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EKF2: Error-State Kalman Filter (#22262)

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* ekf derivation: change to error state formulation
* ekf2: update auto-generated code for error-state
* ekf2: adjust ekf2 code for error state formulation
* ekf2_tests: adjust unit tests for error-state EKF
* update change indicator for error-state EKF
* ekf2_derivation: allow disabling mag and wind states

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
This commit is contained in:
Mathieu Bresciani
2023-10-31 15:02:18 +01:00
committed by GitHub
parent d7f388e590
commit 0d6c2c8ce9
51 changed files with 2667 additions and 4089 deletions
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src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
+123 -111
View File
@@ -55,7 +55,7 @@ args = parser.parse_args()
# The state vector is organized in an ordered dictionary
State = Values(
quat_nominal = sf.V4(),
quat_nominal = sf.Rot3(),
vel = sf.V3(),
pos = sf.V3(),
gyro_bias = sf.V3(),
@@ -99,9 +99,11 @@ class VTangent(sf.Matrix):
class MTangent(sf.Matrix):
SHAPE = (State.tangent_dim(), State.tangent_dim())
def state_to_rot3(state: Values):
q = sf.Quaternion(sf.V3(state["quat_nominal"][1], state["quat_nominal"][2], state["quat_nominal"][3]), state["quat_nominal"][0])
return sf.Rot3(q)
def vstate_to_state(v: VState):
state = State.from_storage(v)
q_px4 = state["quat_nominal"].to_storage()
state["quat_nominal"] = sf.Rot3(sf.Quaternion(xyz=sf.V3(q_px4[1], q_px4[2], q_px4[3]), w=q_px4[0]))
return state
def predict_covariance(
state: VState,
@@ -114,33 +116,80 @@ def predict_covariance(
d_ang_var: sf.Scalar
) -> MTangent:
state = State.from_storage(state)
state = vstate_to_state(state)
g = sf.Symbol("g") # does not appear in the jacobians
d_vel_b = state["accel_bias"] * d_vel_dt
d_vel_true = d_vel - d_vel_b
state_error = Values(
theta = sf.V3.symbolic("delta_theta"),
vel = sf.V3.symbolic("delta_v"),
pos = sf.V3.symbolic("delta_p"),
gyro_bias = sf.V3.symbolic("delta_w_b"),
accel_bias = sf.V3.symbolic("delta_a_b"),
mag_I = sf.V3.symbolic("mag_I"),
mag_B = sf.V3.symbolic("mag_B"),
wind_vel = sf.V2.symbolic("wind_vel")
)
d_ang_b = state["gyro_bias"] * d_ang_dt
d_ang_true = d_ang - d_ang_b
if args.disable_mag:
del state_error["mag_I"]
del state_error["mag_B"]
q = sf.Quaternion(sf.V3(state["quat_nominal"][1], state["quat_nominal"][2], state["quat_nominal"][3]), state["quat_nominal"][0])
R_to_earth = state_to_rot3(state)
v = state["vel"]
p = state["pos"]
if args.disable_wind:
del state_error["wind_vel"]
q_new = q * sf.Quaternion(sf.V3(0.5 * d_ang_true[0], 0.5 * d_ang_true[1], 0.5 * d_ang_true[2]), 1)
v_new = v + R_to_earth * d_vel_true + sf.V3(0, 0, g) * d_vel_dt
p_new = p + v * d_vel_dt
# True state kinematics
state_t = Values()
# Predicted state vector at time t + dt
state_new = state.copy()
state_new["quat_nominal"] = sf.V4(q_new.w, q_new.x, q_new.y, q_new.z), # convert to Hamiltonian form
state_new["vel"] = v_new,
state_new["pos"] = p_new,
for key in state.keys():
if key == "quat_nominal":
# Create true quaternion using small angle approximation of the error rotation
state_t["quat_nominal"] = state["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(0.5 * state_error["theta"]), w=1))
else:
state_t[key] = state[key] + state_error[key]
noise = Values(
d_vel = sf.V3.symbolic("a_n"),
d_ang = sf.V3.symbolic("w_n"),
)
input_t = Values(
d_vel = d_vel - state_t["accel_bias"] * d_vel_dt - noise["d_vel"],
d_ang = d_ang - state_t["gyro_bias"] * d_ang_dt - noise["d_ang"]
)
R_t = state_t["quat_nominal"]
state_t_pred = state_t.copy()
state_t_pred["quat_nominal"] = state_t["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(0.5 * input_t["d_ang"]), w=1))
state_t_pred["vel"] = state_t["vel"] + R_t * input_t["d_vel"] + sf.V3(0, 0, g) * d_vel_dt
state_t_pred["pos"] = state_t["pos"] + state_t["vel"] * d_vel_dt
# Nominal state kinematics
input = Values(
d_vel = d_vel - state["accel_bias"] * d_vel_dt,
d_ang = d_ang - state["gyro_bias"] * d_ang_dt
)
R = state["quat_nominal"]
state_pred = state.copy()
state_pred["quat_nominal"] = state["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(0.5 * input["d_ang"]), w=1))
state_pred["vel"] = state["vel"] + R * input["d_vel"] + sf.V3(0, 0, g) * d_vel_dt
state_pred["pos"] = state["pos"] + state["vel"] * d_vel_dt
# Error state kinematics
state_error_pred = Values()
for key in state_error.keys():
if key == "theta":
delta_q = sf.Quaternion.from_storage(state_pred["quat_nominal"].to_storage()).conj() * sf.Quaternion.from_storage(state_t_pred["quat_nominal"].to_storage())
state_error_pred["theta"] = 2 * sf.V3(delta_q.x, delta_q.y, delta_q.z) # Use small angle approximation to obtain a simpler jacobian
else:
state_error_pred[key] = state_t_pred[key] - state_pred[key]
zero_state_error = {state_error[key]: state_error[key].zero() for key in state_error.keys()}
zero_noise = {noise[key]: noise[key].zero() for key in noise.keys()}
# State propagation jacobian
A = VState(state_new.to_storage()).jacobian(state, tangent_space = False)
G = VState(state_new.to_storage()).jacobian(sf.V6.block_matrix([[d_vel], [d_ang]]), tangent_space = False)
A = VTangent(state_error_pred.to_storage()).jacobian(state_error).subs(zero_state_error).subs(zero_noise)
G = VTangent(state_error_pred.to_storage()).jacobian(noise).subs(zero_state_error).subs(zero_noise)
# Covariance propagation
var_u = sf.Matrix.diag([d_vel_var[0], d_vel_var[1], d_vel_var[2], d_ang_var, d_ang_var, d_ang_var])
@@ -149,8 +198,8 @@ def predict_covariance(
# Generate the equations for the upper triangular matrix and the diagonal only
# Since the matrix is symmetric, the lower triangle does not need to be derived
# and can simply be copied in the implementation
for index in range(state.storage_dim()):
for j in range(state.storage_dim()):
for index in range(state.tangent_dim()):
for j in range(state.tangent_dim()):
if index > j:
P_new[index,j] = 0
@@ -164,14 +213,14 @@ def compute_airspeed_innov_and_innov_var(
epsilon: sf.Scalar
) -> (sf.Scalar, sf.Scalar):
state = State.from_storage(state)
state = vstate_to_state(state)
wind = sf.V3(state["wind_vel"][0], state["wind_vel"][1], 0.0)
vel_rel = state["vel"] - wind
airspeed_pred = vel_rel.norm(epsilon=epsilon)
innov = airspeed_pred - airspeed
H = sf.V1(airspeed_pred).jacobian(state, tangent_space=False)
H = sf.V1(airspeed_pred).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]
return (innov, innov_var)
@@ -183,11 +232,11 @@ def compute_airspeed_h_and_k(
epsilon: sf.Scalar
) -> (VTangent, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
wind = sf.V3(state["wind_vel"][0], state["wind_vel"][1], 0.0)
vel_rel = state["vel"] - wind
airspeed_pred = vel_rel.norm(epsilon=epsilon)
H = sf.V1(airspeed_pred).jacobian(state, tangent_space=False)
H = sf.V1(airspeed_pred).jacobian(state)
K = P * H.T / sf.Max(innov_var, epsilon)
@@ -229,7 +278,7 @@ def predict_sideslip(
wind = sf.V3(state["wind_vel"][0], state["wind_vel"][1], 0.0)
vel_rel = state["vel"] - wind
relative_wind_body = state_to_rot3(state).inverse() * vel_rel
relative_wind_body = state["quat_nominal"].inverse() * vel_rel
# Small angle approximation of side slip model
# Protect division by zero using epsilon
@@ -244,12 +293,12 @@ def compute_sideslip_innov_and_innov_var(
epsilon: sf.Scalar
) -> (sf.Scalar, sf.Scalar, sf.Scalar):
state = State.from_storage(state)
state = vstate_to_state(state)
sideslip_pred = predict_sideslip(state, epsilon);
innov = sideslip_pred - 0.0
H = sf.V1(sideslip_pred).jacobian(state, tangent_space=False)
H = sf.V1(sideslip_pred).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]
return (innov, innov_var)
@@ -261,10 +310,10 @@ def compute_sideslip_h_and_k(
epsilon: sf.Scalar
) -> (VTangent, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
sideslip_pred = predict_sideslip(state, epsilon);
H = sf.V1(sideslip_pred).jacobian(state, tangent_space=False)
H = sf.V1(sideslip_pred).jacobian(state)
K = P * H.T / sf.Max(innov_var, epsilon)
@@ -274,7 +323,7 @@ def predict_mag_body(state) -> sf.V3:
mag_field_earth = state["mag_I"]
mag_bias_body = state["mag_B"]
mag_body = state_to_rot3(state).inverse() * mag_field_earth + mag_bias_body
mag_body = state["quat_nominal"].inverse() * mag_field_earth + mag_bias_body
return mag_body
def compute_mag_innov_innov_var_and_hx(
@@ -285,17 +334,17 @@ def compute_mag_innov_innov_var_and_hx(
epsilon: sf.Scalar
) -> (sf.V3, sf.V3, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
meas_pred = predict_mag_body(state);
innov = meas_pred - meas
innov_var = sf.V3()
Hx = sf.V1(meas_pred[0]).jacobian(state, tangent_space=False)
Hx = sf.V1(meas_pred[0]).jacobian(state)
innov_var[0] = (Hx * P * Hx.T + R)[0,0]
Hy = sf.V1(meas_pred[1]).jacobian(state, tangent_space=False)
Hy = sf.V1(meas_pred[1]).jacobian(state)
innov_var[1] = (Hy * P * Hy.T + R)[0,0]
Hz = sf.V1(meas_pred[2]).jacobian(state, tangent_space=False)
Hz = sf.V1(meas_pred[2]).jacobian(state)
innov_var[2] = (Hz * P * Hz.T + R)[0,0]
return (innov, innov_var, Hx.T)
@@ -307,10 +356,10 @@ def compute_mag_y_innov_var_and_h(
epsilon: sf.Scalar
) -> (sf.Scalar, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
meas_pred = predict_mag_body(state);
H = sf.V1(meas_pred[1]).jacobian(state, tangent_space=False)
H = sf.V1(meas_pred[1]).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]
return (innov_var, H.T)
@@ -322,10 +371,10 @@ def compute_mag_z_innov_var_and_h(
epsilon: sf.Scalar
) -> (sf.Scalar, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
meas_pred = predict_mag_body(state);
H = sf.V1(meas_pred[2]).jacobian(state, tangent_space=False)
H = sf.V1(meas_pred[2]).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]
return (innov_var, H.T)
@@ -337,12 +386,12 @@ def compute_yaw_321_innov_var_and_h(
epsilon: sf.Scalar
) -> (sf.Scalar, VTangent):
state = State.from_storage(state)
R_to_earth = state_to_rot3(state).to_rotation_matrix()
state = vstate_to_state(state)
R_to_earth = state["quat_nominal"].to_rotation_matrix()
# Fix the singularity at pi/2 by inserting epsilon
meas_pred = sf.atan2(R_to_earth[1,0], R_to_earth[0,0], epsilon=epsilon)
H = sf.V1(meas_pred).jacobian(state, tangent_space=False)
H = sf.V1(meas_pred).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]
return (innov_var, H.T)
@@ -354,12 +403,12 @@ def compute_yaw_321_innov_var_and_h_alternate(
epsilon: sf.Scalar
) -> (sf.Scalar, VTangent):
state = State.from_storage(state)
R_to_earth = state_to_rot3(state).to_rotation_matrix()
state = vstate_to_state(state)
R_to_earth = state["quat_nominal"].to_rotation_matrix()
# Alternate form that has a singularity at yaw 0 instead of pi/2
meas_pred = sf.pi/2 - sf.atan2(R_to_earth[0,0], R_to_earth[1,0], epsilon=epsilon)
H = sf.V1(meas_pred).jacobian(state, tangent_space=False)
H = sf.V1(meas_pred).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]
return (innov_var, H.T)
@@ -371,12 +420,12 @@ def compute_yaw_312_innov_var_and_h(
epsilon: sf.Scalar
) -> (sf.Scalar, VTangent):
state = State.from_storage(state)
R_to_earth = state_to_rot3(state).to_rotation_matrix()
state = vstate_to_state(state)
R_to_earth = state["quat_nominal"].to_rotation_matrix()
# Alternate form to be used when close to pitch +-pi/2
meas_pred = sf.atan2(-R_to_earth[0,1], R_to_earth[1,1], epsilon=epsilon)
H = sf.V1(meas_pred).jacobian(state, tangent_space=False)
H = sf.V1(meas_pred).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]
return (innov_var, H.T)
@@ -388,12 +437,12 @@ def compute_yaw_312_innov_var_and_h_alternate(
epsilon: sf.Scalar
) -> (sf.Scalar, VTangent):
state = State.from_storage(state)
R_to_earth = state_to_rot3(state).to_rotation_matrix()
state = vstate_to_state(state)
R_to_earth = state["quat_nominal"].to_rotation_matrix()
# Alternate form to be used when close to pitch +-pi/2
meas_pred = sf.pi/2 - sf.atan2(-R_to_earth[1,1], R_to_earth[0,1], epsilon=epsilon)
H = sf.V1(meas_pred).jacobian(state, tangent_space=False)
H = sf.V1(meas_pred).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]
return (innov_var, H.T)
@@ -405,16 +454,16 @@ def compute_mag_declination_pred_innov_var_and_h(
epsilon: sf.Scalar
) -> (sf.Scalar, sf.Scalar, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
meas_pred = sf.atan2(state["mag_I"][1], state["mag_I"][0], epsilon=epsilon)
H = sf.V1(meas_pred).jacobian(state, tangent_space=False)
H = sf.V1(meas_pred).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]
return (meas_pred, innov_var, H.T)
def predict_opt_flow(state, distance, epsilon):
R_to_body = state_to_rot3(state).inverse()
R_to_body = state["quat_nominal"].inverse()
# Calculate earth relative velocity in a non-rotating sensor frame
rel_vel_sensor = R_to_body * state["vel"]
@@ -436,13 +485,13 @@ def compute_flow_xy_innov_var_and_hx(
R: sf.Scalar,
epsilon: sf.Scalar
) -> (sf.V2, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
meas_pred = predict_opt_flow(state, distance, epsilon);
innov_var = sf.V2()
Hx = sf.V1(meas_pred[0]).jacobian(state, tangent_space=False)
Hx = sf.V1(meas_pred[0]).jacobian(state)
innov_var[0] = (Hx * P * Hx.T + R)[0,0]
Hy = sf.V1(meas_pred[1]).jacobian(state, tangent_space=False)
Hy = sf.V1(meas_pred[1]).jacobian(state)
innov_var[1] = (Hy * P * Hy.T + R)[0,0]
return (innov_var, Hx.T)
@@ -454,10 +503,10 @@ def compute_flow_y_innov_var_and_h(
R: sf.Scalar,
epsilon: sf.Scalar
) -> (sf.Scalar, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
meas_pred = predict_opt_flow(state, distance, epsilon);
Hy = sf.V1(meas_pred[1]).jacobian(state, tangent_space=False)
Hy = sf.V1(meas_pred[1]).jacobian(state)
innov_var = (Hy * P * Hy.T + R)[0,0]
return (innov_var, Hy.T)
@@ -470,8 +519,8 @@ def compute_gnss_yaw_pred_innov_var_and_h(
epsilon: sf.Scalar
) -> (sf.Scalar, sf.Scalar, VTangent):
state = State.from_storage(state)
R_to_earth = state_to_rot3(state)
state = vstate_to_state(state)
R_to_earth = state["quat_nominal"]
# define antenna vector in body frame
ant_vec_bf = sf.V3(sf.cos(antenna_yaw_offset), sf.sin(antenna_yaw_offset), 0)
@@ -482,7 +531,7 @@ def compute_gnss_yaw_pred_innov_var_and_h(
# Calculate the yaw angle from the projection
meas_pred = sf.atan2(ant_vec_ef[1], ant_vec_ef[0], epsilon=epsilon)
H = sf.V1(meas_pred).jacobian(state, tangent_space=False)
H = sf.V1(meas_pred).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]
return (meas_pred, innov_var, H.T)
@@ -494,7 +543,7 @@ def predict_drag(
cm: sf.Scalar,
epsilon: sf.Scalar
) -> (sf.Scalar):
R_to_body = state_to_rot3(state).inverse()
R_to_body = state["quat_nominal"].inverse()
wind = sf.V3(state["wind_vel"][0], state["wind_vel"][1], 0.0)
vel_rel = state["vel"] - wind
@@ -517,9 +566,9 @@ def compute_drag_x_innov_var_and_k(
epsilon: sf.Scalar
) -> (sf.Scalar, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
meas_pred = predict_drag(state, rho, cd, cm, epsilon)
Hx = sf.V1(meas_pred[0]).jacobian(state, tangent_space=False)
Hx = sf.V1(meas_pred[0]).jacobian(state)
innov_var = (Hx * P * Hx.T + R)[0,0]
Ktotal = P * Hx.T / sf.Max(innov_var, epsilon)
K = VTangent()
@@ -537,9 +586,9 @@ def compute_drag_y_innov_var_and_k(
epsilon: sf.Scalar
) -> (sf.Scalar, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
meas_pred = predict_drag(state, rho, cd, cm, epsilon)
Hy = sf.V1(meas_pred[1]).jacobian(state, tangent_space=False)
Hy = sf.V1(meas_pred[1]).jacobian(state)
innov_var = (Hy * P * Hy.T + R)[0,0]
Ktotal = P * Hy.T / sf.Max(innov_var, epsilon)
K = VTangent()
@@ -555,9 +604,9 @@ def compute_gravity_innov_var_and_k_and_h(
epsilon: sf.Scalar
) -> (sf.V3, sf.V3, VTangent, VTangent, VTangent):
state = State.from_storage(state)
state = vstate_to_state(state)
# get transform from earth to body frame
R_to_body = state_to_rot3(state).inverse()
R_to_body = state["quat_nominal"].inverse()
# the innovation is the error between measured acceleration
# and predicted (body frame), assuming no body acceleration
@@ -571,46 +620,12 @@ def compute_gravity_innov_var_and_k_and_h(
# calculate observation jacobian (H), kalman gain (K), and innovation variance (S)
# for each axis
for i in range(3):
H = sf.V1(meas_pred[i]).jacobian(state, tangent_space=False)
H = sf.V1(meas_pred[i]).jacobian(state)
innov_var[i] = (H * P * H.T + R)[0,0]
K[i] = P * H.T / innov_var[i]
return (innov, innov_var, K[0], K[1], K[2])
def quat_var_to_rot_var(
state: VState,
P: MTangent,
epsilon: sf.Scalar
) -> sf.V3:
state = State.from_storage(state)
J = sf.V3(state_to_rot3(state).to_tangent(epsilon=epsilon)).jacobian(state, tangent_space=False)
rot_cov = J * P * J.T
return sf.V3(rot_cov[0, 0], rot_cov[1, 1], rot_cov[2, 2])
def rot_var_ned_to_lower_triangular_quat_cov(
state: VState,
rot_var_ned: sf.V3
) -> sf.M44:
# This function converts an attitude variance defined by a 3D vector in NED frame
# into a 4x4 covariance matrix representing the uncertainty on each of the 4 quaternion parameters
# Note: the resulting quaternion uncertainty is defined as a perturbation
# at the tip of the quaternion (i.e.:body-frame uncertainty)
state = State.from_storage(state)
q = state["quat_nominal"]
attitude = state_to_rot3(state)
J = q.jacobian(attitude)
# Convert uncertainties from NED to body frame
rot_cov_ned = sf.M33.diag(rot_var_ned)
adjoint = attitude.to_rotation_matrix() # the adjoint of SO(3) is simply the rotation matrix itself
rot_cov_body = adjoint.T * rot_cov_ned * adjoint
# Convert yaw (body) to quaternion parameter uncertainty
q_var = J * rot_cov_body * J.T
# Generate lower trangle only and copy it to the upper part in implementation (produces less code)
return q_var.lower_triangle()
print("Derive EKF2 equations...")
generate_px4_function(predict_covariance, output_names=None)
@@ -638,7 +653,4 @@ generate_px4_function(compute_flow_y_innov_var_and_h, output_names=["innov_var",
generate_px4_function(compute_gnss_yaw_pred_innov_var_and_h, output_names=["meas_pred", "innov_var", "H"])
generate_px4_function(compute_gravity_innov_var_and_k_and_h, output_names=["innov", "innov_var", "Kx", "Ky", "Kz"])
generate_px4_function(quat_var_to_rot_var, output_names=["rot_var"])
generate_px4_function(rot_var_ned_to_lower_triangular_quat_cov, output_names=["q_cov_lower_triangle"])
generate_px4_state(State, tangent_idx)
src/modules/ekf2/EKF/python/ekf_derivation/derivation_utils.py
+1 -1
View File
@@ -104,7 +104,7 @@ def build_state_struct(state, T="float"):
raise NotImplementedError
for key, val in state.items():
out += f"\t{TypeFromLength(len(val))} {key}{{}};\n"
out += f"\t{TypeFromLength(val.storage_dim())} {key}{{}};\n"
state_size = state.storage_dim()
out += f"\n\tmatrix::Vector<{T}, {state_size}> Data() const {{\n" \
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_h_and_k.h
+60 -62
View File
@@ -17,20 +17,20 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* innov_var: Scalar
* epsilon: Scalar
*
* Outputs:
* H: Matrix24_1
* K: Matrix24_1
* H: Matrix23_1
* K: Matrix23_1
*/
template <typename Scalar>
void ComputeAirspeedHAndK(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar innov_var,
const Scalar epsilon, matrix::Matrix<Scalar, 24, 1>* const H = nullptr,
matrix::Matrix<Scalar, 24, 1>* const K = nullptr) {
// Total ops: 256
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar innov_var,
const Scalar epsilon, matrix::Matrix<Scalar, 23, 1>* const H = nullptr,
matrix::Matrix<Scalar, 23, 1>* const K = nullptr) {
// Total ops: 246
// Input arrays
@@ -47,68 +47,66 @@ void ComputeAirspeedHAndK(const matrix::Matrix<Scalar, 24, 1>& state,
// Output terms (2)
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(4, 0) = _tmp3;
_h(5, 0) = _tmp4;
_h(6, 0) = _tmp5;
_h(22, 0) = -_tmp3;
_h(23, 0) = -_tmp4;
_h(3, 0) = _tmp3;
_h(4, 0) = _tmp4;
_h(5, 0) = _tmp5;
_h(21, 0) = -_tmp3;
_h(22, 0) = -_tmp4;
}
if (K != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _k = (*K);
matrix::Matrix<Scalar, 23, 1>& _k = (*K);
_k(0, 0) = _tmp6 * (-P(0, 22) * _tmp3 - P(0, 23) * _tmp4 + P(0, 4) * _tmp3 + P(0, 5) * _tmp4 +
P(0, 6) * _tmp5);
_k(1, 0) = _tmp6 * (-P(1, 22) * _tmp3 - P(1, 23) * _tmp4 + P(1, 4) * _tmp3 + P(1, 5) * _tmp4 +
P(1, 6) * _tmp5);
_k(2, 0) = _tmp6 * (-P(2, 22) * _tmp3 - P(2, 23) * _tmp4 + P(2, 4) * _tmp3 + P(2, 5) * _tmp4 +
P(2, 6) * _tmp5);
_k(3, 0) = _tmp6 * (-P(3, 22) * _tmp3 - P(3, 23) * _tmp4 + P(3, 4) * _tmp3 + P(3, 5) * _tmp4 +
P(3, 6) * _tmp5);
_k(4, 0) = _tmp6 * (-P(4, 22) * _tmp3 - P(4, 23) * _tmp4 + P(4, 4) * _tmp3 + P(4, 5) * _tmp4 +
P(4, 6) * _tmp5);
_k(5, 0) = _tmp6 * (-P(5, 22) * _tmp3 - P(5, 23) * _tmp4 + P(5, 4) * _tmp3 + P(5, 5) * _tmp4 +
P(5, 6) * _tmp5);
_k(6, 0) = _tmp6 * (-P(6, 22) * _tmp3 - P(6, 23) * _tmp4 + P(6, 4) * _tmp3 + P(6, 5) * _tmp4 +
P(6, 6) * _tmp5);
_k(7, 0) = _tmp6 * (-P(7, 22) * _tmp3 - P(7, 23) * _tmp4 + P(7, 4) * _tmp3 + P(7, 5) * _tmp4 +
P(7, 6) * _tmp5);
_k(8, 0) = _tmp6 * (-P(8, 22) * _tmp3 - P(8, 23) * _tmp4 + P(8, 4) * _tmp3 + P(8, 5) * _tmp4 +
P(8, 6) * _tmp5);
_k(9, 0) = _tmp6 * (-P(9, 22) * _tmp3 - P(9, 23) * _tmp4 + P(9, 4) * _tmp3 + P(9, 5) * _tmp4 +
P(9, 6) * _tmp5);
_k(10, 0) = _tmp6 * (-P(10, 22) * _tmp3 - P(10, 23) * _tmp4 + P(10, 4) * _tmp3 +
P(10, 5) * _tmp4 + P(10, 6) * _tmp5);
_k(11, 0) = _tmp6 * (-P(11, 22) * _tmp3 - P(11, 23) * _tmp4 + P(11, 4) * _tmp3 +
P(11, 5) * _tmp4 + P(11, 6) * _tmp5);
_k(12, 0) = _tmp6 * (-P(12, 22) * _tmp3 - P(12, 23) * _tmp4 + P(12, 4) * _tmp3 +
P(12, 5) * _tmp4 + P(12, 6) * _tmp5);
_k(13, 0) = _tmp6 * (-P(13, 22) * _tmp3 - P(13, 23) * _tmp4 + P(13, 4) * _tmp3 +
P(13, 5) * _tmp4 + P(13, 6) * _tmp5);
_k(14, 0) = _tmp6 * (-P(14, 22) * _tmp3 - P(14, 23) * _tmp4 + P(14, 4) * _tmp3 +
P(14, 5) * _tmp4 + P(14, 6) * _tmp5);
_k(15, 0) = _tmp6 * (-P(15, 22) * _tmp3 - P(15, 23) * _tmp4 + P(15, 4) * _tmp3 +
P(15, 5) * _tmp4 + P(15, 6) * _tmp5);
_k(16, 0) = _tmp6 * (-P(16, 22) * _tmp3 - P(16, 23) * _tmp4 + P(16, 4) * _tmp3 +
P(16, 5) * _tmp4 + P(16, 6) * _tmp5);
_k(17, 0) = _tmp6 * (-P(17, 22) * _tmp3 - P(17, 23) * _tmp4 + P(17, 4) * _tmp3 +
P(17, 5) * _tmp4 + P(17, 6) * _tmp5);
_k(18, 0) = _tmp6 * (-P(18, 22) * _tmp3 - P(18, 23) * _tmp4 + P(18, 4) * _tmp3 +
P(18, 5) * _tmp4 + P(18, 6) * _tmp5);
_k(19, 0) = _tmp6 * (-P(19, 22) * _tmp3 - P(19, 23) * _tmp4 + P(19, 4) * _tmp3 +
P(19, 5) * _tmp4 + P(19, 6) * _tmp5);
_k(20, 0) = _tmp6 * (-P(20, 22) * _tmp3 - P(20, 23) * _tmp4 + P(20, 4) * _tmp3 +
P(20, 5) * _tmp4 + P(20, 6) * _tmp5);
_k(21, 0) = _tmp6 * (-P(21, 22) * _tmp3 - P(21, 23) * _tmp4 + P(21, 4) * _tmp3 +
P(21, 5) * _tmp4 + P(21, 6) * _tmp5);
_k(22, 0) = _tmp6 * (-P(22, 22) * _tmp3 - P(22, 23) * _tmp4 + P(22, 4) * _tmp3 +
P(22, 5) * _tmp4 + P(22, 6) * _tmp5);
_k(23, 0) = _tmp6 * (-P(23, 22) * _tmp3 - P(23, 23) * _tmp4 + P(23, 4) * _tmp3 +
P(23, 5) * _tmp4 + P(23, 6) * _tmp5);
_k(0, 0) = _tmp6 * (-P(0, 21) * _tmp3 - P(0, 22) * _tmp4 + P(0, 3) * _tmp3 + P(0, 4) * _tmp4 +
P(0, 5) * _tmp5);
_k(1, 0) = _tmp6 * (-P(1, 21) * _tmp3 - P(1, 22) * _tmp4 + P(1, 3) * _tmp3 + P(1, 4) * _tmp4 +
P(1, 5) * _tmp5);
_k(2, 0) = _tmp6 * (-P(2, 21) * _tmp3 - P(2, 22) * _tmp4 + P(2, 3) * _tmp3 + P(2, 4) * _tmp4 +
P(2, 5) * _tmp5);
_k(3, 0) = _tmp6 * (-P(3, 21) * _tmp3 - P(3, 22) * _tmp4 + P(3, 3) * _tmp3 + P(3, 4) * _tmp4 +
P(3, 5) * _tmp5);
_k(4, 0) = _tmp6 * (-P(4, 21) * _tmp3 - P(4, 22) * _tmp4 + P(4, 3) * _tmp3 + P(4, 4) * _tmp4 +
P(4, 5) * _tmp5);
_k(5, 0) = _tmp6 * (-P(5, 21) * _tmp3 - P(5, 22) * _tmp4 + P(5, 3) * _tmp3 + P(5, 4) * _tmp4 +
P(5, 5) * _tmp5);
_k(6, 0) = _tmp6 * (-P(6, 21) * _tmp3 - P(6, 22) * _tmp4 + P(6, 3) * _tmp3 + P(6, 4) * _tmp4 +
P(6, 5) * _tmp5);
_k(7, 0) = _tmp6 * (-P(7, 21) * _tmp3 - P(7, 22) * _tmp4 + P(7, 3) * _tmp3 + P(7, 4) * _tmp4 +
P(7, 5) * _tmp5);
_k(8, 0) = _tmp6 * (-P(8, 21) * _tmp3 - P(8, 22) * _tmp4 + P(8, 3) * _tmp3 + P(8, 4) * _tmp4 +
P(8, 5) * _tmp5);
_k(9, 0) = _tmp6 * (-P(9, 21) * _tmp3 - P(9, 22) * _tmp4 + P(9, 3) * _tmp3 + P(9, 4) * _tmp4 +
P(9, 5) * _tmp5);
_k(10, 0) = _tmp6 * (-P(10, 21) * _tmp3 - P(10, 22) * _tmp4 + P(10, 3) * _tmp3 +
P(10, 4) * _tmp4 + P(10, 5) * _tmp5);
_k(11, 0) = _tmp6 * (-P(11, 21) * _tmp3 - P(11, 22) * _tmp4 + P(11, 3) * _tmp3 +
P(11, 4) * _tmp4 + P(11, 5) * _tmp5);
_k(12, 0) = _tmp6 * (-P(12, 21) * _tmp3 - P(12, 22) * _tmp4 + P(12, 3) * _tmp3 +
P(12, 4) * _tmp4 + P(12, 5) * _tmp5);
_k(13, 0) = _tmp6 * (-P(13, 21) * _tmp3 - P(13, 22) * _tmp4 + P(13, 3) * _tmp3 +
P(13, 4) * _tmp4 + P(13, 5) * _tmp5);
_k(14, 0) = _tmp6 * (-P(14, 21) * _tmp3 - P(14, 22) * _tmp4 + P(14, 3) * _tmp3 +
P(14, 4) * _tmp4 + P(14, 5) * _tmp5);
_k(15, 0) = _tmp6 * (-P(15, 21) * _tmp3 - P(15, 22) * _tmp4 + P(15, 3) * _tmp3 +
P(15, 4) * _tmp4 + P(15, 5) * _tmp5);
_k(16, 0) = _tmp6 * (-P(16, 21) * _tmp3 - P(16, 22) * _tmp4 + P(16, 3) * _tmp3 +
P(16, 4) * _tmp4 + P(16, 5) * _tmp5);
_k(17, 0) = _tmp6 * (-P(17, 21) * _tmp3 - P(17, 22) * _tmp4 + P(17, 3) * _tmp3 +
P(17, 4) * _tmp4 + P(17, 5) * _tmp5);
_k(18, 0) = _tmp6 * (-P(18, 21) * _tmp3 - P(18, 22) * _tmp4 + P(18, 3) * _tmp3 +
P(18, 4) * _tmp4 + P(18, 5) * _tmp5);
_k(19, 0) = _tmp6 * (-P(19, 21) * _tmp3 - P(19, 22) * _tmp4 + P(19, 3) * _tmp3 +
P(19, 4) * _tmp4 + P(19, 5) * _tmp5);
_k(20, 0) = _tmp6 * (-P(20, 21) * _tmp3 - P(20, 22) * _tmp4 + P(20, 3) * _tmp3 +
P(20, 4) * _tmp4 + P(20, 5) * _tmp5);
_k(21, 0) = _tmp6 * (-P(21, 21) * _tmp3 - P(21, 22) * _tmp4 + P(21, 3) * _tmp3 +
P(21, 4) * _tmp4 + P(21, 5) * _tmp5);
_k(22, 0) = _tmp6 * (-P(22, 21) * _tmp3 - P(22, 22) * _tmp4 + P(22, 3) * _tmp3 +
P(22, 4) * _tmp4 + P(22, 5) * _tmp5);
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h
+12 -12
View File
@@ -17,7 +17,7 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* airspeed: Scalar
* R: Scalar
* epsilon: Scalar
@@ -28,7 +28,7 @@ namespace sym {
*/
template <typename Scalar>
void ComputeAirspeedInnovAndInnovVar(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar airspeed,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar airspeed,
const Scalar R, const Scalar epsilon,
Scalar* const innov = nullptr,
Scalar* const innov_var = nullptr) {
@@ -57,16 +57,16 @@ void ComputeAirspeedInnovAndInnovVar(const matrix::Matrix<Scalar, 24, 1>& state,
Scalar& _innov_var = (*innov_var);
_innov_var = R +
_tmp4 * (-P(22, 6) * _tmp5 - P(23, 6) * _tmp6 + P(4, 6) * _tmp5 + P(5, 6) * _tmp6 +
P(6, 6) * _tmp4) -
_tmp5 * (-P(22, 22) * _tmp5 - P(23, 22) * _tmp6 + P(4, 22) * _tmp5 +
P(5, 22) * _tmp6 + P(6, 22) * _tmp4) +
_tmp5 * (-P(22, 4) * _tmp5 - P(23, 4) * _tmp6 + P(4, 4) * _tmp5 + P(5, 4) * _tmp6 +
P(6, 4) * _tmp4) -
_tmp6 * (-P(22, 23) * _tmp5 - P(23, 23) * _tmp6 + P(4, 23) * _tmp5 +
P(5, 23) * _tmp6 + P(6, 23) * _tmp4) +
_tmp6 * (-P(22, 5) * _tmp5 - P(23, 5) * _tmp6 + P(4, 5) * _tmp5 + P(5, 5) * _tmp6 +
P(6, 5) * _tmp4);
_tmp4 * (-P(21, 5) * _tmp5 - P(22, 5) * _tmp6 + P(3, 5) * _tmp5 + P(4, 5) * _tmp6 +
P(5, 5) * _tmp4) -
_tmp5 * (-P(21, 21) * _tmp5 - P(22, 21) * _tmp6 + P(3, 21) * _tmp5 +
P(4, 21) * _tmp6 + P(5, 21) * _tmp4) +
_tmp5 * (-P(21, 3) * _tmp5 - P(22, 3) * _tmp6 + P(3, 3) * _tmp5 + P(4, 3) * _tmp6 +
P(5, 3) * _tmp4) -
_tmp6 * (-P(21, 22) * _tmp5 - P(22, 22) * _tmp6 + P(3, 22) * _tmp5 +
P(4, 22) * _tmp6 + P(5, 22) * _tmp4) +
_tmp6 * (-P(21, 4) * _tmp5 - P(22, 4) * _tmp6 + P(3, 4) * _tmp5 + P(4, 4) * _tmp6 +
P(5, 4) * _tmp4);
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_k.h
+115 -126
View File
@@ -17,7 +17,7 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* rho: Scalar
* cd: Scalar
* cm: Scalar
@@ -26,134 +26,123 @@ namespace sym {
*
* Outputs:
* innov_var: Scalar
* K: Matrix24_1
* K: Matrix23_1
*/
template <typename Scalar>
void ComputeDragXInnovVarAndK(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar rho,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar rho,
const Scalar cd, const Scalar cm, const Scalar R,
const Scalar epsilon, Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const K = nullptr) {
// Total ops: 398
matrix::Matrix<Scalar, 23, 1>* const K = nullptr) {
// Total ops: 348
// Input arrays
// Intermediate terms (77)
const Scalar _tmp0 = -state(22, 0) + state(4, 0);
const Scalar _tmp1 = 4 * _tmp0;
const Scalar _tmp2 = -state(23, 0) + state(5, 0);
const Scalar _tmp3 = 2 * state(0, 0);
const Scalar _tmp4 = _tmp2 * _tmp3;
const Scalar _tmp5 = 2 * state(6, 0);
const Scalar _tmp6 = _tmp5 * state(1, 0);
const Scalar _tmp7 = -_tmp1 * state(3, 0) + _tmp4 + _tmp6;
const Scalar _tmp8 = 2 * state(2, 0);
const Scalar _tmp9 = _tmp2 * _tmp8;
const Scalar _tmp10 = 2 * state(1, 0);
const Scalar _tmp11 = _tmp0 * _tmp10;
const Scalar _tmp12 = _tmp8 * state(3, 0);
const Scalar _tmp13 = _tmp3 * state(1, 0);
const Scalar _tmp14 = _tmp12 - _tmp13;
const Scalar _tmp15 = _tmp8 * state(0, 0);
const Scalar _tmp16 = _tmp10 * state(3, 0);
const Scalar _tmp17 = _tmp15 + _tmp16;
const Scalar _tmp18 = -2 * std::pow(state(2, 0), Scalar(2));
const Scalar _tmp19 = 1 - 2 * std::pow(state(1, 0), Scalar(2));
const Scalar _tmp20 = _tmp18 + _tmp19;
const Scalar _tmp21 = _tmp0 * _tmp17 + _tmp14 * _tmp2 + _tmp20 * state(6, 0);
const Scalar _tmp22 = 2 * _tmp21;
const Scalar _tmp23 = _tmp0 * _tmp3;
const Scalar _tmp24 = 4 * _tmp2;
const Scalar _tmp25 = _tmp8 * state(6, 0);
const Scalar _tmp26 = -2 * std::pow(state(3, 0), Scalar(2));
const Scalar _tmp27 = _tmp19 + _tmp26;
const Scalar _tmp28 = _tmp3 * state(3, 0);
const Scalar _tmp29 = _tmp8 * state(1, 0);
const Scalar _tmp30 = -_tmp28 + _tmp29;
const Scalar _tmp31 = _tmp12 + _tmp13;
const Scalar _tmp32 = _tmp0 * _tmp30 + _tmp2 * _tmp27 + _tmp31 * state(6, 0);
const Scalar _tmp33 = 2 * _tmp32;
const Scalar _tmp34 = _tmp18 + _tmp26 + 1;
const Scalar _tmp35 = _tmp28 + _tmp29;
const Scalar _tmp36 = -_tmp15 + _tmp16;
const Scalar _tmp37 = _tmp0 * _tmp34 + _tmp2 * _tmp35 + _tmp36 * state(6, 0);
const Scalar _tmp38 = 2 * _tmp37;
const Scalar _tmp39 = std::sqrt(Scalar(std::pow(_tmp21, Scalar(2)) + std::pow(_tmp32, Scalar(2)) +
std::pow(_tmp37, Scalar(2)) + epsilon));
const Scalar _tmp40 = cd * rho;
const Scalar _tmp41 = Scalar(0.25) * _tmp37 * _tmp40 / _tmp39;
const Scalar _tmp42 = Scalar(0.5) * _tmp39 * _tmp40;
const Scalar _tmp43 =
-_tmp41 * (_tmp22 * (_tmp11 + _tmp9) + _tmp33 * (-_tmp23 - _tmp24 * state(3, 0) + _tmp25) +
_tmp38 * _tmp7) -
_tmp42 * _tmp7 - _tmp7 * cm;
const Scalar _tmp44 = _tmp35 * cm;
const Scalar _tmp45 = _tmp35 * _tmp38;
const Scalar _tmp46 = _tmp14 * _tmp22;
const Scalar _tmp47 = _tmp27 * _tmp33;
const Scalar _tmp48 = _tmp35 * _tmp42;
const Scalar _tmp49 = -_tmp41 * (-_tmp45 - _tmp46 - _tmp47) + _tmp44 + _tmp48;
const Scalar _tmp50 = -_tmp41 * (_tmp45 + _tmp46 + _tmp47) - _tmp44 - _tmp48;
const Scalar _tmp51 = _tmp5 * state(3, 0);
const Scalar _tmp52 = _tmp51 + _tmp9;
const Scalar _tmp53 = 2 * state(3, 0);
const Scalar _tmp54 = _tmp0 * _tmp53;
const Scalar _tmp55 = 4 * state(6, 0);
const Scalar _tmp56 = _tmp0 * _tmp8;
const Scalar _tmp57 = _tmp3 * state(6, 0);
const Scalar _tmp58 =
-_tmp41 * (_tmp22 * (-_tmp4 + _tmp54 - _tmp55 * state(1, 0)) +
_tmp33 * (-_tmp24 * state(1, 0) + _tmp56 + _tmp57) + _tmp38 * _tmp52) -
_tmp42 * _tmp52 - _tmp52 * cm;
const Scalar _tmp59 = _tmp10 * _tmp2;
const Scalar _tmp60 = -_tmp1 * state(2, 0) - _tmp57 + _tmp59;
const Scalar _tmp61 = _tmp2 * _tmp53;
const Scalar _tmp62 = -_tmp41 * (_tmp22 * (_tmp23 - _tmp55 * state(2, 0) + _tmp61) +
_tmp33 * (_tmp11 + _tmp51) + _tmp38 * _tmp60) -
_tmp42 * _tmp60 - _tmp60 * cm;
const Scalar _tmp63 = _tmp34 * cm;
const Scalar _tmp64 = _tmp34 * _tmp38;
const Scalar _tmp65 = _tmp17 * _tmp22;
const Scalar _tmp66 = _tmp30 * _tmp33;
const Scalar _tmp67 = _tmp34 * _tmp42;
const Scalar _tmp68 = -_tmp41 * (-_tmp64 - _tmp65 - _tmp66) + _tmp63 + _tmp67;
const Scalar _tmp69 = -_tmp25 + _tmp61;
const Scalar _tmp0 = 2 * state(0, 0);
const Scalar _tmp1 = _tmp0 * state(3, 0);
const Scalar _tmp2 = 2 * state(2, 0);
const Scalar _tmp3 = _tmp2 * state(1, 0);
const Scalar _tmp4 = _tmp1 + _tmp3;
const Scalar _tmp5 = _tmp4 * cm;
const Scalar _tmp6 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp7 = -2 * _tmp6;
const Scalar _tmp8 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp9 = -2 * _tmp8;
const Scalar _tmp10 = _tmp7 + _tmp9 + 1;
const Scalar _tmp11 = -state(22, 0) + state(4, 0);
const Scalar _tmp12 = -state(23, 0) + state(5, 0);
const Scalar _tmp13 = _tmp2 * state(0, 0);
const Scalar _tmp14 = -_tmp13;
const Scalar _tmp15 = 2 * state(1, 0) * state(3, 0);
const Scalar _tmp16 = _tmp14 + _tmp15;
const Scalar _tmp17 = _tmp12 * _tmp4 + _tmp16 * state(6, 0);
const Scalar _tmp18 = _tmp10 * _tmp11 + _tmp17;
const Scalar _tmp19 = 2 * _tmp18;
const Scalar _tmp20 = _tmp19 * _tmp4;
const Scalar _tmp21 = _tmp2 * state(3, 0);
const Scalar _tmp22 = _tmp0 * state(1, 0);
const Scalar _tmp23 = -_tmp22;
const Scalar _tmp24 = _tmp21 + _tmp23;
const Scalar _tmp25 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp26 = 1 - 2 * _tmp25;
const Scalar _tmp27 = _tmp26 + _tmp9;
const Scalar _tmp28 = _tmp13 + _tmp15;
const Scalar _tmp29 = _tmp11 * _tmp28 + _tmp12 * _tmp24;
const Scalar _tmp30 = _tmp27 * state(6, 0) + _tmp29;
const Scalar _tmp31 = 2 * _tmp30;
const Scalar _tmp32 = _tmp24 * _tmp31;
const Scalar _tmp33 = _tmp26 + _tmp7;
const Scalar _tmp34 = -_tmp1;
const Scalar _tmp35 = _tmp3 + _tmp34;
const Scalar _tmp36 = _tmp21 + _tmp22;
const Scalar _tmp37 = _tmp11 * _tmp35 + _tmp36 * state(6, 0);
const Scalar _tmp38 = _tmp12 * _tmp33 + _tmp37;
const Scalar _tmp39 = 2 * _tmp38;
const Scalar _tmp40 = _tmp33 * _tmp39;
const Scalar _tmp41 = std::sqrt(Scalar(std::pow(_tmp18, Scalar(2)) + std::pow(_tmp30, Scalar(2)) +
std::pow(_tmp38, Scalar(2)) + epsilon));
const Scalar _tmp42 = cd * rho;
const Scalar _tmp43 = Scalar(0.25) * _tmp18 * _tmp42 / _tmp41;
const Scalar _tmp44 = Scalar(0.5) * _tmp41 * _tmp42;
const Scalar _tmp45 = _tmp4 * _tmp44;
const Scalar _tmp46 = -_tmp43 * (_tmp20 + _tmp32 + _tmp40) - _tmp45 - _tmp5;
const Scalar _tmp47 = -_tmp25;
const Scalar _tmp48 = _tmp47 + _tmp6;
const Scalar _tmp49 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp50 = -_tmp49;
const Scalar _tmp51 = _tmp50 + _tmp8;
const Scalar _tmp52 = -_tmp3;
const Scalar _tmp53 = -_tmp15;
const Scalar _tmp54 = -_tmp6;
const Scalar _tmp55 = _tmp12 * (_tmp47 + _tmp49 + _tmp54 + _tmp8) + _tmp37;
const Scalar _tmp56 = -_tmp43 * (_tmp19 * _tmp55 + _tmp39 * (_tmp11 * (_tmp48 + _tmp51) +
_tmp12 * (_tmp34 + _tmp52) +
state(6, 0) * (_tmp13 + _tmp53))) -
_tmp44 * _tmp55 - _tmp55 * cm;
const Scalar _tmp57 = -_tmp43 * (-_tmp20 - _tmp32 - _tmp40) + _tmp45 + _tmp5;
const Scalar _tmp58 = _tmp10 * cm;
const Scalar _tmp59 = _tmp10 * _tmp19;
const Scalar _tmp60 = _tmp28 * _tmp31;
const Scalar _tmp61 = _tmp35 * _tmp39;
const Scalar _tmp62 = _tmp10 * _tmp44;
const Scalar _tmp63 = -_tmp43 * (-_tmp59 - _tmp60 - _tmp61) + _tmp58 + _tmp62;
const Scalar _tmp64 = -_tmp8;
const Scalar _tmp65 = -_tmp21;
const Scalar _tmp66 = _tmp49 + _tmp64;
const Scalar _tmp67 =
_tmp43 * (_tmp31 * (_tmp11 * (_tmp1 + _tmp52) + _tmp12 * (_tmp25 + _tmp50 + _tmp6 + _tmp64) +
state(6, 0) * (_tmp23 + _tmp65)) +
_tmp39 * (_tmp29 + state(6, 0) * (_tmp48 + _tmp66)));
const Scalar _tmp68 = _tmp25 + _tmp54;
const Scalar _tmp69 =
_tmp11 * (_tmp14 + _tmp53) + _tmp12 * (_tmp22 + _tmp65) + state(6, 0) * (_tmp51 + _tmp68);
const Scalar _tmp70 =
-_tmp41 * (_tmp22 * (_tmp56 - _tmp59) + _tmp33 * (-_tmp54 + _tmp6) + _tmp38 * _tmp69) -
_tmp42 * _tmp69 - _tmp69 * cm;
const Scalar _tmp71 = -_tmp41 * (_tmp64 + _tmp65 + _tmp66) - _tmp63 - _tmp67;
const Scalar _tmp72 = -_tmp36 * _tmp42 - _tmp36 * cm -
_tmp41 * (_tmp20 * _tmp22 + _tmp31 * _tmp33 + _tmp36 * _tmp38);
const Scalar _tmp73 = P(23, 23) * _tmp49;
const Scalar _tmp74 = P(22, 22) * _tmp68;
const Scalar _tmp75 = R +
_tmp43 * (P(0, 3) * _tmp70 + P(1, 3) * _tmp58 + P(2, 3) * _tmp62 +
P(22, 3) * _tmp68 + P(23, 3) * _tmp49 + P(3, 3) * _tmp43 +
P(4, 3) * _tmp71 + P(5, 3) * _tmp50 + P(6, 3) * _tmp72) +
_tmp49 * (P(0, 23) * _tmp70 + P(1, 23) * _tmp58 + P(2, 23) * _tmp62 +
P(22, 23) * _tmp68 + P(3, 23) * _tmp43 + P(4, 23) * _tmp71 +
P(5, 23) * _tmp50 + P(6, 23) * _tmp72 + _tmp73) +
_tmp50 * (P(0, 5) * _tmp70 + P(1, 5) * _tmp58 + P(2, 5) * _tmp62 +
P(22, 5) * _tmp68 + P(23, 5) * _tmp49 + P(3, 5) * _tmp43 +
P(4, 5) * _tmp71 + P(5, 5) * _tmp50 + P(6, 5) * _tmp72) +
_tmp58 * (P(0, 1) * _tmp70 + P(1, 1) * _tmp58 + P(2, 1) * _tmp62 +
P(22, 1) * _tmp68 + P(23, 1) * _tmp49 + P(3, 1) * _tmp43 +
P(4, 1) * _tmp71 + P(5, 1) * _tmp50 + P(6, 1) * _tmp72) +
_tmp62 * (P(0, 2) * _tmp70 + P(1, 2) * _tmp58 + P(2, 2) * _tmp62 +
P(22, 2) * _tmp68 + P(23, 2) * _tmp49 + P(3, 2) * _tmp43 +
P(4, 2) * _tmp71 + P(5, 2) * _tmp50 + P(6, 2) * _tmp72) +
_tmp68 * (P(0, 22) * _tmp70 + P(1, 22) * _tmp58 + P(2, 22) * _tmp62 +
P(23, 22) * _tmp49 + P(3, 22) * _tmp43 + P(4, 22) * _tmp71 +
P(5, 22) * _tmp50 + P(6, 22) * _tmp72 + _tmp74) +
_tmp70 * (P(0, 0) * _tmp70 + P(1, 0) * _tmp58 + P(2, 0) * _tmp62 +
P(22, 0) * _tmp68 + P(23, 0) * _tmp49 + P(3, 0) * _tmp43 +
P(4, 0) * _tmp71 + P(5, 0) * _tmp50 + P(6, 0) * _tmp72) +
_tmp71 * (P(0, 4) * _tmp70 + P(1, 4) * _tmp58 + P(2, 4) * _tmp62 +
P(22, 4) * _tmp68 + P(23, 4) * _tmp49 + P(3, 4) * _tmp43 +
P(4, 4) * _tmp71 + P(5, 4) * _tmp50 + P(6, 4) * _tmp72) +
_tmp72 * (P(0, 6) * _tmp70 + P(1, 6) * _tmp58 + P(2, 6) * _tmp62 +
P(22, 6) * _tmp68 + P(23, 6) * _tmp49 + P(3, 6) * _tmp43 +
P(4, 6) * _tmp71 + P(5, 6) * _tmp50 + P(6, 6) * _tmp72);
-_tmp43 * (_tmp19 * _tmp69 + _tmp31 * (_tmp11 * (_tmp66 + _tmp68) + _tmp17)) -
_tmp44 * _tmp69 - _tmp69 * cm;
const Scalar _tmp71 = -_tmp43 * (_tmp59 + _tmp60 + _tmp61) - _tmp58 - _tmp62;
const Scalar _tmp72 = -_tmp16 * _tmp44 - _tmp16 * cm -
_tmp43 * (_tmp16 * _tmp19 + _tmp27 * _tmp31 + _tmp36 * _tmp39);
const Scalar _tmp73 = P(21, 21) * _tmp63;
const Scalar _tmp74 = P(22, 22) * _tmp57;
const Scalar _tmp75 =
R +
_tmp46 * (-P(0, 4) * _tmp67 + P(1, 4) * _tmp70 + P(2, 4) * _tmp56 + P(21, 4) * _tmp63 +
P(22, 4) * _tmp57 + P(3, 4) * _tmp71 + P(4, 4) * _tmp46 + P(5, 4) * _tmp72) +
_tmp56 * (-P(0, 2) * _tmp67 + P(1, 2) * _tmp70 + P(2, 2) * _tmp56 + P(21, 2) * _tmp63 +
P(22, 2) * _tmp57 + P(3, 2) * _tmp71 + P(4, 2) * _tmp46 + P(5, 2) * _tmp72) +
_tmp57 * (-P(0, 22) * _tmp67 + P(1, 22) * _tmp70 + P(2, 22) * _tmp56 + P(21, 22) * _tmp63 +
P(3, 22) * _tmp71 + P(4, 22) * _tmp46 + P(5, 22) * _tmp72 + _tmp74) +
_tmp63 * (-P(0, 21) * _tmp67 + P(1, 21) * _tmp70 + P(2, 21) * _tmp56 + P(22, 21) * _tmp57 +
P(3, 21) * _tmp71 + P(4, 21) * _tmp46 + P(5, 21) * _tmp72 + _tmp73) -
_tmp67 * (-P(0, 0) * _tmp67 + P(1, 0) * _tmp70 + P(2, 0) * _tmp56 + P(21, 0) * _tmp63 +
P(22, 0) * _tmp57 + P(3, 0) * _tmp71 + P(4, 0) * _tmp46 + P(5, 0) * _tmp72) +
_tmp70 * (-P(0, 1) * _tmp67 + P(1, 1) * _tmp70 + P(2, 1) * _tmp56 + P(21, 1) * _tmp63 +
P(22, 1) * _tmp57 + P(3, 1) * _tmp71 + P(4, 1) * _tmp46 + P(5, 1) * _tmp72) +
_tmp71 * (-P(0, 3) * _tmp67 + P(1, 3) * _tmp70 + P(2, 3) * _tmp56 + P(21, 3) * _tmp63 +
P(22, 3) * _tmp57 + P(3, 3) * _tmp71 + P(4, 3) * _tmp46 + P(5, 3) * _tmp72) +
_tmp72 * (-P(0, 5) * _tmp67 + P(1, 5) * _tmp70 + P(2, 5) * _tmp56 + P(21, 5) * _tmp63 +
P(22, 5) * _tmp57 + P(3, 5) * _tmp71 + P(4, 5) * _tmp46 + P(5, 5) * _tmp72);
const Scalar _tmp76 = Scalar(1.0) / (math::max<Scalar>(_tmp75, epsilon));
// Output terms (2)
@@ -164,16 +153,16 @@ void ComputeDragXInnovVarAndK(const matrix::Matrix<Scalar, 24, 1>& state,
}
if (K != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _k = (*K);
matrix::Matrix<Scalar, 23, 1>& _k = (*K);
_k.setZero();
_k(22, 0) = _tmp76 * (P(22, 0) * _tmp70 + P(22, 1) * _tmp58 + P(22, 2) * _tmp62 +
P(22, 23) * _tmp49 + P(22, 3) * _tmp43 + P(22, 4) * _tmp71 +
P(22, 5) * _tmp50 + P(22, 6) * _tmp72 + _tmp74);
_k(23, 0) = _tmp76 * (P(23, 0) * _tmp70 + P(23, 1) * _tmp58 + P(23, 2) * _tmp62 +
P(23, 22) * _tmp68 + P(23, 3) * _tmp43 + P(23, 4) * _tmp71 +
P(23, 5) * _tmp50 + P(23, 6) * _tmp72 + _tmp73);
_k(21, 0) =
_tmp76 * (-P(21, 0) * _tmp67 + P(21, 1) * _tmp70 + P(21, 2) * _tmp56 + P(21, 22) * _tmp57 +
P(21, 3) * _tmp71 + P(21, 4) * _tmp46 + P(21, 5) * _tmp72 + _tmp73);
_k(22, 0) =
_tmp76 * (-P(22, 0) * _tmp67 + P(22, 1) * _tmp70 + P(22, 2) * _tmp56 + P(22, 21) * _tmp63 +
P(22, 3) * _tmp71 + P(22, 4) * _tmp46 + P(22, 5) * _tmp72 + _tmp74);
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_k.h
+119 -131
View File
@@ -17,7 +17,7 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* rho: Scalar
* cd: Scalar
* cm: Scalar
@@ -26,157 +26,145 @@ namespace sym {
*
* Outputs:
* innov_var: Scalar
* K: Matrix24_1
* K: Matrix23_1
*/
template <typename Scalar>
void ComputeDragYInnovVarAndK(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar rho,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar rho,
const Scalar cd, const Scalar cm, const Scalar R,
const Scalar epsilon, Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const K = nullptr) {
// Total ops: 397
matrix::Matrix<Scalar, 23, 1>* const K = nullptr) {
// Total ops: 348
// Input arrays
// Intermediate terms (76)
const Scalar _tmp0 = 2 * state(0, 0);
const Scalar _tmp1 = _tmp0 * state(3, 0);
const Scalar _tmp2 = 2 * state(1, 0);
const Scalar _tmp3 = _tmp2 * state(2, 0);
const Scalar _tmp4 = -_tmp1 + _tmp3;
const Scalar _tmp5 = _tmp4 * cm;
const Scalar _tmp6 = -2 * std::pow(state(3, 0), Scalar(2));
const Scalar _tmp7 = -2 * std::pow(state(2, 0), Scalar(2));
const Scalar _tmp8 = _tmp6 + _tmp7 + 1;
// Intermediate terms (77)
const Scalar _tmp0 = 2 * state(2, 0) * state(3, 0);
const Scalar _tmp1 = 2 * state(1, 0);
const Scalar _tmp2 = _tmp1 * state(0, 0);
const Scalar _tmp3 = _tmp0 + _tmp2;
const Scalar _tmp4 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp5 = -2 * _tmp4;
const Scalar _tmp6 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp7 = -2 * _tmp6;
const Scalar _tmp8 = _tmp5 + _tmp7 + 1;
const Scalar _tmp9 = -state(22, 0) + state(4, 0);
const Scalar _tmp10 = _tmp1 + _tmp3;
const Scalar _tmp11 = -state(23, 0) + state(5, 0);
const Scalar _tmp12 = _tmp0 * state(2, 0);
const Scalar _tmp13 = _tmp2 * state(3, 0);
const Scalar _tmp14 = -_tmp12 + _tmp13;
const Scalar _tmp15 = _tmp10 * _tmp11 + _tmp14 * state(6, 0) + _tmp8 * _tmp9;
const Scalar _tmp16 = 2 * state(2, 0);
const Scalar _tmp17 = _tmp16 * state(3, 0);
const Scalar _tmp18 = _tmp2 * state(0, 0);
const Scalar _tmp19 = _tmp17 - _tmp18;
const Scalar _tmp20 = _tmp12 + _tmp13;
const Scalar _tmp21 = 1 - 2 * std::pow(state(1, 0), Scalar(2));
const Scalar _tmp22 = _tmp21 + _tmp7;
const Scalar _tmp23 = _tmp11 * _tmp19 + _tmp20 * _tmp9 + _tmp22 * state(6, 0);
const Scalar _tmp24 = _tmp21 + _tmp6;
const Scalar _tmp25 = _tmp17 + _tmp18;
const Scalar _tmp26 = _tmp11 * _tmp24 + _tmp25 * state(6, 0) + _tmp4 * _tmp9;
const Scalar _tmp27 = std::sqrt(Scalar(std::pow(_tmp15, Scalar(2)) + std::pow(_tmp23, Scalar(2)) +
std::pow(_tmp26, Scalar(2)) + epsilon));
const Scalar _tmp28 = cd * rho;
const Scalar _tmp29 = Scalar(0.5) * _tmp27 * _tmp28;
const Scalar _tmp30 = _tmp29 * _tmp4;
const Scalar _tmp31 = 2 * _tmp15;
const Scalar _tmp32 = _tmp31 * _tmp8;
const Scalar _tmp33 = 2 * _tmp23;
const Scalar _tmp34 = _tmp20 * _tmp33;
const Scalar _tmp35 = 2 * _tmp26;
const Scalar _tmp36 = _tmp35 * _tmp4;
const Scalar _tmp37 = Scalar(0.25) * _tmp26 * _tmp28 / _tmp27;
const Scalar _tmp38 = -_tmp30 - _tmp37 * (_tmp32 + _tmp34 + _tmp36) - _tmp5;
const Scalar _tmp39 = -_tmp25 * _tmp29 - _tmp25 * cm -
_tmp37 * (_tmp14 * _tmp31 + _tmp22 * _tmp33 + _tmp25 * _tmp35);
const Scalar _tmp40 = 2 * state(3, 0);
const Scalar _tmp41 = _tmp40 * _tmp9;
const Scalar _tmp42 = _tmp2 * state(6, 0);
const Scalar _tmp43 = -_tmp41 + _tmp42;
const Scalar _tmp44 = _tmp11 * _tmp2;
const Scalar _tmp45 = _tmp16 * _tmp9;
const Scalar _tmp46 = _tmp11 * _tmp40;
const Scalar _tmp47 = _tmp16 * state(6, 0);
const Scalar _tmp48 =
-_tmp29 * _tmp43 -
_tmp37 * (_tmp31 * (_tmp46 - _tmp47) + _tmp33 * (-_tmp44 + _tmp45) + _tmp35 * _tmp43) -
_tmp43 * cm;
const Scalar _tmp49 = _tmp2 * _tmp9;
const Scalar _tmp50 = _tmp40 * state(6, 0);
const Scalar _tmp51 = _tmp49 + _tmp50;
const Scalar _tmp52 = _tmp0 * _tmp9;
const Scalar _tmp53 = 4 * state(6, 0);
const Scalar _tmp54 = 4 * _tmp9;
const Scalar _tmp55 = _tmp0 * state(6, 0);
const Scalar _tmp10 = 2 * state(0, 0);
const Scalar _tmp11 = _tmp10 * state(3, 0);
const Scalar _tmp12 = _tmp1 * state(2, 0);
const Scalar _tmp13 = _tmp11 + _tmp12;
const Scalar _tmp14 = -state(23, 0) + state(5, 0);
const Scalar _tmp15 = _tmp10 * state(2, 0);
const Scalar _tmp16 = -_tmp15;
const Scalar _tmp17 = _tmp1 * state(3, 0);
const Scalar _tmp18 = _tmp16 + _tmp17;
const Scalar _tmp19 = _tmp13 * _tmp14 + _tmp18 * state(6, 0);
const Scalar _tmp20 = _tmp19 + _tmp8 * _tmp9;
const Scalar _tmp21 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp22 = 1 - 2 * _tmp21;
const Scalar _tmp23 = _tmp22 + _tmp7;
const Scalar _tmp24 = -_tmp2;
const Scalar _tmp25 = _tmp0 + _tmp24;
const Scalar _tmp26 = _tmp15 + _tmp17;
const Scalar _tmp27 = _tmp14 * _tmp25 + _tmp26 * _tmp9;
const Scalar _tmp28 = _tmp23 * state(6, 0) + _tmp27;
const Scalar _tmp29 = _tmp22 + _tmp5;
const Scalar _tmp30 = -_tmp11;
const Scalar _tmp31 = _tmp12 + _tmp30;
const Scalar _tmp32 = _tmp3 * state(6, 0) + _tmp31 * _tmp9;
const Scalar _tmp33 = _tmp14 * _tmp29 + _tmp32;
const Scalar _tmp34 = std::sqrt(Scalar(std::pow(_tmp20, Scalar(2)) + std::pow(_tmp28, Scalar(2)) +
std::pow(_tmp33, Scalar(2)) + epsilon));
const Scalar _tmp35 = cd * rho;
const Scalar _tmp36 = Scalar(0.5) * _tmp34 * _tmp35;
const Scalar _tmp37 = 2 * _tmp20;
const Scalar _tmp38 = 2 * _tmp28;
const Scalar _tmp39 = 2 * _tmp33;
const Scalar _tmp40 = Scalar(0.25) * _tmp33 * _tmp35 / _tmp34;
const Scalar _tmp41 =
-_tmp3 * _tmp36 - _tmp3 * cm - _tmp40 * (_tmp18 * _tmp37 + _tmp23 * _tmp38 + _tmp3 * _tmp39);
const Scalar _tmp42 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp43 = -_tmp42;
const Scalar _tmp44 = -_tmp6;
const Scalar _tmp45 = -_tmp12;
const Scalar _tmp46 = -_tmp0;
const Scalar _tmp47 = -_tmp21;
const Scalar _tmp48 = _tmp4 + _tmp47;
const Scalar _tmp49 = _tmp42 + _tmp44;
const Scalar _tmp50 = _tmp27 + state(6, 0) * (_tmp48 + _tmp49);
const Scalar _tmp51 =
-_tmp36 * _tmp50 -
_tmp40 * (_tmp38 * (_tmp14 * (_tmp21 + _tmp4 + _tmp43 + _tmp44) + _tmp9 * (_tmp11 + _tmp45) +
state(6, 0) * (_tmp24 + _tmp46)) +
_tmp39 * _tmp50) -
_tmp50 * cm;
const Scalar _tmp52 = _tmp43 + _tmp6;
const Scalar _tmp53 = -_tmp17;
const Scalar _tmp54 =
_tmp14 * (_tmp30 + _tmp45) + _tmp9 * (_tmp48 + _tmp52) + state(6, 0) * (_tmp15 + _tmp53);
const Scalar _tmp55 = -_tmp4;
const Scalar _tmp56 =
-_tmp29 * _tmp51 -
_tmp37 * (_tmp31 * (_tmp44 - _tmp54 * state(2, 0) - _tmp55) +
_tmp33 * (_tmp46 + _tmp52 - _tmp53 * state(2, 0)) + _tmp35 * _tmp51) -
_tmp51 * cm;
const Scalar _tmp57 = _tmp24 * cm;
const Scalar _tmp58 = _tmp10 * _tmp31;
const Scalar _tmp59 = _tmp19 * _tmp33;
const Scalar _tmp60 = _tmp24 * _tmp35;
const Scalar _tmp61 = _tmp24 * _tmp29;
const Scalar _tmp62 = -_tmp37 * (-_tmp58 - _tmp59 - _tmp60) + _tmp57 + _tmp61;
const Scalar _tmp63 = _tmp0 * _tmp11;
const Scalar _tmp64 = _tmp11 * _tmp16;
const Scalar _tmp65 = 4 * _tmp11;
const Scalar _tmp66 = _tmp45 + _tmp55 - _tmp65 * state(1, 0);
const Scalar _tmp67 =
-_tmp29 * _tmp66 -
_tmp37 * (_tmp31 * (_tmp50 + _tmp64) + _tmp33 * (_tmp41 - _tmp53 * state(1, 0) - _tmp63) +
_tmp35 * _tmp66) -
_tmp66 * cm;
const Scalar _tmp68 = -_tmp37 * (_tmp58 + _tmp59 + _tmp60) - _tmp57 - _tmp61;
const Scalar _tmp69 = _tmp47 - _tmp52 - _tmp65 * state(3, 0);
const Scalar _tmp70 = -_tmp29 * _tmp69 -
_tmp37 * (_tmp31 * (_tmp42 - _tmp54 * state(3, 0) + _tmp63) +
_tmp33 * (_tmp49 + _tmp64) + _tmp35 * _tmp69) -
_tmp69 * cm;
const Scalar _tmp71 = _tmp30 - _tmp37 * (-_tmp32 - _tmp34 - _tmp36) + _tmp5;
const Scalar _tmp72 = P(22, 22) * _tmp71;
const Scalar _tmp73 = P(23, 23) * _tmp62;
const Scalar _tmp74 = R +
_tmp38 * (P(0, 4) * _tmp48 + P(1, 4) * _tmp67 + P(2, 4) * _tmp56 +
P(22, 4) * _tmp71 + P(23, 4) * _tmp62 + P(3, 4) * _tmp70 +
P(4, 4) * _tmp38 + P(5, 4) * _tmp68 + P(6, 4) * _tmp39) +
_tmp39 * (P(0, 6) * _tmp48 + P(1, 6) * _tmp67 + P(2, 6) * _tmp56 +
P(22, 6) * _tmp71 + P(23, 6) * _tmp62 + P(3, 6) * _tmp70 +
P(4, 6) * _tmp38 + P(5, 6) * _tmp68 + P(6, 6) * _tmp39) +
_tmp48 * (P(0, 0) * _tmp48 + P(1, 0) * _tmp67 + P(2, 0) * _tmp56 +
P(22, 0) * _tmp71 + P(23, 0) * _tmp62 + P(3, 0) * _tmp70 +
P(4, 0) * _tmp38 + P(5, 0) * _tmp68 + P(6, 0) * _tmp39) +
_tmp56 * (P(0, 2) * _tmp48 + P(1, 2) * _tmp67 + P(2, 2) * _tmp56 +
P(22, 2) * _tmp71 + P(23, 2) * _tmp62 + P(3, 2) * _tmp70 +
P(4, 2) * _tmp38 + P(5, 2) * _tmp68 + P(6, 2) * _tmp39) +
_tmp62 * (P(0, 23) * _tmp48 + P(1, 23) * _tmp67 + P(2, 23) * _tmp56 +
P(22, 23) * _tmp71 + P(3, 23) * _tmp70 + P(4, 23) * _tmp38 +
P(5, 23) * _tmp68 + P(6, 23) * _tmp39 + _tmp73) +
_tmp67 * (P(0, 1) * _tmp48 + P(1, 1) * _tmp67 + P(2, 1) * _tmp56 +
P(22, 1) * _tmp71 + P(23, 1) * _tmp62 + P(3, 1) * _tmp70 +
P(4, 1) * _tmp38 + P(5, 1) * _tmp68 + P(6, 1) * _tmp39) +
_tmp68 * (P(0, 5) * _tmp48 + P(1, 5) * _tmp67 + P(2, 5) * _tmp56 +
P(22, 5) * _tmp71 + P(23, 5) * _tmp62 + P(3, 5) * _tmp70 +
P(4, 5) * _tmp38 + P(5, 5) * _tmp68 + P(6, 5) * _tmp39) +
_tmp70 * (P(0, 3) * _tmp48 + P(1, 3) * _tmp67 + P(2, 3) * _tmp56 +
P(22, 3) * _tmp71 + P(23, 3) * _tmp62 + P(3, 3) * _tmp70 +
P(4, 3) * _tmp38 + P(5, 3) * _tmp68 + P(6, 3) * _tmp39) +
_tmp71 * (P(0, 22) * _tmp48 + P(1, 22) * _tmp67 + P(2, 22) * _tmp56 +
P(23, 22) * _tmp62 + P(3, 22) * _tmp70 + P(4, 22) * _tmp38 +
P(5, 22) * _tmp68 + P(6, 22) * _tmp39 + _tmp72);
const Scalar _tmp75 = Scalar(1.0) / (math::max<Scalar>(_tmp74, epsilon));
-_tmp36 * _tmp54 -
_tmp40 * (_tmp37 * (_tmp14 * (_tmp42 + _tmp47 + _tmp55 + _tmp6) + _tmp32) + _tmp39 * _tmp54) -
_tmp54 * cm;
const Scalar _tmp57 = _tmp29 * cm;
const Scalar _tmp58 = _tmp13 * _tmp37;
const Scalar _tmp59 = _tmp25 * _tmp38;
const Scalar _tmp60 = _tmp29 * _tmp39;
const Scalar _tmp61 = _tmp29 * _tmp36;
const Scalar _tmp62 = -_tmp40 * (-_tmp58 - _tmp59 - _tmp60) + _tmp57 + _tmp61;
const Scalar _tmp63 = _tmp21 + _tmp55;
const Scalar _tmp64 = _tmp40 * (_tmp37 * (_tmp14 * (_tmp2 + _tmp46) + _tmp9 * (_tmp16 + _tmp53) +
state(6, 0) * (_tmp52 + _tmp63)) +
_tmp38 * (_tmp19 + _tmp9 * (_tmp49 + _tmp63)));
const Scalar _tmp65 = -_tmp40 * (_tmp58 + _tmp59 + _tmp60) - _tmp57 - _tmp61;
const Scalar _tmp66 = _tmp31 * cm;
const Scalar _tmp67 = _tmp31 * _tmp36;
const Scalar _tmp68 = _tmp37 * _tmp8;
const Scalar _tmp69 = _tmp26 * _tmp38;
const Scalar _tmp70 = _tmp31 * _tmp39;
const Scalar _tmp71 = -_tmp40 * (_tmp68 + _tmp69 + _tmp70) - _tmp66 - _tmp67;
const Scalar _tmp72 = -_tmp40 * (-_tmp68 - _tmp69 - _tmp70) + _tmp66 + _tmp67;
const Scalar _tmp73 = P(22, 22) * _tmp62;
const Scalar _tmp74 = P(21, 21) * _tmp72;
const Scalar _tmp75 =
R +
_tmp41 * (P(0, 5) * _tmp51 - P(1, 5) * _tmp64 + P(2, 5) * _tmp56 + P(21, 5) * _tmp72 +
P(22, 5) * _tmp62 + P(3, 5) * _tmp71 + P(4, 5) * _tmp65 + P(5, 5) * _tmp41) +
_tmp51 * (P(0, 0) * _tmp51 - P(1, 0) * _tmp64 + P(2, 0) * _tmp56 + P(21, 0) * _tmp72 +
P(22, 0) * _tmp62 + P(3, 0) * _tmp71 + P(4, 0) * _tmp65 + P(5, 0) * _tmp41) +
_tmp56 * (P(0, 2) * _tmp51 - P(1, 2) * _tmp64 + P(2, 2) * _tmp56 + P(21, 2) * _tmp72 +
P(22, 2) * _tmp62 + P(3, 2) * _tmp71 + P(4, 2) * _tmp65 + P(5, 2) * _tmp41) +
_tmp62 * (P(0, 22) * _tmp51 - P(1, 22) * _tmp64 + P(2, 22) * _tmp56 + P(21, 22) * _tmp72 +
P(3, 22) * _tmp71 + P(4, 22) * _tmp65 + P(5, 22) * _tmp41 + _tmp73) -
_tmp64 * (P(0, 1) * _tmp51 - P(1, 1) * _tmp64 + P(2, 1) * _tmp56 + P(21, 1) * _tmp72 +
P(22, 1) * _tmp62 + P(3, 1) * _tmp71 + P(4, 1) * _tmp65 + P(5, 1) * _tmp41) +
_tmp65 * (P(0, 4) * _tmp51 - P(1, 4) * _tmp64 + P(2, 4) * _tmp56 + P(21, 4) * _tmp72 +
P(22, 4) * _tmp62 + P(3, 4) * _tmp71 + P(4, 4) * _tmp65 + P(5, 4) * _tmp41) +
_tmp71 * (P(0, 3) * _tmp51 - P(1, 3) * _tmp64 + P(2, 3) * _tmp56 + P(21, 3) * _tmp72 +
P(22, 3) * _tmp62 + P(3, 3) * _tmp71 + P(4, 3) * _tmp65 + P(5, 3) * _tmp41) +
_tmp72 * (P(0, 21) * _tmp51 - P(1, 21) * _tmp64 + P(2, 21) * _tmp56 + P(22, 21) * _tmp62 +
P(3, 21) * _tmp71 + P(4, 21) * _tmp65 + P(5, 21) * _tmp41 + _tmp74);
const Scalar _tmp76 = Scalar(1.0) / (math::max<Scalar>(_tmp75, epsilon));
// Output terms (2)
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var = _tmp74;
_innov_var = _tmp75;
}
if (K != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _k = (*K);
matrix::Matrix<Scalar, 23, 1>& _k = (*K);
_k.setZero();
_k(22, 0) = _tmp75 * (P(22, 0) * _tmp48 + P(22, 1) * _tmp67 + P(22, 2) * _tmp56 +
P(22, 23) * _tmp62 + P(22, 3) * _tmp70 + P(22, 4) * _tmp38 +
P(22, 5) * _tmp68 + P(22, 6) * _tmp39 + _tmp72);
_k(23, 0) = _tmp75 * (P(23, 0) * _tmp48 + P(23, 1) * _tmp67 + P(23, 2) * _tmp56 +
P(23, 22) * _tmp71 + P(23, 3) * _tmp70 + P(23, 4) * _tmp38 +
P(23, 5) * _tmp68 + P(23, 6) * _tmp39 + _tmp73);
_k(21, 0) =
_tmp76 * (P(21, 0) * _tmp51 - P(21, 1) * _tmp64 + P(21, 2) * _tmp56 + P(21, 22) * _tmp62 +
P(21, 3) * _tmp71 + P(21, 4) * _tmp65 + P(21, 5) * _tmp41 + _tmp74);
_k(22, 0) =
_tmp76 * (P(22, 0) * _tmp51 - P(22, 1) * _tmp64 + P(22, 2) * _tmp56 + P(22, 21) * _tmp72 +
P(22, 3) * _tmp71 + P(22, 4) * _tmp65 + P(22, 5) * _tmp41 + _tmp73);
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h
+71 -74
View File
@@ -17,107 +17,104 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* distance: Scalar
* R: Scalar
* epsilon: Scalar
*
* Outputs:
* innov_var: Matrix21
* H: Matrix24_1
* H: Matrix23_1
*/
template <typename Scalar>
void ComputeFlowXyInnovVarAndHx(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar distance,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar distance,
const Scalar R, const Scalar epsilon,
matrix::Matrix<Scalar, 2, 1>* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
// Total ops: 291
matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
// Total ops: 196
// Input arrays
// Intermediate terms (28)
const Scalar _tmp0 = 1 - 2 * std::pow(state(3, 0), Scalar(2));
const Scalar _tmp1 =
// Intermediate terms (33)
const Scalar _tmp0 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp1 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp2 = 1 - 2 * _tmp1;
const Scalar _tmp3 =
Scalar(1.0) /
(distance + epsilon * (2 * math::min<Scalar>(0, (((distance) > 0) - ((distance) < 0))) + 1));
const Scalar _tmp2 = _tmp1 * (_tmp0 - 2 * std::pow(state(1, 0), Scalar(2)));
const Scalar _tmp3 = 2 * state(1, 0);
const Scalar _tmp4 = 2 * state(3, 0);
const Scalar _tmp5 = _tmp4 * state(6, 0);
const Scalar _tmp6 = _tmp1 * (_tmp3 * state(4, 0) + _tmp5);
const Scalar _tmp7 = _tmp3 * state(6, 0);
const Scalar _tmp8 = _tmp1 * (-_tmp4 * state(4, 0) + _tmp7);
const Scalar _tmp9 = _tmp4 * state(0, 0);
const Scalar _tmp10 = _tmp3 * state(2, 0);
const Scalar _tmp11 = _tmp1 * (_tmp10 - _tmp9);
const Scalar _tmp12 = 2 * state(0, 0);
const Scalar _tmp13 = 4 * state(5, 0);
const Scalar _tmp14 = 2 * state(2, 0);
const Scalar _tmp15 = _tmp14 * state(6, 0);
const Scalar _tmp16 = _tmp1 * (-_tmp12 * state(4, 0) - _tmp13 * state(3, 0) + _tmp15);
const Scalar _tmp17 = _tmp12 * state(6, 0);
const Scalar _tmp18 = _tmp1 * (-_tmp13 * state(1, 0) + _tmp14 * state(4, 0) + _tmp17);
const Scalar _tmp19 = _tmp1 * (_tmp12 * state(1, 0) + _tmp4 * state(2, 0));
const Scalar _tmp20 = _tmp1 * (_tmp0 - 2 * std::pow(state(2, 0), Scalar(2)));
const Scalar _tmp21 = _tmp1 * (_tmp10 + _tmp9);
const Scalar _tmp22 = _tmp1 * (-_tmp12 * state(2, 0) + _tmp4 * state(1, 0));
const Scalar _tmp23 = 4 * state(4, 0);
const Scalar _tmp24 = _tmp1 * (_tmp12 * state(5, 0) - _tmp23 * state(3, 0) + _tmp7);
const Scalar _tmp25 = _tmp1 * (-_tmp17 - _tmp23 * state(2, 0) + _tmp3 * state(5, 0));
const Scalar _tmp26 = _tmp1 * (-_tmp15 + _tmp4 * state(5, 0));
const Scalar _tmp27 = _tmp1 * (_tmp14 * state(5, 0) + _tmp5);
const Scalar _tmp4 = _tmp3 * (-2 * _tmp0 + _tmp2);
const Scalar _tmp5 = 2 * state(2, 0);
const Scalar _tmp6 = _tmp5 * state(0, 0);
const Scalar _tmp7 = 2 * state(1, 0) * state(3, 0);
const Scalar _tmp8 = _tmp5 * state(3, 0);
const Scalar _tmp9 = 2 * state(0, 0);
const Scalar _tmp10 = _tmp9 * state(1, 0);
const Scalar _tmp11 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp12 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp13 = -_tmp0;
const Scalar _tmp14 = _tmp12 + _tmp13;
const Scalar _tmp15 = _tmp3 * (state(4, 0) * (_tmp6 + _tmp7) + state(5, 0) * (-_tmp10 + _tmp8) +
state(6, 0) * (_tmp1 - _tmp11 + _tmp14));
const Scalar _tmp16 = _tmp9 * state(3, 0);
const Scalar _tmp17 = -_tmp16;
const Scalar _tmp18 = _tmp5 * state(1, 0);
const Scalar _tmp19 = _tmp17 + _tmp18;
const Scalar _tmp20 = _tmp19 * _tmp3;
const Scalar _tmp21 = _tmp10 + _tmp8;
const Scalar _tmp22 = _tmp21 * _tmp3;
const Scalar _tmp23 = -_tmp7;
const Scalar _tmp24 = -_tmp12;
const Scalar _tmp25 = _tmp3 * (state(4, 0) * (_tmp1 + _tmp11 + _tmp13 + _tmp24) +
state(5, 0) * (_tmp17 - _tmp18) + state(6, 0) * (_tmp23 + _tmp6));
const Scalar _tmp26 = _tmp3 * (-2 * _tmp11 + _tmp2);
const Scalar _tmp27 = -_tmp6;
const Scalar _tmp28 = -_tmp1 + _tmp11;
const Scalar _tmp29 = _tmp3 * (state(4, 0) * (_tmp23 + _tmp27) + state(5, 0) * (_tmp10 - _tmp8) +
state(6, 0) * (_tmp0 + _tmp24 + _tmp28));
const Scalar _tmp30 =
_tmp3 * (_tmp19 * state(4, 0) + _tmp21 * state(6, 0) + state(5, 0) * (_tmp14 + _tmp28));
const Scalar _tmp31 = _tmp3 * (_tmp16 + _tmp18);
const Scalar _tmp32 = _tmp3 * (_tmp27 + _tmp7);
// Output terms (2)
if (innov_var != nullptr) {
matrix::Matrix<Scalar, 2, 1>& _innov_var = (*innov_var);
_innov_var(0, 0) =
R +
_tmp11 * (P(0, 4) * _tmp8 + P(1, 4) * _tmp18 + P(2, 4) * _tmp6 + P(3, 4) * _tmp16 +
P(4, 4) * _tmp11 + P(5, 4) * _tmp2 + P(6, 4) * _tmp19) +
_tmp16 * (P(0, 3) * _tmp8 + P(1, 3) * _tmp18 + P(2, 3) * _tmp6 + P(3, 3) * _tmp16 +
P(4, 3) * _tmp11 + P(5, 3) * _tmp2 + P(6, 3) * _tmp19) +
_tmp18 * (P(0, 1) * _tmp8 + P(1, 1) * _tmp18 + P(2, 1) * _tmp6 + P(3, 1) * _tmp16 +
P(4, 1) * _tmp11 + P(5, 1) * _tmp2 + P(6, 1) * _tmp19) +
_tmp19 * (P(0, 6) * _tmp8 + P(1, 6) * _tmp18 + P(2, 6) * _tmp6 + P(3, 6) * _tmp16 +
P(4, 6) * _tmp11 + P(5, 6) * _tmp2 + P(6, 6) * _tmp19) +
_tmp2 * (P(0, 5) * _tmp8 + P(1, 5) * _tmp18 + P(2, 5) * _tmp6 + P(3, 5) * _tmp16 +
P(4, 5) * _tmp11 + P(5, 5) * _tmp2 + P(6, 5) * _tmp19) +
_tmp6 * (P(0, 2) * _tmp8 + P(1, 2) * _tmp18 + P(2, 2) * _tmp6 + P(3, 2) * _tmp16 +
P(4, 2) * _tmp11 + P(5, 2) * _tmp2 + P(6, 2) * _tmp19) +
_tmp8 * (P(0, 0) * _tmp8 + P(1, 0) * _tmp18 + P(2, 0) * _tmp6 + P(3, 0) * _tmp16 +
P(4, 0) * _tmp11 + P(5, 0) * _tmp2 + P(6, 0) * _tmp19);
_innov_var(1, 0) =
R -
_tmp20 * (-P(0, 4) * _tmp26 - P(1, 4) * _tmp27 - P(2, 4) * _tmp25 - P(3, 4) * _tmp24 -
P(4, 4) * _tmp20 - P(5, 4) * _tmp21 - P(6, 4) * _tmp22) -
_tmp21 * (-P(0, 5) * _tmp26 - P(1, 5) * _tmp27 - P(2, 5) * _tmp25 - P(3, 5) * _tmp24 -
P(4, 5) * _tmp20 - P(5, 5) * _tmp21 - P(6, 5) * _tmp22) -
_tmp22 * (-P(0, 6) * _tmp26 - P(1, 6) * _tmp27 - P(2, 6) * _tmp25 - P(3, 6) * _tmp24 -
P(4, 6) * _tmp20 - P(5, 6) * _tmp21 - P(6, 6) * _tmp22) -
_tmp24 * (-P(0, 3) * _tmp26 - P(1, 3) * _tmp27 - P(2, 3) * _tmp25 - P(3, 3) * _tmp24 -
P(4, 3) * _tmp20 - P(5, 3) * _tmp21 - P(6, 3) * _tmp22) -
_tmp25 * (-P(0, 2) * _tmp26 - P(1, 2) * _tmp27 - P(2, 2) * _tmp25 - P(3, 2) * _tmp24 -
P(4, 2) * _tmp20 - P(5, 2) * _tmp21 - P(6, 2) * _tmp22) -
_tmp26 * (-P(0, 0) * _tmp26 - P(1, 0) * _tmp27 - P(2, 0) * _tmp25 - P(3, 0) * _tmp24 -
P(4, 0) * _tmp20 - P(5, 0) * _tmp21 - P(6, 0) * _tmp22) -
_tmp27 * (-P(0, 1) * _tmp26 - P(1, 1) * _tmp27 - P(2, 1) * _tmp25 - P(3, 1) * _tmp24 -
P(4, 1) * _tmp20 - P(5, 1) * _tmp21 - P(6, 1) * _tmp22);
_innov_var(0, 0) = R +
_tmp15 * (P(0, 0) * _tmp15 + P(2, 0) * _tmp25 + P(3, 0) * _tmp20 +
P(4, 0) * _tmp4 + P(5, 0) * _tmp22) +
_tmp20 * (P(0, 3) * _tmp15 + P(2, 3) * _tmp25 + P(3, 3) * _tmp20 +
P(4, 3) * _tmp4 + P(5, 3) * _tmp22) +
_tmp22 * (P(0, 5) * _tmp15 + P(2, 5) * _tmp25 + P(3, 5) * _tmp20 +
P(4, 5) * _tmp4 + P(5, 5) * _tmp22) +
_tmp25 * (P(0, 2) * _tmp15 + P(2, 2) * _tmp25 + P(3, 2) * _tmp20 +
P(4, 2) * _tmp4 + P(5, 2) * _tmp22) +
_tmp4 * (P(0, 4) * _tmp15 + P(2, 4) * _tmp25 + P(3, 4) * _tmp20 +
P(4, 4) * _tmp4 + P(5, 4) * _tmp22);
_innov_var(1, 0) = R -
_tmp26 * (-P(1, 3) * _tmp29 - P(2, 3) * _tmp30 - P(3, 3) * _tmp26 -
P(4, 3) * _tmp31 - P(5, 3) * _tmp32) -
_tmp29 * (-P(1, 1) * _tmp29 - P(2, 1) * _tmp30 - P(3, 1) * _tmp26 -
P(4, 1) * _tmp31 - P(5, 1) * _tmp32) -
_tmp30 * (-P(1, 2) * _tmp29 - P(2, 2) * _tmp30 - P(3, 2) * _tmp26 -
P(4, 2) * _tmp31 - P(5, 2) * _tmp32) -
_tmp31 * (-P(1, 4) * _tmp29 - P(2, 4) * _tmp30 - P(3, 4) * _tmp26 -
P(4, 4) * _tmp31 - P(5, 4) * _tmp32) -
_tmp32 * (-P(1, 5) * _tmp29 - P(2, 5) * _tmp30 - P(3, 5) * _tmp26 -
P(4, 5) * _tmp31 - P(5, 5) * _tmp32);
}
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(0, 0) = _tmp8;
_h(1, 0) = _tmp18;
_h(2, 0) = _tmp6;
_h(3, 0) = _tmp16;
_h(4, 0) = _tmp11;
_h(5, 0) = _tmp2;
_h(6, 0) = _tmp19;
_h(0, 0) = _tmp15;
_h(2, 0) = _tmp25;
_h(3, 0) = _tmp20;
_h(4, 0) = _tmp4;
_h(5, 0) = _tmp22;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h
+44 -42
View File
@@ -17,76 +17,78 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* distance: Scalar
* R: Scalar
* epsilon: Scalar
*
* Outputs:
* innov_var: Scalar
* H: Matrix24_1
* H: Matrix23_1
*/
template <typename Scalar>
void ComputeFlowYInnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar distance,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar distance,
const Scalar R, const Scalar epsilon,
Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
// Total ops: 166
matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
// Total ops: 116
// Input arrays
// Intermediate terms (13)
const Scalar _tmp0 =
// Intermediate terms (19)
const Scalar _tmp0 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp1 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp2 =
Scalar(1.0) /
(distance + epsilon * (2 * math::min<Scalar>(0, (((distance) > 0) - ((distance) < 0))) + 1));
const Scalar _tmp1 =
_tmp0 * (-2 * std::pow(state(2, 0), Scalar(2)) - 2 * std::pow(state(3, 0), Scalar(2)) + 1);
const Scalar _tmp2 = 2 * state(3, 0);
const Scalar _tmp3 = 2 * state(2, 0);
const Scalar _tmp4 = _tmp0 * (_tmp2 * state(0, 0) + _tmp3 * state(1, 0));
const Scalar _tmp5 = _tmp0 * (_tmp2 * state(1, 0) - _tmp3 * state(0, 0));
const Scalar _tmp6 = 4 * state(4, 0);
const Scalar _tmp7 = 2 * state(5, 0);
const Scalar _tmp8 = 2 * state(6, 0);
const Scalar _tmp9 = _tmp0 * (-_tmp6 * state(3, 0) + _tmp7 * state(0, 0) + _tmp8 * state(1, 0));
const Scalar _tmp10 = _tmp0 * (-_tmp6 * state(2, 0) + _tmp7 * state(1, 0) - _tmp8 * state(0, 0));
const Scalar _tmp11 = _tmp0 * (-_tmp3 * state(6, 0) + _tmp7 * state(3, 0));
const Scalar _tmp12 = _tmp0 * (_tmp2 * state(6, 0) + _tmp3 * state(5, 0));
const Scalar _tmp3 = _tmp2 * (-2 * _tmp0 - 2 * _tmp1 + 1);
const Scalar _tmp4 = -2 * state(0, 0) * state(2, 0);
const Scalar _tmp5 = 2 * state(3, 0);
const Scalar _tmp6 = _tmp5 * state(1, 0);
const Scalar _tmp7 = _tmp5 * state(2, 0);
const Scalar _tmp8 = 2 * state(1, 0);
const Scalar _tmp9 = _tmp8 * state(0, 0);
const Scalar _tmp10 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp11 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp12 = -_tmp0 + _tmp1;
const Scalar _tmp13 = _tmp2 * (state(4, 0) * (_tmp4 - _tmp6) + state(5, 0) * (-_tmp7 + _tmp9) +
state(6, 0) * (-_tmp10 + _tmp11 + _tmp12));
const Scalar _tmp14 = _tmp5 * state(0, 0);
const Scalar _tmp15 = _tmp8 * state(2, 0);
const Scalar _tmp16 =
_tmp2 * (state(4, 0) * (-_tmp14 + _tmp15) + state(5, 0) * (_tmp10 - _tmp11 + _tmp12) +
state(6, 0) * (_tmp7 + _tmp9));
const Scalar _tmp17 = _tmp2 * (_tmp14 + _tmp15);
const Scalar _tmp18 = _tmp2 * (_tmp4 + _tmp6);
// Output terms (2)
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var = R -
_tmp1 * (-P(0, 4) * _tmp11 - P(1, 4) * _tmp12 - P(2, 4) * _tmp10 -
P(3, 4) * _tmp9 - P(4, 4) * _tmp1 - P(5, 4) * _tmp4 - P(6, 4) * _tmp5) -
_tmp10 * (-P(0, 2) * _tmp11 - P(1, 2) * _tmp12 - P(2, 2) * _tmp10 -
P(3, 2) * _tmp9 - P(4, 2) * _tmp1 - P(5, 2) * _tmp4 - P(6, 2) * _tmp5) -
_tmp11 * (-P(0, 0) * _tmp11 - P(1, 0) * _tmp12 - P(2, 0) * _tmp10 -
P(3, 0) * _tmp9 - P(4, 0) * _tmp1 - P(5, 0) * _tmp4 - P(6, 0) * _tmp5) -
_tmp12 * (-P(0, 1) * _tmp11 - P(1, 1) * _tmp12 - P(2, 1) * _tmp10 -
P(3, 1) * _tmp9 - P(4, 1) * _tmp1 - P(5, 1) * _tmp4 - P(6, 1) * _tmp5) -
_tmp4 * (-P(0, 5) * _tmp11 - P(1, 5) * _tmp12 - P(2, 5) * _tmp10 -
P(3, 5) * _tmp9 - P(4, 5) * _tmp1 - P(5, 5) * _tmp4 - P(6, 5) * _tmp5) -
_tmp5 * (-P(0, 6) * _tmp11 - P(1, 6) * _tmp12 - P(2, 6) * _tmp10 -
P(3, 6) * _tmp9 - P(4, 6) * _tmp1 - P(5, 6) * _tmp4 - P(6, 6) * _tmp5) -
_tmp9 * (-P(0, 3) * _tmp11 - P(1, 3) * _tmp12 - P(2, 3) * _tmp10 -
P(3, 3) * _tmp9 - P(4, 3) * _tmp1 - P(5, 3) * _tmp4 - P(6, 3) * _tmp5);
_tmp13 * (-P(1, 1) * _tmp13 - P(2, 1) * _tmp16 - P(3, 1) * _tmp3 -
P(4, 1) * _tmp17 - P(5, 1) * _tmp18) -
_tmp16 * (-P(1, 2) * _tmp13 - P(2, 2) * _tmp16 - P(3, 2) * _tmp3 -
P(4, 2) * _tmp17 - P(5, 2) * _tmp18) -
_tmp17 * (-P(1, 4) * _tmp13 - P(2, 4) * _tmp16 - P(3, 4) * _tmp3 -
P(4, 4) * _tmp17 - P(5, 4) * _tmp18) -
_tmp18 * (-P(1, 5) * _tmp13 - P(2, 5) * _tmp16 - P(3, 5) * _tmp3 -
P(4, 5) * _tmp17 - P(5, 5) * _tmp18) -
_tmp3 * (-P(1, 3) * _tmp13 - P(2, 3) * _tmp16 - P(3, 3) * _tmp3 -
P(4, 3) * _tmp17 - P(5, 3) * _tmp18);
}
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(0, 0) = -_tmp11;
_h(1, 0) = -_tmp12;
_h(2, 0) = -_tmp10;
_h(3, 0) = -_tmp9;
_h(4, 0) = -_tmp1;
_h(5, 0) = -_tmp4;
_h(6, 0) = -_tmp5;
_h(1, 0) = -_tmp13;
_h(2, 0) = -_tmp16;
_h(3, 0) = -_tmp3;
_h(4, 0) = -_tmp17;
_h(5, 0) = -_tmp18;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h
+46 -44
View File
@@ -17,7 +17,7 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* antenna_yaw_offset: Scalar
* R: Scalar
* epsilon: Scalar
@@ -25,74 +25,76 @@ namespace sym {
* Outputs:
* meas_pred: Scalar
* innov_var: Scalar
* H: Matrix24_1
* H: Matrix23_1
*/
template <typename Scalar>
void ComputeGnssYawPredInnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P,
const matrix::Matrix<Scalar, 23, 23>& P,
const Scalar antenna_yaw_offset, const Scalar R,
const Scalar epsilon, Scalar* const meas_pred = nullptr,
Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
// Total ops: 105
matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
// Total ops: 95
// Input arrays
// Intermediate terms (22)
const Scalar _tmp0 = 1 - 2 * std::pow(state(3, 0), Scalar(2));
const Scalar _tmp1 = std::sin(antenna_yaw_offset);
const Scalar _tmp2 = 2 * state(0, 0) * state(3, 0);
const Scalar _tmp3 = 2 * state(1, 0) * state(2, 0);
const Scalar _tmp4 = std::cos(antenna_yaw_offset);
const Scalar _tmp5 =
_tmp1 * (_tmp0 - 2 * std::pow(state(1, 0), Scalar(2))) + _tmp4 * (_tmp2 + _tmp3);
const Scalar _tmp6 =
_tmp1 * (-_tmp2 + _tmp3) + _tmp4 * (_tmp0 - 2 * std::pow(state(2, 0), Scalar(2)));
const Scalar _tmp7 = _tmp6 + epsilon * ((((_tmp6) > 0) - ((_tmp6) < 0)) + Scalar(0.5));
const Scalar _tmp8 = 4 * _tmp1;
const Scalar _tmp9 = 2 * _tmp4;
const Scalar _tmp10 = Scalar(1.0) / (_tmp7);
const Scalar _tmp11 = 4 * _tmp4;
const Scalar _tmp12 = 2 * _tmp1;
const Scalar _tmp13 = std::pow(_tmp7, Scalar(2));
const Scalar _tmp14 = _tmp5 / _tmp13;
const Scalar _tmp15 = _tmp13 / (_tmp13 + std::pow(_tmp5, Scalar(2)));
const Scalar _tmp16 = _tmp15 * (_tmp10 * (-_tmp8 * state(3, 0) + _tmp9 * state(0, 0)) -
_tmp14 * (-_tmp11 * state(3, 0) - _tmp12 * state(0, 0)));
const Scalar _tmp17 = _tmp12 * _tmp14;
const Scalar _tmp18 = _tmp10 * _tmp9;
const Scalar _tmp19 = _tmp15 * (_tmp17 * state(3, 0) + _tmp18 * state(3, 0));
const Scalar _tmp20 =
_tmp15 * (-_tmp14 * (-_tmp11 * state(2, 0) + _tmp12 * state(1, 0)) + _tmp18 * state(1, 0));
const Scalar _tmp21 =
_tmp15 * (_tmp10 * (-_tmp8 * state(1, 0) + _tmp9 * state(2, 0)) - _tmp17 * state(2, 0));
// Intermediate terms (28)
const Scalar _tmp0 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp1 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp2 = 1 - 2 * _tmp1;
const Scalar _tmp3 = std::sin(antenna_yaw_offset);
const Scalar _tmp4 = 2 * state(0, 0);
const Scalar _tmp5 = _tmp4 * state(3, 0);
const Scalar _tmp6 = 2 * state(2, 0);
const Scalar _tmp7 = _tmp6 * state(1, 0);
const Scalar _tmp8 = std::cos(antenna_yaw_offset);
const Scalar _tmp9 = _tmp3 * (-2 * _tmp0 + _tmp2) + _tmp8 * (_tmp5 + _tmp7);
const Scalar _tmp10 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp11 = -_tmp5;
const Scalar _tmp12 = _tmp11 + _tmp7;
const Scalar _tmp13 = _tmp12 * _tmp3 + _tmp8 * (-2 * _tmp10 + _tmp2);
const Scalar _tmp14 = _tmp13 + epsilon * ((((_tmp13) > 0) - ((_tmp13) < 0)) + Scalar(0.5));
const Scalar _tmp15 = _tmp6 * state(0, 0);
const Scalar _tmp16 = 2 * state(1, 0) * state(3, 0);
const Scalar _tmp17 = std::pow(_tmp14, Scalar(2));
const Scalar _tmp18 = _tmp9 / _tmp17;
const Scalar _tmp19 = _tmp6 * state(3, 0);
const Scalar _tmp20 = _tmp4 * state(1, 0);
const Scalar _tmp21 = Scalar(1.0) / (_tmp14);
const Scalar _tmp22 = _tmp17 / (_tmp17 + std::pow(_tmp9, Scalar(2)));
const Scalar _tmp23 =
_tmp22 * (-_tmp18 * _tmp8 * (-_tmp15 - _tmp16) + _tmp21 * _tmp8 * (-_tmp19 + _tmp20));
const Scalar _tmp24 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp25 = -_tmp0 + _tmp10;
const Scalar _tmp26 =
_tmp22 * (-_tmp18 * (_tmp12 * _tmp8 + _tmp3 * (_tmp1 - _tmp24 + _tmp25)) +
_tmp21 * (_tmp3 * (_tmp11 - _tmp7) + _tmp8 * (-_tmp1 + _tmp24 + _tmp25)));
const Scalar _tmp27 =
_tmp22 * (-_tmp18 * _tmp3 * (_tmp15 + _tmp16) + _tmp21 * _tmp3 * (_tmp19 - _tmp20));
// Output terms (3)
if (meas_pred != nullptr) {
Scalar& _meas_pred = (*meas_pred);
_meas_pred = std::atan2(_tmp5, _tmp7);
_meas_pred = std::atan2(_tmp9, _tmp14);
}
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var =
R + _tmp16 * (P(0, 3) * _tmp19 + P(1, 3) * _tmp21 + P(2, 3) * _tmp20 + P(3, 3) * _tmp16) +
_tmp19 * (P(0, 0) * _tmp19 + P(1, 0) * _tmp21 + P(2, 0) * _tmp20 + P(3, 0) * _tmp16) +
_tmp20 * (P(0, 2) * _tmp19 + P(1, 2) * _tmp21 + P(2, 2) * _tmp20 + P(3, 2) * _tmp16) +
_tmp21 * (P(0, 1) * _tmp19 + P(1, 1) * _tmp21 + P(2, 1) * _tmp20 + P(3, 1) * _tmp16);
_innov_var = R + _tmp23 * (P(0, 1) * _tmp27 + P(1, 1) * _tmp23 + P(2, 1) * _tmp26) +
_tmp26 * (P(0, 2) * _tmp27 + P(1, 2) * _tmp23 + P(2, 2) * _tmp26) +
_tmp27 * (P(0, 0) * _tmp27 + P(1, 0) * _tmp23 + P(2, 0) * _tmp26);
}
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(0, 0) = _tmp19;
_h(1, 0) = _tmp21;
_h(2, 0) = _tmp20;
_h(3, 0) = _tmp16;
_h(0, 0) = _tmp27;
_h(1, 0) = _tmp23;
_h(2, 0) = _tmp26;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h
+124 -165
View File
@@ -17,7 +17,7 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* meas: Matrix31
* R: Scalar
* epsilon: Scalar
@@ -25,206 +25,165 @@ namespace sym {
* Outputs:
* innov: Matrix31
* innov_var: Matrix31
* Kx: Matrix24_1
* Ky: Matrix24_1
* Kz: Matrix24_1
* Kx: Matrix23_1
* Ky: Matrix23_1
* Kz: Matrix23_1
*/
template <typename Scalar>
void ComputeGravityInnovVarAndKAndH(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P,
const matrix::Matrix<Scalar, 23, 23>& P,
const matrix::Matrix<Scalar, 3, 1>& meas, const Scalar R,
const Scalar epsilon,
matrix::Matrix<Scalar, 3, 1>* const innov = nullptr,
matrix::Matrix<Scalar, 3, 1>* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const Kx = nullptr,
matrix::Matrix<Scalar, 24, 1>* const Ky = nullptr,
matrix::Matrix<Scalar, 24, 1>* const Kz = nullptr) {
// Total ops: 617
matrix::Matrix<Scalar, 23, 1>* const Kx = nullptr,
matrix::Matrix<Scalar, 23, 1>* const Ky = nullptr,
matrix::Matrix<Scalar, 23, 1>* const Kz = nullptr) {
// Total ops: 361
// Input arrays
// Intermediate terms (34)
// Intermediate terms (31)
const Scalar _tmp0 = 2 * state(2, 0);
const Scalar _tmp1 = 2 * state(1, 0);
const Scalar _tmp2 =
const Scalar _tmp1 = _tmp0 * state(0, 0);
const Scalar _tmp2 = 2 * state(1, 0);
const Scalar _tmp3 = _tmp2 * state(3, 0);
const Scalar _tmp4 = -_tmp1 + _tmp3;
const Scalar _tmp5 =
Scalar(9.8066499999999994) /
std::sqrt(Scalar(epsilon + std::pow(meas(0, 0), Scalar(2)) + std::pow(meas(1, 0), Scalar(2)) +
std::pow(meas(2, 0), Scalar(2))));
const Scalar _tmp3 = Scalar(19.613299999999999) * state(1, 0);
const Scalar _tmp4 = -P(3, 0) * _tmp3;
const Scalar _tmp5 = Scalar(19.613299999999999) * state(2, 0);
const Scalar _tmp6 = P(0, 0) * _tmp5;
const Scalar _tmp7 = Scalar(19.613299999999999) * state(0, 0);
const Scalar _tmp8 = Scalar(19.613299999999999) * state(3, 0);
const Scalar _tmp9 = P(2, 1) * _tmp7;
const Scalar _tmp10 = -P(1, 1) * _tmp8;
const Scalar _tmp11 = P(2, 2) * _tmp7;
const Scalar _tmp12 = -P(1, 2) * _tmp8;
const Scalar _tmp13 = -P(3, 3) * _tmp3;
const Scalar _tmp14 = P(0, 3) * _tmp5;
const Scalar _tmp15 = R - _tmp3 * (-P(1, 3) * _tmp8 + P(2, 3) * _tmp7 + _tmp13 + _tmp14) +
_tmp5 * (-P(1, 0) * _tmp8 + P(2, 0) * _tmp7 + _tmp4 + _tmp6) +
_tmp7 * (P(0, 2) * _tmp5 - P(3, 2) * _tmp3 + _tmp11 + _tmp12) -
_tmp8 * (P(0, 1) * _tmp5 - P(3, 1) * _tmp3 + _tmp10 + _tmp9);
const Scalar _tmp16 = P(3, 0) * _tmp5;
const Scalar _tmp17 = -P(0, 0) * _tmp3;
const Scalar _tmp18 = -P(2, 2) * _tmp8;
const Scalar _tmp19 = P(1, 2) * _tmp7;
const Scalar _tmp20 = -P(2, 1) * _tmp8;
const Scalar _tmp21 = -P(1, 1) * _tmp7;
const Scalar _tmp22 = -P(3, 3) * _tmp5;
const Scalar _tmp23 = -P(0, 3) * _tmp3;
const Scalar _tmp24 = R - _tmp3 * (-P(1, 0) * _tmp7 - P(2, 0) * _tmp8 - _tmp16 + _tmp17) -
_tmp5 * (-P(1, 3) * _tmp7 - P(2, 3) * _tmp8 + _tmp22 + _tmp23) -
_tmp7 * (-P(0, 1) * _tmp3 - P(3, 1) * _tmp5 + _tmp20 + _tmp21) -
_tmp8 * (-P(0, 2) * _tmp3 - P(3, 2) * _tmp5 + _tmp18 - _tmp19);
const Scalar _tmp25 = Scalar(39.226599999999998) * state(2, 0);
const Scalar _tmp26 = P(2, 2) * _tmp25;
const Scalar _tmp27 = Scalar(39.226599999999998) * state(1, 0);
const Scalar _tmp28 = P(1, 1) * _tmp27;
const Scalar _tmp29 =
R + _tmp25 * (P(1, 2) * _tmp27 + _tmp26) + _tmp27 * (P(2, 1) * _tmp25 + _tmp28);
const Scalar _tmp30 = Scalar(1.0) / (_tmp15);
const Scalar _tmp31 = Scalar(19.613299999999999) * P(6, 3);
const Scalar _tmp32 = Scalar(1.0) / (_tmp24);
const Scalar _tmp33 = Scalar(1.0) / (_tmp29);
const Scalar _tmp6 = _tmp0 * state(3, 0);
const Scalar _tmp7 = _tmp2 * state(0, 0);
const Scalar _tmp8 = _tmp6 + _tmp7;
const Scalar _tmp9 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp10 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp11 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp12 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp13 = -Scalar(9.8066499999999994) * _tmp10 + Scalar(9.8066499999999994) * _tmp11 +
Scalar(9.8066499999999994) * _tmp12 - Scalar(9.8066499999999994) * _tmp9;
const Scalar _tmp14 = -Scalar(9.8066499999999994) * _tmp8;
const Scalar _tmp15 = P(2, 2) * _tmp14;
const Scalar _tmp16 = P(1, 1) * _tmp13;
const Scalar _tmp17 =
R + _tmp13 * (P(2, 1) * _tmp14 + _tmp16) + _tmp14 * (P(1, 2) * _tmp13 + _tmp15);
const Scalar _tmp18 = Scalar(9.8066499999999994) * _tmp10 - Scalar(9.8066499999999994) * _tmp11 -
Scalar(9.8066499999999994) * _tmp12 + Scalar(9.8066499999999994) * _tmp9;
const Scalar _tmp19 = -Scalar(9.8066499999999994) * _tmp1 + Scalar(9.8066499999999994) * _tmp3;
const Scalar _tmp20 = P(2, 2) * _tmp19;
const Scalar _tmp21 = P(0, 0) * _tmp18;
const Scalar _tmp22 =
R + _tmp18 * (P(2, 0) * _tmp19 + _tmp21) + _tmp19 * (P(0, 2) * _tmp18 + _tmp20);
const Scalar _tmp23 = Scalar(9.8066499999999994) * _tmp6 + Scalar(9.8066499999999994) * _tmp7;
const Scalar _tmp24 = -Scalar(9.8066499999999994) * _tmp4;
const Scalar _tmp25 = P(1, 1) * _tmp24;
const Scalar _tmp26 = P(0, 0) * _tmp23;
const Scalar _tmp27 =
R + _tmp23 * (P(1, 0) * _tmp24 + _tmp26) + _tmp24 * (P(0, 1) * _tmp23 + _tmp25);
const Scalar _tmp28 = Scalar(1.0) / (_tmp17);
const Scalar _tmp29 = Scalar(1.0) / (_tmp22);
const Scalar _tmp30 = Scalar(1.0) / (_tmp27);
// Output terms (5)
if (innov != nullptr) {
matrix::Matrix<Scalar, 3, 1>& _innov = (*innov);
_innov(0, 0) = Scalar(9.8066499999999994) * _tmp0 * state(0, 0) -
Scalar(9.8066499999999994) * _tmp1 * state(3, 0) - _tmp2 * meas(0, 0);
_innov(1, 0) = -Scalar(9.8066499999999994) * _tmp0 * state(3, 0) -
Scalar(9.8066499999999994) * _tmp1 * state(0, 0) - _tmp2 * meas(1, 0);
_innov(2, 0) =
-_tmp2 * meas(2, 0) + Scalar(19.613299999999999) * std::pow(state(1, 0), Scalar(2)) +
Scalar(19.613299999999999) * std::pow(state(2, 0), Scalar(2)) + Scalar(-9.8066499999999994);
_innov(0, 0) = -Scalar(9.8066499999999994) * _tmp4 - _tmp5 * meas(0, 0);
_innov(1, 0) = -_tmp5 * meas(1, 0) - Scalar(9.8066499999999994) * _tmp8;
_innov(2, 0) = Scalar(19.613299999999999) * _tmp10 - _tmp5 * meas(2, 0) +
Scalar(19.613299999999999) * _tmp9 + Scalar(-9.8066499999999994);
}
if (innov_var != nullptr) {
matrix::Matrix<Scalar, 3, 1>& _innov_var = (*innov_var);
_innov_var(0, 0) = _tmp15;
_innov_var(1, 0) = _tmp24;
_innov_var(2, 0) = _tmp29;
_innov_var(0, 0) = _tmp17;
_innov_var(1, 0) = _tmp22;
_innov_var(2, 0) = _tmp27;
}
if (Kx != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _kx = (*Kx);
matrix::Matrix<Scalar, 23, 1>& _kx = (*Kx);
_kx(0, 0) = _tmp30 * (-P(0, 1) * _tmp8 + P(0, 2) * _tmp7 + _tmp23 + _tmp6);
_kx(1, 0) = _tmp30 * (P(1, 0) * _tmp5 - P(1, 3) * _tmp3 + _tmp10 + _tmp19);
_kx(2, 0) = _tmp30 * (P(2, 0) * _tmp5 - P(2, 3) * _tmp3 + _tmp11 + _tmp20);
_kx(3, 0) = _tmp30 * (-P(3, 1) * _tmp8 + P(3, 2) * _tmp7 + _tmp13 + _tmp16);
_kx(4, 0) = _tmp30 * (P(4, 0) * _tmp5 - P(4, 1) * _tmp8 + P(4, 2) * _tmp7 - P(4, 3) * _tmp3);
_kx(5, 0) = _tmp30 * (P(5, 0) * _tmp5 - P(5, 1) * _tmp8 + P(5, 2) * _tmp7 - P(5, 3) * _tmp3);
_kx(6, 0) =
_tmp30 * (P(6, 0) * _tmp5 - P(6, 1) * _tmp8 + P(6, 2) * _tmp7 - _tmp31 * state(1, 0));
_kx(7, 0) = _tmp30 * (P(7, 0) * _tmp5 - P(7, 1) * _tmp8 + P(7, 2) * _tmp7 - P(7, 3) * _tmp3);
_kx(8, 0) = _tmp30 * (P(8, 0) * _tmp5 - P(8, 1) * _tmp8 + P(8, 2) * _tmp7 - P(8, 3) * _tmp3);
_kx(9, 0) = _tmp30 * (P(9, 0) * _tmp5 - P(9, 1) * _tmp8 + P(9, 2) * _tmp7 - P(9, 3) * _tmp3);
_kx(10, 0) =
_tmp30 * (P(10, 0) * _tmp5 - P(10, 1) * _tmp8 + P(10, 2) * _tmp7 - P(10, 3) * _tmp3);
_kx(11, 0) =
_tmp30 * (P(11, 0) * _tmp5 - P(11, 1) * _tmp8 + P(11, 2) * _tmp7 - P(11, 3) * _tmp3);
_kx(12, 0) =
_tmp30 * (P(12, 0) * _tmp5 - P(12, 1) * _tmp8 + P(12, 2) * _tmp7 - P(12, 3) * _tmp3);
_kx(13, 0) =
_tmp30 * (P(13, 0) * _tmp5 - P(13, 1) * _tmp8 + P(13, 2) * _tmp7 - P(13, 3) * _tmp3);
_kx(14, 0) =
_tmp30 * (P(14, 0) * _tmp5 - P(14, 1) * _tmp8 + P(14, 2) * _tmp7 - P(14, 3) * _tmp3);
_kx(15, 0) =
_tmp30 * (P(15, 0) * _tmp5 - P(15, 1) * _tmp8 + P(15, 2) * _tmp7 - P(15, 3) * _tmp3);
_kx(16, 0) =
_tmp30 * (P(16, 0) * _tmp5 - P(16, 1) * _tmp8 + P(16, 2) * _tmp7 - P(16, 3) * _tmp3);
_kx(17, 0) =
_tmp30 * (P(17, 0) * _tmp5 - P(17, 1) * _tmp8 + P(17, 2) * _tmp7 - P(17, 3) * _tmp3);
_kx(18, 0) =
_tmp30 * (P(18, 0) * _tmp5 - P(18, 1) * _tmp8 + P(18, 2) * _tmp7 - P(18, 3) * _tmp3);
_kx(19, 0) =
_tmp30 * (P(19, 0) * _tmp5 - P(19, 1) * _tmp8 + P(19, 2) * _tmp7 - P(19, 3) * _tmp3);
_kx(20, 0) =
_tmp30 * (P(20, 0) * _tmp5 - P(20, 1) * _tmp8 + P(20, 2) * _tmp7 - P(20, 3) * _tmp3);
_kx(21, 0) =
_tmp30 * (P(21, 0) * _tmp5 - P(21, 1) * _tmp8 + P(21, 2) * _tmp7 - P(21, 3) * _tmp3);
_kx(22, 0) =
_tmp30 * (P(22, 0) * _tmp5 - P(22, 1) * _tmp8 + P(22, 2) * _tmp7 - P(22, 3) * _tmp3);
_kx(23, 0) =
_tmp30 * (P(23, 0) * _tmp5 - P(23, 1) * _tmp8 + P(23, 2) * _tmp7 - P(23, 3) * _tmp3);
_kx(0, 0) = _tmp28 * (P(0, 1) * _tmp13 + P(0, 2) * _tmp14);
_kx(1, 0) = _tmp28 * (P(1, 2) * _tmp14 + _tmp16);
_kx(2, 0) = _tmp28 * (P(2, 1) * _tmp13 + _tmp15);
_kx(3, 0) = _tmp28 * (P(3, 1) * _tmp13 + P(3, 2) * _tmp14);
_kx(4, 0) = _tmp28 * (P(4, 1) * _tmp13 + P(4, 2) * _tmp14);
_kx(5, 0) = _tmp28 * (P(5, 1) * _tmp13 + P(5, 2) * _tmp14);
_kx(6, 0) = _tmp28 * (P(6, 1) * _tmp13 + P(6, 2) * _tmp14);
_kx(7, 0) = _tmp28 * (P(7, 1) * _tmp13 + P(7, 2) * _tmp14);
_kx(8, 0) = _tmp28 * (P(8, 1) * _tmp13 + P(8, 2) * _tmp14);
_kx(9, 0) = _tmp28 * (P(9, 1) * _tmp13 + P(9, 2) * _tmp14);
_kx(10, 0) = _tmp28 * (P(10, 1) * _tmp13 + P(10, 2) * _tmp14);
_kx(11, 0) = _tmp28 * (P(11, 1) * _tmp13 + P(11, 2) * _tmp14);
_kx(12, 0) = _tmp28 * (P(12, 1) * _tmp13 + P(12, 2) * _tmp14);
_kx(13, 0) = _tmp28 * (P(13, 1) * _tmp13 + P(13, 2) * _tmp14);
_kx(14, 0) = _tmp28 * (P(14, 1) * _tmp13 + P(14, 2) * _tmp14);
_kx(15, 0) = _tmp28 * (P(15, 1) * _tmp13 + P(15, 2) * _tmp14);
_kx(16, 0) = _tmp28 * (P(16, 1) * _tmp13 + P(16, 2) * _tmp14);
_kx(17, 0) = _tmp28 * (P(17, 1) * _tmp13 + P(17, 2) * _tmp14);
_kx(18, 0) = _tmp28 * (P(18, 1) * _tmp13 + P(18, 2) * _tmp14);
_kx(19, 0) = _tmp28 * (P(19, 1) * _tmp13 + P(19, 2) * _tmp14);
_kx(20, 0) = _tmp28 * (P(20, 1) * _tmp13 + P(20, 2) * _tmp14);
_kx(21, 0) = _tmp28 * (P(21, 1) * _tmp13 + P(21, 2) * _tmp14);
_kx(22, 0) = _tmp28 * (P(22, 1) * _tmp13 + P(22, 2) * _tmp14);
}
if (Ky != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _ky = (*Ky);
matrix::Matrix<Scalar, 23, 1>& _ky = (*Ky);
_ky(0, 0) = _tmp32 * (-P(0, 1) * _tmp7 - P(0, 2) * _tmp8 - _tmp14 + _tmp17);
_ky(1, 0) = _tmp32 * (-P(1, 0) * _tmp3 - P(1, 3) * _tmp5 + _tmp12 + _tmp21);
_ky(2, 0) = _tmp32 * (-P(2, 0) * _tmp3 - P(2, 3) * _tmp5 + _tmp18 - _tmp9);
_ky(3, 0) = _tmp32 * (-P(3, 1) * _tmp7 - P(3, 2) * _tmp8 + _tmp22 + _tmp4);
_ky(4, 0) = _tmp32 * (-P(4, 0) * _tmp3 - P(4, 1) * _tmp7 - P(4, 2) * _tmp8 - P(4, 3) * _tmp5);
_ky(5, 0) = _tmp32 * (-P(5, 0) * _tmp3 - P(5, 1) * _tmp7 - P(5, 2) * _tmp8 - P(5, 3) * _tmp5);
_ky(6, 0) =
_tmp32 * (-P(6, 0) * _tmp3 - P(6, 1) * _tmp7 - P(6, 2) * _tmp8 - _tmp31 * state(2, 0));
_ky(7, 0) = _tmp32 * (-P(7, 0) * _tmp3 - P(7, 1) * _tmp7 - P(7, 2) * _tmp8 - P(7, 3) * _tmp5);
_ky(8, 0) = _tmp32 * (-P(8, 0) * _tmp3 - P(8, 1) * _tmp7 - P(8, 2) * _tmp8 - P(8, 3) * _tmp5);
_ky(9, 0) = _tmp32 * (-P(9, 0) * _tmp3 - P(9, 1) * _tmp7 - P(9, 2) * _tmp8 - P(9, 3) * _tmp5);
_ky(10, 0) =
_tmp32 * (-P(10, 0) * _tmp3 - P(10, 1) * _tmp7 - P(10, 2) * _tmp8 - P(10, 3) * _tmp5);
_ky(11, 0) =
_tmp32 * (-P(11, 0) * _tmp3 - P(11, 1) * _tmp7 - P(11, 2) * _tmp8 - P(11, 3) * _tmp5);
_ky(12, 0) =
_tmp32 * (-P(12, 0) * _tmp3 - P(12, 1) * _tmp7 - P(12, 2) * _tmp8 - P(12, 3) * _tmp5);
_ky(13, 0) =
_tmp32 * (-P(13, 0) * _tmp3 - P(13, 1) * _tmp7 - P(13, 2) * _tmp8 - P(13, 3) * _tmp5);
_ky(14, 0) =
_tmp32 * (-P(14, 0) * _tmp3 - P(14, 1) * _tmp7 - P(14, 2) * _tmp8 - P(14, 3) * _tmp5);
_ky(15, 0) =
_tmp32 * (-P(15, 0) * _tmp3 - P(15, 1) * _tmp7 - P(15, 2) * _tmp8 - P(15, 3) * _tmp5);
_ky(16, 0) =
_tmp32 * (-P(16, 0) * _tmp3 - P(16, 1) * _tmp7 - P(16, 2) * _tmp8 - P(16, 3) * _tmp5);
_ky(17, 0) =
_tmp32 * (-P(17, 0) * _tmp3 - P(17, 1) * _tmp7 - P(17, 2) * _tmp8 - P(17, 3) * _tmp5);
_ky(18, 0) =
_tmp32 * (-P(18, 0) * _tmp3 - P(18, 1) * _tmp7 - P(18, 2) * _tmp8 - P(18, 3) * _tmp5);
_ky(19, 0) =
_tmp32 * (-P(19, 0) * _tmp3 - P(19, 1) * _tmp7 - P(19, 2) * _tmp8 - P(19, 3) * _tmp5);
_ky(20, 0) =
_tmp32 * (-P(20, 0) * _tmp3 - P(20, 1) * _tmp7 - P(20, 2) * _tmp8 - P(20, 3) * _tmp5);
_ky(21, 0) =
_tmp32 * (-P(21, 0) * _tmp3 - P(21, 1) * _tmp7 - P(21, 2) * _tmp8 - P(21, 3) * _tmp5);
_ky(22, 0) =
_tmp32 * (-P(22, 0) * _tmp3 - P(22, 1) * _tmp7 - P(22, 2) * _tmp8 - P(22, 3) * _tmp5);
_ky(23, 0) =
_tmp32 * (-P(23, 0) * _tmp3 - P(23, 1) * _tmp7 - P(23, 2) * _tmp8 - P(23, 3) * _tmp5);
_ky(0, 0) = _tmp29 * (P(0, 2) * _tmp19 + _tmp21);
_ky(1, 0) = _tmp29 * (P(1, 0) * _tmp18 + P(1, 2) * _tmp19);
_ky(2, 0) = _tmp29 * (P(2, 0) * _tmp18 + _tmp20);
_ky(3, 0) = _tmp29 * (P(3, 0) * _tmp18 + P(3, 2) * _tmp19);
_ky(4, 0) = _tmp29 * (P(4, 0) * _tmp18 + P(4, 2) * _tmp19);
_ky(5, 0) = _tmp29 * (P(5, 0) * _tmp18 + P(5, 2) * _tmp19);
_ky(6, 0) = _tmp29 * (P(6, 0) * _tmp18 + P(6, 2) * _tmp19);
_ky(7, 0) = _tmp29 * (P(7, 0) * _tmp18 + P(7, 2) * _tmp19);
_ky(8, 0) = _tmp29 * (P(8, 0) * _tmp18 + P(8, 2) * _tmp19);
_ky(9, 0) = _tmp29 * (P(9, 0) * _tmp18 + P(9, 2) * _tmp19);
_ky(10, 0) = _tmp29 * (P(10, 0) * _tmp18 + P(10, 2) * _tmp19);
_ky(11, 0) = _tmp29 * (P(11, 0) * _tmp18 + P(11, 2) * _tmp19);
_ky(12, 0) = _tmp29 * (P(12, 0) * _tmp18 + P(12, 2) * _tmp19);
_ky(13, 0) = _tmp29 * (P(13, 0) * _tmp18 + P(13, 2) * _tmp19);
_ky(14, 0) = _tmp29 * (P(14, 0) * _tmp18 + P(14, 2) * _tmp19);
_ky(15, 0) = _tmp29 * (P(15, 0) * _tmp18 + P(15, 2) * _tmp19);
_ky(16, 0) = _tmp29 * (P(16, 0) * _tmp18 + P(16, 2) * _tmp19);
_ky(17, 0) = _tmp29 * (P(17, 0) * _tmp18 + P(17, 2) * _tmp19);
_ky(18, 0) = _tmp29 * (P(18, 0) * _tmp18 + P(18, 2) * _tmp19);
_ky(19, 0) = _tmp29 * (P(19, 0) * _tmp18 + P(19, 2) * _tmp19);
_ky(20, 0) = _tmp29 * (P(20, 0) * _tmp18 + P(20, 2) * _tmp19);
_ky(21, 0) = _tmp29 * (P(21, 0) * _tmp18 + P(21, 2) * _tmp19);
_ky(22, 0) = _tmp29 * (P(22, 0) * _tmp18 + P(22, 2) * _tmp19);
}
if (Kz != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _kz = (*Kz);
matrix::Matrix<Scalar, 23, 1>& _kz = (*Kz);
_kz(0, 0) = _tmp33 * (P(0, 1) * _tmp27 + P(0, 2) * _tmp25);
_kz(1, 0) = _tmp33 * (P(1, 2) * _tmp25 + _tmp28);
_kz(2, 0) = _tmp33 * (P(2, 1) * _tmp27 + _tmp26);
_kz(3, 0) = _tmp33 * (P(3, 1) * _tmp27 + P(3, 2) * _tmp25);
_kz(4, 0) = _tmp33 * (P(4, 1) * _tmp27 + P(4, 2) * _tmp25);
_kz(5, 0) = _tmp33 * (P(5, 1) * _tmp27 + P(5, 2) * _tmp25);
_kz(6, 0) = _tmp33 * (P(6, 1) * _tmp27 + P(6, 2) * _tmp25);
_kz(7, 0) = _tmp33 * (P(7, 1) * _tmp27 + P(7, 2) * _tmp25);
_kz(8, 0) = _tmp33 * (P(8, 1) * _tmp27 + P(8, 2) * _tmp25);
_kz(9, 0) = _tmp33 * (P(9, 1) * _tmp27 + P(9, 2) * _tmp25);
_kz(10, 0) = _tmp33 * (P(10, 1) * _tmp27 + P(10, 2) * _tmp25);
_kz(11, 0) = _tmp33 * (P(11, 1) * _tmp27 + P(11, 2) * _tmp25);
_kz(12, 0) = _tmp33 * (P(12, 1) * _tmp27 + P(12, 2) * _tmp25);
_kz(13, 0) = _tmp33 * (P(13, 1) * _tmp27 + P(13, 2) * _tmp25);
_kz(14, 0) = _tmp33 * (P(14, 1) * _tmp27 + P(14, 2) * _tmp25);
_kz(15, 0) = _tmp33 * (P(15, 1) * _tmp27 + P(15, 2) * _tmp25);
_kz(16, 0) = _tmp33 * (P(16, 1) * _tmp27 + P(16, 2) * _tmp25);
_kz(17, 0) = _tmp33 * (P(17, 1) * _tmp27 + P(17, 2) * _tmp25);
_kz(18, 0) = _tmp33 * (P(18, 1) * _tmp27 + P(18, 2) * _tmp25);
_kz(19, 0) = _tmp33 * (P(19, 1) * _tmp27 + P(19, 2) * _tmp25);
_kz(20, 0) = _tmp33 * (P(20, 1) * _tmp27 + P(20, 2) * _tmp25);
_kz(21, 0) = _tmp33 * (P(21, 1) * _tmp27 + P(21, 2) * _tmp25);
_kz(22, 0) = _tmp33 * (P(22, 1) * _tmp27 + P(22, 2) * _tmp25);
_kz(23, 0) = _tmp33 * (P(23, 1) * _tmp27 + P(23, 2) * _tmp25);
_kz(0, 0) = _tmp30 * (P(0, 1) * _tmp24 + _tmp26);
_kz(1, 0) = _tmp30 * (P(1, 0) * _tmp23 + _tmp25);
_kz(2, 0) = _tmp30 * (P(2, 0) * _tmp23 + P(2, 1) * _tmp24);
_kz(3, 0) = _tmp30 * (P(3, 0) * _tmp23 + P(3, 1) * _tmp24);
_kz(4, 0) = _tmp30 * (P(4, 0) * _tmp23 + P(4, 1) * _tmp24);
_kz(5, 0) = _tmp30 * (P(5, 0) * _tmp23 + P(5, 1) * _tmp24);
_kz(6, 0) = _tmp30 * (P(6, 0) * _tmp23 + P(6, 1) * _tmp24);
_kz(7, 0) = _tmp30 * (P(7, 0) * _tmp23 + P(7, 1) * _tmp24);
_kz(8, 0) = _tmp30 * (P(8, 0) * _tmp23 + P(8, 1) * _tmp24);
_kz(9, 0) = _tmp30 * (P(9, 0) * _tmp23 + P(9, 1) * _tmp24);
_kz(10, 0) = _tmp30 * (P(10, 0) * _tmp23 + P(10, 1) * _tmp24);
_kz(11, 0) = _tmp30 * (P(11, 0) * _tmp23 + P(11, 1) * _tmp24);
_kz(12, 0) = _tmp30 * (P(12, 0) * _tmp23 + P(12, 1) * _tmp24);
_kz(13, 0) = _tmp30 * (P(13, 0) * _tmp23 + P(13, 1) * _tmp24);
_kz(14, 0) = _tmp30 * (P(14, 0) * _tmp23 + P(14, 1) * _tmp24);
_kz(15, 0) = _tmp30 * (P(15, 0) * _tmp23 + P(15, 1) * _tmp24);
_kz(16, 0) = _tmp30 * (P(16, 0) * _tmp23 + P(16, 1) * _tmp24);
_kz(17, 0) = _tmp30 * (P(17, 0) * _tmp23 + P(17, 1) * _tmp24);
_kz(18, 0) = _tmp30 * (P(18, 0) * _tmp23 + P(18, 1) * _tmp24);
_kz(19, 0) = _tmp30 * (P(19, 0) * _tmp23 + P(19, 1) * _tmp24);
_kz(20, 0) = _tmp30 * (P(20, 0) * _tmp23 + P(20, 1) * _tmp24);
_kz(21, 0) = _tmp30 * (P(21, 0) * _tmp23 + P(21, 1) * _tmp24);
_kz(22, 0) = _tmp30 * (P(22, 0) * _tmp23 + P(22, 1) * _tmp24);
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h
+9 -9
View File
@@ -17,21 +17,21 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* R: Scalar
* epsilon: Scalar
*
* Outputs:
* pred: Scalar
* innov_var: Scalar
* H: Matrix24_1
* H: Matrix23_1
*/
template <typename Scalar>
void ComputeMagDeclinationPredInnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar R,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
const Scalar epsilon, Scalar* const pred = nullptr,
Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
// Total ops: 22
// Input arrays
@@ -54,17 +54,17 @@ void ComputeMagDeclinationPredInnovVarAndH(const matrix::Matrix<Scalar, 24, 1>&
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var = R - _tmp2 * (-P(16, 16) * _tmp2 + P(17, 16) * _tmp3) +
_tmp3 * (-P(16, 17) * _tmp2 + P(17, 17) * _tmp3);
_innov_var = R - _tmp2 * (-P(15, 15) * _tmp2 + P(16, 15) * _tmp3) +
_tmp3 * (-P(15, 16) * _tmp2 + P(16, 16) * _tmp3);
}
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(16, 0) = -_tmp2;
_h(17, 0) = _tmp3;
_h(15, 0) = -_tmp2;
_h(16, 0) = _tmp3;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h
+103 -121
View File
@@ -17,7 +17,7 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* meas: Matrix31
* R: Scalar
* epsilon: Scalar
@@ -25,155 +25,137 @@ namespace sym {
* Outputs:
* innov: Matrix31
* innov_var: Matrix31
* Hx: Matrix24_1
* Hx: Matrix23_1
*/
template <typename Scalar>
void ComputeMagInnovInnovVarAndHx(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P,
const matrix::Matrix<Scalar, 23, 23>& P,
const matrix::Matrix<Scalar, 3, 1>& meas, const Scalar R,
const Scalar epsilon,
matrix::Matrix<Scalar, 3, 1>* const innov = nullptr,
matrix::Matrix<Scalar, 3, 1>* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const Hx = nullptr) {
// Total ops: 471
matrix::Matrix<Scalar, 23, 1>* const Hx = nullptr) {
// Total ops: 314
// Unused inputs
(void)epsilon;
// Input arrays
// Intermediate terms (49)
const Scalar _tmp0 = -2 * std::pow(state(3, 0), Scalar(2));
const Scalar _tmp1 = -2 * std::pow(state(2, 0), Scalar(2));
const Scalar _tmp2 = _tmp0 + _tmp1 + 1;
const Scalar _tmp3 = 2 * state(0, 0);
const Scalar _tmp4 = _tmp3 * state(3, 0);
const Scalar _tmp5 = 2 * state(2, 0);
const Scalar _tmp6 = _tmp5 * state(1, 0);
const Scalar _tmp7 = _tmp4 + _tmp6;
const Scalar _tmp8 = _tmp5 * state(0, 0);
const Scalar _tmp9 = 2 * state(1, 0);
const Scalar _tmp10 = _tmp9 * state(3, 0);
const Scalar _tmp11 = _tmp10 - _tmp8;
const Scalar _tmp12 = 1 - 2 * std::pow(state(1, 0), Scalar(2));
const Scalar _tmp13 = _tmp0 + _tmp12;
const Scalar _tmp14 = _tmp5 * state(3, 0);
const Scalar _tmp15 = _tmp3 * state(1, 0);
const Scalar _tmp16 = _tmp14 + _tmp15;
const Scalar _tmp17 = -_tmp4 + _tmp6;
const Scalar _tmp18 = _tmp1 + _tmp12;
const Scalar _tmp19 = _tmp14 - _tmp15;
const Scalar _tmp20 = _tmp10 + _tmp8;
const Scalar _tmp21 = _tmp9 * state(18, 0);
const Scalar _tmp22 = _tmp3 * state(17, 0);
const Scalar _tmp23 = _tmp21 + _tmp22 - 4 * state(16, 0) * state(3, 0);
const Scalar _tmp24 = 4 * state(2, 0);
const Scalar _tmp25 = _tmp9 * state(17, 0);
const Scalar _tmp26 = _tmp3 * state(18, 0);
const Scalar _tmp27 = -_tmp24 * state(16, 0) + _tmp25 - _tmp26;
const Scalar _tmp28 = state(17, 0) * state(3, 0);
const Scalar _tmp29 = 2 * _tmp28;
const Scalar _tmp30 = _tmp5 * state(18, 0);
const Scalar _tmp31 = _tmp29 - _tmp30;
const Scalar _tmp32 = 2 * state(3, 0);
const Scalar _tmp33 = _tmp32 * state(18, 0);
const Scalar _tmp34 = _tmp5 * state(17, 0);
const Scalar _tmp35 = _tmp33 + _tmp34;
const Scalar _tmp36 = _tmp5 * state(16, 0);
const Scalar _tmp37 = 4 * state(1, 0);
const Scalar _tmp38 = _tmp26 + _tmp36 - _tmp37 * state(17, 0);
const Scalar _tmp39 = _tmp3 * state(16, 0);
const Scalar _tmp40 = -4 * _tmp28 + _tmp30 - _tmp39;
const Scalar _tmp41 = _tmp32 * state(16, 0);
const Scalar _tmp42 = _tmp21 - _tmp41;
const Scalar _tmp43 = _tmp9 * state(16, 0);
const Scalar _tmp44 = _tmp33 + _tmp43;
const Scalar _tmp45 = -_tmp22 - _tmp37 * state(18, 0) + _tmp41;
const Scalar _tmp46 = -_tmp24 * state(18, 0) + _tmp29 + _tmp39;
const Scalar _tmp47 = _tmp34 + _tmp43;
const Scalar _tmp48 = -_tmp25 + _tmp36;
// Intermediate terms (47)
const Scalar _tmp0 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp1 = -2 * _tmp0;
const Scalar _tmp2 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp3 = -2 * _tmp2;
const Scalar _tmp4 = _tmp1 + _tmp3 + 1;
const Scalar _tmp5 = 2 * state(0, 0);
const Scalar _tmp6 = _tmp5 * state(3, 0);
const Scalar _tmp7 = 2 * state(1, 0);
const Scalar _tmp8 = _tmp7 * state(2, 0);
const Scalar _tmp9 = _tmp6 + _tmp8;
const Scalar _tmp10 = _tmp5 * state(2, 0);
const Scalar _tmp11 = -_tmp10;
const Scalar _tmp12 = _tmp7 * state(3, 0);
const Scalar _tmp13 = _tmp11 + _tmp12;
const Scalar _tmp14 = _tmp13 * state(18, 0) + _tmp9 * state(17, 0);
const Scalar _tmp15 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp16 = 1 - 2 * _tmp15;
const Scalar _tmp17 = _tmp1 + _tmp16;
const Scalar _tmp18 = 2 * state(2, 0) * state(3, 0);
const Scalar _tmp19 = _tmp7 * state(0, 0);
const Scalar _tmp20 = _tmp18 + _tmp19;
const Scalar _tmp21 = -_tmp6;
const Scalar _tmp22 = _tmp21 + _tmp8;
const Scalar _tmp23 = _tmp20 * state(18, 0) + _tmp22 * state(16, 0);
const Scalar _tmp24 = _tmp16 + _tmp3;
const Scalar _tmp25 = -_tmp19;
const Scalar _tmp26 = _tmp18 + _tmp25;
const Scalar _tmp27 = _tmp10 + _tmp12;
const Scalar _tmp28 = _tmp26 * state(17, 0) + _tmp27 * state(16, 0);
const Scalar _tmp29 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp30 = -_tmp29;
const Scalar _tmp31 = _tmp2 + _tmp30;
const Scalar _tmp32 = -_tmp0;
const Scalar _tmp33 = _tmp15 + _tmp32;
const Scalar _tmp34 = -_tmp18;
const Scalar _tmp35 = -_tmp12;
const Scalar _tmp36 = state(16, 0) * (_tmp11 + _tmp35) + state(17, 0) * (_tmp19 + _tmp34) +
state(18, 0) * (_tmp31 + _tmp33);
const Scalar _tmp37 = -_tmp15;
const Scalar _tmp38 = _tmp23 + state(17, 0) * (_tmp2 + _tmp29 + _tmp32 + _tmp37);
const Scalar _tmp39 = _tmp0 + _tmp37;
const Scalar _tmp40 = -_tmp8;
const Scalar _tmp41 = state(16, 0) * (_tmp31 + _tmp39) + state(17, 0) * (_tmp21 + _tmp40) +
state(18, 0) * (_tmp10 + _tmp35);
const Scalar _tmp42 = -_tmp2;
const Scalar _tmp43 = _tmp29 + _tmp42;
const Scalar _tmp44 = _tmp28 + state(18, 0) * (_tmp39 + _tmp43);
const Scalar _tmp45 = _tmp14 + state(16, 0) * (_tmp33 + _tmp43);
const Scalar _tmp46 = state(16, 0) * (_tmp40 + _tmp6) +
state(17, 0) * (_tmp0 + _tmp15 + _tmp30 + _tmp42) +
state(18, 0) * (_tmp25 + _tmp34);
// Output terms (3)
if (innov != nullptr) {
matrix::Matrix<Scalar, 3, 1>& _innov = (*innov);
_innov(0, 0) = _tmp11 * state(18, 0) + _tmp2 * state(16, 0) + _tmp7 * state(17, 0) -
meas(0, 0) + state(19, 0);
_innov(1, 0) = _tmp13 * state(17, 0) + _tmp16 * state(18, 0) + _tmp17 * state(16, 0) -
meas(1, 0) + state(20, 0);
_innov(2, 0) = _tmp18 * state(18, 0) + _tmp19 * state(17, 0) + _tmp20 * state(16, 0) -
meas(2, 0) + state(21, 0);
_innov(0, 0) = _tmp14 + _tmp4 * state(16, 0) - meas(0, 0) + state(19, 0);
_innov(1, 0) = _tmp17 * state(17, 0) + _tmp23 - meas(1, 0) + state(20, 0);
_innov(2, 0) = _tmp24 * state(18, 0) + _tmp28 - meas(2, 0) + state(21, 0);
}
if (innov_var != nullptr) {
matrix::Matrix<Scalar, 3, 1>& _innov_var = (*innov_var);
_innov_var(0, 0) =
P(0, 19) * _tmp31 + P(1, 19) * _tmp35 + P(16, 19) * _tmp2 + P(17, 19) * _tmp7 +
P(18, 19) * _tmp11 + P(19, 19) + P(2, 19) * _tmp27 + P(3, 19) * _tmp23 + R +
_tmp11 * (P(0, 18) * _tmp31 + P(1, 18) * _tmp35 + P(16, 18) * _tmp2 + P(17, 18) * _tmp7 +
P(18, 18) * _tmp11 + P(19, 18) + P(2, 18) * _tmp27 + P(3, 18) * _tmp23) +
_tmp2 * (P(0, 16) * _tmp31 + P(1, 16) * _tmp35 + P(16, 16) * _tmp2 + P(17, 16) * _tmp7 +
P(18, 16) * _tmp11 + P(19, 16) + P(2, 16) * _tmp27 + P(3, 16) * _tmp23) +
_tmp23 * (P(0, 3) * _tmp31 + P(1, 3) * _tmp35 + P(16, 3) * _tmp2 + P(17, 3) * _tmp7 +
P(18, 3) * _tmp11 + P(19, 3) + P(2, 3) * _tmp27 + P(3, 3) * _tmp23) +
_tmp27 * (P(0, 2) * _tmp31 + P(1, 2) * _tmp35 + P(16, 2) * _tmp2 + P(17, 2) * _tmp7 +
P(18, 2) * _tmp11 + P(19, 2) + P(2, 2) * _tmp27 + P(3, 2) * _tmp23) +
_tmp31 * (P(0, 0) * _tmp31 + P(1, 0) * _tmp35 + P(16, 0) * _tmp2 + P(17, 0) * _tmp7 +
P(18, 0) * _tmp11 + P(19, 0) + P(2, 0) * _tmp27 + P(3, 0) * _tmp23) +
_tmp35 * (P(0, 1) * _tmp31 + P(1, 1) * _tmp35 + P(16, 1) * _tmp2 + P(17, 1) * _tmp7 +
P(18, 1) * _tmp11 + P(19, 1) + P(2, 1) * _tmp27 + P(3, 1) * _tmp23) +
_tmp7 * (P(0, 17) * _tmp31 + P(1, 17) * _tmp35 + P(16, 17) * _tmp2 + P(17, 17) * _tmp7 +
P(18, 17) * _tmp11 + P(19, 17) + P(2, 17) * _tmp27 + P(3, 17) * _tmp23);
_innov_var(1, 0) =
P(0, 20) * _tmp42 + P(1, 20) * _tmp38 + P(16, 20) * _tmp17 + P(17, 20) * _tmp13 +
P(18, 20) * _tmp16 + P(2, 20) * _tmp44 + P(20, 20) + P(3, 20) * _tmp40 + R +
_tmp13 * (P(0, 17) * _tmp42 + P(1, 17) * _tmp38 + P(16, 17) * _tmp17 + P(17, 17) * _tmp13 +
P(18, 17) * _tmp16 + P(2, 17) * _tmp44 + P(20, 17) + P(3, 17) * _tmp40) +
_tmp16 * (P(0, 18) * _tmp42 + P(1, 18) * _tmp38 + P(16, 18) * _tmp17 + P(17, 18) * _tmp13 +
P(18, 18) * _tmp16 + P(2, 18) * _tmp44 + P(20, 18) + P(3, 18) * _tmp40) +
_tmp17 * (P(0, 16) * _tmp42 + P(1, 16) * _tmp38 + P(16, 16) * _tmp17 + P(17, 16) * _tmp13 +
P(18, 16) * _tmp16 + P(2, 16) * _tmp44 + P(20, 16) + P(3, 16) * _tmp40) +
_tmp38 * (P(0, 1) * _tmp42 + P(1, 1) * _tmp38 + P(16, 1) * _tmp17 + P(17, 1) * _tmp13 +
P(18, 1) * _tmp16 + P(2, 1) * _tmp44 + P(20, 1) + P(3, 1) * _tmp40) +
_tmp40 * (P(0, 3) * _tmp42 + P(1, 3) * _tmp38 + P(16, 3) * _tmp17 + P(17, 3) * _tmp13 +
P(18, 3) * _tmp16 + P(2, 3) * _tmp44 + P(20, 3) + P(3, 3) * _tmp40) +
_tmp42 * (P(0, 0) * _tmp42 + P(1, 0) * _tmp38 + P(16, 0) * _tmp17 + P(17, 0) * _tmp13 +
P(18, 0) * _tmp16 + P(2, 0) * _tmp44 + P(20, 0) + P(3, 0) * _tmp40) +
_tmp44 * (P(0, 2) * _tmp42 + P(1, 2) * _tmp38 + P(16, 2) * _tmp17 + P(17, 2) * _tmp13 +
P(18, 2) * _tmp16 + P(2, 2) * _tmp44 + P(20, 2) + P(3, 2) * _tmp40);
_innov_var(2, 0) =
P(0, 21) * _tmp48 + P(1, 21) * _tmp45 + P(16, 21) * _tmp20 + P(17, 21) * _tmp19 +
P(18, 21) * _tmp18 + P(2, 21) * _tmp46 + P(21, 21) + P(3, 21) * _tmp47 + R +
_tmp18 * (P(0, 18) * _tmp48 + P(1, 18) * _tmp45 + P(16, 18) * _tmp20 + P(17, 18) * _tmp19 +
P(18, 18) * _tmp18 + P(2, 18) * _tmp46 + P(21, 18) + P(3, 18) * _tmp47) +
_tmp19 * (P(0, 17) * _tmp48 + P(1, 17) * _tmp45 + P(16, 17) * _tmp20 + P(17, 17) * _tmp19 +
P(18, 17) * _tmp18 + P(2, 17) * _tmp46 + P(21, 17) + P(3, 17) * _tmp47) +
_tmp20 * (P(0, 16) * _tmp48 + P(1, 16) * _tmp45 + P(16, 16) * _tmp20 + P(17, 16) * _tmp19 +
P(18, 16) * _tmp18 + P(2, 16) * _tmp46 + P(21, 16) + P(3, 16) * _tmp47) +
_tmp45 * (P(0, 1) * _tmp48 + P(1, 1) * _tmp45 + P(16, 1) * _tmp20 + P(17, 1) * _tmp19 +
P(18, 1) * _tmp18 + P(2, 1) * _tmp46 + P(21, 1) + P(3, 1) * _tmp47) +
_tmp46 * (P(0, 2) * _tmp48 + P(1, 2) * _tmp45 + P(16, 2) * _tmp20 + P(17, 2) * _tmp19 +
P(18, 2) * _tmp18 + P(2, 2) * _tmp46 + P(21, 2) + P(3, 2) * _tmp47) +
_tmp47 * (P(0, 3) * _tmp48 + P(1, 3) * _tmp45 + P(16, 3) * _tmp20 + P(17, 3) * _tmp19 +
P(18, 3) * _tmp18 + P(2, 3) * _tmp46 + P(21, 3) + P(3, 3) * _tmp47) +
_tmp48 * (P(0, 0) * _tmp48 + P(1, 0) * _tmp45 + P(16, 0) * _tmp20 + P(17, 0) * _tmp19 +
P(18, 0) * _tmp18 + P(2, 0) * _tmp46 + P(21, 0) + P(3, 0) * _tmp47);
_innov_var(0, 0) = P(1, 18) * _tmp36 + P(15, 18) * _tmp4 + P(16, 18) * _tmp9 +
P(17, 18) * _tmp13 + P(18, 18) + P(2, 18) * _tmp38 + R +
_tmp13 * (P(1, 17) * _tmp36 + P(15, 17) * _tmp4 + P(16, 17) * _tmp9 +
P(17, 17) * _tmp13 + P(18, 17) + P(2, 17) * _tmp38) +
_tmp36 * (P(1, 1) * _tmp36 + P(15, 1) * _tmp4 + P(16, 1) * _tmp9 +
P(17, 1) * _tmp13 + P(18, 1) + P(2, 1) * _tmp38) +
_tmp38 * (P(1, 2) * _tmp36 + P(15, 2) * _tmp4 + P(16, 2) * _tmp9 +
P(17, 2) * _tmp13 + P(18, 2) + P(2, 2) * _tmp38) +
_tmp4 * (P(1, 15) * _tmp36 + P(15, 15) * _tmp4 + P(16, 15) * _tmp9 +
P(17, 15) * _tmp13 + P(18, 15) + P(2, 15) * _tmp38) +
_tmp9 * (P(1, 16) * _tmp36 + P(15, 16) * _tmp4 + P(16, 16) * _tmp9 +
P(17, 16) * _tmp13 + P(18, 16) + P(2, 16) * _tmp38);
_innov_var(1, 0) = P(0, 19) * _tmp44 + P(15, 19) * _tmp22 + P(16, 19) * _tmp17 +
P(17, 19) * _tmp20 + P(19, 19) + P(2, 19) * _tmp41 + R +
_tmp17 * (P(0, 16) * _tmp44 + P(15, 16) * _tmp22 + P(16, 16) * _tmp17 +
P(17, 16) * _tmp20 + P(19, 16) + P(2, 16) * _tmp41) +
_tmp20 * (P(0, 17) * _tmp44 + P(15, 17) * _tmp22 + P(16, 17) * _tmp17 +
P(17, 17) * _tmp20 + P(19, 17) + P(2, 17) * _tmp41) +
_tmp22 * (P(0, 15) * _tmp44 + P(15, 15) * _tmp22 + P(16, 15) * _tmp17 +
P(17, 15) * _tmp20 + P(19, 15) + P(2, 15) * _tmp41) +
_tmp41 * (P(0, 2) * _tmp44 + P(15, 2) * _tmp22 + P(16, 2) * _tmp17 +
P(17, 2) * _tmp20 + P(19, 2) + P(2, 2) * _tmp41) +
_tmp44 * (P(0, 0) * _tmp44 + P(15, 0) * _tmp22 + P(16, 0) * _tmp17 +
P(17, 0) * _tmp20 + P(19, 0) + P(2, 0) * _tmp41);
_innov_var(2, 0) = P(0, 20) * _tmp46 + P(1, 20) * _tmp45 + P(15, 20) * _tmp27 +
P(16, 20) * _tmp26 + P(17, 20) * _tmp24 + P(20, 20) + R +
_tmp24 * (P(0, 17) * _tmp46 + P(1, 17) * _tmp45 + P(15, 17) * _tmp27 +
P(16, 17) * _tmp26 + P(17, 17) * _tmp24 + P(20, 17)) +
_tmp26 * (P(0, 16) * _tmp46 + P(1, 16) * _tmp45 + P(15, 16) * _tmp27 +
P(16, 16) * _tmp26 + P(17, 16) * _tmp24 + P(20, 16)) +
_tmp27 * (P(0, 15) * _tmp46 + P(1, 15) * _tmp45 + P(15, 15) * _tmp27 +
P(16, 15) * _tmp26 + P(17, 15) * _tmp24 + P(20, 15)) +
_tmp45 * (P(0, 1) * _tmp46 + P(1, 1) * _tmp45 + P(15, 1) * _tmp27 +
P(16, 1) * _tmp26 + P(17, 1) * _tmp24 + P(20, 1)) +
_tmp46 * (P(0, 0) * _tmp46 + P(1, 0) * _tmp45 + P(15, 0) * _tmp27 +
P(16, 0) * _tmp26 + P(17, 0) * _tmp24 + P(20, 0));
}
if (Hx != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _hx = (*Hx);
matrix::Matrix<Scalar, 23, 1>& _hx = (*Hx);
_hx.setZero();
_hx(0, 0) = _tmp31;
_hx(1, 0) = _tmp35;
_hx(2, 0) = _tmp27;
_hx(3, 0) = _tmp23;
_hx(16, 0) = _tmp2;
_hx(17, 0) = _tmp7;
_hx(18, 0) = _tmp11;
_hx(19, 0) = 1;
_hx(1, 0) = _tmp36;
_hx(2, 0) = _tmp38;
_hx(15, 0) = _tmp4;
_hx(16, 0) = _tmp9;
_hx(17, 0) = _tmp13;
_hx(18, 0) = 1;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h
+44 -44
View File
@@ -17,77 +17,77 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* R: Scalar
* epsilon: Scalar
*
* Outputs:
* innov_var: Scalar
* H: Matrix24_1
* H: Matrix23_1
*/
template <typename Scalar>
void ComputeMagYInnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar R,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
const Scalar epsilon, Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
// Total ops: 160
matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
// Total ops: 110
// Unused inputs
(void)epsilon;
// Input arrays
// Intermediate terms (12)
const Scalar _tmp0 = 2 * state(16, 0);
const Scalar _tmp1 = 4 * state(17, 0);
const Scalar _tmp2 = 2 * state(18, 0);
const Scalar _tmp3 = _tmp0 * state(2, 0) - _tmp1 * state(1, 0) + _tmp2 * state(0, 0);
const Scalar _tmp4 = -_tmp0 * state(0, 0) - _tmp1 * state(3, 0) + _tmp2 * state(2, 0);
const Scalar _tmp5 = -_tmp0 * state(3, 0) + _tmp2 * state(1, 0);
const Scalar _tmp6 = _tmp0 * state(1, 0) + _tmp2 * state(3, 0);
const Scalar _tmp7 =
-2 * std::pow(state(1, 0), Scalar(2)) - 2 * std::pow(state(3, 0), Scalar(2)) + 1;
const Scalar _tmp8 = 2 * state(3, 0);
const Scalar _tmp9 = 2 * state(1, 0);
const Scalar _tmp10 = _tmp8 * state(2, 0) + _tmp9 * state(0, 0);
const Scalar _tmp11 = -_tmp8 * state(0, 0) + _tmp9 * state(2, 0);
// Intermediate terms (18)
const Scalar _tmp0 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp1 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp2 = -2 * _tmp0 - 2 * _tmp1 + 1;
const Scalar _tmp3 = 2 * state(2, 0);
const Scalar _tmp4 = _tmp3 * state(3, 0);
const Scalar _tmp5 = 2 * state(0, 0);
const Scalar _tmp6 = _tmp5 * state(1, 0);
const Scalar _tmp7 = _tmp4 + _tmp6;
const Scalar _tmp8 = -_tmp5 * state(3, 0);
const Scalar _tmp9 = _tmp3 * state(1, 0);
const Scalar _tmp10 = _tmp8 + _tmp9;
const Scalar _tmp11 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp12 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp13 = _tmp0 - _tmp1;
const Scalar _tmp14 = _tmp3 * state(0, 0);
const Scalar _tmp15 = 2 * state(1, 0) * state(3, 0);
const Scalar _tmp16 = state(16, 0) * (-_tmp11 + _tmp12 + _tmp13) +
state(17, 0) * (_tmp8 - _tmp9) + state(18, 0) * (_tmp14 - _tmp15);
const Scalar _tmp17 = state(16, 0) * (_tmp14 + _tmp15) + state(17, 0) * (_tmp4 - _tmp6) +
state(18, 0) * (_tmp11 - _tmp12 + _tmp13);
// Output terms (2)
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var =
P(0, 20) * _tmp5 + P(1, 20) * _tmp3 + P(16, 20) * _tmp11 + P(17, 20) * _tmp7 +
P(18, 20) * _tmp10 + P(2, 20) * _tmp6 + P(20, 20) + P(3, 20) * _tmp4 + R +
_tmp10 * (P(0, 18) * _tmp5 + P(1, 18) * _tmp3 + P(16, 18) * _tmp11 + P(17, 18) * _tmp7 +
P(18, 18) * _tmp10 + P(2, 18) * _tmp6 + P(20, 18) + P(3, 18) * _tmp4) +
_tmp11 * (P(0, 16) * _tmp5 + P(1, 16) * _tmp3 + P(16, 16) * _tmp11 + P(17, 16) * _tmp7 +
P(18, 16) * _tmp10 + P(2, 16) * _tmp6 + P(20, 16) + P(3, 16) * _tmp4) +
_tmp3 * (P(0, 1) * _tmp5 + P(1, 1) * _tmp3 + P(16, 1) * _tmp11 + P(17, 1) * _tmp7 +
P(18, 1) * _tmp10 + P(2, 1) * _tmp6 + P(20, 1) + P(3, 1) * _tmp4) +
_tmp4 * (P(0, 3) * _tmp5 + P(1, 3) * _tmp3 + P(16, 3) * _tmp11 + P(17, 3) * _tmp7 +
P(18, 3) * _tmp10 + P(2, 3) * _tmp6 + P(20, 3) + P(3, 3) * _tmp4) +
_tmp5 * (P(0, 0) * _tmp5 + P(1, 0) * _tmp3 + P(16, 0) * _tmp11 + P(17, 0) * _tmp7 +
P(18, 0) * _tmp10 + P(2, 0) * _tmp6 + P(20, 0) + P(3, 0) * _tmp4) +
_tmp6 * (P(0, 2) * _tmp5 + P(1, 2) * _tmp3 + P(16, 2) * _tmp11 + P(17, 2) * _tmp7 +
P(18, 2) * _tmp10 + P(2, 2) * _tmp6 + P(20, 2) + P(3, 2) * _tmp4) +
_tmp7 * (P(0, 17) * _tmp5 + P(1, 17) * _tmp3 + P(16, 17) * _tmp11 + P(17, 17) * _tmp7 +
P(18, 17) * _tmp10 + P(2, 17) * _tmp6 + P(20, 17) + P(3, 17) * _tmp4);
_innov_var = P(0, 19) * _tmp17 + P(15, 19) * _tmp10 + P(16, 19) * _tmp2 + P(17, 19) * _tmp7 +
P(19, 19) + P(2, 19) * _tmp16 + R +
_tmp10 * (P(0, 15) * _tmp17 + P(15, 15) * _tmp10 + P(16, 15) * _tmp2 +
P(17, 15) * _tmp7 + P(19, 15) + P(2, 15) * _tmp16) +
_tmp16 * (P(0, 2) * _tmp17 + P(15, 2) * _tmp10 + P(16, 2) * _tmp2 +
P(17, 2) * _tmp7 + P(19, 2) + P(2, 2) * _tmp16) +
_tmp17 * (P(0, 0) * _tmp17 + P(15, 0) * _tmp10 + P(16, 0) * _tmp2 +
P(17, 0) * _tmp7 + P(19, 0) + P(2, 0) * _tmp16) +
_tmp2 * (P(0, 16) * _tmp17 + P(15, 16) * _tmp10 + P(16, 16) * _tmp2 +
P(17, 16) * _tmp7 + P(19, 16) + P(2, 16) * _tmp16) +
_tmp7 * (P(0, 17) * _tmp17 + P(15, 17) * _tmp10 + P(16, 17) * _tmp2 +
P(17, 17) * _tmp7 + P(19, 17) + P(2, 17) * _tmp16);
}
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(0, 0) = _tmp5;
_h(1, 0) = _tmp3;
_h(2, 0) = _tmp6;
_h(3, 0) = _tmp4;
_h(16, 0) = _tmp11;
_h(0, 0) = _tmp17;
_h(2, 0) = _tmp16;
_h(15, 0) = _tmp10;
_h(16, 0) = _tmp2;
_h(17, 0) = _tmp7;
_h(18, 0) = _tmp10;
_h(20, 0) = 1;
_h(19, 0) = 1;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h
+45 -45
View File
@@ -17,77 +17,77 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* R: Scalar
* epsilon: Scalar
*
* Outputs:
* innov_var: Scalar
* H: Matrix24_1
* H: Matrix23_1
*/
template <typename Scalar>
void ComputeMagZInnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar R,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
const Scalar epsilon, Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
// Total ops: 160
matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
// Total ops: 110
// Unused inputs
(void)epsilon;
// Input arrays
// Intermediate terms (12)
const Scalar _tmp0 = 2 * state(16, 0);
const Scalar _tmp1 = 4 * state(18, 0);
const Scalar _tmp2 = 2 * state(17, 0);
const Scalar _tmp3 = _tmp0 * state(3, 0) - _tmp1 * state(1, 0) - _tmp2 * state(0, 0);
const Scalar _tmp4 = _tmp0 * state(0, 0) - _tmp1 * state(2, 0) + _tmp2 * state(3, 0);
const Scalar _tmp5 = _tmp0 * state(1, 0) + _tmp2 * state(2, 0);
const Scalar _tmp6 = _tmp0 * state(2, 0) - _tmp2 * state(1, 0);
const Scalar _tmp7 = 2 * state(2, 0);
const Scalar _tmp8 = 2 * state(1, 0);
const Scalar _tmp9 = _tmp7 * state(0, 0) + _tmp8 * state(3, 0);
const Scalar _tmp10 = _tmp7 * state(3, 0) - _tmp8 * state(0, 0);
const Scalar _tmp11 =
-2 * std::pow(state(1, 0), Scalar(2)) - 2 * std::pow(state(2, 0), Scalar(2)) + 1;
// Intermediate terms (18)
const Scalar _tmp0 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp1 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp2 = -2 * _tmp0 - 2 * _tmp1 + 1;
const Scalar _tmp3 = 2 * state(2, 0);
const Scalar _tmp4 = _tmp3 * state(3, 0);
const Scalar _tmp5 = 2 * state(0, 0);
const Scalar _tmp6 = -_tmp5 * state(1, 0);
const Scalar _tmp7 = _tmp4 + _tmp6;
const Scalar _tmp8 = _tmp3 * state(0, 0);
const Scalar _tmp9 = 2 * state(1, 0) * state(3, 0);
const Scalar _tmp10 = _tmp8 + _tmp9;
const Scalar _tmp11 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp12 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp13 = -_tmp0 + _tmp1;
const Scalar _tmp14 = _tmp5 * state(3, 0);
const Scalar _tmp15 = _tmp3 * state(1, 0);
const Scalar _tmp16 = state(16, 0) * (-_tmp11 + _tmp12 + _tmp13) +
state(17, 0) * (_tmp14 + _tmp15) + state(18, 0) * (-_tmp8 + _tmp9);
const Scalar _tmp17 = state(16, 0) * (_tmp14 - _tmp15) +
state(17, 0) * (_tmp11 - _tmp12 + _tmp13) + state(18, 0) * (-_tmp4 + _tmp6);
// Output terms (2)
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var =
P(0, 21) * _tmp6 + P(1, 21) * _tmp3 + P(16, 21) * _tmp9 + P(17, 21) * _tmp10 +
P(18, 21) * _tmp11 + P(2, 21) * _tmp4 + P(21, 21) + P(3, 21) * _tmp5 + R +
_tmp10 * (P(0, 17) * _tmp6 + P(1, 17) * _tmp3 + P(16, 17) * _tmp9 + P(17, 17) * _tmp10 +
P(18, 17) * _tmp11 + P(2, 17) * _tmp4 + P(21, 17) + P(3, 17) * _tmp5) +
_tmp11 * (P(0, 18) * _tmp6 + P(1, 18) * _tmp3 + P(16, 18) * _tmp9 + P(17, 18) * _tmp10 +
P(18, 18) * _tmp11 + P(2, 18) * _tmp4 + P(21, 18) + P(3, 18) * _tmp5) +
_tmp3 * (P(0, 1) * _tmp6 + P(1, 1) * _tmp3 + P(16, 1) * _tmp9 + P(17, 1) * _tmp10 +
P(18, 1) * _tmp11 + P(2, 1) * _tmp4 + P(21, 1) + P(3, 1) * _tmp5) +
_tmp4 * (P(0, 2) * _tmp6 + P(1, 2) * _tmp3 + P(16, 2) * _tmp9 + P(17, 2) * _tmp10 +
P(18, 2) * _tmp11 + P(2, 2) * _tmp4 + P(21, 2) + P(3, 2) * _tmp5) +
_tmp5 * (P(0, 3) * _tmp6 + P(1, 3) * _tmp3 + P(16, 3) * _tmp9 + P(17, 3) * _tmp10 +
P(18, 3) * _tmp11 + P(2, 3) * _tmp4 + P(21, 3) + P(3, 3) * _tmp5) +
_tmp6 * (P(0, 0) * _tmp6 + P(1, 0) * _tmp3 + P(16, 0) * _tmp9 + P(17, 0) * _tmp10 +
P(18, 0) * _tmp11 + P(2, 0) * _tmp4 + P(21, 0) + P(3, 0) * _tmp5) +
_tmp9 * (P(0, 16) * _tmp6 + P(1, 16) * _tmp3 + P(16, 16) * _tmp9 + P(17, 16) * _tmp10 +
P(18, 16) * _tmp11 + P(2, 16) * _tmp4 + P(21, 16) + P(3, 16) * _tmp5);
_innov_var = P(0, 20) * _tmp17 + P(1, 20) * _tmp16 + P(15, 20) * _tmp10 + P(16, 20) * _tmp7 +
P(17, 20) * _tmp2 + P(20, 20) + R +
_tmp10 * (P(0, 15) * _tmp17 + P(1, 15) * _tmp16 + P(15, 15) * _tmp10 +
P(16, 15) * _tmp7 + P(17, 15) * _tmp2 + P(20, 15)) +
_tmp16 * (P(0, 1) * _tmp17 + P(1, 1) * _tmp16 + P(15, 1) * _tmp10 +
P(16, 1) * _tmp7 + P(17, 1) * _tmp2 + P(20, 1)) +
_tmp17 * (P(0, 0) * _tmp17 + P(1, 0) * _tmp16 + P(15, 0) * _tmp10 +
P(16, 0) * _tmp7 + P(17, 0) * _tmp2 + P(20, 0)) +
_tmp2 * (P(0, 17) * _tmp17 + P(1, 17) * _tmp16 + P(15, 17) * _tmp10 +
P(16, 17) * _tmp7 + P(17, 17) * _tmp2 + P(20, 17)) +
_tmp7 * (P(0, 16) * _tmp17 + P(1, 16) * _tmp16 + P(15, 16) * _tmp10 +
P(16, 16) * _tmp7 + P(17, 16) * _tmp2 + P(20, 16));
}
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(0, 0) = _tmp6;
_h(1, 0) = _tmp3;
_h(2, 0) = _tmp4;
_h(3, 0) = _tmp5;
_h(16, 0) = _tmp9;
_h(17, 0) = _tmp10;
_h(18, 0) = _tmp11;
_h(21, 0) = 1;
_h(0, 0) = _tmp17;
_h(1, 0) = _tmp16;
_h(15, 0) = _tmp10;
_h(16, 0) = _tmp7;
_h(17, 0) = _tmp2;
_h(20, 0) = 1;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h
+139 -136
View File
@@ -17,162 +17,165 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* innov_var: Scalar
* epsilon: Scalar
*
* Outputs:
* H: Matrix24_1
* K: Matrix24_1
* H: Matrix23_1
* K: Matrix23_1
*/
template <typename Scalar>
void ComputeSideslipHAndK(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar innov_var,
const Scalar epsilon, matrix::Matrix<Scalar, 24, 1>* const H = nullptr,
matrix::Matrix<Scalar, 24, 1>* const K = nullptr) {
// Total ops: 533
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar innov_var,
const Scalar epsilon, matrix::Matrix<Scalar, 23, 1>* const H = nullptr,
matrix::Matrix<Scalar, 23, 1>* const K = nullptr) {
// Total ops: 469
// Input arrays
// Intermediate terms (40)
const Scalar _tmp0 = -state(23, 0) + state(5, 0);
const Scalar _tmp1 = 2 * state(3, 0);
const Scalar _tmp2 = 2 * state(6, 0);
const Scalar _tmp3 = _tmp2 * state(2, 0);
const Scalar _tmp4 = 1 - 2 * std::pow(state(3, 0), Scalar(2));
const Scalar _tmp5 = _tmp4 - 2 * std::pow(state(2, 0), Scalar(2));
const Scalar _tmp6 = -state(22, 0) + state(4, 0);
const Scalar _tmp7 = _tmp1 * state(0, 0);
const Scalar _tmp8 = 2 * state(1, 0) * state(2, 0);
const Scalar _tmp9 = _tmp7 + _tmp8;
const Scalar _tmp10 = 2 * state(0, 0);
const Scalar _tmp11 = _tmp1 * state(1, 0) - _tmp10 * state(2, 0);
const Scalar _tmp12 = _tmp0 * _tmp9 + _tmp11 * state(6, 0) + _tmp5 * _tmp6;
const Scalar _tmp13 =
_tmp12 + epsilon * (2 * math::min<Scalar>(0, (((_tmp12) > 0) - ((_tmp12) < 0))) + 1);
const Scalar _tmp14 = _tmp4 - 2 * std::pow(state(1, 0), Scalar(2));
const Scalar _tmp15 = -_tmp7 + _tmp8;
const Scalar _tmp16 = _tmp1 * state(2, 0) + _tmp10 * state(1, 0);
const Scalar _tmp17 =
(_tmp0 * _tmp14 + _tmp15 * _tmp6 + _tmp16 * state(6, 0)) / std::pow(_tmp13, Scalar(2));
const Scalar _tmp18 = _tmp2 * state(1, 0);
const Scalar _tmp19 = Scalar(1.0) / (_tmp13);
const Scalar _tmp20 = -_tmp17 * (_tmp0 * _tmp1 - _tmp3) + _tmp19 * (-_tmp1 * _tmp6 + _tmp18);
const Scalar _tmp21 = 2 * _tmp0;
const Scalar _tmp22 = _tmp1 * state(6, 0);
const Scalar _tmp23 = 4 * _tmp0;
const Scalar _tmp24 = 2 * _tmp6;
const Scalar _tmp25 = _tmp2 * state(0, 0);
const Scalar _tmp26 = -_tmp17 * (_tmp21 * state(2, 0) + _tmp22) +
_tmp19 * (-_tmp23 * state(1, 0) + _tmp24 * state(2, 0) + _tmp25);
const Scalar _tmp27 = 4 * _tmp6;
const Scalar _tmp28 = -_tmp17 * (_tmp21 * state(1, 0) - _tmp25 - _tmp27 * state(2, 0)) +
_tmp19 * (_tmp22 + _tmp24 * state(1, 0));
const Scalar _tmp29 = -_tmp17 * (_tmp18 + _tmp21 * state(0, 0) - _tmp27 * state(3, 0)) +
_tmp19 * (-_tmp23 * state(3, 0) - _tmp24 * state(0, 0) + _tmp3);
const Scalar _tmp30 = _tmp17 * _tmp5;
const Scalar _tmp31 = _tmp15 * _tmp19;
const Scalar _tmp32 = -_tmp30 + _tmp31;
const Scalar _tmp33 = _tmp17 * _tmp9;
const Scalar _tmp34 = _tmp14 * _tmp19;
const Scalar _tmp35 = -_tmp33 + _tmp34;
const Scalar _tmp36 = -_tmp11 * _tmp17 + _tmp16 * _tmp19;
const Scalar _tmp37 = _tmp30 - _tmp31;
const Scalar _tmp38 = _tmp33 - _tmp34;
const Scalar _tmp39 = Scalar(1.0) / (math::max<Scalar>(epsilon, innov_var));
// Intermediate terms (46)
const Scalar _tmp0 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp1 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp2 = 1 - 2 * _tmp1;
const Scalar _tmp3 = -2 * _tmp0 + _tmp2;
const Scalar _tmp4 = -state(22, 0) + state(4, 0);
const Scalar _tmp5 = 2 * state(0, 0);
const Scalar _tmp6 = _tmp5 * state(3, 0);
const Scalar _tmp7 = 2 * state(2, 0);
const Scalar _tmp8 = _tmp7 * state(1, 0);
const Scalar _tmp9 = _tmp6 + _tmp8;
const Scalar _tmp10 = -state(23, 0) + state(5, 0);
const Scalar _tmp11 = _tmp7 * state(0, 0);
const Scalar _tmp12 = -_tmp11;
const Scalar _tmp13 = 2 * state(1, 0) * state(3, 0);
const Scalar _tmp14 = _tmp12 + _tmp13;
const Scalar _tmp15 = _tmp10 * _tmp9 + _tmp14 * state(6, 0) + _tmp3 * _tmp4;
const Scalar _tmp16 =
_tmp15 + epsilon * (2 * math::min<Scalar>(0, (((_tmp15) > 0) - ((_tmp15) < 0))) + 1);
const Scalar _tmp17 = Scalar(1.0) / (_tmp16);
const Scalar _tmp18 = _tmp7 * state(3, 0);
const Scalar _tmp19 = _tmp5 * state(1, 0);
const Scalar _tmp20 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp21 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp22 = -_tmp21;
const Scalar _tmp23 = _tmp20 + _tmp22;
const Scalar _tmp24 = _tmp17 * (_tmp10 * (_tmp18 - _tmp19) + _tmp4 * (_tmp11 + _tmp13) +
state(6, 0) * (-_tmp0 + _tmp1 + _tmp23));
const Scalar _tmp25 = -_tmp13;
const Scalar _tmp26 = -_tmp20;
const Scalar _tmp27 = _tmp0 - _tmp1;
const Scalar _tmp28 = _tmp2 - 2 * _tmp21;
const Scalar _tmp29 = -_tmp6;
const Scalar _tmp30 = _tmp29 + _tmp8;
const Scalar _tmp31 = _tmp18 + _tmp19;
const Scalar _tmp32 = _tmp30 * _tmp4 + _tmp31 * state(6, 0);
const Scalar _tmp33 = (_tmp10 * _tmp28 + _tmp32) / std::pow(_tmp16, Scalar(2));
const Scalar _tmp34 = _tmp33 * (_tmp10 * (-_tmp18 + _tmp19) + _tmp4 * (_tmp12 + _tmp25) +
state(6, 0) * (_tmp21 + _tmp26 + _tmp27));
const Scalar _tmp35 =
_tmp17 * (_tmp10 * (_tmp29 - _tmp8) + _tmp4 * (_tmp0 + _tmp1 + _tmp22 + _tmp26) +
state(6, 0) * (_tmp11 + _tmp25)) -
_tmp33 * (_tmp10 * (_tmp23 + _tmp27) + _tmp32);
const Scalar _tmp36 = _tmp3 * _tmp33;
const Scalar _tmp37 = _tmp17 * _tmp30;
const Scalar _tmp38 = -_tmp36 + _tmp37;
const Scalar _tmp39 = _tmp33 * _tmp9;
const Scalar _tmp40 = _tmp17 * _tmp28;
const Scalar _tmp41 = -_tmp39 + _tmp40;
const Scalar _tmp42 = -_tmp14 * _tmp33 + _tmp17 * _tmp31;
const Scalar _tmp43 = _tmp36 - _tmp37;
const Scalar _tmp44 = _tmp39 - _tmp40;
const Scalar _tmp45 = Scalar(1.0) / (math::max<Scalar>(epsilon, innov_var));
// Output terms (2)
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(0, 0) = _tmp20;
_h(1, 0) = _tmp26;
_h(2, 0) = _tmp28;
_h(3, 0) = _tmp29;
_h(4, 0) = _tmp32;
_h(5, 0) = _tmp35;
_h(6, 0) = _tmp36;
_h(22, 0) = _tmp37;
_h(23, 0) = _tmp38;
_h(0, 0) = _tmp24;
_h(1, 0) = -_tmp34;
_h(2, 0) = _tmp35;
_h(3, 0) = _tmp38;
_h(4, 0) = _tmp41;
_h(5, 0) = _tmp42;
_h(21, 0) = _tmp43;
_h(22, 0) = _tmp44;
}
if (K != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _k = (*K);
matrix::Matrix<Scalar, 23, 1>& _k = (*K);
_k(0, 0) = _tmp39 * (P(0, 0) * _tmp20 + P(0, 1) * _tmp26 + P(0, 2) * _tmp28 +
P(0, 22) * _tmp37 + P(0, 23) * _tmp38 + P(0, 3) * _tmp29 +
P(0, 4) * _tmp32 + P(0, 5) * _tmp35 + P(0, 6) * _tmp36);
_k(1, 0) = _tmp39 * (P(1, 0) * _tmp20 + P(1, 1) * _tmp26 + P(1, 2) * _tmp28 +
P(1, 22) * _tmp37 + P(1, 23) * _tmp38 + P(1, 3) * _tmp29 +
P(1, 4) * _tmp32 + P(1, 5) * _tmp35 + P(1, 6) * _tmp36);
_k(2, 0) = _tmp39 * (P(2, 0) * _tmp20 + P(2, 1) * _tmp26 + P(2, 2) * _tmp28 +
P(2, 22) * _tmp37 + P(2, 23) * _tmp38 + P(2, 3) * _tmp29 +
P(2, 4) * _tmp32 + P(2, 5) * _tmp35 + P(2, 6) * _tmp36);
_k(3, 0) = _tmp39 * (P(3, 0) * _tmp20 + P(3, 1) * _tmp26 + P(3, 2) * _tmp28 +
P(3, 22) * _tmp37 + P(3, 23) * _tmp38 + P(3, 3) * _tmp29 +
P(3, 4) * _tmp32 + P(3, 5) * _tmp35 + P(3, 6) * _tmp36);
_k(4, 0) = _tmp39 * (P(4, 0) * _tmp20 + P(4, 1) * _tmp26 + P(4, 2) * _tmp28 +
P(4, 22) * _tmp37 + P(4, 23) * _tmp38 + P(4, 3) * _tmp29 +
P(4, 4) * _tmp32 + P(4, 5) * _tmp35 + P(4, 6) * _tmp36);
_k(5, 0) = _tmp39 * (P(5, 0) * _tmp20 + P(5, 1) * _tmp26 + P(5, 2) * _tmp28 +
P(5, 22) * _tmp37 + P(5, 23) * _tmp38 + P(5, 3) * _tmp29 +
P(5, 4) * _tmp32 + P(5, 5) * _tmp35 + P(5, 6) * _tmp36);
_k(6, 0) = _tmp39 * (P(6, 0) * _tmp20 + P(6, 1) * _tmp26 + P(6, 2) * _tmp28 +
P(6, 22) * _tmp37 + P(6, 23) * _tmp38 + P(6, 3) * _tmp29 +
P(6, 4) * _tmp32 + P(6, 5) * _tmp35 + P(6, 6) * _tmp36);
_k(7, 0) = _tmp39 * (P(7, 0) * _tmp20 + P(7, 1) * _tmp26 + P(7, 2) * _tmp28 +
P(7, 22) * _tmp37 + P(7, 23) * _tmp38 + P(7, 3) * _tmp29 +
P(7, 4) * _tmp32 + P(7, 5) * _tmp35 + P(7, 6) * _tmp36);
_k(8, 0) = _tmp39 * (P(8, 0) * _tmp20 + P(8, 1) * _tmp26 + P(8, 2) * _tmp28 +
P(8, 22) * _tmp37 + P(8, 23) * _tmp38 + P(8, 3) * _tmp29 +
P(8, 4) * _tmp32 + P(8, 5) * _tmp35 + P(8, 6) * _tmp36);
_k(9, 0) = _tmp39 * (P(9, 0) * _tmp20 + P(9, 1) * _tmp26 + P(9, 2) * _tmp28 +
P(9, 22) * _tmp37 + P(9, 23) * _tmp38 + P(9, 3) * _tmp29 +
P(9, 4) * _tmp32 + P(9, 5) * _tmp35 + P(9, 6) * _tmp36);
_k(10, 0) = _tmp39 * (P(10, 0) * _tmp20 + P(10, 1) * _tmp26 + P(10, 2) * _tmp28 +
P(10, 22) * _tmp37 + P(10, 23) * _tmp38 + P(10, 3) * _tmp29 +
P(10, 4) * _tmp32 + P(10, 5) * _tmp35 + P(10, 6) * _tmp36);
_k(11, 0) = _tmp39 * (P(11, 0) * _tmp20 + P(11, 1) * _tmp26 + P(11, 2) * _tmp28 +
P(11, 22) * _tmp37 + P(11, 23) * _tmp38 + P(11, 3) * _tmp29 +
P(11, 4) * _tmp32 + P(11, 5) * _tmp35 + P(11, 6) * _tmp36);
_k(12, 0) = _tmp39 * (P(12, 0) * _tmp20 + P(12, 1) * _tmp26 + P(12, 2) * _tmp28 +
P(12, 22) * _tmp37 + P(12, 23) * _tmp38 + P(12, 3) * _tmp29 +
P(12, 4) * _tmp32 + P(12, 5) * _tmp35 + P(12, 6) * _tmp36);
_k(13, 0) = _tmp39 * (P(13, 0) * _tmp20 + P(13, 1) * _tmp26 + P(13, 2) * _tmp28 +
P(13, 22) * _tmp37 + P(13, 23) * _tmp38 + P(13, 3) * _tmp29 +
P(13, 4) * _tmp32 + P(13, 5) * _tmp35 + P(13, 6) * _tmp36);
_k(14, 0) = _tmp39 * (P(14, 0) * _tmp20 + P(14, 1) * _tmp26 + P(14, 2) * _tmp28 +
P(14, 22) * _tmp37 + P(14, 23) * _tmp38 + P(14, 3) * _tmp29 +
P(14, 4) * _tmp32 + P(14, 5) * _tmp35 + P(14, 6) * _tmp36);
_k(15, 0) = _tmp39 * (P(15, 0) * _tmp20 + P(15, 1) * _tmp26 + P(15, 2) * _tmp28 +
P(15, 22) * _tmp37 + P(15, 23) * _tmp38 + P(15, 3) * _tmp29 +
P(15, 4) * _tmp32 + P(15, 5) * _tmp35 + P(15, 6) * _tmp36);
_k(16, 0) = _tmp39 * (P(16, 0) * _tmp20 + P(16, 1) * _tmp26 + P(16, 2) * _tmp28 +
P(16, 22) * _tmp37 + P(16, 23) * _tmp38 + P(16, 3) * _tmp29 +
P(16, 4) * _tmp32 + P(16, 5) * _tmp35 + P(16, 6) * _tmp36);
_k(17, 0) = _tmp39 * (P(17, 0) * _tmp20 + P(17, 1) * _tmp26 + P(17, 2) * _tmp28 +
P(17, 22) * _tmp37 + P(17, 23) * _tmp38 + P(17, 3) * _tmp29 +
P(17, 4) * _tmp32 + P(17, 5) * _tmp35 + P(17, 6) * _tmp36);
_k(18, 0) = _tmp39 * (P(18, 0) * _tmp20 + P(18, 1) * _tmp26 + P(18, 2) * _tmp28 +
P(18, 22) * _tmp37 + P(18, 23) * _tmp38 + P(18, 3) * _tmp29 +
P(18, 4) * _tmp32 + P(18, 5) * _tmp35 + P(18, 6) * _tmp36);
_k(19, 0) = _tmp39 * (P(19, 0) * _tmp20 + P(19, 1) * _tmp26 + P(19, 2) * _tmp28 +
P(19, 22) * _tmp37 + P(19, 23) * _tmp38 + P(19, 3) * _tmp29 +
P(19, 4) * _tmp32 + P(19, 5) * _tmp35 + P(19, 6) * _tmp36);
_k(20, 0) = _tmp39 * (P(20, 0) * _tmp20 + P(20, 1) * _tmp26 + P(20, 2) * _tmp28 +
P(20, 22) * _tmp37 + P(20, 23) * _tmp38 + P(20, 3) * _tmp29 +
P(20, 4) * _tmp32 + P(20, 5) * _tmp35 + P(20, 6) * _tmp36);
_k(21, 0) = _tmp39 * (P(21, 0) * _tmp20 + P(21, 1) * _tmp26 + P(21, 2) * _tmp28 +
P(21, 22) * _tmp37 + P(21, 23) * _tmp38 + P(21, 3) * _tmp29 +
P(21, 4) * _tmp32 + P(21, 5) * _tmp35 + P(21, 6) * _tmp36);
_k(22, 0) = _tmp39 * (P(22, 0) * _tmp20 + P(22, 1) * _tmp26 + P(22, 2) * _tmp28 +
P(22, 22) * _tmp37 + P(22, 23) * _tmp38 + P(22, 3) * _tmp29 +
P(22, 4) * _tmp32 + P(22, 5) * _tmp35 + P(22, 6) * _tmp36);
_k(23, 0) = _tmp39 * (P(23, 0) * _tmp20 + P(23, 1) * _tmp26 + P(23, 2) * _tmp28 +
P(23, 22) * _tmp37 + P(23, 23) * _tmp38 + P(23, 3) * _tmp29 +
P(23, 4) * _tmp32 + P(23, 5) * _tmp35 + P(23, 6) * _tmp36);
_k(0, 0) =
_tmp45 * (P(0, 0) * _tmp24 - P(0, 1) * _tmp34 + P(0, 2) * _tmp35 + P(0, 21) * _tmp43 +
P(0, 22) * _tmp44 + P(0, 3) * _tmp38 + P(0, 4) * _tmp41 + P(0, 5) * _tmp42);
_k(1, 0) =
_tmp45 * (P(1, 0) * _tmp24 - P(1, 1) * _tmp34 + P(1, 2) * _tmp35 + P(1, 21) * _tmp43 +
P(1, 22) * _tmp44 + P(1, 3) * _tmp38 + P(1, 4) * _tmp41 + P(1, 5) * _tmp42);
_k(2, 0) =
_tmp45 * (P(2, 0) * _tmp24 - P(2, 1) * _tmp34 + P(2, 2) * _tmp35 + P(2, 21) * _tmp43 +
P(2, 22) * _tmp44 + P(2, 3) * _tmp38 + P(2, 4) * _tmp41 + P(2, 5) * _tmp42);
_k(3, 0) =
_tmp45 * (P(3, 0) * _tmp24 - P(3, 1) * _tmp34 + P(3, 2) * _tmp35 + P(3, 21) * _tmp43 +
P(3, 22) * _tmp44 + P(3, 3) * _tmp38 + P(3, 4) * _tmp41 + P(3, 5) * _tmp42);
_k(4, 0) =
_tmp45 * (P(4, 0) * _tmp24 - P(4, 1) * _tmp34 + P(4, 2) * _tmp35 + P(4, 21) * _tmp43 +
P(4, 22) * _tmp44 + P(4, 3) * _tmp38 + P(4, 4) * _tmp41 + P(4, 5) * _tmp42);
_k(5, 0) =
_tmp45 * (P(5, 0) * _tmp24 - P(5, 1) * _tmp34 + P(5, 2) * _tmp35 + P(5, 21) * _tmp43 +
P(5, 22) * _tmp44 + P(5, 3) * _tmp38 + P(5, 4) * _tmp41 + P(5, 5) * _tmp42);
_k(6, 0) =
_tmp45 * (P(6, 0) * _tmp24 - P(6, 1) * _tmp34 + P(6, 2) * _tmp35 + P(6, 21) * _tmp43 +
P(6, 22) * _tmp44 + P(6, 3) * _tmp38 + P(6, 4) * _tmp41 + P(6, 5) * _tmp42);
_k(7, 0) =
_tmp45 * (P(7, 0) * _tmp24 - P(7, 1) * _tmp34 + P(7, 2) * _tmp35 + P(7, 21) * _tmp43 +
P(7, 22) * _tmp44 + P(7, 3) * _tmp38 + P(7, 4) * _tmp41 + P(7, 5) * _tmp42);
_k(8, 0) =
_tmp45 * (P(8, 0) * _tmp24 - P(8, 1) * _tmp34 + P(8, 2) * _tmp35 + P(8, 21) * _tmp43 +
P(8, 22) * _tmp44 + P(8, 3) * _tmp38 + P(8, 4) * _tmp41 + P(8, 5) * _tmp42);
_k(9, 0) =
_tmp45 * (P(9, 0) * _tmp24 - P(9, 1) * _tmp34 + P(9, 2) * _tmp35 + P(9, 21) * _tmp43 +
P(9, 22) * _tmp44 + P(9, 3) * _tmp38 + P(9, 4) * _tmp41 + P(9, 5) * _tmp42);
_k(10, 0) =
_tmp45 * (P(10, 0) * _tmp24 - P(10, 1) * _tmp34 + P(10, 2) * _tmp35 + P(10, 21) * _tmp43 +
P(10, 22) * _tmp44 + P(10, 3) * _tmp38 + P(10, 4) * _tmp41 + P(10, 5) * _tmp42);
_k(11, 0) =
_tmp45 * (P(11, 0) * _tmp24 - P(11, 1) * _tmp34 + P(11, 2) * _tmp35 + P(11, 21) * _tmp43 +
P(11, 22) * _tmp44 + P(11, 3) * _tmp38 + P(11, 4) * _tmp41 + P(11, 5) * _tmp42);
_k(12, 0) =
_tmp45 * (P(12, 0) * _tmp24 - P(12, 1) * _tmp34 + P(12, 2) * _tmp35 + P(12, 21) * _tmp43 +
P(12, 22) * _tmp44 + P(12, 3) * _tmp38 + P(12, 4) * _tmp41 + P(12, 5) * _tmp42);
_k(13, 0) =
_tmp45 * (P(13, 0) * _tmp24 - P(13, 1) * _tmp34 + P(13, 2) * _tmp35 + P(13, 21) * _tmp43 +
P(13, 22) * _tmp44 + P(13, 3) * _tmp38 + P(13, 4) * _tmp41 + P(13, 5) * _tmp42);
_k(14, 0) =
_tmp45 * (P(14, 0) * _tmp24 - P(14, 1) * _tmp34 + P(14, 2) * _tmp35 + P(14, 21) * _tmp43 +
P(14, 22) * _tmp44 + P(14, 3) * _tmp38 + P(14, 4) * _tmp41 + P(14, 5) * _tmp42);
_k(15, 0) =
_tmp45 * (P(15, 0) * _tmp24 - P(15, 1) * _tmp34 + P(15, 2) * _tmp35 + P(15, 21) * _tmp43 +
P(15, 22) * _tmp44 + P(15, 3) * _tmp38 + P(15, 4) * _tmp41 + P(15, 5) * _tmp42);
_k(16, 0) =
_tmp45 * (P(16, 0) * _tmp24 - P(16, 1) * _tmp34 + P(16, 2) * _tmp35 + P(16, 21) * _tmp43 +
P(16, 22) * _tmp44 + P(16, 3) * _tmp38 + P(16, 4) * _tmp41 + P(16, 5) * _tmp42);
_k(17, 0) =
_tmp45 * (P(17, 0) * _tmp24 - P(17, 1) * _tmp34 + P(17, 2) * _tmp35 + P(17, 21) * _tmp43 +
P(17, 22) * _tmp44 + P(17, 3) * _tmp38 + P(17, 4) * _tmp41 + P(17, 5) * _tmp42);
_k(18, 0) =
_tmp45 * (P(18, 0) * _tmp24 - P(18, 1) * _tmp34 + P(18, 2) * _tmp35 + P(18, 21) * _tmp43 +
P(18, 22) * _tmp44 + P(18, 3) * _tmp38 + P(18, 4) * _tmp41 + P(18, 5) * _tmp42);
_k(19, 0) =
_tmp45 * (P(19, 0) * _tmp24 - P(19, 1) * _tmp34 + P(19, 2) * _tmp35 + P(19, 21) * _tmp43 +
P(19, 22) * _tmp44 + P(19, 3) * _tmp38 + P(19, 4) * _tmp41 + P(19, 5) * _tmp42);
_k(20, 0) =
_tmp45 * (P(20, 0) * _tmp24 - P(20, 1) * _tmp34 + P(20, 2) * _tmp35 + P(20, 21) * _tmp43 +
P(20, 22) * _tmp44 + P(20, 3) * _tmp38 + P(20, 4) * _tmp41 + P(20, 5) * _tmp42);
_k(21, 0) =
_tmp45 * (P(21, 0) * _tmp24 - P(21, 1) * _tmp34 + P(21, 2) * _tmp35 + P(21, 21) * _tmp43 +
P(21, 22) * _tmp44 + P(21, 3) * _tmp38 + P(21, 4) * _tmp41 + P(21, 5) * _tmp42);
_k(22, 0) =
_tmp45 * (P(22, 0) * _tmp24 - P(22, 1) * _tmp34 + P(22, 2) * _tmp35 + P(22, 21) * _tmp43 +
P(22, 22) * _tmp44 + P(22, 3) * _tmp38 + P(22, 4) * _tmp41 + P(22, 5) * _tmp42);
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h
+75 -76
View File
@@ -17,7 +17,7 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* R: Scalar
* epsilon: Scalar
*
@@ -27,96 +27,95 @@ namespace sym {
*/
template <typename Scalar>
void ComputeSideslipInnovAndInnovVar(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar R,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
const Scalar epsilon, Scalar* const innov = nullptr,
Scalar* const innov_var = nullptr) {
// Total ops: 269
// Total ops: 235
// Input arrays
// Intermediate terms (39)
const Scalar _tmp0 = 1 - 2 * std::pow(state(3, 0), Scalar(2));
const Scalar _tmp1 = _tmp0 - 2 * std::pow(state(2, 0), Scalar(2));
const Scalar _tmp2 = -state(22, 0) + state(4, 0);
const Scalar _tmp3 = 2 * state(3, 0);
const Scalar _tmp4 = _tmp3 * state(0, 0);
const Scalar _tmp5 = 2 * state(1, 0);
const Scalar _tmp6 = _tmp5 * state(2, 0);
const Scalar _tmp7 = _tmp4 + _tmp6;
const Scalar _tmp8 = -state(23, 0) + state(5, 0);
const Scalar _tmp9 = 2 * state(2, 0);
const Scalar _tmp10 = _tmp3 * state(1, 0) - _tmp9 * state(0, 0);
const Scalar _tmp11 = _tmp1 * _tmp2 + _tmp10 * state(6, 0) + _tmp7 * _tmp8;
const Scalar _tmp12 =
_tmp11 + epsilon * (2 * math::min<Scalar>(0, (((_tmp11) > 0) - ((_tmp11) < 0))) + 1);
const Scalar _tmp13 = Scalar(1.0) / (_tmp12);
const Scalar _tmp14 = _tmp0 - 2 * std::pow(state(1, 0), Scalar(2));
const Scalar _tmp15 = -_tmp4 + _tmp6;
const Scalar _tmp16 = _tmp3 * state(2, 0) + _tmp5 * state(0, 0);
const Scalar _tmp17 = _tmp14 * _tmp8 + _tmp15 * _tmp2 + _tmp16 * state(6, 0);
const Scalar _tmp18 = _tmp17 / std::pow(_tmp12, Scalar(2));
const Scalar _tmp19 = _tmp1 * _tmp18;
const Scalar _tmp20 = _tmp13 * _tmp15;
const Scalar _tmp21 = -_tmp19 + _tmp20;
const Scalar _tmp22 = _tmp3 * state(6, 0);
const Scalar _tmp23 = 4 * _tmp8;
const Scalar _tmp24 = 2 * state(0, 0);
const Scalar _tmp25 = _tmp24 * state(6, 0);
const Scalar _tmp26 =
_tmp13 * (_tmp2 * _tmp9 - _tmp23 * state(1, 0) + _tmp25) - _tmp18 * (_tmp22 + _tmp8 * _tmp9);
const Scalar _tmp27 = -_tmp10 * _tmp18 + _tmp13 * _tmp16;
const Scalar _tmp28 = 4 * _tmp2;
const Scalar _tmp29 =
_tmp13 * (_tmp2 * _tmp5 + _tmp22) - _tmp18 * (-_tmp25 - _tmp28 * state(2, 0) + _tmp5 * _tmp8);
const Scalar _tmp30 = _tmp9 * state(6, 0);
const Scalar _tmp31 = _tmp5 * state(6, 0);
const Scalar _tmp32 = _tmp13 * (-_tmp2 * _tmp3 + _tmp31) - _tmp18 * (_tmp3 * _tmp8 - _tmp30);
const Scalar _tmp33 = _tmp19 - _tmp20;
const Scalar _tmp34 = _tmp18 * _tmp7;
const Scalar _tmp35 = _tmp13 * _tmp14;
const Scalar _tmp36 = -_tmp34 + _tmp35;
const Scalar _tmp37 = _tmp34 - _tmp35;
const Scalar _tmp38 = _tmp13 * (-_tmp2 * _tmp24 - _tmp23 * state(3, 0) + _tmp30) -
_tmp18 * (_tmp24 * _tmp8 - _tmp28 * state(3, 0) + _tmp31);
// Intermediate terms (46)
const Scalar _tmp0 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp1 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp2 = 1 - 2 * _tmp1;
const Scalar _tmp3 = -2 * _tmp0 + _tmp2;
const Scalar _tmp4 = -state(22, 0) + state(4, 0);
const Scalar _tmp5 = 2 * state(0, 0);
const Scalar _tmp6 = _tmp5 * state(3, 0);
const Scalar _tmp7 = 2 * state(1, 0);
const Scalar _tmp8 = _tmp7 * state(2, 0);
const Scalar _tmp9 = _tmp6 + _tmp8;
const Scalar _tmp10 = -state(23, 0) + state(5, 0);
const Scalar _tmp11 = _tmp5 * state(2, 0);
const Scalar _tmp12 = -_tmp11;
const Scalar _tmp13 = _tmp7 * state(3, 0);
const Scalar _tmp14 = _tmp12 + _tmp13;
const Scalar _tmp15 = _tmp10 * _tmp9 + _tmp14 * state(6, 0) + _tmp3 * _tmp4;
const Scalar _tmp16 =
_tmp15 + epsilon * (2 * math::min<Scalar>(0, (((_tmp15) > 0) - ((_tmp15) < 0))) + 1);
const Scalar _tmp17 = Scalar(1.0) / (_tmp16);
const Scalar _tmp18 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp19 = -2 * _tmp18 + _tmp2;
const Scalar _tmp20 = -_tmp6;
const Scalar _tmp21 = _tmp20 + _tmp8;
const Scalar _tmp22 = 2 * state(2, 0) * state(3, 0);
const Scalar _tmp23 = _tmp5 * state(1, 0);
const Scalar _tmp24 = _tmp22 + _tmp23;
const Scalar _tmp25 = _tmp21 * _tmp4 + _tmp24 * state(6, 0);
const Scalar _tmp26 = _tmp10 * _tmp19 + _tmp25;
const Scalar _tmp27 = _tmp26 / std::pow(_tmp16, Scalar(2));
const Scalar _tmp28 = -_tmp14 * _tmp27 + _tmp17 * _tmp24;
const Scalar _tmp29 = _tmp27 * _tmp3;
const Scalar _tmp30 = _tmp17 * _tmp21;
const Scalar _tmp31 = -_tmp29 + _tmp30;
const Scalar _tmp32 = std::pow(state(0, 0), Scalar(2));
const Scalar _tmp33 = -_tmp32;
const Scalar _tmp34 = -_tmp18;
const Scalar _tmp35 = -_tmp13;
const Scalar _tmp36 = _tmp0 - _tmp1;
const Scalar _tmp37 = _tmp32 + _tmp34;
const Scalar _tmp38 =
_tmp17 * (_tmp10 * (_tmp20 - _tmp8) + _tmp4 * (_tmp0 + _tmp1 + _tmp33 + _tmp34) +
state(6, 0) * (_tmp11 + _tmp35)) -
_tmp27 * (_tmp10 * (_tmp36 + _tmp37) + _tmp25);
const Scalar _tmp39 = _tmp29 - _tmp30;
const Scalar _tmp40 = _tmp27 * _tmp9;
const Scalar _tmp41 = _tmp17 * _tmp19;
const Scalar _tmp42 = -_tmp40 + _tmp41;
const Scalar _tmp43 = _tmp27 * (_tmp10 * (-_tmp22 + _tmp23) + _tmp4 * (_tmp12 + _tmp35) +
state(6, 0) * (_tmp18 + _tmp33 + _tmp36));
const Scalar _tmp44 = _tmp40 - _tmp41;
const Scalar _tmp45 = _tmp17 * (_tmp10 * (_tmp22 - _tmp23) + _tmp4 * (_tmp11 + _tmp13) +
state(6, 0) * (-_tmp0 + _tmp1 + _tmp37));
// Output terms (2)
if (innov != nullptr) {
Scalar& _innov = (*innov);
_innov = _tmp13 * _tmp17;
_innov = _tmp17 * _tmp26;
}
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var = R +
_tmp21 * (P(0, 4) * _tmp32 + P(1, 4) * _tmp26 + P(2, 4) * _tmp29 +
P(22, 4) * _tmp33 + P(23, 4) * _tmp37 + P(3, 4) * _tmp38 +
P(4, 4) * _tmp21 + P(5, 4) * _tmp36 + P(6, 4) * _tmp27) +
_tmp26 * (P(0, 1) * _tmp32 + P(1, 1) * _tmp26 + P(2, 1) * _tmp29 +
P(22, 1) * _tmp33 + P(23, 1) * _tmp37 + P(3, 1) * _tmp38 +
P(4, 1) * _tmp21 + P(5, 1) * _tmp36 + P(6, 1) * _tmp27) +
_tmp27 * (P(0, 6) * _tmp32 + P(1, 6) * _tmp26 + P(2, 6) * _tmp29 +
P(22, 6) * _tmp33 + P(23, 6) * _tmp37 + P(3, 6) * _tmp38 +
P(4, 6) * _tmp21 + P(5, 6) * _tmp36 + P(6, 6) * _tmp27) +
_tmp29 * (P(0, 2) * _tmp32 + P(1, 2) * _tmp26 + P(2, 2) * _tmp29 +
P(22, 2) * _tmp33 + P(23, 2) * _tmp37 + P(3, 2) * _tmp38 +
P(4, 2) * _tmp21 + P(5, 2) * _tmp36 + P(6, 2) * _tmp27) +
_tmp32 * (P(0, 0) * _tmp32 + P(1, 0) * _tmp26 + P(2, 0) * _tmp29 +
P(22, 0) * _tmp33 + P(23, 0) * _tmp37 + P(3, 0) * _tmp38 +
P(4, 0) * _tmp21 + P(5, 0) * _tmp36 + P(6, 0) * _tmp27) +
_tmp33 * (P(0, 22) * _tmp32 + P(1, 22) * _tmp26 + P(2, 22) * _tmp29 +
P(22, 22) * _tmp33 + P(23, 22) * _tmp37 + P(3, 22) * _tmp38 +
P(4, 22) * _tmp21 + P(5, 22) * _tmp36 + P(6, 22) * _tmp27) +
_tmp36 * (P(0, 5) * _tmp32 + P(1, 5) * _tmp26 + P(2, 5) * _tmp29 +
P(22, 5) * _tmp33 + P(23, 5) * _tmp37 + P(3, 5) * _tmp38 +
P(4, 5) * _tmp21 + P(5, 5) * _tmp36 + P(6, 5) * _tmp27) +
_tmp37 * (P(0, 23) * _tmp32 + P(1, 23) * _tmp26 + P(2, 23) * _tmp29 +
P(22, 23) * _tmp33 + P(23, 23) * _tmp37 + P(3, 23) * _tmp38 +
P(4, 23) * _tmp21 + P(5, 23) * _tmp36 + P(6, 23) * _tmp27) +
_tmp38 * (P(0, 3) * _tmp32 + P(1, 3) * _tmp26 + P(2, 3) * _tmp29 +
P(22, 3) * _tmp33 + P(23, 3) * _tmp37 + P(3, 3) * _tmp38 +
P(4, 3) * _tmp21 + P(5, 3) * _tmp36 + P(6, 3) * _tmp27);
_innov_var =
R +
_tmp28 * (P(0, 5) * _tmp45 - P(1, 5) * _tmp43 + P(2, 5) * _tmp38 + P(21, 5) * _tmp39 +
P(22, 5) * _tmp44 + P(3, 5) * _tmp31 + P(4, 5) * _tmp42 + P(5, 5) * _tmp28) +
_tmp31 * (P(0, 3) * _tmp45 - P(1, 3) * _tmp43 + P(2, 3) * _tmp38 + P(21, 3) * _tmp39 +
P(22, 3) * _tmp44 + P(3, 3) * _tmp31 + P(4, 3) * _tmp42 + P(5, 3) * _tmp28) +
_tmp38 * (P(0, 2) * _tmp45 - P(1, 2) * _tmp43 + P(2, 2) * _tmp38 + P(21, 2) * _tmp39 +
P(22, 2) * _tmp44 + P(3, 2) * _tmp31 + P(4, 2) * _tmp42 + P(5, 2) * _tmp28) +
_tmp39 * (P(0, 21) * _tmp45 - P(1, 21) * _tmp43 + P(2, 21) * _tmp38 + P(21, 21) * _tmp39 +
P(22, 21) * _tmp44 + P(3, 21) * _tmp31 + P(4, 21) * _tmp42 + P(5, 21) * _tmp28) +
_tmp42 * (P(0, 4) * _tmp45 - P(1, 4) * _tmp43 + P(2, 4) * _tmp38 + P(21, 4) * _tmp39 +
P(22, 4) * _tmp44 + P(3, 4) * _tmp31 + P(4, 4) * _tmp42 + P(5, 4) * _tmp28) -
_tmp43 * (P(0, 1) * _tmp45 - P(1, 1) * _tmp43 + P(2, 1) * _tmp38 + P(21, 1) * _tmp39 +
P(22, 1) * _tmp44 + P(3, 1) * _tmp31 + P(4, 1) * _tmp42 + P(5, 1) * _tmp28) +
_tmp44 * (P(0, 22) * _tmp45 - P(1, 22) * _tmp43 + P(2, 22) * _tmp38 + P(21, 22) * _tmp39 +
P(22, 22) * _tmp44 + P(3, 22) * _tmp31 + P(4, 22) * _tmp42 + P(5, 22) * _tmp28) +
_tmp45 * (P(0, 0) * _tmp45 - P(1, 0) * _tmp43 + P(2, 0) * _tmp38 + P(21, 0) * _tmp39 +
P(22, 0) * _tmp44 + P(3, 0) * _tmp31 + P(4, 0) * _tmp42 + P(5, 0) * _tmp28);
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h
+27 -30
View File
@@ -17,61 +17,58 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* R: Scalar
* epsilon: Scalar
*
* Outputs:
* innov_var: Scalar
* H: Matrix24_1
* H: Matrix23_1
*/
template <typename Scalar>
void ComputeYaw312InnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar R,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
const Scalar epsilon, Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
// Total ops: 73
matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
// Total ops: 53
// Input arrays
// Intermediate terms (15)
const Scalar _tmp0 = 2 * state(0, 0);
const Scalar _tmp1 = 2 * state(2, 0);
const Scalar _tmp2 = -_tmp0 * state(3, 0) + _tmp1 * state(1, 0);
const Scalar _tmp3 =
-2 * std::pow(state(1, 0), Scalar(2)) - 2 * std::pow(state(3, 0), Scalar(2)) + 1;
const Scalar _tmp4 = _tmp3 + epsilon * ((((_tmp3) > 0) - ((_tmp3) < 0)) + Scalar(0.5));
const Scalar _tmp5 = std::pow(_tmp4, Scalar(2));
const Scalar _tmp6 = 4 * _tmp2 / _tmp5;
const Scalar _tmp7 = Scalar(1.0) / (_tmp4);
const Scalar _tmp8 = Scalar(1.0) / (std::pow(_tmp2, Scalar(2)) + _tmp5);
const Scalar _tmp9 = _tmp5 * _tmp8;
const Scalar _tmp10 = _tmp9 * (-_tmp1 * _tmp7 - _tmp6 * state(1, 0));
const Scalar _tmp11 = _tmp9 * (_tmp0 * _tmp7 - _tmp6 * state(3, 0));
const Scalar _tmp12 = 2 * _tmp4 * _tmp8;
const Scalar _tmp13 = _tmp12 * state(3, 0);
const Scalar _tmp14 = _tmp12 * state(1, 0);
const Scalar _tmp1 = -_tmp0 * state(3, 0);
const Scalar _tmp2 = 2 * state(1, 0);
const Scalar _tmp3 = _tmp2 * state(2, 0);
const Scalar _tmp4 = _tmp1 + _tmp3;
const Scalar _tmp5 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp6 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp7 = -2 * _tmp5 - 2 * _tmp6 + 1;
const Scalar _tmp8 = _tmp7 + epsilon * ((((_tmp7) > 0) - ((_tmp7) < 0)) + Scalar(0.5));
const Scalar _tmp9 = std::pow(_tmp8, Scalar(2));
const Scalar _tmp10 = _tmp4 / _tmp9;
const Scalar _tmp11 = Scalar(1.0) / (_tmp8);
const Scalar _tmp12 = _tmp9 / (std::pow(_tmp4, Scalar(2)) + _tmp9);
const Scalar _tmp13 = _tmp12 * (_tmp10 * (_tmp1 - _tmp3) -
_tmp11 * (_tmp5 - _tmp6 - std::pow(state(0, 0), Scalar(2)) +
std::pow(state(2, 0), Scalar(2))));
const Scalar _tmp14 = _tmp12 * (_tmp10 * (-_tmp2 * state(0, 0) + 2 * state(2, 0) * state(3, 0)) -
_tmp11 * (_tmp0 * state(2, 0) + _tmp2 * state(3, 0)));
// Output terms (2)
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var =
R + _tmp10 * (P(0, 1) * _tmp13 + P(1, 1) * _tmp10 - P(2, 1) * _tmp14 + P(3, 1) * _tmp11) +
_tmp11 * (P(0, 3) * _tmp13 + P(1, 3) * _tmp10 - P(2, 3) * _tmp14 + P(3, 3) * _tmp11) +
_tmp13 * (P(0, 0) * _tmp13 + P(1, 0) * _tmp10 - P(2, 0) * _tmp14 + P(3, 0) * _tmp11) -
_tmp14 * (P(0, 2) * _tmp13 + P(1, 2) * _tmp10 - P(2, 2) * _tmp14 + P(3, 2) * _tmp11);
_innov_var = R + _tmp13 * (P(0, 2) * _tmp14 + P(2, 2) * _tmp13) +
_tmp14 * (P(0, 0) * _tmp14 + P(2, 0) * _tmp13);
}
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(0, 0) = _tmp13;
_h(1, 0) = _tmp10;
_h(2, 0) = -_tmp14;
_h(3, 0) = _tmp11;
_h(0, 0) = _tmp14;
_h(2, 0) = _tmp13;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h
+27 -30
View File
@@ -17,61 +17,58 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* R: Scalar
* epsilon: Scalar
*
* Outputs:
* innov_var: Scalar
* H: Matrix24_1
* H: Matrix23_1
*/
template <typename Scalar>
void ComputeYaw312InnovVarAndHAlternate(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar R,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
const Scalar epsilon, Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
// Total ops: 73
matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
// Total ops: 57
// Input arrays
// Intermediate terms (15)
const Scalar _tmp0 = 2 * state(0, 0);
const Scalar _tmp1 =
-2 * std::pow(state(1, 0), Scalar(2)) - 2 * std::pow(state(3, 0), Scalar(2)) + 1;
const Scalar _tmp2 = 2 * state(2, 0);
const Scalar _tmp3 = -_tmp0 * state(3, 0) + _tmp2 * state(1, 0);
const Scalar _tmp4 = _tmp3 + epsilon * ((((_tmp3) > 0) - ((_tmp3) < 0)) + Scalar(0.5));
const Scalar _tmp5 = std::pow(_tmp4, Scalar(2));
const Scalar _tmp6 = _tmp1 / _tmp5;
const Scalar _tmp7 = 4 / _tmp4;
const Scalar _tmp8 = Scalar(1.0) / (std::pow(_tmp1, Scalar(2)) + _tmp5);
const Scalar _tmp9 = _tmp5 * _tmp8;
const Scalar _tmp10 = _tmp9 * (-_tmp0 * _tmp6 + _tmp7 * state(3, 0));
const Scalar _tmp11 = 2 * _tmp1 * _tmp8;
const Scalar _tmp12 = _tmp11 * state(3, 0);
const Scalar _tmp13 = _tmp11 * state(1, 0);
const Scalar _tmp14 = _tmp9 * (_tmp2 * _tmp6 + _tmp7 * state(1, 0));
const Scalar _tmp1 = 2 * state(1, 0);
const Scalar _tmp2 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp3 = std::pow(state(1, 0), Scalar(2));
const Scalar _tmp4 = -2 * _tmp2 - 2 * _tmp3 + 1;
const Scalar _tmp5 = -_tmp0 * state(3, 0);
const Scalar _tmp6 = _tmp1 * state(2, 0);
const Scalar _tmp7 = _tmp5 + _tmp6;
const Scalar _tmp8 = _tmp7 + epsilon * ((((_tmp7) > 0) - ((_tmp7) < 0)) + Scalar(0.5));
const Scalar _tmp9 = std::pow(_tmp8, Scalar(2));
const Scalar _tmp10 = _tmp4 / _tmp9;
const Scalar _tmp11 = Scalar(1.0) / (_tmp8);
const Scalar _tmp12 = _tmp9 / (std::pow(_tmp4, Scalar(2)) + _tmp9);
const Scalar _tmp13 = _tmp12 * (_tmp10 * (_tmp0 * state(2, 0) + _tmp1 * state(3, 0)) -
_tmp11 * (-_tmp1 * state(0, 0) + 2 * state(2, 0) * state(3, 0)));
const Scalar _tmp14 = _tmp12 * (_tmp10 * (_tmp2 - _tmp3 - std::pow(state(0, 0), Scalar(2)) +
std::pow(state(2, 0), Scalar(2))) -
_tmp11 * (_tmp5 - _tmp6));
// Output terms (2)
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var =
R - _tmp10 * (P(0, 3) * _tmp12 - P(1, 3) * _tmp14 - P(2, 3) * _tmp13 - P(3, 3) * _tmp10) +
_tmp12 * (P(0, 0) * _tmp12 - P(1, 0) * _tmp14 - P(2, 0) * _tmp13 - P(3, 0) * _tmp10) -
_tmp13 * (P(0, 2) * _tmp12 - P(1, 2) * _tmp14 - P(2, 2) * _tmp13 - P(3, 2) * _tmp10) -
_tmp14 * (P(0, 1) * _tmp12 - P(1, 1) * _tmp14 - P(2, 1) * _tmp13 - P(3, 1) * _tmp10);
_innov_var = R - _tmp13 * (-P(0, 0) * _tmp13 - P(2, 0) * _tmp14) -
_tmp14 * (-P(0, 2) * _tmp13 - P(2, 2) * _tmp14);
}
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(0, 0) = _tmp12;
_h(1, 0) = -_tmp14;
_h(2, 0) = -_tmp13;
_h(3, 0) = -_tmp10;
_h(0, 0) = -_tmp13;
_h(2, 0) = -_tmp14;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h
+28 -31
View File
@@ -17,61 +17,58 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* R: Scalar
* epsilon: Scalar
*
* Outputs:
* innov_var: Scalar
* H: Matrix24_1
* H: Matrix23_1
*/
template <typename Scalar>
void ComputeYaw321InnovVarAndH(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar R,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
const Scalar epsilon, Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
// Total ops: 70
matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
// Total ops: 53
// Input arrays
// Intermediate terms (15)
const Scalar _tmp0 = 2 * state(3, 0);
const Scalar _tmp1 = 2 * state(2, 0);
const Scalar _tmp2 = _tmp0 * state(0, 0) + _tmp1 * state(1, 0);
const Scalar _tmp3 =
-2 * std::pow(state(2, 0), Scalar(2)) - 2 * std::pow(state(3, 0), Scalar(2)) + 1;
const Scalar _tmp4 = _tmp3 + epsilon * ((((_tmp3) > 0) - ((_tmp3) < 0)) + Scalar(0.5));
const Scalar _tmp5 = std::pow(_tmp4, Scalar(2));
const Scalar _tmp6 = Scalar(1.0) / (std::pow(_tmp2, Scalar(2)) + _tmp5);
const Scalar _tmp7 = _tmp4 * _tmp6;
const Scalar _tmp8 = _tmp0 * _tmp7;
const Scalar _tmp9 = _tmp1 * _tmp7;
const Scalar _tmp10 = 4 * _tmp2 / _tmp5;
const Scalar _tmp11 = 2 / _tmp4;
const Scalar _tmp12 = _tmp5 * _tmp6;
const Scalar _tmp13 = _tmp12 * (_tmp10 * state(3, 0) + _tmp11 * state(0, 0));
const Scalar _tmp14 = _tmp12 * (_tmp10 * state(2, 0) + _tmp11 * state(1, 0));
const Scalar _tmp0 = 2 * state(0, 0);
const Scalar _tmp1 = _tmp0 * state(3, 0);
const Scalar _tmp2 = 2 * state(1, 0);
const Scalar _tmp3 = _tmp2 * state(2, 0);
const Scalar _tmp4 = _tmp1 + _tmp3;
const Scalar _tmp5 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp6 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp7 = -2 * _tmp5 - 2 * _tmp6 + 1;
const Scalar _tmp8 = _tmp7 + epsilon * ((((_tmp7) > 0) - ((_tmp7) < 0)) + Scalar(0.5));
const Scalar _tmp9 = std::pow(_tmp8, Scalar(2));
const Scalar _tmp10 = _tmp4 / _tmp9;
const Scalar _tmp11 = Scalar(1.0) / (_tmp8);
const Scalar _tmp12 = _tmp9 / (std::pow(_tmp4, Scalar(2)) + _tmp9);
const Scalar _tmp13 = _tmp12 * (-_tmp10 * (-_tmp1 + _tmp3) +
_tmp11 * (-_tmp5 + _tmp6 + std::pow(state(0, 0), Scalar(2)) -
std::pow(state(1, 0), Scalar(2))));
const Scalar _tmp14 = _tmp12 * (-_tmp10 * (-_tmp0 * state(2, 0) - _tmp2 * state(3, 0)) +
_tmp11 * (_tmp2 * state(0, 0) - 2 * state(2, 0) * state(3, 0)));
// Output terms (2)
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var =
R + _tmp13 * (P(0, 3) * _tmp8 + P(1, 3) * _tmp9 + P(2, 3) * _tmp14 + P(3, 3) * _tmp13) +
_tmp14 * (P(0, 2) * _tmp8 + P(1, 2) * _tmp9 + P(2, 2) * _tmp14 + P(3, 2) * _tmp13) +
_tmp8 * (P(0, 0) * _tmp8 + P(1, 0) * _tmp9 + P(2, 0) * _tmp14 + P(3, 0) * _tmp13) +
_tmp9 * (P(0, 1) * _tmp8 + P(1, 1) * _tmp9 + P(2, 1) * _tmp14 + P(3, 1) * _tmp13);
_innov_var = R + _tmp13 * (P(1, 2) * _tmp14 + P(2, 2) * _tmp13) +
_tmp14 * (P(1, 1) * _tmp14 + P(2, 1) * _tmp13);
}
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(0, 0) = _tmp8;
_h(1, 0) = _tmp9;
_h(2, 0) = _tmp14;
_h(3, 0) = _tmp13;
_h(1, 0) = _tmp14;
_h(2, 0) = _tmp13;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h
+26 -29
View File
@@ -17,61 +17,58 @@ namespace sym {
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* P: Matrix23_23
* R: Scalar
* epsilon: Scalar
*
* Outputs:
* innov_var: Scalar
* H: Matrix24_1
* H: Matrix23_1
*/
template <typename Scalar>
void ComputeYaw321InnovVarAndHAlternate(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar R,
const matrix::Matrix<Scalar, 23, 23>& P, const Scalar R,
const Scalar epsilon, Scalar* const innov_var = nullptr,
matrix::Matrix<Scalar, 24, 1>* const H = nullptr) {
// Total ops: 75
matrix::Matrix<Scalar, 23, 1>* const H = nullptr) {
// Total ops: 57
// Input arrays
// Intermediate terms (15)
const Scalar _tmp0 = 2 * state(2, 0);
const Scalar _tmp1 =
-2 * std::pow(state(2, 0), Scalar(2)) - 2 * std::pow(state(3, 0), Scalar(2)) + 1;
const Scalar _tmp2 = 2 * state(0, 0);
const Scalar _tmp3 = _tmp0 * state(1, 0) + _tmp2 * state(3, 0);
const Scalar _tmp4 = _tmp3 + epsilon * ((((_tmp3) > 0) - ((_tmp3) < 0)) + Scalar(0.5));
const Scalar _tmp5 = std::pow(_tmp4, Scalar(2));
const Scalar _tmp6 = Scalar(1.0) / (std::pow(_tmp1, Scalar(2)) + _tmp5);
const Scalar _tmp7 = _tmp1 * _tmp6;
const Scalar _tmp8 = _tmp0 * _tmp7;
const Scalar _tmp9 = 2 * _tmp7 * state(3, 0);
const Scalar _tmp10 = _tmp1 / _tmp5;
const Scalar _tmp11 = 4 / _tmp4;
const Scalar _tmp12 = _tmp5 * _tmp6;
const Scalar _tmp13 = _tmp12 * (-_tmp10 * _tmp2 - _tmp11 * state(3, 0));
const Scalar _tmp14 = _tmp12 * (-2 * _tmp10 * state(1, 0) - _tmp11 * state(2, 0));
const Scalar _tmp1 = 2 * state(1, 0);
const Scalar _tmp2 = 2 * state(0, 0) * state(3, 0);
const Scalar _tmp3 = _tmp1 * state(2, 0);
const Scalar _tmp4 = _tmp2 + _tmp3;
const Scalar _tmp5 = _tmp4 + epsilon * ((((_tmp4) > 0) - ((_tmp4) < 0)) + Scalar(0.5));
const Scalar _tmp6 = Scalar(1.0) / (_tmp5);
const Scalar _tmp7 = std::pow(state(3, 0), Scalar(2));
const Scalar _tmp8 = std::pow(state(2, 0), Scalar(2));
const Scalar _tmp9 = -2 * _tmp7 - 2 * _tmp8 + 1;
const Scalar _tmp10 = std::pow(_tmp5, Scalar(2));
const Scalar _tmp11 = _tmp9 / _tmp10;
const Scalar _tmp12 = _tmp10 / (_tmp10 + std::pow(_tmp9, Scalar(2)));
const Scalar _tmp13 = _tmp12 * (-_tmp11 * (-_tmp0 * state(3, 0) + _tmp1 * state(0, 0)) +
_tmp6 * (-_tmp0 * state(0, 0) - _tmp1 * state(3, 0)));
const Scalar _tmp14 = _tmp12 * (-_tmp11 * (-_tmp7 + _tmp8 + std::pow(state(0, 0), Scalar(2)) -
std::pow(state(1, 0), Scalar(2))) +
_tmp6 * (-_tmp2 + _tmp3));
// Output terms (2)
if (innov_var != nullptr) {
Scalar& _innov_var = (*innov_var);
_innov_var =
R - _tmp13 * (P(0, 3) * _tmp9 + P(1, 3) * _tmp8 - P(2, 3) * _tmp14 - P(3, 3) * _tmp13) -
_tmp14 * (P(0, 2) * _tmp9 + P(1, 2) * _tmp8 - P(2, 2) * _tmp14 - P(3, 2) * _tmp13) +
_tmp8 * (P(0, 1) * _tmp9 + P(1, 1) * _tmp8 - P(2, 1) * _tmp14 - P(3, 1) * _tmp13) +
_tmp9 * (P(0, 0) * _tmp9 + P(1, 0) * _tmp8 - P(2, 0) * _tmp14 - P(3, 0) * _tmp13);
_innov_var = R - _tmp13 * (-P(1, 1) * _tmp13 - P(2, 1) * _tmp14) -
_tmp14 * (-P(1, 2) * _tmp13 - P(2, 2) * _tmp14);
}
if (H != nullptr) {
matrix::Matrix<Scalar, 24, 1>& _h = (*H);
matrix::Matrix<Scalar, 23, 1>& _h = (*H);
_h.setZero();
_h(0, 0) = _tmp9;
_h(1, 0) = _tmp8;
_h(1, 0) = -_tmp13;
_h(2, 0) = -_tmp14;
_h(3, 0) = -_tmp13;
}
} // NOLINT(readability/fn_size)
src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h
+593 -652
View File
File diff suppressed because it is too large Load Diff
src/modules/ekf2/EKF/python/ekf_derivation/generated/quat_var_to_rot_var.h
-67
View File
@@ -1,67 +0,0 @@
// -----------------------------------------------------------------------------
// This file was autogenerated by symforce from template:
// function/FUNCTION.h.jinja
// Do NOT modify by hand.
// -----------------------------------------------------------------------------
#pragma once
#include <matrix/math.hpp>
namespace sym {
/**
* This function was autogenerated from a symbolic function. Do not modify by hand.
*
* Symbolic function: quat_var_to_rot_var
*
* Args:
* state: Matrix24_1
* P: Matrix24_24
* epsilon: Scalar
*
* Outputs:
* rot_var: Matrix31
*/
template <typename Scalar>
void QuatVarToRotVar(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar epsilon,
matrix::Matrix<Scalar, 3, 1>* const rot_var = nullptr) {
// Total ops: 61
// Input arrays
// Intermediate terms (17)
const Scalar _tmp0 = std::fabs(state(0, 0));
const Scalar _tmp1 = 1 - epsilon;
const Scalar _tmp2 = math::min<Scalar>(_tmp0, _tmp1);
const Scalar _tmp3 = 1 - std::pow(_tmp2, Scalar(2));
const Scalar _tmp4 = (((state(0, 0)) > 0) - ((state(0, 0)) < 0));
const Scalar _tmp5 = 2 * math::min<Scalar>(0, _tmp4) + 1;
const Scalar _tmp6 = _tmp5 * std::acos(_tmp2);
const Scalar _tmp7 = 2 * _tmp6 / std::sqrt(_tmp3);
const Scalar _tmp8 = _tmp4 * ((((-_tmp0 + _tmp1) > 0) - ((-_tmp0 + _tmp1) < 0)) + 1);
const Scalar _tmp9 = _tmp8 * state(1, 0);
const Scalar _tmp10 = _tmp2 * _tmp6 / (_tmp3 * std::sqrt(_tmp3));
const Scalar _tmp11 = _tmp5 / _tmp3;
const Scalar _tmp12 = _tmp10 * _tmp9 - _tmp11 * _tmp9;
const Scalar _tmp13 = _tmp10 * _tmp8;
const Scalar _tmp14 = _tmp11 * _tmp8;
const Scalar _tmp15 = _tmp13 * state(2, 0) - _tmp14 * state(2, 0);
const Scalar _tmp16 = _tmp13 * state(3, 0) - _tmp14 * state(3, 0);
// Output terms (1)
if (rot_var != nullptr) {
matrix::Matrix<Scalar, 3, 1>& _rot_var = (*rot_var);
_rot_var(0, 0) = _tmp12 * (P(0, 0) * _tmp12 + P(1, 0) * _tmp7) +
_tmp7 * (P(0, 1) * _tmp12 + P(1, 1) * _tmp7);
_rot_var(1, 0) = _tmp15 * (P(0, 0) * _tmp15 + P(2, 0) * _tmp7) +
_tmp7 * (P(0, 2) * _tmp15 + P(2, 2) * _tmp7);
_rot_var(2, 0) = _tmp16 * (P(0, 0) * _tmp16 + P(3, 0) * _tmp7) +
_tmp7 * (P(0, 3) * _tmp16 + P(3, 3) * _tmp7);
}
} // NOLINT(readability/fn_size)
// NOLINTNEXTLINE(readability/fn_size)
} // namespace sym
src/modules/ekf2/EKF/python/ekf_derivation/generated/rot_var_ned_to_lower_triangular_quat_cov.h
-123
View File
@@ -1,123 +0,0 @@
// -----------------------------------------------------------------------------
// This file was autogenerated by symforce from template:
// function/FUNCTION.h.jinja
// Do NOT modify by hand.
// -----------------------------------------------------------------------------
#pragma once
#include <matrix/math.hpp>
namespace sym {
/**
* This function was autogenerated from a symbolic function. Do not modify by hand.
*
* Symbolic function: rot_var_ned_to_lower_triangular_quat_cov
*
* Args:
* state: Matrix24_1
* rot_var_ned: Matrix31
*
* Outputs:
* q_cov_lower_triangle: Matrix44
*/
template <typename Scalar>
void RotVarNedToLowerTriangularQuatCov(
const matrix::Matrix<Scalar, 24, 1>& state, const matrix::Matrix<Scalar, 3, 1>& rot_var_ned,
matrix::Matrix<Scalar, 4, 4>* const q_cov_lower_triangle = nullptr) {
// Total ops: 185
// Input arrays
// Intermediate terms (54)
const Scalar _tmp0 = 2 * state(0, 0) * state(2, 0);
const Scalar _tmp1 = 2 * state(3, 0);
const Scalar _tmp2 = _tmp1 * state(1, 0);
const Scalar _tmp3 = _tmp0 + _tmp2;
const Scalar _tmp4 = _tmp1 * state(0, 0);
const Scalar _tmp5 = 2 * state(1, 0);
const Scalar _tmp6 = _tmp5 * state(2, 0);
const Scalar _tmp7 = -_tmp4 + _tmp6;
const Scalar _tmp8 = -2 * std::pow(state(3, 0), Scalar(2));
const Scalar _tmp9 = -2 * std::pow(state(1, 0), Scalar(2));
const Scalar _tmp10 = _tmp8 + _tmp9 + 1;
const Scalar _tmp11 = _tmp1 * state(2, 0);
const Scalar _tmp12 = _tmp5 * state(0, 0);
const Scalar _tmp13 = _tmp11 - _tmp12;
const Scalar _tmp14 = _tmp13 * rot_var_ned(1, 0);
const Scalar _tmp15 = 1 - 2 * std::pow(state(2, 0), Scalar(2));
const Scalar _tmp16 = _tmp15 + _tmp9;
const Scalar _tmp17 = _tmp11 + _tmp12;
const Scalar _tmp18 = _tmp17 * rot_var_ned(2, 0);
const Scalar _tmp19 = _tmp10 * _tmp14 + _tmp16 * _tmp18 + _tmp3 * _tmp7 * rot_var_ned(0, 0);
const Scalar _tmp20 = (Scalar(1) / Scalar(2)) * state(3, 0);
const Scalar _tmp21 = -_tmp19 * _tmp20;
const Scalar _tmp22 = std::pow(_tmp10, Scalar(2)) * rot_var_ned(1, 0) +
std::pow(_tmp17, Scalar(2)) * rot_var_ned(2, 0) +
std::pow(_tmp7, Scalar(2)) * rot_var_ned(0, 0);
const Scalar _tmp23 = (Scalar(1) / Scalar(2)) * state(2, 0);
const Scalar _tmp24 = _tmp15 + _tmp8;
const Scalar _tmp25 = _tmp24 * rot_var_ned(0, 0);
const Scalar _tmp26 = _tmp4 + _tmp6;
const Scalar _tmp27 = -_tmp0 + _tmp2;
const Scalar _tmp28 = (Scalar(1) / Scalar(2)) * _tmp10 * _tmp26 * rot_var_ned(1, 0) +
(Scalar(1) / Scalar(2)) * _tmp18 * _tmp27 +
(Scalar(1) / Scalar(2)) * _tmp25 * _tmp7;
const Scalar _tmp29 = _tmp28 * state(1, 0);
const Scalar _tmp30 = std::pow(_tmp24, Scalar(2)) * rot_var_ned(0, 0) +
std::pow(_tmp26, Scalar(2)) * rot_var_ned(1, 0) +
std::pow(_tmp27, Scalar(2)) * rot_var_ned(2, 0);
const Scalar _tmp31 = (Scalar(1) / Scalar(2)) * state(1, 0);
const Scalar _tmp32 = _tmp14 * _tmp26 + _tmp16 * _tmp27 * rot_var_ned(2, 0) + _tmp25 * _tmp3;
const Scalar _tmp33 = _tmp20 * _tmp32;
const Scalar _tmp34 = -_tmp28 * state(2, 0);
const Scalar _tmp35 = _tmp19 * _tmp23;
const Scalar _tmp36 = std::pow(_tmp13, Scalar(2)) * rot_var_ned(1, 0) +
std::pow(_tmp16, Scalar(2)) * rot_var_ned(2, 0) +
std::pow(_tmp3, Scalar(2)) * rot_var_ned(0, 0);
const Scalar _tmp37 = -_tmp31 * _tmp32;
const Scalar _tmp38 = _tmp28 * state(0, 0);
const Scalar _tmp39 = -_tmp20 * _tmp22 + _tmp35 + _tmp38;
const Scalar _tmp40 = (Scalar(1) / Scalar(2)) * state(0, 0);
const Scalar _tmp41 = _tmp23 * _tmp32;
const Scalar _tmp42 = _tmp28 * state(3, 0);
const Scalar _tmp43 = _tmp30 * _tmp40 + _tmp41 - _tmp42;
const Scalar _tmp44 = _tmp32 * _tmp40;
const Scalar _tmp45 = _tmp21 + _tmp23 * _tmp36 + _tmp44;
const Scalar _tmp46 = _tmp19 * _tmp31;
const Scalar _tmp47 = _tmp22 * _tmp40 + _tmp42 - _tmp46;
const Scalar _tmp48 = _tmp20 * _tmp30 + _tmp37 + _tmp38;
const Scalar _tmp49 = _tmp19 * _tmp40;
const Scalar _tmp50 = -_tmp31 * _tmp36 + _tmp33 + _tmp49;
const Scalar _tmp51 = _tmp22 * _tmp31 + _tmp34 + _tmp49;
const Scalar _tmp52 = -_tmp23 * _tmp30 + _tmp29 + _tmp44;
const Scalar _tmp53 = _tmp36 * _tmp40 - _tmp41 + _tmp46;
// Output terms (1)
if (q_cov_lower_triangle != nullptr) {
matrix::Matrix<Scalar, 4, 4>& _q_cov_lower_triangle = (*q_cov_lower_triangle);
_q_cov_lower_triangle(0, 0) = -_tmp20 * (-_tmp20 * _tmp36 - _tmp35 + _tmp37) -
_tmp23 * (_tmp21 - _tmp22 * _tmp23 - _tmp29) -
_tmp31 * (-_tmp30 * _tmp31 - _tmp33 + _tmp34);
_q_cov_lower_triangle(1, 0) = -_tmp20 * _tmp45 - _tmp23 * _tmp39 - _tmp31 * _tmp43;
_q_cov_lower_triangle(2, 0) = -_tmp20 * _tmp50 - _tmp23 * _tmp47 - _tmp31 * _tmp48;
_q_cov_lower_triangle(3, 0) = -_tmp20 * _tmp53 - _tmp23 * _tmp51 - _tmp31 * _tmp52;
_q_cov_lower_triangle(0, 1) = 0;
_q_cov_lower_triangle(1, 1) = -_tmp20 * _tmp39 + _tmp23 * _tmp45 + _tmp40 * _tmp43;
_q_cov_lower_triangle(2, 1) = -_tmp20 * _tmp47 + _tmp23 * _tmp50 + _tmp40 * _tmp48;
_q_cov_lower_triangle(3, 1) = -_tmp20 * _tmp51 + _tmp23 * _tmp53 + _tmp40 * _tmp52;
_q_cov_lower_triangle(0, 2) = 0;
_q_cov_lower_triangle(1, 2) = 0;
_q_cov_lower_triangle(2, 2) = _tmp20 * _tmp48 - _tmp31 * _tmp50 + _tmp40 * _tmp47;
_q_cov_lower_triangle(3, 2) = _tmp20 * _tmp52 - _tmp31 * _tmp53 + _tmp40 * _tmp51;
_q_cov_lower_triangle(0, 3) = 0;
_q_cov_lower_triangle(1, 3) = 0;
_q_cov_lower_triangle(2, 3) = 0;
_q_cov_lower_triangle(3, 3) = -_tmp23 * _tmp52 + _tmp31 * _tmp51 + _tmp40 * _tmp53;
}
} // NOLINT(readability/fn_size)
// NOLINTNEXTLINE(readability/fn_size)
} // namespace sym
src/modules/ekf2/EKF/python/ekf_derivation/generated/state.h
+9 -9
View File
@@ -41,15 +41,15 @@ static_assert(sizeof(matrix::Vector<float, 24>) == sizeof(StateSample), "state v
struct IdxDof { unsigned idx; unsigned dof; };
namespace State {
static constexpr IdxDof quat_nominal{0, 4};
static constexpr IdxDof vel{4, 3};
static constexpr IdxDof pos{7, 3};
static constexpr IdxDof gyro_bias{10, 3};
static constexpr IdxDof accel_bias{13, 3};
static constexpr IdxDof mag_I{16, 3};
static constexpr IdxDof mag_B{19, 3};
static constexpr IdxDof wind_vel{22, 2};
static constexpr uint8_t size{24};
static constexpr IdxDof quat_nominal{0, 3};
static constexpr IdxDof vel{3, 3};
static constexpr IdxDof pos{6, 3};
static constexpr IdxDof gyro_bias{9, 3};
static constexpr IdxDof accel_bias{12, 3};
static constexpr IdxDof mag_I{15, 3};
static constexpr IdxDof mag_B{18, 3};
static constexpr IdxDof wind_vel{21, 2};
static constexpr uint8_t size{23};
};
}
#endif // !EKF_STATE_H