diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 569d01e3a..5be6fbf6a 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index abedac540..78ffa6614 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index fbd48be45..f7a9a73fa 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index c79e270e3..386dd15a9 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 33e684d8c..df2c7597e 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index cfbf89a94..7f56261f7 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index d1cd2b715..dfdb4dc7c 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index d1cd2b715..dfdb4dc7c 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 060418c11..591f0e1da 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index cfbf89a94..7f56261f7 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 6454a1cea..d2fc3794d 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-63db3908-DEBUG"; +const uint8_t gitversion[19] = "DEV-f777e71c-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index c14e7eb96..98962b04e 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 090bad869..0614ad139 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index e7f39a6b8..528524b53 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 5b5c1c6e6..233782230 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 366a2f19a..c66f739dc 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index b4c511d49..e64339a13 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 14fb45e24..e86b65872 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index fbc975342..b1764891e 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 2c9815429..0f43e3ec1 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 03932f5d2..4220f6b22 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index d9a9c2536..a5c214544 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 5b3400583..7adb5dbd9 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 90f6b05be..e1ba05973 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 4f4ea6b19..51d6a880f 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index b52898e75..15852a19b 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 0dbbb45c9..5809bc094 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 20d6fb063..d4a005057 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index c16f5190f..43cb5b66d 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index c23e3510c..1462e8a81 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 965a49af9..9712f244e 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index c718ca270..2ba40e275 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-63db3908-DEBUG \ No newline at end of file +DEV-f777e71c-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 4146cd6db..daa68e63d 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_5171593721555630090) { - out_5171593721555630090[0] = delta_x[0] + nom_x[0]; - out_5171593721555630090[1] = delta_x[1] + nom_x[1]; - out_5171593721555630090[2] = delta_x[2] + nom_x[2]; - out_5171593721555630090[3] = delta_x[3] + nom_x[3]; - out_5171593721555630090[4] = delta_x[4] + nom_x[4]; - out_5171593721555630090[5] = delta_x[5] + nom_x[5]; - out_5171593721555630090[6] = delta_x[6] + nom_x[6]; - out_5171593721555630090[7] = delta_x[7] + nom_x[7]; - out_5171593721555630090[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2644531489535461779) { + out_2644531489535461779[0] = delta_x[0] + nom_x[0]; + out_2644531489535461779[1] = delta_x[1] + nom_x[1]; + out_2644531489535461779[2] = delta_x[2] + nom_x[2]; + out_2644531489535461779[3] = delta_x[3] + nom_x[3]; + out_2644531489535461779[4] = delta_x[4] + nom_x[4]; + out_2644531489535461779[5] = delta_x[5] + nom_x[5]; + out_2644531489535461779[6] = delta_x[6] + nom_x[6]; + out_2644531489535461779[7] = delta_x[7] + nom_x[7]; + out_2644531489535461779[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8159896824054378862) { - out_8159896824054378862[0] = -nom_x[0] + true_x[0]; - out_8159896824054378862[1] = -nom_x[1] + true_x[1]; - out_8159896824054378862[2] = -nom_x[2] + true_x[2]; - out_8159896824054378862[3] = -nom_x[3] + true_x[3]; - out_8159896824054378862[4] = -nom_x[4] + true_x[4]; - out_8159896824054378862[5] = -nom_x[5] + true_x[5]; - out_8159896824054378862[6] = -nom_x[6] + true_x[6]; - out_8159896824054378862[7] = -nom_x[7] + true_x[7]; - out_8159896824054378862[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1100504365402285318) { + out_1100504365402285318[0] = -nom_x[0] + true_x[0]; + out_1100504365402285318[1] = -nom_x[1] + true_x[1]; + out_1100504365402285318[2] = -nom_x[2] + true_x[2]; + out_1100504365402285318[3] = -nom_x[3] + true_x[3]; + out_1100504365402285318[4] = -nom_x[4] + true_x[4]; + out_1100504365402285318[5] = -nom_x[5] + true_x[5]; + out_1100504365402285318[6] = -nom_x[6] + true_x[6]; + out_1100504365402285318[7] = -nom_x[7] + true_x[7]; + out_1100504365402285318[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_2621434864577473374) { - out_2621434864577473374[0] = 1.0; - out_2621434864577473374[1] = 0.0; - out_2621434864577473374[2] = 0.0; - out_2621434864577473374[3] = 0.0; - out_2621434864577473374[4] = 0.0; - out_2621434864577473374[5] = 0.0; - out_2621434864577473374[6] = 0.0; - out_2621434864577473374[7] = 0.0; - out_2621434864577473374[8] = 0.0; - out_2621434864577473374[9] = 0.0; - out_2621434864577473374[10] = 1.0; - out_2621434864577473374[11] = 0.0; - out_2621434864577473374[12] = 0.0; - out_2621434864577473374[13] = 0.0; - out_2621434864577473374[14] = 0.0; - out_2621434864577473374[15] = 0.0; - out_2621434864577473374[16] = 0.0; - out_2621434864577473374[17] = 0.0; - out_2621434864577473374[18] = 0.0; - out_2621434864577473374[19] = 0.0; - out_2621434864577473374[20] = 1.0; - out_2621434864577473374[21] = 0.0; - out_2621434864577473374[22] = 0.0; - out_2621434864577473374[23] = 0.0; - out_2621434864577473374[24] = 0.0; - out_2621434864577473374[25] = 0.0; - out_2621434864577473374[26] = 0.0; - out_2621434864577473374[27] = 0.0; - out_2621434864577473374[28] = 0.0; - out_2621434864577473374[29] = 0.0; - out_2621434864577473374[30] = 1.0; - out_2621434864577473374[31] = 0.0; - out_2621434864577473374[32] = 0.0; - out_2621434864577473374[33] = 0.0; - out_2621434864577473374[34] = 0.0; - out_2621434864577473374[35] = 0.0; - out_2621434864577473374[36] = 0.0; - out_2621434864577473374[37] = 0.0; - out_2621434864577473374[38] = 0.0; - out_2621434864577473374[39] = 0.0; - out_2621434864577473374[40] = 1.0; - out_2621434864577473374[41] = 0.0; - out_2621434864577473374[42] = 0.0; - out_2621434864577473374[43] = 0.0; - out_2621434864577473374[44] = 0.0; - out_2621434864577473374[45] = 0.0; - out_2621434864577473374[46] = 0.0; - out_2621434864577473374[47] = 0.0; - out_2621434864577473374[48] = 0.0; - out_2621434864577473374[49] = 0.0; - out_2621434864577473374[50] = 1.0; - out_2621434864577473374[51] = 0.0; - out_2621434864577473374[52] = 0.0; - out_2621434864577473374[53] = 0.0; - out_2621434864577473374[54] = 0.0; - out_2621434864577473374[55] = 0.0; - out_2621434864577473374[56] = 0.0; - out_2621434864577473374[57] = 0.0; - out_2621434864577473374[58] = 0.0; - out_2621434864577473374[59] = 0.0; - out_2621434864577473374[60] = 1.0; - out_2621434864577473374[61] = 0.0; - out_2621434864577473374[62] = 0.0; - out_2621434864577473374[63] = 0.0; - out_2621434864577473374[64] = 0.0; - out_2621434864577473374[65] = 0.0; - out_2621434864577473374[66] = 0.0; - out_2621434864577473374[67] = 0.0; - out_2621434864577473374[68] = 0.0; - out_2621434864577473374[69] = 0.0; - out_2621434864577473374[70] = 1.0; - out_2621434864577473374[71] = 0.0; - out_2621434864577473374[72] = 0.0; - out_2621434864577473374[73] = 0.0; - out_2621434864577473374[74] = 0.0; - out_2621434864577473374[75] = 0.0; - out_2621434864577473374[76] = 0.0; - out_2621434864577473374[77] = 0.0; - out_2621434864577473374[78] = 0.0; - out_2621434864577473374[79] = 0.0; - out_2621434864577473374[80] = 1.0; +void H_mod_fun(double *state, double *out_6242485690446211568) { + out_6242485690446211568[0] = 1.0; + out_6242485690446211568[1] = 0.0; + out_6242485690446211568[2] = 0.0; + out_6242485690446211568[3] = 0.0; + out_6242485690446211568[4] = 0.0; + out_6242485690446211568[5] = 0.0; + out_6242485690446211568[6] = 0.0; + out_6242485690446211568[7] = 0.0; + out_6242485690446211568[8] = 0.0; + out_6242485690446211568[9] = 0.0; + out_6242485690446211568[10] = 1.0; + out_6242485690446211568[11] = 0.0; + out_6242485690446211568[12] = 0.0; + out_6242485690446211568[13] = 0.0; + out_6242485690446211568[14] = 0.0; + out_6242485690446211568[15] = 0.0; + out_6242485690446211568[16] = 0.0; + out_6242485690446211568[17] = 0.0; + out_6242485690446211568[18] = 0.0; + out_6242485690446211568[19] = 0.0; + out_6242485690446211568[20] = 1.0; + out_6242485690446211568[21] = 0.0; + out_6242485690446211568[22] = 0.0; + out_6242485690446211568[23] = 0.0; + out_6242485690446211568[24] = 0.0; + out_6242485690446211568[25] = 0.0; + out_6242485690446211568[26] = 0.0; + out_6242485690446211568[27] = 0.0; + out_6242485690446211568[28] = 0.0; + out_6242485690446211568[29] = 0.0; + out_6242485690446211568[30] = 1.0; + out_6242485690446211568[31] = 0.0; + out_6242485690446211568[32] = 0.0; + out_6242485690446211568[33] = 0.0; + out_6242485690446211568[34] = 0.0; + out_6242485690446211568[35] = 0.0; + out_6242485690446211568[36] = 0.0; + out_6242485690446211568[37] = 0.0; + out_6242485690446211568[38] = 0.0; + out_6242485690446211568[39] = 0.0; + out_6242485690446211568[40] = 1.0; + out_6242485690446211568[41] = 0.0; + out_6242485690446211568[42] = 0.0; + out_6242485690446211568[43] = 0.0; + out_6242485690446211568[44] = 0.0; + out_6242485690446211568[45] = 0.0; + out_6242485690446211568[46] = 0.0; + out_6242485690446211568[47] = 0.0; + out_6242485690446211568[48] = 0.0; + out_6242485690446211568[49] = 0.0; + out_6242485690446211568[50] = 1.0; + out_6242485690446211568[51] = 0.0; + out_6242485690446211568[52] = 0.0; + out_6242485690446211568[53] = 0.0; + out_6242485690446211568[54] = 0.0; + out_6242485690446211568[55] = 0.0; + out_6242485690446211568[56] = 0.0; + out_6242485690446211568[57] = 0.0; + out_6242485690446211568[58] = 0.0; + out_6242485690446211568[59] = 0.0; + out_6242485690446211568[60] = 1.0; + out_6242485690446211568[61] = 0.0; + out_6242485690446211568[62] = 0.0; + out_6242485690446211568[63] = 0.0; + out_6242485690446211568[64] = 0.0; + out_6242485690446211568[65] = 0.0; + out_6242485690446211568[66] = 0.0; + out_6242485690446211568[67] = 0.0; + out_6242485690446211568[68] = 0.0; + out_6242485690446211568[69] = 0.0; + out_6242485690446211568[70] = 1.0; + out_6242485690446211568[71] = 0.0; + out_6242485690446211568[72] = 0.0; + out_6242485690446211568[73] = 0.0; + out_6242485690446211568[74] = 0.0; + out_6242485690446211568[75] = 0.0; + out_6242485690446211568[76] = 0.0; + out_6242485690446211568[77] = 0.0; + out_6242485690446211568[78] = 0.0; + out_6242485690446211568[79] = 0.0; + out_6242485690446211568[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5898225613213012342) { - out_5898225613213012342[0] = state[0]; - out_5898225613213012342[1] = state[1]; - out_5898225613213012342[2] = state[2]; - out_5898225613213012342[3] = state[3]; - out_5898225613213012342[4] = state[4]; - out_5898225613213012342[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*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_5898225613213012342[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_5898225613213012342[7] = state[7]; - out_5898225613213012342[8] = state[8]; +void f_fun(double *state, double dt, double *out_3248907569765849539) { + out_3248907569765849539[0] = state[0]; + out_3248907569765849539[1] = state[1]; + out_3248907569765849539[2] = state[2]; + out_3248907569765849539[3] = state[3]; + out_3248907569765849539[4] = state[4]; + out_3248907569765849539[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*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_3248907569765849539[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_3248907569765849539[7] = state[7]; + out_3248907569765849539[8] = state[8]; } -void F_fun(double *state, double dt, double *out_289209120563918309) { - out_289209120563918309[0] = 1; - out_289209120563918309[1] = 0; - out_289209120563918309[2] = 0; - out_289209120563918309[3] = 0; - out_289209120563918309[4] = 0; - out_289209120563918309[5] = 0; - out_289209120563918309[6] = 0; - out_289209120563918309[7] = 0; - out_289209120563918309[8] = 0; - out_289209120563918309[9] = 0; - out_289209120563918309[10] = 1; - out_289209120563918309[11] = 0; - out_289209120563918309[12] = 0; - out_289209120563918309[13] = 0; - out_289209120563918309[14] = 0; - out_289209120563918309[15] = 0; - out_289209120563918309[16] = 0; - out_289209120563918309[17] = 0; - out_289209120563918309[18] = 0; - out_289209120563918309[19] = 0; - out_289209120563918309[20] = 1; - out_289209120563918309[21] = 0; - out_289209120563918309[22] = 0; - out_289209120563918309[23] = 0; - out_289209120563918309[24] = 0; - out_289209120563918309[25] = 0; - out_289209120563918309[26] = 0; - out_289209120563918309[27] = 0; - out_289209120563918309[28] = 0; - out_289209120563918309[29] = 0; - out_289209120563918309[30] = 1; - out_289209120563918309[31] = 0; - out_289209120563918309[32] = 0; - out_289209120563918309[33] = 0; - out_289209120563918309[34] = 0; - out_289209120563918309[35] = 0; - out_289209120563918309[36] = 0; - out_289209120563918309[37] = 0; - out_289209120563918309[38] = 0; - out_289209120563918309[39] = 0; - out_289209120563918309[40] = 1; - out_289209120563918309[41] = 0; - out_289209120563918309[42] = 0; - out_289209120563918309[43] = 0; - out_289209120563918309[44] = 0; - out_289209120563918309[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_289209120563918309[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_289209120563918309[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_289209120563918309[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_289209120563918309[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_289209120563918309[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_289209120563918309[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_289209120563918309[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_289209120563918309[53] = -9.8100000000000005*dt; - out_289209120563918309[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_289209120563918309[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_289209120563918309[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_289209120563918309[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_289209120563918309[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_289209120563918309[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_289209120563918309[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_289209120563918309[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_289209120563918309[62] = 0; - out_289209120563918309[63] = 0; - out_289209120563918309[64] = 0; - out_289209120563918309[65] = 0; - out_289209120563918309[66] = 0; - out_289209120563918309[67] = 0; - out_289209120563918309[68] = 0; - out_289209120563918309[69] = 0; - out_289209120563918309[70] = 1; - out_289209120563918309[71] = 0; - out_289209120563918309[72] = 0; - out_289209120563918309[73] = 0; - out_289209120563918309[74] = 0; - out_289209120563918309[75] = 0; - out_289209120563918309[76] = 0; - out_289209120563918309[77] = 0; - out_289209120563918309[78] = 0; - out_289209120563918309[79] = 0; - out_289209120563918309[80] = 1; +void F_fun(double *state, double dt, double *out_8360719243632448897) { + out_8360719243632448897[0] = 1; + out_8360719243632448897[1] = 0; + out_8360719243632448897[2] = 0; + out_8360719243632448897[3] = 0; + out_8360719243632448897[4] = 0; + out_8360719243632448897[5] = 0; + out_8360719243632448897[6] = 0; + out_8360719243632448897[7] = 0; + out_8360719243632448897[8] = 0; + out_8360719243632448897[9] = 0; + out_8360719243632448897[10] = 1; + out_8360719243632448897[11] = 0; + out_8360719243632448897[12] = 0; + out_8360719243632448897[13] = 0; + out_8360719243632448897[14] = 0; + out_8360719243632448897[15] = 0; + out_8360719243632448897[16] = 0; + out_8360719243632448897[17] = 0; + out_8360719243632448897[18] = 0; + out_8360719243632448897[19] = 0; + out_8360719243632448897[20] = 1; + out_8360719243632448897[21] = 0; + out_8360719243632448897[22] = 0; + out_8360719243632448897[23] = 0; + out_8360719243632448897[24] = 0; + out_8360719243632448897[25] = 0; + out_8360719243632448897[26] = 0; + out_8360719243632448897[27] = 0; + out_8360719243632448897[28] = 0; + out_8360719243632448897[29] = 0; + out_8360719243632448897[30] = 1; + out_8360719243632448897[31] = 0; + out_8360719243632448897[32] = 0; + out_8360719243632448897[33] = 0; + out_8360719243632448897[34] = 0; + out_8360719243632448897[35] = 0; + out_8360719243632448897[36] = 0; + out_8360719243632448897[37] = 0; + out_8360719243632448897[38] = 0; + out_8360719243632448897[39] = 0; + out_8360719243632448897[40] = 1; + out_8360719243632448897[41] = 0; + out_8360719243632448897[42] = 0; + out_8360719243632448897[43] = 0; + out_8360719243632448897[44] = 0; + out_8360719243632448897[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_8360719243632448897[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8360719243632448897[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8360719243632448897[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8360719243632448897[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_8360719243632448897[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8360719243632448897[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8360719243632448897[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8360719243632448897[53] = -9.8100000000000005*dt; + out_8360719243632448897[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_8360719243632448897[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8360719243632448897[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8360719243632448897[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8360719243632448897[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_8360719243632448897[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8360719243632448897[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_8360719243632448897[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8360719243632448897[62] = 0; + out_8360719243632448897[63] = 0; + out_8360719243632448897[64] = 0; + out_8360719243632448897[65] = 0; + out_8360719243632448897[66] = 0; + out_8360719243632448897[67] = 0; + out_8360719243632448897[68] = 0; + out_8360719243632448897[69] = 0; + out_8360719243632448897[70] = 1; + out_8360719243632448897[71] = 0; + out_8360719243632448897[72] = 0; + out_8360719243632448897[73] = 0; + out_8360719243632448897[74] = 0; + out_8360719243632448897[75] = 0; + out_8360719243632448897[76] = 0; + out_8360719243632448897[77] = 0; + out_8360719243632448897[78] = 0; + out_8360719243632448897[79] = 0; + out_8360719243632448897[80] = 1; } -void h_25(double *state, double *unused, double *out_1048536752434567181) { - out_1048536752434567181[0] = state[6]; +void h_25(double *state, double *unused, double *out_8500141102228074854) { + out_8500141102228074854[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6632120983219841005) { - out_6632120983219841005[0] = 0; - out_6632120983219841005[1] = 0; - out_6632120983219841005[2] = 0; - out_6632120983219841005[3] = 0; - out_6632120983219841005[4] = 0; - out_6632120983219841005[5] = 0; - out_6632120983219841005[6] = 1; - out_6632120983219841005[7] = 0; - out_6632120983219841005[8] = 0; +void H_25(double *state, double *unused, double *out_2719505040456719891) { + out_2719505040456719891[0] = 0; + out_2719505040456719891[1] = 0; + out_2719505040456719891[2] = 0; + out_2719505040456719891[3] = 0; + out_2719505040456719891[4] = 0; + out_2719505040456719891[5] = 0; + out_2719505040456719891[6] = 1; + out_2719505040456719891[7] = 0; + out_2719505040456719891[8] = 0; } -void h_24(double *state, double *unused, double *out_7601461491001714773) { - out_7601461491001714773[0] = state[4]; - out_7601461491001714773[1] = state[5]; +void h_24(double *state, double *unused, double *out_7897313667940812561) { + out_7897313667940812561[0] = state[4]; + out_7897313667940812561[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4459471384214341439) { - out_4459471384214341439[0] = 0; - out_4459471384214341439[1] = 0; - out_4459471384214341439[2] = 0; - out_4459471384214341439[3] = 0; - out_4459471384214341439[4] = 1; - out_4459471384214341439[5] = 0; - out_4459471384214341439[6] = 0; - out_4459471384214341439[7] = 0; - out_4459471384214341439[8] = 0; - out_4459471384214341439[9] = 0; - out_4459471384214341439[10] = 0; - out_4459471384214341439[11] = 0; - out_4459471384214341439[12] = 0; - out_4459471384214341439[13] = 0; - out_4459471384214341439[14] = 1; - out_4459471384214341439[15] = 0; - out_4459471384214341439[16] = 0; - out_4459471384214341439[17] = 0; +void H_24(double *state, double *unused, double *out_838420558345603245) { + out_838420558345603245[0] = 0; + out_838420558345603245[1] = 0; + out_838420558345603245[2] = 0; + out_838420558345603245[3] = 0; + out_838420558345603245[4] = 1; + out_838420558345603245[5] = 0; + out_838420558345603245[6] = 0; + out_838420558345603245[7] = 0; + out_838420558345603245[8] = 0; + out_838420558345603245[9] = 0; + out_838420558345603245[10] = 0; + out_838420558345603245[11] = 0; + out_838420558345603245[12] = 0; + out_838420558345603245[13] = 0; + out_838420558345603245[14] = 1; + out_838420558345603245[15] = 0; + out_838420558345603245[16] = 0; + out_838420558345603245[17] = 0; } -void h_30(double *state, double *unused, double *out_4685986280688589531) { - out_4685986280688589531[0] = state[4]; +void h_30(double *state, double *unused, double *out_808885686797625580) { + out_808885686797625580[0] = state[4]; } -void H_30(double *state, double *unused, double *out_9150453941727089632) { - out_9150453941727089632[0] = 0; - out_9150453941727089632[1] = 0; - out_9150453941727089632[2] = 0; - out_9150453941727089632[3] = 0; - out_9150453941727089632[4] = 1; - out_9150453941727089632[5] = 0; - out_9150453941727089632[6] = 0; - out_9150453941727089632[7] = 0; - out_9150453941727089632[8] = 0; +void H_30(double *state, double *unused, double *out_4197185301034896864) { + out_4197185301034896864[0] = 0; + out_4197185301034896864[1] = 0; + out_4197185301034896864[2] = 0; + out_4197185301034896864[3] = 0; + out_4197185301034896864[4] = 1; + out_4197185301034896864[5] = 0; + out_4197185301034896864[6] = 0; + out_4197185301034896864[7] = 0; + out_4197185301034896864[8] = 0; } -void h_26(double *state, double *unused, double *out_4082670396012112014) { - out_4082670396012112014[0] = state[7]; +void h_26(double *state, double *unused, double *out_4192787580863220065) { + out_4192787580863220065[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8510097120728910010) { - out_8510097120728910010[0] = 0; - out_8510097120728910010[1] = 0; - out_8510097120728910010[2] = 0; - out_8510097120728910010[3] = 0; - out_8510097120728910010[4] = 0; - out_8510097120728910010[5] = 0; - out_8510097120728910010[6] = 0; - out_8510097120728910010[7] = 1; - out_8510097120728910010[8] = 0; +void H_26(double *state, double *unused, double *out_6461008359330776115) { + out_6461008359330776115[0] = 0; + out_6461008359330776115[1] = 0; + out_6461008359330776115[2] = 0; + out_6461008359330776115[3] = 0; + out_6461008359330776115[4] = 0; + out_6461008359330776115[5] = 0; + out_6461008359330776115[6] = 0; + out_6461008359330776115[7] = 1; + out_6461008359330776115[8] = 0; } -void h_27(double *state, double *unused, double *out_9178210209371601407) { - out_9178210209371601407[0] = state[3]; +void h_27(double *state, double *unused, double *out_5889273078412295556) { + out_5889273078412295556[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7072696060798518767) { - out_7072696060798518767[0] = 0; - out_7072696060798518767[1] = 0; - out_7072696060798518767[2] = 0; - out_7072696060798518767[3] = 1; - out_7072696060798518767[4] = 0; - out_7072696060798518767[5] = 0; - out_7072696060798518767[6] = 0; - out_7072696060798518767[7] = 0; - out_7072696060798518767[8] = 0; +void H_27(double *state, double *unused, double *out_2022421989234471953) { + out_2022421989234471953[0] = 0; + out_2022421989234471953[1] = 0; + out_2022421989234471953[2] = 0; + out_2022421989234471953[3] = 1; + out_2022421989234471953[4] = 0; + out_2022421989234471953[5] = 0; + out_2022421989234471953[6] = 0; + out_2022421989234471953[7] = 0; + out_2022421989234471953[8] = 0; } -void h_29(double *state, double *unused, double *out_8534850577185637138) { - out_8534850577185637138[0] = state[1]; +void h_29(double *state, double *unused, double *out_5810558954458471225) { + out_5810558954458471225[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8786058787668069800) { - out_8786058787668069800[0] = 0; - out_8786058787668069800[1] = 1; - out_8786058787668069800[2] = 0; - out_8786058787668069800[3] = 0; - out_8786058787668069800[4] = 0; - out_8786058787668069800[5] = 0; - out_8786058787668069800[6] = 0; - out_8786058787668069800[7] = 0; - out_8786058787668069800[8] = 0; +void H_29(double *state, double *unused, double *out_4707416645349289048) { + out_4707416645349289048[0] = 0; + out_4707416645349289048[1] = 1; + out_4707416645349289048[2] = 0; + out_4707416645349289048[3] = 0; + out_4707416645349289048[4] = 0; + out_4707416645349289048[5] = 0; + out_4707416645349289048[6] = 0; + out_4707416645349289048[7] = 0; + out_4707416645349289048[8] = 0; } -void h_28(double *state, double *unused, double *out_2931759151911427939) { - out_2931759151911427939[0] = state[0]; +void h_28(double *state, double *unused, double *out_926893080731002324) { + out_926893080731002324[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4578286268971951242) { - out_4578286268971951242[0] = 1; - out_4578286268971951242[1] = 0; - out_4578286268971951242[2] = 0; - out_4578286268971951242[3] = 0; - out_4578286268971951242[4] = 0; - out_4578286268971951242[5] = 0; - out_4578286268971951242[6] = 0; - out_4578286268971951242[7] = 0; - out_4578286268971951242[8] = 0; +void H_28(double *state, double *unused, double *out_4773339754704609654) { + out_4773339754704609654[0] = 1; + out_4773339754704609654[1] = 0; + out_4773339754704609654[2] = 0; + out_4773339754704609654[3] = 0; + out_4773339754704609654[4] = 0; + out_4773339754704609654[5] = 0; + out_4773339754704609654[6] = 0; + out_4773339754704609654[7] = 0; + out_4773339754704609654[8] = 0; } -void h_31(double *state, double *unused, double *out_5027768451407450342) { - out_5027768451407450342[0] = state[8]; +void h_31(double *state, double *unused, double *out_2974083665677051741) { + out_2974083665677051741[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4737947839977893358) { - out_4737947839977893358[0] = 0; - out_4737947839977893358[1] = 0; - out_4737947839977893358[2] = 0; - out_4737947839977893358[3] = 0; - out_4737947839977893358[4] = 0; - out_4737947839977893358[5] = 0; - out_4737947839977893358[6] = 0; - out_4737947839977893358[7] = 0; - out_4737947839977893358[8] = 1; +void H_31(double *state, double *unused, double *out_2688859078579759463) { + out_2688859078579759463[0] = 0; + out_2688859078579759463[1] = 0; + out_2688859078579759463[2] = 0; + out_2688859078579759463[3] = 0; + out_2688859078579759463[4] = 0; + out_2688859078579759463[5] = 0; + out_2688859078579759463[6] = 0; + out_2688859078579759463[7] = 0; + out_2688859078579759463[8] = 1; } #include #include @@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl 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_5171593721555630090) { - err_fun(nom_x, delta_x, out_5171593721555630090); +void car_err_fun(double *nom_x, double *delta_x, double *out_2644531489535461779) { + err_fun(nom_x, delta_x, out_2644531489535461779); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8159896824054378862) { - inv_err_fun(nom_x, true_x, out_8159896824054378862); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1100504365402285318) { + inv_err_fun(nom_x, true_x, out_1100504365402285318); } -void car_H_mod_fun(double *state, double *out_2621434864577473374) { - H_mod_fun(state, out_2621434864577473374); +void car_H_mod_fun(double *state, double *out_6242485690446211568) { + H_mod_fun(state, out_6242485690446211568); } -void car_f_fun(double *state, double dt, double *out_5898225613213012342) { - f_fun(state, dt, out_5898225613213012342); +void car_f_fun(double *state, double dt, double *out_3248907569765849539) { + f_fun(state, dt, out_3248907569765849539); } -void car_F_fun(double *state, double dt, double *out_289209120563918309) { - F_fun(state, dt, out_289209120563918309); +void car_F_fun(double *state, double dt, double *out_8360719243632448897) { + F_fun(state, dt, out_8360719243632448897); } -void car_h_25(double *state, double *unused, double *out_1048536752434567181) { - h_25(state, unused, out_1048536752434567181); +void car_h_25(double *state, double *unused, double *out_8500141102228074854) { + h_25(state, unused, out_8500141102228074854); } -void car_H_25(double *state, double *unused, double *out_6632120983219841005) { - H_25(state, unused, out_6632120983219841005); +void car_H_25(double *state, double *unused, double *out_2719505040456719891) { + H_25(state, unused, out_2719505040456719891); } -void car_h_24(double *state, double *unused, double *out_7601461491001714773) { - h_24(state, unused, out_7601461491001714773); +void car_h_24(double *state, double *unused, double *out_7897313667940812561) { + h_24(state, unused, out_7897313667940812561); } -void car_H_24(double *state, double *unused, double *out_4459471384214341439) { - H_24(state, unused, out_4459471384214341439); +void car_H_24(double *state, double *unused, double *out_838420558345603245) { + H_24(state, unused, out_838420558345603245); } -void car_h_30(double *state, double *unused, double *out_4685986280688589531) { - h_30(state, unused, out_4685986280688589531); +void car_h_30(double *state, double *unused, double *out_808885686797625580) { + h_30(state, unused, out_808885686797625580); } -void car_H_30(double *state, double *unused, double *out_9150453941727089632) { - H_30(state, unused, out_9150453941727089632); +void car_H_30(double *state, double *unused, double *out_4197185301034896864) { + H_30(state, unused, out_4197185301034896864); } -void car_h_26(double *state, double *unused, double *out_4082670396012112014) { - h_26(state, unused, out_4082670396012112014); +void car_h_26(double *state, double *unused, double *out_4192787580863220065) { + h_26(state, unused, out_4192787580863220065); } -void car_H_26(double *state, double *unused, double *out_8510097120728910010) { - H_26(state, unused, out_8510097120728910010); +void car_H_26(double *state, double *unused, double *out_6461008359330776115) { + H_26(state, unused, out_6461008359330776115); } -void car_h_27(double *state, double *unused, double *out_9178210209371601407) { - h_27(state, unused, out_9178210209371601407); +void car_h_27(double *state, double *unused, double *out_5889273078412295556) { + h_27(state, unused, out_5889273078412295556); } -void car_H_27(double *state, double *unused, double *out_7072696060798518767) { - H_27(state, unused, out_7072696060798518767); +void car_H_27(double *state, double *unused, double *out_2022421989234471953) { + H_27(state, unused, out_2022421989234471953); } -void car_h_29(double *state, double *unused, double *out_8534850577185637138) { - h_29(state, unused, out_8534850577185637138); +void car_h_29(double *state, double *unused, double *out_5810558954458471225) { + h_29(state, unused, out_5810558954458471225); } -void car_H_29(double *state, double *unused, double *out_8786058787668069800) { - H_29(state, unused, out_8786058787668069800); +void car_H_29(double *state, double *unused, double *out_4707416645349289048) { + H_29(state, unused, out_4707416645349289048); } -void car_h_28(double *state, double *unused, double *out_2931759151911427939) { - h_28(state, unused, out_2931759151911427939); +void car_h_28(double *state, double *unused, double *out_926893080731002324) { + h_28(state, unused, out_926893080731002324); } -void car_H_28(double *state, double *unused, double *out_4578286268971951242) { - H_28(state, unused, out_4578286268971951242); +void car_H_28(double *state, double *unused, double *out_4773339754704609654) { + H_28(state, unused, out_4773339754704609654); } -void car_h_31(double *state, double *unused, double *out_5027768451407450342) { - h_31(state, unused, out_5027768451407450342); +void car_h_31(double *state, double *unused, double *out_2974083665677051741) { + h_31(state, unused, out_2974083665677051741); } -void car_H_31(double *state, double *unused, double *out_4737947839977893358) { - H_31(state, unused, out_4737947839977893358); +void car_H_31(double *state, double *unused, double *out_2688859078579759463) { + H_31(state, unused, out_2688859078579759463); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index d0e70c29b..b4d317879 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_5171593721555630090); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8159896824054378862); -void car_H_mod_fun(double *state, double *out_2621434864577473374); -void car_f_fun(double *state, double dt, double *out_5898225613213012342); -void car_F_fun(double *state, double dt, double *out_289209120563918309); -void car_h_25(double *state, double *unused, double *out_1048536752434567181); -void car_H_25(double *state, double *unused, double *out_6632120983219841005); -void car_h_24(double *state, double *unused, double *out_7601461491001714773); -void car_H_24(double *state, double *unused, double *out_4459471384214341439); -void car_h_30(double *state, double *unused, double *out_4685986280688589531); -void car_H_30(double *state, double *unused, double *out_9150453941727089632); -void car_h_26(double *state, double *unused, double *out_4082670396012112014); -void car_H_26(double *state, double *unused, double *out_8510097120728910010); -void car_h_27(double *state, double *unused, double *out_9178210209371601407); -void car_H_27(double *state, double *unused, double *out_7072696060798518767); -void car_h_29(double *state, double *unused, double *out_8534850577185637138); -void car_H_29(double *state, double *unused, double *out_8786058787668069800); -void car_h_28(double *state, double *unused, double *out_2931759151911427939); -void car_H_28(double *state, double *unused, double *out_4578286268971951242); -void car_h_31(double *state, double *unused, double *out_5027768451407450342); -void car_H_31(double *state, double *unused, double *out_4737947839977893358); +void car_err_fun(double *nom_x, double *delta_x, double *out_2644531489535461779); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1100504365402285318); +void car_H_mod_fun(double *state, double *out_6242485690446211568); +void car_f_fun(double *state, double dt, double *out_3248907569765849539); +void car_F_fun(double *state, double dt, double *out_8360719243632448897); +void car_h_25(double *state, double *unused, double *out_8500141102228074854); +void car_H_25(double *state, double *unused, double *out_2719505040456719891); +void car_h_24(double *state, double *unused, double *out_7897313667940812561); +void car_H_24(double *state, double *unused, double *out_838420558345603245); +void car_h_30(double *state, double *unused, double *out_808885686797625580); +void car_H_30(double *state, double *unused, double *out_4197185301034896864); +void car_h_26(double *state, double *unused, double *out_4192787580863220065); +void car_H_26(double *state, double *unused, double *out_6461008359330776115); +void car_h_27(double *state, double *unused, double *out_5889273078412295556); +void car_H_27(double *state, double *unused, double *out_2022421989234471953); +void car_h_29(double *state, double *unused, double *out_5810558954458471225); +void car_H_29(double *state, double *unused, double *out_4707416645349289048); +void car_h_28(double *state, double *unused, double *out_926893080731002324); +void car_H_28(double *state, double *unused, double *out_4773339754704609654); +void car_h_31(double *state, double *unused, double *out_2974083665677051741); +void car_H_31(double *state, double *unused, double *out_2688859078579759463); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 292540c84..0f3435165 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_3892827861815398533) { - out_3892827861815398533[0] = delta_x[0] + nom_x[0]; - out_3892827861815398533[1] = delta_x[1] + nom_x[1]; - out_3892827861815398533[2] = delta_x[2] + nom_x[2]; - out_3892827861815398533[3] = delta_x[3] + nom_x[3]; - out_3892827861815398533[4] = delta_x[4] + nom_x[4]; - out_3892827861815398533[5] = delta_x[5] + nom_x[5]; - out_3892827861815398533[6] = delta_x[6] + nom_x[6]; - out_3892827861815398533[7] = delta_x[7] + nom_x[7]; - out_3892827861815398533[8] = delta_x[8] + nom_x[8]; - out_3892827861815398533[9] = delta_x[9] + nom_x[9]; - out_3892827861815398533[10] = delta_x[10] + nom_x[10]; - out_3892827861815398533[11] = delta_x[11] + nom_x[11]; - out_3892827861815398533[12] = delta_x[12] + nom_x[12]; - out_3892827861815398533[13] = delta_x[13] + nom_x[13]; - out_3892827861815398533[14] = delta_x[14] + nom_x[14]; - out_3892827861815398533[15] = delta_x[15] + nom_x[15]; - out_3892827861815398533[16] = delta_x[16] + nom_x[16]; - out_3892827861815398533[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5518524982420716050) { + out_5518524982420716050[0] = delta_x[0] + nom_x[0]; + out_5518524982420716050[1] = delta_x[1] + nom_x[1]; + out_5518524982420716050[2] = delta_x[2] + nom_x[2]; + out_5518524982420716050[3] = delta_x[3] + nom_x[3]; + out_5518524982420716050[4] = delta_x[4] + nom_x[4]; + out_5518524982420716050[5] = delta_x[5] + nom_x[5]; + out_5518524982420716050[6] = delta_x[6] + nom_x[6]; + out_5518524982420716050[7] = delta_x[7] + nom_x[7]; + out_5518524982420716050[8] = delta_x[8] + nom_x[8]; + out_5518524982420716050[9] = delta_x[9] + nom_x[9]; + out_5518524982420716050[10] = delta_x[10] + nom_x[10]; + out_5518524982420716050[11] = delta_x[11] + nom_x[11]; + out_5518524982420716050[12] = delta_x[12] + nom_x[12]; + out_5518524982420716050[13] = delta_x[13] + nom_x[13]; + out_5518524982420716050[14] = delta_x[14] + nom_x[14]; + out_5518524982420716050[15] = delta_x[15] + nom_x[15]; + out_5518524982420716050[16] = delta_x[16] + nom_x[16]; + out_5518524982420716050[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_341451131886162609) { - out_341451131886162609[0] = -nom_x[0] + true_x[0]; - out_341451131886162609[1] = -nom_x[1] + true_x[1]; - out_341451131886162609[2] = -nom_x[2] + true_x[2]; - out_341451131886162609[3] = -nom_x[3] + true_x[3]; - out_341451131886162609[4] = -nom_x[4] + true_x[4]; - out_341451131886162609[5] = -nom_x[5] + true_x[5]; - out_341451131886162609[6] = -nom_x[6] + true_x[6]; - out_341451131886162609[7] = -nom_x[7] + true_x[7]; - out_341451131886162609[8] = -nom_x[8] + true_x[8]; - out_341451131886162609[9] = -nom_x[9] + true_x[9]; - out_341451131886162609[10] = -nom_x[10] + true_x[10]; - out_341451131886162609[11] = -nom_x[11] + true_x[11]; - out_341451131886162609[12] = -nom_x[12] + true_x[12]; - out_341451131886162609[13] = -nom_x[13] + true_x[13]; - out_341451131886162609[14] = -nom_x[14] + true_x[14]; - out_341451131886162609[15] = -nom_x[15] + true_x[15]; - out_341451131886162609[16] = -nom_x[16] + true_x[16]; - out_341451131886162609[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4331401110135306651) { + out_4331401110135306651[0] = -nom_x[0] + true_x[0]; + out_4331401110135306651[1] = -nom_x[1] + true_x[1]; + out_4331401110135306651[2] = -nom_x[2] + true_x[2]; + out_4331401110135306651[3] = -nom_x[3] + true_x[3]; + out_4331401110135306651[4] = -nom_x[4] + true_x[4]; + out_4331401110135306651[5] = -nom_x[5] + true_x[5]; + out_4331401110135306651[6] = -nom_x[6] + true_x[6]; + out_4331401110135306651[7] = -nom_x[7] + true_x[7]; + out_4331401110135306651[8] = -nom_x[8] + true_x[8]; + out_4331401110135306651[9] = -nom_x[9] + true_x[9]; + out_4331401110135306651[10] = -nom_x[10] + true_x[10]; + out_4331401110135306651[11] = -nom_x[11] + true_x[11]; + out_4331401110135306651[12] = -nom_x[12] + true_x[12]; + out_4331401110135306651[13] = -nom_x[13] + true_x[13]; + out_4331401110135306651[14] = -nom_x[14] + true_x[14]; + out_4331401110135306651[15] = -nom_x[15] + true_x[15]; + out_4331401110135306651[16] = -nom_x[16] + true_x[16]; + out_4331401110135306651[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_328613363132085737) { - out_328613363132085737[0] = 1.0; - out_328613363132085737[1] = 0.0; - out_328613363132085737[2] = 0.0; - out_328613363132085737[3] = 0.0; - out_328613363132085737[4] = 0.0; - out_328613363132085737[5] = 0.0; - out_328613363132085737[6] = 0.0; - out_328613363132085737[7] = 0.0; - out_328613363132085737[8] = 0.0; - out_328613363132085737[9] = 0.0; - out_328613363132085737[10] = 0.0; - out_328613363132085737[11] = 0.0; - out_328613363132085737[12] = 0.0; - out_328613363132085737[13] = 0.0; - out_328613363132085737[14] = 0.0; - out_328613363132085737[15] = 0.0; - out_328613363132085737[16] = 0.0; - out_328613363132085737[17] = 0.0; - out_328613363132085737[18] = 0.0; - out_328613363132085737[19] = 1.0; - out_328613363132085737[20] = 0.0; - out_328613363132085737[21] = 0.0; - out_328613363132085737[22] = 0.0; - out_328613363132085737[23] = 0.0; - out_328613363132085737[24] = 0.0; - out_328613363132085737[25] = 0.0; - out_328613363132085737[26] = 0.0; - out_328613363132085737[27] = 0.0; - out_328613363132085737[28] = 0.0; - out_328613363132085737[29] = 0.0; - out_328613363132085737[30] = 0.0; - out_328613363132085737[31] = 0.0; - out_328613363132085737[32] = 0.0; - out_328613363132085737[33] = 0.0; - out_328613363132085737[34] = 0.0; - out_328613363132085737[35] = 0.0; - out_328613363132085737[36] = 0.0; - out_328613363132085737[37] = 0.0; - out_328613363132085737[38] = 1.0; - out_328613363132085737[39] = 0.0; - out_328613363132085737[40] = 0.0; - out_328613363132085737[41] = 0.0; - out_328613363132085737[42] = 0.0; - out_328613363132085737[43] = 0.0; - out_328613363132085737[44] = 0.0; - out_328613363132085737[45] = 0.0; - out_328613363132085737[46] = 0.0; - out_328613363132085737[47] = 0.0; - out_328613363132085737[48] = 0.0; - out_328613363132085737[49] = 0.0; - out_328613363132085737[50] = 0.0; - out_328613363132085737[51] = 0.0; - out_328613363132085737[52] = 0.0; - out_328613363132085737[53] = 0.0; - out_328613363132085737[54] = 0.0; - out_328613363132085737[55] = 0.0; - out_328613363132085737[56] = 0.0; - out_328613363132085737[57] = 1.0; - out_328613363132085737[58] = 0.0; - out_328613363132085737[59] = 0.0; - out_328613363132085737[60] = 0.0; - out_328613363132085737[61] = 0.0; - out_328613363132085737[62] = 0.0; - out_328613363132085737[63] = 0.0; - out_328613363132085737[64] = 0.0; - out_328613363132085737[65] = 0.0; - out_328613363132085737[66] = 0.0; - out_328613363132085737[67] = 0.0; - out_328613363132085737[68] = 0.0; - out_328613363132085737[69] = 0.0; - out_328613363132085737[70] = 0.0; - out_328613363132085737[71] = 0.0; - out_328613363132085737[72] = 0.0; - out_328613363132085737[73] = 0.0; - out_328613363132085737[74] = 0.0; - out_328613363132085737[75] = 0.0; - out_328613363132085737[76] = 1.0; - out_328613363132085737[77] = 0.0; - out_328613363132085737[78] = 0.0; - out_328613363132085737[79] = 0.0; - out_328613363132085737[80] = 0.0; - out_328613363132085737[81] = 0.0; - out_328613363132085737[82] = 0.0; - out_328613363132085737[83] = 0.0; - out_328613363132085737[84] = 0.0; - out_328613363132085737[85] = 0.0; - out_328613363132085737[86] = 0.0; - out_328613363132085737[87] = 0.0; - out_328613363132085737[88] = 0.0; - out_328613363132085737[89] = 0.0; - out_328613363132085737[90] = 0.0; - out_328613363132085737[91] = 0.0; - out_328613363132085737[92] = 0.0; - out_328613363132085737[93] = 0.0; - out_328613363132085737[94] = 0.0; - out_328613363132085737[95] = 1.0; - out_328613363132085737[96] = 0.0; - out_328613363132085737[97] = 0.0; - out_328613363132085737[98] = 0.0; - out_328613363132085737[99] = 0.0; - out_328613363132085737[100] = 0.0; - out_328613363132085737[101] = 0.0; - out_328613363132085737[102] = 0.0; - out_328613363132085737[103] = 0.0; - out_328613363132085737[104] = 0.0; - out_328613363132085737[105] = 0.0; - out_328613363132085737[106] = 0.0; - out_328613363132085737[107] = 0.0; - out_328613363132085737[108] = 0.0; - out_328613363132085737[109] = 0.0; - out_328613363132085737[110] = 0.0; - out_328613363132085737[111] = 0.0; - out_328613363132085737[112] = 0.0; - out_328613363132085737[113] = 0.0; - out_328613363132085737[114] = 1.0; - out_328613363132085737[115] = 0.0; - out_328613363132085737[116] = 0.0; - out_328613363132085737[117] = 0.0; - out_328613363132085737[118] = 0.0; - out_328613363132085737[119] = 0.0; - out_328613363132085737[120] = 0.0; - out_328613363132085737[121] = 0.0; - out_328613363132085737[122] = 0.0; - out_328613363132085737[123] = 0.0; - out_328613363132085737[124] = 0.0; - out_328613363132085737[125] = 0.0; - out_328613363132085737[126] = 0.0; - out_328613363132085737[127] = 0.0; - out_328613363132085737[128] = 0.0; - out_328613363132085737[129] = 0.0; - out_328613363132085737[130] = 0.0; - out_328613363132085737[131] = 0.0; - out_328613363132085737[132] = 0.0; - out_328613363132085737[133] = 1.0; - out_328613363132085737[134] = 0.0; - out_328613363132085737[135] = 0.0; - out_328613363132085737[136] = 0.0; - out_328613363132085737[137] = 0.0; - out_328613363132085737[138] = 0.0; - out_328613363132085737[139] = 0.0; - out_328613363132085737[140] = 0.0; - out_328613363132085737[141] = 0.0; - out_328613363132085737[142] = 0.0; - out_328613363132085737[143] = 0.0; - out_328613363132085737[144] = 0.0; - out_328613363132085737[145] = 0.0; - out_328613363132085737[146] = 0.0; - out_328613363132085737[147] = 0.0; - out_328613363132085737[148] = 0.0; - out_328613363132085737[149] = 0.0; - out_328613363132085737[150] = 0.0; - out_328613363132085737[151] = 0.0; - out_328613363132085737[152] = 1.0; - out_328613363132085737[153] = 0.0; - out_328613363132085737[154] = 0.0; - out_328613363132085737[155] = 0.0; - out_328613363132085737[156] = 0.0; - out_328613363132085737[157] = 0.0; - out_328613363132085737[158] = 0.0; - out_328613363132085737[159] = 0.0; - out_328613363132085737[160] = 0.0; - out_328613363132085737[161] = 0.0; - out_328613363132085737[162] = 0.0; - out_328613363132085737[163] = 0.0; - out_328613363132085737[164] = 0.0; - out_328613363132085737[165] = 0.0; - out_328613363132085737[166] = 0.0; - out_328613363132085737[167] = 0.0; - out_328613363132085737[168] = 0.0; - out_328613363132085737[169] = 0.0; - out_328613363132085737[170] = 0.0; - out_328613363132085737[171] = 1.0; - out_328613363132085737[172] = 0.0; - out_328613363132085737[173] = 0.0; - out_328613363132085737[174] = 0.0; - out_328613363132085737[175] = 0.0; - out_328613363132085737[176] = 0.0; - out_328613363132085737[177] = 0.0; - out_328613363132085737[178] = 0.0; - out_328613363132085737[179] = 0.0; - out_328613363132085737[180] = 0.0; - out_328613363132085737[181] = 0.0; - out_328613363132085737[182] = 0.0; - out_328613363132085737[183] = 0.0; - out_328613363132085737[184] = 0.0; - out_328613363132085737[185] = 0.0; - out_328613363132085737[186] = 0.0; - out_328613363132085737[187] = 0.0; - out_328613363132085737[188] = 0.0; - out_328613363132085737[189] = 0.0; - out_328613363132085737[190] = 1.0; - out_328613363132085737[191] = 0.0; - out_328613363132085737[192] = 0.0; - out_328613363132085737[193] = 0.0; - out_328613363132085737[194] = 0.0; - out_328613363132085737[195] = 0.0; - out_328613363132085737[196] = 0.0; - out_328613363132085737[197] = 0.0; - out_328613363132085737[198] = 0.0; - out_328613363132085737[199] = 0.0; - out_328613363132085737[200] = 0.0; - out_328613363132085737[201] = 0.0; - out_328613363132085737[202] = 0.0; - out_328613363132085737[203] = 0.0; - out_328613363132085737[204] = 0.0; - out_328613363132085737[205] = 0.0; - out_328613363132085737[206] = 0.0; - out_328613363132085737[207] = 0.0; - out_328613363132085737[208] = 0.0; - out_328613363132085737[209] = 1.0; - out_328613363132085737[210] = 0.0; - out_328613363132085737[211] = 0.0; - out_328613363132085737[212] = 0.0; - out_328613363132085737[213] = 0.0; - out_328613363132085737[214] = 0.0; - out_328613363132085737[215] = 0.0; - out_328613363132085737[216] = 0.0; - out_328613363132085737[217] = 0.0; - out_328613363132085737[218] = 0.0; - out_328613363132085737[219] = 0.0; - out_328613363132085737[220] = 0.0; - out_328613363132085737[221] = 0.0; - out_328613363132085737[222] = 0.0; - out_328613363132085737[223] = 0.0; - out_328613363132085737[224] = 0.0; - out_328613363132085737[225] = 0.0; - out_328613363132085737[226] = 0.0; - out_328613363132085737[227] = 0.0; - out_328613363132085737[228] = 1.0; - out_328613363132085737[229] = 0.0; - out_328613363132085737[230] = 0.0; - out_328613363132085737[231] = 0.0; - out_328613363132085737[232] = 0.0; - out_328613363132085737[233] = 0.0; - out_328613363132085737[234] = 0.0; - out_328613363132085737[235] = 0.0; - out_328613363132085737[236] = 0.0; - out_328613363132085737[237] = 0.0; - out_328613363132085737[238] = 0.0; - out_328613363132085737[239] = 0.0; - out_328613363132085737[240] = 0.0; - out_328613363132085737[241] = 0.0; - out_328613363132085737[242] = 0.0; - out_328613363132085737[243] = 0.0; - out_328613363132085737[244] = 0.0; - out_328613363132085737[245] = 0.0; - out_328613363132085737[246] = 0.0; - out_328613363132085737[247] = 1.0; - out_328613363132085737[248] = 0.0; - out_328613363132085737[249] = 0.0; - out_328613363132085737[250] = 0.0; - out_328613363132085737[251] = 0.0; - out_328613363132085737[252] = 0.0; - out_328613363132085737[253] = 0.0; - out_328613363132085737[254] = 0.0; - out_328613363132085737[255] = 0.0; - out_328613363132085737[256] = 0.0; - out_328613363132085737[257] = 0.0; - out_328613363132085737[258] = 0.0; - out_328613363132085737[259] = 0.0; - out_328613363132085737[260] = 0.0; - out_328613363132085737[261] = 0.0; - out_328613363132085737[262] = 0.0; - out_328613363132085737[263] = 0.0; - out_328613363132085737[264] = 0.0; - out_328613363132085737[265] = 0.0; - out_328613363132085737[266] = 1.0; - out_328613363132085737[267] = 0.0; - out_328613363132085737[268] = 0.0; - out_328613363132085737[269] = 0.0; - out_328613363132085737[270] = 0.0; - out_328613363132085737[271] = 0.0; - out_328613363132085737[272] = 0.0; - out_328613363132085737[273] = 0.0; - out_328613363132085737[274] = 0.0; - out_328613363132085737[275] = 0.0; - out_328613363132085737[276] = 0.0; - out_328613363132085737[277] = 0.0; - out_328613363132085737[278] = 0.0; - out_328613363132085737[279] = 0.0; - out_328613363132085737[280] = 0.0; - out_328613363132085737[281] = 0.0; - out_328613363132085737[282] = 0.0; - out_328613363132085737[283] = 0.0; - out_328613363132085737[284] = 0.0; - out_328613363132085737[285] = 1.0; - out_328613363132085737[286] = 0.0; - out_328613363132085737[287] = 0.0; - out_328613363132085737[288] = 0.0; - out_328613363132085737[289] = 0.0; - out_328613363132085737[290] = 0.0; - out_328613363132085737[291] = 0.0; - out_328613363132085737[292] = 0.0; - out_328613363132085737[293] = 0.0; - out_328613363132085737[294] = 0.0; - out_328613363132085737[295] = 0.0; - out_328613363132085737[296] = 0.0; - out_328613363132085737[297] = 0.0; - out_328613363132085737[298] = 0.0; - out_328613363132085737[299] = 0.0; - out_328613363132085737[300] = 0.0; - out_328613363132085737[301] = 0.0; - out_328613363132085737[302] = 0.0; - out_328613363132085737[303] = 0.0; - out_328613363132085737[304] = 1.0; - out_328613363132085737[305] = 0.0; - out_328613363132085737[306] = 0.0; - out_328613363132085737[307] = 0.0; - out_328613363132085737[308] = 0.0; - out_328613363132085737[309] = 0.0; - out_328613363132085737[310] = 0.0; - out_328613363132085737[311] = 0.0; - out_328613363132085737[312] = 0.0; - out_328613363132085737[313] = 0.0; - out_328613363132085737[314] = 0.0; - out_328613363132085737[315] = 0.0; - out_328613363132085737[316] = 0.0; - out_328613363132085737[317] = 0.0; - out_328613363132085737[318] = 0.0; - out_328613363132085737[319] = 0.0; - out_328613363132085737[320] = 0.0; - out_328613363132085737[321] = 0.0; - out_328613363132085737[322] = 0.0; - out_328613363132085737[323] = 1.0; +void H_mod_fun(double *state, double *out_3835336694818914681) { + out_3835336694818914681[0] = 1.0; + out_3835336694818914681[1] = 0.0; + out_3835336694818914681[2] = 0.0; + out_3835336694818914681[3] = 0.0; + out_3835336694818914681[4] = 0.0; + out_3835336694818914681[5] = 0.0; + out_3835336694818914681[6] = 0.0; + out_3835336694818914681[7] = 0.0; + out_3835336694818914681[8] = 0.0; + out_3835336694818914681[9] = 0.0; + out_3835336694818914681[10] = 0.0; + out_3835336694818914681[11] = 0.0; + out_3835336694818914681[12] = 0.0; + out_3835336694818914681[13] = 0.0; + out_3835336694818914681[14] = 0.0; + out_3835336694818914681[15] = 0.0; + out_3835336694818914681[16] = 0.0; + out_3835336694818914681[17] = 0.0; + out_3835336694818914681[18] = 0.0; + out_3835336694818914681[19] = 1.0; + out_3835336694818914681[20] = 0.0; + out_3835336694818914681[21] = 0.0; + out_3835336694818914681[22] = 0.0; + out_3835336694818914681[23] = 0.0; + out_3835336694818914681[24] = 0.0; + out_3835336694818914681[25] = 0.0; + out_3835336694818914681[26] = 0.0; + out_3835336694818914681[27] = 0.0; + out_3835336694818914681[28] = 0.0; + out_3835336694818914681[29] = 0.0; + out_3835336694818914681[30] = 0.0; + out_3835336694818914681[31] = 0.0; + out_3835336694818914681[32] = 0.0; + out_3835336694818914681[33] = 0.0; + out_3835336694818914681[34] = 0.0; + out_3835336694818914681[35] = 0.0; + out_3835336694818914681[36] = 0.0; + out_3835336694818914681[37] = 0.0; + out_3835336694818914681[38] = 1.0; + out_3835336694818914681[39] = 0.0; + out_3835336694818914681[40] = 0.0; + out_3835336694818914681[41] = 0.0; + out_3835336694818914681[42] = 0.0; + out_3835336694818914681[43] = 0.0; + out_3835336694818914681[44] = 0.0; + out_3835336694818914681[45] = 0.0; + out_3835336694818914681[46] = 0.0; + out_3835336694818914681[47] = 0.0; + out_3835336694818914681[48] = 0.0; + out_3835336694818914681[49] = 0.0; + out_3835336694818914681[50] = 0.0; + out_3835336694818914681[51] = 0.0; + out_3835336694818914681[52] = 0.0; + out_3835336694818914681[53] = 0.0; + out_3835336694818914681[54] = 0.0; + out_3835336694818914681[55] = 0.0; + out_3835336694818914681[56] = 0.0; + out_3835336694818914681[57] = 1.0; + out_3835336694818914681[58] = 0.0; + out_3835336694818914681[59] = 0.0; + out_3835336694818914681[60] = 0.0; + out_3835336694818914681[61] = 0.0; + out_3835336694818914681[62] = 0.0; + out_3835336694818914681[63] = 0.0; + out_3835336694818914681[64] = 0.0; + out_3835336694818914681[65] = 0.0; + out_3835336694818914681[66] = 0.0; + out_3835336694818914681[67] = 0.0; + out_3835336694818914681[68] = 0.0; + out_3835336694818914681[69] = 0.0; + out_3835336694818914681[70] = 0.0; + out_3835336694818914681[71] = 0.0; + out_3835336694818914681[72] = 0.0; + out_3835336694818914681[73] = 0.0; + out_3835336694818914681[74] = 0.0; + out_3835336694818914681[75] = 0.0; + out_3835336694818914681[76] = 1.0; + out_3835336694818914681[77] = 0.0; + out_3835336694818914681[78] = 0.0; + out_3835336694818914681[79] = 0.0; + out_3835336694818914681[80] = 0.0; + out_3835336694818914681[81] = 0.0; + out_3835336694818914681[82] = 0.0; + out_3835336694818914681[83] = 0.0; + out_3835336694818914681[84] = 0.0; + out_3835336694818914681[85] = 0.0; + out_3835336694818914681[86] = 0.0; + out_3835336694818914681[87] = 0.0; + out_3835336694818914681[88] = 0.0; + out_3835336694818914681[89] = 0.0; + out_3835336694818914681[90] = 0.0; + out_3835336694818914681[91] = 0.0; + out_3835336694818914681[92] = 0.0; + out_3835336694818914681[93] = 0.0; + out_3835336694818914681[94] = 0.0; + out_3835336694818914681[95] = 1.0; + out_3835336694818914681[96] = 0.0; + out_3835336694818914681[97] = 0.0; + out_3835336694818914681[98] = 0.0; + out_3835336694818914681[99] = 0.0; + out_3835336694818914681[100] = 0.0; + out_3835336694818914681[101] = 0.0; + out_3835336694818914681[102] = 0.0; + out_3835336694818914681[103] = 0.0; + out_3835336694818914681[104] = 0.0; + out_3835336694818914681[105] = 0.0; + out_3835336694818914681[106] = 0.0; + out_3835336694818914681[107] = 0.0; + out_3835336694818914681[108] = 0.0; + out_3835336694818914681[109] = 0.0; + out_3835336694818914681[110] = 0.0; + out_3835336694818914681[111] = 0.0; + out_3835336694818914681[112] = 0.0; + out_3835336694818914681[113] = 0.0; + out_3835336694818914681[114] = 1.0; + out_3835336694818914681[115] = 0.0; + out_3835336694818914681[116] = 0.0; + out_3835336694818914681[117] = 0.0; + out_3835336694818914681[118] = 0.0; + out_3835336694818914681[119] = 0.0; + out_3835336694818914681[120] = 0.0; + out_3835336694818914681[121] = 0.0; + out_3835336694818914681[122] = 0.0; + out_3835336694818914681[123] = 0.0; + out_3835336694818914681[124] = 0.0; + out_3835336694818914681[125] = 0.0; + out_3835336694818914681[126] = 0.0; + out_3835336694818914681[127] = 0.0; + out_3835336694818914681[128] = 0.0; + out_3835336694818914681[129] = 0.0; + out_3835336694818914681[130] = 0.0; + out_3835336694818914681[131] = 0.0; + out_3835336694818914681[132] = 0.0; + out_3835336694818914681[133] = 1.0; + out_3835336694818914681[134] = 0.0; + out_3835336694818914681[135] = 0.0; + out_3835336694818914681[136] = 0.0; + out_3835336694818914681[137] = 0.0; + out_3835336694818914681[138] = 0.0; + out_3835336694818914681[139] = 0.0; + out_3835336694818914681[140] = 0.0; + out_3835336694818914681[141] = 0.0; + out_3835336694818914681[142] = 0.0; + out_3835336694818914681[143] = 0.0; + out_3835336694818914681[144] = 0.0; + out_3835336694818914681[145] = 0.0; + out_3835336694818914681[146] = 0.0; + out_3835336694818914681[147] = 0.0; + out_3835336694818914681[148] = 0.0; + out_3835336694818914681[149] = 0.0; + out_3835336694818914681[150] = 0.0; + out_3835336694818914681[151] = 0.0; + out_3835336694818914681[152] = 1.0; + out_3835336694818914681[153] = 0.0; + out_3835336694818914681[154] = 0.0; + out_3835336694818914681[155] = 0.0; + out_3835336694818914681[156] = 0.0; + out_3835336694818914681[157] = 0.0; + out_3835336694818914681[158] = 0.0; + out_3835336694818914681[159] = 0.0; + out_3835336694818914681[160] = 0.0; + out_3835336694818914681[161] = 0.0; + out_3835336694818914681[162] = 0.0; + out_3835336694818914681[163] = 0.0; + out_3835336694818914681[164] = 0.0; + out_3835336694818914681[165] = 0.0; + out_3835336694818914681[166] = 0.0; + out_3835336694818914681[167] = 0.0; + out_3835336694818914681[168] = 0.0; + out_3835336694818914681[169] = 0.0; + out_3835336694818914681[170] = 0.0; + out_3835336694818914681[171] = 1.0; + out_3835336694818914681[172] = 0.0; + out_3835336694818914681[173] = 0.0; + out_3835336694818914681[174] = 0.0; + out_3835336694818914681[175] = 0.0; + out_3835336694818914681[176] = 0.0; + out_3835336694818914681[177] = 0.0; + out_3835336694818914681[178] = 0.0; + out_3835336694818914681[179] = 0.0; + out_3835336694818914681[180] = 0.0; + out_3835336694818914681[181] = 0.0; + out_3835336694818914681[182] = 0.0; + out_3835336694818914681[183] = 0.0; + out_3835336694818914681[184] = 0.0; + out_3835336694818914681[185] = 0.0; + out_3835336694818914681[186] = 0.0; + out_3835336694818914681[187] = 0.0; + out_3835336694818914681[188] = 0.0; + out_3835336694818914681[189] = 0.0; + out_3835336694818914681[190] = 1.0; + out_3835336694818914681[191] = 0.0; + out_3835336694818914681[192] = 0.0; + out_3835336694818914681[193] = 0.0; + out_3835336694818914681[194] = 0.0; + out_3835336694818914681[195] = 0.0; + out_3835336694818914681[196] = 0.0; + out_3835336694818914681[197] = 0.0; + out_3835336694818914681[198] = 0.0; + out_3835336694818914681[199] = 0.0; + out_3835336694818914681[200] = 0.0; + out_3835336694818914681[201] = 0.0; + out_3835336694818914681[202] = 0.0; + out_3835336694818914681[203] = 0.0; + out_3835336694818914681[204] = 0.0; + out_3835336694818914681[205] = 0.0; + out_3835336694818914681[206] = 0.0; + out_3835336694818914681[207] = 0.0; + out_3835336694818914681[208] = 0.0; + out_3835336694818914681[209] = 1.0; + out_3835336694818914681[210] = 0.0; + out_3835336694818914681[211] = 0.0; + out_3835336694818914681[212] = 0.0; + out_3835336694818914681[213] = 0.0; + out_3835336694818914681[214] = 0.0; + out_3835336694818914681[215] = 0.0; + out_3835336694818914681[216] = 0.0; + out_3835336694818914681[217] = 0.0; + out_3835336694818914681[218] = 0.0; + out_3835336694818914681[219] = 0.0; + out_3835336694818914681[220] = 0.0; + out_3835336694818914681[221] = 0.0; + out_3835336694818914681[222] = 0.0; + out_3835336694818914681[223] = 0.0; + out_3835336694818914681[224] = 0.0; + out_3835336694818914681[225] = 0.0; + out_3835336694818914681[226] = 0.0; + out_3835336694818914681[227] = 0.0; + out_3835336694818914681[228] = 1.0; + out_3835336694818914681[229] = 0.0; + out_3835336694818914681[230] = 0.0; + out_3835336694818914681[231] = 0.0; + out_3835336694818914681[232] = 0.0; + out_3835336694818914681[233] = 0.0; + out_3835336694818914681[234] = 0.0; + out_3835336694818914681[235] = 0.0; + out_3835336694818914681[236] = 0.0; + out_3835336694818914681[237] = 0.0; + out_3835336694818914681[238] = 0.0; + out_3835336694818914681[239] = 0.0; + out_3835336694818914681[240] = 0.0; + out_3835336694818914681[241] = 0.0; + out_3835336694818914681[242] = 0.0; + out_3835336694818914681[243] = 0.0; + out_3835336694818914681[244] = 0.0; + out_3835336694818914681[245] = 0.0; + out_3835336694818914681[246] = 0.0; + out_3835336694818914681[247] = 1.0; + out_3835336694818914681[248] = 0.0; + out_3835336694818914681[249] = 0.0; + out_3835336694818914681[250] = 0.0; + out_3835336694818914681[251] = 0.0; + out_3835336694818914681[252] = 0.0; + out_3835336694818914681[253] = 0.0; + out_3835336694818914681[254] = 0.0; + out_3835336694818914681[255] = 0.0; + out_3835336694818914681[256] = 0.0; + out_3835336694818914681[257] = 0.0; + out_3835336694818914681[258] = 0.0; + out_3835336694818914681[259] = 0.0; + out_3835336694818914681[260] = 0.0; + out_3835336694818914681[261] = 0.0; + out_3835336694818914681[262] = 0.0; + out_3835336694818914681[263] = 0.0; + out_3835336694818914681[264] = 0.0; + out_3835336694818914681[265] = 0.0; + out_3835336694818914681[266] = 1.0; + out_3835336694818914681[267] = 0.0; + out_3835336694818914681[268] = 0.0; + out_3835336694818914681[269] = 0.0; + out_3835336694818914681[270] = 0.0; + out_3835336694818914681[271] = 0.0; + out_3835336694818914681[272] = 0.0; + out_3835336694818914681[273] = 0.0; + out_3835336694818914681[274] = 0.0; + out_3835336694818914681[275] = 0.0; + out_3835336694818914681[276] = 0.0; + out_3835336694818914681[277] = 0.0; + out_3835336694818914681[278] = 0.0; + out_3835336694818914681[279] = 0.0; + out_3835336694818914681[280] = 0.0; + out_3835336694818914681[281] = 0.0; + out_3835336694818914681[282] = 0.0; + out_3835336694818914681[283] = 0.0; + out_3835336694818914681[284] = 0.0; + out_3835336694818914681[285] = 1.0; + out_3835336694818914681[286] = 0.0; + out_3835336694818914681[287] = 0.0; + out_3835336694818914681[288] = 0.0; + out_3835336694818914681[289] = 0.0; + out_3835336694818914681[290] = 0.0; + out_3835336694818914681[291] = 0.0; + out_3835336694818914681[292] = 0.0; + out_3835336694818914681[293] = 0.0; + out_3835336694818914681[294] = 0.0; + out_3835336694818914681[295] = 0.0; + out_3835336694818914681[296] = 0.0; + out_3835336694818914681[297] = 0.0; + out_3835336694818914681[298] = 0.0; + out_3835336694818914681[299] = 0.0; + out_3835336694818914681[300] = 0.0; + out_3835336694818914681[301] = 0.0; + out_3835336694818914681[302] = 0.0; + out_3835336694818914681[303] = 0.0; + out_3835336694818914681[304] = 1.0; + out_3835336694818914681[305] = 0.0; + out_3835336694818914681[306] = 0.0; + out_3835336694818914681[307] = 0.0; + out_3835336694818914681[308] = 0.0; + out_3835336694818914681[309] = 0.0; + out_3835336694818914681[310] = 0.0; + out_3835336694818914681[311] = 0.0; + out_3835336694818914681[312] = 0.0; + out_3835336694818914681[313] = 0.0; + out_3835336694818914681[314] = 0.0; + out_3835336694818914681[315] = 0.0; + out_3835336694818914681[316] = 0.0; + out_3835336694818914681[317] = 0.0; + out_3835336694818914681[318] = 0.0; + out_3835336694818914681[319] = 0.0; + out_3835336694818914681[320] = 0.0; + out_3835336694818914681[321] = 0.0; + out_3835336694818914681[322] = 0.0; + out_3835336694818914681[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2411932017416861366) { - out_2411932017416861366[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); - out_2411932017416861366[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); - out_2411932017416861366[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); - out_2411932017416861366[3] = dt*state[12] + state[3]; - out_2411932017416861366[4] = dt*state[13] + state[4]; - out_2411932017416861366[5] = dt*state[14] + state[5]; - out_2411932017416861366[6] = state[6]; - out_2411932017416861366[7] = state[7]; - out_2411932017416861366[8] = state[8]; - out_2411932017416861366[9] = state[9]; - out_2411932017416861366[10] = state[10]; - out_2411932017416861366[11] = state[11]; - out_2411932017416861366[12] = state[12]; - out_2411932017416861366[13] = state[13]; - out_2411932017416861366[14] = state[14]; - out_2411932017416861366[15] = state[15]; - out_2411932017416861366[16] = state[16]; - out_2411932017416861366[17] = state[17]; +void f_fun(double *state, double dt, double *out_4487166249411202898) { + out_4487166249411202898[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_4487166249411202898[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_4487166249411202898[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_4487166249411202898[3] = dt*state[12] + state[3]; + out_4487166249411202898[4] = dt*state[13] + state[4]; + out_4487166249411202898[5] = dt*state[14] + state[5]; + out_4487166249411202898[6] = state[6]; + out_4487166249411202898[7] = state[7]; + out_4487166249411202898[8] = state[8]; + out_4487166249411202898[9] = state[9]; + out_4487166249411202898[10] = state[10]; + out_4487166249411202898[11] = state[11]; + out_4487166249411202898[12] = state[12]; + out_4487166249411202898[13] = state[13]; + out_4487166249411202898[14] = state[14]; + out_4487166249411202898[15] = state[15]; + out_4487166249411202898[16] = state[16]; + out_4487166249411202898[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8127227481367081246) { - out_8127227481367081246[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_8127227481367081246[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_8127227481367081246[2] = 0; - out_8127227481367081246[3] = 0; - out_8127227481367081246[4] = 0; - out_8127227481367081246[5] = 0; - out_8127227481367081246[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_8127227481367081246[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_8127227481367081246[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); - out_8127227481367081246[9] = 0; - out_8127227481367081246[10] = 0; - out_8127227481367081246[11] = 0; - out_8127227481367081246[12] = 0; - out_8127227481367081246[13] = 0; - out_8127227481367081246[14] = 0; - out_8127227481367081246[15] = 0; - out_8127227481367081246[16] = 0; - out_8127227481367081246[17] = 0; - out_8127227481367081246[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_8127227481367081246[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_8127227481367081246[20] = 0; - out_8127227481367081246[21] = 0; - out_8127227481367081246[22] = 0; - out_8127227481367081246[23] = 0; - out_8127227481367081246[24] = 0; - out_8127227481367081246[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_8127227481367081246[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); - out_8127227481367081246[27] = 0; - out_8127227481367081246[28] = 0; - out_8127227481367081246[29] = 0; - out_8127227481367081246[30] = 0; - out_8127227481367081246[31] = 0; - out_8127227481367081246[32] = 0; - out_8127227481367081246[33] = 0; - out_8127227481367081246[34] = 0; - out_8127227481367081246[35] = 0; - out_8127227481367081246[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_8127227481367081246[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_8127227481367081246[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_8127227481367081246[39] = 0; - out_8127227481367081246[40] = 0; - out_8127227481367081246[41] = 0; - out_8127227481367081246[42] = 0; - out_8127227481367081246[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_8127227481367081246[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); - out_8127227481367081246[45] = 0; - out_8127227481367081246[46] = 0; - out_8127227481367081246[47] = 0; - out_8127227481367081246[48] = 0; - out_8127227481367081246[49] = 0; - out_8127227481367081246[50] = 0; - out_8127227481367081246[51] = 0; - out_8127227481367081246[52] = 0; - out_8127227481367081246[53] = 0; - out_8127227481367081246[54] = 0; - out_8127227481367081246[55] = 0; - out_8127227481367081246[56] = 0; - out_8127227481367081246[57] = 1; - out_8127227481367081246[58] = 0; - out_8127227481367081246[59] = 0; - out_8127227481367081246[60] = 0; - out_8127227481367081246[61] = 0; - out_8127227481367081246[62] = 0; - out_8127227481367081246[63] = 0; - out_8127227481367081246[64] = 0; - out_8127227481367081246[65] = 0; - out_8127227481367081246[66] = dt; - out_8127227481367081246[67] = 0; - out_8127227481367081246[68] = 0; - out_8127227481367081246[69] = 0; - out_8127227481367081246[70] = 0; - out_8127227481367081246[71] = 0; - out_8127227481367081246[72] = 0; - out_8127227481367081246[73] = 0; - out_8127227481367081246[74] = 0; - out_8127227481367081246[75] = 0; - out_8127227481367081246[76] = 1; - out_8127227481367081246[77] = 0; - out_8127227481367081246[78] = 0; - out_8127227481367081246[79] = 0; - out_8127227481367081246[80] = 0; - out_8127227481367081246[81] = 0; - out_8127227481367081246[82] = 0; - out_8127227481367081246[83] = 0; - out_8127227481367081246[84] = 0; - out_8127227481367081246[85] = dt; - out_8127227481367081246[86] = 0; - out_8127227481367081246[87] = 0; - out_8127227481367081246[88] = 0; - out_8127227481367081246[89] = 0; - out_8127227481367081246[90] = 0; - out_8127227481367081246[91] = 0; - out_8127227481367081246[92] = 0; - out_8127227481367081246[93] = 0; - out_8127227481367081246[94] = 0; - out_8127227481367081246[95] = 1; - out_8127227481367081246[96] = 0; - out_8127227481367081246[97] = 0; - out_8127227481367081246[98] = 0; - out_8127227481367081246[99] = 0; - out_8127227481367081246[100] = 0; - out_8127227481367081246[101] = 0; - out_8127227481367081246[102] = 0; - out_8127227481367081246[103] = 0; - out_8127227481367081246[104] = dt; - out_8127227481367081246[105] = 0; - out_8127227481367081246[106] = 0; - out_8127227481367081246[107] = 0; - out_8127227481367081246[108] = 0; - out_8127227481367081246[109] = 0; - out_8127227481367081246[110] = 0; - out_8127227481367081246[111] = 0; - out_8127227481367081246[112] = 0; - out_8127227481367081246[113] = 0; - out_8127227481367081246[114] = 1; - out_8127227481367081246[115] = 0; - out_8127227481367081246[116] = 0; - out_8127227481367081246[117] = 0; - out_8127227481367081246[118] = 0; - out_8127227481367081246[119] = 0; - out_8127227481367081246[120] = 0; - out_8127227481367081246[121] = 0; - out_8127227481367081246[122] = 0; - out_8127227481367081246[123] = 0; - out_8127227481367081246[124] = 0; - out_8127227481367081246[125] = 0; - out_8127227481367081246[126] = 0; - out_8127227481367081246[127] = 0; - out_8127227481367081246[128] = 0; - out_8127227481367081246[129] = 0; - out_8127227481367081246[130] = 0; - out_8127227481367081246[131] = 0; - out_8127227481367081246[132] = 0; - out_8127227481367081246[133] = 1; - out_8127227481367081246[134] = 0; - out_8127227481367081246[135] = 0; - out_8127227481367081246[136] = 0; - out_8127227481367081246[137] = 0; - out_8127227481367081246[138] = 0; - out_8127227481367081246[139] = 0; - out_8127227481367081246[140] = 0; - out_8127227481367081246[141] = 0; - out_8127227481367081246[142] = 0; - out_8127227481367081246[143] = 0; - out_8127227481367081246[144] = 0; - out_8127227481367081246[145] = 0; - out_8127227481367081246[146] = 0; - out_8127227481367081246[147] = 0; - out_8127227481367081246[148] = 0; - out_8127227481367081246[149] = 0; - out_8127227481367081246[150] = 0; - out_8127227481367081246[151] = 0; - out_8127227481367081246[152] = 1; - out_8127227481367081246[153] = 0; - out_8127227481367081246[154] = 0; - out_8127227481367081246[155] = 0; - out_8127227481367081246[156] = 0; - out_8127227481367081246[157] = 0; - out_8127227481367081246[158] = 0; - out_8127227481367081246[159] = 0; - out_8127227481367081246[160] = 0; - out_8127227481367081246[161] = 0; - out_8127227481367081246[162] = 0; - out_8127227481367081246[163] = 0; - out_8127227481367081246[164] = 0; - out_8127227481367081246[165] = 0; - out_8127227481367081246[166] = 0; - out_8127227481367081246[167] = 0; - out_8127227481367081246[168] = 0; - out_8127227481367081246[169] = 0; - out_8127227481367081246[170] = 0; - out_8127227481367081246[171] = 1; - out_8127227481367081246[172] = 0; - out_8127227481367081246[173] = 0; - out_8127227481367081246[174] = 0; - out_8127227481367081246[175] = 0; - out_8127227481367081246[176] = 0; - out_8127227481367081246[177] = 0; - out_8127227481367081246[178] = 0; - out_8127227481367081246[179] = 0; - out_8127227481367081246[180] = 0; - out_8127227481367081246[181] = 0; - out_8127227481367081246[182] = 0; - out_8127227481367081246[183] = 0; - out_8127227481367081246[184] = 0; - out_8127227481367081246[185] = 0; - out_8127227481367081246[186] = 0; - out_8127227481367081246[187] = 0; - out_8127227481367081246[188] = 0; - out_8127227481367081246[189] = 0; - out_8127227481367081246[190] = 1; - out_8127227481367081246[191] = 0; - out_8127227481367081246[192] = 0; - out_8127227481367081246[193] = 0; - out_8127227481367081246[194] = 0; - out_8127227481367081246[195] = 0; - out_8127227481367081246[196] = 0; - out_8127227481367081246[197] = 0; - out_8127227481367081246[198] = 0; - out_8127227481367081246[199] = 0; - out_8127227481367081246[200] = 0; - out_8127227481367081246[201] = 0; - out_8127227481367081246[202] = 0; - out_8127227481367081246[203] = 0; - out_8127227481367081246[204] = 0; - out_8127227481367081246[205] = 0; - out_8127227481367081246[206] = 0; - out_8127227481367081246[207] = 0; - out_8127227481367081246[208] = 0; - out_8127227481367081246[209] = 1; - out_8127227481367081246[210] = 0; - out_8127227481367081246[211] = 0; - out_8127227481367081246[212] = 0; - out_8127227481367081246[213] = 0; - out_8127227481367081246[214] = 0; - out_8127227481367081246[215] = 0; - out_8127227481367081246[216] = 0; - out_8127227481367081246[217] = 0; - out_8127227481367081246[218] = 0; - out_8127227481367081246[219] = 0; - out_8127227481367081246[220] = 0; - out_8127227481367081246[221] = 0; - out_8127227481367081246[222] = 0; - out_8127227481367081246[223] = 0; - out_8127227481367081246[224] = 0; - out_8127227481367081246[225] = 0; - out_8127227481367081246[226] = 0; - out_8127227481367081246[227] = 0; - out_8127227481367081246[228] = 1; - out_8127227481367081246[229] = 0; - out_8127227481367081246[230] = 0; - out_8127227481367081246[231] = 0; - out_8127227481367081246[232] = 0; - out_8127227481367081246[233] = 0; - out_8127227481367081246[234] = 0; - out_8127227481367081246[235] = 0; - out_8127227481367081246[236] = 0; - out_8127227481367081246[237] = 0; - out_8127227481367081246[238] = 0; - out_8127227481367081246[239] = 0; - out_8127227481367081246[240] = 0; - out_8127227481367081246[241] = 0; - out_8127227481367081246[242] = 0; - out_8127227481367081246[243] = 0; - out_8127227481367081246[244] = 0; - out_8127227481367081246[245] = 0; - out_8127227481367081246[246] = 0; - out_8127227481367081246[247] = 1; - out_8127227481367081246[248] = 0; - out_8127227481367081246[249] = 0; - out_8127227481367081246[250] = 0; - out_8127227481367081246[251] = 0; - out_8127227481367081246[252] = 0; - out_8127227481367081246[253] = 0; - out_8127227481367081246[254] = 0; - out_8127227481367081246[255] = 0; - out_8127227481367081246[256] = 0; - out_8127227481367081246[257] = 0; - out_8127227481367081246[258] = 0; - out_8127227481367081246[259] = 0; - out_8127227481367081246[260] = 0; - out_8127227481367081246[261] = 0; - out_8127227481367081246[262] = 0; - out_8127227481367081246[263] = 0; - out_8127227481367081246[264] = 0; - out_8127227481367081246[265] = 0; - out_8127227481367081246[266] = 1; - out_8127227481367081246[267] = 0; - out_8127227481367081246[268] = 0; - out_8127227481367081246[269] = 0; - out_8127227481367081246[270] = 0; - out_8127227481367081246[271] = 0; - out_8127227481367081246[272] = 0; - out_8127227481367081246[273] = 0; - out_8127227481367081246[274] = 0; - out_8127227481367081246[275] = 0; - out_8127227481367081246[276] = 0; - out_8127227481367081246[277] = 0; - out_8127227481367081246[278] = 0; - out_8127227481367081246[279] = 0; - out_8127227481367081246[280] = 0; - out_8127227481367081246[281] = 0; - out_8127227481367081246[282] = 0; - out_8127227481367081246[283] = 0; - out_8127227481367081246[284] = 0; - out_8127227481367081246[285] = 1; - out_8127227481367081246[286] = 0; - out_8127227481367081246[287] = 0; - out_8127227481367081246[288] = 0; - out_8127227481367081246[289] = 0; - out_8127227481367081246[290] = 0; - out_8127227481367081246[291] = 0; - out_8127227481367081246[292] = 0; - out_8127227481367081246[293] = 0; - out_8127227481367081246[294] = 0; - out_8127227481367081246[295] = 0; - out_8127227481367081246[296] = 0; - out_8127227481367081246[297] = 0; - out_8127227481367081246[298] = 0; - out_8127227481367081246[299] = 0; - out_8127227481367081246[300] = 0; - out_8127227481367081246[301] = 0; - out_8127227481367081246[302] = 0; - out_8127227481367081246[303] = 0; - out_8127227481367081246[304] = 1; - out_8127227481367081246[305] = 0; - out_8127227481367081246[306] = 0; - out_8127227481367081246[307] = 0; - out_8127227481367081246[308] = 0; - out_8127227481367081246[309] = 0; - out_8127227481367081246[310] = 0; - out_8127227481367081246[311] = 0; - out_8127227481367081246[312] = 0; - out_8127227481367081246[313] = 0; - out_8127227481367081246[314] = 0; - out_8127227481367081246[315] = 0; - out_8127227481367081246[316] = 0; - out_8127227481367081246[317] = 0; - out_8127227481367081246[318] = 0; - out_8127227481367081246[319] = 0; - out_8127227481367081246[320] = 0; - out_8127227481367081246[321] = 0; - out_8127227481367081246[322] = 0; - out_8127227481367081246[323] = 1; +void F_fun(double *state, double dt, double *out_5041909296412759665) { + out_5041909296412759665[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_5041909296412759665[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_5041909296412759665[2] = 0; + out_5041909296412759665[3] = 0; + out_5041909296412759665[4] = 0; + out_5041909296412759665[5] = 0; + out_5041909296412759665[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_5041909296412759665[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_5041909296412759665[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_5041909296412759665[9] = 0; + out_5041909296412759665[10] = 0; + out_5041909296412759665[11] = 0; + out_5041909296412759665[12] = 0; + out_5041909296412759665[13] = 0; + out_5041909296412759665[14] = 0; + out_5041909296412759665[15] = 0; + out_5041909296412759665[16] = 0; + out_5041909296412759665[17] = 0; + out_5041909296412759665[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_5041909296412759665[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_5041909296412759665[20] = 0; + out_5041909296412759665[21] = 0; + out_5041909296412759665[22] = 0; + out_5041909296412759665[23] = 0; + out_5041909296412759665[24] = 0; + out_5041909296412759665[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_5041909296412759665[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_5041909296412759665[27] = 0; + out_5041909296412759665[28] = 0; + out_5041909296412759665[29] = 0; + out_5041909296412759665[30] = 0; + out_5041909296412759665[31] = 0; + out_5041909296412759665[32] = 0; + out_5041909296412759665[33] = 0; + out_5041909296412759665[34] = 0; + out_5041909296412759665[35] = 0; + out_5041909296412759665[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_5041909296412759665[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_5041909296412759665[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_5041909296412759665[39] = 0; + out_5041909296412759665[40] = 0; + out_5041909296412759665[41] = 0; + out_5041909296412759665[42] = 0; + out_5041909296412759665[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_5041909296412759665[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_5041909296412759665[45] = 0; + out_5041909296412759665[46] = 0; + out_5041909296412759665[47] = 0; + out_5041909296412759665[48] = 0; + out_5041909296412759665[49] = 0; + out_5041909296412759665[50] = 0; + out_5041909296412759665[51] = 0; + out_5041909296412759665[52] = 0; + out_5041909296412759665[53] = 0; + out_5041909296412759665[54] = 0; + out_5041909296412759665[55] = 0; + out_5041909296412759665[56] = 0; + out_5041909296412759665[57] = 1; + out_5041909296412759665[58] = 0; + out_5041909296412759665[59] = 0; + out_5041909296412759665[60] = 0; + out_5041909296412759665[61] = 0; + out_5041909296412759665[62] = 0; + out_5041909296412759665[63] = 0; + out_5041909296412759665[64] = 0; + out_5041909296412759665[65] = 0; + out_5041909296412759665[66] = dt; + out_5041909296412759665[67] = 0; + out_5041909296412759665[68] = 0; + out_5041909296412759665[69] = 0; + out_5041909296412759665[70] = 0; + out_5041909296412759665[71] = 0; + out_5041909296412759665[72] = 0; + out_5041909296412759665[73] = 0; + out_5041909296412759665[74] = 0; + out_5041909296412759665[75] = 0; + out_5041909296412759665[76] = 1; + out_5041909296412759665[77] = 0; + out_5041909296412759665[78] = 0; + out_5041909296412759665[79] = 0; + out_5041909296412759665[80] = 0; + out_5041909296412759665[81] = 0; + out_5041909296412759665[82] = 0; + out_5041909296412759665[83] = 0; + out_5041909296412759665[84] = 0; + out_5041909296412759665[85] = dt; + out_5041909296412759665[86] = 0; + out_5041909296412759665[87] = 0; + out_5041909296412759665[88] = 0; + out_5041909296412759665[89] = 0; + out_5041909296412759665[90] = 0; + out_5041909296412759665[91] = 0; + out_5041909296412759665[92] = 0; + out_5041909296412759665[93] = 0; + out_5041909296412759665[94] = 0; + out_5041909296412759665[95] = 1; + out_5041909296412759665[96] = 0; + out_5041909296412759665[97] = 0; + out_5041909296412759665[98] = 0; + out_5041909296412759665[99] = 0; + out_5041909296412759665[100] = 0; + out_5041909296412759665[101] = 0; + out_5041909296412759665[102] = 0; + out_5041909296412759665[103] = 0; + out_5041909296412759665[104] = dt; + out_5041909296412759665[105] = 0; + out_5041909296412759665[106] = 0; + out_5041909296412759665[107] = 0; + out_5041909296412759665[108] = 0; + out_5041909296412759665[109] = 0; + out_5041909296412759665[110] = 0; + out_5041909296412759665[111] = 0; + out_5041909296412759665[112] = 0; + out_5041909296412759665[113] = 0; + out_5041909296412759665[114] = 1; + out_5041909296412759665[115] = 0; + out_5041909296412759665[116] = 0; + out_5041909296412759665[117] = 0; + out_5041909296412759665[118] = 0; + out_5041909296412759665[119] = 0; + out_5041909296412759665[120] = 0; + out_5041909296412759665[121] = 0; + out_5041909296412759665[122] = 0; + out_5041909296412759665[123] = 0; + out_5041909296412759665[124] = 0; + out_5041909296412759665[125] = 0; + out_5041909296412759665[126] = 0; + out_5041909296412759665[127] = 0; + out_5041909296412759665[128] = 0; + out_5041909296412759665[129] = 0; + out_5041909296412759665[130] = 0; + out_5041909296412759665[131] = 0; + out_5041909296412759665[132] = 0; + out_5041909296412759665[133] = 1; + out_5041909296412759665[134] = 0; + out_5041909296412759665[135] = 0; + out_5041909296412759665[136] = 0; + out_5041909296412759665[137] = 0; + out_5041909296412759665[138] = 0; + out_5041909296412759665[139] = 0; + out_5041909296412759665[140] = 0; + out_5041909296412759665[141] = 0; + out_5041909296412759665[142] = 0; + out_5041909296412759665[143] = 0; + out_5041909296412759665[144] = 0; + out_5041909296412759665[145] = 0; + out_5041909296412759665[146] = 0; + out_5041909296412759665[147] = 0; + out_5041909296412759665[148] = 0; + out_5041909296412759665[149] = 0; + out_5041909296412759665[150] = 0; + out_5041909296412759665[151] = 0; + out_5041909296412759665[152] = 1; + out_5041909296412759665[153] = 0; + out_5041909296412759665[154] = 0; + out_5041909296412759665[155] = 0; + out_5041909296412759665[156] = 0; + out_5041909296412759665[157] = 0; + out_5041909296412759665[158] = 0; + out_5041909296412759665[159] = 0; + out_5041909296412759665[160] = 0; + out_5041909296412759665[161] = 0; + out_5041909296412759665[162] = 0; + out_5041909296412759665[163] = 0; + out_5041909296412759665[164] = 0; + out_5041909296412759665[165] = 0; + out_5041909296412759665[166] = 0; + out_5041909296412759665[167] = 0; + out_5041909296412759665[168] = 0; + out_5041909296412759665[169] = 0; + out_5041909296412759665[170] = 0; + out_5041909296412759665[171] = 1; + out_5041909296412759665[172] = 0; + out_5041909296412759665[173] = 0; + out_5041909296412759665[174] = 0; + out_5041909296412759665[175] = 0; + out_5041909296412759665[176] = 0; + out_5041909296412759665[177] = 0; + out_5041909296412759665[178] = 0; + out_5041909296412759665[179] = 0; + out_5041909296412759665[180] = 0; + out_5041909296412759665[181] = 0; + out_5041909296412759665[182] = 0; + out_5041909296412759665[183] = 0; + out_5041909296412759665[184] = 0; + out_5041909296412759665[185] = 0; + out_5041909296412759665[186] = 0; + out_5041909296412759665[187] = 0; + out_5041909296412759665[188] = 0; + out_5041909296412759665[189] = 0; + out_5041909296412759665[190] = 1; + out_5041909296412759665[191] = 0; + out_5041909296412759665[192] = 0; + out_5041909296412759665[193] = 0; + out_5041909296412759665[194] = 0; + out_5041909296412759665[195] = 0; + out_5041909296412759665[196] = 0; + out_5041909296412759665[197] = 0; + out_5041909296412759665[198] = 0; + out_5041909296412759665[199] = 0; + out_5041909296412759665[200] = 0; + out_5041909296412759665[201] = 0; + out_5041909296412759665[202] = 0; + out_5041909296412759665[203] = 0; + out_5041909296412759665[204] = 0; + out_5041909296412759665[205] = 0; + out_5041909296412759665[206] = 0; + out_5041909296412759665[207] = 0; + out_5041909296412759665[208] = 0; + out_5041909296412759665[209] = 1; + out_5041909296412759665[210] = 0; + out_5041909296412759665[211] = 0; + out_5041909296412759665[212] = 0; + out_5041909296412759665[213] = 0; + out_5041909296412759665[214] = 0; + out_5041909296412759665[215] = 0; + out_5041909296412759665[216] = 0; + out_5041909296412759665[217] = 0; + out_5041909296412759665[218] = 0; + out_5041909296412759665[219] = 0; + out_5041909296412759665[220] = 0; + out_5041909296412759665[221] = 0; + out_5041909296412759665[222] = 0; + out_5041909296412759665[223] = 0; + out_5041909296412759665[224] = 0; + out_5041909296412759665[225] = 0; + out_5041909296412759665[226] = 0; + out_5041909296412759665[227] = 0; + out_5041909296412759665[228] = 1; + out_5041909296412759665[229] = 0; + out_5041909296412759665[230] = 0; + out_5041909296412759665[231] = 0; + out_5041909296412759665[232] = 0; + out_5041909296412759665[233] = 0; + out_5041909296412759665[234] = 0; + out_5041909296412759665[235] = 0; + out_5041909296412759665[236] = 0; + out_5041909296412759665[237] = 0; + out_5041909296412759665[238] = 0; + out_5041909296412759665[239] = 0; + out_5041909296412759665[240] = 0; + out_5041909296412759665[241] = 0; + out_5041909296412759665[242] = 0; + out_5041909296412759665[243] = 0; + out_5041909296412759665[244] = 0; + out_5041909296412759665[245] = 0; + out_5041909296412759665[246] = 0; + out_5041909296412759665[247] = 1; + out_5041909296412759665[248] = 0; + out_5041909296412759665[249] = 0; + out_5041909296412759665[250] = 0; + out_5041909296412759665[251] = 0; + out_5041909296412759665[252] = 0; + out_5041909296412759665[253] = 0; + out_5041909296412759665[254] = 0; + out_5041909296412759665[255] = 0; + out_5041909296412759665[256] = 0; + out_5041909296412759665[257] = 0; + out_5041909296412759665[258] = 0; + out_5041909296412759665[259] = 0; + out_5041909296412759665[260] = 0; + out_5041909296412759665[261] = 0; + out_5041909296412759665[262] = 0; + out_5041909296412759665[263] = 0; + out_5041909296412759665[264] = 0; + out_5041909296412759665[265] = 0; + out_5041909296412759665[266] = 1; + out_5041909296412759665[267] = 0; + out_5041909296412759665[268] = 0; + out_5041909296412759665[269] = 0; + out_5041909296412759665[270] = 0; + out_5041909296412759665[271] = 0; + out_5041909296412759665[272] = 0; + out_5041909296412759665[273] = 0; + out_5041909296412759665[274] = 0; + out_5041909296412759665[275] = 0; + out_5041909296412759665[276] = 0; + out_5041909296412759665[277] = 0; + out_5041909296412759665[278] = 0; + out_5041909296412759665[279] = 0; + out_5041909296412759665[280] = 0; + out_5041909296412759665[281] = 0; + out_5041909296412759665[282] = 0; + out_5041909296412759665[283] = 0; + out_5041909296412759665[284] = 0; + out_5041909296412759665[285] = 1; + out_5041909296412759665[286] = 0; + out_5041909296412759665[287] = 0; + out_5041909296412759665[288] = 0; + out_5041909296412759665[289] = 0; + out_5041909296412759665[290] = 0; + out_5041909296412759665[291] = 0; + out_5041909296412759665[292] = 0; + out_5041909296412759665[293] = 0; + out_5041909296412759665[294] = 0; + out_5041909296412759665[295] = 0; + out_5041909296412759665[296] = 0; + out_5041909296412759665[297] = 0; + out_5041909296412759665[298] = 0; + out_5041909296412759665[299] = 0; + out_5041909296412759665[300] = 0; + out_5041909296412759665[301] = 0; + out_5041909296412759665[302] = 0; + out_5041909296412759665[303] = 0; + out_5041909296412759665[304] = 1; + out_5041909296412759665[305] = 0; + out_5041909296412759665[306] = 0; + out_5041909296412759665[307] = 0; + out_5041909296412759665[308] = 0; + out_5041909296412759665[309] = 0; + out_5041909296412759665[310] = 0; + out_5041909296412759665[311] = 0; + out_5041909296412759665[312] = 0; + out_5041909296412759665[313] = 0; + out_5041909296412759665[314] = 0; + out_5041909296412759665[315] = 0; + out_5041909296412759665[316] = 0; + out_5041909296412759665[317] = 0; + out_5041909296412759665[318] = 0; + out_5041909296412759665[319] = 0; + out_5041909296412759665[320] = 0; + out_5041909296412759665[321] = 0; + out_5041909296412759665[322] = 0; + out_5041909296412759665[323] = 1; } -void h_4(double *state, double *unused, double *out_3493540261963132576) { - out_3493540261963132576[0] = state[6] + state[9]; - out_3493540261963132576[1] = state[7] + state[10]; - out_3493540261963132576[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6410794677621402397) { + out_6410794677621402397[0] = state[6] + state[9]; + out_6410794677621402397[1] = state[7] + state[10]; + out_6410794677621402397[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_425547638922626870) { - out_425547638922626870[0] = 0; - out_425547638922626870[1] = 0; - out_425547638922626870[2] = 0; - out_425547638922626870[3] = 0; - out_425547638922626870[4] = 0; - out_425547638922626870[5] = 0; - out_425547638922626870[6] = 1; - out_425547638922626870[7] = 0; - out_425547638922626870[8] = 0; - out_425547638922626870[9] = 1; - out_425547638922626870[10] = 0; - out_425547638922626870[11] = 0; - out_425547638922626870[12] = 0; - out_425547638922626870[13] = 0; - out_425547638922626870[14] = 0; - out_425547638922626870[15] = 0; - out_425547638922626870[16] = 0; - out_425547638922626870[17] = 0; - out_425547638922626870[18] = 0; - out_425547638922626870[19] = 0; - out_425547638922626870[20] = 0; - out_425547638922626870[21] = 0; - out_425547638922626870[22] = 0; - out_425547638922626870[23] = 0; - out_425547638922626870[24] = 0; - out_425547638922626870[25] = 1; - out_425547638922626870[26] = 0; - out_425547638922626870[27] = 0; - out_425547638922626870[28] = 1; - out_425547638922626870[29] = 0; - out_425547638922626870[30] = 0; - out_425547638922626870[31] = 0; - out_425547638922626870[32] = 0; - out_425547638922626870[33] = 0; - out_425547638922626870[34] = 0; - out_425547638922626870[35] = 0; - out_425547638922626870[36] = 0; - out_425547638922626870[37] = 0; - out_425547638922626870[38] = 0; - out_425547638922626870[39] = 0; - out_425547638922626870[40] = 0; - out_425547638922626870[41] = 0; - out_425547638922626870[42] = 0; - out_425547638922626870[43] = 0; - out_425547638922626870[44] = 1; - out_425547638922626870[45] = 0; - out_425547638922626870[46] = 0; - out_425547638922626870[47] = 1; - out_425547638922626870[48] = 0; - out_425547638922626870[49] = 0; - out_425547638922626870[50] = 0; - out_425547638922626870[51] = 0; - out_425547638922626870[52] = 0; - out_425547638922626870[53] = 0; +void H_4(double *state, double *unused, double *out_7109558773609863934) { + out_7109558773609863934[0] = 0; + out_7109558773609863934[1] = 0; + out_7109558773609863934[2] = 0; + out_7109558773609863934[3] = 0; + out_7109558773609863934[4] = 0; + out_7109558773609863934[5] = 0; + out_7109558773609863934[6] = 1; + out_7109558773609863934[7] = 0; + out_7109558773609863934[8] = 0; + out_7109558773609863934[9] = 1; + out_7109558773609863934[10] = 0; + out_7109558773609863934[11] = 0; + out_7109558773609863934[12] = 0; + out_7109558773609863934[13] = 0; + out_7109558773609863934[14] = 0; + out_7109558773609863934[15] = 0; + out_7109558773609863934[16] = 0; + out_7109558773609863934[17] = 0; + out_7109558773609863934[18] = 0; + out_7109558773609863934[19] = 0; + out_7109558773609863934[20] = 0; + out_7109558773609863934[21] = 0; + out_7109558773609863934[22] = 0; + out_7109558773609863934[23] = 0; + out_7109558773609863934[24] = 0; + out_7109558773609863934[25] = 1; + out_7109558773609863934[26] = 0; + out_7109558773609863934[27] = 0; + out_7109558773609863934[28] = 1; + out_7109558773609863934[29] = 0; + out_7109558773609863934[30] = 0; + out_7109558773609863934[31] = 0; + out_7109558773609863934[32] = 0; + out_7109558773609863934[33] = 0; + out_7109558773609863934[34] = 0; + out_7109558773609863934[35] = 0; + out_7109558773609863934[36] = 0; + out_7109558773609863934[37] = 0; + out_7109558773609863934[38] = 0; + out_7109558773609863934[39] = 0; + out_7109558773609863934[40] = 0; + out_7109558773609863934[41] = 0; + out_7109558773609863934[42] = 0; + out_7109558773609863934[43] = 0; + out_7109558773609863934[44] = 1; + out_7109558773609863934[45] = 0; + out_7109558773609863934[46] = 0; + out_7109558773609863934[47] = 1; + out_7109558773609863934[48] = 0; + out_7109558773609863934[49] = 0; + out_7109558773609863934[50] = 0; + out_7109558773609863934[51] = 0; + out_7109558773609863934[52] = 0; + out_7109558773609863934[53] = 0; } -void h_10(double *state, double *unused, double *out_6421583794262292879) { - out_6421583794262292879[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6421583794262292879[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6421583794262292879[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; +void h_10(double *state, double *unused, double *out_7278806369328538184) { + out_7278806369328538184[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7278806369328538184[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7278806369328538184[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_2093218466854338741) { - out_2093218466854338741[0] = 0; - out_2093218466854338741[1] = 9.8100000000000005*cos(state[1]); - out_2093218466854338741[2] = 0; - out_2093218466854338741[3] = 0; - out_2093218466854338741[4] = -state[8]; - out_2093218466854338741[5] = state[7]; - out_2093218466854338741[6] = 0; - out_2093218466854338741[7] = state[5]; - out_2093218466854338741[8] = -state[4]; - out_2093218466854338741[9] = 0; - out_2093218466854338741[10] = 0; - out_2093218466854338741[11] = 0; - out_2093218466854338741[12] = 1; - out_2093218466854338741[13] = 0; - out_2093218466854338741[14] = 0; - out_2093218466854338741[15] = 1; - out_2093218466854338741[16] = 0; - out_2093218466854338741[17] = 0; - out_2093218466854338741[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2093218466854338741[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2093218466854338741[20] = 0; - out_2093218466854338741[21] = state[8]; - out_2093218466854338741[22] = 0; - out_2093218466854338741[23] = -state[6]; - out_2093218466854338741[24] = -state[5]; - out_2093218466854338741[25] = 0; - out_2093218466854338741[26] = state[3]; - out_2093218466854338741[27] = 0; - out_2093218466854338741[28] = 0; - out_2093218466854338741[29] = 0; - out_2093218466854338741[30] = 0; - out_2093218466854338741[31] = 1; - out_2093218466854338741[32] = 0; - out_2093218466854338741[33] = 0; - out_2093218466854338741[34] = 1; - out_2093218466854338741[35] = 0; - out_2093218466854338741[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2093218466854338741[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2093218466854338741[38] = 0; - out_2093218466854338741[39] = -state[7]; - out_2093218466854338741[40] = state[6]; - out_2093218466854338741[41] = 0; - out_2093218466854338741[42] = state[4]; - out_2093218466854338741[43] = -state[3]; - out_2093218466854338741[44] = 0; - out_2093218466854338741[45] = 0; - out_2093218466854338741[46] = 0; - out_2093218466854338741[47] = 0; - out_2093218466854338741[48] = 0; - out_2093218466854338741[49] = 0; - out_2093218466854338741[50] = 1; - out_2093218466854338741[51] = 0; - out_2093218466854338741[52] = 0; - out_2093218466854338741[53] = 1; +void H_10(double *state, double *unused, double *out_6138938714751040661) { + out_6138938714751040661[0] = 0; + out_6138938714751040661[1] = 9.8100000000000005*cos(state[1]); + out_6138938714751040661[2] = 0; + out_6138938714751040661[3] = 0; + out_6138938714751040661[4] = -state[8]; + out_6138938714751040661[5] = state[7]; + out_6138938714751040661[6] = 0; + out_6138938714751040661[7] = state[5]; + out_6138938714751040661[8] = -state[4]; + out_6138938714751040661[9] = 0; + out_6138938714751040661[10] = 0; + out_6138938714751040661[11] = 0; + out_6138938714751040661[12] = 1; + out_6138938714751040661[13] = 0; + out_6138938714751040661[14] = 0; + out_6138938714751040661[15] = 1; + out_6138938714751040661[16] = 0; + out_6138938714751040661[17] = 0; + out_6138938714751040661[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6138938714751040661[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6138938714751040661[20] = 0; + out_6138938714751040661[21] = state[8]; + out_6138938714751040661[22] = 0; + out_6138938714751040661[23] = -state[6]; + out_6138938714751040661[24] = -state[5]; + out_6138938714751040661[25] = 0; + out_6138938714751040661[26] = state[3]; + out_6138938714751040661[27] = 0; + out_6138938714751040661[28] = 0; + out_6138938714751040661[29] = 0; + out_6138938714751040661[30] = 0; + out_6138938714751040661[31] = 1; + out_6138938714751040661[32] = 0; + out_6138938714751040661[33] = 0; + out_6138938714751040661[34] = 1; + out_6138938714751040661[35] = 0; + out_6138938714751040661[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6138938714751040661[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6138938714751040661[38] = 0; + out_6138938714751040661[39] = -state[7]; + out_6138938714751040661[40] = state[6]; + out_6138938714751040661[41] = 0; + out_6138938714751040661[42] = state[4]; + out_6138938714751040661[43] = -state[3]; + out_6138938714751040661[44] = 0; + out_6138938714751040661[45] = 0; + out_6138938714751040661[46] = 0; + out_6138938714751040661[47] = 0; + out_6138938714751040661[48] = 0; + out_6138938714751040661[49] = 0; + out_6138938714751040661[50] = 1; + out_6138938714751040661[51] = 0; + out_6138938714751040661[52] = 0; + out_6138938714751040661[53] = 1; } -void h_13(double *state, double *unused, double *out_3950551688454018720) { - out_3950551688454018720[0] = state[3]; - out_3950551688454018720[1] = state[4]; - out_3950551688454018720[2] = state[5]; +void h_13(double *state, double *unused, double *out_8268474279687789459) { + out_8268474279687789459[0] = state[3]; + out_8268474279687789459[1] = state[4]; + out_8268474279687789459[2] = state[5]; } -void H_13(double *state, double *unused, double *out_3637821464254959671) { - out_3637821464254959671[0] = 0; - out_3637821464254959671[1] = 0; - out_3637821464254959671[2] = 0; - out_3637821464254959671[3] = 1; - out_3637821464254959671[4] = 0; - out_3637821464254959671[5] = 0; - out_3637821464254959671[6] = 0; - out_3637821464254959671[7] = 0; - out_3637821464254959671[8] = 0; - out_3637821464254959671[9] = 0; - out_3637821464254959671[10] = 0; - out_3637821464254959671[11] = 0; - out_3637821464254959671[12] = 0; - out_3637821464254959671[13] = 0; - out_3637821464254959671[14] = 0; - out_3637821464254959671[15] = 0; - out_3637821464254959671[16] = 0; - out_3637821464254959671[17] = 0; - out_3637821464254959671[18] = 0; - out_3637821464254959671[19] = 0; - out_3637821464254959671[20] = 0; - out_3637821464254959671[21] = 0; - out_3637821464254959671[22] = 1; - out_3637821464254959671[23] = 0; - out_3637821464254959671[24] = 0; - out_3637821464254959671[25] = 0; - out_3637821464254959671[26] = 0; - out_3637821464254959671[27] = 0; - out_3637821464254959671[28] = 0; - out_3637821464254959671[29] = 0; - out_3637821464254959671[30] = 0; - out_3637821464254959671[31] = 0; - out_3637821464254959671[32] = 0; - out_3637821464254959671[33] = 0; - out_3637821464254959671[34] = 0; - out_3637821464254959671[35] = 0; - out_3637821464254959671[36] = 0; - out_3637821464254959671[37] = 0; - out_3637821464254959671[38] = 0; - out_3637821464254959671[39] = 0; - out_3637821464254959671[40] = 0; - out_3637821464254959671[41] = 1; - out_3637821464254959671[42] = 0; - out_3637821464254959671[43] = 0; - out_3637821464254959671[44] = 0; - out_3637821464254959671[45] = 0; - out_3637821464254959671[46] = 0; - out_3637821464254959671[47] = 0; - out_3637821464254959671[48] = 0; - out_3637821464254959671[49] = 0; - out_3637821464254959671[50] = 0; - out_3637821464254959671[51] = 0; - out_3637821464254959671[52] = 0; - out_3637821464254959671[53] = 0; +void H_13(double *state, double *unused, double *out_3897284948277531133) { + out_3897284948277531133[0] = 0; + out_3897284948277531133[1] = 0; + out_3897284948277531133[2] = 0; + out_3897284948277531133[3] = 1; + out_3897284948277531133[4] = 0; + out_3897284948277531133[5] = 0; + out_3897284948277531133[6] = 0; + out_3897284948277531133[7] = 0; + out_3897284948277531133[8] = 0; + out_3897284948277531133[9] = 0; + out_3897284948277531133[10] = 0; + out_3897284948277531133[11] = 0; + out_3897284948277531133[12] = 0; + out_3897284948277531133[13] = 0; + out_3897284948277531133[14] = 0; + out_3897284948277531133[15] = 0; + out_3897284948277531133[16] = 0; + out_3897284948277531133[17] = 0; + out_3897284948277531133[18] = 0; + out_3897284948277531133[19] = 0; + out_3897284948277531133[20] = 0; + out_3897284948277531133[21] = 0; + out_3897284948277531133[22] = 1; + out_3897284948277531133[23] = 0; + out_3897284948277531133[24] = 0; + out_3897284948277531133[25] = 0; + out_3897284948277531133[26] = 0; + out_3897284948277531133[27] = 0; + out_3897284948277531133[28] = 0; + out_3897284948277531133[29] = 0; + out_3897284948277531133[30] = 0; + out_3897284948277531133[31] = 0; + out_3897284948277531133[32] = 0; + out_3897284948277531133[33] = 0; + out_3897284948277531133[34] = 0; + out_3897284948277531133[35] = 0; + out_3897284948277531133[36] = 0; + out_3897284948277531133[37] = 0; + out_3897284948277531133[38] = 0; + out_3897284948277531133[39] = 0; + out_3897284948277531133[40] = 0; + out_3897284948277531133[41] = 1; + out_3897284948277531133[42] = 0; + out_3897284948277531133[43] = 0; + out_3897284948277531133[44] = 0; + out_3897284948277531133[45] = 0; + out_3897284948277531133[46] = 0; + out_3897284948277531133[47] = 0; + out_3897284948277531133[48] = 0; + out_3897284948277531133[49] = 0; + out_3897284948277531133[50] = 0; + out_3897284948277531133[51] = 0; + out_3897284948277531133[52] = 0; + out_3897284948277531133[53] = 0; } -void h_14(double *state, double *unused, double *out_4675773390607303658) { - out_4675773390607303658[0] = state[6]; - out_4675773390607303658[1] = state[7]; - out_4675773390607303658[2] = state[8]; +void h_14(double *state, double *unused, double *out_6172142331242380649) { + out_6172142331242380649[0] = state[6]; + out_6172142331242380649[1] = state[7]; + out_6172142331242380649[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2657240793372745426) { - out_2657240793372745426[0] = 0; - out_2657240793372745426[1] = 0; - out_2657240793372745426[2] = 0; - out_2657240793372745426[3] = 0; - out_2657240793372745426[4] = 0; - out_2657240793372745426[5] = 0; - out_2657240793372745426[6] = 1; - out_2657240793372745426[7] = 0; - out_2657240793372745426[8] = 0; - out_2657240793372745426[9] = 0; - out_2657240793372745426[10] = 0; - out_2657240793372745426[11] = 0; - out_2657240793372745426[12] = 0; - out_2657240793372745426[13] = 0; - out_2657240793372745426[14] = 0; - out_2657240793372745426[15] = 0; - out_2657240793372745426[16] = 0; - out_2657240793372745426[17] = 0; - out_2657240793372745426[18] = 0; - out_2657240793372745426[19] = 0; - out_2657240793372745426[20] = 0; - out_2657240793372745426[21] = 0; - out_2657240793372745426[22] = 0; - out_2657240793372745426[23] = 0; - out_2657240793372745426[24] = 0; - out_2657240793372745426[25] = 1; - out_2657240793372745426[26] = 0; - out_2657240793372745426[27] = 0; - out_2657240793372745426[28] = 0; - out_2657240793372745426[29] = 0; - out_2657240793372745426[30] = 0; - out_2657240793372745426[31] = 0; - out_2657240793372745426[32] = 0; - out_2657240793372745426[33] = 0; - out_2657240793372745426[34] = 0; - out_2657240793372745426[35] = 0; - out_2657240793372745426[36] = 0; - out_2657240793372745426[37] = 0; - out_2657240793372745426[38] = 0; - out_2657240793372745426[39] = 0; - out_2657240793372745426[40] = 0; - out_2657240793372745426[41] = 0; - out_2657240793372745426[42] = 0; - out_2657240793372745426[43] = 0; - out_2657240793372745426[44] = 1; - out_2657240793372745426[45] = 0; - out_2657240793372745426[46] = 0; - out_2657240793372745426[47] = 0; - out_2657240793372745426[48] = 0; - out_2657240793372745426[49] = 0; - out_2657240793372745426[50] = 0; - out_2657240793372745426[51] = 0; - out_2657240793372745426[52] = 0; - out_2657240793372745426[53] = 0; +void H_14(double *state, double *unused, double *out_3146317917270379405) { + out_3146317917270379405[0] = 0; + out_3146317917270379405[1] = 0; + out_3146317917270379405[2] = 0; + out_3146317917270379405[3] = 0; + out_3146317917270379405[4] = 0; + out_3146317917270379405[5] = 0; + out_3146317917270379405[6] = 1; + out_3146317917270379405[7] = 0; + out_3146317917270379405[8] = 0; + out_3146317917270379405[9] = 0; + out_3146317917270379405[10] = 0; + out_3146317917270379405[11] = 0; + out_3146317917270379405[12] = 0; + out_3146317917270379405[13] = 0; + out_3146317917270379405[14] = 0; + out_3146317917270379405[15] = 0; + out_3146317917270379405[16] = 0; + out_3146317917270379405[17] = 0; + out_3146317917270379405[18] = 0; + out_3146317917270379405[19] = 0; + out_3146317917270379405[20] = 0; + out_3146317917270379405[21] = 0; + out_3146317917270379405[22] = 0; + out_3146317917270379405[23] = 0; + out_3146317917270379405[24] = 0; + out_3146317917270379405[25] = 1; + out_3146317917270379405[26] = 0; + out_3146317917270379405[27] = 0; + out_3146317917270379405[28] = 0; + out_3146317917270379405[29] = 0; + out_3146317917270379405[30] = 0; + out_3146317917270379405[31] = 0; + out_3146317917270379405[32] = 0; + out_3146317917270379405[33] = 0; + out_3146317917270379405[34] = 0; + out_3146317917270379405[35] = 0; + out_3146317917270379405[36] = 0; + out_3146317917270379405[37] = 0; + out_3146317917270379405[38] = 0; + out_3146317917270379405[39] = 0; + out_3146317917270379405[40] = 0; + out_3146317917270379405[41] = 0; + out_3146317917270379405[42] = 0; + out_3146317917270379405[43] = 0; + out_3146317917270379405[44] = 1; + out_3146317917270379405[45] = 0; + out_3146317917270379405[46] = 0; + out_3146317917270379405[47] = 0; + out_3146317917270379405[48] = 0; + out_3146317917270379405[49] = 0; + out_3146317917270379405[50] = 0; + out_3146317917270379405[51] = 0; + out_3146317917270379405[52] = 0; + out_3146317917270379405[53] = 0; } #include #include @@ -1113,44 +1113,44 @@ void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, doub void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14); } -void pose_err_fun(double *nom_x, double *delta_x, double *out_3892827861815398533) { - err_fun(nom_x, delta_x, out_3892827861815398533); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5518524982420716050) { + err_fun(nom_x, delta_x, out_5518524982420716050); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_341451131886162609) { - inv_err_fun(nom_x, true_x, out_341451131886162609); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4331401110135306651) { + inv_err_fun(nom_x, true_x, out_4331401110135306651); } -void pose_H_mod_fun(double *state, double *out_328613363132085737) { - H_mod_fun(state, out_328613363132085737); +void pose_H_mod_fun(double *state, double *out_3835336694818914681) { + H_mod_fun(state, out_3835336694818914681); } -void pose_f_fun(double *state, double dt, double *out_2411932017416861366) { - f_fun(state, dt, out_2411932017416861366); +void pose_f_fun(double *state, double dt, double *out_4487166249411202898) { + f_fun(state, dt, out_4487166249411202898); } -void pose_F_fun(double *state, double dt, double *out_8127227481367081246) { - F_fun(state, dt, out_8127227481367081246); +void pose_F_fun(double *state, double dt, double *out_5041909296412759665) { + F_fun(state, dt, out_5041909296412759665); } -void pose_h_4(double *state, double *unused, double *out_3493540261963132576) { - h_4(state, unused, out_3493540261963132576); +void pose_h_4(double *state, double *unused, double *out_6410794677621402397) { + h_4(state, unused, out_6410794677621402397); } -void pose_H_4(double *state, double *unused, double *out_425547638922626870) { - H_4(state, unused, out_425547638922626870); +void pose_H_4(double *state, double *unused, double *out_7109558773609863934) { + H_4(state, unused, out_7109558773609863934); } -void pose_h_10(double *state, double *unused, double *out_6421583794262292879) { - h_10(state, unused, out_6421583794262292879); +void pose_h_10(double *state, double *unused, double *out_7278806369328538184) { + h_10(state, unused, out_7278806369328538184); } -void pose_H_10(double *state, double *unused, double *out_2093218466854338741) { - H_10(state, unused, out_2093218466854338741); +void pose_H_10(double *state, double *unused, double *out_6138938714751040661) { + H_10(state, unused, out_6138938714751040661); } -void pose_h_13(double *state, double *unused, double *out_3950551688454018720) { - h_13(state, unused, out_3950551688454018720); +void pose_h_13(double *state, double *unused, double *out_8268474279687789459) { + h_13(state, unused, out_8268474279687789459); } -void pose_H_13(double *state, double *unused, double *out_3637821464254959671) { - H_13(state, unused, out_3637821464254959671); +void pose_H_13(double *state, double *unused, double *out_3897284948277531133) { + H_13(state, unused, out_3897284948277531133); } -void pose_h_14(double *state, double *unused, double *out_4675773390607303658) { - h_14(state, unused, out_4675773390607303658); +void pose_h_14(double *state, double *unused, double *out_6172142331242380649) { + h_14(state, unused, out_6172142331242380649); } -void pose_H_14(double *state, double *unused, double *out_2657240793372745426) { - H_14(state, unused, out_2657240793372745426); +void pose_H_14(double *state, double *unused, double *out_3146317917270379405) { + H_14(state, unused, out_3146317917270379405); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/pose.h b/selfdrive/locationd/models/generated/pose.h index e0a528369..b99101110 100644 --- a/selfdrive/locationd/models/generated/pose.h +++ b/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_3892827861815398533); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_341451131886162609); -void pose_H_mod_fun(double *state, double *out_328613363132085737); -void pose_f_fun(double *state, double dt, double *out_2411932017416861366); -void pose_F_fun(double *state, double dt, double *out_8127227481367081246); -void pose_h_4(double *state, double *unused, double *out_3493540261963132576); -void pose_H_4(double *state, double *unused, double *out_425547638922626870); -void pose_h_10(double *state, double *unused, double *out_6421583794262292879); -void pose_H_10(double *state, double *unused, double *out_2093218466854338741); -void pose_h_13(double *state, double *unused, double *out_3950551688454018720); -void pose_H_13(double *state, double *unused, double *out_3637821464254959671); -void pose_h_14(double *state, double *unused, double *out_4675773390607303658); -void pose_H_14(double *state, double *unused, double *out_2657240793372745426); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5518524982420716050); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4331401110135306651); +void pose_H_mod_fun(double *state, double *out_3835336694818914681); +void pose_f_fun(double *state, double dt, double *out_4487166249411202898); +void pose_F_fun(double *state, double dt, double *out_5041909296412759665); +void pose_h_4(double *state, double *unused, double *out_6410794677621402397); +void pose_H_4(double *state, double *unused, double *out_7109558773609863934); +void pose_h_10(double *state, double *unused, double *out_7278806369328538184); +void pose_H_10(double *state, double *unused, double *out_6138938714751040661); +void pose_h_13(double *state, double *unused, double *out_8268474279687789459); +void pose_H_13(double *state, double *unused, double *out_3897284948277531133); +void pose_h_14(double *state, double *unused, double *out_6172142331242380649); +void pose_H_14(double *state, double *unused, double *out_3146317917270379405); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 611894cb8..174c4fc69 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ