diff --git a/common/libcommon.a b/common/libcommon.a index c7c0a4a04..daaf9e0b9 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 cffd8f661..c63af44bc 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 c7329a3d4..c0fe5575d 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 1f242d44d..3ab259f47 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 1ed30d2cd..ec7bba7ca 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 03b3aa303..fd0f9ef5e 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 12f203b2f..3b3670cae 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 1c05118b5..3d7e852b7 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-71260b52-DEBUG"; +const uint8_t gitversion[19] = "DEV-47c2cc99-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 0ba5cdc9e..1131eb781 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 b5e4aae33..e5ab600d8 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 b17d1c394..da9e972f0 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 84213a1b1..418fefc18 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 d0cd01e44..b2b6725a1 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 64f2bf935..da905ab08 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 cca461912..9c5548685 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 13e6bc244..796e24bb3 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 c571466cf..7faaac18d 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 aaf025e60..3bd8a9196 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 8492199d7..fd67759d2 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 0ce971d82..509abeef1 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 2df94f709..8cdfa9df6 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 b224db447..5705980b1 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 112eb35bb..b1ed508aa 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 9dcbe6888..6885b65d3 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 2f5124c6c..b173864c4 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 5fb323235..2b5232496 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 44383a988..fa0909228 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 0739b42ca..5b8be3acd 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 f5c027e7c..5c5d90c79 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-71260b52-DEBUG \ No newline at end of file +DEV-47c2cc99-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 3dec5655c..9edda8b3b 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_4080197981179722536) { - out_4080197981179722536[0] = delta_x[0] + nom_x[0]; - out_4080197981179722536[1] = delta_x[1] + nom_x[1]; - out_4080197981179722536[2] = delta_x[2] + nom_x[2]; - out_4080197981179722536[3] = delta_x[3] + nom_x[3]; - out_4080197981179722536[4] = delta_x[4] + nom_x[4]; - out_4080197981179722536[5] = delta_x[5] + nom_x[5]; - out_4080197981179722536[6] = delta_x[6] + nom_x[6]; - out_4080197981179722536[7] = delta_x[7] + nom_x[7]; - out_4080197981179722536[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2057434223379957831) { + out_2057434223379957831[0] = delta_x[0] + nom_x[0]; + out_2057434223379957831[1] = delta_x[1] + nom_x[1]; + out_2057434223379957831[2] = delta_x[2] + nom_x[2]; + out_2057434223379957831[3] = delta_x[3] + nom_x[3]; + out_2057434223379957831[4] = delta_x[4] + nom_x[4]; + out_2057434223379957831[5] = delta_x[5] + nom_x[5]; + out_2057434223379957831[6] = delta_x[6] + nom_x[6]; + out_2057434223379957831[7] = delta_x[7] + nom_x[7]; + out_2057434223379957831[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3164357961811210311) { - out_3164357961811210311[0] = -nom_x[0] + true_x[0]; - out_3164357961811210311[1] = -nom_x[1] + true_x[1]; - out_3164357961811210311[2] = -nom_x[2] + true_x[2]; - out_3164357961811210311[3] = -nom_x[3] + true_x[3]; - out_3164357961811210311[4] = -nom_x[4] + true_x[4]; - out_3164357961811210311[5] = -nom_x[5] + true_x[5]; - out_3164357961811210311[6] = -nom_x[6] + true_x[6]; - out_3164357961811210311[7] = -nom_x[7] + true_x[7]; - out_3164357961811210311[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4924816816161575884) { + out_4924816816161575884[0] = -nom_x[0] + true_x[0]; + out_4924816816161575884[1] = -nom_x[1] + true_x[1]; + out_4924816816161575884[2] = -nom_x[2] + true_x[2]; + out_4924816816161575884[3] = -nom_x[3] + true_x[3]; + out_4924816816161575884[4] = -nom_x[4] + true_x[4]; + out_4924816816161575884[5] = -nom_x[5] + true_x[5]; + out_4924816816161575884[6] = -nom_x[6] + true_x[6]; + out_4924816816161575884[7] = -nom_x[7] + true_x[7]; + out_4924816816161575884[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4408837966520463957) { - out_4408837966520463957[0] = 1.0; - out_4408837966520463957[1] = 0.0; - out_4408837966520463957[2] = 0.0; - out_4408837966520463957[3] = 0.0; - out_4408837966520463957[4] = 0.0; - out_4408837966520463957[5] = 0.0; - out_4408837966520463957[6] = 0.0; - out_4408837966520463957[7] = 0.0; - out_4408837966520463957[8] = 0.0; - out_4408837966520463957[9] = 0.0; - out_4408837966520463957[10] = 1.0; - out_4408837966520463957[11] = 0.0; - out_4408837966520463957[12] = 0.0; - out_4408837966520463957[13] = 0.0; - out_4408837966520463957[14] = 0.0; - out_4408837966520463957[15] = 0.0; - out_4408837966520463957[16] = 0.0; - out_4408837966520463957[17] = 0.0; - out_4408837966520463957[18] = 0.0; - out_4408837966520463957[19] = 0.0; - out_4408837966520463957[20] = 1.0; - out_4408837966520463957[21] = 0.0; - out_4408837966520463957[22] = 0.0; - out_4408837966520463957[23] = 0.0; - out_4408837966520463957[24] = 0.0; - out_4408837966520463957[25] = 0.0; - out_4408837966520463957[26] = 0.0; - out_4408837966520463957[27] = 0.0; - out_4408837966520463957[28] = 0.0; - out_4408837966520463957[29] = 0.0; - out_4408837966520463957[30] = 1.0; - out_4408837966520463957[31] = 0.0; - out_4408837966520463957[32] = 0.0; - out_4408837966520463957[33] = 0.0; - out_4408837966520463957[34] = 0.0; - out_4408837966520463957[35] = 0.0; - out_4408837966520463957[36] = 0.0; - out_4408837966520463957[37] = 0.0; - out_4408837966520463957[38] = 0.0; - out_4408837966520463957[39] = 0.0; - out_4408837966520463957[40] = 1.0; - out_4408837966520463957[41] = 0.0; - out_4408837966520463957[42] = 0.0; - out_4408837966520463957[43] = 0.0; - out_4408837966520463957[44] = 0.0; - out_4408837966520463957[45] = 0.0; - out_4408837966520463957[46] = 0.0; - out_4408837966520463957[47] = 0.0; - out_4408837966520463957[48] = 0.0; - out_4408837966520463957[49] = 0.0; - out_4408837966520463957[50] = 1.0; - out_4408837966520463957[51] = 0.0; - out_4408837966520463957[52] = 0.0; - out_4408837966520463957[53] = 0.0; - out_4408837966520463957[54] = 0.0; - out_4408837966520463957[55] = 0.0; - out_4408837966520463957[56] = 0.0; - out_4408837966520463957[57] = 0.0; - out_4408837966520463957[58] = 0.0; - out_4408837966520463957[59] = 0.0; - out_4408837966520463957[60] = 1.0; - out_4408837966520463957[61] = 0.0; - out_4408837966520463957[62] = 0.0; - out_4408837966520463957[63] = 0.0; - out_4408837966520463957[64] = 0.0; - out_4408837966520463957[65] = 0.0; - out_4408837966520463957[66] = 0.0; - out_4408837966520463957[67] = 0.0; - out_4408837966520463957[68] = 0.0; - out_4408837966520463957[69] = 0.0; - out_4408837966520463957[70] = 1.0; - out_4408837966520463957[71] = 0.0; - out_4408837966520463957[72] = 0.0; - out_4408837966520463957[73] = 0.0; - out_4408837966520463957[74] = 0.0; - out_4408837966520463957[75] = 0.0; - out_4408837966520463957[76] = 0.0; - out_4408837966520463957[77] = 0.0; - out_4408837966520463957[78] = 0.0; - out_4408837966520463957[79] = 0.0; - out_4408837966520463957[80] = 1.0; +void H_mod_fun(double *state, double *out_8615316232539034437) { + out_8615316232539034437[0] = 1.0; + out_8615316232539034437[1] = 0.0; + out_8615316232539034437[2] = 0.0; + out_8615316232539034437[3] = 0.0; + out_8615316232539034437[4] = 0.0; + out_8615316232539034437[5] = 0.0; + out_8615316232539034437[6] = 0.0; + out_8615316232539034437[7] = 0.0; + out_8615316232539034437[8] = 0.0; + out_8615316232539034437[9] = 0.0; + out_8615316232539034437[10] = 1.0; + out_8615316232539034437[11] = 0.0; + out_8615316232539034437[12] = 0.0; + out_8615316232539034437[13] = 0.0; + out_8615316232539034437[14] = 0.0; + out_8615316232539034437[15] = 0.0; + out_8615316232539034437[16] = 0.0; + out_8615316232539034437[17] = 0.0; + out_8615316232539034437[18] = 0.0; + out_8615316232539034437[19] = 0.0; + out_8615316232539034437[20] = 1.0; + out_8615316232539034437[21] = 0.0; + out_8615316232539034437[22] = 0.0; + out_8615316232539034437[23] = 0.0; + out_8615316232539034437[24] = 0.0; + out_8615316232539034437[25] = 0.0; + out_8615316232539034437[26] = 0.0; + out_8615316232539034437[27] = 0.0; + out_8615316232539034437[28] = 0.0; + out_8615316232539034437[29] = 0.0; + out_8615316232539034437[30] = 1.0; + out_8615316232539034437[31] = 0.0; + out_8615316232539034437[32] = 0.0; + out_8615316232539034437[33] = 0.0; + out_8615316232539034437[34] = 0.0; + out_8615316232539034437[35] = 0.0; + out_8615316232539034437[36] = 0.0; + out_8615316232539034437[37] = 0.0; + out_8615316232539034437[38] = 0.0; + out_8615316232539034437[39] = 0.0; + out_8615316232539034437[40] = 1.0; + out_8615316232539034437[41] = 0.0; + out_8615316232539034437[42] = 0.0; + out_8615316232539034437[43] = 0.0; + out_8615316232539034437[44] = 0.0; + out_8615316232539034437[45] = 0.0; + out_8615316232539034437[46] = 0.0; + out_8615316232539034437[47] = 0.0; + out_8615316232539034437[48] = 0.0; + out_8615316232539034437[49] = 0.0; + out_8615316232539034437[50] = 1.0; + out_8615316232539034437[51] = 0.0; + out_8615316232539034437[52] = 0.0; + out_8615316232539034437[53] = 0.0; + out_8615316232539034437[54] = 0.0; + out_8615316232539034437[55] = 0.0; + out_8615316232539034437[56] = 0.0; + out_8615316232539034437[57] = 0.0; + out_8615316232539034437[58] = 0.0; + out_8615316232539034437[59] = 0.0; + out_8615316232539034437[60] = 1.0; + out_8615316232539034437[61] = 0.0; + out_8615316232539034437[62] = 0.0; + out_8615316232539034437[63] = 0.0; + out_8615316232539034437[64] = 0.0; + out_8615316232539034437[65] = 0.0; + out_8615316232539034437[66] = 0.0; + out_8615316232539034437[67] = 0.0; + out_8615316232539034437[68] = 0.0; + out_8615316232539034437[69] = 0.0; + out_8615316232539034437[70] = 1.0; + out_8615316232539034437[71] = 0.0; + out_8615316232539034437[72] = 0.0; + out_8615316232539034437[73] = 0.0; + out_8615316232539034437[74] = 0.0; + out_8615316232539034437[75] = 0.0; + out_8615316232539034437[76] = 0.0; + out_8615316232539034437[77] = 0.0; + out_8615316232539034437[78] = 0.0; + out_8615316232539034437[79] = 0.0; + out_8615316232539034437[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5836050664863580465) { - out_5836050664863580465[0] = state[0]; - out_5836050664863580465[1] = state[1]; - out_5836050664863580465[2] = state[2]; - out_5836050664863580465[3] = state[3]; - out_5836050664863580465[4] = state[4]; - out_5836050664863580465[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_5836050664863580465[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_5836050664863580465[7] = state[7]; - out_5836050664863580465[8] = state[8]; +void f_fun(double *state, double dt, double *out_8159180570289535402) { + out_8159180570289535402[0] = state[0]; + out_8159180570289535402[1] = state[1]; + out_8159180570289535402[2] = state[2]; + out_8159180570289535402[3] = state[3]; + out_8159180570289535402[4] = state[4]; + out_8159180570289535402[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_8159180570289535402[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_8159180570289535402[7] = state[7]; + out_8159180570289535402[8] = state[8]; } -void F_fun(double *state, double dt, double *out_584824642242628871) { - out_584824642242628871[0] = 1; - out_584824642242628871[1] = 0; - out_584824642242628871[2] = 0; - out_584824642242628871[3] = 0; - out_584824642242628871[4] = 0; - out_584824642242628871[5] = 0; - out_584824642242628871[6] = 0; - out_584824642242628871[7] = 0; - out_584824642242628871[8] = 0; - out_584824642242628871[9] = 0; - out_584824642242628871[10] = 1; - out_584824642242628871[11] = 0; - out_584824642242628871[12] = 0; - out_584824642242628871[13] = 0; - out_584824642242628871[14] = 0; - out_584824642242628871[15] = 0; - out_584824642242628871[16] = 0; - out_584824642242628871[17] = 0; - out_584824642242628871[18] = 0; - out_584824642242628871[19] = 0; - out_584824642242628871[20] = 1; - out_584824642242628871[21] = 0; - out_584824642242628871[22] = 0; - out_584824642242628871[23] = 0; - out_584824642242628871[24] = 0; - out_584824642242628871[25] = 0; - out_584824642242628871[26] = 0; - out_584824642242628871[27] = 0; - out_584824642242628871[28] = 0; - out_584824642242628871[29] = 0; - out_584824642242628871[30] = 1; - out_584824642242628871[31] = 0; - out_584824642242628871[32] = 0; - out_584824642242628871[33] = 0; - out_584824642242628871[34] = 0; - out_584824642242628871[35] = 0; - out_584824642242628871[36] = 0; - out_584824642242628871[37] = 0; - out_584824642242628871[38] = 0; - out_584824642242628871[39] = 0; - out_584824642242628871[40] = 1; - out_584824642242628871[41] = 0; - out_584824642242628871[42] = 0; - out_584824642242628871[43] = 0; - out_584824642242628871[44] = 0; - out_584824642242628871[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_584824642242628871[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_584824642242628871[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_584824642242628871[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_584824642242628871[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_584824642242628871[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_584824642242628871[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_584824642242628871[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_584824642242628871[53] = -9.8100000000000005*dt; - out_584824642242628871[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_584824642242628871[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_584824642242628871[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_584824642242628871[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_584824642242628871[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_584824642242628871[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_584824642242628871[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_584824642242628871[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_584824642242628871[62] = 0; - out_584824642242628871[63] = 0; - out_584824642242628871[64] = 0; - out_584824642242628871[65] = 0; - out_584824642242628871[66] = 0; - out_584824642242628871[67] = 0; - out_584824642242628871[68] = 0; - out_584824642242628871[69] = 0; - out_584824642242628871[70] = 1; - out_584824642242628871[71] = 0; - out_584824642242628871[72] = 0; - out_584824642242628871[73] = 0; - out_584824642242628871[74] = 0; - out_584824642242628871[75] = 0; - out_584824642242628871[76] = 0; - out_584824642242628871[77] = 0; - out_584824642242628871[78] = 0; - out_584824642242628871[79] = 0; - out_584824642242628871[80] = 1; +void F_fun(double *state, double dt, double *out_8855850861951736689) { + out_8855850861951736689[0] = 1; + out_8855850861951736689[1] = 0; + out_8855850861951736689[2] = 0; + out_8855850861951736689[3] = 0; + out_8855850861951736689[4] = 0; + out_8855850861951736689[5] = 0; + out_8855850861951736689[6] = 0; + out_8855850861951736689[7] = 0; + out_8855850861951736689[8] = 0; + out_8855850861951736689[9] = 0; + out_8855850861951736689[10] = 1; + out_8855850861951736689[11] = 0; + out_8855850861951736689[12] = 0; + out_8855850861951736689[13] = 0; + out_8855850861951736689[14] = 0; + out_8855850861951736689[15] = 0; + out_8855850861951736689[16] = 0; + out_8855850861951736689[17] = 0; + out_8855850861951736689[18] = 0; + out_8855850861951736689[19] = 0; + out_8855850861951736689[20] = 1; + out_8855850861951736689[21] = 0; + out_8855850861951736689[22] = 0; + out_8855850861951736689[23] = 0; + out_8855850861951736689[24] = 0; + out_8855850861951736689[25] = 0; + out_8855850861951736689[26] = 0; + out_8855850861951736689[27] = 0; + out_8855850861951736689[28] = 0; + out_8855850861951736689[29] = 0; + out_8855850861951736689[30] = 1; + out_8855850861951736689[31] = 0; + out_8855850861951736689[32] = 0; + out_8855850861951736689[33] = 0; + out_8855850861951736689[34] = 0; + out_8855850861951736689[35] = 0; + out_8855850861951736689[36] = 0; + out_8855850861951736689[37] = 0; + out_8855850861951736689[38] = 0; + out_8855850861951736689[39] = 0; + out_8855850861951736689[40] = 1; + out_8855850861951736689[41] = 0; + out_8855850861951736689[42] = 0; + out_8855850861951736689[43] = 0; + out_8855850861951736689[44] = 0; + out_8855850861951736689[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_8855850861951736689[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8855850861951736689[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8855850861951736689[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8855850861951736689[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_8855850861951736689[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8855850861951736689[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8855850861951736689[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8855850861951736689[53] = -9.8100000000000005*dt; + out_8855850861951736689[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_8855850861951736689[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8855850861951736689[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8855850861951736689[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8855850861951736689[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_8855850861951736689[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8855850861951736689[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_8855850861951736689[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8855850861951736689[62] = 0; + out_8855850861951736689[63] = 0; + out_8855850861951736689[64] = 0; + out_8855850861951736689[65] = 0; + out_8855850861951736689[66] = 0; + out_8855850861951736689[67] = 0; + out_8855850861951736689[68] = 0; + out_8855850861951736689[69] = 0; + out_8855850861951736689[70] = 1; + out_8855850861951736689[71] = 0; + out_8855850861951736689[72] = 0; + out_8855850861951736689[73] = 0; + out_8855850861951736689[74] = 0; + out_8855850861951736689[75] = 0; + out_8855850861951736689[76] = 0; + out_8855850861951736689[77] = 0; + out_8855850861951736689[78] = 0; + out_8855850861951736689[79] = 0; + out_8855850861951736689[80] = 1; } -void h_25(double *state, double *unused, double *out_3846550558690327557) { - out_3846550558690327557[0] = state[6]; +void h_25(double *state, double *unused, double *out_7057179500116168670) { + out_7057179500116168670[0] = state[6]; } -void H_25(double *state, double *unused, double *out_3533529222181460977) { - out_3533529222181460977[0] = 0; - out_3533529222181460977[1] = 0; - out_3533529222181460977[2] = 0; - out_3533529222181460977[3] = 0; - out_3533529222181460977[4] = 0; - out_3533529222181460977[5] = 0; - out_3533529222181460977[6] = 1; - out_3533529222181460977[7] = 0; - out_3533529222181460977[8] = 0; +void H_25(double *state, double *unused, double *out_8109981790338737725) { + out_8109981790338737725[0] = 0; + out_8109981790338737725[1] = 0; + out_8109981790338737725[2] = 0; + out_8109981790338737725[3] = 0; + out_8109981790338737725[4] = 0; + out_8109981790338737725[5] = 0; + out_8109981790338737725[6] = 1; + out_8109981790338737725[7] = 0; + out_8109981790338737725[8] = 0; } -void h_24(double *state, double *unused, double *out_5575782566501311775) { - out_5575782566501311775[0] = state[4]; - out_5575782566501311775[1] = state[5]; +void h_24(double *state, double *unused, double *out_6854320894517861807) { + out_6854320894517861807[0] = state[4]; + out_6854320894517861807[1] = state[5]; } -void H_24(double *state, double *unused, double *out_24396376620862159) { - out_24396376620862159[0] = 0; - out_24396376620862159[1] = 0; - out_24396376620862159[2] = 0; - out_24396376620862159[3] = 0; - out_24396376620862159[4] = 1; - out_24396376620862159[5] = 0; - out_24396376620862159[6] = 0; - out_24396376620862159[7] = 0; - out_24396376620862159[8] = 0; - out_24396376620862159[9] = 0; - out_24396376620862159[10] = 0; - out_24396376620862159[11] = 0; - out_24396376620862159[12] = 0; - out_24396376620862159[13] = 0; - out_24396376620862159[14] = 1; - out_24396376620862159[15] = 0; - out_24396376620862159[16] = 0; - out_24396376620862159[17] = 0; +void H_24(double *state, double *unused, double *out_8607899164193499822) { + out_8607899164193499822[0] = 0; + out_8607899164193499822[1] = 0; + out_8607899164193499822[2] = 0; + out_8607899164193499822[3] = 0; + out_8607899164193499822[4] = 1; + out_8607899164193499822[5] = 0; + out_8607899164193499822[6] = 0; + out_8607899164193499822[7] = 0; + out_8607899164193499822[8] = 0; + out_8607899164193499822[9] = 0; + out_8607899164193499822[10] = 0; + out_8607899164193499822[11] = 0; + out_8607899164193499822[12] = 0; + out_8607899164193499822[13] = 0; + out_8607899164193499822[14] = 1; + out_8607899164193499822[15] = 0; + out_8607899164193499822[16] = 0; + out_8607899164193499822[17] = 0; } -void h_30(double *state, double *unused, double *out_6794276549045812518) { - out_6794276549045812518[0] = state[4]; +void h_30(double *state, double *unused, double *out_3929005809344494621) { + out_3929005809344494621[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1015196263674212350) { - out_1015196263674212350[0] = 0; - out_1015196263674212350[1] = 0; - out_1015196263674212350[2] = 0; - out_1015196263674212350[3] = 0; - out_1015196263674212350[4] = 1; - out_1015196263674212350[5] = 0; - out_1015196263674212350[6] = 0; - out_1015196263674212350[7] = 0; - out_1015196263674212350[8] = 0; +void H_30(double *state, double *unused, double *out_1193291448847120970) { + out_1193291448847120970[0] = 0; + out_1193291448847120970[1] = 0; + out_1193291448847120970[2] = 0; + out_1193291448847120970[3] = 0; + out_1193291448847120970[4] = 1; + out_1193291448847120970[5] = 0; + out_1193291448847120970[6] = 0; + out_1193291448847120970[7] = 0; + out_1193291448847120970[8] = 0; } -void h_26(double *state, double *unused, double *out_9048062203855041447) { - out_9048062203855041447[0] = state[7]; +void h_26(double *state, double *unused, double *out_6807016989944022268) { + out_6807016989944022268[0] = state[7]; } -void H_26(double *state, double *unused, double *out_229003252420660376) { - out_229003252420660376[0] = 0; - out_229003252420660376[1] = 0; - out_229003252420660376[2] = 0; - out_229003252420660376[3] = 0; - out_229003252420660376[4] = 0; - out_229003252420660376[5] = 0; - out_229003252420660376[6] = 0; - out_229003252420660376[7] = 1; - out_229003252420660376[8] = 0; +void H_26(double *state, double *unused, double *out_6595258964496757667) { + out_6595258964496757667[0] = 0; + out_6595258964496757667[1] = 0; + out_6595258964496757667[2] = 0; + out_6595258964496757667[3] = 0; + out_6595258964496757667[4] = 0; + out_6595258964496757667[5] = 0; + out_6595258964496757667[6] = 0; + out_6595258964496757667[7] = 1; + out_6595258964496757667[8] = 0; } -void h_27(double *state, double *unused, double *out_5135418613316513208) { - out_5135418613316513208[0] = state[3]; +void h_27(double *state, double *unused, double *out_2055506232455323025) { + out_2055506232455323025[0] = state[3]; } -void H_27(double *state, double *unused, double *out_3189959575474637261) { - out_3189959575474637261[0] = 0; - out_3189959575474637261[1] = 0; - out_3189959575474637261[2] = 0; - out_3189959575474637261[3] = 1; - out_3189959575474637261[4] = 0; - out_3189959575474637261[5] = 0; - out_3189959575474637261[6] = 0; - out_3189959575474637261[7] = 0; - out_3189959575474637261[8] = 0; +void H_27(double *state, double *unused, double *out_3368054760647545881) { + out_3368054760647545881[0] = 0; + out_3368054760647545881[1] = 0; + out_3368054760647545881[2] = 0; + out_3368054760647545881[3] = 1; + out_3368054760647545881[4] = 0; + out_3368054760647545881[5] = 0; + out_3368054760647545881[6] = 0; + out_3368054760647545881[7] = 0; + out_3368054760647545881[8] = 0; } -void h_29(double *state, double *unused, double *out_5850766696144150083) { - out_5850766696144150083[0] = state[1]; +void h_29(double *state, double *unused, double *out_7581563669006346138) { + out_7581563669006346138[0] = state[1]; } -void H_29(double *state, double *unused, double *out_504964919359820166) { - out_504964919359820166[0] = 0; - out_504964919359820166[1] = 1; - out_504964919359820166[2] = 0; - out_504964919359820166[3] = 0; - out_504964919359820166[4] = 0; - out_504964919359820166[5] = 0; - out_504964919359820166[6] = 0; - out_504964919359820166[7] = 0; - out_504964919359820166[8] = 0; +void H_29(double *state, double *unused, double *out_683060104532728786) { + out_683060104532728786[0] = 0; + out_683060104532728786[1] = 1; + out_683060104532728786[2] = 0; + out_683060104532728786[3] = 0; + out_683060104532728786[4] = 0; + out_683060104532728786[5] = 0; + out_683060104532728786[6] = 0; + out_683060104532728786[7] = 0; + out_683060104532728786[8] = 0; } -void h_28(double *state, double *unused, double *out_133745345655667563) { - out_133745345655667563[0] = state[0]; +void h_28(double *state, double *unused, double *out_7985581021610001938) { + out_7985581021610001938[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5587363936429350740) { - out_5587363936429350740[0] = 1; - out_5587363936429350740[1] = 0; - out_5587363936429350740[2] = 0; - out_5587363936429350740[3] = 0; - out_5587363936429350740[4] = 0; - out_5587363936429350740[5] = 0; - out_5587363936429350740[6] = 0; - out_5587363936429350740[7] = 0; - out_5587363936429350740[8] = 0; +void H_28(double *state, double *unused, double *out_5765459121602259360) { + out_5765459121602259360[0] = 1; + out_5765459121602259360[1] = 0; + out_5765459121602259360[2] = 0; + out_5765459121602259360[3] = 0; + out_5765459121602259360[4] = 0; + out_5765459121602259360[5] = 0; + out_5765459121602259360[6] = 0; + out_5765459121602259360[7] = 0; + out_5765459121602259360[8] = 0; } -void h_31(double *state, double *unused, double *out_4672202664478170413) { - out_4672202664478170413[0] = state[8]; +void h_31(double *state, double *unused, double *out_706085756704503771) { + out_706085756704503771[0] = state[8]; } -void H_31(double *state, double *unused, double *out_7901240643288868677) { - out_7901240643288868677[0] = 0; - out_7901240643288868677[1] = 0; - out_7901240643288868677[2] = 0; - out_7901240643288868677[3] = 0; - out_7901240643288868677[4] = 0; - out_7901240643288868677[5] = 0; - out_7901240643288868677[6] = 0; - out_7901240643288868677[7] = 0; - out_7901240643288868677[8] = 1; +void H_31(double *state, double *unused, double *out_8079335828461777297) { + out_8079335828461777297[0] = 0; + out_8079335828461777297[1] = 0; + out_8079335828461777297[2] = 0; + out_8079335828461777297[3] = 0; + out_8079335828461777297[4] = 0; + out_8079335828461777297[5] = 0; + out_8079335828461777297[6] = 0; + out_8079335828461777297[7] = 0; + out_8079335828461777297[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_4080197981179722536) { - err_fun(nom_x, delta_x, out_4080197981179722536); +void car_err_fun(double *nom_x, double *delta_x, double *out_2057434223379957831) { + err_fun(nom_x, delta_x, out_2057434223379957831); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3164357961811210311) { - inv_err_fun(nom_x, true_x, out_3164357961811210311); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4924816816161575884) { + inv_err_fun(nom_x, true_x, out_4924816816161575884); } -void car_H_mod_fun(double *state, double *out_4408837966520463957) { - H_mod_fun(state, out_4408837966520463957); +void car_H_mod_fun(double *state, double *out_8615316232539034437) { + H_mod_fun(state, out_8615316232539034437); } -void car_f_fun(double *state, double dt, double *out_5836050664863580465) { - f_fun(state, dt, out_5836050664863580465); +void car_f_fun(double *state, double dt, double *out_8159180570289535402) { + f_fun(state, dt, out_8159180570289535402); } -void car_F_fun(double *state, double dt, double *out_584824642242628871) { - F_fun(state, dt, out_584824642242628871); +void car_F_fun(double *state, double dt, double *out_8855850861951736689) { + F_fun(state, dt, out_8855850861951736689); } -void car_h_25(double *state, double *unused, double *out_3846550558690327557) { - h_25(state, unused, out_3846550558690327557); +void car_h_25(double *state, double *unused, double *out_7057179500116168670) { + h_25(state, unused, out_7057179500116168670); } -void car_H_25(double *state, double *unused, double *out_3533529222181460977) { - H_25(state, unused, out_3533529222181460977); +void car_H_25(double *state, double *unused, double *out_8109981790338737725) { + H_25(state, unused, out_8109981790338737725); } -void car_h_24(double *state, double *unused, double *out_5575782566501311775) { - h_24(state, unused, out_5575782566501311775); +void car_h_24(double *state, double *unused, double *out_6854320894517861807) { + h_24(state, unused, out_6854320894517861807); } -void car_H_24(double *state, double *unused, double *out_24396376620862159) { - H_24(state, unused, out_24396376620862159); +void car_H_24(double *state, double *unused, double *out_8607899164193499822) { + H_24(state, unused, out_8607899164193499822); } -void car_h_30(double *state, double *unused, double *out_6794276549045812518) { - h_30(state, unused, out_6794276549045812518); +void car_h_30(double *state, double *unused, double *out_3929005809344494621) { + h_30(state, unused, out_3929005809344494621); } -void car_H_30(double *state, double *unused, double *out_1015196263674212350) { - H_30(state, unused, out_1015196263674212350); +void car_H_30(double *state, double *unused, double *out_1193291448847120970) { + H_30(state, unused, out_1193291448847120970); } -void car_h_26(double *state, double *unused, double *out_9048062203855041447) { - h_26(state, unused, out_9048062203855041447); +void car_h_26(double *state, double *unused, double *out_6807016989944022268) { + h_26(state, unused, out_6807016989944022268); } -void car_H_26(double *state, double *unused, double *out_229003252420660376) { - H_26(state, unused, out_229003252420660376); +void car_H_26(double *state, double *unused, double *out_6595258964496757667) { + H_26(state, unused, out_6595258964496757667); } -void car_h_27(double *state, double *unused, double *out_5135418613316513208) { - h_27(state, unused, out_5135418613316513208); +void car_h_27(double *state, double *unused, double *out_2055506232455323025) { + h_27(state, unused, out_2055506232455323025); } -void car_H_27(double *state, double *unused, double *out_3189959575474637261) { - H_27(state, unused, out_3189959575474637261); +void car_H_27(double *state, double *unused, double *out_3368054760647545881) { + H_27(state, unused, out_3368054760647545881); } -void car_h_29(double *state, double *unused, double *out_5850766696144150083) { - h_29(state, unused, out_5850766696144150083); +void car_h_29(double *state, double *unused, double *out_7581563669006346138) { + h_29(state, unused, out_7581563669006346138); } -void car_H_29(double *state, double *unused, double *out_504964919359820166) { - H_29(state, unused, out_504964919359820166); +void car_H_29(double *state, double *unused, double *out_683060104532728786) { + H_29(state, unused, out_683060104532728786); } -void car_h_28(double *state, double *unused, double *out_133745345655667563) { - h_28(state, unused, out_133745345655667563); +void car_h_28(double *state, double *unused, double *out_7985581021610001938) { + h_28(state, unused, out_7985581021610001938); } -void car_H_28(double *state, double *unused, double *out_5587363936429350740) { - H_28(state, unused, out_5587363936429350740); +void car_H_28(double *state, double *unused, double *out_5765459121602259360) { + H_28(state, unused, out_5765459121602259360); } -void car_h_31(double *state, double *unused, double *out_4672202664478170413) { - h_31(state, unused, out_4672202664478170413); +void car_h_31(double *state, double *unused, double *out_706085756704503771) { + h_31(state, unused, out_706085756704503771); } -void car_H_31(double *state, double *unused, double *out_7901240643288868677) { - H_31(state, unused, out_7901240643288868677); +void car_H_31(double *state, double *unused, double *out_8079335828461777297) { + H_31(state, unused, out_8079335828461777297); } 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 da89f0f36..0c68b398d 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_4080197981179722536); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3164357961811210311); -void car_H_mod_fun(double *state, double *out_4408837966520463957); -void car_f_fun(double *state, double dt, double *out_5836050664863580465); -void car_F_fun(double *state, double dt, double *out_584824642242628871); -void car_h_25(double *state, double *unused, double *out_3846550558690327557); -void car_H_25(double *state, double *unused, double *out_3533529222181460977); -void car_h_24(double *state, double *unused, double *out_5575782566501311775); -void car_H_24(double *state, double *unused, double *out_24396376620862159); -void car_h_30(double *state, double *unused, double *out_6794276549045812518); -void car_H_30(double *state, double *unused, double *out_1015196263674212350); -void car_h_26(double *state, double *unused, double *out_9048062203855041447); -void car_H_26(double *state, double *unused, double *out_229003252420660376); -void car_h_27(double *state, double *unused, double *out_5135418613316513208); -void car_H_27(double *state, double *unused, double *out_3189959575474637261); -void car_h_29(double *state, double *unused, double *out_5850766696144150083); -void car_H_29(double *state, double *unused, double *out_504964919359820166); -void car_h_28(double *state, double *unused, double *out_133745345655667563); -void car_H_28(double *state, double *unused, double *out_5587363936429350740); -void car_h_31(double *state, double *unused, double *out_4672202664478170413); -void car_H_31(double *state, double *unused, double *out_7901240643288868677); +void car_err_fun(double *nom_x, double *delta_x, double *out_2057434223379957831); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4924816816161575884); +void car_H_mod_fun(double *state, double *out_8615316232539034437); +void car_f_fun(double *state, double dt, double *out_8159180570289535402); +void car_F_fun(double *state, double dt, double *out_8855850861951736689); +void car_h_25(double *state, double *unused, double *out_7057179500116168670); +void car_H_25(double *state, double *unused, double *out_8109981790338737725); +void car_h_24(double *state, double *unused, double *out_6854320894517861807); +void car_H_24(double *state, double *unused, double *out_8607899164193499822); +void car_h_30(double *state, double *unused, double *out_3929005809344494621); +void car_H_30(double *state, double *unused, double *out_1193291448847120970); +void car_h_26(double *state, double *unused, double *out_6807016989944022268); +void car_H_26(double *state, double *unused, double *out_6595258964496757667); +void car_h_27(double *state, double *unused, double *out_2055506232455323025); +void car_H_27(double *state, double *unused, double *out_3368054760647545881); +void car_h_29(double *state, double *unused, double *out_7581563669006346138); +void car_H_29(double *state, double *unused, double *out_683060104532728786); +void car_h_28(double *state, double *unused, double *out_7985581021610001938); +void car_H_28(double *state, double *unused, double *out_5765459121602259360); +void car_h_31(double *state, double *unused, double *out_706085756704503771); +void car_H_31(double *state, double *unused, double *out_8079335828461777297); 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 2f1428e65..c83cc8fd8 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_616508134330162473) { - out_616508134330162473[0] = delta_x[0] + nom_x[0]; - out_616508134330162473[1] = delta_x[1] + nom_x[1]; - out_616508134330162473[2] = delta_x[2] + nom_x[2]; - out_616508134330162473[3] = delta_x[3] + nom_x[3]; - out_616508134330162473[4] = delta_x[4] + nom_x[4]; - out_616508134330162473[5] = delta_x[5] + nom_x[5]; - out_616508134330162473[6] = delta_x[6] + nom_x[6]; - out_616508134330162473[7] = delta_x[7] + nom_x[7]; - out_616508134330162473[8] = delta_x[8] + nom_x[8]; - out_616508134330162473[9] = delta_x[9] + nom_x[9]; - out_616508134330162473[10] = delta_x[10] + nom_x[10]; - out_616508134330162473[11] = delta_x[11] + nom_x[11]; - out_616508134330162473[12] = delta_x[12] + nom_x[12]; - out_616508134330162473[13] = delta_x[13] + nom_x[13]; - out_616508134330162473[14] = delta_x[14] + nom_x[14]; - out_616508134330162473[15] = delta_x[15] + nom_x[15]; - out_616508134330162473[16] = delta_x[16] + nom_x[16]; - out_616508134330162473[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2423125642091007723) { + out_2423125642091007723[0] = delta_x[0] + nom_x[0]; + out_2423125642091007723[1] = delta_x[1] + nom_x[1]; + out_2423125642091007723[2] = delta_x[2] + nom_x[2]; + out_2423125642091007723[3] = delta_x[3] + nom_x[3]; + out_2423125642091007723[4] = delta_x[4] + nom_x[4]; + out_2423125642091007723[5] = delta_x[5] + nom_x[5]; + out_2423125642091007723[6] = delta_x[6] + nom_x[6]; + out_2423125642091007723[7] = delta_x[7] + nom_x[7]; + out_2423125642091007723[8] = delta_x[8] + nom_x[8]; + out_2423125642091007723[9] = delta_x[9] + nom_x[9]; + out_2423125642091007723[10] = delta_x[10] + nom_x[10]; + out_2423125642091007723[11] = delta_x[11] + nom_x[11]; + out_2423125642091007723[12] = delta_x[12] + nom_x[12]; + out_2423125642091007723[13] = delta_x[13] + nom_x[13]; + out_2423125642091007723[14] = delta_x[14] + nom_x[14]; + out_2423125642091007723[15] = delta_x[15] + nom_x[15]; + out_2423125642091007723[16] = delta_x[16] + nom_x[16]; + out_2423125642091007723[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3534488348241865019) { - out_3534488348241865019[0] = -nom_x[0] + true_x[0]; - out_3534488348241865019[1] = -nom_x[1] + true_x[1]; - out_3534488348241865019[2] = -nom_x[2] + true_x[2]; - out_3534488348241865019[3] = -nom_x[3] + true_x[3]; - out_3534488348241865019[4] = -nom_x[4] + true_x[4]; - out_3534488348241865019[5] = -nom_x[5] + true_x[5]; - out_3534488348241865019[6] = -nom_x[6] + true_x[6]; - out_3534488348241865019[7] = -nom_x[7] + true_x[7]; - out_3534488348241865019[8] = -nom_x[8] + true_x[8]; - out_3534488348241865019[9] = -nom_x[9] + true_x[9]; - out_3534488348241865019[10] = -nom_x[10] + true_x[10]; - out_3534488348241865019[11] = -nom_x[11] + true_x[11]; - out_3534488348241865019[12] = -nom_x[12] + true_x[12]; - out_3534488348241865019[13] = -nom_x[13] + true_x[13]; - out_3534488348241865019[14] = -nom_x[14] + true_x[14]; - out_3534488348241865019[15] = -nom_x[15] + true_x[15]; - out_3534488348241865019[16] = -nom_x[16] + true_x[16]; - out_3534488348241865019[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1501585610038659930) { + out_1501585610038659930[0] = -nom_x[0] + true_x[0]; + out_1501585610038659930[1] = -nom_x[1] + true_x[1]; + out_1501585610038659930[2] = -nom_x[2] + true_x[2]; + out_1501585610038659930[3] = -nom_x[3] + true_x[3]; + out_1501585610038659930[4] = -nom_x[4] + true_x[4]; + out_1501585610038659930[5] = -nom_x[5] + true_x[5]; + out_1501585610038659930[6] = -nom_x[6] + true_x[6]; + out_1501585610038659930[7] = -nom_x[7] + true_x[7]; + out_1501585610038659930[8] = -nom_x[8] + true_x[8]; + out_1501585610038659930[9] = -nom_x[9] + true_x[9]; + out_1501585610038659930[10] = -nom_x[10] + true_x[10]; + out_1501585610038659930[11] = -nom_x[11] + true_x[11]; + out_1501585610038659930[12] = -nom_x[12] + true_x[12]; + out_1501585610038659930[13] = -nom_x[13] + true_x[13]; + out_1501585610038659930[14] = -nom_x[14] + true_x[14]; + out_1501585610038659930[15] = -nom_x[15] + true_x[15]; + out_1501585610038659930[16] = -nom_x[16] + true_x[16]; + out_1501585610038659930[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5384152065241129084) { - out_5384152065241129084[0] = 1.0; - out_5384152065241129084[1] = 0.0; - out_5384152065241129084[2] = 0.0; - out_5384152065241129084[3] = 0.0; - out_5384152065241129084[4] = 0.0; - out_5384152065241129084[5] = 0.0; - out_5384152065241129084[6] = 0.0; - out_5384152065241129084[7] = 0.0; - out_5384152065241129084[8] = 0.0; - out_5384152065241129084[9] = 0.0; - out_5384152065241129084[10] = 0.0; - out_5384152065241129084[11] = 0.0; - out_5384152065241129084[12] = 0.0; - out_5384152065241129084[13] = 0.0; - out_5384152065241129084[14] = 0.0; - out_5384152065241129084[15] = 0.0; - out_5384152065241129084[16] = 0.0; - out_5384152065241129084[17] = 0.0; - out_5384152065241129084[18] = 0.0; - out_5384152065241129084[19] = 1.0; - out_5384152065241129084[20] = 0.0; - out_5384152065241129084[21] = 0.0; - out_5384152065241129084[22] = 0.0; - out_5384152065241129084[23] = 0.0; - out_5384152065241129084[24] = 0.0; - out_5384152065241129084[25] = 0.0; - out_5384152065241129084[26] = 0.0; - out_5384152065241129084[27] = 0.0; - out_5384152065241129084[28] = 0.0; - out_5384152065241129084[29] = 0.0; - out_5384152065241129084[30] = 0.0; - out_5384152065241129084[31] = 0.0; - out_5384152065241129084[32] = 0.0; - out_5384152065241129084[33] = 0.0; - out_5384152065241129084[34] = 0.0; - out_5384152065241129084[35] = 0.0; - out_5384152065241129084[36] = 0.0; - out_5384152065241129084[37] = 0.0; - out_5384152065241129084[38] = 1.0; - out_5384152065241129084[39] = 0.0; - out_5384152065241129084[40] = 0.0; - out_5384152065241129084[41] = 0.0; - out_5384152065241129084[42] = 0.0; - out_5384152065241129084[43] = 0.0; - out_5384152065241129084[44] = 0.0; - out_5384152065241129084[45] = 0.0; - out_5384152065241129084[46] = 0.0; - out_5384152065241129084[47] = 0.0; - out_5384152065241129084[48] = 0.0; - out_5384152065241129084[49] = 0.0; - out_5384152065241129084[50] = 0.0; - out_5384152065241129084[51] = 0.0; - out_5384152065241129084[52] = 0.0; - out_5384152065241129084[53] = 0.0; - out_5384152065241129084[54] = 0.0; - out_5384152065241129084[55] = 0.0; - out_5384152065241129084[56] = 0.0; - out_5384152065241129084[57] = 1.0; - out_5384152065241129084[58] = 0.0; - out_5384152065241129084[59] = 0.0; - out_5384152065241129084[60] = 0.0; - out_5384152065241129084[61] = 0.0; - out_5384152065241129084[62] = 0.0; - out_5384152065241129084[63] = 0.0; - out_5384152065241129084[64] = 0.0; - out_5384152065241129084[65] = 0.0; - out_5384152065241129084[66] = 0.0; - out_5384152065241129084[67] = 0.0; - out_5384152065241129084[68] = 0.0; - out_5384152065241129084[69] = 0.0; - out_5384152065241129084[70] = 0.0; - out_5384152065241129084[71] = 0.0; - out_5384152065241129084[72] = 0.0; - out_5384152065241129084[73] = 0.0; - out_5384152065241129084[74] = 0.0; - out_5384152065241129084[75] = 0.0; - out_5384152065241129084[76] = 1.0; - out_5384152065241129084[77] = 0.0; - out_5384152065241129084[78] = 0.0; - out_5384152065241129084[79] = 0.0; - out_5384152065241129084[80] = 0.0; - out_5384152065241129084[81] = 0.0; - out_5384152065241129084[82] = 0.0; - out_5384152065241129084[83] = 0.0; - out_5384152065241129084[84] = 0.0; - out_5384152065241129084[85] = 0.0; - out_5384152065241129084[86] = 0.0; - out_5384152065241129084[87] = 0.0; - out_5384152065241129084[88] = 0.0; - out_5384152065241129084[89] = 0.0; - out_5384152065241129084[90] = 0.0; - out_5384152065241129084[91] = 0.0; - out_5384152065241129084[92] = 0.0; - out_5384152065241129084[93] = 0.0; - out_5384152065241129084[94] = 0.0; - out_5384152065241129084[95] = 1.0; - out_5384152065241129084[96] = 0.0; - out_5384152065241129084[97] = 0.0; - out_5384152065241129084[98] = 0.0; - out_5384152065241129084[99] = 0.0; - out_5384152065241129084[100] = 0.0; - out_5384152065241129084[101] = 0.0; - out_5384152065241129084[102] = 0.0; - out_5384152065241129084[103] = 0.0; - out_5384152065241129084[104] = 0.0; - out_5384152065241129084[105] = 0.0; - out_5384152065241129084[106] = 0.0; - out_5384152065241129084[107] = 0.0; - out_5384152065241129084[108] = 0.0; - out_5384152065241129084[109] = 0.0; - out_5384152065241129084[110] = 0.0; - out_5384152065241129084[111] = 0.0; - out_5384152065241129084[112] = 0.0; - out_5384152065241129084[113] = 0.0; - out_5384152065241129084[114] = 1.0; - out_5384152065241129084[115] = 0.0; - out_5384152065241129084[116] = 0.0; - out_5384152065241129084[117] = 0.0; - out_5384152065241129084[118] = 0.0; - out_5384152065241129084[119] = 0.0; - out_5384152065241129084[120] = 0.0; - out_5384152065241129084[121] = 0.0; - out_5384152065241129084[122] = 0.0; - out_5384152065241129084[123] = 0.0; - out_5384152065241129084[124] = 0.0; - out_5384152065241129084[125] = 0.0; - out_5384152065241129084[126] = 0.0; - out_5384152065241129084[127] = 0.0; - out_5384152065241129084[128] = 0.0; - out_5384152065241129084[129] = 0.0; - out_5384152065241129084[130] = 0.0; - out_5384152065241129084[131] = 0.0; - out_5384152065241129084[132] = 0.0; - out_5384152065241129084[133] = 1.0; - out_5384152065241129084[134] = 0.0; - out_5384152065241129084[135] = 0.0; - out_5384152065241129084[136] = 0.0; - out_5384152065241129084[137] = 0.0; - out_5384152065241129084[138] = 0.0; - out_5384152065241129084[139] = 0.0; - out_5384152065241129084[140] = 0.0; - out_5384152065241129084[141] = 0.0; - out_5384152065241129084[142] = 0.0; - out_5384152065241129084[143] = 0.0; - out_5384152065241129084[144] = 0.0; - out_5384152065241129084[145] = 0.0; - out_5384152065241129084[146] = 0.0; - out_5384152065241129084[147] = 0.0; - out_5384152065241129084[148] = 0.0; - out_5384152065241129084[149] = 0.0; - out_5384152065241129084[150] = 0.0; - out_5384152065241129084[151] = 0.0; - out_5384152065241129084[152] = 1.0; - out_5384152065241129084[153] = 0.0; - out_5384152065241129084[154] = 0.0; - out_5384152065241129084[155] = 0.0; - out_5384152065241129084[156] = 0.0; - out_5384152065241129084[157] = 0.0; - out_5384152065241129084[158] = 0.0; - out_5384152065241129084[159] = 0.0; - out_5384152065241129084[160] = 0.0; - out_5384152065241129084[161] = 0.0; - out_5384152065241129084[162] = 0.0; - out_5384152065241129084[163] = 0.0; - out_5384152065241129084[164] = 0.0; - out_5384152065241129084[165] = 0.0; - out_5384152065241129084[166] = 0.0; - out_5384152065241129084[167] = 0.0; - out_5384152065241129084[168] = 0.0; - out_5384152065241129084[169] = 0.0; - out_5384152065241129084[170] = 0.0; - out_5384152065241129084[171] = 1.0; - out_5384152065241129084[172] = 0.0; - out_5384152065241129084[173] = 0.0; - out_5384152065241129084[174] = 0.0; - out_5384152065241129084[175] = 0.0; - out_5384152065241129084[176] = 0.0; - out_5384152065241129084[177] = 0.0; - out_5384152065241129084[178] = 0.0; - out_5384152065241129084[179] = 0.0; - out_5384152065241129084[180] = 0.0; - out_5384152065241129084[181] = 0.0; - out_5384152065241129084[182] = 0.0; - out_5384152065241129084[183] = 0.0; - out_5384152065241129084[184] = 0.0; - out_5384152065241129084[185] = 0.0; - out_5384152065241129084[186] = 0.0; - out_5384152065241129084[187] = 0.0; - out_5384152065241129084[188] = 0.0; - out_5384152065241129084[189] = 0.0; - out_5384152065241129084[190] = 1.0; - out_5384152065241129084[191] = 0.0; - out_5384152065241129084[192] = 0.0; - out_5384152065241129084[193] = 0.0; - out_5384152065241129084[194] = 0.0; - out_5384152065241129084[195] = 0.0; - out_5384152065241129084[196] = 0.0; - out_5384152065241129084[197] = 0.0; - out_5384152065241129084[198] = 0.0; - out_5384152065241129084[199] = 0.0; - out_5384152065241129084[200] = 0.0; - out_5384152065241129084[201] = 0.0; - out_5384152065241129084[202] = 0.0; - out_5384152065241129084[203] = 0.0; - out_5384152065241129084[204] = 0.0; - out_5384152065241129084[205] = 0.0; - out_5384152065241129084[206] = 0.0; - out_5384152065241129084[207] = 0.0; - out_5384152065241129084[208] = 0.0; - out_5384152065241129084[209] = 1.0; - out_5384152065241129084[210] = 0.0; - out_5384152065241129084[211] = 0.0; - out_5384152065241129084[212] = 0.0; - out_5384152065241129084[213] = 0.0; - out_5384152065241129084[214] = 0.0; - out_5384152065241129084[215] = 0.0; - out_5384152065241129084[216] = 0.0; - out_5384152065241129084[217] = 0.0; - out_5384152065241129084[218] = 0.0; - out_5384152065241129084[219] = 0.0; - out_5384152065241129084[220] = 0.0; - out_5384152065241129084[221] = 0.0; - out_5384152065241129084[222] = 0.0; - out_5384152065241129084[223] = 0.0; - out_5384152065241129084[224] = 0.0; - out_5384152065241129084[225] = 0.0; - out_5384152065241129084[226] = 0.0; - out_5384152065241129084[227] = 0.0; - out_5384152065241129084[228] = 1.0; - out_5384152065241129084[229] = 0.0; - out_5384152065241129084[230] = 0.0; - out_5384152065241129084[231] = 0.0; - out_5384152065241129084[232] = 0.0; - out_5384152065241129084[233] = 0.0; - out_5384152065241129084[234] = 0.0; - out_5384152065241129084[235] = 0.0; - out_5384152065241129084[236] = 0.0; - out_5384152065241129084[237] = 0.0; - out_5384152065241129084[238] = 0.0; - out_5384152065241129084[239] = 0.0; - out_5384152065241129084[240] = 0.0; - out_5384152065241129084[241] = 0.0; - out_5384152065241129084[242] = 0.0; - out_5384152065241129084[243] = 0.0; - out_5384152065241129084[244] = 0.0; - out_5384152065241129084[245] = 0.0; - out_5384152065241129084[246] = 0.0; - out_5384152065241129084[247] = 1.0; - out_5384152065241129084[248] = 0.0; - out_5384152065241129084[249] = 0.0; - out_5384152065241129084[250] = 0.0; - out_5384152065241129084[251] = 0.0; - out_5384152065241129084[252] = 0.0; - out_5384152065241129084[253] = 0.0; - out_5384152065241129084[254] = 0.0; - out_5384152065241129084[255] = 0.0; - out_5384152065241129084[256] = 0.0; - out_5384152065241129084[257] = 0.0; - out_5384152065241129084[258] = 0.0; - out_5384152065241129084[259] = 0.0; - out_5384152065241129084[260] = 0.0; - out_5384152065241129084[261] = 0.0; - out_5384152065241129084[262] = 0.0; - out_5384152065241129084[263] = 0.0; - out_5384152065241129084[264] = 0.0; - out_5384152065241129084[265] = 0.0; - out_5384152065241129084[266] = 1.0; - out_5384152065241129084[267] = 0.0; - out_5384152065241129084[268] = 0.0; - out_5384152065241129084[269] = 0.0; - out_5384152065241129084[270] = 0.0; - out_5384152065241129084[271] = 0.0; - out_5384152065241129084[272] = 0.0; - out_5384152065241129084[273] = 0.0; - out_5384152065241129084[274] = 0.0; - out_5384152065241129084[275] = 0.0; - out_5384152065241129084[276] = 0.0; - out_5384152065241129084[277] = 0.0; - out_5384152065241129084[278] = 0.0; - out_5384152065241129084[279] = 0.0; - out_5384152065241129084[280] = 0.0; - out_5384152065241129084[281] = 0.0; - out_5384152065241129084[282] = 0.0; - out_5384152065241129084[283] = 0.0; - out_5384152065241129084[284] = 0.0; - out_5384152065241129084[285] = 1.0; - out_5384152065241129084[286] = 0.0; - out_5384152065241129084[287] = 0.0; - out_5384152065241129084[288] = 0.0; - out_5384152065241129084[289] = 0.0; - out_5384152065241129084[290] = 0.0; - out_5384152065241129084[291] = 0.0; - out_5384152065241129084[292] = 0.0; - out_5384152065241129084[293] = 0.0; - out_5384152065241129084[294] = 0.0; - out_5384152065241129084[295] = 0.0; - out_5384152065241129084[296] = 0.0; - out_5384152065241129084[297] = 0.0; - out_5384152065241129084[298] = 0.0; - out_5384152065241129084[299] = 0.0; - out_5384152065241129084[300] = 0.0; - out_5384152065241129084[301] = 0.0; - out_5384152065241129084[302] = 0.0; - out_5384152065241129084[303] = 0.0; - out_5384152065241129084[304] = 1.0; - out_5384152065241129084[305] = 0.0; - out_5384152065241129084[306] = 0.0; - out_5384152065241129084[307] = 0.0; - out_5384152065241129084[308] = 0.0; - out_5384152065241129084[309] = 0.0; - out_5384152065241129084[310] = 0.0; - out_5384152065241129084[311] = 0.0; - out_5384152065241129084[312] = 0.0; - out_5384152065241129084[313] = 0.0; - out_5384152065241129084[314] = 0.0; - out_5384152065241129084[315] = 0.0; - out_5384152065241129084[316] = 0.0; - out_5384152065241129084[317] = 0.0; - out_5384152065241129084[318] = 0.0; - out_5384152065241129084[319] = 0.0; - out_5384152065241129084[320] = 0.0; - out_5384152065241129084[321] = 0.0; - out_5384152065241129084[322] = 0.0; - out_5384152065241129084[323] = 1.0; +void H_mod_fun(double *state, double *out_313504174478215792) { + out_313504174478215792[0] = 1.0; + out_313504174478215792[1] = 0.0; + out_313504174478215792[2] = 0.0; + out_313504174478215792[3] = 0.0; + out_313504174478215792[4] = 0.0; + out_313504174478215792[5] = 0.0; + out_313504174478215792[6] = 0.0; + out_313504174478215792[7] = 0.0; + out_313504174478215792[8] = 0.0; + out_313504174478215792[9] = 0.0; + out_313504174478215792[10] = 0.0; + out_313504174478215792[11] = 0.0; + out_313504174478215792[12] = 0.0; + out_313504174478215792[13] = 0.0; + out_313504174478215792[14] = 0.0; + out_313504174478215792[15] = 0.0; + out_313504174478215792[16] = 0.0; + out_313504174478215792[17] = 0.0; + out_313504174478215792[18] = 0.0; + out_313504174478215792[19] = 1.0; + out_313504174478215792[20] = 0.0; + out_313504174478215792[21] = 0.0; + out_313504174478215792[22] = 0.0; + out_313504174478215792[23] = 0.0; + out_313504174478215792[24] = 0.0; + out_313504174478215792[25] = 0.0; + out_313504174478215792[26] = 0.0; + out_313504174478215792[27] = 0.0; + out_313504174478215792[28] = 0.0; + out_313504174478215792[29] = 0.0; + out_313504174478215792[30] = 0.0; + out_313504174478215792[31] = 0.0; + out_313504174478215792[32] = 0.0; + out_313504174478215792[33] = 0.0; + out_313504174478215792[34] = 0.0; + out_313504174478215792[35] = 0.0; + out_313504174478215792[36] = 0.0; + out_313504174478215792[37] = 0.0; + out_313504174478215792[38] = 1.0; + out_313504174478215792[39] = 0.0; + out_313504174478215792[40] = 0.0; + out_313504174478215792[41] = 0.0; + out_313504174478215792[42] = 0.0; + out_313504174478215792[43] = 0.0; + out_313504174478215792[44] = 0.0; + out_313504174478215792[45] = 0.0; + out_313504174478215792[46] = 0.0; + out_313504174478215792[47] = 0.0; + out_313504174478215792[48] = 0.0; + out_313504174478215792[49] = 0.0; + out_313504174478215792[50] = 0.0; + out_313504174478215792[51] = 0.0; + out_313504174478215792[52] = 0.0; + out_313504174478215792[53] = 0.0; + out_313504174478215792[54] = 0.0; + out_313504174478215792[55] = 0.0; + out_313504174478215792[56] = 0.0; + out_313504174478215792[57] = 1.0; + out_313504174478215792[58] = 0.0; + out_313504174478215792[59] = 0.0; + out_313504174478215792[60] = 0.0; + out_313504174478215792[61] = 0.0; + out_313504174478215792[62] = 0.0; + out_313504174478215792[63] = 0.0; + out_313504174478215792[64] = 0.0; + out_313504174478215792[65] = 0.0; + out_313504174478215792[66] = 0.0; + out_313504174478215792[67] = 0.0; + out_313504174478215792[68] = 0.0; + out_313504174478215792[69] = 0.0; + out_313504174478215792[70] = 0.0; + out_313504174478215792[71] = 0.0; + out_313504174478215792[72] = 0.0; + out_313504174478215792[73] = 0.0; + out_313504174478215792[74] = 0.0; + out_313504174478215792[75] = 0.0; + out_313504174478215792[76] = 1.0; + out_313504174478215792[77] = 0.0; + out_313504174478215792[78] = 0.0; + out_313504174478215792[79] = 0.0; + out_313504174478215792[80] = 0.0; + out_313504174478215792[81] = 0.0; + out_313504174478215792[82] = 0.0; + out_313504174478215792[83] = 0.0; + out_313504174478215792[84] = 0.0; + out_313504174478215792[85] = 0.0; + out_313504174478215792[86] = 0.0; + out_313504174478215792[87] = 0.0; + out_313504174478215792[88] = 0.0; + out_313504174478215792[89] = 0.0; + out_313504174478215792[90] = 0.0; + out_313504174478215792[91] = 0.0; + out_313504174478215792[92] = 0.0; + out_313504174478215792[93] = 0.0; + out_313504174478215792[94] = 0.0; + out_313504174478215792[95] = 1.0; + out_313504174478215792[96] = 0.0; + out_313504174478215792[97] = 0.0; + out_313504174478215792[98] = 0.0; + out_313504174478215792[99] = 0.0; + out_313504174478215792[100] = 0.0; + out_313504174478215792[101] = 0.0; + out_313504174478215792[102] = 0.0; + out_313504174478215792[103] = 0.0; + out_313504174478215792[104] = 0.0; + out_313504174478215792[105] = 0.0; + out_313504174478215792[106] = 0.0; + out_313504174478215792[107] = 0.0; + out_313504174478215792[108] = 0.0; + out_313504174478215792[109] = 0.0; + out_313504174478215792[110] = 0.0; + out_313504174478215792[111] = 0.0; + out_313504174478215792[112] = 0.0; + out_313504174478215792[113] = 0.0; + out_313504174478215792[114] = 1.0; + out_313504174478215792[115] = 0.0; + out_313504174478215792[116] = 0.0; + out_313504174478215792[117] = 0.0; + out_313504174478215792[118] = 0.0; + out_313504174478215792[119] = 0.0; + out_313504174478215792[120] = 0.0; + out_313504174478215792[121] = 0.0; + out_313504174478215792[122] = 0.0; + out_313504174478215792[123] = 0.0; + out_313504174478215792[124] = 0.0; + out_313504174478215792[125] = 0.0; + out_313504174478215792[126] = 0.0; + out_313504174478215792[127] = 0.0; + out_313504174478215792[128] = 0.0; + out_313504174478215792[129] = 0.0; + out_313504174478215792[130] = 0.0; + out_313504174478215792[131] = 0.0; + out_313504174478215792[132] = 0.0; + out_313504174478215792[133] = 1.0; + out_313504174478215792[134] = 0.0; + out_313504174478215792[135] = 0.0; + out_313504174478215792[136] = 0.0; + out_313504174478215792[137] = 0.0; + out_313504174478215792[138] = 0.0; + out_313504174478215792[139] = 0.0; + out_313504174478215792[140] = 0.0; + out_313504174478215792[141] = 0.0; + out_313504174478215792[142] = 0.0; + out_313504174478215792[143] = 0.0; + out_313504174478215792[144] = 0.0; + out_313504174478215792[145] = 0.0; + out_313504174478215792[146] = 0.0; + out_313504174478215792[147] = 0.0; + out_313504174478215792[148] = 0.0; + out_313504174478215792[149] = 0.0; + out_313504174478215792[150] = 0.0; + out_313504174478215792[151] = 0.0; + out_313504174478215792[152] = 1.0; + out_313504174478215792[153] = 0.0; + out_313504174478215792[154] = 0.0; + out_313504174478215792[155] = 0.0; + out_313504174478215792[156] = 0.0; + out_313504174478215792[157] = 0.0; + out_313504174478215792[158] = 0.0; + out_313504174478215792[159] = 0.0; + out_313504174478215792[160] = 0.0; + out_313504174478215792[161] = 0.0; + out_313504174478215792[162] = 0.0; + out_313504174478215792[163] = 0.0; + out_313504174478215792[164] = 0.0; + out_313504174478215792[165] = 0.0; + out_313504174478215792[166] = 0.0; + out_313504174478215792[167] = 0.0; + out_313504174478215792[168] = 0.0; + out_313504174478215792[169] = 0.0; + out_313504174478215792[170] = 0.0; + out_313504174478215792[171] = 1.0; + out_313504174478215792[172] = 0.0; + out_313504174478215792[173] = 0.0; + out_313504174478215792[174] = 0.0; + out_313504174478215792[175] = 0.0; + out_313504174478215792[176] = 0.0; + out_313504174478215792[177] = 0.0; + out_313504174478215792[178] = 0.0; + out_313504174478215792[179] = 0.0; + out_313504174478215792[180] = 0.0; + out_313504174478215792[181] = 0.0; + out_313504174478215792[182] = 0.0; + out_313504174478215792[183] = 0.0; + out_313504174478215792[184] = 0.0; + out_313504174478215792[185] = 0.0; + out_313504174478215792[186] = 0.0; + out_313504174478215792[187] = 0.0; + out_313504174478215792[188] = 0.0; + out_313504174478215792[189] = 0.0; + out_313504174478215792[190] = 1.0; + out_313504174478215792[191] = 0.0; + out_313504174478215792[192] = 0.0; + out_313504174478215792[193] = 0.0; + out_313504174478215792[194] = 0.0; + out_313504174478215792[195] = 0.0; + out_313504174478215792[196] = 0.0; + out_313504174478215792[197] = 0.0; + out_313504174478215792[198] = 0.0; + out_313504174478215792[199] = 0.0; + out_313504174478215792[200] = 0.0; + out_313504174478215792[201] = 0.0; + out_313504174478215792[202] = 0.0; + out_313504174478215792[203] = 0.0; + out_313504174478215792[204] = 0.0; + out_313504174478215792[205] = 0.0; + out_313504174478215792[206] = 0.0; + out_313504174478215792[207] = 0.0; + out_313504174478215792[208] = 0.0; + out_313504174478215792[209] = 1.0; + out_313504174478215792[210] = 0.0; + out_313504174478215792[211] = 0.0; + out_313504174478215792[212] = 0.0; + out_313504174478215792[213] = 0.0; + out_313504174478215792[214] = 0.0; + out_313504174478215792[215] = 0.0; + out_313504174478215792[216] = 0.0; + out_313504174478215792[217] = 0.0; + out_313504174478215792[218] = 0.0; + out_313504174478215792[219] = 0.0; + out_313504174478215792[220] = 0.0; + out_313504174478215792[221] = 0.0; + out_313504174478215792[222] = 0.0; + out_313504174478215792[223] = 0.0; + out_313504174478215792[224] = 0.0; + out_313504174478215792[225] = 0.0; + out_313504174478215792[226] = 0.0; + out_313504174478215792[227] = 0.0; + out_313504174478215792[228] = 1.0; + out_313504174478215792[229] = 0.0; + out_313504174478215792[230] = 0.0; + out_313504174478215792[231] = 0.0; + out_313504174478215792[232] = 0.0; + out_313504174478215792[233] = 0.0; + out_313504174478215792[234] = 0.0; + out_313504174478215792[235] = 0.0; + out_313504174478215792[236] = 0.0; + out_313504174478215792[237] = 0.0; + out_313504174478215792[238] = 0.0; + out_313504174478215792[239] = 0.0; + out_313504174478215792[240] = 0.0; + out_313504174478215792[241] = 0.0; + out_313504174478215792[242] = 0.0; + out_313504174478215792[243] = 0.0; + out_313504174478215792[244] = 0.0; + out_313504174478215792[245] = 0.0; + out_313504174478215792[246] = 0.0; + out_313504174478215792[247] = 1.0; + out_313504174478215792[248] = 0.0; + out_313504174478215792[249] = 0.0; + out_313504174478215792[250] = 0.0; + out_313504174478215792[251] = 0.0; + out_313504174478215792[252] = 0.0; + out_313504174478215792[253] = 0.0; + out_313504174478215792[254] = 0.0; + out_313504174478215792[255] = 0.0; + out_313504174478215792[256] = 0.0; + out_313504174478215792[257] = 0.0; + out_313504174478215792[258] = 0.0; + out_313504174478215792[259] = 0.0; + out_313504174478215792[260] = 0.0; + out_313504174478215792[261] = 0.0; + out_313504174478215792[262] = 0.0; + out_313504174478215792[263] = 0.0; + out_313504174478215792[264] = 0.0; + out_313504174478215792[265] = 0.0; + out_313504174478215792[266] = 1.0; + out_313504174478215792[267] = 0.0; + out_313504174478215792[268] = 0.0; + out_313504174478215792[269] = 0.0; + out_313504174478215792[270] = 0.0; + out_313504174478215792[271] = 0.0; + out_313504174478215792[272] = 0.0; + out_313504174478215792[273] = 0.0; + out_313504174478215792[274] = 0.0; + out_313504174478215792[275] = 0.0; + out_313504174478215792[276] = 0.0; + out_313504174478215792[277] = 0.0; + out_313504174478215792[278] = 0.0; + out_313504174478215792[279] = 0.0; + out_313504174478215792[280] = 0.0; + out_313504174478215792[281] = 0.0; + out_313504174478215792[282] = 0.0; + out_313504174478215792[283] = 0.0; + out_313504174478215792[284] = 0.0; + out_313504174478215792[285] = 1.0; + out_313504174478215792[286] = 0.0; + out_313504174478215792[287] = 0.0; + out_313504174478215792[288] = 0.0; + out_313504174478215792[289] = 0.0; + out_313504174478215792[290] = 0.0; + out_313504174478215792[291] = 0.0; + out_313504174478215792[292] = 0.0; + out_313504174478215792[293] = 0.0; + out_313504174478215792[294] = 0.0; + out_313504174478215792[295] = 0.0; + out_313504174478215792[296] = 0.0; + out_313504174478215792[297] = 0.0; + out_313504174478215792[298] = 0.0; + out_313504174478215792[299] = 0.0; + out_313504174478215792[300] = 0.0; + out_313504174478215792[301] = 0.0; + out_313504174478215792[302] = 0.0; + out_313504174478215792[303] = 0.0; + out_313504174478215792[304] = 1.0; + out_313504174478215792[305] = 0.0; + out_313504174478215792[306] = 0.0; + out_313504174478215792[307] = 0.0; + out_313504174478215792[308] = 0.0; + out_313504174478215792[309] = 0.0; + out_313504174478215792[310] = 0.0; + out_313504174478215792[311] = 0.0; + out_313504174478215792[312] = 0.0; + out_313504174478215792[313] = 0.0; + out_313504174478215792[314] = 0.0; + out_313504174478215792[315] = 0.0; + out_313504174478215792[316] = 0.0; + out_313504174478215792[317] = 0.0; + out_313504174478215792[318] = 0.0; + out_313504174478215792[319] = 0.0; + out_313504174478215792[320] = 0.0; + out_313504174478215792[321] = 0.0; + out_313504174478215792[322] = 0.0; + out_313504174478215792[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1966290028419981018) { - out_1966290028419981018[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_1966290028419981018[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_1966290028419981018[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_1966290028419981018[3] = dt*state[12] + state[3]; - out_1966290028419981018[4] = dt*state[13] + state[4]; - out_1966290028419981018[5] = dt*state[14] + state[5]; - out_1966290028419981018[6] = state[6]; - out_1966290028419981018[7] = state[7]; - out_1966290028419981018[8] = state[8]; - out_1966290028419981018[9] = state[9]; - out_1966290028419981018[10] = state[10]; - out_1966290028419981018[11] = state[11]; - out_1966290028419981018[12] = state[12]; - out_1966290028419981018[13] = state[13]; - out_1966290028419981018[14] = state[14]; - out_1966290028419981018[15] = state[15]; - out_1966290028419981018[16] = state[16]; - out_1966290028419981018[17] = state[17]; +void f_fun(double *state, double dt, double *out_8978916703249748052) { + out_8978916703249748052[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_8978916703249748052[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_8978916703249748052[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_8978916703249748052[3] = dt*state[12] + state[3]; + out_8978916703249748052[4] = dt*state[13] + state[4]; + out_8978916703249748052[5] = dt*state[14] + state[5]; + out_8978916703249748052[6] = state[6]; + out_8978916703249748052[7] = state[7]; + out_8978916703249748052[8] = state[8]; + out_8978916703249748052[9] = state[9]; + out_8978916703249748052[10] = state[10]; + out_8978916703249748052[11] = state[11]; + out_8978916703249748052[12] = state[12]; + out_8978916703249748052[13] = state[13]; + out_8978916703249748052[14] = state[14]; + out_8978916703249748052[15] = state[15]; + out_8978916703249748052[16] = state[16]; + out_8978916703249748052[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8500986371107107872) { - out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[2] = 0; - out_8500986371107107872[3] = 0; - out_8500986371107107872[4] = 0; - out_8500986371107107872[5] = 0; - out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[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_8500986371107107872[9] = 0; - out_8500986371107107872[10] = 0; - out_8500986371107107872[11] = 0; - out_8500986371107107872[12] = 0; - out_8500986371107107872[13] = 0; - out_8500986371107107872[14] = 0; - out_8500986371107107872[15] = 0; - out_8500986371107107872[16] = 0; - out_8500986371107107872[17] = 0; - out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[20] = 0; - out_8500986371107107872[21] = 0; - out_8500986371107107872[22] = 0; - out_8500986371107107872[23] = 0; - out_8500986371107107872[24] = 0; - out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[27] = 0; - out_8500986371107107872[28] = 0; - out_8500986371107107872[29] = 0; - out_8500986371107107872[30] = 0; - out_8500986371107107872[31] = 0; - out_8500986371107107872[32] = 0; - out_8500986371107107872[33] = 0; - out_8500986371107107872[34] = 0; - out_8500986371107107872[35] = 0; - out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[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_8500986371107107872[39] = 0; - out_8500986371107107872[40] = 0; - out_8500986371107107872[41] = 0; - out_8500986371107107872[42] = 0; - out_8500986371107107872[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_8500986371107107872[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_8500986371107107872[45] = 0; - out_8500986371107107872[46] = 0; - out_8500986371107107872[47] = 0; - out_8500986371107107872[48] = 0; - out_8500986371107107872[49] = 0; - out_8500986371107107872[50] = 0; - out_8500986371107107872[51] = 0; - out_8500986371107107872[52] = 0; - out_8500986371107107872[53] = 0; - out_8500986371107107872[54] = 0; - out_8500986371107107872[55] = 0; - out_8500986371107107872[56] = 0; - out_8500986371107107872[57] = 1; - out_8500986371107107872[58] = 0; - out_8500986371107107872[59] = 0; - out_8500986371107107872[60] = 0; - out_8500986371107107872[61] = 0; - out_8500986371107107872[62] = 0; - out_8500986371107107872[63] = 0; - out_8500986371107107872[64] = 0; - out_8500986371107107872[65] = 0; - out_8500986371107107872[66] = dt; - out_8500986371107107872[67] = 0; - out_8500986371107107872[68] = 0; - out_8500986371107107872[69] = 0; - out_8500986371107107872[70] = 0; - out_8500986371107107872[71] = 0; - out_8500986371107107872[72] = 0; - out_8500986371107107872[73] = 0; - out_8500986371107107872[74] = 0; - out_8500986371107107872[75] = 0; - out_8500986371107107872[76] = 1; - out_8500986371107107872[77] = 0; - out_8500986371107107872[78] = 0; - out_8500986371107107872[79] = 0; - out_8500986371107107872[80] = 0; - out_8500986371107107872[81] = 0; - out_8500986371107107872[82] = 0; - out_8500986371107107872[83] = 0; - out_8500986371107107872[84] = 0; - out_8500986371107107872[85] = dt; - out_8500986371107107872[86] = 0; - out_8500986371107107872[87] = 0; - out_8500986371107107872[88] = 0; - out_8500986371107107872[89] = 0; - out_8500986371107107872[90] = 0; - out_8500986371107107872[91] = 0; - out_8500986371107107872[92] = 0; - out_8500986371107107872[93] = 0; - out_8500986371107107872[94] = 0; - out_8500986371107107872[95] = 1; - out_8500986371107107872[96] = 0; - out_8500986371107107872[97] = 0; - out_8500986371107107872[98] = 0; - out_8500986371107107872[99] = 0; - out_8500986371107107872[100] = 0; - out_8500986371107107872[101] = 0; - out_8500986371107107872[102] = 0; - out_8500986371107107872[103] = 0; - out_8500986371107107872[104] = dt; - out_8500986371107107872[105] = 0; - out_8500986371107107872[106] = 0; - out_8500986371107107872[107] = 0; - out_8500986371107107872[108] = 0; - out_8500986371107107872[109] = 0; - out_8500986371107107872[110] = 0; - out_8500986371107107872[111] = 0; - out_8500986371107107872[112] = 0; - out_8500986371107107872[113] = 0; - out_8500986371107107872[114] = 1; - out_8500986371107107872[115] = 0; - out_8500986371107107872[116] = 0; - out_8500986371107107872[117] = 0; - out_8500986371107107872[118] = 0; - out_8500986371107107872[119] = 0; - out_8500986371107107872[120] = 0; - out_8500986371107107872[121] = 0; - out_8500986371107107872[122] = 0; - out_8500986371107107872[123] = 0; - out_8500986371107107872[124] = 0; - out_8500986371107107872[125] = 0; - out_8500986371107107872[126] = 0; - out_8500986371107107872[127] = 0; - out_8500986371107107872[128] = 0; - out_8500986371107107872[129] = 0; - out_8500986371107107872[130] = 0; - out_8500986371107107872[131] = 0; - out_8500986371107107872[132] = 0; - out_8500986371107107872[133] = 1; - out_8500986371107107872[134] = 0; - out_8500986371107107872[135] = 0; - out_8500986371107107872[136] = 0; - out_8500986371107107872[137] = 0; - out_8500986371107107872[138] = 0; - out_8500986371107107872[139] = 0; - out_8500986371107107872[140] = 0; - out_8500986371107107872[141] = 0; - out_8500986371107107872[142] = 0; - out_8500986371107107872[143] = 0; - out_8500986371107107872[144] = 0; - out_8500986371107107872[145] = 0; - out_8500986371107107872[146] = 0; - out_8500986371107107872[147] = 0; - out_8500986371107107872[148] = 0; - out_8500986371107107872[149] = 0; - out_8500986371107107872[150] = 0; - out_8500986371107107872[151] = 0; - out_8500986371107107872[152] = 1; - out_8500986371107107872[153] = 0; - out_8500986371107107872[154] = 0; - out_8500986371107107872[155] = 0; - out_8500986371107107872[156] = 0; - out_8500986371107107872[157] = 0; - out_8500986371107107872[158] = 0; - out_8500986371107107872[159] = 0; - out_8500986371107107872[160] = 0; - out_8500986371107107872[161] = 0; - out_8500986371107107872[162] = 0; - out_8500986371107107872[163] = 0; - out_8500986371107107872[164] = 0; - out_8500986371107107872[165] = 0; - out_8500986371107107872[166] = 0; - out_8500986371107107872[167] = 0; - out_8500986371107107872[168] = 0; - out_8500986371107107872[169] = 0; - out_8500986371107107872[170] = 0; - out_8500986371107107872[171] = 1; - out_8500986371107107872[172] = 0; - out_8500986371107107872[173] = 0; - out_8500986371107107872[174] = 0; - out_8500986371107107872[175] = 0; - out_8500986371107107872[176] = 0; - out_8500986371107107872[177] = 0; - out_8500986371107107872[178] = 0; - out_8500986371107107872[179] = 0; - out_8500986371107107872[180] = 0; - out_8500986371107107872[181] = 0; - out_8500986371107107872[182] = 0; - out_8500986371107107872[183] = 0; - out_8500986371107107872[184] = 0; - out_8500986371107107872[185] = 0; - out_8500986371107107872[186] = 0; - out_8500986371107107872[187] = 0; - out_8500986371107107872[188] = 0; - out_8500986371107107872[189] = 0; - out_8500986371107107872[190] = 1; - out_8500986371107107872[191] = 0; - out_8500986371107107872[192] = 0; - out_8500986371107107872[193] = 0; - out_8500986371107107872[194] = 0; - out_8500986371107107872[195] = 0; - out_8500986371107107872[196] = 0; - out_8500986371107107872[197] = 0; - out_8500986371107107872[198] = 0; - out_8500986371107107872[199] = 0; - out_8500986371107107872[200] = 0; - out_8500986371107107872[201] = 0; - out_8500986371107107872[202] = 0; - out_8500986371107107872[203] = 0; - out_8500986371107107872[204] = 0; - out_8500986371107107872[205] = 0; - out_8500986371107107872[206] = 0; - out_8500986371107107872[207] = 0; - out_8500986371107107872[208] = 0; - out_8500986371107107872[209] = 1; - out_8500986371107107872[210] = 0; - out_8500986371107107872[211] = 0; - out_8500986371107107872[212] = 0; - out_8500986371107107872[213] = 0; - out_8500986371107107872[214] = 0; - out_8500986371107107872[215] = 0; - out_8500986371107107872[216] = 0; - out_8500986371107107872[217] = 0; - out_8500986371107107872[218] = 0; - out_8500986371107107872[219] = 0; - out_8500986371107107872[220] = 0; - out_8500986371107107872[221] = 0; - out_8500986371107107872[222] = 0; - out_8500986371107107872[223] = 0; - out_8500986371107107872[224] = 0; - out_8500986371107107872[225] = 0; - out_8500986371107107872[226] = 0; - out_8500986371107107872[227] = 0; - out_8500986371107107872[228] = 1; - out_8500986371107107872[229] = 0; - out_8500986371107107872[230] = 0; - out_8500986371107107872[231] = 0; - out_8500986371107107872[232] = 0; - out_8500986371107107872[233] = 0; - out_8500986371107107872[234] = 0; - out_8500986371107107872[235] = 0; - out_8500986371107107872[236] = 0; - out_8500986371107107872[237] = 0; - out_8500986371107107872[238] = 0; - out_8500986371107107872[239] = 0; - out_8500986371107107872[240] = 0; - out_8500986371107107872[241] = 0; - out_8500986371107107872[242] = 0; - out_8500986371107107872[243] = 0; - out_8500986371107107872[244] = 0; - out_8500986371107107872[245] = 0; - out_8500986371107107872[246] = 0; - out_8500986371107107872[247] = 1; - out_8500986371107107872[248] = 0; - out_8500986371107107872[249] = 0; - out_8500986371107107872[250] = 0; - out_8500986371107107872[251] = 0; - out_8500986371107107872[252] = 0; - out_8500986371107107872[253] = 0; - out_8500986371107107872[254] = 0; - out_8500986371107107872[255] = 0; - out_8500986371107107872[256] = 0; - out_8500986371107107872[257] = 0; - out_8500986371107107872[258] = 0; - out_8500986371107107872[259] = 0; - out_8500986371107107872[260] = 0; - out_8500986371107107872[261] = 0; - out_8500986371107107872[262] = 0; - out_8500986371107107872[263] = 0; - out_8500986371107107872[264] = 0; - out_8500986371107107872[265] = 0; - out_8500986371107107872[266] = 1; - out_8500986371107107872[267] = 0; - out_8500986371107107872[268] = 0; - out_8500986371107107872[269] = 0; - out_8500986371107107872[270] = 0; - out_8500986371107107872[271] = 0; - out_8500986371107107872[272] = 0; - out_8500986371107107872[273] = 0; - out_8500986371107107872[274] = 0; - out_8500986371107107872[275] = 0; - out_8500986371107107872[276] = 0; - out_8500986371107107872[277] = 0; - out_8500986371107107872[278] = 0; - out_8500986371107107872[279] = 0; - out_8500986371107107872[280] = 0; - out_8500986371107107872[281] = 0; - out_8500986371107107872[282] = 0; - out_8500986371107107872[283] = 0; - out_8500986371107107872[284] = 0; - out_8500986371107107872[285] = 1; - out_8500986371107107872[286] = 0; - out_8500986371107107872[287] = 0; - out_8500986371107107872[288] = 0; - out_8500986371107107872[289] = 0; - out_8500986371107107872[290] = 0; - out_8500986371107107872[291] = 0; - out_8500986371107107872[292] = 0; - out_8500986371107107872[293] = 0; - out_8500986371107107872[294] = 0; - out_8500986371107107872[295] = 0; - out_8500986371107107872[296] = 0; - out_8500986371107107872[297] = 0; - out_8500986371107107872[298] = 0; - out_8500986371107107872[299] = 0; - out_8500986371107107872[300] = 0; - out_8500986371107107872[301] = 0; - out_8500986371107107872[302] = 0; - out_8500986371107107872[303] = 0; - out_8500986371107107872[304] = 1; - out_8500986371107107872[305] = 0; - out_8500986371107107872[306] = 0; - out_8500986371107107872[307] = 0; - out_8500986371107107872[308] = 0; - out_8500986371107107872[309] = 0; - out_8500986371107107872[310] = 0; - out_8500986371107107872[311] = 0; - out_8500986371107107872[312] = 0; - out_8500986371107107872[313] = 0; - out_8500986371107107872[314] = 0; - out_8500986371107107872[315] = 0; - out_8500986371107107872[316] = 0; - out_8500986371107107872[317] = 0; - out_8500986371107107872[318] = 0; - out_8500986371107107872[319] = 0; - out_8500986371107107872[320] = 0; - out_8500986371107107872[321] = 0; - out_8500986371107107872[322] = 0; - out_8500986371107107872[323] = 1; +void F_fun(double *state, double dt, double *out_3060487946531646253) { + out_3060487946531646253[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_3060487946531646253[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_3060487946531646253[2] = 0; + out_3060487946531646253[3] = 0; + out_3060487946531646253[4] = 0; + out_3060487946531646253[5] = 0; + out_3060487946531646253[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_3060487946531646253[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_3060487946531646253[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_3060487946531646253[9] = 0; + out_3060487946531646253[10] = 0; + out_3060487946531646253[11] = 0; + out_3060487946531646253[12] = 0; + out_3060487946531646253[13] = 0; + out_3060487946531646253[14] = 0; + out_3060487946531646253[15] = 0; + out_3060487946531646253[16] = 0; + out_3060487946531646253[17] = 0; + out_3060487946531646253[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_3060487946531646253[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_3060487946531646253[20] = 0; + out_3060487946531646253[21] = 0; + out_3060487946531646253[22] = 0; + out_3060487946531646253[23] = 0; + out_3060487946531646253[24] = 0; + out_3060487946531646253[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_3060487946531646253[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_3060487946531646253[27] = 0; + out_3060487946531646253[28] = 0; + out_3060487946531646253[29] = 0; + out_3060487946531646253[30] = 0; + out_3060487946531646253[31] = 0; + out_3060487946531646253[32] = 0; + out_3060487946531646253[33] = 0; + out_3060487946531646253[34] = 0; + out_3060487946531646253[35] = 0; + out_3060487946531646253[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_3060487946531646253[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_3060487946531646253[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_3060487946531646253[39] = 0; + out_3060487946531646253[40] = 0; + out_3060487946531646253[41] = 0; + out_3060487946531646253[42] = 0; + out_3060487946531646253[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_3060487946531646253[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_3060487946531646253[45] = 0; + out_3060487946531646253[46] = 0; + out_3060487946531646253[47] = 0; + out_3060487946531646253[48] = 0; + out_3060487946531646253[49] = 0; + out_3060487946531646253[50] = 0; + out_3060487946531646253[51] = 0; + out_3060487946531646253[52] = 0; + out_3060487946531646253[53] = 0; + out_3060487946531646253[54] = 0; + out_3060487946531646253[55] = 0; + out_3060487946531646253[56] = 0; + out_3060487946531646253[57] = 1; + out_3060487946531646253[58] = 0; + out_3060487946531646253[59] = 0; + out_3060487946531646253[60] = 0; + out_3060487946531646253[61] = 0; + out_3060487946531646253[62] = 0; + out_3060487946531646253[63] = 0; + out_3060487946531646253[64] = 0; + out_3060487946531646253[65] = 0; + out_3060487946531646253[66] = dt; + out_3060487946531646253[67] = 0; + out_3060487946531646253[68] = 0; + out_3060487946531646253[69] = 0; + out_3060487946531646253[70] = 0; + out_3060487946531646253[71] = 0; + out_3060487946531646253[72] = 0; + out_3060487946531646253[73] = 0; + out_3060487946531646253[74] = 0; + out_3060487946531646253[75] = 0; + out_3060487946531646253[76] = 1; + out_3060487946531646253[77] = 0; + out_3060487946531646253[78] = 0; + out_3060487946531646253[79] = 0; + out_3060487946531646253[80] = 0; + out_3060487946531646253[81] = 0; + out_3060487946531646253[82] = 0; + out_3060487946531646253[83] = 0; + out_3060487946531646253[84] = 0; + out_3060487946531646253[85] = dt; + out_3060487946531646253[86] = 0; + out_3060487946531646253[87] = 0; + out_3060487946531646253[88] = 0; + out_3060487946531646253[89] = 0; + out_3060487946531646253[90] = 0; + out_3060487946531646253[91] = 0; + out_3060487946531646253[92] = 0; + out_3060487946531646253[93] = 0; + out_3060487946531646253[94] = 0; + out_3060487946531646253[95] = 1; + out_3060487946531646253[96] = 0; + out_3060487946531646253[97] = 0; + out_3060487946531646253[98] = 0; + out_3060487946531646253[99] = 0; + out_3060487946531646253[100] = 0; + out_3060487946531646253[101] = 0; + out_3060487946531646253[102] = 0; + out_3060487946531646253[103] = 0; + out_3060487946531646253[104] = dt; + out_3060487946531646253[105] = 0; + out_3060487946531646253[106] = 0; + out_3060487946531646253[107] = 0; + out_3060487946531646253[108] = 0; + out_3060487946531646253[109] = 0; + out_3060487946531646253[110] = 0; + out_3060487946531646253[111] = 0; + out_3060487946531646253[112] = 0; + out_3060487946531646253[113] = 0; + out_3060487946531646253[114] = 1; + out_3060487946531646253[115] = 0; + out_3060487946531646253[116] = 0; + out_3060487946531646253[117] = 0; + out_3060487946531646253[118] = 0; + out_3060487946531646253[119] = 0; + out_3060487946531646253[120] = 0; + out_3060487946531646253[121] = 0; + out_3060487946531646253[122] = 0; + out_3060487946531646253[123] = 0; + out_3060487946531646253[124] = 0; + out_3060487946531646253[125] = 0; + out_3060487946531646253[126] = 0; + out_3060487946531646253[127] = 0; + out_3060487946531646253[128] = 0; + out_3060487946531646253[129] = 0; + out_3060487946531646253[130] = 0; + out_3060487946531646253[131] = 0; + out_3060487946531646253[132] = 0; + out_3060487946531646253[133] = 1; + out_3060487946531646253[134] = 0; + out_3060487946531646253[135] = 0; + out_3060487946531646253[136] = 0; + out_3060487946531646253[137] = 0; + out_3060487946531646253[138] = 0; + out_3060487946531646253[139] = 0; + out_3060487946531646253[140] = 0; + out_3060487946531646253[141] = 0; + out_3060487946531646253[142] = 0; + out_3060487946531646253[143] = 0; + out_3060487946531646253[144] = 0; + out_3060487946531646253[145] = 0; + out_3060487946531646253[146] = 0; + out_3060487946531646253[147] = 0; + out_3060487946531646253[148] = 0; + out_3060487946531646253[149] = 0; + out_3060487946531646253[150] = 0; + out_3060487946531646253[151] = 0; + out_3060487946531646253[152] = 1; + out_3060487946531646253[153] = 0; + out_3060487946531646253[154] = 0; + out_3060487946531646253[155] = 0; + out_3060487946531646253[156] = 0; + out_3060487946531646253[157] = 0; + out_3060487946531646253[158] = 0; + out_3060487946531646253[159] = 0; + out_3060487946531646253[160] = 0; + out_3060487946531646253[161] = 0; + out_3060487946531646253[162] = 0; + out_3060487946531646253[163] = 0; + out_3060487946531646253[164] = 0; + out_3060487946531646253[165] = 0; + out_3060487946531646253[166] = 0; + out_3060487946531646253[167] = 0; + out_3060487946531646253[168] = 0; + out_3060487946531646253[169] = 0; + out_3060487946531646253[170] = 0; + out_3060487946531646253[171] = 1; + out_3060487946531646253[172] = 0; + out_3060487946531646253[173] = 0; + out_3060487946531646253[174] = 0; + out_3060487946531646253[175] = 0; + out_3060487946531646253[176] = 0; + out_3060487946531646253[177] = 0; + out_3060487946531646253[178] = 0; + out_3060487946531646253[179] = 0; + out_3060487946531646253[180] = 0; + out_3060487946531646253[181] = 0; + out_3060487946531646253[182] = 0; + out_3060487946531646253[183] = 0; + out_3060487946531646253[184] = 0; + out_3060487946531646253[185] = 0; + out_3060487946531646253[186] = 0; + out_3060487946531646253[187] = 0; + out_3060487946531646253[188] = 0; + out_3060487946531646253[189] = 0; + out_3060487946531646253[190] = 1; + out_3060487946531646253[191] = 0; + out_3060487946531646253[192] = 0; + out_3060487946531646253[193] = 0; + out_3060487946531646253[194] = 0; + out_3060487946531646253[195] = 0; + out_3060487946531646253[196] = 0; + out_3060487946531646253[197] = 0; + out_3060487946531646253[198] = 0; + out_3060487946531646253[199] = 0; + out_3060487946531646253[200] = 0; + out_3060487946531646253[201] = 0; + out_3060487946531646253[202] = 0; + out_3060487946531646253[203] = 0; + out_3060487946531646253[204] = 0; + out_3060487946531646253[205] = 0; + out_3060487946531646253[206] = 0; + out_3060487946531646253[207] = 0; + out_3060487946531646253[208] = 0; + out_3060487946531646253[209] = 1; + out_3060487946531646253[210] = 0; + out_3060487946531646253[211] = 0; + out_3060487946531646253[212] = 0; + out_3060487946531646253[213] = 0; + out_3060487946531646253[214] = 0; + out_3060487946531646253[215] = 0; + out_3060487946531646253[216] = 0; + out_3060487946531646253[217] = 0; + out_3060487946531646253[218] = 0; + out_3060487946531646253[219] = 0; + out_3060487946531646253[220] = 0; + out_3060487946531646253[221] = 0; + out_3060487946531646253[222] = 0; + out_3060487946531646253[223] = 0; + out_3060487946531646253[224] = 0; + out_3060487946531646253[225] = 0; + out_3060487946531646253[226] = 0; + out_3060487946531646253[227] = 0; + out_3060487946531646253[228] = 1; + out_3060487946531646253[229] = 0; + out_3060487946531646253[230] = 0; + out_3060487946531646253[231] = 0; + out_3060487946531646253[232] = 0; + out_3060487946531646253[233] = 0; + out_3060487946531646253[234] = 0; + out_3060487946531646253[235] = 0; + out_3060487946531646253[236] = 0; + out_3060487946531646253[237] = 0; + out_3060487946531646253[238] = 0; + out_3060487946531646253[239] = 0; + out_3060487946531646253[240] = 0; + out_3060487946531646253[241] = 0; + out_3060487946531646253[242] = 0; + out_3060487946531646253[243] = 0; + out_3060487946531646253[244] = 0; + out_3060487946531646253[245] = 0; + out_3060487946531646253[246] = 0; + out_3060487946531646253[247] = 1; + out_3060487946531646253[248] = 0; + out_3060487946531646253[249] = 0; + out_3060487946531646253[250] = 0; + out_3060487946531646253[251] = 0; + out_3060487946531646253[252] = 0; + out_3060487946531646253[253] = 0; + out_3060487946531646253[254] = 0; + out_3060487946531646253[255] = 0; + out_3060487946531646253[256] = 0; + out_3060487946531646253[257] = 0; + out_3060487946531646253[258] = 0; + out_3060487946531646253[259] = 0; + out_3060487946531646253[260] = 0; + out_3060487946531646253[261] = 0; + out_3060487946531646253[262] = 0; + out_3060487946531646253[263] = 0; + out_3060487946531646253[264] = 0; + out_3060487946531646253[265] = 0; + out_3060487946531646253[266] = 1; + out_3060487946531646253[267] = 0; + out_3060487946531646253[268] = 0; + out_3060487946531646253[269] = 0; + out_3060487946531646253[270] = 0; + out_3060487946531646253[271] = 0; + out_3060487946531646253[272] = 0; + out_3060487946531646253[273] = 0; + out_3060487946531646253[274] = 0; + out_3060487946531646253[275] = 0; + out_3060487946531646253[276] = 0; + out_3060487946531646253[277] = 0; + out_3060487946531646253[278] = 0; + out_3060487946531646253[279] = 0; + out_3060487946531646253[280] = 0; + out_3060487946531646253[281] = 0; + out_3060487946531646253[282] = 0; + out_3060487946531646253[283] = 0; + out_3060487946531646253[284] = 0; + out_3060487946531646253[285] = 1; + out_3060487946531646253[286] = 0; + out_3060487946531646253[287] = 0; + out_3060487946531646253[288] = 0; + out_3060487946531646253[289] = 0; + out_3060487946531646253[290] = 0; + out_3060487946531646253[291] = 0; + out_3060487946531646253[292] = 0; + out_3060487946531646253[293] = 0; + out_3060487946531646253[294] = 0; + out_3060487946531646253[295] = 0; + out_3060487946531646253[296] = 0; + out_3060487946531646253[297] = 0; + out_3060487946531646253[298] = 0; + out_3060487946531646253[299] = 0; + out_3060487946531646253[300] = 0; + out_3060487946531646253[301] = 0; + out_3060487946531646253[302] = 0; + out_3060487946531646253[303] = 0; + out_3060487946531646253[304] = 1; + out_3060487946531646253[305] = 0; + out_3060487946531646253[306] = 0; + out_3060487946531646253[307] = 0; + out_3060487946531646253[308] = 0; + out_3060487946531646253[309] = 0; + out_3060487946531646253[310] = 0; + out_3060487946531646253[311] = 0; + out_3060487946531646253[312] = 0; + out_3060487946531646253[313] = 0; + out_3060487946531646253[314] = 0; + out_3060487946531646253[315] = 0; + out_3060487946531646253[316] = 0; + out_3060487946531646253[317] = 0; + out_3060487946531646253[318] = 0; + out_3060487946531646253[319] = 0; + out_3060487946531646253[320] = 0; + out_3060487946531646253[321] = 0; + out_3060487946531646253[322] = 0; + out_3060487946531646253[323] = 1; } -void h_4(double *state, double *unused, double *out_5400718070291809963) { - out_5400718070291809963[0] = state[6] + state[9]; - out_5400718070291809963[1] = state[7] + state[10]; - out_5400718070291809963[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2072690755108230087) { + out_2072690755108230087[0] = state[6] + state[9]; + out_2072690755108230087[1] = state[7] + state[10]; + out_2072690755108230087[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_9155959275085036656) { - out_9155959275085036656[0] = 0; - out_9155959275085036656[1] = 0; - out_9155959275085036656[2] = 0; - out_9155959275085036656[3] = 0; - out_9155959275085036656[4] = 0; - out_9155959275085036656[5] = 0; - out_9155959275085036656[6] = 1; - out_9155959275085036656[7] = 0; - out_9155959275085036656[8] = 0; - out_9155959275085036656[9] = 1; - out_9155959275085036656[10] = 0; - out_9155959275085036656[11] = 0; - out_9155959275085036656[12] = 0; - out_9155959275085036656[13] = 0; - out_9155959275085036656[14] = 0; - out_9155959275085036656[15] = 0; - out_9155959275085036656[16] = 0; - out_9155959275085036656[17] = 0; - out_9155959275085036656[18] = 0; - out_9155959275085036656[19] = 0; - out_9155959275085036656[20] = 0; - out_9155959275085036656[21] = 0; - out_9155959275085036656[22] = 0; - out_9155959275085036656[23] = 0; - out_9155959275085036656[24] = 0; - out_9155959275085036656[25] = 1; - out_9155959275085036656[26] = 0; - out_9155959275085036656[27] = 0; - out_9155959275085036656[28] = 1; - out_9155959275085036656[29] = 0; - out_9155959275085036656[30] = 0; - out_9155959275085036656[31] = 0; - out_9155959275085036656[32] = 0; - out_9155959275085036656[33] = 0; - out_9155959275085036656[34] = 0; - out_9155959275085036656[35] = 0; - out_9155959275085036656[36] = 0; - out_9155959275085036656[37] = 0; - out_9155959275085036656[38] = 0; - out_9155959275085036656[39] = 0; - out_9155959275085036656[40] = 0; - out_9155959275085036656[41] = 0; - out_9155959275085036656[42] = 0; - out_9155959275085036656[43] = 0; - out_9155959275085036656[44] = 1; - out_9155959275085036656[45] = 0; - out_9155959275085036656[46] = 0; - out_9155959275085036656[47] = 1; - out_9155959275085036656[48] = 0; - out_9155959275085036656[49] = 0; - out_9155959275085036656[50] = 0; - out_9155959275085036656[51] = 0; - out_9155959275085036656[52] = 0; - out_9155959275085036656[53] = 0; +void H_4(double *state, double *unused, double *out_440656827576496815) { + out_440656827576496815[0] = 0; + out_440656827576496815[1] = 0; + out_440656827576496815[2] = 0; + out_440656827576496815[3] = 0; + out_440656827576496815[4] = 0; + out_440656827576496815[5] = 0; + out_440656827576496815[6] = 1; + out_440656827576496815[7] = 0; + out_440656827576496815[8] = 0; + out_440656827576496815[9] = 1; + out_440656827576496815[10] = 0; + out_440656827576496815[11] = 0; + out_440656827576496815[12] = 0; + out_440656827576496815[13] = 0; + out_440656827576496815[14] = 0; + out_440656827576496815[15] = 0; + out_440656827576496815[16] = 0; + out_440656827576496815[17] = 0; + out_440656827576496815[18] = 0; + out_440656827576496815[19] = 0; + out_440656827576496815[20] = 0; + out_440656827576496815[21] = 0; + out_440656827576496815[22] = 0; + out_440656827576496815[23] = 0; + out_440656827576496815[24] = 0; + out_440656827576496815[25] = 1; + out_440656827576496815[26] = 0; + out_440656827576496815[27] = 0; + out_440656827576496815[28] = 1; + out_440656827576496815[29] = 0; + out_440656827576496815[30] = 0; + out_440656827576496815[31] = 0; + out_440656827576496815[32] = 0; + out_440656827576496815[33] = 0; + out_440656827576496815[34] = 0; + out_440656827576496815[35] = 0; + out_440656827576496815[36] = 0; + out_440656827576496815[37] = 0; + out_440656827576496815[38] = 0; + out_440656827576496815[39] = 0; + out_440656827576496815[40] = 0; + out_440656827576496815[41] = 0; + out_440656827576496815[42] = 0; + out_440656827576496815[43] = 0; + out_440656827576496815[44] = 1; + out_440656827576496815[45] = 0; + out_440656827576496815[46] = 0; + out_440656827576496815[47] = 1; + out_440656827576496815[48] = 0; + out_440656827576496815[49] = 0; + out_440656827576496815[50] = 0; + out_440656827576496815[51] = 0; + out_440656827576496815[52] = 0; + out_440656827576496815[53] = 0; } -void h_10(double *state, double *unused, double *out_2963274022918519597) { - out_2963274022918519597[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_2963274022918519597[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_2963274022918519597[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_3685903144892211871) { + out_3685903144892211871[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_3685903144892211871[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_3685903144892211871[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_5627581855619872909) { - out_5627581855619872909[0] = 0; - out_5627581855619872909[1] = 9.8100000000000005*cos(state[1]); - out_5627581855619872909[2] = 0; - out_5627581855619872909[3] = 0; - out_5627581855619872909[4] = -state[8]; - out_5627581855619872909[5] = state[7]; - out_5627581855619872909[6] = 0; - out_5627581855619872909[7] = state[5]; - out_5627581855619872909[8] = -state[4]; - out_5627581855619872909[9] = 0; - out_5627581855619872909[10] = 0; - out_5627581855619872909[11] = 0; - out_5627581855619872909[12] = 1; - out_5627581855619872909[13] = 0; - out_5627581855619872909[14] = 0; - out_5627581855619872909[15] = 1; - out_5627581855619872909[16] = 0; - out_5627581855619872909[17] = 0; - out_5627581855619872909[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5627581855619872909[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5627581855619872909[20] = 0; - out_5627581855619872909[21] = state[8]; - out_5627581855619872909[22] = 0; - out_5627581855619872909[23] = -state[6]; - out_5627581855619872909[24] = -state[5]; - out_5627581855619872909[25] = 0; - out_5627581855619872909[26] = state[3]; - out_5627581855619872909[27] = 0; - out_5627581855619872909[28] = 0; - out_5627581855619872909[29] = 0; - out_5627581855619872909[30] = 0; - out_5627581855619872909[31] = 1; - out_5627581855619872909[32] = 0; - out_5627581855619872909[33] = 0; - out_5627581855619872909[34] = 1; - out_5627581855619872909[35] = 0; - out_5627581855619872909[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5627581855619872909[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5627581855619872909[38] = 0; - out_5627581855619872909[39] = -state[7]; - out_5627581855619872909[40] = state[6]; - out_5627581855619872909[41] = 0; - out_5627581855619872909[42] = state[4]; - out_5627581855619872909[43] = -state[3]; - out_5627581855619872909[44] = 0; - out_5627581855619872909[45] = 0; - out_5627581855619872909[46] = 0; - out_5627581855619872909[47] = 0; - out_5627581855619872909[48] = 0; - out_5627581855619872909[49] = 0; - out_5627581855619872909[50] = 1; - out_5627581855619872909[51] = 0; - out_5627581855619872909[52] = 0; - out_5627581855619872909[53] = 1; +void H_10(double *state, double *unused, double *out_7274933657249705055) { + out_7274933657249705055[0] = 0; + out_7274933657249705055[1] = 9.8100000000000005*cos(state[1]); + out_7274933657249705055[2] = 0; + out_7274933657249705055[3] = 0; + out_7274933657249705055[4] = -state[8]; + out_7274933657249705055[5] = state[7]; + out_7274933657249705055[6] = 0; + out_7274933657249705055[7] = state[5]; + out_7274933657249705055[8] = -state[4]; + out_7274933657249705055[9] = 0; + out_7274933657249705055[10] = 0; + out_7274933657249705055[11] = 0; + out_7274933657249705055[12] = 1; + out_7274933657249705055[13] = 0; + out_7274933657249705055[14] = 0; + out_7274933657249705055[15] = 1; + out_7274933657249705055[16] = 0; + out_7274933657249705055[17] = 0; + out_7274933657249705055[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_7274933657249705055[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_7274933657249705055[20] = 0; + out_7274933657249705055[21] = state[8]; + out_7274933657249705055[22] = 0; + out_7274933657249705055[23] = -state[6]; + out_7274933657249705055[24] = -state[5]; + out_7274933657249705055[25] = 0; + out_7274933657249705055[26] = state[3]; + out_7274933657249705055[27] = 0; + out_7274933657249705055[28] = 0; + out_7274933657249705055[29] = 0; + out_7274933657249705055[30] = 0; + out_7274933657249705055[31] = 1; + out_7274933657249705055[32] = 0; + out_7274933657249705055[33] = 0; + out_7274933657249705055[34] = 1; + out_7274933657249705055[35] = 0; + out_7274933657249705055[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_7274933657249705055[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_7274933657249705055[38] = 0; + out_7274933657249705055[39] = -state[7]; + out_7274933657249705055[40] = state[6]; + out_7274933657249705055[41] = 0; + out_7274933657249705055[42] = state[4]; + out_7274933657249705055[43] = -state[3]; + out_7274933657249705055[44] = 0; + out_7274933657249705055[45] = 0; + out_7274933657249705055[46] = 0; + out_7274933657249705055[47] = 0; + out_7274933657249705055[48] = 0; + out_7274933657249705055[49] = 0; + out_7274933657249705055[50] = 1; + out_7274933657249705055[51] = 0; + out_7274933657249705055[52] = 0; + out_7274933657249705055[53] = 1; } -void h_13(double *state, double *unused, double *out_6005618121794927988) { - out_6005618121794927988[0] = state[3]; - out_6005618121794927988[1] = state[4]; - out_6005618121794927988[2] = state[5]; +void h_13(double *state, double *unused, double *out_7605941513603236476) { + out_7605941513603236476[0] = state[3]; + out_7605941513603236476[1] = state[4]; + out_7605941513603236476[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1680153590307814031) { - out_1680153590307814031[0] = 0; - out_1680153590307814031[1] = 0; - out_1680153590307814031[2] = 0; - out_1680153590307814031[3] = 1; - out_1680153590307814031[4] = 0; - out_1680153590307814031[5] = 0; - out_1680153590307814031[6] = 0; - out_1680153590307814031[7] = 0; - out_1680153590307814031[8] = 0; - out_1680153590307814031[9] = 0; - out_1680153590307814031[10] = 0; - out_1680153590307814031[11] = 0; - out_1680153590307814031[12] = 0; - out_1680153590307814031[13] = 0; - out_1680153590307814031[14] = 0; - out_1680153590307814031[15] = 0; - out_1680153590307814031[16] = 0; - out_1680153590307814031[17] = 0; - out_1680153590307814031[18] = 0; - out_1680153590307814031[19] = 0; - out_1680153590307814031[20] = 0; - out_1680153590307814031[21] = 0; - out_1680153590307814031[22] = 1; - out_1680153590307814031[23] = 0; - out_1680153590307814031[24] = 0; - out_1680153590307814031[25] = 0; - out_1680153590307814031[26] = 0; - out_1680153590307814031[27] = 0; - out_1680153590307814031[28] = 0; - out_1680153590307814031[29] = 0; - out_1680153590307814031[30] = 0; - out_1680153590307814031[31] = 0; - out_1680153590307814031[32] = 0; - out_1680153590307814031[33] = 0; - out_1680153590307814031[34] = 0; - out_1680153590307814031[35] = 0; - out_1680153590307814031[36] = 0; - out_1680153590307814031[37] = 0; - out_1680153590307814031[38] = 0; - out_1680153590307814031[39] = 0; - out_1680153590307814031[40] = 0; - out_1680153590307814031[41] = 1; - out_1680153590307814031[42] = 0; - out_1680153590307814031[43] = 0; - out_1680153590307814031[44] = 0; - out_1680153590307814031[45] = 0; - out_1680153590307814031[46] = 0; - out_1680153590307814031[47] = 0; - out_1680153590307814031[48] = 0; - out_1680153590307814031[49] = 0; - out_1680153590307814031[50] = 0; - out_1680153590307814031[51] = 0; - out_1680153590307814031[52] = 0; - out_1680153590307814031[53] = 0; +void H_13(double *state, double *unused, double *out_3652930652908829616) { + out_3652930652908829616[0] = 0; + out_3652930652908829616[1] = 0; + out_3652930652908829616[2] = 0; + out_3652930652908829616[3] = 1; + out_3652930652908829616[4] = 0; + out_3652930652908829616[5] = 0; + out_3652930652908829616[6] = 0; + out_3652930652908829616[7] = 0; + out_3652930652908829616[8] = 0; + out_3652930652908829616[9] = 0; + out_3652930652908829616[10] = 0; + out_3652930652908829616[11] = 0; + out_3652930652908829616[12] = 0; + out_3652930652908829616[13] = 0; + out_3652930652908829616[14] = 0; + out_3652930652908829616[15] = 0; + out_3652930652908829616[16] = 0; + out_3652930652908829616[17] = 0; + out_3652930652908829616[18] = 0; + out_3652930652908829616[19] = 0; + out_3652930652908829616[20] = 0; + out_3652930652908829616[21] = 0; + out_3652930652908829616[22] = 1; + out_3652930652908829616[23] = 0; + out_3652930652908829616[24] = 0; + out_3652930652908829616[25] = 0; + out_3652930652908829616[26] = 0; + out_3652930652908829616[27] = 0; + out_3652930652908829616[28] = 0; + out_3652930652908829616[29] = 0; + out_3652930652908829616[30] = 0; + out_3652930652908829616[31] = 0; + out_3652930652908829616[32] = 0; + out_3652930652908829616[33] = 0; + out_3652930652908829616[34] = 0; + out_3652930652908829616[35] = 0; + out_3652930652908829616[36] = 0; + out_3652930652908829616[37] = 0; + out_3652930652908829616[38] = 0; + out_3652930652908829616[39] = 0; + out_3652930652908829616[40] = 0; + out_3652930652908829616[41] = 1; + out_3652930652908829616[42] = 0; + out_3652930652908829616[43] = 0; + out_3652930652908829616[44] = 0; + out_3652930652908829616[45] = 0; + out_3652930652908829616[46] = 0; + out_3652930652908829616[47] = 0; + out_3652930652908829616[48] = 0; + out_3652930652908829616[49] = 0; + out_3652930652908829616[50] = 0; + out_3652930652908829616[51] = 0; + out_3652930652908829616[52] = 0; + out_3652930652908829616[53] = 0; } -void h_14(double *state, double *unused, double *out_5652518326669022365) { - out_5652518326669022365[0] = state[6]; - out_5652518326669022365[1] = state[7]; - out_5652518326669022365[2] = state[8]; +void h_14(double *state, double *unused, double *out_732635666688386653) { + out_732635666688386653[0] = state[6]; + out_732635666688386653[1] = state[7]; + out_732635666688386653[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6073170842789664360) { - out_6073170842789664360[0] = 0; - out_6073170842789664360[1] = 0; - out_6073170842789664360[2] = 0; - out_6073170842789664360[3] = 0; - out_6073170842789664360[4] = 0; - out_6073170842789664360[5] = 0; - out_6073170842789664360[6] = 1; - out_6073170842789664360[7] = 0; - out_6073170842789664360[8] = 0; - out_6073170842789664360[9] = 0; - out_6073170842789664360[10] = 0; - out_6073170842789664360[11] = 0; - out_6073170842789664360[12] = 0; - out_6073170842789664360[13] = 0; - out_6073170842789664360[14] = 0; - out_6073170842789664360[15] = 0; - out_6073170842789664360[16] = 0; - out_6073170842789664360[17] = 0; - out_6073170842789664360[18] = 0; - out_6073170842789664360[19] = 0; - out_6073170842789664360[20] = 0; - out_6073170842789664360[21] = 0; - out_6073170842789664360[22] = 0; - out_6073170842789664360[23] = 0; - out_6073170842789664360[24] = 0; - out_6073170842789664360[25] = 1; - out_6073170842789664360[26] = 0; - out_6073170842789664360[27] = 0; - out_6073170842789664360[28] = 0; - out_6073170842789664360[29] = 0; - out_6073170842789664360[30] = 0; - out_6073170842789664360[31] = 0; - out_6073170842789664360[32] = 0; - out_6073170842789664360[33] = 0; - out_6073170842789664360[34] = 0; - out_6073170842789664360[35] = 0; - out_6073170842789664360[36] = 0; - out_6073170842789664360[37] = 0; - out_6073170842789664360[38] = 0; - out_6073170842789664360[39] = 0; - out_6073170842789664360[40] = 0; - out_6073170842789664360[41] = 0; - out_6073170842789664360[42] = 0; - out_6073170842789664360[43] = 0; - out_6073170842789664360[44] = 1; - out_6073170842789664360[45] = 0; - out_6073170842789664360[46] = 0; - out_6073170842789664360[47] = 0; - out_6073170842789664360[48] = 0; - out_6073170842789664360[49] = 0; - out_6073170842789664360[50] = 0; - out_6073170842789664360[51] = 0; - out_6073170842789664360[52] = 0; - out_6073170842789664360[53] = 0; +void H_14(double *state, double *unused, double *out_4403897683915981344) { + out_4403897683915981344[0] = 0; + out_4403897683915981344[1] = 0; + out_4403897683915981344[2] = 0; + out_4403897683915981344[3] = 0; + out_4403897683915981344[4] = 0; + out_4403897683915981344[5] = 0; + out_4403897683915981344[6] = 1; + out_4403897683915981344[7] = 0; + out_4403897683915981344[8] = 0; + out_4403897683915981344[9] = 0; + out_4403897683915981344[10] = 0; + out_4403897683915981344[11] = 0; + out_4403897683915981344[12] = 0; + out_4403897683915981344[13] = 0; + out_4403897683915981344[14] = 0; + out_4403897683915981344[15] = 0; + out_4403897683915981344[16] = 0; + out_4403897683915981344[17] = 0; + out_4403897683915981344[18] = 0; + out_4403897683915981344[19] = 0; + out_4403897683915981344[20] = 0; + out_4403897683915981344[21] = 0; + out_4403897683915981344[22] = 0; + out_4403897683915981344[23] = 0; + out_4403897683915981344[24] = 0; + out_4403897683915981344[25] = 1; + out_4403897683915981344[26] = 0; + out_4403897683915981344[27] = 0; + out_4403897683915981344[28] = 0; + out_4403897683915981344[29] = 0; + out_4403897683915981344[30] = 0; + out_4403897683915981344[31] = 0; + out_4403897683915981344[32] = 0; + out_4403897683915981344[33] = 0; + out_4403897683915981344[34] = 0; + out_4403897683915981344[35] = 0; + out_4403897683915981344[36] = 0; + out_4403897683915981344[37] = 0; + out_4403897683915981344[38] = 0; + out_4403897683915981344[39] = 0; + out_4403897683915981344[40] = 0; + out_4403897683915981344[41] = 0; + out_4403897683915981344[42] = 0; + out_4403897683915981344[43] = 0; + out_4403897683915981344[44] = 1; + out_4403897683915981344[45] = 0; + out_4403897683915981344[46] = 0; + out_4403897683915981344[47] = 0; + out_4403897683915981344[48] = 0; + out_4403897683915981344[49] = 0; + out_4403897683915981344[50] = 0; + out_4403897683915981344[51] = 0; + out_4403897683915981344[52] = 0; + out_4403897683915981344[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_616508134330162473) { - err_fun(nom_x, delta_x, out_616508134330162473); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2423125642091007723) { + err_fun(nom_x, delta_x, out_2423125642091007723); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3534488348241865019) { - inv_err_fun(nom_x, true_x, out_3534488348241865019); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1501585610038659930) { + inv_err_fun(nom_x, true_x, out_1501585610038659930); } -void pose_H_mod_fun(double *state, double *out_5384152065241129084) { - H_mod_fun(state, out_5384152065241129084); +void pose_H_mod_fun(double *state, double *out_313504174478215792) { + H_mod_fun(state, out_313504174478215792); } -void pose_f_fun(double *state, double dt, double *out_1966290028419981018) { - f_fun(state, dt, out_1966290028419981018); +void pose_f_fun(double *state, double dt, double *out_8978916703249748052) { + f_fun(state, dt, out_8978916703249748052); } -void pose_F_fun(double *state, double dt, double *out_8500986371107107872) { - F_fun(state, dt, out_8500986371107107872); +void pose_F_fun(double *state, double dt, double *out_3060487946531646253) { + F_fun(state, dt, out_3060487946531646253); } -void pose_h_4(double *state, double *unused, double *out_5400718070291809963) { - h_4(state, unused, out_5400718070291809963); +void pose_h_4(double *state, double *unused, double *out_2072690755108230087) { + h_4(state, unused, out_2072690755108230087); } -void pose_H_4(double *state, double *unused, double *out_9155959275085036656) { - H_4(state, unused, out_9155959275085036656); +void pose_H_4(double *state, double *unused, double *out_440656827576496815) { + H_4(state, unused, out_440656827576496815); } -void pose_h_10(double *state, double *unused, double *out_2963274022918519597) { - h_10(state, unused, out_2963274022918519597); +void pose_h_10(double *state, double *unused, double *out_3685903144892211871) { + h_10(state, unused, out_3685903144892211871); } -void pose_H_10(double *state, double *unused, double *out_5627581855619872909) { - H_10(state, unused, out_5627581855619872909); +void pose_H_10(double *state, double *unused, double *out_7274933657249705055) { + H_10(state, unused, out_7274933657249705055); } -void pose_h_13(double *state, double *unused, double *out_6005618121794927988) { - h_13(state, unused, out_6005618121794927988); +void pose_h_13(double *state, double *unused, double *out_7605941513603236476) { + h_13(state, unused, out_7605941513603236476); } -void pose_H_13(double *state, double *unused, double *out_1680153590307814031) { - H_13(state, unused, out_1680153590307814031); +void pose_H_13(double *state, double *unused, double *out_3652930652908829616) { + H_13(state, unused, out_3652930652908829616); } -void pose_h_14(double *state, double *unused, double *out_5652518326669022365) { - h_14(state, unused, out_5652518326669022365); +void pose_h_14(double *state, double *unused, double *out_732635666688386653) { + h_14(state, unused, out_732635666688386653); } -void pose_H_14(double *state, double *unused, double *out_6073170842789664360) { - H_14(state, unused, out_6073170842789664360); +void pose_H_14(double *state, double *unused, double *out_4403897683915981344) { + H_14(state, unused, out_4403897683915981344); } 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 fb9821302..ddfc7f12b 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_616508134330162473); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3534488348241865019); -void pose_H_mod_fun(double *state, double *out_5384152065241129084); -void pose_f_fun(double *state, double dt, double *out_1966290028419981018); -void pose_F_fun(double *state, double dt, double *out_8500986371107107872); -void pose_h_4(double *state, double *unused, double *out_5400718070291809963); -void pose_H_4(double *state, double *unused, double *out_9155959275085036656); -void pose_h_10(double *state, double *unused, double *out_2963274022918519597); -void pose_H_10(double *state, double *unused, double *out_5627581855619872909); -void pose_h_13(double *state, double *unused, double *out_6005618121794927988); -void pose_H_13(double *state, double *unused, double *out_1680153590307814031); -void pose_h_14(double *state, double *unused, double *out_5652518326669022365); -void pose_H_14(double *state, double *unused, double *out_6073170842789664360); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2423125642091007723); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1501585610038659930); +void pose_H_mod_fun(double *state, double *out_313504174478215792); +void pose_f_fun(double *state, double dt, double *out_8978916703249748052); +void pose_F_fun(double *state, double dt, double *out_3060487946531646253); +void pose_h_4(double *state, double *unused, double *out_2072690755108230087); +void pose_H_4(double *state, double *unused, double *out_440656827576496815); +void pose_h_10(double *state, double *unused, double *out_3685903144892211871); +void pose_H_10(double *state, double *unused, double *out_7274933657249705055); +void pose_h_13(double *state, double *unused, double *out_7605941513603236476); +void pose_H_13(double *state, double *unused, double *out_3652930652908829616); +void pose_h_14(double *state, double *unused, double *out_732635666688386653); +void pose_H_14(double *state, double *unused, double *out_4403897683915981344); 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 f0a0e535f..d7b6274de 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 973633861..fa04ca10a 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 0844709fd..e142f44c7 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 0921984d9..5c6c0e72c 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index bd4be1376..c25aa7d92 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index a1a09b60c..8b218c2a7 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ