mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-03-01 17:53:52 +08:00
ea800c8f74
version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-03-27T06:11:06 dp-dev(priv2) master commit: 0a08aa2b73a505e11e4c98ac6c5989464b7d339f
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 1.9 *
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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_559111814741085424) {
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out_559111814741085424[0] = delta_x[0] + nom_x[0];
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out_559111814741085424[1] = delta_x[1] + nom_x[1];
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out_559111814741085424[2] = delta_x[2] + nom_x[2];
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out_559111814741085424[3] = delta_x[3] + nom_x[3];
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out_559111814741085424[4] = delta_x[4] + nom_x[4];
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out_559111814741085424[5] = delta_x[5] + nom_x[5];
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out_559111814741085424[6] = delta_x[6] + nom_x[6];
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out_559111814741085424[7] = delta_x[7] + nom_x[7];
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out_559111814741085424[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_8525802223358923727) {
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out_8525802223358923727[0] = -nom_x[0] + true_x[0];
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out_8525802223358923727[1] = -nom_x[1] + true_x[1];
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out_8525802223358923727[2] = -nom_x[2] + true_x[2];
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out_8525802223358923727[3] = -nom_x[3] + true_x[3];
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out_8525802223358923727[4] = -nom_x[4] + true_x[4];
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out_8525802223358923727[5] = -nom_x[5] + true_x[5];
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out_8525802223358923727[6] = -nom_x[6] + true_x[6];
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out_8525802223358923727[7] = -nom_x[7] + true_x[7];
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out_8525802223358923727[8] = -nom_x[8] + true_x[8];
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}
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void H_mod_fun(double *state, double *out_6521334698987505192) {
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out_6521334698987505192[0] = 1.0;
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out_6521334698987505192[1] = 0;
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out_6521334698987505192[2] = 0;
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out_6521334698987505192[3] = 0;
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out_6521334698987505192[4] = 0;
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out_6521334698987505192[5] = 0;
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out_6521334698987505192[6] = 0;
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out_6521334698987505192[7] = 0;
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out_6521334698987505192[8] = 0;
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out_6521334698987505192[9] = 0;
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out_6521334698987505192[10] = 1.0;
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out_6521334698987505192[11] = 0;
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out_6521334698987505192[12] = 0;
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out_6521334698987505192[13] = 0;
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out_6521334698987505192[14] = 0;
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out_6521334698987505192[15] = 0;
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out_6521334698987505192[16] = 0;
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out_6521334698987505192[17] = 0;
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out_6521334698987505192[18] = 0;
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out_6521334698987505192[19] = 0;
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out_6521334698987505192[20] = 1.0;
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out_6521334698987505192[21] = 0;
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out_6521334698987505192[22] = 0;
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out_6521334698987505192[23] = 0;
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out_6521334698987505192[24] = 0;
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out_6521334698987505192[25] = 0;
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out_6521334698987505192[26] = 0;
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out_6521334698987505192[27] = 0;
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out_6521334698987505192[28] = 0;
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out_6521334698987505192[29] = 0;
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out_6521334698987505192[30] = 1.0;
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out_6521334698987505192[31] = 0;
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out_6521334698987505192[32] = 0;
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out_6521334698987505192[33] = 0;
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out_6521334698987505192[34] = 0;
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out_6521334698987505192[35] = 0;
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out_6521334698987505192[36] = 0;
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out_6521334698987505192[37] = 0;
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out_6521334698987505192[38] = 0;
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out_6521334698987505192[39] = 0;
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out_6521334698987505192[40] = 1.0;
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out_6521334698987505192[41] = 0;
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out_6521334698987505192[42] = 0;
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out_6521334698987505192[43] = 0;
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out_6521334698987505192[44] = 0;
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out_6521334698987505192[45] = 0;
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out_6521334698987505192[46] = 0;
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out_6521334698987505192[47] = 0;
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out_6521334698987505192[48] = 0;
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out_6521334698987505192[49] = 0;
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out_6521334698987505192[50] = 1.0;
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out_6521334698987505192[51] = 0;
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out_6521334698987505192[52] = 0;
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out_6521334698987505192[53] = 0;
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out_6521334698987505192[54] = 0;
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out_6521334698987505192[55] = 0;
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out_6521334698987505192[56] = 0;
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out_6521334698987505192[57] = 0;
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out_6521334698987505192[58] = 0;
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out_6521334698987505192[59] = 0;
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out_6521334698987505192[60] = 1.0;
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out_6521334698987505192[61] = 0;
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out_6521334698987505192[62] = 0;
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out_6521334698987505192[63] = 0;
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out_6521334698987505192[64] = 0;
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out_6521334698987505192[65] = 0;
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out_6521334698987505192[66] = 0;
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out_6521334698987505192[67] = 0;
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out_6521334698987505192[68] = 0;
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out_6521334698987505192[69] = 0;
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out_6521334698987505192[70] = 1.0;
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out_6521334698987505192[71] = 0;
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out_6521334698987505192[72] = 0;
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out_6521334698987505192[73] = 0;
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out_6521334698987505192[74] = 0;
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out_6521334698987505192[75] = 0;
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out_6521334698987505192[76] = 0;
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out_6521334698987505192[77] = 0;
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out_6521334698987505192[78] = 0;
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out_6521334698987505192[79] = 0;
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out_6521334698987505192[80] = 1.0;
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}
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void f_fun(double *state, double dt, double *out_5157815911269073647) {
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out_5157815911269073647[0] = state[0];
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out_5157815911269073647[1] = state[1];
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out_5157815911269073647[2] = state[2];
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out_5157815911269073647[3] = state[3];
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out_5157815911269073647[4] = state[4];
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out_5157815911269073647[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];
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out_5157815911269073647[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_5157815911269073647[7] = state[7];
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out_5157815911269073647[8] = state[8];
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}
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void F_fun(double *state, double dt, double *out_4341564588224271600) {
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out_4341564588224271600[0] = 1;
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out_4341564588224271600[1] = 0;
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out_4341564588224271600[2] = 0;
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out_4341564588224271600[3] = 0;
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out_4341564588224271600[4] = 0;
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out_4341564588224271600[5] = 0;
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out_4341564588224271600[6] = 0;
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out_4341564588224271600[7] = 0;
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out_4341564588224271600[8] = 0;
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out_4341564588224271600[9] = 0;
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out_4341564588224271600[10] = 1;
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out_4341564588224271600[11] = 0;
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out_4341564588224271600[12] = 0;
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out_4341564588224271600[13] = 0;
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out_4341564588224271600[14] = 0;
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out_4341564588224271600[15] = 0;
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out_4341564588224271600[16] = 0;
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out_4341564588224271600[17] = 0;
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out_4341564588224271600[18] = 0;
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out_4341564588224271600[19] = 0;
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out_4341564588224271600[20] = 1;
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out_4341564588224271600[21] = 0;
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out_4341564588224271600[22] = 0;
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out_4341564588224271600[23] = 0;
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out_4341564588224271600[24] = 0;
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out_4341564588224271600[25] = 0;
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out_4341564588224271600[26] = 0;
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out_4341564588224271600[27] = 0;
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out_4341564588224271600[28] = 0;
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out_4341564588224271600[29] = 0;
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out_4341564588224271600[30] = 1;
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out_4341564588224271600[31] = 0;
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out_4341564588224271600[32] = 0;
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out_4341564588224271600[33] = 0;
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out_4341564588224271600[34] = 0;
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out_4341564588224271600[35] = 0;
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out_4341564588224271600[36] = 0;
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out_4341564588224271600[37] = 0;
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out_4341564588224271600[38] = 0;
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out_4341564588224271600[39] = 0;
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out_4341564588224271600[40] = 1;
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out_4341564588224271600[41] = 0;
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out_4341564588224271600[42] = 0;
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out_4341564588224271600[43] = 0;
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out_4341564588224271600[44] = 0;
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out_4341564588224271600[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_4341564588224271600[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
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out_4341564588224271600[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
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out_4341564588224271600[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
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out_4341564588224271600[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_4341564588224271600[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
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out_4341564588224271600[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_4341564588224271600[52] = dt*stiffness_front*state[0]/(mass*state[1]);
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out_4341564588224271600[53] = -9.8000000000000007*dt;
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out_4341564588224271600[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_4341564588224271600[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_4341564588224271600[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
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out_4341564588224271600[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
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out_4341564588224271600[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_4341564588224271600[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_4341564588224271600[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_4341564588224271600[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
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out_4341564588224271600[62] = 0;
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out_4341564588224271600[63] = 0;
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out_4341564588224271600[64] = 0;
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out_4341564588224271600[65] = 0;
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out_4341564588224271600[66] = 0;
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out_4341564588224271600[67] = 0;
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out_4341564588224271600[68] = 0;
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out_4341564588224271600[69] = 0;
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out_4341564588224271600[70] = 1;
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out_4341564588224271600[71] = 0;
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out_4341564588224271600[72] = 0;
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out_4341564588224271600[73] = 0;
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out_4341564588224271600[74] = 0;
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out_4341564588224271600[75] = 0;
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out_4341564588224271600[76] = 0;
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out_4341564588224271600[77] = 0;
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out_4341564588224271600[78] = 0;
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out_4341564588224271600[79] = 0;
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out_4341564588224271600[80] = 1;
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}
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void h_25(double *state, double *unused, double *out_8809968363646297090) {
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out_8809968363646297090[0] = state[6];
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}
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void H_25(double *state, double *unused, double *out_1959634654218019643) {
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out_1959634654218019643[0] = 0;
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out_1959634654218019643[1] = 0;
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out_1959634654218019643[2] = 0;
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out_1959634654218019643[3] = 0;
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out_1959634654218019643[4] = 0;
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out_1959634654218019643[5] = 0;
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out_1959634654218019643[6] = 1;
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out_1959634654218019643[7] = 0;
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out_1959634654218019643[8] = 0;
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}
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void h_24(double *state, double *unused, double *out_8028835485487409495) {
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out_8028835485487409495[0] = state[4];
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out_8028835485487409495[1] = state[5];
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}
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void H_24(double *state, double *unused, double *out_2786874672748489391) {
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out_2786874672748489391[0] = 0;
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out_2786874672748489391[1] = 0;
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out_2786874672748489391[2] = 0;
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out_2786874672748489391[3] = 0;
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out_2786874672748489391[4] = 1;
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out_2786874672748489391[5] = 0;
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out_2786874672748489391[6] = 0;
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out_2786874672748489391[7] = 0;
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out_2786874672748489391[8] = 0;
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out_2786874672748489391[9] = 0;
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out_2786874672748489391[10] = 0;
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out_2786874672748489391[11] = 0;
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out_2786874672748489391[12] = 0;
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out_2786874672748489391[13] = 0;
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out_2786874672748489391[14] = 1;
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out_2786874672748489391[15] = 0;
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out_2786874672748489391[16] = 0;
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out_2786874672748489391[17] = 0;
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}
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void h_30(double *state, double *unused, double *out_8967155031997426235) {
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out_8967155031997426235[0] = state[4];
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}
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void H_30(double *state, double *unused, double *out_4477967612725268270) {
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out_4477967612725268270[0] = 0;
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out_4477967612725268270[1] = 0;
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out_4477967612725268270[2] = 0;
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out_4477967612725268270[3] = 0;
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out_4477967612725268270[4] = 1;
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out_4477967612725268270[5] = 0;
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out_4477967612725268270[6] = 0;
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out_4477967612725268270[7] = 0;
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out_4477967612725268270[8] = 0;
|
|
}
|
|
void h_26(double *state, double *unused, double *out_4004775034316133003) {
|
|
out_4004775034316133003[0] = state[7];
|
|
}
|
|
void H_26(double *state, double *unused, double *out_5264160623978820244) {
|
|
out_5264160623978820244[0] = 0;
|
|
out_5264160623978820244[1] = 0;
|
|
out_5264160623978820244[2] = 0;
|
|
out_5264160623978820244[3] = 0;
|
|
out_5264160623978820244[4] = 0;
|
|
out_5264160623978820244[5] = 0;
|
|
out_5264160623978820244[6] = 0;
|
|
out_5264160623978820244[7] = 1;
|
|
out_5264160623978820244[8] = 0;
|
|
}
|
|
void h_27(double *state, double *unused, double *out_6824223606793401143) {
|
|
out_6824223606793401143[0] = state[3];
|
|
}
|
|
void H_27(double *state, double *unused, double *out_2303204300924843359) {
|
|
out_2303204300924843359[0] = 0;
|
|
out_2303204300924843359[1] = 0;
|
|
out_2303204300924843359[2] = 0;
|
|
out_2303204300924843359[3] = 1;
|
|
out_2303204300924843359[4] = 0;
|
|
out_2303204300924843359[5] = 0;
|
|
out_2303204300924843359[6] = 0;
|
|
out_2303204300924843359[7] = 0;
|
|
out_2303204300924843359[8] = 0;
|
|
}
|
|
void h_29(double *state, double *unused, double *out_53388380443050207) {
|
|
out_53388380443050207[0] = state[1];
|
|
}
|
|
void H_29(double *state, double *unused, double *out_4988198957039660454) {
|
|
out_4988198957039660454[0] = 0;
|
|
out_4988198957039660454[1] = 1;
|
|
out_4988198957039660454[2] = 0;
|
|
out_4988198957039660454[3] = 0;
|
|
out_4988198957039660454[4] = 0;
|
|
out_4988198957039660454[5] = 0;
|
|
out_4988198957039660454[6] = 0;
|
|
out_4988198957039660454[7] = 0;
|
|
out_4988198957039660454[8] = 0;
|
|
}
|
|
void h_28(double *state, double *unused, double *out_6620847199255304828) {
|
|
out_6620847199255304828[0] = state[0];
|
|
}
|
|
void H_28(double *state, double *unused, double *out_94200060029870120) {
|
|
out_94200060029870120[0] = 1;
|
|
out_94200060029870120[1] = 0;
|
|
out_94200060029870120[2] = 0;
|
|
out_94200060029870120[3] = 0;
|
|
out_94200060029870120[4] = 0;
|
|
out_94200060029870120[5] = 0;
|
|
out_94200060029870120[6] = 0;
|
|
out_94200060029870120[7] = 0;
|
|
out_94200060029870120[8] = 0;
|
|
}
|
|
void h_31(double *state, double *unused, double *out_9085162425930802979) {
|
|
out_9085162425930802979[0] = state[8];
|
|
}
|
|
void H_31(double *state, double *unused, double *out_4637952521745468768) {
|
|
out_4637952521745468768[0] = 0;
|
|
out_4637952521745468768[1] = 0;
|
|
out_4637952521745468768[2] = 0;
|
|
out_4637952521745468768[3] = 0;
|
|
out_4637952521745468768[4] = 0;
|
|
out_4637952521745468768[5] = 0;
|
|
out_4637952521745468768[6] = 0;
|
|
out_4637952521745468768[7] = 0;
|
|
out_4637952521745468768[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_559111814741085424) {
|
|
err_fun(nom_x, delta_x, out_559111814741085424);
|
|
}
|
|
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8525802223358923727) {
|
|
inv_err_fun(nom_x, true_x, out_8525802223358923727);
|
|
}
|
|
void car_H_mod_fun(double *state, double *out_6521334698987505192) {
|
|
H_mod_fun(state, out_6521334698987505192);
|
|
}
|
|
void car_f_fun(double *state, double dt, double *out_5157815911269073647) {
|
|
f_fun(state, dt, out_5157815911269073647);
|
|
}
|
|
void car_F_fun(double *state, double dt, double *out_4341564588224271600) {
|
|
F_fun(state, dt, out_4341564588224271600);
|
|
}
|
|
void car_h_25(double *state, double *unused, double *out_8809968363646297090) {
|
|
h_25(state, unused, out_8809968363646297090);
|
|
}
|
|
void car_H_25(double *state, double *unused, double *out_1959634654218019643) {
|
|
H_25(state, unused, out_1959634654218019643);
|
|
}
|
|
void car_h_24(double *state, double *unused, double *out_8028835485487409495) {
|
|
h_24(state, unused, out_8028835485487409495);
|
|
}
|
|
void car_H_24(double *state, double *unused, double *out_2786874672748489391) {
|
|
H_24(state, unused, out_2786874672748489391);
|
|
}
|
|
void car_h_30(double *state, double *unused, double *out_8967155031997426235) {
|
|
h_30(state, unused, out_8967155031997426235);
|
|
}
|
|
void car_H_30(double *state, double *unused, double *out_4477967612725268270) {
|
|
H_30(state, unused, out_4477967612725268270);
|
|
}
|
|
void car_h_26(double *state, double *unused, double *out_4004775034316133003) {
|
|
h_26(state, unused, out_4004775034316133003);
|
|
}
|
|
void car_H_26(double *state, double *unused, double *out_5264160623978820244) {
|
|
H_26(state, unused, out_5264160623978820244);
|
|
}
|
|
void car_h_27(double *state, double *unused, double *out_6824223606793401143) {
|
|
h_27(state, unused, out_6824223606793401143);
|
|
}
|
|
void car_H_27(double *state, double *unused, double *out_2303204300924843359) {
|
|
H_27(state, unused, out_2303204300924843359);
|
|
}
|
|
void car_h_29(double *state, double *unused, double *out_53388380443050207) {
|
|
h_29(state, unused, out_53388380443050207);
|
|
}
|
|
void car_H_29(double *state, double *unused, double *out_4988198957039660454) {
|
|
H_29(state, unused, out_4988198957039660454);
|
|
}
|
|
void car_h_28(double *state, double *unused, double *out_6620847199255304828) {
|
|
h_28(state, unused, out_6620847199255304828);
|
|
}
|
|
void car_H_28(double *state, double *unused, double *out_94200060029870120) {
|
|
H_28(state, unused, out_94200060029870120);
|
|
}
|
|
void car_h_31(double *state, double *unused, double *out_9085162425930802979) {
|
|
h_31(state, unused, out_9085162425930802979);
|
|
}
|
|
void car_H_31(double *state, double *unused, double *out_4637952521745468768) {
|
|
H_31(state, unused, out_4637952521745468768);
|
|
}
|
|
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_init(car);
|