diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 250578eef..a70d9ed52 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index c2420efd5..1d10d0024 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 59ad053ea..636e93663 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index e052b4b36..8b0ac0428 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 36a9f172a..4592d180e 100755 Binary files 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b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index da6a5545b..0ee7a700a 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 25ae62b40..43fce21e9 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-7d8be707-DEBUG"; +const uint8_t gitversion[19] = "DEV-09a15719-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 3e7775481..319ff3926 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 37be5913f..34500587e 100755 Binary files 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b/panda/board/obj/panda_h7/main.bin index 298620e3a..f284d3162 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 9ca537f3f..c244aff10 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index b939536a3..25ab0e8ff 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index efea3b7ec..a1ac23a5a 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 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b8968c3b4..419de0946 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 170e73f72..0e8ca925a 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index e46b8494b..0d982a32d 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index db3ee78db..6393c9ebd 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 8ce5c0bf7..4a0ad0324 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 7ed745330..7968b9365 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 9f2838f54..eac154240 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-7d8be707-DEBUG \ No newline at end of file +DEV-09a15719-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index c9f10efc5..4dc91be63 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_3955673683859984289) { - out_3955673683859984289[0] = delta_x[0] + nom_x[0]; - out_3955673683859984289[1] = delta_x[1] + nom_x[1]; - out_3955673683859984289[2] = delta_x[2] + nom_x[2]; - out_3955673683859984289[3] = delta_x[3] + nom_x[3]; - out_3955673683859984289[4] = delta_x[4] + nom_x[4]; - out_3955673683859984289[5] = delta_x[5] + nom_x[5]; - out_3955673683859984289[6] = delta_x[6] + nom_x[6]; - out_3955673683859984289[7] = delta_x[7] + nom_x[7]; - out_3955673683859984289[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6442273530103712235) { + out_6442273530103712235[0] = delta_x[0] + nom_x[0]; + out_6442273530103712235[1] = delta_x[1] + nom_x[1]; + out_6442273530103712235[2] = delta_x[2] + nom_x[2]; + out_6442273530103712235[3] = delta_x[3] + nom_x[3]; + out_6442273530103712235[4] = delta_x[4] + nom_x[4]; + out_6442273530103712235[5] = delta_x[5] + nom_x[5]; + out_6442273530103712235[6] = delta_x[6] + nom_x[6]; + out_6442273530103712235[7] = delta_x[7] + nom_x[7]; + out_6442273530103712235[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8970258583381717138) { - out_8970258583381717138[0] = -nom_x[0] + true_x[0]; - out_8970258583381717138[1] = -nom_x[1] + true_x[1]; - out_8970258583381717138[2] = -nom_x[2] + true_x[2]; - out_8970258583381717138[3] = -nom_x[3] + true_x[3]; - out_8970258583381717138[4] = -nom_x[4] + true_x[4]; - out_8970258583381717138[5] = -nom_x[5] + true_x[5]; - out_8970258583381717138[6] = -nom_x[6] + true_x[6]; - out_8970258583381717138[7] = -nom_x[7] + true_x[7]; - out_8970258583381717138[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8945695091662043361) { + out_8945695091662043361[0] = -nom_x[0] + true_x[0]; + out_8945695091662043361[1] = -nom_x[1] + true_x[1]; + out_8945695091662043361[2] = -nom_x[2] + true_x[2]; + out_8945695091662043361[3] = -nom_x[3] + true_x[3]; + out_8945695091662043361[4] = -nom_x[4] + true_x[4]; + out_8945695091662043361[5] = -nom_x[5] + true_x[5]; + out_8945695091662043361[6] = -nom_x[6] + true_x[6]; + out_8945695091662043361[7] = -nom_x[7] + true_x[7]; + out_8945695091662043361[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4831252241531258142) { - out_4831252241531258142[0] = 1.0; - out_4831252241531258142[1] = 0.0; - out_4831252241531258142[2] = 0.0; - out_4831252241531258142[3] = 0.0; - out_4831252241531258142[4] = 0.0; - out_4831252241531258142[5] = 0.0; - out_4831252241531258142[6] = 0.0; - out_4831252241531258142[7] = 0.0; - out_4831252241531258142[8] = 0.0; - out_4831252241531258142[9] = 0.0; - out_4831252241531258142[10] = 1.0; - out_4831252241531258142[11] = 0.0; - out_4831252241531258142[12] = 0.0; - out_4831252241531258142[13] = 0.0; - out_4831252241531258142[14] = 0.0; - out_4831252241531258142[15] = 0.0; - out_4831252241531258142[16] = 0.0; - out_4831252241531258142[17] = 0.0; - out_4831252241531258142[18] = 0.0; - out_4831252241531258142[19] = 0.0; - out_4831252241531258142[20] = 1.0; - out_4831252241531258142[21] = 0.0; - out_4831252241531258142[22] = 0.0; - out_4831252241531258142[23] = 0.0; - out_4831252241531258142[24] = 0.0; - out_4831252241531258142[25] = 0.0; - out_4831252241531258142[26] = 0.0; - out_4831252241531258142[27] = 0.0; - out_4831252241531258142[28] = 0.0; - out_4831252241531258142[29] = 0.0; - out_4831252241531258142[30] = 1.0; - out_4831252241531258142[31] = 0.0; - out_4831252241531258142[32] = 0.0; - out_4831252241531258142[33] = 0.0; - out_4831252241531258142[34] = 0.0; - out_4831252241531258142[35] = 0.0; - out_4831252241531258142[36] = 0.0; - out_4831252241531258142[37] = 0.0; - out_4831252241531258142[38] = 0.0; - out_4831252241531258142[39] = 0.0; - out_4831252241531258142[40] = 1.0; - out_4831252241531258142[41] = 0.0; - out_4831252241531258142[42] = 0.0; - out_4831252241531258142[43] = 0.0; - out_4831252241531258142[44] = 0.0; - out_4831252241531258142[45] = 0.0; - out_4831252241531258142[46] = 0.0; - out_4831252241531258142[47] = 0.0; - out_4831252241531258142[48] = 0.0; - out_4831252241531258142[49] = 0.0; - out_4831252241531258142[50] = 1.0; - out_4831252241531258142[51] = 0.0; - out_4831252241531258142[52] = 0.0; - out_4831252241531258142[53] = 0.0; - out_4831252241531258142[54] = 0.0; - out_4831252241531258142[55] = 0.0; - out_4831252241531258142[56] = 0.0; - out_4831252241531258142[57] = 0.0; - out_4831252241531258142[58] = 0.0; - out_4831252241531258142[59] = 0.0; - out_4831252241531258142[60] = 1.0; - out_4831252241531258142[61] = 0.0; - out_4831252241531258142[62] = 0.0; - out_4831252241531258142[63] = 0.0; - out_4831252241531258142[64] = 0.0; - out_4831252241531258142[65] = 0.0; - out_4831252241531258142[66] = 0.0; - out_4831252241531258142[67] = 0.0; - out_4831252241531258142[68] = 0.0; - out_4831252241531258142[69] = 0.0; - out_4831252241531258142[70] = 1.0; - out_4831252241531258142[71] = 0.0; - out_4831252241531258142[72] = 0.0; - out_4831252241531258142[73] = 0.0; - out_4831252241531258142[74] = 0.0; - out_4831252241531258142[75] = 0.0; - out_4831252241531258142[76] = 0.0; - out_4831252241531258142[77] = 0.0; - out_4831252241531258142[78] = 0.0; - out_4831252241531258142[79] = 0.0; - out_4831252241531258142[80] = 1.0; +void H_mod_fun(double *state, double *out_515428113062222019) { + out_515428113062222019[0] = 1.0; + out_515428113062222019[1] = 0.0; + out_515428113062222019[2] = 0.0; + out_515428113062222019[3] = 0.0; + out_515428113062222019[4] = 0.0; + out_515428113062222019[5] = 0.0; + out_515428113062222019[6] = 0.0; + out_515428113062222019[7] = 0.0; + out_515428113062222019[8] = 0.0; + out_515428113062222019[9] = 0.0; + out_515428113062222019[10] = 1.0; + out_515428113062222019[11] = 0.0; + out_515428113062222019[12] = 0.0; + out_515428113062222019[13] = 0.0; + out_515428113062222019[14] = 0.0; + out_515428113062222019[15] = 0.0; + out_515428113062222019[16] = 0.0; + out_515428113062222019[17] = 0.0; + out_515428113062222019[18] = 0.0; + out_515428113062222019[19] = 0.0; + out_515428113062222019[20] = 1.0; + out_515428113062222019[21] = 0.0; + out_515428113062222019[22] = 0.0; + out_515428113062222019[23] = 0.0; + out_515428113062222019[24] = 0.0; + out_515428113062222019[25] = 0.0; + out_515428113062222019[26] = 0.0; + out_515428113062222019[27] = 0.0; + out_515428113062222019[28] = 0.0; + out_515428113062222019[29] = 0.0; + out_515428113062222019[30] = 1.0; + out_515428113062222019[31] = 0.0; + out_515428113062222019[32] = 0.0; + out_515428113062222019[33] = 0.0; + out_515428113062222019[34] = 0.0; + out_515428113062222019[35] = 0.0; + out_515428113062222019[36] = 0.0; + out_515428113062222019[37] = 0.0; + out_515428113062222019[38] = 0.0; + out_515428113062222019[39] = 0.0; + out_515428113062222019[40] = 1.0; + out_515428113062222019[41] = 0.0; + out_515428113062222019[42] = 0.0; + out_515428113062222019[43] = 0.0; + out_515428113062222019[44] = 0.0; + out_515428113062222019[45] = 0.0; + out_515428113062222019[46] = 0.0; + out_515428113062222019[47] = 0.0; + out_515428113062222019[48] = 0.0; + out_515428113062222019[49] = 0.0; + out_515428113062222019[50] = 1.0; + out_515428113062222019[51] = 0.0; + out_515428113062222019[52] = 0.0; + out_515428113062222019[53] = 0.0; + out_515428113062222019[54] = 0.0; + out_515428113062222019[55] = 0.0; + out_515428113062222019[56] = 0.0; + out_515428113062222019[57] = 0.0; + out_515428113062222019[58] = 0.0; + out_515428113062222019[59] = 0.0; + out_515428113062222019[60] = 1.0; + out_515428113062222019[61] = 0.0; + out_515428113062222019[62] = 0.0; + out_515428113062222019[63] = 0.0; + out_515428113062222019[64] = 0.0; + out_515428113062222019[65] = 0.0; + out_515428113062222019[66] = 0.0; + out_515428113062222019[67] = 0.0; + out_515428113062222019[68] = 0.0; + out_515428113062222019[69] = 0.0; + out_515428113062222019[70] = 1.0; + out_515428113062222019[71] = 0.0; + out_515428113062222019[72] = 0.0; + out_515428113062222019[73] = 0.0; + out_515428113062222019[74] = 0.0; + out_515428113062222019[75] = 0.0; + out_515428113062222019[76] = 0.0; + out_515428113062222019[77] = 0.0; + out_515428113062222019[78] = 0.0; + out_515428113062222019[79] = 0.0; + out_515428113062222019[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2508158103842919927) { - out_2508158103842919927[0] = state[0]; - out_2508158103842919927[1] = state[1]; - out_2508158103842919927[2] = state[2]; - out_2508158103842919927[3] = state[3]; - out_2508158103842919927[4] = state[4]; - out_2508158103842919927[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_2508158103842919927[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_2508158103842919927[7] = state[7]; - out_2508158103842919927[8] = state[8]; +void f_fun(double *state, double dt, double *out_1011805063482308945) { + out_1011805063482308945[0] = state[0]; + out_1011805063482308945[1] = state[1]; + out_1011805063482308945[2] = state[2]; + out_1011805063482308945[3] = state[3]; + out_1011805063482308945[4] = state[4]; + out_1011805063482308945[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_1011805063482308945[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_1011805063482308945[7] = state[7]; + out_1011805063482308945[8] = state[8]; } -void F_fun(double *state, double dt, double *out_619119889307979727) { - out_619119889307979727[0] = 1; - out_619119889307979727[1] = 0; - out_619119889307979727[2] = 0; - out_619119889307979727[3] = 0; - out_619119889307979727[4] = 0; - out_619119889307979727[5] = 0; - out_619119889307979727[6] = 0; - out_619119889307979727[7] = 0; - out_619119889307979727[8] = 0; - out_619119889307979727[9] = 0; - out_619119889307979727[10] = 1; - out_619119889307979727[11] = 0; - out_619119889307979727[12] = 0; - out_619119889307979727[13] = 0; - out_619119889307979727[14] = 0; - out_619119889307979727[15] = 0; - out_619119889307979727[16] = 0; - out_619119889307979727[17] = 0; - out_619119889307979727[18] = 0; - out_619119889307979727[19] = 0; - out_619119889307979727[20] = 1; - out_619119889307979727[21] = 0; - out_619119889307979727[22] = 0; - out_619119889307979727[23] = 0; - out_619119889307979727[24] = 0; - out_619119889307979727[25] = 0; - out_619119889307979727[26] = 0; - out_619119889307979727[27] = 0; - out_619119889307979727[28] = 0; - out_619119889307979727[29] = 0; - out_619119889307979727[30] = 1; - out_619119889307979727[31] = 0; - out_619119889307979727[32] = 0; - out_619119889307979727[33] = 0; - out_619119889307979727[34] = 0; - out_619119889307979727[35] = 0; - out_619119889307979727[36] = 0; - out_619119889307979727[37] = 0; - out_619119889307979727[38] = 0; - out_619119889307979727[39] = 0; - out_619119889307979727[40] = 1; - out_619119889307979727[41] = 0; - out_619119889307979727[42] = 0; - out_619119889307979727[43] = 0; - out_619119889307979727[44] = 0; - out_619119889307979727[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_619119889307979727[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_619119889307979727[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_619119889307979727[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_619119889307979727[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_619119889307979727[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_619119889307979727[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_619119889307979727[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_619119889307979727[53] = -9.8100000000000005*dt; - out_619119889307979727[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_619119889307979727[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_619119889307979727[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_619119889307979727[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_619119889307979727[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_619119889307979727[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_619119889307979727[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_619119889307979727[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_619119889307979727[62] = 0; - out_619119889307979727[63] = 0; - out_619119889307979727[64] = 0; - out_619119889307979727[65] = 0; - out_619119889307979727[66] = 0; - out_619119889307979727[67] = 0; - out_619119889307979727[68] = 0; - out_619119889307979727[69] = 0; - out_619119889307979727[70] = 1; - out_619119889307979727[71] = 0; - out_619119889307979727[72] = 0; - out_619119889307979727[73] = 0; - out_619119889307979727[74] = 0; - out_619119889307979727[75] = 0; - out_619119889307979727[76] = 0; - out_619119889307979727[77] = 0; - out_619119889307979727[78] = 0; - out_619119889307979727[79] = 0; - out_619119889307979727[80] = 1; +void F_fun(double *state, double dt, double *out_5888946012615310003) { + out_5888946012615310003[0] = 1; + out_5888946012615310003[1] = 0; + out_5888946012615310003[2] = 0; + out_5888946012615310003[3] = 0; + out_5888946012615310003[4] = 0; + out_5888946012615310003[5] = 0; + out_5888946012615310003[6] = 0; + out_5888946012615310003[7] = 0; + out_5888946012615310003[8] = 0; + out_5888946012615310003[9] = 0; + out_5888946012615310003[10] = 1; + out_5888946012615310003[11] = 0; + out_5888946012615310003[12] = 0; + out_5888946012615310003[13] = 0; + out_5888946012615310003[14] = 0; + out_5888946012615310003[15] = 0; + out_5888946012615310003[16] = 0; + out_5888946012615310003[17] = 0; + out_5888946012615310003[18] = 0; + out_5888946012615310003[19] = 0; + out_5888946012615310003[20] = 1; + out_5888946012615310003[21] = 0; + out_5888946012615310003[22] = 0; + out_5888946012615310003[23] = 0; + out_5888946012615310003[24] = 0; + out_5888946012615310003[25] = 0; + out_5888946012615310003[26] = 0; + out_5888946012615310003[27] = 0; + out_5888946012615310003[28] = 0; + out_5888946012615310003[29] = 0; + out_5888946012615310003[30] = 1; + out_5888946012615310003[31] = 0; + out_5888946012615310003[32] = 0; + out_5888946012615310003[33] = 0; + out_5888946012615310003[34] = 0; + out_5888946012615310003[35] = 0; + out_5888946012615310003[36] = 0; + out_5888946012615310003[37] = 0; + out_5888946012615310003[38] = 0; + out_5888946012615310003[39] = 0; + out_5888946012615310003[40] = 1; + out_5888946012615310003[41] = 0; + out_5888946012615310003[42] = 0; + out_5888946012615310003[43] = 0; + out_5888946012615310003[44] = 0; + out_5888946012615310003[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_5888946012615310003[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5888946012615310003[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5888946012615310003[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5888946012615310003[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_5888946012615310003[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5888946012615310003[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5888946012615310003[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5888946012615310003[53] = -9.8100000000000005*dt; + out_5888946012615310003[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_5888946012615310003[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5888946012615310003[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5888946012615310003[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5888946012615310003[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_5888946012615310003[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5888946012615310003[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_5888946012615310003[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5888946012615310003[62] = 0; + out_5888946012615310003[63] = 0; + out_5888946012615310003[64] = 0; + out_5888946012615310003[65] = 0; + out_5888946012615310003[66] = 0; + out_5888946012615310003[67] = 0; + out_5888946012615310003[68] = 0; + out_5888946012615310003[69] = 0; + out_5888946012615310003[70] = 1; + out_5888946012615310003[71] = 0; + out_5888946012615310003[72] = 0; + out_5888946012615310003[73] = 0; + out_5888946012615310003[74] = 0; + out_5888946012615310003[75] = 0; + out_5888946012615310003[76] = 0; + out_5888946012615310003[77] = 0; + out_5888946012615310003[78] = 0; + out_5888946012615310003[79] = 0; + out_5888946012615310003[80] = 1; } -void h_25(double *state, double *unused, double *out_7300303321148015441) { - out_7300303321148015441[0] = state[6]; +void h_25(double *state, double *unused, double *out_765665439417021084) { + out_765665439417021084[0] = state[6]; } -void H_25(double *state, double *unused, double *out_3882131319502775933) { - out_3882131319502775933[0] = 0; - out_3882131319502775933[1] = 0; - out_3882131319502775933[2] = 0; - out_3882131319502775933[3] = 0; - out_3882131319502775933[4] = 0; - out_3882131319502775933[5] = 0; - out_3882131319502775933[6] = 1; - out_3882131319502775933[7] = 0; - out_3882131319502775933[8] = 0; +void H_25(double *state, double *unused, double *out_10093670861925307) { + out_10093670861925307[0] = 0; + out_10093670861925307[1] = 0; + out_10093670861925307[2] = 0; + out_10093670861925307[3] = 0; + out_10093670861925307[4] = 0; + out_10093670861925307[5] = 0; + out_10093670861925307[6] = 1; + out_10093670861925307[7] = 0; + out_10093670861925307[8] = 0; } -void h_24(double *state, double *unused, double *out_7158441455227347179) { - out_7158441455227347179[0] = state[4]; - out_7158441455227347179[1] = state[5]; +void h_24(double *state, double *unused, double *out_7010003887632078552) { + out_7010003887632078552[0] = state[4]; + out_7010003887632078552[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1656423535523907371) { - out_1656423535523907371[0] = 0; - out_1656423535523907371[1] = 0; - out_1656423535523907371[2] = 0; - out_1656423535523907371[3] = 0; - out_1656423535523907371[4] = 1; - out_1656423535523907371[5] = 0; - out_1656423535523907371[6] = 0; - out_1656423535523907371[7] = 0; - out_1656423535523907371[8] = 0; - out_1656423535523907371[9] = 0; - out_1656423535523907371[10] = 0; - out_1656423535523907371[11] = 0; - out_1656423535523907371[12] = 0; - out_1656423535523907371[13] = 0; - out_1656423535523907371[14] = 1; - out_1656423535523907371[15] = 0; - out_1656423535523907371[16] = 0; - out_1656423535523907371[17] = 0; +void H_24(double *state, double *unused, double *out_8784986078674096201) { + out_8784986078674096201[0] = 0; + out_8784986078674096201[1] = 0; + out_8784986078674096201[2] = 0; + out_8784986078674096201[3] = 0; + out_8784986078674096201[4] = 1; + out_8784986078674096201[5] = 0; + out_8784986078674096201[6] = 0; + out_8784986078674096201[7] = 0; + out_8784986078674096201[8] = 0; + out_8784986078674096201[9] = 0; + out_8784986078674096201[10] = 0; + out_8784986078674096201[11] = 0; + out_8784986078674096201[12] = 0; + out_8784986078674096201[13] = 0; + out_8784986078674096201[14] = 1; + out_8784986078674096201[15] = 0; + out_8784986078674096201[16] = 0; + out_8784986078674096201[17] = 0; } -void h_30(double *state, double *unused, double *out_7508991224307513825) { - out_7508991224307513825[0] = state[4]; +void h_30(double *state, double *unused, double *out_3713391429772506045) { + out_3713391429772506045[0] = state[4]; } -void H_30(double *state, double *unused, double *out_3034559021988840822) { - out_3034559021988840822[0] = 0; - out_3034559021988840822[1] = 0; - out_3034559021988840822[2] = 0; - out_3034559021988840822[3] = 0; - out_3034559021988840822[4] = 1; - out_3034559021988840822[5] = 0; - out_3034559021988840822[6] = 0; - out_3034559021988840822[7] = 0; - out_3034559021988840822[8] = 0; +void H_30(double *state, double *unused, double *out_6906596670629691448) { + out_6906596670629691448[0] = 0; + out_6906596670629691448[1] = 0; + out_6906596670629691448[2] = 0; + out_6906596670629691448[3] = 0; + out_6906596670629691448[4] = 1; + out_6906596670629691448[5] = 0; + out_6906596670629691448[6] = 0; + out_6906596670629691448[7] = 0; + out_6906596670629691448[8] = 0; } -void h_26(double *state, double *unused, double *out_5818543389571832865) { - out_5818543389571832865[0] = state[7]; +void h_26(double *state, double *unused, double *out_6525943533042359428) { + out_6525943533042359428[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7623634638376832157) { - out_7623634638376832157[0] = 0; - out_7623634638376832157[1] = 0; - out_7623634638376832157[2] = 0; - out_7623634638376832157[3] = 0; - out_7623634638376832157[4] = 0; - out_7623634638376832157[5] = 0; - out_7623634638376832157[6] = 0; - out_7623634638376832157[7] = 1; - out_7623634638376832157[8] = 0; +void H_26(double *state, double *unused, double *out_3751596989735981531) { + out_3751596989735981531[0] = 0; + out_3751596989735981531[1] = 0; + out_3751596989735981531[2] = 0; + out_3751596989735981531[3] = 0; + out_3751596989735981531[4] = 0; + out_3751596989735981531[5] = 0; + out_3751596989735981531[6] = 0; + out_3751596989735981531[7] = 1; + out_3751596989735981531[8] = 0; } -void h_27(double *state, double *unused, double *out_4263517269703682756) { - out_4263517269703682756[0] = state[3]; +void h_27(double *state, double *unused, double *out_3564565336305065623) { + out_3564565336305065623[0] = state[3]; } -void H_27(double *state, double *unused, double *out_859795710188415911) { - out_859795710188415911[0] = 0; - out_859795710188415911[1] = 0; - out_859795710188415911[2] = 0; - out_859795710188415911[3] = 1; - out_859795710188415911[4] = 0; - out_859795710188415911[5] = 0; - out_859795710188415911[6] = 0; - out_859795710188415911[7] = 0; - out_859795710188415911[8] = 0; +void H_27(double *state, double *unused, double *out_4731833358829266537) { + out_4731833358829266537[0] = 0; + out_4731833358829266537[1] = 0; + out_4731833358829266537[2] = 0; + out_4731833358829266537[3] = 1; + out_4731833358829266537[4] = 0; + out_4731833358829266537[5] = 0; + out_4731833358829266537[6] = 0; + out_4731833358829266537[7] = 0; + out_4731833358829266537[8] = 0; } -void h_29(double *state, double *unused, double *out_2507317956646668180) { - out_2507317956646668180[0] = state[1]; +void h_29(double *state, double *unused, double *out_4316707314448983562) { + out_4316707314448983562[0] = state[1]; } -void H_29(double *state, double *unused, double *out_3544790366303233006) { - out_3544790366303233006[0] = 0; - out_3544790366303233006[1] = 1; - out_3544790366303233006[2] = 0; - out_3544790366303233006[3] = 0; - out_3544790366303233006[4] = 0; - out_3544790366303233006[5] = 0; - out_3544790366303233006[6] = 0; - out_3544790366303233006[7] = 0; - out_3544790366303233006[8] = 0; +void H_29(double *state, double *unused, double *out_7416828014944083632) { + out_7416828014944083632[0] = 0; + out_7416828014944083632[1] = 1; + out_7416828014944083632[2] = 0; + out_7416828014944083632[3] = 0; + out_7416828014944083632[4] = 0; + out_7416828014944083632[5] = 0; + out_7416828014944083632[6] = 0; + out_7416828014944083632[7] = 0; + out_7416828014944083632[8] = 0; } -void h_28(double *state, double *unused, double *out_8661469350985311768) { - out_8661469350985311768[0] = state[0]; +void h_28(double *state, double *unused, double *out_8899254898098344240) { + out_8899254898098344240[0] = state[0]; } -void H_28(double *state, double *unused, double *out_1537608650766297568) { - out_1537608650766297568[0] = 1; - out_1537608650766297568[1] = 0; - out_1537608650766297568[2] = 0; - out_1537608650766297568[3] = 0; - out_1537608650766297568[4] = 0; - out_1537608650766297568[5] = 0; - out_1537608650766297568[6] = 0; - out_1537608650766297568[7] = 0; - out_1537608650766297568[8] = 0; +void H_28(double *state, double *unused, double *out_2063928385109815070) { + out_2063928385109815070[0] = 1; + out_2063928385109815070[1] = 0; + out_2063928385109815070[2] = 0; + out_2063928385109815070[3] = 0; + out_2063928385109815070[4] = 0; + out_2063928385109815070[5] = 0; + out_2063928385109815070[6] = 0; + out_2063928385109815070[7] = 0; + out_2063928385109815070[8] = 0; } -void h_31(double *state, double *unused, double *out_7025109258863509552) { - out_7025109258863509552[0] = state[8]; +void h_31(double *state, double *unused, double *out_7115607211337028101) { + out_7115607211337028101[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3851485357625815505) { - out_3851485357625815505[0] = 0; - out_3851485357625815505[1] = 0; - out_3851485357625815505[2] = 0; - out_3851485357625815505[3] = 0; - out_3851485357625815505[4] = 0; - out_3851485357625815505[5] = 0; - out_3851485357625815505[6] = 0; - out_3851485357625815505[7] = 0; - out_3851485357625815505[8] = 1; +void H_31(double *state, double *unused, double *out_20552291015035121) { + out_20552291015035121[0] = 0; + out_20552291015035121[1] = 0; + out_20552291015035121[2] = 0; + out_20552291015035121[3] = 0; + out_20552291015035121[4] = 0; + out_20552291015035121[5] = 0; + out_20552291015035121[6] = 0; + out_20552291015035121[7] = 0; + out_20552291015035121[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_3955673683859984289) { - err_fun(nom_x, delta_x, out_3955673683859984289); +void car_err_fun(double *nom_x, double *delta_x, double *out_6442273530103712235) { + err_fun(nom_x, delta_x, out_6442273530103712235); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8970258583381717138) { - inv_err_fun(nom_x, true_x, out_8970258583381717138); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8945695091662043361) { + inv_err_fun(nom_x, true_x, out_8945695091662043361); } -void car_H_mod_fun(double *state, double *out_4831252241531258142) { - H_mod_fun(state, out_4831252241531258142); +void car_H_mod_fun(double *state, double *out_515428113062222019) { + H_mod_fun(state, out_515428113062222019); } -void car_f_fun(double *state, double dt, double *out_2508158103842919927) { - f_fun(state, dt, out_2508158103842919927); +void car_f_fun(double *state, double dt, double *out_1011805063482308945) { + f_fun(state, dt, out_1011805063482308945); } -void car_F_fun(double *state, double dt, double *out_619119889307979727) { - F_fun(state, dt, out_619119889307979727); +void car_F_fun(double *state, double dt, double *out_5888946012615310003) { + F_fun(state, dt, out_5888946012615310003); } -void car_h_25(double *state, double *unused, double *out_7300303321148015441) { - h_25(state, unused, out_7300303321148015441); +void car_h_25(double *state, double *unused, double *out_765665439417021084) { + h_25(state, unused, out_765665439417021084); } -void car_H_25(double *state, double *unused, double *out_3882131319502775933) { - H_25(state, unused, out_3882131319502775933); +void car_H_25(double *state, double *unused, double *out_10093670861925307) { + H_25(state, unused, out_10093670861925307); } -void car_h_24(double *state, double *unused, double *out_7158441455227347179) { - h_24(state, unused, out_7158441455227347179); +void car_h_24(double *state, double *unused, double *out_7010003887632078552) { + h_24(state, unused, out_7010003887632078552); } -void car_H_24(double *state, double *unused, double *out_1656423535523907371) { - H_24(state, unused, out_1656423535523907371); +void car_H_24(double *state, double *unused, double *out_8784986078674096201) { + H_24(state, unused, out_8784986078674096201); } -void car_h_30(double *state, double *unused, double *out_7508991224307513825) { - h_30(state, unused, out_7508991224307513825); +void car_h_30(double *state, double *unused, double *out_3713391429772506045) { + h_30(state, unused, out_3713391429772506045); } -void car_H_30(double *state, double *unused, double *out_3034559021988840822) { - H_30(state, unused, out_3034559021988840822); +void car_H_30(double *state, double *unused, double *out_6906596670629691448) { + H_30(state, unused, out_6906596670629691448); } -void car_h_26(double *state, double *unused, double *out_5818543389571832865) { - h_26(state, unused, out_5818543389571832865); +void car_h_26(double *state, double *unused, double *out_6525943533042359428) { + h_26(state, unused, out_6525943533042359428); } -void car_H_26(double *state, double *unused, double *out_7623634638376832157) { - H_26(state, unused, out_7623634638376832157); +void car_H_26(double *state, double *unused, double *out_3751596989735981531) { + H_26(state, unused, out_3751596989735981531); } -void car_h_27(double *state, double *unused, double *out_4263517269703682756) { - h_27(state, unused, out_4263517269703682756); +void car_h_27(double *state, double *unused, double *out_3564565336305065623) { + h_27(state, unused, out_3564565336305065623); } -void car_H_27(double *state, double *unused, double *out_859795710188415911) { - H_27(state, unused, out_859795710188415911); +void car_H_27(double *state, double *unused, double *out_4731833358829266537) { + H_27(state, unused, out_4731833358829266537); } -void car_h_29(double *state, double *unused, double *out_2507317956646668180) { - h_29(state, unused, out_2507317956646668180); +void car_h_29(double *state, double *unused, double *out_4316707314448983562) { + h_29(state, unused, out_4316707314448983562); } -void car_H_29(double *state, double *unused, double *out_3544790366303233006) { - H_29(state, unused, out_3544790366303233006); +void car_H_29(double *state, double *unused, double *out_7416828014944083632) { + H_29(state, unused, out_7416828014944083632); } -void car_h_28(double *state, double *unused, double *out_8661469350985311768) { - h_28(state, unused, out_8661469350985311768); +void car_h_28(double *state, double *unused, double *out_8899254898098344240) { + h_28(state, unused, out_8899254898098344240); } -void car_H_28(double *state, double *unused, double *out_1537608650766297568) { - H_28(state, unused, out_1537608650766297568); +void car_H_28(double *state, double *unused, double *out_2063928385109815070) { + H_28(state, unused, out_2063928385109815070); } -void car_h_31(double *state, double *unused, double *out_7025109258863509552) { - h_31(state, unused, out_7025109258863509552); +void car_h_31(double *state, double *unused, double *out_7115607211337028101) { + h_31(state, unused, out_7115607211337028101); } -void car_H_31(double *state, double *unused, double *out_3851485357625815505) { - H_31(state, unused, out_3851485357625815505); +void car_H_31(double *state, double *unused, double *out_20552291015035121) { + H_31(state, unused, out_20552291015035121); } 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 c4033c327..ca401c4b5 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_3955673683859984289); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8970258583381717138); -void car_H_mod_fun(double *state, double *out_4831252241531258142); -void car_f_fun(double *state, double dt, double *out_2508158103842919927); -void car_F_fun(double *state, double dt, double *out_619119889307979727); -void car_h_25(double *state, double *unused, double *out_7300303321148015441); -void car_H_25(double *state, double *unused, double *out_3882131319502775933); -void car_h_24(double *state, double *unused, double *out_7158441455227347179); -void car_H_24(double *state, double *unused, double *out_1656423535523907371); -void car_h_30(double *state, double *unused, double *out_7508991224307513825); -void car_H_30(double *state, double *unused, double *out_3034559021988840822); -void car_h_26(double *state, double *unused, double *out_5818543389571832865); -void car_H_26(double *state, double *unused, double *out_7623634638376832157); -void car_h_27(double *state, double *unused, double *out_4263517269703682756); -void car_H_27(double *state, double *unused, double *out_859795710188415911); -void car_h_29(double *state, double *unused, double *out_2507317956646668180); -void car_H_29(double *state, double *unused, double *out_3544790366303233006); -void car_h_28(double *state, double *unused, double *out_8661469350985311768); -void car_H_28(double *state, double *unused, double *out_1537608650766297568); -void car_h_31(double *state, double *unused, double *out_7025109258863509552); -void car_H_31(double *state, double *unused, double *out_3851485357625815505); +void car_err_fun(double *nom_x, double *delta_x, double *out_6442273530103712235); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8945695091662043361); +void car_H_mod_fun(double *state, double *out_515428113062222019); +void car_f_fun(double *state, double dt, double *out_1011805063482308945); +void car_F_fun(double *state, double dt, double *out_5888946012615310003); +void car_h_25(double *state, double *unused, double *out_765665439417021084); +void car_H_25(double *state, double *unused, double *out_10093670861925307); +void car_h_24(double *state, double *unused, double *out_7010003887632078552); +void car_H_24(double *state, double *unused, double *out_8784986078674096201); +void car_h_30(double *state, double *unused, double *out_3713391429772506045); +void car_H_30(double *state, double *unused, double *out_6906596670629691448); +void car_h_26(double *state, double *unused, double *out_6525943533042359428); +void car_H_26(double *state, double *unused, double *out_3751596989735981531); +void car_h_27(double *state, double *unused, double *out_3564565336305065623); +void car_H_27(double *state, double *unused, double *out_4731833358829266537); +void car_h_29(double *state, double *unused, double *out_4316707314448983562); +void car_H_29(double *state, double *unused, double *out_7416828014944083632); +void car_h_28(double *state, double *unused, double *out_8899254898098344240); +void car_H_28(double *state, double *unused, double *out_2063928385109815070); +void car_h_31(double *state, double *unused, double *out_7115607211337028101); +void car_H_31(double *state, double *unused, double *out_20552291015035121); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index ae4474137..8a1ff09ed 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_7536058918625145808) { - out_7536058918625145808[0] = delta_x[0] + nom_x[0]; - out_7536058918625145808[1] = delta_x[1] + nom_x[1]; - out_7536058918625145808[2] = delta_x[2] + nom_x[2]; - out_7536058918625145808[3] = delta_x[3] + nom_x[3]; - out_7536058918625145808[4] = delta_x[4] + nom_x[4]; - out_7536058918625145808[5] = delta_x[5] + nom_x[5]; - out_7536058918625145808[6] = delta_x[6] + nom_x[6]; - out_7536058918625145808[7] = delta_x[7] + nom_x[7]; - out_7536058918625145808[8] = delta_x[8] + nom_x[8]; - out_7536058918625145808[9] = delta_x[9] + nom_x[9]; - out_7536058918625145808[10] = delta_x[10] + nom_x[10]; - out_7536058918625145808[11] = delta_x[11] + nom_x[11]; - out_7536058918625145808[12] = delta_x[12] + nom_x[12]; - out_7536058918625145808[13] = delta_x[13] + nom_x[13]; - out_7536058918625145808[14] = delta_x[14] + nom_x[14]; - out_7536058918625145808[15] = delta_x[15] + nom_x[15]; - out_7536058918625145808[16] = delta_x[16] + nom_x[16]; - out_7536058918625145808[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5735299356181127199) { + out_5735299356181127199[0] = delta_x[0] + nom_x[0]; + out_5735299356181127199[1] = delta_x[1] + nom_x[1]; + out_5735299356181127199[2] = delta_x[2] + nom_x[2]; + out_5735299356181127199[3] = delta_x[3] + nom_x[3]; + out_5735299356181127199[4] = delta_x[4] + nom_x[4]; + out_5735299356181127199[5] = delta_x[5] + nom_x[5]; + out_5735299356181127199[6] = delta_x[6] + nom_x[6]; + out_5735299356181127199[7] = delta_x[7] + nom_x[7]; + out_5735299356181127199[8] = delta_x[8] + nom_x[8]; + out_5735299356181127199[9] = delta_x[9] + nom_x[9]; + out_5735299356181127199[10] = delta_x[10] + nom_x[10]; + out_5735299356181127199[11] = delta_x[11] + nom_x[11]; + out_5735299356181127199[12] = delta_x[12] + nom_x[12]; + out_5735299356181127199[13] = delta_x[13] + nom_x[13]; + out_5735299356181127199[14] = delta_x[14] + nom_x[14]; + out_5735299356181127199[15] = delta_x[15] + nom_x[15]; + out_5735299356181127199[16] = delta_x[16] + nom_x[16]; + out_5735299356181127199[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6294980525542920357) { - out_6294980525542920357[0] = -nom_x[0] + true_x[0]; - out_6294980525542920357[1] = -nom_x[1] + true_x[1]; - out_6294980525542920357[2] = -nom_x[2] + true_x[2]; - out_6294980525542920357[3] = -nom_x[3] + true_x[3]; - out_6294980525542920357[4] = -nom_x[4] + true_x[4]; - out_6294980525542920357[5] = -nom_x[5] + true_x[5]; - out_6294980525542920357[6] = -nom_x[6] + true_x[6]; - out_6294980525542920357[7] = -nom_x[7] + true_x[7]; - out_6294980525542920357[8] = -nom_x[8] + true_x[8]; - out_6294980525542920357[9] = -nom_x[9] + true_x[9]; - out_6294980525542920357[10] = -nom_x[10] + true_x[10]; - out_6294980525542920357[11] = -nom_x[11] + true_x[11]; - out_6294980525542920357[12] = -nom_x[12] + true_x[12]; - out_6294980525542920357[13] = -nom_x[13] + true_x[13]; - out_6294980525542920357[14] = -nom_x[14] + true_x[14]; - out_6294980525542920357[15] = -nom_x[15] + true_x[15]; - out_6294980525542920357[16] = -nom_x[16] + true_x[16]; - out_6294980525542920357[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1848486118618361424) { + out_1848486118618361424[0] = -nom_x[0] + true_x[0]; + out_1848486118618361424[1] = -nom_x[1] + true_x[1]; + out_1848486118618361424[2] = -nom_x[2] + true_x[2]; + out_1848486118618361424[3] = -nom_x[3] + true_x[3]; + out_1848486118618361424[4] = -nom_x[4] + true_x[4]; + out_1848486118618361424[5] = -nom_x[5] + true_x[5]; + out_1848486118618361424[6] = -nom_x[6] + true_x[6]; + out_1848486118618361424[7] = -nom_x[7] + true_x[7]; + out_1848486118618361424[8] = -nom_x[8] + true_x[8]; + out_1848486118618361424[9] = -nom_x[9] + true_x[9]; + out_1848486118618361424[10] = -nom_x[10] + true_x[10]; + out_1848486118618361424[11] = -nom_x[11] + true_x[11]; + out_1848486118618361424[12] = -nom_x[12] + true_x[12]; + out_1848486118618361424[13] = -nom_x[13] + true_x[13]; + out_1848486118618361424[14] = -nom_x[14] + true_x[14]; + out_1848486118618361424[15] = -nom_x[15] + true_x[15]; + out_1848486118618361424[16] = -nom_x[16] + true_x[16]; + out_1848486118618361424[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1208523344993905378) { - out_1208523344993905378[0] = 1.0; - out_1208523344993905378[1] = 0.0; - out_1208523344993905378[2] = 0.0; - out_1208523344993905378[3] = 0.0; - out_1208523344993905378[4] = 0.0; - out_1208523344993905378[5] = 0.0; - out_1208523344993905378[6] = 0.0; - out_1208523344993905378[7] = 0.0; - out_1208523344993905378[8] = 0.0; - out_1208523344993905378[9] = 0.0; - out_1208523344993905378[10] = 0.0; - out_1208523344993905378[11] = 0.0; - out_1208523344993905378[12] = 0.0; - out_1208523344993905378[13] = 0.0; - out_1208523344993905378[14] = 0.0; - out_1208523344993905378[15] = 0.0; - out_1208523344993905378[16] = 0.0; - out_1208523344993905378[17] = 0.0; - out_1208523344993905378[18] = 0.0; - out_1208523344993905378[19] = 1.0; - out_1208523344993905378[20] = 0.0; - out_1208523344993905378[21] = 0.0; - out_1208523344993905378[22] = 0.0; - out_1208523344993905378[23] = 0.0; - out_1208523344993905378[24] = 0.0; - out_1208523344993905378[25] = 0.0; - out_1208523344993905378[26] = 0.0; - out_1208523344993905378[27] = 0.0; - out_1208523344993905378[28] = 0.0; - out_1208523344993905378[29] = 0.0; - out_1208523344993905378[30] = 0.0; - out_1208523344993905378[31] = 0.0; - out_1208523344993905378[32] = 0.0; - out_1208523344993905378[33] = 0.0; - out_1208523344993905378[34] = 0.0; - out_1208523344993905378[35] = 0.0; - out_1208523344993905378[36] = 0.0; - out_1208523344993905378[37] = 0.0; - out_1208523344993905378[38] = 1.0; - out_1208523344993905378[39] = 0.0; - out_1208523344993905378[40] = 0.0; - out_1208523344993905378[41] = 0.0; - out_1208523344993905378[42] = 0.0; - out_1208523344993905378[43] = 0.0; - out_1208523344993905378[44] = 0.0; - out_1208523344993905378[45] = 0.0; - out_1208523344993905378[46] = 0.0; - out_1208523344993905378[47] = 0.0; - out_1208523344993905378[48] = 0.0; - out_1208523344993905378[49] = 0.0; - out_1208523344993905378[50] = 0.0; - out_1208523344993905378[51] = 0.0; - out_1208523344993905378[52] = 0.0; - out_1208523344993905378[53] = 0.0; - out_1208523344993905378[54] = 0.0; - out_1208523344993905378[55] = 0.0; - out_1208523344993905378[56] = 0.0; - out_1208523344993905378[57] = 1.0; - out_1208523344993905378[58] = 0.0; - out_1208523344993905378[59] = 0.0; - out_1208523344993905378[60] = 0.0; - out_1208523344993905378[61] = 0.0; - out_1208523344993905378[62] = 0.0; - out_1208523344993905378[63] = 0.0; - out_1208523344993905378[64] = 0.0; - out_1208523344993905378[65] = 0.0; - out_1208523344993905378[66] = 0.0; - out_1208523344993905378[67] = 0.0; - out_1208523344993905378[68] = 0.0; - out_1208523344993905378[69] = 0.0; - out_1208523344993905378[70] = 0.0; - out_1208523344993905378[71] = 0.0; - out_1208523344993905378[72] = 0.0; - out_1208523344993905378[73] = 0.0; - out_1208523344993905378[74] = 0.0; - out_1208523344993905378[75] = 0.0; - out_1208523344993905378[76] = 1.0; - out_1208523344993905378[77] = 0.0; - out_1208523344993905378[78] = 0.0; - out_1208523344993905378[79] = 0.0; - out_1208523344993905378[80] = 0.0; - out_1208523344993905378[81] = 0.0; - out_1208523344993905378[82] = 0.0; - out_1208523344993905378[83] = 0.0; - out_1208523344993905378[84] = 0.0; - out_1208523344993905378[85] = 0.0; - out_1208523344993905378[86] = 0.0; - out_1208523344993905378[87] = 0.0; - out_1208523344993905378[88] = 0.0; - out_1208523344993905378[89] = 0.0; - out_1208523344993905378[90] = 0.0; - out_1208523344993905378[91] = 0.0; - out_1208523344993905378[92] = 0.0; - out_1208523344993905378[93] = 0.0; - out_1208523344993905378[94] = 0.0; - out_1208523344993905378[95] = 1.0; - out_1208523344993905378[96] = 0.0; - out_1208523344993905378[97] = 0.0; - out_1208523344993905378[98] = 0.0; - out_1208523344993905378[99] = 0.0; - out_1208523344993905378[100] = 0.0; - out_1208523344993905378[101] = 0.0; - out_1208523344993905378[102] = 0.0; - out_1208523344993905378[103] = 0.0; - out_1208523344993905378[104] = 0.0; - out_1208523344993905378[105] = 0.0; - out_1208523344993905378[106] = 0.0; - out_1208523344993905378[107] = 0.0; - out_1208523344993905378[108] = 0.0; - out_1208523344993905378[109] = 0.0; - out_1208523344993905378[110] = 0.0; - out_1208523344993905378[111] = 0.0; - out_1208523344993905378[112] = 0.0; - out_1208523344993905378[113] = 0.0; - out_1208523344993905378[114] = 1.0; - out_1208523344993905378[115] = 0.0; - out_1208523344993905378[116] = 0.0; - out_1208523344993905378[117] = 0.0; - out_1208523344993905378[118] = 0.0; - out_1208523344993905378[119] = 0.0; - out_1208523344993905378[120] = 0.0; - out_1208523344993905378[121] = 0.0; - out_1208523344993905378[122] = 0.0; - out_1208523344993905378[123] = 0.0; - out_1208523344993905378[124] = 0.0; - out_1208523344993905378[125] = 0.0; - out_1208523344993905378[126] = 0.0; - out_1208523344993905378[127] = 0.0; - out_1208523344993905378[128] = 0.0; - out_1208523344993905378[129] = 0.0; - out_1208523344993905378[130] = 0.0; - out_1208523344993905378[131] = 0.0; - out_1208523344993905378[132] = 0.0; - out_1208523344993905378[133] = 1.0; - out_1208523344993905378[134] = 0.0; - out_1208523344993905378[135] = 0.0; - out_1208523344993905378[136] = 0.0; - out_1208523344993905378[137] = 0.0; - out_1208523344993905378[138] = 0.0; - out_1208523344993905378[139] = 0.0; - out_1208523344993905378[140] = 0.0; - out_1208523344993905378[141] = 0.0; - out_1208523344993905378[142] = 0.0; - out_1208523344993905378[143] = 0.0; - out_1208523344993905378[144] = 0.0; - out_1208523344993905378[145] = 0.0; - out_1208523344993905378[146] = 0.0; - out_1208523344993905378[147] = 0.0; - out_1208523344993905378[148] = 0.0; - out_1208523344993905378[149] = 0.0; - out_1208523344993905378[150] = 0.0; - out_1208523344993905378[151] = 0.0; - out_1208523344993905378[152] = 1.0; - out_1208523344993905378[153] = 0.0; - out_1208523344993905378[154] = 0.0; - out_1208523344993905378[155] = 0.0; - out_1208523344993905378[156] = 0.0; - out_1208523344993905378[157] = 0.0; - out_1208523344993905378[158] = 0.0; - out_1208523344993905378[159] = 0.0; - out_1208523344993905378[160] = 0.0; - out_1208523344993905378[161] = 0.0; - out_1208523344993905378[162] = 0.0; - out_1208523344993905378[163] = 0.0; - out_1208523344993905378[164] = 0.0; - out_1208523344993905378[165] = 0.0; - out_1208523344993905378[166] = 0.0; - out_1208523344993905378[167] = 0.0; - out_1208523344993905378[168] = 0.0; - out_1208523344993905378[169] = 0.0; - out_1208523344993905378[170] = 0.0; - out_1208523344993905378[171] = 1.0; - out_1208523344993905378[172] = 0.0; - out_1208523344993905378[173] = 0.0; - out_1208523344993905378[174] = 0.0; - out_1208523344993905378[175] = 0.0; - out_1208523344993905378[176] = 0.0; - out_1208523344993905378[177] = 0.0; - out_1208523344993905378[178] = 0.0; - out_1208523344993905378[179] = 0.0; - out_1208523344993905378[180] = 0.0; - out_1208523344993905378[181] = 0.0; - out_1208523344993905378[182] = 0.0; - out_1208523344993905378[183] = 0.0; - out_1208523344993905378[184] = 0.0; - out_1208523344993905378[185] = 0.0; - out_1208523344993905378[186] = 0.0; - out_1208523344993905378[187] = 0.0; - out_1208523344993905378[188] = 0.0; - out_1208523344993905378[189] = 0.0; - out_1208523344993905378[190] = 1.0; - out_1208523344993905378[191] = 0.0; - out_1208523344993905378[192] = 0.0; - out_1208523344993905378[193] = 0.0; - out_1208523344993905378[194] = 0.0; - out_1208523344993905378[195] = 0.0; - out_1208523344993905378[196] = 0.0; - out_1208523344993905378[197] = 0.0; - out_1208523344993905378[198] = 0.0; - out_1208523344993905378[199] = 0.0; - out_1208523344993905378[200] = 0.0; - out_1208523344993905378[201] = 0.0; - out_1208523344993905378[202] = 0.0; - out_1208523344993905378[203] = 0.0; - out_1208523344993905378[204] = 0.0; - out_1208523344993905378[205] = 0.0; - out_1208523344993905378[206] = 0.0; - out_1208523344993905378[207] = 0.0; - out_1208523344993905378[208] = 0.0; - out_1208523344993905378[209] = 1.0; - out_1208523344993905378[210] = 0.0; - out_1208523344993905378[211] = 0.0; - out_1208523344993905378[212] = 0.0; - out_1208523344993905378[213] = 0.0; - out_1208523344993905378[214] = 0.0; - out_1208523344993905378[215] = 0.0; - out_1208523344993905378[216] = 0.0; - out_1208523344993905378[217] = 0.0; - out_1208523344993905378[218] = 0.0; - out_1208523344993905378[219] = 0.0; - out_1208523344993905378[220] = 0.0; - out_1208523344993905378[221] = 0.0; - out_1208523344993905378[222] = 0.0; - out_1208523344993905378[223] = 0.0; - out_1208523344993905378[224] = 0.0; - out_1208523344993905378[225] = 0.0; - out_1208523344993905378[226] = 0.0; - out_1208523344993905378[227] = 0.0; - out_1208523344993905378[228] = 1.0; - out_1208523344993905378[229] = 0.0; - out_1208523344993905378[230] = 0.0; - out_1208523344993905378[231] = 0.0; - out_1208523344993905378[232] = 0.0; - out_1208523344993905378[233] = 0.0; - out_1208523344993905378[234] = 0.0; - out_1208523344993905378[235] = 0.0; - out_1208523344993905378[236] = 0.0; - out_1208523344993905378[237] = 0.0; - out_1208523344993905378[238] = 0.0; - out_1208523344993905378[239] = 0.0; - out_1208523344993905378[240] = 0.0; - out_1208523344993905378[241] = 0.0; - out_1208523344993905378[242] = 0.0; - out_1208523344993905378[243] = 0.0; - out_1208523344993905378[244] = 0.0; - out_1208523344993905378[245] = 0.0; - out_1208523344993905378[246] = 0.0; - out_1208523344993905378[247] = 1.0; - out_1208523344993905378[248] = 0.0; - out_1208523344993905378[249] = 0.0; - out_1208523344993905378[250] = 0.0; - out_1208523344993905378[251] = 0.0; - out_1208523344993905378[252] = 0.0; - out_1208523344993905378[253] = 0.0; - out_1208523344993905378[254] = 0.0; - out_1208523344993905378[255] = 0.0; - out_1208523344993905378[256] = 0.0; - out_1208523344993905378[257] = 0.0; - out_1208523344993905378[258] = 0.0; - out_1208523344993905378[259] = 0.0; - out_1208523344993905378[260] = 0.0; - out_1208523344993905378[261] = 0.0; - out_1208523344993905378[262] = 0.0; - out_1208523344993905378[263] = 0.0; - out_1208523344993905378[264] = 0.0; - out_1208523344993905378[265] = 0.0; - out_1208523344993905378[266] = 1.0; - out_1208523344993905378[267] = 0.0; - out_1208523344993905378[268] = 0.0; - out_1208523344993905378[269] = 0.0; - out_1208523344993905378[270] = 0.0; - out_1208523344993905378[271] = 0.0; - out_1208523344993905378[272] = 0.0; - out_1208523344993905378[273] = 0.0; - out_1208523344993905378[274] = 0.0; - out_1208523344993905378[275] = 0.0; - out_1208523344993905378[276] = 0.0; - out_1208523344993905378[277] = 0.0; - out_1208523344993905378[278] = 0.0; - out_1208523344993905378[279] = 0.0; - out_1208523344993905378[280] = 0.0; - out_1208523344993905378[281] = 0.0; - out_1208523344993905378[282] = 0.0; - out_1208523344993905378[283] = 0.0; - out_1208523344993905378[284] = 0.0; - out_1208523344993905378[285] = 1.0; - out_1208523344993905378[286] = 0.0; - out_1208523344993905378[287] = 0.0; - out_1208523344993905378[288] = 0.0; - out_1208523344993905378[289] = 0.0; - out_1208523344993905378[290] = 0.0; - out_1208523344993905378[291] = 0.0; - out_1208523344993905378[292] = 0.0; - out_1208523344993905378[293] = 0.0; - out_1208523344993905378[294] = 0.0; - out_1208523344993905378[295] = 0.0; - out_1208523344993905378[296] = 0.0; - out_1208523344993905378[297] = 0.0; - out_1208523344993905378[298] = 0.0; - out_1208523344993905378[299] = 0.0; - out_1208523344993905378[300] = 0.0; - out_1208523344993905378[301] = 0.0; - out_1208523344993905378[302] = 0.0; - out_1208523344993905378[303] = 0.0; - out_1208523344993905378[304] = 1.0; - out_1208523344993905378[305] = 0.0; - out_1208523344993905378[306] = 0.0; - out_1208523344993905378[307] = 0.0; - out_1208523344993905378[308] = 0.0; - out_1208523344993905378[309] = 0.0; - out_1208523344993905378[310] = 0.0; - out_1208523344993905378[311] = 0.0; - out_1208523344993905378[312] = 0.0; - out_1208523344993905378[313] = 0.0; - out_1208523344993905378[314] = 0.0; - out_1208523344993905378[315] = 0.0; - out_1208523344993905378[316] = 0.0; - out_1208523344993905378[317] = 0.0; - out_1208523344993905378[318] = 0.0; - out_1208523344993905378[319] = 0.0; - out_1208523344993905378[320] = 0.0; - out_1208523344993905378[321] = 0.0; - out_1208523344993905378[322] = 0.0; - out_1208523344993905378[323] = 1.0; +void H_mod_fun(double *state, double *out_3441620345746718845) { + out_3441620345746718845[0] = 1.0; + out_3441620345746718845[1] = 0.0; + out_3441620345746718845[2] = 0.0; + out_3441620345746718845[3] = 0.0; + out_3441620345746718845[4] = 0.0; + out_3441620345746718845[5] = 0.0; + out_3441620345746718845[6] = 0.0; + out_3441620345746718845[7] = 0.0; + out_3441620345746718845[8] = 0.0; + out_3441620345746718845[9] = 0.0; + out_3441620345746718845[10] = 0.0; + out_3441620345746718845[11] = 0.0; + out_3441620345746718845[12] = 0.0; + out_3441620345746718845[13] = 0.0; + out_3441620345746718845[14] = 0.0; + out_3441620345746718845[15] = 0.0; + out_3441620345746718845[16] = 0.0; + out_3441620345746718845[17] = 0.0; + out_3441620345746718845[18] = 0.0; + out_3441620345746718845[19] = 1.0; + out_3441620345746718845[20] = 0.0; + out_3441620345746718845[21] = 0.0; + out_3441620345746718845[22] = 0.0; + out_3441620345746718845[23] = 0.0; + out_3441620345746718845[24] = 0.0; + out_3441620345746718845[25] = 0.0; + out_3441620345746718845[26] = 0.0; + out_3441620345746718845[27] = 0.0; + out_3441620345746718845[28] = 0.0; + out_3441620345746718845[29] = 0.0; + out_3441620345746718845[30] = 0.0; + out_3441620345746718845[31] = 0.0; + out_3441620345746718845[32] = 0.0; + out_3441620345746718845[33] = 0.0; + out_3441620345746718845[34] = 0.0; + out_3441620345746718845[35] = 0.0; + out_3441620345746718845[36] = 0.0; + out_3441620345746718845[37] = 0.0; + out_3441620345746718845[38] = 1.0; + out_3441620345746718845[39] = 0.0; + out_3441620345746718845[40] = 0.0; + out_3441620345746718845[41] = 0.0; + out_3441620345746718845[42] = 0.0; + out_3441620345746718845[43] = 0.0; + out_3441620345746718845[44] = 0.0; + out_3441620345746718845[45] = 0.0; + out_3441620345746718845[46] = 0.0; + out_3441620345746718845[47] = 0.0; + out_3441620345746718845[48] = 0.0; + out_3441620345746718845[49] = 0.0; + out_3441620345746718845[50] = 0.0; + out_3441620345746718845[51] = 0.0; + out_3441620345746718845[52] = 0.0; + out_3441620345746718845[53] = 0.0; + out_3441620345746718845[54] = 0.0; + out_3441620345746718845[55] = 0.0; + out_3441620345746718845[56] = 0.0; + out_3441620345746718845[57] = 1.0; + out_3441620345746718845[58] = 0.0; + out_3441620345746718845[59] = 0.0; + out_3441620345746718845[60] = 0.0; + out_3441620345746718845[61] = 0.0; + out_3441620345746718845[62] = 0.0; + out_3441620345746718845[63] = 0.0; + out_3441620345746718845[64] = 0.0; + out_3441620345746718845[65] = 0.0; + out_3441620345746718845[66] = 0.0; + out_3441620345746718845[67] = 0.0; + out_3441620345746718845[68] = 0.0; + out_3441620345746718845[69] = 0.0; + out_3441620345746718845[70] = 0.0; + out_3441620345746718845[71] = 0.0; + out_3441620345746718845[72] = 0.0; + out_3441620345746718845[73] = 0.0; + out_3441620345746718845[74] = 0.0; + out_3441620345746718845[75] = 0.0; + out_3441620345746718845[76] = 1.0; + out_3441620345746718845[77] = 0.0; + out_3441620345746718845[78] = 0.0; + out_3441620345746718845[79] = 0.0; + out_3441620345746718845[80] = 0.0; + out_3441620345746718845[81] = 0.0; + out_3441620345746718845[82] = 0.0; + out_3441620345746718845[83] = 0.0; + out_3441620345746718845[84] = 0.0; + out_3441620345746718845[85] = 0.0; + out_3441620345746718845[86] = 0.0; + out_3441620345746718845[87] = 0.0; + out_3441620345746718845[88] = 0.0; + out_3441620345746718845[89] = 0.0; + out_3441620345746718845[90] = 0.0; + out_3441620345746718845[91] = 0.0; + out_3441620345746718845[92] = 0.0; + out_3441620345746718845[93] = 0.0; + out_3441620345746718845[94] = 0.0; + out_3441620345746718845[95] = 1.0; + out_3441620345746718845[96] = 0.0; + out_3441620345746718845[97] = 0.0; + out_3441620345746718845[98] = 0.0; + out_3441620345746718845[99] = 0.0; + out_3441620345746718845[100] = 0.0; + out_3441620345746718845[101] = 0.0; + out_3441620345746718845[102] = 0.0; + out_3441620345746718845[103] = 0.0; + out_3441620345746718845[104] = 0.0; + out_3441620345746718845[105] = 0.0; + out_3441620345746718845[106] = 0.0; + out_3441620345746718845[107] = 0.0; + out_3441620345746718845[108] = 0.0; + out_3441620345746718845[109] = 0.0; + out_3441620345746718845[110] = 0.0; + out_3441620345746718845[111] = 0.0; + out_3441620345746718845[112] = 0.0; + out_3441620345746718845[113] = 0.0; + out_3441620345746718845[114] = 1.0; + out_3441620345746718845[115] = 0.0; + out_3441620345746718845[116] = 0.0; + out_3441620345746718845[117] = 0.0; + out_3441620345746718845[118] = 0.0; + out_3441620345746718845[119] = 0.0; + out_3441620345746718845[120] = 0.0; + out_3441620345746718845[121] = 0.0; + out_3441620345746718845[122] = 0.0; + out_3441620345746718845[123] = 0.0; + out_3441620345746718845[124] = 0.0; + out_3441620345746718845[125] = 0.0; + out_3441620345746718845[126] = 0.0; + out_3441620345746718845[127] = 0.0; + out_3441620345746718845[128] = 0.0; + out_3441620345746718845[129] = 0.0; + out_3441620345746718845[130] = 0.0; + out_3441620345746718845[131] = 0.0; + out_3441620345746718845[132] = 0.0; + out_3441620345746718845[133] = 1.0; + out_3441620345746718845[134] = 0.0; + out_3441620345746718845[135] = 0.0; + out_3441620345746718845[136] = 0.0; + out_3441620345746718845[137] = 0.0; + out_3441620345746718845[138] = 0.0; + out_3441620345746718845[139] = 0.0; + out_3441620345746718845[140] = 0.0; + out_3441620345746718845[141] = 0.0; + out_3441620345746718845[142] = 0.0; + out_3441620345746718845[143] = 0.0; + out_3441620345746718845[144] = 0.0; + out_3441620345746718845[145] = 0.0; + out_3441620345746718845[146] = 0.0; + out_3441620345746718845[147] = 0.0; + out_3441620345746718845[148] = 0.0; + out_3441620345746718845[149] = 0.0; + out_3441620345746718845[150] = 0.0; + out_3441620345746718845[151] = 0.0; + out_3441620345746718845[152] = 1.0; + out_3441620345746718845[153] = 0.0; + out_3441620345746718845[154] = 0.0; + out_3441620345746718845[155] = 0.0; + out_3441620345746718845[156] = 0.0; + out_3441620345746718845[157] = 0.0; + out_3441620345746718845[158] = 0.0; + out_3441620345746718845[159] = 0.0; + out_3441620345746718845[160] = 0.0; + out_3441620345746718845[161] = 0.0; + out_3441620345746718845[162] = 0.0; + out_3441620345746718845[163] = 0.0; + out_3441620345746718845[164] = 0.0; + out_3441620345746718845[165] = 0.0; + out_3441620345746718845[166] = 0.0; + out_3441620345746718845[167] = 0.0; + out_3441620345746718845[168] = 0.0; + out_3441620345746718845[169] = 0.0; + out_3441620345746718845[170] = 0.0; + out_3441620345746718845[171] = 1.0; + out_3441620345746718845[172] = 0.0; + out_3441620345746718845[173] = 0.0; + out_3441620345746718845[174] = 0.0; + out_3441620345746718845[175] = 0.0; + out_3441620345746718845[176] = 0.0; + out_3441620345746718845[177] = 0.0; + out_3441620345746718845[178] = 0.0; + out_3441620345746718845[179] = 0.0; + out_3441620345746718845[180] = 0.0; + out_3441620345746718845[181] = 0.0; + out_3441620345746718845[182] = 0.0; + out_3441620345746718845[183] = 0.0; + out_3441620345746718845[184] = 0.0; + out_3441620345746718845[185] = 0.0; + out_3441620345746718845[186] = 0.0; + out_3441620345746718845[187] = 0.0; + out_3441620345746718845[188] = 0.0; + out_3441620345746718845[189] = 0.0; + out_3441620345746718845[190] = 1.0; + out_3441620345746718845[191] = 0.0; + out_3441620345746718845[192] = 0.0; + out_3441620345746718845[193] = 0.0; + out_3441620345746718845[194] = 0.0; + out_3441620345746718845[195] = 0.0; + out_3441620345746718845[196] = 0.0; + out_3441620345746718845[197] = 0.0; + out_3441620345746718845[198] = 0.0; + out_3441620345746718845[199] = 0.0; + out_3441620345746718845[200] = 0.0; + out_3441620345746718845[201] = 0.0; + out_3441620345746718845[202] = 0.0; + out_3441620345746718845[203] = 0.0; + out_3441620345746718845[204] = 0.0; + out_3441620345746718845[205] = 0.0; + out_3441620345746718845[206] = 0.0; + out_3441620345746718845[207] = 0.0; + out_3441620345746718845[208] = 0.0; + out_3441620345746718845[209] = 1.0; + out_3441620345746718845[210] = 0.0; + out_3441620345746718845[211] = 0.0; + out_3441620345746718845[212] = 0.0; + out_3441620345746718845[213] = 0.0; + out_3441620345746718845[214] = 0.0; + out_3441620345746718845[215] = 0.0; + out_3441620345746718845[216] = 0.0; + out_3441620345746718845[217] = 0.0; + out_3441620345746718845[218] = 0.0; + out_3441620345746718845[219] = 0.0; + out_3441620345746718845[220] = 0.0; + out_3441620345746718845[221] = 0.0; + out_3441620345746718845[222] = 0.0; + out_3441620345746718845[223] = 0.0; + out_3441620345746718845[224] = 0.0; + out_3441620345746718845[225] = 0.0; + out_3441620345746718845[226] = 0.0; + out_3441620345746718845[227] = 0.0; + out_3441620345746718845[228] = 1.0; + out_3441620345746718845[229] = 0.0; + out_3441620345746718845[230] = 0.0; + out_3441620345746718845[231] = 0.0; + out_3441620345746718845[232] = 0.0; + out_3441620345746718845[233] = 0.0; + out_3441620345746718845[234] = 0.0; + out_3441620345746718845[235] = 0.0; + out_3441620345746718845[236] = 0.0; + out_3441620345746718845[237] = 0.0; + out_3441620345746718845[238] = 0.0; + out_3441620345746718845[239] = 0.0; + out_3441620345746718845[240] = 0.0; + out_3441620345746718845[241] = 0.0; + out_3441620345746718845[242] = 0.0; + out_3441620345746718845[243] = 0.0; + out_3441620345746718845[244] = 0.0; + out_3441620345746718845[245] = 0.0; + out_3441620345746718845[246] = 0.0; + out_3441620345746718845[247] = 1.0; + out_3441620345746718845[248] = 0.0; + out_3441620345746718845[249] = 0.0; + out_3441620345746718845[250] = 0.0; + out_3441620345746718845[251] = 0.0; + out_3441620345746718845[252] = 0.0; + out_3441620345746718845[253] = 0.0; + out_3441620345746718845[254] = 0.0; + out_3441620345746718845[255] = 0.0; + out_3441620345746718845[256] = 0.0; + out_3441620345746718845[257] = 0.0; + out_3441620345746718845[258] = 0.0; + out_3441620345746718845[259] = 0.0; + out_3441620345746718845[260] = 0.0; + out_3441620345746718845[261] = 0.0; + out_3441620345746718845[262] = 0.0; + out_3441620345746718845[263] = 0.0; + out_3441620345746718845[264] = 0.0; + out_3441620345746718845[265] = 0.0; + out_3441620345746718845[266] = 1.0; + out_3441620345746718845[267] = 0.0; + out_3441620345746718845[268] = 0.0; + out_3441620345746718845[269] = 0.0; + out_3441620345746718845[270] = 0.0; + out_3441620345746718845[271] = 0.0; + out_3441620345746718845[272] = 0.0; + out_3441620345746718845[273] = 0.0; + out_3441620345746718845[274] = 0.0; + out_3441620345746718845[275] = 0.0; + out_3441620345746718845[276] = 0.0; + out_3441620345746718845[277] = 0.0; + out_3441620345746718845[278] = 0.0; + out_3441620345746718845[279] = 0.0; + out_3441620345746718845[280] = 0.0; + out_3441620345746718845[281] = 0.0; + out_3441620345746718845[282] = 0.0; + out_3441620345746718845[283] = 0.0; + out_3441620345746718845[284] = 0.0; + out_3441620345746718845[285] = 1.0; + out_3441620345746718845[286] = 0.0; + out_3441620345746718845[287] = 0.0; + out_3441620345746718845[288] = 0.0; + out_3441620345746718845[289] = 0.0; + out_3441620345746718845[290] = 0.0; + out_3441620345746718845[291] = 0.0; + out_3441620345746718845[292] = 0.0; + out_3441620345746718845[293] = 0.0; + out_3441620345746718845[294] = 0.0; + out_3441620345746718845[295] = 0.0; + out_3441620345746718845[296] = 0.0; + out_3441620345746718845[297] = 0.0; + out_3441620345746718845[298] = 0.0; + out_3441620345746718845[299] = 0.0; + out_3441620345746718845[300] = 0.0; + out_3441620345746718845[301] = 0.0; + out_3441620345746718845[302] = 0.0; + out_3441620345746718845[303] = 0.0; + out_3441620345746718845[304] = 1.0; + out_3441620345746718845[305] = 0.0; + out_3441620345746718845[306] = 0.0; + out_3441620345746718845[307] = 0.0; + out_3441620345746718845[308] = 0.0; + out_3441620345746718845[309] = 0.0; + out_3441620345746718845[310] = 0.0; + out_3441620345746718845[311] = 0.0; + out_3441620345746718845[312] = 0.0; + out_3441620345746718845[313] = 0.0; + out_3441620345746718845[314] = 0.0; + out_3441620345746718845[315] = 0.0; + out_3441620345746718845[316] = 0.0; + out_3441620345746718845[317] = 0.0; + out_3441620345746718845[318] = 0.0; + out_3441620345746718845[319] = 0.0; + out_3441620345746718845[320] = 0.0; + out_3441620345746718845[321] = 0.0; + out_3441620345746718845[322] = 0.0; + out_3441620345746718845[323] = 1.0; } -void f_fun(double *state, double dt, double *out_828336908542161324) { - out_828336908542161324[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_828336908542161324[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_828336908542161324[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_828336908542161324[3] = dt*state[12] + state[3]; - out_828336908542161324[4] = dt*state[13] + state[4]; - out_828336908542161324[5] = dt*state[14] + state[5]; - out_828336908542161324[6] = state[6]; - out_828336908542161324[7] = state[7]; - out_828336908542161324[8] = state[8]; - out_828336908542161324[9] = state[9]; - out_828336908542161324[10] = state[10]; - out_828336908542161324[11] = state[11]; - out_828336908542161324[12] = state[12]; - out_828336908542161324[13] = state[13]; - out_828336908542161324[14] = state[14]; - out_828336908542161324[15] = state[15]; - out_828336908542161324[16] = state[16]; - out_828336908542161324[17] = state[17]; +void f_fun(double *state, double dt, double *out_5548337699276970526) { + out_5548337699276970526[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_5548337699276970526[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_5548337699276970526[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_5548337699276970526[3] = dt*state[12] + state[3]; + out_5548337699276970526[4] = dt*state[13] + state[4]; + out_5548337699276970526[5] = dt*state[14] + state[5]; + out_5548337699276970526[6] = state[6]; + out_5548337699276970526[7] = state[7]; + out_5548337699276970526[8] = state[8]; + out_5548337699276970526[9] = state[9]; + out_5548337699276970526[10] = state[10]; + out_5548337699276970526[11] = state[11]; + out_5548337699276970526[12] = state[12]; + out_5548337699276970526[13] = state[13]; + out_5548337699276970526[14] = state[14]; + out_5548337699276970526[15] = state[15]; + out_5548337699276970526[16] = state[16]; + out_5548337699276970526[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5703387388084628727) { - out_5703387388084628727[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_5703387388084628727[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_5703387388084628727[2] = 0; - out_5703387388084628727[3] = 0; - out_5703387388084628727[4] = 0; - out_5703387388084628727[5] = 0; - out_5703387388084628727[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_5703387388084628727[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_5703387388084628727[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_5703387388084628727[9] = 0; - out_5703387388084628727[10] = 0; - out_5703387388084628727[11] = 0; - out_5703387388084628727[12] = 0; - out_5703387388084628727[13] = 0; - out_5703387388084628727[14] = 0; - out_5703387388084628727[15] = 0; - out_5703387388084628727[16] = 0; - out_5703387388084628727[17] = 0; - out_5703387388084628727[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_5703387388084628727[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_5703387388084628727[20] = 0; - out_5703387388084628727[21] = 0; - out_5703387388084628727[22] = 0; - out_5703387388084628727[23] = 0; - out_5703387388084628727[24] = 0; - out_5703387388084628727[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_5703387388084628727[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_5703387388084628727[27] = 0; - out_5703387388084628727[28] = 0; - out_5703387388084628727[29] = 0; - out_5703387388084628727[30] = 0; - out_5703387388084628727[31] = 0; - out_5703387388084628727[32] = 0; - out_5703387388084628727[33] = 0; - out_5703387388084628727[34] = 0; - out_5703387388084628727[35] = 0; - out_5703387388084628727[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_5703387388084628727[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_5703387388084628727[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_5703387388084628727[39] = 0; - out_5703387388084628727[40] = 0; - out_5703387388084628727[41] = 0; - out_5703387388084628727[42] = 0; - out_5703387388084628727[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_5703387388084628727[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_5703387388084628727[45] = 0; - out_5703387388084628727[46] = 0; - out_5703387388084628727[47] = 0; - out_5703387388084628727[48] = 0; - out_5703387388084628727[49] = 0; - out_5703387388084628727[50] = 0; - out_5703387388084628727[51] = 0; - out_5703387388084628727[52] = 0; - out_5703387388084628727[53] = 0; - out_5703387388084628727[54] = 0; - out_5703387388084628727[55] = 0; - out_5703387388084628727[56] = 0; - out_5703387388084628727[57] = 1; - out_5703387388084628727[58] = 0; - out_5703387388084628727[59] = 0; - out_5703387388084628727[60] = 0; - out_5703387388084628727[61] = 0; - out_5703387388084628727[62] = 0; - out_5703387388084628727[63] = 0; - out_5703387388084628727[64] = 0; - out_5703387388084628727[65] = 0; - out_5703387388084628727[66] = dt; - out_5703387388084628727[67] = 0; - out_5703387388084628727[68] = 0; - out_5703387388084628727[69] = 0; - out_5703387388084628727[70] = 0; - out_5703387388084628727[71] = 0; - out_5703387388084628727[72] = 0; - out_5703387388084628727[73] = 0; - out_5703387388084628727[74] = 0; - out_5703387388084628727[75] = 0; - out_5703387388084628727[76] = 1; - out_5703387388084628727[77] = 0; - out_5703387388084628727[78] = 0; - out_5703387388084628727[79] = 0; - out_5703387388084628727[80] = 0; - out_5703387388084628727[81] = 0; - out_5703387388084628727[82] = 0; - out_5703387388084628727[83] = 0; - out_5703387388084628727[84] = 0; - out_5703387388084628727[85] = dt; - out_5703387388084628727[86] = 0; - out_5703387388084628727[87] = 0; - out_5703387388084628727[88] = 0; - out_5703387388084628727[89] = 0; - out_5703387388084628727[90] = 0; - out_5703387388084628727[91] = 0; - out_5703387388084628727[92] = 0; - out_5703387388084628727[93] = 0; - out_5703387388084628727[94] = 0; - out_5703387388084628727[95] = 1; - out_5703387388084628727[96] = 0; - out_5703387388084628727[97] = 0; - out_5703387388084628727[98] = 0; - out_5703387388084628727[99] = 0; - out_5703387388084628727[100] = 0; - out_5703387388084628727[101] = 0; - out_5703387388084628727[102] = 0; - out_5703387388084628727[103] = 0; - out_5703387388084628727[104] = dt; - out_5703387388084628727[105] = 0; - out_5703387388084628727[106] = 0; - out_5703387388084628727[107] = 0; - out_5703387388084628727[108] = 0; - out_5703387388084628727[109] = 0; - out_5703387388084628727[110] = 0; - out_5703387388084628727[111] = 0; - out_5703387388084628727[112] = 0; - out_5703387388084628727[113] = 0; - out_5703387388084628727[114] = 1; - out_5703387388084628727[115] = 0; - out_5703387388084628727[116] = 0; - out_5703387388084628727[117] = 0; - out_5703387388084628727[118] = 0; - out_5703387388084628727[119] = 0; - out_5703387388084628727[120] = 0; - out_5703387388084628727[121] = 0; - out_5703387388084628727[122] = 0; - out_5703387388084628727[123] = 0; - out_5703387388084628727[124] = 0; - out_5703387388084628727[125] = 0; - out_5703387388084628727[126] = 0; - out_5703387388084628727[127] = 0; - out_5703387388084628727[128] = 0; - out_5703387388084628727[129] = 0; - out_5703387388084628727[130] = 0; - out_5703387388084628727[131] = 0; - out_5703387388084628727[132] = 0; - out_5703387388084628727[133] = 1; - out_5703387388084628727[134] = 0; - out_5703387388084628727[135] = 0; - out_5703387388084628727[136] = 0; - out_5703387388084628727[137] = 0; - out_5703387388084628727[138] = 0; - out_5703387388084628727[139] = 0; - out_5703387388084628727[140] = 0; - out_5703387388084628727[141] = 0; - out_5703387388084628727[142] = 0; - out_5703387388084628727[143] = 0; - out_5703387388084628727[144] = 0; - out_5703387388084628727[145] = 0; - out_5703387388084628727[146] = 0; - out_5703387388084628727[147] = 0; - out_5703387388084628727[148] = 0; - out_5703387388084628727[149] = 0; - out_5703387388084628727[150] = 0; - out_5703387388084628727[151] = 0; - out_5703387388084628727[152] = 1; - out_5703387388084628727[153] = 0; - out_5703387388084628727[154] = 0; - out_5703387388084628727[155] = 0; - out_5703387388084628727[156] = 0; - out_5703387388084628727[157] = 0; - out_5703387388084628727[158] = 0; - out_5703387388084628727[159] = 0; - out_5703387388084628727[160] = 0; - out_5703387388084628727[161] = 0; - out_5703387388084628727[162] = 0; - out_5703387388084628727[163] = 0; - out_5703387388084628727[164] = 0; - out_5703387388084628727[165] = 0; - out_5703387388084628727[166] = 0; - out_5703387388084628727[167] = 0; - out_5703387388084628727[168] = 0; - out_5703387388084628727[169] = 0; - out_5703387388084628727[170] = 0; - out_5703387388084628727[171] = 1; - out_5703387388084628727[172] = 0; - out_5703387388084628727[173] = 0; - out_5703387388084628727[174] = 0; - out_5703387388084628727[175] = 0; - out_5703387388084628727[176] = 0; - out_5703387388084628727[177] = 0; - out_5703387388084628727[178] = 0; - out_5703387388084628727[179] = 0; - out_5703387388084628727[180] = 0; - out_5703387388084628727[181] = 0; - out_5703387388084628727[182] = 0; - out_5703387388084628727[183] = 0; - out_5703387388084628727[184] = 0; - out_5703387388084628727[185] = 0; - out_5703387388084628727[186] = 0; - out_5703387388084628727[187] = 0; - out_5703387388084628727[188] = 0; - out_5703387388084628727[189] = 0; - out_5703387388084628727[190] = 1; - out_5703387388084628727[191] = 0; - out_5703387388084628727[192] = 0; - out_5703387388084628727[193] = 0; - out_5703387388084628727[194] = 0; - out_5703387388084628727[195] = 0; - out_5703387388084628727[196] = 0; - out_5703387388084628727[197] = 0; - out_5703387388084628727[198] = 0; - out_5703387388084628727[199] = 0; - out_5703387388084628727[200] = 0; - out_5703387388084628727[201] = 0; - out_5703387388084628727[202] = 0; - out_5703387388084628727[203] = 0; - out_5703387388084628727[204] = 0; - out_5703387388084628727[205] = 0; - out_5703387388084628727[206] = 0; - out_5703387388084628727[207] = 0; - out_5703387388084628727[208] = 0; - out_5703387388084628727[209] = 1; - out_5703387388084628727[210] = 0; - out_5703387388084628727[211] = 0; - out_5703387388084628727[212] = 0; - out_5703387388084628727[213] = 0; - out_5703387388084628727[214] = 0; - out_5703387388084628727[215] = 0; - out_5703387388084628727[216] = 0; - out_5703387388084628727[217] = 0; - out_5703387388084628727[218] = 0; - out_5703387388084628727[219] = 0; - out_5703387388084628727[220] = 0; - out_5703387388084628727[221] = 0; - out_5703387388084628727[222] = 0; - out_5703387388084628727[223] = 0; - out_5703387388084628727[224] = 0; - out_5703387388084628727[225] = 0; - out_5703387388084628727[226] = 0; - out_5703387388084628727[227] = 0; - out_5703387388084628727[228] = 1; - out_5703387388084628727[229] = 0; - out_5703387388084628727[230] = 0; - out_5703387388084628727[231] = 0; - out_5703387388084628727[232] = 0; - out_5703387388084628727[233] = 0; - out_5703387388084628727[234] = 0; - out_5703387388084628727[235] = 0; - out_5703387388084628727[236] = 0; - out_5703387388084628727[237] = 0; - out_5703387388084628727[238] = 0; - out_5703387388084628727[239] = 0; - out_5703387388084628727[240] = 0; - out_5703387388084628727[241] = 0; - out_5703387388084628727[242] = 0; - out_5703387388084628727[243] = 0; - out_5703387388084628727[244] = 0; - out_5703387388084628727[245] = 0; - out_5703387388084628727[246] = 0; - out_5703387388084628727[247] = 1; - out_5703387388084628727[248] = 0; - out_5703387388084628727[249] = 0; - out_5703387388084628727[250] = 0; - out_5703387388084628727[251] = 0; - out_5703387388084628727[252] = 0; - out_5703387388084628727[253] = 0; - out_5703387388084628727[254] = 0; - out_5703387388084628727[255] = 0; - out_5703387388084628727[256] = 0; - out_5703387388084628727[257] = 0; - out_5703387388084628727[258] = 0; - out_5703387388084628727[259] = 0; - out_5703387388084628727[260] = 0; - out_5703387388084628727[261] = 0; - out_5703387388084628727[262] = 0; - out_5703387388084628727[263] = 0; - out_5703387388084628727[264] = 0; - out_5703387388084628727[265] = 0; - out_5703387388084628727[266] = 1; - out_5703387388084628727[267] = 0; - out_5703387388084628727[268] = 0; - out_5703387388084628727[269] = 0; - out_5703387388084628727[270] = 0; - out_5703387388084628727[271] = 0; - out_5703387388084628727[272] = 0; - out_5703387388084628727[273] = 0; - out_5703387388084628727[274] = 0; - out_5703387388084628727[275] = 0; - out_5703387388084628727[276] = 0; - out_5703387388084628727[277] = 0; - out_5703387388084628727[278] = 0; - out_5703387388084628727[279] = 0; - out_5703387388084628727[280] = 0; - out_5703387388084628727[281] = 0; - out_5703387388084628727[282] = 0; - out_5703387388084628727[283] = 0; - out_5703387388084628727[284] = 0; - out_5703387388084628727[285] = 1; - out_5703387388084628727[286] = 0; - out_5703387388084628727[287] = 0; - out_5703387388084628727[288] = 0; - out_5703387388084628727[289] = 0; - out_5703387388084628727[290] = 0; - out_5703387388084628727[291] = 0; - out_5703387388084628727[292] = 0; - out_5703387388084628727[293] = 0; - out_5703387388084628727[294] = 0; - out_5703387388084628727[295] = 0; - out_5703387388084628727[296] = 0; - out_5703387388084628727[297] = 0; - out_5703387388084628727[298] = 0; - out_5703387388084628727[299] = 0; - out_5703387388084628727[300] = 0; - out_5703387388084628727[301] = 0; - out_5703387388084628727[302] = 0; - out_5703387388084628727[303] = 0; - out_5703387388084628727[304] = 1; - out_5703387388084628727[305] = 0; - out_5703387388084628727[306] = 0; - out_5703387388084628727[307] = 0; - out_5703387388084628727[308] = 0; - out_5703387388084628727[309] = 0; - out_5703387388084628727[310] = 0; - out_5703387388084628727[311] = 0; - out_5703387388084628727[312] = 0; - out_5703387388084628727[313] = 0; - out_5703387388084628727[314] = 0; - out_5703387388084628727[315] = 0; - out_5703387388084628727[316] = 0; - out_5703387388084628727[317] = 0; - out_5703387388084628727[318] = 0; - out_5703387388084628727[319] = 0; - out_5703387388084628727[320] = 0; - out_5703387388084628727[321] = 0; - out_5703387388084628727[322] = 0; - out_5703387388084628727[323] = 1; +void F_fun(double *state, double dt, double *out_6716874081947285130) { + out_6716874081947285130[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_6716874081947285130[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_6716874081947285130[2] = 0; + out_6716874081947285130[3] = 0; + out_6716874081947285130[4] = 0; + out_6716874081947285130[5] = 0; + out_6716874081947285130[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_6716874081947285130[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_6716874081947285130[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_6716874081947285130[9] = 0; + out_6716874081947285130[10] = 0; + out_6716874081947285130[11] = 0; + out_6716874081947285130[12] = 0; + out_6716874081947285130[13] = 0; + out_6716874081947285130[14] = 0; + out_6716874081947285130[15] = 0; + out_6716874081947285130[16] = 0; + out_6716874081947285130[17] = 0; + out_6716874081947285130[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_6716874081947285130[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_6716874081947285130[20] = 0; + out_6716874081947285130[21] = 0; + out_6716874081947285130[22] = 0; + out_6716874081947285130[23] = 0; + out_6716874081947285130[24] = 0; + out_6716874081947285130[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_6716874081947285130[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_6716874081947285130[27] = 0; + out_6716874081947285130[28] = 0; + out_6716874081947285130[29] = 0; + out_6716874081947285130[30] = 0; + out_6716874081947285130[31] = 0; + out_6716874081947285130[32] = 0; + out_6716874081947285130[33] = 0; + out_6716874081947285130[34] = 0; + out_6716874081947285130[35] = 0; + out_6716874081947285130[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_6716874081947285130[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_6716874081947285130[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_6716874081947285130[39] = 0; + out_6716874081947285130[40] = 0; + out_6716874081947285130[41] = 0; + out_6716874081947285130[42] = 0; + out_6716874081947285130[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_6716874081947285130[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_6716874081947285130[45] = 0; + out_6716874081947285130[46] = 0; + out_6716874081947285130[47] = 0; + out_6716874081947285130[48] = 0; + out_6716874081947285130[49] = 0; + out_6716874081947285130[50] = 0; + out_6716874081947285130[51] = 0; + out_6716874081947285130[52] = 0; + out_6716874081947285130[53] = 0; + out_6716874081947285130[54] = 0; + out_6716874081947285130[55] = 0; + out_6716874081947285130[56] = 0; + out_6716874081947285130[57] = 1; + out_6716874081947285130[58] = 0; + out_6716874081947285130[59] = 0; + out_6716874081947285130[60] = 0; + out_6716874081947285130[61] = 0; + out_6716874081947285130[62] = 0; + out_6716874081947285130[63] = 0; + out_6716874081947285130[64] = 0; + out_6716874081947285130[65] = 0; + out_6716874081947285130[66] = dt; + out_6716874081947285130[67] = 0; + out_6716874081947285130[68] = 0; + out_6716874081947285130[69] = 0; + out_6716874081947285130[70] = 0; + out_6716874081947285130[71] = 0; + out_6716874081947285130[72] = 0; + out_6716874081947285130[73] = 0; + out_6716874081947285130[74] = 0; + out_6716874081947285130[75] = 0; + out_6716874081947285130[76] = 1; + out_6716874081947285130[77] = 0; + out_6716874081947285130[78] = 0; + out_6716874081947285130[79] = 0; + out_6716874081947285130[80] = 0; + out_6716874081947285130[81] = 0; + out_6716874081947285130[82] = 0; + out_6716874081947285130[83] = 0; + out_6716874081947285130[84] = 0; + out_6716874081947285130[85] = dt; + out_6716874081947285130[86] = 0; + out_6716874081947285130[87] = 0; + out_6716874081947285130[88] = 0; + out_6716874081947285130[89] = 0; + out_6716874081947285130[90] = 0; + out_6716874081947285130[91] = 0; + out_6716874081947285130[92] = 0; + out_6716874081947285130[93] = 0; + out_6716874081947285130[94] = 0; + out_6716874081947285130[95] = 1; + out_6716874081947285130[96] = 0; + out_6716874081947285130[97] = 0; + out_6716874081947285130[98] = 0; + out_6716874081947285130[99] = 0; + out_6716874081947285130[100] = 0; + out_6716874081947285130[101] = 0; + out_6716874081947285130[102] = 0; + out_6716874081947285130[103] = 0; + out_6716874081947285130[104] = dt; + out_6716874081947285130[105] = 0; + out_6716874081947285130[106] = 0; + out_6716874081947285130[107] = 0; + out_6716874081947285130[108] = 0; + out_6716874081947285130[109] = 0; + out_6716874081947285130[110] = 0; + out_6716874081947285130[111] = 0; + out_6716874081947285130[112] = 0; + out_6716874081947285130[113] = 0; + out_6716874081947285130[114] = 1; + out_6716874081947285130[115] = 0; + out_6716874081947285130[116] = 0; + out_6716874081947285130[117] = 0; + out_6716874081947285130[118] = 0; + out_6716874081947285130[119] = 0; + out_6716874081947285130[120] = 0; + out_6716874081947285130[121] = 0; + out_6716874081947285130[122] = 0; + out_6716874081947285130[123] = 0; + out_6716874081947285130[124] = 0; + out_6716874081947285130[125] = 0; + out_6716874081947285130[126] = 0; + out_6716874081947285130[127] = 0; + out_6716874081947285130[128] = 0; + out_6716874081947285130[129] = 0; + out_6716874081947285130[130] = 0; + out_6716874081947285130[131] = 0; + out_6716874081947285130[132] = 0; + out_6716874081947285130[133] = 1; + out_6716874081947285130[134] = 0; + out_6716874081947285130[135] = 0; + out_6716874081947285130[136] = 0; + out_6716874081947285130[137] = 0; + out_6716874081947285130[138] = 0; + out_6716874081947285130[139] = 0; + out_6716874081947285130[140] = 0; + out_6716874081947285130[141] = 0; + out_6716874081947285130[142] = 0; + out_6716874081947285130[143] = 0; + out_6716874081947285130[144] = 0; + out_6716874081947285130[145] = 0; + out_6716874081947285130[146] = 0; + out_6716874081947285130[147] = 0; + out_6716874081947285130[148] = 0; + out_6716874081947285130[149] = 0; + out_6716874081947285130[150] = 0; + out_6716874081947285130[151] = 0; + out_6716874081947285130[152] = 1; + out_6716874081947285130[153] = 0; + out_6716874081947285130[154] = 0; + out_6716874081947285130[155] = 0; + out_6716874081947285130[156] = 0; + out_6716874081947285130[157] = 0; + out_6716874081947285130[158] = 0; + out_6716874081947285130[159] = 0; + out_6716874081947285130[160] = 0; + out_6716874081947285130[161] = 0; + out_6716874081947285130[162] = 0; + out_6716874081947285130[163] = 0; + out_6716874081947285130[164] = 0; + out_6716874081947285130[165] = 0; + out_6716874081947285130[166] = 0; + out_6716874081947285130[167] = 0; + out_6716874081947285130[168] = 0; + out_6716874081947285130[169] = 0; + out_6716874081947285130[170] = 0; + out_6716874081947285130[171] = 1; + out_6716874081947285130[172] = 0; + out_6716874081947285130[173] = 0; + out_6716874081947285130[174] = 0; + out_6716874081947285130[175] = 0; + out_6716874081947285130[176] = 0; + out_6716874081947285130[177] = 0; + out_6716874081947285130[178] = 0; + out_6716874081947285130[179] = 0; + out_6716874081947285130[180] = 0; + out_6716874081947285130[181] = 0; + out_6716874081947285130[182] = 0; + out_6716874081947285130[183] = 0; + out_6716874081947285130[184] = 0; + out_6716874081947285130[185] = 0; + out_6716874081947285130[186] = 0; + out_6716874081947285130[187] = 0; + out_6716874081947285130[188] = 0; + out_6716874081947285130[189] = 0; + out_6716874081947285130[190] = 1; + out_6716874081947285130[191] = 0; + out_6716874081947285130[192] = 0; + out_6716874081947285130[193] = 0; + out_6716874081947285130[194] = 0; + out_6716874081947285130[195] = 0; + out_6716874081947285130[196] = 0; + out_6716874081947285130[197] = 0; + out_6716874081947285130[198] = 0; + out_6716874081947285130[199] = 0; + out_6716874081947285130[200] = 0; + out_6716874081947285130[201] = 0; + out_6716874081947285130[202] = 0; + out_6716874081947285130[203] = 0; + out_6716874081947285130[204] = 0; + out_6716874081947285130[205] = 0; + out_6716874081947285130[206] = 0; + out_6716874081947285130[207] = 0; + out_6716874081947285130[208] = 0; + out_6716874081947285130[209] = 1; + out_6716874081947285130[210] = 0; + out_6716874081947285130[211] = 0; + out_6716874081947285130[212] = 0; + out_6716874081947285130[213] = 0; + out_6716874081947285130[214] = 0; + out_6716874081947285130[215] = 0; + out_6716874081947285130[216] = 0; + out_6716874081947285130[217] = 0; + out_6716874081947285130[218] = 0; + out_6716874081947285130[219] = 0; + out_6716874081947285130[220] = 0; + out_6716874081947285130[221] = 0; + out_6716874081947285130[222] = 0; + out_6716874081947285130[223] = 0; + out_6716874081947285130[224] = 0; + out_6716874081947285130[225] = 0; + out_6716874081947285130[226] = 0; + out_6716874081947285130[227] = 0; + out_6716874081947285130[228] = 1; + out_6716874081947285130[229] = 0; + out_6716874081947285130[230] = 0; + out_6716874081947285130[231] = 0; + out_6716874081947285130[232] = 0; + out_6716874081947285130[233] = 0; + out_6716874081947285130[234] = 0; + out_6716874081947285130[235] = 0; + out_6716874081947285130[236] = 0; + out_6716874081947285130[237] = 0; + out_6716874081947285130[238] = 0; + out_6716874081947285130[239] = 0; + out_6716874081947285130[240] = 0; + out_6716874081947285130[241] = 0; + out_6716874081947285130[242] = 0; + out_6716874081947285130[243] = 0; + out_6716874081947285130[244] = 0; + out_6716874081947285130[245] = 0; + out_6716874081947285130[246] = 0; + out_6716874081947285130[247] = 1; + out_6716874081947285130[248] = 0; + out_6716874081947285130[249] = 0; + out_6716874081947285130[250] = 0; + out_6716874081947285130[251] = 0; + out_6716874081947285130[252] = 0; + out_6716874081947285130[253] = 0; + out_6716874081947285130[254] = 0; + out_6716874081947285130[255] = 0; + out_6716874081947285130[256] = 0; + out_6716874081947285130[257] = 0; + out_6716874081947285130[258] = 0; + out_6716874081947285130[259] = 0; + out_6716874081947285130[260] = 0; + out_6716874081947285130[261] = 0; + out_6716874081947285130[262] = 0; + out_6716874081947285130[263] = 0; + out_6716874081947285130[264] = 0; + out_6716874081947285130[265] = 0; + out_6716874081947285130[266] = 1; + out_6716874081947285130[267] = 0; + out_6716874081947285130[268] = 0; + out_6716874081947285130[269] = 0; + out_6716874081947285130[270] = 0; + out_6716874081947285130[271] = 0; + out_6716874081947285130[272] = 0; + out_6716874081947285130[273] = 0; + out_6716874081947285130[274] = 0; + out_6716874081947285130[275] = 0; + out_6716874081947285130[276] = 0; + out_6716874081947285130[277] = 0; + out_6716874081947285130[278] = 0; + out_6716874081947285130[279] = 0; + out_6716874081947285130[280] = 0; + out_6716874081947285130[281] = 0; + out_6716874081947285130[282] = 0; + out_6716874081947285130[283] = 0; + out_6716874081947285130[284] = 0; + out_6716874081947285130[285] = 1; + out_6716874081947285130[286] = 0; + out_6716874081947285130[287] = 0; + out_6716874081947285130[288] = 0; + out_6716874081947285130[289] = 0; + out_6716874081947285130[290] = 0; + out_6716874081947285130[291] = 0; + out_6716874081947285130[292] = 0; + out_6716874081947285130[293] = 0; + out_6716874081947285130[294] = 0; + out_6716874081947285130[295] = 0; + out_6716874081947285130[296] = 0; + out_6716874081947285130[297] = 0; + out_6716874081947285130[298] = 0; + out_6716874081947285130[299] = 0; + out_6716874081947285130[300] = 0; + out_6716874081947285130[301] = 0; + out_6716874081947285130[302] = 0; + out_6716874081947285130[303] = 0; + out_6716874081947285130[304] = 1; + out_6716874081947285130[305] = 0; + out_6716874081947285130[306] = 0; + out_6716874081947285130[307] = 0; + out_6716874081947285130[308] = 0; + out_6716874081947285130[309] = 0; + out_6716874081947285130[310] = 0; + out_6716874081947285130[311] = 0; + out_6716874081947285130[312] = 0; + out_6716874081947285130[313] = 0; + out_6716874081947285130[314] = 0; + out_6716874081947285130[315] = 0; + out_6716874081947285130[316] = 0; + out_6716874081947285130[317] = 0; + out_6716874081947285130[318] = 0; + out_6716874081947285130[319] = 0; + out_6716874081947285130[320] = 0; + out_6716874081947285130[321] = 0; + out_6716874081947285130[322] = 0; + out_6716874081947285130[323] = 1; } -void h_4(double *state, double *unused, double *out_2600666041609585625) { - out_2600666041609585625[0] = state[6] + state[9]; - out_2600666041609585625[1] = state[7] + state[10]; - out_2600666041609585625[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6172444408937598103) { + out_6172444408937598103[0] = state[6] + state[9]; + out_6172444408937598103[1] = state[7] + state[10]; + out_6172444408937598103[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_2406470826876803482) { - out_2406470826876803482[0] = 0; - out_2406470826876803482[1] = 0; - out_2406470826876803482[2] = 0; - out_2406470826876803482[3] = 0; - out_2406470826876803482[4] = 0; - out_2406470826876803482[5] = 0; - out_2406470826876803482[6] = 1; - out_2406470826876803482[7] = 0; - out_2406470826876803482[8] = 0; - out_2406470826876803482[9] = 1; - out_2406470826876803482[10] = 0; - out_2406470826876803482[11] = 0; - out_2406470826876803482[12] = 0; - out_2406470826876803482[13] = 0; - out_2406470826876803482[14] = 0; - out_2406470826876803482[15] = 0; - out_2406470826876803482[16] = 0; - out_2406470826876803482[17] = 0; - out_2406470826876803482[18] = 0; - out_2406470826876803482[19] = 0; - out_2406470826876803482[20] = 0; - out_2406470826876803482[21] = 0; - out_2406470826876803482[22] = 0; - out_2406470826876803482[23] = 0; - out_2406470826876803482[24] = 0; - out_2406470826876803482[25] = 1; - out_2406470826876803482[26] = 0; - out_2406470826876803482[27] = 0; - out_2406470826876803482[28] = 1; - out_2406470826876803482[29] = 0; - out_2406470826876803482[30] = 0; - out_2406470826876803482[31] = 0; - out_2406470826876803482[32] = 0; - out_2406470826876803482[33] = 0; - out_2406470826876803482[34] = 0; - out_2406470826876803482[35] = 0; - out_2406470826876803482[36] = 0; - out_2406470826876803482[37] = 0; - out_2406470826876803482[38] = 0; - out_2406470826876803482[39] = 0; - out_2406470826876803482[40] = 0; - out_2406470826876803482[41] = 0; - out_2406470826876803482[42] = 0; - out_2406470826876803482[43] = 0; - out_2406470826876803482[44] = 1; - out_2406470826876803482[45] = 0; - out_2406470826876803482[46] = 0; - out_2406470826876803482[47] = 1; - out_2406470826876803482[48] = 0; - out_2406470826876803482[49] = 0; - out_2406470826876803482[50] = 0; - out_2406470826876803482[51] = 0; - out_2406470826876803482[52] = 0; - out_2406470826876803482[53] = 0; +void H_4(double *state, double *unused, double *out_5296575886336270293) { + out_5296575886336270293[0] = 0; + out_5296575886336270293[1] = 0; + out_5296575886336270293[2] = 0; + out_5296575886336270293[3] = 0; + out_5296575886336270293[4] = 0; + out_5296575886336270293[5] = 0; + out_5296575886336270293[6] = 1; + out_5296575886336270293[7] = 0; + out_5296575886336270293[8] = 0; + out_5296575886336270293[9] = 1; + out_5296575886336270293[10] = 0; + out_5296575886336270293[11] = 0; + out_5296575886336270293[12] = 0; + out_5296575886336270293[13] = 0; + out_5296575886336270293[14] = 0; + out_5296575886336270293[15] = 0; + out_5296575886336270293[16] = 0; + out_5296575886336270293[17] = 0; + out_5296575886336270293[18] = 0; + out_5296575886336270293[19] = 0; + out_5296575886336270293[20] = 0; + out_5296575886336270293[21] = 0; + out_5296575886336270293[22] = 0; + out_5296575886336270293[23] = 0; + out_5296575886336270293[24] = 0; + out_5296575886336270293[25] = 1; + out_5296575886336270293[26] = 0; + out_5296575886336270293[27] = 0; + out_5296575886336270293[28] = 1; + out_5296575886336270293[29] = 0; + out_5296575886336270293[30] = 0; + out_5296575886336270293[31] = 0; + out_5296575886336270293[32] = 0; + out_5296575886336270293[33] = 0; + out_5296575886336270293[34] = 0; + out_5296575886336270293[35] = 0; + out_5296575886336270293[36] = 0; + out_5296575886336270293[37] = 0; + out_5296575886336270293[38] = 0; + out_5296575886336270293[39] = 0; + out_5296575886336270293[40] = 0; + out_5296575886336270293[41] = 0; + out_5296575886336270293[42] = 0; + out_5296575886336270293[43] = 0; + out_5296575886336270293[44] = 1; + out_5296575886336270293[45] = 0; + out_5296575886336270293[46] = 0; + out_5296575886336270293[47] = 1; + out_5296575886336270293[48] = 0; + out_5296575886336270293[49] = 0; + out_5296575886336270293[50] = 0; + out_5296575886336270293[51] = 0; + out_5296575886336270293[52] = 0; + out_5296575886336270293[53] = 0; } -void h_10(double *state, double *unused, double *out_2042730394265084466) { - out_2042730394265084466[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_2042730394265084466[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_2042730394265084466[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_2819440341260442129) { + out_2819440341260442129[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2819440341260442129[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2819440341260442129[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_6010400890176312817) { - out_6010400890176312817[0] = 0; - out_6010400890176312817[1] = 9.8100000000000005*cos(state[1]); - out_6010400890176312817[2] = 0; - out_6010400890176312817[3] = 0; - out_6010400890176312817[4] = -state[8]; - out_6010400890176312817[5] = state[7]; - out_6010400890176312817[6] = 0; - out_6010400890176312817[7] = state[5]; - out_6010400890176312817[8] = -state[4]; - out_6010400890176312817[9] = 0; - out_6010400890176312817[10] = 0; - out_6010400890176312817[11] = 0; - out_6010400890176312817[12] = 1; - out_6010400890176312817[13] = 0; - out_6010400890176312817[14] = 0; - out_6010400890176312817[15] = 1; - out_6010400890176312817[16] = 0; - out_6010400890176312817[17] = 0; - out_6010400890176312817[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6010400890176312817[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6010400890176312817[20] = 0; - out_6010400890176312817[21] = state[8]; - out_6010400890176312817[22] = 0; - out_6010400890176312817[23] = -state[6]; - out_6010400890176312817[24] = -state[5]; - out_6010400890176312817[25] = 0; - out_6010400890176312817[26] = state[3]; - out_6010400890176312817[27] = 0; - out_6010400890176312817[28] = 0; - out_6010400890176312817[29] = 0; - out_6010400890176312817[30] = 0; - out_6010400890176312817[31] = 1; - out_6010400890176312817[32] = 0; - out_6010400890176312817[33] = 0; - out_6010400890176312817[34] = 1; - out_6010400890176312817[35] = 0; - out_6010400890176312817[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6010400890176312817[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6010400890176312817[38] = 0; - out_6010400890176312817[39] = -state[7]; - out_6010400890176312817[40] = state[6]; - out_6010400890176312817[41] = 0; - out_6010400890176312817[42] = state[4]; - out_6010400890176312817[43] = -state[3]; - out_6010400890176312817[44] = 0; - out_6010400890176312817[45] = 0; - out_6010400890176312817[46] = 0; - out_6010400890176312817[47] = 0; - out_6010400890176312817[48] = 0; - out_6010400890176312817[49] = 0; - out_6010400890176312817[50] = 1; - out_6010400890176312817[51] = 0; - out_6010400890176312817[52] = 0; - out_6010400890176312817[53] = 1; +void H_10(double *state, double *unused, double *out_5042249891606824417) { + out_5042249891606824417[0] = 0; + out_5042249891606824417[1] = 9.8100000000000005*cos(state[1]); + out_5042249891606824417[2] = 0; + out_5042249891606824417[3] = 0; + out_5042249891606824417[4] = -state[8]; + out_5042249891606824417[5] = state[7]; + out_5042249891606824417[6] = 0; + out_5042249891606824417[7] = state[5]; + out_5042249891606824417[8] = -state[4]; + out_5042249891606824417[9] = 0; + out_5042249891606824417[10] = 0; + out_5042249891606824417[11] = 0; + out_5042249891606824417[12] = 1; + out_5042249891606824417[13] = 0; + out_5042249891606824417[14] = 0; + out_5042249891606824417[15] = 1; + out_5042249891606824417[16] = 0; + out_5042249891606824417[17] = 0; + out_5042249891606824417[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5042249891606824417[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5042249891606824417[20] = 0; + out_5042249891606824417[21] = state[8]; + out_5042249891606824417[22] = 0; + out_5042249891606824417[23] = -state[6]; + out_5042249891606824417[24] = -state[5]; + out_5042249891606824417[25] = 0; + out_5042249891606824417[26] = state[3]; + out_5042249891606824417[27] = 0; + out_5042249891606824417[28] = 0; + out_5042249891606824417[29] = 0; + out_5042249891606824417[30] = 0; + out_5042249891606824417[31] = 1; + out_5042249891606824417[32] = 0; + out_5042249891606824417[33] = 0; + out_5042249891606824417[34] = 1; + out_5042249891606824417[35] = 0; + out_5042249891606824417[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5042249891606824417[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5042249891606824417[38] = 0; + out_5042249891606824417[39] = -state[7]; + out_5042249891606824417[40] = state[6]; + out_5042249891606824417[41] = 0; + out_5042249891606824417[42] = state[4]; + out_5042249891606824417[43] = -state[3]; + out_5042249891606824417[44] = 0; + out_5042249891606824417[45] = 0; + out_5042249891606824417[46] = 0; + out_5042249891606824417[47] = 0; + out_5042249891606824417[48] = 0; + out_5042249891606824417[49] = 0; + out_5042249891606824417[50] = 1; + out_5042249891606824417[51] = 0; + out_5042249891606824417[52] = 0; + out_5042249891606824417[53] = 1; } -void h_13(double *state, double *unused, double *out_3259369495818676553) { - out_3259369495818676553[0] = state[3]; - out_3259369495818676553[1] = state[4]; - out_3259369495818676553[2] = state[5]; +void h_13(double *state, double *unused, double *out_3164753833559588683) { + out_3164753833559588683[0] = state[3]; + out_3164753833559588683[1] = state[4]; + out_3164753833559588683[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5618744652209136283) { - out_5618744652209136283[0] = 0; - out_5618744652209136283[1] = 0; - out_5618744652209136283[2] = 0; - out_5618744652209136283[3] = 1; - out_5618744652209136283[4] = 0; - out_5618744652209136283[5] = 0; - out_5618744652209136283[6] = 0; - out_5618744652209136283[7] = 0; - out_5618744652209136283[8] = 0; - out_5618744652209136283[9] = 0; - out_5618744652209136283[10] = 0; - out_5618744652209136283[11] = 0; - out_5618744652209136283[12] = 0; - out_5618744652209136283[13] = 0; - out_5618744652209136283[14] = 0; - out_5618744652209136283[15] = 0; - out_5618744652209136283[16] = 0; - out_5618744652209136283[17] = 0; - out_5618744652209136283[18] = 0; - out_5618744652209136283[19] = 0; - out_5618744652209136283[20] = 0; - out_5618744652209136283[21] = 0; - out_5618744652209136283[22] = 1; - out_5618744652209136283[23] = 0; - out_5618744652209136283[24] = 0; - out_5618744652209136283[25] = 0; - out_5618744652209136283[26] = 0; - out_5618744652209136283[27] = 0; - out_5618744652209136283[28] = 0; - out_5618744652209136283[29] = 0; - out_5618744652209136283[30] = 0; - out_5618744652209136283[31] = 0; - out_5618744652209136283[32] = 0; - out_5618744652209136283[33] = 0; - out_5618744652209136283[34] = 0; - out_5618744652209136283[35] = 0; - out_5618744652209136283[36] = 0; - out_5618744652209136283[37] = 0; - out_5618744652209136283[38] = 0; - out_5618744652209136283[39] = 0; - out_5618744652209136283[40] = 0; - out_5618744652209136283[41] = 1; - out_5618744652209136283[42] = 0; - out_5618744652209136283[43] = 0; - out_5618744652209136283[44] = 0; - out_5618744652209136283[45] = 0; - out_5618744652209136283[46] = 0; - out_5618744652209136283[47] = 0; - out_5618744652209136283[48] = 0; - out_5618744652209136283[49] = 0; - out_5618744652209136283[50] = 0; - out_5618744652209136283[51] = 0; - out_5618744652209136283[52] = 0; - out_5618744652209136283[53] = 0; +void H_13(double *state, double *unused, double *out_8508849711668603094) { + out_8508849711668603094[0] = 0; + out_8508849711668603094[1] = 0; + out_8508849711668603094[2] = 0; + out_8508849711668603094[3] = 1; + out_8508849711668603094[4] = 0; + out_8508849711668603094[5] = 0; + out_8508849711668603094[6] = 0; + out_8508849711668603094[7] = 0; + out_8508849711668603094[8] = 0; + out_8508849711668603094[9] = 0; + out_8508849711668603094[10] = 0; + out_8508849711668603094[11] = 0; + out_8508849711668603094[12] = 0; + out_8508849711668603094[13] = 0; + out_8508849711668603094[14] = 0; + out_8508849711668603094[15] = 0; + out_8508849711668603094[16] = 0; + out_8508849711668603094[17] = 0; + out_8508849711668603094[18] = 0; + out_8508849711668603094[19] = 0; + out_8508849711668603094[20] = 0; + out_8508849711668603094[21] = 0; + out_8508849711668603094[22] = 1; + out_8508849711668603094[23] = 0; + out_8508849711668603094[24] = 0; + out_8508849711668603094[25] = 0; + out_8508849711668603094[26] = 0; + out_8508849711668603094[27] = 0; + out_8508849711668603094[28] = 0; + out_8508849711668603094[29] = 0; + out_8508849711668603094[30] = 0; + out_8508849711668603094[31] = 0; + out_8508849711668603094[32] = 0; + out_8508849711668603094[33] = 0; + out_8508849711668603094[34] = 0; + out_8508849711668603094[35] = 0; + out_8508849711668603094[36] = 0; + out_8508849711668603094[37] = 0; + out_8508849711668603094[38] = 0; + out_8508849711668603094[39] = 0; + out_8508849711668603094[40] = 0; + out_8508849711668603094[41] = 1; + out_8508849711668603094[42] = 0; + out_8508849711668603094[43] = 0; + out_8508849711668603094[44] = 0; + out_8508849711668603094[45] = 0; + out_8508849711668603094[46] = 0; + out_8508849711668603094[47] = 0; + out_8508849711668603094[48] = 0; + out_8508849711668603094[49] = 0; + out_8508849711668603094[50] = 0; + out_8508849711668603094[51] = 0; + out_8508849711668603094[52] = 0; + out_8508849711668603094[53] = 0; } -void h_14(double *state, double *unused, double *out_1539412177960834763) { - out_1539412177960834763[0] = state[6]; - out_1539412177960834763[1] = state[7]; - out_1539412177960834763[2] = state[8]; +void h_14(double *state, double *unused, double *out_3107433859522874355) { + out_3107433859522874355[0] = state[6]; + out_3107433859522874355[1] = state[7]; + out_3107433859522874355[2] = state[8]; } -void H_14(double *state, double *unused, double *out_676317605418568814) { - out_676317605418568814[0] = 0; - out_676317605418568814[1] = 0; - out_676317605418568814[2] = 0; - out_676317605418568814[3] = 0; - out_676317605418568814[4] = 0; - out_676317605418568814[5] = 0; - out_676317605418568814[6] = 1; - out_676317605418568814[7] = 0; - out_676317605418568814[8] = 0; - out_676317605418568814[9] = 0; - out_676317605418568814[10] = 0; - out_676317605418568814[11] = 0; - out_676317605418568814[12] = 0; - out_676317605418568814[13] = 0; - out_676317605418568814[14] = 0; - out_676317605418568814[15] = 0; - out_676317605418568814[16] = 0; - out_676317605418568814[17] = 0; - out_676317605418568814[18] = 0; - out_676317605418568814[19] = 0; - out_676317605418568814[20] = 0; - out_676317605418568814[21] = 0; - out_676317605418568814[22] = 0; - out_676317605418568814[23] = 0; - out_676317605418568814[24] = 0; - out_676317605418568814[25] = 1; - out_676317605418568814[26] = 0; - out_676317605418568814[27] = 0; - out_676317605418568814[28] = 0; - out_676317605418568814[29] = 0; - out_676317605418568814[30] = 0; - out_676317605418568814[31] = 0; - out_676317605418568814[32] = 0; - out_676317605418568814[33] = 0; - out_676317605418568814[34] = 0; - out_676317605418568814[35] = 0; - out_676317605418568814[36] = 0; - out_676317605418568814[37] = 0; - out_676317605418568814[38] = 0; - out_676317605418568814[39] = 0; - out_676317605418568814[40] = 0; - out_676317605418568814[41] = 0; - out_676317605418568814[42] = 0; - out_676317605418568814[43] = 0; - out_676317605418568814[44] = 1; - out_676317605418568814[45] = 0; - out_676317605418568814[46] = 0; - out_676317605418568814[47] = 0; - out_676317605418568814[48] = 0; - out_676317605418568814[49] = 0; - out_676317605418568814[50] = 0; - out_676317605418568814[51] = 0; - out_676317605418568814[52] = 0; - out_676317605418568814[53] = 0; +void H_14(double *state, double *unused, double *out_2213787454040897997) { + out_2213787454040897997[0] = 0; + out_2213787454040897997[1] = 0; + out_2213787454040897997[2] = 0; + out_2213787454040897997[3] = 0; + out_2213787454040897997[4] = 0; + out_2213787454040897997[5] = 0; + out_2213787454040897997[6] = 1; + out_2213787454040897997[7] = 0; + out_2213787454040897997[8] = 0; + out_2213787454040897997[9] = 0; + out_2213787454040897997[10] = 0; + out_2213787454040897997[11] = 0; + out_2213787454040897997[12] = 0; + out_2213787454040897997[13] = 0; + out_2213787454040897997[14] = 0; + out_2213787454040897997[15] = 0; + out_2213787454040897997[16] = 0; + out_2213787454040897997[17] = 0; + out_2213787454040897997[18] = 0; + out_2213787454040897997[19] = 0; + out_2213787454040897997[20] = 0; + out_2213787454040897997[21] = 0; + out_2213787454040897997[22] = 0; + out_2213787454040897997[23] = 0; + out_2213787454040897997[24] = 0; + out_2213787454040897997[25] = 1; + out_2213787454040897997[26] = 0; + out_2213787454040897997[27] = 0; + out_2213787454040897997[28] = 0; + out_2213787454040897997[29] = 0; + out_2213787454040897997[30] = 0; + out_2213787454040897997[31] = 0; + out_2213787454040897997[32] = 0; + out_2213787454040897997[33] = 0; + out_2213787454040897997[34] = 0; + out_2213787454040897997[35] = 0; + out_2213787454040897997[36] = 0; + out_2213787454040897997[37] = 0; + out_2213787454040897997[38] = 0; + out_2213787454040897997[39] = 0; + out_2213787454040897997[40] = 0; + out_2213787454040897997[41] = 0; + out_2213787454040897997[42] = 0; + out_2213787454040897997[43] = 0; + out_2213787454040897997[44] = 1; + out_2213787454040897997[45] = 0; + out_2213787454040897997[46] = 0; + out_2213787454040897997[47] = 0; + out_2213787454040897997[48] = 0; + out_2213787454040897997[49] = 0; + out_2213787454040897997[50] = 0; + out_2213787454040897997[51] = 0; + out_2213787454040897997[52] = 0; + out_2213787454040897997[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_7536058918625145808) { - err_fun(nom_x, delta_x, out_7536058918625145808); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5735299356181127199) { + err_fun(nom_x, delta_x, out_5735299356181127199); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6294980525542920357) { - inv_err_fun(nom_x, true_x, out_6294980525542920357); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1848486118618361424) { + inv_err_fun(nom_x, true_x, out_1848486118618361424); } -void pose_H_mod_fun(double *state, double *out_1208523344993905378) { - H_mod_fun(state, out_1208523344993905378); +void pose_H_mod_fun(double *state, double *out_3441620345746718845) { + H_mod_fun(state, out_3441620345746718845); } -void pose_f_fun(double *state, double dt, double *out_828336908542161324) { - f_fun(state, dt, out_828336908542161324); +void pose_f_fun(double *state, double dt, double *out_5548337699276970526) { + f_fun(state, dt, out_5548337699276970526); } -void pose_F_fun(double *state, double dt, double *out_5703387388084628727) { - F_fun(state, dt, out_5703387388084628727); +void pose_F_fun(double *state, double dt, double *out_6716874081947285130) { + F_fun(state, dt, out_6716874081947285130); } -void pose_h_4(double *state, double *unused, double *out_2600666041609585625) { - h_4(state, unused, out_2600666041609585625); +void pose_h_4(double *state, double *unused, double *out_6172444408937598103) { + h_4(state, unused, out_6172444408937598103); } -void pose_H_4(double *state, double *unused, double *out_2406470826876803482) { - H_4(state, unused, out_2406470826876803482); +void pose_H_4(double *state, double *unused, double *out_5296575886336270293) { + H_4(state, unused, out_5296575886336270293); } -void pose_h_10(double *state, double *unused, double *out_2042730394265084466) { - h_10(state, unused, out_2042730394265084466); +void pose_h_10(double *state, double *unused, double *out_2819440341260442129) { + h_10(state, unused, out_2819440341260442129); } -void pose_H_10(double *state, double *unused, double *out_6010400890176312817) { - H_10(state, unused, out_6010400890176312817); +void pose_H_10(double *state, double *unused, double *out_5042249891606824417) { + H_10(state, unused, out_5042249891606824417); } -void pose_h_13(double *state, double *unused, double *out_3259369495818676553) { - h_13(state, unused, out_3259369495818676553); +void pose_h_13(double *state, double *unused, double *out_3164753833559588683) { + h_13(state, unused, out_3164753833559588683); } -void pose_H_13(double *state, double *unused, double *out_5618744652209136283) { - H_13(state, unused, out_5618744652209136283); +void pose_H_13(double *state, double *unused, double *out_8508849711668603094) { + H_13(state, unused, out_8508849711668603094); } -void pose_h_14(double *state, double *unused, double *out_1539412177960834763) { - h_14(state, unused, out_1539412177960834763); +void pose_h_14(double *state, double *unused, double *out_3107433859522874355) { + h_14(state, unused, out_3107433859522874355); } -void pose_H_14(double *state, double *unused, double *out_676317605418568814) { - H_14(state, unused, out_676317605418568814); +void pose_H_14(double *state, double *unused, double *out_2213787454040897997) { + H_14(state, unused, out_2213787454040897997); } 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 46d481b6f..bce5b65c1 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_7536058918625145808); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6294980525542920357); -void pose_H_mod_fun(double *state, double *out_1208523344993905378); -void pose_f_fun(double *state, double dt, double *out_828336908542161324); -void pose_F_fun(double *state, double dt, double *out_5703387388084628727); -void pose_h_4(double *state, double *unused, double *out_2600666041609585625); -void pose_H_4(double *state, double *unused, double *out_2406470826876803482); -void pose_h_10(double *state, double *unused, double *out_2042730394265084466); -void pose_H_10(double *state, double *unused, double *out_6010400890176312817); -void pose_h_13(double *state, double *unused, double *out_3259369495818676553); -void pose_H_13(double *state, double *unused, double *out_5618744652209136283); -void pose_h_14(double *state, double *unused, double *out_1539412177960834763); -void pose_H_14(double *state, double *unused, double *out_676317605418568814); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5735299356181127199); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1848486118618361424); +void pose_H_mod_fun(double *state, double *out_3441620345746718845); +void pose_f_fun(double *state, double dt, double *out_5548337699276970526); +void pose_F_fun(double *state, double dt, double *out_6716874081947285130); +void pose_h_4(double *state, double *unused, double *out_6172444408937598103); +void pose_H_4(double *state, double *unused, double *out_5296575886336270293); +void pose_h_10(double *state, double *unused, double *out_2819440341260442129); +void pose_H_10(double *state, double *unused, double *out_5042249891606824417); +void pose_h_13(double *state, double *unused, double *out_3164753833559588683); +void pose_H_13(double *state, double *unused, double *out_8508849711668603094); +void pose_h_14(double *state, double *unused, double *out_3107433859522874355); +void pose_H_14(double *state, double *unused, double *out_2213787454040897997); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 92f07382f..8df2d9d41 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ