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43 lines
1.3 KiB
43 lines
1.3 KiB
#pragma once
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#include <iostream>
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#include <cassert>
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#include <string>
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#include <vector>
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#include <deque>
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#include <unordered_map>
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#include <map>
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#include <cmath>
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#include <eigen3/Eigen/Dense>
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typedef void (*extra_routine_t)(double *, double *);
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struct EKF {
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std::string name;
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std::vector<int> kinds;
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std::vector<int> feature_kinds;
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void (*f_fun)(double *, double, double *);
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void (*F_fun)(double *, double, double *);
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void (*err_fun)(double *, double *, double *);
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void (*inv_err_fun)(double *, double *, double *);
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void (*H_mod_fun)(double *, double *);
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void (*predict)(double *, double *, double *, double);
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std::unordered_map<int, void (*)(double *, double *, double *)> hs = {};
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std::unordered_map<int, void (*)(double *, double *, double *)> Hs = {};
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std::unordered_map<int, void (*)(double *, double *, double *, double *, double *)> updates = {};
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std::unordered_map<int, void (*)(double *, double *, double *)> Hes = {};
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std::unordered_map<std::string, void (*)(double)> sets = {};
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std::unordered_map<std::string, extra_routine_t> extra_routines = {};
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};
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std::vector<const EKF*>& get_ekfs();
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const EKF* ekf_lookup(const std::string& ekf_name);
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void ekf_register(const EKF* ekf);
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#define ekf_init(ekf) \
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static void __attribute__((constructor)) do_ekf_init_ ## ekf(void) { \
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ekf_register(&ekf); \
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}
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