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ekf2: regenerate yaw estimator symforce

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- remove underscore uppercase variable naming that can be problematic
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Daniel Agar 2023-06-19 21:00:25 -04:00 committed by GitHub
parent 2a48c1cb18
commit d9ae2ed7ac
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 35 additions and 35 deletions
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0
src/modules/ekf2/EKF/python/ekf_derivation/derivation_yaw_estimator.py Normal file → Executable file
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2
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h
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@ -1,6 +1,6 @@
// -----------------------------------------------------------------------------
// This file was autogenerated by symforce from template:
// function/FUNCTION.h.jinja
// backends/cpp/templates/function/FUNCTION.h.jinja
// Do NOT modify by hand.
// -----------------------------------------------------------------------------

48
src/modules/ekf2/EKF/python/ekf_derivation/generated/yaw_est_compute_measurement_update.h
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@ -58,43 +58,43 @@ void YawEstComputeMeasurementUpdate(const matrix::Matrix<Scalar, 3, 3>& P, const
// Output terms (4)
if (S_inv != nullptr) {
matrix::Matrix<Scalar, 2, 2>& _S_inv = (*S_inv);
matrix::Matrix<Scalar, 2, 2>& _s_inv = (*S_inv);
_S_inv(0, 0) = _tmp4;
_S_inv(1, 0) = -_tmp5;
_S_inv(0, 1) = -_tmp6;
_S_inv(1, 1) = _tmp7;
_s_inv(0, 0) = _tmp4;
_s_inv(1, 0) = -_tmp5;
_s_inv(0, 1) = -_tmp6;
_s_inv(1, 1) = _tmp7;
}
if (S_det_inv != nullptr) {
Scalar& _S_det_inv = (*S_det_inv);
Scalar& _s_det_inv = (*S_det_inv);
_S_det_inv = _tmp3;
_s_det_inv = _tmp3;
}
if (K != nullptr) {
matrix::Matrix<Scalar, 3, 2>& _K = (*K);
matrix::Matrix<Scalar, 3, 2>& _k = (*K);
_K(0, 0) = _tmp9;
_K(1, 0) = _tmp10;
_K(2, 0) = _tmp11;
_K(0, 1) = _tmp12;
_K(1, 1) = _tmp13;
_K(2, 1) = _tmp14;
_k(0, 0) = _tmp9;
_k(1, 0) = _tmp10;
_k(2, 0) = _tmp11;
_k(0, 1) = _tmp12;
_k(1, 1) = _tmp13;
_k(2, 1) = _tmp14;
}
if (P_new != nullptr) {
matrix::Matrix<Scalar, 3, 3>& _P_new = (*P_new);
matrix::Matrix<Scalar, 3, 3>& _p_new = (*P_new);
_P_new(0, 0) = -P(0, 0) * _tmp9 + P(0, 0) - P(1, 0) * _tmp12;
_P_new(1, 0) = 0;
_P_new(2, 0) = 0;
_P_new(0, 1) = -P(0, 1) * _tmp9 + P(0, 1) - P(1, 1) * _tmp12;
_P_new(1, 1) = -P(0, 1) * _tmp10 - P(1, 1) * _tmp13 + P(1, 1);
_P_new(2, 1) = 0;
_P_new(0, 2) = -P(0, 2) * _tmp9 + P(0, 2) - P(1, 2) * _tmp12;
_P_new(1, 2) = -P(0, 2) * _tmp10 - P(1, 2) * _tmp13 + P(1, 2);
_P_new(2, 2) = -P(0, 2) * _tmp11 - P(1, 2) * _tmp14 + P(2, 2);
_p_new(0, 0) = -P(0, 0) * _tmp9 + P(0, 0) - P(1, 0) * _tmp12;
_p_new(1, 0) = 0;
_p_new(2, 0) = 0;
_p_new(0, 1) = -P(0, 1) * _tmp9 + P(0, 1) - P(1, 1) * _tmp12;
_p_new(1, 1) = -P(0, 1) * _tmp10 - P(1, 1) * _tmp13 + P(1, 1);
_p_new(2, 1) = 0;
_p_new(0, 2) = -P(0, 2) * _tmp9 + P(0, 2) - P(1, 2) * _tmp12;
_p_new(1, 2) = -P(0, 2) * _tmp10 - P(1, 2) * _tmp13 + P(1, 2);
_p_new(2, 2) = -P(0, 2) * _tmp11 - P(1, 2) * _tmp14 + P(2, 2);
}
} // NOLINT(readability/fn_size)

20
src/modules/ekf2/EKF/python/ekf_derivation/generated/yaw_est_predict_covariance.h
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@ -47,17 +47,17 @@ void YawEstPredictCovariance(const matrix::Matrix<Scalar, 3, 1>& state,
// Output terms (1)
if (P_new != nullptr) {
matrix::Matrix<Scalar, 3, 3>& _P_new = (*P_new);
matrix::Matrix<Scalar, 3, 3>& _p_new = (*P_new);
_P_new(0, 0) = P(0, 0) + P(2, 0) * _tmp2 + _tmp2 * _tmp3 + _tmp4;
_P_new(1, 0) = 0;
_P_new(2, 0) = 0;
_P_new(0, 1) = P(0, 1) + P(2, 1) * _tmp2 + _tmp3 * _tmp5;
_P_new(1, 1) = P(1, 1) + P(2, 1) * _tmp5 + _tmp4 + _tmp5 * _tmp6;
_P_new(2, 1) = 0;
_P_new(0, 2) = _tmp3;
_P_new(1, 2) = _tmp6;
_P_new(2, 2) = P(2, 2) + d_ang_var;
_p_new(0, 0) = P(0, 0) + P(2, 0) * _tmp2 + _tmp2 * _tmp3 + _tmp4;
_p_new(1, 0) = 0;
_p_new(2, 0) = 0;
_p_new(0, 1) = P(0, 1) + P(2, 1) * _tmp2 + _tmp3 * _tmp5;
_p_new(1, 1) = P(1, 1) + P(2, 1) * _tmp5 + _tmp4 + _tmp5 * _tmp6;
_p_new(2, 1) = 0;
_p_new(0, 2) = _tmp3;
_p_new(1, 2) = _tmp6;
_p_new(2, 2) = P(2, 2) + d_ang_var;
}
} // NOLINT(readability/fn_size)