diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index b1eb609f1..bf4bbc55a 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 da2f5a25a..d595b7a2a 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 0932cf9b7..acd844953 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 785d1c658..0524b01ac 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 f4207174c..cc98fba95 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index a7da27e8b..6aa764981 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 7e184d782..91bc8e727 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 7e184d782..91bc8e727 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 72de41634..9d6b987a6 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index a7da27e8b..6aa764981 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 3034036b6..d260e48ba 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-fabf1226-DEBUG"; +const uint8_t gitversion[19] = "DEV-78e9b513-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d01ff9401..9f3247dfe 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 8a2c3b790..46f517685 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 292196012..86c3f107c 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index f169de79e..115978c40 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index f158e55ba..b5a3cb0db 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index fa4345926..f8e9c67cb 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 401bfae30..407872e05 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 01dde74e6..b4ed28535 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 2d02fbe76..d8aa56a32 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 cacd11336..cae558915 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 40e6cc15c..152f4016d 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 7bd7da5b0..6debb661f 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 953dcd614..08b753a91 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index f6169837d..a96dc281d 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index afcc47bcb..5d2f5d7ea 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 287bbb1c6..72d920695 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 e3f434680..d6e347885 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 2a8239a3b..52d12da29 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 e38e3e2dc..827e4df2e 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 d5e4cfcaf..783c8f33f 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 6d1ecdb99..cc4669a58 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-fabf1226-DEBUG \ No newline at end of file +DEV-78e9b513-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 339ec0e77..a763ed276 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_4189395199092511703) { - out_4189395199092511703[0] = delta_x[0] + nom_x[0]; - out_4189395199092511703[1] = delta_x[1] + nom_x[1]; - out_4189395199092511703[2] = delta_x[2] + nom_x[2]; - out_4189395199092511703[3] = delta_x[3] + nom_x[3]; - out_4189395199092511703[4] = delta_x[4] + nom_x[4]; - out_4189395199092511703[5] = delta_x[5] + nom_x[5]; - out_4189395199092511703[6] = delta_x[6] + nom_x[6]; - out_4189395199092511703[7] = delta_x[7] + nom_x[7]; - out_4189395199092511703[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6333242559483084265) { + out_6333242559483084265[0] = delta_x[0] + nom_x[0]; + out_6333242559483084265[1] = delta_x[1] + nom_x[1]; + out_6333242559483084265[2] = delta_x[2] + nom_x[2]; + out_6333242559483084265[3] = delta_x[3] + nom_x[3]; + out_6333242559483084265[4] = delta_x[4] + nom_x[4]; + out_6333242559483084265[5] = delta_x[5] + nom_x[5]; + out_6333242559483084265[6] = delta_x[6] + nom_x[6]; + out_6333242559483084265[7] = delta_x[7] + nom_x[7]; + out_6333242559483084265[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5755129993245429730) { - out_5755129993245429730[0] = -nom_x[0] + true_x[0]; - out_5755129993245429730[1] = -nom_x[1] + true_x[1]; - out_5755129993245429730[2] = -nom_x[2] + true_x[2]; - out_5755129993245429730[3] = -nom_x[3] + true_x[3]; - out_5755129993245429730[4] = -nom_x[4] + true_x[4]; - out_5755129993245429730[5] = -nom_x[5] + true_x[5]; - out_5755129993245429730[6] = -nom_x[6] + true_x[6]; - out_5755129993245429730[7] = -nom_x[7] + true_x[7]; - out_5755129993245429730[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072) { + out_829248915283082072[0] = -nom_x[0] + true_x[0]; + out_829248915283082072[1] = -nom_x[1] + true_x[1]; + out_829248915283082072[2] = -nom_x[2] + true_x[2]; + out_829248915283082072[3] = -nom_x[3] + true_x[3]; + out_829248915283082072[4] = -nom_x[4] + true_x[4]; + out_829248915283082072[5] = -nom_x[5] + true_x[5]; + out_829248915283082072[6] = -nom_x[6] + true_x[6]; + out_829248915283082072[7] = -nom_x[7] + true_x[7]; + out_829248915283082072[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_3130611196753066809) { - out_3130611196753066809[0] = 1.0; - out_3130611196753066809[1] = 0.0; - out_3130611196753066809[2] = 0.0; - out_3130611196753066809[3] = 0.0; - out_3130611196753066809[4] = 0.0; - out_3130611196753066809[5] = 0.0; - out_3130611196753066809[6] = 0.0; - out_3130611196753066809[7] = 0.0; - out_3130611196753066809[8] = 0.0; - out_3130611196753066809[9] = 0.0; - out_3130611196753066809[10] = 1.0; - out_3130611196753066809[11] = 0.0; - out_3130611196753066809[12] = 0.0; - out_3130611196753066809[13] = 0.0; - out_3130611196753066809[14] = 0.0; - out_3130611196753066809[15] = 0.0; - out_3130611196753066809[16] = 0.0; - out_3130611196753066809[17] = 0.0; - out_3130611196753066809[18] = 0.0; - out_3130611196753066809[19] = 0.0; - out_3130611196753066809[20] = 1.0; - out_3130611196753066809[21] = 0.0; - out_3130611196753066809[22] = 0.0; - out_3130611196753066809[23] = 0.0; - out_3130611196753066809[24] = 0.0; - out_3130611196753066809[25] = 0.0; - out_3130611196753066809[26] = 0.0; - out_3130611196753066809[27] = 0.0; - out_3130611196753066809[28] = 0.0; - out_3130611196753066809[29] = 0.0; - out_3130611196753066809[30] = 1.0; - out_3130611196753066809[31] = 0.0; - out_3130611196753066809[32] = 0.0; - out_3130611196753066809[33] = 0.0; - out_3130611196753066809[34] = 0.0; - out_3130611196753066809[35] = 0.0; - out_3130611196753066809[36] = 0.0; - out_3130611196753066809[37] = 0.0; - out_3130611196753066809[38] = 0.0; - out_3130611196753066809[39] = 0.0; - out_3130611196753066809[40] = 1.0; - out_3130611196753066809[41] = 0.0; - out_3130611196753066809[42] = 0.0; - out_3130611196753066809[43] = 0.0; - out_3130611196753066809[44] = 0.0; - out_3130611196753066809[45] = 0.0; - out_3130611196753066809[46] = 0.0; - out_3130611196753066809[47] = 0.0; - out_3130611196753066809[48] = 0.0; - out_3130611196753066809[49] = 0.0; - out_3130611196753066809[50] = 1.0; - out_3130611196753066809[51] = 0.0; - out_3130611196753066809[52] = 0.0; - out_3130611196753066809[53] = 0.0; - out_3130611196753066809[54] = 0.0; - out_3130611196753066809[55] = 0.0; - out_3130611196753066809[56] = 0.0; - out_3130611196753066809[57] = 0.0; - out_3130611196753066809[58] = 0.0; - out_3130611196753066809[59] = 0.0; - out_3130611196753066809[60] = 1.0; - out_3130611196753066809[61] = 0.0; - out_3130611196753066809[62] = 0.0; - out_3130611196753066809[63] = 0.0; - out_3130611196753066809[64] = 0.0; - out_3130611196753066809[65] = 0.0; - out_3130611196753066809[66] = 0.0; - out_3130611196753066809[67] = 0.0; - out_3130611196753066809[68] = 0.0; - out_3130611196753066809[69] = 0.0; - out_3130611196753066809[70] = 1.0; - out_3130611196753066809[71] = 0.0; - out_3130611196753066809[72] = 0.0; - out_3130611196753066809[73] = 0.0; - out_3130611196753066809[74] = 0.0; - out_3130611196753066809[75] = 0.0; - out_3130611196753066809[76] = 0.0; - out_3130611196753066809[77] = 0.0; - out_3130611196753066809[78] = 0.0; - out_3130611196753066809[79] = 0.0; - out_3130611196753066809[80] = 1.0; +void H_mod_fun(double *state, double *out_8283696179185346057) { + out_8283696179185346057[0] = 1.0; + out_8283696179185346057[1] = 0.0; + out_8283696179185346057[2] = 0.0; + out_8283696179185346057[3] = 0.0; + out_8283696179185346057[4] = 0.0; + out_8283696179185346057[5] = 0.0; + out_8283696179185346057[6] = 0.0; + out_8283696179185346057[7] = 0.0; + out_8283696179185346057[8] = 0.0; + out_8283696179185346057[9] = 0.0; + out_8283696179185346057[10] = 1.0; + out_8283696179185346057[11] = 0.0; + out_8283696179185346057[12] = 0.0; + out_8283696179185346057[13] = 0.0; + out_8283696179185346057[14] = 0.0; + out_8283696179185346057[15] = 0.0; + out_8283696179185346057[16] = 0.0; + out_8283696179185346057[17] = 0.0; + out_8283696179185346057[18] = 0.0; + out_8283696179185346057[19] = 0.0; + out_8283696179185346057[20] = 1.0; + out_8283696179185346057[21] = 0.0; + out_8283696179185346057[22] = 0.0; + out_8283696179185346057[23] = 0.0; + out_8283696179185346057[24] = 0.0; + out_8283696179185346057[25] = 0.0; + out_8283696179185346057[26] = 0.0; + out_8283696179185346057[27] = 0.0; + out_8283696179185346057[28] = 0.0; + out_8283696179185346057[29] = 0.0; + out_8283696179185346057[30] = 1.0; + out_8283696179185346057[31] = 0.0; + out_8283696179185346057[32] = 0.0; + out_8283696179185346057[33] = 0.0; + out_8283696179185346057[34] = 0.0; + out_8283696179185346057[35] = 0.0; + out_8283696179185346057[36] = 0.0; + out_8283696179185346057[37] = 0.0; + out_8283696179185346057[38] = 0.0; + out_8283696179185346057[39] = 0.0; + out_8283696179185346057[40] = 1.0; + out_8283696179185346057[41] = 0.0; + out_8283696179185346057[42] = 0.0; + out_8283696179185346057[43] = 0.0; + out_8283696179185346057[44] = 0.0; + out_8283696179185346057[45] = 0.0; + out_8283696179185346057[46] = 0.0; + out_8283696179185346057[47] = 0.0; + out_8283696179185346057[48] = 0.0; + out_8283696179185346057[49] = 0.0; + out_8283696179185346057[50] = 1.0; + out_8283696179185346057[51] = 0.0; + out_8283696179185346057[52] = 0.0; + out_8283696179185346057[53] = 0.0; + out_8283696179185346057[54] = 0.0; + out_8283696179185346057[55] = 0.0; + out_8283696179185346057[56] = 0.0; + out_8283696179185346057[57] = 0.0; + out_8283696179185346057[58] = 0.0; + out_8283696179185346057[59] = 0.0; + out_8283696179185346057[60] = 1.0; + out_8283696179185346057[61] = 0.0; + out_8283696179185346057[62] = 0.0; + out_8283696179185346057[63] = 0.0; + out_8283696179185346057[64] = 0.0; + out_8283696179185346057[65] = 0.0; + out_8283696179185346057[66] = 0.0; + out_8283696179185346057[67] = 0.0; + out_8283696179185346057[68] = 0.0; + out_8283696179185346057[69] = 0.0; + out_8283696179185346057[70] = 1.0; + out_8283696179185346057[71] = 0.0; + out_8283696179185346057[72] = 0.0; + out_8283696179185346057[73] = 0.0; + out_8283696179185346057[74] = 0.0; + out_8283696179185346057[75] = 0.0; + out_8283696179185346057[76] = 0.0; + out_8283696179185346057[77] = 0.0; + out_8283696179185346057[78] = 0.0; + out_8283696179185346057[79] = 0.0; + out_8283696179185346057[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5961640813003379683) { - out_5961640813003379683[0] = state[0]; - out_5961640813003379683[1] = state[1]; - out_5961640813003379683[2] = state[2]; - out_5961640813003379683[3] = state[3]; - out_5961640813003379683[4] = state[4]; - out_5961640813003379683[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_5961640813003379683[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_5961640813003379683[7] = state[7]; - out_5961640813003379683[8] = state[8]; +void f_fun(double *state, double dt, double *out_3453347444055346076) { + out_3453347444055346076[0] = state[0]; + out_3453347444055346076[1] = state[1]; + out_3453347444055346076[2] = state[2]; + out_3453347444055346076[3] = state[3]; + out_3453347444055346076[4] = state[4]; + out_3453347444055346076[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_3453347444055346076[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_3453347444055346076[7] = state[7]; + out_3453347444055346076[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2654082016279909676) { - out_2654082016279909676[0] = 1; - out_2654082016279909676[1] = 0; - out_2654082016279909676[2] = 0; - out_2654082016279909676[3] = 0; - out_2654082016279909676[4] = 0; - out_2654082016279909676[5] = 0; - out_2654082016279909676[6] = 0; - out_2654082016279909676[7] = 0; - out_2654082016279909676[8] = 0; - out_2654082016279909676[9] = 0; - out_2654082016279909676[10] = 1; - out_2654082016279909676[11] = 0; - out_2654082016279909676[12] = 0; - out_2654082016279909676[13] = 0; - out_2654082016279909676[14] = 0; - out_2654082016279909676[15] = 0; - out_2654082016279909676[16] = 0; - out_2654082016279909676[17] = 0; - out_2654082016279909676[18] = 0; - out_2654082016279909676[19] = 0; - out_2654082016279909676[20] = 1; - out_2654082016279909676[21] = 0; - out_2654082016279909676[22] = 0; - out_2654082016279909676[23] = 0; - out_2654082016279909676[24] = 0; - out_2654082016279909676[25] = 0; - out_2654082016279909676[26] = 0; - out_2654082016279909676[27] = 0; - out_2654082016279909676[28] = 0; - out_2654082016279909676[29] = 0; - out_2654082016279909676[30] = 1; - out_2654082016279909676[31] = 0; - out_2654082016279909676[32] = 0; - out_2654082016279909676[33] = 0; - out_2654082016279909676[34] = 0; - out_2654082016279909676[35] = 0; - out_2654082016279909676[36] = 0; - out_2654082016279909676[37] = 0; - out_2654082016279909676[38] = 0; - out_2654082016279909676[39] = 0; - out_2654082016279909676[40] = 1; - out_2654082016279909676[41] = 0; - out_2654082016279909676[42] = 0; - out_2654082016279909676[43] = 0; - out_2654082016279909676[44] = 0; - out_2654082016279909676[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_2654082016279909676[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2654082016279909676[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2654082016279909676[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2654082016279909676[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_2654082016279909676[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2654082016279909676[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2654082016279909676[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2654082016279909676[53] = -9.8100000000000005*dt; - out_2654082016279909676[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_2654082016279909676[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2654082016279909676[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2654082016279909676[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2654082016279909676[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_2654082016279909676[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2654082016279909676[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_2654082016279909676[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2654082016279909676[62] = 0; - out_2654082016279909676[63] = 0; - out_2654082016279909676[64] = 0; - out_2654082016279909676[65] = 0; - out_2654082016279909676[66] = 0; - out_2654082016279909676[67] = 0; - out_2654082016279909676[68] = 0; - out_2654082016279909676[69] = 0; - out_2654082016279909676[70] = 1; - out_2654082016279909676[71] = 0; - out_2654082016279909676[72] = 0; - out_2654082016279909676[73] = 0; - out_2654082016279909676[74] = 0; - out_2654082016279909676[75] = 0; - out_2654082016279909676[76] = 0; - out_2654082016279909676[77] = 0; - out_2654082016279909676[78] = 0; - out_2654082016279909676[79] = 0; - out_2654082016279909676[80] = 1; +void F_fun(double *state, double dt, double *out_1825222330008905672) { + out_1825222330008905672[0] = 1; + out_1825222330008905672[1] = 0; + out_1825222330008905672[2] = 0; + out_1825222330008905672[3] = 0; + out_1825222330008905672[4] = 0; + out_1825222330008905672[5] = 0; + out_1825222330008905672[6] = 0; + out_1825222330008905672[7] = 0; + out_1825222330008905672[8] = 0; + out_1825222330008905672[9] = 0; + out_1825222330008905672[10] = 1; + out_1825222330008905672[11] = 0; + out_1825222330008905672[12] = 0; + out_1825222330008905672[13] = 0; + out_1825222330008905672[14] = 0; + out_1825222330008905672[15] = 0; + out_1825222330008905672[16] = 0; + out_1825222330008905672[17] = 0; + out_1825222330008905672[18] = 0; + out_1825222330008905672[19] = 0; + out_1825222330008905672[20] = 1; + out_1825222330008905672[21] = 0; + out_1825222330008905672[22] = 0; + out_1825222330008905672[23] = 0; + out_1825222330008905672[24] = 0; + out_1825222330008905672[25] = 0; + out_1825222330008905672[26] = 0; + out_1825222330008905672[27] = 0; + out_1825222330008905672[28] = 0; + out_1825222330008905672[29] = 0; + out_1825222330008905672[30] = 1; + out_1825222330008905672[31] = 0; + out_1825222330008905672[32] = 0; + out_1825222330008905672[33] = 0; + out_1825222330008905672[34] = 0; + out_1825222330008905672[35] = 0; + out_1825222330008905672[36] = 0; + out_1825222330008905672[37] = 0; + out_1825222330008905672[38] = 0; + out_1825222330008905672[39] = 0; + out_1825222330008905672[40] = 1; + out_1825222330008905672[41] = 0; + out_1825222330008905672[42] = 0; + out_1825222330008905672[43] = 0; + out_1825222330008905672[44] = 0; + out_1825222330008905672[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_1825222330008905672[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1825222330008905672[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1825222330008905672[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1825222330008905672[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_1825222330008905672[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1825222330008905672[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1825222330008905672[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1825222330008905672[53] = -9.8100000000000005*dt; + out_1825222330008905672[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_1825222330008905672[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1825222330008905672[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1825222330008905672[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1825222330008905672[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_1825222330008905672[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1825222330008905672[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_1825222330008905672[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1825222330008905672[62] = 0; + out_1825222330008905672[63] = 0; + out_1825222330008905672[64] = 0; + out_1825222330008905672[65] = 0; + out_1825222330008905672[66] = 0; + out_1825222330008905672[67] = 0; + out_1825222330008905672[68] = 0; + out_1825222330008905672[69] = 0; + out_1825222330008905672[70] = 1; + out_1825222330008905672[71] = 0; + out_1825222330008905672[72] = 0; + out_1825222330008905672[73] = 0; + out_1825222330008905672[74] = 0; + out_1825222330008905672[75] = 0; + out_1825222330008905672[76] = 0; + out_1825222330008905672[77] = 0; + out_1825222330008905672[78] = 0; + out_1825222330008905672[79] = 0; + out_1825222330008905672[80] = 1; } -void h_25(double *state, double *unused, double *out_3340180793096633183) { - out_3340180793096633183[0] = state[6]; +void h_25(double *state, double *unused, double *out_7364871104219513908) { + out_7364871104219513908[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4434950306945038429) { - out_4434950306945038429[0] = 0; - out_4434950306945038429[1] = 0; - out_4434950306945038429[2] = 0; - out_4434950306945038429[3] = 0; - out_4434950306945038429[4] = 0; - out_4434950306945038429[5] = 0; - out_4434950306945038429[6] = 1; - out_4434950306945038429[7] = 0; - out_4434950306945038429[8] = 0; +void H_25(double *state, double *unused, double *out_5259356069339540719) { + out_5259356069339540719[0] = 0; + out_5259356069339540719[1] = 0; + out_5259356069339540719[2] = 0; + out_5259356069339540719[3] = 0; + out_5259356069339540719[4] = 0; + out_5259356069339540719[5] = 0; + out_5259356069339540719[6] = 1; + out_5259356069339540719[7] = 0; + out_5259356069339540719[8] = 0; } -void h_24(double *state, double *unused, double *out_7854800018825826791) { - out_7854800018825826791[0] = state[4]; - out_7854800018825826791[1] = state[5]; +void h_24(double *state, double *unused, double *out_6181950591427252357) { + out_6181950591427252357[0] = state[4]; + out_6181950591427252357[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6607599905950537995) { - out_6607599905950537995[0] = 0; - out_6607599905950537995[1] = 0; - out_6607599905950537995[2] = 0; - out_6607599905950537995[3] = 0; - out_6607599905950537995[4] = 1; - out_6607599905950537995[5] = 0; - out_6607599905950537995[6] = 0; - out_6607599905950537995[7] = 0; - out_6607599905950537995[8] = 0; - out_6607599905950537995[9] = 0; - out_6607599905950537995[10] = 0; - out_6607599905950537995[11] = 0; - out_6607599905950537995[12] = 0; - out_6607599905950537995[13] = 0; - out_6607599905950537995[14] = 1; - out_6607599905950537995[15] = 0; - out_6607599905950537995[16] = 0; - out_6607599905950537995[17] = 0; +void H_24(double *state, double *unused, double *out_1316215737251977382) { + out_1316215737251977382[0] = 0; + out_1316215737251977382[1] = 0; + out_1316215737251977382[2] = 0; + out_1316215737251977382[3] = 0; + out_1316215737251977382[4] = 1; + out_1316215737251977382[5] = 0; + out_1316215737251977382[6] = 0; + out_1316215737251977382[7] = 0; + out_1316215737251977382[8] = 0; + out_1316215737251977382[9] = 0; + out_1316215737251977382[10] = 0; + out_1316215737251977382[11] = 0; + out_1316215737251977382[12] = 0; + out_1316215737251977382[13] = 0; + out_1316215737251977382[14] = 1; + out_1316215737251977382[15] = 0; + out_1316215737251977382[16] = 0; + out_1316215737251977382[17] = 0; } -void h_30(double *state, double *unused, double *out_3104430337924860088) { - out_3104430337924860088[0] = state[4]; +void h_30(double *state, double *unused, double *out_4311037743139686772) { + out_4311037743139686772[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1916617348437789802) { - out_1916617348437789802[0] = 0; - out_1916617348437789802[1] = 0; - out_1916617348437789802[2] = 0; - out_1916617348437789802[3] = 0; - out_1916617348437789802[4] = 1; - out_1916617348437789802[5] = 0; - out_1916617348437789802[6] = 0; - out_1916617348437789802[7] = 0; - out_1916617348437789802[8] = 0; +void H_30(double *state, double *unused, double *out_1657334272152076036) { + out_1657334272152076036[0] = 0; + out_1657334272152076036[1] = 0; + out_1657334272152076036[2] = 0; + out_1657334272152076036[3] = 0; + out_1657334272152076036[4] = 1; + out_1657334272152076036[5] = 0; + out_1657334272152076036[6] = 0; + out_1657334272152076036[7] = 0; + out_1657334272152076036[8] = 0; } -void h_26(double *state, double *unused, double *out_4544914835386474254) { - out_4544914835386474254[0] = state[7]; +void h_26(double *state, double *unused, double *out_8569605146509354979) { + out_8569605146509354979[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8176453625819094653) { - out_8176453625819094653[0] = 0; - out_8176453625819094653[1] = 0; - out_8176453625819094653[2] = 0; - out_8176453625819094653[3] = 0; - out_8176453625819094653[4] = 0; - out_8176453625819094653[5] = 0; - out_8176453625819094653[6] = 0; - out_8176453625819094653[7] = 1; - out_8176453625819094653[8] = 0; +void H_26(double *state, double *unused, double *out_9000859388213596943) { + out_9000859388213596943[0] = 0; + out_9000859388213596943[1] = 0; + out_9000859388213596943[2] = 0; + out_9000859388213596943[3] = 0; + out_9000859388213596943[4] = 0; + out_9000859388213596943[5] = 0; + out_9000859388213596943[6] = 0; + out_9000859388213596943[7] = 1; + out_9000859388213596943[8] = 0; } -void h_27(double *state, double *unused, double *out_4426907441453097510) { - out_4426907441453097510[0] = state[3]; +void h_27(double *state, double *unused, double *out_2363197836558668263) { + out_2363197836558668263[0] = state[3]; } -void H_27(double *state, double *unused, double *out_306976722746153415) { - out_306976722746153415[0] = 0; - out_306976722746153415[1] = 0; - out_306976722746153415[2] = 0; - out_306976722746153415[3] = 1; - out_306976722746153415[4] = 0; - out_306976722746153415[5] = 0; - out_306976722746153415[6] = 0; - out_306976722746153415[7] = 0; - out_306976722746153415[8] = 0; +void H_27(double *state, double *unused, double *out_517429039648348875) { + out_517429039648348875[0] = 0; + out_517429039648348875[1] = 0; + out_517429039648348875[2] = 0; + out_517429039648348875[3] = 1; + out_517429039648348875[4] = 0; + out_517429039648348875[5] = 0; + out_517429039648348875[6] = 0; + out_517429039648348875[7] = 0; + out_517429039648348875[8] = 0; } -void h_29(double *state, double *unused, double *out_2160920485023197653) { - out_2160920485023197653[0] = state[1]; +void h_29(double *state, double *unused, double *out_1498485639869833389) { + out_1498485639869833389[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1406386004123397618) { - out_1406386004123397618[0] = 0; - out_1406386004123397618[1] = 1; - out_1406386004123397618[2] = 0; - out_1406386004123397618[3] = 0; - out_1406386004123397618[4] = 0; - out_1406386004123397618[5] = 0; - out_1406386004123397618[6] = 0; - out_1406386004123397618[7] = 0; - out_1406386004123397618[8] = 0; +void H_29(double *state, double *unused, double *out_2230791766517899908) { + out_2230791766517899908[0] = 0; + out_2230791766517899908[1] = 1; + out_2230791766517899908[2] = 0; + out_2230791766517899908[3] = 0; + out_2230791766517899908[4] = 0; + out_2230791766517899908[5] = 0; + out_2230791766517899908[6] = 0; + out_2230791766517899908[7] = 0; + out_2230791766517899908[8] = 0; } -void h_28(double *state, double *unused, double *out_7017073928463388327) { - out_7017073928463388327[0] = state[0]; +void h_28(double *state, double *unused, double *out_6657345575881808179) { + out_6657345575881808179[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6488785021192928192) { - out_6488785021192928192[0] = 1; - out_6488785021192928192[1] = 0; - out_6488785021192928192[2] = 0; - out_6488785021192928192[3] = 0; - out_6488785021192928192[4] = 0; - out_6488785021192928192[5] = 0; - out_6488785021192928192[6] = 0; - out_6488785021192928192[7] = 0; - out_6488785021192928192[8] = 0; +void H_28(double *state, double *unused, double *out_7313190783587430482) { + out_7313190783587430482[0] = 1; + out_7313190783587430482[1] = 0; + out_7313190783587430482[2] = 0; + out_7313190783587430482[3] = 0; + out_7313190783587430482[4] = 0; + out_7313190783587430482[5] = 0; + out_7313190783587430482[6] = 0; + out_7313190783587430482[7] = 0; + out_7313190783587430482[8] = 0; } -void h_31(double *state, double *unused, double *out_5156479888167106809) { - out_5156479888167106809[0] = state[8]; +void h_31(double *state, double *unused, double *out_398394152601158533) { + out_398394152601158533[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4404304345068078001) { - out_4404304345068078001[0] = 0; - out_4404304345068078001[1] = 0; - out_4404304345068078001[2] = 0; - out_4404304345068078001[3] = 0; - out_4404304345068078001[4] = 0; - out_4404304345068078001[5] = 0; - out_4404304345068078001[6] = 0; - out_4404304345068078001[7] = 0; - out_4404304345068078001[8] = 1; +void H_31(double *state, double *unused, double *out_5228710107462580291) { + out_5228710107462580291[0] = 0; + out_5228710107462580291[1] = 0; + out_5228710107462580291[2] = 0; + out_5228710107462580291[3] = 0; + out_5228710107462580291[4] = 0; + out_5228710107462580291[5] = 0; + out_5228710107462580291[6] = 0; + out_5228710107462580291[7] = 0; + out_5228710107462580291[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_4189395199092511703) { - err_fun(nom_x, delta_x, out_4189395199092511703); +void car_err_fun(double *nom_x, double *delta_x, double *out_6333242559483084265) { + err_fun(nom_x, delta_x, out_6333242559483084265); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5755129993245429730) { - inv_err_fun(nom_x, true_x, out_5755129993245429730); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072) { + inv_err_fun(nom_x, true_x, out_829248915283082072); } -void car_H_mod_fun(double *state, double *out_3130611196753066809) { - H_mod_fun(state, out_3130611196753066809); +void car_H_mod_fun(double *state, double *out_8283696179185346057) { + H_mod_fun(state, out_8283696179185346057); } -void car_f_fun(double *state, double dt, double *out_5961640813003379683) { - f_fun(state, dt, out_5961640813003379683); +void car_f_fun(double *state, double dt, double *out_3453347444055346076) { + f_fun(state, dt, out_3453347444055346076); } -void car_F_fun(double *state, double dt, double *out_2654082016279909676) { - F_fun(state, dt, out_2654082016279909676); +void car_F_fun(double *state, double dt, double *out_1825222330008905672) { + F_fun(state, dt, out_1825222330008905672); } -void car_h_25(double *state, double *unused, double *out_3340180793096633183) { - h_25(state, unused, out_3340180793096633183); +void car_h_25(double *state, double *unused, double *out_7364871104219513908) { + h_25(state, unused, out_7364871104219513908); } -void car_H_25(double *state, double *unused, double *out_4434950306945038429) { - H_25(state, unused, out_4434950306945038429); +void car_H_25(double *state, double *unused, double *out_5259356069339540719) { + H_25(state, unused, out_5259356069339540719); } -void car_h_24(double *state, double *unused, double *out_7854800018825826791) { - h_24(state, unused, out_7854800018825826791); +void car_h_24(double *state, double *unused, double *out_6181950591427252357) { + h_24(state, unused, out_6181950591427252357); } -void car_H_24(double *state, double *unused, double *out_6607599905950537995) { - H_24(state, unused, out_6607599905950537995); +void car_H_24(double *state, double *unused, double *out_1316215737251977382) { + H_24(state, unused, out_1316215737251977382); } -void car_h_30(double *state, double *unused, double *out_3104430337924860088) { - h_30(state, unused, out_3104430337924860088); +void car_h_30(double *state, double *unused, double *out_4311037743139686772) { + h_30(state, unused, out_4311037743139686772); } -void car_H_30(double *state, double *unused, double *out_1916617348437789802) { - H_30(state, unused, out_1916617348437789802); +void car_H_30(double *state, double *unused, double *out_1657334272152076036) { + H_30(state, unused, out_1657334272152076036); } -void car_h_26(double *state, double *unused, double *out_4544914835386474254) { - h_26(state, unused, out_4544914835386474254); +void car_h_26(double *state, double *unused, double *out_8569605146509354979) { + h_26(state, unused, out_8569605146509354979); } -void car_H_26(double *state, double *unused, double *out_8176453625819094653) { - H_26(state, unused, out_8176453625819094653); +void car_H_26(double *state, double *unused, double *out_9000859388213596943) { + H_26(state, unused, out_9000859388213596943); } -void car_h_27(double *state, double *unused, double *out_4426907441453097510) { - h_27(state, unused, out_4426907441453097510); +void car_h_27(double *state, double *unused, double *out_2363197836558668263) { + h_27(state, unused, out_2363197836558668263); } -void car_H_27(double *state, double *unused, double *out_306976722746153415) { - H_27(state, unused, out_306976722746153415); +void car_H_27(double *state, double *unused, double *out_517429039648348875) { + H_27(state, unused, out_517429039648348875); } -void car_h_29(double *state, double *unused, double *out_2160920485023197653) { - h_29(state, unused, out_2160920485023197653); +void car_h_29(double *state, double *unused, double *out_1498485639869833389) { + h_29(state, unused, out_1498485639869833389); } -void car_H_29(double *state, double *unused, double *out_1406386004123397618) { - H_29(state, unused, out_1406386004123397618); +void car_H_29(double *state, double *unused, double *out_2230791766517899908) { + H_29(state, unused, out_2230791766517899908); } -void car_h_28(double *state, double *unused, double *out_7017073928463388327) { - h_28(state, unused, out_7017073928463388327); +void car_h_28(double *state, double *unused, double *out_6657345575881808179) { + h_28(state, unused, out_6657345575881808179); } -void car_H_28(double *state, double *unused, double *out_6488785021192928192) { - H_28(state, unused, out_6488785021192928192); +void car_H_28(double *state, double *unused, double *out_7313190783587430482) { + H_28(state, unused, out_7313190783587430482); } -void car_h_31(double *state, double *unused, double *out_5156479888167106809) { - h_31(state, unused, out_5156479888167106809); +void car_h_31(double *state, double *unused, double *out_398394152601158533) { + h_31(state, unused, out_398394152601158533); } -void car_H_31(double *state, double *unused, double *out_4404304345068078001) { - H_31(state, unused, out_4404304345068078001); +void car_H_31(double *state, double *unused, double *out_5228710107462580291) { + H_31(state, unused, out_5228710107462580291); } 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 a1a172a78..5d734609a 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_4189395199092511703); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5755129993245429730); -void car_H_mod_fun(double *state, double *out_3130611196753066809); -void car_f_fun(double *state, double dt, double *out_5961640813003379683); -void car_F_fun(double *state, double dt, double *out_2654082016279909676); -void car_h_25(double *state, double *unused, double *out_3340180793096633183); -void car_H_25(double *state, double *unused, double *out_4434950306945038429); -void car_h_24(double *state, double *unused, double *out_7854800018825826791); -void car_H_24(double *state, double *unused, double *out_6607599905950537995); -void car_h_30(double *state, double *unused, double *out_3104430337924860088); -void car_H_30(double *state, double *unused, double *out_1916617348437789802); -void car_h_26(double *state, double *unused, double *out_4544914835386474254); -void car_H_26(double *state, double *unused, double *out_8176453625819094653); -void car_h_27(double *state, double *unused, double *out_4426907441453097510); -void car_H_27(double *state, double *unused, double *out_306976722746153415); -void car_h_29(double *state, double *unused, double *out_2160920485023197653); -void car_H_29(double *state, double *unused, double *out_1406386004123397618); -void car_h_28(double *state, double *unused, double *out_7017073928463388327); -void car_H_28(double *state, double *unused, double *out_6488785021192928192); -void car_h_31(double *state, double *unused, double *out_5156479888167106809); -void car_H_31(double *state, double *unused, double *out_4404304345068078001); +void car_err_fun(double *nom_x, double *delta_x, double *out_6333242559483084265); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072); +void car_H_mod_fun(double *state, double *out_8283696179185346057); +void car_f_fun(double *state, double dt, double *out_3453347444055346076); +void car_F_fun(double *state, double dt, double *out_1825222330008905672); +void car_h_25(double *state, double *unused, double *out_7364871104219513908); +void car_H_25(double *state, double *unused, double *out_5259356069339540719); +void car_h_24(double *state, double *unused, double *out_6181950591427252357); +void car_H_24(double *state, double *unused, double *out_1316215737251977382); +void car_h_30(double *state, double *unused, double *out_4311037743139686772); +void car_H_30(double *state, double *unused, double *out_1657334272152076036); +void car_h_26(double *state, double *unused, double *out_8569605146509354979); +void car_H_26(double *state, double *unused, double *out_9000859388213596943); +void car_h_27(double *state, double *unused, double *out_2363197836558668263); +void car_H_27(double *state, double *unused, double *out_517429039648348875); +void car_h_29(double *state, double *unused, double *out_1498485639869833389); +void car_H_29(double *state, double *unused, double *out_2230791766517899908); +void car_h_28(double *state, double *unused, double *out_6657345575881808179); +void car_H_28(double *state, double *unused, double *out_7313190783587430482); +void car_h_31(double *state, double *unused, double *out_398394152601158533); +void car_H_31(double *state, double *unused, double *out_5228710107462580291); 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 c7301555e..c221b5191 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_842964569186968919) { - out_842964569186968919[0] = delta_x[0] + nom_x[0]; - out_842964569186968919[1] = delta_x[1] + nom_x[1]; - out_842964569186968919[2] = delta_x[2] + nom_x[2]; - out_842964569186968919[3] = delta_x[3] + nom_x[3]; - out_842964569186968919[4] = delta_x[4] + nom_x[4]; - out_842964569186968919[5] = delta_x[5] + nom_x[5]; - out_842964569186968919[6] = delta_x[6] + nom_x[6]; - out_842964569186968919[7] = delta_x[7] + nom_x[7]; - out_842964569186968919[8] = delta_x[8] + nom_x[8]; - out_842964569186968919[9] = delta_x[9] + nom_x[9]; - out_842964569186968919[10] = delta_x[10] + nom_x[10]; - out_842964569186968919[11] = delta_x[11] + nom_x[11]; - out_842964569186968919[12] = delta_x[12] + nom_x[12]; - out_842964569186968919[13] = delta_x[13] + nom_x[13]; - out_842964569186968919[14] = delta_x[14] + nom_x[14]; - out_842964569186968919[15] = delta_x[15] + nom_x[15]; - out_842964569186968919[16] = delta_x[16] + nom_x[16]; - out_842964569186968919[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3574067617578089570) { + out_3574067617578089570[0] = delta_x[0] + nom_x[0]; + out_3574067617578089570[1] = delta_x[1] + nom_x[1]; + out_3574067617578089570[2] = delta_x[2] + nom_x[2]; + out_3574067617578089570[3] = delta_x[3] + nom_x[3]; + out_3574067617578089570[4] = delta_x[4] + nom_x[4]; + out_3574067617578089570[5] = delta_x[5] + nom_x[5]; + out_3574067617578089570[6] = delta_x[6] + nom_x[6]; + out_3574067617578089570[7] = delta_x[7] + nom_x[7]; + out_3574067617578089570[8] = delta_x[8] + nom_x[8]; + out_3574067617578089570[9] = delta_x[9] + nom_x[9]; + out_3574067617578089570[10] = delta_x[10] + nom_x[10]; + out_3574067617578089570[11] = delta_x[11] + nom_x[11]; + out_3574067617578089570[12] = delta_x[12] + nom_x[12]; + out_3574067617578089570[13] = delta_x[13] + nom_x[13]; + out_3574067617578089570[14] = delta_x[14] + nom_x[14]; + out_3574067617578089570[15] = delta_x[15] + nom_x[15]; + out_3574067617578089570[16] = delta_x[16] + nom_x[16]; + out_3574067617578089570[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7637995249051351300) { - out_7637995249051351300[0] = -nom_x[0] + true_x[0]; - out_7637995249051351300[1] = -nom_x[1] + true_x[1]; - out_7637995249051351300[2] = -nom_x[2] + true_x[2]; - out_7637995249051351300[3] = -nom_x[3] + true_x[3]; - out_7637995249051351300[4] = -nom_x[4] + true_x[4]; - out_7637995249051351300[5] = -nom_x[5] + true_x[5]; - out_7637995249051351300[6] = -nom_x[6] + true_x[6]; - out_7637995249051351300[7] = -nom_x[7] + true_x[7]; - out_7637995249051351300[8] = -nom_x[8] + true_x[8]; - out_7637995249051351300[9] = -nom_x[9] + true_x[9]; - out_7637995249051351300[10] = -nom_x[10] + true_x[10]; - out_7637995249051351300[11] = -nom_x[11] + true_x[11]; - out_7637995249051351300[12] = -nom_x[12] + true_x[12]; - out_7637995249051351300[13] = -nom_x[13] + true_x[13]; - out_7637995249051351300[14] = -nom_x[14] + true_x[14]; - out_7637995249051351300[15] = -nom_x[15] + true_x[15]; - out_7637995249051351300[16] = -nom_x[16] + true_x[16]; - out_7637995249051351300[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1515328263168530495) { + out_1515328263168530495[0] = -nom_x[0] + true_x[0]; + out_1515328263168530495[1] = -nom_x[1] + true_x[1]; + out_1515328263168530495[2] = -nom_x[2] + true_x[2]; + out_1515328263168530495[3] = -nom_x[3] + true_x[3]; + out_1515328263168530495[4] = -nom_x[4] + true_x[4]; + out_1515328263168530495[5] = -nom_x[5] + true_x[5]; + out_1515328263168530495[6] = -nom_x[6] + true_x[6]; + out_1515328263168530495[7] = -nom_x[7] + true_x[7]; + out_1515328263168530495[8] = -nom_x[8] + true_x[8]; + out_1515328263168530495[9] = -nom_x[9] + true_x[9]; + out_1515328263168530495[10] = -nom_x[10] + true_x[10]; + out_1515328263168530495[11] = -nom_x[11] + true_x[11]; + out_1515328263168530495[12] = -nom_x[12] + true_x[12]; + out_1515328263168530495[13] = -nom_x[13] + true_x[13]; + out_1515328263168530495[14] = -nom_x[14] + true_x[14]; + out_1515328263168530495[15] = -nom_x[15] + true_x[15]; + out_1515328263168530495[16] = -nom_x[16] + true_x[16]; + out_1515328263168530495[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_8306889626903079841) { - out_8306889626903079841[0] = 1.0; - out_8306889626903079841[1] = 0.0; - out_8306889626903079841[2] = 0.0; - out_8306889626903079841[3] = 0.0; - out_8306889626903079841[4] = 0.0; - out_8306889626903079841[5] = 0.0; - out_8306889626903079841[6] = 0.0; - out_8306889626903079841[7] = 0.0; - out_8306889626903079841[8] = 0.0; - out_8306889626903079841[9] = 0.0; - out_8306889626903079841[10] = 0.0; - out_8306889626903079841[11] = 0.0; - out_8306889626903079841[12] = 0.0; - out_8306889626903079841[13] = 0.0; - out_8306889626903079841[14] = 0.0; - out_8306889626903079841[15] = 0.0; - out_8306889626903079841[16] = 0.0; - out_8306889626903079841[17] = 0.0; - out_8306889626903079841[18] = 0.0; - out_8306889626903079841[19] = 1.0; - out_8306889626903079841[20] = 0.0; - out_8306889626903079841[21] = 0.0; - out_8306889626903079841[22] = 0.0; - out_8306889626903079841[23] = 0.0; - out_8306889626903079841[24] = 0.0; - out_8306889626903079841[25] = 0.0; - out_8306889626903079841[26] = 0.0; - out_8306889626903079841[27] = 0.0; - out_8306889626903079841[28] = 0.0; - out_8306889626903079841[29] = 0.0; - out_8306889626903079841[30] = 0.0; - out_8306889626903079841[31] = 0.0; - out_8306889626903079841[32] = 0.0; - out_8306889626903079841[33] = 0.0; - out_8306889626903079841[34] = 0.0; - out_8306889626903079841[35] = 0.0; - out_8306889626903079841[36] = 0.0; - out_8306889626903079841[37] = 0.0; - out_8306889626903079841[38] = 1.0; - out_8306889626903079841[39] = 0.0; - out_8306889626903079841[40] = 0.0; - out_8306889626903079841[41] = 0.0; - out_8306889626903079841[42] = 0.0; - out_8306889626903079841[43] = 0.0; - out_8306889626903079841[44] = 0.0; - out_8306889626903079841[45] = 0.0; - out_8306889626903079841[46] = 0.0; - out_8306889626903079841[47] = 0.0; - out_8306889626903079841[48] = 0.0; - out_8306889626903079841[49] = 0.0; - out_8306889626903079841[50] = 0.0; - out_8306889626903079841[51] = 0.0; - out_8306889626903079841[52] = 0.0; - out_8306889626903079841[53] = 0.0; - out_8306889626903079841[54] = 0.0; - out_8306889626903079841[55] = 0.0; - out_8306889626903079841[56] = 0.0; - out_8306889626903079841[57] = 1.0; - out_8306889626903079841[58] = 0.0; - out_8306889626903079841[59] = 0.0; - out_8306889626903079841[60] = 0.0; - out_8306889626903079841[61] = 0.0; - out_8306889626903079841[62] = 0.0; - out_8306889626903079841[63] = 0.0; - out_8306889626903079841[64] = 0.0; - out_8306889626903079841[65] = 0.0; - out_8306889626903079841[66] = 0.0; - out_8306889626903079841[67] = 0.0; - out_8306889626903079841[68] = 0.0; - out_8306889626903079841[69] = 0.0; - out_8306889626903079841[70] = 0.0; - out_8306889626903079841[71] = 0.0; - out_8306889626903079841[72] = 0.0; - out_8306889626903079841[73] = 0.0; - out_8306889626903079841[74] = 0.0; - out_8306889626903079841[75] = 0.0; - out_8306889626903079841[76] = 1.0; - out_8306889626903079841[77] = 0.0; - out_8306889626903079841[78] = 0.0; - out_8306889626903079841[79] = 0.0; - out_8306889626903079841[80] = 0.0; - out_8306889626903079841[81] = 0.0; - out_8306889626903079841[82] = 0.0; - out_8306889626903079841[83] = 0.0; - out_8306889626903079841[84] = 0.0; - out_8306889626903079841[85] = 0.0; - out_8306889626903079841[86] = 0.0; - out_8306889626903079841[87] = 0.0; - out_8306889626903079841[88] = 0.0; - out_8306889626903079841[89] = 0.0; - out_8306889626903079841[90] = 0.0; - out_8306889626903079841[91] = 0.0; - out_8306889626903079841[92] = 0.0; - out_8306889626903079841[93] = 0.0; - out_8306889626903079841[94] = 0.0; - out_8306889626903079841[95] = 1.0; - out_8306889626903079841[96] = 0.0; - out_8306889626903079841[97] = 0.0; - out_8306889626903079841[98] = 0.0; - out_8306889626903079841[99] = 0.0; - out_8306889626903079841[100] = 0.0; - out_8306889626903079841[101] = 0.0; - out_8306889626903079841[102] = 0.0; - out_8306889626903079841[103] = 0.0; - out_8306889626903079841[104] = 0.0; - out_8306889626903079841[105] = 0.0; - out_8306889626903079841[106] = 0.0; - out_8306889626903079841[107] = 0.0; - out_8306889626903079841[108] = 0.0; - out_8306889626903079841[109] = 0.0; - out_8306889626903079841[110] = 0.0; - out_8306889626903079841[111] = 0.0; - out_8306889626903079841[112] = 0.0; - out_8306889626903079841[113] = 0.0; - out_8306889626903079841[114] = 1.0; - out_8306889626903079841[115] = 0.0; - out_8306889626903079841[116] = 0.0; - out_8306889626903079841[117] = 0.0; - out_8306889626903079841[118] = 0.0; - out_8306889626903079841[119] = 0.0; - out_8306889626903079841[120] = 0.0; - out_8306889626903079841[121] = 0.0; - out_8306889626903079841[122] = 0.0; - out_8306889626903079841[123] = 0.0; - out_8306889626903079841[124] = 0.0; - out_8306889626903079841[125] = 0.0; - out_8306889626903079841[126] = 0.0; - out_8306889626903079841[127] = 0.0; - out_8306889626903079841[128] = 0.0; - out_8306889626903079841[129] = 0.0; - out_8306889626903079841[130] = 0.0; - out_8306889626903079841[131] = 0.0; - out_8306889626903079841[132] = 0.0; - out_8306889626903079841[133] = 1.0; - out_8306889626903079841[134] = 0.0; - out_8306889626903079841[135] = 0.0; - out_8306889626903079841[136] = 0.0; - out_8306889626903079841[137] = 0.0; - out_8306889626903079841[138] = 0.0; - out_8306889626903079841[139] = 0.0; - out_8306889626903079841[140] = 0.0; - out_8306889626903079841[141] = 0.0; - out_8306889626903079841[142] = 0.0; - out_8306889626903079841[143] = 0.0; - out_8306889626903079841[144] = 0.0; - out_8306889626903079841[145] = 0.0; - out_8306889626903079841[146] = 0.0; - out_8306889626903079841[147] = 0.0; - out_8306889626903079841[148] = 0.0; - out_8306889626903079841[149] = 0.0; - out_8306889626903079841[150] = 0.0; - out_8306889626903079841[151] = 0.0; - out_8306889626903079841[152] = 1.0; - out_8306889626903079841[153] = 0.0; - out_8306889626903079841[154] = 0.0; - out_8306889626903079841[155] = 0.0; - out_8306889626903079841[156] = 0.0; - out_8306889626903079841[157] = 0.0; - out_8306889626903079841[158] = 0.0; - out_8306889626903079841[159] = 0.0; - out_8306889626903079841[160] = 0.0; - out_8306889626903079841[161] = 0.0; - out_8306889626903079841[162] = 0.0; - out_8306889626903079841[163] = 0.0; - out_8306889626903079841[164] = 0.0; - out_8306889626903079841[165] = 0.0; - out_8306889626903079841[166] = 0.0; - out_8306889626903079841[167] = 0.0; - out_8306889626903079841[168] = 0.0; - out_8306889626903079841[169] = 0.0; - out_8306889626903079841[170] = 0.0; - out_8306889626903079841[171] = 1.0; - out_8306889626903079841[172] = 0.0; - out_8306889626903079841[173] = 0.0; - out_8306889626903079841[174] = 0.0; - out_8306889626903079841[175] = 0.0; - out_8306889626903079841[176] = 0.0; - out_8306889626903079841[177] = 0.0; - out_8306889626903079841[178] = 0.0; - out_8306889626903079841[179] = 0.0; - out_8306889626903079841[180] = 0.0; - out_8306889626903079841[181] = 0.0; - out_8306889626903079841[182] = 0.0; - out_8306889626903079841[183] = 0.0; - out_8306889626903079841[184] = 0.0; - out_8306889626903079841[185] = 0.0; - out_8306889626903079841[186] = 0.0; - out_8306889626903079841[187] = 0.0; - out_8306889626903079841[188] = 0.0; - out_8306889626903079841[189] = 0.0; - out_8306889626903079841[190] = 1.0; - out_8306889626903079841[191] = 0.0; - out_8306889626903079841[192] = 0.0; - out_8306889626903079841[193] = 0.0; - out_8306889626903079841[194] = 0.0; - out_8306889626903079841[195] = 0.0; - out_8306889626903079841[196] = 0.0; - out_8306889626903079841[197] = 0.0; - out_8306889626903079841[198] = 0.0; - out_8306889626903079841[199] = 0.0; - out_8306889626903079841[200] = 0.0; - out_8306889626903079841[201] = 0.0; - out_8306889626903079841[202] = 0.0; - out_8306889626903079841[203] = 0.0; - out_8306889626903079841[204] = 0.0; - out_8306889626903079841[205] = 0.0; - out_8306889626903079841[206] = 0.0; - out_8306889626903079841[207] = 0.0; - out_8306889626903079841[208] = 0.0; - out_8306889626903079841[209] = 1.0; - out_8306889626903079841[210] = 0.0; - out_8306889626903079841[211] = 0.0; - out_8306889626903079841[212] = 0.0; - out_8306889626903079841[213] = 0.0; - out_8306889626903079841[214] = 0.0; - out_8306889626903079841[215] = 0.0; - out_8306889626903079841[216] = 0.0; - out_8306889626903079841[217] = 0.0; - out_8306889626903079841[218] = 0.0; - out_8306889626903079841[219] = 0.0; - out_8306889626903079841[220] = 0.0; - out_8306889626903079841[221] = 0.0; - out_8306889626903079841[222] = 0.0; - out_8306889626903079841[223] = 0.0; - out_8306889626903079841[224] = 0.0; - out_8306889626903079841[225] = 0.0; - out_8306889626903079841[226] = 0.0; - out_8306889626903079841[227] = 0.0; - out_8306889626903079841[228] = 1.0; - out_8306889626903079841[229] = 0.0; - out_8306889626903079841[230] = 0.0; - out_8306889626903079841[231] = 0.0; - out_8306889626903079841[232] = 0.0; - out_8306889626903079841[233] = 0.0; - out_8306889626903079841[234] = 0.0; - out_8306889626903079841[235] = 0.0; - out_8306889626903079841[236] = 0.0; - out_8306889626903079841[237] = 0.0; - out_8306889626903079841[238] = 0.0; - out_8306889626903079841[239] = 0.0; - out_8306889626903079841[240] = 0.0; - out_8306889626903079841[241] = 0.0; - out_8306889626903079841[242] = 0.0; - out_8306889626903079841[243] = 0.0; - out_8306889626903079841[244] = 0.0; - out_8306889626903079841[245] = 0.0; - out_8306889626903079841[246] = 0.0; - out_8306889626903079841[247] = 1.0; - out_8306889626903079841[248] = 0.0; - out_8306889626903079841[249] = 0.0; - out_8306889626903079841[250] = 0.0; - out_8306889626903079841[251] = 0.0; - out_8306889626903079841[252] = 0.0; - out_8306889626903079841[253] = 0.0; - out_8306889626903079841[254] = 0.0; - out_8306889626903079841[255] = 0.0; - out_8306889626903079841[256] = 0.0; - out_8306889626903079841[257] = 0.0; - out_8306889626903079841[258] = 0.0; - out_8306889626903079841[259] = 0.0; - out_8306889626903079841[260] = 0.0; - out_8306889626903079841[261] = 0.0; - out_8306889626903079841[262] = 0.0; - out_8306889626903079841[263] = 0.0; - out_8306889626903079841[264] = 0.0; - out_8306889626903079841[265] = 0.0; - out_8306889626903079841[266] = 1.0; - out_8306889626903079841[267] = 0.0; - out_8306889626903079841[268] = 0.0; - out_8306889626903079841[269] = 0.0; - out_8306889626903079841[270] = 0.0; - out_8306889626903079841[271] = 0.0; - out_8306889626903079841[272] = 0.0; - out_8306889626903079841[273] = 0.0; - out_8306889626903079841[274] = 0.0; - out_8306889626903079841[275] = 0.0; - out_8306889626903079841[276] = 0.0; - out_8306889626903079841[277] = 0.0; - out_8306889626903079841[278] = 0.0; - out_8306889626903079841[279] = 0.0; - out_8306889626903079841[280] = 0.0; - out_8306889626903079841[281] = 0.0; - out_8306889626903079841[282] = 0.0; - out_8306889626903079841[283] = 0.0; - out_8306889626903079841[284] = 0.0; - out_8306889626903079841[285] = 1.0; - out_8306889626903079841[286] = 0.0; - out_8306889626903079841[287] = 0.0; - out_8306889626903079841[288] = 0.0; - out_8306889626903079841[289] = 0.0; - out_8306889626903079841[290] = 0.0; - out_8306889626903079841[291] = 0.0; - out_8306889626903079841[292] = 0.0; - out_8306889626903079841[293] = 0.0; - out_8306889626903079841[294] = 0.0; - out_8306889626903079841[295] = 0.0; - out_8306889626903079841[296] = 0.0; - out_8306889626903079841[297] = 0.0; - out_8306889626903079841[298] = 0.0; - out_8306889626903079841[299] = 0.0; - out_8306889626903079841[300] = 0.0; - out_8306889626903079841[301] = 0.0; - out_8306889626903079841[302] = 0.0; - out_8306889626903079841[303] = 0.0; - out_8306889626903079841[304] = 1.0; - out_8306889626903079841[305] = 0.0; - out_8306889626903079841[306] = 0.0; - out_8306889626903079841[307] = 0.0; - out_8306889626903079841[308] = 0.0; - out_8306889626903079841[309] = 0.0; - out_8306889626903079841[310] = 0.0; - out_8306889626903079841[311] = 0.0; - out_8306889626903079841[312] = 0.0; - out_8306889626903079841[313] = 0.0; - out_8306889626903079841[314] = 0.0; - out_8306889626903079841[315] = 0.0; - out_8306889626903079841[316] = 0.0; - out_8306889626903079841[317] = 0.0; - out_8306889626903079841[318] = 0.0; - out_8306889626903079841[319] = 0.0; - out_8306889626903079841[320] = 0.0; - out_8306889626903079841[321] = 0.0; - out_8306889626903079841[322] = 0.0; - out_8306889626903079841[323] = 1.0; +void H_mod_fun(double *state, double *out_207229337745545750) { + out_207229337745545750[0] = 1.0; + out_207229337745545750[1] = 0.0; + out_207229337745545750[2] = 0.0; + out_207229337745545750[3] = 0.0; + out_207229337745545750[4] = 0.0; + out_207229337745545750[5] = 0.0; + out_207229337745545750[6] = 0.0; + out_207229337745545750[7] = 0.0; + out_207229337745545750[8] = 0.0; + out_207229337745545750[9] = 0.0; + out_207229337745545750[10] = 0.0; + out_207229337745545750[11] = 0.0; + out_207229337745545750[12] = 0.0; + out_207229337745545750[13] = 0.0; + out_207229337745545750[14] = 0.0; + out_207229337745545750[15] = 0.0; + out_207229337745545750[16] = 0.0; + out_207229337745545750[17] = 0.0; + out_207229337745545750[18] = 0.0; + out_207229337745545750[19] = 1.0; + out_207229337745545750[20] = 0.0; + out_207229337745545750[21] = 0.0; + out_207229337745545750[22] = 0.0; + out_207229337745545750[23] = 0.0; + out_207229337745545750[24] = 0.0; + out_207229337745545750[25] = 0.0; + out_207229337745545750[26] = 0.0; + out_207229337745545750[27] = 0.0; + out_207229337745545750[28] = 0.0; + out_207229337745545750[29] = 0.0; + out_207229337745545750[30] = 0.0; + out_207229337745545750[31] = 0.0; + out_207229337745545750[32] = 0.0; + out_207229337745545750[33] = 0.0; + out_207229337745545750[34] = 0.0; + out_207229337745545750[35] = 0.0; + out_207229337745545750[36] = 0.0; + out_207229337745545750[37] = 0.0; + out_207229337745545750[38] = 1.0; + out_207229337745545750[39] = 0.0; + out_207229337745545750[40] = 0.0; + out_207229337745545750[41] = 0.0; + out_207229337745545750[42] = 0.0; + out_207229337745545750[43] = 0.0; + out_207229337745545750[44] = 0.0; + out_207229337745545750[45] = 0.0; + out_207229337745545750[46] = 0.0; + out_207229337745545750[47] = 0.0; + out_207229337745545750[48] = 0.0; + out_207229337745545750[49] = 0.0; + out_207229337745545750[50] = 0.0; + out_207229337745545750[51] = 0.0; + out_207229337745545750[52] = 0.0; + out_207229337745545750[53] = 0.0; + out_207229337745545750[54] = 0.0; + out_207229337745545750[55] = 0.0; + out_207229337745545750[56] = 0.0; + out_207229337745545750[57] = 1.0; + out_207229337745545750[58] = 0.0; + out_207229337745545750[59] = 0.0; + out_207229337745545750[60] = 0.0; + out_207229337745545750[61] = 0.0; + out_207229337745545750[62] = 0.0; + out_207229337745545750[63] = 0.0; + out_207229337745545750[64] = 0.0; + out_207229337745545750[65] = 0.0; + out_207229337745545750[66] = 0.0; + out_207229337745545750[67] = 0.0; + out_207229337745545750[68] = 0.0; + out_207229337745545750[69] = 0.0; + out_207229337745545750[70] = 0.0; + out_207229337745545750[71] = 0.0; + out_207229337745545750[72] = 0.0; + out_207229337745545750[73] = 0.0; + out_207229337745545750[74] = 0.0; + out_207229337745545750[75] = 0.0; + out_207229337745545750[76] = 1.0; + out_207229337745545750[77] = 0.0; + out_207229337745545750[78] = 0.0; + out_207229337745545750[79] = 0.0; + out_207229337745545750[80] = 0.0; + out_207229337745545750[81] = 0.0; + out_207229337745545750[82] = 0.0; + out_207229337745545750[83] = 0.0; + out_207229337745545750[84] = 0.0; + out_207229337745545750[85] = 0.0; + out_207229337745545750[86] = 0.0; + out_207229337745545750[87] = 0.0; + out_207229337745545750[88] = 0.0; + out_207229337745545750[89] = 0.0; + out_207229337745545750[90] = 0.0; + out_207229337745545750[91] = 0.0; + out_207229337745545750[92] = 0.0; + out_207229337745545750[93] = 0.0; + out_207229337745545750[94] = 0.0; + out_207229337745545750[95] = 1.0; + out_207229337745545750[96] = 0.0; + out_207229337745545750[97] = 0.0; + out_207229337745545750[98] = 0.0; + out_207229337745545750[99] = 0.0; + out_207229337745545750[100] = 0.0; + out_207229337745545750[101] = 0.0; + out_207229337745545750[102] = 0.0; + out_207229337745545750[103] = 0.0; + out_207229337745545750[104] = 0.0; + out_207229337745545750[105] = 0.0; + out_207229337745545750[106] = 0.0; + out_207229337745545750[107] = 0.0; + out_207229337745545750[108] = 0.0; + out_207229337745545750[109] = 0.0; + out_207229337745545750[110] = 0.0; + out_207229337745545750[111] = 0.0; + out_207229337745545750[112] = 0.0; + out_207229337745545750[113] = 0.0; + out_207229337745545750[114] = 1.0; + out_207229337745545750[115] = 0.0; + out_207229337745545750[116] = 0.0; + out_207229337745545750[117] = 0.0; + out_207229337745545750[118] = 0.0; + out_207229337745545750[119] = 0.0; + out_207229337745545750[120] = 0.0; + out_207229337745545750[121] = 0.0; + out_207229337745545750[122] = 0.0; + out_207229337745545750[123] = 0.0; + out_207229337745545750[124] = 0.0; + out_207229337745545750[125] = 0.0; + out_207229337745545750[126] = 0.0; + out_207229337745545750[127] = 0.0; + out_207229337745545750[128] = 0.0; + out_207229337745545750[129] = 0.0; + out_207229337745545750[130] = 0.0; + out_207229337745545750[131] = 0.0; + out_207229337745545750[132] = 0.0; + out_207229337745545750[133] = 1.0; + out_207229337745545750[134] = 0.0; + out_207229337745545750[135] = 0.0; + out_207229337745545750[136] = 0.0; + out_207229337745545750[137] = 0.0; + out_207229337745545750[138] = 0.0; + out_207229337745545750[139] = 0.0; + out_207229337745545750[140] = 0.0; + out_207229337745545750[141] = 0.0; + out_207229337745545750[142] = 0.0; + out_207229337745545750[143] = 0.0; + out_207229337745545750[144] = 0.0; + out_207229337745545750[145] = 0.0; + out_207229337745545750[146] = 0.0; + out_207229337745545750[147] = 0.0; + out_207229337745545750[148] = 0.0; + out_207229337745545750[149] = 0.0; + out_207229337745545750[150] = 0.0; + out_207229337745545750[151] = 0.0; + out_207229337745545750[152] = 1.0; + out_207229337745545750[153] = 0.0; + out_207229337745545750[154] = 0.0; + out_207229337745545750[155] = 0.0; + out_207229337745545750[156] = 0.0; + out_207229337745545750[157] = 0.0; + out_207229337745545750[158] = 0.0; + out_207229337745545750[159] = 0.0; + out_207229337745545750[160] = 0.0; + out_207229337745545750[161] = 0.0; + out_207229337745545750[162] = 0.0; + out_207229337745545750[163] = 0.0; + out_207229337745545750[164] = 0.0; + out_207229337745545750[165] = 0.0; + out_207229337745545750[166] = 0.0; + out_207229337745545750[167] = 0.0; + out_207229337745545750[168] = 0.0; + out_207229337745545750[169] = 0.0; + out_207229337745545750[170] = 0.0; + out_207229337745545750[171] = 1.0; + out_207229337745545750[172] = 0.0; + out_207229337745545750[173] = 0.0; + out_207229337745545750[174] = 0.0; + out_207229337745545750[175] = 0.0; + out_207229337745545750[176] = 0.0; + out_207229337745545750[177] = 0.0; + out_207229337745545750[178] = 0.0; + out_207229337745545750[179] = 0.0; + out_207229337745545750[180] = 0.0; + out_207229337745545750[181] = 0.0; + out_207229337745545750[182] = 0.0; + out_207229337745545750[183] = 0.0; + out_207229337745545750[184] = 0.0; + out_207229337745545750[185] = 0.0; + out_207229337745545750[186] = 0.0; + out_207229337745545750[187] = 0.0; + out_207229337745545750[188] = 0.0; + out_207229337745545750[189] = 0.0; + out_207229337745545750[190] = 1.0; + out_207229337745545750[191] = 0.0; + out_207229337745545750[192] = 0.0; + out_207229337745545750[193] = 0.0; + out_207229337745545750[194] = 0.0; + out_207229337745545750[195] = 0.0; + out_207229337745545750[196] = 0.0; + out_207229337745545750[197] = 0.0; + out_207229337745545750[198] = 0.0; + out_207229337745545750[199] = 0.0; + out_207229337745545750[200] = 0.0; + out_207229337745545750[201] = 0.0; + out_207229337745545750[202] = 0.0; + out_207229337745545750[203] = 0.0; + out_207229337745545750[204] = 0.0; + out_207229337745545750[205] = 0.0; + out_207229337745545750[206] = 0.0; + out_207229337745545750[207] = 0.0; + out_207229337745545750[208] = 0.0; + out_207229337745545750[209] = 1.0; + out_207229337745545750[210] = 0.0; + out_207229337745545750[211] = 0.0; + out_207229337745545750[212] = 0.0; + out_207229337745545750[213] = 0.0; + out_207229337745545750[214] = 0.0; + out_207229337745545750[215] = 0.0; + out_207229337745545750[216] = 0.0; + out_207229337745545750[217] = 0.0; + out_207229337745545750[218] = 0.0; + out_207229337745545750[219] = 0.0; + out_207229337745545750[220] = 0.0; + out_207229337745545750[221] = 0.0; + out_207229337745545750[222] = 0.0; + out_207229337745545750[223] = 0.0; + out_207229337745545750[224] = 0.0; + out_207229337745545750[225] = 0.0; + out_207229337745545750[226] = 0.0; + out_207229337745545750[227] = 0.0; + out_207229337745545750[228] = 1.0; + out_207229337745545750[229] = 0.0; + out_207229337745545750[230] = 0.0; + out_207229337745545750[231] = 0.0; + out_207229337745545750[232] = 0.0; + out_207229337745545750[233] = 0.0; + out_207229337745545750[234] = 0.0; + out_207229337745545750[235] = 0.0; + out_207229337745545750[236] = 0.0; + out_207229337745545750[237] = 0.0; + out_207229337745545750[238] = 0.0; + out_207229337745545750[239] = 0.0; + out_207229337745545750[240] = 0.0; + out_207229337745545750[241] = 0.0; + out_207229337745545750[242] = 0.0; + out_207229337745545750[243] = 0.0; + out_207229337745545750[244] = 0.0; + out_207229337745545750[245] = 0.0; + out_207229337745545750[246] = 0.0; + out_207229337745545750[247] = 1.0; + out_207229337745545750[248] = 0.0; + out_207229337745545750[249] = 0.0; + out_207229337745545750[250] = 0.0; + out_207229337745545750[251] = 0.0; + out_207229337745545750[252] = 0.0; + out_207229337745545750[253] = 0.0; + out_207229337745545750[254] = 0.0; + out_207229337745545750[255] = 0.0; + out_207229337745545750[256] = 0.0; + out_207229337745545750[257] = 0.0; + out_207229337745545750[258] = 0.0; + out_207229337745545750[259] = 0.0; + out_207229337745545750[260] = 0.0; + out_207229337745545750[261] = 0.0; + out_207229337745545750[262] = 0.0; + out_207229337745545750[263] = 0.0; + out_207229337745545750[264] = 0.0; + out_207229337745545750[265] = 0.0; + out_207229337745545750[266] = 1.0; + out_207229337745545750[267] = 0.0; + out_207229337745545750[268] = 0.0; + out_207229337745545750[269] = 0.0; + out_207229337745545750[270] = 0.0; + out_207229337745545750[271] = 0.0; + out_207229337745545750[272] = 0.0; + out_207229337745545750[273] = 0.0; + out_207229337745545750[274] = 0.0; + out_207229337745545750[275] = 0.0; + out_207229337745545750[276] = 0.0; + out_207229337745545750[277] = 0.0; + out_207229337745545750[278] = 0.0; + out_207229337745545750[279] = 0.0; + out_207229337745545750[280] = 0.0; + out_207229337745545750[281] = 0.0; + out_207229337745545750[282] = 0.0; + out_207229337745545750[283] = 0.0; + out_207229337745545750[284] = 0.0; + out_207229337745545750[285] = 1.0; + out_207229337745545750[286] = 0.0; + out_207229337745545750[287] = 0.0; + out_207229337745545750[288] = 0.0; + out_207229337745545750[289] = 0.0; + out_207229337745545750[290] = 0.0; + out_207229337745545750[291] = 0.0; + out_207229337745545750[292] = 0.0; + out_207229337745545750[293] = 0.0; + out_207229337745545750[294] = 0.0; + out_207229337745545750[295] = 0.0; + out_207229337745545750[296] = 0.0; + out_207229337745545750[297] = 0.0; + out_207229337745545750[298] = 0.0; + out_207229337745545750[299] = 0.0; + out_207229337745545750[300] = 0.0; + out_207229337745545750[301] = 0.0; + out_207229337745545750[302] = 0.0; + out_207229337745545750[303] = 0.0; + out_207229337745545750[304] = 1.0; + out_207229337745545750[305] = 0.0; + out_207229337745545750[306] = 0.0; + out_207229337745545750[307] = 0.0; + out_207229337745545750[308] = 0.0; + out_207229337745545750[309] = 0.0; + out_207229337745545750[310] = 0.0; + out_207229337745545750[311] = 0.0; + out_207229337745545750[312] = 0.0; + out_207229337745545750[313] = 0.0; + out_207229337745545750[314] = 0.0; + out_207229337745545750[315] = 0.0; + out_207229337745545750[316] = 0.0; + out_207229337745545750[317] = 0.0; + out_207229337745545750[318] = 0.0; + out_207229337745545750[319] = 0.0; + out_207229337745545750[320] = 0.0; + out_207229337745545750[321] = 0.0; + out_207229337745545750[322] = 0.0; + out_207229337745545750[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5013225008344736149) { - out_5013225008344736149[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_5013225008344736149[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_5013225008344736149[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_5013225008344736149[3] = dt*state[12] + state[3]; - out_5013225008344736149[4] = dt*state[13] + state[4]; - out_5013225008344736149[5] = dt*state[14] + state[5]; - out_5013225008344736149[6] = state[6]; - out_5013225008344736149[7] = state[7]; - out_5013225008344736149[8] = state[8]; - out_5013225008344736149[9] = state[9]; - out_5013225008344736149[10] = state[10]; - out_5013225008344736149[11] = state[11]; - out_5013225008344736149[12] = state[12]; - out_5013225008344736149[13] = state[13]; - out_5013225008344736149[14] = state[14]; - out_5013225008344736149[15] = state[15]; - out_5013225008344736149[16] = state[16]; - out_5013225008344736149[17] = state[17]; +void f_fun(double *state, double dt, double *out_3493541226789963130) { + out_3493541226789963130[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_3493541226789963130[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_3493541226789963130[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_3493541226789963130[3] = dt*state[12] + state[3]; + out_3493541226789963130[4] = dt*state[13] + state[4]; + out_3493541226789963130[5] = dt*state[14] + state[5]; + out_3493541226789963130[6] = state[6]; + out_3493541226789963130[7] = state[7]; + out_3493541226789963130[8] = state[8]; + out_3493541226789963130[9] = state[9]; + out_3493541226789963130[10] = state[10]; + out_3493541226789963130[11] = state[11]; + out_3493541226789963130[12] = state[12]; + out_3493541226789963130[13] = state[13]; + out_3493541226789963130[14] = state[14]; + out_3493541226789963130[15] = state[15]; + out_3493541226789963130[16] = state[16]; + out_3493541226789963130[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8990818239492707931) { - out_8990818239492707931[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_8990818239492707931[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_8990818239492707931[2] = 0; - out_8990818239492707931[3] = 0; - out_8990818239492707931[4] = 0; - out_8990818239492707931[5] = 0; - out_8990818239492707931[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_8990818239492707931[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_8990818239492707931[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_8990818239492707931[9] = 0; - out_8990818239492707931[10] = 0; - out_8990818239492707931[11] = 0; - out_8990818239492707931[12] = 0; - out_8990818239492707931[13] = 0; - out_8990818239492707931[14] = 0; - out_8990818239492707931[15] = 0; - out_8990818239492707931[16] = 0; - out_8990818239492707931[17] = 0; - out_8990818239492707931[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_8990818239492707931[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_8990818239492707931[20] = 0; - out_8990818239492707931[21] = 0; - out_8990818239492707931[22] = 0; - out_8990818239492707931[23] = 0; - out_8990818239492707931[24] = 0; - out_8990818239492707931[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_8990818239492707931[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_8990818239492707931[27] = 0; - out_8990818239492707931[28] = 0; - out_8990818239492707931[29] = 0; - out_8990818239492707931[30] = 0; - out_8990818239492707931[31] = 0; - out_8990818239492707931[32] = 0; - out_8990818239492707931[33] = 0; - out_8990818239492707931[34] = 0; - out_8990818239492707931[35] = 0; - out_8990818239492707931[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_8990818239492707931[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_8990818239492707931[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_8990818239492707931[39] = 0; - out_8990818239492707931[40] = 0; - out_8990818239492707931[41] = 0; - out_8990818239492707931[42] = 0; - out_8990818239492707931[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_8990818239492707931[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_8990818239492707931[45] = 0; - out_8990818239492707931[46] = 0; - out_8990818239492707931[47] = 0; - out_8990818239492707931[48] = 0; - out_8990818239492707931[49] = 0; - out_8990818239492707931[50] = 0; - out_8990818239492707931[51] = 0; - out_8990818239492707931[52] = 0; - out_8990818239492707931[53] = 0; - out_8990818239492707931[54] = 0; - out_8990818239492707931[55] = 0; - out_8990818239492707931[56] = 0; - out_8990818239492707931[57] = 1; - out_8990818239492707931[58] = 0; - out_8990818239492707931[59] = 0; - out_8990818239492707931[60] = 0; - out_8990818239492707931[61] = 0; - out_8990818239492707931[62] = 0; - out_8990818239492707931[63] = 0; - out_8990818239492707931[64] = 0; - out_8990818239492707931[65] = 0; - out_8990818239492707931[66] = dt; - out_8990818239492707931[67] = 0; - out_8990818239492707931[68] = 0; - out_8990818239492707931[69] = 0; - out_8990818239492707931[70] = 0; - out_8990818239492707931[71] = 0; - out_8990818239492707931[72] = 0; - out_8990818239492707931[73] = 0; - out_8990818239492707931[74] = 0; - out_8990818239492707931[75] = 0; - out_8990818239492707931[76] = 1; - out_8990818239492707931[77] = 0; - out_8990818239492707931[78] = 0; - out_8990818239492707931[79] = 0; - out_8990818239492707931[80] = 0; - out_8990818239492707931[81] = 0; - out_8990818239492707931[82] = 0; - out_8990818239492707931[83] = 0; - out_8990818239492707931[84] = 0; - out_8990818239492707931[85] = dt; - out_8990818239492707931[86] = 0; - out_8990818239492707931[87] = 0; - out_8990818239492707931[88] = 0; - out_8990818239492707931[89] = 0; - out_8990818239492707931[90] = 0; - out_8990818239492707931[91] = 0; - out_8990818239492707931[92] = 0; - out_8990818239492707931[93] = 0; - out_8990818239492707931[94] = 0; - out_8990818239492707931[95] = 1; - out_8990818239492707931[96] = 0; - out_8990818239492707931[97] = 0; - out_8990818239492707931[98] = 0; - out_8990818239492707931[99] = 0; - out_8990818239492707931[100] = 0; - out_8990818239492707931[101] = 0; - out_8990818239492707931[102] = 0; - out_8990818239492707931[103] = 0; - out_8990818239492707931[104] = dt; - out_8990818239492707931[105] = 0; - out_8990818239492707931[106] = 0; - out_8990818239492707931[107] = 0; - out_8990818239492707931[108] = 0; - out_8990818239492707931[109] = 0; - out_8990818239492707931[110] = 0; - out_8990818239492707931[111] = 0; - out_8990818239492707931[112] = 0; - out_8990818239492707931[113] = 0; - out_8990818239492707931[114] = 1; - out_8990818239492707931[115] = 0; - out_8990818239492707931[116] = 0; - out_8990818239492707931[117] = 0; - out_8990818239492707931[118] = 0; - out_8990818239492707931[119] = 0; - out_8990818239492707931[120] = 0; - out_8990818239492707931[121] = 0; - out_8990818239492707931[122] = 0; - out_8990818239492707931[123] = 0; - out_8990818239492707931[124] = 0; - out_8990818239492707931[125] = 0; - out_8990818239492707931[126] = 0; - out_8990818239492707931[127] = 0; - out_8990818239492707931[128] = 0; - out_8990818239492707931[129] = 0; - out_8990818239492707931[130] = 0; - out_8990818239492707931[131] = 0; - out_8990818239492707931[132] = 0; - out_8990818239492707931[133] = 1; - out_8990818239492707931[134] = 0; - out_8990818239492707931[135] = 0; - out_8990818239492707931[136] = 0; - out_8990818239492707931[137] = 0; - out_8990818239492707931[138] = 0; - out_8990818239492707931[139] = 0; - out_8990818239492707931[140] = 0; - out_8990818239492707931[141] = 0; - out_8990818239492707931[142] = 0; - out_8990818239492707931[143] = 0; - out_8990818239492707931[144] = 0; - out_8990818239492707931[145] = 0; - out_8990818239492707931[146] = 0; - out_8990818239492707931[147] = 0; - out_8990818239492707931[148] = 0; - out_8990818239492707931[149] = 0; - out_8990818239492707931[150] = 0; - out_8990818239492707931[151] = 0; - out_8990818239492707931[152] = 1; - out_8990818239492707931[153] = 0; - out_8990818239492707931[154] = 0; - out_8990818239492707931[155] = 0; - out_8990818239492707931[156] = 0; - out_8990818239492707931[157] = 0; - out_8990818239492707931[158] = 0; - out_8990818239492707931[159] = 0; - out_8990818239492707931[160] = 0; - out_8990818239492707931[161] = 0; - out_8990818239492707931[162] = 0; - out_8990818239492707931[163] = 0; - out_8990818239492707931[164] = 0; - out_8990818239492707931[165] = 0; - out_8990818239492707931[166] = 0; - out_8990818239492707931[167] = 0; - out_8990818239492707931[168] = 0; - out_8990818239492707931[169] = 0; - out_8990818239492707931[170] = 0; - out_8990818239492707931[171] = 1; - out_8990818239492707931[172] = 0; - out_8990818239492707931[173] = 0; - out_8990818239492707931[174] = 0; - out_8990818239492707931[175] = 0; - out_8990818239492707931[176] = 0; - out_8990818239492707931[177] = 0; - out_8990818239492707931[178] = 0; - out_8990818239492707931[179] = 0; - out_8990818239492707931[180] = 0; - out_8990818239492707931[181] = 0; - out_8990818239492707931[182] = 0; - out_8990818239492707931[183] = 0; - out_8990818239492707931[184] = 0; - out_8990818239492707931[185] = 0; - out_8990818239492707931[186] = 0; - out_8990818239492707931[187] = 0; - out_8990818239492707931[188] = 0; - out_8990818239492707931[189] = 0; - out_8990818239492707931[190] = 1; - out_8990818239492707931[191] = 0; - out_8990818239492707931[192] = 0; - out_8990818239492707931[193] = 0; - out_8990818239492707931[194] = 0; - out_8990818239492707931[195] = 0; - out_8990818239492707931[196] = 0; - out_8990818239492707931[197] = 0; - out_8990818239492707931[198] = 0; - out_8990818239492707931[199] = 0; - out_8990818239492707931[200] = 0; - out_8990818239492707931[201] = 0; - out_8990818239492707931[202] = 0; - out_8990818239492707931[203] = 0; - out_8990818239492707931[204] = 0; - out_8990818239492707931[205] = 0; - out_8990818239492707931[206] = 0; - out_8990818239492707931[207] = 0; - out_8990818239492707931[208] = 0; - out_8990818239492707931[209] = 1; - out_8990818239492707931[210] = 0; - out_8990818239492707931[211] = 0; - out_8990818239492707931[212] = 0; - out_8990818239492707931[213] = 0; - out_8990818239492707931[214] = 0; - out_8990818239492707931[215] = 0; - out_8990818239492707931[216] = 0; - out_8990818239492707931[217] = 0; - out_8990818239492707931[218] = 0; - out_8990818239492707931[219] = 0; - out_8990818239492707931[220] = 0; - out_8990818239492707931[221] = 0; - out_8990818239492707931[222] = 0; - out_8990818239492707931[223] = 0; - out_8990818239492707931[224] = 0; - out_8990818239492707931[225] = 0; - out_8990818239492707931[226] = 0; - out_8990818239492707931[227] = 0; - out_8990818239492707931[228] = 1; - out_8990818239492707931[229] = 0; - out_8990818239492707931[230] = 0; - out_8990818239492707931[231] = 0; - out_8990818239492707931[232] = 0; - out_8990818239492707931[233] = 0; - out_8990818239492707931[234] = 0; - out_8990818239492707931[235] = 0; - out_8990818239492707931[236] = 0; - out_8990818239492707931[237] = 0; - out_8990818239492707931[238] = 0; - out_8990818239492707931[239] = 0; - out_8990818239492707931[240] = 0; - out_8990818239492707931[241] = 0; - out_8990818239492707931[242] = 0; - out_8990818239492707931[243] = 0; - out_8990818239492707931[244] = 0; - out_8990818239492707931[245] = 0; - out_8990818239492707931[246] = 0; - out_8990818239492707931[247] = 1; - out_8990818239492707931[248] = 0; - out_8990818239492707931[249] = 0; - out_8990818239492707931[250] = 0; - out_8990818239492707931[251] = 0; - out_8990818239492707931[252] = 0; - out_8990818239492707931[253] = 0; - out_8990818239492707931[254] = 0; - out_8990818239492707931[255] = 0; - out_8990818239492707931[256] = 0; - out_8990818239492707931[257] = 0; - out_8990818239492707931[258] = 0; - out_8990818239492707931[259] = 0; - out_8990818239492707931[260] = 0; - out_8990818239492707931[261] = 0; - out_8990818239492707931[262] = 0; - out_8990818239492707931[263] = 0; - out_8990818239492707931[264] = 0; - out_8990818239492707931[265] = 0; - out_8990818239492707931[266] = 1; - out_8990818239492707931[267] = 0; - out_8990818239492707931[268] = 0; - out_8990818239492707931[269] = 0; - out_8990818239492707931[270] = 0; - out_8990818239492707931[271] = 0; - out_8990818239492707931[272] = 0; - out_8990818239492707931[273] = 0; - out_8990818239492707931[274] = 0; - out_8990818239492707931[275] = 0; - out_8990818239492707931[276] = 0; - out_8990818239492707931[277] = 0; - out_8990818239492707931[278] = 0; - out_8990818239492707931[279] = 0; - out_8990818239492707931[280] = 0; - out_8990818239492707931[281] = 0; - out_8990818239492707931[282] = 0; - out_8990818239492707931[283] = 0; - out_8990818239492707931[284] = 0; - out_8990818239492707931[285] = 1; - out_8990818239492707931[286] = 0; - out_8990818239492707931[287] = 0; - out_8990818239492707931[288] = 0; - out_8990818239492707931[289] = 0; - out_8990818239492707931[290] = 0; - out_8990818239492707931[291] = 0; - out_8990818239492707931[292] = 0; - out_8990818239492707931[293] = 0; - out_8990818239492707931[294] = 0; - out_8990818239492707931[295] = 0; - out_8990818239492707931[296] = 0; - out_8990818239492707931[297] = 0; - out_8990818239492707931[298] = 0; - out_8990818239492707931[299] = 0; - out_8990818239492707931[300] = 0; - out_8990818239492707931[301] = 0; - out_8990818239492707931[302] = 0; - out_8990818239492707931[303] = 0; - out_8990818239492707931[304] = 1; - out_8990818239492707931[305] = 0; - out_8990818239492707931[306] = 0; - out_8990818239492707931[307] = 0; - out_8990818239492707931[308] = 0; - out_8990818239492707931[309] = 0; - out_8990818239492707931[310] = 0; - out_8990818239492707931[311] = 0; - out_8990818239492707931[312] = 0; - out_8990818239492707931[313] = 0; - out_8990818239492707931[314] = 0; - out_8990818239492707931[315] = 0; - out_8990818239492707931[316] = 0; - out_8990818239492707931[317] = 0; - out_8990818239492707931[318] = 0; - out_8990818239492707931[319] = 0; - out_8990818239492707931[320] = 0; - out_8990818239492707931[321] = 0; - out_8990818239492707931[322] = 0; - out_8990818239492707931[323] = 1; +void F_fun(double *state, double dt, double *out_5154051058888586616) { + out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[2] = 0; + out_5154051058888586616[3] = 0; + out_5154051058888586616[4] = 0; + out_5154051058888586616[5] = 0; + out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[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_5154051058888586616[9] = 0; + out_5154051058888586616[10] = 0; + out_5154051058888586616[11] = 0; + out_5154051058888586616[12] = 0; + out_5154051058888586616[13] = 0; + out_5154051058888586616[14] = 0; + out_5154051058888586616[15] = 0; + out_5154051058888586616[16] = 0; + out_5154051058888586616[17] = 0; + out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[20] = 0; + out_5154051058888586616[21] = 0; + out_5154051058888586616[22] = 0; + out_5154051058888586616[23] = 0; + out_5154051058888586616[24] = 0; + out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[27] = 0; + out_5154051058888586616[28] = 0; + out_5154051058888586616[29] = 0; + out_5154051058888586616[30] = 0; + out_5154051058888586616[31] = 0; + out_5154051058888586616[32] = 0; + out_5154051058888586616[33] = 0; + out_5154051058888586616[34] = 0; + out_5154051058888586616[35] = 0; + out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[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_5154051058888586616[39] = 0; + out_5154051058888586616[40] = 0; + out_5154051058888586616[41] = 0; + out_5154051058888586616[42] = 0; + out_5154051058888586616[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_5154051058888586616[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_5154051058888586616[45] = 0; + out_5154051058888586616[46] = 0; + out_5154051058888586616[47] = 0; + out_5154051058888586616[48] = 0; + out_5154051058888586616[49] = 0; + out_5154051058888586616[50] = 0; + out_5154051058888586616[51] = 0; + out_5154051058888586616[52] = 0; + out_5154051058888586616[53] = 0; + out_5154051058888586616[54] = 0; + out_5154051058888586616[55] = 0; + out_5154051058888586616[56] = 0; + out_5154051058888586616[57] = 1; + out_5154051058888586616[58] = 0; + out_5154051058888586616[59] = 0; + out_5154051058888586616[60] = 0; + out_5154051058888586616[61] = 0; + out_5154051058888586616[62] = 0; + out_5154051058888586616[63] = 0; + out_5154051058888586616[64] = 0; + out_5154051058888586616[65] = 0; + out_5154051058888586616[66] = dt; + out_5154051058888586616[67] = 0; + out_5154051058888586616[68] = 0; + out_5154051058888586616[69] = 0; + out_5154051058888586616[70] = 0; + out_5154051058888586616[71] = 0; + out_5154051058888586616[72] = 0; + out_5154051058888586616[73] = 0; + out_5154051058888586616[74] = 0; + out_5154051058888586616[75] = 0; + out_5154051058888586616[76] = 1; + out_5154051058888586616[77] = 0; + out_5154051058888586616[78] = 0; + out_5154051058888586616[79] = 0; + out_5154051058888586616[80] = 0; + out_5154051058888586616[81] = 0; + out_5154051058888586616[82] = 0; + out_5154051058888586616[83] = 0; + out_5154051058888586616[84] = 0; + out_5154051058888586616[85] = dt; + out_5154051058888586616[86] = 0; + out_5154051058888586616[87] = 0; + out_5154051058888586616[88] = 0; + out_5154051058888586616[89] = 0; + out_5154051058888586616[90] = 0; + out_5154051058888586616[91] = 0; + out_5154051058888586616[92] = 0; + out_5154051058888586616[93] = 0; + out_5154051058888586616[94] = 0; + out_5154051058888586616[95] = 1; + out_5154051058888586616[96] = 0; + out_5154051058888586616[97] = 0; + out_5154051058888586616[98] = 0; + out_5154051058888586616[99] = 0; + out_5154051058888586616[100] = 0; + out_5154051058888586616[101] = 0; + out_5154051058888586616[102] = 0; + out_5154051058888586616[103] = 0; + out_5154051058888586616[104] = dt; + out_5154051058888586616[105] = 0; + out_5154051058888586616[106] = 0; + out_5154051058888586616[107] = 0; + out_5154051058888586616[108] = 0; + out_5154051058888586616[109] = 0; + out_5154051058888586616[110] = 0; + out_5154051058888586616[111] = 0; + out_5154051058888586616[112] = 0; + out_5154051058888586616[113] = 0; + out_5154051058888586616[114] = 1; + out_5154051058888586616[115] = 0; + out_5154051058888586616[116] = 0; + out_5154051058888586616[117] = 0; + out_5154051058888586616[118] = 0; + out_5154051058888586616[119] = 0; + out_5154051058888586616[120] = 0; + out_5154051058888586616[121] = 0; + out_5154051058888586616[122] = 0; + out_5154051058888586616[123] = 0; + out_5154051058888586616[124] = 0; + out_5154051058888586616[125] = 0; + out_5154051058888586616[126] = 0; + out_5154051058888586616[127] = 0; + out_5154051058888586616[128] = 0; + out_5154051058888586616[129] = 0; + out_5154051058888586616[130] = 0; + out_5154051058888586616[131] = 0; + out_5154051058888586616[132] = 0; + out_5154051058888586616[133] = 1; + out_5154051058888586616[134] = 0; + out_5154051058888586616[135] = 0; + out_5154051058888586616[136] = 0; + out_5154051058888586616[137] = 0; + out_5154051058888586616[138] = 0; + out_5154051058888586616[139] = 0; + out_5154051058888586616[140] = 0; + out_5154051058888586616[141] = 0; + out_5154051058888586616[142] = 0; + out_5154051058888586616[143] = 0; + out_5154051058888586616[144] = 0; + out_5154051058888586616[145] = 0; + out_5154051058888586616[146] = 0; + out_5154051058888586616[147] = 0; + out_5154051058888586616[148] = 0; + out_5154051058888586616[149] = 0; + out_5154051058888586616[150] = 0; + out_5154051058888586616[151] = 0; + out_5154051058888586616[152] = 1; + out_5154051058888586616[153] = 0; + out_5154051058888586616[154] = 0; + out_5154051058888586616[155] = 0; + out_5154051058888586616[156] = 0; + out_5154051058888586616[157] = 0; + out_5154051058888586616[158] = 0; + out_5154051058888586616[159] = 0; + out_5154051058888586616[160] = 0; + out_5154051058888586616[161] = 0; + out_5154051058888586616[162] = 0; + out_5154051058888586616[163] = 0; + out_5154051058888586616[164] = 0; + out_5154051058888586616[165] = 0; + out_5154051058888586616[166] = 0; + out_5154051058888586616[167] = 0; + out_5154051058888586616[168] = 0; + out_5154051058888586616[169] = 0; + out_5154051058888586616[170] = 0; + out_5154051058888586616[171] = 1; + out_5154051058888586616[172] = 0; + out_5154051058888586616[173] = 0; + out_5154051058888586616[174] = 0; + out_5154051058888586616[175] = 0; + out_5154051058888586616[176] = 0; + out_5154051058888586616[177] = 0; + out_5154051058888586616[178] = 0; + out_5154051058888586616[179] = 0; + out_5154051058888586616[180] = 0; + out_5154051058888586616[181] = 0; + out_5154051058888586616[182] = 0; + out_5154051058888586616[183] = 0; + out_5154051058888586616[184] = 0; + out_5154051058888586616[185] = 0; + out_5154051058888586616[186] = 0; + out_5154051058888586616[187] = 0; + out_5154051058888586616[188] = 0; + out_5154051058888586616[189] = 0; + out_5154051058888586616[190] = 1; + out_5154051058888586616[191] = 0; + out_5154051058888586616[192] = 0; + out_5154051058888586616[193] = 0; + out_5154051058888586616[194] = 0; + out_5154051058888586616[195] = 0; + out_5154051058888586616[196] = 0; + out_5154051058888586616[197] = 0; + out_5154051058888586616[198] = 0; + out_5154051058888586616[199] = 0; + out_5154051058888586616[200] = 0; + out_5154051058888586616[201] = 0; + out_5154051058888586616[202] = 0; + out_5154051058888586616[203] = 0; + out_5154051058888586616[204] = 0; + out_5154051058888586616[205] = 0; + out_5154051058888586616[206] = 0; + out_5154051058888586616[207] = 0; + out_5154051058888586616[208] = 0; + out_5154051058888586616[209] = 1; + out_5154051058888586616[210] = 0; + out_5154051058888586616[211] = 0; + out_5154051058888586616[212] = 0; + out_5154051058888586616[213] = 0; + out_5154051058888586616[214] = 0; + out_5154051058888586616[215] = 0; + out_5154051058888586616[216] = 0; + out_5154051058888586616[217] = 0; + out_5154051058888586616[218] = 0; + out_5154051058888586616[219] = 0; + out_5154051058888586616[220] = 0; + out_5154051058888586616[221] = 0; + out_5154051058888586616[222] = 0; + out_5154051058888586616[223] = 0; + out_5154051058888586616[224] = 0; + out_5154051058888586616[225] = 0; + out_5154051058888586616[226] = 0; + out_5154051058888586616[227] = 0; + out_5154051058888586616[228] = 1; + out_5154051058888586616[229] = 0; + out_5154051058888586616[230] = 0; + out_5154051058888586616[231] = 0; + out_5154051058888586616[232] = 0; + out_5154051058888586616[233] = 0; + out_5154051058888586616[234] = 0; + out_5154051058888586616[235] = 0; + out_5154051058888586616[236] = 0; + out_5154051058888586616[237] = 0; + out_5154051058888586616[238] = 0; + out_5154051058888586616[239] = 0; + out_5154051058888586616[240] = 0; + out_5154051058888586616[241] = 0; + out_5154051058888586616[242] = 0; + out_5154051058888586616[243] = 0; + out_5154051058888586616[244] = 0; + out_5154051058888586616[245] = 0; + out_5154051058888586616[246] = 0; + out_5154051058888586616[247] = 1; + out_5154051058888586616[248] = 0; + out_5154051058888586616[249] = 0; + out_5154051058888586616[250] = 0; + out_5154051058888586616[251] = 0; + out_5154051058888586616[252] = 0; + out_5154051058888586616[253] = 0; + out_5154051058888586616[254] = 0; + out_5154051058888586616[255] = 0; + out_5154051058888586616[256] = 0; + out_5154051058888586616[257] = 0; + out_5154051058888586616[258] = 0; + out_5154051058888586616[259] = 0; + out_5154051058888586616[260] = 0; + out_5154051058888586616[261] = 0; + out_5154051058888586616[262] = 0; + out_5154051058888586616[263] = 0; + out_5154051058888586616[264] = 0; + out_5154051058888586616[265] = 0; + out_5154051058888586616[266] = 1; + out_5154051058888586616[267] = 0; + out_5154051058888586616[268] = 0; + out_5154051058888586616[269] = 0; + out_5154051058888586616[270] = 0; + out_5154051058888586616[271] = 0; + out_5154051058888586616[272] = 0; + out_5154051058888586616[273] = 0; + out_5154051058888586616[274] = 0; + out_5154051058888586616[275] = 0; + out_5154051058888586616[276] = 0; + out_5154051058888586616[277] = 0; + out_5154051058888586616[278] = 0; + out_5154051058888586616[279] = 0; + out_5154051058888586616[280] = 0; + out_5154051058888586616[281] = 0; + out_5154051058888586616[282] = 0; + out_5154051058888586616[283] = 0; + out_5154051058888586616[284] = 0; + out_5154051058888586616[285] = 1; + out_5154051058888586616[286] = 0; + out_5154051058888586616[287] = 0; + out_5154051058888586616[288] = 0; + out_5154051058888586616[289] = 0; + out_5154051058888586616[290] = 0; + out_5154051058888586616[291] = 0; + out_5154051058888586616[292] = 0; + out_5154051058888586616[293] = 0; + out_5154051058888586616[294] = 0; + out_5154051058888586616[295] = 0; + out_5154051058888586616[296] = 0; + out_5154051058888586616[297] = 0; + out_5154051058888586616[298] = 0; + out_5154051058888586616[299] = 0; + out_5154051058888586616[300] = 0; + out_5154051058888586616[301] = 0; + out_5154051058888586616[302] = 0; + out_5154051058888586616[303] = 0; + out_5154051058888586616[304] = 1; + out_5154051058888586616[305] = 0; + out_5154051058888586616[306] = 0; + out_5154051058888586616[307] = 0; + out_5154051058888586616[308] = 0; + out_5154051058888586616[309] = 0; + out_5154051058888586616[310] = 0; + out_5154051058888586616[311] = 0; + out_5154051058888586616[312] = 0; + out_5154051058888586616[313] = 0; + out_5154051058888586616[314] = 0; + out_5154051058888586616[315] = 0; + out_5154051058888586616[316] = 0; + out_5154051058888586616[317] = 0; + out_5154051058888586616[318] = 0; + out_5154051058888586616[319] = 0; + out_5154051058888586616[320] = 0; + out_5154051058888586616[321] = 0; + out_5154051058888586616[322] = 0; + out_5154051058888586616[323] = 1; } -void h_4(double *state, double *unused, double *out_4553534383789500912) { - out_4553534383789500912[0] = state[6] + state[9]; - out_4553534383789500912[1] = state[7] + state[10]; - out_4553534383789500912[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5970382648807117116) { + out_5970382648807117116[0] = state[6] + state[9]; + out_5970382648807117116[1] = state[7] + state[10]; + out_5970382648807117116[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_637472039154741501) { - out_637472039154741501[0] = 0; - out_637472039154741501[1] = 0; - out_637472039154741501[2] = 0; - out_637472039154741501[3] = 0; - out_637472039154741501[4] = 0; - out_637472039154741501[5] = 0; - out_637472039154741501[6] = 1; - out_637472039154741501[7] = 0; - out_637472039154741501[8] = 0; - out_637472039154741501[9] = 1; - out_637472039154741501[10] = 0; - out_637472039154741501[11] = 0; - out_637472039154741501[12] = 0; - out_637472039154741501[13] = 0; - out_637472039154741501[14] = 0; - out_637472039154741501[15] = 0; - out_637472039154741501[16] = 0; - out_637472039154741501[17] = 0; - out_637472039154741501[18] = 0; - out_637472039154741501[19] = 0; - out_637472039154741501[20] = 0; - out_637472039154741501[21] = 0; - out_637472039154741501[22] = 0; - out_637472039154741501[23] = 0; - out_637472039154741501[24] = 0; - out_637472039154741501[25] = 1; - out_637472039154741501[26] = 0; - out_637472039154741501[27] = 0; - out_637472039154741501[28] = 1; - out_637472039154741501[29] = 0; - out_637472039154741501[30] = 0; - out_637472039154741501[31] = 0; - out_637472039154741501[32] = 0; - out_637472039154741501[33] = 0; - out_637472039154741501[34] = 0; - out_637472039154741501[35] = 0; - out_637472039154741501[36] = 0; - out_637472039154741501[37] = 0; - out_637472039154741501[38] = 0; - out_637472039154741501[39] = 0; - out_637472039154741501[40] = 0; - out_637472039154741501[41] = 0; - out_637472039154741501[42] = 0; - out_637472039154741501[43] = 0; - out_637472039154741501[44] = 1; - out_637472039154741501[45] = 0; - out_637472039154741501[46] = 0; - out_637472039154741501[47] = 1; - out_637472039154741501[48] = 0; - out_637472039154741501[49] = 0; - out_637472039154741501[50] = 0; - out_637472039154741501[51] = 0; - out_637472039154741501[52] = 0; - out_637472039154741501[53] = 0; +void H_4(double *state, double *unused, double *out_4945289047293534985) { + out_4945289047293534985[0] = 0; + out_4945289047293534985[1] = 0; + out_4945289047293534985[2] = 0; + out_4945289047293534985[3] = 0; + out_4945289047293534985[4] = 0; + out_4945289047293534985[5] = 0; + out_4945289047293534985[6] = 1; + out_4945289047293534985[7] = 0; + out_4945289047293534985[8] = 0; + out_4945289047293534985[9] = 1; + out_4945289047293534985[10] = 0; + out_4945289047293534985[11] = 0; + out_4945289047293534985[12] = 0; + out_4945289047293534985[13] = 0; + out_4945289047293534985[14] = 0; + out_4945289047293534985[15] = 0; + out_4945289047293534985[16] = 0; + out_4945289047293534985[17] = 0; + out_4945289047293534985[18] = 0; + out_4945289047293534985[19] = 0; + out_4945289047293534985[20] = 0; + out_4945289047293534985[21] = 0; + out_4945289047293534985[22] = 0; + out_4945289047293534985[23] = 0; + out_4945289047293534985[24] = 0; + out_4945289047293534985[25] = 1; + out_4945289047293534985[26] = 0; + out_4945289047293534985[27] = 0; + out_4945289047293534985[28] = 1; + out_4945289047293534985[29] = 0; + out_4945289047293534985[30] = 0; + out_4945289047293534985[31] = 0; + out_4945289047293534985[32] = 0; + out_4945289047293534985[33] = 0; + out_4945289047293534985[34] = 0; + out_4945289047293534985[35] = 0; + out_4945289047293534985[36] = 0; + out_4945289047293534985[37] = 0; + out_4945289047293534985[38] = 0; + out_4945289047293534985[39] = 0; + out_4945289047293534985[40] = 0; + out_4945289047293534985[41] = 0; + out_4945289047293534985[42] = 0; + out_4945289047293534985[43] = 0; + out_4945289047293534985[44] = 1; + out_4945289047293534985[45] = 0; + out_4945289047293534985[46] = 0; + out_4945289047293534985[47] = 1; + out_4945289047293534985[48] = 0; + out_4945289047293534985[49] = 0; + out_4945289047293534985[50] = 0; + out_4945289047293534985[51] = 0; + out_4945289047293534985[52] = 0; + out_4945289047293534985[53] = 0; } -void h_10(double *state, double *unused, double *out_5896232866039695568) { - out_5896232866039695568[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5896232866039695568[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5896232866039695568[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_520088425664385209) { + out_520088425664385209[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_520088425664385209[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_520088425664385209[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_6470002192212990620) { - out_6470002192212990620[0] = 0; - out_6470002192212990620[1] = 9.8100000000000005*cos(state[1]); - out_6470002192212990620[2] = 0; - out_6470002192212990620[3] = 0; - out_6470002192212990620[4] = -state[8]; - out_6470002192212990620[5] = state[7]; - out_6470002192212990620[6] = 0; - out_6470002192212990620[7] = state[5]; - out_6470002192212990620[8] = -state[4]; - out_6470002192212990620[9] = 0; - out_6470002192212990620[10] = 0; - out_6470002192212990620[11] = 0; - out_6470002192212990620[12] = 1; - out_6470002192212990620[13] = 0; - out_6470002192212990620[14] = 0; - out_6470002192212990620[15] = 1; - out_6470002192212990620[16] = 0; - out_6470002192212990620[17] = 0; - out_6470002192212990620[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6470002192212990620[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6470002192212990620[20] = 0; - out_6470002192212990620[21] = state[8]; - out_6470002192212990620[22] = 0; - out_6470002192212990620[23] = -state[6]; - out_6470002192212990620[24] = -state[5]; - out_6470002192212990620[25] = 0; - out_6470002192212990620[26] = state[3]; - out_6470002192212990620[27] = 0; - out_6470002192212990620[28] = 0; - out_6470002192212990620[29] = 0; - out_6470002192212990620[30] = 0; - out_6470002192212990620[31] = 1; - out_6470002192212990620[32] = 0; - out_6470002192212990620[33] = 0; - out_6470002192212990620[34] = 1; - out_6470002192212990620[35] = 0; - out_6470002192212990620[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6470002192212990620[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6470002192212990620[38] = 0; - out_6470002192212990620[39] = -state[7]; - out_6470002192212990620[40] = state[6]; - out_6470002192212990620[41] = 0; - out_6470002192212990620[42] = state[4]; - out_6470002192212990620[43] = -state[3]; - out_6470002192212990620[44] = 0; - out_6470002192212990620[45] = 0; - out_6470002192212990620[46] = 0; - out_6470002192212990620[47] = 0; - out_6470002192212990620[48] = 0; - out_6470002192212990620[49] = 0; - out_6470002192212990620[50] = 1; - out_6470002192212990620[51] = 0; - out_6470002192212990620[52] = 0; - out_6470002192212990620[53] = 1; +void H_10(double *state, double *unused, double *out_4050335309714945768) { + out_4050335309714945768[0] = 0; + out_4050335309714945768[1] = 9.8100000000000005*cos(state[1]); + out_4050335309714945768[2] = 0; + out_4050335309714945768[3] = 0; + out_4050335309714945768[4] = -state[8]; + out_4050335309714945768[5] = state[7]; + out_4050335309714945768[6] = 0; + out_4050335309714945768[7] = state[5]; + out_4050335309714945768[8] = -state[4]; + out_4050335309714945768[9] = 0; + out_4050335309714945768[10] = 0; + out_4050335309714945768[11] = 0; + out_4050335309714945768[12] = 1; + out_4050335309714945768[13] = 0; + out_4050335309714945768[14] = 0; + out_4050335309714945768[15] = 1; + out_4050335309714945768[16] = 0; + out_4050335309714945768[17] = 0; + out_4050335309714945768[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4050335309714945768[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4050335309714945768[20] = 0; + out_4050335309714945768[21] = state[8]; + out_4050335309714945768[22] = 0; + out_4050335309714945768[23] = -state[6]; + out_4050335309714945768[24] = -state[5]; + out_4050335309714945768[25] = 0; + out_4050335309714945768[26] = state[3]; + out_4050335309714945768[27] = 0; + out_4050335309714945768[28] = 0; + out_4050335309714945768[29] = 0; + out_4050335309714945768[30] = 0; + out_4050335309714945768[31] = 1; + out_4050335309714945768[32] = 0; + out_4050335309714945768[33] = 0; + out_4050335309714945768[34] = 1; + out_4050335309714945768[35] = 0; + out_4050335309714945768[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4050335309714945768[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4050335309714945768[38] = 0; + out_4050335309714945768[39] = -state[7]; + out_4050335309714945768[40] = state[6]; + out_4050335309714945768[41] = 0; + out_4050335309714945768[42] = state[4]; + out_4050335309714945768[43] = -state[3]; + out_4050335309714945768[44] = 0; + out_4050335309714945768[45] = 0; + out_4050335309714945768[46] = 0; + out_4050335309714945768[47] = 0; + out_4050335309714945768[48] = 0; + out_4050335309714945768[49] = 0; + out_4050335309714945768[50] = 1; + out_4050335309714945768[51] = 0; + out_4050335309714945768[52] = 0; + out_4050335309714945768[53] = 1; } -void h_13(double *state, double *unused, double *out_5564060116117934481) { - out_5564060116117934481[0] = state[3]; - out_5564060116117934481[1] = state[4]; - out_5564060116117934481[2] = state[5]; +void h_13(double *state, double *unused, double *out_1434579794425570866) { + out_1434579794425570866[0] = state[3]; + out_1434579794425570866[1] = state[4]; + out_1434579794425570866[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2574801786177591300) { - out_2574801786177591300[0] = 0; - out_2574801786177591300[1] = 0; - out_2574801786177591300[2] = 0; - out_2574801786177591300[3] = 1; - out_2574801786177591300[4] = 0; - out_2574801786177591300[5] = 0; - out_2574801786177591300[6] = 0; - out_2574801786177591300[7] = 0; - out_2574801786177591300[8] = 0; - out_2574801786177591300[9] = 0; - out_2574801786177591300[10] = 0; - out_2574801786177591300[11] = 0; - out_2574801786177591300[12] = 0; - out_2574801786177591300[13] = 0; - out_2574801786177591300[14] = 0; - out_2574801786177591300[15] = 0; - out_2574801786177591300[16] = 0; - out_2574801786177591300[17] = 0; - out_2574801786177591300[18] = 0; - out_2574801786177591300[19] = 0; - out_2574801786177591300[20] = 0; - out_2574801786177591300[21] = 0; - out_2574801786177591300[22] = 1; - out_2574801786177591300[23] = 0; - out_2574801786177591300[24] = 0; - out_2574801786177591300[25] = 0; - out_2574801786177591300[26] = 0; - out_2574801786177591300[27] = 0; - out_2574801786177591300[28] = 0; - out_2574801786177591300[29] = 0; - out_2574801786177591300[30] = 0; - out_2574801786177591300[31] = 0; - out_2574801786177591300[32] = 0; - out_2574801786177591300[33] = 0; - out_2574801786177591300[34] = 0; - out_2574801786177591300[35] = 0; - out_2574801786177591300[36] = 0; - out_2574801786177591300[37] = 0; - out_2574801786177591300[38] = 0; - out_2574801786177591300[39] = 0; - out_2574801786177591300[40] = 0; - out_2574801786177591300[41] = 1; - out_2574801786177591300[42] = 0; - out_2574801786177591300[43] = 0; - out_2574801786177591300[44] = 0; - out_2574801786177591300[45] = 0; - out_2574801786177591300[46] = 0; - out_2574801786177591300[47] = 0; - out_2574801786177591300[48] = 0; - out_2574801786177591300[49] = 0; - out_2574801786177591300[50] = 0; - out_2574801786177591300[51] = 0; - out_2574801786177591300[52] = 0; - out_2574801786177591300[53] = 0; +void H_13(double *state, double *unused, double *out_1111533583991010961) { + out_1111533583991010961[0] = 0; + out_1111533583991010961[1] = 0; + out_1111533583991010961[2] = 0; + out_1111533583991010961[3] = 1; + out_1111533583991010961[4] = 0; + out_1111533583991010961[5] = 0; + out_1111533583991010961[6] = 0; + out_1111533583991010961[7] = 0; + out_1111533583991010961[8] = 0; + out_1111533583991010961[9] = 0; + out_1111533583991010961[10] = 0; + out_1111533583991010961[11] = 0; + out_1111533583991010961[12] = 0; + out_1111533583991010961[13] = 0; + out_1111533583991010961[14] = 0; + out_1111533583991010961[15] = 0; + out_1111533583991010961[16] = 0; + out_1111533583991010961[17] = 0; + out_1111533583991010961[18] = 0; + out_1111533583991010961[19] = 0; + out_1111533583991010961[20] = 0; + out_1111533583991010961[21] = 0; + out_1111533583991010961[22] = 1; + out_1111533583991010961[23] = 0; + out_1111533583991010961[24] = 0; + out_1111533583991010961[25] = 0; + out_1111533583991010961[26] = 0; + out_1111533583991010961[27] = 0; + out_1111533583991010961[28] = 0; + out_1111533583991010961[29] = 0; + out_1111533583991010961[30] = 0; + out_1111533583991010961[31] = 0; + out_1111533583991010961[32] = 0; + out_1111533583991010961[33] = 0; + out_1111533583991010961[34] = 0; + out_1111533583991010961[35] = 0; + out_1111533583991010961[36] = 0; + out_1111533583991010961[37] = 0; + out_1111533583991010961[38] = 0; + out_1111533583991010961[39] = 0; + out_1111533583991010961[40] = 0; + out_1111533583991010961[41] = 1; + out_1111533583991010961[42] = 0; + out_1111533583991010961[43] = 0; + out_1111533583991010961[44] = 0; + out_1111533583991010961[45] = 0; + out_1111533583991010961[46] = 0; + out_1111533583991010961[47] = 0; + out_1111533583991010961[48] = 0; + out_1111533583991010961[49] = 0; + out_1111533583991010961[50] = 0; + out_1111533583991010961[51] = 0; + out_1111533583991010961[52] = 0; + out_1111533583991010961[53] = 0; } -void h_14(double *state, double *unused, double *out_9129729305013669813) { - out_9129729305013669813[0] = state[6]; - out_9129729305013669813[1] = state[7]; - out_9129729305013669813[2] = state[8]; +void h_14(double *state, double *unused, double *out_5370135948753942539) { + out_5370135948753942539[0] = state[6]; + out_5370135948753942539[1] = state[7]; + out_5370135948753942539[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3325768817184743028) { - out_3325768817184743028[0] = 0; - out_3325768817184743028[1] = 0; - out_3325768817184743028[2] = 0; - out_3325768817184743028[3] = 0; - out_3325768817184743028[4] = 0; - out_3325768817184743028[5] = 0; - out_3325768817184743028[6] = 1; - out_3325768817184743028[7] = 0; - out_3325768817184743028[8] = 0; - out_3325768817184743028[9] = 0; - out_3325768817184743028[10] = 0; - out_3325768817184743028[11] = 0; - out_3325768817184743028[12] = 0; - out_3325768817184743028[13] = 0; - out_3325768817184743028[14] = 0; - out_3325768817184743028[15] = 0; - out_3325768817184743028[16] = 0; - out_3325768817184743028[17] = 0; - out_3325768817184743028[18] = 0; - out_3325768817184743028[19] = 0; - out_3325768817184743028[20] = 0; - out_3325768817184743028[21] = 0; - out_3325768817184743028[22] = 0; - out_3325768817184743028[23] = 0; - out_3325768817184743028[24] = 0; - out_3325768817184743028[25] = 1; - out_3325768817184743028[26] = 0; - out_3325768817184743028[27] = 0; - out_3325768817184743028[28] = 0; - out_3325768817184743028[29] = 0; - out_3325768817184743028[30] = 0; - out_3325768817184743028[31] = 0; - out_3325768817184743028[32] = 0; - out_3325768817184743028[33] = 0; - out_3325768817184743028[34] = 0; - out_3325768817184743028[35] = 0; - out_3325768817184743028[36] = 0; - out_3325768817184743028[37] = 0; - out_3325768817184743028[38] = 0; - out_3325768817184743028[39] = 0; - out_3325768817184743028[40] = 0; - out_3325768817184743028[41] = 0; - out_3325768817184743028[42] = 0; - out_3325768817184743028[43] = 0; - out_3325768817184743028[44] = 1; - out_3325768817184743028[45] = 0; - out_3325768817184743028[46] = 0; - out_3325768817184743028[47] = 0; - out_3325768817184743028[48] = 0; - out_3325768817184743028[49] = 0; - out_3325768817184743028[50] = 0; - out_3325768817184743028[51] = 0; - out_3325768817184743028[52] = 0; - out_3325768817184743028[53] = 0; +void H_14(double *state, double *unused, double *out_1862500614998162689) { + out_1862500614998162689[0] = 0; + out_1862500614998162689[1] = 0; + out_1862500614998162689[2] = 0; + out_1862500614998162689[3] = 0; + out_1862500614998162689[4] = 0; + out_1862500614998162689[5] = 0; + out_1862500614998162689[6] = 1; + out_1862500614998162689[7] = 0; + out_1862500614998162689[8] = 0; + out_1862500614998162689[9] = 0; + out_1862500614998162689[10] = 0; + out_1862500614998162689[11] = 0; + out_1862500614998162689[12] = 0; + out_1862500614998162689[13] = 0; + out_1862500614998162689[14] = 0; + out_1862500614998162689[15] = 0; + out_1862500614998162689[16] = 0; + out_1862500614998162689[17] = 0; + out_1862500614998162689[18] = 0; + out_1862500614998162689[19] = 0; + out_1862500614998162689[20] = 0; + out_1862500614998162689[21] = 0; + out_1862500614998162689[22] = 0; + out_1862500614998162689[23] = 0; + out_1862500614998162689[24] = 0; + out_1862500614998162689[25] = 1; + out_1862500614998162689[26] = 0; + out_1862500614998162689[27] = 0; + out_1862500614998162689[28] = 0; + out_1862500614998162689[29] = 0; + out_1862500614998162689[30] = 0; + out_1862500614998162689[31] = 0; + out_1862500614998162689[32] = 0; + out_1862500614998162689[33] = 0; + out_1862500614998162689[34] = 0; + out_1862500614998162689[35] = 0; + out_1862500614998162689[36] = 0; + out_1862500614998162689[37] = 0; + out_1862500614998162689[38] = 0; + out_1862500614998162689[39] = 0; + out_1862500614998162689[40] = 0; + out_1862500614998162689[41] = 0; + out_1862500614998162689[42] = 0; + out_1862500614998162689[43] = 0; + out_1862500614998162689[44] = 1; + out_1862500614998162689[45] = 0; + out_1862500614998162689[46] = 0; + out_1862500614998162689[47] = 0; + out_1862500614998162689[48] = 0; + out_1862500614998162689[49] = 0; + out_1862500614998162689[50] = 0; + out_1862500614998162689[51] = 0; + out_1862500614998162689[52] = 0; + out_1862500614998162689[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_842964569186968919) { - err_fun(nom_x, delta_x, out_842964569186968919); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3574067617578089570) { + err_fun(nom_x, delta_x, out_3574067617578089570); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7637995249051351300) { - inv_err_fun(nom_x, true_x, out_7637995249051351300); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1515328263168530495) { + inv_err_fun(nom_x, true_x, out_1515328263168530495); } -void pose_H_mod_fun(double *state, double *out_8306889626903079841) { - H_mod_fun(state, out_8306889626903079841); +void pose_H_mod_fun(double *state, double *out_207229337745545750) { + H_mod_fun(state, out_207229337745545750); } -void pose_f_fun(double *state, double dt, double *out_5013225008344736149) { - f_fun(state, dt, out_5013225008344736149); +void pose_f_fun(double *state, double dt, double *out_3493541226789963130) { + f_fun(state, dt, out_3493541226789963130); } -void pose_F_fun(double *state, double dt, double *out_8990818239492707931) { - F_fun(state, dt, out_8990818239492707931); +void pose_F_fun(double *state, double dt, double *out_5154051058888586616) { + F_fun(state, dt, out_5154051058888586616); } -void pose_h_4(double *state, double *unused, double *out_4553534383789500912) { - h_4(state, unused, out_4553534383789500912); +void pose_h_4(double *state, double *unused, double *out_5970382648807117116) { + h_4(state, unused, out_5970382648807117116); } -void pose_H_4(double *state, double *unused, double *out_637472039154741501) { - H_4(state, unused, out_637472039154741501); +void pose_H_4(double *state, double *unused, double *out_4945289047293534985) { + H_4(state, unused, out_4945289047293534985); } -void pose_h_10(double *state, double *unused, double *out_5896232866039695568) { - h_10(state, unused, out_5896232866039695568); +void pose_h_10(double *state, double *unused, double *out_520088425664385209) { + h_10(state, unused, out_520088425664385209); } -void pose_H_10(double *state, double *unused, double *out_6470002192212990620) { - H_10(state, unused, out_6470002192212990620); +void pose_H_10(double *state, double *unused, double *out_4050335309714945768) { + H_10(state, unused, out_4050335309714945768); } -void pose_h_13(double *state, double *unused, double *out_5564060116117934481) { - h_13(state, unused, out_5564060116117934481); +void pose_h_13(double *state, double *unused, double *out_1434579794425570866) { + h_13(state, unused, out_1434579794425570866); } -void pose_H_13(double *state, double *unused, double *out_2574801786177591300) { - H_13(state, unused, out_2574801786177591300); +void pose_H_13(double *state, double *unused, double *out_1111533583991010961) { + H_13(state, unused, out_1111533583991010961); } -void pose_h_14(double *state, double *unused, double *out_9129729305013669813) { - h_14(state, unused, out_9129729305013669813); +void pose_h_14(double *state, double *unused, double *out_5370135948753942539) { + h_14(state, unused, out_5370135948753942539); } -void pose_H_14(double *state, double *unused, double *out_3325768817184743028) { - H_14(state, unused, out_3325768817184743028); +void pose_H_14(double *state, double *unused, double *out_1862500614998162689) { + H_14(state, unused, out_1862500614998162689); } 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 998b11eca..1cf895501 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_842964569186968919); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7637995249051351300); -void pose_H_mod_fun(double *state, double *out_8306889626903079841); -void pose_f_fun(double *state, double dt, double *out_5013225008344736149); -void pose_F_fun(double *state, double dt, double *out_8990818239492707931); -void pose_h_4(double *state, double *unused, double *out_4553534383789500912); -void pose_H_4(double *state, double *unused, double *out_637472039154741501); -void pose_h_10(double *state, double *unused, double *out_5896232866039695568); -void pose_H_10(double *state, double *unused, double *out_6470002192212990620); -void pose_h_13(double *state, double *unused, double *out_5564060116117934481); -void pose_H_13(double *state, double *unused, double *out_2574801786177591300); -void pose_h_14(double *state, double *unused, double *out_9129729305013669813); -void pose_H_14(double *state, double *unused, double *out_3325768817184743028); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3574067617578089570); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1515328263168530495); +void pose_H_mod_fun(double *state, double *out_207229337745545750); +void pose_f_fun(double *state, double dt, double *out_3493541226789963130); +void pose_F_fun(double *state, double dt, double *out_5154051058888586616); +void pose_h_4(double *state, double *unused, double *out_5970382648807117116); +void pose_H_4(double *state, double *unused, double *out_4945289047293534985); +void pose_h_10(double *state, double *unused, double *out_520088425664385209); +void pose_H_10(double *state, double *unused, double *out_4050335309714945768); +void pose_h_13(double *state, double *unused, double *out_1434579794425570866); +void pose_H_13(double *state, double *unused, double *out_1111533583991010961); +void pose_h_14(double *state, double *unused, double *out_5370135948753942539); +void pose_H_14(double *state, double *unused, double *out_1862500614998162689); 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 1af6e3578..da497bcc9 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ