mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-29 10:53:49 +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-fabf1226-DEBUG";
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const uint8_t gitversion[19] = "DEV-78e9b513-DEBUG";
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||||
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@@ -1 +1 @@
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DEV-fabf1226-DEBUG
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DEV-78e9b513-DEBUG
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@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_4189395199092511703) {
|
||||
out_4189395199092511703[0] = delta_x[0] + nom_x[0];
|
||||
out_4189395199092511703[1] = delta_x[1] + nom_x[1];
|
||||
out_4189395199092511703[2] = delta_x[2] + nom_x[2];
|
||||
out_4189395199092511703[3] = delta_x[3] + nom_x[3];
|
||||
out_4189395199092511703[4] = delta_x[4] + nom_x[4];
|
||||
out_4189395199092511703[5] = delta_x[5] + nom_x[5];
|
||||
out_4189395199092511703[6] = delta_x[6] + nom_x[6];
|
||||
out_4189395199092511703[7] = delta_x[7] + nom_x[7];
|
||||
out_4189395199092511703[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_6333242559483084265) {
|
||||
out_6333242559483084265[0] = delta_x[0] + nom_x[0];
|
||||
out_6333242559483084265[1] = delta_x[1] + nom_x[1];
|
||||
out_6333242559483084265[2] = delta_x[2] + nom_x[2];
|
||||
out_6333242559483084265[3] = delta_x[3] + nom_x[3];
|
||||
out_6333242559483084265[4] = delta_x[4] + nom_x[4];
|
||||
out_6333242559483084265[5] = delta_x[5] + nom_x[5];
|
||||
out_6333242559483084265[6] = delta_x[6] + nom_x[6];
|
||||
out_6333242559483084265[7] = delta_x[7] + nom_x[7];
|
||||
out_6333242559483084265[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_5755129993245429730) {
|
||||
out_5755129993245429730[0] = -nom_x[0] + true_x[0];
|
||||
out_5755129993245429730[1] = -nom_x[1] + true_x[1];
|
||||
out_5755129993245429730[2] = -nom_x[2] + true_x[2];
|
||||
out_5755129993245429730[3] = -nom_x[3] + true_x[3];
|
||||
out_5755129993245429730[4] = -nom_x[4] + true_x[4];
|
||||
out_5755129993245429730[5] = -nom_x[5] + true_x[5];
|
||||
out_5755129993245429730[6] = -nom_x[6] + true_x[6];
|
||||
out_5755129993245429730[7] = -nom_x[7] + true_x[7];
|
||||
out_5755129993245429730[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072) {
|
||||
out_829248915283082072[0] = -nom_x[0] + true_x[0];
|
||||
out_829248915283082072[1] = -nom_x[1] + true_x[1];
|
||||
out_829248915283082072[2] = -nom_x[2] + true_x[2];
|
||||
out_829248915283082072[3] = -nom_x[3] + true_x[3];
|
||||
out_829248915283082072[4] = -nom_x[4] + true_x[4];
|
||||
out_829248915283082072[5] = -nom_x[5] + true_x[5];
|
||||
out_829248915283082072[6] = -nom_x[6] + true_x[6];
|
||||
out_829248915283082072[7] = -nom_x[7] + true_x[7];
|
||||
out_829248915283082072[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_3130611196753066809) {
|
||||
out_3130611196753066809[0] = 1.0;
|
||||
out_3130611196753066809[1] = 0.0;
|
||||
out_3130611196753066809[2] = 0.0;
|
||||
out_3130611196753066809[3] = 0.0;
|
||||
out_3130611196753066809[4] = 0.0;
|
||||
out_3130611196753066809[5] = 0.0;
|
||||
out_3130611196753066809[6] = 0.0;
|
||||
out_3130611196753066809[7] = 0.0;
|
||||
out_3130611196753066809[8] = 0.0;
|
||||
out_3130611196753066809[9] = 0.0;
|
||||
out_3130611196753066809[10] = 1.0;
|
||||
out_3130611196753066809[11] = 0.0;
|
||||
out_3130611196753066809[12] = 0.0;
|
||||
out_3130611196753066809[13] = 0.0;
|
||||
out_3130611196753066809[14] = 0.0;
|
||||
out_3130611196753066809[15] = 0.0;
|
||||
out_3130611196753066809[16] = 0.0;
|
||||
out_3130611196753066809[17] = 0.0;
|
||||
out_3130611196753066809[18] = 0.0;
|
||||
out_3130611196753066809[19] = 0.0;
|
||||
out_3130611196753066809[20] = 1.0;
|
||||
out_3130611196753066809[21] = 0.0;
|
||||
out_3130611196753066809[22] = 0.0;
|
||||
out_3130611196753066809[23] = 0.0;
|
||||
out_3130611196753066809[24] = 0.0;
|
||||
out_3130611196753066809[25] = 0.0;
|
||||
out_3130611196753066809[26] = 0.0;
|
||||
out_3130611196753066809[27] = 0.0;
|
||||
out_3130611196753066809[28] = 0.0;
|
||||
out_3130611196753066809[29] = 0.0;
|
||||
out_3130611196753066809[30] = 1.0;
|
||||
out_3130611196753066809[31] = 0.0;
|
||||
out_3130611196753066809[32] = 0.0;
|
||||
out_3130611196753066809[33] = 0.0;
|
||||
out_3130611196753066809[34] = 0.0;
|
||||
out_3130611196753066809[35] = 0.0;
|
||||
out_3130611196753066809[36] = 0.0;
|
||||
out_3130611196753066809[37] = 0.0;
|
||||
out_3130611196753066809[38] = 0.0;
|
||||
out_3130611196753066809[39] = 0.0;
|
||||
out_3130611196753066809[40] = 1.0;
|
||||
out_3130611196753066809[41] = 0.0;
|
||||
out_3130611196753066809[42] = 0.0;
|
||||
out_3130611196753066809[43] = 0.0;
|
||||
out_3130611196753066809[44] = 0.0;
|
||||
out_3130611196753066809[45] = 0.0;
|
||||
out_3130611196753066809[46] = 0.0;
|
||||
out_3130611196753066809[47] = 0.0;
|
||||
out_3130611196753066809[48] = 0.0;
|
||||
out_3130611196753066809[49] = 0.0;
|
||||
out_3130611196753066809[50] = 1.0;
|
||||
out_3130611196753066809[51] = 0.0;
|
||||
out_3130611196753066809[52] = 0.0;
|
||||
out_3130611196753066809[53] = 0.0;
|
||||
out_3130611196753066809[54] = 0.0;
|
||||
out_3130611196753066809[55] = 0.0;
|
||||
out_3130611196753066809[56] = 0.0;
|
||||
out_3130611196753066809[57] = 0.0;
|
||||
out_3130611196753066809[58] = 0.0;
|
||||
out_3130611196753066809[59] = 0.0;
|
||||
out_3130611196753066809[60] = 1.0;
|
||||
out_3130611196753066809[61] = 0.0;
|
||||
out_3130611196753066809[62] = 0.0;
|
||||
out_3130611196753066809[63] = 0.0;
|
||||
out_3130611196753066809[64] = 0.0;
|
||||
out_3130611196753066809[65] = 0.0;
|
||||
out_3130611196753066809[66] = 0.0;
|
||||
out_3130611196753066809[67] = 0.0;
|
||||
out_3130611196753066809[68] = 0.0;
|
||||
out_3130611196753066809[69] = 0.0;
|
||||
out_3130611196753066809[70] = 1.0;
|
||||
out_3130611196753066809[71] = 0.0;
|
||||
out_3130611196753066809[72] = 0.0;
|
||||
out_3130611196753066809[73] = 0.0;
|
||||
out_3130611196753066809[74] = 0.0;
|
||||
out_3130611196753066809[75] = 0.0;
|
||||
out_3130611196753066809[76] = 0.0;
|
||||
out_3130611196753066809[77] = 0.0;
|
||||
out_3130611196753066809[78] = 0.0;
|
||||
out_3130611196753066809[79] = 0.0;
|
||||
out_3130611196753066809[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_8283696179185346057) {
|
||||
out_8283696179185346057[0] = 1.0;
|
||||
out_8283696179185346057[1] = 0.0;
|
||||
out_8283696179185346057[2] = 0.0;
|
||||
out_8283696179185346057[3] = 0.0;
|
||||
out_8283696179185346057[4] = 0.0;
|
||||
out_8283696179185346057[5] = 0.0;
|
||||
out_8283696179185346057[6] = 0.0;
|
||||
out_8283696179185346057[7] = 0.0;
|
||||
out_8283696179185346057[8] = 0.0;
|
||||
out_8283696179185346057[9] = 0.0;
|
||||
out_8283696179185346057[10] = 1.0;
|
||||
out_8283696179185346057[11] = 0.0;
|
||||
out_8283696179185346057[12] = 0.0;
|
||||
out_8283696179185346057[13] = 0.0;
|
||||
out_8283696179185346057[14] = 0.0;
|
||||
out_8283696179185346057[15] = 0.0;
|
||||
out_8283696179185346057[16] = 0.0;
|
||||
out_8283696179185346057[17] = 0.0;
|
||||
out_8283696179185346057[18] = 0.0;
|
||||
out_8283696179185346057[19] = 0.0;
|
||||
out_8283696179185346057[20] = 1.0;
|
||||
out_8283696179185346057[21] = 0.0;
|
||||
out_8283696179185346057[22] = 0.0;
|
||||
out_8283696179185346057[23] = 0.0;
|
||||
out_8283696179185346057[24] = 0.0;
|
||||
out_8283696179185346057[25] = 0.0;
|
||||
out_8283696179185346057[26] = 0.0;
|
||||
out_8283696179185346057[27] = 0.0;
|
||||
out_8283696179185346057[28] = 0.0;
|
||||
out_8283696179185346057[29] = 0.0;
|
||||
out_8283696179185346057[30] = 1.0;
|
||||
out_8283696179185346057[31] = 0.0;
|
||||
out_8283696179185346057[32] = 0.0;
|
||||
out_8283696179185346057[33] = 0.0;
|
||||
out_8283696179185346057[34] = 0.0;
|
||||
out_8283696179185346057[35] = 0.0;
|
||||
out_8283696179185346057[36] = 0.0;
|
||||
out_8283696179185346057[37] = 0.0;
|
||||
out_8283696179185346057[38] = 0.0;
|
||||
out_8283696179185346057[39] = 0.0;
|
||||
out_8283696179185346057[40] = 1.0;
|
||||
out_8283696179185346057[41] = 0.0;
|
||||
out_8283696179185346057[42] = 0.0;
|
||||
out_8283696179185346057[43] = 0.0;
|
||||
out_8283696179185346057[44] = 0.0;
|
||||
out_8283696179185346057[45] = 0.0;
|
||||
out_8283696179185346057[46] = 0.0;
|
||||
out_8283696179185346057[47] = 0.0;
|
||||
out_8283696179185346057[48] = 0.0;
|
||||
out_8283696179185346057[49] = 0.0;
|
||||
out_8283696179185346057[50] = 1.0;
|
||||
out_8283696179185346057[51] = 0.0;
|
||||
out_8283696179185346057[52] = 0.0;
|
||||
out_8283696179185346057[53] = 0.0;
|
||||
out_8283696179185346057[54] = 0.0;
|
||||
out_8283696179185346057[55] = 0.0;
|
||||
out_8283696179185346057[56] = 0.0;
|
||||
out_8283696179185346057[57] = 0.0;
|
||||
out_8283696179185346057[58] = 0.0;
|
||||
out_8283696179185346057[59] = 0.0;
|
||||
out_8283696179185346057[60] = 1.0;
|
||||
out_8283696179185346057[61] = 0.0;
|
||||
out_8283696179185346057[62] = 0.0;
|
||||
out_8283696179185346057[63] = 0.0;
|
||||
out_8283696179185346057[64] = 0.0;
|
||||
out_8283696179185346057[65] = 0.0;
|
||||
out_8283696179185346057[66] = 0.0;
|
||||
out_8283696179185346057[67] = 0.0;
|
||||
out_8283696179185346057[68] = 0.0;
|
||||
out_8283696179185346057[69] = 0.0;
|
||||
out_8283696179185346057[70] = 1.0;
|
||||
out_8283696179185346057[71] = 0.0;
|
||||
out_8283696179185346057[72] = 0.0;
|
||||
out_8283696179185346057[73] = 0.0;
|
||||
out_8283696179185346057[74] = 0.0;
|
||||
out_8283696179185346057[75] = 0.0;
|
||||
out_8283696179185346057[76] = 0.0;
|
||||
out_8283696179185346057[77] = 0.0;
|
||||
out_8283696179185346057[78] = 0.0;
|
||||
out_8283696179185346057[79] = 0.0;
|
||||
out_8283696179185346057[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_5961640813003379683) {
|
||||
out_5961640813003379683[0] = state[0];
|
||||
out_5961640813003379683[1] = state[1];
|
||||
out_5961640813003379683[2] = state[2];
|
||||
out_5961640813003379683[3] = state[3];
|
||||
out_5961640813003379683[4] = state[4];
|
||||
out_5961640813003379683[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_5961640813003379683[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_5961640813003379683[7] = state[7];
|
||||
out_5961640813003379683[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_3453347444055346076) {
|
||||
out_3453347444055346076[0] = state[0];
|
||||
out_3453347444055346076[1] = state[1];
|
||||
out_3453347444055346076[2] = state[2];
|
||||
out_3453347444055346076[3] = state[3];
|
||||
out_3453347444055346076[4] = state[4];
|
||||
out_3453347444055346076[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_3453347444055346076[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_3453347444055346076[7] = state[7];
|
||||
out_3453347444055346076[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_2654082016279909676) {
|
||||
out_2654082016279909676[0] = 1;
|
||||
out_2654082016279909676[1] = 0;
|
||||
out_2654082016279909676[2] = 0;
|
||||
out_2654082016279909676[3] = 0;
|
||||
out_2654082016279909676[4] = 0;
|
||||
out_2654082016279909676[5] = 0;
|
||||
out_2654082016279909676[6] = 0;
|
||||
out_2654082016279909676[7] = 0;
|
||||
out_2654082016279909676[8] = 0;
|
||||
out_2654082016279909676[9] = 0;
|
||||
out_2654082016279909676[10] = 1;
|
||||
out_2654082016279909676[11] = 0;
|
||||
out_2654082016279909676[12] = 0;
|
||||
out_2654082016279909676[13] = 0;
|
||||
out_2654082016279909676[14] = 0;
|
||||
out_2654082016279909676[15] = 0;
|
||||
out_2654082016279909676[16] = 0;
|
||||
out_2654082016279909676[17] = 0;
|
||||
out_2654082016279909676[18] = 0;
|
||||
out_2654082016279909676[19] = 0;
|
||||
out_2654082016279909676[20] = 1;
|
||||
out_2654082016279909676[21] = 0;
|
||||
out_2654082016279909676[22] = 0;
|
||||
out_2654082016279909676[23] = 0;
|
||||
out_2654082016279909676[24] = 0;
|
||||
out_2654082016279909676[25] = 0;
|
||||
out_2654082016279909676[26] = 0;
|
||||
out_2654082016279909676[27] = 0;
|
||||
out_2654082016279909676[28] = 0;
|
||||
out_2654082016279909676[29] = 0;
|
||||
out_2654082016279909676[30] = 1;
|
||||
out_2654082016279909676[31] = 0;
|
||||
out_2654082016279909676[32] = 0;
|
||||
out_2654082016279909676[33] = 0;
|
||||
out_2654082016279909676[34] = 0;
|
||||
out_2654082016279909676[35] = 0;
|
||||
out_2654082016279909676[36] = 0;
|
||||
out_2654082016279909676[37] = 0;
|
||||
out_2654082016279909676[38] = 0;
|
||||
out_2654082016279909676[39] = 0;
|
||||
out_2654082016279909676[40] = 1;
|
||||
out_2654082016279909676[41] = 0;
|
||||
out_2654082016279909676[42] = 0;
|
||||
out_2654082016279909676[43] = 0;
|
||||
out_2654082016279909676[44] = 0;
|
||||
out_2654082016279909676[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_2654082016279909676[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_2654082016279909676[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2654082016279909676[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2654082016279909676[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_2654082016279909676[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_2654082016279909676[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_2654082016279909676[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_2654082016279909676[53] = -9.8100000000000005*dt;
|
||||
out_2654082016279909676[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_2654082016279909676[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_2654082016279909676[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2654082016279909676[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2654082016279909676[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_2654082016279909676[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_2654082016279909676[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_2654082016279909676[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_2654082016279909676[62] = 0;
|
||||
out_2654082016279909676[63] = 0;
|
||||
out_2654082016279909676[64] = 0;
|
||||
out_2654082016279909676[65] = 0;
|
||||
out_2654082016279909676[66] = 0;
|
||||
out_2654082016279909676[67] = 0;
|
||||
out_2654082016279909676[68] = 0;
|
||||
out_2654082016279909676[69] = 0;
|
||||
out_2654082016279909676[70] = 1;
|
||||
out_2654082016279909676[71] = 0;
|
||||
out_2654082016279909676[72] = 0;
|
||||
out_2654082016279909676[73] = 0;
|
||||
out_2654082016279909676[74] = 0;
|
||||
out_2654082016279909676[75] = 0;
|
||||
out_2654082016279909676[76] = 0;
|
||||
out_2654082016279909676[77] = 0;
|
||||
out_2654082016279909676[78] = 0;
|
||||
out_2654082016279909676[79] = 0;
|
||||
out_2654082016279909676[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_1825222330008905672) {
|
||||
out_1825222330008905672[0] = 1;
|
||||
out_1825222330008905672[1] = 0;
|
||||
out_1825222330008905672[2] = 0;
|
||||
out_1825222330008905672[3] = 0;
|
||||
out_1825222330008905672[4] = 0;
|
||||
out_1825222330008905672[5] = 0;
|
||||
out_1825222330008905672[6] = 0;
|
||||
out_1825222330008905672[7] = 0;
|
||||
out_1825222330008905672[8] = 0;
|
||||
out_1825222330008905672[9] = 0;
|
||||
out_1825222330008905672[10] = 1;
|
||||
out_1825222330008905672[11] = 0;
|
||||
out_1825222330008905672[12] = 0;
|
||||
out_1825222330008905672[13] = 0;
|
||||
out_1825222330008905672[14] = 0;
|
||||
out_1825222330008905672[15] = 0;
|
||||
out_1825222330008905672[16] = 0;
|
||||
out_1825222330008905672[17] = 0;
|
||||
out_1825222330008905672[18] = 0;
|
||||
out_1825222330008905672[19] = 0;
|
||||
out_1825222330008905672[20] = 1;
|
||||
out_1825222330008905672[21] = 0;
|
||||
out_1825222330008905672[22] = 0;
|
||||
out_1825222330008905672[23] = 0;
|
||||
out_1825222330008905672[24] = 0;
|
||||
out_1825222330008905672[25] = 0;
|
||||
out_1825222330008905672[26] = 0;
|
||||
out_1825222330008905672[27] = 0;
|
||||
out_1825222330008905672[28] = 0;
|
||||
out_1825222330008905672[29] = 0;
|
||||
out_1825222330008905672[30] = 1;
|
||||
out_1825222330008905672[31] = 0;
|
||||
out_1825222330008905672[32] = 0;
|
||||
out_1825222330008905672[33] = 0;
|
||||
out_1825222330008905672[34] = 0;
|
||||
out_1825222330008905672[35] = 0;
|
||||
out_1825222330008905672[36] = 0;
|
||||
out_1825222330008905672[37] = 0;
|
||||
out_1825222330008905672[38] = 0;
|
||||
out_1825222330008905672[39] = 0;
|
||||
out_1825222330008905672[40] = 1;
|
||||
out_1825222330008905672[41] = 0;
|
||||
out_1825222330008905672[42] = 0;
|
||||
out_1825222330008905672[43] = 0;
|
||||
out_1825222330008905672[44] = 0;
|
||||
out_1825222330008905672[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_1825222330008905672[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_1825222330008905672[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1825222330008905672[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1825222330008905672[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_1825222330008905672[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_1825222330008905672[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_1825222330008905672[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1825222330008905672[53] = -9.8100000000000005*dt;
|
||||
out_1825222330008905672[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_1825222330008905672[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_1825222330008905672[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1825222330008905672[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1825222330008905672[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_1825222330008905672[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_1825222330008905672[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_1825222330008905672[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1825222330008905672[62] = 0;
|
||||
out_1825222330008905672[63] = 0;
|
||||
out_1825222330008905672[64] = 0;
|
||||
out_1825222330008905672[65] = 0;
|
||||
out_1825222330008905672[66] = 0;
|
||||
out_1825222330008905672[67] = 0;
|
||||
out_1825222330008905672[68] = 0;
|
||||
out_1825222330008905672[69] = 0;
|
||||
out_1825222330008905672[70] = 1;
|
||||
out_1825222330008905672[71] = 0;
|
||||
out_1825222330008905672[72] = 0;
|
||||
out_1825222330008905672[73] = 0;
|
||||
out_1825222330008905672[74] = 0;
|
||||
out_1825222330008905672[75] = 0;
|
||||
out_1825222330008905672[76] = 0;
|
||||
out_1825222330008905672[77] = 0;
|
||||
out_1825222330008905672[78] = 0;
|
||||
out_1825222330008905672[79] = 0;
|
||||
out_1825222330008905672[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_3340180793096633183) {
|
||||
out_3340180793096633183[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_7364871104219513908) {
|
||||
out_7364871104219513908[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_4434950306945038429) {
|
||||
out_4434950306945038429[0] = 0;
|
||||
out_4434950306945038429[1] = 0;
|
||||
out_4434950306945038429[2] = 0;
|
||||
out_4434950306945038429[3] = 0;
|
||||
out_4434950306945038429[4] = 0;
|
||||
out_4434950306945038429[5] = 0;
|
||||
out_4434950306945038429[6] = 1;
|
||||
out_4434950306945038429[7] = 0;
|
||||
out_4434950306945038429[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_5259356069339540719) {
|
||||
out_5259356069339540719[0] = 0;
|
||||
out_5259356069339540719[1] = 0;
|
||||
out_5259356069339540719[2] = 0;
|
||||
out_5259356069339540719[3] = 0;
|
||||
out_5259356069339540719[4] = 0;
|
||||
out_5259356069339540719[5] = 0;
|
||||
out_5259356069339540719[6] = 1;
|
||||
out_5259356069339540719[7] = 0;
|
||||
out_5259356069339540719[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7854800018825826791) {
|
||||
out_7854800018825826791[0] = state[4];
|
||||
out_7854800018825826791[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_6181950591427252357) {
|
||||
out_6181950591427252357[0] = state[4];
|
||||
out_6181950591427252357[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_6607599905950537995) {
|
||||
out_6607599905950537995[0] = 0;
|
||||
out_6607599905950537995[1] = 0;
|
||||
out_6607599905950537995[2] = 0;
|
||||
out_6607599905950537995[3] = 0;
|
||||
out_6607599905950537995[4] = 1;
|
||||
out_6607599905950537995[5] = 0;
|
||||
out_6607599905950537995[6] = 0;
|
||||
out_6607599905950537995[7] = 0;
|
||||
out_6607599905950537995[8] = 0;
|
||||
out_6607599905950537995[9] = 0;
|
||||
out_6607599905950537995[10] = 0;
|
||||
out_6607599905950537995[11] = 0;
|
||||
out_6607599905950537995[12] = 0;
|
||||
out_6607599905950537995[13] = 0;
|
||||
out_6607599905950537995[14] = 1;
|
||||
out_6607599905950537995[15] = 0;
|
||||
out_6607599905950537995[16] = 0;
|
||||
out_6607599905950537995[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_1316215737251977382) {
|
||||
out_1316215737251977382[0] = 0;
|
||||
out_1316215737251977382[1] = 0;
|
||||
out_1316215737251977382[2] = 0;
|
||||
out_1316215737251977382[3] = 0;
|
||||
out_1316215737251977382[4] = 1;
|
||||
out_1316215737251977382[5] = 0;
|
||||
out_1316215737251977382[6] = 0;
|
||||
out_1316215737251977382[7] = 0;
|
||||
out_1316215737251977382[8] = 0;
|
||||
out_1316215737251977382[9] = 0;
|
||||
out_1316215737251977382[10] = 0;
|
||||
out_1316215737251977382[11] = 0;
|
||||
out_1316215737251977382[12] = 0;
|
||||
out_1316215737251977382[13] = 0;
|
||||
out_1316215737251977382[14] = 1;
|
||||
out_1316215737251977382[15] = 0;
|
||||
out_1316215737251977382[16] = 0;
|
||||
out_1316215737251977382[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_3104430337924860088) {
|
||||
out_3104430337924860088[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_4311037743139686772) {
|
||||
out_4311037743139686772[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_1916617348437789802) {
|
||||
out_1916617348437789802[0] = 0;
|
||||
out_1916617348437789802[1] = 0;
|
||||
out_1916617348437789802[2] = 0;
|
||||
out_1916617348437789802[3] = 0;
|
||||
out_1916617348437789802[4] = 1;
|
||||
out_1916617348437789802[5] = 0;
|
||||
out_1916617348437789802[6] = 0;
|
||||
out_1916617348437789802[7] = 0;
|
||||
out_1916617348437789802[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_1657334272152076036) {
|
||||
out_1657334272152076036[0] = 0;
|
||||
out_1657334272152076036[1] = 0;
|
||||
out_1657334272152076036[2] = 0;
|
||||
out_1657334272152076036[3] = 0;
|
||||
out_1657334272152076036[4] = 1;
|
||||
out_1657334272152076036[5] = 0;
|
||||
out_1657334272152076036[6] = 0;
|
||||
out_1657334272152076036[7] = 0;
|
||||
out_1657334272152076036[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_4544914835386474254) {
|
||||
out_4544914835386474254[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_8569605146509354979) {
|
||||
out_8569605146509354979[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_8176453625819094653) {
|
||||
out_8176453625819094653[0] = 0;
|
||||
out_8176453625819094653[1] = 0;
|
||||
out_8176453625819094653[2] = 0;
|
||||
out_8176453625819094653[3] = 0;
|
||||
out_8176453625819094653[4] = 0;
|
||||
out_8176453625819094653[5] = 0;
|
||||
out_8176453625819094653[6] = 0;
|
||||
out_8176453625819094653[7] = 1;
|
||||
out_8176453625819094653[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_9000859388213596943) {
|
||||
out_9000859388213596943[0] = 0;
|
||||
out_9000859388213596943[1] = 0;
|
||||
out_9000859388213596943[2] = 0;
|
||||
out_9000859388213596943[3] = 0;
|
||||
out_9000859388213596943[4] = 0;
|
||||
out_9000859388213596943[5] = 0;
|
||||
out_9000859388213596943[6] = 0;
|
||||
out_9000859388213596943[7] = 1;
|
||||
out_9000859388213596943[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_4426907441453097510) {
|
||||
out_4426907441453097510[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_2363197836558668263) {
|
||||
out_2363197836558668263[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_306976722746153415) {
|
||||
out_306976722746153415[0] = 0;
|
||||
out_306976722746153415[1] = 0;
|
||||
out_306976722746153415[2] = 0;
|
||||
out_306976722746153415[3] = 1;
|
||||
out_306976722746153415[4] = 0;
|
||||
out_306976722746153415[5] = 0;
|
||||
out_306976722746153415[6] = 0;
|
||||
out_306976722746153415[7] = 0;
|
||||
out_306976722746153415[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_517429039648348875) {
|
||||
out_517429039648348875[0] = 0;
|
||||
out_517429039648348875[1] = 0;
|
||||
out_517429039648348875[2] = 0;
|
||||
out_517429039648348875[3] = 1;
|
||||
out_517429039648348875[4] = 0;
|
||||
out_517429039648348875[5] = 0;
|
||||
out_517429039648348875[6] = 0;
|
||||
out_517429039648348875[7] = 0;
|
||||
out_517429039648348875[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_2160920485023197653) {
|
||||
out_2160920485023197653[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_1498485639869833389) {
|
||||
out_1498485639869833389[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_1406386004123397618) {
|
||||
out_1406386004123397618[0] = 0;
|
||||
out_1406386004123397618[1] = 1;
|
||||
out_1406386004123397618[2] = 0;
|
||||
out_1406386004123397618[3] = 0;
|
||||
out_1406386004123397618[4] = 0;
|
||||
out_1406386004123397618[5] = 0;
|
||||
out_1406386004123397618[6] = 0;
|
||||
out_1406386004123397618[7] = 0;
|
||||
out_1406386004123397618[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_2230791766517899908) {
|
||||
out_2230791766517899908[0] = 0;
|
||||
out_2230791766517899908[1] = 1;
|
||||
out_2230791766517899908[2] = 0;
|
||||
out_2230791766517899908[3] = 0;
|
||||
out_2230791766517899908[4] = 0;
|
||||
out_2230791766517899908[5] = 0;
|
||||
out_2230791766517899908[6] = 0;
|
||||
out_2230791766517899908[7] = 0;
|
||||
out_2230791766517899908[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_7017073928463388327) {
|
||||
out_7017073928463388327[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_6657345575881808179) {
|
||||
out_6657345575881808179[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_6488785021192928192) {
|
||||
out_6488785021192928192[0] = 1;
|
||||
out_6488785021192928192[1] = 0;
|
||||
out_6488785021192928192[2] = 0;
|
||||
out_6488785021192928192[3] = 0;
|
||||
out_6488785021192928192[4] = 0;
|
||||
out_6488785021192928192[5] = 0;
|
||||
out_6488785021192928192[6] = 0;
|
||||
out_6488785021192928192[7] = 0;
|
||||
out_6488785021192928192[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_7313190783587430482) {
|
||||
out_7313190783587430482[0] = 1;
|
||||
out_7313190783587430482[1] = 0;
|
||||
out_7313190783587430482[2] = 0;
|
||||
out_7313190783587430482[3] = 0;
|
||||
out_7313190783587430482[4] = 0;
|
||||
out_7313190783587430482[5] = 0;
|
||||
out_7313190783587430482[6] = 0;
|
||||
out_7313190783587430482[7] = 0;
|
||||
out_7313190783587430482[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_5156479888167106809) {
|
||||
out_5156479888167106809[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_398394152601158533) {
|
||||
out_398394152601158533[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_4404304345068078001) {
|
||||
out_4404304345068078001[0] = 0;
|
||||
out_4404304345068078001[1] = 0;
|
||||
out_4404304345068078001[2] = 0;
|
||||
out_4404304345068078001[3] = 0;
|
||||
out_4404304345068078001[4] = 0;
|
||||
out_4404304345068078001[5] = 0;
|
||||
out_4404304345068078001[6] = 0;
|
||||
out_4404304345068078001[7] = 0;
|
||||
out_4404304345068078001[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_5228710107462580291) {
|
||||
out_5228710107462580291[0] = 0;
|
||||
out_5228710107462580291[1] = 0;
|
||||
out_5228710107462580291[2] = 0;
|
||||
out_5228710107462580291[3] = 0;
|
||||
out_5228710107462580291[4] = 0;
|
||||
out_5228710107462580291[5] = 0;
|
||||
out_5228710107462580291[6] = 0;
|
||||
out_5228710107462580291[7] = 0;
|
||||
out_5228710107462580291[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_4189395199092511703) {
|
||||
err_fun(nom_x, delta_x, out_4189395199092511703);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6333242559483084265) {
|
||||
err_fun(nom_x, delta_x, out_6333242559483084265);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5755129993245429730) {
|
||||
inv_err_fun(nom_x, true_x, out_5755129993245429730);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072) {
|
||||
inv_err_fun(nom_x, true_x, out_829248915283082072);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_3130611196753066809) {
|
||||
H_mod_fun(state, out_3130611196753066809);
|
||||
void car_H_mod_fun(double *state, double *out_8283696179185346057) {
|
||||
H_mod_fun(state, out_8283696179185346057);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_5961640813003379683) {
|
||||
f_fun(state, dt, out_5961640813003379683);
|
||||
void car_f_fun(double *state, double dt, double *out_3453347444055346076) {
|
||||
f_fun(state, dt, out_3453347444055346076);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_2654082016279909676) {
|
||||
F_fun(state, dt, out_2654082016279909676);
|
||||
void car_F_fun(double *state, double dt, double *out_1825222330008905672) {
|
||||
F_fun(state, dt, out_1825222330008905672);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_3340180793096633183) {
|
||||
h_25(state, unused, out_3340180793096633183);
|
||||
void car_h_25(double *state, double *unused, double *out_7364871104219513908) {
|
||||
h_25(state, unused, out_7364871104219513908);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_4434950306945038429) {
|
||||
H_25(state, unused, out_4434950306945038429);
|
||||
void car_H_25(double *state, double *unused, double *out_5259356069339540719) {
|
||||
H_25(state, unused, out_5259356069339540719);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7854800018825826791) {
|
||||
h_24(state, unused, out_7854800018825826791);
|
||||
void car_h_24(double *state, double *unused, double *out_6181950591427252357) {
|
||||
h_24(state, unused, out_6181950591427252357);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_6607599905950537995) {
|
||||
H_24(state, unused, out_6607599905950537995);
|
||||
void car_H_24(double *state, double *unused, double *out_1316215737251977382) {
|
||||
H_24(state, unused, out_1316215737251977382);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_3104430337924860088) {
|
||||
h_30(state, unused, out_3104430337924860088);
|
||||
void car_h_30(double *state, double *unused, double *out_4311037743139686772) {
|
||||
h_30(state, unused, out_4311037743139686772);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_1916617348437789802) {
|
||||
H_30(state, unused, out_1916617348437789802);
|
||||
void car_H_30(double *state, double *unused, double *out_1657334272152076036) {
|
||||
H_30(state, unused, out_1657334272152076036);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_4544914835386474254) {
|
||||
h_26(state, unused, out_4544914835386474254);
|
||||
void car_h_26(double *state, double *unused, double *out_8569605146509354979) {
|
||||
h_26(state, unused, out_8569605146509354979);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_8176453625819094653) {
|
||||
H_26(state, unused, out_8176453625819094653);
|
||||
void car_H_26(double *state, double *unused, double *out_9000859388213596943) {
|
||||
H_26(state, unused, out_9000859388213596943);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_4426907441453097510) {
|
||||
h_27(state, unused, out_4426907441453097510);
|
||||
void car_h_27(double *state, double *unused, double *out_2363197836558668263) {
|
||||
h_27(state, unused, out_2363197836558668263);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_306976722746153415) {
|
||||
H_27(state, unused, out_306976722746153415);
|
||||
void car_H_27(double *state, double *unused, double *out_517429039648348875) {
|
||||
H_27(state, unused, out_517429039648348875);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_2160920485023197653) {
|
||||
h_29(state, unused, out_2160920485023197653);
|
||||
void car_h_29(double *state, double *unused, double *out_1498485639869833389) {
|
||||
h_29(state, unused, out_1498485639869833389);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_1406386004123397618) {
|
||||
H_29(state, unused, out_1406386004123397618);
|
||||
void car_H_29(double *state, double *unused, double *out_2230791766517899908) {
|
||||
H_29(state, unused, out_2230791766517899908);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_7017073928463388327) {
|
||||
h_28(state, unused, out_7017073928463388327);
|
||||
void car_h_28(double *state, double *unused, double *out_6657345575881808179) {
|
||||
h_28(state, unused, out_6657345575881808179);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_6488785021192928192) {
|
||||
H_28(state, unused, out_6488785021192928192);
|
||||
void car_H_28(double *state, double *unused, double *out_7313190783587430482) {
|
||||
H_28(state, unused, out_7313190783587430482);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_5156479888167106809) {
|
||||
h_31(state, unused, out_5156479888167106809);
|
||||
void car_h_31(double *state, double *unused, double *out_398394152601158533) {
|
||||
h_31(state, unused, out_398394152601158533);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_4404304345068078001) {
|
||||
H_31(state, unused, out_4404304345068078001);
|
||||
void car_H_31(double *state, double *unused, double *out_5228710107462580291) {
|
||||
H_31(state, unused, out_5228710107462580291);
|
||||
}
|
||||
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_4189395199092511703);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5755129993245429730);
|
||||
void car_H_mod_fun(double *state, double *out_3130611196753066809);
|
||||
void car_f_fun(double *state, double dt, double *out_5961640813003379683);
|
||||
void car_F_fun(double *state, double dt, double *out_2654082016279909676);
|
||||
void car_h_25(double *state, double *unused, double *out_3340180793096633183);
|
||||
void car_H_25(double *state, double *unused, double *out_4434950306945038429);
|
||||
void car_h_24(double *state, double *unused, double *out_7854800018825826791);
|
||||
void car_H_24(double *state, double *unused, double *out_6607599905950537995);
|
||||
void car_h_30(double *state, double *unused, double *out_3104430337924860088);
|
||||
void car_H_30(double *state, double *unused, double *out_1916617348437789802);
|
||||
void car_h_26(double *state, double *unused, double *out_4544914835386474254);
|
||||
void car_H_26(double *state, double *unused, double *out_8176453625819094653);
|
||||
void car_h_27(double *state, double *unused, double *out_4426907441453097510);
|
||||
void car_H_27(double *state, double *unused, double *out_306976722746153415);
|
||||
void car_h_29(double *state, double *unused, double *out_2160920485023197653);
|
||||
void car_H_29(double *state, double *unused, double *out_1406386004123397618);
|
||||
void car_h_28(double *state, double *unused, double *out_7017073928463388327);
|
||||
void car_H_28(double *state, double *unused, double *out_6488785021192928192);
|
||||
void car_h_31(double *state, double *unused, double *out_5156479888167106809);
|
||||
void car_H_31(double *state, double *unused, double *out_4404304345068078001);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_6333242559483084265);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072);
|
||||
void car_H_mod_fun(double *state, double *out_8283696179185346057);
|
||||
void car_f_fun(double *state, double dt, double *out_3453347444055346076);
|
||||
void car_F_fun(double *state, double dt, double *out_1825222330008905672);
|
||||
void car_h_25(double *state, double *unused, double *out_7364871104219513908);
|
||||
void car_H_25(double *state, double *unused, double *out_5259356069339540719);
|
||||
void car_h_24(double *state, double *unused, double *out_6181950591427252357);
|
||||
void car_H_24(double *state, double *unused, double *out_1316215737251977382);
|
||||
void car_h_30(double *state, double *unused, double *out_4311037743139686772);
|
||||
void car_H_30(double *state, double *unused, double *out_1657334272152076036);
|
||||
void car_h_26(double *state, double *unused, double *out_8569605146509354979);
|
||||
void car_H_26(double *state, double *unused, double *out_9000859388213596943);
|
||||
void car_h_27(double *state, double *unused, double *out_2363197836558668263);
|
||||
void car_H_27(double *state, double *unused, double *out_517429039648348875);
|
||||
void car_h_29(double *state, double *unused, double *out_1498485639869833389);
|
||||
void car_H_29(double *state, double *unused, double *out_2230791766517899908);
|
||||
void car_h_28(double *state, double *unused, double *out_6657345575881808179);
|
||||
void car_H_28(double *state, double *unused, double *out_7313190783587430482);
|
||||
void car_h_31(double *state, double *unused, double *out_398394152601158533);
|
||||
void car_H_31(double *state, double *unused, double *out_5228710107462580291);
|
||||
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
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void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
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void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
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void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
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void pose_err_fun(double *nom_x, double *delta_x, double *out_842964569186968919);
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void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7637995249051351300);
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void pose_H_mod_fun(double *state, double *out_8306889626903079841);
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void pose_f_fun(double *state, double dt, double *out_5013225008344736149);
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void pose_F_fun(double *state, double dt, double *out_8990818239492707931);
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void pose_h_4(double *state, double *unused, double *out_4553534383789500912);
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void pose_H_4(double *state, double *unused, double *out_637472039154741501);
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void pose_h_10(double *state, double *unused, double *out_5896232866039695568);
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void pose_H_10(double *state, double *unused, double *out_6470002192212990620);
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void pose_h_13(double *state, double *unused, double *out_5564060116117934481);
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void pose_H_13(double *state, double *unused, double *out_2574801786177591300);
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void pose_h_14(double *state, double *unused, double *out_9129729305013669813);
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void pose_H_14(double *state, double *unused, double *out_3325768817184743028);
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void pose_err_fun(double *nom_x, double *delta_x, double *out_3574067617578089570);
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void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1515328263168530495);
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void pose_H_mod_fun(double *state, double *out_207229337745545750);
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void pose_f_fun(double *state, double dt, double *out_3493541226789963130);
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void pose_F_fun(double *state, double dt, double *out_5154051058888586616);
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void pose_h_4(double *state, double *unused, double *out_5970382648807117116);
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void pose_H_4(double *state, double *unused, double *out_4945289047293534985);
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void pose_h_10(double *state, double *unused, double *out_520088425664385209);
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void pose_H_10(double *state, double *unused, double *out_4050335309714945768);
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void pose_h_13(double *state, double *unused, double *out_1434579794425570866);
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void pose_H_13(double *state, double *unused, double *out_1111533583991010961);
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void pose_h_14(double *state, double *unused, double *out_5370135948753942539);
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void pose_H_14(double *state, double *unused, double *out_1862500614998162689);
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void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
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}
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