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/*
* positionKalmanFilter1D_dT.c
*
* Code generation for function 'positionKalmanFilter1D_dT'
*
* C source code generated on: Fri Nov 30 17:37:33 2012
*
*/
/* Include files */
#include "rt_nonfinite.h"
#include "positionKalmanFilter1D_dT.h"
/* Type Definitions */
/* Named Constants */
/* Variable Declarations */
/* Variable Definitions */
/* Function Declarations */
/* Function Definitions */
void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3],
const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update,
const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T
x_aposteriori[3], real32_T P_aposteriori[9])
{
real32_T A[9];
int32_T i;
static const int8_T iv0[3] = { 0, 0, 1 };
real32_T K[3];
real32_T f0;
int32_T i0;
real32_T b_A[9];
int32_T i1;
real32_T P_apriori[9];
static const int8_T iv1[3] = { 1, 0, 0 };
real32_T fv0[3];
real32_T y;
static const int8_T iv2[3] = { 1, 0, 0 };
real32_T S;
int8_T I[9];
/* dynamics */
A[0] = 1.0F;
A[3] = dT;
A[6] = -0.5F * dT * dT;
A[1] = 0.0F;
A[4] = 1.0F;
A[7] = -dT;
for (i = 0; i < 3; i++) {
A[2 + 3 * i] = (real32_T)iv0[i];
}
/* prediction */
K[0] = 0.5F * dT * dT;
K[1] = dT;
K[2] = 0.0F;
for (i = 0; i < 3; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
f0 += A[i + 3 * i0] * x_aposteriori_k[i0];
}
x_aposteriori[i] = f0 + K[i] * u;
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
b_A[i + 3 * i0] = 0.0F;
for (i1 = 0; i1 < 3; i1++) {
b_A[i + 3 * i0] += A[i + 3 * i1] * P_aposteriori_k[i1 + 3 * i0];
}
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
f0 = 0.0F;
for (i1 = 0; i1 < 3; i1++) {
f0 += b_A[i + 3 * i1] * A[i0 + 3 * i1];
}
P_apriori[i + 3 * i0] = f0 + Q[i + 3 * i0];
}
}
if ((real32_T)fabs(u) < thresh) {
x_aposteriori[1] *= decay;
}
/* update */
if (gps_update == 1) {
f0 = 0.0F;
for (i = 0; i < 3; i++) {
f0 += (real32_T)iv1[i] * x_aposteriori[i];
fv0[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
fv0[i] += (real32_T)iv1[i0] * P_apriori[i0 + 3 * i];
}
}
y = z - f0;
f0 = 0.0F;
for (i = 0; i < 3; i++) {
f0 += fv0[i] * (real32_T)iv2[i];
}
S = f0 + (real32_T)R;
for (i = 0; i < 3; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
f0 += P_apriori[i + 3 * i0] * (real32_T)iv2[i0];
}
K[i] = f0 / S;
}
for (i = 0; i < 3; i++) {
x_aposteriori[i] += K[i] * y;
}
for (i = 0; i < 9; i++) {
I[i] = 0;
}
for (i = 0; i < 3; i++) {
I[i + 3 * i] = 1;
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A[i0 + 3 * i] = (real32_T)I[i0 + 3 * i] - K[i0] * (real32_T)iv1[i];
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
P_aposteriori[i + 3 * i0] = 0.0F;
for (i1 = 0; i1 < 3; i1++) {
P_aposteriori[i + 3 * i0] += A[i + 3 * i1] * P_apriori[i1 + 3 * i0];
}
}
}
} else {
for (i = 0; i < 9; i++) {
P_aposteriori[i] = P_apriori[i];
}
}
}
/* End of code generation (positionKalmanFilter1D_dT.c) */
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