1 files changed, 0 insertions, 137 deletions
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
deleted file mode 100755
index 9efe2ea7a..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
+++ /dev/null
@@ -1,137 +0,0 @@
-/*
- * kalman_dlqe3.c
- *
- * Code generation for function 'kalman_dlqe3'
- *
- * C source code generated on: Tue Feb 19 15:26:31 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe3.h"
-#include "randn.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-static real32_T rt_powf_snf(real32_T u0, real32_T u1);
-
-/* Function Definitions */
-static real32_T rt_powf_snf(real32_T u0, real32_T u1)
-{
-  real32_T y;
-  real32_T f1;
-  real32_T f2;
-  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
-    y = ((real32_T)rtNaN);
-  } else {
-    f1 = (real32_T)fabs(u0);
-    f2 = (real32_T)fabs(u1);
-    if (rtIsInfF(u1)) {
-      if (f1 == 1.0F) {
-        y = ((real32_T)rtNaN);
-      } else if (f1 > 1.0F) {
-        if (u1 > 0.0F) {
-          y = ((real32_T)rtInf);
-        } else {
-          y = 0.0F;
-        }
-      } else if (u1 > 0.0F) {
-        y = 0.0F;
-      } else {
-        y = ((real32_T)rtInf);
-      }
-    } else if (f2 == 0.0F) {
-      y = 1.0F;
-    } else if (f2 == 1.0F) {
-      if (u1 > 0.0F) {
-        y = u0;
-      } else {
-        y = 1.0F / u0;
-      }
-    } else if (u1 == 2.0F) {
-      y = u0 * u0;
-    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
-      y = (real32_T)sqrt(u0);
-    } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
-      y = ((real32_T)rtNaN);
-    } else {
-      y = (real32_T)pow(u0, u1);
-    }
-  }
-
-  return y;
-}
-
-void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const
-                  real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate,
-                  real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3])
-{
-  real32_T A[9];
-  int32_T i0;
-  static const int8_T iv0[3] = { 0, 0, 1 };
-
-  real_T b;
-  real32_T y;
-  real32_T b_y[3];
-  int32_T i1;
-  static const int8_T iv1[3] = { 1, 0, 0 };
-
-  real32_T b_k1[3];
-  real32_T f0;
-  A[0] = 1.0F;
-  A[3] = dt;
-  A[6] = 0.5F * rt_powf_snf(dt, 2.0F);
-  A[1] = 0.0F;
-  A[4] = 1.0F;
-  A[7] = dt;
-  for (i0 = 0; i0 < 3; i0++) {
-    A[2 + 3 * i0] = (real32_T)iv0[i0];
-  }
-
-  if (addNoise == 1.0F) {
-    b = randn();
-    z += sigma * (real32_T)b;
-  }
-
-  if (posUpdate != 0.0F) {
-    y = 0.0F;
-    for (i0 = 0; i0 < 3; i0++) {
-      b_y[i0] = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        b_y[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];
-      }
-
-      y += b_y[i0] * x_aposteriori_k[i0];
-    }
-
-    y = z - y;
-    b_k1[0] = k1;
-    b_k1[1] = k2;
-    b_k1[2] = k3;
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
-      }
-
-      x_aposteriori[i0] = f0 + b_k1[i0] * y;
-    }
-  } else {
-    for (i0 = 0; i0 < 3; i0++) {
-      x_aposteriori[i0] = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        x_aposteriori[i0] += A[i0 + 3 * i1] * x_aposteriori_k[i1];
-      }
-    }
-  }
-}
-
-/* End of code generation (kalman_dlqe3.c) */