mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-28 01:52:06 +08:00
firestar5683
662 lines
26 KiB
C++
662 lines
26 KiB
C++
#include "car.h"
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namespace {
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#define DIM 9
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#define EDIM 9
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#define MEDIM 9
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typedef void (*Hfun)(double *, double *, double *);
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double mass;
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void set_mass(double x){ mass = x;}
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double rotational_inertia;
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void set_rotational_inertia(double x){ rotational_inertia = x;}
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double center_to_front;
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void set_center_to_front(double x){ center_to_front = x;}
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double center_to_rear;
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void set_center_to_rear(double x){ center_to_rear = x;}
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double stiffness_front;
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void set_stiffness_front(double x){ stiffness_front = x;}
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double stiffness_rear;
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void set_stiffness_rear(double x){ stiffness_rear = x;}
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const static double MAHA_THRESH_25 = 3.8414588206941227;
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const static double MAHA_THRESH_24 = 5.991464547107981;
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const static double MAHA_THRESH_30 = 3.8414588206941227;
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const static double MAHA_THRESH_26 = 3.8414588206941227;
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const static double MAHA_THRESH_27 = 3.8414588206941227;
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const static double MAHA_THRESH_29 = 3.8414588206941227;
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const static double MAHA_THRESH_28 = 3.8414588206941227;
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const static double MAHA_THRESH_31 = 3.8414588206941227;
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/******************************************************************************
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* Code generated with SymPy 1.14.0 *
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* *
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* See http://www.sympy.org/ for more information. *
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* *
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* This file is part of 'ekf' *
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******************************************************************************/
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void err_fun(double *nom_x, double *delta_x, double *out_5320341998124928693) {
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out_5320341998124928693[0] = delta_x[0] + nom_x[0];
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out_5320341998124928693[1] = delta_x[1] + nom_x[1];
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out_5320341998124928693[2] = delta_x[2] + nom_x[2];
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out_5320341998124928693[3] = delta_x[3] + nom_x[3];
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out_5320341998124928693[4] = delta_x[4] + nom_x[4];
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out_5320341998124928693[5] = delta_x[5] + nom_x[5];
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out_5320341998124928693[6] = delta_x[6] + nom_x[6];
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out_5320341998124928693[7] = delta_x[7] + nom_x[7];
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out_5320341998124928693[8] = delta_x[8] + nom_x[8];
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}
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void inv_err_fun(double *nom_x, double *true_x, double *out_864421799547270951) {
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out_864421799547270951[0] = -nom_x[0] + true_x[0];
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out_864421799547270951[1] = -nom_x[1] + true_x[1];
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out_864421799547270951[2] = -nom_x[2] + true_x[2];
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out_864421799547270951[3] = -nom_x[3] + true_x[3];
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out_864421799547270951[4] = -nom_x[4] + true_x[4];
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out_864421799547270951[5] = -nom_x[5] + true_x[5];
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out_864421799547270951[6] = -nom_x[6] + true_x[6];
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out_864421799547270951[7] = -nom_x[7] + true_x[7];
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out_864421799547270951[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_3451790410312107701) {
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out_3451790410312107701[0] = 1.0;
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out_3451790410312107701[1] = 0.0;
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out_3451790410312107701[2] = 0.0;
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out_3451790410312107701[3] = 0.0;
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out_3451790410312107701[4] = 0.0;
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out_3451790410312107701[5] = 0.0;
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out_3451790410312107701[6] = 0.0;
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out_3451790410312107701[7] = 0.0;
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out_3451790410312107701[8] = 0.0;
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out_3451790410312107701[9] = 0.0;
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out_3451790410312107701[10] = 1.0;
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out_3451790410312107701[11] = 0.0;
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out_3451790410312107701[12] = 0.0;
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out_3451790410312107701[13] = 0.0;
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out_3451790410312107701[14] = 0.0;
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out_3451790410312107701[15] = 0.0;
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out_3451790410312107701[16] = 0.0;
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out_3451790410312107701[17] = 0.0;
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out_3451790410312107701[18] = 0.0;
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out_3451790410312107701[19] = 0.0;
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out_3451790410312107701[20] = 1.0;
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out_3451790410312107701[21] = 0.0;
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out_3451790410312107701[22] = 0.0;
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out_3451790410312107701[23] = 0.0;
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out_3451790410312107701[24] = 0.0;
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out_3451790410312107701[25] = 0.0;
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out_3451790410312107701[26] = 0.0;
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out_3451790410312107701[27] = 0.0;
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out_3451790410312107701[28] = 0.0;
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out_3451790410312107701[29] = 0.0;
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out_3451790410312107701[30] = 1.0;
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out_3451790410312107701[31] = 0.0;
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out_3451790410312107701[32] = 0.0;
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out_3451790410312107701[33] = 0.0;
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out_3451790410312107701[34] = 0.0;
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out_3451790410312107701[35] = 0.0;
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out_3451790410312107701[36] = 0.0;
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out_3451790410312107701[37] = 0.0;
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out_3451790410312107701[38] = 0.0;
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out_3451790410312107701[39] = 0.0;
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out_3451790410312107701[40] = 1.0;
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out_3451790410312107701[41] = 0.0;
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out_3451790410312107701[42] = 0.0;
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out_3451790410312107701[43] = 0.0;
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out_3451790410312107701[44] = 0.0;
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out_3451790410312107701[45] = 0.0;
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out_3451790410312107701[46] = 0.0;
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out_3451790410312107701[47] = 0.0;
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out_3451790410312107701[48] = 0.0;
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out_3451790410312107701[49] = 0.0;
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out_3451790410312107701[50] = 1.0;
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out_3451790410312107701[51] = 0.0;
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out_3451790410312107701[52] = 0.0;
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out_3451790410312107701[53] = 0.0;
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out_3451790410312107701[54] = 0.0;
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out_3451790410312107701[55] = 0.0;
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out_3451790410312107701[56] = 0.0;
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out_3451790410312107701[57] = 0.0;
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out_3451790410312107701[58] = 0.0;
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out_3451790410312107701[59] = 0.0;
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out_3451790410312107701[60] = 1.0;
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out_3451790410312107701[61] = 0.0;
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out_3451790410312107701[62] = 0.0;
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out_3451790410312107701[63] = 0.0;
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out_3451790410312107701[64] = 0.0;
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out_3451790410312107701[65] = 0.0;
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out_3451790410312107701[66] = 0.0;
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out_3451790410312107701[67] = 0.0;
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out_3451790410312107701[68] = 0.0;
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out_3451790410312107701[69] = 0.0;
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out_3451790410312107701[70] = 1.0;
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out_3451790410312107701[71] = 0.0;
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out_3451790410312107701[72] = 0.0;
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out_3451790410312107701[73] = 0.0;
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out_3451790410312107701[74] = 0.0;
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out_3451790410312107701[75] = 0.0;
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out_3451790410312107701[76] = 0.0;
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out_3451790410312107701[77] = 0.0;
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out_3451790410312107701[78] = 0.0;
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out_3451790410312107701[79] = 0.0;
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out_3451790410312107701[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_4081593184001938296) {
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out_4081593184001938296[0] = state[0];
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out_4081593184001938296[1] = state[1];
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out_4081593184001938296[2] = state[2];
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out_4081593184001938296[3] = state[3];
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out_4081593184001938296[4] = state[4];
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out_4081593184001938296[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];
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out_4081593184001938296[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];
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out_4081593184001938296[7] = state[7];
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out_4081593184001938296[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_6533608797065389332) {
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out_6533608797065389332[0] = 1;
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out_6533608797065389332[1] = 0;
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out_6533608797065389332[2] = 0;
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out_6533608797065389332[3] = 0;
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out_6533608797065389332[4] = 0;
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out_6533608797065389332[5] = 0;
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out_6533608797065389332[6] = 0;
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out_6533608797065389332[7] = 0;
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out_6533608797065389332[8] = 0;
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out_6533608797065389332[9] = 0;
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out_6533608797065389332[10] = 1;
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out_6533608797065389332[11] = 0;
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out_6533608797065389332[12] = 0;
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out_6533608797065389332[13] = 0;
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out_6533608797065389332[14] = 0;
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out_6533608797065389332[15] = 0;
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out_6533608797065389332[16] = 0;
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out_6533608797065389332[17] = 0;
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out_6533608797065389332[18] = 0;
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out_6533608797065389332[19] = 0;
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out_6533608797065389332[20] = 1;
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out_6533608797065389332[21] = 0;
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out_6533608797065389332[22] = 0;
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out_6533608797065389332[23] = 0;
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out_6533608797065389332[24] = 0;
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out_6533608797065389332[25] = 0;
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out_6533608797065389332[26] = 0;
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out_6533608797065389332[27] = 0;
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out_6533608797065389332[28] = 0;
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out_6533608797065389332[29] = 0;
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out_6533608797065389332[30] = 1;
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out_6533608797065389332[31] = 0;
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out_6533608797065389332[32] = 0;
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out_6533608797065389332[33] = 0;
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out_6533608797065389332[34] = 0;
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out_6533608797065389332[35] = 0;
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out_6533608797065389332[36] = 0;
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out_6533608797065389332[37] = 0;
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out_6533608797065389332[38] = 0;
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out_6533608797065389332[39] = 0;
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out_6533608797065389332[40] = 1;
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out_6533608797065389332[41] = 0;
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out_6533608797065389332[42] = 0;
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out_6533608797065389332[43] = 0;
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out_6533608797065389332[44] = 0;
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out_6533608797065389332[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]));
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out_6533608797065389332[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
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out_6533608797065389332[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
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out_6533608797065389332[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
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out_6533608797065389332[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)));
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out_6533608797065389332[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
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out_6533608797065389332[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
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out_6533608797065389332[52] = dt*stiffness_front*state[0]/(mass*state[1]);
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out_6533608797065389332[53] = -9.8100000000000005*dt;
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out_6533608797065389332[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]));
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out_6533608797065389332[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
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out_6533608797065389332[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
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out_6533608797065389332[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
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out_6533608797065389332[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)));
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out_6533608797065389332[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
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out_6533608797065389332[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;
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out_6533608797065389332[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
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out_6533608797065389332[62] = 0;
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out_6533608797065389332[63] = 0;
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out_6533608797065389332[64] = 0;
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out_6533608797065389332[65] = 0;
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out_6533608797065389332[66] = 0;
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out_6533608797065389332[67] = 0;
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out_6533608797065389332[68] = 0;
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out_6533608797065389332[69] = 0;
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out_6533608797065389332[70] = 1;
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out_6533608797065389332[71] = 0;
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out_6533608797065389332[72] = 0;
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out_6533608797065389332[73] = 0;
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out_6533608797065389332[74] = 0;
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out_6533608797065389332[75] = 0;
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out_6533608797065389332[76] = 0;
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out_6533608797065389332[77] = 0;
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out_6533608797065389332[78] = 0;
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out_6533608797065389332[79] = 0;
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out_6533608797065389332[80] = 1;
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}
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void h_25(double *state, double *unused, double *out_1286712737219592117) {
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out_1286712737219592117[0] = state[6];
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}
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void H_25(double *state, double *unused, double *out_71190239677383976) {
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out_71190239677383976[0] = 0;
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out_71190239677383976[1] = 0;
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out_71190239677383976[2] = 0;
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out_71190239677383976[3] = 0;
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out_71190239677383976[4] = 0;
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out_71190239677383976[5] = 0;
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out_71190239677383976[6] = 1;
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out_71190239677383976[7] = 0;
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out_71190239677383976[8] = 0;
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}
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void h_24(double *state, double *unused, double *out_4020914257266522617) {
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out_4020914257266522617[0] = state[4];
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out_4020914257266522617[1] = state[5];
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}
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void H_24(double *state, double *unused, double *out_3629115838479707112) {
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out_3629115838479707112[0] = 0;
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out_3629115838479707112[1] = 0;
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out_3629115838479707112[2] = 0;
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out_3629115838479707112[3] = 0;
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out_3629115838479707112[4] = 1;
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out_3629115838479707112[5] = 0;
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out_3629115838479707112[6] = 0;
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out_3629115838479707112[7] = 0;
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out_3629115838479707112[8] = 0;
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out_3629115838479707112[9] = 0;
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out_3629115838479707112[10] = 0;
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out_3629115838479707112[11] = 0;
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out_3629115838479707112[12] = 0;
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out_3629115838479707112[13] = 0;
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out_3629115838479707112[14] = 1;
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out_3629115838479707112[15] = 0;
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out_3629115838479707112[16] = 0;
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out_3629115838479707112[17] = 0;
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}
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void h_30(double *state, double *unused, double *out_1561906799504098006) {
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out_1561906799504098006[0] = state[4];
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}
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void H_30(double *state, double *unused, double *out_4456506090450224222) {
|
|
out_4456506090450224222[0] = 0;
|
|
out_4456506090450224222[1] = 0;
|
|
out_4456506090450224222[2] = 0;
|
|
out_4456506090450224222[3] = 0;
|
|
out_4456506090450224222[4] = 1;
|
|
out_4456506090450224222[5] = 0;
|
|
out_4456506090450224222[6] = 0;
|
|
out_4456506090450224222[7] = 0;
|
|
out_4456506090450224222[8] = 0;
|
|
}
|
|
void h_26(double *state, double *unused, double *out_7458636612936378436) {
|
|
out_7458636612936378436[0] = state[7];
|
|
}
|
|
void H_26(double *state, double *unused, double *out_3670313079196672248) {
|
|
out_3670313079196672248[0] = 0;
|
|
out_3670313079196672248[1] = 0;
|
|
out_3670313079196672248[2] = 0;
|
|
out_3670313079196672248[3] = 0;
|
|
out_3670313079196672248[4] = 0;
|
|
out_3670313079196672248[5] = 0;
|
|
out_3670313079196672248[6] = 0;
|
|
out_3670313079196672248[7] = 1;
|
|
out_3670313079196672248[8] = 0;
|
|
}
|
|
void h_27(double *state, double *unused, double *out_2766640841793939077) {
|
|
out_2766640841793939077[0] = state[3];
|
|
}
|
|
void H_27(double *state, double *unused, double *out_2232912019266281005) {
|
|
out_2232912019266281005[0] = 0;
|
|
out_2232912019266281005[1] = 0;
|
|
out_2232912019266281005[2] = 0;
|
|
out_2232912019266281005[3] = 1;
|
|
out_2232912019266281005[4] = 0;
|
|
out_2232912019266281005[5] = 0;
|
|
out_2232912019266281005[6] = 0;
|
|
out_2232912019266281005[7] = 0;
|
|
out_2232912019266281005[8] = 0;
|
|
}
|
|
void h_29(double *state, double *unused, double *out_6371076442889912105) {
|
|
out_6371076442889912105[0] = state[1];
|
|
}
|
|
void H_29(double *state, double *unused, double *out_3946274746135832038) {
|
|
out_3946274746135832038[0] = 0;
|
|
out_3946274746135832038[1] = 1;
|
|
out_3946274746135832038[2] = 0;
|
|
out_3946274746135832038[3] = 0;
|
|
out_3946274746135832038[4] = 0;
|
|
out_3946274746135832038[5] = 0;
|
|
out_3946274746135832038[6] = 0;
|
|
out_3946274746135832038[7] = 0;
|
|
out_3946274746135832038[8] = 0;
|
|
}
|
|
void h_28(double *state, double *unused, double *out_7768314109454784722) {
|
|
out_7768314109454784722[0] = state[0];
|
|
}
|
|
void H_28(double *state, double *unused, double *out_1982644474570505787) {
|
|
out_1982644474570505787[0] = 1;
|
|
out_1982644474570505787[1] = 0;
|
|
out_1982644474570505787[2] = 0;
|
|
out_1982644474570505787[3] = 0;
|
|
out_1982644474570505787[4] = 0;
|
|
out_1982644474570505787[5] = 0;
|
|
out_1982644474570505787[6] = 0;
|
|
out_1982644474570505787[7] = 0;
|
|
out_1982644474570505787[8] = 0;
|
|
}
|
|
void h_31(double *state, double *unused, double *out_8520153859771417615) {
|
|
out_8520153859771417615[0] = state[8];
|
|
}
|
|
void H_31(double *state, double *unused, double *out_4296521181430023724) {
|
|
out_4296521181430023724[0] = 0;
|
|
out_4296521181430023724[1] = 0;
|
|
out_4296521181430023724[2] = 0;
|
|
out_4296521181430023724[3] = 0;
|
|
out_4296521181430023724[4] = 0;
|
|
out_4296521181430023724[5] = 0;
|
|
out_4296521181430023724[6] = 0;
|
|
out_4296521181430023724[7] = 0;
|
|
out_4296521181430023724[8] = 1;
|
|
}
|
|
#include <eigen3/Eigen/Dense>
|
|
#include <iostream>
|
|
|
|
typedef Eigen::Matrix<double, DIM, DIM, Eigen::RowMajor> DDM;
|
|
typedef Eigen::Matrix<double, EDIM, EDIM, Eigen::RowMajor> EEM;
|
|
typedef Eigen::Matrix<double, DIM, EDIM, Eigen::RowMajor> DEM;
|
|
|
|
void predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
|
typedef Eigen::Matrix<double, MEDIM, MEDIM, Eigen::RowMajor> RRM;
|
|
|
|
double nx[DIM] = {0};
|
|
double in_F[EDIM*EDIM] = {0};
|
|
|
|
// functions from sympy
|
|
f_fun(in_x, dt, nx);
|
|
F_fun(in_x, dt, in_F);
|
|
|
|
|
|
EEM F(in_F);
|
|
EEM P(in_P);
|
|
EEM Q(in_Q);
|
|
|
|
RRM F_main = F.topLeftCorner(MEDIM, MEDIM);
|
|
P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose();
|
|
P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM);
|
|
P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose();
|
|
|
|
P = P + dt*Q;
|
|
|
|
// copy out state
|
|
memcpy(in_x, nx, DIM * sizeof(double));
|
|
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
|
|
}
|
|
|
|
// note: extra_args dim only correct when null space projecting
|
|
// otherwise 1
|
|
template <int ZDIM, int EADIM, bool MAHA_TEST>
|
|
void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) {
|
|
typedef Eigen::Matrix<double, ZDIM, ZDIM, Eigen::RowMajor> ZZM;
|
|
typedef Eigen::Matrix<double, ZDIM, DIM, Eigen::RowMajor> ZDM;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, EDIM, Eigen::RowMajor> XEM;
|
|
//typedef Eigen::Matrix<double, EDIM, ZDIM, Eigen::RowMajor> EZM;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> X1M;
|
|
typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> XXM;
|
|
|
|
double in_hx[ZDIM] = {0};
|
|
double in_H[ZDIM * DIM] = {0};
|
|
double in_H_mod[EDIM * DIM] = {0};
|
|
double delta_x[EDIM] = {0};
|
|
double x_new[DIM] = {0};
|
|
|
|
|
|
// state x, P
|
|
Eigen::Matrix<double, ZDIM, 1> z(in_z);
|
|
EEM P(in_P);
|
|
ZZM pre_R(in_R);
|
|
|
|
// functions from sympy
|
|
h_fun(in_x, in_ea, in_hx);
|
|
H_fun(in_x, in_ea, in_H);
|
|
ZDM pre_H(in_H);
|
|
|
|
// get y (y = z - hx)
|
|
Eigen::Matrix<double, ZDIM, 1> pre_y(in_hx); pre_y = z - pre_y;
|
|
X1M y; XXM H; XXM R;
|
|
if (Hea_fun){
|
|
typedef Eigen::Matrix<double, ZDIM, EADIM, Eigen::RowMajor> ZAM;
|
|
double in_Hea[ZDIM * EADIM] = {0};
|
|
Hea_fun(in_x, in_ea, in_Hea);
|
|
ZAM Hea(in_Hea);
|
|
XXM A = Hea.transpose().fullPivLu().kernel();
|
|
|
|
|
|
y = A.transpose() * pre_y;
|
|
H = A.transpose() * pre_H;
|
|
R = A.transpose() * pre_R * A;
|
|
} else {
|
|
y = pre_y;
|
|
H = pre_H;
|
|
R = pre_R;
|
|
}
|
|
// get modified H
|
|
H_mod_fun(in_x, in_H_mod);
|
|
DEM H_mod(in_H_mod);
|
|
XEM H_err = H * H_mod;
|
|
|
|
// Do mahalobis distance test
|
|
if (MAHA_TEST){
|
|
XXM a = (H_err * P * H_err.transpose() + R).inverse();
|
|
double maha_dist = y.transpose() * a * y;
|
|
if (maha_dist > MAHA_THRESHOLD){
|
|
R = 1.0e16 * R;
|
|
}
|
|
}
|
|
|
|
// Outlier resilient weighting
|
|
double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum());
|
|
|
|
// kalman gains and I_KH
|
|
XXM S = ((H_err * P) * H_err.transpose()) + R/weight;
|
|
XEM KT = S.fullPivLu().solve(H_err * P.transpose());
|
|
//EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE?
|
|
//EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose();
|
|
//std::cout << "Here is the matrix rot:\n" << K << std::endl;
|
|
EEM I_KH = Eigen::Matrix<double, EDIM, EDIM>::Identity() - (KT.transpose() * H_err);
|
|
|
|
// update state by injecting dx
|
|
Eigen::Matrix<double, EDIM, 1> dx(delta_x);
|
|
dx = (KT.transpose() * y);
|
|
memcpy(delta_x, dx.data(), EDIM * sizeof(double));
|
|
err_fun(in_x, delta_x, x_new);
|
|
Eigen::Matrix<double, DIM, 1> x(x_new);
|
|
|
|
// update cov
|
|
P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT);
|
|
|
|
// copy out state
|
|
memcpy(in_x, x.data(), DIM * sizeof(double));
|
|
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
|
|
memcpy(in_z, y.data(), y.rows() * sizeof(double));
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
extern "C" {
|
|
|
|
void car_update_25(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<1, 3, 0>(in_x, in_P, h_25, H_25, NULL, in_z, in_R, in_ea, MAHA_THRESH_25);
|
|
}
|
|
void car_update_24(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<2, 3, 0>(in_x, in_P, h_24, H_24, NULL, in_z, in_R, in_ea, MAHA_THRESH_24);
|
|
}
|
|
void car_update_30(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<1, 3, 0>(in_x, in_P, h_30, H_30, NULL, in_z, in_R, in_ea, MAHA_THRESH_30);
|
|
}
|
|
void car_update_26(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<1, 3, 0>(in_x, in_P, h_26, H_26, NULL, in_z, in_R, in_ea, MAHA_THRESH_26);
|
|
}
|
|
void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<1, 3, 0>(in_x, in_P, h_27, H_27, NULL, in_z, in_R, in_ea, MAHA_THRESH_27);
|
|
}
|
|
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<1, 3, 0>(in_x, in_P, h_29, H_29, NULL, in_z, in_R, in_ea, MAHA_THRESH_29);
|
|
}
|
|
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
|
update<1, 3, 0>(in_x, in_P, h_28, H_28, NULL, in_z, in_R, in_ea, MAHA_THRESH_28);
|
|
}
|
|
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_5320341998124928693) {
|
|
err_fun(nom_x, delta_x, out_5320341998124928693);
|
|
}
|
|
void car_inv_err_fun(double *nom_x, double *true_x, double *out_864421799547270951) {
|
|
inv_err_fun(nom_x, true_x, out_864421799547270951);
|
|
}
|
|
void car_H_mod_fun(double *state, double *out_3451790410312107701) {
|
|
H_mod_fun(state, out_3451790410312107701);
|
|
}
|
|
void car_f_fun(double *state, double dt, double *out_4081593184001938296) {
|
|
f_fun(state, dt, out_4081593184001938296);
|
|
}
|
|
void car_F_fun(double *state, double dt, double *out_6533608797065389332) {
|
|
F_fun(state, dt, out_6533608797065389332);
|
|
}
|
|
void car_h_25(double *state, double *unused, double *out_1286712737219592117) {
|
|
h_25(state, unused, out_1286712737219592117);
|
|
}
|
|
void car_H_25(double *state, double *unused, double *out_71190239677383976) {
|
|
H_25(state, unused, out_71190239677383976);
|
|
}
|
|
void car_h_24(double *state, double *unused, double *out_4020914257266522617) {
|
|
h_24(state, unused, out_4020914257266522617);
|
|
}
|
|
void car_H_24(double *state, double *unused, double *out_3629115838479707112) {
|
|
H_24(state, unused, out_3629115838479707112);
|
|
}
|
|
void car_h_30(double *state, double *unused, double *out_1561906799504098006) {
|
|
h_30(state, unused, out_1561906799504098006);
|
|
}
|
|
void car_H_30(double *state, double *unused, double *out_4456506090450224222) {
|
|
H_30(state, unused, out_4456506090450224222);
|
|
}
|
|
void car_h_26(double *state, double *unused, double *out_7458636612936378436) {
|
|
h_26(state, unused, out_7458636612936378436);
|
|
}
|
|
void car_H_26(double *state, double *unused, double *out_3670313079196672248) {
|
|
H_26(state, unused, out_3670313079196672248);
|
|
}
|
|
void car_h_27(double *state, double *unused, double *out_2766640841793939077) {
|
|
h_27(state, unused, out_2766640841793939077);
|
|
}
|
|
void car_H_27(double *state, double *unused, double *out_2232912019266281005) {
|
|
H_27(state, unused, out_2232912019266281005);
|
|
}
|
|
void car_h_29(double *state, double *unused, double *out_6371076442889912105) {
|
|
h_29(state, unused, out_6371076442889912105);
|
|
}
|
|
void car_H_29(double *state, double *unused, double *out_3946274746135832038) {
|
|
H_29(state, unused, out_3946274746135832038);
|
|
}
|
|
void car_h_28(double *state, double *unused, double *out_7768314109454784722) {
|
|
h_28(state, unused, out_7768314109454784722);
|
|
}
|
|
void car_H_28(double *state, double *unused, double *out_1982644474570505787) {
|
|
H_28(state, unused, out_1982644474570505787);
|
|
}
|
|
void car_h_31(double *state, double *unused, double *out_8520153859771417615) {
|
|
h_31(state, unused, out_8520153859771417615);
|
|
}
|
|
void car_H_31(double *state, double *unused, double *out_4296521181430023724) {
|
|
H_31(state, unused, out_4296521181430023724);
|
|
}
|
|
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
|
predict(in_x, in_P, in_Q, dt);
|
|
}
|
|
void car_set_mass(double x) {
|
|
set_mass(x);
|
|
}
|
|
void car_set_rotational_inertia(double x) {
|
|
set_rotational_inertia(x);
|
|
}
|
|
void car_set_center_to_front(double x) {
|
|
set_center_to_front(x);
|
|
}
|
|
void car_set_center_to_rear(double x) {
|
|
set_center_to_rear(x);
|
|
}
|
|
void car_set_stiffness_front(double x) {
|
|
set_stiffness_front(x);
|
|
}
|
|
void car_set_stiffness_rear(double x) {
|
|
set_stiffness_rear(x);
|
|
}
|
|
}
|
|
|
|
const EKF car = {
|
|
.name = "car",
|
|
.kinds = { 25, 24, 30, 26, 27, 29, 28, 31 },
|
|
.feature_kinds = { },
|
|
.f_fun = car_f_fun,
|
|
.F_fun = car_F_fun,
|
|
.err_fun = car_err_fun,
|
|
.inv_err_fun = car_inv_err_fun,
|
|
.H_mod_fun = car_H_mod_fun,
|
|
.predict = car_predict,
|
|
.hs = {
|
|
{ 25, car_h_25 },
|
|
{ 24, car_h_24 },
|
|
{ 30, car_h_30 },
|
|
{ 26, car_h_26 },
|
|
{ 27, car_h_27 },
|
|
{ 29, car_h_29 },
|
|
{ 28, car_h_28 },
|
|
{ 31, car_h_31 },
|
|
},
|
|
.Hs = {
|
|
{ 25, car_H_25 },
|
|
{ 24, car_H_24 },
|
|
{ 30, car_H_30 },
|
|
{ 26, car_H_26 },
|
|
{ 27, car_H_27 },
|
|
{ 29, car_H_29 },
|
|
{ 28, car_H_28 },
|
|
{ 31, car_H_31 },
|
|
},
|
|
.updates = {
|
|
{ 25, car_update_25 },
|
|
{ 24, car_update_24 },
|
|
{ 30, car_update_30 },
|
|
{ 26, car_update_26 },
|
|
{ 27, car_update_27 },
|
|
{ 29, car_update_29 },
|
|
{ 28, car_update_28 },
|
|
{ 31, car_update_31 },
|
|
},
|
|
.Hes = {
|
|
},
|
|
.sets = {
|
|
{ "mass", car_set_mass },
|
|
{ "rotational_inertia", car_set_rotational_inertia },
|
|
{ "center_to_front", car_set_center_to_front },
|
|
{ "center_to_rear", car_set_center_to_rear },
|
|
{ "stiffness_front", car_set_stiffness_front },
|
|
{ "stiffness_rear", car_set_stiffness_rear },
|
|
},
|
|
.extra_routines = {
|
|
},
|
|
};
|
|
|
|
ekf_lib_init(car)
|