From 2a0053c0462cebd603a5f77d43f7014be276e124 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Thu, 18 Jun 2026 10:27:12 -0500 Subject: [PATCH] build --- panda/board/obj/body_h7.bin.signed | Bin 92680 -> 92624 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 92544 -> 92488 bytes panda/board/obj/body_h7/main.elf | Bin 407384 -> 407284 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 84004 -> 84004 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 83868 -> 83868 bytes panda/board/obj/panda/main.elf | Bin 370248 -> 370248 bytes panda/board/obj/panda_h7.bin.signed | Bin 100756 -> 100700 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 100620 -> 100564 bytes panda/board/obj/panda_h7/main.elf | Bin 450640 -> 450540 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 100692 -> 100636 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 100556 -> 100500 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 450644 -> 450548 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 94636 -> 94580 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 94500 -> 94444 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 415292 -> 415188 bytes panda/board/obj/panda_remote.bin.signed | Bin 83964 -> 83964 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 83828 -> 83828 bytes panda/board/obj/panda_remote/main.elf | Bin 370452 -> 370452 bytes panda/board/obj/version | 2 +- selfdrive/locationd/models/generated/car.cpp | 684 +++--- selfdrive/locationd/models/generated/car.h | 42 +- selfdrive/locationd/models/generated/pose.cpp | 1938 ++++++++--------- selfdrive/locationd/models/generated/pose.h | 26 +- selfdrive/ui/ui | Bin 4475208 -> 4475208 bytes 37 files changed, 1347 insertions(+), 1347 deletions(-) diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 096fe333f42d57f3cc214d2cec3b1be9c9b7c308..7b807fc6aa7d6116e34d5b2b1c884af3593aa745 100644 GIT binary patch delta 3852 zcmZWr3s_Xu7T)_X180B{#&ND9(wrGoAmjtm5=*W;M-U9iZlr06Vu7HdVk%;w`9d_s z1%_Af5k50=@MvO+U_P?af~z7L7Jh2uiz}#f&J2&a>j0BpJKy|!{rlf*@4aU2$2n^* 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ziWxis*Lzgw{NVLT+d!V?#bR5(8!tD}Q-2^Dqx5q>kZ-r?eS+@SXMQl5+2TjS`&d8s zBi(ZPalQ3NZh{QaKmW*18+)_+|LwKpSl`e8CNqB0z0aePpy!^)&Pu)IJa)G0pcZ8a7w^7bWzNr#`{}8dh-H1f?~)g_dq36N zZ)Ly#)Ks77JoTJU;*LGF)z3-$ib+*I6;g^}I_uW7Kc7L6%2nU-uTSgxyI_M?`=l+Si0BJVh1yRMy|1VGzSQt7K00Ug8Q+hR-}hD{>}h&SHGgT^^5el) zuGGPX*RX=o_eS70(_13gU$Jp&g8ym5X;ONm-S8r7$Y=KA}AQC&ed> neiF(hU4Nio=roz5dkpjooV?fcXu0-H)KAMbqo3Y7(9igPRf#^a diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index a3970bc39becec255fb9d625c7af05fa56323f74..9b12ab6f2759bfa84eaaa02f9a64cf22ac6e8335 100644 GIT binary patch delta 153 zcmV;K0A~OEj|KdX1+X}@2xc*1GBq}2VY5KAJd=L{2wBo;AXGh1HidaVDuLrH}- zSLVBEhv7J7*C*KU^tfuySrJK(S?>Nl$TRQXZmkJ`;AB03H!rNQn?Is?k<;?XkM>}Z zo1tR+g^!t70!(|#)QHNSh#>6o+YH?N!(k^7g*&`8N;c!t`i}Cvsvr;*DX9v9%Egms HJ;nhC)%8t> delta 153 zcmV;K0A~OEj|KdX1+X}@2x4M1W;0?pG_ydoJd=M9(;a}6^M+#~H;@yIUGRGT4{y>E zf319C?*qMN01%X=8_Hdb-BqiWd8w{e4e_MrvDqgS(JggtA0{sN<36Zkq_$S#i&qXa zLQl_zEO*A+dw=8PMYz(a>u%s`qR?;efTN;pmy;065ygQHU(UbWefr$ab=#zK1t*2w H)bRn_=Xp)+ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 8a45b5e2f04a756facf3c39ba2bb408cd8621ec8..46ce9d6bf99e6c5c8347e077f86e350a1fbe815d 100755 GIT binary patch delta 40 wcmZ25nQg&jwhg{!f@y|{My6&diMlSXPND7$4GfbfnkqEcnQgB#V^j(T01rwGwg3PC delta 40 wcmZ25nQg&jwhg{!f=NjxX~s$BCb}-JPND7$4GfbfnkqEcnQgB#V^j(T01(6sx&QzG diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index f9b8e11f59d1a2de9d3c68b8434a629342dff167..c8f2847cfcdbb7e07689f94afd23da92f0374864 100755 GIT binary patch delta 23 fcmey;$NHs@b%Vtgjx@tWBU7`K#LW&{OeO;Wczy|c delta 23 fcmey;$NHs@b%Vtgj-(`$G~*<5lg$oWOeO;Wd9(?C diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 270823eb4e27d01e1ac04cc6eee46a299daa8b78..0849f76ca877e15a0f4805c11d668a42650d0500 100755 GIT binary patch delta 39 scmbPoPHf6Ku?-eSIMNIgjZDo_5}O^4v^yMO1Y#y2X5Q{_gyqU307JPDq5uE@ delta 39 scmbPoPHf6Ku?-eSIFgb~(u|YLO`08!v^yMO1Y#y2X5Q{_gyqU307WklrT_o{ diff --git a/panda/board/obj/version b/panda/board/obj/version index 3f8518ed6..48d396720 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-bb4f3b74-DEBUG \ No newline at end of file +DEV-f1a256da-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 82806a510..b30d8894e 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_7839106046248465839) { - out_7839106046248465839[0] = delta_x[0] + nom_x[0]; - out_7839106046248465839[1] = delta_x[1] + nom_x[1]; - out_7839106046248465839[2] = delta_x[2] + nom_x[2]; - out_7839106046248465839[3] = delta_x[3] + nom_x[3]; - out_7839106046248465839[4] = delta_x[4] + nom_x[4]; - out_7839106046248465839[5] = delta_x[5] + nom_x[5]; - out_7839106046248465839[6] = delta_x[6] + nom_x[6]; - out_7839106046248465839[7] = delta_x[7] + nom_x[7]; - out_7839106046248465839[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_822107927183758870) { + out_822107927183758870[0] = delta_x[0] + nom_x[0]; + out_822107927183758870[1] = delta_x[1] + nom_x[1]; + out_822107927183758870[2] = delta_x[2] + nom_x[2]; + out_822107927183758870[3] = delta_x[3] + nom_x[3]; + out_822107927183758870[4] = delta_x[4] + nom_x[4]; + out_822107927183758870[5] = delta_x[5] + nom_x[5]; + out_822107927183758870[6] = delta_x[6] + nom_x[6]; + out_822107927183758870[7] = delta_x[7] + nom_x[7]; + out_822107927183758870[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_31659364612209693) { - out_31659364612209693[0] = -nom_x[0] + true_x[0]; - out_31659364612209693[1] = -nom_x[1] + true_x[1]; - out_31659364612209693[2] = -nom_x[2] + true_x[2]; - out_31659364612209693[3] = -nom_x[3] + true_x[3]; - out_31659364612209693[4] = -nom_x[4] + true_x[4]; - out_31659364612209693[5] = -nom_x[5] + true_x[5]; - out_31659364612209693[6] = -nom_x[6] + true_x[6]; - out_31659364612209693[7] = -nom_x[7] + true_x[7]; - out_31659364612209693[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4567978126636007906) { + out_4567978126636007906[0] = -nom_x[0] + true_x[0]; + out_4567978126636007906[1] = -nom_x[1] + true_x[1]; + out_4567978126636007906[2] = -nom_x[2] + true_x[2]; + out_4567978126636007906[3] = -nom_x[3] + true_x[3]; + out_4567978126636007906[4] = -nom_x[4] + true_x[4]; + out_4567978126636007906[5] = -nom_x[5] + true_x[5]; + out_4567978126636007906[6] = -nom_x[6] + true_x[6]; + out_4567978126636007906[7] = -nom_x[7] + true_x[7]; + out_4567978126636007906[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6082546015176302038) { - out_6082546015176302038[0] = 1.0; - out_6082546015176302038[1] = 0.0; - out_6082546015176302038[2] = 0.0; - out_6082546015176302038[3] = 0.0; - out_6082546015176302038[4] = 0.0; - out_6082546015176302038[5] = 0.0; - out_6082546015176302038[6] = 0.0; - out_6082546015176302038[7] = 0.0; - out_6082546015176302038[8] = 0.0; - out_6082546015176302038[9] = 0.0; - out_6082546015176302038[10] = 1.0; - out_6082546015176302038[11] = 0.0; - out_6082546015176302038[12] = 0.0; - out_6082546015176302038[13] = 0.0; - out_6082546015176302038[14] = 0.0; - out_6082546015176302038[15] = 0.0; - out_6082546015176302038[16] = 0.0; - out_6082546015176302038[17] = 0.0; - out_6082546015176302038[18] = 0.0; - out_6082546015176302038[19] = 0.0; - out_6082546015176302038[20] = 1.0; - out_6082546015176302038[21] = 0.0; - out_6082546015176302038[22] = 0.0; - out_6082546015176302038[23] = 0.0; - out_6082546015176302038[24] = 0.0; - out_6082546015176302038[25] = 0.0; - out_6082546015176302038[26] = 0.0; - out_6082546015176302038[27] = 0.0; - out_6082546015176302038[28] = 0.0; - out_6082546015176302038[29] = 0.0; - out_6082546015176302038[30] = 1.0; - out_6082546015176302038[31] = 0.0; - out_6082546015176302038[32] = 0.0; - out_6082546015176302038[33] = 0.0; - out_6082546015176302038[34] = 0.0; - out_6082546015176302038[35] = 0.0; - out_6082546015176302038[36] = 0.0; - out_6082546015176302038[37] = 0.0; - out_6082546015176302038[38] = 0.0; - out_6082546015176302038[39] = 0.0; - out_6082546015176302038[40] = 1.0; - out_6082546015176302038[41] = 0.0; - out_6082546015176302038[42] = 0.0; - out_6082546015176302038[43] = 0.0; - out_6082546015176302038[44] = 0.0; - out_6082546015176302038[45] = 0.0; - out_6082546015176302038[46] = 0.0; - out_6082546015176302038[47] = 0.0; - out_6082546015176302038[48] = 0.0; - out_6082546015176302038[49] = 0.0; - out_6082546015176302038[50] = 1.0; - out_6082546015176302038[51] = 0.0; - out_6082546015176302038[52] = 0.0; - out_6082546015176302038[53] = 0.0; - out_6082546015176302038[54] = 0.0; - out_6082546015176302038[55] = 0.0; - out_6082546015176302038[56] = 0.0; - out_6082546015176302038[57] = 0.0; - out_6082546015176302038[58] = 0.0; - out_6082546015176302038[59] = 0.0; - out_6082546015176302038[60] = 1.0; - out_6082546015176302038[61] = 0.0; - out_6082546015176302038[62] = 0.0; - out_6082546015176302038[63] = 0.0; - out_6082546015176302038[64] = 0.0; - out_6082546015176302038[65] = 0.0; - out_6082546015176302038[66] = 0.0; - out_6082546015176302038[67] = 0.0; - out_6082546015176302038[68] = 0.0; - out_6082546015176302038[69] = 0.0; - out_6082546015176302038[70] = 1.0; - out_6082546015176302038[71] = 0.0; - out_6082546015176302038[72] = 0.0; - out_6082546015176302038[73] = 0.0; - out_6082546015176302038[74] = 0.0; - out_6082546015176302038[75] = 0.0; - out_6082546015176302038[76] = 0.0; - out_6082546015176302038[77] = 0.0; - out_6082546015176302038[78] = 0.0; - out_6082546015176302038[79] = 0.0; - out_6082546015176302038[80] = 1.0; +void H_mod_fun(double *state, double *out_4866635074780860371) { + out_4866635074780860371[0] = 1.0; + out_4866635074780860371[1] = 0.0; + out_4866635074780860371[2] = 0.0; + out_4866635074780860371[3] = 0.0; + out_4866635074780860371[4] = 0.0; + out_4866635074780860371[5] = 0.0; + out_4866635074780860371[6] = 0.0; + out_4866635074780860371[7] = 0.0; + out_4866635074780860371[8] = 0.0; + out_4866635074780860371[9] = 0.0; + out_4866635074780860371[10] = 1.0; + out_4866635074780860371[11] = 0.0; + out_4866635074780860371[12] = 0.0; + out_4866635074780860371[13] = 0.0; + out_4866635074780860371[14] = 0.0; + out_4866635074780860371[15] = 0.0; + out_4866635074780860371[16] = 0.0; + out_4866635074780860371[17] = 0.0; + out_4866635074780860371[18] = 0.0; + out_4866635074780860371[19] = 0.0; + out_4866635074780860371[20] = 1.0; + out_4866635074780860371[21] = 0.0; + out_4866635074780860371[22] = 0.0; + out_4866635074780860371[23] = 0.0; + out_4866635074780860371[24] = 0.0; + out_4866635074780860371[25] = 0.0; + out_4866635074780860371[26] = 0.0; + out_4866635074780860371[27] = 0.0; + out_4866635074780860371[28] = 0.0; + out_4866635074780860371[29] = 0.0; + out_4866635074780860371[30] = 1.0; + out_4866635074780860371[31] = 0.0; + out_4866635074780860371[32] = 0.0; + out_4866635074780860371[33] = 0.0; + out_4866635074780860371[34] = 0.0; + out_4866635074780860371[35] = 0.0; + out_4866635074780860371[36] = 0.0; + out_4866635074780860371[37] = 0.0; + out_4866635074780860371[38] = 0.0; + out_4866635074780860371[39] = 0.0; + out_4866635074780860371[40] = 1.0; + out_4866635074780860371[41] = 0.0; + out_4866635074780860371[42] = 0.0; + out_4866635074780860371[43] = 0.0; + out_4866635074780860371[44] = 0.0; + out_4866635074780860371[45] = 0.0; + out_4866635074780860371[46] = 0.0; + out_4866635074780860371[47] = 0.0; + out_4866635074780860371[48] = 0.0; + out_4866635074780860371[49] = 0.0; + out_4866635074780860371[50] = 1.0; + out_4866635074780860371[51] = 0.0; + out_4866635074780860371[52] = 0.0; + out_4866635074780860371[53] = 0.0; + out_4866635074780860371[54] = 0.0; + out_4866635074780860371[55] = 0.0; + out_4866635074780860371[56] = 0.0; + out_4866635074780860371[57] = 0.0; + out_4866635074780860371[58] = 0.0; + out_4866635074780860371[59] = 0.0; + out_4866635074780860371[60] = 1.0; + out_4866635074780860371[61] = 0.0; + out_4866635074780860371[62] = 0.0; + out_4866635074780860371[63] = 0.0; + out_4866635074780860371[64] = 0.0; + out_4866635074780860371[65] = 0.0; + out_4866635074780860371[66] = 0.0; + out_4866635074780860371[67] = 0.0; + out_4866635074780860371[68] = 0.0; + out_4866635074780860371[69] = 0.0; + out_4866635074780860371[70] = 1.0; + out_4866635074780860371[71] = 0.0; + out_4866635074780860371[72] = 0.0; + out_4866635074780860371[73] = 0.0; + out_4866635074780860371[74] = 0.0; + out_4866635074780860371[75] = 0.0; + out_4866635074780860371[76] = 0.0; + out_4866635074780860371[77] = 0.0; + out_4866635074780860371[78] = 0.0; + out_4866635074780860371[79] = 0.0; + out_4866635074780860371[80] = 1.0; } -void f_fun(double *state, double dt, double *out_6850955649577617071) { - out_6850955649577617071[0] = state[0]; - out_6850955649577617071[1] = state[1]; - out_6850955649577617071[2] = state[2]; - out_6850955649577617071[3] = state[3]; - out_6850955649577617071[4] = state[4]; - out_6850955649577617071[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_6850955649577617071[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_6850955649577617071[7] = state[7]; - out_6850955649577617071[8] = state[8]; +void f_fun(double *state, double dt, double *out_982026265070027710) { + out_982026265070027710[0] = state[0]; + out_982026265070027710[1] = state[1]; + out_982026265070027710[2] = state[2]; + out_982026265070027710[3] = state[3]; + out_982026265070027710[4] = state[4]; + out_982026265070027710[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_982026265070027710[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_982026265070027710[7] = state[7]; + out_982026265070027710[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6972181184240044918) { - out_6972181184240044918[0] = 1; - out_6972181184240044918[1] = 0; - out_6972181184240044918[2] = 0; - out_6972181184240044918[3] = 0; - out_6972181184240044918[4] = 0; - out_6972181184240044918[5] = 0; - out_6972181184240044918[6] = 0; - out_6972181184240044918[7] = 0; - out_6972181184240044918[8] = 0; - out_6972181184240044918[9] = 0; - out_6972181184240044918[10] = 1; - out_6972181184240044918[11] = 0; - out_6972181184240044918[12] = 0; - out_6972181184240044918[13] = 0; - out_6972181184240044918[14] = 0; - out_6972181184240044918[15] = 0; - out_6972181184240044918[16] = 0; - out_6972181184240044918[17] = 0; - out_6972181184240044918[18] = 0; - out_6972181184240044918[19] = 0; - out_6972181184240044918[20] = 1; - out_6972181184240044918[21] = 0; - out_6972181184240044918[22] = 0; - out_6972181184240044918[23] = 0; - out_6972181184240044918[24] = 0; - out_6972181184240044918[25] = 0; - out_6972181184240044918[26] = 0; - out_6972181184240044918[27] = 0; - out_6972181184240044918[28] = 0; - out_6972181184240044918[29] = 0; - out_6972181184240044918[30] = 1; - out_6972181184240044918[31] = 0; - out_6972181184240044918[32] = 0; - out_6972181184240044918[33] = 0; - out_6972181184240044918[34] = 0; - out_6972181184240044918[35] = 0; - out_6972181184240044918[36] = 0; - out_6972181184240044918[37] = 0; - out_6972181184240044918[38] = 0; - out_6972181184240044918[39] = 0; - out_6972181184240044918[40] = 1; - out_6972181184240044918[41] = 0; - out_6972181184240044918[42] = 0; - out_6972181184240044918[43] = 0; - out_6972181184240044918[44] = 0; - out_6972181184240044918[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_6972181184240044918[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6972181184240044918[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6972181184240044918[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6972181184240044918[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_6972181184240044918[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6972181184240044918[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6972181184240044918[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6972181184240044918[53] = -9.8100000000000005*dt; - out_6972181184240044918[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_6972181184240044918[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6972181184240044918[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6972181184240044918[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6972181184240044918[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_6972181184240044918[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6972181184240044918[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_6972181184240044918[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6972181184240044918[62] = 0; - out_6972181184240044918[63] = 0; - out_6972181184240044918[64] = 0; - out_6972181184240044918[65] = 0; - out_6972181184240044918[66] = 0; - out_6972181184240044918[67] = 0; - out_6972181184240044918[68] = 0; - out_6972181184240044918[69] = 0; - out_6972181184240044918[70] = 1; - out_6972181184240044918[71] = 0; - out_6972181184240044918[72] = 0; - out_6972181184240044918[73] = 0; - out_6972181184240044918[74] = 0; - out_6972181184240044918[75] = 0; - out_6972181184240044918[76] = 0; - out_6972181184240044918[77] = 0; - out_6972181184240044918[78] = 0; - out_6972181184240044918[79] = 0; - out_6972181184240044918[80] = 1; +void F_fun(double *state, double dt, double *out_1254446333762572024) { + out_1254446333762572024[0] = 1; + out_1254446333762572024[1] = 0; + out_1254446333762572024[2] = 0; + out_1254446333762572024[3] = 0; + out_1254446333762572024[4] = 0; + out_1254446333762572024[5] = 0; + out_1254446333762572024[6] = 0; + out_1254446333762572024[7] = 0; + out_1254446333762572024[8] = 0; + out_1254446333762572024[9] = 0; + out_1254446333762572024[10] = 1; + out_1254446333762572024[11] = 0; + out_1254446333762572024[12] = 0; + out_1254446333762572024[13] = 0; + out_1254446333762572024[14] = 0; + out_1254446333762572024[15] = 0; + out_1254446333762572024[16] = 0; + out_1254446333762572024[17] = 0; + out_1254446333762572024[18] = 0; + out_1254446333762572024[19] = 0; + out_1254446333762572024[20] = 1; + out_1254446333762572024[21] = 0; + out_1254446333762572024[22] = 0; + out_1254446333762572024[23] = 0; + out_1254446333762572024[24] = 0; + out_1254446333762572024[25] = 0; + out_1254446333762572024[26] = 0; + out_1254446333762572024[27] = 0; + out_1254446333762572024[28] = 0; + out_1254446333762572024[29] = 0; + out_1254446333762572024[30] = 1; + out_1254446333762572024[31] = 0; + out_1254446333762572024[32] = 0; + out_1254446333762572024[33] = 0; + out_1254446333762572024[34] = 0; + out_1254446333762572024[35] = 0; + out_1254446333762572024[36] = 0; + out_1254446333762572024[37] = 0; + out_1254446333762572024[38] = 0; + out_1254446333762572024[39] = 0; + out_1254446333762572024[40] = 1; + out_1254446333762572024[41] = 0; + out_1254446333762572024[42] = 0; + out_1254446333762572024[43] = 0; + out_1254446333762572024[44] = 0; + out_1254446333762572024[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_1254446333762572024[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1254446333762572024[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1254446333762572024[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1254446333762572024[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_1254446333762572024[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1254446333762572024[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1254446333762572024[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1254446333762572024[53] = -9.8100000000000005*dt; + out_1254446333762572024[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_1254446333762572024[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1254446333762572024[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1254446333762572024[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1254446333762572024[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_1254446333762572024[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1254446333762572024[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_1254446333762572024[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1254446333762572024[62] = 0; + out_1254446333762572024[63] = 0; + out_1254446333762572024[64] = 0; + out_1254446333762572024[65] = 0; + out_1254446333762572024[66] = 0; + out_1254446333762572024[67] = 0; + out_1254446333762572024[68] = 0; + out_1254446333762572024[69] = 0; + out_1254446333762572024[70] = 1; + out_1254446333762572024[71] = 0; + out_1254446333762572024[72] = 0; + out_1254446333762572024[73] = 0; + out_1254446333762572024[74] = 0; + out_1254446333762572024[75] = 0; + out_1254446333762572024[76] = 0; + out_1254446333762572024[77] = 0; + out_1254446333762572024[78] = 0; + out_1254446333762572024[79] = 0; + out_1254446333762572024[80] = 1; } -void h_25(double *state, double *unused, double *out_6429787098118084800) { - out_6429787098118084800[0] = state[6]; +void h_25(double *state, double *unused, double *out_3612384322752044911) { + out_3612384322752044911[0] = state[6]; } -void H_25(double *state, double *unused, double *out_3171009832621012341) { - out_3171009832621012341[0] = 0; - out_3171009832621012341[1] = 0; - out_3171009832621012341[2] = 0; - out_3171009832621012341[3] = 0; - out_3171009832621012341[4] = 0; - out_3171009832621012341[5] = 0; - out_3171009832621012341[6] = 1; - out_3171009832621012341[7] = 0; - out_3171009832621012341[8] = 0; +void H_25(double *state, double *unused, double *out_4326553151131376866) { + out_4326553151131376866[0] = 0; + out_4326553151131376866[1] = 0; + out_4326553151131376866[2] = 0; + out_4326553151131376866[3] = 0; + out_4326553151131376866[4] = 0; + out_4326553151131376866[5] = 0; + out_4326553151131376866[6] = 1; + out_4326553151131376866[7] = 0; + out_4326553151131376866[8] = 0; } -void h_24(double *state, double *unused, double *out_6701597119184761045) { - out_6701597119184761045[0] = state[4]; - out_6701597119184761045[1] = state[5]; +void h_24(double *state, double *unused, double *out_5341613571554885336) { + out_5341613571554885336[0] = state[4]; + out_5341613571554885336[1] = state[5]; } -void H_24(double *state, double *unused, double *out_998360233615512775) { - out_998360233615512775[0] = 0; - out_998360233615512775[1] = 0; - out_998360233615512775[2] = 0; - out_998360233615512775[3] = 0; - out_998360233615512775[4] = 1; - out_998360233615512775[5] = 0; - out_998360233615512775[6] = 0; - out_998360233615512775[7] = 0; - out_998360233615512775[8] = 0; - out_998360233615512775[9] = 0; - out_998360233615512775[10] = 0; - out_998360233615512775[11] = 0; - out_998360233615512775[12] = 0; - out_998360233615512775[13] = 0; - out_998360233615512775[14] = 1; - out_998360233615512775[15] = 0; - out_998360233615512775[16] = 0; - out_998360233615512775[17] = 0; +void H_24(double *state, double *unused, double *out_2100845367152508304) { + out_2100845367152508304[0] = 0; + out_2100845367152508304[1] = 0; + out_2100845367152508304[2] = 0; + out_2100845367152508304[3] = 0; + out_2100845367152508304[4] = 1; + out_2100845367152508304[5] = 0; + out_2100845367152508304[6] = 0; + out_2100845367152508304[7] = 0; + out_2100845367152508304[8] = 0; + out_2100845367152508304[9] = 0; + out_2100845367152508304[10] = 0; + out_2100845367152508304[11] = 0; + out_2100845367152508304[12] = 0; + out_2100845367152508304[13] = 0; + out_2100845367152508304[14] = 1; + out_2100845367152508304[15] = 0; + out_2100845367152508304[16] = 0; + out_2100845367152508304[17] = 0; } -void h_30(double *state, double *unused, double *out_5049641810910434322) { - out_5049641810910434322[0] = state[4]; +void h_30(double *state, double *unused, double *out_3337190260467539022) { + out_3337190260467539022[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8359043899596922520) { - out_8359043899596922520[0] = 0; - out_8359043899596922520[1] = 0; - out_8359043899596922520[2] = 0; - out_8359043899596922520[3] = 0; - out_8359043899596922520[4] = 1; - out_8359043899596922520[5] = 0; - out_8359043899596922520[6] = 0; - out_8359043899596922520[7] = 0; - out_8359043899596922520[8] = 0; +void H_30(double *state, double *unused, double *out_4455892098274616936) { + out_4455892098274616936[0] = 0; + out_4455892098274616936[1] = 0; + out_4455892098274616936[2] = 0; + out_4455892098274616936[3] = 0; + out_4455892098274616936[4] = 1; + out_4455892098274616936[5] = 0; + out_4455892098274616936[6] = 0; + out_4455892098274616936[7] = 0; + out_4455892098274616936[8] = 0; } -void h_26(double *state, double *unused, double *out_1349399706503414824) { - out_1349399706503414824[0] = state[7]; +void h_26(double *state, double *unused, double *out_2004676975418491541) { + out_2004676975418491541[0] = state[7]; } -void H_26(double *state, double *unused, double *out_570493486253043883) { - out_570493486253043883[0] = 0; - out_570493486253043883[1] = 0; - out_570493486253043883[2] = 0; - out_570493486253043883[3] = 0; - out_570493486253043883[4] = 0; - out_570493486253043883[5] = 0; - out_570493486253043883[6] = 0; - out_570493486253043883[7] = 1; - out_570493486253043883[8] = 0; +void H_26(double *state, double *unused, double *out_8068056470005433090) { + out_8068056470005433090[0] = 0; + out_8068056470005433090[1] = 0; + out_8068056470005433090[2] = 0; + out_8068056470005433090[3] = 0; + out_8068056470005433090[4] = 0; + out_8068056470005433090[5] = 0; + out_8068056470005433090[6] = 0; + out_8068056470005433090[7] = 1; + out_8068056470005433090[8] = 0; } -void h_27(double *state, double *unused, double *out_1467407100436791568) { - out_1467407100436791568[0] = state[3]; +void h_27(double *state, double *unused, double *out_1389288944908800734) { + out_1389288944908800734[0] = state[3]; } -void H_27(double *state, double *unused, double *out_866907573677347360) { - out_866907573677347360[0] = 0; - out_866907573677347360[1] = 0; - out_866907573677347360[2] = 0; - out_866907573677347360[3] = 1; - out_866907573677347360[4] = 0; - out_866907573677347360[5] = 0; - out_866907573677347360[6] = 0; - out_866907573677347360[7] = 0; - out_866907573677347360[8] = 0; +void H_27(double *state, double *unused, double *out_6630655410075041847) { + out_6630655410075041847[0] = 0; + out_6630655410075041847[1] = 0; + out_6630655410075041847[2] = 0; + out_6630655410075041847[3] = 1; + out_6630655410075041847[4] = 0; + out_6630655410075041847[5] = 0; + out_6630655410075041847[6] = 0; + out_6630655410075041847[7] = 0; + out_6630655410075041847[8] = 0; } -void h_29(double *state, double *unused, double *out_5993151663812096757) { - out_5993151663812096757[0] = state[1]; +void h_29(double *state, double *unused, double *out_1664483007193306623) { + out_1664483007193306623[0] = state[1]; } -void H_29(double *state, double *unused, double *out_846455153192203673) { - out_846455153192203673[0] = 0; - out_846455153192203673[1] = 1; - out_846455153192203673[2] = 0; - out_846455153192203673[3] = 0; - out_846455153192203673[4] = 0; - out_846455153192203673[5] = 0; - out_846455153192203673[6] = 0; - out_846455153192203673[7] = 0; - out_846455153192203673[8] = 0; +void H_29(double *state, double *unused, double *out_3945660753960224752) { + out_3945660753960224752[0] = 0; + out_3945660753960224752[1] = 1; + out_3945660753960224752[2] = 0; + out_3945660753960224752[3] = 0; + out_3945660753960224752[4] = 0; + out_3945660753960224752[5] = 0; + out_3945660753960224752[6] = 0; + out_3945660753960224752[7] = 0; + out_3945660753960224752[8] = 0; } -void h_28(double *state, double *unused, double *out_1136998220371906083) { - out_1136998220371906083[0] = state[0]; +void h_28(double *state, double *unused, double *out_990882427725417615) { + out_990882427725417615[0] = state[0]; } -void H_28(double *state, double *unused, double *out_1117175118373122578) { - out_1117175118373122578[0] = 1; - out_1117175118373122578[1] = 0; - out_1117175118373122578[2] = 0; - out_1117175118373122578[3] = 0; - out_1117175118373122578[4] = 0; - out_1117175118373122578[5] = 0; - out_1117175118373122578[6] = 0; - out_1117175118373122578[7] = 0; - out_1117175118373122578[8] = 0; +void H_28(double *state, double *unused, double *out_1982030482394898501) { + out_1982030482394898501[0] = 1; + out_1982030482394898501[1] = 0; + out_1982030482394898501[2] = 0; + out_1982030482394898501[3] = 0; + out_1982030482394898501[4] = 0; + out_1982030482394898501[5] = 0; + out_1982030482394898501[6] = 0; + out_1982030482394898501[7] = 0; + out_1982030482394898501[8] = 0; } -void h_31(double *state, double *unused, double *out_4228999089596618364) { - out_4228999089596618364[0] = state[8]; +void h_31(double *state, double *unused, double *out_7249833851006067261) { + out_7249833851006067261[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3201655794497972769) { - out_3201655794497972769[0] = 0; - out_3201655794497972769[1] = 0; - out_3201655794497972769[2] = 0; - out_3201655794497972769[3] = 0; - out_3201655794497972769[4] = 0; - out_3201655794497972769[5] = 0; - out_3201655794497972769[6] = 0; - out_3201655794497972769[7] = 0; - out_3201655794497972769[8] = 1; +void H_31(double *state, double *unused, double *out_4295907189254416438) { + out_4295907189254416438[0] = 0; + out_4295907189254416438[1] = 0; + out_4295907189254416438[2] = 0; + out_4295907189254416438[3] = 0; + out_4295907189254416438[4] = 0; + out_4295907189254416438[5] = 0; + out_4295907189254416438[6] = 0; + out_4295907189254416438[7] = 0; + out_4295907189254416438[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_7839106046248465839) { - err_fun(nom_x, delta_x, out_7839106046248465839); +void car_err_fun(double *nom_x, double *delta_x, double *out_822107927183758870) { + err_fun(nom_x, delta_x, out_822107927183758870); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_31659364612209693) { - inv_err_fun(nom_x, true_x, out_31659364612209693); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4567978126636007906) { + inv_err_fun(nom_x, true_x, out_4567978126636007906); } -void car_H_mod_fun(double *state, double *out_6082546015176302038) { - H_mod_fun(state, out_6082546015176302038); +void car_H_mod_fun(double *state, double *out_4866635074780860371) { + H_mod_fun(state, out_4866635074780860371); } -void car_f_fun(double *state, double dt, double *out_6850955649577617071) { - f_fun(state, dt, out_6850955649577617071); +void car_f_fun(double *state, double dt, double *out_982026265070027710) { + f_fun(state, dt, out_982026265070027710); } -void car_F_fun(double *state, double dt, double *out_6972181184240044918) { - F_fun(state, dt, out_6972181184240044918); +void car_F_fun(double *state, double dt, double *out_1254446333762572024) { + F_fun(state, dt, out_1254446333762572024); } -void car_h_25(double *state, double *unused, double *out_6429787098118084800) { - h_25(state, unused, out_6429787098118084800); +void car_h_25(double *state, double *unused, double *out_3612384322752044911) { + h_25(state, unused, out_3612384322752044911); } -void car_H_25(double *state, double *unused, double *out_3171009832621012341) { - H_25(state, unused, out_3171009832621012341); +void car_H_25(double *state, double *unused, double *out_4326553151131376866) { + H_25(state, unused, out_4326553151131376866); } -void car_h_24(double *state, double *unused, double *out_6701597119184761045) { - h_24(state, unused, out_6701597119184761045); +void car_h_24(double *state, double *unused, double *out_5341613571554885336) { + h_24(state, unused, out_5341613571554885336); } -void car_H_24(double *state, double *unused, double *out_998360233615512775) { - H_24(state, unused, out_998360233615512775); +void car_H_24(double *state, double *unused, double *out_2100845367152508304) { + H_24(state, unused, out_2100845367152508304); } -void car_h_30(double *state, double *unused, double *out_5049641810910434322) { - h_30(state, unused, out_5049641810910434322); +void car_h_30(double *state, double *unused, double *out_3337190260467539022) { + h_30(state, unused, out_3337190260467539022); } -void car_H_30(double *state, double *unused, double *out_8359043899596922520) { - H_30(state, unused, out_8359043899596922520); +void car_H_30(double *state, double *unused, double *out_4455892098274616936) { + H_30(state, unused, out_4455892098274616936); } -void car_h_26(double *state, double *unused, double *out_1349399706503414824) { - h_26(state, unused, out_1349399706503414824); +void car_h_26(double *state, double *unused, double *out_2004676975418491541) { + h_26(state, unused, out_2004676975418491541); } -void car_H_26(double *state, double *unused, double *out_570493486253043883) { - H_26(state, unused, out_570493486253043883); +void car_H_26(double *state, double *unused, double *out_8068056470005433090) { + H_26(state, unused, out_8068056470005433090); } -void car_h_27(double *state, double *unused, double *out_1467407100436791568) { - h_27(state, unused, out_1467407100436791568); +void car_h_27(double *state, double *unused, double *out_1389288944908800734) { + h_27(state, unused, out_1389288944908800734); } -void car_H_27(double *state, double *unused, double *out_866907573677347360) { - H_27(state, unused, out_866907573677347360); +void car_H_27(double *state, double *unused, double *out_6630655410075041847) { + H_27(state, unused, out_6630655410075041847); } -void car_h_29(double *state, double *unused, double *out_5993151663812096757) { - h_29(state, unused, out_5993151663812096757); +void car_h_29(double *state, double *unused, double *out_1664483007193306623) { + h_29(state, unused, out_1664483007193306623); } -void car_H_29(double *state, double *unused, double *out_846455153192203673) { - H_29(state, unused, out_846455153192203673); +void car_H_29(double *state, double *unused, double *out_3945660753960224752) { + H_29(state, unused, out_3945660753960224752); } -void car_h_28(double *state, double *unused, double *out_1136998220371906083) { - h_28(state, unused, out_1136998220371906083); +void car_h_28(double *state, double *unused, double *out_990882427725417615) { + h_28(state, unused, out_990882427725417615); } -void car_H_28(double *state, double *unused, double *out_1117175118373122578) { - H_28(state, unused, out_1117175118373122578); +void car_H_28(double *state, double *unused, double *out_1982030482394898501) { + H_28(state, unused, out_1982030482394898501); } -void car_h_31(double *state, double *unused, double *out_4228999089596618364) { - h_31(state, unused, out_4228999089596618364); +void car_h_31(double *state, double *unused, double *out_7249833851006067261) { + h_31(state, unused, out_7249833851006067261); } -void car_H_31(double *state, double *unused, double *out_3201655794497972769) { - H_31(state, unused, out_3201655794497972769); +void car_H_31(double *state, double *unused, double *out_4295907189254416438) { + H_31(state, unused, out_4295907189254416438); } 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 4861d9454..d65d312f5 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_7839106046248465839); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_31659364612209693); -void car_H_mod_fun(double *state, double *out_6082546015176302038); -void car_f_fun(double *state, double dt, double *out_6850955649577617071); -void car_F_fun(double *state, double dt, double *out_6972181184240044918); -void car_h_25(double *state, double *unused, double *out_6429787098118084800); -void car_H_25(double *state, double *unused, double *out_3171009832621012341); -void car_h_24(double *state, double *unused, double *out_6701597119184761045); -void car_H_24(double *state, double *unused, double *out_998360233615512775); -void car_h_30(double *state, double *unused, double *out_5049641810910434322); -void car_H_30(double *state, double *unused, double *out_8359043899596922520); -void car_h_26(double *state, double *unused, double *out_1349399706503414824); -void car_H_26(double *state, double *unused, double *out_570493486253043883); -void car_h_27(double *state, double *unused, double *out_1467407100436791568); -void car_H_27(double *state, double *unused, double *out_866907573677347360); -void car_h_29(double *state, double *unused, double *out_5993151663812096757); -void car_H_29(double *state, double *unused, double *out_846455153192203673); -void car_h_28(double *state, double *unused, double *out_1136998220371906083); -void car_H_28(double *state, double *unused, double *out_1117175118373122578); -void car_h_31(double *state, double *unused, double *out_4228999089596618364); -void car_H_31(double *state, double *unused, double *out_3201655794497972769); +void car_err_fun(double *nom_x, double *delta_x, double *out_822107927183758870); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4567978126636007906); +void car_H_mod_fun(double *state, double *out_4866635074780860371); +void car_f_fun(double *state, double dt, double *out_982026265070027710); +void car_F_fun(double *state, double dt, double *out_1254446333762572024); +void car_h_25(double *state, double *unused, double *out_3612384322752044911); +void car_H_25(double *state, double *unused, double *out_4326553151131376866); +void car_h_24(double *state, double *unused, double *out_5341613571554885336); +void car_H_24(double *state, double *unused, double *out_2100845367152508304); +void car_h_30(double *state, double *unused, double *out_3337190260467539022); +void car_H_30(double *state, double *unused, double *out_4455892098274616936); +void car_h_26(double *state, double *unused, double *out_2004676975418491541); +void car_H_26(double *state, double *unused, double *out_8068056470005433090); +void car_h_27(double *state, double *unused, double *out_1389288944908800734); +void car_H_27(double *state, double *unused, double *out_6630655410075041847); +void car_h_29(double *state, double *unused, double *out_1664483007193306623); +void car_H_29(double *state, double *unused, double *out_3945660753960224752); +void car_h_28(double *state, double *unused, double *out_990882427725417615); +void car_H_28(double *state, double *unused, double *out_1982030482394898501); +void car_h_31(double *state, double *unused, double *out_7249833851006067261); +void car_H_31(double *state, double *unused, double *out_4295907189254416438); 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 c02201ed5..0e4994db6 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_3316982698909296372) { - out_3316982698909296372[0] = delta_x[0] + nom_x[0]; - out_3316982698909296372[1] = delta_x[1] + nom_x[1]; - out_3316982698909296372[2] = delta_x[2] + nom_x[2]; - out_3316982698909296372[3] = delta_x[3] + nom_x[3]; - out_3316982698909296372[4] = delta_x[4] + nom_x[4]; - out_3316982698909296372[5] = delta_x[5] + nom_x[5]; - out_3316982698909296372[6] = delta_x[6] + nom_x[6]; - out_3316982698909296372[7] = delta_x[7] + nom_x[7]; - out_3316982698909296372[8] = delta_x[8] + nom_x[8]; - out_3316982698909296372[9] = delta_x[9] + nom_x[9]; - out_3316982698909296372[10] = delta_x[10] + nom_x[10]; - out_3316982698909296372[11] = delta_x[11] + nom_x[11]; - out_3316982698909296372[12] = delta_x[12] + nom_x[12]; - out_3316982698909296372[13] = delta_x[13] + nom_x[13]; - out_3316982698909296372[14] = delta_x[14] + nom_x[14]; - out_3316982698909296372[15] = delta_x[15] + nom_x[15]; - out_3316982698909296372[16] = delta_x[16] + nom_x[16]; - out_3316982698909296372[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_521051683878790646) { + out_521051683878790646[0] = delta_x[0] + nom_x[0]; + out_521051683878790646[1] = delta_x[1] + nom_x[1]; + out_521051683878790646[2] = delta_x[2] + nom_x[2]; + out_521051683878790646[3] = delta_x[3] + nom_x[3]; + out_521051683878790646[4] = delta_x[4] + nom_x[4]; + out_521051683878790646[5] = delta_x[5] + nom_x[5]; + out_521051683878790646[6] = delta_x[6] + nom_x[6]; + out_521051683878790646[7] = delta_x[7] + nom_x[7]; + out_521051683878790646[8] = delta_x[8] + nom_x[8]; + out_521051683878790646[9] = delta_x[9] + nom_x[9]; + out_521051683878790646[10] = delta_x[10] + nom_x[10]; + out_521051683878790646[11] = delta_x[11] + nom_x[11]; + out_521051683878790646[12] = delta_x[12] + nom_x[12]; + out_521051683878790646[13] = delta_x[13] + nom_x[13]; + out_521051683878790646[14] = delta_x[14] + nom_x[14]; + out_521051683878790646[15] = delta_x[15] + nom_x[15]; + out_521051683878790646[16] = delta_x[16] + nom_x[16]; + out_521051683878790646[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_875278244398304479) { - out_875278244398304479[0] = -nom_x[0] + true_x[0]; - out_875278244398304479[1] = -nom_x[1] + true_x[1]; - out_875278244398304479[2] = -nom_x[2] + true_x[2]; - out_875278244398304479[3] = -nom_x[3] + true_x[3]; - out_875278244398304479[4] = -nom_x[4] + true_x[4]; - out_875278244398304479[5] = -nom_x[5] + true_x[5]; - out_875278244398304479[6] = -nom_x[6] + true_x[6]; - out_875278244398304479[7] = -nom_x[7] + true_x[7]; - out_875278244398304479[8] = -nom_x[8] + true_x[8]; - out_875278244398304479[9] = -nom_x[9] + true_x[9]; - out_875278244398304479[10] = -nom_x[10] + true_x[10]; - out_875278244398304479[11] = -nom_x[11] + true_x[11]; - out_875278244398304479[12] = -nom_x[12] + true_x[12]; - out_875278244398304479[13] = -nom_x[13] + true_x[13]; - out_875278244398304479[14] = -nom_x[14] + true_x[14]; - out_875278244398304479[15] = -nom_x[15] + true_x[15]; - out_875278244398304479[16] = -nom_x[16] + true_x[16]; - out_875278244398304479[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_210058828153721645) { + out_210058828153721645[0] = -nom_x[0] + true_x[0]; + out_210058828153721645[1] = -nom_x[1] + true_x[1]; + out_210058828153721645[2] = -nom_x[2] + true_x[2]; + out_210058828153721645[3] = -nom_x[3] + true_x[3]; + out_210058828153721645[4] = -nom_x[4] + true_x[4]; + out_210058828153721645[5] = -nom_x[5] + true_x[5]; + out_210058828153721645[6] = -nom_x[6] + true_x[6]; + out_210058828153721645[7] = -nom_x[7] + true_x[7]; + out_210058828153721645[8] = -nom_x[8] + true_x[8]; + out_210058828153721645[9] = -nom_x[9] + true_x[9]; + out_210058828153721645[10] = -nom_x[10] + true_x[10]; + out_210058828153721645[11] = -nom_x[11] + true_x[11]; + out_210058828153721645[12] = -nom_x[12] + true_x[12]; + out_210058828153721645[13] = -nom_x[13] + true_x[13]; + out_210058828153721645[14] = -nom_x[14] + true_x[14]; + out_210058828153721645[15] = -nom_x[15] + true_x[15]; + out_210058828153721645[16] = -nom_x[16] + true_x[16]; + out_210058828153721645[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4269788700262626124) { - out_4269788700262626124[0] = 1.0; - out_4269788700262626124[1] = 0.0; - out_4269788700262626124[2] = 0.0; - out_4269788700262626124[3] = 0.0; - out_4269788700262626124[4] = 0.0; - out_4269788700262626124[5] = 0.0; - out_4269788700262626124[6] = 0.0; - out_4269788700262626124[7] = 0.0; - out_4269788700262626124[8] = 0.0; - out_4269788700262626124[9] = 0.0; - out_4269788700262626124[10] = 0.0; - out_4269788700262626124[11] = 0.0; - out_4269788700262626124[12] = 0.0; - out_4269788700262626124[13] = 0.0; - out_4269788700262626124[14] = 0.0; - out_4269788700262626124[15] = 0.0; - out_4269788700262626124[16] = 0.0; - out_4269788700262626124[17] = 0.0; - out_4269788700262626124[18] = 0.0; - out_4269788700262626124[19] = 1.0; - out_4269788700262626124[20] = 0.0; - out_4269788700262626124[21] = 0.0; - out_4269788700262626124[22] = 0.0; - out_4269788700262626124[23] = 0.0; - out_4269788700262626124[24] = 0.0; - out_4269788700262626124[25] = 0.0; - out_4269788700262626124[26] = 0.0; - out_4269788700262626124[27] = 0.0; - out_4269788700262626124[28] = 0.0; - out_4269788700262626124[29] = 0.0; - out_4269788700262626124[30] = 0.0; - out_4269788700262626124[31] = 0.0; - out_4269788700262626124[32] = 0.0; - out_4269788700262626124[33] = 0.0; - out_4269788700262626124[34] = 0.0; - out_4269788700262626124[35] = 0.0; - out_4269788700262626124[36] = 0.0; - out_4269788700262626124[37] = 0.0; - out_4269788700262626124[38] = 1.0; - out_4269788700262626124[39] = 0.0; - out_4269788700262626124[40] = 0.0; - out_4269788700262626124[41] = 0.0; - out_4269788700262626124[42] = 0.0; - out_4269788700262626124[43] = 0.0; - out_4269788700262626124[44] = 0.0; - out_4269788700262626124[45] = 0.0; - out_4269788700262626124[46] = 0.0; - out_4269788700262626124[47] = 0.0; - out_4269788700262626124[48] = 0.0; - out_4269788700262626124[49] = 0.0; - out_4269788700262626124[50] = 0.0; - out_4269788700262626124[51] = 0.0; - out_4269788700262626124[52] = 0.0; - out_4269788700262626124[53] = 0.0; - out_4269788700262626124[54] = 0.0; - out_4269788700262626124[55] = 0.0; - out_4269788700262626124[56] = 0.0; - out_4269788700262626124[57] = 1.0; - out_4269788700262626124[58] = 0.0; - out_4269788700262626124[59] = 0.0; - out_4269788700262626124[60] = 0.0; - out_4269788700262626124[61] = 0.0; - out_4269788700262626124[62] = 0.0; - out_4269788700262626124[63] = 0.0; - out_4269788700262626124[64] = 0.0; - out_4269788700262626124[65] = 0.0; - out_4269788700262626124[66] = 0.0; - out_4269788700262626124[67] = 0.0; - out_4269788700262626124[68] = 0.0; - out_4269788700262626124[69] = 0.0; - out_4269788700262626124[70] = 0.0; - out_4269788700262626124[71] = 0.0; - out_4269788700262626124[72] = 0.0; - out_4269788700262626124[73] = 0.0; - out_4269788700262626124[74] = 0.0; - out_4269788700262626124[75] = 0.0; - out_4269788700262626124[76] = 1.0; - out_4269788700262626124[77] = 0.0; - out_4269788700262626124[78] = 0.0; - out_4269788700262626124[79] = 0.0; - out_4269788700262626124[80] = 0.0; - out_4269788700262626124[81] = 0.0; - out_4269788700262626124[82] = 0.0; - out_4269788700262626124[83] = 0.0; - out_4269788700262626124[84] = 0.0; - out_4269788700262626124[85] = 0.0; - out_4269788700262626124[86] = 0.0; - out_4269788700262626124[87] = 0.0; - out_4269788700262626124[88] = 0.0; - out_4269788700262626124[89] = 0.0; - out_4269788700262626124[90] = 0.0; - out_4269788700262626124[91] = 0.0; - out_4269788700262626124[92] = 0.0; - out_4269788700262626124[93] = 0.0; - out_4269788700262626124[94] = 0.0; - out_4269788700262626124[95] = 1.0; - out_4269788700262626124[96] = 0.0; - out_4269788700262626124[97] = 0.0; - out_4269788700262626124[98] = 0.0; - out_4269788700262626124[99] = 0.0; - out_4269788700262626124[100] = 0.0; - out_4269788700262626124[101] = 0.0; - out_4269788700262626124[102] = 0.0; - out_4269788700262626124[103] = 0.0; - out_4269788700262626124[104] = 0.0; - out_4269788700262626124[105] = 0.0; - out_4269788700262626124[106] = 0.0; - out_4269788700262626124[107] = 0.0; - out_4269788700262626124[108] = 0.0; - out_4269788700262626124[109] = 0.0; - out_4269788700262626124[110] = 0.0; - out_4269788700262626124[111] = 0.0; - out_4269788700262626124[112] = 0.0; - out_4269788700262626124[113] = 0.0; - out_4269788700262626124[114] = 1.0; - out_4269788700262626124[115] = 0.0; - out_4269788700262626124[116] = 0.0; - out_4269788700262626124[117] = 0.0; - out_4269788700262626124[118] = 0.0; - out_4269788700262626124[119] = 0.0; - out_4269788700262626124[120] = 0.0; - out_4269788700262626124[121] = 0.0; - out_4269788700262626124[122] = 0.0; - out_4269788700262626124[123] = 0.0; - out_4269788700262626124[124] = 0.0; - out_4269788700262626124[125] = 0.0; - out_4269788700262626124[126] = 0.0; - out_4269788700262626124[127] = 0.0; - out_4269788700262626124[128] = 0.0; - out_4269788700262626124[129] = 0.0; - out_4269788700262626124[130] = 0.0; - out_4269788700262626124[131] = 0.0; - out_4269788700262626124[132] = 0.0; - out_4269788700262626124[133] = 1.0; - out_4269788700262626124[134] = 0.0; - out_4269788700262626124[135] = 0.0; - out_4269788700262626124[136] = 0.0; - out_4269788700262626124[137] = 0.0; - out_4269788700262626124[138] = 0.0; - out_4269788700262626124[139] = 0.0; - out_4269788700262626124[140] = 0.0; - out_4269788700262626124[141] = 0.0; - out_4269788700262626124[142] = 0.0; - out_4269788700262626124[143] = 0.0; - out_4269788700262626124[144] = 0.0; - out_4269788700262626124[145] = 0.0; - out_4269788700262626124[146] = 0.0; - out_4269788700262626124[147] = 0.0; - out_4269788700262626124[148] = 0.0; - out_4269788700262626124[149] = 0.0; - out_4269788700262626124[150] = 0.0; - out_4269788700262626124[151] = 0.0; - out_4269788700262626124[152] = 1.0; - out_4269788700262626124[153] = 0.0; - out_4269788700262626124[154] = 0.0; - out_4269788700262626124[155] = 0.0; - out_4269788700262626124[156] = 0.0; - out_4269788700262626124[157] = 0.0; - out_4269788700262626124[158] = 0.0; - out_4269788700262626124[159] = 0.0; - out_4269788700262626124[160] = 0.0; - out_4269788700262626124[161] = 0.0; - out_4269788700262626124[162] = 0.0; - out_4269788700262626124[163] = 0.0; - out_4269788700262626124[164] = 0.0; - out_4269788700262626124[165] = 0.0; - out_4269788700262626124[166] = 0.0; - out_4269788700262626124[167] = 0.0; - out_4269788700262626124[168] = 0.0; - out_4269788700262626124[169] = 0.0; - out_4269788700262626124[170] = 0.0; - out_4269788700262626124[171] = 1.0; - out_4269788700262626124[172] = 0.0; - out_4269788700262626124[173] = 0.0; - out_4269788700262626124[174] = 0.0; - out_4269788700262626124[175] = 0.0; - out_4269788700262626124[176] = 0.0; - out_4269788700262626124[177] = 0.0; - out_4269788700262626124[178] = 0.0; - out_4269788700262626124[179] = 0.0; - out_4269788700262626124[180] = 0.0; - out_4269788700262626124[181] = 0.0; - out_4269788700262626124[182] = 0.0; - out_4269788700262626124[183] = 0.0; - out_4269788700262626124[184] = 0.0; - out_4269788700262626124[185] = 0.0; - out_4269788700262626124[186] = 0.0; - out_4269788700262626124[187] = 0.0; - out_4269788700262626124[188] = 0.0; - out_4269788700262626124[189] = 0.0; - out_4269788700262626124[190] = 1.0; - out_4269788700262626124[191] = 0.0; - out_4269788700262626124[192] = 0.0; - out_4269788700262626124[193] = 0.0; - out_4269788700262626124[194] = 0.0; - out_4269788700262626124[195] = 0.0; - out_4269788700262626124[196] = 0.0; - out_4269788700262626124[197] = 0.0; - out_4269788700262626124[198] = 0.0; - out_4269788700262626124[199] = 0.0; - out_4269788700262626124[200] = 0.0; - out_4269788700262626124[201] = 0.0; - out_4269788700262626124[202] = 0.0; - out_4269788700262626124[203] = 0.0; - out_4269788700262626124[204] = 0.0; - out_4269788700262626124[205] = 0.0; - out_4269788700262626124[206] = 0.0; - out_4269788700262626124[207] = 0.0; - out_4269788700262626124[208] = 0.0; - out_4269788700262626124[209] = 1.0; - out_4269788700262626124[210] = 0.0; - out_4269788700262626124[211] = 0.0; - out_4269788700262626124[212] = 0.0; - out_4269788700262626124[213] = 0.0; - out_4269788700262626124[214] = 0.0; - out_4269788700262626124[215] = 0.0; - out_4269788700262626124[216] = 0.0; - out_4269788700262626124[217] = 0.0; - out_4269788700262626124[218] = 0.0; - out_4269788700262626124[219] = 0.0; - out_4269788700262626124[220] = 0.0; - out_4269788700262626124[221] = 0.0; - out_4269788700262626124[222] = 0.0; - out_4269788700262626124[223] = 0.0; - out_4269788700262626124[224] = 0.0; - out_4269788700262626124[225] = 0.0; - out_4269788700262626124[226] = 0.0; - out_4269788700262626124[227] = 0.0; - out_4269788700262626124[228] = 1.0; - out_4269788700262626124[229] = 0.0; - out_4269788700262626124[230] = 0.0; - out_4269788700262626124[231] = 0.0; - out_4269788700262626124[232] = 0.0; - out_4269788700262626124[233] = 0.0; - out_4269788700262626124[234] = 0.0; - out_4269788700262626124[235] = 0.0; - out_4269788700262626124[236] = 0.0; - out_4269788700262626124[237] = 0.0; - out_4269788700262626124[238] = 0.0; - out_4269788700262626124[239] = 0.0; - out_4269788700262626124[240] = 0.0; - out_4269788700262626124[241] = 0.0; - out_4269788700262626124[242] = 0.0; - out_4269788700262626124[243] = 0.0; - out_4269788700262626124[244] = 0.0; - out_4269788700262626124[245] = 0.0; - out_4269788700262626124[246] = 0.0; - out_4269788700262626124[247] = 1.0; - out_4269788700262626124[248] = 0.0; - out_4269788700262626124[249] = 0.0; - out_4269788700262626124[250] = 0.0; - out_4269788700262626124[251] = 0.0; - out_4269788700262626124[252] = 0.0; - out_4269788700262626124[253] = 0.0; - out_4269788700262626124[254] = 0.0; - out_4269788700262626124[255] = 0.0; - out_4269788700262626124[256] = 0.0; - out_4269788700262626124[257] = 0.0; - out_4269788700262626124[258] = 0.0; - out_4269788700262626124[259] = 0.0; - out_4269788700262626124[260] = 0.0; - out_4269788700262626124[261] = 0.0; - out_4269788700262626124[262] = 0.0; - out_4269788700262626124[263] = 0.0; - out_4269788700262626124[264] = 0.0; - out_4269788700262626124[265] = 0.0; - out_4269788700262626124[266] = 1.0; - out_4269788700262626124[267] = 0.0; - out_4269788700262626124[268] = 0.0; - out_4269788700262626124[269] = 0.0; - out_4269788700262626124[270] = 0.0; - out_4269788700262626124[271] = 0.0; - out_4269788700262626124[272] = 0.0; - out_4269788700262626124[273] = 0.0; - out_4269788700262626124[274] = 0.0; - out_4269788700262626124[275] = 0.0; - out_4269788700262626124[276] = 0.0; - out_4269788700262626124[277] = 0.0; - out_4269788700262626124[278] = 0.0; - out_4269788700262626124[279] = 0.0; - out_4269788700262626124[280] = 0.0; - out_4269788700262626124[281] = 0.0; - out_4269788700262626124[282] = 0.0; - out_4269788700262626124[283] = 0.0; - out_4269788700262626124[284] = 0.0; - out_4269788700262626124[285] = 1.0; - out_4269788700262626124[286] = 0.0; - out_4269788700262626124[287] = 0.0; - out_4269788700262626124[288] = 0.0; - out_4269788700262626124[289] = 0.0; - out_4269788700262626124[290] = 0.0; - out_4269788700262626124[291] = 0.0; - out_4269788700262626124[292] = 0.0; - out_4269788700262626124[293] = 0.0; - out_4269788700262626124[294] = 0.0; - out_4269788700262626124[295] = 0.0; - out_4269788700262626124[296] = 0.0; - out_4269788700262626124[297] = 0.0; - out_4269788700262626124[298] = 0.0; - out_4269788700262626124[299] = 0.0; - out_4269788700262626124[300] = 0.0; - out_4269788700262626124[301] = 0.0; - out_4269788700262626124[302] = 0.0; - out_4269788700262626124[303] = 0.0; - out_4269788700262626124[304] = 1.0; - out_4269788700262626124[305] = 0.0; - out_4269788700262626124[306] = 0.0; - out_4269788700262626124[307] = 0.0; - out_4269788700262626124[308] = 0.0; - out_4269788700262626124[309] = 0.0; - out_4269788700262626124[310] = 0.0; - out_4269788700262626124[311] = 0.0; - out_4269788700262626124[312] = 0.0; - out_4269788700262626124[313] = 0.0; - out_4269788700262626124[314] = 0.0; - out_4269788700262626124[315] = 0.0; - out_4269788700262626124[316] = 0.0; - out_4269788700262626124[317] = 0.0; - out_4269788700262626124[318] = 0.0; - out_4269788700262626124[319] = 0.0; - out_4269788700262626124[320] = 0.0; - out_4269788700262626124[321] = 0.0; - out_4269788700262626124[322] = 0.0; - out_4269788700262626124[323] = 1.0; +void H_mod_fun(double *state, double *out_4312613236564964080) { + out_4312613236564964080[0] = 1.0; + out_4312613236564964080[1] = 0.0; + out_4312613236564964080[2] = 0.0; + out_4312613236564964080[3] = 0.0; + out_4312613236564964080[4] = 0.0; + out_4312613236564964080[5] = 0.0; + out_4312613236564964080[6] = 0.0; + out_4312613236564964080[7] = 0.0; + out_4312613236564964080[8] = 0.0; + out_4312613236564964080[9] = 0.0; + out_4312613236564964080[10] = 0.0; + out_4312613236564964080[11] = 0.0; + out_4312613236564964080[12] = 0.0; + out_4312613236564964080[13] = 0.0; + out_4312613236564964080[14] = 0.0; + out_4312613236564964080[15] = 0.0; + out_4312613236564964080[16] = 0.0; + out_4312613236564964080[17] = 0.0; + out_4312613236564964080[18] = 0.0; + out_4312613236564964080[19] = 1.0; + out_4312613236564964080[20] = 0.0; + out_4312613236564964080[21] = 0.0; + out_4312613236564964080[22] = 0.0; + out_4312613236564964080[23] = 0.0; + out_4312613236564964080[24] = 0.0; + out_4312613236564964080[25] = 0.0; + out_4312613236564964080[26] = 0.0; + out_4312613236564964080[27] = 0.0; + out_4312613236564964080[28] = 0.0; + out_4312613236564964080[29] = 0.0; + out_4312613236564964080[30] = 0.0; + out_4312613236564964080[31] = 0.0; + out_4312613236564964080[32] = 0.0; + out_4312613236564964080[33] = 0.0; + out_4312613236564964080[34] = 0.0; + out_4312613236564964080[35] = 0.0; + out_4312613236564964080[36] = 0.0; + out_4312613236564964080[37] = 0.0; + out_4312613236564964080[38] = 1.0; + out_4312613236564964080[39] = 0.0; + out_4312613236564964080[40] = 0.0; + out_4312613236564964080[41] = 0.0; + out_4312613236564964080[42] = 0.0; + out_4312613236564964080[43] = 0.0; + out_4312613236564964080[44] = 0.0; + out_4312613236564964080[45] = 0.0; + out_4312613236564964080[46] = 0.0; + out_4312613236564964080[47] = 0.0; + out_4312613236564964080[48] = 0.0; + out_4312613236564964080[49] = 0.0; + out_4312613236564964080[50] = 0.0; + out_4312613236564964080[51] = 0.0; + out_4312613236564964080[52] = 0.0; + out_4312613236564964080[53] = 0.0; + out_4312613236564964080[54] = 0.0; + out_4312613236564964080[55] = 0.0; + out_4312613236564964080[56] = 0.0; + out_4312613236564964080[57] = 1.0; + out_4312613236564964080[58] = 0.0; + out_4312613236564964080[59] = 0.0; + out_4312613236564964080[60] = 0.0; + out_4312613236564964080[61] = 0.0; + out_4312613236564964080[62] = 0.0; + out_4312613236564964080[63] = 0.0; + out_4312613236564964080[64] = 0.0; + out_4312613236564964080[65] = 0.0; + out_4312613236564964080[66] = 0.0; + out_4312613236564964080[67] = 0.0; + out_4312613236564964080[68] = 0.0; + out_4312613236564964080[69] = 0.0; + out_4312613236564964080[70] = 0.0; + out_4312613236564964080[71] = 0.0; + out_4312613236564964080[72] = 0.0; + out_4312613236564964080[73] = 0.0; + out_4312613236564964080[74] = 0.0; + out_4312613236564964080[75] = 0.0; + out_4312613236564964080[76] = 1.0; + out_4312613236564964080[77] = 0.0; + out_4312613236564964080[78] = 0.0; + out_4312613236564964080[79] = 0.0; + out_4312613236564964080[80] = 0.0; + out_4312613236564964080[81] = 0.0; + out_4312613236564964080[82] = 0.0; + out_4312613236564964080[83] = 0.0; + out_4312613236564964080[84] = 0.0; + out_4312613236564964080[85] = 0.0; + out_4312613236564964080[86] = 0.0; + out_4312613236564964080[87] = 0.0; + out_4312613236564964080[88] = 0.0; + out_4312613236564964080[89] = 0.0; + out_4312613236564964080[90] = 0.0; + out_4312613236564964080[91] = 0.0; + out_4312613236564964080[92] = 0.0; + out_4312613236564964080[93] = 0.0; + out_4312613236564964080[94] = 0.0; + out_4312613236564964080[95] = 1.0; + out_4312613236564964080[96] = 0.0; + out_4312613236564964080[97] = 0.0; + out_4312613236564964080[98] = 0.0; + out_4312613236564964080[99] = 0.0; + out_4312613236564964080[100] = 0.0; + out_4312613236564964080[101] = 0.0; + out_4312613236564964080[102] = 0.0; + out_4312613236564964080[103] = 0.0; + out_4312613236564964080[104] = 0.0; + out_4312613236564964080[105] = 0.0; + out_4312613236564964080[106] = 0.0; + out_4312613236564964080[107] = 0.0; + out_4312613236564964080[108] = 0.0; + out_4312613236564964080[109] = 0.0; + out_4312613236564964080[110] = 0.0; + out_4312613236564964080[111] = 0.0; + out_4312613236564964080[112] = 0.0; + out_4312613236564964080[113] = 0.0; + out_4312613236564964080[114] = 1.0; + out_4312613236564964080[115] = 0.0; + out_4312613236564964080[116] = 0.0; + out_4312613236564964080[117] = 0.0; + out_4312613236564964080[118] = 0.0; + out_4312613236564964080[119] = 0.0; + out_4312613236564964080[120] = 0.0; + out_4312613236564964080[121] = 0.0; + out_4312613236564964080[122] = 0.0; + out_4312613236564964080[123] = 0.0; + out_4312613236564964080[124] = 0.0; + out_4312613236564964080[125] = 0.0; + out_4312613236564964080[126] = 0.0; + out_4312613236564964080[127] = 0.0; + out_4312613236564964080[128] = 0.0; + out_4312613236564964080[129] = 0.0; + out_4312613236564964080[130] = 0.0; + out_4312613236564964080[131] = 0.0; + out_4312613236564964080[132] = 0.0; + out_4312613236564964080[133] = 1.0; + out_4312613236564964080[134] = 0.0; + out_4312613236564964080[135] = 0.0; + out_4312613236564964080[136] = 0.0; + out_4312613236564964080[137] = 0.0; + out_4312613236564964080[138] = 0.0; + out_4312613236564964080[139] = 0.0; + out_4312613236564964080[140] = 0.0; + out_4312613236564964080[141] = 0.0; + out_4312613236564964080[142] = 0.0; + out_4312613236564964080[143] = 0.0; + out_4312613236564964080[144] = 0.0; + out_4312613236564964080[145] = 0.0; + out_4312613236564964080[146] = 0.0; + out_4312613236564964080[147] = 0.0; + out_4312613236564964080[148] = 0.0; + out_4312613236564964080[149] = 0.0; + out_4312613236564964080[150] = 0.0; + out_4312613236564964080[151] = 0.0; + out_4312613236564964080[152] = 1.0; + out_4312613236564964080[153] = 0.0; + out_4312613236564964080[154] = 0.0; + out_4312613236564964080[155] = 0.0; + out_4312613236564964080[156] = 0.0; + out_4312613236564964080[157] = 0.0; + out_4312613236564964080[158] = 0.0; + out_4312613236564964080[159] = 0.0; + out_4312613236564964080[160] = 0.0; + out_4312613236564964080[161] = 0.0; + out_4312613236564964080[162] = 0.0; + out_4312613236564964080[163] = 0.0; + out_4312613236564964080[164] = 0.0; + out_4312613236564964080[165] = 0.0; + out_4312613236564964080[166] = 0.0; + out_4312613236564964080[167] = 0.0; + out_4312613236564964080[168] = 0.0; + out_4312613236564964080[169] = 0.0; + out_4312613236564964080[170] = 0.0; + out_4312613236564964080[171] = 1.0; + out_4312613236564964080[172] = 0.0; + out_4312613236564964080[173] = 0.0; + out_4312613236564964080[174] = 0.0; + out_4312613236564964080[175] = 0.0; + out_4312613236564964080[176] = 0.0; + out_4312613236564964080[177] = 0.0; + out_4312613236564964080[178] = 0.0; + out_4312613236564964080[179] = 0.0; + out_4312613236564964080[180] = 0.0; + out_4312613236564964080[181] = 0.0; + out_4312613236564964080[182] = 0.0; + out_4312613236564964080[183] = 0.0; + out_4312613236564964080[184] = 0.0; + out_4312613236564964080[185] = 0.0; + out_4312613236564964080[186] = 0.0; + out_4312613236564964080[187] = 0.0; + out_4312613236564964080[188] = 0.0; + out_4312613236564964080[189] = 0.0; + out_4312613236564964080[190] = 1.0; + out_4312613236564964080[191] = 0.0; + out_4312613236564964080[192] = 0.0; + out_4312613236564964080[193] = 0.0; + out_4312613236564964080[194] = 0.0; + out_4312613236564964080[195] = 0.0; + out_4312613236564964080[196] = 0.0; + out_4312613236564964080[197] = 0.0; + out_4312613236564964080[198] = 0.0; + out_4312613236564964080[199] = 0.0; + out_4312613236564964080[200] = 0.0; + out_4312613236564964080[201] = 0.0; + out_4312613236564964080[202] = 0.0; + out_4312613236564964080[203] = 0.0; + out_4312613236564964080[204] = 0.0; + out_4312613236564964080[205] = 0.0; + out_4312613236564964080[206] = 0.0; + out_4312613236564964080[207] = 0.0; + out_4312613236564964080[208] = 0.0; + out_4312613236564964080[209] = 1.0; + out_4312613236564964080[210] = 0.0; + out_4312613236564964080[211] = 0.0; + out_4312613236564964080[212] = 0.0; + out_4312613236564964080[213] = 0.0; + out_4312613236564964080[214] = 0.0; + out_4312613236564964080[215] = 0.0; + out_4312613236564964080[216] = 0.0; + out_4312613236564964080[217] = 0.0; + out_4312613236564964080[218] = 0.0; + out_4312613236564964080[219] = 0.0; + out_4312613236564964080[220] = 0.0; + out_4312613236564964080[221] = 0.0; + out_4312613236564964080[222] = 0.0; + out_4312613236564964080[223] = 0.0; + out_4312613236564964080[224] = 0.0; + out_4312613236564964080[225] = 0.0; + out_4312613236564964080[226] = 0.0; + out_4312613236564964080[227] = 0.0; + out_4312613236564964080[228] = 1.0; + out_4312613236564964080[229] = 0.0; + out_4312613236564964080[230] = 0.0; + out_4312613236564964080[231] = 0.0; + out_4312613236564964080[232] = 0.0; + out_4312613236564964080[233] = 0.0; + out_4312613236564964080[234] = 0.0; + out_4312613236564964080[235] = 0.0; + out_4312613236564964080[236] = 0.0; + out_4312613236564964080[237] = 0.0; + out_4312613236564964080[238] = 0.0; + out_4312613236564964080[239] = 0.0; + out_4312613236564964080[240] = 0.0; + out_4312613236564964080[241] = 0.0; + out_4312613236564964080[242] = 0.0; + out_4312613236564964080[243] = 0.0; + out_4312613236564964080[244] = 0.0; + out_4312613236564964080[245] = 0.0; + out_4312613236564964080[246] = 0.0; + out_4312613236564964080[247] = 1.0; + out_4312613236564964080[248] = 0.0; + out_4312613236564964080[249] = 0.0; + out_4312613236564964080[250] = 0.0; + out_4312613236564964080[251] = 0.0; + out_4312613236564964080[252] = 0.0; + out_4312613236564964080[253] = 0.0; + out_4312613236564964080[254] = 0.0; + out_4312613236564964080[255] = 0.0; + out_4312613236564964080[256] = 0.0; + out_4312613236564964080[257] = 0.0; + out_4312613236564964080[258] = 0.0; + out_4312613236564964080[259] = 0.0; + out_4312613236564964080[260] = 0.0; + out_4312613236564964080[261] = 0.0; + out_4312613236564964080[262] = 0.0; + out_4312613236564964080[263] = 0.0; + out_4312613236564964080[264] = 0.0; + out_4312613236564964080[265] = 0.0; + out_4312613236564964080[266] = 1.0; + out_4312613236564964080[267] = 0.0; + out_4312613236564964080[268] = 0.0; + out_4312613236564964080[269] = 0.0; + out_4312613236564964080[270] = 0.0; + out_4312613236564964080[271] = 0.0; + out_4312613236564964080[272] = 0.0; + out_4312613236564964080[273] = 0.0; + out_4312613236564964080[274] = 0.0; + out_4312613236564964080[275] = 0.0; + out_4312613236564964080[276] = 0.0; + out_4312613236564964080[277] = 0.0; + out_4312613236564964080[278] = 0.0; + out_4312613236564964080[279] = 0.0; + out_4312613236564964080[280] = 0.0; + out_4312613236564964080[281] = 0.0; + out_4312613236564964080[282] = 0.0; + out_4312613236564964080[283] = 0.0; + out_4312613236564964080[284] = 0.0; + out_4312613236564964080[285] = 1.0; + out_4312613236564964080[286] = 0.0; + out_4312613236564964080[287] = 0.0; + out_4312613236564964080[288] = 0.0; + out_4312613236564964080[289] = 0.0; + out_4312613236564964080[290] = 0.0; + out_4312613236564964080[291] = 0.0; + out_4312613236564964080[292] = 0.0; + out_4312613236564964080[293] = 0.0; + out_4312613236564964080[294] = 0.0; + out_4312613236564964080[295] = 0.0; + out_4312613236564964080[296] = 0.0; + out_4312613236564964080[297] = 0.0; + out_4312613236564964080[298] = 0.0; + out_4312613236564964080[299] = 0.0; + out_4312613236564964080[300] = 0.0; + out_4312613236564964080[301] = 0.0; + out_4312613236564964080[302] = 0.0; + out_4312613236564964080[303] = 0.0; + out_4312613236564964080[304] = 1.0; + out_4312613236564964080[305] = 0.0; + out_4312613236564964080[306] = 0.0; + out_4312613236564964080[307] = 0.0; + out_4312613236564964080[308] = 0.0; + out_4312613236564964080[309] = 0.0; + out_4312613236564964080[310] = 0.0; + out_4312613236564964080[311] = 0.0; + out_4312613236564964080[312] = 0.0; + out_4312613236564964080[313] = 0.0; + out_4312613236564964080[314] = 0.0; + out_4312613236564964080[315] = 0.0; + out_4312613236564964080[316] = 0.0; + out_4312613236564964080[317] = 0.0; + out_4312613236564964080[318] = 0.0; + out_4312613236564964080[319] = 0.0; + out_4312613236564964080[320] = 0.0; + out_4312613236564964080[321] = 0.0; + out_4312613236564964080[322] = 0.0; + out_4312613236564964080[323] = 1.0; } -void f_fun(double *state, double dt, double *out_3692668602312034618) { - out_3692668602312034618[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_3692668602312034618[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_3692668602312034618[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_3692668602312034618[3] = dt*state[12] + state[3]; - out_3692668602312034618[4] = dt*state[13] + state[4]; - out_3692668602312034618[5] = dt*state[14] + state[5]; - out_3692668602312034618[6] = state[6]; - out_3692668602312034618[7] = state[7]; - out_3692668602312034618[8] = state[8]; - out_3692668602312034618[9] = state[9]; - out_3692668602312034618[10] = state[10]; - out_3692668602312034618[11] = state[11]; - out_3692668602312034618[12] = state[12]; - out_3692668602312034618[13] = state[13]; - out_3692668602312034618[14] = state[14]; - out_3692668602312034618[15] = state[15]; - out_3692668602312034618[16] = state[16]; - out_3692668602312034618[17] = state[17]; +void f_fun(double *state, double dt, double *out_7807614062433422920) { + out_7807614062433422920[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_7807614062433422920[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_7807614062433422920[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_7807614062433422920[3] = dt*state[12] + state[3]; + out_7807614062433422920[4] = dt*state[13] + state[4]; + out_7807614062433422920[5] = dt*state[14] + state[5]; + out_7807614062433422920[6] = state[6]; + out_7807614062433422920[7] = state[7]; + out_7807614062433422920[8] = state[8]; + out_7807614062433422920[9] = state[9]; + out_7807614062433422920[10] = state[10]; + out_7807614062433422920[11] = state[11]; + out_7807614062433422920[12] = state[12]; + out_7807614062433422920[13] = state[13]; + out_7807614062433422920[14] = state[14]; + out_7807614062433422920[15] = state[15]; + out_7807614062433422920[16] = state[16]; + out_7807614062433422920[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2955282305521857746) { - out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[2] = 0; - out_2955282305521857746[3] = 0; - out_2955282305521857746[4] = 0; - out_2955282305521857746[5] = 0; - out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[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_2955282305521857746[9] = 0; - out_2955282305521857746[10] = 0; - out_2955282305521857746[11] = 0; - out_2955282305521857746[12] = 0; - out_2955282305521857746[13] = 0; - out_2955282305521857746[14] = 0; - out_2955282305521857746[15] = 0; - out_2955282305521857746[16] = 0; - out_2955282305521857746[17] = 0; - out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[20] = 0; - out_2955282305521857746[21] = 0; - out_2955282305521857746[22] = 0; - out_2955282305521857746[23] = 0; - out_2955282305521857746[24] = 0; - out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[27] = 0; - out_2955282305521857746[28] = 0; - out_2955282305521857746[29] = 0; - out_2955282305521857746[30] = 0; - out_2955282305521857746[31] = 0; - out_2955282305521857746[32] = 0; - out_2955282305521857746[33] = 0; - out_2955282305521857746[34] = 0; - out_2955282305521857746[35] = 0; - out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[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_2955282305521857746[39] = 0; - out_2955282305521857746[40] = 0; - out_2955282305521857746[41] = 0; - out_2955282305521857746[42] = 0; - out_2955282305521857746[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_2955282305521857746[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_2955282305521857746[45] = 0; - out_2955282305521857746[46] = 0; - out_2955282305521857746[47] = 0; - out_2955282305521857746[48] = 0; - out_2955282305521857746[49] = 0; - out_2955282305521857746[50] = 0; - out_2955282305521857746[51] = 0; - out_2955282305521857746[52] = 0; - out_2955282305521857746[53] = 0; - out_2955282305521857746[54] = 0; - out_2955282305521857746[55] = 0; - out_2955282305521857746[56] = 0; - out_2955282305521857746[57] = 1; - out_2955282305521857746[58] = 0; - out_2955282305521857746[59] = 0; - out_2955282305521857746[60] = 0; - out_2955282305521857746[61] = 0; - out_2955282305521857746[62] = 0; - out_2955282305521857746[63] = 0; - out_2955282305521857746[64] = 0; - out_2955282305521857746[65] = 0; - out_2955282305521857746[66] = dt; - out_2955282305521857746[67] = 0; - out_2955282305521857746[68] = 0; - out_2955282305521857746[69] = 0; - out_2955282305521857746[70] = 0; - out_2955282305521857746[71] = 0; - out_2955282305521857746[72] = 0; - out_2955282305521857746[73] = 0; - out_2955282305521857746[74] = 0; - out_2955282305521857746[75] = 0; - out_2955282305521857746[76] = 1; - out_2955282305521857746[77] = 0; - out_2955282305521857746[78] = 0; - out_2955282305521857746[79] = 0; - out_2955282305521857746[80] = 0; - out_2955282305521857746[81] = 0; - out_2955282305521857746[82] = 0; - out_2955282305521857746[83] = 0; - out_2955282305521857746[84] = 0; - out_2955282305521857746[85] = dt; - out_2955282305521857746[86] = 0; - out_2955282305521857746[87] = 0; - out_2955282305521857746[88] = 0; - out_2955282305521857746[89] = 0; - out_2955282305521857746[90] = 0; - out_2955282305521857746[91] = 0; - out_2955282305521857746[92] = 0; - out_2955282305521857746[93] = 0; - out_2955282305521857746[94] = 0; - out_2955282305521857746[95] = 1; - out_2955282305521857746[96] = 0; - out_2955282305521857746[97] = 0; - out_2955282305521857746[98] = 0; - out_2955282305521857746[99] = 0; - out_2955282305521857746[100] = 0; - out_2955282305521857746[101] = 0; - out_2955282305521857746[102] = 0; - out_2955282305521857746[103] = 0; - out_2955282305521857746[104] = dt; - out_2955282305521857746[105] = 0; - out_2955282305521857746[106] = 0; - out_2955282305521857746[107] = 0; - out_2955282305521857746[108] = 0; - out_2955282305521857746[109] = 0; - out_2955282305521857746[110] = 0; - out_2955282305521857746[111] = 0; - out_2955282305521857746[112] = 0; - out_2955282305521857746[113] = 0; - out_2955282305521857746[114] = 1; - out_2955282305521857746[115] = 0; - out_2955282305521857746[116] = 0; - out_2955282305521857746[117] = 0; - out_2955282305521857746[118] = 0; - out_2955282305521857746[119] = 0; - out_2955282305521857746[120] = 0; - out_2955282305521857746[121] = 0; - out_2955282305521857746[122] = 0; - out_2955282305521857746[123] = 0; - out_2955282305521857746[124] = 0; - out_2955282305521857746[125] = 0; - out_2955282305521857746[126] = 0; - out_2955282305521857746[127] = 0; - out_2955282305521857746[128] = 0; - out_2955282305521857746[129] = 0; - out_2955282305521857746[130] = 0; - out_2955282305521857746[131] = 0; - out_2955282305521857746[132] = 0; - out_2955282305521857746[133] = 1; - out_2955282305521857746[134] = 0; - out_2955282305521857746[135] = 0; - out_2955282305521857746[136] = 0; - out_2955282305521857746[137] = 0; - out_2955282305521857746[138] = 0; - out_2955282305521857746[139] = 0; - out_2955282305521857746[140] = 0; - out_2955282305521857746[141] = 0; - out_2955282305521857746[142] = 0; - out_2955282305521857746[143] = 0; - out_2955282305521857746[144] = 0; - out_2955282305521857746[145] = 0; - out_2955282305521857746[146] = 0; - out_2955282305521857746[147] = 0; - out_2955282305521857746[148] = 0; - out_2955282305521857746[149] = 0; - out_2955282305521857746[150] = 0; - out_2955282305521857746[151] = 0; - out_2955282305521857746[152] = 1; - out_2955282305521857746[153] = 0; - out_2955282305521857746[154] = 0; - out_2955282305521857746[155] = 0; - out_2955282305521857746[156] = 0; - out_2955282305521857746[157] = 0; - out_2955282305521857746[158] = 0; - out_2955282305521857746[159] = 0; - out_2955282305521857746[160] = 0; - out_2955282305521857746[161] = 0; - out_2955282305521857746[162] = 0; - out_2955282305521857746[163] = 0; - out_2955282305521857746[164] = 0; - out_2955282305521857746[165] = 0; - out_2955282305521857746[166] = 0; - out_2955282305521857746[167] = 0; - out_2955282305521857746[168] = 0; - out_2955282305521857746[169] = 0; - out_2955282305521857746[170] = 0; - out_2955282305521857746[171] = 1; - out_2955282305521857746[172] = 0; - out_2955282305521857746[173] = 0; - out_2955282305521857746[174] = 0; - out_2955282305521857746[175] = 0; - out_2955282305521857746[176] = 0; - out_2955282305521857746[177] = 0; - out_2955282305521857746[178] = 0; - out_2955282305521857746[179] = 0; - out_2955282305521857746[180] = 0; - out_2955282305521857746[181] = 0; - out_2955282305521857746[182] = 0; - out_2955282305521857746[183] = 0; - out_2955282305521857746[184] = 0; - out_2955282305521857746[185] = 0; - out_2955282305521857746[186] = 0; - out_2955282305521857746[187] = 0; - out_2955282305521857746[188] = 0; - out_2955282305521857746[189] = 0; - out_2955282305521857746[190] = 1; - out_2955282305521857746[191] = 0; - out_2955282305521857746[192] = 0; - out_2955282305521857746[193] = 0; - out_2955282305521857746[194] = 0; - out_2955282305521857746[195] = 0; - out_2955282305521857746[196] = 0; - out_2955282305521857746[197] = 0; - out_2955282305521857746[198] = 0; - out_2955282305521857746[199] = 0; - out_2955282305521857746[200] = 0; - out_2955282305521857746[201] = 0; - out_2955282305521857746[202] = 0; - out_2955282305521857746[203] = 0; - out_2955282305521857746[204] = 0; - out_2955282305521857746[205] = 0; - out_2955282305521857746[206] = 0; - out_2955282305521857746[207] = 0; - out_2955282305521857746[208] = 0; - out_2955282305521857746[209] = 1; - out_2955282305521857746[210] = 0; - out_2955282305521857746[211] = 0; - out_2955282305521857746[212] = 0; - out_2955282305521857746[213] = 0; - out_2955282305521857746[214] = 0; - out_2955282305521857746[215] = 0; - out_2955282305521857746[216] = 0; - out_2955282305521857746[217] = 0; - out_2955282305521857746[218] = 0; - out_2955282305521857746[219] = 0; - out_2955282305521857746[220] = 0; - out_2955282305521857746[221] = 0; - out_2955282305521857746[222] = 0; - out_2955282305521857746[223] = 0; - out_2955282305521857746[224] = 0; - out_2955282305521857746[225] = 0; - out_2955282305521857746[226] = 0; - out_2955282305521857746[227] = 0; - out_2955282305521857746[228] = 1; - out_2955282305521857746[229] = 0; - out_2955282305521857746[230] = 0; - out_2955282305521857746[231] = 0; - out_2955282305521857746[232] = 0; - out_2955282305521857746[233] = 0; - out_2955282305521857746[234] = 0; - out_2955282305521857746[235] = 0; - out_2955282305521857746[236] = 0; - out_2955282305521857746[237] = 0; - out_2955282305521857746[238] = 0; - out_2955282305521857746[239] = 0; - out_2955282305521857746[240] = 0; - out_2955282305521857746[241] = 0; - out_2955282305521857746[242] = 0; - out_2955282305521857746[243] = 0; - out_2955282305521857746[244] = 0; - out_2955282305521857746[245] = 0; - out_2955282305521857746[246] = 0; - out_2955282305521857746[247] = 1; - out_2955282305521857746[248] = 0; - out_2955282305521857746[249] = 0; - out_2955282305521857746[250] = 0; - out_2955282305521857746[251] = 0; - out_2955282305521857746[252] = 0; - out_2955282305521857746[253] = 0; - out_2955282305521857746[254] = 0; - out_2955282305521857746[255] = 0; - out_2955282305521857746[256] = 0; - out_2955282305521857746[257] = 0; - out_2955282305521857746[258] = 0; - out_2955282305521857746[259] = 0; - out_2955282305521857746[260] = 0; - out_2955282305521857746[261] = 0; - out_2955282305521857746[262] = 0; - out_2955282305521857746[263] = 0; - out_2955282305521857746[264] = 0; - out_2955282305521857746[265] = 0; - out_2955282305521857746[266] = 1; - out_2955282305521857746[267] = 0; - out_2955282305521857746[268] = 0; - out_2955282305521857746[269] = 0; - out_2955282305521857746[270] = 0; - out_2955282305521857746[271] = 0; - out_2955282305521857746[272] = 0; - out_2955282305521857746[273] = 0; - out_2955282305521857746[274] = 0; - out_2955282305521857746[275] = 0; - out_2955282305521857746[276] = 0; - out_2955282305521857746[277] = 0; - out_2955282305521857746[278] = 0; - out_2955282305521857746[279] = 0; - out_2955282305521857746[280] = 0; - out_2955282305521857746[281] = 0; - out_2955282305521857746[282] = 0; - out_2955282305521857746[283] = 0; - out_2955282305521857746[284] = 0; - out_2955282305521857746[285] = 1; - out_2955282305521857746[286] = 0; - out_2955282305521857746[287] = 0; - out_2955282305521857746[288] = 0; - out_2955282305521857746[289] = 0; - out_2955282305521857746[290] = 0; - out_2955282305521857746[291] = 0; - out_2955282305521857746[292] = 0; - out_2955282305521857746[293] = 0; - out_2955282305521857746[294] = 0; - out_2955282305521857746[295] = 0; - out_2955282305521857746[296] = 0; - out_2955282305521857746[297] = 0; - out_2955282305521857746[298] = 0; - out_2955282305521857746[299] = 0; - out_2955282305521857746[300] = 0; - out_2955282305521857746[301] = 0; - out_2955282305521857746[302] = 0; - out_2955282305521857746[303] = 0; - out_2955282305521857746[304] = 1; - out_2955282305521857746[305] = 0; - out_2955282305521857746[306] = 0; - out_2955282305521857746[307] = 0; - out_2955282305521857746[308] = 0; - out_2955282305521857746[309] = 0; - out_2955282305521857746[310] = 0; - out_2955282305521857746[311] = 0; - out_2955282305521857746[312] = 0; - out_2955282305521857746[313] = 0; - out_2955282305521857746[314] = 0; - out_2955282305521857746[315] = 0; - out_2955282305521857746[316] = 0; - out_2955282305521857746[317] = 0; - out_2955282305521857746[318] = 0; - out_2955282305521857746[319] = 0; - out_2955282305521857746[320] = 0; - out_2955282305521857746[321] = 0; - out_2955282305521857746[322] = 0; - out_2955282305521857746[323] = 1; +void F_fun(double *state, double dt, double *out_54869773676509633) { + out_54869773676509633[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_54869773676509633[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_54869773676509633[2] = 0; + out_54869773676509633[3] = 0; + out_54869773676509633[4] = 0; + out_54869773676509633[5] = 0; + out_54869773676509633[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_54869773676509633[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_54869773676509633[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_54869773676509633[9] = 0; + out_54869773676509633[10] = 0; + out_54869773676509633[11] = 0; + out_54869773676509633[12] = 0; + out_54869773676509633[13] = 0; + out_54869773676509633[14] = 0; + out_54869773676509633[15] = 0; + out_54869773676509633[16] = 0; + out_54869773676509633[17] = 0; + out_54869773676509633[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_54869773676509633[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_54869773676509633[20] = 0; + out_54869773676509633[21] = 0; + out_54869773676509633[22] = 0; + out_54869773676509633[23] = 0; + out_54869773676509633[24] = 0; + out_54869773676509633[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_54869773676509633[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_54869773676509633[27] = 0; + out_54869773676509633[28] = 0; + out_54869773676509633[29] = 0; + out_54869773676509633[30] = 0; + out_54869773676509633[31] = 0; + out_54869773676509633[32] = 0; + out_54869773676509633[33] = 0; + out_54869773676509633[34] = 0; + out_54869773676509633[35] = 0; + out_54869773676509633[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_54869773676509633[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_54869773676509633[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_54869773676509633[39] = 0; + out_54869773676509633[40] = 0; + out_54869773676509633[41] = 0; + out_54869773676509633[42] = 0; + out_54869773676509633[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_54869773676509633[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_54869773676509633[45] = 0; + out_54869773676509633[46] = 0; + out_54869773676509633[47] = 0; + out_54869773676509633[48] = 0; + out_54869773676509633[49] = 0; + out_54869773676509633[50] = 0; + out_54869773676509633[51] = 0; + out_54869773676509633[52] = 0; + out_54869773676509633[53] = 0; + out_54869773676509633[54] = 0; + out_54869773676509633[55] = 0; + out_54869773676509633[56] = 0; + out_54869773676509633[57] = 1; + out_54869773676509633[58] = 0; + out_54869773676509633[59] = 0; + out_54869773676509633[60] = 0; + out_54869773676509633[61] = 0; + out_54869773676509633[62] = 0; + out_54869773676509633[63] = 0; + out_54869773676509633[64] = 0; + out_54869773676509633[65] = 0; + out_54869773676509633[66] = dt; + out_54869773676509633[67] = 0; + out_54869773676509633[68] = 0; + out_54869773676509633[69] = 0; + out_54869773676509633[70] = 0; + out_54869773676509633[71] = 0; + out_54869773676509633[72] = 0; + out_54869773676509633[73] = 0; + out_54869773676509633[74] = 0; + out_54869773676509633[75] = 0; + out_54869773676509633[76] = 1; + out_54869773676509633[77] = 0; + out_54869773676509633[78] = 0; + out_54869773676509633[79] = 0; + out_54869773676509633[80] = 0; + out_54869773676509633[81] = 0; + out_54869773676509633[82] = 0; + out_54869773676509633[83] = 0; + out_54869773676509633[84] = 0; + out_54869773676509633[85] = dt; + out_54869773676509633[86] = 0; + out_54869773676509633[87] = 0; + out_54869773676509633[88] = 0; + out_54869773676509633[89] = 0; + out_54869773676509633[90] = 0; + out_54869773676509633[91] = 0; + out_54869773676509633[92] = 0; + out_54869773676509633[93] = 0; + out_54869773676509633[94] = 0; + out_54869773676509633[95] = 1; + out_54869773676509633[96] = 0; + out_54869773676509633[97] = 0; + out_54869773676509633[98] = 0; + out_54869773676509633[99] = 0; + out_54869773676509633[100] = 0; + out_54869773676509633[101] = 0; + out_54869773676509633[102] = 0; + out_54869773676509633[103] = 0; + out_54869773676509633[104] = dt; + out_54869773676509633[105] = 0; + out_54869773676509633[106] = 0; + out_54869773676509633[107] = 0; + out_54869773676509633[108] = 0; + out_54869773676509633[109] = 0; + out_54869773676509633[110] = 0; + out_54869773676509633[111] = 0; + out_54869773676509633[112] = 0; + out_54869773676509633[113] = 0; + out_54869773676509633[114] = 1; + out_54869773676509633[115] = 0; + out_54869773676509633[116] = 0; + out_54869773676509633[117] = 0; + out_54869773676509633[118] = 0; + out_54869773676509633[119] = 0; + out_54869773676509633[120] = 0; + out_54869773676509633[121] = 0; + out_54869773676509633[122] = 0; + out_54869773676509633[123] = 0; + out_54869773676509633[124] = 0; + out_54869773676509633[125] = 0; + out_54869773676509633[126] = 0; + out_54869773676509633[127] = 0; + out_54869773676509633[128] = 0; + out_54869773676509633[129] = 0; + out_54869773676509633[130] = 0; + out_54869773676509633[131] = 0; + out_54869773676509633[132] = 0; + out_54869773676509633[133] = 1; + out_54869773676509633[134] = 0; + out_54869773676509633[135] = 0; + out_54869773676509633[136] = 0; + out_54869773676509633[137] = 0; + out_54869773676509633[138] = 0; + out_54869773676509633[139] = 0; + out_54869773676509633[140] = 0; + out_54869773676509633[141] = 0; + out_54869773676509633[142] = 0; + out_54869773676509633[143] = 0; + out_54869773676509633[144] = 0; + out_54869773676509633[145] = 0; + out_54869773676509633[146] = 0; + out_54869773676509633[147] = 0; + out_54869773676509633[148] = 0; + out_54869773676509633[149] = 0; + out_54869773676509633[150] = 0; + out_54869773676509633[151] = 0; + out_54869773676509633[152] = 1; + out_54869773676509633[153] = 0; + out_54869773676509633[154] = 0; + out_54869773676509633[155] = 0; + out_54869773676509633[156] = 0; + out_54869773676509633[157] = 0; + out_54869773676509633[158] = 0; + out_54869773676509633[159] = 0; + out_54869773676509633[160] = 0; + out_54869773676509633[161] = 0; + out_54869773676509633[162] = 0; + out_54869773676509633[163] = 0; + out_54869773676509633[164] = 0; + out_54869773676509633[165] = 0; + out_54869773676509633[166] = 0; + out_54869773676509633[167] = 0; + out_54869773676509633[168] = 0; + out_54869773676509633[169] = 0; + out_54869773676509633[170] = 0; + out_54869773676509633[171] = 1; + out_54869773676509633[172] = 0; + out_54869773676509633[173] = 0; + out_54869773676509633[174] = 0; + out_54869773676509633[175] = 0; + out_54869773676509633[176] = 0; + out_54869773676509633[177] = 0; + out_54869773676509633[178] = 0; + out_54869773676509633[179] = 0; + out_54869773676509633[180] = 0; + out_54869773676509633[181] = 0; + out_54869773676509633[182] = 0; + out_54869773676509633[183] = 0; + out_54869773676509633[184] = 0; + out_54869773676509633[185] = 0; + out_54869773676509633[186] = 0; + out_54869773676509633[187] = 0; + out_54869773676509633[188] = 0; + out_54869773676509633[189] = 0; + out_54869773676509633[190] = 1; + out_54869773676509633[191] = 0; + out_54869773676509633[192] = 0; + out_54869773676509633[193] = 0; + out_54869773676509633[194] = 0; + out_54869773676509633[195] = 0; + out_54869773676509633[196] = 0; + out_54869773676509633[197] = 0; + out_54869773676509633[198] = 0; + out_54869773676509633[199] = 0; + out_54869773676509633[200] = 0; + out_54869773676509633[201] = 0; + out_54869773676509633[202] = 0; + out_54869773676509633[203] = 0; + out_54869773676509633[204] = 0; + out_54869773676509633[205] = 0; + out_54869773676509633[206] = 0; + out_54869773676509633[207] = 0; + out_54869773676509633[208] = 0; + out_54869773676509633[209] = 1; + out_54869773676509633[210] = 0; + out_54869773676509633[211] = 0; + out_54869773676509633[212] = 0; + out_54869773676509633[213] = 0; + out_54869773676509633[214] = 0; + out_54869773676509633[215] = 0; + out_54869773676509633[216] = 0; + out_54869773676509633[217] = 0; + out_54869773676509633[218] = 0; + out_54869773676509633[219] = 0; + out_54869773676509633[220] = 0; + out_54869773676509633[221] = 0; + out_54869773676509633[222] = 0; + out_54869773676509633[223] = 0; + out_54869773676509633[224] = 0; + out_54869773676509633[225] = 0; + out_54869773676509633[226] = 0; + out_54869773676509633[227] = 0; + out_54869773676509633[228] = 1; + out_54869773676509633[229] = 0; + out_54869773676509633[230] = 0; + out_54869773676509633[231] = 0; + out_54869773676509633[232] = 0; + out_54869773676509633[233] = 0; + out_54869773676509633[234] = 0; + out_54869773676509633[235] = 0; + out_54869773676509633[236] = 0; + out_54869773676509633[237] = 0; + out_54869773676509633[238] = 0; + out_54869773676509633[239] = 0; + out_54869773676509633[240] = 0; + out_54869773676509633[241] = 0; + out_54869773676509633[242] = 0; + out_54869773676509633[243] = 0; + out_54869773676509633[244] = 0; + out_54869773676509633[245] = 0; + out_54869773676509633[246] = 0; + out_54869773676509633[247] = 1; + out_54869773676509633[248] = 0; + out_54869773676509633[249] = 0; + out_54869773676509633[250] = 0; + out_54869773676509633[251] = 0; + out_54869773676509633[252] = 0; + out_54869773676509633[253] = 0; + out_54869773676509633[254] = 0; + out_54869773676509633[255] = 0; + out_54869773676509633[256] = 0; + out_54869773676509633[257] = 0; + out_54869773676509633[258] = 0; + out_54869773676509633[259] = 0; + out_54869773676509633[260] = 0; + out_54869773676509633[261] = 0; + out_54869773676509633[262] = 0; + out_54869773676509633[263] = 0; + out_54869773676509633[264] = 0; + out_54869773676509633[265] = 0; + out_54869773676509633[266] = 1; + out_54869773676509633[267] = 0; + out_54869773676509633[268] = 0; + out_54869773676509633[269] = 0; + out_54869773676509633[270] = 0; + out_54869773676509633[271] = 0; + out_54869773676509633[272] = 0; + out_54869773676509633[273] = 0; + out_54869773676509633[274] = 0; + out_54869773676509633[275] = 0; + out_54869773676509633[276] = 0; + out_54869773676509633[277] = 0; + out_54869773676509633[278] = 0; + out_54869773676509633[279] = 0; + out_54869773676509633[280] = 0; + out_54869773676509633[281] = 0; + out_54869773676509633[282] = 0; + out_54869773676509633[283] = 0; + out_54869773676509633[284] = 0; + out_54869773676509633[285] = 1; + out_54869773676509633[286] = 0; + out_54869773676509633[287] = 0; + out_54869773676509633[288] = 0; + out_54869773676509633[289] = 0; + out_54869773676509633[290] = 0; + out_54869773676509633[291] = 0; + out_54869773676509633[292] = 0; + out_54869773676509633[293] = 0; + out_54869773676509633[294] = 0; + out_54869773676509633[295] = 0; + out_54869773676509633[296] = 0; + out_54869773676509633[297] = 0; + out_54869773676509633[298] = 0; + out_54869773676509633[299] = 0; + out_54869773676509633[300] = 0; + out_54869773676509633[301] = 0; + out_54869773676509633[302] = 0; + out_54869773676509633[303] = 0; + out_54869773676509633[304] = 1; + out_54869773676509633[305] = 0; + out_54869773676509633[306] = 0; + out_54869773676509633[307] = 0; + out_54869773676509633[308] = 0; + out_54869773676509633[309] = 0; + out_54869773676509633[310] = 0; + out_54869773676509633[311] = 0; + out_54869773676509633[312] = 0; + out_54869773676509633[313] = 0; + out_54869773676509633[314] = 0; + out_54869773676509633[315] = 0; + out_54869773676509633[316] = 0; + out_54869773676509633[317] = 0; + out_54869773676509633[318] = 0; + out_54869773676509633[319] = 0; + out_54869773676509633[320] = 0; + out_54869773676509633[321] = 0; + out_54869773676509633[322] = 0; + out_54869773676509633[323] = 1; } -void h_4(double *state, double *unused, double *out_6086550385890598344) { - out_6086550385890598344[0] = state[6] + state[9]; - out_6086550385890598344[1] = state[7] + state[10]; - out_6086550385890598344[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3501775823039351379) { + out_3501775823039351379[0] = state[6] + state[9]; + out_3501775823039351379[1] = state[7] + state[10]; + out_3501775823039351379[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_882729684776454611) { - out_882729684776454611[0] = 0; - out_882729684776454611[1] = 0; - out_882729684776454611[2] = 0; - out_882729684776454611[3] = 0; - out_882729684776454611[4] = 0; - out_882729684776454611[5] = 0; - out_882729684776454611[6] = 1; - out_882729684776454611[7] = 0; - out_882729684776454611[8] = 0; - out_882729684776454611[9] = 1; - out_882729684776454611[10] = 0; - out_882729684776454611[11] = 0; - out_882729684776454611[12] = 0; - out_882729684776454611[13] = 0; - out_882729684776454611[14] = 0; - out_882729684776454611[15] = 0; - out_882729684776454611[16] = 0; - out_882729684776454611[17] = 0; - out_882729684776454611[18] = 0; - out_882729684776454611[19] = 0; - out_882729684776454611[20] = 0; - out_882729684776454611[21] = 0; - out_882729684776454611[22] = 0; - out_882729684776454611[23] = 0; - out_882729684776454611[24] = 0; - out_882729684776454611[25] = 1; - out_882729684776454611[26] = 0; - out_882729684776454611[27] = 0; - out_882729684776454611[28] = 1; - out_882729684776454611[29] = 0; - out_882729684776454611[30] = 0; - out_882729684776454611[31] = 0; - out_882729684776454611[32] = 0; - out_882729684776454611[33] = 0; - out_882729684776454611[34] = 0; - out_882729684776454611[35] = 0; - out_882729684776454611[36] = 0; - out_882729684776454611[37] = 0; - out_882729684776454611[38] = 0; - out_882729684776454611[39] = 0; - out_882729684776454611[40] = 0; - out_882729684776454611[41] = 0; - out_882729684776454611[42] = 0; - out_882729684776454611[43] = 0; - out_882729684776454611[44] = 1; - out_882729684776454611[45] = 0; - out_882729684776454611[46] = 0; - out_882729684776454611[47] = 1; - out_882729684776454611[48] = 0; - out_882729684776454611[49] = 0; - out_882729684776454611[50] = 0; - out_882729684776454611[51] = 0; - out_882729684776454611[52] = 0; - out_882729684776454611[53] = 0; +void H_4(double *state, double *unused, double *out_8084420446408871652) { + out_8084420446408871652[0] = 0; + out_8084420446408871652[1] = 0; + out_8084420446408871652[2] = 0; + out_8084420446408871652[3] = 0; + out_8084420446408871652[4] = 0; + out_8084420446408871652[5] = 0; + out_8084420446408871652[6] = 1; + out_8084420446408871652[7] = 0; + out_8084420446408871652[8] = 0; + out_8084420446408871652[9] = 1; + out_8084420446408871652[10] = 0; + out_8084420446408871652[11] = 0; + out_8084420446408871652[12] = 0; + out_8084420446408871652[13] = 0; + out_8084420446408871652[14] = 0; + out_8084420446408871652[15] = 0; + out_8084420446408871652[16] = 0; + out_8084420446408871652[17] = 0; + out_8084420446408871652[18] = 0; + out_8084420446408871652[19] = 0; + out_8084420446408871652[20] = 0; + out_8084420446408871652[21] = 0; + out_8084420446408871652[22] = 0; + out_8084420446408871652[23] = 0; + out_8084420446408871652[24] = 0; + out_8084420446408871652[25] = 1; + out_8084420446408871652[26] = 0; + out_8084420446408871652[27] = 0; + out_8084420446408871652[28] = 1; + out_8084420446408871652[29] = 0; + out_8084420446408871652[30] = 0; + out_8084420446408871652[31] = 0; + out_8084420446408871652[32] = 0; + out_8084420446408871652[33] = 0; + out_8084420446408871652[34] = 0; + out_8084420446408871652[35] = 0; + out_8084420446408871652[36] = 0; + out_8084420446408871652[37] = 0; + out_8084420446408871652[38] = 0; + out_8084420446408871652[39] = 0; + out_8084420446408871652[40] = 0; + out_8084420446408871652[41] = 0; + out_8084420446408871652[42] = 0; + out_8084420446408871652[43] = 0; + out_8084420446408871652[44] = 1; + out_8084420446408871652[45] = 0; + out_8084420446408871652[46] = 0; + out_8084420446408871652[47] = 1; + out_8084420446408871652[48] = 0; + out_8084420446408871652[49] = 0; + out_8084420446408871652[50] = 0; + out_8084420446408871652[51] = 0; + out_8084420446408871652[52] = 0; + out_8084420446408871652[53] = 0; } -void h_10(double *state, double *unused, double *out_822146309921429030) { - out_822146309921429030[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_822146309921429030[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_822146309921429030[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_8571708459300677945) { + out_8571708459300677945[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8571708459300677945[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8571708459300677945[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_8527164112518639864) { - out_8527164112518639864[0] = 0; - out_8527164112518639864[1] = 9.8100000000000005*cos(state[1]); - out_8527164112518639864[2] = 0; - out_8527164112518639864[3] = 0; - out_8527164112518639864[4] = -state[8]; - out_8527164112518639864[5] = state[7]; - out_8527164112518639864[6] = 0; - out_8527164112518639864[7] = state[5]; - out_8527164112518639864[8] = -state[4]; - out_8527164112518639864[9] = 0; - out_8527164112518639864[10] = 0; - out_8527164112518639864[11] = 0; - out_8527164112518639864[12] = 1; - out_8527164112518639864[13] = 0; - out_8527164112518639864[14] = 0; - out_8527164112518639864[15] = 1; - out_8527164112518639864[16] = 0; - out_8527164112518639864[17] = 0; - out_8527164112518639864[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8527164112518639864[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8527164112518639864[20] = 0; - out_8527164112518639864[21] = state[8]; - out_8527164112518639864[22] = 0; - out_8527164112518639864[23] = -state[6]; - out_8527164112518639864[24] = -state[5]; - out_8527164112518639864[25] = 0; - out_8527164112518639864[26] = state[3]; - out_8527164112518639864[27] = 0; - out_8527164112518639864[28] = 0; - out_8527164112518639864[29] = 0; - out_8527164112518639864[30] = 0; - out_8527164112518639864[31] = 1; - out_8527164112518639864[32] = 0; - out_8527164112518639864[33] = 0; - out_8527164112518639864[34] = 1; - out_8527164112518639864[35] = 0; - out_8527164112518639864[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8527164112518639864[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8527164112518639864[38] = 0; - out_8527164112518639864[39] = -state[7]; - out_8527164112518639864[40] = state[6]; - out_8527164112518639864[41] = 0; - out_8527164112518639864[42] = state[4]; - out_8527164112518639864[43] = -state[3]; - out_8527164112518639864[44] = 0; - out_8527164112518639864[45] = 0; - out_8527164112518639864[46] = 0; - out_8527164112518639864[47] = 0; - out_8527164112518639864[48] = 0; - out_8527164112518639864[49] = 0; - out_8527164112518639864[50] = 1; - out_8527164112518639864[51] = 0; - out_8527164112518639864[52] = 0; - out_8527164112518639864[53] = 1; +void H_10(double *state, double *unused, double *out_2059745207116816931) { + out_2059745207116816931[0] = 0; + out_2059745207116816931[1] = 9.8100000000000005*cos(state[1]); + out_2059745207116816931[2] = 0; + out_2059745207116816931[3] = 0; + out_2059745207116816931[4] = -state[8]; + out_2059745207116816931[5] = state[7]; + out_2059745207116816931[6] = 0; + out_2059745207116816931[7] = state[5]; + out_2059745207116816931[8] = -state[4]; + out_2059745207116816931[9] = 0; + out_2059745207116816931[10] = 0; + out_2059745207116816931[11] = 0; + out_2059745207116816931[12] = 1; + out_2059745207116816931[13] = 0; + out_2059745207116816931[14] = 0; + out_2059745207116816931[15] = 1; + out_2059745207116816931[16] = 0; + out_2059745207116816931[17] = 0; + out_2059745207116816931[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2059745207116816931[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2059745207116816931[20] = 0; + out_2059745207116816931[21] = state[8]; + out_2059745207116816931[22] = 0; + out_2059745207116816931[23] = -state[6]; + out_2059745207116816931[24] = -state[5]; + out_2059745207116816931[25] = 0; + out_2059745207116816931[26] = state[3]; + out_2059745207116816931[27] = 0; + out_2059745207116816931[28] = 0; + out_2059745207116816931[29] = 0; + out_2059745207116816931[30] = 0; + out_2059745207116816931[31] = 1; + out_2059745207116816931[32] = 0; + out_2059745207116816931[33] = 0; + out_2059745207116816931[34] = 1; + out_2059745207116816931[35] = 0; + out_2059745207116816931[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2059745207116816931[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2059745207116816931[38] = 0; + out_2059745207116816931[39] = -state[7]; + out_2059745207116816931[40] = state[6]; + out_2059745207116816931[41] = 0; + out_2059745207116816931[42] = state[4]; + out_2059745207116816931[43] = -state[3]; + out_2059745207116816931[44] = 0; + out_2059745207116816931[45] = 0; + out_2059745207116816931[46] = 0; + out_2059745207116816931[47] = 0; + out_2059745207116816931[48] = 0; + out_2059745207116816931[49] = 0; + out_2059745207116816931[50] = 1; + out_2059745207116816931[51] = 0; + out_2059745207116816931[52] = 0; + out_2059745207116816931[53] = 1; } -void h_13(double *state, double *unused, double *out_9110778303873781210) { - out_9110778303873781210[0] = state[3]; - out_9110778303873781210[1] = state[4]; - out_9110778303873781210[2] = state[5]; +void h_13(double *state, double *unused, double *out_6791205246269589213) { + out_6791205246269589213[0] = state[3]; + out_6791205246269589213[1] = state[4]; + out_6791205246269589213[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4095003510108787412) { - out_4095003510108787412[0] = 0; - out_4095003510108787412[1] = 0; - out_4095003510108787412[2] = 0; - out_4095003510108787412[3] = 1; - out_4095003510108787412[4] = 0; - out_4095003510108787412[5] = 0; - out_4095003510108787412[6] = 0; - out_4095003510108787412[7] = 0; - out_4095003510108787412[8] = 0; - out_4095003510108787412[9] = 0; - out_4095003510108787412[10] = 0; - out_4095003510108787412[11] = 0; - out_4095003510108787412[12] = 0; - out_4095003510108787412[13] = 0; - out_4095003510108787412[14] = 0; - out_4095003510108787412[15] = 0; - out_4095003510108787412[16] = 0; - out_4095003510108787412[17] = 0; - out_4095003510108787412[18] = 0; - out_4095003510108787412[19] = 0; - out_4095003510108787412[20] = 0; - out_4095003510108787412[21] = 0; - out_4095003510108787412[22] = 1; - out_4095003510108787412[23] = 0; - out_4095003510108787412[24] = 0; - out_4095003510108787412[25] = 0; - out_4095003510108787412[26] = 0; - out_4095003510108787412[27] = 0; - out_4095003510108787412[28] = 0; - out_4095003510108787412[29] = 0; - out_4095003510108787412[30] = 0; - out_4095003510108787412[31] = 0; - out_4095003510108787412[32] = 0; - out_4095003510108787412[33] = 0; - out_4095003510108787412[34] = 0; - out_4095003510108787412[35] = 0; - out_4095003510108787412[36] = 0; - out_4095003510108787412[37] = 0; - out_4095003510108787412[38] = 0; - out_4095003510108787412[39] = 0; - out_4095003510108787412[40] = 0; - out_4095003510108787412[41] = 1; - out_4095003510108787412[42] = 0; - out_4095003510108787412[43] = 0; - out_4095003510108787412[44] = 0; - out_4095003510108787412[45] = 0; - out_4095003510108787412[46] = 0; - out_4095003510108787412[47] = 0; - out_4095003510108787412[48] = 0; - out_4095003510108787412[49] = 0; - out_4095003510108787412[50] = 0; - out_4095003510108787412[51] = 0; - out_4095003510108787412[52] = 0; - out_4095003510108787412[53] = 0; +void H_13(double *state, double *unused, double *out_8649022366090715756) { + out_8649022366090715756[0] = 0; + out_8649022366090715756[1] = 0; + out_8649022366090715756[2] = 0; + out_8649022366090715756[3] = 1; + out_8649022366090715756[4] = 0; + out_8649022366090715756[5] = 0; + out_8649022366090715756[6] = 0; + out_8649022366090715756[7] = 0; + out_8649022366090715756[8] = 0; + out_8649022366090715756[9] = 0; + out_8649022366090715756[10] = 0; + out_8649022366090715756[11] = 0; + out_8649022366090715756[12] = 0; + out_8649022366090715756[13] = 0; + out_8649022366090715756[14] = 0; + out_8649022366090715756[15] = 0; + out_8649022366090715756[16] = 0; + out_8649022366090715756[17] = 0; + out_8649022366090715756[18] = 0; + out_8649022366090715756[19] = 0; + out_8649022366090715756[20] = 0; + out_8649022366090715756[21] = 0; + out_8649022366090715756[22] = 1; + out_8649022366090715756[23] = 0; + out_8649022366090715756[24] = 0; + out_8649022366090715756[25] = 0; + out_8649022366090715756[26] = 0; + out_8649022366090715756[27] = 0; + out_8649022366090715756[28] = 0; + out_8649022366090715756[29] = 0; + out_8649022366090715756[30] = 0; + out_8649022366090715756[31] = 0; + out_8649022366090715756[32] = 0; + out_8649022366090715756[33] = 0; + out_8649022366090715756[34] = 0; + out_8649022366090715756[35] = 0; + out_8649022366090715756[36] = 0; + out_8649022366090715756[37] = 0; + out_8649022366090715756[38] = 0; + out_8649022366090715756[39] = 0; + out_8649022366090715756[40] = 0; + out_8649022366090715756[41] = 1; + out_8649022366090715756[42] = 0; + out_8649022366090715756[43] = 0; + out_8649022366090715756[44] = 0; + out_8649022366090715756[45] = 0; + out_8649022366090715756[46] = 0; + out_8649022366090715756[47] = 0; + out_8649022366090715756[48] = 0; + out_8649022366090715756[49] = 0; + out_8649022366090715756[50] = 0; + out_8649022366090715756[51] = 0; + out_8649022366090715756[52] = 0; + out_8649022366090715756[53] = 0; } -void h_14(double *state, double *unused, double *out_6914362473414566847) { - out_6914362473414566847[0] = state[6]; - out_6914362473414566847[1] = state[7]; - out_6914362473414566847[2] = state[8]; +void h_14(double *state, double *unused, double *out_8615295986968492388) { + out_8615295986968492388[0] = state[6]; + out_8615295986968492388[1] = state[7]; + out_8615295986968492388[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4845970541115939140) { - out_4845970541115939140[0] = 0; - out_4845970541115939140[1] = 0; - out_4845970541115939140[2] = 0; - out_4845970541115939140[3] = 0; - out_4845970541115939140[4] = 0; - out_4845970541115939140[5] = 0; - out_4845970541115939140[6] = 1; - out_4845970541115939140[7] = 0; - out_4845970541115939140[8] = 0; - out_4845970541115939140[9] = 0; - out_4845970541115939140[10] = 0; - out_4845970541115939140[11] = 0; - out_4845970541115939140[12] = 0; - out_4845970541115939140[13] = 0; - out_4845970541115939140[14] = 0; - out_4845970541115939140[15] = 0; - out_4845970541115939140[16] = 0; - out_4845970541115939140[17] = 0; - out_4845970541115939140[18] = 0; - out_4845970541115939140[19] = 0; - out_4845970541115939140[20] = 0; - out_4845970541115939140[21] = 0; - out_4845970541115939140[22] = 0; - out_4845970541115939140[23] = 0; - out_4845970541115939140[24] = 0; - out_4845970541115939140[25] = 1; - out_4845970541115939140[26] = 0; - out_4845970541115939140[27] = 0; - out_4845970541115939140[28] = 0; - out_4845970541115939140[29] = 0; - out_4845970541115939140[30] = 0; - out_4845970541115939140[31] = 0; - out_4845970541115939140[32] = 0; - out_4845970541115939140[33] = 0; - out_4845970541115939140[34] = 0; - out_4845970541115939140[35] = 0; - out_4845970541115939140[36] = 0; - out_4845970541115939140[37] = 0; - out_4845970541115939140[38] = 0; - out_4845970541115939140[39] = 0; - out_4845970541115939140[40] = 0; - out_4845970541115939140[41] = 0; - out_4845970541115939140[42] = 0; - out_4845970541115939140[43] = 0; - out_4845970541115939140[44] = 1; - out_4845970541115939140[45] = 0; - out_4845970541115939140[46] = 0; - out_4845970541115939140[47] = 0; - out_4845970541115939140[48] = 0; - out_4845970541115939140[49] = 0; - out_4845970541115939140[50] = 0; - out_4845970541115939140[51] = 0; - out_4845970541115939140[52] = 0; - out_4845970541115939140[53] = 0; +void H_14(double *state, double *unused, double *out_5001632014113499356) { + out_5001632014113499356[0] = 0; + out_5001632014113499356[1] = 0; + out_5001632014113499356[2] = 0; + out_5001632014113499356[3] = 0; + out_5001632014113499356[4] = 0; + out_5001632014113499356[5] = 0; + out_5001632014113499356[6] = 1; + out_5001632014113499356[7] = 0; + out_5001632014113499356[8] = 0; + out_5001632014113499356[9] = 0; + out_5001632014113499356[10] = 0; + out_5001632014113499356[11] = 0; + out_5001632014113499356[12] = 0; + out_5001632014113499356[13] = 0; + out_5001632014113499356[14] = 0; + out_5001632014113499356[15] = 0; + out_5001632014113499356[16] = 0; + out_5001632014113499356[17] = 0; + out_5001632014113499356[18] = 0; + out_5001632014113499356[19] = 0; + out_5001632014113499356[20] = 0; + out_5001632014113499356[21] = 0; + out_5001632014113499356[22] = 0; + out_5001632014113499356[23] = 0; + out_5001632014113499356[24] = 0; + out_5001632014113499356[25] = 1; + out_5001632014113499356[26] = 0; + out_5001632014113499356[27] = 0; + out_5001632014113499356[28] = 0; + out_5001632014113499356[29] = 0; + out_5001632014113499356[30] = 0; + out_5001632014113499356[31] = 0; + out_5001632014113499356[32] = 0; + out_5001632014113499356[33] = 0; + out_5001632014113499356[34] = 0; + out_5001632014113499356[35] = 0; + out_5001632014113499356[36] = 0; + out_5001632014113499356[37] = 0; + out_5001632014113499356[38] = 0; + out_5001632014113499356[39] = 0; + out_5001632014113499356[40] = 0; + out_5001632014113499356[41] = 0; + out_5001632014113499356[42] = 0; + out_5001632014113499356[43] = 0; + out_5001632014113499356[44] = 1; + out_5001632014113499356[45] = 0; + out_5001632014113499356[46] = 0; + out_5001632014113499356[47] = 0; + out_5001632014113499356[48] = 0; + out_5001632014113499356[49] = 0; + out_5001632014113499356[50] = 0; + out_5001632014113499356[51] = 0; + out_5001632014113499356[52] = 0; + out_5001632014113499356[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_3316982698909296372) { - err_fun(nom_x, delta_x, out_3316982698909296372); +void pose_err_fun(double *nom_x, double *delta_x, double *out_521051683878790646) { + err_fun(nom_x, delta_x, out_521051683878790646); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_875278244398304479) { - inv_err_fun(nom_x, true_x, out_875278244398304479); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_210058828153721645) { + inv_err_fun(nom_x, true_x, out_210058828153721645); } -void pose_H_mod_fun(double *state, double *out_4269788700262626124) { - H_mod_fun(state, out_4269788700262626124); +void pose_H_mod_fun(double *state, double *out_4312613236564964080) { + H_mod_fun(state, out_4312613236564964080); } -void pose_f_fun(double *state, double dt, double *out_3692668602312034618) { - f_fun(state, dt, out_3692668602312034618); +void pose_f_fun(double *state, double dt, double *out_7807614062433422920) { + f_fun(state, dt, out_7807614062433422920); } -void pose_F_fun(double *state, double dt, double *out_2955282305521857746) { - F_fun(state, dt, out_2955282305521857746); +void pose_F_fun(double *state, double dt, double *out_54869773676509633) { + F_fun(state, dt, out_54869773676509633); } -void pose_h_4(double *state, double *unused, double *out_6086550385890598344) { - h_4(state, unused, out_6086550385890598344); +void pose_h_4(double *state, double *unused, double *out_3501775823039351379) { + h_4(state, unused, out_3501775823039351379); } -void pose_H_4(double *state, double *unused, double *out_882729684776454611) { - H_4(state, unused, out_882729684776454611); +void pose_H_4(double *state, double *unused, double *out_8084420446408871652) { + H_4(state, unused, out_8084420446408871652); } -void pose_h_10(double *state, double *unused, double *out_822146309921429030) { - h_10(state, unused, out_822146309921429030); +void pose_h_10(double *state, double *unused, double *out_8571708459300677945) { + h_10(state, unused, out_8571708459300677945); } -void pose_H_10(double *state, double *unused, double *out_8527164112518639864) { - H_10(state, unused, out_8527164112518639864); +void pose_H_10(double *state, double *unused, double *out_2059745207116816931) { + H_10(state, unused, out_2059745207116816931); } -void pose_h_13(double *state, double *unused, double *out_9110778303873781210) { - h_13(state, unused, out_9110778303873781210); +void pose_h_13(double *state, double *unused, double *out_6791205246269589213) { + h_13(state, unused, out_6791205246269589213); } -void pose_H_13(double *state, double *unused, double *out_4095003510108787412) { - H_13(state, unused, out_4095003510108787412); +void pose_H_13(double *state, double *unused, double *out_8649022366090715756) { + H_13(state, unused, out_8649022366090715756); } -void pose_h_14(double *state, double *unused, double *out_6914362473414566847) { - h_14(state, unused, out_6914362473414566847); +void pose_h_14(double *state, double *unused, double *out_8615295986968492388) { + h_14(state, unused, out_8615295986968492388); } -void pose_H_14(double *state, double *unused, double *out_4845970541115939140) { - H_14(state, unused, out_4845970541115939140); +void pose_H_14(double *state, double *unused, double *out_5001632014113499356) { + H_14(state, unused, out_5001632014113499356); } 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 a7bffeb29..e35082c5a 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_3316982698909296372); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_875278244398304479); -void pose_H_mod_fun(double *state, double *out_4269788700262626124); -void pose_f_fun(double *state, double dt, double *out_3692668602312034618); -void pose_F_fun(double *state, double dt, double *out_2955282305521857746); -void pose_h_4(double *state, double *unused, double *out_6086550385890598344); -void pose_H_4(double *state, double *unused, double *out_882729684776454611); -void pose_h_10(double *state, double *unused, double *out_822146309921429030); -void pose_H_10(double *state, double *unused, double *out_8527164112518639864); -void pose_h_13(double *state, double *unused, double *out_9110778303873781210); -void pose_H_13(double *state, double *unused, double *out_4095003510108787412); -void pose_h_14(double *state, double *unused, double *out_6914362473414566847); -void pose_H_14(double *state, double *unused, double *out_4845970541115939140); +void pose_err_fun(double *nom_x, double *delta_x, double *out_521051683878790646); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_210058828153721645); +void pose_H_mod_fun(double *state, double *out_4312613236564964080); +void pose_f_fun(double *state, double dt, double *out_7807614062433422920); +void pose_F_fun(double *state, double dt, double *out_54869773676509633); +void pose_h_4(double *state, double *unused, double *out_3501775823039351379); +void pose_H_4(double *state, double *unused, double *out_8084420446408871652); +void pose_h_10(double *state, double *unused, double *out_8571708459300677945); +void pose_H_10(double *state, double *unused, double *out_2059745207116816931); +void pose_h_13(double *state, double *unused, double *out_6791205246269589213); +void pose_H_13(double *state, double *unused, double *out_8649022366090715756); +void pose_h_14(double *state, double *unused, double *out_8615295986968492388); +void pose_H_14(double *state, double *unused, double *out_5001632014113499356); 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 32d6520897cf12edb731ef126fd2a717139fd610..63eb764762fb8751145d81ebd228bfa7f6bf51f6 100755 GIT binary patch delta 669 zcmXxePe@Y%9KiAS-sax6W=);WrPfO4o~16=U*~MAy;G-m5j+XPJO+Uv^JLIr(M=By zA|lwj>t(wHgSJ8h(Rh9qev#AiIZcH<9dM!pF6eN>11~PXhfZ9?CHT>WZuB64Ui2Y|euQut z0~o{*uHY)dxQ6Q(#t0%9MYNLBjA!YPRr{(a>MzAURK>HMV7xuFYM%;f#z?JMwIjlc ztld#n)?b*GRQ>g;)Q`+p|L=X%l=^|`ljI=DFLZ!FfG+f`6ku%v{|TTj1GR{ zha~Q5owfh*FPBN#=#k&@im*MUy5GH&I!H03s+;reT03BdrRtG=sk_XqqS5WI1q&I| z7;sqiU}4cTdSX`Hue6q}y=Qw)o~m+v3i~Nn>9f@1e9<&8h8wtvaZF$mG2Frw;<$}F fxQlzZj|Z4W0y9Wr77vj^8jtW8nM%<#-#h;Sy%@Px delta 669 zcmXxeODF^Z7{KwF!9Khn%UZAXT00)&{eCVpO}V*{6A?${#EMcJ$cczl92)z-0;AQRHPvt8OTHyvXO&af!rkeWDx@`;)mSpV-tFo?Sj!AVNu1F0qcmD4^ z`jDE*Oqc39dzCsx@kv$v5vlW(C#kN5kJ!Dbr|=V_lDI2z_Vn7(xWYaK2^6 JPc7>_`4=Aesh|J=