diff options
Diffstat (limited to 'apps/position_estimator/codegen/position_estimator.c')
-rw-r--r-- | apps/position_estimator/codegen/position_estimator.c | 261 |
1 files changed, 261 insertions, 0 deletions
diff --git a/apps/position_estimator/codegen/position_estimator.c b/apps/position_estimator/codegen/position_estimator.c new file mode 100644 index 000000000..731ae03e3 --- /dev/null +++ b/apps/position_estimator/codegen/position_estimator.c @@ -0,0 +1,261 @@ +/* + * 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) */ |