mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-22 09:42:10 +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-a51b1fd7-DEBUG";
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||||
const uint8_t gitversion[19] = "DEV-2c7e6e72-DEBUG";
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||||
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||||
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@@ -1 +1 @@
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DEV-a51b1fd7-DEBUG
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DEV-2c7e6e72-DEBUG
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
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* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_6456809504724999118) {
|
||||
out_6456809504724999118[0] = delta_x[0] + nom_x[0];
|
||||
out_6456809504724999118[1] = delta_x[1] + nom_x[1];
|
||||
out_6456809504724999118[2] = delta_x[2] + nom_x[2];
|
||||
out_6456809504724999118[3] = delta_x[3] + nom_x[3];
|
||||
out_6456809504724999118[4] = delta_x[4] + nom_x[4];
|
||||
out_6456809504724999118[5] = delta_x[5] + nom_x[5];
|
||||
out_6456809504724999118[6] = delta_x[6] + nom_x[6];
|
||||
out_6456809504724999118[7] = delta_x[7] + nom_x[7];
|
||||
out_6456809504724999118[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_8290791895352476901) {
|
||||
out_8290791895352476901[0] = delta_x[0] + nom_x[0];
|
||||
out_8290791895352476901[1] = delta_x[1] + nom_x[1];
|
||||
out_8290791895352476901[2] = delta_x[2] + nom_x[2];
|
||||
out_8290791895352476901[3] = delta_x[3] + nom_x[3];
|
||||
out_8290791895352476901[4] = delta_x[4] + nom_x[4];
|
||||
out_8290791895352476901[5] = delta_x[5] + nom_x[5];
|
||||
out_8290791895352476901[6] = delta_x[6] + nom_x[6];
|
||||
out_8290791895352476901[7] = delta_x[7] + nom_x[7];
|
||||
out_8290791895352476901[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_5644557425305384061) {
|
||||
out_5644557425305384061[0] = -nom_x[0] + true_x[0];
|
||||
out_5644557425305384061[1] = -nom_x[1] + true_x[1];
|
||||
out_5644557425305384061[2] = -nom_x[2] + true_x[2];
|
||||
out_5644557425305384061[3] = -nom_x[3] + true_x[3];
|
||||
out_5644557425305384061[4] = -nom_x[4] + true_x[4];
|
||||
out_5644557425305384061[5] = -nom_x[5] + true_x[5];
|
||||
out_5644557425305384061[6] = -nom_x[6] + true_x[6];
|
||||
out_5644557425305384061[7] = -nom_x[7] + true_x[7];
|
||||
out_5644557425305384061[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3328957974600116526) {
|
||||
out_3328957974600116526[0] = -nom_x[0] + true_x[0];
|
||||
out_3328957974600116526[1] = -nom_x[1] + true_x[1];
|
||||
out_3328957974600116526[2] = -nom_x[2] + true_x[2];
|
||||
out_3328957974600116526[3] = -nom_x[3] + true_x[3];
|
||||
out_3328957974600116526[4] = -nom_x[4] + true_x[4];
|
||||
out_3328957974600116526[5] = -nom_x[5] + true_x[5];
|
||||
out_3328957974600116526[6] = -nom_x[6] + true_x[6];
|
||||
out_3328957974600116526[7] = -nom_x[7] + true_x[7];
|
||||
out_3328957974600116526[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_3623313066644464969) {
|
||||
out_3623313066644464969[0] = 1.0;
|
||||
out_3623313066644464969[1] = 0.0;
|
||||
out_3623313066644464969[2] = 0.0;
|
||||
out_3623313066644464969[3] = 0.0;
|
||||
out_3623313066644464969[4] = 0.0;
|
||||
out_3623313066644464969[5] = 0.0;
|
||||
out_3623313066644464969[6] = 0.0;
|
||||
out_3623313066644464969[7] = 0.0;
|
||||
out_3623313066644464969[8] = 0.0;
|
||||
out_3623313066644464969[9] = 0.0;
|
||||
out_3623313066644464969[10] = 1.0;
|
||||
out_3623313066644464969[11] = 0.0;
|
||||
out_3623313066644464969[12] = 0.0;
|
||||
out_3623313066644464969[13] = 0.0;
|
||||
out_3623313066644464969[14] = 0.0;
|
||||
out_3623313066644464969[15] = 0.0;
|
||||
out_3623313066644464969[16] = 0.0;
|
||||
out_3623313066644464969[17] = 0.0;
|
||||
out_3623313066644464969[18] = 0.0;
|
||||
out_3623313066644464969[19] = 0.0;
|
||||
out_3623313066644464969[20] = 1.0;
|
||||
out_3623313066644464969[21] = 0.0;
|
||||
out_3623313066644464969[22] = 0.0;
|
||||
out_3623313066644464969[23] = 0.0;
|
||||
out_3623313066644464969[24] = 0.0;
|
||||
out_3623313066644464969[25] = 0.0;
|
||||
out_3623313066644464969[26] = 0.0;
|
||||
out_3623313066644464969[27] = 0.0;
|
||||
out_3623313066644464969[28] = 0.0;
|
||||
out_3623313066644464969[29] = 0.0;
|
||||
out_3623313066644464969[30] = 1.0;
|
||||
out_3623313066644464969[31] = 0.0;
|
||||
out_3623313066644464969[32] = 0.0;
|
||||
out_3623313066644464969[33] = 0.0;
|
||||
out_3623313066644464969[34] = 0.0;
|
||||
out_3623313066644464969[35] = 0.0;
|
||||
out_3623313066644464969[36] = 0.0;
|
||||
out_3623313066644464969[37] = 0.0;
|
||||
out_3623313066644464969[38] = 0.0;
|
||||
out_3623313066644464969[39] = 0.0;
|
||||
out_3623313066644464969[40] = 1.0;
|
||||
out_3623313066644464969[41] = 0.0;
|
||||
out_3623313066644464969[42] = 0.0;
|
||||
out_3623313066644464969[43] = 0.0;
|
||||
out_3623313066644464969[44] = 0.0;
|
||||
out_3623313066644464969[45] = 0.0;
|
||||
out_3623313066644464969[46] = 0.0;
|
||||
out_3623313066644464969[47] = 0.0;
|
||||
out_3623313066644464969[48] = 0.0;
|
||||
out_3623313066644464969[49] = 0.0;
|
||||
out_3623313066644464969[50] = 1.0;
|
||||
out_3623313066644464969[51] = 0.0;
|
||||
out_3623313066644464969[52] = 0.0;
|
||||
out_3623313066644464969[53] = 0.0;
|
||||
out_3623313066644464969[54] = 0.0;
|
||||
out_3623313066644464969[55] = 0.0;
|
||||
out_3623313066644464969[56] = 0.0;
|
||||
out_3623313066644464969[57] = 0.0;
|
||||
out_3623313066644464969[58] = 0.0;
|
||||
out_3623313066644464969[59] = 0.0;
|
||||
out_3623313066644464969[60] = 1.0;
|
||||
out_3623313066644464969[61] = 0.0;
|
||||
out_3623313066644464969[62] = 0.0;
|
||||
out_3623313066644464969[63] = 0.0;
|
||||
out_3623313066644464969[64] = 0.0;
|
||||
out_3623313066644464969[65] = 0.0;
|
||||
out_3623313066644464969[66] = 0.0;
|
||||
out_3623313066644464969[67] = 0.0;
|
||||
out_3623313066644464969[68] = 0.0;
|
||||
out_3623313066644464969[69] = 0.0;
|
||||
out_3623313066644464969[70] = 1.0;
|
||||
out_3623313066644464969[71] = 0.0;
|
||||
out_3623313066644464969[72] = 0.0;
|
||||
out_3623313066644464969[73] = 0.0;
|
||||
out_3623313066644464969[74] = 0.0;
|
||||
out_3623313066644464969[75] = 0.0;
|
||||
out_3623313066644464969[76] = 0.0;
|
||||
out_3623313066644464969[77] = 0.0;
|
||||
out_3623313066644464969[78] = 0.0;
|
||||
out_3623313066644464969[79] = 0.0;
|
||||
out_3623313066644464969[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_5003844791385944482) {
|
||||
out_5003844791385944482[0] = 1.0;
|
||||
out_5003844791385944482[1] = 0.0;
|
||||
out_5003844791385944482[2] = 0.0;
|
||||
out_5003844791385944482[3] = 0.0;
|
||||
out_5003844791385944482[4] = 0.0;
|
||||
out_5003844791385944482[5] = 0.0;
|
||||
out_5003844791385944482[6] = 0.0;
|
||||
out_5003844791385944482[7] = 0.0;
|
||||
out_5003844791385944482[8] = 0.0;
|
||||
out_5003844791385944482[9] = 0.0;
|
||||
out_5003844791385944482[10] = 1.0;
|
||||
out_5003844791385944482[11] = 0.0;
|
||||
out_5003844791385944482[12] = 0.0;
|
||||
out_5003844791385944482[13] = 0.0;
|
||||
out_5003844791385944482[14] = 0.0;
|
||||
out_5003844791385944482[15] = 0.0;
|
||||
out_5003844791385944482[16] = 0.0;
|
||||
out_5003844791385944482[17] = 0.0;
|
||||
out_5003844791385944482[18] = 0.0;
|
||||
out_5003844791385944482[19] = 0.0;
|
||||
out_5003844791385944482[20] = 1.0;
|
||||
out_5003844791385944482[21] = 0.0;
|
||||
out_5003844791385944482[22] = 0.0;
|
||||
out_5003844791385944482[23] = 0.0;
|
||||
out_5003844791385944482[24] = 0.0;
|
||||
out_5003844791385944482[25] = 0.0;
|
||||
out_5003844791385944482[26] = 0.0;
|
||||
out_5003844791385944482[27] = 0.0;
|
||||
out_5003844791385944482[28] = 0.0;
|
||||
out_5003844791385944482[29] = 0.0;
|
||||
out_5003844791385944482[30] = 1.0;
|
||||
out_5003844791385944482[31] = 0.0;
|
||||
out_5003844791385944482[32] = 0.0;
|
||||
out_5003844791385944482[33] = 0.0;
|
||||
out_5003844791385944482[34] = 0.0;
|
||||
out_5003844791385944482[35] = 0.0;
|
||||
out_5003844791385944482[36] = 0.0;
|
||||
out_5003844791385944482[37] = 0.0;
|
||||
out_5003844791385944482[38] = 0.0;
|
||||
out_5003844791385944482[39] = 0.0;
|
||||
out_5003844791385944482[40] = 1.0;
|
||||
out_5003844791385944482[41] = 0.0;
|
||||
out_5003844791385944482[42] = 0.0;
|
||||
out_5003844791385944482[43] = 0.0;
|
||||
out_5003844791385944482[44] = 0.0;
|
||||
out_5003844791385944482[45] = 0.0;
|
||||
out_5003844791385944482[46] = 0.0;
|
||||
out_5003844791385944482[47] = 0.0;
|
||||
out_5003844791385944482[48] = 0.0;
|
||||
out_5003844791385944482[49] = 0.0;
|
||||
out_5003844791385944482[50] = 1.0;
|
||||
out_5003844791385944482[51] = 0.0;
|
||||
out_5003844791385944482[52] = 0.0;
|
||||
out_5003844791385944482[53] = 0.0;
|
||||
out_5003844791385944482[54] = 0.0;
|
||||
out_5003844791385944482[55] = 0.0;
|
||||
out_5003844791385944482[56] = 0.0;
|
||||
out_5003844791385944482[57] = 0.0;
|
||||
out_5003844791385944482[58] = 0.0;
|
||||
out_5003844791385944482[59] = 0.0;
|
||||
out_5003844791385944482[60] = 1.0;
|
||||
out_5003844791385944482[61] = 0.0;
|
||||
out_5003844791385944482[62] = 0.0;
|
||||
out_5003844791385944482[63] = 0.0;
|
||||
out_5003844791385944482[64] = 0.0;
|
||||
out_5003844791385944482[65] = 0.0;
|
||||
out_5003844791385944482[66] = 0.0;
|
||||
out_5003844791385944482[67] = 0.0;
|
||||
out_5003844791385944482[68] = 0.0;
|
||||
out_5003844791385944482[69] = 0.0;
|
||||
out_5003844791385944482[70] = 1.0;
|
||||
out_5003844791385944482[71] = 0.0;
|
||||
out_5003844791385944482[72] = 0.0;
|
||||
out_5003844791385944482[73] = 0.0;
|
||||
out_5003844791385944482[74] = 0.0;
|
||||
out_5003844791385944482[75] = 0.0;
|
||||
out_5003844791385944482[76] = 0.0;
|
||||
out_5003844791385944482[77] = 0.0;
|
||||
out_5003844791385944482[78] = 0.0;
|
||||
out_5003844791385944482[79] = 0.0;
|
||||
out_5003844791385944482[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_2530420459597428980) {
|
||||
out_2530420459597428980[0] = state[0];
|
||||
out_2530420459597428980[1] = state[1];
|
||||
out_2530420459597428980[2] = state[2];
|
||||
out_2530420459597428980[3] = state[3];
|
||||
out_2530420459597428980[4] = state[4];
|
||||
out_2530420459597428980[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_2530420459597428980[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_2530420459597428980[7] = state[7];
|
||||
out_2530420459597428980[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_2539953356409783064) {
|
||||
out_2539953356409783064[0] = state[0];
|
||||
out_2539953356409783064[1] = state[1];
|
||||
out_2539953356409783064[2] = state[2];
|
||||
out_2539953356409783064[3] = state[3];
|
||||
out_2539953356409783064[4] = state[4];
|
||||
out_2539953356409783064[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_2539953356409783064[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_2539953356409783064[7] = state[7];
|
||||
out_2539953356409783064[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_7641637713499099284) {
|
||||
out_7641637713499099284[0] = 1;
|
||||
out_7641637713499099284[1] = 0;
|
||||
out_7641637713499099284[2] = 0;
|
||||
out_7641637713499099284[3] = 0;
|
||||
out_7641637713499099284[4] = 0;
|
||||
out_7641637713499099284[5] = 0;
|
||||
out_7641637713499099284[6] = 0;
|
||||
out_7641637713499099284[7] = 0;
|
||||
out_7641637713499099284[8] = 0;
|
||||
out_7641637713499099284[9] = 0;
|
||||
out_7641637713499099284[10] = 1;
|
||||
out_7641637713499099284[11] = 0;
|
||||
out_7641637713499099284[12] = 0;
|
||||
out_7641637713499099284[13] = 0;
|
||||
out_7641637713499099284[14] = 0;
|
||||
out_7641637713499099284[15] = 0;
|
||||
out_7641637713499099284[16] = 0;
|
||||
out_7641637713499099284[17] = 0;
|
||||
out_7641637713499099284[18] = 0;
|
||||
out_7641637713499099284[19] = 0;
|
||||
out_7641637713499099284[20] = 1;
|
||||
out_7641637713499099284[21] = 0;
|
||||
out_7641637713499099284[22] = 0;
|
||||
out_7641637713499099284[23] = 0;
|
||||
out_7641637713499099284[24] = 0;
|
||||
out_7641637713499099284[25] = 0;
|
||||
out_7641637713499099284[26] = 0;
|
||||
out_7641637713499099284[27] = 0;
|
||||
out_7641637713499099284[28] = 0;
|
||||
out_7641637713499099284[29] = 0;
|
||||
out_7641637713499099284[30] = 1;
|
||||
out_7641637713499099284[31] = 0;
|
||||
out_7641637713499099284[32] = 0;
|
||||
out_7641637713499099284[33] = 0;
|
||||
out_7641637713499099284[34] = 0;
|
||||
out_7641637713499099284[35] = 0;
|
||||
out_7641637713499099284[36] = 0;
|
||||
out_7641637713499099284[37] = 0;
|
||||
out_7641637713499099284[38] = 0;
|
||||
out_7641637713499099284[39] = 0;
|
||||
out_7641637713499099284[40] = 1;
|
||||
out_7641637713499099284[41] = 0;
|
||||
out_7641637713499099284[42] = 0;
|
||||
out_7641637713499099284[43] = 0;
|
||||
out_7641637713499099284[44] = 0;
|
||||
out_7641637713499099284[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_7641637713499099284[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_7641637713499099284[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7641637713499099284[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7641637713499099284[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_7641637713499099284[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_7641637713499099284[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_7641637713499099284[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7641637713499099284[53] = -9.8100000000000005*dt;
|
||||
out_7641637713499099284[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_7641637713499099284[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_7641637713499099284[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7641637713499099284[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7641637713499099284[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_7641637713499099284[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_7641637713499099284[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_7641637713499099284[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7641637713499099284[62] = 0;
|
||||
out_7641637713499099284[63] = 0;
|
||||
out_7641637713499099284[64] = 0;
|
||||
out_7641637713499099284[65] = 0;
|
||||
out_7641637713499099284[66] = 0;
|
||||
out_7641637713499099284[67] = 0;
|
||||
out_7641637713499099284[68] = 0;
|
||||
out_7641637713499099284[69] = 0;
|
||||
out_7641637713499099284[70] = 1;
|
||||
out_7641637713499099284[71] = 0;
|
||||
out_7641637713499099284[72] = 0;
|
||||
out_7641637713499099284[73] = 0;
|
||||
out_7641637713499099284[74] = 0;
|
||||
out_7641637713499099284[75] = 0;
|
||||
out_7641637713499099284[76] = 0;
|
||||
out_7641637713499099284[77] = 0;
|
||||
out_7641637713499099284[78] = 0;
|
||||
out_7641637713499099284[79] = 0;
|
||||
out_7641637713499099284[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_7655677773978689580) {
|
||||
out_7655677773978689580[0] = 1;
|
||||
out_7655677773978689580[1] = 0;
|
||||
out_7655677773978689580[2] = 0;
|
||||
out_7655677773978689580[3] = 0;
|
||||
out_7655677773978689580[4] = 0;
|
||||
out_7655677773978689580[5] = 0;
|
||||
out_7655677773978689580[6] = 0;
|
||||
out_7655677773978689580[7] = 0;
|
||||
out_7655677773978689580[8] = 0;
|
||||
out_7655677773978689580[9] = 0;
|
||||
out_7655677773978689580[10] = 1;
|
||||
out_7655677773978689580[11] = 0;
|
||||
out_7655677773978689580[12] = 0;
|
||||
out_7655677773978689580[13] = 0;
|
||||
out_7655677773978689580[14] = 0;
|
||||
out_7655677773978689580[15] = 0;
|
||||
out_7655677773978689580[16] = 0;
|
||||
out_7655677773978689580[17] = 0;
|
||||
out_7655677773978689580[18] = 0;
|
||||
out_7655677773978689580[19] = 0;
|
||||
out_7655677773978689580[20] = 1;
|
||||
out_7655677773978689580[21] = 0;
|
||||
out_7655677773978689580[22] = 0;
|
||||
out_7655677773978689580[23] = 0;
|
||||
out_7655677773978689580[24] = 0;
|
||||
out_7655677773978689580[25] = 0;
|
||||
out_7655677773978689580[26] = 0;
|
||||
out_7655677773978689580[27] = 0;
|
||||
out_7655677773978689580[28] = 0;
|
||||
out_7655677773978689580[29] = 0;
|
||||
out_7655677773978689580[30] = 1;
|
||||
out_7655677773978689580[31] = 0;
|
||||
out_7655677773978689580[32] = 0;
|
||||
out_7655677773978689580[33] = 0;
|
||||
out_7655677773978689580[34] = 0;
|
||||
out_7655677773978689580[35] = 0;
|
||||
out_7655677773978689580[36] = 0;
|
||||
out_7655677773978689580[37] = 0;
|
||||
out_7655677773978689580[38] = 0;
|
||||
out_7655677773978689580[39] = 0;
|
||||
out_7655677773978689580[40] = 1;
|
||||
out_7655677773978689580[41] = 0;
|
||||
out_7655677773978689580[42] = 0;
|
||||
out_7655677773978689580[43] = 0;
|
||||
out_7655677773978689580[44] = 0;
|
||||
out_7655677773978689580[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_7655677773978689580[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_7655677773978689580[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7655677773978689580[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7655677773978689580[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_7655677773978689580[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_7655677773978689580[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_7655677773978689580[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7655677773978689580[53] = -9.8100000000000005*dt;
|
||||
out_7655677773978689580[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_7655677773978689580[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_7655677773978689580[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7655677773978689580[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7655677773978689580[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_7655677773978689580[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_7655677773978689580[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_7655677773978689580[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7655677773978689580[62] = 0;
|
||||
out_7655677773978689580[63] = 0;
|
||||
out_7655677773978689580[64] = 0;
|
||||
out_7655677773978689580[65] = 0;
|
||||
out_7655677773978689580[66] = 0;
|
||||
out_7655677773978689580[67] = 0;
|
||||
out_7655677773978689580[68] = 0;
|
||||
out_7655677773978689580[69] = 0;
|
||||
out_7655677773978689580[70] = 1;
|
||||
out_7655677773978689580[71] = 0;
|
||||
out_7655677773978689580[72] = 0;
|
||||
out_7655677773978689580[73] = 0;
|
||||
out_7655677773978689580[74] = 0;
|
||||
out_7655677773978689580[75] = 0;
|
||||
out_7655677773978689580[76] = 0;
|
||||
out_7655677773978689580[77] = 0;
|
||||
out_7655677773978689580[78] = 0;
|
||||
out_7655677773978689580[79] = 0;
|
||||
out_7655677773978689580[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_9149101986531247315) {
|
||||
out_9149101986531247315[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_1727643108219156348) {
|
||||
out_1727643108219156348[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_8527004891829129809) {
|
||||
out_8527004891829129809[0] = 0;
|
||||
out_8527004891829129809[1] = 0;
|
||||
out_8527004891829129809[2] = 0;
|
||||
out_8527004891829129809[3] = 0;
|
||||
out_8527004891829129809[4] = 0;
|
||||
out_8527004891829129809[5] = 0;
|
||||
out_8527004891829129809[6] = 1;
|
||||
out_8527004891829129809[7] = 0;
|
||||
out_8527004891829129809[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_5770292553468151731) {
|
||||
out_5770292553468151731[0] = 0;
|
||||
out_5770292553468151731[1] = 0;
|
||||
out_5770292553468151731[2] = 0;
|
||||
out_5770292553468151731[3] = 0;
|
||||
out_5770292553468151731[4] = 0;
|
||||
out_5770292553468151731[5] = 0;
|
||||
out_5770292553468151731[6] = 1;
|
||||
out_5770292553468151731[7] = 0;
|
||||
out_5770292553468151731[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_3166828984508355697) {
|
||||
out_3166828984508355697[0] = state[4];
|
||||
out_3166828984508355697[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_4524050476975214784) {
|
||||
out_4524050476975214784[0] = state[4];
|
||||
out_4524050476975214784[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_2072385171006399745) {
|
||||
out_2072385171006399745[0] = 0;
|
||||
out_2072385171006399745[1] = 0;
|
||||
out_2072385171006399745[2] = 0;
|
||||
out_2072385171006399745[3] = 0;
|
||||
out_2072385171006399745[4] = 1;
|
||||
out_2072385171006399745[5] = 0;
|
||||
out_2072385171006399745[6] = 0;
|
||||
out_2072385171006399745[7] = 0;
|
||||
out_2072385171006399745[8] = 0;
|
||||
out_2072385171006399745[9] = 0;
|
||||
out_2072385171006399745[10] = 0;
|
||||
out_2072385171006399745[11] = 0;
|
||||
out_2072385171006399745[12] = 0;
|
||||
out_2072385171006399745[13] = 0;
|
||||
out_2072385171006399745[14] = 1;
|
||||
out_2072385171006399745[15] = 0;
|
||||
out_2072385171006399745[16] = 0;
|
||||
out_2072385171006399745[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_6475418840390238459) {
|
||||
out_6475418840390238459[0] = 0;
|
||||
out_6475418840390238459[1] = 0;
|
||||
out_6475418840390238459[2] = 0;
|
||||
out_6475418840390238459[3] = 0;
|
||||
out_6475418840390238459[4] = 1;
|
||||
out_6475418840390238459[5] = 0;
|
||||
out_6475418840390238459[6] = 0;
|
||||
out_6475418840390238459[7] = 0;
|
||||
out_6475418840390238459[8] = 0;
|
||||
out_6475418840390238459[9] = 0;
|
||||
out_6475418840390238459[10] = 0;
|
||||
out_6475418840390238459[11] = 0;
|
||||
out_6475418840390238459[12] = 0;
|
||||
out_6475418840390238459[13] = 0;
|
||||
out_6475418840390238459[14] = 1;
|
||||
out_6475418840390238459[15] = 0;
|
||||
out_6475418840390238459[16] = 0;
|
||||
out_6475418840390238459[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_1385836729710574874) {
|
||||
out_1385836729710574874[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_90439028039008013) {
|
||||
out_90439028039008013[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_7401406223373173180) {
|
||||
out_7401406223373173180[0] = 0;
|
||||
out_7401406223373173180[1] = 0;
|
||||
out_7401406223373173180[2] = 0;
|
||||
out_7401406223373173180[3] = 0;
|
||||
out_7401406223373173180[4] = 1;
|
||||
out_7401406223373173180[5] = 0;
|
||||
out_7401406223373173180[6] = 0;
|
||||
out_7401406223373173180[7] = 0;
|
||||
out_7401406223373173180[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_8148755190113791687) {
|
||||
out_8148755190113791687[0] = 0;
|
||||
out_8148755190113791687[1] = 0;
|
||||
out_8148755190113791687[2] = 0;
|
||||
out_8148755190113791687[3] = 0;
|
||||
out_8148755190113791687[4] = 1;
|
||||
out_8148755190113791687[5] = 0;
|
||||
out_8148755190113791687[6] = 0;
|
||||
out_8148755190113791687[7] = 0;
|
||||
out_8148755190113791687[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_7332000190158117452) {
|
||||
out_7332000190158117452[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_1938532702514813353) {
|
||||
out_1938532702514813353[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_4785501572955073585) {
|
||||
out_4785501572955073585[0] = 0;
|
||||
out_4785501572955073585[1] = 0;
|
||||
out_4785501572955073585[2] = 0;
|
||||
out_4785501572955073585[3] = 0;
|
||||
out_4785501572955073585[4] = 0;
|
||||
out_4785501572955073585[5] = 0;
|
||||
out_4785501572955073585[6] = 0;
|
||||
out_4785501572955073585[7] = 1;
|
||||
out_4785501572955073585[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_8934948201367343661) {
|
||||
out_8934948201367343661[0] = 0;
|
||||
out_8934948201367343661[1] = 0;
|
||||
out_8934948201367343661[2] = 0;
|
||||
out_8934948201367343661[3] = 0;
|
||||
out_8934948201367343661[4] = 0;
|
||||
out_8934948201367343661[5] = 0;
|
||||
out_8934948201367343661[6] = 0;
|
||||
out_8934948201367343661[7] = 1;
|
||||
out_8934948201367343661[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3419356599619589213) {
|
||||
out_3419356599619589213[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_2553920733024504160) {
|
||||
out_2553920733024504160[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_8870574538535953525) {
|
||||
out_8870574538535953525[0] = 0;
|
||||
out_8870574538535953525[1] = 0;
|
||||
out_8870574538535953525[2] = 0;
|
||||
out_8870574538535953525[3] = 1;
|
||||
out_8870574538535953525[4] = 0;
|
||||
out_8870574538535953525[5] = 0;
|
||||
out_8870574538535953525[6] = 0;
|
||||
out_8870574538535953525[7] = 0;
|
||||
out_8870574538535953525[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_8074394812411816712) {
|
||||
out_8074394812411816712[0] = 0;
|
||||
out_8074394812411816712[1] = 0;
|
||||
out_8074394812411816712[2] = 0;
|
||||
out_8074394812411816712[3] = 1;
|
||||
out_8074394812411816712[4] = 0;
|
||||
out_8074394812411816712[5] = 0;
|
||||
out_8074394812411816712[6] = 0;
|
||||
out_8074394812411816712[7] = 0;
|
||||
out_8074394812411816712[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_442326876808912439) {
|
||||
out_442326876808912439[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_1033948880940670448) {
|
||||
out_1033948880940670448[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_6891174879058780996) {
|
||||
out_6891174879058780996[0] = 0;
|
||||
out_6891174879058780996[1] = 1;
|
||||
out_6891174879058780996[2] = 0;
|
||||
out_6891174879058780996[3] = 0;
|
||||
out_6891174879058780996[4] = 0;
|
||||
out_6891174879058780996[5] = 0;
|
||||
out_6891174879058780996[6] = 0;
|
||||
out_6891174879058780996[7] = 0;
|
||||
out_6891174879058780996[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_8658986534428183871) {
|
||||
out_8658986534428183871[0] = 0;
|
||||
out_8658986534428183871[1] = 1;
|
||||
out_8658986534428183871[2] = 0;
|
||||
out_8658986534428183871[3] = 0;
|
||||
out_8658986534428183871[4] = 0;
|
||||
out_8658986534428183871[5] = 0;
|
||||
out_8658986534428183871[6] = 0;
|
||||
out_8658986534428183871[7] = 0;
|
||||
out_8658986534428183871[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_6231908702889442596) {
|
||||
out_6231908702889442596[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_3913548264033873988) {
|
||||
out_3913548264033873988[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_6473170177581240046) {
|
||||
out_6473170177581240046[0] = 1;
|
||||
out_6473170177581240046[1] = 0;
|
||||
out_6473170177581240046[2] = 0;
|
||||
out_6473170177581240046[3] = 0;
|
||||
out_6473170177581240046[4] = 0;
|
||||
out_6473170177581240046[5] = 0;
|
||||
out_6473170177581240046[6] = 0;
|
||||
out_6473170177581240046[7] = 0;
|
||||
out_6473170177581240046[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_3576587517358653297) {
|
||||
out_3576587517358653297[0] = 1;
|
||||
out_3576587517358653297[1] = 0;
|
||||
out_3576587517358653297[2] = 0;
|
||||
out_3576587517358653297[3] = 0;
|
||||
out_3576587517358653297[4] = 0;
|
||||
out_3576587517358653297[5] = 0;
|
||||
out_3576587517358653297[6] = 0;
|
||||
out_3576587517358653297[7] = 0;
|
||||
out_3576587517358653297[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_657764610459762417) {
|
||||
out_657764610459762417[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_7253700544770179461) {
|
||||
out_7253700544770179461[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_4159293470721722109) {
|
||||
out_4159293470721722109[0] = 0;
|
||||
out_4159293470721722109[1] = 0;
|
||||
out_4159293470721722109[2] = 0;
|
||||
out_4159293470721722109[3] = 0;
|
||||
out_4159293470721722109[4] = 0;
|
||||
out_4159293470721722109[5] = 0;
|
||||
out_4159293470721722109[6] = 0;
|
||||
out_4159293470721722109[7] = 0;
|
||||
out_4159293470721722109[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_5739646591591191303) {
|
||||
out_5739646591591191303[0] = 0;
|
||||
out_5739646591591191303[1] = 0;
|
||||
out_5739646591591191303[2] = 0;
|
||||
out_5739646591591191303[3] = 0;
|
||||
out_5739646591591191303[4] = 0;
|
||||
out_5739646591591191303[5] = 0;
|
||||
out_5739646591591191303[6] = 0;
|
||||
out_5739646591591191303[7] = 0;
|
||||
out_5739646591591191303[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_6456809504724999118) {
|
||||
err_fun(nom_x, delta_x, out_6456809504724999118);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8290791895352476901) {
|
||||
err_fun(nom_x, delta_x, out_8290791895352476901);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5644557425305384061) {
|
||||
inv_err_fun(nom_x, true_x, out_5644557425305384061);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3328957974600116526) {
|
||||
inv_err_fun(nom_x, true_x, out_3328957974600116526);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_3623313066644464969) {
|
||||
H_mod_fun(state, out_3623313066644464969);
|
||||
void car_H_mod_fun(double *state, double *out_5003844791385944482) {
|
||||
H_mod_fun(state, out_5003844791385944482);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_2530420459597428980) {
|
||||
f_fun(state, dt, out_2530420459597428980);
|
||||
void car_f_fun(double *state, double dt, double *out_2539953356409783064) {
|
||||
f_fun(state, dt, out_2539953356409783064);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_7641637713499099284) {
|
||||
F_fun(state, dt, out_7641637713499099284);
|
||||
void car_F_fun(double *state, double dt, double *out_7655677773978689580) {
|
||||
F_fun(state, dt, out_7655677773978689580);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_9149101986531247315) {
|
||||
h_25(state, unused, out_9149101986531247315);
|
||||
void car_h_25(double *state, double *unused, double *out_1727643108219156348) {
|
||||
h_25(state, unused, out_1727643108219156348);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_8527004891829129809) {
|
||||
H_25(state, unused, out_8527004891829129809);
|
||||
void car_H_25(double *state, double *unused, double *out_5770292553468151731) {
|
||||
H_25(state, unused, out_5770292553468151731);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_3166828984508355697) {
|
||||
h_24(state, unused, out_3166828984508355697);
|
||||
void car_h_24(double *state, double *unused, double *out_4524050476975214784) {
|
||||
h_24(state, unused, out_4524050476975214784);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_2072385171006399745) {
|
||||
H_24(state, unused, out_2072385171006399745);
|
||||
void car_H_24(double *state, double *unused, double *out_6475418840390238459) {
|
||||
H_24(state, unused, out_6475418840390238459);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_1385836729710574874) {
|
||||
h_30(state, unused, out_1385836729710574874);
|
||||
void car_h_30(double *state, double *unused, double *out_90439028039008013) {
|
||||
h_30(state, unused, out_90439028039008013);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_7401406223373173180) {
|
||||
H_30(state, unused, out_7401406223373173180);
|
||||
void car_H_30(double *state, double *unused, double *out_8148755190113791687) {
|
||||
H_30(state, unused, out_8148755190113791687);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_7332000190158117452) {
|
||||
h_26(state, unused, out_7332000190158117452);
|
||||
void car_h_26(double *state, double *unused, double *out_1938532702514813353) {
|
||||
h_26(state, unused, out_1938532702514813353);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_4785501572955073585) {
|
||||
H_26(state, unused, out_4785501572955073585);
|
||||
void car_H_26(double *state, double *unused, double *out_8934948201367343661) {
|
||||
H_26(state, unused, out_8934948201367343661);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3419356599619589213) {
|
||||
h_27(state, unused, out_3419356599619589213);
|
||||
void car_h_27(double *state, double *unused, double *out_2553920733024504160) {
|
||||
h_27(state, unused, out_2553920733024504160);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_8870574538535953525) {
|
||||
H_27(state, unused, out_8870574538535953525);
|
||||
void car_H_27(double *state, double *unused, double *out_8074394812411816712) {
|
||||
H_27(state, unused, out_8074394812411816712);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_442326876808912439) {
|
||||
h_29(state, unused, out_442326876808912439);
|
||||
void car_h_29(double *state, double *unused, double *out_1033948880940670448) {
|
||||
h_29(state, unused, out_1033948880940670448);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_6891174879058780996) {
|
||||
H_29(state, unused, out_6891174879058780996);
|
||||
void car_H_29(double *state, double *unused, double *out_8658986534428183871) {
|
||||
H_29(state, unused, out_8658986534428183871);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_6231908702889442596) {
|
||||
h_28(state, unused, out_6231908702889442596);
|
||||
void car_h_28(double *state, double *unused, double *out_3913548264033873988) {
|
||||
h_28(state, unused, out_3913548264033873988);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_6473170177581240046) {
|
||||
H_28(state, unused, out_6473170177581240046);
|
||||
void car_H_28(double *state, double *unused, double *out_3576587517358653297) {
|
||||
H_28(state, unused, out_3576587517358653297);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_657764610459762417) {
|
||||
h_31(state, unused, out_657764610459762417);
|
||||
void car_h_31(double *state, double *unused, double *out_7253700544770179461) {
|
||||
h_31(state, unused, out_7253700544770179461);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_4159293470721722109) {
|
||||
H_31(state, unused, out_4159293470721722109);
|
||||
void car_H_31(double *state, double *unused, double *out_5739646591591191303) {
|
||||
H_31(state, unused, out_5739646591591191303);
|
||||
}
|
||||
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_6456809504724999118);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5644557425305384061);
|
||||
void car_H_mod_fun(double *state, double *out_3623313066644464969);
|
||||
void car_f_fun(double *state, double dt, double *out_2530420459597428980);
|
||||
void car_F_fun(double *state, double dt, double *out_7641637713499099284);
|
||||
void car_h_25(double *state, double *unused, double *out_9149101986531247315);
|
||||
void car_H_25(double *state, double *unused, double *out_8527004891829129809);
|
||||
void car_h_24(double *state, double *unused, double *out_3166828984508355697);
|
||||
void car_H_24(double *state, double *unused, double *out_2072385171006399745);
|
||||
void car_h_30(double *state, double *unused, double *out_1385836729710574874);
|
||||
void car_H_30(double *state, double *unused, double *out_7401406223373173180);
|
||||
void car_h_26(double *state, double *unused, double *out_7332000190158117452);
|
||||
void car_H_26(double *state, double *unused, double *out_4785501572955073585);
|
||||
void car_h_27(double *state, double *unused, double *out_3419356599619589213);
|
||||
void car_H_27(double *state, double *unused, double *out_8870574538535953525);
|
||||
void car_h_29(double *state, double *unused, double *out_442326876808912439);
|
||||
void car_H_29(double *state, double *unused, double *out_6891174879058780996);
|
||||
void car_h_28(double *state, double *unused, double *out_6231908702889442596);
|
||||
void car_H_28(double *state, double *unused, double *out_6473170177581240046);
|
||||
void car_h_31(double *state, double *unused, double *out_657764610459762417);
|
||||
void car_H_31(double *state, double *unused, double *out_4159293470721722109);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8290791895352476901);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3328957974600116526);
|
||||
void car_H_mod_fun(double *state, double *out_5003844791385944482);
|
||||
void car_f_fun(double *state, double dt, double *out_2539953356409783064);
|
||||
void car_F_fun(double *state, double dt, double *out_7655677773978689580);
|
||||
void car_h_25(double *state, double *unused, double *out_1727643108219156348);
|
||||
void car_H_25(double *state, double *unused, double *out_5770292553468151731);
|
||||
void car_h_24(double *state, double *unused, double *out_4524050476975214784);
|
||||
void car_H_24(double *state, double *unused, double *out_6475418840390238459);
|
||||
void car_h_30(double *state, double *unused, double *out_90439028039008013);
|
||||
void car_H_30(double *state, double *unused, double *out_8148755190113791687);
|
||||
void car_h_26(double *state, double *unused, double *out_1938532702514813353);
|
||||
void car_H_26(double *state, double *unused, double *out_8934948201367343661);
|
||||
void car_h_27(double *state, double *unused, double *out_2553920733024504160);
|
||||
void car_H_27(double *state, double *unused, double *out_8074394812411816712);
|
||||
void car_h_29(double *state, double *unused, double *out_1033948880940670448);
|
||||
void car_H_29(double *state, double *unused, double *out_8658986534428183871);
|
||||
void car_h_28(double *state, double *unused, double *out_3913548264033873988);
|
||||
void car_H_28(double *state, double *unused, double *out_3576587517358653297);
|
||||
void car_h_31(double *state, double *unused, double *out_7253700544770179461);
|
||||
void car_H_31(double *state, double *unused, double *out_5739646591591191303);
|
||||
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_8879515811318903877);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5299248816140732451);
|
||||
void pose_H_mod_fun(double *state, double *out_4677544152144015683);
|
||||
void pose_f_fun(double *state, double dt, double *out_7013494318329414190);
|
||||
void pose_F_fun(double *state, double dt, double *out_1354267763168931680);
|
||||
void pose_h_4(double *state, double *unused, double *out_4996940222577203074);
|
||||
void pose_H_4(double *state, double *unused, double *out_1403322073353066430);
|
||||
void pose_h_10(double *state, double *unused, double *out_4736471881593411299);
|
||||
void pose_H_10(double *state, double *unused, double *out_6592862647789865695);
|
||||
void pose_h_13(double *state, double *unused, double *out_4300313025089579851);
|
||||
void pose_H_13(double *state, double *unused, double *out_4615595898685399231);
|
||||
void pose_h_14(double *state, double *unused, double *out_4861809331317933851);
|
||||
void pose_H_14(double *state, double *unused, double *out_5366562929692550959);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_607652414837750033);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4916314802659989276);
|
||||
void pose_H_mod_fun(double *state, double *out_1887258982449267152);
|
||||
void pose_f_fun(double *state, double dt, double *out_2681276694689160944);
|
||||
void pose_F_fun(double *state, double dt, double *out_6011099377550215473);
|
||||
void pose_h_4(double *state, double *unused, double *out_5478412217433972001);
|
||||
void pose_H_4(double *state, double *unused, double *out_3085206464332165256);
|
||||
void pose_h_10(double *state, double *unused, double *out_5861828944145935890);
|
||||
void pose_H_10(double *state, double *unused, double *out_1460352446362739633);
|
||||
void pose_h_13(double *state, double *unused, double *out_6845339361600931042);
|
||||
void pose_H_13(double *state, double *unused, double *out_6297480289664498057);
|
||||
void pose_h_14(double *state, double *unused, double *out_6355309693456612665);
|
||||
void pose_H_14(double *state, double *unused, double *out_2418032036792960);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
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Reference in New Issue
Block a user