diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 6905901a4..dfbe7ad28 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 11c44da26..adc8af52f 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 8f143be8a..e53fda56e 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index afe234a8a..0681742aa 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 33f5c719a..ed7d98181 100755 Binary files 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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 3ffa40738..dc89b4d31 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 19b9fc26f..124932265 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-471a33d6-DEBUG"; +const uint8_t gitversion[19] = "DEV-633a5213-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index a26c328d5..46d75d8ed 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 18b8f30ff..cba6c7c20 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 12fe30862..6152ac00b 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 3e59e7c87..334f565b5 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 98a8b900a..d8ce8b617 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index a6ea99771..9de8c5b99 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 82b5a5bf5..c356956a9 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index f6e33b8c1..b07f80caf 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 11e92ffce..57d2ba3f2 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index a14e7ceca..c2a60eeac 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 578ea7404..2c050283c 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 2cbf245b5..f543d4ef6 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 91c3a3580..159ad906d 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 ce308ce7b..9814b7529 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 1ed4ac36b..b8875f294 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 0992d934d..ff4044e49 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 ade6b5c65..f957fb890 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 2d1f68a67..7f32d8d02 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 66a0a9cbb..2f1d22109 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 9e3ff0732..966d7bbfb 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 abf219584..208c7a4ea 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-471a33d6-DEBUG \ No newline at end of file +DEV-633a5213-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 36e3d3f49..bea5ca501 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_6549097700781342010) { - out_6549097700781342010[0] = delta_x[0] + nom_x[0]; - out_6549097700781342010[1] = delta_x[1] + nom_x[1]; - out_6549097700781342010[2] = delta_x[2] + nom_x[2]; - out_6549097700781342010[3] = delta_x[3] + nom_x[3]; - out_6549097700781342010[4] = delta_x[4] + nom_x[4]; - out_6549097700781342010[5] = delta_x[5] + nom_x[5]; - out_6549097700781342010[6] = delta_x[6] + nom_x[6]; - out_6549097700781342010[7] = delta_x[7] + nom_x[7]; - out_6549097700781342010[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_9028291241411164041) { + out_9028291241411164041[0] = delta_x[0] + nom_x[0]; + out_9028291241411164041[1] = delta_x[1] + nom_x[1]; + out_9028291241411164041[2] = delta_x[2] + nom_x[2]; + out_9028291241411164041[3] = delta_x[3] + nom_x[3]; + out_9028291241411164041[4] = delta_x[4] + nom_x[4]; + out_9028291241411164041[5] = delta_x[5] + nom_x[5]; + out_9028291241411164041[6] = delta_x[6] + nom_x[6]; + out_9028291241411164041[7] = delta_x[7] + nom_x[7]; + out_9028291241411164041[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8354153438521949351) { - out_8354153438521949351[0] = -nom_x[0] + true_x[0]; - out_8354153438521949351[1] = -nom_x[1] + true_x[1]; - out_8354153438521949351[2] = -nom_x[2] + true_x[2]; - out_8354153438521949351[3] = -nom_x[3] + true_x[3]; - out_8354153438521949351[4] = -nom_x[4] + true_x[4]; - out_8354153438521949351[5] = -nom_x[5] + true_x[5]; - out_8354153438521949351[6] = -nom_x[6] + true_x[6]; - out_8354153438521949351[7] = -nom_x[7] + true_x[7]; - out_8354153438521949351[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4666000221593499497) { + out_4666000221593499497[0] = -nom_x[0] + true_x[0]; + out_4666000221593499497[1] = -nom_x[1] + true_x[1]; + out_4666000221593499497[2] = -nom_x[2] + true_x[2]; + out_4666000221593499497[3] = -nom_x[3] + true_x[3]; + out_4666000221593499497[4] = -nom_x[4] + true_x[4]; + out_4666000221593499497[5] = -nom_x[5] + true_x[5]; + out_4666000221593499497[6] = -nom_x[6] + true_x[6]; + out_4666000221593499497[7] = -nom_x[7] + true_x[7]; + out_4666000221593499497[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6316391371516646855) { - out_6316391371516646855[0] = 1.0; - out_6316391371516646855[1] = 0.0; - out_6316391371516646855[2] = 0.0; - out_6316391371516646855[3] = 0.0; - out_6316391371516646855[4] = 0.0; - out_6316391371516646855[5] = 0.0; - out_6316391371516646855[6] = 0.0; - out_6316391371516646855[7] = 0.0; - out_6316391371516646855[8] = 0.0; - out_6316391371516646855[9] = 0.0; - out_6316391371516646855[10] = 1.0; - out_6316391371516646855[11] = 0.0; - out_6316391371516646855[12] = 0.0; - out_6316391371516646855[13] = 0.0; - out_6316391371516646855[14] = 0.0; - out_6316391371516646855[15] = 0.0; - out_6316391371516646855[16] = 0.0; - out_6316391371516646855[17] = 0.0; - out_6316391371516646855[18] = 0.0; - out_6316391371516646855[19] = 0.0; - out_6316391371516646855[20] = 1.0; - out_6316391371516646855[21] = 0.0; - out_6316391371516646855[22] = 0.0; - out_6316391371516646855[23] = 0.0; - out_6316391371516646855[24] = 0.0; - out_6316391371516646855[25] = 0.0; - out_6316391371516646855[26] = 0.0; - out_6316391371516646855[27] = 0.0; - out_6316391371516646855[28] = 0.0; - out_6316391371516646855[29] = 0.0; - out_6316391371516646855[30] = 1.0; - out_6316391371516646855[31] = 0.0; - out_6316391371516646855[32] = 0.0; - out_6316391371516646855[33] = 0.0; - out_6316391371516646855[34] = 0.0; - out_6316391371516646855[35] = 0.0; - out_6316391371516646855[36] = 0.0; - out_6316391371516646855[37] = 0.0; - out_6316391371516646855[38] = 0.0; - out_6316391371516646855[39] = 0.0; - out_6316391371516646855[40] = 1.0; - out_6316391371516646855[41] = 0.0; - out_6316391371516646855[42] = 0.0; - out_6316391371516646855[43] = 0.0; - out_6316391371516646855[44] = 0.0; - out_6316391371516646855[45] = 0.0; - out_6316391371516646855[46] = 0.0; - out_6316391371516646855[47] = 0.0; - out_6316391371516646855[48] = 0.0; - out_6316391371516646855[49] = 0.0; - out_6316391371516646855[50] = 1.0; - out_6316391371516646855[51] = 0.0; - out_6316391371516646855[52] = 0.0; - out_6316391371516646855[53] = 0.0; - out_6316391371516646855[54] = 0.0; - out_6316391371516646855[55] = 0.0; - out_6316391371516646855[56] = 0.0; - out_6316391371516646855[57] = 0.0; - out_6316391371516646855[58] = 0.0; - out_6316391371516646855[59] = 0.0; - out_6316391371516646855[60] = 1.0; - out_6316391371516646855[61] = 0.0; - out_6316391371516646855[62] = 0.0; - out_6316391371516646855[63] = 0.0; - out_6316391371516646855[64] = 0.0; - out_6316391371516646855[65] = 0.0; - out_6316391371516646855[66] = 0.0; - out_6316391371516646855[67] = 0.0; - out_6316391371516646855[68] = 0.0; - out_6316391371516646855[69] = 0.0; - out_6316391371516646855[70] = 1.0; - out_6316391371516646855[71] = 0.0; - out_6316391371516646855[72] = 0.0; - out_6316391371516646855[73] = 0.0; - out_6316391371516646855[74] = 0.0; - out_6316391371516646855[75] = 0.0; - out_6316391371516646855[76] = 0.0; - out_6316391371516646855[77] = 0.0; - out_6316391371516646855[78] = 0.0; - out_6316391371516646855[79] = 0.0; - out_6316391371516646855[80] = 1.0; +void H_mod_fun(double *state, double *out_1234525725193622425) { + out_1234525725193622425[0] = 1.0; + out_1234525725193622425[1] = 0.0; + out_1234525725193622425[2] = 0.0; + out_1234525725193622425[3] = 0.0; + out_1234525725193622425[4] = 0.0; + out_1234525725193622425[5] = 0.0; + out_1234525725193622425[6] = 0.0; + out_1234525725193622425[7] = 0.0; + out_1234525725193622425[8] = 0.0; + out_1234525725193622425[9] = 0.0; + out_1234525725193622425[10] = 1.0; + out_1234525725193622425[11] = 0.0; + out_1234525725193622425[12] = 0.0; + out_1234525725193622425[13] = 0.0; + out_1234525725193622425[14] = 0.0; + out_1234525725193622425[15] = 0.0; + out_1234525725193622425[16] = 0.0; + out_1234525725193622425[17] = 0.0; + out_1234525725193622425[18] = 0.0; + out_1234525725193622425[19] = 0.0; + out_1234525725193622425[20] = 1.0; + out_1234525725193622425[21] = 0.0; + out_1234525725193622425[22] = 0.0; + out_1234525725193622425[23] = 0.0; + out_1234525725193622425[24] = 0.0; + out_1234525725193622425[25] = 0.0; + out_1234525725193622425[26] = 0.0; + out_1234525725193622425[27] = 0.0; + out_1234525725193622425[28] = 0.0; + out_1234525725193622425[29] = 0.0; + out_1234525725193622425[30] = 1.0; + out_1234525725193622425[31] = 0.0; + out_1234525725193622425[32] = 0.0; + out_1234525725193622425[33] = 0.0; + out_1234525725193622425[34] = 0.0; + out_1234525725193622425[35] = 0.0; + out_1234525725193622425[36] = 0.0; + out_1234525725193622425[37] = 0.0; + out_1234525725193622425[38] = 0.0; + out_1234525725193622425[39] = 0.0; + out_1234525725193622425[40] = 1.0; + out_1234525725193622425[41] = 0.0; + out_1234525725193622425[42] = 0.0; + out_1234525725193622425[43] = 0.0; + out_1234525725193622425[44] = 0.0; + out_1234525725193622425[45] = 0.0; + out_1234525725193622425[46] = 0.0; + out_1234525725193622425[47] = 0.0; + out_1234525725193622425[48] = 0.0; + out_1234525725193622425[49] = 0.0; + out_1234525725193622425[50] = 1.0; + out_1234525725193622425[51] = 0.0; + out_1234525725193622425[52] = 0.0; + out_1234525725193622425[53] = 0.0; + out_1234525725193622425[54] = 0.0; + out_1234525725193622425[55] = 0.0; + out_1234525725193622425[56] = 0.0; + out_1234525725193622425[57] = 0.0; + out_1234525725193622425[58] = 0.0; + out_1234525725193622425[59] = 0.0; + out_1234525725193622425[60] = 1.0; + out_1234525725193622425[61] = 0.0; + out_1234525725193622425[62] = 0.0; + out_1234525725193622425[63] = 0.0; + out_1234525725193622425[64] = 0.0; + out_1234525725193622425[65] = 0.0; + out_1234525725193622425[66] = 0.0; + out_1234525725193622425[67] = 0.0; + out_1234525725193622425[68] = 0.0; + out_1234525725193622425[69] = 0.0; + out_1234525725193622425[70] = 1.0; + out_1234525725193622425[71] = 0.0; + out_1234525725193622425[72] = 0.0; + out_1234525725193622425[73] = 0.0; + out_1234525725193622425[74] = 0.0; + out_1234525725193622425[75] = 0.0; + out_1234525725193622425[76] = 0.0; + out_1234525725193622425[77] = 0.0; + out_1234525725193622425[78] = 0.0; + out_1234525725193622425[79] = 0.0; + out_1234525725193622425[80] = 1.0; } -void f_fun(double *state, double dt, double *out_683944865460236824) { - out_683944865460236824[0] = state[0]; - out_683944865460236824[1] = state[1]; - out_683944865460236824[2] = state[2]; - out_683944865460236824[3] = state[3]; - out_683944865460236824[4] = state[4]; - out_683944865460236824[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_683944865460236824[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_683944865460236824[7] = state[7]; - out_683944865460236824[8] = state[8]; +void f_fun(double *state, double dt, double *out_5744399634248528082) { + out_5744399634248528082[0] = state[0]; + out_5744399634248528082[1] = state[1]; + out_5744399634248528082[2] = state[2]; + out_5744399634248528082[3] = state[3]; + out_5744399634248528082[4] = state[4]; + out_5744399634248528082[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_5744399634248528082[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_5744399634248528082[7] = state[7]; + out_5744399634248528082[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6256536759651096133) { - out_6256536759651096133[0] = 1; - out_6256536759651096133[1] = 0; - out_6256536759651096133[2] = 0; - out_6256536759651096133[3] = 0; - out_6256536759651096133[4] = 0; - out_6256536759651096133[5] = 0; - out_6256536759651096133[6] = 0; - out_6256536759651096133[7] = 0; - out_6256536759651096133[8] = 0; - out_6256536759651096133[9] = 0; - out_6256536759651096133[10] = 1; - out_6256536759651096133[11] = 0; - out_6256536759651096133[12] = 0; - out_6256536759651096133[13] = 0; - out_6256536759651096133[14] = 0; - out_6256536759651096133[15] = 0; - out_6256536759651096133[16] = 0; - out_6256536759651096133[17] = 0; - out_6256536759651096133[18] = 0; - out_6256536759651096133[19] = 0; - out_6256536759651096133[20] = 1; - out_6256536759651096133[21] = 0; - out_6256536759651096133[22] = 0; - out_6256536759651096133[23] = 0; - out_6256536759651096133[24] = 0; - out_6256536759651096133[25] = 0; - out_6256536759651096133[26] = 0; - out_6256536759651096133[27] = 0; - out_6256536759651096133[28] = 0; - out_6256536759651096133[29] = 0; - out_6256536759651096133[30] = 1; - out_6256536759651096133[31] = 0; - out_6256536759651096133[32] = 0; - out_6256536759651096133[33] = 0; - out_6256536759651096133[34] = 0; - out_6256536759651096133[35] = 0; - out_6256536759651096133[36] = 0; - out_6256536759651096133[37] = 0; - out_6256536759651096133[38] = 0; - out_6256536759651096133[39] = 0; - out_6256536759651096133[40] = 1; - out_6256536759651096133[41] = 0; - out_6256536759651096133[42] = 0; - out_6256536759651096133[43] = 0; - out_6256536759651096133[44] = 0; - out_6256536759651096133[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_6256536759651096133[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6256536759651096133[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6256536759651096133[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6256536759651096133[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_6256536759651096133[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6256536759651096133[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6256536759651096133[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6256536759651096133[53] = -9.8100000000000005*dt; - out_6256536759651096133[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_6256536759651096133[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6256536759651096133[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6256536759651096133[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6256536759651096133[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_6256536759651096133[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6256536759651096133[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_6256536759651096133[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6256536759651096133[62] = 0; - out_6256536759651096133[63] = 0; - out_6256536759651096133[64] = 0; - out_6256536759651096133[65] = 0; - out_6256536759651096133[66] = 0; - out_6256536759651096133[67] = 0; - out_6256536759651096133[68] = 0; - out_6256536759651096133[69] = 0; - out_6256536759651096133[70] = 1; - out_6256536759651096133[71] = 0; - out_6256536759651096133[72] = 0; - out_6256536759651096133[73] = 0; - out_6256536759651096133[74] = 0; - out_6256536759651096133[75] = 0; - out_6256536759651096133[76] = 0; - out_6256536759651096133[77] = 0; - out_6256536759651096133[78] = 0; - out_6256536759651096133[79] = 0; - out_6256536759651096133[80] = 1; +void F_fun(double *state, double dt, double *out_1994809722497824627) { + out_1994809722497824627[0] = 1; + out_1994809722497824627[1] = 0; + out_1994809722497824627[2] = 0; + out_1994809722497824627[3] = 0; + out_1994809722497824627[4] = 0; + out_1994809722497824627[5] = 0; + out_1994809722497824627[6] = 0; + out_1994809722497824627[7] = 0; + out_1994809722497824627[8] = 0; + out_1994809722497824627[9] = 0; + out_1994809722497824627[10] = 1; + out_1994809722497824627[11] = 0; + out_1994809722497824627[12] = 0; + out_1994809722497824627[13] = 0; + out_1994809722497824627[14] = 0; + out_1994809722497824627[15] = 0; + out_1994809722497824627[16] = 0; + out_1994809722497824627[17] = 0; + out_1994809722497824627[18] = 0; + out_1994809722497824627[19] = 0; + out_1994809722497824627[20] = 1; + out_1994809722497824627[21] = 0; + out_1994809722497824627[22] = 0; + out_1994809722497824627[23] = 0; + out_1994809722497824627[24] = 0; + out_1994809722497824627[25] = 0; + out_1994809722497824627[26] = 0; + out_1994809722497824627[27] = 0; + out_1994809722497824627[28] = 0; + out_1994809722497824627[29] = 0; + out_1994809722497824627[30] = 1; + out_1994809722497824627[31] = 0; + out_1994809722497824627[32] = 0; + out_1994809722497824627[33] = 0; + out_1994809722497824627[34] = 0; + out_1994809722497824627[35] = 0; + out_1994809722497824627[36] = 0; + out_1994809722497824627[37] = 0; + out_1994809722497824627[38] = 0; + out_1994809722497824627[39] = 0; + out_1994809722497824627[40] = 1; + out_1994809722497824627[41] = 0; + out_1994809722497824627[42] = 0; + out_1994809722497824627[43] = 0; + out_1994809722497824627[44] = 0; + out_1994809722497824627[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_1994809722497824627[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1994809722497824627[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1994809722497824627[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1994809722497824627[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_1994809722497824627[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1994809722497824627[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1994809722497824627[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1994809722497824627[53] = -9.8100000000000005*dt; + out_1994809722497824627[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_1994809722497824627[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1994809722497824627[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1994809722497824627[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1994809722497824627[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_1994809722497824627[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1994809722497824627[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_1994809722497824627[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1994809722497824627[62] = 0; + out_1994809722497824627[63] = 0; + out_1994809722497824627[64] = 0; + out_1994809722497824627[65] = 0; + out_1994809722497824627[66] = 0; + out_1994809722497824627[67] = 0; + out_1994809722497824627[68] = 0; + out_1994809722497824627[69] = 0; + out_1994809722497824627[70] = 1; + out_1994809722497824627[71] = 0; + out_1994809722497824627[72] = 0; + out_1994809722497824627[73] = 0; + out_1994809722497824627[74] = 0; + out_1994809722497824627[75] = 0; + out_1994809722497824627[76] = 0; + out_1994809722497824627[77] = 0; + out_1994809722497824627[78] = 0; + out_1994809722497824627[79] = 0; + out_1994809722497824627[80] = 1; } -void h_25(double *state, double *unused, double *out_630446739146494899) { - out_630446739146494899[0] = state[6]; +void h_25(double *state, double *unused, double *out_4913819377999097610) { + out_4913819377999097610[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2937164476280667524) { - out_2937164476280667524[0] = 0; - out_2937164476280667524[1] = 0; - out_2937164476280667524[2] = 0; - out_2937164476280667524[3] = 0; - out_2937164476280667524[4] = 0; - out_2937164476280667524[5] = 0; - out_2937164476280667524[6] = 1; - out_2937164476280667524[7] = 0; - out_2937164476280667524[8] = 0; +void H_25(double *state, double *unused, double *out_6138217550378287265) { + out_6138217550378287265[0] = 0; + out_6138217550378287265[1] = 0; + out_6138217550378287265[2] = 0; + out_6138217550378287265[3] = 0; + out_6138217550378287265[4] = 0; + out_6138217550378287265[5] = 0; + out_6138217550378287265[6] = 1; + out_6138217550378287265[7] = 0; + out_6138217550378287265[8] = 0; } -void h_24(double *state, double *unused, double *out_766963748656106214) { - out_766963748656106214[0] = state[4]; - out_766963748656106214[1] = state[5]; +void h_24(double *state, double *unused, double *out_7436088339947871774) { + out_7436088339947871774[0] = state[4]; + out_7436088339947871774[1] = state[5]; } -void H_24(double *state, double *unused, double *out_764514877275167958) { - out_764514877275167958[0] = 0; - out_764514877275167958[1] = 0; - out_764514877275167958[2] = 0; - out_764514877275167958[3] = 0; - out_764514877275167958[4] = 1; - out_764514877275167958[5] = 0; - out_764514877275167958[6] = 0; - out_764514877275167958[7] = 0; - out_764514877275167958[8] = 0; - out_764514877275167958[9] = 0; - out_764514877275167958[10] = 0; - out_764514877275167958[11] = 0; - out_764514877275167958[12] = 0; - out_764514877275167958[13] = 0; - out_764514877275167958[14] = 1; - out_764514877275167958[15] = 0; - out_764514877275167958[16] = 0; - out_764514877275167958[17] = 0; +void H_24(double *state, double *unused, double *out_8315431973985437238) { + out_8315431973985437238[0] = 0; + out_8315431973985437238[1] = 0; + out_8315431973985437238[2] = 0; + out_8315431973985437238[3] = 0; + out_8315431973985437238[4] = 1; + out_8315431973985437238[5] = 0; + out_8315431973985437238[6] = 0; + out_8315431973985437238[7] = 0; + out_8315431973985437238[8] = 0; + out_8315431973985437238[9] = 0; + out_8315431973985437238[10] = 0; + out_8315431973985437238[11] = 0; + out_8315431973985437238[12] = 0; + out_8315431973985437238[13] = 0; + out_8315431973985437238[14] = 1; + out_8315431973985437238[15] = 0; + out_8315431973985437238[16] = 0; + out_8315431973985437238[17] = 0; } -void h_30(double *state, double *unused, double *out_2365946185687416261) { - out_2365946185687416261[0] = state[4]; +void h_30(double *state, double *unused, double *out_7861545368354582571) { + out_7861545368354582571[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8592889255937267337) { - out_8592889255937267337[0] = 0; - out_8592889255937267337[1] = 0; - out_8592889255937267337[2] = 0; - out_8592889255937267337[3] = 0; - out_8592889255937267337[4] = 1; - out_8592889255937267337[5] = 0; - out_8592889255937267337[6] = 0; - out_8592889255937267337[7] = 0; - out_8592889255937267337[8] = 0; +void H_30(double *state, double *unused, double *out_8656550508885535892) { + out_8656550508885535892[0] = 0; + out_8656550508885535892[1] = 0; + out_8656550508885535892[2] = 0; + out_8656550508885535892[3] = 0; + out_8656550508885535892[4] = 1; + out_8656550508885535892[5] = 0; + out_8656550508885535892[6] = 0; + out_8656550508885535892[7] = 0; + out_8656550508885535892[8] = 0; } -void h_26(double *state, double *unused, double *out_4488774751058732255) { - out_4488774751058732255[0] = state[7]; +void h_26(double *state, double *unused, double *out_4585697555607125982) { + out_4585697555607125982[0] = state[7]; } -void H_26(double *state, double *unused, double *out_804338842593388700) { - out_804338842593388700[0] = 0; - out_804338842593388700[1] = 0; - out_804338842593388700[2] = 0; - out_804338842593388700[3] = 0; - out_804338842593388700[4] = 0; - out_804338842593388700[5] = 0; - out_804338842593388700[6] = 0; - out_804338842593388700[7] = 1; - out_804338842593388700[8] = 0; +void H_26(double *state, double *unused, double *out_2396714231504231041) { + out_2396714231504231041[0] = 0; + out_2396714231504231041[1] = 0; + out_2396714231504231041[2] = 0; + out_2396714231504231041[3] = 0; + out_2396714231504231041[4] = 0; + out_2396714231504231041[5] = 0; + out_2396714231504231041[6] = 0; + out_2396714231504231041[7] = 1; + out_2396714231504231041[8] = 0; } -void h_27(double *state, double *unused, double *out_4371226528514350746) { - out_4371226528514350746[0] = state[3]; +void h_27(double *state, double *unused, double *out_7430405259977259616) { + out_7430405259977259616[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7679091505971859368) { - out_7679091505971859368[0] = 0; - out_7679091505971859368[1] = 0; - out_7679091505971859368[2] = 0; - out_7679091505971859368[3] = 1; - out_7679091505971859368[4] = 0; - out_7679091505971859368[5] = 0; - out_7679091505971859368[6] = 0; - out_7679091505971859368[7] = 0; - out_7679091505971859368[8] = 0; +void H_27(double *state, double *unused, double *out_6481787197085110981) { + out_6481787197085110981[0] = 0; + out_6481787197085110981[1] = 0; + out_6481787197085110981[2] = 0; + out_6481787197085110981[3] = 1; + out_6481787197085110981[4] = 0; + out_6481787197085110981[5] = 0; + out_6481787197085110981[6] = 0; + out_6481787197085110981[7] = 0; + out_6481787197085110981[8] = 0; } -void h_29(double *state, double *unused, double *out_8008676056768373096) { - out_8008676056768373096[0] = state[1]; +void h_29(double *state, double *unused, double *out_3792955731723237266) { + out_3792955731723237266[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5965728779102308335) { - out_5965728779102308335[0] = 0; - out_5965728779102308335[1] = 1; - out_5965728779102308335[2] = 0; - out_5965728779102308335[3] = 0; - out_5965728779102308335[4] = 0; - out_5965728779102308335[5] = 0; - out_5965728779102308335[6] = 0; - out_5965728779102308335[7] = 0; - out_5965728779102308335[8] = 0; +void H_29(double *state, double *unused, double *out_9166781853199928076) { + out_9166781853199928076[0] = 0; + out_9166781853199928076[1] = 1; + out_9166781853199928076[2] = 0; + out_9166781853199928076[3] = 0; + out_9166781853199928076[4] = 0; + out_9166781853199928076[5] = 0; + out_9166781853199928076[6] = 0; + out_9166781853199928076[7] = 0; + out_9166781853199928076[8] = 0; } -void h_28(double *state, double *unused, double *out_5855520433291817842) { - out_5855520433291817842[0] = state[0]; +void h_28(double *state, double *unused, double *out_7979552762287959315) { + out_7979552762287959315[0] = state[0]; } -void H_28(double *state, double *unused, double *out_883329762032777761) { - out_883329762032777761[0] = 1; - out_883329762032777761[1] = 0; - out_883329762032777761[2] = 0; - out_883329762032777761[3] = 0; - out_883329762032777761[4] = 0; - out_883329762032777761[5] = 0; - out_883329762032777761[6] = 0; - out_883329762032777761[7] = 0; - out_883329762032777761[8] = 0; +void H_28(double *state, double *unused, double *out_4084382836130397502) { + out_4084382836130397502[0] = 1; + out_4084382836130397502[1] = 0; + out_4084382836130397502[2] = 0; + out_4084382836130397502[3] = 0; + out_4084382836130397502[4] = 0; + out_4084382836130397502[5] = 0; + out_4084382836130397502[6] = 0; + out_4084382836130397502[7] = 0; + out_4084382836130397502[8] = 0; } -void h_31(double *state, double *unused, double *out_2247938791754039517) { - out_2247938791754039517[0] = state[8]; +void h_31(double *state, double *unused, double *out_494689836007543994) { + out_494689836007543994[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2967810438157627952) { - out_2967810438157627952[0] = 0; - out_2967810438157627952[1] = 0; - out_2967810438157627952[2] = 0; - out_2967810438157627952[3] = 0; - out_2967810438157627952[4] = 0; - out_2967810438157627952[5] = 0; - out_2967810438157627952[6] = 0; - out_2967810438157627952[7] = 0; - out_2967810438157627952[8] = 1; +void H_31(double *state, double *unused, double *out_1770506129270879565) { + out_1770506129270879565[0] = 0; + out_1770506129270879565[1] = 0; + out_1770506129270879565[2] = 0; + out_1770506129270879565[3] = 0; + out_1770506129270879565[4] = 0; + out_1770506129270879565[5] = 0; + out_1770506129270879565[6] = 0; + out_1770506129270879565[7] = 0; + out_1770506129270879565[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_6549097700781342010) { - err_fun(nom_x, delta_x, out_6549097700781342010); +void car_err_fun(double *nom_x, double *delta_x, double *out_9028291241411164041) { + err_fun(nom_x, delta_x, out_9028291241411164041); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8354153438521949351) { - inv_err_fun(nom_x, true_x, out_8354153438521949351); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4666000221593499497) { + inv_err_fun(nom_x, true_x, out_4666000221593499497); } -void car_H_mod_fun(double *state, double *out_6316391371516646855) { - H_mod_fun(state, out_6316391371516646855); +void car_H_mod_fun(double *state, double *out_1234525725193622425) { + H_mod_fun(state, out_1234525725193622425); } -void car_f_fun(double *state, double dt, double *out_683944865460236824) { - f_fun(state, dt, out_683944865460236824); +void car_f_fun(double *state, double dt, double *out_5744399634248528082) { + f_fun(state, dt, out_5744399634248528082); } -void car_F_fun(double *state, double dt, double *out_6256536759651096133) { - F_fun(state, dt, out_6256536759651096133); +void car_F_fun(double *state, double dt, double *out_1994809722497824627) { + F_fun(state, dt, out_1994809722497824627); } -void car_h_25(double *state, double *unused, double *out_630446739146494899) { - h_25(state, unused, out_630446739146494899); +void car_h_25(double *state, double *unused, double *out_4913819377999097610) { + h_25(state, unused, out_4913819377999097610); } -void car_H_25(double *state, double *unused, double *out_2937164476280667524) { - H_25(state, unused, out_2937164476280667524); +void car_H_25(double *state, double *unused, double *out_6138217550378287265) { + H_25(state, unused, out_6138217550378287265); } -void car_h_24(double *state, double *unused, double *out_766963748656106214) { - h_24(state, unused, out_766963748656106214); +void car_h_24(double *state, double *unused, double *out_7436088339947871774) { + h_24(state, unused, out_7436088339947871774); } -void car_H_24(double *state, double *unused, double *out_764514877275167958) { - H_24(state, unused, out_764514877275167958); +void car_H_24(double *state, double *unused, double *out_8315431973985437238) { + H_24(state, unused, out_8315431973985437238); } -void car_h_30(double *state, double *unused, double *out_2365946185687416261) { - h_30(state, unused, out_2365946185687416261); +void car_h_30(double *state, double *unused, double *out_7861545368354582571) { + h_30(state, unused, out_7861545368354582571); } -void car_H_30(double *state, double *unused, double *out_8592889255937267337) { - H_30(state, unused, out_8592889255937267337); +void car_H_30(double *state, double *unused, double *out_8656550508885535892) { + H_30(state, unused, out_8656550508885535892); } -void car_h_26(double *state, double *unused, double *out_4488774751058732255) { - h_26(state, unused, out_4488774751058732255); +void car_h_26(double *state, double *unused, double *out_4585697555607125982) { + h_26(state, unused, out_4585697555607125982); } -void car_H_26(double *state, double *unused, double *out_804338842593388700) { - H_26(state, unused, out_804338842593388700); +void car_H_26(double *state, double *unused, double *out_2396714231504231041) { + H_26(state, unused, out_2396714231504231041); } -void car_h_27(double *state, double *unused, double *out_4371226528514350746) { - h_27(state, unused, out_4371226528514350746); +void car_h_27(double *state, double *unused, double *out_7430405259977259616) { + h_27(state, unused, out_7430405259977259616); } -void car_H_27(double *state, double *unused, double *out_7679091505971859368) { - H_27(state, unused, out_7679091505971859368); +void car_H_27(double *state, double *unused, double *out_6481787197085110981) { + H_27(state, unused, out_6481787197085110981); } -void car_h_29(double *state, double *unused, double *out_8008676056768373096) { - h_29(state, unused, out_8008676056768373096); +void car_h_29(double *state, double *unused, double *out_3792955731723237266) { + h_29(state, unused, out_3792955731723237266); } -void car_H_29(double *state, double *unused, double *out_5965728779102308335) { - H_29(state, unused, out_5965728779102308335); +void car_H_29(double *state, double *unused, double *out_9166781853199928076) { + H_29(state, unused, out_9166781853199928076); } -void car_h_28(double *state, double *unused, double *out_5855520433291817842) { - h_28(state, unused, out_5855520433291817842); +void car_h_28(double *state, double *unused, double *out_7979552762287959315) { + h_28(state, unused, out_7979552762287959315); } -void car_H_28(double *state, double *unused, double *out_883329762032777761) { - H_28(state, unused, out_883329762032777761); +void car_H_28(double *state, double *unused, double *out_4084382836130397502) { + H_28(state, unused, out_4084382836130397502); } -void car_h_31(double *state, double *unused, double *out_2247938791754039517) { - h_31(state, unused, out_2247938791754039517); +void car_h_31(double *state, double *unused, double *out_494689836007543994) { + h_31(state, unused, out_494689836007543994); } -void car_H_31(double *state, double *unused, double *out_2967810438157627952) { - H_31(state, unused, out_2967810438157627952); +void car_H_31(double *state, double *unused, double *out_1770506129270879565) { + H_31(state, unused, out_1770506129270879565); } 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 354e5aa06..5a4327abe 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_6549097700781342010); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8354153438521949351); -void car_H_mod_fun(double *state, double *out_6316391371516646855); -void car_f_fun(double *state, double dt, double *out_683944865460236824); -void car_F_fun(double *state, double dt, double *out_6256536759651096133); -void car_h_25(double *state, double *unused, double *out_630446739146494899); -void car_H_25(double *state, double *unused, double *out_2937164476280667524); -void car_h_24(double *state, double *unused, double *out_766963748656106214); -void car_H_24(double *state, double *unused, double *out_764514877275167958); -void car_h_30(double *state, double *unused, double *out_2365946185687416261); -void car_H_30(double *state, double *unused, double *out_8592889255937267337); -void car_h_26(double *state, double *unused, double *out_4488774751058732255); -void car_H_26(double *state, double *unused, double *out_804338842593388700); -void car_h_27(double *state, double *unused, double *out_4371226528514350746); -void car_H_27(double *state, double *unused, double *out_7679091505971859368); -void car_h_29(double *state, double *unused, double *out_8008676056768373096); -void car_H_29(double *state, double *unused, double *out_5965728779102308335); -void car_h_28(double *state, double *unused, double *out_5855520433291817842); -void car_H_28(double *state, double *unused, double *out_883329762032777761); -void car_h_31(double *state, double *unused, double *out_2247938791754039517); -void car_H_31(double *state, double *unused, double *out_2967810438157627952); +void car_err_fun(double *nom_x, double *delta_x, double *out_9028291241411164041); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4666000221593499497); +void car_H_mod_fun(double *state, double *out_1234525725193622425); +void car_f_fun(double *state, double dt, double *out_5744399634248528082); +void car_F_fun(double *state, double dt, double *out_1994809722497824627); +void car_h_25(double *state, double *unused, double *out_4913819377999097610); +void car_H_25(double *state, double *unused, double *out_6138217550378287265); +void car_h_24(double *state, double *unused, double *out_7436088339947871774); +void car_H_24(double *state, double *unused, double *out_8315431973985437238); +void car_h_30(double *state, double *unused, double *out_7861545368354582571); +void car_H_30(double *state, double *unused, double *out_8656550508885535892); +void car_h_26(double *state, double *unused, double *out_4585697555607125982); +void car_H_26(double *state, double *unused, double *out_2396714231504231041); +void car_h_27(double *state, double *unused, double *out_7430405259977259616); +void car_H_27(double *state, double *unused, double *out_6481787197085110981); +void car_h_29(double *state, double *unused, double *out_3792955731723237266); +void car_H_29(double *state, double *unused, double *out_9166781853199928076); +void car_h_28(double *state, double *unused, double *out_7979552762287959315); +void car_H_28(double *state, double *unused, double *out_4084382836130397502); +void car_h_31(double *state, double *unused, double *out_494689836007543994); +void car_H_31(double *state, double *unused, double *out_1770506129270879565); 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 f6f5dd9a5..4a7e3934d 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_2235485331980533535) { - out_2235485331980533535[0] = delta_x[0] + nom_x[0]; - out_2235485331980533535[1] = delta_x[1] + nom_x[1]; - out_2235485331980533535[2] = delta_x[2] + nom_x[2]; - out_2235485331980533535[3] = delta_x[3] + nom_x[3]; - out_2235485331980533535[4] = delta_x[4] + nom_x[4]; - out_2235485331980533535[5] = delta_x[5] + nom_x[5]; - out_2235485331980533535[6] = delta_x[6] + nom_x[6]; - out_2235485331980533535[7] = delta_x[7] + nom_x[7]; - out_2235485331980533535[8] = delta_x[8] + nom_x[8]; - out_2235485331980533535[9] = delta_x[9] + nom_x[9]; - out_2235485331980533535[10] = delta_x[10] + nom_x[10]; - out_2235485331980533535[11] = delta_x[11] + nom_x[11]; - out_2235485331980533535[12] = delta_x[12] + nom_x[12]; - out_2235485331980533535[13] = delta_x[13] + nom_x[13]; - out_2235485331980533535[14] = delta_x[14] + nom_x[14]; - out_2235485331980533535[15] = delta_x[15] + nom_x[15]; - out_2235485331980533535[16] = delta_x[16] + nom_x[16]; - out_2235485331980533535[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_1909500707924070274) { + out_1909500707924070274[0] = delta_x[0] + nom_x[0]; + out_1909500707924070274[1] = delta_x[1] + nom_x[1]; + out_1909500707924070274[2] = delta_x[2] + nom_x[2]; + out_1909500707924070274[3] = delta_x[3] + nom_x[3]; + out_1909500707924070274[4] = delta_x[4] + nom_x[4]; + out_1909500707924070274[5] = delta_x[5] + nom_x[5]; + out_1909500707924070274[6] = delta_x[6] + nom_x[6]; + out_1909500707924070274[7] = delta_x[7] + nom_x[7]; + out_1909500707924070274[8] = delta_x[8] + nom_x[8]; + out_1909500707924070274[9] = delta_x[9] + nom_x[9]; + out_1909500707924070274[10] = delta_x[10] + nom_x[10]; + out_1909500707924070274[11] = delta_x[11] + nom_x[11]; + out_1909500707924070274[12] = delta_x[12] + nom_x[12]; + out_1909500707924070274[13] = delta_x[13] + nom_x[13]; + out_1909500707924070274[14] = delta_x[14] + nom_x[14]; + out_1909500707924070274[15] = delta_x[15] + nom_x[15]; + out_1909500707924070274[16] = delta_x[16] + nom_x[16]; + out_1909500707924070274[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6263710841243713274) { - out_6263710841243713274[0] = -nom_x[0] + true_x[0]; - out_6263710841243713274[1] = -nom_x[1] + true_x[1]; - out_6263710841243713274[2] = -nom_x[2] + true_x[2]; - out_6263710841243713274[3] = -nom_x[3] + true_x[3]; - out_6263710841243713274[4] = -nom_x[4] + true_x[4]; - out_6263710841243713274[5] = -nom_x[5] + true_x[5]; - out_6263710841243713274[6] = -nom_x[6] + true_x[6]; - out_6263710841243713274[7] = -nom_x[7] + true_x[7]; - out_6263710841243713274[8] = -nom_x[8] + true_x[8]; - out_6263710841243713274[9] = -nom_x[9] + true_x[9]; - out_6263710841243713274[10] = -nom_x[10] + true_x[10]; - out_6263710841243713274[11] = -nom_x[11] + true_x[11]; - out_6263710841243713274[12] = -nom_x[12] + true_x[12]; - out_6263710841243713274[13] = -nom_x[13] + true_x[13]; - out_6263710841243713274[14] = -nom_x[14] + true_x[14]; - out_6263710841243713274[15] = -nom_x[15] + true_x[15]; - out_6263710841243713274[16] = -nom_x[16] + true_x[16]; - out_6263710841243713274[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4767002163824434397) { + out_4767002163824434397[0] = -nom_x[0] + true_x[0]; + out_4767002163824434397[1] = -nom_x[1] + true_x[1]; + out_4767002163824434397[2] = -nom_x[2] + true_x[2]; + out_4767002163824434397[3] = -nom_x[3] + true_x[3]; + out_4767002163824434397[4] = -nom_x[4] + true_x[4]; + out_4767002163824434397[5] = -nom_x[5] + true_x[5]; + out_4767002163824434397[6] = -nom_x[6] + true_x[6]; + out_4767002163824434397[7] = -nom_x[7] + true_x[7]; + out_4767002163824434397[8] = -nom_x[8] + true_x[8]; + out_4767002163824434397[9] = -nom_x[9] + true_x[9]; + out_4767002163824434397[10] = -nom_x[10] + true_x[10]; + out_4767002163824434397[11] = -nom_x[11] + true_x[11]; + out_4767002163824434397[12] = -nom_x[12] + true_x[12]; + out_4767002163824434397[13] = -nom_x[13] + true_x[13]; + out_4767002163824434397[14] = -nom_x[14] + true_x[14]; + out_4767002163824434397[15] = -nom_x[15] + true_x[15]; + out_4767002163824434397[16] = -nom_x[16] + true_x[16]; + out_4767002163824434397[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_874056645799517577) { - out_874056645799517577[0] = 1.0; - out_874056645799517577[1] = 0.0; - out_874056645799517577[2] = 0.0; - out_874056645799517577[3] = 0.0; - out_874056645799517577[4] = 0.0; - out_874056645799517577[5] = 0.0; - out_874056645799517577[6] = 0.0; - out_874056645799517577[7] = 0.0; - out_874056645799517577[8] = 0.0; - out_874056645799517577[9] = 0.0; - out_874056645799517577[10] = 0.0; - out_874056645799517577[11] = 0.0; - out_874056645799517577[12] = 0.0; - out_874056645799517577[13] = 0.0; - out_874056645799517577[14] = 0.0; - out_874056645799517577[15] = 0.0; - out_874056645799517577[16] = 0.0; - out_874056645799517577[17] = 0.0; - out_874056645799517577[18] = 0.0; - out_874056645799517577[19] = 1.0; - out_874056645799517577[20] = 0.0; - out_874056645799517577[21] = 0.0; - out_874056645799517577[22] = 0.0; - out_874056645799517577[23] = 0.0; - out_874056645799517577[24] = 0.0; - out_874056645799517577[25] = 0.0; - out_874056645799517577[26] = 0.0; - out_874056645799517577[27] = 0.0; - out_874056645799517577[28] = 0.0; - out_874056645799517577[29] = 0.0; - out_874056645799517577[30] = 0.0; - out_874056645799517577[31] = 0.0; - out_874056645799517577[32] = 0.0; - out_874056645799517577[33] = 0.0; - out_874056645799517577[34] = 0.0; - out_874056645799517577[35] = 0.0; - out_874056645799517577[36] = 0.0; - out_874056645799517577[37] = 0.0; - out_874056645799517577[38] = 1.0; - out_874056645799517577[39] = 0.0; - out_874056645799517577[40] = 0.0; - out_874056645799517577[41] = 0.0; - out_874056645799517577[42] = 0.0; - out_874056645799517577[43] = 0.0; - out_874056645799517577[44] = 0.0; - out_874056645799517577[45] = 0.0; - out_874056645799517577[46] = 0.0; - out_874056645799517577[47] = 0.0; - out_874056645799517577[48] = 0.0; - out_874056645799517577[49] = 0.0; - out_874056645799517577[50] = 0.0; - out_874056645799517577[51] = 0.0; - out_874056645799517577[52] = 0.0; - out_874056645799517577[53] = 0.0; - out_874056645799517577[54] = 0.0; - out_874056645799517577[55] = 0.0; - out_874056645799517577[56] = 0.0; - out_874056645799517577[57] = 1.0; - out_874056645799517577[58] = 0.0; - out_874056645799517577[59] = 0.0; - out_874056645799517577[60] = 0.0; - out_874056645799517577[61] = 0.0; - out_874056645799517577[62] = 0.0; - out_874056645799517577[63] = 0.0; - out_874056645799517577[64] = 0.0; - out_874056645799517577[65] = 0.0; - out_874056645799517577[66] = 0.0; - out_874056645799517577[67] = 0.0; - out_874056645799517577[68] = 0.0; - out_874056645799517577[69] = 0.0; - out_874056645799517577[70] = 0.0; - out_874056645799517577[71] = 0.0; - out_874056645799517577[72] = 0.0; - out_874056645799517577[73] = 0.0; - out_874056645799517577[74] = 0.0; - out_874056645799517577[75] = 0.0; - out_874056645799517577[76] = 1.0; - out_874056645799517577[77] = 0.0; - out_874056645799517577[78] = 0.0; - out_874056645799517577[79] = 0.0; - out_874056645799517577[80] = 0.0; - out_874056645799517577[81] = 0.0; - out_874056645799517577[82] = 0.0; - out_874056645799517577[83] = 0.0; - out_874056645799517577[84] = 0.0; - out_874056645799517577[85] = 0.0; - out_874056645799517577[86] = 0.0; - out_874056645799517577[87] = 0.0; - out_874056645799517577[88] = 0.0; - out_874056645799517577[89] = 0.0; - out_874056645799517577[90] = 0.0; - out_874056645799517577[91] = 0.0; - out_874056645799517577[92] = 0.0; - out_874056645799517577[93] = 0.0; - out_874056645799517577[94] = 0.0; - out_874056645799517577[95] = 1.0; - out_874056645799517577[96] = 0.0; - out_874056645799517577[97] = 0.0; - out_874056645799517577[98] = 0.0; - out_874056645799517577[99] = 0.0; - out_874056645799517577[100] = 0.0; - out_874056645799517577[101] = 0.0; - out_874056645799517577[102] = 0.0; - out_874056645799517577[103] = 0.0; - out_874056645799517577[104] = 0.0; - out_874056645799517577[105] = 0.0; - out_874056645799517577[106] = 0.0; - out_874056645799517577[107] = 0.0; - out_874056645799517577[108] = 0.0; - out_874056645799517577[109] = 0.0; - out_874056645799517577[110] = 0.0; - out_874056645799517577[111] = 0.0; - out_874056645799517577[112] = 0.0; - out_874056645799517577[113] = 0.0; - out_874056645799517577[114] = 1.0; - out_874056645799517577[115] = 0.0; - out_874056645799517577[116] = 0.0; - out_874056645799517577[117] = 0.0; - out_874056645799517577[118] = 0.0; - out_874056645799517577[119] = 0.0; - out_874056645799517577[120] = 0.0; - out_874056645799517577[121] = 0.0; - out_874056645799517577[122] = 0.0; - out_874056645799517577[123] = 0.0; - out_874056645799517577[124] = 0.0; - out_874056645799517577[125] = 0.0; - out_874056645799517577[126] = 0.0; - out_874056645799517577[127] = 0.0; - out_874056645799517577[128] = 0.0; - out_874056645799517577[129] = 0.0; - out_874056645799517577[130] = 0.0; - out_874056645799517577[131] = 0.0; - out_874056645799517577[132] = 0.0; - out_874056645799517577[133] = 1.0; - out_874056645799517577[134] = 0.0; - out_874056645799517577[135] = 0.0; - out_874056645799517577[136] = 0.0; - out_874056645799517577[137] = 0.0; - out_874056645799517577[138] = 0.0; - out_874056645799517577[139] = 0.0; - out_874056645799517577[140] = 0.0; - out_874056645799517577[141] = 0.0; - out_874056645799517577[142] = 0.0; - out_874056645799517577[143] = 0.0; - out_874056645799517577[144] = 0.0; - out_874056645799517577[145] = 0.0; - out_874056645799517577[146] = 0.0; - out_874056645799517577[147] = 0.0; - out_874056645799517577[148] = 0.0; - out_874056645799517577[149] = 0.0; - out_874056645799517577[150] = 0.0; - out_874056645799517577[151] = 0.0; - out_874056645799517577[152] = 1.0; - out_874056645799517577[153] = 0.0; - out_874056645799517577[154] = 0.0; - out_874056645799517577[155] = 0.0; - out_874056645799517577[156] = 0.0; - out_874056645799517577[157] = 0.0; - out_874056645799517577[158] = 0.0; - out_874056645799517577[159] = 0.0; - out_874056645799517577[160] = 0.0; - out_874056645799517577[161] = 0.0; - out_874056645799517577[162] = 0.0; - out_874056645799517577[163] = 0.0; - out_874056645799517577[164] = 0.0; - out_874056645799517577[165] = 0.0; - out_874056645799517577[166] = 0.0; - out_874056645799517577[167] = 0.0; - out_874056645799517577[168] = 0.0; - out_874056645799517577[169] = 0.0; - out_874056645799517577[170] = 0.0; - out_874056645799517577[171] = 1.0; - out_874056645799517577[172] = 0.0; - out_874056645799517577[173] = 0.0; - out_874056645799517577[174] = 0.0; - out_874056645799517577[175] = 0.0; - out_874056645799517577[176] = 0.0; - out_874056645799517577[177] = 0.0; - out_874056645799517577[178] = 0.0; - out_874056645799517577[179] = 0.0; - out_874056645799517577[180] = 0.0; - out_874056645799517577[181] = 0.0; - out_874056645799517577[182] = 0.0; - out_874056645799517577[183] = 0.0; - out_874056645799517577[184] = 0.0; - out_874056645799517577[185] = 0.0; - out_874056645799517577[186] = 0.0; - out_874056645799517577[187] = 0.0; - out_874056645799517577[188] = 0.0; - out_874056645799517577[189] = 0.0; - out_874056645799517577[190] = 1.0; - out_874056645799517577[191] = 0.0; - out_874056645799517577[192] = 0.0; - out_874056645799517577[193] = 0.0; - out_874056645799517577[194] = 0.0; - out_874056645799517577[195] = 0.0; - out_874056645799517577[196] = 0.0; - out_874056645799517577[197] = 0.0; - out_874056645799517577[198] = 0.0; - out_874056645799517577[199] = 0.0; - out_874056645799517577[200] = 0.0; - out_874056645799517577[201] = 0.0; - out_874056645799517577[202] = 0.0; - out_874056645799517577[203] = 0.0; - out_874056645799517577[204] = 0.0; - out_874056645799517577[205] = 0.0; - out_874056645799517577[206] = 0.0; - out_874056645799517577[207] = 0.0; - out_874056645799517577[208] = 0.0; - out_874056645799517577[209] = 1.0; - out_874056645799517577[210] = 0.0; - out_874056645799517577[211] = 0.0; - out_874056645799517577[212] = 0.0; - out_874056645799517577[213] = 0.0; - out_874056645799517577[214] = 0.0; - out_874056645799517577[215] = 0.0; - out_874056645799517577[216] = 0.0; - out_874056645799517577[217] = 0.0; - out_874056645799517577[218] = 0.0; - out_874056645799517577[219] = 0.0; - out_874056645799517577[220] = 0.0; - out_874056645799517577[221] = 0.0; - out_874056645799517577[222] = 0.0; - out_874056645799517577[223] = 0.0; - out_874056645799517577[224] = 0.0; - out_874056645799517577[225] = 0.0; - out_874056645799517577[226] = 0.0; - out_874056645799517577[227] = 0.0; - out_874056645799517577[228] = 1.0; - out_874056645799517577[229] = 0.0; - out_874056645799517577[230] = 0.0; - out_874056645799517577[231] = 0.0; - out_874056645799517577[232] = 0.0; - out_874056645799517577[233] = 0.0; - out_874056645799517577[234] = 0.0; - out_874056645799517577[235] = 0.0; - out_874056645799517577[236] = 0.0; - out_874056645799517577[237] = 0.0; - out_874056645799517577[238] = 0.0; - out_874056645799517577[239] = 0.0; - out_874056645799517577[240] = 0.0; - out_874056645799517577[241] = 0.0; - out_874056645799517577[242] = 0.0; - out_874056645799517577[243] = 0.0; - out_874056645799517577[244] = 0.0; - out_874056645799517577[245] = 0.0; - out_874056645799517577[246] = 0.0; - out_874056645799517577[247] = 1.0; - out_874056645799517577[248] = 0.0; - out_874056645799517577[249] = 0.0; - out_874056645799517577[250] = 0.0; - out_874056645799517577[251] = 0.0; - out_874056645799517577[252] = 0.0; - out_874056645799517577[253] = 0.0; - out_874056645799517577[254] = 0.0; - out_874056645799517577[255] = 0.0; - out_874056645799517577[256] = 0.0; - out_874056645799517577[257] = 0.0; - out_874056645799517577[258] = 0.0; - out_874056645799517577[259] = 0.0; - out_874056645799517577[260] = 0.0; - out_874056645799517577[261] = 0.0; - out_874056645799517577[262] = 0.0; - out_874056645799517577[263] = 0.0; - out_874056645799517577[264] = 0.0; - out_874056645799517577[265] = 0.0; - out_874056645799517577[266] = 1.0; - out_874056645799517577[267] = 0.0; - out_874056645799517577[268] = 0.0; - out_874056645799517577[269] = 0.0; - out_874056645799517577[270] = 0.0; - out_874056645799517577[271] = 0.0; - out_874056645799517577[272] = 0.0; - out_874056645799517577[273] = 0.0; - out_874056645799517577[274] = 0.0; - out_874056645799517577[275] = 0.0; - out_874056645799517577[276] = 0.0; - out_874056645799517577[277] = 0.0; - out_874056645799517577[278] = 0.0; - out_874056645799517577[279] = 0.0; - out_874056645799517577[280] = 0.0; - out_874056645799517577[281] = 0.0; - out_874056645799517577[282] = 0.0; - out_874056645799517577[283] = 0.0; - out_874056645799517577[284] = 0.0; - out_874056645799517577[285] = 1.0; - out_874056645799517577[286] = 0.0; - out_874056645799517577[287] = 0.0; - out_874056645799517577[288] = 0.0; - out_874056645799517577[289] = 0.0; - out_874056645799517577[290] = 0.0; - out_874056645799517577[291] = 0.0; - out_874056645799517577[292] = 0.0; - out_874056645799517577[293] = 0.0; - out_874056645799517577[294] = 0.0; - out_874056645799517577[295] = 0.0; - out_874056645799517577[296] = 0.0; - out_874056645799517577[297] = 0.0; - out_874056645799517577[298] = 0.0; - out_874056645799517577[299] = 0.0; - out_874056645799517577[300] = 0.0; - out_874056645799517577[301] = 0.0; - out_874056645799517577[302] = 0.0; - out_874056645799517577[303] = 0.0; - out_874056645799517577[304] = 1.0; - out_874056645799517577[305] = 0.0; - out_874056645799517577[306] = 0.0; - out_874056645799517577[307] = 0.0; - out_874056645799517577[308] = 0.0; - out_874056645799517577[309] = 0.0; - out_874056645799517577[310] = 0.0; - out_874056645799517577[311] = 0.0; - out_874056645799517577[312] = 0.0; - out_874056645799517577[313] = 0.0; - out_874056645799517577[314] = 0.0; - out_874056645799517577[315] = 0.0; - out_874056645799517577[316] = 0.0; - out_874056645799517577[317] = 0.0; - out_874056645799517577[318] = 0.0; - out_874056645799517577[319] = 0.0; - out_874056645799517577[320] = 0.0; - out_874056645799517577[321] = 0.0; - out_874056645799517577[322] = 0.0; - out_874056645799517577[323] = 1.0; +void H_mod_fun(double *state, double *out_2632577706224621837) { + out_2632577706224621837[0] = 1.0; + out_2632577706224621837[1] = 0.0; + out_2632577706224621837[2] = 0.0; + out_2632577706224621837[3] = 0.0; + out_2632577706224621837[4] = 0.0; + out_2632577706224621837[5] = 0.0; + out_2632577706224621837[6] = 0.0; + out_2632577706224621837[7] = 0.0; + out_2632577706224621837[8] = 0.0; + out_2632577706224621837[9] = 0.0; + out_2632577706224621837[10] = 0.0; + out_2632577706224621837[11] = 0.0; + out_2632577706224621837[12] = 0.0; + out_2632577706224621837[13] = 0.0; + out_2632577706224621837[14] = 0.0; + out_2632577706224621837[15] = 0.0; + out_2632577706224621837[16] = 0.0; + out_2632577706224621837[17] = 0.0; + out_2632577706224621837[18] = 0.0; + out_2632577706224621837[19] = 1.0; + out_2632577706224621837[20] = 0.0; + out_2632577706224621837[21] = 0.0; + out_2632577706224621837[22] = 0.0; + out_2632577706224621837[23] = 0.0; + out_2632577706224621837[24] = 0.0; + out_2632577706224621837[25] = 0.0; + out_2632577706224621837[26] = 0.0; + out_2632577706224621837[27] = 0.0; + out_2632577706224621837[28] = 0.0; + out_2632577706224621837[29] = 0.0; + out_2632577706224621837[30] = 0.0; + out_2632577706224621837[31] = 0.0; + out_2632577706224621837[32] = 0.0; + out_2632577706224621837[33] = 0.0; + out_2632577706224621837[34] = 0.0; + out_2632577706224621837[35] = 0.0; + out_2632577706224621837[36] = 0.0; + out_2632577706224621837[37] = 0.0; + out_2632577706224621837[38] = 1.0; + out_2632577706224621837[39] = 0.0; + out_2632577706224621837[40] = 0.0; + out_2632577706224621837[41] = 0.0; + out_2632577706224621837[42] = 0.0; + out_2632577706224621837[43] = 0.0; + out_2632577706224621837[44] = 0.0; + out_2632577706224621837[45] = 0.0; + out_2632577706224621837[46] = 0.0; + out_2632577706224621837[47] = 0.0; + out_2632577706224621837[48] = 0.0; + out_2632577706224621837[49] = 0.0; + out_2632577706224621837[50] = 0.0; + out_2632577706224621837[51] = 0.0; + out_2632577706224621837[52] = 0.0; + out_2632577706224621837[53] = 0.0; + out_2632577706224621837[54] = 0.0; + out_2632577706224621837[55] = 0.0; + out_2632577706224621837[56] = 0.0; + out_2632577706224621837[57] = 1.0; + out_2632577706224621837[58] = 0.0; + out_2632577706224621837[59] = 0.0; + out_2632577706224621837[60] = 0.0; + out_2632577706224621837[61] = 0.0; + out_2632577706224621837[62] = 0.0; + out_2632577706224621837[63] = 0.0; + out_2632577706224621837[64] = 0.0; + out_2632577706224621837[65] = 0.0; + out_2632577706224621837[66] = 0.0; + out_2632577706224621837[67] = 0.0; + out_2632577706224621837[68] = 0.0; + out_2632577706224621837[69] = 0.0; + out_2632577706224621837[70] = 0.0; + out_2632577706224621837[71] = 0.0; + out_2632577706224621837[72] = 0.0; + out_2632577706224621837[73] = 0.0; + out_2632577706224621837[74] = 0.0; + out_2632577706224621837[75] = 0.0; + out_2632577706224621837[76] = 1.0; + out_2632577706224621837[77] = 0.0; + out_2632577706224621837[78] = 0.0; + out_2632577706224621837[79] = 0.0; + out_2632577706224621837[80] = 0.0; + out_2632577706224621837[81] = 0.0; + out_2632577706224621837[82] = 0.0; + out_2632577706224621837[83] = 0.0; + out_2632577706224621837[84] = 0.0; + out_2632577706224621837[85] = 0.0; + out_2632577706224621837[86] = 0.0; + out_2632577706224621837[87] = 0.0; + out_2632577706224621837[88] = 0.0; + out_2632577706224621837[89] = 0.0; + out_2632577706224621837[90] = 0.0; + out_2632577706224621837[91] = 0.0; + out_2632577706224621837[92] = 0.0; + out_2632577706224621837[93] = 0.0; + out_2632577706224621837[94] = 0.0; + out_2632577706224621837[95] = 1.0; + out_2632577706224621837[96] = 0.0; + out_2632577706224621837[97] = 0.0; + out_2632577706224621837[98] = 0.0; + out_2632577706224621837[99] = 0.0; + out_2632577706224621837[100] = 0.0; + out_2632577706224621837[101] = 0.0; + out_2632577706224621837[102] = 0.0; + out_2632577706224621837[103] = 0.0; + out_2632577706224621837[104] = 0.0; + out_2632577706224621837[105] = 0.0; + out_2632577706224621837[106] = 0.0; + out_2632577706224621837[107] = 0.0; + out_2632577706224621837[108] = 0.0; + out_2632577706224621837[109] = 0.0; + out_2632577706224621837[110] = 0.0; + out_2632577706224621837[111] = 0.0; + out_2632577706224621837[112] = 0.0; + out_2632577706224621837[113] = 0.0; + out_2632577706224621837[114] = 1.0; + out_2632577706224621837[115] = 0.0; + out_2632577706224621837[116] = 0.0; + out_2632577706224621837[117] = 0.0; + out_2632577706224621837[118] = 0.0; + out_2632577706224621837[119] = 0.0; + out_2632577706224621837[120] = 0.0; + out_2632577706224621837[121] = 0.0; + out_2632577706224621837[122] = 0.0; + out_2632577706224621837[123] = 0.0; + out_2632577706224621837[124] = 0.0; + out_2632577706224621837[125] = 0.0; + out_2632577706224621837[126] = 0.0; + out_2632577706224621837[127] = 0.0; + out_2632577706224621837[128] = 0.0; + out_2632577706224621837[129] = 0.0; + out_2632577706224621837[130] = 0.0; + out_2632577706224621837[131] = 0.0; + out_2632577706224621837[132] = 0.0; + out_2632577706224621837[133] = 1.0; + out_2632577706224621837[134] = 0.0; + out_2632577706224621837[135] = 0.0; + out_2632577706224621837[136] = 0.0; + out_2632577706224621837[137] = 0.0; + out_2632577706224621837[138] = 0.0; + out_2632577706224621837[139] = 0.0; + out_2632577706224621837[140] = 0.0; + out_2632577706224621837[141] = 0.0; + out_2632577706224621837[142] = 0.0; + out_2632577706224621837[143] = 0.0; + out_2632577706224621837[144] = 0.0; + out_2632577706224621837[145] = 0.0; + out_2632577706224621837[146] = 0.0; + out_2632577706224621837[147] = 0.0; + out_2632577706224621837[148] = 0.0; + out_2632577706224621837[149] = 0.0; + out_2632577706224621837[150] = 0.0; + out_2632577706224621837[151] = 0.0; + out_2632577706224621837[152] = 1.0; + out_2632577706224621837[153] = 0.0; + out_2632577706224621837[154] = 0.0; + out_2632577706224621837[155] = 0.0; + out_2632577706224621837[156] = 0.0; + out_2632577706224621837[157] = 0.0; + out_2632577706224621837[158] = 0.0; + out_2632577706224621837[159] = 0.0; + out_2632577706224621837[160] = 0.0; + out_2632577706224621837[161] = 0.0; + out_2632577706224621837[162] = 0.0; + out_2632577706224621837[163] = 0.0; + out_2632577706224621837[164] = 0.0; + out_2632577706224621837[165] = 0.0; + out_2632577706224621837[166] = 0.0; + out_2632577706224621837[167] = 0.0; + out_2632577706224621837[168] = 0.0; + out_2632577706224621837[169] = 0.0; + out_2632577706224621837[170] = 0.0; + out_2632577706224621837[171] = 1.0; + out_2632577706224621837[172] = 0.0; + out_2632577706224621837[173] = 0.0; + out_2632577706224621837[174] = 0.0; + out_2632577706224621837[175] = 0.0; + out_2632577706224621837[176] = 0.0; + out_2632577706224621837[177] = 0.0; + out_2632577706224621837[178] = 0.0; + out_2632577706224621837[179] = 0.0; + out_2632577706224621837[180] = 0.0; + out_2632577706224621837[181] = 0.0; + out_2632577706224621837[182] = 0.0; + out_2632577706224621837[183] = 0.0; + out_2632577706224621837[184] = 0.0; + out_2632577706224621837[185] = 0.0; + out_2632577706224621837[186] = 0.0; + out_2632577706224621837[187] = 0.0; + out_2632577706224621837[188] = 0.0; + out_2632577706224621837[189] = 0.0; + out_2632577706224621837[190] = 1.0; + out_2632577706224621837[191] = 0.0; + out_2632577706224621837[192] = 0.0; + out_2632577706224621837[193] = 0.0; + out_2632577706224621837[194] = 0.0; + out_2632577706224621837[195] = 0.0; + out_2632577706224621837[196] = 0.0; + out_2632577706224621837[197] = 0.0; + out_2632577706224621837[198] = 0.0; + out_2632577706224621837[199] = 0.0; + out_2632577706224621837[200] = 0.0; + out_2632577706224621837[201] = 0.0; + out_2632577706224621837[202] = 0.0; + out_2632577706224621837[203] = 0.0; + out_2632577706224621837[204] = 0.0; + out_2632577706224621837[205] = 0.0; + out_2632577706224621837[206] = 0.0; + out_2632577706224621837[207] = 0.0; + out_2632577706224621837[208] = 0.0; + out_2632577706224621837[209] = 1.0; + out_2632577706224621837[210] = 0.0; + out_2632577706224621837[211] = 0.0; + out_2632577706224621837[212] = 0.0; + out_2632577706224621837[213] = 0.0; + out_2632577706224621837[214] = 0.0; + out_2632577706224621837[215] = 0.0; + out_2632577706224621837[216] = 0.0; + out_2632577706224621837[217] = 0.0; + out_2632577706224621837[218] = 0.0; + out_2632577706224621837[219] = 0.0; + out_2632577706224621837[220] = 0.0; + out_2632577706224621837[221] = 0.0; + out_2632577706224621837[222] = 0.0; + out_2632577706224621837[223] = 0.0; + out_2632577706224621837[224] = 0.0; + out_2632577706224621837[225] = 0.0; + out_2632577706224621837[226] = 0.0; + out_2632577706224621837[227] = 0.0; + out_2632577706224621837[228] = 1.0; + out_2632577706224621837[229] = 0.0; + out_2632577706224621837[230] = 0.0; + out_2632577706224621837[231] = 0.0; + out_2632577706224621837[232] = 0.0; + out_2632577706224621837[233] = 0.0; + out_2632577706224621837[234] = 0.0; + out_2632577706224621837[235] = 0.0; + out_2632577706224621837[236] = 0.0; + out_2632577706224621837[237] = 0.0; + out_2632577706224621837[238] = 0.0; + out_2632577706224621837[239] = 0.0; + out_2632577706224621837[240] = 0.0; + out_2632577706224621837[241] = 0.0; + out_2632577706224621837[242] = 0.0; + out_2632577706224621837[243] = 0.0; + out_2632577706224621837[244] = 0.0; + out_2632577706224621837[245] = 0.0; + out_2632577706224621837[246] = 0.0; + out_2632577706224621837[247] = 1.0; + out_2632577706224621837[248] = 0.0; + out_2632577706224621837[249] = 0.0; + out_2632577706224621837[250] = 0.0; + out_2632577706224621837[251] = 0.0; + out_2632577706224621837[252] = 0.0; + out_2632577706224621837[253] = 0.0; + out_2632577706224621837[254] = 0.0; + out_2632577706224621837[255] = 0.0; + out_2632577706224621837[256] = 0.0; + out_2632577706224621837[257] = 0.0; + out_2632577706224621837[258] = 0.0; + out_2632577706224621837[259] = 0.0; + out_2632577706224621837[260] = 0.0; + out_2632577706224621837[261] = 0.0; + out_2632577706224621837[262] = 0.0; + out_2632577706224621837[263] = 0.0; + out_2632577706224621837[264] = 0.0; + out_2632577706224621837[265] = 0.0; + out_2632577706224621837[266] = 1.0; + out_2632577706224621837[267] = 0.0; + out_2632577706224621837[268] = 0.0; + out_2632577706224621837[269] = 0.0; + out_2632577706224621837[270] = 0.0; + out_2632577706224621837[271] = 0.0; + out_2632577706224621837[272] = 0.0; + out_2632577706224621837[273] = 0.0; + out_2632577706224621837[274] = 0.0; + out_2632577706224621837[275] = 0.0; + out_2632577706224621837[276] = 0.0; + out_2632577706224621837[277] = 0.0; + out_2632577706224621837[278] = 0.0; + out_2632577706224621837[279] = 0.0; + out_2632577706224621837[280] = 0.0; + out_2632577706224621837[281] = 0.0; + out_2632577706224621837[282] = 0.0; + out_2632577706224621837[283] = 0.0; + out_2632577706224621837[284] = 0.0; + out_2632577706224621837[285] = 1.0; + out_2632577706224621837[286] = 0.0; + out_2632577706224621837[287] = 0.0; + out_2632577706224621837[288] = 0.0; + out_2632577706224621837[289] = 0.0; + out_2632577706224621837[290] = 0.0; + out_2632577706224621837[291] = 0.0; + out_2632577706224621837[292] = 0.0; + out_2632577706224621837[293] = 0.0; + out_2632577706224621837[294] = 0.0; + out_2632577706224621837[295] = 0.0; + out_2632577706224621837[296] = 0.0; + out_2632577706224621837[297] = 0.0; + out_2632577706224621837[298] = 0.0; + out_2632577706224621837[299] = 0.0; + out_2632577706224621837[300] = 0.0; + out_2632577706224621837[301] = 0.0; + out_2632577706224621837[302] = 0.0; + out_2632577706224621837[303] = 0.0; + out_2632577706224621837[304] = 1.0; + out_2632577706224621837[305] = 0.0; + out_2632577706224621837[306] = 0.0; + out_2632577706224621837[307] = 0.0; + out_2632577706224621837[308] = 0.0; + out_2632577706224621837[309] = 0.0; + out_2632577706224621837[310] = 0.0; + out_2632577706224621837[311] = 0.0; + out_2632577706224621837[312] = 0.0; + out_2632577706224621837[313] = 0.0; + out_2632577706224621837[314] = 0.0; + out_2632577706224621837[315] = 0.0; + out_2632577706224621837[316] = 0.0; + out_2632577706224621837[317] = 0.0; + out_2632577706224621837[318] = 0.0; + out_2632577706224621837[319] = 0.0; + out_2632577706224621837[320] = 0.0; + out_2632577706224621837[321] = 0.0; + out_2632577706224621837[322] = 0.0; + out_2632577706224621837[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7518635824214998963) { - out_7518635824214998963[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_7518635824214998963[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_7518635824214998963[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_7518635824214998963[3] = dt*state[12] + state[3]; - out_7518635824214998963[4] = dt*state[13] + state[4]; - out_7518635824214998963[5] = dt*state[14] + state[5]; - out_7518635824214998963[6] = state[6]; - out_7518635824214998963[7] = state[7]; - out_7518635824214998963[8] = state[8]; - out_7518635824214998963[9] = state[9]; - out_7518635824214998963[10] = state[10]; - out_7518635824214998963[11] = state[11]; - out_7518635824214998963[12] = state[12]; - out_7518635824214998963[13] = state[13]; - out_7518635824214998963[14] = state[14]; - out_7518635824214998963[15] = state[15]; - out_7518635824214998963[16] = state[16]; - out_7518635824214998963[17] = state[17]; +void f_fun(double *state, double dt, double *out_2193527682870666897) { + out_2193527682870666897[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_2193527682870666897[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_2193527682870666897[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_2193527682870666897[3] = dt*state[12] + state[3]; + out_2193527682870666897[4] = dt*state[13] + state[4]; + out_2193527682870666897[5] = dt*state[14] + state[5]; + out_2193527682870666897[6] = state[6]; + out_2193527682870666897[7] = state[7]; + out_2193527682870666897[8] = state[8]; + out_2193527682870666897[9] = state[9]; + out_2193527682870666897[10] = state[10]; + out_2193527682870666897[11] = state[11]; + out_2193527682870666897[12] = state[12]; + out_2193527682870666897[13] = state[13]; + out_2193527682870666897[14] = state[14]; + out_2193527682870666897[15] = state[15]; + out_2193527682870666897[16] = state[16]; + out_2193527682870666897[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2943843104528284461) { - out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[2] = 0; - out_2943843104528284461[3] = 0; - out_2943843104528284461[4] = 0; - out_2943843104528284461[5] = 0; - out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[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_2943843104528284461[9] = 0; - out_2943843104528284461[10] = 0; - out_2943843104528284461[11] = 0; - out_2943843104528284461[12] = 0; - out_2943843104528284461[13] = 0; - out_2943843104528284461[14] = 0; - out_2943843104528284461[15] = 0; - out_2943843104528284461[16] = 0; - out_2943843104528284461[17] = 0; - out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[20] = 0; - out_2943843104528284461[21] = 0; - out_2943843104528284461[22] = 0; - out_2943843104528284461[23] = 0; - out_2943843104528284461[24] = 0; - out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[27] = 0; - out_2943843104528284461[28] = 0; - out_2943843104528284461[29] = 0; - out_2943843104528284461[30] = 0; - out_2943843104528284461[31] = 0; - out_2943843104528284461[32] = 0; - out_2943843104528284461[33] = 0; - out_2943843104528284461[34] = 0; - out_2943843104528284461[35] = 0; - out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[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_2943843104528284461[39] = 0; - out_2943843104528284461[40] = 0; - out_2943843104528284461[41] = 0; - out_2943843104528284461[42] = 0; - out_2943843104528284461[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_2943843104528284461[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_2943843104528284461[45] = 0; - out_2943843104528284461[46] = 0; - out_2943843104528284461[47] = 0; - out_2943843104528284461[48] = 0; - out_2943843104528284461[49] = 0; - out_2943843104528284461[50] = 0; - out_2943843104528284461[51] = 0; - out_2943843104528284461[52] = 0; - out_2943843104528284461[53] = 0; - out_2943843104528284461[54] = 0; - out_2943843104528284461[55] = 0; - out_2943843104528284461[56] = 0; - out_2943843104528284461[57] = 1; - out_2943843104528284461[58] = 0; - out_2943843104528284461[59] = 0; - out_2943843104528284461[60] = 0; - out_2943843104528284461[61] = 0; - out_2943843104528284461[62] = 0; - out_2943843104528284461[63] = 0; - out_2943843104528284461[64] = 0; - out_2943843104528284461[65] = 0; - out_2943843104528284461[66] = dt; - out_2943843104528284461[67] = 0; - out_2943843104528284461[68] = 0; - out_2943843104528284461[69] = 0; - out_2943843104528284461[70] = 0; - out_2943843104528284461[71] = 0; - out_2943843104528284461[72] = 0; - out_2943843104528284461[73] = 0; - out_2943843104528284461[74] = 0; - out_2943843104528284461[75] = 0; - out_2943843104528284461[76] = 1; - out_2943843104528284461[77] = 0; - out_2943843104528284461[78] = 0; - out_2943843104528284461[79] = 0; - out_2943843104528284461[80] = 0; - out_2943843104528284461[81] = 0; - out_2943843104528284461[82] = 0; - out_2943843104528284461[83] = 0; - out_2943843104528284461[84] = 0; - out_2943843104528284461[85] = dt; - out_2943843104528284461[86] = 0; - out_2943843104528284461[87] = 0; - out_2943843104528284461[88] = 0; - out_2943843104528284461[89] = 0; - out_2943843104528284461[90] = 0; - out_2943843104528284461[91] = 0; - out_2943843104528284461[92] = 0; - out_2943843104528284461[93] = 0; - out_2943843104528284461[94] = 0; - out_2943843104528284461[95] = 1; - out_2943843104528284461[96] = 0; - out_2943843104528284461[97] = 0; - out_2943843104528284461[98] = 0; - out_2943843104528284461[99] = 0; - out_2943843104528284461[100] = 0; - out_2943843104528284461[101] = 0; - out_2943843104528284461[102] = 0; - out_2943843104528284461[103] = 0; - out_2943843104528284461[104] = dt; - out_2943843104528284461[105] = 0; - out_2943843104528284461[106] = 0; - out_2943843104528284461[107] = 0; - out_2943843104528284461[108] = 0; - out_2943843104528284461[109] = 0; - out_2943843104528284461[110] = 0; - out_2943843104528284461[111] = 0; - out_2943843104528284461[112] = 0; - out_2943843104528284461[113] = 0; - out_2943843104528284461[114] = 1; - out_2943843104528284461[115] = 0; - out_2943843104528284461[116] = 0; - out_2943843104528284461[117] = 0; - out_2943843104528284461[118] = 0; - out_2943843104528284461[119] = 0; - out_2943843104528284461[120] = 0; - out_2943843104528284461[121] = 0; - out_2943843104528284461[122] = 0; - out_2943843104528284461[123] = 0; - out_2943843104528284461[124] = 0; - out_2943843104528284461[125] = 0; - out_2943843104528284461[126] = 0; - out_2943843104528284461[127] = 0; - out_2943843104528284461[128] = 0; - out_2943843104528284461[129] = 0; - out_2943843104528284461[130] = 0; - out_2943843104528284461[131] = 0; - out_2943843104528284461[132] = 0; - out_2943843104528284461[133] = 1; - out_2943843104528284461[134] = 0; - out_2943843104528284461[135] = 0; - out_2943843104528284461[136] = 0; - out_2943843104528284461[137] = 0; - out_2943843104528284461[138] = 0; - out_2943843104528284461[139] = 0; - out_2943843104528284461[140] = 0; - out_2943843104528284461[141] = 0; - out_2943843104528284461[142] = 0; - out_2943843104528284461[143] = 0; - out_2943843104528284461[144] = 0; - out_2943843104528284461[145] = 0; - out_2943843104528284461[146] = 0; - out_2943843104528284461[147] = 0; - out_2943843104528284461[148] = 0; - out_2943843104528284461[149] = 0; - out_2943843104528284461[150] = 0; - out_2943843104528284461[151] = 0; - out_2943843104528284461[152] = 1; - out_2943843104528284461[153] = 0; - out_2943843104528284461[154] = 0; - out_2943843104528284461[155] = 0; - out_2943843104528284461[156] = 0; - out_2943843104528284461[157] = 0; - out_2943843104528284461[158] = 0; - out_2943843104528284461[159] = 0; - out_2943843104528284461[160] = 0; - out_2943843104528284461[161] = 0; - out_2943843104528284461[162] = 0; - out_2943843104528284461[163] = 0; - out_2943843104528284461[164] = 0; - out_2943843104528284461[165] = 0; - out_2943843104528284461[166] = 0; - out_2943843104528284461[167] = 0; - out_2943843104528284461[168] = 0; - out_2943843104528284461[169] = 0; - out_2943843104528284461[170] = 0; - out_2943843104528284461[171] = 1; - out_2943843104528284461[172] = 0; - out_2943843104528284461[173] = 0; - out_2943843104528284461[174] = 0; - out_2943843104528284461[175] = 0; - out_2943843104528284461[176] = 0; - out_2943843104528284461[177] = 0; - out_2943843104528284461[178] = 0; - out_2943843104528284461[179] = 0; - out_2943843104528284461[180] = 0; - out_2943843104528284461[181] = 0; - out_2943843104528284461[182] = 0; - out_2943843104528284461[183] = 0; - out_2943843104528284461[184] = 0; - out_2943843104528284461[185] = 0; - out_2943843104528284461[186] = 0; - out_2943843104528284461[187] = 0; - out_2943843104528284461[188] = 0; - out_2943843104528284461[189] = 0; - out_2943843104528284461[190] = 1; - out_2943843104528284461[191] = 0; - out_2943843104528284461[192] = 0; - out_2943843104528284461[193] = 0; - out_2943843104528284461[194] = 0; - out_2943843104528284461[195] = 0; - out_2943843104528284461[196] = 0; - out_2943843104528284461[197] = 0; - out_2943843104528284461[198] = 0; - out_2943843104528284461[199] = 0; - out_2943843104528284461[200] = 0; - out_2943843104528284461[201] = 0; - out_2943843104528284461[202] = 0; - out_2943843104528284461[203] = 0; - out_2943843104528284461[204] = 0; - out_2943843104528284461[205] = 0; - out_2943843104528284461[206] = 0; - out_2943843104528284461[207] = 0; - out_2943843104528284461[208] = 0; - out_2943843104528284461[209] = 1; - out_2943843104528284461[210] = 0; - out_2943843104528284461[211] = 0; - out_2943843104528284461[212] = 0; - out_2943843104528284461[213] = 0; - out_2943843104528284461[214] = 0; - out_2943843104528284461[215] = 0; - out_2943843104528284461[216] = 0; - out_2943843104528284461[217] = 0; - out_2943843104528284461[218] = 0; - out_2943843104528284461[219] = 0; - out_2943843104528284461[220] = 0; - out_2943843104528284461[221] = 0; - out_2943843104528284461[222] = 0; - out_2943843104528284461[223] = 0; - out_2943843104528284461[224] = 0; - out_2943843104528284461[225] = 0; - out_2943843104528284461[226] = 0; - out_2943843104528284461[227] = 0; - out_2943843104528284461[228] = 1; - out_2943843104528284461[229] = 0; - out_2943843104528284461[230] = 0; - out_2943843104528284461[231] = 0; - out_2943843104528284461[232] = 0; - out_2943843104528284461[233] = 0; - out_2943843104528284461[234] = 0; - out_2943843104528284461[235] = 0; - out_2943843104528284461[236] = 0; - out_2943843104528284461[237] = 0; - out_2943843104528284461[238] = 0; - out_2943843104528284461[239] = 0; - out_2943843104528284461[240] = 0; - out_2943843104528284461[241] = 0; - out_2943843104528284461[242] = 0; - out_2943843104528284461[243] = 0; - out_2943843104528284461[244] = 0; - out_2943843104528284461[245] = 0; - out_2943843104528284461[246] = 0; - out_2943843104528284461[247] = 1; - out_2943843104528284461[248] = 0; - out_2943843104528284461[249] = 0; - out_2943843104528284461[250] = 0; - out_2943843104528284461[251] = 0; - out_2943843104528284461[252] = 0; - out_2943843104528284461[253] = 0; - out_2943843104528284461[254] = 0; - out_2943843104528284461[255] = 0; - out_2943843104528284461[256] = 0; - out_2943843104528284461[257] = 0; - out_2943843104528284461[258] = 0; - out_2943843104528284461[259] = 0; - out_2943843104528284461[260] = 0; - out_2943843104528284461[261] = 0; - out_2943843104528284461[262] = 0; - out_2943843104528284461[263] = 0; - out_2943843104528284461[264] = 0; - out_2943843104528284461[265] = 0; - out_2943843104528284461[266] = 1; - out_2943843104528284461[267] = 0; - out_2943843104528284461[268] = 0; - out_2943843104528284461[269] = 0; - out_2943843104528284461[270] = 0; - out_2943843104528284461[271] = 0; - out_2943843104528284461[272] = 0; - out_2943843104528284461[273] = 0; - out_2943843104528284461[274] = 0; - out_2943843104528284461[275] = 0; - out_2943843104528284461[276] = 0; - out_2943843104528284461[277] = 0; - out_2943843104528284461[278] = 0; - out_2943843104528284461[279] = 0; - out_2943843104528284461[280] = 0; - out_2943843104528284461[281] = 0; - out_2943843104528284461[282] = 0; - out_2943843104528284461[283] = 0; - out_2943843104528284461[284] = 0; - out_2943843104528284461[285] = 1; - out_2943843104528284461[286] = 0; - out_2943843104528284461[287] = 0; - out_2943843104528284461[288] = 0; - out_2943843104528284461[289] = 0; - out_2943843104528284461[290] = 0; - out_2943843104528284461[291] = 0; - out_2943843104528284461[292] = 0; - out_2943843104528284461[293] = 0; - out_2943843104528284461[294] = 0; - out_2943843104528284461[295] = 0; - out_2943843104528284461[296] = 0; - out_2943843104528284461[297] = 0; - out_2943843104528284461[298] = 0; - out_2943843104528284461[299] = 0; - out_2943843104528284461[300] = 0; - out_2943843104528284461[301] = 0; - out_2943843104528284461[302] = 0; - out_2943843104528284461[303] = 0; - out_2943843104528284461[304] = 1; - out_2943843104528284461[305] = 0; - out_2943843104528284461[306] = 0; - out_2943843104528284461[307] = 0; - out_2943843104528284461[308] = 0; - out_2943843104528284461[309] = 0; - out_2943843104528284461[310] = 0; - out_2943843104528284461[311] = 0; - out_2943843104528284461[312] = 0; - out_2943843104528284461[313] = 0; - out_2943843104528284461[314] = 0; - out_2943843104528284461[315] = 0; - out_2943843104528284461[316] = 0; - out_2943843104528284461[317] = 0; - out_2943843104528284461[318] = 0; - out_2943843104528284461[319] = 0; - out_2943843104528284461[320] = 0; - out_2943843104528284461[321] = 0; - out_2943843104528284461[322] = 0; - out_2943843104528284461[323] = 1; +void F_fun(double *state, double dt, double *out_7071521444289373248) { + out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[2] = 0; + out_7071521444289373248[3] = 0; + out_7071521444289373248[4] = 0; + out_7071521444289373248[5] = 0; + out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[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_7071521444289373248[9] = 0; + out_7071521444289373248[10] = 0; + out_7071521444289373248[11] = 0; + out_7071521444289373248[12] = 0; + out_7071521444289373248[13] = 0; + out_7071521444289373248[14] = 0; + out_7071521444289373248[15] = 0; + out_7071521444289373248[16] = 0; + out_7071521444289373248[17] = 0; + out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[20] = 0; + out_7071521444289373248[21] = 0; + out_7071521444289373248[22] = 0; + out_7071521444289373248[23] = 0; + out_7071521444289373248[24] = 0; + out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[27] = 0; + out_7071521444289373248[28] = 0; + out_7071521444289373248[29] = 0; + out_7071521444289373248[30] = 0; + out_7071521444289373248[31] = 0; + out_7071521444289373248[32] = 0; + out_7071521444289373248[33] = 0; + out_7071521444289373248[34] = 0; + out_7071521444289373248[35] = 0; + out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[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_7071521444289373248[39] = 0; + out_7071521444289373248[40] = 0; + out_7071521444289373248[41] = 0; + out_7071521444289373248[42] = 0; + out_7071521444289373248[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_7071521444289373248[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_7071521444289373248[45] = 0; + out_7071521444289373248[46] = 0; + out_7071521444289373248[47] = 0; + out_7071521444289373248[48] = 0; + out_7071521444289373248[49] = 0; + out_7071521444289373248[50] = 0; + out_7071521444289373248[51] = 0; + out_7071521444289373248[52] = 0; + out_7071521444289373248[53] = 0; + out_7071521444289373248[54] = 0; + out_7071521444289373248[55] = 0; + out_7071521444289373248[56] = 0; + out_7071521444289373248[57] = 1; + out_7071521444289373248[58] = 0; + out_7071521444289373248[59] = 0; + out_7071521444289373248[60] = 0; + out_7071521444289373248[61] = 0; + out_7071521444289373248[62] = 0; + out_7071521444289373248[63] = 0; + out_7071521444289373248[64] = 0; + out_7071521444289373248[65] = 0; + out_7071521444289373248[66] = dt; + out_7071521444289373248[67] = 0; + out_7071521444289373248[68] = 0; + out_7071521444289373248[69] = 0; + out_7071521444289373248[70] = 0; + out_7071521444289373248[71] = 0; + out_7071521444289373248[72] = 0; + out_7071521444289373248[73] = 0; + out_7071521444289373248[74] = 0; + out_7071521444289373248[75] = 0; + out_7071521444289373248[76] = 1; + out_7071521444289373248[77] = 0; + out_7071521444289373248[78] = 0; + out_7071521444289373248[79] = 0; + out_7071521444289373248[80] = 0; + out_7071521444289373248[81] = 0; + out_7071521444289373248[82] = 0; + out_7071521444289373248[83] = 0; + out_7071521444289373248[84] = 0; + out_7071521444289373248[85] = dt; + out_7071521444289373248[86] = 0; + out_7071521444289373248[87] = 0; + out_7071521444289373248[88] = 0; + out_7071521444289373248[89] = 0; + out_7071521444289373248[90] = 0; + out_7071521444289373248[91] = 0; + out_7071521444289373248[92] = 0; + out_7071521444289373248[93] = 0; + out_7071521444289373248[94] = 0; + out_7071521444289373248[95] = 1; + out_7071521444289373248[96] = 0; + out_7071521444289373248[97] = 0; + out_7071521444289373248[98] = 0; + out_7071521444289373248[99] = 0; + out_7071521444289373248[100] = 0; + out_7071521444289373248[101] = 0; + out_7071521444289373248[102] = 0; + out_7071521444289373248[103] = 0; + out_7071521444289373248[104] = dt; + out_7071521444289373248[105] = 0; + out_7071521444289373248[106] = 0; + out_7071521444289373248[107] = 0; + out_7071521444289373248[108] = 0; + out_7071521444289373248[109] = 0; + out_7071521444289373248[110] = 0; + out_7071521444289373248[111] = 0; + out_7071521444289373248[112] = 0; + out_7071521444289373248[113] = 0; + out_7071521444289373248[114] = 1; + out_7071521444289373248[115] = 0; + out_7071521444289373248[116] = 0; + out_7071521444289373248[117] = 0; + out_7071521444289373248[118] = 0; + out_7071521444289373248[119] = 0; + out_7071521444289373248[120] = 0; + out_7071521444289373248[121] = 0; + out_7071521444289373248[122] = 0; + out_7071521444289373248[123] = 0; + out_7071521444289373248[124] = 0; + out_7071521444289373248[125] = 0; + out_7071521444289373248[126] = 0; + out_7071521444289373248[127] = 0; + out_7071521444289373248[128] = 0; + out_7071521444289373248[129] = 0; + out_7071521444289373248[130] = 0; + out_7071521444289373248[131] = 0; + out_7071521444289373248[132] = 0; + out_7071521444289373248[133] = 1; + out_7071521444289373248[134] = 0; + out_7071521444289373248[135] = 0; + out_7071521444289373248[136] = 0; + out_7071521444289373248[137] = 0; + out_7071521444289373248[138] = 0; + out_7071521444289373248[139] = 0; + out_7071521444289373248[140] = 0; + out_7071521444289373248[141] = 0; + out_7071521444289373248[142] = 0; + out_7071521444289373248[143] = 0; + out_7071521444289373248[144] = 0; + out_7071521444289373248[145] = 0; + out_7071521444289373248[146] = 0; + out_7071521444289373248[147] = 0; + out_7071521444289373248[148] = 0; + out_7071521444289373248[149] = 0; + out_7071521444289373248[150] = 0; + out_7071521444289373248[151] = 0; + out_7071521444289373248[152] = 1; + out_7071521444289373248[153] = 0; + out_7071521444289373248[154] = 0; + out_7071521444289373248[155] = 0; + out_7071521444289373248[156] = 0; + out_7071521444289373248[157] = 0; + out_7071521444289373248[158] = 0; + out_7071521444289373248[159] = 0; + out_7071521444289373248[160] = 0; + out_7071521444289373248[161] = 0; + out_7071521444289373248[162] = 0; + out_7071521444289373248[163] = 0; + out_7071521444289373248[164] = 0; + out_7071521444289373248[165] = 0; + out_7071521444289373248[166] = 0; + out_7071521444289373248[167] = 0; + out_7071521444289373248[168] = 0; + out_7071521444289373248[169] = 0; + out_7071521444289373248[170] = 0; + out_7071521444289373248[171] = 1; + out_7071521444289373248[172] = 0; + out_7071521444289373248[173] = 0; + out_7071521444289373248[174] = 0; + out_7071521444289373248[175] = 0; + out_7071521444289373248[176] = 0; + out_7071521444289373248[177] = 0; + out_7071521444289373248[178] = 0; + out_7071521444289373248[179] = 0; + out_7071521444289373248[180] = 0; + out_7071521444289373248[181] = 0; + out_7071521444289373248[182] = 0; + out_7071521444289373248[183] = 0; + out_7071521444289373248[184] = 0; + out_7071521444289373248[185] = 0; + out_7071521444289373248[186] = 0; + out_7071521444289373248[187] = 0; + out_7071521444289373248[188] = 0; + out_7071521444289373248[189] = 0; + out_7071521444289373248[190] = 1; + out_7071521444289373248[191] = 0; + out_7071521444289373248[192] = 0; + out_7071521444289373248[193] = 0; + out_7071521444289373248[194] = 0; + out_7071521444289373248[195] = 0; + out_7071521444289373248[196] = 0; + out_7071521444289373248[197] = 0; + out_7071521444289373248[198] = 0; + out_7071521444289373248[199] = 0; + out_7071521444289373248[200] = 0; + out_7071521444289373248[201] = 0; + out_7071521444289373248[202] = 0; + out_7071521444289373248[203] = 0; + out_7071521444289373248[204] = 0; + out_7071521444289373248[205] = 0; + out_7071521444289373248[206] = 0; + out_7071521444289373248[207] = 0; + out_7071521444289373248[208] = 0; + out_7071521444289373248[209] = 1; + out_7071521444289373248[210] = 0; + out_7071521444289373248[211] = 0; + out_7071521444289373248[212] = 0; + out_7071521444289373248[213] = 0; + out_7071521444289373248[214] = 0; + out_7071521444289373248[215] = 0; + out_7071521444289373248[216] = 0; + out_7071521444289373248[217] = 0; + out_7071521444289373248[218] = 0; + out_7071521444289373248[219] = 0; + out_7071521444289373248[220] = 0; + out_7071521444289373248[221] = 0; + out_7071521444289373248[222] = 0; + out_7071521444289373248[223] = 0; + out_7071521444289373248[224] = 0; + out_7071521444289373248[225] = 0; + out_7071521444289373248[226] = 0; + out_7071521444289373248[227] = 0; + out_7071521444289373248[228] = 1; + out_7071521444289373248[229] = 0; + out_7071521444289373248[230] = 0; + out_7071521444289373248[231] = 0; + out_7071521444289373248[232] = 0; + out_7071521444289373248[233] = 0; + out_7071521444289373248[234] = 0; + out_7071521444289373248[235] = 0; + out_7071521444289373248[236] = 0; + out_7071521444289373248[237] = 0; + out_7071521444289373248[238] = 0; + out_7071521444289373248[239] = 0; + out_7071521444289373248[240] = 0; + out_7071521444289373248[241] = 0; + out_7071521444289373248[242] = 0; + out_7071521444289373248[243] = 0; + out_7071521444289373248[244] = 0; + out_7071521444289373248[245] = 0; + out_7071521444289373248[246] = 0; + out_7071521444289373248[247] = 1; + out_7071521444289373248[248] = 0; + out_7071521444289373248[249] = 0; + out_7071521444289373248[250] = 0; + out_7071521444289373248[251] = 0; + out_7071521444289373248[252] = 0; + out_7071521444289373248[253] = 0; + out_7071521444289373248[254] = 0; + out_7071521444289373248[255] = 0; + out_7071521444289373248[256] = 0; + out_7071521444289373248[257] = 0; + out_7071521444289373248[258] = 0; + out_7071521444289373248[259] = 0; + out_7071521444289373248[260] = 0; + out_7071521444289373248[261] = 0; + out_7071521444289373248[262] = 0; + out_7071521444289373248[263] = 0; + out_7071521444289373248[264] = 0; + out_7071521444289373248[265] = 0; + out_7071521444289373248[266] = 1; + out_7071521444289373248[267] = 0; + out_7071521444289373248[268] = 0; + out_7071521444289373248[269] = 0; + out_7071521444289373248[270] = 0; + out_7071521444289373248[271] = 0; + out_7071521444289373248[272] = 0; + out_7071521444289373248[273] = 0; + out_7071521444289373248[274] = 0; + out_7071521444289373248[275] = 0; + out_7071521444289373248[276] = 0; + out_7071521444289373248[277] = 0; + out_7071521444289373248[278] = 0; + out_7071521444289373248[279] = 0; + out_7071521444289373248[280] = 0; + out_7071521444289373248[281] = 0; + out_7071521444289373248[282] = 0; + out_7071521444289373248[283] = 0; + out_7071521444289373248[284] = 0; + out_7071521444289373248[285] = 1; + out_7071521444289373248[286] = 0; + out_7071521444289373248[287] = 0; + out_7071521444289373248[288] = 0; + out_7071521444289373248[289] = 0; + out_7071521444289373248[290] = 0; + out_7071521444289373248[291] = 0; + out_7071521444289373248[292] = 0; + out_7071521444289373248[293] = 0; + out_7071521444289373248[294] = 0; + out_7071521444289373248[295] = 0; + out_7071521444289373248[296] = 0; + out_7071521444289373248[297] = 0; + out_7071521444289373248[298] = 0; + out_7071521444289373248[299] = 0; + out_7071521444289373248[300] = 0; + out_7071521444289373248[301] = 0; + out_7071521444289373248[302] = 0; + out_7071521444289373248[303] = 0; + out_7071521444289373248[304] = 1; + out_7071521444289373248[305] = 0; + out_7071521444289373248[306] = 0; + out_7071521444289373248[307] = 0; + out_7071521444289373248[308] = 0; + out_7071521444289373248[309] = 0; + out_7071521444289373248[310] = 0; + out_7071521444289373248[311] = 0; + out_7071521444289373248[312] = 0; + out_7071521444289373248[313] = 0; + out_7071521444289373248[314] = 0; + out_7071521444289373248[315] = 0; + out_7071521444289373248[316] = 0; + out_7071521444289373248[317] = 0; + out_7071521444289373248[318] = 0; + out_7071521444289373248[319] = 0; + out_7071521444289373248[320] = 0; + out_7071521444289373248[321] = 0; + out_7071521444289373248[322] = 0; + out_7071521444289373248[323] = 1; } -void h_4(double *state, double *unused, double *out_7392043206358300323) { - out_7392043206358300323[0] = state[6] + state[9]; - out_7392043206358300323[1] = state[7] + state[10]; - out_7392043206358300323[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_67509566290800345) { + out_67509566290800345[0] = state[6] + state[9]; + out_67509566290800345[1] = state[7] + state[10]; + out_67509566290800345[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_5488683682728833941) { - out_5488683682728833941[0] = 0; - out_5488683682728833941[1] = 0; - out_5488683682728833941[2] = 0; - out_5488683682728833941[3] = 0; - out_5488683682728833941[4] = 0; - out_5488683682728833941[5] = 0; - out_5488683682728833941[6] = 1; - out_5488683682728833941[7] = 0; - out_5488683682728833941[8] = 0; - out_5488683682728833941[9] = 1; - out_5488683682728833941[10] = 0; - out_5488683682728833941[11] = 0; - out_5488683682728833941[12] = 0; - out_5488683682728833941[13] = 0; - out_5488683682728833941[14] = 0; - out_5488683682728833941[15] = 0; - out_5488683682728833941[16] = 0; - out_5488683682728833941[17] = 0; - out_5488683682728833941[18] = 0; - out_5488683682728833941[19] = 0; - out_5488683682728833941[20] = 0; - out_5488683682728833941[21] = 0; - out_5488683682728833941[22] = 0; - out_5488683682728833941[23] = 0; - out_5488683682728833941[24] = 0; - out_5488683682728833941[25] = 1; - out_5488683682728833941[26] = 0; - out_5488683682728833941[27] = 0; - out_5488683682728833941[28] = 1; - out_5488683682728833941[29] = 0; - out_5488683682728833941[30] = 0; - out_5488683682728833941[31] = 0; - out_5488683682728833941[32] = 0; - out_5488683682728833941[33] = 0; - out_5488683682728833941[34] = 0; - out_5488683682728833941[35] = 0; - out_5488683682728833941[36] = 0; - out_5488683682728833941[37] = 0; - out_5488683682728833941[38] = 0; - out_5488683682728833941[39] = 0; - out_5488683682728833941[40] = 0; - out_5488683682728833941[41] = 0; - out_5488683682728833941[42] = 0; - out_5488683682728833941[43] = 0; - out_5488683682728833941[44] = 1; - out_5488683682728833941[45] = 0; - out_5488683682728833941[46] = 0; - out_5488683682728833941[47] = 1; - out_5488683682728833941[48] = 0; - out_5488683682728833941[49] = 0; - out_5488683682728833941[50] = 0; - out_5488683682728833941[51] = 0; - out_5488683682728833941[52] = 0; - out_5488683682728833941[53] = 0; +void H_4(double *state, double *unused, double *out_3215504100527336884) { + out_3215504100527336884[0] = 0; + out_3215504100527336884[1] = 0; + out_3215504100527336884[2] = 0; + out_3215504100527336884[3] = 0; + out_3215504100527336884[4] = 0; + out_3215504100527336884[5] = 0; + out_3215504100527336884[6] = 1; + out_3215504100527336884[7] = 0; + out_3215504100527336884[8] = 0; + out_3215504100527336884[9] = 1; + out_3215504100527336884[10] = 0; + out_3215504100527336884[11] = 0; + out_3215504100527336884[12] = 0; + out_3215504100527336884[13] = 0; + out_3215504100527336884[14] = 0; + out_3215504100527336884[15] = 0; + out_3215504100527336884[16] = 0; + out_3215504100527336884[17] = 0; + out_3215504100527336884[18] = 0; + out_3215504100527336884[19] = 0; + out_3215504100527336884[20] = 0; + out_3215504100527336884[21] = 0; + out_3215504100527336884[22] = 0; + out_3215504100527336884[23] = 0; + out_3215504100527336884[24] = 0; + out_3215504100527336884[25] = 1; + out_3215504100527336884[26] = 0; + out_3215504100527336884[27] = 0; + out_3215504100527336884[28] = 1; + out_3215504100527336884[29] = 0; + out_3215504100527336884[30] = 0; + out_3215504100527336884[31] = 0; + out_3215504100527336884[32] = 0; + out_3215504100527336884[33] = 0; + out_3215504100527336884[34] = 0; + out_3215504100527336884[35] = 0; + out_3215504100527336884[36] = 0; + out_3215504100527336884[37] = 0; + out_3215504100527336884[38] = 0; + out_3215504100527336884[39] = 0; + out_3215504100527336884[40] = 0; + out_3215504100527336884[41] = 0; + out_3215504100527336884[42] = 0; + out_3215504100527336884[43] = 0; + out_3215504100527336884[44] = 1; + out_3215504100527336884[45] = 0; + out_3215504100527336884[46] = 0; + out_3215504100527336884[47] = 1; + out_3215504100527336884[48] = 0; + out_3215504100527336884[49] = 0; + out_3215504100527336884[50] = 0; + out_3215504100527336884[51] = 0; + out_3215504100527336884[52] = 0; + out_3215504100527336884[53] = 0; } -void h_10(double *state, double *unused, double *out_1893443682310766933) { - out_1893443682310766933[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1893443682310766933[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1893443682310766933[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_2077999983659095687) { + out_2077999983659095687[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2077999983659095687[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2077999983659095687[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_4002633890361339640) { - out_4002633890361339640[0] = 0; - out_4002633890361339640[1] = 9.8100000000000005*cos(state[1]); - out_4002633890361339640[2] = 0; - out_4002633890361339640[3] = 0; - out_4002633890361339640[4] = -state[8]; - out_4002633890361339640[5] = state[7]; - out_4002633890361339640[6] = 0; - out_4002633890361339640[7] = state[5]; - out_4002633890361339640[8] = -state[4]; - out_4002633890361339640[9] = 0; - out_4002633890361339640[10] = 0; - out_4002633890361339640[11] = 0; - out_4002633890361339640[12] = 1; - out_4002633890361339640[13] = 0; - out_4002633890361339640[14] = 0; - out_4002633890361339640[15] = 1; - out_4002633890361339640[16] = 0; - out_4002633890361339640[17] = 0; - out_4002633890361339640[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4002633890361339640[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4002633890361339640[20] = 0; - out_4002633890361339640[21] = state[8]; - out_4002633890361339640[22] = 0; - out_4002633890361339640[23] = -state[6]; - out_4002633890361339640[24] = -state[5]; - out_4002633890361339640[25] = 0; - out_4002633890361339640[26] = state[3]; - out_4002633890361339640[27] = 0; - out_4002633890361339640[28] = 0; - out_4002633890361339640[29] = 0; - out_4002633890361339640[30] = 0; - out_4002633890361339640[31] = 1; - out_4002633890361339640[32] = 0; - out_4002633890361339640[33] = 0; - out_4002633890361339640[34] = 1; - out_4002633890361339640[35] = 0; - out_4002633890361339640[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4002633890361339640[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4002633890361339640[38] = 0; - out_4002633890361339640[39] = -state[7]; - out_4002633890361339640[40] = state[6]; - out_4002633890361339640[41] = 0; - out_4002633890361339640[42] = state[4]; - out_4002633890361339640[43] = -state[3]; - out_4002633890361339640[44] = 0; - out_4002633890361339640[45] = 0; - out_4002633890361339640[46] = 0; - out_4002633890361339640[47] = 0; - out_4002633890361339640[48] = 0; - out_4002633890361339640[49] = 0; - out_4002633890361339640[50] = 1; - out_4002633890361339640[51] = 0; - out_4002633890361339640[52] = 0; - out_4002633890361339640[53] = 1; +void H_10(double *state, double *unused, double *out_1146830641480722290) { + out_1146830641480722290[0] = 0; + out_1146830641480722290[1] = 9.8100000000000005*cos(state[1]); + out_1146830641480722290[2] = 0; + out_1146830641480722290[3] = 0; + out_1146830641480722290[4] = -state[8]; + out_1146830641480722290[5] = state[7]; + out_1146830641480722290[6] = 0; + out_1146830641480722290[7] = state[5]; + out_1146830641480722290[8] = -state[4]; + out_1146830641480722290[9] = 0; + out_1146830641480722290[10] = 0; + out_1146830641480722290[11] = 0; + out_1146830641480722290[12] = 1; + out_1146830641480722290[13] = 0; + out_1146830641480722290[14] = 0; + out_1146830641480722290[15] = 1; + out_1146830641480722290[16] = 0; + out_1146830641480722290[17] = 0; + out_1146830641480722290[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1146830641480722290[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1146830641480722290[20] = 0; + out_1146830641480722290[21] = state[8]; + out_1146830641480722290[22] = 0; + out_1146830641480722290[23] = -state[6]; + out_1146830641480722290[24] = -state[5]; + out_1146830641480722290[25] = 0; + out_1146830641480722290[26] = state[3]; + out_1146830641480722290[27] = 0; + out_1146830641480722290[28] = 0; + out_1146830641480722290[29] = 0; + out_1146830641480722290[30] = 0; + out_1146830641480722290[31] = 1; + out_1146830641480722290[32] = 0; + out_1146830641480722290[33] = 0; + out_1146830641480722290[34] = 1; + out_1146830641480722290[35] = 0; + out_1146830641480722290[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1146830641480722290[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1146830641480722290[38] = 0; + out_1146830641480722290[39] = -state[7]; + out_1146830641480722290[40] = state[6]; + out_1146830641480722290[41] = 0; + out_1146830641480722290[42] = state[4]; + out_1146830641480722290[43] = -state[3]; + out_1146830641480722290[44] = 0; + out_1146830641480722290[45] = 0; + out_1146830641480722290[46] = 0; + out_1146830641480722290[47] = 0; + out_1146830641480722290[48] = 0; + out_1146830641480722290[49] = 0; + out_1146830641480722290[50] = 1; + out_1146830641480722290[51] = 0; + out_1146830641480722290[52] = 0; + out_1146830641480722290[53] = 1; } -void h_13(double *state, double *unused, double *out_950850480842812453) { - out_950850480842812453[0] = state[3]; - out_950850480842812453[1] = state[4]; - out_950850480842812453[2] = state[5]; +void h_13(double *state, double *unused, double *out_7759616382768276568) { + out_7759616382768276568[0] = state[3]; + out_7759616382768276568[1] = state[4]; + out_7759616382768276568[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8700957508061166742) { - out_8700957508061166742[0] = 0; - out_8700957508061166742[1] = 0; - out_8700957508061166742[2] = 0; - out_8700957508061166742[3] = 1; - out_8700957508061166742[4] = 0; - out_8700957508061166742[5] = 0; - out_8700957508061166742[6] = 0; - out_8700957508061166742[7] = 0; - out_8700957508061166742[8] = 0; - out_8700957508061166742[9] = 0; - out_8700957508061166742[10] = 0; - out_8700957508061166742[11] = 0; - out_8700957508061166742[12] = 0; - out_8700957508061166742[13] = 0; - out_8700957508061166742[14] = 0; - out_8700957508061166742[15] = 0; - out_8700957508061166742[16] = 0; - out_8700957508061166742[17] = 0; - out_8700957508061166742[18] = 0; - out_8700957508061166742[19] = 0; - out_8700957508061166742[20] = 0; - out_8700957508061166742[21] = 0; - out_8700957508061166742[22] = 1; - out_8700957508061166742[23] = 0; - out_8700957508061166742[24] = 0; - out_8700957508061166742[25] = 0; - out_8700957508061166742[26] = 0; - out_8700957508061166742[27] = 0; - out_8700957508061166742[28] = 0; - out_8700957508061166742[29] = 0; - out_8700957508061166742[30] = 0; - out_8700957508061166742[31] = 0; - out_8700957508061166742[32] = 0; - out_8700957508061166742[33] = 0; - out_8700957508061166742[34] = 0; - out_8700957508061166742[35] = 0; - out_8700957508061166742[36] = 0; - out_8700957508061166742[37] = 0; - out_8700957508061166742[38] = 0; - out_8700957508061166742[39] = 0; - out_8700957508061166742[40] = 0; - out_8700957508061166742[41] = 1; - out_8700957508061166742[42] = 0; - out_8700957508061166742[43] = 0; - out_8700957508061166742[44] = 0; - out_8700957508061166742[45] = 0; - out_8700957508061166742[46] = 0; - out_8700957508061166742[47] = 0; - out_8700957508061166742[48] = 0; - out_8700957508061166742[49] = 0; - out_8700957508061166742[50] = 0; - out_8700957508061166742[51] = 0; - out_8700957508061166742[52] = 0; - out_8700957508061166742[53] = 0; +void H_13(double *state, double *unused, double *out_3230275195004083) { + out_3230275195004083[0] = 0; + out_3230275195004083[1] = 0; + out_3230275195004083[2] = 0; + out_3230275195004083[3] = 1; + out_3230275195004083[4] = 0; + out_3230275195004083[5] = 0; + out_3230275195004083[6] = 0; + out_3230275195004083[7] = 0; + out_3230275195004083[8] = 0; + out_3230275195004083[9] = 0; + out_3230275195004083[10] = 0; + out_3230275195004083[11] = 0; + out_3230275195004083[12] = 0; + out_3230275195004083[13] = 0; + out_3230275195004083[14] = 0; + out_3230275195004083[15] = 0; + out_3230275195004083[16] = 0; + out_3230275195004083[17] = 0; + out_3230275195004083[18] = 0; + out_3230275195004083[19] = 0; + out_3230275195004083[20] = 0; + out_3230275195004083[21] = 0; + out_3230275195004083[22] = 1; + out_3230275195004083[23] = 0; + out_3230275195004083[24] = 0; + out_3230275195004083[25] = 0; + out_3230275195004083[26] = 0; + out_3230275195004083[27] = 0; + out_3230275195004083[28] = 0; + out_3230275195004083[29] = 0; + out_3230275195004083[30] = 0; + out_3230275195004083[31] = 0; + out_3230275195004083[32] = 0; + out_3230275195004083[33] = 0; + out_3230275195004083[34] = 0; + out_3230275195004083[35] = 0; + out_3230275195004083[36] = 0; + out_3230275195004083[37] = 0; + out_3230275195004083[38] = 0; + out_3230275195004083[39] = 0; + out_3230275195004083[40] = 0; + out_3230275195004083[41] = 1; + out_3230275195004083[42] = 0; + out_3230275195004083[43] = 0; + out_3230275195004083[44] = 0; + out_3230275195004083[45] = 0; + out_3230275195004083[46] = 0; + out_3230275195004083[47] = 0; + out_3230275195004083[48] = 0; + out_3230275195004083[49] = 0; + out_3230275195004083[50] = 0; + out_3230275195004083[51] = 0; + out_3230275195004083[52] = 0; + out_3230275195004083[53] = 0; } -void h_14(double *state, double *unused, double *out_2845286380404369143) { - out_2845286380404369143[0] = state[6]; - out_2845286380404369143[1] = state[7]; - out_2845286380404369143[2] = state[8]; +void h_14(double *state, double *unused, double *out_3709581126101699448) { + out_3709581126101699448[0] = state[6]; + out_3709581126101699448[1] = state[7]; + out_3709581126101699448[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2405895250433461645) { - out_2405895250433461645[0] = 0; - out_2405895250433461645[1] = 0; - out_2405895250433461645[2] = 0; - out_2405895250433461645[3] = 0; - out_2405895250433461645[4] = 0; - out_2405895250433461645[5] = 0; - out_2405895250433461645[6] = 1; - out_2405895250433461645[7] = 0; - out_2405895250433461645[8] = 0; - out_2405895250433461645[9] = 0; - out_2405895250433461645[10] = 0; - out_2405895250433461645[11] = 0; - out_2405895250433461645[12] = 0; - out_2405895250433461645[13] = 0; - out_2405895250433461645[14] = 0; - out_2405895250433461645[15] = 0; - out_2405895250433461645[16] = 0; - out_2405895250433461645[17] = 0; - out_2405895250433461645[18] = 0; - out_2405895250433461645[19] = 0; - out_2405895250433461645[20] = 0; - out_2405895250433461645[21] = 0; - out_2405895250433461645[22] = 0; - out_2405895250433461645[23] = 0; - out_2405895250433461645[24] = 0; - out_2405895250433461645[25] = 1; - out_2405895250433461645[26] = 0; - out_2405895250433461645[27] = 0; - out_2405895250433461645[28] = 0; - out_2405895250433461645[29] = 0; - out_2405895250433461645[30] = 0; - out_2405895250433461645[31] = 0; - out_2405895250433461645[32] = 0; - out_2405895250433461645[33] = 0; - out_2405895250433461645[34] = 0; - out_2405895250433461645[35] = 0; - out_2405895250433461645[36] = 0; - out_2405895250433461645[37] = 0; - out_2405895250433461645[38] = 0; - out_2405895250433461645[39] = 0; - out_2405895250433461645[40] = 0; - out_2405895250433461645[41] = 0; - out_2405895250433461645[42] = 0; - out_2405895250433461645[43] = 0; - out_2405895250433461645[44] = 1; - out_2405895250433461645[45] = 0; - out_2405895250433461645[46] = 0; - out_2405895250433461645[47] = 0; - out_2405895250433461645[48] = 0; - out_2405895250433461645[49] = 0; - out_2405895250433461645[50] = 0; - out_2405895250433461645[51] = 0; - out_2405895250433461645[52] = 0; - out_2405895250433461645[53] = 0; +void H_14(double *state, double *unused, double *out_3650620627172220483) { + out_3650620627172220483[0] = 0; + out_3650620627172220483[1] = 0; + out_3650620627172220483[2] = 0; + out_3650620627172220483[3] = 0; + out_3650620627172220483[4] = 0; + out_3650620627172220483[5] = 0; + out_3650620627172220483[6] = 1; + out_3650620627172220483[7] = 0; + out_3650620627172220483[8] = 0; + out_3650620627172220483[9] = 0; + out_3650620627172220483[10] = 0; + out_3650620627172220483[11] = 0; + out_3650620627172220483[12] = 0; + out_3650620627172220483[13] = 0; + out_3650620627172220483[14] = 0; + out_3650620627172220483[15] = 0; + out_3650620627172220483[16] = 0; + out_3650620627172220483[17] = 0; + out_3650620627172220483[18] = 0; + out_3650620627172220483[19] = 0; + out_3650620627172220483[20] = 0; + out_3650620627172220483[21] = 0; + out_3650620627172220483[22] = 0; + out_3650620627172220483[23] = 0; + out_3650620627172220483[24] = 0; + out_3650620627172220483[25] = 1; + out_3650620627172220483[26] = 0; + out_3650620627172220483[27] = 0; + out_3650620627172220483[28] = 0; + out_3650620627172220483[29] = 0; + out_3650620627172220483[30] = 0; + out_3650620627172220483[31] = 0; + out_3650620627172220483[32] = 0; + out_3650620627172220483[33] = 0; + out_3650620627172220483[34] = 0; + out_3650620627172220483[35] = 0; + out_3650620627172220483[36] = 0; + out_3650620627172220483[37] = 0; + out_3650620627172220483[38] = 0; + out_3650620627172220483[39] = 0; + out_3650620627172220483[40] = 0; + out_3650620627172220483[41] = 0; + out_3650620627172220483[42] = 0; + out_3650620627172220483[43] = 0; + out_3650620627172220483[44] = 1; + out_3650620627172220483[45] = 0; + out_3650620627172220483[46] = 0; + out_3650620627172220483[47] = 0; + out_3650620627172220483[48] = 0; + out_3650620627172220483[49] = 0; + out_3650620627172220483[50] = 0; + out_3650620627172220483[51] = 0; + out_3650620627172220483[52] = 0; + out_3650620627172220483[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_2235485331980533535) { - err_fun(nom_x, delta_x, out_2235485331980533535); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1909500707924070274) { + err_fun(nom_x, delta_x, out_1909500707924070274); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6263710841243713274) { - inv_err_fun(nom_x, true_x, out_6263710841243713274); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4767002163824434397) { + inv_err_fun(nom_x, true_x, out_4767002163824434397); } -void pose_H_mod_fun(double *state, double *out_874056645799517577) { - H_mod_fun(state, out_874056645799517577); +void pose_H_mod_fun(double *state, double *out_2632577706224621837) { + H_mod_fun(state, out_2632577706224621837); } -void pose_f_fun(double *state, double dt, double *out_7518635824214998963) { - f_fun(state, dt, out_7518635824214998963); +void pose_f_fun(double *state, double dt, double *out_2193527682870666897) { + f_fun(state, dt, out_2193527682870666897); } -void pose_F_fun(double *state, double dt, double *out_2943843104528284461) { - F_fun(state, dt, out_2943843104528284461); +void pose_F_fun(double *state, double dt, double *out_7071521444289373248) { + F_fun(state, dt, out_7071521444289373248); } -void pose_h_4(double *state, double *unused, double *out_7392043206358300323) { - h_4(state, unused, out_7392043206358300323); +void pose_h_4(double *state, double *unused, double *out_67509566290800345) { + h_4(state, unused, out_67509566290800345); } -void pose_H_4(double *state, double *unused, double *out_5488683682728833941) { - H_4(state, unused, out_5488683682728833941); +void pose_H_4(double *state, double *unused, double *out_3215504100527336884) { + H_4(state, unused, out_3215504100527336884); } -void pose_h_10(double *state, double *unused, double *out_1893443682310766933) { - h_10(state, unused, out_1893443682310766933); +void pose_h_10(double *state, double *unused, double *out_2077999983659095687) { + h_10(state, unused, out_2077999983659095687); } -void pose_H_10(double *state, double *unused, double *out_4002633890361339640) { - H_10(state, unused, out_4002633890361339640); +void pose_H_10(double *state, double *unused, double *out_1146830641480722290) { + H_10(state, unused, out_1146830641480722290); } -void pose_h_13(double *state, double *unused, double *out_950850480842812453) { - h_13(state, unused, out_950850480842812453); +void pose_h_13(double *state, double *unused, double *out_7759616382768276568) { + h_13(state, unused, out_7759616382768276568); } -void pose_H_13(double *state, double *unused, double *out_8700957508061166742) { - H_13(state, unused, out_8700957508061166742); +void pose_H_13(double *state, double *unused, double *out_3230275195004083) { + H_13(state, unused, out_3230275195004083); } -void pose_h_14(double *state, double *unused, double *out_2845286380404369143) { - h_14(state, unused, out_2845286380404369143); +void pose_h_14(double *state, double *unused, double *out_3709581126101699448) { + h_14(state, unused, out_3709581126101699448); } -void pose_H_14(double *state, double *unused, double *out_2405895250433461645) { - H_14(state, unused, out_2405895250433461645); +void pose_H_14(double *state, double *unused, double *out_3650620627172220483) { + H_14(state, unused, out_3650620627172220483); } 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 78b88b3be..51f8af4d7 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_2235485331980533535); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6263710841243713274); -void pose_H_mod_fun(double *state, double *out_874056645799517577); -void pose_f_fun(double *state, double dt, double *out_7518635824214998963); -void pose_F_fun(double *state, double dt, double *out_2943843104528284461); -void pose_h_4(double *state, double *unused, double *out_7392043206358300323); -void pose_H_4(double *state, double *unused, double *out_5488683682728833941); -void pose_h_10(double *state, double *unused, double *out_1893443682310766933); -void pose_H_10(double *state, double *unused, double *out_4002633890361339640); -void pose_h_13(double *state, double *unused, double *out_950850480842812453); -void pose_H_13(double *state, double *unused, double *out_8700957508061166742); -void pose_h_14(double *state, double *unused, double *out_2845286380404369143); -void pose_H_14(double *state, double *unused, double *out_2405895250433461645); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1909500707924070274); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4767002163824434397); +void pose_H_mod_fun(double *state, double *out_2632577706224621837); +void pose_f_fun(double *state, double dt, double *out_2193527682870666897); +void pose_F_fun(double *state, double dt, double *out_7071521444289373248); +void pose_h_4(double *state, double *unused, double *out_67509566290800345); +void pose_H_4(double *state, double *unused, double *out_3215504100527336884); +void pose_h_10(double *state, double *unused, double *out_2077999983659095687); +void pose_H_10(double *state, double *unused, double *out_1146830641480722290); +void pose_h_13(double *state, double *unused, double *out_7759616382768276568); +void pose_H_13(double *state, double *unused, double *out_3230275195004083); +void pose_h_14(double *state, double *unused, double *out_3709581126101699448); +void pose_H_14(double *state, double *unused, double *out_3650620627172220483); 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 d9deb79b8..33844a161 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index a6e312052..a1fa933d7 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 7dc87dbc5..0cca07346 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index cb474562e..9ccc0a12f 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index ec8780b6b..e504e2471 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index d24c8dd3d..eb753bd96 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ