1 files changed, 157 insertions, 0 deletions
diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
new file mode 100755
index 000000000..4c535618a
--- /dev/null
+++ b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
@@ -0,0 +1,157 @@
+/*
+ * 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) */