From 1caa0bfbb277ba11705dbf5af0545c5cc4e057b6 Mon Sep 17 00:00:00 2001 From: StarPilot Build Bot <168790843+firestar5683@users.noreply.github.com> Date: Mon, 24 Aug 2026 23:53:55 +0000 Subject: [PATCH] build --- cereal/libcereal.a | Bin 645556 -> 645692 bytes panda/board/obj/body_h7.bin.signed | Bin 108688 -> 108688 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 108552 -> 108552 bytes panda/board/obj/body_h7/main.elf | Bin 454576 -> 454576 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes .../obj/bootstub.panda_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes .../bootstub.panda_h7_can_ignition_only.bin | Bin 18784 -> 18784 bytes .../obj/bootstub.panda_h7_hkg_remote.bin | Bin 18784 -> 18784 bytes ....panda_h7_hkg_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes ...stub.panda_h7_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_hkg_remote.bin | Bin 11068 -> 11068 bytes ...tub.panda_hkg_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes ...ootstub.panda_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 94756 -> 94756 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 94620 -> 94620 bytes panda/board/obj/panda/main.elf | Bin 405972 -> 405972 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 94736 -> 94736 bytes .../obj/panda_can_ignition_only/bootstub.elf | Bin 100780 -> 100780 bytes .../obj/panda_can_ignition_only/main.bin | Bin 94600 -> 94600 bytes .../obj/panda_can_ignition_only/main.elf | Bin 405804 -> 405804 bytes panda/board/obj/panda_h7.bin.signed | Bin 116644 -> 116644 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 116508 -> 116508 bytes panda/board/obj/panda_h7/main.elf | Bin 498040 -> 498040 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 116624 -> 116624 bytes .../panda_h7_can_ignition_only/bootstub.elf | Bin 152748 -> 152748 bytes .../obj/panda_h7_can_ignition_only/main.bin | Bin 116488 -> 116488 bytes .../obj/panda_h7_can_ignition_only/main.elf | Bin 497884 -> 497884 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 116740 -> 116740 bytes .../obj/panda_h7_hkg_remote/bootstub.elf | Bin 152740 -> 152740 bytes panda/board/obj/panda_h7_hkg_remote/main.bin | Bin 116604 -> 116604 bytes panda/board/obj/panda_h7_hkg_remote/main.elf | Bin 498484 -> 498484 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 116732 -> 116732 bytes .../bootstub.elf | Bin 152760 -> 152760 bytes .../main.bin | Bin 116596 -> 116596 bytes .../main.elf | Bin 498348 -> 498348 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 116580 -> 116580 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 116444 -> 116444 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 497980 -> 497980 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 116560 -> 116560 bytes .../bootstub.elf | Bin 152756 -> 152756 bytes .../main.bin | Bin 116424 -> 116424 bytes .../main.elf | Bin 497824 -> 497824 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 94848 -> 94848 bytes panda/board/obj/panda_hkg_remote/bootstub.elf | Bin 100772 -> 100772 bytes panda/board/obj/panda_hkg_remote/main.bin | Bin 94712 -> 94712 bytes panda/board/obj/panda_hkg_remote/main.elf | Bin 406392 -> 406392 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 94840 -> 94840 bytes .../bootstub.elf | Bin 100792 -> 100792 bytes .../main.bin | Bin 94704 -> 94704 bytes .../main.elf | Bin 406252 -> 406252 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 110584 -> 110584 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 110448 -> 110448 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 462600 -> 462600 bytes panda/board/obj/panda_remote.bin.signed | Bin 94716 -> 94716 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 94580 -> 94580 bytes panda/board/obj/panda_remote/main.elf | Bin 406076 -> 406076 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 94696 -> 94696 bytes .../bootstub.elf | Bin 100788 -> 100788 bytes .../panda_remote_can_ignition_only/main.bin | Bin 94560 -> 94560 bytes .../panda_remote_can_ignition_only/main.elf | Bin 405908 -> 405908 bytes panda/board/obj/version | 2 +- 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* * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_5232047554535600109) { - out_5232047554535600109[0] = delta_x[0] + nom_x[0]; - out_5232047554535600109[1] = delta_x[1] + nom_x[1]; - out_5232047554535600109[2] = delta_x[2] + nom_x[2]; - out_5232047554535600109[3] = delta_x[3] + nom_x[3]; - out_5232047554535600109[4] = delta_x[4] + nom_x[4]; - out_5232047554535600109[5] = delta_x[5] + nom_x[5]; - out_5232047554535600109[6] = delta_x[6] + nom_x[6]; - out_5232047554535600109[7] = delta_x[7] + nom_x[7]; - out_5232047554535600109[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3926092090457486519) { + out_3926092090457486519[0] = delta_x[0] + nom_x[0]; + out_3926092090457486519[1] = delta_x[1] + nom_x[1]; + out_3926092090457486519[2] = delta_x[2] + nom_x[2]; + out_3926092090457486519[3] = delta_x[3] + nom_x[3]; + out_3926092090457486519[4] = delta_x[4] + nom_x[4]; + out_3926092090457486519[5] = delta_x[5] + nom_x[5]; + out_3926092090457486519[6] = delta_x[6] + nom_x[6]; + out_3926092090457486519[7] = delta_x[7] + nom_x[7]; + out_3926092090457486519[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5926361318328117466) { - out_5926361318328117466[0] = -nom_x[0] + true_x[0]; - out_5926361318328117466[1] = -nom_x[1] + true_x[1]; - out_5926361318328117466[2] = -nom_x[2] + true_x[2]; - out_5926361318328117466[3] = -nom_x[3] + true_x[3]; - out_5926361318328117466[4] = -nom_x[4] + true_x[4]; - out_5926361318328117466[5] = -nom_x[5] + true_x[5]; - out_5926361318328117466[6] = -nom_x[6] + true_x[6]; - out_5926361318328117466[7] = -nom_x[7] + true_x[7]; - out_5926361318328117466[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147) { + out_1042755756890972147[0] = -nom_x[0] + true_x[0]; + out_1042755756890972147[1] = -nom_x[1] + true_x[1]; + out_1042755756890972147[2] = -nom_x[2] + true_x[2]; + out_1042755756890972147[3] = -nom_x[3] + true_x[3]; + out_1042755756890972147[4] = -nom_x[4] + true_x[4]; + out_1042755756890972147[5] = -nom_x[5] + true_x[5]; + out_1042755756890972147[6] = -nom_x[6] + true_x[6]; + out_1042755756890972147[7] = -nom_x[7] + true_x[7]; + out_1042755756890972147[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8663045025294862621) { - out_8663045025294862621[0] = 1.0; - out_8663045025294862621[1] = 0.0; - out_8663045025294862621[2] = 0.0; - out_8663045025294862621[3] = 0.0; - out_8663045025294862621[4] = 0.0; - out_8663045025294862621[5] = 0.0; - out_8663045025294862621[6] = 0.0; - out_8663045025294862621[7] = 0.0; - out_8663045025294862621[8] = 0.0; - out_8663045025294862621[9] = 0.0; - out_8663045025294862621[10] = 1.0; - out_8663045025294862621[11] = 0.0; - out_8663045025294862621[12] = 0.0; - out_8663045025294862621[13] = 0.0; - out_8663045025294862621[14] = 0.0; - out_8663045025294862621[15] = 0.0; - out_8663045025294862621[16] = 0.0; - out_8663045025294862621[17] = 0.0; - out_8663045025294862621[18] = 0.0; - out_8663045025294862621[19] = 0.0; - out_8663045025294862621[20] = 1.0; - out_8663045025294862621[21] = 0.0; - out_8663045025294862621[22] = 0.0; - out_8663045025294862621[23] = 0.0; - out_8663045025294862621[24] = 0.0; - out_8663045025294862621[25] = 0.0; - out_8663045025294862621[26] = 0.0; - out_8663045025294862621[27] = 0.0; - out_8663045025294862621[28] = 0.0; - out_8663045025294862621[29] = 0.0; - out_8663045025294862621[30] = 1.0; - out_8663045025294862621[31] = 0.0; - out_8663045025294862621[32] = 0.0; - out_8663045025294862621[33] = 0.0; - out_8663045025294862621[34] = 0.0; - out_8663045025294862621[35] = 0.0; - out_8663045025294862621[36] = 0.0; - out_8663045025294862621[37] = 0.0; - out_8663045025294862621[38] = 0.0; - out_8663045025294862621[39] = 0.0; - out_8663045025294862621[40] = 1.0; - out_8663045025294862621[41] = 0.0; - out_8663045025294862621[42] = 0.0; - out_8663045025294862621[43] = 0.0; - out_8663045025294862621[44] = 0.0; - out_8663045025294862621[45] = 0.0; - out_8663045025294862621[46] = 0.0; - out_8663045025294862621[47] = 0.0; - out_8663045025294862621[48] = 0.0; - out_8663045025294862621[49] = 0.0; - out_8663045025294862621[50] = 1.0; - out_8663045025294862621[51] = 0.0; - out_8663045025294862621[52] = 0.0; - out_8663045025294862621[53] = 0.0; - out_8663045025294862621[54] = 0.0; - out_8663045025294862621[55] = 0.0; - out_8663045025294862621[56] = 0.0; - out_8663045025294862621[57] = 0.0; - out_8663045025294862621[58] = 0.0; - out_8663045025294862621[59] = 0.0; - out_8663045025294862621[60] = 1.0; - out_8663045025294862621[61] = 0.0; - out_8663045025294862621[62] = 0.0; - out_8663045025294862621[63] = 0.0; - out_8663045025294862621[64] = 0.0; - out_8663045025294862621[65] = 0.0; - out_8663045025294862621[66] = 0.0; - out_8663045025294862621[67] = 0.0; - out_8663045025294862621[68] = 0.0; - out_8663045025294862621[69] = 0.0; - out_8663045025294862621[70] = 1.0; - out_8663045025294862621[71] = 0.0; - out_8663045025294862621[72] = 0.0; - out_8663045025294862621[73] = 0.0; - out_8663045025294862621[74] = 0.0; - out_8663045025294862621[75] = 0.0; - out_8663045025294862621[76] = 0.0; - out_8663045025294862621[77] = 0.0; - out_8663045025294862621[78] = 0.0; - out_8663045025294862621[79] = 0.0; - out_8663045025294862621[80] = 1.0; +void H_mod_fun(double *state, double *out_6362512350679995207) { + out_6362512350679995207[0] = 1.0; + out_6362512350679995207[1] = 0.0; + out_6362512350679995207[2] = 0.0; + out_6362512350679995207[3] = 0.0; + out_6362512350679995207[4] = 0.0; + out_6362512350679995207[5] = 0.0; + out_6362512350679995207[6] = 0.0; + out_6362512350679995207[7] = 0.0; + out_6362512350679995207[8] = 0.0; + out_6362512350679995207[9] = 0.0; + out_6362512350679995207[10] = 1.0; + out_6362512350679995207[11] = 0.0; + out_6362512350679995207[12] = 0.0; + out_6362512350679995207[13] = 0.0; + out_6362512350679995207[14] = 0.0; + out_6362512350679995207[15] = 0.0; + out_6362512350679995207[16] = 0.0; + out_6362512350679995207[17] = 0.0; + out_6362512350679995207[18] = 0.0; + out_6362512350679995207[19] = 0.0; + out_6362512350679995207[20] = 1.0; + out_6362512350679995207[21] = 0.0; + out_6362512350679995207[22] = 0.0; + out_6362512350679995207[23] = 0.0; + out_6362512350679995207[24] = 0.0; + out_6362512350679995207[25] = 0.0; + out_6362512350679995207[26] = 0.0; + out_6362512350679995207[27] = 0.0; + out_6362512350679995207[28] = 0.0; + out_6362512350679995207[29] = 0.0; + out_6362512350679995207[30] = 1.0; + out_6362512350679995207[31] = 0.0; + out_6362512350679995207[32] = 0.0; + out_6362512350679995207[33] = 0.0; + out_6362512350679995207[34] = 0.0; + out_6362512350679995207[35] = 0.0; + out_6362512350679995207[36] = 0.0; + out_6362512350679995207[37] = 0.0; + out_6362512350679995207[38] = 0.0; + out_6362512350679995207[39] = 0.0; + out_6362512350679995207[40] = 1.0; + out_6362512350679995207[41] = 0.0; + out_6362512350679995207[42] = 0.0; + out_6362512350679995207[43] = 0.0; + out_6362512350679995207[44] = 0.0; + out_6362512350679995207[45] = 0.0; + out_6362512350679995207[46] = 0.0; + out_6362512350679995207[47] = 0.0; + out_6362512350679995207[48] = 0.0; + out_6362512350679995207[49] = 0.0; + out_6362512350679995207[50] = 1.0; + out_6362512350679995207[51] = 0.0; + out_6362512350679995207[52] = 0.0; + out_6362512350679995207[53] = 0.0; + out_6362512350679995207[54] = 0.0; + out_6362512350679995207[55] = 0.0; + out_6362512350679995207[56] = 0.0; + out_6362512350679995207[57] = 0.0; + out_6362512350679995207[58] = 0.0; + out_6362512350679995207[59] = 0.0; + out_6362512350679995207[60] = 1.0; + out_6362512350679995207[61] = 0.0; + out_6362512350679995207[62] = 0.0; + out_6362512350679995207[63] = 0.0; + out_6362512350679995207[64] = 0.0; + out_6362512350679995207[65] = 0.0; + out_6362512350679995207[66] = 0.0; + out_6362512350679995207[67] = 0.0; + out_6362512350679995207[68] = 0.0; + out_6362512350679995207[69] = 0.0; + out_6362512350679995207[70] = 1.0; + out_6362512350679995207[71] = 0.0; + out_6362512350679995207[72] = 0.0; + out_6362512350679995207[73] = 0.0; + out_6362512350679995207[74] = 0.0; + out_6362512350679995207[75] = 0.0; + out_6362512350679995207[76] = 0.0; + out_6362512350679995207[77] = 0.0; + out_6362512350679995207[78] = 0.0; + out_6362512350679995207[79] = 0.0; + out_6362512350679995207[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4712382669747920854) { - out_4712382669747920854[0] = state[0]; - out_4712382669747920854[1] = state[1]; - out_4712382669747920854[2] = state[2]; - out_4712382669747920854[3] = state[3]; - out_4712382669747920854[4] = state[4]; - out_4712382669747920854[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_4712382669747920854[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_4712382669747920854[7] = state[7]; - out_4712382669747920854[8] = state[8]; +void f_fun(double *state, double dt, double *out_424859049759384026) { + out_424859049759384026[0] = state[0]; + out_424859049759384026[1] = state[1]; + out_424859049759384026[2] = state[2]; + out_424859049759384026[3] = state[3]; + out_424859049759384026[4] = state[4]; + out_424859049759384026[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_424859049759384026[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_424859049759384026[7] = state[7]; + out_424859049759384026[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6132820248099245599) { - out_6132820248099245599[0] = 1; - out_6132820248099245599[1] = 0; - out_6132820248099245599[2] = 0; - out_6132820248099245599[3] = 0; - out_6132820248099245599[4] = 0; - out_6132820248099245599[5] = 0; - out_6132820248099245599[6] = 0; - out_6132820248099245599[7] = 0; - out_6132820248099245599[8] = 0; - out_6132820248099245599[9] = 0; - out_6132820248099245599[10] = 1; - out_6132820248099245599[11] = 0; - out_6132820248099245599[12] = 0; - out_6132820248099245599[13] = 0; - out_6132820248099245599[14] = 0; - out_6132820248099245599[15] = 0; - out_6132820248099245599[16] = 0; - out_6132820248099245599[17] = 0; - out_6132820248099245599[18] = 0; - out_6132820248099245599[19] = 0; - out_6132820248099245599[20] = 1; - out_6132820248099245599[21] = 0; - out_6132820248099245599[22] = 0; - out_6132820248099245599[23] = 0; - out_6132820248099245599[24] = 0; - out_6132820248099245599[25] = 0; - out_6132820248099245599[26] = 0; - out_6132820248099245599[27] = 0; - out_6132820248099245599[28] = 0; - out_6132820248099245599[29] = 0; - out_6132820248099245599[30] = 1; - out_6132820248099245599[31] = 0; - out_6132820248099245599[32] = 0; - out_6132820248099245599[33] = 0; - out_6132820248099245599[34] = 0; - out_6132820248099245599[35] = 0; - out_6132820248099245599[36] = 0; - out_6132820248099245599[37] = 0; - out_6132820248099245599[38] = 0; - out_6132820248099245599[39] = 0; - out_6132820248099245599[40] = 1; - out_6132820248099245599[41] = 0; - out_6132820248099245599[42] = 0; - out_6132820248099245599[43] = 0; - out_6132820248099245599[44] = 0; - out_6132820248099245599[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_6132820248099245599[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6132820248099245599[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6132820248099245599[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6132820248099245599[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_6132820248099245599[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6132820248099245599[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6132820248099245599[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6132820248099245599[53] = -9.8100000000000005*dt; - out_6132820248099245599[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_6132820248099245599[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6132820248099245599[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6132820248099245599[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6132820248099245599[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_6132820248099245599[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6132820248099245599[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_6132820248099245599[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6132820248099245599[62] = 0; - out_6132820248099245599[63] = 0; - out_6132820248099245599[64] = 0; - out_6132820248099245599[65] = 0; - out_6132820248099245599[66] = 0; - out_6132820248099245599[67] = 0; - out_6132820248099245599[68] = 0; - out_6132820248099245599[69] = 0; - out_6132820248099245599[70] = 1; - out_6132820248099245599[71] = 0; - out_6132820248099245599[72] = 0; - out_6132820248099245599[73] = 0; - out_6132820248099245599[74] = 0; - out_6132820248099245599[75] = 0; - out_6132820248099245599[76] = 0; - out_6132820248099245599[77] = 0; - out_6132820248099245599[78] = 0; - out_6132820248099245599[79] = 0; - out_6132820248099245599[80] = 1; +void F_fun(double *state, double dt, double *out_5354778108929478985) { + out_5354778108929478985[0] = 1; + out_5354778108929478985[1] = 0; + out_5354778108929478985[2] = 0; + out_5354778108929478985[3] = 0; + out_5354778108929478985[4] = 0; + out_5354778108929478985[5] = 0; + out_5354778108929478985[6] = 0; + out_5354778108929478985[7] = 0; + out_5354778108929478985[8] = 0; + out_5354778108929478985[9] = 0; + out_5354778108929478985[10] = 1; + out_5354778108929478985[11] = 0; + out_5354778108929478985[12] = 0; + out_5354778108929478985[13] = 0; + out_5354778108929478985[14] = 0; + out_5354778108929478985[15] = 0; + out_5354778108929478985[16] = 0; + out_5354778108929478985[17] = 0; + out_5354778108929478985[18] = 0; + out_5354778108929478985[19] = 0; + out_5354778108929478985[20] = 1; + out_5354778108929478985[21] = 0; + out_5354778108929478985[22] = 0; + out_5354778108929478985[23] = 0; + out_5354778108929478985[24] = 0; + out_5354778108929478985[25] = 0; + out_5354778108929478985[26] = 0; + out_5354778108929478985[27] = 0; + out_5354778108929478985[28] = 0; + out_5354778108929478985[29] = 0; + out_5354778108929478985[30] = 1; + out_5354778108929478985[31] = 0; + out_5354778108929478985[32] = 0; + out_5354778108929478985[33] = 0; + out_5354778108929478985[34] = 0; + out_5354778108929478985[35] = 0; + out_5354778108929478985[36] = 0; + out_5354778108929478985[37] = 0; + out_5354778108929478985[38] = 0; + out_5354778108929478985[39] = 0; + out_5354778108929478985[40] = 1; + out_5354778108929478985[41] = 0; + out_5354778108929478985[42] = 0; + out_5354778108929478985[43] = 0; + out_5354778108929478985[44] = 0; + out_5354778108929478985[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_5354778108929478985[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5354778108929478985[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5354778108929478985[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5354778108929478985[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_5354778108929478985[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5354778108929478985[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5354778108929478985[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5354778108929478985[53] = -9.8100000000000005*dt; + out_5354778108929478985[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_5354778108929478985[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5354778108929478985[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5354778108929478985[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5354778108929478985[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_5354778108929478985[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5354778108929478985[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_5354778108929478985[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5354778108929478985[62] = 0; + out_5354778108929478985[63] = 0; + out_5354778108929478985[64] = 0; + out_5354778108929478985[65] = 0; + out_5354778108929478985[66] = 0; + out_5354778108929478985[67] = 0; + out_5354778108929478985[68] = 0; + out_5354778108929478985[69] = 0; + out_5354778108929478985[70] = 1; + out_5354778108929478985[71] = 0; + out_5354778108929478985[72] = 0; + out_5354778108929478985[73] = 0; + out_5354778108929478985[74] = 0; + out_5354778108929478985[75] = 0; + out_5354778108929478985[76] = 0; + out_5354778108929478985[77] = 0; + out_5354778108929478985[78] = 0; + out_5354778108929478985[79] = 0; + out_5354778108929478985[80] = 1; } -void h_25(double *state, double *unused, double *out_8954572363719808224) { - out_8954572363719808224[0] = state[6]; +void h_25(double *state, double *unused, double *out_2030817843873969747) { + out_2030817843873969747[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6260718398425197318) { - out_6260718398425197318[0] = 0; - out_6260718398425197318[1] = 0; - out_6260718398425197318[2] = 0; - out_6260718398425197318[3] = 0; - out_6260718398425197318[4] = 0; - out_6260718398425197318[5] = 0; - out_6260718398425197318[6] = 1; - out_6260718398425197318[7] = 0; - out_6260718398425197318[8] = 0; +void H_25(double *state, double *unused, double *out_8509671287957375619) { + out_8509671287957375619[0] = 0; + out_8509671287957375619[1] = 0; + out_8509671287957375619[2] = 0; + out_8509671287957375619[3] = 0; + out_8509671287957375619[4] = 0; + out_8509671287957375619[5] = 0; + out_8509671287957375619[6] = 1; + out_8509671287957375619[7] = 0; + out_8509671287957375619[8] = 0; } -void h_24(double *state, double *unused, double *out_573451915361062774) { - out_573451915361062774[0] = state[4]; - out_573451915361062774[1] = state[5]; +void h_24(double *state, double *unused, double *out_6573865906285076625) { + out_6573865906285076625[0] = state[4]; + out_6573865906285076625[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8433367997430696884) { - out_8433367997430696884[0] = 0; - out_8433367997430696884[1] = 0; - out_8433367997430696884[2] = 0; - out_8433367997430696884[3] = 0; - out_8433367997430696884[4] = 1; - out_8433367997430696884[5] = 0; - out_8433367997430696884[6] = 0; - out_8433367997430696884[7] = 0; - out_8433367997430696884[8] = 0; - out_8433367997430696884[9] = 0; - out_8433367997430696884[10] = 0; - out_8433367997430696884[11] = 0; - out_8433367997430696884[12] = 0; - out_8433367997430696884[13] = 0; - out_8433367997430696884[14] = 1; - out_8433367997430696884[15] = 0; - out_8433367997430696884[16] = 0; - out_8433367997430696884[17] = 0; +void H_24(double *state, double *unused, double *out_1855465829849189862) { + out_1855465829849189862[0] = 0; + out_1855465829849189862[1] = 0; + out_1855465829849189862[2] = 0; + out_1855465829849189862[3] = 0; + out_1855465829849189862[4] = 1; + out_1855465829849189862[5] = 0; + out_1855465829849189862[6] = 0; + out_1855465829849189862[7] = 0; + out_1855465829849189862[8] = 0; + out_1855465829849189862[9] = 0; + out_1855465829849189862[10] = 0; + out_1855465829849189862[11] = 0; + out_1855465829849189862[12] = 0; + out_1855465829849189862[13] = 0; + out_1855465829849189862[14] = 1; + out_1855465829849189862[15] = 0; + out_1855465829849189862[16] = 0; + out_1855465829849189862[17] = 0; } -void h_30(double *state, double *unused, double *out_995511028726003400) { - out_995511028726003400[0] = state[4]; +void h_30(double *state, double *unused, double *out_8801653070224320683) { + out_8801653070224320683[0] = state[4]; } -void H_30(double *state, double *unused, double *out_655971943066419437) { - out_655971943066419437[0] = 0; - out_655971943066419437[1] = 0; - out_655971943066419437[2] = 0; - out_655971943066419437[3] = 0; - out_655971943066419437[4] = 1; - out_655971943066419437[5] = 0; - out_655971943066419437[6] = 0; - out_655971943066419437[7] = 0; - out_655971943066419437[8] = 0; +void H_30(double *state, double *unused, double *out_8639010235100615689) { + out_8639010235100615689[0] = 0; + out_8639010235100615689[1] = 0; + out_8639010235100615689[2] = 0; + out_8639010235100615689[3] = 0; + out_8639010235100615689[4] = 1; + out_8639010235100615689[5] = 0; + out_8639010235100615689[6] = 0; + out_8639010235100615689[7] = 0; + out_8639010235100615689[8] = 0; } -void h_26(double *state, double *unused, double *out_8430654463154704213) { - out_8430654463154704213[0] = state[7]; +void h_26(double *state, double *unused, double *out_7111205235488639723) { + out_7111205235488639723[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8444522356410298074) { - out_8444522356410298074[0] = 0; - out_8444522356410298074[1] = 0; - out_8444522356410298074[2] = 0; - out_8444522356410298074[3] = 0; - out_8444522356410298074[4] = 0; - out_8444522356410298074[5] = 0; - out_8444522356410298074[6] = 0; - out_8444522356410298074[7] = 1; - out_8444522356410298074[8] = 0; +void H_26(double *state, double *unused, double *out_6195569466878119773) { + out_6195569466878119773[0] = 0; + out_6195569466878119773[1] = 0; + out_6195569466878119773[2] = 0; + out_6195569466878119773[3] = 0; + out_6195569466878119773[4] = 0; + out_6195569466878119773[5] = 0; + out_6195569466878119773[6] = 0; + out_6195569466878119773[7] = 1; + out_6195569466878119773[8] = 0; } -void h_27(double *state, double *unused, double *out_8548661857088080957) { - out_8548661857088080957[0] = state[3]; +void h_27(double *state, double *unused, double *out_3114072219241677790) { + out_3114072219241677790[0] = state[3]; } -void H_27(double *state, double *unused, double *out_1518791368734005474) { - out_1518791368734005474[0] = 0; - out_1518791368734005474[1] = 0; - out_1518791368734005474[2] = 0; - out_1518791368734005474[3] = 1; - out_1518791368734005474[4] = 0; - out_1518791368734005474[5] = 0; - out_1518791368734005474[6] = 0; - out_1518791368734005474[7] = 0; - out_1518791368734005474[8] = 0; +void H_27(double *state, double *unused, double *out_7632970526808511016) { + out_7632970526808511016[0] = 0; + out_7632970526808511016[1] = 0; + out_7632970526808511016[2] = 0; + out_7632970526808511016[3] = 1; + out_7632970526808511016[4] = 0; + out_7632970526808511016[5] = 0; + out_7632970526808511016[6] = 0; + out_7632970526808511016[7] = 0; + out_7632970526808511016[8] = 0; } -void h_29(double *state, double *unused, double *out_589055427595770225) { - out_589055427595770225[0] = state[1]; +void h_29(double *state, double *unused, double *out_3799979802563475038) { + out_3799979802563475038[0] = state[1]; } -void H_29(double *state, double *unused, double *out_3232154095603556507) { - out_3232154095603556507[0] = 0; - out_3232154095603556507[1] = 1; - out_3232154095603556507[2] = 0; - out_3232154095603556507[3] = 0; - out_3232154095603556507[4] = 0; - out_3232154095603556507[5] = 0; - out_3232154095603556507[6] = 0; - out_3232154095603556507[7] = 0; - out_3232154095603556507[8] = 0; +void H_29(double *state, double *unused, double *out_8128778890786223505) { + out_8128778890786223505[0] = 0; + out_8128778890786223505[1] = 1; + out_8128778890786223505[2] = 0; + out_8128778890786223505[3] = 0; + out_8128778890786223505[4] = 0; + out_8128778890786223505[5] = 0; + out_8128778890786223505[6] = 0; + out_8128778890786223505[7] = 0; + out_8128778890786223505[8] = 0; } -void h_28(double *state, double *unused, double *out_7867012193673341893) { - out_7867012193673341893[0] = state[0]; +void h_28(double *state, double *unused, double *out_2027345570885213463) { + out_2027345570885213463[0] = state[0]; } -void H_28(double *state, double *unused, double *out_8314553112673087081) { - out_8314553112673087081[0] = 1; - out_8314553112673087081[1] = 0; - out_8314553112673087081[2] = 0; - out_8314553112673087081[3] = 0; - out_8314553112673087081[4] = 0; - out_8314553112673087081[5] = 0; - out_8314553112673087081[6] = 0; - out_8314553112673087081[7] = 0; - out_8314553112673087081[8] = 0; +void H_28(double *state, double *unused, double *out_5235566165853797537) { + out_5235566165853797537[0] = 1; + out_5235566165853797537[1] = 0; + out_5235566165853797537[2] = 0; + out_5235566165853797537[3] = 0; + out_5235566165853797537[4] = 0; + out_5235566165853797537[5] = 0; + out_5235566165853797537[6] = 0; + out_5235566165853797537[7] = 0; + out_5235566165853797537[8] = 0; } -void h_31(double *state, double *unused, double *out_2027016737343401600) { - out_2027016737343401600[0] = state[8]; +void h_31(double *state, double *unused, double *out_5732447412946702694) { + out_5732447412946702694[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6230072436548236890) { - out_6230072436548236890[0] = 0; - out_6230072436548236890[1] = 0; - out_6230072436548236890[2] = 0; - out_6230072436548236890[3] = 0; - out_6230072436548236890[4] = 0; - out_6230072436548236890[5] = 0; - out_6230072436548236890[6] = 0; - out_6230072436548236890[7] = 0; - out_6230072436548236890[8] = 1; +void H_31(double *state, double *unused, double *out_8479025326080415191) { + out_8479025326080415191[0] = 0; + out_8479025326080415191[1] = 0; + out_8479025326080415191[2] = 0; + out_8479025326080415191[3] = 0; + out_8479025326080415191[4] = 0; + out_8479025326080415191[5] = 0; + out_8479025326080415191[6] = 0; + out_8479025326080415191[7] = 0; + out_8479025326080415191[8] = 1; } #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_5232047554535600109) { - err_fun(nom_x, delta_x, out_5232047554535600109); +void car_err_fun(double *nom_x, double *delta_x, double *out_3926092090457486519) { + err_fun(nom_x, delta_x, out_3926092090457486519); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5926361318328117466) { - inv_err_fun(nom_x, true_x, out_5926361318328117466); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147) { + inv_err_fun(nom_x, true_x, out_1042755756890972147); } -void car_H_mod_fun(double *state, double *out_8663045025294862621) { - H_mod_fun(state, out_8663045025294862621); +void car_H_mod_fun(double *state, double *out_6362512350679995207) { + H_mod_fun(state, out_6362512350679995207); } -void car_f_fun(double *state, double dt, double *out_4712382669747920854) { - f_fun(state, dt, out_4712382669747920854); +void car_f_fun(double *state, double dt, double *out_424859049759384026) { + f_fun(state, dt, out_424859049759384026); } -void car_F_fun(double *state, double dt, double *out_6132820248099245599) { - F_fun(state, dt, out_6132820248099245599); +void car_F_fun(double *state, double dt, double *out_5354778108929478985) { + F_fun(state, dt, out_5354778108929478985); } -void car_h_25(double *state, double *unused, double *out_8954572363719808224) { - h_25(state, unused, out_8954572363719808224); +void car_h_25(double *state, double *unused, double *out_2030817843873969747) { + h_25(state, unused, out_2030817843873969747); } -void car_H_25(double *state, double *unused, double *out_6260718398425197318) { - H_25(state, unused, out_6260718398425197318); +void car_H_25(double *state, double *unused, double *out_8509671287957375619) { + H_25(state, unused, out_8509671287957375619); } -void car_h_24(double *state, double *unused, double *out_573451915361062774) { - h_24(state, unused, out_573451915361062774); +void car_h_24(double *state, double *unused, double *out_6573865906285076625) { + h_24(state, unused, out_6573865906285076625); } -void car_H_24(double *state, double *unused, double *out_8433367997430696884) { - H_24(state, unused, out_8433367997430696884); +void car_H_24(double *state, double *unused, double *out_1855465829849189862) { + H_24(state, unused, out_1855465829849189862); } -void car_h_30(double *state, double *unused, double *out_995511028726003400) { - h_30(state, unused, out_995511028726003400); +void car_h_30(double *state, double *unused, double *out_8801653070224320683) { + h_30(state, unused, out_8801653070224320683); } -void car_H_30(double *state, double *unused, double *out_655971943066419437) { - H_30(state, unused, out_655971943066419437); +void car_H_30(double *state, double *unused, double *out_8639010235100615689) { + H_30(state, unused, out_8639010235100615689); } -void car_h_26(double *state, double *unused, double *out_8430654463154704213) { - h_26(state, unused, out_8430654463154704213); +void car_h_26(double *state, double *unused, double *out_7111205235488639723) { + h_26(state, unused, out_7111205235488639723); } -void car_H_26(double *state, double *unused, double *out_8444522356410298074) { - H_26(state, unused, out_8444522356410298074); +void car_H_26(double *state, double *unused, double *out_6195569466878119773) { + H_26(state, unused, out_6195569466878119773); } -void car_h_27(double *state, double *unused, double *out_8548661857088080957) { - h_27(state, unused, out_8548661857088080957); +void car_h_27(double *state, double *unused, double *out_3114072219241677790) { + h_27(state, unused, out_3114072219241677790); } -void car_H_27(double *state, double *unused, double *out_1518791368734005474) { - H_27(state, unused, out_1518791368734005474); +void car_H_27(double *state, double *unused, double *out_7632970526808511016) { + H_27(state, unused, out_7632970526808511016); } -void car_h_29(double *state, double *unused, double *out_589055427595770225) { - h_29(state, unused, out_589055427595770225); +void car_h_29(double *state, double *unused, double *out_3799979802563475038) { + h_29(state, unused, out_3799979802563475038); } -void car_H_29(double *state, double *unused, double *out_3232154095603556507) { - H_29(state, unused, out_3232154095603556507); +void car_H_29(double *state, double *unused, double *out_8128778890786223505) { + H_29(state, unused, out_8128778890786223505); } -void car_h_28(double *state, double *unused, double *out_7867012193673341893) { - h_28(state, unused, out_7867012193673341893); +void car_h_28(double *state, double *unused, double *out_2027345570885213463) { + h_28(state, unused, out_2027345570885213463); } -void car_H_28(double *state, double *unused, double *out_8314553112673087081) { - H_28(state, unused, out_8314553112673087081); +void car_H_28(double *state, double *unused, double *out_5235566165853797537) { + H_28(state, unused, out_5235566165853797537); } -void car_h_31(double *state, double *unused, double *out_2027016737343401600) { - h_31(state, unused, out_2027016737343401600); +void car_h_31(double *state, double *unused, double *out_5732447412946702694) { + h_31(state, unused, out_5732447412946702694); } -void car_H_31(double *state, double *unused, double *out_6230072436548236890) { - H_31(state, unused, out_6230072436548236890); +void car_H_31(double *state, double *unused, double *out_8479025326080415191) { + H_31(state, unused, out_8479025326080415191); } 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 822c39660..8774376dc 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_5232047554535600109); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5926361318328117466); -void car_H_mod_fun(double *state, double *out_8663045025294862621); -void car_f_fun(double *state, double dt, double *out_4712382669747920854); -void car_F_fun(double *state, double dt, double *out_6132820248099245599); -void car_h_25(double *state, double *unused, double *out_8954572363719808224); -void car_H_25(double *state, double *unused, double *out_6260718398425197318); -void car_h_24(double *state, double *unused, double *out_573451915361062774); -void car_H_24(double *state, double *unused, double *out_8433367997430696884); -void car_h_30(double *state, double *unused, double *out_995511028726003400); -void car_H_30(double *state, double *unused, double *out_655971943066419437); -void car_h_26(double *state, double *unused, double *out_8430654463154704213); -void car_H_26(double *state, double *unused, double *out_8444522356410298074); -void car_h_27(double *state, double *unused, double *out_8548661857088080957); -void car_H_27(double *state, double *unused, double *out_1518791368734005474); -void car_h_29(double *state, double *unused, double *out_589055427595770225); -void car_H_29(double *state, double *unused, double *out_3232154095603556507); -void car_h_28(double *state, double *unused, double *out_7867012193673341893); -void car_H_28(double *state, double *unused, double *out_8314553112673087081); -void car_h_31(double *state, double *unused, double *out_2027016737343401600); -void car_H_31(double *state, double *unused, double *out_6230072436548236890); +void car_err_fun(double *nom_x, double *delta_x, double *out_3926092090457486519); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1042755756890972147); +void car_H_mod_fun(double *state, double *out_6362512350679995207); +void car_f_fun(double *state, double dt, double *out_424859049759384026); +void car_F_fun(double *state, double dt, double *out_5354778108929478985); +void car_h_25(double *state, double *unused, double *out_2030817843873969747); +void car_H_25(double *state, double *unused, double *out_8509671287957375619); +void car_h_24(double *state, double *unused, double *out_6573865906285076625); +void car_H_24(double *state, double *unused, double *out_1855465829849189862); +void car_h_30(double *state, double *unused, double *out_8801653070224320683); +void car_H_30(double *state, double *unused, double *out_8639010235100615689); +void car_h_26(double *state, double *unused, double *out_7111205235488639723); +void car_H_26(double *state, double *unused, double *out_6195569466878119773); +void car_h_27(double *state, double *unused, double *out_3114072219241677790); +void car_H_27(double *state, double *unused, double *out_7632970526808511016); +void car_h_29(double *state, double *unused, double *out_3799979802563475038); +void car_H_29(double *state, double *unused, double *out_8128778890786223505); +void car_h_28(double *state, double *unused, double *out_2027345570885213463); +void car_H_28(double *state, double *unused, double *out_5235566165853797537); +void car_h_31(double *state, double *unused, double *out_5732447412946702694); +void car_H_31(double *state, double *unused, double *out_8479025326080415191); void car_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 b03c81f4f..d0a47f82f 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_4038237010904669995) { - out_4038237010904669995[0] = delta_x[0] + nom_x[0]; - out_4038237010904669995[1] = delta_x[1] + nom_x[1]; - out_4038237010904669995[2] = delta_x[2] + nom_x[2]; - out_4038237010904669995[3] = delta_x[3] + nom_x[3]; - out_4038237010904669995[4] = delta_x[4] + nom_x[4]; - out_4038237010904669995[5] = delta_x[5] + nom_x[5]; - out_4038237010904669995[6] = delta_x[6] + nom_x[6]; - out_4038237010904669995[7] = delta_x[7] + nom_x[7]; - out_4038237010904669995[8] = delta_x[8] + nom_x[8]; - out_4038237010904669995[9] = delta_x[9] + nom_x[9]; - out_4038237010904669995[10] = delta_x[10] + nom_x[10]; - out_4038237010904669995[11] = delta_x[11] + nom_x[11]; - out_4038237010904669995[12] = delta_x[12] + nom_x[12]; - out_4038237010904669995[13] = delta_x[13] + nom_x[13]; - out_4038237010904669995[14] = delta_x[14] + nom_x[14]; - out_4038237010904669995[15] = delta_x[15] + nom_x[15]; - out_4038237010904669995[16] = delta_x[16] + nom_x[16]; - out_4038237010904669995[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6369833963809703045) { + out_6369833963809703045[0] = delta_x[0] + nom_x[0]; + out_6369833963809703045[1] = delta_x[1] + nom_x[1]; + out_6369833963809703045[2] = delta_x[2] + nom_x[2]; + out_6369833963809703045[3] = delta_x[3] + nom_x[3]; + out_6369833963809703045[4] = delta_x[4] + nom_x[4]; + out_6369833963809703045[5] = delta_x[5] + nom_x[5]; + out_6369833963809703045[6] = delta_x[6] + nom_x[6]; + out_6369833963809703045[7] = delta_x[7] + nom_x[7]; + out_6369833963809703045[8] = delta_x[8] + nom_x[8]; + out_6369833963809703045[9] = delta_x[9] + nom_x[9]; + out_6369833963809703045[10] = delta_x[10] + nom_x[10]; + out_6369833963809703045[11] = delta_x[11] + nom_x[11]; + out_6369833963809703045[12] = delta_x[12] + nom_x[12]; + out_6369833963809703045[13] = delta_x[13] + nom_x[13]; + out_6369833963809703045[14] = delta_x[14] + nom_x[14]; + out_6369833963809703045[15] = delta_x[15] + nom_x[15]; + out_6369833963809703045[16] = delta_x[16] + nom_x[16]; + out_6369833963809703045[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2572217743337337909) { - out_2572217743337337909[0] = -nom_x[0] + true_x[0]; - out_2572217743337337909[1] = -nom_x[1] + true_x[1]; - out_2572217743337337909[2] = -nom_x[2] + true_x[2]; - out_2572217743337337909[3] = -nom_x[3] + true_x[3]; - out_2572217743337337909[4] = -nom_x[4] + true_x[4]; - out_2572217743337337909[5] = -nom_x[5] + true_x[5]; - out_2572217743337337909[6] = -nom_x[6] + true_x[6]; - out_2572217743337337909[7] = -nom_x[7] + true_x[7]; - out_2572217743337337909[8] = -nom_x[8] + true_x[8]; - out_2572217743337337909[9] = -nom_x[9] + true_x[9]; - out_2572217743337337909[10] = -nom_x[10] + true_x[10]; - out_2572217743337337909[11] = -nom_x[11] + true_x[11]; - out_2572217743337337909[12] = -nom_x[12] + true_x[12]; - out_2572217743337337909[13] = -nom_x[13] + true_x[13]; - out_2572217743337337909[14] = -nom_x[14] + true_x[14]; - out_2572217743337337909[15] = -nom_x[15] + true_x[15]; - out_2572217743337337909[16] = -nom_x[16] + true_x[16]; - out_2572217743337337909[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4035234717988175099) { + out_4035234717988175099[0] = -nom_x[0] + true_x[0]; + out_4035234717988175099[1] = -nom_x[1] + true_x[1]; + out_4035234717988175099[2] = -nom_x[2] + true_x[2]; + out_4035234717988175099[3] = -nom_x[3] + true_x[3]; + out_4035234717988175099[4] = -nom_x[4] + true_x[4]; + out_4035234717988175099[5] = -nom_x[5] + true_x[5]; + out_4035234717988175099[6] = -nom_x[6] + true_x[6]; + out_4035234717988175099[7] = -nom_x[7] + true_x[7]; + out_4035234717988175099[8] = -nom_x[8] + true_x[8]; + out_4035234717988175099[9] = -nom_x[9] + true_x[9]; + out_4035234717988175099[10] = -nom_x[10] + true_x[10]; + out_4035234717988175099[11] = -nom_x[11] + true_x[11]; + out_4035234717988175099[12] = -nom_x[12] + true_x[12]; + out_4035234717988175099[13] = -nom_x[13] + true_x[13]; + out_4035234717988175099[14] = -nom_x[14] + true_x[14]; + out_4035234717988175099[15] = -nom_x[15] + true_x[15]; + out_4035234717988175099[16] = -nom_x[16] + true_x[16]; + out_4035234717988175099[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_362240871876916223) { - out_362240871876916223[0] = 1.0; - out_362240871876916223[1] = 0.0; - out_362240871876916223[2] = 0.0; - out_362240871876916223[3] = 0.0; - out_362240871876916223[4] = 0.0; - out_362240871876916223[5] = 0.0; - out_362240871876916223[6] = 0.0; - out_362240871876916223[7] = 0.0; - out_362240871876916223[8] = 0.0; - out_362240871876916223[9] = 0.0; - out_362240871876916223[10] = 0.0; - out_362240871876916223[11] = 0.0; - out_362240871876916223[12] = 0.0; - out_362240871876916223[13] = 0.0; - out_362240871876916223[14] = 0.0; - out_362240871876916223[15] = 0.0; - out_362240871876916223[16] = 0.0; - out_362240871876916223[17] = 0.0; - out_362240871876916223[18] = 0.0; - out_362240871876916223[19] = 1.0; - out_362240871876916223[20] = 0.0; - out_362240871876916223[21] = 0.0; - out_362240871876916223[22] = 0.0; - out_362240871876916223[23] = 0.0; - out_362240871876916223[24] = 0.0; - out_362240871876916223[25] = 0.0; - out_362240871876916223[26] = 0.0; - out_362240871876916223[27] = 0.0; - out_362240871876916223[28] = 0.0; - out_362240871876916223[29] = 0.0; - out_362240871876916223[30] = 0.0; - out_362240871876916223[31] = 0.0; - out_362240871876916223[32] = 0.0; - out_362240871876916223[33] = 0.0; - out_362240871876916223[34] = 0.0; - out_362240871876916223[35] = 0.0; - out_362240871876916223[36] = 0.0; - out_362240871876916223[37] = 0.0; - out_362240871876916223[38] = 1.0; - out_362240871876916223[39] = 0.0; - out_362240871876916223[40] = 0.0; - out_362240871876916223[41] = 0.0; - out_362240871876916223[42] = 0.0; - out_362240871876916223[43] = 0.0; - out_362240871876916223[44] = 0.0; - out_362240871876916223[45] = 0.0; - out_362240871876916223[46] = 0.0; - out_362240871876916223[47] = 0.0; - out_362240871876916223[48] = 0.0; - out_362240871876916223[49] = 0.0; - out_362240871876916223[50] = 0.0; - out_362240871876916223[51] = 0.0; - out_362240871876916223[52] = 0.0; - out_362240871876916223[53] = 0.0; - out_362240871876916223[54] = 0.0; - out_362240871876916223[55] = 0.0; - out_362240871876916223[56] = 0.0; - out_362240871876916223[57] = 1.0; - out_362240871876916223[58] = 0.0; - out_362240871876916223[59] = 0.0; - out_362240871876916223[60] = 0.0; - out_362240871876916223[61] = 0.0; - out_362240871876916223[62] = 0.0; - out_362240871876916223[63] = 0.0; - out_362240871876916223[64] = 0.0; - out_362240871876916223[65] = 0.0; - out_362240871876916223[66] = 0.0; - out_362240871876916223[67] = 0.0; - out_362240871876916223[68] = 0.0; - out_362240871876916223[69] = 0.0; - out_362240871876916223[70] = 0.0; - out_362240871876916223[71] = 0.0; - out_362240871876916223[72] = 0.0; - out_362240871876916223[73] = 0.0; - out_362240871876916223[74] = 0.0; - out_362240871876916223[75] = 0.0; - out_362240871876916223[76] = 1.0; - out_362240871876916223[77] = 0.0; - out_362240871876916223[78] = 0.0; - out_362240871876916223[79] = 0.0; - out_362240871876916223[80] = 0.0; - out_362240871876916223[81] = 0.0; - out_362240871876916223[82] = 0.0; - out_362240871876916223[83] = 0.0; - out_362240871876916223[84] = 0.0; - out_362240871876916223[85] = 0.0; - out_362240871876916223[86] = 0.0; - out_362240871876916223[87] = 0.0; - out_362240871876916223[88] = 0.0; - out_362240871876916223[89] = 0.0; - out_362240871876916223[90] = 0.0; - out_362240871876916223[91] = 0.0; - out_362240871876916223[92] = 0.0; - out_362240871876916223[93] = 0.0; - out_362240871876916223[94] = 0.0; - out_362240871876916223[95] = 1.0; - out_362240871876916223[96] = 0.0; - out_362240871876916223[97] = 0.0; - out_362240871876916223[98] = 0.0; - out_362240871876916223[99] = 0.0; - out_362240871876916223[100] = 0.0; - out_362240871876916223[101] = 0.0; - out_362240871876916223[102] = 0.0; - out_362240871876916223[103] = 0.0; - out_362240871876916223[104] = 0.0; - out_362240871876916223[105] = 0.0; - out_362240871876916223[106] = 0.0; - out_362240871876916223[107] = 0.0; - out_362240871876916223[108] = 0.0; - out_362240871876916223[109] = 0.0; - out_362240871876916223[110] = 0.0; - out_362240871876916223[111] = 0.0; - out_362240871876916223[112] = 0.0; - out_362240871876916223[113] = 0.0; - out_362240871876916223[114] = 1.0; - out_362240871876916223[115] = 0.0; - out_362240871876916223[116] = 0.0; - out_362240871876916223[117] = 0.0; - out_362240871876916223[118] = 0.0; - out_362240871876916223[119] = 0.0; - out_362240871876916223[120] = 0.0; - out_362240871876916223[121] = 0.0; - out_362240871876916223[122] = 0.0; - out_362240871876916223[123] = 0.0; - out_362240871876916223[124] = 0.0; - out_362240871876916223[125] = 0.0; - out_362240871876916223[126] = 0.0; - out_362240871876916223[127] = 0.0; - out_362240871876916223[128] = 0.0; - out_362240871876916223[129] = 0.0; - out_362240871876916223[130] = 0.0; - out_362240871876916223[131] = 0.0; - out_362240871876916223[132] = 0.0; - out_362240871876916223[133] = 1.0; - out_362240871876916223[134] = 0.0; - out_362240871876916223[135] = 0.0; - out_362240871876916223[136] = 0.0; - out_362240871876916223[137] = 0.0; - out_362240871876916223[138] = 0.0; - out_362240871876916223[139] = 0.0; - out_362240871876916223[140] = 0.0; - out_362240871876916223[141] = 0.0; - out_362240871876916223[142] = 0.0; - out_362240871876916223[143] = 0.0; - out_362240871876916223[144] = 0.0; - out_362240871876916223[145] = 0.0; - out_362240871876916223[146] = 0.0; - out_362240871876916223[147] = 0.0; - out_362240871876916223[148] = 0.0; - out_362240871876916223[149] = 0.0; - out_362240871876916223[150] = 0.0; - out_362240871876916223[151] = 0.0; - out_362240871876916223[152] = 1.0; - out_362240871876916223[153] = 0.0; - out_362240871876916223[154] = 0.0; - out_362240871876916223[155] = 0.0; - out_362240871876916223[156] = 0.0; - out_362240871876916223[157] = 0.0; - out_362240871876916223[158] = 0.0; - out_362240871876916223[159] = 0.0; - out_362240871876916223[160] = 0.0; - out_362240871876916223[161] = 0.0; - out_362240871876916223[162] = 0.0; - out_362240871876916223[163] = 0.0; - out_362240871876916223[164] = 0.0; - out_362240871876916223[165] = 0.0; - out_362240871876916223[166] = 0.0; - out_362240871876916223[167] = 0.0; - out_362240871876916223[168] = 0.0; - out_362240871876916223[169] = 0.0; - out_362240871876916223[170] = 0.0; - out_362240871876916223[171] = 1.0; - out_362240871876916223[172] = 0.0; - out_362240871876916223[173] = 0.0; - out_362240871876916223[174] = 0.0; - out_362240871876916223[175] = 0.0; - out_362240871876916223[176] = 0.0; - out_362240871876916223[177] = 0.0; - out_362240871876916223[178] = 0.0; - out_362240871876916223[179] = 0.0; - out_362240871876916223[180] = 0.0; - out_362240871876916223[181] = 0.0; - out_362240871876916223[182] = 0.0; - out_362240871876916223[183] = 0.0; - out_362240871876916223[184] = 0.0; - out_362240871876916223[185] = 0.0; - out_362240871876916223[186] = 0.0; - out_362240871876916223[187] = 0.0; - out_362240871876916223[188] = 0.0; - out_362240871876916223[189] = 0.0; - out_362240871876916223[190] = 1.0; - out_362240871876916223[191] = 0.0; - out_362240871876916223[192] = 0.0; - out_362240871876916223[193] = 0.0; - out_362240871876916223[194] = 0.0; - out_362240871876916223[195] = 0.0; - out_362240871876916223[196] = 0.0; - out_362240871876916223[197] = 0.0; - out_362240871876916223[198] = 0.0; - out_362240871876916223[199] = 0.0; - out_362240871876916223[200] = 0.0; - out_362240871876916223[201] = 0.0; - out_362240871876916223[202] = 0.0; - out_362240871876916223[203] = 0.0; - out_362240871876916223[204] = 0.0; - out_362240871876916223[205] = 0.0; - out_362240871876916223[206] = 0.0; - out_362240871876916223[207] = 0.0; - out_362240871876916223[208] = 0.0; - out_362240871876916223[209] = 1.0; - out_362240871876916223[210] = 0.0; - out_362240871876916223[211] = 0.0; - out_362240871876916223[212] = 0.0; - out_362240871876916223[213] = 0.0; - out_362240871876916223[214] = 0.0; - out_362240871876916223[215] = 0.0; - out_362240871876916223[216] = 0.0; - out_362240871876916223[217] = 0.0; - out_362240871876916223[218] = 0.0; - out_362240871876916223[219] = 0.0; - out_362240871876916223[220] = 0.0; - out_362240871876916223[221] = 0.0; - out_362240871876916223[222] = 0.0; - out_362240871876916223[223] = 0.0; - out_362240871876916223[224] = 0.0; - out_362240871876916223[225] = 0.0; - out_362240871876916223[226] = 0.0; - out_362240871876916223[227] = 0.0; - out_362240871876916223[228] = 1.0; - out_362240871876916223[229] = 0.0; - out_362240871876916223[230] = 0.0; - out_362240871876916223[231] = 0.0; - out_362240871876916223[232] = 0.0; - out_362240871876916223[233] = 0.0; - out_362240871876916223[234] = 0.0; - out_362240871876916223[235] = 0.0; - out_362240871876916223[236] = 0.0; - out_362240871876916223[237] = 0.0; - out_362240871876916223[238] = 0.0; - out_362240871876916223[239] = 0.0; - out_362240871876916223[240] = 0.0; - out_362240871876916223[241] = 0.0; - out_362240871876916223[242] = 0.0; - out_362240871876916223[243] = 0.0; - out_362240871876916223[244] = 0.0; - out_362240871876916223[245] = 0.0; - out_362240871876916223[246] = 0.0; - out_362240871876916223[247] = 1.0; - out_362240871876916223[248] = 0.0; - out_362240871876916223[249] = 0.0; - out_362240871876916223[250] = 0.0; - out_362240871876916223[251] = 0.0; - out_362240871876916223[252] = 0.0; - out_362240871876916223[253] = 0.0; - out_362240871876916223[254] = 0.0; - out_362240871876916223[255] = 0.0; - out_362240871876916223[256] = 0.0; - out_362240871876916223[257] = 0.0; - out_362240871876916223[258] = 0.0; - out_362240871876916223[259] = 0.0; - out_362240871876916223[260] = 0.0; - out_362240871876916223[261] = 0.0; - out_362240871876916223[262] = 0.0; - out_362240871876916223[263] = 0.0; - out_362240871876916223[264] = 0.0; - out_362240871876916223[265] = 0.0; - out_362240871876916223[266] = 1.0; - out_362240871876916223[267] = 0.0; - out_362240871876916223[268] = 0.0; - out_362240871876916223[269] = 0.0; - out_362240871876916223[270] = 0.0; - out_362240871876916223[271] = 0.0; - out_362240871876916223[272] = 0.0; - out_362240871876916223[273] = 0.0; - out_362240871876916223[274] = 0.0; - out_362240871876916223[275] = 0.0; - out_362240871876916223[276] = 0.0; - out_362240871876916223[277] = 0.0; - out_362240871876916223[278] = 0.0; - out_362240871876916223[279] = 0.0; - out_362240871876916223[280] = 0.0; - out_362240871876916223[281] = 0.0; - out_362240871876916223[282] = 0.0; - out_362240871876916223[283] = 0.0; - out_362240871876916223[284] = 0.0; - out_362240871876916223[285] = 1.0; - out_362240871876916223[286] = 0.0; - out_362240871876916223[287] = 0.0; - out_362240871876916223[288] = 0.0; - out_362240871876916223[289] = 0.0; - out_362240871876916223[290] = 0.0; - out_362240871876916223[291] = 0.0; - out_362240871876916223[292] = 0.0; - out_362240871876916223[293] = 0.0; - out_362240871876916223[294] = 0.0; - out_362240871876916223[295] = 0.0; - out_362240871876916223[296] = 0.0; - out_362240871876916223[297] = 0.0; - out_362240871876916223[298] = 0.0; - out_362240871876916223[299] = 0.0; - out_362240871876916223[300] = 0.0; - out_362240871876916223[301] = 0.0; - out_362240871876916223[302] = 0.0; - out_362240871876916223[303] = 0.0; - out_362240871876916223[304] = 1.0; - out_362240871876916223[305] = 0.0; - out_362240871876916223[306] = 0.0; - out_362240871876916223[307] = 0.0; - out_362240871876916223[308] = 0.0; - out_362240871876916223[309] = 0.0; - out_362240871876916223[310] = 0.0; - out_362240871876916223[311] = 0.0; - out_362240871876916223[312] = 0.0; - out_362240871876916223[313] = 0.0; - out_362240871876916223[314] = 0.0; - out_362240871876916223[315] = 0.0; - out_362240871876916223[316] = 0.0; - out_362240871876916223[317] = 0.0; - out_362240871876916223[318] = 0.0; - out_362240871876916223[319] = 0.0; - out_362240871876916223[320] = 0.0; - out_362240871876916223[321] = 0.0; - out_362240871876916223[322] = 0.0; - out_362240871876916223[323] = 1.0; +void H_mod_fun(double *state, double *out_1402865724321173492) { + out_1402865724321173492[0] = 1.0; + out_1402865724321173492[1] = 0.0; + out_1402865724321173492[2] = 0.0; + out_1402865724321173492[3] = 0.0; + out_1402865724321173492[4] = 0.0; + out_1402865724321173492[5] = 0.0; + out_1402865724321173492[6] = 0.0; + out_1402865724321173492[7] = 0.0; + out_1402865724321173492[8] = 0.0; + out_1402865724321173492[9] = 0.0; + out_1402865724321173492[10] = 0.0; + out_1402865724321173492[11] = 0.0; + out_1402865724321173492[12] = 0.0; + out_1402865724321173492[13] = 0.0; + out_1402865724321173492[14] = 0.0; + out_1402865724321173492[15] = 0.0; + out_1402865724321173492[16] = 0.0; + out_1402865724321173492[17] = 0.0; + out_1402865724321173492[18] = 0.0; + out_1402865724321173492[19] = 1.0; + out_1402865724321173492[20] = 0.0; + out_1402865724321173492[21] = 0.0; + out_1402865724321173492[22] = 0.0; + out_1402865724321173492[23] = 0.0; + out_1402865724321173492[24] = 0.0; + out_1402865724321173492[25] = 0.0; + out_1402865724321173492[26] = 0.0; + out_1402865724321173492[27] = 0.0; + out_1402865724321173492[28] = 0.0; + out_1402865724321173492[29] = 0.0; + out_1402865724321173492[30] = 0.0; + out_1402865724321173492[31] = 0.0; + out_1402865724321173492[32] = 0.0; + out_1402865724321173492[33] = 0.0; + out_1402865724321173492[34] = 0.0; + out_1402865724321173492[35] = 0.0; + out_1402865724321173492[36] = 0.0; + out_1402865724321173492[37] = 0.0; + out_1402865724321173492[38] = 1.0; + out_1402865724321173492[39] = 0.0; + out_1402865724321173492[40] = 0.0; + out_1402865724321173492[41] = 0.0; + out_1402865724321173492[42] = 0.0; + out_1402865724321173492[43] = 0.0; + out_1402865724321173492[44] = 0.0; + out_1402865724321173492[45] = 0.0; + out_1402865724321173492[46] = 0.0; + out_1402865724321173492[47] = 0.0; + out_1402865724321173492[48] = 0.0; + out_1402865724321173492[49] = 0.0; + out_1402865724321173492[50] = 0.0; + out_1402865724321173492[51] = 0.0; + out_1402865724321173492[52] = 0.0; + out_1402865724321173492[53] = 0.0; + out_1402865724321173492[54] = 0.0; + out_1402865724321173492[55] = 0.0; + out_1402865724321173492[56] = 0.0; + out_1402865724321173492[57] = 1.0; + out_1402865724321173492[58] = 0.0; + out_1402865724321173492[59] = 0.0; + out_1402865724321173492[60] = 0.0; + out_1402865724321173492[61] = 0.0; + out_1402865724321173492[62] = 0.0; + out_1402865724321173492[63] = 0.0; + out_1402865724321173492[64] = 0.0; + out_1402865724321173492[65] = 0.0; + out_1402865724321173492[66] = 0.0; + out_1402865724321173492[67] = 0.0; + out_1402865724321173492[68] = 0.0; + out_1402865724321173492[69] = 0.0; + out_1402865724321173492[70] = 0.0; + out_1402865724321173492[71] = 0.0; + out_1402865724321173492[72] = 0.0; + out_1402865724321173492[73] = 0.0; + out_1402865724321173492[74] = 0.0; + out_1402865724321173492[75] = 0.0; + out_1402865724321173492[76] = 1.0; + out_1402865724321173492[77] = 0.0; + out_1402865724321173492[78] = 0.0; + out_1402865724321173492[79] = 0.0; + out_1402865724321173492[80] = 0.0; + out_1402865724321173492[81] = 0.0; + out_1402865724321173492[82] = 0.0; + out_1402865724321173492[83] = 0.0; + out_1402865724321173492[84] = 0.0; + out_1402865724321173492[85] = 0.0; + out_1402865724321173492[86] = 0.0; + out_1402865724321173492[87] = 0.0; + out_1402865724321173492[88] = 0.0; + out_1402865724321173492[89] = 0.0; + out_1402865724321173492[90] = 0.0; + out_1402865724321173492[91] = 0.0; + out_1402865724321173492[92] = 0.0; + out_1402865724321173492[93] = 0.0; + out_1402865724321173492[94] = 0.0; + out_1402865724321173492[95] = 1.0; + out_1402865724321173492[96] = 0.0; + out_1402865724321173492[97] = 0.0; + out_1402865724321173492[98] = 0.0; + out_1402865724321173492[99] = 0.0; + out_1402865724321173492[100] = 0.0; + out_1402865724321173492[101] = 0.0; + out_1402865724321173492[102] = 0.0; + out_1402865724321173492[103] = 0.0; + out_1402865724321173492[104] = 0.0; + out_1402865724321173492[105] = 0.0; + out_1402865724321173492[106] = 0.0; + out_1402865724321173492[107] = 0.0; + out_1402865724321173492[108] = 0.0; + out_1402865724321173492[109] = 0.0; + out_1402865724321173492[110] = 0.0; + out_1402865724321173492[111] = 0.0; + out_1402865724321173492[112] = 0.0; + out_1402865724321173492[113] = 0.0; + out_1402865724321173492[114] = 1.0; + out_1402865724321173492[115] = 0.0; + out_1402865724321173492[116] = 0.0; + out_1402865724321173492[117] = 0.0; + out_1402865724321173492[118] = 0.0; + out_1402865724321173492[119] = 0.0; + out_1402865724321173492[120] = 0.0; + out_1402865724321173492[121] = 0.0; + out_1402865724321173492[122] = 0.0; + out_1402865724321173492[123] = 0.0; + out_1402865724321173492[124] = 0.0; + out_1402865724321173492[125] = 0.0; + out_1402865724321173492[126] = 0.0; + out_1402865724321173492[127] = 0.0; + out_1402865724321173492[128] = 0.0; + out_1402865724321173492[129] = 0.0; + out_1402865724321173492[130] = 0.0; + out_1402865724321173492[131] = 0.0; + out_1402865724321173492[132] = 0.0; + out_1402865724321173492[133] = 1.0; + out_1402865724321173492[134] = 0.0; + out_1402865724321173492[135] = 0.0; + out_1402865724321173492[136] = 0.0; + out_1402865724321173492[137] = 0.0; + out_1402865724321173492[138] = 0.0; + out_1402865724321173492[139] = 0.0; + out_1402865724321173492[140] = 0.0; + out_1402865724321173492[141] = 0.0; + out_1402865724321173492[142] = 0.0; + out_1402865724321173492[143] = 0.0; + out_1402865724321173492[144] = 0.0; + out_1402865724321173492[145] = 0.0; + out_1402865724321173492[146] = 0.0; + out_1402865724321173492[147] = 0.0; + out_1402865724321173492[148] = 0.0; + out_1402865724321173492[149] = 0.0; + out_1402865724321173492[150] = 0.0; + out_1402865724321173492[151] = 0.0; + out_1402865724321173492[152] = 1.0; + out_1402865724321173492[153] = 0.0; + out_1402865724321173492[154] = 0.0; + out_1402865724321173492[155] = 0.0; + out_1402865724321173492[156] = 0.0; + out_1402865724321173492[157] = 0.0; + out_1402865724321173492[158] = 0.0; + out_1402865724321173492[159] = 0.0; + out_1402865724321173492[160] = 0.0; + out_1402865724321173492[161] = 0.0; + out_1402865724321173492[162] = 0.0; + out_1402865724321173492[163] = 0.0; + out_1402865724321173492[164] = 0.0; + out_1402865724321173492[165] = 0.0; + out_1402865724321173492[166] = 0.0; + out_1402865724321173492[167] = 0.0; + out_1402865724321173492[168] = 0.0; + out_1402865724321173492[169] = 0.0; + out_1402865724321173492[170] = 0.0; + out_1402865724321173492[171] = 1.0; + out_1402865724321173492[172] = 0.0; + out_1402865724321173492[173] = 0.0; + out_1402865724321173492[174] = 0.0; + out_1402865724321173492[175] = 0.0; + out_1402865724321173492[176] = 0.0; + out_1402865724321173492[177] = 0.0; + out_1402865724321173492[178] = 0.0; + out_1402865724321173492[179] = 0.0; + out_1402865724321173492[180] = 0.0; + out_1402865724321173492[181] = 0.0; + out_1402865724321173492[182] = 0.0; + out_1402865724321173492[183] = 0.0; + out_1402865724321173492[184] = 0.0; + out_1402865724321173492[185] = 0.0; + out_1402865724321173492[186] = 0.0; + out_1402865724321173492[187] = 0.0; + out_1402865724321173492[188] = 0.0; + out_1402865724321173492[189] = 0.0; + out_1402865724321173492[190] = 1.0; + out_1402865724321173492[191] = 0.0; + out_1402865724321173492[192] = 0.0; + out_1402865724321173492[193] = 0.0; + out_1402865724321173492[194] = 0.0; + out_1402865724321173492[195] = 0.0; + out_1402865724321173492[196] = 0.0; + out_1402865724321173492[197] = 0.0; + out_1402865724321173492[198] = 0.0; + out_1402865724321173492[199] = 0.0; + out_1402865724321173492[200] = 0.0; + out_1402865724321173492[201] = 0.0; + out_1402865724321173492[202] = 0.0; + out_1402865724321173492[203] = 0.0; + out_1402865724321173492[204] = 0.0; + out_1402865724321173492[205] = 0.0; + out_1402865724321173492[206] = 0.0; + out_1402865724321173492[207] = 0.0; + out_1402865724321173492[208] = 0.0; + out_1402865724321173492[209] = 1.0; + out_1402865724321173492[210] = 0.0; + out_1402865724321173492[211] = 0.0; + out_1402865724321173492[212] = 0.0; + out_1402865724321173492[213] = 0.0; + out_1402865724321173492[214] = 0.0; + out_1402865724321173492[215] = 0.0; + out_1402865724321173492[216] = 0.0; + out_1402865724321173492[217] = 0.0; + out_1402865724321173492[218] = 0.0; + out_1402865724321173492[219] = 0.0; + out_1402865724321173492[220] = 0.0; + out_1402865724321173492[221] = 0.0; + out_1402865724321173492[222] = 0.0; + out_1402865724321173492[223] = 0.0; + out_1402865724321173492[224] = 0.0; + out_1402865724321173492[225] = 0.0; + out_1402865724321173492[226] = 0.0; + out_1402865724321173492[227] = 0.0; + out_1402865724321173492[228] = 1.0; + out_1402865724321173492[229] = 0.0; + out_1402865724321173492[230] = 0.0; + out_1402865724321173492[231] = 0.0; + out_1402865724321173492[232] = 0.0; + out_1402865724321173492[233] = 0.0; + out_1402865724321173492[234] = 0.0; + out_1402865724321173492[235] = 0.0; + out_1402865724321173492[236] = 0.0; + out_1402865724321173492[237] = 0.0; + out_1402865724321173492[238] = 0.0; + out_1402865724321173492[239] = 0.0; + out_1402865724321173492[240] = 0.0; + out_1402865724321173492[241] = 0.0; + out_1402865724321173492[242] = 0.0; + out_1402865724321173492[243] = 0.0; + out_1402865724321173492[244] = 0.0; + out_1402865724321173492[245] = 0.0; + out_1402865724321173492[246] = 0.0; + out_1402865724321173492[247] = 1.0; + out_1402865724321173492[248] = 0.0; + out_1402865724321173492[249] = 0.0; + out_1402865724321173492[250] = 0.0; + out_1402865724321173492[251] = 0.0; + out_1402865724321173492[252] = 0.0; + out_1402865724321173492[253] = 0.0; + out_1402865724321173492[254] = 0.0; + out_1402865724321173492[255] = 0.0; + out_1402865724321173492[256] = 0.0; + out_1402865724321173492[257] = 0.0; + out_1402865724321173492[258] = 0.0; + out_1402865724321173492[259] = 0.0; + out_1402865724321173492[260] = 0.0; + out_1402865724321173492[261] = 0.0; + out_1402865724321173492[262] = 0.0; + out_1402865724321173492[263] = 0.0; + out_1402865724321173492[264] = 0.0; + out_1402865724321173492[265] = 0.0; + out_1402865724321173492[266] = 1.0; + out_1402865724321173492[267] = 0.0; + out_1402865724321173492[268] = 0.0; + out_1402865724321173492[269] = 0.0; + out_1402865724321173492[270] = 0.0; + out_1402865724321173492[271] = 0.0; + out_1402865724321173492[272] = 0.0; + out_1402865724321173492[273] = 0.0; + out_1402865724321173492[274] = 0.0; + out_1402865724321173492[275] = 0.0; + out_1402865724321173492[276] = 0.0; + out_1402865724321173492[277] = 0.0; + out_1402865724321173492[278] = 0.0; + out_1402865724321173492[279] = 0.0; + out_1402865724321173492[280] = 0.0; + out_1402865724321173492[281] = 0.0; + out_1402865724321173492[282] = 0.0; + out_1402865724321173492[283] = 0.0; + out_1402865724321173492[284] = 0.0; + out_1402865724321173492[285] = 1.0; + out_1402865724321173492[286] = 0.0; + out_1402865724321173492[287] = 0.0; + out_1402865724321173492[288] = 0.0; + out_1402865724321173492[289] = 0.0; + out_1402865724321173492[290] = 0.0; + out_1402865724321173492[291] = 0.0; + out_1402865724321173492[292] = 0.0; + out_1402865724321173492[293] = 0.0; + out_1402865724321173492[294] = 0.0; + out_1402865724321173492[295] = 0.0; + out_1402865724321173492[296] = 0.0; + out_1402865724321173492[297] = 0.0; + out_1402865724321173492[298] = 0.0; + out_1402865724321173492[299] = 0.0; + out_1402865724321173492[300] = 0.0; + out_1402865724321173492[301] = 0.0; + out_1402865724321173492[302] = 0.0; + out_1402865724321173492[303] = 0.0; + out_1402865724321173492[304] = 1.0; + out_1402865724321173492[305] = 0.0; + out_1402865724321173492[306] = 0.0; + out_1402865724321173492[307] = 0.0; + out_1402865724321173492[308] = 0.0; + out_1402865724321173492[309] = 0.0; + out_1402865724321173492[310] = 0.0; + out_1402865724321173492[311] = 0.0; + out_1402865724321173492[312] = 0.0; + out_1402865724321173492[313] = 0.0; + out_1402865724321173492[314] = 0.0; + out_1402865724321173492[315] = 0.0; + out_1402865724321173492[316] = 0.0; + out_1402865724321173492[317] = 0.0; + out_1402865724321173492[318] = 0.0; + out_1402865724321173492[319] = 0.0; + out_1402865724321173492[320] = 0.0; + out_1402865724321173492[321] = 0.0; + out_1402865724321173492[322] = 0.0; + out_1402865724321173492[323] = 1.0; } -void f_fun(double *state, double dt, double *out_844759421205290898) { - out_844759421205290898[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_844759421205290898[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_844759421205290898[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_844759421205290898[3] = dt*state[12] + state[3]; - out_844759421205290898[4] = dt*state[13] + state[4]; - out_844759421205290898[5] = dt*state[14] + state[5]; - out_844759421205290898[6] = state[6]; - out_844759421205290898[7] = state[7]; - out_844759421205290898[8] = state[8]; - out_844759421205290898[9] = state[9]; - out_844759421205290898[10] = state[10]; - out_844759421205290898[11] = state[11]; - out_844759421205290898[12] = state[12]; - out_844759421205290898[13] = state[13]; - out_844759421205290898[14] = state[14]; - out_844759421205290898[15] = state[15]; - out_844759421205290898[16] = state[16]; - out_844759421205290898[17] = state[17]; +void f_fun(double *state, double dt, double *out_6035351479955239512) { + out_6035351479955239512[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_6035351479955239512[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_6035351479955239512[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_6035351479955239512[3] = dt*state[12] + state[3]; + out_6035351479955239512[4] = dt*state[13] + state[4]; + out_6035351479955239512[5] = dt*state[14] + state[5]; + out_6035351479955239512[6] = state[6]; + out_6035351479955239512[7] = state[7]; + out_6035351479955239512[8] = state[8]; + out_6035351479955239512[9] = state[9]; + out_6035351479955239512[10] = state[10]; + out_6035351479955239512[11] = state[11]; + out_6035351479955239512[12] = state[12]; + out_6035351479955239512[13] = state[13]; + out_6035351479955239512[14] = state[14]; + out_6035351479955239512[15] = state[15]; + out_6035351479955239512[16] = state[16]; + out_6035351479955239512[17] = state[17]; } -void F_fun(double *state, double dt, double *out_3409614379123282877) { - out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[2] = 0; - out_3409614379123282877[3] = 0; - out_3409614379123282877[4] = 0; - out_3409614379123282877[5] = 0; - out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[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_3409614379123282877[9] = 0; - out_3409614379123282877[10] = 0; - out_3409614379123282877[11] = 0; - out_3409614379123282877[12] = 0; - out_3409614379123282877[13] = 0; - out_3409614379123282877[14] = 0; - out_3409614379123282877[15] = 0; - out_3409614379123282877[16] = 0; - out_3409614379123282877[17] = 0; - out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[20] = 0; - out_3409614379123282877[21] = 0; - out_3409614379123282877[22] = 0; - out_3409614379123282877[23] = 0; - out_3409614379123282877[24] = 0; - out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[27] = 0; - out_3409614379123282877[28] = 0; - out_3409614379123282877[29] = 0; - out_3409614379123282877[30] = 0; - out_3409614379123282877[31] = 0; - out_3409614379123282877[32] = 0; - out_3409614379123282877[33] = 0; - out_3409614379123282877[34] = 0; - out_3409614379123282877[35] = 0; - out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[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_3409614379123282877[39] = 0; - out_3409614379123282877[40] = 0; - out_3409614379123282877[41] = 0; - out_3409614379123282877[42] = 0; - out_3409614379123282877[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_3409614379123282877[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_3409614379123282877[45] = 0; - out_3409614379123282877[46] = 0; - out_3409614379123282877[47] = 0; - out_3409614379123282877[48] = 0; - out_3409614379123282877[49] = 0; - out_3409614379123282877[50] = 0; - out_3409614379123282877[51] = 0; - out_3409614379123282877[52] = 0; - out_3409614379123282877[53] = 0; - out_3409614379123282877[54] = 0; - out_3409614379123282877[55] = 0; - out_3409614379123282877[56] = 0; - out_3409614379123282877[57] = 1; - out_3409614379123282877[58] = 0; - out_3409614379123282877[59] = 0; - out_3409614379123282877[60] = 0; - out_3409614379123282877[61] = 0; - out_3409614379123282877[62] = 0; - out_3409614379123282877[63] = 0; - out_3409614379123282877[64] = 0; - out_3409614379123282877[65] = 0; - out_3409614379123282877[66] = dt; - out_3409614379123282877[67] = 0; - out_3409614379123282877[68] = 0; - out_3409614379123282877[69] = 0; - out_3409614379123282877[70] = 0; - out_3409614379123282877[71] = 0; - out_3409614379123282877[72] = 0; - out_3409614379123282877[73] = 0; - out_3409614379123282877[74] = 0; - out_3409614379123282877[75] = 0; - out_3409614379123282877[76] = 1; - out_3409614379123282877[77] = 0; - out_3409614379123282877[78] = 0; - out_3409614379123282877[79] = 0; - out_3409614379123282877[80] = 0; - out_3409614379123282877[81] = 0; - out_3409614379123282877[82] = 0; - out_3409614379123282877[83] = 0; - out_3409614379123282877[84] = 0; - out_3409614379123282877[85] = dt; - out_3409614379123282877[86] = 0; - out_3409614379123282877[87] = 0; - out_3409614379123282877[88] = 0; - out_3409614379123282877[89] = 0; - out_3409614379123282877[90] = 0; - out_3409614379123282877[91] = 0; - out_3409614379123282877[92] = 0; - out_3409614379123282877[93] = 0; - out_3409614379123282877[94] = 0; - out_3409614379123282877[95] = 1; - out_3409614379123282877[96] = 0; - out_3409614379123282877[97] = 0; - out_3409614379123282877[98] = 0; - out_3409614379123282877[99] = 0; - out_3409614379123282877[100] = 0; - out_3409614379123282877[101] = 0; - out_3409614379123282877[102] = 0; - out_3409614379123282877[103] = 0; - out_3409614379123282877[104] = dt; - out_3409614379123282877[105] = 0; - out_3409614379123282877[106] = 0; - out_3409614379123282877[107] = 0; - out_3409614379123282877[108] = 0; - out_3409614379123282877[109] = 0; - out_3409614379123282877[110] = 0; - out_3409614379123282877[111] = 0; - out_3409614379123282877[112] = 0; - out_3409614379123282877[113] = 0; - out_3409614379123282877[114] = 1; - out_3409614379123282877[115] = 0; - out_3409614379123282877[116] = 0; - out_3409614379123282877[117] = 0; - out_3409614379123282877[118] = 0; - out_3409614379123282877[119] = 0; - out_3409614379123282877[120] = 0; - out_3409614379123282877[121] = 0; - out_3409614379123282877[122] = 0; - out_3409614379123282877[123] = 0; - out_3409614379123282877[124] = 0; - out_3409614379123282877[125] = 0; - out_3409614379123282877[126] = 0; - out_3409614379123282877[127] = 0; - out_3409614379123282877[128] = 0; - out_3409614379123282877[129] = 0; - out_3409614379123282877[130] = 0; - out_3409614379123282877[131] = 0; - out_3409614379123282877[132] = 0; - out_3409614379123282877[133] = 1; - out_3409614379123282877[134] = 0; - out_3409614379123282877[135] = 0; - out_3409614379123282877[136] = 0; - out_3409614379123282877[137] = 0; - out_3409614379123282877[138] = 0; - out_3409614379123282877[139] = 0; - out_3409614379123282877[140] = 0; - out_3409614379123282877[141] = 0; - out_3409614379123282877[142] = 0; - out_3409614379123282877[143] = 0; - out_3409614379123282877[144] = 0; - out_3409614379123282877[145] = 0; - out_3409614379123282877[146] = 0; - out_3409614379123282877[147] = 0; - out_3409614379123282877[148] = 0; - out_3409614379123282877[149] = 0; - out_3409614379123282877[150] = 0; - out_3409614379123282877[151] = 0; - out_3409614379123282877[152] = 1; - out_3409614379123282877[153] = 0; - out_3409614379123282877[154] = 0; - out_3409614379123282877[155] = 0; - out_3409614379123282877[156] = 0; - out_3409614379123282877[157] = 0; - out_3409614379123282877[158] = 0; - out_3409614379123282877[159] = 0; - out_3409614379123282877[160] = 0; - out_3409614379123282877[161] = 0; - out_3409614379123282877[162] = 0; - out_3409614379123282877[163] = 0; - out_3409614379123282877[164] = 0; - out_3409614379123282877[165] = 0; - out_3409614379123282877[166] = 0; - out_3409614379123282877[167] = 0; - out_3409614379123282877[168] = 0; - out_3409614379123282877[169] = 0; - out_3409614379123282877[170] = 0; - out_3409614379123282877[171] = 1; - out_3409614379123282877[172] = 0; - out_3409614379123282877[173] = 0; - out_3409614379123282877[174] = 0; - out_3409614379123282877[175] = 0; - out_3409614379123282877[176] = 0; - out_3409614379123282877[177] = 0; - out_3409614379123282877[178] = 0; - out_3409614379123282877[179] = 0; - out_3409614379123282877[180] = 0; - out_3409614379123282877[181] = 0; - out_3409614379123282877[182] = 0; - out_3409614379123282877[183] = 0; - out_3409614379123282877[184] = 0; - out_3409614379123282877[185] = 0; - out_3409614379123282877[186] = 0; - out_3409614379123282877[187] = 0; - out_3409614379123282877[188] = 0; - out_3409614379123282877[189] = 0; - out_3409614379123282877[190] = 1; - out_3409614379123282877[191] = 0; - out_3409614379123282877[192] = 0; - out_3409614379123282877[193] = 0; - out_3409614379123282877[194] = 0; - out_3409614379123282877[195] = 0; - out_3409614379123282877[196] = 0; - out_3409614379123282877[197] = 0; - out_3409614379123282877[198] = 0; - out_3409614379123282877[199] = 0; - out_3409614379123282877[200] = 0; - out_3409614379123282877[201] = 0; - out_3409614379123282877[202] = 0; - out_3409614379123282877[203] = 0; - out_3409614379123282877[204] = 0; - out_3409614379123282877[205] = 0; - out_3409614379123282877[206] = 0; - out_3409614379123282877[207] = 0; - out_3409614379123282877[208] = 0; - out_3409614379123282877[209] = 1; - out_3409614379123282877[210] = 0; - out_3409614379123282877[211] = 0; - out_3409614379123282877[212] = 0; - out_3409614379123282877[213] = 0; - out_3409614379123282877[214] = 0; - out_3409614379123282877[215] = 0; - out_3409614379123282877[216] = 0; - out_3409614379123282877[217] = 0; - out_3409614379123282877[218] = 0; - out_3409614379123282877[219] = 0; - out_3409614379123282877[220] = 0; - out_3409614379123282877[221] = 0; - out_3409614379123282877[222] = 0; - out_3409614379123282877[223] = 0; - out_3409614379123282877[224] = 0; - out_3409614379123282877[225] = 0; - out_3409614379123282877[226] = 0; - out_3409614379123282877[227] = 0; - out_3409614379123282877[228] = 1; - out_3409614379123282877[229] = 0; - out_3409614379123282877[230] = 0; - out_3409614379123282877[231] = 0; - out_3409614379123282877[232] = 0; - out_3409614379123282877[233] = 0; - out_3409614379123282877[234] = 0; - out_3409614379123282877[235] = 0; - out_3409614379123282877[236] = 0; - out_3409614379123282877[237] = 0; - out_3409614379123282877[238] = 0; - out_3409614379123282877[239] = 0; - out_3409614379123282877[240] = 0; - out_3409614379123282877[241] = 0; - out_3409614379123282877[242] = 0; - out_3409614379123282877[243] = 0; - out_3409614379123282877[244] = 0; - out_3409614379123282877[245] = 0; - out_3409614379123282877[246] = 0; - out_3409614379123282877[247] = 1; - out_3409614379123282877[248] = 0; - out_3409614379123282877[249] = 0; - out_3409614379123282877[250] = 0; - out_3409614379123282877[251] = 0; - out_3409614379123282877[252] = 0; - out_3409614379123282877[253] = 0; - out_3409614379123282877[254] = 0; - out_3409614379123282877[255] = 0; - out_3409614379123282877[256] = 0; - out_3409614379123282877[257] = 0; - out_3409614379123282877[258] = 0; - out_3409614379123282877[259] = 0; - out_3409614379123282877[260] = 0; - out_3409614379123282877[261] = 0; - out_3409614379123282877[262] = 0; - out_3409614379123282877[263] = 0; - out_3409614379123282877[264] = 0; - out_3409614379123282877[265] = 0; - out_3409614379123282877[266] = 1; - out_3409614379123282877[267] = 0; - out_3409614379123282877[268] = 0; - out_3409614379123282877[269] = 0; - out_3409614379123282877[270] = 0; - out_3409614379123282877[271] = 0; - out_3409614379123282877[272] = 0; - out_3409614379123282877[273] = 0; - out_3409614379123282877[274] = 0; - out_3409614379123282877[275] = 0; - out_3409614379123282877[276] = 0; - out_3409614379123282877[277] = 0; - out_3409614379123282877[278] = 0; - out_3409614379123282877[279] = 0; - out_3409614379123282877[280] = 0; - out_3409614379123282877[281] = 0; - out_3409614379123282877[282] = 0; - out_3409614379123282877[283] = 0; - out_3409614379123282877[284] = 0; - out_3409614379123282877[285] = 1; - out_3409614379123282877[286] = 0; - out_3409614379123282877[287] = 0; - out_3409614379123282877[288] = 0; - out_3409614379123282877[289] = 0; - out_3409614379123282877[290] = 0; - out_3409614379123282877[291] = 0; - out_3409614379123282877[292] = 0; - out_3409614379123282877[293] = 0; - out_3409614379123282877[294] = 0; - out_3409614379123282877[295] = 0; - out_3409614379123282877[296] = 0; - out_3409614379123282877[297] = 0; - out_3409614379123282877[298] = 0; - out_3409614379123282877[299] = 0; - out_3409614379123282877[300] = 0; - out_3409614379123282877[301] = 0; - out_3409614379123282877[302] = 0; - out_3409614379123282877[303] = 0; - out_3409614379123282877[304] = 1; - out_3409614379123282877[305] = 0; - out_3409614379123282877[306] = 0; - out_3409614379123282877[307] = 0; - out_3409614379123282877[308] = 0; - out_3409614379123282877[309] = 0; - out_3409614379123282877[310] = 0; - out_3409614379123282877[311] = 0; - out_3409614379123282877[312] = 0; - out_3409614379123282877[313] = 0; - out_3409614379123282877[314] = 0; - out_3409614379123282877[315] = 0; - out_3409614379123282877[316] = 0; - out_3409614379123282877[317] = 0; - out_3409614379123282877[318] = 0; - out_3409614379123282877[319] = 0; - out_3409614379123282877[320] = 0; - out_3409614379123282877[321] = 0; - out_3409614379123282877[322] = 0; - out_3409614379123282877[323] = 1; +void F_fun(double *state, double dt, double *out_4841453483990746406) { + out_4841453483990746406[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_4841453483990746406[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_4841453483990746406[2] = 0; + out_4841453483990746406[3] = 0; + out_4841453483990746406[4] = 0; + out_4841453483990746406[5] = 0; + out_4841453483990746406[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_4841453483990746406[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_4841453483990746406[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_4841453483990746406[9] = 0; + out_4841453483990746406[10] = 0; + out_4841453483990746406[11] = 0; + out_4841453483990746406[12] = 0; + out_4841453483990746406[13] = 0; + out_4841453483990746406[14] = 0; + out_4841453483990746406[15] = 0; + out_4841453483990746406[16] = 0; + out_4841453483990746406[17] = 0; + out_4841453483990746406[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_4841453483990746406[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_4841453483990746406[20] = 0; + out_4841453483990746406[21] = 0; + out_4841453483990746406[22] = 0; + out_4841453483990746406[23] = 0; + out_4841453483990746406[24] = 0; + out_4841453483990746406[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_4841453483990746406[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_4841453483990746406[27] = 0; + out_4841453483990746406[28] = 0; + out_4841453483990746406[29] = 0; + out_4841453483990746406[30] = 0; + out_4841453483990746406[31] = 0; + out_4841453483990746406[32] = 0; + out_4841453483990746406[33] = 0; + out_4841453483990746406[34] = 0; + out_4841453483990746406[35] = 0; + out_4841453483990746406[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_4841453483990746406[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_4841453483990746406[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_4841453483990746406[39] = 0; + out_4841453483990746406[40] = 0; + out_4841453483990746406[41] = 0; + out_4841453483990746406[42] = 0; + out_4841453483990746406[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_4841453483990746406[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_4841453483990746406[45] = 0; + out_4841453483990746406[46] = 0; + out_4841453483990746406[47] = 0; + out_4841453483990746406[48] = 0; + out_4841453483990746406[49] = 0; + out_4841453483990746406[50] = 0; + out_4841453483990746406[51] = 0; + out_4841453483990746406[52] = 0; + out_4841453483990746406[53] = 0; + out_4841453483990746406[54] = 0; + out_4841453483990746406[55] = 0; + out_4841453483990746406[56] = 0; + out_4841453483990746406[57] = 1; + out_4841453483990746406[58] = 0; + out_4841453483990746406[59] = 0; + out_4841453483990746406[60] = 0; + out_4841453483990746406[61] = 0; + out_4841453483990746406[62] = 0; + out_4841453483990746406[63] = 0; + out_4841453483990746406[64] = 0; + out_4841453483990746406[65] = 0; + out_4841453483990746406[66] = dt; + out_4841453483990746406[67] = 0; + out_4841453483990746406[68] = 0; + out_4841453483990746406[69] = 0; + out_4841453483990746406[70] = 0; + out_4841453483990746406[71] = 0; + out_4841453483990746406[72] = 0; + out_4841453483990746406[73] = 0; + out_4841453483990746406[74] = 0; + out_4841453483990746406[75] = 0; + out_4841453483990746406[76] = 1; + out_4841453483990746406[77] = 0; + out_4841453483990746406[78] = 0; + out_4841453483990746406[79] = 0; + out_4841453483990746406[80] = 0; + out_4841453483990746406[81] = 0; + out_4841453483990746406[82] = 0; + out_4841453483990746406[83] = 0; + out_4841453483990746406[84] = 0; + out_4841453483990746406[85] = dt; + out_4841453483990746406[86] = 0; + out_4841453483990746406[87] = 0; + out_4841453483990746406[88] = 0; + out_4841453483990746406[89] = 0; + out_4841453483990746406[90] = 0; + out_4841453483990746406[91] = 0; + out_4841453483990746406[92] = 0; + out_4841453483990746406[93] = 0; + out_4841453483990746406[94] = 0; + out_4841453483990746406[95] = 1; + out_4841453483990746406[96] = 0; + out_4841453483990746406[97] = 0; + out_4841453483990746406[98] = 0; + out_4841453483990746406[99] = 0; + out_4841453483990746406[100] = 0; + out_4841453483990746406[101] = 0; + out_4841453483990746406[102] = 0; + out_4841453483990746406[103] = 0; + out_4841453483990746406[104] = dt; + out_4841453483990746406[105] = 0; + out_4841453483990746406[106] = 0; + out_4841453483990746406[107] = 0; + out_4841453483990746406[108] = 0; + out_4841453483990746406[109] = 0; + out_4841453483990746406[110] = 0; + out_4841453483990746406[111] = 0; + out_4841453483990746406[112] = 0; + out_4841453483990746406[113] = 0; + out_4841453483990746406[114] = 1; + out_4841453483990746406[115] = 0; + out_4841453483990746406[116] = 0; + out_4841453483990746406[117] = 0; + out_4841453483990746406[118] = 0; + out_4841453483990746406[119] = 0; + out_4841453483990746406[120] = 0; + out_4841453483990746406[121] = 0; + out_4841453483990746406[122] = 0; + out_4841453483990746406[123] = 0; + out_4841453483990746406[124] = 0; + out_4841453483990746406[125] = 0; + out_4841453483990746406[126] = 0; + out_4841453483990746406[127] = 0; + out_4841453483990746406[128] = 0; + out_4841453483990746406[129] = 0; + out_4841453483990746406[130] = 0; + out_4841453483990746406[131] = 0; + out_4841453483990746406[132] = 0; + out_4841453483990746406[133] = 1; + out_4841453483990746406[134] = 0; + out_4841453483990746406[135] = 0; + out_4841453483990746406[136] = 0; + out_4841453483990746406[137] = 0; + out_4841453483990746406[138] = 0; + out_4841453483990746406[139] = 0; + out_4841453483990746406[140] = 0; + out_4841453483990746406[141] = 0; + out_4841453483990746406[142] = 0; + out_4841453483990746406[143] = 0; + out_4841453483990746406[144] = 0; + out_4841453483990746406[145] = 0; + out_4841453483990746406[146] = 0; + out_4841453483990746406[147] = 0; + out_4841453483990746406[148] = 0; + out_4841453483990746406[149] = 0; + out_4841453483990746406[150] = 0; + out_4841453483990746406[151] = 0; + out_4841453483990746406[152] = 1; + out_4841453483990746406[153] = 0; + out_4841453483990746406[154] = 0; + out_4841453483990746406[155] = 0; + out_4841453483990746406[156] = 0; + out_4841453483990746406[157] = 0; + out_4841453483990746406[158] = 0; + out_4841453483990746406[159] = 0; + out_4841453483990746406[160] = 0; + out_4841453483990746406[161] = 0; + out_4841453483990746406[162] = 0; + out_4841453483990746406[163] = 0; + out_4841453483990746406[164] = 0; + out_4841453483990746406[165] = 0; + out_4841453483990746406[166] = 0; + out_4841453483990746406[167] = 0; + out_4841453483990746406[168] = 0; + out_4841453483990746406[169] = 0; + out_4841453483990746406[170] = 0; + out_4841453483990746406[171] = 1; + out_4841453483990746406[172] = 0; + out_4841453483990746406[173] = 0; + out_4841453483990746406[174] = 0; + out_4841453483990746406[175] = 0; + out_4841453483990746406[176] = 0; + out_4841453483990746406[177] = 0; + out_4841453483990746406[178] = 0; + out_4841453483990746406[179] = 0; + out_4841453483990746406[180] = 0; + out_4841453483990746406[181] = 0; + out_4841453483990746406[182] = 0; + out_4841453483990746406[183] = 0; + out_4841453483990746406[184] = 0; + out_4841453483990746406[185] = 0; + out_4841453483990746406[186] = 0; + out_4841453483990746406[187] = 0; + out_4841453483990746406[188] = 0; + out_4841453483990746406[189] = 0; + out_4841453483990746406[190] = 1; + out_4841453483990746406[191] = 0; + out_4841453483990746406[192] = 0; + out_4841453483990746406[193] = 0; + out_4841453483990746406[194] = 0; + out_4841453483990746406[195] = 0; + out_4841453483990746406[196] = 0; + out_4841453483990746406[197] = 0; + out_4841453483990746406[198] = 0; + out_4841453483990746406[199] = 0; + out_4841453483990746406[200] = 0; + out_4841453483990746406[201] = 0; + out_4841453483990746406[202] = 0; + out_4841453483990746406[203] = 0; + out_4841453483990746406[204] = 0; + out_4841453483990746406[205] = 0; + out_4841453483990746406[206] = 0; + out_4841453483990746406[207] = 0; + out_4841453483990746406[208] = 0; + out_4841453483990746406[209] = 1; + out_4841453483990746406[210] = 0; + out_4841453483990746406[211] = 0; + out_4841453483990746406[212] = 0; + out_4841453483990746406[213] = 0; + out_4841453483990746406[214] = 0; + out_4841453483990746406[215] = 0; + out_4841453483990746406[216] = 0; + out_4841453483990746406[217] = 0; + out_4841453483990746406[218] = 0; + out_4841453483990746406[219] = 0; + out_4841453483990746406[220] = 0; + out_4841453483990746406[221] = 0; + out_4841453483990746406[222] = 0; + out_4841453483990746406[223] = 0; + out_4841453483990746406[224] = 0; + out_4841453483990746406[225] = 0; + out_4841453483990746406[226] = 0; + out_4841453483990746406[227] = 0; + out_4841453483990746406[228] = 1; + out_4841453483990746406[229] = 0; + out_4841453483990746406[230] = 0; + out_4841453483990746406[231] = 0; + out_4841453483990746406[232] = 0; + out_4841453483990746406[233] = 0; + out_4841453483990746406[234] = 0; + out_4841453483990746406[235] = 0; + out_4841453483990746406[236] = 0; + out_4841453483990746406[237] = 0; + out_4841453483990746406[238] = 0; + out_4841453483990746406[239] = 0; + out_4841453483990746406[240] = 0; + out_4841453483990746406[241] = 0; + out_4841453483990746406[242] = 0; + out_4841453483990746406[243] = 0; + out_4841453483990746406[244] = 0; + out_4841453483990746406[245] = 0; + out_4841453483990746406[246] = 0; + out_4841453483990746406[247] = 1; + out_4841453483990746406[248] = 0; + out_4841453483990746406[249] = 0; + out_4841453483990746406[250] = 0; + out_4841453483990746406[251] = 0; + out_4841453483990746406[252] = 0; + out_4841453483990746406[253] = 0; + out_4841453483990746406[254] = 0; + out_4841453483990746406[255] = 0; + out_4841453483990746406[256] = 0; + out_4841453483990746406[257] = 0; + out_4841453483990746406[258] = 0; + out_4841453483990746406[259] = 0; + out_4841453483990746406[260] = 0; + out_4841453483990746406[261] = 0; + out_4841453483990746406[262] = 0; + out_4841453483990746406[263] = 0; + out_4841453483990746406[264] = 0; + out_4841453483990746406[265] = 0; + out_4841453483990746406[266] = 1; + out_4841453483990746406[267] = 0; + out_4841453483990746406[268] = 0; + out_4841453483990746406[269] = 0; + out_4841453483990746406[270] = 0; + out_4841453483990746406[271] = 0; + out_4841453483990746406[272] = 0; + out_4841453483990746406[273] = 0; + out_4841453483990746406[274] = 0; + out_4841453483990746406[275] = 0; + out_4841453483990746406[276] = 0; + out_4841453483990746406[277] = 0; + out_4841453483990746406[278] = 0; + out_4841453483990746406[279] = 0; + out_4841453483990746406[280] = 0; + out_4841453483990746406[281] = 0; + out_4841453483990746406[282] = 0; + out_4841453483990746406[283] = 0; + out_4841453483990746406[284] = 0; + out_4841453483990746406[285] = 1; + out_4841453483990746406[286] = 0; + out_4841453483990746406[287] = 0; + out_4841453483990746406[288] = 0; + out_4841453483990746406[289] = 0; + out_4841453483990746406[290] = 0; + out_4841453483990746406[291] = 0; + out_4841453483990746406[292] = 0; + out_4841453483990746406[293] = 0; + out_4841453483990746406[294] = 0; + out_4841453483990746406[295] = 0; + out_4841453483990746406[296] = 0; + out_4841453483990746406[297] = 0; + out_4841453483990746406[298] = 0; + out_4841453483990746406[299] = 0; + out_4841453483990746406[300] = 0; + out_4841453483990746406[301] = 0; + out_4841453483990746406[302] = 0; + out_4841453483990746406[303] = 0; + out_4841453483990746406[304] = 1; + out_4841453483990746406[305] = 0; + out_4841453483990746406[306] = 0; + out_4841453483990746406[307] = 0; + out_4841453483990746406[308] = 0; + out_4841453483990746406[309] = 0; + out_4841453483990746406[310] = 0; + out_4841453483990746406[311] = 0; + out_4841453483990746406[312] = 0; + out_4841453483990746406[313] = 0; + out_4841453483990746406[314] = 0; + out_4841453483990746406[315] = 0; + out_4841453483990746406[316] = 0; + out_4841453483990746406[317] = 0; + out_4841453483990746406[318] = 0; + out_4841453483990746406[319] = 0; + out_4841453483990746406[320] = 0; + out_4841453483990746406[321] = 0; + out_4841453483990746406[322] = 0; + out_4841453483990746406[323] = 1; } -void h_4(double *state, double *unused, double *out_3761995773053554002) { - out_3761995773053554002[0] = state[6] + state[9]; - out_3761995773053554002[1] = state[7] + state[10]; - out_3761995773053554002[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3927517291904970746) { + out_3927517291904970746[0] = state[6] + state[9]; + out_3927517291904970746[1] = state[7] + state[10]; + out_3927517291904970746[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4790277513162164512) { - out_4790277513162164512[0] = 0; - out_4790277513162164512[1] = 0; - out_4790277513162164512[2] = 0; - out_4790277513162164512[3] = 0; - out_4790277513162164512[4] = 0; - out_4790277513162164512[5] = 0; - out_4790277513162164512[6] = 1; - out_4790277513162164512[7] = 0; - out_4790277513162164512[8] = 0; - out_4790277513162164512[9] = 1; - out_4790277513162164512[10] = 0; - out_4790277513162164512[11] = 0; - out_4790277513162164512[12] = 0; - out_4790277513162164512[13] = 0; - out_4790277513162164512[14] = 0; - out_4790277513162164512[15] = 0; - out_4790277513162164512[16] = 0; - out_4790277513162164512[17] = 0; - out_4790277513162164512[18] = 0; - out_4790277513162164512[19] = 0; - out_4790277513162164512[20] = 0; - out_4790277513162164512[21] = 0; - out_4790277513162164512[22] = 0; - out_4790277513162164512[23] = 0; - out_4790277513162164512[24] = 0; - out_4790277513162164512[25] = 1; - out_4790277513162164512[26] = 0; - out_4790277513162164512[27] = 0; - out_4790277513162164512[28] = 1; - out_4790277513162164512[29] = 0; - out_4790277513162164512[30] = 0; - out_4790277513162164512[31] = 0; - out_4790277513162164512[32] = 0; - out_4790277513162164512[33] = 0; - out_4790277513162164512[34] = 0; - out_4790277513162164512[35] = 0; - out_4790277513162164512[36] = 0; - out_4790277513162164512[37] = 0; - out_4790277513162164512[38] = 0; - out_4790277513162164512[39] = 0; - out_4790277513162164512[40] = 0; - out_4790277513162164512[41] = 0; - out_4790277513162164512[42] = 0; - out_4790277513162164512[43] = 0; - out_4790277513162164512[44] = 1; - out_4790277513162164512[45] = 0; - out_4790277513162164512[46] = 0; - out_4790277513162164512[47] = 1; - out_4790277513162164512[48] = 0; - out_4790277513162164512[49] = 0; - out_4790277513162164512[50] = 0; - out_4790277513162164512[51] = 0; - out_4790277513162164512[52] = 0; - out_4790277513162164512[53] = 0; +void H_4(double *state, double *unused, double *out_648704722266460885) { + out_648704722266460885[0] = 0; + out_648704722266460885[1] = 0; + out_648704722266460885[2] = 0; + out_648704722266460885[3] = 0; + out_648704722266460885[4] = 0; + out_648704722266460885[5] = 0; + out_648704722266460885[6] = 1; + out_648704722266460885[7] = 0; + out_648704722266460885[8] = 0; + out_648704722266460885[9] = 1; + out_648704722266460885[10] = 0; + out_648704722266460885[11] = 0; + out_648704722266460885[12] = 0; + out_648704722266460885[13] = 0; + out_648704722266460885[14] = 0; + out_648704722266460885[15] = 0; + out_648704722266460885[16] = 0; + out_648704722266460885[17] = 0; + out_648704722266460885[18] = 0; + out_648704722266460885[19] = 0; + out_648704722266460885[20] = 0; + out_648704722266460885[21] = 0; + out_648704722266460885[22] = 0; + out_648704722266460885[23] = 0; + out_648704722266460885[24] = 0; + out_648704722266460885[25] = 1; + out_648704722266460885[26] = 0; + out_648704722266460885[27] = 0; + out_648704722266460885[28] = 1; + out_648704722266460885[29] = 0; + out_648704722266460885[30] = 0; + out_648704722266460885[31] = 0; + out_648704722266460885[32] = 0; + out_648704722266460885[33] = 0; + out_648704722266460885[34] = 0; + out_648704722266460885[35] = 0; + out_648704722266460885[36] = 0; + out_648704722266460885[37] = 0; + out_648704722266460885[38] = 0; + out_648704722266460885[39] = 0; + out_648704722266460885[40] = 0; + out_648704722266460885[41] = 0; + out_648704722266460885[42] = 0; + out_648704722266460885[43] = 0; + out_648704722266460885[44] = 1; + out_648704722266460885[45] = 0; + out_648704722266460885[46] = 0; + out_648704722266460885[47] = 1; + out_648704722266460885[48] = 0; + out_648704722266460885[49] = 0; + out_648704722266460885[50] = 0; + out_648704722266460885[51] = 0; + out_648704722266460885[52] = 0; + out_648704722266460885[53] = 0; } -void h_10(double *state, double *unused, double *out_1433439433765456745) { - out_1433439433765456745[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1433439433765456745[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1433439433765456745[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_6439648934382479816) { + out_6439648934382479816[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6439648934382479816[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6439648934382479816[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_2492873908575038793) { - out_2492873908575038793[0] = 0; - out_2492873908575038793[1] = 9.8100000000000005*cos(state[1]); - out_2492873908575038793[2] = 0; - out_2492873908575038793[3] = 0; - out_2492873908575038793[4] = -state[8]; - out_2492873908575038793[5] = state[7]; - out_2492873908575038793[6] = 0; - out_2492873908575038793[7] = state[5]; - out_2492873908575038793[8] = -state[4]; - out_2492873908575038793[9] = 0; - out_2492873908575038793[10] = 0; - out_2492873908575038793[11] = 0; - out_2492873908575038793[12] = 1; - out_2492873908575038793[13] = 0; - out_2492873908575038793[14] = 0; - out_2492873908575038793[15] = 1; - out_2492873908575038793[16] = 0; - out_2492873908575038793[17] = 0; - out_2492873908575038793[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2492873908575038793[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2492873908575038793[20] = 0; - out_2492873908575038793[21] = state[8]; - out_2492873908575038793[22] = 0; - out_2492873908575038793[23] = -state[6]; - out_2492873908575038793[24] = -state[5]; - out_2492873908575038793[25] = 0; - out_2492873908575038793[26] = state[3]; - out_2492873908575038793[27] = 0; - out_2492873908575038793[28] = 0; - out_2492873908575038793[29] = 0; - out_2492873908575038793[30] = 0; - out_2492873908575038793[31] = 1; - out_2492873908575038793[32] = 0; - out_2492873908575038793[33] = 0; - out_2492873908575038793[34] = 1; - out_2492873908575038793[35] = 0; - out_2492873908575038793[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2492873908575038793[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2492873908575038793[38] = 0; - out_2492873908575038793[39] = -state[7]; - out_2492873908575038793[40] = state[6]; - out_2492873908575038793[41] = 0; - out_2492873908575038793[42] = state[4]; - out_2492873908575038793[43] = -state[3]; - out_2492873908575038793[44] = 0; - out_2492873908575038793[45] = 0; - out_2492873908575038793[46] = 0; - out_2492873908575038793[47] = 0; - out_2492873908575038793[48] = 0; - out_2492873908575038793[49] = 0; - out_2492873908575038793[50] = 1; - out_2492873908575038793[51] = 0; - out_2492873908575038793[52] = 0; - out_2492873908575038793[53] = 1; +void H_10(double *state, double *unused, double *out_4788307442778779812) { + out_4788307442778779812[0] = 0; + out_4788307442778779812[1] = 9.8100000000000005*cos(state[1]); + out_4788307442778779812[2] = 0; + out_4788307442778779812[3] = 0; + out_4788307442778779812[4] = -state[8]; + out_4788307442778779812[5] = state[7]; + out_4788307442778779812[6] = 0; + out_4788307442778779812[7] = state[5]; + out_4788307442778779812[8] = -state[4]; + out_4788307442778779812[9] = 0; + out_4788307442778779812[10] = 0; + out_4788307442778779812[11] = 0; + out_4788307442778779812[12] = 1; + out_4788307442778779812[13] = 0; + out_4788307442778779812[14] = 0; + out_4788307442778779812[15] = 1; + out_4788307442778779812[16] = 0; + out_4788307442778779812[17] = 0; + out_4788307442778779812[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4788307442778779812[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4788307442778779812[20] = 0; + out_4788307442778779812[21] = state[8]; + out_4788307442778779812[22] = 0; + out_4788307442778779812[23] = -state[6]; + out_4788307442778779812[24] = -state[5]; + out_4788307442778779812[25] = 0; + out_4788307442778779812[26] = state[3]; + out_4788307442778779812[27] = 0; + out_4788307442778779812[28] = 0; + out_4788307442778779812[29] = 0; + out_4788307442778779812[30] = 0; + out_4788307442778779812[31] = 1; + out_4788307442778779812[32] = 0; + out_4788307442778779812[33] = 0; + out_4788307442778779812[34] = 1; + out_4788307442778779812[35] = 0; + out_4788307442778779812[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4788307442778779812[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4788307442778779812[38] = 0; + out_4788307442778779812[39] = -state[7]; + out_4788307442778779812[40] = state[6]; + out_4788307442778779812[41] = 0; + out_4788307442778779812[42] = state[4]; + out_4788307442778779812[43] = -state[3]; + out_4788307442778779812[44] = 0; + out_4788307442778779812[45] = 0; + out_4788307442778779812[46] = 0; + out_4788307442778779812[47] = 0; + out_4788307442778779812[48] = 0; + out_4788307442778779812[49] = 0; + out_4788307442778779812[50] = 1; + out_4788307442778779812[51] = 0; + out_4788307442778779812[52] = 0; + out_4788307442778779812[53] = 1; } -void h_13(double *state, double *unused, double *out_7701755112567992010) { - out_7701755112567992010[0] = state[3]; - out_7701755112567992010[1] = state[4]; - out_7701755112567992010[2] = state[5]; +void h_13(double *state, double *unused, double *out_7496824369401694209) { + out_7496824369401694209[0] = state[3]; + out_7496824369401694209[1] = state[4]; + out_7496824369401694209[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8002551338494497313) { - out_8002551338494497313[0] = 0; - out_8002551338494497313[1] = 0; - out_8002551338494497313[2] = 0; - out_8002551338494497313[3] = 1; - out_8002551338494497313[4] = 0; - out_8002551338494497313[5] = 0; - out_8002551338494497313[6] = 0; - out_8002551338494497313[7] = 0; - out_8002551338494497313[8] = 0; - out_8002551338494497313[9] = 0; - out_8002551338494497313[10] = 0; - out_8002551338494497313[11] = 0; - out_8002551338494497313[12] = 0; - out_8002551338494497313[13] = 0; - out_8002551338494497313[14] = 0; - out_8002551338494497313[15] = 0; - out_8002551338494497313[16] = 0; - out_8002551338494497313[17] = 0; - out_8002551338494497313[18] = 0; - out_8002551338494497313[19] = 0; - out_8002551338494497313[20] = 0; - out_8002551338494497313[21] = 0; - out_8002551338494497313[22] = 1; - out_8002551338494497313[23] = 0; - out_8002551338494497313[24] = 0; - out_8002551338494497313[25] = 0; - out_8002551338494497313[26] = 0; - out_8002551338494497313[27] = 0; - out_8002551338494497313[28] = 0; - out_8002551338494497313[29] = 0; - out_8002551338494497313[30] = 0; - out_8002551338494497313[31] = 0; - out_8002551338494497313[32] = 0; - out_8002551338494497313[33] = 0; - out_8002551338494497313[34] = 0; - out_8002551338494497313[35] = 0; - out_8002551338494497313[36] = 0; - out_8002551338494497313[37] = 0; - out_8002551338494497313[38] = 0; - out_8002551338494497313[39] = 0; - out_8002551338494497313[40] = 0; - out_8002551338494497313[41] = 1; - out_8002551338494497313[42] = 0; - out_8002551338494497313[43] = 0; - out_8002551338494497313[44] = 0; - out_8002551338494497313[45] = 0; - out_8002551338494497313[46] = 0; - out_8002551338494497313[47] = 0; - out_8002551338494497313[48] = 0; - out_8002551338494497313[49] = 0; - out_8002551338494497313[50] = 0; - out_8002551338494497313[51] = 0; - out_8002551338494497313[52] = 0; - out_8002551338494497313[53] = 0; +void H_13(double *state, double *unused, double *out_4482460185568984909) { + out_4482460185568984909[0] = 0; + out_4482460185568984909[1] = 0; + out_4482460185568984909[2] = 0; + out_4482460185568984909[3] = 1; + out_4482460185568984909[4] = 0; + out_4482460185568984909[5] = 0; + out_4482460185568984909[6] = 0; + out_4482460185568984909[7] = 0; + out_4482460185568984909[8] = 0; + out_4482460185568984909[9] = 0; + out_4482460185568984909[10] = 0; + out_4482460185568984909[11] = 0; + out_4482460185568984909[12] = 0; + out_4482460185568984909[13] = 0; + out_4482460185568984909[14] = 0; + out_4482460185568984909[15] = 0; + out_4482460185568984909[16] = 0; + out_4482460185568984909[17] = 0; + out_4482460185568984909[18] = 0; + out_4482460185568984909[19] = 0; + out_4482460185568984909[20] = 0; + out_4482460185568984909[21] = 0; + out_4482460185568984909[22] = 1; + out_4482460185568984909[23] = 0; + out_4482460185568984909[24] = 0; + out_4482460185568984909[25] = 0; + out_4482460185568984909[26] = 0; + out_4482460185568984909[27] = 0; + out_4482460185568984909[28] = 0; + out_4482460185568984909[29] = 0; + out_4482460185568984909[30] = 0; + out_4482460185568984909[31] = 0; + out_4482460185568984909[32] = 0; + out_4482460185568984909[33] = 0; + out_4482460185568984909[34] = 0; + out_4482460185568984909[35] = 0; + out_4482460185568984909[36] = 0; + out_4482460185568984909[37] = 0; + out_4482460185568984909[38] = 0; + out_4482460185568984909[39] = 0; + out_4482460185568984909[40] = 0; + out_4482460185568984909[41] = 1; + out_4482460185568984909[42] = 0; + out_4482460185568984909[43] = 0; + out_4482460185568984909[44] = 0; + out_4482460185568984909[45] = 0; + out_4482460185568984909[46] = 0; + out_4482460185568984909[47] = 0; + out_4482460185568984909[48] = 0; + out_4482460185568984909[49] = 0; + out_4482460185568984909[50] = 0; + out_4482460185568984909[51] = 0; + out_4482460185568984909[52] = 0; + out_4482460185568984909[53] = 0; } -void h_14(double *state, double *unused, double *out_3517024732190759371) { - out_3517024732190759371[0] = state[6]; - out_3517024732190759371[1] = state[7]; - out_3517024732190759371[2] = state[8]; +void h_14(double *state, double *unused, double *out_6785183211401772861) { + out_6785183211401772861[0] = state[6]; + out_6785183211401772861[1] = state[7]; + out_6785183211401772861[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1707489080866792216) { - out_1707489080866792216[0] = 0; - out_1707489080866792216[1] = 0; - out_1707489080866792216[2] = 0; - out_1707489080866792216[3] = 0; - out_1707489080866792216[4] = 0; - out_1707489080866792216[5] = 0; - out_1707489080866792216[6] = 1; - out_1707489080866792216[7] = 0; - out_1707489080866792216[8] = 0; - out_1707489080866792216[9] = 0; - out_1707489080866792216[10] = 0; - out_1707489080866792216[11] = 0; - out_1707489080866792216[12] = 0; - out_1707489080866792216[13] = 0; - out_1707489080866792216[14] = 0; - out_1707489080866792216[15] = 0; - out_1707489080866792216[16] = 0; - out_1707489080866792216[17] = 0; - out_1707489080866792216[18] = 0; - out_1707489080866792216[19] = 0; - out_1707489080866792216[20] = 0; - out_1707489080866792216[21] = 0; - out_1707489080866792216[22] = 0; - out_1707489080866792216[23] = 0; - out_1707489080866792216[24] = 0; - out_1707489080866792216[25] = 1; - out_1707489080866792216[26] = 0; - out_1707489080866792216[27] = 0; - out_1707489080866792216[28] = 0; - out_1707489080866792216[29] = 0; - out_1707489080866792216[30] = 0; - out_1707489080866792216[31] = 0; - out_1707489080866792216[32] = 0; - out_1707489080866792216[33] = 0; - out_1707489080866792216[34] = 0; - out_1707489080866792216[35] = 0; - out_1707489080866792216[36] = 0; - out_1707489080866792216[37] = 0; - out_1707489080866792216[38] = 0; - out_1707489080866792216[39] = 0; - out_1707489080866792216[40] = 0; - out_1707489080866792216[41] = 0; - out_1707489080866792216[42] = 0; - out_1707489080866792216[43] = 0; - out_1707489080866792216[44] = 1; - out_1707489080866792216[45] = 0; - out_1707489080866792216[46] = 0; - out_1707489080866792216[47] = 0; - out_1707489080866792216[48] = 0; - out_1707489080866792216[49] = 0; - out_1707489080866792216[50] = 0; - out_1707489080866792216[51] = 0; - out_1707489080866792216[52] = 0; - out_1707489080866792216[53] = 0; +void H_14(double *state, double *unused, double *out_3731493154561833181) { + out_3731493154561833181[0] = 0; + out_3731493154561833181[1] = 0; + out_3731493154561833181[2] = 0; + out_3731493154561833181[3] = 0; + out_3731493154561833181[4] = 0; + out_3731493154561833181[5] = 0; + out_3731493154561833181[6] = 1; + out_3731493154561833181[7] = 0; + out_3731493154561833181[8] = 0; + out_3731493154561833181[9] = 0; + out_3731493154561833181[10] = 0; + out_3731493154561833181[11] = 0; + out_3731493154561833181[12] = 0; + out_3731493154561833181[13] = 0; + out_3731493154561833181[14] = 0; + out_3731493154561833181[15] = 0; + out_3731493154561833181[16] = 0; + out_3731493154561833181[17] = 0; + out_3731493154561833181[18] = 0; + out_3731493154561833181[19] = 0; + out_3731493154561833181[20] = 0; + out_3731493154561833181[21] = 0; + out_3731493154561833181[22] = 0; + out_3731493154561833181[23] = 0; + out_3731493154561833181[24] = 0; + out_3731493154561833181[25] = 1; + out_3731493154561833181[26] = 0; + out_3731493154561833181[27] = 0; + out_3731493154561833181[28] = 0; + out_3731493154561833181[29] = 0; + out_3731493154561833181[30] = 0; + out_3731493154561833181[31] = 0; + out_3731493154561833181[32] = 0; + out_3731493154561833181[33] = 0; + out_3731493154561833181[34] = 0; + out_3731493154561833181[35] = 0; + out_3731493154561833181[36] = 0; + out_3731493154561833181[37] = 0; + out_3731493154561833181[38] = 0; + out_3731493154561833181[39] = 0; + out_3731493154561833181[40] = 0; + out_3731493154561833181[41] = 0; + out_3731493154561833181[42] = 0; + out_3731493154561833181[43] = 0; + out_3731493154561833181[44] = 1; + out_3731493154561833181[45] = 0; + out_3731493154561833181[46] = 0; + out_3731493154561833181[47] = 0; + out_3731493154561833181[48] = 0; + out_3731493154561833181[49] = 0; + out_3731493154561833181[50] = 0; + out_3731493154561833181[51] = 0; + out_3731493154561833181[52] = 0; + out_3731493154561833181[53] = 0; } #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_4038237010904669995) { - err_fun(nom_x, delta_x, out_4038237010904669995); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6369833963809703045) { + err_fun(nom_x, delta_x, out_6369833963809703045); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2572217743337337909) { - inv_err_fun(nom_x, true_x, out_2572217743337337909); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4035234717988175099) { + inv_err_fun(nom_x, true_x, out_4035234717988175099); } -void pose_H_mod_fun(double *state, double *out_362240871876916223) { - H_mod_fun(state, out_362240871876916223); +void pose_H_mod_fun(double *state, double *out_1402865724321173492) { + H_mod_fun(state, out_1402865724321173492); } -void pose_f_fun(double *state, double dt, double *out_844759421205290898) { - f_fun(state, dt, out_844759421205290898); +void pose_f_fun(double *state, double dt, double *out_6035351479955239512) { + f_fun(state, dt, out_6035351479955239512); } -void pose_F_fun(double *state, double dt, double *out_3409614379123282877) { - F_fun(state, dt, out_3409614379123282877); +void pose_F_fun(double *state, double dt, double *out_4841453483990746406) { + F_fun(state, dt, out_4841453483990746406); } -void pose_h_4(double *state, double *unused, double *out_3761995773053554002) { - h_4(state, unused, out_3761995773053554002); +void pose_h_4(double *state, double *unused, double *out_3927517291904970746) { + h_4(state, unused, out_3927517291904970746); } -void pose_H_4(double *state, double *unused, double *out_4790277513162164512) { - H_4(state, unused, out_4790277513162164512); +void pose_H_4(double *state, double *unused, double *out_648704722266460885) { + H_4(state, unused, out_648704722266460885); } -void pose_h_10(double *state, double *unused, double *out_1433439433765456745) { - h_10(state, unused, out_1433439433765456745); +void pose_h_10(double *state, double *unused, double *out_6439648934382479816) { + h_10(state, unused, out_6439648934382479816); } -void pose_H_10(double *state, double *unused, double *out_2492873908575038793) { - H_10(state, unused, out_2492873908575038793); +void pose_H_10(double *state, double *unused, double *out_4788307442778779812) { + H_10(state, unused, out_4788307442778779812); } -void pose_h_13(double *state, double *unused, double *out_7701755112567992010) { - h_13(state, unused, out_7701755112567992010); +void pose_h_13(double *state, double *unused, double *out_7496824369401694209) { + h_13(state, unused, out_7496824369401694209); } -void pose_H_13(double *state, double *unused, double *out_8002551338494497313) { - H_13(state, unused, out_8002551338494497313); +void pose_H_13(double *state, double *unused, double *out_4482460185568984909) { + H_13(state, unused, out_4482460185568984909); } -void pose_h_14(double *state, double *unused, double *out_3517024732190759371) { - h_14(state, unused, out_3517024732190759371); +void pose_h_14(double *state, double *unused, double *out_6785183211401772861) { + h_14(state, unused, out_6785183211401772861); } -void pose_H_14(double *state, double *unused, double *out_1707489080866792216) { - H_14(state, unused, out_1707489080866792216); +void pose_H_14(double *state, double *unused, double *out_3731493154561833181) { + H_14(state, unused, out_3731493154561833181); } 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 af3f0c622..e99d96a4b 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_4038237010904669995); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2572217743337337909); -void pose_H_mod_fun(double *state, double *out_362240871876916223); -void pose_f_fun(double *state, double dt, double *out_844759421205290898); -void pose_F_fun(double *state, double dt, double *out_3409614379123282877); -void pose_h_4(double *state, double *unused, double *out_3761995773053554002); -void pose_H_4(double *state, double *unused, double *out_4790277513162164512); -void pose_h_10(double *state, double *unused, double *out_1433439433765456745); -void pose_H_10(double *state, double *unused, double *out_2492873908575038793); -void pose_h_13(double *state, double *unused, double *out_7701755112567992010); -void pose_H_13(double *state, double *unused, double *out_8002551338494497313); -void pose_h_14(double *state, double *unused, double *out_3517024732190759371); -void pose_H_14(double *state, double *unused, double *out_1707489080866792216); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6369833963809703045); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4035234717988175099); +void pose_H_mod_fun(double *state, double *out_1402865724321173492); +void pose_f_fun(double *state, double dt, double *out_6035351479955239512); +void pose_F_fun(double *state, double dt, double *out_4841453483990746406); +void pose_h_4(double *state, double *unused, double *out_3927517291904970746); +void pose_H_4(double *state, double *unused, double *out_648704722266460885); +void pose_h_10(double *state, double *unused, double *out_6439648934382479816); +void pose_H_10(double *state, double *unused, double *out_4788307442778779812); +void pose_h_13(double *state, double *unused, double *out_7496824369401694209); +void pose_H_13(double *state, double *unused, double *out_4482460185568984909); +void pose_h_14(double *state, double *unused, double *out_6785183211401772861); +void pose_H_14(double *state, double *unused, double *out_3731493154561833181); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file