diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 9c6399f6f..1a25db840 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index cf6b013b6..1269d3655 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 80bc822da..6018f0b04 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 0ff3ce919..b6f7f03b4 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index dd5bda4e4..6e4a16da1 100755 Binary files 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differ diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index 15a44ab73..e21a9d383 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 758c77c07..e43aab468 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index 758c77c07..e43aab468 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin 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uint8_t gitversion[19] = "DEV-f22bcfee-DEBUG"; +const uint8_t gitversion[19] = "DEV-d161c01d-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 01b0c21be..07a4d23ba 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 7bc726758..1ee5f02f7 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 1b1d1f98c..37b1d31c3 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index a7135d4d3..42cc942aa 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed 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a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ 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 581169cd0..847a9c75f 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index cd7a10fc9..fc3077335 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-f22bcfee-DEBUG \ No newline at end of file +DEV-d161c01d-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 2e3519afb..43a7e1013 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_3926092090457486519) { - out_3926092090457486519[0] = delta_x[0] + nom_x[0]; - out_3926092090457486519[1] = delta_x[1] + nom_x[1]; - out_3926092090457486519[2] = delta_x[2] + nom_x[2]; - out_3926092090457486519[3] = delta_x[3] + nom_x[3]; - out_3926092090457486519[4] = delta_x[4] + nom_x[4]; - out_3926092090457486519[5] = delta_x[5] + nom_x[5]; - out_3926092090457486519[6] = delta_x[6] + nom_x[6]; - out_3926092090457486519[7] = delta_x[7] + nom_x[7]; - out_3926092090457486519[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8582732006986044846) { + out_8582732006986044846[0] = delta_x[0] + nom_x[0]; + out_8582732006986044846[1] = delta_x[1] + nom_x[1]; + out_8582732006986044846[2] = delta_x[2] + nom_x[2]; + out_8582732006986044846[3] = delta_x[3] + nom_x[3]; + out_8582732006986044846[4] = delta_x[4] + nom_x[4]; + out_8582732006986044846[5] = delta_x[5] + nom_x[5]; + out_8582732006986044846[6] = delta_x[6] + nom_x[6]; + out_8582732006986044846[7] = delta_x[7] + nom_x[7]; + out_8582732006986044846[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147) { - out_1042755756890972147[0] = -nom_x[0] + true_x[0]; - out_1042755756890972147[1] = -nom_x[1] + true_x[1]; - out_1042755756890972147[2] = -nom_x[2] + true_x[2]; - out_1042755756890972147[3] = -nom_x[3] + true_x[3]; - out_1042755756890972147[4] = -nom_x[4] + true_x[4]; - out_1042755756890972147[5] = -nom_x[5] + true_x[5]; - out_1042755756890972147[6] = -nom_x[6] + true_x[6]; - out_1042755756890972147[7] = -nom_x[7] + true_x[7]; - out_1042755756890972147[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8739532987512141139) { + out_8739532987512141139[0] = -nom_x[0] + true_x[0]; + out_8739532987512141139[1] = -nom_x[1] + true_x[1]; + out_8739532987512141139[2] = -nom_x[2] + true_x[2]; + out_8739532987512141139[3] = -nom_x[3] + true_x[3]; + out_8739532987512141139[4] = -nom_x[4] + true_x[4]; + out_8739532987512141139[5] = -nom_x[5] + true_x[5]; + out_8739532987512141139[6] = -nom_x[6] + true_x[6]; + out_8739532987512141139[7] = -nom_x[7] + true_x[7]; + out_8739532987512141139[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6362512350679995207) { - out_6362512350679995207[0] = 1.0; - out_6362512350679995207[1] = 0.0; - out_6362512350679995207[2] = 0.0; - out_6362512350679995207[3] = 0.0; - out_6362512350679995207[4] = 0.0; - out_6362512350679995207[5] = 0.0; - out_6362512350679995207[6] = 0.0; - out_6362512350679995207[7] = 0.0; - out_6362512350679995207[8] = 0.0; - out_6362512350679995207[9] = 0.0; - out_6362512350679995207[10] = 1.0; - out_6362512350679995207[11] = 0.0; - out_6362512350679995207[12] = 0.0; - out_6362512350679995207[13] = 0.0; - out_6362512350679995207[14] = 0.0; - out_6362512350679995207[15] = 0.0; - out_6362512350679995207[16] = 0.0; - out_6362512350679995207[17] = 0.0; - out_6362512350679995207[18] = 0.0; - out_6362512350679995207[19] = 0.0; - out_6362512350679995207[20] = 1.0; - out_6362512350679995207[21] = 0.0; - out_6362512350679995207[22] = 0.0; - out_6362512350679995207[23] = 0.0; - out_6362512350679995207[24] = 0.0; - out_6362512350679995207[25] = 0.0; - out_6362512350679995207[26] = 0.0; - out_6362512350679995207[27] = 0.0; - out_6362512350679995207[28] = 0.0; - out_6362512350679995207[29] = 0.0; - out_6362512350679995207[30] = 1.0; - out_6362512350679995207[31] = 0.0; - out_6362512350679995207[32] = 0.0; - out_6362512350679995207[33] = 0.0; - out_6362512350679995207[34] = 0.0; - out_6362512350679995207[35] = 0.0; - out_6362512350679995207[36] = 0.0; - out_6362512350679995207[37] = 0.0; - out_6362512350679995207[38] = 0.0; - out_6362512350679995207[39] = 0.0; - out_6362512350679995207[40] = 1.0; - out_6362512350679995207[41] = 0.0; - out_6362512350679995207[42] = 0.0; - out_6362512350679995207[43] = 0.0; - out_6362512350679995207[44] = 0.0; - out_6362512350679995207[45] = 0.0; - out_6362512350679995207[46] = 0.0; - out_6362512350679995207[47] = 0.0; - out_6362512350679995207[48] = 0.0; - out_6362512350679995207[49] = 0.0; - out_6362512350679995207[50] = 1.0; - out_6362512350679995207[51] = 0.0; - out_6362512350679995207[52] = 0.0; - out_6362512350679995207[53] = 0.0; - out_6362512350679995207[54] = 0.0; - out_6362512350679995207[55] = 0.0; - out_6362512350679995207[56] = 0.0; - out_6362512350679995207[57] = 0.0; - out_6362512350679995207[58] = 0.0; - out_6362512350679995207[59] = 0.0; - out_6362512350679995207[60] = 1.0; - out_6362512350679995207[61] = 0.0; - out_6362512350679995207[62] = 0.0; - out_6362512350679995207[63] = 0.0; - out_6362512350679995207[64] = 0.0; - out_6362512350679995207[65] = 0.0; - out_6362512350679995207[66] = 0.0; - out_6362512350679995207[67] = 0.0; - out_6362512350679995207[68] = 0.0; - out_6362512350679995207[69] = 0.0; - out_6362512350679995207[70] = 1.0; - out_6362512350679995207[71] = 0.0; - out_6362512350679995207[72] = 0.0; - out_6362512350679995207[73] = 0.0; - out_6362512350679995207[74] = 0.0; - out_6362512350679995207[75] = 0.0; - out_6362512350679995207[76] = 0.0; - out_6362512350679995207[77] = 0.0; - out_6362512350679995207[78] = 0.0; - out_6362512350679995207[79] = 0.0; - out_6362512350679995207[80] = 1.0; +void H_mod_fun(double *state, double *out_6103396635768963277) { + out_6103396635768963277[0] = 1.0; + out_6103396635768963277[1] = 0.0; + out_6103396635768963277[2] = 0.0; + out_6103396635768963277[3] = 0.0; + out_6103396635768963277[4] = 0.0; + out_6103396635768963277[5] = 0.0; + out_6103396635768963277[6] = 0.0; + out_6103396635768963277[7] = 0.0; + out_6103396635768963277[8] = 0.0; + out_6103396635768963277[9] = 0.0; + out_6103396635768963277[10] = 1.0; + out_6103396635768963277[11] = 0.0; + out_6103396635768963277[12] = 0.0; + out_6103396635768963277[13] = 0.0; + out_6103396635768963277[14] = 0.0; + out_6103396635768963277[15] = 0.0; + out_6103396635768963277[16] = 0.0; + out_6103396635768963277[17] = 0.0; + out_6103396635768963277[18] = 0.0; + out_6103396635768963277[19] = 0.0; + out_6103396635768963277[20] = 1.0; + out_6103396635768963277[21] = 0.0; + out_6103396635768963277[22] = 0.0; + out_6103396635768963277[23] = 0.0; + out_6103396635768963277[24] = 0.0; + out_6103396635768963277[25] = 0.0; + out_6103396635768963277[26] = 0.0; + out_6103396635768963277[27] = 0.0; + out_6103396635768963277[28] = 0.0; + out_6103396635768963277[29] = 0.0; + out_6103396635768963277[30] = 1.0; + out_6103396635768963277[31] = 0.0; + out_6103396635768963277[32] = 0.0; + out_6103396635768963277[33] = 0.0; + out_6103396635768963277[34] = 0.0; + out_6103396635768963277[35] = 0.0; + out_6103396635768963277[36] = 0.0; + out_6103396635768963277[37] = 0.0; + out_6103396635768963277[38] = 0.0; + out_6103396635768963277[39] = 0.0; + out_6103396635768963277[40] = 1.0; + out_6103396635768963277[41] = 0.0; + out_6103396635768963277[42] = 0.0; + out_6103396635768963277[43] = 0.0; + out_6103396635768963277[44] = 0.0; + out_6103396635768963277[45] = 0.0; + out_6103396635768963277[46] = 0.0; + out_6103396635768963277[47] = 0.0; + out_6103396635768963277[48] = 0.0; + out_6103396635768963277[49] = 0.0; + out_6103396635768963277[50] = 1.0; + out_6103396635768963277[51] = 0.0; + out_6103396635768963277[52] = 0.0; + out_6103396635768963277[53] = 0.0; + out_6103396635768963277[54] = 0.0; + out_6103396635768963277[55] = 0.0; + out_6103396635768963277[56] = 0.0; + out_6103396635768963277[57] = 0.0; + out_6103396635768963277[58] = 0.0; + out_6103396635768963277[59] = 0.0; + out_6103396635768963277[60] = 1.0; + out_6103396635768963277[61] = 0.0; + out_6103396635768963277[62] = 0.0; + out_6103396635768963277[63] = 0.0; + out_6103396635768963277[64] = 0.0; + out_6103396635768963277[65] = 0.0; + out_6103396635768963277[66] = 0.0; + out_6103396635768963277[67] = 0.0; + out_6103396635768963277[68] = 0.0; + out_6103396635768963277[69] = 0.0; + out_6103396635768963277[70] = 1.0; + out_6103396635768963277[71] = 0.0; + out_6103396635768963277[72] = 0.0; + out_6103396635768963277[73] = 0.0; + out_6103396635768963277[74] = 0.0; + out_6103396635768963277[75] = 0.0; + out_6103396635768963277[76] = 0.0; + out_6103396635768963277[77] = 0.0; + out_6103396635768963277[78] = 0.0; + out_6103396635768963277[79] = 0.0; + out_6103396635768963277[80] = 1.0; } -void f_fun(double *state, double dt, double *out_424859049759384026) { - out_424859049759384026[0] = state[0]; - out_424859049759384026[1] = state[1]; - out_424859049759384026[2] = state[2]; - out_424859049759384026[3] = state[3]; - out_424859049759384026[4] = state[4]; - out_424859049759384026[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_424859049759384026[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_424859049759384026[7] = state[7]; - out_424859049759384026[8] = state[8]; +void f_fun(double *state, double dt, double *out_1718122372243364932) { + out_1718122372243364932[0] = state[0]; + out_1718122372243364932[1] = state[1]; + out_1718122372243364932[2] = state[2]; + out_1718122372243364932[3] = state[3]; + out_1718122372243364932[4] = state[4]; + out_1718122372243364932[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_1718122372243364932[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_1718122372243364932[7] = state[7]; + out_1718122372243364932[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5354778108929478985) { - out_5354778108929478985[0] = 1; - out_5354778108929478985[1] = 0; - out_5354778108929478985[2] = 0; - out_5354778108929478985[3] = 0; - out_5354778108929478985[4] = 0; - out_5354778108929478985[5] = 0; - out_5354778108929478985[6] = 0; - out_5354778108929478985[7] = 0; - out_5354778108929478985[8] = 0; - out_5354778108929478985[9] = 0; - out_5354778108929478985[10] = 1; - out_5354778108929478985[11] = 0; - out_5354778108929478985[12] = 0; - out_5354778108929478985[13] = 0; - out_5354778108929478985[14] = 0; - out_5354778108929478985[15] = 0; - out_5354778108929478985[16] = 0; - out_5354778108929478985[17] = 0; - out_5354778108929478985[18] = 0; - out_5354778108929478985[19] = 0; - out_5354778108929478985[20] = 1; - out_5354778108929478985[21] = 0; - out_5354778108929478985[22] = 0; - out_5354778108929478985[23] = 0; - out_5354778108929478985[24] = 0; - out_5354778108929478985[25] = 0; - out_5354778108929478985[26] = 0; - out_5354778108929478985[27] = 0; - out_5354778108929478985[28] = 0; - out_5354778108929478985[29] = 0; - out_5354778108929478985[30] = 1; - out_5354778108929478985[31] = 0; - out_5354778108929478985[32] = 0; - out_5354778108929478985[33] = 0; - out_5354778108929478985[34] = 0; - out_5354778108929478985[35] = 0; - out_5354778108929478985[36] = 0; - out_5354778108929478985[37] = 0; - out_5354778108929478985[38] = 0; - out_5354778108929478985[39] = 0; - out_5354778108929478985[40] = 1; - out_5354778108929478985[41] = 0; - out_5354778108929478985[42] = 0; - out_5354778108929478985[43] = 0; - out_5354778108929478985[44] = 0; - out_5354778108929478985[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_5354778108929478985[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5354778108929478985[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5354778108929478985[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5354778108929478985[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_5354778108929478985[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5354778108929478985[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5354778108929478985[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5354778108929478985[53] = -9.8100000000000005*dt; - out_5354778108929478985[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_5354778108929478985[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5354778108929478985[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5354778108929478985[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5354778108929478985[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_5354778108929478985[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5354778108929478985[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_5354778108929478985[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5354778108929478985[62] = 0; - out_5354778108929478985[63] = 0; - out_5354778108929478985[64] = 0; - out_5354778108929478985[65] = 0; - out_5354778108929478985[66] = 0; - out_5354778108929478985[67] = 0; - out_5354778108929478985[68] = 0; - out_5354778108929478985[69] = 0; - out_5354778108929478985[70] = 1; - out_5354778108929478985[71] = 0; - out_5354778108929478985[72] = 0; - out_5354778108929478985[73] = 0; - out_5354778108929478985[74] = 0; - out_5354778108929478985[75] = 0; - out_5354778108929478985[76] = 0; - out_5354778108929478985[77] = 0; - out_5354778108929478985[78] = 0; - out_5354778108929478985[79] = 0; - out_5354778108929478985[80] = 1; +void F_fun(double *state, double dt, double *out_3952025267043728807) { + out_3952025267043728807[0] = 1; + out_3952025267043728807[1] = 0; + out_3952025267043728807[2] = 0; + out_3952025267043728807[3] = 0; + out_3952025267043728807[4] = 0; + out_3952025267043728807[5] = 0; + out_3952025267043728807[6] = 0; + out_3952025267043728807[7] = 0; + out_3952025267043728807[8] = 0; + out_3952025267043728807[9] = 0; + out_3952025267043728807[10] = 1; + out_3952025267043728807[11] = 0; + out_3952025267043728807[12] = 0; + out_3952025267043728807[13] = 0; + out_3952025267043728807[14] = 0; + out_3952025267043728807[15] = 0; + out_3952025267043728807[16] = 0; + out_3952025267043728807[17] = 0; + out_3952025267043728807[18] = 0; + out_3952025267043728807[19] = 0; + out_3952025267043728807[20] = 1; + out_3952025267043728807[21] = 0; + out_3952025267043728807[22] = 0; + out_3952025267043728807[23] = 0; + out_3952025267043728807[24] = 0; + out_3952025267043728807[25] = 0; + out_3952025267043728807[26] = 0; + out_3952025267043728807[27] = 0; + out_3952025267043728807[28] = 0; + out_3952025267043728807[29] = 0; + out_3952025267043728807[30] = 1; + out_3952025267043728807[31] = 0; + out_3952025267043728807[32] = 0; + out_3952025267043728807[33] = 0; + out_3952025267043728807[34] = 0; + out_3952025267043728807[35] = 0; + out_3952025267043728807[36] = 0; + out_3952025267043728807[37] = 0; + out_3952025267043728807[38] = 0; + out_3952025267043728807[39] = 0; + out_3952025267043728807[40] = 1; + out_3952025267043728807[41] = 0; + out_3952025267043728807[42] = 0; + out_3952025267043728807[43] = 0; + out_3952025267043728807[44] = 0; + out_3952025267043728807[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_3952025267043728807[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3952025267043728807[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3952025267043728807[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3952025267043728807[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_3952025267043728807[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3952025267043728807[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3952025267043728807[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3952025267043728807[53] = -9.8100000000000005*dt; + out_3952025267043728807[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_3952025267043728807[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3952025267043728807[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3952025267043728807[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3952025267043728807[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_3952025267043728807[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3952025267043728807[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_3952025267043728807[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3952025267043728807[62] = 0; + out_3952025267043728807[63] = 0; + out_3952025267043728807[64] = 0; + out_3952025267043728807[65] = 0; + out_3952025267043728807[66] = 0; + out_3952025267043728807[67] = 0; + out_3952025267043728807[68] = 0; + out_3952025267043728807[69] = 0; + out_3952025267043728807[70] = 1; + out_3952025267043728807[71] = 0; + out_3952025267043728807[72] = 0; + out_3952025267043728807[73] = 0; + out_3952025267043728807[74] = 0; + out_3952025267043728807[75] = 0; + out_3952025267043728807[76] = 0; + out_3952025267043728807[77] = 0; + out_3952025267043728807[78] = 0; + out_3952025267043728807[79] = 0; + out_3952025267043728807[80] = 1; } -void h_25(double *state, double *unused, double *out_2030817843873969747) { - out_2030817843873969747[0] = state[6]; +void h_25(double *state, double *unused, double *out_7141069195581345731) { + out_7141069195581345731[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8509671287957375619) { - out_8509671287957375619[0] = 0; - out_8509671287957375619[1] = 0; - out_8509671287957375619[2] = 0; - out_8509671287957375619[3] = 0; - out_8509671287957375619[4] = 0; - out_8509671287957375619[5] = 0; - out_8509671287957375619[6] = 1; - out_8509671287957375619[7] = 0; - out_8509671287957375619[8] = 0; +void H_25(double *state, double *unused, double *out_3089791590143273960) { + out_3089791590143273960[0] = 0; + out_3089791590143273960[1] = 0; + out_3089791590143273960[2] = 0; + out_3089791590143273960[3] = 0; + out_3089791590143273960[4] = 0; + out_3089791590143273960[5] = 0; + out_3089791590143273960[6] = 1; + out_3089791590143273960[7] = 0; + out_3089791590143273960[8] = 0; } -void h_24(double *state, double *unused, double *out_6573865906285076625) { - out_6573865906285076625[0] = state[4]; - out_6573865906285076625[1] = state[5]; +void h_24(double *state, double *unused, double *out_7882213092182597875) { + out_7882213092182597875[0] = state[4]; + out_7882213092182597875[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1855465829849189862) { - out_1855465829849189862[0] = 0; - out_1855465829849189862[1] = 0; - out_1855465829849189862[2] = 0; - out_1855465829849189862[3] = 0; - out_1855465829849189862[4] = 1; - out_1855465829849189862[5] = 0; - out_1855465829849189862[6] = 0; - out_1855465829849189862[7] = 0; - out_1855465829849189862[8] = 0; - out_1855465829849189862[9] = 0; - out_1855465829849189862[10] = 0; - out_1855465829849189862[11] = 0; - out_1855465829849189862[12] = 0; - out_1855465829849189862[13] = 0; - out_1855465829849189862[14] = 1; - out_1855465829849189862[15] = 0; - out_1855465829849189862[16] = 0; - out_1855465829849189862[17] = 0; +void H_24(double *state, double *unused, double *out_5262441189148773526) { + out_5262441189148773526[0] = 0; + out_5262441189148773526[1] = 0; + out_5262441189148773526[2] = 0; + out_5262441189148773526[3] = 0; + out_5262441189148773526[4] = 1; + out_5262441189148773526[5] = 0; + out_5262441189148773526[6] = 0; + out_5262441189148773526[7] = 0; + out_5262441189148773526[8] = 0; + out_5262441189148773526[9] = 0; + out_5262441189148773526[10] = 0; + out_5262441189148773526[11] = 0; + out_5262441189148773526[12] = 0; + out_5262441189148773526[13] = 0; + out_5262441189148773526[14] = 1; + out_5262441189148773526[15] = 0; + out_5262441189148773526[16] = 0; + out_5262441189148773526[17] = 0; } -void h_30(double *state, double *unused, double *out_8801653070224320683) { - out_8801653070224320683[0] = state[4]; +void h_30(double *state, double *unused, double *out_8844017396137502869) { + out_8844017396137502869[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8639010235100615689) { - out_8639010235100615689[0] = 0; - out_8639010235100615689[1] = 0; - out_8639010235100615689[2] = 0; - out_8639010235100615689[3] = 0; - out_8639010235100615689[4] = 1; - out_8639010235100615689[5] = 0; - out_8639010235100615689[6] = 0; - out_8639010235100615689[7] = 0; - out_8639010235100615689[8] = 0; +void H_30(double *state, double *unused, double *out_571458631636025333) { + out_571458631636025333[0] = 0; + out_571458631636025333[1] = 0; + out_571458631636025333[2] = 0; + out_571458631636025333[3] = 0; + out_571458631636025333[4] = 1; + out_571458631636025333[5] = 0; + out_571458631636025333[6] = 0; + out_571458631636025333[7] = 0; + out_571458631636025333[8] = 0; } -void h_26(double *state, double *unused, double *out_7111205235488639723) { - out_7111205235488639723[0] = state[7]; +void h_26(double *state, double *unused, double *out_47707931871505729) { + out_47707931871505729[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6195569466878119773) { - out_6195569466878119773[0] = 0; - out_6195569466878119773[1] = 0; - out_6195569466878119773[2] = 0; - out_6195569466878119773[3] = 0; - out_6195569466878119773[4] = 0; - out_6195569466878119773[5] = 0; - out_6195569466878119773[6] = 0; - out_6195569466878119773[7] = 1; - out_6195569466878119773[8] = 0; +void H_26(double *state, double *unused, double *out_214734379617526641) { + out_214734379617526641[0] = 0; + out_214734379617526641[1] = 0; + out_214734379617526641[2] = 0; + out_214734379617526641[3] = 0; + out_214734379617526641[4] = 0; + out_214734379617526641[5] = 0; + out_214734379617526641[6] = 0; + out_214734379617526641[7] = 1; + out_214734379617526641[8] = 0; } -void h_27(double *state, double *unused, double *out_3114072219241677790) { - out_3114072219241677790[0] = state[3]; +void h_27(double *state, double *unused, double *out_3085677766224822857) { + out_3085677766224822857[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7632970526808511016) { - out_7632970526808511016[0] = 0; - out_7632970526808511016[1] = 0; - out_7632970526808511016[2] = 0; - out_7632970526808511016[3] = 1; - out_7632970526808511016[4] = 0; - out_7632970526808511016[5] = 0; - out_7632970526808511016[6] = 0; - out_7632970526808511016[7] = 0; - out_7632970526808511016[8] = 0; +void H_27(double *state, double *unused, double *out_2746221943436450244) { + out_2746221943436450244[0] = 0; + out_2746221943436450244[1] = 0; + out_2746221943436450244[2] = 0; + out_2746221943436450244[3] = 1; + out_2746221943436450244[4] = 0; + out_2746221943436450244[5] = 0; + out_2746221943436450244[6] = 0; + out_2746221943436450244[7] = 0; + out_2746221943436450244[8] = 0; } -void h_29(double *state, double *unused, double *out_3799979802563475038) { - out_3799979802563475038[0] = state[1]; +void h_29(double *state, double *unused, double *out_6605119900545468463) { + out_6605119900545468463[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8128778890786223505) { - out_8128778890786223505[0] = 0; - out_8128778890786223505[1] = 1; - out_8128778890786223505[2] = 0; - out_8128778890786223505[3] = 0; - out_8128778890786223505[4] = 0; - out_8128778890786223505[5] = 0; - out_8128778890786223505[6] = 0; - out_8128778890786223505[7] = 0; - out_8128778890786223505[8] = 0; +void H_29(double *state, double *unused, double *out_61227287321633149) { + out_61227287321633149[0] = 0; + out_61227287321633149[1] = 1; + out_61227287321633149[2] = 0; + out_61227287321633149[3] = 0; + out_61227287321633149[4] = 0; + out_61227287321633149[5] = 0; + out_61227287321633149[6] = 0; + out_61227287321633149[7] = 0; + out_61227287321633149[8] = 0; } -void h_28(double *state, double *unused, double *out_2027345570885213463) { - out_2027345570885213463[0] = state[0]; +void h_28(double *state, double *unused, double *out_8962024790070879613) { + out_8962024790070879613[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5235566165853797537) { - out_5235566165853797537[0] = 1; - out_5235566165853797537[1] = 0; - out_5235566165853797537[2] = 0; - out_5235566165853797537[3] = 0; - out_5235566165853797537[4] = 0; - out_5235566165853797537[5] = 0; - out_5235566165853797537[6] = 0; - out_5235566165853797537[7] = 0; - out_5235566165853797537[8] = 0; +void H_28(double *state, double *unused, double *out_5143626304391163723) { + out_5143626304391163723[0] = 1; + out_5143626304391163723[1] = 0; + out_5143626304391163723[2] = 0; + out_5143626304391163723[3] = 0; + out_5143626304391163723[4] = 0; + out_5143626304391163723[5] = 0; + out_5143626304391163723[6] = 0; + out_5143626304391163723[7] = 0; + out_5143626304391163723[8] = 0; } -void h_31(double *state, double *unused, double *out_5732447412946702694) { - out_5732447412946702694[0] = state[8]; +void h_31(double *state, double *unused, double *out_6721943511569860764) { + out_6721943511569860764[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8479025326080415191) { - out_8479025326080415191[0] = 0; - out_8479025326080415191[1] = 0; - out_8479025326080415191[2] = 0; - out_8479025326080415191[3] = 0; - out_8479025326080415191[4] = 0; - out_8479025326080415191[5] = 0; - out_8479025326080415191[6] = 0; - out_8479025326080415191[7] = 0; - out_8479025326080415191[8] = 1; +void H_31(double *state, double *unused, double *out_411473722615824835) { + out_411473722615824835[0] = 0; + out_411473722615824835[1] = 0; + out_411473722615824835[2] = 0; + out_411473722615824835[3] = 0; + out_411473722615824835[4] = 0; + out_411473722615824835[5] = 0; + out_411473722615824835[6] = 0; + out_411473722615824835[7] = 0; + out_411473722615824835[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_3926092090457486519) { - err_fun(nom_x, delta_x, out_3926092090457486519); +void car_err_fun(double *nom_x, double *delta_x, double *out_8582732006986044846) { + err_fun(nom_x, delta_x, out_8582732006986044846); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147) { - inv_err_fun(nom_x, true_x, out_1042755756890972147); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8739532987512141139) { + inv_err_fun(nom_x, true_x, out_8739532987512141139); } -void car_H_mod_fun(double *state, double *out_6362512350679995207) { - H_mod_fun(state, out_6362512350679995207); +void car_H_mod_fun(double *state, double *out_6103396635768963277) { + H_mod_fun(state, out_6103396635768963277); } -void car_f_fun(double *state, double dt, double *out_424859049759384026) { - f_fun(state, dt, out_424859049759384026); +void car_f_fun(double *state, double dt, double *out_1718122372243364932) { + f_fun(state, dt, out_1718122372243364932); } -void car_F_fun(double *state, double dt, double *out_5354778108929478985) { - F_fun(state, dt, out_5354778108929478985); +void car_F_fun(double *state, double dt, double *out_3952025267043728807) { + F_fun(state, dt, out_3952025267043728807); } -void car_h_25(double *state, double *unused, double *out_2030817843873969747) { - h_25(state, unused, out_2030817843873969747); +void car_h_25(double *state, double *unused, double *out_7141069195581345731) { + h_25(state, unused, out_7141069195581345731); } -void car_H_25(double *state, double *unused, double *out_8509671287957375619) { - H_25(state, unused, out_8509671287957375619); +void car_H_25(double *state, double *unused, double *out_3089791590143273960) { + H_25(state, unused, out_3089791590143273960); } -void car_h_24(double *state, double *unused, double *out_6573865906285076625) { - h_24(state, unused, out_6573865906285076625); +void car_h_24(double *state, double *unused, double *out_7882213092182597875) { + h_24(state, unused, out_7882213092182597875); } -void car_H_24(double *state, double *unused, double *out_1855465829849189862) { - H_24(state, unused, out_1855465829849189862); +void car_H_24(double *state, double *unused, double *out_5262441189148773526) { + H_24(state, unused, out_5262441189148773526); } -void car_h_30(double *state, double *unused, double *out_8801653070224320683) { - h_30(state, unused, out_8801653070224320683); +void car_h_30(double *state, double *unused, double *out_8844017396137502869) { + h_30(state, unused, out_8844017396137502869); } -void car_H_30(double *state, double *unused, double *out_8639010235100615689) { - H_30(state, unused, out_8639010235100615689); +void car_H_30(double *state, double *unused, double *out_571458631636025333) { + H_30(state, unused, out_571458631636025333); } -void car_h_26(double *state, double *unused, double *out_7111205235488639723) { - h_26(state, unused, out_7111205235488639723); +void car_h_26(double *state, double *unused, double *out_47707931871505729) { + h_26(state, unused, out_47707931871505729); } -void car_H_26(double *state, double *unused, double *out_6195569466878119773) { - H_26(state, unused, out_6195569466878119773); +void car_H_26(double *state, double *unused, double *out_214734379617526641) { + H_26(state, unused, out_214734379617526641); } -void car_h_27(double *state, double *unused, double *out_3114072219241677790) { - h_27(state, unused, out_3114072219241677790); +void car_h_27(double *state, double *unused, double *out_3085677766224822857) { + h_27(state, unused, out_3085677766224822857); } -void car_H_27(double *state, double *unused, double *out_7632970526808511016) { - H_27(state, unused, out_7632970526808511016); +void car_H_27(double *state, double *unused, double *out_2746221943436450244) { + H_27(state, unused, out_2746221943436450244); } -void car_h_29(double *state, double *unused, double *out_3799979802563475038) { - h_29(state, unused, out_3799979802563475038); +void car_h_29(double *state, double *unused, double *out_6605119900545468463) { + h_29(state, unused, out_6605119900545468463); } -void car_H_29(double *state, double *unused, double *out_8128778890786223505) { - H_29(state, unused, out_8128778890786223505); +void car_H_29(double *state, double *unused, double *out_61227287321633149) { + H_29(state, unused, out_61227287321633149); } -void car_h_28(double *state, double *unused, double *out_2027345570885213463) { - h_28(state, unused, out_2027345570885213463); +void car_h_28(double *state, double *unused, double *out_8962024790070879613) { + h_28(state, unused, out_8962024790070879613); } -void car_H_28(double *state, double *unused, double *out_5235566165853797537) { - H_28(state, unused, out_5235566165853797537); +void car_H_28(double *state, double *unused, double *out_5143626304391163723) { + H_28(state, unused, out_5143626304391163723); } -void car_h_31(double *state, double *unused, double *out_5732447412946702694) { - h_31(state, unused, out_5732447412946702694); +void car_h_31(double *state, double *unused, double *out_6721943511569860764) { + h_31(state, unused, out_6721943511569860764); } -void car_H_31(double *state, double *unused, double *out_8479025326080415191) { - H_31(state, unused, out_8479025326080415191); +void car_H_31(double *state, double *unused, double *out_411473722615824835) { + H_31(state, unused, out_411473722615824835); } 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 8774376dc..bbcbd6125 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_3926092090457486519); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147); -void car_H_mod_fun(double *state, double *out_6362512350679995207); -void car_f_fun(double *state, double dt, double *out_424859049759384026); -void car_F_fun(double *state, double dt, double *out_5354778108929478985); -void car_h_25(double *state, double *unused, double *out_2030817843873969747); -void car_H_25(double *state, double *unused, double *out_8509671287957375619); -void car_h_24(double *state, double *unused, double *out_6573865906285076625); -void car_H_24(double *state, double *unused, double *out_1855465829849189862); -void car_h_30(double *state, double *unused, double *out_8801653070224320683); -void car_H_30(double *state, double *unused, double *out_8639010235100615689); -void car_h_26(double *state, double *unused, double *out_7111205235488639723); -void car_H_26(double *state, double *unused, double *out_6195569466878119773); -void car_h_27(double *state, double *unused, double *out_3114072219241677790); -void car_H_27(double *state, double *unused, double *out_7632970526808511016); -void car_h_29(double *state, double *unused, double *out_3799979802563475038); -void car_H_29(double *state, double *unused, double *out_8128778890786223505); -void car_h_28(double *state, double *unused, double *out_2027345570885213463); -void car_H_28(double *state, double *unused, double *out_5235566165853797537); -void car_h_31(double *state, double *unused, double *out_5732447412946702694); -void car_H_31(double *state, double *unused, double *out_8479025326080415191); +void car_err_fun(double *nom_x, double *delta_x, double *out_8582732006986044846); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8739532987512141139); +void car_H_mod_fun(double *state, double *out_6103396635768963277); +void car_f_fun(double *state, double dt, double *out_1718122372243364932); +void car_F_fun(double *state, double dt, double *out_3952025267043728807); +void car_h_25(double *state, double *unused, double *out_7141069195581345731); +void car_H_25(double *state, double *unused, double *out_3089791590143273960); +void car_h_24(double *state, double *unused, double *out_7882213092182597875); +void car_H_24(double *state, double *unused, double *out_5262441189148773526); +void car_h_30(double *state, double *unused, double *out_8844017396137502869); +void car_H_30(double *state, double *unused, double *out_571458631636025333); +void car_h_26(double *state, double *unused, double *out_47707931871505729); +void car_H_26(double *state, double *unused, double *out_214734379617526641); +void car_h_27(double *state, double *unused, double *out_3085677766224822857); +void car_H_27(double *state, double *unused, double *out_2746221943436450244); +void car_h_29(double *state, double *unused, double *out_6605119900545468463); +void car_H_29(double *state, double *unused, double *out_61227287321633149); +void car_h_28(double *state, double *unused, double *out_8962024790070879613); +void car_H_28(double *state, double *unused, double *out_5143626304391163723); +void car_h_31(double *state, double *unused, double *out_6721943511569860764); +void car_H_31(double *state, double *unused, double *out_411473722615824835); 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 d0a47f82f..8f8f3c6df 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_6369833963809703045) { - out_6369833963809703045[0] = delta_x[0] + nom_x[0]; - out_6369833963809703045[1] = delta_x[1] + nom_x[1]; - out_6369833963809703045[2] = delta_x[2] + nom_x[2]; - out_6369833963809703045[3] = delta_x[3] + nom_x[3]; - out_6369833963809703045[4] = delta_x[4] + nom_x[4]; - out_6369833963809703045[5] = delta_x[5] + nom_x[5]; - out_6369833963809703045[6] = delta_x[6] + nom_x[6]; - out_6369833963809703045[7] = delta_x[7] + nom_x[7]; - out_6369833963809703045[8] = delta_x[8] + nom_x[8]; - out_6369833963809703045[9] = delta_x[9] + nom_x[9]; - out_6369833963809703045[10] = delta_x[10] + nom_x[10]; - out_6369833963809703045[11] = delta_x[11] + nom_x[11]; - out_6369833963809703045[12] = delta_x[12] + nom_x[12]; - out_6369833963809703045[13] = delta_x[13] + nom_x[13]; - out_6369833963809703045[14] = delta_x[14] + nom_x[14]; - out_6369833963809703045[15] = delta_x[15] + nom_x[15]; - out_6369833963809703045[16] = delta_x[16] + nom_x[16]; - out_6369833963809703045[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7562252914855705934) { + out_7562252914855705934[0] = delta_x[0] + nom_x[0]; + out_7562252914855705934[1] = delta_x[1] + nom_x[1]; + out_7562252914855705934[2] = delta_x[2] + nom_x[2]; + out_7562252914855705934[3] = delta_x[3] + nom_x[3]; + out_7562252914855705934[4] = delta_x[4] + nom_x[4]; + out_7562252914855705934[5] = delta_x[5] + nom_x[5]; + out_7562252914855705934[6] = delta_x[6] + nom_x[6]; + out_7562252914855705934[7] = delta_x[7] + nom_x[7]; + out_7562252914855705934[8] = delta_x[8] + nom_x[8]; + out_7562252914855705934[9] = delta_x[9] + nom_x[9]; + out_7562252914855705934[10] = delta_x[10] + nom_x[10]; + out_7562252914855705934[11] = delta_x[11] + nom_x[11]; + out_7562252914855705934[12] = delta_x[12] + nom_x[12]; + out_7562252914855705934[13] = delta_x[13] + nom_x[13]; + out_7562252914855705934[14] = delta_x[14] + nom_x[14]; + out_7562252914855705934[15] = delta_x[15] + nom_x[15]; + out_7562252914855705934[16] = delta_x[16] + nom_x[16]; + out_7562252914855705934[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4035234717988175099) { - out_4035234717988175099[0] = -nom_x[0] + true_x[0]; - out_4035234717988175099[1] = -nom_x[1] + true_x[1]; - out_4035234717988175099[2] = -nom_x[2] + true_x[2]; - out_4035234717988175099[3] = -nom_x[3] + true_x[3]; - out_4035234717988175099[4] = -nom_x[4] + true_x[4]; - out_4035234717988175099[5] = -nom_x[5] + true_x[5]; - out_4035234717988175099[6] = -nom_x[6] + true_x[6]; - out_4035234717988175099[7] = -nom_x[7] + true_x[7]; - out_4035234717988175099[8] = -nom_x[8] + true_x[8]; - out_4035234717988175099[9] = -nom_x[9] + true_x[9]; - out_4035234717988175099[10] = -nom_x[10] + true_x[10]; - out_4035234717988175099[11] = -nom_x[11] + true_x[11]; - out_4035234717988175099[12] = -nom_x[12] + true_x[12]; - out_4035234717988175099[13] = -nom_x[13] + true_x[13]; - out_4035234717988175099[14] = -nom_x[14] + true_x[14]; - out_4035234717988175099[15] = -nom_x[15] + true_x[15]; - out_4035234717988175099[16] = -nom_x[16] + true_x[16]; - out_4035234717988175099[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7624660990393256492) { + out_7624660990393256492[0] = -nom_x[0] + true_x[0]; + out_7624660990393256492[1] = -nom_x[1] + true_x[1]; + out_7624660990393256492[2] = -nom_x[2] + true_x[2]; + out_7624660990393256492[3] = -nom_x[3] + true_x[3]; + out_7624660990393256492[4] = -nom_x[4] + true_x[4]; + out_7624660990393256492[5] = -nom_x[5] + true_x[5]; + out_7624660990393256492[6] = -nom_x[6] + true_x[6]; + out_7624660990393256492[7] = -nom_x[7] + true_x[7]; + out_7624660990393256492[8] = -nom_x[8] + true_x[8]; + out_7624660990393256492[9] = -nom_x[9] + true_x[9]; + out_7624660990393256492[10] = -nom_x[10] + true_x[10]; + out_7624660990393256492[11] = -nom_x[11] + true_x[11]; + out_7624660990393256492[12] = -nom_x[12] + true_x[12]; + out_7624660990393256492[13] = -nom_x[13] + true_x[13]; + out_7624660990393256492[14] = -nom_x[14] + true_x[14]; + out_7624660990393256492[15] = -nom_x[15] + true_x[15]; + out_7624660990393256492[16] = -nom_x[16] + true_x[16]; + out_7624660990393256492[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1402865724321173492) { - out_1402865724321173492[0] = 1.0; - out_1402865724321173492[1] = 0.0; - out_1402865724321173492[2] = 0.0; - out_1402865724321173492[3] = 0.0; - out_1402865724321173492[4] = 0.0; - out_1402865724321173492[5] = 0.0; - out_1402865724321173492[6] = 0.0; - out_1402865724321173492[7] = 0.0; - out_1402865724321173492[8] = 0.0; - out_1402865724321173492[9] = 0.0; - out_1402865724321173492[10] = 0.0; - out_1402865724321173492[11] = 0.0; - out_1402865724321173492[12] = 0.0; - out_1402865724321173492[13] = 0.0; - out_1402865724321173492[14] = 0.0; - out_1402865724321173492[15] = 0.0; - out_1402865724321173492[16] = 0.0; - out_1402865724321173492[17] = 0.0; - out_1402865724321173492[18] = 0.0; - out_1402865724321173492[19] = 1.0; - out_1402865724321173492[20] = 0.0; - out_1402865724321173492[21] = 0.0; - out_1402865724321173492[22] = 0.0; - out_1402865724321173492[23] = 0.0; - out_1402865724321173492[24] = 0.0; - out_1402865724321173492[25] = 0.0; - out_1402865724321173492[26] = 0.0; - out_1402865724321173492[27] = 0.0; - out_1402865724321173492[28] = 0.0; - out_1402865724321173492[29] = 0.0; - out_1402865724321173492[30] = 0.0; - out_1402865724321173492[31] = 0.0; - out_1402865724321173492[32] = 0.0; - out_1402865724321173492[33] = 0.0; - out_1402865724321173492[34] = 0.0; - out_1402865724321173492[35] = 0.0; - out_1402865724321173492[36] = 0.0; - out_1402865724321173492[37] = 0.0; - out_1402865724321173492[38] = 1.0; - out_1402865724321173492[39] = 0.0; - out_1402865724321173492[40] = 0.0; - out_1402865724321173492[41] = 0.0; - out_1402865724321173492[42] = 0.0; - out_1402865724321173492[43] = 0.0; - out_1402865724321173492[44] = 0.0; - out_1402865724321173492[45] = 0.0; - out_1402865724321173492[46] = 0.0; - out_1402865724321173492[47] = 0.0; - out_1402865724321173492[48] = 0.0; - out_1402865724321173492[49] = 0.0; - out_1402865724321173492[50] = 0.0; - out_1402865724321173492[51] = 0.0; - out_1402865724321173492[52] = 0.0; - out_1402865724321173492[53] = 0.0; - out_1402865724321173492[54] = 0.0; - out_1402865724321173492[55] = 0.0; - out_1402865724321173492[56] = 0.0; - out_1402865724321173492[57] = 1.0; - out_1402865724321173492[58] = 0.0; - out_1402865724321173492[59] = 0.0; - out_1402865724321173492[60] = 0.0; - out_1402865724321173492[61] = 0.0; - out_1402865724321173492[62] = 0.0; - out_1402865724321173492[63] = 0.0; - out_1402865724321173492[64] = 0.0; - out_1402865724321173492[65] = 0.0; - out_1402865724321173492[66] = 0.0; - out_1402865724321173492[67] = 0.0; - out_1402865724321173492[68] = 0.0; - out_1402865724321173492[69] = 0.0; - out_1402865724321173492[70] = 0.0; - out_1402865724321173492[71] = 0.0; - out_1402865724321173492[72] = 0.0; - out_1402865724321173492[73] = 0.0; - out_1402865724321173492[74] = 0.0; - out_1402865724321173492[75] = 0.0; - out_1402865724321173492[76] = 1.0; - out_1402865724321173492[77] = 0.0; - out_1402865724321173492[78] = 0.0; - out_1402865724321173492[79] = 0.0; - out_1402865724321173492[80] = 0.0; - out_1402865724321173492[81] = 0.0; - out_1402865724321173492[82] = 0.0; - out_1402865724321173492[83] = 0.0; - out_1402865724321173492[84] = 0.0; - out_1402865724321173492[85] = 0.0; - out_1402865724321173492[86] = 0.0; - out_1402865724321173492[87] = 0.0; - out_1402865724321173492[88] = 0.0; - out_1402865724321173492[89] = 0.0; - out_1402865724321173492[90] = 0.0; - out_1402865724321173492[91] = 0.0; - out_1402865724321173492[92] = 0.0; - out_1402865724321173492[93] = 0.0; - out_1402865724321173492[94] = 0.0; - out_1402865724321173492[95] = 1.0; - out_1402865724321173492[96] = 0.0; - out_1402865724321173492[97] = 0.0; - out_1402865724321173492[98] = 0.0; - out_1402865724321173492[99] = 0.0; - out_1402865724321173492[100] = 0.0; - out_1402865724321173492[101] = 0.0; - out_1402865724321173492[102] = 0.0; - out_1402865724321173492[103] = 0.0; - out_1402865724321173492[104] = 0.0; - out_1402865724321173492[105] = 0.0; - out_1402865724321173492[106] = 0.0; - out_1402865724321173492[107] = 0.0; - out_1402865724321173492[108] = 0.0; - out_1402865724321173492[109] = 0.0; - out_1402865724321173492[110] = 0.0; - out_1402865724321173492[111] = 0.0; - out_1402865724321173492[112] = 0.0; - out_1402865724321173492[113] = 0.0; - out_1402865724321173492[114] = 1.0; - out_1402865724321173492[115] = 0.0; - out_1402865724321173492[116] = 0.0; - out_1402865724321173492[117] = 0.0; - out_1402865724321173492[118] = 0.0; - out_1402865724321173492[119] = 0.0; - out_1402865724321173492[120] = 0.0; - out_1402865724321173492[121] = 0.0; - out_1402865724321173492[122] = 0.0; - out_1402865724321173492[123] = 0.0; - out_1402865724321173492[124] = 0.0; - out_1402865724321173492[125] = 0.0; - out_1402865724321173492[126] = 0.0; - out_1402865724321173492[127] = 0.0; - out_1402865724321173492[128] = 0.0; - out_1402865724321173492[129] = 0.0; - out_1402865724321173492[130] = 0.0; - out_1402865724321173492[131] = 0.0; - out_1402865724321173492[132] = 0.0; - out_1402865724321173492[133] = 1.0; - out_1402865724321173492[134] = 0.0; - out_1402865724321173492[135] = 0.0; - out_1402865724321173492[136] = 0.0; - out_1402865724321173492[137] = 0.0; - out_1402865724321173492[138] = 0.0; - out_1402865724321173492[139] = 0.0; - out_1402865724321173492[140] = 0.0; - out_1402865724321173492[141] = 0.0; - out_1402865724321173492[142] = 0.0; - out_1402865724321173492[143] = 0.0; - out_1402865724321173492[144] = 0.0; - out_1402865724321173492[145] = 0.0; - out_1402865724321173492[146] = 0.0; - out_1402865724321173492[147] = 0.0; - out_1402865724321173492[148] = 0.0; - out_1402865724321173492[149] = 0.0; - out_1402865724321173492[150] = 0.0; - out_1402865724321173492[151] = 0.0; - out_1402865724321173492[152] = 1.0; - out_1402865724321173492[153] = 0.0; - out_1402865724321173492[154] = 0.0; - out_1402865724321173492[155] = 0.0; - out_1402865724321173492[156] = 0.0; - out_1402865724321173492[157] = 0.0; - out_1402865724321173492[158] = 0.0; - out_1402865724321173492[159] = 0.0; - out_1402865724321173492[160] = 0.0; - out_1402865724321173492[161] = 0.0; - out_1402865724321173492[162] = 0.0; - out_1402865724321173492[163] = 0.0; - out_1402865724321173492[164] = 0.0; - out_1402865724321173492[165] = 0.0; - out_1402865724321173492[166] = 0.0; - out_1402865724321173492[167] = 0.0; - out_1402865724321173492[168] = 0.0; - out_1402865724321173492[169] = 0.0; - out_1402865724321173492[170] = 0.0; - out_1402865724321173492[171] = 1.0; - out_1402865724321173492[172] = 0.0; - out_1402865724321173492[173] = 0.0; - out_1402865724321173492[174] = 0.0; - out_1402865724321173492[175] = 0.0; - out_1402865724321173492[176] = 0.0; - out_1402865724321173492[177] = 0.0; - out_1402865724321173492[178] = 0.0; - out_1402865724321173492[179] = 0.0; - out_1402865724321173492[180] = 0.0; - out_1402865724321173492[181] = 0.0; - out_1402865724321173492[182] = 0.0; - out_1402865724321173492[183] = 0.0; - out_1402865724321173492[184] = 0.0; - out_1402865724321173492[185] = 0.0; - out_1402865724321173492[186] = 0.0; - out_1402865724321173492[187] = 0.0; - out_1402865724321173492[188] = 0.0; - out_1402865724321173492[189] = 0.0; - out_1402865724321173492[190] = 1.0; - out_1402865724321173492[191] = 0.0; - out_1402865724321173492[192] = 0.0; - out_1402865724321173492[193] = 0.0; - out_1402865724321173492[194] = 0.0; - out_1402865724321173492[195] = 0.0; - out_1402865724321173492[196] = 0.0; - out_1402865724321173492[197] = 0.0; - out_1402865724321173492[198] = 0.0; - out_1402865724321173492[199] = 0.0; - out_1402865724321173492[200] = 0.0; - out_1402865724321173492[201] = 0.0; - out_1402865724321173492[202] = 0.0; - out_1402865724321173492[203] = 0.0; - out_1402865724321173492[204] = 0.0; - out_1402865724321173492[205] = 0.0; - out_1402865724321173492[206] = 0.0; - out_1402865724321173492[207] = 0.0; - out_1402865724321173492[208] = 0.0; - out_1402865724321173492[209] = 1.0; - out_1402865724321173492[210] = 0.0; - out_1402865724321173492[211] = 0.0; - out_1402865724321173492[212] = 0.0; - out_1402865724321173492[213] = 0.0; - out_1402865724321173492[214] = 0.0; - out_1402865724321173492[215] = 0.0; - out_1402865724321173492[216] = 0.0; - out_1402865724321173492[217] = 0.0; - out_1402865724321173492[218] = 0.0; - out_1402865724321173492[219] = 0.0; - out_1402865724321173492[220] = 0.0; - out_1402865724321173492[221] = 0.0; - out_1402865724321173492[222] = 0.0; - out_1402865724321173492[223] = 0.0; - out_1402865724321173492[224] = 0.0; - out_1402865724321173492[225] = 0.0; - out_1402865724321173492[226] = 0.0; - out_1402865724321173492[227] = 0.0; - out_1402865724321173492[228] = 1.0; - out_1402865724321173492[229] = 0.0; - out_1402865724321173492[230] = 0.0; - out_1402865724321173492[231] = 0.0; - out_1402865724321173492[232] = 0.0; - out_1402865724321173492[233] = 0.0; - out_1402865724321173492[234] = 0.0; - out_1402865724321173492[235] = 0.0; - out_1402865724321173492[236] = 0.0; - out_1402865724321173492[237] = 0.0; - out_1402865724321173492[238] = 0.0; - out_1402865724321173492[239] = 0.0; - out_1402865724321173492[240] = 0.0; - out_1402865724321173492[241] = 0.0; - out_1402865724321173492[242] = 0.0; - out_1402865724321173492[243] = 0.0; - out_1402865724321173492[244] = 0.0; - out_1402865724321173492[245] = 0.0; - out_1402865724321173492[246] = 0.0; - out_1402865724321173492[247] = 1.0; - out_1402865724321173492[248] = 0.0; - out_1402865724321173492[249] = 0.0; - out_1402865724321173492[250] = 0.0; - out_1402865724321173492[251] = 0.0; - out_1402865724321173492[252] = 0.0; - out_1402865724321173492[253] = 0.0; - out_1402865724321173492[254] = 0.0; - out_1402865724321173492[255] = 0.0; - out_1402865724321173492[256] = 0.0; - out_1402865724321173492[257] = 0.0; - out_1402865724321173492[258] = 0.0; - out_1402865724321173492[259] = 0.0; - out_1402865724321173492[260] = 0.0; - out_1402865724321173492[261] = 0.0; - out_1402865724321173492[262] = 0.0; - out_1402865724321173492[263] = 0.0; - out_1402865724321173492[264] = 0.0; - out_1402865724321173492[265] = 0.0; - out_1402865724321173492[266] = 1.0; - out_1402865724321173492[267] = 0.0; - out_1402865724321173492[268] = 0.0; - out_1402865724321173492[269] = 0.0; - out_1402865724321173492[270] = 0.0; - out_1402865724321173492[271] = 0.0; - out_1402865724321173492[272] = 0.0; - out_1402865724321173492[273] = 0.0; - out_1402865724321173492[274] = 0.0; - out_1402865724321173492[275] = 0.0; - out_1402865724321173492[276] = 0.0; - out_1402865724321173492[277] = 0.0; - out_1402865724321173492[278] = 0.0; - out_1402865724321173492[279] = 0.0; - out_1402865724321173492[280] = 0.0; - out_1402865724321173492[281] = 0.0; - out_1402865724321173492[282] = 0.0; - out_1402865724321173492[283] = 0.0; - out_1402865724321173492[284] = 0.0; - out_1402865724321173492[285] = 1.0; - out_1402865724321173492[286] = 0.0; - out_1402865724321173492[287] = 0.0; - out_1402865724321173492[288] = 0.0; - out_1402865724321173492[289] = 0.0; - out_1402865724321173492[290] = 0.0; - out_1402865724321173492[291] = 0.0; - out_1402865724321173492[292] = 0.0; - out_1402865724321173492[293] = 0.0; - out_1402865724321173492[294] = 0.0; - out_1402865724321173492[295] = 0.0; - out_1402865724321173492[296] = 0.0; - out_1402865724321173492[297] = 0.0; - out_1402865724321173492[298] = 0.0; - out_1402865724321173492[299] = 0.0; - out_1402865724321173492[300] = 0.0; - out_1402865724321173492[301] = 0.0; - out_1402865724321173492[302] = 0.0; - out_1402865724321173492[303] = 0.0; - out_1402865724321173492[304] = 1.0; - out_1402865724321173492[305] = 0.0; - out_1402865724321173492[306] = 0.0; - out_1402865724321173492[307] = 0.0; - out_1402865724321173492[308] = 0.0; - out_1402865724321173492[309] = 0.0; - out_1402865724321173492[310] = 0.0; - out_1402865724321173492[311] = 0.0; - out_1402865724321173492[312] = 0.0; - out_1402865724321173492[313] = 0.0; - out_1402865724321173492[314] = 0.0; - out_1402865724321173492[315] = 0.0; - out_1402865724321173492[316] = 0.0; - out_1402865724321173492[317] = 0.0; - out_1402865724321173492[318] = 0.0; - out_1402865724321173492[319] = 0.0; - out_1402865724321173492[320] = 0.0; - out_1402865724321173492[321] = 0.0; - out_1402865724321173492[322] = 0.0; - out_1402865724321173492[323] = 1.0; +void H_mod_fun(double *state, double *out_4788463691933235788) { + out_4788463691933235788[0] = 1.0; + out_4788463691933235788[1] = 0.0; + out_4788463691933235788[2] = 0.0; + out_4788463691933235788[3] = 0.0; + out_4788463691933235788[4] = 0.0; + out_4788463691933235788[5] = 0.0; + out_4788463691933235788[6] = 0.0; + out_4788463691933235788[7] = 0.0; + out_4788463691933235788[8] = 0.0; + out_4788463691933235788[9] = 0.0; + out_4788463691933235788[10] = 0.0; + out_4788463691933235788[11] = 0.0; + out_4788463691933235788[12] = 0.0; + out_4788463691933235788[13] = 0.0; + out_4788463691933235788[14] = 0.0; + out_4788463691933235788[15] = 0.0; + out_4788463691933235788[16] = 0.0; + out_4788463691933235788[17] = 0.0; + out_4788463691933235788[18] = 0.0; + out_4788463691933235788[19] = 1.0; + out_4788463691933235788[20] = 0.0; + out_4788463691933235788[21] = 0.0; + out_4788463691933235788[22] = 0.0; + out_4788463691933235788[23] = 0.0; + out_4788463691933235788[24] = 0.0; + out_4788463691933235788[25] = 0.0; + out_4788463691933235788[26] = 0.0; + out_4788463691933235788[27] = 0.0; + out_4788463691933235788[28] = 0.0; + out_4788463691933235788[29] = 0.0; + out_4788463691933235788[30] = 0.0; + out_4788463691933235788[31] = 0.0; + out_4788463691933235788[32] = 0.0; + out_4788463691933235788[33] = 0.0; + out_4788463691933235788[34] = 0.0; + out_4788463691933235788[35] = 0.0; + out_4788463691933235788[36] = 0.0; + out_4788463691933235788[37] = 0.0; + out_4788463691933235788[38] = 1.0; + out_4788463691933235788[39] = 0.0; + out_4788463691933235788[40] = 0.0; + out_4788463691933235788[41] = 0.0; + out_4788463691933235788[42] = 0.0; + out_4788463691933235788[43] = 0.0; + out_4788463691933235788[44] = 0.0; + out_4788463691933235788[45] = 0.0; + out_4788463691933235788[46] = 0.0; + out_4788463691933235788[47] = 0.0; + out_4788463691933235788[48] = 0.0; + out_4788463691933235788[49] = 0.0; + out_4788463691933235788[50] = 0.0; + out_4788463691933235788[51] = 0.0; + out_4788463691933235788[52] = 0.0; + out_4788463691933235788[53] = 0.0; + out_4788463691933235788[54] = 0.0; + out_4788463691933235788[55] = 0.0; + out_4788463691933235788[56] = 0.0; + out_4788463691933235788[57] = 1.0; + out_4788463691933235788[58] = 0.0; + out_4788463691933235788[59] = 0.0; + out_4788463691933235788[60] = 0.0; + out_4788463691933235788[61] = 0.0; + out_4788463691933235788[62] = 0.0; + out_4788463691933235788[63] = 0.0; + out_4788463691933235788[64] = 0.0; + out_4788463691933235788[65] = 0.0; + out_4788463691933235788[66] = 0.0; + out_4788463691933235788[67] = 0.0; + out_4788463691933235788[68] = 0.0; + out_4788463691933235788[69] = 0.0; + out_4788463691933235788[70] = 0.0; + out_4788463691933235788[71] = 0.0; + out_4788463691933235788[72] = 0.0; + out_4788463691933235788[73] = 0.0; + out_4788463691933235788[74] = 0.0; + out_4788463691933235788[75] = 0.0; + out_4788463691933235788[76] = 1.0; + out_4788463691933235788[77] = 0.0; + out_4788463691933235788[78] = 0.0; + out_4788463691933235788[79] = 0.0; + out_4788463691933235788[80] = 0.0; + out_4788463691933235788[81] = 0.0; + out_4788463691933235788[82] = 0.0; + out_4788463691933235788[83] = 0.0; + out_4788463691933235788[84] = 0.0; + out_4788463691933235788[85] = 0.0; + out_4788463691933235788[86] = 0.0; + out_4788463691933235788[87] = 0.0; + out_4788463691933235788[88] = 0.0; + out_4788463691933235788[89] = 0.0; + out_4788463691933235788[90] = 0.0; + out_4788463691933235788[91] = 0.0; + out_4788463691933235788[92] = 0.0; + out_4788463691933235788[93] = 0.0; + out_4788463691933235788[94] = 0.0; + out_4788463691933235788[95] = 1.0; + out_4788463691933235788[96] = 0.0; + out_4788463691933235788[97] = 0.0; + out_4788463691933235788[98] = 0.0; + out_4788463691933235788[99] = 0.0; + out_4788463691933235788[100] = 0.0; + out_4788463691933235788[101] = 0.0; + out_4788463691933235788[102] = 0.0; + out_4788463691933235788[103] = 0.0; + out_4788463691933235788[104] = 0.0; + out_4788463691933235788[105] = 0.0; + out_4788463691933235788[106] = 0.0; + out_4788463691933235788[107] = 0.0; + out_4788463691933235788[108] = 0.0; + out_4788463691933235788[109] = 0.0; + out_4788463691933235788[110] = 0.0; + out_4788463691933235788[111] = 0.0; + out_4788463691933235788[112] = 0.0; + out_4788463691933235788[113] = 0.0; + out_4788463691933235788[114] = 1.0; + out_4788463691933235788[115] = 0.0; + out_4788463691933235788[116] = 0.0; + out_4788463691933235788[117] = 0.0; + out_4788463691933235788[118] = 0.0; + out_4788463691933235788[119] = 0.0; + out_4788463691933235788[120] = 0.0; + out_4788463691933235788[121] = 0.0; + out_4788463691933235788[122] = 0.0; + out_4788463691933235788[123] = 0.0; + out_4788463691933235788[124] = 0.0; + out_4788463691933235788[125] = 0.0; + out_4788463691933235788[126] = 0.0; + out_4788463691933235788[127] = 0.0; + out_4788463691933235788[128] = 0.0; + out_4788463691933235788[129] = 0.0; + out_4788463691933235788[130] = 0.0; + out_4788463691933235788[131] = 0.0; + out_4788463691933235788[132] = 0.0; + out_4788463691933235788[133] = 1.0; + out_4788463691933235788[134] = 0.0; + out_4788463691933235788[135] = 0.0; + out_4788463691933235788[136] = 0.0; + out_4788463691933235788[137] = 0.0; + out_4788463691933235788[138] = 0.0; + out_4788463691933235788[139] = 0.0; + out_4788463691933235788[140] = 0.0; + out_4788463691933235788[141] = 0.0; + out_4788463691933235788[142] = 0.0; + out_4788463691933235788[143] = 0.0; + out_4788463691933235788[144] = 0.0; + out_4788463691933235788[145] = 0.0; + out_4788463691933235788[146] = 0.0; + out_4788463691933235788[147] = 0.0; + out_4788463691933235788[148] = 0.0; + out_4788463691933235788[149] = 0.0; + out_4788463691933235788[150] = 0.0; + out_4788463691933235788[151] = 0.0; + out_4788463691933235788[152] = 1.0; + out_4788463691933235788[153] = 0.0; + out_4788463691933235788[154] = 0.0; + out_4788463691933235788[155] = 0.0; + out_4788463691933235788[156] = 0.0; + out_4788463691933235788[157] = 0.0; + out_4788463691933235788[158] = 0.0; + out_4788463691933235788[159] = 0.0; + out_4788463691933235788[160] = 0.0; + out_4788463691933235788[161] = 0.0; + out_4788463691933235788[162] = 0.0; + out_4788463691933235788[163] = 0.0; + out_4788463691933235788[164] = 0.0; + out_4788463691933235788[165] = 0.0; + out_4788463691933235788[166] = 0.0; + out_4788463691933235788[167] = 0.0; + out_4788463691933235788[168] = 0.0; + out_4788463691933235788[169] = 0.0; + out_4788463691933235788[170] = 0.0; + out_4788463691933235788[171] = 1.0; + out_4788463691933235788[172] = 0.0; + out_4788463691933235788[173] = 0.0; + out_4788463691933235788[174] = 0.0; + out_4788463691933235788[175] = 0.0; + out_4788463691933235788[176] = 0.0; + out_4788463691933235788[177] = 0.0; + out_4788463691933235788[178] = 0.0; + out_4788463691933235788[179] = 0.0; + out_4788463691933235788[180] = 0.0; + out_4788463691933235788[181] = 0.0; + out_4788463691933235788[182] = 0.0; + out_4788463691933235788[183] = 0.0; + out_4788463691933235788[184] = 0.0; + out_4788463691933235788[185] = 0.0; + out_4788463691933235788[186] = 0.0; + out_4788463691933235788[187] = 0.0; + out_4788463691933235788[188] = 0.0; + out_4788463691933235788[189] = 0.0; + out_4788463691933235788[190] = 1.0; + out_4788463691933235788[191] = 0.0; + out_4788463691933235788[192] = 0.0; + out_4788463691933235788[193] = 0.0; + out_4788463691933235788[194] = 0.0; + out_4788463691933235788[195] = 0.0; + out_4788463691933235788[196] = 0.0; + out_4788463691933235788[197] = 0.0; + out_4788463691933235788[198] = 0.0; + out_4788463691933235788[199] = 0.0; + out_4788463691933235788[200] = 0.0; + out_4788463691933235788[201] = 0.0; + out_4788463691933235788[202] = 0.0; + out_4788463691933235788[203] = 0.0; + out_4788463691933235788[204] = 0.0; + out_4788463691933235788[205] = 0.0; + out_4788463691933235788[206] = 0.0; + out_4788463691933235788[207] = 0.0; + out_4788463691933235788[208] = 0.0; + out_4788463691933235788[209] = 1.0; + out_4788463691933235788[210] = 0.0; + out_4788463691933235788[211] = 0.0; + out_4788463691933235788[212] = 0.0; + out_4788463691933235788[213] = 0.0; + out_4788463691933235788[214] = 0.0; + out_4788463691933235788[215] = 0.0; + out_4788463691933235788[216] = 0.0; + out_4788463691933235788[217] = 0.0; + out_4788463691933235788[218] = 0.0; + out_4788463691933235788[219] = 0.0; + out_4788463691933235788[220] = 0.0; + out_4788463691933235788[221] = 0.0; + out_4788463691933235788[222] = 0.0; + out_4788463691933235788[223] = 0.0; + out_4788463691933235788[224] = 0.0; + out_4788463691933235788[225] = 0.0; + out_4788463691933235788[226] = 0.0; + out_4788463691933235788[227] = 0.0; + out_4788463691933235788[228] = 1.0; + out_4788463691933235788[229] = 0.0; + out_4788463691933235788[230] = 0.0; + out_4788463691933235788[231] = 0.0; + out_4788463691933235788[232] = 0.0; + out_4788463691933235788[233] = 0.0; + out_4788463691933235788[234] = 0.0; + out_4788463691933235788[235] = 0.0; + out_4788463691933235788[236] = 0.0; + out_4788463691933235788[237] = 0.0; + out_4788463691933235788[238] = 0.0; + out_4788463691933235788[239] = 0.0; + out_4788463691933235788[240] = 0.0; + out_4788463691933235788[241] = 0.0; + out_4788463691933235788[242] = 0.0; + out_4788463691933235788[243] = 0.0; + out_4788463691933235788[244] = 0.0; + out_4788463691933235788[245] = 0.0; + out_4788463691933235788[246] = 0.0; + out_4788463691933235788[247] = 1.0; + out_4788463691933235788[248] = 0.0; + out_4788463691933235788[249] = 0.0; + out_4788463691933235788[250] = 0.0; + out_4788463691933235788[251] = 0.0; + out_4788463691933235788[252] = 0.0; + out_4788463691933235788[253] = 0.0; + out_4788463691933235788[254] = 0.0; + out_4788463691933235788[255] = 0.0; + out_4788463691933235788[256] = 0.0; + out_4788463691933235788[257] = 0.0; + out_4788463691933235788[258] = 0.0; + out_4788463691933235788[259] = 0.0; + out_4788463691933235788[260] = 0.0; + out_4788463691933235788[261] = 0.0; + out_4788463691933235788[262] = 0.0; + out_4788463691933235788[263] = 0.0; + out_4788463691933235788[264] = 0.0; + out_4788463691933235788[265] = 0.0; + out_4788463691933235788[266] = 1.0; + out_4788463691933235788[267] = 0.0; + out_4788463691933235788[268] = 0.0; + out_4788463691933235788[269] = 0.0; + out_4788463691933235788[270] = 0.0; + out_4788463691933235788[271] = 0.0; + out_4788463691933235788[272] = 0.0; + out_4788463691933235788[273] = 0.0; + out_4788463691933235788[274] = 0.0; + out_4788463691933235788[275] = 0.0; + out_4788463691933235788[276] = 0.0; + out_4788463691933235788[277] = 0.0; + out_4788463691933235788[278] = 0.0; + out_4788463691933235788[279] = 0.0; + out_4788463691933235788[280] = 0.0; + out_4788463691933235788[281] = 0.0; + out_4788463691933235788[282] = 0.0; + out_4788463691933235788[283] = 0.0; + out_4788463691933235788[284] = 0.0; + out_4788463691933235788[285] = 1.0; + out_4788463691933235788[286] = 0.0; + out_4788463691933235788[287] = 0.0; + out_4788463691933235788[288] = 0.0; + out_4788463691933235788[289] = 0.0; + out_4788463691933235788[290] = 0.0; + out_4788463691933235788[291] = 0.0; + out_4788463691933235788[292] = 0.0; + out_4788463691933235788[293] = 0.0; + out_4788463691933235788[294] = 0.0; + out_4788463691933235788[295] = 0.0; + out_4788463691933235788[296] = 0.0; + out_4788463691933235788[297] = 0.0; + out_4788463691933235788[298] = 0.0; + out_4788463691933235788[299] = 0.0; + out_4788463691933235788[300] = 0.0; + out_4788463691933235788[301] = 0.0; + out_4788463691933235788[302] = 0.0; + out_4788463691933235788[303] = 0.0; + out_4788463691933235788[304] = 1.0; + out_4788463691933235788[305] = 0.0; + out_4788463691933235788[306] = 0.0; + out_4788463691933235788[307] = 0.0; + out_4788463691933235788[308] = 0.0; + out_4788463691933235788[309] = 0.0; + out_4788463691933235788[310] = 0.0; + out_4788463691933235788[311] = 0.0; + out_4788463691933235788[312] = 0.0; + out_4788463691933235788[313] = 0.0; + out_4788463691933235788[314] = 0.0; + out_4788463691933235788[315] = 0.0; + out_4788463691933235788[316] = 0.0; + out_4788463691933235788[317] = 0.0; + out_4788463691933235788[318] = 0.0; + out_4788463691933235788[319] = 0.0; + out_4788463691933235788[320] = 0.0; + out_4788463691933235788[321] = 0.0; + out_4788463691933235788[322] = 0.0; + out_4788463691933235788[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6035351479955239512) { - out_6035351479955239512[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_6035351479955239512[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_6035351479955239512[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_6035351479955239512[3] = dt*state[12] + state[3]; - out_6035351479955239512[4] = dt*state[13] + state[4]; - out_6035351479955239512[5] = dt*state[14] + state[5]; - out_6035351479955239512[6] = state[6]; - out_6035351479955239512[7] = state[7]; - out_6035351479955239512[8] = state[8]; - out_6035351479955239512[9] = state[9]; - out_6035351479955239512[10] = state[10]; - out_6035351479955239512[11] = state[11]; - out_6035351479955239512[12] = state[12]; - out_6035351479955239512[13] = state[13]; - out_6035351479955239512[14] = state[14]; - out_6035351479955239512[15] = state[15]; - out_6035351479955239512[16] = state[16]; - out_6035351479955239512[17] = state[17]; +void f_fun(double *state, double dt, double *out_278833928334043643) { + out_278833928334043643[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_278833928334043643[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_278833928334043643[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_278833928334043643[3] = dt*state[12] + state[3]; + out_278833928334043643[4] = dt*state[13] + state[4]; + out_278833928334043643[5] = dt*state[14] + state[5]; + out_278833928334043643[6] = state[6]; + out_278833928334043643[7] = state[7]; + out_278833928334043643[8] = state[8]; + out_278833928334043643[9] = state[9]; + out_278833928334043643[10] = state[10]; + out_278833928334043643[11] = state[11]; + out_278833928334043643[12] = state[12]; + out_278833928334043643[13] = state[13]; + out_278833928334043643[14] = state[14]; + out_278833928334043643[15] = state[15]; + out_278833928334043643[16] = state[16]; + out_278833928334043643[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4841453483990746406) { - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[2] = 0; - out_4841453483990746406[3] = 0; - out_4841453483990746406[4] = 0; - out_4841453483990746406[5] = 0; - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[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_4841453483990746406[9] = 0; - out_4841453483990746406[10] = 0; - out_4841453483990746406[11] = 0; - out_4841453483990746406[12] = 0; - out_4841453483990746406[13] = 0; - out_4841453483990746406[14] = 0; - out_4841453483990746406[15] = 0; - out_4841453483990746406[16] = 0; - out_4841453483990746406[17] = 0; - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[20] = 0; - out_4841453483990746406[21] = 0; - out_4841453483990746406[22] = 0; - out_4841453483990746406[23] = 0; - out_4841453483990746406[24] = 0; - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[27] = 0; - out_4841453483990746406[28] = 0; - out_4841453483990746406[29] = 0; - out_4841453483990746406[30] = 0; - out_4841453483990746406[31] = 0; - out_4841453483990746406[32] = 0; - out_4841453483990746406[33] = 0; - out_4841453483990746406[34] = 0; - out_4841453483990746406[35] = 0; - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[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_4841453483990746406[39] = 0; - out_4841453483990746406[40] = 0; - out_4841453483990746406[41] = 0; - out_4841453483990746406[42] = 0; - out_4841453483990746406[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_4841453483990746406[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_4841453483990746406[45] = 0; - out_4841453483990746406[46] = 0; - out_4841453483990746406[47] = 0; - out_4841453483990746406[48] = 0; - out_4841453483990746406[49] = 0; - out_4841453483990746406[50] = 0; - out_4841453483990746406[51] = 0; - out_4841453483990746406[52] = 0; - out_4841453483990746406[53] = 0; - out_4841453483990746406[54] = 0; - out_4841453483990746406[55] = 0; - out_4841453483990746406[56] = 0; - out_4841453483990746406[57] = 1; - out_4841453483990746406[58] = 0; - out_4841453483990746406[59] = 0; - out_4841453483990746406[60] = 0; - out_4841453483990746406[61] = 0; - out_4841453483990746406[62] = 0; - out_4841453483990746406[63] = 0; - out_4841453483990746406[64] = 0; - out_4841453483990746406[65] = 0; - out_4841453483990746406[66] = dt; - out_4841453483990746406[67] = 0; - out_4841453483990746406[68] = 0; - out_4841453483990746406[69] = 0; - out_4841453483990746406[70] = 0; - out_4841453483990746406[71] = 0; - out_4841453483990746406[72] = 0; - out_4841453483990746406[73] = 0; - out_4841453483990746406[74] = 0; - out_4841453483990746406[75] = 0; - out_4841453483990746406[76] = 1; - out_4841453483990746406[77] = 0; - out_4841453483990746406[78] = 0; - out_4841453483990746406[79] = 0; - out_4841453483990746406[80] = 0; - out_4841453483990746406[81] = 0; - out_4841453483990746406[82] = 0; - out_4841453483990746406[83] = 0; - out_4841453483990746406[84] = 0; - out_4841453483990746406[85] = dt; - out_4841453483990746406[86] = 0; - out_4841453483990746406[87] = 0; - out_4841453483990746406[88] = 0; - out_4841453483990746406[89] = 0; - out_4841453483990746406[90] = 0; - out_4841453483990746406[91] = 0; - out_4841453483990746406[92] = 0; - out_4841453483990746406[93] = 0; - out_4841453483990746406[94] = 0; - out_4841453483990746406[95] = 1; - out_4841453483990746406[96] = 0; - out_4841453483990746406[97] = 0; - out_4841453483990746406[98] = 0; - out_4841453483990746406[99] = 0; - out_4841453483990746406[100] = 0; - out_4841453483990746406[101] = 0; - out_4841453483990746406[102] = 0; - out_4841453483990746406[103] = 0; - out_4841453483990746406[104] = dt; - out_4841453483990746406[105] = 0; - out_4841453483990746406[106] = 0; - out_4841453483990746406[107] = 0; - out_4841453483990746406[108] = 0; - out_4841453483990746406[109] = 0; - out_4841453483990746406[110] = 0; - out_4841453483990746406[111] = 0; - out_4841453483990746406[112] = 0; - out_4841453483990746406[113] = 0; - out_4841453483990746406[114] = 1; - out_4841453483990746406[115] = 0; - out_4841453483990746406[116] = 0; - out_4841453483990746406[117] = 0; - out_4841453483990746406[118] = 0; - out_4841453483990746406[119] = 0; - out_4841453483990746406[120] = 0; - out_4841453483990746406[121] = 0; - out_4841453483990746406[122] = 0; - out_4841453483990746406[123] = 0; - out_4841453483990746406[124] = 0; - out_4841453483990746406[125] = 0; - out_4841453483990746406[126] = 0; - out_4841453483990746406[127] = 0; - out_4841453483990746406[128] = 0; - out_4841453483990746406[129] = 0; - out_4841453483990746406[130] = 0; - out_4841453483990746406[131] = 0; - out_4841453483990746406[132] = 0; - out_4841453483990746406[133] = 1; - out_4841453483990746406[134] = 0; - out_4841453483990746406[135] = 0; - out_4841453483990746406[136] = 0; - out_4841453483990746406[137] = 0; - out_4841453483990746406[138] = 0; - out_4841453483990746406[139] = 0; - out_4841453483990746406[140] = 0; - out_4841453483990746406[141] = 0; - out_4841453483990746406[142] = 0; - out_4841453483990746406[143] = 0; - out_4841453483990746406[144] = 0; - out_4841453483990746406[145] = 0; - out_4841453483990746406[146] = 0; - out_4841453483990746406[147] = 0; - out_4841453483990746406[148] = 0; - out_4841453483990746406[149] = 0; - out_4841453483990746406[150] = 0; - out_4841453483990746406[151] = 0; - out_4841453483990746406[152] = 1; - out_4841453483990746406[153] = 0; - out_4841453483990746406[154] = 0; - out_4841453483990746406[155] = 0; - out_4841453483990746406[156] = 0; - out_4841453483990746406[157] = 0; - out_4841453483990746406[158] = 0; - out_4841453483990746406[159] = 0; - out_4841453483990746406[160] = 0; - out_4841453483990746406[161] = 0; - out_4841453483990746406[162] = 0; - out_4841453483990746406[163] = 0; - out_4841453483990746406[164] = 0; - out_4841453483990746406[165] = 0; - out_4841453483990746406[166] = 0; - out_4841453483990746406[167] = 0; - out_4841453483990746406[168] = 0; - out_4841453483990746406[169] = 0; - out_4841453483990746406[170] = 0; - out_4841453483990746406[171] = 1; - out_4841453483990746406[172] = 0; - out_4841453483990746406[173] = 0; - out_4841453483990746406[174] = 0; - out_4841453483990746406[175] = 0; - out_4841453483990746406[176] = 0; - out_4841453483990746406[177] = 0; - out_4841453483990746406[178] = 0; - out_4841453483990746406[179] = 0; - out_4841453483990746406[180] = 0; - out_4841453483990746406[181] = 0; - out_4841453483990746406[182] = 0; - out_4841453483990746406[183] = 0; - out_4841453483990746406[184] = 0; - out_4841453483990746406[185] = 0; - out_4841453483990746406[186] = 0; - out_4841453483990746406[187] = 0; - out_4841453483990746406[188] = 0; - out_4841453483990746406[189] = 0; - out_4841453483990746406[190] = 1; - out_4841453483990746406[191] = 0; - out_4841453483990746406[192] = 0; - out_4841453483990746406[193] = 0; - out_4841453483990746406[194] = 0; - out_4841453483990746406[195] = 0; - out_4841453483990746406[196] = 0; - out_4841453483990746406[197] = 0; - out_4841453483990746406[198] = 0; - out_4841453483990746406[199] = 0; - out_4841453483990746406[200] = 0; - out_4841453483990746406[201] = 0; - out_4841453483990746406[202] = 0; - out_4841453483990746406[203] = 0; - out_4841453483990746406[204] = 0; - out_4841453483990746406[205] = 0; - out_4841453483990746406[206] = 0; - out_4841453483990746406[207] = 0; - out_4841453483990746406[208] = 0; - out_4841453483990746406[209] = 1; - out_4841453483990746406[210] = 0; - out_4841453483990746406[211] = 0; - out_4841453483990746406[212] = 0; - out_4841453483990746406[213] = 0; - out_4841453483990746406[214] = 0; - out_4841453483990746406[215] = 0; - out_4841453483990746406[216] = 0; - out_4841453483990746406[217] = 0; - out_4841453483990746406[218] = 0; - out_4841453483990746406[219] = 0; - out_4841453483990746406[220] = 0; - out_4841453483990746406[221] = 0; - out_4841453483990746406[222] = 0; - out_4841453483990746406[223] = 0; - out_4841453483990746406[224] = 0; - out_4841453483990746406[225] = 0; - out_4841453483990746406[226] = 0; - out_4841453483990746406[227] = 0; - out_4841453483990746406[228] = 1; - out_4841453483990746406[229] = 0; - out_4841453483990746406[230] = 0; - out_4841453483990746406[231] = 0; - out_4841453483990746406[232] = 0; - out_4841453483990746406[233] = 0; - out_4841453483990746406[234] = 0; - out_4841453483990746406[235] = 0; - out_4841453483990746406[236] = 0; - out_4841453483990746406[237] = 0; - out_4841453483990746406[238] = 0; - out_4841453483990746406[239] = 0; - out_4841453483990746406[240] = 0; - out_4841453483990746406[241] = 0; - out_4841453483990746406[242] = 0; - out_4841453483990746406[243] = 0; - out_4841453483990746406[244] = 0; - out_4841453483990746406[245] = 0; - out_4841453483990746406[246] = 0; - out_4841453483990746406[247] = 1; - out_4841453483990746406[248] = 0; - out_4841453483990746406[249] = 0; - out_4841453483990746406[250] = 0; - out_4841453483990746406[251] = 0; - out_4841453483990746406[252] = 0; - out_4841453483990746406[253] = 0; - out_4841453483990746406[254] = 0; - out_4841453483990746406[255] = 0; - out_4841453483990746406[256] = 0; - out_4841453483990746406[257] = 0; - out_4841453483990746406[258] = 0; - out_4841453483990746406[259] = 0; - out_4841453483990746406[260] = 0; - out_4841453483990746406[261] = 0; - out_4841453483990746406[262] = 0; - out_4841453483990746406[263] = 0; - out_4841453483990746406[264] = 0; - out_4841453483990746406[265] = 0; - out_4841453483990746406[266] = 1; - out_4841453483990746406[267] = 0; - out_4841453483990746406[268] = 0; - out_4841453483990746406[269] = 0; - out_4841453483990746406[270] = 0; - out_4841453483990746406[271] = 0; - out_4841453483990746406[272] = 0; - out_4841453483990746406[273] = 0; - out_4841453483990746406[274] = 0; - out_4841453483990746406[275] = 0; - out_4841453483990746406[276] = 0; - out_4841453483990746406[277] = 0; - out_4841453483990746406[278] = 0; - out_4841453483990746406[279] = 0; - out_4841453483990746406[280] = 0; - out_4841453483990746406[281] = 0; - out_4841453483990746406[282] = 0; - out_4841453483990746406[283] = 0; - out_4841453483990746406[284] = 0; - out_4841453483990746406[285] = 1; - out_4841453483990746406[286] = 0; - out_4841453483990746406[287] = 0; - out_4841453483990746406[288] = 0; - out_4841453483990746406[289] = 0; - out_4841453483990746406[290] = 0; - out_4841453483990746406[291] = 0; - out_4841453483990746406[292] = 0; - out_4841453483990746406[293] = 0; - out_4841453483990746406[294] = 0; - out_4841453483990746406[295] = 0; - out_4841453483990746406[296] = 0; - out_4841453483990746406[297] = 0; - out_4841453483990746406[298] = 0; - out_4841453483990746406[299] = 0; - out_4841453483990746406[300] = 0; - out_4841453483990746406[301] = 0; - out_4841453483990746406[302] = 0; - out_4841453483990746406[303] = 0; - out_4841453483990746406[304] = 1; - out_4841453483990746406[305] = 0; - out_4841453483990746406[306] = 0; - out_4841453483990746406[307] = 0; - out_4841453483990746406[308] = 0; - out_4841453483990746406[309] = 0; - out_4841453483990746406[310] = 0; - out_4841453483990746406[311] = 0; - out_4841453483990746406[312] = 0; - out_4841453483990746406[313] = 0; - out_4841453483990746406[314] = 0; - out_4841453483990746406[315] = 0; - out_4841453483990746406[316] = 0; - out_4841453483990746406[317] = 0; - out_4841453483990746406[318] = 0; - out_4841453483990746406[319] = 0; - out_4841453483990746406[320] = 0; - out_4841453483990746406[321] = 0; - out_4841453483990746406[322] = 0; - out_4841453483990746406[323] = 1; +void F_fun(double *state, double dt, double *out_4640315684238237796) { + out_4640315684238237796[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_4640315684238237796[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_4640315684238237796[2] = 0; + out_4640315684238237796[3] = 0; + out_4640315684238237796[4] = 0; + out_4640315684238237796[5] = 0; + out_4640315684238237796[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_4640315684238237796[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_4640315684238237796[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_4640315684238237796[9] = 0; + out_4640315684238237796[10] = 0; + out_4640315684238237796[11] = 0; + out_4640315684238237796[12] = 0; + out_4640315684238237796[13] = 0; + out_4640315684238237796[14] = 0; + out_4640315684238237796[15] = 0; + out_4640315684238237796[16] = 0; + out_4640315684238237796[17] = 0; + out_4640315684238237796[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_4640315684238237796[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_4640315684238237796[20] = 0; + out_4640315684238237796[21] = 0; + out_4640315684238237796[22] = 0; + out_4640315684238237796[23] = 0; + out_4640315684238237796[24] = 0; + out_4640315684238237796[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_4640315684238237796[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_4640315684238237796[27] = 0; + out_4640315684238237796[28] = 0; + out_4640315684238237796[29] = 0; + out_4640315684238237796[30] = 0; + out_4640315684238237796[31] = 0; + out_4640315684238237796[32] = 0; + out_4640315684238237796[33] = 0; + out_4640315684238237796[34] = 0; + out_4640315684238237796[35] = 0; + out_4640315684238237796[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_4640315684238237796[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_4640315684238237796[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_4640315684238237796[39] = 0; + out_4640315684238237796[40] = 0; + out_4640315684238237796[41] = 0; + out_4640315684238237796[42] = 0; + out_4640315684238237796[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_4640315684238237796[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_4640315684238237796[45] = 0; + out_4640315684238237796[46] = 0; + out_4640315684238237796[47] = 0; + out_4640315684238237796[48] = 0; + out_4640315684238237796[49] = 0; + out_4640315684238237796[50] = 0; + out_4640315684238237796[51] = 0; + out_4640315684238237796[52] = 0; + out_4640315684238237796[53] = 0; + out_4640315684238237796[54] = 0; + out_4640315684238237796[55] = 0; + out_4640315684238237796[56] = 0; + out_4640315684238237796[57] = 1; + out_4640315684238237796[58] = 0; + out_4640315684238237796[59] = 0; + out_4640315684238237796[60] = 0; + out_4640315684238237796[61] = 0; + out_4640315684238237796[62] = 0; + out_4640315684238237796[63] = 0; + out_4640315684238237796[64] = 0; + out_4640315684238237796[65] = 0; + out_4640315684238237796[66] = dt; + out_4640315684238237796[67] = 0; + out_4640315684238237796[68] = 0; + out_4640315684238237796[69] = 0; + out_4640315684238237796[70] = 0; + out_4640315684238237796[71] = 0; + out_4640315684238237796[72] = 0; + out_4640315684238237796[73] = 0; + out_4640315684238237796[74] = 0; + out_4640315684238237796[75] = 0; + out_4640315684238237796[76] = 1; + out_4640315684238237796[77] = 0; + out_4640315684238237796[78] = 0; + out_4640315684238237796[79] = 0; + out_4640315684238237796[80] = 0; + out_4640315684238237796[81] = 0; + out_4640315684238237796[82] = 0; + out_4640315684238237796[83] = 0; + out_4640315684238237796[84] = 0; + out_4640315684238237796[85] = dt; + out_4640315684238237796[86] = 0; + out_4640315684238237796[87] = 0; + out_4640315684238237796[88] = 0; + out_4640315684238237796[89] = 0; + out_4640315684238237796[90] = 0; + out_4640315684238237796[91] = 0; + out_4640315684238237796[92] = 0; + out_4640315684238237796[93] = 0; + out_4640315684238237796[94] = 0; + out_4640315684238237796[95] = 1; + out_4640315684238237796[96] = 0; + out_4640315684238237796[97] = 0; + out_4640315684238237796[98] = 0; + out_4640315684238237796[99] = 0; + out_4640315684238237796[100] = 0; + out_4640315684238237796[101] = 0; + out_4640315684238237796[102] = 0; + out_4640315684238237796[103] = 0; + out_4640315684238237796[104] = dt; + out_4640315684238237796[105] = 0; + out_4640315684238237796[106] = 0; + out_4640315684238237796[107] = 0; + out_4640315684238237796[108] = 0; + out_4640315684238237796[109] = 0; + out_4640315684238237796[110] = 0; + out_4640315684238237796[111] = 0; + out_4640315684238237796[112] = 0; + out_4640315684238237796[113] = 0; + out_4640315684238237796[114] = 1; + out_4640315684238237796[115] = 0; + out_4640315684238237796[116] = 0; + out_4640315684238237796[117] = 0; + out_4640315684238237796[118] = 0; + out_4640315684238237796[119] = 0; + out_4640315684238237796[120] = 0; + out_4640315684238237796[121] = 0; + out_4640315684238237796[122] = 0; + out_4640315684238237796[123] = 0; + out_4640315684238237796[124] = 0; + out_4640315684238237796[125] = 0; + out_4640315684238237796[126] = 0; + out_4640315684238237796[127] = 0; + out_4640315684238237796[128] = 0; + out_4640315684238237796[129] = 0; + out_4640315684238237796[130] = 0; + out_4640315684238237796[131] = 0; + out_4640315684238237796[132] = 0; + out_4640315684238237796[133] = 1; + out_4640315684238237796[134] = 0; + out_4640315684238237796[135] = 0; + out_4640315684238237796[136] = 0; + out_4640315684238237796[137] = 0; + out_4640315684238237796[138] = 0; + out_4640315684238237796[139] = 0; + out_4640315684238237796[140] = 0; + out_4640315684238237796[141] = 0; + out_4640315684238237796[142] = 0; + out_4640315684238237796[143] = 0; + out_4640315684238237796[144] = 0; + out_4640315684238237796[145] = 0; + out_4640315684238237796[146] = 0; + out_4640315684238237796[147] = 0; + out_4640315684238237796[148] = 0; + out_4640315684238237796[149] = 0; + out_4640315684238237796[150] = 0; + out_4640315684238237796[151] = 0; + out_4640315684238237796[152] = 1; + out_4640315684238237796[153] = 0; + out_4640315684238237796[154] = 0; + out_4640315684238237796[155] = 0; + out_4640315684238237796[156] = 0; + out_4640315684238237796[157] = 0; + out_4640315684238237796[158] = 0; + out_4640315684238237796[159] = 0; + out_4640315684238237796[160] = 0; + out_4640315684238237796[161] = 0; + out_4640315684238237796[162] = 0; + out_4640315684238237796[163] = 0; + out_4640315684238237796[164] = 0; + out_4640315684238237796[165] = 0; + out_4640315684238237796[166] = 0; + out_4640315684238237796[167] = 0; + out_4640315684238237796[168] = 0; + out_4640315684238237796[169] = 0; + out_4640315684238237796[170] = 0; + out_4640315684238237796[171] = 1; + out_4640315684238237796[172] = 0; + out_4640315684238237796[173] = 0; + out_4640315684238237796[174] = 0; + out_4640315684238237796[175] = 0; + out_4640315684238237796[176] = 0; + out_4640315684238237796[177] = 0; + out_4640315684238237796[178] = 0; + out_4640315684238237796[179] = 0; + out_4640315684238237796[180] = 0; + out_4640315684238237796[181] = 0; + out_4640315684238237796[182] = 0; + out_4640315684238237796[183] = 0; + out_4640315684238237796[184] = 0; + out_4640315684238237796[185] = 0; + out_4640315684238237796[186] = 0; + out_4640315684238237796[187] = 0; + out_4640315684238237796[188] = 0; + out_4640315684238237796[189] = 0; + out_4640315684238237796[190] = 1; + out_4640315684238237796[191] = 0; + out_4640315684238237796[192] = 0; + out_4640315684238237796[193] = 0; + out_4640315684238237796[194] = 0; + out_4640315684238237796[195] = 0; + out_4640315684238237796[196] = 0; + out_4640315684238237796[197] = 0; + out_4640315684238237796[198] = 0; + out_4640315684238237796[199] = 0; + out_4640315684238237796[200] = 0; + out_4640315684238237796[201] = 0; + out_4640315684238237796[202] = 0; + out_4640315684238237796[203] = 0; + out_4640315684238237796[204] = 0; + out_4640315684238237796[205] = 0; + out_4640315684238237796[206] = 0; + out_4640315684238237796[207] = 0; + out_4640315684238237796[208] = 0; + out_4640315684238237796[209] = 1; + out_4640315684238237796[210] = 0; + out_4640315684238237796[211] = 0; + out_4640315684238237796[212] = 0; + out_4640315684238237796[213] = 0; + out_4640315684238237796[214] = 0; + out_4640315684238237796[215] = 0; + out_4640315684238237796[216] = 0; + out_4640315684238237796[217] = 0; + out_4640315684238237796[218] = 0; + out_4640315684238237796[219] = 0; + out_4640315684238237796[220] = 0; + out_4640315684238237796[221] = 0; + out_4640315684238237796[222] = 0; + out_4640315684238237796[223] = 0; + out_4640315684238237796[224] = 0; + out_4640315684238237796[225] = 0; + out_4640315684238237796[226] = 0; + out_4640315684238237796[227] = 0; + out_4640315684238237796[228] = 1; + out_4640315684238237796[229] = 0; + out_4640315684238237796[230] = 0; + out_4640315684238237796[231] = 0; + out_4640315684238237796[232] = 0; + out_4640315684238237796[233] = 0; + out_4640315684238237796[234] = 0; + out_4640315684238237796[235] = 0; + out_4640315684238237796[236] = 0; + out_4640315684238237796[237] = 0; + out_4640315684238237796[238] = 0; + out_4640315684238237796[239] = 0; + out_4640315684238237796[240] = 0; + out_4640315684238237796[241] = 0; + out_4640315684238237796[242] = 0; + out_4640315684238237796[243] = 0; + out_4640315684238237796[244] = 0; + out_4640315684238237796[245] = 0; + out_4640315684238237796[246] = 0; + out_4640315684238237796[247] = 1; + out_4640315684238237796[248] = 0; + out_4640315684238237796[249] = 0; + out_4640315684238237796[250] = 0; + out_4640315684238237796[251] = 0; + out_4640315684238237796[252] = 0; + out_4640315684238237796[253] = 0; + out_4640315684238237796[254] = 0; + out_4640315684238237796[255] = 0; + out_4640315684238237796[256] = 0; + out_4640315684238237796[257] = 0; + out_4640315684238237796[258] = 0; + out_4640315684238237796[259] = 0; + out_4640315684238237796[260] = 0; + out_4640315684238237796[261] = 0; + out_4640315684238237796[262] = 0; + out_4640315684238237796[263] = 0; + out_4640315684238237796[264] = 0; + out_4640315684238237796[265] = 0; + out_4640315684238237796[266] = 1; + out_4640315684238237796[267] = 0; + out_4640315684238237796[268] = 0; + out_4640315684238237796[269] = 0; + out_4640315684238237796[270] = 0; + out_4640315684238237796[271] = 0; + out_4640315684238237796[272] = 0; + out_4640315684238237796[273] = 0; + out_4640315684238237796[274] = 0; + out_4640315684238237796[275] = 0; + out_4640315684238237796[276] = 0; + out_4640315684238237796[277] = 0; + out_4640315684238237796[278] = 0; + out_4640315684238237796[279] = 0; + out_4640315684238237796[280] = 0; + out_4640315684238237796[281] = 0; + out_4640315684238237796[282] = 0; + out_4640315684238237796[283] = 0; + out_4640315684238237796[284] = 0; + out_4640315684238237796[285] = 1; + out_4640315684238237796[286] = 0; + out_4640315684238237796[287] = 0; + out_4640315684238237796[288] = 0; + out_4640315684238237796[289] = 0; + out_4640315684238237796[290] = 0; + out_4640315684238237796[291] = 0; + out_4640315684238237796[292] = 0; + out_4640315684238237796[293] = 0; + out_4640315684238237796[294] = 0; + out_4640315684238237796[295] = 0; + out_4640315684238237796[296] = 0; + out_4640315684238237796[297] = 0; + out_4640315684238237796[298] = 0; + out_4640315684238237796[299] = 0; + out_4640315684238237796[300] = 0; + out_4640315684238237796[301] = 0; + out_4640315684238237796[302] = 0; + out_4640315684238237796[303] = 0; + out_4640315684238237796[304] = 1; + out_4640315684238237796[305] = 0; + out_4640315684238237796[306] = 0; + out_4640315684238237796[307] = 0; + out_4640315684238237796[308] = 0; + out_4640315684238237796[309] = 0; + out_4640315684238237796[310] = 0; + out_4640315684238237796[311] = 0; + out_4640315684238237796[312] = 0; + out_4640315684238237796[313] = 0; + out_4640315684238237796[314] = 0; + out_4640315684238237796[315] = 0; + out_4640315684238237796[316] = 0; + out_4640315684238237796[317] = 0; + out_4640315684238237796[318] = 0; + out_4640315684238237796[319] = 0; + out_4640315684238237796[320] = 0; + out_4640315684238237796[321] = 0; + out_4640315684238237796[322] = 0; + out_4640315684238237796[323] = 1; } -void h_4(double *state, double *unused, double *out_3927517291904970746) { - out_3927517291904970746[0] = state[6] + state[9]; - out_3927517291904970746[1] = state[7] + state[10]; - out_3927517291904970746[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5623878395716679644) { + out_5623878395716679644[0] = state[6] + state[9]; + out_5623878395716679644[1] = state[7] + state[10]; + out_5623878395716679644[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_648704722266460885) { - out_648704722266460885[0] = 0; - out_648704722266460885[1] = 0; - out_648704722266460885[2] = 0; - out_648704722266460885[3] = 0; - out_648704722266460885[4] = 0; - out_648704722266460885[5] = 0; - out_648704722266460885[6] = 1; - out_648704722266460885[7] = 0; - out_648704722266460885[8] = 0; - out_648704722266460885[9] = 1; - out_648704722266460885[10] = 0; - out_648704722266460885[11] = 0; - out_648704722266460885[12] = 0; - out_648704722266460885[13] = 0; - out_648704722266460885[14] = 0; - out_648704722266460885[15] = 0; - out_648704722266460885[16] = 0; - out_648704722266460885[17] = 0; - out_648704722266460885[18] = 0; - out_648704722266460885[19] = 0; - out_648704722266460885[20] = 0; - out_648704722266460885[21] = 0; - out_648704722266460885[22] = 0; - out_648704722266460885[23] = 0; - out_648704722266460885[24] = 0; - out_648704722266460885[25] = 1; - out_648704722266460885[26] = 0; - out_648704722266460885[27] = 0; - out_648704722266460885[28] = 1; - out_648704722266460885[29] = 0; - out_648704722266460885[30] = 0; - out_648704722266460885[31] = 0; - out_648704722266460885[32] = 0; - out_648704722266460885[33] = 0; - out_648704722266460885[34] = 0; - out_648704722266460885[35] = 0; - out_648704722266460885[36] = 0; - out_648704722266460885[37] = 0; - out_648704722266460885[38] = 0; - out_648704722266460885[39] = 0; - out_648704722266460885[40] = 0; - out_648704722266460885[41] = 0; - out_648704722266460885[42] = 0; - out_648704722266460885[43] = 0; - out_648704722266460885[44] = 1; - out_648704722266460885[45] = 0; - out_648704722266460885[46] = 0; - out_648704722266460885[47] = 1; - out_648704722266460885[48] = 0; - out_648704722266460885[49] = 0; - out_648704722266460885[50] = 0; - out_648704722266460885[51] = 0; - out_648704722266460885[52] = 0; - out_648704722266460885[53] = 0; +void H_4(double *state, double *unused, double *out_2968764966026938927) { + out_2968764966026938927[0] = 0; + out_2968764966026938927[1] = 0; + out_2968764966026938927[2] = 0; + out_2968764966026938927[3] = 0; + out_2968764966026938927[4] = 0; + out_2968764966026938927[5] = 0; + out_2968764966026938927[6] = 1; + out_2968764966026938927[7] = 0; + out_2968764966026938927[8] = 0; + out_2968764966026938927[9] = 1; + out_2968764966026938927[10] = 0; + out_2968764966026938927[11] = 0; + out_2968764966026938927[12] = 0; + out_2968764966026938927[13] = 0; + out_2968764966026938927[14] = 0; + out_2968764966026938927[15] = 0; + out_2968764966026938927[16] = 0; + out_2968764966026938927[17] = 0; + out_2968764966026938927[18] = 0; + out_2968764966026938927[19] = 0; + out_2968764966026938927[20] = 0; + out_2968764966026938927[21] = 0; + out_2968764966026938927[22] = 0; + out_2968764966026938927[23] = 0; + out_2968764966026938927[24] = 0; + out_2968764966026938927[25] = 1; + out_2968764966026938927[26] = 0; + out_2968764966026938927[27] = 0; + out_2968764966026938927[28] = 1; + out_2968764966026938927[29] = 0; + out_2968764966026938927[30] = 0; + out_2968764966026938927[31] = 0; + out_2968764966026938927[32] = 0; + out_2968764966026938927[33] = 0; + out_2968764966026938927[34] = 0; + out_2968764966026938927[35] = 0; + out_2968764966026938927[36] = 0; + out_2968764966026938927[37] = 0; + out_2968764966026938927[38] = 0; + out_2968764966026938927[39] = 0; + out_2968764966026938927[40] = 0; + out_2968764966026938927[41] = 0; + out_2968764966026938927[42] = 0; + out_2968764966026938927[43] = 0; + out_2968764966026938927[44] = 1; + out_2968764966026938927[45] = 0; + out_2968764966026938927[46] = 0; + out_2968764966026938927[47] = 1; + out_2968764966026938927[48] = 0; + out_2968764966026938927[49] = 0; + out_2968764966026938927[50] = 0; + out_2968764966026938927[51] = 0; + out_2968764966026938927[52] = 0; + out_2968764966026938927[53] = 0; } -void h_10(double *state, double *unused, double *out_6439648934382479816) { - out_6439648934382479816[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6439648934382479816[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6439648934382479816[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_1108484870937860123) { + out_1108484870937860123[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1108484870937860123[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1108484870937860123[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_4788307442778779812) { - out_4788307442778779812[0] = 0; - out_4788307442778779812[1] = 9.8100000000000005*cos(state[1]); - out_4788307442778779812[2] = 0; - out_4788307442778779812[3] = 0; - out_4788307442778779812[4] = -state[8]; - out_4788307442778779812[5] = state[7]; - out_4788307442778779812[6] = 0; - out_4788307442778779812[7] = state[5]; - out_4788307442778779812[8] = -state[4]; - out_4788307442778779812[9] = 0; - out_4788307442778779812[10] = 0; - out_4788307442778779812[11] = 0; - out_4788307442778779812[12] = 1; - out_4788307442778779812[13] = 0; - out_4788307442778779812[14] = 0; - out_4788307442778779812[15] = 1; - out_4788307442778779812[16] = 0; - out_4788307442778779812[17] = 0; - out_4788307442778779812[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4788307442778779812[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4788307442778779812[20] = 0; - out_4788307442778779812[21] = state[8]; - out_4788307442778779812[22] = 0; - out_4788307442778779812[23] = -state[6]; - out_4788307442778779812[24] = -state[5]; - out_4788307442778779812[25] = 0; - out_4788307442778779812[26] = state[3]; - out_4788307442778779812[27] = 0; - out_4788307442778779812[28] = 0; - out_4788307442778779812[29] = 0; - out_4788307442778779812[30] = 0; - out_4788307442778779812[31] = 1; - out_4788307442778779812[32] = 0; - out_4788307442778779812[33] = 0; - out_4788307442778779812[34] = 1; - out_4788307442778779812[35] = 0; - out_4788307442778779812[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4788307442778779812[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4788307442778779812[38] = 0; - out_4788307442778779812[39] = -state[7]; - out_4788307442778779812[40] = state[6]; - out_4788307442778779812[41] = 0; - out_4788307442778779812[42] = state[4]; - out_4788307442778779812[43] = -state[3]; - out_4788307442778779812[44] = 0; - out_4788307442778779812[45] = 0; - out_4788307442778779812[46] = 0; - out_4788307442778779812[47] = 0; - out_4788307442778779812[48] = 0; - out_4788307442778779812[49] = 0; - out_4788307442778779812[50] = 1; - out_4788307442778779812[51] = 0; - out_4788307442778779812[52] = 0; - out_4788307442778779812[53] = 1; +void H_10(double *state, double *unused, double *out_562715734289542272) { + out_562715734289542272[0] = 0; + out_562715734289542272[1] = 9.8100000000000005*cos(state[1]); + out_562715734289542272[2] = 0; + out_562715734289542272[3] = 0; + out_562715734289542272[4] = -state[8]; + out_562715734289542272[5] = state[7]; + out_562715734289542272[6] = 0; + out_562715734289542272[7] = state[5]; + out_562715734289542272[8] = -state[4]; + out_562715734289542272[9] = 0; + out_562715734289542272[10] = 0; + out_562715734289542272[11] = 0; + out_562715734289542272[12] = 1; + out_562715734289542272[13] = 0; + out_562715734289542272[14] = 0; + out_562715734289542272[15] = 1; + out_562715734289542272[16] = 0; + out_562715734289542272[17] = 0; + out_562715734289542272[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_562715734289542272[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_562715734289542272[20] = 0; + out_562715734289542272[21] = state[8]; + out_562715734289542272[22] = 0; + out_562715734289542272[23] = -state[6]; + out_562715734289542272[24] = -state[5]; + out_562715734289542272[25] = 0; + out_562715734289542272[26] = state[3]; + out_562715734289542272[27] = 0; + out_562715734289542272[28] = 0; + out_562715734289542272[29] = 0; + out_562715734289542272[30] = 0; + out_562715734289542272[31] = 1; + out_562715734289542272[32] = 0; + out_562715734289542272[33] = 0; + out_562715734289542272[34] = 1; + out_562715734289542272[35] = 0; + out_562715734289542272[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_562715734289542272[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_562715734289542272[38] = 0; + out_562715734289542272[39] = -state[7]; + out_562715734289542272[40] = state[6]; + out_562715734289542272[41] = 0; + out_562715734289542272[42] = state[4]; + out_562715734289542272[43] = -state[3]; + out_562715734289542272[44] = 0; + out_562715734289542272[45] = 0; + out_562715734289542272[46] = 0; + out_562715734289542272[47] = 0; + out_562715734289542272[48] = 0; + out_562715734289542272[49] = 0; + out_562715734289542272[50] = 1; + out_562715734289542272[51] = 0; + out_562715734289542272[52] = 0; + out_562715734289542272[53] = 1; } -void h_13(double *state, double *unused, double *out_7496824369401694209) { - out_7496824369401694209[0] = state[3]; - out_7496824369401694209[1] = state[4]; - out_7496824369401694209[2] = state[5]; +void h_13(double *state, double *unused, double *out_7517291163150813919) { + out_7517291163150813919[0] = state[3]; + out_7517291163150813919[1] = state[4]; + out_7517291163150813919[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4482460185568984909) { - out_4482460185568984909[0] = 0; - out_4482460185568984909[1] = 0; - out_4482460185568984909[2] = 0; - out_4482460185568984909[3] = 1; - out_4482460185568984909[4] = 0; - out_4482460185568984909[5] = 0; - out_4482460185568984909[6] = 0; - out_4482460185568984909[7] = 0; - out_4482460185568984909[8] = 0; - out_4482460185568984909[9] = 0; - out_4482460185568984909[10] = 0; - out_4482460185568984909[11] = 0; - out_4482460185568984909[12] = 0; - out_4482460185568984909[13] = 0; - out_4482460185568984909[14] = 0; - out_4482460185568984909[15] = 0; - out_4482460185568984909[16] = 0; - out_4482460185568984909[17] = 0; - out_4482460185568984909[18] = 0; - out_4482460185568984909[19] = 0; - out_4482460185568984909[20] = 0; - out_4482460185568984909[21] = 0; - out_4482460185568984909[22] = 1; - out_4482460185568984909[23] = 0; - out_4482460185568984909[24] = 0; - out_4482460185568984909[25] = 0; - out_4482460185568984909[26] = 0; - out_4482460185568984909[27] = 0; - out_4482460185568984909[28] = 0; - out_4482460185568984909[29] = 0; - out_4482460185568984909[30] = 0; - out_4482460185568984909[31] = 0; - out_4482460185568984909[32] = 0; - out_4482460185568984909[33] = 0; - out_4482460185568984909[34] = 0; - out_4482460185568984909[35] = 0; - out_4482460185568984909[36] = 0; - out_4482460185568984909[37] = 0; - out_4482460185568984909[38] = 0; - out_4482460185568984909[39] = 0; - out_4482460185568984909[40] = 0; - out_4482460185568984909[41] = 1; - out_4482460185568984909[42] = 0; - out_4482460185568984909[43] = 0; - out_4482460185568984909[44] = 0; - out_4482460185568984909[45] = 0; - out_4482460185568984909[46] = 0; - out_4482460185568984909[47] = 0; - out_4482460185568984909[48] = 0; - out_4482460185568984909[49] = 0; - out_4482460185568984909[50] = 0; - out_4482460185568984909[51] = 0; - out_4482460185568984909[52] = 0; - out_4482460185568984909[53] = 0; +void H_13(double *state, double *unused, double *out_6181038791359271728) { + out_6181038791359271728[0] = 0; + out_6181038791359271728[1] = 0; + out_6181038791359271728[2] = 0; + out_6181038791359271728[3] = 1; + out_6181038791359271728[4] = 0; + out_6181038791359271728[5] = 0; + out_6181038791359271728[6] = 0; + out_6181038791359271728[7] = 0; + out_6181038791359271728[8] = 0; + out_6181038791359271728[9] = 0; + out_6181038791359271728[10] = 0; + out_6181038791359271728[11] = 0; + out_6181038791359271728[12] = 0; + out_6181038791359271728[13] = 0; + out_6181038791359271728[14] = 0; + out_6181038791359271728[15] = 0; + out_6181038791359271728[16] = 0; + out_6181038791359271728[17] = 0; + out_6181038791359271728[18] = 0; + out_6181038791359271728[19] = 0; + out_6181038791359271728[20] = 0; + out_6181038791359271728[21] = 0; + out_6181038791359271728[22] = 1; + out_6181038791359271728[23] = 0; + out_6181038791359271728[24] = 0; + out_6181038791359271728[25] = 0; + out_6181038791359271728[26] = 0; + out_6181038791359271728[27] = 0; + out_6181038791359271728[28] = 0; + out_6181038791359271728[29] = 0; + out_6181038791359271728[30] = 0; + out_6181038791359271728[31] = 0; + out_6181038791359271728[32] = 0; + out_6181038791359271728[33] = 0; + out_6181038791359271728[34] = 0; + out_6181038791359271728[35] = 0; + out_6181038791359271728[36] = 0; + out_6181038791359271728[37] = 0; + out_6181038791359271728[38] = 0; + out_6181038791359271728[39] = 0; + out_6181038791359271728[40] = 0; + out_6181038791359271728[41] = 1; + out_6181038791359271728[42] = 0; + out_6181038791359271728[43] = 0; + out_6181038791359271728[44] = 0; + out_6181038791359271728[45] = 0; + out_6181038791359271728[46] = 0; + out_6181038791359271728[47] = 0; + out_6181038791359271728[48] = 0; + out_6181038791359271728[49] = 0; + out_6181038791359271728[50] = 0; + out_6181038791359271728[51] = 0; + out_6181038791359271728[52] = 0; + out_6181038791359271728[53] = 0; } -void h_14(double *state, double *unused, double *out_6785183211401772861) { - out_6785183211401772861[0] = state[6]; - out_6785183211401772861[1] = state[7]; - out_6785183211401772861[2] = state[8]; +void h_14(double *state, double *unused, double *out_7591297481791533481) { + out_7591297481791533481[0] = state[6]; + out_7591297481791533481[1] = state[7]; + out_7591297481791533481[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3731493154561833181) { - out_3731493154561833181[0] = 0; - out_3731493154561833181[1] = 0; - out_3731493154561833181[2] = 0; - out_3731493154561833181[3] = 0; - out_3731493154561833181[4] = 0; - out_3731493154561833181[5] = 0; - out_3731493154561833181[6] = 1; - out_3731493154561833181[7] = 0; - out_3731493154561833181[8] = 0; - out_3731493154561833181[9] = 0; - out_3731493154561833181[10] = 0; - out_3731493154561833181[11] = 0; - out_3731493154561833181[12] = 0; - out_3731493154561833181[13] = 0; - out_3731493154561833181[14] = 0; - out_3731493154561833181[15] = 0; - out_3731493154561833181[16] = 0; - out_3731493154561833181[17] = 0; - out_3731493154561833181[18] = 0; - out_3731493154561833181[19] = 0; - out_3731493154561833181[20] = 0; - out_3731493154561833181[21] = 0; - out_3731493154561833181[22] = 0; - out_3731493154561833181[23] = 0; - out_3731493154561833181[24] = 0; - out_3731493154561833181[25] = 1; - out_3731493154561833181[26] = 0; - out_3731493154561833181[27] = 0; - out_3731493154561833181[28] = 0; - out_3731493154561833181[29] = 0; - out_3731493154561833181[30] = 0; - out_3731493154561833181[31] = 0; - out_3731493154561833181[32] = 0; - out_3731493154561833181[33] = 0; - out_3731493154561833181[34] = 0; - out_3731493154561833181[35] = 0; - out_3731493154561833181[36] = 0; - out_3731493154561833181[37] = 0; - out_3731493154561833181[38] = 0; - out_3731493154561833181[39] = 0; - out_3731493154561833181[40] = 0; - out_3731493154561833181[41] = 0; - out_3731493154561833181[42] = 0; - out_3731493154561833181[43] = 0; - out_3731493154561833181[44] = 1; - out_3731493154561833181[45] = 0; - out_3731493154561833181[46] = 0; - out_3731493154561833181[47] = 0; - out_3731493154561833181[48] = 0; - out_3731493154561833181[49] = 0; - out_3731493154561833181[50] = 0; - out_3731493154561833181[51] = 0; - out_3731493154561833181[52] = 0; - out_3731493154561833181[53] = 0; +void H_14(double *state, double *unused, double *out_6932005822366423456) { + out_6932005822366423456[0] = 0; + out_6932005822366423456[1] = 0; + out_6932005822366423456[2] = 0; + out_6932005822366423456[3] = 0; + out_6932005822366423456[4] = 0; + out_6932005822366423456[5] = 0; + out_6932005822366423456[6] = 1; + out_6932005822366423456[7] = 0; + out_6932005822366423456[8] = 0; + out_6932005822366423456[9] = 0; + out_6932005822366423456[10] = 0; + out_6932005822366423456[11] = 0; + out_6932005822366423456[12] = 0; + out_6932005822366423456[13] = 0; + out_6932005822366423456[14] = 0; + out_6932005822366423456[15] = 0; + out_6932005822366423456[16] = 0; + out_6932005822366423456[17] = 0; + out_6932005822366423456[18] = 0; + out_6932005822366423456[19] = 0; + out_6932005822366423456[20] = 0; + out_6932005822366423456[21] = 0; + out_6932005822366423456[22] = 0; + out_6932005822366423456[23] = 0; + out_6932005822366423456[24] = 0; + out_6932005822366423456[25] = 1; + out_6932005822366423456[26] = 0; + out_6932005822366423456[27] = 0; + out_6932005822366423456[28] = 0; + out_6932005822366423456[29] = 0; + out_6932005822366423456[30] = 0; + out_6932005822366423456[31] = 0; + out_6932005822366423456[32] = 0; + out_6932005822366423456[33] = 0; + out_6932005822366423456[34] = 0; + out_6932005822366423456[35] = 0; + out_6932005822366423456[36] = 0; + out_6932005822366423456[37] = 0; + out_6932005822366423456[38] = 0; + out_6932005822366423456[39] = 0; + out_6932005822366423456[40] = 0; + out_6932005822366423456[41] = 0; + out_6932005822366423456[42] = 0; + out_6932005822366423456[43] = 0; + out_6932005822366423456[44] = 1; + out_6932005822366423456[45] = 0; + out_6932005822366423456[46] = 0; + out_6932005822366423456[47] = 0; + out_6932005822366423456[48] = 0; + out_6932005822366423456[49] = 0; + out_6932005822366423456[50] = 0; + out_6932005822366423456[51] = 0; + out_6932005822366423456[52] = 0; + out_6932005822366423456[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_6369833963809703045) { - err_fun(nom_x, delta_x, out_6369833963809703045); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7562252914855705934) { + err_fun(nom_x, delta_x, out_7562252914855705934); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4035234717988175099) { - inv_err_fun(nom_x, true_x, out_4035234717988175099); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7624660990393256492) { + inv_err_fun(nom_x, true_x, out_7624660990393256492); } -void pose_H_mod_fun(double *state, double *out_1402865724321173492) { - H_mod_fun(state, out_1402865724321173492); +void pose_H_mod_fun(double *state, double *out_4788463691933235788) { + H_mod_fun(state, out_4788463691933235788); } -void pose_f_fun(double *state, double dt, double *out_6035351479955239512) { - f_fun(state, dt, out_6035351479955239512); +void pose_f_fun(double *state, double dt, double *out_278833928334043643) { + f_fun(state, dt, out_278833928334043643); } -void pose_F_fun(double *state, double dt, double *out_4841453483990746406) { - F_fun(state, dt, out_4841453483990746406); +void pose_F_fun(double *state, double dt, double *out_4640315684238237796) { + F_fun(state, dt, out_4640315684238237796); } -void pose_h_4(double *state, double *unused, double *out_3927517291904970746) { - h_4(state, unused, out_3927517291904970746); +void pose_h_4(double *state, double *unused, double *out_5623878395716679644) { + h_4(state, unused, out_5623878395716679644); } -void pose_H_4(double *state, double *unused, double *out_648704722266460885) { - H_4(state, unused, out_648704722266460885); +void pose_H_4(double *state, double *unused, double *out_2968764966026938927) { + H_4(state, unused, out_2968764966026938927); } -void pose_h_10(double *state, double *unused, double *out_6439648934382479816) { - h_10(state, unused, out_6439648934382479816); +void pose_h_10(double *state, double *unused, double *out_1108484870937860123) { + h_10(state, unused, out_1108484870937860123); } -void pose_H_10(double *state, double *unused, double *out_4788307442778779812) { - H_10(state, unused, out_4788307442778779812); +void pose_H_10(double *state, double *unused, double *out_562715734289542272) { + H_10(state, unused, out_562715734289542272); } -void pose_h_13(double *state, double *unused, double *out_7496824369401694209) { - h_13(state, unused, out_7496824369401694209); +void pose_h_13(double *state, double *unused, double *out_7517291163150813919) { + h_13(state, unused, out_7517291163150813919); } -void pose_H_13(double *state, double *unused, double *out_4482460185568984909) { - H_13(state, unused, out_4482460185568984909); +void pose_H_13(double *state, double *unused, double *out_6181038791359271728) { + H_13(state, unused, out_6181038791359271728); } -void pose_h_14(double *state, double *unused, double *out_6785183211401772861) { - h_14(state, unused, out_6785183211401772861); +void pose_h_14(double *state, double *unused, double *out_7591297481791533481) { + h_14(state, unused, out_7591297481791533481); } -void pose_H_14(double *state, double *unused, double *out_3731493154561833181) { - H_14(state, unused, out_3731493154561833181); +void pose_H_14(double *state, double *unused, double *out_6932005822366423456) { + H_14(state, unused, out_6932005822366423456); } 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 e99d96a4b..7a78b173b 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_6369833963809703045); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4035234717988175099); -void pose_H_mod_fun(double *state, double *out_1402865724321173492); -void pose_f_fun(double *state, double dt, double *out_6035351479955239512); -void pose_F_fun(double *state, double dt, double *out_4841453483990746406); -void pose_h_4(double *state, double *unused, double *out_3927517291904970746); -void pose_H_4(double *state, double *unused, double *out_648704722266460885); -void pose_h_10(double *state, double *unused, double *out_6439648934382479816); -void pose_H_10(double *state, double *unused, double *out_4788307442778779812); -void pose_h_13(double *state, double *unused, double *out_7496824369401694209); -void pose_H_13(double *state, double *unused, double *out_4482460185568984909); -void pose_h_14(double *state, double *unused, double *out_6785183211401772861); -void pose_H_14(double *state, double *unused, double *out_3731493154561833181); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7562252914855705934); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7624660990393256492); +void pose_H_mod_fun(double *state, double *out_4788463691933235788); +void pose_f_fun(double *state, double dt, double *out_278833928334043643); +void pose_F_fun(double *state, double dt, double *out_4640315684238237796); +void pose_h_4(double *state, double *unused, double *out_5623878395716679644); +void pose_H_4(double *state, double *unused, double *out_2968764966026938927); +void pose_h_10(double *state, double *unused, double *out_1108484870937860123); +void pose_H_10(double *state, double *unused, double *out_562715734289542272); +void pose_h_13(double *state, double *unused, double *out_7517291163150813919); +void pose_H_13(double *state, double *unused, double *out_6181038791359271728); +void pose_h_14(double *state, double *unused, double *out_7591297481791533481); +void pose_H_14(double *state, double *unused, double *out_6932005822366423456); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file