diff --git a/common/libcommon.a b/common/libcommon.a index 803afc0eb..02e6462f0 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 a1577173a..1e93d4e2b 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 f37ce3af2..e1d798d31 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 b8cd9a695..86354cd02 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 83a352859..6db758ed3 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 664b87c1a..8aee7ea44 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 0b50cef34..ce793d89e 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index f0787f320..dd44492ce 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index a56229954..aa69c7845 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index a56229954..aa69c7845 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 c88cb23ae..7471beb1e 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 f0787f320..dd44492ce 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 c1defd2ee..daa820ac2 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-7a3c1ede-DEBUG"; +const uint8_t gitversion[19] = "DEV-7ffc9165-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d7821f4a0..9e43a8686 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 b3e041a86..ebe8395e1 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 ecbc25ff7..182afad55 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 c39e833ec..757d0d5d8 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 90289f428..7da296afd 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index 7810a1299..32260189c 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 55472eb60..9907fabc7 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index 98ebb767f..e857205b0 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 48744fc47..a59c6ed9e 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index fe3edfc17..1c27fbb94 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 dc8b411db..735eceb36 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 08dbe7b35..d276b6033 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 b7229ae4e..77d9bcf7c 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 596e10e51..a424008f8 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 9e08a84fa..0448e8405 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 4b36cfbea..8f189bb2b 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 086bcda1a..c11f719b1 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 7439b620e..d0ca5c02b 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 8f43db9ba..08822e3d9 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 81f59ad8c..c703d6c95 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 17aba18b1..481768c26 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-7a3c1ede-DEBUG \ No newline at end of file +DEV-7ffc9165-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index b18fc5101..6a4ea2d9c 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_6972961942535496334) { - out_6972961942535496334[0] = delta_x[0] + nom_x[0]; - out_6972961942535496334[1] = delta_x[1] + nom_x[1]; - out_6972961942535496334[2] = delta_x[2] + nom_x[2]; - out_6972961942535496334[3] = delta_x[3] + nom_x[3]; - out_6972961942535496334[4] = delta_x[4] + nom_x[4]; - out_6972961942535496334[5] = delta_x[5] + nom_x[5]; - out_6972961942535496334[6] = delta_x[6] + nom_x[6]; - out_6972961942535496334[7] = delta_x[7] + nom_x[7]; - out_6972961942535496334[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8928467092611092744) { + out_8928467092611092744[0] = delta_x[0] + nom_x[0]; + out_8928467092611092744[1] = delta_x[1] + nom_x[1]; + out_8928467092611092744[2] = delta_x[2] + nom_x[2]; + out_8928467092611092744[3] = delta_x[3] + nom_x[3]; + out_8928467092611092744[4] = delta_x[4] + nom_x[4]; + out_8928467092611092744[5] = delta_x[5] + nom_x[5]; + out_8928467092611092744[6] = delta_x[6] + nom_x[6]; + out_8928467092611092744[7] = delta_x[7] + nom_x[7]; + out_8928467092611092744[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626) { - out_2104979621458798626[0] = -nom_x[0] + true_x[0]; - out_2104979621458798626[1] = -nom_x[1] + true_x[1]; - out_2104979621458798626[2] = -nom_x[2] + true_x[2]; - out_2104979621458798626[3] = -nom_x[3] + true_x[3]; - out_2104979621458798626[4] = -nom_x[4] + true_x[4]; - out_2104979621458798626[5] = -nom_x[5] + true_x[5]; - out_2104979621458798626[6] = -nom_x[6] + true_x[6]; - out_2104979621458798626[7] = -nom_x[7] + true_x[7]; - out_2104979621458798626[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8458266257392376640) { + out_8458266257392376640[0] = -nom_x[0] + true_x[0]; + out_8458266257392376640[1] = -nom_x[1] + true_x[1]; + out_8458266257392376640[2] = -nom_x[2] + true_x[2]; + out_8458266257392376640[3] = -nom_x[3] + true_x[3]; + out_8458266257392376640[4] = -nom_x[4] + true_x[4]; + out_8458266257392376640[5] = -nom_x[5] + true_x[5]; + out_8458266257392376640[6] = -nom_x[6] + true_x[6]; + out_8458266257392376640[7] = -nom_x[7] + true_x[7]; + out_8458266257392376640[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_2779658660641459178) { - out_2779658660641459178[0] = 1.0; - out_2779658660641459178[1] = 0.0; - out_2779658660641459178[2] = 0.0; - out_2779658660641459178[3] = 0.0; - out_2779658660641459178[4] = 0.0; - out_2779658660641459178[5] = 0.0; - out_2779658660641459178[6] = 0.0; - out_2779658660641459178[7] = 0.0; - out_2779658660641459178[8] = 0.0; - out_2779658660641459178[9] = 0.0; - out_2779658660641459178[10] = 1.0; - out_2779658660641459178[11] = 0.0; - out_2779658660641459178[12] = 0.0; - out_2779658660641459178[13] = 0.0; - out_2779658660641459178[14] = 0.0; - out_2779658660641459178[15] = 0.0; - out_2779658660641459178[16] = 0.0; - out_2779658660641459178[17] = 0.0; - out_2779658660641459178[18] = 0.0; - out_2779658660641459178[19] = 0.0; - out_2779658660641459178[20] = 1.0; - out_2779658660641459178[21] = 0.0; - out_2779658660641459178[22] = 0.0; - out_2779658660641459178[23] = 0.0; - out_2779658660641459178[24] = 0.0; - out_2779658660641459178[25] = 0.0; - out_2779658660641459178[26] = 0.0; - out_2779658660641459178[27] = 0.0; - out_2779658660641459178[28] = 0.0; - out_2779658660641459178[29] = 0.0; - out_2779658660641459178[30] = 1.0; - out_2779658660641459178[31] = 0.0; - out_2779658660641459178[32] = 0.0; - out_2779658660641459178[33] = 0.0; - out_2779658660641459178[34] = 0.0; - out_2779658660641459178[35] = 0.0; - out_2779658660641459178[36] = 0.0; - out_2779658660641459178[37] = 0.0; - out_2779658660641459178[38] = 0.0; - out_2779658660641459178[39] = 0.0; - out_2779658660641459178[40] = 1.0; - out_2779658660641459178[41] = 0.0; - out_2779658660641459178[42] = 0.0; - out_2779658660641459178[43] = 0.0; - out_2779658660641459178[44] = 0.0; - out_2779658660641459178[45] = 0.0; - out_2779658660641459178[46] = 0.0; - out_2779658660641459178[47] = 0.0; - out_2779658660641459178[48] = 0.0; - out_2779658660641459178[49] = 0.0; - out_2779658660641459178[50] = 1.0; - out_2779658660641459178[51] = 0.0; - out_2779658660641459178[52] = 0.0; - out_2779658660641459178[53] = 0.0; - out_2779658660641459178[54] = 0.0; - out_2779658660641459178[55] = 0.0; - out_2779658660641459178[56] = 0.0; - out_2779658660641459178[57] = 0.0; - out_2779658660641459178[58] = 0.0; - out_2779658660641459178[59] = 0.0; - out_2779658660641459178[60] = 1.0; - out_2779658660641459178[61] = 0.0; - out_2779658660641459178[62] = 0.0; - out_2779658660641459178[63] = 0.0; - out_2779658660641459178[64] = 0.0; - out_2779658660641459178[65] = 0.0; - out_2779658660641459178[66] = 0.0; - out_2779658660641459178[67] = 0.0; - out_2779658660641459178[68] = 0.0; - out_2779658660641459178[69] = 0.0; - out_2779658660641459178[70] = 1.0; - out_2779658660641459178[71] = 0.0; - out_2779658660641459178[72] = 0.0; - out_2779658660641459178[73] = 0.0; - out_2779658660641459178[74] = 0.0; - out_2779658660641459178[75] = 0.0; - out_2779658660641459178[76] = 0.0; - out_2779658660641459178[77] = 0.0; - out_2779658660641459178[78] = 0.0; - out_2779658660641459178[79] = 0.0; - out_2779658660641459178[80] = 1.0; +void H_mod_fun(double *state, double *out_6729596904764973580) { + out_6729596904764973580[0] = 1.0; + out_6729596904764973580[1] = 0.0; + out_6729596904764973580[2] = 0.0; + out_6729596904764973580[3] = 0.0; + out_6729596904764973580[4] = 0.0; + out_6729596904764973580[5] = 0.0; + out_6729596904764973580[6] = 0.0; + out_6729596904764973580[7] = 0.0; + out_6729596904764973580[8] = 0.0; + out_6729596904764973580[9] = 0.0; + out_6729596904764973580[10] = 1.0; + out_6729596904764973580[11] = 0.0; + out_6729596904764973580[12] = 0.0; + out_6729596904764973580[13] = 0.0; + out_6729596904764973580[14] = 0.0; + out_6729596904764973580[15] = 0.0; + out_6729596904764973580[16] = 0.0; + out_6729596904764973580[17] = 0.0; + out_6729596904764973580[18] = 0.0; + out_6729596904764973580[19] = 0.0; + out_6729596904764973580[20] = 1.0; + out_6729596904764973580[21] = 0.0; + out_6729596904764973580[22] = 0.0; + out_6729596904764973580[23] = 0.0; + out_6729596904764973580[24] = 0.0; + out_6729596904764973580[25] = 0.0; + out_6729596904764973580[26] = 0.0; + out_6729596904764973580[27] = 0.0; + out_6729596904764973580[28] = 0.0; + out_6729596904764973580[29] = 0.0; + out_6729596904764973580[30] = 1.0; + out_6729596904764973580[31] = 0.0; + out_6729596904764973580[32] = 0.0; + out_6729596904764973580[33] = 0.0; + out_6729596904764973580[34] = 0.0; + out_6729596904764973580[35] = 0.0; + out_6729596904764973580[36] = 0.0; + out_6729596904764973580[37] = 0.0; + out_6729596904764973580[38] = 0.0; + out_6729596904764973580[39] = 0.0; + out_6729596904764973580[40] = 1.0; + out_6729596904764973580[41] = 0.0; + out_6729596904764973580[42] = 0.0; + out_6729596904764973580[43] = 0.0; + out_6729596904764973580[44] = 0.0; + out_6729596904764973580[45] = 0.0; + out_6729596904764973580[46] = 0.0; + out_6729596904764973580[47] = 0.0; + out_6729596904764973580[48] = 0.0; + out_6729596904764973580[49] = 0.0; + out_6729596904764973580[50] = 1.0; + out_6729596904764973580[51] = 0.0; + out_6729596904764973580[52] = 0.0; + out_6729596904764973580[53] = 0.0; + out_6729596904764973580[54] = 0.0; + out_6729596904764973580[55] = 0.0; + out_6729596904764973580[56] = 0.0; + out_6729596904764973580[57] = 0.0; + out_6729596904764973580[58] = 0.0; + out_6729596904764973580[59] = 0.0; + out_6729596904764973580[60] = 1.0; + out_6729596904764973580[61] = 0.0; + out_6729596904764973580[62] = 0.0; + out_6729596904764973580[63] = 0.0; + out_6729596904764973580[64] = 0.0; + out_6729596904764973580[65] = 0.0; + out_6729596904764973580[66] = 0.0; + out_6729596904764973580[67] = 0.0; + out_6729596904764973580[68] = 0.0; + out_6729596904764973580[69] = 0.0; + out_6729596904764973580[70] = 1.0; + out_6729596904764973580[71] = 0.0; + out_6729596904764973580[72] = 0.0; + out_6729596904764973580[73] = 0.0; + out_6729596904764973580[74] = 0.0; + out_6729596904764973580[75] = 0.0; + out_6729596904764973580[76] = 0.0; + out_6729596904764973580[77] = 0.0; + out_6729596904764973580[78] = 0.0; + out_6729596904764973580[79] = 0.0; + out_6729596904764973580[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1847838116479859502) { - out_1847838116479859502[0] = state[0]; - out_1847838116479859502[1] = state[1]; - out_1847838116479859502[2] = state[2]; - out_1847838116479859502[3] = state[3]; - out_1847838116479859502[4] = state[4]; - out_1847838116479859502[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_1847838116479859502[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_1847838116479859502[7] = state[7]; - out_1847838116479859502[8] = state[8]; +void f_fun(double *state, double dt, double *out_5070065485852511286) { + out_5070065485852511286[0] = state[0]; + out_5070065485852511286[1] = state[1]; + out_5070065485852511286[2] = state[2]; + out_5070065485852511286[3] = state[3]; + out_5070065485852511286[4] = state[4]; + out_5070065485852511286[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_5070065485852511286[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_5070065485852511286[7] = state[7]; + out_5070065485852511286[8] = state[8]; } -void F_fun(double *state, double dt, double *out_8278586360493195906) { - out_8278586360493195906[0] = 1; - out_8278586360493195906[1] = 0; - out_8278586360493195906[2] = 0; - out_8278586360493195906[3] = 0; - out_8278586360493195906[4] = 0; - out_8278586360493195906[5] = 0; - out_8278586360493195906[6] = 0; - out_8278586360493195906[7] = 0; - out_8278586360493195906[8] = 0; - out_8278586360493195906[9] = 0; - out_8278586360493195906[10] = 1; - out_8278586360493195906[11] = 0; - out_8278586360493195906[12] = 0; - out_8278586360493195906[13] = 0; - out_8278586360493195906[14] = 0; - out_8278586360493195906[15] = 0; - out_8278586360493195906[16] = 0; - out_8278586360493195906[17] = 0; - out_8278586360493195906[18] = 0; - out_8278586360493195906[19] = 0; - out_8278586360493195906[20] = 1; - out_8278586360493195906[21] = 0; - out_8278586360493195906[22] = 0; - out_8278586360493195906[23] = 0; - out_8278586360493195906[24] = 0; - out_8278586360493195906[25] = 0; - out_8278586360493195906[26] = 0; - out_8278586360493195906[27] = 0; - out_8278586360493195906[28] = 0; - out_8278586360493195906[29] = 0; - out_8278586360493195906[30] = 1; - out_8278586360493195906[31] = 0; - out_8278586360493195906[32] = 0; - out_8278586360493195906[33] = 0; - out_8278586360493195906[34] = 0; - out_8278586360493195906[35] = 0; - out_8278586360493195906[36] = 0; - out_8278586360493195906[37] = 0; - out_8278586360493195906[38] = 0; - out_8278586360493195906[39] = 0; - out_8278586360493195906[40] = 1; - out_8278586360493195906[41] = 0; - out_8278586360493195906[42] = 0; - out_8278586360493195906[43] = 0; - out_8278586360493195906[44] = 0; - out_8278586360493195906[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_8278586360493195906[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8278586360493195906[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8278586360493195906[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8278586360493195906[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_8278586360493195906[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8278586360493195906[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8278586360493195906[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8278586360493195906[53] = -9.8100000000000005*dt; - out_8278586360493195906[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_8278586360493195906[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8278586360493195906[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8278586360493195906[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8278586360493195906[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_8278586360493195906[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8278586360493195906[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_8278586360493195906[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8278586360493195906[62] = 0; - out_8278586360493195906[63] = 0; - out_8278586360493195906[64] = 0; - out_8278586360493195906[65] = 0; - out_8278586360493195906[66] = 0; - out_8278586360493195906[67] = 0; - out_8278586360493195906[68] = 0; - out_8278586360493195906[69] = 0; - out_8278586360493195906[70] = 1; - out_8278586360493195906[71] = 0; - out_8278586360493195906[72] = 0; - out_8278586360493195906[73] = 0; - out_8278586360493195906[74] = 0; - out_8278586360493195906[75] = 0; - out_8278586360493195906[76] = 0; - out_8278586360493195906[77] = 0; - out_8278586360493195906[78] = 0; - out_8278586360493195906[79] = 0; - out_8278586360493195906[80] = 1; +void F_fun(double *state, double dt, double *out_8336486238807882069) { + out_8336486238807882069[0] = 1; + out_8336486238807882069[1] = 0; + out_8336486238807882069[2] = 0; + out_8336486238807882069[3] = 0; + out_8336486238807882069[4] = 0; + out_8336486238807882069[5] = 0; + out_8336486238807882069[6] = 0; + out_8336486238807882069[7] = 0; + out_8336486238807882069[8] = 0; + out_8336486238807882069[9] = 0; + out_8336486238807882069[10] = 1; + out_8336486238807882069[11] = 0; + out_8336486238807882069[12] = 0; + out_8336486238807882069[13] = 0; + out_8336486238807882069[14] = 0; + out_8336486238807882069[15] = 0; + out_8336486238807882069[16] = 0; + out_8336486238807882069[17] = 0; + out_8336486238807882069[18] = 0; + out_8336486238807882069[19] = 0; + out_8336486238807882069[20] = 1; + out_8336486238807882069[21] = 0; + out_8336486238807882069[22] = 0; + out_8336486238807882069[23] = 0; + out_8336486238807882069[24] = 0; + out_8336486238807882069[25] = 0; + out_8336486238807882069[26] = 0; + out_8336486238807882069[27] = 0; + out_8336486238807882069[28] = 0; + out_8336486238807882069[29] = 0; + out_8336486238807882069[30] = 1; + out_8336486238807882069[31] = 0; + out_8336486238807882069[32] = 0; + out_8336486238807882069[33] = 0; + out_8336486238807882069[34] = 0; + out_8336486238807882069[35] = 0; + out_8336486238807882069[36] = 0; + out_8336486238807882069[37] = 0; + out_8336486238807882069[38] = 0; + out_8336486238807882069[39] = 0; + out_8336486238807882069[40] = 1; + out_8336486238807882069[41] = 0; + out_8336486238807882069[42] = 0; + out_8336486238807882069[43] = 0; + out_8336486238807882069[44] = 0; + out_8336486238807882069[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_8336486238807882069[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8336486238807882069[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8336486238807882069[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8336486238807882069[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_8336486238807882069[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8336486238807882069[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8336486238807882069[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8336486238807882069[53] = -9.8100000000000005*dt; + out_8336486238807882069[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_8336486238807882069[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8336486238807882069[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8336486238807882069[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8336486238807882069[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_8336486238807882069[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8336486238807882069[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_8336486238807882069[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8336486238807882069[62] = 0; + out_8336486238807882069[63] = 0; + out_8336486238807882069[64] = 0; + out_8336486238807882069[65] = 0; + out_8336486238807882069[66] = 0; + out_8336486238807882069[67] = 0; + out_8336486238807882069[68] = 0; + out_8336486238807882069[69] = 0; + out_8336486238807882069[70] = 1; + out_8336486238807882069[71] = 0; + out_8336486238807882069[72] = 0; + out_8336486238807882069[73] = 0; + out_8336486238807882069[74] = 0; + out_8336486238807882069[75] = 0; + out_8336486238807882069[76] = 0; + out_8336486238807882069[77] = 0; + out_8336486238807882069[78] = 0; + out_8336486238807882069[79] = 0; + out_8336486238807882069[80] = 1; } -void h_25(double *state, double *unused, double *out_4623448408360880072) { - out_4623448408360880072[0] = state[6]; +void h_25(double *state, double *unused, double *out_1918519873367899214) { + out_1918519873367899214[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2013210898559251929) { - out_2013210898559251929[0] = 0; - out_2013210898559251929[1] = 0; - out_2013210898559251929[2] = 0; - out_2013210898559251929[3] = 0; - out_2013210898559251929[4] = 0; - out_2013210898559251929[5] = 0; - out_2013210898559251929[6] = 1; - out_2013210898559251929[7] = 0; - out_2013210898559251929[8] = 0; +void H_25(double *state, double *unused, double *out_8623128896152181528) { + out_8623128896152181528[0] = 0; + out_8623128896152181528[1] = 0; + out_8623128896152181528[2] = 0; + out_8623128896152181528[3] = 0; + out_8623128896152181528[4] = 0; + out_8623128896152181528[5] = 0; + out_8623128896152181528[6] = 1; + out_8623128896152181528[7] = 0; + out_8623128896152181528[8] = 0; } -void h_24(double *state, double *unused, double *out_5136059034754269087) { - out_5136059034754269087[0] = state[4]; - out_5136059034754269087[1] = state[5]; +void h_24(double *state, double *unused, double *out_4068985978219487213) { + out_4068985978219487213[0] = state[4]; + out_4068985978219487213[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7286705181472264523) { - out_7286705181472264523[0] = 0; - out_7286705181472264523[1] = 0; - out_7286705181472264523[2] = 0; - out_7286705181472264523[3] = 0; - out_7286705181472264523[4] = 1; - out_7286705181472264523[5] = 0; - out_7286705181472264523[6] = 0; - out_7286705181472264523[7] = 0; - out_7286705181472264523[8] = 0; - out_7286705181472264523[9] = 0; - out_7286705181472264523[10] = 0; - out_7286705181472264523[11] = 0; - out_7286705181472264523[12] = 0; - out_7286705181472264523[13] = 0; - out_7286705181472264523[14] = 1; - out_7286705181472264523[15] = 0; - out_7286705181472264523[16] = 0; - out_7286705181472264523[17] = 0; +void H_24(double *state, double *unused, double *out_604936289917013697) { + out_604936289917013697[0] = 0; + out_604936289917013697[1] = 0; + out_604936289917013697[2] = 0; + out_604936289917013697[3] = 0; + out_604936289917013697[4] = 1; + out_604936289917013697[5] = 0; + out_604936289917013697[6] = 0; + out_604936289917013697[7] = 0; + out_604936289917013697[8] = 0; + out_604936289917013697[9] = 0; + out_604936289917013697[10] = 0; + out_604936289917013697[11] = 0; + out_604936289917013697[12] = 0; + out_604936289917013697[13] = 0; + out_604936289917013697[14] = 1; + out_604936289917013697[15] = 0; + out_604936289917013697[16] = 0; + out_604936289917013697[17] = 0; } -void h_30(double *state, double *unused, double *out_5183418188630129660) { - out_5183418188630129660[0] = state[4]; +void h_30(double *state, double *unused, double *out_2075706541719028359) { + out_2075706541719028359[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2514485431568356269) { - out_2514485431568356269[0] = 0; - out_2514485431568356269[1] = 0; - out_2514485431568356269[2] = 0; - out_2514485431568356269[3] = 0; - out_2514485431568356269[4] = 1; - out_2514485431568356269[5] = 0; - out_2514485431568356269[6] = 0; - out_2514485431568356269[7] = 0; - out_2514485431568356269[8] = 0; +void H_30(double *state, double *unused, double *out_5295918847429761890) { + out_5295918847429761890[0] = 0; + out_5295918847429761890[1] = 0; + out_5295918847429761890[2] = 0; + out_5295918847429761890[3] = 0; + out_5295918847429761890[4] = 1; + out_5295918847429761890[5] = 0; + out_5295918847429761890[6] = 0; + out_5295918847429761890[7] = 0; + out_5295918847429761890[8] = 0; } -void h_26(double *state, double *unused, double *out_8220204240074462345) { - out_8220204240074462345[0] = state[7]; +void h_26(double *state, double *unused, double *out_47122023652287635) { + out_47122023652287635[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1728292420314804295) { - out_1728292420314804295[0] = 0; - out_1728292420314804295[1] = 0; - out_1728292420314804295[2] = 0; - out_1728292420314804295[3] = 0; - out_1728292420314804295[4] = 0; - out_1728292420314804295[5] = 0; - out_1728292420314804295[6] = 0; - out_1728292420314804295[7] = 1; - out_1728292420314804295[8] = 0; +void H_26(double *state, double *unused, double *out_6082111858683313864) { + out_6082111858683313864[0] = 0; + out_6082111858683313864[1] = 0; + out_6082111858683313864[2] = 0; + out_6082111858683313864[3] = 0; + out_6082111858683313864[4] = 0; + out_6082111858683313864[5] = 0; + out_6082111858683313864[6] = 0; + out_6082111858683313864[7] = 1; + out_6082111858683313864[8] = 0; } -void h_27(double *state, double *unused, double *out_6443570481160411950) { - out_6443570481160411950[0] = state[3]; +void h_27(double *state, double *unused, double *out_6880899871049192446) { + out_6880899871049192446[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4689248743368781180) { - out_4689248743368781180[0] = 0; - out_4689248743368781180[1] = 0; - out_4689248743368781180[2] = 0; - out_4689248743368781180[3] = 1; - out_4689248743368781180[4] = 0; - out_4689248743368781180[5] = 0; - out_4689248743368781180[6] = 0; - out_4689248743368781180[7] = 0; - out_4689248743368781180[8] = 0; +void H_27(double *state, double *unused, double *out_7519512918613705107) { + out_7519512918613705107[0] = 0; + out_7519512918613705107[1] = 0; + out_7519512918613705107[2] = 0; + out_7519512918613705107[3] = 1; + out_7519512918613705107[4] = 0; + out_7519512918613705107[5] = 0; + out_7519512918613705107[6] = 0; + out_7519512918613705107[7] = 0; + out_7519512918613705107[8] = 0; } -void h_29(double *state, double *unused, double *out_4239908335728467225) { - out_4239908335728467225[0] = state[1]; +void h_29(double *state, double *unused, double *out_3933173880693707485) { + out_3933173880693707485[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2004254087253964085) { - out_2004254087253964085[0] = 0; - out_2004254087253964085[1] = 1; - out_2004254087253964085[2] = 0; - out_2004254087253964085[3] = 0; - out_2004254087253964085[4] = 0; - out_2004254087253964085[5] = 0; - out_2004254087253964085[6] = 0; - out_2004254087253964085[7] = 0; - out_2004254087253964085[8] = 0; +void H_29(double *state, double *unused, double *out_5806150191744154074) { + out_5806150191744154074[0] = 0; + out_5806150191744154074[1] = 1; + out_5806150191744154074[2] = 0; + out_5806150191744154074[3] = 0; + out_5806150191744154074[4] = 0; + out_5806150191744154074[5] = 0; + out_5806150191744154074[6] = 0; + out_5806150191744154074[7] = 0; + out_5806150191744154074[8] = 0; } -void h_28(double *state, double *unused, double *out_8966387541104806981) { - out_8966387541104806981[0] = state[0]; +void h_28(double *state, double *unused, double *out_1147213510920962491) { + out_1147213510920962491[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7086653104323494659) { - out_7086653104323494659[0] = 1; - out_7086653104323494659[1] = 0; - out_7086653104323494659[2] = 0; - out_7086653104323494659[3] = 0; - out_7086653104323494659[4] = 0; - out_7086653104323494659[5] = 0; - out_7086653104323494659[6] = 0; - out_7086653104323494659[7] = 0; - out_7086653104323494659[8] = 0; +void H_28(double *state, double *unused, double *out_723751174674623500) { + out_723751174674623500[0] = 1; + out_723751174674623500[1] = 0; + out_723751174674623500[2] = 0; + out_723751174674623500[3] = 0; + out_723751174674623500[4] = 0; + out_723751174674623500[5] = 0; + out_723751174674623500[6] = 0; + out_723751174674623500[7] = 0; + out_723751174674623500[8] = 0; } -void h_31(double *state, double *unused, double *out_8508687616659686337) { - out_8508687616659686337[0] = state[8]; +void h_31(double *state, double *unused, double *out_713380529375319027) { + out_713380529375319027[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2354500522548155771) { - out_2354500522548155771[0] = 0; - out_2354500522548155771[1] = 0; - out_2354500522548155771[2] = 0; - out_2354500522548155771[3] = 0; - out_2354500522548155771[4] = 0; - out_2354500522548155771[5] = 0; - out_2354500522548155771[6] = 0; - out_2354500522548155771[7] = 0; - out_2354500522548155771[8] = 1; +void H_31(double *state, double *unused, double *out_8592482934275221100) { + out_8592482934275221100[0] = 0; + out_8592482934275221100[1] = 0; + out_8592482934275221100[2] = 0; + out_8592482934275221100[3] = 0; + out_8592482934275221100[4] = 0; + out_8592482934275221100[5] = 0; + out_8592482934275221100[6] = 0; + out_8592482934275221100[7] = 0; + out_8592482934275221100[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_6972961942535496334) { - err_fun(nom_x, delta_x, out_6972961942535496334); +void car_err_fun(double *nom_x, double *delta_x, double *out_8928467092611092744) { + err_fun(nom_x, delta_x, out_8928467092611092744); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626) { - inv_err_fun(nom_x, true_x, out_2104979621458798626); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8458266257392376640) { + inv_err_fun(nom_x, true_x, out_8458266257392376640); } -void car_H_mod_fun(double *state, double *out_2779658660641459178) { - H_mod_fun(state, out_2779658660641459178); +void car_H_mod_fun(double *state, double *out_6729596904764973580) { + H_mod_fun(state, out_6729596904764973580); } -void car_f_fun(double *state, double dt, double *out_1847838116479859502) { - f_fun(state, dt, out_1847838116479859502); +void car_f_fun(double *state, double dt, double *out_5070065485852511286) { + f_fun(state, dt, out_5070065485852511286); } -void car_F_fun(double *state, double dt, double *out_8278586360493195906) { - F_fun(state, dt, out_8278586360493195906); +void car_F_fun(double *state, double dt, double *out_8336486238807882069) { + F_fun(state, dt, out_8336486238807882069); } -void car_h_25(double *state, double *unused, double *out_4623448408360880072) { - h_25(state, unused, out_4623448408360880072); +void car_h_25(double *state, double *unused, double *out_1918519873367899214) { + h_25(state, unused, out_1918519873367899214); } -void car_H_25(double *state, double *unused, double *out_2013210898559251929) { - H_25(state, unused, out_2013210898559251929); +void car_H_25(double *state, double *unused, double *out_8623128896152181528) { + H_25(state, unused, out_8623128896152181528); } -void car_h_24(double *state, double *unused, double *out_5136059034754269087) { - h_24(state, unused, out_5136059034754269087); +void car_h_24(double *state, double *unused, double *out_4068985978219487213) { + h_24(state, unused, out_4068985978219487213); } -void car_H_24(double *state, double *unused, double *out_7286705181472264523) { - H_24(state, unused, out_7286705181472264523); +void car_H_24(double *state, double *unused, double *out_604936289917013697) { + H_24(state, unused, out_604936289917013697); } -void car_h_30(double *state, double *unused, double *out_5183418188630129660) { - h_30(state, unused, out_5183418188630129660); +void car_h_30(double *state, double *unused, double *out_2075706541719028359) { + h_30(state, unused, out_2075706541719028359); } -void car_H_30(double *state, double *unused, double *out_2514485431568356269) { - H_30(state, unused, out_2514485431568356269); +void car_H_30(double *state, double *unused, double *out_5295918847429761890) { + H_30(state, unused, out_5295918847429761890); } -void car_h_26(double *state, double *unused, double *out_8220204240074462345) { - h_26(state, unused, out_8220204240074462345); +void car_h_26(double *state, double *unused, double *out_47122023652287635) { + h_26(state, unused, out_47122023652287635); } -void car_H_26(double *state, double *unused, double *out_1728292420314804295) { - H_26(state, unused, out_1728292420314804295); +void car_H_26(double *state, double *unused, double *out_6082111858683313864) { + H_26(state, unused, out_6082111858683313864); } -void car_h_27(double *state, double *unused, double *out_6443570481160411950) { - h_27(state, unused, out_6443570481160411950); +void car_h_27(double *state, double *unused, double *out_6880899871049192446) { + h_27(state, unused, out_6880899871049192446); } -void car_H_27(double *state, double *unused, double *out_4689248743368781180) { - H_27(state, unused, out_4689248743368781180); +void car_H_27(double *state, double *unused, double *out_7519512918613705107) { + H_27(state, unused, out_7519512918613705107); } -void car_h_29(double *state, double *unused, double *out_4239908335728467225) { - h_29(state, unused, out_4239908335728467225); +void car_h_29(double *state, double *unused, double *out_3933173880693707485) { + h_29(state, unused, out_3933173880693707485); } -void car_H_29(double *state, double *unused, double *out_2004254087253964085) { - H_29(state, unused, out_2004254087253964085); +void car_H_29(double *state, double *unused, double *out_5806150191744154074) { + H_29(state, unused, out_5806150191744154074); } -void car_h_28(double *state, double *unused, double *out_8966387541104806981) { - h_28(state, unused, out_8966387541104806981); +void car_h_28(double *state, double *unused, double *out_1147213510920962491) { + h_28(state, unused, out_1147213510920962491); } -void car_H_28(double *state, double *unused, double *out_7086653104323494659) { - H_28(state, unused, out_7086653104323494659); +void car_H_28(double *state, double *unused, double *out_723751174674623500) { + H_28(state, unused, out_723751174674623500); } -void car_h_31(double *state, double *unused, double *out_8508687616659686337) { - h_31(state, unused, out_8508687616659686337); +void car_h_31(double *state, double *unused, double *out_713380529375319027) { + h_31(state, unused, out_713380529375319027); } -void car_H_31(double *state, double *unused, double *out_2354500522548155771) { - H_31(state, unused, out_2354500522548155771); +void car_H_31(double *state, double *unused, double *out_8592482934275221100) { + H_31(state, unused, out_8592482934275221100); } 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 62b93ded1..089c0b7d2 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_6972961942535496334); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2104979621458798626); -void car_H_mod_fun(double *state, double *out_2779658660641459178); -void car_f_fun(double *state, double dt, double *out_1847838116479859502); -void car_F_fun(double *state, double dt, double *out_8278586360493195906); -void car_h_25(double *state, double *unused, double *out_4623448408360880072); -void car_H_25(double *state, double *unused, double *out_2013210898559251929); -void car_h_24(double *state, double *unused, double *out_5136059034754269087); -void car_H_24(double *state, double *unused, double *out_7286705181472264523); -void car_h_30(double *state, double *unused, double *out_5183418188630129660); -void car_H_30(double *state, double *unused, double *out_2514485431568356269); -void car_h_26(double *state, double *unused, double *out_8220204240074462345); -void car_H_26(double *state, double *unused, double *out_1728292420314804295); -void car_h_27(double *state, double *unused, double *out_6443570481160411950); -void car_H_27(double *state, double *unused, double *out_4689248743368781180); -void car_h_29(double *state, double *unused, double *out_4239908335728467225); -void car_H_29(double *state, double *unused, double *out_2004254087253964085); -void car_h_28(double *state, double *unused, double *out_8966387541104806981); -void car_H_28(double *state, double *unused, double *out_7086653104323494659); -void car_h_31(double *state, double *unused, double *out_8508687616659686337); -void car_H_31(double *state, double *unused, double *out_2354500522548155771); +void car_err_fun(double *nom_x, double *delta_x, double *out_8928467092611092744); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8458266257392376640); +void car_H_mod_fun(double *state, double *out_6729596904764973580); +void car_f_fun(double *state, double dt, double *out_5070065485852511286); +void car_F_fun(double *state, double dt, double *out_8336486238807882069); +void car_h_25(double *state, double *unused, double *out_1918519873367899214); +void car_H_25(double *state, double *unused, double *out_8623128896152181528); +void car_h_24(double *state, double *unused, double *out_4068985978219487213); +void car_H_24(double *state, double *unused, double *out_604936289917013697); +void car_h_30(double *state, double *unused, double *out_2075706541719028359); +void car_H_30(double *state, double *unused, double *out_5295918847429761890); +void car_h_26(double *state, double *unused, double *out_47122023652287635); +void car_H_26(double *state, double *unused, double *out_6082111858683313864); +void car_h_27(double *state, double *unused, double *out_6880899871049192446); +void car_H_27(double *state, double *unused, double *out_7519512918613705107); +void car_h_29(double *state, double *unused, double *out_3933173880693707485); +void car_H_29(double *state, double *unused, double *out_5806150191744154074); +void car_h_28(double *state, double *unused, double *out_1147213510920962491); +void car_H_28(double *state, double *unused, double *out_723751174674623500); +void car_h_31(double *state, double *unused, double *out_713380529375319027); +void car_H_31(double *state, double *unused, double *out_8592482934275221100); 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 3c8eb5bc3..9efaf657c 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_1493079546624007114) { - out_1493079546624007114[0] = delta_x[0] + nom_x[0]; - out_1493079546624007114[1] = delta_x[1] + nom_x[1]; - out_1493079546624007114[2] = delta_x[2] + nom_x[2]; - out_1493079546624007114[3] = delta_x[3] + nom_x[3]; - out_1493079546624007114[4] = delta_x[4] + nom_x[4]; - out_1493079546624007114[5] = delta_x[5] + nom_x[5]; - out_1493079546624007114[6] = delta_x[6] + nom_x[6]; - out_1493079546624007114[7] = delta_x[7] + nom_x[7]; - out_1493079546624007114[8] = delta_x[8] + nom_x[8]; - out_1493079546624007114[9] = delta_x[9] + nom_x[9]; - out_1493079546624007114[10] = delta_x[10] + nom_x[10]; - out_1493079546624007114[11] = delta_x[11] + nom_x[11]; - out_1493079546624007114[12] = delta_x[12] + nom_x[12]; - out_1493079546624007114[13] = delta_x[13] + nom_x[13]; - out_1493079546624007114[14] = delta_x[14] + nom_x[14]; - out_1493079546624007114[15] = delta_x[15] + nom_x[15]; - out_1493079546624007114[16] = delta_x[16] + nom_x[16]; - out_1493079546624007114[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_1112526487984770436) { + out_1112526487984770436[0] = delta_x[0] + nom_x[0]; + out_1112526487984770436[1] = delta_x[1] + nom_x[1]; + out_1112526487984770436[2] = delta_x[2] + nom_x[2]; + out_1112526487984770436[3] = delta_x[3] + nom_x[3]; + out_1112526487984770436[4] = delta_x[4] + nom_x[4]; + out_1112526487984770436[5] = delta_x[5] + nom_x[5]; + out_1112526487984770436[6] = delta_x[6] + nom_x[6]; + out_1112526487984770436[7] = delta_x[7] + nom_x[7]; + out_1112526487984770436[8] = delta_x[8] + nom_x[8]; + out_1112526487984770436[9] = delta_x[9] + nom_x[9]; + out_1112526487984770436[10] = delta_x[10] + nom_x[10]; + out_1112526487984770436[11] = delta_x[11] + nom_x[11]; + out_1112526487984770436[12] = delta_x[12] + nom_x[12]; + out_1112526487984770436[13] = delta_x[13] + nom_x[13]; + out_1112526487984770436[14] = delta_x[14] + nom_x[14]; + out_1112526487984770436[15] = delta_x[15] + nom_x[15]; + out_1112526487984770436[16] = delta_x[16] + nom_x[16]; + out_1112526487984770436[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4580499654968994478) { - out_4580499654968994478[0] = -nom_x[0] + true_x[0]; - out_4580499654968994478[1] = -nom_x[1] + true_x[1]; - out_4580499654968994478[2] = -nom_x[2] + true_x[2]; - out_4580499654968994478[3] = -nom_x[3] + true_x[3]; - out_4580499654968994478[4] = -nom_x[4] + true_x[4]; - out_4580499654968994478[5] = -nom_x[5] + true_x[5]; - out_4580499654968994478[6] = -nom_x[6] + true_x[6]; - out_4580499654968994478[7] = -nom_x[7] + true_x[7]; - out_4580499654968994478[8] = -nom_x[8] + true_x[8]; - out_4580499654968994478[9] = -nom_x[9] + true_x[9]; - out_4580499654968994478[10] = -nom_x[10] + true_x[10]; - out_4580499654968994478[11] = -nom_x[11] + true_x[11]; - out_4580499654968994478[12] = -nom_x[12] + true_x[12]; - out_4580499654968994478[13] = -nom_x[13] + true_x[13]; - out_4580499654968994478[14] = -nom_x[14] + true_x[14]; - out_4580499654968994478[15] = -nom_x[15] + true_x[15]; - out_4580499654968994478[16] = -nom_x[16] + true_x[16]; - out_4580499654968994478[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2885793937532541180) { + out_2885793937532541180[0] = -nom_x[0] + true_x[0]; + out_2885793937532541180[1] = -nom_x[1] + true_x[1]; + out_2885793937532541180[2] = -nom_x[2] + true_x[2]; + out_2885793937532541180[3] = -nom_x[3] + true_x[3]; + out_2885793937532541180[4] = -nom_x[4] + true_x[4]; + out_2885793937532541180[5] = -nom_x[5] + true_x[5]; + out_2885793937532541180[6] = -nom_x[6] + true_x[6]; + out_2885793937532541180[7] = -nom_x[7] + true_x[7]; + out_2885793937532541180[8] = -nom_x[8] + true_x[8]; + out_2885793937532541180[9] = -nom_x[9] + true_x[9]; + out_2885793937532541180[10] = -nom_x[10] + true_x[10]; + out_2885793937532541180[11] = -nom_x[11] + true_x[11]; + out_2885793937532541180[12] = -nom_x[12] + true_x[12]; + out_2885793937532541180[13] = -nom_x[13] + true_x[13]; + out_2885793937532541180[14] = -nom_x[14] + true_x[14]; + out_2885793937532541180[15] = -nom_x[15] + true_x[15]; + out_2885793937532541180[16] = -nom_x[16] + true_x[16]; + out_2885793937532541180[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_8273119377234766952) { - out_8273119377234766952[0] = 1.0; - out_8273119377234766952[1] = 0.0; - out_8273119377234766952[2] = 0.0; - out_8273119377234766952[3] = 0.0; - out_8273119377234766952[4] = 0.0; - out_8273119377234766952[5] = 0.0; - out_8273119377234766952[6] = 0.0; - out_8273119377234766952[7] = 0.0; - out_8273119377234766952[8] = 0.0; - out_8273119377234766952[9] = 0.0; - out_8273119377234766952[10] = 0.0; - out_8273119377234766952[11] = 0.0; - out_8273119377234766952[12] = 0.0; - out_8273119377234766952[13] = 0.0; - out_8273119377234766952[14] = 0.0; - out_8273119377234766952[15] = 0.0; - out_8273119377234766952[16] = 0.0; - out_8273119377234766952[17] = 0.0; - out_8273119377234766952[18] = 0.0; - out_8273119377234766952[19] = 1.0; - out_8273119377234766952[20] = 0.0; - out_8273119377234766952[21] = 0.0; - out_8273119377234766952[22] = 0.0; - out_8273119377234766952[23] = 0.0; - out_8273119377234766952[24] = 0.0; - out_8273119377234766952[25] = 0.0; - out_8273119377234766952[26] = 0.0; - out_8273119377234766952[27] = 0.0; - out_8273119377234766952[28] = 0.0; - out_8273119377234766952[29] = 0.0; - out_8273119377234766952[30] = 0.0; - out_8273119377234766952[31] = 0.0; - out_8273119377234766952[32] = 0.0; - out_8273119377234766952[33] = 0.0; - out_8273119377234766952[34] = 0.0; - out_8273119377234766952[35] = 0.0; - out_8273119377234766952[36] = 0.0; - out_8273119377234766952[37] = 0.0; - out_8273119377234766952[38] = 1.0; - out_8273119377234766952[39] = 0.0; - out_8273119377234766952[40] = 0.0; - out_8273119377234766952[41] = 0.0; - out_8273119377234766952[42] = 0.0; - out_8273119377234766952[43] = 0.0; - out_8273119377234766952[44] = 0.0; - out_8273119377234766952[45] = 0.0; - out_8273119377234766952[46] = 0.0; - out_8273119377234766952[47] = 0.0; - out_8273119377234766952[48] = 0.0; - out_8273119377234766952[49] = 0.0; - out_8273119377234766952[50] = 0.0; - out_8273119377234766952[51] = 0.0; - out_8273119377234766952[52] = 0.0; - out_8273119377234766952[53] = 0.0; - out_8273119377234766952[54] = 0.0; - out_8273119377234766952[55] = 0.0; - out_8273119377234766952[56] = 0.0; - out_8273119377234766952[57] = 1.0; - out_8273119377234766952[58] = 0.0; - out_8273119377234766952[59] = 0.0; - out_8273119377234766952[60] = 0.0; - out_8273119377234766952[61] = 0.0; - out_8273119377234766952[62] = 0.0; - out_8273119377234766952[63] = 0.0; - out_8273119377234766952[64] = 0.0; - out_8273119377234766952[65] = 0.0; - out_8273119377234766952[66] = 0.0; - out_8273119377234766952[67] = 0.0; - out_8273119377234766952[68] = 0.0; - out_8273119377234766952[69] = 0.0; - out_8273119377234766952[70] = 0.0; - out_8273119377234766952[71] = 0.0; - out_8273119377234766952[72] = 0.0; - out_8273119377234766952[73] = 0.0; - out_8273119377234766952[74] = 0.0; - out_8273119377234766952[75] = 0.0; - out_8273119377234766952[76] = 1.0; - out_8273119377234766952[77] = 0.0; - out_8273119377234766952[78] = 0.0; - out_8273119377234766952[79] = 0.0; - out_8273119377234766952[80] = 0.0; - out_8273119377234766952[81] = 0.0; - out_8273119377234766952[82] = 0.0; - out_8273119377234766952[83] = 0.0; - out_8273119377234766952[84] = 0.0; - out_8273119377234766952[85] = 0.0; - out_8273119377234766952[86] = 0.0; - out_8273119377234766952[87] = 0.0; - out_8273119377234766952[88] = 0.0; - out_8273119377234766952[89] = 0.0; - out_8273119377234766952[90] = 0.0; - out_8273119377234766952[91] = 0.0; - out_8273119377234766952[92] = 0.0; - out_8273119377234766952[93] = 0.0; - out_8273119377234766952[94] = 0.0; - out_8273119377234766952[95] = 1.0; - out_8273119377234766952[96] = 0.0; - out_8273119377234766952[97] = 0.0; - out_8273119377234766952[98] = 0.0; - out_8273119377234766952[99] = 0.0; - out_8273119377234766952[100] = 0.0; - out_8273119377234766952[101] = 0.0; - out_8273119377234766952[102] = 0.0; - out_8273119377234766952[103] = 0.0; - out_8273119377234766952[104] = 0.0; - out_8273119377234766952[105] = 0.0; - out_8273119377234766952[106] = 0.0; - out_8273119377234766952[107] = 0.0; - out_8273119377234766952[108] = 0.0; - out_8273119377234766952[109] = 0.0; - out_8273119377234766952[110] = 0.0; - out_8273119377234766952[111] = 0.0; - out_8273119377234766952[112] = 0.0; - out_8273119377234766952[113] = 0.0; - out_8273119377234766952[114] = 1.0; - out_8273119377234766952[115] = 0.0; - out_8273119377234766952[116] = 0.0; - out_8273119377234766952[117] = 0.0; - out_8273119377234766952[118] = 0.0; - out_8273119377234766952[119] = 0.0; - out_8273119377234766952[120] = 0.0; - out_8273119377234766952[121] = 0.0; - out_8273119377234766952[122] = 0.0; - out_8273119377234766952[123] = 0.0; - out_8273119377234766952[124] = 0.0; - out_8273119377234766952[125] = 0.0; - out_8273119377234766952[126] = 0.0; - out_8273119377234766952[127] = 0.0; - out_8273119377234766952[128] = 0.0; - out_8273119377234766952[129] = 0.0; - out_8273119377234766952[130] = 0.0; - out_8273119377234766952[131] = 0.0; - out_8273119377234766952[132] = 0.0; - out_8273119377234766952[133] = 1.0; - out_8273119377234766952[134] = 0.0; - out_8273119377234766952[135] = 0.0; - out_8273119377234766952[136] = 0.0; - out_8273119377234766952[137] = 0.0; - out_8273119377234766952[138] = 0.0; - out_8273119377234766952[139] = 0.0; - out_8273119377234766952[140] = 0.0; - out_8273119377234766952[141] = 0.0; - out_8273119377234766952[142] = 0.0; - out_8273119377234766952[143] = 0.0; - out_8273119377234766952[144] = 0.0; - out_8273119377234766952[145] = 0.0; - out_8273119377234766952[146] = 0.0; - out_8273119377234766952[147] = 0.0; - out_8273119377234766952[148] = 0.0; - out_8273119377234766952[149] = 0.0; - out_8273119377234766952[150] = 0.0; - out_8273119377234766952[151] = 0.0; - out_8273119377234766952[152] = 1.0; - out_8273119377234766952[153] = 0.0; - out_8273119377234766952[154] = 0.0; - out_8273119377234766952[155] = 0.0; - out_8273119377234766952[156] = 0.0; - out_8273119377234766952[157] = 0.0; - out_8273119377234766952[158] = 0.0; - out_8273119377234766952[159] = 0.0; - out_8273119377234766952[160] = 0.0; - out_8273119377234766952[161] = 0.0; - out_8273119377234766952[162] = 0.0; - out_8273119377234766952[163] = 0.0; - out_8273119377234766952[164] = 0.0; - out_8273119377234766952[165] = 0.0; - out_8273119377234766952[166] = 0.0; - out_8273119377234766952[167] = 0.0; - out_8273119377234766952[168] = 0.0; - out_8273119377234766952[169] = 0.0; - out_8273119377234766952[170] = 0.0; - out_8273119377234766952[171] = 1.0; - out_8273119377234766952[172] = 0.0; - out_8273119377234766952[173] = 0.0; - out_8273119377234766952[174] = 0.0; - out_8273119377234766952[175] = 0.0; - out_8273119377234766952[176] = 0.0; - out_8273119377234766952[177] = 0.0; - out_8273119377234766952[178] = 0.0; - out_8273119377234766952[179] = 0.0; - out_8273119377234766952[180] = 0.0; - out_8273119377234766952[181] = 0.0; - out_8273119377234766952[182] = 0.0; - out_8273119377234766952[183] = 0.0; - out_8273119377234766952[184] = 0.0; - out_8273119377234766952[185] = 0.0; - out_8273119377234766952[186] = 0.0; - out_8273119377234766952[187] = 0.0; - out_8273119377234766952[188] = 0.0; - out_8273119377234766952[189] = 0.0; - out_8273119377234766952[190] = 1.0; - out_8273119377234766952[191] = 0.0; - out_8273119377234766952[192] = 0.0; - out_8273119377234766952[193] = 0.0; - out_8273119377234766952[194] = 0.0; - out_8273119377234766952[195] = 0.0; - out_8273119377234766952[196] = 0.0; - out_8273119377234766952[197] = 0.0; - out_8273119377234766952[198] = 0.0; - out_8273119377234766952[199] = 0.0; - out_8273119377234766952[200] = 0.0; - out_8273119377234766952[201] = 0.0; - out_8273119377234766952[202] = 0.0; - out_8273119377234766952[203] = 0.0; - out_8273119377234766952[204] = 0.0; - out_8273119377234766952[205] = 0.0; - out_8273119377234766952[206] = 0.0; - out_8273119377234766952[207] = 0.0; - out_8273119377234766952[208] = 0.0; - out_8273119377234766952[209] = 1.0; - out_8273119377234766952[210] = 0.0; - out_8273119377234766952[211] = 0.0; - out_8273119377234766952[212] = 0.0; - out_8273119377234766952[213] = 0.0; - out_8273119377234766952[214] = 0.0; - out_8273119377234766952[215] = 0.0; - out_8273119377234766952[216] = 0.0; - out_8273119377234766952[217] = 0.0; - out_8273119377234766952[218] = 0.0; - out_8273119377234766952[219] = 0.0; - out_8273119377234766952[220] = 0.0; - out_8273119377234766952[221] = 0.0; - out_8273119377234766952[222] = 0.0; - out_8273119377234766952[223] = 0.0; - out_8273119377234766952[224] = 0.0; - out_8273119377234766952[225] = 0.0; - out_8273119377234766952[226] = 0.0; - out_8273119377234766952[227] = 0.0; - out_8273119377234766952[228] = 1.0; - out_8273119377234766952[229] = 0.0; - out_8273119377234766952[230] = 0.0; - out_8273119377234766952[231] = 0.0; - out_8273119377234766952[232] = 0.0; - out_8273119377234766952[233] = 0.0; - out_8273119377234766952[234] = 0.0; - out_8273119377234766952[235] = 0.0; - out_8273119377234766952[236] = 0.0; - out_8273119377234766952[237] = 0.0; - out_8273119377234766952[238] = 0.0; - out_8273119377234766952[239] = 0.0; - out_8273119377234766952[240] = 0.0; - out_8273119377234766952[241] = 0.0; - out_8273119377234766952[242] = 0.0; - out_8273119377234766952[243] = 0.0; - out_8273119377234766952[244] = 0.0; - out_8273119377234766952[245] = 0.0; - out_8273119377234766952[246] = 0.0; - out_8273119377234766952[247] = 1.0; - out_8273119377234766952[248] = 0.0; - out_8273119377234766952[249] = 0.0; - out_8273119377234766952[250] = 0.0; - out_8273119377234766952[251] = 0.0; - out_8273119377234766952[252] = 0.0; - out_8273119377234766952[253] = 0.0; - out_8273119377234766952[254] = 0.0; - out_8273119377234766952[255] = 0.0; - out_8273119377234766952[256] = 0.0; - out_8273119377234766952[257] = 0.0; - out_8273119377234766952[258] = 0.0; - out_8273119377234766952[259] = 0.0; - out_8273119377234766952[260] = 0.0; - out_8273119377234766952[261] = 0.0; - out_8273119377234766952[262] = 0.0; - out_8273119377234766952[263] = 0.0; - out_8273119377234766952[264] = 0.0; - out_8273119377234766952[265] = 0.0; - out_8273119377234766952[266] = 1.0; - out_8273119377234766952[267] = 0.0; - out_8273119377234766952[268] = 0.0; - out_8273119377234766952[269] = 0.0; - out_8273119377234766952[270] = 0.0; - out_8273119377234766952[271] = 0.0; - out_8273119377234766952[272] = 0.0; - out_8273119377234766952[273] = 0.0; - out_8273119377234766952[274] = 0.0; - out_8273119377234766952[275] = 0.0; - out_8273119377234766952[276] = 0.0; - out_8273119377234766952[277] = 0.0; - out_8273119377234766952[278] = 0.0; - out_8273119377234766952[279] = 0.0; - out_8273119377234766952[280] = 0.0; - out_8273119377234766952[281] = 0.0; - out_8273119377234766952[282] = 0.0; - out_8273119377234766952[283] = 0.0; - out_8273119377234766952[284] = 0.0; - out_8273119377234766952[285] = 1.0; - out_8273119377234766952[286] = 0.0; - out_8273119377234766952[287] = 0.0; - out_8273119377234766952[288] = 0.0; - out_8273119377234766952[289] = 0.0; - out_8273119377234766952[290] = 0.0; - out_8273119377234766952[291] = 0.0; - out_8273119377234766952[292] = 0.0; - out_8273119377234766952[293] = 0.0; - out_8273119377234766952[294] = 0.0; - out_8273119377234766952[295] = 0.0; - out_8273119377234766952[296] = 0.0; - out_8273119377234766952[297] = 0.0; - out_8273119377234766952[298] = 0.0; - out_8273119377234766952[299] = 0.0; - out_8273119377234766952[300] = 0.0; - out_8273119377234766952[301] = 0.0; - out_8273119377234766952[302] = 0.0; - out_8273119377234766952[303] = 0.0; - out_8273119377234766952[304] = 1.0; - out_8273119377234766952[305] = 0.0; - out_8273119377234766952[306] = 0.0; - out_8273119377234766952[307] = 0.0; - out_8273119377234766952[308] = 0.0; - out_8273119377234766952[309] = 0.0; - out_8273119377234766952[310] = 0.0; - out_8273119377234766952[311] = 0.0; - out_8273119377234766952[312] = 0.0; - out_8273119377234766952[313] = 0.0; - out_8273119377234766952[314] = 0.0; - out_8273119377234766952[315] = 0.0; - out_8273119377234766952[316] = 0.0; - out_8273119377234766952[317] = 0.0; - out_8273119377234766952[318] = 0.0; - out_8273119377234766952[319] = 0.0; - out_8273119377234766952[320] = 0.0; - out_8273119377234766952[321] = 0.0; - out_8273119377234766952[322] = 0.0; - out_8273119377234766952[323] = 1.0; +void H_mod_fun(double *state, double *out_5077282169950591517) { + out_5077282169950591517[0] = 1.0; + out_5077282169950591517[1] = 0.0; + out_5077282169950591517[2] = 0.0; + out_5077282169950591517[3] = 0.0; + out_5077282169950591517[4] = 0.0; + out_5077282169950591517[5] = 0.0; + out_5077282169950591517[6] = 0.0; + out_5077282169950591517[7] = 0.0; + out_5077282169950591517[8] = 0.0; + out_5077282169950591517[9] = 0.0; + out_5077282169950591517[10] = 0.0; + out_5077282169950591517[11] = 0.0; + out_5077282169950591517[12] = 0.0; + out_5077282169950591517[13] = 0.0; + out_5077282169950591517[14] = 0.0; + out_5077282169950591517[15] = 0.0; + out_5077282169950591517[16] = 0.0; + out_5077282169950591517[17] = 0.0; + out_5077282169950591517[18] = 0.0; + out_5077282169950591517[19] = 1.0; + out_5077282169950591517[20] = 0.0; + out_5077282169950591517[21] = 0.0; + out_5077282169950591517[22] = 0.0; + out_5077282169950591517[23] = 0.0; + out_5077282169950591517[24] = 0.0; + out_5077282169950591517[25] = 0.0; + out_5077282169950591517[26] = 0.0; + out_5077282169950591517[27] = 0.0; + out_5077282169950591517[28] = 0.0; + out_5077282169950591517[29] = 0.0; + out_5077282169950591517[30] = 0.0; + out_5077282169950591517[31] = 0.0; + out_5077282169950591517[32] = 0.0; + out_5077282169950591517[33] = 0.0; + out_5077282169950591517[34] = 0.0; + out_5077282169950591517[35] = 0.0; + out_5077282169950591517[36] = 0.0; + out_5077282169950591517[37] = 0.0; + out_5077282169950591517[38] = 1.0; + out_5077282169950591517[39] = 0.0; + out_5077282169950591517[40] = 0.0; + out_5077282169950591517[41] = 0.0; + out_5077282169950591517[42] = 0.0; + out_5077282169950591517[43] = 0.0; + out_5077282169950591517[44] = 0.0; + out_5077282169950591517[45] = 0.0; + out_5077282169950591517[46] = 0.0; + out_5077282169950591517[47] = 0.0; + out_5077282169950591517[48] = 0.0; + out_5077282169950591517[49] = 0.0; + out_5077282169950591517[50] = 0.0; + out_5077282169950591517[51] = 0.0; + out_5077282169950591517[52] = 0.0; + out_5077282169950591517[53] = 0.0; + out_5077282169950591517[54] = 0.0; + out_5077282169950591517[55] = 0.0; + out_5077282169950591517[56] = 0.0; + out_5077282169950591517[57] = 1.0; + out_5077282169950591517[58] = 0.0; + out_5077282169950591517[59] = 0.0; + out_5077282169950591517[60] = 0.0; + out_5077282169950591517[61] = 0.0; + out_5077282169950591517[62] = 0.0; + out_5077282169950591517[63] = 0.0; + out_5077282169950591517[64] = 0.0; + out_5077282169950591517[65] = 0.0; + out_5077282169950591517[66] = 0.0; + out_5077282169950591517[67] = 0.0; + out_5077282169950591517[68] = 0.0; + out_5077282169950591517[69] = 0.0; + out_5077282169950591517[70] = 0.0; + out_5077282169950591517[71] = 0.0; + out_5077282169950591517[72] = 0.0; + out_5077282169950591517[73] = 0.0; + out_5077282169950591517[74] = 0.0; + out_5077282169950591517[75] = 0.0; + out_5077282169950591517[76] = 1.0; + out_5077282169950591517[77] = 0.0; + out_5077282169950591517[78] = 0.0; + out_5077282169950591517[79] = 0.0; + out_5077282169950591517[80] = 0.0; + out_5077282169950591517[81] = 0.0; + out_5077282169950591517[82] = 0.0; + out_5077282169950591517[83] = 0.0; + out_5077282169950591517[84] = 0.0; + out_5077282169950591517[85] = 0.0; + out_5077282169950591517[86] = 0.0; + out_5077282169950591517[87] = 0.0; + out_5077282169950591517[88] = 0.0; + out_5077282169950591517[89] = 0.0; + out_5077282169950591517[90] = 0.0; + out_5077282169950591517[91] = 0.0; + out_5077282169950591517[92] = 0.0; + out_5077282169950591517[93] = 0.0; + out_5077282169950591517[94] = 0.0; + out_5077282169950591517[95] = 1.0; + out_5077282169950591517[96] = 0.0; + out_5077282169950591517[97] = 0.0; + out_5077282169950591517[98] = 0.0; + out_5077282169950591517[99] = 0.0; + out_5077282169950591517[100] = 0.0; + out_5077282169950591517[101] = 0.0; + out_5077282169950591517[102] = 0.0; + out_5077282169950591517[103] = 0.0; + out_5077282169950591517[104] = 0.0; + out_5077282169950591517[105] = 0.0; + out_5077282169950591517[106] = 0.0; + out_5077282169950591517[107] = 0.0; + out_5077282169950591517[108] = 0.0; + out_5077282169950591517[109] = 0.0; + out_5077282169950591517[110] = 0.0; + out_5077282169950591517[111] = 0.0; + out_5077282169950591517[112] = 0.0; + out_5077282169950591517[113] = 0.0; + out_5077282169950591517[114] = 1.0; + out_5077282169950591517[115] = 0.0; + out_5077282169950591517[116] = 0.0; + out_5077282169950591517[117] = 0.0; + out_5077282169950591517[118] = 0.0; + out_5077282169950591517[119] = 0.0; + out_5077282169950591517[120] = 0.0; + out_5077282169950591517[121] = 0.0; + out_5077282169950591517[122] = 0.0; + out_5077282169950591517[123] = 0.0; + out_5077282169950591517[124] = 0.0; + out_5077282169950591517[125] = 0.0; + out_5077282169950591517[126] = 0.0; + out_5077282169950591517[127] = 0.0; + out_5077282169950591517[128] = 0.0; + out_5077282169950591517[129] = 0.0; + out_5077282169950591517[130] = 0.0; + out_5077282169950591517[131] = 0.0; + out_5077282169950591517[132] = 0.0; + out_5077282169950591517[133] = 1.0; + out_5077282169950591517[134] = 0.0; + out_5077282169950591517[135] = 0.0; + out_5077282169950591517[136] = 0.0; + out_5077282169950591517[137] = 0.0; + out_5077282169950591517[138] = 0.0; + out_5077282169950591517[139] = 0.0; + out_5077282169950591517[140] = 0.0; + out_5077282169950591517[141] = 0.0; + out_5077282169950591517[142] = 0.0; + out_5077282169950591517[143] = 0.0; + out_5077282169950591517[144] = 0.0; + out_5077282169950591517[145] = 0.0; + out_5077282169950591517[146] = 0.0; + out_5077282169950591517[147] = 0.0; + out_5077282169950591517[148] = 0.0; + out_5077282169950591517[149] = 0.0; + out_5077282169950591517[150] = 0.0; + out_5077282169950591517[151] = 0.0; + out_5077282169950591517[152] = 1.0; + out_5077282169950591517[153] = 0.0; + out_5077282169950591517[154] = 0.0; + out_5077282169950591517[155] = 0.0; + out_5077282169950591517[156] = 0.0; + out_5077282169950591517[157] = 0.0; + out_5077282169950591517[158] = 0.0; + out_5077282169950591517[159] = 0.0; + out_5077282169950591517[160] = 0.0; + out_5077282169950591517[161] = 0.0; + out_5077282169950591517[162] = 0.0; + out_5077282169950591517[163] = 0.0; + out_5077282169950591517[164] = 0.0; + out_5077282169950591517[165] = 0.0; + out_5077282169950591517[166] = 0.0; + out_5077282169950591517[167] = 0.0; + out_5077282169950591517[168] = 0.0; + out_5077282169950591517[169] = 0.0; + out_5077282169950591517[170] = 0.0; + out_5077282169950591517[171] = 1.0; + out_5077282169950591517[172] = 0.0; + out_5077282169950591517[173] = 0.0; + out_5077282169950591517[174] = 0.0; + out_5077282169950591517[175] = 0.0; + out_5077282169950591517[176] = 0.0; + out_5077282169950591517[177] = 0.0; + out_5077282169950591517[178] = 0.0; + out_5077282169950591517[179] = 0.0; + out_5077282169950591517[180] = 0.0; + out_5077282169950591517[181] = 0.0; + out_5077282169950591517[182] = 0.0; + out_5077282169950591517[183] = 0.0; + out_5077282169950591517[184] = 0.0; + out_5077282169950591517[185] = 0.0; + out_5077282169950591517[186] = 0.0; + out_5077282169950591517[187] = 0.0; + out_5077282169950591517[188] = 0.0; + out_5077282169950591517[189] = 0.0; + out_5077282169950591517[190] = 1.0; + out_5077282169950591517[191] = 0.0; + out_5077282169950591517[192] = 0.0; + out_5077282169950591517[193] = 0.0; + out_5077282169950591517[194] = 0.0; + out_5077282169950591517[195] = 0.0; + out_5077282169950591517[196] = 0.0; + out_5077282169950591517[197] = 0.0; + out_5077282169950591517[198] = 0.0; + out_5077282169950591517[199] = 0.0; + out_5077282169950591517[200] = 0.0; + out_5077282169950591517[201] = 0.0; + out_5077282169950591517[202] = 0.0; + out_5077282169950591517[203] = 0.0; + out_5077282169950591517[204] = 0.0; + out_5077282169950591517[205] = 0.0; + out_5077282169950591517[206] = 0.0; + out_5077282169950591517[207] = 0.0; + out_5077282169950591517[208] = 0.0; + out_5077282169950591517[209] = 1.0; + out_5077282169950591517[210] = 0.0; + out_5077282169950591517[211] = 0.0; + out_5077282169950591517[212] = 0.0; + out_5077282169950591517[213] = 0.0; + out_5077282169950591517[214] = 0.0; + out_5077282169950591517[215] = 0.0; + out_5077282169950591517[216] = 0.0; + out_5077282169950591517[217] = 0.0; + out_5077282169950591517[218] = 0.0; + out_5077282169950591517[219] = 0.0; + out_5077282169950591517[220] = 0.0; + out_5077282169950591517[221] = 0.0; + out_5077282169950591517[222] = 0.0; + out_5077282169950591517[223] = 0.0; + out_5077282169950591517[224] = 0.0; + out_5077282169950591517[225] = 0.0; + out_5077282169950591517[226] = 0.0; + out_5077282169950591517[227] = 0.0; + out_5077282169950591517[228] = 1.0; + out_5077282169950591517[229] = 0.0; + out_5077282169950591517[230] = 0.0; + out_5077282169950591517[231] = 0.0; + out_5077282169950591517[232] = 0.0; + out_5077282169950591517[233] = 0.0; + out_5077282169950591517[234] = 0.0; + out_5077282169950591517[235] = 0.0; + out_5077282169950591517[236] = 0.0; + out_5077282169950591517[237] = 0.0; + out_5077282169950591517[238] = 0.0; + out_5077282169950591517[239] = 0.0; + out_5077282169950591517[240] = 0.0; + out_5077282169950591517[241] = 0.0; + out_5077282169950591517[242] = 0.0; + out_5077282169950591517[243] = 0.0; + out_5077282169950591517[244] = 0.0; + out_5077282169950591517[245] = 0.0; + out_5077282169950591517[246] = 0.0; + out_5077282169950591517[247] = 1.0; + out_5077282169950591517[248] = 0.0; + out_5077282169950591517[249] = 0.0; + out_5077282169950591517[250] = 0.0; + out_5077282169950591517[251] = 0.0; + out_5077282169950591517[252] = 0.0; + out_5077282169950591517[253] = 0.0; + out_5077282169950591517[254] = 0.0; + out_5077282169950591517[255] = 0.0; + out_5077282169950591517[256] = 0.0; + out_5077282169950591517[257] = 0.0; + out_5077282169950591517[258] = 0.0; + out_5077282169950591517[259] = 0.0; + out_5077282169950591517[260] = 0.0; + out_5077282169950591517[261] = 0.0; + out_5077282169950591517[262] = 0.0; + out_5077282169950591517[263] = 0.0; + out_5077282169950591517[264] = 0.0; + out_5077282169950591517[265] = 0.0; + out_5077282169950591517[266] = 1.0; + out_5077282169950591517[267] = 0.0; + out_5077282169950591517[268] = 0.0; + out_5077282169950591517[269] = 0.0; + out_5077282169950591517[270] = 0.0; + out_5077282169950591517[271] = 0.0; + out_5077282169950591517[272] = 0.0; + out_5077282169950591517[273] = 0.0; + out_5077282169950591517[274] = 0.0; + out_5077282169950591517[275] = 0.0; + out_5077282169950591517[276] = 0.0; + out_5077282169950591517[277] = 0.0; + out_5077282169950591517[278] = 0.0; + out_5077282169950591517[279] = 0.0; + out_5077282169950591517[280] = 0.0; + out_5077282169950591517[281] = 0.0; + out_5077282169950591517[282] = 0.0; + out_5077282169950591517[283] = 0.0; + out_5077282169950591517[284] = 0.0; + out_5077282169950591517[285] = 1.0; + out_5077282169950591517[286] = 0.0; + out_5077282169950591517[287] = 0.0; + out_5077282169950591517[288] = 0.0; + out_5077282169950591517[289] = 0.0; + out_5077282169950591517[290] = 0.0; + out_5077282169950591517[291] = 0.0; + out_5077282169950591517[292] = 0.0; + out_5077282169950591517[293] = 0.0; + out_5077282169950591517[294] = 0.0; + out_5077282169950591517[295] = 0.0; + out_5077282169950591517[296] = 0.0; + out_5077282169950591517[297] = 0.0; + out_5077282169950591517[298] = 0.0; + out_5077282169950591517[299] = 0.0; + out_5077282169950591517[300] = 0.0; + out_5077282169950591517[301] = 0.0; + out_5077282169950591517[302] = 0.0; + out_5077282169950591517[303] = 0.0; + out_5077282169950591517[304] = 1.0; + out_5077282169950591517[305] = 0.0; + out_5077282169950591517[306] = 0.0; + out_5077282169950591517[307] = 0.0; + out_5077282169950591517[308] = 0.0; + out_5077282169950591517[309] = 0.0; + out_5077282169950591517[310] = 0.0; + out_5077282169950591517[311] = 0.0; + out_5077282169950591517[312] = 0.0; + out_5077282169950591517[313] = 0.0; + out_5077282169950591517[314] = 0.0; + out_5077282169950591517[315] = 0.0; + out_5077282169950591517[316] = 0.0; + out_5077282169950591517[317] = 0.0; + out_5077282169950591517[318] = 0.0; + out_5077282169950591517[319] = 0.0; + out_5077282169950591517[320] = 0.0; + out_5077282169950591517[321] = 0.0; + out_5077282169950591517[322] = 0.0; + out_5077282169950591517[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2742900412262200056) { - out_2742900412262200056[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_2742900412262200056[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_2742900412262200056[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_2742900412262200056[3] = dt*state[12] + state[3]; - out_2742900412262200056[4] = dt*state[13] + state[4]; - out_2742900412262200056[5] = dt*state[14] + state[5]; - out_2742900412262200056[6] = state[6]; - out_2742900412262200056[7] = state[7]; - out_2742900412262200056[8] = state[8]; - out_2742900412262200056[9] = state[9]; - out_2742900412262200056[10] = state[10]; - out_2742900412262200056[11] = state[11]; - out_2742900412262200056[12] = state[12]; - out_2742900412262200056[13] = state[13]; - out_2742900412262200056[14] = state[14]; - out_2742900412262200056[15] = state[15]; - out_2742900412262200056[16] = state[16]; - out_2742900412262200056[17] = state[17]; +void f_fun(double *state, double dt, double *out_3821476900675952296) { + out_3821476900675952296[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_3821476900675952296[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_3821476900675952296[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_3821476900675952296[3] = dt*state[12] + state[3]; + out_3821476900675952296[4] = dt*state[13] + state[4]; + out_3821476900675952296[5] = dt*state[14] + state[5]; + out_3821476900675952296[6] = state[6]; + out_3821476900675952296[7] = state[7]; + out_3821476900675952296[8] = state[8]; + out_3821476900675952296[9] = state[9]; + out_3821476900675952296[10] = state[10]; + out_3821476900675952296[11] = state[11]; + out_3821476900675952296[12] = state[12]; + out_3821476900675952296[13] = state[13]; + out_3821476900675952296[14] = state[14]; + out_3821476900675952296[15] = state[15]; + out_3821476900675952296[16] = state[16]; + out_3821476900675952296[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1250059419478269226) { - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[2] = 0; - out_1250059419478269226[3] = 0; - out_1250059419478269226[4] = 0; - out_1250059419478269226[5] = 0; - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[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_1250059419478269226[9] = 0; - out_1250059419478269226[10] = 0; - out_1250059419478269226[11] = 0; - out_1250059419478269226[12] = 0; - out_1250059419478269226[13] = 0; - out_1250059419478269226[14] = 0; - out_1250059419478269226[15] = 0; - out_1250059419478269226[16] = 0; - out_1250059419478269226[17] = 0; - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[20] = 0; - out_1250059419478269226[21] = 0; - out_1250059419478269226[22] = 0; - out_1250059419478269226[23] = 0; - out_1250059419478269226[24] = 0; - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[27] = 0; - out_1250059419478269226[28] = 0; - out_1250059419478269226[29] = 0; - out_1250059419478269226[30] = 0; - out_1250059419478269226[31] = 0; - out_1250059419478269226[32] = 0; - out_1250059419478269226[33] = 0; - out_1250059419478269226[34] = 0; - out_1250059419478269226[35] = 0; - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[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_1250059419478269226[39] = 0; - out_1250059419478269226[40] = 0; - out_1250059419478269226[41] = 0; - out_1250059419478269226[42] = 0; - out_1250059419478269226[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_1250059419478269226[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_1250059419478269226[45] = 0; - out_1250059419478269226[46] = 0; - out_1250059419478269226[47] = 0; - out_1250059419478269226[48] = 0; - out_1250059419478269226[49] = 0; - out_1250059419478269226[50] = 0; - out_1250059419478269226[51] = 0; - out_1250059419478269226[52] = 0; - out_1250059419478269226[53] = 0; - out_1250059419478269226[54] = 0; - out_1250059419478269226[55] = 0; - out_1250059419478269226[56] = 0; - out_1250059419478269226[57] = 1; - out_1250059419478269226[58] = 0; - out_1250059419478269226[59] = 0; - out_1250059419478269226[60] = 0; - out_1250059419478269226[61] = 0; - out_1250059419478269226[62] = 0; - out_1250059419478269226[63] = 0; - out_1250059419478269226[64] = 0; - out_1250059419478269226[65] = 0; - out_1250059419478269226[66] = dt; - out_1250059419478269226[67] = 0; - out_1250059419478269226[68] = 0; - out_1250059419478269226[69] = 0; - out_1250059419478269226[70] = 0; - out_1250059419478269226[71] = 0; - out_1250059419478269226[72] = 0; - out_1250059419478269226[73] = 0; - out_1250059419478269226[74] = 0; - out_1250059419478269226[75] = 0; - out_1250059419478269226[76] = 1; - out_1250059419478269226[77] = 0; - out_1250059419478269226[78] = 0; - out_1250059419478269226[79] = 0; - out_1250059419478269226[80] = 0; - out_1250059419478269226[81] = 0; - out_1250059419478269226[82] = 0; - out_1250059419478269226[83] = 0; - out_1250059419478269226[84] = 0; - out_1250059419478269226[85] = dt; - out_1250059419478269226[86] = 0; - out_1250059419478269226[87] = 0; - out_1250059419478269226[88] = 0; - out_1250059419478269226[89] = 0; - out_1250059419478269226[90] = 0; - out_1250059419478269226[91] = 0; - out_1250059419478269226[92] = 0; - out_1250059419478269226[93] = 0; - out_1250059419478269226[94] = 0; - out_1250059419478269226[95] = 1; - out_1250059419478269226[96] = 0; - out_1250059419478269226[97] = 0; - out_1250059419478269226[98] = 0; - out_1250059419478269226[99] = 0; - out_1250059419478269226[100] = 0; - out_1250059419478269226[101] = 0; - out_1250059419478269226[102] = 0; - out_1250059419478269226[103] = 0; - out_1250059419478269226[104] = dt; - out_1250059419478269226[105] = 0; - out_1250059419478269226[106] = 0; - out_1250059419478269226[107] = 0; - out_1250059419478269226[108] = 0; - out_1250059419478269226[109] = 0; - out_1250059419478269226[110] = 0; - out_1250059419478269226[111] = 0; - out_1250059419478269226[112] = 0; - out_1250059419478269226[113] = 0; - out_1250059419478269226[114] = 1; - out_1250059419478269226[115] = 0; - out_1250059419478269226[116] = 0; - out_1250059419478269226[117] = 0; - out_1250059419478269226[118] = 0; - out_1250059419478269226[119] = 0; - out_1250059419478269226[120] = 0; - out_1250059419478269226[121] = 0; - out_1250059419478269226[122] = 0; - out_1250059419478269226[123] = 0; - out_1250059419478269226[124] = 0; - out_1250059419478269226[125] = 0; - out_1250059419478269226[126] = 0; - out_1250059419478269226[127] = 0; - out_1250059419478269226[128] = 0; - out_1250059419478269226[129] = 0; - out_1250059419478269226[130] = 0; - out_1250059419478269226[131] = 0; - out_1250059419478269226[132] = 0; - out_1250059419478269226[133] = 1; - out_1250059419478269226[134] = 0; - out_1250059419478269226[135] = 0; - out_1250059419478269226[136] = 0; - out_1250059419478269226[137] = 0; - out_1250059419478269226[138] = 0; - out_1250059419478269226[139] = 0; - out_1250059419478269226[140] = 0; - out_1250059419478269226[141] = 0; - out_1250059419478269226[142] = 0; - out_1250059419478269226[143] = 0; - out_1250059419478269226[144] = 0; - out_1250059419478269226[145] = 0; - out_1250059419478269226[146] = 0; - out_1250059419478269226[147] = 0; - out_1250059419478269226[148] = 0; - out_1250059419478269226[149] = 0; - out_1250059419478269226[150] = 0; - out_1250059419478269226[151] = 0; - out_1250059419478269226[152] = 1; - out_1250059419478269226[153] = 0; - out_1250059419478269226[154] = 0; - out_1250059419478269226[155] = 0; - out_1250059419478269226[156] = 0; - out_1250059419478269226[157] = 0; - out_1250059419478269226[158] = 0; - out_1250059419478269226[159] = 0; - out_1250059419478269226[160] = 0; - out_1250059419478269226[161] = 0; - out_1250059419478269226[162] = 0; - out_1250059419478269226[163] = 0; - out_1250059419478269226[164] = 0; - out_1250059419478269226[165] = 0; - out_1250059419478269226[166] = 0; - out_1250059419478269226[167] = 0; - out_1250059419478269226[168] = 0; - out_1250059419478269226[169] = 0; - out_1250059419478269226[170] = 0; - out_1250059419478269226[171] = 1; - out_1250059419478269226[172] = 0; - out_1250059419478269226[173] = 0; - out_1250059419478269226[174] = 0; - out_1250059419478269226[175] = 0; - out_1250059419478269226[176] = 0; - out_1250059419478269226[177] = 0; - out_1250059419478269226[178] = 0; - out_1250059419478269226[179] = 0; - out_1250059419478269226[180] = 0; - out_1250059419478269226[181] = 0; - out_1250059419478269226[182] = 0; - out_1250059419478269226[183] = 0; - out_1250059419478269226[184] = 0; - out_1250059419478269226[185] = 0; - out_1250059419478269226[186] = 0; - out_1250059419478269226[187] = 0; - out_1250059419478269226[188] = 0; - out_1250059419478269226[189] = 0; - out_1250059419478269226[190] = 1; - out_1250059419478269226[191] = 0; - out_1250059419478269226[192] = 0; - out_1250059419478269226[193] = 0; - out_1250059419478269226[194] = 0; - out_1250059419478269226[195] = 0; - out_1250059419478269226[196] = 0; - out_1250059419478269226[197] = 0; - out_1250059419478269226[198] = 0; - out_1250059419478269226[199] = 0; - out_1250059419478269226[200] = 0; - out_1250059419478269226[201] = 0; - out_1250059419478269226[202] = 0; - out_1250059419478269226[203] = 0; - out_1250059419478269226[204] = 0; - out_1250059419478269226[205] = 0; - out_1250059419478269226[206] = 0; - out_1250059419478269226[207] = 0; - out_1250059419478269226[208] = 0; - out_1250059419478269226[209] = 1; - out_1250059419478269226[210] = 0; - out_1250059419478269226[211] = 0; - out_1250059419478269226[212] = 0; - out_1250059419478269226[213] = 0; - out_1250059419478269226[214] = 0; - out_1250059419478269226[215] = 0; - out_1250059419478269226[216] = 0; - out_1250059419478269226[217] = 0; - out_1250059419478269226[218] = 0; - out_1250059419478269226[219] = 0; - out_1250059419478269226[220] = 0; - out_1250059419478269226[221] = 0; - out_1250059419478269226[222] = 0; - out_1250059419478269226[223] = 0; - out_1250059419478269226[224] = 0; - out_1250059419478269226[225] = 0; - out_1250059419478269226[226] = 0; - out_1250059419478269226[227] = 0; - out_1250059419478269226[228] = 1; - out_1250059419478269226[229] = 0; - out_1250059419478269226[230] = 0; - out_1250059419478269226[231] = 0; - out_1250059419478269226[232] = 0; - out_1250059419478269226[233] = 0; - out_1250059419478269226[234] = 0; - out_1250059419478269226[235] = 0; - out_1250059419478269226[236] = 0; - out_1250059419478269226[237] = 0; - out_1250059419478269226[238] = 0; - out_1250059419478269226[239] = 0; - out_1250059419478269226[240] = 0; - out_1250059419478269226[241] = 0; - out_1250059419478269226[242] = 0; - out_1250059419478269226[243] = 0; - out_1250059419478269226[244] = 0; - out_1250059419478269226[245] = 0; - out_1250059419478269226[246] = 0; - out_1250059419478269226[247] = 1; - out_1250059419478269226[248] = 0; - out_1250059419478269226[249] = 0; - out_1250059419478269226[250] = 0; - out_1250059419478269226[251] = 0; - out_1250059419478269226[252] = 0; - out_1250059419478269226[253] = 0; - out_1250059419478269226[254] = 0; - out_1250059419478269226[255] = 0; - out_1250059419478269226[256] = 0; - out_1250059419478269226[257] = 0; - out_1250059419478269226[258] = 0; - out_1250059419478269226[259] = 0; - out_1250059419478269226[260] = 0; - out_1250059419478269226[261] = 0; - out_1250059419478269226[262] = 0; - out_1250059419478269226[263] = 0; - out_1250059419478269226[264] = 0; - out_1250059419478269226[265] = 0; - out_1250059419478269226[266] = 1; - out_1250059419478269226[267] = 0; - out_1250059419478269226[268] = 0; - out_1250059419478269226[269] = 0; - out_1250059419478269226[270] = 0; - out_1250059419478269226[271] = 0; - out_1250059419478269226[272] = 0; - out_1250059419478269226[273] = 0; - out_1250059419478269226[274] = 0; - out_1250059419478269226[275] = 0; - out_1250059419478269226[276] = 0; - out_1250059419478269226[277] = 0; - out_1250059419478269226[278] = 0; - out_1250059419478269226[279] = 0; - out_1250059419478269226[280] = 0; - out_1250059419478269226[281] = 0; - out_1250059419478269226[282] = 0; - out_1250059419478269226[283] = 0; - out_1250059419478269226[284] = 0; - out_1250059419478269226[285] = 1; - out_1250059419478269226[286] = 0; - out_1250059419478269226[287] = 0; - out_1250059419478269226[288] = 0; - out_1250059419478269226[289] = 0; - out_1250059419478269226[290] = 0; - out_1250059419478269226[291] = 0; - out_1250059419478269226[292] = 0; - out_1250059419478269226[293] = 0; - out_1250059419478269226[294] = 0; - out_1250059419478269226[295] = 0; - out_1250059419478269226[296] = 0; - out_1250059419478269226[297] = 0; - out_1250059419478269226[298] = 0; - out_1250059419478269226[299] = 0; - out_1250059419478269226[300] = 0; - out_1250059419478269226[301] = 0; - out_1250059419478269226[302] = 0; - out_1250059419478269226[303] = 0; - out_1250059419478269226[304] = 1; - out_1250059419478269226[305] = 0; - out_1250059419478269226[306] = 0; - out_1250059419478269226[307] = 0; - out_1250059419478269226[308] = 0; - out_1250059419478269226[309] = 0; - out_1250059419478269226[310] = 0; - out_1250059419478269226[311] = 0; - out_1250059419478269226[312] = 0; - out_1250059419478269226[313] = 0; - out_1250059419478269226[314] = 0; - out_1250059419478269226[315] = 0; - out_1250059419478269226[316] = 0; - out_1250059419478269226[317] = 0; - out_1250059419478269226[318] = 0; - out_1250059419478269226[319] = 0; - out_1250059419478269226[320] = 0; - out_1250059419478269226[321] = 0; - out_1250059419478269226[322] = 0; - out_1250059419478269226[323] = 1; +void F_fun(double *state, double dt, double *out_3235005186135283106) { + out_3235005186135283106[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_3235005186135283106[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_3235005186135283106[2] = 0; + out_3235005186135283106[3] = 0; + out_3235005186135283106[4] = 0; + out_3235005186135283106[5] = 0; + out_3235005186135283106[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_3235005186135283106[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_3235005186135283106[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_3235005186135283106[9] = 0; + out_3235005186135283106[10] = 0; + out_3235005186135283106[11] = 0; + out_3235005186135283106[12] = 0; + out_3235005186135283106[13] = 0; + out_3235005186135283106[14] = 0; + out_3235005186135283106[15] = 0; + out_3235005186135283106[16] = 0; + out_3235005186135283106[17] = 0; + out_3235005186135283106[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_3235005186135283106[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_3235005186135283106[20] = 0; + out_3235005186135283106[21] = 0; + out_3235005186135283106[22] = 0; + out_3235005186135283106[23] = 0; + out_3235005186135283106[24] = 0; + out_3235005186135283106[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_3235005186135283106[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_3235005186135283106[27] = 0; + out_3235005186135283106[28] = 0; + out_3235005186135283106[29] = 0; + out_3235005186135283106[30] = 0; + out_3235005186135283106[31] = 0; + out_3235005186135283106[32] = 0; + out_3235005186135283106[33] = 0; + out_3235005186135283106[34] = 0; + out_3235005186135283106[35] = 0; + out_3235005186135283106[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_3235005186135283106[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_3235005186135283106[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_3235005186135283106[39] = 0; + out_3235005186135283106[40] = 0; + out_3235005186135283106[41] = 0; + out_3235005186135283106[42] = 0; + out_3235005186135283106[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_3235005186135283106[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_3235005186135283106[45] = 0; + out_3235005186135283106[46] = 0; + out_3235005186135283106[47] = 0; + out_3235005186135283106[48] = 0; + out_3235005186135283106[49] = 0; + out_3235005186135283106[50] = 0; + out_3235005186135283106[51] = 0; + out_3235005186135283106[52] = 0; + out_3235005186135283106[53] = 0; + out_3235005186135283106[54] = 0; + out_3235005186135283106[55] = 0; + out_3235005186135283106[56] = 0; + out_3235005186135283106[57] = 1; + out_3235005186135283106[58] = 0; + out_3235005186135283106[59] = 0; + out_3235005186135283106[60] = 0; + out_3235005186135283106[61] = 0; + out_3235005186135283106[62] = 0; + out_3235005186135283106[63] = 0; + out_3235005186135283106[64] = 0; + out_3235005186135283106[65] = 0; + out_3235005186135283106[66] = dt; + out_3235005186135283106[67] = 0; + out_3235005186135283106[68] = 0; + out_3235005186135283106[69] = 0; + out_3235005186135283106[70] = 0; + out_3235005186135283106[71] = 0; + out_3235005186135283106[72] = 0; + out_3235005186135283106[73] = 0; + out_3235005186135283106[74] = 0; + out_3235005186135283106[75] = 0; + out_3235005186135283106[76] = 1; + out_3235005186135283106[77] = 0; + out_3235005186135283106[78] = 0; + out_3235005186135283106[79] = 0; + out_3235005186135283106[80] = 0; + out_3235005186135283106[81] = 0; + out_3235005186135283106[82] = 0; + out_3235005186135283106[83] = 0; + out_3235005186135283106[84] = 0; + out_3235005186135283106[85] = dt; + out_3235005186135283106[86] = 0; + out_3235005186135283106[87] = 0; + out_3235005186135283106[88] = 0; + out_3235005186135283106[89] = 0; + out_3235005186135283106[90] = 0; + out_3235005186135283106[91] = 0; + out_3235005186135283106[92] = 0; + out_3235005186135283106[93] = 0; + out_3235005186135283106[94] = 0; + out_3235005186135283106[95] = 1; + out_3235005186135283106[96] = 0; + out_3235005186135283106[97] = 0; + out_3235005186135283106[98] = 0; + out_3235005186135283106[99] = 0; + out_3235005186135283106[100] = 0; + out_3235005186135283106[101] = 0; + out_3235005186135283106[102] = 0; + out_3235005186135283106[103] = 0; + out_3235005186135283106[104] = dt; + out_3235005186135283106[105] = 0; + out_3235005186135283106[106] = 0; + out_3235005186135283106[107] = 0; + out_3235005186135283106[108] = 0; + out_3235005186135283106[109] = 0; + out_3235005186135283106[110] = 0; + out_3235005186135283106[111] = 0; + out_3235005186135283106[112] = 0; + out_3235005186135283106[113] = 0; + out_3235005186135283106[114] = 1; + out_3235005186135283106[115] = 0; + out_3235005186135283106[116] = 0; + out_3235005186135283106[117] = 0; + out_3235005186135283106[118] = 0; + out_3235005186135283106[119] = 0; + out_3235005186135283106[120] = 0; + out_3235005186135283106[121] = 0; + out_3235005186135283106[122] = 0; + out_3235005186135283106[123] = 0; + out_3235005186135283106[124] = 0; + out_3235005186135283106[125] = 0; + out_3235005186135283106[126] = 0; + out_3235005186135283106[127] = 0; + out_3235005186135283106[128] = 0; + out_3235005186135283106[129] = 0; + out_3235005186135283106[130] = 0; + out_3235005186135283106[131] = 0; + out_3235005186135283106[132] = 0; + out_3235005186135283106[133] = 1; + out_3235005186135283106[134] = 0; + out_3235005186135283106[135] = 0; + out_3235005186135283106[136] = 0; + out_3235005186135283106[137] = 0; + out_3235005186135283106[138] = 0; + out_3235005186135283106[139] = 0; + out_3235005186135283106[140] = 0; + out_3235005186135283106[141] = 0; + out_3235005186135283106[142] = 0; + out_3235005186135283106[143] = 0; + out_3235005186135283106[144] = 0; + out_3235005186135283106[145] = 0; + out_3235005186135283106[146] = 0; + out_3235005186135283106[147] = 0; + out_3235005186135283106[148] = 0; + out_3235005186135283106[149] = 0; + out_3235005186135283106[150] = 0; + out_3235005186135283106[151] = 0; + out_3235005186135283106[152] = 1; + out_3235005186135283106[153] = 0; + out_3235005186135283106[154] = 0; + out_3235005186135283106[155] = 0; + out_3235005186135283106[156] = 0; + out_3235005186135283106[157] = 0; + out_3235005186135283106[158] = 0; + out_3235005186135283106[159] = 0; + out_3235005186135283106[160] = 0; + out_3235005186135283106[161] = 0; + out_3235005186135283106[162] = 0; + out_3235005186135283106[163] = 0; + out_3235005186135283106[164] = 0; + out_3235005186135283106[165] = 0; + out_3235005186135283106[166] = 0; + out_3235005186135283106[167] = 0; + out_3235005186135283106[168] = 0; + out_3235005186135283106[169] = 0; + out_3235005186135283106[170] = 0; + out_3235005186135283106[171] = 1; + out_3235005186135283106[172] = 0; + out_3235005186135283106[173] = 0; + out_3235005186135283106[174] = 0; + out_3235005186135283106[175] = 0; + out_3235005186135283106[176] = 0; + out_3235005186135283106[177] = 0; + out_3235005186135283106[178] = 0; + out_3235005186135283106[179] = 0; + out_3235005186135283106[180] = 0; + out_3235005186135283106[181] = 0; + out_3235005186135283106[182] = 0; + out_3235005186135283106[183] = 0; + out_3235005186135283106[184] = 0; + out_3235005186135283106[185] = 0; + out_3235005186135283106[186] = 0; + out_3235005186135283106[187] = 0; + out_3235005186135283106[188] = 0; + out_3235005186135283106[189] = 0; + out_3235005186135283106[190] = 1; + out_3235005186135283106[191] = 0; + out_3235005186135283106[192] = 0; + out_3235005186135283106[193] = 0; + out_3235005186135283106[194] = 0; + out_3235005186135283106[195] = 0; + out_3235005186135283106[196] = 0; + out_3235005186135283106[197] = 0; + out_3235005186135283106[198] = 0; + out_3235005186135283106[199] = 0; + out_3235005186135283106[200] = 0; + out_3235005186135283106[201] = 0; + out_3235005186135283106[202] = 0; + out_3235005186135283106[203] = 0; + out_3235005186135283106[204] = 0; + out_3235005186135283106[205] = 0; + out_3235005186135283106[206] = 0; + out_3235005186135283106[207] = 0; + out_3235005186135283106[208] = 0; + out_3235005186135283106[209] = 1; + out_3235005186135283106[210] = 0; + out_3235005186135283106[211] = 0; + out_3235005186135283106[212] = 0; + out_3235005186135283106[213] = 0; + out_3235005186135283106[214] = 0; + out_3235005186135283106[215] = 0; + out_3235005186135283106[216] = 0; + out_3235005186135283106[217] = 0; + out_3235005186135283106[218] = 0; + out_3235005186135283106[219] = 0; + out_3235005186135283106[220] = 0; + out_3235005186135283106[221] = 0; + out_3235005186135283106[222] = 0; + out_3235005186135283106[223] = 0; + out_3235005186135283106[224] = 0; + out_3235005186135283106[225] = 0; + out_3235005186135283106[226] = 0; + out_3235005186135283106[227] = 0; + out_3235005186135283106[228] = 1; + out_3235005186135283106[229] = 0; + out_3235005186135283106[230] = 0; + out_3235005186135283106[231] = 0; + out_3235005186135283106[232] = 0; + out_3235005186135283106[233] = 0; + out_3235005186135283106[234] = 0; + out_3235005186135283106[235] = 0; + out_3235005186135283106[236] = 0; + out_3235005186135283106[237] = 0; + out_3235005186135283106[238] = 0; + out_3235005186135283106[239] = 0; + out_3235005186135283106[240] = 0; + out_3235005186135283106[241] = 0; + out_3235005186135283106[242] = 0; + out_3235005186135283106[243] = 0; + out_3235005186135283106[244] = 0; + out_3235005186135283106[245] = 0; + out_3235005186135283106[246] = 0; + out_3235005186135283106[247] = 1; + out_3235005186135283106[248] = 0; + out_3235005186135283106[249] = 0; + out_3235005186135283106[250] = 0; + out_3235005186135283106[251] = 0; + out_3235005186135283106[252] = 0; + out_3235005186135283106[253] = 0; + out_3235005186135283106[254] = 0; + out_3235005186135283106[255] = 0; + out_3235005186135283106[256] = 0; + out_3235005186135283106[257] = 0; + out_3235005186135283106[258] = 0; + out_3235005186135283106[259] = 0; + out_3235005186135283106[260] = 0; + out_3235005186135283106[261] = 0; + out_3235005186135283106[262] = 0; + out_3235005186135283106[263] = 0; + out_3235005186135283106[264] = 0; + out_3235005186135283106[265] = 0; + out_3235005186135283106[266] = 1; + out_3235005186135283106[267] = 0; + out_3235005186135283106[268] = 0; + out_3235005186135283106[269] = 0; + out_3235005186135283106[270] = 0; + out_3235005186135283106[271] = 0; + out_3235005186135283106[272] = 0; + out_3235005186135283106[273] = 0; + out_3235005186135283106[274] = 0; + out_3235005186135283106[275] = 0; + out_3235005186135283106[276] = 0; + out_3235005186135283106[277] = 0; + out_3235005186135283106[278] = 0; + out_3235005186135283106[279] = 0; + out_3235005186135283106[280] = 0; + out_3235005186135283106[281] = 0; + out_3235005186135283106[282] = 0; + out_3235005186135283106[283] = 0; + out_3235005186135283106[284] = 0; + out_3235005186135283106[285] = 1; + out_3235005186135283106[286] = 0; + out_3235005186135283106[287] = 0; + out_3235005186135283106[288] = 0; + out_3235005186135283106[289] = 0; + out_3235005186135283106[290] = 0; + out_3235005186135283106[291] = 0; + out_3235005186135283106[292] = 0; + out_3235005186135283106[293] = 0; + out_3235005186135283106[294] = 0; + out_3235005186135283106[295] = 0; + out_3235005186135283106[296] = 0; + out_3235005186135283106[297] = 0; + out_3235005186135283106[298] = 0; + out_3235005186135283106[299] = 0; + out_3235005186135283106[300] = 0; + out_3235005186135283106[301] = 0; + out_3235005186135283106[302] = 0; + out_3235005186135283106[303] = 0; + out_3235005186135283106[304] = 1; + out_3235005186135283106[305] = 0; + out_3235005186135283106[306] = 0; + out_3235005186135283106[307] = 0; + out_3235005186135283106[308] = 0; + out_3235005186135283106[309] = 0; + out_3235005186135283106[310] = 0; + out_3235005186135283106[311] = 0; + out_3235005186135283106[312] = 0; + out_3235005186135283106[313] = 0; + out_3235005186135283106[314] = 0; + out_3235005186135283106[315] = 0; + out_3235005186135283106[316] = 0; + out_3235005186135283106[317] = 0; + out_3235005186135283106[318] = 0; + out_3235005186135283106[319] = 0; + out_3235005186135283106[320] = 0; + out_3235005186135283106[321] = 0; + out_3235005186135283106[322] = 0; + out_3235005186135283106[323] = 1; } -void h_4(double *state, double *unused, double *out_6706399028598537324) { - out_6706399028598537324[0] = state[6] + state[9]; - out_6706399028598537324[1] = state[7] + state[10]; - out_6706399028598537324[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5950572713428507074) { + out_5950572713428507074[0] = state[6] + state[9]; + out_5950572713428507074[1] = state[7] + state[10]; + out_5950572713428507074[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1435428464391795526) { - out_1435428464391795526[0] = 0; - out_1435428464391795526[1] = 0; - out_1435428464391795526[2] = 0; - out_1435428464391795526[3] = 0; - out_1435428464391795526[4] = 0; - out_1435428464391795526[5] = 0; - out_1435428464391795526[6] = 1; - out_1435428464391795526[7] = 0; - out_1435428464391795526[8] = 0; - out_1435428464391795526[9] = 1; - out_1435428464391795526[10] = 0; - out_1435428464391795526[11] = 0; - out_1435428464391795526[12] = 0; - out_1435428464391795526[13] = 0; - out_1435428464391795526[14] = 0; - out_1435428464391795526[15] = 0; - out_1435428464391795526[16] = 0; - out_1435428464391795526[17] = 0; - out_1435428464391795526[18] = 0; - out_1435428464391795526[19] = 0; - out_1435428464391795526[20] = 0; - out_1435428464391795526[21] = 0; - out_1435428464391795526[22] = 0; - out_1435428464391795526[23] = 0; - out_1435428464391795526[24] = 0; - out_1435428464391795526[25] = 1; - out_1435428464391795526[26] = 0; - out_1435428464391795526[27] = 0; - out_1435428464391795526[28] = 1; - out_1435428464391795526[29] = 0; - out_1435428464391795526[30] = 0; - out_1435428464391795526[31] = 0; - out_1435428464391795526[32] = 0; - out_1435428464391795526[33] = 0; - out_1435428464391795526[34] = 0; - out_1435428464391795526[35] = 0; - out_1435428464391795526[36] = 0; - out_1435428464391795526[37] = 0; - out_1435428464391795526[38] = 0; - out_1435428464391795526[39] = 0; - out_1435428464391795526[40] = 0; - out_1435428464391795526[41] = 0; - out_1435428464391795526[42] = 0; - out_1435428464391795526[43] = 0; - out_1435428464391795526[44] = 1; - out_1435428464391795526[45] = 0; - out_1435428464391795526[46] = 0; - out_1435428464391795526[47] = 1; - out_1435428464391795526[48] = 0; - out_1435428464391795526[49] = 0; - out_1435428464391795526[50] = 0; - out_1435428464391795526[51] = 0; - out_1435428464391795526[52] = 0; - out_1435428464391795526[53] = 0; +void H_4(double *state, double *unused, double *out_8849089379794499089) { + out_8849089379794499089[0] = 0; + out_8849089379794499089[1] = 0; + out_8849089379794499089[2] = 0; + out_8849089379794499089[3] = 0; + out_8849089379794499089[4] = 0; + out_8849089379794499089[5] = 0; + out_8849089379794499089[6] = 1; + out_8849089379794499089[7] = 0; + out_8849089379794499089[8] = 0; + out_8849089379794499089[9] = 1; + out_8849089379794499089[10] = 0; + out_8849089379794499089[11] = 0; + out_8849089379794499089[12] = 0; + out_8849089379794499089[13] = 0; + out_8849089379794499089[14] = 0; + out_8849089379794499089[15] = 0; + out_8849089379794499089[16] = 0; + out_8849089379794499089[17] = 0; + out_8849089379794499089[18] = 0; + out_8849089379794499089[19] = 0; + out_8849089379794499089[20] = 0; + out_8849089379794499089[21] = 0; + out_8849089379794499089[22] = 0; + out_8849089379794499089[23] = 0; + out_8849089379794499089[24] = 0; + out_8849089379794499089[25] = 1; + out_8849089379794499089[26] = 0; + out_8849089379794499089[27] = 0; + out_8849089379794499089[28] = 1; + out_8849089379794499089[29] = 0; + out_8849089379794499089[30] = 0; + out_8849089379794499089[31] = 0; + out_8849089379794499089[32] = 0; + out_8849089379794499089[33] = 0; + out_8849089379794499089[34] = 0; + out_8849089379794499089[35] = 0; + out_8849089379794499089[36] = 0; + out_8849089379794499089[37] = 0; + out_8849089379794499089[38] = 0; + out_8849089379794499089[39] = 0; + out_8849089379794499089[40] = 0; + out_8849089379794499089[41] = 0; + out_8849089379794499089[42] = 0; + out_8849089379794499089[43] = 0; + out_8849089379794499089[44] = 1; + out_8849089379794499089[45] = 0; + out_8849089379794499089[46] = 0; + out_8849089379794499089[47] = 1; + out_8849089379794499089[48] = 0; + out_8849089379794499089[49] = 0; + out_8849089379794499089[50] = 0; + out_8849089379794499089[51] = 0; + out_8849089379794499089[52] = 0; + out_8849089379794499089[53] = 0; } -void h_10(double *state, double *unused, double *out_3193952299746834757) { - out_3193952299746834757[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3193952299746834757[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3193952299746834757[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_2179341978768680660) { + out_2179341978768680660[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2179341978768680660[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2179341978768680660[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_1464924797507750077) { - out_1464924797507750077[0] = 0; - out_1464924797507750077[1] = 9.8100000000000005*cos(state[1]); - out_1464924797507750077[2] = 0; - out_1464924797507750077[3] = 0; - out_1464924797507750077[4] = -state[8]; - out_1464924797507750077[5] = state[7]; - out_1464924797507750077[6] = 0; - out_1464924797507750077[7] = state[5]; - out_1464924797507750077[8] = -state[4]; - out_1464924797507750077[9] = 0; - out_1464924797507750077[10] = 0; - out_1464924797507750077[11] = 0; - out_1464924797507750077[12] = 1; - out_1464924797507750077[13] = 0; - out_1464924797507750077[14] = 0; - out_1464924797507750077[15] = 1; - out_1464924797507750077[16] = 0; - out_1464924797507750077[17] = 0; - out_1464924797507750077[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1464924797507750077[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1464924797507750077[20] = 0; - out_1464924797507750077[21] = state[8]; - out_1464924797507750077[22] = 0; - out_1464924797507750077[23] = -state[6]; - out_1464924797507750077[24] = -state[5]; - out_1464924797507750077[25] = 0; - out_1464924797507750077[26] = state[3]; - out_1464924797507750077[27] = 0; - out_1464924797507750077[28] = 0; - out_1464924797507750077[29] = 0; - out_1464924797507750077[30] = 0; - out_1464924797507750077[31] = 1; - out_1464924797507750077[32] = 0; - out_1464924797507750077[33] = 0; - out_1464924797507750077[34] = 1; - out_1464924797507750077[35] = 0; - out_1464924797507750077[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1464924797507750077[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1464924797507750077[38] = 0; - out_1464924797507750077[39] = -state[7]; - out_1464924797507750077[40] = state[6]; - out_1464924797507750077[41] = 0; - out_1464924797507750077[42] = state[4]; - out_1464924797507750077[43] = -state[3]; - out_1464924797507750077[44] = 0; - out_1464924797507750077[45] = 0; - out_1464924797507750077[46] = 0; - out_1464924797507750077[47] = 0; - out_1464924797507750077[48] = 0; - out_1464924797507750077[49] = 0; - out_1464924797507750077[50] = 1; - out_1464924797507750077[51] = 0; - out_1464924797507750077[52] = 0; - out_1464924797507750077[53] = 1; +void H_10(double *state, double *unused, double *out_2186201478439983772) { + out_2186201478439983772[0] = 0; + out_2186201478439983772[1] = 9.8100000000000005*cos(state[1]); + out_2186201478439983772[2] = 0; + out_2186201478439983772[3] = 0; + out_2186201478439983772[4] = -state[8]; + out_2186201478439983772[5] = state[7]; + out_2186201478439983772[6] = 0; + out_2186201478439983772[7] = state[5]; + out_2186201478439983772[8] = -state[4]; + out_2186201478439983772[9] = 0; + out_2186201478439983772[10] = 0; + out_2186201478439983772[11] = 0; + out_2186201478439983772[12] = 1; + out_2186201478439983772[13] = 0; + out_2186201478439983772[14] = 0; + out_2186201478439983772[15] = 1; + out_2186201478439983772[16] = 0; + out_2186201478439983772[17] = 0; + out_2186201478439983772[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2186201478439983772[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2186201478439983772[20] = 0; + out_2186201478439983772[21] = state[8]; + out_2186201478439983772[22] = 0; + out_2186201478439983772[23] = -state[6]; + out_2186201478439983772[24] = -state[5]; + out_2186201478439983772[25] = 0; + out_2186201478439983772[26] = state[3]; + out_2186201478439983772[27] = 0; + out_2186201478439983772[28] = 0; + out_2186201478439983772[29] = 0; + out_2186201478439983772[30] = 0; + out_2186201478439983772[31] = 1; + out_2186201478439983772[32] = 0; + out_2186201478439983772[33] = 0; + out_2186201478439983772[34] = 1; + out_2186201478439983772[35] = 0; + out_2186201478439983772[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2186201478439983772[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2186201478439983772[38] = 0; + out_2186201478439983772[39] = -state[7]; + out_2186201478439983772[40] = state[6]; + out_2186201478439983772[41] = 0; + out_2186201478439983772[42] = state[4]; + out_2186201478439983772[43] = -state[3]; + out_2186201478439983772[44] = 0; + out_2186201478439983772[45] = 0; + out_2186201478439983772[46] = 0; + out_2186201478439983772[47] = 0; + out_2186201478439983772[48] = 0; + out_2186201478439983772[49] = 0; + out_2186201478439983772[50] = 1; + out_2186201478439983772[51] = 0; + out_2186201478439983772[52] = 0; + out_2186201478439983772[53] = 1; } -void h_13(double *state, double *unused, double *out_7802893222450228438) { - out_7802893222450228438[0] = state[3]; - out_7802893222450228438[1] = state[4]; - out_7802893222450228438[2] = state[5]; +void h_13(double *state, double *unused, double *out_7892243649341508951) { + out_7892243649341508951[0] = state[3]; + out_7892243649341508951[1] = state[4]; + out_7892243649341508951[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1776845360940537275) { - out_1776845360940537275[0] = 0; - out_1776845360940537275[1] = 0; - out_1776845360940537275[2] = 0; - out_1776845360940537275[3] = 1; - out_1776845360940537275[4] = 0; - out_1776845360940537275[5] = 0; - out_1776845360940537275[6] = 0; - out_1776845360940537275[7] = 0; - out_1776845360940537275[8] = 0; - out_1776845360940537275[9] = 0; - out_1776845360940537275[10] = 0; - out_1776845360940537275[11] = 0; - out_1776845360940537275[12] = 0; - out_1776845360940537275[13] = 0; - out_1776845360940537275[14] = 0; - out_1776845360940537275[15] = 0; - out_1776845360940537275[16] = 0; - out_1776845360940537275[17] = 0; - out_1776845360940537275[18] = 0; - out_1776845360940537275[19] = 0; - out_1776845360940537275[20] = 0; - out_1776845360940537275[21] = 0; - out_1776845360940537275[22] = 1; - out_1776845360940537275[23] = 0; - out_1776845360940537275[24] = 0; - out_1776845360940537275[25] = 0; - out_1776845360940537275[26] = 0; - out_1776845360940537275[27] = 0; - out_1776845360940537275[28] = 0; - out_1776845360940537275[29] = 0; - out_1776845360940537275[30] = 0; - out_1776845360940537275[31] = 0; - out_1776845360940537275[32] = 0; - out_1776845360940537275[33] = 0; - out_1776845360940537275[34] = 0; - out_1776845360940537275[35] = 0; - out_1776845360940537275[36] = 0; - out_1776845360940537275[37] = 0; - out_1776845360940537275[38] = 0; - out_1776845360940537275[39] = 0; - out_1776845360940537275[40] = 0; - out_1776845360940537275[41] = 1; - out_1776845360940537275[42] = 0; - out_1776845360940537275[43] = 0; - out_1776845360940537275[44] = 0; - out_1776845360940537275[45] = 0; - out_1776845360940537275[46] = 0; - out_1776845360940537275[47] = 0; - out_1776845360940537275[48] = 0; - out_1776845360940537275[49] = 0; - out_1776845360940537275[50] = 0; - out_1776845360940537275[51] = 0; - out_1776845360940537275[52] = 0; - out_1776845360940537275[53] = 0; +void H_13(double *state, double *unused, double *out_5015333916491975065) { + out_5015333916491975065[0] = 0; + out_5015333916491975065[1] = 0; + out_5015333916491975065[2] = 0; + out_5015333916491975065[3] = 1; + out_5015333916491975065[4] = 0; + out_5015333916491975065[5] = 0; + out_5015333916491975065[6] = 0; + out_5015333916491975065[7] = 0; + out_5015333916491975065[8] = 0; + out_5015333916491975065[9] = 0; + out_5015333916491975065[10] = 0; + out_5015333916491975065[11] = 0; + out_5015333916491975065[12] = 0; + out_5015333916491975065[13] = 0; + out_5015333916491975065[14] = 0; + out_5015333916491975065[15] = 0; + out_5015333916491975065[16] = 0; + out_5015333916491975065[17] = 0; + out_5015333916491975065[18] = 0; + out_5015333916491975065[19] = 0; + out_5015333916491975065[20] = 0; + out_5015333916491975065[21] = 0; + out_5015333916491975065[22] = 1; + out_5015333916491975065[23] = 0; + out_5015333916491975065[24] = 0; + out_5015333916491975065[25] = 0; + out_5015333916491975065[26] = 0; + out_5015333916491975065[27] = 0; + out_5015333916491975065[28] = 0; + out_5015333916491975065[29] = 0; + out_5015333916491975065[30] = 0; + out_5015333916491975065[31] = 0; + out_5015333916491975065[32] = 0; + out_5015333916491975065[33] = 0; + out_5015333916491975065[34] = 0; + out_5015333916491975065[35] = 0; + out_5015333916491975065[36] = 0; + out_5015333916491975065[37] = 0; + out_5015333916491975065[38] = 0; + out_5015333916491975065[39] = 0; + out_5015333916491975065[40] = 0; + out_5015333916491975065[41] = 1; + out_5015333916491975065[42] = 0; + out_5015333916491975065[43] = 0; + out_5015333916491975065[44] = 0; + out_5015333916491975065[45] = 0; + out_5015333916491975065[46] = 0; + out_5015333916491975065[47] = 0; + out_5015333916491975065[48] = 0; + out_5015333916491975065[49] = 0; + out_5015333916491975065[50] = 0; + out_5015333916491975065[51] = 0; + out_5015333916491975065[52] = 0; + out_5015333916491975065[53] = 0; } -void h_14(double *state, double *unused, double *out_7652212324095214333) { - out_7652212324095214333[0] = state[6]; - out_7652212324095214333[1] = state[7]; - out_7652212324095214333[2] = state[8]; +void h_14(double *state, double *unused, double *out_7785076606087955983) { + out_7785076606087955983[0] = state[6]; + out_7785076606087955983[1] = state[7]; + out_7785076606087955983[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2527812391947689003) { - out_2527812391947689003[0] = 0; - out_2527812391947689003[1] = 0; - out_2527812391947689003[2] = 0; - out_2527812391947689003[3] = 0; - out_2527812391947689003[4] = 0; - out_2527812391947689003[5] = 0; - out_2527812391947689003[6] = 1; - out_2527812391947689003[7] = 0; - out_2527812391947689003[8] = 0; - out_2527812391947689003[9] = 0; - out_2527812391947689003[10] = 0; - out_2527812391947689003[11] = 0; - out_2527812391947689003[12] = 0; - out_2527812391947689003[13] = 0; - out_2527812391947689003[14] = 0; - out_2527812391947689003[15] = 0; - out_2527812391947689003[16] = 0; - out_2527812391947689003[17] = 0; - out_2527812391947689003[18] = 0; - out_2527812391947689003[19] = 0; - out_2527812391947689003[20] = 0; - out_2527812391947689003[21] = 0; - out_2527812391947689003[22] = 0; - out_2527812391947689003[23] = 0; - out_2527812391947689003[24] = 0; - out_2527812391947689003[25] = 1; - out_2527812391947689003[26] = 0; - out_2527812391947689003[27] = 0; - out_2527812391947689003[28] = 0; - out_2527812391947689003[29] = 0; - out_2527812391947689003[30] = 0; - out_2527812391947689003[31] = 0; - out_2527812391947689003[32] = 0; - out_2527812391947689003[33] = 0; - out_2527812391947689003[34] = 0; - out_2527812391947689003[35] = 0; - out_2527812391947689003[36] = 0; - out_2527812391947689003[37] = 0; - out_2527812391947689003[38] = 0; - out_2527812391947689003[39] = 0; - out_2527812391947689003[40] = 0; - out_2527812391947689003[41] = 0; - out_2527812391947689003[42] = 0; - out_2527812391947689003[43] = 0; - out_2527812391947689003[44] = 1; - out_2527812391947689003[45] = 0; - out_2527812391947689003[46] = 0; - out_2527812391947689003[47] = 0; - out_2527812391947689003[48] = 0; - out_2527812391947689003[49] = 0; - out_2527812391947689003[50] = 0; - out_2527812391947689003[51] = 0; - out_2527812391947689003[52] = 0; - out_2527812391947689003[53] = 0; +void H_14(double *state, double *unused, double *out_5766300947499126793) { + out_5766300947499126793[0] = 0; + out_5766300947499126793[1] = 0; + out_5766300947499126793[2] = 0; + out_5766300947499126793[3] = 0; + out_5766300947499126793[4] = 0; + out_5766300947499126793[5] = 0; + out_5766300947499126793[6] = 1; + out_5766300947499126793[7] = 0; + out_5766300947499126793[8] = 0; + out_5766300947499126793[9] = 0; + out_5766300947499126793[10] = 0; + out_5766300947499126793[11] = 0; + out_5766300947499126793[12] = 0; + out_5766300947499126793[13] = 0; + out_5766300947499126793[14] = 0; + out_5766300947499126793[15] = 0; + out_5766300947499126793[16] = 0; + out_5766300947499126793[17] = 0; + out_5766300947499126793[18] = 0; + out_5766300947499126793[19] = 0; + out_5766300947499126793[20] = 0; + out_5766300947499126793[21] = 0; + out_5766300947499126793[22] = 0; + out_5766300947499126793[23] = 0; + out_5766300947499126793[24] = 0; + out_5766300947499126793[25] = 1; + out_5766300947499126793[26] = 0; + out_5766300947499126793[27] = 0; + out_5766300947499126793[28] = 0; + out_5766300947499126793[29] = 0; + out_5766300947499126793[30] = 0; + out_5766300947499126793[31] = 0; + out_5766300947499126793[32] = 0; + out_5766300947499126793[33] = 0; + out_5766300947499126793[34] = 0; + out_5766300947499126793[35] = 0; + out_5766300947499126793[36] = 0; + out_5766300947499126793[37] = 0; + out_5766300947499126793[38] = 0; + out_5766300947499126793[39] = 0; + out_5766300947499126793[40] = 0; + out_5766300947499126793[41] = 0; + out_5766300947499126793[42] = 0; + out_5766300947499126793[43] = 0; + out_5766300947499126793[44] = 1; + out_5766300947499126793[45] = 0; + out_5766300947499126793[46] = 0; + out_5766300947499126793[47] = 0; + out_5766300947499126793[48] = 0; + out_5766300947499126793[49] = 0; + out_5766300947499126793[50] = 0; + out_5766300947499126793[51] = 0; + out_5766300947499126793[52] = 0; + out_5766300947499126793[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_1493079546624007114) { - err_fun(nom_x, delta_x, out_1493079546624007114); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1112526487984770436) { + err_fun(nom_x, delta_x, out_1112526487984770436); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4580499654968994478) { - inv_err_fun(nom_x, true_x, out_4580499654968994478); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2885793937532541180) { + inv_err_fun(nom_x, true_x, out_2885793937532541180); } -void pose_H_mod_fun(double *state, double *out_8273119377234766952) { - H_mod_fun(state, out_8273119377234766952); +void pose_H_mod_fun(double *state, double *out_5077282169950591517) { + H_mod_fun(state, out_5077282169950591517); } -void pose_f_fun(double *state, double dt, double *out_2742900412262200056) { - f_fun(state, dt, out_2742900412262200056); +void pose_f_fun(double *state, double dt, double *out_3821476900675952296) { + f_fun(state, dt, out_3821476900675952296); } -void pose_F_fun(double *state, double dt, double *out_1250059419478269226) { - F_fun(state, dt, out_1250059419478269226); +void pose_F_fun(double *state, double dt, double *out_3235005186135283106) { + F_fun(state, dt, out_3235005186135283106); } -void pose_h_4(double *state, double *unused, double *out_6706399028598537324) { - h_4(state, unused, out_6706399028598537324); +void pose_h_4(double *state, double *unused, double *out_5950572713428507074) { + h_4(state, unused, out_5950572713428507074); } -void pose_H_4(double *state, double *unused, double *out_1435428464391795526) { - H_4(state, unused, out_1435428464391795526); +void pose_H_4(double *state, double *unused, double *out_8849089379794499089) { + H_4(state, unused, out_8849089379794499089); } -void pose_h_10(double *state, double *unused, double *out_3193952299746834757) { - h_10(state, unused, out_3193952299746834757); +void pose_h_10(double *state, double *unused, double *out_2179341978768680660) { + h_10(state, unused, out_2179341978768680660); } -void pose_H_10(double *state, double *unused, double *out_1464924797507750077) { - H_10(state, unused, out_1464924797507750077); +void pose_H_10(double *state, double *unused, double *out_2186201478439983772) { + H_10(state, unused, out_2186201478439983772); } -void pose_h_13(double *state, double *unused, double *out_7802893222450228438) { - h_13(state, unused, out_7802893222450228438); +void pose_h_13(double *state, double *unused, double *out_7892243649341508951) { + h_13(state, unused, out_7892243649341508951); } -void pose_H_13(double *state, double *unused, double *out_1776845360940537275) { - H_13(state, unused, out_1776845360940537275); +void pose_H_13(double *state, double *unused, double *out_5015333916491975065) { + H_13(state, unused, out_5015333916491975065); } -void pose_h_14(double *state, double *unused, double *out_7652212324095214333) { - h_14(state, unused, out_7652212324095214333); +void pose_h_14(double *state, double *unused, double *out_7785076606087955983) { + h_14(state, unused, out_7785076606087955983); } -void pose_H_14(double *state, double *unused, double *out_2527812391947689003) { - H_14(state, unused, out_2527812391947689003); +void pose_H_14(double *state, double *unused, double *out_5766300947499126793) { + H_14(state, unused, out_5766300947499126793); } 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 e8f2d43f8..f4c97fed2 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_1493079546624007114); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4580499654968994478); -void pose_H_mod_fun(double *state, double *out_8273119377234766952); -void pose_f_fun(double *state, double dt, double *out_2742900412262200056); -void pose_F_fun(double *state, double dt, double *out_1250059419478269226); -void pose_h_4(double *state, double *unused, double *out_6706399028598537324); -void pose_H_4(double *state, double *unused, double *out_1435428464391795526); -void pose_h_10(double *state, double *unused, double *out_3193952299746834757); -void pose_H_10(double *state, double *unused, double *out_1464924797507750077); -void pose_h_13(double *state, double *unused, double *out_7802893222450228438); -void pose_H_13(double *state, double *unused, double *out_1776845360940537275); -void pose_h_14(double *state, double *unused, double *out_7652212324095214333); -void pose_H_14(double *state, double *unused, double *out_2527812391947689003); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1112526487984770436); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2885793937532541180); +void pose_H_mod_fun(double *state, double *out_5077282169950591517); +void pose_f_fun(double *state, double dt, double *out_3821476900675952296); +void pose_F_fun(double *state, double dt, double *out_3235005186135283106); +void pose_h_4(double *state, double *unused, double *out_5950572713428507074); +void pose_H_4(double *state, double *unused, double *out_8849089379794499089); +void pose_h_10(double *state, double *unused, double *out_2179341978768680660); +void pose_H_10(double *state, double *unused, double *out_2186201478439983772); +void pose_h_13(double *state, double *unused, double *out_7892243649341508951); +void pose_H_13(double *state, double *unused, double *out_5015333916491975065); +void pose_h_14(double *state, double *unused, double *out_7785076606087955983); +void pose_H_14(double *state, double *unused, double *out_5766300947499126793); 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 1a45d8609..9cd220a01 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index cf37260e2..0343fe521 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 89cf3f436..25cc7de4b 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index be3ca3671..c5633eeac 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 0b34567c0..f5a9d362c 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 770743d54..3eb5f9486 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ