diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 65b3adbfd..4886a57dc 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 0c894de97..77b947fb2 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 34d6a5428..0b6a3c1b4 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 2584257b6..d2170d6a6 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 e15638520..59d6b83ed 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 46292fee3..0891e09cf 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 a68a2bb48..dc055fe8b 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 a68a2bb48..dc055fe8b 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-f2e6fdde-DEBUG"; +const uint8_t gitversion[19] = "DEV-730ba6e1-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 08b2535e7..4edb8c80d 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 2dd7186c7..b87096396 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 432a2120e..35c2af1db 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 122c2f45b..82053c6ca 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 52b6ae4a8..4718c5be2 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 650bdf7b5..8d9838a52 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-f2e6fdde-DEBUG \ No newline at end of file +DEV-730ba6e1-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 5fcbb3b1b..78a5d4522 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_5397134643365763284) { - out_5397134643365763284[0] = delta_x[0] + nom_x[0]; - out_5397134643365763284[1] = delta_x[1] + nom_x[1]; - out_5397134643365763284[2] = delta_x[2] + nom_x[2]; - out_5397134643365763284[3] = delta_x[3] + nom_x[3]; - out_5397134643365763284[4] = delta_x[4] + nom_x[4]; - out_5397134643365763284[5] = delta_x[5] + nom_x[5]; - out_5397134643365763284[6] = delta_x[6] + nom_x[6]; - out_5397134643365763284[7] = delta_x[7] + nom_x[7]; - out_5397134643365763284[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3975331509919415286) { + out_3975331509919415286[0] = delta_x[0] + nom_x[0]; + out_3975331509919415286[1] = delta_x[1] + nom_x[1]; + out_3975331509919415286[2] = delta_x[2] + nom_x[2]; + out_3975331509919415286[3] = delta_x[3] + nom_x[3]; + out_3975331509919415286[4] = delta_x[4] + nom_x[4]; + out_3975331509919415286[5] = delta_x[5] + nom_x[5]; + out_3975331509919415286[6] = delta_x[6] + nom_x[6]; + out_3975331509919415286[7] = delta_x[7] + nom_x[7]; + out_3975331509919415286[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_643379036491463030) { - out_643379036491463030[0] = -nom_x[0] + true_x[0]; - out_643379036491463030[1] = -nom_x[1] + true_x[1]; - out_643379036491463030[2] = -nom_x[2] + true_x[2]; - out_643379036491463030[3] = -nom_x[3] + true_x[3]; - out_643379036491463030[4] = -nom_x[4] + true_x[4]; - out_643379036491463030[5] = -nom_x[5] + true_x[5]; - out_643379036491463030[6] = -nom_x[6] + true_x[6]; - out_643379036491463030[7] = -nom_x[7] + true_x[7]; - out_643379036491463030[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7634853030167298340) { + out_7634853030167298340[0] = -nom_x[0] + true_x[0]; + out_7634853030167298340[1] = -nom_x[1] + true_x[1]; + out_7634853030167298340[2] = -nom_x[2] + true_x[2]; + out_7634853030167298340[3] = -nom_x[3] + true_x[3]; + out_7634853030167298340[4] = -nom_x[4] + true_x[4]; + out_7634853030167298340[5] = -nom_x[5] + true_x[5]; + out_7634853030167298340[6] = -nom_x[6] + true_x[6]; + out_7634853030167298340[7] = -nom_x[7] + true_x[7]; + out_7634853030167298340[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8008223313057305919) { - out_8008223313057305919[0] = 1.0; - out_8008223313057305919[1] = 0.0; - out_8008223313057305919[2] = 0.0; - out_8008223313057305919[3] = 0.0; - out_8008223313057305919[4] = 0.0; - out_8008223313057305919[5] = 0.0; - out_8008223313057305919[6] = 0.0; - out_8008223313057305919[7] = 0.0; - out_8008223313057305919[8] = 0.0; - out_8008223313057305919[9] = 0.0; - out_8008223313057305919[10] = 1.0; - out_8008223313057305919[11] = 0.0; - out_8008223313057305919[12] = 0.0; - out_8008223313057305919[13] = 0.0; - out_8008223313057305919[14] = 0.0; - out_8008223313057305919[15] = 0.0; - out_8008223313057305919[16] = 0.0; - out_8008223313057305919[17] = 0.0; - out_8008223313057305919[18] = 0.0; - out_8008223313057305919[19] = 0.0; - out_8008223313057305919[20] = 1.0; - out_8008223313057305919[21] = 0.0; - out_8008223313057305919[22] = 0.0; - out_8008223313057305919[23] = 0.0; - out_8008223313057305919[24] = 0.0; - out_8008223313057305919[25] = 0.0; - out_8008223313057305919[26] = 0.0; - out_8008223313057305919[27] = 0.0; - out_8008223313057305919[28] = 0.0; - out_8008223313057305919[29] = 0.0; - out_8008223313057305919[30] = 1.0; - out_8008223313057305919[31] = 0.0; - out_8008223313057305919[32] = 0.0; - out_8008223313057305919[33] = 0.0; - out_8008223313057305919[34] = 0.0; - out_8008223313057305919[35] = 0.0; - out_8008223313057305919[36] = 0.0; - out_8008223313057305919[37] = 0.0; - out_8008223313057305919[38] = 0.0; - out_8008223313057305919[39] = 0.0; - out_8008223313057305919[40] = 1.0; - out_8008223313057305919[41] = 0.0; - out_8008223313057305919[42] = 0.0; - out_8008223313057305919[43] = 0.0; - out_8008223313057305919[44] = 0.0; - out_8008223313057305919[45] = 0.0; - out_8008223313057305919[46] = 0.0; - out_8008223313057305919[47] = 0.0; - out_8008223313057305919[48] = 0.0; - out_8008223313057305919[49] = 0.0; - out_8008223313057305919[50] = 1.0; - out_8008223313057305919[51] = 0.0; - out_8008223313057305919[52] = 0.0; - out_8008223313057305919[53] = 0.0; - out_8008223313057305919[54] = 0.0; - out_8008223313057305919[55] = 0.0; - out_8008223313057305919[56] = 0.0; - out_8008223313057305919[57] = 0.0; - out_8008223313057305919[58] = 0.0; - out_8008223313057305919[59] = 0.0; - out_8008223313057305919[60] = 1.0; - out_8008223313057305919[61] = 0.0; - out_8008223313057305919[62] = 0.0; - out_8008223313057305919[63] = 0.0; - out_8008223313057305919[64] = 0.0; - out_8008223313057305919[65] = 0.0; - out_8008223313057305919[66] = 0.0; - out_8008223313057305919[67] = 0.0; - out_8008223313057305919[68] = 0.0; - out_8008223313057305919[69] = 0.0; - out_8008223313057305919[70] = 1.0; - out_8008223313057305919[71] = 0.0; - out_8008223313057305919[72] = 0.0; - out_8008223313057305919[73] = 0.0; - out_8008223313057305919[74] = 0.0; - out_8008223313057305919[75] = 0.0; - out_8008223313057305919[76] = 0.0; - out_8008223313057305919[77] = 0.0; - out_8008223313057305919[78] = 0.0; - out_8008223313057305919[79] = 0.0; - out_8008223313057305919[80] = 1.0; +void H_mod_fun(double *state, double *out_5558041618437033789) { + out_5558041618437033789[0] = 1.0; + out_5558041618437033789[1] = 0.0; + out_5558041618437033789[2] = 0.0; + out_5558041618437033789[3] = 0.0; + out_5558041618437033789[4] = 0.0; + out_5558041618437033789[5] = 0.0; + out_5558041618437033789[6] = 0.0; + out_5558041618437033789[7] = 0.0; + out_5558041618437033789[8] = 0.0; + out_5558041618437033789[9] = 0.0; + out_5558041618437033789[10] = 1.0; + out_5558041618437033789[11] = 0.0; + out_5558041618437033789[12] = 0.0; + out_5558041618437033789[13] = 0.0; + out_5558041618437033789[14] = 0.0; + out_5558041618437033789[15] = 0.0; + out_5558041618437033789[16] = 0.0; + out_5558041618437033789[17] = 0.0; + out_5558041618437033789[18] = 0.0; + out_5558041618437033789[19] = 0.0; + out_5558041618437033789[20] = 1.0; + out_5558041618437033789[21] = 0.0; + out_5558041618437033789[22] = 0.0; + out_5558041618437033789[23] = 0.0; + out_5558041618437033789[24] = 0.0; + out_5558041618437033789[25] = 0.0; + out_5558041618437033789[26] = 0.0; + out_5558041618437033789[27] = 0.0; + out_5558041618437033789[28] = 0.0; + out_5558041618437033789[29] = 0.0; + out_5558041618437033789[30] = 1.0; + out_5558041618437033789[31] = 0.0; + out_5558041618437033789[32] = 0.0; + out_5558041618437033789[33] = 0.0; + out_5558041618437033789[34] = 0.0; + out_5558041618437033789[35] = 0.0; + out_5558041618437033789[36] = 0.0; + out_5558041618437033789[37] = 0.0; + out_5558041618437033789[38] = 0.0; + out_5558041618437033789[39] = 0.0; + out_5558041618437033789[40] = 1.0; + out_5558041618437033789[41] = 0.0; + out_5558041618437033789[42] = 0.0; + out_5558041618437033789[43] = 0.0; + out_5558041618437033789[44] = 0.0; + out_5558041618437033789[45] = 0.0; + out_5558041618437033789[46] = 0.0; + out_5558041618437033789[47] = 0.0; + out_5558041618437033789[48] = 0.0; + out_5558041618437033789[49] = 0.0; + out_5558041618437033789[50] = 1.0; + out_5558041618437033789[51] = 0.0; + out_5558041618437033789[52] = 0.0; + out_5558041618437033789[53] = 0.0; + out_5558041618437033789[54] = 0.0; + out_5558041618437033789[55] = 0.0; + out_5558041618437033789[56] = 0.0; + out_5558041618437033789[57] = 0.0; + out_5558041618437033789[58] = 0.0; + out_5558041618437033789[59] = 0.0; + out_5558041618437033789[60] = 1.0; + out_5558041618437033789[61] = 0.0; + out_5558041618437033789[62] = 0.0; + out_5558041618437033789[63] = 0.0; + out_5558041618437033789[64] = 0.0; + out_5558041618437033789[65] = 0.0; + out_5558041618437033789[66] = 0.0; + out_5558041618437033789[67] = 0.0; + out_5558041618437033789[68] = 0.0; + out_5558041618437033789[69] = 0.0; + out_5558041618437033789[70] = 1.0; + out_5558041618437033789[71] = 0.0; + out_5558041618437033789[72] = 0.0; + out_5558041618437033789[73] = 0.0; + out_5558041618437033789[74] = 0.0; + out_5558041618437033789[75] = 0.0; + out_5558041618437033789[76] = 0.0; + out_5558041618437033789[77] = 0.0; + out_5558041618437033789[78] = 0.0; + out_5558041618437033789[79] = 0.0; + out_5558041618437033789[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1320186800141293730) { - out_1320186800141293730[0] = state[0]; - out_1320186800141293730[1] = state[1]; - out_1320186800141293730[2] = state[2]; - out_1320186800141293730[3] = state[3]; - out_1320186800141293730[4] = state[4]; - out_1320186800141293730[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_1320186800141293730[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_1320186800141293730[7] = state[7]; - out_1320186800141293730[8] = state[8]; +void f_fun(double *state, double dt, double *out_8628820520711137836) { + out_8628820520711137836[0] = state[0]; + out_8628820520711137836[1] = state[1]; + out_8628820520711137836[2] = state[2]; + out_8628820520711137836[3] = state[3]; + out_8628820520711137836[4] = state[4]; + out_8628820520711137836[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_8628820520711137836[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_8628820520711137836[7] = state[7]; + out_8628820520711137836[8] = state[8]; } -void F_fun(double *state, double dt, double *out_4790924461105660686) { - out_4790924461105660686[0] = 1; - out_4790924461105660686[1] = 0; - out_4790924461105660686[2] = 0; - out_4790924461105660686[3] = 0; - out_4790924461105660686[4] = 0; - out_4790924461105660686[5] = 0; - out_4790924461105660686[6] = 0; - out_4790924461105660686[7] = 0; - out_4790924461105660686[8] = 0; - out_4790924461105660686[9] = 0; - out_4790924461105660686[10] = 1; - out_4790924461105660686[11] = 0; - out_4790924461105660686[12] = 0; - out_4790924461105660686[13] = 0; - out_4790924461105660686[14] = 0; - out_4790924461105660686[15] = 0; - out_4790924461105660686[16] = 0; - out_4790924461105660686[17] = 0; - out_4790924461105660686[18] = 0; - out_4790924461105660686[19] = 0; - out_4790924461105660686[20] = 1; - out_4790924461105660686[21] = 0; - out_4790924461105660686[22] = 0; - out_4790924461105660686[23] = 0; - out_4790924461105660686[24] = 0; - out_4790924461105660686[25] = 0; - out_4790924461105660686[26] = 0; - out_4790924461105660686[27] = 0; - out_4790924461105660686[28] = 0; - out_4790924461105660686[29] = 0; - out_4790924461105660686[30] = 1; - out_4790924461105660686[31] = 0; - out_4790924461105660686[32] = 0; - out_4790924461105660686[33] = 0; - out_4790924461105660686[34] = 0; - out_4790924461105660686[35] = 0; - out_4790924461105660686[36] = 0; - out_4790924461105660686[37] = 0; - out_4790924461105660686[38] = 0; - out_4790924461105660686[39] = 0; - out_4790924461105660686[40] = 1; - out_4790924461105660686[41] = 0; - out_4790924461105660686[42] = 0; - out_4790924461105660686[43] = 0; - out_4790924461105660686[44] = 0; - out_4790924461105660686[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_4790924461105660686[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_4790924461105660686[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4790924461105660686[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4790924461105660686[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_4790924461105660686[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_4790924461105660686[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_4790924461105660686[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_4790924461105660686[53] = -9.8100000000000005*dt; - out_4790924461105660686[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_4790924461105660686[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_4790924461105660686[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4790924461105660686[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4790924461105660686[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_4790924461105660686[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_4790924461105660686[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_4790924461105660686[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4790924461105660686[62] = 0; - out_4790924461105660686[63] = 0; - out_4790924461105660686[64] = 0; - out_4790924461105660686[65] = 0; - out_4790924461105660686[66] = 0; - out_4790924461105660686[67] = 0; - out_4790924461105660686[68] = 0; - out_4790924461105660686[69] = 0; - out_4790924461105660686[70] = 1; - out_4790924461105660686[71] = 0; - out_4790924461105660686[72] = 0; - out_4790924461105660686[73] = 0; - out_4790924461105660686[74] = 0; - out_4790924461105660686[75] = 0; - out_4790924461105660686[76] = 0; - out_4790924461105660686[77] = 0; - out_4790924461105660686[78] = 0; - out_4790924461105660686[79] = 0; - out_4790924461105660686[80] = 1; +void F_fun(double *state, double dt, double *out_937688393817481927) { + out_937688393817481927[0] = 1; + out_937688393817481927[1] = 0; + out_937688393817481927[2] = 0; + out_937688393817481927[3] = 0; + out_937688393817481927[4] = 0; + out_937688393817481927[5] = 0; + out_937688393817481927[6] = 0; + out_937688393817481927[7] = 0; + out_937688393817481927[8] = 0; + out_937688393817481927[9] = 0; + out_937688393817481927[10] = 1; + out_937688393817481927[11] = 0; + out_937688393817481927[12] = 0; + out_937688393817481927[13] = 0; + out_937688393817481927[14] = 0; + out_937688393817481927[15] = 0; + out_937688393817481927[16] = 0; + out_937688393817481927[17] = 0; + out_937688393817481927[18] = 0; + out_937688393817481927[19] = 0; + out_937688393817481927[20] = 1; + out_937688393817481927[21] = 0; + out_937688393817481927[22] = 0; + out_937688393817481927[23] = 0; + out_937688393817481927[24] = 0; + out_937688393817481927[25] = 0; + out_937688393817481927[26] = 0; + out_937688393817481927[27] = 0; + out_937688393817481927[28] = 0; + out_937688393817481927[29] = 0; + out_937688393817481927[30] = 1; + out_937688393817481927[31] = 0; + out_937688393817481927[32] = 0; + out_937688393817481927[33] = 0; + out_937688393817481927[34] = 0; + out_937688393817481927[35] = 0; + out_937688393817481927[36] = 0; + out_937688393817481927[37] = 0; + out_937688393817481927[38] = 0; + out_937688393817481927[39] = 0; + out_937688393817481927[40] = 1; + out_937688393817481927[41] = 0; + out_937688393817481927[42] = 0; + out_937688393817481927[43] = 0; + out_937688393817481927[44] = 0; + out_937688393817481927[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_937688393817481927[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_937688393817481927[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_937688393817481927[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_937688393817481927[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_937688393817481927[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_937688393817481927[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_937688393817481927[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_937688393817481927[53] = -9.8100000000000005*dt; + out_937688393817481927[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_937688393817481927[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_937688393817481927[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_937688393817481927[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_937688393817481927[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_937688393817481927[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_937688393817481927[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_937688393817481927[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_937688393817481927[62] = 0; + out_937688393817481927[63] = 0; + out_937688393817481927[64] = 0; + out_937688393817481927[65] = 0; + out_937688393817481927[66] = 0; + out_937688393817481927[67] = 0; + out_937688393817481927[68] = 0; + out_937688393817481927[69] = 0; + out_937688393817481927[70] = 1; + out_937688393817481927[71] = 0; + out_937688393817481927[72] = 0; + out_937688393817481927[73] = 0; + out_937688393817481927[74] = 0; + out_937688393817481927[75] = 0; + out_937688393817481927[76] = 0; + out_937688393817481927[77] = 0; + out_937688393817481927[78] = 0; + out_937688393817481927[79] = 0; + out_937688393817481927[80] = 1; } -void h_25(double *state, double *unused, double *out_4267314374776649182) { - out_4267314374776649182[0] = state[6]; +void h_25(double *state, double *unused, double *out_4714258583115160121) { + out_4714258583115160121[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5534828935467580857) { - out_5534828935467580857[0] = 0; - out_5534828935467580857[1] = 0; - out_5534828935467580857[2] = 0; - out_5534828935467580857[3] = 0; - out_5534828935467580857[4] = 0; - out_5534828935467580857[5] = 0; - out_5534828935467580857[6] = 1; - out_5534828935467580857[7] = 0; - out_5534828935467580857[8] = 0; +void H_25(double *state, double *unused, double *out_3228209521213378417) { + out_3228209521213378417[0] = 0; + out_3228209521213378417[1] = 0; + out_3228209521213378417[2] = 0; + out_3228209521213378417[3] = 0; + out_3228209521213378417[4] = 0; + out_3228209521213378417[5] = 0; + out_3228209521213378417[6] = 1; + out_3228209521213378417[7] = 0; + out_3228209521213378417[8] = 0; } -void h_24(double *state, double *unused, double *out_544790792172897547) { - out_544790792172897547[0] = state[4]; - out_544790792172897547[1] = state[5]; +void h_24(double *state, double *unused, double *out_8700237868881615564) { + out_8700237868881615564[0] = state[4]; + out_8700237868881615564[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7263692054644894926) { - out_7263692054644894926[0] = 0; - out_7263692054644894926[1] = 0; - out_7263692054644894926[2] = 0; - out_7263692054644894926[3] = 0; - out_7263692054644894926[4] = 1; - out_7263692054644894926[5] = 0; - out_7263692054644894926[6] = 0; - out_7263692054644894926[7] = 0; - out_7263692054644894926[8] = 0; - out_7263692054644894926[9] = 0; - out_7263692054644894926[10] = 0; - out_7263692054644894926[11] = 0; - out_7263692054644894926[12] = 0; - out_7263692054644894926[13] = 0; - out_7263692054644894926[14] = 1; - out_7263692054644894926[15] = 0; - out_7263692054644894926[16] = 0; - out_7263692054644894926[17] = 0; +void H_24(double *state, double *unused, double *out_8097024386241085269) { + out_8097024386241085269[0] = 0; + out_8097024386241085269[1] = 0; + out_8097024386241085269[2] = 0; + out_8097024386241085269[3] = 0; + out_8097024386241085269[4] = 1; + out_8097024386241085269[5] = 0; + out_8097024386241085269[6] = 0; + out_8097024386241085269[7] = 0; + out_8097024386241085269[8] = 0; + out_8097024386241085269[9] = 0; + out_8097024386241085269[10] = 0; + out_8097024386241085269[11] = 0; + out_8097024386241085269[12] = 0; + out_8097024386241085269[13] = 0; + out_8097024386241085269[14] = 1; + out_8097024386241085269[15] = 0; + out_8097024386241085269[16] = 0; + out_8097024386241085269[17] = 0; } -void h_30(double *state, double *unused, double *out_1899799665194485121) { - out_1899799665194485121[0] = state[4]; +void h_30(double *state, double *unused, double *out_4557071914764030976) { + out_4557071914764030976[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1381861406024035898) { - out_1381861406024035898[0] = 0; - out_1381861406024035898[1] = 0; - out_1381861406024035898[2] = 0; - out_1381861406024035898[3] = 0; - out_1381861406024035898[4] = 1; - out_1381861406024035898[5] = 0; - out_1381861406024035898[6] = 0; - out_1381861406024035898[7] = 0; - out_1381861406024035898[8] = 0; +void H_30(double *state, double *unused, double *out_7755905851340986615) { + out_7755905851340986615[0] = 0; + out_7755905851340986615[1] = 0; + out_7755905851340986615[2] = 0; + out_7755905851340986615[3] = 0; + out_7755905851340986615[4] = 1; + out_7755905851340986615[5] = 0; + out_7755905851340986615[6] = 0; + out_7755905851340986615[7] = 0; + out_7755905851340986615[8] = 0; } -void h_26(double *state, double *unused, double *out_956289812292822686) { - out_956289812292822686[0] = state[7]; +void h_26(double *state, double *unused, double *out_7593857966208363661) { + out_7593857966208363661[0] = state[7]; } -void H_26(double *state, double *unused, double *out_2230302965706780256) { - out_2230302965706780256[0] = 0; - out_2230302965706780256[1] = 0; - out_2230302965706780256[2] = 0; - out_2230302965706780256[3] = 0; - out_2230302965706780256[4] = 0; - out_2230302965706780256[5] = 0; - out_2230302965706780256[6] = 0; - out_2230302965706780256[7] = 1; - out_2230302965706780256[8] = 0; +void H_26(double *state, double *unused, double *out_6969712840087434641) { + out_6969712840087434641[0] = 0; + out_6969712840087434641[1] = 0; + out_6969712840087434641[2] = 0; + out_6969712840087434641[3] = 0; + out_6969712840087434641[4] = 0; + out_6969712840087434641[5] = 0; + out_6969712840087434641[6] = 0; + out_6969712840087434641[7] = 1; + out_6969712840087434641[8] = 0; } -void h_27(double *state, double *unused, double *out_9177756431272056789) { - out_9177756431272056789[0] = state[3]; +void h_27(double *state, double *unused, double *out_8506578274759066548) { + out_8506578274759066548[0] = state[3]; } -void H_27(double *state, double *unused, double *out_792901905776389013) { - out_792901905776389013[0] = 0; - out_792901905776389013[1] = 0; - out_792901905776389013[2] = 0; - out_792901905776389013[3] = 1; - out_792901905776389013[4] = 0; - out_792901905776389013[5] = 0; - out_792901905776389013[6] = 0; - out_792901905776389013[7] = 0; - out_792901905776389013[8] = 0; +void H_27(double *state, double *unused, double *out_5532311780157043398) { + out_5532311780157043398[0] = 0; + out_5532311780157043398[1] = 0; + out_5532311780157043398[2] = 0; + out_5532311780157043398[3] = 1; + out_5532311780157043398[4] = 0; + out_5532311780157043398[5] = 0; + out_5532311780157043398[6] = 0; + out_5532311780157043398[7] = 0; + out_5532311780157043398[8] = 0; } -void h_29(double *state, double *unused, double *out_8902562368987550900) { - out_8902562368987550900[0] = state[1]; +void h_29(double *state, double *unused, double *out_4869128746505044198) { + out_4869128746505044198[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2506264632645940046) { - out_2506264632645940046[0] = 0; - out_2506264632645940046[1] = 1; - out_2506264632645940046[2] = 0; - out_2506264632645940046[3] = 0; - out_2506264632645940046[4] = 0; - out_2506264632645940046[5] = 0; - out_2506264632645940046[6] = 0; - out_2506264632645940046[7] = 0; - out_2506264632645940046[8] = 0; +void H_29(double *state, double *unused, double *out_7245674507026594431) { + out_7245674507026594431[0] = 0; + out_7245674507026594431[1] = 1; + out_7245674507026594431[2] = 0; + out_7245674507026594431[3] = 0; + out_7245674507026594431[4] = 0; + out_7245674507026594431[5] = 0; + out_7245674507026594431[6] = 0; + out_7245674507026594431[7] = 0; + out_7245674507026594431[8] = 0; } -void h_28(double *state, double *unused, double *out_3951849215436731842) { - out_3951849215436731842[0] = state[0]; +void h_28(double *state, double *unused, double *out_3664394704215203127) { + out_3664394704215203127[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7588663649715470620) { - out_7588663649715470620[0] = 1; - out_7588663649715470620[1] = 0; - out_7588663649715470620[2] = 0; - out_7588663649715470620[3] = 0; - out_7588663649715470620[4] = 0; - out_7588663649715470620[5] = 0; - out_7588663649715470620[6] = 0; - out_7588663649715470620[7] = 0; - out_7588663649715470620[8] = 0; +void H_28(double *state, double *unused, double *out_5282044235461268180) { + out_5282044235461268180[0] = 1; + out_5282044235461268180[1] = 0; + out_5282044235461268180[2] = 0; + out_5282044235461268180[3] = 0; + out_5282044235461268180[4] = 0; + out_5282044235461268180[5] = 0; + out_5282044235461268180[6] = 0; + out_5282044235461268180[7] = 0; + out_5282044235461268180[8] = 0; } -void h_31(double *state, double *unused, double *out_629864846522626832) { - out_629864846522626832[0] = state[8]; +void h_31(double *state, double *unused, double *out_6047692778171023868) { + out_6047692778171023868[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1541846315044236396) { - out_1541846315044236396[0] = 0; - out_1541846315044236396[1] = 0; - out_1541846315044236396[2] = 0; - out_1541846315044236396[3] = 0; - out_1541846315044236396[4] = 0; - out_1541846315044236396[5] = 0; - out_1541846315044236396[6] = 0; - out_1541846315044236396[7] = 0; - out_1541846315044236396[8] = 1; +void H_31(double *state, double *unused, double *out_7595920942320786117) { + out_7595920942320786117[0] = 0; + out_7595920942320786117[1] = 0; + out_7595920942320786117[2] = 0; + out_7595920942320786117[3] = 0; + out_7595920942320786117[4] = 0; + out_7595920942320786117[5] = 0; + out_7595920942320786117[6] = 0; + out_7595920942320786117[7] = 0; + out_7595920942320786117[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_5397134643365763284) { - err_fun(nom_x, delta_x, out_5397134643365763284); +void car_err_fun(double *nom_x, double *delta_x, double *out_3975331509919415286) { + err_fun(nom_x, delta_x, out_3975331509919415286); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_643379036491463030) { - inv_err_fun(nom_x, true_x, out_643379036491463030); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7634853030167298340) { + inv_err_fun(nom_x, true_x, out_7634853030167298340); } -void car_H_mod_fun(double *state, double *out_8008223313057305919) { - H_mod_fun(state, out_8008223313057305919); +void car_H_mod_fun(double *state, double *out_5558041618437033789) { + H_mod_fun(state, out_5558041618437033789); } -void car_f_fun(double *state, double dt, double *out_1320186800141293730) { - f_fun(state, dt, out_1320186800141293730); +void car_f_fun(double *state, double dt, double *out_8628820520711137836) { + f_fun(state, dt, out_8628820520711137836); } -void car_F_fun(double *state, double dt, double *out_4790924461105660686) { - F_fun(state, dt, out_4790924461105660686); +void car_F_fun(double *state, double dt, double *out_937688393817481927) { + F_fun(state, dt, out_937688393817481927); } -void car_h_25(double *state, double *unused, double *out_4267314374776649182) { - h_25(state, unused, out_4267314374776649182); +void car_h_25(double *state, double *unused, double *out_4714258583115160121) { + h_25(state, unused, out_4714258583115160121); } -void car_H_25(double *state, double *unused, double *out_5534828935467580857) { - H_25(state, unused, out_5534828935467580857); +void car_H_25(double *state, double *unused, double *out_3228209521213378417) { + H_25(state, unused, out_3228209521213378417); } -void car_h_24(double *state, double *unused, double *out_544790792172897547) { - h_24(state, unused, out_544790792172897547); +void car_h_24(double *state, double *unused, double *out_8700237868881615564) { + h_24(state, unused, out_8700237868881615564); } -void car_H_24(double *state, double *unused, double *out_7263692054644894926) { - H_24(state, unused, out_7263692054644894926); +void car_H_24(double *state, double *unused, double *out_8097024386241085269) { + H_24(state, unused, out_8097024386241085269); } -void car_h_30(double *state, double *unused, double *out_1899799665194485121) { - h_30(state, unused, out_1899799665194485121); +void car_h_30(double *state, double *unused, double *out_4557071914764030976) { + h_30(state, unused, out_4557071914764030976); } -void car_H_30(double *state, double *unused, double *out_1381861406024035898) { - H_30(state, unused, out_1381861406024035898); +void car_H_30(double *state, double *unused, double *out_7755905851340986615) { + H_30(state, unused, out_7755905851340986615); } -void car_h_26(double *state, double *unused, double *out_956289812292822686) { - h_26(state, unused, out_956289812292822686); +void car_h_26(double *state, double *unused, double *out_7593857966208363661) { + h_26(state, unused, out_7593857966208363661); } -void car_H_26(double *state, double *unused, double *out_2230302965706780256) { - H_26(state, unused, out_2230302965706780256); +void car_H_26(double *state, double *unused, double *out_6969712840087434641) { + H_26(state, unused, out_6969712840087434641); } -void car_h_27(double *state, double *unused, double *out_9177756431272056789) { - h_27(state, unused, out_9177756431272056789); +void car_h_27(double *state, double *unused, double *out_8506578274759066548) { + h_27(state, unused, out_8506578274759066548); } -void car_H_27(double *state, double *unused, double *out_792901905776389013) { - H_27(state, unused, out_792901905776389013); +void car_H_27(double *state, double *unused, double *out_5532311780157043398) { + H_27(state, unused, out_5532311780157043398); } -void car_h_29(double *state, double *unused, double *out_8902562368987550900) { - h_29(state, unused, out_8902562368987550900); +void car_h_29(double *state, double *unused, double *out_4869128746505044198) { + h_29(state, unused, out_4869128746505044198); } -void car_H_29(double *state, double *unused, double *out_2506264632645940046) { - H_29(state, unused, out_2506264632645940046); +void car_H_29(double *state, double *unused, double *out_7245674507026594431) { + H_29(state, unused, out_7245674507026594431); } -void car_h_28(double *state, double *unused, double *out_3951849215436731842) { - h_28(state, unused, out_3951849215436731842); +void car_h_28(double *state, double *unused, double *out_3664394704215203127) { + h_28(state, unused, out_3664394704215203127); } -void car_H_28(double *state, double *unused, double *out_7588663649715470620) { - H_28(state, unused, out_7588663649715470620); +void car_H_28(double *state, double *unused, double *out_5282044235461268180) { + H_28(state, unused, out_5282044235461268180); } -void car_h_31(double *state, double *unused, double *out_629864846522626832) { - h_31(state, unused, out_629864846522626832); +void car_h_31(double *state, double *unused, double *out_6047692778171023868) { + h_31(state, unused, out_6047692778171023868); } -void car_H_31(double *state, double *unused, double *out_1541846315044236396) { - H_31(state, unused, out_1541846315044236396); +void car_H_31(double *state, double *unused, double *out_7595920942320786117) { + H_31(state, unused, out_7595920942320786117); } 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 b32b0e82b..84bfc6206 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_5397134643365763284); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_643379036491463030); -void car_H_mod_fun(double *state, double *out_8008223313057305919); -void car_f_fun(double *state, double dt, double *out_1320186800141293730); -void car_F_fun(double *state, double dt, double *out_4790924461105660686); -void car_h_25(double *state, double *unused, double *out_4267314374776649182); -void car_H_25(double *state, double *unused, double *out_5534828935467580857); -void car_h_24(double *state, double *unused, double *out_544790792172897547); -void car_H_24(double *state, double *unused, double *out_7263692054644894926); -void car_h_30(double *state, double *unused, double *out_1899799665194485121); -void car_H_30(double *state, double *unused, double *out_1381861406024035898); -void car_h_26(double *state, double *unused, double *out_956289812292822686); -void car_H_26(double *state, double *unused, double *out_2230302965706780256); -void car_h_27(double *state, double *unused, double *out_9177756431272056789); -void car_H_27(double *state, double *unused, double *out_792901905776389013); -void car_h_29(double *state, double *unused, double *out_8902562368987550900); -void car_H_29(double *state, double *unused, double *out_2506264632645940046); -void car_h_28(double *state, double *unused, double *out_3951849215436731842); -void car_H_28(double *state, double *unused, double *out_7588663649715470620); -void car_h_31(double *state, double *unused, double *out_629864846522626832); -void car_H_31(double *state, double *unused, double *out_1541846315044236396); +void car_err_fun(double *nom_x, double *delta_x, double *out_3975331509919415286); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7634853030167298340); +void car_H_mod_fun(double *state, double *out_5558041618437033789); +void car_f_fun(double *state, double dt, double *out_8628820520711137836); +void car_F_fun(double *state, double dt, double *out_937688393817481927); +void car_h_25(double *state, double *unused, double *out_4714258583115160121); +void car_H_25(double *state, double *unused, double *out_3228209521213378417); +void car_h_24(double *state, double *unused, double *out_8700237868881615564); +void car_H_24(double *state, double *unused, double *out_8097024386241085269); +void car_h_30(double *state, double *unused, double *out_4557071914764030976); +void car_H_30(double *state, double *unused, double *out_7755905851340986615); +void car_h_26(double *state, double *unused, double *out_7593857966208363661); +void car_H_26(double *state, double *unused, double *out_6969712840087434641); +void car_h_27(double *state, double *unused, double *out_8506578274759066548); +void car_H_27(double *state, double *unused, double *out_5532311780157043398); +void car_h_29(double *state, double *unused, double *out_4869128746505044198); +void car_H_29(double *state, double *unused, double *out_7245674507026594431); +void car_h_28(double *state, double *unused, double *out_3664394704215203127); +void car_H_28(double *state, double *unused, double *out_5282044235461268180); +void car_h_31(double *state, double *unused, double *out_6047692778171023868); +void car_H_31(double *state, double *unused, double *out_7595920942320786117); 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 f5d698a26..89391409f 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_7783868612103190645) { - out_7783868612103190645[0] = delta_x[0] + nom_x[0]; - out_7783868612103190645[1] = delta_x[1] + nom_x[1]; - out_7783868612103190645[2] = delta_x[2] + nom_x[2]; - out_7783868612103190645[3] = delta_x[3] + nom_x[3]; - out_7783868612103190645[4] = delta_x[4] + nom_x[4]; - out_7783868612103190645[5] = delta_x[5] + nom_x[5]; - out_7783868612103190645[6] = delta_x[6] + nom_x[6]; - out_7783868612103190645[7] = delta_x[7] + nom_x[7]; - out_7783868612103190645[8] = delta_x[8] + nom_x[8]; - out_7783868612103190645[9] = delta_x[9] + nom_x[9]; - out_7783868612103190645[10] = delta_x[10] + nom_x[10]; - out_7783868612103190645[11] = delta_x[11] + nom_x[11]; - out_7783868612103190645[12] = delta_x[12] + nom_x[12]; - out_7783868612103190645[13] = delta_x[13] + nom_x[13]; - out_7783868612103190645[14] = delta_x[14] + nom_x[14]; - out_7783868612103190645[15] = delta_x[15] + nom_x[15]; - out_7783868612103190645[16] = delta_x[16] + nom_x[16]; - out_7783868612103190645[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3576801538095390920) { + out_3576801538095390920[0] = delta_x[0] + nom_x[0]; + out_3576801538095390920[1] = delta_x[1] + nom_x[1]; + out_3576801538095390920[2] = delta_x[2] + nom_x[2]; + out_3576801538095390920[3] = delta_x[3] + nom_x[3]; + out_3576801538095390920[4] = delta_x[4] + nom_x[4]; + out_3576801538095390920[5] = delta_x[5] + nom_x[5]; + out_3576801538095390920[6] = delta_x[6] + nom_x[6]; + out_3576801538095390920[7] = delta_x[7] + nom_x[7]; + out_3576801538095390920[8] = delta_x[8] + nom_x[8]; + out_3576801538095390920[9] = delta_x[9] + nom_x[9]; + out_3576801538095390920[10] = delta_x[10] + nom_x[10]; + out_3576801538095390920[11] = delta_x[11] + nom_x[11]; + out_3576801538095390920[12] = delta_x[12] + nom_x[12]; + out_3576801538095390920[13] = delta_x[13] + nom_x[13]; + out_3576801538095390920[14] = delta_x[14] + nom_x[14]; + out_3576801538095390920[15] = delta_x[15] + nom_x[15]; + out_3576801538095390920[16] = delta_x[16] + nom_x[16]; + out_3576801538095390920[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6605006959385105646) { - out_6605006959385105646[0] = -nom_x[0] + true_x[0]; - out_6605006959385105646[1] = -nom_x[1] + true_x[1]; - out_6605006959385105646[2] = -nom_x[2] + true_x[2]; - out_6605006959385105646[3] = -nom_x[3] + true_x[3]; - out_6605006959385105646[4] = -nom_x[4] + true_x[4]; - out_6605006959385105646[5] = -nom_x[5] + true_x[5]; - out_6605006959385105646[6] = -nom_x[6] + true_x[6]; - out_6605006959385105646[7] = -nom_x[7] + true_x[7]; - out_6605006959385105646[8] = -nom_x[8] + true_x[8]; - out_6605006959385105646[9] = -nom_x[9] + true_x[9]; - out_6605006959385105646[10] = -nom_x[10] + true_x[10]; - out_6605006959385105646[11] = -nom_x[11] + true_x[11]; - out_6605006959385105646[12] = -nom_x[12] + true_x[12]; - out_6605006959385105646[13] = -nom_x[13] + true_x[13]; - out_6605006959385105646[14] = -nom_x[14] + true_x[14]; - out_6605006959385105646[15] = -nom_x[15] + true_x[15]; - out_6605006959385105646[16] = -nom_x[16] + true_x[16]; - out_6605006959385105646[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3629669491519681211) { + out_3629669491519681211[0] = -nom_x[0] + true_x[0]; + out_3629669491519681211[1] = -nom_x[1] + true_x[1]; + out_3629669491519681211[2] = -nom_x[2] + true_x[2]; + out_3629669491519681211[3] = -nom_x[3] + true_x[3]; + out_3629669491519681211[4] = -nom_x[4] + true_x[4]; + out_3629669491519681211[5] = -nom_x[5] + true_x[5]; + out_3629669491519681211[6] = -nom_x[6] + true_x[6]; + out_3629669491519681211[7] = -nom_x[7] + true_x[7]; + out_3629669491519681211[8] = -nom_x[8] + true_x[8]; + out_3629669491519681211[9] = -nom_x[9] + true_x[9]; + out_3629669491519681211[10] = -nom_x[10] + true_x[10]; + out_3629669491519681211[11] = -nom_x[11] + true_x[11]; + out_3629669491519681211[12] = -nom_x[12] + true_x[12]; + out_3629669491519681211[13] = -nom_x[13] + true_x[13]; + out_3629669491519681211[14] = -nom_x[14] + true_x[14]; + out_3629669491519681211[15] = -nom_x[15] + true_x[15]; + out_3629669491519681211[16] = -nom_x[16] + true_x[16]; + out_3629669491519681211[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4214017023834556037) { - out_4214017023834556037[0] = 1.0; - out_4214017023834556037[1] = 0.0; - out_4214017023834556037[2] = 0.0; - out_4214017023834556037[3] = 0.0; - out_4214017023834556037[4] = 0.0; - out_4214017023834556037[5] = 0.0; - out_4214017023834556037[6] = 0.0; - out_4214017023834556037[7] = 0.0; - out_4214017023834556037[8] = 0.0; - out_4214017023834556037[9] = 0.0; - out_4214017023834556037[10] = 0.0; - out_4214017023834556037[11] = 0.0; - out_4214017023834556037[12] = 0.0; - out_4214017023834556037[13] = 0.0; - out_4214017023834556037[14] = 0.0; - out_4214017023834556037[15] = 0.0; - out_4214017023834556037[16] = 0.0; - out_4214017023834556037[17] = 0.0; - out_4214017023834556037[18] = 0.0; - out_4214017023834556037[19] = 1.0; - out_4214017023834556037[20] = 0.0; - out_4214017023834556037[21] = 0.0; - out_4214017023834556037[22] = 0.0; - out_4214017023834556037[23] = 0.0; - out_4214017023834556037[24] = 0.0; - out_4214017023834556037[25] = 0.0; - out_4214017023834556037[26] = 0.0; - out_4214017023834556037[27] = 0.0; - out_4214017023834556037[28] = 0.0; - out_4214017023834556037[29] = 0.0; - out_4214017023834556037[30] = 0.0; - out_4214017023834556037[31] = 0.0; - out_4214017023834556037[32] = 0.0; - out_4214017023834556037[33] = 0.0; - out_4214017023834556037[34] = 0.0; - out_4214017023834556037[35] = 0.0; - out_4214017023834556037[36] = 0.0; - out_4214017023834556037[37] = 0.0; - out_4214017023834556037[38] = 1.0; - out_4214017023834556037[39] = 0.0; - out_4214017023834556037[40] = 0.0; - out_4214017023834556037[41] = 0.0; - out_4214017023834556037[42] = 0.0; - out_4214017023834556037[43] = 0.0; - out_4214017023834556037[44] = 0.0; - out_4214017023834556037[45] = 0.0; - out_4214017023834556037[46] = 0.0; - out_4214017023834556037[47] = 0.0; - out_4214017023834556037[48] = 0.0; - out_4214017023834556037[49] = 0.0; - out_4214017023834556037[50] = 0.0; - out_4214017023834556037[51] = 0.0; - out_4214017023834556037[52] = 0.0; - out_4214017023834556037[53] = 0.0; - out_4214017023834556037[54] = 0.0; - out_4214017023834556037[55] = 0.0; - out_4214017023834556037[56] = 0.0; - out_4214017023834556037[57] = 1.0; - out_4214017023834556037[58] = 0.0; - out_4214017023834556037[59] = 0.0; - out_4214017023834556037[60] = 0.0; - out_4214017023834556037[61] = 0.0; - out_4214017023834556037[62] = 0.0; - out_4214017023834556037[63] = 0.0; - out_4214017023834556037[64] = 0.0; - out_4214017023834556037[65] = 0.0; - out_4214017023834556037[66] = 0.0; - out_4214017023834556037[67] = 0.0; - out_4214017023834556037[68] = 0.0; - out_4214017023834556037[69] = 0.0; - out_4214017023834556037[70] = 0.0; - out_4214017023834556037[71] = 0.0; - out_4214017023834556037[72] = 0.0; - out_4214017023834556037[73] = 0.0; - out_4214017023834556037[74] = 0.0; - out_4214017023834556037[75] = 0.0; - out_4214017023834556037[76] = 1.0; - out_4214017023834556037[77] = 0.0; - out_4214017023834556037[78] = 0.0; - out_4214017023834556037[79] = 0.0; - out_4214017023834556037[80] = 0.0; - out_4214017023834556037[81] = 0.0; - out_4214017023834556037[82] = 0.0; - out_4214017023834556037[83] = 0.0; - out_4214017023834556037[84] = 0.0; - out_4214017023834556037[85] = 0.0; - out_4214017023834556037[86] = 0.0; - out_4214017023834556037[87] = 0.0; - out_4214017023834556037[88] = 0.0; - out_4214017023834556037[89] = 0.0; - out_4214017023834556037[90] = 0.0; - out_4214017023834556037[91] = 0.0; - out_4214017023834556037[92] = 0.0; - out_4214017023834556037[93] = 0.0; - out_4214017023834556037[94] = 0.0; - out_4214017023834556037[95] = 1.0; - out_4214017023834556037[96] = 0.0; - out_4214017023834556037[97] = 0.0; - out_4214017023834556037[98] = 0.0; - out_4214017023834556037[99] = 0.0; - out_4214017023834556037[100] = 0.0; - out_4214017023834556037[101] = 0.0; - out_4214017023834556037[102] = 0.0; - out_4214017023834556037[103] = 0.0; - out_4214017023834556037[104] = 0.0; - out_4214017023834556037[105] = 0.0; - out_4214017023834556037[106] = 0.0; - out_4214017023834556037[107] = 0.0; - out_4214017023834556037[108] = 0.0; - out_4214017023834556037[109] = 0.0; - out_4214017023834556037[110] = 0.0; - out_4214017023834556037[111] = 0.0; - out_4214017023834556037[112] = 0.0; - out_4214017023834556037[113] = 0.0; - out_4214017023834556037[114] = 1.0; - out_4214017023834556037[115] = 0.0; - out_4214017023834556037[116] = 0.0; - out_4214017023834556037[117] = 0.0; - out_4214017023834556037[118] = 0.0; - out_4214017023834556037[119] = 0.0; - out_4214017023834556037[120] = 0.0; - out_4214017023834556037[121] = 0.0; - out_4214017023834556037[122] = 0.0; - out_4214017023834556037[123] = 0.0; - out_4214017023834556037[124] = 0.0; - out_4214017023834556037[125] = 0.0; - out_4214017023834556037[126] = 0.0; - out_4214017023834556037[127] = 0.0; - out_4214017023834556037[128] = 0.0; - out_4214017023834556037[129] = 0.0; - out_4214017023834556037[130] = 0.0; - out_4214017023834556037[131] = 0.0; - out_4214017023834556037[132] = 0.0; - out_4214017023834556037[133] = 1.0; - out_4214017023834556037[134] = 0.0; - out_4214017023834556037[135] = 0.0; - out_4214017023834556037[136] = 0.0; - out_4214017023834556037[137] = 0.0; - out_4214017023834556037[138] = 0.0; - out_4214017023834556037[139] = 0.0; - out_4214017023834556037[140] = 0.0; - out_4214017023834556037[141] = 0.0; - out_4214017023834556037[142] = 0.0; - out_4214017023834556037[143] = 0.0; - out_4214017023834556037[144] = 0.0; - out_4214017023834556037[145] = 0.0; - out_4214017023834556037[146] = 0.0; - out_4214017023834556037[147] = 0.0; - out_4214017023834556037[148] = 0.0; - out_4214017023834556037[149] = 0.0; - out_4214017023834556037[150] = 0.0; - out_4214017023834556037[151] = 0.0; - out_4214017023834556037[152] = 1.0; - out_4214017023834556037[153] = 0.0; - out_4214017023834556037[154] = 0.0; - out_4214017023834556037[155] = 0.0; - out_4214017023834556037[156] = 0.0; - out_4214017023834556037[157] = 0.0; - out_4214017023834556037[158] = 0.0; - out_4214017023834556037[159] = 0.0; - out_4214017023834556037[160] = 0.0; - out_4214017023834556037[161] = 0.0; - out_4214017023834556037[162] = 0.0; - out_4214017023834556037[163] = 0.0; - out_4214017023834556037[164] = 0.0; - out_4214017023834556037[165] = 0.0; - out_4214017023834556037[166] = 0.0; - out_4214017023834556037[167] = 0.0; - out_4214017023834556037[168] = 0.0; - out_4214017023834556037[169] = 0.0; - out_4214017023834556037[170] = 0.0; - out_4214017023834556037[171] = 1.0; - out_4214017023834556037[172] = 0.0; - out_4214017023834556037[173] = 0.0; - out_4214017023834556037[174] = 0.0; - out_4214017023834556037[175] = 0.0; - out_4214017023834556037[176] = 0.0; - out_4214017023834556037[177] = 0.0; - out_4214017023834556037[178] = 0.0; - out_4214017023834556037[179] = 0.0; - out_4214017023834556037[180] = 0.0; - out_4214017023834556037[181] = 0.0; - out_4214017023834556037[182] = 0.0; - out_4214017023834556037[183] = 0.0; - out_4214017023834556037[184] = 0.0; - out_4214017023834556037[185] = 0.0; - out_4214017023834556037[186] = 0.0; - out_4214017023834556037[187] = 0.0; - out_4214017023834556037[188] = 0.0; - out_4214017023834556037[189] = 0.0; - out_4214017023834556037[190] = 1.0; - out_4214017023834556037[191] = 0.0; - out_4214017023834556037[192] = 0.0; - out_4214017023834556037[193] = 0.0; - out_4214017023834556037[194] = 0.0; - out_4214017023834556037[195] = 0.0; - out_4214017023834556037[196] = 0.0; - out_4214017023834556037[197] = 0.0; - out_4214017023834556037[198] = 0.0; - out_4214017023834556037[199] = 0.0; - out_4214017023834556037[200] = 0.0; - out_4214017023834556037[201] = 0.0; - out_4214017023834556037[202] = 0.0; - out_4214017023834556037[203] = 0.0; - out_4214017023834556037[204] = 0.0; - out_4214017023834556037[205] = 0.0; - out_4214017023834556037[206] = 0.0; - out_4214017023834556037[207] = 0.0; - out_4214017023834556037[208] = 0.0; - out_4214017023834556037[209] = 1.0; - out_4214017023834556037[210] = 0.0; - out_4214017023834556037[211] = 0.0; - out_4214017023834556037[212] = 0.0; - out_4214017023834556037[213] = 0.0; - out_4214017023834556037[214] = 0.0; - out_4214017023834556037[215] = 0.0; - out_4214017023834556037[216] = 0.0; - out_4214017023834556037[217] = 0.0; - out_4214017023834556037[218] = 0.0; - out_4214017023834556037[219] = 0.0; - out_4214017023834556037[220] = 0.0; - out_4214017023834556037[221] = 0.0; - out_4214017023834556037[222] = 0.0; - out_4214017023834556037[223] = 0.0; - out_4214017023834556037[224] = 0.0; - out_4214017023834556037[225] = 0.0; - out_4214017023834556037[226] = 0.0; - out_4214017023834556037[227] = 0.0; - out_4214017023834556037[228] = 1.0; - out_4214017023834556037[229] = 0.0; - out_4214017023834556037[230] = 0.0; - out_4214017023834556037[231] = 0.0; - out_4214017023834556037[232] = 0.0; - out_4214017023834556037[233] = 0.0; - out_4214017023834556037[234] = 0.0; - out_4214017023834556037[235] = 0.0; - out_4214017023834556037[236] = 0.0; - out_4214017023834556037[237] = 0.0; - out_4214017023834556037[238] = 0.0; - out_4214017023834556037[239] = 0.0; - out_4214017023834556037[240] = 0.0; - out_4214017023834556037[241] = 0.0; - out_4214017023834556037[242] = 0.0; - out_4214017023834556037[243] = 0.0; - out_4214017023834556037[244] = 0.0; - out_4214017023834556037[245] = 0.0; - out_4214017023834556037[246] = 0.0; - out_4214017023834556037[247] = 1.0; - out_4214017023834556037[248] = 0.0; - out_4214017023834556037[249] = 0.0; - out_4214017023834556037[250] = 0.0; - out_4214017023834556037[251] = 0.0; - out_4214017023834556037[252] = 0.0; - out_4214017023834556037[253] = 0.0; - out_4214017023834556037[254] = 0.0; - out_4214017023834556037[255] = 0.0; - out_4214017023834556037[256] = 0.0; - out_4214017023834556037[257] = 0.0; - out_4214017023834556037[258] = 0.0; - out_4214017023834556037[259] = 0.0; - out_4214017023834556037[260] = 0.0; - out_4214017023834556037[261] = 0.0; - out_4214017023834556037[262] = 0.0; - out_4214017023834556037[263] = 0.0; - out_4214017023834556037[264] = 0.0; - out_4214017023834556037[265] = 0.0; - out_4214017023834556037[266] = 1.0; - out_4214017023834556037[267] = 0.0; - out_4214017023834556037[268] = 0.0; - out_4214017023834556037[269] = 0.0; - out_4214017023834556037[270] = 0.0; - out_4214017023834556037[271] = 0.0; - out_4214017023834556037[272] = 0.0; - out_4214017023834556037[273] = 0.0; - out_4214017023834556037[274] = 0.0; - out_4214017023834556037[275] = 0.0; - out_4214017023834556037[276] = 0.0; - out_4214017023834556037[277] = 0.0; - out_4214017023834556037[278] = 0.0; - out_4214017023834556037[279] = 0.0; - out_4214017023834556037[280] = 0.0; - out_4214017023834556037[281] = 0.0; - out_4214017023834556037[282] = 0.0; - out_4214017023834556037[283] = 0.0; - out_4214017023834556037[284] = 0.0; - out_4214017023834556037[285] = 1.0; - out_4214017023834556037[286] = 0.0; - out_4214017023834556037[287] = 0.0; - out_4214017023834556037[288] = 0.0; - out_4214017023834556037[289] = 0.0; - out_4214017023834556037[290] = 0.0; - out_4214017023834556037[291] = 0.0; - out_4214017023834556037[292] = 0.0; - out_4214017023834556037[293] = 0.0; - out_4214017023834556037[294] = 0.0; - out_4214017023834556037[295] = 0.0; - out_4214017023834556037[296] = 0.0; - out_4214017023834556037[297] = 0.0; - out_4214017023834556037[298] = 0.0; - out_4214017023834556037[299] = 0.0; - out_4214017023834556037[300] = 0.0; - out_4214017023834556037[301] = 0.0; - out_4214017023834556037[302] = 0.0; - out_4214017023834556037[303] = 0.0; - out_4214017023834556037[304] = 1.0; - out_4214017023834556037[305] = 0.0; - out_4214017023834556037[306] = 0.0; - out_4214017023834556037[307] = 0.0; - out_4214017023834556037[308] = 0.0; - out_4214017023834556037[309] = 0.0; - out_4214017023834556037[310] = 0.0; - out_4214017023834556037[311] = 0.0; - out_4214017023834556037[312] = 0.0; - out_4214017023834556037[313] = 0.0; - out_4214017023834556037[314] = 0.0; - out_4214017023834556037[315] = 0.0; - out_4214017023834556037[316] = 0.0; - out_4214017023834556037[317] = 0.0; - out_4214017023834556037[318] = 0.0; - out_4214017023834556037[319] = 0.0; - out_4214017023834556037[320] = 0.0; - out_4214017023834556037[321] = 0.0; - out_4214017023834556037[322] = 0.0; - out_4214017023834556037[323] = 1.0; +void H_mod_fun(double *state, double *out_128220774054724087) { + out_128220774054724087[0] = 1.0; + out_128220774054724087[1] = 0.0; + out_128220774054724087[2] = 0.0; + out_128220774054724087[3] = 0.0; + out_128220774054724087[4] = 0.0; + out_128220774054724087[5] = 0.0; + out_128220774054724087[6] = 0.0; + out_128220774054724087[7] = 0.0; + out_128220774054724087[8] = 0.0; + out_128220774054724087[9] = 0.0; + out_128220774054724087[10] = 0.0; + out_128220774054724087[11] = 0.0; + out_128220774054724087[12] = 0.0; + out_128220774054724087[13] = 0.0; + out_128220774054724087[14] = 0.0; + out_128220774054724087[15] = 0.0; + out_128220774054724087[16] = 0.0; + out_128220774054724087[17] = 0.0; + out_128220774054724087[18] = 0.0; + out_128220774054724087[19] = 1.0; + out_128220774054724087[20] = 0.0; + out_128220774054724087[21] = 0.0; + out_128220774054724087[22] = 0.0; + out_128220774054724087[23] = 0.0; + out_128220774054724087[24] = 0.0; + out_128220774054724087[25] = 0.0; + out_128220774054724087[26] = 0.0; + out_128220774054724087[27] = 0.0; + out_128220774054724087[28] = 0.0; + out_128220774054724087[29] = 0.0; + out_128220774054724087[30] = 0.0; + out_128220774054724087[31] = 0.0; + out_128220774054724087[32] = 0.0; + out_128220774054724087[33] = 0.0; + out_128220774054724087[34] = 0.0; + out_128220774054724087[35] = 0.0; + out_128220774054724087[36] = 0.0; + out_128220774054724087[37] = 0.0; + out_128220774054724087[38] = 1.0; + out_128220774054724087[39] = 0.0; + out_128220774054724087[40] = 0.0; + out_128220774054724087[41] = 0.0; + out_128220774054724087[42] = 0.0; + out_128220774054724087[43] = 0.0; + out_128220774054724087[44] = 0.0; + out_128220774054724087[45] = 0.0; + out_128220774054724087[46] = 0.0; + out_128220774054724087[47] = 0.0; + out_128220774054724087[48] = 0.0; + out_128220774054724087[49] = 0.0; + out_128220774054724087[50] = 0.0; + out_128220774054724087[51] = 0.0; + out_128220774054724087[52] = 0.0; + out_128220774054724087[53] = 0.0; + out_128220774054724087[54] = 0.0; + out_128220774054724087[55] = 0.0; + out_128220774054724087[56] = 0.0; + out_128220774054724087[57] = 1.0; + out_128220774054724087[58] = 0.0; + out_128220774054724087[59] = 0.0; + out_128220774054724087[60] = 0.0; + out_128220774054724087[61] = 0.0; + out_128220774054724087[62] = 0.0; + out_128220774054724087[63] = 0.0; + out_128220774054724087[64] = 0.0; + out_128220774054724087[65] = 0.0; + out_128220774054724087[66] = 0.0; + out_128220774054724087[67] = 0.0; + out_128220774054724087[68] = 0.0; + out_128220774054724087[69] = 0.0; + out_128220774054724087[70] = 0.0; + out_128220774054724087[71] = 0.0; + out_128220774054724087[72] = 0.0; + out_128220774054724087[73] = 0.0; + out_128220774054724087[74] = 0.0; + out_128220774054724087[75] = 0.0; + out_128220774054724087[76] = 1.0; + out_128220774054724087[77] = 0.0; + out_128220774054724087[78] = 0.0; + out_128220774054724087[79] = 0.0; + out_128220774054724087[80] = 0.0; + out_128220774054724087[81] = 0.0; + out_128220774054724087[82] = 0.0; + out_128220774054724087[83] = 0.0; + out_128220774054724087[84] = 0.0; + out_128220774054724087[85] = 0.0; + out_128220774054724087[86] = 0.0; + out_128220774054724087[87] = 0.0; + out_128220774054724087[88] = 0.0; + out_128220774054724087[89] = 0.0; + out_128220774054724087[90] = 0.0; + out_128220774054724087[91] = 0.0; + out_128220774054724087[92] = 0.0; + out_128220774054724087[93] = 0.0; + out_128220774054724087[94] = 0.0; + out_128220774054724087[95] = 1.0; + out_128220774054724087[96] = 0.0; + out_128220774054724087[97] = 0.0; + out_128220774054724087[98] = 0.0; + out_128220774054724087[99] = 0.0; + out_128220774054724087[100] = 0.0; + out_128220774054724087[101] = 0.0; + out_128220774054724087[102] = 0.0; + out_128220774054724087[103] = 0.0; + out_128220774054724087[104] = 0.0; + out_128220774054724087[105] = 0.0; + out_128220774054724087[106] = 0.0; + out_128220774054724087[107] = 0.0; + out_128220774054724087[108] = 0.0; + out_128220774054724087[109] = 0.0; + out_128220774054724087[110] = 0.0; + out_128220774054724087[111] = 0.0; + out_128220774054724087[112] = 0.0; + out_128220774054724087[113] = 0.0; + out_128220774054724087[114] = 1.0; + out_128220774054724087[115] = 0.0; + out_128220774054724087[116] = 0.0; + out_128220774054724087[117] = 0.0; + out_128220774054724087[118] = 0.0; + out_128220774054724087[119] = 0.0; + out_128220774054724087[120] = 0.0; + out_128220774054724087[121] = 0.0; + out_128220774054724087[122] = 0.0; + out_128220774054724087[123] = 0.0; + out_128220774054724087[124] = 0.0; + out_128220774054724087[125] = 0.0; + out_128220774054724087[126] = 0.0; + out_128220774054724087[127] = 0.0; + out_128220774054724087[128] = 0.0; + out_128220774054724087[129] = 0.0; + out_128220774054724087[130] = 0.0; + out_128220774054724087[131] = 0.0; + out_128220774054724087[132] = 0.0; + out_128220774054724087[133] = 1.0; + out_128220774054724087[134] = 0.0; + out_128220774054724087[135] = 0.0; + out_128220774054724087[136] = 0.0; + out_128220774054724087[137] = 0.0; + out_128220774054724087[138] = 0.0; + out_128220774054724087[139] = 0.0; + out_128220774054724087[140] = 0.0; + out_128220774054724087[141] = 0.0; + out_128220774054724087[142] = 0.0; + out_128220774054724087[143] = 0.0; + out_128220774054724087[144] = 0.0; + out_128220774054724087[145] = 0.0; + out_128220774054724087[146] = 0.0; + out_128220774054724087[147] = 0.0; + out_128220774054724087[148] = 0.0; + out_128220774054724087[149] = 0.0; + out_128220774054724087[150] = 0.0; + out_128220774054724087[151] = 0.0; + out_128220774054724087[152] = 1.0; + out_128220774054724087[153] = 0.0; + out_128220774054724087[154] = 0.0; + out_128220774054724087[155] = 0.0; + out_128220774054724087[156] = 0.0; + out_128220774054724087[157] = 0.0; + out_128220774054724087[158] = 0.0; + out_128220774054724087[159] = 0.0; + out_128220774054724087[160] = 0.0; + out_128220774054724087[161] = 0.0; + out_128220774054724087[162] = 0.0; + out_128220774054724087[163] = 0.0; + out_128220774054724087[164] = 0.0; + out_128220774054724087[165] = 0.0; + out_128220774054724087[166] = 0.0; + out_128220774054724087[167] = 0.0; + out_128220774054724087[168] = 0.0; + out_128220774054724087[169] = 0.0; + out_128220774054724087[170] = 0.0; + out_128220774054724087[171] = 1.0; + out_128220774054724087[172] = 0.0; + out_128220774054724087[173] = 0.0; + out_128220774054724087[174] = 0.0; + out_128220774054724087[175] = 0.0; + out_128220774054724087[176] = 0.0; + out_128220774054724087[177] = 0.0; + out_128220774054724087[178] = 0.0; + out_128220774054724087[179] = 0.0; + out_128220774054724087[180] = 0.0; + out_128220774054724087[181] = 0.0; + out_128220774054724087[182] = 0.0; + out_128220774054724087[183] = 0.0; + out_128220774054724087[184] = 0.0; + out_128220774054724087[185] = 0.0; + out_128220774054724087[186] = 0.0; + out_128220774054724087[187] = 0.0; + out_128220774054724087[188] = 0.0; + out_128220774054724087[189] = 0.0; + out_128220774054724087[190] = 1.0; + out_128220774054724087[191] = 0.0; + out_128220774054724087[192] = 0.0; + out_128220774054724087[193] = 0.0; + out_128220774054724087[194] = 0.0; + out_128220774054724087[195] = 0.0; + out_128220774054724087[196] = 0.0; + out_128220774054724087[197] = 0.0; + out_128220774054724087[198] = 0.0; + out_128220774054724087[199] = 0.0; + out_128220774054724087[200] = 0.0; + out_128220774054724087[201] = 0.0; + out_128220774054724087[202] = 0.0; + out_128220774054724087[203] = 0.0; + out_128220774054724087[204] = 0.0; + out_128220774054724087[205] = 0.0; + out_128220774054724087[206] = 0.0; + out_128220774054724087[207] = 0.0; + out_128220774054724087[208] = 0.0; + out_128220774054724087[209] = 1.0; + out_128220774054724087[210] = 0.0; + out_128220774054724087[211] = 0.0; + out_128220774054724087[212] = 0.0; + out_128220774054724087[213] = 0.0; + out_128220774054724087[214] = 0.0; + out_128220774054724087[215] = 0.0; + out_128220774054724087[216] = 0.0; + out_128220774054724087[217] = 0.0; + out_128220774054724087[218] = 0.0; + out_128220774054724087[219] = 0.0; + out_128220774054724087[220] = 0.0; + out_128220774054724087[221] = 0.0; + out_128220774054724087[222] = 0.0; + out_128220774054724087[223] = 0.0; + out_128220774054724087[224] = 0.0; + out_128220774054724087[225] = 0.0; + out_128220774054724087[226] = 0.0; + out_128220774054724087[227] = 0.0; + out_128220774054724087[228] = 1.0; + out_128220774054724087[229] = 0.0; + out_128220774054724087[230] = 0.0; + out_128220774054724087[231] = 0.0; + out_128220774054724087[232] = 0.0; + out_128220774054724087[233] = 0.0; + out_128220774054724087[234] = 0.0; + out_128220774054724087[235] = 0.0; + out_128220774054724087[236] = 0.0; + out_128220774054724087[237] = 0.0; + out_128220774054724087[238] = 0.0; + out_128220774054724087[239] = 0.0; + out_128220774054724087[240] = 0.0; + out_128220774054724087[241] = 0.0; + out_128220774054724087[242] = 0.0; + out_128220774054724087[243] = 0.0; + out_128220774054724087[244] = 0.0; + out_128220774054724087[245] = 0.0; + out_128220774054724087[246] = 0.0; + out_128220774054724087[247] = 1.0; + out_128220774054724087[248] = 0.0; + out_128220774054724087[249] = 0.0; + out_128220774054724087[250] = 0.0; + out_128220774054724087[251] = 0.0; + out_128220774054724087[252] = 0.0; + out_128220774054724087[253] = 0.0; + out_128220774054724087[254] = 0.0; + out_128220774054724087[255] = 0.0; + out_128220774054724087[256] = 0.0; + out_128220774054724087[257] = 0.0; + out_128220774054724087[258] = 0.0; + out_128220774054724087[259] = 0.0; + out_128220774054724087[260] = 0.0; + out_128220774054724087[261] = 0.0; + out_128220774054724087[262] = 0.0; + out_128220774054724087[263] = 0.0; + out_128220774054724087[264] = 0.0; + out_128220774054724087[265] = 0.0; + out_128220774054724087[266] = 1.0; + out_128220774054724087[267] = 0.0; + out_128220774054724087[268] = 0.0; + out_128220774054724087[269] = 0.0; + out_128220774054724087[270] = 0.0; + out_128220774054724087[271] = 0.0; + out_128220774054724087[272] = 0.0; + out_128220774054724087[273] = 0.0; + out_128220774054724087[274] = 0.0; + out_128220774054724087[275] = 0.0; + out_128220774054724087[276] = 0.0; + out_128220774054724087[277] = 0.0; + out_128220774054724087[278] = 0.0; + out_128220774054724087[279] = 0.0; + out_128220774054724087[280] = 0.0; + out_128220774054724087[281] = 0.0; + out_128220774054724087[282] = 0.0; + out_128220774054724087[283] = 0.0; + out_128220774054724087[284] = 0.0; + out_128220774054724087[285] = 1.0; + out_128220774054724087[286] = 0.0; + out_128220774054724087[287] = 0.0; + out_128220774054724087[288] = 0.0; + out_128220774054724087[289] = 0.0; + out_128220774054724087[290] = 0.0; + out_128220774054724087[291] = 0.0; + out_128220774054724087[292] = 0.0; + out_128220774054724087[293] = 0.0; + out_128220774054724087[294] = 0.0; + out_128220774054724087[295] = 0.0; + out_128220774054724087[296] = 0.0; + out_128220774054724087[297] = 0.0; + out_128220774054724087[298] = 0.0; + out_128220774054724087[299] = 0.0; + out_128220774054724087[300] = 0.0; + out_128220774054724087[301] = 0.0; + out_128220774054724087[302] = 0.0; + out_128220774054724087[303] = 0.0; + out_128220774054724087[304] = 1.0; + out_128220774054724087[305] = 0.0; + out_128220774054724087[306] = 0.0; + out_128220774054724087[307] = 0.0; + out_128220774054724087[308] = 0.0; + out_128220774054724087[309] = 0.0; + out_128220774054724087[310] = 0.0; + out_128220774054724087[311] = 0.0; + out_128220774054724087[312] = 0.0; + out_128220774054724087[313] = 0.0; + out_128220774054724087[314] = 0.0; + out_128220774054724087[315] = 0.0; + out_128220774054724087[316] = 0.0; + out_128220774054724087[317] = 0.0; + out_128220774054724087[318] = 0.0; + out_128220774054724087[319] = 0.0; + out_128220774054724087[320] = 0.0; + out_128220774054724087[321] = 0.0; + out_128220774054724087[322] = 0.0; + out_128220774054724087[323] = 1.0; } -void f_fun(double *state, double dt, double *out_446156685689757577) { - out_446156685689757577[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_446156685689757577[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_446156685689757577[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_446156685689757577[3] = dt*state[12] + state[3]; - out_446156685689757577[4] = dt*state[13] + state[4]; - out_446156685689757577[5] = dt*state[14] + state[5]; - out_446156685689757577[6] = state[6]; - out_446156685689757577[7] = state[7]; - out_446156685689757577[8] = state[8]; - out_446156685689757577[9] = state[9]; - out_446156685689757577[10] = state[10]; - out_446156685689757577[11] = state[11]; - out_446156685689757577[12] = state[12]; - out_446156685689757577[13] = state[13]; - out_446156685689757577[14] = state[14]; - out_446156685689757577[15] = state[15]; - out_446156685689757577[16] = state[16]; - out_446156685689757577[17] = state[17]; +void f_fun(double *state, double dt, double *out_8022018128441912094) { + out_8022018128441912094[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_8022018128441912094[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_8022018128441912094[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_8022018128441912094[3] = dt*state[12] + state[3]; + out_8022018128441912094[4] = dt*state[13] + state[4]; + out_8022018128441912094[5] = dt*state[14] + state[5]; + out_8022018128441912094[6] = state[6]; + out_8022018128441912094[7] = state[7]; + out_8022018128441912094[8] = state[8]; + out_8022018128441912094[9] = state[9]; + out_8022018128441912094[10] = state[10]; + out_8022018128441912094[11] = state[11]; + out_8022018128441912094[12] = state[12]; + out_8022018128441912094[13] = state[13]; + out_8022018128441912094[14] = state[14]; + out_8022018128441912094[15] = state[15]; + out_8022018128441912094[16] = state[16]; + out_8022018128441912094[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1314145057723334901) { - out_1314145057723334901[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_1314145057723334901[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_1314145057723334901[2] = 0; - out_1314145057723334901[3] = 0; - out_1314145057723334901[4] = 0; - out_1314145057723334901[5] = 0; - out_1314145057723334901[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_1314145057723334901[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_1314145057723334901[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_1314145057723334901[9] = 0; - out_1314145057723334901[10] = 0; - out_1314145057723334901[11] = 0; - out_1314145057723334901[12] = 0; - out_1314145057723334901[13] = 0; - out_1314145057723334901[14] = 0; - out_1314145057723334901[15] = 0; - out_1314145057723334901[16] = 0; - out_1314145057723334901[17] = 0; - out_1314145057723334901[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_1314145057723334901[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_1314145057723334901[20] = 0; - out_1314145057723334901[21] = 0; - out_1314145057723334901[22] = 0; - out_1314145057723334901[23] = 0; - out_1314145057723334901[24] = 0; - out_1314145057723334901[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_1314145057723334901[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_1314145057723334901[27] = 0; - out_1314145057723334901[28] = 0; - out_1314145057723334901[29] = 0; - out_1314145057723334901[30] = 0; - out_1314145057723334901[31] = 0; - out_1314145057723334901[32] = 0; - out_1314145057723334901[33] = 0; - out_1314145057723334901[34] = 0; - out_1314145057723334901[35] = 0; - out_1314145057723334901[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_1314145057723334901[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_1314145057723334901[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_1314145057723334901[39] = 0; - out_1314145057723334901[40] = 0; - out_1314145057723334901[41] = 0; - out_1314145057723334901[42] = 0; - out_1314145057723334901[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_1314145057723334901[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_1314145057723334901[45] = 0; - out_1314145057723334901[46] = 0; - out_1314145057723334901[47] = 0; - out_1314145057723334901[48] = 0; - out_1314145057723334901[49] = 0; - out_1314145057723334901[50] = 0; - out_1314145057723334901[51] = 0; - out_1314145057723334901[52] = 0; - out_1314145057723334901[53] = 0; - out_1314145057723334901[54] = 0; - out_1314145057723334901[55] = 0; - out_1314145057723334901[56] = 0; - out_1314145057723334901[57] = 1; - out_1314145057723334901[58] = 0; - out_1314145057723334901[59] = 0; - out_1314145057723334901[60] = 0; - out_1314145057723334901[61] = 0; - out_1314145057723334901[62] = 0; - out_1314145057723334901[63] = 0; - out_1314145057723334901[64] = 0; - out_1314145057723334901[65] = 0; - out_1314145057723334901[66] = dt; - out_1314145057723334901[67] = 0; - out_1314145057723334901[68] = 0; - out_1314145057723334901[69] = 0; - out_1314145057723334901[70] = 0; - out_1314145057723334901[71] = 0; - out_1314145057723334901[72] = 0; - out_1314145057723334901[73] = 0; - out_1314145057723334901[74] = 0; - out_1314145057723334901[75] = 0; - out_1314145057723334901[76] = 1; - out_1314145057723334901[77] = 0; - out_1314145057723334901[78] = 0; - out_1314145057723334901[79] = 0; - out_1314145057723334901[80] = 0; - out_1314145057723334901[81] = 0; - out_1314145057723334901[82] = 0; - out_1314145057723334901[83] = 0; - out_1314145057723334901[84] = 0; - out_1314145057723334901[85] = dt; - out_1314145057723334901[86] = 0; - out_1314145057723334901[87] = 0; - out_1314145057723334901[88] = 0; - out_1314145057723334901[89] = 0; - out_1314145057723334901[90] = 0; - out_1314145057723334901[91] = 0; - out_1314145057723334901[92] = 0; - out_1314145057723334901[93] = 0; - out_1314145057723334901[94] = 0; - out_1314145057723334901[95] = 1; - out_1314145057723334901[96] = 0; - out_1314145057723334901[97] = 0; - out_1314145057723334901[98] = 0; - out_1314145057723334901[99] = 0; - out_1314145057723334901[100] = 0; - out_1314145057723334901[101] = 0; - out_1314145057723334901[102] = 0; - out_1314145057723334901[103] = 0; - out_1314145057723334901[104] = dt; - out_1314145057723334901[105] = 0; - out_1314145057723334901[106] = 0; - out_1314145057723334901[107] = 0; - out_1314145057723334901[108] = 0; - out_1314145057723334901[109] = 0; - out_1314145057723334901[110] = 0; - out_1314145057723334901[111] = 0; - out_1314145057723334901[112] = 0; - out_1314145057723334901[113] = 0; - out_1314145057723334901[114] = 1; - out_1314145057723334901[115] = 0; - out_1314145057723334901[116] = 0; - out_1314145057723334901[117] = 0; - out_1314145057723334901[118] = 0; - out_1314145057723334901[119] = 0; - out_1314145057723334901[120] = 0; - out_1314145057723334901[121] = 0; - out_1314145057723334901[122] = 0; - out_1314145057723334901[123] = 0; - out_1314145057723334901[124] = 0; - out_1314145057723334901[125] = 0; - out_1314145057723334901[126] = 0; - out_1314145057723334901[127] = 0; - out_1314145057723334901[128] = 0; - out_1314145057723334901[129] = 0; - out_1314145057723334901[130] = 0; - out_1314145057723334901[131] = 0; - out_1314145057723334901[132] = 0; - out_1314145057723334901[133] = 1; - out_1314145057723334901[134] = 0; - out_1314145057723334901[135] = 0; - out_1314145057723334901[136] = 0; - out_1314145057723334901[137] = 0; - out_1314145057723334901[138] = 0; - out_1314145057723334901[139] = 0; - out_1314145057723334901[140] = 0; - out_1314145057723334901[141] = 0; - out_1314145057723334901[142] = 0; - out_1314145057723334901[143] = 0; - out_1314145057723334901[144] = 0; - out_1314145057723334901[145] = 0; - out_1314145057723334901[146] = 0; - out_1314145057723334901[147] = 0; - out_1314145057723334901[148] = 0; - out_1314145057723334901[149] = 0; - out_1314145057723334901[150] = 0; - out_1314145057723334901[151] = 0; - out_1314145057723334901[152] = 1; - out_1314145057723334901[153] = 0; - out_1314145057723334901[154] = 0; - out_1314145057723334901[155] = 0; - out_1314145057723334901[156] = 0; - out_1314145057723334901[157] = 0; - out_1314145057723334901[158] = 0; - out_1314145057723334901[159] = 0; - out_1314145057723334901[160] = 0; - out_1314145057723334901[161] = 0; - out_1314145057723334901[162] = 0; - out_1314145057723334901[163] = 0; - out_1314145057723334901[164] = 0; - out_1314145057723334901[165] = 0; - out_1314145057723334901[166] = 0; - out_1314145057723334901[167] = 0; - out_1314145057723334901[168] = 0; - out_1314145057723334901[169] = 0; - out_1314145057723334901[170] = 0; - out_1314145057723334901[171] = 1; - out_1314145057723334901[172] = 0; - out_1314145057723334901[173] = 0; - out_1314145057723334901[174] = 0; - out_1314145057723334901[175] = 0; - out_1314145057723334901[176] = 0; - out_1314145057723334901[177] = 0; - out_1314145057723334901[178] = 0; - out_1314145057723334901[179] = 0; - out_1314145057723334901[180] = 0; - out_1314145057723334901[181] = 0; - out_1314145057723334901[182] = 0; - out_1314145057723334901[183] = 0; - out_1314145057723334901[184] = 0; - out_1314145057723334901[185] = 0; - out_1314145057723334901[186] = 0; - out_1314145057723334901[187] = 0; - out_1314145057723334901[188] = 0; - out_1314145057723334901[189] = 0; - out_1314145057723334901[190] = 1; - out_1314145057723334901[191] = 0; - out_1314145057723334901[192] = 0; - out_1314145057723334901[193] = 0; - out_1314145057723334901[194] = 0; - out_1314145057723334901[195] = 0; - out_1314145057723334901[196] = 0; - out_1314145057723334901[197] = 0; - out_1314145057723334901[198] = 0; - out_1314145057723334901[199] = 0; - out_1314145057723334901[200] = 0; - out_1314145057723334901[201] = 0; - out_1314145057723334901[202] = 0; - out_1314145057723334901[203] = 0; - out_1314145057723334901[204] = 0; - out_1314145057723334901[205] = 0; - out_1314145057723334901[206] = 0; - out_1314145057723334901[207] = 0; - out_1314145057723334901[208] = 0; - out_1314145057723334901[209] = 1; - out_1314145057723334901[210] = 0; - out_1314145057723334901[211] = 0; - out_1314145057723334901[212] = 0; - out_1314145057723334901[213] = 0; - out_1314145057723334901[214] = 0; - out_1314145057723334901[215] = 0; - out_1314145057723334901[216] = 0; - out_1314145057723334901[217] = 0; - out_1314145057723334901[218] = 0; - out_1314145057723334901[219] = 0; - out_1314145057723334901[220] = 0; - out_1314145057723334901[221] = 0; - out_1314145057723334901[222] = 0; - out_1314145057723334901[223] = 0; - out_1314145057723334901[224] = 0; - out_1314145057723334901[225] = 0; - out_1314145057723334901[226] = 0; - out_1314145057723334901[227] = 0; - out_1314145057723334901[228] = 1; - out_1314145057723334901[229] = 0; - out_1314145057723334901[230] = 0; - out_1314145057723334901[231] = 0; - out_1314145057723334901[232] = 0; - out_1314145057723334901[233] = 0; - out_1314145057723334901[234] = 0; - out_1314145057723334901[235] = 0; - out_1314145057723334901[236] = 0; - out_1314145057723334901[237] = 0; - out_1314145057723334901[238] = 0; - out_1314145057723334901[239] = 0; - out_1314145057723334901[240] = 0; - out_1314145057723334901[241] = 0; - out_1314145057723334901[242] = 0; - out_1314145057723334901[243] = 0; - out_1314145057723334901[244] = 0; - out_1314145057723334901[245] = 0; - out_1314145057723334901[246] = 0; - out_1314145057723334901[247] = 1; - out_1314145057723334901[248] = 0; - out_1314145057723334901[249] = 0; - out_1314145057723334901[250] = 0; - out_1314145057723334901[251] = 0; - out_1314145057723334901[252] = 0; - out_1314145057723334901[253] = 0; - out_1314145057723334901[254] = 0; - out_1314145057723334901[255] = 0; - out_1314145057723334901[256] = 0; - out_1314145057723334901[257] = 0; - out_1314145057723334901[258] = 0; - out_1314145057723334901[259] = 0; - out_1314145057723334901[260] = 0; - out_1314145057723334901[261] = 0; - out_1314145057723334901[262] = 0; - out_1314145057723334901[263] = 0; - out_1314145057723334901[264] = 0; - out_1314145057723334901[265] = 0; - out_1314145057723334901[266] = 1; - out_1314145057723334901[267] = 0; - out_1314145057723334901[268] = 0; - out_1314145057723334901[269] = 0; - out_1314145057723334901[270] = 0; - out_1314145057723334901[271] = 0; - out_1314145057723334901[272] = 0; - out_1314145057723334901[273] = 0; - out_1314145057723334901[274] = 0; - out_1314145057723334901[275] = 0; - out_1314145057723334901[276] = 0; - out_1314145057723334901[277] = 0; - out_1314145057723334901[278] = 0; - out_1314145057723334901[279] = 0; - out_1314145057723334901[280] = 0; - out_1314145057723334901[281] = 0; - out_1314145057723334901[282] = 0; - out_1314145057723334901[283] = 0; - out_1314145057723334901[284] = 0; - out_1314145057723334901[285] = 1; - out_1314145057723334901[286] = 0; - out_1314145057723334901[287] = 0; - out_1314145057723334901[288] = 0; - out_1314145057723334901[289] = 0; - out_1314145057723334901[290] = 0; - out_1314145057723334901[291] = 0; - out_1314145057723334901[292] = 0; - out_1314145057723334901[293] = 0; - out_1314145057723334901[294] = 0; - out_1314145057723334901[295] = 0; - out_1314145057723334901[296] = 0; - out_1314145057723334901[297] = 0; - out_1314145057723334901[298] = 0; - out_1314145057723334901[299] = 0; - out_1314145057723334901[300] = 0; - out_1314145057723334901[301] = 0; - out_1314145057723334901[302] = 0; - out_1314145057723334901[303] = 0; - out_1314145057723334901[304] = 1; - out_1314145057723334901[305] = 0; - out_1314145057723334901[306] = 0; - out_1314145057723334901[307] = 0; - out_1314145057723334901[308] = 0; - out_1314145057723334901[309] = 0; - out_1314145057723334901[310] = 0; - out_1314145057723334901[311] = 0; - out_1314145057723334901[312] = 0; - out_1314145057723334901[313] = 0; - out_1314145057723334901[314] = 0; - out_1314145057723334901[315] = 0; - out_1314145057723334901[316] = 0; - out_1314145057723334901[317] = 0; - out_1314145057723334901[318] = 0; - out_1314145057723334901[319] = 0; - out_1314145057723334901[320] = 0; - out_1314145057723334901[321] = 0; - out_1314145057723334901[322] = 0; - out_1314145057723334901[323] = 1; +void F_fun(double *state, double dt, double *out_4440336535941280195) { + out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[2] = 0; + out_4440336535941280195[3] = 0; + out_4440336535941280195[4] = 0; + out_4440336535941280195[5] = 0; + out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[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_4440336535941280195[9] = 0; + out_4440336535941280195[10] = 0; + out_4440336535941280195[11] = 0; + out_4440336535941280195[12] = 0; + out_4440336535941280195[13] = 0; + out_4440336535941280195[14] = 0; + out_4440336535941280195[15] = 0; + out_4440336535941280195[16] = 0; + out_4440336535941280195[17] = 0; + out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[20] = 0; + out_4440336535941280195[21] = 0; + out_4440336535941280195[22] = 0; + out_4440336535941280195[23] = 0; + out_4440336535941280195[24] = 0; + out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[27] = 0; + out_4440336535941280195[28] = 0; + out_4440336535941280195[29] = 0; + out_4440336535941280195[30] = 0; + out_4440336535941280195[31] = 0; + out_4440336535941280195[32] = 0; + out_4440336535941280195[33] = 0; + out_4440336535941280195[34] = 0; + out_4440336535941280195[35] = 0; + out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[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_4440336535941280195[39] = 0; + out_4440336535941280195[40] = 0; + out_4440336535941280195[41] = 0; + out_4440336535941280195[42] = 0; + out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[45] = 0; + out_4440336535941280195[46] = 0; + out_4440336535941280195[47] = 0; + out_4440336535941280195[48] = 0; + out_4440336535941280195[49] = 0; + out_4440336535941280195[50] = 0; + out_4440336535941280195[51] = 0; + out_4440336535941280195[52] = 0; + out_4440336535941280195[53] = 0; + out_4440336535941280195[54] = 0; + out_4440336535941280195[55] = 0; + out_4440336535941280195[56] = 0; + out_4440336535941280195[57] = 1; + out_4440336535941280195[58] = 0; + out_4440336535941280195[59] = 0; + out_4440336535941280195[60] = 0; + out_4440336535941280195[61] = 0; + out_4440336535941280195[62] = 0; + out_4440336535941280195[63] = 0; + out_4440336535941280195[64] = 0; + out_4440336535941280195[65] = 0; + out_4440336535941280195[66] = dt; + out_4440336535941280195[67] = 0; + out_4440336535941280195[68] = 0; + out_4440336535941280195[69] = 0; + out_4440336535941280195[70] = 0; + out_4440336535941280195[71] = 0; + out_4440336535941280195[72] = 0; + out_4440336535941280195[73] = 0; + out_4440336535941280195[74] = 0; + out_4440336535941280195[75] = 0; + out_4440336535941280195[76] = 1; + out_4440336535941280195[77] = 0; + out_4440336535941280195[78] = 0; + out_4440336535941280195[79] = 0; + out_4440336535941280195[80] = 0; + out_4440336535941280195[81] = 0; + out_4440336535941280195[82] = 0; + out_4440336535941280195[83] = 0; + out_4440336535941280195[84] = 0; + out_4440336535941280195[85] = dt; + out_4440336535941280195[86] = 0; + out_4440336535941280195[87] = 0; + out_4440336535941280195[88] = 0; + out_4440336535941280195[89] = 0; + out_4440336535941280195[90] = 0; + out_4440336535941280195[91] = 0; + out_4440336535941280195[92] = 0; + out_4440336535941280195[93] = 0; + out_4440336535941280195[94] = 0; + out_4440336535941280195[95] = 1; + out_4440336535941280195[96] = 0; + out_4440336535941280195[97] = 0; + out_4440336535941280195[98] = 0; + out_4440336535941280195[99] = 0; + out_4440336535941280195[100] = 0; + out_4440336535941280195[101] = 0; + out_4440336535941280195[102] = 0; + out_4440336535941280195[103] = 0; + out_4440336535941280195[104] = dt; + out_4440336535941280195[105] = 0; + out_4440336535941280195[106] = 0; + out_4440336535941280195[107] = 0; + out_4440336535941280195[108] = 0; + out_4440336535941280195[109] = 0; + out_4440336535941280195[110] = 0; + out_4440336535941280195[111] = 0; + out_4440336535941280195[112] = 0; + out_4440336535941280195[113] = 0; + out_4440336535941280195[114] = 1; + out_4440336535941280195[115] = 0; + out_4440336535941280195[116] = 0; + out_4440336535941280195[117] = 0; + out_4440336535941280195[118] = 0; + out_4440336535941280195[119] = 0; + out_4440336535941280195[120] = 0; + out_4440336535941280195[121] = 0; + out_4440336535941280195[122] = 0; + out_4440336535941280195[123] = 0; + out_4440336535941280195[124] = 0; + out_4440336535941280195[125] = 0; + out_4440336535941280195[126] = 0; + out_4440336535941280195[127] = 0; + out_4440336535941280195[128] = 0; + out_4440336535941280195[129] = 0; + out_4440336535941280195[130] = 0; + out_4440336535941280195[131] = 0; + out_4440336535941280195[132] = 0; + out_4440336535941280195[133] = 1; + out_4440336535941280195[134] = 0; + out_4440336535941280195[135] = 0; + out_4440336535941280195[136] = 0; + out_4440336535941280195[137] = 0; + out_4440336535941280195[138] = 0; + out_4440336535941280195[139] = 0; + out_4440336535941280195[140] = 0; + out_4440336535941280195[141] = 0; + out_4440336535941280195[142] = 0; + out_4440336535941280195[143] = 0; + out_4440336535941280195[144] = 0; + out_4440336535941280195[145] = 0; + out_4440336535941280195[146] = 0; + out_4440336535941280195[147] = 0; + out_4440336535941280195[148] = 0; + out_4440336535941280195[149] = 0; + out_4440336535941280195[150] = 0; + out_4440336535941280195[151] = 0; + out_4440336535941280195[152] = 1; + out_4440336535941280195[153] = 0; + out_4440336535941280195[154] = 0; + out_4440336535941280195[155] = 0; + out_4440336535941280195[156] = 0; + out_4440336535941280195[157] = 0; + out_4440336535941280195[158] = 0; + out_4440336535941280195[159] = 0; + out_4440336535941280195[160] = 0; + out_4440336535941280195[161] = 0; + out_4440336535941280195[162] = 0; + out_4440336535941280195[163] = 0; + out_4440336535941280195[164] = 0; + out_4440336535941280195[165] = 0; + out_4440336535941280195[166] = 0; + out_4440336535941280195[167] = 0; + out_4440336535941280195[168] = 0; + out_4440336535941280195[169] = 0; + out_4440336535941280195[170] = 0; + out_4440336535941280195[171] = 1; + out_4440336535941280195[172] = 0; + out_4440336535941280195[173] = 0; + out_4440336535941280195[174] = 0; + out_4440336535941280195[175] = 0; + out_4440336535941280195[176] = 0; + out_4440336535941280195[177] = 0; + out_4440336535941280195[178] = 0; + out_4440336535941280195[179] = 0; + out_4440336535941280195[180] = 0; + out_4440336535941280195[181] = 0; + out_4440336535941280195[182] = 0; + out_4440336535941280195[183] = 0; + out_4440336535941280195[184] = 0; + out_4440336535941280195[185] = 0; + out_4440336535941280195[186] = 0; + out_4440336535941280195[187] = 0; + out_4440336535941280195[188] = 0; + out_4440336535941280195[189] = 0; + out_4440336535941280195[190] = 1; + out_4440336535941280195[191] = 0; + out_4440336535941280195[192] = 0; + out_4440336535941280195[193] = 0; + out_4440336535941280195[194] = 0; + out_4440336535941280195[195] = 0; + out_4440336535941280195[196] = 0; + out_4440336535941280195[197] = 0; + out_4440336535941280195[198] = 0; + out_4440336535941280195[199] = 0; + out_4440336535941280195[200] = 0; + out_4440336535941280195[201] = 0; + out_4440336535941280195[202] = 0; + out_4440336535941280195[203] = 0; + out_4440336535941280195[204] = 0; + out_4440336535941280195[205] = 0; + out_4440336535941280195[206] = 0; + out_4440336535941280195[207] = 0; + out_4440336535941280195[208] = 0; + out_4440336535941280195[209] = 1; + out_4440336535941280195[210] = 0; + out_4440336535941280195[211] = 0; + out_4440336535941280195[212] = 0; + out_4440336535941280195[213] = 0; + out_4440336535941280195[214] = 0; + out_4440336535941280195[215] = 0; + out_4440336535941280195[216] = 0; + out_4440336535941280195[217] = 0; + out_4440336535941280195[218] = 0; + out_4440336535941280195[219] = 0; + out_4440336535941280195[220] = 0; + out_4440336535941280195[221] = 0; + out_4440336535941280195[222] = 0; + out_4440336535941280195[223] = 0; + out_4440336535941280195[224] = 0; + out_4440336535941280195[225] = 0; + out_4440336535941280195[226] = 0; + out_4440336535941280195[227] = 0; + out_4440336535941280195[228] = 1; + out_4440336535941280195[229] = 0; + out_4440336535941280195[230] = 0; + out_4440336535941280195[231] = 0; + out_4440336535941280195[232] = 0; + out_4440336535941280195[233] = 0; + out_4440336535941280195[234] = 0; + out_4440336535941280195[235] = 0; + out_4440336535941280195[236] = 0; + out_4440336535941280195[237] = 0; + out_4440336535941280195[238] = 0; + out_4440336535941280195[239] = 0; + out_4440336535941280195[240] = 0; + out_4440336535941280195[241] = 0; + out_4440336535941280195[242] = 0; + out_4440336535941280195[243] = 0; + out_4440336535941280195[244] = 0; + out_4440336535941280195[245] = 0; + out_4440336535941280195[246] = 0; + out_4440336535941280195[247] = 1; + out_4440336535941280195[248] = 0; + out_4440336535941280195[249] = 0; + out_4440336535941280195[250] = 0; + out_4440336535941280195[251] = 0; + out_4440336535941280195[252] = 0; + out_4440336535941280195[253] = 0; + out_4440336535941280195[254] = 0; + out_4440336535941280195[255] = 0; + out_4440336535941280195[256] = 0; + out_4440336535941280195[257] = 0; + out_4440336535941280195[258] = 0; + out_4440336535941280195[259] = 0; + out_4440336535941280195[260] = 0; + out_4440336535941280195[261] = 0; + out_4440336535941280195[262] = 0; + out_4440336535941280195[263] = 0; + out_4440336535941280195[264] = 0; + out_4440336535941280195[265] = 0; + out_4440336535941280195[266] = 1; + out_4440336535941280195[267] = 0; + out_4440336535941280195[268] = 0; + out_4440336535941280195[269] = 0; + out_4440336535941280195[270] = 0; + out_4440336535941280195[271] = 0; + out_4440336535941280195[272] = 0; + out_4440336535941280195[273] = 0; + out_4440336535941280195[274] = 0; + out_4440336535941280195[275] = 0; + out_4440336535941280195[276] = 0; + out_4440336535941280195[277] = 0; + out_4440336535941280195[278] = 0; + out_4440336535941280195[279] = 0; + out_4440336535941280195[280] = 0; + out_4440336535941280195[281] = 0; + out_4440336535941280195[282] = 0; + out_4440336535941280195[283] = 0; + out_4440336535941280195[284] = 0; + out_4440336535941280195[285] = 1; + out_4440336535941280195[286] = 0; + out_4440336535941280195[287] = 0; + out_4440336535941280195[288] = 0; + out_4440336535941280195[289] = 0; + out_4440336535941280195[290] = 0; + out_4440336535941280195[291] = 0; + out_4440336535941280195[292] = 0; + out_4440336535941280195[293] = 0; + out_4440336535941280195[294] = 0; + out_4440336535941280195[295] = 0; + out_4440336535941280195[296] = 0; + out_4440336535941280195[297] = 0; + out_4440336535941280195[298] = 0; + out_4440336535941280195[299] = 0; + out_4440336535941280195[300] = 0; + out_4440336535941280195[301] = 0; + out_4440336535941280195[302] = 0; + out_4440336535941280195[303] = 0; + out_4440336535941280195[304] = 1; + out_4440336535941280195[305] = 0; + out_4440336535941280195[306] = 0; + out_4440336535941280195[307] = 0; + out_4440336535941280195[308] = 0; + out_4440336535941280195[309] = 0; + out_4440336535941280195[310] = 0; + out_4440336535941280195[311] = 0; + out_4440336535941280195[312] = 0; + out_4440336535941280195[313] = 0; + out_4440336535941280195[314] = 0; + out_4440336535941280195[315] = 0; + out_4440336535941280195[316] = 0; + out_4440336535941280195[317] = 0; + out_4440336535941280195[318] = 0; + out_4440336535941280195[319] = 0; + out_4440336535941280195[320] = 0; + out_4440336535941280195[321] = 0; + out_4440336535941280195[322] = 0; + out_4440336535941280195[323] = 1; } -void h_4(double *state, double *unused, double *out_3131871851783197102) { - out_3131871851783197102[0] = state[6] + state[9]; - out_3131871851783197102[1] = state[7] + state[10]; - out_3131871851783197102[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1055205231970937411) { + out_1055205231970937411[0] = state[6] + state[9]; + out_1055205231970937411[1] = state[7] + state[10]; + out_1055205231970937411[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_7985824233678463609) { - out_7985824233678463609[0] = 0; - out_7985824233678463609[1] = 0; - out_7985824233678463609[2] = 0; - out_7985824233678463609[3] = 0; - out_7985824233678463609[4] = 0; - out_7985824233678463609[5] = 0; - out_7985824233678463609[6] = 1; - out_7985824233678463609[7] = 0; - out_7985824233678463609[8] = 0; - out_7985824233678463609[9] = 1; - out_7985824233678463609[10] = 0; - out_7985824233678463609[11] = 0; - out_7985824233678463609[12] = 0; - out_7985824233678463609[13] = 0; - out_7985824233678463609[14] = 0; - out_7985824233678463609[15] = 0; - out_7985824233678463609[16] = 0; - out_7985824233678463609[17] = 0; - out_7985824233678463609[18] = 0; - out_7985824233678463609[19] = 0; - out_7985824233678463609[20] = 0; - out_7985824233678463609[21] = 0; - out_7985824233678463609[22] = 0; - out_7985824233678463609[23] = 0; - out_7985824233678463609[24] = 0; - out_7985824233678463609[25] = 1; - out_7985824233678463609[26] = 0; - out_7985824233678463609[27] = 0; - out_7985824233678463609[28] = 1; - out_7985824233678463609[29] = 0; - out_7985824233678463609[30] = 0; - out_7985824233678463609[31] = 0; - out_7985824233678463609[32] = 0; - out_7985824233678463609[33] = 0; - out_7985824233678463609[34] = 0; - out_7985824233678463609[35] = 0; - out_7985824233678463609[36] = 0; - out_7985824233678463609[37] = 0; - out_7985824233678463609[38] = 0; - out_7985824233678463609[39] = 0; - out_7985824233678463609[40] = 0; - out_7985824233678463609[41] = 0; - out_7985824233678463609[42] = 0; - out_7985824233678463609[43] = 0; - out_7985824233678463609[44] = 1; - out_7985824233678463609[45] = 0; - out_7985824233678463609[46] = 0; - out_7985824233678463609[47] = 1; - out_7985824233678463609[48] = 0; - out_7985824233678463609[49] = 0; - out_7985824233678463609[50] = 0; - out_7985824233678463609[51] = 0; - out_7985824233678463609[52] = 0; - out_7985824233678463609[53] = 0; +void H_4(double *state, double *unused, double *out_5232245798722086233) { + out_5232245798722086233[0] = 0; + out_5232245798722086233[1] = 0; + out_5232245798722086233[2] = 0; + out_5232245798722086233[3] = 0; + out_5232245798722086233[4] = 0; + out_5232245798722086233[5] = 0; + out_5232245798722086233[6] = 1; + out_5232245798722086233[7] = 0; + out_5232245798722086233[8] = 0; + out_5232245798722086233[9] = 1; + out_5232245798722086233[10] = 0; + out_5232245798722086233[11] = 0; + out_5232245798722086233[12] = 0; + out_5232245798722086233[13] = 0; + out_5232245798722086233[14] = 0; + out_5232245798722086233[15] = 0; + out_5232245798722086233[16] = 0; + out_5232245798722086233[17] = 0; + out_5232245798722086233[18] = 0; + out_5232245798722086233[19] = 0; + out_5232245798722086233[20] = 0; + out_5232245798722086233[21] = 0; + out_5232245798722086233[22] = 0; + out_5232245798722086233[23] = 0; + out_5232245798722086233[24] = 0; + out_5232245798722086233[25] = 1; + out_5232245798722086233[26] = 0; + out_5232245798722086233[27] = 0; + out_5232245798722086233[28] = 1; + out_5232245798722086233[29] = 0; + out_5232245798722086233[30] = 0; + out_5232245798722086233[31] = 0; + out_5232245798722086233[32] = 0; + out_5232245798722086233[33] = 0; + out_5232245798722086233[34] = 0; + out_5232245798722086233[35] = 0; + out_5232245798722086233[36] = 0; + out_5232245798722086233[37] = 0; + out_5232245798722086233[38] = 0; + out_5232245798722086233[39] = 0; + out_5232245798722086233[40] = 0; + out_5232245798722086233[41] = 0; + out_5232245798722086233[42] = 0; + out_5232245798722086233[43] = 0; + out_5232245798722086233[44] = 1; + out_5232245798722086233[45] = 0; + out_5232245798722086233[46] = 0; + out_5232245798722086233[47] = 1; + out_5232245798722086233[48] = 0; + out_5232245798722086233[49] = 0; + out_5232245798722086233[50] = 0; + out_5232245798722086233[51] = 0; + out_5232245798722086233[52] = 0; + out_5232245798722086233[53] = 0; } -void h_10(double *state, double *unused, double *out_4732705393461985535) { - out_4732705393461985535[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_4732705393461985535[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_4732705393461985535[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_4616527314461451432) { + out_4616527314461451432[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_4616527314461451432[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_4616527314461451432[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_25842791302237901) { - out_25842791302237901[0] = 0; - out_25842791302237901[1] = 9.8100000000000005*cos(state[1]); - out_25842791302237901[2] = 0; - out_25842791302237901[3] = 0; - out_25842791302237901[4] = -state[8]; - out_25842791302237901[5] = state[7]; - out_25842791302237901[6] = 0; - out_25842791302237901[7] = state[5]; - out_25842791302237901[8] = -state[4]; - out_25842791302237901[9] = 0; - out_25842791302237901[10] = 0; - out_25842791302237901[11] = 0; - out_25842791302237901[12] = 1; - out_25842791302237901[13] = 0; - out_25842791302237901[14] = 0; - out_25842791302237901[15] = 1; - out_25842791302237901[16] = 0; - out_25842791302237901[17] = 0; - out_25842791302237901[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_25842791302237901[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_25842791302237901[20] = 0; - out_25842791302237901[21] = state[8]; - out_25842791302237901[22] = 0; - out_25842791302237901[23] = -state[6]; - out_25842791302237901[24] = -state[5]; - out_25842791302237901[25] = 0; - out_25842791302237901[26] = state[3]; - out_25842791302237901[27] = 0; - out_25842791302237901[28] = 0; - out_25842791302237901[29] = 0; - out_25842791302237901[30] = 0; - out_25842791302237901[31] = 1; - out_25842791302237901[32] = 0; - out_25842791302237901[33] = 0; - out_25842791302237901[34] = 1; - out_25842791302237901[35] = 0; - out_25842791302237901[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_25842791302237901[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_25842791302237901[38] = 0; - out_25842791302237901[39] = -state[7]; - out_25842791302237901[40] = state[6]; - out_25842791302237901[41] = 0; - out_25842791302237901[42] = state[4]; - out_25842791302237901[43] = -state[3]; - out_25842791302237901[44] = 0; - out_25842791302237901[45] = 0; - out_25842791302237901[46] = 0; - out_25842791302237901[47] = 0; - out_25842791302237901[48] = 0; - out_25842791302237901[49] = 0; - out_25842791302237901[50] = 1; - out_25842791302237901[51] = 0; - out_25842791302237901[52] = 0; - out_25842791302237901[53] = 1; +void H_10(double *state, double *unused, double *out_5353452105284919759) { + out_5353452105284919759[0] = 0; + out_5353452105284919759[1] = 9.8100000000000005*cos(state[1]); + out_5353452105284919759[2] = 0; + out_5353452105284919759[3] = 0; + out_5353452105284919759[4] = -state[8]; + out_5353452105284919759[5] = state[7]; + out_5353452105284919759[6] = 0; + out_5353452105284919759[7] = state[5]; + out_5353452105284919759[8] = -state[4]; + out_5353452105284919759[9] = 0; + out_5353452105284919759[10] = 0; + out_5353452105284919759[11] = 0; + out_5353452105284919759[12] = 1; + out_5353452105284919759[13] = 0; + out_5353452105284919759[14] = 0; + out_5353452105284919759[15] = 1; + out_5353452105284919759[16] = 0; + out_5353452105284919759[17] = 0; + out_5353452105284919759[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5353452105284919759[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5353452105284919759[20] = 0; + out_5353452105284919759[21] = state[8]; + out_5353452105284919759[22] = 0; + out_5353452105284919759[23] = -state[6]; + out_5353452105284919759[24] = -state[5]; + out_5353452105284919759[25] = 0; + out_5353452105284919759[26] = state[3]; + out_5353452105284919759[27] = 0; + out_5353452105284919759[28] = 0; + out_5353452105284919759[29] = 0; + out_5353452105284919759[30] = 0; + out_5353452105284919759[31] = 1; + out_5353452105284919759[32] = 0; + out_5353452105284919759[33] = 0; + out_5353452105284919759[34] = 1; + out_5353452105284919759[35] = 0; + out_5353452105284919759[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5353452105284919759[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5353452105284919759[38] = 0; + out_5353452105284919759[39] = -state[7]; + out_5353452105284919759[40] = state[6]; + out_5353452105284919759[41] = 0; + out_5353452105284919759[42] = state[4]; + out_5353452105284919759[43] = -state[3]; + out_5353452105284919759[44] = 0; + out_5353452105284919759[45] = 0; + out_5353452105284919759[46] = 0; + out_5353452105284919759[47] = 0; + out_5353452105284919759[48] = 0; + out_5353452105284919759[49] = 0; + out_5353452105284919759[50] = 1; + out_5353452105284919759[51] = 0; + out_5353452105284919759[52] = 0; + out_5353452105284919759[53] = 1; } -void h_13(double *state, double *unused, double *out_3855617401361447493) { - out_3855617401361447493[0] = state[3]; - out_3855617401361447493[1] = state[4]; - out_3855617401361447493[2] = state[5]; +void h_13(double *state, double *unused, double *out_35896446347085605) { + out_35896446347085605[0] = state[3]; + out_35896446347085605[1] = state[4]; + out_35896446347085605[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2850288631714387078) { - out_2850288631714387078[0] = 0; - out_2850288631714387078[1] = 0; - out_2850288631714387078[2] = 0; - out_2850288631714387078[3] = 1; - out_2850288631714387078[4] = 0; - out_2850288631714387078[5] = 0; - out_2850288631714387078[6] = 0; - out_2850288631714387078[7] = 0; - out_2850288631714387078[8] = 0; - out_2850288631714387078[9] = 0; - out_2850288631714387078[10] = 0; - out_2850288631714387078[11] = 0; - out_2850288631714387078[12] = 0; - out_2850288631714387078[13] = 0; - out_2850288631714387078[14] = 0; - out_2850288631714387078[15] = 0; - out_2850288631714387078[16] = 0; - out_2850288631714387078[17] = 0; - out_2850288631714387078[18] = 0; - out_2850288631714387078[19] = 0; - out_2850288631714387078[20] = 0; - out_2850288631714387078[21] = 0; - out_2850288631714387078[22] = 1; - out_2850288631714387078[23] = 0; - out_2850288631714387078[24] = 0; - out_2850288631714387078[25] = 0; - out_2850288631714387078[26] = 0; - out_2850288631714387078[27] = 0; - out_2850288631714387078[28] = 0; - out_2850288631714387078[29] = 0; - out_2850288631714387078[30] = 0; - out_2850288631714387078[31] = 0; - out_2850288631714387078[32] = 0; - out_2850288631714387078[33] = 0; - out_2850288631714387078[34] = 0; - out_2850288631714387078[35] = 0; - out_2850288631714387078[36] = 0; - out_2850288631714387078[37] = 0; - out_2850288631714387078[38] = 0; - out_2850288631714387078[39] = 0; - out_2850288631714387078[40] = 0; - out_2850288631714387078[41] = 1; - out_2850288631714387078[42] = 0; - out_2850288631714387078[43] = 0; - out_2850288631714387078[44] = 0; - out_2850288631714387078[45] = 0; - out_2850288631714387078[46] = 0; - out_2850288631714387078[47] = 0; - out_2850288631714387078[48] = 0; - out_2850288631714387078[49] = 0; - out_2850288631714387078[50] = 0; - out_2850288631714387078[51] = 0; - out_2850288631714387078[52] = 0; - out_2850288631714387078[53] = 0; +void H_13(double *state, double *unused, double *out_5603867066670764454) { + out_5603867066670764454[0] = 0; + out_5603867066670764454[1] = 0; + out_5603867066670764454[2] = 0; + out_5603867066670764454[3] = 1; + out_5603867066670764454[4] = 0; + out_5603867066670764454[5] = 0; + out_5603867066670764454[6] = 0; + out_5603867066670764454[7] = 0; + out_5603867066670764454[8] = 0; + out_5603867066670764454[9] = 0; + out_5603867066670764454[10] = 0; + out_5603867066670764454[11] = 0; + out_5603867066670764454[12] = 0; + out_5603867066670764454[13] = 0; + out_5603867066670764454[14] = 0; + out_5603867066670764454[15] = 0; + out_5603867066670764454[16] = 0; + out_5603867066670764454[17] = 0; + out_5603867066670764454[18] = 0; + out_5603867066670764454[19] = 0; + out_5603867066670764454[20] = 0; + out_5603867066670764454[21] = 0; + out_5603867066670764454[22] = 1; + out_5603867066670764454[23] = 0; + out_5603867066670764454[24] = 0; + out_5603867066670764454[25] = 0; + out_5603867066670764454[26] = 0; + out_5603867066670764454[27] = 0; + out_5603867066670764454[28] = 0; + out_5603867066670764454[29] = 0; + out_5603867066670764454[30] = 0; + out_5603867066670764454[31] = 0; + out_5603867066670764454[32] = 0; + out_5603867066670764454[33] = 0; + out_5603867066670764454[34] = 0; + out_5603867066670764454[35] = 0; + out_5603867066670764454[36] = 0; + out_5603867066670764454[37] = 0; + out_5603867066670764454[38] = 0; + out_5603867066670764454[39] = 0; + out_5603867066670764454[40] = 0; + out_5603867066670764454[41] = 1; + out_5603867066670764454[42] = 0; + out_5603867066670764454[43] = 0; + out_5603867066670764454[44] = 0; + out_5603867066670764454[45] = 0; + out_5603867066670764454[46] = 0; + out_5603867066670764454[47] = 0; + out_5603867066670764454[48] = 0; + out_5603867066670764454[49] = 0; + out_5603867066670764454[50] = 0; + out_5603867066670764454[51] = 0; + out_5603867066670764454[52] = 0; + out_5603867066670764454[53] = 0; } -void h_14(double *state, double *unused, double *out_2052081526966194460) { - out_2052081526966194460[0] = state[6]; - out_2052081526966194460[1] = state[7]; - out_2052081526966194460[2] = state[8]; +void h_14(double *state, double *unused, double *out_631141063206634270) { + out_631141063206634270[0] = state[6]; + out_631141063206634270[1] = state[7]; + out_631141063206634270[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4903035801383091313) { - out_4903035801383091313[0] = 0; - out_4903035801383091313[1] = 0; - out_4903035801383091313[2] = 0; - out_4903035801383091313[3] = 0; - out_4903035801383091313[4] = 0; - out_4903035801383091313[5] = 0; - out_4903035801383091313[6] = 1; - out_4903035801383091313[7] = 0; - out_4903035801383091313[8] = 0; - out_4903035801383091313[9] = 0; - out_4903035801383091313[10] = 0; - out_4903035801383091313[11] = 0; - out_4903035801383091313[12] = 0; - out_4903035801383091313[13] = 0; - out_4903035801383091313[14] = 0; - out_4903035801383091313[15] = 0; - out_4903035801383091313[16] = 0; - out_4903035801383091313[17] = 0; - out_4903035801383091313[18] = 0; - out_4903035801383091313[19] = 0; - out_4903035801383091313[20] = 0; - out_4903035801383091313[21] = 0; - out_4903035801383091313[22] = 0; - out_4903035801383091313[23] = 0; - out_4903035801383091313[24] = 0; - out_4903035801383091313[25] = 1; - out_4903035801383091313[26] = 0; - out_4903035801383091313[27] = 0; - out_4903035801383091313[28] = 0; - out_4903035801383091313[29] = 0; - out_4903035801383091313[30] = 0; - out_4903035801383091313[31] = 0; - out_4903035801383091313[32] = 0; - out_4903035801383091313[33] = 0; - out_4903035801383091313[34] = 0; - out_4903035801383091313[35] = 0; - out_4903035801383091313[36] = 0; - out_4903035801383091313[37] = 0; - out_4903035801383091313[38] = 0; - out_4903035801383091313[39] = 0; - out_4903035801383091313[40] = 0; - out_4903035801383091313[41] = 0; - out_4903035801383091313[42] = 0; - out_4903035801383091313[43] = 0; - out_4903035801383091313[44] = 1; - out_4903035801383091313[45] = 0; - out_4903035801383091313[46] = 0; - out_4903035801383091313[47] = 0; - out_4903035801383091313[48] = 0; - out_4903035801383091313[49] = 0; - out_4903035801383091313[50] = 0; - out_4903035801383091313[51] = 0; - out_4903035801383091313[52] = 0; - out_4903035801383091313[53] = 0; +void H_14(double *state, double *unused, double *out_9195486655061570762) { + out_9195486655061570762[0] = 0; + out_9195486655061570762[1] = 0; + out_9195486655061570762[2] = 0; + out_9195486655061570762[3] = 0; + out_9195486655061570762[4] = 0; + out_9195486655061570762[5] = 0; + out_9195486655061570762[6] = 1; + out_9195486655061570762[7] = 0; + out_9195486655061570762[8] = 0; + out_9195486655061570762[9] = 0; + out_9195486655061570762[10] = 0; + out_9195486655061570762[11] = 0; + out_9195486655061570762[12] = 0; + out_9195486655061570762[13] = 0; + out_9195486655061570762[14] = 0; + out_9195486655061570762[15] = 0; + out_9195486655061570762[16] = 0; + out_9195486655061570762[17] = 0; + out_9195486655061570762[18] = 0; + out_9195486655061570762[19] = 0; + out_9195486655061570762[20] = 0; + out_9195486655061570762[21] = 0; + out_9195486655061570762[22] = 0; + out_9195486655061570762[23] = 0; + out_9195486655061570762[24] = 0; + out_9195486655061570762[25] = 1; + out_9195486655061570762[26] = 0; + out_9195486655061570762[27] = 0; + out_9195486655061570762[28] = 0; + out_9195486655061570762[29] = 0; + out_9195486655061570762[30] = 0; + out_9195486655061570762[31] = 0; + out_9195486655061570762[32] = 0; + out_9195486655061570762[33] = 0; + out_9195486655061570762[34] = 0; + out_9195486655061570762[35] = 0; + out_9195486655061570762[36] = 0; + out_9195486655061570762[37] = 0; + out_9195486655061570762[38] = 0; + out_9195486655061570762[39] = 0; + out_9195486655061570762[40] = 0; + out_9195486655061570762[41] = 0; + out_9195486655061570762[42] = 0; + out_9195486655061570762[43] = 0; + out_9195486655061570762[44] = 1; + out_9195486655061570762[45] = 0; + out_9195486655061570762[46] = 0; + out_9195486655061570762[47] = 0; + out_9195486655061570762[48] = 0; + out_9195486655061570762[49] = 0; + out_9195486655061570762[50] = 0; + out_9195486655061570762[51] = 0; + out_9195486655061570762[52] = 0; + out_9195486655061570762[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_7783868612103190645) { - err_fun(nom_x, delta_x, out_7783868612103190645); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3576801538095390920) { + err_fun(nom_x, delta_x, out_3576801538095390920); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6605006959385105646) { - inv_err_fun(nom_x, true_x, out_6605006959385105646); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3629669491519681211) { + inv_err_fun(nom_x, true_x, out_3629669491519681211); } -void pose_H_mod_fun(double *state, double *out_4214017023834556037) { - H_mod_fun(state, out_4214017023834556037); +void pose_H_mod_fun(double *state, double *out_128220774054724087) { + H_mod_fun(state, out_128220774054724087); } -void pose_f_fun(double *state, double dt, double *out_446156685689757577) { - f_fun(state, dt, out_446156685689757577); +void pose_f_fun(double *state, double dt, double *out_8022018128441912094) { + f_fun(state, dt, out_8022018128441912094); } -void pose_F_fun(double *state, double dt, double *out_1314145057723334901) { - F_fun(state, dt, out_1314145057723334901); +void pose_F_fun(double *state, double dt, double *out_4440336535941280195) { + F_fun(state, dt, out_4440336535941280195); } -void pose_h_4(double *state, double *unused, double *out_3131871851783197102) { - h_4(state, unused, out_3131871851783197102); +void pose_h_4(double *state, double *unused, double *out_1055205231970937411) { + h_4(state, unused, out_1055205231970937411); } -void pose_H_4(double *state, double *unused, double *out_7985824233678463609) { - H_4(state, unused, out_7985824233678463609); +void pose_H_4(double *state, double *unused, double *out_5232245798722086233) { + H_4(state, unused, out_5232245798722086233); } -void pose_h_10(double *state, double *unused, double *out_4732705393461985535) { - h_10(state, unused, out_4732705393461985535); +void pose_h_10(double *state, double *unused, double *out_4616527314461451432) { + h_10(state, unused, out_4616527314461451432); } -void pose_H_10(double *state, double *unused, double *out_25842791302237901) { - H_10(state, unused, out_25842791302237901); +void pose_H_10(double *state, double *unused, double *out_5353452105284919759) { + H_10(state, unused, out_5353452105284919759); } -void pose_h_13(double *state, double *unused, double *out_3855617401361447493) { - h_13(state, unused, out_3855617401361447493); +void pose_h_13(double *state, double *unused, double *out_35896446347085605) { + h_13(state, unused, out_35896446347085605); } -void pose_H_13(double *state, double *unused, double *out_2850288631714387078) { - H_13(state, unused, out_2850288631714387078); +void pose_H_13(double *state, double *unused, double *out_5603867066670764454) { + H_13(state, unused, out_5603867066670764454); } -void pose_h_14(double *state, double *unused, double *out_2052081526966194460) { - h_14(state, unused, out_2052081526966194460); +void pose_h_14(double *state, double *unused, double *out_631141063206634270) { + h_14(state, unused, out_631141063206634270); } -void pose_H_14(double *state, double *unused, double *out_4903035801383091313) { - H_14(state, unused, out_4903035801383091313); +void pose_H_14(double *state, double *unused, double *out_9195486655061570762) { + H_14(state, unused, out_9195486655061570762); } 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 a48f678e7..2bdc49407 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_7783868612103190645); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6605006959385105646); -void pose_H_mod_fun(double *state, double *out_4214017023834556037); -void pose_f_fun(double *state, double dt, double *out_446156685689757577); -void pose_F_fun(double *state, double dt, double *out_1314145057723334901); -void pose_h_4(double *state, double *unused, double *out_3131871851783197102); -void pose_H_4(double *state, double *unused, double *out_7985824233678463609); -void pose_h_10(double *state, double *unused, double *out_4732705393461985535); -void pose_H_10(double *state, double *unused, double *out_25842791302237901); -void pose_h_13(double *state, double *unused, double *out_3855617401361447493); -void pose_H_13(double *state, double *unused, double *out_2850288631714387078); -void pose_h_14(double *state, double *unused, double *out_2052081526966194460); -void pose_H_14(double *state, double *unused, double *out_4903035801383091313); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3576801538095390920); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3629669491519681211); +void pose_H_mod_fun(double *state, double *out_128220774054724087); +void pose_f_fun(double *state, double dt, double *out_8022018128441912094); +void pose_F_fun(double *state, double dt, double *out_4440336535941280195); +void pose_h_4(double *state, double *unused, double *out_1055205231970937411); +void pose_H_4(double *state, double *unused, double *out_5232245798722086233); +void pose_h_10(double *state, double *unused, double *out_4616527314461451432); +void pose_H_10(double *state, double *unused, double *out_5353452105284919759); +void pose_h_13(double *state, double *unused, double *out_35896446347085605); +void pose_H_13(double *state, double *unused, double *out_5603867066670764454); +void pose_h_14(double *state, double *unused, double *out_631141063206634270); +void pose_H_14(double *state, double *unused, double *out_9195486655061570762); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index e31093c53..f5caf3a87 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 68828c7ab..7d13cd711 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 29884585b..5dd9ec800 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index d64f17666..2eda31fcc 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 9332f9020..a7e9d99be 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ