diff --git a/common/libcommon.a b/common/libcommon.a index efdba9d63..5e8d62f3d 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index 9b24f7a30..2226e1b24 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 084df4443..aea87cbb1 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 50671fc73..c5e73b49a 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index e53552507..e1f7cfe87 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index ccc068b8b..08e1146e2 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index cb1e6c651..008e88639 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 9ff1fd614..6b465e888 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-1c2aedcc-DEBUG"; +const uint8_t gitversion[19] = "DEV-93ec2a94-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index ad98da707..0cdd7ce8e 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 5eb1621b4..a50c6eebb 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index faaf4bf23..6970864a8 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index bfdaec47d..ac184de60 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 78f776159..541524eb3 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and 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a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 60f1925c4..77cc1b8d7 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index dfd379409..ec082cac5 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index d654cba06..3ad812156 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 80fcbc938..4ecc9c1f6 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 5000ab598..b2ed81fae 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 06ef425ad..0d1c686e4 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 7d16af19a..328052481 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index a6bfc66da..0c6acdc11 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index d09ffc041..4bc28e7b5 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 87255c343..9b0521e8f 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 464b25456..04c08750e 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index f89c8b657..383a0473d 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-1c2aedcc-DEBUG \ No newline at end of file +DEV-93ec2a94-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 7c8e15b52..822e8c2b7 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_488496692945809667) { - out_488496692945809667[0] = delta_x[0] + nom_x[0]; - out_488496692945809667[1] = delta_x[1] + nom_x[1]; - out_488496692945809667[2] = delta_x[2] + nom_x[2]; - out_488496692945809667[3] = delta_x[3] + nom_x[3]; - out_488496692945809667[4] = delta_x[4] + nom_x[4]; - out_488496692945809667[5] = delta_x[5] + nom_x[5]; - out_488496692945809667[6] = delta_x[6] + nom_x[6]; - out_488496692945809667[7] = delta_x[7] + nom_x[7]; - out_488496692945809667[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7743770409471347977) { + out_7743770409471347977[0] = delta_x[0] + nom_x[0]; + out_7743770409471347977[1] = delta_x[1] + nom_x[1]; + out_7743770409471347977[2] = delta_x[2] + nom_x[2]; + out_7743770409471347977[3] = delta_x[3] + nom_x[3]; + out_7743770409471347977[4] = delta_x[4] + nom_x[4]; + out_7743770409471347977[5] = delta_x[5] + nom_x[5]; + out_7743770409471347977[6] = delta_x[6] + nom_x[6]; + out_7743770409471347977[7] = delta_x[7] + nom_x[7]; + out_7743770409471347977[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4539209272711951056) { - out_4539209272711951056[0] = -nom_x[0] + true_x[0]; - out_4539209272711951056[1] = -nom_x[1] + true_x[1]; - out_4539209272711951056[2] = -nom_x[2] + true_x[2]; - out_4539209272711951056[3] = -nom_x[3] + true_x[3]; - out_4539209272711951056[4] = -nom_x[4] + true_x[4]; - out_4539209272711951056[5] = -nom_x[5] + true_x[5]; - out_4539209272711951056[6] = -nom_x[6] + true_x[6]; - out_4539209272711951056[7] = -nom_x[7] + true_x[7]; - out_4539209272711951056[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5655670642369359584) { + out_5655670642369359584[0] = -nom_x[0] + true_x[0]; + out_5655670642369359584[1] = -nom_x[1] + true_x[1]; + out_5655670642369359584[2] = -nom_x[2] + true_x[2]; + out_5655670642369359584[3] = -nom_x[3] + true_x[3]; + out_5655670642369359584[4] = -nom_x[4] + true_x[4]; + out_5655670642369359584[5] = -nom_x[5] + true_x[5]; + out_5655670642369359584[6] = -nom_x[6] + true_x[6]; + out_5655670642369359584[7] = -nom_x[7] + true_x[7]; + out_5655670642369359584[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8602256134349546689) { - out_8602256134349546689[0] = 1.0; - out_8602256134349546689[1] = 0.0; - out_8602256134349546689[2] = 0.0; - out_8602256134349546689[3] = 0.0; - out_8602256134349546689[4] = 0.0; - out_8602256134349546689[5] = 0.0; - out_8602256134349546689[6] = 0.0; - out_8602256134349546689[7] = 0.0; - out_8602256134349546689[8] = 0.0; - out_8602256134349546689[9] = 0.0; - out_8602256134349546689[10] = 1.0; - out_8602256134349546689[11] = 0.0; - out_8602256134349546689[12] = 0.0; - out_8602256134349546689[13] = 0.0; - out_8602256134349546689[14] = 0.0; - out_8602256134349546689[15] = 0.0; - out_8602256134349546689[16] = 0.0; - out_8602256134349546689[17] = 0.0; - out_8602256134349546689[18] = 0.0; - out_8602256134349546689[19] = 0.0; - out_8602256134349546689[20] = 1.0; - out_8602256134349546689[21] = 0.0; - out_8602256134349546689[22] = 0.0; - out_8602256134349546689[23] = 0.0; - out_8602256134349546689[24] = 0.0; - out_8602256134349546689[25] = 0.0; - out_8602256134349546689[26] = 0.0; - out_8602256134349546689[27] = 0.0; - out_8602256134349546689[28] = 0.0; - out_8602256134349546689[29] = 0.0; - out_8602256134349546689[30] = 1.0; - out_8602256134349546689[31] = 0.0; - out_8602256134349546689[32] = 0.0; - out_8602256134349546689[33] = 0.0; - out_8602256134349546689[34] = 0.0; - out_8602256134349546689[35] = 0.0; - out_8602256134349546689[36] = 0.0; - out_8602256134349546689[37] = 0.0; - out_8602256134349546689[38] = 0.0; - out_8602256134349546689[39] = 0.0; - out_8602256134349546689[40] = 1.0; - out_8602256134349546689[41] = 0.0; - out_8602256134349546689[42] = 0.0; - out_8602256134349546689[43] = 0.0; - out_8602256134349546689[44] = 0.0; - out_8602256134349546689[45] = 0.0; - out_8602256134349546689[46] = 0.0; - out_8602256134349546689[47] = 0.0; - out_8602256134349546689[48] = 0.0; - out_8602256134349546689[49] = 0.0; - out_8602256134349546689[50] = 1.0; - out_8602256134349546689[51] = 0.0; - out_8602256134349546689[52] = 0.0; - out_8602256134349546689[53] = 0.0; - out_8602256134349546689[54] = 0.0; - out_8602256134349546689[55] = 0.0; - out_8602256134349546689[56] = 0.0; - out_8602256134349546689[57] = 0.0; - out_8602256134349546689[58] = 0.0; - out_8602256134349546689[59] = 0.0; - out_8602256134349546689[60] = 1.0; - out_8602256134349546689[61] = 0.0; - out_8602256134349546689[62] = 0.0; - out_8602256134349546689[63] = 0.0; - out_8602256134349546689[64] = 0.0; - out_8602256134349546689[65] = 0.0; - out_8602256134349546689[66] = 0.0; - out_8602256134349546689[67] = 0.0; - out_8602256134349546689[68] = 0.0; - out_8602256134349546689[69] = 0.0; - out_8602256134349546689[70] = 1.0; - out_8602256134349546689[71] = 0.0; - out_8602256134349546689[72] = 0.0; - out_8602256134349546689[73] = 0.0; - out_8602256134349546689[74] = 0.0; - out_8602256134349546689[75] = 0.0; - out_8602256134349546689[76] = 0.0; - out_8602256134349546689[77] = 0.0; - out_8602256134349546689[78] = 0.0; - out_8602256134349546689[79] = 0.0; - out_8602256134349546689[80] = 1.0; +void H_mod_fun(double *state, double *out_6127138549200260168) { + out_6127138549200260168[0] = 1.0; + out_6127138549200260168[1] = 0.0; + out_6127138549200260168[2] = 0.0; + out_6127138549200260168[3] = 0.0; + out_6127138549200260168[4] = 0.0; + out_6127138549200260168[5] = 0.0; + out_6127138549200260168[6] = 0.0; + out_6127138549200260168[7] = 0.0; + out_6127138549200260168[8] = 0.0; + out_6127138549200260168[9] = 0.0; + out_6127138549200260168[10] = 1.0; + out_6127138549200260168[11] = 0.0; + out_6127138549200260168[12] = 0.0; + out_6127138549200260168[13] = 0.0; + out_6127138549200260168[14] = 0.0; + out_6127138549200260168[15] = 0.0; + out_6127138549200260168[16] = 0.0; + out_6127138549200260168[17] = 0.0; + out_6127138549200260168[18] = 0.0; + out_6127138549200260168[19] = 0.0; + out_6127138549200260168[20] = 1.0; + out_6127138549200260168[21] = 0.0; + out_6127138549200260168[22] = 0.0; + out_6127138549200260168[23] = 0.0; + out_6127138549200260168[24] = 0.0; + out_6127138549200260168[25] = 0.0; + out_6127138549200260168[26] = 0.0; + out_6127138549200260168[27] = 0.0; + out_6127138549200260168[28] = 0.0; + out_6127138549200260168[29] = 0.0; + out_6127138549200260168[30] = 1.0; + out_6127138549200260168[31] = 0.0; + out_6127138549200260168[32] = 0.0; + out_6127138549200260168[33] = 0.0; + out_6127138549200260168[34] = 0.0; + out_6127138549200260168[35] = 0.0; + out_6127138549200260168[36] = 0.0; + out_6127138549200260168[37] = 0.0; + out_6127138549200260168[38] = 0.0; + out_6127138549200260168[39] = 0.0; + out_6127138549200260168[40] = 1.0; + out_6127138549200260168[41] = 0.0; + out_6127138549200260168[42] = 0.0; + out_6127138549200260168[43] = 0.0; + out_6127138549200260168[44] = 0.0; + out_6127138549200260168[45] = 0.0; + out_6127138549200260168[46] = 0.0; + out_6127138549200260168[47] = 0.0; + out_6127138549200260168[48] = 0.0; + out_6127138549200260168[49] = 0.0; + out_6127138549200260168[50] = 1.0; + out_6127138549200260168[51] = 0.0; + out_6127138549200260168[52] = 0.0; + out_6127138549200260168[53] = 0.0; + out_6127138549200260168[54] = 0.0; + out_6127138549200260168[55] = 0.0; + out_6127138549200260168[56] = 0.0; + out_6127138549200260168[57] = 0.0; + out_6127138549200260168[58] = 0.0; + out_6127138549200260168[59] = 0.0; + out_6127138549200260168[60] = 1.0; + out_6127138549200260168[61] = 0.0; + out_6127138549200260168[62] = 0.0; + out_6127138549200260168[63] = 0.0; + out_6127138549200260168[64] = 0.0; + out_6127138549200260168[65] = 0.0; + out_6127138549200260168[66] = 0.0; + out_6127138549200260168[67] = 0.0; + out_6127138549200260168[68] = 0.0; + out_6127138549200260168[69] = 0.0; + out_6127138549200260168[70] = 1.0; + out_6127138549200260168[71] = 0.0; + out_6127138549200260168[72] = 0.0; + out_6127138549200260168[73] = 0.0; + out_6127138549200260168[74] = 0.0; + out_6127138549200260168[75] = 0.0; + out_6127138549200260168[76] = 0.0; + out_6127138549200260168[77] = 0.0; + out_6127138549200260168[78] = 0.0; + out_6127138549200260168[79] = 0.0; + out_6127138549200260168[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5404650696097251297) { - out_5404650696097251297[0] = state[0]; - out_5404650696097251297[1] = state[1]; - out_5404650696097251297[2] = state[2]; - out_5404650696097251297[3] = state[3]; - out_5404650696097251297[4] = state[4]; - out_5404650696097251297[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_5404650696097251297[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_5404650696097251297[7] = state[7]; - out_5404650696097251297[8] = state[8]; +void f_fun(double *state, double dt, double *out_7372877337496608143) { + out_7372877337496608143[0] = state[0]; + out_7372877337496608143[1] = state[1]; + out_7372877337496608143[2] = state[2]; + out_7372877337496608143[3] = state[3]; + out_7372877337496608143[4] = state[4]; + out_7372877337496608143[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_7372877337496608143[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_7372877337496608143[7] = state[7]; + out_7372877337496608143[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3720686995353807718) { - out_3720686995353807718[0] = 1; - out_3720686995353807718[1] = 0; - out_3720686995353807718[2] = 0; - out_3720686995353807718[3] = 0; - out_3720686995353807718[4] = 0; - out_3720686995353807718[5] = 0; - out_3720686995353807718[6] = 0; - out_3720686995353807718[7] = 0; - out_3720686995353807718[8] = 0; - out_3720686995353807718[9] = 0; - out_3720686995353807718[10] = 1; - out_3720686995353807718[11] = 0; - out_3720686995353807718[12] = 0; - out_3720686995353807718[13] = 0; - out_3720686995353807718[14] = 0; - out_3720686995353807718[15] = 0; - out_3720686995353807718[16] = 0; - out_3720686995353807718[17] = 0; - out_3720686995353807718[18] = 0; - out_3720686995353807718[19] = 0; - out_3720686995353807718[20] = 1; - out_3720686995353807718[21] = 0; - out_3720686995353807718[22] = 0; - out_3720686995353807718[23] = 0; - out_3720686995353807718[24] = 0; - out_3720686995353807718[25] = 0; - out_3720686995353807718[26] = 0; - out_3720686995353807718[27] = 0; - out_3720686995353807718[28] = 0; - out_3720686995353807718[29] = 0; - out_3720686995353807718[30] = 1; - out_3720686995353807718[31] = 0; - out_3720686995353807718[32] = 0; - out_3720686995353807718[33] = 0; - out_3720686995353807718[34] = 0; - out_3720686995353807718[35] = 0; - out_3720686995353807718[36] = 0; - out_3720686995353807718[37] = 0; - out_3720686995353807718[38] = 0; - out_3720686995353807718[39] = 0; - out_3720686995353807718[40] = 1; - out_3720686995353807718[41] = 0; - out_3720686995353807718[42] = 0; - out_3720686995353807718[43] = 0; - out_3720686995353807718[44] = 0; - out_3720686995353807718[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_3720686995353807718[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3720686995353807718[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3720686995353807718[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3720686995353807718[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_3720686995353807718[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3720686995353807718[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3720686995353807718[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3720686995353807718[53] = -9.8100000000000005*dt; - out_3720686995353807718[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_3720686995353807718[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3720686995353807718[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3720686995353807718[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3720686995353807718[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_3720686995353807718[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3720686995353807718[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_3720686995353807718[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3720686995353807718[62] = 0; - out_3720686995353807718[63] = 0; - out_3720686995353807718[64] = 0; - out_3720686995353807718[65] = 0; - out_3720686995353807718[66] = 0; - out_3720686995353807718[67] = 0; - out_3720686995353807718[68] = 0; - out_3720686995353807718[69] = 0; - out_3720686995353807718[70] = 1; - out_3720686995353807718[71] = 0; - out_3720686995353807718[72] = 0; - out_3720686995353807718[73] = 0; - out_3720686995353807718[74] = 0; - out_3720686995353807718[75] = 0; - out_3720686995353807718[76] = 0; - out_3720686995353807718[77] = 0; - out_3720686995353807718[78] = 0; - out_3720686995353807718[79] = 0; - out_3720686995353807718[80] = 1; +void F_fun(double *state, double dt, double *out_6312844150465459340) { + out_6312844150465459340[0] = 1; + out_6312844150465459340[1] = 0; + out_6312844150465459340[2] = 0; + out_6312844150465459340[3] = 0; + out_6312844150465459340[4] = 0; + out_6312844150465459340[5] = 0; + out_6312844150465459340[6] = 0; + out_6312844150465459340[7] = 0; + out_6312844150465459340[8] = 0; + out_6312844150465459340[9] = 0; + out_6312844150465459340[10] = 1; + out_6312844150465459340[11] = 0; + out_6312844150465459340[12] = 0; + out_6312844150465459340[13] = 0; + out_6312844150465459340[14] = 0; + out_6312844150465459340[15] = 0; + out_6312844150465459340[16] = 0; + out_6312844150465459340[17] = 0; + out_6312844150465459340[18] = 0; + out_6312844150465459340[19] = 0; + out_6312844150465459340[20] = 1; + out_6312844150465459340[21] = 0; + out_6312844150465459340[22] = 0; + out_6312844150465459340[23] = 0; + out_6312844150465459340[24] = 0; + out_6312844150465459340[25] = 0; + out_6312844150465459340[26] = 0; + out_6312844150465459340[27] = 0; + out_6312844150465459340[28] = 0; + out_6312844150465459340[29] = 0; + out_6312844150465459340[30] = 1; + out_6312844150465459340[31] = 0; + out_6312844150465459340[32] = 0; + out_6312844150465459340[33] = 0; + out_6312844150465459340[34] = 0; + out_6312844150465459340[35] = 0; + out_6312844150465459340[36] = 0; + out_6312844150465459340[37] = 0; + out_6312844150465459340[38] = 0; + out_6312844150465459340[39] = 0; + out_6312844150465459340[40] = 1; + out_6312844150465459340[41] = 0; + out_6312844150465459340[42] = 0; + out_6312844150465459340[43] = 0; + out_6312844150465459340[44] = 0; + out_6312844150465459340[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_6312844150465459340[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6312844150465459340[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6312844150465459340[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6312844150465459340[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_6312844150465459340[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6312844150465459340[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6312844150465459340[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6312844150465459340[53] = -9.8100000000000005*dt; + out_6312844150465459340[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_6312844150465459340[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6312844150465459340[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6312844150465459340[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6312844150465459340[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_6312844150465459340[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6312844150465459340[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_6312844150465459340[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6312844150465459340[62] = 0; + out_6312844150465459340[63] = 0; + out_6312844150465459340[64] = 0; + out_6312844150465459340[65] = 0; + out_6312844150465459340[66] = 0; + out_6312844150465459340[67] = 0; + out_6312844150465459340[68] = 0; + out_6312844150465459340[69] = 0; + out_6312844150465459340[70] = 1; + out_6312844150465459340[71] = 0; + out_6312844150465459340[72] = 0; + out_6312844150465459340[73] = 0; + out_6312844150465459340[74] = 0; + out_6312844150465459340[75] = 0; + out_6312844150465459340[76] = 0; + out_6312844150465459340[77] = 0; + out_6312844150465459340[78] = 0; + out_6312844150465459340[79] = 0; + out_6312844150465459340[80] = 1; } -void h_25(double *state, double *unused, double *out_2947196115150604911) { - out_2947196115150604911[0] = state[6]; +void h_25(double *state, double *unused, double *out_5527658313899534193) { + out_5527658313899534193[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5079207495704181541) { - out_5079207495704181541[0] = 0; - out_5079207495704181541[1] = 0; - out_5079207495704181541[2] = 0; - out_5079207495704181541[3] = 0; - out_5079207495704181541[4] = 0; - out_5079207495704181541[5] = 0; - out_5079207495704181541[6] = 1; - out_5079207495704181541[7] = 0; - out_5079207495704181541[8] = 0; +void H_25(double *state, double *unused, double *out_6632472991400556880) { + out_6632472991400556880[0] = 0; + out_6632472991400556880[1] = 0; + out_6632472991400556880[2] = 0; + out_6632472991400556880[3] = 0; + out_6632472991400556880[4] = 0; + out_6632472991400556880[5] = 0; + out_6632472991400556880[6] = 1; + out_6632472991400556880[7] = 0; + out_6632472991400556880[8] = 0; } -void h_24(double *state, double *unused, double *out_5743512623925098853) { - out_5743512623925098853[0] = state[4]; - out_5743512623925098853[1] = state[5]; +void h_24(double *state, double *unused, double *out_8053196144855152976) { + out_8053196144855152976[0] = state[4]; + out_8053196144855152976[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8637133094506504677) { - out_8637133094506504677[0] = 0; - out_8637133094506504677[1] = 0; - out_8637133094506504677[2] = 0; - out_8637133094506504677[3] = 0; - out_8637133094506504677[4] = 1; - out_8637133094506504677[5] = 0; - out_8637133094506504677[6] = 0; - out_8637133094506504677[7] = 0; - out_8637133094506504677[8] = 0; - out_8637133094506504677[9] = 0; - out_8637133094506504677[10] = 0; - out_8637133094506504677[11] = 0; - out_8637133094506504677[12] = 0; - out_8637133094506504677[13] = 0; - out_8637133094506504677[14] = 1; - out_8637133094506504677[15] = 0; - out_8637133094506504677[16] = 0; - out_8637133094506504677[17] = 0; +void H_24(double *state, double *unused, double *out_5238699275717476635) { + out_5238699275717476635[0] = 0; + out_5238699275717476635[1] = 0; + out_5238699275717476635[2] = 0; + out_5238699275717476635[3] = 0; + out_5238699275717476635[4] = 1; + out_5238699275717476635[5] = 0; + out_5238699275717476635[6] = 0; + out_5238699275717476635[7] = 0; + out_5238699275717476635[8] = 0; + out_5238699275717476635[9] = 0; + out_5238699275717476635[10] = 0; + out_5238699275717476635[11] = 0; + out_5238699275717476635[12] = 0; + out_5238699275717476635[13] = 0; + out_5238699275717476635[14] = 1; + out_5238699275717476635[15] = 0; + out_5238699275717476635[16] = 0; + out_5238699275717476635[17] = 0; } -void h_30(double *state, double *unused, double *out_1496564722521721744) { - out_1496564722521721744[0] = state[4]; +void h_30(double *state, double *unused, double *out_5715869802824031453) { + out_5715869802824031453[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6450846236513753320) { - out_6450846236513753320[0] = 0; - out_6450846236513753320[1] = 0; - out_6450846236513753320[2] = 0; - out_6450846236513753320[3] = 0; - out_6450846236513753320[4] = 1; - out_6450846236513753320[5] = 0; - out_6450846236513753320[6] = 0; - out_6450846236513753320[7] = 0; - out_6450846236513753320[8] = 0; +void H_30(double *state, double *unused, double *out_4897580740817377981) { + out_4897580740817377981[0] = 0; + out_4897580740817377981[1] = 0; + out_4897580740817377981[2] = 0; + out_4897580740817377981[3] = 0; + out_4897580740817377981[4] = 1; + out_4897580740817377981[5] = 0; + out_4897580740817377981[6] = 0; + out_4897580740817377981[7] = 0; + out_4897580740817377981[8] = 0; } -void h_26(double *state, double *unused, double *out_7752389444480768998) { - out_7752389444480768998[0] = state[7]; +void h_26(double *state, double *unused, double *out_1526064504003558173) { + out_1526064504003558173[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8383733465464982142) { - out_8383733465464982142[0] = 0; - out_8383733465464982142[1] = 0; - out_8383733465464982142[2] = 0; - out_8383733465464982142[3] = 0; - out_8383733465464982142[4] = 0; - out_8383733465464982142[5] = 0; - out_8383733465464982142[6] = 0; - out_8383733465464982142[7] = 1; - out_8383733465464982142[8] = 0; +void H_26(double *state, double *unused, double *out_2890969672526500656) { + out_2890969672526500656[0] = 0; + out_2890969672526500656[1] = 0; + out_2890969672526500656[2] = 0; + out_2890969672526500656[3] = 0; + out_2890969672526500656[4] = 0; + out_2890969672526500656[5] = 0; + out_2890969672526500656[6] = 0; + out_2890969672526500656[7] = 1; + out_2890969672526500656[8] = 0; } -void h_27(double *state, double *unused, double *out_6576952114136391720) { - out_6576952114136391720[0] = state[3]; +void h_27(double *state, double *unused, double *out_8564444365343866878) { + out_8564444365343866878[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8625609548314178231) { - out_8625609548314178231[0] = 0; - out_8625609548314178231[1] = 0; - out_8625609548314178231[2] = 0; - out_8625609548314178231[3] = 1; - out_8625609548314178231[4] = 0; - out_8625609548314178231[5] = 0; - out_8625609548314178231[6] = 0; - out_8625609548314178231[7] = 0; - out_8625609548314178231[8] = 0; +void H_27(double *state, double *unused, double *out_7072344052617802892) { + out_7072344052617802892[0] = 0; + out_7072344052617802892[1] = 0; + out_7072344052617802892[2] = 0; + out_7072344052617802892[3] = 1; + out_7072344052617802892[4] = 0; + out_7072344052617802892[5] = 0; + out_7072344052617802892[6] = 0; + out_7072344052617802892[7] = 0; + out_7072344052617802892[8] = 0; } -void h_29(double *state, double *unused, double *out_6498237990182567389) { - out_6498237990182567389[0] = state[1]; +void h_29(double *state, double *unused, double *out_683171714589817693) { + out_683171714589817693[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5940614892199361136) { - out_5940614892199361136[0] = 0; - out_5940614892199361136[1] = 1; - out_5940614892199361136[2] = 0; - out_5940614892199361136[3] = 0; - out_5940614892199361136[4] = 0; - out_5940614892199361136[5] = 0; - out_5940614892199361136[6] = 0; - out_5940614892199361136[7] = 0; - out_5940614892199361136[8] = 0; +void H_29(double *state, double *unused, double *out_4387349396502985797) { + out_4387349396502985797[0] = 0; + out_4387349396502985797[1] = 1; + out_4387349396502985797[2] = 0; + out_4387349396502985797[3] = 0; + out_4387349396502985797[4] = 0; + out_4387349396502985797[5] = 0; + out_4387349396502985797[6] = 0; + out_4387349396502985797[7] = 0; + out_4387349396502985797[8] = 0; } -void h_28(double *state, double *unused, double *out_6868118691912314251) { - out_6868118691912314251[0] = state[0]; +void h_28(double *state, double *unused, double *out_8938789855464022303) { + out_8938789855464022303[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3025372781456291778) { - out_3025372781456291778[0] = 1; - out_3025372781456291778[1] = 0; - out_3025372781456291778[2] = 0; - out_3025372781456291778[3] = 0; - out_3025372781456291778[4] = 0; - out_3025372781456291778[5] = 0; - out_3025372781456291778[6] = 0; - out_3025372781456291778[7] = 0; - out_3025372781456291778[8] = 0; +void H_28(double *state, double *unused, double *out_8976995660137035245) { + out_8976995660137035245[0] = 1; + out_8976995660137035245[1] = 0; + out_8976995660137035245[2] = 0; + out_8976995660137035245[3] = 0; + out_8976995660137035245[4] = 0; + out_8976995660137035245[5] = 0; + out_8976995660137035245[6] = 0; + out_8976995660137035245[7] = 0; + out_8976995660137035245[8] = 0; } -void h_31(double *state, double *unused, double *out_8728712732208595769) { - out_8728712732208595769[0] = state[8]; +void h_31(double *state, double *unused, double *out_6331257833333722260) { + out_6331257833333722260[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6290861327493552822) { - out_6290861327493552822[0] = 0; - out_6290861327493552822[1] = 0; - out_6290861327493552822[2] = 0; - out_6290861327493552822[3] = 0; - out_6290861327493552822[4] = 0; - out_6290861327493552822[5] = 0; - out_6290861327493552822[6] = 0; - out_6290861327493552822[7] = 0; - out_6290861327493552822[8] = 1; +void H_31(double *state, double *unused, double *out_6663118953277517308) { + out_6663118953277517308[0] = 0; + out_6663118953277517308[1] = 0; + out_6663118953277517308[2] = 0; + out_6663118953277517308[3] = 0; + out_6663118953277517308[4] = 0; + out_6663118953277517308[5] = 0; + out_6663118953277517308[6] = 0; + out_6663118953277517308[7] = 0; + out_6663118953277517308[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_488496692945809667) { - err_fun(nom_x, delta_x, out_488496692945809667); +void car_err_fun(double *nom_x, double *delta_x, double *out_7743770409471347977) { + err_fun(nom_x, delta_x, out_7743770409471347977); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4539209272711951056) { - inv_err_fun(nom_x, true_x, out_4539209272711951056); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5655670642369359584) { + inv_err_fun(nom_x, true_x, out_5655670642369359584); } -void car_H_mod_fun(double *state, double *out_8602256134349546689) { - H_mod_fun(state, out_8602256134349546689); +void car_H_mod_fun(double *state, double *out_6127138549200260168) { + H_mod_fun(state, out_6127138549200260168); } -void car_f_fun(double *state, double dt, double *out_5404650696097251297) { - f_fun(state, dt, out_5404650696097251297); +void car_f_fun(double *state, double dt, double *out_7372877337496608143) { + f_fun(state, dt, out_7372877337496608143); } -void car_F_fun(double *state, double dt, double *out_3720686995353807718) { - F_fun(state, dt, out_3720686995353807718); +void car_F_fun(double *state, double dt, double *out_6312844150465459340) { + F_fun(state, dt, out_6312844150465459340); } -void car_h_25(double *state, double *unused, double *out_2947196115150604911) { - h_25(state, unused, out_2947196115150604911); +void car_h_25(double *state, double *unused, double *out_5527658313899534193) { + h_25(state, unused, out_5527658313899534193); } -void car_H_25(double *state, double *unused, double *out_5079207495704181541) { - H_25(state, unused, out_5079207495704181541); +void car_H_25(double *state, double *unused, double *out_6632472991400556880) { + H_25(state, unused, out_6632472991400556880); } -void car_h_24(double *state, double *unused, double *out_5743512623925098853) { - h_24(state, unused, out_5743512623925098853); +void car_h_24(double *state, double *unused, double *out_8053196144855152976) { + h_24(state, unused, out_8053196144855152976); } -void car_H_24(double *state, double *unused, double *out_8637133094506504677) { - H_24(state, unused, out_8637133094506504677); +void car_H_24(double *state, double *unused, double *out_5238699275717476635) { + H_24(state, unused, out_5238699275717476635); } -void car_h_30(double *state, double *unused, double *out_1496564722521721744) { - h_30(state, unused, out_1496564722521721744); +void car_h_30(double *state, double *unused, double *out_5715869802824031453) { + h_30(state, unused, out_5715869802824031453); } -void car_H_30(double *state, double *unused, double *out_6450846236513753320) { - H_30(state, unused, out_6450846236513753320); +void car_H_30(double *state, double *unused, double *out_4897580740817377981) { + H_30(state, unused, out_4897580740817377981); } -void car_h_26(double *state, double *unused, double *out_7752389444480768998) { - h_26(state, unused, out_7752389444480768998); +void car_h_26(double *state, double *unused, double *out_1526064504003558173) { + h_26(state, unused, out_1526064504003558173); } -void car_H_26(double *state, double *unused, double *out_8383733465464982142) { - H_26(state, unused, out_8383733465464982142); +void car_H_26(double *state, double *unused, double *out_2890969672526500656) { + H_26(state, unused, out_2890969672526500656); } -void car_h_27(double *state, double *unused, double *out_6576952114136391720) { - h_27(state, unused, out_6576952114136391720); +void car_h_27(double *state, double *unused, double *out_8564444365343866878) { + h_27(state, unused, out_8564444365343866878); } -void car_H_27(double *state, double *unused, double *out_8625609548314178231) { - H_27(state, unused, out_8625609548314178231); +void car_H_27(double *state, double *unused, double *out_7072344052617802892) { + H_27(state, unused, out_7072344052617802892); } -void car_h_29(double *state, double *unused, double *out_6498237990182567389) { - h_29(state, unused, out_6498237990182567389); +void car_h_29(double *state, double *unused, double *out_683171714589817693) { + h_29(state, unused, out_683171714589817693); } -void car_H_29(double *state, double *unused, double *out_5940614892199361136) { - H_29(state, unused, out_5940614892199361136); +void car_H_29(double *state, double *unused, double *out_4387349396502985797) { + H_29(state, unused, out_4387349396502985797); } -void car_h_28(double *state, double *unused, double *out_6868118691912314251) { - h_28(state, unused, out_6868118691912314251); +void car_h_28(double *state, double *unused, double *out_8938789855464022303) { + h_28(state, unused, out_8938789855464022303); } -void car_H_28(double *state, double *unused, double *out_3025372781456291778) { - H_28(state, unused, out_3025372781456291778); +void car_H_28(double *state, double *unused, double *out_8976995660137035245) { + H_28(state, unused, out_8976995660137035245); } -void car_h_31(double *state, double *unused, double *out_8728712732208595769) { - h_31(state, unused, out_8728712732208595769); +void car_h_31(double *state, double *unused, double *out_6331257833333722260) { + h_31(state, unused, out_6331257833333722260); } -void car_H_31(double *state, double *unused, double *out_6290861327493552822) { - H_31(state, unused, out_6290861327493552822); +void car_H_31(double *state, double *unused, double *out_6663118953277517308) { + H_31(state, unused, out_6663118953277517308); } 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 36fd85544..fab3529fc 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_488496692945809667); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4539209272711951056); -void car_H_mod_fun(double *state, double *out_8602256134349546689); -void car_f_fun(double *state, double dt, double *out_5404650696097251297); -void car_F_fun(double *state, double dt, double *out_3720686995353807718); -void car_h_25(double *state, double *unused, double *out_2947196115150604911); -void car_H_25(double *state, double *unused, double *out_5079207495704181541); -void car_h_24(double *state, double *unused, double *out_5743512623925098853); -void car_H_24(double *state, double *unused, double *out_8637133094506504677); -void car_h_30(double *state, double *unused, double *out_1496564722521721744); -void car_H_30(double *state, double *unused, double *out_6450846236513753320); -void car_h_26(double *state, double *unused, double *out_7752389444480768998); -void car_H_26(double *state, double *unused, double *out_8383733465464982142); -void car_h_27(double *state, double *unused, double *out_6576952114136391720); -void car_H_27(double *state, double *unused, double *out_8625609548314178231); -void car_h_29(double *state, double *unused, double *out_6498237990182567389); -void car_H_29(double *state, double *unused, double *out_5940614892199361136); -void car_h_28(double *state, double *unused, double *out_6868118691912314251); -void car_H_28(double *state, double *unused, double *out_3025372781456291778); -void car_h_31(double *state, double *unused, double *out_8728712732208595769); -void car_H_31(double *state, double *unused, double *out_6290861327493552822); +void car_err_fun(double *nom_x, double *delta_x, double *out_7743770409471347977); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5655670642369359584); +void car_H_mod_fun(double *state, double *out_6127138549200260168); +void car_f_fun(double *state, double dt, double *out_7372877337496608143); +void car_F_fun(double *state, double dt, double *out_6312844150465459340); +void car_h_25(double *state, double *unused, double *out_5527658313899534193); +void car_H_25(double *state, double *unused, double *out_6632472991400556880); +void car_h_24(double *state, double *unused, double *out_8053196144855152976); +void car_H_24(double *state, double *unused, double *out_5238699275717476635); +void car_h_30(double *state, double *unused, double *out_5715869802824031453); +void car_H_30(double *state, double *unused, double *out_4897580740817377981); +void car_h_26(double *state, double *unused, double *out_1526064504003558173); +void car_H_26(double *state, double *unused, double *out_2890969672526500656); +void car_h_27(double *state, double *unused, double *out_8564444365343866878); +void car_H_27(double *state, double *unused, double *out_7072344052617802892); +void car_h_29(double *state, double *unused, double *out_683171714589817693); +void car_H_29(double *state, double *unused, double *out_4387349396502985797); +void car_h_28(double *state, double *unused, double *out_8938789855464022303); +void car_H_28(double *state, double *unused, double *out_8976995660137035245); +void car_h_31(double *state, double *unused, double *out_6331257833333722260); +void car_H_31(double *state, double *unused, double *out_6663118953277517308); 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 dbed7f26e..5b9303c0a 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_486750963754107954) { - out_486750963754107954[0] = delta_x[0] + nom_x[0]; - out_486750963754107954[1] = delta_x[1] + nom_x[1]; - out_486750963754107954[2] = delta_x[2] + nom_x[2]; - out_486750963754107954[3] = delta_x[3] + nom_x[3]; - out_486750963754107954[4] = delta_x[4] + nom_x[4]; - out_486750963754107954[5] = delta_x[5] + nom_x[5]; - out_486750963754107954[6] = delta_x[6] + nom_x[6]; - out_486750963754107954[7] = delta_x[7] + nom_x[7]; - out_486750963754107954[8] = delta_x[8] + nom_x[8]; - out_486750963754107954[9] = delta_x[9] + nom_x[9]; - out_486750963754107954[10] = delta_x[10] + nom_x[10]; - out_486750963754107954[11] = delta_x[11] + nom_x[11]; - out_486750963754107954[12] = delta_x[12] + nom_x[12]; - out_486750963754107954[13] = delta_x[13] + nom_x[13]; - out_486750963754107954[14] = delta_x[14] + nom_x[14]; - out_486750963754107954[15] = delta_x[15] + nom_x[15]; - out_486750963754107954[16] = delta_x[16] + nom_x[16]; - out_486750963754107954[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7337273534871130421) { + out_7337273534871130421[0] = delta_x[0] + nom_x[0]; + out_7337273534871130421[1] = delta_x[1] + nom_x[1]; + out_7337273534871130421[2] = delta_x[2] + nom_x[2]; + out_7337273534871130421[3] = delta_x[3] + nom_x[3]; + out_7337273534871130421[4] = delta_x[4] + nom_x[4]; + out_7337273534871130421[5] = delta_x[5] + nom_x[5]; + out_7337273534871130421[6] = delta_x[6] + nom_x[6]; + out_7337273534871130421[7] = delta_x[7] + nom_x[7]; + out_7337273534871130421[8] = delta_x[8] + nom_x[8]; + out_7337273534871130421[9] = delta_x[9] + nom_x[9]; + out_7337273534871130421[10] = delta_x[10] + nom_x[10]; + out_7337273534871130421[11] = delta_x[11] + nom_x[11]; + out_7337273534871130421[12] = delta_x[12] + nom_x[12]; + out_7337273534871130421[13] = delta_x[13] + nom_x[13]; + out_7337273534871130421[14] = delta_x[14] + nom_x[14]; + out_7337273534871130421[15] = delta_x[15] + nom_x[15]; + out_7337273534871130421[16] = delta_x[16] + nom_x[16]; + out_7337273534871130421[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1555487183493314770) { - out_1555487183493314770[0] = -nom_x[0] + true_x[0]; - out_1555487183493314770[1] = -nom_x[1] + true_x[1]; - out_1555487183493314770[2] = -nom_x[2] + true_x[2]; - out_1555487183493314770[3] = -nom_x[3] + true_x[3]; - out_1555487183493314770[4] = -nom_x[4] + true_x[4]; - out_1555487183493314770[5] = -nom_x[5] + true_x[5]; - out_1555487183493314770[6] = -nom_x[6] + true_x[6]; - out_1555487183493314770[7] = -nom_x[7] + true_x[7]; - out_1555487183493314770[8] = -nom_x[8] + true_x[8]; - out_1555487183493314770[9] = -nom_x[9] + true_x[9]; - out_1555487183493314770[10] = -nom_x[10] + true_x[10]; - out_1555487183493314770[11] = -nom_x[11] + true_x[11]; - out_1555487183493314770[12] = -nom_x[12] + true_x[12]; - out_1555487183493314770[13] = -nom_x[13] + true_x[13]; - out_1555487183493314770[14] = -nom_x[14] + true_x[14]; - out_1555487183493314770[15] = -nom_x[15] + true_x[15]; - out_1555487183493314770[16] = -nom_x[16] + true_x[16]; - out_1555487183493314770[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7370167163616029780) { + out_7370167163616029780[0] = -nom_x[0] + true_x[0]; + out_7370167163616029780[1] = -nom_x[1] + true_x[1]; + out_7370167163616029780[2] = -nom_x[2] + true_x[2]; + out_7370167163616029780[3] = -nom_x[3] + true_x[3]; + out_7370167163616029780[4] = -nom_x[4] + true_x[4]; + out_7370167163616029780[5] = -nom_x[5] + true_x[5]; + out_7370167163616029780[6] = -nom_x[6] + true_x[6]; + out_7370167163616029780[7] = -nom_x[7] + true_x[7]; + out_7370167163616029780[8] = -nom_x[8] + true_x[8]; + out_7370167163616029780[9] = -nom_x[9] + true_x[9]; + out_7370167163616029780[10] = -nom_x[10] + true_x[10]; + out_7370167163616029780[11] = -nom_x[11] + true_x[11]; + out_7370167163616029780[12] = -nom_x[12] + true_x[12]; + out_7370167163616029780[13] = -nom_x[13] + true_x[13]; + out_7370167163616029780[14] = -nom_x[14] + true_x[14]; + out_7370167163616029780[15] = -nom_x[15] + true_x[15]; + out_7370167163616029780[16] = -nom_x[16] + true_x[16]; + out_7370167163616029780[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_2668724034635220264) { - out_2668724034635220264[0] = 1.0; - out_2668724034635220264[1] = 0.0; - out_2668724034635220264[2] = 0.0; - out_2668724034635220264[3] = 0.0; - out_2668724034635220264[4] = 0.0; - out_2668724034635220264[5] = 0.0; - out_2668724034635220264[6] = 0.0; - out_2668724034635220264[7] = 0.0; - out_2668724034635220264[8] = 0.0; - out_2668724034635220264[9] = 0.0; - out_2668724034635220264[10] = 0.0; - out_2668724034635220264[11] = 0.0; - out_2668724034635220264[12] = 0.0; - out_2668724034635220264[13] = 0.0; - out_2668724034635220264[14] = 0.0; - out_2668724034635220264[15] = 0.0; - out_2668724034635220264[16] = 0.0; - out_2668724034635220264[17] = 0.0; - out_2668724034635220264[18] = 0.0; - out_2668724034635220264[19] = 1.0; - out_2668724034635220264[20] = 0.0; - out_2668724034635220264[21] = 0.0; - out_2668724034635220264[22] = 0.0; - out_2668724034635220264[23] = 0.0; - out_2668724034635220264[24] = 0.0; - out_2668724034635220264[25] = 0.0; - out_2668724034635220264[26] = 0.0; - out_2668724034635220264[27] = 0.0; - out_2668724034635220264[28] = 0.0; - out_2668724034635220264[29] = 0.0; - out_2668724034635220264[30] = 0.0; - out_2668724034635220264[31] = 0.0; - out_2668724034635220264[32] = 0.0; - out_2668724034635220264[33] = 0.0; - out_2668724034635220264[34] = 0.0; - out_2668724034635220264[35] = 0.0; - out_2668724034635220264[36] = 0.0; - out_2668724034635220264[37] = 0.0; - out_2668724034635220264[38] = 1.0; - out_2668724034635220264[39] = 0.0; - out_2668724034635220264[40] = 0.0; - out_2668724034635220264[41] = 0.0; - out_2668724034635220264[42] = 0.0; - out_2668724034635220264[43] = 0.0; - out_2668724034635220264[44] = 0.0; - out_2668724034635220264[45] = 0.0; - out_2668724034635220264[46] = 0.0; - out_2668724034635220264[47] = 0.0; - out_2668724034635220264[48] = 0.0; - out_2668724034635220264[49] = 0.0; - out_2668724034635220264[50] = 0.0; - out_2668724034635220264[51] = 0.0; - out_2668724034635220264[52] = 0.0; - out_2668724034635220264[53] = 0.0; - out_2668724034635220264[54] = 0.0; - out_2668724034635220264[55] = 0.0; - out_2668724034635220264[56] = 0.0; - out_2668724034635220264[57] = 1.0; - out_2668724034635220264[58] = 0.0; - out_2668724034635220264[59] = 0.0; - out_2668724034635220264[60] = 0.0; - out_2668724034635220264[61] = 0.0; - out_2668724034635220264[62] = 0.0; - out_2668724034635220264[63] = 0.0; - out_2668724034635220264[64] = 0.0; - out_2668724034635220264[65] = 0.0; - out_2668724034635220264[66] = 0.0; - out_2668724034635220264[67] = 0.0; - out_2668724034635220264[68] = 0.0; - out_2668724034635220264[69] = 0.0; - out_2668724034635220264[70] = 0.0; - out_2668724034635220264[71] = 0.0; - out_2668724034635220264[72] = 0.0; - out_2668724034635220264[73] = 0.0; - out_2668724034635220264[74] = 0.0; - out_2668724034635220264[75] = 0.0; - out_2668724034635220264[76] = 1.0; - out_2668724034635220264[77] = 0.0; - out_2668724034635220264[78] = 0.0; - out_2668724034635220264[79] = 0.0; - out_2668724034635220264[80] = 0.0; - out_2668724034635220264[81] = 0.0; - out_2668724034635220264[82] = 0.0; - out_2668724034635220264[83] = 0.0; - out_2668724034635220264[84] = 0.0; - out_2668724034635220264[85] = 0.0; - out_2668724034635220264[86] = 0.0; - out_2668724034635220264[87] = 0.0; - out_2668724034635220264[88] = 0.0; - out_2668724034635220264[89] = 0.0; - out_2668724034635220264[90] = 0.0; - out_2668724034635220264[91] = 0.0; - out_2668724034635220264[92] = 0.0; - out_2668724034635220264[93] = 0.0; - out_2668724034635220264[94] = 0.0; - out_2668724034635220264[95] = 1.0; - out_2668724034635220264[96] = 0.0; - out_2668724034635220264[97] = 0.0; - out_2668724034635220264[98] = 0.0; - out_2668724034635220264[99] = 0.0; - out_2668724034635220264[100] = 0.0; - out_2668724034635220264[101] = 0.0; - out_2668724034635220264[102] = 0.0; - out_2668724034635220264[103] = 0.0; - out_2668724034635220264[104] = 0.0; - out_2668724034635220264[105] = 0.0; - out_2668724034635220264[106] = 0.0; - out_2668724034635220264[107] = 0.0; - out_2668724034635220264[108] = 0.0; - out_2668724034635220264[109] = 0.0; - out_2668724034635220264[110] = 0.0; - out_2668724034635220264[111] = 0.0; - out_2668724034635220264[112] = 0.0; - out_2668724034635220264[113] = 0.0; - out_2668724034635220264[114] = 1.0; - out_2668724034635220264[115] = 0.0; - out_2668724034635220264[116] = 0.0; - out_2668724034635220264[117] = 0.0; - out_2668724034635220264[118] = 0.0; - out_2668724034635220264[119] = 0.0; - out_2668724034635220264[120] = 0.0; - out_2668724034635220264[121] = 0.0; - out_2668724034635220264[122] = 0.0; - out_2668724034635220264[123] = 0.0; - out_2668724034635220264[124] = 0.0; - out_2668724034635220264[125] = 0.0; - out_2668724034635220264[126] = 0.0; - out_2668724034635220264[127] = 0.0; - out_2668724034635220264[128] = 0.0; - out_2668724034635220264[129] = 0.0; - out_2668724034635220264[130] = 0.0; - out_2668724034635220264[131] = 0.0; - out_2668724034635220264[132] = 0.0; - out_2668724034635220264[133] = 1.0; - out_2668724034635220264[134] = 0.0; - out_2668724034635220264[135] = 0.0; - out_2668724034635220264[136] = 0.0; - out_2668724034635220264[137] = 0.0; - out_2668724034635220264[138] = 0.0; - out_2668724034635220264[139] = 0.0; - out_2668724034635220264[140] = 0.0; - out_2668724034635220264[141] = 0.0; - out_2668724034635220264[142] = 0.0; - out_2668724034635220264[143] = 0.0; - out_2668724034635220264[144] = 0.0; - out_2668724034635220264[145] = 0.0; - out_2668724034635220264[146] = 0.0; - out_2668724034635220264[147] = 0.0; - out_2668724034635220264[148] = 0.0; - out_2668724034635220264[149] = 0.0; - out_2668724034635220264[150] = 0.0; - out_2668724034635220264[151] = 0.0; - out_2668724034635220264[152] = 1.0; - out_2668724034635220264[153] = 0.0; - out_2668724034635220264[154] = 0.0; - out_2668724034635220264[155] = 0.0; - out_2668724034635220264[156] = 0.0; - out_2668724034635220264[157] = 0.0; - out_2668724034635220264[158] = 0.0; - out_2668724034635220264[159] = 0.0; - out_2668724034635220264[160] = 0.0; - out_2668724034635220264[161] = 0.0; - out_2668724034635220264[162] = 0.0; - out_2668724034635220264[163] = 0.0; - out_2668724034635220264[164] = 0.0; - out_2668724034635220264[165] = 0.0; - out_2668724034635220264[166] = 0.0; - out_2668724034635220264[167] = 0.0; - out_2668724034635220264[168] = 0.0; - out_2668724034635220264[169] = 0.0; - out_2668724034635220264[170] = 0.0; - out_2668724034635220264[171] = 1.0; - out_2668724034635220264[172] = 0.0; - out_2668724034635220264[173] = 0.0; - out_2668724034635220264[174] = 0.0; - out_2668724034635220264[175] = 0.0; - out_2668724034635220264[176] = 0.0; - out_2668724034635220264[177] = 0.0; - out_2668724034635220264[178] = 0.0; - out_2668724034635220264[179] = 0.0; - out_2668724034635220264[180] = 0.0; - out_2668724034635220264[181] = 0.0; - out_2668724034635220264[182] = 0.0; - out_2668724034635220264[183] = 0.0; - out_2668724034635220264[184] = 0.0; - out_2668724034635220264[185] = 0.0; - out_2668724034635220264[186] = 0.0; - out_2668724034635220264[187] = 0.0; - out_2668724034635220264[188] = 0.0; - out_2668724034635220264[189] = 0.0; - out_2668724034635220264[190] = 1.0; - out_2668724034635220264[191] = 0.0; - out_2668724034635220264[192] = 0.0; - out_2668724034635220264[193] = 0.0; - out_2668724034635220264[194] = 0.0; - out_2668724034635220264[195] = 0.0; - out_2668724034635220264[196] = 0.0; - out_2668724034635220264[197] = 0.0; - out_2668724034635220264[198] = 0.0; - out_2668724034635220264[199] = 0.0; - out_2668724034635220264[200] = 0.0; - out_2668724034635220264[201] = 0.0; - out_2668724034635220264[202] = 0.0; - out_2668724034635220264[203] = 0.0; - out_2668724034635220264[204] = 0.0; - out_2668724034635220264[205] = 0.0; - out_2668724034635220264[206] = 0.0; - out_2668724034635220264[207] = 0.0; - out_2668724034635220264[208] = 0.0; - out_2668724034635220264[209] = 1.0; - out_2668724034635220264[210] = 0.0; - out_2668724034635220264[211] = 0.0; - out_2668724034635220264[212] = 0.0; - out_2668724034635220264[213] = 0.0; - out_2668724034635220264[214] = 0.0; - out_2668724034635220264[215] = 0.0; - out_2668724034635220264[216] = 0.0; - out_2668724034635220264[217] = 0.0; - out_2668724034635220264[218] = 0.0; - out_2668724034635220264[219] = 0.0; - out_2668724034635220264[220] = 0.0; - out_2668724034635220264[221] = 0.0; - out_2668724034635220264[222] = 0.0; - out_2668724034635220264[223] = 0.0; - out_2668724034635220264[224] = 0.0; - out_2668724034635220264[225] = 0.0; - out_2668724034635220264[226] = 0.0; - out_2668724034635220264[227] = 0.0; - out_2668724034635220264[228] = 1.0; - out_2668724034635220264[229] = 0.0; - out_2668724034635220264[230] = 0.0; - out_2668724034635220264[231] = 0.0; - out_2668724034635220264[232] = 0.0; - out_2668724034635220264[233] = 0.0; - out_2668724034635220264[234] = 0.0; - out_2668724034635220264[235] = 0.0; - out_2668724034635220264[236] = 0.0; - out_2668724034635220264[237] = 0.0; - out_2668724034635220264[238] = 0.0; - out_2668724034635220264[239] = 0.0; - out_2668724034635220264[240] = 0.0; - out_2668724034635220264[241] = 0.0; - out_2668724034635220264[242] = 0.0; - out_2668724034635220264[243] = 0.0; - out_2668724034635220264[244] = 0.0; - out_2668724034635220264[245] = 0.0; - out_2668724034635220264[246] = 0.0; - out_2668724034635220264[247] = 1.0; - out_2668724034635220264[248] = 0.0; - out_2668724034635220264[249] = 0.0; - out_2668724034635220264[250] = 0.0; - out_2668724034635220264[251] = 0.0; - out_2668724034635220264[252] = 0.0; - out_2668724034635220264[253] = 0.0; - out_2668724034635220264[254] = 0.0; - out_2668724034635220264[255] = 0.0; - out_2668724034635220264[256] = 0.0; - out_2668724034635220264[257] = 0.0; - out_2668724034635220264[258] = 0.0; - out_2668724034635220264[259] = 0.0; - out_2668724034635220264[260] = 0.0; - out_2668724034635220264[261] = 0.0; - out_2668724034635220264[262] = 0.0; - out_2668724034635220264[263] = 0.0; - out_2668724034635220264[264] = 0.0; - out_2668724034635220264[265] = 0.0; - out_2668724034635220264[266] = 1.0; - out_2668724034635220264[267] = 0.0; - out_2668724034635220264[268] = 0.0; - out_2668724034635220264[269] = 0.0; - out_2668724034635220264[270] = 0.0; - out_2668724034635220264[271] = 0.0; - out_2668724034635220264[272] = 0.0; - out_2668724034635220264[273] = 0.0; - out_2668724034635220264[274] = 0.0; - out_2668724034635220264[275] = 0.0; - out_2668724034635220264[276] = 0.0; - out_2668724034635220264[277] = 0.0; - out_2668724034635220264[278] = 0.0; - out_2668724034635220264[279] = 0.0; - out_2668724034635220264[280] = 0.0; - out_2668724034635220264[281] = 0.0; - out_2668724034635220264[282] = 0.0; - out_2668724034635220264[283] = 0.0; - out_2668724034635220264[284] = 0.0; - out_2668724034635220264[285] = 1.0; - out_2668724034635220264[286] = 0.0; - out_2668724034635220264[287] = 0.0; - out_2668724034635220264[288] = 0.0; - out_2668724034635220264[289] = 0.0; - out_2668724034635220264[290] = 0.0; - out_2668724034635220264[291] = 0.0; - out_2668724034635220264[292] = 0.0; - out_2668724034635220264[293] = 0.0; - out_2668724034635220264[294] = 0.0; - out_2668724034635220264[295] = 0.0; - out_2668724034635220264[296] = 0.0; - out_2668724034635220264[297] = 0.0; - out_2668724034635220264[298] = 0.0; - out_2668724034635220264[299] = 0.0; - out_2668724034635220264[300] = 0.0; - out_2668724034635220264[301] = 0.0; - out_2668724034635220264[302] = 0.0; - out_2668724034635220264[303] = 0.0; - out_2668724034635220264[304] = 1.0; - out_2668724034635220264[305] = 0.0; - out_2668724034635220264[306] = 0.0; - out_2668724034635220264[307] = 0.0; - out_2668724034635220264[308] = 0.0; - out_2668724034635220264[309] = 0.0; - out_2668724034635220264[310] = 0.0; - out_2668724034635220264[311] = 0.0; - out_2668724034635220264[312] = 0.0; - out_2668724034635220264[313] = 0.0; - out_2668724034635220264[314] = 0.0; - out_2668724034635220264[315] = 0.0; - out_2668724034635220264[316] = 0.0; - out_2668724034635220264[317] = 0.0; - out_2668724034635220264[318] = 0.0; - out_2668724034635220264[319] = 0.0; - out_2668724034635220264[320] = 0.0; - out_2668724034635220264[321] = 0.0; - out_2668724034635220264[322] = 0.0; - out_2668724034635220264[323] = 1.0; +void H_mod_fun(double *state, double *out_1839001963735438802) { + out_1839001963735438802[0] = 1.0; + out_1839001963735438802[1] = 0.0; + out_1839001963735438802[2] = 0.0; + out_1839001963735438802[3] = 0.0; + out_1839001963735438802[4] = 0.0; + out_1839001963735438802[5] = 0.0; + out_1839001963735438802[6] = 0.0; + out_1839001963735438802[7] = 0.0; + out_1839001963735438802[8] = 0.0; + out_1839001963735438802[9] = 0.0; + out_1839001963735438802[10] = 0.0; + out_1839001963735438802[11] = 0.0; + out_1839001963735438802[12] = 0.0; + out_1839001963735438802[13] = 0.0; + out_1839001963735438802[14] = 0.0; + out_1839001963735438802[15] = 0.0; + out_1839001963735438802[16] = 0.0; + out_1839001963735438802[17] = 0.0; + out_1839001963735438802[18] = 0.0; + out_1839001963735438802[19] = 1.0; + out_1839001963735438802[20] = 0.0; + out_1839001963735438802[21] = 0.0; + out_1839001963735438802[22] = 0.0; + out_1839001963735438802[23] = 0.0; + out_1839001963735438802[24] = 0.0; + out_1839001963735438802[25] = 0.0; + out_1839001963735438802[26] = 0.0; + out_1839001963735438802[27] = 0.0; + out_1839001963735438802[28] = 0.0; + out_1839001963735438802[29] = 0.0; + out_1839001963735438802[30] = 0.0; + out_1839001963735438802[31] = 0.0; + out_1839001963735438802[32] = 0.0; + out_1839001963735438802[33] = 0.0; + out_1839001963735438802[34] = 0.0; + out_1839001963735438802[35] = 0.0; + out_1839001963735438802[36] = 0.0; + out_1839001963735438802[37] = 0.0; + out_1839001963735438802[38] = 1.0; + out_1839001963735438802[39] = 0.0; + out_1839001963735438802[40] = 0.0; + out_1839001963735438802[41] = 0.0; + out_1839001963735438802[42] = 0.0; + out_1839001963735438802[43] = 0.0; + out_1839001963735438802[44] = 0.0; + out_1839001963735438802[45] = 0.0; + out_1839001963735438802[46] = 0.0; + out_1839001963735438802[47] = 0.0; + out_1839001963735438802[48] = 0.0; + out_1839001963735438802[49] = 0.0; + out_1839001963735438802[50] = 0.0; + out_1839001963735438802[51] = 0.0; + out_1839001963735438802[52] = 0.0; + out_1839001963735438802[53] = 0.0; + out_1839001963735438802[54] = 0.0; + out_1839001963735438802[55] = 0.0; + out_1839001963735438802[56] = 0.0; + out_1839001963735438802[57] = 1.0; + out_1839001963735438802[58] = 0.0; + out_1839001963735438802[59] = 0.0; + out_1839001963735438802[60] = 0.0; + out_1839001963735438802[61] = 0.0; + out_1839001963735438802[62] = 0.0; + out_1839001963735438802[63] = 0.0; + out_1839001963735438802[64] = 0.0; + out_1839001963735438802[65] = 0.0; + out_1839001963735438802[66] = 0.0; + out_1839001963735438802[67] = 0.0; + out_1839001963735438802[68] = 0.0; + out_1839001963735438802[69] = 0.0; + out_1839001963735438802[70] = 0.0; + out_1839001963735438802[71] = 0.0; + out_1839001963735438802[72] = 0.0; + out_1839001963735438802[73] = 0.0; + out_1839001963735438802[74] = 0.0; + out_1839001963735438802[75] = 0.0; + out_1839001963735438802[76] = 1.0; + out_1839001963735438802[77] = 0.0; + out_1839001963735438802[78] = 0.0; + out_1839001963735438802[79] = 0.0; + out_1839001963735438802[80] = 0.0; + out_1839001963735438802[81] = 0.0; + out_1839001963735438802[82] = 0.0; + out_1839001963735438802[83] = 0.0; + out_1839001963735438802[84] = 0.0; + out_1839001963735438802[85] = 0.0; + out_1839001963735438802[86] = 0.0; + out_1839001963735438802[87] = 0.0; + out_1839001963735438802[88] = 0.0; + out_1839001963735438802[89] = 0.0; + out_1839001963735438802[90] = 0.0; + out_1839001963735438802[91] = 0.0; + out_1839001963735438802[92] = 0.0; + out_1839001963735438802[93] = 0.0; + out_1839001963735438802[94] = 0.0; + out_1839001963735438802[95] = 1.0; + out_1839001963735438802[96] = 0.0; + out_1839001963735438802[97] = 0.0; + out_1839001963735438802[98] = 0.0; + out_1839001963735438802[99] = 0.0; + out_1839001963735438802[100] = 0.0; + out_1839001963735438802[101] = 0.0; + out_1839001963735438802[102] = 0.0; + out_1839001963735438802[103] = 0.0; + out_1839001963735438802[104] = 0.0; + out_1839001963735438802[105] = 0.0; + out_1839001963735438802[106] = 0.0; + out_1839001963735438802[107] = 0.0; + out_1839001963735438802[108] = 0.0; + out_1839001963735438802[109] = 0.0; + out_1839001963735438802[110] = 0.0; + out_1839001963735438802[111] = 0.0; + out_1839001963735438802[112] = 0.0; + out_1839001963735438802[113] = 0.0; + out_1839001963735438802[114] = 1.0; + out_1839001963735438802[115] = 0.0; + out_1839001963735438802[116] = 0.0; + out_1839001963735438802[117] = 0.0; + out_1839001963735438802[118] = 0.0; + out_1839001963735438802[119] = 0.0; + out_1839001963735438802[120] = 0.0; + out_1839001963735438802[121] = 0.0; + out_1839001963735438802[122] = 0.0; + out_1839001963735438802[123] = 0.0; + out_1839001963735438802[124] = 0.0; + out_1839001963735438802[125] = 0.0; + out_1839001963735438802[126] = 0.0; + out_1839001963735438802[127] = 0.0; + out_1839001963735438802[128] = 0.0; + out_1839001963735438802[129] = 0.0; + out_1839001963735438802[130] = 0.0; + out_1839001963735438802[131] = 0.0; + out_1839001963735438802[132] = 0.0; + out_1839001963735438802[133] = 1.0; + out_1839001963735438802[134] = 0.0; + out_1839001963735438802[135] = 0.0; + out_1839001963735438802[136] = 0.0; + out_1839001963735438802[137] = 0.0; + out_1839001963735438802[138] = 0.0; + out_1839001963735438802[139] = 0.0; + out_1839001963735438802[140] = 0.0; + out_1839001963735438802[141] = 0.0; + out_1839001963735438802[142] = 0.0; + out_1839001963735438802[143] = 0.0; + out_1839001963735438802[144] = 0.0; + out_1839001963735438802[145] = 0.0; + out_1839001963735438802[146] = 0.0; + out_1839001963735438802[147] = 0.0; + out_1839001963735438802[148] = 0.0; + out_1839001963735438802[149] = 0.0; + out_1839001963735438802[150] = 0.0; + out_1839001963735438802[151] = 0.0; + out_1839001963735438802[152] = 1.0; + out_1839001963735438802[153] = 0.0; + out_1839001963735438802[154] = 0.0; + out_1839001963735438802[155] = 0.0; + out_1839001963735438802[156] = 0.0; + out_1839001963735438802[157] = 0.0; + out_1839001963735438802[158] = 0.0; + out_1839001963735438802[159] = 0.0; + out_1839001963735438802[160] = 0.0; + out_1839001963735438802[161] = 0.0; + out_1839001963735438802[162] = 0.0; + out_1839001963735438802[163] = 0.0; + out_1839001963735438802[164] = 0.0; + out_1839001963735438802[165] = 0.0; + out_1839001963735438802[166] = 0.0; + out_1839001963735438802[167] = 0.0; + out_1839001963735438802[168] = 0.0; + out_1839001963735438802[169] = 0.0; + out_1839001963735438802[170] = 0.0; + out_1839001963735438802[171] = 1.0; + out_1839001963735438802[172] = 0.0; + out_1839001963735438802[173] = 0.0; + out_1839001963735438802[174] = 0.0; + out_1839001963735438802[175] = 0.0; + out_1839001963735438802[176] = 0.0; + out_1839001963735438802[177] = 0.0; + out_1839001963735438802[178] = 0.0; + out_1839001963735438802[179] = 0.0; + out_1839001963735438802[180] = 0.0; + out_1839001963735438802[181] = 0.0; + out_1839001963735438802[182] = 0.0; + out_1839001963735438802[183] = 0.0; + out_1839001963735438802[184] = 0.0; + out_1839001963735438802[185] = 0.0; + out_1839001963735438802[186] = 0.0; + out_1839001963735438802[187] = 0.0; + out_1839001963735438802[188] = 0.0; + out_1839001963735438802[189] = 0.0; + out_1839001963735438802[190] = 1.0; + out_1839001963735438802[191] = 0.0; + out_1839001963735438802[192] = 0.0; + out_1839001963735438802[193] = 0.0; + out_1839001963735438802[194] = 0.0; + out_1839001963735438802[195] = 0.0; + out_1839001963735438802[196] = 0.0; + out_1839001963735438802[197] = 0.0; + out_1839001963735438802[198] = 0.0; + out_1839001963735438802[199] = 0.0; + out_1839001963735438802[200] = 0.0; + out_1839001963735438802[201] = 0.0; + out_1839001963735438802[202] = 0.0; + out_1839001963735438802[203] = 0.0; + out_1839001963735438802[204] = 0.0; + out_1839001963735438802[205] = 0.0; + out_1839001963735438802[206] = 0.0; + out_1839001963735438802[207] = 0.0; + out_1839001963735438802[208] = 0.0; + out_1839001963735438802[209] = 1.0; + out_1839001963735438802[210] = 0.0; + out_1839001963735438802[211] = 0.0; + out_1839001963735438802[212] = 0.0; + out_1839001963735438802[213] = 0.0; + out_1839001963735438802[214] = 0.0; + out_1839001963735438802[215] = 0.0; + out_1839001963735438802[216] = 0.0; + out_1839001963735438802[217] = 0.0; + out_1839001963735438802[218] = 0.0; + out_1839001963735438802[219] = 0.0; + out_1839001963735438802[220] = 0.0; + out_1839001963735438802[221] = 0.0; + out_1839001963735438802[222] = 0.0; + out_1839001963735438802[223] = 0.0; + out_1839001963735438802[224] = 0.0; + out_1839001963735438802[225] = 0.0; + out_1839001963735438802[226] = 0.0; + out_1839001963735438802[227] = 0.0; + out_1839001963735438802[228] = 1.0; + out_1839001963735438802[229] = 0.0; + out_1839001963735438802[230] = 0.0; + out_1839001963735438802[231] = 0.0; + out_1839001963735438802[232] = 0.0; + out_1839001963735438802[233] = 0.0; + out_1839001963735438802[234] = 0.0; + out_1839001963735438802[235] = 0.0; + out_1839001963735438802[236] = 0.0; + out_1839001963735438802[237] = 0.0; + out_1839001963735438802[238] = 0.0; + out_1839001963735438802[239] = 0.0; + out_1839001963735438802[240] = 0.0; + out_1839001963735438802[241] = 0.0; + out_1839001963735438802[242] = 0.0; + out_1839001963735438802[243] = 0.0; + out_1839001963735438802[244] = 0.0; + out_1839001963735438802[245] = 0.0; + out_1839001963735438802[246] = 0.0; + out_1839001963735438802[247] = 1.0; + out_1839001963735438802[248] = 0.0; + out_1839001963735438802[249] = 0.0; + out_1839001963735438802[250] = 0.0; + out_1839001963735438802[251] = 0.0; + out_1839001963735438802[252] = 0.0; + out_1839001963735438802[253] = 0.0; + out_1839001963735438802[254] = 0.0; + out_1839001963735438802[255] = 0.0; + out_1839001963735438802[256] = 0.0; + out_1839001963735438802[257] = 0.0; + out_1839001963735438802[258] = 0.0; + out_1839001963735438802[259] = 0.0; + out_1839001963735438802[260] = 0.0; + out_1839001963735438802[261] = 0.0; + out_1839001963735438802[262] = 0.0; + out_1839001963735438802[263] = 0.0; + out_1839001963735438802[264] = 0.0; + out_1839001963735438802[265] = 0.0; + out_1839001963735438802[266] = 1.0; + out_1839001963735438802[267] = 0.0; + out_1839001963735438802[268] = 0.0; + out_1839001963735438802[269] = 0.0; + out_1839001963735438802[270] = 0.0; + out_1839001963735438802[271] = 0.0; + out_1839001963735438802[272] = 0.0; + out_1839001963735438802[273] = 0.0; + out_1839001963735438802[274] = 0.0; + out_1839001963735438802[275] = 0.0; + out_1839001963735438802[276] = 0.0; + out_1839001963735438802[277] = 0.0; + out_1839001963735438802[278] = 0.0; + out_1839001963735438802[279] = 0.0; + out_1839001963735438802[280] = 0.0; + out_1839001963735438802[281] = 0.0; + out_1839001963735438802[282] = 0.0; + out_1839001963735438802[283] = 0.0; + out_1839001963735438802[284] = 0.0; + out_1839001963735438802[285] = 1.0; + out_1839001963735438802[286] = 0.0; + out_1839001963735438802[287] = 0.0; + out_1839001963735438802[288] = 0.0; + out_1839001963735438802[289] = 0.0; + out_1839001963735438802[290] = 0.0; + out_1839001963735438802[291] = 0.0; + out_1839001963735438802[292] = 0.0; + out_1839001963735438802[293] = 0.0; + out_1839001963735438802[294] = 0.0; + out_1839001963735438802[295] = 0.0; + out_1839001963735438802[296] = 0.0; + out_1839001963735438802[297] = 0.0; + out_1839001963735438802[298] = 0.0; + out_1839001963735438802[299] = 0.0; + out_1839001963735438802[300] = 0.0; + out_1839001963735438802[301] = 0.0; + out_1839001963735438802[302] = 0.0; + out_1839001963735438802[303] = 0.0; + out_1839001963735438802[304] = 1.0; + out_1839001963735438802[305] = 0.0; + out_1839001963735438802[306] = 0.0; + out_1839001963735438802[307] = 0.0; + out_1839001963735438802[308] = 0.0; + out_1839001963735438802[309] = 0.0; + out_1839001963735438802[310] = 0.0; + out_1839001963735438802[311] = 0.0; + out_1839001963735438802[312] = 0.0; + out_1839001963735438802[313] = 0.0; + out_1839001963735438802[314] = 0.0; + out_1839001963735438802[315] = 0.0; + out_1839001963735438802[316] = 0.0; + out_1839001963735438802[317] = 0.0; + out_1839001963735438802[318] = 0.0; + out_1839001963735438802[319] = 0.0; + out_1839001963735438802[320] = 0.0; + out_1839001963735438802[321] = 0.0; + out_1839001963735438802[322] = 0.0; + out_1839001963735438802[323] = 1.0; } -void f_fun(double *state, double dt, double *out_9201625055442330332) { - out_9201625055442330332[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_9201625055442330332[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_9201625055442330332[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_9201625055442330332[3] = dt*state[12] + state[3]; - out_9201625055442330332[4] = dt*state[13] + state[4]; - out_9201625055442330332[5] = dt*state[14] + state[5]; - out_9201625055442330332[6] = state[6]; - out_9201625055442330332[7] = state[7]; - out_9201625055442330332[8] = state[8]; - out_9201625055442330332[9] = state[9]; - out_9201625055442330332[10] = state[10]; - out_9201625055442330332[11] = state[11]; - out_9201625055442330332[12] = state[12]; - out_9201625055442330332[13] = state[13]; - out_9201625055442330332[14] = state[14]; - out_9201625055442330332[15] = state[15]; - out_9201625055442330332[16] = state[16]; - out_9201625055442330332[17] = state[17]; +void f_fun(double *state, double dt, double *out_3683398569821655413) { + out_3683398569821655413[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_3683398569821655413[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_3683398569821655413[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_3683398569821655413[3] = dt*state[12] + state[3]; + out_3683398569821655413[4] = dt*state[13] + state[4]; + out_3683398569821655413[5] = dt*state[14] + state[5]; + out_3683398569821655413[6] = state[6]; + out_3683398569821655413[7] = state[7]; + out_3683398569821655413[8] = state[8]; + out_3683398569821655413[9] = state[9]; + out_3683398569821655413[10] = state[10]; + out_3683398569821655413[11] = state[11]; + out_3683398569821655413[12] = state[12]; + out_3683398569821655413[13] = state[13]; + out_3683398569821655413[14] = state[14]; + out_3683398569821655413[15] = state[15]; + out_3683398569821655413[16] = state[16]; + out_3683398569821655413[17] = state[17]; } -void F_fun(double *state, double dt, double *out_435223935958301203) { - out_435223935958301203[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_435223935958301203[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_435223935958301203[2] = 0; - out_435223935958301203[3] = 0; - out_435223935958301203[4] = 0; - out_435223935958301203[5] = 0; - out_435223935958301203[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_435223935958301203[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_435223935958301203[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_435223935958301203[9] = 0; - out_435223935958301203[10] = 0; - out_435223935958301203[11] = 0; - out_435223935958301203[12] = 0; - out_435223935958301203[13] = 0; - out_435223935958301203[14] = 0; - out_435223935958301203[15] = 0; - out_435223935958301203[16] = 0; - out_435223935958301203[17] = 0; - out_435223935958301203[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_435223935958301203[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_435223935958301203[20] = 0; - out_435223935958301203[21] = 0; - out_435223935958301203[22] = 0; - out_435223935958301203[23] = 0; - out_435223935958301203[24] = 0; - out_435223935958301203[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_435223935958301203[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_435223935958301203[27] = 0; - out_435223935958301203[28] = 0; - out_435223935958301203[29] = 0; - out_435223935958301203[30] = 0; - out_435223935958301203[31] = 0; - out_435223935958301203[32] = 0; - out_435223935958301203[33] = 0; - out_435223935958301203[34] = 0; - out_435223935958301203[35] = 0; - out_435223935958301203[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_435223935958301203[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_435223935958301203[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_435223935958301203[39] = 0; - out_435223935958301203[40] = 0; - out_435223935958301203[41] = 0; - out_435223935958301203[42] = 0; - out_435223935958301203[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_435223935958301203[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_435223935958301203[45] = 0; - out_435223935958301203[46] = 0; - out_435223935958301203[47] = 0; - out_435223935958301203[48] = 0; - out_435223935958301203[49] = 0; - out_435223935958301203[50] = 0; - out_435223935958301203[51] = 0; - out_435223935958301203[52] = 0; - out_435223935958301203[53] = 0; - out_435223935958301203[54] = 0; - out_435223935958301203[55] = 0; - out_435223935958301203[56] = 0; - out_435223935958301203[57] = 1; - out_435223935958301203[58] = 0; - out_435223935958301203[59] = 0; - out_435223935958301203[60] = 0; - out_435223935958301203[61] = 0; - out_435223935958301203[62] = 0; - out_435223935958301203[63] = 0; - out_435223935958301203[64] = 0; - out_435223935958301203[65] = 0; - out_435223935958301203[66] = dt; - out_435223935958301203[67] = 0; - out_435223935958301203[68] = 0; - out_435223935958301203[69] = 0; - out_435223935958301203[70] = 0; - out_435223935958301203[71] = 0; - out_435223935958301203[72] = 0; - out_435223935958301203[73] = 0; - out_435223935958301203[74] = 0; - out_435223935958301203[75] = 0; - out_435223935958301203[76] = 1; - out_435223935958301203[77] = 0; - out_435223935958301203[78] = 0; - out_435223935958301203[79] = 0; - out_435223935958301203[80] = 0; - out_435223935958301203[81] = 0; - out_435223935958301203[82] = 0; - out_435223935958301203[83] = 0; - out_435223935958301203[84] = 0; - out_435223935958301203[85] = dt; - out_435223935958301203[86] = 0; - out_435223935958301203[87] = 0; - out_435223935958301203[88] = 0; - out_435223935958301203[89] = 0; - out_435223935958301203[90] = 0; - out_435223935958301203[91] = 0; - out_435223935958301203[92] = 0; - out_435223935958301203[93] = 0; - out_435223935958301203[94] = 0; - out_435223935958301203[95] = 1; - out_435223935958301203[96] = 0; - out_435223935958301203[97] = 0; - out_435223935958301203[98] = 0; - out_435223935958301203[99] = 0; - out_435223935958301203[100] = 0; - out_435223935958301203[101] = 0; - out_435223935958301203[102] = 0; - out_435223935958301203[103] = 0; - out_435223935958301203[104] = dt; - out_435223935958301203[105] = 0; - out_435223935958301203[106] = 0; - out_435223935958301203[107] = 0; - out_435223935958301203[108] = 0; - out_435223935958301203[109] = 0; - out_435223935958301203[110] = 0; - out_435223935958301203[111] = 0; - out_435223935958301203[112] = 0; - out_435223935958301203[113] = 0; - out_435223935958301203[114] = 1; - out_435223935958301203[115] = 0; - out_435223935958301203[116] = 0; - out_435223935958301203[117] = 0; - out_435223935958301203[118] = 0; - out_435223935958301203[119] = 0; - out_435223935958301203[120] = 0; - out_435223935958301203[121] = 0; - out_435223935958301203[122] = 0; - out_435223935958301203[123] = 0; - out_435223935958301203[124] = 0; - out_435223935958301203[125] = 0; - out_435223935958301203[126] = 0; - out_435223935958301203[127] = 0; - out_435223935958301203[128] = 0; - out_435223935958301203[129] = 0; - out_435223935958301203[130] = 0; - out_435223935958301203[131] = 0; - out_435223935958301203[132] = 0; - out_435223935958301203[133] = 1; - out_435223935958301203[134] = 0; - out_435223935958301203[135] = 0; - out_435223935958301203[136] = 0; - out_435223935958301203[137] = 0; - out_435223935958301203[138] = 0; - out_435223935958301203[139] = 0; - out_435223935958301203[140] = 0; - out_435223935958301203[141] = 0; - out_435223935958301203[142] = 0; - out_435223935958301203[143] = 0; - out_435223935958301203[144] = 0; - out_435223935958301203[145] = 0; - out_435223935958301203[146] = 0; - out_435223935958301203[147] = 0; - out_435223935958301203[148] = 0; - out_435223935958301203[149] = 0; - out_435223935958301203[150] = 0; - out_435223935958301203[151] = 0; - out_435223935958301203[152] = 1; - out_435223935958301203[153] = 0; - out_435223935958301203[154] = 0; - out_435223935958301203[155] = 0; - out_435223935958301203[156] = 0; - out_435223935958301203[157] = 0; - out_435223935958301203[158] = 0; - out_435223935958301203[159] = 0; - out_435223935958301203[160] = 0; - out_435223935958301203[161] = 0; - out_435223935958301203[162] = 0; - out_435223935958301203[163] = 0; - out_435223935958301203[164] = 0; - out_435223935958301203[165] = 0; - out_435223935958301203[166] = 0; - out_435223935958301203[167] = 0; - out_435223935958301203[168] = 0; - out_435223935958301203[169] = 0; - out_435223935958301203[170] = 0; - out_435223935958301203[171] = 1; - out_435223935958301203[172] = 0; - out_435223935958301203[173] = 0; - out_435223935958301203[174] = 0; - out_435223935958301203[175] = 0; - out_435223935958301203[176] = 0; - out_435223935958301203[177] = 0; - out_435223935958301203[178] = 0; - out_435223935958301203[179] = 0; - out_435223935958301203[180] = 0; - out_435223935958301203[181] = 0; - out_435223935958301203[182] = 0; - out_435223935958301203[183] = 0; - out_435223935958301203[184] = 0; - out_435223935958301203[185] = 0; - out_435223935958301203[186] = 0; - out_435223935958301203[187] = 0; - out_435223935958301203[188] = 0; - out_435223935958301203[189] = 0; - out_435223935958301203[190] = 1; - out_435223935958301203[191] = 0; - out_435223935958301203[192] = 0; - out_435223935958301203[193] = 0; - out_435223935958301203[194] = 0; - out_435223935958301203[195] = 0; - out_435223935958301203[196] = 0; - out_435223935958301203[197] = 0; - out_435223935958301203[198] = 0; - out_435223935958301203[199] = 0; - out_435223935958301203[200] = 0; - out_435223935958301203[201] = 0; - out_435223935958301203[202] = 0; - out_435223935958301203[203] = 0; - out_435223935958301203[204] = 0; - out_435223935958301203[205] = 0; - out_435223935958301203[206] = 0; - out_435223935958301203[207] = 0; - out_435223935958301203[208] = 0; - out_435223935958301203[209] = 1; - out_435223935958301203[210] = 0; - out_435223935958301203[211] = 0; - out_435223935958301203[212] = 0; - out_435223935958301203[213] = 0; - out_435223935958301203[214] = 0; - out_435223935958301203[215] = 0; - out_435223935958301203[216] = 0; - out_435223935958301203[217] = 0; - out_435223935958301203[218] = 0; - out_435223935958301203[219] = 0; - out_435223935958301203[220] = 0; - out_435223935958301203[221] = 0; - out_435223935958301203[222] = 0; - out_435223935958301203[223] = 0; - out_435223935958301203[224] = 0; - out_435223935958301203[225] = 0; - out_435223935958301203[226] = 0; - out_435223935958301203[227] = 0; - out_435223935958301203[228] = 1; - out_435223935958301203[229] = 0; - out_435223935958301203[230] = 0; - out_435223935958301203[231] = 0; - out_435223935958301203[232] = 0; - out_435223935958301203[233] = 0; - out_435223935958301203[234] = 0; - out_435223935958301203[235] = 0; - out_435223935958301203[236] = 0; - out_435223935958301203[237] = 0; - out_435223935958301203[238] = 0; - out_435223935958301203[239] = 0; - out_435223935958301203[240] = 0; - out_435223935958301203[241] = 0; - out_435223935958301203[242] = 0; - out_435223935958301203[243] = 0; - out_435223935958301203[244] = 0; - out_435223935958301203[245] = 0; - out_435223935958301203[246] = 0; - out_435223935958301203[247] = 1; - out_435223935958301203[248] = 0; - out_435223935958301203[249] = 0; - out_435223935958301203[250] = 0; - out_435223935958301203[251] = 0; - out_435223935958301203[252] = 0; - out_435223935958301203[253] = 0; - out_435223935958301203[254] = 0; - out_435223935958301203[255] = 0; - out_435223935958301203[256] = 0; - out_435223935958301203[257] = 0; - out_435223935958301203[258] = 0; - out_435223935958301203[259] = 0; - out_435223935958301203[260] = 0; - out_435223935958301203[261] = 0; - out_435223935958301203[262] = 0; - out_435223935958301203[263] = 0; - out_435223935958301203[264] = 0; - out_435223935958301203[265] = 0; - out_435223935958301203[266] = 1; - out_435223935958301203[267] = 0; - out_435223935958301203[268] = 0; - out_435223935958301203[269] = 0; - out_435223935958301203[270] = 0; - out_435223935958301203[271] = 0; - out_435223935958301203[272] = 0; - out_435223935958301203[273] = 0; - out_435223935958301203[274] = 0; - out_435223935958301203[275] = 0; - out_435223935958301203[276] = 0; - out_435223935958301203[277] = 0; - out_435223935958301203[278] = 0; - out_435223935958301203[279] = 0; - out_435223935958301203[280] = 0; - out_435223935958301203[281] = 0; - out_435223935958301203[282] = 0; - out_435223935958301203[283] = 0; - out_435223935958301203[284] = 0; - out_435223935958301203[285] = 1; - out_435223935958301203[286] = 0; - out_435223935958301203[287] = 0; - out_435223935958301203[288] = 0; - out_435223935958301203[289] = 0; - out_435223935958301203[290] = 0; - out_435223935958301203[291] = 0; - out_435223935958301203[292] = 0; - out_435223935958301203[293] = 0; - out_435223935958301203[294] = 0; - out_435223935958301203[295] = 0; - out_435223935958301203[296] = 0; - out_435223935958301203[297] = 0; - out_435223935958301203[298] = 0; - out_435223935958301203[299] = 0; - out_435223935958301203[300] = 0; - out_435223935958301203[301] = 0; - out_435223935958301203[302] = 0; - out_435223935958301203[303] = 0; - out_435223935958301203[304] = 1; - out_435223935958301203[305] = 0; - out_435223935958301203[306] = 0; - out_435223935958301203[307] = 0; - out_435223935958301203[308] = 0; - out_435223935958301203[309] = 0; - out_435223935958301203[310] = 0; - out_435223935958301203[311] = 0; - out_435223935958301203[312] = 0; - out_435223935958301203[313] = 0; - out_435223935958301203[314] = 0; - out_435223935958301203[315] = 0; - out_435223935958301203[316] = 0; - out_435223935958301203[317] = 0; - out_435223935958301203[318] = 0; - out_435223935958301203[319] = 0; - out_435223935958301203[320] = 0; - out_435223935958301203[321] = 0; - out_435223935958301203[322] = 0; - out_435223935958301203[323] = 1; +void F_fun(double *state, double dt, double *out_3094277237620606525) { + out_3094277237620606525[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_3094277237620606525[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_3094277237620606525[2] = 0; + out_3094277237620606525[3] = 0; + out_3094277237620606525[4] = 0; + out_3094277237620606525[5] = 0; + out_3094277237620606525[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_3094277237620606525[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_3094277237620606525[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_3094277237620606525[9] = 0; + out_3094277237620606525[10] = 0; + out_3094277237620606525[11] = 0; + out_3094277237620606525[12] = 0; + out_3094277237620606525[13] = 0; + out_3094277237620606525[14] = 0; + out_3094277237620606525[15] = 0; + out_3094277237620606525[16] = 0; + out_3094277237620606525[17] = 0; + out_3094277237620606525[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_3094277237620606525[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_3094277237620606525[20] = 0; + out_3094277237620606525[21] = 0; + out_3094277237620606525[22] = 0; + out_3094277237620606525[23] = 0; + out_3094277237620606525[24] = 0; + out_3094277237620606525[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_3094277237620606525[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_3094277237620606525[27] = 0; + out_3094277237620606525[28] = 0; + out_3094277237620606525[29] = 0; + out_3094277237620606525[30] = 0; + out_3094277237620606525[31] = 0; + out_3094277237620606525[32] = 0; + out_3094277237620606525[33] = 0; + out_3094277237620606525[34] = 0; + out_3094277237620606525[35] = 0; + out_3094277237620606525[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_3094277237620606525[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_3094277237620606525[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_3094277237620606525[39] = 0; + out_3094277237620606525[40] = 0; + out_3094277237620606525[41] = 0; + out_3094277237620606525[42] = 0; + out_3094277237620606525[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_3094277237620606525[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_3094277237620606525[45] = 0; + out_3094277237620606525[46] = 0; + out_3094277237620606525[47] = 0; + out_3094277237620606525[48] = 0; + out_3094277237620606525[49] = 0; + out_3094277237620606525[50] = 0; + out_3094277237620606525[51] = 0; + out_3094277237620606525[52] = 0; + out_3094277237620606525[53] = 0; + out_3094277237620606525[54] = 0; + out_3094277237620606525[55] = 0; + out_3094277237620606525[56] = 0; + out_3094277237620606525[57] = 1; + out_3094277237620606525[58] = 0; + out_3094277237620606525[59] = 0; + out_3094277237620606525[60] = 0; + out_3094277237620606525[61] = 0; + out_3094277237620606525[62] = 0; + out_3094277237620606525[63] = 0; + out_3094277237620606525[64] = 0; + out_3094277237620606525[65] = 0; + out_3094277237620606525[66] = dt; + out_3094277237620606525[67] = 0; + out_3094277237620606525[68] = 0; + out_3094277237620606525[69] = 0; + out_3094277237620606525[70] = 0; + out_3094277237620606525[71] = 0; + out_3094277237620606525[72] = 0; + out_3094277237620606525[73] = 0; + out_3094277237620606525[74] = 0; + out_3094277237620606525[75] = 0; + out_3094277237620606525[76] = 1; + out_3094277237620606525[77] = 0; + out_3094277237620606525[78] = 0; + out_3094277237620606525[79] = 0; + out_3094277237620606525[80] = 0; + out_3094277237620606525[81] = 0; + out_3094277237620606525[82] = 0; + out_3094277237620606525[83] = 0; + out_3094277237620606525[84] = 0; + out_3094277237620606525[85] = dt; + out_3094277237620606525[86] = 0; + out_3094277237620606525[87] = 0; + out_3094277237620606525[88] = 0; + out_3094277237620606525[89] = 0; + out_3094277237620606525[90] = 0; + out_3094277237620606525[91] = 0; + out_3094277237620606525[92] = 0; + out_3094277237620606525[93] = 0; + out_3094277237620606525[94] = 0; + out_3094277237620606525[95] = 1; + out_3094277237620606525[96] = 0; + out_3094277237620606525[97] = 0; + out_3094277237620606525[98] = 0; + out_3094277237620606525[99] = 0; + out_3094277237620606525[100] = 0; + out_3094277237620606525[101] = 0; + out_3094277237620606525[102] = 0; + out_3094277237620606525[103] = 0; + out_3094277237620606525[104] = dt; + out_3094277237620606525[105] = 0; + out_3094277237620606525[106] = 0; + out_3094277237620606525[107] = 0; + out_3094277237620606525[108] = 0; + out_3094277237620606525[109] = 0; + out_3094277237620606525[110] = 0; + out_3094277237620606525[111] = 0; + out_3094277237620606525[112] = 0; + out_3094277237620606525[113] = 0; + out_3094277237620606525[114] = 1; + out_3094277237620606525[115] = 0; + out_3094277237620606525[116] = 0; + out_3094277237620606525[117] = 0; + out_3094277237620606525[118] = 0; + out_3094277237620606525[119] = 0; + out_3094277237620606525[120] = 0; + out_3094277237620606525[121] = 0; + out_3094277237620606525[122] = 0; + out_3094277237620606525[123] = 0; + out_3094277237620606525[124] = 0; + out_3094277237620606525[125] = 0; + out_3094277237620606525[126] = 0; + out_3094277237620606525[127] = 0; + out_3094277237620606525[128] = 0; + out_3094277237620606525[129] = 0; + out_3094277237620606525[130] = 0; + out_3094277237620606525[131] = 0; + out_3094277237620606525[132] = 0; + out_3094277237620606525[133] = 1; + out_3094277237620606525[134] = 0; + out_3094277237620606525[135] = 0; + out_3094277237620606525[136] = 0; + out_3094277237620606525[137] = 0; + out_3094277237620606525[138] = 0; + out_3094277237620606525[139] = 0; + out_3094277237620606525[140] = 0; + out_3094277237620606525[141] = 0; + out_3094277237620606525[142] = 0; + out_3094277237620606525[143] = 0; + out_3094277237620606525[144] = 0; + out_3094277237620606525[145] = 0; + out_3094277237620606525[146] = 0; + out_3094277237620606525[147] = 0; + out_3094277237620606525[148] = 0; + out_3094277237620606525[149] = 0; + out_3094277237620606525[150] = 0; + out_3094277237620606525[151] = 0; + out_3094277237620606525[152] = 1; + out_3094277237620606525[153] = 0; + out_3094277237620606525[154] = 0; + out_3094277237620606525[155] = 0; + out_3094277237620606525[156] = 0; + out_3094277237620606525[157] = 0; + out_3094277237620606525[158] = 0; + out_3094277237620606525[159] = 0; + out_3094277237620606525[160] = 0; + out_3094277237620606525[161] = 0; + out_3094277237620606525[162] = 0; + out_3094277237620606525[163] = 0; + out_3094277237620606525[164] = 0; + out_3094277237620606525[165] = 0; + out_3094277237620606525[166] = 0; + out_3094277237620606525[167] = 0; + out_3094277237620606525[168] = 0; + out_3094277237620606525[169] = 0; + out_3094277237620606525[170] = 0; + out_3094277237620606525[171] = 1; + out_3094277237620606525[172] = 0; + out_3094277237620606525[173] = 0; + out_3094277237620606525[174] = 0; + out_3094277237620606525[175] = 0; + out_3094277237620606525[176] = 0; + out_3094277237620606525[177] = 0; + out_3094277237620606525[178] = 0; + out_3094277237620606525[179] = 0; + out_3094277237620606525[180] = 0; + out_3094277237620606525[181] = 0; + out_3094277237620606525[182] = 0; + out_3094277237620606525[183] = 0; + out_3094277237620606525[184] = 0; + out_3094277237620606525[185] = 0; + out_3094277237620606525[186] = 0; + out_3094277237620606525[187] = 0; + out_3094277237620606525[188] = 0; + out_3094277237620606525[189] = 0; + out_3094277237620606525[190] = 1; + out_3094277237620606525[191] = 0; + out_3094277237620606525[192] = 0; + out_3094277237620606525[193] = 0; + out_3094277237620606525[194] = 0; + out_3094277237620606525[195] = 0; + out_3094277237620606525[196] = 0; + out_3094277237620606525[197] = 0; + out_3094277237620606525[198] = 0; + out_3094277237620606525[199] = 0; + out_3094277237620606525[200] = 0; + out_3094277237620606525[201] = 0; + out_3094277237620606525[202] = 0; + out_3094277237620606525[203] = 0; + out_3094277237620606525[204] = 0; + out_3094277237620606525[205] = 0; + out_3094277237620606525[206] = 0; + out_3094277237620606525[207] = 0; + out_3094277237620606525[208] = 0; + out_3094277237620606525[209] = 1; + out_3094277237620606525[210] = 0; + out_3094277237620606525[211] = 0; + out_3094277237620606525[212] = 0; + out_3094277237620606525[213] = 0; + out_3094277237620606525[214] = 0; + out_3094277237620606525[215] = 0; + out_3094277237620606525[216] = 0; + out_3094277237620606525[217] = 0; + out_3094277237620606525[218] = 0; + out_3094277237620606525[219] = 0; + out_3094277237620606525[220] = 0; + out_3094277237620606525[221] = 0; + out_3094277237620606525[222] = 0; + out_3094277237620606525[223] = 0; + out_3094277237620606525[224] = 0; + out_3094277237620606525[225] = 0; + out_3094277237620606525[226] = 0; + out_3094277237620606525[227] = 0; + out_3094277237620606525[228] = 1; + out_3094277237620606525[229] = 0; + out_3094277237620606525[230] = 0; + out_3094277237620606525[231] = 0; + out_3094277237620606525[232] = 0; + out_3094277237620606525[233] = 0; + out_3094277237620606525[234] = 0; + out_3094277237620606525[235] = 0; + out_3094277237620606525[236] = 0; + out_3094277237620606525[237] = 0; + out_3094277237620606525[238] = 0; + out_3094277237620606525[239] = 0; + out_3094277237620606525[240] = 0; + out_3094277237620606525[241] = 0; + out_3094277237620606525[242] = 0; + out_3094277237620606525[243] = 0; + out_3094277237620606525[244] = 0; + out_3094277237620606525[245] = 0; + out_3094277237620606525[246] = 0; + out_3094277237620606525[247] = 1; + out_3094277237620606525[248] = 0; + out_3094277237620606525[249] = 0; + out_3094277237620606525[250] = 0; + out_3094277237620606525[251] = 0; + out_3094277237620606525[252] = 0; + out_3094277237620606525[253] = 0; + out_3094277237620606525[254] = 0; + out_3094277237620606525[255] = 0; + out_3094277237620606525[256] = 0; + out_3094277237620606525[257] = 0; + out_3094277237620606525[258] = 0; + out_3094277237620606525[259] = 0; + out_3094277237620606525[260] = 0; + out_3094277237620606525[261] = 0; + out_3094277237620606525[262] = 0; + out_3094277237620606525[263] = 0; + out_3094277237620606525[264] = 0; + out_3094277237620606525[265] = 0; + out_3094277237620606525[266] = 1; + out_3094277237620606525[267] = 0; + out_3094277237620606525[268] = 0; + out_3094277237620606525[269] = 0; + out_3094277237620606525[270] = 0; + out_3094277237620606525[271] = 0; + out_3094277237620606525[272] = 0; + out_3094277237620606525[273] = 0; + out_3094277237620606525[274] = 0; + out_3094277237620606525[275] = 0; + out_3094277237620606525[276] = 0; + out_3094277237620606525[277] = 0; + out_3094277237620606525[278] = 0; + out_3094277237620606525[279] = 0; + out_3094277237620606525[280] = 0; + out_3094277237620606525[281] = 0; + out_3094277237620606525[282] = 0; + out_3094277237620606525[283] = 0; + out_3094277237620606525[284] = 0; + out_3094277237620606525[285] = 1; + out_3094277237620606525[286] = 0; + out_3094277237620606525[287] = 0; + out_3094277237620606525[288] = 0; + out_3094277237620606525[289] = 0; + out_3094277237620606525[290] = 0; + out_3094277237620606525[291] = 0; + out_3094277237620606525[292] = 0; + out_3094277237620606525[293] = 0; + out_3094277237620606525[294] = 0; + out_3094277237620606525[295] = 0; + out_3094277237620606525[296] = 0; + out_3094277237620606525[297] = 0; + out_3094277237620606525[298] = 0; + out_3094277237620606525[299] = 0; + out_3094277237620606525[300] = 0; + out_3094277237620606525[301] = 0; + out_3094277237620606525[302] = 0; + out_3094277237620606525[303] = 0; + out_3094277237620606525[304] = 1; + out_3094277237620606525[305] = 0; + out_3094277237620606525[306] = 0; + out_3094277237620606525[307] = 0; + out_3094277237620606525[308] = 0; + out_3094277237620606525[309] = 0; + out_3094277237620606525[310] = 0; + out_3094277237620606525[311] = 0; + out_3094277237620606525[312] = 0; + out_3094277237620606525[313] = 0; + out_3094277237620606525[314] = 0; + out_3094277237620606525[315] = 0; + out_3094277237620606525[316] = 0; + out_3094277237620606525[317] = 0; + out_3094277237620606525[318] = 0; + out_3094277237620606525[319] = 0; + out_3094277237620606525[320] = 0; + out_3094277237620606525[321] = 0; + out_3094277237620606525[322] = 0; + out_3094277237620606525[323] = 1; } -void h_4(double *state, double *unused, double *out_6259395131604772748) { - out_6259395131604772748[0] = state[6] + state[9]; - out_6259395131604772748[1] = state[7] + state[10]; - out_6259395131604772748[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_8966126842197524709) { + out_8966126842197524709[0] = state[6] + state[9]; + out_8966126842197524709[1] = state[7] + state[10]; + out_8966126842197524709[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4488422760541517125) { - out_4488422760541517125[0] = 0; - out_4488422760541517125[1] = 0; - out_4488422760541517125[2] = 0; - out_4488422760541517125[3] = 0; - out_4488422760541517125[4] = 0; - out_4488422760541517125[5] = 0; - out_4488422760541517125[6] = 1; - out_4488422760541517125[7] = 0; - out_4488422760541517125[8] = 0; - out_4488422760541517125[9] = 1; - out_4488422760541517125[10] = 0; - out_4488422760541517125[11] = 0; - out_4488422760541517125[12] = 0; - out_4488422760541517125[13] = 0; - out_4488422760541517125[14] = 0; - out_4488422760541517125[15] = 0; - out_4488422760541517125[16] = 0; - out_4488422760541517125[17] = 0; - out_4488422760541517125[18] = 0; - out_4488422760541517125[19] = 0; - out_4488422760541517125[20] = 0; - out_4488422760541517125[21] = 0; - out_4488422760541517125[22] = 0; - out_4488422760541517125[23] = 0; - out_4488422760541517125[24] = 0; - out_4488422760541517125[25] = 1; - out_4488422760541517125[26] = 0; - out_4488422760541517125[27] = 0; - out_4488422760541517125[28] = 1; - out_4488422760541517125[29] = 0; - out_4488422760541517125[30] = 0; - out_4488422760541517125[31] = 0; - out_4488422760541517125[32] = 0; - out_4488422760541517125[33] = 0; - out_4488422760541517125[34] = 0; - out_4488422760541517125[35] = 0; - out_4488422760541517125[36] = 0; - out_4488422760541517125[37] = 0; - out_4488422760541517125[38] = 0; - out_4488422760541517125[39] = 0; - out_4488422760541517125[40] = 0; - out_4488422760541517125[41] = 0; - out_4488422760541517125[42] = 0; - out_4488422760541517125[43] = 0; - out_4488422760541517125[44] = 1; - out_4488422760541517125[45] = 0; - out_4488422760541517125[46] = 0; - out_4488422760541517125[47] = 1; - out_4488422760541517125[48] = 0; - out_4488422760541517125[49] = 0; - out_4488422760541517125[50] = 0; - out_4488422760541517125[51] = 0; - out_4488422760541517125[52] = 0; - out_4488422760541517125[53] = 0; +void H_4(double *state, double *unused, double *out_641054481852540698) { + out_641054481852540698[0] = 0; + out_641054481852540698[1] = 0; + out_641054481852540698[2] = 0; + out_641054481852540698[3] = 0; + out_641054481852540698[4] = 0; + out_641054481852540698[5] = 0; + out_641054481852540698[6] = 1; + out_641054481852540698[7] = 0; + out_641054481852540698[8] = 0; + out_641054481852540698[9] = 1; + out_641054481852540698[10] = 0; + out_641054481852540698[11] = 0; + out_641054481852540698[12] = 0; + out_641054481852540698[13] = 0; + out_641054481852540698[14] = 0; + out_641054481852540698[15] = 0; + out_641054481852540698[16] = 0; + out_641054481852540698[17] = 0; + out_641054481852540698[18] = 0; + out_641054481852540698[19] = 0; + out_641054481852540698[20] = 0; + out_641054481852540698[21] = 0; + out_641054481852540698[22] = 0; + out_641054481852540698[23] = 0; + out_641054481852540698[24] = 0; + out_641054481852540698[25] = 1; + out_641054481852540698[26] = 0; + out_641054481852540698[27] = 0; + out_641054481852540698[28] = 1; + out_641054481852540698[29] = 0; + out_641054481852540698[30] = 0; + out_641054481852540698[31] = 0; + out_641054481852540698[32] = 0; + out_641054481852540698[33] = 0; + out_641054481852540698[34] = 0; + out_641054481852540698[35] = 0; + out_641054481852540698[36] = 0; + out_641054481852540698[37] = 0; + out_641054481852540698[38] = 0; + out_641054481852540698[39] = 0; + out_641054481852540698[40] = 0; + out_641054481852540698[41] = 0; + out_641054481852540698[42] = 0; + out_641054481852540698[43] = 0; + out_641054481852540698[44] = 1; + out_641054481852540698[45] = 0; + out_641054481852540698[46] = 0; + out_641054481852540698[47] = 1; + out_641054481852540698[48] = 0; + out_641054481852540698[49] = 0; + out_641054481852540698[50] = 0; + out_641054481852540698[51] = 0; + out_641054481852540698[52] = 0; + out_641054481852540698[53] = 0; } -void h_10(double *state, double *unused, double *out_8979834360034398189) { - out_8979834360034398189[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8979834360034398189[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8979834360034398189[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_7218356862001512524) { + out_7218356862001512524[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7218356862001512524[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7218356862001512524[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_5518597412603733548) { - out_5518597412603733548[0] = 0; - out_5518597412603733548[1] = 9.8100000000000005*cos(state[1]); - out_5518597412603733548[2] = 0; - out_5518597412603733548[3] = 0; - out_5518597412603733548[4] = -state[8]; - out_5518597412603733548[5] = state[7]; - out_5518597412603733548[6] = 0; - out_5518597412603733548[7] = state[5]; - out_5518597412603733548[8] = -state[4]; - out_5518597412603733548[9] = 0; - out_5518597412603733548[10] = 0; - out_5518597412603733548[11] = 0; - out_5518597412603733548[12] = 1; - out_5518597412603733548[13] = 0; - out_5518597412603733548[14] = 0; - out_5518597412603733548[15] = 1; - out_5518597412603733548[16] = 0; - out_5518597412603733548[17] = 0; - out_5518597412603733548[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5518597412603733548[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5518597412603733548[20] = 0; - out_5518597412603733548[21] = state[8]; - out_5518597412603733548[22] = 0; - out_5518597412603733548[23] = -state[6]; - out_5518597412603733548[24] = -state[5]; - out_5518597412603733548[25] = 0; - out_5518597412603733548[26] = state[3]; - out_5518597412603733548[27] = 0; - out_5518597412603733548[28] = 0; - out_5518597412603733548[29] = 0; - out_5518597412603733548[30] = 0; - out_5518597412603733548[31] = 1; - out_5518597412603733548[32] = 0; - out_5518597412603733548[33] = 0; - out_5518597412603733548[34] = 1; - out_5518597412603733548[35] = 0; - out_5518597412603733548[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5518597412603733548[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5518597412603733548[38] = 0; - out_5518597412603733548[39] = -state[7]; - out_5518597412603733548[40] = state[6]; - out_5518597412603733548[41] = 0; - out_5518597412603733548[42] = state[4]; - out_5518597412603733548[43] = -state[3]; - out_5518597412603733548[44] = 0; - out_5518597412603733548[45] = 0; - out_5518597412603733548[46] = 0; - out_5518597412603733548[47] = 0; - out_5518597412603733548[48] = 0; - out_5518597412603733548[49] = 0; - out_5518597412603733548[50] = 1; - out_5518597412603733548[51] = 0; - out_5518597412603733548[52] = 0; - out_5518597412603733548[53] = 1; +void H_10(double *state, double *unused, double *out_6416512439383232257) { + out_6416512439383232257[0] = 0; + out_6416512439383232257[1] = 9.8100000000000005*cos(state[1]); + out_6416512439383232257[2] = 0; + out_6416512439383232257[3] = 0; + out_6416512439383232257[4] = -state[8]; + out_6416512439383232257[5] = state[7]; + out_6416512439383232257[6] = 0; + out_6416512439383232257[7] = state[5]; + out_6416512439383232257[8] = -state[4]; + out_6416512439383232257[9] = 0; + out_6416512439383232257[10] = 0; + out_6416512439383232257[11] = 0; + out_6416512439383232257[12] = 1; + out_6416512439383232257[13] = 0; + out_6416512439383232257[14] = 0; + out_6416512439383232257[15] = 1; + out_6416512439383232257[16] = 0; + out_6416512439383232257[17] = 0; + out_6416512439383232257[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6416512439383232257[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6416512439383232257[20] = 0; + out_6416512439383232257[21] = state[8]; + out_6416512439383232257[22] = 0; + out_6416512439383232257[23] = -state[6]; + out_6416512439383232257[24] = -state[5]; + out_6416512439383232257[25] = 0; + out_6416512439383232257[26] = state[3]; + out_6416512439383232257[27] = 0; + out_6416512439383232257[28] = 0; + out_6416512439383232257[29] = 0; + out_6416512439383232257[30] = 0; + out_6416512439383232257[31] = 1; + out_6416512439383232257[32] = 0; + out_6416512439383232257[33] = 0; + out_6416512439383232257[34] = 1; + out_6416512439383232257[35] = 0; + out_6416512439383232257[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6416512439383232257[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6416512439383232257[38] = 0; + out_6416512439383232257[39] = -state[7]; + out_6416512439383232257[40] = state[6]; + out_6416512439383232257[41] = 0; + out_6416512439383232257[42] = state[4]; + out_6416512439383232257[43] = -state[3]; + out_6416512439383232257[44] = 0; + out_6416512439383232257[45] = 0; + out_6416512439383232257[46] = 0; + out_6416512439383232257[47] = 0; + out_6416512439383232257[48] = 0; + out_6416512439383232257[49] = 0; + out_6416512439383232257[50] = 1; + out_6416512439383232257[51] = 0; + out_6416512439383232257[52] = 0; + out_6416512439383232257[53] = 1; } -void h_13(double *state, double *unused, double *out_627396395224579253) { - out_627396395224579253[0] = state[3]; - out_627396395224579253[1] = state[4]; - out_627396395224579253[2] = state[5]; +void h_13(double *state, double *unused, double *out_4665077883382816557) { + out_4665077883382816557[0] = state[3]; + out_4665077883382816557[1] = state[4]; + out_4665077883382816557[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1276148935209184324) { - out_1276148935209184324[0] = 0; - out_1276148935209184324[1] = 0; - out_1276148935209184324[2] = 0; - out_1276148935209184324[3] = 1; - out_1276148935209184324[4] = 0; - out_1276148935209184324[5] = 0; - out_1276148935209184324[6] = 0; - out_1276148935209184324[7] = 0; - out_1276148935209184324[8] = 0; - out_1276148935209184324[9] = 0; - out_1276148935209184324[10] = 0; - out_1276148935209184324[11] = 0; - out_1276148935209184324[12] = 0; - out_1276148935209184324[13] = 0; - out_1276148935209184324[14] = 0; - out_1276148935209184324[15] = 0; - out_1276148935209184324[16] = 0; - out_1276148935209184324[17] = 0; - out_1276148935209184324[18] = 0; - out_1276148935209184324[19] = 0; - out_1276148935209184324[20] = 0; - out_1276148935209184324[21] = 0; - out_1276148935209184324[22] = 1; - out_1276148935209184324[23] = 0; - out_1276148935209184324[24] = 0; - out_1276148935209184324[25] = 0; - out_1276148935209184324[26] = 0; - out_1276148935209184324[27] = 0; - out_1276148935209184324[28] = 0; - out_1276148935209184324[29] = 0; - out_1276148935209184324[30] = 0; - out_1276148935209184324[31] = 0; - out_1276148935209184324[32] = 0; - out_1276148935209184324[33] = 0; - out_1276148935209184324[34] = 0; - out_1276148935209184324[35] = 0; - out_1276148935209184324[36] = 0; - out_1276148935209184324[37] = 0; - out_1276148935209184324[38] = 0; - out_1276148935209184324[39] = 0; - out_1276148935209184324[40] = 0; - out_1276148935209184324[41] = 1; - out_1276148935209184324[42] = 0; - out_1276148935209184324[43] = 0; - out_1276148935209184324[44] = 0; - out_1276148935209184324[45] = 0; - out_1276148935209184324[46] = 0; - out_1276148935209184324[47] = 0; - out_1276148935209184324[48] = 0; - out_1276148935209184324[49] = 0; - out_1276148935209184324[50] = 0; - out_1276148935209184324[51] = 0; - out_1276148935209184324[52] = 0; - out_1276148935209184324[53] = 0; +void H_13(double *state, double *unused, double *out_2571219343479792103) { + out_2571219343479792103[0] = 0; + out_2571219343479792103[1] = 0; + out_2571219343479792103[2] = 0; + out_2571219343479792103[3] = 1; + out_2571219343479792103[4] = 0; + out_2571219343479792103[5] = 0; + out_2571219343479792103[6] = 0; + out_2571219343479792103[7] = 0; + out_2571219343479792103[8] = 0; + out_2571219343479792103[9] = 0; + out_2571219343479792103[10] = 0; + out_2571219343479792103[11] = 0; + out_2571219343479792103[12] = 0; + out_2571219343479792103[13] = 0; + out_2571219343479792103[14] = 0; + out_2571219343479792103[15] = 0; + out_2571219343479792103[16] = 0; + out_2571219343479792103[17] = 0; + out_2571219343479792103[18] = 0; + out_2571219343479792103[19] = 0; + out_2571219343479792103[20] = 0; + out_2571219343479792103[21] = 0; + out_2571219343479792103[22] = 1; + out_2571219343479792103[23] = 0; + out_2571219343479792103[24] = 0; + out_2571219343479792103[25] = 0; + out_2571219343479792103[26] = 0; + out_2571219343479792103[27] = 0; + out_2571219343479792103[28] = 0; + out_2571219343479792103[29] = 0; + out_2571219343479792103[30] = 0; + out_2571219343479792103[31] = 0; + out_2571219343479792103[32] = 0; + out_2571219343479792103[33] = 0; + out_2571219343479792103[34] = 0; + out_2571219343479792103[35] = 0; + out_2571219343479792103[36] = 0; + out_2571219343479792103[37] = 0; + out_2571219343479792103[38] = 0; + out_2571219343479792103[39] = 0; + out_2571219343479792103[40] = 0; + out_2571219343479792103[41] = 1; + out_2571219343479792103[42] = 0; + out_2571219343479792103[43] = 0; + out_2571219343479792103[44] = 0; + out_2571219343479792103[45] = 0; + out_2571219343479792103[46] = 0; + out_2571219343479792103[47] = 0; + out_2571219343479792103[48] = 0; + out_2571219343479792103[49] = 0; + out_2571219343479792103[50] = 0; + out_2571219343479792103[51] = 0; + out_2571219343479792103[52] = 0; + out_2571219343479792103[53] = 0; } -void h_14(double *state, double *unused, double *out_7453788352524990403) { - out_7453788352524990403[0] = state[6]; - out_7453788352524990403[1] = state[7]; - out_7453788352524990403[2] = state[8]; +void h_14(double *state, double *unused, double *out_6885640217960215473) { + out_6885640217960215473[0] = state[6]; + out_6885640217960215473[1] = state[7]; + out_6885640217960215473[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7571211192836889421) { - out_7571211192836889421[0] = 0; - out_7571211192836889421[1] = 0; - out_7571211192836889421[2] = 0; - out_7571211192836889421[3] = 0; - out_7571211192836889421[4] = 0; - out_7571211192836889421[5] = 0; - out_7571211192836889421[6] = 1; - out_7571211192836889421[7] = 0; - out_7571211192836889421[8] = 0; - out_7571211192836889421[9] = 0; - out_7571211192836889421[10] = 0; - out_7571211192836889421[11] = 0; - out_7571211192836889421[12] = 0; - out_7571211192836889421[13] = 0; - out_7571211192836889421[14] = 0; - out_7571211192836889421[15] = 0; - out_7571211192836889421[16] = 0; - out_7571211192836889421[17] = 0; - out_7571211192836889421[18] = 0; - out_7571211192836889421[19] = 0; - out_7571211192836889421[20] = 0; - out_7571211192836889421[21] = 0; - out_7571211192836889421[22] = 0; - out_7571211192836889421[23] = 0; - out_7571211192836889421[24] = 0; - out_7571211192836889421[25] = 1; - out_7571211192836889421[26] = 0; - out_7571211192836889421[27] = 0; - out_7571211192836889421[28] = 0; - out_7571211192836889421[29] = 0; - out_7571211192836889421[30] = 0; - out_7571211192836889421[31] = 0; - out_7571211192836889421[32] = 0; - out_7571211192836889421[33] = 0; - out_7571211192836889421[34] = 0; - out_7571211192836889421[35] = 0; - out_7571211192836889421[36] = 0; - out_7571211192836889421[37] = 0; - out_7571211192836889421[38] = 0; - out_7571211192836889421[39] = 0; - out_7571211192836889421[40] = 0; - out_7571211192836889421[41] = 0; - out_7571211192836889421[42] = 0; - out_7571211192836889421[43] = 0; - out_7571211192836889421[44] = 1; - out_7571211192836889421[45] = 0; - out_7571211192836889421[46] = 0; - out_7571211192836889421[47] = 0; - out_7571211192836889421[48] = 0; - out_7571211192836889421[49] = 0; - out_7571211192836889421[50] = 0; - out_7571211192836889421[51] = 0; - out_7571211192836889421[52] = 0; - out_7571211192836889421[53] = 0; +void H_14(double *state, double *unused, double *out_3723842914147912994) { + out_3723842914147912994[0] = 0; + out_3723842914147912994[1] = 0; + out_3723842914147912994[2] = 0; + out_3723842914147912994[3] = 0; + out_3723842914147912994[4] = 0; + out_3723842914147912994[5] = 0; + out_3723842914147912994[6] = 1; + out_3723842914147912994[7] = 0; + out_3723842914147912994[8] = 0; + out_3723842914147912994[9] = 0; + out_3723842914147912994[10] = 0; + out_3723842914147912994[11] = 0; + out_3723842914147912994[12] = 0; + out_3723842914147912994[13] = 0; + out_3723842914147912994[14] = 0; + out_3723842914147912994[15] = 0; + out_3723842914147912994[16] = 0; + out_3723842914147912994[17] = 0; + out_3723842914147912994[18] = 0; + out_3723842914147912994[19] = 0; + out_3723842914147912994[20] = 0; + out_3723842914147912994[21] = 0; + out_3723842914147912994[22] = 0; + out_3723842914147912994[23] = 0; + out_3723842914147912994[24] = 0; + out_3723842914147912994[25] = 1; + out_3723842914147912994[26] = 0; + out_3723842914147912994[27] = 0; + out_3723842914147912994[28] = 0; + out_3723842914147912994[29] = 0; + out_3723842914147912994[30] = 0; + out_3723842914147912994[31] = 0; + out_3723842914147912994[32] = 0; + out_3723842914147912994[33] = 0; + out_3723842914147912994[34] = 0; + out_3723842914147912994[35] = 0; + out_3723842914147912994[36] = 0; + out_3723842914147912994[37] = 0; + out_3723842914147912994[38] = 0; + out_3723842914147912994[39] = 0; + out_3723842914147912994[40] = 0; + out_3723842914147912994[41] = 0; + out_3723842914147912994[42] = 0; + out_3723842914147912994[43] = 0; + out_3723842914147912994[44] = 1; + out_3723842914147912994[45] = 0; + out_3723842914147912994[46] = 0; + out_3723842914147912994[47] = 0; + out_3723842914147912994[48] = 0; + out_3723842914147912994[49] = 0; + out_3723842914147912994[50] = 0; + out_3723842914147912994[51] = 0; + out_3723842914147912994[52] = 0; + out_3723842914147912994[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_486750963754107954) { - err_fun(nom_x, delta_x, out_486750963754107954); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7337273534871130421) { + err_fun(nom_x, delta_x, out_7337273534871130421); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1555487183493314770) { - inv_err_fun(nom_x, true_x, out_1555487183493314770); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7370167163616029780) { + inv_err_fun(nom_x, true_x, out_7370167163616029780); } -void pose_H_mod_fun(double *state, double *out_2668724034635220264) { - H_mod_fun(state, out_2668724034635220264); +void pose_H_mod_fun(double *state, double *out_1839001963735438802) { + H_mod_fun(state, out_1839001963735438802); } -void pose_f_fun(double *state, double dt, double *out_9201625055442330332) { - f_fun(state, dt, out_9201625055442330332); +void pose_f_fun(double *state, double dt, double *out_3683398569821655413) { + f_fun(state, dt, out_3683398569821655413); } -void pose_F_fun(double *state, double dt, double *out_435223935958301203) { - F_fun(state, dt, out_435223935958301203); +void pose_F_fun(double *state, double dt, double *out_3094277237620606525) { + F_fun(state, dt, out_3094277237620606525); } -void pose_h_4(double *state, double *unused, double *out_6259395131604772748) { - h_4(state, unused, out_6259395131604772748); +void pose_h_4(double *state, double *unused, double *out_8966126842197524709) { + h_4(state, unused, out_8966126842197524709); } -void pose_H_4(double *state, double *unused, double *out_4488422760541517125) { - H_4(state, unused, out_4488422760541517125); +void pose_H_4(double *state, double *unused, double *out_641054481852540698) { + H_4(state, unused, out_641054481852540698); } -void pose_h_10(double *state, double *unused, double *out_8979834360034398189) { - h_10(state, unused, out_8979834360034398189); +void pose_h_10(double *state, double *unused, double *out_7218356862001512524) { + h_10(state, unused, out_7218356862001512524); } -void pose_H_10(double *state, double *unused, double *out_5518597412603733548) { - H_10(state, unused, out_5518597412603733548); +void pose_H_10(double *state, double *unused, double *out_6416512439383232257) { + H_10(state, unused, out_6416512439383232257); } -void pose_h_13(double *state, double *unused, double *out_627396395224579253) { - h_13(state, unused, out_627396395224579253); +void pose_h_13(double *state, double *unused, double *out_4665077883382816557) { + h_13(state, unused, out_4665077883382816557); } -void pose_H_13(double *state, double *unused, double *out_1276148935209184324) { - H_13(state, unused, out_1276148935209184324); +void pose_H_13(double *state, double *unused, double *out_2571219343479792103) { + H_13(state, unused, out_2571219343479792103); } -void pose_h_14(double *state, double *unused, double *out_7453788352524990403) { - h_14(state, unused, out_7453788352524990403); +void pose_h_14(double *state, double *unused, double *out_6885640217960215473) { + h_14(state, unused, out_6885640217960215473); } -void pose_H_14(double *state, double *unused, double *out_7571211192836889421) { - H_14(state, unused, out_7571211192836889421); +void pose_H_14(double *state, double *unused, double *out_3723842914147912994) { + H_14(state, unused, out_3723842914147912994); } 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 1151b92a9..336197550 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_486750963754107954); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1555487183493314770); -void pose_H_mod_fun(double *state, double *out_2668724034635220264); -void pose_f_fun(double *state, double dt, double *out_9201625055442330332); -void pose_F_fun(double *state, double dt, double *out_435223935958301203); -void pose_h_4(double *state, double *unused, double *out_6259395131604772748); -void pose_H_4(double *state, double *unused, double *out_4488422760541517125); -void pose_h_10(double *state, double *unused, double *out_8979834360034398189); -void pose_H_10(double *state, double *unused, double *out_5518597412603733548); -void pose_h_13(double *state, double *unused, double *out_627396395224579253); -void pose_H_13(double *state, double *unused, double *out_1276148935209184324); -void pose_h_14(double *state, double *unused, double *out_7453788352524990403); -void pose_H_14(double *state, double *unused, double *out_7571211192836889421); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7337273534871130421); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7370167163616029780); +void pose_H_mod_fun(double *state, double *out_1839001963735438802); +void pose_f_fun(double *state, double dt, double *out_3683398569821655413); +void pose_F_fun(double *state, double dt, double *out_3094277237620606525); +void pose_h_4(double *state, double *unused, double *out_8966126842197524709); +void pose_H_4(double *state, double *unused, double *out_641054481852540698); +void pose_h_10(double *state, double *unused, double *out_7218356862001512524); +void pose_H_10(double *state, double *unused, double *out_6416512439383232257); +void pose_h_13(double *state, double *unused, double *out_4665077883382816557); +void pose_H_13(double *state, double *unused, double *out_2571219343479792103); +void pose_h_14(double *state, double *unused, double *out_6885640217960215473); +void pose_H_14(double *state, double *unused, double *out_3723842914147912994); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index adfe68c7f..e185efdb3 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index c00c1da2e..b0dce4dee 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index c964a3da3..0f84bd3a6 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index ebb8cdd81..627f4d32b 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index f97bd8f6e..e118bdc53 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 90d3e8f0b..726e9601a 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ