mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-31 21:23:49 +08:00
build
This commit is contained in:
StarPilot Build Bot
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@@ -1,2 +1,2 @@
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extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-f22bcfee-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-af08cca3-DEBUG";
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||||
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||||
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@@ -1 +1 @@
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DEV-f22bcfee-DEBUG
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||||
DEV-af08cca3-DEBUG
|
||||
@@ -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_3926092090457486519) {
|
||||
out_3926092090457486519[0] = delta_x[0] + nom_x[0];
|
||||
out_3926092090457486519[1] = delta_x[1] + nom_x[1];
|
||||
out_3926092090457486519[2] = delta_x[2] + nom_x[2];
|
||||
out_3926092090457486519[3] = delta_x[3] + nom_x[3];
|
||||
out_3926092090457486519[4] = delta_x[4] + nom_x[4];
|
||||
out_3926092090457486519[5] = delta_x[5] + nom_x[5];
|
||||
out_3926092090457486519[6] = delta_x[6] + nom_x[6];
|
||||
out_3926092090457486519[7] = delta_x[7] + nom_x[7];
|
||||
out_3926092090457486519[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_1652310582198722037) {
|
||||
out_1652310582198722037[0] = delta_x[0] + nom_x[0];
|
||||
out_1652310582198722037[1] = delta_x[1] + nom_x[1];
|
||||
out_1652310582198722037[2] = delta_x[2] + nom_x[2];
|
||||
out_1652310582198722037[3] = delta_x[3] + nom_x[3];
|
||||
out_1652310582198722037[4] = delta_x[4] + nom_x[4];
|
||||
out_1652310582198722037[5] = delta_x[5] + nom_x[5];
|
||||
out_1652310582198722037[6] = delta_x[6] + nom_x[6];
|
||||
out_1652310582198722037[7] = delta_x[7] + nom_x[7];
|
||||
out_1652310582198722037[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147) {
|
||||
out_1042755756890972147[0] = -nom_x[0] + true_x[0];
|
||||
out_1042755756890972147[1] = -nom_x[1] + true_x[1];
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||||
out_1042755756890972147[2] = -nom_x[2] + true_x[2];
|
||||
out_1042755756890972147[3] = -nom_x[3] + true_x[3];
|
||||
out_1042755756890972147[4] = -nom_x[4] + true_x[4];
|
||||
out_1042755756890972147[5] = -nom_x[5] + true_x[5];
|
||||
out_1042755756890972147[6] = -nom_x[6] + true_x[6];
|
||||
out_1042755756890972147[7] = -nom_x[7] + true_x[7];
|
||||
out_1042755756890972147[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_6538795565187290674) {
|
||||
out_6538795565187290674[0] = -nom_x[0] + true_x[0];
|
||||
out_6538795565187290674[1] = -nom_x[1] + true_x[1];
|
||||
out_6538795565187290674[2] = -nom_x[2] + true_x[2];
|
||||
out_6538795565187290674[3] = -nom_x[3] + true_x[3];
|
||||
out_6538795565187290674[4] = -nom_x[4] + true_x[4];
|
||||
out_6538795565187290674[5] = -nom_x[5] + true_x[5];
|
||||
out_6538795565187290674[6] = -nom_x[6] + true_x[6];
|
||||
out_6538795565187290674[7] = -nom_x[7] + true_x[7];
|
||||
out_6538795565187290674[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_6362512350679995207) {
|
||||
out_6362512350679995207[0] = 1.0;
|
||||
out_6362512350679995207[1] = 0.0;
|
||||
out_6362512350679995207[2] = 0.0;
|
||||
out_6362512350679995207[3] = 0.0;
|
||||
out_6362512350679995207[4] = 0.0;
|
||||
out_6362512350679995207[5] = 0.0;
|
||||
out_6362512350679995207[6] = 0.0;
|
||||
out_6362512350679995207[7] = 0.0;
|
||||
out_6362512350679995207[8] = 0.0;
|
||||
out_6362512350679995207[9] = 0.0;
|
||||
out_6362512350679995207[10] = 1.0;
|
||||
out_6362512350679995207[11] = 0.0;
|
||||
out_6362512350679995207[12] = 0.0;
|
||||
out_6362512350679995207[13] = 0.0;
|
||||
out_6362512350679995207[14] = 0.0;
|
||||
out_6362512350679995207[15] = 0.0;
|
||||
out_6362512350679995207[16] = 0.0;
|
||||
out_6362512350679995207[17] = 0.0;
|
||||
out_6362512350679995207[18] = 0.0;
|
||||
out_6362512350679995207[19] = 0.0;
|
||||
out_6362512350679995207[20] = 1.0;
|
||||
out_6362512350679995207[21] = 0.0;
|
||||
out_6362512350679995207[22] = 0.0;
|
||||
out_6362512350679995207[23] = 0.0;
|
||||
out_6362512350679995207[24] = 0.0;
|
||||
out_6362512350679995207[25] = 0.0;
|
||||
out_6362512350679995207[26] = 0.0;
|
||||
out_6362512350679995207[27] = 0.0;
|
||||
out_6362512350679995207[28] = 0.0;
|
||||
out_6362512350679995207[29] = 0.0;
|
||||
out_6362512350679995207[30] = 1.0;
|
||||
out_6362512350679995207[31] = 0.0;
|
||||
out_6362512350679995207[32] = 0.0;
|
||||
out_6362512350679995207[33] = 0.0;
|
||||
out_6362512350679995207[34] = 0.0;
|
||||
out_6362512350679995207[35] = 0.0;
|
||||
out_6362512350679995207[36] = 0.0;
|
||||
out_6362512350679995207[37] = 0.0;
|
||||
out_6362512350679995207[38] = 0.0;
|
||||
out_6362512350679995207[39] = 0.0;
|
||||
out_6362512350679995207[40] = 1.0;
|
||||
out_6362512350679995207[41] = 0.0;
|
||||
out_6362512350679995207[42] = 0.0;
|
||||
out_6362512350679995207[43] = 0.0;
|
||||
out_6362512350679995207[44] = 0.0;
|
||||
out_6362512350679995207[45] = 0.0;
|
||||
out_6362512350679995207[46] = 0.0;
|
||||
out_6362512350679995207[47] = 0.0;
|
||||
out_6362512350679995207[48] = 0.0;
|
||||
out_6362512350679995207[49] = 0.0;
|
||||
out_6362512350679995207[50] = 1.0;
|
||||
out_6362512350679995207[51] = 0.0;
|
||||
out_6362512350679995207[52] = 0.0;
|
||||
out_6362512350679995207[53] = 0.0;
|
||||
out_6362512350679995207[54] = 0.0;
|
||||
out_6362512350679995207[55] = 0.0;
|
||||
out_6362512350679995207[56] = 0.0;
|
||||
out_6362512350679995207[57] = 0.0;
|
||||
out_6362512350679995207[58] = 0.0;
|
||||
out_6362512350679995207[59] = 0.0;
|
||||
out_6362512350679995207[60] = 1.0;
|
||||
out_6362512350679995207[61] = 0.0;
|
||||
out_6362512350679995207[62] = 0.0;
|
||||
out_6362512350679995207[63] = 0.0;
|
||||
out_6362512350679995207[64] = 0.0;
|
||||
out_6362512350679995207[65] = 0.0;
|
||||
out_6362512350679995207[66] = 0.0;
|
||||
out_6362512350679995207[67] = 0.0;
|
||||
out_6362512350679995207[68] = 0.0;
|
||||
out_6362512350679995207[69] = 0.0;
|
||||
out_6362512350679995207[70] = 1.0;
|
||||
out_6362512350679995207[71] = 0.0;
|
||||
out_6362512350679995207[72] = 0.0;
|
||||
out_6362512350679995207[73] = 0.0;
|
||||
out_6362512350679995207[74] = 0.0;
|
||||
out_6362512350679995207[75] = 0.0;
|
||||
out_6362512350679995207[76] = 0.0;
|
||||
out_6362512350679995207[77] = 0.0;
|
||||
out_6362512350679995207[78] = 0.0;
|
||||
out_6362512350679995207[79] = 0.0;
|
||||
out_6362512350679995207[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_3583151765486342138) {
|
||||
out_3583151765486342138[0] = 1.0;
|
||||
out_3583151765486342138[1] = 0.0;
|
||||
out_3583151765486342138[2] = 0.0;
|
||||
out_3583151765486342138[3] = 0.0;
|
||||
out_3583151765486342138[4] = 0.0;
|
||||
out_3583151765486342138[5] = 0.0;
|
||||
out_3583151765486342138[6] = 0.0;
|
||||
out_3583151765486342138[7] = 0.0;
|
||||
out_3583151765486342138[8] = 0.0;
|
||||
out_3583151765486342138[9] = 0.0;
|
||||
out_3583151765486342138[10] = 1.0;
|
||||
out_3583151765486342138[11] = 0.0;
|
||||
out_3583151765486342138[12] = 0.0;
|
||||
out_3583151765486342138[13] = 0.0;
|
||||
out_3583151765486342138[14] = 0.0;
|
||||
out_3583151765486342138[15] = 0.0;
|
||||
out_3583151765486342138[16] = 0.0;
|
||||
out_3583151765486342138[17] = 0.0;
|
||||
out_3583151765486342138[18] = 0.0;
|
||||
out_3583151765486342138[19] = 0.0;
|
||||
out_3583151765486342138[20] = 1.0;
|
||||
out_3583151765486342138[21] = 0.0;
|
||||
out_3583151765486342138[22] = 0.0;
|
||||
out_3583151765486342138[23] = 0.0;
|
||||
out_3583151765486342138[24] = 0.0;
|
||||
out_3583151765486342138[25] = 0.0;
|
||||
out_3583151765486342138[26] = 0.0;
|
||||
out_3583151765486342138[27] = 0.0;
|
||||
out_3583151765486342138[28] = 0.0;
|
||||
out_3583151765486342138[29] = 0.0;
|
||||
out_3583151765486342138[30] = 1.0;
|
||||
out_3583151765486342138[31] = 0.0;
|
||||
out_3583151765486342138[32] = 0.0;
|
||||
out_3583151765486342138[33] = 0.0;
|
||||
out_3583151765486342138[34] = 0.0;
|
||||
out_3583151765486342138[35] = 0.0;
|
||||
out_3583151765486342138[36] = 0.0;
|
||||
out_3583151765486342138[37] = 0.0;
|
||||
out_3583151765486342138[38] = 0.0;
|
||||
out_3583151765486342138[39] = 0.0;
|
||||
out_3583151765486342138[40] = 1.0;
|
||||
out_3583151765486342138[41] = 0.0;
|
||||
out_3583151765486342138[42] = 0.0;
|
||||
out_3583151765486342138[43] = 0.0;
|
||||
out_3583151765486342138[44] = 0.0;
|
||||
out_3583151765486342138[45] = 0.0;
|
||||
out_3583151765486342138[46] = 0.0;
|
||||
out_3583151765486342138[47] = 0.0;
|
||||
out_3583151765486342138[48] = 0.0;
|
||||
out_3583151765486342138[49] = 0.0;
|
||||
out_3583151765486342138[50] = 1.0;
|
||||
out_3583151765486342138[51] = 0.0;
|
||||
out_3583151765486342138[52] = 0.0;
|
||||
out_3583151765486342138[53] = 0.0;
|
||||
out_3583151765486342138[54] = 0.0;
|
||||
out_3583151765486342138[55] = 0.0;
|
||||
out_3583151765486342138[56] = 0.0;
|
||||
out_3583151765486342138[57] = 0.0;
|
||||
out_3583151765486342138[58] = 0.0;
|
||||
out_3583151765486342138[59] = 0.0;
|
||||
out_3583151765486342138[60] = 1.0;
|
||||
out_3583151765486342138[61] = 0.0;
|
||||
out_3583151765486342138[62] = 0.0;
|
||||
out_3583151765486342138[63] = 0.0;
|
||||
out_3583151765486342138[64] = 0.0;
|
||||
out_3583151765486342138[65] = 0.0;
|
||||
out_3583151765486342138[66] = 0.0;
|
||||
out_3583151765486342138[67] = 0.0;
|
||||
out_3583151765486342138[68] = 0.0;
|
||||
out_3583151765486342138[69] = 0.0;
|
||||
out_3583151765486342138[70] = 1.0;
|
||||
out_3583151765486342138[71] = 0.0;
|
||||
out_3583151765486342138[72] = 0.0;
|
||||
out_3583151765486342138[73] = 0.0;
|
||||
out_3583151765486342138[74] = 0.0;
|
||||
out_3583151765486342138[75] = 0.0;
|
||||
out_3583151765486342138[76] = 0.0;
|
||||
out_3583151765486342138[77] = 0.0;
|
||||
out_3583151765486342138[78] = 0.0;
|
||||
out_3583151765486342138[79] = 0.0;
|
||||
out_3583151765486342138[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_424859049759384026) {
|
||||
out_424859049759384026[0] = state[0];
|
||||
out_424859049759384026[1] = state[1];
|
||||
out_424859049759384026[2] = state[2];
|
||||
out_424859049759384026[3] = state[3];
|
||||
out_424859049759384026[4] = state[4];
|
||||
out_424859049759384026[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_424859049759384026[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_424859049759384026[7] = state[7];
|
||||
out_424859049759384026[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_4462415864665295440) {
|
||||
out_4462415864665295440[0] = state[0];
|
||||
out_4462415864665295440[1] = state[1];
|
||||
out_4462415864665295440[2] = state[2];
|
||||
out_4462415864665295440[3] = state[3];
|
||||
out_4462415864665295440[4] = state[4];
|
||||
out_4462415864665295440[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_4462415864665295440[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_4462415864665295440[7] = state[7];
|
||||
out_4462415864665295440[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_5354778108929478985) {
|
||||
out_5354778108929478985[0] = 1;
|
||||
out_5354778108929478985[1] = 0;
|
||||
out_5354778108929478985[2] = 0;
|
||||
out_5354778108929478985[3] = 0;
|
||||
out_5354778108929478985[4] = 0;
|
||||
out_5354778108929478985[5] = 0;
|
||||
out_5354778108929478985[6] = 0;
|
||||
out_5354778108929478985[7] = 0;
|
||||
out_5354778108929478985[8] = 0;
|
||||
out_5354778108929478985[9] = 0;
|
||||
out_5354778108929478985[10] = 1;
|
||||
out_5354778108929478985[11] = 0;
|
||||
out_5354778108929478985[12] = 0;
|
||||
out_5354778108929478985[13] = 0;
|
||||
out_5354778108929478985[14] = 0;
|
||||
out_5354778108929478985[15] = 0;
|
||||
out_5354778108929478985[16] = 0;
|
||||
out_5354778108929478985[17] = 0;
|
||||
out_5354778108929478985[18] = 0;
|
||||
out_5354778108929478985[19] = 0;
|
||||
out_5354778108929478985[20] = 1;
|
||||
out_5354778108929478985[21] = 0;
|
||||
out_5354778108929478985[22] = 0;
|
||||
out_5354778108929478985[23] = 0;
|
||||
out_5354778108929478985[24] = 0;
|
||||
out_5354778108929478985[25] = 0;
|
||||
out_5354778108929478985[26] = 0;
|
||||
out_5354778108929478985[27] = 0;
|
||||
out_5354778108929478985[28] = 0;
|
||||
out_5354778108929478985[29] = 0;
|
||||
out_5354778108929478985[30] = 1;
|
||||
out_5354778108929478985[31] = 0;
|
||||
out_5354778108929478985[32] = 0;
|
||||
out_5354778108929478985[33] = 0;
|
||||
out_5354778108929478985[34] = 0;
|
||||
out_5354778108929478985[35] = 0;
|
||||
out_5354778108929478985[36] = 0;
|
||||
out_5354778108929478985[37] = 0;
|
||||
out_5354778108929478985[38] = 0;
|
||||
out_5354778108929478985[39] = 0;
|
||||
out_5354778108929478985[40] = 1;
|
||||
out_5354778108929478985[41] = 0;
|
||||
out_5354778108929478985[42] = 0;
|
||||
out_5354778108929478985[43] = 0;
|
||||
out_5354778108929478985[44] = 0;
|
||||
out_5354778108929478985[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_5354778108929478985[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5354778108929478985[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5354778108929478985[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5354778108929478985[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_5354778108929478985[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5354778108929478985[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5354778108929478985[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5354778108929478985[53] = -9.8100000000000005*dt;
|
||||
out_5354778108929478985[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_5354778108929478985[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5354778108929478985[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5354778108929478985[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5354778108929478985[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_5354778108929478985[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5354778108929478985[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_5354778108929478985[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5354778108929478985[62] = 0;
|
||||
out_5354778108929478985[63] = 0;
|
||||
out_5354778108929478985[64] = 0;
|
||||
out_5354778108929478985[65] = 0;
|
||||
out_5354778108929478985[66] = 0;
|
||||
out_5354778108929478985[67] = 0;
|
||||
out_5354778108929478985[68] = 0;
|
||||
out_5354778108929478985[69] = 0;
|
||||
out_5354778108929478985[70] = 1;
|
||||
out_5354778108929478985[71] = 0;
|
||||
out_5354778108929478985[72] = 0;
|
||||
out_5354778108929478985[73] = 0;
|
||||
out_5354778108929478985[74] = 0;
|
||||
out_5354778108929478985[75] = 0;
|
||||
out_5354778108929478985[76] = 0;
|
||||
out_5354778108929478985[77] = 0;
|
||||
out_5354778108929478985[78] = 0;
|
||||
out_5354778108929478985[79] = 0;
|
||||
out_5354778108929478985[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_4975022356880268560) {
|
||||
out_4975022356880268560[0] = 1;
|
||||
out_4975022356880268560[1] = 0;
|
||||
out_4975022356880268560[2] = 0;
|
||||
out_4975022356880268560[3] = 0;
|
||||
out_4975022356880268560[4] = 0;
|
||||
out_4975022356880268560[5] = 0;
|
||||
out_4975022356880268560[6] = 0;
|
||||
out_4975022356880268560[7] = 0;
|
||||
out_4975022356880268560[8] = 0;
|
||||
out_4975022356880268560[9] = 0;
|
||||
out_4975022356880268560[10] = 1;
|
||||
out_4975022356880268560[11] = 0;
|
||||
out_4975022356880268560[12] = 0;
|
||||
out_4975022356880268560[13] = 0;
|
||||
out_4975022356880268560[14] = 0;
|
||||
out_4975022356880268560[15] = 0;
|
||||
out_4975022356880268560[16] = 0;
|
||||
out_4975022356880268560[17] = 0;
|
||||
out_4975022356880268560[18] = 0;
|
||||
out_4975022356880268560[19] = 0;
|
||||
out_4975022356880268560[20] = 1;
|
||||
out_4975022356880268560[21] = 0;
|
||||
out_4975022356880268560[22] = 0;
|
||||
out_4975022356880268560[23] = 0;
|
||||
out_4975022356880268560[24] = 0;
|
||||
out_4975022356880268560[25] = 0;
|
||||
out_4975022356880268560[26] = 0;
|
||||
out_4975022356880268560[27] = 0;
|
||||
out_4975022356880268560[28] = 0;
|
||||
out_4975022356880268560[29] = 0;
|
||||
out_4975022356880268560[30] = 1;
|
||||
out_4975022356880268560[31] = 0;
|
||||
out_4975022356880268560[32] = 0;
|
||||
out_4975022356880268560[33] = 0;
|
||||
out_4975022356880268560[34] = 0;
|
||||
out_4975022356880268560[35] = 0;
|
||||
out_4975022356880268560[36] = 0;
|
||||
out_4975022356880268560[37] = 0;
|
||||
out_4975022356880268560[38] = 0;
|
||||
out_4975022356880268560[39] = 0;
|
||||
out_4975022356880268560[40] = 1;
|
||||
out_4975022356880268560[41] = 0;
|
||||
out_4975022356880268560[42] = 0;
|
||||
out_4975022356880268560[43] = 0;
|
||||
out_4975022356880268560[44] = 0;
|
||||
out_4975022356880268560[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_4975022356880268560[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_4975022356880268560[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4975022356880268560[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4975022356880268560[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_4975022356880268560[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_4975022356880268560[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_4975022356880268560[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_4975022356880268560[53] = -9.8100000000000005*dt;
|
||||
out_4975022356880268560[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_4975022356880268560[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_4975022356880268560[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4975022356880268560[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4975022356880268560[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_4975022356880268560[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_4975022356880268560[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_4975022356880268560[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_4975022356880268560[62] = 0;
|
||||
out_4975022356880268560[63] = 0;
|
||||
out_4975022356880268560[64] = 0;
|
||||
out_4975022356880268560[65] = 0;
|
||||
out_4975022356880268560[66] = 0;
|
||||
out_4975022356880268560[67] = 0;
|
||||
out_4975022356880268560[68] = 0;
|
||||
out_4975022356880268560[69] = 0;
|
||||
out_4975022356880268560[70] = 1;
|
||||
out_4975022356880268560[71] = 0;
|
||||
out_4975022356880268560[72] = 0;
|
||||
out_4975022356880268560[73] = 0;
|
||||
out_4975022356880268560[74] = 0;
|
||||
out_4975022356880268560[75] = 0;
|
||||
out_4975022356880268560[76] = 0;
|
||||
out_4975022356880268560[77] = 0;
|
||||
out_4975022356880268560[78] = 0;
|
||||
out_4975022356880268560[79] = 0;
|
||||
out_4975022356880268560[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_2030817843873969747) {
|
||||
out_2030817843873969747[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_5568449590839033699) {
|
||||
out_5568449590839033699[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_8509671287957375619) {
|
||||
out_8509671287957375619[0] = 0;
|
||||
out_8509671287957375619[1] = 0;
|
||||
out_8509671287957375619[2] = 0;
|
||||
out_8509671287957375619[3] = 0;
|
||||
out_8509671287957375619[4] = 0;
|
||||
out_8509671287957375619[5] = 0;
|
||||
out_8509671287957375619[6] = 1;
|
||||
out_8509671287957375619[7] = 0;
|
||||
out_8509671287957375619[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_1320540059698322702) {
|
||||
out_1320540059698322702[0] = 0;
|
||||
out_1320540059698322702[1] = 0;
|
||||
out_1320540059698322702[2] = 0;
|
||||
out_1320540059698322702[3] = 0;
|
||||
out_1320540059698322702[4] = 0;
|
||||
out_1320540059698322702[5] = 0;
|
||||
out_1320540059698322702[6] = 1;
|
||||
out_1320540059698322702[7] = 0;
|
||||
out_1320540059698322702[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_6573865906285076625) {
|
||||
out_6573865906285076625[0] = state[4];
|
||||
out_6573865906285076625[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_4360177424066538420) {
|
||||
out_4360177424066538420[0] = state[4];
|
||||
out_4360177424066538420[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_1855465829849189862) {
|
||||
out_1855465829849189862[0] = 0;
|
||||
out_1855465829849189862[1] = 0;
|
||||
out_1855465829849189862[2] = 0;
|
||||
out_1855465829849189862[3] = 0;
|
||||
out_1855465829849189862[4] = 1;
|
||||
out_1855465829849189862[5] = 0;
|
||||
out_1855465829849189862[6] = 0;
|
||||
out_1855465829849189862[7] = 0;
|
||||
out_1855465829849189862[8] = 0;
|
||||
out_1855465829849189862[9] = 0;
|
||||
out_1855465829849189862[10] = 0;
|
||||
out_1855465829849189862[11] = 0;
|
||||
out_1855465829849189862[12] = 0;
|
||||
out_1855465829849189862[13] = 0;
|
||||
out_1855465829849189862[14] = 1;
|
||||
out_1855465829849189862[15] = 0;
|
||||
out_1855465829849189862[16] = 0;
|
||||
out_1855465829849189862[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_3497754483305472675) {
|
||||
out_3497754483305472675[0] = 0;
|
||||
out_3497754483305472675[1] = 0;
|
||||
out_3497754483305472675[2] = 0;
|
||||
out_3497754483305472675[3] = 0;
|
||||
out_3497754483305472675[4] = 1;
|
||||
out_3497754483305472675[5] = 0;
|
||||
out_3497754483305472675[6] = 0;
|
||||
out_3497754483305472675[7] = 0;
|
||||
out_3497754483305472675[8] = 0;
|
||||
out_3497754483305472675[9] = 0;
|
||||
out_3497754483305472675[10] = 0;
|
||||
out_3497754483305472675[11] = 0;
|
||||
out_3497754483305472675[12] = 0;
|
||||
out_3497754483305472675[13] = 0;
|
||||
out_3497754483305472675[14] = 1;
|
||||
out_3497754483305472675[15] = 0;
|
||||
out_3497754483305472675[16] = 0;
|
||||
out_3497754483305472675[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_8801653070224320683) {
|
||||
out_8801653070224320683[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_5115029226049845476) {
|
||||
out_5115029226049845476[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_8639010235100615689) {
|
||||
out_8639010235100615689[0] = 0;
|
||||
out_8639010235100615689[1] = 0;
|
||||
out_8639010235100615689[2] = 0;
|
||||
out_8639010235100615689[3] = 0;
|
||||
out_8639010235100615689[4] = 1;
|
||||
out_8639010235100615689[5] = 0;
|
||||
out_8639010235100615689[6] = 0;
|
||||
out_8639010235100615689[7] = 0;
|
||||
out_8639010235100615689[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_3838873018205571329) {
|
||||
out_3838873018205571329[0] = 0;
|
||||
out_3838873018205571329[1] = 0;
|
||||
out_3838873018205571329[2] = 0;
|
||||
out_3838873018205571329[3] = 0;
|
||||
out_3838873018205571329[4] = 1;
|
||||
out_3838873018205571329[5] = 0;
|
||||
out_3838873018205571329[6] = 0;
|
||||
out_3838873018205571329[7] = 0;
|
||||
out_3838873018205571329[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_7111205235488639723) {
|
||||
out_7111205235488639723[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_4349745675652865375) {
|
||||
out_4349745675652865375[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_6195569466878119773) {
|
||||
out_6195569466878119773[0] = 0;
|
||||
out_6195569466878119773[1] = 0;
|
||||
out_6195569466878119773[2] = 0;
|
||||
out_6195569466878119773[3] = 0;
|
||||
out_6195569466878119773[4] = 0;
|
||||
out_6195569466878119773[5] = 0;
|
||||
out_6195569466878119773[6] = 0;
|
||||
out_6195569466878119773[7] = 1;
|
||||
out_6195569466878119773[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_2420963259175733522) {
|
||||
out_2420963259175733522[0] = 0;
|
||||
out_2420963259175733522[1] = 0;
|
||||
out_2420963259175733522[2] = 0;
|
||||
out_2420963259175733522[3] = 0;
|
||||
out_2420963259175733522[4] = 0;
|
||||
out_2420963259175733522[5] = 0;
|
||||
out_2420963259175733522[6] = 0;
|
||||
out_2420963259175733522[7] = 1;
|
||||
out_2420963259175733522[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3114072219241677790) {
|
||||
out_3114072219241677790[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_5875531779077452138) {
|
||||
out_5875531779077452138[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_7632970526808511016) {
|
||||
out_7632970526808511016[0] = 0;
|
||||
out_7632970526808511016[1] = 0;
|
||||
out_7632970526808511016[2] = 0;
|
||||
out_7632970526808511016[3] = 1;
|
||||
out_7632970526808511016[4] = 0;
|
||||
out_7632970526808511016[5] = 0;
|
||||
out_7632970526808511016[6] = 0;
|
||||
out_7632970526808511016[7] = 0;
|
||||
out_7632970526808511016[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_5381919582229710407) {
|
||||
out_5381919582229710407[0] = 0;
|
||||
out_5381919582229710407[1] = 0;
|
||||
out_5381919582229710407[2] = 0;
|
||||
out_5381919582229710407[3] = 1;
|
||||
out_5381919582229710407[4] = 0;
|
||||
out_5381919582229710407[5] = 0;
|
||||
out_5381919582229710407[6] = 0;
|
||||
out_5381919582229710407[7] = 0;
|
||||
out_5381919582229710407[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_3799979802563475038) {
|
||||
out_3799979802563475038[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_5718345110726322993) {
|
||||
out_5718345110726322993[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_8128778890786223505) {
|
||||
out_8128778890786223505[0] = 0;
|
||||
out_8128778890786223505[1] = 1;
|
||||
out_8128778890786223505[2] = 0;
|
||||
out_8128778890786223505[3] = 0;
|
||||
out_8128778890786223505[4] = 0;
|
||||
out_8128778890786223505[5] = 0;
|
||||
out_8128778890786223505[6] = 0;
|
||||
out_8128778890786223505[7] = 0;
|
||||
out_8128778890786223505[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_2696924926114893312) {
|
||||
out_2696924926114893312[0] = 0;
|
||||
out_2696924926114893312[1] = 1;
|
||||
out_2696924926114893312[2] = 0;
|
||||
out_2696924926114893312[3] = 0;
|
||||
out_2696924926114893312[4] = 0;
|
||||
out_2696924926114893312[5] = 0;
|
||||
out_2696924926114893312[6] = 0;
|
||||
out_2696924926114893312[7] = 0;
|
||||
out_2696924926114893312[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2027345570885213463) {
|
||||
out_2027345570885213463[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_3983049612827258070) {
|
||||
out_3983049612827258070[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_5235566165853797537) {
|
||||
out_5235566165853797537[0] = 1;
|
||||
out_5235566165853797537[1] = 0;
|
||||
out_5235566165853797537[2] = 0;
|
||||
out_5235566165853797537[3] = 0;
|
||||
out_5235566165853797537[4] = 0;
|
||||
out_5235566165853797537[5] = 0;
|
||||
out_5235566165853797537[6] = 0;
|
||||
out_5235566165853797537[7] = 0;
|
||||
out_5235566165853797537[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_733294654549567061) {
|
||||
out_733294654549567061[0] = 1;
|
||||
out_733294654549567061[1] = 0;
|
||||
out_733294654549567061[2] = 0;
|
||||
out_733294654549567061[3] = 0;
|
||||
out_733294654549567061[4] = 0;
|
||||
out_733294654549567061[5] = 0;
|
||||
out_733294654549567061[6] = 0;
|
||||
out_733294654549567061[7] = 0;
|
||||
out_733294654549567061[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_5732447412946702694) {
|
||||
out_5732447412946702694[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_4997021832116468732) {
|
||||
out_4997021832116468732[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_8479025326080415191) {
|
||||
out_8479025326080415191[0] = 0;
|
||||
out_8479025326080415191[1] = 0;
|
||||
out_8479025326080415191[2] = 0;
|
||||
out_8479025326080415191[3] = 0;
|
||||
out_8479025326080415191[4] = 0;
|
||||
out_8479025326080415191[5] = 0;
|
||||
out_8479025326080415191[6] = 0;
|
||||
out_8479025326080415191[7] = 0;
|
||||
out_8479025326080415191[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_3047171361409084998) {
|
||||
out_3047171361409084998[0] = 0;
|
||||
out_3047171361409084998[1] = 0;
|
||||
out_3047171361409084998[2] = 0;
|
||||
out_3047171361409084998[3] = 0;
|
||||
out_3047171361409084998[4] = 0;
|
||||
out_3047171361409084998[5] = 0;
|
||||
out_3047171361409084998[6] = 0;
|
||||
out_3047171361409084998[7] = 0;
|
||||
out_3047171361409084998[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_3926092090457486519) {
|
||||
err_fun(nom_x, delta_x, out_3926092090457486519);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1652310582198722037) {
|
||||
err_fun(nom_x, delta_x, out_1652310582198722037);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147) {
|
||||
inv_err_fun(nom_x, true_x, out_1042755756890972147);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6538795565187290674) {
|
||||
inv_err_fun(nom_x, true_x, out_6538795565187290674);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_6362512350679995207) {
|
||||
H_mod_fun(state, out_6362512350679995207);
|
||||
void car_H_mod_fun(double *state, double *out_3583151765486342138) {
|
||||
H_mod_fun(state, out_3583151765486342138);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_424859049759384026) {
|
||||
f_fun(state, dt, out_424859049759384026);
|
||||
void car_f_fun(double *state, double dt, double *out_4462415864665295440) {
|
||||
f_fun(state, dt, out_4462415864665295440);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_5354778108929478985) {
|
||||
F_fun(state, dt, out_5354778108929478985);
|
||||
void car_F_fun(double *state, double dt, double *out_4975022356880268560) {
|
||||
F_fun(state, dt, out_4975022356880268560);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_2030817843873969747) {
|
||||
h_25(state, unused, out_2030817843873969747);
|
||||
void car_h_25(double *state, double *unused, double *out_5568449590839033699) {
|
||||
h_25(state, unused, out_5568449590839033699);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_8509671287957375619) {
|
||||
H_25(state, unused, out_8509671287957375619);
|
||||
void car_H_25(double *state, double *unused, double *out_1320540059698322702) {
|
||||
H_25(state, unused, out_1320540059698322702);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_6573865906285076625) {
|
||||
h_24(state, unused, out_6573865906285076625);
|
||||
void car_h_24(double *state, double *unused, double *out_4360177424066538420) {
|
||||
h_24(state, unused, out_4360177424066538420);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_1855465829849189862) {
|
||||
H_24(state, unused, out_1855465829849189862);
|
||||
void car_H_24(double *state, double *unused, double *out_3497754483305472675) {
|
||||
H_24(state, unused, out_3497754483305472675);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_8801653070224320683) {
|
||||
h_30(state, unused, out_8801653070224320683);
|
||||
void car_h_30(double *state, double *unused, double *out_5115029226049845476) {
|
||||
h_30(state, unused, out_5115029226049845476);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_8639010235100615689) {
|
||||
H_30(state, unused, out_8639010235100615689);
|
||||
void car_H_30(double *state, double *unused, double *out_3838873018205571329) {
|
||||
H_30(state, unused, out_3838873018205571329);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_7111205235488639723) {
|
||||
h_26(state, unused, out_7111205235488639723);
|
||||
void car_h_26(double *state, double *unused, double *out_4349745675652865375) {
|
||||
h_26(state, unused, out_4349745675652865375);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_6195569466878119773) {
|
||||
H_26(state, unused, out_6195569466878119773);
|
||||
void car_H_26(double *state, double *unused, double *out_2420963259175733522) {
|
||||
H_26(state, unused, out_2420963259175733522);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3114072219241677790) {
|
||||
h_27(state, unused, out_3114072219241677790);
|
||||
void car_h_27(double *state, double *unused, double *out_5875531779077452138) {
|
||||
h_27(state, unused, out_5875531779077452138);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_7632970526808511016) {
|
||||
H_27(state, unused, out_7632970526808511016);
|
||||
void car_H_27(double *state, double *unused, double *out_5381919582229710407) {
|
||||
H_27(state, unused, out_5381919582229710407);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_3799979802563475038) {
|
||||
h_29(state, unused, out_3799979802563475038);
|
||||
void car_h_29(double *state, double *unused, double *out_5718345110726322993) {
|
||||
h_29(state, unused, out_5718345110726322993);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_8128778890786223505) {
|
||||
H_29(state, unused, out_8128778890786223505);
|
||||
void car_H_29(double *state, double *unused, double *out_2696924926114893312) {
|
||||
H_29(state, unused, out_2696924926114893312);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2027345570885213463) {
|
||||
h_28(state, unused, out_2027345570885213463);
|
||||
void car_h_28(double *state, double *unused, double *out_3983049612827258070) {
|
||||
h_28(state, unused, out_3983049612827258070);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_5235566165853797537) {
|
||||
H_28(state, unused, out_5235566165853797537);
|
||||
void car_H_28(double *state, double *unused, double *out_733294654549567061) {
|
||||
H_28(state, unused, out_733294654549567061);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_5732447412946702694) {
|
||||
h_31(state, unused, out_5732447412946702694);
|
||||
void car_h_31(double *state, double *unused, double *out_4997021832116468732) {
|
||||
h_31(state, unused, out_4997021832116468732);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_8479025326080415191) {
|
||||
H_31(state, unused, out_8479025326080415191);
|
||||
void car_H_31(double *state, double *unused, double *out_3047171361409084998) {
|
||||
H_31(state, unused, out_3047171361409084998);
|
||||
}
|
||||
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_3926092090457486519);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147);
|
||||
void car_H_mod_fun(double *state, double *out_6362512350679995207);
|
||||
void car_f_fun(double *state, double dt, double *out_424859049759384026);
|
||||
void car_F_fun(double *state, double dt, double *out_5354778108929478985);
|
||||
void car_h_25(double *state, double *unused, double *out_2030817843873969747);
|
||||
void car_H_25(double *state, double *unused, double *out_8509671287957375619);
|
||||
void car_h_24(double *state, double *unused, double *out_6573865906285076625);
|
||||
void car_H_24(double *state, double *unused, double *out_1855465829849189862);
|
||||
void car_h_30(double *state, double *unused, double *out_8801653070224320683);
|
||||
void car_H_30(double *state, double *unused, double *out_8639010235100615689);
|
||||
void car_h_26(double *state, double *unused, double *out_7111205235488639723);
|
||||
void car_H_26(double *state, double *unused, double *out_6195569466878119773);
|
||||
void car_h_27(double *state, double *unused, double *out_3114072219241677790);
|
||||
void car_H_27(double *state, double *unused, double *out_7632970526808511016);
|
||||
void car_h_29(double *state, double *unused, double *out_3799979802563475038);
|
||||
void car_H_29(double *state, double *unused, double *out_8128778890786223505);
|
||||
void car_h_28(double *state, double *unused, double *out_2027345570885213463);
|
||||
void car_H_28(double *state, double *unused, double *out_5235566165853797537);
|
||||
void car_h_31(double *state, double *unused, double *out_5732447412946702694);
|
||||
void car_H_31(double *state, double *unused, double *out_8479025326080415191);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_1652310582198722037);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6538795565187290674);
|
||||
void car_H_mod_fun(double *state, double *out_3583151765486342138);
|
||||
void car_f_fun(double *state, double dt, double *out_4462415864665295440);
|
||||
void car_F_fun(double *state, double dt, double *out_4975022356880268560);
|
||||
void car_h_25(double *state, double *unused, double *out_5568449590839033699);
|
||||
void car_H_25(double *state, double *unused, double *out_1320540059698322702);
|
||||
void car_h_24(double *state, double *unused, double *out_4360177424066538420);
|
||||
void car_H_24(double *state, double *unused, double *out_3497754483305472675);
|
||||
void car_h_30(double *state, double *unused, double *out_5115029226049845476);
|
||||
void car_H_30(double *state, double *unused, double *out_3838873018205571329);
|
||||
void car_h_26(double *state, double *unused, double *out_4349745675652865375);
|
||||
void car_H_26(double *state, double *unused, double *out_2420963259175733522);
|
||||
void car_h_27(double *state, double *unused, double *out_5875531779077452138);
|
||||
void car_H_27(double *state, double *unused, double *out_5381919582229710407);
|
||||
void car_h_29(double *state, double *unused, double *out_5718345110726322993);
|
||||
void car_H_29(double *state, double *unused, double *out_2696924926114893312);
|
||||
void car_h_28(double *state, double *unused, double *out_3983049612827258070);
|
||||
void car_H_28(double *state, double *unused, double *out_733294654549567061);
|
||||
void car_h_31(double *state, double *unused, double *out_4997021832116468732);
|
||||
void car_H_31(double *state, double *unused, double *out_3047171361409084998);
|
||||
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_6369833963809703045);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4035234717988175099);
|
||||
void pose_H_mod_fun(double *state, double *out_1402865724321173492);
|
||||
void pose_f_fun(double *state, double dt, double *out_6035351479955239512);
|
||||
void pose_F_fun(double *state, double dt, double *out_4841453483990746406);
|
||||
void pose_h_4(double *state, double *unused, double *out_3927517291904970746);
|
||||
void pose_H_4(double *state, double *unused, double *out_648704722266460885);
|
||||
void pose_h_10(double *state, double *unused, double *out_6439648934382479816);
|
||||
void pose_H_10(double *state, double *unused, double *out_4788307442778779812);
|
||||
void pose_h_13(double *state, double *unused, double *out_7496824369401694209);
|
||||
void pose_H_13(double *state, double *unused, double *out_4482460185568984909);
|
||||
void pose_h_14(double *state, double *unused, double *out_6785183211401772861);
|
||||
void pose_H_14(double *state, double *unused, double *out_3731493154561833181);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_6509701153316274707);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5024581948518838202);
|
||||
void pose_H_mod_fun(double *state, double *out_5452344764039935443);
|
||||
void pose_f_fun(double *state, double dt, double *out_4723013873422239853);
|
||||
void pose_F_fun(double *state, double dt, double *out_1330240054865645952);
|
||||
void pose_h_4(double *state, double *unused, double *out_7146223790384861366);
|
||||
void pose_H_4(double *state, double *unused, double *out_4698183761985222836);
|
||||
void pose_h_10(double *state, double *unused, double *out_5881100932201706296);
|
||||
void pose_H_10(double *state, double *unused, double *out_2551013219564387251);
|
||||
void pose_h_13(double *state, double *unused, double *out_570188011276341522);
|
||||
void pose_H_13(double *state, double *unused, double *out_1485909936652890035);
|
||||
void pose_h_14(double *state, double *unused, double *out_2861709294921996625);
|
||||
void pose_H_14(double *state, double *unused, double *out_734942905645738307);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Reference in New Issue
Block a user