diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 23f0b694a..e408c63a2 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index e80c1392c..7298ebe42 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 081ebeb3a..a05d0d269 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 45b56d19d..85f62d518 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index b95a7c96f..c0914b629 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index df93b078a..ac6930cfd 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index a400b9834..70f8a3161 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index a400b9834..70f8a3161 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index dd2e26326..a8b44ff27 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index df93b078a..ac6930cfd 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 3c900acd2..9aeb3e487 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-9910651a-DEBUG"; +const uint8_t gitversion[19] = "DEV-ce98b31c-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 8dbd0f36b..8a8bc0e0a 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index d9c9c7e0f..846674d8e 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 0dac1c91a..c2f53d3c0 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index c5309fde2..237486485 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 6404294af..76578b651 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index eb855d9f0..aae777fea 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 1d9aedf67..4178c5fc6 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index bb00135b3..1df3629ac 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 1acc51759..d73895f23 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index d6a980f8a..4c4efc10a 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 8863d6df7..d17b23b37 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 11565bf42..57ed15daa 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 7aa1f2068..66379d45a 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 7a1672a4e..a13a0fce7 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 0c67e49d1..031bce653 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 7013a86ee..4fbc58863 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 9e8a0e429..91c9c3be7 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 58a465d8a..c0fc7c144 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 0fb1a90df..2d681e4f4 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 4339835aa..a402c7b44 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index de96c0e0a..20f9954a9 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-9910651a-DEBUG \ No newline at end of file +DEV-ce98b31c-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index b99d43486..26ccefdc4 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_3928719841740981699) { - out_3928719841740981699[0] = delta_x[0] + nom_x[0]; - out_3928719841740981699[1] = delta_x[1] + nom_x[1]; - out_3928719841740981699[2] = delta_x[2] + nom_x[2]; - out_3928719841740981699[3] = delta_x[3] + nom_x[3]; - out_3928719841740981699[4] = delta_x[4] + nom_x[4]; - out_3928719841740981699[5] = delta_x[5] + nom_x[5]; - out_3928719841740981699[6] = delta_x[6] + nom_x[6]; - out_3928719841740981699[7] = delta_x[7] + nom_x[7]; - out_3928719841740981699[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_4621547673265240374) { + out_4621547673265240374[0] = delta_x[0] + nom_x[0]; + out_4621547673265240374[1] = delta_x[1] + nom_x[1]; + out_4621547673265240374[2] = delta_x[2] + nom_x[2]; + out_4621547673265240374[3] = delta_x[3] + nom_x[3]; + out_4621547673265240374[4] = delta_x[4] + nom_x[4]; + out_4621547673265240374[5] = delta_x[5] + nom_x[5]; + out_4621547673265240374[6] = delta_x[6] + nom_x[6]; + out_4621547673265240374[7] = delta_x[7] + nom_x[7]; + out_4621547673265240374[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5321639104726738897) { - out_5321639104726738897[0] = -nom_x[0] + true_x[0]; - out_5321639104726738897[1] = -nom_x[1] + true_x[1]; - out_5321639104726738897[2] = -nom_x[2] + true_x[2]; - out_5321639104726738897[3] = -nom_x[3] + true_x[3]; - out_5321639104726738897[4] = -nom_x[4] + true_x[4]; - out_5321639104726738897[5] = -nom_x[5] + true_x[5]; - out_5321639104726738897[6] = -nom_x[6] + true_x[6]; - out_5321639104726738897[7] = -nom_x[7] + true_x[7]; - out_5321639104726738897[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4527069186343691966) { + out_4527069186343691966[0] = -nom_x[0] + true_x[0]; + out_4527069186343691966[1] = -nom_x[1] + true_x[1]; + out_4527069186343691966[2] = -nom_x[2] + true_x[2]; + out_4527069186343691966[3] = -nom_x[3] + true_x[3]; + out_4527069186343691966[4] = -nom_x[4] + true_x[4]; + out_4527069186343691966[5] = -nom_x[5] + true_x[5]; + out_4527069186343691966[6] = -nom_x[6] + true_x[6]; + out_4527069186343691966[7] = -nom_x[7] + true_x[7]; + out_4527069186343691966[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8540419750358065319) { - out_8540419750358065319[0] = 1.0; - out_8540419750358065319[1] = 0.0; - out_8540419750358065319[2] = 0.0; - out_8540419750358065319[3] = 0.0; - out_8540419750358065319[4] = 0.0; - out_8540419750358065319[5] = 0.0; - out_8540419750358065319[6] = 0.0; - out_8540419750358065319[7] = 0.0; - out_8540419750358065319[8] = 0.0; - out_8540419750358065319[9] = 0.0; - out_8540419750358065319[10] = 1.0; - out_8540419750358065319[11] = 0.0; - out_8540419750358065319[12] = 0.0; - out_8540419750358065319[13] = 0.0; - out_8540419750358065319[14] = 0.0; - out_8540419750358065319[15] = 0.0; - out_8540419750358065319[16] = 0.0; - out_8540419750358065319[17] = 0.0; - out_8540419750358065319[18] = 0.0; - out_8540419750358065319[19] = 0.0; - out_8540419750358065319[20] = 1.0; - out_8540419750358065319[21] = 0.0; - out_8540419750358065319[22] = 0.0; - out_8540419750358065319[23] = 0.0; - out_8540419750358065319[24] = 0.0; - out_8540419750358065319[25] = 0.0; - out_8540419750358065319[26] = 0.0; - out_8540419750358065319[27] = 0.0; - out_8540419750358065319[28] = 0.0; - out_8540419750358065319[29] = 0.0; - out_8540419750358065319[30] = 1.0; - out_8540419750358065319[31] = 0.0; - out_8540419750358065319[32] = 0.0; - out_8540419750358065319[33] = 0.0; - out_8540419750358065319[34] = 0.0; - out_8540419750358065319[35] = 0.0; - out_8540419750358065319[36] = 0.0; - out_8540419750358065319[37] = 0.0; - out_8540419750358065319[38] = 0.0; - out_8540419750358065319[39] = 0.0; - out_8540419750358065319[40] = 1.0; - out_8540419750358065319[41] = 0.0; - out_8540419750358065319[42] = 0.0; - out_8540419750358065319[43] = 0.0; - out_8540419750358065319[44] = 0.0; - out_8540419750358065319[45] = 0.0; - out_8540419750358065319[46] = 0.0; - out_8540419750358065319[47] = 0.0; - out_8540419750358065319[48] = 0.0; - out_8540419750358065319[49] = 0.0; - out_8540419750358065319[50] = 1.0; - out_8540419750358065319[51] = 0.0; - out_8540419750358065319[52] = 0.0; - out_8540419750358065319[53] = 0.0; - out_8540419750358065319[54] = 0.0; - out_8540419750358065319[55] = 0.0; - out_8540419750358065319[56] = 0.0; - out_8540419750358065319[57] = 0.0; - out_8540419750358065319[58] = 0.0; - out_8540419750358065319[59] = 0.0; - out_8540419750358065319[60] = 1.0; - out_8540419750358065319[61] = 0.0; - out_8540419750358065319[62] = 0.0; - out_8540419750358065319[63] = 0.0; - out_8540419750358065319[64] = 0.0; - out_8540419750358065319[65] = 0.0; - out_8540419750358065319[66] = 0.0; - out_8540419750358065319[67] = 0.0; - out_8540419750358065319[68] = 0.0; - out_8540419750358065319[69] = 0.0; - out_8540419750358065319[70] = 1.0; - out_8540419750358065319[71] = 0.0; - out_8540419750358065319[72] = 0.0; - out_8540419750358065319[73] = 0.0; - out_8540419750358065319[74] = 0.0; - out_8540419750358065319[75] = 0.0; - out_8540419750358065319[76] = 0.0; - out_8540419750358065319[77] = 0.0; - out_8540419750358065319[78] = 0.0; - out_8540419750358065319[79] = 0.0; - out_8540419750358065319[80] = 1.0; +void H_mod_fun(double *state, double *out_6693843632392876727) { + out_6693843632392876727[0] = 1.0; + out_6693843632392876727[1] = 0.0; + out_6693843632392876727[2] = 0.0; + out_6693843632392876727[3] = 0.0; + out_6693843632392876727[4] = 0.0; + out_6693843632392876727[5] = 0.0; + out_6693843632392876727[6] = 0.0; + out_6693843632392876727[7] = 0.0; + out_6693843632392876727[8] = 0.0; + out_6693843632392876727[9] = 0.0; + out_6693843632392876727[10] = 1.0; + out_6693843632392876727[11] = 0.0; + out_6693843632392876727[12] = 0.0; + out_6693843632392876727[13] = 0.0; + out_6693843632392876727[14] = 0.0; + out_6693843632392876727[15] = 0.0; + out_6693843632392876727[16] = 0.0; + out_6693843632392876727[17] = 0.0; + out_6693843632392876727[18] = 0.0; + out_6693843632392876727[19] = 0.0; + out_6693843632392876727[20] = 1.0; + out_6693843632392876727[21] = 0.0; + out_6693843632392876727[22] = 0.0; + out_6693843632392876727[23] = 0.0; + out_6693843632392876727[24] = 0.0; + out_6693843632392876727[25] = 0.0; + out_6693843632392876727[26] = 0.0; + out_6693843632392876727[27] = 0.0; + out_6693843632392876727[28] = 0.0; + out_6693843632392876727[29] = 0.0; + out_6693843632392876727[30] = 1.0; + out_6693843632392876727[31] = 0.0; + out_6693843632392876727[32] = 0.0; + out_6693843632392876727[33] = 0.0; + out_6693843632392876727[34] = 0.0; + out_6693843632392876727[35] = 0.0; + out_6693843632392876727[36] = 0.0; + out_6693843632392876727[37] = 0.0; + out_6693843632392876727[38] = 0.0; + out_6693843632392876727[39] = 0.0; + out_6693843632392876727[40] = 1.0; + out_6693843632392876727[41] = 0.0; + out_6693843632392876727[42] = 0.0; + out_6693843632392876727[43] = 0.0; + out_6693843632392876727[44] = 0.0; + out_6693843632392876727[45] = 0.0; + out_6693843632392876727[46] = 0.0; + out_6693843632392876727[47] = 0.0; + out_6693843632392876727[48] = 0.0; + out_6693843632392876727[49] = 0.0; + out_6693843632392876727[50] = 1.0; + out_6693843632392876727[51] = 0.0; + out_6693843632392876727[52] = 0.0; + out_6693843632392876727[53] = 0.0; + out_6693843632392876727[54] = 0.0; + out_6693843632392876727[55] = 0.0; + out_6693843632392876727[56] = 0.0; + out_6693843632392876727[57] = 0.0; + out_6693843632392876727[58] = 0.0; + out_6693843632392876727[59] = 0.0; + out_6693843632392876727[60] = 1.0; + out_6693843632392876727[61] = 0.0; + out_6693843632392876727[62] = 0.0; + out_6693843632392876727[63] = 0.0; + out_6693843632392876727[64] = 0.0; + out_6693843632392876727[65] = 0.0; + out_6693843632392876727[66] = 0.0; + out_6693843632392876727[67] = 0.0; + out_6693843632392876727[68] = 0.0; + out_6693843632392876727[69] = 0.0; + out_6693843632392876727[70] = 1.0; + out_6693843632392876727[71] = 0.0; + out_6693843632392876727[72] = 0.0; + out_6693843632392876727[73] = 0.0; + out_6693843632392876727[74] = 0.0; + out_6693843632392876727[75] = 0.0; + out_6693843632392876727[76] = 0.0; + out_6693843632392876727[77] = 0.0; + out_6693843632392876727[78] = 0.0; + out_6693843632392876727[79] = 0.0; + out_6693843632392876727[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5791363154948922080) { - out_5791363154948922080[0] = state[0]; - out_5791363154948922080[1] = state[1]; - out_5791363154948922080[2] = state[2]; - out_5791363154948922080[3] = state[3]; - out_5791363154948922080[4] = state[4]; - out_5791363154948922080[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_5791363154948922080[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_5791363154948922080[7] = state[7]; - out_5791363154948922080[8] = state[8]; +void f_fun(double *state, double dt, double *out_6624366898111013898) { + out_6624366898111013898[0] = state[0]; + out_6624366898111013898[1] = state[1]; + out_6624366898111013898[2] = state[2]; + out_6624366898111013898[3] = state[3]; + out_6624366898111013898[4] = state[4]; + out_6624366898111013898[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_6624366898111013898[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_6624366898111013898[7] = state[7]; + out_6624366898111013898[8] = state[8]; } -void F_fun(double *state, double dt, double *out_4207718710431964525) { - out_4207718710431964525[0] = 1; - out_4207718710431964525[1] = 0; - out_4207718710431964525[2] = 0; - out_4207718710431964525[3] = 0; - out_4207718710431964525[4] = 0; - out_4207718710431964525[5] = 0; - out_4207718710431964525[6] = 0; - out_4207718710431964525[7] = 0; - out_4207718710431964525[8] = 0; - out_4207718710431964525[9] = 0; - out_4207718710431964525[10] = 1; - out_4207718710431964525[11] = 0; - out_4207718710431964525[12] = 0; - out_4207718710431964525[13] = 0; - out_4207718710431964525[14] = 0; - out_4207718710431964525[15] = 0; - out_4207718710431964525[16] = 0; - out_4207718710431964525[17] = 0; - out_4207718710431964525[18] = 0; - out_4207718710431964525[19] = 0; - out_4207718710431964525[20] = 1; - out_4207718710431964525[21] = 0; - out_4207718710431964525[22] = 0; - out_4207718710431964525[23] = 0; - out_4207718710431964525[24] = 0; - out_4207718710431964525[25] = 0; - out_4207718710431964525[26] = 0; - out_4207718710431964525[27] = 0; - out_4207718710431964525[28] = 0; - out_4207718710431964525[29] = 0; - out_4207718710431964525[30] = 1; - out_4207718710431964525[31] = 0; - out_4207718710431964525[32] = 0; - out_4207718710431964525[33] = 0; - out_4207718710431964525[34] = 0; - out_4207718710431964525[35] = 0; - out_4207718710431964525[36] = 0; - out_4207718710431964525[37] = 0; - out_4207718710431964525[38] = 0; - out_4207718710431964525[39] = 0; - out_4207718710431964525[40] = 1; - out_4207718710431964525[41] = 0; - out_4207718710431964525[42] = 0; - out_4207718710431964525[43] = 0; - out_4207718710431964525[44] = 0; - out_4207718710431964525[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_4207718710431964525[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_4207718710431964525[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4207718710431964525[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4207718710431964525[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_4207718710431964525[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_4207718710431964525[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_4207718710431964525[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_4207718710431964525[53] = -9.8100000000000005*dt; - out_4207718710431964525[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_4207718710431964525[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_4207718710431964525[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4207718710431964525[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4207718710431964525[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_4207718710431964525[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_4207718710431964525[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_4207718710431964525[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4207718710431964525[62] = 0; - out_4207718710431964525[63] = 0; - out_4207718710431964525[64] = 0; - out_4207718710431964525[65] = 0; - out_4207718710431964525[66] = 0; - out_4207718710431964525[67] = 0; - out_4207718710431964525[68] = 0; - out_4207718710431964525[69] = 0; - out_4207718710431964525[70] = 1; - out_4207718710431964525[71] = 0; - out_4207718710431964525[72] = 0; - out_4207718710431964525[73] = 0; - out_4207718710431964525[74] = 0; - out_4207718710431964525[75] = 0; - out_4207718710431964525[76] = 0; - out_4207718710431964525[77] = 0; - out_4207718710431964525[78] = 0; - out_4207718710431964525[79] = 0; - out_4207718710431964525[80] = 1; +void F_fun(double *state, double dt, double *out_6958933586889171013) { + out_6958933586889171013[0] = 1; + out_6958933586889171013[1] = 0; + out_6958933586889171013[2] = 0; + out_6958933586889171013[3] = 0; + out_6958933586889171013[4] = 0; + out_6958933586889171013[5] = 0; + out_6958933586889171013[6] = 0; + out_6958933586889171013[7] = 0; + out_6958933586889171013[8] = 0; + out_6958933586889171013[9] = 0; + out_6958933586889171013[10] = 1; + out_6958933586889171013[11] = 0; + out_6958933586889171013[12] = 0; + out_6958933586889171013[13] = 0; + out_6958933586889171013[14] = 0; + out_6958933586889171013[15] = 0; + out_6958933586889171013[16] = 0; + out_6958933586889171013[17] = 0; + out_6958933586889171013[18] = 0; + out_6958933586889171013[19] = 0; + out_6958933586889171013[20] = 1; + out_6958933586889171013[21] = 0; + out_6958933586889171013[22] = 0; + out_6958933586889171013[23] = 0; + out_6958933586889171013[24] = 0; + out_6958933586889171013[25] = 0; + out_6958933586889171013[26] = 0; + out_6958933586889171013[27] = 0; + out_6958933586889171013[28] = 0; + out_6958933586889171013[29] = 0; + out_6958933586889171013[30] = 1; + out_6958933586889171013[31] = 0; + out_6958933586889171013[32] = 0; + out_6958933586889171013[33] = 0; + out_6958933586889171013[34] = 0; + out_6958933586889171013[35] = 0; + out_6958933586889171013[36] = 0; + out_6958933586889171013[37] = 0; + out_6958933586889171013[38] = 0; + out_6958933586889171013[39] = 0; + out_6958933586889171013[40] = 1; + out_6958933586889171013[41] = 0; + out_6958933586889171013[42] = 0; + out_6958933586889171013[43] = 0; + out_6958933586889171013[44] = 0; + out_6958933586889171013[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_6958933586889171013[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6958933586889171013[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6958933586889171013[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6958933586889171013[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_6958933586889171013[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6958933586889171013[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6958933586889171013[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6958933586889171013[53] = -9.8100000000000005*dt; + out_6958933586889171013[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_6958933586889171013[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6958933586889171013[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6958933586889171013[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6958933586889171013[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_6958933586889171013[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6958933586889171013[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_6958933586889171013[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6958933586889171013[62] = 0; + out_6958933586889171013[63] = 0; + out_6958933586889171013[64] = 0; + out_6958933586889171013[65] = 0; + out_6958933586889171013[66] = 0; + out_6958933586889171013[67] = 0; + out_6958933586889171013[68] = 0; + out_6958933586889171013[69] = 0; + out_6958933586889171013[70] = 1; + out_6958933586889171013[71] = 0; + out_6958933586889171013[72] = 0; + out_6958933586889171013[73] = 0; + out_6958933586889171013[74] = 0; + out_6958933586889171013[75] = 0; + out_6958933586889171013[76] = 0; + out_6958933586889171013[77] = 0; + out_6958933586889171013[78] = 0; + out_6958933586889171013[79] = 0; + out_6958933586889171013[80] = 1; } -void h_25(double *state, double *unused, double *out_6333669642167287903) { - out_6333669642167287903[0] = state[6]; +void h_25(double *state, double *unused, double *out_5696314533542565340) { + out_5696314533542565340[0] = state[6]; } -void H_25(double *state, double *unused, double *out_619081717384205514) { - out_619081717384205514[0] = 0; - out_619081717384205514[1] = 0; - out_619081717384205514[2] = 0; - out_619081717384205514[3] = 0; - out_619081717384205514[4] = 0; - out_619081717384205514[5] = 0; - out_619081717384205514[6] = 1; - out_619081717384205514[7] = 0; - out_619081717384205514[8] = 0; +void H_25(double *state, double *unused, double *out_5255877481426644938) { + out_5255877481426644938[0] = 0; + out_5255877481426644938[1] = 0; + out_5255877481426644938[2] = 0; + out_5255877481426644938[3] = 0; + out_5255877481426644938[4] = 0; + out_5255877481426644938[5] = 0; + out_5255877481426644938[6] = 1; + out_5255877481426644938[7] = 0; + out_5255877481426644938[8] = 0; } -void h_24(double *state, double *unused, double *out_8914852456241702348) { - out_8914852456241702348[0] = state[4]; - out_8914852456241702348[1] = state[5]; +void h_24(double *state, double *unused, double *out_5128055596476793433) { + out_5128055596476793433[0] = state[4]; + out_5128055596476793433[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6035123740723980243) { - out_6035123740723980243[0] = 0; - out_6035123740723980243[1] = 0; - out_6035123740723980243[2] = 0; - out_6035123740723980243[3] = 0; - out_6035123740723980243[4] = 1; - out_6035123740723980243[5] = 0; - out_6035123740723980243[6] = 0; - out_6035123740723980243[7] = 0; - out_6035123740723980243[8] = 0; - out_6035123740723980243[9] = 0; - out_6035123740723980243[10] = 0; - out_6035123740723980243[11] = 0; - out_6035123740723980243[12] = 0; - out_6035123740723980243[13] = 0; - out_6035123740723980243[14] = 1; - out_6035123740723980243[15] = 0; - out_6035123740723980243[16] = 0; - out_6035123740723980243[17] = 0; +void H_24(double *state, double *unused, double *out_4785419999383306214) { + out_4785419999383306214[0] = 0; + out_4785419999383306214[1] = 0; + out_4785419999383306214[2] = 0; + out_4785419999383306214[3] = 0; + out_4785419999383306214[4] = 1; + out_4785419999383306214[5] = 0; + out_4785419999383306214[6] = 0; + out_4785419999383306214[7] = 0; + out_4785419999383306214[8] = 0; + out_4785419999383306214[9] = 0; + out_4785419999383306214[10] = 0; + out_4785419999383306214[11] = 0; + out_4785419999383306214[12] = 0; + out_4785419999383306214[13] = 0; + out_4785419999383306214[14] = 1; + out_4785419999383306214[15] = 0; + out_4785419999383306214[16] = 0; + out_4785419999383306214[17] = 0; } -void h_30(double *state, double *unused, double *out_6608863704451793792) { - out_6608863704451793792[0] = state[4]; +void h_30(double *state, double *unused, double *out_8810273519341179810) { + out_8810273519341179810[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5146778047511813712) { - out_5146778047511813712[0] = 0; - out_5146778047511813712[1] = 0; - out_5146778047511813712[2] = 0; - out_5146778047511813712[3] = 0; - out_5146778047511813712[4] = 1; - out_5146778047511813712[5] = 0; - out_5146778047511813712[6] = 0; - out_5146778047511813712[7] = 0; - out_5146778047511813712[8] = 0; +void H_30(double *state, double *unused, double *out_728181151299036740) { + out_728181151299036740[0] = 0; + out_728181151299036740[1] = 0; + out_728181151299036740[2] = 0; + out_728181151299036740[3] = 0; + out_728181151299036740[4] = 1; + out_728181151299036740[5] = 0; + out_728181151299036740[6] = 0; + out_728181151299036740[7] = 0; + out_728181151299036740[8] = 0; } -void h_26(double *state, double *unused, double *out_730578216893078704) { - out_730578216893078704[0] = state[7]; +void h_26(double *state, double *unused, double *out_93223108268356141) { + out_93223108268356141[0] = state[7]; } -void H_26(double *state, double *unused, double *out_4360585036258261738) { - out_4360585036258261738[0] = 0; - out_4360585036258261738[1] = 0; - out_4360585036258261738[2] = 0; - out_4360585036258261738[3] = 0; - out_4360585036258261738[4] = 0; - out_4360585036258261738[5] = 0; - out_4360585036258261738[6] = 0; - out_4360585036258261738[7] = 1; - out_4360585036258261738[8] = 0; +void H_26(double *state, double *unused, double *out_1514374162552588714) { + out_1514374162552588714[0] = 0; + out_1514374162552588714[1] = 0; + out_1514374162552588714[2] = 0; + out_1514374162552588714[3] = 0; + out_1514374162552588714[4] = 0; + out_1514374162552588714[5] = 0; + out_1514374162552588714[6] = 0; + out_1514374162552588714[7] = 1; + out_1514374162552588714[8] = 0; } -void h_27(double *state, double *unused, double *out_7111401163881418068) { - out_7111401163881418068[0] = state[3]; +void h_27(double *state, double *unused, double *out_3729886127726509834) { + out_3729886127726509834[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7321541359312238623) { - out_7321541359312238623[0] = 0; - out_7321541359312238623[1] = 0; - out_7321541359312238623[2] = 0; - out_7321541359312238623[3] = 1; - out_7321541359312238623[4] = 0; - out_7321541359312238623[5] = 0; - out_7321541359312238623[6] = 0; - out_7321541359312238623[7] = 0; - out_7321541359312238623[8] = 0; +void H_27(double *state, double *unused, double *out_2951775222482979957) { + out_2951775222482979957[0] = 0; + out_2951775222482979957[1] = 0; + out_2951775222482979957[2] = 0; + out_2951775222482979957[3] = 1; + out_2951775222482979957[4] = 0; + out_2951775222482979957[5] = 0; + out_2951775222482979957[6] = 0; + out_2951775222482979957[7] = 0; + out_2951775222482979957[8] = 0; } -void h_29(double *state, double *unused, double *out_3249717687452916416) { - out_3249717687452916416[0] = state[1]; +void h_29(double *state, double *unused, double *out_3887072796077638979) { + out_3887072796077638979[0] = state[1]; } -void H_29(double *state, double *unused, double *out_4636546703197421528) { - out_4636546703197421528[0] = 0; - out_4636546703197421528[1] = 1; - out_4636546703197421528[2] = 0; - out_4636546703197421528[3] = 0; - out_4636546703197421528[4] = 0; - out_4636546703197421528[5] = 0; - out_4636546703197421528[6] = 0; - out_4636546703197421528[7] = 0; - out_4636546703197421528[8] = 0; +void H_29(double *state, double *unused, double *out_1238412495613428924) { + out_1238412495613428924[0] = 0; + out_1238412495613428924[1] = 1; + out_1238412495613428924[2] = 0; + out_1238412495613428924[3] = 0; + out_1238412495613428924[4] = 0; + out_1238412495613428924[5] = 0; + out_1238412495613428924[6] = 0; + out_1238412495613428924[7] = 0; + out_1238412495613428924[8] = 0; } -void h_28(double *state, double *unused, double *out_8801848998617099028) { - out_8801848998617099028[0] = state[0]; +void h_28(double *state, double *unused, double *out_1271787139934335811) { + out_1271787139934335811[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2672916431632095277) { - out_2672916431632095277[0] = 1; - out_2672916431632095277[1] = 0; - out_2672916431632095277[2] = 0; - out_2672916431632095277[3] = 0; - out_2672916431632095277[4] = 0; - out_2672916431632095277[5] = 0; - out_2672916431632095277[6] = 0; - out_2672916431632095277[7] = 0; - out_2672916431632095277[8] = 0; +void H_28(double *state, double *unused, double *out_3843986521456101650) { + out_3843986521456101650[0] = 1; + out_3843986521456101650[1] = 0; + out_3843986521456101650[2] = 0; + out_3843986521456101650[3] = 0; + out_3843986521456101650[4] = 0; + out_3843986521456101650[5] = 0; + out_3843986521456101650[6] = 0; + out_3843986521456101650[7] = 0; + out_3843986521456101650[8] = 0; } -void h_31(double *state, double *unused, double *out_178222446326627774) { - out_178222446326627774[0] = state[8]; +void h_31(double *state, double *unused, double *out_5853501201893694485) { + out_5853501201893694485[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4986793138491613214) { - out_4986793138491613214[0] = 0; - out_4986793138491613214[1] = 0; - out_4986793138491613214[2] = 0; - out_4986793138491613214[3] = 0; - out_4986793138491613214[4] = 0; - out_4986793138491613214[5] = 0; - out_4986793138491613214[6] = 0; - out_4986793138491613214[7] = 0; - out_4986793138491613214[8] = 1; +void H_31(double *state, double *unused, double *out_5286523443303605366) { + out_5286523443303605366[0] = 0; + out_5286523443303605366[1] = 0; + out_5286523443303605366[2] = 0; + out_5286523443303605366[3] = 0; + out_5286523443303605366[4] = 0; + out_5286523443303605366[5] = 0; + out_5286523443303605366[6] = 0; + out_5286523443303605366[7] = 0; + out_5286523443303605366[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_3928719841740981699) { - err_fun(nom_x, delta_x, out_3928719841740981699); +void car_err_fun(double *nom_x, double *delta_x, double *out_4621547673265240374) { + err_fun(nom_x, delta_x, out_4621547673265240374); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5321639104726738897) { - inv_err_fun(nom_x, true_x, out_5321639104726738897); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4527069186343691966) { + inv_err_fun(nom_x, true_x, out_4527069186343691966); } -void car_H_mod_fun(double *state, double *out_8540419750358065319) { - H_mod_fun(state, out_8540419750358065319); +void car_H_mod_fun(double *state, double *out_6693843632392876727) { + H_mod_fun(state, out_6693843632392876727); } -void car_f_fun(double *state, double dt, double *out_5791363154948922080) { - f_fun(state, dt, out_5791363154948922080); +void car_f_fun(double *state, double dt, double *out_6624366898111013898) { + f_fun(state, dt, out_6624366898111013898); } -void car_F_fun(double *state, double dt, double *out_4207718710431964525) { - F_fun(state, dt, out_4207718710431964525); +void car_F_fun(double *state, double dt, double *out_6958933586889171013) { + F_fun(state, dt, out_6958933586889171013); } -void car_h_25(double *state, double *unused, double *out_6333669642167287903) { - h_25(state, unused, out_6333669642167287903); +void car_h_25(double *state, double *unused, double *out_5696314533542565340) { + h_25(state, unused, out_5696314533542565340); } -void car_H_25(double *state, double *unused, double *out_619081717384205514) { - H_25(state, unused, out_619081717384205514); +void car_H_25(double *state, double *unused, double *out_5255877481426644938) { + H_25(state, unused, out_5255877481426644938); } -void car_h_24(double *state, double *unused, double *out_8914852456241702348) { - h_24(state, unused, out_8914852456241702348); +void car_h_24(double *state, double *unused, double *out_5128055596476793433) { + h_24(state, unused, out_5128055596476793433); } -void car_H_24(double *state, double *unused, double *out_6035123740723980243) { - H_24(state, unused, out_6035123740723980243); +void car_H_24(double *state, double *unused, double *out_4785419999383306214) { + H_24(state, unused, out_4785419999383306214); } -void car_h_30(double *state, double *unused, double *out_6608863704451793792) { - h_30(state, unused, out_6608863704451793792); +void car_h_30(double *state, double *unused, double *out_8810273519341179810) { + h_30(state, unused, out_8810273519341179810); } -void car_H_30(double *state, double *unused, double *out_5146778047511813712) { - H_30(state, unused, out_5146778047511813712); +void car_H_30(double *state, double *unused, double *out_728181151299036740) { + H_30(state, unused, out_728181151299036740); } -void car_h_26(double *state, double *unused, double *out_730578216893078704) { - h_26(state, unused, out_730578216893078704); +void car_h_26(double *state, double *unused, double *out_93223108268356141) { + h_26(state, unused, out_93223108268356141); } -void car_H_26(double *state, double *unused, double *out_4360585036258261738) { - H_26(state, unused, out_4360585036258261738); +void car_H_26(double *state, double *unused, double *out_1514374162552588714) { + H_26(state, unused, out_1514374162552588714); } -void car_h_27(double *state, double *unused, double *out_7111401163881418068) { - h_27(state, unused, out_7111401163881418068); +void car_h_27(double *state, double *unused, double *out_3729886127726509834) { + h_27(state, unused, out_3729886127726509834); } -void car_H_27(double *state, double *unused, double *out_7321541359312238623) { - H_27(state, unused, out_7321541359312238623); +void car_H_27(double *state, double *unused, double *out_2951775222482979957) { + H_27(state, unused, out_2951775222482979957); } -void car_h_29(double *state, double *unused, double *out_3249717687452916416) { - h_29(state, unused, out_3249717687452916416); +void car_h_29(double *state, double *unused, double *out_3887072796077638979) { + h_29(state, unused, out_3887072796077638979); } -void car_H_29(double *state, double *unused, double *out_4636546703197421528) { - H_29(state, unused, out_4636546703197421528); +void car_H_29(double *state, double *unused, double *out_1238412495613428924) { + H_29(state, unused, out_1238412495613428924); } -void car_h_28(double *state, double *unused, double *out_8801848998617099028) { - h_28(state, unused, out_8801848998617099028); +void car_h_28(double *state, double *unused, double *out_1271787139934335811) { + h_28(state, unused, out_1271787139934335811); } -void car_H_28(double *state, double *unused, double *out_2672916431632095277) { - H_28(state, unused, out_2672916431632095277); +void car_H_28(double *state, double *unused, double *out_3843986521456101650) { + H_28(state, unused, out_3843986521456101650); } -void car_h_31(double *state, double *unused, double *out_178222446326627774) { - h_31(state, unused, out_178222446326627774); +void car_h_31(double *state, double *unused, double *out_5853501201893694485) { + h_31(state, unused, out_5853501201893694485); } -void car_H_31(double *state, double *unused, double *out_4986793138491613214) { - H_31(state, unused, out_4986793138491613214); +void car_H_31(double *state, double *unused, double *out_5286523443303605366) { + H_31(state, unused, out_5286523443303605366); } 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 098d3db83..b33767729 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_3928719841740981699); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5321639104726738897); -void car_H_mod_fun(double *state, double *out_8540419750358065319); -void car_f_fun(double *state, double dt, double *out_5791363154948922080); -void car_F_fun(double *state, double dt, double *out_4207718710431964525); -void car_h_25(double *state, double *unused, double *out_6333669642167287903); -void car_H_25(double *state, double *unused, double *out_619081717384205514); -void car_h_24(double *state, double *unused, double *out_8914852456241702348); -void car_H_24(double *state, double *unused, double *out_6035123740723980243); -void car_h_30(double *state, double *unused, double *out_6608863704451793792); -void car_H_30(double *state, double *unused, double *out_5146778047511813712); -void car_h_26(double *state, double *unused, double *out_730578216893078704); -void car_H_26(double *state, double *unused, double *out_4360585036258261738); -void car_h_27(double *state, double *unused, double *out_7111401163881418068); -void car_H_27(double *state, double *unused, double *out_7321541359312238623); -void car_h_29(double *state, double *unused, double *out_3249717687452916416); -void car_H_29(double *state, double *unused, double *out_4636546703197421528); -void car_h_28(double *state, double *unused, double *out_8801848998617099028); -void car_H_28(double *state, double *unused, double *out_2672916431632095277); -void car_h_31(double *state, double *unused, double *out_178222446326627774); -void car_H_31(double *state, double *unused, double *out_4986793138491613214); +void car_err_fun(double *nom_x, double *delta_x, double *out_4621547673265240374); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4527069186343691966); +void car_H_mod_fun(double *state, double *out_6693843632392876727); +void car_f_fun(double *state, double dt, double *out_6624366898111013898); +void car_F_fun(double *state, double dt, double *out_6958933586889171013); +void car_h_25(double *state, double *unused, double *out_5696314533542565340); +void car_H_25(double *state, double *unused, double *out_5255877481426644938); +void car_h_24(double *state, double *unused, double *out_5128055596476793433); +void car_H_24(double *state, double *unused, double *out_4785419999383306214); +void car_h_30(double *state, double *unused, double *out_8810273519341179810); +void car_H_30(double *state, double *unused, double *out_728181151299036740); +void car_h_26(double *state, double *unused, double *out_93223108268356141); +void car_H_26(double *state, double *unused, double *out_1514374162552588714); +void car_h_27(double *state, double *unused, double *out_3729886127726509834); +void car_H_27(double *state, double *unused, double *out_2951775222482979957); +void car_h_29(double *state, double *unused, double *out_3887072796077638979); +void car_H_29(double *state, double *unused, double *out_1238412495613428924); +void car_h_28(double *state, double *unused, double *out_1271787139934335811); +void car_H_28(double *state, double *unused, double *out_3843986521456101650); +void car_h_31(double *state, double *unused, double *out_5853501201893694485); +void car_H_31(double *state, double *unused, double *out_5286523443303605366); 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 4c589617b..78aed83f6 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_6656391008125290288) { - out_6656391008125290288[0] = delta_x[0] + nom_x[0]; - out_6656391008125290288[1] = delta_x[1] + nom_x[1]; - out_6656391008125290288[2] = delta_x[2] + nom_x[2]; - out_6656391008125290288[3] = delta_x[3] + nom_x[3]; - out_6656391008125290288[4] = delta_x[4] + nom_x[4]; - out_6656391008125290288[5] = delta_x[5] + nom_x[5]; - out_6656391008125290288[6] = delta_x[6] + nom_x[6]; - out_6656391008125290288[7] = delta_x[7] + nom_x[7]; - out_6656391008125290288[8] = delta_x[8] + nom_x[8]; - out_6656391008125290288[9] = delta_x[9] + nom_x[9]; - out_6656391008125290288[10] = delta_x[10] + nom_x[10]; - out_6656391008125290288[11] = delta_x[11] + nom_x[11]; - out_6656391008125290288[12] = delta_x[12] + nom_x[12]; - out_6656391008125290288[13] = delta_x[13] + nom_x[13]; - out_6656391008125290288[14] = delta_x[14] + nom_x[14]; - out_6656391008125290288[15] = delta_x[15] + nom_x[15]; - out_6656391008125290288[16] = delta_x[16] + nom_x[16]; - out_6656391008125290288[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_8885367235752958450) { + out_8885367235752958450[0] = delta_x[0] + nom_x[0]; + out_8885367235752958450[1] = delta_x[1] + nom_x[1]; + out_8885367235752958450[2] = delta_x[2] + nom_x[2]; + out_8885367235752958450[3] = delta_x[3] + nom_x[3]; + out_8885367235752958450[4] = delta_x[4] + nom_x[4]; + out_8885367235752958450[5] = delta_x[5] + nom_x[5]; + out_8885367235752958450[6] = delta_x[6] + nom_x[6]; + out_8885367235752958450[7] = delta_x[7] + nom_x[7]; + out_8885367235752958450[8] = delta_x[8] + nom_x[8]; + out_8885367235752958450[9] = delta_x[9] + nom_x[9]; + out_8885367235752958450[10] = delta_x[10] + nom_x[10]; + out_8885367235752958450[11] = delta_x[11] + nom_x[11]; + out_8885367235752958450[12] = delta_x[12] + nom_x[12]; + out_8885367235752958450[13] = delta_x[13] + nom_x[13]; + out_8885367235752958450[14] = delta_x[14] + nom_x[14]; + out_8885367235752958450[15] = delta_x[15] + nom_x[15]; + out_8885367235752958450[16] = delta_x[16] + nom_x[16]; + out_8885367235752958450[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2808972743269739579) { - out_2808972743269739579[0] = -nom_x[0] + true_x[0]; - out_2808972743269739579[1] = -nom_x[1] + true_x[1]; - out_2808972743269739579[2] = -nom_x[2] + true_x[2]; - out_2808972743269739579[3] = -nom_x[3] + true_x[3]; - out_2808972743269739579[4] = -nom_x[4] + true_x[4]; - out_2808972743269739579[5] = -nom_x[5] + true_x[5]; - out_2808972743269739579[6] = -nom_x[6] + true_x[6]; - out_2808972743269739579[7] = -nom_x[7] + true_x[7]; - out_2808972743269739579[8] = -nom_x[8] + true_x[8]; - out_2808972743269739579[9] = -nom_x[9] + true_x[9]; - out_2808972743269739579[10] = -nom_x[10] + true_x[10]; - out_2808972743269739579[11] = -nom_x[11] + true_x[11]; - out_2808972743269739579[12] = -nom_x[12] + true_x[12]; - out_2808972743269739579[13] = -nom_x[13] + true_x[13]; - out_2808972743269739579[14] = -nom_x[14] + true_x[14]; - out_2808972743269739579[15] = -nom_x[15] + true_x[15]; - out_2808972743269739579[16] = -nom_x[16] + true_x[16]; - out_2808972743269739579[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4135735359507688267) { + out_4135735359507688267[0] = -nom_x[0] + true_x[0]; + out_4135735359507688267[1] = -nom_x[1] + true_x[1]; + out_4135735359507688267[2] = -nom_x[2] + true_x[2]; + out_4135735359507688267[3] = -nom_x[3] + true_x[3]; + out_4135735359507688267[4] = -nom_x[4] + true_x[4]; + out_4135735359507688267[5] = -nom_x[5] + true_x[5]; + out_4135735359507688267[6] = -nom_x[6] + true_x[6]; + out_4135735359507688267[7] = -nom_x[7] + true_x[7]; + out_4135735359507688267[8] = -nom_x[8] + true_x[8]; + out_4135735359507688267[9] = -nom_x[9] + true_x[9]; + out_4135735359507688267[10] = -nom_x[10] + true_x[10]; + out_4135735359507688267[11] = -nom_x[11] + true_x[11]; + out_4135735359507688267[12] = -nom_x[12] + true_x[12]; + out_4135735359507688267[13] = -nom_x[13] + true_x[13]; + out_4135735359507688267[14] = -nom_x[14] + true_x[14]; + out_4135735359507688267[15] = -nom_x[15] + true_x[15]; + out_4135735359507688267[16] = -nom_x[16] + true_x[16]; + out_4135735359507688267[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1869854945663891945) { - out_1869854945663891945[0] = 1.0; - out_1869854945663891945[1] = 0.0; - out_1869854945663891945[2] = 0.0; - out_1869854945663891945[3] = 0.0; - out_1869854945663891945[4] = 0.0; - out_1869854945663891945[5] = 0.0; - out_1869854945663891945[6] = 0.0; - out_1869854945663891945[7] = 0.0; - out_1869854945663891945[8] = 0.0; - out_1869854945663891945[9] = 0.0; - out_1869854945663891945[10] = 0.0; - out_1869854945663891945[11] = 0.0; - out_1869854945663891945[12] = 0.0; - out_1869854945663891945[13] = 0.0; - out_1869854945663891945[14] = 0.0; - out_1869854945663891945[15] = 0.0; - out_1869854945663891945[16] = 0.0; - out_1869854945663891945[17] = 0.0; - out_1869854945663891945[18] = 0.0; - out_1869854945663891945[19] = 1.0; - out_1869854945663891945[20] = 0.0; - out_1869854945663891945[21] = 0.0; - out_1869854945663891945[22] = 0.0; - out_1869854945663891945[23] = 0.0; - out_1869854945663891945[24] = 0.0; - out_1869854945663891945[25] = 0.0; - out_1869854945663891945[26] = 0.0; - out_1869854945663891945[27] = 0.0; - out_1869854945663891945[28] = 0.0; - out_1869854945663891945[29] = 0.0; - out_1869854945663891945[30] = 0.0; - out_1869854945663891945[31] = 0.0; - out_1869854945663891945[32] = 0.0; - out_1869854945663891945[33] = 0.0; - out_1869854945663891945[34] = 0.0; - out_1869854945663891945[35] = 0.0; - out_1869854945663891945[36] = 0.0; - out_1869854945663891945[37] = 0.0; - out_1869854945663891945[38] = 1.0; - out_1869854945663891945[39] = 0.0; - out_1869854945663891945[40] = 0.0; - out_1869854945663891945[41] = 0.0; - out_1869854945663891945[42] = 0.0; - out_1869854945663891945[43] = 0.0; - out_1869854945663891945[44] = 0.0; - out_1869854945663891945[45] = 0.0; - out_1869854945663891945[46] = 0.0; - out_1869854945663891945[47] = 0.0; - out_1869854945663891945[48] = 0.0; - out_1869854945663891945[49] = 0.0; - out_1869854945663891945[50] = 0.0; - out_1869854945663891945[51] = 0.0; - out_1869854945663891945[52] = 0.0; - out_1869854945663891945[53] = 0.0; - out_1869854945663891945[54] = 0.0; - out_1869854945663891945[55] = 0.0; - out_1869854945663891945[56] = 0.0; - out_1869854945663891945[57] = 1.0; - out_1869854945663891945[58] = 0.0; - out_1869854945663891945[59] = 0.0; - out_1869854945663891945[60] = 0.0; - out_1869854945663891945[61] = 0.0; - out_1869854945663891945[62] = 0.0; - out_1869854945663891945[63] = 0.0; - out_1869854945663891945[64] = 0.0; - out_1869854945663891945[65] = 0.0; - out_1869854945663891945[66] = 0.0; - out_1869854945663891945[67] = 0.0; - out_1869854945663891945[68] = 0.0; - out_1869854945663891945[69] = 0.0; - out_1869854945663891945[70] = 0.0; - out_1869854945663891945[71] = 0.0; - out_1869854945663891945[72] = 0.0; - out_1869854945663891945[73] = 0.0; - out_1869854945663891945[74] = 0.0; - out_1869854945663891945[75] = 0.0; - out_1869854945663891945[76] = 1.0; - out_1869854945663891945[77] = 0.0; - out_1869854945663891945[78] = 0.0; - out_1869854945663891945[79] = 0.0; - out_1869854945663891945[80] = 0.0; - out_1869854945663891945[81] = 0.0; - out_1869854945663891945[82] = 0.0; - out_1869854945663891945[83] = 0.0; - out_1869854945663891945[84] = 0.0; - out_1869854945663891945[85] = 0.0; - out_1869854945663891945[86] = 0.0; - out_1869854945663891945[87] = 0.0; - out_1869854945663891945[88] = 0.0; - out_1869854945663891945[89] = 0.0; - out_1869854945663891945[90] = 0.0; - out_1869854945663891945[91] = 0.0; - out_1869854945663891945[92] = 0.0; - out_1869854945663891945[93] = 0.0; - out_1869854945663891945[94] = 0.0; - out_1869854945663891945[95] = 1.0; - out_1869854945663891945[96] = 0.0; - out_1869854945663891945[97] = 0.0; - out_1869854945663891945[98] = 0.0; - out_1869854945663891945[99] = 0.0; - out_1869854945663891945[100] = 0.0; - out_1869854945663891945[101] = 0.0; - out_1869854945663891945[102] = 0.0; - out_1869854945663891945[103] = 0.0; - out_1869854945663891945[104] = 0.0; - out_1869854945663891945[105] = 0.0; - out_1869854945663891945[106] = 0.0; - out_1869854945663891945[107] = 0.0; - out_1869854945663891945[108] = 0.0; - out_1869854945663891945[109] = 0.0; - out_1869854945663891945[110] = 0.0; - out_1869854945663891945[111] = 0.0; - out_1869854945663891945[112] = 0.0; - out_1869854945663891945[113] = 0.0; - out_1869854945663891945[114] = 1.0; - out_1869854945663891945[115] = 0.0; - out_1869854945663891945[116] = 0.0; - out_1869854945663891945[117] = 0.0; - out_1869854945663891945[118] = 0.0; - out_1869854945663891945[119] = 0.0; - out_1869854945663891945[120] = 0.0; - out_1869854945663891945[121] = 0.0; - out_1869854945663891945[122] = 0.0; - out_1869854945663891945[123] = 0.0; - out_1869854945663891945[124] = 0.0; - out_1869854945663891945[125] = 0.0; - out_1869854945663891945[126] = 0.0; - out_1869854945663891945[127] = 0.0; - out_1869854945663891945[128] = 0.0; - out_1869854945663891945[129] = 0.0; - out_1869854945663891945[130] = 0.0; - out_1869854945663891945[131] = 0.0; - out_1869854945663891945[132] = 0.0; - out_1869854945663891945[133] = 1.0; - out_1869854945663891945[134] = 0.0; - out_1869854945663891945[135] = 0.0; - out_1869854945663891945[136] = 0.0; - out_1869854945663891945[137] = 0.0; - out_1869854945663891945[138] = 0.0; - out_1869854945663891945[139] = 0.0; - out_1869854945663891945[140] = 0.0; - out_1869854945663891945[141] = 0.0; - out_1869854945663891945[142] = 0.0; - out_1869854945663891945[143] = 0.0; - out_1869854945663891945[144] = 0.0; - out_1869854945663891945[145] = 0.0; - out_1869854945663891945[146] = 0.0; - out_1869854945663891945[147] = 0.0; - out_1869854945663891945[148] = 0.0; - out_1869854945663891945[149] = 0.0; - out_1869854945663891945[150] = 0.0; - out_1869854945663891945[151] = 0.0; - out_1869854945663891945[152] = 1.0; - out_1869854945663891945[153] = 0.0; - out_1869854945663891945[154] = 0.0; - out_1869854945663891945[155] = 0.0; - out_1869854945663891945[156] = 0.0; - out_1869854945663891945[157] = 0.0; - out_1869854945663891945[158] = 0.0; - out_1869854945663891945[159] = 0.0; - out_1869854945663891945[160] = 0.0; - out_1869854945663891945[161] = 0.0; - out_1869854945663891945[162] = 0.0; - out_1869854945663891945[163] = 0.0; - out_1869854945663891945[164] = 0.0; - out_1869854945663891945[165] = 0.0; - out_1869854945663891945[166] = 0.0; - out_1869854945663891945[167] = 0.0; - out_1869854945663891945[168] = 0.0; - out_1869854945663891945[169] = 0.0; - out_1869854945663891945[170] = 0.0; - out_1869854945663891945[171] = 1.0; - out_1869854945663891945[172] = 0.0; - out_1869854945663891945[173] = 0.0; - out_1869854945663891945[174] = 0.0; - out_1869854945663891945[175] = 0.0; - out_1869854945663891945[176] = 0.0; - out_1869854945663891945[177] = 0.0; - out_1869854945663891945[178] = 0.0; - out_1869854945663891945[179] = 0.0; - out_1869854945663891945[180] = 0.0; - out_1869854945663891945[181] = 0.0; - out_1869854945663891945[182] = 0.0; - out_1869854945663891945[183] = 0.0; - out_1869854945663891945[184] = 0.0; - out_1869854945663891945[185] = 0.0; - out_1869854945663891945[186] = 0.0; - out_1869854945663891945[187] = 0.0; - out_1869854945663891945[188] = 0.0; - out_1869854945663891945[189] = 0.0; - out_1869854945663891945[190] = 1.0; - out_1869854945663891945[191] = 0.0; - out_1869854945663891945[192] = 0.0; - out_1869854945663891945[193] = 0.0; - out_1869854945663891945[194] = 0.0; - out_1869854945663891945[195] = 0.0; - out_1869854945663891945[196] = 0.0; - out_1869854945663891945[197] = 0.0; - out_1869854945663891945[198] = 0.0; - out_1869854945663891945[199] = 0.0; - out_1869854945663891945[200] = 0.0; - out_1869854945663891945[201] = 0.0; - out_1869854945663891945[202] = 0.0; - out_1869854945663891945[203] = 0.0; - out_1869854945663891945[204] = 0.0; - out_1869854945663891945[205] = 0.0; - out_1869854945663891945[206] = 0.0; - out_1869854945663891945[207] = 0.0; - out_1869854945663891945[208] = 0.0; - out_1869854945663891945[209] = 1.0; - out_1869854945663891945[210] = 0.0; - out_1869854945663891945[211] = 0.0; - out_1869854945663891945[212] = 0.0; - out_1869854945663891945[213] = 0.0; - out_1869854945663891945[214] = 0.0; - out_1869854945663891945[215] = 0.0; - out_1869854945663891945[216] = 0.0; - out_1869854945663891945[217] = 0.0; - out_1869854945663891945[218] = 0.0; - out_1869854945663891945[219] = 0.0; - out_1869854945663891945[220] = 0.0; - out_1869854945663891945[221] = 0.0; - out_1869854945663891945[222] = 0.0; - out_1869854945663891945[223] = 0.0; - out_1869854945663891945[224] = 0.0; - out_1869854945663891945[225] = 0.0; - out_1869854945663891945[226] = 0.0; - out_1869854945663891945[227] = 0.0; - out_1869854945663891945[228] = 1.0; - out_1869854945663891945[229] = 0.0; - out_1869854945663891945[230] = 0.0; - out_1869854945663891945[231] = 0.0; - out_1869854945663891945[232] = 0.0; - out_1869854945663891945[233] = 0.0; - out_1869854945663891945[234] = 0.0; - out_1869854945663891945[235] = 0.0; - out_1869854945663891945[236] = 0.0; - out_1869854945663891945[237] = 0.0; - out_1869854945663891945[238] = 0.0; - out_1869854945663891945[239] = 0.0; - out_1869854945663891945[240] = 0.0; - out_1869854945663891945[241] = 0.0; - out_1869854945663891945[242] = 0.0; - out_1869854945663891945[243] = 0.0; - out_1869854945663891945[244] = 0.0; - out_1869854945663891945[245] = 0.0; - out_1869854945663891945[246] = 0.0; - out_1869854945663891945[247] = 1.0; - out_1869854945663891945[248] = 0.0; - out_1869854945663891945[249] = 0.0; - out_1869854945663891945[250] = 0.0; - out_1869854945663891945[251] = 0.0; - out_1869854945663891945[252] = 0.0; - out_1869854945663891945[253] = 0.0; - out_1869854945663891945[254] = 0.0; - out_1869854945663891945[255] = 0.0; - out_1869854945663891945[256] = 0.0; - out_1869854945663891945[257] = 0.0; - out_1869854945663891945[258] = 0.0; - out_1869854945663891945[259] = 0.0; - out_1869854945663891945[260] = 0.0; - out_1869854945663891945[261] = 0.0; - out_1869854945663891945[262] = 0.0; - out_1869854945663891945[263] = 0.0; - out_1869854945663891945[264] = 0.0; - out_1869854945663891945[265] = 0.0; - out_1869854945663891945[266] = 1.0; - out_1869854945663891945[267] = 0.0; - out_1869854945663891945[268] = 0.0; - out_1869854945663891945[269] = 0.0; - out_1869854945663891945[270] = 0.0; - out_1869854945663891945[271] = 0.0; - out_1869854945663891945[272] = 0.0; - out_1869854945663891945[273] = 0.0; - out_1869854945663891945[274] = 0.0; - out_1869854945663891945[275] = 0.0; - out_1869854945663891945[276] = 0.0; - out_1869854945663891945[277] = 0.0; - out_1869854945663891945[278] = 0.0; - out_1869854945663891945[279] = 0.0; - out_1869854945663891945[280] = 0.0; - out_1869854945663891945[281] = 0.0; - out_1869854945663891945[282] = 0.0; - out_1869854945663891945[283] = 0.0; - out_1869854945663891945[284] = 0.0; - out_1869854945663891945[285] = 1.0; - out_1869854945663891945[286] = 0.0; - out_1869854945663891945[287] = 0.0; - out_1869854945663891945[288] = 0.0; - out_1869854945663891945[289] = 0.0; - out_1869854945663891945[290] = 0.0; - out_1869854945663891945[291] = 0.0; - out_1869854945663891945[292] = 0.0; - out_1869854945663891945[293] = 0.0; - out_1869854945663891945[294] = 0.0; - out_1869854945663891945[295] = 0.0; - out_1869854945663891945[296] = 0.0; - out_1869854945663891945[297] = 0.0; - out_1869854945663891945[298] = 0.0; - out_1869854945663891945[299] = 0.0; - out_1869854945663891945[300] = 0.0; - out_1869854945663891945[301] = 0.0; - out_1869854945663891945[302] = 0.0; - out_1869854945663891945[303] = 0.0; - out_1869854945663891945[304] = 1.0; - out_1869854945663891945[305] = 0.0; - out_1869854945663891945[306] = 0.0; - out_1869854945663891945[307] = 0.0; - out_1869854945663891945[308] = 0.0; - out_1869854945663891945[309] = 0.0; - out_1869854945663891945[310] = 0.0; - out_1869854945663891945[311] = 0.0; - out_1869854945663891945[312] = 0.0; - out_1869854945663891945[313] = 0.0; - out_1869854945663891945[314] = 0.0; - out_1869854945663891945[315] = 0.0; - out_1869854945663891945[316] = 0.0; - out_1869854945663891945[317] = 0.0; - out_1869854945663891945[318] = 0.0; - out_1869854945663891945[319] = 0.0; - out_1869854945663891945[320] = 0.0; - out_1869854945663891945[321] = 0.0; - out_1869854945663891945[322] = 0.0; - out_1869854945663891945[323] = 1.0; +void H_mod_fun(double *state, double *out_2496917717950831316) { + out_2496917717950831316[0] = 1.0; + out_2496917717950831316[1] = 0.0; + out_2496917717950831316[2] = 0.0; + out_2496917717950831316[3] = 0.0; + out_2496917717950831316[4] = 0.0; + out_2496917717950831316[5] = 0.0; + out_2496917717950831316[6] = 0.0; + out_2496917717950831316[7] = 0.0; + out_2496917717950831316[8] = 0.0; + out_2496917717950831316[9] = 0.0; + out_2496917717950831316[10] = 0.0; + out_2496917717950831316[11] = 0.0; + out_2496917717950831316[12] = 0.0; + out_2496917717950831316[13] = 0.0; + out_2496917717950831316[14] = 0.0; + out_2496917717950831316[15] = 0.0; + out_2496917717950831316[16] = 0.0; + out_2496917717950831316[17] = 0.0; + out_2496917717950831316[18] = 0.0; + out_2496917717950831316[19] = 1.0; + out_2496917717950831316[20] = 0.0; + out_2496917717950831316[21] = 0.0; + out_2496917717950831316[22] = 0.0; + out_2496917717950831316[23] = 0.0; + out_2496917717950831316[24] = 0.0; + out_2496917717950831316[25] = 0.0; + out_2496917717950831316[26] = 0.0; + out_2496917717950831316[27] = 0.0; + out_2496917717950831316[28] = 0.0; + out_2496917717950831316[29] = 0.0; + out_2496917717950831316[30] = 0.0; + out_2496917717950831316[31] = 0.0; + out_2496917717950831316[32] = 0.0; + out_2496917717950831316[33] = 0.0; + out_2496917717950831316[34] = 0.0; + out_2496917717950831316[35] = 0.0; + out_2496917717950831316[36] = 0.0; + out_2496917717950831316[37] = 0.0; + out_2496917717950831316[38] = 1.0; + out_2496917717950831316[39] = 0.0; + out_2496917717950831316[40] = 0.0; + out_2496917717950831316[41] = 0.0; + out_2496917717950831316[42] = 0.0; + out_2496917717950831316[43] = 0.0; + out_2496917717950831316[44] = 0.0; + out_2496917717950831316[45] = 0.0; + out_2496917717950831316[46] = 0.0; + out_2496917717950831316[47] = 0.0; + out_2496917717950831316[48] = 0.0; + out_2496917717950831316[49] = 0.0; + out_2496917717950831316[50] = 0.0; + out_2496917717950831316[51] = 0.0; + out_2496917717950831316[52] = 0.0; + out_2496917717950831316[53] = 0.0; + out_2496917717950831316[54] = 0.0; + out_2496917717950831316[55] = 0.0; + out_2496917717950831316[56] = 0.0; + out_2496917717950831316[57] = 1.0; + out_2496917717950831316[58] = 0.0; + out_2496917717950831316[59] = 0.0; + out_2496917717950831316[60] = 0.0; + out_2496917717950831316[61] = 0.0; + out_2496917717950831316[62] = 0.0; + out_2496917717950831316[63] = 0.0; + out_2496917717950831316[64] = 0.0; + out_2496917717950831316[65] = 0.0; + out_2496917717950831316[66] = 0.0; + out_2496917717950831316[67] = 0.0; + out_2496917717950831316[68] = 0.0; + out_2496917717950831316[69] = 0.0; + out_2496917717950831316[70] = 0.0; + out_2496917717950831316[71] = 0.0; + out_2496917717950831316[72] = 0.0; + out_2496917717950831316[73] = 0.0; + out_2496917717950831316[74] = 0.0; + out_2496917717950831316[75] = 0.0; + out_2496917717950831316[76] = 1.0; + out_2496917717950831316[77] = 0.0; + out_2496917717950831316[78] = 0.0; + out_2496917717950831316[79] = 0.0; + out_2496917717950831316[80] = 0.0; + out_2496917717950831316[81] = 0.0; + out_2496917717950831316[82] = 0.0; + out_2496917717950831316[83] = 0.0; + out_2496917717950831316[84] = 0.0; + out_2496917717950831316[85] = 0.0; + out_2496917717950831316[86] = 0.0; + out_2496917717950831316[87] = 0.0; + out_2496917717950831316[88] = 0.0; + out_2496917717950831316[89] = 0.0; + out_2496917717950831316[90] = 0.0; + out_2496917717950831316[91] = 0.0; + out_2496917717950831316[92] = 0.0; + out_2496917717950831316[93] = 0.0; + out_2496917717950831316[94] = 0.0; + out_2496917717950831316[95] = 1.0; + out_2496917717950831316[96] = 0.0; + out_2496917717950831316[97] = 0.0; + out_2496917717950831316[98] = 0.0; + out_2496917717950831316[99] = 0.0; + out_2496917717950831316[100] = 0.0; + out_2496917717950831316[101] = 0.0; + out_2496917717950831316[102] = 0.0; + out_2496917717950831316[103] = 0.0; + out_2496917717950831316[104] = 0.0; + out_2496917717950831316[105] = 0.0; + out_2496917717950831316[106] = 0.0; + out_2496917717950831316[107] = 0.0; + out_2496917717950831316[108] = 0.0; + out_2496917717950831316[109] = 0.0; + out_2496917717950831316[110] = 0.0; + out_2496917717950831316[111] = 0.0; + out_2496917717950831316[112] = 0.0; + out_2496917717950831316[113] = 0.0; + out_2496917717950831316[114] = 1.0; + out_2496917717950831316[115] = 0.0; + out_2496917717950831316[116] = 0.0; + out_2496917717950831316[117] = 0.0; + out_2496917717950831316[118] = 0.0; + out_2496917717950831316[119] = 0.0; + out_2496917717950831316[120] = 0.0; + out_2496917717950831316[121] = 0.0; + out_2496917717950831316[122] = 0.0; + out_2496917717950831316[123] = 0.0; + out_2496917717950831316[124] = 0.0; + out_2496917717950831316[125] = 0.0; + out_2496917717950831316[126] = 0.0; + out_2496917717950831316[127] = 0.0; + out_2496917717950831316[128] = 0.0; + out_2496917717950831316[129] = 0.0; + out_2496917717950831316[130] = 0.0; + out_2496917717950831316[131] = 0.0; + out_2496917717950831316[132] = 0.0; + out_2496917717950831316[133] = 1.0; + out_2496917717950831316[134] = 0.0; + out_2496917717950831316[135] = 0.0; + out_2496917717950831316[136] = 0.0; + out_2496917717950831316[137] = 0.0; + out_2496917717950831316[138] = 0.0; + out_2496917717950831316[139] = 0.0; + out_2496917717950831316[140] = 0.0; + out_2496917717950831316[141] = 0.0; + out_2496917717950831316[142] = 0.0; + out_2496917717950831316[143] = 0.0; + out_2496917717950831316[144] = 0.0; + out_2496917717950831316[145] = 0.0; + out_2496917717950831316[146] = 0.0; + out_2496917717950831316[147] = 0.0; + out_2496917717950831316[148] = 0.0; + out_2496917717950831316[149] = 0.0; + out_2496917717950831316[150] = 0.0; + out_2496917717950831316[151] = 0.0; + out_2496917717950831316[152] = 1.0; + out_2496917717950831316[153] = 0.0; + out_2496917717950831316[154] = 0.0; + out_2496917717950831316[155] = 0.0; + out_2496917717950831316[156] = 0.0; + out_2496917717950831316[157] = 0.0; + out_2496917717950831316[158] = 0.0; + out_2496917717950831316[159] = 0.0; + out_2496917717950831316[160] = 0.0; + out_2496917717950831316[161] = 0.0; + out_2496917717950831316[162] = 0.0; + out_2496917717950831316[163] = 0.0; + out_2496917717950831316[164] = 0.0; + out_2496917717950831316[165] = 0.0; + out_2496917717950831316[166] = 0.0; + out_2496917717950831316[167] = 0.0; + out_2496917717950831316[168] = 0.0; + out_2496917717950831316[169] = 0.0; + out_2496917717950831316[170] = 0.0; + out_2496917717950831316[171] = 1.0; + out_2496917717950831316[172] = 0.0; + out_2496917717950831316[173] = 0.0; + out_2496917717950831316[174] = 0.0; + out_2496917717950831316[175] = 0.0; + out_2496917717950831316[176] = 0.0; + out_2496917717950831316[177] = 0.0; + out_2496917717950831316[178] = 0.0; + out_2496917717950831316[179] = 0.0; + out_2496917717950831316[180] = 0.0; + out_2496917717950831316[181] = 0.0; + out_2496917717950831316[182] = 0.0; + out_2496917717950831316[183] = 0.0; + out_2496917717950831316[184] = 0.0; + out_2496917717950831316[185] = 0.0; + out_2496917717950831316[186] = 0.0; + out_2496917717950831316[187] = 0.0; + out_2496917717950831316[188] = 0.0; + out_2496917717950831316[189] = 0.0; + out_2496917717950831316[190] = 1.0; + out_2496917717950831316[191] = 0.0; + out_2496917717950831316[192] = 0.0; + out_2496917717950831316[193] = 0.0; + out_2496917717950831316[194] = 0.0; + out_2496917717950831316[195] = 0.0; + out_2496917717950831316[196] = 0.0; + out_2496917717950831316[197] = 0.0; + out_2496917717950831316[198] = 0.0; + out_2496917717950831316[199] = 0.0; + out_2496917717950831316[200] = 0.0; + out_2496917717950831316[201] = 0.0; + out_2496917717950831316[202] = 0.0; + out_2496917717950831316[203] = 0.0; + out_2496917717950831316[204] = 0.0; + out_2496917717950831316[205] = 0.0; + out_2496917717950831316[206] = 0.0; + out_2496917717950831316[207] = 0.0; + out_2496917717950831316[208] = 0.0; + out_2496917717950831316[209] = 1.0; + out_2496917717950831316[210] = 0.0; + out_2496917717950831316[211] = 0.0; + out_2496917717950831316[212] = 0.0; + out_2496917717950831316[213] = 0.0; + out_2496917717950831316[214] = 0.0; + out_2496917717950831316[215] = 0.0; + out_2496917717950831316[216] = 0.0; + out_2496917717950831316[217] = 0.0; + out_2496917717950831316[218] = 0.0; + out_2496917717950831316[219] = 0.0; + out_2496917717950831316[220] = 0.0; + out_2496917717950831316[221] = 0.0; + out_2496917717950831316[222] = 0.0; + out_2496917717950831316[223] = 0.0; + out_2496917717950831316[224] = 0.0; + out_2496917717950831316[225] = 0.0; + out_2496917717950831316[226] = 0.0; + out_2496917717950831316[227] = 0.0; + out_2496917717950831316[228] = 1.0; + out_2496917717950831316[229] = 0.0; + out_2496917717950831316[230] = 0.0; + out_2496917717950831316[231] = 0.0; + out_2496917717950831316[232] = 0.0; + out_2496917717950831316[233] = 0.0; + out_2496917717950831316[234] = 0.0; + out_2496917717950831316[235] = 0.0; + out_2496917717950831316[236] = 0.0; + out_2496917717950831316[237] = 0.0; + out_2496917717950831316[238] = 0.0; + out_2496917717950831316[239] = 0.0; + out_2496917717950831316[240] = 0.0; + out_2496917717950831316[241] = 0.0; + out_2496917717950831316[242] = 0.0; + out_2496917717950831316[243] = 0.0; + out_2496917717950831316[244] = 0.0; + out_2496917717950831316[245] = 0.0; + out_2496917717950831316[246] = 0.0; + out_2496917717950831316[247] = 1.0; + out_2496917717950831316[248] = 0.0; + out_2496917717950831316[249] = 0.0; + out_2496917717950831316[250] = 0.0; + out_2496917717950831316[251] = 0.0; + out_2496917717950831316[252] = 0.0; + out_2496917717950831316[253] = 0.0; + out_2496917717950831316[254] = 0.0; + out_2496917717950831316[255] = 0.0; + out_2496917717950831316[256] = 0.0; + out_2496917717950831316[257] = 0.0; + out_2496917717950831316[258] = 0.0; + out_2496917717950831316[259] = 0.0; + out_2496917717950831316[260] = 0.0; + out_2496917717950831316[261] = 0.0; + out_2496917717950831316[262] = 0.0; + out_2496917717950831316[263] = 0.0; + out_2496917717950831316[264] = 0.0; + out_2496917717950831316[265] = 0.0; + out_2496917717950831316[266] = 1.0; + out_2496917717950831316[267] = 0.0; + out_2496917717950831316[268] = 0.0; + out_2496917717950831316[269] = 0.0; + out_2496917717950831316[270] = 0.0; + out_2496917717950831316[271] = 0.0; + out_2496917717950831316[272] = 0.0; + out_2496917717950831316[273] = 0.0; + out_2496917717950831316[274] = 0.0; + out_2496917717950831316[275] = 0.0; + out_2496917717950831316[276] = 0.0; + out_2496917717950831316[277] = 0.0; + out_2496917717950831316[278] = 0.0; + out_2496917717950831316[279] = 0.0; + out_2496917717950831316[280] = 0.0; + out_2496917717950831316[281] = 0.0; + out_2496917717950831316[282] = 0.0; + out_2496917717950831316[283] = 0.0; + out_2496917717950831316[284] = 0.0; + out_2496917717950831316[285] = 1.0; + out_2496917717950831316[286] = 0.0; + out_2496917717950831316[287] = 0.0; + out_2496917717950831316[288] = 0.0; + out_2496917717950831316[289] = 0.0; + out_2496917717950831316[290] = 0.0; + out_2496917717950831316[291] = 0.0; + out_2496917717950831316[292] = 0.0; + out_2496917717950831316[293] = 0.0; + out_2496917717950831316[294] = 0.0; + out_2496917717950831316[295] = 0.0; + out_2496917717950831316[296] = 0.0; + out_2496917717950831316[297] = 0.0; + out_2496917717950831316[298] = 0.0; + out_2496917717950831316[299] = 0.0; + out_2496917717950831316[300] = 0.0; + out_2496917717950831316[301] = 0.0; + out_2496917717950831316[302] = 0.0; + out_2496917717950831316[303] = 0.0; + out_2496917717950831316[304] = 1.0; + out_2496917717950831316[305] = 0.0; + out_2496917717950831316[306] = 0.0; + out_2496917717950831316[307] = 0.0; + out_2496917717950831316[308] = 0.0; + out_2496917717950831316[309] = 0.0; + out_2496917717950831316[310] = 0.0; + out_2496917717950831316[311] = 0.0; + out_2496917717950831316[312] = 0.0; + out_2496917717950831316[313] = 0.0; + out_2496917717950831316[314] = 0.0; + out_2496917717950831316[315] = 0.0; + out_2496917717950831316[316] = 0.0; + out_2496917717950831316[317] = 0.0; + out_2496917717950831316[318] = 0.0; + out_2496917717950831316[319] = 0.0; + out_2496917717950831316[320] = 0.0; + out_2496917717950831316[321] = 0.0; + out_2496917717950831316[322] = 0.0; + out_2496917717950831316[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1891205901656639709) { - out_1891205901656639709[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_1891205901656639709[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_1891205901656639709[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_1891205901656639709[3] = dt*state[12] + state[3]; - out_1891205901656639709[4] = dt*state[13] + state[4]; - out_1891205901656639709[5] = dt*state[14] + state[5]; - out_1891205901656639709[6] = state[6]; - out_1891205901656639709[7] = state[7]; - out_1891205901656639709[8] = state[8]; - out_1891205901656639709[9] = state[9]; - out_1891205901656639709[10] = state[10]; - out_1891205901656639709[11] = state[11]; - out_1891205901656639709[12] = state[12]; - out_1891205901656639709[13] = state[13]; - out_1891205901656639709[14] = state[14]; - out_1891205901656639709[15] = state[15]; - out_1891205901656639709[16] = state[16]; - out_1891205901656639709[17] = state[17]; +void f_fun(double *state, double dt, double *out_6905768897951283532) { + out_6905768897951283532[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_6905768897951283532[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_6905768897951283532[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_6905768897951283532[3] = dt*state[12] + state[3]; + out_6905768897951283532[4] = dt*state[13] + state[4]; + out_6905768897951283532[5] = dt*state[14] + state[5]; + out_6905768897951283532[6] = state[6]; + out_6905768897951283532[7] = state[7]; + out_6905768897951283532[8] = state[8]; + out_6905768897951283532[9] = state[9]; + out_6905768897951283532[10] = state[10]; + out_6905768897951283532[11] = state[11]; + out_6905768897951283532[12] = state[12]; + out_6905768897951283532[13] = state[13]; + out_6905768897951283532[14] = state[14]; + out_6905768897951283532[15] = state[15]; + out_6905768897951283532[16] = state[16]; + out_6905768897951283532[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6621216135717119405) { - out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[2] = 0; - out_6621216135717119405[3] = 0; - out_6621216135717119405[4] = 0; - out_6621216135717119405[5] = 0; - out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[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_6621216135717119405[9] = 0; - out_6621216135717119405[10] = 0; - out_6621216135717119405[11] = 0; - out_6621216135717119405[12] = 0; - out_6621216135717119405[13] = 0; - out_6621216135717119405[14] = 0; - out_6621216135717119405[15] = 0; - out_6621216135717119405[16] = 0; - out_6621216135717119405[17] = 0; - out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[20] = 0; - out_6621216135717119405[21] = 0; - out_6621216135717119405[22] = 0; - out_6621216135717119405[23] = 0; - out_6621216135717119405[24] = 0; - out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[27] = 0; - out_6621216135717119405[28] = 0; - out_6621216135717119405[29] = 0; - out_6621216135717119405[30] = 0; - out_6621216135717119405[31] = 0; - out_6621216135717119405[32] = 0; - out_6621216135717119405[33] = 0; - out_6621216135717119405[34] = 0; - out_6621216135717119405[35] = 0; - out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[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_6621216135717119405[39] = 0; - out_6621216135717119405[40] = 0; - out_6621216135717119405[41] = 0; - out_6621216135717119405[42] = 0; - out_6621216135717119405[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_6621216135717119405[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_6621216135717119405[45] = 0; - out_6621216135717119405[46] = 0; - out_6621216135717119405[47] = 0; - out_6621216135717119405[48] = 0; - out_6621216135717119405[49] = 0; - out_6621216135717119405[50] = 0; - out_6621216135717119405[51] = 0; - out_6621216135717119405[52] = 0; - out_6621216135717119405[53] = 0; - out_6621216135717119405[54] = 0; - out_6621216135717119405[55] = 0; - out_6621216135717119405[56] = 0; - out_6621216135717119405[57] = 1; - out_6621216135717119405[58] = 0; - out_6621216135717119405[59] = 0; - out_6621216135717119405[60] = 0; - out_6621216135717119405[61] = 0; - out_6621216135717119405[62] = 0; - out_6621216135717119405[63] = 0; - out_6621216135717119405[64] = 0; - out_6621216135717119405[65] = 0; - out_6621216135717119405[66] = dt; - out_6621216135717119405[67] = 0; - out_6621216135717119405[68] = 0; - out_6621216135717119405[69] = 0; - out_6621216135717119405[70] = 0; - out_6621216135717119405[71] = 0; - out_6621216135717119405[72] = 0; - out_6621216135717119405[73] = 0; - out_6621216135717119405[74] = 0; - out_6621216135717119405[75] = 0; - out_6621216135717119405[76] = 1; - out_6621216135717119405[77] = 0; - out_6621216135717119405[78] = 0; - out_6621216135717119405[79] = 0; - out_6621216135717119405[80] = 0; - out_6621216135717119405[81] = 0; - out_6621216135717119405[82] = 0; - out_6621216135717119405[83] = 0; - out_6621216135717119405[84] = 0; - out_6621216135717119405[85] = dt; - out_6621216135717119405[86] = 0; - out_6621216135717119405[87] = 0; - out_6621216135717119405[88] = 0; - out_6621216135717119405[89] = 0; - out_6621216135717119405[90] = 0; - out_6621216135717119405[91] = 0; - out_6621216135717119405[92] = 0; - out_6621216135717119405[93] = 0; - out_6621216135717119405[94] = 0; - out_6621216135717119405[95] = 1; - out_6621216135717119405[96] = 0; - out_6621216135717119405[97] = 0; - out_6621216135717119405[98] = 0; - out_6621216135717119405[99] = 0; - out_6621216135717119405[100] = 0; - out_6621216135717119405[101] = 0; - out_6621216135717119405[102] = 0; - out_6621216135717119405[103] = 0; - out_6621216135717119405[104] = dt; - out_6621216135717119405[105] = 0; - out_6621216135717119405[106] = 0; - out_6621216135717119405[107] = 0; - out_6621216135717119405[108] = 0; - out_6621216135717119405[109] = 0; - out_6621216135717119405[110] = 0; - out_6621216135717119405[111] = 0; - out_6621216135717119405[112] = 0; - out_6621216135717119405[113] = 0; - out_6621216135717119405[114] = 1; - out_6621216135717119405[115] = 0; - out_6621216135717119405[116] = 0; - out_6621216135717119405[117] = 0; - out_6621216135717119405[118] = 0; - out_6621216135717119405[119] = 0; - out_6621216135717119405[120] = 0; - out_6621216135717119405[121] = 0; - out_6621216135717119405[122] = 0; - out_6621216135717119405[123] = 0; - out_6621216135717119405[124] = 0; - out_6621216135717119405[125] = 0; - out_6621216135717119405[126] = 0; - out_6621216135717119405[127] = 0; - out_6621216135717119405[128] = 0; - out_6621216135717119405[129] = 0; - out_6621216135717119405[130] = 0; - out_6621216135717119405[131] = 0; - out_6621216135717119405[132] = 0; - out_6621216135717119405[133] = 1; - out_6621216135717119405[134] = 0; - out_6621216135717119405[135] = 0; - out_6621216135717119405[136] = 0; - out_6621216135717119405[137] = 0; - out_6621216135717119405[138] = 0; - out_6621216135717119405[139] = 0; - out_6621216135717119405[140] = 0; - out_6621216135717119405[141] = 0; - out_6621216135717119405[142] = 0; - out_6621216135717119405[143] = 0; - out_6621216135717119405[144] = 0; - out_6621216135717119405[145] = 0; - out_6621216135717119405[146] = 0; - out_6621216135717119405[147] = 0; - out_6621216135717119405[148] = 0; - out_6621216135717119405[149] = 0; - out_6621216135717119405[150] = 0; - out_6621216135717119405[151] = 0; - out_6621216135717119405[152] = 1; - out_6621216135717119405[153] = 0; - out_6621216135717119405[154] = 0; - out_6621216135717119405[155] = 0; - out_6621216135717119405[156] = 0; - out_6621216135717119405[157] = 0; - out_6621216135717119405[158] = 0; - out_6621216135717119405[159] = 0; - out_6621216135717119405[160] = 0; - out_6621216135717119405[161] = 0; - out_6621216135717119405[162] = 0; - out_6621216135717119405[163] = 0; - out_6621216135717119405[164] = 0; - out_6621216135717119405[165] = 0; - out_6621216135717119405[166] = 0; - out_6621216135717119405[167] = 0; - out_6621216135717119405[168] = 0; - out_6621216135717119405[169] = 0; - out_6621216135717119405[170] = 0; - out_6621216135717119405[171] = 1; - out_6621216135717119405[172] = 0; - out_6621216135717119405[173] = 0; - out_6621216135717119405[174] = 0; - out_6621216135717119405[175] = 0; - out_6621216135717119405[176] = 0; - out_6621216135717119405[177] = 0; - out_6621216135717119405[178] = 0; - out_6621216135717119405[179] = 0; - out_6621216135717119405[180] = 0; - out_6621216135717119405[181] = 0; - out_6621216135717119405[182] = 0; - out_6621216135717119405[183] = 0; - out_6621216135717119405[184] = 0; - out_6621216135717119405[185] = 0; - out_6621216135717119405[186] = 0; - out_6621216135717119405[187] = 0; - out_6621216135717119405[188] = 0; - out_6621216135717119405[189] = 0; - out_6621216135717119405[190] = 1; - out_6621216135717119405[191] = 0; - out_6621216135717119405[192] = 0; - out_6621216135717119405[193] = 0; - out_6621216135717119405[194] = 0; - out_6621216135717119405[195] = 0; - out_6621216135717119405[196] = 0; - out_6621216135717119405[197] = 0; - out_6621216135717119405[198] = 0; - out_6621216135717119405[199] = 0; - out_6621216135717119405[200] = 0; - out_6621216135717119405[201] = 0; - out_6621216135717119405[202] = 0; - out_6621216135717119405[203] = 0; - out_6621216135717119405[204] = 0; - out_6621216135717119405[205] = 0; - out_6621216135717119405[206] = 0; - out_6621216135717119405[207] = 0; - out_6621216135717119405[208] = 0; - out_6621216135717119405[209] = 1; - out_6621216135717119405[210] = 0; - out_6621216135717119405[211] = 0; - out_6621216135717119405[212] = 0; - out_6621216135717119405[213] = 0; - out_6621216135717119405[214] = 0; - out_6621216135717119405[215] = 0; - out_6621216135717119405[216] = 0; - out_6621216135717119405[217] = 0; - out_6621216135717119405[218] = 0; - out_6621216135717119405[219] = 0; - out_6621216135717119405[220] = 0; - out_6621216135717119405[221] = 0; - out_6621216135717119405[222] = 0; - out_6621216135717119405[223] = 0; - out_6621216135717119405[224] = 0; - out_6621216135717119405[225] = 0; - out_6621216135717119405[226] = 0; - out_6621216135717119405[227] = 0; - out_6621216135717119405[228] = 1; - out_6621216135717119405[229] = 0; - out_6621216135717119405[230] = 0; - out_6621216135717119405[231] = 0; - out_6621216135717119405[232] = 0; - out_6621216135717119405[233] = 0; - out_6621216135717119405[234] = 0; - out_6621216135717119405[235] = 0; - out_6621216135717119405[236] = 0; - out_6621216135717119405[237] = 0; - out_6621216135717119405[238] = 0; - out_6621216135717119405[239] = 0; - out_6621216135717119405[240] = 0; - out_6621216135717119405[241] = 0; - out_6621216135717119405[242] = 0; - out_6621216135717119405[243] = 0; - out_6621216135717119405[244] = 0; - out_6621216135717119405[245] = 0; - out_6621216135717119405[246] = 0; - out_6621216135717119405[247] = 1; - out_6621216135717119405[248] = 0; - out_6621216135717119405[249] = 0; - out_6621216135717119405[250] = 0; - out_6621216135717119405[251] = 0; - out_6621216135717119405[252] = 0; - out_6621216135717119405[253] = 0; - out_6621216135717119405[254] = 0; - out_6621216135717119405[255] = 0; - out_6621216135717119405[256] = 0; - out_6621216135717119405[257] = 0; - out_6621216135717119405[258] = 0; - out_6621216135717119405[259] = 0; - out_6621216135717119405[260] = 0; - out_6621216135717119405[261] = 0; - out_6621216135717119405[262] = 0; - out_6621216135717119405[263] = 0; - out_6621216135717119405[264] = 0; - out_6621216135717119405[265] = 0; - out_6621216135717119405[266] = 1; - out_6621216135717119405[267] = 0; - out_6621216135717119405[268] = 0; - out_6621216135717119405[269] = 0; - out_6621216135717119405[270] = 0; - out_6621216135717119405[271] = 0; - out_6621216135717119405[272] = 0; - out_6621216135717119405[273] = 0; - out_6621216135717119405[274] = 0; - out_6621216135717119405[275] = 0; - out_6621216135717119405[276] = 0; - out_6621216135717119405[277] = 0; - out_6621216135717119405[278] = 0; - out_6621216135717119405[279] = 0; - out_6621216135717119405[280] = 0; - out_6621216135717119405[281] = 0; - out_6621216135717119405[282] = 0; - out_6621216135717119405[283] = 0; - out_6621216135717119405[284] = 0; - out_6621216135717119405[285] = 1; - out_6621216135717119405[286] = 0; - out_6621216135717119405[287] = 0; - out_6621216135717119405[288] = 0; - out_6621216135717119405[289] = 0; - out_6621216135717119405[290] = 0; - out_6621216135717119405[291] = 0; - out_6621216135717119405[292] = 0; - out_6621216135717119405[293] = 0; - out_6621216135717119405[294] = 0; - out_6621216135717119405[295] = 0; - out_6621216135717119405[296] = 0; - out_6621216135717119405[297] = 0; - out_6621216135717119405[298] = 0; - out_6621216135717119405[299] = 0; - out_6621216135717119405[300] = 0; - out_6621216135717119405[301] = 0; - out_6621216135717119405[302] = 0; - out_6621216135717119405[303] = 0; - out_6621216135717119405[304] = 1; - out_6621216135717119405[305] = 0; - out_6621216135717119405[306] = 0; - out_6621216135717119405[307] = 0; - out_6621216135717119405[308] = 0; - out_6621216135717119405[309] = 0; - out_6621216135717119405[310] = 0; - out_6621216135717119405[311] = 0; - out_6621216135717119405[312] = 0; - out_6621216135717119405[313] = 0; - out_6621216135717119405[314] = 0; - out_6621216135717119405[315] = 0; - out_6621216135717119405[316] = 0; - out_6621216135717119405[317] = 0; - out_6621216135717119405[318] = 0; - out_6621216135717119405[319] = 0; - out_6621216135717119405[320] = 0; - out_6621216135717119405[321] = 0; - out_6621216135717119405[322] = 0; - out_6621216135717119405[323] = 1; +void F_fun(double *state, double dt, double *out_5307423376078500036) { + out_5307423376078500036[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_5307423376078500036[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_5307423376078500036[2] = 0; + out_5307423376078500036[3] = 0; + out_5307423376078500036[4] = 0; + out_5307423376078500036[5] = 0; + out_5307423376078500036[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_5307423376078500036[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_5307423376078500036[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_5307423376078500036[9] = 0; + out_5307423376078500036[10] = 0; + out_5307423376078500036[11] = 0; + out_5307423376078500036[12] = 0; + out_5307423376078500036[13] = 0; + out_5307423376078500036[14] = 0; + out_5307423376078500036[15] = 0; + out_5307423376078500036[16] = 0; + out_5307423376078500036[17] = 0; + out_5307423376078500036[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_5307423376078500036[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_5307423376078500036[20] = 0; + out_5307423376078500036[21] = 0; + out_5307423376078500036[22] = 0; + out_5307423376078500036[23] = 0; + out_5307423376078500036[24] = 0; + out_5307423376078500036[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_5307423376078500036[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_5307423376078500036[27] = 0; + out_5307423376078500036[28] = 0; + out_5307423376078500036[29] = 0; + out_5307423376078500036[30] = 0; + out_5307423376078500036[31] = 0; + out_5307423376078500036[32] = 0; + out_5307423376078500036[33] = 0; + out_5307423376078500036[34] = 0; + out_5307423376078500036[35] = 0; + out_5307423376078500036[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_5307423376078500036[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_5307423376078500036[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_5307423376078500036[39] = 0; + out_5307423376078500036[40] = 0; + out_5307423376078500036[41] = 0; + out_5307423376078500036[42] = 0; + out_5307423376078500036[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_5307423376078500036[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_5307423376078500036[45] = 0; + out_5307423376078500036[46] = 0; + out_5307423376078500036[47] = 0; + out_5307423376078500036[48] = 0; + out_5307423376078500036[49] = 0; + out_5307423376078500036[50] = 0; + out_5307423376078500036[51] = 0; + out_5307423376078500036[52] = 0; + out_5307423376078500036[53] = 0; + out_5307423376078500036[54] = 0; + out_5307423376078500036[55] = 0; + out_5307423376078500036[56] = 0; + out_5307423376078500036[57] = 1; + out_5307423376078500036[58] = 0; + out_5307423376078500036[59] = 0; + out_5307423376078500036[60] = 0; + out_5307423376078500036[61] = 0; + out_5307423376078500036[62] = 0; + out_5307423376078500036[63] = 0; + out_5307423376078500036[64] = 0; + out_5307423376078500036[65] = 0; + out_5307423376078500036[66] = dt; + out_5307423376078500036[67] = 0; + out_5307423376078500036[68] = 0; + out_5307423376078500036[69] = 0; + out_5307423376078500036[70] = 0; + out_5307423376078500036[71] = 0; + out_5307423376078500036[72] = 0; + out_5307423376078500036[73] = 0; + out_5307423376078500036[74] = 0; + out_5307423376078500036[75] = 0; + out_5307423376078500036[76] = 1; + out_5307423376078500036[77] = 0; + out_5307423376078500036[78] = 0; + out_5307423376078500036[79] = 0; + out_5307423376078500036[80] = 0; + out_5307423376078500036[81] = 0; + out_5307423376078500036[82] = 0; + out_5307423376078500036[83] = 0; + out_5307423376078500036[84] = 0; + out_5307423376078500036[85] = dt; + out_5307423376078500036[86] = 0; + out_5307423376078500036[87] = 0; + out_5307423376078500036[88] = 0; + out_5307423376078500036[89] = 0; + out_5307423376078500036[90] = 0; + out_5307423376078500036[91] = 0; + out_5307423376078500036[92] = 0; + out_5307423376078500036[93] = 0; + out_5307423376078500036[94] = 0; + out_5307423376078500036[95] = 1; + out_5307423376078500036[96] = 0; + out_5307423376078500036[97] = 0; + out_5307423376078500036[98] = 0; + out_5307423376078500036[99] = 0; + out_5307423376078500036[100] = 0; + out_5307423376078500036[101] = 0; + out_5307423376078500036[102] = 0; + out_5307423376078500036[103] = 0; + out_5307423376078500036[104] = dt; + out_5307423376078500036[105] = 0; + out_5307423376078500036[106] = 0; + out_5307423376078500036[107] = 0; + out_5307423376078500036[108] = 0; + out_5307423376078500036[109] = 0; + out_5307423376078500036[110] = 0; + out_5307423376078500036[111] = 0; + out_5307423376078500036[112] = 0; + out_5307423376078500036[113] = 0; + out_5307423376078500036[114] = 1; + out_5307423376078500036[115] = 0; + out_5307423376078500036[116] = 0; + out_5307423376078500036[117] = 0; + out_5307423376078500036[118] = 0; + out_5307423376078500036[119] = 0; + out_5307423376078500036[120] = 0; + out_5307423376078500036[121] = 0; + out_5307423376078500036[122] = 0; + out_5307423376078500036[123] = 0; + out_5307423376078500036[124] = 0; + out_5307423376078500036[125] = 0; + out_5307423376078500036[126] = 0; + out_5307423376078500036[127] = 0; + out_5307423376078500036[128] = 0; + out_5307423376078500036[129] = 0; + out_5307423376078500036[130] = 0; + out_5307423376078500036[131] = 0; + out_5307423376078500036[132] = 0; + out_5307423376078500036[133] = 1; + out_5307423376078500036[134] = 0; + out_5307423376078500036[135] = 0; + out_5307423376078500036[136] = 0; + out_5307423376078500036[137] = 0; + out_5307423376078500036[138] = 0; + out_5307423376078500036[139] = 0; + out_5307423376078500036[140] = 0; + out_5307423376078500036[141] = 0; + out_5307423376078500036[142] = 0; + out_5307423376078500036[143] = 0; + out_5307423376078500036[144] = 0; + out_5307423376078500036[145] = 0; + out_5307423376078500036[146] = 0; + out_5307423376078500036[147] = 0; + out_5307423376078500036[148] = 0; + out_5307423376078500036[149] = 0; + out_5307423376078500036[150] = 0; + out_5307423376078500036[151] = 0; + out_5307423376078500036[152] = 1; + out_5307423376078500036[153] = 0; + out_5307423376078500036[154] = 0; + out_5307423376078500036[155] = 0; + out_5307423376078500036[156] = 0; + out_5307423376078500036[157] = 0; + out_5307423376078500036[158] = 0; + out_5307423376078500036[159] = 0; + out_5307423376078500036[160] = 0; + out_5307423376078500036[161] = 0; + out_5307423376078500036[162] = 0; + out_5307423376078500036[163] = 0; + out_5307423376078500036[164] = 0; + out_5307423376078500036[165] = 0; + out_5307423376078500036[166] = 0; + out_5307423376078500036[167] = 0; + out_5307423376078500036[168] = 0; + out_5307423376078500036[169] = 0; + out_5307423376078500036[170] = 0; + out_5307423376078500036[171] = 1; + out_5307423376078500036[172] = 0; + out_5307423376078500036[173] = 0; + out_5307423376078500036[174] = 0; + out_5307423376078500036[175] = 0; + out_5307423376078500036[176] = 0; + out_5307423376078500036[177] = 0; + out_5307423376078500036[178] = 0; + out_5307423376078500036[179] = 0; + out_5307423376078500036[180] = 0; + out_5307423376078500036[181] = 0; + out_5307423376078500036[182] = 0; + out_5307423376078500036[183] = 0; + out_5307423376078500036[184] = 0; + out_5307423376078500036[185] = 0; + out_5307423376078500036[186] = 0; + out_5307423376078500036[187] = 0; + out_5307423376078500036[188] = 0; + out_5307423376078500036[189] = 0; + out_5307423376078500036[190] = 1; + out_5307423376078500036[191] = 0; + out_5307423376078500036[192] = 0; + out_5307423376078500036[193] = 0; + out_5307423376078500036[194] = 0; + out_5307423376078500036[195] = 0; + out_5307423376078500036[196] = 0; + out_5307423376078500036[197] = 0; + out_5307423376078500036[198] = 0; + out_5307423376078500036[199] = 0; + out_5307423376078500036[200] = 0; + out_5307423376078500036[201] = 0; + out_5307423376078500036[202] = 0; + out_5307423376078500036[203] = 0; + out_5307423376078500036[204] = 0; + out_5307423376078500036[205] = 0; + out_5307423376078500036[206] = 0; + out_5307423376078500036[207] = 0; + out_5307423376078500036[208] = 0; + out_5307423376078500036[209] = 1; + out_5307423376078500036[210] = 0; + out_5307423376078500036[211] = 0; + out_5307423376078500036[212] = 0; + out_5307423376078500036[213] = 0; + out_5307423376078500036[214] = 0; + out_5307423376078500036[215] = 0; + out_5307423376078500036[216] = 0; + out_5307423376078500036[217] = 0; + out_5307423376078500036[218] = 0; + out_5307423376078500036[219] = 0; + out_5307423376078500036[220] = 0; + out_5307423376078500036[221] = 0; + out_5307423376078500036[222] = 0; + out_5307423376078500036[223] = 0; + out_5307423376078500036[224] = 0; + out_5307423376078500036[225] = 0; + out_5307423376078500036[226] = 0; + out_5307423376078500036[227] = 0; + out_5307423376078500036[228] = 1; + out_5307423376078500036[229] = 0; + out_5307423376078500036[230] = 0; + out_5307423376078500036[231] = 0; + out_5307423376078500036[232] = 0; + out_5307423376078500036[233] = 0; + out_5307423376078500036[234] = 0; + out_5307423376078500036[235] = 0; + out_5307423376078500036[236] = 0; + out_5307423376078500036[237] = 0; + out_5307423376078500036[238] = 0; + out_5307423376078500036[239] = 0; + out_5307423376078500036[240] = 0; + out_5307423376078500036[241] = 0; + out_5307423376078500036[242] = 0; + out_5307423376078500036[243] = 0; + out_5307423376078500036[244] = 0; + out_5307423376078500036[245] = 0; + out_5307423376078500036[246] = 0; + out_5307423376078500036[247] = 1; + out_5307423376078500036[248] = 0; + out_5307423376078500036[249] = 0; + out_5307423376078500036[250] = 0; + out_5307423376078500036[251] = 0; + out_5307423376078500036[252] = 0; + out_5307423376078500036[253] = 0; + out_5307423376078500036[254] = 0; + out_5307423376078500036[255] = 0; + out_5307423376078500036[256] = 0; + out_5307423376078500036[257] = 0; + out_5307423376078500036[258] = 0; + out_5307423376078500036[259] = 0; + out_5307423376078500036[260] = 0; + out_5307423376078500036[261] = 0; + out_5307423376078500036[262] = 0; + out_5307423376078500036[263] = 0; + out_5307423376078500036[264] = 0; + out_5307423376078500036[265] = 0; + out_5307423376078500036[266] = 1; + out_5307423376078500036[267] = 0; + out_5307423376078500036[268] = 0; + out_5307423376078500036[269] = 0; + out_5307423376078500036[270] = 0; + out_5307423376078500036[271] = 0; + out_5307423376078500036[272] = 0; + out_5307423376078500036[273] = 0; + out_5307423376078500036[274] = 0; + out_5307423376078500036[275] = 0; + out_5307423376078500036[276] = 0; + out_5307423376078500036[277] = 0; + out_5307423376078500036[278] = 0; + out_5307423376078500036[279] = 0; + out_5307423376078500036[280] = 0; + out_5307423376078500036[281] = 0; + out_5307423376078500036[282] = 0; + out_5307423376078500036[283] = 0; + out_5307423376078500036[284] = 0; + out_5307423376078500036[285] = 1; + out_5307423376078500036[286] = 0; + out_5307423376078500036[287] = 0; + out_5307423376078500036[288] = 0; + out_5307423376078500036[289] = 0; + out_5307423376078500036[290] = 0; + out_5307423376078500036[291] = 0; + out_5307423376078500036[292] = 0; + out_5307423376078500036[293] = 0; + out_5307423376078500036[294] = 0; + out_5307423376078500036[295] = 0; + out_5307423376078500036[296] = 0; + out_5307423376078500036[297] = 0; + out_5307423376078500036[298] = 0; + out_5307423376078500036[299] = 0; + out_5307423376078500036[300] = 0; + out_5307423376078500036[301] = 0; + out_5307423376078500036[302] = 0; + out_5307423376078500036[303] = 0; + out_5307423376078500036[304] = 1; + out_5307423376078500036[305] = 0; + out_5307423376078500036[306] = 0; + out_5307423376078500036[307] = 0; + out_5307423376078500036[308] = 0; + out_5307423376078500036[309] = 0; + out_5307423376078500036[310] = 0; + out_5307423376078500036[311] = 0; + out_5307423376078500036[312] = 0; + out_5307423376078500036[313] = 0; + out_5307423376078500036[314] = 0; + out_5307423376078500036[315] = 0; + out_5307423376078500036[316] = 0; + out_5307423376078500036[317] = 0; + out_5307423376078500036[318] = 0; + out_5307423376078500036[319] = 0; + out_5307423376078500036[320] = 0; + out_5307423376078500036[321] = 0; + out_5307423376078500036[322] = 0; + out_5307423376078500036[323] = 1; } -void h_4(double *state, double *unused, double *out_6788230556268759212) { - out_6788230556268759212[0] = state[6] + state[9]; - out_6788230556268759212[1] = state[7] + state[10]; - out_6788230556268759212[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1079193932347421775) { + out_1079193932347421775[0] = state[6] + state[9]; + out_1079193932347421775[1] = state[7] + state[10]; + out_1079193932347421775[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_7632527461987838329) { - out_7632527461987838329[0] = 0; - out_7632527461987838329[1] = 0; - out_7632527461987838329[2] = 0; - out_7632527461987838329[3] = 0; - out_7632527461987838329[4] = 0; - out_7632527461987838329[5] = 0; - out_7632527461987838329[6] = 1; - out_7632527461987838329[7] = 0; - out_7632527461987838329[8] = 0; - out_7632527461987838329[9] = 1; - out_7632527461987838329[10] = 0; - out_7632527461987838329[11] = 0; - out_7632527461987838329[12] = 0; - out_7632527461987838329[13] = 0; - out_7632527461987838329[14] = 0; - out_7632527461987838329[15] = 0; - out_7632527461987838329[16] = 0; - out_7632527461987838329[17] = 0; - out_7632527461987838329[18] = 0; - out_7632527461987838329[19] = 0; - out_7632527461987838329[20] = 0; - out_7632527461987838329[21] = 0; - out_7632527461987838329[22] = 0; - out_7632527461987838329[23] = 0; - out_7632527461987838329[24] = 0; - out_7632527461987838329[25] = 1; - out_7632527461987838329[26] = 0; - out_7632527461987838329[27] = 0; - out_7632527461987838329[28] = 1; - out_7632527461987838329[29] = 0; - out_7632527461987838329[30] = 0; - out_7632527461987838329[31] = 0; - out_7632527461987838329[32] = 0; - out_7632527461987838329[33] = 0; - out_7632527461987838329[34] = 0; - out_7632527461987838329[35] = 0; - out_7632527461987838329[36] = 0; - out_7632527461987838329[37] = 0; - out_7632527461987838329[38] = 0; - out_7632527461987838329[39] = 0; - out_7632527461987838329[40] = 0; - out_7632527461987838329[41] = 0; - out_7632527461987838329[42] = 0; - out_7632527461987838329[43] = 0; - out_7632527461987838329[44] = 1; - out_7632527461987838329[45] = 0; - out_7632527461987838329[46] = 0; - out_7632527461987838329[47] = 1; - out_7632527461987838329[48] = 0; - out_7632527461987838329[49] = 0; - out_7632527461987838329[50] = 0; - out_7632527461987838329[51] = 0; - out_7632527461987838329[52] = 0; - out_7632527461987838329[53] = 0; +void H_4(double *state, double *unused, double *out_1742756715896118709) { + out_1742756715896118709[0] = 0; + out_1742756715896118709[1] = 0; + out_1742756715896118709[2] = 0; + out_1742756715896118709[3] = 0; + out_1742756715896118709[4] = 0; + out_1742756715896118709[5] = 0; + out_1742756715896118709[6] = 1; + out_1742756715896118709[7] = 0; + out_1742756715896118709[8] = 0; + out_1742756715896118709[9] = 1; + out_1742756715896118709[10] = 0; + out_1742756715896118709[11] = 0; + out_1742756715896118709[12] = 0; + out_1742756715896118709[13] = 0; + out_1742756715896118709[14] = 0; + out_1742756715896118709[15] = 0; + out_1742756715896118709[16] = 0; + out_1742756715896118709[17] = 0; + out_1742756715896118709[18] = 0; + out_1742756715896118709[19] = 0; + out_1742756715896118709[20] = 0; + out_1742756715896118709[21] = 0; + out_1742756715896118709[22] = 0; + out_1742756715896118709[23] = 0; + out_1742756715896118709[24] = 0; + out_1742756715896118709[25] = 1; + out_1742756715896118709[26] = 0; + out_1742756715896118709[27] = 0; + out_1742756715896118709[28] = 1; + out_1742756715896118709[29] = 0; + out_1742756715896118709[30] = 0; + out_1742756715896118709[31] = 0; + out_1742756715896118709[32] = 0; + out_1742756715896118709[33] = 0; + out_1742756715896118709[34] = 0; + out_1742756715896118709[35] = 0; + out_1742756715896118709[36] = 0; + out_1742756715896118709[37] = 0; + out_1742756715896118709[38] = 0; + out_1742756715896118709[39] = 0; + out_1742756715896118709[40] = 0; + out_1742756715896118709[41] = 0; + out_1742756715896118709[42] = 0; + out_1742756715896118709[43] = 0; + out_1742756715896118709[44] = 1; + out_1742756715896118709[45] = 0; + out_1742756715896118709[46] = 0; + out_1742756715896118709[47] = 1; + out_1742756715896118709[48] = 0; + out_1742756715896118709[49] = 0; + out_1742756715896118709[50] = 0; + out_1742756715896118709[51] = 0; + out_1742756715896118709[52] = 0; + out_1742756715896118709[53] = 0; } -void h_10(double *state, double *unused, double *out_8432036585650852946) { - out_8432036585650852946[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8432036585650852946[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8432036585650852946[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_6922910997507784152) { + out_6922910997507784152[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6922910997507784152[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6922910997507784152[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_8928260110437863487) { - out_8928260110437863487[0] = 0; - out_8928260110437863487[1] = 9.8100000000000005*cos(state[1]); - out_8928260110437863487[2] = 0; - out_8928260110437863487[3] = 0; - out_8928260110437863487[4] = -state[8]; - out_8928260110437863487[5] = state[7]; - out_8928260110437863487[6] = 0; - out_8928260110437863487[7] = state[5]; - out_8928260110437863487[8] = -state[4]; - out_8928260110437863487[9] = 0; - out_8928260110437863487[10] = 0; - out_8928260110437863487[11] = 0; - out_8928260110437863487[12] = 1; - out_8928260110437863487[13] = 0; - out_8928260110437863487[14] = 0; - out_8928260110437863487[15] = 1; - out_8928260110437863487[16] = 0; - out_8928260110437863487[17] = 0; - out_8928260110437863487[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8928260110437863487[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8928260110437863487[20] = 0; - out_8928260110437863487[21] = state[8]; - out_8928260110437863487[22] = 0; - out_8928260110437863487[23] = -state[6]; - out_8928260110437863487[24] = -state[5]; - out_8928260110437863487[25] = 0; - out_8928260110437863487[26] = state[3]; - out_8928260110437863487[27] = 0; - out_8928260110437863487[28] = 0; - out_8928260110437863487[29] = 0; - out_8928260110437863487[30] = 0; - out_8928260110437863487[31] = 1; - out_8928260110437863487[32] = 0; - out_8928260110437863487[33] = 0; - out_8928260110437863487[34] = 1; - out_8928260110437863487[35] = 0; - out_8928260110437863487[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8928260110437863487[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8928260110437863487[38] = 0; - out_8928260110437863487[39] = -state[7]; - out_8928260110437863487[40] = state[6]; - out_8928260110437863487[41] = 0; - out_8928260110437863487[42] = state[4]; - out_8928260110437863487[43] = -state[3]; - out_8928260110437863487[44] = 0; - out_8928260110437863487[45] = 0; - out_8928260110437863487[46] = 0; - out_8928260110437863487[47] = 0; - out_8928260110437863487[48] = 0; - out_8928260110437863487[49] = 0; - out_8928260110437863487[50] = 1; - out_8928260110437863487[51] = 0; - out_8928260110437863487[52] = 0; - out_8928260110437863487[53] = 1; +void H_10(double *state, double *unused, double *out_283934102184360827) { + out_283934102184360827[0] = 0; + out_283934102184360827[1] = 9.8100000000000005*cos(state[1]); + out_283934102184360827[2] = 0; + out_283934102184360827[3] = 0; + out_283934102184360827[4] = -state[8]; + out_283934102184360827[5] = state[7]; + out_283934102184360827[6] = 0; + out_283934102184360827[7] = state[5]; + out_283934102184360827[8] = -state[4]; + out_283934102184360827[9] = 0; + out_283934102184360827[10] = 0; + out_283934102184360827[11] = 0; + out_283934102184360827[12] = 1; + out_283934102184360827[13] = 0; + out_283934102184360827[14] = 0; + out_283934102184360827[15] = 1; + out_283934102184360827[16] = 0; + out_283934102184360827[17] = 0; + out_283934102184360827[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_283934102184360827[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_283934102184360827[20] = 0; + out_283934102184360827[21] = state[8]; + out_283934102184360827[22] = 0; + out_283934102184360827[23] = -state[6]; + out_283934102184360827[24] = -state[5]; + out_283934102184360827[25] = 0; + out_283934102184360827[26] = state[3]; + out_283934102184360827[27] = 0; + out_283934102184360827[28] = 0; + out_283934102184360827[29] = 0; + out_283934102184360827[30] = 0; + out_283934102184360827[31] = 1; + out_283934102184360827[32] = 0; + out_283934102184360827[33] = 0; + out_283934102184360827[34] = 1; + out_283934102184360827[35] = 0; + out_283934102184360827[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_283934102184360827[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_283934102184360827[38] = 0; + out_283934102184360827[39] = -state[7]; + out_283934102184360827[40] = state[6]; + out_283934102184360827[41] = 0; + out_283934102184360827[42] = state[4]; + out_283934102184360827[43] = -state[3]; + out_283934102184360827[44] = 0; + out_283934102184360827[45] = 0; + out_283934102184360827[46] = 0; + out_283934102184360827[47] = 0; + out_283934102184360827[48] = 0; + out_283934102184360827[49] = 0; + out_283934102184360827[50] = 1; + out_283934102184360827[51] = 0; + out_283934102184360827[52] = 0; + out_283934102184360827[53] = 1; } -void h_13(double *state, double *unused, double *out_2724236674667547577) { - out_2724236674667547577[0] = state[3]; - out_2724236674667547577[1] = state[4]; - out_2724236674667547577[2] = state[5]; +void h_13(double *state, double *unused, double *out_6392911292944498098) { + out_6392911292944498098[0] = state[3]; + out_6392911292944498098[1] = state[4]; + out_6392911292944498098[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8197129381669682433) { - out_8197129381669682433[0] = 0; - out_8197129381669682433[1] = 0; - out_8197129381669682433[2] = 0; - out_8197129381669682433[3] = 1; - out_8197129381669682433[4] = 0; - out_8197129381669682433[5] = 0; - out_8197129381669682433[6] = 0; - out_8197129381669682433[7] = 0; - out_8197129381669682433[8] = 0; - out_8197129381669682433[9] = 0; - out_8197129381669682433[10] = 0; - out_8197129381669682433[11] = 0; - out_8197129381669682433[12] = 0; - out_8197129381669682433[13] = 0; - out_8197129381669682433[14] = 0; - out_8197129381669682433[15] = 0; - out_8197129381669682433[16] = 0; - out_8197129381669682433[17] = 0; - out_8197129381669682433[18] = 0; - out_8197129381669682433[19] = 0; - out_8197129381669682433[20] = 0; - out_8197129381669682433[21] = 0; - out_8197129381669682433[22] = 1; - out_8197129381669682433[23] = 0; - out_8197129381669682433[24] = 0; - out_8197129381669682433[25] = 0; - out_8197129381669682433[26] = 0; - out_8197129381669682433[27] = 0; - out_8197129381669682433[28] = 0; - out_8197129381669682433[29] = 0; - out_8197129381669682433[30] = 0; - out_8197129381669682433[31] = 0; - out_8197129381669682433[32] = 0; - out_8197129381669682433[33] = 0; - out_8197129381669682433[34] = 0; - out_8197129381669682433[35] = 0; - out_8197129381669682433[36] = 0; - out_8197129381669682433[37] = 0; - out_8197129381669682433[38] = 0; - out_8197129381669682433[39] = 0; - out_8197129381669682433[40] = 0; - out_8197129381669682433[41] = 1; - out_8197129381669682433[42] = 0; - out_8197129381669682433[43] = 0; - out_8197129381669682433[44] = 0; - out_8197129381669682433[45] = 0; - out_8197129381669682433[46] = 0; - out_8197129381669682433[47] = 0; - out_8197129381669682433[48] = 0; - out_8197129381669682433[49] = 0; - out_8197129381669682433[50] = 0; - out_8197129381669682433[51] = 0; - out_8197129381669682433[52] = 0; - out_8197129381669682433[53] = 0; +void H_13(double *state, double *unused, double *out_1469517109436214092) { + out_1469517109436214092[0] = 0; + out_1469517109436214092[1] = 0; + out_1469517109436214092[2] = 0; + out_1469517109436214092[3] = 1; + out_1469517109436214092[4] = 0; + out_1469517109436214092[5] = 0; + out_1469517109436214092[6] = 0; + out_1469517109436214092[7] = 0; + out_1469517109436214092[8] = 0; + out_1469517109436214092[9] = 0; + out_1469517109436214092[10] = 0; + out_1469517109436214092[11] = 0; + out_1469517109436214092[12] = 0; + out_1469517109436214092[13] = 0; + out_1469517109436214092[14] = 0; + out_1469517109436214092[15] = 0; + out_1469517109436214092[16] = 0; + out_1469517109436214092[17] = 0; + out_1469517109436214092[18] = 0; + out_1469517109436214092[19] = 0; + out_1469517109436214092[20] = 0; + out_1469517109436214092[21] = 0; + out_1469517109436214092[22] = 1; + out_1469517109436214092[23] = 0; + out_1469517109436214092[24] = 0; + out_1469517109436214092[25] = 0; + out_1469517109436214092[26] = 0; + out_1469517109436214092[27] = 0; + out_1469517109436214092[28] = 0; + out_1469517109436214092[29] = 0; + out_1469517109436214092[30] = 0; + out_1469517109436214092[31] = 0; + out_1469517109436214092[32] = 0; + out_1469517109436214092[33] = 0; + out_1469517109436214092[34] = 0; + out_1469517109436214092[35] = 0; + out_1469517109436214092[36] = 0; + out_1469517109436214092[37] = 0; + out_1469517109436214092[38] = 0; + out_1469517109436214092[39] = 0; + out_1469517109436214092[40] = 0; + out_1469517109436214092[41] = 1; + out_1469517109436214092[42] = 0; + out_1469517109436214092[43] = 0; + out_1469517109436214092[44] = 0; + out_1469517109436214092[45] = 0; + out_1469517109436214092[46] = 0; + out_1469517109436214092[47] = 0; + out_1469517109436214092[48] = 0; + out_1469517109436214092[49] = 0; + out_1469517109436214092[50] = 0; + out_1469517109436214092[51] = 0; + out_1469517109436214092[52] = 0; + out_1469517109436214092[53] = 0; } -void h_14(double *state, double *unused, double *out_7287061467575581493) { - out_7287061467575581493[0] = state[6]; - out_7287061467575581493[1] = state[7]; - out_7287061467575581493[2] = state[8]; +void h_14(double *state, double *unused, double *out_2710339252461203529) { + out_2710339252461203529[0] = state[6]; + out_2710339252461203529[1] = state[7]; + out_2710339252461203529[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4549739029692466033) { - out_4549739029692466033[0] = 0; - out_4549739029692466033[1] = 0; - out_4549739029692466033[2] = 0; - out_4549739029692466033[3] = 0; - out_4549739029692466033[4] = 0; - out_4549739029692466033[5] = 0; - out_4549739029692466033[6] = 1; - out_4549739029692466033[7] = 0; - out_4549739029692466033[8] = 0; - out_4549739029692466033[9] = 0; - out_4549739029692466033[10] = 0; - out_4549739029692466033[11] = 0; - out_4549739029692466033[12] = 0; - out_4549739029692466033[13] = 0; - out_4549739029692466033[14] = 0; - out_4549739029692466033[15] = 0; - out_4549739029692466033[16] = 0; - out_4549739029692466033[17] = 0; - out_4549739029692466033[18] = 0; - out_4549739029692466033[19] = 0; - out_4549739029692466033[20] = 0; - out_4549739029692466033[21] = 0; - out_4549739029692466033[22] = 0; - out_4549739029692466033[23] = 0; - out_4549739029692466033[24] = 0; - out_4549739029692466033[25] = 1; - out_4549739029692466033[26] = 0; - out_4549739029692466033[27] = 0; - out_4549739029692466033[28] = 0; - out_4549739029692466033[29] = 0; - out_4549739029692466033[30] = 0; - out_4549739029692466033[31] = 0; - out_4549739029692466033[32] = 0; - out_4549739029692466033[33] = 0; - out_4549739029692466033[34] = 0; - out_4549739029692466033[35] = 0; - out_4549739029692466033[36] = 0; - out_4549739029692466033[37] = 0; - out_4549739029692466033[38] = 0; - out_4549739029692466033[39] = 0; - out_4549739029692466033[40] = 0; - out_4549739029692466033[41] = 0; - out_4549739029692466033[42] = 0; - out_4549739029692466033[43] = 0; - out_4549739029692466033[44] = 1; - out_4549739029692466033[45] = 0; - out_4549739029692466033[46] = 0; - out_4549739029692466033[47] = 0; - out_4549739029692466033[48] = 0; - out_4549739029692466033[49] = 0; - out_4549739029692466033[50] = 0; - out_4549739029692466033[51] = 0; - out_4549739029692466033[52] = 0; - out_4549739029692466033[53] = 0; +void H_14(double *state, double *unused, double *out_2220484140443365820) { + out_2220484140443365820[0] = 0; + out_2220484140443365820[1] = 0; + out_2220484140443365820[2] = 0; + out_2220484140443365820[3] = 0; + out_2220484140443365820[4] = 0; + out_2220484140443365820[5] = 0; + out_2220484140443365820[6] = 1; + out_2220484140443365820[7] = 0; + out_2220484140443365820[8] = 0; + out_2220484140443365820[9] = 0; + out_2220484140443365820[10] = 0; + out_2220484140443365820[11] = 0; + out_2220484140443365820[12] = 0; + out_2220484140443365820[13] = 0; + out_2220484140443365820[14] = 0; + out_2220484140443365820[15] = 0; + out_2220484140443365820[16] = 0; + out_2220484140443365820[17] = 0; + out_2220484140443365820[18] = 0; + out_2220484140443365820[19] = 0; + out_2220484140443365820[20] = 0; + out_2220484140443365820[21] = 0; + out_2220484140443365820[22] = 0; + out_2220484140443365820[23] = 0; + out_2220484140443365820[24] = 0; + out_2220484140443365820[25] = 1; + out_2220484140443365820[26] = 0; + out_2220484140443365820[27] = 0; + out_2220484140443365820[28] = 0; + out_2220484140443365820[29] = 0; + out_2220484140443365820[30] = 0; + out_2220484140443365820[31] = 0; + out_2220484140443365820[32] = 0; + out_2220484140443365820[33] = 0; + out_2220484140443365820[34] = 0; + out_2220484140443365820[35] = 0; + out_2220484140443365820[36] = 0; + out_2220484140443365820[37] = 0; + out_2220484140443365820[38] = 0; + out_2220484140443365820[39] = 0; + out_2220484140443365820[40] = 0; + out_2220484140443365820[41] = 0; + out_2220484140443365820[42] = 0; + out_2220484140443365820[43] = 0; + out_2220484140443365820[44] = 1; + out_2220484140443365820[45] = 0; + out_2220484140443365820[46] = 0; + out_2220484140443365820[47] = 0; + out_2220484140443365820[48] = 0; + out_2220484140443365820[49] = 0; + out_2220484140443365820[50] = 0; + out_2220484140443365820[51] = 0; + out_2220484140443365820[52] = 0; + out_2220484140443365820[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_6656391008125290288) { - err_fun(nom_x, delta_x, out_6656391008125290288); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8885367235752958450) { + err_fun(nom_x, delta_x, out_8885367235752958450); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2808972743269739579) { - inv_err_fun(nom_x, true_x, out_2808972743269739579); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4135735359507688267) { + inv_err_fun(nom_x, true_x, out_4135735359507688267); } -void pose_H_mod_fun(double *state, double *out_1869854945663891945) { - H_mod_fun(state, out_1869854945663891945); +void pose_H_mod_fun(double *state, double *out_2496917717950831316) { + H_mod_fun(state, out_2496917717950831316); } -void pose_f_fun(double *state, double dt, double *out_1891205901656639709) { - f_fun(state, dt, out_1891205901656639709); +void pose_f_fun(double *state, double dt, double *out_6905768897951283532) { + f_fun(state, dt, out_6905768897951283532); } -void pose_F_fun(double *state, double dt, double *out_6621216135717119405) { - F_fun(state, dt, out_6621216135717119405); +void pose_F_fun(double *state, double dt, double *out_5307423376078500036) { + F_fun(state, dt, out_5307423376078500036); } -void pose_h_4(double *state, double *unused, double *out_6788230556268759212) { - h_4(state, unused, out_6788230556268759212); +void pose_h_4(double *state, double *unused, double *out_1079193932347421775) { + h_4(state, unused, out_1079193932347421775); } -void pose_H_4(double *state, double *unused, double *out_7632527461987838329) { - H_4(state, unused, out_7632527461987838329); +void pose_H_4(double *state, double *unused, double *out_1742756715896118709) { + H_4(state, unused, out_1742756715896118709); } -void pose_h_10(double *state, double *unused, double *out_8432036585650852946) { - h_10(state, unused, out_8432036585650852946); +void pose_h_10(double *state, double *unused, double *out_6922910997507784152) { + h_10(state, unused, out_6922910997507784152); } -void pose_H_10(double *state, double *unused, double *out_8928260110437863487) { - H_10(state, unused, out_8928260110437863487); +void pose_H_10(double *state, double *unused, double *out_283934102184360827) { + H_10(state, unused, out_283934102184360827); } -void pose_h_13(double *state, double *unused, double *out_2724236674667547577) { - h_13(state, unused, out_2724236674667547577); +void pose_h_13(double *state, double *unused, double *out_6392911292944498098) { + h_13(state, unused, out_6392911292944498098); } -void pose_H_13(double *state, double *unused, double *out_8197129381669682433) { - H_13(state, unused, out_8197129381669682433); +void pose_H_13(double *state, double *unused, double *out_1469517109436214092) { + H_13(state, unused, out_1469517109436214092); } -void pose_h_14(double *state, double *unused, double *out_7287061467575581493) { - h_14(state, unused, out_7287061467575581493); +void pose_h_14(double *state, double *unused, double *out_2710339252461203529) { + h_14(state, unused, out_2710339252461203529); } -void pose_H_14(double *state, double *unused, double *out_4549739029692466033) { - H_14(state, unused, out_4549739029692466033); +void pose_H_14(double *state, double *unused, double *out_2220484140443365820) { + H_14(state, unused, out_2220484140443365820); } 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 ad5faa8ea..1c520e617 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_6656391008125290288); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2808972743269739579); -void pose_H_mod_fun(double *state, double *out_1869854945663891945); -void pose_f_fun(double *state, double dt, double *out_1891205901656639709); -void pose_F_fun(double *state, double dt, double *out_6621216135717119405); -void pose_h_4(double *state, double *unused, double *out_6788230556268759212); -void pose_H_4(double *state, double *unused, double *out_7632527461987838329); -void pose_h_10(double *state, double *unused, double *out_8432036585650852946); -void pose_H_10(double *state, double *unused, double *out_8928260110437863487); -void pose_h_13(double *state, double *unused, double *out_2724236674667547577); -void pose_H_13(double *state, double *unused, double *out_8197129381669682433); -void pose_h_14(double *state, double *unused, double *out_7287061467575581493); -void pose_H_14(double *state, double *unused, double *out_4549739029692466033); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8885367235752958450); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4135735359507688267); +void pose_H_mod_fun(double *state, double *out_2496917717950831316); +void pose_f_fun(double *state, double dt, double *out_6905768897951283532); +void pose_F_fun(double *state, double dt, double *out_5307423376078500036); +void pose_h_4(double *state, double *unused, double *out_1079193932347421775); +void pose_H_4(double *state, double *unused, double *out_1742756715896118709); +void pose_h_10(double *state, double *unused, double *out_6922910997507784152); +void pose_H_10(double *state, double *unused, double *out_283934102184360827); +void pose_h_13(double *state, double *unused, double *out_6392911292944498098); +void pose_H_13(double *state, double *unused, double *out_1469517109436214092); +void pose_h_14(double *state, double *unused, double *out_2710339252461203529); +void pose_H_14(double *state, double *unused, double *out_2220484140443365820); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 794142017..b54bb9d41 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ