diff --git a/common/libcommon.a b/common/libcommon.a index a1fd84de7..aca92d2f6 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index d865e11da..f277b9b7c 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index a3efe5598..6905901a4 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 5cb8c74b2..11c44da26 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 5b198d22a..8f143be8a 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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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 e9d96ced8..93cf334f0 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 332744491..3ffa40738 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 2bfca92a3..2ae2f29b4 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-a67c8f98-DEBUG"; +const uint8_t gitversion[19] = "DEV-334481c7-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 1179eed39..a26c328d5 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 2a9de4a78..18b8f30ff 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 c400150bd..12fe30862 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 c290153e5..3e59e7c87 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 48ee10364..98a8b900a 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and 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a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index f9b47892f..a14e7ceca 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 c46ab7385..578ea7404 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 db64b5fc5..2cbf245b5 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 fe7925562..91c3a3580 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 88c4a7140..ce308ce7b 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 3f52e0597..1ed4ac36b 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 489eeacf2..0992d934d 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 9ec06505e..ade6b5c65 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 7727e1195..2d1f68a67 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 a587ba49a..66a0a9cbb 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 f6f885759..9e3ff0732 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 1d9a6681c..cd3566090 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-a67c8f98-DEBUG \ No newline at end of file +DEV-334481c7-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index eb5d83568..36e3d3f49 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_3886210737280219279) { - out_3886210737280219279[0] = delta_x[0] + nom_x[0]; - out_3886210737280219279[1] = delta_x[1] + nom_x[1]; - out_3886210737280219279[2] = delta_x[2] + nom_x[2]; - out_3886210737280219279[3] = delta_x[3] + nom_x[3]; - out_3886210737280219279[4] = delta_x[4] + nom_x[4]; - out_3886210737280219279[5] = delta_x[5] + nom_x[5]; - out_3886210737280219279[6] = delta_x[6] + nom_x[6]; - out_3886210737280219279[7] = delta_x[7] + nom_x[7]; - out_3886210737280219279[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6549097700781342010) { + out_6549097700781342010[0] = delta_x[0] + nom_x[0]; + out_6549097700781342010[1] = delta_x[1] + nom_x[1]; + out_6549097700781342010[2] = delta_x[2] + nom_x[2]; + out_6549097700781342010[3] = delta_x[3] + nom_x[3]; + out_6549097700781342010[4] = delta_x[4] + nom_x[4]; + out_6549097700781342010[5] = delta_x[5] + nom_x[5]; + out_6549097700781342010[6] = delta_x[6] + nom_x[6]; + out_6549097700781342010[7] = delta_x[7] + nom_x[7]; + out_6549097700781342010[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_9203878995777804762) { - out_9203878995777804762[0] = -nom_x[0] + true_x[0]; - out_9203878995777804762[1] = -nom_x[1] + true_x[1]; - out_9203878995777804762[2] = -nom_x[2] + true_x[2]; - out_9203878995777804762[3] = -nom_x[3] + true_x[3]; - out_9203878995777804762[4] = -nom_x[4] + true_x[4]; - out_9203878995777804762[5] = -nom_x[5] + true_x[5]; - out_9203878995777804762[6] = -nom_x[6] + true_x[6]; - out_9203878995777804762[7] = -nom_x[7] + true_x[7]; - out_9203878995777804762[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8354153438521949351) { + out_8354153438521949351[0] = -nom_x[0] + true_x[0]; + out_8354153438521949351[1] = -nom_x[1] + true_x[1]; + out_8354153438521949351[2] = -nom_x[2] + true_x[2]; + out_8354153438521949351[3] = -nom_x[3] + true_x[3]; + out_8354153438521949351[4] = -nom_x[4] + true_x[4]; + out_8354153438521949351[5] = -nom_x[5] + true_x[5]; + out_8354153438521949351[6] = -nom_x[6] + true_x[6]; + out_8354153438521949351[7] = -nom_x[7] + true_x[7]; + out_8354153438521949351[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8506196822923476348) { - out_8506196822923476348[0] = 1.0; - out_8506196822923476348[1] = 0.0; - out_8506196822923476348[2] = 0.0; - out_8506196822923476348[3] = 0.0; - out_8506196822923476348[4] = 0.0; - out_8506196822923476348[5] = 0.0; - out_8506196822923476348[6] = 0.0; - out_8506196822923476348[7] = 0.0; - out_8506196822923476348[8] = 0.0; - out_8506196822923476348[9] = 0.0; - out_8506196822923476348[10] = 1.0; - out_8506196822923476348[11] = 0.0; - out_8506196822923476348[12] = 0.0; - out_8506196822923476348[13] = 0.0; - out_8506196822923476348[14] = 0.0; - out_8506196822923476348[15] = 0.0; - out_8506196822923476348[16] = 0.0; - out_8506196822923476348[17] = 0.0; - out_8506196822923476348[18] = 0.0; - out_8506196822923476348[19] = 0.0; - out_8506196822923476348[20] = 1.0; - out_8506196822923476348[21] = 0.0; - out_8506196822923476348[22] = 0.0; - out_8506196822923476348[23] = 0.0; - out_8506196822923476348[24] = 0.0; - out_8506196822923476348[25] = 0.0; - out_8506196822923476348[26] = 0.0; - out_8506196822923476348[27] = 0.0; - out_8506196822923476348[28] = 0.0; - out_8506196822923476348[29] = 0.0; - out_8506196822923476348[30] = 1.0; - out_8506196822923476348[31] = 0.0; - out_8506196822923476348[32] = 0.0; - out_8506196822923476348[33] = 0.0; - out_8506196822923476348[34] = 0.0; - out_8506196822923476348[35] = 0.0; - out_8506196822923476348[36] = 0.0; - out_8506196822923476348[37] = 0.0; - out_8506196822923476348[38] = 0.0; - out_8506196822923476348[39] = 0.0; - out_8506196822923476348[40] = 1.0; - out_8506196822923476348[41] = 0.0; - out_8506196822923476348[42] = 0.0; - out_8506196822923476348[43] = 0.0; - out_8506196822923476348[44] = 0.0; - out_8506196822923476348[45] = 0.0; - out_8506196822923476348[46] = 0.0; - out_8506196822923476348[47] = 0.0; - out_8506196822923476348[48] = 0.0; - out_8506196822923476348[49] = 0.0; - out_8506196822923476348[50] = 1.0; - out_8506196822923476348[51] = 0.0; - out_8506196822923476348[52] = 0.0; - out_8506196822923476348[53] = 0.0; - out_8506196822923476348[54] = 0.0; - out_8506196822923476348[55] = 0.0; - out_8506196822923476348[56] = 0.0; - out_8506196822923476348[57] = 0.0; - out_8506196822923476348[58] = 0.0; - out_8506196822923476348[59] = 0.0; - out_8506196822923476348[60] = 1.0; - out_8506196822923476348[61] = 0.0; - out_8506196822923476348[62] = 0.0; - out_8506196822923476348[63] = 0.0; - out_8506196822923476348[64] = 0.0; - out_8506196822923476348[65] = 0.0; - out_8506196822923476348[66] = 0.0; - out_8506196822923476348[67] = 0.0; - out_8506196822923476348[68] = 0.0; - out_8506196822923476348[69] = 0.0; - out_8506196822923476348[70] = 1.0; - out_8506196822923476348[71] = 0.0; - out_8506196822923476348[72] = 0.0; - out_8506196822923476348[73] = 0.0; - out_8506196822923476348[74] = 0.0; - out_8506196822923476348[75] = 0.0; - out_8506196822923476348[76] = 0.0; - out_8506196822923476348[77] = 0.0; - out_8506196822923476348[78] = 0.0; - out_8506196822923476348[79] = 0.0; - out_8506196822923476348[80] = 1.0; +void H_mod_fun(double *state, double *out_6316391371516646855) { + out_6316391371516646855[0] = 1.0; + out_6316391371516646855[1] = 0.0; + out_6316391371516646855[2] = 0.0; + out_6316391371516646855[3] = 0.0; + out_6316391371516646855[4] = 0.0; + out_6316391371516646855[5] = 0.0; + out_6316391371516646855[6] = 0.0; + out_6316391371516646855[7] = 0.0; + out_6316391371516646855[8] = 0.0; + out_6316391371516646855[9] = 0.0; + out_6316391371516646855[10] = 1.0; + out_6316391371516646855[11] = 0.0; + out_6316391371516646855[12] = 0.0; + out_6316391371516646855[13] = 0.0; + out_6316391371516646855[14] = 0.0; + out_6316391371516646855[15] = 0.0; + out_6316391371516646855[16] = 0.0; + out_6316391371516646855[17] = 0.0; + out_6316391371516646855[18] = 0.0; + out_6316391371516646855[19] = 0.0; + out_6316391371516646855[20] = 1.0; + out_6316391371516646855[21] = 0.0; + out_6316391371516646855[22] = 0.0; + out_6316391371516646855[23] = 0.0; + out_6316391371516646855[24] = 0.0; + out_6316391371516646855[25] = 0.0; + out_6316391371516646855[26] = 0.0; + out_6316391371516646855[27] = 0.0; + out_6316391371516646855[28] = 0.0; + out_6316391371516646855[29] = 0.0; + out_6316391371516646855[30] = 1.0; + out_6316391371516646855[31] = 0.0; + out_6316391371516646855[32] = 0.0; + out_6316391371516646855[33] = 0.0; + out_6316391371516646855[34] = 0.0; + out_6316391371516646855[35] = 0.0; + out_6316391371516646855[36] = 0.0; + out_6316391371516646855[37] = 0.0; + out_6316391371516646855[38] = 0.0; + out_6316391371516646855[39] = 0.0; + out_6316391371516646855[40] = 1.0; + out_6316391371516646855[41] = 0.0; + out_6316391371516646855[42] = 0.0; + out_6316391371516646855[43] = 0.0; + out_6316391371516646855[44] = 0.0; + out_6316391371516646855[45] = 0.0; + out_6316391371516646855[46] = 0.0; + out_6316391371516646855[47] = 0.0; + out_6316391371516646855[48] = 0.0; + out_6316391371516646855[49] = 0.0; + out_6316391371516646855[50] = 1.0; + out_6316391371516646855[51] = 0.0; + out_6316391371516646855[52] = 0.0; + out_6316391371516646855[53] = 0.0; + out_6316391371516646855[54] = 0.0; + out_6316391371516646855[55] = 0.0; + out_6316391371516646855[56] = 0.0; + out_6316391371516646855[57] = 0.0; + out_6316391371516646855[58] = 0.0; + out_6316391371516646855[59] = 0.0; + out_6316391371516646855[60] = 1.0; + out_6316391371516646855[61] = 0.0; + out_6316391371516646855[62] = 0.0; + out_6316391371516646855[63] = 0.0; + out_6316391371516646855[64] = 0.0; + out_6316391371516646855[65] = 0.0; + out_6316391371516646855[66] = 0.0; + out_6316391371516646855[67] = 0.0; + out_6316391371516646855[68] = 0.0; + out_6316391371516646855[69] = 0.0; + out_6316391371516646855[70] = 1.0; + out_6316391371516646855[71] = 0.0; + out_6316391371516646855[72] = 0.0; + out_6316391371516646855[73] = 0.0; + out_6316391371516646855[74] = 0.0; + out_6316391371516646855[75] = 0.0; + out_6316391371516646855[76] = 0.0; + out_6316391371516646855[77] = 0.0; + out_6316391371516646855[78] = 0.0; + out_6316391371516646855[79] = 0.0; + out_6316391371516646855[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2212415948681408961) { - out_2212415948681408961[0] = state[0]; - out_2212415948681408961[1] = state[1]; - out_2212415948681408961[2] = state[2]; - out_2212415948681408961[3] = state[3]; - out_2212415948681408961[4] = state[4]; - out_2212415948681408961[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_2212415948681408961[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_2212415948681408961[7] = state[7]; - out_2212415948681408961[8] = state[8]; +void f_fun(double *state, double dt, double *out_683944865460236824) { + out_683944865460236824[0] = state[0]; + out_683944865460236824[1] = state[1]; + out_683944865460236824[2] = state[2]; + out_683944865460236824[3] = state[3]; + out_683944865460236824[4] = state[4]; + out_683944865460236824[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_683944865460236824[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_683944865460236824[7] = state[7]; + out_683944865460236824[8] = state[8]; } -void F_fun(double *state, double dt, double *out_8605893895722033804) { - out_8605893895722033804[0] = 1; - out_8605893895722033804[1] = 0; - out_8605893895722033804[2] = 0; - out_8605893895722033804[3] = 0; - out_8605893895722033804[4] = 0; - out_8605893895722033804[5] = 0; - out_8605893895722033804[6] = 0; - out_8605893895722033804[7] = 0; - out_8605893895722033804[8] = 0; - out_8605893895722033804[9] = 0; - out_8605893895722033804[10] = 1; - out_8605893895722033804[11] = 0; - out_8605893895722033804[12] = 0; - out_8605893895722033804[13] = 0; - out_8605893895722033804[14] = 0; - out_8605893895722033804[15] = 0; - out_8605893895722033804[16] = 0; - out_8605893895722033804[17] = 0; - out_8605893895722033804[18] = 0; - out_8605893895722033804[19] = 0; - out_8605893895722033804[20] = 1; - out_8605893895722033804[21] = 0; - out_8605893895722033804[22] = 0; - out_8605893895722033804[23] = 0; - out_8605893895722033804[24] = 0; - out_8605893895722033804[25] = 0; - out_8605893895722033804[26] = 0; - out_8605893895722033804[27] = 0; - out_8605893895722033804[28] = 0; - out_8605893895722033804[29] = 0; - out_8605893895722033804[30] = 1; - out_8605893895722033804[31] = 0; - out_8605893895722033804[32] = 0; - out_8605893895722033804[33] = 0; - out_8605893895722033804[34] = 0; - out_8605893895722033804[35] = 0; - out_8605893895722033804[36] = 0; - out_8605893895722033804[37] = 0; - out_8605893895722033804[38] = 0; - out_8605893895722033804[39] = 0; - out_8605893895722033804[40] = 1; - out_8605893895722033804[41] = 0; - out_8605893895722033804[42] = 0; - out_8605893895722033804[43] = 0; - out_8605893895722033804[44] = 0; - out_8605893895722033804[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_8605893895722033804[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8605893895722033804[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8605893895722033804[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8605893895722033804[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_8605893895722033804[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8605893895722033804[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8605893895722033804[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8605893895722033804[53] = -9.8100000000000005*dt; - out_8605893895722033804[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_8605893895722033804[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8605893895722033804[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8605893895722033804[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8605893895722033804[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_8605893895722033804[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8605893895722033804[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_8605893895722033804[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8605893895722033804[62] = 0; - out_8605893895722033804[63] = 0; - out_8605893895722033804[64] = 0; - out_8605893895722033804[65] = 0; - out_8605893895722033804[66] = 0; - out_8605893895722033804[67] = 0; - out_8605893895722033804[68] = 0; - out_8605893895722033804[69] = 0; - out_8605893895722033804[70] = 1; - out_8605893895722033804[71] = 0; - out_8605893895722033804[72] = 0; - out_8605893895722033804[73] = 0; - out_8605893895722033804[74] = 0; - out_8605893895722033804[75] = 0; - out_8605893895722033804[76] = 0; - out_8605893895722033804[77] = 0; - out_8605893895722033804[78] = 0; - out_8605893895722033804[79] = 0; - out_8605893895722033804[80] = 1; +void F_fun(double *state, double dt, double *out_6256536759651096133) { + out_6256536759651096133[0] = 1; + out_6256536759651096133[1] = 0; + out_6256536759651096133[2] = 0; + out_6256536759651096133[3] = 0; + out_6256536759651096133[4] = 0; + out_6256536759651096133[5] = 0; + out_6256536759651096133[6] = 0; + out_6256536759651096133[7] = 0; + out_6256536759651096133[8] = 0; + out_6256536759651096133[9] = 0; + out_6256536759651096133[10] = 1; + out_6256536759651096133[11] = 0; + out_6256536759651096133[12] = 0; + out_6256536759651096133[13] = 0; + out_6256536759651096133[14] = 0; + out_6256536759651096133[15] = 0; + out_6256536759651096133[16] = 0; + out_6256536759651096133[17] = 0; + out_6256536759651096133[18] = 0; + out_6256536759651096133[19] = 0; + out_6256536759651096133[20] = 1; + out_6256536759651096133[21] = 0; + out_6256536759651096133[22] = 0; + out_6256536759651096133[23] = 0; + out_6256536759651096133[24] = 0; + out_6256536759651096133[25] = 0; + out_6256536759651096133[26] = 0; + out_6256536759651096133[27] = 0; + out_6256536759651096133[28] = 0; + out_6256536759651096133[29] = 0; + out_6256536759651096133[30] = 1; + out_6256536759651096133[31] = 0; + out_6256536759651096133[32] = 0; + out_6256536759651096133[33] = 0; + out_6256536759651096133[34] = 0; + out_6256536759651096133[35] = 0; + out_6256536759651096133[36] = 0; + out_6256536759651096133[37] = 0; + out_6256536759651096133[38] = 0; + out_6256536759651096133[39] = 0; + out_6256536759651096133[40] = 1; + out_6256536759651096133[41] = 0; + out_6256536759651096133[42] = 0; + out_6256536759651096133[43] = 0; + out_6256536759651096133[44] = 0; + out_6256536759651096133[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_6256536759651096133[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6256536759651096133[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6256536759651096133[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6256536759651096133[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_6256536759651096133[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6256536759651096133[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6256536759651096133[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6256536759651096133[53] = -9.8100000000000005*dt; + out_6256536759651096133[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_6256536759651096133[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6256536759651096133[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6256536759651096133[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6256536759651096133[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_6256536759651096133[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6256536759651096133[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_6256536759651096133[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6256536759651096133[62] = 0; + out_6256536759651096133[63] = 0; + out_6256536759651096133[64] = 0; + out_6256536759651096133[65] = 0; + out_6256536759651096133[66] = 0; + out_6256536759651096133[67] = 0; + out_6256536759651096133[68] = 0; + out_6256536759651096133[69] = 0; + out_6256536759651096133[70] = 1; + out_6256536759651096133[71] = 0; + out_6256536759651096133[72] = 0; + out_6256536759651096133[73] = 0; + out_6256536759651096133[74] = 0; + out_6256536759651096133[75] = 0; + out_6256536759651096133[76] = 0; + out_6256536759651096133[77] = 0; + out_6256536759651096133[78] = 0; + out_6256536759651096133[79] = 0; + out_6256536759651096133[80] = 1; } -void h_25(double *state, double *unused, double *out_80606407557009467) { - out_80606407557009467[0] = state[6]; +void h_25(double *state, double *unused, double *out_630446739146494899) { + out_630446739146494899[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2019209217812215463) { - out_2019209217812215463[0] = 0; - out_2019209217812215463[1] = 0; - out_2019209217812215463[2] = 0; - out_2019209217812215463[3] = 0; - out_2019209217812215463[4] = 0; - out_2019209217812215463[5] = 0; - out_2019209217812215463[6] = 1; - out_2019209217812215463[7] = 0; - out_2019209217812215463[8] = 0; +void H_25(double *state, double *unused, double *out_2937164476280667524) { + out_2937164476280667524[0] = 0; + out_2937164476280667524[1] = 0; + out_2937164476280667524[2] = 0; + out_2937164476280667524[3] = 0; + out_2937164476280667524[4] = 0; + out_2937164476280667524[5] = 0; + out_2937164476280667524[6] = 1; + out_2937164476280667524[7] = 0; + out_2937164476280667524[8] = 0; } -void h_24(double *state, double *unused, double *out_8156817116559759487) { - out_8156817116559759487[0] = state[4]; - out_8156817116559759487[1] = state[5]; +void h_24(double *state, double *unused, double *out_766963748656106214) { + out_766963748656106214[0] = state[4]; + out_766963748656106214[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7208855968256979762) { - out_7208855968256979762[0] = 0; - out_7208855968256979762[1] = 0; - out_7208855968256979762[2] = 0; - out_7208855968256979762[3] = 0; - out_7208855968256979762[4] = 1; - out_7208855968256979762[5] = 0; - out_7208855968256979762[6] = 0; - out_7208855968256979762[7] = 0; - out_7208855968256979762[8] = 0; - out_7208855968256979762[9] = 0; - out_7208855968256979762[10] = 0; - out_7208855968256979762[11] = 0; - out_7208855968256979762[12] = 0; - out_7208855968256979762[13] = 0; - out_7208855968256979762[14] = 1; - out_7208855968256979762[15] = 0; - out_7208855968256979762[16] = 0; - out_7208855968256979762[17] = 0; +void H_24(double *state, double *unused, double *out_764514877275167958) { + out_764514877275167958[0] = 0; + out_764514877275167958[1] = 0; + out_764514877275167958[2] = 0; + out_764514877275167958[3] = 0; + out_764514877275167958[4] = 1; + out_764514877275167958[5] = 0; + out_764514877275167958[6] = 0; + out_764514877275167958[7] = 0; + out_764514877275167958[8] = 0; + out_764514877275167958[9] = 0; + out_764514877275167958[10] = 0; + out_764514877275167958[11] = 0; + out_764514877275167958[12] = 0; + out_764514877275167958[13] = 0; + out_764514877275167958[14] = 1; + out_764514877275167958[15] = 0; + out_764514877275167958[16] = 0; + out_764514877275167958[17] = 0; } -void h_30(double *state, double *unused, double *out_7682658849263662974) { - out_7682658849263662974[0] = state[4]; +void h_30(double *state, double *unused, double *out_2365946185687416261) { + out_2365946185687416261[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6546905547939823661) { - out_6546905547939823661[0] = 0; - out_6546905547939823661[1] = 0; - out_6546905547939823661[2] = 0; - out_6546905547939823661[3] = 0; - out_6546905547939823661[4] = 1; - out_6546905547939823661[5] = 0; - out_6546905547939823661[6] = 0; - out_6546905547939823661[7] = 0; - out_6546905547939823661[8] = 0; +void H_30(double *state, double *unused, double *out_8592889255937267337) { + out_8592889255937267337[0] = 0; + out_8592889255937267337[1] = 0; + out_8592889255937267337[2] = 0; + out_8592889255937267337[3] = 0; + out_8592889255937267337[4] = 1; + out_8592889255937267337[5] = 0; + out_8592889255937267337[6] = 0; + out_8592889255937267337[7] = 0; + out_8592889255937267337[8] = 0; } -void h_26(double *state, double *unused, double *out_2046248304577196316) { - out_2046248304577196316[0] = state[7]; +void h_26(double *state, double *unused, double *out_4488774751058732255) { + out_4488774751058732255[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5760712536686271687) { - out_5760712536686271687[0] = 0; - out_5760712536686271687[1] = 0; - out_5760712536686271687[2] = 0; - out_5760712536686271687[3] = 0; - out_5760712536686271687[4] = 0; - out_5760712536686271687[5] = 0; - out_5760712536686271687[6] = 0; - out_5760712536686271687[7] = 1; - out_5760712536686271687[8] = 0; +void H_26(double *state, double *unused, double *out_804338842593388700) { + out_804338842593388700[0] = 0; + out_804338842593388700[1] = 0; + out_804338842593388700[2] = 0; + out_804338842593388700[3] = 0; + out_804338842593388700[4] = 0; + out_804338842593388700[5] = 0; + out_804338842593388700[6] = 0; + out_804338842593388700[7] = 1; + out_804338842593388700[8] = 0; } -void h_27(double *state, double *unused, double *out_4505967322855241000) { - out_4505967322855241000[0] = state[3]; +void h_27(double *state, double *unused, double *out_4371226528514350746) { + out_4371226528514350746[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8721668859740248572) { - out_8721668859740248572[0] = 0; - out_8721668859740248572[1] = 0; - out_8721668859740248572[2] = 0; - out_8721668859740248572[3] = 1; - out_8721668859740248572[4] = 0; - out_8721668859740248572[5] = 0; - out_8721668859740248572[6] = 0; - out_8721668859740248572[7] = 0; - out_8721668859740248572[8] = 0; +void H_27(double *state, double *unused, double *out_7679091505971859368) { + out_7679091505971859368[0] = 0; + out_7679091505971859368[1] = 0; + out_7679091505971859368[2] = 0; + out_7679091505971859368[3] = 1; + out_7679091505971859368[4] = 0; + out_7679091505971859368[5] = 0; + out_7679091505971859368[6] = 0; + out_7679091505971859368[7] = 0; + out_7679091505971859368[8] = 0; } -void h_29(double *state, double *unused, double *out_1934047599768798804) { - out_1934047599768798804[0] = state[1]; +void h_29(double *state, double *unused, double *out_8008676056768373096) { + out_8008676056768373096[0] = state[1]; } -void H_29(double *state, double *unused, double *out_6036674203625431477) { - out_6036674203625431477[0] = 0; - out_6036674203625431477[1] = 1; - out_6036674203625431477[2] = 0; - out_6036674203625431477[3] = 0; - out_6036674203625431477[4] = 0; - out_6036674203625431477[5] = 0; - out_6036674203625431477[6] = 0; - out_6036674203625431477[7] = 0; - out_6036674203625431477[8] = 0; +void H_29(double *state, double *unused, double *out_5965728779102308335) { + out_5965728779102308335[0] = 0; + out_5965728779102308335[1] = 1; + out_5965728779102308335[2] = 0; + out_5965728779102308335[3] = 0; + out_5965728779102308335[4] = 0; + out_5965728779102308335[5] = 0; + out_5965728779102308335[6] = 0; + out_5965728779102308335[7] = 0; + out_5965728779102308335[8] = 0; } -void h_28(double *state, double *unused, double *out_3899689496788985653) { - out_3899689496788985653[0] = state[0]; +void h_28(double *state, double *unused, double *out_5855520433291817842) { + out_5855520433291817842[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7327670853014589565) { - out_7327670853014589565[0] = 1; - out_7327670853014589565[1] = 0; - out_7327670853014589565[2] = 0; - out_7327670853014589565[3] = 0; - out_7327670853014589565[4] = 0; - out_7327670853014589565[5] = 0; - out_7327670853014589565[6] = 0; - out_7327670853014589565[7] = 0; - out_7327670853014589565[8] = 0; +void H_28(double *state, double *unused, double *out_883329762032777761) { + out_883329762032777761[0] = 1; + out_883329762032777761[1] = 0; + out_883329762032777761[2] = 0; + out_883329762032777761[3] = 0; + out_883329762032777761[4] = 0; + out_883329762032777761[5] = 0; + out_883329762032777761[6] = 0; + out_883329762032777761[7] = 0; + out_883329762032777761[8] = 0; } -void h_31(double *state, double *unused, double *out_40967961750261831) { - out_40967961750261831[0] = state[8]; +void h_31(double *state, double *unused, double *out_2247938791754039517) { + out_2247938791754039517[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6386920638919623163) { - out_6386920638919623163[0] = 0; - out_6386920638919623163[1] = 0; - out_6386920638919623163[2] = 0; - out_6386920638919623163[3] = 0; - out_6386920638919623163[4] = 0; - out_6386920638919623163[5] = 0; - out_6386920638919623163[6] = 0; - out_6386920638919623163[7] = 0; - out_6386920638919623163[8] = 1; +void H_31(double *state, double *unused, double *out_2967810438157627952) { + out_2967810438157627952[0] = 0; + out_2967810438157627952[1] = 0; + out_2967810438157627952[2] = 0; + out_2967810438157627952[3] = 0; + out_2967810438157627952[4] = 0; + out_2967810438157627952[5] = 0; + out_2967810438157627952[6] = 0; + out_2967810438157627952[7] = 0; + out_2967810438157627952[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_3886210737280219279) { - err_fun(nom_x, delta_x, out_3886210737280219279); +void car_err_fun(double *nom_x, double *delta_x, double *out_6549097700781342010) { + err_fun(nom_x, delta_x, out_6549097700781342010); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_9203878995777804762) { - inv_err_fun(nom_x, true_x, out_9203878995777804762); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8354153438521949351) { + inv_err_fun(nom_x, true_x, out_8354153438521949351); } -void car_H_mod_fun(double *state, double *out_8506196822923476348) { - H_mod_fun(state, out_8506196822923476348); +void car_H_mod_fun(double *state, double *out_6316391371516646855) { + H_mod_fun(state, out_6316391371516646855); } -void car_f_fun(double *state, double dt, double *out_2212415948681408961) { - f_fun(state, dt, out_2212415948681408961); +void car_f_fun(double *state, double dt, double *out_683944865460236824) { + f_fun(state, dt, out_683944865460236824); } -void car_F_fun(double *state, double dt, double *out_8605893895722033804) { - F_fun(state, dt, out_8605893895722033804); +void car_F_fun(double *state, double dt, double *out_6256536759651096133) { + F_fun(state, dt, out_6256536759651096133); } -void car_h_25(double *state, double *unused, double *out_80606407557009467) { - h_25(state, unused, out_80606407557009467); +void car_h_25(double *state, double *unused, double *out_630446739146494899) { + h_25(state, unused, out_630446739146494899); } -void car_H_25(double *state, double *unused, double *out_2019209217812215463) { - H_25(state, unused, out_2019209217812215463); +void car_H_25(double *state, double *unused, double *out_2937164476280667524) { + H_25(state, unused, out_2937164476280667524); } -void car_h_24(double *state, double *unused, double *out_8156817116559759487) { - h_24(state, unused, out_8156817116559759487); +void car_h_24(double *state, double *unused, double *out_766963748656106214) { + h_24(state, unused, out_766963748656106214); } -void car_H_24(double *state, double *unused, double *out_7208855968256979762) { - H_24(state, unused, out_7208855968256979762); +void car_H_24(double *state, double *unused, double *out_764514877275167958) { + H_24(state, unused, out_764514877275167958); } -void car_h_30(double *state, double *unused, double *out_7682658849263662974) { - h_30(state, unused, out_7682658849263662974); +void car_h_30(double *state, double *unused, double *out_2365946185687416261) { + h_30(state, unused, out_2365946185687416261); } -void car_H_30(double *state, double *unused, double *out_6546905547939823661) { - H_30(state, unused, out_6546905547939823661); +void car_H_30(double *state, double *unused, double *out_8592889255937267337) { + H_30(state, unused, out_8592889255937267337); } -void car_h_26(double *state, double *unused, double *out_2046248304577196316) { - h_26(state, unused, out_2046248304577196316); +void car_h_26(double *state, double *unused, double *out_4488774751058732255) { + h_26(state, unused, out_4488774751058732255); } -void car_H_26(double *state, double *unused, double *out_5760712536686271687) { - H_26(state, unused, out_5760712536686271687); +void car_H_26(double *state, double *unused, double *out_804338842593388700) { + H_26(state, unused, out_804338842593388700); } -void car_h_27(double *state, double *unused, double *out_4505967322855241000) { - h_27(state, unused, out_4505967322855241000); +void car_h_27(double *state, double *unused, double *out_4371226528514350746) { + h_27(state, unused, out_4371226528514350746); } -void car_H_27(double *state, double *unused, double *out_8721668859740248572) { - H_27(state, unused, out_8721668859740248572); +void car_H_27(double *state, double *unused, double *out_7679091505971859368) { + H_27(state, unused, out_7679091505971859368); } -void car_h_29(double *state, double *unused, double *out_1934047599768798804) { - h_29(state, unused, out_1934047599768798804); +void car_h_29(double *state, double *unused, double *out_8008676056768373096) { + h_29(state, unused, out_8008676056768373096); } -void car_H_29(double *state, double *unused, double *out_6036674203625431477) { - H_29(state, unused, out_6036674203625431477); +void car_H_29(double *state, double *unused, double *out_5965728779102308335) { + H_29(state, unused, out_5965728779102308335); } -void car_h_28(double *state, double *unused, double *out_3899689496788985653) { - h_28(state, unused, out_3899689496788985653); +void car_h_28(double *state, double *unused, double *out_5855520433291817842) { + h_28(state, unused, out_5855520433291817842); } -void car_H_28(double *state, double *unused, double *out_7327670853014589565) { - H_28(state, unused, out_7327670853014589565); +void car_H_28(double *state, double *unused, double *out_883329762032777761) { + H_28(state, unused, out_883329762032777761); } -void car_h_31(double *state, double *unused, double *out_40967961750261831) { - h_31(state, unused, out_40967961750261831); +void car_h_31(double *state, double *unused, double *out_2247938791754039517) { + h_31(state, unused, out_2247938791754039517); } -void car_H_31(double *state, double *unused, double *out_6386920638919623163) { - H_31(state, unused, out_6386920638919623163); +void car_H_31(double *state, double *unused, double *out_2967810438157627952) { + H_31(state, unused, out_2967810438157627952); } 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 4eb2a4c85..354e5aa06 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_3886210737280219279); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_9203878995777804762); -void car_H_mod_fun(double *state, double *out_8506196822923476348); -void car_f_fun(double *state, double dt, double *out_2212415948681408961); -void car_F_fun(double *state, double dt, double *out_8605893895722033804); -void car_h_25(double *state, double *unused, double *out_80606407557009467); -void car_H_25(double *state, double *unused, double *out_2019209217812215463); -void car_h_24(double *state, double *unused, double *out_8156817116559759487); -void car_H_24(double *state, double *unused, double *out_7208855968256979762); -void car_h_30(double *state, double *unused, double *out_7682658849263662974); -void car_H_30(double *state, double *unused, double *out_6546905547939823661); -void car_h_26(double *state, double *unused, double *out_2046248304577196316); -void car_H_26(double *state, double *unused, double *out_5760712536686271687); -void car_h_27(double *state, double *unused, double *out_4505967322855241000); -void car_H_27(double *state, double *unused, double *out_8721668859740248572); -void car_h_29(double *state, double *unused, double *out_1934047599768798804); -void car_H_29(double *state, double *unused, double *out_6036674203625431477); -void car_h_28(double *state, double *unused, double *out_3899689496788985653); -void car_H_28(double *state, double *unused, double *out_7327670853014589565); -void car_h_31(double *state, double *unused, double *out_40967961750261831); -void car_H_31(double *state, double *unused, double *out_6386920638919623163); +void car_err_fun(double *nom_x, double *delta_x, double *out_6549097700781342010); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8354153438521949351); +void car_H_mod_fun(double *state, double *out_6316391371516646855); +void car_f_fun(double *state, double dt, double *out_683944865460236824); +void car_F_fun(double *state, double dt, double *out_6256536759651096133); +void car_h_25(double *state, double *unused, double *out_630446739146494899); +void car_H_25(double *state, double *unused, double *out_2937164476280667524); +void car_h_24(double *state, double *unused, double *out_766963748656106214); +void car_H_24(double *state, double *unused, double *out_764514877275167958); +void car_h_30(double *state, double *unused, double *out_2365946185687416261); +void car_H_30(double *state, double *unused, double *out_8592889255937267337); +void car_h_26(double *state, double *unused, double *out_4488774751058732255); +void car_H_26(double *state, double *unused, double *out_804338842593388700); +void car_h_27(double *state, double *unused, double *out_4371226528514350746); +void car_H_27(double *state, double *unused, double *out_7679091505971859368); +void car_h_29(double *state, double *unused, double *out_8008676056768373096); +void car_H_29(double *state, double *unused, double *out_5965728779102308335); +void car_h_28(double *state, double *unused, double *out_5855520433291817842); +void car_H_28(double *state, double *unused, double *out_883329762032777761); +void car_h_31(double *state, double *unused, double *out_2247938791754039517); +void car_H_31(double *state, double *unused, double *out_2967810438157627952); 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 70afd633d..f6f5dd9a5 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_7365448194845582757) { - out_7365448194845582757[0] = delta_x[0] + nom_x[0]; - out_7365448194845582757[1] = delta_x[1] + nom_x[1]; - out_7365448194845582757[2] = delta_x[2] + nom_x[2]; - out_7365448194845582757[3] = delta_x[3] + nom_x[3]; - out_7365448194845582757[4] = delta_x[4] + nom_x[4]; - out_7365448194845582757[5] = delta_x[5] + nom_x[5]; - out_7365448194845582757[6] = delta_x[6] + nom_x[6]; - out_7365448194845582757[7] = delta_x[7] + nom_x[7]; - out_7365448194845582757[8] = delta_x[8] + nom_x[8]; - out_7365448194845582757[9] = delta_x[9] + nom_x[9]; - out_7365448194845582757[10] = delta_x[10] + nom_x[10]; - out_7365448194845582757[11] = delta_x[11] + nom_x[11]; - out_7365448194845582757[12] = delta_x[12] + nom_x[12]; - out_7365448194845582757[13] = delta_x[13] + nom_x[13]; - out_7365448194845582757[14] = delta_x[14] + nom_x[14]; - out_7365448194845582757[15] = delta_x[15] + nom_x[15]; - out_7365448194845582757[16] = delta_x[16] + nom_x[16]; - out_7365448194845582757[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2235485331980533535) { + out_2235485331980533535[0] = delta_x[0] + nom_x[0]; + out_2235485331980533535[1] = delta_x[1] + nom_x[1]; + out_2235485331980533535[2] = delta_x[2] + nom_x[2]; + out_2235485331980533535[3] = delta_x[3] + nom_x[3]; + out_2235485331980533535[4] = delta_x[4] + nom_x[4]; + out_2235485331980533535[5] = delta_x[5] + nom_x[5]; + out_2235485331980533535[6] = delta_x[6] + nom_x[6]; + out_2235485331980533535[7] = delta_x[7] + nom_x[7]; + out_2235485331980533535[8] = delta_x[8] + nom_x[8]; + out_2235485331980533535[9] = delta_x[9] + nom_x[9]; + out_2235485331980533535[10] = delta_x[10] + nom_x[10]; + out_2235485331980533535[11] = delta_x[11] + nom_x[11]; + out_2235485331980533535[12] = delta_x[12] + nom_x[12]; + out_2235485331980533535[13] = delta_x[13] + nom_x[13]; + out_2235485331980533535[14] = delta_x[14] + nom_x[14]; + out_2235485331980533535[15] = delta_x[15] + nom_x[15]; + out_2235485331980533535[16] = delta_x[16] + nom_x[16]; + out_2235485331980533535[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1967800537697910635) { - out_1967800537697910635[0] = -nom_x[0] + true_x[0]; - out_1967800537697910635[1] = -nom_x[1] + true_x[1]; - out_1967800537697910635[2] = -nom_x[2] + true_x[2]; - out_1967800537697910635[3] = -nom_x[3] + true_x[3]; - out_1967800537697910635[4] = -nom_x[4] + true_x[4]; - out_1967800537697910635[5] = -nom_x[5] + true_x[5]; - out_1967800537697910635[6] = -nom_x[6] + true_x[6]; - out_1967800537697910635[7] = -nom_x[7] + true_x[7]; - out_1967800537697910635[8] = -nom_x[8] + true_x[8]; - out_1967800537697910635[9] = -nom_x[9] + true_x[9]; - out_1967800537697910635[10] = -nom_x[10] + true_x[10]; - out_1967800537697910635[11] = -nom_x[11] + true_x[11]; - out_1967800537697910635[12] = -nom_x[12] + true_x[12]; - out_1967800537697910635[13] = -nom_x[13] + true_x[13]; - out_1967800537697910635[14] = -nom_x[14] + true_x[14]; - out_1967800537697910635[15] = -nom_x[15] + true_x[15]; - out_1967800537697910635[16] = -nom_x[16] + true_x[16]; - out_1967800537697910635[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6263710841243713274) { + out_6263710841243713274[0] = -nom_x[0] + true_x[0]; + out_6263710841243713274[1] = -nom_x[1] + true_x[1]; + out_6263710841243713274[2] = -nom_x[2] + true_x[2]; + out_6263710841243713274[3] = -nom_x[3] + true_x[3]; + out_6263710841243713274[4] = -nom_x[4] + true_x[4]; + out_6263710841243713274[5] = -nom_x[5] + true_x[5]; + out_6263710841243713274[6] = -nom_x[6] + true_x[6]; + out_6263710841243713274[7] = -nom_x[7] + true_x[7]; + out_6263710841243713274[8] = -nom_x[8] + true_x[8]; + out_6263710841243713274[9] = -nom_x[9] + true_x[9]; + out_6263710841243713274[10] = -nom_x[10] + true_x[10]; + out_6263710841243713274[11] = -nom_x[11] + true_x[11]; + out_6263710841243713274[12] = -nom_x[12] + true_x[12]; + out_6263710841243713274[13] = -nom_x[13] + true_x[13]; + out_6263710841243713274[14] = -nom_x[14] + true_x[14]; + out_6263710841243713274[15] = -nom_x[15] + true_x[15]; + out_6263710841243713274[16] = -nom_x[16] + true_x[16]; + out_6263710841243713274[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_8390959249454907977) { - out_8390959249454907977[0] = 1.0; - out_8390959249454907977[1] = 0.0; - out_8390959249454907977[2] = 0.0; - out_8390959249454907977[3] = 0.0; - out_8390959249454907977[4] = 0.0; - out_8390959249454907977[5] = 0.0; - out_8390959249454907977[6] = 0.0; - out_8390959249454907977[7] = 0.0; - out_8390959249454907977[8] = 0.0; - out_8390959249454907977[9] = 0.0; - out_8390959249454907977[10] = 0.0; - out_8390959249454907977[11] = 0.0; - out_8390959249454907977[12] = 0.0; - out_8390959249454907977[13] = 0.0; - out_8390959249454907977[14] = 0.0; - out_8390959249454907977[15] = 0.0; - out_8390959249454907977[16] = 0.0; - out_8390959249454907977[17] = 0.0; - out_8390959249454907977[18] = 0.0; - out_8390959249454907977[19] = 1.0; - out_8390959249454907977[20] = 0.0; - out_8390959249454907977[21] = 0.0; - out_8390959249454907977[22] = 0.0; - out_8390959249454907977[23] = 0.0; - out_8390959249454907977[24] = 0.0; - out_8390959249454907977[25] = 0.0; - out_8390959249454907977[26] = 0.0; - out_8390959249454907977[27] = 0.0; - out_8390959249454907977[28] = 0.0; - out_8390959249454907977[29] = 0.0; - out_8390959249454907977[30] = 0.0; - out_8390959249454907977[31] = 0.0; - out_8390959249454907977[32] = 0.0; - out_8390959249454907977[33] = 0.0; - out_8390959249454907977[34] = 0.0; - out_8390959249454907977[35] = 0.0; - out_8390959249454907977[36] = 0.0; - out_8390959249454907977[37] = 0.0; - out_8390959249454907977[38] = 1.0; - out_8390959249454907977[39] = 0.0; - out_8390959249454907977[40] = 0.0; - out_8390959249454907977[41] = 0.0; - out_8390959249454907977[42] = 0.0; - out_8390959249454907977[43] = 0.0; - out_8390959249454907977[44] = 0.0; - out_8390959249454907977[45] = 0.0; - out_8390959249454907977[46] = 0.0; - out_8390959249454907977[47] = 0.0; - out_8390959249454907977[48] = 0.0; - out_8390959249454907977[49] = 0.0; - out_8390959249454907977[50] = 0.0; - out_8390959249454907977[51] = 0.0; - out_8390959249454907977[52] = 0.0; - out_8390959249454907977[53] = 0.0; - out_8390959249454907977[54] = 0.0; - out_8390959249454907977[55] = 0.0; - out_8390959249454907977[56] = 0.0; - out_8390959249454907977[57] = 1.0; - out_8390959249454907977[58] = 0.0; - out_8390959249454907977[59] = 0.0; - out_8390959249454907977[60] = 0.0; - out_8390959249454907977[61] = 0.0; - out_8390959249454907977[62] = 0.0; - out_8390959249454907977[63] = 0.0; - out_8390959249454907977[64] = 0.0; - out_8390959249454907977[65] = 0.0; - out_8390959249454907977[66] = 0.0; - out_8390959249454907977[67] = 0.0; - out_8390959249454907977[68] = 0.0; - out_8390959249454907977[69] = 0.0; - out_8390959249454907977[70] = 0.0; - out_8390959249454907977[71] = 0.0; - out_8390959249454907977[72] = 0.0; - out_8390959249454907977[73] = 0.0; - out_8390959249454907977[74] = 0.0; - out_8390959249454907977[75] = 0.0; - out_8390959249454907977[76] = 1.0; - out_8390959249454907977[77] = 0.0; - out_8390959249454907977[78] = 0.0; - out_8390959249454907977[79] = 0.0; - out_8390959249454907977[80] = 0.0; - out_8390959249454907977[81] = 0.0; - out_8390959249454907977[82] = 0.0; - out_8390959249454907977[83] = 0.0; - out_8390959249454907977[84] = 0.0; - out_8390959249454907977[85] = 0.0; - out_8390959249454907977[86] = 0.0; - out_8390959249454907977[87] = 0.0; - out_8390959249454907977[88] = 0.0; - out_8390959249454907977[89] = 0.0; - out_8390959249454907977[90] = 0.0; - out_8390959249454907977[91] = 0.0; - out_8390959249454907977[92] = 0.0; - out_8390959249454907977[93] = 0.0; - out_8390959249454907977[94] = 0.0; - out_8390959249454907977[95] = 1.0; - out_8390959249454907977[96] = 0.0; - out_8390959249454907977[97] = 0.0; - out_8390959249454907977[98] = 0.0; - out_8390959249454907977[99] = 0.0; - out_8390959249454907977[100] = 0.0; - out_8390959249454907977[101] = 0.0; - out_8390959249454907977[102] = 0.0; - out_8390959249454907977[103] = 0.0; - out_8390959249454907977[104] = 0.0; - out_8390959249454907977[105] = 0.0; - out_8390959249454907977[106] = 0.0; - out_8390959249454907977[107] = 0.0; - out_8390959249454907977[108] = 0.0; - out_8390959249454907977[109] = 0.0; - out_8390959249454907977[110] = 0.0; - out_8390959249454907977[111] = 0.0; - out_8390959249454907977[112] = 0.0; - out_8390959249454907977[113] = 0.0; - out_8390959249454907977[114] = 1.0; - out_8390959249454907977[115] = 0.0; - out_8390959249454907977[116] = 0.0; - out_8390959249454907977[117] = 0.0; - out_8390959249454907977[118] = 0.0; - out_8390959249454907977[119] = 0.0; - out_8390959249454907977[120] = 0.0; - out_8390959249454907977[121] = 0.0; - out_8390959249454907977[122] = 0.0; - out_8390959249454907977[123] = 0.0; - out_8390959249454907977[124] = 0.0; - out_8390959249454907977[125] = 0.0; - out_8390959249454907977[126] = 0.0; - out_8390959249454907977[127] = 0.0; - out_8390959249454907977[128] = 0.0; - out_8390959249454907977[129] = 0.0; - out_8390959249454907977[130] = 0.0; - out_8390959249454907977[131] = 0.0; - out_8390959249454907977[132] = 0.0; - out_8390959249454907977[133] = 1.0; - out_8390959249454907977[134] = 0.0; - out_8390959249454907977[135] = 0.0; - out_8390959249454907977[136] = 0.0; - out_8390959249454907977[137] = 0.0; - out_8390959249454907977[138] = 0.0; - out_8390959249454907977[139] = 0.0; - out_8390959249454907977[140] = 0.0; - out_8390959249454907977[141] = 0.0; - out_8390959249454907977[142] = 0.0; - out_8390959249454907977[143] = 0.0; - out_8390959249454907977[144] = 0.0; - out_8390959249454907977[145] = 0.0; - out_8390959249454907977[146] = 0.0; - out_8390959249454907977[147] = 0.0; - out_8390959249454907977[148] = 0.0; - out_8390959249454907977[149] = 0.0; - out_8390959249454907977[150] = 0.0; - out_8390959249454907977[151] = 0.0; - out_8390959249454907977[152] = 1.0; - out_8390959249454907977[153] = 0.0; - out_8390959249454907977[154] = 0.0; - out_8390959249454907977[155] = 0.0; - out_8390959249454907977[156] = 0.0; - out_8390959249454907977[157] = 0.0; - out_8390959249454907977[158] = 0.0; - out_8390959249454907977[159] = 0.0; - out_8390959249454907977[160] = 0.0; - out_8390959249454907977[161] = 0.0; - out_8390959249454907977[162] = 0.0; - out_8390959249454907977[163] = 0.0; - out_8390959249454907977[164] = 0.0; - out_8390959249454907977[165] = 0.0; - out_8390959249454907977[166] = 0.0; - out_8390959249454907977[167] = 0.0; - out_8390959249454907977[168] = 0.0; - out_8390959249454907977[169] = 0.0; - out_8390959249454907977[170] = 0.0; - out_8390959249454907977[171] = 1.0; - out_8390959249454907977[172] = 0.0; - out_8390959249454907977[173] = 0.0; - out_8390959249454907977[174] = 0.0; - out_8390959249454907977[175] = 0.0; - out_8390959249454907977[176] = 0.0; - out_8390959249454907977[177] = 0.0; - out_8390959249454907977[178] = 0.0; - out_8390959249454907977[179] = 0.0; - out_8390959249454907977[180] = 0.0; - out_8390959249454907977[181] = 0.0; - out_8390959249454907977[182] = 0.0; - out_8390959249454907977[183] = 0.0; - out_8390959249454907977[184] = 0.0; - out_8390959249454907977[185] = 0.0; - out_8390959249454907977[186] = 0.0; - out_8390959249454907977[187] = 0.0; - out_8390959249454907977[188] = 0.0; - out_8390959249454907977[189] = 0.0; - out_8390959249454907977[190] = 1.0; - out_8390959249454907977[191] = 0.0; - out_8390959249454907977[192] = 0.0; - out_8390959249454907977[193] = 0.0; - out_8390959249454907977[194] = 0.0; - out_8390959249454907977[195] = 0.0; - out_8390959249454907977[196] = 0.0; - out_8390959249454907977[197] = 0.0; - out_8390959249454907977[198] = 0.0; - out_8390959249454907977[199] = 0.0; - out_8390959249454907977[200] = 0.0; - out_8390959249454907977[201] = 0.0; - out_8390959249454907977[202] = 0.0; - out_8390959249454907977[203] = 0.0; - out_8390959249454907977[204] = 0.0; - out_8390959249454907977[205] = 0.0; - out_8390959249454907977[206] = 0.0; - out_8390959249454907977[207] = 0.0; - out_8390959249454907977[208] = 0.0; - out_8390959249454907977[209] = 1.0; - out_8390959249454907977[210] = 0.0; - out_8390959249454907977[211] = 0.0; - out_8390959249454907977[212] = 0.0; - out_8390959249454907977[213] = 0.0; - out_8390959249454907977[214] = 0.0; - out_8390959249454907977[215] = 0.0; - out_8390959249454907977[216] = 0.0; - out_8390959249454907977[217] = 0.0; - out_8390959249454907977[218] = 0.0; - out_8390959249454907977[219] = 0.0; - out_8390959249454907977[220] = 0.0; - out_8390959249454907977[221] = 0.0; - out_8390959249454907977[222] = 0.0; - out_8390959249454907977[223] = 0.0; - out_8390959249454907977[224] = 0.0; - out_8390959249454907977[225] = 0.0; - out_8390959249454907977[226] = 0.0; - out_8390959249454907977[227] = 0.0; - out_8390959249454907977[228] = 1.0; - out_8390959249454907977[229] = 0.0; - out_8390959249454907977[230] = 0.0; - out_8390959249454907977[231] = 0.0; - out_8390959249454907977[232] = 0.0; - out_8390959249454907977[233] = 0.0; - out_8390959249454907977[234] = 0.0; - out_8390959249454907977[235] = 0.0; - out_8390959249454907977[236] = 0.0; - out_8390959249454907977[237] = 0.0; - out_8390959249454907977[238] = 0.0; - out_8390959249454907977[239] = 0.0; - out_8390959249454907977[240] = 0.0; - out_8390959249454907977[241] = 0.0; - out_8390959249454907977[242] = 0.0; - out_8390959249454907977[243] = 0.0; - out_8390959249454907977[244] = 0.0; - out_8390959249454907977[245] = 0.0; - out_8390959249454907977[246] = 0.0; - out_8390959249454907977[247] = 1.0; - out_8390959249454907977[248] = 0.0; - out_8390959249454907977[249] = 0.0; - out_8390959249454907977[250] = 0.0; - out_8390959249454907977[251] = 0.0; - out_8390959249454907977[252] = 0.0; - out_8390959249454907977[253] = 0.0; - out_8390959249454907977[254] = 0.0; - out_8390959249454907977[255] = 0.0; - out_8390959249454907977[256] = 0.0; - out_8390959249454907977[257] = 0.0; - out_8390959249454907977[258] = 0.0; - out_8390959249454907977[259] = 0.0; - out_8390959249454907977[260] = 0.0; - out_8390959249454907977[261] = 0.0; - out_8390959249454907977[262] = 0.0; - out_8390959249454907977[263] = 0.0; - out_8390959249454907977[264] = 0.0; - out_8390959249454907977[265] = 0.0; - out_8390959249454907977[266] = 1.0; - out_8390959249454907977[267] = 0.0; - out_8390959249454907977[268] = 0.0; - out_8390959249454907977[269] = 0.0; - out_8390959249454907977[270] = 0.0; - out_8390959249454907977[271] = 0.0; - out_8390959249454907977[272] = 0.0; - out_8390959249454907977[273] = 0.0; - out_8390959249454907977[274] = 0.0; - out_8390959249454907977[275] = 0.0; - out_8390959249454907977[276] = 0.0; - out_8390959249454907977[277] = 0.0; - out_8390959249454907977[278] = 0.0; - out_8390959249454907977[279] = 0.0; - out_8390959249454907977[280] = 0.0; - out_8390959249454907977[281] = 0.0; - out_8390959249454907977[282] = 0.0; - out_8390959249454907977[283] = 0.0; - out_8390959249454907977[284] = 0.0; - out_8390959249454907977[285] = 1.0; - out_8390959249454907977[286] = 0.0; - out_8390959249454907977[287] = 0.0; - out_8390959249454907977[288] = 0.0; - out_8390959249454907977[289] = 0.0; - out_8390959249454907977[290] = 0.0; - out_8390959249454907977[291] = 0.0; - out_8390959249454907977[292] = 0.0; - out_8390959249454907977[293] = 0.0; - out_8390959249454907977[294] = 0.0; - out_8390959249454907977[295] = 0.0; - out_8390959249454907977[296] = 0.0; - out_8390959249454907977[297] = 0.0; - out_8390959249454907977[298] = 0.0; - out_8390959249454907977[299] = 0.0; - out_8390959249454907977[300] = 0.0; - out_8390959249454907977[301] = 0.0; - out_8390959249454907977[302] = 0.0; - out_8390959249454907977[303] = 0.0; - out_8390959249454907977[304] = 1.0; - out_8390959249454907977[305] = 0.0; - out_8390959249454907977[306] = 0.0; - out_8390959249454907977[307] = 0.0; - out_8390959249454907977[308] = 0.0; - out_8390959249454907977[309] = 0.0; - out_8390959249454907977[310] = 0.0; - out_8390959249454907977[311] = 0.0; - out_8390959249454907977[312] = 0.0; - out_8390959249454907977[313] = 0.0; - out_8390959249454907977[314] = 0.0; - out_8390959249454907977[315] = 0.0; - out_8390959249454907977[316] = 0.0; - out_8390959249454907977[317] = 0.0; - out_8390959249454907977[318] = 0.0; - out_8390959249454907977[319] = 0.0; - out_8390959249454907977[320] = 0.0; - out_8390959249454907977[321] = 0.0; - out_8390959249454907977[322] = 0.0; - out_8390959249454907977[323] = 1.0; +void H_mod_fun(double *state, double *out_874056645799517577) { + out_874056645799517577[0] = 1.0; + out_874056645799517577[1] = 0.0; + out_874056645799517577[2] = 0.0; + out_874056645799517577[3] = 0.0; + out_874056645799517577[4] = 0.0; + out_874056645799517577[5] = 0.0; + out_874056645799517577[6] = 0.0; + out_874056645799517577[7] = 0.0; + out_874056645799517577[8] = 0.0; + out_874056645799517577[9] = 0.0; + out_874056645799517577[10] = 0.0; + out_874056645799517577[11] = 0.0; + out_874056645799517577[12] = 0.0; + out_874056645799517577[13] = 0.0; + out_874056645799517577[14] = 0.0; + out_874056645799517577[15] = 0.0; + out_874056645799517577[16] = 0.0; + out_874056645799517577[17] = 0.0; + out_874056645799517577[18] = 0.0; + out_874056645799517577[19] = 1.0; + out_874056645799517577[20] = 0.0; + out_874056645799517577[21] = 0.0; + out_874056645799517577[22] = 0.0; + out_874056645799517577[23] = 0.0; + out_874056645799517577[24] = 0.0; + out_874056645799517577[25] = 0.0; + out_874056645799517577[26] = 0.0; + out_874056645799517577[27] = 0.0; + out_874056645799517577[28] = 0.0; + out_874056645799517577[29] = 0.0; + out_874056645799517577[30] = 0.0; + out_874056645799517577[31] = 0.0; + out_874056645799517577[32] = 0.0; + out_874056645799517577[33] = 0.0; + out_874056645799517577[34] = 0.0; + out_874056645799517577[35] = 0.0; + out_874056645799517577[36] = 0.0; + out_874056645799517577[37] = 0.0; + out_874056645799517577[38] = 1.0; + out_874056645799517577[39] = 0.0; + out_874056645799517577[40] = 0.0; + out_874056645799517577[41] = 0.0; + out_874056645799517577[42] = 0.0; + out_874056645799517577[43] = 0.0; + out_874056645799517577[44] = 0.0; + out_874056645799517577[45] = 0.0; + out_874056645799517577[46] = 0.0; + out_874056645799517577[47] = 0.0; + out_874056645799517577[48] = 0.0; + out_874056645799517577[49] = 0.0; + out_874056645799517577[50] = 0.0; + out_874056645799517577[51] = 0.0; + out_874056645799517577[52] = 0.0; + out_874056645799517577[53] = 0.0; + out_874056645799517577[54] = 0.0; + out_874056645799517577[55] = 0.0; + out_874056645799517577[56] = 0.0; + out_874056645799517577[57] = 1.0; + out_874056645799517577[58] = 0.0; + out_874056645799517577[59] = 0.0; + out_874056645799517577[60] = 0.0; + out_874056645799517577[61] = 0.0; + out_874056645799517577[62] = 0.0; + out_874056645799517577[63] = 0.0; + out_874056645799517577[64] = 0.0; + out_874056645799517577[65] = 0.0; + out_874056645799517577[66] = 0.0; + out_874056645799517577[67] = 0.0; + out_874056645799517577[68] = 0.0; + out_874056645799517577[69] = 0.0; + out_874056645799517577[70] = 0.0; + out_874056645799517577[71] = 0.0; + out_874056645799517577[72] = 0.0; + out_874056645799517577[73] = 0.0; + out_874056645799517577[74] = 0.0; + out_874056645799517577[75] = 0.0; + out_874056645799517577[76] = 1.0; + out_874056645799517577[77] = 0.0; + out_874056645799517577[78] = 0.0; + out_874056645799517577[79] = 0.0; + out_874056645799517577[80] = 0.0; + out_874056645799517577[81] = 0.0; + out_874056645799517577[82] = 0.0; + out_874056645799517577[83] = 0.0; + out_874056645799517577[84] = 0.0; + out_874056645799517577[85] = 0.0; + out_874056645799517577[86] = 0.0; + out_874056645799517577[87] = 0.0; + out_874056645799517577[88] = 0.0; + out_874056645799517577[89] = 0.0; + out_874056645799517577[90] = 0.0; + out_874056645799517577[91] = 0.0; + out_874056645799517577[92] = 0.0; + out_874056645799517577[93] = 0.0; + out_874056645799517577[94] = 0.0; + out_874056645799517577[95] = 1.0; + out_874056645799517577[96] = 0.0; + out_874056645799517577[97] = 0.0; + out_874056645799517577[98] = 0.0; + out_874056645799517577[99] = 0.0; + out_874056645799517577[100] = 0.0; + out_874056645799517577[101] = 0.0; + out_874056645799517577[102] = 0.0; + out_874056645799517577[103] = 0.0; + out_874056645799517577[104] = 0.0; + out_874056645799517577[105] = 0.0; + out_874056645799517577[106] = 0.0; + out_874056645799517577[107] = 0.0; + out_874056645799517577[108] = 0.0; + out_874056645799517577[109] = 0.0; + out_874056645799517577[110] = 0.0; + out_874056645799517577[111] = 0.0; + out_874056645799517577[112] = 0.0; + out_874056645799517577[113] = 0.0; + out_874056645799517577[114] = 1.0; + out_874056645799517577[115] = 0.0; + out_874056645799517577[116] = 0.0; + out_874056645799517577[117] = 0.0; + out_874056645799517577[118] = 0.0; + out_874056645799517577[119] = 0.0; + out_874056645799517577[120] = 0.0; + out_874056645799517577[121] = 0.0; + out_874056645799517577[122] = 0.0; + out_874056645799517577[123] = 0.0; + out_874056645799517577[124] = 0.0; + out_874056645799517577[125] = 0.0; + out_874056645799517577[126] = 0.0; + out_874056645799517577[127] = 0.0; + out_874056645799517577[128] = 0.0; + out_874056645799517577[129] = 0.0; + out_874056645799517577[130] = 0.0; + out_874056645799517577[131] = 0.0; + out_874056645799517577[132] = 0.0; + out_874056645799517577[133] = 1.0; + out_874056645799517577[134] = 0.0; + out_874056645799517577[135] = 0.0; + out_874056645799517577[136] = 0.0; + out_874056645799517577[137] = 0.0; + out_874056645799517577[138] = 0.0; + out_874056645799517577[139] = 0.0; + out_874056645799517577[140] = 0.0; + out_874056645799517577[141] = 0.0; + out_874056645799517577[142] = 0.0; + out_874056645799517577[143] = 0.0; + out_874056645799517577[144] = 0.0; + out_874056645799517577[145] = 0.0; + out_874056645799517577[146] = 0.0; + out_874056645799517577[147] = 0.0; + out_874056645799517577[148] = 0.0; + out_874056645799517577[149] = 0.0; + out_874056645799517577[150] = 0.0; + out_874056645799517577[151] = 0.0; + out_874056645799517577[152] = 1.0; + out_874056645799517577[153] = 0.0; + out_874056645799517577[154] = 0.0; + out_874056645799517577[155] = 0.0; + out_874056645799517577[156] = 0.0; + out_874056645799517577[157] = 0.0; + out_874056645799517577[158] = 0.0; + out_874056645799517577[159] = 0.0; + out_874056645799517577[160] = 0.0; + out_874056645799517577[161] = 0.0; + out_874056645799517577[162] = 0.0; + out_874056645799517577[163] = 0.0; + out_874056645799517577[164] = 0.0; + out_874056645799517577[165] = 0.0; + out_874056645799517577[166] = 0.0; + out_874056645799517577[167] = 0.0; + out_874056645799517577[168] = 0.0; + out_874056645799517577[169] = 0.0; + out_874056645799517577[170] = 0.0; + out_874056645799517577[171] = 1.0; + out_874056645799517577[172] = 0.0; + out_874056645799517577[173] = 0.0; + out_874056645799517577[174] = 0.0; + out_874056645799517577[175] = 0.0; + out_874056645799517577[176] = 0.0; + out_874056645799517577[177] = 0.0; + out_874056645799517577[178] = 0.0; + out_874056645799517577[179] = 0.0; + out_874056645799517577[180] = 0.0; + out_874056645799517577[181] = 0.0; + out_874056645799517577[182] = 0.0; + out_874056645799517577[183] = 0.0; + out_874056645799517577[184] = 0.0; + out_874056645799517577[185] = 0.0; + out_874056645799517577[186] = 0.0; + out_874056645799517577[187] = 0.0; + out_874056645799517577[188] = 0.0; + out_874056645799517577[189] = 0.0; + out_874056645799517577[190] = 1.0; + out_874056645799517577[191] = 0.0; + out_874056645799517577[192] = 0.0; + out_874056645799517577[193] = 0.0; + out_874056645799517577[194] = 0.0; + out_874056645799517577[195] = 0.0; + out_874056645799517577[196] = 0.0; + out_874056645799517577[197] = 0.0; + out_874056645799517577[198] = 0.0; + out_874056645799517577[199] = 0.0; + out_874056645799517577[200] = 0.0; + out_874056645799517577[201] = 0.0; + out_874056645799517577[202] = 0.0; + out_874056645799517577[203] = 0.0; + out_874056645799517577[204] = 0.0; + out_874056645799517577[205] = 0.0; + out_874056645799517577[206] = 0.0; + out_874056645799517577[207] = 0.0; + out_874056645799517577[208] = 0.0; + out_874056645799517577[209] = 1.0; + out_874056645799517577[210] = 0.0; + out_874056645799517577[211] = 0.0; + out_874056645799517577[212] = 0.0; + out_874056645799517577[213] = 0.0; + out_874056645799517577[214] = 0.0; + out_874056645799517577[215] = 0.0; + out_874056645799517577[216] = 0.0; + out_874056645799517577[217] = 0.0; + out_874056645799517577[218] = 0.0; + out_874056645799517577[219] = 0.0; + out_874056645799517577[220] = 0.0; + out_874056645799517577[221] = 0.0; + out_874056645799517577[222] = 0.0; + out_874056645799517577[223] = 0.0; + out_874056645799517577[224] = 0.0; + out_874056645799517577[225] = 0.0; + out_874056645799517577[226] = 0.0; + out_874056645799517577[227] = 0.0; + out_874056645799517577[228] = 1.0; + out_874056645799517577[229] = 0.0; + out_874056645799517577[230] = 0.0; + out_874056645799517577[231] = 0.0; + out_874056645799517577[232] = 0.0; + out_874056645799517577[233] = 0.0; + out_874056645799517577[234] = 0.0; + out_874056645799517577[235] = 0.0; + out_874056645799517577[236] = 0.0; + out_874056645799517577[237] = 0.0; + out_874056645799517577[238] = 0.0; + out_874056645799517577[239] = 0.0; + out_874056645799517577[240] = 0.0; + out_874056645799517577[241] = 0.0; + out_874056645799517577[242] = 0.0; + out_874056645799517577[243] = 0.0; + out_874056645799517577[244] = 0.0; + out_874056645799517577[245] = 0.0; + out_874056645799517577[246] = 0.0; + out_874056645799517577[247] = 1.0; + out_874056645799517577[248] = 0.0; + out_874056645799517577[249] = 0.0; + out_874056645799517577[250] = 0.0; + out_874056645799517577[251] = 0.0; + out_874056645799517577[252] = 0.0; + out_874056645799517577[253] = 0.0; + out_874056645799517577[254] = 0.0; + out_874056645799517577[255] = 0.0; + out_874056645799517577[256] = 0.0; + out_874056645799517577[257] = 0.0; + out_874056645799517577[258] = 0.0; + out_874056645799517577[259] = 0.0; + out_874056645799517577[260] = 0.0; + out_874056645799517577[261] = 0.0; + out_874056645799517577[262] = 0.0; + out_874056645799517577[263] = 0.0; + out_874056645799517577[264] = 0.0; + out_874056645799517577[265] = 0.0; + out_874056645799517577[266] = 1.0; + out_874056645799517577[267] = 0.0; + out_874056645799517577[268] = 0.0; + out_874056645799517577[269] = 0.0; + out_874056645799517577[270] = 0.0; + out_874056645799517577[271] = 0.0; + out_874056645799517577[272] = 0.0; + out_874056645799517577[273] = 0.0; + out_874056645799517577[274] = 0.0; + out_874056645799517577[275] = 0.0; + out_874056645799517577[276] = 0.0; + out_874056645799517577[277] = 0.0; + out_874056645799517577[278] = 0.0; + out_874056645799517577[279] = 0.0; + out_874056645799517577[280] = 0.0; + out_874056645799517577[281] = 0.0; + out_874056645799517577[282] = 0.0; + out_874056645799517577[283] = 0.0; + out_874056645799517577[284] = 0.0; + out_874056645799517577[285] = 1.0; + out_874056645799517577[286] = 0.0; + out_874056645799517577[287] = 0.0; + out_874056645799517577[288] = 0.0; + out_874056645799517577[289] = 0.0; + out_874056645799517577[290] = 0.0; + out_874056645799517577[291] = 0.0; + out_874056645799517577[292] = 0.0; + out_874056645799517577[293] = 0.0; + out_874056645799517577[294] = 0.0; + out_874056645799517577[295] = 0.0; + out_874056645799517577[296] = 0.0; + out_874056645799517577[297] = 0.0; + out_874056645799517577[298] = 0.0; + out_874056645799517577[299] = 0.0; + out_874056645799517577[300] = 0.0; + out_874056645799517577[301] = 0.0; + out_874056645799517577[302] = 0.0; + out_874056645799517577[303] = 0.0; + out_874056645799517577[304] = 1.0; + out_874056645799517577[305] = 0.0; + out_874056645799517577[306] = 0.0; + out_874056645799517577[307] = 0.0; + out_874056645799517577[308] = 0.0; + out_874056645799517577[309] = 0.0; + out_874056645799517577[310] = 0.0; + out_874056645799517577[311] = 0.0; + out_874056645799517577[312] = 0.0; + out_874056645799517577[313] = 0.0; + out_874056645799517577[314] = 0.0; + out_874056645799517577[315] = 0.0; + out_874056645799517577[316] = 0.0; + out_874056645799517577[317] = 0.0; + out_874056645799517577[318] = 0.0; + out_874056645799517577[319] = 0.0; + out_874056645799517577[320] = 0.0; + out_874056645799517577[321] = 0.0; + out_874056645799517577[322] = 0.0; + out_874056645799517577[323] = 1.0; } -void f_fun(double *state, double dt, double *out_9042230065077868228) { - out_9042230065077868228[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_9042230065077868228[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_9042230065077868228[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_9042230065077868228[3] = dt*state[12] + state[3]; - out_9042230065077868228[4] = dt*state[13] + state[4]; - out_9042230065077868228[5] = dt*state[14] + state[5]; - out_9042230065077868228[6] = state[6]; - out_9042230065077868228[7] = state[7]; - out_9042230065077868228[8] = state[8]; - out_9042230065077868228[9] = state[9]; - out_9042230065077868228[10] = state[10]; - out_9042230065077868228[11] = state[11]; - out_9042230065077868228[12] = state[12]; - out_9042230065077868228[13] = state[13]; - out_9042230065077868228[14] = state[14]; - out_9042230065077868228[15] = state[15]; - out_9042230065077868228[16] = state[16]; - out_9042230065077868228[17] = state[17]; +void f_fun(double *state, double dt, double *out_7518635824214998963) { + out_7518635824214998963[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_7518635824214998963[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_7518635824214998963[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_7518635824214998963[3] = dt*state[12] + state[3]; + out_7518635824214998963[4] = dt*state[13] + state[4]; + out_7518635824214998963[5] = dt*state[14] + state[5]; + out_7518635824214998963[6] = state[6]; + out_7518635824214998963[7] = state[7]; + out_7518635824214998963[8] = state[8]; + out_7518635824214998963[9] = state[9]; + out_7518635824214998963[10] = state[10]; + out_7518635824214998963[11] = state[11]; + out_7518635824214998963[12] = state[12]; + out_7518635824214998963[13] = state[13]; + out_7518635824214998963[14] = state[14]; + out_7518635824214998963[15] = state[15]; + out_7518635824214998963[16] = state[16]; + out_7518635824214998963[17] = state[17]; } -void F_fun(double *state, double dt, double *out_3211704972733304042) { - out_3211704972733304042[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_3211704972733304042[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_3211704972733304042[2] = 0; - out_3211704972733304042[3] = 0; - out_3211704972733304042[4] = 0; - out_3211704972733304042[5] = 0; - out_3211704972733304042[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_3211704972733304042[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_3211704972733304042[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_3211704972733304042[9] = 0; - out_3211704972733304042[10] = 0; - out_3211704972733304042[11] = 0; - out_3211704972733304042[12] = 0; - out_3211704972733304042[13] = 0; - out_3211704972733304042[14] = 0; - out_3211704972733304042[15] = 0; - out_3211704972733304042[16] = 0; - out_3211704972733304042[17] = 0; - out_3211704972733304042[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_3211704972733304042[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_3211704972733304042[20] = 0; - out_3211704972733304042[21] = 0; - out_3211704972733304042[22] = 0; - out_3211704972733304042[23] = 0; - out_3211704972733304042[24] = 0; - out_3211704972733304042[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_3211704972733304042[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_3211704972733304042[27] = 0; - out_3211704972733304042[28] = 0; - out_3211704972733304042[29] = 0; - out_3211704972733304042[30] = 0; - out_3211704972733304042[31] = 0; - out_3211704972733304042[32] = 0; - out_3211704972733304042[33] = 0; - out_3211704972733304042[34] = 0; - out_3211704972733304042[35] = 0; - out_3211704972733304042[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_3211704972733304042[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_3211704972733304042[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_3211704972733304042[39] = 0; - out_3211704972733304042[40] = 0; - out_3211704972733304042[41] = 0; - out_3211704972733304042[42] = 0; - out_3211704972733304042[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_3211704972733304042[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_3211704972733304042[45] = 0; - out_3211704972733304042[46] = 0; - out_3211704972733304042[47] = 0; - out_3211704972733304042[48] = 0; - out_3211704972733304042[49] = 0; - out_3211704972733304042[50] = 0; - out_3211704972733304042[51] = 0; - out_3211704972733304042[52] = 0; - out_3211704972733304042[53] = 0; - out_3211704972733304042[54] = 0; - out_3211704972733304042[55] = 0; - out_3211704972733304042[56] = 0; - out_3211704972733304042[57] = 1; - out_3211704972733304042[58] = 0; - out_3211704972733304042[59] = 0; - out_3211704972733304042[60] = 0; - out_3211704972733304042[61] = 0; - out_3211704972733304042[62] = 0; - out_3211704972733304042[63] = 0; - out_3211704972733304042[64] = 0; - out_3211704972733304042[65] = 0; - out_3211704972733304042[66] = dt; - out_3211704972733304042[67] = 0; - out_3211704972733304042[68] = 0; - out_3211704972733304042[69] = 0; - out_3211704972733304042[70] = 0; - out_3211704972733304042[71] = 0; - out_3211704972733304042[72] = 0; - out_3211704972733304042[73] = 0; - out_3211704972733304042[74] = 0; - out_3211704972733304042[75] = 0; - out_3211704972733304042[76] = 1; - out_3211704972733304042[77] = 0; - out_3211704972733304042[78] = 0; - out_3211704972733304042[79] = 0; - out_3211704972733304042[80] = 0; - out_3211704972733304042[81] = 0; - out_3211704972733304042[82] = 0; - out_3211704972733304042[83] = 0; - out_3211704972733304042[84] = 0; - out_3211704972733304042[85] = dt; - out_3211704972733304042[86] = 0; - out_3211704972733304042[87] = 0; - out_3211704972733304042[88] = 0; - out_3211704972733304042[89] = 0; - out_3211704972733304042[90] = 0; - out_3211704972733304042[91] = 0; - out_3211704972733304042[92] = 0; - out_3211704972733304042[93] = 0; - out_3211704972733304042[94] = 0; - out_3211704972733304042[95] = 1; - out_3211704972733304042[96] = 0; - out_3211704972733304042[97] = 0; - out_3211704972733304042[98] = 0; - out_3211704972733304042[99] = 0; - out_3211704972733304042[100] = 0; - out_3211704972733304042[101] = 0; - out_3211704972733304042[102] = 0; - out_3211704972733304042[103] = 0; - out_3211704972733304042[104] = dt; - out_3211704972733304042[105] = 0; - out_3211704972733304042[106] = 0; - out_3211704972733304042[107] = 0; - out_3211704972733304042[108] = 0; - out_3211704972733304042[109] = 0; - out_3211704972733304042[110] = 0; - out_3211704972733304042[111] = 0; - out_3211704972733304042[112] = 0; - out_3211704972733304042[113] = 0; - out_3211704972733304042[114] = 1; - out_3211704972733304042[115] = 0; - out_3211704972733304042[116] = 0; - out_3211704972733304042[117] = 0; - out_3211704972733304042[118] = 0; - out_3211704972733304042[119] = 0; - out_3211704972733304042[120] = 0; - out_3211704972733304042[121] = 0; - out_3211704972733304042[122] = 0; - out_3211704972733304042[123] = 0; - out_3211704972733304042[124] = 0; - out_3211704972733304042[125] = 0; - out_3211704972733304042[126] = 0; - out_3211704972733304042[127] = 0; - out_3211704972733304042[128] = 0; - out_3211704972733304042[129] = 0; - out_3211704972733304042[130] = 0; - out_3211704972733304042[131] = 0; - out_3211704972733304042[132] = 0; - out_3211704972733304042[133] = 1; - out_3211704972733304042[134] = 0; - out_3211704972733304042[135] = 0; - out_3211704972733304042[136] = 0; - out_3211704972733304042[137] = 0; - out_3211704972733304042[138] = 0; - out_3211704972733304042[139] = 0; - out_3211704972733304042[140] = 0; - out_3211704972733304042[141] = 0; - out_3211704972733304042[142] = 0; - out_3211704972733304042[143] = 0; - out_3211704972733304042[144] = 0; - out_3211704972733304042[145] = 0; - out_3211704972733304042[146] = 0; - out_3211704972733304042[147] = 0; - out_3211704972733304042[148] = 0; - out_3211704972733304042[149] = 0; - out_3211704972733304042[150] = 0; - out_3211704972733304042[151] = 0; - out_3211704972733304042[152] = 1; - out_3211704972733304042[153] = 0; - out_3211704972733304042[154] = 0; - out_3211704972733304042[155] = 0; - out_3211704972733304042[156] = 0; - out_3211704972733304042[157] = 0; - out_3211704972733304042[158] = 0; - out_3211704972733304042[159] = 0; - out_3211704972733304042[160] = 0; - out_3211704972733304042[161] = 0; - out_3211704972733304042[162] = 0; - out_3211704972733304042[163] = 0; - out_3211704972733304042[164] = 0; - out_3211704972733304042[165] = 0; - out_3211704972733304042[166] = 0; - out_3211704972733304042[167] = 0; - out_3211704972733304042[168] = 0; - out_3211704972733304042[169] = 0; - out_3211704972733304042[170] = 0; - out_3211704972733304042[171] = 1; - out_3211704972733304042[172] = 0; - out_3211704972733304042[173] = 0; - out_3211704972733304042[174] = 0; - out_3211704972733304042[175] = 0; - out_3211704972733304042[176] = 0; - out_3211704972733304042[177] = 0; - out_3211704972733304042[178] = 0; - out_3211704972733304042[179] = 0; - out_3211704972733304042[180] = 0; - out_3211704972733304042[181] = 0; - out_3211704972733304042[182] = 0; - out_3211704972733304042[183] = 0; - out_3211704972733304042[184] = 0; - out_3211704972733304042[185] = 0; - out_3211704972733304042[186] = 0; - out_3211704972733304042[187] = 0; - out_3211704972733304042[188] = 0; - out_3211704972733304042[189] = 0; - out_3211704972733304042[190] = 1; - out_3211704972733304042[191] = 0; - out_3211704972733304042[192] = 0; - out_3211704972733304042[193] = 0; - out_3211704972733304042[194] = 0; - out_3211704972733304042[195] = 0; - out_3211704972733304042[196] = 0; - out_3211704972733304042[197] = 0; - out_3211704972733304042[198] = 0; - out_3211704972733304042[199] = 0; - out_3211704972733304042[200] = 0; - out_3211704972733304042[201] = 0; - out_3211704972733304042[202] = 0; - out_3211704972733304042[203] = 0; - out_3211704972733304042[204] = 0; - out_3211704972733304042[205] = 0; - out_3211704972733304042[206] = 0; - out_3211704972733304042[207] = 0; - out_3211704972733304042[208] = 0; - out_3211704972733304042[209] = 1; - out_3211704972733304042[210] = 0; - out_3211704972733304042[211] = 0; - out_3211704972733304042[212] = 0; - out_3211704972733304042[213] = 0; - out_3211704972733304042[214] = 0; - out_3211704972733304042[215] = 0; - out_3211704972733304042[216] = 0; - out_3211704972733304042[217] = 0; - out_3211704972733304042[218] = 0; - out_3211704972733304042[219] = 0; - out_3211704972733304042[220] = 0; - out_3211704972733304042[221] = 0; - out_3211704972733304042[222] = 0; - out_3211704972733304042[223] = 0; - out_3211704972733304042[224] = 0; - out_3211704972733304042[225] = 0; - out_3211704972733304042[226] = 0; - out_3211704972733304042[227] = 0; - out_3211704972733304042[228] = 1; - out_3211704972733304042[229] = 0; - out_3211704972733304042[230] = 0; - out_3211704972733304042[231] = 0; - out_3211704972733304042[232] = 0; - out_3211704972733304042[233] = 0; - out_3211704972733304042[234] = 0; - out_3211704972733304042[235] = 0; - out_3211704972733304042[236] = 0; - out_3211704972733304042[237] = 0; - out_3211704972733304042[238] = 0; - out_3211704972733304042[239] = 0; - out_3211704972733304042[240] = 0; - out_3211704972733304042[241] = 0; - out_3211704972733304042[242] = 0; - out_3211704972733304042[243] = 0; - out_3211704972733304042[244] = 0; - out_3211704972733304042[245] = 0; - out_3211704972733304042[246] = 0; - out_3211704972733304042[247] = 1; - out_3211704972733304042[248] = 0; - out_3211704972733304042[249] = 0; - out_3211704972733304042[250] = 0; - out_3211704972733304042[251] = 0; - out_3211704972733304042[252] = 0; - out_3211704972733304042[253] = 0; - out_3211704972733304042[254] = 0; - out_3211704972733304042[255] = 0; - out_3211704972733304042[256] = 0; - out_3211704972733304042[257] = 0; - out_3211704972733304042[258] = 0; - out_3211704972733304042[259] = 0; - out_3211704972733304042[260] = 0; - out_3211704972733304042[261] = 0; - out_3211704972733304042[262] = 0; - out_3211704972733304042[263] = 0; - out_3211704972733304042[264] = 0; - out_3211704972733304042[265] = 0; - out_3211704972733304042[266] = 1; - out_3211704972733304042[267] = 0; - out_3211704972733304042[268] = 0; - out_3211704972733304042[269] = 0; - out_3211704972733304042[270] = 0; - out_3211704972733304042[271] = 0; - out_3211704972733304042[272] = 0; - out_3211704972733304042[273] = 0; - out_3211704972733304042[274] = 0; - out_3211704972733304042[275] = 0; - out_3211704972733304042[276] = 0; - out_3211704972733304042[277] = 0; - out_3211704972733304042[278] = 0; - out_3211704972733304042[279] = 0; - out_3211704972733304042[280] = 0; - out_3211704972733304042[281] = 0; - out_3211704972733304042[282] = 0; - out_3211704972733304042[283] = 0; - out_3211704972733304042[284] = 0; - out_3211704972733304042[285] = 1; - out_3211704972733304042[286] = 0; - out_3211704972733304042[287] = 0; - out_3211704972733304042[288] = 0; - out_3211704972733304042[289] = 0; - out_3211704972733304042[290] = 0; - out_3211704972733304042[291] = 0; - out_3211704972733304042[292] = 0; - out_3211704972733304042[293] = 0; - out_3211704972733304042[294] = 0; - out_3211704972733304042[295] = 0; - out_3211704972733304042[296] = 0; - out_3211704972733304042[297] = 0; - out_3211704972733304042[298] = 0; - out_3211704972733304042[299] = 0; - out_3211704972733304042[300] = 0; - out_3211704972733304042[301] = 0; - out_3211704972733304042[302] = 0; - out_3211704972733304042[303] = 0; - out_3211704972733304042[304] = 1; - out_3211704972733304042[305] = 0; - out_3211704972733304042[306] = 0; - out_3211704972733304042[307] = 0; - out_3211704972733304042[308] = 0; - out_3211704972733304042[309] = 0; - out_3211704972733304042[310] = 0; - out_3211704972733304042[311] = 0; - out_3211704972733304042[312] = 0; - out_3211704972733304042[313] = 0; - out_3211704972733304042[314] = 0; - out_3211704972733304042[315] = 0; - out_3211704972733304042[316] = 0; - out_3211704972733304042[317] = 0; - out_3211704972733304042[318] = 0; - out_3211704972733304042[319] = 0; - out_3211704972733304042[320] = 0; - out_3211704972733304042[321] = 0; - out_3211704972733304042[322] = 0; - out_3211704972733304042[323] = 1; +void F_fun(double *state, double dt, double *out_2943843104528284461) { + out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[2] = 0; + out_2943843104528284461[3] = 0; + out_2943843104528284461[4] = 0; + out_2943843104528284461[5] = 0; + out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[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_2943843104528284461[9] = 0; + out_2943843104528284461[10] = 0; + out_2943843104528284461[11] = 0; + out_2943843104528284461[12] = 0; + out_2943843104528284461[13] = 0; + out_2943843104528284461[14] = 0; + out_2943843104528284461[15] = 0; + out_2943843104528284461[16] = 0; + out_2943843104528284461[17] = 0; + out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[20] = 0; + out_2943843104528284461[21] = 0; + out_2943843104528284461[22] = 0; + out_2943843104528284461[23] = 0; + out_2943843104528284461[24] = 0; + out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[27] = 0; + out_2943843104528284461[28] = 0; + out_2943843104528284461[29] = 0; + out_2943843104528284461[30] = 0; + out_2943843104528284461[31] = 0; + out_2943843104528284461[32] = 0; + out_2943843104528284461[33] = 0; + out_2943843104528284461[34] = 0; + out_2943843104528284461[35] = 0; + out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[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_2943843104528284461[39] = 0; + out_2943843104528284461[40] = 0; + out_2943843104528284461[41] = 0; + out_2943843104528284461[42] = 0; + out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[45] = 0; + out_2943843104528284461[46] = 0; + out_2943843104528284461[47] = 0; + out_2943843104528284461[48] = 0; + out_2943843104528284461[49] = 0; + out_2943843104528284461[50] = 0; + out_2943843104528284461[51] = 0; + out_2943843104528284461[52] = 0; + out_2943843104528284461[53] = 0; + out_2943843104528284461[54] = 0; + out_2943843104528284461[55] = 0; + out_2943843104528284461[56] = 0; + out_2943843104528284461[57] = 1; + out_2943843104528284461[58] = 0; + out_2943843104528284461[59] = 0; + out_2943843104528284461[60] = 0; + out_2943843104528284461[61] = 0; + out_2943843104528284461[62] = 0; + out_2943843104528284461[63] = 0; + out_2943843104528284461[64] = 0; + out_2943843104528284461[65] = 0; + out_2943843104528284461[66] = dt; + out_2943843104528284461[67] = 0; + out_2943843104528284461[68] = 0; + out_2943843104528284461[69] = 0; + out_2943843104528284461[70] = 0; + out_2943843104528284461[71] = 0; + out_2943843104528284461[72] = 0; + out_2943843104528284461[73] = 0; + out_2943843104528284461[74] = 0; + out_2943843104528284461[75] = 0; + out_2943843104528284461[76] = 1; + out_2943843104528284461[77] = 0; + out_2943843104528284461[78] = 0; + out_2943843104528284461[79] = 0; + out_2943843104528284461[80] = 0; + out_2943843104528284461[81] = 0; + out_2943843104528284461[82] = 0; + out_2943843104528284461[83] = 0; + out_2943843104528284461[84] = 0; + out_2943843104528284461[85] = dt; + out_2943843104528284461[86] = 0; + out_2943843104528284461[87] = 0; + out_2943843104528284461[88] = 0; + out_2943843104528284461[89] = 0; + out_2943843104528284461[90] = 0; + out_2943843104528284461[91] = 0; + out_2943843104528284461[92] = 0; + out_2943843104528284461[93] = 0; + out_2943843104528284461[94] = 0; + out_2943843104528284461[95] = 1; + out_2943843104528284461[96] = 0; + out_2943843104528284461[97] = 0; + out_2943843104528284461[98] = 0; + out_2943843104528284461[99] = 0; + out_2943843104528284461[100] = 0; + out_2943843104528284461[101] = 0; + out_2943843104528284461[102] = 0; + out_2943843104528284461[103] = 0; + out_2943843104528284461[104] = dt; + out_2943843104528284461[105] = 0; + out_2943843104528284461[106] = 0; + out_2943843104528284461[107] = 0; + out_2943843104528284461[108] = 0; + out_2943843104528284461[109] = 0; + out_2943843104528284461[110] = 0; + out_2943843104528284461[111] = 0; + out_2943843104528284461[112] = 0; + out_2943843104528284461[113] = 0; + out_2943843104528284461[114] = 1; + out_2943843104528284461[115] = 0; + out_2943843104528284461[116] = 0; + out_2943843104528284461[117] = 0; + out_2943843104528284461[118] = 0; + out_2943843104528284461[119] = 0; + out_2943843104528284461[120] = 0; + out_2943843104528284461[121] = 0; + out_2943843104528284461[122] = 0; + out_2943843104528284461[123] = 0; + out_2943843104528284461[124] = 0; + out_2943843104528284461[125] = 0; + out_2943843104528284461[126] = 0; + out_2943843104528284461[127] = 0; + out_2943843104528284461[128] = 0; + out_2943843104528284461[129] = 0; + out_2943843104528284461[130] = 0; + out_2943843104528284461[131] = 0; + out_2943843104528284461[132] = 0; + out_2943843104528284461[133] = 1; + out_2943843104528284461[134] = 0; + out_2943843104528284461[135] = 0; + out_2943843104528284461[136] = 0; + out_2943843104528284461[137] = 0; + out_2943843104528284461[138] = 0; + out_2943843104528284461[139] = 0; + out_2943843104528284461[140] = 0; + out_2943843104528284461[141] = 0; + out_2943843104528284461[142] = 0; + out_2943843104528284461[143] = 0; + out_2943843104528284461[144] = 0; + out_2943843104528284461[145] = 0; + out_2943843104528284461[146] = 0; + out_2943843104528284461[147] = 0; + out_2943843104528284461[148] = 0; + out_2943843104528284461[149] = 0; + out_2943843104528284461[150] = 0; + out_2943843104528284461[151] = 0; + out_2943843104528284461[152] = 1; + out_2943843104528284461[153] = 0; + out_2943843104528284461[154] = 0; + out_2943843104528284461[155] = 0; + out_2943843104528284461[156] = 0; + out_2943843104528284461[157] = 0; + out_2943843104528284461[158] = 0; + out_2943843104528284461[159] = 0; + out_2943843104528284461[160] = 0; + out_2943843104528284461[161] = 0; + out_2943843104528284461[162] = 0; + out_2943843104528284461[163] = 0; + out_2943843104528284461[164] = 0; + out_2943843104528284461[165] = 0; + out_2943843104528284461[166] = 0; + out_2943843104528284461[167] = 0; + out_2943843104528284461[168] = 0; + out_2943843104528284461[169] = 0; + out_2943843104528284461[170] = 0; + out_2943843104528284461[171] = 1; + out_2943843104528284461[172] = 0; + out_2943843104528284461[173] = 0; + out_2943843104528284461[174] = 0; + out_2943843104528284461[175] = 0; + out_2943843104528284461[176] = 0; + out_2943843104528284461[177] = 0; + out_2943843104528284461[178] = 0; + out_2943843104528284461[179] = 0; + out_2943843104528284461[180] = 0; + out_2943843104528284461[181] = 0; + out_2943843104528284461[182] = 0; + out_2943843104528284461[183] = 0; + out_2943843104528284461[184] = 0; + out_2943843104528284461[185] = 0; + out_2943843104528284461[186] = 0; + out_2943843104528284461[187] = 0; + out_2943843104528284461[188] = 0; + out_2943843104528284461[189] = 0; + out_2943843104528284461[190] = 1; + out_2943843104528284461[191] = 0; + out_2943843104528284461[192] = 0; + out_2943843104528284461[193] = 0; + out_2943843104528284461[194] = 0; + out_2943843104528284461[195] = 0; + out_2943843104528284461[196] = 0; + out_2943843104528284461[197] = 0; + out_2943843104528284461[198] = 0; + out_2943843104528284461[199] = 0; + out_2943843104528284461[200] = 0; + out_2943843104528284461[201] = 0; + out_2943843104528284461[202] = 0; + out_2943843104528284461[203] = 0; + out_2943843104528284461[204] = 0; + out_2943843104528284461[205] = 0; + out_2943843104528284461[206] = 0; + out_2943843104528284461[207] = 0; + out_2943843104528284461[208] = 0; + out_2943843104528284461[209] = 1; + out_2943843104528284461[210] = 0; + out_2943843104528284461[211] = 0; + out_2943843104528284461[212] = 0; + out_2943843104528284461[213] = 0; + out_2943843104528284461[214] = 0; + out_2943843104528284461[215] = 0; + out_2943843104528284461[216] = 0; + out_2943843104528284461[217] = 0; + out_2943843104528284461[218] = 0; + out_2943843104528284461[219] = 0; + out_2943843104528284461[220] = 0; + out_2943843104528284461[221] = 0; + out_2943843104528284461[222] = 0; + out_2943843104528284461[223] = 0; + out_2943843104528284461[224] = 0; + out_2943843104528284461[225] = 0; + out_2943843104528284461[226] = 0; + out_2943843104528284461[227] = 0; + out_2943843104528284461[228] = 1; + out_2943843104528284461[229] = 0; + out_2943843104528284461[230] = 0; + out_2943843104528284461[231] = 0; + out_2943843104528284461[232] = 0; + out_2943843104528284461[233] = 0; + out_2943843104528284461[234] = 0; + out_2943843104528284461[235] = 0; + out_2943843104528284461[236] = 0; + out_2943843104528284461[237] = 0; + out_2943843104528284461[238] = 0; + out_2943843104528284461[239] = 0; + out_2943843104528284461[240] = 0; + out_2943843104528284461[241] = 0; + out_2943843104528284461[242] = 0; + out_2943843104528284461[243] = 0; + out_2943843104528284461[244] = 0; + out_2943843104528284461[245] = 0; + out_2943843104528284461[246] = 0; + out_2943843104528284461[247] = 1; + out_2943843104528284461[248] = 0; + out_2943843104528284461[249] = 0; + out_2943843104528284461[250] = 0; + out_2943843104528284461[251] = 0; + out_2943843104528284461[252] = 0; + out_2943843104528284461[253] = 0; + out_2943843104528284461[254] = 0; + out_2943843104528284461[255] = 0; + out_2943843104528284461[256] = 0; + out_2943843104528284461[257] = 0; + out_2943843104528284461[258] = 0; + out_2943843104528284461[259] = 0; + out_2943843104528284461[260] = 0; + out_2943843104528284461[261] = 0; + out_2943843104528284461[262] = 0; + out_2943843104528284461[263] = 0; + out_2943843104528284461[264] = 0; + out_2943843104528284461[265] = 0; + out_2943843104528284461[266] = 1; + out_2943843104528284461[267] = 0; + out_2943843104528284461[268] = 0; + out_2943843104528284461[269] = 0; + out_2943843104528284461[270] = 0; + out_2943843104528284461[271] = 0; + out_2943843104528284461[272] = 0; + out_2943843104528284461[273] = 0; + out_2943843104528284461[274] = 0; + out_2943843104528284461[275] = 0; + out_2943843104528284461[276] = 0; + out_2943843104528284461[277] = 0; + out_2943843104528284461[278] = 0; + out_2943843104528284461[279] = 0; + out_2943843104528284461[280] = 0; + out_2943843104528284461[281] = 0; + out_2943843104528284461[282] = 0; + out_2943843104528284461[283] = 0; + out_2943843104528284461[284] = 0; + out_2943843104528284461[285] = 1; + out_2943843104528284461[286] = 0; + out_2943843104528284461[287] = 0; + out_2943843104528284461[288] = 0; + out_2943843104528284461[289] = 0; + out_2943843104528284461[290] = 0; + out_2943843104528284461[291] = 0; + out_2943843104528284461[292] = 0; + out_2943843104528284461[293] = 0; + out_2943843104528284461[294] = 0; + out_2943843104528284461[295] = 0; + out_2943843104528284461[296] = 0; + out_2943843104528284461[297] = 0; + out_2943843104528284461[298] = 0; + out_2943843104528284461[299] = 0; + out_2943843104528284461[300] = 0; + out_2943843104528284461[301] = 0; + out_2943843104528284461[302] = 0; + out_2943843104528284461[303] = 0; + out_2943843104528284461[304] = 1; + out_2943843104528284461[305] = 0; + out_2943843104528284461[306] = 0; + out_2943843104528284461[307] = 0; + out_2943843104528284461[308] = 0; + out_2943843104528284461[309] = 0; + out_2943843104528284461[310] = 0; + out_2943843104528284461[311] = 0; + out_2943843104528284461[312] = 0; + out_2943843104528284461[313] = 0; + out_2943843104528284461[314] = 0; + out_2943843104528284461[315] = 0; + out_2943843104528284461[316] = 0; + out_2943843104528284461[317] = 0; + out_2943843104528284461[318] = 0; + out_2943843104528284461[319] = 0; + out_2943843104528284461[320] = 0; + out_2943843104528284461[321] = 0; + out_2943843104528284461[322] = 0; + out_2943843104528284461[323] = 1; } -void h_4(double *state, double *unused, double *out_4618547932677025290) { - out_4618547932677025290[0] = state[6] + state[9]; - out_4618547932677025290[1] = state[7] + state[10]; - out_4618547932677025290[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7392043206358300323) { + out_7392043206358300323[0] = state[6] + state[9]; + out_7392043206358300323[1] = state[7] + state[10]; + out_7392043206358300323[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8857837342371745535) { - out_8857837342371745535[0] = 0; - out_8857837342371745535[1] = 0; - out_8857837342371745535[2] = 0; - out_8857837342371745535[3] = 0; - out_8857837342371745535[4] = 0; - out_8857837342371745535[5] = 0; - out_8857837342371745535[6] = 1; - out_8857837342371745535[7] = 0; - out_8857837342371745535[8] = 0; - out_8857837342371745535[9] = 1; - out_8857837342371745535[10] = 0; - out_8857837342371745535[11] = 0; - out_8857837342371745535[12] = 0; - out_8857837342371745535[13] = 0; - out_8857837342371745535[14] = 0; - out_8857837342371745535[15] = 0; - out_8857837342371745535[16] = 0; - out_8857837342371745535[17] = 0; - out_8857837342371745535[18] = 0; - out_8857837342371745535[19] = 0; - out_8857837342371745535[20] = 0; - out_8857837342371745535[21] = 0; - out_8857837342371745535[22] = 0; - out_8857837342371745535[23] = 0; - out_8857837342371745535[24] = 0; - out_8857837342371745535[25] = 1; - out_8857837342371745535[26] = 0; - out_8857837342371745535[27] = 0; - out_8857837342371745535[28] = 1; - out_8857837342371745535[29] = 0; - out_8857837342371745535[30] = 0; - out_8857837342371745535[31] = 0; - out_8857837342371745535[32] = 0; - out_8857837342371745535[33] = 0; - out_8857837342371745535[34] = 0; - out_8857837342371745535[35] = 0; - out_8857837342371745535[36] = 0; - out_8857837342371745535[37] = 0; - out_8857837342371745535[38] = 0; - out_8857837342371745535[39] = 0; - out_8857837342371745535[40] = 0; - out_8857837342371745535[41] = 0; - out_8857837342371745535[42] = 0; - out_8857837342371745535[43] = 0; - out_8857837342371745535[44] = 1; - out_8857837342371745535[45] = 0; - out_8857837342371745535[46] = 0; - out_8857837342371745535[47] = 1; - out_8857837342371745535[48] = 0; - out_8857837342371745535[49] = 0; - out_8857837342371745535[50] = 0; - out_8857837342371745535[51] = 0; - out_8857837342371745535[52] = 0; - out_8857837342371745535[53] = 0; +void H_4(double *state, double *unused, double *out_5488683682728833941) { + out_5488683682728833941[0] = 0; + out_5488683682728833941[1] = 0; + out_5488683682728833941[2] = 0; + out_5488683682728833941[3] = 0; + out_5488683682728833941[4] = 0; + out_5488683682728833941[5] = 0; + out_5488683682728833941[6] = 1; + out_5488683682728833941[7] = 0; + out_5488683682728833941[8] = 0; + out_5488683682728833941[9] = 1; + out_5488683682728833941[10] = 0; + out_5488683682728833941[11] = 0; + out_5488683682728833941[12] = 0; + out_5488683682728833941[13] = 0; + out_5488683682728833941[14] = 0; + out_5488683682728833941[15] = 0; + out_5488683682728833941[16] = 0; + out_5488683682728833941[17] = 0; + out_5488683682728833941[18] = 0; + out_5488683682728833941[19] = 0; + out_5488683682728833941[20] = 0; + out_5488683682728833941[21] = 0; + out_5488683682728833941[22] = 0; + out_5488683682728833941[23] = 0; + out_5488683682728833941[24] = 0; + out_5488683682728833941[25] = 1; + out_5488683682728833941[26] = 0; + out_5488683682728833941[27] = 0; + out_5488683682728833941[28] = 1; + out_5488683682728833941[29] = 0; + out_5488683682728833941[30] = 0; + out_5488683682728833941[31] = 0; + out_5488683682728833941[32] = 0; + out_5488683682728833941[33] = 0; + out_5488683682728833941[34] = 0; + out_5488683682728833941[35] = 0; + out_5488683682728833941[36] = 0; + out_5488683682728833941[37] = 0; + out_5488683682728833941[38] = 0; + out_5488683682728833941[39] = 0; + out_5488683682728833941[40] = 0; + out_5488683682728833941[41] = 0; + out_5488683682728833941[42] = 0; + out_5488683682728833941[43] = 0; + out_5488683682728833941[44] = 1; + out_5488683682728833941[45] = 0; + out_5488683682728833941[46] = 0; + out_5488683682728833941[47] = 1; + out_5488683682728833941[48] = 0; + out_5488683682728833941[49] = 0; + out_5488683682728833941[50] = 0; + out_5488683682728833941[51] = 0; + out_5488683682728833941[52] = 0; + out_5488683682728833941[53] = 0; } -void h_10(double *state, double *unused, double *out_286079926766125973) { - out_286079926766125973[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_286079926766125973[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_286079926766125973[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_1893443682310766933) { + out_1893443682310766933[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1893443682310766933[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1893443682310766933[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_2479119896376040884) { - out_2479119896376040884[0] = 0; - out_2479119896376040884[1] = 9.8100000000000005*cos(state[1]); - out_2479119896376040884[2] = 0; - out_2479119896376040884[3] = 0; - out_2479119896376040884[4] = -state[8]; - out_2479119896376040884[5] = state[7]; - out_2479119896376040884[6] = 0; - out_2479119896376040884[7] = state[5]; - out_2479119896376040884[8] = -state[4]; - out_2479119896376040884[9] = 0; - out_2479119896376040884[10] = 0; - out_2479119896376040884[11] = 0; - out_2479119896376040884[12] = 1; - out_2479119896376040884[13] = 0; - out_2479119896376040884[14] = 0; - out_2479119896376040884[15] = 1; - out_2479119896376040884[16] = 0; - out_2479119896376040884[17] = 0; - out_2479119896376040884[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2479119896376040884[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2479119896376040884[20] = 0; - out_2479119896376040884[21] = state[8]; - out_2479119896376040884[22] = 0; - out_2479119896376040884[23] = -state[6]; - out_2479119896376040884[24] = -state[5]; - out_2479119896376040884[25] = 0; - out_2479119896376040884[26] = state[3]; - out_2479119896376040884[27] = 0; - out_2479119896376040884[28] = 0; - out_2479119896376040884[29] = 0; - out_2479119896376040884[30] = 0; - out_2479119896376040884[31] = 1; - out_2479119896376040884[32] = 0; - out_2479119896376040884[33] = 0; - out_2479119896376040884[34] = 1; - out_2479119896376040884[35] = 0; - out_2479119896376040884[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2479119896376040884[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2479119896376040884[38] = 0; - out_2479119896376040884[39] = -state[7]; - out_2479119896376040884[40] = state[6]; - out_2479119896376040884[41] = 0; - out_2479119896376040884[42] = state[4]; - out_2479119896376040884[43] = -state[3]; - out_2479119896376040884[44] = 0; - out_2479119896376040884[45] = 0; - out_2479119896376040884[46] = 0; - out_2479119896376040884[47] = 0; - out_2479119896376040884[48] = 0; - out_2479119896376040884[49] = 0; - out_2479119896376040884[50] = 1; - out_2479119896376040884[51] = 0; - out_2479119896376040884[52] = 0; - out_2479119896376040884[53] = 1; +void H_10(double *state, double *unused, double *out_4002633890361339640) { + out_4002633890361339640[0] = 0; + out_4002633890361339640[1] = 9.8100000000000005*cos(state[1]); + out_4002633890361339640[2] = 0; + out_4002633890361339640[3] = 0; + out_4002633890361339640[4] = -state[8]; + out_4002633890361339640[5] = state[7]; + out_4002633890361339640[6] = 0; + out_4002633890361339640[7] = state[5]; + out_4002633890361339640[8] = -state[4]; + out_4002633890361339640[9] = 0; + out_4002633890361339640[10] = 0; + out_4002633890361339640[11] = 0; + out_4002633890361339640[12] = 1; + out_4002633890361339640[13] = 0; + out_4002633890361339640[14] = 0; + out_4002633890361339640[15] = 1; + out_4002633890361339640[16] = 0; + out_4002633890361339640[17] = 0; + out_4002633890361339640[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4002633890361339640[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4002633890361339640[20] = 0; + out_4002633890361339640[21] = state[8]; + out_4002633890361339640[22] = 0; + out_4002633890361339640[23] = -state[6]; + out_4002633890361339640[24] = -state[5]; + out_4002633890361339640[25] = 0; + out_4002633890361339640[26] = state[3]; + out_4002633890361339640[27] = 0; + out_4002633890361339640[28] = 0; + out_4002633890361339640[29] = 0; + out_4002633890361339640[30] = 0; + out_4002633890361339640[31] = 1; + out_4002633890361339640[32] = 0; + out_4002633890361339640[33] = 0; + out_4002633890361339640[34] = 1; + out_4002633890361339640[35] = 0; + out_4002633890361339640[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4002633890361339640[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4002633890361339640[38] = 0; + out_4002633890361339640[39] = -state[7]; + out_4002633890361339640[40] = state[6]; + out_4002633890361339640[41] = 0; + out_4002633890361339640[42] = state[4]; + out_4002633890361339640[43] = -state[3]; + out_4002633890361339640[44] = 0; + out_4002633890361339640[45] = 0; + out_4002633890361339640[46] = 0; + out_4002633890361339640[47] = 0; + out_4002633890361339640[48] = 0; + out_4002633890361339640[49] = 0; + out_4002633890361339640[50] = 1; + out_4002633890361339640[51] = 0; + out_4002633890361339640[52] = 0; + out_4002633890361339640[53] = 1; } -void h_13(double *state, double *unused, double *out_829945007780659418) { - out_829945007780659418[0] = state[3]; - out_829945007780659418[1] = state[4]; - out_829945007780659418[2] = state[5]; +void h_13(double *state, double *unused, double *out_950850480842812453) { + out_950850480842812453[0] = state[3]; + out_950850480842812453[1] = state[4]; + out_950850480842812453[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5755151268035282057) { - out_5755151268035282057[0] = 0; - out_5755151268035282057[1] = 0; - out_5755151268035282057[2] = 0; - out_5755151268035282057[3] = 1; - out_5755151268035282057[4] = 0; - out_5755151268035282057[5] = 0; - out_5755151268035282057[6] = 0; - out_5755151268035282057[7] = 0; - out_5755151268035282057[8] = 0; - out_5755151268035282057[9] = 0; - out_5755151268035282057[10] = 0; - out_5755151268035282057[11] = 0; - out_5755151268035282057[12] = 0; - out_5755151268035282057[13] = 0; - out_5755151268035282057[14] = 0; - out_5755151268035282057[15] = 0; - out_5755151268035282057[16] = 0; - out_5755151268035282057[17] = 0; - out_5755151268035282057[18] = 0; - out_5755151268035282057[19] = 0; - out_5755151268035282057[20] = 0; - out_5755151268035282057[21] = 0; - out_5755151268035282057[22] = 1; - out_5755151268035282057[23] = 0; - out_5755151268035282057[24] = 0; - out_5755151268035282057[25] = 0; - out_5755151268035282057[26] = 0; - out_5755151268035282057[27] = 0; - out_5755151268035282057[28] = 0; - out_5755151268035282057[29] = 0; - out_5755151268035282057[30] = 0; - out_5755151268035282057[31] = 0; - out_5755151268035282057[32] = 0; - out_5755151268035282057[33] = 0; - out_5755151268035282057[34] = 0; - out_5755151268035282057[35] = 0; - out_5755151268035282057[36] = 0; - out_5755151268035282057[37] = 0; - out_5755151268035282057[38] = 0; - out_5755151268035282057[39] = 0; - out_5755151268035282057[40] = 0; - out_5755151268035282057[41] = 1; - out_5755151268035282057[42] = 0; - out_5755151268035282057[43] = 0; - out_5755151268035282057[44] = 0; - out_5755151268035282057[45] = 0; - out_5755151268035282057[46] = 0; - out_5755151268035282057[47] = 0; - out_5755151268035282057[48] = 0; - out_5755151268035282057[49] = 0; - out_5755151268035282057[50] = 0; - out_5755151268035282057[51] = 0; - out_5755151268035282057[52] = 0; - out_5755151268035282057[53] = 0; +void H_13(double *state, double *unused, double *out_8700957508061166742) { + out_8700957508061166742[0] = 0; + out_8700957508061166742[1] = 0; + out_8700957508061166742[2] = 0; + out_8700957508061166742[3] = 1; + out_8700957508061166742[4] = 0; + out_8700957508061166742[5] = 0; + out_8700957508061166742[6] = 0; + out_8700957508061166742[7] = 0; + out_8700957508061166742[8] = 0; + out_8700957508061166742[9] = 0; + out_8700957508061166742[10] = 0; + out_8700957508061166742[11] = 0; + out_8700957508061166742[12] = 0; + out_8700957508061166742[13] = 0; + out_8700957508061166742[14] = 0; + out_8700957508061166742[15] = 0; + out_8700957508061166742[16] = 0; + out_8700957508061166742[17] = 0; + out_8700957508061166742[18] = 0; + out_8700957508061166742[19] = 0; + out_8700957508061166742[20] = 0; + out_8700957508061166742[21] = 0; + out_8700957508061166742[22] = 1; + out_8700957508061166742[23] = 0; + out_8700957508061166742[24] = 0; + out_8700957508061166742[25] = 0; + out_8700957508061166742[26] = 0; + out_8700957508061166742[27] = 0; + out_8700957508061166742[28] = 0; + out_8700957508061166742[29] = 0; + out_8700957508061166742[30] = 0; + out_8700957508061166742[31] = 0; + out_8700957508061166742[32] = 0; + out_8700957508061166742[33] = 0; + out_8700957508061166742[34] = 0; + out_8700957508061166742[35] = 0; + out_8700957508061166742[36] = 0; + out_8700957508061166742[37] = 0; + out_8700957508061166742[38] = 0; + out_8700957508061166742[39] = 0; + out_8700957508061166742[40] = 0; + out_8700957508061166742[41] = 1; + out_8700957508061166742[42] = 0; + out_8700957508061166742[43] = 0; + out_8700957508061166742[44] = 0; + out_8700957508061166742[45] = 0; + out_8700957508061166742[46] = 0; + out_8700957508061166742[47] = 0; + out_8700957508061166742[48] = 0; + out_8700957508061166742[49] = 0; + out_8700957508061166742[50] = 0; + out_8700957508061166742[51] = 0; + out_8700957508061166742[52] = 0; + out_8700957508061166742[53] = 0; } -void h_14(double *state, double *unused, double *out_1492834352067073969) { - out_1492834352067073969[0] = state[6]; - out_1492834352067073969[1] = state[7]; - out_1492834352067073969[2] = state[8]; +void h_14(double *state, double *unused, double *out_2845286380404369143) { + out_2845286380404369143[0] = state[6]; + out_2845286380404369143[1] = state[7]; + out_2845286380404369143[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6506118299042433785) { - out_6506118299042433785[0] = 0; - out_6506118299042433785[1] = 0; - out_6506118299042433785[2] = 0; - out_6506118299042433785[3] = 0; - out_6506118299042433785[4] = 0; - out_6506118299042433785[5] = 0; - out_6506118299042433785[6] = 1; - out_6506118299042433785[7] = 0; - out_6506118299042433785[8] = 0; - out_6506118299042433785[9] = 0; - out_6506118299042433785[10] = 0; - out_6506118299042433785[11] = 0; - out_6506118299042433785[12] = 0; - out_6506118299042433785[13] = 0; - out_6506118299042433785[14] = 0; - out_6506118299042433785[15] = 0; - out_6506118299042433785[16] = 0; - out_6506118299042433785[17] = 0; - out_6506118299042433785[18] = 0; - out_6506118299042433785[19] = 0; - out_6506118299042433785[20] = 0; - out_6506118299042433785[21] = 0; - out_6506118299042433785[22] = 0; - out_6506118299042433785[23] = 0; - out_6506118299042433785[24] = 0; - out_6506118299042433785[25] = 1; - out_6506118299042433785[26] = 0; - out_6506118299042433785[27] = 0; - out_6506118299042433785[28] = 0; - out_6506118299042433785[29] = 0; - out_6506118299042433785[30] = 0; - out_6506118299042433785[31] = 0; - out_6506118299042433785[32] = 0; - out_6506118299042433785[33] = 0; - out_6506118299042433785[34] = 0; - out_6506118299042433785[35] = 0; - out_6506118299042433785[36] = 0; - out_6506118299042433785[37] = 0; - out_6506118299042433785[38] = 0; - out_6506118299042433785[39] = 0; - out_6506118299042433785[40] = 0; - out_6506118299042433785[41] = 0; - out_6506118299042433785[42] = 0; - out_6506118299042433785[43] = 0; - out_6506118299042433785[44] = 1; - out_6506118299042433785[45] = 0; - out_6506118299042433785[46] = 0; - out_6506118299042433785[47] = 0; - out_6506118299042433785[48] = 0; - out_6506118299042433785[49] = 0; - out_6506118299042433785[50] = 0; - out_6506118299042433785[51] = 0; - out_6506118299042433785[52] = 0; - out_6506118299042433785[53] = 0; +void H_14(double *state, double *unused, double *out_2405895250433461645) { + out_2405895250433461645[0] = 0; + out_2405895250433461645[1] = 0; + out_2405895250433461645[2] = 0; + out_2405895250433461645[3] = 0; + out_2405895250433461645[4] = 0; + out_2405895250433461645[5] = 0; + out_2405895250433461645[6] = 1; + out_2405895250433461645[7] = 0; + out_2405895250433461645[8] = 0; + out_2405895250433461645[9] = 0; + out_2405895250433461645[10] = 0; + out_2405895250433461645[11] = 0; + out_2405895250433461645[12] = 0; + out_2405895250433461645[13] = 0; + out_2405895250433461645[14] = 0; + out_2405895250433461645[15] = 0; + out_2405895250433461645[16] = 0; + out_2405895250433461645[17] = 0; + out_2405895250433461645[18] = 0; + out_2405895250433461645[19] = 0; + out_2405895250433461645[20] = 0; + out_2405895250433461645[21] = 0; + out_2405895250433461645[22] = 0; + out_2405895250433461645[23] = 0; + out_2405895250433461645[24] = 0; + out_2405895250433461645[25] = 1; + out_2405895250433461645[26] = 0; + out_2405895250433461645[27] = 0; + out_2405895250433461645[28] = 0; + out_2405895250433461645[29] = 0; + out_2405895250433461645[30] = 0; + out_2405895250433461645[31] = 0; + out_2405895250433461645[32] = 0; + out_2405895250433461645[33] = 0; + out_2405895250433461645[34] = 0; + out_2405895250433461645[35] = 0; + out_2405895250433461645[36] = 0; + out_2405895250433461645[37] = 0; + out_2405895250433461645[38] = 0; + out_2405895250433461645[39] = 0; + out_2405895250433461645[40] = 0; + out_2405895250433461645[41] = 0; + out_2405895250433461645[42] = 0; + out_2405895250433461645[43] = 0; + out_2405895250433461645[44] = 1; + out_2405895250433461645[45] = 0; + out_2405895250433461645[46] = 0; + out_2405895250433461645[47] = 0; + out_2405895250433461645[48] = 0; + out_2405895250433461645[49] = 0; + out_2405895250433461645[50] = 0; + out_2405895250433461645[51] = 0; + out_2405895250433461645[52] = 0; + out_2405895250433461645[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_7365448194845582757) { - err_fun(nom_x, delta_x, out_7365448194845582757); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2235485331980533535) { + err_fun(nom_x, delta_x, out_2235485331980533535); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1967800537697910635) { - inv_err_fun(nom_x, true_x, out_1967800537697910635); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6263710841243713274) { + inv_err_fun(nom_x, true_x, out_6263710841243713274); } -void pose_H_mod_fun(double *state, double *out_8390959249454907977) { - H_mod_fun(state, out_8390959249454907977); +void pose_H_mod_fun(double *state, double *out_874056645799517577) { + H_mod_fun(state, out_874056645799517577); } -void pose_f_fun(double *state, double dt, double *out_9042230065077868228) { - f_fun(state, dt, out_9042230065077868228); +void pose_f_fun(double *state, double dt, double *out_7518635824214998963) { + f_fun(state, dt, out_7518635824214998963); } -void pose_F_fun(double *state, double dt, double *out_3211704972733304042) { - F_fun(state, dt, out_3211704972733304042); +void pose_F_fun(double *state, double dt, double *out_2943843104528284461) { + F_fun(state, dt, out_2943843104528284461); } -void pose_h_4(double *state, double *unused, double *out_4618547932677025290) { - h_4(state, unused, out_4618547932677025290); +void pose_h_4(double *state, double *unused, double *out_7392043206358300323) { + h_4(state, unused, out_7392043206358300323); } -void pose_H_4(double *state, double *unused, double *out_8857837342371745535) { - H_4(state, unused, out_8857837342371745535); +void pose_H_4(double *state, double *unused, double *out_5488683682728833941) { + H_4(state, unused, out_5488683682728833941); } -void pose_h_10(double *state, double *unused, double *out_286079926766125973) { - h_10(state, unused, out_286079926766125973); +void pose_h_10(double *state, double *unused, double *out_1893443682310766933) { + h_10(state, unused, out_1893443682310766933); } -void pose_H_10(double *state, double *unused, double *out_2479119896376040884) { - H_10(state, unused, out_2479119896376040884); +void pose_H_10(double *state, double *unused, double *out_4002633890361339640) { + H_10(state, unused, out_4002633890361339640); } -void pose_h_13(double *state, double *unused, double *out_829945007780659418) { - h_13(state, unused, out_829945007780659418); +void pose_h_13(double *state, double *unused, double *out_950850480842812453) { + h_13(state, unused, out_950850480842812453); } -void pose_H_13(double *state, double *unused, double *out_5755151268035282057) { - H_13(state, unused, out_5755151268035282057); +void pose_H_13(double *state, double *unused, double *out_8700957508061166742) { + H_13(state, unused, out_8700957508061166742); } -void pose_h_14(double *state, double *unused, double *out_1492834352067073969) { - h_14(state, unused, out_1492834352067073969); +void pose_h_14(double *state, double *unused, double *out_2845286380404369143) { + h_14(state, unused, out_2845286380404369143); } -void pose_H_14(double *state, double *unused, double *out_6506118299042433785) { - H_14(state, unused, out_6506118299042433785); +void pose_H_14(double *state, double *unused, double *out_2405895250433461645) { + H_14(state, unused, out_2405895250433461645); } 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 9dff96d39..78b88b3be 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_7365448194845582757); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1967800537697910635); -void pose_H_mod_fun(double *state, double *out_8390959249454907977); -void pose_f_fun(double *state, double dt, double *out_9042230065077868228); -void pose_F_fun(double *state, double dt, double *out_3211704972733304042); -void pose_h_4(double *state, double *unused, double *out_4618547932677025290); -void pose_H_4(double *state, double *unused, double *out_8857837342371745535); -void pose_h_10(double *state, double *unused, double *out_286079926766125973); -void pose_H_10(double *state, double *unused, double *out_2479119896376040884); -void pose_h_13(double *state, double *unused, double *out_829945007780659418); -void pose_H_13(double *state, double *unused, double *out_5755151268035282057); -void pose_h_14(double *state, double *unused, double *out_1492834352067073969); -void pose_H_14(double *state, double *unused, double *out_6506118299042433785); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2235485331980533535); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6263710841243713274); +void pose_H_mod_fun(double *state, double *out_874056645799517577); +void pose_f_fun(double *state, double dt, double *out_7518635824214998963); +void pose_F_fun(double *state, double dt, double *out_2943843104528284461); +void pose_h_4(double *state, double *unused, double *out_7392043206358300323); +void pose_H_4(double *state, double *unused, double *out_5488683682728833941); +void pose_h_10(double *state, double *unused, double *out_1893443682310766933); +void pose_H_10(double *state, double *unused, double *out_4002633890361339640); +void pose_h_13(double *state, double *unused, double *out_950850480842812453); +void pose_H_13(double *state, double *unused, double *out_8700957508061166742); +void pose_h_14(double *state, double *unused, double *out_2845286380404369143); +void pose_H_14(double *state, double *unused, double *out_2405895250433461645); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index ad313a897..d9deb79b8 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 58988e073..a6e312052 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index f2c3eed0e..7dc87dbc5 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index a583dd32a..cb474562e 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 8c36a90b2..ec8780b6b 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index eec000ee0..d24c8dd3d 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ