mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-20 07:43:48 +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-2118eb17-DEBUG";
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const uint8_t gitversion[19] = "DEV-00895836-DEBUG";
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||||
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||||
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@@ -1 +1 @@
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DEV-2118eb17-DEBUG
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DEV-00895836-DEBUG
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
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* *
|
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* This file is part of 'ekf' *
|
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******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_1981160884949189432) {
|
||||
out_1981160884949189432[0] = delta_x[0] + nom_x[0];
|
||||
out_1981160884949189432[1] = delta_x[1] + nom_x[1];
|
||||
out_1981160884949189432[2] = delta_x[2] + nom_x[2];
|
||||
out_1981160884949189432[3] = delta_x[3] + nom_x[3];
|
||||
out_1981160884949189432[4] = delta_x[4] + nom_x[4];
|
||||
out_1981160884949189432[5] = delta_x[5] + nom_x[5];
|
||||
out_1981160884949189432[6] = delta_x[6] + nom_x[6];
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||||
out_1981160884949189432[7] = delta_x[7] + nom_x[7];
|
||||
out_1981160884949189432[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_3464059133551141831) {
|
||||
out_3464059133551141831[0] = delta_x[0] + nom_x[0];
|
||||
out_3464059133551141831[1] = delta_x[1] + nom_x[1];
|
||||
out_3464059133551141831[2] = delta_x[2] + nom_x[2];
|
||||
out_3464059133551141831[3] = delta_x[3] + nom_x[3];
|
||||
out_3464059133551141831[4] = delta_x[4] + nom_x[4];
|
||||
out_3464059133551141831[5] = delta_x[5] + nom_x[5];
|
||||
out_3464059133551141831[6] = delta_x[6] + nom_x[6];
|
||||
out_3464059133551141831[7] = delta_x[7] + nom_x[7];
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||||
out_3464059133551141831[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388) {
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out_8847679371512298388[0] = -nom_x[0] + true_x[0];
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||||
out_8847679371512298388[1] = -nom_x[1] + true_x[1];
|
||||
out_8847679371512298388[2] = -nom_x[2] + true_x[2];
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||||
out_8847679371512298388[3] = -nom_x[3] + true_x[3];
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||||
out_8847679371512298388[4] = -nom_x[4] + true_x[4];
|
||||
out_8847679371512298388[5] = -nom_x[5] + true_x[5];
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||||
out_8847679371512298388[6] = -nom_x[6] + true_x[6];
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||||
out_8847679371512298388[7] = -nom_x[7] + true_x[7];
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||||
out_8847679371512298388[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163) {
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||||
out_3057034877580327163[0] = -nom_x[0] + true_x[0];
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||||
out_3057034877580327163[1] = -nom_x[1] + true_x[1];
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||||
out_3057034877580327163[2] = -nom_x[2] + true_x[2];
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||||
out_3057034877580327163[3] = -nom_x[3] + true_x[3];
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||||
out_3057034877580327163[4] = -nom_x[4] + true_x[4];
|
||||
out_3057034877580327163[5] = -nom_x[5] + true_x[5];
|
||||
out_3057034877580327163[6] = -nom_x[6] + true_x[6];
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||||
out_3057034877580327163[7] = -nom_x[7] + true_x[7];
|
||||
out_3057034877580327163[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_5601961838873094342) {
|
||||
out_5601961838873094342[0] = 1.0;
|
||||
out_5601961838873094342[1] = 0.0;
|
||||
out_5601961838873094342[2] = 0.0;
|
||||
out_5601961838873094342[3] = 0.0;
|
||||
out_5601961838873094342[4] = 0.0;
|
||||
out_5601961838873094342[5] = 0.0;
|
||||
out_5601961838873094342[6] = 0.0;
|
||||
out_5601961838873094342[7] = 0.0;
|
||||
out_5601961838873094342[8] = 0.0;
|
||||
out_5601961838873094342[9] = 0.0;
|
||||
out_5601961838873094342[10] = 1.0;
|
||||
out_5601961838873094342[11] = 0.0;
|
||||
out_5601961838873094342[12] = 0.0;
|
||||
out_5601961838873094342[13] = 0.0;
|
||||
out_5601961838873094342[14] = 0.0;
|
||||
out_5601961838873094342[15] = 0.0;
|
||||
out_5601961838873094342[16] = 0.0;
|
||||
out_5601961838873094342[17] = 0.0;
|
||||
out_5601961838873094342[18] = 0.0;
|
||||
out_5601961838873094342[19] = 0.0;
|
||||
out_5601961838873094342[20] = 1.0;
|
||||
out_5601961838873094342[21] = 0.0;
|
||||
out_5601961838873094342[22] = 0.0;
|
||||
out_5601961838873094342[23] = 0.0;
|
||||
out_5601961838873094342[24] = 0.0;
|
||||
out_5601961838873094342[25] = 0.0;
|
||||
out_5601961838873094342[26] = 0.0;
|
||||
out_5601961838873094342[27] = 0.0;
|
||||
out_5601961838873094342[28] = 0.0;
|
||||
out_5601961838873094342[29] = 0.0;
|
||||
out_5601961838873094342[30] = 1.0;
|
||||
out_5601961838873094342[31] = 0.0;
|
||||
out_5601961838873094342[32] = 0.0;
|
||||
out_5601961838873094342[33] = 0.0;
|
||||
out_5601961838873094342[34] = 0.0;
|
||||
out_5601961838873094342[35] = 0.0;
|
||||
out_5601961838873094342[36] = 0.0;
|
||||
out_5601961838873094342[37] = 0.0;
|
||||
out_5601961838873094342[38] = 0.0;
|
||||
out_5601961838873094342[39] = 0.0;
|
||||
out_5601961838873094342[40] = 1.0;
|
||||
out_5601961838873094342[41] = 0.0;
|
||||
out_5601961838873094342[42] = 0.0;
|
||||
out_5601961838873094342[43] = 0.0;
|
||||
out_5601961838873094342[44] = 0.0;
|
||||
out_5601961838873094342[45] = 0.0;
|
||||
out_5601961838873094342[46] = 0.0;
|
||||
out_5601961838873094342[47] = 0.0;
|
||||
out_5601961838873094342[48] = 0.0;
|
||||
out_5601961838873094342[49] = 0.0;
|
||||
out_5601961838873094342[50] = 1.0;
|
||||
out_5601961838873094342[51] = 0.0;
|
||||
out_5601961838873094342[52] = 0.0;
|
||||
out_5601961838873094342[53] = 0.0;
|
||||
out_5601961838873094342[54] = 0.0;
|
||||
out_5601961838873094342[55] = 0.0;
|
||||
out_5601961838873094342[56] = 0.0;
|
||||
out_5601961838873094342[57] = 0.0;
|
||||
out_5601961838873094342[58] = 0.0;
|
||||
out_5601961838873094342[59] = 0.0;
|
||||
out_5601961838873094342[60] = 1.0;
|
||||
out_5601961838873094342[61] = 0.0;
|
||||
out_5601961838873094342[62] = 0.0;
|
||||
out_5601961838873094342[63] = 0.0;
|
||||
out_5601961838873094342[64] = 0.0;
|
||||
out_5601961838873094342[65] = 0.0;
|
||||
out_5601961838873094342[66] = 0.0;
|
||||
out_5601961838873094342[67] = 0.0;
|
||||
out_5601961838873094342[68] = 0.0;
|
||||
out_5601961838873094342[69] = 0.0;
|
||||
out_5601961838873094342[70] = 1.0;
|
||||
out_5601961838873094342[71] = 0.0;
|
||||
out_5601961838873094342[72] = 0.0;
|
||||
out_5601961838873094342[73] = 0.0;
|
||||
out_5601961838873094342[74] = 0.0;
|
||||
out_5601961838873094342[75] = 0.0;
|
||||
out_5601961838873094342[76] = 0.0;
|
||||
out_5601961838873094342[77] = 0.0;
|
||||
out_5601961838873094342[78] = 0.0;
|
||||
out_5601961838873094342[79] = 0.0;
|
||||
out_5601961838873094342[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_1278642935192462594) {
|
||||
out_1278642935192462594[0] = 1.0;
|
||||
out_1278642935192462594[1] = 0.0;
|
||||
out_1278642935192462594[2] = 0.0;
|
||||
out_1278642935192462594[3] = 0.0;
|
||||
out_1278642935192462594[4] = 0.0;
|
||||
out_1278642935192462594[5] = 0.0;
|
||||
out_1278642935192462594[6] = 0.0;
|
||||
out_1278642935192462594[7] = 0.0;
|
||||
out_1278642935192462594[8] = 0.0;
|
||||
out_1278642935192462594[9] = 0.0;
|
||||
out_1278642935192462594[10] = 1.0;
|
||||
out_1278642935192462594[11] = 0.0;
|
||||
out_1278642935192462594[12] = 0.0;
|
||||
out_1278642935192462594[13] = 0.0;
|
||||
out_1278642935192462594[14] = 0.0;
|
||||
out_1278642935192462594[15] = 0.0;
|
||||
out_1278642935192462594[16] = 0.0;
|
||||
out_1278642935192462594[17] = 0.0;
|
||||
out_1278642935192462594[18] = 0.0;
|
||||
out_1278642935192462594[19] = 0.0;
|
||||
out_1278642935192462594[20] = 1.0;
|
||||
out_1278642935192462594[21] = 0.0;
|
||||
out_1278642935192462594[22] = 0.0;
|
||||
out_1278642935192462594[23] = 0.0;
|
||||
out_1278642935192462594[24] = 0.0;
|
||||
out_1278642935192462594[25] = 0.0;
|
||||
out_1278642935192462594[26] = 0.0;
|
||||
out_1278642935192462594[27] = 0.0;
|
||||
out_1278642935192462594[28] = 0.0;
|
||||
out_1278642935192462594[29] = 0.0;
|
||||
out_1278642935192462594[30] = 1.0;
|
||||
out_1278642935192462594[31] = 0.0;
|
||||
out_1278642935192462594[32] = 0.0;
|
||||
out_1278642935192462594[33] = 0.0;
|
||||
out_1278642935192462594[34] = 0.0;
|
||||
out_1278642935192462594[35] = 0.0;
|
||||
out_1278642935192462594[36] = 0.0;
|
||||
out_1278642935192462594[37] = 0.0;
|
||||
out_1278642935192462594[38] = 0.0;
|
||||
out_1278642935192462594[39] = 0.0;
|
||||
out_1278642935192462594[40] = 1.0;
|
||||
out_1278642935192462594[41] = 0.0;
|
||||
out_1278642935192462594[42] = 0.0;
|
||||
out_1278642935192462594[43] = 0.0;
|
||||
out_1278642935192462594[44] = 0.0;
|
||||
out_1278642935192462594[45] = 0.0;
|
||||
out_1278642935192462594[46] = 0.0;
|
||||
out_1278642935192462594[47] = 0.0;
|
||||
out_1278642935192462594[48] = 0.0;
|
||||
out_1278642935192462594[49] = 0.0;
|
||||
out_1278642935192462594[50] = 1.0;
|
||||
out_1278642935192462594[51] = 0.0;
|
||||
out_1278642935192462594[52] = 0.0;
|
||||
out_1278642935192462594[53] = 0.0;
|
||||
out_1278642935192462594[54] = 0.0;
|
||||
out_1278642935192462594[55] = 0.0;
|
||||
out_1278642935192462594[56] = 0.0;
|
||||
out_1278642935192462594[57] = 0.0;
|
||||
out_1278642935192462594[58] = 0.0;
|
||||
out_1278642935192462594[59] = 0.0;
|
||||
out_1278642935192462594[60] = 1.0;
|
||||
out_1278642935192462594[61] = 0.0;
|
||||
out_1278642935192462594[62] = 0.0;
|
||||
out_1278642935192462594[63] = 0.0;
|
||||
out_1278642935192462594[64] = 0.0;
|
||||
out_1278642935192462594[65] = 0.0;
|
||||
out_1278642935192462594[66] = 0.0;
|
||||
out_1278642935192462594[67] = 0.0;
|
||||
out_1278642935192462594[68] = 0.0;
|
||||
out_1278642935192462594[69] = 0.0;
|
||||
out_1278642935192462594[70] = 1.0;
|
||||
out_1278642935192462594[71] = 0.0;
|
||||
out_1278642935192462594[72] = 0.0;
|
||||
out_1278642935192462594[73] = 0.0;
|
||||
out_1278642935192462594[74] = 0.0;
|
||||
out_1278642935192462594[75] = 0.0;
|
||||
out_1278642935192462594[76] = 0.0;
|
||||
out_1278642935192462594[77] = 0.0;
|
||||
out_1278642935192462594[78] = 0.0;
|
||||
out_1278642935192462594[79] = 0.0;
|
||||
out_1278642935192462594[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_5149707672518823132) {
|
||||
out_5149707672518823132[0] = state[0];
|
||||
out_5149707672518823132[1] = state[1];
|
||||
out_5149707672518823132[2] = state[2];
|
||||
out_5149707672518823132[3] = state[3];
|
||||
out_5149707672518823132[4] = state[4];
|
||||
out_5149707672518823132[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_5149707672518823132[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_5149707672518823132[7] = state[7];
|
||||
out_5149707672518823132[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_258465026591330744) {
|
||||
out_258465026591330744[0] = state[0];
|
||||
out_258465026591330744[1] = state[1];
|
||||
out_258465026591330744[2] = state[2];
|
||||
out_258465026591330744[3] = state[3];
|
||||
out_258465026591330744[4] = state[4];
|
||||
out_258465026591330744[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_258465026591330744[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_258465026591330744[7] = state[7];
|
||||
out_258465026591330744[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_6841526781584604245) {
|
||||
out_6841526781584604245[0] = 1;
|
||||
out_6841526781584604245[1] = 0;
|
||||
out_6841526781584604245[2] = 0;
|
||||
out_6841526781584604245[3] = 0;
|
||||
out_6841526781584604245[4] = 0;
|
||||
out_6841526781584604245[5] = 0;
|
||||
out_6841526781584604245[6] = 0;
|
||||
out_6841526781584604245[7] = 0;
|
||||
out_6841526781584604245[8] = 0;
|
||||
out_6841526781584604245[9] = 0;
|
||||
out_6841526781584604245[10] = 1;
|
||||
out_6841526781584604245[11] = 0;
|
||||
out_6841526781584604245[12] = 0;
|
||||
out_6841526781584604245[13] = 0;
|
||||
out_6841526781584604245[14] = 0;
|
||||
out_6841526781584604245[15] = 0;
|
||||
out_6841526781584604245[16] = 0;
|
||||
out_6841526781584604245[17] = 0;
|
||||
out_6841526781584604245[18] = 0;
|
||||
out_6841526781584604245[19] = 0;
|
||||
out_6841526781584604245[20] = 1;
|
||||
out_6841526781584604245[21] = 0;
|
||||
out_6841526781584604245[22] = 0;
|
||||
out_6841526781584604245[23] = 0;
|
||||
out_6841526781584604245[24] = 0;
|
||||
out_6841526781584604245[25] = 0;
|
||||
out_6841526781584604245[26] = 0;
|
||||
out_6841526781584604245[27] = 0;
|
||||
out_6841526781584604245[28] = 0;
|
||||
out_6841526781584604245[29] = 0;
|
||||
out_6841526781584604245[30] = 1;
|
||||
out_6841526781584604245[31] = 0;
|
||||
out_6841526781584604245[32] = 0;
|
||||
out_6841526781584604245[33] = 0;
|
||||
out_6841526781584604245[34] = 0;
|
||||
out_6841526781584604245[35] = 0;
|
||||
out_6841526781584604245[36] = 0;
|
||||
out_6841526781584604245[37] = 0;
|
||||
out_6841526781584604245[38] = 0;
|
||||
out_6841526781584604245[39] = 0;
|
||||
out_6841526781584604245[40] = 1;
|
||||
out_6841526781584604245[41] = 0;
|
||||
out_6841526781584604245[42] = 0;
|
||||
out_6841526781584604245[43] = 0;
|
||||
out_6841526781584604245[44] = 0;
|
||||
out_6841526781584604245[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_6841526781584604245[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6841526781584604245[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6841526781584604245[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6841526781584604245[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_6841526781584604245[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6841526781584604245[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6841526781584604245[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6841526781584604245[53] = -9.8100000000000005*dt;
|
||||
out_6841526781584604245[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_6841526781584604245[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6841526781584604245[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6841526781584604245[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6841526781584604245[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_6841526781584604245[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6841526781584604245[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_6841526781584604245[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6841526781584604245[62] = 0;
|
||||
out_6841526781584604245[63] = 0;
|
||||
out_6841526781584604245[64] = 0;
|
||||
out_6841526781584604245[65] = 0;
|
||||
out_6841526781584604245[66] = 0;
|
||||
out_6841526781584604245[67] = 0;
|
||||
out_6841526781584604245[68] = 0;
|
||||
out_6841526781584604245[69] = 0;
|
||||
out_6841526781584604245[70] = 1;
|
||||
out_6841526781584604245[71] = 0;
|
||||
out_6841526781584604245[72] = 0;
|
||||
out_6841526781584604245[73] = 0;
|
||||
out_6841526781584604245[74] = 0;
|
||||
out_6841526781584604245[75] = 0;
|
||||
out_6841526781584604245[76] = 0;
|
||||
out_6841526781584604245[77] = 0;
|
||||
out_6841526781584604245[78] = 0;
|
||||
out_6841526781584604245[79] = 0;
|
||||
out_6841526781584604245[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_5399477112920697267) {
|
||||
out_5399477112920697267[0] = 1;
|
||||
out_5399477112920697267[1] = 0;
|
||||
out_5399477112920697267[2] = 0;
|
||||
out_5399477112920697267[3] = 0;
|
||||
out_5399477112920697267[4] = 0;
|
||||
out_5399477112920697267[5] = 0;
|
||||
out_5399477112920697267[6] = 0;
|
||||
out_5399477112920697267[7] = 0;
|
||||
out_5399477112920697267[8] = 0;
|
||||
out_5399477112920697267[9] = 0;
|
||||
out_5399477112920697267[10] = 1;
|
||||
out_5399477112920697267[11] = 0;
|
||||
out_5399477112920697267[12] = 0;
|
||||
out_5399477112920697267[13] = 0;
|
||||
out_5399477112920697267[14] = 0;
|
||||
out_5399477112920697267[15] = 0;
|
||||
out_5399477112920697267[16] = 0;
|
||||
out_5399477112920697267[17] = 0;
|
||||
out_5399477112920697267[18] = 0;
|
||||
out_5399477112920697267[19] = 0;
|
||||
out_5399477112920697267[20] = 1;
|
||||
out_5399477112920697267[21] = 0;
|
||||
out_5399477112920697267[22] = 0;
|
||||
out_5399477112920697267[23] = 0;
|
||||
out_5399477112920697267[24] = 0;
|
||||
out_5399477112920697267[25] = 0;
|
||||
out_5399477112920697267[26] = 0;
|
||||
out_5399477112920697267[27] = 0;
|
||||
out_5399477112920697267[28] = 0;
|
||||
out_5399477112920697267[29] = 0;
|
||||
out_5399477112920697267[30] = 1;
|
||||
out_5399477112920697267[31] = 0;
|
||||
out_5399477112920697267[32] = 0;
|
||||
out_5399477112920697267[33] = 0;
|
||||
out_5399477112920697267[34] = 0;
|
||||
out_5399477112920697267[35] = 0;
|
||||
out_5399477112920697267[36] = 0;
|
||||
out_5399477112920697267[37] = 0;
|
||||
out_5399477112920697267[38] = 0;
|
||||
out_5399477112920697267[39] = 0;
|
||||
out_5399477112920697267[40] = 1;
|
||||
out_5399477112920697267[41] = 0;
|
||||
out_5399477112920697267[42] = 0;
|
||||
out_5399477112920697267[43] = 0;
|
||||
out_5399477112920697267[44] = 0;
|
||||
out_5399477112920697267[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_5399477112920697267[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5399477112920697267[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5399477112920697267[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5399477112920697267[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_5399477112920697267[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5399477112920697267[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5399477112920697267[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5399477112920697267[53] = -9.8100000000000005*dt;
|
||||
out_5399477112920697267[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_5399477112920697267[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5399477112920697267[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5399477112920697267[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5399477112920697267[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_5399477112920697267[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5399477112920697267[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_5399477112920697267[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5399477112920697267[62] = 0;
|
||||
out_5399477112920697267[63] = 0;
|
||||
out_5399477112920697267[64] = 0;
|
||||
out_5399477112920697267[65] = 0;
|
||||
out_5399477112920697267[66] = 0;
|
||||
out_5399477112920697267[67] = 0;
|
||||
out_5399477112920697267[68] = 0;
|
||||
out_5399477112920697267[69] = 0;
|
||||
out_5399477112920697267[70] = 1;
|
||||
out_5399477112920697267[71] = 0;
|
||||
out_5399477112920697267[72] = 0;
|
||||
out_5399477112920697267[73] = 0;
|
||||
out_5399477112920697267[74] = 0;
|
||||
out_5399477112920697267[75] = 0;
|
||||
out_5399477112920697267[76] = 0;
|
||||
out_5399477112920697267[77] = 0;
|
||||
out_5399477112920697267[78] = 0;
|
||||
out_5399477112920697267[79] = 0;
|
||||
out_5399477112920697267[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_7458155415496567305) {
|
||||
out_7458155415496567305[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7067526126189904312) {
|
||||
out_7067526126189904312[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_698270013688429502) {
|
||||
out_698270013688429502[0] = 0;
|
||||
out_698270013688429502[1] = 0;
|
||||
out_698270013688429502[2] = 0;
|
||||
out_698270013688429502[3] = 0;
|
||||
out_698270013688429502[4] = 0;
|
||||
out_698270013688429502[5] = 0;
|
||||
out_698270013688429502[6] = 1;
|
||||
out_698270013688429502[7] = 0;
|
||||
out_698270013688429502[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_7914545290719774643) {
|
||||
out_7914545290719774643[0] = 0;
|
||||
out_7914545290719774643[1] = 0;
|
||||
out_7914545290719774643[2] = 0;
|
||||
out_7914545290719774643[3] = 0;
|
||||
out_7914545290719774643[4] = 0;
|
||||
out_7914545290719774643[5] = 0;
|
||||
out_7914545290719774643[6] = 1;
|
||||
out_7914545290719774643[7] = 0;
|
||||
out_7914545290719774643[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_8762756803592850260) {
|
||||
out_8762756803592850260[0] = state[4];
|
||||
out_8762756803592850260[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_5828690765636070596) {
|
||||
out_5828690765636070596[0] = state[4];
|
||||
out_5828690765636070596[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_2427133132865743571) {
|
||||
out_2427133132865743571[0] = 0;
|
||||
out_2427133132865743571[1] = 0;
|
||||
out_2427133132865743571[2] = 0;
|
||||
out_2427133132865743571[3] = 0;
|
||||
out_2427133132865743571[4] = 1;
|
||||
out_2427133132865743571[5] = 0;
|
||||
out_2427133132865743571[6] = 0;
|
||||
out_2427133132865743571[7] = 0;
|
||||
out_2427133132865743571[8] = 0;
|
||||
out_2427133132865743571[9] = 0;
|
||||
out_2427133132865743571[10] = 0;
|
||||
out_2427133132865743571[11] = 0;
|
||||
out_2427133132865743571[12] = 0;
|
||||
out_2427133132865743571[13] = 0;
|
||||
out_2427133132865743571[14] = 1;
|
||||
out_2427133132865743571[15] = 0;
|
||||
out_2427133132865743571[16] = 0;
|
||||
out_2427133132865743571[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1260339832611588886) {
|
||||
out_1260339832611588886[0] = 0;
|
||||
out_1260339832611588886[1] = 0;
|
||||
out_1260339832611588886[2] = 0;
|
||||
out_1260339832611588886[3] = 0;
|
||||
out_1260339832611588886[4] = 1;
|
||||
out_1260339832611588886[5] = 0;
|
||||
out_1260339832611588886[6] = 0;
|
||||
out_1260339832611588886[7] = 0;
|
||||
out_1260339832611588886[8] = 0;
|
||||
out_1260339832611588886[9] = 0;
|
||||
out_1260339832611588886[10] = 0;
|
||||
out_1260339832611588886[11] = 0;
|
||||
out_1260339832611588886[12] = 0;
|
||||
out_1260339832611588886[13] = 0;
|
||||
out_1260339832611588886[14] = 1;
|
||||
out_1260339832611588886[15] = 0;
|
||||
out_1260339832611588886[16] = 0;
|
||||
out_1260339832611588886[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_434784079387956054) {
|
||||
out_434784079387956054[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_2572974398256279399) {
|
||||
out_2572974398256279399[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_6218420327803187253) {
|
||||
out_6218420327803187253[0] = 0;
|
||||
out_6218420327803187253[1] = 0;
|
||||
out_6218420327803187253[2] = 0;
|
||||
out_6218420327803187253[3] = 0;
|
||||
out_6218420327803187253[4] = 1;
|
||||
out_6218420327803187253[5] = 0;
|
||||
out_6218420327803187253[6] = 0;
|
||||
out_6218420327803187253[7] = 0;
|
||||
out_6218420327803187253[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6004502452862168775) {
|
||||
out_6004502452862168775[0] = 0;
|
||||
out_6004502452862168775[1] = 0;
|
||||
out_6004502452862168775[2] = 0;
|
||||
out_6004502452862168775[3] = 0;
|
||||
out_6004502452862168775[4] = 1;
|
||||
out_6004502452862168775[5] = 0;
|
||||
out_6004502452862168775[6] = 0;
|
||||
out_6004502452862168775[7] = 0;
|
||||
out_6004502452862168775[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_8798712813018318160) {
|
||||
out_8798712813018318160[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_3176290282932756916) {
|
||||
out_3176290282932756916[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_4439773332562485726) {
|
||||
out_4439773332562485726[0] = 0;
|
||||
out_4439773332562485726[1] = 0;
|
||||
out_4439773332562485726[2] = 0;
|
||||
out_4439773332562485726[3] = 0;
|
||||
out_4439773332562485726[4] = 0;
|
||||
out_4439773332562485726[5] = 0;
|
||||
out_4439773332562485726[6] = 0;
|
||||
out_4439773332562485726[7] = 1;
|
||||
out_4439773332562485726[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_6790695464115720749) {
|
||||
out_6790695464115720749[0] = 0;
|
||||
out_6790695464115720749[1] = 0;
|
||||
out_6790695464115720749[2] = 0;
|
||||
out_6790695464115720749[3] = 0;
|
||||
out_6790695464115720749[4] = 0;
|
||||
out_6790695464115720749[5] = 0;
|
||||
out_6790695464115720749[6] = 0;
|
||||
out_6790695464115720749[7] = 1;
|
||||
out_6790695464115720749[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_723267455973180046) {
|
||||
out_723267455973180046[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_7048987171797560597) {
|
||||
out_7048987171797560597[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_4043657016002762342) {
|
||||
out_4043657016002762342[0] = 0;
|
||||
out_4043657016002762342[1] = 0;
|
||||
out_4043657016002762342[2] = 0;
|
||||
out_4043657016002762342[3] = 1;
|
||||
out_4043657016002762342[4] = 0;
|
||||
out_4043657016002762342[5] = 0;
|
||||
out_4043657016002762342[6] = 0;
|
||||
out_4043657016002762342[7] = 0;
|
||||
out_4043657016002762342[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_3829739141061743864) {
|
||||
out_3829739141061743864[0] = 0;
|
||||
out_3829739141061743864[1] = 0;
|
||||
out_3829739141061743864[2] = 0;
|
||||
out_3829739141061743864[3] = 1;
|
||||
out_3829739141061743864[4] = 0;
|
||||
out_3829739141061743864[5] = 0;
|
||||
out_3829739141061743864[6] = 0;
|
||||
out_3829739141061743864[7] = 0;
|
||||
out_3829739141061743864[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_4920797374511219811) {
|
||||
out_4920797374511219811[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_3516484251157941834) {
|
||||
out_3516484251157941834[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_2330294289133211309) {
|
||||
out_2330294289133211309[0] = 0;
|
||||
out_2330294289133211309[1] = 1;
|
||||
out_2330294289133211309[2] = 0;
|
||||
out_2330294289133211309[3] = 0;
|
||||
out_2330294289133211309[4] = 0;
|
||||
out_2330294289133211309[5] = 0;
|
||||
out_2330294289133211309[6] = 0;
|
||||
out_2330294289133211309[7] = 0;
|
||||
out_2330294289133211309[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_6514733797176560959) {
|
||||
out_6514733797176560959[0] = 0;
|
||||
out_6514733797176560959[1] = 1;
|
||||
out_6514733797176560959[2] = 0;
|
||||
out_6514733797176560959[3] = 0;
|
||||
out_6514733797176560959[4] = 0;
|
||||
out_6514733797176560959[5] = 0;
|
||||
out_6514733797176560959[6] = 0;
|
||||
out_6514733797176560959[7] = 0;
|
||||
out_6514733797176560959[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_3477859511150572185) {
|
||||
out_3477859511150572185[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_6396083634251145374) {
|
||||
out_6396083634251145374[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_2752104727936319265) {
|
||||
out_2752104727936319265[0] = 1;
|
||||
out_2752104727936319265[1] = 0;
|
||||
out_2752104727936319265[2] = 0;
|
||||
out_2752104727936319265[3] = 0;
|
||||
out_2752104727936319265[4] = 0;
|
||||
out_2752104727936319265[5] = 0;
|
||||
out_2752104727936319265[6] = 0;
|
||||
out_2752104727936319265[7] = 0;
|
||||
out_2752104727936319265[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_1432334780107030385) {
|
||||
out_1432334780107030385[0] = 1;
|
||||
out_1432334780107030385[1] = 0;
|
||||
out_1432334780107030385[2] = 0;
|
||||
out_1432334780107030385[3] = 0;
|
||||
out_1432334780107030385[4] = 0;
|
||||
out_1432334780107030385[5] = 0;
|
||||
out_1432334780107030385[6] = 0;
|
||||
out_1432334780107030385[7] = 0;
|
||||
out_1432334780107030385[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_4217753431862633375) {
|
||||
out_4217753431862633375[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_3497945296765598119) {
|
||||
out_3497945296765598119[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_667624051811469074) {
|
||||
out_667624051811469074[0] = 0;
|
||||
out_667624051811469074[1] = 0;
|
||||
out_667624051811469074[2] = 0;
|
||||
out_667624051811469074[3] = 0;
|
||||
out_667624051811469074[4] = 0;
|
||||
out_667624051811469074[5] = 0;
|
||||
out_667624051811469074[6] = 0;
|
||||
out_667624051811469074[7] = 0;
|
||||
out_667624051811469074[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6164487361882369273) {
|
||||
out_6164487361882369273[0] = 0;
|
||||
out_6164487361882369273[1] = 0;
|
||||
out_6164487361882369273[2] = 0;
|
||||
out_6164487361882369273[3] = 0;
|
||||
out_6164487361882369273[4] = 0;
|
||||
out_6164487361882369273[5] = 0;
|
||||
out_6164487361882369273[6] = 0;
|
||||
out_6164487361882369273[7] = 0;
|
||||
out_6164487361882369273[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_1981160884949189432) {
|
||||
err_fun(nom_x, delta_x, out_1981160884949189432);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3464059133551141831) {
|
||||
err_fun(nom_x, delta_x, out_3464059133551141831);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388) {
|
||||
inv_err_fun(nom_x, true_x, out_8847679371512298388);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163) {
|
||||
inv_err_fun(nom_x, true_x, out_3057034877580327163);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_5601961838873094342) {
|
||||
H_mod_fun(state, out_5601961838873094342);
|
||||
void car_H_mod_fun(double *state, double *out_1278642935192462594) {
|
||||
H_mod_fun(state, out_1278642935192462594);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_5149707672518823132) {
|
||||
f_fun(state, dt, out_5149707672518823132);
|
||||
void car_f_fun(double *state, double dt, double *out_258465026591330744) {
|
||||
f_fun(state, dt, out_258465026591330744);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6841526781584604245) {
|
||||
F_fun(state, dt, out_6841526781584604245);
|
||||
void car_F_fun(double *state, double dt, double *out_5399477112920697267) {
|
||||
F_fun(state, dt, out_5399477112920697267);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_7458155415496567305) {
|
||||
h_25(state, unused, out_7458155415496567305);
|
||||
void car_h_25(double *state, double *unused, double *out_7067526126189904312) {
|
||||
h_25(state, unused, out_7067526126189904312);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_698270013688429502) {
|
||||
H_25(state, unused, out_698270013688429502);
|
||||
void car_H_25(double *state, double *unused, double *out_7914545290719774643) {
|
||||
H_25(state, unused, out_7914545290719774643);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_8762756803592850260) {
|
||||
h_24(state, unused, out_8762756803592850260);
|
||||
void car_h_24(double *state, double *unused, double *out_5828690765636070596) {
|
||||
h_24(state, unused, out_5828690765636070596);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_2427133132865743571) {
|
||||
H_24(state, unused, out_2427133132865743571);
|
||||
void car_H_24(double *state, double *unused, double *out_1260339832611588886) {
|
||||
H_24(state, unused, out_1260339832611588886);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_434784079387956054) {
|
||||
h_30(state, unused, out_434784079387956054);
|
||||
void car_h_30(double *state, double *unused, double *out_2572974398256279399) {
|
||||
h_30(state, unused, out_2572974398256279399);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_6218420327803187253) {
|
||||
H_30(state, unused, out_6218420327803187253);
|
||||
void car_H_30(double *state, double *unused, double *out_6004502452862168775) {
|
||||
H_30(state, unused, out_6004502452862168775);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_8798712813018318160) {
|
||||
h_26(state, unused, out_8798712813018318160);
|
||||
void car_h_26(double *state, double *unused, double *out_3176290282932756916) {
|
||||
h_26(state, unused, out_3176290282932756916);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_4439773332562485726) {
|
||||
H_26(state, unused, out_4439773332562485726);
|
||||
void car_H_26(double *state, double *unused, double *out_6790695464115720749) {
|
||||
H_26(state, unused, out_6790695464115720749);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_723267455973180046) {
|
||||
h_27(state, unused, out_723267455973180046);
|
||||
void car_h_27(double *state, double *unused, double *out_7048987171797560597) {
|
||||
h_27(state, unused, out_7048987171797560597);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_4043657016002762342) {
|
||||
H_27(state, unused, out_4043657016002762342);
|
||||
void car_H_27(double *state, double *unused, double *out_3829739141061743864) {
|
||||
H_27(state, unused, out_3829739141061743864);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_4920797374511219811) {
|
||||
h_29(state, unused, out_4920797374511219811);
|
||||
void car_h_29(double *state, double *unused, double *out_3516484251157941834) {
|
||||
h_29(state, unused, out_3516484251157941834);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_2330294289133211309) {
|
||||
H_29(state, unused, out_2330294289133211309);
|
||||
void car_H_29(double *state, double *unused, double *out_6514733797176560959) {
|
||||
H_29(state, unused, out_6514733797176560959);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_3477859511150572185) {
|
||||
h_28(state, unused, out_3477859511150572185);
|
||||
void car_h_28(double *state, double *unused, double *out_6396083634251145374) {
|
||||
h_28(state, unused, out_6396083634251145374);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_2752104727936319265) {
|
||||
H_28(state, unused, out_2752104727936319265);
|
||||
void car_H_28(double *state, double *unused, double *out_1432334780107030385) {
|
||||
H_28(state, unused, out_1432334780107030385);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_4217753431862633375) {
|
||||
h_31(state, unused, out_4217753431862633375);
|
||||
void car_h_31(double *state, double *unused, double *out_3497945296765598119) {
|
||||
h_31(state, unused, out_3497945296765598119);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_667624051811469074) {
|
||||
H_31(state, unused, out_667624051811469074);
|
||||
void car_H_31(double *state, double *unused, double *out_6164487361882369273) {
|
||||
H_31(state, unused, out_6164487361882369273);
|
||||
}
|
||||
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_1981160884949189432);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388);
|
||||
void car_H_mod_fun(double *state, double *out_5601961838873094342);
|
||||
void car_f_fun(double *state, double dt, double *out_5149707672518823132);
|
||||
void car_F_fun(double *state, double dt, double *out_6841526781584604245);
|
||||
void car_h_25(double *state, double *unused, double *out_7458155415496567305);
|
||||
void car_H_25(double *state, double *unused, double *out_698270013688429502);
|
||||
void car_h_24(double *state, double *unused, double *out_8762756803592850260);
|
||||
void car_H_24(double *state, double *unused, double *out_2427133132865743571);
|
||||
void car_h_30(double *state, double *unused, double *out_434784079387956054);
|
||||
void car_H_30(double *state, double *unused, double *out_6218420327803187253);
|
||||
void car_h_26(double *state, double *unused, double *out_8798712813018318160);
|
||||
void car_H_26(double *state, double *unused, double *out_4439773332562485726);
|
||||
void car_h_27(double *state, double *unused, double *out_723267455973180046);
|
||||
void car_H_27(double *state, double *unused, double *out_4043657016002762342);
|
||||
void car_h_29(double *state, double *unused, double *out_4920797374511219811);
|
||||
void car_H_29(double *state, double *unused, double *out_2330294289133211309);
|
||||
void car_h_28(double *state, double *unused, double *out_3477859511150572185);
|
||||
void car_H_28(double *state, double *unused, double *out_2752104727936319265);
|
||||
void car_h_31(double *state, double *unused, double *out_4217753431862633375);
|
||||
void car_H_31(double *state, double *unused, double *out_667624051811469074);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_3464059133551141831);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163);
|
||||
void car_H_mod_fun(double *state, double *out_1278642935192462594);
|
||||
void car_f_fun(double *state, double dt, double *out_258465026591330744);
|
||||
void car_F_fun(double *state, double dt, double *out_5399477112920697267);
|
||||
void car_h_25(double *state, double *unused, double *out_7067526126189904312);
|
||||
void car_H_25(double *state, double *unused, double *out_7914545290719774643);
|
||||
void car_h_24(double *state, double *unused, double *out_5828690765636070596);
|
||||
void car_H_24(double *state, double *unused, double *out_1260339832611588886);
|
||||
void car_h_30(double *state, double *unused, double *out_2572974398256279399);
|
||||
void car_H_30(double *state, double *unused, double *out_6004502452862168775);
|
||||
void car_h_26(double *state, double *unused, double *out_3176290282932756916);
|
||||
void car_H_26(double *state, double *unused, double *out_6790695464115720749);
|
||||
void car_h_27(double *state, double *unused, double *out_7048987171797560597);
|
||||
void car_H_27(double *state, double *unused, double *out_3829739141061743864);
|
||||
void car_h_29(double *state, double *unused, double *out_3516484251157941834);
|
||||
void car_H_29(double *state, double *unused, double *out_6514733797176560959);
|
||||
void car_h_28(double *state, double *unused, double *out_6396083634251145374);
|
||||
void car_H_28(double *state, double *unused, double *out_1432334780107030385);
|
||||
void car_h_31(double *state, double *unused, double *out_3497945296765598119);
|
||||
void car_H_31(double *state, double *unused, double *out_6164487361882369273);
|
||||
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_8714848832990626554);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5047671582975253903);
|
||||
void pose_H_mod_fun(double *state, double *out_1709250979764021582);
|
||||
void pose_f_fun(double *state, double dt, double *out_1316099113648689196);
|
||||
void pose_F_fun(double *state, double dt, double *out_4732408561172474784);
|
||||
void pose_h_4(double *state, double *unused, double *out_6918932125970712407);
|
||||
void pose_H_4(double *state, double *unused, double *out_1564971099026927671);
|
||||
void pose_h_10(double *state, double *unused, double *out_3027582300414544631);
|
||||
void pose_H_10(double *state, double *unused, double *out_3487027415066723561);
|
||||
void pose_h_13(double *state, double *unused, double *out_4493446518496679699);
|
||||
void pose_H_13(double *state, double *unused, double *out_1647302726305405130);
|
||||
void pose_h_14(double *state, double *unused, double *out_507113954569858993);
|
||||
void pose_H_14(double *state, double *unused, double *out_2398269757312556858);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7431505958311813382);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8551627000098797431);
|
||||
void pose_H_mod_fun(double *state, double *out_4284093078770863471);
|
||||
void pose_f_fun(double *state, double dt, double *out_6442140298881834415);
|
||||
void pose_F_fun(double *state, double dt, double *out_3934539972733810872);
|
||||
void pose_h_4(double *state, double *unused, double *out_9108176221739377223);
|
||||
void pose_H_4(double *state, double *unused, double *out_3529932076716150864);
|
||||
void pose_h_10(double *state, double *unused, double *out_7468804800035159097);
|
||||
void pose_H_10(double *state, double *unused, double *out_3178743347505224989);
|
||||
void pose_h_13(double *state, double *unused, double *out_2582510020496882256);
|
||||
void pose_H_13(double *state, double *unused, double *out_317658251383818063);
|
||||
void pose_h_14(double *state, double *unused, double *out_7414566035535505034);
|
||||
void pose_H_14(double *state, double *unused, double *out_6612720509011523160);
|
||||
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