mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-08-23 09:13:47 +08:00
dragonpilot beta3
date: 2024-02-12T12:52:55 commit: 0f5fdc8c6be06fb8901e8be8f3fa7d00596eb1f4
This commit is contained in:
dragonpilot
@@ -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_7890812005855138291) {
|
||||
out_7890812005855138291[0] = delta_x[0] + nom_x[0];
|
||||
out_7890812005855138291[1] = delta_x[1] + nom_x[1];
|
||||
out_7890812005855138291[2] = delta_x[2] + nom_x[2];
|
||||
out_7890812005855138291[3] = delta_x[3] + nom_x[3];
|
||||
out_7890812005855138291[4] = delta_x[4] + nom_x[4];
|
||||
out_7890812005855138291[5] = delta_x[5] + nom_x[5];
|
||||
out_7890812005855138291[6] = delta_x[6] + nom_x[6];
|
||||
out_7890812005855138291[7] = delta_x[7] + nom_x[7];
|
||||
out_7890812005855138291[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_786078590364264470) {
|
||||
out_786078590364264470[0] = delta_x[0] + nom_x[0];
|
||||
out_786078590364264470[1] = delta_x[1] + nom_x[1];
|
||||
out_786078590364264470[2] = delta_x[2] + nom_x[2];
|
||||
out_786078590364264470[3] = delta_x[3] + nom_x[3];
|
||||
out_786078590364264470[4] = delta_x[4] + nom_x[4];
|
||||
out_786078590364264470[5] = delta_x[5] + nom_x[5];
|
||||
out_786078590364264470[6] = delta_x[6] + nom_x[6];
|
||||
out_786078590364264470[7] = delta_x[7] + nom_x[7];
|
||||
out_786078590364264470[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_1799861052992404131) {
|
||||
out_1799861052992404131[0] = -nom_x[0] + true_x[0];
|
||||
out_1799861052992404131[1] = -nom_x[1] + true_x[1];
|
||||
out_1799861052992404131[2] = -nom_x[2] + true_x[2];
|
||||
out_1799861052992404131[3] = -nom_x[3] + true_x[3];
|
||||
out_1799861052992404131[4] = -nom_x[4] + true_x[4];
|
||||
out_1799861052992404131[5] = -nom_x[5] + true_x[5];
|
||||
out_1799861052992404131[6] = -nom_x[6] + true_x[6];
|
||||
out_1799861052992404131[7] = -nom_x[7] + true_x[7];
|
||||
out_1799861052992404131[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_5919995043477341165) {
|
||||
out_5919995043477341165[0] = -nom_x[0] + true_x[0];
|
||||
out_5919995043477341165[1] = -nom_x[1] + true_x[1];
|
||||
out_5919995043477341165[2] = -nom_x[2] + true_x[2];
|
||||
out_5919995043477341165[3] = -nom_x[3] + true_x[3];
|
||||
out_5919995043477341165[4] = -nom_x[4] + true_x[4];
|
||||
out_5919995043477341165[5] = -nom_x[5] + true_x[5];
|
||||
out_5919995043477341165[6] = -nom_x[6] + true_x[6];
|
||||
out_5919995043477341165[7] = -nom_x[7] + true_x[7];
|
||||
out_5919995043477341165[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_3019605320337164716) {
|
||||
out_3019605320337164716[0] = 1.0;
|
||||
out_3019605320337164716[1] = 0;
|
||||
out_3019605320337164716[2] = 0;
|
||||
out_3019605320337164716[3] = 0;
|
||||
out_3019605320337164716[4] = 0;
|
||||
out_3019605320337164716[5] = 0;
|
||||
out_3019605320337164716[6] = 0;
|
||||
out_3019605320337164716[7] = 0;
|
||||
out_3019605320337164716[8] = 0;
|
||||
out_3019605320337164716[9] = 0;
|
||||
out_3019605320337164716[10] = 1.0;
|
||||
out_3019605320337164716[11] = 0;
|
||||
out_3019605320337164716[12] = 0;
|
||||
out_3019605320337164716[13] = 0;
|
||||
out_3019605320337164716[14] = 0;
|
||||
out_3019605320337164716[15] = 0;
|
||||
out_3019605320337164716[16] = 0;
|
||||
out_3019605320337164716[17] = 0;
|
||||
out_3019605320337164716[18] = 0;
|
||||
out_3019605320337164716[19] = 0;
|
||||
out_3019605320337164716[20] = 1.0;
|
||||
out_3019605320337164716[21] = 0;
|
||||
out_3019605320337164716[22] = 0;
|
||||
out_3019605320337164716[23] = 0;
|
||||
out_3019605320337164716[24] = 0;
|
||||
out_3019605320337164716[25] = 0;
|
||||
out_3019605320337164716[26] = 0;
|
||||
out_3019605320337164716[27] = 0;
|
||||
out_3019605320337164716[28] = 0;
|
||||
out_3019605320337164716[29] = 0;
|
||||
out_3019605320337164716[30] = 1.0;
|
||||
out_3019605320337164716[31] = 0;
|
||||
out_3019605320337164716[32] = 0;
|
||||
out_3019605320337164716[33] = 0;
|
||||
out_3019605320337164716[34] = 0;
|
||||
out_3019605320337164716[35] = 0;
|
||||
out_3019605320337164716[36] = 0;
|
||||
out_3019605320337164716[37] = 0;
|
||||
out_3019605320337164716[38] = 0;
|
||||
out_3019605320337164716[39] = 0;
|
||||
out_3019605320337164716[40] = 1.0;
|
||||
out_3019605320337164716[41] = 0;
|
||||
out_3019605320337164716[42] = 0;
|
||||
out_3019605320337164716[43] = 0;
|
||||
out_3019605320337164716[44] = 0;
|
||||
out_3019605320337164716[45] = 0;
|
||||
out_3019605320337164716[46] = 0;
|
||||
out_3019605320337164716[47] = 0;
|
||||
out_3019605320337164716[48] = 0;
|
||||
out_3019605320337164716[49] = 0;
|
||||
out_3019605320337164716[50] = 1.0;
|
||||
out_3019605320337164716[51] = 0;
|
||||
out_3019605320337164716[52] = 0;
|
||||
out_3019605320337164716[53] = 0;
|
||||
out_3019605320337164716[54] = 0;
|
||||
out_3019605320337164716[55] = 0;
|
||||
out_3019605320337164716[56] = 0;
|
||||
out_3019605320337164716[57] = 0;
|
||||
out_3019605320337164716[58] = 0;
|
||||
out_3019605320337164716[59] = 0;
|
||||
out_3019605320337164716[60] = 1.0;
|
||||
out_3019605320337164716[61] = 0;
|
||||
out_3019605320337164716[62] = 0;
|
||||
out_3019605320337164716[63] = 0;
|
||||
out_3019605320337164716[64] = 0;
|
||||
out_3019605320337164716[65] = 0;
|
||||
out_3019605320337164716[66] = 0;
|
||||
out_3019605320337164716[67] = 0;
|
||||
out_3019605320337164716[68] = 0;
|
||||
out_3019605320337164716[69] = 0;
|
||||
out_3019605320337164716[70] = 1.0;
|
||||
out_3019605320337164716[71] = 0;
|
||||
out_3019605320337164716[72] = 0;
|
||||
out_3019605320337164716[73] = 0;
|
||||
out_3019605320337164716[74] = 0;
|
||||
out_3019605320337164716[75] = 0;
|
||||
out_3019605320337164716[76] = 0;
|
||||
out_3019605320337164716[77] = 0;
|
||||
out_3019605320337164716[78] = 0;
|
||||
out_3019605320337164716[79] = 0;
|
||||
out_3019605320337164716[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_3543183180667111266) {
|
||||
out_3543183180667111266[0] = 1.0;
|
||||
out_3543183180667111266[1] = 0;
|
||||
out_3543183180667111266[2] = 0;
|
||||
out_3543183180667111266[3] = 0;
|
||||
out_3543183180667111266[4] = 0;
|
||||
out_3543183180667111266[5] = 0;
|
||||
out_3543183180667111266[6] = 0;
|
||||
out_3543183180667111266[7] = 0;
|
||||
out_3543183180667111266[8] = 0;
|
||||
out_3543183180667111266[9] = 0;
|
||||
out_3543183180667111266[10] = 1.0;
|
||||
out_3543183180667111266[11] = 0;
|
||||
out_3543183180667111266[12] = 0;
|
||||
out_3543183180667111266[13] = 0;
|
||||
out_3543183180667111266[14] = 0;
|
||||
out_3543183180667111266[15] = 0;
|
||||
out_3543183180667111266[16] = 0;
|
||||
out_3543183180667111266[17] = 0;
|
||||
out_3543183180667111266[18] = 0;
|
||||
out_3543183180667111266[19] = 0;
|
||||
out_3543183180667111266[20] = 1.0;
|
||||
out_3543183180667111266[21] = 0;
|
||||
out_3543183180667111266[22] = 0;
|
||||
out_3543183180667111266[23] = 0;
|
||||
out_3543183180667111266[24] = 0;
|
||||
out_3543183180667111266[25] = 0;
|
||||
out_3543183180667111266[26] = 0;
|
||||
out_3543183180667111266[27] = 0;
|
||||
out_3543183180667111266[28] = 0;
|
||||
out_3543183180667111266[29] = 0;
|
||||
out_3543183180667111266[30] = 1.0;
|
||||
out_3543183180667111266[31] = 0;
|
||||
out_3543183180667111266[32] = 0;
|
||||
out_3543183180667111266[33] = 0;
|
||||
out_3543183180667111266[34] = 0;
|
||||
out_3543183180667111266[35] = 0;
|
||||
out_3543183180667111266[36] = 0;
|
||||
out_3543183180667111266[37] = 0;
|
||||
out_3543183180667111266[38] = 0;
|
||||
out_3543183180667111266[39] = 0;
|
||||
out_3543183180667111266[40] = 1.0;
|
||||
out_3543183180667111266[41] = 0;
|
||||
out_3543183180667111266[42] = 0;
|
||||
out_3543183180667111266[43] = 0;
|
||||
out_3543183180667111266[44] = 0;
|
||||
out_3543183180667111266[45] = 0;
|
||||
out_3543183180667111266[46] = 0;
|
||||
out_3543183180667111266[47] = 0;
|
||||
out_3543183180667111266[48] = 0;
|
||||
out_3543183180667111266[49] = 0;
|
||||
out_3543183180667111266[50] = 1.0;
|
||||
out_3543183180667111266[51] = 0;
|
||||
out_3543183180667111266[52] = 0;
|
||||
out_3543183180667111266[53] = 0;
|
||||
out_3543183180667111266[54] = 0;
|
||||
out_3543183180667111266[55] = 0;
|
||||
out_3543183180667111266[56] = 0;
|
||||
out_3543183180667111266[57] = 0;
|
||||
out_3543183180667111266[58] = 0;
|
||||
out_3543183180667111266[59] = 0;
|
||||
out_3543183180667111266[60] = 1.0;
|
||||
out_3543183180667111266[61] = 0;
|
||||
out_3543183180667111266[62] = 0;
|
||||
out_3543183180667111266[63] = 0;
|
||||
out_3543183180667111266[64] = 0;
|
||||
out_3543183180667111266[65] = 0;
|
||||
out_3543183180667111266[66] = 0;
|
||||
out_3543183180667111266[67] = 0;
|
||||
out_3543183180667111266[68] = 0;
|
||||
out_3543183180667111266[69] = 0;
|
||||
out_3543183180667111266[70] = 1.0;
|
||||
out_3543183180667111266[71] = 0;
|
||||
out_3543183180667111266[72] = 0;
|
||||
out_3543183180667111266[73] = 0;
|
||||
out_3543183180667111266[74] = 0;
|
||||
out_3543183180667111266[75] = 0;
|
||||
out_3543183180667111266[76] = 0;
|
||||
out_3543183180667111266[77] = 0;
|
||||
out_3543183180667111266[78] = 0;
|
||||
out_3543183180667111266[79] = 0;
|
||||
out_3543183180667111266[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_5784340983378173671) {
|
||||
out_5784340983378173671[0] = state[0];
|
||||
out_5784340983378173671[1] = state[1];
|
||||
out_5784340983378173671[2] = state[2];
|
||||
out_5784340983378173671[3] = state[3];
|
||||
out_5784340983378173671[4] = state[4];
|
||||
out_5784340983378173671[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*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_5784340983378173671[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_5784340983378173671[7] = state[7];
|
||||
out_5784340983378173671[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_1497117634121373884) {
|
||||
out_1497117634121373884[0] = state[0];
|
||||
out_1497117634121373884[1] = state[1];
|
||||
out_1497117634121373884[2] = state[2];
|
||||
out_1497117634121373884[3] = state[3];
|
||||
out_1497117634121373884[4] = state[4];
|
||||
out_1497117634121373884[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*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_1497117634121373884[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_1497117634121373884[7] = state[7];
|
||||
out_1497117634121373884[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_3386400791859586202) {
|
||||
out_3386400791859586202[0] = 1;
|
||||
out_3386400791859586202[1] = 0;
|
||||
out_3386400791859586202[2] = 0;
|
||||
out_3386400791859586202[3] = 0;
|
||||
out_3386400791859586202[4] = 0;
|
||||
out_3386400791859586202[5] = 0;
|
||||
out_3386400791859586202[6] = 0;
|
||||
out_3386400791859586202[7] = 0;
|
||||
out_3386400791859586202[8] = 0;
|
||||
out_3386400791859586202[9] = 0;
|
||||
out_3386400791859586202[10] = 1;
|
||||
out_3386400791859586202[11] = 0;
|
||||
out_3386400791859586202[12] = 0;
|
||||
out_3386400791859586202[13] = 0;
|
||||
out_3386400791859586202[14] = 0;
|
||||
out_3386400791859586202[15] = 0;
|
||||
out_3386400791859586202[16] = 0;
|
||||
out_3386400791859586202[17] = 0;
|
||||
out_3386400791859586202[18] = 0;
|
||||
out_3386400791859586202[19] = 0;
|
||||
out_3386400791859586202[20] = 1;
|
||||
out_3386400791859586202[21] = 0;
|
||||
out_3386400791859586202[22] = 0;
|
||||
out_3386400791859586202[23] = 0;
|
||||
out_3386400791859586202[24] = 0;
|
||||
out_3386400791859586202[25] = 0;
|
||||
out_3386400791859586202[26] = 0;
|
||||
out_3386400791859586202[27] = 0;
|
||||
out_3386400791859586202[28] = 0;
|
||||
out_3386400791859586202[29] = 0;
|
||||
out_3386400791859586202[30] = 1;
|
||||
out_3386400791859586202[31] = 0;
|
||||
out_3386400791859586202[32] = 0;
|
||||
out_3386400791859586202[33] = 0;
|
||||
out_3386400791859586202[34] = 0;
|
||||
out_3386400791859586202[35] = 0;
|
||||
out_3386400791859586202[36] = 0;
|
||||
out_3386400791859586202[37] = 0;
|
||||
out_3386400791859586202[38] = 0;
|
||||
out_3386400791859586202[39] = 0;
|
||||
out_3386400791859586202[40] = 1;
|
||||
out_3386400791859586202[41] = 0;
|
||||
out_3386400791859586202[42] = 0;
|
||||
out_3386400791859586202[43] = 0;
|
||||
out_3386400791859586202[44] = 0;
|
||||
out_3386400791859586202[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_3386400791859586202[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3386400791859586202[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3386400791859586202[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3386400791859586202[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_3386400791859586202[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3386400791859586202[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3386400791859586202[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3386400791859586202[53] = -9.8000000000000007*dt;
|
||||
out_3386400791859586202[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_3386400791859586202[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3386400791859586202[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3386400791859586202[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3386400791859586202[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_3386400791859586202[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3386400791859586202[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_3386400791859586202[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3386400791859586202[62] = 0;
|
||||
out_3386400791859586202[63] = 0;
|
||||
out_3386400791859586202[64] = 0;
|
||||
out_3386400791859586202[65] = 0;
|
||||
out_3386400791859586202[66] = 0;
|
||||
out_3386400791859586202[67] = 0;
|
||||
out_3386400791859586202[68] = 0;
|
||||
out_3386400791859586202[69] = 0;
|
||||
out_3386400791859586202[70] = 1;
|
||||
out_3386400791859586202[71] = 0;
|
||||
out_3386400791859586202[72] = 0;
|
||||
out_3386400791859586202[73] = 0;
|
||||
out_3386400791859586202[74] = 0;
|
||||
out_3386400791859586202[75] = 0;
|
||||
out_3386400791859586202[76] = 0;
|
||||
out_3386400791859586202[77] = 0;
|
||||
out_3386400791859586202[78] = 0;
|
||||
out_3386400791859586202[79] = 0;
|
||||
out_3386400791859586202[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_7787221922284321900) {
|
||||
out_7787221922284321900[0] = 1;
|
||||
out_7787221922284321900[1] = 0;
|
||||
out_7787221922284321900[2] = 0;
|
||||
out_7787221922284321900[3] = 0;
|
||||
out_7787221922284321900[4] = 0;
|
||||
out_7787221922284321900[5] = 0;
|
||||
out_7787221922284321900[6] = 0;
|
||||
out_7787221922284321900[7] = 0;
|
||||
out_7787221922284321900[8] = 0;
|
||||
out_7787221922284321900[9] = 0;
|
||||
out_7787221922284321900[10] = 1;
|
||||
out_7787221922284321900[11] = 0;
|
||||
out_7787221922284321900[12] = 0;
|
||||
out_7787221922284321900[13] = 0;
|
||||
out_7787221922284321900[14] = 0;
|
||||
out_7787221922284321900[15] = 0;
|
||||
out_7787221922284321900[16] = 0;
|
||||
out_7787221922284321900[17] = 0;
|
||||
out_7787221922284321900[18] = 0;
|
||||
out_7787221922284321900[19] = 0;
|
||||
out_7787221922284321900[20] = 1;
|
||||
out_7787221922284321900[21] = 0;
|
||||
out_7787221922284321900[22] = 0;
|
||||
out_7787221922284321900[23] = 0;
|
||||
out_7787221922284321900[24] = 0;
|
||||
out_7787221922284321900[25] = 0;
|
||||
out_7787221922284321900[26] = 0;
|
||||
out_7787221922284321900[27] = 0;
|
||||
out_7787221922284321900[28] = 0;
|
||||
out_7787221922284321900[29] = 0;
|
||||
out_7787221922284321900[30] = 1;
|
||||
out_7787221922284321900[31] = 0;
|
||||
out_7787221922284321900[32] = 0;
|
||||
out_7787221922284321900[33] = 0;
|
||||
out_7787221922284321900[34] = 0;
|
||||
out_7787221922284321900[35] = 0;
|
||||
out_7787221922284321900[36] = 0;
|
||||
out_7787221922284321900[37] = 0;
|
||||
out_7787221922284321900[38] = 0;
|
||||
out_7787221922284321900[39] = 0;
|
||||
out_7787221922284321900[40] = 1;
|
||||
out_7787221922284321900[41] = 0;
|
||||
out_7787221922284321900[42] = 0;
|
||||
out_7787221922284321900[43] = 0;
|
||||
out_7787221922284321900[44] = 0;
|
||||
out_7787221922284321900[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_7787221922284321900[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_7787221922284321900[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7787221922284321900[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7787221922284321900[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_7787221922284321900[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_7787221922284321900[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_7787221922284321900[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_7787221922284321900[53] = -9.8000000000000007*dt;
|
||||
out_7787221922284321900[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_7787221922284321900[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_7787221922284321900[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7787221922284321900[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7787221922284321900[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_7787221922284321900[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_7787221922284321900[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_7787221922284321900[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_7787221922284321900[62] = 0;
|
||||
out_7787221922284321900[63] = 0;
|
||||
out_7787221922284321900[64] = 0;
|
||||
out_7787221922284321900[65] = 0;
|
||||
out_7787221922284321900[66] = 0;
|
||||
out_7787221922284321900[67] = 0;
|
||||
out_7787221922284321900[68] = 0;
|
||||
out_7787221922284321900[69] = 0;
|
||||
out_7787221922284321900[70] = 1;
|
||||
out_7787221922284321900[71] = 0;
|
||||
out_7787221922284321900[72] = 0;
|
||||
out_7787221922284321900[73] = 0;
|
||||
out_7787221922284321900[74] = 0;
|
||||
out_7787221922284321900[75] = 0;
|
||||
out_7787221922284321900[76] = 0;
|
||||
out_7787221922284321900[77] = 0;
|
||||
out_7787221922284321900[78] = 0;
|
||||
out_7787221922284321900[79] = 0;
|
||||
out_7787221922284321900[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_7212104341795181307) {
|
||||
out_7212104341795181307[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_6182971352921756001) {
|
||||
out_6182971352921756001[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_7155521575935903180) {
|
||||
out_7155521575935903180[0] = 0;
|
||||
out_7155521575935903180[1] = 0;
|
||||
out_7155521575935903180[2] = 0;
|
||||
out_7155521575935903180[3] = 0;
|
||||
out_7155521575935903180[4] = 0;
|
||||
out_7155521575935903180[5] = 0;
|
||||
out_7155521575935903180[6] = 1;
|
||||
out_7155521575935903180[7] = 0;
|
||||
out_7155521575935903180[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_3458468969911740743) {
|
||||
out_3458468969911740743[0] = 0;
|
||||
out_3458468969911740743[1] = 0;
|
||||
out_3458468969911740743[2] = 0;
|
||||
out_3458468969911740743[3] = 0;
|
||||
out_3458468969911740743[4] = 0;
|
||||
out_3458468969911740743[5] = 0;
|
||||
out_3458468969911740743[6] = 1;
|
||||
out_3458468969911740743[7] = 0;
|
||||
out_3458468969911740743[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_8877922091574990347) {
|
||||
out_8877922091574990347[0] = state[4];
|
||||
out_8877922091574990347[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_1709075460934367585) {
|
||||
out_1709075460934367585[0] = state[4];
|
||||
out_1709075460934367585[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_4978307152328753207) {
|
||||
out_4978307152328753207[0] = 0;
|
||||
out_4978307152328753207[1] = 0;
|
||||
out_4978307152328753207[2] = 0;
|
||||
out_4978307152328753207[3] = 0;
|
||||
out_4978307152328753207[4] = 1;
|
||||
out_4978307152328753207[5] = 0;
|
||||
out_4978307152328753207[6] = 0;
|
||||
out_4978307152328753207[7] = 0;
|
||||
out_4978307152328753207[8] = 0;
|
||||
out_4978307152328753207[9] = 0;
|
||||
out_4978307152328753207[10] = 0;
|
||||
out_4978307152328753207[11] = 0;
|
||||
out_4978307152328753207[12] = 0;
|
||||
out_4978307152328753207[13] = 0;
|
||||
out_4978307152328753207[14] = 1;
|
||||
out_4978307152328753207[15] = 0;
|
||||
out_4978307152328753207[16] = 0;
|
||||
out_4978307152328753207[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_5631118568917240309) {
|
||||
out_5631118568917240309[0] = 0;
|
||||
out_5631118568917240309[1] = 0;
|
||||
out_5631118568917240309[2] = 0;
|
||||
out_5631118568917240309[3] = 0;
|
||||
out_5631118568917240309[4] = 1;
|
||||
out_5631118568917240309[5] = 0;
|
||||
out_5631118568917240309[6] = 0;
|
||||
out_5631118568917240309[7] = 0;
|
||||
out_5631118568917240309[8] = 0;
|
||||
out_5631118568917240309[9] = 0;
|
||||
out_5631118568917240309[10] = 0;
|
||||
out_5631118568917240309[11] = 0;
|
||||
out_5631118568917240309[12] = 0;
|
||||
out_5631118568917240309[13] = 0;
|
||||
out_5631118568917240309[14] = 1;
|
||||
out_5631118568917240309[15] = 0;
|
||||
out_5631118568917240309[16] = 0;
|
||||
out_5631118568917240309[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_5761472949166298140) {
|
||||
out_5761472949166298140[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_2313689328341983991) {
|
||||
out_2313689328341983991[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_6763526167646040238) {
|
||||
out_6763526167646040238[0] = 0;
|
||||
out_6763526167646040238[1] = 0;
|
||||
out_6763526167646040238[2] = 0;
|
||||
out_6763526167646040238[3] = 0;
|
||||
out_6763526167646040238[4] = 1;
|
||||
out_6763526167646040238[5] = 0;
|
||||
out_6763526167646040238[6] = 0;
|
||||
out_6763526167646040238[7] = 0;
|
||||
out_6763526167646040238[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_3458221371579876012) {
|
||||
out_3458221371579876012[0] = 0;
|
||||
out_3458221371579876012[1] = 0;
|
||||
out_3458221371579876012[2] = 0;
|
||||
out_3458221371579876012[3] = 0;
|
||||
out_3458221371579876012[4] = 1;
|
||||
out_3458221371579876012[5] = 0;
|
||||
out_3458221371579876012[6] = 0;
|
||||
out_3458221371579876012[7] = 0;
|
||||
out_3458221371579876012[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_6429446402584206222) {
|
||||
out_6429446402584206222[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_7458579391457631528) {
|
||||
out_7458579391457631528[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_7549719178899592212) {
|
||||
out_7549719178899592212[0] = 0;
|
||||
out_7549719178899592212[1] = 0;
|
||||
out_7549719178899592212[2] = 0;
|
||||
out_7549719178899592212[3] = 0;
|
||||
out_7549719178899592212[4] = 0;
|
||||
out_7549719178899592212[5] = 0;
|
||||
out_7549719178899592212[6] = 0;
|
||||
out_7549719178899592212[7] = 1;
|
||||
out_7549719178899592212[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_7199972288785796967) {
|
||||
out_7199972288785796967[0] = 0;
|
||||
out_7199972288785796967[1] = 0;
|
||||
out_7199972288785796967[2] = 0;
|
||||
out_7199972288785796967[3] = 0;
|
||||
out_7199972288785796967[4] = 0;
|
||||
out_7199972288785796967[5] = 0;
|
||||
out_7199972288785796967[6] = 0;
|
||||
out_7199972288785796967[7] = 1;
|
||||
out_7199972288785796967[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_4399552238525327924) {
|
||||
out_4399552238525327924[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_3146185301477423316) {
|
||||
out_3146185301477423316[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_4588762855845615327) {
|
||||
out_4588762855845615327[0] = 0;
|
||||
out_4588762855845615327[1] = 0;
|
||||
out_4588762855845615327[2] = 0;
|
||||
out_4588762855845615327[3] = 1;
|
||||
out_4588762855845615327[4] = 0;
|
||||
out_4588762855845615327[5] = 0;
|
||||
out_4588762855845615327[6] = 0;
|
||||
out_4588762855845615327[7] = 0;
|
||||
out_4588762855845615327[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_1283458059779451101) {
|
||||
out_1283458059779451101[0] = 0;
|
||||
out_1283458059779451101[1] = 0;
|
||||
out_1283458059779451101[2] = 0;
|
||||
out_1283458059779451101[3] = 1;
|
||||
out_1283458059779451101[4] = 0;
|
||||
out_1283458059779451101[5] = 0;
|
||||
out_1283458059779451101[6] = 0;
|
||||
out_1283458059779451101[7] = 0;
|
||||
out_1283458059779451101[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_7683597856882407831) {
|
||||
out_7683597856882407831[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_2687983939318861654) {
|
||||
out_2687983939318861654[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_7273757511960432422) {
|
||||
out_7273757511960432422[0] = 0;
|
||||
out_7273757511960432422[1] = 1;
|
||||
out_7273757511960432422[2] = 0;
|
||||
out_7273757511960432422[3] = 0;
|
||||
out_7273757511960432422[4] = 0;
|
||||
out_7273757511960432422[5] = 0;
|
||||
out_7273757511960432422[6] = 0;
|
||||
out_7273757511960432422[7] = 0;
|
||||
out_7273757511960432422[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_429904667090099932) {
|
||||
out_429904667090099932[0] = 0;
|
||||
out_429904667090099932[1] = 1;
|
||||
out_429904667090099932[2] = 0;
|
||||
out_429904667090099932[3] = 0;
|
||||
out_429904667090099932[4] = 0;
|
||||
out_429904667090099932[5] = 0;
|
||||
out_429904667090099932[6] = 0;
|
||||
out_429904667090099932[7] = 0;
|
||||
out_429904667090099932[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_2603210465267737855) {
|
||||
out_2603210465267737855[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_7768371330933531630) {
|
||||
out_7768371330933531630[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_9209356290183792943) {
|
||||
out_9209356290183792943[0] = 1;
|
||||
out_9209356290183792943[1] = 0;
|
||||
out_9209356290183792943[2] = 0;
|
||||
out_9209356290183792943[3] = 0;
|
||||
out_9209356290183792943[4] = 0;
|
||||
out_9209356290183792943[5] = 0;
|
||||
out_9209356290183792943[6] = 0;
|
||||
out_9209356290183792943[7] = 0;
|
||||
out_9209356290183792943[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_5512303684159630506) {
|
||||
out_5512303684159630506[0] = 1;
|
||||
out_5512303684159630506[1] = 0;
|
||||
out_5512303684159630506[2] = 0;
|
||||
out_5512303684159630506[3] = 0;
|
||||
out_5512303684159630506[4] = 0;
|
||||
out_5512303684159630506[5] = 0;
|
||||
out_5512303684159630506[6] = 0;
|
||||
out_5512303684159630506[7] = 0;
|
||||
out_5512303684159630506[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_4463804505564019373) {
|
||||
out_4463804505564019373[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_5907777290637250112) {
|
||||
out_5907777290637250112[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_6923511076666240736) {
|
||||
out_6923511076666240736[0] = 0;
|
||||
out_6923511076666240736[1] = 0;
|
||||
out_6923511076666240736[2] = 0;
|
||||
out_6923511076666240736[3] = 0;
|
||||
out_6923511076666240736[4] = 0;
|
||||
out_6923511076666240736[5] = 0;
|
||||
out_6923511076666240736[6] = 0;
|
||||
out_6923511076666240736[7] = 0;
|
||||
out_6923511076666240736[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_3427823008034780315) {
|
||||
out_3427823008034780315[0] = 0;
|
||||
out_3427823008034780315[1] = 0;
|
||||
out_3427823008034780315[2] = 0;
|
||||
out_3427823008034780315[3] = 0;
|
||||
out_3427823008034780315[4] = 0;
|
||||
out_3427823008034780315[5] = 0;
|
||||
out_3427823008034780315[6] = 0;
|
||||
out_3427823008034780315[7] = 0;
|
||||
out_3427823008034780315[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_7890812005855138291) {
|
||||
err_fun(nom_x, delta_x, out_7890812005855138291);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_786078590364264470) {
|
||||
err_fun(nom_x, delta_x, out_786078590364264470);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1799861052992404131) {
|
||||
inv_err_fun(nom_x, true_x, out_1799861052992404131);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5919995043477341165) {
|
||||
inv_err_fun(nom_x, true_x, out_5919995043477341165);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_3019605320337164716) {
|
||||
H_mod_fun(state, out_3019605320337164716);
|
||||
void car_H_mod_fun(double *state, double *out_3543183180667111266) {
|
||||
H_mod_fun(state, out_3543183180667111266);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_5784340983378173671) {
|
||||
f_fun(state, dt, out_5784340983378173671);
|
||||
void car_f_fun(double *state, double dt, double *out_1497117634121373884) {
|
||||
f_fun(state, dt, out_1497117634121373884);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_3386400791859586202) {
|
||||
F_fun(state, dt, out_3386400791859586202);
|
||||
void car_F_fun(double *state, double dt, double *out_7787221922284321900) {
|
||||
F_fun(state, dt, out_7787221922284321900);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_7212104341795181307) {
|
||||
h_25(state, unused, out_7212104341795181307);
|
||||
void car_h_25(double *state, double *unused, double *out_6182971352921756001) {
|
||||
h_25(state, unused, out_6182971352921756001);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_7155521575935903180) {
|
||||
H_25(state, unused, out_7155521575935903180);
|
||||
void car_H_25(double *state, double *unused, double *out_3458468969911740743) {
|
||||
H_25(state, unused, out_3458468969911740743);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_8877922091574990347) {
|
||||
h_24(state, unused, out_8877922091574990347);
|
||||
void car_h_24(double *state, double *unused, double *out_1709075460934367585) {
|
||||
h_24(state, unused, out_1709075460934367585);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_4978307152328753207) {
|
||||
H_24(state, unused, out_4978307152328753207);
|
||||
void car_H_24(double *state, double *unused, double *out_5631118568917240309) {
|
||||
H_24(state, unused, out_5631118568917240309);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_5761472949166298140) {
|
||||
h_30(state, unused, out_5761472949166298140);
|
||||
void car_h_30(double *state, double *unused, double *out_2313689328341983991) {
|
||||
h_30(state, unused, out_2313689328341983991);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_6763526167646040238) {
|
||||
H_30(state, unused, out_6763526167646040238);
|
||||
void car_H_30(double *state, double *unused, double *out_3458221371579876012) {
|
||||
H_30(state, unused, out_3458221371579876012);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_6429446402584206222) {
|
||||
h_26(state, unused, out_6429446402584206222);
|
||||
void car_h_26(double *state, double *unused, double *out_7458579391457631528) {
|
||||
h_26(state, unused, out_7458579391457631528);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_7549719178899592212) {
|
||||
H_26(state, unused, out_7549719178899592212);
|
||||
void car_H_26(double *state, double *unused, double *out_7199972288785796967) {
|
||||
H_26(state, unused, out_7199972288785796967);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_4399552238525327924) {
|
||||
h_27(state, unused, out_4399552238525327924);
|
||||
void car_h_27(double *state, double *unused, double *out_3146185301477423316) {
|
||||
h_27(state, unused, out_3146185301477423316);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_4588762855845615327) {
|
||||
H_27(state, unused, out_4588762855845615327);
|
||||
void car_H_27(double *state, double *unused, double *out_1283458059779451101) {
|
||||
H_27(state, unused, out_1283458059779451101);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_7683597856882407831) {
|
||||
h_29(state, unused, out_7683597856882407831);
|
||||
void car_h_29(double *state, double *unused, double *out_2687983939318861654) {
|
||||
h_29(state, unused, out_2687983939318861654);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_7273757511960432422) {
|
||||
H_29(state, unused, out_7273757511960432422);
|
||||
void car_H_29(double *state, double *unused, double *out_429904667090099932) {
|
||||
H_29(state, unused, out_429904667090099932);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_2603210465267737855) {
|
||||
h_28(state, unused, out_2603210465267737855);
|
||||
void car_h_28(double *state, double *unused, double *out_7768371330933531630) {
|
||||
h_28(state, unused, out_7768371330933531630);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_9209356290183792943) {
|
||||
H_28(state, unused, out_9209356290183792943);
|
||||
void car_H_28(double *state, double *unused, double *out_5512303684159630506) {
|
||||
H_28(state, unused, out_5512303684159630506);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_4463804505564019373) {
|
||||
h_31(state, unused, out_4463804505564019373);
|
||||
void car_h_31(double *state, double *unused, double *out_5907777290637250112) {
|
||||
h_31(state, unused, out_5907777290637250112);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_6923511076666240736) {
|
||||
H_31(state, unused, out_6923511076666240736);
|
||||
void car_H_31(double *state, double *unused, double *out_3427823008034780315) {
|
||||
H_31(state, unused, out_3427823008034780315);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
Reference in New Issue
Block a user