diff --git a/common/libcommon.a b/common/libcommon.a index 5e8d62f3d..14bbf9dcb 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 2226e1b24..9a6fc15af 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 aea87cbb1..e46cd9a3b 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 c5e73b49a..2762a67b7 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 e1f7cfe87..b43d84885 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 08e1146e2..dff953b9b 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 008e88639..14939783f 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 6b465e888..e186e7736 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-93ec2a94-DEBUG"; +const uint8_t gitversion[19] = "DEV-a9771a0e-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 0cdd7ce8e..880543179 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 a50c6eebb..43632a104 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 6970864a8..490cb2045 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 ac184de60..c858d9d97 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 541524eb3..4ee8c1796 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 77cc1b8d7..f9bfe7429 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 ec082cac5..c2fe89189 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 3ad812156..f3c19b60e 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 4ecc9c1f6..26df0b853 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 b2ed81fae..e289febe0 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 0d1c686e4..1bd5de38d 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 328052481..524135ced 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 0c6acdc11..a0101bf95 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 4bc28e7b5..176806680 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 9b0521e8f..bd2c8f062 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 04c08750e..411147735 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 383a0473d..0b1094dd8 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-93ec2a94-DEBUG \ No newline at end of file +DEV-a9771a0e-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 822e8c2b7..97f590038 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_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 err_fun(double *nom_x, double *delta_x, double *out_7709214462285076644) { + out_7709214462285076644[0] = delta_x[0] + nom_x[0]; + out_7709214462285076644[1] = delta_x[1] + nom_x[1]; + out_7709214462285076644[2] = delta_x[2] + nom_x[2]; + out_7709214462285076644[3] = delta_x[3] + nom_x[3]; + out_7709214462285076644[4] = delta_x[4] + nom_x[4]; + out_7709214462285076644[5] = delta_x[5] + nom_x[5]; + out_7709214462285076644[6] = delta_x[6] + nom_x[6]; + out_7709214462285076644[7] = delta_x[7] + nom_x[7]; + out_7709214462285076644[8] = delta_x[8] + nom_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 inv_err_fun(double *nom_x, double *true_x, double *out_181432404984807710) { + out_181432404984807710[0] = -nom_x[0] + true_x[0]; + out_181432404984807710[1] = -nom_x[1] + true_x[1]; + out_181432404984807710[2] = -nom_x[2] + true_x[2]; + out_181432404984807710[3] = -nom_x[3] + true_x[3]; + out_181432404984807710[4] = -nom_x[4] + true_x[4]; + out_181432404984807710[5] = -nom_x[5] + true_x[5]; + out_181432404984807710[6] = -nom_x[6] + true_x[6]; + out_181432404984807710[7] = -nom_x[7] + true_x[7]; + out_181432404984807710[8] = -nom_x[8] + true_x[8]; } -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 H_mod_fun(double *state, double *out_8282876149494425233) { + out_8282876149494425233[0] = 1.0; + out_8282876149494425233[1] = 0.0; + out_8282876149494425233[2] = 0.0; + out_8282876149494425233[3] = 0.0; + out_8282876149494425233[4] = 0.0; + out_8282876149494425233[5] = 0.0; + out_8282876149494425233[6] = 0.0; + out_8282876149494425233[7] = 0.0; + out_8282876149494425233[8] = 0.0; + out_8282876149494425233[9] = 0.0; + out_8282876149494425233[10] = 1.0; + out_8282876149494425233[11] = 0.0; + out_8282876149494425233[12] = 0.0; + out_8282876149494425233[13] = 0.0; + out_8282876149494425233[14] = 0.0; + out_8282876149494425233[15] = 0.0; + out_8282876149494425233[16] = 0.0; + out_8282876149494425233[17] = 0.0; + out_8282876149494425233[18] = 0.0; + out_8282876149494425233[19] = 0.0; + out_8282876149494425233[20] = 1.0; + out_8282876149494425233[21] = 0.0; + out_8282876149494425233[22] = 0.0; + out_8282876149494425233[23] = 0.0; + out_8282876149494425233[24] = 0.0; + out_8282876149494425233[25] = 0.0; + out_8282876149494425233[26] = 0.0; + out_8282876149494425233[27] = 0.0; + out_8282876149494425233[28] = 0.0; + out_8282876149494425233[29] = 0.0; + out_8282876149494425233[30] = 1.0; + out_8282876149494425233[31] = 0.0; + out_8282876149494425233[32] = 0.0; + out_8282876149494425233[33] = 0.0; + out_8282876149494425233[34] = 0.0; + out_8282876149494425233[35] = 0.0; + out_8282876149494425233[36] = 0.0; + out_8282876149494425233[37] = 0.0; + out_8282876149494425233[38] = 0.0; + out_8282876149494425233[39] = 0.0; + out_8282876149494425233[40] = 1.0; + out_8282876149494425233[41] = 0.0; + out_8282876149494425233[42] = 0.0; + out_8282876149494425233[43] = 0.0; + out_8282876149494425233[44] = 0.0; + out_8282876149494425233[45] = 0.0; + out_8282876149494425233[46] = 0.0; + out_8282876149494425233[47] = 0.0; + out_8282876149494425233[48] = 0.0; + out_8282876149494425233[49] = 0.0; + out_8282876149494425233[50] = 1.0; + out_8282876149494425233[51] = 0.0; + out_8282876149494425233[52] = 0.0; + out_8282876149494425233[53] = 0.0; + out_8282876149494425233[54] = 0.0; + out_8282876149494425233[55] = 0.0; + out_8282876149494425233[56] = 0.0; + out_8282876149494425233[57] = 0.0; + out_8282876149494425233[58] = 0.0; + out_8282876149494425233[59] = 0.0; + out_8282876149494425233[60] = 1.0; + out_8282876149494425233[61] = 0.0; + out_8282876149494425233[62] = 0.0; + out_8282876149494425233[63] = 0.0; + out_8282876149494425233[64] = 0.0; + out_8282876149494425233[65] = 0.0; + out_8282876149494425233[66] = 0.0; + out_8282876149494425233[67] = 0.0; + out_8282876149494425233[68] = 0.0; + out_8282876149494425233[69] = 0.0; + out_8282876149494425233[70] = 1.0; + out_8282876149494425233[71] = 0.0; + out_8282876149494425233[72] = 0.0; + out_8282876149494425233[73] = 0.0; + out_8282876149494425233[74] = 0.0; + out_8282876149494425233[75] = 0.0; + out_8282876149494425233[76] = 0.0; + out_8282876149494425233[77] = 0.0; + out_8282876149494425233[78] = 0.0; + out_8282876149494425233[79] = 0.0; + out_8282876149494425233[80] = 1.0; } -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_1683945396559752472) { + out_1683945396559752472[0] = state[0]; + out_1683945396559752472[1] = state[1]; + out_1683945396559752472[2] = state[2]; + out_1683945396559752472[3] = state[3]; + out_1683945396559752472[4] = state[4]; + out_1683945396559752472[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_1683945396559752472[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_1683945396559752472[7] = state[7]; + out_1683945396559752472[8] = state[8]; } -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 F_fun(double *state, double dt, double *out_239932902801011581) { + out_239932902801011581[0] = 1; + out_239932902801011581[1] = 0; + out_239932902801011581[2] = 0; + out_239932902801011581[3] = 0; + out_239932902801011581[4] = 0; + out_239932902801011581[5] = 0; + out_239932902801011581[6] = 0; + out_239932902801011581[7] = 0; + out_239932902801011581[8] = 0; + out_239932902801011581[9] = 0; + out_239932902801011581[10] = 1; + out_239932902801011581[11] = 0; + out_239932902801011581[12] = 0; + out_239932902801011581[13] = 0; + out_239932902801011581[14] = 0; + out_239932902801011581[15] = 0; + out_239932902801011581[16] = 0; + out_239932902801011581[17] = 0; + out_239932902801011581[18] = 0; + out_239932902801011581[19] = 0; + out_239932902801011581[20] = 1; + out_239932902801011581[21] = 0; + out_239932902801011581[22] = 0; + out_239932902801011581[23] = 0; + out_239932902801011581[24] = 0; + out_239932902801011581[25] = 0; + out_239932902801011581[26] = 0; + out_239932902801011581[27] = 0; + out_239932902801011581[28] = 0; + out_239932902801011581[29] = 0; + out_239932902801011581[30] = 1; + out_239932902801011581[31] = 0; + out_239932902801011581[32] = 0; + out_239932902801011581[33] = 0; + out_239932902801011581[34] = 0; + out_239932902801011581[35] = 0; + out_239932902801011581[36] = 0; + out_239932902801011581[37] = 0; + out_239932902801011581[38] = 0; + out_239932902801011581[39] = 0; + out_239932902801011581[40] = 1; + out_239932902801011581[41] = 0; + out_239932902801011581[42] = 0; + out_239932902801011581[43] = 0; + out_239932902801011581[44] = 0; + out_239932902801011581[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_239932902801011581[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_239932902801011581[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_239932902801011581[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_239932902801011581[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_239932902801011581[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_239932902801011581[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_239932902801011581[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_239932902801011581[53] = -9.8100000000000005*dt; + out_239932902801011581[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_239932902801011581[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_239932902801011581[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_239932902801011581[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_239932902801011581[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_239932902801011581[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_239932902801011581[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_239932902801011581[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_239932902801011581[62] = 0; + out_239932902801011581[63] = 0; + out_239932902801011581[64] = 0; + out_239932902801011581[65] = 0; + out_239932902801011581[66] = 0; + out_239932902801011581[67] = 0; + out_239932902801011581[68] = 0; + out_239932902801011581[69] = 0; + out_239932902801011581[70] = 1; + out_239932902801011581[71] = 0; + out_239932902801011581[72] = 0; + out_239932902801011581[73] = 0; + out_239932902801011581[74] = 0; + out_239932902801011581[75] = 0; + out_239932902801011581[76] = 0; + out_239932902801011581[77] = 0; + out_239932902801011581[78] = 0; + out_239932902801011581[79] = 0; + out_239932902801011581[80] = 1; } -void h_25(double *state, double *unused, double *out_5527658313899534193) { - out_5527658313899534193[0] = state[6]; +void h_25(double *state, double *unused, double *out_2505292091765311779) { + out_2505292091765311779[0] = state[6]; } -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_25(double *state, double *unused, double *out_910312076417812004) { + out_910312076417812004[0] = 0; + out_910312076417812004[1] = 0; + out_910312076417812004[2] = 0; + out_910312076417812004[3] = 0; + out_910312076417812004[4] = 0; + out_910312076417812004[5] = 0; + out_910312076417812004[6] = 1; + out_910312076417812004[7] = 0; + out_910312076417812004[8] = 0; } -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_484124202729088643) { + out_484124202729088643[0] = state[4]; + out_484124202729088643[1] = state[5]; } -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_24(double *state, double *unused, double *out_1315395707561056558) { + out_1315395707561056558[0] = 0; + out_1315395707561056558[1] = 0; + out_1315395707561056558[2] = 0; + out_1315395707561056558[3] = 0; + out_1315395707561056558[4] = 1; + out_1315395707561056558[5] = 0; + out_1315395707561056558[6] = 0; + out_1315395707561056558[7] = 0; + out_1315395707561056558[8] = 0; + out_1315395707561056558[9] = 0; + out_1315395707561056558[10] = 0; + out_1315395707561056558[11] = 0; + out_1315395707561056558[12] = 0; + out_1315395707561056558[13] = 0; + out_1315395707561056558[14] = 1; + out_1315395707561056558[15] = 0; + out_1315395707561056558[16] = 0; + out_1315395707561056558[17] = 0; } -void h_30(double *state, double *unused, double *out_5715869802824031453) { - out_5715869802824031453[0] = state[4]; +void h_30(double *state, double *unused, double *out_2556252205875338366) { + out_2556252205875338366[0] = state[4]; } -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_30(double *state, double *unused, double *out_6006378265073804751) { + out_6006378265073804751[0] = 0; + out_6006378265073804751[1] = 0; + out_6006378265073804751[2] = 0; + out_6006378265073804751[3] = 0; + out_6006378265073804751[4] = 1; + out_6006378265073804751[5] = 0; + out_6006378265073804751[6] = 0; + out_6006378265073804751[7] = 0; + out_6006378265073804751[8] = 0; } -void h_26(double *state, double *unused, double *out_1526064504003558173) { - out_1526064504003558173[0] = state[7]; +void h_26(double *state, double *unused, double *out_1841699875406290646) { + out_1841699875406290646[0] = state[7]; } -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_26(double *state, double *unused, double *out_4651815395291868228) { + out_4651815395291868228[0] = 0; + out_4651815395291868228[1] = 0; + out_4651815395291868228[2] = 0; + out_4651815395291868228[3] = 0; + out_4651815395291868228[4] = 0; + out_4651815395291868228[5] = 0; + out_4651815395291868228[6] = 0; + out_4651815395291868228[7] = 1; + out_4651815395291868228[8] = 0; } -void h_27(double *state, double *unused, double *out_8564444365343866878) { - out_8564444365343866878[0] = state[3]; +void h_27(double *state, double *unused, double *out_3893749425648537367) { + out_3893749425648537367[0] = state[3]; } -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_27(double *state, double *unused, double *out_3831614953273379840) { + out_3831614953273379840[0] = 0; + out_3831614953273379840[1] = 0; + out_3831614953273379840[2] = 0; + out_3831614953273379840[3] = 1; + out_3831614953273379840[4] = 0; + out_3831614953273379840[5] = 0; + out_3831614953273379840[6] = 0; + out_3831614953273379840[7] = 0; + out_3831614953273379840[8] = 0; } -void h_29(double *state, double *unused, double *out_683171714589817693) { - out_683171714589817693[0] = state[1]; +void h_29(double *state, double *unused, double *out_7782159421710663313) { + out_7782159421710663313[0] = state[1]; } -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_29(double *state, double *unused, double *out_6516609609388196935) { + out_6516609609388196935[0] = 0; + out_6516609609388196935[1] = 1; + out_6516609609388196935[2] = 0; + out_6516609609388196935[3] = 0; + out_6516609609388196935[4] = 0; + out_6516609609388196935[5] = 0; + out_6516609609388196935[6] = 0; + out_6516609609388196935[7] = 0; + out_6516609609388196935[8] = 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_5061493226724679104) { + out_5061493226724679104[0] = state[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_28(double *state, double *unused, double *out_1434210592318666361) { + out_1434210592318666361[0] = 1; + out_1434210592318666361[1] = 0; + out_1434210592318666361[2] = 0; + out_1434210592318666361[3] = 0; + out_1434210592318666361[4] = 0; + out_1434210592318666361[5] = 0; + out_1434210592318666361[6] = 0; + out_1434210592318666361[7] = 0; + out_1434210592318666361[8] = 0; } -void h_31(double *state, double *unused, double *out_6331257833333722260) { - out_6331257833333722260[0] = state[8]; +void h_31(double *state, double *unused, double *out_7444791300680499845) { + out_7444791300680499845[0] = state[8]; } -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; +void H_31(double *state, double *unused, double *out_879666114540851576) { + out_879666114540851576[0] = 0; + out_879666114540851576[1] = 0; + out_879666114540851576[2] = 0; + out_879666114540851576[3] = 0; + out_879666114540851576[4] = 0; + out_879666114540851576[5] = 0; + out_879666114540851576[6] = 0; + out_879666114540851576[7] = 0; + out_879666114540851576[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_7743770409471347977) { - err_fun(nom_x, delta_x, out_7743770409471347977); +void car_err_fun(double *nom_x, double *delta_x, double *out_7709214462285076644) { + err_fun(nom_x, delta_x, out_7709214462285076644); } -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_inv_err_fun(double *nom_x, double *true_x, double *out_181432404984807710) { + inv_err_fun(nom_x, true_x, out_181432404984807710); } -void car_H_mod_fun(double *state, double *out_6127138549200260168) { - H_mod_fun(state, out_6127138549200260168); +void car_H_mod_fun(double *state, double *out_8282876149494425233) { + H_mod_fun(state, out_8282876149494425233); } -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_1683945396559752472) { + f_fun(state, dt, out_1683945396559752472); } -void car_F_fun(double *state, double dt, double *out_6312844150465459340) { - F_fun(state, dt, out_6312844150465459340); +void car_F_fun(double *state, double dt, double *out_239932902801011581) { + F_fun(state, dt, out_239932902801011581); } -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_2505292091765311779) { + h_25(state, unused, out_2505292091765311779); } -void car_H_25(double *state, double *unused, double *out_6632472991400556880) { - H_25(state, unused, out_6632472991400556880); +void car_H_25(double *state, double *unused, double *out_910312076417812004) { + H_25(state, unused, out_910312076417812004); } -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_484124202729088643) { + h_24(state, unused, out_484124202729088643); } -void car_H_24(double *state, double *unused, double *out_5238699275717476635) { - H_24(state, unused, out_5238699275717476635); +void car_H_24(double *state, double *unused, double *out_1315395707561056558) { + H_24(state, unused, out_1315395707561056558); } -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_2556252205875338366) { + h_30(state, unused, out_2556252205875338366); } -void car_H_30(double *state, double *unused, double *out_4897580740817377981) { - H_30(state, unused, out_4897580740817377981); +void car_H_30(double *state, double *unused, double *out_6006378265073804751) { + H_30(state, unused, out_6006378265073804751); } -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_1841699875406290646) { + h_26(state, unused, out_1841699875406290646); } -void car_H_26(double *state, double *unused, double *out_2890969672526500656) { - H_26(state, unused, out_2890969672526500656); +void car_H_26(double *state, double *unused, double *out_4651815395291868228) { + H_26(state, unused, out_4651815395291868228); } -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_3893749425648537367) { + h_27(state, unused, out_3893749425648537367); } -void car_H_27(double *state, double *unused, double *out_7072344052617802892) { - H_27(state, unused, out_7072344052617802892); +void car_H_27(double *state, double *unused, double *out_3831614953273379840) { + H_27(state, unused, out_3831614953273379840); } -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_7782159421710663313) { + h_29(state, unused, out_7782159421710663313); } -void car_H_29(double *state, double *unused, double *out_4387349396502985797) { - H_29(state, unused, out_4387349396502985797); +void car_H_29(double *state, double *unused, double *out_6516609609388196935) { + H_29(state, unused, out_6516609609388196935); } -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_5061493226724679104) { + h_28(state, unused, out_5061493226724679104); } -void car_H_28(double *state, double *unused, double *out_8976995660137035245) { - H_28(state, unused, out_8976995660137035245); +void car_H_28(double *state, double *unused, double *out_1434210592318666361) { + H_28(state, unused, out_1434210592318666361); } -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_7444791300680499845) { + h_31(state, unused, out_7444791300680499845); } -void car_H_31(double *state, double *unused, double *out_6663118953277517308) { - H_31(state, unused, out_6663118953277517308); +void car_H_31(double *state, double *unused, double *out_879666114540851576) { + H_31(state, unused, out_879666114540851576); } 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 fab3529fc..9bcce81b5 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_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_err_fun(double *nom_x, double *delta_x, double *out_7709214462285076644); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_181432404984807710); +void car_H_mod_fun(double *state, double *out_8282876149494425233); +void car_f_fun(double *state, double dt, double *out_1683945396559752472); +void car_F_fun(double *state, double dt, double *out_239932902801011581); +void car_h_25(double *state, double *unused, double *out_2505292091765311779); +void car_H_25(double *state, double *unused, double *out_910312076417812004); +void car_h_24(double *state, double *unused, double *out_484124202729088643); +void car_H_24(double *state, double *unused, double *out_1315395707561056558); +void car_h_30(double *state, double *unused, double *out_2556252205875338366); +void car_H_30(double *state, double *unused, double *out_6006378265073804751); +void car_h_26(double *state, double *unused, double *out_1841699875406290646); +void car_H_26(double *state, double *unused, double *out_4651815395291868228); +void car_h_27(double *state, double *unused, double *out_3893749425648537367); +void car_H_27(double *state, double *unused, double *out_3831614953273379840); +void car_h_29(double *state, double *unused, double *out_7782159421710663313); +void car_H_29(double *state, double *unused, double *out_6516609609388196935); +void car_h_28(double *state, double *unused, double *out_5061493226724679104); +void car_H_28(double *state, double *unused, double *out_1434210592318666361); +void car_h_31(double *state, double *unused, double *out_7444791300680499845); +void car_H_31(double *state, double *unused, double *out_879666114540851576); 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 5b9303c0a..e8467cc78 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_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 err_fun(double *nom_x, double *delta_x, double *out_6392571160168570842) { + out_6392571160168570842[0] = delta_x[0] + nom_x[0]; + out_6392571160168570842[1] = delta_x[1] + nom_x[1]; + out_6392571160168570842[2] = delta_x[2] + nom_x[2]; + out_6392571160168570842[3] = delta_x[3] + nom_x[3]; + out_6392571160168570842[4] = delta_x[4] + nom_x[4]; + out_6392571160168570842[5] = delta_x[5] + nom_x[5]; + out_6392571160168570842[6] = delta_x[6] + nom_x[6]; + out_6392571160168570842[7] = delta_x[7] + nom_x[7]; + out_6392571160168570842[8] = delta_x[8] + nom_x[8]; + out_6392571160168570842[9] = delta_x[9] + nom_x[9]; + out_6392571160168570842[10] = delta_x[10] + nom_x[10]; + out_6392571160168570842[11] = delta_x[11] + nom_x[11]; + out_6392571160168570842[12] = delta_x[12] + nom_x[12]; + out_6392571160168570842[13] = delta_x[13] + nom_x[13]; + out_6392571160168570842[14] = delta_x[14] + nom_x[14]; + out_6392571160168570842[15] = delta_x[15] + nom_x[15]; + out_6392571160168570842[16] = delta_x[16] + nom_x[16]; + out_6392571160168570842[17] = delta_x[17] + nom_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 inv_err_fun(double *nom_x, double *true_x, double *out_70108598084165787) { + out_70108598084165787[0] = -nom_x[0] + true_x[0]; + out_70108598084165787[1] = -nom_x[1] + true_x[1]; + out_70108598084165787[2] = -nom_x[2] + true_x[2]; + out_70108598084165787[3] = -nom_x[3] + true_x[3]; + out_70108598084165787[4] = -nom_x[4] + true_x[4]; + out_70108598084165787[5] = -nom_x[5] + true_x[5]; + out_70108598084165787[6] = -nom_x[6] + true_x[6]; + out_70108598084165787[7] = -nom_x[7] + true_x[7]; + out_70108598084165787[8] = -nom_x[8] + true_x[8]; + out_70108598084165787[9] = -nom_x[9] + true_x[9]; + out_70108598084165787[10] = -nom_x[10] + true_x[10]; + out_70108598084165787[11] = -nom_x[11] + true_x[11]; + out_70108598084165787[12] = -nom_x[12] + true_x[12]; + out_70108598084165787[13] = -nom_x[13] + true_x[13]; + out_70108598084165787[14] = -nom_x[14] + true_x[14]; + out_70108598084165787[15] = -nom_x[15] + true_x[15]; + out_70108598084165787[16] = -nom_x[16] + true_x[16]; + out_70108598084165787[17] = -nom_x[17] + true_x[17]; } -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 H_mod_fun(double *state, double *out_7031029695439970094) { + out_7031029695439970094[0] = 1.0; + out_7031029695439970094[1] = 0.0; + out_7031029695439970094[2] = 0.0; + out_7031029695439970094[3] = 0.0; + out_7031029695439970094[4] = 0.0; + out_7031029695439970094[5] = 0.0; + out_7031029695439970094[6] = 0.0; + out_7031029695439970094[7] = 0.0; + out_7031029695439970094[8] = 0.0; + out_7031029695439970094[9] = 0.0; + out_7031029695439970094[10] = 0.0; + out_7031029695439970094[11] = 0.0; + out_7031029695439970094[12] = 0.0; + out_7031029695439970094[13] = 0.0; + out_7031029695439970094[14] = 0.0; + out_7031029695439970094[15] = 0.0; + out_7031029695439970094[16] = 0.0; + out_7031029695439970094[17] = 0.0; + out_7031029695439970094[18] = 0.0; + out_7031029695439970094[19] = 1.0; + out_7031029695439970094[20] = 0.0; + out_7031029695439970094[21] = 0.0; + out_7031029695439970094[22] = 0.0; + out_7031029695439970094[23] = 0.0; + out_7031029695439970094[24] = 0.0; + out_7031029695439970094[25] = 0.0; + out_7031029695439970094[26] = 0.0; + out_7031029695439970094[27] = 0.0; + out_7031029695439970094[28] = 0.0; + out_7031029695439970094[29] = 0.0; + out_7031029695439970094[30] = 0.0; + out_7031029695439970094[31] = 0.0; + out_7031029695439970094[32] = 0.0; + out_7031029695439970094[33] = 0.0; + out_7031029695439970094[34] = 0.0; + out_7031029695439970094[35] = 0.0; + out_7031029695439970094[36] = 0.0; + out_7031029695439970094[37] = 0.0; + out_7031029695439970094[38] = 1.0; + out_7031029695439970094[39] = 0.0; + out_7031029695439970094[40] = 0.0; + out_7031029695439970094[41] = 0.0; + out_7031029695439970094[42] = 0.0; + out_7031029695439970094[43] = 0.0; + out_7031029695439970094[44] = 0.0; + out_7031029695439970094[45] = 0.0; + out_7031029695439970094[46] = 0.0; + out_7031029695439970094[47] = 0.0; + out_7031029695439970094[48] = 0.0; + out_7031029695439970094[49] = 0.0; + out_7031029695439970094[50] = 0.0; + out_7031029695439970094[51] = 0.0; + out_7031029695439970094[52] = 0.0; + out_7031029695439970094[53] = 0.0; + out_7031029695439970094[54] = 0.0; + out_7031029695439970094[55] = 0.0; + out_7031029695439970094[56] = 0.0; + out_7031029695439970094[57] = 1.0; + out_7031029695439970094[58] = 0.0; + out_7031029695439970094[59] = 0.0; + out_7031029695439970094[60] = 0.0; + out_7031029695439970094[61] = 0.0; + out_7031029695439970094[62] = 0.0; + out_7031029695439970094[63] = 0.0; + out_7031029695439970094[64] = 0.0; + out_7031029695439970094[65] = 0.0; + out_7031029695439970094[66] = 0.0; + out_7031029695439970094[67] = 0.0; + out_7031029695439970094[68] = 0.0; + out_7031029695439970094[69] = 0.0; + out_7031029695439970094[70] = 0.0; + out_7031029695439970094[71] = 0.0; + out_7031029695439970094[72] = 0.0; + out_7031029695439970094[73] = 0.0; + out_7031029695439970094[74] = 0.0; + out_7031029695439970094[75] = 0.0; + out_7031029695439970094[76] = 1.0; + out_7031029695439970094[77] = 0.0; + out_7031029695439970094[78] = 0.0; + out_7031029695439970094[79] = 0.0; + out_7031029695439970094[80] = 0.0; + out_7031029695439970094[81] = 0.0; + out_7031029695439970094[82] = 0.0; + out_7031029695439970094[83] = 0.0; + out_7031029695439970094[84] = 0.0; + out_7031029695439970094[85] = 0.0; + out_7031029695439970094[86] = 0.0; + out_7031029695439970094[87] = 0.0; + out_7031029695439970094[88] = 0.0; + out_7031029695439970094[89] = 0.0; + out_7031029695439970094[90] = 0.0; + out_7031029695439970094[91] = 0.0; + out_7031029695439970094[92] = 0.0; + out_7031029695439970094[93] = 0.0; + out_7031029695439970094[94] = 0.0; + out_7031029695439970094[95] = 1.0; + out_7031029695439970094[96] = 0.0; + out_7031029695439970094[97] = 0.0; + out_7031029695439970094[98] = 0.0; + out_7031029695439970094[99] = 0.0; + out_7031029695439970094[100] = 0.0; + out_7031029695439970094[101] = 0.0; + out_7031029695439970094[102] = 0.0; + out_7031029695439970094[103] = 0.0; + out_7031029695439970094[104] = 0.0; + out_7031029695439970094[105] = 0.0; + out_7031029695439970094[106] = 0.0; + out_7031029695439970094[107] = 0.0; + out_7031029695439970094[108] = 0.0; + out_7031029695439970094[109] = 0.0; + out_7031029695439970094[110] = 0.0; + out_7031029695439970094[111] = 0.0; + out_7031029695439970094[112] = 0.0; + out_7031029695439970094[113] = 0.0; + out_7031029695439970094[114] = 1.0; + out_7031029695439970094[115] = 0.0; + out_7031029695439970094[116] = 0.0; + out_7031029695439970094[117] = 0.0; + out_7031029695439970094[118] = 0.0; + out_7031029695439970094[119] = 0.0; + out_7031029695439970094[120] = 0.0; + out_7031029695439970094[121] = 0.0; + out_7031029695439970094[122] = 0.0; + out_7031029695439970094[123] = 0.0; + out_7031029695439970094[124] = 0.0; + out_7031029695439970094[125] = 0.0; + out_7031029695439970094[126] = 0.0; + out_7031029695439970094[127] = 0.0; + out_7031029695439970094[128] = 0.0; + out_7031029695439970094[129] = 0.0; + out_7031029695439970094[130] = 0.0; + out_7031029695439970094[131] = 0.0; + out_7031029695439970094[132] = 0.0; + out_7031029695439970094[133] = 1.0; + out_7031029695439970094[134] = 0.0; + out_7031029695439970094[135] = 0.0; + out_7031029695439970094[136] = 0.0; + out_7031029695439970094[137] = 0.0; + out_7031029695439970094[138] = 0.0; + out_7031029695439970094[139] = 0.0; + out_7031029695439970094[140] = 0.0; + out_7031029695439970094[141] = 0.0; + out_7031029695439970094[142] = 0.0; + out_7031029695439970094[143] = 0.0; + out_7031029695439970094[144] = 0.0; + out_7031029695439970094[145] = 0.0; + out_7031029695439970094[146] = 0.0; + out_7031029695439970094[147] = 0.0; + out_7031029695439970094[148] = 0.0; + out_7031029695439970094[149] = 0.0; + out_7031029695439970094[150] = 0.0; + out_7031029695439970094[151] = 0.0; + out_7031029695439970094[152] = 1.0; + out_7031029695439970094[153] = 0.0; + out_7031029695439970094[154] = 0.0; + out_7031029695439970094[155] = 0.0; + out_7031029695439970094[156] = 0.0; + out_7031029695439970094[157] = 0.0; + out_7031029695439970094[158] = 0.0; + out_7031029695439970094[159] = 0.0; + out_7031029695439970094[160] = 0.0; + out_7031029695439970094[161] = 0.0; + out_7031029695439970094[162] = 0.0; + out_7031029695439970094[163] = 0.0; + out_7031029695439970094[164] = 0.0; + out_7031029695439970094[165] = 0.0; + out_7031029695439970094[166] = 0.0; + out_7031029695439970094[167] = 0.0; + out_7031029695439970094[168] = 0.0; + out_7031029695439970094[169] = 0.0; + out_7031029695439970094[170] = 0.0; + out_7031029695439970094[171] = 1.0; + out_7031029695439970094[172] = 0.0; + out_7031029695439970094[173] = 0.0; + out_7031029695439970094[174] = 0.0; + out_7031029695439970094[175] = 0.0; + out_7031029695439970094[176] = 0.0; + out_7031029695439970094[177] = 0.0; + out_7031029695439970094[178] = 0.0; + out_7031029695439970094[179] = 0.0; + out_7031029695439970094[180] = 0.0; + out_7031029695439970094[181] = 0.0; + out_7031029695439970094[182] = 0.0; + out_7031029695439970094[183] = 0.0; + out_7031029695439970094[184] = 0.0; + out_7031029695439970094[185] = 0.0; + out_7031029695439970094[186] = 0.0; + out_7031029695439970094[187] = 0.0; + out_7031029695439970094[188] = 0.0; + out_7031029695439970094[189] = 0.0; + out_7031029695439970094[190] = 1.0; + out_7031029695439970094[191] = 0.0; + out_7031029695439970094[192] = 0.0; + out_7031029695439970094[193] = 0.0; + out_7031029695439970094[194] = 0.0; + out_7031029695439970094[195] = 0.0; + out_7031029695439970094[196] = 0.0; + out_7031029695439970094[197] = 0.0; + out_7031029695439970094[198] = 0.0; + out_7031029695439970094[199] = 0.0; + out_7031029695439970094[200] = 0.0; + out_7031029695439970094[201] = 0.0; + out_7031029695439970094[202] = 0.0; + out_7031029695439970094[203] = 0.0; + out_7031029695439970094[204] = 0.0; + out_7031029695439970094[205] = 0.0; + out_7031029695439970094[206] = 0.0; + out_7031029695439970094[207] = 0.0; + out_7031029695439970094[208] = 0.0; + out_7031029695439970094[209] = 1.0; + out_7031029695439970094[210] = 0.0; + out_7031029695439970094[211] = 0.0; + out_7031029695439970094[212] = 0.0; + out_7031029695439970094[213] = 0.0; + out_7031029695439970094[214] = 0.0; + out_7031029695439970094[215] = 0.0; + out_7031029695439970094[216] = 0.0; + out_7031029695439970094[217] = 0.0; + out_7031029695439970094[218] = 0.0; + out_7031029695439970094[219] = 0.0; + out_7031029695439970094[220] = 0.0; + out_7031029695439970094[221] = 0.0; + out_7031029695439970094[222] = 0.0; + out_7031029695439970094[223] = 0.0; + out_7031029695439970094[224] = 0.0; + out_7031029695439970094[225] = 0.0; + out_7031029695439970094[226] = 0.0; + out_7031029695439970094[227] = 0.0; + out_7031029695439970094[228] = 1.0; + out_7031029695439970094[229] = 0.0; + out_7031029695439970094[230] = 0.0; + out_7031029695439970094[231] = 0.0; + out_7031029695439970094[232] = 0.0; + out_7031029695439970094[233] = 0.0; + out_7031029695439970094[234] = 0.0; + out_7031029695439970094[235] = 0.0; + out_7031029695439970094[236] = 0.0; + out_7031029695439970094[237] = 0.0; + out_7031029695439970094[238] = 0.0; + out_7031029695439970094[239] = 0.0; + out_7031029695439970094[240] = 0.0; + out_7031029695439970094[241] = 0.0; + out_7031029695439970094[242] = 0.0; + out_7031029695439970094[243] = 0.0; + out_7031029695439970094[244] = 0.0; + out_7031029695439970094[245] = 0.0; + out_7031029695439970094[246] = 0.0; + out_7031029695439970094[247] = 1.0; + out_7031029695439970094[248] = 0.0; + out_7031029695439970094[249] = 0.0; + out_7031029695439970094[250] = 0.0; + out_7031029695439970094[251] = 0.0; + out_7031029695439970094[252] = 0.0; + out_7031029695439970094[253] = 0.0; + out_7031029695439970094[254] = 0.0; + out_7031029695439970094[255] = 0.0; + out_7031029695439970094[256] = 0.0; + out_7031029695439970094[257] = 0.0; + out_7031029695439970094[258] = 0.0; + out_7031029695439970094[259] = 0.0; + out_7031029695439970094[260] = 0.0; + out_7031029695439970094[261] = 0.0; + out_7031029695439970094[262] = 0.0; + out_7031029695439970094[263] = 0.0; + out_7031029695439970094[264] = 0.0; + out_7031029695439970094[265] = 0.0; + out_7031029695439970094[266] = 1.0; + out_7031029695439970094[267] = 0.0; + out_7031029695439970094[268] = 0.0; + out_7031029695439970094[269] = 0.0; + out_7031029695439970094[270] = 0.0; + out_7031029695439970094[271] = 0.0; + out_7031029695439970094[272] = 0.0; + out_7031029695439970094[273] = 0.0; + out_7031029695439970094[274] = 0.0; + out_7031029695439970094[275] = 0.0; + out_7031029695439970094[276] = 0.0; + out_7031029695439970094[277] = 0.0; + out_7031029695439970094[278] = 0.0; + out_7031029695439970094[279] = 0.0; + out_7031029695439970094[280] = 0.0; + out_7031029695439970094[281] = 0.0; + out_7031029695439970094[282] = 0.0; + out_7031029695439970094[283] = 0.0; + out_7031029695439970094[284] = 0.0; + out_7031029695439970094[285] = 1.0; + out_7031029695439970094[286] = 0.0; + out_7031029695439970094[287] = 0.0; + out_7031029695439970094[288] = 0.0; + out_7031029695439970094[289] = 0.0; + out_7031029695439970094[290] = 0.0; + out_7031029695439970094[291] = 0.0; + out_7031029695439970094[292] = 0.0; + out_7031029695439970094[293] = 0.0; + out_7031029695439970094[294] = 0.0; + out_7031029695439970094[295] = 0.0; + out_7031029695439970094[296] = 0.0; + out_7031029695439970094[297] = 0.0; + out_7031029695439970094[298] = 0.0; + out_7031029695439970094[299] = 0.0; + out_7031029695439970094[300] = 0.0; + out_7031029695439970094[301] = 0.0; + out_7031029695439970094[302] = 0.0; + out_7031029695439970094[303] = 0.0; + out_7031029695439970094[304] = 1.0; + out_7031029695439970094[305] = 0.0; + out_7031029695439970094[306] = 0.0; + out_7031029695439970094[307] = 0.0; + out_7031029695439970094[308] = 0.0; + out_7031029695439970094[309] = 0.0; + out_7031029695439970094[310] = 0.0; + out_7031029695439970094[311] = 0.0; + out_7031029695439970094[312] = 0.0; + out_7031029695439970094[313] = 0.0; + out_7031029695439970094[314] = 0.0; + out_7031029695439970094[315] = 0.0; + out_7031029695439970094[316] = 0.0; + out_7031029695439970094[317] = 0.0; + out_7031029695439970094[318] = 0.0; + out_7031029695439970094[319] = 0.0; + out_7031029695439970094[320] = 0.0; + out_7031029695439970094[321] = 0.0; + out_7031029695439970094[322] = 0.0; + out_7031029695439970094[323] = 1.0; } -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_4622611615613940133) { + out_4622611615613940133[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_4622611615613940133[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_4622611615613940133[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_4622611615613940133[3] = dt*state[12] + state[3]; + out_4622611615613940133[4] = dt*state[13] + state[4]; + out_4622611615613940133[5] = dt*state[14] + state[5]; + out_4622611615613940133[6] = state[6]; + out_4622611615613940133[7] = state[7]; + out_4622611615613940133[8] = state[8]; + out_4622611615613940133[9] = state[9]; + out_4622611615613940133[10] = state[10]; + out_4622611615613940133[11] = state[11]; + out_4622611615613940133[12] = state[12]; + out_4622611615613940133[13] = state[13]; + out_4622611615613940133[14] = state[14]; + out_4622611615613940133[15] = state[15]; + out_4622611615613940133[16] = state[16]; + out_4622611615613940133[17] = state[17]; } -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 F_fun(double *state, double dt, double *out_542246045313485722) { + out_542246045313485722[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_542246045313485722[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_542246045313485722[2] = 0; + out_542246045313485722[3] = 0; + out_542246045313485722[4] = 0; + out_542246045313485722[5] = 0; + out_542246045313485722[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_542246045313485722[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_542246045313485722[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_542246045313485722[9] = 0; + out_542246045313485722[10] = 0; + out_542246045313485722[11] = 0; + out_542246045313485722[12] = 0; + out_542246045313485722[13] = 0; + out_542246045313485722[14] = 0; + out_542246045313485722[15] = 0; + out_542246045313485722[16] = 0; + out_542246045313485722[17] = 0; + out_542246045313485722[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_542246045313485722[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_542246045313485722[20] = 0; + out_542246045313485722[21] = 0; + out_542246045313485722[22] = 0; + out_542246045313485722[23] = 0; + out_542246045313485722[24] = 0; + out_542246045313485722[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_542246045313485722[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_542246045313485722[27] = 0; + out_542246045313485722[28] = 0; + out_542246045313485722[29] = 0; + out_542246045313485722[30] = 0; + out_542246045313485722[31] = 0; + out_542246045313485722[32] = 0; + out_542246045313485722[33] = 0; + out_542246045313485722[34] = 0; + out_542246045313485722[35] = 0; + out_542246045313485722[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_542246045313485722[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_542246045313485722[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_542246045313485722[39] = 0; + out_542246045313485722[40] = 0; + out_542246045313485722[41] = 0; + out_542246045313485722[42] = 0; + out_542246045313485722[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_542246045313485722[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_542246045313485722[45] = 0; + out_542246045313485722[46] = 0; + out_542246045313485722[47] = 0; + out_542246045313485722[48] = 0; + out_542246045313485722[49] = 0; + out_542246045313485722[50] = 0; + out_542246045313485722[51] = 0; + out_542246045313485722[52] = 0; + out_542246045313485722[53] = 0; + out_542246045313485722[54] = 0; + out_542246045313485722[55] = 0; + out_542246045313485722[56] = 0; + out_542246045313485722[57] = 1; + out_542246045313485722[58] = 0; + out_542246045313485722[59] = 0; + out_542246045313485722[60] = 0; + out_542246045313485722[61] = 0; + out_542246045313485722[62] = 0; + out_542246045313485722[63] = 0; + out_542246045313485722[64] = 0; + out_542246045313485722[65] = 0; + out_542246045313485722[66] = dt; + out_542246045313485722[67] = 0; + out_542246045313485722[68] = 0; + out_542246045313485722[69] = 0; + out_542246045313485722[70] = 0; + out_542246045313485722[71] = 0; + out_542246045313485722[72] = 0; + out_542246045313485722[73] = 0; + out_542246045313485722[74] = 0; + out_542246045313485722[75] = 0; + out_542246045313485722[76] = 1; + out_542246045313485722[77] = 0; + out_542246045313485722[78] = 0; + out_542246045313485722[79] = 0; + out_542246045313485722[80] = 0; + out_542246045313485722[81] = 0; + out_542246045313485722[82] = 0; + out_542246045313485722[83] = 0; + out_542246045313485722[84] = 0; + out_542246045313485722[85] = dt; + out_542246045313485722[86] = 0; + out_542246045313485722[87] = 0; + out_542246045313485722[88] = 0; + out_542246045313485722[89] = 0; + out_542246045313485722[90] = 0; + out_542246045313485722[91] = 0; + out_542246045313485722[92] = 0; + out_542246045313485722[93] = 0; + out_542246045313485722[94] = 0; + out_542246045313485722[95] = 1; + out_542246045313485722[96] = 0; + out_542246045313485722[97] = 0; + out_542246045313485722[98] = 0; + out_542246045313485722[99] = 0; + out_542246045313485722[100] = 0; + out_542246045313485722[101] = 0; + out_542246045313485722[102] = 0; + out_542246045313485722[103] = 0; + out_542246045313485722[104] = dt; + out_542246045313485722[105] = 0; + out_542246045313485722[106] = 0; + out_542246045313485722[107] = 0; + out_542246045313485722[108] = 0; + out_542246045313485722[109] = 0; + out_542246045313485722[110] = 0; + out_542246045313485722[111] = 0; + out_542246045313485722[112] = 0; + out_542246045313485722[113] = 0; + out_542246045313485722[114] = 1; + out_542246045313485722[115] = 0; + out_542246045313485722[116] = 0; + out_542246045313485722[117] = 0; + out_542246045313485722[118] = 0; + out_542246045313485722[119] = 0; + out_542246045313485722[120] = 0; + out_542246045313485722[121] = 0; + out_542246045313485722[122] = 0; + out_542246045313485722[123] = 0; + out_542246045313485722[124] = 0; + out_542246045313485722[125] = 0; + out_542246045313485722[126] = 0; + out_542246045313485722[127] = 0; + out_542246045313485722[128] = 0; + out_542246045313485722[129] = 0; + out_542246045313485722[130] = 0; + out_542246045313485722[131] = 0; + out_542246045313485722[132] = 0; + out_542246045313485722[133] = 1; + out_542246045313485722[134] = 0; + out_542246045313485722[135] = 0; + out_542246045313485722[136] = 0; + out_542246045313485722[137] = 0; + out_542246045313485722[138] = 0; + out_542246045313485722[139] = 0; + out_542246045313485722[140] = 0; + out_542246045313485722[141] = 0; + out_542246045313485722[142] = 0; + out_542246045313485722[143] = 0; + out_542246045313485722[144] = 0; + out_542246045313485722[145] = 0; + out_542246045313485722[146] = 0; + out_542246045313485722[147] = 0; + out_542246045313485722[148] = 0; + out_542246045313485722[149] = 0; + out_542246045313485722[150] = 0; + out_542246045313485722[151] = 0; + out_542246045313485722[152] = 1; + out_542246045313485722[153] = 0; + out_542246045313485722[154] = 0; + out_542246045313485722[155] = 0; + out_542246045313485722[156] = 0; + out_542246045313485722[157] = 0; + out_542246045313485722[158] = 0; + out_542246045313485722[159] = 0; + out_542246045313485722[160] = 0; + out_542246045313485722[161] = 0; + out_542246045313485722[162] = 0; + out_542246045313485722[163] = 0; + out_542246045313485722[164] = 0; + out_542246045313485722[165] = 0; + out_542246045313485722[166] = 0; + out_542246045313485722[167] = 0; + out_542246045313485722[168] = 0; + out_542246045313485722[169] = 0; + out_542246045313485722[170] = 0; + out_542246045313485722[171] = 1; + out_542246045313485722[172] = 0; + out_542246045313485722[173] = 0; + out_542246045313485722[174] = 0; + out_542246045313485722[175] = 0; + out_542246045313485722[176] = 0; + out_542246045313485722[177] = 0; + out_542246045313485722[178] = 0; + out_542246045313485722[179] = 0; + out_542246045313485722[180] = 0; + out_542246045313485722[181] = 0; + out_542246045313485722[182] = 0; + out_542246045313485722[183] = 0; + out_542246045313485722[184] = 0; + out_542246045313485722[185] = 0; + out_542246045313485722[186] = 0; + out_542246045313485722[187] = 0; + out_542246045313485722[188] = 0; + out_542246045313485722[189] = 0; + out_542246045313485722[190] = 1; + out_542246045313485722[191] = 0; + out_542246045313485722[192] = 0; + out_542246045313485722[193] = 0; + out_542246045313485722[194] = 0; + out_542246045313485722[195] = 0; + out_542246045313485722[196] = 0; + out_542246045313485722[197] = 0; + out_542246045313485722[198] = 0; + out_542246045313485722[199] = 0; + out_542246045313485722[200] = 0; + out_542246045313485722[201] = 0; + out_542246045313485722[202] = 0; + out_542246045313485722[203] = 0; + out_542246045313485722[204] = 0; + out_542246045313485722[205] = 0; + out_542246045313485722[206] = 0; + out_542246045313485722[207] = 0; + out_542246045313485722[208] = 0; + out_542246045313485722[209] = 1; + out_542246045313485722[210] = 0; + out_542246045313485722[211] = 0; + out_542246045313485722[212] = 0; + out_542246045313485722[213] = 0; + out_542246045313485722[214] = 0; + out_542246045313485722[215] = 0; + out_542246045313485722[216] = 0; + out_542246045313485722[217] = 0; + out_542246045313485722[218] = 0; + out_542246045313485722[219] = 0; + out_542246045313485722[220] = 0; + out_542246045313485722[221] = 0; + out_542246045313485722[222] = 0; + out_542246045313485722[223] = 0; + out_542246045313485722[224] = 0; + out_542246045313485722[225] = 0; + out_542246045313485722[226] = 0; + out_542246045313485722[227] = 0; + out_542246045313485722[228] = 1; + out_542246045313485722[229] = 0; + out_542246045313485722[230] = 0; + out_542246045313485722[231] = 0; + out_542246045313485722[232] = 0; + out_542246045313485722[233] = 0; + out_542246045313485722[234] = 0; + out_542246045313485722[235] = 0; + out_542246045313485722[236] = 0; + out_542246045313485722[237] = 0; + out_542246045313485722[238] = 0; + out_542246045313485722[239] = 0; + out_542246045313485722[240] = 0; + out_542246045313485722[241] = 0; + out_542246045313485722[242] = 0; + out_542246045313485722[243] = 0; + out_542246045313485722[244] = 0; + out_542246045313485722[245] = 0; + out_542246045313485722[246] = 0; + out_542246045313485722[247] = 1; + out_542246045313485722[248] = 0; + out_542246045313485722[249] = 0; + out_542246045313485722[250] = 0; + out_542246045313485722[251] = 0; + out_542246045313485722[252] = 0; + out_542246045313485722[253] = 0; + out_542246045313485722[254] = 0; + out_542246045313485722[255] = 0; + out_542246045313485722[256] = 0; + out_542246045313485722[257] = 0; + out_542246045313485722[258] = 0; + out_542246045313485722[259] = 0; + out_542246045313485722[260] = 0; + out_542246045313485722[261] = 0; + out_542246045313485722[262] = 0; + out_542246045313485722[263] = 0; + out_542246045313485722[264] = 0; + out_542246045313485722[265] = 0; + out_542246045313485722[266] = 1; + out_542246045313485722[267] = 0; + out_542246045313485722[268] = 0; + out_542246045313485722[269] = 0; + out_542246045313485722[270] = 0; + out_542246045313485722[271] = 0; + out_542246045313485722[272] = 0; + out_542246045313485722[273] = 0; + out_542246045313485722[274] = 0; + out_542246045313485722[275] = 0; + out_542246045313485722[276] = 0; + out_542246045313485722[277] = 0; + out_542246045313485722[278] = 0; + out_542246045313485722[279] = 0; + out_542246045313485722[280] = 0; + out_542246045313485722[281] = 0; + out_542246045313485722[282] = 0; + out_542246045313485722[283] = 0; + out_542246045313485722[284] = 0; + out_542246045313485722[285] = 1; + out_542246045313485722[286] = 0; + out_542246045313485722[287] = 0; + out_542246045313485722[288] = 0; + out_542246045313485722[289] = 0; + out_542246045313485722[290] = 0; + out_542246045313485722[291] = 0; + out_542246045313485722[292] = 0; + out_542246045313485722[293] = 0; + out_542246045313485722[294] = 0; + out_542246045313485722[295] = 0; + out_542246045313485722[296] = 0; + out_542246045313485722[297] = 0; + out_542246045313485722[298] = 0; + out_542246045313485722[299] = 0; + out_542246045313485722[300] = 0; + out_542246045313485722[301] = 0; + out_542246045313485722[302] = 0; + out_542246045313485722[303] = 0; + out_542246045313485722[304] = 1; + out_542246045313485722[305] = 0; + out_542246045313485722[306] = 0; + out_542246045313485722[307] = 0; + out_542246045313485722[308] = 0; + out_542246045313485722[309] = 0; + out_542246045313485722[310] = 0; + out_542246045313485722[311] = 0; + out_542246045313485722[312] = 0; + out_542246045313485722[313] = 0; + out_542246045313485722[314] = 0; + out_542246045313485722[315] = 0; + out_542246045313485722[316] = 0; + out_542246045313485722[317] = 0; + out_542246045313485722[318] = 0; + out_542246045313485722[319] = 0; + out_542246045313485722[320] = 0; + out_542246045313485722[321] = 0; + out_542246045313485722[322] = 0; + out_542246045313485722[323] = 1; } -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_6293306196609579881) { + out_6293306196609579881[0] = state[6] + state[9]; + out_6293306196609579881[1] = state[7] + state[10]; + out_6293306196609579881[2] = state[8] + state[11]; } -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_4(double *state, double *unused, double *out_1878511310400889359) { + out_1878511310400889359[0] = 0; + out_1878511310400889359[1] = 0; + out_1878511310400889359[2] = 0; + out_1878511310400889359[3] = 0; + out_1878511310400889359[4] = 0; + out_1878511310400889359[5] = 0; + out_1878511310400889359[6] = 1; + out_1878511310400889359[7] = 0; + out_1878511310400889359[8] = 0; + out_1878511310400889359[9] = 1; + out_1878511310400889359[10] = 0; + out_1878511310400889359[11] = 0; + out_1878511310400889359[12] = 0; + out_1878511310400889359[13] = 0; + out_1878511310400889359[14] = 0; + out_1878511310400889359[15] = 0; + out_1878511310400889359[16] = 0; + out_1878511310400889359[17] = 0; + out_1878511310400889359[18] = 0; + out_1878511310400889359[19] = 0; + out_1878511310400889359[20] = 0; + out_1878511310400889359[21] = 0; + out_1878511310400889359[22] = 0; + out_1878511310400889359[23] = 0; + out_1878511310400889359[24] = 0; + out_1878511310400889359[25] = 1; + out_1878511310400889359[26] = 0; + out_1878511310400889359[27] = 0; + out_1878511310400889359[28] = 1; + out_1878511310400889359[29] = 0; + out_1878511310400889359[30] = 0; + out_1878511310400889359[31] = 0; + out_1878511310400889359[32] = 0; + out_1878511310400889359[33] = 0; + out_1878511310400889359[34] = 0; + out_1878511310400889359[35] = 0; + out_1878511310400889359[36] = 0; + out_1878511310400889359[37] = 0; + out_1878511310400889359[38] = 0; + out_1878511310400889359[39] = 0; + out_1878511310400889359[40] = 0; + out_1878511310400889359[41] = 0; + out_1878511310400889359[42] = 0; + out_1878511310400889359[43] = 0; + out_1878511310400889359[44] = 1; + out_1878511310400889359[45] = 0; + out_1878511310400889359[46] = 0; + out_1878511310400889359[47] = 1; + out_1878511310400889359[48] = 0; + out_1878511310400889359[49] = 0; + out_1878511310400889359[50] = 0; + out_1878511310400889359[51] = 0; + out_1878511310400889359[52] = 0; + out_1878511310400889359[53] = 0; } -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_8801939057301033560) { + out_8801939057301033560[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8801939057301033560[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8801939057301033560[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_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_10(double *state, double *unused, double *out_2335330326985309171) { + out_2335330326985309171[0] = 0; + out_2335330326985309171[1] = 9.8100000000000005*cos(state[1]); + out_2335330326985309171[2] = 0; + out_2335330326985309171[3] = 0; + out_2335330326985309171[4] = -state[8]; + out_2335330326985309171[5] = state[7]; + out_2335330326985309171[6] = 0; + out_2335330326985309171[7] = state[5]; + out_2335330326985309171[8] = -state[4]; + out_2335330326985309171[9] = 0; + out_2335330326985309171[10] = 0; + out_2335330326985309171[11] = 0; + out_2335330326985309171[12] = 1; + out_2335330326985309171[13] = 0; + out_2335330326985309171[14] = 0; + out_2335330326985309171[15] = 1; + out_2335330326985309171[16] = 0; + out_2335330326985309171[17] = 0; + out_2335330326985309171[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_2335330326985309171[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_2335330326985309171[20] = 0; + out_2335330326985309171[21] = state[8]; + out_2335330326985309171[22] = 0; + out_2335330326985309171[23] = -state[6]; + out_2335330326985309171[24] = -state[5]; + out_2335330326985309171[25] = 0; + out_2335330326985309171[26] = state[3]; + out_2335330326985309171[27] = 0; + out_2335330326985309171[28] = 0; + out_2335330326985309171[29] = 0; + out_2335330326985309171[30] = 0; + out_2335330326985309171[31] = 1; + out_2335330326985309171[32] = 0; + out_2335330326985309171[33] = 0; + out_2335330326985309171[34] = 1; + out_2335330326985309171[35] = 0; + out_2335330326985309171[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_2335330326985309171[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_2335330326985309171[38] = 0; + out_2335330326985309171[39] = -state[7]; + out_2335330326985309171[40] = state[6]; + out_2335330326985309171[41] = 0; + out_2335330326985309171[42] = state[4]; + out_2335330326985309171[43] = -state[3]; + out_2335330326985309171[44] = 0; + out_2335330326985309171[45] = 0; + out_2335330326985309171[46] = 0; + out_2335330326985309171[47] = 0; + out_2335330326985309171[48] = 0; + out_2335330326985309171[49] = 0; + out_2335330326985309171[50] = 1; + out_2335330326985309171[51] = 0; + out_2335330326985309171[52] = 0; + out_2335330326985309171[53] = 1; } -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_442641261201264592) { + out_442641261201264592[0] = state[3]; + out_442641261201264592[1] = state[4]; + out_442641261201264592[2] = state[5]; } -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_13(double *state, double *unused, double *out_5712266773703413383) { + out_5712266773703413383[0] = 0; + out_5712266773703413383[1] = 0; + out_5712266773703413383[2] = 0; + out_5712266773703413383[3] = 1; + out_5712266773703413383[4] = 0; + out_5712266773703413383[5] = 0; + out_5712266773703413383[6] = 0; + out_5712266773703413383[7] = 0; + out_5712266773703413383[8] = 0; + out_5712266773703413383[9] = 0; + out_5712266773703413383[10] = 0; + out_5712266773703413383[11] = 0; + out_5712266773703413383[12] = 0; + out_5712266773703413383[13] = 0; + out_5712266773703413383[14] = 0; + out_5712266773703413383[15] = 0; + out_5712266773703413383[16] = 0; + out_5712266773703413383[17] = 0; + out_5712266773703413383[18] = 0; + out_5712266773703413383[19] = 0; + out_5712266773703413383[20] = 0; + out_5712266773703413383[21] = 0; + out_5712266773703413383[22] = 1; + out_5712266773703413383[23] = 0; + out_5712266773703413383[24] = 0; + out_5712266773703413383[25] = 0; + out_5712266773703413383[26] = 0; + out_5712266773703413383[27] = 0; + out_5712266773703413383[28] = 0; + out_5712266773703413383[29] = 0; + out_5712266773703413383[30] = 0; + out_5712266773703413383[31] = 0; + out_5712266773703413383[32] = 0; + out_5712266773703413383[33] = 0; + out_5712266773703413383[34] = 0; + out_5712266773703413383[35] = 0; + out_5712266773703413383[36] = 0; + out_5712266773703413383[37] = 0; + out_5712266773703413383[38] = 0; + out_5712266773703413383[39] = 0; + out_5712266773703413383[40] = 0; + out_5712266773703413383[41] = 1; + out_5712266773703413383[42] = 0; + out_5712266773703413383[43] = 0; + out_5712266773703413383[44] = 0; + out_5712266773703413383[45] = 0; + out_5712266773703413383[46] = 0; + out_5712266773703413383[47] = 0; + out_5712266773703413383[48] = 0; + out_5712266773703413383[49] = 0; + out_5712266773703413383[50] = 0; + out_5712266773703413383[51] = 0; + out_5712266773703413383[52] = 0; + out_5712266773703413383[53] = 0; } -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_6788275849684674744) { + out_6788275849684674744[0] = state[6]; + out_6788275849684674744[1] = state[7]; + out_6788275849684674744[2] = state[8]; } -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; +void H_14(double *state, double *unused, double *out_4961299742696261655) { + out_4961299742696261655[0] = 0; + out_4961299742696261655[1] = 0; + out_4961299742696261655[2] = 0; + out_4961299742696261655[3] = 0; + out_4961299742696261655[4] = 0; + out_4961299742696261655[5] = 0; + out_4961299742696261655[6] = 1; + out_4961299742696261655[7] = 0; + out_4961299742696261655[8] = 0; + out_4961299742696261655[9] = 0; + out_4961299742696261655[10] = 0; + out_4961299742696261655[11] = 0; + out_4961299742696261655[12] = 0; + out_4961299742696261655[13] = 0; + out_4961299742696261655[14] = 0; + out_4961299742696261655[15] = 0; + out_4961299742696261655[16] = 0; + out_4961299742696261655[17] = 0; + out_4961299742696261655[18] = 0; + out_4961299742696261655[19] = 0; + out_4961299742696261655[20] = 0; + out_4961299742696261655[21] = 0; + out_4961299742696261655[22] = 0; + out_4961299742696261655[23] = 0; + out_4961299742696261655[24] = 0; + out_4961299742696261655[25] = 1; + out_4961299742696261655[26] = 0; + out_4961299742696261655[27] = 0; + out_4961299742696261655[28] = 0; + out_4961299742696261655[29] = 0; + out_4961299742696261655[30] = 0; + out_4961299742696261655[31] = 0; + out_4961299742696261655[32] = 0; + out_4961299742696261655[33] = 0; + out_4961299742696261655[34] = 0; + out_4961299742696261655[35] = 0; + out_4961299742696261655[36] = 0; + out_4961299742696261655[37] = 0; + out_4961299742696261655[38] = 0; + out_4961299742696261655[39] = 0; + out_4961299742696261655[40] = 0; + out_4961299742696261655[41] = 0; + out_4961299742696261655[42] = 0; + out_4961299742696261655[43] = 0; + out_4961299742696261655[44] = 1; + out_4961299742696261655[45] = 0; + out_4961299742696261655[46] = 0; + out_4961299742696261655[47] = 0; + out_4961299742696261655[48] = 0; + out_4961299742696261655[49] = 0; + out_4961299742696261655[50] = 0; + out_4961299742696261655[51] = 0; + out_4961299742696261655[52] = 0; + out_4961299742696261655[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_7337273534871130421) { - err_fun(nom_x, delta_x, out_7337273534871130421); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6392571160168570842) { + err_fun(nom_x, delta_x, out_6392571160168570842); } -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_inv_err_fun(double *nom_x, double *true_x, double *out_70108598084165787) { + inv_err_fun(nom_x, true_x, out_70108598084165787); } -void pose_H_mod_fun(double *state, double *out_1839001963735438802) { - H_mod_fun(state, out_1839001963735438802); +void pose_H_mod_fun(double *state, double *out_7031029695439970094) { + H_mod_fun(state, out_7031029695439970094); } -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_4622611615613940133) { + f_fun(state, dt, out_4622611615613940133); } -void pose_F_fun(double *state, double dt, double *out_3094277237620606525) { - F_fun(state, dt, out_3094277237620606525); +void pose_F_fun(double *state, double dt, double *out_542246045313485722) { + F_fun(state, dt, out_542246045313485722); } -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_6293306196609579881) { + h_4(state, unused, out_6293306196609579881); } -void pose_H_4(double *state, double *unused, double *out_641054481852540698) { - H_4(state, unused, out_641054481852540698); +void pose_H_4(double *state, double *unused, double *out_1878511310400889359) { + H_4(state, unused, out_1878511310400889359); } -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_8801939057301033560) { + h_10(state, unused, out_8801939057301033560); } -void pose_H_10(double *state, double *unused, double *out_6416512439383232257) { - H_10(state, unused, out_6416512439383232257); +void pose_H_10(double *state, double *unused, double *out_2335330326985309171) { + H_10(state, unused, out_2335330326985309171); } -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_442641261201264592) { + h_13(state, unused, out_442641261201264592); } -void pose_H_13(double *state, double *unused, double *out_2571219343479792103) { - H_13(state, unused, out_2571219343479792103); +void pose_H_13(double *state, double *unused, double *out_5712266773703413383) { + H_13(state, unused, out_5712266773703413383); } -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_6788275849684674744) { + h_14(state, unused, out_6788275849684674744); } -void pose_H_14(double *state, double *unused, double *out_3723842914147912994) { - H_14(state, unused, out_3723842914147912994); +void pose_H_14(double *state, double *unused, double *out_4961299742696261655) { + H_14(state, unused, out_4961299742696261655); } 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 336197550..27acfaf13 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_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_err_fun(double *nom_x, double *delta_x, double *out_6392571160168570842); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_70108598084165787); +void pose_H_mod_fun(double *state, double *out_7031029695439970094); +void pose_f_fun(double *state, double dt, double *out_4622611615613940133); +void pose_F_fun(double *state, double dt, double *out_542246045313485722); +void pose_h_4(double *state, double *unused, double *out_6293306196609579881); +void pose_H_4(double *state, double *unused, double *out_1878511310400889359); +void pose_h_10(double *state, double *unused, double *out_8801939057301033560); +void pose_H_10(double *state, double *unused, double *out_2335330326985309171); +void pose_h_13(double *state, double *unused, double *out_442641261201264592); +void pose_H_13(double *state, double *unused, double *out_5712266773703413383); +void pose_h_14(double *state, double *unused, double *out_6788275849684674744); +void pose_H_14(double *state, double *unused, double *out_4961299742696261655); 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 e185efdb3..c174a6575 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index b0dce4dee..b0cc6aa43 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 0f84bd3a6..17961a22d 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 627f4d32b..22f247147 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index e118bdc53..e20f5229f 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 726e9601a..62a979980 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ