wind_estimator: update generated code to Symforce 0.9.0

src/lib/wind_estimator/python/generated/fuse_airspeed.h

@@ -1,6 +1,6 @@
 // -----------------------------------------------------------------------------
 // This file was autogenerated by symforce from template:
-//     backends/cpp/templates/function/FUNCTION.h.jinja
+//     function/FUNCTION.h.jinja
 // Do NOT modify by hand.
 // -----------------------------------------------------------------------------
 

src/lib/wind_estimator/python/generated/fuse_airspeed.py

@@ -1,21 +1,21 @@
 # -----------------------------------------------------------------------------
 # This file was autogenerated by symforce from template:
-#     backends/python/templates/function/FUNCTION.py.jinja
+#     function/FUNCTION.py.jinja
 # Do NOT modify by hand.
 # -----------------------------------------------------------------------------
 
-import math  # pylint: disable=unused-import
-import numpy  # pylint: disable=unused-import
-import typing as T  # pylint: disable=unused-import
+# pylint: disable=too-many-locals,too-many-lines,too-many-statements,unused-argument,unused-import
 
-import sym  # pylint: disable=unused-import
+import math
+import typing as T
 
+import numpy
 
-# pylint: disable=too-many-locals,too-many-lines,too-many-statements,unused-argument
+import sym
 
 
 def fuse_airspeed(v_local, state, P, airspeed, R, epsilon):
-    # type: (T.Sequence[float], T.Sequence[float], numpy.ndarray, float, float, float) -> T.Tuple[numpy.ndarray, T.List[float], float, float]
+    # type: (numpy.ndarray, numpy.ndarray, numpy.ndarray, float, float, float) -> T.Tuple[numpy.ndarray, numpy.ndarray, float, float]
     """
     This function was autogenerated from a symbolic function. Do not modify by hand.
 
@@ -39,34 +39,51 @@ def fuse_airspeed(v_local, state, P, airspeed, R, epsilon):
     # Total ops: 56
 
     # Input arrays
+    if v_local.shape == (3,):
+        v_local = v_local.reshape((3, 1))
+    elif v_local.shape != (3, 1):
+        raise IndexError(
+            "v_local is expected to have shape (3, 1) or (3,); instead had shape {}".format(
+                v_local.shape
+            )
+        )
+
+    if state.shape == (3,):
+        state = state.reshape((3, 1))
+    elif state.shape != (3, 1):
+        raise IndexError(
+            "state is expected to have shape (3, 1) or (3,); instead had shape {}".format(
+                state.shape
+            )
+        )
 
     # Intermediate terms (11)
-    _tmp0 = -state[0] + v_local[0]
-    _tmp1 = -state[1] + v_local[1]
-    _tmp2 = math.sqrt(_tmp0 ** 2 + _tmp1 ** 2 + epsilon + v_local[2] ** 2)
-    _tmp3 = state[2] / _tmp2
+    _tmp0 = -state[0, 0] + v_local[0, 0]
+    _tmp1 = -state[1, 0] + v_local[1, 0]
+    _tmp2 = math.sqrt(_tmp0**2 + _tmp1**2 + epsilon + v_local[2, 0] ** 2)
+    _tmp3 = state[2, 0] / _tmp2
     _tmp4 = _tmp0 * _tmp3
     _tmp5 = _tmp1 * _tmp3
-    _tmp6 = -P[0] * _tmp4
-    _tmp7 = -P[4] * _tmp5
-    _tmp8 = P[8] * _tmp2
+    _tmp6 = -P[0, 0] * _tmp4
+    _tmp7 = -P[1, 1] * _tmp5
+    _tmp8 = P[2, 2] * _tmp2
     _tmp9 = (
         R
-        + _tmp2 * (-P[6] * _tmp4 - P[7] * _tmp5 + _tmp8)
-        - _tmp4 * (-P[1] * _tmp5 + P[2] * _tmp2 + _tmp6)
-        - _tmp5 * (-P[3] * _tmp4 + P[5] * _tmp2 + _tmp7)
+        + _tmp2 * (-P[0, 2] * _tmp4 - P[1, 2] * _tmp5 + _tmp8)
+        - _tmp4 * (-P[1, 0] * _tmp5 + P[2, 0] * _tmp2 + _tmp6)
+        - _tmp5 * (-P[0, 1] * _tmp4 + P[2, 1] * _tmp2 + _tmp7)
     )
-    _tmp10 = max(_tmp9, epsilon) ** (-1)
+    _tmp10 = 1 / max(_tmp9, epsilon)
 
     # Output terms
-    _H = numpy.zeros((1, 3))
-    _H[0, 0] = -_tmp4
-    _H[0, 1] = -_tmp5
-    _H[0, 2] = _tmp2
-    _K = [0.0] * 3
-    _K[0] = _tmp10 * (-P[3] * _tmp5 + P[6] * _tmp2 + _tmp6)
-    _K[1] = _tmp10 * (-P[1] * _tmp4 + P[7] * _tmp2 + _tmp7)
-    _K[2] = _tmp10 * (-P[2] * _tmp4 - P[5] * _tmp5 + _tmp8)
+    _H = numpy.zeros(3)
+    _H[0] = -_tmp4
+    _H[1] = -_tmp5
+    _H[2] = _tmp2
+    _K = numpy.zeros(3)
+    _K[0] = _tmp10 * (-P[0, 1] * _tmp5 + P[0, 2] * _tmp2 + _tmp6)
+    _K[1] = _tmp10 * (-P[1, 0] * _tmp4 + P[1, 2] * _tmp2 + _tmp7)
+    _K[2] = _tmp10 * (-P[2, 0] * _tmp4 - P[2, 1] * _tmp5 + _tmp8)
     _innov_var = _tmp9
-    _innov = -_tmp2 * state[2] + airspeed
+    _innov = -_tmp2 * state[2, 0] + airspeed
     return _H, _K, _innov_var, _innov

src/lib/wind_estimator/python/generated/fuse_beta.h

@@ -1,6 +1,6 @@
 // -----------------------------------------------------------------------------
 // This file was autogenerated by symforce from template:
-//     backends/cpp/templates/function/FUNCTION.h.jinja
+//     function/FUNCTION.h.jinja
 // Do NOT modify by hand.
 // -----------------------------------------------------------------------------
 

src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h

@@ -1,6 +1,6 @@
 // -----------------------------------------------------------------------------
 // This file was autogenerated by symforce from template:
-//     backends/cpp/templates/function/FUNCTION.h.jinja
+//     function/FUNCTION.h.jinja
 // Do NOT modify by hand.
 // -----------------------------------------------------------------------------
 
@@ -36,6 +36,9 @@ void InitWindUsingAirspeed(const matrix::Matrix<Scalar, 3, 1>& v_local, const Sc
                            matrix::Matrix<Scalar, 2, 2>* const P = nullptr) {
   // Total ops: 22
 
+  // Unused inputs
+  (void)heading_var;
+
   // Input arrays
 
   // Intermediate terms (7)