diff --git a/cereal/gen/cpp/log.capnp.c++ b/cereal/gen/cpp/log.capnp.c++ index 9c8fe08659..1cd09bb93a 100644 --- a/cereal/gen/cpp/log.capnp.c++ +++ b/cereal/gen/cpp/log.capnp.c++ @@ -10510,17 +10510,17 @@ const ::capnp::_::RawSchema s_f28c5dc9e09375e3 = { 0, 10, i_f28c5dc9e09375e3, nullptr, nullptr, { &s_f28c5dc9e09375e3, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE -static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = { +static const ::capnp::_::AlignedData<223> b_e774a050cbf689a4 = { { 0, 0, 0, 0, 5, 0, 6, 0, 164, 137, 246, 203, 80, 160, 116, 231, - 24, 0, 0, 0, 1, 0, 5, 0, + 24, 0, 0, 0, 1, 0, 6, 0, 241, 171, 1, 54, 197, 105, 255, 151, 0, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 90, 1, 0, 0, 41, 0, 0, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 37, 0, 0, 0, 111, 2, 0, 0, + 37, 0, 0, 0, 223, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 111, 103, 46, 99, 97, 112, 110, @@ -10530,84 +10530,98 @@ static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = { 111, 114, 113, 117, 101, 83, 116, 97, 116, 101, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, - 44, 0, 0, 0, 3, 0, 4, 0, + 52, 0, 0, 0, 3, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 37, 1, 0, 0, 58, 0, 0, 0, + 93, 1, 0, 0, 58, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 32, 1, 0, 0, 3, 0, 1, 0, - 44, 1, 0, 0, 2, 0, 1, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 41, 1, 0, 0, 50, 0, 0, 0, + 97, 1, 0, 0, 50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 36, 1, 0, 0, 3, 0, 1, 0, - 48, 1, 0, 0, 2, 0, 1, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 104, 1, 0, 0, 2, 0, 1, 0, 3, 0, 0, 0, 2, 0, 0, 0, 0, 0, 1, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 45, 1, 0, 0, 18, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 40, 1, 0, 0, 3, 0, 1, 0, - 52, 1, 0, 0, 2, 0, 1, 0, - 4, 0, 0, 0, 3, 0, 0, 0, - 0, 0, 1, 0, 3, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 49, 1, 0, 0, 18, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 44, 1, 0, 0, 3, 0, 1, 0, - 56, 1, 0, 0, 2, 0, 1, 0, - 5, 0, 0, 0, 4, 0, 0, 0, - 0, 0, 1, 0, 4, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 53, 1, 0, 0, 18, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 48, 1, 0, 0, 3, 0, 1, 0, - 60, 1, 0, 0, 2, 0, 1, 0, - 6, 0, 0, 0, 5, 0, 0, 0, - 0, 0, 1, 0, 5, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 57, 1, 0, 0, 18, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 52, 1, 0, 0, 3, 0, 1, 0, - 64, 1, 0, 0, 2, 0, 1, 0, - 7, 0, 0, 0, 6, 0, 0, 0, - 0, 0, 1, 0, 6, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 61, 1, 0, 0, 58, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 56, 1, 0, 0, 3, 0, 1, 0, - 68, 1, 0, 0, 2, 0, 1, 0, - 8, 0, 0, 0, 1, 0, 0, 0, - 0, 0, 1, 0, 7, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 65, 1, 0, 0, 82, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 64, 1, 0, 0, 3, 0, 1, 0, - 76, 1, 0, 0, 2, 0, 1, 0, - 2, 0, 0, 0, 7, 0, 0, 0, - 0, 0, 1, 0, 8, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 73, 1, 0, 0, 82, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 72, 1, 0, 0, 3, 0, 1, 0, - 84, 1, 0, 0, 2, 0, 1, 0, - 9, 0, 0, 0, 8, 0, 0, 0, - 0, 0, 1, 0, 9, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 81, 1, 0, 0, 154, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 84, 1, 0, 0, 3, 0, 1, 0, - 96, 1, 0, 0, 2, 0, 1, 0, - 10, 0, 0, 0, 9, 0, 0, 0, - 0, 0, 1, 0, 10, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, - 93, 1, 0, 0, 162, 0, 0, 0, + 101, 1, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 96, 1, 0, 0, 3, 0, 1, 0, 108, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 1, 0, 0, 3, 0, 1, 0, + 116, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 176, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, 97, 99, 116, 105, 118, 101, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -10700,16 +10714,34 @@ static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 100, 76, + 97, 116, 101, 114, 97, 108, 74, 101, + 114, 107, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 114, 115, 105, 111, 110, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, } }; ::capnp::word const* const bp_e774a050cbf689a4 = b_e774a050cbf689a4.words; #if !CAPNP_LITE -static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 1, 8, 5, 3, 6, 2, 7}; -static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 11, 1, 8, 5, 3, 6, 2, 7, 12}; +static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; const ::capnp::_::RawSchema s_e774a050cbf689a4 = { - 0xe774a050cbf689a4, b_e774a050cbf689a4.words, 191, nullptr, m_e774a050cbf689a4, - 0, 11, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false + 0xe774a050cbf689a4, b_e774a050cbf689a4.words, 223, nullptr, m_e774a050cbf689a4, + 0, 13, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false }; #endif // !CAPNP_LITE static const ::capnp::_::AlignedData<130> b_9024e2d790c82ade = { diff --git a/cereal/gen/cpp/log.capnp.h b/cereal/gen/cpp/log.capnp.h index e58eb3a360..6b412041ee 100644 --- a/cereal/gen/cpp/log.capnp.h +++ b/cereal/gen/cpp/log.capnp.h @@ -1219,7 +1219,7 @@ struct ControlsState::LateralTorqueState { class Pipeline; struct _capnpPrivate { - CAPNP_DECLARE_STRUCT_HEADER(e774a050cbf689a4, 5, 0) + CAPNP_DECLARE_STRUCT_HEADER(e774a050cbf689a4, 6, 0) #if !CAPNP_LITE static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; } #endif // !CAPNP_LITE @@ -8133,6 +8133,10 @@ public: inline float getDesiredLateralAccel() const; + inline float getDesiredLateralJerk() const; + + inline ::int32_t getVersion() const; + private: ::capnp::_::StructReader _reader; template @@ -8194,6 +8198,12 @@ public: inline float getDesiredLateralAccel(); inline void setDesiredLateralAccel(float value); + inline float getDesiredLateralJerk(); + inline void setDesiredLateralJerk(float value); + + inline ::int32_t getVersion(); + inline void setVersion( ::int32_t value); + private: ::capnp::_::StructBuilder _builder; template @@ -32185,6 +32195,34 @@ inline void ControlsState::LateralTorqueState::Builder::setDesiredLateralAccel(f ::capnp::bounded<9>() * ::capnp::ELEMENTS, value); } +inline float ControlsState::LateralTorqueState::Reader::getDesiredLateralJerk() const { + return _reader.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} + +inline float ControlsState::LateralTorqueState::Builder::getDesiredLateralJerk() { + return _builder.getDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setDesiredLateralJerk(float value) { + _builder.setDataField( + ::capnp::bounded<10>() * ::capnp::ELEMENTS, value); +} + +inline ::int32_t ControlsState::LateralTorqueState::Reader::getVersion() const { + return _reader.getDataField< ::int32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} + +inline ::int32_t ControlsState::LateralTorqueState::Builder::getVersion() { + return _builder.getDataField< ::int32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS); +} +inline void ControlsState::LateralTorqueState::Builder::setVersion( ::int32_t value) { + _builder.setDataField< ::int32_t>( + ::capnp::bounded<11>() * ::capnp::ELEMENTS, value); +} + inline bool ControlsState::LateralLQRState::Reader::getActive() const { return _reader.getDataField( ::capnp::bounded<0>() * ::capnp::ELEMENTS); diff --git a/common/params_pyx.so b/common/params_pyx.so index dadca7a725..2ad4cbff60 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 3ecac9f37e..63079ce1b3 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 91555328e0..2aaac18d41 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 4a70dc46e5..16d64f0180 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/gitversion.h b/panda/board/obj/gitversion.h index 34caf4c935..368f4d4f21 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ -extern const uint8_t gitversion[20]; -const uint8_t gitversion[20] = "DEV-136fc7c3-RELEASE"; +extern const uint8_t gitversion[18]; +const uint8_t gitversion[18] = "DEV-e3f0b8d4-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index cd796c6426..5994d53581 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 d813b0dd61..7744f421e9 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 4c456378ce..3c1adfdbca 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 7f06ca2431..d52b0342b3 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 e9cafccc89..948b5bd5da 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 0f6e344d28..d86a10d7d6 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 0dbfd300d8..2feaa8e3d0 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 2f31b16821..7cc6305398 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_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index d1f37d6545..4e046e2c12 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 a0483284bd..f8412bf905 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 f2c2558215..43fcc50ffc 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 201895db66..13076bcd5c 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/version b/panda/board/obj/version index 3dbd41a88b..9f10f967ce 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-136fc7c3-RELEASE \ No newline at end of file +DEV-e3f0b8d4-DEBUG \ No newline at end of file diff --git a/prebuilt b/prebuilt new file mode 100644 index 0000000000..e69de29bb2 diff --git a/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp b/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp index 0f149f5b8b..8d39769156 100644 --- a/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp +++ b/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp @@ -26348,7 +26348,7 @@ __Pyx_RefNannySetupContext("PyInit_ekf_sym_pyx", 0); (void)__Pyx_modinit_variable_import_code(__pyx_mstate); (void)__Pyx_modinit_function_import_code(__pyx_mstate); /*--- Execution code ---*/ - __Pyx_TraceStartFunc("PyInit_ekf_sym_pyx", __pyx_f[0], 1, 1, 0, 0, __PYX_ERR(0, 1, __pyx_L1_error)); + __Pyx_TraceStartFunc("PyInit_ekf_sym_pyx", __pyx_f[0], 1, 0, 0, 0, __PYX_ERR(0, 1, __pyx_L1_error)); /* "View.MemoryView":100 * @@ -27142,7 +27142,7 @@ __Pyx_RefNannySetupContext("PyInit_ekf_sym_pyx", 0); __Pyx_GOTREF(__pyx_t_5); if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_test, __pyx_t_5) < 0) __PYX_ERR(0, 1, __pyx_L1_error) __Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0; - __Pyx_TraceReturnValue(Py_None, 1, 0, __PYX_ERR(0, 1, __pyx_L1_error)); + __Pyx_TraceReturnValue(Py_None, 0, 0, __PYX_ERR(0, 1, __pyx_L1_error)); __Pyx_PyMonitoring_ExitScope(0); /*--- Wrapped vars code ---*/ @@ -27153,7 +27153,7 @@ __Pyx_RefNannySetupContext("PyInit_ekf_sym_pyx", 0); __Pyx_XDECREF(__pyx_t_5); __Pyx_XDECREF(__pyx_t_6); __Pyx_TraceException(__pyx_lineno, 0, 0); - __Pyx_TraceExceptionUnwind(1, 0); + __Pyx_TraceExceptionUnwind(0, 0); if (__pyx_m) { if (__pyx_mstate->__pyx_d && stringtab_initialized) { __Pyx_AddTraceback("init rednose.helpers.ekf_sym_pyx", __pyx_clineno, __pyx_lineno, __pyx_filename); diff --git a/selfdrive/assets/assets.cc b/selfdrive/assets/assets.cc index e4c9505414..2c16e003f8 100644 --- a/selfdrive/assets/assets.cc +++ b/selfdrive/assets/assets.cc @@ -36487,88 +36487,88 @@ static const unsigned char qt_resource_struct[] = { 0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0, // :/bootstrap-icons.svg 0x0,0x0,0x0,0xba,0x0,0x1,0x0,0x0,0x0,0x1,0x0,0x2,0xb1,0xa6, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x4e,0xe2, +0x0,0x0,0x1,0x9d,0xca,0x65,0x28,0x9e, // :/main_es 0x0,0x0,0x0,0x5a,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0xdd,0xee, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xb3, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x3d, // :/main_fr 0x0,0x0,0x1,0x62,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x23,0xa, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xa9, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x1f, // :/main_de 0x0,0x0,0x0,0xa6,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x2,0x25,0x1e, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xa9, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x15, // :/main_en 0x0,0x0,0x1,0x14,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x7,0x2d,0x7f, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0x9f, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0xb, // :/main_ar 0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x6,0xac,0x8d, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xbd, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x47, // :/main_th 0x0,0x0,0x1,0x28,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x7,0x31,0x1b, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xbd, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x51, // :/main_tr 0x0,0x0,0x0,0x92,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x1,0xee,0x44, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xb3, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x3d, // :/main_ja 0x0,0x0,0x0,0x7e,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x1,0x79,0xb9, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xd1, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x79, // :/main_ko 0x0,0x0,0x1,0x3c,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x7,0xb0,0x33, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xd1, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x6f, // :/main_pt-BR 0x0,0x0,0x0,0xe6,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x6,0x8,0x65, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xb3, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x29, // :/images 0x0,0x0,0x1,0x50,0x0,0x2,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x11, 0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0, // :/main_zh-CHS 0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xc7, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x5b, // :/main_zh-CHT 0x0,0x0,0x0,0x3e,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x6f,0x80, -0x0,0x0,0x1,0x98,0xa9,0xa0,0x88,0xc7, +0x0,0x0,0x1,0x9d,0xd1,0x57,0x7a,0x5b, // :/languages.json 0x0,0x0,0x0,0x1c,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x6e,0x24, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x48,0xd4, +0x0,0x0,0x1,0x9d,0xca,0x65,0x22,0xfe, // :/images/button_continue_triangle.svg 0x0,0x0,0x1,0x76,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x98,0xf5, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5c,0x66, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x80, // :/icons/wifi_strength_full.svg 0x0,0x0,0x2,0x48,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xa4,0x35, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5b,0x1c, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x80, // :/icons/warning.png 0x0,0x0,0x3,0x16,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xb1,0xd4, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x45,0xf0, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x80, // :/icons/wifi_strength_medium.svg 0x0,0x0,0x3,0x32,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xd1,0x1a, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5b,0x1c, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x80, // :/icons/close.svg 0x0,0x0,0x1,0xdc,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x9a,0x85, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5b,0xee, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x76, // :/icons/eye_closed.svg 0x0,0x0,0x2,0x26,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xa0,0x13, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5b,0x1c, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x76, // :/icons/wifi_strength_low.svg 0x0,0x0,0x2,0xbe,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xab,0xaa, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5a,0xe, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x80, // :/icons/checkmark.svg 0x0,0x0,0x2,0x9e,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xaa,0xb2, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5c,0x66, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x76, // :/icons/eye_open.svg 0x0,0x0,0x3,0x68,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xd5,0xad, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5b,0x3a, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x76, // :/icons/wifi_strength_high.svg 0x0,0x0,0x1,0xf4,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x9b,0x83, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5b,0x1c, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x80, // :/icons/circled_slash.svg 0x0,0x0,0x1,0xb4,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x99,0xa2, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5c,0x66, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x76, // :/icons/lock_closed.svg 0x0,0x0,0x2,0x7a,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xa8,0xc2, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5b,0x9e, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x76, // :/icons/circled_check.svg 0x0,0x0,0x2,0xee,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xb0,0x5c, -0x0,0x0,0x1,0x98,0xa8,0xf9,0x5c,0x2, +0x0,0x0,0x1,0x9d,0xca,0x65,0x14,0x76, }; diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index d292af440a..ea0c0664bc 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_2846118138154075095) { - out_2846118138154075095[0] = delta_x[0] + nom_x[0]; - out_2846118138154075095[1] = delta_x[1] + nom_x[1]; - out_2846118138154075095[2] = delta_x[2] + nom_x[2]; - out_2846118138154075095[3] = delta_x[3] + nom_x[3]; - out_2846118138154075095[4] = delta_x[4] + nom_x[4]; - out_2846118138154075095[5] = delta_x[5] + nom_x[5]; - out_2846118138154075095[6] = delta_x[6] + nom_x[6]; - out_2846118138154075095[7] = delta_x[7] + nom_x[7]; - out_2846118138154075095[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3178250485678476353) { + out_3178250485678476353[0] = delta_x[0] + nom_x[0]; + out_3178250485678476353[1] = delta_x[1] + nom_x[1]; + out_3178250485678476353[2] = delta_x[2] + nom_x[2]; + out_3178250485678476353[3] = delta_x[3] + nom_x[3]; + out_3178250485678476353[4] = delta_x[4] + nom_x[4]; + out_3178250485678476353[5] = delta_x[5] + nom_x[5]; + out_3178250485678476353[6] = delta_x[6] + nom_x[6]; + out_3178250485678476353[7] = delta_x[7] + nom_x[7]; + out_3178250485678476353[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4044333420406863401) { - out_4044333420406863401[0] = -nom_x[0] + true_x[0]; - out_4044333420406863401[1] = -nom_x[1] + true_x[1]; - out_4044333420406863401[2] = -nom_x[2] + true_x[2]; - out_4044333420406863401[3] = -nom_x[3] + true_x[3]; - out_4044333420406863401[4] = -nom_x[4] + true_x[4]; - out_4044333420406863401[5] = -nom_x[5] + true_x[5]; - out_4044333420406863401[6] = -nom_x[6] + true_x[6]; - out_4044333420406863401[7] = -nom_x[7] + true_x[7]; - out_4044333420406863401[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1483572745860930452) { + out_1483572745860930452[0] = -nom_x[0] + true_x[0]; + out_1483572745860930452[1] = -nom_x[1] + true_x[1]; + out_1483572745860930452[2] = -nom_x[2] + true_x[2]; + out_1483572745860930452[3] = -nom_x[3] + true_x[3]; + out_1483572745860930452[4] = -nom_x[4] + true_x[4]; + out_1483572745860930452[5] = -nom_x[5] + true_x[5]; + out_1483572745860930452[6] = -nom_x[6] + true_x[6]; + out_1483572745860930452[7] = -nom_x[7] + true_x[7]; + out_1483572745860930452[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_698882326502663349) { - out_698882326502663349[0] = 1.0; - out_698882326502663349[1] = 0.0; - out_698882326502663349[2] = 0.0; - out_698882326502663349[3] = 0.0; - out_698882326502663349[4] = 0.0; - out_698882326502663349[5] = 0.0; - out_698882326502663349[6] = 0.0; - out_698882326502663349[7] = 0.0; - out_698882326502663349[8] = 0.0; - out_698882326502663349[9] = 0.0; - out_698882326502663349[10] = 1.0; - out_698882326502663349[11] = 0.0; - out_698882326502663349[12] = 0.0; - out_698882326502663349[13] = 0.0; - out_698882326502663349[14] = 0.0; - out_698882326502663349[15] = 0.0; - out_698882326502663349[16] = 0.0; - out_698882326502663349[17] = 0.0; - out_698882326502663349[18] = 0.0; - out_698882326502663349[19] = 0.0; - out_698882326502663349[20] = 1.0; - out_698882326502663349[21] = 0.0; - out_698882326502663349[22] = 0.0; - out_698882326502663349[23] = 0.0; - out_698882326502663349[24] = 0.0; - out_698882326502663349[25] = 0.0; - out_698882326502663349[26] = 0.0; - out_698882326502663349[27] = 0.0; - out_698882326502663349[28] = 0.0; - out_698882326502663349[29] = 0.0; - out_698882326502663349[30] = 1.0; - out_698882326502663349[31] = 0.0; - out_698882326502663349[32] = 0.0; - out_698882326502663349[33] = 0.0; - out_698882326502663349[34] = 0.0; - out_698882326502663349[35] = 0.0; - out_698882326502663349[36] = 0.0; - out_698882326502663349[37] = 0.0; - out_698882326502663349[38] = 0.0; - out_698882326502663349[39] = 0.0; - out_698882326502663349[40] = 1.0; - out_698882326502663349[41] = 0.0; - out_698882326502663349[42] = 0.0; - out_698882326502663349[43] = 0.0; - out_698882326502663349[44] = 0.0; - out_698882326502663349[45] = 0.0; - out_698882326502663349[46] = 0.0; - out_698882326502663349[47] = 0.0; - out_698882326502663349[48] = 0.0; - out_698882326502663349[49] = 0.0; - out_698882326502663349[50] = 1.0; - out_698882326502663349[51] = 0.0; - out_698882326502663349[52] = 0.0; - out_698882326502663349[53] = 0.0; - out_698882326502663349[54] = 0.0; - out_698882326502663349[55] = 0.0; - out_698882326502663349[56] = 0.0; - out_698882326502663349[57] = 0.0; - out_698882326502663349[58] = 0.0; - out_698882326502663349[59] = 0.0; - out_698882326502663349[60] = 1.0; - out_698882326502663349[61] = 0.0; - out_698882326502663349[62] = 0.0; - out_698882326502663349[63] = 0.0; - out_698882326502663349[64] = 0.0; - out_698882326502663349[65] = 0.0; - out_698882326502663349[66] = 0.0; - out_698882326502663349[67] = 0.0; - out_698882326502663349[68] = 0.0; - out_698882326502663349[69] = 0.0; - out_698882326502663349[70] = 1.0; - out_698882326502663349[71] = 0.0; - out_698882326502663349[72] = 0.0; - out_698882326502663349[73] = 0.0; - out_698882326502663349[74] = 0.0; - out_698882326502663349[75] = 0.0; - out_698882326502663349[76] = 0.0; - out_698882326502663349[77] = 0.0; - out_698882326502663349[78] = 0.0; - out_698882326502663349[79] = 0.0; - out_698882326502663349[80] = 1.0; +void H_mod_fun(double *state, double *out_492676199757732909) { + out_492676199757732909[0] = 1.0; + out_492676199757732909[1] = 0.0; + out_492676199757732909[2] = 0.0; + out_492676199757732909[3] = 0.0; + out_492676199757732909[4] = 0.0; + out_492676199757732909[5] = 0.0; + out_492676199757732909[6] = 0.0; + out_492676199757732909[7] = 0.0; + out_492676199757732909[8] = 0.0; + out_492676199757732909[9] = 0.0; + out_492676199757732909[10] = 1.0; + out_492676199757732909[11] = 0.0; + out_492676199757732909[12] = 0.0; + out_492676199757732909[13] = 0.0; + out_492676199757732909[14] = 0.0; + out_492676199757732909[15] = 0.0; + out_492676199757732909[16] = 0.0; + out_492676199757732909[17] = 0.0; + out_492676199757732909[18] = 0.0; + out_492676199757732909[19] = 0.0; + out_492676199757732909[20] = 1.0; + out_492676199757732909[21] = 0.0; + out_492676199757732909[22] = 0.0; + out_492676199757732909[23] = 0.0; + out_492676199757732909[24] = 0.0; + out_492676199757732909[25] = 0.0; + out_492676199757732909[26] = 0.0; + out_492676199757732909[27] = 0.0; + out_492676199757732909[28] = 0.0; + out_492676199757732909[29] = 0.0; + out_492676199757732909[30] = 1.0; + out_492676199757732909[31] = 0.0; + out_492676199757732909[32] = 0.0; + out_492676199757732909[33] = 0.0; + out_492676199757732909[34] = 0.0; + out_492676199757732909[35] = 0.0; + out_492676199757732909[36] = 0.0; + out_492676199757732909[37] = 0.0; + out_492676199757732909[38] = 0.0; + out_492676199757732909[39] = 0.0; + out_492676199757732909[40] = 1.0; + out_492676199757732909[41] = 0.0; + out_492676199757732909[42] = 0.0; + out_492676199757732909[43] = 0.0; + out_492676199757732909[44] = 0.0; + out_492676199757732909[45] = 0.0; + out_492676199757732909[46] = 0.0; + out_492676199757732909[47] = 0.0; + out_492676199757732909[48] = 0.0; + out_492676199757732909[49] = 0.0; + out_492676199757732909[50] = 1.0; + out_492676199757732909[51] = 0.0; + out_492676199757732909[52] = 0.0; + out_492676199757732909[53] = 0.0; + out_492676199757732909[54] = 0.0; + out_492676199757732909[55] = 0.0; + out_492676199757732909[56] = 0.0; + out_492676199757732909[57] = 0.0; + out_492676199757732909[58] = 0.0; + out_492676199757732909[59] = 0.0; + out_492676199757732909[60] = 1.0; + out_492676199757732909[61] = 0.0; + out_492676199757732909[62] = 0.0; + out_492676199757732909[63] = 0.0; + out_492676199757732909[64] = 0.0; + out_492676199757732909[65] = 0.0; + out_492676199757732909[66] = 0.0; + out_492676199757732909[67] = 0.0; + out_492676199757732909[68] = 0.0; + out_492676199757732909[69] = 0.0; + out_492676199757732909[70] = 1.0; + out_492676199757732909[71] = 0.0; + out_492676199757732909[72] = 0.0; + out_492676199757732909[73] = 0.0; + out_492676199757732909[74] = 0.0; + out_492676199757732909[75] = 0.0; + out_492676199757732909[76] = 0.0; + out_492676199757732909[77] = 0.0; + out_492676199757732909[78] = 0.0; + out_492676199757732909[79] = 0.0; + out_492676199757732909[80] = 1.0; } -void f_fun(double *state, double dt, double *out_7869785476666687441) { - out_7869785476666687441[0] = state[0]; - out_7869785476666687441[1] = state[1]; - out_7869785476666687441[2] = state[2]; - out_7869785476666687441[3] = state[3]; - out_7869785476666687441[4] = state[4]; - out_7869785476666687441[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_7869785476666687441[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_7869785476666687441[7] = state[7]; - out_7869785476666687441[8] = state[8]; +void f_fun(double *state, double dt, double *out_50750306698385500) { + out_50750306698385500[0] = state[0]; + out_50750306698385500[1] = state[1]; + out_50750306698385500[2] = state[2]; + out_50750306698385500[3] = state[3]; + out_50750306698385500[4] = state[4]; + out_50750306698385500[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_50750306698385500[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_50750306698385500[7] = state[7]; + out_50750306698385500[8] = state[8]; } -void F_fun(double *state, double dt, double *out_8888598582008610072) { - out_8888598582008610072[0] = 1; - out_8888598582008610072[1] = 0; - out_8888598582008610072[2] = 0; - out_8888598582008610072[3] = 0; - out_8888598582008610072[4] = 0; - out_8888598582008610072[5] = 0; - out_8888598582008610072[6] = 0; - out_8888598582008610072[7] = 0; - out_8888598582008610072[8] = 0; - out_8888598582008610072[9] = 0; - out_8888598582008610072[10] = 1; - out_8888598582008610072[11] = 0; - out_8888598582008610072[12] = 0; - out_8888598582008610072[13] = 0; - out_8888598582008610072[14] = 0; - out_8888598582008610072[15] = 0; - out_8888598582008610072[16] = 0; - out_8888598582008610072[17] = 0; - out_8888598582008610072[18] = 0; - out_8888598582008610072[19] = 0; - out_8888598582008610072[20] = 1; - out_8888598582008610072[21] = 0; - out_8888598582008610072[22] = 0; - out_8888598582008610072[23] = 0; - out_8888598582008610072[24] = 0; - out_8888598582008610072[25] = 0; - out_8888598582008610072[26] = 0; - out_8888598582008610072[27] = 0; - out_8888598582008610072[28] = 0; - out_8888598582008610072[29] = 0; - out_8888598582008610072[30] = 1; - out_8888598582008610072[31] = 0; - out_8888598582008610072[32] = 0; - out_8888598582008610072[33] = 0; - out_8888598582008610072[34] = 0; - out_8888598582008610072[35] = 0; - out_8888598582008610072[36] = 0; - out_8888598582008610072[37] = 0; - out_8888598582008610072[38] = 0; - out_8888598582008610072[39] = 0; - out_8888598582008610072[40] = 1; - out_8888598582008610072[41] = 0; - out_8888598582008610072[42] = 0; - out_8888598582008610072[43] = 0; - out_8888598582008610072[44] = 0; - out_8888598582008610072[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_8888598582008610072[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8888598582008610072[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8888598582008610072[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8888598582008610072[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_8888598582008610072[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8888598582008610072[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8888598582008610072[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8888598582008610072[53] = -9.8100000000000005*dt; - out_8888598582008610072[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_8888598582008610072[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8888598582008610072[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8888598582008610072[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8888598582008610072[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_8888598582008610072[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8888598582008610072[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_8888598582008610072[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8888598582008610072[62] = 0; - out_8888598582008610072[63] = 0; - out_8888598582008610072[64] = 0; - out_8888598582008610072[65] = 0; - out_8888598582008610072[66] = 0; - out_8888598582008610072[67] = 0; - out_8888598582008610072[68] = 0; - out_8888598582008610072[69] = 0; - out_8888598582008610072[70] = 1; - out_8888598582008610072[71] = 0; - out_8888598582008610072[72] = 0; - out_8888598582008610072[73] = 0; - out_8888598582008610072[74] = 0; - out_8888598582008610072[75] = 0; - out_8888598582008610072[76] = 0; - out_8888598582008610072[77] = 0; - out_8888598582008610072[78] = 0; - out_8888598582008610072[79] = 0; - out_8888598582008610072[80] = 1; +void F_fun(double *state, double dt, double *out_8436903704575629648) { + out_8436903704575629648[0] = 1; + out_8436903704575629648[1] = 0; + out_8436903704575629648[2] = 0; + out_8436903704575629648[3] = 0; + out_8436903704575629648[4] = 0; + out_8436903704575629648[5] = 0; + out_8436903704575629648[6] = 0; + out_8436903704575629648[7] = 0; + out_8436903704575629648[8] = 0; + out_8436903704575629648[9] = 0; + out_8436903704575629648[10] = 1; + out_8436903704575629648[11] = 0; + out_8436903704575629648[12] = 0; + out_8436903704575629648[13] = 0; + out_8436903704575629648[14] = 0; + out_8436903704575629648[15] = 0; + out_8436903704575629648[16] = 0; + out_8436903704575629648[17] = 0; + out_8436903704575629648[18] = 0; + out_8436903704575629648[19] = 0; + out_8436903704575629648[20] = 1; + out_8436903704575629648[21] = 0; + out_8436903704575629648[22] = 0; + out_8436903704575629648[23] = 0; + out_8436903704575629648[24] = 0; + out_8436903704575629648[25] = 0; + out_8436903704575629648[26] = 0; + out_8436903704575629648[27] = 0; + out_8436903704575629648[28] = 0; + out_8436903704575629648[29] = 0; + out_8436903704575629648[30] = 1; + out_8436903704575629648[31] = 0; + out_8436903704575629648[32] = 0; + out_8436903704575629648[33] = 0; + out_8436903704575629648[34] = 0; + out_8436903704575629648[35] = 0; + out_8436903704575629648[36] = 0; + out_8436903704575629648[37] = 0; + out_8436903704575629648[38] = 0; + out_8436903704575629648[39] = 0; + out_8436903704575629648[40] = 1; + out_8436903704575629648[41] = 0; + out_8436903704575629648[42] = 0; + out_8436903704575629648[43] = 0; + out_8436903704575629648[44] = 0; + out_8436903704575629648[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_8436903704575629648[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8436903704575629648[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8436903704575629648[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8436903704575629648[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_8436903704575629648[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8436903704575629648[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8436903704575629648[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8436903704575629648[53] = -9.8100000000000005*dt; + out_8436903704575629648[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_8436903704575629648[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8436903704575629648[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8436903704575629648[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8436903704575629648[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_8436903704575629648[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8436903704575629648[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_8436903704575629648[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8436903704575629648[62] = 0; + out_8436903704575629648[63] = 0; + out_8436903704575629648[64] = 0; + out_8436903704575629648[65] = 0; + out_8436903704575629648[66] = 0; + out_8436903704575629648[67] = 0; + out_8436903704575629648[68] = 0; + out_8436903704575629648[69] = 0; + out_8436903704575629648[70] = 1; + out_8436903704575629648[71] = 0; + out_8436903704575629648[72] = 0; + out_8436903704575629648[73] = 0; + out_8436903704575629648[74] = 0; + out_8436903704575629648[75] = 0; + out_8436903704575629648[76] = 0; + out_8436903704575629648[77] = 0; + out_8436903704575629648[78] = 0; + out_8436903704575629648[79] = 0; + out_8436903704575629648[80] = 1; } -void h_25(double *state, double *unused, double *out_4497380850200226036) { - out_4497380850200226036[0] = state[6]; +void h_25(double *state, double *unused, double *out_7349873263608033439) { + out_7349873263608033439[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2286274964032937428) { - out_2286274964032937428[0] = 0; - out_2286274964032937428[1] = 0; - out_2286274964032937428[2] = 0; - out_2286274964032937428[3] = 0; - out_2286274964032937428[4] = 0; - out_2286274964032937428[5] = 0; - out_2286274964032937428[6] = 1; - out_2286274964032937428[7] = 0; - out_2286274964032937428[8] = 0; +void H_25(double *state, double *unused, double *out_998010641958029621) { + out_998010641958029621[0] = 0; + out_998010641958029621[1] = 0; + out_998010641958029621[2] = 0; + out_998010641958029621[3] = 0; + out_998010641958029621[4] = 0; + out_998010641958029621[5] = 0; + out_998010641958029621[6] = 1; + out_998010641958029621[7] = 0; + out_998010641958029621[8] = 0; } -void h_24(double *state, double *unused, double *out_1105660614370515943) { - out_1105660614370515943[0] = state[4]; - out_1105660614370515943[1] = state[5]; +void h_24(double *state, double *unused, double *out_5301420497854533783) { + out_5301420497854533783[0] = state[4]; + out_5301420497854533783[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2987219318880075166) { - out_2987219318880075166[0] = 0; - out_2987219318880075166[1] = 0; - out_2987219318880075166[2] = 0; - out_2987219318880075166[3] = 0; - out_2987219318880075166[4] = 1; - out_2987219318880075166[5] = 0; - out_2987219318880075166[6] = 0; - out_2987219318880075166[7] = 0; - out_2987219318880075166[8] = 0; - out_2987219318880075166[9] = 0; - out_2987219318880075166[10] = 0; - out_2987219318880075166[11] = 0; - out_2987219318880075166[12] = 0; - out_2987219318880075166[13] = 0; - out_2987219318880075166[14] = 1; - out_2987219318880075166[15] = 0; - out_2987219318880075166[16] = 0; - out_2987219318880075166[17] = 0; +void H_24(double *state, double *unused, double *out_4999722720588538254) { + out_4999722720588538254[0] = 0; + out_4999722720588538254[1] = 0; + out_4999722720588538254[2] = 0; + out_4999722720588538254[3] = 0; + out_4999722720588538254[4] = 1; + out_4999722720588538254[5] = 0; + out_4999722720588538254[6] = 0; + out_4999722720588538254[7] = 0; + out_4999722720588538254[8] = 0; + out_4999722720588538254[9] = 0; + out_4999722720588538254[10] = 0; + out_4999722720588538254[11] = 0; + out_4999722720588538254[12] = 0; + out_4999722720588538254[13] = 0; + out_4999722720588538254[14] = 1; + out_4999722720588538254[15] = 0; + out_4999722720588538254[16] = 0; + out_4999722720588538254[17] = 0; } -void h_30(double *state, double *unused, double *out_4340194181849096891) { - out_4340194181849096891[0] = state[4]; +void h_30(double *state, double *unused, double *out_7625067325892539328) { + out_7625067325892539328[0] = state[4]; } -void H_30(double *state, double *unused, double *out_232057994474311199) { - out_232057994474311199[0] = 0; - out_232057994474311199[1] = 0; - out_232057994474311199[2] = 0; - out_232057994474311199[3] = 0; - out_232057994474311199[4] = 1; - out_232057994474311199[5] = 0; - out_232057994474311199[6] = 0; - out_232057994474311199[7] = 0; - out_232057994474311199[8] = 0; +void H_30(double *state, double *unused, double *out_7914700983449646376) { + out_7914700983449646376[0] = 0; + out_7914700983449646376[1] = 0; + out_7914700983449646376[2] = 0; + out_7914700983449646376[3] = 0; + out_7914700983449646376[4] = 1; + out_7914700983449646376[5] = 0; + out_7914700983449646376[6] = 0; + out_7914700983449646376[7] = 0; + out_7914700983449646376[8] = 0; } -void h_26(double *state, double *unused, double *out_7376980233293429576) { - out_7376980233293429576[0] = state[7]; +void h_26(double *state, double *unused, double *out_3002881296436431014) { + out_3002881296436431014[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6027778282906993652) { - out_6027778282906993652[0] = 0; - out_6027778282906993652[1] = 0; - out_6027778282906993652[2] = 0; - out_6027778282906993652[3] = 0; - out_6027778282906993652[4] = 0; - out_6027778282906993652[5] = 0; - out_6027778282906993652[6] = 0; - out_6027778282906993652[7] = 1; - out_6027778282906993652[8] = 0; +void H_26(double *state, double *unused, double *out_2743492676916026603) { + out_2743492676916026603[0] = 0; + out_2743492676916026603[1] = 0; + out_2743492676916026603[2] = 0; + out_2743492676916026603[3] = 0; + out_2743492676916026603[4] = 0; + out_2743492676916026603[5] = 0; + out_2743492676916026603[6] = 0; + out_2743492676916026603[7] = 1; + out_2743492676916026603[8] = 0; } -void h_27(double *state, double *unused, double *out_7157120249877593801) { - out_7157120249877593801[0] = state[3]; +void h_27(double *state, double *unused, double *out_5218585322542803089) { + out_5218585322542803089[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2455652065658254416) { - out_2455652065658254416[0] = 0; - out_2455652065658254416[1] = 0; - out_2455652065658254416[2] = 0; - out_2455652065658254416[3] = 1; - out_2455652065658254416[4] = 0; - out_2455652065658254416[5] = 0; - out_2455652065658254416[6] = 0; - out_2455652065658254416[7] = 0; - out_2455652065658254416[8] = 0; +void H_27(double *state, double *unused, double *out_5739937671649221465) { + out_5739937671649221465[0] = 0; + out_5739937671649221465[1] = 0; + out_5739937671649221465[2] = 0; + out_5739937671649221465[3] = 1; + out_5739937671649221465[4] = 0; + out_5739937671649221465[5] = 0; + out_5739937671649221465[6] = 0; + out_5739937671649221465[7] = 0; + out_5739937671649221465[8] = 0; } -void h_29(double *state, double *unused, double *out_3396684328947434456) { - out_3396684328947434456[0] = state[1]; +void h_29(double *state, double *unused, double *out_5820003480156166643) { + out_5820003480156166643[0] = state[1]; } -void H_29(double *state, double *unused, double *out_742289338788703383) { - out_742289338788703383[0] = 0; - out_742289338788703383[1] = 1; - out_742289338788703383[2] = 0; - out_742289338788703383[3] = 0; - out_742289338788703383[4] = 0; - out_742289338788703383[5] = 0; - out_742289338788703383[6] = 0; - out_742289338788703383[7] = 0; - out_742289338788703383[8] = 0; +void H_29(double *state, double *unused, double *out_8424932327764038560) { + out_8424932327764038560[0] = 0; + out_8424932327764038560[1] = 1; + out_8424932327764038560[2] = 0; + out_8424932327764038560[3] = 0; + out_8424932327764038560[4] = 0; + out_8424932327764038560[5] = 0; + out_8424932327764038560[6] = 0; + out_8424932327764038560[7] = 0; + out_8424932327764038560[8] = 0; } -void h_28(double *state, double *unused, double *out_517084945854230916) { - out_517084945854230916[0] = state[0]; +void h_28(double *state, double *unused, double *out_216912054881957444) { + out_216912054881957444[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4340109678280827191) { - out_4340109678280827191[0] = 1; - out_4340109678280827191[1] = 0; - out_4340109678280827191[2] = 0; - out_4340109678280827191[3] = 0; - out_4340109678280827191[4] = 0; - out_4340109678280827191[5] = 0; - out_4340109678280827191[6] = 0; - out_4340109678280827191[7] = 0; - out_4340109678280827191[8] = 0; +void H_28(double *state, double *unused, double *out_1055824072289860142) { + out_1055824072289860142[0] = 1; + out_1055824072289860142[1] = 0; + out_1055824072289860142[2] = 0; + out_1055824072289860142[3] = 0; + out_1055824072289860142[4] = 0; + out_1055824072289860142[5] = 0; + out_1055824072289860142[6] = 0; + out_1055824072289860142[7] = 0; + out_1055824072289860142[8] = 0; } -void h_31(double *state, double *unused, double *out_5309485746790783696) { - out_5309485746790783696[0] = state[8]; +void h_31(double *state, double *unused, double *out_2600210128837778185) { + out_2600210128837778185[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6653986385140345128) { - out_6653986385140345128[0] = 0; - out_6653986385140345128[1] = 0; - out_6653986385140345128[2] = 0; - out_6653986385140345128[3] = 0; - out_6653986385140345128[4] = 0; - out_6653986385140345128[5] = 0; - out_6653986385140345128[6] = 0; - out_6653986385140345128[7] = 0; - out_6653986385140345128[8] = 1; +void H_31(double *state, double *unused, double *out_1028656603834990049) { + out_1028656603834990049[0] = 0; + out_1028656603834990049[1] = 0; + out_1028656603834990049[2] = 0; + out_1028656603834990049[3] = 0; + out_1028656603834990049[4] = 0; + out_1028656603834990049[5] = 0; + out_1028656603834990049[6] = 0; + out_1028656603834990049[7] = 0; + out_1028656603834990049[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_2846118138154075095) { - err_fun(nom_x, delta_x, out_2846118138154075095); +void car_err_fun(double *nom_x, double *delta_x, double *out_3178250485678476353) { + err_fun(nom_x, delta_x, out_3178250485678476353); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4044333420406863401) { - inv_err_fun(nom_x, true_x, out_4044333420406863401); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1483572745860930452) { + inv_err_fun(nom_x, true_x, out_1483572745860930452); } -void car_H_mod_fun(double *state, double *out_698882326502663349) { - H_mod_fun(state, out_698882326502663349); +void car_H_mod_fun(double *state, double *out_492676199757732909) { + H_mod_fun(state, out_492676199757732909); } -void car_f_fun(double *state, double dt, double *out_7869785476666687441) { - f_fun(state, dt, out_7869785476666687441); +void car_f_fun(double *state, double dt, double *out_50750306698385500) { + f_fun(state, dt, out_50750306698385500); } -void car_F_fun(double *state, double dt, double *out_8888598582008610072) { - F_fun(state, dt, out_8888598582008610072); +void car_F_fun(double *state, double dt, double *out_8436903704575629648) { + F_fun(state, dt, out_8436903704575629648); } -void car_h_25(double *state, double *unused, double *out_4497380850200226036) { - h_25(state, unused, out_4497380850200226036); +void car_h_25(double *state, double *unused, double *out_7349873263608033439) { + h_25(state, unused, out_7349873263608033439); } -void car_H_25(double *state, double *unused, double *out_2286274964032937428) { - H_25(state, unused, out_2286274964032937428); +void car_H_25(double *state, double *unused, double *out_998010641958029621) { + H_25(state, unused, out_998010641958029621); } -void car_h_24(double *state, double *unused, double *out_1105660614370515943) { - h_24(state, unused, out_1105660614370515943); +void car_h_24(double *state, double *unused, double *out_5301420497854533783) { + h_24(state, unused, out_5301420497854533783); } -void car_H_24(double *state, double *unused, double *out_2987219318880075166) { - H_24(state, unused, out_2987219318880075166); +void car_H_24(double *state, double *unused, double *out_4999722720588538254) { + H_24(state, unused, out_4999722720588538254); } -void car_h_30(double *state, double *unused, double *out_4340194181849096891) { - h_30(state, unused, out_4340194181849096891); +void car_h_30(double *state, double *unused, double *out_7625067325892539328) { + h_30(state, unused, out_7625067325892539328); } -void car_H_30(double *state, double *unused, double *out_232057994474311199) { - H_30(state, unused, out_232057994474311199); +void car_H_30(double *state, double *unused, double *out_7914700983449646376) { + H_30(state, unused, out_7914700983449646376); } -void car_h_26(double *state, double *unused, double *out_7376980233293429576) { - h_26(state, unused, out_7376980233293429576); +void car_h_26(double *state, double *unused, double *out_3002881296436431014) { + h_26(state, unused, out_3002881296436431014); } -void car_H_26(double *state, double *unused, double *out_6027778282906993652) { - H_26(state, unused, out_6027778282906993652); +void car_H_26(double *state, double *unused, double *out_2743492676916026603) { + H_26(state, unused, out_2743492676916026603); } -void car_h_27(double *state, double *unused, double *out_7157120249877593801) { - h_27(state, unused, out_7157120249877593801); +void car_h_27(double *state, double *unused, double *out_5218585322542803089) { + h_27(state, unused, out_5218585322542803089); } -void car_H_27(double *state, double *unused, double *out_2455652065658254416) { - H_27(state, unused, out_2455652065658254416); +void car_H_27(double *state, double *unused, double *out_5739937671649221465) { + H_27(state, unused, out_5739937671649221465); } -void car_h_29(double *state, double *unused, double *out_3396684328947434456) { - h_29(state, unused, out_3396684328947434456); +void car_h_29(double *state, double *unused, double *out_5820003480156166643) { + h_29(state, unused, out_5820003480156166643); } -void car_H_29(double *state, double *unused, double *out_742289338788703383) { - H_29(state, unused, out_742289338788703383); +void car_H_29(double *state, double *unused, double *out_8424932327764038560) { + H_29(state, unused, out_8424932327764038560); } -void car_h_28(double *state, double *unused, double *out_517084945854230916) { - h_28(state, unused, out_517084945854230916); +void car_h_28(double *state, double *unused, double *out_216912054881957444) { + h_28(state, unused, out_216912054881957444); } -void car_H_28(double *state, double *unused, double *out_4340109678280827191) { - H_28(state, unused, out_4340109678280827191); +void car_H_28(double *state, double *unused, double *out_1055824072289860142) { + H_28(state, unused, out_1055824072289860142); } -void car_h_31(double *state, double *unused, double *out_5309485746790783696) { - h_31(state, unused, out_5309485746790783696); +void car_h_31(double *state, double *unused, double *out_2600210128837778185) { + h_31(state, unused, out_2600210128837778185); } -void car_H_31(double *state, double *unused, double *out_6653986385140345128) { - H_31(state, unused, out_6653986385140345128); +void car_H_31(double *state, double *unused, double *out_1028656603834990049) { + H_31(state, unused, out_1028656603834990049); } 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 209087aae2..346b636ed3 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_2846118138154075095); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4044333420406863401); -void car_H_mod_fun(double *state, double *out_698882326502663349); -void car_f_fun(double *state, double dt, double *out_7869785476666687441); -void car_F_fun(double *state, double dt, double *out_8888598582008610072); -void car_h_25(double *state, double *unused, double *out_4497380850200226036); -void car_H_25(double *state, double *unused, double *out_2286274964032937428); -void car_h_24(double *state, double *unused, double *out_1105660614370515943); -void car_H_24(double *state, double *unused, double *out_2987219318880075166); -void car_h_30(double *state, double *unused, double *out_4340194181849096891); -void car_H_30(double *state, double *unused, double *out_232057994474311199); -void car_h_26(double *state, double *unused, double *out_7376980233293429576); -void car_H_26(double *state, double *unused, double *out_6027778282906993652); -void car_h_27(double *state, double *unused, double *out_7157120249877593801); -void car_H_27(double *state, double *unused, double *out_2455652065658254416); -void car_h_29(double *state, double *unused, double *out_3396684328947434456); -void car_H_29(double *state, double *unused, double *out_742289338788703383); -void car_h_28(double *state, double *unused, double *out_517084945854230916); -void car_H_28(double *state, double *unused, double *out_4340109678280827191); -void car_h_31(double *state, double *unused, double *out_5309485746790783696); -void car_H_31(double *state, double *unused, double *out_6653986385140345128); +void car_err_fun(double *nom_x, double *delta_x, double *out_3178250485678476353); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1483572745860930452); +void car_H_mod_fun(double *state, double *out_492676199757732909); +void car_f_fun(double *state, double dt, double *out_50750306698385500); +void car_F_fun(double *state, double dt, double *out_8436903704575629648); +void car_h_25(double *state, double *unused, double *out_7349873263608033439); +void car_H_25(double *state, double *unused, double *out_998010641958029621); +void car_h_24(double *state, double *unused, double *out_5301420497854533783); +void car_H_24(double *state, double *unused, double *out_4999722720588538254); +void car_h_30(double *state, double *unused, double *out_7625067325892539328); +void car_H_30(double *state, double *unused, double *out_7914700983449646376); +void car_h_26(double *state, double *unused, double *out_3002881296436431014); +void car_H_26(double *state, double *unused, double *out_2743492676916026603); +void car_h_27(double *state, double *unused, double *out_5218585322542803089); +void car_H_27(double *state, double *unused, double *out_5739937671649221465); +void car_h_29(double *state, double *unused, double *out_5820003480156166643); +void car_H_29(double *state, double *unused, double *out_8424932327764038560); +void car_h_28(double *state, double *unused, double *out_216912054881957444); +void car_H_28(double *state, double *unused, double *out_1055824072289860142); +void car_h_31(double *state, double *unused, double *out_2600210128837778185); +void car_H_31(double *state, double *unused, double *out_1028656603834990049); 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/libcar.so b/selfdrive/locationd/models/generated/libcar.so index 288ecd3522..b09e2527cc 100755 Binary files a/selfdrive/locationd/models/generated/libcar.so and b/selfdrive/locationd/models/generated/libcar.so differ diff --git a/selfdrive/locationd/models/generated/libpose.so b/selfdrive/locationd/models/generated/libpose.so index 9de6e8a5fa..1ad2192706 100755 Binary files a/selfdrive/locationd/models/generated/libpose.so and b/selfdrive/locationd/models/generated/libpose.so differ diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 065431e993..8a7e0e8d74 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -11,967 +11,967 @@ const static double MAHA_THRESH_13 = 7.814727903251177; const static double MAHA_THRESH_14 = 7.814727903251177; /****************************************************************************** - * Code generated with SymPy 1.13.2 * + * Code generated with SymPy 1.14.0 * * * * See http://www.sympy.org/ for more information. * * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_8287156320329551527) { - out_8287156320329551527[0] = delta_x[0] + nom_x[0]; - out_8287156320329551527[1] = delta_x[1] + nom_x[1]; - out_8287156320329551527[2] = delta_x[2] + nom_x[2]; - out_8287156320329551527[3] = delta_x[3] + nom_x[3]; - out_8287156320329551527[4] = delta_x[4] + nom_x[4]; - out_8287156320329551527[5] = delta_x[5] + nom_x[5]; - out_8287156320329551527[6] = delta_x[6] + nom_x[6]; - out_8287156320329551527[7] = delta_x[7] + nom_x[7]; - out_8287156320329551527[8] = delta_x[8] + nom_x[8]; - out_8287156320329551527[9] = delta_x[9] + nom_x[9]; - out_8287156320329551527[10] = delta_x[10] + nom_x[10]; - out_8287156320329551527[11] = delta_x[11] + nom_x[11]; - out_8287156320329551527[12] = delta_x[12] + nom_x[12]; - out_8287156320329551527[13] = delta_x[13] + nom_x[13]; - out_8287156320329551527[14] = delta_x[14] + nom_x[14]; - out_8287156320329551527[15] = delta_x[15] + nom_x[15]; - out_8287156320329551527[16] = delta_x[16] + nom_x[16]; - out_8287156320329551527[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6858265802359206836) { + out_6858265802359206836[0] = delta_x[0] + nom_x[0]; + out_6858265802359206836[1] = delta_x[1] + nom_x[1]; + out_6858265802359206836[2] = delta_x[2] + nom_x[2]; + out_6858265802359206836[3] = delta_x[3] + nom_x[3]; + out_6858265802359206836[4] = delta_x[4] + nom_x[4]; + out_6858265802359206836[5] = delta_x[5] + nom_x[5]; + out_6858265802359206836[6] = delta_x[6] + nom_x[6]; + out_6858265802359206836[7] = delta_x[7] + nom_x[7]; + out_6858265802359206836[8] = delta_x[8] + nom_x[8]; + out_6858265802359206836[9] = delta_x[9] + nom_x[9]; + out_6858265802359206836[10] = delta_x[10] + nom_x[10]; + out_6858265802359206836[11] = delta_x[11] + nom_x[11]; + out_6858265802359206836[12] = delta_x[12] + nom_x[12]; + out_6858265802359206836[13] = delta_x[13] + nom_x[13]; + out_6858265802359206836[14] = delta_x[14] + nom_x[14]; + out_6858265802359206836[15] = delta_x[15] + nom_x[15]; + out_6858265802359206836[16] = delta_x[16] + nom_x[16]; + out_6858265802359206836[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_152026319407410727) { - out_152026319407410727[0] = -nom_x[0] + true_x[0]; - out_152026319407410727[1] = -nom_x[1] + true_x[1]; - out_152026319407410727[2] = -nom_x[2] + true_x[2]; - out_152026319407410727[3] = -nom_x[3] + true_x[3]; - out_152026319407410727[4] = -nom_x[4] + true_x[4]; - out_152026319407410727[5] = -nom_x[5] + true_x[5]; - out_152026319407410727[6] = -nom_x[6] + true_x[6]; - out_152026319407410727[7] = -nom_x[7] + true_x[7]; - out_152026319407410727[8] = -nom_x[8] + true_x[8]; - out_152026319407410727[9] = -nom_x[9] + true_x[9]; - out_152026319407410727[10] = -nom_x[10] + true_x[10]; - out_152026319407410727[11] = -nom_x[11] + true_x[11]; - out_152026319407410727[12] = -nom_x[12] + true_x[12]; - out_152026319407410727[13] = -nom_x[13] + true_x[13]; - out_152026319407410727[14] = -nom_x[14] + true_x[14]; - out_152026319407410727[15] = -nom_x[15] + true_x[15]; - out_152026319407410727[16] = -nom_x[16] + true_x[16]; - out_152026319407410727[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_683644921736672263) { + out_683644921736672263[0] = -nom_x[0] + true_x[0]; + out_683644921736672263[1] = -nom_x[1] + true_x[1]; + out_683644921736672263[2] = -nom_x[2] + true_x[2]; + out_683644921736672263[3] = -nom_x[3] + true_x[3]; + out_683644921736672263[4] = -nom_x[4] + true_x[4]; + out_683644921736672263[5] = -nom_x[5] + true_x[5]; + out_683644921736672263[6] = -nom_x[6] + true_x[6]; + out_683644921736672263[7] = -nom_x[7] + true_x[7]; + out_683644921736672263[8] = -nom_x[8] + true_x[8]; + out_683644921736672263[9] = -nom_x[9] + true_x[9]; + out_683644921736672263[10] = -nom_x[10] + true_x[10]; + out_683644921736672263[11] = -nom_x[11] + true_x[11]; + out_683644921736672263[12] = -nom_x[12] + true_x[12]; + out_683644921736672263[13] = -nom_x[13] + true_x[13]; + out_683644921736672263[14] = -nom_x[14] + true_x[14]; + out_683644921736672263[15] = -nom_x[15] + true_x[15]; + out_683644921736672263[16] = -nom_x[16] + true_x[16]; + out_683644921736672263[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3515917231783269738) { - out_3515917231783269738[0] = 1.0; - out_3515917231783269738[1] = 0.0; - out_3515917231783269738[2] = 0.0; - out_3515917231783269738[3] = 0.0; - out_3515917231783269738[4] = 0.0; - out_3515917231783269738[5] = 0.0; - out_3515917231783269738[6] = 0.0; - out_3515917231783269738[7] = 0.0; - out_3515917231783269738[8] = 0.0; - out_3515917231783269738[9] = 0.0; - out_3515917231783269738[10] = 0.0; - out_3515917231783269738[11] = 0.0; - out_3515917231783269738[12] = 0.0; - out_3515917231783269738[13] = 0.0; - out_3515917231783269738[14] = 0.0; - out_3515917231783269738[15] = 0.0; - out_3515917231783269738[16] = 0.0; - out_3515917231783269738[17] = 0.0; - out_3515917231783269738[18] = 0.0; - out_3515917231783269738[19] = 1.0; - out_3515917231783269738[20] = 0.0; - out_3515917231783269738[21] = 0.0; - out_3515917231783269738[22] = 0.0; - out_3515917231783269738[23] = 0.0; - out_3515917231783269738[24] = 0.0; - out_3515917231783269738[25] = 0.0; - out_3515917231783269738[26] = 0.0; - out_3515917231783269738[27] = 0.0; - out_3515917231783269738[28] = 0.0; - out_3515917231783269738[29] = 0.0; - out_3515917231783269738[30] = 0.0; - out_3515917231783269738[31] = 0.0; - out_3515917231783269738[32] = 0.0; - out_3515917231783269738[33] = 0.0; - out_3515917231783269738[34] = 0.0; - out_3515917231783269738[35] = 0.0; - out_3515917231783269738[36] = 0.0; - out_3515917231783269738[37] = 0.0; - out_3515917231783269738[38] = 1.0; - out_3515917231783269738[39] = 0.0; - out_3515917231783269738[40] = 0.0; - out_3515917231783269738[41] = 0.0; - out_3515917231783269738[42] = 0.0; - out_3515917231783269738[43] = 0.0; - out_3515917231783269738[44] = 0.0; - out_3515917231783269738[45] = 0.0; - out_3515917231783269738[46] = 0.0; - out_3515917231783269738[47] = 0.0; - out_3515917231783269738[48] = 0.0; - out_3515917231783269738[49] = 0.0; - out_3515917231783269738[50] = 0.0; - out_3515917231783269738[51] = 0.0; - out_3515917231783269738[52] = 0.0; - out_3515917231783269738[53] = 0.0; - out_3515917231783269738[54] = 0.0; - out_3515917231783269738[55] = 0.0; - out_3515917231783269738[56] = 0.0; - out_3515917231783269738[57] = 1.0; - out_3515917231783269738[58] = 0.0; - out_3515917231783269738[59] = 0.0; - out_3515917231783269738[60] = 0.0; - out_3515917231783269738[61] = 0.0; - out_3515917231783269738[62] = 0.0; - out_3515917231783269738[63] = 0.0; - out_3515917231783269738[64] = 0.0; - out_3515917231783269738[65] = 0.0; - out_3515917231783269738[66] = 0.0; - out_3515917231783269738[67] = 0.0; - out_3515917231783269738[68] = 0.0; - out_3515917231783269738[69] = 0.0; - out_3515917231783269738[70] = 0.0; - out_3515917231783269738[71] = 0.0; - out_3515917231783269738[72] = 0.0; - out_3515917231783269738[73] = 0.0; - out_3515917231783269738[74] = 0.0; - out_3515917231783269738[75] = 0.0; - out_3515917231783269738[76] = 1.0; - out_3515917231783269738[77] = 0.0; - out_3515917231783269738[78] = 0.0; - out_3515917231783269738[79] = 0.0; - out_3515917231783269738[80] = 0.0; - out_3515917231783269738[81] = 0.0; - out_3515917231783269738[82] = 0.0; - out_3515917231783269738[83] = 0.0; - out_3515917231783269738[84] = 0.0; - out_3515917231783269738[85] = 0.0; - out_3515917231783269738[86] = 0.0; - out_3515917231783269738[87] = 0.0; - out_3515917231783269738[88] = 0.0; - out_3515917231783269738[89] = 0.0; - out_3515917231783269738[90] = 0.0; - out_3515917231783269738[91] = 0.0; - out_3515917231783269738[92] = 0.0; - out_3515917231783269738[93] = 0.0; - out_3515917231783269738[94] = 0.0; - out_3515917231783269738[95] = 1.0; - out_3515917231783269738[96] = 0.0; - out_3515917231783269738[97] = 0.0; - out_3515917231783269738[98] = 0.0; - out_3515917231783269738[99] = 0.0; - out_3515917231783269738[100] = 0.0; - out_3515917231783269738[101] = 0.0; - out_3515917231783269738[102] = 0.0; - out_3515917231783269738[103] = 0.0; - out_3515917231783269738[104] = 0.0; - out_3515917231783269738[105] = 0.0; - out_3515917231783269738[106] = 0.0; - out_3515917231783269738[107] = 0.0; - out_3515917231783269738[108] = 0.0; - out_3515917231783269738[109] = 0.0; - out_3515917231783269738[110] = 0.0; - out_3515917231783269738[111] = 0.0; - out_3515917231783269738[112] = 0.0; - out_3515917231783269738[113] = 0.0; - out_3515917231783269738[114] = 1.0; - out_3515917231783269738[115] = 0.0; - out_3515917231783269738[116] = 0.0; - out_3515917231783269738[117] = 0.0; - out_3515917231783269738[118] = 0.0; - out_3515917231783269738[119] = 0.0; - out_3515917231783269738[120] = 0.0; - out_3515917231783269738[121] = 0.0; - out_3515917231783269738[122] = 0.0; - out_3515917231783269738[123] = 0.0; - out_3515917231783269738[124] = 0.0; - out_3515917231783269738[125] = 0.0; - out_3515917231783269738[126] = 0.0; - out_3515917231783269738[127] = 0.0; - out_3515917231783269738[128] = 0.0; - out_3515917231783269738[129] = 0.0; - out_3515917231783269738[130] = 0.0; - out_3515917231783269738[131] = 0.0; - out_3515917231783269738[132] = 0.0; - out_3515917231783269738[133] = 1.0; - out_3515917231783269738[134] = 0.0; - out_3515917231783269738[135] = 0.0; - out_3515917231783269738[136] = 0.0; - out_3515917231783269738[137] = 0.0; - out_3515917231783269738[138] = 0.0; - out_3515917231783269738[139] = 0.0; - out_3515917231783269738[140] = 0.0; - out_3515917231783269738[141] = 0.0; - out_3515917231783269738[142] = 0.0; - out_3515917231783269738[143] = 0.0; - out_3515917231783269738[144] = 0.0; - out_3515917231783269738[145] = 0.0; - out_3515917231783269738[146] = 0.0; - out_3515917231783269738[147] = 0.0; - out_3515917231783269738[148] = 0.0; - out_3515917231783269738[149] = 0.0; - out_3515917231783269738[150] = 0.0; - out_3515917231783269738[151] = 0.0; - out_3515917231783269738[152] = 1.0; - out_3515917231783269738[153] = 0.0; - out_3515917231783269738[154] = 0.0; - out_3515917231783269738[155] = 0.0; - out_3515917231783269738[156] = 0.0; - out_3515917231783269738[157] = 0.0; - out_3515917231783269738[158] = 0.0; - out_3515917231783269738[159] = 0.0; - out_3515917231783269738[160] = 0.0; - out_3515917231783269738[161] = 0.0; - out_3515917231783269738[162] = 0.0; - out_3515917231783269738[163] = 0.0; - out_3515917231783269738[164] = 0.0; - out_3515917231783269738[165] = 0.0; - out_3515917231783269738[166] = 0.0; - out_3515917231783269738[167] = 0.0; - out_3515917231783269738[168] = 0.0; - out_3515917231783269738[169] = 0.0; - out_3515917231783269738[170] = 0.0; - out_3515917231783269738[171] = 1.0; - out_3515917231783269738[172] = 0.0; - out_3515917231783269738[173] = 0.0; - out_3515917231783269738[174] = 0.0; - out_3515917231783269738[175] = 0.0; - out_3515917231783269738[176] = 0.0; - out_3515917231783269738[177] = 0.0; - out_3515917231783269738[178] = 0.0; - out_3515917231783269738[179] = 0.0; - out_3515917231783269738[180] = 0.0; - out_3515917231783269738[181] = 0.0; - out_3515917231783269738[182] = 0.0; - out_3515917231783269738[183] = 0.0; - out_3515917231783269738[184] = 0.0; - out_3515917231783269738[185] = 0.0; - out_3515917231783269738[186] = 0.0; - out_3515917231783269738[187] = 0.0; - out_3515917231783269738[188] = 0.0; - out_3515917231783269738[189] = 0.0; - out_3515917231783269738[190] = 1.0; - out_3515917231783269738[191] = 0.0; - out_3515917231783269738[192] = 0.0; - out_3515917231783269738[193] = 0.0; - out_3515917231783269738[194] = 0.0; - out_3515917231783269738[195] = 0.0; - out_3515917231783269738[196] = 0.0; - out_3515917231783269738[197] = 0.0; - out_3515917231783269738[198] = 0.0; - out_3515917231783269738[199] = 0.0; - out_3515917231783269738[200] = 0.0; - out_3515917231783269738[201] = 0.0; - out_3515917231783269738[202] = 0.0; - out_3515917231783269738[203] = 0.0; - out_3515917231783269738[204] = 0.0; - out_3515917231783269738[205] = 0.0; - out_3515917231783269738[206] = 0.0; - out_3515917231783269738[207] = 0.0; - out_3515917231783269738[208] = 0.0; - out_3515917231783269738[209] = 1.0; - out_3515917231783269738[210] = 0.0; - out_3515917231783269738[211] = 0.0; - out_3515917231783269738[212] = 0.0; - out_3515917231783269738[213] = 0.0; - out_3515917231783269738[214] = 0.0; - out_3515917231783269738[215] = 0.0; - out_3515917231783269738[216] = 0.0; - out_3515917231783269738[217] = 0.0; - out_3515917231783269738[218] = 0.0; - out_3515917231783269738[219] = 0.0; - out_3515917231783269738[220] = 0.0; - out_3515917231783269738[221] = 0.0; - out_3515917231783269738[222] = 0.0; - out_3515917231783269738[223] = 0.0; - out_3515917231783269738[224] = 0.0; - out_3515917231783269738[225] = 0.0; - out_3515917231783269738[226] = 0.0; - out_3515917231783269738[227] = 0.0; - out_3515917231783269738[228] = 1.0; - out_3515917231783269738[229] = 0.0; - out_3515917231783269738[230] = 0.0; - out_3515917231783269738[231] = 0.0; - out_3515917231783269738[232] = 0.0; - out_3515917231783269738[233] = 0.0; - out_3515917231783269738[234] = 0.0; - out_3515917231783269738[235] = 0.0; - out_3515917231783269738[236] = 0.0; - out_3515917231783269738[237] = 0.0; - out_3515917231783269738[238] = 0.0; - out_3515917231783269738[239] = 0.0; - out_3515917231783269738[240] = 0.0; - out_3515917231783269738[241] = 0.0; - out_3515917231783269738[242] = 0.0; - out_3515917231783269738[243] = 0.0; - out_3515917231783269738[244] = 0.0; - out_3515917231783269738[245] = 0.0; - out_3515917231783269738[246] = 0.0; - out_3515917231783269738[247] = 1.0; - out_3515917231783269738[248] = 0.0; - out_3515917231783269738[249] = 0.0; - out_3515917231783269738[250] = 0.0; - out_3515917231783269738[251] = 0.0; - out_3515917231783269738[252] = 0.0; - out_3515917231783269738[253] = 0.0; - out_3515917231783269738[254] = 0.0; - out_3515917231783269738[255] = 0.0; - out_3515917231783269738[256] = 0.0; - out_3515917231783269738[257] = 0.0; - out_3515917231783269738[258] = 0.0; - out_3515917231783269738[259] = 0.0; - out_3515917231783269738[260] = 0.0; - out_3515917231783269738[261] = 0.0; - out_3515917231783269738[262] = 0.0; - out_3515917231783269738[263] = 0.0; - out_3515917231783269738[264] = 0.0; - out_3515917231783269738[265] = 0.0; - out_3515917231783269738[266] = 1.0; - out_3515917231783269738[267] = 0.0; - out_3515917231783269738[268] = 0.0; - out_3515917231783269738[269] = 0.0; - out_3515917231783269738[270] = 0.0; - out_3515917231783269738[271] = 0.0; - out_3515917231783269738[272] = 0.0; - out_3515917231783269738[273] = 0.0; - out_3515917231783269738[274] = 0.0; - out_3515917231783269738[275] = 0.0; - out_3515917231783269738[276] = 0.0; - out_3515917231783269738[277] = 0.0; - out_3515917231783269738[278] = 0.0; - out_3515917231783269738[279] = 0.0; - out_3515917231783269738[280] = 0.0; - out_3515917231783269738[281] = 0.0; - out_3515917231783269738[282] = 0.0; - out_3515917231783269738[283] = 0.0; - out_3515917231783269738[284] = 0.0; - out_3515917231783269738[285] = 1.0; - out_3515917231783269738[286] = 0.0; - out_3515917231783269738[287] = 0.0; - out_3515917231783269738[288] = 0.0; - out_3515917231783269738[289] = 0.0; - out_3515917231783269738[290] = 0.0; - out_3515917231783269738[291] = 0.0; - out_3515917231783269738[292] = 0.0; - out_3515917231783269738[293] = 0.0; - out_3515917231783269738[294] = 0.0; - out_3515917231783269738[295] = 0.0; - out_3515917231783269738[296] = 0.0; - out_3515917231783269738[297] = 0.0; - out_3515917231783269738[298] = 0.0; - out_3515917231783269738[299] = 0.0; - out_3515917231783269738[300] = 0.0; - out_3515917231783269738[301] = 0.0; - out_3515917231783269738[302] = 0.0; - out_3515917231783269738[303] = 0.0; - out_3515917231783269738[304] = 1.0; - out_3515917231783269738[305] = 0.0; - out_3515917231783269738[306] = 0.0; - out_3515917231783269738[307] = 0.0; - out_3515917231783269738[308] = 0.0; - out_3515917231783269738[309] = 0.0; - out_3515917231783269738[310] = 0.0; - out_3515917231783269738[311] = 0.0; - out_3515917231783269738[312] = 0.0; - out_3515917231783269738[313] = 0.0; - out_3515917231783269738[314] = 0.0; - out_3515917231783269738[315] = 0.0; - out_3515917231783269738[316] = 0.0; - out_3515917231783269738[317] = 0.0; - out_3515917231783269738[318] = 0.0; - out_3515917231783269738[319] = 0.0; - out_3515917231783269738[320] = 0.0; - out_3515917231783269738[321] = 0.0; - out_3515917231783269738[322] = 0.0; - out_3515917231783269738[323] = 1.0; +void H_mod_fun(double *state, double *out_1422952877034374174) { + out_1422952877034374174[0] = 1.0; + out_1422952877034374174[1] = 0.0; + out_1422952877034374174[2] = 0.0; + out_1422952877034374174[3] = 0.0; + out_1422952877034374174[4] = 0.0; + out_1422952877034374174[5] = 0.0; + out_1422952877034374174[6] = 0.0; + out_1422952877034374174[7] = 0.0; + out_1422952877034374174[8] = 0.0; + out_1422952877034374174[9] = 0.0; + out_1422952877034374174[10] = 0.0; + out_1422952877034374174[11] = 0.0; + out_1422952877034374174[12] = 0.0; + out_1422952877034374174[13] = 0.0; + out_1422952877034374174[14] = 0.0; + out_1422952877034374174[15] = 0.0; + out_1422952877034374174[16] = 0.0; + out_1422952877034374174[17] = 0.0; + out_1422952877034374174[18] = 0.0; + out_1422952877034374174[19] = 1.0; + out_1422952877034374174[20] = 0.0; + out_1422952877034374174[21] = 0.0; + out_1422952877034374174[22] = 0.0; + out_1422952877034374174[23] = 0.0; + out_1422952877034374174[24] = 0.0; + out_1422952877034374174[25] = 0.0; + out_1422952877034374174[26] = 0.0; + out_1422952877034374174[27] = 0.0; + out_1422952877034374174[28] = 0.0; + out_1422952877034374174[29] = 0.0; + out_1422952877034374174[30] = 0.0; + out_1422952877034374174[31] = 0.0; + out_1422952877034374174[32] = 0.0; + out_1422952877034374174[33] = 0.0; + out_1422952877034374174[34] = 0.0; + out_1422952877034374174[35] = 0.0; + out_1422952877034374174[36] = 0.0; + out_1422952877034374174[37] = 0.0; + out_1422952877034374174[38] = 1.0; + out_1422952877034374174[39] = 0.0; + out_1422952877034374174[40] = 0.0; + out_1422952877034374174[41] = 0.0; + out_1422952877034374174[42] = 0.0; + out_1422952877034374174[43] = 0.0; + out_1422952877034374174[44] = 0.0; + out_1422952877034374174[45] = 0.0; + out_1422952877034374174[46] = 0.0; + out_1422952877034374174[47] = 0.0; + out_1422952877034374174[48] = 0.0; + out_1422952877034374174[49] = 0.0; + out_1422952877034374174[50] = 0.0; + out_1422952877034374174[51] = 0.0; + out_1422952877034374174[52] = 0.0; + out_1422952877034374174[53] = 0.0; + out_1422952877034374174[54] = 0.0; + out_1422952877034374174[55] = 0.0; + out_1422952877034374174[56] = 0.0; + out_1422952877034374174[57] = 1.0; + out_1422952877034374174[58] = 0.0; + out_1422952877034374174[59] = 0.0; + out_1422952877034374174[60] = 0.0; + out_1422952877034374174[61] = 0.0; + out_1422952877034374174[62] = 0.0; + out_1422952877034374174[63] = 0.0; + out_1422952877034374174[64] = 0.0; + out_1422952877034374174[65] = 0.0; + out_1422952877034374174[66] = 0.0; + out_1422952877034374174[67] = 0.0; + out_1422952877034374174[68] = 0.0; + out_1422952877034374174[69] = 0.0; + out_1422952877034374174[70] = 0.0; + out_1422952877034374174[71] = 0.0; + out_1422952877034374174[72] = 0.0; + out_1422952877034374174[73] = 0.0; + out_1422952877034374174[74] = 0.0; + out_1422952877034374174[75] = 0.0; + out_1422952877034374174[76] = 1.0; + out_1422952877034374174[77] = 0.0; + out_1422952877034374174[78] = 0.0; + out_1422952877034374174[79] = 0.0; + out_1422952877034374174[80] = 0.0; + out_1422952877034374174[81] = 0.0; + out_1422952877034374174[82] = 0.0; + out_1422952877034374174[83] = 0.0; + out_1422952877034374174[84] = 0.0; + out_1422952877034374174[85] = 0.0; + out_1422952877034374174[86] = 0.0; + out_1422952877034374174[87] = 0.0; + out_1422952877034374174[88] = 0.0; + out_1422952877034374174[89] = 0.0; + out_1422952877034374174[90] = 0.0; + out_1422952877034374174[91] = 0.0; + out_1422952877034374174[92] = 0.0; + out_1422952877034374174[93] = 0.0; + out_1422952877034374174[94] = 0.0; + out_1422952877034374174[95] = 1.0; + out_1422952877034374174[96] = 0.0; + out_1422952877034374174[97] = 0.0; + out_1422952877034374174[98] = 0.0; + out_1422952877034374174[99] = 0.0; + out_1422952877034374174[100] = 0.0; + out_1422952877034374174[101] = 0.0; + out_1422952877034374174[102] = 0.0; + out_1422952877034374174[103] = 0.0; + out_1422952877034374174[104] = 0.0; + out_1422952877034374174[105] = 0.0; + out_1422952877034374174[106] = 0.0; + out_1422952877034374174[107] = 0.0; + out_1422952877034374174[108] = 0.0; + out_1422952877034374174[109] = 0.0; + out_1422952877034374174[110] = 0.0; + out_1422952877034374174[111] = 0.0; + out_1422952877034374174[112] = 0.0; + out_1422952877034374174[113] = 0.0; + out_1422952877034374174[114] = 1.0; + out_1422952877034374174[115] = 0.0; + out_1422952877034374174[116] = 0.0; + out_1422952877034374174[117] = 0.0; + out_1422952877034374174[118] = 0.0; + out_1422952877034374174[119] = 0.0; + out_1422952877034374174[120] = 0.0; + out_1422952877034374174[121] = 0.0; + out_1422952877034374174[122] = 0.0; + out_1422952877034374174[123] = 0.0; + out_1422952877034374174[124] = 0.0; + out_1422952877034374174[125] = 0.0; + out_1422952877034374174[126] = 0.0; + out_1422952877034374174[127] = 0.0; + out_1422952877034374174[128] = 0.0; + out_1422952877034374174[129] = 0.0; + out_1422952877034374174[130] = 0.0; + out_1422952877034374174[131] = 0.0; + out_1422952877034374174[132] = 0.0; + out_1422952877034374174[133] = 1.0; + out_1422952877034374174[134] = 0.0; + out_1422952877034374174[135] = 0.0; + out_1422952877034374174[136] = 0.0; + out_1422952877034374174[137] = 0.0; + out_1422952877034374174[138] = 0.0; + out_1422952877034374174[139] = 0.0; + out_1422952877034374174[140] = 0.0; + out_1422952877034374174[141] = 0.0; + out_1422952877034374174[142] = 0.0; + out_1422952877034374174[143] = 0.0; + out_1422952877034374174[144] = 0.0; + out_1422952877034374174[145] = 0.0; + out_1422952877034374174[146] = 0.0; + out_1422952877034374174[147] = 0.0; + out_1422952877034374174[148] = 0.0; + out_1422952877034374174[149] = 0.0; + out_1422952877034374174[150] = 0.0; + out_1422952877034374174[151] = 0.0; + out_1422952877034374174[152] = 1.0; + out_1422952877034374174[153] = 0.0; + out_1422952877034374174[154] = 0.0; + out_1422952877034374174[155] = 0.0; + out_1422952877034374174[156] = 0.0; + out_1422952877034374174[157] = 0.0; + out_1422952877034374174[158] = 0.0; + out_1422952877034374174[159] = 0.0; + out_1422952877034374174[160] = 0.0; + out_1422952877034374174[161] = 0.0; + out_1422952877034374174[162] = 0.0; + out_1422952877034374174[163] = 0.0; + out_1422952877034374174[164] = 0.0; + out_1422952877034374174[165] = 0.0; + out_1422952877034374174[166] = 0.0; + out_1422952877034374174[167] = 0.0; + out_1422952877034374174[168] = 0.0; + out_1422952877034374174[169] = 0.0; + out_1422952877034374174[170] = 0.0; + out_1422952877034374174[171] = 1.0; + out_1422952877034374174[172] = 0.0; + out_1422952877034374174[173] = 0.0; + out_1422952877034374174[174] = 0.0; + out_1422952877034374174[175] = 0.0; + out_1422952877034374174[176] = 0.0; + out_1422952877034374174[177] = 0.0; + out_1422952877034374174[178] = 0.0; + out_1422952877034374174[179] = 0.0; + out_1422952877034374174[180] = 0.0; + out_1422952877034374174[181] = 0.0; + out_1422952877034374174[182] = 0.0; + out_1422952877034374174[183] = 0.0; + out_1422952877034374174[184] = 0.0; + out_1422952877034374174[185] = 0.0; + out_1422952877034374174[186] = 0.0; + out_1422952877034374174[187] = 0.0; + out_1422952877034374174[188] = 0.0; + out_1422952877034374174[189] = 0.0; + out_1422952877034374174[190] = 1.0; + out_1422952877034374174[191] = 0.0; + out_1422952877034374174[192] = 0.0; + out_1422952877034374174[193] = 0.0; + out_1422952877034374174[194] = 0.0; + out_1422952877034374174[195] = 0.0; + out_1422952877034374174[196] = 0.0; + out_1422952877034374174[197] = 0.0; + out_1422952877034374174[198] = 0.0; + out_1422952877034374174[199] = 0.0; + out_1422952877034374174[200] = 0.0; + out_1422952877034374174[201] = 0.0; + out_1422952877034374174[202] = 0.0; + out_1422952877034374174[203] = 0.0; + out_1422952877034374174[204] = 0.0; + out_1422952877034374174[205] = 0.0; + out_1422952877034374174[206] = 0.0; + out_1422952877034374174[207] = 0.0; + out_1422952877034374174[208] = 0.0; + out_1422952877034374174[209] = 1.0; + out_1422952877034374174[210] = 0.0; + out_1422952877034374174[211] = 0.0; + out_1422952877034374174[212] = 0.0; + out_1422952877034374174[213] = 0.0; + out_1422952877034374174[214] = 0.0; + out_1422952877034374174[215] = 0.0; + out_1422952877034374174[216] = 0.0; + out_1422952877034374174[217] = 0.0; + out_1422952877034374174[218] = 0.0; + out_1422952877034374174[219] = 0.0; + out_1422952877034374174[220] = 0.0; + out_1422952877034374174[221] = 0.0; + out_1422952877034374174[222] = 0.0; + out_1422952877034374174[223] = 0.0; + out_1422952877034374174[224] = 0.0; + out_1422952877034374174[225] = 0.0; + out_1422952877034374174[226] = 0.0; + out_1422952877034374174[227] = 0.0; + out_1422952877034374174[228] = 1.0; + out_1422952877034374174[229] = 0.0; + out_1422952877034374174[230] = 0.0; + out_1422952877034374174[231] = 0.0; + out_1422952877034374174[232] = 0.0; + out_1422952877034374174[233] = 0.0; + out_1422952877034374174[234] = 0.0; + out_1422952877034374174[235] = 0.0; + out_1422952877034374174[236] = 0.0; + out_1422952877034374174[237] = 0.0; + out_1422952877034374174[238] = 0.0; + out_1422952877034374174[239] = 0.0; + out_1422952877034374174[240] = 0.0; + out_1422952877034374174[241] = 0.0; + out_1422952877034374174[242] = 0.0; + out_1422952877034374174[243] = 0.0; + out_1422952877034374174[244] = 0.0; + out_1422952877034374174[245] = 0.0; + out_1422952877034374174[246] = 0.0; + out_1422952877034374174[247] = 1.0; + out_1422952877034374174[248] = 0.0; + out_1422952877034374174[249] = 0.0; + out_1422952877034374174[250] = 0.0; + out_1422952877034374174[251] = 0.0; + out_1422952877034374174[252] = 0.0; + out_1422952877034374174[253] = 0.0; + out_1422952877034374174[254] = 0.0; + out_1422952877034374174[255] = 0.0; + out_1422952877034374174[256] = 0.0; + out_1422952877034374174[257] = 0.0; + out_1422952877034374174[258] = 0.0; + out_1422952877034374174[259] = 0.0; + out_1422952877034374174[260] = 0.0; + out_1422952877034374174[261] = 0.0; + out_1422952877034374174[262] = 0.0; + out_1422952877034374174[263] = 0.0; + out_1422952877034374174[264] = 0.0; + out_1422952877034374174[265] = 0.0; + out_1422952877034374174[266] = 1.0; + out_1422952877034374174[267] = 0.0; + out_1422952877034374174[268] = 0.0; + out_1422952877034374174[269] = 0.0; + out_1422952877034374174[270] = 0.0; + out_1422952877034374174[271] = 0.0; + out_1422952877034374174[272] = 0.0; + out_1422952877034374174[273] = 0.0; + out_1422952877034374174[274] = 0.0; + out_1422952877034374174[275] = 0.0; + out_1422952877034374174[276] = 0.0; + out_1422952877034374174[277] = 0.0; + out_1422952877034374174[278] = 0.0; + out_1422952877034374174[279] = 0.0; + out_1422952877034374174[280] = 0.0; + out_1422952877034374174[281] = 0.0; + out_1422952877034374174[282] = 0.0; + out_1422952877034374174[283] = 0.0; + out_1422952877034374174[284] = 0.0; + out_1422952877034374174[285] = 1.0; + out_1422952877034374174[286] = 0.0; + out_1422952877034374174[287] = 0.0; + out_1422952877034374174[288] = 0.0; + out_1422952877034374174[289] = 0.0; + out_1422952877034374174[290] = 0.0; + out_1422952877034374174[291] = 0.0; + out_1422952877034374174[292] = 0.0; + out_1422952877034374174[293] = 0.0; + out_1422952877034374174[294] = 0.0; + out_1422952877034374174[295] = 0.0; + out_1422952877034374174[296] = 0.0; + out_1422952877034374174[297] = 0.0; + out_1422952877034374174[298] = 0.0; + out_1422952877034374174[299] = 0.0; + out_1422952877034374174[300] = 0.0; + out_1422952877034374174[301] = 0.0; + out_1422952877034374174[302] = 0.0; + out_1422952877034374174[303] = 0.0; + out_1422952877034374174[304] = 1.0; + out_1422952877034374174[305] = 0.0; + out_1422952877034374174[306] = 0.0; + out_1422952877034374174[307] = 0.0; + out_1422952877034374174[308] = 0.0; + out_1422952877034374174[309] = 0.0; + out_1422952877034374174[310] = 0.0; + out_1422952877034374174[311] = 0.0; + out_1422952877034374174[312] = 0.0; + out_1422952877034374174[313] = 0.0; + out_1422952877034374174[314] = 0.0; + out_1422952877034374174[315] = 0.0; + out_1422952877034374174[316] = 0.0; + out_1422952877034374174[317] = 0.0; + out_1422952877034374174[318] = 0.0; + out_1422952877034374174[319] = 0.0; + out_1422952877034374174[320] = 0.0; + out_1422952877034374174[321] = 0.0; + out_1422952877034374174[322] = 0.0; + out_1422952877034374174[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8327036891744297669) { - out_8327036891744297669[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_8327036891744297669[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_8327036891744297669[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_8327036891744297669[3] = dt*state[12] + state[3]; - out_8327036891744297669[4] = dt*state[13] + state[4]; - out_8327036891744297669[5] = dt*state[14] + state[5]; - out_8327036891744297669[6] = state[6]; - out_8327036891744297669[7] = state[7]; - out_8327036891744297669[8] = state[8]; - out_8327036891744297669[9] = state[9]; - out_8327036891744297669[10] = state[10]; - out_8327036891744297669[11] = state[11]; - out_8327036891744297669[12] = state[12]; - out_8327036891744297669[13] = state[13]; - out_8327036891744297669[14] = state[14]; - out_8327036891744297669[15] = state[15]; - out_8327036891744297669[16] = state[16]; - out_8327036891744297669[17] = state[17]; +void f_fun(double *state, double dt, double *out_7318212543475994456) { + out_7318212543475994456[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_7318212543475994456[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_7318212543475994456[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_7318212543475994456[3] = dt*state[12] + state[3]; + out_7318212543475994456[4] = dt*state[13] + state[4]; + out_7318212543475994456[5] = dt*state[14] + state[5]; + out_7318212543475994456[6] = state[6]; + out_7318212543475994456[7] = state[7]; + out_7318212543475994456[8] = state[8]; + out_7318212543475994456[9] = state[9]; + out_7318212543475994456[10] = state[10]; + out_7318212543475994456[11] = state[11]; + out_7318212543475994456[12] = state[12]; + out_7318212543475994456[13] = state[13]; + out_7318212543475994456[14] = state[14]; + out_7318212543475994456[15] = state[15]; + out_7318212543475994456[16] = state[16]; + out_7318212543475994456[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6376990126270885036) { - out_6376990126270885036[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_6376990126270885036[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_6376990126270885036[2] = 0; - out_6376990126270885036[3] = 0; - out_6376990126270885036[4] = 0; - out_6376990126270885036[5] = 0; - out_6376990126270885036[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_6376990126270885036[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_6376990126270885036[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_6376990126270885036[9] = 0; - out_6376990126270885036[10] = 0; - out_6376990126270885036[11] = 0; - out_6376990126270885036[12] = 0; - out_6376990126270885036[13] = 0; - out_6376990126270885036[14] = 0; - out_6376990126270885036[15] = 0; - out_6376990126270885036[16] = 0; - out_6376990126270885036[17] = 0; - out_6376990126270885036[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_6376990126270885036[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_6376990126270885036[20] = 0; - out_6376990126270885036[21] = 0; - out_6376990126270885036[22] = 0; - out_6376990126270885036[23] = 0; - out_6376990126270885036[24] = 0; - out_6376990126270885036[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_6376990126270885036[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_6376990126270885036[27] = 0; - out_6376990126270885036[28] = 0; - out_6376990126270885036[29] = 0; - out_6376990126270885036[30] = 0; - out_6376990126270885036[31] = 0; - out_6376990126270885036[32] = 0; - out_6376990126270885036[33] = 0; - out_6376990126270885036[34] = 0; - out_6376990126270885036[35] = 0; - out_6376990126270885036[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_6376990126270885036[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_6376990126270885036[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_6376990126270885036[39] = 0; - out_6376990126270885036[40] = 0; - out_6376990126270885036[41] = 0; - out_6376990126270885036[42] = 0; - out_6376990126270885036[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_6376990126270885036[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_6376990126270885036[45] = 0; - out_6376990126270885036[46] = 0; - out_6376990126270885036[47] = 0; - out_6376990126270885036[48] = 0; - out_6376990126270885036[49] = 0; - out_6376990126270885036[50] = 0; - out_6376990126270885036[51] = 0; - out_6376990126270885036[52] = 0; - out_6376990126270885036[53] = 0; - out_6376990126270885036[54] = 0; - out_6376990126270885036[55] = 0; - out_6376990126270885036[56] = 0; - out_6376990126270885036[57] = 1; - out_6376990126270885036[58] = 0; - out_6376990126270885036[59] = 0; - out_6376990126270885036[60] = 0; - out_6376990126270885036[61] = 0; - out_6376990126270885036[62] = 0; - out_6376990126270885036[63] = 0; - out_6376990126270885036[64] = 0; - out_6376990126270885036[65] = 0; - out_6376990126270885036[66] = dt; - out_6376990126270885036[67] = 0; - out_6376990126270885036[68] = 0; - out_6376990126270885036[69] = 0; - out_6376990126270885036[70] = 0; - out_6376990126270885036[71] = 0; - out_6376990126270885036[72] = 0; - out_6376990126270885036[73] = 0; - out_6376990126270885036[74] = 0; - out_6376990126270885036[75] = 0; - out_6376990126270885036[76] = 1; - out_6376990126270885036[77] = 0; - out_6376990126270885036[78] = 0; - out_6376990126270885036[79] = 0; - out_6376990126270885036[80] = 0; - out_6376990126270885036[81] = 0; - out_6376990126270885036[82] = 0; - out_6376990126270885036[83] = 0; - out_6376990126270885036[84] = 0; - out_6376990126270885036[85] = dt; - out_6376990126270885036[86] = 0; - out_6376990126270885036[87] = 0; - out_6376990126270885036[88] = 0; - out_6376990126270885036[89] = 0; - out_6376990126270885036[90] = 0; - out_6376990126270885036[91] = 0; - out_6376990126270885036[92] = 0; - out_6376990126270885036[93] = 0; - out_6376990126270885036[94] = 0; - out_6376990126270885036[95] = 1; - out_6376990126270885036[96] = 0; - out_6376990126270885036[97] = 0; - out_6376990126270885036[98] = 0; - out_6376990126270885036[99] = 0; - out_6376990126270885036[100] = 0; - out_6376990126270885036[101] = 0; - out_6376990126270885036[102] = 0; - out_6376990126270885036[103] = 0; - out_6376990126270885036[104] = dt; - out_6376990126270885036[105] = 0; - out_6376990126270885036[106] = 0; - out_6376990126270885036[107] = 0; - out_6376990126270885036[108] = 0; - out_6376990126270885036[109] = 0; - out_6376990126270885036[110] = 0; - out_6376990126270885036[111] = 0; - out_6376990126270885036[112] = 0; - out_6376990126270885036[113] = 0; - out_6376990126270885036[114] = 1; - out_6376990126270885036[115] = 0; - out_6376990126270885036[116] = 0; - out_6376990126270885036[117] = 0; - out_6376990126270885036[118] = 0; - out_6376990126270885036[119] = 0; - out_6376990126270885036[120] = 0; - out_6376990126270885036[121] = 0; - out_6376990126270885036[122] = 0; - out_6376990126270885036[123] = 0; - out_6376990126270885036[124] = 0; - out_6376990126270885036[125] = 0; - out_6376990126270885036[126] = 0; - out_6376990126270885036[127] = 0; - out_6376990126270885036[128] = 0; - out_6376990126270885036[129] = 0; - out_6376990126270885036[130] = 0; - out_6376990126270885036[131] = 0; - out_6376990126270885036[132] = 0; - out_6376990126270885036[133] = 1; - out_6376990126270885036[134] = 0; - out_6376990126270885036[135] = 0; - out_6376990126270885036[136] = 0; - out_6376990126270885036[137] = 0; - out_6376990126270885036[138] = 0; - out_6376990126270885036[139] = 0; - out_6376990126270885036[140] = 0; - out_6376990126270885036[141] = 0; - out_6376990126270885036[142] = 0; - out_6376990126270885036[143] = 0; - out_6376990126270885036[144] = 0; - out_6376990126270885036[145] = 0; - out_6376990126270885036[146] = 0; - out_6376990126270885036[147] = 0; - out_6376990126270885036[148] = 0; - out_6376990126270885036[149] = 0; - out_6376990126270885036[150] = 0; - out_6376990126270885036[151] = 0; - out_6376990126270885036[152] = 1; - out_6376990126270885036[153] = 0; - out_6376990126270885036[154] = 0; - out_6376990126270885036[155] = 0; - out_6376990126270885036[156] = 0; - out_6376990126270885036[157] = 0; - out_6376990126270885036[158] = 0; - out_6376990126270885036[159] = 0; - out_6376990126270885036[160] = 0; - out_6376990126270885036[161] = 0; - out_6376990126270885036[162] = 0; - out_6376990126270885036[163] = 0; - out_6376990126270885036[164] = 0; - out_6376990126270885036[165] = 0; - out_6376990126270885036[166] = 0; - out_6376990126270885036[167] = 0; - out_6376990126270885036[168] = 0; - out_6376990126270885036[169] = 0; - out_6376990126270885036[170] = 0; - out_6376990126270885036[171] = 1; - out_6376990126270885036[172] = 0; - out_6376990126270885036[173] = 0; - out_6376990126270885036[174] = 0; - out_6376990126270885036[175] = 0; - out_6376990126270885036[176] = 0; - out_6376990126270885036[177] = 0; - out_6376990126270885036[178] = 0; - out_6376990126270885036[179] = 0; - out_6376990126270885036[180] = 0; - out_6376990126270885036[181] = 0; - out_6376990126270885036[182] = 0; - out_6376990126270885036[183] = 0; - out_6376990126270885036[184] = 0; - out_6376990126270885036[185] = 0; - out_6376990126270885036[186] = 0; - out_6376990126270885036[187] = 0; - out_6376990126270885036[188] = 0; - out_6376990126270885036[189] = 0; - out_6376990126270885036[190] = 1; - out_6376990126270885036[191] = 0; - out_6376990126270885036[192] = 0; - out_6376990126270885036[193] = 0; - out_6376990126270885036[194] = 0; - out_6376990126270885036[195] = 0; - out_6376990126270885036[196] = 0; - out_6376990126270885036[197] = 0; - out_6376990126270885036[198] = 0; - out_6376990126270885036[199] = 0; - out_6376990126270885036[200] = 0; - out_6376990126270885036[201] = 0; - out_6376990126270885036[202] = 0; - out_6376990126270885036[203] = 0; - out_6376990126270885036[204] = 0; - out_6376990126270885036[205] = 0; - out_6376990126270885036[206] = 0; - out_6376990126270885036[207] = 0; - out_6376990126270885036[208] = 0; - out_6376990126270885036[209] = 1; - out_6376990126270885036[210] = 0; - out_6376990126270885036[211] = 0; - out_6376990126270885036[212] = 0; - out_6376990126270885036[213] = 0; - out_6376990126270885036[214] = 0; - out_6376990126270885036[215] = 0; - out_6376990126270885036[216] = 0; - out_6376990126270885036[217] = 0; - out_6376990126270885036[218] = 0; - out_6376990126270885036[219] = 0; - out_6376990126270885036[220] = 0; - out_6376990126270885036[221] = 0; - out_6376990126270885036[222] = 0; - out_6376990126270885036[223] = 0; - out_6376990126270885036[224] = 0; - out_6376990126270885036[225] = 0; - out_6376990126270885036[226] = 0; - out_6376990126270885036[227] = 0; - out_6376990126270885036[228] = 1; - out_6376990126270885036[229] = 0; - out_6376990126270885036[230] = 0; - out_6376990126270885036[231] = 0; - out_6376990126270885036[232] = 0; - out_6376990126270885036[233] = 0; - out_6376990126270885036[234] = 0; - out_6376990126270885036[235] = 0; - out_6376990126270885036[236] = 0; - out_6376990126270885036[237] = 0; - out_6376990126270885036[238] = 0; - out_6376990126270885036[239] = 0; - out_6376990126270885036[240] = 0; - out_6376990126270885036[241] = 0; - out_6376990126270885036[242] = 0; - out_6376990126270885036[243] = 0; - out_6376990126270885036[244] = 0; - out_6376990126270885036[245] = 0; - out_6376990126270885036[246] = 0; - out_6376990126270885036[247] = 1; - out_6376990126270885036[248] = 0; - out_6376990126270885036[249] = 0; - out_6376990126270885036[250] = 0; - out_6376990126270885036[251] = 0; - out_6376990126270885036[252] = 0; - out_6376990126270885036[253] = 0; - out_6376990126270885036[254] = 0; - out_6376990126270885036[255] = 0; - out_6376990126270885036[256] = 0; - out_6376990126270885036[257] = 0; - out_6376990126270885036[258] = 0; - out_6376990126270885036[259] = 0; - out_6376990126270885036[260] = 0; - out_6376990126270885036[261] = 0; - out_6376990126270885036[262] = 0; - out_6376990126270885036[263] = 0; - out_6376990126270885036[264] = 0; - out_6376990126270885036[265] = 0; - out_6376990126270885036[266] = 1; - out_6376990126270885036[267] = 0; - out_6376990126270885036[268] = 0; - out_6376990126270885036[269] = 0; - out_6376990126270885036[270] = 0; - out_6376990126270885036[271] = 0; - out_6376990126270885036[272] = 0; - out_6376990126270885036[273] = 0; - out_6376990126270885036[274] = 0; - out_6376990126270885036[275] = 0; - out_6376990126270885036[276] = 0; - out_6376990126270885036[277] = 0; - out_6376990126270885036[278] = 0; - out_6376990126270885036[279] = 0; - out_6376990126270885036[280] = 0; - out_6376990126270885036[281] = 0; - out_6376990126270885036[282] = 0; - out_6376990126270885036[283] = 0; - out_6376990126270885036[284] = 0; - out_6376990126270885036[285] = 1; - out_6376990126270885036[286] = 0; - out_6376990126270885036[287] = 0; - out_6376990126270885036[288] = 0; - out_6376990126270885036[289] = 0; - out_6376990126270885036[290] = 0; - out_6376990126270885036[291] = 0; - out_6376990126270885036[292] = 0; - out_6376990126270885036[293] = 0; - out_6376990126270885036[294] = 0; - out_6376990126270885036[295] = 0; - out_6376990126270885036[296] = 0; - out_6376990126270885036[297] = 0; - out_6376990126270885036[298] = 0; - out_6376990126270885036[299] = 0; - out_6376990126270885036[300] = 0; - out_6376990126270885036[301] = 0; - out_6376990126270885036[302] = 0; - out_6376990126270885036[303] = 0; - out_6376990126270885036[304] = 1; - out_6376990126270885036[305] = 0; - out_6376990126270885036[306] = 0; - out_6376990126270885036[307] = 0; - out_6376990126270885036[308] = 0; - out_6376990126270885036[309] = 0; - out_6376990126270885036[310] = 0; - out_6376990126270885036[311] = 0; - out_6376990126270885036[312] = 0; - out_6376990126270885036[313] = 0; - out_6376990126270885036[314] = 0; - out_6376990126270885036[315] = 0; - out_6376990126270885036[316] = 0; - out_6376990126270885036[317] = 0; - out_6376990126270885036[318] = 0; - out_6376990126270885036[319] = 0; - out_6376990126270885036[320] = 0; - out_6376990126270885036[321] = 0; - out_6376990126270885036[322] = 0; - out_6376990126270885036[323] = 1; +void F_fun(double *state, double dt, double *out_4738803203701710697) { + out_4738803203701710697[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_4738803203701710697[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_4738803203701710697[2] = 0; + out_4738803203701710697[3] = 0; + out_4738803203701710697[4] = 0; + out_4738803203701710697[5] = 0; + out_4738803203701710697[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_4738803203701710697[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_4738803203701710697[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_4738803203701710697[9] = 0; + out_4738803203701710697[10] = 0; + out_4738803203701710697[11] = 0; + out_4738803203701710697[12] = 0; + out_4738803203701710697[13] = 0; + out_4738803203701710697[14] = 0; + out_4738803203701710697[15] = 0; + out_4738803203701710697[16] = 0; + out_4738803203701710697[17] = 0; + out_4738803203701710697[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_4738803203701710697[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_4738803203701710697[20] = 0; + out_4738803203701710697[21] = 0; + out_4738803203701710697[22] = 0; + out_4738803203701710697[23] = 0; + out_4738803203701710697[24] = 0; + out_4738803203701710697[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_4738803203701710697[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_4738803203701710697[27] = 0; + out_4738803203701710697[28] = 0; + out_4738803203701710697[29] = 0; + out_4738803203701710697[30] = 0; + out_4738803203701710697[31] = 0; + out_4738803203701710697[32] = 0; + out_4738803203701710697[33] = 0; + out_4738803203701710697[34] = 0; + out_4738803203701710697[35] = 0; + out_4738803203701710697[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_4738803203701710697[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_4738803203701710697[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_4738803203701710697[39] = 0; + out_4738803203701710697[40] = 0; + out_4738803203701710697[41] = 0; + out_4738803203701710697[42] = 0; + out_4738803203701710697[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_4738803203701710697[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_4738803203701710697[45] = 0; + out_4738803203701710697[46] = 0; + out_4738803203701710697[47] = 0; + out_4738803203701710697[48] = 0; + out_4738803203701710697[49] = 0; + out_4738803203701710697[50] = 0; + out_4738803203701710697[51] = 0; + out_4738803203701710697[52] = 0; + out_4738803203701710697[53] = 0; + out_4738803203701710697[54] = 0; + out_4738803203701710697[55] = 0; + out_4738803203701710697[56] = 0; + out_4738803203701710697[57] = 1; + out_4738803203701710697[58] = 0; + out_4738803203701710697[59] = 0; + out_4738803203701710697[60] = 0; + out_4738803203701710697[61] = 0; + out_4738803203701710697[62] = 0; + out_4738803203701710697[63] = 0; + out_4738803203701710697[64] = 0; + out_4738803203701710697[65] = 0; + out_4738803203701710697[66] = dt; + out_4738803203701710697[67] = 0; + out_4738803203701710697[68] = 0; + out_4738803203701710697[69] = 0; + out_4738803203701710697[70] = 0; + out_4738803203701710697[71] = 0; + out_4738803203701710697[72] = 0; + out_4738803203701710697[73] = 0; + out_4738803203701710697[74] = 0; + out_4738803203701710697[75] = 0; + out_4738803203701710697[76] = 1; + out_4738803203701710697[77] = 0; + out_4738803203701710697[78] = 0; + out_4738803203701710697[79] = 0; + out_4738803203701710697[80] = 0; + out_4738803203701710697[81] = 0; + out_4738803203701710697[82] = 0; + out_4738803203701710697[83] = 0; + out_4738803203701710697[84] = 0; + out_4738803203701710697[85] = dt; + out_4738803203701710697[86] = 0; + out_4738803203701710697[87] = 0; + out_4738803203701710697[88] = 0; + out_4738803203701710697[89] = 0; + out_4738803203701710697[90] = 0; + out_4738803203701710697[91] = 0; + out_4738803203701710697[92] = 0; + out_4738803203701710697[93] = 0; + out_4738803203701710697[94] = 0; + out_4738803203701710697[95] = 1; + out_4738803203701710697[96] = 0; + out_4738803203701710697[97] = 0; + out_4738803203701710697[98] = 0; + out_4738803203701710697[99] = 0; + out_4738803203701710697[100] = 0; + out_4738803203701710697[101] = 0; + out_4738803203701710697[102] = 0; + out_4738803203701710697[103] = 0; + out_4738803203701710697[104] = dt; + out_4738803203701710697[105] = 0; + out_4738803203701710697[106] = 0; + out_4738803203701710697[107] = 0; + out_4738803203701710697[108] = 0; + out_4738803203701710697[109] = 0; + out_4738803203701710697[110] = 0; + out_4738803203701710697[111] = 0; + out_4738803203701710697[112] = 0; + out_4738803203701710697[113] = 0; + out_4738803203701710697[114] = 1; + out_4738803203701710697[115] = 0; + out_4738803203701710697[116] = 0; + out_4738803203701710697[117] = 0; + out_4738803203701710697[118] = 0; + out_4738803203701710697[119] = 0; + out_4738803203701710697[120] = 0; + out_4738803203701710697[121] = 0; + out_4738803203701710697[122] = 0; + out_4738803203701710697[123] = 0; + out_4738803203701710697[124] = 0; + out_4738803203701710697[125] = 0; + out_4738803203701710697[126] = 0; + out_4738803203701710697[127] = 0; + out_4738803203701710697[128] = 0; + out_4738803203701710697[129] = 0; + out_4738803203701710697[130] = 0; + out_4738803203701710697[131] = 0; + out_4738803203701710697[132] = 0; + out_4738803203701710697[133] = 1; + out_4738803203701710697[134] = 0; + out_4738803203701710697[135] = 0; + out_4738803203701710697[136] = 0; + out_4738803203701710697[137] = 0; + out_4738803203701710697[138] = 0; + out_4738803203701710697[139] = 0; + out_4738803203701710697[140] = 0; + out_4738803203701710697[141] = 0; + out_4738803203701710697[142] = 0; + out_4738803203701710697[143] = 0; + out_4738803203701710697[144] = 0; + out_4738803203701710697[145] = 0; + out_4738803203701710697[146] = 0; + out_4738803203701710697[147] = 0; + out_4738803203701710697[148] = 0; + out_4738803203701710697[149] = 0; + out_4738803203701710697[150] = 0; + out_4738803203701710697[151] = 0; + out_4738803203701710697[152] = 1; + out_4738803203701710697[153] = 0; + out_4738803203701710697[154] = 0; + out_4738803203701710697[155] = 0; + out_4738803203701710697[156] = 0; + out_4738803203701710697[157] = 0; + out_4738803203701710697[158] = 0; + out_4738803203701710697[159] = 0; + out_4738803203701710697[160] = 0; + out_4738803203701710697[161] = 0; + out_4738803203701710697[162] = 0; + out_4738803203701710697[163] = 0; + out_4738803203701710697[164] = 0; + out_4738803203701710697[165] = 0; + out_4738803203701710697[166] = 0; + out_4738803203701710697[167] = 0; + out_4738803203701710697[168] = 0; + out_4738803203701710697[169] = 0; + out_4738803203701710697[170] = 0; + out_4738803203701710697[171] = 1; + out_4738803203701710697[172] = 0; + out_4738803203701710697[173] = 0; + out_4738803203701710697[174] = 0; + out_4738803203701710697[175] = 0; + out_4738803203701710697[176] = 0; + out_4738803203701710697[177] = 0; + out_4738803203701710697[178] = 0; + out_4738803203701710697[179] = 0; + out_4738803203701710697[180] = 0; + out_4738803203701710697[181] = 0; + out_4738803203701710697[182] = 0; + out_4738803203701710697[183] = 0; + out_4738803203701710697[184] = 0; + out_4738803203701710697[185] = 0; + out_4738803203701710697[186] = 0; + out_4738803203701710697[187] = 0; + out_4738803203701710697[188] = 0; + out_4738803203701710697[189] = 0; + out_4738803203701710697[190] = 1; + out_4738803203701710697[191] = 0; + out_4738803203701710697[192] = 0; + out_4738803203701710697[193] = 0; + out_4738803203701710697[194] = 0; + out_4738803203701710697[195] = 0; + out_4738803203701710697[196] = 0; + out_4738803203701710697[197] = 0; + out_4738803203701710697[198] = 0; + out_4738803203701710697[199] = 0; + out_4738803203701710697[200] = 0; + out_4738803203701710697[201] = 0; + out_4738803203701710697[202] = 0; + out_4738803203701710697[203] = 0; + out_4738803203701710697[204] = 0; + out_4738803203701710697[205] = 0; + out_4738803203701710697[206] = 0; + out_4738803203701710697[207] = 0; + out_4738803203701710697[208] = 0; + out_4738803203701710697[209] = 1; + out_4738803203701710697[210] = 0; + out_4738803203701710697[211] = 0; + out_4738803203701710697[212] = 0; + out_4738803203701710697[213] = 0; + out_4738803203701710697[214] = 0; + out_4738803203701710697[215] = 0; + out_4738803203701710697[216] = 0; + out_4738803203701710697[217] = 0; + out_4738803203701710697[218] = 0; + out_4738803203701710697[219] = 0; + out_4738803203701710697[220] = 0; + out_4738803203701710697[221] = 0; + out_4738803203701710697[222] = 0; + out_4738803203701710697[223] = 0; + out_4738803203701710697[224] = 0; + out_4738803203701710697[225] = 0; + out_4738803203701710697[226] = 0; + out_4738803203701710697[227] = 0; + out_4738803203701710697[228] = 1; + out_4738803203701710697[229] = 0; + out_4738803203701710697[230] = 0; + out_4738803203701710697[231] = 0; + out_4738803203701710697[232] = 0; + out_4738803203701710697[233] = 0; + out_4738803203701710697[234] = 0; + out_4738803203701710697[235] = 0; + out_4738803203701710697[236] = 0; + out_4738803203701710697[237] = 0; + out_4738803203701710697[238] = 0; + out_4738803203701710697[239] = 0; + out_4738803203701710697[240] = 0; + out_4738803203701710697[241] = 0; + out_4738803203701710697[242] = 0; + out_4738803203701710697[243] = 0; + out_4738803203701710697[244] = 0; + out_4738803203701710697[245] = 0; + out_4738803203701710697[246] = 0; + out_4738803203701710697[247] = 1; + out_4738803203701710697[248] = 0; + out_4738803203701710697[249] = 0; + out_4738803203701710697[250] = 0; + out_4738803203701710697[251] = 0; + out_4738803203701710697[252] = 0; + out_4738803203701710697[253] = 0; + out_4738803203701710697[254] = 0; + out_4738803203701710697[255] = 0; + out_4738803203701710697[256] = 0; + out_4738803203701710697[257] = 0; + out_4738803203701710697[258] = 0; + out_4738803203701710697[259] = 0; + out_4738803203701710697[260] = 0; + out_4738803203701710697[261] = 0; + out_4738803203701710697[262] = 0; + out_4738803203701710697[263] = 0; + out_4738803203701710697[264] = 0; + out_4738803203701710697[265] = 0; + out_4738803203701710697[266] = 1; + out_4738803203701710697[267] = 0; + out_4738803203701710697[268] = 0; + out_4738803203701710697[269] = 0; + out_4738803203701710697[270] = 0; + out_4738803203701710697[271] = 0; + out_4738803203701710697[272] = 0; + out_4738803203701710697[273] = 0; + out_4738803203701710697[274] = 0; + out_4738803203701710697[275] = 0; + out_4738803203701710697[276] = 0; + out_4738803203701710697[277] = 0; + out_4738803203701710697[278] = 0; + out_4738803203701710697[279] = 0; + out_4738803203701710697[280] = 0; + out_4738803203701710697[281] = 0; + out_4738803203701710697[282] = 0; + out_4738803203701710697[283] = 0; + out_4738803203701710697[284] = 0; + out_4738803203701710697[285] = 1; + out_4738803203701710697[286] = 0; + out_4738803203701710697[287] = 0; + out_4738803203701710697[288] = 0; + out_4738803203701710697[289] = 0; + out_4738803203701710697[290] = 0; + out_4738803203701710697[291] = 0; + out_4738803203701710697[292] = 0; + out_4738803203701710697[293] = 0; + out_4738803203701710697[294] = 0; + out_4738803203701710697[295] = 0; + out_4738803203701710697[296] = 0; + out_4738803203701710697[297] = 0; + out_4738803203701710697[298] = 0; + out_4738803203701710697[299] = 0; + out_4738803203701710697[300] = 0; + out_4738803203701710697[301] = 0; + out_4738803203701710697[302] = 0; + out_4738803203701710697[303] = 0; + out_4738803203701710697[304] = 1; + out_4738803203701710697[305] = 0; + out_4738803203701710697[306] = 0; + out_4738803203701710697[307] = 0; + out_4738803203701710697[308] = 0; + out_4738803203701710697[309] = 0; + out_4738803203701710697[310] = 0; + out_4738803203701710697[311] = 0; + out_4738803203701710697[312] = 0; + out_4738803203701710697[313] = 0; + out_4738803203701710697[314] = 0; + out_4738803203701710697[315] = 0; + out_4738803203701710697[316] = 0; + out_4738803203701710697[317] = 0; + out_4738803203701710697[318] = 0; + out_4738803203701710697[319] = 0; + out_4738803203701710697[320] = 0; + out_4738803203701710697[321] = 0; + out_4738803203701710697[322] = 0; + out_4738803203701710697[323] = 1; } -void h_4(double *state, double *unused, double *out_1784339471610928199) { - out_1784339471610928199[0] = state[6] + state[9]; - out_1784339471610928199[1] = state[7] + state[10]; - out_1784339471610928199[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_9186185830648437017) { + out_9186185830648437017[0] = state[6] + state[9]; + out_9186185830648437017[1] = state[7] + state[10]; + out_9186185830648437017[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4713864713666167842) { - out_4713864713666167842[0] = 0; - out_4713864713666167842[1] = 0; - out_4713864713666167842[2] = 0; - out_4713864713666167842[3] = 0; - out_4713864713666167842[4] = 0; - out_4713864713666167842[5] = 0; - out_4713864713666167842[6] = 1; - out_4713864713666167842[7] = 0; - out_4713864713666167842[8] = 0; - out_4713864713666167842[9] = 1; - out_4713864713666167842[10] = 0; - out_4713864713666167842[11] = 0; - out_4713864713666167842[12] = 0; - out_4713864713666167842[13] = 0; - out_4713864713666167842[14] = 0; - out_4713864713666167842[15] = 0; - out_4713864713666167842[16] = 0; - out_4713864713666167842[17] = 0; - out_4713864713666167842[18] = 0; - out_4713864713666167842[19] = 0; - out_4713864713666167842[20] = 0; - out_4713864713666167842[21] = 0; - out_4713864713666167842[22] = 0; - out_4713864713666167842[23] = 0; - out_4713864713666167842[24] = 0; - out_4713864713666167842[25] = 1; - out_4713864713666167842[26] = 0; - out_4713864713666167842[27] = 0; - out_4713864713666167842[28] = 1; - out_4713864713666167842[29] = 0; - out_4713864713666167842[30] = 0; - out_4713864713666167842[31] = 0; - out_4713864713666167842[32] = 0; - out_4713864713666167842[33] = 0; - out_4713864713666167842[34] = 0; - out_4713864713666167842[35] = 0; - out_4713864713666167842[36] = 0; - out_4713864713666167842[37] = 0; - out_4713864713666167842[38] = 0; - out_4713864713666167842[39] = 0; - out_4713864713666167842[40] = 0; - out_4713864713666167842[41] = 0; - out_4713864713666167842[42] = 0; - out_4713864713666167842[43] = 0; - out_4713864713666167842[44] = 1; - out_4713864713666167842[45] = 0; - out_4713864713666167842[46] = 0; - out_4713864713666167842[47] = 1; - out_4713864713666167842[48] = 0; - out_4713864713666167842[49] = 0; - out_4713864713666167842[50] = 0; - out_4713864713666167842[51] = 0; - out_4713864713666167842[52] = 0; - out_4713864713666167842[53] = 0; +void H_4(double *state, double *unused, double *out_6678588961938038376) { + out_6678588961938038376[0] = 0; + out_6678588961938038376[1] = 0; + out_6678588961938038376[2] = 0; + out_6678588961938038376[3] = 0; + out_6678588961938038376[4] = 0; + out_6678588961938038376[5] = 0; + out_6678588961938038376[6] = 1; + out_6678588961938038376[7] = 0; + out_6678588961938038376[8] = 0; + out_6678588961938038376[9] = 1; + out_6678588961938038376[10] = 0; + out_6678588961938038376[11] = 0; + out_6678588961938038376[12] = 0; + out_6678588961938038376[13] = 0; + out_6678588961938038376[14] = 0; + out_6678588961938038376[15] = 0; + out_6678588961938038376[16] = 0; + out_6678588961938038376[17] = 0; + out_6678588961938038376[18] = 0; + out_6678588961938038376[19] = 0; + out_6678588961938038376[20] = 0; + out_6678588961938038376[21] = 0; + out_6678588961938038376[22] = 0; + out_6678588961938038376[23] = 0; + out_6678588961938038376[24] = 0; + out_6678588961938038376[25] = 1; + out_6678588961938038376[26] = 0; + out_6678588961938038376[27] = 0; + out_6678588961938038376[28] = 1; + out_6678588961938038376[29] = 0; + out_6678588961938038376[30] = 0; + out_6678588961938038376[31] = 0; + out_6678588961938038376[32] = 0; + out_6678588961938038376[33] = 0; + out_6678588961938038376[34] = 0; + out_6678588961938038376[35] = 0; + out_6678588961938038376[36] = 0; + out_6678588961938038376[37] = 0; + out_6678588961938038376[38] = 0; + out_6678588961938038376[39] = 0; + out_6678588961938038376[40] = 0; + out_6678588961938038376[41] = 0; + out_6678588961938038376[42] = 0; + out_6678588961938038376[43] = 0; + out_6678588961938038376[44] = 1; + out_6678588961938038376[45] = 0; + out_6678588961938038376[46] = 0; + out_6678588961938038376[47] = 1; + out_6678588961938038376[48] = 0; + out_6678588961938038376[49] = 0; + out_6678588961938038376[50] = 0; + out_6678588961938038376[51] = 0; + out_6678588961938038376[52] = 0; + out_6678588961938038376[53] = 0; } -void h_10(double *state, double *unused, double *out_7218205989387104649) { - out_7218205989387104649[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7218205989387104649[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7218205989387104649[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_8470309336446010421) { + out_8470309336446010421[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8470309336446010421[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8470309336446010421[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_664999596844092490) { - out_664999596844092490[0] = 0; - out_664999596844092490[1] = 9.8100000000000005*cos(state[1]); - out_664999596844092490[2] = 0; - out_664999596844092490[3] = 0; - out_664999596844092490[4] = -state[8]; - out_664999596844092490[5] = state[7]; - out_664999596844092490[6] = 0; - out_664999596844092490[7] = state[5]; - out_664999596844092490[8] = -state[4]; - out_664999596844092490[9] = 0; - out_664999596844092490[10] = 0; - out_664999596844092490[11] = 0; - out_664999596844092490[12] = 1; - out_664999596844092490[13] = 0; - out_664999596844092490[14] = 0; - out_664999596844092490[15] = 1; - out_664999596844092490[16] = 0; - out_664999596844092490[17] = 0; - out_664999596844092490[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_664999596844092490[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_664999596844092490[20] = 0; - out_664999596844092490[21] = state[8]; - out_664999596844092490[22] = 0; - out_664999596844092490[23] = -state[6]; - out_664999596844092490[24] = -state[5]; - out_664999596844092490[25] = 0; - out_664999596844092490[26] = state[3]; - out_664999596844092490[27] = 0; - out_664999596844092490[28] = 0; - out_664999596844092490[29] = 0; - out_664999596844092490[30] = 0; - out_664999596844092490[31] = 1; - out_664999596844092490[32] = 0; - out_664999596844092490[33] = 0; - out_664999596844092490[34] = 1; - out_664999596844092490[35] = 0; - out_664999596844092490[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_664999596844092490[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_664999596844092490[38] = 0; - out_664999596844092490[39] = -state[7]; - out_664999596844092490[40] = state[6]; - out_664999596844092490[41] = 0; - out_664999596844092490[42] = state[4]; - out_664999596844092490[43] = -state[3]; - out_664999596844092490[44] = 0; - out_664999596844092490[45] = 0; - out_664999596844092490[46] = 0; - out_664999596844092490[47] = 0; - out_664999596844092490[48] = 0; - out_664999596844092490[49] = 0; - out_664999596844092490[50] = 1; - out_664999596844092490[51] = 0; - out_664999596844092490[52] = 0; - out_664999596844092490[53] = 1; +void H_10(double *state, double *unused, double *out_7519655911766019576) { + out_7519655911766019576[0] = 0; + out_7519655911766019576[1] = 9.8100000000000005*cos(state[1]); + out_7519655911766019576[2] = 0; + out_7519655911766019576[3] = 0; + out_7519655911766019576[4] = -state[8]; + out_7519655911766019576[5] = state[7]; + out_7519655911766019576[6] = 0; + out_7519655911766019576[7] = state[5]; + out_7519655911766019576[8] = -state[4]; + out_7519655911766019576[9] = 0; + out_7519655911766019576[10] = 0; + out_7519655911766019576[11] = 0; + out_7519655911766019576[12] = 1; + out_7519655911766019576[13] = 0; + out_7519655911766019576[14] = 0; + out_7519655911766019576[15] = 1; + out_7519655911766019576[16] = 0; + out_7519655911766019576[17] = 0; + out_7519655911766019576[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_7519655911766019576[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_7519655911766019576[20] = 0; + out_7519655911766019576[21] = state[8]; + out_7519655911766019576[22] = 0; + out_7519655911766019576[23] = -state[6]; + out_7519655911766019576[24] = -state[5]; + out_7519655911766019576[25] = 0; + out_7519655911766019576[26] = state[3]; + out_7519655911766019576[27] = 0; + out_7519655911766019576[28] = 0; + out_7519655911766019576[29] = 0; + out_7519655911766019576[30] = 0; + out_7519655911766019576[31] = 1; + out_7519655911766019576[32] = 0; + out_7519655911766019576[33] = 0; + out_7519655911766019576[34] = 1; + out_7519655911766019576[35] = 0; + out_7519655911766019576[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_7519655911766019576[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_7519655911766019576[38] = 0; + out_7519655911766019576[39] = -state[7]; + out_7519655911766019576[40] = state[6]; + out_7519655911766019576[41] = 0; + out_7519655911766019576[42] = state[4]; + out_7519655911766019576[43] = -state[3]; + out_7519655911766019576[44] = 0; + out_7519655911766019576[45] = 0; + out_7519655911766019576[46] = 0; + out_7519655911766019576[47] = 0; + out_7519655911766019576[48] = 0; + out_7519655911766019576[49] = 0; + out_7519655911766019576[50] = 1; + out_7519655911766019576[51] = 0; + out_7519655911766019576[52] = 0; + out_7519655911766019576[53] = 1; } -void h_13(double *state, double *unused, double *out_4772014765743314712) { - out_4772014765743314712[0] = state[3]; - out_4772014765743314712[1] = state[4]; - out_4772014765743314712[2] = state[5]; +void h_13(double *state, double *unused, double *out_6902459031457256651) { + out_6902459031457256651[0] = state[3]; + out_6902459031457256651[1] = state[4]; + out_6902459031457256651[2] = state[5]; } -void H_13(double *state, double *unused, double *out_880109250363643818) { - out_880109250363643818[0] = 0; - out_880109250363643818[1] = 0; - out_880109250363643818[2] = 0; - out_880109250363643818[3] = 1; - out_880109250363643818[4] = 0; - out_880109250363643818[5] = 0; - out_880109250363643818[6] = 0; - out_880109250363643818[7] = 0; - out_880109250363643818[8] = 0; - out_880109250363643818[9] = 0; - out_880109250363643818[10] = 0; - out_880109250363643818[11] = 0; - out_880109250363643818[12] = 0; - out_880109250363643818[13] = 0; - out_880109250363643818[14] = 0; - out_880109250363643818[15] = 0; - out_880109250363643818[16] = 0; - out_880109250363643818[17] = 0; - out_880109250363643818[18] = 0; - out_880109250363643818[19] = 0; - out_880109250363643818[20] = 0; - out_880109250363643818[21] = 0; - out_880109250363643818[22] = 1; - out_880109250363643818[23] = 0; - out_880109250363643818[24] = 0; - out_880109250363643818[25] = 0; - out_880109250363643818[26] = 0; - out_880109250363643818[27] = 0; - out_880109250363643818[28] = 0; - out_880109250363643818[29] = 0; - out_880109250363643818[30] = 0; - out_880109250363643818[31] = 0; - out_880109250363643818[32] = 0; - out_880109250363643818[33] = 0; - out_880109250363643818[34] = 0; - out_880109250363643818[35] = 0; - out_880109250363643818[36] = 0; - out_880109250363643818[37] = 0; - out_880109250363643818[38] = 0; - out_880109250363643818[39] = 0; - out_880109250363643818[40] = 0; - out_880109250363643818[41] = 1; - out_880109250363643818[42] = 0; - out_880109250363643818[43] = 0; - out_880109250363643818[44] = 0; - out_880109250363643818[45] = 0; - out_880109250363643818[46] = 0; - out_880109250363643818[47] = 0; - out_880109250363643818[48] = 0; - out_880109250363643818[49] = 0; - out_880109250363643818[50] = 0; - out_880109250363643818[51] = 0; - out_880109250363643818[52] = 0; - out_880109250363643818[53] = 0; +void H_13(double *state, double *unused, double *out_932042246378662553) { + out_932042246378662553[0] = 0; + out_932042246378662553[1] = 0; + out_932042246378662553[2] = 0; + out_932042246378662553[3] = 1; + out_932042246378662553[4] = 0; + out_932042246378662553[5] = 0; + out_932042246378662553[6] = 0; + out_932042246378662553[7] = 0; + out_932042246378662553[8] = 0; + out_932042246378662553[9] = 0; + out_932042246378662553[10] = 0; + out_932042246378662553[11] = 0; + out_932042246378662553[12] = 0; + out_932042246378662553[13] = 0; + out_932042246378662553[14] = 0; + out_932042246378662553[15] = 0; + out_932042246378662553[16] = 0; + out_932042246378662553[17] = 0; + out_932042246378662553[18] = 0; + out_932042246378662553[19] = 0; + out_932042246378662553[20] = 0; + out_932042246378662553[21] = 0; + out_932042246378662553[22] = 1; + out_932042246378662553[23] = 0; + out_932042246378662553[24] = 0; + out_932042246378662553[25] = 0; + out_932042246378662553[26] = 0; + out_932042246378662553[27] = 0; + out_932042246378662553[28] = 0; + out_932042246378662553[29] = 0; + out_932042246378662553[30] = 0; + out_932042246378662553[31] = 0; + out_932042246378662553[32] = 0; + out_932042246378662553[33] = 0; + out_932042246378662553[34] = 0; + out_932042246378662553[35] = 0; + out_932042246378662553[36] = 0; + out_932042246378662553[37] = 0; + out_932042246378662553[38] = 0; + out_932042246378662553[39] = 0; + out_932042246378662553[40] = 0; + out_932042246378662553[41] = 1; + out_932042246378662553[42] = 0; + out_932042246378662553[43] = 0; + out_932042246378662553[44] = 0; + out_932042246378662553[45] = 0; + out_932042246378662553[46] = 0; + out_932042246378662553[47] = 0; + out_932042246378662553[48] = 0; + out_932042246378662553[49] = 0; + out_932042246378662553[50] = 0; + out_932042246378662553[51] = 0; + out_932042246378662553[52] = 0; + out_932042246378662553[53] = 0; } -void h_14(double *state, double *unused, double *out_7459610224657432703) { - out_7459610224657432703[0] = state[6]; - out_7459610224657432703[1] = state[7]; - out_7459610224657432703[2] = state[8]; +void h_14(double *state, double *unused, double *out_7617576218549159782) { + out_7617576218549159782[0] = state[6]; + out_7617576218549159782[1] = state[7]; + out_7617576218549159782[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1631076281370795546) { - out_1631076281370795546[0] = 0; - out_1631076281370795546[1] = 0; - out_1631076281370795546[2] = 0; - out_1631076281370795546[3] = 0; - out_1631076281370795546[4] = 0; - out_1631076281370795546[5] = 0; - out_1631076281370795546[6] = 1; - out_1631076281370795546[7] = 0; - out_1631076281370795546[8] = 0; - out_1631076281370795546[9] = 0; - out_1631076281370795546[10] = 0; - out_1631076281370795546[11] = 0; - out_1631076281370795546[12] = 0; - out_1631076281370795546[13] = 0; - out_1631076281370795546[14] = 0; - out_1631076281370795546[15] = 0; - out_1631076281370795546[16] = 0; - out_1631076281370795546[17] = 0; - out_1631076281370795546[18] = 0; - out_1631076281370795546[19] = 0; - out_1631076281370795546[20] = 0; - out_1631076281370795546[21] = 0; - out_1631076281370795546[22] = 0; - out_1631076281370795546[23] = 0; - out_1631076281370795546[24] = 0; - out_1631076281370795546[25] = 1; - out_1631076281370795546[26] = 0; - out_1631076281370795546[27] = 0; - out_1631076281370795546[28] = 0; - out_1631076281370795546[29] = 0; - out_1631076281370795546[30] = 0; - out_1631076281370795546[31] = 0; - out_1631076281370795546[32] = 0; - out_1631076281370795546[33] = 0; - out_1631076281370795546[34] = 0; - out_1631076281370795546[35] = 0; - out_1631076281370795546[36] = 0; - out_1631076281370795546[37] = 0; - out_1631076281370795546[38] = 0; - out_1631076281370795546[39] = 0; - out_1631076281370795546[40] = 0; - out_1631076281370795546[41] = 0; - out_1631076281370795546[42] = 0; - out_1631076281370795546[43] = 0; - out_1631076281370795546[44] = 1; - out_1631076281370795546[45] = 0; - out_1631076281370795546[46] = 0; - out_1631076281370795546[47] = 0; - out_1631076281370795546[48] = 0; - out_1631076281370795546[49] = 0; - out_1631076281370795546[50] = 0; - out_1631076281370795546[51] = 0; - out_1631076281370795546[52] = 0; - out_1631076281370795546[53] = 0; +void H_14(double *state, double *unused, double *out_2715348105598553847) { + out_2715348105598553847[0] = 0; + out_2715348105598553847[1] = 0; + out_2715348105598553847[2] = 0; + out_2715348105598553847[3] = 0; + out_2715348105598553847[4] = 0; + out_2715348105598553847[5] = 0; + out_2715348105598553847[6] = 1; + out_2715348105598553847[7] = 0; + out_2715348105598553847[8] = 0; + out_2715348105598553847[9] = 0; + out_2715348105598553847[10] = 0; + out_2715348105598553847[11] = 0; + out_2715348105598553847[12] = 0; + out_2715348105598553847[13] = 0; + out_2715348105598553847[14] = 0; + out_2715348105598553847[15] = 0; + out_2715348105598553847[16] = 0; + out_2715348105598553847[17] = 0; + out_2715348105598553847[18] = 0; + out_2715348105598553847[19] = 0; + out_2715348105598553847[20] = 0; + out_2715348105598553847[21] = 0; + out_2715348105598553847[22] = 0; + out_2715348105598553847[23] = 0; + out_2715348105598553847[24] = 0; + out_2715348105598553847[25] = 1; + out_2715348105598553847[26] = 0; + out_2715348105598553847[27] = 0; + out_2715348105598553847[28] = 0; + out_2715348105598553847[29] = 0; + out_2715348105598553847[30] = 0; + out_2715348105598553847[31] = 0; + out_2715348105598553847[32] = 0; + out_2715348105598553847[33] = 0; + out_2715348105598553847[34] = 0; + out_2715348105598553847[35] = 0; + out_2715348105598553847[36] = 0; + out_2715348105598553847[37] = 0; + out_2715348105598553847[38] = 0; + out_2715348105598553847[39] = 0; + out_2715348105598553847[40] = 0; + out_2715348105598553847[41] = 0; + out_2715348105598553847[42] = 0; + out_2715348105598553847[43] = 0; + out_2715348105598553847[44] = 1; + out_2715348105598553847[45] = 0; + out_2715348105598553847[46] = 0; + out_2715348105598553847[47] = 0; + out_2715348105598553847[48] = 0; + out_2715348105598553847[49] = 0; + out_2715348105598553847[50] = 0; + out_2715348105598553847[51] = 0; + out_2715348105598553847[52] = 0; + out_2715348105598553847[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_8287156320329551527) { - err_fun(nom_x, delta_x, out_8287156320329551527); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6858265802359206836) { + err_fun(nom_x, delta_x, out_6858265802359206836); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_152026319407410727) { - inv_err_fun(nom_x, true_x, out_152026319407410727); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_683644921736672263) { + inv_err_fun(nom_x, true_x, out_683644921736672263); } -void pose_H_mod_fun(double *state, double *out_3515917231783269738) { - H_mod_fun(state, out_3515917231783269738); +void pose_H_mod_fun(double *state, double *out_1422952877034374174) { + H_mod_fun(state, out_1422952877034374174); } -void pose_f_fun(double *state, double dt, double *out_8327036891744297669) { - f_fun(state, dt, out_8327036891744297669); +void pose_f_fun(double *state, double dt, double *out_7318212543475994456) { + f_fun(state, dt, out_7318212543475994456); } -void pose_F_fun(double *state, double dt, double *out_6376990126270885036) { - F_fun(state, dt, out_6376990126270885036); +void pose_F_fun(double *state, double dt, double *out_4738803203701710697) { + F_fun(state, dt, out_4738803203701710697); } -void pose_h_4(double *state, double *unused, double *out_1784339471610928199) { - h_4(state, unused, out_1784339471610928199); +void pose_h_4(double *state, double *unused, double *out_9186185830648437017) { + h_4(state, unused, out_9186185830648437017); } -void pose_H_4(double *state, double *unused, double *out_4713864713666167842) { - H_4(state, unused, out_4713864713666167842); +void pose_H_4(double *state, double *unused, double *out_6678588961938038376) { + H_4(state, unused, out_6678588961938038376); } -void pose_h_10(double *state, double *unused, double *out_7218205989387104649) { - h_10(state, unused, out_7218205989387104649); +void pose_h_10(double *state, double *unused, double *out_8470309336446010421) { + h_10(state, unused, out_8470309336446010421); } -void pose_H_10(double *state, double *unused, double *out_664999596844092490) { - H_10(state, unused, out_664999596844092490); +void pose_H_10(double *state, double *unused, double *out_7519655911766019576) { + H_10(state, unused, out_7519655911766019576); } -void pose_h_13(double *state, double *unused, double *out_4772014765743314712) { - h_13(state, unused, out_4772014765743314712); +void pose_h_13(double *state, double *unused, double *out_6902459031457256651) { + h_13(state, unused, out_6902459031457256651); } -void pose_H_13(double *state, double *unused, double *out_880109250363643818) { - H_13(state, unused, out_880109250363643818); +void pose_H_13(double *state, double *unused, double *out_932042246378662553) { + H_13(state, unused, out_932042246378662553); } -void pose_h_14(double *state, double *unused, double *out_7459610224657432703) { - h_14(state, unused, out_7459610224657432703); +void pose_h_14(double *state, double *unused, double *out_7617576218549159782) { + h_14(state, unused, out_7617576218549159782); } -void pose_H_14(double *state, double *unused, double *out_1631076281370795546) { - H_14(state, unused, out_1631076281370795546); +void pose_H_14(double *state, double *unused, double *out_2715348105598553847) { + H_14(state, unused, out_2715348105598553847); } 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 8bb5d55518..1dfc35b2fe 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_8287156320329551527); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_152026319407410727); -void pose_H_mod_fun(double *state, double *out_3515917231783269738); -void pose_f_fun(double *state, double dt, double *out_8327036891744297669); -void pose_F_fun(double *state, double dt, double *out_6376990126270885036); -void pose_h_4(double *state, double *unused, double *out_1784339471610928199); -void pose_H_4(double *state, double *unused, double *out_4713864713666167842); -void pose_h_10(double *state, double *unused, double *out_7218205989387104649); -void pose_H_10(double *state, double *unused, double *out_664999596844092490); -void pose_h_13(double *state, double *unused, double *out_4772014765743314712); -void pose_H_13(double *state, double *unused, double *out_880109250363643818); -void pose_h_14(double *state, double *unused, double *out_7459610224657432703); -void pose_H_14(double *state, double *unused, double *out_1631076281370795546); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6858265802359206836); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_683644921736672263); +void pose_H_mod_fun(double *state, double *out_1422952877034374174); +void pose_f_fun(double *state, double dt, double *out_7318212543475994456); +void pose_F_fun(double *state, double dt, double *out_4738803203701710697); +void pose_h_4(double *state, double *unused, double *out_9186185830648437017); +void pose_H_4(double *state, double *unused, double *out_6678588961938038376); +void pose_h_10(double *state, double *unused, double *out_8470309336446010421); +void pose_H_10(double *state, double *unused, double *out_7519655911766019576); +void pose_h_13(double *state, double *unused, double *out_6902459031457256651); +void pose_H_13(double *state, double *unused, double *out_932042246378662553); +void pose_h_14(double *state, double *unused, double *out_7617576218549159782); +void pose_H_14(double *state, double *unused, double *out_2715348105598553847); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git 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