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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-26 12:45:07 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-26 12:45:07 +0200 |
commit | 67e45844073717d4344e4772d7b838aea2b8a24f (patch) | |
tree | d992dacd8abb39ce4af918481df2e30062c74717 /apps/position_estimator | |
parent | 5f016884901f92f2c14d23ee0b15b513e9154c9a (diff) | |
download | px4-firmware-67e45844073717d4344e4772d7b838aea2b8a24f.tar.gz px4-firmware-67e45844073717d4344e4772d7b838aea2b8a24f.tar.bz2 px4-firmware-67e45844073717d4344e4772d7b838aea2b8a24f.zip |
Deleted old cruft
Diffstat (limited to 'apps/position_estimator')
16 files changed, 0 insertions, 1360 deletions
diff --git a/apps/position_estimator/codegen/position_estimator.c b/apps/position_estimator/codegen/position_estimator.c deleted file mode 100644 index 731ae03e3..000000000 --- a/apps/position_estimator/codegen/position_estimator.c +++ /dev/null @@ -1,261 +0,0 @@ -/* - * position_estimator.c - * - * Code generation for function 'position_estimator' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "position_estimator.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void position_estimator(const real32_T u[2], const real32_T z[3], const real32_T - xapo[6], const real32_T Papo[36], const real32_T gps_covariance[3], uint8_T - predict_only, real32_T xapo1[6], real32_T Papo1[36]) -{ - real32_T fv0[6]; - real32_T fv1[6]; - real32_T I[36]; - real32_T xapri[6]; - int32_T i; - int32_T r1; - static const real32_T fv2[36] = { 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.004F, - 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, - 0.004F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, - 0.0F, 0.0F, 0.004F, 1.0F }; - - static const real32_T fv3[12] = { 0.0F, 0.0F, 0.1744F, 87.2F, 0.0F, 0.0F, - -0.1744F, -87.2F, 0.0F, 0.0F, 0.0F, 0.0F }; - - int32_T r2; - real32_T Papri[36]; - real32_T maxval; - static const real32_T fv4[36] = { 1.0F, 0.004F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, - 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.004F, 0.0F, 0.0F, 0.0F, - 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.004F, 0.0F, - 0.0F, 0.0F, 0.0F, 0.0F, 1.0F }; - - static const real32_T fv5[36] = { 1.0E-7F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, - 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-7F, 0.0F, 0.0F, 0.0F, 0.0F, - 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-7F, 0.0F, 0.0F, - 0.0F, 0.0F, 0.0F, 0.0F, 1.0F }; - - real32_T K[18]; - static const int8_T iv0[18] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, - 0, 0 }; - - real32_T fv6[9]; - static const int8_T iv1[18] = { 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, - 1, 0 }; - - real32_T b_gps_covariance[9]; - real32_T A[9]; - real32_T B[18]; - int32_T r3; - real32_T a21; - real32_T Y[18]; - real32_T b_z[3]; - int8_T b_I[36]; - - /* if predit_onli == 1: no update step: use this when no new gps data is available */ - /* %initialization */ - /* use model F=m*a x''=F/m */ - /* 250Hz---> dT = 0.004s */ - /* u=[phi;theta] */ - /* x=[px;vx;py;vy]; */ - /* %------------------------------------------ */ - /* %------------------------------------------------ */ - /* R_t=[1,-r*dT,q*dT;r*dT,1,-p*dT;-q*dT,p*dT,1]; */ - /* process Covariance Matrix */ - /* measurement Covariance Matrix */ - /* %prediction */ - for (i = 0; i < 6; i++) { - fv0[i] = 0.0F; - for (r1 = 0; r1 < 6; r1++) { - fv0[i] += fv2[i + 6 * r1] * xapo[r1]; - } - - fv1[i] = 0.0F; - for (r1 = 0; r1 < 2; r1++) { - fv1[i] += fv3[i + 6 * r1] * u[r1]; - } - - xapri[i] = fv0[i] + fv1[i]; - for (r1 = 0; r1 < 6; r1++) { - I[i + 6 * r1] = 0.0F; - for (r2 = 0; r2 < 6; r2++) { - I[i + 6 * r1] += fv2[i + 6 * r2] * Papo[r2 + 6 * r1]; - } - } - } - - for (i = 0; i < 6; i++) { - for (r1 = 0; r1 < 6; r1++) { - maxval = 0.0F; - for (r2 = 0; r2 < 6; r2++) { - maxval += I[i + 6 * r2] * fv4[r2 + 6 * r1]; - } - - Papri[i + 6 * r1] = maxval + fv5[i + 6 * r1]; - } - } - - if (1 != predict_only) { - /* update */ - for (i = 0; i < 3; i++) { - for (r1 = 0; r1 < 6; r1++) { - K[i + 3 * r1] = 0.0F; - for (r2 = 0; r2 < 6; r2++) { - K[i + 3 * r1] += (real32_T)iv0[i + 3 * r2] * Papri[r2 + 6 * r1]; - } - } - } - - for (i = 0; i < 3; i++) { - for (r1 = 0; r1 < 3; r1++) { - fv6[i + 3 * r1] = 0.0F; - for (r2 = 0; r2 < 6; r2++) { - fv6[i + 3 * r1] += K[r1 + 3 * r2] * (real32_T)iv1[r2 + 6 * i]; - } - } - } - - b_gps_covariance[0] = gps_covariance[0]; - b_gps_covariance[1] = 0.0F; - b_gps_covariance[2] = 0.0F; - b_gps_covariance[3] = 0.0F; - b_gps_covariance[4] = gps_covariance[1]; - b_gps_covariance[5] = 0.0F; - b_gps_covariance[6] = 0.0F; - b_gps_covariance[7] = 0.0F; - b_gps_covariance[8] = gps_covariance[2]; - for (i = 0; i < 3; i++) { - for (r1 = 0; r1 < 3; r1++) { - A[r1 + 3 * i] = fv6[r1 + 3 * i] + b_gps_covariance[r1 + 3 * i]; - } - - for (r1 = 0; r1 < 6; r1++) { - B[i + 3 * r1] = 0.0F; - for (r2 = 0; r2 < 6; r2++) { - B[i + 3 * r1] += Papri[r1 + 6 * r2] * (real32_T)iv1[r2 + 6 * i]; - } - } - } - - r1 = 0; - r2 = 1; - r3 = 2; - maxval = (real32_T)fabs(A[0]); - a21 = (real32_T)fabs(A[1]); - if (a21 > maxval) { - maxval = a21; - r1 = 1; - r2 = 0; - } - - if ((real32_T)fabs(A[2]) > maxval) { - r1 = 2; - r2 = 1; - r3 = 0; - } - - A[r2] /= A[r1]; - A[r3] /= A[r1]; - A[3 + r2] -= A[r2] * A[3 + r1]; - A[3 + r3] -= A[r3] * A[3 + r1]; - A[6 + r2] -= A[r2] * A[6 + r1]; - A[6 + r3] -= A[r3] * A[6 + r1]; - if ((real32_T)fabs(A[3 + r3]) > (real32_T)fabs(A[3 + r2])) { - i = r2; - r2 = r3; - r3 = i; - } - - A[3 + r3] /= A[3 + r2]; - A[6 + r3] -= A[3 + r3] * A[6 + r2]; - for (i = 0; i < 6; i++) { - Y[3 * i] = B[r1 + 3 * i]; - Y[1 + 3 * i] = B[r2 + 3 * i] - Y[3 * i] * A[r2]; - Y[2 + 3 * i] = (B[r3 + 3 * i] - Y[3 * i] * A[r3]) - Y[1 + 3 * i] * A[3 + - r3]; - Y[2 + 3 * i] /= A[6 + r3]; - Y[3 * i] -= Y[2 + 3 * i] * A[6 + r1]; - Y[1 + 3 * i] -= Y[2 + 3 * i] * A[6 + r2]; - Y[1 + 3 * i] /= A[3 + r2]; - Y[3 * i] -= Y[1 + 3 * i] * A[3 + r1]; - Y[3 * i] /= A[r1]; - } - - for (i = 0; i < 3; i++) { - for (r1 = 0; r1 < 6; r1++) { - K[r1 + 6 * i] = Y[i + 3 * r1]; - } - } - - for (i = 0; i < 3; i++) { - maxval = 0.0F; - for (r1 = 0; r1 < 6; r1++) { - maxval += (real32_T)iv0[i + 3 * r1] * xapri[r1]; - } - - b_z[i] = z[i] - maxval; - } - - for (i = 0; i < 6; i++) { - maxval = 0.0F; - for (r1 = 0; r1 < 3; r1++) { - maxval += K[i + 6 * r1] * b_z[r1]; - } - - xapo1[i] = xapri[i] + maxval; - } - - for (i = 0; i < 36; i++) { - b_I[i] = 0; - } - - for (i = 0; i < 6; i++) { - b_I[i + 6 * i] = 1; - } - - for (i = 0; i < 6; i++) { - for (r1 = 0; r1 < 6; r1++) { - maxval = 0.0F; - for (r2 = 0; r2 < 3; r2++) { - maxval += K[i + 6 * r2] * (real32_T)iv0[r2 + 3 * r1]; - } - - I[i + 6 * r1] = (real32_T)b_I[i + 6 * r1] - maxval; - } - } - - for (i = 0; i < 6; i++) { - for (r1 = 0; r1 < 6; r1++) { - Papo1[i + 6 * r1] = 0.0F; - for (r2 = 0; r2 < 6; r2++) { - Papo1[i + 6 * r1] += I[i + 6 * r2] * Papri[r2 + 6 * r1]; - } - } - } - } else { - memcpy((void *)&Papo1[0], (void *)&Papri[0], 36U * sizeof(real32_T)); - for (i = 0; i < 6; i++) { - xapo1[i] = xapri[i]; - } - } -} - -/* End of code generation (position_estimator.c) */ diff --git a/apps/position_estimator/codegen/position_estimator.h b/apps/position_estimator/codegen/position_estimator.h deleted file mode 100644 index 5e2c9acd8..000000000 --- a/apps/position_estimator/codegen/position_estimator.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * position_estimator.h - * - * Code generation for function 'position_estimator' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -#ifndef __POSITION_ESTIMATOR_H__ -#define __POSITION_ESTIMATOR_H__ -/* Include files */ -#include <math.h> -#include <stdio.h> -#include <stdlib.h> -#include <string.h> - -#include "rtwtypes.h" -#include "position_estimator_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void position_estimator(const real32_T u[2], const real32_T z[3], const real32_T xapo[6], const real32_T Papo[36], const real32_T gps_covariance[3], uint8_T predict_only, real32_T xapo1[6], real32_T Papo1[36]); -#endif -/* End of code generation (position_estimator.h) */ diff --git a/apps/position_estimator/codegen/position_estimator_initialize.c b/apps/position_estimator/codegen/position_estimator_initialize.c deleted file mode 100644 index 862381d3b..000000000 --- a/apps/position_estimator/codegen/position_estimator_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * position_estimator_initialize.c - * - * Code generation for function 'position_estimator_initialize' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "position_estimator.h" -#include "position_estimator_initialize.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void position_estimator_initialize(void) -{ - rt_InitInfAndNaN(8U); -} - -/* End of code generation (position_estimator_initialize.c) */ diff --git a/apps/position_estimator/codegen/position_estimator_initialize.h b/apps/position_estimator/codegen/position_estimator_initialize.h deleted file mode 100644 index 71013b390..000000000 --- a/apps/position_estimator/codegen/position_estimator_initialize.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * position_estimator_initialize.h - * - * Code generation for function 'position_estimator_initialize' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -#ifndef __POSITION_ESTIMATOR_INITIALIZE_H__ -#define __POSITION_ESTIMATOR_INITIALIZE_H__ -/* Include files */ -#include <math.h> -#include <stdio.h> -#include <stdlib.h> -#include <string.h> - -#include "rtwtypes.h" -#include "position_estimator_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void position_estimator_initialize(void); -#endif -/* End of code generation (position_estimator_initialize.h) */ diff --git a/apps/position_estimator/codegen/position_estimator_terminate.c b/apps/position_estimator/codegen/position_estimator_terminate.c deleted file mode 100644 index b25aabf40..000000000 --- a/apps/position_estimator/codegen/position_estimator_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * position_estimator_terminate.c - * - * Code generation for function 'position_estimator_terminate' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "position_estimator.h" -#include "position_estimator_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void position_estimator_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (position_estimator_terminate.c) */ diff --git a/apps/position_estimator/codegen/position_estimator_terminate.h b/apps/position_estimator/codegen/position_estimator_terminate.h deleted file mode 100644 index d9fcf838b..000000000 --- a/apps/position_estimator/codegen/position_estimator_terminate.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * position_estimator_terminate.h - * - * Code generation for function 'position_estimator_terminate' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -#ifndef __POSITION_ESTIMATOR_TERMINATE_H__ -#define __POSITION_ESTIMATOR_TERMINATE_H__ -/* Include files */ -#include <math.h> -#include <stdio.h> -#include <stdlib.h> -#include <string.h> - -#include "rtwtypes.h" -#include "position_estimator_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void position_estimator_terminate(void); -#endif -/* End of code generation (position_estimator_terminate.h) */ diff --git a/apps/position_estimator/codegen/position_estimator_types.h b/apps/position_estimator/codegen/position_estimator_types.h deleted file mode 100644 index cb01c7426..000000000 --- a/apps/position_estimator/codegen/position_estimator_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * position_estimator_types.h - * - * Code generation for function 'position_estimator' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -#ifndef __POSITION_ESTIMATOR_TYPES_H__ -#define __POSITION_ESTIMATOR_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (position_estimator_types.h) */ diff --git a/apps/position_estimator/codegen/rtGetInf.c b/apps/position_estimator/codegen/rtGetInf.c deleted file mode 100644 index 20a64117c..000000000 --- a/apps/position_estimator/codegen/rtGetInf.c +++ /dev/null @@ -1,139 +0,0 @@ -/* - * rtGetInf.c - * - * Code generation for function 'position_estimator' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finite, Inf and MinusInf - */ -#include "rtGetInf.h" -#define NumBitsPerChar 8U - -/* Function: rtGetInf ================================================== - * Abstract: - * Initialize rtInf needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetInf(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T inf = 0.0; - if (bitsPerReal == 32U) { - inf = rtGetInfF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - inf = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - inf = tmpVal.fltVal; - break; - } - } - } - - return inf; -} - -/* Function: rtGetInfF ================================================== - * Abstract: - * Initialize rtInfF needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetInfF(void) -{ - IEEESingle infF; - infF.wordL.wordLuint = 0x7F800000U; - return infF.wordL.wordLreal; -} - -/* Function: rtGetMinusInf ================================================== - * Abstract: - * Initialize rtMinusInf needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetMinusInf(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T minf = 0.0; - if (bitsPerReal == 32U) { - minf = rtGetMinusInfF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - minf = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - minf = tmpVal.fltVal; - break; - } - } - } - - return minf; -} - -/* Function: rtGetMinusInfF ================================================== - * Abstract: - * Initialize rtMinusInfF needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetMinusInfF(void) -{ - IEEESingle minfF; - minfF.wordL.wordLuint = 0xFF800000U; - return minfF.wordL.wordLreal; -} - -/* End of code generation (rtGetInf.c) */ diff --git a/apps/position_estimator/codegen/rtGetInf.h b/apps/position_estimator/codegen/rtGetInf.h deleted file mode 100644 index c74f1fc28..000000000 --- a/apps/position_estimator/codegen/rtGetInf.h +++ /dev/null @@ -1,23 +0,0 @@ -/* - * rtGetInf.h - * - * Code generation for function 'position_estimator' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -#ifndef __RTGETINF_H__ -#define __RTGETINF_H__ - -#include <stddef.h> -#include "rtwtypes.h" -#include "rt_nonfinite.h" - -extern real_T rtGetInf(void); -extern real32_T rtGetInfF(void); -extern real_T rtGetMinusInf(void); -extern real32_T rtGetMinusInfF(void); - -#endif -/* End of code generation (rtGetInf.h) */ diff --git a/apps/position_estimator/codegen/rtGetNaN.c b/apps/position_estimator/codegen/rtGetNaN.c deleted file mode 100644 index 6aa2f4639..000000000 --- a/apps/position_estimator/codegen/rtGetNaN.c +++ /dev/null @@ -1,96 +0,0 @@ -/* - * rtGetNaN.c - * - * Code generation for function 'position_estimator' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finite, NaN - */ -#include "rtGetNaN.h" -#define NumBitsPerChar 8U - -/* Function: rtGetNaN ================================================== - * Abstract: - * Initialize rtNaN needed by the generated code. - * NaN is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetNaN(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T nan = 0.0; - if (bitsPerReal == 32U) { - nan = rtGetNaNF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF80000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - nan = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FFFFFFFU; - tmpVal.bitVal.words.wordL = 0xFFFFFFFFU; - nan = tmpVal.fltVal; - break; - } - } - } - - return nan; -} - -/* Function: rtGetNaNF ================================================== - * Abstract: - * Initialize rtNaNF needed by the generated code. - * NaN is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetNaNF(void) -{ - IEEESingle nanF = { { 0 } }; - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - nanF.wordL.wordLuint = 0xFFC00000U; - break; - } - - case BigEndian: - { - nanF.wordL.wordLuint = 0x7FFFFFFFU; - break; - } - } - - return nanF.wordL.wordLreal; -} - -/* End of code generation (rtGetNaN.c) */ diff --git a/apps/position_estimator/codegen/rtGetNaN.h b/apps/position_estimator/codegen/rtGetNaN.h deleted file mode 100644 index d3ec61c9e..000000000 --- a/apps/position_estimator/codegen/rtGetNaN.h +++ /dev/null @@ -1,21 +0,0 @@ -/* - * rtGetNaN.h - * - * Code generation for function 'position_estimator' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -#ifndef __RTGETNAN_H__ -#define __RTGETNAN_H__ - -#include <stddef.h> -#include "rtwtypes.h" -#include "rt_nonfinite.h" - -extern real_T rtGetNaN(void); -extern real32_T rtGetNaNF(void); - -#endif -/* End of code generation (rtGetNaN.h) */ diff --git a/apps/position_estimator/codegen/rt_nonfinite.c b/apps/position_estimator/codegen/rt_nonfinite.c deleted file mode 100644 index 40e15fd22..000000000 --- a/apps/position_estimator/codegen/rt_nonfinite.c +++ /dev/null @@ -1,87 +0,0 @@ -/* - * rt_nonfinite.c - * - * Code generation for function 'position_estimator' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finites, - * (Inf, NaN and -Inf). - */ -#include "rt_nonfinite.h" -#include "rtGetNaN.h" -#include "rtGetInf.h" - -real_T rtInf; -real_T rtMinusInf; -real_T rtNaN; -real32_T rtInfF; -real32_T rtMinusInfF; -real32_T rtNaNF; - -/* Function: rt_InitInfAndNaN ================================================== - * Abstract: - * Initialize the rtInf, rtMinusInf, and rtNaN needed by the - * generated code. NaN is initialized as non-signaling. Assumes IEEE. - */ -void rt_InitInfAndNaN(size_t realSize) -{ - (void) (realSize); - rtNaN = rtGetNaN(); - rtNaNF = rtGetNaNF(); - rtInf = rtGetInf(); - rtInfF = rtGetInfF(); - rtMinusInf = rtGetMinusInf(); - rtMinusInfF = rtGetMinusInfF(); -} - -/* Function: rtIsInf ================================================== - * Abstract: - * Test if value is infinite - */ -boolean_T rtIsInf(real_T value) -{ - return ((value==rtInf || value==rtMinusInf) ? 1U : 0U); -} - -/* Function: rtIsInfF ================================================= - * Abstract: - * Test if single-precision value is infinite - */ -boolean_T rtIsInfF(real32_T value) -{ - return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U); -} - -/* Function: rtIsNaN ================================================== - * Abstract: - * Test if value is not a number - */ -boolean_T rtIsNaN(real_T value) -{ -#if defined(_MSC_VER) && (_MSC_VER <= 1200) - return _isnan(value)? TRUE:FALSE; -#else - return (value!=value)? 1U:0U; -#endif -} - -/* Function: rtIsNaNF ================================================= - * Abstract: - * Test if single-precision value is not a number - */ -boolean_T rtIsNaNF(real32_T value) -{ -#if defined(_MSC_VER) && (_MSC_VER <= 1200) - return _isnan((real_T)value)? true:false; -#else - return (value!=value)? 1U:0U; -#endif -} - - -/* End of code generation (rt_nonfinite.c) */ diff --git a/apps/position_estimator/codegen/rt_nonfinite.h b/apps/position_estimator/codegen/rt_nonfinite.h deleted file mode 100644 index ac9660124..000000000 --- a/apps/position_estimator/codegen/rt_nonfinite.h +++ /dev/null @@ -1,53 +0,0 @@ -/* - * rt_nonfinite.h - * - * Code generation for function 'position_estimator' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -#ifndef __RT_NONFINITE_H__ -#define __RT_NONFINITE_H__ - -#if defined(_MSC_VER) && (_MSC_VER <= 1200) -#include <float.h> -#endif -#include <stddef.h> -#include "rtwtypes.h" - -extern real_T rtInf; -extern real_T rtMinusInf; -extern real_T rtNaN; -extern real32_T rtInfF; -extern real32_T rtMinusInfF; -extern real32_T rtNaNF; -extern void rt_InitInfAndNaN(size_t realSize); -extern boolean_T rtIsInf(real_T value); -extern boolean_T rtIsInfF(real32_T value); -extern boolean_T rtIsNaN(real_T value); -extern boolean_T rtIsNaNF(real32_T value); - -typedef struct { - struct { - uint32_T wordH; - uint32_T wordL; - } words; -} BigEndianIEEEDouble; - -typedef struct { - struct { - uint32_T wordL; - uint32_T wordH; - } words; -} LittleEndianIEEEDouble; - -typedef struct { - union { - real32_T wordLreal; - uint32_T wordLuint; - } wordL; -} IEEESingle; - -#endif -/* End of code generation (rt_nonfinite.h) */ diff --git a/apps/position_estimator/codegen/rtwtypes.h b/apps/position_estimator/codegen/rtwtypes.h deleted file mode 100644 index e87ae1fdc..000000000 --- a/apps/position_estimator/codegen/rtwtypes.h +++ /dev/null @@ -1,175 +0,0 @@ -/* - * rtwtypes.h - * - * Code generation for function 'position_estimator' - * - * C source code generated on: Fri Jun 8 13:31:21 2012 - * - */ - -#ifndef __RTWTYPES_H__ -#define __RTWTYPES_H__ -#ifndef TRUE -# define TRUE (1U) -#endif -#ifndef FALSE -# define FALSE (0U) -#endif -#ifndef __TMWTYPES__ -#define __TMWTYPES__ - -#include <limits.h> - -/*=======================================================================* - * Target hardware information - * Device type: Generic->MATLAB Host Computer - * Number of bits: char: 8 short: 16 int: 32 - * long: 64 native word size: 64 - * Byte ordering: LittleEndian - * Signed integer division rounds to: Zero - * Shift right on a signed integer as arithmetic shift: on - *=======================================================================*/ - -/*=======================================================================* - * Fixed width word size data types: * - * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * - * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * - * real32_T, real64_T - 32 and 64 bit floating point numbers * - *=======================================================================*/ - -typedef signed char int8_T; -typedef unsigned char uint8_T; -typedef short int16_T; -typedef unsigned short uint16_T; -typedef int int32_T; -typedef unsigned int uint32_T; -typedef long int64_T; -typedef unsigned long uint64_T; -typedef float real32_T; -typedef double real64_T; - -/*===========================================================================* - * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, * - * ulong_T, char_T and byte_T. * - *===========================================================================*/ - -typedef double real_T; -typedef double time_T; -typedef unsigned char boolean_T; -typedef int int_T; -typedef unsigned uint_T; -typedef unsigned long ulong_T; -typedef char char_T; -typedef char_T byte_T; - -/*===========================================================================* - * Complex number type definitions * - *===========================================================================*/ -#define CREAL_T - typedef struct { - real32_T re; - real32_T im; - } creal32_T; - - typedef struct { - real64_T re; - real64_T im; - } creal64_T; - - typedef struct { - real_T re; - real_T im; - } creal_T; - - typedef struct { - int8_T re; - int8_T im; - } cint8_T; - - typedef struct { - uint8_T re; - uint8_T im; - } cuint8_T; - - typedef struct { - int16_T re; - int16_T im; - } cint16_T; - - typedef struct { - uint16_T re; - uint16_T im; - } cuint16_T; - - typedef struct { - int32_T re; - int32_T im; - } cint32_T; - - typedef struct { - uint32_T re; - uint32_T im; - } cuint32_T; - - typedef struct { - int64_T re; - int64_T im; - } cint64_T; - - typedef struct { - uint64_T re; - uint64_T im; - } cuint64_T; - - -/*=======================================================================* - * Min and Max: * - * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * - * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * - *=======================================================================*/ - -#define MAX_int8_T ((int8_T)(127)) -#define MIN_int8_T ((int8_T)(-128)) -#define MAX_uint8_T ((uint8_T)(255)) -#define MIN_uint8_T ((uint8_T)(0)) -#define MAX_int16_T ((int16_T)(32767)) -#define MIN_int16_T ((int16_T)(-32768)) -#define MAX_uint16_T ((uint16_T)(65535)) -#define MIN_uint16_T ((uint16_T)(0)) -#define MAX_int32_T ((int32_T)(2147483647)) -#define MIN_int32_T ((int32_T)(-2147483647-1)) -#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU)) -#define MIN_uint32_T ((uint32_T)(0)) -#define MAX_int64_T ((int64_T)(9223372036854775807L)) -#define MIN_int64_T ((int64_T)(-9223372036854775807L-1L)) -#define MAX_uint64_T ((uint64_T)(0xFFFFFFFFFFFFFFFFUL)) -#define MIN_uint64_T ((uint64_T)(0UL)) - -/* Logical type definitions */ -#if !defined(__cplusplus) && !defined(__true_false_are_keywords) -# ifndef false -# define false (0U) -# endif -# ifndef true -# define true (1U) -# endif -#endif - -/* - * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation - * for signed integer values. - */ -#if ((SCHAR_MIN + 1) != -SCHAR_MAX) -#error "This code must be compiled using a 2's complement representation for signed integer values" -#endif - -/* - * Maximum length of a MATLAB identifier (function/variable) - * including the null-termination character. Referenced by - * rt_logging.c and rt_matrx.c. - */ -#define TMW_NAME_LENGTH_MAX 64 - -#endif -#endif -/* End of code generation (rtwtypes.h) */ diff --git a/apps/position_estimator/position_estimator.m b/apps/position_estimator/position_estimator.m deleted file mode 100644 index 2ef4d8b06..000000000 --- a/apps/position_estimator/position_estimator.m +++ /dev/null @@ -1,62 +0,0 @@ -function [xapo1,Papo1] = position_estimator(u,z,xapo,Papo,gps_covariance,predict_only) %if predit_onli == 1: no update step: use this when no new gps data is available -%#codegen -%%initialization -%use model F=m*a x''=F/m -% 250Hz---> dT = 0.004s -%u=[phi;theta] -%x=[px;vx;py;vy]; -%%------------------------------------------ -dT=0.004; -%%------------------------------------------------ - -%R_t=[1,-r*dT,q*dT;r*dT,1,-p*dT;-q*dT,p*dT,1]; - - -F=[ 1, 0.004, 0, 0, 0, 0; - 0, 1, 0, 0, 0, 0; - 0, 0, 1, 0.004, 0, 0; - 0, 0, 0, 1, 0, 0; - 0, 0, 0, 0, 1, 0.004; - 0, 0, 0, 0, 0, 1]; - -B=[ 0, -0.1744; - 0, -87.2; - 0.1744, 0; - 87.2, 0; - 0, 0; - 0, 0]; - -H=[1,0,0,0,0,0; - 0,0,1,0,0,0; - 0,0,0,0,1,0]; - - - - Q=[1e-007 ,0 ,0 ,0 ,0 ,0; - 0 ,1 ,0 ,0 ,0 ,0; - 0 ,0 ,1e-007 ,0 ,0 ,0; - 0 ,0 ,0 ,1 ,0 ,0 - 0 ,0 ,0 ,0 ,1e-007 ,0; - 0 ,0 ,0 ,0 ,0 ,1]; %process Covariance Matrix - - -R=[gps_covariance(1), 0, 0; - 0, gps_covariance(2), 0; - 0, 0, gps_covariance(3)]; %measurement Covariance Matrix - -%%prediction - -xapri=F*xapo+B*u; -Papri=F*Papo*F'+Q; - -if 1 ~= predict_only - %update - yr=z-H*xapri; - S=H*Papri*H'+R; - K=(Papri*H')/S; - xapo1=xapri+K*yr; - Papo1=(eye(6)-K*H)*Papri; -else - Papo1=Papri; - xapo1=xapri; -end
\ No newline at end of file diff --git a/apps/position_estimator/position_estimator.prj b/apps/position_estimator/position_estimator.prj deleted file mode 100644 index d754f36cc..000000000 --- a/apps/position_estimator/position_estimator.prj +++ /dev/null @@ -1,269 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?>
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- <param.grt.SupportNonFinite />
- <param.ert.PurelyIntegerCode />
- <param.ert.SupportNonFinite />
- <param.ert.IncludeTerminateFcn />
- <param.ert.MultiInstanceCode />
- <param.ert.ParenthesesLevel />
- <param.ert.ConvertIfToSwitch />
- <param.ert.PreserveExternInFcnDecls />
- <param.grt.EnableMemcpy />
- <param.grt.MemcpyThreshold />
- <param.grt.InitFltsAndDblsToZero />
- <param.grt.InlineThreshold />
- <param.grt.InlineThresholdMax />
- <param.grt.InlineStackLimit />
- <param.grt.StackUsageMax />
- <param.grt.ConstantFoldingTimeout />
- <param.UseECoderFeatures />
- <param.mex.outputfile />
- <param.grt.outputfile />
- <param.version />
- <param.HasECoderFeatures />
- </unset>
- <fileset.entrypoints>
- <file value="${PROJECT_ROOT}/position_estimator.m" custom-data-expanded="true">
- <Inputs fileName="position_estimator.m" functionName="position_estimator">
- <Input Name="u">
- <Class>single</Class>
- <Size>2 x 1</Size>
- <Value />
- <InitialValue />
- <Complex>false</Complex>
- </Input>
- <Input Name="z">
- <Class>single</Class>
- <Size>3 x 1</Size>
- <Value />
- <InitialValue />
- <Complex>false</Complex>
- </Input>
- <Input Name="xapo">
- <Class>single</Class>
- <Size>6 x 1</Size>
- <Value />
- <InitialValue />
- <Complex>false</Complex>
- </Input>
- <Input Name="Papo">
- <Class>single</Class>
- <Size>6 x 6</Size>
- <Value />
- <InitialValue />
- <Complex>false</Complex>
- </Input>
- <Input Name="gps_covariance">
- <Class>single</Class>
- <Size>3 x 1</Size>
- <Value />
- <InitialValue />
- <Complex>false</Complex>
- </Input>
- <Input Name="predict_only">
- <Class>uint8</Class>
- <Size>1 x 1</Size>
- <Value />
- <InitialValue />
- <Complex>false</Complex>
- </Input>
- </Inputs>
- </file>
- </fileset.entrypoints>
- <fileset.package />
- <build-deliverables />
- <workflow />
- <matlab>
- <root>/home/thomasgubler/tools/matlab</root>
- </matlab>
- <platform>
- <unix>true</unix>
- <mac>false</mac>
- <windows>false</windows>
- <win2k>false</win2k>
- <winxp>false</winxp>
- <vista>false</vista>
- <linux>true</linux>
- <solaris>false</solaris>
- <osver>3.2.0-25-generic</osver>
- <os32>false</os32>
- <os64>true</os64>
- <arch>glnxa64</arch>
- <matlab>true</matlab>
- </platform>
- </configuration>
-</deployment-project>
-
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