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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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21cc46edd7
* EKF: Add comparison test for mag field fusion generated code * EKF: convert mag field fusion to use SymPy generated code * EKF: Add test comparison program for yaw fusion equations * Stop setting 0 to 0 * Reduce if/else statement to only if * EKF: more accurate implementation for sequential fusion of magnetometer data * test: update change indicator * Use matrix::SparseVector<float, 24, ...> for observation jacobian * Adapt the auto code generation to allow for different bracket styles * Add auto generated code for mag fusion * Add generic computation of KHP * Apply generic computation of KHP to mag fusion * tests: update change indicator * tests: update change indicator Co-authored-by: kamilritz <kritz@ethz.ch>
50 lines
1.8 KiB
Python
50 lines
1.8 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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Created on Sat Mar 14 12:47:24 2020
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@author: roman
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"""
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from sympy import ccode
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from sympy.codegen.ast import float32, real
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class CodeGenerator:
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def __init__(self, file_name):
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self.file_name = file_name
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self.file = open(self.file_name, 'w')
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def print_string(self, string):
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self.file.write("// " + string + "\n")
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def get_ccode(self, expression):
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return ccode(expression, type_aliases={real:float32})
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def write_subexpressions(self,subexpressions):
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write_string = ""
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for item in subexpressions:
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write_string = write_string + "const float " + str(item[0]) + " = " + self.get_ccode(item[1]) + ";\n"
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write_string = write_string + "\n\n"
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self.file.write(write_string)
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def write_matrix(self, matrix, variable_name, is_symmetric=False, pre_bracket="(", post_bracket=")"):
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write_string = ""
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if matrix.shape[0] * matrix.shape[1] == 1:
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write_string = write_string + variable_name + " = " + self.get_ccode(matrix[0]) + ";\n"
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elif matrix.shape[0] == 1 or matrix.shape[1] == 1:
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for i in range(0,len(matrix)):
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write_string = write_string + variable_name + pre_bracket + str(i) + post_bracket + " = " + self.get_ccode(matrix[i]) + ";\n"
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else:
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for j in range(0, matrix.shape[1]):
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for i in range(0, matrix.shape[0]):
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if j >= i or not is_symmetric:
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write_string = write_string + variable_name + pre_bracket + str(i) + "," + str(j) + post_bracket + " = " + self.get_ccode(matrix[i,j]) + ";\n"
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write_string = write_string + "\n\n"
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self.file.write(write_string)
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def close(self):
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self.file.close()
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