forked from Archive/PX4-Autopilot
lib/wind_estimator: symforce codegen remove reserved identifier naming
- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
This commit is contained in:
parent
efe1d43550
commit
47215bb625
|
@ -38,6 +38,8 @@ from symforce import symbolic as sm
|
||||||
from symforce import geo
|
from symforce import geo
|
||||||
from symforce import typing as T
|
from symforce import typing as T
|
||||||
|
|
||||||
|
import re
|
||||||
|
|
||||||
# q: quaternion describing rotation from frame 1 to frame 2
|
# q: quaternion describing rotation from frame 1 to frame 2
|
||||||
# returns a rotation matrix derived form q which describes the same
|
# returns a rotation matrix derived form q which describes the same
|
||||||
# rotation
|
# rotation
|
||||||
|
@ -87,6 +89,10 @@ def generate_px4_function(function_name, output_names):
|
||||||
line = line.replace("std::min", "math::min")
|
line = line.replace("std::min", "math::min")
|
||||||
line = line.replace("Eigen", "matrix")
|
line = line.replace("Eigen", "matrix")
|
||||||
line = line.replace("matrix/Dense", "matrix/math.hpp")
|
line = line.replace("matrix/Dense", "matrix/math.hpp")
|
||||||
|
|
||||||
|
# don't allow underscore + uppercase identifier naming (always reserved for any use)
|
||||||
|
line = re.sub(r'_([A-Z])', lambda x: '_' + x.group(1).lower(), line)
|
||||||
|
|
||||||
print(line, end='')
|
print(line, end='')
|
||||||
|
|
||||||
def generate_python_function(function_name, output_names):
|
def generate_python_function(function_name, output_names):
|
||||||
|
|
|
@ -58,19 +58,19 @@ void FuseAirspeed(const matrix::Matrix<Scalar, 3, 1>& v_local,
|
||||||
|
|
||||||
// Output terms (4)
|
// Output terms (4)
|
||||||
if (H != nullptr) {
|
if (H != nullptr) {
|
||||||
matrix::Matrix<Scalar, 1, 3>& _H = (*H);
|
matrix::Matrix<Scalar, 1, 3>& _h = (*H);
|
||||||
|
|
||||||
_H(0, 0) = -_tmp4;
|
_h(0, 0) = -_tmp4;
|
||||||
_H(0, 1) = -_tmp5;
|
_h(0, 1) = -_tmp5;
|
||||||
_H(0, 2) = _tmp2;
|
_h(0, 2) = _tmp2;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (K != nullptr) {
|
if (K != nullptr) {
|
||||||
matrix::Matrix<Scalar, 3, 1>& _K = (*K);
|
matrix::Matrix<Scalar, 3, 1>& _k = (*K);
|
||||||
|
|
||||||
_K(0, 0) = _tmp10 * (-P(0, 1) * _tmp5 + P(0, 2) * _tmp2 + _tmp6);
|
_k(0, 0) = _tmp10 * (-P(0, 1) * _tmp5 + P(0, 2) * _tmp2 + _tmp6);
|
||||||
_K(1, 0) = _tmp10 * (-P(1, 0) * _tmp4 + P(1, 2) * _tmp2 + _tmp7);
|
_k(1, 0) = _tmp10 * (-P(1, 0) * _tmp4 + P(1, 2) * _tmp2 + _tmp7);
|
||||||
_K(2, 0) = _tmp10 * (-P(2, 0) * _tmp4 - P(2, 1) * _tmp5 + _tmp8);
|
_k(2, 0) = _tmp10 * (-P(2, 0) * _tmp4 - P(2, 1) * _tmp5 + _tmp8);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (innov_var != nullptr) {
|
if (innov_var != nullptr) {
|
||||||
|
|
|
@ -70,19 +70,19 @@ void FuseBeta(const matrix::Matrix<Scalar, 3, 1>& v_local, const matrix::Matrix<
|
||||||
|
|
||||||
// Output terms (4)
|
// Output terms (4)
|
||||||
if (H != nullptr) {
|
if (H != nullptr) {
|
||||||
matrix::Matrix<Scalar, 1, 3>& _H = (*H);
|
matrix::Matrix<Scalar, 1, 3>& _h = (*H);
|
||||||
|
|
||||||
_H(0, 0) = _tmp17;
|
_h(0, 0) = _tmp17;
|
||||||
_H(0, 1) = _tmp18;
|
_h(0, 1) = _tmp18;
|
||||||
_H(0, 2) = 0;
|
_h(0, 2) = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (K != nullptr) {
|
if (K != nullptr) {
|
||||||
matrix::Matrix<Scalar, 3, 1>& _K = (*K);
|
matrix::Matrix<Scalar, 3, 1>& _k = (*K);
|
||||||
|
|
||||||
_K(0, 0) = _tmp22 * (P(0, 1) * _tmp18 + _tmp19);
|
_k(0, 0) = _tmp22 * (P(0, 1) * _tmp18 + _tmp19);
|
||||||
_K(1, 0) = _tmp22 * (P(1, 0) * _tmp17 + _tmp20);
|
_k(1, 0) = _tmp22 * (P(1, 0) * _tmp17 + _tmp20);
|
||||||
_K(2, 0) = _tmp22 * (P(2, 0) * _tmp17 + P(2, 1) * _tmp18);
|
_k(2, 0) = _tmp22 * (P(2, 0) * _tmp17 + P(2, 1) * _tmp18);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (innov_var != nullptr) {
|
if (innov_var != nullptr) {
|
||||||
|
|
|
@ -56,12 +56,12 @@ void InitWindUsingAirspeed(const matrix::Matrix<Scalar, 3, 1>& v_local, const Sc
|
||||||
}
|
}
|
||||||
|
|
||||||
if (P != nullptr) {
|
if (P != nullptr) {
|
||||||
matrix::Matrix<Scalar, 2, 2>& _P = (*P);
|
matrix::Matrix<Scalar, 2, 2>& _p = (*P);
|
||||||
|
|
||||||
_P(0, 0) = _tmp2 * _tmp3 + _tmp4 * airspeed_var + v_var;
|
_p(0, 0) = _tmp2 * _tmp3 + _tmp4 * airspeed_var + v_var;
|
||||||
_P(1, 0) = _tmp6;
|
_p(1, 0) = _tmp6;
|
||||||
_P(0, 1) = _tmp6;
|
_p(0, 1) = _tmp6;
|
||||||
_P(1, 1) = _tmp2 * airspeed_var + _tmp3 * _tmp4 + v_var;
|
_p(1, 1) = _tmp2 * airspeed_var + _tmp3 * _tmp4 + v_var;
|
||||||
}
|
}
|
||||||
} // NOLINT(readability/fn_size)
|
} // NOLINT(readability/fn_size)
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue