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2024-04-27 03:26:25 -05:00
parent 90b100e98a
commit 9bb33c11ac
20 changed files with 1541 additions and 2670 deletions
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4
selfdrive/locationd/models/car_kf.py
View File

@@ -1,7 +1,7 @@
#!/usr/bin/env python3
import math
import sys
from typing import Any, Dict
from typing import Any
import numpy as np
@@ -70,7 +70,7 @@ class CarKalman(KalmanFilter):
])
P_initial = Q.copy()
obs_noise: Dict[int, Any] = {
obs_noise: dict[int, Any] = {
ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.05)**2),
ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2),
ObservationKind.ROAD_ROLL: np.atleast_2d(math.radians(1.0)**2),

661
selfdrive/locationd/models/generated/car.cpp
View File

@@ -1,661 +0,0 @@
#include "car.h"
namespace {
#define DIM 9
#define EDIM 9
#define MEDIM 9
typedef void (*Hfun)(double *, double *, double *);
double mass;
void set_mass(double x){ mass = x;}
double rotational_inertia;
void set_rotational_inertia(double x){ rotational_inertia = x;}
double center_to_front;
void set_center_to_front(double x){ center_to_front = x;}
double center_to_rear;
void set_center_to_rear(double x){ center_to_rear = x;}
double stiffness_front;
void set_stiffness_front(double x){ stiffness_front = x;}
double stiffness_rear;
void set_stiffness_rear(double x){ stiffness_rear = x;}
const static double MAHA_THRESH_25 = 3.8414588206941227;
const static double MAHA_THRESH_24 = 5.991464547107981;
const static double MAHA_THRESH_30 = 3.8414588206941227;
const static double MAHA_THRESH_26 = 3.8414588206941227;
const static double MAHA_THRESH_27 = 3.8414588206941227;
const static double MAHA_THRESH_29 = 3.8414588206941227;
const static double MAHA_THRESH_28 = 3.8414588206941227;
const static double MAHA_THRESH_31 = 3.8414588206941227;
/******************************************************************************
* Code generated with SymPy 1.12 *
* *
* See http://www.sympy.org/ for more information. *
* *
* This file is part of 'ekf' *
******************************************************************************/
void err_fun(double *nom_x, double *delta_x, double *out_7718808222430479447) {
out_7718808222430479447[0] = delta_x[0] + nom_x[0];
out_7718808222430479447[1] = delta_x[1] + nom_x[1];
out_7718808222430479447[2] = delta_x[2] + nom_x[2];
out_7718808222430479447[3] = delta_x[3] + nom_x[3];
out_7718808222430479447[4] = delta_x[4] + nom_x[4];
out_7718808222430479447[5] = delta_x[5] + nom_x[5];
out_7718808222430479447[6] = delta_x[6] + nom_x[6];
out_7718808222430479447[7] = delta_x[7] + nom_x[7];
out_7718808222430479447[8] = delta_x[8] + nom_x[8];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_1034114423937537934) {
out_1034114423937537934[0] = -nom_x[0] + true_x[0];
out_1034114423937537934[1] = -nom_x[1] + true_x[1];
out_1034114423937537934[2] = -nom_x[2] + true_x[2];
out_1034114423937537934[3] = -nom_x[3] + true_x[3];
out_1034114423937537934[4] = -nom_x[4] + true_x[4];
out_1034114423937537934[5] = -nom_x[5] + true_x[5];
out_1034114423937537934[6] = -nom_x[6] + true_x[6];
out_1034114423937537934[7] = -nom_x[7] + true_x[7];
out_1034114423937537934[8] = -nom_x[8] + true_x[8];
}
void H_mod_fun(double *state, double *out_7225960904852606817) {
out_7225960904852606817[0] = 1.0;
out_7225960904852606817[1] = 0;
out_7225960904852606817[2] = 0;
out_7225960904852606817[3] = 0;
out_7225960904852606817[4] = 0;
out_7225960904852606817[5] = 0;
out_7225960904852606817[6] = 0;
out_7225960904852606817[7] = 0;
out_7225960904852606817[8] = 0;
out_7225960904852606817[9] = 0;
out_7225960904852606817[10] = 1.0;
out_7225960904852606817[11] = 0;
out_7225960904852606817[12] = 0;
out_7225960904852606817[13] = 0;
out_7225960904852606817[14] = 0;
out_7225960904852606817[15] = 0;
out_7225960904852606817[16] = 0;
out_7225960904852606817[17] = 0;
out_7225960904852606817[18] = 0;
out_7225960904852606817[19] = 0;
out_7225960904852606817[20] = 1.0;
out_7225960904852606817[21] = 0;
out_7225960904852606817[22] = 0;
out_7225960904852606817[23] = 0;
out_7225960904852606817[24] = 0;
out_7225960904852606817[25] = 0;
out_7225960904852606817[26] = 0;
out_7225960904852606817[27] = 0;
out_7225960904852606817[28] = 0;
out_7225960904852606817[29] = 0;
out_7225960904852606817[30] = 1.0;
out_7225960904852606817[31] = 0;
out_7225960904852606817[32] = 0;
out_7225960904852606817[33] = 0;
out_7225960904852606817[34] = 0;
out_7225960904852606817[35] = 0;
out_7225960904852606817[36] = 0;
out_7225960904852606817[37] = 0;
out_7225960904852606817[38] = 0;
out_7225960904852606817[39] = 0;
out_7225960904852606817[40] = 1.0;
out_7225960904852606817[41] = 0;
out_7225960904852606817[42] = 0;
out_7225960904852606817[43] = 0;
out_7225960904852606817[44] = 0;
out_7225960904852606817[45] = 0;
out_7225960904852606817[46] = 0;
out_7225960904852606817[47] = 0;
out_7225960904852606817[48] = 0;
out_7225960904852606817[49] = 0;
out_7225960904852606817[50] = 1.0;
out_7225960904852606817[51] = 0;
out_7225960904852606817[52] = 0;
out_7225960904852606817[53] = 0;
out_7225960904852606817[54] = 0;
out_7225960904852606817[55] = 0;
out_7225960904852606817[56] = 0;
out_7225960904852606817[57] = 0;
out_7225960904852606817[58] = 0;
out_7225960904852606817[59] = 0;
out_7225960904852606817[60] = 1.0;
out_7225960904852606817[61] = 0;
out_7225960904852606817[62] = 0;
out_7225960904852606817[63] = 0;
out_7225960904852606817[64] = 0;
out_7225960904852606817[65] = 0;
out_7225960904852606817[66] = 0;
out_7225960904852606817[67] = 0;
out_7225960904852606817[68] = 0;
out_7225960904852606817[69] = 0;
out_7225960904852606817[70] = 1.0;
out_7225960904852606817[71] = 0;
out_7225960904852606817[72] = 0;
out_7225960904852606817[73] = 0;
out_7225960904852606817[74] = 0;
out_7225960904852606817[75] = 0;
out_7225960904852606817[76] = 0;
out_7225960904852606817[77] = 0;
out_7225960904852606817[78] = 0;
out_7225960904852606817[79] = 0;
out_7225960904852606817[80] = 1.0;
}
void f_fun(double *state, double dt, double *out_5925834804962007644) {
out_5925834804962007644[0] = state[0];
out_5925834804962007644[1] = state[1];
out_5925834804962007644[2] = state[2];
out_5925834804962007644[3] = state[3];
out_5925834804962007644[4] = state[4];
out_5925834804962007644[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
out_5925834804962007644[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
out_5925834804962007644[7] = state[7];
out_5925834804962007644[8] = state[8];
}
void F_fun(double *state, double dt, double *out_1594563891292900416) {
out_1594563891292900416[0] = 1;
out_1594563891292900416[1] = 0;
out_1594563891292900416[2] = 0;
out_1594563891292900416[3] = 0;
out_1594563891292900416[4] = 0;
out_1594563891292900416[5] = 0;
out_1594563891292900416[6] = 0;
out_1594563891292900416[7] = 0;
out_1594563891292900416[8] = 0;
out_1594563891292900416[9] = 0;
out_1594563891292900416[10] = 1;
out_1594563891292900416[11] = 0;
out_1594563891292900416[12] = 0;
out_1594563891292900416[13] = 0;
out_1594563891292900416[14] = 0;
out_1594563891292900416[15] = 0;
out_1594563891292900416[16] = 0;
out_1594563891292900416[17] = 0;
out_1594563891292900416[18] = 0;
out_1594563891292900416[19] = 0;
out_1594563891292900416[20] = 1;
out_1594563891292900416[21] = 0;
out_1594563891292900416[22] = 0;
out_1594563891292900416[23] = 0;
out_1594563891292900416[24] = 0;
out_1594563891292900416[25] = 0;
out_1594563891292900416[26] = 0;
out_1594563891292900416[27] = 0;
out_1594563891292900416[28] = 0;
out_1594563891292900416[29] = 0;
out_1594563891292900416[30] = 1;
out_1594563891292900416[31] = 0;
out_1594563891292900416[32] = 0;
out_1594563891292900416[33] = 0;
out_1594563891292900416[34] = 0;
out_1594563891292900416[35] = 0;
out_1594563891292900416[36] = 0;
out_1594563891292900416[37] = 0;
out_1594563891292900416[38] = 0;
out_1594563891292900416[39] = 0;
out_1594563891292900416[40] = 1;
out_1594563891292900416[41] = 0;
out_1594563891292900416[42] = 0;
out_1594563891292900416[43] = 0;
out_1594563891292900416[44] = 0;
out_1594563891292900416[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
out_1594563891292900416[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_1594563891292900416[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_1594563891292900416[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_1594563891292900416[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
out_1594563891292900416[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_1594563891292900416[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_1594563891292900416[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_1594563891292900416[53] = -9.8000000000000007*dt;
out_1594563891292900416[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
out_1594563891292900416[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_1594563891292900416[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_1594563891292900416[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_1594563891292900416[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
out_1594563891292900416[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_1594563891292900416[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
out_1594563891292900416[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_1594563891292900416[62] = 0;
out_1594563891292900416[63] = 0;
out_1594563891292900416[64] = 0;
out_1594563891292900416[65] = 0;
out_1594563891292900416[66] = 0;
out_1594563891292900416[67] = 0;
out_1594563891292900416[68] = 0;
out_1594563891292900416[69] = 0;
out_1594563891292900416[70] = 1;
out_1594563891292900416[71] = 0;
out_1594563891292900416[72] = 0;
out_1594563891292900416[73] = 0;
out_1594563891292900416[74] = 0;
out_1594563891292900416[75] = 0;
out_1594563891292900416[76] = 0;
out_1594563891292900416[77] = 0;
out_1594563891292900416[78] = 0;
out_1594563891292900416[79] = 0;
out_1594563891292900416[80] = 1;
}
void h_25(double *state, double *unused, double *out_4446559038823907444) {
out_4446559038823907444[0] = state[6];
}
void H_25(double *state, double *unused, double *out_2291888026643029333) {
out_2291888026643029333[0] = 0;
out_2291888026643029333[1] = 0;
out_2291888026643029333[2] = 0;
out_2291888026643029333[3] = 0;
out_2291888026643029333[4] = 0;
out_2291888026643029333[5] = 0;
out_2291888026643029333[6] = 1;
out_2291888026643029333[7] = 0;
out_2291888026643029333[8] = 0;
}
void h_24(double *state, double *unused, double *out_5489680431960231161) {
out_5489680431960231161[0] = state[4];
out_5489680431960231161[1] = state[5];
}
void H_24(double *state, double *unused, double *out_1895242722289169838) {
out_1895242722289169838[0] = 0;
out_1895242722289169838[1] = 0;
out_1895242722289169838[2] = 0;
out_1895242722289169838[3] = 0;
out_1895242722289169838[4] = 1;
out_1895242722289169838[5] = 0;
out_1895242722289169838[6] = 0;
out_1895242722289169838[7] = 0;
out_1895242722289169838[8] = 0;
out_1895242722289169838[9] = 0;
out_1895242722289169838[10] = 0;
out_1895242722289169838[11] = 0;
out_1895242722289169838[12] = 0;
out_1895242722289169838[13] = 0;
out_1895242722289169838[14] = 1;
out_1895242722289169838[15] = 0;
out_1895242722289169838[16] = 0;
out_1895242722289169838[17] = 0;
}
void h_30(double *state, double *unused, double *out_8308242515252409096) {
out_8308242515252409096[0] = state[4];
}
void H_30(double *state, double *unused, double *out_9208578368134646088) {
out_9208578368134646088[0] = 0;
out_9208578368134646088[1] = 0;
out_9208578368134646088[2] = 0;
out_9208578368134646088[3] = 0;
out_9208578368134646088[4] = 1;
out_9208578368134646088[5] = 0;
out_9208578368134646088[6] = 0;
out_9208578368134646088[7] = 0;
out_9208578368134646088[8] = 0;
}
void h_26(double *state, double *unused, double *out_2392611761518546760) {
out_2392611761518546760[0] = state[7];
}
void H_26(double *state, double *unused, double *out_1449615292231026891) {
out_1449615292231026891[0] = 0;
out_1449615292231026891[1] = 0;
out_1449615292231026891[2] = 0;
out_1449615292231026891[3] = 0;
out_1449615292231026891[4] = 0;
out_1449615292231026891[5] = 0;
out_1449615292231026891[6] = 0;
out_1449615292231026891[7] = 1;
out_1449615292231026891[8] = 0;
}
void h_27(double *state, double *unused, double *out_5428643132159205556) {
out_5428643132159205556[0] = state[3];
}
void H_27(double *state, double *unused, double *out_7033815056334221177) {
out_7033815056334221177[0] = 0;
out_7033815056334221177[1] = 0;
out_7033815056334221177[2] = 0;
out_7033815056334221177[3] = 1;
out_7033815056334221177[4] = 0;
out_7033815056334221177[5] = 0;
out_7033815056334221177[6] = 0;
out_7033815056334221177[7] = 0;
out_7033815056334221177[8] = 0;
}
void h_29(double *state, double *unused, double *out_5703837194443711445) {
out_5703837194443711445[0] = state[1];
}
void H_29(double *state, double *unused, double *out_5320452329464670144) {
out_5320452329464670144[0] = 0;
out_5320452329464670144[1] = 1;
out_5320452329464670144[2] = 0;
out_5320452329464670144[3] = 0;
out_5320452329464670144[4] = 0;
out_5320452329464670144[5] = 0;
out_5320452329464670144[6] = 0;
out_5320452329464670144[7] = 0;
out_5320452329464670144[8] = 0;
}
void h_28(double *state, double *unused, double *out_6908571236733552516) {
out_6908571236733552516[0] = state[0];
}
void H_28(double *state, double *unused, double *out_238053312395139570) {
out_238053312395139570[0] = 1;
out_238053312395139570[1] = 0;
out_238053312395139570[2] = 0;
out_238053312395139570[3] = 0;
out_238053312395139570[4] = 0;
out_238053312395139570[5] = 0;
out_238053312395139570[6] = 0;
out_238053312395139570[7] = 0;
out_238053312395139570[8] = 0;
}
void h_31(double *state, double *unused, double *out_3210479663755662439) {
out_3210479663755662439[0] = state[8];
}
void H_31(double *state, double *unused, double *out_2322533988519989761) {
out_2322533988519989761[0] = 0;
out_2322533988519989761[1] = 0;
out_2322533988519989761[2] = 0;
out_2322533988519989761[3] = 0;
out_2322533988519989761[4] = 0;
out_2322533988519989761[5] = 0;
out_2322533988519989761[6] = 0;
out_2322533988519989761[7] = 0;
out_2322533988519989761[8] = 1;
}
#include <eigen3/Eigen/Dense>
#include <iostream>
typedef Eigen::Matrix<double, DIM, DIM, Eigen::RowMajor> DDM;
typedef Eigen::Matrix<double, EDIM, EDIM, Eigen::RowMajor> EEM;
typedef Eigen::Matrix<double, DIM, EDIM, Eigen::RowMajor> DEM;
void predict(double *in_x, double *in_P, double *in_Q, double dt) {
typedef Eigen::Matrix<double, MEDIM, MEDIM, Eigen::RowMajor> RRM;
double nx[DIM] = {0};
double in_F[EDIM*EDIM] = {0};
// functions from sympy
f_fun(in_x, dt, nx);
F_fun(in_x, dt, in_F);
EEM F(in_F);
EEM P(in_P);
EEM Q(in_Q);
RRM F_main = F.topLeftCorner(MEDIM, MEDIM);
P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose();
P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM);
P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose();
P = P + dt*Q;
// copy out state
memcpy(in_x, nx, DIM * sizeof(double));
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
}
// note: extra_args dim only correct when null space projecting
// otherwise 1
template <int ZDIM, int EADIM, bool MAHA_TEST>
void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) {
typedef Eigen::Matrix<double, ZDIM, ZDIM, Eigen::RowMajor> ZZM;
typedef Eigen::Matrix<double, ZDIM, DIM, Eigen::RowMajor> ZDM;
typedef Eigen::Matrix<double, Eigen::Dynamic, EDIM, Eigen::RowMajor> XEM;
//typedef Eigen::Matrix<double, EDIM, ZDIM, Eigen::RowMajor> EZM;
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> X1M;
typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> XXM;
double in_hx[ZDIM] = {0};
double in_H[ZDIM * DIM] = {0};
double in_H_mod[EDIM * DIM] = {0};
double delta_x[EDIM] = {0};
double x_new[DIM] = {0};
// state x, P
Eigen::Matrix<double, ZDIM, 1> z(in_z);
EEM P(in_P);
ZZM pre_R(in_R);
// functions from sympy
h_fun(in_x, in_ea, in_hx);
H_fun(in_x, in_ea, in_H);
ZDM pre_H(in_H);
// get y (y = z - hx)
Eigen::Matrix<double, ZDIM, 1> pre_y(in_hx); pre_y = z - pre_y;
X1M y; XXM H; XXM R;
if (Hea_fun){
typedef Eigen::Matrix<double, ZDIM, EADIM, Eigen::RowMajor> ZAM;
double in_Hea[ZDIM * EADIM] = {0};
Hea_fun(in_x, in_ea, in_Hea);
ZAM Hea(in_Hea);
XXM A = Hea.transpose().fullPivLu().kernel();
y = A.transpose() * pre_y;
H = A.transpose() * pre_H;
R = A.transpose() * pre_R * A;
} else {
y = pre_y;
H = pre_H;
R = pre_R;
}
// get modified H
H_mod_fun(in_x, in_H_mod);
DEM H_mod(in_H_mod);
XEM H_err = H * H_mod;
// Do mahalobis distance test
if (MAHA_TEST){
XXM a = (H_err * P * H_err.transpose() + R).inverse();
double maha_dist = y.transpose() * a * y;
if (maha_dist > MAHA_THRESHOLD){
R = 1.0e16 * R;
}
}
// Outlier resilient weighting
double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum());
// kalman gains and I_KH
XXM S = ((H_err * P) * H_err.transpose()) + R/weight;
XEM KT = S.fullPivLu().solve(H_err * P.transpose());
//EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE?
//EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose();
//std::cout << "Here is the matrix rot:\n" << K << std::endl;
EEM I_KH = Eigen::Matrix<double, EDIM, EDIM>::Identity() - (KT.transpose() * H_err);
// update state by injecting dx
Eigen::Matrix<double, EDIM, 1> dx(delta_x);
dx = (KT.transpose() * y);
memcpy(delta_x, dx.data(), EDIM * sizeof(double));
err_fun(in_x, delta_x, x_new);
Eigen::Matrix<double, DIM, 1> x(x_new);
// update cov
P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT);
// copy out state
memcpy(in_x, x.data(), DIM * sizeof(double));
memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double));
memcpy(in_z, y.data(), y.rows() * sizeof(double));
}
}
extern "C" {
void car_update_25(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_25, H_25, NULL, in_z, in_R, in_ea, MAHA_THRESH_25);
}
void car_update_24(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<2, 3, 0>(in_x, in_P, h_24, H_24, NULL, in_z, in_R, in_ea, MAHA_THRESH_24);
}
void car_update_30(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_30, H_30, NULL, in_z, in_R, in_ea, MAHA_THRESH_30);
}
void car_update_26(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_26, H_26, NULL, in_z, in_R, in_ea, MAHA_THRESH_26);
}
void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_27, H_27, NULL, in_z, in_R, in_ea, MAHA_THRESH_27);
}
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_29, H_29, NULL, in_z, in_R, in_ea, MAHA_THRESH_29);
}
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_28, H_28, NULL, in_z, in_R, in_ea, MAHA_THRESH_28);
}
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
}
void car_err_fun(double *nom_x, double *delta_x, double *out_7718808222430479447) {
err_fun(nom_x, delta_x, out_7718808222430479447);
}
void car_inv_err_fun(double *nom_x, double *true_x, double *out_1034114423937537934) {
inv_err_fun(nom_x, true_x, out_1034114423937537934);
}
void car_H_mod_fun(double *state, double *out_7225960904852606817) {
H_mod_fun(state, out_7225960904852606817);
}
void car_f_fun(double *state, double dt, double *out_5925834804962007644) {
f_fun(state, dt, out_5925834804962007644);
}
void car_F_fun(double *state, double dt, double *out_1594563891292900416) {
F_fun(state, dt, out_1594563891292900416);
}
void car_h_25(double *state, double *unused, double *out_4446559038823907444) {
h_25(state, unused, out_4446559038823907444);
}
void car_H_25(double *state, double *unused, double *out_2291888026643029333) {
H_25(state, unused, out_2291888026643029333);
}
void car_h_24(double *state, double *unused, double *out_5489680431960231161) {
h_24(state, unused, out_5489680431960231161);
}
void car_H_24(double *state, double *unused, double *out_1895242722289169838) {
H_24(state, unused, out_1895242722289169838);
}
void car_h_30(double *state, double *unused, double *out_8308242515252409096) {
h_30(state, unused, out_8308242515252409096);
}
void car_H_30(double *state, double *unused, double *out_9208578368134646088) {
H_30(state, unused, out_9208578368134646088);
}
void car_h_26(double *state, double *unused, double *out_2392611761518546760) {
h_26(state, unused, out_2392611761518546760);
}
void car_H_26(double *state, double *unused, double *out_1449615292231026891) {
H_26(state, unused, out_1449615292231026891);
}
void car_h_27(double *state, double *unused, double *out_5428643132159205556) {
h_27(state, unused, out_5428643132159205556);
}
void car_H_27(double *state, double *unused, double *out_7033815056334221177) {
H_27(state, unused, out_7033815056334221177);
}
void car_h_29(double *state, double *unused, double *out_5703837194443711445) {
h_29(state, unused, out_5703837194443711445);
}
void car_H_29(double *state, double *unused, double *out_5320452329464670144) {
H_29(state, unused, out_5320452329464670144);
}
void car_h_28(double *state, double *unused, double *out_6908571236733552516) {
h_28(state, unused, out_6908571236733552516);
}
void car_H_28(double *state, double *unused, double *out_238053312395139570) {
H_28(state, unused, out_238053312395139570);
}
void car_h_31(double *state, double *unused, double *out_3210479663755662439) {
h_31(state, unused, out_3210479663755662439);
}
void car_H_31(double *state, double *unused, double *out_2322533988519989761) {
H_31(state, unused, out_2322533988519989761);
}
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);
}
void car_set_mass(double x) {
set_mass(x);
}
void car_set_rotational_inertia(double x) {
set_rotational_inertia(x);
}
void car_set_center_to_front(double x) {
set_center_to_front(x);
}
void car_set_center_to_rear(double x) {
set_center_to_rear(x);
}
void car_set_stiffness_front(double x) {
set_stiffness_front(x);
}
void car_set_stiffness_rear(double x) {
set_stiffness_rear(x);
}
}
const EKF car = {
.name = "car",
.kinds = { 25, 24, 30, 26, 27, 29, 28, 31 },
.feature_kinds = { },
.f_fun = car_f_fun,
.F_fun = car_F_fun,
.err_fun = car_err_fun,
.inv_err_fun = car_inv_err_fun,
.H_mod_fun = car_H_mod_fun,
.predict = car_predict,
.hs = {
{ 25, car_h_25 },
{ 24, car_h_24 },
{ 30, car_h_30 },
{ 26, car_h_26 },
{ 27, car_h_27 },
{ 29, car_h_29 },
{ 28, car_h_28 },
{ 31, car_h_31 },
},
.Hs = {
{ 25, car_H_25 },
{ 24, car_H_24 },
{ 30, car_H_30 },
{ 26, car_H_26 },
{ 27, car_H_27 },
{ 29, car_H_29 },
{ 28, car_H_28 },
{ 31, car_H_31 },
},
.updates = {
{ 25, car_update_25 },
{ 24, car_update_24 },
{ 30, car_update_30 },
{ 26, car_update_26 },
{ 27, car_update_27 },
{ 29, car_update_29 },
{ 28, car_update_28 },
{ 31, car_update_31 },
},
.Hes = {
},
.sets = {
{ "mass", car_set_mass },
{ "rotational_inertia", car_set_rotational_inertia },
{ "center_to_front", car_set_center_to_front },
{ "center_to_rear", car_set_center_to_rear },
{ "stiffness_front", car_set_stiffness_front },
{ "stiffness_rear", car_set_stiffness_rear },
},
.extra_routines = {
},
};
ekf_lib_init(car)

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#include "selfdrive/locationd/models/live_kf.h"
using namespace EKFS;
using namespace Eigen;
Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec) {
return Eigen::Map<Eigen::VectorXd>((double*)vec.data(), vec.rows(), vec.cols());
}
Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat) {
return Eigen::Map<MatrixXdr>((double*)mat.data(), mat.rows(), mat.cols());
}
std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec) {
std::vector<Eigen::Map<Eigen::VectorXd>> res;
for (const Eigen::VectorXd &vec : vec_vec) {
res.push_back(get_mapvec(vec));
}
return res;
}
std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec) {
std::vector<Eigen::Map<MatrixXdr>> res;
for (const MatrixXdr &mat : mat_vec) {
res.push_back(get_mapmat(mat));
}
return res;
}
LiveKalman::LiveKalman() {
this->dim_state = live_initial_x.rows();
this->dim_state_err = live_initial_P_diag.rows();
this->initial_x = live_initial_x;
this->initial_P = live_initial_P_diag.asDiagonal();
this->fake_gps_pos_cov = live_fake_gps_pos_cov_diag.asDiagonal();
this->fake_gps_vel_cov = live_fake_gps_vel_cov_diag.asDiagonal();
this->reset_orientation_P = live_reset_orientation_diag.asDiagonal();
this->Q = live_Q_diag.asDiagonal();
for (auto& pair : live_obs_noise_diag) {
this->obs_noise[pair.first] = pair.second.asDiagonal();
}
// init filter
this->filter = std::make_shared<EKFSym>(this->name, get_mapmat(this->Q), get_mapvec(this->initial_x),
get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector<int>(),
std::vector<int>{3}, std::vector<std::string>(), 0.8);
}
void LiveKalman::init_state(const VectorXd &state, const VectorXd &covs_diag, double filter_time) {
MatrixXdr covs = covs_diag.asDiagonal();
this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
}
void LiveKalman::init_state(const VectorXd &state, const MatrixXdr &covs, double filter_time) {
this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
}
void LiveKalman::init_state(const VectorXd &state, double filter_time) {
MatrixXdr covs = this->filter->covs();
this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
}
VectorXd LiveKalman::get_x() {
return this->filter->state();
}
MatrixXdr LiveKalman::get_P() {
return this->filter->covs();
}
double LiveKalman::get_filter_time() {
return this->filter->get_filter_time();
}
std::vector<MatrixXdr> LiveKalman::get_R(int kind, int n) {
std::vector<MatrixXdr> R;
for (int i = 0; i < n; i++) {
R.push_back(this->obs_noise[kind]);
}
return R;
}
std::optional<Estimate> LiveKalman::predict_and_observe(double t, int kind, const std::vector<VectorXd> &meas, std::vector<MatrixXdr> R) {
std::optional<Estimate> r;
if (R.size() == 0) {
R = this->get_R(kind, meas.size());
}
r = this->filter->predict_and_update_batch(t, kind, get_vec_mapvec(meas), get_vec_mapmat(R));
return r;
}
void LiveKalman::predict(double t) {
this->filter->predict(t);
}
const Eigen::VectorXd &LiveKalman::get_initial_x() {
return this->initial_x;
}
const MatrixXdr &LiveKalman::get_initial_P() {
return this->initial_P;
}
const MatrixXdr &LiveKalman::get_fake_gps_pos_cov() {
return this->fake_gps_pos_cov;
}
const MatrixXdr &LiveKalman::get_fake_gps_vel_cov() {
return this->fake_gps_vel_cov;
}
const MatrixXdr &LiveKalman::get_reset_orientation_P() {
return this->reset_orientation_P;
}
MatrixXdr LiveKalman::H(const VectorXd &in) {
assert(in.size() == 6);
Matrix<double, 3, 6, Eigen::RowMajor> res;
this->filter->get_extra_routine("H")((double*)in.data(), res.data());
return res;
}

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#pragma once
#include <string>
#include <cmath>
#include <memory>
#include <unordered_map>
#include <vector>
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Dense>
#include "generated/live_kf_constants.h"
#include "rednose/helpers/ekf_sym.h"
#define EARTH_GM 3.986005e14 // m^3/s^2 (gravitational constant * mass of earth)
using namespace EKFS;
Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec);
Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat);
std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec);
std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec);
class LiveKalman {
public:
LiveKalman();
void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time);
void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time);
void init_state(const Eigen::VectorXd &state, double filter_time);
Eigen::VectorXd get_x();
MatrixXdr get_P();
double get_filter_time();
std::vector<MatrixXdr> get_R(int kind, int n);
std::optional<Estimate> predict_and_observe(double t, int kind, const std::vector<Eigen::VectorXd> &meas, std::vector<MatrixXdr> R = {});
std::optional<Estimate> predict_and_update_odo_speed(std::vector<Eigen::VectorXd> speed, double t, int kind);
std::optional<Estimate> predict_and_update_odo_trans(std::vector<Eigen::VectorXd> trans, double t, int kind);
std::optional<Estimate> predict_and_update_odo_rot(std::vector<Eigen::VectorXd> rot, double t, int kind);
void predict(double t);
const Eigen::VectorXd &get_initial_x();
const MatrixXdr &get_initial_P();
const MatrixXdr &get_fake_gps_pos_cov();
const MatrixXdr &get_fake_gps_vel_cov();
const MatrixXdr &get_reset_orientation_P();
MatrixXdr H(const Eigen::VectorXd &in);
private:
std::string name = "live";
std::shared_ptr<EKFSym> filter;
int dim_state;
int dim_state_err;
Eigen::VectorXd initial_x;
MatrixXdr initial_P;
MatrixXdr fake_gps_pos_cov;
MatrixXdr fake_gps_vel_cov;
MatrixXdr reset_orientation_P;
MatrixXdr Q; // process noise
std::unordered_map<int, MatrixXdr> obs_noise;
};