From 159c78147f0f79c42b79068642b75e5a3c950ab0 Mon Sep 17 00:00:00 2001 From: StarPilot Build Bot <168790843+firestar5683@users.noreply.github.com> Date: Thu, 30 Jul 2026 18:53:57 +0000 Subject: [PATCH] build --- cereal/libcereal.a | Bin 633218 -> 634762 bytes panda/board/obj/body_h7.bin.signed | Bin 97064 -> 97064 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 96928 -> 96928 bytes panda/board/obj/body_h7/main.elf | Bin 420104 -> 420104 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 86352 -> 86352 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 86216 -> 86216 bytes panda/board/obj/panda/main.elf | Bin 379548 -> 379548 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 86332 -> 86332 bytes .../obj/panda_can_ignition_only/bootstub.elf | Bin 100780 -> 100780 bytes .../obj/panda_can_ignition_only/main.bin | Bin 86196 -> 86196 bytes .../obj/panda_can_ignition_only/main.elf | Bin 379384 -> 379384 bytes panda/board/obj/panda_h7.bin.signed | Bin 105084 -> 105084 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 104948 -> 104948 bytes panda/board/obj/panda_h7/main.elf | Bin 463568 -> 463568 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 105064 -> 105064 bytes .../panda_h7_can_ignition_only/bootstub.elf | Bin 152748 -> 152748 bytes .../obj/panda_h7_can_ignition_only/main.bin | Bin 104928 -> 104928 bytes .../obj/panda_h7_can_ignition_only/main.elf | Bin 463404 -> 463404 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 105180 -> 105180 bytes .../obj/panda_h7_hkg_remote/bootstub.elf | Bin 152740 -> 152740 bytes panda/board/obj/panda_h7_hkg_remote/main.bin | Bin 105044 -> 105044 bytes panda/board/obj/panda_h7_hkg_remote/main.elf | Bin 464000 -> 464000 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 105172 -> 105172 bytes .../bootstub.elf | Bin 152760 -> 152760 bytes .../main.bin | Bin 105036 -> 105036 bytes .../main.elf | Bin 463876 -> 463876 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 105020 -> 105020 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 104884 -> 104884 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 463504 -> 463504 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 105000 -> 105000 bytes .../bootstub.elf | Bin 152756 -> 152756 bytes .../main.bin | Bin 104864 -> 104864 bytes .../main.elf | Bin 463352 -> 463352 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 86452 -> 86452 bytes panda/board/obj/panda_hkg_remote/bootstub.elf | Bin 100772 -> 100772 bytes panda/board/obj/panda_hkg_remote/main.bin | Bin 86316 -> 86316 bytes panda/board/obj/panda_hkg_remote/main.elf | Bin 379968 -> 379968 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 86444 -> 86444 bytes .../bootstub.elf | Bin 100792 -> 100792 bytes .../main.bin | Bin 86308 -> 86308 bytes .../main.elf | Bin 379824 -> 379824 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 99028 -> 99028 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 98892 -> 98892 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 424024 -> 424024 bytes panda/board/obj/panda_remote.bin.signed | Bin 86312 -> 86312 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 86176 -> 86176 bytes panda/board/obj/panda_remote/main.elf | Bin 379652 -> 379652 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 86292 -> 86292 bytes .../bootstub.elf | Bin 100788 -> 100788 bytes .../panda_remote_can_ignition_only/main.bin | Bin 86156 -> 86156 bytes .../panda_remote_can_ignition_only/main.elf | Bin 379480 -> 379480 bytes panda/board/obj/version | 2 +- selfdrive/locationd/models/generated/car.cpp 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delta 22 ecmeBK$l9}zb;FPC9LdH8mdR;`=9_l(%m4swB?*cE diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 6692595547eb0618ad8dc299c7dac85007993112..569474fb0c5244a8f31cc1ffba2f9ef826fefbac 100755 GIT binary patch delta 37 tcmcaHMf}DT@eMzYbEKK27+a(yr8J#rJHgm?f~oBUbK41)Z6{bGm;g<$5PSdt delta 37 tcmcaHMf}DT@eMzYb0ixZSSF_#nm3(jJHgm?f~oBUbK41)Z6{bGm;gl#5ElRd diff --git a/panda/board/obj/version b/panda/board/obj/version index 333768fe14..d2df0e87da 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-c309cf17-DEBUG \ No newline at end of file +DEV-f6d38dbd-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 123fe166a9..8519a994cf 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_6104712207101523759) { - out_6104712207101523759[0] = delta_x[0] + nom_x[0]; - out_6104712207101523759[1] = delta_x[1] + nom_x[1]; - out_6104712207101523759[2] = delta_x[2] + nom_x[2]; - out_6104712207101523759[3] = delta_x[3] + nom_x[3]; - out_6104712207101523759[4] = delta_x[4] + nom_x[4]; - out_6104712207101523759[5] = delta_x[5] + nom_x[5]; - out_6104712207101523759[6] = delta_x[6] + nom_x[6]; - out_6104712207101523759[7] = delta_x[7] + nom_x[7]; - out_6104712207101523759[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5959951015159528314) { + out_5959951015159528314[0] = delta_x[0] + nom_x[0]; + out_5959951015159528314[1] = delta_x[1] + nom_x[1]; + out_5959951015159528314[2] = delta_x[2] + nom_x[2]; + out_5959951015159528314[3] = delta_x[3] + nom_x[3]; + out_5959951015159528314[4] = delta_x[4] + nom_x[4]; + out_5959951015159528314[5] = delta_x[5] + nom_x[5]; + out_5959951015159528314[6] = delta_x[6] + nom_x[6]; + out_5959951015159528314[7] = delta_x[7] + nom_x[7]; + out_5959951015159528314[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4901417542031613009) { - out_4901417542031613009[0] = -nom_x[0] + true_x[0]; - out_4901417542031613009[1] = -nom_x[1] + true_x[1]; - out_4901417542031613009[2] = -nom_x[2] + true_x[2]; - out_4901417542031613009[3] = -nom_x[3] + true_x[3]; - out_4901417542031613009[4] = -nom_x[4] + true_x[4]; - out_4901417542031613009[5] = -nom_x[5] + true_x[5]; - out_4901417542031613009[6] = -nom_x[6] + true_x[6]; - out_4901417542031613009[7] = -nom_x[7] + true_x[7]; - out_4901417542031613009[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5356992719595228440) { + out_5356992719595228440[0] = -nom_x[0] + true_x[0]; + out_5356992719595228440[1] = -nom_x[1] + true_x[1]; + out_5356992719595228440[2] = -nom_x[2] + true_x[2]; + out_5356992719595228440[3] = -nom_x[3] + true_x[3]; + out_5356992719595228440[4] = -nom_x[4] + true_x[4]; + out_5356992719595228440[5] = -nom_x[5] + true_x[5]; + out_5356992719595228440[6] = -nom_x[6] + true_x[6]; + out_5356992719595228440[7] = -nom_x[7] + true_x[7]; + out_5356992719595228440[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4051006717071082906) { - out_4051006717071082906[0] = 1.0; - out_4051006717071082906[1] = 0.0; - out_4051006717071082906[2] = 0.0; - out_4051006717071082906[3] = 0.0; - out_4051006717071082906[4] = 0.0; - out_4051006717071082906[5] = 0.0; - out_4051006717071082906[6] = 0.0; - out_4051006717071082906[7] = 0.0; - out_4051006717071082906[8] = 0.0; - out_4051006717071082906[9] = 0.0; - out_4051006717071082906[10] = 1.0; - out_4051006717071082906[11] = 0.0; - out_4051006717071082906[12] = 0.0; - out_4051006717071082906[13] = 0.0; - out_4051006717071082906[14] = 0.0; - out_4051006717071082906[15] = 0.0; - out_4051006717071082906[16] = 0.0; - out_4051006717071082906[17] = 0.0; - out_4051006717071082906[18] = 0.0; - out_4051006717071082906[19] = 0.0; - out_4051006717071082906[20] = 1.0; - out_4051006717071082906[21] = 0.0; - out_4051006717071082906[22] = 0.0; - out_4051006717071082906[23] = 0.0; - out_4051006717071082906[24] = 0.0; - out_4051006717071082906[25] = 0.0; - out_4051006717071082906[26] = 0.0; - out_4051006717071082906[27] = 0.0; - out_4051006717071082906[28] = 0.0; - out_4051006717071082906[29] = 0.0; - out_4051006717071082906[30] = 1.0; - out_4051006717071082906[31] = 0.0; - out_4051006717071082906[32] = 0.0; - out_4051006717071082906[33] = 0.0; - out_4051006717071082906[34] = 0.0; - out_4051006717071082906[35] = 0.0; - out_4051006717071082906[36] = 0.0; - out_4051006717071082906[37] = 0.0; - out_4051006717071082906[38] = 0.0; - out_4051006717071082906[39] = 0.0; - out_4051006717071082906[40] = 1.0; - out_4051006717071082906[41] = 0.0; - out_4051006717071082906[42] = 0.0; - out_4051006717071082906[43] = 0.0; - out_4051006717071082906[44] = 0.0; - out_4051006717071082906[45] = 0.0; - out_4051006717071082906[46] = 0.0; - out_4051006717071082906[47] = 0.0; - out_4051006717071082906[48] = 0.0; - out_4051006717071082906[49] = 0.0; - out_4051006717071082906[50] = 1.0; - out_4051006717071082906[51] = 0.0; - out_4051006717071082906[52] = 0.0; - out_4051006717071082906[53] = 0.0; - out_4051006717071082906[54] = 0.0; - out_4051006717071082906[55] = 0.0; - out_4051006717071082906[56] = 0.0; - out_4051006717071082906[57] = 0.0; - out_4051006717071082906[58] = 0.0; - out_4051006717071082906[59] = 0.0; - out_4051006717071082906[60] = 1.0; - out_4051006717071082906[61] = 0.0; - out_4051006717071082906[62] = 0.0; - out_4051006717071082906[63] = 0.0; - out_4051006717071082906[64] = 0.0; - out_4051006717071082906[65] = 0.0; - out_4051006717071082906[66] = 0.0; - out_4051006717071082906[67] = 0.0; - out_4051006717071082906[68] = 0.0; - out_4051006717071082906[69] = 0.0; - out_4051006717071082906[70] = 1.0; - out_4051006717071082906[71] = 0.0; - out_4051006717071082906[72] = 0.0; - out_4051006717071082906[73] = 0.0; - out_4051006717071082906[74] = 0.0; - out_4051006717071082906[75] = 0.0; - out_4051006717071082906[76] = 0.0; - out_4051006717071082906[77] = 0.0; - out_4051006717071082906[78] = 0.0; - out_4051006717071082906[79] = 0.0; - out_4051006717071082906[80] = 1.0; +void H_mod_fun(double *state, double *out_81214266615305410) { + out_81214266615305410[0] = 1.0; + out_81214266615305410[1] = 0.0; + out_81214266615305410[2] = 0.0; + out_81214266615305410[3] = 0.0; + out_81214266615305410[4] = 0.0; + out_81214266615305410[5] = 0.0; + out_81214266615305410[6] = 0.0; + out_81214266615305410[7] = 0.0; + out_81214266615305410[8] = 0.0; + out_81214266615305410[9] = 0.0; + out_81214266615305410[10] = 1.0; + out_81214266615305410[11] = 0.0; + out_81214266615305410[12] = 0.0; + out_81214266615305410[13] = 0.0; + out_81214266615305410[14] = 0.0; + out_81214266615305410[15] = 0.0; + out_81214266615305410[16] = 0.0; + out_81214266615305410[17] = 0.0; + out_81214266615305410[18] = 0.0; + out_81214266615305410[19] = 0.0; + out_81214266615305410[20] = 1.0; + out_81214266615305410[21] = 0.0; + out_81214266615305410[22] = 0.0; + out_81214266615305410[23] = 0.0; + out_81214266615305410[24] = 0.0; + out_81214266615305410[25] = 0.0; + out_81214266615305410[26] = 0.0; + out_81214266615305410[27] = 0.0; + out_81214266615305410[28] = 0.0; + out_81214266615305410[29] = 0.0; + out_81214266615305410[30] = 1.0; + out_81214266615305410[31] = 0.0; + out_81214266615305410[32] = 0.0; + out_81214266615305410[33] = 0.0; + out_81214266615305410[34] = 0.0; + out_81214266615305410[35] = 0.0; + out_81214266615305410[36] = 0.0; + out_81214266615305410[37] = 0.0; + out_81214266615305410[38] = 0.0; + out_81214266615305410[39] = 0.0; + out_81214266615305410[40] = 1.0; + out_81214266615305410[41] = 0.0; + out_81214266615305410[42] = 0.0; + out_81214266615305410[43] = 0.0; + out_81214266615305410[44] = 0.0; + out_81214266615305410[45] = 0.0; + out_81214266615305410[46] = 0.0; + out_81214266615305410[47] = 0.0; + out_81214266615305410[48] = 0.0; + out_81214266615305410[49] = 0.0; + out_81214266615305410[50] = 1.0; + out_81214266615305410[51] = 0.0; + out_81214266615305410[52] = 0.0; + out_81214266615305410[53] = 0.0; + out_81214266615305410[54] = 0.0; + out_81214266615305410[55] = 0.0; + out_81214266615305410[56] = 0.0; + out_81214266615305410[57] = 0.0; + out_81214266615305410[58] = 0.0; + out_81214266615305410[59] = 0.0; + out_81214266615305410[60] = 1.0; + out_81214266615305410[61] = 0.0; + out_81214266615305410[62] = 0.0; + out_81214266615305410[63] = 0.0; + out_81214266615305410[64] = 0.0; + out_81214266615305410[65] = 0.0; + out_81214266615305410[66] = 0.0; + out_81214266615305410[67] = 0.0; + out_81214266615305410[68] = 0.0; + out_81214266615305410[69] = 0.0; + out_81214266615305410[70] = 1.0; + out_81214266615305410[71] = 0.0; + out_81214266615305410[72] = 0.0; + out_81214266615305410[73] = 0.0; + out_81214266615305410[74] = 0.0; + out_81214266615305410[75] = 0.0; + out_81214266615305410[76] = 0.0; + out_81214266615305410[77] = 0.0; + out_81214266615305410[78] = 0.0; + out_81214266615305410[79] = 0.0; + out_81214266615305410[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3418974710290228612) { - out_3418974710290228612[0] = state[0]; - out_3418974710290228612[1] = state[1]; - out_3418974710290228612[2] = state[2]; - out_3418974710290228612[3] = state[3]; - out_3418974710290228612[4] = state[4]; - out_3418974710290228612[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_3418974710290228612[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_3418974710290228612[7] = state[7]; - out_3418974710290228612[8] = state[8]; +void f_fun(double *state, double dt, double *out_3378346814935937794) { + out_3378346814935937794[0] = state[0]; + out_3378346814935937794[1] = state[1]; + out_3378346814935937794[2] = state[2]; + out_3378346814935937794[3] = state[3]; + out_3378346814935937794[4] = state[4]; + out_3378346814935937794[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_3378346814935937794[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_3378346814935937794[7] = state[7]; + out_3378346814935937794[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3699468657963228141) { - out_3699468657963228141[0] = 1; - out_3699468657963228141[1] = 0; - out_3699468657963228141[2] = 0; - out_3699468657963228141[3] = 0; - out_3699468657963228141[4] = 0; - out_3699468657963228141[5] = 0; - out_3699468657963228141[6] = 0; - out_3699468657963228141[7] = 0; - out_3699468657963228141[8] = 0; - out_3699468657963228141[9] = 0; - out_3699468657963228141[10] = 1; - out_3699468657963228141[11] = 0; - out_3699468657963228141[12] = 0; - out_3699468657963228141[13] = 0; - out_3699468657963228141[14] = 0; - out_3699468657963228141[15] = 0; - out_3699468657963228141[16] = 0; - out_3699468657963228141[17] = 0; - out_3699468657963228141[18] = 0; - out_3699468657963228141[19] = 0; - out_3699468657963228141[20] = 1; - out_3699468657963228141[21] = 0; - out_3699468657963228141[22] = 0; - out_3699468657963228141[23] = 0; - out_3699468657963228141[24] = 0; - out_3699468657963228141[25] = 0; - out_3699468657963228141[26] = 0; - out_3699468657963228141[27] = 0; - out_3699468657963228141[28] = 0; - out_3699468657963228141[29] = 0; - out_3699468657963228141[30] = 1; - out_3699468657963228141[31] = 0; - out_3699468657963228141[32] = 0; - out_3699468657963228141[33] = 0; - out_3699468657963228141[34] = 0; - out_3699468657963228141[35] = 0; - out_3699468657963228141[36] = 0; - out_3699468657963228141[37] = 0; - out_3699468657963228141[38] = 0; - out_3699468657963228141[39] = 0; - out_3699468657963228141[40] = 1; - out_3699468657963228141[41] = 0; - out_3699468657963228141[42] = 0; - out_3699468657963228141[43] = 0; - out_3699468657963228141[44] = 0; - out_3699468657963228141[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_3699468657963228141[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3699468657963228141[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3699468657963228141[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3699468657963228141[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_3699468657963228141[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3699468657963228141[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3699468657963228141[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3699468657963228141[53] = -9.8100000000000005*dt; - out_3699468657963228141[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_3699468657963228141[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3699468657963228141[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3699468657963228141[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3699468657963228141[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_3699468657963228141[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3699468657963228141[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_3699468657963228141[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3699468657963228141[62] = 0; - out_3699468657963228141[63] = 0; - out_3699468657963228141[64] = 0; - out_3699468657963228141[65] = 0; - out_3699468657963228141[66] = 0; - out_3699468657963228141[67] = 0; - out_3699468657963228141[68] = 0; - out_3699468657963228141[69] = 0; - out_3699468657963228141[70] = 1; - out_3699468657963228141[71] = 0; - out_3699468657963228141[72] = 0; - out_3699468657963228141[73] = 0; - out_3699468657963228141[74] = 0; - out_3699468657963228141[75] = 0; - out_3699468657963228141[76] = 0; - out_3699468657963228141[77] = 0; - out_3699468657963228141[78] = 0; - out_3699468657963228141[79] = 0; - out_3699468657963228141[80] = 1; +void F_fun(double *state, double dt, double *out_4090498247982689107) { + out_4090498247982689107[0] = 1; + out_4090498247982689107[1] = 0; + out_4090498247982689107[2] = 0; + out_4090498247982689107[3] = 0; + out_4090498247982689107[4] = 0; + out_4090498247982689107[5] = 0; + out_4090498247982689107[6] = 0; + out_4090498247982689107[7] = 0; + out_4090498247982689107[8] = 0; + out_4090498247982689107[9] = 0; + out_4090498247982689107[10] = 1; + out_4090498247982689107[11] = 0; + out_4090498247982689107[12] = 0; + out_4090498247982689107[13] = 0; + out_4090498247982689107[14] = 0; + out_4090498247982689107[15] = 0; + out_4090498247982689107[16] = 0; + out_4090498247982689107[17] = 0; + out_4090498247982689107[18] = 0; + out_4090498247982689107[19] = 0; + out_4090498247982689107[20] = 1; + out_4090498247982689107[21] = 0; + out_4090498247982689107[22] = 0; + out_4090498247982689107[23] = 0; + out_4090498247982689107[24] = 0; + out_4090498247982689107[25] = 0; + out_4090498247982689107[26] = 0; + out_4090498247982689107[27] = 0; + out_4090498247982689107[28] = 0; + out_4090498247982689107[29] = 0; + out_4090498247982689107[30] = 1; + out_4090498247982689107[31] = 0; + out_4090498247982689107[32] = 0; + out_4090498247982689107[33] = 0; + out_4090498247982689107[34] = 0; + out_4090498247982689107[35] = 0; + out_4090498247982689107[36] = 0; + out_4090498247982689107[37] = 0; + out_4090498247982689107[38] = 0; + out_4090498247982689107[39] = 0; + out_4090498247982689107[40] = 1; + out_4090498247982689107[41] = 0; + out_4090498247982689107[42] = 0; + out_4090498247982689107[43] = 0; + out_4090498247982689107[44] = 0; + out_4090498247982689107[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_4090498247982689107[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4090498247982689107[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4090498247982689107[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4090498247982689107[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_4090498247982689107[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4090498247982689107[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4090498247982689107[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4090498247982689107[53] = -9.8100000000000005*dt; + out_4090498247982689107[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_4090498247982689107[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4090498247982689107[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4090498247982689107[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4090498247982689107[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_4090498247982689107[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4090498247982689107[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_4090498247982689107[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4090498247982689107[62] = 0; + out_4090498247982689107[63] = 0; + out_4090498247982689107[64] = 0; + out_4090498247982689107[65] = 0; + out_4090498247982689107[66] = 0; + out_4090498247982689107[67] = 0; + out_4090498247982689107[68] = 0; + out_4090498247982689107[69] = 0; + out_4090498247982689107[70] = 1; + out_4090498247982689107[71] = 0; + out_4090498247982689107[72] = 0; + out_4090498247982689107[73] = 0; + out_4090498247982689107[74] = 0; + out_4090498247982689107[75] = 0; + out_4090498247982689107[76] = 0; + out_4090498247982689107[77] = 0; + out_4090498247982689107[78] = 0; + out_4090498247982689107[79] = 0; + out_4090498247982689107[80] = 1; } -void h_25(double *state, double *unused, double *out_7881868868211418241) { - out_7881868868211418241[0] = state[6]; +void h_25(double *state, double *unused, double *out_2941759932276218077) { + out_2941759932276218077[0] = state[6]; } -void H_25(double *state, double *unused, double *out_7573987367060574583) { - out_7573987367060574583[0] = 0; - out_7573987367060574583[1] = 0; - out_7573987367060574583[2] = 0; - out_7573987367060574583[3] = 0; - out_7573987367060574583[4] = 0; - out_7573987367060574583[5] = 0; - out_7573987367060574583[6] = 1; - out_7573987367060574583[7] = 0; - out_7573987367060574583[8] = 0; +void H_25(double *state, double *unused, double *out_8002552299589165215) { + out_8002552299589165215[0] = 0; + out_8002552299589165215[1] = 0; + out_8002552299589165215[2] = 0; + out_8002552299589165215[3] = 0; + out_8002552299589165215[4] = 0; + out_8002552299589165215[5] = 0; + out_8002552299589165215[6] = 1; + out_8002552299589165215[7] = 0; + out_8002552299589165215[8] = 0; } -void h_24(double *state, double *unused, double *out_6965493433416690101) { - out_6965493433416690101[0] = state[4]; - out_6965493433416690101[1] = state[5]; +void h_24(double *state, double *unused, double *out_3100385683736896980) { + out_3100385683736896980[0] = state[4]; + out_3100385683736896980[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7314831107846653897) { - out_7314831107846653897[0] = 0; - out_7314831107846653897[1] = 0; - out_7314831107846653897[2] = 0; - out_7314831107846653897[3] = 0; - out_7314831107846653897[4] = 1; - out_7314831107846653897[5] = 0; - out_7314831107846653897[6] = 0; - out_7314831107846653897[7] = 0; - out_7314831107846653897[8] = 0; - out_7314831107846653897[9] = 0; - out_7314831107846653897[10] = 0; - out_7314831107846653897[11] = 0; - out_7314831107846653897[12] = 0; - out_7314831107846653897[13] = 0; - out_7314831107846653897[14] = 1; - out_7314831107846653897[15] = 0; - out_7314831107846653897[16] = 0; - out_7314831107846653897[17] = 0; +void H_24(double *state, double *unused, double *out_8986618170430478883) { + out_8986618170430478883[0] = 0; + out_8986618170430478883[1] = 0; + out_8986618170430478883[2] = 0; + out_8986618170430478883[3] = 0; + out_8986618170430478883[4] = 1; + out_8986618170430478883[5] = 0; + out_8986618170430478883[6] = 0; + out_8986618170430478883[7] = 0; + out_8986618170430478883[8] = 0; + out_8986618170430478883[9] = 0; + out_8986618170430478883[10] = 0; + out_8986618170430478883[11] = 0; + out_8986618170430478883[12] = 0; + out_8986618170430478883[13] = 0; + out_8986618170430478883[14] = 1; + out_8986618170430478883[15] = 0; + out_8986618170430478883[16] = 0; + out_8986618170430478883[17] = 0; } -void h_30(double *state, double *unused, double *out_5527754398725254445) { - out_5527754398725254445[0] = state[4]; +void h_30(double *state, double *unused, double *out_4392391324905101244) { + out_4392391324905101244[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8354423748141728406) { - out_8354423748141728406[0] = 0; - out_8354423748141728406[1] = 0; - out_8354423748141728406[2] = 0; - out_8354423748141728406[3] = 0; - out_8354423748141728406[4] = 1; - out_8354423748141728406[5] = 0; - out_8354423748141728406[6] = 0; - out_8354423748141728406[7] = 0; - out_8354423748141728406[8] = 0; +void H_30(double *state, double *unused, double *out_3474855969461557017) { + out_3474855969461557017[0] = 0; + out_3474855969461557017[1] = 0; + out_3474855969461557017[2] = 0; + out_3474855969461557017[3] = 0; + out_3474855969461557017[4] = 1; + out_3474855969461557017[5] = 0; + out_3474855969461557017[6] = 0; + out_3474855969461557017[7] = 0; + out_3474855969461557017[8] = 0; } -void h_26(double *state, double *unused, double *out_4047826294150907485) { - out_4047826294150907485[0] = state[7]; +void h_26(double *state, double *unused, double *out_3042752109523599569) { + out_3042752109523599569[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3832484048186518359) { - out_3832484048186518359[0] = 0; - out_3832484048186518359[1] = 0; - out_3832484048186518359[2] = 0; - out_3832484048186518359[3] = 0; - out_3832484048186518359[4] = 0; - out_3832484048186518359[5] = 0; - out_3832484048186518359[6] = 0; - out_3832484048186518359[7] = 1; - out_3832484048186518359[8] = 0; +void H_26(double *state, double *unused, double *out_4261048980715108991) { + out_4261048980715108991[0] = 0; + out_4261048980715108991[1] = 0; + out_4261048980715108991[2] = 0; + out_4261048980715108991[3] = 0; + out_4261048980715108991[4] = 0; + out_4261048980715108991[5] = 0; + out_4261048980715108991[6] = 0; + out_4261048980715108991[7] = 1; + out_4261048980715108991[8] = 0; } -void h_27(double *state, double *unused, double *out_7960469884689435724) { - out_7960469884689435724[0] = state[3]; +void h_27(double *state, double *unused, double *out_6523014969426492774) { + out_6523014969426492774[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6130829676957785189) { - out_6130829676957785189[0] = 0; - out_6130829676957785189[1] = 0; - out_6130829676957785189[2] = 0; - out_6130829676957785189[3] = 1; - out_6130829676957785189[4] = 0; - out_6130829676957785189[5] = 0; - out_6130829676957785189[6] = 0; - out_6130829676957785189[7] = 0; - out_6130829676957785189[8] = 0; +void H_27(double *state, double *unused, double *out_5698450040645500234) { + out_5698450040645500234[0] = 0; + out_5698450040645500234[1] = 0; + out_5698450040645500234[2] = 0; + out_5698450040645500234[3] = 1; + out_5698450040645500234[4] = 0; + out_5698450040645500234[5] = 0; + out_5698450040645500234[6] = 0; + out_5698450040645500234[7] = 0; + out_5698450040645500234[8] = 0; } -void h_29(double *state, double *unused, double *out_4330826993179455763) { - out_4330826993179455763[0] = state[1]; +void h_29(double *state, double *unused, double *out_609281942755744401) { + out_609281942755744401[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7844192403827336222) { - out_7844192403827336222[0] = 0; - out_7844192403827336222[1] = 1; - out_7844192403827336222[2] = 0; - out_7844192403827336222[3] = 0; - out_7844192403827336222[4] = 0; - out_7844192403827336222[5] = 0; - out_7844192403827336222[6] = 0; - out_7844192403827336222[7] = 0; - out_7844192403827336222[8] = 0; +void H_29(double *state, double *unused, double *out_3985087313775949201) { + out_3985087313775949201[0] = 0; + out_3985087313775949201[1] = 1; + out_3985087313775949201[2] = 0; + out_3985087313775949201[3] = 0; + out_3985087313775949201[4] = 0; + out_3985087313775949201[5] = 0; + out_3985087313775949201[6] = 0; + out_3985087313775949201[7] = 0; + out_3985087313775949201[8] = 0; } -void h_28(double *state, double *unused, double *out_8563785769365913241) { - out_8563785769365913241[0] = state[0]; +void h_28(double *state, double *unused, double *out_6922055836622213197) { + out_6922055836622213197[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5520152652812684820) { - out_5520152652812684820[0] = 1; - out_5520152652812684820[1] = 0; - out_5520152652812684820[2] = 0; - out_5520152652812684820[3] = 0; - out_5520152652812684820[4] = 0; - out_5520152652812684820[5] = 0; - out_5520152652812684820[6] = 0; - out_5520152652812684820[7] = 0; - out_5520152652812684820[8] = 0; +void H_28(double *state, double *unused, double *out_5948717585341275452) { + out_5948717585341275452[0] = 1; + out_5948717585341275452[1] = 0; + out_5948717585341275452[2] = 0; + out_5948717585341275452[3] = 0; + out_5948717585341275452[4] = 0; + out_5948717585341275452[5] = 0; + out_5948717585341275452[6] = 0; + out_5948717585341275452[7] = 0; + out_5948717585341275452[8] = 0; } -void h_31(double *state, double *unused, double *out_6703191729069631723) { - out_6703191729069631723[0] = state[8]; +void h_31(double *state, double *unused, double *out_3216953994560723966) { + out_3216953994560723966[0] = state[8]; } -void H_31(double *state, double *unused, double *out_7604633328937535011) { - out_7604633328937535011[0] = 0; - out_7604633328937535011[1] = 0; - out_7604633328937535011[2] = 0; - out_7604633328937535011[3] = 0; - out_7604633328937535011[4] = 0; - out_7604633328937535011[5] = 0; - out_7604633328937535011[6] = 0; - out_7604633328937535011[7] = 0; - out_7604633328937535011[8] = 1; +void H_31(double *state, double *unused, double *out_3634840878481757515) { + out_3634840878481757515[0] = 0; + out_3634840878481757515[1] = 0; + out_3634840878481757515[2] = 0; + out_3634840878481757515[3] = 0; + out_3634840878481757515[4] = 0; + out_3634840878481757515[5] = 0; + out_3634840878481757515[6] = 0; + out_3634840878481757515[7] = 0; + out_3634840878481757515[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_6104712207101523759) { - err_fun(nom_x, delta_x, out_6104712207101523759); +void car_err_fun(double *nom_x, double *delta_x, double *out_5959951015159528314) { + err_fun(nom_x, delta_x, out_5959951015159528314); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4901417542031613009) { - inv_err_fun(nom_x, true_x, out_4901417542031613009); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5356992719595228440) { + inv_err_fun(nom_x, true_x, out_5356992719595228440); } -void car_H_mod_fun(double *state, double *out_4051006717071082906) { - H_mod_fun(state, out_4051006717071082906); +void car_H_mod_fun(double *state, double *out_81214266615305410) { + H_mod_fun(state, out_81214266615305410); } -void car_f_fun(double *state, double dt, double *out_3418974710290228612) { - f_fun(state, dt, out_3418974710290228612); +void car_f_fun(double *state, double dt, double *out_3378346814935937794) { + f_fun(state, dt, out_3378346814935937794); } -void car_F_fun(double *state, double dt, double *out_3699468657963228141) { - F_fun(state, dt, out_3699468657963228141); +void car_F_fun(double *state, double dt, double *out_4090498247982689107) { + F_fun(state, dt, out_4090498247982689107); } -void car_h_25(double *state, double *unused, double *out_7881868868211418241) { - h_25(state, unused, out_7881868868211418241); +void car_h_25(double *state, double *unused, double *out_2941759932276218077) { + h_25(state, unused, out_2941759932276218077); } -void car_H_25(double *state, double *unused, double *out_7573987367060574583) { - H_25(state, unused, out_7573987367060574583); +void car_H_25(double *state, double *unused, double *out_8002552299589165215) { + H_25(state, unused, out_8002552299589165215); } -void car_h_24(double *state, double *unused, double *out_6965493433416690101) { - h_24(state, unused, out_6965493433416690101); +void car_h_24(double *state, double *unused, double *out_3100385683736896980) { + h_24(state, unused, out_3100385683736896980); } -void car_H_24(double *state, double *unused, double *out_7314831107846653897) { - H_24(state, unused, out_7314831107846653897); +void car_H_24(double *state, double *unused, double *out_8986618170430478883) { + H_24(state, unused, out_8986618170430478883); } -void car_h_30(double *state, double *unused, double *out_5527754398725254445) { - h_30(state, unused, out_5527754398725254445); +void car_h_30(double *state, double *unused, double *out_4392391324905101244) { + h_30(state, unused, out_4392391324905101244); } -void car_H_30(double *state, double *unused, double *out_8354423748141728406) { - H_30(state, unused, out_8354423748141728406); +void car_H_30(double *state, double *unused, double *out_3474855969461557017) { + H_30(state, unused, out_3474855969461557017); } -void car_h_26(double *state, double *unused, double *out_4047826294150907485) { - h_26(state, unused, out_4047826294150907485); +void car_h_26(double *state, double *unused, double *out_3042752109523599569) { + h_26(state, unused, out_3042752109523599569); } -void car_H_26(double *state, double *unused, double *out_3832484048186518359) { - H_26(state, unused, out_3832484048186518359); +void car_H_26(double *state, double *unused, double *out_4261048980715108991) { + H_26(state, unused, out_4261048980715108991); } -void car_h_27(double *state, double *unused, double *out_7960469884689435724) { - h_27(state, unused, out_7960469884689435724); +void car_h_27(double *state, double *unused, double *out_6523014969426492774) { + h_27(state, unused, out_6523014969426492774); } -void car_H_27(double *state, double *unused, double *out_6130829676957785189) { - H_27(state, unused, out_6130829676957785189); +void car_H_27(double *state, double *unused, double *out_5698450040645500234) { + H_27(state, unused, out_5698450040645500234); } -void car_h_29(double *state, double *unused, double *out_4330826993179455763) { - h_29(state, unused, out_4330826993179455763); +void car_h_29(double *state, double *unused, double *out_609281942755744401) { + h_29(state, unused, out_609281942755744401); } -void car_H_29(double *state, double *unused, double *out_7844192403827336222) { - H_29(state, unused, out_7844192403827336222); +void car_H_29(double *state, double *unused, double *out_3985087313775949201) { + H_29(state, unused, out_3985087313775949201); } -void car_h_28(double *state, double *unused, double *out_8563785769365913241) { - h_28(state, unused, out_8563785769365913241); +void car_h_28(double *state, double *unused, double *out_6922055836622213197) { + h_28(state, unused, out_6922055836622213197); } -void car_H_28(double *state, double *unused, double *out_5520152652812684820) { - H_28(state, unused, out_5520152652812684820); +void car_H_28(double *state, double *unused, double *out_5948717585341275452) { + H_28(state, unused, out_5948717585341275452); } -void car_h_31(double *state, double *unused, double *out_6703191729069631723) { - h_31(state, unused, out_6703191729069631723); +void car_h_31(double *state, double *unused, double *out_3216953994560723966) { + h_31(state, unused, out_3216953994560723966); } -void car_H_31(double *state, double *unused, double *out_7604633328937535011) { - H_31(state, unused, out_7604633328937535011); +void car_H_31(double *state, double *unused, double *out_3634840878481757515) { + H_31(state, unused, out_3634840878481757515); } 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 9c95269b8b..f634f9b641 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_6104712207101523759); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4901417542031613009); -void car_H_mod_fun(double *state, double *out_4051006717071082906); -void car_f_fun(double *state, double dt, double *out_3418974710290228612); -void car_F_fun(double *state, double dt, double *out_3699468657963228141); -void car_h_25(double *state, double *unused, double *out_7881868868211418241); -void car_H_25(double *state, double *unused, double *out_7573987367060574583); -void car_h_24(double *state, double *unused, double *out_6965493433416690101); -void car_H_24(double *state, double *unused, double *out_7314831107846653897); -void car_h_30(double *state, double *unused, double *out_5527754398725254445); -void car_H_30(double *state, double *unused, double *out_8354423748141728406); -void car_h_26(double *state, double *unused, double *out_4047826294150907485); -void car_H_26(double *state, double *unused, double *out_3832484048186518359); -void car_h_27(double *state, double *unused, double *out_7960469884689435724); -void car_H_27(double *state, double *unused, double *out_6130829676957785189); -void car_h_29(double *state, double *unused, double *out_4330826993179455763); -void car_H_29(double *state, double *unused, double *out_7844192403827336222); -void car_h_28(double *state, double *unused, double *out_8563785769365913241); -void car_H_28(double *state, double *unused, double *out_5520152652812684820); -void car_h_31(double *state, double *unused, double *out_6703191729069631723); -void car_H_31(double *state, double *unused, double *out_7604633328937535011); +void car_err_fun(double *nom_x, double *delta_x, double *out_5959951015159528314); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5356992719595228440); +void car_H_mod_fun(double *state, double *out_81214266615305410); +void car_f_fun(double *state, double dt, double *out_3378346814935937794); +void car_F_fun(double *state, double dt, double *out_4090498247982689107); +void car_h_25(double *state, double *unused, double *out_2941759932276218077); +void car_H_25(double *state, double *unused, double *out_8002552299589165215); +void car_h_24(double *state, double *unused, double *out_3100385683736896980); +void car_H_24(double *state, double *unused, double *out_8986618170430478883); +void car_h_30(double *state, double *unused, double *out_4392391324905101244); +void car_H_30(double *state, double *unused, double *out_3474855969461557017); +void car_h_26(double *state, double *unused, double *out_3042752109523599569); +void car_H_26(double *state, double *unused, double *out_4261048980715108991); +void car_h_27(double *state, double *unused, double *out_6523014969426492774); +void car_H_27(double *state, double *unused, double *out_5698450040645500234); +void car_h_29(double *state, double *unused, double *out_609281942755744401); +void car_H_29(double *state, double *unused, double *out_3985087313775949201); +void car_h_28(double *state, double *unused, double *out_6922055836622213197); +void car_H_28(double *state, double *unused, double *out_5948717585341275452); +void car_h_31(double *state, double *unused, double *out_3216953994560723966); +void car_H_31(double *state, double *unused, double *out_3634840878481757515); 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 86097a7d57..2bc7d35dcc 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_7616755969345465164) { - out_7616755969345465164[0] = delta_x[0] + nom_x[0]; - out_7616755969345465164[1] = delta_x[1] + nom_x[1]; - out_7616755969345465164[2] = delta_x[2] + nom_x[2]; - out_7616755969345465164[3] = delta_x[3] + nom_x[3]; - out_7616755969345465164[4] = delta_x[4] + nom_x[4]; - out_7616755969345465164[5] = delta_x[5] + nom_x[5]; - out_7616755969345465164[6] = delta_x[6] + nom_x[6]; - out_7616755969345465164[7] = delta_x[7] + nom_x[7]; - out_7616755969345465164[8] = delta_x[8] + nom_x[8]; - out_7616755969345465164[9] = delta_x[9] + nom_x[9]; - out_7616755969345465164[10] = delta_x[10] + nom_x[10]; - out_7616755969345465164[11] = delta_x[11] + nom_x[11]; - out_7616755969345465164[12] = delta_x[12] + nom_x[12]; - out_7616755969345465164[13] = delta_x[13] + nom_x[13]; - out_7616755969345465164[14] = delta_x[14] + nom_x[14]; - out_7616755969345465164[15] = delta_x[15] + nom_x[15]; - out_7616755969345465164[16] = delta_x[16] + nom_x[16]; - out_7616755969345465164[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_1596408993574171648) { + out_1596408993574171648[0] = delta_x[0] + nom_x[0]; + out_1596408993574171648[1] = delta_x[1] + nom_x[1]; + out_1596408993574171648[2] = delta_x[2] + nom_x[2]; + out_1596408993574171648[3] = delta_x[3] + nom_x[3]; + out_1596408993574171648[4] = delta_x[4] + nom_x[4]; + out_1596408993574171648[5] = delta_x[5] + nom_x[5]; + out_1596408993574171648[6] = delta_x[6] + nom_x[6]; + out_1596408993574171648[7] = delta_x[7] + nom_x[7]; + out_1596408993574171648[8] = delta_x[8] + nom_x[8]; + out_1596408993574171648[9] = delta_x[9] + nom_x[9]; + out_1596408993574171648[10] = delta_x[10] + nom_x[10]; + out_1596408993574171648[11] = delta_x[11] + nom_x[11]; + out_1596408993574171648[12] = delta_x[12] + nom_x[12]; + out_1596408993574171648[13] = delta_x[13] + nom_x[13]; + out_1596408993574171648[14] = delta_x[14] + nom_x[14]; + out_1596408993574171648[15] = delta_x[15] + nom_x[15]; + out_1596408993574171648[16] = delta_x[16] + nom_x[16]; + out_1596408993574171648[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2983579217144166569) { - out_2983579217144166569[0] = -nom_x[0] + true_x[0]; - out_2983579217144166569[1] = -nom_x[1] + true_x[1]; - out_2983579217144166569[2] = -nom_x[2] + true_x[2]; - out_2983579217144166569[3] = -nom_x[3] + true_x[3]; - out_2983579217144166569[4] = -nom_x[4] + true_x[4]; - out_2983579217144166569[5] = -nom_x[5] + true_x[5]; - out_2983579217144166569[6] = -nom_x[6] + true_x[6]; - out_2983579217144166569[7] = -nom_x[7] + true_x[7]; - out_2983579217144166569[8] = -nom_x[8] + true_x[8]; - out_2983579217144166569[9] = -nom_x[9] + true_x[9]; - out_2983579217144166569[10] = -nom_x[10] + true_x[10]; - out_2983579217144166569[11] = -nom_x[11] + true_x[11]; - out_2983579217144166569[12] = -nom_x[12] + true_x[12]; - out_2983579217144166569[13] = -nom_x[13] + true_x[13]; - out_2983579217144166569[14] = -nom_x[14] + true_x[14]; - out_2983579217144166569[15] = -nom_x[15] + true_x[15]; - out_2983579217144166569[16] = -nom_x[16] + true_x[16]; - out_2983579217144166569[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4927362141599677432) { + out_4927362141599677432[0] = -nom_x[0] + true_x[0]; + out_4927362141599677432[1] = -nom_x[1] + true_x[1]; + out_4927362141599677432[2] = -nom_x[2] + true_x[2]; + out_4927362141599677432[3] = -nom_x[3] + true_x[3]; + out_4927362141599677432[4] = -nom_x[4] + true_x[4]; + out_4927362141599677432[5] = -nom_x[5] + true_x[5]; + out_4927362141599677432[6] = -nom_x[6] + true_x[6]; + out_4927362141599677432[7] = -nom_x[7] + true_x[7]; + out_4927362141599677432[8] = -nom_x[8] + true_x[8]; + out_4927362141599677432[9] = -nom_x[9] + true_x[9]; + out_4927362141599677432[10] = -nom_x[10] + true_x[10]; + out_4927362141599677432[11] = -nom_x[11] + true_x[11]; + out_4927362141599677432[12] = -nom_x[12] + true_x[12]; + out_4927362141599677432[13] = -nom_x[13] + true_x[13]; + out_4927362141599677432[14] = -nom_x[14] + true_x[14]; + out_4927362141599677432[15] = -nom_x[15] + true_x[15]; + out_4927362141599677432[16] = -nom_x[16] + true_x[16]; + out_4927362141599677432[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7561037298851331177) { - out_7561037298851331177[0] = 1.0; - out_7561037298851331177[1] = 0.0; - out_7561037298851331177[2] = 0.0; - out_7561037298851331177[3] = 0.0; - out_7561037298851331177[4] = 0.0; - out_7561037298851331177[5] = 0.0; - out_7561037298851331177[6] = 0.0; - out_7561037298851331177[7] = 0.0; - out_7561037298851331177[8] = 0.0; - out_7561037298851331177[9] = 0.0; - out_7561037298851331177[10] = 0.0; - out_7561037298851331177[11] = 0.0; - out_7561037298851331177[12] = 0.0; - out_7561037298851331177[13] = 0.0; - out_7561037298851331177[14] = 0.0; - out_7561037298851331177[15] = 0.0; - out_7561037298851331177[16] = 0.0; - out_7561037298851331177[17] = 0.0; - out_7561037298851331177[18] = 0.0; - out_7561037298851331177[19] = 1.0; - out_7561037298851331177[20] = 0.0; - out_7561037298851331177[21] = 0.0; - out_7561037298851331177[22] = 0.0; - out_7561037298851331177[23] = 0.0; - out_7561037298851331177[24] = 0.0; - out_7561037298851331177[25] = 0.0; - out_7561037298851331177[26] = 0.0; - out_7561037298851331177[27] = 0.0; - out_7561037298851331177[28] = 0.0; - out_7561037298851331177[29] = 0.0; - out_7561037298851331177[30] = 0.0; - out_7561037298851331177[31] = 0.0; - out_7561037298851331177[32] = 0.0; - out_7561037298851331177[33] = 0.0; - out_7561037298851331177[34] = 0.0; - out_7561037298851331177[35] = 0.0; - out_7561037298851331177[36] = 0.0; - out_7561037298851331177[37] = 0.0; - out_7561037298851331177[38] = 1.0; - out_7561037298851331177[39] = 0.0; - out_7561037298851331177[40] = 0.0; - out_7561037298851331177[41] = 0.0; - out_7561037298851331177[42] = 0.0; - out_7561037298851331177[43] = 0.0; - out_7561037298851331177[44] = 0.0; - out_7561037298851331177[45] = 0.0; - out_7561037298851331177[46] = 0.0; - out_7561037298851331177[47] = 0.0; - out_7561037298851331177[48] = 0.0; - out_7561037298851331177[49] = 0.0; - out_7561037298851331177[50] = 0.0; - out_7561037298851331177[51] = 0.0; - out_7561037298851331177[52] = 0.0; - out_7561037298851331177[53] = 0.0; - out_7561037298851331177[54] = 0.0; - out_7561037298851331177[55] = 0.0; - out_7561037298851331177[56] = 0.0; - out_7561037298851331177[57] = 1.0; - out_7561037298851331177[58] = 0.0; - out_7561037298851331177[59] = 0.0; - out_7561037298851331177[60] = 0.0; - out_7561037298851331177[61] = 0.0; - out_7561037298851331177[62] = 0.0; - out_7561037298851331177[63] = 0.0; - out_7561037298851331177[64] = 0.0; - out_7561037298851331177[65] = 0.0; - out_7561037298851331177[66] = 0.0; - out_7561037298851331177[67] = 0.0; - out_7561037298851331177[68] = 0.0; - out_7561037298851331177[69] = 0.0; - out_7561037298851331177[70] = 0.0; - out_7561037298851331177[71] = 0.0; - out_7561037298851331177[72] = 0.0; - out_7561037298851331177[73] = 0.0; - out_7561037298851331177[74] = 0.0; - out_7561037298851331177[75] = 0.0; - out_7561037298851331177[76] = 1.0; - out_7561037298851331177[77] = 0.0; - out_7561037298851331177[78] = 0.0; - out_7561037298851331177[79] = 0.0; - out_7561037298851331177[80] = 0.0; - out_7561037298851331177[81] = 0.0; - out_7561037298851331177[82] = 0.0; - out_7561037298851331177[83] = 0.0; - out_7561037298851331177[84] = 0.0; - out_7561037298851331177[85] = 0.0; - out_7561037298851331177[86] = 0.0; - out_7561037298851331177[87] = 0.0; - out_7561037298851331177[88] = 0.0; - out_7561037298851331177[89] = 0.0; - out_7561037298851331177[90] = 0.0; - out_7561037298851331177[91] = 0.0; - out_7561037298851331177[92] = 0.0; - out_7561037298851331177[93] = 0.0; - out_7561037298851331177[94] = 0.0; - out_7561037298851331177[95] = 1.0; - out_7561037298851331177[96] = 0.0; - out_7561037298851331177[97] = 0.0; - out_7561037298851331177[98] = 0.0; - out_7561037298851331177[99] = 0.0; - out_7561037298851331177[100] = 0.0; - out_7561037298851331177[101] = 0.0; - out_7561037298851331177[102] = 0.0; - out_7561037298851331177[103] = 0.0; - out_7561037298851331177[104] = 0.0; - out_7561037298851331177[105] = 0.0; - out_7561037298851331177[106] = 0.0; - out_7561037298851331177[107] = 0.0; - out_7561037298851331177[108] = 0.0; - out_7561037298851331177[109] = 0.0; - out_7561037298851331177[110] = 0.0; - out_7561037298851331177[111] = 0.0; - out_7561037298851331177[112] = 0.0; - out_7561037298851331177[113] = 0.0; - out_7561037298851331177[114] = 1.0; - out_7561037298851331177[115] = 0.0; - out_7561037298851331177[116] = 0.0; - out_7561037298851331177[117] = 0.0; - out_7561037298851331177[118] = 0.0; - out_7561037298851331177[119] = 0.0; - out_7561037298851331177[120] = 0.0; - out_7561037298851331177[121] = 0.0; - out_7561037298851331177[122] = 0.0; - out_7561037298851331177[123] = 0.0; - out_7561037298851331177[124] = 0.0; - out_7561037298851331177[125] = 0.0; - out_7561037298851331177[126] = 0.0; - out_7561037298851331177[127] = 0.0; - out_7561037298851331177[128] = 0.0; - out_7561037298851331177[129] = 0.0; - out_7561037298851331177[130] = 0.0; - out_7561037298851331177[131] = 0.0; - out_7561037298851331177[132] = 0.0; - out_7561037298851331177[133] = 1.0; - out_7561037298851331177[134] = 0.0; - out_7561037298851331177[135] = 0.0; - out_7561037298851331177[136] = 0.0; - out_7561037298851331177[137] = 0.0; - out_7561037298851331177[138] = 0.0; - out_7561037298851331177[139] = 0.0; - out_7561037298851331177[140] = 0.0; - out_7561037298851331177[141] = 0.0; - out_7561037298851331177[142] = 0.0; - out_7561037298851331177[143] = 0.0; - out_7561037298851331177[144] = 0.0; - out_7561037298851331177[145] = 0.0; - out_7561037298851331177[146] = 0.0; - out_7561037298851331177[147] = 0.0; - out_7561037298851331177[148] = 0.0; - out_7561037298851331177[149] = 0.0; - out_7561037298851331177[150] = 0.0; - out_7561037298851331177[151] = 0.0; - out_7561037298851331177[152] = 1.0; - out_7561037298851331177[153] = 0.0; - out_7561037298851331177[154] = 0.0; - out_7561037298851331177[155] = 0.0; - out_7561037298851331177[156] = 0.0; - out_7561037298851331177[157] = 0.0; - out_7561037298851331177[158] = 0.0; - out_7561037298851331177[159] = 0.0; - out_7561037298851331177[160] = 0.0; - out_7561037298851331177[161] = 0.0; - out_7561037298851331177[162] = 0.0; - out_7561037298851331177[163] = 0.0; - out_7561037298851331177[164] = 0.0; - out_7561037298851331177[165] = 0.0; - out_7561037298851331177[166] = 0.0; - out_7561037298851331177[167] = 0.0; - out_7561037298851331177[168] = 0.0; - out_7561037298851331177[169] = 0.0; - out_7561037298851331177[170] = 0.0; - out_7561037298851331177[171] = 1.0; - out_7561037298851331177[172] = 0.0; - out_7561037298851331177[173] = 0.0; - out_7561037298851331177[174] = 0.0; - out_7561037298851331177[175] = 0.0; - out_7561037298851331177[176] = 0.0; - out_7561037298851331177[177] = 0.0; - out_7561037298851331177[178] = 0.0; - out_7561037298851331177[179] = 0.0; - out_7561037298851331177[180] = 0.0; - out_7561037298851331177[181] = 0.0; - out_7561037298851331177[182] = 0.0; - out_7561037298851331177[183] = 0.0; - out_7561037298851331177[184] = 0.0; - out_7561037298851331177[185] = 0.0; - out_7561037298851331177[186] = 0.0; - out_7561037298851331177[187] = 0.0; - out_7561037298851331177[188] = 0.0; - out_7561037298851331177[189] = 0.0; - out_7561037298851331177[190] = 1.0; - out_7561037298851331177[191] = 0.0; - out_7561037298851331177[192] = 0.0; - out_7561037298851331177[193] = 0.0; - out_7561037298851331177[194] = 0.0; - out_7561037298851331177[195] = 0.0; - out_7561037298851331177[196] = 0.0; - out_7561037298851331177[197] = 0.0; - out_7561037298851331177[198] = 0.0; - out_7561037298851331177[199] = 0.0; - out_7561037298851331177[200] = 0.0; - out_7561037298851331177[201] = 0.0; - out_7561037298851331177[202] = 0.0; - out_7561037298851331177[203] = 0.0; - out_7561037298851331177[204] = 0.0; - out_7561037298851331177[205] = 0.0; - out_7561037298851331177[206] = 0.0; - out_7561037298851331177[207] = 0.0; - out_7561037298851331177[208] = 0.0; - out_7561037298851331177[209] = 1.0; - out_7561037298851331177[210] = 0.0; - out_7561037298851331177[211] = 0.0; - out_7561037298851331177[212] = 0.0; - out_7561037298851331177[213] = 0.0; - out_7561037298851331177[214] = 0.0; - out_7561037298851331177[215] = 0.0; - out_7561037298851331177[216] = 0.0; - out_7561037298851331177[217] = 0.0; - out_7561037298851331177[218] = 0.0; - out_7561037298851331177[219] = 0.0; - out_7561037298851331177[220] = 0.0; - out_7561037298851331177[221] = 0.0; - out_7561037298851331177[222] = 0.0; - out_7561037298851331177[223] = 0.0; - out_7561037298851331177[224] = 0.0; - out_7561037298851331177[225] = 0.0; - out_7561037298851331177[226] = 0.0; - out_7561037298851331177[227] = 0.0; - out_7561037298851331177[228] = 1.0; - out_7561037298851331177[229] = 0.0; - out_7561037298851331177[230] = 0.0; - out_7561037298851331177[231] = 0.0; - out_7561037298851331177[232] = 0.0; - out_7561037298851331177[233] = 0.0; - out_7561037298851331177[234] = 0.0; - out_7561037298851331177[235] = 0.0; - out_7561037298851331177[236] = 0.0; - out_7561037298851331177[237] = 0.0; - out_7561037298851331177[238] = 0.0; - out_7561037298851331177[239] = 0.0; - out_7561037298851331177[240] = 0.0; - out_7561037298851331177[241] = 0.0; - out_7561037298851331177[242] = 0.0; - out_7561037298851331177[243] = 0.0; - out_7561037298851331177[244] = 0.0; - out_7561037298851331177[245] = 0.0; - out_7561037298851331177[246] = 0.0; - out_7561037298851331177[247] = 1.0; - out_7561037298851331177[248] = 0.0; - out_7561037298851331177[249] = 0.0; - out_7561037298851331177[250] = 0.0; - out_7561037298851331177[251] = 0.0; - out_7561037298851331177[252] = 0.0; - out_7561037298851331177[253] = 0.0; - out_7561037298851331177[254] = 0.0; - out_7561037298851331177[255] = 0.0; - out_7561037298851331177[256] = 0.0; - out_7561037298851331177[257] = 0.0; - out_7561037298851331177[258] = 0.0; - out_7561037298851331177[259] = 0.0; - out_7561037298851331177[260] = 0.0; - out_7561037298851331177[261] = 0.0; - out_7561037298851331177[262] = 0.0; - out_7561037298851331177[263] = 0.0; - out_7561037298851331177[264] = 0.0; - out_7561037298851331177[265] = 0.0; - out_7561037298851331177[266] = 1.0; - out_7561037298851331177[267] = 0.0; - out_7561037298851331177[268] = 0.0; - out_7561037298851331177[269] = 0.0; - out_7561037298851331177[270] = 0.0; - out_7561037298851331177[271] = 0.0; - out_7561037298851331177[272] = 0.0; - out_7561037298851331177[273] = 0.0; - out_7561037298851331177[274] = 0.0; - out_7561037298851331177[275] = 0.0; - out_7561037298851331177[276] = 0.0; - out_7561037298851331177[277] = 0.0; - out_7561037298851331177[278] = 0.0; - out_7561037298851331177[279] = 0.0; - out_7561037298851331177[280] = 0.0; - out_7561037298851331177[281] = 0.0; - out_7561037298851331177[282] = 0.0; - out_7561037298851331177[283] = 0.0; - out_7561037298851331177[284] = 0.0; - out_7561037298851331177[285] = 1.0; - out_7561037298851331177[286] = 0.0; - out_7561037298851331177[287] = 0.0; - out_7561037298851331177[288] = 0.0; - out_7561037298851331177[289] = 0.0; - out_7561037298851331177[290] = 0.0; - out_7561037298851331177[291] = 0.0; - out_7561037298851331177[292] = 0.0; - out_7561037298851331177[293] = 0.0; - out_7561037298851331177[294] = 0.0; - out_7561037298851331177[295] = 0.0; - out_7561037298851331177[296] = 0.0; - out_7561037298851331177[297] = 0.0; - out_7561037298851331177[298] = 0.0; - out_7561037298851331177[299] = 0.0; - out_7561037298851331177[300] = 0.0; - out_7561037298851331177[301] = 0.0; - out_7561037298851331177[302] = 0.0; - out_7561037298851331177[303] = 0.0; - out_7561037298851331177[304] = 1.0; - out_7561037298851331177[305] = 0.0; - out_7561037298851331177[306] = 0.0; - out_7561037298851331177[307] = 0.0; - out_7561037298851331177[308] = 0.0; - out_7561037298851331177[309] = 0.0; - out_7561037298851331177[310] = 0.0; - out_7561037298851331177[311] = 0.0; - out_7561037298851331177[312] = 0.0; - out_7561037298851331177[313] = 0.0; - out_7561037298851331177[314] = 0.0; - out_7561037298851331177[315] = 0.0; - out_7561037298851331177[316] = 0.0; - out_7561037298851331177[317] = 0.0; - out_7561037298851331177[318] = 0.0; - out_7561037298851331177[319] = 0.0; - out_7561037298851331177[320] = 0.0; - out_7561037298851331177[321] = 0.0; - out_7561037298851331177[322] = 0.0; - out_7561037298851331177[323] = 1.0; +void H_mod_fun(double *state, double *out_7423446859784669653) { + out_7423446859784669653[0] = 1.0; + out_7423446859784669653[1] = 0.0; + out_7423446859784669653[2] = 0.0; + out_7423446859784669653[3] = 0.0; + out_7423446859784669653[4] = 0.0; + out_7423446859784669653[5] = 0.0; + out_7423446859784669653[6] = 0.0; + out_7423446859784669653[7] = 0.0; + out_7423446859784669653[8] = 0.0; + out_7423446859784669653[9] = 0.0; + out_7423446859784669653[10] = 0.0; + out_7423446859784669653[11] = 0.0; + out_7423446859784669653[12] = 0.0; + out_7423446859784669653[13] = 0.0; + out_7423446859784669653[14] = 0.0; + out_7423446859784669653[15] = 0.0; + out_7423446859784669653[16] = 0.0; + out_7423446859784669653[17] = 0.0; + out_7423446859784669653[18] = 0.0; + out_7423446859784669653[19] = 1.0; + out_7423446859784669653[20] = 0.0; + out_7423446859784669653[21] = 0.0; + out_7423446859784669653[22] = 0.0; + out_7423446859784669653[23] = 0.0; + out_7423446859784669653[24] = 0.0; + out_7423446859784669653[25] = 0.0; + out_7423446859784669653[26] = 0.0; + out_7423446859784669653[27] = 0.0; + out_7423446859784669653[28] = 0.0; + out_7423446859784669653[29] = 0.0; + out_7423446859784669653[30] = 0.0; + out_7423446859784669653[31] = 0.0; + out_7423446859784669653[32] = 0.0; + out_7423446859784669653[33] = 0.0; + out_7423446859784669653[34] = 0.0; + out_7423446859784669653[35] = 0.0; + out_7423446859784669653[36] = 0.0; + out_7423446859784669653[37] = 0.0; + out_7423446859784669653[38] = 1.0; + out_7423446859784669653[39] = 0.0; + out_7423446859784669653[40] = 0.0; + out_7423446859784669653[41] = 0.0; + out_7423446859784669653[42] = 0.0; + out_7423446859784669653[43] = 0.0; + out_7423446859784669653[44] = 0.0; + out_7423446859784669653[45] = 0.0; + out_7423446859784669653[46] = 0.0; + out_7423446859784669653[47] = 0.0; + out_7423446859784669653[48] = 0.0; + out_7423446859784669653[49] = 0.0; + out_7423446859784669653[50] = 0.0; + out_7423446859784669653[51] = 0.0; + out_7423446859784669653[52] = 0.0; + out_7423446859784669653[53] = 0.0; + out_7423446859784669653[54] = 0.0; + out_7423446859784669653[55] = 0.0; + out_7423446859784669653[56] = 0.0; + out_7423446859784669653[57] = 1.0; + out_7423446859784669653[58] = 0.0; + out_7423446859784669653[59] = 0.0; + out_7423446859784669653[60] = 0.0; + out_7423446859784669653[61] = 0.0; + out_7423446859784669653[62] = 0.0; + out_7423446859784669653[63] = 0.0; + out_7423446859784669653[64] = 0.0; + out_7423446859784669653[65] = 0.0; + out_7423446859784669653[66] = 0.0; + out_7423446859784669653[67] = 0.0; + out_7423446859784669653[68] = 0.0; + out_7423446859784669653[69] = 0.0; + out_7423446859784669653[70] = 0.0; + out_7423446859784669653[71] = 0.0; + out_7423446859784669653[72] = 0.0; + out_7423446859784669653[73] = 0.0; + out_7423446859784669653[74] = 0.0; + out_7423446859784669653[75] = 0.0; + out_7423446859784669653[76] = 1.0; + out_7423446859784669653[77] = 0.0; + out_7423446859784669653[78] = 0.0; + out_7423446859784669653[79] = 0.0; + out_7423446859784669653[80] = 0.0; + out_7423446859784669653[81] = 0.0; + out_7423446859784669653[82] = 0.0; + out_7423446859784669653[83] = 0.0; + out_7423446859784669653[84] = 0.0; + out_7423446859784669653[85] = 0.0; + out_7423446859784669653[86] = 0.0; + out_7423446859784669653[87] = 0.0; + out_7423446859784669653[88] = 0.0; + out_7423446859784669653[89] = 0.0; + out_7423446859784669653[90] = 0.0; + out_7423446859784669653[91] = 0.0; + out_7423446859784669653[92] = 0.0; + out_7423446859784669653[93] = 0.0; + out_7423446859784669653[94] = 0.0; + out_7423446859784669653[95] = 1.0; + out_7423446859784669653[96] = 0.0; + out_7423446859784669653[97] = 0.0; + out_7423446859784669653[98] = 0.0; + out_7423446859784669653[99] = 0.0; + out_7423446859784669653[100] = 0.0; + out_7423446859784669653[101] = 0.0; + out_7423446859784669653[102] = 0.0; + out_7423446859784669653[103] = 0.0; + out_7423446859784669653[104] = 0.0; + out_7423446859784669653[105] = 0.0; + out_7423446859784669653[106] = 0.0; + out_7423446859784669653[107] = 0.0; + out_7423446859784669653[108] = 0.0; + out_7423446859784669653[109] = 0.0; + out_7423446859784669653[110] = 0.0; + out_7423446859784669653[111] = 0.0; + out_7423446859784669653[112] = 0.0; + out_7423446859784669653[113] = 0.0; + out_7423446859784669653[114] = 1.0; + out_7423446859784669653[115] = 0.0; + out_7423446859784669653[116] = 0.0; + out_7423446859784669653[117] = 0.0; + out_7423446859784669653[118] = 0.0; + out_7423446859784669653[119] = 0.0; + out_7423446859784669653[120] = 0.0; + out_7423446859784669653[121] = 0.0; + out_7423446859784669653[122] = 0.0; + out_7423446859784669653[123] = 0.0; + out_7423446859784669653[124] = 0.0; + out_7423446859784669653[125] = 0.0; + out_7423446859784669653[126] = 0.0; + out_7423446859784669653[127] = 0.0; + out_7423446859784669653[128] = 0.0; + out_7423446859784669653[129] = 0.0; + out_7423446859784669653[130] = 0.0; + out_7423446859784669653[131] = 0.0; + out_7423446859784669653[132] = 0.0; + out_7423446859784669653[133] = 1.0; + out_7423446859784669653[134] = 0.0; + out_7423446859784669653[135] = 0.0; + out_7423446859784669653[136] = 0.0; + out_7423446859784669653[137] = 0.0; + out_7423446859784669653[138] = 0.0; + out_7423446859784669653[139] = 0.0; + out_7423446859784669653[140] = 0.0; + out_7423446859784669653[141] = 0.0; + out_7423446859784669653[142] = 0.0; + out_7423446859784669653[143] = 0.0; + out_7423446859784669653[144] = 0.0; + out_7423446859784669653[145] = 0.0; + out_7423446859784669653[146] = 0.0; + out_7423446859784669653[147] = 0.0; + out_7423446859784669653[148] = 0.0; + out_7423446859784669653[149] = 0.0; + out_7423446859784669653[150] = 0.0; + out_7423446859784669653[151] = 0.0; + out_7423446859784669653[152] = 1.0; + out_7423446859784669653[153] = 0.0; + out_7423446859784669653[154] = 0.0; + out_7423446859784669653[155] = 0.0; + out_7423446859784669653[156] = 0.0; + out_7423446859784669653[157] = 0.0; + out_7423446859784669653[158] = 0.0; + out_7423446859784669653[159] = 0.0; + out_7423446859784669653[160] = 0.0; + out_7423446859784669653[161] = 0.0; + out_7423446859784669653[162] = 0.0; + out_7423446859784669653[163] = 0.0; + out_7423446859784669653[164] = 0.0; + out_7423446859784669653[165] = 0.0; + out_7423446859784669653[166] = 0.0; + out_7423446859784669653[167] = 0.0; + out_7423446859784669653[168] = 0.0; + out_7423446859784669653[169] = 0.0; + out_7423446859784669653[170] = 0.0; + out_7423446859784669653[171] = 1.0; + out_7423446859784669653[172] = 0.0; + out_7423446859784669653[173] = 0.0; + out_7423446859784669653[174] = 0.0; + out_7423446859784669653[175] = 0.0; + out_7423446859784669653[176] = 0.0; + out_7423446859784669653[177] = 0.0; + out_7423446859784669653[178] = 0.0; + out_7423446859784669653[179] = 0.0; + out_7423446859784669653[180] = 0.0; + out_7423446859784669653[181] = 0.0; + out_7423446859784669653[182] = 0.0; + out_7423446859784669653[183] = 0.0; + out_7423446859784669653[184] = 0.0; + out_7423446859784669653[185] = 0.0; + out_7423446859784669653[186] = 0.0; + out_7423446859784669653[187] = 0.0; + out_7423446859784669653[188] = 0.0; + out_7423446859784669653[189] = 0.0; + out_7423446859784669653[190] = 1.0; + out_7423446859784669653[191] = 0.0; + out_7423446859784669653[192] = 0.0; + out_7423446859784669653[193] = 0.0; + out_7423446859784669653[194] = 0.0; + out_7423446859784669653[195] = 0.0; + out_7423446859784669653[196] = 0.0; + out_7423446859784669653[197] = 0.0; + out_7423446859784669653[198] = 0.0; + out_7423446859784669653[199] = 0.0; + out_7423446859784669653[200] = 0.0; + out_7423446859784669653[201] = 0.0; + out_7423446859784669653[202] = 0.0; + out_7423446859784669653[203] = 0.0; + out_7423446859784669653[204] = 0.0; + out_7423446859784669653[205] = 0.0; + out_7423446859784669653[206] = 0.0; + out_7423446859784669653[207] = 0.0; + out_7423446859784669653[208] = 0.0; + out_7423446859784669653[209] = 1.0; + out_7423446859784669653[210] = 0.0; + out_7423446859784669653[211] = 0.0; + out_7423446859784669653[212] = 0.0; + out_7423446859784669653[213] = 0.0; + out_7423446859784669653[214] = 0.0; + out_7423446859784669653[215] = 0.0; + out_7423446859784669653[216] = 0.0; + out_7423446859784669653[217] = 0.0; + out_7423446859784669653[218] = 0.0; + out_7423446859784669653[219] = 0.0; + out_7423446859784669653[220] = 0.0; + out_7423446859784669653[221] = 0.0; + out_7423446859784669653[222] = 0.0; + out_7423446859784669653[223] = 0.0; + out_7423446859784669653[224] = 0.0; + out_7423446859784669653[225] = 0.0; + out_7423446859784669653[226] = 0.0; + out_7423446859784669653[227] = 0.0; + out_7423446859784669653[228] = 1.0; + out_7423446859784669653[229] = 0.0; + out_7423446859784669653[230] = 0.0; + out_7423446859784669653[231] = 0.0; + out_7423446859784669653[232] = 0.0; + out_7423446859784669653[233] = 0.0; + out_7423446859784669653[234] = 0.0; + out_7423446859784669653[235] = 0.0; + out_7423446859784669653[236] = 0.0; + out_7423446859784669653[237] = 0.0; + out_7423446859784669653[238] = 0.0; + out_7423446859784669653[239] = 0.0; + out_7423446859784669653[240] = 0.0; + out_7423446859784669653[241] = 0.0; + out_7423446859784669653[242] = 0.0; + out_7423446859784669653[243] = 0.0; + out_7423446859784669653[244] = 0.0; + out_7423446859784669653[245] = 0.0; + out_7423446859784669653[246] = 0.0; + out_7423446859784669653[247] = 1.0; + out_7423446859784669653[248] = 0.0; + out_7423446859784669653[249] = 0.0; + out_7423446859784669653[250] = 0.0; + out_7423446859784669653[251] = 0.0; + out_7423446859784669653[252] = 0.0; + out_7423446859784669653[253] = 0.0; + out_7423446859784669653[254] = 0.0; + out_7423446859784669653[255] = 0.0; + out_7423446859784669653[256] = 0.0; + out_7423446859784669653[257] = 0.0; + out_7423446859784669653[258] = 0.0; + out_7423446859784669653[259] = 0.0; + out_7423446859784669653[260] = 0.0; + out_7423446859784669653[261] = 0.0; + out_7423446859784669653[262] = 0.0; + out_7423446859784669653[263] = 0.0; + out_7423446859784669653[264] = 0.0; + out_7423446859784669653[265] = 0.0; + out_7423446859784669653[266] = 1.0; + out_7423446859784669653[267] = 0.0; + out_7423446859784669653[268] = 0.0; + out_7423446859784669653[269] = 0.0; + out_7423446859784669653[270] = 0.0; + out_7423446859784669653[271] = 0.0; + out_7423446859784669653[272] = 0.0; + out_7423446859784669653[273] = 0.0; + out_7423446859784669653[274] = 0.0; + out_7423446859784669653[275] = 0.0; + out_7423446859784669653[276] = 0.0; + out_7423446859784669653[277] = 0.0; + out_7423446859784669653[278] = 0.0; + out_7423446859784669653[279] = 0.0; + out_7423446859784669653[280] = 0.0; + out_7423446859784669653[281] = 0.0; + out_7423446859784669653[282] = 0.0; + out_7423446859784669653[283] = 0.0; + out_7423446859784669653[284] = 0.0; + out_7423446859784669653[285] = 1.0; + out_7423446859784669653[286] = 0.0; + out_7423446859784669653[287] = 0.0; + out_7423446859784669653[288] = 0.0; + out_7423446859784669653[289] = 0.0; + out_7423446859784669653[290] = 0.0; + out_7423446859784669653[291] = 0.0; + out_7423446859784669653[292] = 0.0; + out_7423446859784669653[293] = 0.0; + out_7423446859784669653[294] = 0.0; + out_7423446859784669653[295] = 0.0; + out_7423446859784669653[296] = 0.0; + out_7423446859784669653[297] = 0.0; + out_7423446859784669653[298] = 0.0; + out_7423446859784669653[299] = 0.0; + out_7423446859784669653[300] = 0.0; + out_7423446859784669653[301] = 0.0; + out_7423446859784669653[302] = 0.0; + out_7423446859784669653[303] = 0.0; + out_7423446859784669653[304] = 1.0; + out_7423446859784669653[305] = 0.0; + out_7423446859784669653[306] = 0.0; + out_7423446859784669653[307] = 0.0; + out_7423446859784669653[308] = 0.0; + out_7423446859784669653[309] = 0.0; + out_7423446859784669653[310] = 0.0; + out_7423446859784669653[311] = 0.0; + out_7423446859784669653[312] = 0.0; + out_7423446859784669653[313] = 0.0; + out_7423446859784669653[314] = 0.0; + out_7423446859784669653[315] = 0.0; + out_7423446859784669653[316] = 0.0; + out_7423446859784669653[317] = 0.0; + out_7423446859784669653[318] = 0.0; + out_7423446859784669653[319] = 0.0; + out_7423446859784669653[320] = 0.0; + out_7423446859784669653[321] = 0.0; + out_7423446859784669653[322] = 0.0; + out_7423446859784669653[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5713485962747764656) { - out_5713485962747764656[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_5713485962747764656[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_5713485962747764656[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_5713485962747764656[3] = dt*state[12] + state[3]; - out_5713485962747764656[4] = dt*state[13] + state[4]; - out_5713485962747764656[5] = dt*state[14] + state[5]; - out_5713485962747764656[6] = state[6]; - out_5713485962747764656[7] = state[7]; - out_5713485962747764656[8] = state[8]; - out_5713485962747764656[9] = state[9]; - out_5713485962747764656[10] = state[10]; - out_5713485962747764656[11] = state[11]; - out_5713485962747764656[12] = state[12]; - out_5713485962747764656[13] = state[13]; - out_5713485962747764656[14] = state[14]; - out_5713485962747764656[15] = state[15]; - out_5713485962747764656[16] = state[16]; - out_5713485962747764656[17] = state[17]; +void f_fun(double *state, double dt, double *out_5202695727626385220) { + out_5202695727626385220[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_5202695727626385220[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_5202695727626385220[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_5202695727626385220[3] = dt*state[12] + state[3]; + out_5202695727626385220[4] = dt*state[13] + state[4]; + out_5202695727626385220[5] = dt*state[14] + state[5]; + out_5202695727626385220[6] = state[6]; + out_5202695727626385220[7] = state[7]; + out_5202695727626385220[8] = state[8]; + out_5202695727626385220[9] = state[9]; + out_5202695727626385220[10] = state[10]; + out_5202695727626385220[11] = state[11]; + out_5202695727626385220[12] = state[12]; + out_5202695727626385220[13] = state[13]; + out_5202695727626385220[14] = state[14]; + out_5202695727626385220[15] = state[15]; + out_5202695727626385220[16] = state[16]; + out_5202695727626385220[17] = state[17]; } -void F_fun(double *state, double dt, double *out_958271563642232375) { - out_958271563642232375[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_958271563642232375[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_958271563642232375[2] = 0; - out_958271563642232375[3] = 0; - out_958271563642232375[4] = 0; - out_958271563642232375[5] = 0; - out_958271563642232375[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_958271563642232375[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_958271563642232375[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_958271563642232375[9] = 0; - out_958271563642232375[10] = 0; - out_958271563642232375[11] = 0; - out_958271563642232375[12] = 0; - out_958271563642232375[13] = 0; - out_958271563642232375[14] = 0; - out_958271563642232375[15] = 0; - out_958271563642232375[16] = 0; - out_958271563642232375[17] = 0; - out_958271563642232375[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_958271563642232375[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_958271563642232375[20] = 0; - out_958271563642232375[21] = 0; - out_958271563642232375[22] = 0; - out_958271563642232375[23] = 0; - out_958271563642232375[24] = 0; - out_958271563642232375[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_958271563642232375[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_958271563642232375[27] = 0; - out_958271563642232375[28] = 0; - out_958271563642232375[29] = 0; - out_958271563642232375[30] = 0; - out_958271563642232375[31] = 0; - out_958271563642232375[32] = 0; - out_958271563642232375[33] = 0; - out_958271563642232375[34] = 0; - out_958271563642232375[35] = 0; - out_958271563642232375[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_958271563642232375[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_958271563642232375[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_958271563642232375[39] = 0; - out_958271563642232375[40] = 0; - out_958271563642232375[41] = 0; - out_958271563642232375[42] = 0; - out_958271563642232375[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_958271563642232375[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_958271563642232375[45] = 0; - out_958271563642232375[46] = 0; - out_958271563642232375[47] = 0; - out_958271563642232375[48] = 0; - out_958271563642232375[49] = 0; - out_958271563642232375[50] = 0; - out_958271563642232375[51] = 0; - out_958271563642232375[52] = 0; - out_958271563642232375[53] = 0; - out_958271563642232375[54] = 0; - out_958271563642232375[55] = 0; - out_958271563642232375[56] = 0; - out_958271563642232375[57] = 1; - out_958271563642232375[58] = 0; - out_958271563642232375[59] = 0; - out_958271563642232375[60] = 0; - out_958271563642232375[61] = 0; - out_958271563642232375[62] = 0; - out_958271563642232375[63] = 0; - out_958271563642232375[64] = 0; - out_958271563642232375[65] = 0; - out_958271563642232375[66] = dt; - out_958271563642232375[67] = 0; - out_958271563642232375[68] = 0; - out_958271563642232375[69] = 0; - out_958271563642232375[70] = 0; - out_958271563642232375[71] = 0; - out_958271563642232375[72] = 0; - out_958271563642232375[73] = 0; - out_958271563642232375[74] = 0; - out_958271563642232375[75] = 0; - out_958271563642232375[76] = 1; - out_958271563642232375[77] = 0; - out_958271563642232375[78] = 0; - out_958271563642232375[79] = 0; - out_958271563642232375[80] = 0; - out_958271563642232375[81] = 0; - out_958271563642232375[82] = 0; - out_958271563642232375[83] = 0; - out_958271563642232375[84] = 0; - out_958271563642232375[85] = dt; - out_958271563642232375[86] = 0; - out_958271563642232375[87] = 0; - out_958271563642232375[88] = 0; - out_958271563642232375[89] = 0; - out_958271563642232375[90] = 0; - out_958271563642232375[91] = 0; - out_958271563642232375[92] = 0; - out_958271563642232375[93] = 0; - out_958271563642232375[94] = 0; - out_958271563642232375[95] = 1; - out_958271563642232375[96] = 0; - out_958271563642232375[97] = 0; - out_958271563642232375[98] = 0; - out_958271563642232375[99] = 0; - out_958271563642232375[100] = 0; - out_958271563642232375[101] = 0; - out_958271563642232375[102] = 0; - out_958271563642232375[103] = 0; - out_958271563642232375[104] = dt; - out_958271563642232375[105] = 0; - out_958271563642232375[106] = 0; - out_958271563642232375[107] = 0; - out_958271563642232375[108] = 0; - out_958271563642232375[109] = 0; - out_958271563642232375[110] = 0; - out_958271563642232375[111] = 0; - out_958271563642232375[112] = 0; - out_958271563642232375[113] = 0; - out_958271563642232375[114] = 1; - out_958271563642232375[115] = 0; - out_958271563642232375[116] = 0; - out_958271563642232375[117] = 0; - out_958271563642232375[118] = 0; - out_958271563642232375[119] = 0; - out_958271563642232375[120] = 0; - out_958271563642232375[121] = 0; - out_958271563642232375[122] = 0; - out_958271563642232375[123] = 0; - out_958271563642232375[124] = 0; - out_958271563642232375[125] = 0; - out_958271563642232375[126] = 0; - out_958271563642232375[127] = 0; - out_958271563642232375[128] = 0; - out_958271563642232375[129] = 0; - out_958271563642232375[130] = 0; - out_958271563642232375[131] = 0; - out_958271563642232375[132] = 0; - out_958271563642232375[133] = 1; - out_958271563642232375[134] = 0; - out_958271563642232375[135] = 0; - out_958271563642232375[136] = 0; - out_958271563642232375[137] = 0; - out_958271563642232375[138] = 0; - out_958271563642232375[139] = 0; - out_958271563642232375[140] = 0; - out_958271563642232375[141] = 0; - out_958271563642232375[142] = 0; - out_958271563642232375[143] = 0; - out_958271563642232375[144] = 0; - out_958271563642232375[145] = 0; - out_958271563642232375[146] = 0; - out_958271563642232375[147] = 0; - out_958271563642232375[148] = 0; - out_958271563642232375[149] = 0; - out_958271563642232375[150] = 0; - out_958271563642232375[151] = 0; - out_958271563642232375[152] = 1; - out_958271563642232375[153] = 0; - out_958271563642232375[154] = 0; - out_958271563642232375[155] = 0; - out_958271563642232375[156] = 0; - out_958271563642232375[157] = 0; - out_958271563642232375[158] = 0; - out_958271563642232375[159] = 0; - out_958271563642232375[160] = 0; - out_958271563642232375[161] = 0; - out_958271563642232375[162] = 0; - out_958271563642232375[163] = 0; - out_958271563642232375[164] = 0; - out_958271563642232375[165] = 0; - out_958271563642232375[166] = 0; - out_958271563642232375[167] = 0; - out_958271563642232375[168] = 0; - out_958271563642232375[169] = 0; - out_958271563642232375[170] = 0; - out_958271563642232375[171] = 1; - out_958271563642232375[172] = 0; - out_958271563642232375[173] = 0; - out_958271563642232375[174] = 0; - out_958271563642232375[175] = 0; - out_958271563642232375[176] = 0; - out_958271563642232375[177] = 0; - out_958271563642232375[178] = 0; - out_958271563642232375[179] = 0; - out_958271563642232375[180] = 0; - out_958271563642232375[181] = 0; - out_958271563642232375[182] = 0; - out_958271563642232375[183] = 0; - out_958271563642232375[184] = 0; - out_958271563642232375[185] = 0; - out_958271563642232375[186] = 0; - out_958271563642232375[187] = 0; - out_958271563642232375[188] = 0; - out_958271563642232375[189] = 0; - out_958271563642232375[190] = 1; - out_958271563642232375[191] = 0; - out_958271563642232375[192] = 0; - out_958271563642232375[193] = 0; - out_958271563642232375[194] = 0; - out_958271563642232375[195] = 0; - out_958271563642232375[196] = 0; - out_958271563642232375[197] = 0; - out_958271563642232375[198] = 0; - out_958271563642232375[199] = 0; - out_958271563642232375[200] = 0; - out_958271563642232375[201] = 0; - out_958271563642232375[202] = 0; - out_958271563642232375[203] = 0; - out_958271563642232375[204] = 0; - out_958271563642232375[205] = 0; - out_958271563642232375[206] = 0; - out_958271563642232375[207] = 0; - out_958271563642232375[208] = 0; - out_958271563642232375[209] = 1; - out_958271563642232375[210] = 0; - out_958271563642232375[211] = 0; - out_958271563642232375[212] = 0; - out_958271563642232375[213] = 0; - out_958271563642232375[214] = 0; - out_958271563642232375[215] = 0; - out_958271563642232375[216] = 0; - out_958271563642232375[217] = 0; - out_958271563642232375[218] = 0; - out_958271563642232375[219] = 0; - out_958271563642232375[220] = 0; - out_958271563642232375[221] = 0; - out_958271563642232375[222] = 0; - out_958271563642232375[223] = 0; - out_958271563642232375[224] = 0; - out_958271563642232375[225] = 0; - out_958271563642232375[226] = 0; - out_958271563642232375[227] = 0; - out_958271563642232375[228] = 1; - out_958271563642232375[229] = 0; - out_958271563642232375[230] = 0; - out_958271563642232375[231] = 0; - out_958271563642232375[232] = 0; - out_958271563642232375[233] = 0; - out_958271563642232375[234] = 0; - out_958271563642232375[235] = 0; - out_958271563642232375[236] = 0; - out_958271563642232375[237] = 0; - out_958271563642232375[238] = 0; - out_958271563642232375[239] = 0; - out_958271563642232375[240] = 0; - out_958271563642232375[241] = 0; - out_958271563642232375[242] = 0; - out_958271563642232375[243] = 0; - out_958271563642232375[244] = 0; - out_958271563642232375[245] = 0; - out_958271563642232375[246] = 0; - out_958271563642232375[247] = 1; - out_958271563642232375[248] = 0; - out_958271563642232375[249] = 0; - out_958271563642232375[250] = 0; - out_958271563642232375[251] = 0; - out_958271563642232375[252] = 0; - out_958271563642232375[253] = 0; - out_958271563642232375[254] = 0; - out_958271563642232375[255] = 0; - out_958271563642232375[256] = 0; - out_958271563642232375[257] = 0; - out_958271563642232375[258] = 0; - out_958271563642232375[259] = 0; - out_958271563642232375[260] = 0; - out_958271563642232375[261] = 0; - out_958271563642232375[262] = 0; - out_958271563642232375[263] = 0; - out_958271563642232375[264] = 0; - out_958271563642232375[265] = 0; - out_958271563642232375[266] = 1; - out_958271563642232375[267] = 0; - out_958271563642232375[268] = 0; - out_958271563642232375[269] = 0; - out_958271563642232375[270] = 0; - out_958271563642232375[271] = 0; - out_958271563642232375[272] = 0; - out_958271563642232375[273] = 0; - out_958271563642232375[274] = 0; - out_958271563642232375[275] = 0; - out_958271563642232375[276] = 0; - out_958271563642232375[277] = 0; - out_958271563642232375[278] = 0; - out_958271563642232375[279] = 0; - out_958271563642232375[280] = 0; - out_958271563642232375[281] = 0; - out_958271563642232375[282] = 0; - out_958271563642232375[283] = 0; - out_958271563642232375[284] = 0; - out_958271563642232375[285] = 1; - out_958271563642232375[286] = 0; - out_958271563642232375[287] = 0; - out_958271563642232375[288] = 0; - out_958271563642232375[289] = 0; - out_958271563642232375[290] = 0; - out_958271563642232375[291] = 0; - out_958271563642232375[292] = 0; - out_958271563642232375[293] = 0; - out_958271563642232375[294] = 0; - out_958271563642232375[295] = 0; - out_958271563642232375[296] = 0; - out_958271563642232375[297] = 0; - out_958271563642232375[298] = 0; - out_958271563642232375[299] = 0; - out_958271563642232375[300] = 0; - out_958271563642232375[301] = 0; - out_958271563642232375[302] = 0; - out_958271563642232375[303] = 0; - out_958271563642232375[304] = 1; - out_958271563642232375[305] = 0; - out_958271563642232375[306] = 0; - out_958271563642232375[307] = 0; - out_958271563642232375[308] = 0; - out_958271563642232375[309] = 0; - out_958271563642232375[310] = 0; - out_958271563642232375[311] = 0; - out_958271563642232375[312] = 0; - out_958271563642232375[313] = 0; - out_958271563642232375[314] = 0; - out_958271563642232375[315] = 0; - out_958271563642232375[316] = 0; - out_958271563642232375[317] = 0; - out_958271563642232375[318] = 0; - out_958271563642232375[319] = 0; - out_958271563642232375[320] = 0; - out_958271563642232375[321] = 0; - out_958271563642232375[322] = 0; - out_958271563642232375[323] = 1; +void F_fun(double *state, double dt, double *out_5491057847988530682) { + out_5491057847988530682[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_5491057847988530682[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_5491057847988530682[2] = 0; + out_5491057847988530682[3] = 0; + out_5491057847988530682[4] = 0; + out_5491057847988530682[5] = 0; + out_5491057847988530682[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_5491057847988530682[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_5491057847988530682[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_5491057847988530682[9] = 0; + out_5491057847988530682[10] = 0; + out_5491057847988530682[11] = 0; + out_5491057847988530682[12] = 0; + out_5491057847988530682[13] = 0; + out_5491057847988530682[14] = 0; + out_5491057847988530682[15] = 0; + out_5491057847988530682[16] = 0; + out_5491057847988530682[17] = 0; + out_5491057847988530682[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_5491057847988530682[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_5491057847988530682[20] = 0; + out_5491057847988530682[21] = 0; + out_5491057847988530682[22] = 0; + out_5491057847988530682[23] = 0; + out_5491057847988530682[24] = 0; + out_5491057847988530682[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_5491057847988530682[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_5491057847988530682[27] = 0; + out_5491057847988530682[28] = 0; + out_5491057847988530682[29] = 0; + out_5491057847988530682[30] = 0; + out_5491057847988530682[31] = 0; + out_5491057847988530682[32] = 0; + out_5491057847988530682[33] = 0; + out_5491057847988530682[34] = 0; + out_5491057847988530682[35] = 0; + out_5491057847988530682[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_5491057847988530682[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_5491057847988530682[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_5491057847988530682[39] = 0; + out_5491057847988530682[40] = 0; + out_5491057847988530682[41] = 0; + out_5491057847988530682[42] = 0; + out_5491057847988530682[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_5491057847988530682[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_5491057847988530682[45] = 0; + out_5491057847988530682[46] = 0; + out_5491057847988530682[47] = 0; + out_5491057847988530682[48] = 0; + out_5491057847988530682[49] = 0; + out_5491057847988530682[50] = 0; + out_5491057847988530682[51] = 0; + out_5491057847988530682[52] = 0; + out_5491057847988530682[53] = 0; + out_5491057847988530682[54] = 0; + out_5491057847988530682[55] = 0; + out_5491057847988530682[56] = 0; + out_5491057847988530682[57] = 1; + out_5491057847988530682[58] = 0; + out_5491057847988530682[59] = 0; + out_5491057847988530682[60] = 0; + out_5491057847988530682[61] = 0; + out_5491057847988530682[62] = 0; + out_5491057847988530682[63] = 0; + out_5491057847988530682[64] = 0; + out_5491057847988530682[65] = 0; + out_5491057847988530682[66] = dt; + out_5491057847988530682[67] = 0; + out_5491057847988530682[68] = 0; + out_5491057847988530682[69] = 0; + out_5491057847988530682[70] = 0; + out_5491057847988530682[71] = 0; + out_5491057847988530682[72] = 0; + out_5491057847988530682[73] = 0; + out_5491057847988530682[74] = 0; + out_5491057847988530682[75] = 0; + out_5491057847988530682[76] = 1; + out_5491057847988530682[77] = 0; + out_5491057847988530682[78] = 0; + out_5491057847988530682[79] = 0; + out_5491057847988530682[80] = 0; + out_5491057847988530682[81] = 0; + out_5491057847988530682[82] = 0; + out_5491057847988530682[83] = 0; + out_5491057847988530682[84] = 0; + out_5491057847988530682[85] = dt; + out_5491057847988530682[86] = 0; + out_5491057847988530682[87] = 0; + out_5491057847988530682[88] = 0; + out_5491057847988530682[89] = 0; + out_5491057847988530682[90] = 0; + out_5491057847988530682[91] = 0; + out_5491057847988530682[92] = 0; + out_5491057847988530682[93] = 0; + out_5491057847988530682[94] = 0; + out_5491057847988530682[95] = 1; + out_5491057847988530682[96] = 0; + out_5491057847988530682[97] = 0; + out_5491057847988530682[98] = 0; + out_5491057847988530682[99] = 0; + out_5491057847988530682[100] = 0; + out_5491057847988530682[101] = 0; + out_5491057847988530682[102] = 0; + out_5491057847988530682[103] = 0; + out_5491057847988530682[104] = dt; + out_5491057847988530682[105] = 0; + out_5491057847988530682[106] = 0; + out_5491057847988530682[107] = 0; + out_5491057847988530682[108] = 0; + out_5491057847988530682[109] = 0; + out_5491057847988530682[110] = 0; + out_5491057847988530682[111] = 0; + out_5491057847988530682[112] = 0; + out_5491057847988530682[113] = 0; + out_5491057847988530682[114] = 1; + out_5491057847988530682[115] = 0; + out_5491057847988530682[116] = 0; + out_5491057847988530682[117] = 0; + out_5491057847988530682[118] = 0; + out_5491057847988530682[119] = 0; + out_5491057847988530682[120] = 0; + out_5491057847988530682[121] = 0; + out_5491057847988530682[122] = 0; + out_5491057847988530682[123] = 0; + out_5491057847988530682[124] = 0; + out_5491057847988530682[125] = 0; + out_5491057847988530682[126] = 0; + out_5491057847988530682[127] = 0; + out_5491057847988530682[128] = 0; + out_5491057847988530682[129] = 0; + out_5491057847988530682[130] = 0; + out_5491057847988530682[131] = 0; + out_5491057847988530682[132] = 0; + out_5491057847988530682[133] = 1; + out_5491057847988530682[134] = 0; + out_5491057847988530682[135] = 0; + out_5491057847988530682[136] = 0; + out_5491057847988530682[137] = 0; + out_5491057847988530682[138] = 0; + out_5491057847988530682[139] = 0; + out_5491057847988530682[140] = 0; + out_5491057847988530682[141] = 0; + out_5491057847988530682[142] = 0; + out_5491057847988530682[143] = 0; + out_5491057847988530682[144] = 0; + out_5491057847988530682[145] = 0; + out_5491057847988530682[146] = 0; + out_5491057847988530682[147] = 0; + out_5491057847988530682[148] = 0; + out_5491057847988530682[149] = 0; + out_5491057847988530682[150] = 0; + out_5491057847988530682[151] = 0; + out_5491057847988530682[152] = 1; + out_5491057847988530682[153] = 0; + out_5491057847988530682[154] = 0; + out_5491057847988530682[155] = 0; + out_5491057847988530682[156] = 0; + out_5491057847988530682[157] = 0; + out_5491057847988530682[158] = 0; + out_5491057847988530682[159] = 0; + out_5491057847988530682[160] = 0; + out_5491057847988530682[161] = 0; + out_5491057847988530682[162] = 0; + out_5491057847988530682[163] = 0; + out_5491057847988530682[164] = 0; + out_5491057847988530682[165] = 0; + out_5491057847988530682[166] = 0; + out_5491057847988530682[167] = 0; + out_5491057847988530682[168] = 0; + out_5491057847988530682[169] = 0; + out_5491057847988530682[170] = 0; + out_5491057847988530682[171] = 1; + out_5491057847988530682[172] = 0; + out_5491057847988530682[173] = 0; + out_5491057847988530682[174] = 0; + out_5491057847988530682[175] = 0; + out_5491057847988530682[176] = 0; + out_5491057847988530682[177] = 0; + out_5491057847988530682[178] = 0; + out_5491057847988530682[179] = 0; + out_5491057847988530682[180] = 0; + out_5491057847988530682[181] = 0; + out_5491057847988530682[182] = 0; + out_5491057847988530682[183] = 0; + out_5491057847988530682[184] = 0; + out_5491057847988530682[185] = 0; + out_5491057847988530682[186] = 0; + out_5491057847988530682[187] = 0; + out_5491057847988530682[188] = 0; + out_5491057847988530682[189] = 0; + out_5491057847988530682[190] = 1; + out_5491057847988530682[191] = 0; + out_5491057847988530682[192] = 0; + out_5491057847988530682[193] = 0; + out_5491057847988530682[194] = 0; + out_5491057847988530682[195] = 0; + out_5491057847988530682[196] = 0; + out_5491057847988530682[197] = 0; + out_5491057847988530682[198] = 0; + out_5491057847988530682[199] = 0; + out_5491057847988530682[200] = 0; + out_5491057847988530682[201] = 0; + out_5491057847988530682[202] = 0; + out_5491057847988530682[203] = 0; + out_5491057847988530682[204] = 0; + out_5491057847988530682[205] = 0; + out_5491057847988530682[206] = 0; + out_5491057847988530682[207] = 0; + out_5491057847988530682[208] = 0; + out_5491057847988530682[209] = 1; + out_5491057847988530682[210] = 0; + out_5491057847988530682[211] = 0; + out_5491057847988530682[212] = 0; + out_5491057847988530682[213] = 0; + out_5491057847988530682[214] = 0; + out_5491057847988530682[215] = 0; + out_5491057847988530682[216] = 0; + out_5491057847988530682[217] = 0; + out_5491057847988530682[218] = 0; + out_5491057847988530682[219] = 0; + out_5491057847988530682[220] = 0; + out_5491057847988530682[221] = 0; + out_5491057847988530682[222] = 0; + out_5491057847988530682[223] = 0; + out_5491057847988530682[224] = 0; + out_5491057847988530682[225] = 0; + out_5491057847988530682[226] = 0; + out_5491057847988530682[227] = 0; + out_5491057847988530682[228] = 1; + out_5491057847988530682[229] = 0; + out_5491057847988530682[230] = 0; + out_5491057847988530682[231] = 0; + out_5491057847988530682[232] = 0; + out_5491057847988530682[233] = 0; + out_5491057847988530682[234] = 0; + out_5491057847988530682[235] = 0; + out_5491057847988530682[236] = 0; + out_5491057847988530682[237] = 0; + out_5491057847988530682[238] = 0; + out_5491057847988530682[239] = 0; + out_5491057847988530682[240] = 0; + out_5491057847988530682[241] = 0; + out_5491057847988530682[242] = 0; + out_5491057847988530682[243] = 0; + out_5491057847988530682[244] = 0; + out_5491057847988530682[245] = 0; + out_5491057847988530682[246] = 0; + out_5491057847988530682[247] = 1; + out_5491057847988530682[248] = 0; + out_5491057847988530682[249] = 0; + out_5491057847988530682[250] = 0; + out_5491057847988530682[251] = 0; + out_5491057847988530682[252] = 0; + out_5491057847988530682[253] = 0; + out_5491057847988530682[254] = 0; + out_5491057847988530682[255] = 0; + out_5491057847988530682[256] = 0; + out_5491057847988530682[257] = 0; + out_5491057847988530682[258] = 0; + out_5491057847988530682[259] = 0; + out_5491057847988530682[260] = 0; + out_5491057847988530682[261] = 0; + out_5491057847988530682[262] = 0; + out_5491057847988530682[263] = 0; + out_5491057847988530682[264] = 0; + out_5491057847988530682[265] = 0; + out_5491057847988530682[266] = 1; + out_5491057847988530682[267] = 0; + out_5491057847988530682[268] = 0; + out_5491057847988530682[269] = 0; + out_5491057847988530682[270] = 0; + out_5491057847988530682[271] = 0; + out_5491057847988530682[272] = 0; + out_5491057847988530682[273] = 0; + out_5491057847988530682[274] = 0; + out_5491057847988530682[275] = 0; + out_5491057847988530682[276] = 0; + out_5491057847988530682[277] = 0; + out_5491057847988530682[278] = 0; + out_5491057847988530682[279] = 0; + out_5491057847988530682[280] = 0; + out_5491057847988530682[281] = 0; + out_5491057847988530682[282] = 0; + out_5491057847988530682[283] = 0; + out_5491057847988530682[284] = 0; + out_5491057847988530682[285] = 1; + out_5491057847988530682[286] = 0; + out_5491057847988530682[287] = 0; + out_5491057847988530682[288] = 0; + out_5491057847988530682[289] = 0; + out_5491057847988530682[290] = 0; + out_5491057847988530682[291] = 0; + out_5491057847988530682[292] = 0; + out_5491057847988530682[293] = 0; + out_5491057847988530682[294] = 0; + out_5491057847988530682[295] = 0; + out_5491057847988530682[296] = 0; + out_5491057847988530682[297] = 0; + out_5491057847988530682[298] = 0; + out_5491057847988530682[299] = 0; + out_5491057847988530682[300] = 0; + out_5491057847988530682[301] = 0; + out_5491057847988530682[302] = 0; + out_5491057847988530682[303] = 0; + out_5491057847988530682[304] = 1; + out_5491057847988530682[305] = 0; + out_5491057847988530682[306] = 0; + out_5491057847988530682[307] = 0; + out_5491057847988530682[308] = 0; + out_5491057847988530682[309] = 0; + out_5491057847988530682[310] = 0; + out_5491057847988530682[311] = 0; + out_5491057847988530682[312] = 0; + out_5491057847988530682[313] = 0; + out_5491057847988530682[314] = 0; + out_5491057847988530682[315] = 0; + out_5491057847988530682[316] = 0; + out_5491057847988530682[317] = 0; + out_5491057847988530682[318] = 0; + out_5491057847988530682[319] = 0; + out_5491057847988530682[320] = 0; + out_5491057847988530682[321] = 0; + out_5491057847988530682[322] = 0; + out_5491057847988530682[323] = 1; } -void h_4(double *state, double *unused, double *out_4832992228856902742) { - out_4832992228856902742[0] = state[6] + state[9]; - out_4832992228856902742[1] = state[7] + state[10]; - out_4832992228856902742[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6452546827916926575) { + out_6452546827916926575[0] = state[6] + state[9]; + out_6452546827916926575[1] = state[7] + state[10]; + out_6452546827916926575[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_2408518913812250442) { - out_2408518913812250442[0] = 0; - out_2408518913812250442[1] = 0; - out_2408518913812250442[2] = 0; - out_2408518913812250442[3] = 0; - out_2408518913812250442[4] = 0; - out_2408518913812250442[5] = 0; - out_2408518913812250442[6] = 1; - out_2408518913812250442[7] = 0; - out_2408518913812250442[8] = 0; - out_2408518913812250442[9] = 1; - out_2408518913812250442[10] = 0; - out_2408518913812250442[11] = 0; - out_2408518913812250442[12] = 0; - out_2408518913812250442[13] = 0; - out_2408518913812250442[14] = 0; - out_2408518913812250442[15] = 0; - out_2408518913812250442[16] = 0; - out_2408518913812250442[17] = 0; - out_2408518913812250442[18] = 0; - out_2408518913812250442[19] = 0; - out_2408518913812250442[20] = 0; - out_2408518913812250442[21] = 0; - out_2408518913812250442[22] = 0; - out_2408518913812250442[23] = 0; - out_2408518913812250442[24] = 0; - out_2408518913812250442[25] = 1; - out_2408518913812250442[26] = 0; - out_2408518913812250442[27] = 0; - out_2408518913812250442[28] = 1; - out_2408518913812250442[29] = 0; - out_2408518913812250442[30] = 0; - out_2408518913812250442[31] = 0; - out_2408518913812250442[32] = 0; - out_2408518913812250442[33] = 0; - out_2408518913812250442[34] = 0; - out_2408518913812250442[35] = 0; - out_2408518913812250442[36] = 0; - out_2408518913812250442[37] = 0; - out_2408518913812250442[38] = 0; - out_2408518913812250442[39] = 0; - out_2408518913812250442[40] = 0; - out_2408518913812250442[41] = 0; - out_2408518913812250442[42] = 0; - out_2408518913812250442[43] = 0; - out_2408518913812250442[44] = 1; - out_2408518913812250442[45] = 0; - out_2408518913812250442[46] = 0; - out_2408518913812250442[47] = 1; - out_2408518913812250442[48] = 0; - out_2408518913812250442[49] = 0; - out_2408518913812250442[50] = 0; - out_2408518913812250442[51] = 0; - out_2408518913812250442[52] = 0; - out_2408518913812250442[53] = 0; +void H_4(double *state, double *unused, double *out_2270928474745588918) { + out_2270928474745588918[0] = 0; + out_2270928474745588918[1] = 0; + out_2270928474745588918[2] = 0; + out_2270928474745588918[3] = 0; + out_2270928474745588918[4] = 0; + out_2270928474745588918[5] = 0; + out_2270928474745588918[6] = 1; + out_2270928474745588918[7] = 0; + out_2270928474745588918[8] = 0; + out_2270928474745588918[9] = 1; + out_2270928474745588918[10] = 0; + out_2270928474745588918[11] = 0; + out_2270928474745588918[12] = 0; + out_2270928474745588918[13] = 0; + out_2270928474745588918[14] = 0; + out_2270928474745588918[15] = 0; + out_2270928474745588918[16] = 0; + out_2270928474745588918[17] = 0; + out_2270928474745588918[18] = 0; + out_2270928474745588918[19] = 0; + out_2270928474745588918[20] = 0; + out_2270928474745588918[21] = 0; + out_2270928474745588918[22] = 0; + out_2270928474745588918[23] = 0; + out_2270928474745588918[24] = 0; + out_2270928474745588918[25] = 1; + out_2270928474745588918[26] = 0; + out_2270928474745588918[27] = 0; + out_2270928474745588918[28] = 1; + out_2270928474745588918[29] = 0; + out_2270928474745588918[30] = 0; + out_2270928474745588918[31] = 0; + out_2270928474745588918[32] = 0; + out_2270928474745588918[33] = 0; + out_2270928474745588918[34] = 0; + out_2270928474745588918[35] = 0; + out_2270928474745588918[36] = 0; + out_2270928474745588918[37] = 0; + out_2270928474745588918[38] = 0; + out_2270928474745588918[39] = 0; + out_2270928474745588918[40] = 0; + out_2270928474745588918[41] = 0; + out_2270928474745588918[42] = 0; + out_2270928474745588918[43] = 0; + out_2270928474745588918[44] = 1; + out_2270928474745588918[45] = 0; + out_2270928474745588918[46] = 0; + out_2270928474745588918[47] = 1; + out_2270928474745588918[48] = 0; + out_2270928474745588918[49] = 0; + out_2270928474745588918[50] = 0; + out_2270928474745588918[51] = 0; + out_2270928474745588918[52] = 0; + out_2270928474745588918[53] = 0; } -void h_10(double *state, double *unused, double *out_3497927463584229027) { - out_3497927463584229027[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3497927463584229027[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3497927463584229027[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_7382153153143119100) { + out_7382153153143119100[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7382153153143119100[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7382153153143119100[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_4949237892416765352) { - out_4949237892416765352[0] = 0; - out_4949237892416765352[1] = 9.8100000000000005*cos(state[1]); - out_4949237892416765352[2] = 0; - out_4949237892416765352[3] = 0; - out_4949237892416765352[4] = -state[8]; - out_4949237892416765352[5] = state[7]; - out_4949237892416765352[6] = 0; - out_4949237892416765352[7] = state[5]; - out_4949237892416765352[8] = -state[4]; - out_4949237892416765352[9] = 0; - out_4949237892416765352[10] = 0; - out_4949237892416765352[11] = 0; - out_4949237892416765352[12] = 1; - out_4949237892416765352[13] = 0; - out_4949237892416765352[14] = 0; - out_4949237892416765352[15] = 1; - out_4949237892416765352[16] = 0; - out_4949237892416765352[17] = 0; - out_4949237892416765352[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4949237892416765352[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4949237892416765352[20] = 0; - out_4949237892416765352[21] = state[8]; - out_4949237892416765352[22] = 0; - out_4949237892416765352[23] = -state[6]; - out_4949237892416765352[24] = -state[5]; - out_4949237892416765352[25] = 0; - out_4949237892416765352[26] = state[3]; - out_4949237892416765352[27] = 0; - out_4949237892416765352[28] = 0; - out_4949237892416765352[29] = 0; - out_4949237892416765352[30] = 0; - out_4949237892416765352[31] = 1; - out_4949237892416765352[32] = 0; - out_4949237892416765352[33] = 0; - out_4949237892416765352[34] = 1; - out_4949237892416765352[35] = 0; - out_4949237892416765352[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4949237892416765352[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4949237892416765352[38] = 0; - out_4949237892416765352[39] = -state[7]; - out_4949237892416765352[40] = state[6]; - out_4949237892416765352[41] = 0; - out_4949237892416765352[42] = state[4]; - out_4949237892416765352[43] = -state[3]; - out_4949237892416765352[44] = 0; - out_4949237892416765352[45] = 0; - out_4949237892416765352[46] = 0; - out_4949237892416765352[47] = 0; - out_4949237892416765352[48] = 0; - out_4949237892416765352[49] = 0; - out_4949237892416765352[50] = 1; - out_4949237892416765352[51] = 0; - out_4949237892416765352[52] = 0; - out_4949237892416765352[53] = 1; +void H_10(double *state, double *unused, double *out_8704391623487425268) { + out_8704391623487425268[0] = 0; + out_8704391623487425268[1] = 9.8100000000000005*cos(state[1]); + out_8704391623487425268[2] = 0; + out_8704391623487425268[3] = 0; + out_8704391623487425268[4] = -state[8]; + out_8704391623487425268[5] = state[7]; + out_8704391623487425268[6] = 0; + out_8704391623487425268[7] = state[5]; + out_8704391623487425268[8] = -state[4]; + out_8704391623487425268[9] = 0; + out_8704391623487425268[10] = 0; + out_8704391623487425268[11] = 0; + out_8704391623487425268[12] = 1; + out_8704391623487425268[13] = 0; + out_8704391623487425268[14] = 0; + out_8704391623487425268[15] = 1; + out_8704391623487425268[16] = 0; + out_8704391623487425268[17] = 0; + out_8704391623487425268[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8704391623487425268[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8704391623487425268[20] = 0; + out_8704391623487425268[21] = state[8]; + out_8704391623487425268[22] = 0; + out_8704391623487425268[23] = -state[6]; + out_8704391623487425268[24] = -state[5]; + out_8704391623487425268[25] = 0; + out_8704391623487425268[26] = state[3]; + out_8704391623487425268[27] = 0; + out_8704391623487425268[28] = 0; + out_8704391623487425268[29] = 0; + out_8704391623487425268[30] = 0; + out_8704391623487425268[31] = 1; + out_8704391623487425268[32] = 0; + out_8704391623487425268[33] = 0; + out_8704391623487425268[34] = 1; + out_8704391623487425268[35] = 0; + out_8704391623487425268[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8704391623487425268[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8704391623487425268[38] = 0; + out_8704391623487425268[39] = -state[7]; + out_8704391623487425268[40] = state[6]; + out_8704391623487425268[41] = 0; + out_8704391623487425268[42] = state[4]; + out_8704391623487425268[43] = -state[3]; + out_8704391623487425268[44] = 0; + out_8704391623487425268[45] = 0; + out_8704391623487425268[46] = 0; + out_8704391623487425268[47] = 0; + out_8704391623487425268[48] = 0; + out_8704391623487425268[49] = 0; + out_8704391623487425268[50] = 1; + out_8704391623487425268[51] = 0; + out_8704391623487425268[52] = 0; + out_8704391623487425268[53] = 1; } -void h_13(double *state, double *unused, double *out_7372319986312258601) { - out_7372319986312258601[0] = state[3]; - out_7372319986312258601[1] = state[4]; - out_7372319986312258601[2] = state[5]; +void h_13(double *state, double *unused, double *out_6604156015444971944) { + out_6604156015444971944[0] = state[3]; + out_6604156015444971944[1] = state[4]; + out_6604156015444971944[2] = state[5]; } -void H_13(double *state, double *unused, double *out_803754911520082359) { - out_803754911520082359[0] = 0; - out_803754911520082359[1] = 0; - out_803754911520082359[2] = 0; - out_803754911520082359[3] = 1; - out_803754911520082359[4] = 0; - out_803754911520082359[5] = 0; - out_803754911520082359[6] = 0; - out_803754911520082359[7] = 0; - out_803754911520082359[8] = 0; - out_803754911520082359[9] = 0; - out_803754911520082359[10] = 0; - out_803754911520082359[11] = 0; - out_803754911520082359[12] = 0; - out_803754911520082359[13] = 0; - out_803754911520082359[14] = 0; - out_803754911520082359[15] = 0; - out_803754911520082359[16] = 0; - out_803754911520082359[17] = 0; - out_803754911520082359[18] = 0; - out_803754911520082359[19] = 0; - out_803754911520082359[20] = 0; - out_803754911520082359[21] = 0; - out_803754911520082359[22] = 1; - out_803754911520082359[23] = 0; - out_803754911520082359[24] = 0; - out_803754911520082359[25] = 0; - out_803754911520082359[26] = 0; - out_803754911520082359[27] = 0; - out_803754911520082359[28] = 0; - out_803754911520082359[29] = 0; - out_803754911520082359[30] = 0; - out_803754911520082359[31] = 0; - out_803754911520082359[32] = 0; - out_803754911520082359[33] = 0; - out_803754911520082359[34] = 0; - out_803754911520082359[35] = 0; - out_803754911520082359[36] = 0; - out_803754911520082359[37] = 0; - out_803754911520082359[38] = 0; - out_803754911520082359[39] = 0; - out_803754911520082359[40] = 0; - out_803754911520082359[41] = 1; - out_803754911520082359[42] = 0; - out_803754911520082359[43] = 0; - out_803754911520082359[44] = 0; - out_803754911520082359[45] = 0; - out_803754911520082359[46] = 0; - out_803754911520082359[47] = 0; - out_803754911520082359[48] = 0; - out_803754911520082359[49] = 0; - out_803754911520082359[50] = 0; - out_803754911520082359[51] = 0; - out_803754911520082359[52] = 0; - out_803754911520082359[53] = 0; +void H_13(double *state, double *unused, double *out_941345350586743883) { + out_941345350586743883[0] = 0; + out_941345350586743883[1] = 0; + out_941345350586743883[2] = 0; + out_941345350586743883[3] = 1; + out_941345350586743883[4] = 0; + out_941345350586743883[5] = 0; + out_941345350586743883[6] = 0; + out_941345350586743883[7] = 0; + out_941345350586743883[8] = 0; + out_941345350586743883[9] = 0; + out_941345350586743883[10] = 0; + out_941345350586743883[11] = 0; + out_941345350586743883[12] = 0; + out_941345350586743883[13] = 0; + out_941345350586743883[14] = 0; + out_941345350586743883[15] = 0; + out_941345350586743883[16] = 0; + out_941345350586743883[17] = 0; + out_941345350586743883[18] = 0; + out_941345350586743883[19] = 0; + out_941345350586743883[20] = 0; + out_941345350586743883[21] = 0; + out_941345350586743883[22] = 1; + out_941345350586743883[23] = 0; + out_941345350586743883[24] = 0; + out_941345350586743883[25] = 0; + out_941345350586743883[26] = 0; + out_941345350586743883[27] = 0; + out_941345350586743883[28] = 0; + out_941345350586743883[29] = 0; + out_941345350586743883[30] = 0; + out_941345350586743883[31] = 0; + out_941345350586743883[32] = 0; + out_941345350586743883[33] = 0; + out_941345350586743883[34] = 0; + out_941345350586743883[35] = 0; + out_941345350586743883[36] = 0; + out_941345350586743883[37] = 0; + out_941345350586743883[38] = 0; + out_941345350586743883[39] = 0; + out_941345350586743883[40] = 0; + out_941345350586743883[41] = 1; + out_941345350586743883[42] = 0; + out_941345350586743883[43] = 0; + out_941345350586743883[44] = 0; + out_941345350586743883[45] = 0; + out_941345350586743883[46] = 0; + out_941345350586743883[47] = 0; + out_941345350586743883[48] = 0; + out_941345350586743883[49] = 0; + out_941345350586743883[50] = 0; + out_941345350586743883[51] = 0; + out_941345350586743883[52] = 0; + out_941345350586743883[53] = 0; } -void h_14(double *state, double *unused, double *out_1827110187090498104) { - out_1827110187090498104[0] = state[6]; - out_1827110187090498104[1] = state[7]; - out_1827110187090498104[2] = state[8]; +void h_14(double *state, double *unused, double *out_3089011552067498211) { + out_3089011552067498211[0] = state[6]; + out_3089011552067498211[1] = state[7]; + out_3089011552067498211[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1554721942527234087) { - out_1554721942527234087[0] = 0; - out_1554721942527234087[1] = 0; - out_1554721942527234087[2] = 0; - out_1554721942527234087[3] = 0; - out_1554721942527234087[4] = 0; - out_1554721942527234087[5] = 0; - out_1554721942527234087[6] = 1; - out_1554721942527234087[7] = 0; - out_1554721942527234087[8] = 0; - out_1554721942527234087[9] = 0; - out_1554721942527234087[10] = 0; - out_1554721942527234087[11] = 0; - out_1554721942527234087[12] = 0; - out_1554721942527234087[13] = 0; - out_1554721942527234087[14] = 0; - out_1554721942527234087[15] = 0; - out_1554721942527234087[16] = 0; - out_1554721942527234087[17] = 0; - out_1554721942527234087[18] = 0; - out_1554721942527234087[19] = 0; - out_1554721942527234087[20] = 0; - out_1554721942527234087[21] = 0; - out_1554721942527234087[22] = 0; - out_1554721942527234087[23] = 0; - out_1554721942527234087[24] = 0; - out_1554721942527234087[25] = 1; - out_1554721942527234087[26] = 0; - out_1554721942527234087[27] = 0; - out_1554721942527234087[28] = 0; - out_1554721942527234087[29] = 0; - out_1554721942527234087[30] = 0; - out_1554721942527234087[31] = 0; - out_1554721942527234087[32] = 0; - out_1554721942527234087[33] = 0; - out_1554721942527234087[34] = 0; - out_1554721942527234087[35] = 0; - out_1554721942527234087[36] = 0; - out_1554721942527234087[37] = 0; - out_1554721942527234087[38] = 0; - out_1554721942527234087[39] = 0; - out_1554721942527234087[40] = 0; - out_1554721942527234087[41] = 0; - out_1554721942527234087[42] = 0; - out_1554721942527234087[43] = 0; - out_1554721942527234087[44] = 1; - out_1554721942527234087[45] = 0; - out_1554721942527234087[46] = 0; - out_1554721942527234087[47] = 0; - out_1554721942527234087[48] = 0; - out_1554721942527234087[49] = 0; - out_1554721942527234087[50] = 0; - out_1554721942527234087[51] = 0; - out_1554721942527234087[52] = 0; - out_1554721942527234087[53] = 0; +void H_14(double *state, double *unused, double *out_2706045001390472517) { + out_2706045001390472517[0] = 0; + out_2706045001390472517[1] = 0; + out_2706045001390472517[2] = 0; + out_2706045001390472517[3] = 0; + out_2706045001390472517[4] = 0; + out_2706045001390472517[5] = 0; + out_2706045001390472517[6] = 1; + out_2706045001390472517[7] = 0; + out_2706045001390472517[8] = 0; + out_2706045001390472517[9] = 0; + out_2706045001390472517[10] = 0; + out_2706045001390472517[11] = 0; + out_2706045001390472517[12] = 0; + out_2706045001390472517[13] = 0; + out_2706045001390472517[14] = 0; + out_2706045001390472517[15] = 0; + out_2706045001390472517[16] = 0; + out_2706045001390472517[17] = 0; + out_2706045001390472517[18] = 0; + out_2706045001390472517[19] = 0; + out_2706045001390472517[20] = 0; + out_2706045001390472517[21] = 0; + out_2706045001390472517[22] = 0; + out_2706045001390472517[23] = 0; + out_2706045001390472517[24] = 0; + out_2706045001390472517[25] = 1; + out_2706045001390472517[26] = 0; + out_2706045001390472517[27] = 0; + out_2706045001390472517[28] = 0; + out_2706045001390472517[29] = 0; + out_2706045001390472517[30] = 0; + out_2706045001390472517[31] = 0; + out_2706045001390472517[32] = 0; + out_2706045001390472517[33] = 0; + out_2706045001390472517[34] = 0; + out_2706045001390472517[35] = 0; + out_2706045001390472517[36] = 0; + out_2706045001390472517[37] = 0; + out_2706045001390472517[38] = 0; + out_2706045001390472517[39] = 0; + out_2706045001390472517[40] = 0; + out_2706045001390472517[41] = 0; + out_2706045001390472517[42] = 0; + out_2706045001390472517[43] = 0; + out_2706045001390472517[44] = 1; + out_2706045001390472517[45] = 0; + out_2706045001390472517[46] = 0; + out_2706045001390472517[47] = 0; + out_2706045001390472517[48] = 0; + out_2706045001390472517[49] = 0; + out_2706045001390472517[50] = 0; + out_2706045001390472517[51] = 0; + out_2706045001390472517[52] = 0; + out_2706045001390472517[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_7616755969345465164) { - err_fun(nom_x, delta_x, out_7616755969345465164); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1596408993574171648) { + err_fun(nom_x, delta_x, out_1596408993574171648); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2983579217144166569) { - inv_err_fun(nom_x, true_x, out_2983579217144166569); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4927362141599677432) { + inv_err_fun(nom_x, true_x, out_4927362141599677432); } -void pose_H_mod_fun(double *state, double *out_7561037298851331177) { - H_mod_fun(state, out_7561037298851331177); +void pose_H_mod_fun(double *state, double *out_7423446859784669653) { + H_mod_fun(state, out_7423446859784669653); } -void pose_f_fun(double *state, double dt, double *out_5713485962747764656) { - f_fun(state, dt, out_5713485962747764656); +void pose_f_fun(double *state, double dt, double *out_5202695727626385220) { + f_fun(state, dt, out_5202695727626385220); } -void pose_F_fun(double *state, double dt, double *out_958271563642232375) { - F_fun(state, dt, out_958271563642232375); +void pose_F_fun(double *state, double dt, double *out_5491057847988530682) { + F_fun(state, dt, out_5491057847988530682); } -void pose_h_4(double *state, double *unused, double *out_4832992228856902742) { - h_4(state, unused, out_4832992228856902742); +void pose_h_4(double *state, double *unused, double *out_6452546827916926575) { + h_4(state, unused, out_6452546827916926575); } -void pose_H_4(double *state, double *unused, double *out_2408518913812250442) { - H_4(state, unused, out_2408518913812250442); +void pose_H_4(double *state, double *unused, double *out_2270928474745588918) { + H_4(state, unused, out_2270928474745588918); } -void pose_h_10(double *state, double *unused, double *out_3497927463584229027) { - h_10(state, unused, out_3497927463584229027); +void pose_h_10(double *state, double *unused, double *out_7382153153143119100) { + h_10(state, unused, out_7382153153143119100); } -void pose_H_10(double *state, double *unused, double *out_4949237892416765352) { - H_10(state, unused, out_4949237892416765352); +void pose_H_10(double *state, double *unused, double *out_8704391623487425268) { + H_10(state, unused, out_8704391623487425268); } -void pose_h_13(double *state, double *unused, double *out_7372319986312258601) { - h_13(state, unused, out_7372319986312258601); +void pose_h_13(double *state, double *unused, double *out_6604156015444971944) { + h_13(state, unused, out_6604156015444971944); } -void pose_H_13(double *state, double *unused, double *out_803754911520082359) { - H_13(state, unused, out_803754911520082359); +void pose_H_13(double *state, double *unused, double *out_941345350586743883) { + H_13(state, unused, out_941345350586743883); } -void pose_h_14(double *state, double *unused, double *out_1827110187090498104) { - h_14(state, unused, out_1827110187090498104); +void pose_h_14(double *state, double *unused, double *out_3089011552067498211) { + h_14(state, unused, out_3089011552067498211); } -void pose_H_14(double *state, double *unused, double *out_1554721942527234087) { - H_14(state, unused, out_1554721942527234087); +void pose_H_14(double *state, double *unused, double *out_2706045001390472517) { + H_14(state, unused, out_2706045001390472517); } 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 86f8b70a77..1c3c14a90d 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_7616755969345465164); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2983579217144166569); -void pose_H_mod_fun(double *state, double *out_7561037298851331177); -void pose_f_fun(double *state, double dt, double *out_5713485962747764656); -void pose_F_fun(double *state, double dt, double *out_958271563642232375); -void pose_h_4(double *state, double *unused, double *out_4832992228856902742); -void pose_H_4(double *state, double *unused, double *out_2408518913812250442); -void pose_h_10(double *state, double *unused, double *out_3497927463584229027); -void pose_H_10(double *state, double *unused, double *out_4949237892416765352); -void pose_h_13(double *state, double *unused, double *out_7372319986312258601); -void pose_H_13(double *state, double *unused, double *out_803754911520082359); -void pose_h_14(double *state, double *unused, double *out_1827110187090498104); -void pose_H_14(double *state, double *unused, double *out_1554721942527234087); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1596408993574171648); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4927362141599677432); +void pose_H_mod_fun(double *state, double *out_7423446859784669653); +void pose_f_fun(double *state, double dt, double *out_5202695727626385220); +void pose_F_fun(double *state, double dt, double *out_5491057847988530682); +void pose_h_4(double *state, double *unused, double *out_6452546827916926575); +void pose_H_4(double *state, double *unused, double *out_2270928474745588918); +void pose_h_10(double *state, double *unused, double *out_7382153153143119100); +void pose_H_10(double *state, double *unused, double *out_8704391623487425268); +void pose_h_13(double *state, double *unused, double *out_6604156015444971944); +void pose_H_13(double *state, double *unused, double *out_941345350586743883); +void pose_h_14(double *state, double *unused, double *out_3089011552067498211); +void pose_H_14(double *state, double *unused, double *out_2706045001390472517); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index d7da24185a5cabbf3c4afb01debea3d655bf08b8..fa381a0356a634db0ce61835de52f8a850f3bfbb 100755 GIT binary patch delta 675 zcmXxgNiPF&7=ZDaL0kJ)TT9ha2DMXL?IGes9DIS|#0hEQAVO5!Tr{z?J@nw(!cNZlQ1^w)U5@@?f7m-I+cQ zZu_->UsGYs6r>^zCYWJCIx>)nEMy}GxyVC43Q!0uicpLal%fna*inuOI8X^Es!)v@ z)WU^2)Zh3ued*D5JrTN76!l9nE>%gtEMMAo!swsM(sNpw?RjOLzkorw|P3|sl$`Ro_No>XM;vX3{KHV!%%&wQj 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