From 0068d7a698dd638ad5dd0b318b799068df253c94 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Fri, 21 Aug 2026 13:23:15 -0500 Subject: [PATCH] build --- cereal/libcereal.a | Bin 642636 -> 642780 bytes panda/board/obj/body_h7.bin.signed | Bin 108816 -> 108816 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 108680 -> 108680 bytes panda/board/obj/body_h7/main.elf | Bin 454660 -> 454660 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes .../obj/bootstub.panda_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes .../bootstub.panda_h7_can_ignition_only.bin | Bin 18784 -> 18784 bytes .../obj/bootstub.panda_h7_hkg_remote.bin | Bin 18784 -> 18784 bytes ....panda_h7_hkg_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes ...stub.panda_h7_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_hkg_remote.bin | Bin 11068 -> 11068 bytes ...tub.panda_hkg_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes ...ootstub.panda_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 94888 -> 94888 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 94752 -> 94752 bytes panda/board/obj/panda/main.elf | Bin 406052 -> 406052 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 94868 -> 94868 bytes .../obj/panda_can_ignition_only/bootstub.elf | Bin 100780 -> 100780 bytes .../obj/panda_can_ignition_only/main.bin | Bin 94732 -> 94732 bytes .../obj/panda_can_ignition_only/main.elf | Bin 405884 -> 405884 bytes panda/board/obj/panda_h7.bin.signed | Bin 116776 -> 116776 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 116640 -> 116640 bytes panda/board/obj/panda_h7/main.elf | Bin 498128 -> 498128 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 116756 -> 116756 bytes .../panda_h7_can_ignition_only/bootstub.elf | Bin 152748 -> 152748 bytes .../obj/panda_h7_can_ignition_only/main.bin | Bin 116620 -> 116620 bytes .../obj/panda_h7_can_ignition_only/main.elf | Bin 497972 -> 497972 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 116872 -> 116872 bytes .../obj/panda_h7_hkg_remote/bootstub.elf | Bin 152740 -> 152740 bytes panda/board/obj/panda_h7_hkg_remote/main.bin | Bin 116736 -> 116736 bytes panda/board/obj/panda_h7_hkg_remote/main.elf | Bin 498568 -> 498568 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 116864 -> 116864 bytes .../bootstub.elf | Bin 152760 -> 152760 bytes .../main.bin | Bin 116728 -> 116728 bytes .../main.elf | Bin 498444 -> 498444 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 116712 -> 116712 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 116576 -> 116576 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 498072 -> 498072 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 116692 -> 116692 bytes .../bootstub.elf | Bin 152756 -> 152756 bytes .../main.bin | Bin 116556 -> 116556 bytes .../main.elf | Bin 497912 -> 497912 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 94980 -> 94980 bytes panda/board/obj/panda_hkg_remote/bootstub.elf | Bin 100772 -> 100772 bytes panda/board/obj/panda_hkg_remote/main.bin | Bin 94844 -> 94844 bytes panda/board/obj/panda_hkg_remote/main.elf | Bin 406472 -> 406472 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 94972 -> 94972 bytes .../bootstub.elf | Bin 100792 -> 100792 bytes .../main.bin | Bin 94836 -> 94836 bytes .../main.elf | Bin 406328 -> 406328 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 110716 -> 110716 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 110580 -> 110580 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 462688 -> 462688 bytes panda/board/obj/panda_remote.bin.signed | Bin 94848 -> 94848 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 94712 -> 94712 bytes panda/board/obj/panda_remote/main.elf | Bin 406156 -> 406156 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 94828 -> 94828 bytes .../bootstub.elf | Bin 100788 -> 100788 bytes .../panda_remote_can_ignition_only/main.bin | Bin 94692 -> 94692 bytes .../panda_remote_can_ignition_only/main.elf | Bin 405984 -> 405984 bytes panda/board/obj/version | 2 +- 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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_3970546799234288025) { - out_3970546799234288025[0] = delta_x[0] + nom_x[0]; - out_3970546799234288025[1] = delta_x[1] + nom_x[1]; - out_3970546799234288025[2] = delta_x[2] + nom_x[2]; - out_3970546799234288025[3] = delta_x[3] + nom_x[3]; - out_3970546799234288025[4] = delta_x[4] + nom_x[4]; - out_3970546799234288025[5] = delta_x[5] + nom_x[5]; - out_3970546799234288025[6] = delta_x[6] + nom_x[6]; - out_3970546799234288025[7] = delta_x[7] + nom_x[7]; - out_3970546799234288025[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_943833552876303288) { + out_943833552876303288[0] = delta_x[0] + nom_x[0]; + out_943833552876303288[1] = delta_x[1] + nom_x[1]; + out_943833552876303288[2] = delta_x[2] + nom_x[2]; + out_943833552876303288[3] = delta_x[3] + nom_x[3]; + out_943833552876303288[4] = delta_x[4] + nom_x[4]; + out_943833552876303288[5] = delta_x[5] + nom_x[5]; + out_943833552876303288[6] = delta_x[6] + nom_x[6]; + out_943833552876303288[7] = delta_x[7] + nom_x[7]; + out_943833552876303288[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550) { - out_2567718075778826550[0] = -nom_x[0] + true_x[0]; - out_2567718075778826550[1] = -nom_x[1] + true_x[1]; - out_2567718075778826550[2] = -nom_x[2] + true_x[2]; - out_2567718075778826550[3] = -nom_x[3] + true_x[3]; - out_2567718075778826550[4] = -nom_x[4] + true_x[4]; - out_2567718075778826550[5] = -nom_x[5] + true_x[5]; - out_2567718075778826550[6] = -nom_x[6] + true_x[6]; - out_2567718075778826550[7] = -nom_x[7] + true_x[7]; - out_2567718075778826550[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_528301401300769025) { + out_528301401300769025[0] = -nom_x[0] + true_x[0]; + out_528301401300769025[1] = -nom_x[1] + true_x[1]; + out_528301401300769025[2] = -nom_x[2] + true_x[2]; + out_528301401300769025[3] = -nom_x[3] + true_x[3]; + out_528301401300769025[4] = -nom_x[4] + true_x[4]; + out_528301401300769025[5] = -nom_x[5] + true_x[5]; + out_528301401300769025[6] = -nom_x[6] + true_x[6]; + out_528301401300769025[7] = -nom_x[7] + true_x[7]; + out_528301401300769025[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1717749627572306313) { - out_1717749627572306313[0] = 1.0; - out_1717749627572306313[1] = 0.0; - out_1717749627572306313[2] = 0.0; - out_1717749627572306313[3] = 0.0; - out_1717749627572306313[4] = 0.0; - out_1717749627572306313[5] = 0.0; - out_1717749627572306313[6] = 0.0; - out_1717749627572306313[7] = 0.0; - out_1717749627572306313[8] = 0.0; - out_1717749627572306313[9] = 0.0; - out_1717749627572306313[10] = 1.0; - out_1717749627572306313[11] = 0.0; - out_1717749627572306313[12] = 0.0; - out_1717749627572306313[13] = 0.0; - out_1717749627572306313[14] = 0.0; - out_1717749627572306313[15] = 0.0; - out_1717749627572306313[16] = 0.0; - out_1717749627572306313[17] = 0.0; - out_1717749627572306313[18] = 0.0; - out_1717749627572306313[19] = 0.0; - out_1717749627572306313[20] = 1.0; - out_1717749627572306313[21] = 0.0; - out_1717749627572306313[22] = 0.0; - out_1717749627572306313[23] = 0.0; - out_1717749627572306313[24] = 0.0; - out_1717749627572306313[25] = 0.0; - out_1717749627572306313[26] = 0.0; - out_1717749627572306313[27] = 0.0; - out_1717749627572306313[28] = 0.0; - out_1717749627572306313[29] = 0.0; - out_1717749627572306313[30] = 1.0; - out_1717749627572306313[31] = 0.0; - out_1717749627572306313[32] = 0.0; - out_1717749627572306313[33] = 0.0; - out_1717749627572306313[34] = 0.0; - out_1717749627572306313[35] = 0.0; - out_1717749627572306313[36] = 0.0; - out_1717749627572306313[37] = 0.0; - out_1717749627572306313[38] = 0.0; - out_1717749627572306313[39] = 0.0; - out_1717749627572306313[40] = 1.0; - out_1717749627572306313[41] = 0.0; - out_1717749627572306313[42] = 0.0; - out_1717749627572306313[43] = 0.0; - out_1717749627572306313[44] = 0.0; - out_1717749627572306313[45] = 0.0; - out_1717749627572306313[46] = 0.0; - out_1717749627572306313[47] = 0.0; - out_1717749627572306313[48] = 0.0; - out_1717749627572306313[49] = 0.0; - out_1717749627572306313[50] = 1.0; - out_1717749627572306313[51] = 0.0; - out_1717749627572306313[52] = 0.0; - out_1717749627572306313[53] = 0.0; - out_1717749627572306313[54] = 0.0; - out_1717749627572306313[55] = 0.0; - out_1717749627572306313[56] = 0.0; - out_1717749627572306313[57] = 0.0; - out_1717749627572306313[58] = 0.0; - out_1717749627572306313[59] = 0.0; - out_1717749627572306313[60] = 1.0; - out_1717749627572306313[61] = 0.0; - out_1717749627572306313[62] = 0.0; - out_1717749627572306313[63] = 0.0; - out_1717749627572306313[64] = 0.0; - out_1717749627572306313[65] = 0.0; - out_1717749627572306313[66] = 0.0; - out_1717749627572306313[67] = 0.0; - out_1717749627572306313[68] = 0.0; - out_1717749627572306313[69] = 0.0; - out_1717749627572306313[70] = 1.0; - out_1717749627572306313[71] = 0.0; - out_1717749627572306313[72] = 0.0; - out_1717749627572306313[73] = 0.0; - out_1717749627572306313[74] = 0.0; - out_1717749627572306313[75] = 0.0; - out_1717749627572306313[76] = 0.0; - out_1717749627572306313[77] = 0.0; - out_1717749627572306313[78] = 0.0; - out_1717749627572306313[79] = 0.0; - out_1717749627572306313[80] = 1.0; +void H_mod_fun(double *state, double *out_7538255523593818631) { + out_7538255523593818631[0] = 1.0; + out_7538255523593818631[1] = 0.0; + out_7538255523593818631[2] = 0.0; + out_7538255523593818631[3] = 0.0; + out_7538255523593818631[4] = 0.0; + out_7538255523593818631[5] = 0.0; + out_7538255523593818631[6] = 0.0; + out_7538255523593818631[7] = 0.0; + out_7538255523593818631[8] = 0.0; + out_7538255523593818631[9] = 0.0; + out_7538255523593818631[10] = 1.0; + out_7538255523593818631[11] = 0.0; + out_7538255523593818631[12] = 0.0; + out_7538255523593818631[13] = 0.0; + out_7538255523593818631[14] = 0.0; + out_7538255523593818631[15] = 0.0; + out_7538255523593818631[16] = 0.0; + out_7538255523593818631[17] = 0.0; + out_7538255523593818631[18] = 0.0; + out_7538255523593818631[19] = 0.0; + out_7538255523593818631[20] = 1.0; + out_7538255523593818631[21] = 0.0; + out_7538255523593818631[22] = 0.0; + out_7538255523593818631[23] = 0.0; + out_7538255523593818631[24] = 0.0; + out_7538255523593818631[25] = 0.0; + out_7538255523593818631[26] = 0.0; + out_7538255523593818631[27] = 0.0; + out_7538255523593818631[28] = 0.0; + out_7538255523593818631[29] = 0.0; + out_7538255523593818631[30] = 1.0; + out_7538255523593818631[31] = 0.0; + out_7538255523593818631[32] = 0.0; + out_7538255523593818631[33] = 0.0; + out_7538255523593818631[34] = 0.0; + out_7538255523593818631[35] = 0.0; + out_7538255523593818631[36] = 0.0; + out_7538255523593818631[37] = 0.0; + out_7538255523593818631[38] = 0.0; + out_7538255523593818631[39] = 0.0; + out_7538255523593818631[40] = 1.0; + out_7538255523593818631[41] = 0.0; + out_7538255523593818631[42] = 0.0; + out_7538255523593818631[43] = 0.0; + out_7538255523593818631[44] = 0.0; + out_7538255523593818631[45] = 0.0; + out_7538255523593818631[46] = 0.0; + out_7538255523593818631[47] = 0.0; + out_7538255523593818631[48] = 0.0; + out_7538255523593818631[49] = 0.0; + out_7538255523593818631[50] = 1.0; + out_7538255523593818631[51] = 0.0; + out_7538255523593818631[52] = 0.0; + out_7538255523593818631[53] = 0.0; + out_7538255523593818631[54] = 0.0; + out_7538255523593818631[55] = 0.0; + out_7538255523593818631[56] = 0.0; + out_7538255523593818631[57] = 0.0; + out_7538255523593818631[58] = 0.0; + out_7538255523593818631[59] = 0.0; + out_7538255523593818631[60] = 1.0; + out_7538255523593818631[61] = 0.0; + out_7538255523593818631[62] = 0.0; + out_7538255523593818631[63] = 0.0; + out_7538255523593818631[64] = 0.0; + out_7538255523593818631[65] = 0.0; + out_7538255523593818631[66] = 0.0; + out_7538255523593818631[67] = 0.0; + out_7538255523593818631[68] = 0.0; + out_7538255523593818631[69] = 0.0; + out_7538255523593818631[70] = 1.0; + out_7538255523593818631[71] = 0.0; + out_7538255523593818631[72] = 0.0; + out_7538255523593818631[73] = 0.0; + out_7538255523593818631[74] = 0.0; + out_7538255523593818631[75] = 0.0; + out_7538255523593818631[76] = 0.0; + out_7538255523593818631[77] = 0.0; + out_7538255523593818631[78] = 0.0; + out_7538255523593818631[79] = 0.0; + out_7538255523593818631[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4680969065089583930) { - out_4680969065089583930[0] = state[0]; - out_4680969065089583930[1] = state[1]; - out_4680969065089583930[2] = state[2]; - out_4680969065089583930[3] = state[3]; - out_4680969065089583930[4] = state[4]; - out_4680969065089583930[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_4680969065089583930[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_4680969065089583930[7] = state[7]; - out_4680969065089583930[8] = state[8]; +void f_fun(double *state, double dt, double *out_3917173406968738478) { + out_3917173406968738478[0] = state[0]; + out_3917173406968738478[1] = state[1]; + out_3917173406968738478[2] = state[2]; + out_3917173406968738478[3] = state[3]; + out_3917173406968738478[4] = state[4]; + out_3917173406968738478[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_3917173406968738478[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_3917173406968738478[7] = state[7]; + out_3917173406968738478[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6937343164270022068) { - out_6937343164270022068[0] = 1; - out_6937343164270022068[1] = 0; - out_6937343164270022068[2] = 0; - out_6937343164270022068[3] = 0; - out_6937343164270022068[4] = 0; - out_6937343164270022068[5] = 0; - out_6937343164270022068[6] = 0; - out_6937343164270022068[7] = 0; - out_6937343164270022068[8] = 0; - out_6937343164270022068[9] = 0; - out_6937343164270022068[10] = 1; - out_6937343164270022068[11] = 0; - out_6937343164270022068[12] = 0; - out_6937343164270022068[13] = 0; - out_6937343164270022068[14] = 0; - out_6937343164270022068[15] = 0; - out_6937343164270022068[16] = 0; - out_6937343164270022068[17] = 0; - out_6937343164270022068[18] = 0; - out_6937343164270022068[19] = 0; - out_6937343164270022068[20] = 1; - out_6937343164270022068[21] = 0; - out_6937343164270022068[22] = 0; - out_6937343164270022068[23] = 0; - out_6937343164270022068[24] = 0; - out_6937343164270022068[25] = 0; - out_6937343164270022068[26] = 0; - out_6937343164270022068[27] = 0; - out_6937343164270022068[28] = 0; - out_6937343164270022068[29] = 0; - out_6937343164270022068[30] = 1; - out_6937343164270022068[31] = 0; - out_6937343164270022068[32] = 0; - out_6937343164270022068[33] = 0; - out_6937343164270022068[34] = 0; - out_6937343164270022068[35] = 0; - out_6937343164270022068[36] = 0; - out_6937343164270022068[37] = 0; - out_6937343164270022068[38] = 0; - out_6937343164270022068[39] = 0; - out_6937343164270022068[40] = 1; - out_6937343164270022068[41] = 0; - out_6937343164270022068[42] = 0; - out_6937343164270022068[43] = 0; - out_6937343164270022068[44] = 0; - out_6937343164270022068[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_6937343164270022068[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6937343164270022068[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6937343164270022068[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6937343164270022068[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_6937343164270022068[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6937343164270022068[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6937343164270022068[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6937343164270022068[53] = -9.8100000000000005*dt; - out_6937343164270022068[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_6937343164270022068[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6937343164270022068[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6937343164270022068[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6937343164270022068[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_6937343164270022068[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6937343164270022068[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_6937343164270022068[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6937343164270022068[62] = 0; - out_6937343164270022068[63] = 0; - out_6937343164270022068[64] = 0; - out_6937343164270022068[65] = 0; - out_6937343164270022068[66] = 0; - out_6937343164270022068[67] = 0; - out_6937343164270022068[68] = 0; - out_6937343164270022068[69] = 0; - out_6937343164270022068[70] = 1; - out_6937343164270022068[71] = 0; - out_6937343164270022068[72] = 0; - out_6937343164270022068[73] = 0; - out_6937343164270022068[74] = 0; - out_6937343164270022068[75] = 0; - out_6937343164270022068[76] = 0; - out_6937343164270022068[77] = 0; - out_6937343164270022068[78] = 0; - out_6937343164270022068[79] = 0; - out_6937343164270022068[80] = 1; +void F_fun(double *state, double dt, double *out_547656323515283001) { + out_547656323515283001[0] = 1; + out_547656323515283001[1] = 0; + out_547656323515283001[2] = 0; + out_547656323515283001[3] = 0; + out_547656323515283001[4] = 0; + out_547656323515283001[5] = 0; + out_547656323515283001[6] = 0; + out_547656323515283001[7] = 0; + out_547656323515283001[8] = 0; + out_547656323515283001[9] = 0; + out_547656323515283001[10] = 1; + out_547656323515283001[11] = 0; + out_547656323515283001[12] = 0; + out_547656323515283001[13] = 0; + out_547656323515283001[14] = 0; + out_547656323515283001[15] = 0; + out_547656323515283001[16] = 0; + out_547656323515283001[17] = 0; + out_547656323515283001[18] = 0; + out_547656323515283001[19] = 0; + out_547656323515283001[20] = 1; + out_547656323515283001[21] = 0; + out_547656323515283001[22] = 0; + out_547656323515283001[23] = 0; + out_547656323515283001[24] = 0; + out_547656323515283001[25] = 0; + out_547656323515283001[26] = 0; + out_547656323515283001[27] = 0; + out_547656323515283001[28] = 0; + out_547656323515283001[29] = 0; + out_547656323515283001[30] = 1; + out_547656323515283001[31] = 0; + out_547656323515283001[32] = 0; + out_547656323515283001[33] = 0; + out_547656323515283001[34] = 0; + out_547656323515283001[35] = 0; + out_547656323515283001[36] = 0; + out_547656323515283001[37] = 0; + out_547656323515283001[38] = 0; + out_547656323515283001[39] = 0; + out_547656323515283001[40] = 1; + out_547656323515283001[41] = 0; + out_547656323515283001[42] = 0; + out_547656323515283001[43] = 0; + out_547656323515283001[44] = 0; + out_547656323515283001[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_547656323515283001[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_547656323515283001[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_547656323515283001[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_547656323515283001[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_547656323515283001[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_547656323515283001[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_547656323515283001[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_547656323515283001[53] = -9.8100000000000005*dt; + out_547656323515283001[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_547656323515283001[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_547656323515283001[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_547656323515283001[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_547656323515283001[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_547656323515283001[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_547656323515283001[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_547656323515283001[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_547656323515283001[62] = 0; + out_547656323515283001[63] = 0; + out_547656323515283001[64] = 0; + out_547656323515283001[65] = 0; + out_547656323515283001[66] = 0; + out_547656323515283001[67] = 0; + out_547656323515283001[68] = 0; + out_547656323515283001[69] = 0; + out_547656323515283001[70] = 1; + out_547656323515283001[71] = 0; + out_547656323515283001[72] = 0; + out_547656323515283001[73] = 0; + out_547656323515283001[74] = 0; + out_547656323515283001[75] = 0; + out_547656323515283001[76] = 0; + out_547656323515283001[77] = 0; + out_547656323515283001[78] = 0; + out_547656323515283001[79] = 0; + out_547656323515283001[80] = 1; } -void h_25(double *state, double *unused, double *out_5928605043652166783) { - out_5928605043652166783[0] = state[6]; +void h_25(double *state, double *unused, double *out_3127457687100704828) { + out_3127457687100704828[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8807656413163385498) { - out_8807656413163385498[0] = 0; - out_8807656413163385498[1] = 0; - out_8807656413163385498[2] = 0; - out_8807656413163385498[3] = 0; - out_8807656413163385498[4] = 0; - out_8807656413163385498[5] = 0; - out_8807656413163385498[6] = 1; - out_8807656413163385498[7] = 0; - out_8807656413163385498[8] = 0; +void H_25(double *state, double *unused, double *out_7385507900126241308) { + out_7385507900126241308[0] = 0; + out_7385507900126241308[1] = 0; + out_7385507900126241308[2] = 0; + out_7385507900126241308[3] = 0; + out_7385507900126241308[4] = 0; + out_7385507900126241308[5] = 0; + out_7385507900126241308[6] = 1; + out_7385507900126241308[7] = 0; + out_7385507900126241308[8] = 0; } -void h_24(double *state, double *unused, double *out_226265923538190981) { - out_226265923538190981[0] = state[4]; - out_226265923538190981[1] = state[5]; +void h_24(double *state, double *unused, double *out_1385747192697667747) { + out_1385747192697667747[0] = state[4]; + out_1385747192697667747[1] = state[5]; } -void H_24(double *state, double *unused, double *out_5249730814361062362) { - out_5249730814361062362[0] = 0; - out_5249730814361062362[1] = 0; - out_5249730814361062362[2] = 0; - out_5249730814361062362[3] = 0; - out_5249730814361062362[4] = 1; - out_5249730814361062362[5] = 0; - out_5249730814361062362[6] = 0; - out_5249730814361062362[7] = 0; - out_5249730814361062362[8] = 0; - out_5249730814361062362[9] = 0; - out_5249730814361062362[10] = 0; - out_5249730814361062362[11] = 0; - out_5249730814361062362[12] = 0; - out_5249730814361062362[13] = 0; - out_5249730814361062362[14] = 1; - out_5249730814361062362[15] = 0; - out_5249730814361062362[16] = 0; - out_5249730814361062362[17] = 0; +void H_24(double *state, double *unused, double *out_3827582301323918172) { + out_3827582301323918172[0] = 0; + out_3827582301323918172[1] = 0; + out_3827582301323918172[2] = 0; + out_3827582301323918172[3] = 0; + out_3827582301323918172[4] = 1; + out_3827582301323918172[5] = 0; + out_3827582301323918172[6] = 0; + out_3827582301323918172[7] = 0; + out_3827582301323918172[8] = 0; + out_3827582301323918172[9] = 0; + out_3827582301323918172[10] = 0; + out_3827582301323918172[11] = 0; + out_3827582301323918172[12] = 0; + out_3827582301323918172[13] = 0; + out_3827582301323918172[14] = 1; + out_3827582301323918172[15] = 0; + out_3827582301323918172[16] = 0; + out_3827582301323918172[17] = 0; } -void h_30(double *state, double *unused, double *out_8880689501803362483) { - out_8880689501803362483[0] = state[4]; +void h_30(double *state, double *unused, double *out_4635807569719967613) { + out_4635807569719967613[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6289323454656136871) { - out_6289323454656136871[0] = 0; - out_6289323454656136871[1] = 0; - out_6289323454656136871[2] = 0; - out_6289323454656136871[3] = 0; - out_6289323454656136871[4] = 1; - out_6289323454656136871[5] = 0; - out_6289323454656136871[6] = 0; - out_6289323454656136871[7] = 0; - out_6289323454656136871[8] = 0; +void H_30(double *state, double *unused, double *out_7514846847269481378) { + out_7514846847269481378[0] = 0; + out_7514846847269481378[1] = 0; + out_7514846847269481378[2] = 0; + out_7514846847269481378[3] = 0; + out_7514846847269481378[4] = 1; + out_7514846847269481378[5] = 0; + out_7514846847269481378[6] = 0; + out_7514846847269481378[7] = 0; + out_7514846847269481378[8] = 0; } -void h_26(double *state, double *unused, double *out_101279670203478282) { - out_101279670203478282[0] = state[7]; +void h_26(double *state, double *unused, double *out_4346161602286873152) { + out_4346161602286873152[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5897584341672109894) { - out_5897584341672109894[0] = 0; - out_5897584341672109894[1] = 0; - out_5897584341672109894[2] = 0; - out_5897584341672109894[3] = 0; - out_5897584341672109894[4] = 0; - out_5897584341672109894[5] = 0; - out_5897584341672109894[6] = 0; - out_5897584341672109894[7] = 1; - out_5897584341672109894[8] = 0; +void H_26(double *state, double *unused, double *out_7319732854709254084) { + out_7319732854709254084[0] = 0; + out_7319732854709254084[1] = 0; + out_7319732854709254084[2] = 0; + out_7319732854709254084[3] = 0; + out_7319732854709254084[4] = 0; + out_7319732854709254084[5] = 0; + out_7319732854709254084[6] = 0; + out_7319732854709254084[7] = 1; + out_7319732854709254084[8] = 0; } -void h_27(double *state, double *unused, double *out_3324199722843469132) { - out_3324199722843469132[0] = state[3]; +void h_27(double *state, double *unused, double *out_90671635656372143) { + out_90671635656372143[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8464086766456561782) { - out_8464086766456561782[0] = 0; - out_8464086766456561782[1] = 0; - out_8464086766456561782[2] = 0; - out_8464086766456561782[3] = 1; - out_8464086766456561782[4] = 0; - out_8464086766456561782[5] = 0; - out_8464086766456561782[6] = 0; - out_8464086766456561782[7] = 0; - out_8464086766456561782[8] = 0; +void H_27(double *state, double *unused, double *out_8757133914639645327) { + out_8757133914639645327[0] = 0; + out_8757133914639645327[1] = 0; + out_8757133914639645327[2] = 0; + out_8757133914639645327[3] = 1; + out_8757133914639645327[4] = 0; + out_8757133914639645327[5] = 0; + out_8757133914639645327[6] = 0; + out_8757133914639645327[7] = 0; + out_8757133914639645327[8] = 0; } -void h_29(double *state, double *unused, double *out_3167013054492339987) { - out_3167013054492339987[0] = state[1]; +void h_29(double *state, double *unused, double *out_365865697940878032) { + out_365865697940878032[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5779092110341744687) { - out_5779092110341744687[0] = 0; - out_5779092110341744687[1] = 1; - out_5779092110341744687[2] = 0; - out_5779092110341744687[3] = 0; - out_5779092110341744687[4] = 0; - out_5779092110341744687[5] = 0; - out_5779092110341744687[6] = 0; - out_5779092110341744687[7] = 0; - out_5779092110341744687[8] = 0; +void H_29(double *state, double *unused, double *out_7004615502955089194) { + out_7004615502955089194[0] = 0; + out_7004615502955089194[1] = 1; + out_7004615502955089194[2] = 0; + out_7004615502955089194[3] = 0; + out_7004615502955089194[4] = 0; + out_7004615502955089194[5] = 0; + out_7004615502955089194[6] = 0; + out_7004615502955089194[7] = 0; + out_7004615502955089194[8] = 0; } -void h_28(double *state, double *unused, double *out_287413671399136447) { - out_287413671399136447[0] = state[0]; +void h_28(double *state, double *unused, double *out_6687857119962214334) { + out_6687857119962214334[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7585252946298276355) { - out_7585252946298276355[0] = 1; - out_7585252946298276355[1] = 0; - out_7585252946298276355[2] = 0; - out_7585252946298276355[3] = 0; - out_7585252946298276355[4] = 0; - out_7585252946298276355[5] = 0; - out_7585252946298276355[6] = 0; - out_7585252946298276355[7] = 0; - out_7585252946298276355[8] = 0; +void H_28(double *state, double *unused, double *out_5040985231389762943) { + out_5040985231389762943[0] = 1; + out_5040985231389762943[1] = 0; + out_5040985231389762943[2] = 0; + out_5040985231389762943[3] = 0; + out_5040985231389762943[4] = 0; + out_5040985231389762943[5] = 0; + out_5040985231389762943[6] = 0; + out_5040985231389762943[7] = 0; + out_5040985231389762943[8] = 0; } -void h_31(double *state, double *unused, double *out_1952667607101882402) { - out_1952667607101882402[0] = state[8]; +void h_31(double *state, double *unused, double *out_8548451160258495852) { + out_8548451160258495852[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5271376239438758418) { - out_5271376239438758418[0] = 0; - out_5271376239438758418[1] = 0; - out_5271376239438758418[2] = 0; - out_5271376239438758418[3] = 0; - out_5271376239438758418[4] = 0; - out_5271376239438758418[5] = 0; - out_5271376239438758418[6] = 0; - out_5271376239438758418[7] = 0; - out_5271376239438758418[8] = 1; +void H_31(double *state, double *unused, double *out_7354861938249280880) { + out_7354861938249280880[0] = 0; + out_7354861938249280880[1] = 0; + out_7354861938249280880[2] = 0; + out_7354861938249280880[3] = 0; + out_7354861938249280880[4] = 0; + out_7354861938249280880[5] = 0; + out_7354861938249280880[6] = 0; + out_7354861938249280880[7] = 0; + out_7354861938249280880[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_3970546799234288025) { - err_fun(nom_x, delta_x, out_3970546799234288025); +void car_err_fun(double *nom_x, double *delta_x, double *out_943833552876303288) { + err_fun(nom_x, delta_x, out_943833552876303288); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550) { - inv_err_fun(nom_x, true_x, out_2567718075778826550); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_528301401300769025) { + inv_err_fun(nom_x, true_x, out_528301401300769025); } -void car_H_mod_fun(double *state, double *out_1717749627572306313) { - H_mod_fun(state, out_1717749627572306313); +void car_H_mod_fun(double *state, double *out_7538255523593818631) { + H_mod_fun(state, out_7538255523593818631); } -void car_f_fun(double *state, double dt, double *out_4680969065089583930) { - f_fun(state, dt, out_4680969065089583930); +void car_f_fun(double *state, double dt, double *out_3917173406968738478) { + f_fun(state, dt, out_3917173406968738478); } -void car_F_fun(double *state, double dt, double *out_6937343164270022068) { - F_fun(state, dt, out_6937343164270022068); +void car_F_fun(double *state, double dt, double *out_547656323515283001) { + F_fun(state, dt, out_547656323515283001); } -void car_h_25(double *state, double *unused, double *out_5928605043652166783) { - h_25(state, unused, out_5928605043652166783); +void car_h_25(double *state, double *unused, double *out_3127457687100704828) { + h_25(state, unused, out_3127457687100704828); } -void car_H_25(double *state, double *unused, double *out_8807656413163385498) { - H_25(state, unused, out_8807656413163385498); +void car_H_25(double *state, double *unused, double *out_7385507900126241308) { + H_25(state, unused, out_7385507900126241308); } -void car_h_24(double *state, double *unused, double *out_226265923538190981) { - h_24(state, unused, out_226265923538190981); +void car_h_24(double *state, double *unused, double *out_1385747192697667747) { + h_24(state, unused, out_1385747192697667747); } -void car_H_24(double *state, double *unused, double *out_5249730814361062362) { - H_24(state, unused, out_5249730814361062362); +void car_H_24(double *state, double *unused, double *out_3827582301323918172) { + H_24(state, unused, out_3827582301323918172); } -void car_h_30(double *state, double *unused, double *out_8880689501803362483) { - h_30(state, unused, out_8880689501803362483); +void car_h_30(double *state, double *unused, double *out_4635807569719967613) { + h_30(state, unused, out_4635807569719967613); } -void car_H_30(double *state, double *unused, double *out_6289323454656136871) { - H_30(state, unused, out_6289323454656136871); +void car_H_30(double *state, double *unused, double *out_7514846847269481378) { + H_30(state, unused, out_7514846847269481378); } -void car_h_26(double *state, double *unused, double *out_101279670203478282) { - h_26(state, unused, out_101279670203478282); +void car_h_26(double *state, double *unused, double *out_4346161602286873152) { + h_26(state, unused, out_4346161602286873152); } -void car_H_26(double *state, double *unused, double *out_5897584341672109894) { - H_26(state, unused, out_5897584341672109894); +void car_H_26(double *state, double *unused, double *out_7319732854709254084) { + H_26(state, unused, out_7319732854709254084); } -void car_h_27(double *state, double *unused, double *out_3324199722843469132) { - h_27(state, unused, out_3324199722843469132); +void car_h_27(double *state, double *unused, double *out_90671635656372143) { + h_27(state, unused, out_90671635656372143); } -void car_H_27(double *state, double *unused, double *out_8464086766456561782) { - H_27(state, unused, out_8464086766456561782); +void car_H_27(double *state, double *unused, double *out_8757133914639645327) { + H_27(state, unused, out_8757133914639645327); } -void car_h_29(double *state, double *unused, double *out_3167013054492339987) { - h_29(state, unused, out_3167013054492339987); +void car_h_29(double *state, double *unused, double *out_365865697940878032) { + h_29(state, unused, out_365865697940878032); } -void car_H_29(double *state, double *unused, double *out_5779092110341744687) { - H_29(state, unused, out_5779092110341744687); +void car_H_29(double *state, double *unused, double *out_7004615502955089194) { + H_29(state, unused, out_7004615502955089194); } -void car_h_28(double *state, double *unused, double *out_287413671399136447) { - h_28(state, unused, out_287413671399136447); +void car_h_28(double *state, double *unused, double *out_6687857119962214334) { + h_28(state, unused, out_6687857119962214334); } -void car_H_28(double *state, double *unused, double *out_7585252946298276355) { - H_28(state, unused, out_7585252946298276355); +void car_H_28(double *state, double *unused, double *out_5040985231389762943) { + H_28(state, unused, out_5040985231389762943); } -void car_h_31(double *state, double *unused, double *out_1952667607101882402) { - h_31(state, unused, out_1952667607101882402); +void car_h_31(double *state, double *unused, double *out_8548451160258495852) { + h_31(state, unused, out_8548451160258495852); } -void car_H_31(double *state, double *unused, double *out_5271376239438758418) { - H_31(state, unused, out_5271376239438758418); +void car_H_31(double *state, double *unused, double *out_7354861938249280880) { + H_31(state, unused, out_7354861938249280880); } 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 16cf84aab..8a2511963 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_3970546799234288025); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2567718075778826550); -void car_H_mod_fun(double *state, double *out_1717749627572306313); -void car_f_fun(double *state, double dt, double *out_4680969065089583930); -void car_F_fun(double *state, double dt, double *out_6937343164270022068); -void car_h_25(double *state, double *unused, double *out_5928605043652166783); -void car_H_25(double *state, double *unused, double *out_8807656413163385498); -void car_h_24(double *state, double *unused, double *out_226265923538190981); -void car_H_24(double *state, double *unused, double *out_5249730814361062362); -void car_h_30(double *state, double *unused, double *out_8880689501803362483); -void car_H_30(double *state, double *unused, double *out_6289323454656136871); -void car_h_26(double *state, double *unused, double *out_101279670203478282); -void car_H_26(double *state, double *unused, double *out_5897584341672109894); -void car_h_27(double *state, double *unused, double *out_3324199722843469132); -void car_H_27(double *state, double *unused, double *out_8464086766456561782); -void car_h_29(double *state, double *unused, double *out_3167013054492339987); -void car_H_29(double *state, double *unused, double *out_5779092110341744687); -void car_h_28(double *state, double *unused, double *out_287413671399136447); -void car_H_28(double *state, double *unused, double *out_7585252946298276355); -void car_h_31(double *state, double *unused, double *out_1952667607101882402); -void car_H_31(double *state, double *unused, double *out_5271376239438758418); +void car_err_fun(double *nom_x, double *delta_x, double *out_943833552876303288); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_528301401300769025); +void car_H_mod_fun(double *state, double *out_7538255523593818631); +void car_f_fun(double *state, double dt, double *out_3917173406968738478); +void car_F_fun(double *state, double dt, double *out_547656323515283001); +void car_h_25(double *state, double *unused, double *out_3127457687100704828); +void car_H_25(double *state, double *unused, double *out_7385507900126241308); +void car_h_24(double *state, double *unused, double *out_1385747192697667747); +void car_H_24(double *state, double *unused, double *out_3827582301323918172); +void car_h_30(double *state, double *unused, double *out_4635807569719967613); +void car_H_30(double *state, double *unused, double *out_7514846847269481378); +void car_h_26(double *state, double *unused, double *out_4346161602286873152); +void car_H_26(double *state, double *unused, double *out_7319732854709254084); +void car_h_27(double *state, double *unused, double *out_90671635656372143); +void car_H_27(double *state, double *unused, double *out_8757133914639645327); +void car_h_29(double *state, double *unused, double *out_365865697940878032); +void car_H_29(double *state, double *unused, double *out_7004615502955089194); +void car_h_28(double *state, double *unused, double *out_6687857119962214334); +void car_H_28(double *state, double *unused, double *out_5040985231389762943); +void car_h_31(double *state, double *unused, double *out_8548451160258495852); +void car_H_31(double *state, double *unused, double *out_7354861938249280880); 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 9949bfc54..adbdd9b08 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_788519772333288428) { - out_788519772333288428[0] = delta_x[0] + nom_x[0]; - out_788519772333288428[1] = delta_x[1] + nom_x[1]; - out_788519772333288428[2] = delta_x[2] + nom_x[2]; - out_788519772333288428[3] = delta_x[3] + nom_x[3]; - out_788519772333288428[4] = delta_x[4] + nom_x[4]; - out_788519772333288428[5] = delta_x[5] + nom_x[5]; - out_788519772333288428[6] = delta_x[6] + nom_x[6]; - out_788519772333288428[7] = delta_x[7] + nom_x[7]; - out_788519772333288428[8] = delta_x[8] + nom_x[8]; - out_788519772333288428[9] = delta_x[9] + nom_x[9]; - out_788519772333288428[10] = delta_x[10] + nom_x[10]; - out_788519772333288428[11] = delta_x[11] + nom_x[11]; - out_788519772333288428[12] = delta_x[12] + nom_x[12]; - out_788519772333288428[13] = delta_x[13] + nom_x[13]; - out_788519772333288428[14] = delta_x[14] + nom_x[14]; - out_788519772333288428[15] = delta_x[15] + nom_x[15]; - out_788519772333288428[16] = delta_x[16] + nom_x[16]; - out_788519772333288428[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4298502647758524793) { + out_4298502647758524793[0] = delta_x[0] + nom_x[0]; + out_4298502647758524793[1] = delta_x[1] + nom_x[1]; + out_4298502647758524793[2] = delta_x[2] + nom_x[2]; + out_4298502647758524793[3] = delta_x[3] + nom_x[3]; + out_4298502647758524793[4] = delta_x[4] + nom_x[4]; + out_4298502647758524793[5] = delta_x[5] + nom_x[5]; + out_4298502647758524793[6] = delta_x[6] + nom_x[6]; + out_4298502647758524793[7] = delta_x[7] + nom_x[7]; + out_4298502647758524793[8] = delta_x[8] + nom_x[8]; + out_4298502647758524793[9] = delta_x[9] + nom_x[9]; + out_4298502647758524793[10] = delta_x[10] + nom_x[10]; + out_4298502647758524793[11] = delta_x[11] + nom_x[11]; + out_4298502647758524793[12] = delta_x[12] + nom_x[12]; + out_4298502647758524793[13] = delta_x[13] + nom_x[13]; + out_4298502647758524793[14] = delta_x[14] + nom_x[14]; + out_4298502647758524793[15] = delta_x[15] + nom_x[15]; + out_4298502647758524793[16] = delta_x[16] + nom_x[16]; + out_4298502647758524793[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3476371721226452847) { - out_3476371721226452847[0] = -nom_x[0] + true_x[0]; - out_3476371721226452847[1] = -nom_x[1] + true_x[1]; - out_3476371721226452847[2] = -nom_x[2] + true_x[2]; - out_3476371721226452847[3] = -nom_x[3] + true_x[3]; - out_3476371721226452847[4] = -nom_x[4] + true_x[4]; - out_3476371721226452847[5] = -nom_x[5] + true_x[5]; - out_3476371721226452847[6] = -nom_x[6] + true_x[6]; - out_3476371721226452847[7] = -nom_x[7] + true_x[7]; - out_3476371721226452847[8] = -nom_x[8] + true_x[8]; - out_3476371721226452847[9] = -nom_x[9] + true_x[9]; - out_3476371721226452847[10] = -nom_x[10] + true_x[10]; - out_3476371721226452847[11] = -nom_x[11] + true_x[11]; - out_3476371721226452847[12] = -nom_x[12] + true_x[12]; - out_3476371721226452847[13] = -nom_x[13] + true_x[13]; - out_3476371721226452847[14] = -nom_x[14] + true_x[14]; - out_3476371721226452847[15] = -nom_x[15] + true_x[15]; - out_3476371721226452847[16] = -nom_x[16] + true_x[16]; - out_3476371721226452847[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5600470633109473941) { + out_5600470633109473941[0] = -nom_x[0] + true_x[0]; + out_5600470633109473941[1] = -nom_x[1] + true_x[1]; + out_5600470633109473941[2] = -nom_x[2] + true_x[2]; + out_5600470633109473941[3] = -nom_x[3] + true_x[3]; + out_5600470633109473941[4] = -nom_x[4] + true_x[4]; + out_5600470633109473941[5] = -nom_x[5] + true_x[5]; + out_5600470633109473941[6] = -nom_x[6] + true_x[6]; + out_5600470633109473941[7] = -nom_x[7] + true_x[7]; + out_5600470633109473941[8] = -nom_x[8] + true_x[8]; + out_5600470633109473941[9] = -nom_x[9] + true_x[9]; + out_5600470633109473941[10] = -nom_x[10] + true_x[10]; + out_5600470633109473941[11] = -nom_x[11] + true_x[11]; + out_5600470633109473941[12] = -nom_x[12] + true_x[12]; + out_5600470633109473941[13] = -nom_x[13] + true_x[13]; + out_5600470633109473941[14] = -nom_x[14] + true_x[14]; + out_5600470633109473941[15] = -nom_x[15] + true_x[15]; + out_5600470633109473941[16] = -nom_x[16] + true_x[16]; + out_5600470633109473941[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1856202857491626372) { - out_1856202857491626372[0] = 1.0; - out_1856202857491626372[1] = 0.0; - out_1856202857491626372[2] = 0.0; - out_1856202857491626372[3] = 0.0; - out_1856202857491626372[4] = 0.0; - out_1856202857491626372[5] = 0.0; - out_1856202857491626372[6] = 0.0; - out_1856202857491626372[7] = 0.0; - out_1856202857491626372[8] = 0.0; - out_1856202857491626372[9] = 0.0; - out_1856202857491626372[10] = 0.0; - out_1856202857491626372[11] = 0.0; - out_1856202857491626372[12] = 0.0; - out_1856202857491626372[13] = 0.0; - out_1856202857491626372[14] = 0.0; - out_1856202857491626372[15] = 0.0; - out_1856202857491626372[16] = 0.0; - out_1856202857491626372[17] = 0.0; - out_1856202857491626372[18] = 0.0; - out_1856202857491626372[19] = 1.0; - out_1856202857491626372[20] = 0.0; - out_1856202857491626372[21] = 0.0; - out_1856202857491626372[22] = 0.0; - out_1856202857491626372[23] = 0.0; - out_1856202857491626372[24] = 0.0; - out_1856202857491626372[25] = 0.0; - out_1856202857491626372[26] = 0.0; - out_1856202857491626372[27] = 0.0; - out_1856202857491626372[28] = 0.0; - out_1856202857491626372[29] = 0.0; - out_1856202857491626372[30] = 0.0; - out_1856202857491626372[31] = 0.0; - out_1856202857491626372[32] = 0.0; - out_1856202857491626372[33] = 0.0; - out_1856202857491626372[34] = 0.0; - out_1856202857491626372[35] = 0.0; - out_1856202857491626372[36] = 0.0; - out_1856202857491626372[37] = 0.0; - out_1856202857491626372[38] = 1.0; - out_1856202857491626372[39] = 0.0; - out_1856202857491626372[40] = 0.0; - out_1856202857491626372[41] = 0.0; - out_1856202857491626372[42] = 0.0; - out_1856202857491626372[43] = 0.0; - out_1856202857491626372[44] = 0.0; - out_1856202857491626372[45] = 0.0; - out_1856202857491626372[46] = 0.0; - out_1856202857491626372[47] = 0.0; - out_1856202857491626372[48] = 0.0; - out_1856202857491626372[49] = 0.0; - out_1856202857491626372[50] = 0.0; - out_1856202857491626372[51] = 0.0; - out_1856202857491626372[52] = 0.0; - out_1856202857491626372[53] = 0.0; - out_1856202857491626372[54] = 0.0; - out_1856202857491626372[55] = 0.0; - out_1856202857491626372[56] = 0.0; - out_1856202857491626372[57] = 1.0; - out_1856202857491626372[58] = 0.0; - out_1856202857491626372[59] = 0.0; - out_1856202857491626372[60] = 0.0; - out_1856202857491626372[61] = 0.0; - out_1856202857491626372[62] = 0.0; - out_1856202857491626372[63] = 0.0; - out_1856202857491626372[64] = 0.0; - out_1856202857491626372[65] = 0.0; - out_1856202857491626372[66] = 0.0; - out_1856202857491626372[67] = 0.0; - out_1856202857491626372[68] = 0.0; - out_1856202857491626372[69] = 0.0; - out_1856202857491626372[70] = 0.0; - out_1856202857491626372[71] = 0.0; - out_1856202857491626372[72] = 0.0; - out_1856202857491626372[73] = 0.0; - out_1856202857491626372[74] = 0.0; - out_1856202857491626372[75] = 0.0; - out_1856202857491626372[76] = 1.0; - out_1856202857491626372[77] = 0.0; - out_1856202857491626372[78] = 0.0; - out_1856202857491626372[79] = 0.0; - out_1856202857491626372[80] = 0.0; - out_1856202857491626372[81] = 0.0; - out_1856202857491626372[82] = 0.0; - out_1856202857491626372[83] = 0.0; - out_1856202857491626372[84] = 0.0; - out_1856202857491626372[85] = 0.0; - out_1856202857491626372[86] = 0.0; - out_1856202857491626372[87] = 0.0; - out_1856202857491626372[88] = 0.0; - out_1856202857491626372[89] = 0.0; - out_1856202857491626372[90] = 0.0; - out_1856202857491626372[91] = 0.0; - out_1856202857491626372[92] = 0.0; - out_1856202857491626372[93] = 0.0; - out_1856202857491626372[94] = 0.0; - out_1856202857491626372[95] = 1.0; - out_1856202857491626372[96] = 0.0; - out_1856202857491626372[97] = 0.0; - out_1856202857491626372[98] = 0.0; - out_1856202857491626372[99] = 0.0; - out_1856202857491626372[100] = 0.0; - out_1856202857491626372[101] = 0.0; - out_1856202857491626372[102] = 0.0; - out_1856202857491626372[103] = 0.0; - out_1856202857491626372[104] = 0.0; - out_1856202857491626372[105] = 0.0; - out_1856202857491626372[106] = 0.0; - out_1856202857491626372[107] = 0.0; - out_1856202857491626372[108] = 0.0; - out_1856202857491626372[109] = 0.0; - out_1856202857491626372[110] = 0.0; - out_1856202857491626372[111] = 0.0; - out_1856202857491626372[112] = 0.0; - out_1856202857491626372[113] = 0.0; - out_1856202857491626372[114] = 1.0; - out_1856202857491626372[115] = 0.0; - out_1856202857491626372[116] = 0.0; - out_1856202857491626372[117] = 0.0; - out_1856202857491626372[118] = 0.0; - out_1856202857491626372[119] = 0.0; - out_1856202857491626372[120] = 0.0; - out_1856202857491626372[121] = 0.0; - out_1856202857491626372[122] = 0.0; - out_1856202857491626372[123] = 0.0; - out_1856202857491626372[124] = 0.0; - out_1856202857491626372[125] = 0.0; - out_1856202857491626372[126] = 0.0; - out_1856202857491626372[127] = 0.0; - out_1856202857491626372[128] = 0.0; - out_1856202857491626372[129] = 0.0; - out_1856202857491626372[130] = 0.0; - out_1856202857491626372[131] = 0.0; - out_1856202857491626372[132] = 0.0; - out_1856202857491626372[133] = 1.0; - out_1856202857491626372[134] = 0.0; - out_1856202857491626372[135] = 0.0; - out_1856202857491626372[136] = 0.0; - out_1856202857491626372[137] = 0.0; - out_1856202857491626372[138] = 0.0; - out_1856202857491626372[139] = 0.0; - out_1856202857491626372[140] = 0.0; - out_1856202857491626372[141] = 0.0; - out_1856202857491626372[142] = 0.0; - out_1856202857491626372[143] = 0.0; - out_1856202857491626372[144] = 0.0; - out_1856202857491626372[145] = 0.0; - out_1856202857491626372[146] = 0.0; - out_1856202857491626372[147] = 0.0; - out_1856202857491626372[148] = 0.0; - out_1856202857491626372[149] = 0.0; - out_1856202857491626372[150] = 0.0; - out_1856202857491626372[151] = 0.0; - out_1856202857491626372[152] = 1.0; - out_1856202857491626372[153] = 0.0; - out_1856202857491626372[154] = 0.0; - out_1856202857491626372[155] = 0.0; - out_1856202857491626372[156] = 0.0; - out_1856202857491626372[157] = 0.0; - out_1856202857491626372[158] = 0.0; - out_1856202857491626372[159] = 0.0; - out_1856202857491626372[160] = 0.0; - out_1856202857491626372[161] = 0.0; - out_1856202857491626372[162] = 0.0; - out_1856202857491626372[163] = 0.0; - out_1856202857491626372[164] = 0.0; - out_1856202857491626372[165] = 0.0; - out_1856202857491626372[166] = 0.0; - out_1856202857491626372[167] = 0.0; - out_1856202857491626372[168] = 0.0; - out_1856202857491626372[169] = 0.0; - out_1856202857491626372[170] = 0.0; - out_1856202857491626372[171] = 1.0; - out_1856202857491626372[172] = 0.0; - out_1856202857491626372[173] = 0.0; - out_1856202857491626372[174] = 0.0; - out_1856202857491626372[175] = 0.0; - out_1856202857491626372[176] = 0.0; - out_1856202857491626372[177] = 0.0; - out_1856202857491626372[178] = 0.0; - out_1856202857491626372[179] = 0.0; - out_1856202857491626372[180] = 0.0; - out_1856202857491626372[181] = 0.0; - out_1856202857491626372[182] = 0.0; - out_1856202857491626372[183] = 0.0; - out_1856202857491626372[184] = 0.0; - out_1856202857491626372[185] = 0.0; - out_1856202857491626372[186] = 0.0; - out_1856202857491626372[187] = 0.0; - out_1856202857491626372[188] = 0.0; - out_1856202857491626372[189] = 0.0; - out_1856202857491626372[190] = 1.0; - out_1856202857491626372[191] = 0.0; - out_1856202857491626372[192] = 0.0; - out_1856202857491626372[193] = 0.0; - out_1856202857491626372[194] = 0.0; - out_1856202857491626372[195] = 0.0; - out_1856202857491626372[196] = 0.0; - out_1856202857491626372[197] = 0.0; - out_1856202857491626372[198] = 0.0; - out_1856202857491626372[199] = 0.0; - out_1856202857491626372[200] = 0.0; - out_1856202857491626372[201] = 0.0; - out_1856202857491626372[202] = 0.0; - out_1856202857491626372[203] = 0.0; - out_1856202857491626372[204] = 0.0; - out_1856202857491626372[205] = 0.0; - out_1856202857491626372[206] = 0.0; - out_1856202857491626372[207] = 0.0; - out_1856202857491626372[208] = 0.0; - out_1856202857491626372[209] = 1.0; - out_1856202857491626372[210] = 0.0; - out_1856202857491626372[211] = 0.0; - out_1856202857491626372[212] = 0.0; - out_1856202857491626372[213] = 0.0; - out_1856202857491626372[214] = 0.0; - out_1856202857491626372[215] = 0.0; - out_1856202857491626372[216] = 0.0; - out_1856202857491626372[217] = 0.0; - out_1856202857491626372[218] = 0.0; - out_1856202857491626372[219] = 0.0; - out_1856202857491626372[220] = 0.0; - out_1856202857491626372[221] = 0.0; - out_1856202857491626372[222] = 0.0; - out_1856202857491626372[223] = 0.0; - out_1856202857491626372[224] = 0.0; - out_1856202857491626372[225] = 0.0; - out_1856202857491626372[226] = 0.0; - out_1856202857491626372[227] = 0.0; - out_1856202857491626372[228] = 1.0; - out_1856202857491626372[229] = 0.0; - out_1856202857491626372[230] = 0.0; - out_1856202857491626372[231] = 0.0; - out_1856202857491626372[232] = 0.0; - out_1856202857491626372[233] = 0.0; - out_1856202857491626372[234] = 0.0; - out_1856202857491626372[235] = 0.0; - out_1856202857491626372[236] = 0.0; - out_1856202857491626372[237] = 0.0; - out_1856202857491626372[238] = 0.0; - out_1856202857491626372[239] = 0.0; - out_1856202857491626372[240] = 0.0; - out_1856202857491626372[241] = 0.0; - out_1856202857491626372[242] = 0.0; - out_1856202857491626372[243] = 0.0; - out_1856202857491626372[244] = 0.0; - out_1856202857491626372[245] = 0.0; - out_1856202857491626372[246] = 0.0; - out_1856202857491626372[247] = 1.0; - out_1856202857491626372[248] = 0.0; - out_1856202857491626372[249] = 0.0; - out_1856202857491626372[250] = 0.0; - out_1856202857491626372[251] = 0.0; - out_1856202857491626372[252] = 0.0; - out_1856202857491626372[253] = 0.0; - out_1856202857491626372[254] = 0.0; - out_1856202857491626372[255] = 0.0; - out_1856202857491626372[256] = 0.0; - out_1856202857491626372[257] = 0.0; - out_1856202857491626372[258] = 0.0; - out_1856202857491626372[259] = 0.0; - out_1856202857491626372[260] = 0.0; - out_1856202857491626372[261] = 0.0; - out_1856202857491626372[262] = 0.0; - out_1856202857491626372[263] = 0.0; - out_1856202857491626372[264] = 0.0; - out_1856202857491626372[265] = 0.0; - out_1856202857491626372[266] = 1.0; - out_1856202857491626372[267] = 0.0; - out_1856202857491626372[268] = 0.0; - out_1856202857491626372[269] = 0.0; - out_1856202857491626372[270] = 0.0; - out_1856202857491626372[271] = 0.0; - out_1856202857491626372[272] = 0.0; - out_1856202857491626372[273] = 0.0; - out_1856202857491626372[274] = 0.0; - out_1856202857491626372[275] = 0.0; - out_1856202857491626372[276] = 0.0; - out_1856202857491626372[277] = 0.0; - out_1856202857491626372[278] = 0.0; - out_1856202857491626372[279] = 0.0; - out_1856202857491626372[280] = 0.0; - out_1856202857491626372[281] = 0.0; - out_1856202857491626372[282] = 0.0; - out_1856202857491626372[283] = 0.0; - out_1856202857491626372[284] = 0.0; - out_1856202857491626372[285] = 1.0; - out_1856202857491626372[286] = 0.0; - out_1856202857491626372[287] = 0.0; - out_1856202857491626372[288] = 0.0; - out_1856202857491626372[289] = 0.0; - out_1856202857491626372[290] = 0.0; - out_1856202857491626372[291] = 0.0; - out_1856202857491626372[292] = 0.0; - out_1856202857491626372[293] = 0.0; - out_1856202857491626372[294] = 0.0; - out_1856202857491626372[295] = 0.0; - out_1856202857491626372[296] = 0.0; - out_1856202857491626372[297] = 0.0; - out_1856202857491626372[298] = 0.0; - out_1856202857491626372[299] = 0.0; - out_1856202857491626372[300] = 0.0; - out_1856202857491626372[301] = 0.0; - out_1856202857491626372[302] = 0.0; - out_1856202857491626372[303] = 0.0; - out_1856202857491626372[304] = 1.0; - out_1856202857491626372[305] = 0.0; - out_1856202857491626372[306] = 0.0; - out_1856202857491626372[307] = 0.0; - out_1856202857491626372[308] = 0.0; - out_1856202857491626372[309] = 0.0; - out_1856202857491626372[310] = 0.0; - out_1856202857491626372[311] = 0.0; - out_1856202857491626372[312] = 0.0; - out_1856202857491626372[313] = 0.0; - out_1856202857491626372[314] = 0.0; - out_1856202857491626372[315] = 0.0; - out_1856202857491626372[316] = 0.0; - out_1856202857491626372[317] = 0.0; - out_1856202857491626372[318] = 0.0; - out_1856202857491626372[319] = 0.0; - out_1856202857491626372[320] = 0.0; - out_1856202857491626372[321] = 0.0; - out_1856202857491626372[322] = 0.0; - out_1856202857491626372[323] = 1.0; +void H_mod_fun(double *state, double *out_5604237734398293519) { + out_5604237734398293519[0] = 1.0; + out_5604237734398293519[1] = 0.0; + out_5604237734398293519[2] = 0.0; + out_5604237734398293519[3] = 0.0; + out_5604237734398293519[4] = 0.0; + out_5604237734398293519[5] = 0.0; + out_5604237734398293519[6] = 0.0; + out_5604237734398293519[7] = 0.0; + out_5604237734398293519[8] = 0.0; + out_5604237734398293519[9] = 0.0; + out_5604237734398293519[10] = 0.0; + out_5604237734398293519[11] = 0.0; + out_5604237734398293519[12] = 0.0; + out_5604237734398293519[13] = 0.0; + out_5604237734398293519[14] = 0.0; + out_5604237734398293519[15] = 0.0; + out_5604237734398293519[16] = 0.0; + out_5604237734398293519[17] = 0.0; + out_5604237734398293519[18] = 0.0; + out_5604237734398293519[19] = 1.0; + out_5604237734398293519[20] = 0.0; + out_5604237734398293519[21] = 0.0; + out_5604237734398293519[22] = 0.0; + out_5604237734398293519[23] = 0.0; + out_5604237734398293519[24] = 0.0; + out_5604237734398293519[25] = 0.0; + out_5604237734398293519[26] = 0.0; + out_5604237734398293519[27] = 0.0; + out_5604237734398293519[28] = 0.0; + out_5604237734398293519[29] = 0.0; + out_5604237734398293519[30] = 0.0; + out_5604237734398293519[31] = 0.0; + out_5604237734398293519[32] = 0.0; + out_5604237734398293519[33] = 0.0; + out_5604237734398293519[34] = 0.0; + out_5604237734398293519[35] = 0.0; + out_5604237734398293519[36] = 0.0; + out_5604237734398293519[37] = 0.0; + out_5604237734398293519[38] = 1.0; + out_5604237734398293519[39] = 0.0; + out_5604237734398293519[40] = 0.0; + out_5604237734398293519[41] = 0.0; + out_5604237734398293519[42] = 0.0; + out_5604237734398293519[43] = 0.0; + out_5604237734398293519[44] = 0.0; + out_5604237734398293519[45] = 0.0; + out_5604237734398293519[46] = 0.0; + out_5604237734398293519[47] = 0.0; + out_5604237734398293519[48] = 0.0; + out_5604237734398293519[49] = 0.0; + out_5604237734398293519[50] = 0.0; + out_5604237734398293519[51] = 0.0; + out_5604237734398293519[52] = 0.0; + out_5604237734398293519[53] = 0.0; + out_5604237734398293519[54] = 0.0; + out_5604237734398293519[55] = 0.0; + out_5604237734398293519[56] = 0.0; + out_5604237734398293519[57] = 1.0; + out_5604237734398293519[58] = 0.0; + out_5604237734398293519[59] = 0.0; + out_5604237734398293519[60] = 0.0; + out_5604237734398293519[61] = 0.0; + out_5604237734398293519[62] = 0.0; + out_5604237734398293519[63] = 0.0; + out_5604237734398293519[64] = 0.0; + out_5604237734398293519[65] = 0.0; + out_5604237734398293519[66] = 0.0; + out_5604237734398293519[67] = 0.0; + out_5604237734398293519[68] = 0.0; + out_5604237734398293519[69] = 0.0; + out_5604237734398293519[70] = 0.0; + out_5604237734398293519[71] = 0.0; + out_5604237734398293519[72] = 0.0; + out_5604237734398293519[73] = 0.0; + out_5604237734398293519[74] = 0.0; + out_5604237734398293519[75] = 0.0; + out_5604237734398293519[76] = 1.0; + out_5604237734398293519[77] = 0.0; + out_5604237734398293519[78] = 0.0; + out_5604237734398293519[79] = 0.0; + out_5604237734398293519[80] = 0.0; + out_5604237734398293519[81] = 0.0; + out_5604237734398293519[82] = 0.0; + out_5604237734398293519[83] = 0.0; + out_5604237734398293519[84] = 0.0; + out_5604237734398293519[85] = 0.0; + out_5604237734398293519[86] = 0.0; + out_5604237734398293519[87] = 0.0; + out_5604237734398293519[88] = 0.0; + out_5604237734398293519[89] = 0.0; + out_5604237734398293519[90] = 0.0; + out_5604237734398293519[91] = 0.0; + out_5604237734398293519[92] = 0.0; + out_5604237734398293519[93] = 0.0; + out_5604237734398293519[94] = 0.0; + out_5604237734398293519[95] = 1.0; + out_5604237734398293519[96] = 0.0; + out_5604237734398293519[97] = 0.0; + out_5604237734398293519[98] = 0.0; + out_5604237734398293519[99] = 0.0; + out_5604237734398293519[100] = 0.0; + out_5604237734398293519[101] = 0.0; + out_5604237734398293519[102] = 0.0; + out_5604237734398293519[103] = 0.0; + out_5604237734398293519[104] = 0.0; + out_5604237734398293519[105] = 0.0; + out_5604237734398293519[106] = 0.0; + out_5604237734398293519[107] = 0.0; + out_5604237734398293519[108] = 0.0; + out_5604237734398293519[109] = 0.0; + out_5604237734398293519[110] = 0.0; + out_5604237734398293519[111] = 0.0; + out_5604237734398293519[112] = 0.0; + out_5604237734398293519[113] = 0.0; + out_5604237734398293519[114] = 1.0; + out_5604237734398293519[115] = 0.0; + out_5604237734398293519[116] = 0.0; + out_5604237734398293519[117] = 0.0; + out_5604237734398293519[118] = 0.0; + out_5604237734398293519[119] = 0.0; + out_5604237734398293519[120] = 0.0; + out_5604237734398293519[121] = 0.0; + out_5604237734398293519[122] = 0.0; + out_5604237734398293519[123] = 0.0; + out_5604237734398293519[124] = 0.0; + out_5604237734398293519[125] = 0.0; + out_5604237734398293519[126] = 0.0; + out_5604237734398293519[127] = 0.0; + out_5604237734398293519[128] = 0.0; + out_5604237734398293519[129] = 0.0; + out_5604237734398293519[130] = 0.0; + out_5604237734398293519[131] = 0.0; + out_5604237734398293519[132] = 0.0; + out_5604237734398293519[133] = 1.0; + out_5604237734398293519[134] = 0.0; + out_5604237734398293519[135] = 0.0; + out_5604237734398293519[136] = 0.0; + out_5604237734398293519[137] = 0.0; + out_5604237734398293519[138] = 0.0; + out_5604237734398293519[139] = 0.0; + out_5604237734398293519[140] = 0.0; + out_5604237734398293519[141] = 0.0; + out_5604237734398293519[142] = 0.0; + out_5604237734398293519[143] = 0.0; + out_5604237734398293519[144] = 0.0; + out_5604237734398293519[145] = 0.0; + out_5604237734398293519[146] = 0.0; + out_5604237734398293519[147] = 0.0; + out_5604237734398293519[148] = 0.0; + out_5604237734398293519[149] = 0.0; + out_5604237734398293519[150] = 0.0; + out_5604237734398293519[151] = 0.0; + out_5604237734398293519[152] = 1.0; + out_5604237734398293519[153] = 0.0; + out_5604237734398293519[154] = 0.0; + out_5604237734398293519[155] = 0.0; + out_5604237734398293519[156] = 0.0; + out_5604237734398293519[157] = 0.0; + out_5604237734398293519[158] = 0.0; + out_5604237734398293519[159] = 0.0; + out_5604237734398293519[160] = 0.0; + out_5604237734398293519[161] = 0.0; + out_5604237734398293519[162] = 0.0; + out_5604237734398293519[163] = 0.0; + out_5604237734398293519[164] = 0.0; + out_5604237734398293519[165] = 0.0; + out_5604237734398293519[166] = 0.0; + out_5604237734398293519[167] = 0.0; + out_5604237734398293519[168] = 0.0; + out_5604237734398293519[169] = 0.0; + out_5604237734398293519[170] = 0.0; + out_5604237734398293519[171] = 1.0; + out_5604237734398293519[172] = 0.0; + out_5604237734398293519[173] = 0.0; + out_5604237734398293519[174] = 0.0; + out_5604237734398293519[175] = 0.0; + out_5604237734398293519[176] = 0.0; + out_5604237734398293519[177] = 0.0; + out_5604237734398293519[178] = 0.0; + out_5604237734398293519[179] = 0.0; + out_5604237734398293519[180] = 0.0; + out_5604237734398293519[181] = 0.0; + out_5604237734398293519[182] = 0.0; + out_5604237734398293519[183] = 0.0; + out_5604237734398293519[184] = 0.0; + out_5604237734398293519[185] = 0.0; + out_5604237734398293519[186] = 0.0; + out_5604237734398293519[187] = 0.0; + out_5604237734398293519[188] = 0.0; + out_5604237734398293519[189] = 0.0; + out_5604237734398293519[190] = 1.0; + out_5604237734398293519[191] = 0.0; + out_5604237734398293519[192] = 0.0; + out_5604237734398293519[193] = 0.0; + out_5604237734398293519[194] = 0.0; + out_5604237734398293519[195] = 0.0; + out_5604237734398293519[196] = 0.0; + out_5604237734398293519[197] = 0.0; + out_5604237734398293519[198] = 0.0; + out_5604237734398293519[199] = 0.0; + out_5604237734398293519[200] = 0.0; + out_5604237734398293519[201] = 0.0; + out_5604237734398293519[202] = 0.0; + out_5604237734398293519[203] = 0.0; + out_5604237734398293519[204] = 0.0; + out_5604237734398293519[205] = 0.0; + out_5604237734398293519[206] = 0.0; + out_5604237734398293519[207] = 0.0; + out_5604237734398293519[208] = 0.0; + out_5604237734398293519[209] = 1.0; + out_5604237734398293519[210] = 0.0; + out_5604237734398293519[211] = 0.0; + out_5604237734398293519[212] = 0.0; + out_5604237734398293519[213] = 0.0; + out_5604237734398293519[214] = 0.0; + out_5604237734398293519[215] = 0.0; + out_5604237734398293519[216] = 0.0; + out_5604237734398293519[217] = 0.0; + out_5604237734398293519[218] = 0.0; + out_5604237734398293519[219] = 0.0; + out_5604237734398293519[220] = 0.0; + out_5604237734398293519[221] = 0.0; + out_5604237734398293519[222] = 0.0; + out_5604237734398293519[223] = 0.0; + out_5604237734398293519[224] = 0.0; + out_5604237734398293519[225] = 0.0; + out_5604237734398293519[226] = 0.0; + out_5604237734398293519[227] = 0.0; + out_5604237734398293519[228] = 1.0; + out_5604237734398293519[229] = 0.0; + out_5604237734398293519[230] = 0.0; + out_5604237734398293519[231] = 0.0; + out_5604237734398293519[232] = 0.0; + out_5604237734398293519[233] = 0.0; + out_5604237734398293519[234] = 0.0; + out_5604237734398293519[235] = 0.0; + out_5604237734398293519[236] = 0.0; + out_5604237734398293519[237] = 0.0; + out_5604237734398293519[238] = 0.0; + out_5604237734398293519[239] = 0.0; + out_5604237734398293519[240] = 0.0; + out_5604237734398293519[241] = 0.0; + out_5604237734398293519[242] = 0.0; + out_5604237734398293519[243] = 0.0; + out_5604237734398293519[244] = 0.0; + out_5604237734398293519[245] = 0.0; + out_5604237734398293519[246] = 0.0; + out_5604237734398293519[247] = 1.0; + out_5604237734398293519[248] = 0.0; + out_5604237734398293519[249] = 0.0; + out_5604237734398293519[250] = 0.0; + out_5604237734398293519[251] = 0.0; + out_5604237734398293519[252] = 0.0; + out_5604237734398293519[253] = 0.0; + out_5604237734398293519[254] = 0.0; + out_5604237734398293519[255] = 0.0; + out_5604237734398293519[256] = 0.0; + out_5604237734398293519[257] = 0.0; + out_5604237734398293519[258] = 0.0; + out_5604237734398293519[259] = 0.0; + out_5604237734398293519[260] = 0.0; + out_5604237734398293519[261] = 0.0; + out_5604237734398293519[262] = 0.0; + out_5604237734398293519[263] = 0.0; + out_5604237734398293519[264] = 0.0; + out_5604237734398293519[265] = 0.0; + out_5604237734398293519[266] = 1.0; + out_5604237734398293519[267] = 0.0; + out_5604237734398293519[268] = 0.0; + out_5604237734398293519[269] = 0.0; + out_5604237734398293519[270] = 0.0; + out_5604237734398293519[271] = 0.0; + out_5604237734398293519[272] = 0.0; + out_5604237734398293519[273] = 0.0; + out_5604237734398293519[274] = 0.0; + out_5604237734398293519[275] = 0.0; + out_5604237734398293519[276] = 0.0; + out_5604237734398293519[277] = 0.0; + out_5604237734398293519[278] = 0.0; + out_5604237734398293519[279] = 0.0; + out_5604237734398293519[280] = 0.0; + out_5604237734398293519[281] = 0.0; + out_5604237734398293519[282] = 0.0; + out_5604237734398293519[283] = 0.0; + out_5604237734398293519[284] = 0.0; + out_5604237734398293519[285] = 1.0; + out_5604237734398293519[286] = 0.0; + out_5604237734398293519[287] = 0.0; + out_5604237734398293519[288] = 0.0; + out_5604237734398293519[289] = 0.0; + out_5604237734398293519[290] = 0.0; + out_5604237734398293519[291] = 0.0; + out_5604237734398293519[292] = 0.0; + out_5604237734398293519[293] = 0.0; + out_5604237734398293519[294] = 0.0; + out_5604237734398293519[295] = 0.0; + out_5604237734398293519[296] = 0.0; + out_5604237734398293519[297] = 0.0; + out_5604237734398293519[298] = 0.0; + out_5604237734398293519[299] = 0.0; + out_5604237734398293519[300] = 0.0; + out_5604237734398293519[301] = 0.0; + out_5604237734398293519[302] = 0.0; + out_5604237734398293519[303] = 0.0; + out_5604237734398293519[304] = 1.0; + out_5604237734398293519[305] = 0.0; + out_5604237734398293519[306] = 0.0; + out_5604237734398293519[307] = 0.0; + out_5604237734398293519[308] = 0.0; + out_5604237734398293519[309] = 0.0; + out_5604237734398293519[310] = 0.0; + out_5604237734398293519[311] = 0.0; + out_5604237734398293519[312] = 0.0; + out_5604237734398293519[313] = 0.0; + out_5604237734398293519[314] = 0.0; + out_5604237734398293519[315] = 0.0; + out_5604237734398293519[316] = 0.0; + out_5604237734398293519[317] = 0.0; + out_5604237734398293519[318] = 0.0; + out_5604237734398293519[319] = 0.0; + out_5604237734398293519[320] = 0.0; + out_5604237734398293519[321] = 0.0; + out_5604237734398293519[322] = 0.0; + out_5604237734398293519[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7190390231498499682) { - out_7190390231498499682[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_7190390231498499682[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_7190390231498499682[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_7190390231498499682[3] = dt*state[12] + state[3]; - out_7190390231498499682[4] = dt*state[13] + state[4]; - out_7190390231498499682[5] = dt*state[14] + state[5]; - out_7190390231498499682[6] = state[6]; - out_7190390231498499682[7] = state[7]; - out_7190390231498499682[8] = state[8]; - out_7190390231498499682[9] = state[9]; - out_7190390231498499682[10] = state[10]; - out_7190390231498499682[11] = state[11]; - out_7190390231498499682[12] = state[12]; - out_7190390231498499682[13] = state[13]; - out_7190390231498499682[14] = state[14]; - out_7190390231498499682[15] = state[15]; - out_7190390231498499682[16] = state[16]; - out_7190390231498499682[17] = state[17]; +void f_fun(double *state, double dt, double *out_1603951998531582898) { + out_1603951998531582898[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_1603951998531582898[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_1603951998531582898[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_1603951998531582898[3] = dt*state[12] + state[3]; + out_1603951998531582898[4] = dt*state[13] + state[4]; + out_1603951998531582898[5] = dt*state[14] + state[5]; + out_1603951998531582898[6] = state[6]; + out_1603951998531582898[7] = state[7]; + out_1603951998531582898[8] = state[8]; + out_1603951998531582898[9] = state[9]; + out_1603951998531582898[10] = state[10]; + out_1603951998531582898[11] = state[11]; + out_1603951998531582898[12] = state[12]; + out_1603951998531582898[13] = state[13]; + out_1603951998531582898[14] = state[14]; + out_1603951998531582898[15] = state[15]; + out_1603951998531582898[16] = state[16]; + out_1603951998531582898[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4238346152453461367) { - out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[2] = 0; - out_4238346152453461367[3] = 0; - out_4238346152453461367[4] = 0; - out_4238346152453461367[5] = 0; - out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[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_4238346152453461367[9] = 0; - out_4238346152453461367[10] = 0; - out_4238346152453461367[11] = 0; - out_4238346152453461367[12] = 0; - out_4238346152453461367[13] = 0; - out_4238346152453461367[14] = 0; - out_4238346152453461367[15] = 0; - out_4238346152453461367[16] = 0; - out_4238346152453461367[17] = 0; - out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[20] = 0; - out_4238346152453461367[21] = 0; - out_4238346152453461367[22] = 0; - out_4238346152453461367[23] = 0; - out_4238346152453461367[24] = 0; - out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[27] = 0; - out_4238346152453461367[28] = 0; - out_4238346152453461367[29] = 0; - out_4238346152453461367[30] = 0; - out_4238346152453461367[31] = 0; - out_4238346152453461367[32] = 0; - out_4238346152453461367[33] = 0; - out_4238346152453461367[34] = 0; - out_4238346152453461367[35] = 0; - out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[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_4238346152453461367[39] = 0; - out_4238346152453461367[40] = 0; - out_4238346152453461367[41] = 0; - out_4238346152453461367[42] = 0; - out_4238346152453461367[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_4238346152453461367[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_4238346152453461367[45] = 0; - out_4238346152453461367[46] = 0; - out_4238346152453461367[47] = 0; - out_4238346152453461367[48] = 0; - out_4238346152453461367[49] = 0; - out_4238346152453461367[50] = 0; - out_4238346152453461367[51] = 0; - out_4238346152453461367[52] = 0; - out_4238346152453461367[53] = 0; - out_4238346152453461367[54] = 0; - out_4238346152453461367[55] = 0; - out_4238346152453461367[56] = 0; - out_4238346152453461367[57] = 1; - out_4238346152453461367[58] = 0; - out_4238346152453461367[59] = 0; - out_4238346152453461367[60] = 0; - out_4238346152453461367[61] = 0; - out_4238346152453461367[62] = 0; - out_4238346152453461367[63] = 0; - out_4238346152453461367[64] = 0; - out_4238346152453461367[65] = 0; - out_4238346152453461367[66] = dt; - out_4238346152453461367[67] = 0; - out_4238346152453461367[68] = 0; - out_4238346152453461367[69] = 0; - out_4238346152453461367[70] = 0; - out_4238346152453461367[71] = 0; - out_4238346152453461367[72] = 0; - out_4238346152453461367[73] = 0; - out_4238346152453461367[74] = 0; - out_4238346152453461367[75] = 0; - out_4238346152453461367[76] = 1; - out_4238346152453461367[77] = 0; - out_4238346152453461367[78] = 0; - out_4238346152453461367[79] = 0; - out_4238346152453461367[80] = 0; - out_4238346152453461367[81] = 0; - out_4238346152453461367[82] = 0; - out_4238346152453461367[83] = 0; - out_4238346152453461367[84] = 0; - out_4238346152453461367[85] = dt; - out_4238346152453461367[86] = 0; - out_4238346152453461367[87] = 0; - out_4238346152453461367[88] = 0; - out_4238346152453461367[89] = 0; - out_4238346152453461367[90] = 0; - out_4238346152453461367[91] = 0; - out_4238346152453461367[92] = 0; - out_4238346152453461367[93] = 0; - out_4238346152453461367[94] = 0; - out_4238346152453461367[95] = 1; - out_4238346152453461367[96] = 0; - out_4238346152453461367[97] = 0; - out_4238346152453461367[98] = 0; - out_4238346152453461367[99] = 0; - out_4238346152453461367[100] = 0; - out_4238346152453461367[101] = 0; - out_4238346152453461367[102] = 0; - out_4238346152453461367[103] = 0; - out_4238346152453461367[104] = dt; - out_4238346152453461367[105] = 0; - out_4238346152453461367[106] = 0; - out_4238346152453461367[107] = 0; - out_4238346152453461367[108] = 0; - out_4238346152453461367[109] = 0; - out_4238346152453461367[110] = 0; - out_4238346152453461367[111] = 0; - out_4238346152453461367[112] = 0; - out_4238346152453461367[113] = 0; - out_4238346152453461367[114] = 1; - out_4238346152453461367[115] = 0; - out_4238346152453461367[116] = 0; - out_4238346152453461367[117] = 0; - out_4238346152453461367[118] = 0; - out_4238346152453461367[119] = 0; - out_4238346152453461367[120] = 0; - out_4238346152453461367[121] = 0; - out_4238346152453461367[122] = 0; - out_4238346152453461367[123] = 0; - out_4238346152453461367[124] = 0; - out_4238346152453461367[125] = 0; - out_4238346152453461367[126] = 0; - out_4238346152453461367[127] = 0; - out_4238346152453461367[128] = 0; - out_4238346152453461367[129] = 0; - out_4238346152453461367[130] = 0; - out_4238346152453461367[131] = 0; - out_4238346152453461367[132] = 0; - out_4238346152453461367[133] = 1; - out_4238346152453461367[134] = 0; - out_4238346152453461367[135] = 0; - out_4238346152453461367[136] = 0; - out_4238346152453461367[137] = 0; - out_4238346152453461367[138] = 0; - out_4238346152453461367[139] = 0; - out_4238346152453461367[140] = 0; - out_4238346152453461367[141] = 0; - out_4238346152453461367[142] = 0; - out_4238346152453461367[143] = 0; - out_4238346152453461367[144] = 0; - out_4238346152453461367[145] = 0; - out_4238346152453461367[146] = 0; - out_4238346152453461367[147] = 0; - out_4238346152453461367[148] = 0; - out_4238346152453461367[149] = 0; - out_4238346152453461367[150] = 0; - out_4238346152453461367[151] = 0; - out_4238346152453461367[152] = 1; - out_4238346152453461367[153] = 0; - out_4238346152453461367[154] = 0; - out_4238346152453461367[155] = 0; - out_4238346152453461367[156] = 0; - out_4238346152453461367[157] = 0; - out_4238346152453461367[158] = 0; - out_4238346152453461367[159] = 0; - out_4238346152453461367[160] = 0; - out_4238346152453461367[161] = 0; - out_4238346152453461367[162] = 0; - out_4238346152453461367[163] = 0; - out_4238346152453461367[164] = 0; - out_4238346152453461367[165] = 0; - out_4238346152453461367[166] = 0; - out_4238346152453461367[167] = 0; - out_4238346152453461367[168] = 0; - out_4238346152453461367[169] = 0; - out_4238346152453461367[170] = 0; - out_4238346152453461367[171] = 1; - out_4238346152453461367[172] = 0; - out_4238346152453461367[173] = 0; - out_4238346152453461367[174] = 0; - out_4238346152453461367[175] = 0; - out_4238346152453461367[176] = 0; - out_4238346152453461367[177] = 0; - out_4238346152453461367[178] = 0; - out_4238346152453461367[179] = 0; - out_4238346152453461367[180] = 0; - out_4238346152453461367[181] = 0; - out_4238346152453461367[182] = 0; - out_4238346152453461367[183] = 0; - out_4238346152453461367[184] = 0; - out_4238346152453461367[185] = 0; - out_4238346152453461367[186] = 0; - out_4238346152453461367[187] = 0; - out_4238346152453461367[188] = 0; - out_4238346152453461367[189] = 0; - out_4238346152453461367[190] = 1; - out_4238346152453461367[191] = 0; - out_4238346152453461367[192] = 0; - out_4238346152453461367[193] = 0; - out_4238346152453461367[194] = 0; - out_4238346152453461367[195] = 0; - out_4238346152453461367[196] = 0; - out_4238346152453461367[197] = 0; - out_4238346152453461367[198] = 0; - out_4238346152453461367[199] = 0; - out_4238346152453461367[200] = 0; - out_4238346152453461367[201] = 0; - out_4238346152453461367[202] = 0; - out_4238346152453461367[203] = 0; - out_4238346152453461367[204] = 0; - out_4238346152453461367[205] = 0; - out_4238346152453461367[206] = 0; - out_4238346152453461367[207] = 0; - out_4238346152453461367[208] = 0; - out_4238346152453461367[209] = 1; - out_4238346152453461367[210] = 0; - out_4238346152453461367[211] = 0; - out_4238346152453461367[212] = 0; - out_4238346152453461367[213] = 0; - out_4238346152453461367[214] = 0; - out_4238346152453461367[215] = 0; - out_4238346152453461367[216] = 0; - out_4238346152453461367[217] = 0; - out_4238346152453461367[218] = 0; - out_4238346152453461367[219] = 0; - out_4238346152453461367[220] = 0; - out_4238346152453461367[221] = 0; - out_4238346152453461367[222] = 0; - out_4238346152453461367[223] = 0; - out_4238346152453461367[224] = 0; - out_4238346152453461367[225] = 0; - out_4238346152453461367[226] = 0; - out_4238346152453461367[227] = 0; - out_4238346152453461367[228] = 1; - out_4238346152453461367[229] = 0; - out_4238346152453461367[230] = 0; - out_4238346152453461367[231] = 0; - out_4238346152453461367[232] = 0; - out_4238346152453461367[233] = 0; - out_4238346152453461367[234] = 0; - out_4238346152453461367[235] = 0; - out_4238346152453461367[236] = 0; - out_4238346152453461367[237] = 0; - out_4238346152453461367[238] = 0; - out_4238346152453461367[239] = 0; - out_4238346152453461367[240] = 0; - out_4238346152453461367[241] = 0; - out_4238346152453461367[242] = 0; - out_4238346152453461367[243] = 0; - out_4238346152453461367[244] = 0; - out_4238346152453461367[245] = 0; - out_4238346152453461367[246] = 0; - out_4238346152453461367[247] = 1; - out_4238346152453461367[248] = 0; - out_4238346152453461367[249] = 0; - out_4238346152453461367[250] = 0; - out_4238346152453461367[251] = 0; - out_4238346152453461367[252] = 0; - out_4238346152453461367[253] = 0; - out_4238346152453461367[254] = 0; - out_4238346152453461367[255] = 0; - out_4238346152453461367[256] = 0; - out_4238346152453461367[257] = 0; - out_4238346152453461367[258] = 0; - out_4238346152453461367[259] = 0; - out_4238346152453461367[260] = 0; - out_4238346152453461367[261] = 0; - out_4238346152453461367[262] = 0; - out_4238346152453461367[263] = 0; - out_4238346152453461367[264] = 0; - out_4238346152453461367[265] = 0; - out_4238346152453461367[266] = 1; - out_4238346152453461367[267] = 0; - out_4238346152453461367[268] = 0; - out_4238346152453461367[269] = 0; - out_4238346152453461367[270] = 0; - out_4238346152453461367[271] = 0; - out_4238346152453461367[272] = 0; - out_4238346152453461367[273] = 0; - out_4238346152453461367[274] = 0; - out_4238346152453461367[275] = 0; - out_4238346152453461367[276] = 0; - out_4238346152453461367[277] = 0; - out_4238346152453461367[278] = 0; - out_4238346152453461367[279] = 0; - out_4238346152453461367[280] = 0; - out_4238346152453461367[281] = 0; - out_4238346152453461367[282] = 0; - out_4238346152453461367[283] = 0; - out_4238346152453461367[284] = 0; - out_4238346152453461367[285] = 1; - out_4238346152453461367[286] = 0; - out_4238346152453461367[287] = 0; - out_4238346152453461367[288] = 0; - out_4238346152453461367[289] = 0; - out_4238346152453461367[290] = 0; - out_4238346152453461367[291] = 0; - out_4238346152453461367[292] = 0; - out_4238346152453461367[293] = 0; - out_4238346152453461367[294] = 0; - out_4238346152453461367[295] = 0; - out_4238346152453461367[296] = 0; - out_4238346152453461367[297] = 0; - out_4238346152453461367[298] = 0; - out_4238346152453461367[299] = 0; - out_4238346152453461367[300] = 0; - out_4238346152453461367[301] = 0; - out_4238346152453461367[302] = 0; - out_4238346152453461367[303] = 0; - out_4238346152453461367[304] = 1; - out_4238346152453461367[305] = 0; - out_4238346152453461367[306] = 0; - out_4238346152453461367[307] = 0; - out_4238346152453461367[308] = 0; - out_4238346152453461367[309] = 0; - out_4238346152453461367[310] = 0; - out_4238346152453461367[311] = 0; - out_4238346152453461367[312] = 0; - out_4238346152453461367[313] = 0; - out_4238346152453461367[314] = 0; - out_4238346152453461367[315] = 0; - out_4238346152453461367[316] = 0; - out_4238346152453461367[317] = 0; - out_4238346152453461367[318] = 0; - out_4238346152453461367[319] = 0; - out_4238346152453461367[320] = 0; - out_4238346152453461367[321] = 0; - out_4238346152453461367[322] = 0; - out_4238346152453461367[323] = 1; +void F_fun(double *state, double dt, double *out_7355016791857912131) { + out_7355016791857912131[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_7355016791857912131[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_7355016791857912131[2] = 0; + out_7355016791857912131[3] = 0; + out_7355016791857912131[4] = 0; + out_7355016791857912131[5] = 0; + out_7355016791857912131[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_7355016791857912131[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_7355016791857912131[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_7355016791857912131[9] = 0; + out_7355016791857912131[10] = 0; + out_7355016791857912131[11] = 0; + out_7355016791857912131[12] = 0; + out_7355016791857912131[13] = 0; + out_7355016791857912131[14] = 0; + out_7355016791857912131[15] = 0; + out_7355016791857912131[16] = 0; + out_7355016791857912131[17] = 0; + out_7355016791857912131[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_7355016791857912131[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_7355016791857912131[20] = 0; + out_7355016791857912131[21] = 0; + out_7355016791857912131[22] = 0; + out_7355016791857912131[23] = 0; + out_7355016791857912131[24] = 0; + out_7355016791857912131[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_7355016791857912131[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_7355016791857912131[27] = 0; + out_7355016791857912131[28] = 0; + out_7355016791857912131[29] = 0; + out_7355016791857912131[30] = 0; + out_7355016791857912131[31] = 0; + out_7355016791857912131[32] = 0; + out_7355016791857912131[33] = 0; + out_7355016791857912131[34] = 0; + out_7355016791857912131[35] = 0; + out_7355016791857912131[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_7355016791857912131[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_7355016791857912131[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_7355016791857912131[39] = 0; + out_7355016791857912131[40] = 0; + out_7355016791857912131[41] = 0; + out_7355016791857912131[42] = 0; + out_7355016791857912131[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_7355016791857912131[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_7355016791857912131[45] = 0; + out_7355016791857912131[46] = 0; + out_7355016791857912131[47] = 0; + out_7355016791857912131[48] = 0; + out_7355016791857912131[49] = 0; + out_7355016791857912131[50] = 0; + out_7355016791857912131[51] = 0; + out_7355016791857912131[52] = 0; + out_7355016791857912131[53] = 0; + out_7355016791857912131[54] = 0; + out_7355016791857912131[55] = 0; + out_7355016791857912131[56] = 0; + out_7355016791857912131[57] = 1; + out_7355016791857912131[58] = 0; + out_7355016791857912131[59] = 0; + out_7355016791857912131[60] = 0; + out_7355016791857912131[61] = 0; + out_7355016791857912131[62] = 0; + out_7355016791857912131[63] = 0; + out_7355016791857912131[64] = 0; + out_7355016791857912131[65] = 0; + out_7355016791857912131[66] = dt; + out_7355016791857912131[67] = 0; + out_7355016791857912131[68] = 0; + out_7355016791857912131[69] = 0; + out_7355016791857912131[70] = 0; + out_7355016791857912131[71] = 0; + out_7355016791857912131[72] = 0; + out_7355016791857912131[73] = 0; + out_7355016791857912131[74] = 0; + out_7355016791857912131[75] = 0; + out_7355016791857912131[76] = 1; + out_7355016791857912131[77] = 0; + out_7355016791857912131[78] = 0; + out_7355016791857912131[79] = 0; + out_7355016791857912131[80] = 0; + out_7355016791857912131[81] = 0; + out_7355016791857912131[82] = 0; + out_7355016791857912131[83] = 0; + out_7355016791857912131[84] = 0; + out_7355016791857912131[85] = dt; + out_7355016791857912131[86] = 0; + out_7355016791857912131[87] = 0; + out_7355016791857912131[88] = 0; + out_7355016791857912131[89] = 0; + out_7355016791857912131[90] = 0; + out_7355016791857912131[91] = 0; + out_7355016791857912131[92] = 0; + out_7355016791857912131[93] = 0; + out_7355016791857912131[94] = 0; + out_7355016791857912131[95] = 1; + out_7355016791857912131[96] = 0; + out_7355016791857912131[97] = 0; + out_7355016791857912131[98] = 0; + out_7355016791857912131[99] = 0; + out_7355016791857912131[100] = 0; + out_7355016791857912131[101] = 0; + out_7355016791857912131[102] = 0; + out_7355016791857912131[103] = 0; + out_7355016791857912131[104] = dt; + out_7355016791857912131[105] = 0; + out_7355016791857912131[106] = 0; + out_7355016791857912131[107] = 0; + out_7355016791857912131[108] = 0; + out_7355016791857912131[109] = 0; + out_7355016791857912131[110] = 0; + out_7355016791857912131[111] = 0; + out_7355016791857912131[112] = 0; + out_7355016791857912131[113] = 0; + out_7355016791857912131[114] = 1; + out_7355016791857912131[115] = 0; + out_7355016791857912131[116] = 0; + out_7355016791857912131[117] = 0; + out_7355016791857912131[118] = 0; + out_7355016791857912131[119] = 0; + out_7355016791857912131[120] = 0; + out_7355016791857912131[121] = 0; + out_7355016791857912131[122] = 0; + out_7355016791857912131[123] = 0; + out_7355016791857912131[124] = 0; + out_7355016791857912131[125] = 0; + out_7355016791857912131[126] = 0; + out_7355016791857912131[127] = 0; + out_7355016791857912131[128] = 0; + out_7355016791857912131[129] = 0; + out_7355016791857912131[130] = 0; + out_7355016791857912131[131] = 0; + out_7355016791857912131[132] = 0; + out_7355016791857912131[133] = 1; + out_7355016791857912131[134] = 0; + out_7355016791857912131[135] = 0; + out_7355016791857912131[136] = 0; + out_7355016791857912131[137] = 0; + out_7355016791857912131[138] = 0; + out_7355016791857912131[139] = 0; + out_7355016791857912131[140] = 0; + out_7355016791857912131[141] = 0; + out_7355016791857912131[142] = 0; + out_7355016791857912131[143] = 0; + out_7355016791857912131[144] = 0; + out_7355016791857912131[145] = 0; + out_7355016791857912131[146] = 0; + out_7355016791857912131[147] = 0; + out_7355016791857912131[148] = 0; + out_7355016791857912131[149] = 0; + out_7355016791857912131[150] = 0; + out_7355016791857912131[151] = 0; + out_7355016791857912131[152] = 1; + out_7355016791857912131[153] = 0; + out_7355016791857912131[154] = 0; + out_7355016791857912131[155] = 0; + out_7355016791857912131[156] = 0; + out_7355016791857912131[157] = 0; + out_7355016791857912131[158] = 0; + out_7355016791857912131[159] = 0; + out_7355016791857912131[160] = 0; + out_7355016791857912131[161] = 0; + out_7355016791857912131[162] = 0; + out_7355016791857912131[163] = 0; + out_7355016791857912131[164] = 0; + out_7355016791857912131[165] = 0; + out_7355016791857912131[166] = 0; + out_7355016791857912131[167] = 0; + out_7355016791857912131[168] = 0; + out_7355016791857912131[169] = 0; + out_7355016791857912131[170] = 0; + out_7355016791857912131[171] = 1; + out_7355016791857912131[172] = 0; + out_7355016791857912131[173] = 0; + out_7355016791857912131[174] = 0; + out_7355016791857912131[175] = 0; + out_7355016791857912131[176] = 0; + out_7355016791857912131[177] = 0; + out_7355016791857912131[178] = 0; + out_7355016791857912131[179] = 0; + out_7355016791857912131[180] = 0; + out_7355016791857912131[181] = 0; + out_7355016791857912131[182] = 0; + out_7355016791857912131[183] = 0; + out_7355016791857912131[184] = 0; + out_7355016791857912131[185] = 0; + out_7355016791857912131[186] = 0; + out_7355016791857912131[187] = 0; + out_7355016791857912131[188] = 0; + out_7355016791857912131[189] = 0; + out_7355016791857912131[190] = 1; + out_7355016791857912131[191] = 0; + out_7355016791857912131[192] = 0; + out_7355016791857912131[193] = 0; + out_7355016791857912131[194] = 0; + out_7355016791857912131[195] = 0; + out_7355016791857912131[196] = 0; + out_7355016791857912131[197] = 0; + out_7355016791857912131[198] = 0; + out_7355016791857912131[199] = 0; + out_7355016791857912131[200] = 0; + out_7355016791857912131[201] = 0; + out_7355016791857912131[202] = 0; + out_7355016791857912131[203] = 0; + out_7355016791857912131[204] = 0; + out_7355016791857912131[205] = 0; + out_7355016791857912131[206] = 0; + out_7355016791857912131[207] = 0; + out_7355016791857912131[208] = 0; + out_7355016791857912131[209] = 1; + out_7355016791857912131[210] = 0; + out_7355016791857912131[211] = 0; + out_7355016791857912131[212] = 0; + out_7355016791857912131[213] = 0; + out_7355016791857912131[214] = 0; + out_7355016791857912131[215] = 0; + out_7355016791857912131[216] = 0; + out_7355016791857912131[217] = 0; + out_7355016791857912131[218] = 0; + out_7355016791857912131[219] = 0; + out_7355016791857912131[220] = 0; + out_7355016791857912131[221] = 0; + out_7355016791857912131[222] = 0; + out_7355016791857912131[223] = 0; + out_7355016791857912131[224] = 0; + out_7355016791857912131[225] = 0; + out_7355016791857912131[226] = 0; + out_7355016791857912131[227] = 0; + out_7355016791857912131[228] = 1; + out_7355016791857912131[229] = 0; + out_7355016791857912131[230] = 0; + out_7355016791857912131[231] = 0; + out_7355016791857912131[232] = 0; + out_7355016791857912131[233] = 0; + out_7355016791857912131[234] = 0; + out_7355016791857912131[235] = 0; + out_7355016791857912131[236] = 0; + out_7355016791857912131[237] = 0; + out_7355016791857912131[238] = 0; + out_7355016791857912131[239] = 0; + out_7355016791857912131[240] = 0; + out_7355016791857912131[241] = 0; + out_7355016791857912131[242] = 0; + out_7355016791857912131[243] = 0; + out_7355016791857912131[244] = 0; + out_7355016791857912131[245] = 0; + out_7355016791857912131[246] = 0; + out_7355016791857912131[247] = 1; + out_7355016791857912131[248] = 0; + out_7355016791857912131[249] = 0; + out_7355016791857912131[250] = 0; + out_7355016791857912131[251] = 0; + out_7355016791857912131[252] = 0; + out_7355016791857912131[253] = 0; + out_7355016791857912131[254] = 0; + out_7355016791857912131[255] = 0; + out_7355016791857912131[256] = 0; + out_7355016791857912131[257] = 0; + out_7355016791857912131[258] = 0; + out_7355016791857912131[259] = 0; + out_7355016791857912131[260] = 0; + out_7355016791857912131[261] = 0; + out_7355016791857912131[262] = 0; + out_7355016791857912131[263] = 0; + out_7355016791857912131[264] = 0; + out_7355016791857912131[265] = 0; + out_7355016791857912131[266] = 1; + out_7355016791857912131[267] = 0; + out_7355016791857912131[268] = 0; + out_7355016791857912131[269] = 0; + out_7355016791857912131[270] = 0; + out_7355016791857912131[271] = 0; + out_7355016791857912131[272] = 0; + out_7355016791857912131[273] = 0; + out_7355016791857912131[274] = 0; + out_7355016791857912131[275] = 0; + out_7355016791857912131[276] = 0; + out_7355016791857912131[277] = 0; + out_7355016791857912131[278] = 0; + out_7355016791857912131[279] = 0; + out_7355016791857912131[280] = 0; + out_7355016791857912131[281] = 0; + out_7355016791857912131[282] = 0; + out_7355016791857912131[283] = 0; + out_7355016791857912131[284] = 0; + out_7355016791857912131[285] = 1; + out_7355016791857912131[286] = 0; + out_7355016791857912131[287] = 0; + out_7355016791857912131[288] = 0; + out_7355016791857912131[289] = 0; + out_7355016791857912131[290] = 0; + out_7355016791857912131[291] = 0; + out_7355016791857912131[292] = 0; + out_7355016791857912131[293] = 0; + out_7355016791857912131[294] = 0; + out_7355016791857912131[295] = 0; + out_7355016791857912131[296] = 0; + out_7355016791857912131[297] = 0; + out_7355016791857912131[298] = 0; + out_7355016791857912131[299] = 0; + out_7355016791857912131[300] = 0; + out_7355016791857912131[301] = 0; + out_7355016791857912131[302] = 0; + out_7355016791857912131[303] = 0; + out_7355016791857912131[304] = 1; + out_7355016791857912131[305] = 0; + out_7355016791857912131[306] = 0; + out_7355016791857912131[307] = 0; + out_7355016791857912131[308] = 0; + out_7355016791857912131[309] = 0; + out_7355016791857912131[310] = 0; + out_7355016791857912131[311] = 0; + out_7355016791857912131[312] = 0; + out_7355016791857912131[313] = 0; + out_7355016791857912131[314] = 0; + out_7355016791857912131[315] = 0; + out_7355016791857912131[316] = 0; + out_7355016791857912131[317] = 0; + out_7355016791857912131[318] = 0; + out_7355016791857912131[319] = 0; + out_7355016791857912131[320] = 0; + out_7355016791857912131[321] = 0; + out_7355016791857912131[322] = 0; + out_7355016791857912131[323] = 1; } -void h_4(double *state, double *unused, double *out_7341523241853351564) { - out_7341523241853351564[0] = state[6] + state[9]; - out_7341523241853351564[1] = state[7] + state[10]; - out_7341523241853351564[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3151076657578519351) { + out_3151076657578519351[0] = state[6] + state[9]; + out_3151076657578519351[1] = state[7] + state[10]; + out_3151076657578519351[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3675901583397923233) { - out_3675901583397923233[0] = 0; - out_3675901583397923233[1] = 0; - out_3675901583397923233[2] = 0; - out_3675901583397923233[3] = 0; - out_3675901583397923233[4] = 0; - out_3675901583397923233[5] = 0; - out_3675901583397923233[6] = 1; - out_3675901583397923233[7] = 0; - out_3675901583397923233[8] = 0; - out_3675901583397923233[9] = 1; - out_3675901583397923233[10] = 0; - out_3675901583397923233[11] = 0; - out_3675901583397923233[12] = 0; - out_3675901583397923233[13] = 0; - out_3675901583397923233[14] = 0; - out_3675901583397923233[15] = 0; - out_3675901583397923233[16] = 0; - out_3675901583397923233[17] = 0; - out_3675901583397923233[18] = 0; - out_3675901583397923233[19] = 0; - out_3675901583397923233[20] = 0; - out_3675901583397923233[21] = 0; - out_3675901583397923233[22] = 0; - out_3675901583397923233[23] = 0; - out_3675901583397923233[24] = 0; - out_3675901583397923233[25] = 1; - out_3675901583397923233[26] = 0; - out_3675901583397923233[27] = 0; - out_3675901583397923233[28] = 1; - out_3675901583397923233[29] = 0; - out_3675901583397923233[30] = 0; - out_3675901583397923233[31] = 0; - out_3675901583397923233[32] = 0; - out_3675901583397923233[33] = 0; - out_3675901583397923233[34] = 0; - out_3675901583397923233[35] = 0; - out_3675901583397923233[36] = 0; - out_3675901583397923233[37] = 0; - out_3675901583397923233[38] = 0; - out_3675901583397923233[39] = 0; - out_3675901583397923233[40] = 0; - out_3675901583397923233[41] = 0; - out_3675901583397923233[42] = 0; - out_3675901583397923233[43] = 0; - out_3675901583397923233[44] = 1; - out_3675901583397923233[45] = 0; - out_3675901583397923233[46] = 0; - out_3675901583397923233[47] = 1; - out_3675901583397923233[48] = 0; - out_3675901583397923233[49] = 0; - out_3675901583397923233[50] = 0; - out_3675901583397923233[51] = 0; - out_3675901583397923233[52] = 0; - out_3675901583397923233[53] = 0; +void H_4(double *state, double *unused, double *out_9070699129467350525) { + out_9070699129467350525[0] = 0; + out_9070699129467350525[1] = 0; + out_9070699129467350525[2] = 0; + out_9070699129467350525[3] = 0; + out_9070699129467350525[4] = 0; + out_9070699129467350525[5] = 0; + out_9070699129467350525[6] = 1; + out_9070699129467350525[7] = 0; + out_9070699129467350525[8] = 0; + out_9070699129467350525[9] = 1; + out_9070699129467350525[10] = 0; + out_9070699129467350525[11] = 0; + out_9070699129467350525[12] = 0; + out_9070699129467350525[13] = 0; + out_9070699129467350525[14] = 0; + out_9070699129467350525[15] = 0; + out_9070699129467350525[16] = 0; + out_9070699129467350525[17] = 0; + out_9070699129467350525[18] = 0; + out_9070699129467350525[19] = 0; + out_9070699129467350525[20] = 0; + out_9070699129467350525[21] = 0; + out_9070699129467350525[22] = 0; + out_9070699129467350525[23] = 0; + out_9070699129467350525[24] = 0; + out_9070699129467350525[25] = 1; + out_9070699129467350525[26] = 0; + out_9070699129467350525[27] = 0; + out_9070699129467350525[28] = 1; + out_9070699129467350525[29] = 0; + out_9070699129467350525[30] = 0; + out_9070699129467350525[31] = 0; + out_9070699129467350525[32] = 0; + out_9070699129467350525[33] = 0; + out_9070699129467350525[34] = 0; + out_9070699129467350525[35] = 0; + out_9070699129467350525[36] = 0; + out_9070699129467350525[37] = 0; + out_9070699129467350525[38] = 0; + out_9070699129467350525[39] = 0; + out_9070699129467350525[40] = 0; + out_9070699129467350525[41] = 0; + out_9070699129467350525[42] = 0; + out_9070699129467350525[43] = 0; + out_9070699129467350525[44] = 1; + out_9070699129467350525[45] = 0; + out_9070699129467350525[46] = 0; + out_9070699129467350525[47] = 1; + out_9070699129467350525[48] = 0; + out_9070699129467350525[49] = 0; + out_9070699129467350525[50] = 0; + out_9070699129467350525[51] = 0; + out_9070699129467350525[52] = 0; + out_9070699129467350525[53] = 0; } -void h_10(double *state, double *unused, double *out_7979280784138322600) { - out_7979280784138322600[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7979280784138322600[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7979280784138322600[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_6670778953679817884) { + out_6670778953679817884[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6670778953679817884[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6670778953679817884[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_2717029967524110913) { - out_2717029967524110913[0] = 0; - out_2717029967524110913[1] = 9.8100000000000005*cos(state[1]); - out_2717029967524110913[2] = 0; - out_2717029967524110913[3] = 0; - out_2717029967524110913[4] = -state[8]; - out_2717029967524110913[5] = state[7]; - out_2717029967524110913[6] = 0; - out_2717029967524110913[7] = state[5]; - out_2717029967524110913[8] = -state[4]; - out_2717029967524110913[9] = 0; - out_2717029967524110913[10] = 0; - out_2717029967524110913[11] = 0; - out_2717029967524110913[12] = 1; - out_2717029967524110913[13] = 0; - out_2717029967524110913[14] = 0; - out_2717029967524110913[15] = 1; - out_2717029967524110913[16] = 0; - out_2717029967524110913[17] = 0; - out_2717029967524110913[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2717029967524110913[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2717029967524110913[20] = 0; - out_2717029967524110913[21] = state[8]; - out_2717029967524110913[22] = 0; - out_2717029967524110913[23] = -state[6]; - out_2717029967524110913[24] = -state[5]; - out_2717029967524110913[25] = 0; - out_2717029967524110913[26] = state[3]; - out_2717029967524110913[27] = 0; - out_2717029967524110913[28] = 0; - out_2717029967524110913[29] = 0; - out_2717029967524110913[30] = 0; - out_2717029967524110913[31] = 1; - out_2717029967524110913[32] = 0; - out_2717029967524110913[33] = 0; - out_2717029967524110913[34] = 1; - out_2717029967524110913[35] = 0; - out_2717029967524110913[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2717029967524110913[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2717029967524110913[38] = 0; - out_2717029967524110913[39] = -state[7]; - out_2717029967524110913[40] = state[6]; - out_2717029967524110913[41] = 0; - out_2717029967524110913[42] = state[4]; - out_2717029967524110913[43] = -state[3]; - out_2717029967524110913[44] = 0; - out_2717029967524110913[45] = 0; - out_2717029967524110913[46] = 0; - out_2717029967524110913[47] = 0; - out_2717029967524110913[48] = 0; - out_2717029967524110913[49] = 0; - out_2717029967524110913[50] = 1; - out_2717029967524110913[51] = 0; - out_2717029967524110913[52] = 0; - out_2717029967524110913[53] = 1; +void H_10(double *state, double *unused, double *out_8318326309939820808) { + out_8318326309939820808[0] = 0; + out_8318326309939820808[1] = 9.8100000000000005*cos(state[1]); + out_8318326309939820808[2] = 0; + out_8318326309939820808[3] = 0; + out_8318326309939820808[4] = -state[8]; + out_8318326309939820808[5] = state[7]; + out_8318326309939820808[6] = 0; + out_8318326309939820808[7] = state[5]; + out_8318326309939820808[8] = -state[4]; + out_8318326309939820808[9] = 0; + out_8318326309939820808[10] = 0; + out_8318326309939820808[11] = 0; + out_8318326309939820808[12] = 1; + out_8318326309939820808[13] = 0; + out_8318326309939820808[14] = 0; + out_8318326309939820808[15] = 1; + out_8318326309939820808[16] = 0; + out_8318326309939820808[17] = 0; + out_8318326309939820808[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8318326309939820808[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8318326309939820808[20] = 0; + out_8318326309939820808[21] = state[8]; + out_8318326309939820808[22] = 0; + out_8318326309939820808[23] = -state[6]; + out_8318326309939820808[24] = -state[5]; + out_8318326309939820808[25] = 0; + out_8318326309939820808[26] = state[3]; + out_8318326309939820808[27] = 0; + out_8318326309939820808[28] = 0; + out_8318326309939820808[29] = 0; + out_8318326309939820808[30] = 0; + out_8318326309939820808[31] = 1; + out_8318326309939820808[32] = 0; + out_8318326309939820808[33] = 0; + out_8318326309939820808[34] = 1; + out_8318326309939820808[35] = 0; + out_8318326309939820808[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8318326309939820808[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8318326309939820808[38] = 0; + out_8318326309939820808[39] = -state[7]; + out_8318326309939820808[40] = state[6]; + out_8318326309939820808[41] = 0; + out_8318326309939820808[42] = state[4]; + out_8318326309939820808[43] = -state[3]; + out_8318326309939820808[44] = 0; + out_8318326309939820808[45] = 0; + out_8318326309939820808[46] = 0; + out_8318326309939820808[47] = 0; + out_8318326309939820808[48] = 0; + out_8318326309939820808[49] = 0; + out_8318326309939820808[50] = 1; + out_8318326309939820808[51] = 0; + out_8318326309939820808[52] = 0; + out_8318326309939820808[53] = 1; } -void h_13(double *state, double *unused, double *out_2249980252911390508) { - out_2249980252911390508[0] = state[3]; - out_2249980252911390508[1] = state[4]; - out_2249980252911390508[2] = state[5]; +void h_13(double *state, double *unused, double *out_8670142885989515415) { + out_8670142885989515415[0] = state[3]; + out_8670142885989515415[1] = state[4]; + out_8670142885989515415[2] = state[5]; } -void H_13(double *state, double *unused, double *out_3934729624918777696) { - out_3934729624918777696[0] = 0; - out_3934729624918777696[1] = 0; - out_3934729624918777696[2] = 0; - out_3934729624918777696[3] = 1; - out_3934729624918777696[4] = 0; - out_3934729624918777696[5] = 0; - out_3934729624918777696[6] = 0; - out_3934729624918777696[7] = 0; - out_3934729624918777696[8] = 0; - out_3934729624918777696[9] = 0; - out_3934729624918777696[10] = 0; - out_3934729624918777696[11] = 0; - out_3934729624918777696[12] = 0; - out_3934729624918777696[13] = 0; - out_3934729624918777696[14] = 0; - out_3934729624918777696[15] = 0; - out_3934729624918777696[16] = 0; - out_3934729624918777696[17] = 0; - out_3934729624918777696[18] = 0; - out_3934729624918777696[19] = 0; - out_3934729624918777696[20] = 0; - out_3934729624918777696[21] = 0; - out_3934729624918777696[22] = 1; - out_3934729624918777696[23] = 0; - out_3934729624918777696[24] = 0; - out_3934729624918777696[25] = 0; - out_3934729624918777696[26] = 0; - out_3934729624918777696[27] = 0; - out_3934729624918777696[28] = 0; - out_3934729624918777696[29] = 0; - out_3934729624918777696[30] = 0; - out_3934729624918777696[31] = 0; - out_3934729624918777696[32] = 0; - out_3934729624918777696[33] = 0; - out_3934729624918777696[34] = 0; - out_3934729624918777696[35] = 0; - out_3934729624918777696[36] = 0; - out_3934729624918777696[37] = 0; - out_3934729624918777696[38] = 0; - out_3934729624918777696[39] = 0; - out_3934729624918777696[40] = 0; - out_3934729624918777696[41] = 1; - out_3934729624918777696[42] = 0; - out_3934729624918777696[43] = 0; - out_3934729624918777696[44] = 0; - out_3934729624918777696[45] = 0; - out_3934729624918777696[46] = 0; - out_3934729624918777696[47] = 0; - out_3934729624918777696[48] = 0; - out_3934729624918777696[49] = 0; - out_3934729624918777696[50] = 0; - out_3934729624918777696[51] = 0; - out_3934729624918777696[52] = 0; - out_3934729624918777696[53] = 0; +void H_13(double *state, double *unused, double *out_5542289480939677067) { + out_5542289480939677067[0] = 0; + out_5542289480939677067[1] = 0; + out_5542289480939677067[2] = 0; + out_5542289480939677067[3] = 1; + out_5542289480939677067[4] = 0; + out_5542289480939677067[5] = 0; + out_5542289480939677067[6] = 0; + out_5542289480939677067[7] = 0; + out_5542289480939677067[8] = 0; + out_5542289480939677067[9] = 0; + out_5542289480939677067[10] = 0; + out_5542289480939677067[11] = 0; + out_5542289480939677067[12] = 0; + out_5542289480939677067[13] = 0; + out_5542289480939677067[14] = 0; + out_5542289480939677067[15] = 0; + out_5542289480939677067[16] = 0; + out_5542289480939677067[17] = 0; + out_5542289480939677067[18] = 0; + out_5542289480939677067[19] = 0; + out_5542289480939677067[20] = 0; + out_5542289480939677067[21] = 0; + out_5542289480939677067[22] = 1; + out_5542289480939677067[23] = 0; + out_5542289480939677067[24] = 0; + out_5542289480939677067[25] = 0; + out_5542289480939677067[26] = 0; + out_5542289480939677067[27] = 0; + out_5542289480939677067[28] = 0; + out_5542289480939677067[29] = 0; + out_5542289480939677067[30] = 0; + out_5542289480939677067[31] = 0; + out_5542289480939677067[32] = 0; + out_5542289480939677067[33] = 0; + out_5542289480939677067[34] = 0; + out_5542289480939677067[35] = 0; + out_5542289480939677067[36] = 0; + out_5542289480939677067[37] = 0; + out_5542289480939677067[38] = 0; + out_5542289480939677067[39] = 0; + out_5542289480939677067[40] = 0; + out_5542289480939677067[41] = 1; + out_5542289480939677067[42] = 0; + out_5542289480939677067[43] = 0; + out_5542289480939677067[44] = 0; + out_5542289480939677067[45] = 0; + out_5542289480939677067[46] = 0; + out_5542289480939677067[47] = 0; + out_5542289480939677067[48] = 0; + out_5542289480939677067[49] = 0; + out_5542289480939677067[50] = 0; + out_5542289480939677067[51] = 0; + out_5542289480939677067[52] = 0; + out_5542289480939677067[53] = 0; } -void h_14(double *state, double *unused, double *out_6063115878095578816) { - out_6063115878095578816[0] = state[6]; - out_6063115878095578816[1] = state[7]; - out_6063115878095578816[2] = state[8]; +void h_14(double *state, double *unused, double *out_3946013715221375238) { + out_3946013715221375238[0] = state[6]; + out_3946013715221375238[1] = state[7]; + out_3946013715221375238[2] = state[8]; } -void H_14(double *state, double *unused, double *out_287339272941561296) { - out_287339272941561296[0] = 0; - out_287339272941561296[1] = 0; - out_287339272941561296[2] = 0; - out_287339272941561296[3] = 0; - out_287339272941561296[4] = 0; - out_287339272941561296[5] = 0; - out_287339272941561296[6] = 1; - out_287339272941561296[7] = 0; - out_287339272941561296[8] = 0; - out_287339272941561296[9] = 0; - out_287339272941561296[10] = 0; - out_287339272941561296[11] = 0; - out_287339272941561296[12] = 0; - out_287339272941561296[13] = 0; - out_287339272941561296[14] = 0; - out_287339272941561296[15] = 0; - out_287339272941561296[16] = 0; - out_287339272941561296[17] = 0; - out_287339272941561296[18] = 0; - out_287339272941561296[19] = 0; - out_287339272941561296[20] = 0; - out_287339272941561296[21] = 0; - out_287339272941561296[22] = 0; - out_287339272941561296[23] = 0; - out_287339272941561296[24] = 0; - out_287339272941561296[25] = 1; - out_287339272941561296[26] = 0; - out_287339272941561296[27] = 0; - out_287339272941561296[28] = 0; - out_287339272941561296[29] = 0; - out_287339272941561296[30] = 0; - out_287339272941561296[31] = 0; - out_287339272941561296[32] = 0; - out_287339272941561296[33] = 0; - out_287339272941561296[34] = 0; - out_287339272941561296[35] = 0; - out_287339272941561296[36] = 0; - out_287339272941561296[37] = 0; - out_287339272941561296[38] = 0; - out_287339272941561296[39] = 0; - out_287339272941561296[40] = 0; - out_287339272941561296[41] = 0; - out_287339272941561296[42] = 0; - out_287339272941561296[43] = 0; - out_287339272941561296[44] = 1; - out_287339272941561296[45] = 0; - out_287339272941561296[46] = 0; - out_287339272941561296[47] = 0; - out_287339272941561296[48] = 0; - out_287339272941561296[49] = 0; - out_287339272941561296[50] = 0; - out_287339272941561296[51] = 0; - out_287339272941561296[52] = 0; - out_287339272941561296[53] = 0; +void H_14(double *state, double *unused, double *out_6293256511946828795) { + out_6293256511946828795[0] = 0; + out_6293256511946828795[1] = 0; + out_6293256511946828795[2] = 0; + out_6293256511946828795[3] = 0; + out_6293256511946828795[4] = 0; + out_6293256511946828795[5] = 0; + out_6293256511946828795[6] = 1; + out_6293256511946828795[7] = 0; + out_6293256511946828795[8] = 0; + out_6293256511946828795[9] = 0; + out_6293256511946828795[10] = 0; + out_6293256511946828795[11] = 0; + out_6293256511946828795[12] = 0; + out_6293256511946828795[13] = 0; + out_6293256511946828795[14] = 0; + out_6293256511946828795[15] = 0; + out_6293256511946828795[16] = 0; + out_6293256511946828795[17] = 0; + out_6293256511946828795[18] = 0; + out_6293256511946828795[19] = 0; + out_6293256511946828795[20] = 0; + out_6293256511946828795[21] = 0; + out_6293256511946828795[22] = 0; + out_6293256511946828795[23] = 0; + out_6293256511946828795[24] = 0; + out_6293256511946828795[25] = 1; + out_6293256511946828795[26] = 0; + out_6293256511946828795[27] = 0; + out_6293256511946828795[28] = 0; + out_6293256511946828795[29] = 0; + out_6293256511946828795[30] = 0; + out_6293256511946828795[31] = 0; + out_6293256511946828795[32] = 0; + out_6293256511946828795[33] = 0; + out_6293256511946828795[34] = 0; + out_6293256511946828795[35] = 0; + out_6293256511946828795[36] = 0; + out_6293256511946828795[37] = 0; + out_6293256511946828795[38] = 0; + out_6293256511946828795[39] = 0; + out_6293256511946828795[40] = 0; + out_6293256511946828795[41] = 0; + out_6293256511946828795[42] = 0; + out_6293256511946828795[43] = 0; + out_6293256511946828795[44] = 1; + out_6293256511946828795[45] = 0; + out_6293256511946828795[46] = 0; + out_6293256511946828795[47] = 0; + out_6293256511946828795[48] = 0; + out_6293256511946828795[49] = 0; + out_6293256511946828795[50] = 0; + out_6293256511946828795[51] = 0; + out_6293256511946828795[52] = 0; + out_6293256511946828795[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_788519772333288428) { - err_fun(nom_x, delta_x, out_788519772333288428); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4298502647758524793) { + err_fun(nom_x, delta_x, out_4298502647758524793); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3476371721226452847) { - inv_err_fun(nom_x, true_x, out_3476371721226452847); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5600470633109473941) { + inv_err_fun(nom_x, true_x, out_5600470633109473941); } -void pose_H_mod_fun(double *state, double *out_1856202857491626372) { - H_mod_fun(state, out_1856202857491626372); +void pose_H_mod_fun(double *state, double *out_5604237734398293519) { + H_mod_fun(state, out_5604237734398293519); } -void pose_f_fun(double *state, double dt, double *out_7190390231498499682) { - f_fun(state, dt, out_7190390231498499682); +void pose_f_fun(double *state, double dt, double *out_1603951998531582898) { + f_fun(state, dt, out_1603951998531582898); } -void pose_F_fun(double *state, double dt, double *out_4238346152453461367) { - F_fun(state, dt, out_4238346152453461367); +void pose_F_fun(double *state, double dt, double *out_7355016791857912131) { + F_fun(state, dt, out_7355016791857912131); } -void pose_h_4(double *state, double *unused, double *out_7341523241853351564) { - h_4(state, unused, out_7341523241853351564); +void pose_h_4(double *state, double *unused, double *out_3151076657578519351) { + h_4(state, unused, out_3151076657578519351); } -void pose_H_4(double *state, double *unused, double *out_3675901583397923233) { - H_4(state, unused, out_3675901583397923233); +void pose_H_4(double *state, double *unused, double *out_9070699129467350525) { + H_4(state, unused, out_9070699129467350525); } -void pose_h_10(double *state, double *unused, double *out_7979280784138322600) { - h_10(state, unused, out_7979280784138322600); +void pose_h_10(double *state, double *unused, double *out_6670778953679817884) { + h_10(state, unused, out_6670778953679817884); } -void pose_H_10(double *state, double *unused, double *out_2717029967524110913) { - H_10(state, unused, out_2717029967524110913); +void pose_H_10(double *state, double *unused, double *out_8318326309939820808) { + H_10(state, unused, out_8318326309939820808); } -void pose_h_13(double *state, double *unused, double *out_2249980252911390508) { - h_13(state, unused, out_2249980252911390508); +void pose_h_13(double *state, double *unused, double *out_8670142885989515415) { + h_13(state, unused, out_8670142885989515415); } -void pose_H_13(double *state, double *unused, double *out_3934729624918777696) { - H_13(state, unused, out_3934729624918777696); +void pose_H_13(double *state, double *unused, double *out_5542289480939677067) { + H_13(state, unused, out_5542289480939677067); } -void pose_h_14(double *state, double *unused, double *out_6063115878095578816) { - h_14(state, unused, out_6063115878095578816); +void pose_h_14(double *state, double *unused, double *out_3946013715221375238) { + h_14(state, unused, out_3946013715221375238); } -void pose_H_14(double *state, double *unused, double *out_287339272941561296) { - H_14(state, unused, out_287339272941561296); +void pose_H_14(double *state, double *unused, double *out_6293256511946828795) { + H_14(state, unused, out_6293256511946828795); } 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 77ec20497..eddbad589 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_788519772333288428); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3476371721226452847); -void pose_H_mod_fun(double *state, double *out_1856202857491626372); -void pose_f_fun(double *state, double dt, double *out_7190390231498499682); -void pose_F_fun(double *state, double dt, double *out_4238346152453461367); -void pose_h_4(double *state, double *unused, double *out_7341523241853351564); -void pose_H_4(double *state, double *unused, double *out_3675901583397923233); -void pose_h_10(double *state, double *unused, double *out_7979280784138322600); -void pose_H_10(double *state, double *unused, double *out_2717029967524110913); -void pose_h_13(double *state, double *unused, double *out_2249980252911390508); -void pose_H_13(double *state, double *unused, double *out_3934729624918777696); -void pose_h_14(double *state, double *unused, double *out_6063115878095578816); -void pose_H_14(double *state, double *unused, double *out_287339272941561296); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4298502647758524793); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5600470633109473941); +void pose_H_mod_fun(double *state, double *out_5604237734398293519); +void pose_f_fun(double *state, double dt, double *out_1603951998531582898); +void pose_F_fun(double *state, double dt, double *out_7355016791857912131); +void pose_h_4(double *state, double *unused, double *out_3151076657578519351); +void pose_H_4(double *state, double *unused, double *out_9070699129467350525); +void pose_h_10(double *state, double *unused, double *out_6670778953679817884); +void pose_H_10(double *state, double *unused, double *out_8318326309939820808); +void pose_h_13(double *state, double *unused, double *out_8670142885989515415); +void pose_H_13(double *state, double *unused, double *out_5542289480939677067); +void pose_h_14(double *state, double *unused, double *out_3946013715221375238); +void pose_H_14(double *state, double *unused, double *out_6293256511946828795); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file