
out_2779658660641459178[75] = 0.0;
|
||||
out_2779658660641459178[76] = 0.0;
|
||||
out_2779658660641459178[77] = 0.0;
|
||||
out_2779658660641459178[78] = 0.0;
|
||||
out_2779658660641459178[79] = 0.0;
|
||||
out_2779658660641459178[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_1819714955702057293) {
|
||||
out_1819714955702057293[0] = state[0];
|
||||
out_1819714955702057293[1] = state[1];
|
||||
out_1819714955702057293[2] = state[2];
|
||||
out_1819714955702057293[3] = state[3];
|
||||
out_1819714955702057293[4] = state[4];
|
||||
out_1819714955702057293[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_1819714955702057293[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_1819714955702057293[7] = state[7];
|
||||
out_1819714955702057293[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_1847838116479859502) {
|
||||
out_1847838116479859502[0] = state[0];
|
||||
out_1847838116479859502[1] = state[1];
|
||||
out_1847838116479859502[2] = state[2];
|
||||
out_1847838116479859502[3] = state[3];
|
||||
out_1847838116479859502[4] = state[4];
|
||||
out_1847838116479859502[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_1847838116479859502[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_1847838116479859502[7] = state[7];
|
||||
out_1847838116479859502[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_5560137472532626832) {
|
||||
out_5560137472532626832[0] = 1;
|
||||
out_5560137472532626832[1] = 0;
|
||||
out_5560137472532626832[2] = 0;
|
||||
out_5560137472532626832[3] = 0;
|
||||
out_5560137472532626832[4] = 0;
|
||||
out_5560137472532626832[5] = 0;
|
||||
out_5560137472532626832[6] = 0;
|
||||
out_5560137472532626832[7] = 0;
|
||||
out_5560137472532626832[8] = 0;
|
||||
out_5560137472532626832[9] = 0;
|
||||
out_5560137472532626832[10] = 1;
|
||||
out_5560137472532626832[11] = 0;
|
||||
out_5560137472532626832[12] = 0;
|
||||
out_5560137472532626832[13] = 0;
|
||||
out_5560137472532626832[14] = 0;
|
||||
out_5560137472532626832[15] = 0;
|
||||
out_5560137472532626832[16] = 0;
|
||||
out_5560137472532626832[17] = 0;
|
||||
out_5560137472532626832[18] = 0;
|
||||
out_5560137472532626832[19] = 0;
|
||||
out_5560137472532626832[20] = 1;
|
||||
out_5560137472532626832[21] = 0;
|
||||
out_5560137472532626832[22] = 0;
|
||||
out_5560137472532626832[23] = 0;
|
||||
out_5560137472532626832[24] = 0;
|
||||
out_5560137472532626832[25] = 0;
|
||||
out_5560137472532626832[26] = 0;
|
||||
out_5560137472532626832[27] = 0;
|
||||
out_5560137472532626832[28] = 0;
|
||||
out_5560137472532626832[29] = 0;
|
||||
out_5560137472532626832[30] = 1;
|
||||
out_5560137472532626832[31] = 0;
|
||||
out_5560137472532626832[32] = 0;
|
||||
out_5560137472532626832[33] = 0;
|
||||
out_5560137472532626832[34] = 0;
|
||||
out_5560137472532626832[35] = 0;
|
||||
out_5560137472532626832[36] = 0;
|
||||
out_5560137472532626832[37] = 0;
|
||||
out_5560137472532626832[38] = 0;
|
||||
out_5560137472532626832[39] = 0;
|
||||
out_5560137472532626832[40] = 1;
|
||||
out_5560137472532626832[41] = 0;
|
||||
out_5560137472532626832[42] = 0;
|
||||
out_5560137472532626832[43] = 0;
|
||||
out_5560137472532626832[44] = 0;
|
||||
out_5560137472532626832[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_5560137472532626832[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5560137472532626832[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5560137472532626832[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5560137472532626832[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_5560137472532626832[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5560137472532626832[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5560137472532626832[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5560137472532626832[53] = -9.8100000000000005*dt;
|
||||
out_5560137472532626832[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_5560137472532626832[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5560137472532626832[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5560137472532626832[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5560137472532626832[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_5560137472532626832[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5560137472532626832[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_5560137472532626832[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5560137472532626832[62] = 0;
|
||||
out_5560137472532626832[63] = 0;
|
||||
out_5560137472532626832[64] = 0;
|
||||
out_5560137472532626832[65] = 0;
|
||||
out_5560137472532626832[66] = 0;
|
||||
out_5560137472532626832[67] = 0;
|
||||
out_5560137472532626832[68] = 0;
|
||||
out_5560137472532626832[69] = 0;
|
||||
out_5560137472532626832[70] = 1;
|
||||
out_5560137472532626832[71] = 0;
|
||||
out_5560137472532626832[72] = 0;
|
||||
out_5560137472532626832[73] = 0;
|
||||
out_5560137472532626832[74] = 0;
|
||||
out_5560137472532626832[75] = 0;
|
||||
out_5560137472532626832[76] = 0;
|
||||
out_5560137472532626832[77] = 0;
|
||||
out_5560137472532626832[78] = 0;
|
||||
out_5560137472532626832[79] = 0;
|
||||
out_5560137472532626832[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_8278586360493195906) {
|
||||
out_8278586360493195906[0] = 1;
|
||||
out_8278586360493195906[1] = 0;
|
||||
out_8278586360493195906[2] = 0;
|
||||
out_8278586360493195906[3] = 0;
|
||||
out_8278586360493195906[4] = 0;
|
||||
out_8278586360493195906[5] = 0;
|
||||
out_8278586360493195906[6] = 0;
|
||||
out_8278586360493195906[7] = 0;
|
||||
out_8278586360493195906[8] = 0;
|
||||
out_8278586360493195906[9] = 0;
|
||||
out_8278586360493195906[10] = 1;
|
||||
out_8278586360493195906[11] = 0;
|
||||
out_8278586360493195906[12] = 0;
|
||||
out_8278586360493195906[13] = 0;
|
||||
out_8278586360493195906[14] = 0;
|
||||
out_8278586360493195906[15] = 0;
|
||||
out_8278586360493195906[16] = 0;
|
||||
out_8278586360493195906[17] = 0;
|
||||
out_8278586360493195906[18] = 0;
|
||||
out_8278586360493195906[19] = 0;
|
||||
out_8278586360493195906[20] = 1;
|
||||
out_8278586360493195906[21] = 0;
|
||||
out_8278586360493195906[22] = 0;
|
||||
out_8278586360493195906[23] = 0;
|
||||
out_8278586360493195906[24] = 0;
|
||||
out_8278586360493195906[25] = 0;
|
||||
out_8278586360493195906[26] = 0;
|
||||
out_8278586360493195906[27] = 0;
|
||||
out_8278586360493195906[28] = 0;
|
||||
out_8278586360493195906[29] = 0;
|
||||
out_8278586360493195906[30] = 1;
|
||||
out_8278586360493195906[31] = 0;
|
||||
out_8278586360493195906[32] = 0;
|
||||
out_8278586360493195906[33] = 0;
|
||||
out_8278586360493195906[34] = 0;
|
||||
out_8278586360493195906[35] = 0;
|
||||
out_8278586360493195906[36] = 0;
|
||||
out_8278586360493195906[37] = 0;
|
||||
out_8278586360493195906[38] = 0;
|
||||
out_8278586360493195906[39] = 0;
|
||||
out_8278586360493195906[40] = 1;
|
||||
out_8278586360493195906[41] = 0;
|
||||
out_8278586360493195906[42] = 0;
|
||||
out_8278586360493195906[43] = 0;
|
||||
out_8278586360493195906[44] = 0;
|
||||
out_8278586360493195906[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_8278586360493195906[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8278586360493195906[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8278586360493195906[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8278586360493195906[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_8278586360493195906[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8278586360493195906[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8278586360493195906[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8278586360493195906[53] = -9.8100000000000005*dt;
|
||||
out_8278586360493195906[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_8278586360493195906[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8278586360493195906[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8278586360493195906[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8278586360493195906[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_8278586360493195906[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8278586360493195906[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_8278586360493195906[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8278586360493195906[62] = 0;
|
||||
out_8278586360493195906[63] = 0;
|
||||
out_8278586360493195906[64] = 0;
|
||||
out_8278586360493195906[65] = 0;
|
||||
out_8278586360493195906[66] = 0;
|
||||
out_8278586360493195906[67] = 0;
|
||||
out_8278586360493195906[68] = 0;
|
||||
out_8278586360493195906[69] = 0;
|
||||
out_8278586360493195906[70] = 1;
|
||||
out_8278586360493195906[71] = 0;
|
||||
out_8278586360493195906[72] = 0;
|
||||
out_8278586360493195906[73] = 0;
|
||||
out_8278586360493195906[74] = 0;
|
||||
out_8278586360493195906[75] = 0;
|
||||
out_8278586360493195906[76] = 0;
|
||||
out_8278586360493195906[77] = 0;
|
||||
out_8278586360493195906[78] = 0;
|
||||
out_8278586360493195906[79] = 0;
|
||||
out_8278586360493195906[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_3269510566889334287) {
|
||||
out_3269510566889334287[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_4623448408360880072) {
|
||||
out_4623448408360880072[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_5144733109508563382) {
|
||||
out_5144733109508563382[0] = 0;
|
||||
out_5144733109508563382[1] = 0;
|
||||
out_5144733109508563382[2] = 0;
|
||||
out_5144733109508563382[3] = 0;
|
||||
out_5144733109508563382[4] = 0;
|
||||
out_5144733109508563382[5] = 0;
|
||||
out_5144733109508563382[6] = 1;
|
||||
out_5144733109508563382[7] = 0;
|
||||
out_5144733109508563382[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_2013210898559251929) {
|
||||
out_2013210898559251929[0] = 0;
|
||||
out_2013210898559251929[1] = 0;
|
||||
out_2013210898559251929[2] = 0;
|
||||
out_2013210898559251929[3] = 0;
|
||||
out_2013210898559251929[4] = 0;
|
||||
out_2013210898559251929[5] = 0;
|
||||
out_2013210898559251929[6] = 1;
|
||||
out_2013210898559251929[7] = 0;
|
||||
out_2013210898559251929[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_2726228600494227622) {
|
||||
out_2726228600494227622[0] = state[4];
|
||||
out_2726228600494227622[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_5136059034754269087) {
|
||||
out_5136059034754269087[0] = state[4];
|
||||
out_5136059034754269087[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_9127056260906331280) {
|
||||
out_9127056260906331280[0] = 0;
|
||||
out_9127056260906331280[1] = 0;
|
||||
out_9127056260906331280[2] = 0;
|
||||
out_9127056260906331280[3] = 0;
|
||||
out_9127056260906331280[4] = 1;
|
||||
out_9127056260906331280[5] = 0;
|
||||
out_9127056260906331280[6] = 0;
|
||||
out_9127056260906331280[7] = 0;
|
||||
out_9127056260906331280[8] = 0;
|
||||
out_9127056260906331280[9] = 0;
|
||||
out_9127056260906331280[10] = 0;
|
||||
out_9127056260906331280[11] = 0;
|
||||
out_9127056260906331280[12] = 0;
|
||||
out_9127056260906331280[13] = 0;
|
||||
out_9127056260906331280[14] = 1;
|
||||
out_9127056260906331280[15] = 0;
|
||||
out_9127056260906331280[16] = 0;
|
||||
out_9127056260906331280[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_7286705181472264523) {
|
||||
out_7286705181472264523[0] = 0;
|
||||
out_7286705181472264523[1] = 0;
|
||||
out_7286705181472264523[2] = 0;
|
||||
out_7286705181472264523[3] = 0;
|
||||
out_7286705181472264523[4] = 1;
|
||||
out_7286705181472264523[5] = 0;
|
||||
out_7286705181472264523[6] = 0;
|
||||
out_7286705181472264523[7] = 0;
|
||||
out_7286705181472264523[8] = 0;
|
||||
out_7286705181472264523[9] = 0;
|
||||
out_7286705181472264523[10] = 0;
|
||||
out_7286705181472264523[11] = 0;
|
||||
out_7286705181472264523[12] = 0;
|
||||
out_7286705181472264523[13] = 0;
|
||||
out_7286705181472264523[14] = 1;
|
||||
out_7286705181472264523[15] = 0;
|
||||
out_7286705181472264523[16] = 0;
|
||||
out_7286705181472264523[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_6537356030101675445) {
|
||||
out_6537356030101675445[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_5183418188630129660) {
|
||||
out_5183418188630129660[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_2626400151001314755) {
|
||||
out_2626400151001314755[0] = 0;
|
||||
out_2626400151001314755[1] = 0;
|
||||
out_2626400151001314755[2] = 0;
|
||||
out_2626400151001314755[3] = 0;
|
||||
out_2626400151001314755[4] = 1;
|
||||
out_2626400151001314755[5] = 0;
|
||||
out_2626400151001314755[6] = 0;
|
||||
out_2626400151001314755[7] = 0;
|
||||
out_2626400151001314755[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_2514485431568356269) {
|
||||
out_2514485431568356269[0] = 0;
|
||||
out_2514485431568356269[1] = 0;
|
||||
out_2514485431568356269[2] = 0;
|
||||
out_2514485431568356269[3] = 0;
|
||||
out_2514485431568356269[4] = 1;
|
||||
out_2514485431568356269[5] = 0;
|
||||
out_2514485431568356269[6] = 0;
|
||||
out_2514485431568356269[7] = 0;
|
||||
out_2514485431568356269[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_4474244609179175358) {
|
||||
out_4474244609179175358[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_8220204240074462345) {
|
||||
out_8220204240074462345[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_1840207139747762781) {
|
||||
out_1840207139747762781[0] = 0;
|
||||
out_1840207139747762781[1] = 0;
|
||||
out_1840207139747762781[2] = 0;
|
||||
out_1840207139747762781[3] = 0;
|
||||
out_1840207139747762781[4] = 0;
|
||||
out_1840207139747762781[5] = 0;
|
||||
out_1840207139747762781[6] = 0;
|
||||
out_1840207139747762781[7] = 1;
|
||||
out_1840207139747762781[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_1728292420314804295) {
|
||||
out_1728292420314804295[0] = 0;
|
||||
out_1728292420314804295[1] = 0;
|
||||
out_1728292420314804295[2] = 0;
|
||||
out_1728292420314804295[3] = 0;
|
||||
out_1728292420314804295[4] = 0;
|
||||
out_1728292420314804295[5] = 0;
|
||||
out_1728292420314804295[6] = 0;
|
||||
out_1728292420314804295[7] = 1;
|
||||
out_1728292420314804295[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_4356237215245798614) {
|
||||
out_4356237215245798614[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_6443570481160411950) {
|
||||
out_6443570481160411950[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_4801163462801739666) {
|
||||
out_4801163462801739666[0] = 0;
|
||||
out_4801163462801739666[1] = 0;
|
||||
out_4801163462801739666[2] = 0;
|
||||
out_4801163462801739666[3] = 1;
|
||||
out_4801163462801739666[4] = 0;
|
||||
out_4801163462801739666[5] = 0;
|
||||
out_4801163462801739666[6] = 0;
|
||||
out_4801163462801739666[7] = 0;
|
||||
out_4801163462801739666[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_4689248743368781180) {
|
||||
out_4689248743368781180[0] = 0;
|
||||
out_4689248743368781180[1] = 0;
|
||||
out_4689248743368781180[2] = 0;
|
||||
out_4689248743368781180[3] = 1;
|
||||
out_4689248743368781180[4] = 0;
|
||||
out_4689248743368781180[5] = 0;
|
||||
out_4689248743368781180[6] = 0;
|
||||
out_4689248743368781180[7] = 0;
|
||||
out_4689248743368781180[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_5593846177200013010) {
|
||||
out_5593846177200013010[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_4239908335728467225) {
|
||||
out_4239908335728467225[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_2116168806686922571) {
|
||||
out_2116168806686922571[0] = 0;
|
||||
out_2116168806686922571[1] = 1;
|
||||
out_2116168806686922571[2] = 0;
|
||||
out_2116168806686922571[3] = 0;
|
||||
out_2116168806686922571[4] = 0;
|
||||
out_2116168806686922571[5] = 0;
|
||||
out_2116168806686922571[6] = 0;
|
||||
out_2116168806686922571[7] = 0;
|
||||
out_2116168806686922571[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_2004254087253964085) {
|
||||
out_2004254087253964085[0] = 0;
|
||||
out_2004254087253964085[1] = 1;
|
||||
out_2004254087253964085[2] = 0;
|
||||
out_2004254087253964085[3] = 0;
|
||||
out_2004254087253964085[4] = 0;
|
||||
out_2004254087253964085[5] = 0;
|
||||
out_2004254087253964085[6] = 0;
|
||||
out_2004254087253964085[7] = 0;
|
||||
out_2004254087253964085[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_6655363424035052189) {
|
||||
out_6655363424035052189[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_8966387541104806981) {
|
||||
out_8966387541104806981[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_7198567823756453145) {
|
||||
out_7198567823756453145[0] = 1;
|
||||
out_7198567823756453145[1] = 0;
|
||||
out_7198567823756453145[2] = 0;
|
||||
out_7198567823756453145[3] = 0;
|
||||
out_7198567823756453145[4] = 0;
|
||||
out_7198567823756453145[5] = 0;
|
||||
out_7198567823756453145[6] = 0;
|
||||
out_7198567823756453145[7] = 0;
|
||||
out_7198567823756453145[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_7086653104323494659) {
|
||||
out_7086653104323494659[0] = 1;
|
||||
out_7086653104323494659[1] = 0;
|
||||
out_7086653104323494659[2] = 0;
|
||||
out_7086653104323494659[3] = 0;
|
||||
out_7086653104323494659[4] = 0;
|
||||
out_7086653104323494659[5] = 0;
|
||||
out_7086653104323494659[6] = 0;
|
||||
out_7086653104323494659[7] = 0;
|
||||
out_7086653104323494659[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_8813639528518401468) {
|
||||
out_8813639528518401468[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_8508687616659686337) {
|
||||
out_8508687616659686337[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_8934299543093580534) {
|
||||
out_8934299543093580534[0] = 0;
|
||||
out_8934299543093580534[1] = 0;
|
||||
out_8934299543093580534[2] = 0;
|
||||
out_8934299543093580534[3] = 0;
|
||||
out_8934299543093580534[4] = 0;
|
||||
out_8934299543093580534[5] = 0;
|
||||
out_8934299543093580534[6] = 0;
|
||||
out_8934299543093580534[7] = 0;
|
||||
out_8934299543093580534[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_2354500522548155771) {
|
||||
out_2354500522548155771[0] = 0;
|
||||
out_2354500522548155771[1] = 0;
|
||||
out_2354500522548155771[2] = 0;
|
||||
out_2354500522548155771[3] = 0;
|
||||
out_2354500522548155771[4] = 0;
|
||||
out_2354500522548155771[5] = 0;
|
||||
out_2354500522548155771[6] = 0;
|
||||
out_2354500522548155771[7] = 0;
|
||||
out_2354500522548155771[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_7228457580426239955) {
|
||||
err_fun(nom_x, delta_x, out_7228457580426239955);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6972961942535496334) {
|
||||
err_fun(nom_x, delta_x, out_6972961942535496334);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1737471906525172971) {
|
||||
inv_err_fun(nom_x, true_x, out_1737471906525172971);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626) {
|
||||
inv_err_fun(nom_x, true_x, out_2104979621458798626);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_2159575818972962605) {
|
||||
H_mod_fun(state, out_2159575818972962605);
|
||||
void car_H_mod_fun(double *state, double *out_2779658660641459178) {
|
||||
H_mod_fun(state, out_2779658660641459178);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_1819714955702057293) {
|
||||
f_fun(state, dt, out_1819714955702057293);
|
||||
void car_f_fun(double *state, double dt, double *out_1847838116479859502) {
|
||||
f_fun(state, dt, out_1847838116479859502);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_5560137472532626832) {
|
||||
F_fun(state, dt, out_5560137472532626832);
|
||||
void car_F_fun(double *state, double dt, double *out_8278586360493195906) {
|
||||
F_fun(state, dt, out_8278586360493195906);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_3269510566889334287) {
|
||||
h_25(state, unused, out_3269510566889334287);
|
||||
void car_h_25(double *state, double *unused, double *out_4623448408360880072) {
|
||||
h_25(state, unused, out_4623448408360880072);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_5144733109508563382) {
|
||||
H_25(state, unused, out_5144733109508563382);
|
||||
void car_H_25(double *state, double *unused, double *out_2013210898559251929) {
|
||||
H_25(state, unused, out_2013210898559251929);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_2726228600494227622) {
|
||||
h_24(state, unused, out_2726228600494227622);
|
||||
void car_h_24(double *state, double *unused, double *out_5136059034754269087) {
|
||||
h_24(state, unused, out_5136059034754269087);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_9127056260906331280) {
|
||||
H_24(state, unused, out_9127056260906331280);
|
||||
void car_H_24(double *state, double *unused, double *out_7286705181472264523) {
|
||||
H_24(state, unused, out_7286705181472264523);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_6537356030101675445) {
|
||||
h_30(state, unused, out_6537356030101675445);
|
||||
void car_h_30(double *state, double *unused, double *out_5183418188630129660) {
|
||||
h_30(state, unused, out_5183418188630129660);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_2626400151001314755) {
|
||||
H_30(state, unused, out_2626400151001314755);
|
||||
void car_H_30(double *state, double *unused, double *out_2514485431568356269) {
|
||||
H_30(state, unused, out_2514485431568356269);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_4474244609179175358) {
|
||||
h_26(state, unused, out_4474244609179175358);
|
||||
void car_h_26(double *state, double *unused, double *out_8220204240074462345) {
|
||||
h_26(state, unused, out_8220204240074462345);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_1840207139747762781) {
|
||||
H_26(state, unused, out_1840207139747762781);
|
||||
void car_H_26(double *state, double *unused, double *out_1728292420314804295) {
|
||||
H_26(state, unused, out_1728292420314804295);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_4356237215245798614) {
|
||||
h_27(state, unused, out_4356237215245798614);
|
||||
void car_h_27(double *state, double *unused, double *out_6443570481160411950) {
|
||||
h_27(state, unused, out_6443570481160411950);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_4801163462801739666) {
|
||||
H_27(state, unused, out_4801163462801739666);
|
||||
void car_H_27(double *state, double *unused, double *out_4689248743368781180) {
|
||||
H_27(state, unused, out_4689248743368781180);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_5593846177200013010) {
|
||||
h_29(state, unused, out_5593846177200013010);
|
||||
void car_h_29(double *state, double *unused, double *out_4239908335728467225) {
|
||||
h_29(state, unused, out_4239908335728467225);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_2116168806686922571) {
|
||||
H_29(state, unused, out_2116168806686922571);
|
||||
void car_H_29(double *state, double *unused, double *out_2004254087253964085) {
|
||||
H_29(state, unused, out_2004254087253964085);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_6655363424035052189) {
|
||||
h_28(state, unused, out_6655363424035052189);
|
||||
void car_h_28(double *state, double *unused, double *out_8966387541104806981) {
|
||||
h_28(state, unused, out_8966387541104806981);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_7198567823756453145) {
|
||||
H_28(state, unused, out_7198567823756453145);
|
||||
void car_H_28(double *state, double *unused, double *out_7086653104323494659) {
|
||||
H_28(state, unused, out_7086653104323494659);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_8813639528518401468) {
|
||||
h_31(state, unused, out_8813639528518401468);
|
||||
void car_h_31(double *state, double *unused, double *out_8508687616659686337) {
|
||||
h_31(state, unused, out_8508687616659686337);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_8934299543093580534) {
|
||||
H_31(state, unused, out_8934299543093580534);
|
||||
void car_H_31(double *state, double *unused, double *out_2354500522548155771) {
|
||||
H_31(state, unused, out_2354500522548155771);
|
||||
}
|
||||
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_7228457580426239955);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1737471906525172971);
|
||||
void car_H_mod_fun(double *state, double *out_2159575818972962605);
|
||||
void car_f_fun(double *state, double dt, double *out_1819714955702057293);
|
||||
void car_F_fun(double *state, double dt, double *out_5560137472532626832);
|
||||
void car_h_25(double *state, double *unused, double *out_3269510566889334287);
|
||||
void car_H_25(double *state, double *unused, double *out_5144733109508563382);
|
||||
void car_h_24(double *state, double *unused, double *out_2726228600494227622);
|
||||
void car_H_24(double *state, double *unused, double *out_9127056260906331280);
|
||||
void car_h_30(double *state, double *unused, double *out_6537356030101675445);
|
||||
void car_H_30(double *state, double *unused, double *out_2626400151001314755);
|
||||
void car_h_26(double *state, double *unused, double *out_4474244609179175358);
|
||||
void car_H_26(double *state, double *unused, double *out_1840207139747762781);
|
||||
void car_h_27(double *state, double *unused, double *out_4356237215245798614);
|
||||
void car_H_27(double *state, double *unused, double *out_4801163462801739666);
|
||||
void car_h_29(double *state, double *unused, double *out_5593846177200013010);
|
||||
void car_H_29(double *state, double *unused, double *out_2116168806686922571);
|
||||
void car_h_28(double *state, double *unused, double *out_6655363424035052189);
|
||||
void car_H_28(double *state, double *unused, double *out_7198567823756453145);
|
||||
void car_h_31(double *state, double *unused, double *out_8813639528518401468);
|
||||
void car_H_31(double *state, double *unused, double *out_8934299543093580534);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6972961942535496334);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626);
|
||||
void car_H_mod_fun(double *state, double *out_2779658660641459178);
|
||||
void car_f_fun(double *state, double dt, double *out_1847838116479859502);
|
||||
void car_F_fun(double *state, double dt, double *out_8278586360493195906);
|
||||
void car_h_25(double *state, double *unused, double *out_4623448408360880072);
|
||||
void car_H_25(double *state, double *unused, double *out_2013210898559251929);
|
||||
void car_h_24(double *state, double *unused, double *out_5136059034754269087);
|
||||
void car_H_24(double *state, double *unused, double *out_7286705181472264523);
|
||||
void car_h_30(double *state, double *unused, double *out_5183418188630129660);
|
||||
void car_H_30(double *state, double *unused, double *out_2514485431568356269);
|
||||
void car_h_26(double *state, double *unused, double *out_8220204240074462345);
|
||||
void car_H_26(double *state, double *unused, double *out_1728292420314804295);
|
||||
void car_h_27(double *state, double *unused, double *out_6443570481160411950);
|
||||
void car_H_27(double *state, double *unused, double *out_4689248743368781180);
|
||||
void car_h_29(double *state, double *unused, double *out_4239908335728467225);
|
||||
void car_H_29(double *state, double *unused, double *out_2004254087253964085);
|
||||
void car_h_28(double *state, double *unused, double *out_8966387541104806981);
|
||||
void car_H_28(double *state, double *unused, double *out_7086653104323494659);
|
||||
void car_h_31(double *state, double *unused, double *out_8508687616659686337);
|
||||
void car_H_31(double *state, double *unused, double *out_2354500522548155771);
|
||||
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_4423077432163082570);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3066625947211960781);
|
||||
void pose_H_mod_fun(double *state, double *out_7899193355677302719);
|
||||
void pose_f_fun(double *state, double dt, double *out_1767716959874096227);
|
||||
void pose_F_fun(double *state, double dt, double *out_5946100134082923473);
|
||||
void pose_h_4(double *state, double *unused, double *out_7895468860031348123);
|
||||
void pose_H_4(double *state, double *unused, double *out_4699468911280290176);
|
||||
void pose_h_10(double *state, double *unused, double *out_7051420194440758803);
|
||||
void pose_H_10(double *state, double *unused, double *out_181799554460224071);
|
||||
void pose_h_13(double *state, double *unused, double *out_1850536561694260921);
|
||||
void pose_H_13(double *state, double *unused, double *out_7911742736612622977);
|
||||
void pose_h_14(double *state, double *unused, double *out_8940417508633322111);
|
||||
void pose_H_14(double *state, double *unused, double *out_8662709767619774705);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_1493079546624007114);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4580499654968994478);
|
||||
void pose_H_mod_fun(double *state, double *out_8273119377234766952);
|
||||
void pose_f_fun(double *state, double dt, double *out_2742900412262200056);
|
||||
void pose_F_fun(double *state, double dt, double *out_1250059419478269226);
|
||||
void pose_h_4(double *state, double *unused, double *out_6706399028598537324);
|
||||
void pose_H_4(double *state, double *unused, double *out_1435428464391795526);
|
||||
void pose_h_10(double *state, double *unused, double *out_3193952299746834757);
|
||||
void pose_H_10(double *state, double *unused, double *out_1464924797507750077);
|
||||
void pose_h_13(double *state, double *unused, double *out_7802893222450228438);
|
||||
void pose_H_13(double *state, double *unused, double *out_1776845360940537275);
|
||||
void pose_h_14(double *state, double *unused, double *out_7652212324095214333);
|
||||
void pose_H_14(double *state, double *unused, double *out_2527812391947689003);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Binary file not shown.
Reference in New Issue
Block a user