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wind_est: place codegen details in function

This commit is contained in:
bresch 2022-09-21 15:40:25 +02:00 committed by Mathieu Bresciani
parent fe80e7aa46
commit 487b84e90b
1 changed files with 31 additions and 27 deletions
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58
src/lib/wind_estimator/python/derivation.py
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@ -24,36 +24,40 @@ def fuse_airspeed(
return (geo.V3(H), K, innov_var, innov)
from symforce.codegen import Codegen, CppConfig
def generatePx4Function(function_name, output_names):
from symforce.codegen import Codegen, CppConfig
codegen = Codegen.function(
function_name,
output_names=output_names,
config=CppConfig())
metadata = codegen.generate_function(
output_dir="generated",
skip_directory_nesting=True)
codegen = Codegen.function(
fuse_airspeed,
output_names=["H", "K", "innov_var", "innov"],
config=CppConfig())
metadata = codegen.generate_function(
output_dir="generated",
skip_directory_nesting=True)
print("Files generated in {}:\n".format(metadata.output_dir))
for f in metadata.generated_files:
print(" |- {}".format(os.path.relpath(f, metadata.output_dir)))
print("Files generated in {}:\n".format(metadata.output_dir))
for f in metadata.generated_files:
print(" |- {}".format(os.path.relpath(f, metadata.output_dir)))
# Replace cstdlib and Eigen functions by PX4 equivalents
import fileinput
# Replace cstdlib and Eigen functions by PX4 equivalents
import fileinput
with fileinput.FileInput(os.path.abspath(metadata.generated_files[0]), inplace=True, backup='.bak') as file:
for line in file:
line = line.replace("std::max", "math::max")
line = line.replace("Eigen", "matrix")
line = line.replace("matrix/Dense", "matrix/math.hpp")
print(line, end='')
with fileinput.FileInput(os.path.abspath(metadata.generated_files[0]), inplace=True, backup='.bak') as file:
for line in file:
line = line.replace("std::max", "math::max")
line = line.replace("Eigen", "matrix")
line = line.replace("matrix/Dense", "matrix/math.hpp")
print(line, end='')
def generatePythonFunction(function_name, output_names):
from symforce.codegen import Codegen, PythonConfig
codegen = Codegen.function(
function_name,
output_names=output_names,
config=PythonConfig())
# Generate python code
codegen = Codegen.function(
fuse_airspeed,
output_names=["H", "K", "innov_var", "innov"],
config=PythonConfig())
metadata = codegen.generate_function(
output_dir="generated",
skip_directory_nesting=True)
metadata = codegen.generate_function(
output_dir="generated",
skip_directory_nesting=True)
generatePx4Function(fuse_airspeed, output_names=["H", "K", "innov_var", "innov"])
generatePythonFunction(fuse_airspeed, output_names=["H", "K", "innov_var", "innov"])