mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-28 01:52:06 +08:00
build
This commit is contained in:
firestar5683
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@@ -1,2 +1,2 @@
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extern const uint8_t gitversion[19];
|
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const uint8_t gitversion[19] = "DEV-7a3c1ede-DEBUG";
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const uint8_t gitversion[19] = "DEV-1d77de2f-DEBUG";
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||||
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@@ -1 +1 @@
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DEV-7a3c1ede-DEBUG
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DEV-1d77de2f-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_6972961942535496334) {
|
||||
out_6972961942535496334[0] = delta_x[0] + nom_x[0];
|
||||
out_6972961942535496334[1] = delta_x[1] + nom_x[1];
|
||||
out_6972961942535496334[2] = delta_x[2] + nom_x[2];
|
||||
out_6972961942535496334[3] = delta_x[3] + nom_x[3];
|
||||
out_6972961942535496334[4] = delta_x[4] + nom_x[4];
|
||||
out_6972961942535496334[5] = delta_x[5] + nom_x[5];
|
||||
out_6972961942535496334[6] = delta_x[6] + nom_x[6];
|
||||
out_6972961942535496334[7] = delta_x[7] + nom_x[7];
|
||||
out_6972961942535496334[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_787387508528698300) {
|
||||
out_787387508528698300[0] = delta_x[0] + nom_x[0];
|
||||
out_787387508528698300[1] = delta_x[1] + nom_x[1];
|
||||
out_787387508528698300[2] = delta_x[2] + nom_x[2];
|
||||
out_787387508528698300[3] = delta_x[3] + nom_x[3];
|
||||
out_787387508528698300[4] = delta_x[4] + nom_x[4];
|
||||
out_787387508528698300[5] = delta_x[5] + nom_x[5];
|
||||
out_787387508528698300[6] = delta_x[6] + nom_x[6];
|
||||
out_787387508528698300[7] = delta_x[7] + nom_x[7];
|
||||
out_787387508528698300[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626) {
|
||||
out_2104979621458798626[0] = -nom_x[0] + true_x[0];
|
||||
out_2104979621458798626[1] = -nom_x[1] + true_x[1];
|
||||
out_2104979621458798626[2] = -nom_x[2] + true_x[2];
|
||||
out_2104979621458798626[3] = -nom_x[3] + true_x[3];
|
||||
out_2104979621458798626[4] = -nom_x[4] + true_x[4];
|
||||
out_2104979621458798626[5] = -nom_x[5] + true_x[5];
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||||
out_2104979621458798626[6] = -nom_x[6] + true_x[6];
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||||
out_2104979621458798626[7] = -nom_x[7] + true_x[7];
|
||||
out_2104979621458798626[8] = -nom_x[8] + true_x[8];
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||||
void inv_err_fun(double *nom_x, double *true_x, double *out_4326351974821968285) {
|
||||
out_4326351974821968285[0] = -nom_x[0] + true_x[0];
|
||||
out_4326351974821968285[1] = -nom_x[1] + true_x[1];
|
||||
out_4326351974821968285[2] = -nom_x[2] + true_x[2];
|
||||
out_4326351974821968285[3] = -nom_x[3] + true_x[3];
|
||||
out_4326351974821968285[4] = -nom_x[4] + true_x[4];
|
||||
out_4326351974821968285[5] = -nom_x[5] + true_x[5];
|
||||
out_4326351974821968285[6] = -nom_x[6] + true_x[6];
|
||||
out_4326351974821968285[7] = -nom_x[7] + true_x[7];
|
||||
out_4326351974821968285[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_2779658660641459178) {
|
||||
out_2779658660641459178[0] = 1.0;
|
||||
out_2779658660641459178[1] = 0.0;
|
||||
out_2779658660641459178[2] = 0.0;
|
||||
out_2779658660641459178[3] = 0.0;
|
||||
out_2779658660641459178[4] = 0.0;
|
||||
out_2779658660641459178[5] = 0.0;
|
||||
out_2779658660641459178[6] = 0.0;
|
||||
out_2779658660641459178[7] = 0.0;
|
||||
out_2779658660641459178[8] = 0.0;
|
||||
out_2779658660641459178[9] = 0.0;
|
||||
out_2779658660641459178[10] = 1.0;
|
||||
out_2779658660641459178[11] = 0.0;
|
||||
out_2779658660641459178[12] = 0.0;
|
||||
out_2779658660641459178[13] = 0.0;
|
||||
out_2779658660641459178[14] = 0.0;
|
||||
out_2779658660641459178[15] = 0.0;
|
||||
out_2779658660641459178[16] = 0.0;
|
||||
out_2779658660641459178[17] = 0.0;
|
||||
out_2779658660641459178[18] = 0.0;
|
||||
out_2779658660641459178[19] = 0.0;
|
||||
out_2779658660641459178[20] = 1.0;
|
||||
out_2779658660641459178[21] = 0.0;
|
||||
out_2779658660641459178[22] = 0.0;
|
||||
out_2779658660641459178[23] = 0.0;
|
||||
out_2779658660641459178[24] = 0.0;
|
||||
out_2779658660641459178[25] = 0.0;
|
||||
out_2779658660641459178[26] = 0.0;
|
||||
out_2779658660641459178[27] = 0.0;
|
||||
out_2779658660641459178[28] = 0.0;
|
||||
out_2779658660641459178[29] = 0.0;
|
||||
out_2779658660641459178[30] = 1.0;
|
||||
out_2779658660641459178[31] = 0.0;
|
||||
out_2779658660641459178[32] = 0.0;
|
||||
out_2779658660641459178[33] = 0.0;
|
||||
out_2779658660641459178[34] = 0.0;
|
||||
out_2779658660641459178[35] = 0.0;
|
||||
out_2779658660641459178[36] = 0.0;
|
||||
out_2779658660641459178[37] = 0.0;
|
||||
out_2779658660641459178[38] = 0.0;
|
||||
out_2779658660641459178[39] = 0.0;
|
||||
out_2779658660641459178[40] = 1.0;
|
||||
out_2779658660641459178[41] = 0.0;
|
||||
out_2779658660641459178[42] = 0.0;
|
||||
out_2779658660641459178[43] = 0.0;
|
||||
out_2779658660641459178[44] = 0.0;
|
||||
out_2779658660641459178[45] = 0.0;
|
||||
out_2779658660641459178[46] = 0.0;
|
||||
out_2779658660641459178[47] = 0.0;
|
||||
out_2779658660641459178[48] = 0.0;
|
||||
out_2779658660641459178[49] = 0.0;
|
||||
out_2779658660641459178[50] = 1.0;
|
||||
out_2779658660641459178[51] = 0.0;
|
||||
out_2779658660641459178[52] = 0.0;
|
||||
out_2779658660641459178[53] = 0.0;
|
||||
out_2779658660641459178[54] = 0.0;
|
||||
out_2779658660641459178[55] = 0.0;
|
||||
out_2779658660641459178[56] = 0.0;
|
||||
out_2779658660641459178[57] = 0.0;
|
||||
out_2779658660641459178[58] = 0.0;
|
||||
out_2779658660641459178[59] = 0.0;
|
||||
out_2779658660641459178[60] = 1.0;
|
||||
out_2779658660641459178[61] = 0.0;
|
||||
out_2779658660641459178[62] = 0.0;
|
||||
out_2779658660641459178[63] = 0.0;
|
||||
out_2779658660641459178[64] = 0.0;
|
||||
out_2779658660641459178[65] = 0.0;
|
||||
out_2779658660641459178[66] = 0.0;
|
||||
out_2779658660641459178[67] = 0.0;
|
||||
out_2779658660641459178[68] = 0.0;
|
||||
out_2779658660641459178[69] = 0.0;
|
||||
out_2779658660641459178[70] = 1.0;
|
||||
out_2779658660641459178[71] = 0.0;
|
||||
out_2779658660641459178[72] = 0.0;
|
||||
out_2779658660641459178[73] = 0.0;
|
||||
out_2779658660641459178[74] = 0.0;
|
||||
out_2779658660641459178[75] = 0.0;
|
||||
out_2779658660641459178[76] = 0.0;
|
||||
out_2779658660641459178[77] = 0.0;
|
||||
out_2779658660641459178[78] = 0.0;
|
||||
out_2779658660641459178[79] = 0.0;
|
||||
out_2779658660641459178[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_253192225752308971) {
|
||||
out_253192225752308971[0] = 1.0;
|
||||
out_253192225752308971[1] = 0.0;
|
||||
out_253192225752308971[2] = 0.0;
|
||||
out_253192225752308971[3] = 0.0;
|
||||
out_253192225752308971[4] = 0.0;
|
||||
out_253192225752308971[5] = 0.0;
|
||||
out_253192225752308971[6] = 0.0;
|
||||
out_253192225752308971[7] = 0.0;
|
||||
out_253192225752308971[8] = 0.0;
|
||||
out_253192225752308971[9] = 0.0;
|
||||
out_253192225752308971[10] = 1.0;
|
||||
out_253192225752308971[11] = 0.0;
|
||||
out_253192225752308971[12] = 0.0;
|
||||
out_253192225752308971[13] = 0.0;
|
||||
out_253192225752308971[14] = 0.0;
|
||||
out_253192225752308971[15] = 0.0;
|
||||
out_253192225752308971[16] = 0.0;
|
||||
out_253192225752308971[17] = 0.0;
|
||||
out_253192225752308971[18] = 0.0;
|
||||
out_253192225752308971[19] = 0.0;
|
||||
out_253192225752308971[20] = 1.0;
|
||||
out_253192225752308971[21] = 0.0;
|
||||
out_253192225752308971[22] = 0.0;
|
||||
out_253192225752308971[23] = 0.0;
|
||||
out_253192225752308971[24] = 0.0;
|
||||
out_253192225752308971[25] = 0.0;
|
||||
out_253192225752308971[26] = 0.0;
|
||||
out_253192225752308971[27] = 0.0;
|
||||
out_253192225752308971[28] = 0.0;
|
||||
out_253192225752308971[29] = 0.0;
|
||||
out_253192225752308971[30] = 1.0;
|
||||
out_253192225752308971[31] = 0.0;
|
||||
out_253192225752308971[32] = 0.0;
|
||||
out_253192225752308971[33] = 0.0;
|
||||
out_253192225752308971[34] = 0.0;
|
||||
out_253192225752308971[35] = 0.0;
|
||||
out_253192225752308971[36] = 0.0;
|
||||
out_253192225752308971[37] = 0.0;
|
||||
out_253192225752308971[38] = 0.0;
|
||||
out_253192225752308971[39] = 0.0;
|
||||
out_253192225752308971[40] = 1.0;
|
||||
out_253192225752308971[41] = 0.0;
|
||||
out_253192225752308971[42] = 0.0;
|
||||
out_253192225752308971[43] = 0.0;
|
||||
out_253192225752308971[44] = 0.0;
|
||||
out_253192225752308971[45] = 0.0;
|
||||
out_253192225752308971[46] = 0.0;
|
||||
out_253192225752308971[47] = 0.0;
|
||||
out_253192225752308971[48] = 0.0;
|
||||
out_253192225752308971[49] = 0.0;
|
||||
out_253192225752308971[50] = 1.0;
|
||||
out_253192225752308971[51] = 0.0;
|
||||
out_253192225752308971[52] = 0.0;
|
||||
out_253192225752308971[53] = 0.0;
|
||||
out_253192225752308971[54] = 0.0;
|
||||
out_253192225752308971[55] = 0.0;
|
||||
out_253192225752308971[56] = 0.0;
|
||||
out_253192225752308971[57] = 0.0;
|
||||
out_253192225752308971[58] = 0.0;
|
||||
out_253192225752308971[59] = 0.0;
|
||||
out_253192225752308971[60] = 1.0;
|
||||
out_253192225752308971[61] = 0.0;
|
||||
out_253192225752308971[62] = 0.0;
|
||||
out_253192225752308971[63] = 0.0;
|
||||
out_253192225752308971[64] = 0.0;
|
||||
out_253192225752308971[65] = 0.0;
|
||||
out_253192225752308971[66] = 0.0;
|
||||
out_253192225752308971[67] = 0.0;
|
||||
out_253192225752308971[68] = 0.0;
|
||||
out_253192225752308971[69] = 0.0;
|
||||
out_253192225752308971[70] = 1.0;
|
||||
out_253192225752308971[71] = 0.0;
|
||||
out_253192225752308971[72] = 0.0;
|
||||
out_253192225752308971[73] = 0.0;
|
||||
out_253192225752308971[74] = 0.0;
|
||||
out_253192225752308971[75] = 0.0;
|
||||
out_253192225752308971[76] = 0.0;
|
||||
out_253192225752308971[77] = 0.0;
|
||||
out_253192225752308971[78] = 0.0;
|
||||
out_253192225752308971[79] = 0.0;
|
||||
out_253192225752308971[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_1847838116479859502) {
|
||||
out_1847838116479859502[0] = state[0];
|
||||
out_1847838116479859502[1] = state[1];
|
||||
out_1847838116479859502[2] = state[2];
|
||||
out_1847838116479859502[3] = state[3];
|
||||
out_1847838116479859502[4] = state[4];
|
||||
out_1847838116479859502[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_1847838116479859502[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_1847838116479859502[7] = state[7];
|
||||
out_1847838116479859502[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_7053536604478710960) {
|
||||
out_7053536604478710960[0] = state[0];
|
||||
out_7053536604478710960[1] = state[1];
|
||||
out_7053536604478710960[2] = state[2];
|
||||
out_7053536604478710960[3] = state[3];
|
||||
out_7053536604478710960[4] = state[4];
|
||||
out_7053536604478710960[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_7053536604478710960[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_7053536604478710960[7] = state[7];
|
||||
out_7053536604478710960[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_8278586360493195906) {
|
||||
out_8278586360493195906[0] = 1;
|
||||
out_8278586360493195906[1] = 0;
|
||||
out_8278586360493195906[2] = 0;
|
||||
out_8278586360493195906[3] = 0;
|
||||
out_8278586360493195906[4] = 0;
|
||||
out_8278586360493195906[5] = 0;
|
||||
out_8278586360493195906[6] = 0;
|
||||
out_8278586360493195906[7] = 0;
|
||||
out_8278586360493195906[8] = 0;
|
||||
out_8278586360493195906[9] = 0;
|
||||
out_8278586360493195906[10] = 1;
|
||||
out_8278586360493195906[11] = 0;
|
||||
out_8278586360493195906[12] = 0;
|
||||
out_8278586360493195906[13] = 0;
|
||||
out_8278586360493195906[14] = 0;
|
||||
out_8278586360493195906[15] = 0;
|
||||
out_8278586360493195906[16] = 0;
|
||||
out_8278586360493195906[17] = 0;
|
||||
out_8278586360493195906[18] = 0;
|
||||
out_8278586360493195906[19] = 0;
|
||||
out_8278586360493195906[20] = 1;
|
||||
out_8278586360493195906[21] = 0;
|
||||
out_8278586360493195906[22] = 0;
|
||||
out_8278586360493195906[23] = 0;
|
||||
out_8278586360493195906[24] = 0;
|
||||
out_8278586360493195906[25] = 0;
|
||||
out_8278586360493195906[26] = 0;
|
||||
out_8278586360493195906[27] = 0;
|
||||
out_8278586360493195906[28] = 0;
|
||||
out_8278586360493195906[29] = 0;
|
||||
out_8278586360493195906[30] = 1;
|
||||
out_8278586360493195906[31] = 0;
|
||||
out_8278586360493195906[32] = 0;
|
||||
out_8278586360493195906[33] = 0;
|
||||
out_8278586360493195906[34] = 0;
|
||||
out_8278586360493195906[35] = 0;
|
||||
out_8278586360493195906[36] = 0;
|
||||
out_8278586360493195906[37] = 0;
|
||||
out_8278586360493195906[38] = 0;
|
||||
out_8278586360493195906[39] = 0;
|
||||
out_8278586360493195906[40] = 1;
|
||||
out_8278586360493195906[41] = 0;
|
||||
out_8278586360493195906[42] = 0;
|
||||
out_8278586360493195906[43] = 0;
|
||||
out_8278586360493195906[44] = 0;
|
||||
out_8278586360493195906[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_8278586360493195906[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_8278586360493195906[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8278586360493195906[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8278586360493195906[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_8278586360493195906[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_8278586360493195906[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_8278586360493195906[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_8278586360493195906[53] = -9.8100000000000005*dt;
|
||||
out_8278586360493195906[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_8278586360493195906[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_8278586360493195906[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8278586360493195906[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8278586360493195906[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_8278586360493195906[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_8278586360493195906[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_8278586360493195906[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_8278586360493195906[62] = 0;
|
||||
out_8278586360493195906[63] = 0;
|
||||
out_8278586360493195906[64] = 0;
|
||||
out_8278586360493195906[65] = 0;
|
||||
out_8278586360493195906[66] = 0;
|
||||
out_8278586360493195906[67] = 0;
|
||||
out_8278586360493195906[68] = 0;
|
||||
out_8278586360493195906[69] = 0;
|
||||
out_8278586360493195906[70] = 1;
|
||||
out_8278586360493195906[71] = 0;
|
||||
out_8278586360493195906[72] = 0;
|
||||
out_8278586360493195906[73] = 0;
|
||||
out_8278586360493195906[74] = 0;
|
||||
out_8278586360493195906[75] = 0;
|
||||
out_8278586360493195906[76] = 0;
|
||||
out_8278586360493195906[77] = 0;
|
||||
out_8278586360493195906[78] = 0;
|
||||
out_8278586360493195906[79] = 0;
|
||||
out_8278586360493195906[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_1214429005669720164) {
|
||||
out_1214429005669720164[0] = 1;
|
||||
out_1214429005669720164[1] = 0;
|
||||
out_1214429005669720164[2] = 0;
|
||||
out_1214429005669720164[3] = 0;
|
||||
out_1214429005669720164[4] = 0;
|
||||
out_1214429005669720164[5] = 0;
|
||||
out_1214429005669720164[6] = 0;
|
||||
out_1214429005669720164[7] = 0;
|
||||
out_1214429005669720164[8] = 0;
|
||||
out_1214429005669720164[9] = 0;
|
||||
out_1214429005669720164[10] = 1;
|
||||
out_1214429005669720164[11] = 0;
|
||||
out_1214429005669720164[12] = 0;
|
||||
out_1214429005669720164[13] = 0;
|
||||
out_1214429005669720164[14] = 0;
|
||||
out_1214429005669720164[15] = 0;
|
||||
out_1214429005669720164[16] = 0;
|
||||
out_1214429005669720164[17] = 0;
|
||||
out_1214429005669720164[18] = 0;
|
||||
out_1214429005669720164[19] = 0;
|
||||
out_1214429005669720164[20] = 1;
|
||||
out_1214429005669720164[21] = 0;
|
||||
out_1214429005669720164[22] = 0;
|
||||
out_1214429005669720164[23] = 0;
|
||||
out_1214429005669720164[24] = 0;
|
||||
out_1214429005669720164[25] = 0;
|
||||
out_1214429005669720164[26] = 0;
|
||||
out_1214429005669720164[27] = 0;
|
||||
out_1214429005669720164[28] = 0;
|
||||
out_1214429005669720164[29] = 0;
|
||||
out_1214429005669720164[30] = 1;
|
||||
out_1214429005669720164[31] = 0;
|
||||
out_1214429005669720164[32] = 0;
|
||||
out_1214429005669720164[33] = 0;
|
||||
out_1214429005669720164[34] = 0;
|
||||
out_1214429005669720164[35] = 0;
|
||||
out_1214429005669720164[36] = 0;
|
||||
out_1214429005669720164[37] = 0;
|
||||
out_1214429005669720164[38] = 0;
|
||||
out_1214429005669720164[39] = 0;
|
||||
out_1214429005669720164[40] = 1;
|
||||
out_1214429005669720164[41] = 0;
|
||||
out_1214429005669720164[42] = 0;
|
||||
out_1214429005669720164[43] = 0;
|
||||
out_1214429005669720164[44] = 0;
|
||||
out_1214429005669720164[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_1214429005669720164[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_1214429005669720164[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1214429005669720164[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1214429005669720164[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_1214429005669720164[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_1214429005669720164[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_1214429005669720164[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_1214429005669720164[53] = -9.8100000000000005*dt;
|
||||
out_1214429005669720164[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_1214429005669720164[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_1214429005669720164[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1214429005669720164[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1214429005669720164[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_1214429005669720164[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_1214429005669720164[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_1214429005669720164[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_1214429005669720164[62] = 0;
|
||||
out_1214429005669720164[63] = 0;
|
||||
out_1214429005669720164[64] = 0;
|
||||
out_1214429005669720164[65] = 0;
|
||||
out_1214429005669720164[66] = 0;
|
||||
out_1214429005669720164[67] = 0;
|
||||
out_1214429005669720164[68] = 0;
|
||||
out_1214429005669720164[69] = 0;
|
||||
out_1214429005669720164[70] = 1;
|
||||
out_1214429005669720164[71] = 0;
|
||||
out_1214429005669720164[72] = 0;
|
||||
out_1214429005669720164[73] = 0;
|
||||
out_1214429005669720164[74] = 0;
|
||||
out_1214429005669720164[75] = 0;
|
||||
out_1214429005669720164[76] = 0;
|
||||
out_1214429005669720164[77] = 0;
|
||||
out_1214429005669720164[78] = 0;
|
||||
out_1214429005669720164[79] = 0;
|
||||
out_1214429005669720164[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_4623448408360880072) {
|
||||
out_4623448408360880072[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_3464829860448870764) {
|
||||
out_3464829860448870764[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_2013210898559251929) {
|
||||
out_2013210898559251929[0] = 0;
|
||||
out_2013210898559251929[1] = 0;
|
||||
out_2013210898559251929[2] = 0;
|
||||
out_2013210898559251929[3] = 0;
|
||||
out_2013210898559251929[4] = 0;
|
||||
out_2013210898559251929[5] = 0;
|
||||
out_2013210898559251929[6] = 1;
|
||||
out_2013210898559251929[7] = 0;
|
||||
out_2013210898559251929[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_9000363622045005408) {
|
||||
out_9000363622045005408[0] = 0;
|
||||
out_9000363622045005408[1] = 0;
|
||||
out_9000363622045005408[2] = 0;
|
||||
out_9000363622045005408[3] = 0;
|
||||
out_9000363622045005408[4] = 0;
|
||||
out_9000363622045005408[5] = 0;
|
||||
out_9000363622045005408[6] = 1;
|
||||
out_9000363622045005408[7] = 0;
|
||||
out_9000363622045005408[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_5136059034754269087) {
|
||||
out_5136059034754269087[0] = state[4];
|
||||
out_5136059034754269087[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_4762731858686047091) {
|
||||
out_4762731858686047091[0] = state[4];
|
||||
out_4762731858686047091[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_7286705181472264523) {
|
||||
out_7286705181472264523[0] = 0;
|
||||
out_7286705181472264523[1] = 0;
|
||||
out_7286705181472264523[2] = 0;
|
||||
out_7286705181472264523[3] = 0;
|
||||
out_7286705181472264523[4] = 1;
|
||||
out_7286705181472264523[5] = 0;
|
||||
out_7286705181472264523[6] = 0;
|
||||
out_7286705181472264523[7] = 0;
|
||||
out_7286705181472264523[8] = 0;
|
||||
out_7286705181472264523[9] = 0;
|
||||
out_7286705181472264523[10] = 0;
|
||||
out_7286705181472264523[11] = 0;
|
||||
out_7286705181472264523[12] = 0;
|
||||
out_7286705181472264523[13] = 0;
|
||||
out_7286705181472264523[14] = 1;
|
||||
out_7286705181472264523[15] = 0;
|
||||
out_7286705181472264523[16] = 0;
|
||||
out_7286705181472264523[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_6827714023039505842) {
|
||||
out_6827714023039505842[0] = 0;
|
||||
out_6827714023039505842[1] = 0;
|
||||
out_6827714023039505842[2] = 0;
|
||||
out_6827714023039505842[3] = 0;
|
||||
out_6827714023039505842[4] = 1;
|
||||
out_6827714023039505842[5] = 0;
|
||||
out_6827714023039505842[6] = 0;
|
||||
out_6827714023039505842[7] = 0;
|
||||
out_6827714023039505842[8] = 0;
|
||||
out_6827714023039505842[9] = 0;
|
||||
out_6827714023039505842[10] = 0;
|
||||
out_6827714023039505842[11] = 0;
|
||||
out_6827714023039505842[12] = 0;
|
||||
out_6827714023039505842[13] = 0;
|
||||
out_6827714023039505842[14] = 1;
|
||||
out_6827714023039505842[15] = 0;
|
||||
out_6827714023039505842[16] = 0;
|
||||
out_6827714023039505842[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5183418188630129660) {
|
||||
out_5183418188630129660[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_3738386096537115206) {
|
||||
out_3738386096537115206[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_2514485431568356269) {
|
||||
out_2514485431568356269[0] = 0;
|
||||
out_2514485431568356269[1] = 0;
|
||||
out_2514485431568356269[2] = 0;
|
||||
out_2514485431568356269[3] = 0;
|
||||
out_2514485431568356269[4] = 1;
|
||||
out_2514485431568356269[5] = 0;
|
||||
out_2514485431568356269[6] = 0;
|
||||
out_2514485431568356269[7] = 0;
|
||||
out_2514485431568356269[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_6928047493157297581) {
|
||||
out_6928047493157297581[0] = 0;
|
||||
out_6928047493157297581[1] = 0;
|
||||
out_6928047493157297581[2] = 0;
|
||||
out_6928047493157297581[3] = 0;
|
||||
out_6928047493157297581[4] = 1;
|
||||
out_6928047493157297581[5] = 0;
|
||||
out_6928047493157297581[6] = 0;
|
||||
out_6928047493157297581[7] = 0;
|
||||
out_6928047493157297581[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_8220204240074462345) {
|
||||
out_8220204240074462345[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_3696757337891585607) {
|
||||
out_3696757337891585607[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_1728292420314804295) {
|
||||
out_1728292420314804295[0] = 0;
|
||||
out_1728292420314804295[1] = 0;
|
||||
out_1728292420314804295[2] = 0;
|
||||
out_1728292420314804295[3] = 0;
|
||||
out_1728292420314804295[4] = 0;
|
||||
out_1728292420314804295[5] = 0;
|
||||
out_1728292420314804295[6] = 0;
|
||||
out_1728292420314804295[7] = 1;
|
||||
out_1728292420314804295[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_6141854481903745607) {
|
||||
out_6141854481903745607[0] = 0;
|
||||
out_6141854481903745607[1] = 0;
|
||||
out_6141854481903745607[2] = 0;
|
||||
out_6141854481903745607[3] = 0;
|
||||
out_6141854481903745607[4] = 0;
|
||||
out_6141854481903745607[5] = 0;
|
||||
out_6141854481903745607[6] = 0;
|
||||
out_6141854481903745607[7] = 1;
|
||||
out_6141854481903745607[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_6443570481160411950) {
|
||||
out_6443570481160411950[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_8319345477692799991) {
|
||||
out_8319345477692799991[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_4689248743368781180) {
|
||||
out_4689248743368781180[0] = 0;
|
||||
out_4689248743368781180[1] = 0;
|
||||
out_4689248743368781180[2] = 0;
|
||||
out_4689248743368781180[3] = 1;
|
||||
out_4689248743368781180[4] = 0;
|
||||
out_4689248743368781180[5] = 0;
|
||||
out_4689248743368781180[6] = 0;
|
||||
out_4689248743368781180[7] = 0;
|
||||
out_4689248743368781180[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_4704453421973354364) {
|
||||
out_4704453421973354364[0] = 0;
|
||||
out_4704453421973354364[1] = 0;
|
||||
out_4704453421973354364[2] = 0;
|
||||
out_4704453421973354364[3] = 1;
|
||||
out_4704453421973354364[4] = 0;
|
||||
out_4704453421973354364[5] = 0;
|
||||
out_4704453421973354364[6] = 0;
|
||||
out_4704453421973354364[7] = 0;
|
||||
out_4704453421973354364[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_4239908335728467225) {
|
||||
out_4239908335728467225[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_6118557469171333555) {
|
||||
out_6118557469171333555[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_2004254087253964085) {
|
||||
out_2004254087253964085[0] = 0;
|
||||
out_2004254087253964085[1] = 1;
|
||||
out_2004254087253964085[2] = 0;
|
||||
out_2004254087253964085[3] = 0;
|
||||
out_2004254087253964085[4] = 0;
|
||||
out_2004254087253964085[5] = 0;
|
||||
out_2004254087253964085[6] = 0;
|
||||
out_2004254087253964085[7] = 0;
|
||||
out_2004254087253964085[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_6417816148842905397) {
|
||||
out_6417816148842905397[0] = 0;
|
||||
out_6417816148842905397[1] = 1;
|
||||
out_6417816148842905397[2] = 0;
|
||||
out_6417816148842905397[3] = 0;
|
||||
out_6417816148842905397[4] = 0;
|
||||
out_6417816148842905397[5] = 0;
|
||||
out_6417816148842905397[6] = 0;
|
||||
out_6417816148842905397[7] = 0;
|
||||
out_6417816148842905397[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_8966387541104806981) {
|
||||
out_8966387541104806981[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_5845834754773091117) {
|
||||
out_5845834754773091117[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_7086653104323494659) {
|
||||
out_7086653104323494659[0] = 1;
|
||||
out_7086653104323494659[1] = 0;
|
||||
out_7086653104323494659[2] = 0;
|
||||
out_7086653104323494659[3] = 0;
|
||||
out_7086653104323494659[4] = 0;
|
||||
out_7086653104323494659[5] = 0;
|
||||
out_7086653104323494659[6] = 0;
|
||||
out_7086653104323494659[7] = 0;
|
||||
out_7086653104323494659[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_6946528907797115645) {
|
||||
out_6946528907797115645[0] = 1;
|
||||
out_6946528907797115645[1] = 0;
|
||||
out_6946528907797115645[2] = 0;
|
||||
out_6946528907797115645[3] = 0;
|
||||
out_6946528907797115645[4] = 0;
|
||||
out_6946528907797115645[5] = 0;
|
||||
out_6946528907797115645[6] = 0;
|
||||
out_6946528907797115645[7] = 0;
|
||||
out_6946528907797115645[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_8508687616659686337) {
|
||||
out_8508687616659686337[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_3122998066027424399) {
|
||||
out_3122998066027424399[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_2354500522548155771) {
|
||||
out_2354500522548155771[0] = 0;
|
||||
out_2354500522548155771[1] = 0;
|
||||
out_2354500522548155771[2] = 0;
|
||||
out_2354500522548155771[3] = 0;
|
||||
out_2354500522548155771[4] = 0;
|
||||
out_2354500522548155771[5] = 0;
|
||||
out_2354500522548155771[6] = 0;
|
||||
out_2354500522548155771[7] = 0;
|
||||
out_2354500522548155771[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_6768062584137097083) {
|
||||
out_6768062584137097083[0] = 0;
|
||||
out_6768062584137097083[1] = 0;
|
||||
out_6768062584137097083[2] = 0;
|
||||
out_6768062584137097083[3] = 0;
|
||||
out_6768062584137097083[4] = 0;
|
||||
out_6768062584137097083[5] = 0;
|
||||
out_6768062584137097083[6] = 0;
|
||||
out_6768062584137097083[7] = 0;
|
||||
out_6768062584137097083[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_6972961942535496334) {
|
||||
err_fun(nom_x, delta_x, out_6972961942535496334);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_787387508528698300) {
|
||||
err_fun(nom_x, delta_x, out_787387508528698300);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626) {
|
||||
inv_err_fun(nom_x, true_x, out_2104979621458798626);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4326351974821968285) {
|
||||
inv_err_fun(nom_x, true_x, out_4326351974821968285);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_2779658660641459178) {
|
||||
H_mod_fun(state, out_2779658660641459178);
|
||||
void car_H_mod_fun(double *state, double *out_253192225752308971) {
|
||||
H_mod_fun(state, out_253192225752308971);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_1847838116479859502) {
|
||||
f_fun(state, dt, out_1847838116479859502);
|
||||
void car_f_fun(double *state, double dt, double *out_7053536604478710960) {
|
||||
f_fun(state, dt, out_7053536604478710960);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_8278586360493195906) {
|
||||
F_fun(state, dt, out_8278586360493195906);
|
||||
void car_F_fun(double *state, double dt, double *out_1214429005669720164) {
|
||||
F_fun(state, dt, out_1214429005669720164);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_4623448408360880072) {
|
||||
h_25(state, unused, out_4623448408360880072);
|
||||
void car_h_25(double *state, double *unused, double *out_3464829860448870764) {
|
||||
h_25(state, unused, out_3464829860448870764);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_2013210898559251929) {
|
||||
H_25(state, unused, out_2013210898559251929);
|
||||
void car_H_25(double *state, double *unused, double *out_9000363622045005408) {
|
||||
H_25(state, unused, out_9000363622045005408);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_5136059034754269087) {
|
||||
h_24(state, unused, out_5136059034754269087);
|
||||
void car_h_24(double *state, double *unused, double *out_4762731858686047091) {
|
||||
h_24(state, unused, out_4762731858686047091);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_7286705181472264523) {
|
||||
H_24(state, unused, out_7286705181472264523);
|
||||
void car_H_24(double *state, double *unused, double *out_6827714023039505842) {
|
||||
H_24(state, unused, out_6827714023039505842);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5183418188630129660) {
|
||||
h_30(state, unused, out_5183418188630129660);
|
||||
void car_h_30(double *state, double *unused, double *out_3738386096537115206) {
|
||||
h_30(state, unused, out_3738386096537115206);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_2514485431568356269) {
|
||||
H_30(state, unused, out_2514485431568356269);
|
||||
void car_H_30(double *state, double *unused, double *out_6928047493157297581) {
|
||||
H_30(state, unused, out_6928047493157297581);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_8220204240074462345) {
|
||||
h_26(state, unused, out_8220204240074462345);
|
||||
void car_h_26(double *state, double *unused, double *out_3696757337891585607) {
|
||||
h_26(state, unused, out_3696757337891585607);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_1728292420314804295) {
|
||||
H_26(state, unused, out_1728292420314804295);
|
||||
void car_H_26(double *state, double *unused, double *out_6141854481903745607) {
|
||||
H_26(state, unused, out_6141854481903745607);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_6443570481160411950) {
|
||||
h_27(state, unused, out_6443570481160411950);
|
||||
void car_h_27(double *state, double *unused, double *out_8319345477692799991) {
|
||||
h_27(state, unused, out_8319345477692799991);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_4689248743368781180) {
|
||||
H_27(state, unused, out_4689248743368781180);
|
||||
void car_H_27(double *state, double *unused, double *out_4704453421973354364) {
|
||||
H_27(state, unused, out_4704453421973354364);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_4239908335728467225) {
|
||||
h_29(state, unused, out_4239908335728467225);
|
||||
void car_h_29(double *state, double *unused, double *out_6118557469171333555) {
|
||||
h_29(state, unused, out_6118557469171333555);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_2004254087253964085) {
|
||||
H_29(state, unused, out_2004254087253964085);
|
||||
void car_H_29(double *state, double *unused, double *out_6417816148842905397) {
|
||||
H_29(state, unused, out_6417816148842905397);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_8966387541104806981) {
|
||||
h_28(state, unused, out_8966387541104806981);
|
||||
void car_h_28(double *state, double *unused, double *out_5845834754773091117) {
|
||||
h_28(state, unused, out_5845834754773091117);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_7086653104323494659) {
|
||||
H_28(state, unused, out_7086653104323494659);
|
||||
void car_H_28(double *state, double *unused, double *out_6946528907797115645) {
|
||||
H_28(state, unused, out_6946528907797115645);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_8508687616659686337) {
|
||||
h_31(state, unused, out_8508687616659686337);
|
||||
void car_h_31(double *state, double *unused, double *out_3122998066027424399) {
|
||||
h_31(state, unused, out_3122998066027424399);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_2354500522548155771) {
|
||||
H_31(state, unused, out_2354500522548155771);
|
||||
void car_H_31(double *state, double *unused, double *out_6768062584137097083) {
|
||||
H_31(state, unused, out_6768062584137097083);
|
||||
}
|
||||
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_6972961942535496334);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626);
|
||||
void car_H_mod_fun(double *state, double *out_2779658660641459178);
|
||||
void car_f_fun(double *state, double dt, double *out_1847838116479859502);
|
||||
void car_F_fun(double *state, double dt, double *out_8278586360493195906);
|
||||
void car_h_25(double *state, double *unused, double *out_4623448408360880072);
|
||||
void car_H_25(double *state, double *unused, double *out_2013210898559251929);
|
||||
void car_h_24(double *state, double *unused, double *out_5136059034754269087);
|
||||
void car_H_24(double *state, double *unused, double *out_7286705181472264523);
|
||||
void car_h_30(double *state, double *unused, double *out_5183418188630129660);
|
||||
void car_H_30(double *state, double *unused, double *out_2514485431568356269);
|
||||
void car_h_26(double *state, double *unused, double *out_8220204240074462345);
|
||||
void car_H_26(double *state, double *unused, double *out_1728292420314804295);
|
||||
void car_h_27(double *state, double *unused, double *out_6443570481160411950);
|
||||
void car_H_27(double *state, double *unused, double *out_4689248743368781180);
|
||||
void car_h_29(double *state, double *unused, double *out_4239908335728467225);
|
||||
void car_H_29(double *state, double *unused, double *out_2004254087253964085);
|
||||
void car_h_28(double *state, double *unused, double *out_8966387541104806981);
|
||||
void car_H_28(double *state, double *unused, double *out_7086653104323494659);
|
||||
void car_h_31(double *state, double *unused, double *out_8508687616659686337);
|
||||
void car_H_31(double *state, double *unused, double *out_2354500522548155771);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_787387508528698300);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_4326351974821968285);
|
||||
void car_H_mod_fun(double *state, double *out_253192225752308971);
|
||||
void car_f_fun(double *state, double dt, double *out_7053536604478710960);
|
||||
void car_F_fun(double *state, double dt, double *out_1214429005669720164);
|
||||
void car_h_25(double *state, double *unused, double *out_3464829860448870764);
|
||||
void car_H_25(double *state, double *unused, double *out_9000363622045005408);
|
||||
void car_h_24(double *state, double *unused, double *out_4762731858686047091);
|
||||
void car_H_24(double *state, double *unused, double *out_6827714023039505842);
|
||||
void car_h_30(double *state, double *unused, double *out_3738386096537115206);
|
||||
void car_H_30(double *state, double *unused, double *out_6928047493157297581);
|
||||
void car_h_26(double *state, double *unused, double *out_3696757337891585607);
|
||||
void car_H_26(double *state, double *unused, double *out_6141854481903745607);
|
||||
void car_h_27(double *state, double *unused, double *out_8319345477692799991);
|
||||
void car_H_27(double *state, double *unused, double *out_4704453421973354364);
|
||||
void car_h_29(double *state, double *unused, double *out_6118557469171333555);
|
||||
void car_H_29(double *state, double *unused, double *out_6417816148842905397);
|
||||
void car_h_28(double *state, double *unused, double *out_5845834754773091117);
|
||||
void car_H_28(double *state, double *unused, double *out_6946528907797115645);
|
||||
void car_h_31(double *state, double *unused, double *out_3122998066027424399);
|
||||
void car_H_31(double *state, double *unused, double *out_6768062584137097083);
|
||||
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_1493079546624007114);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4580499654968994478);
|
||||
void pose_H_mod_fun(double *state, double *out_8273119377234766952);
|
||||
void pose_f_fun(double *state, double dt, double *out_2742900412262200056);
|
||||
void pose_F_fun(double *state, double dt, double *out_1250059419478269226);
|
||||
void pose_h_4(double *state, double *unused, double *out_6706399028598537324);
|
||||
void pose_H_4(double *state, double *unused, double *out_1435428464391795526);
|
||||
void pose_h_10(double *state, double *unused, double *out_3193952299746834757);
|
||||
void pose_H_10(double *state, double *unused, double *out_1464924797507750077);
|
||||
void pose_h_13(double *state, double *unused, double *out_7802893222450228438);
|
||||
void pose_H_13(double *state, double *unused, double *out_1776845360940537275);
|
||||
void pose_h_14(double *state, double *unused, double *out_7652212324095214333);
|
||||
void pose_H_14(double *state, double *unused, double *out_2527812391947689003);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_2495962770948129313);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_17617025005773203);
|
||||
void pose_H_mod_fun(double *state, double *out_8533106360868564993);
|
||||
void pose_f_fun(double *state, double dt, double *out_5731605766251141681);
|
||||
void pose_F_fun(double *state, double dt, double *out_3989820231164300868);
|
||||
void pose_h_4(double *state, double *unused, double *out_4946255089901338531);
|
||||
void pose_H_4(double *state, double *unused, double *out_8715690230958088519);
|
||||
void pose_h_10(double *state, double *unused, double *out_1122773854384552196);
|
||||
void pose_H_10(double *state, double *unused, double *out_5712996006774124697);
|
||||
void pose_h_13(double *state, double *unused, double *out_1411072044725156723);
|
||||
void pose_H_13(double *state, double *unused, double *out_5503416405625755718);
|
||||
void pose_h_14(double *state, double *unused, double *out_2642104827226322779);
|
||||
void pose_H_14(double *state, double *unused, double *out_2249908027471722673);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Binary file not shown.
Reference in New Issue
Block a user