From 3d0c3a8a458664ce08371e3cb4c526df0b2c1e17 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Wed, 27 May 2026 22:22:20 -0500 Subject: [PATCH] Powers You Never Knew You Had and What To Do With Them Now You've Wised Up --- panda/board/obj/gitversion.h | 2 +- panda/board/obj/version | 2 +- selfdrive/locationd/locationd.py | 27 - selfdrive/locationd/models/generated/car.cpp | 684 +++--- selfdrive/locationd/models/generated/car.h | 42 +- selfdrive/locationd/models/generated/pose.cpp | 1938 ++++++++--------- selfdrive/locationd/models/generated/pose.h | 26 +- selfdrive/selfdrived/selfdrived.py | 46 +- .../ui/onroad/starpilot/navigation_card.py | 46 +- selfdrive/ui/qt/onroad/hud.cc | 41 +- selfdrive/ui/qt/onroad/hud.h | 2 + selfdrive/ui/ui.cc | 1 - selfdrive/ui/ui_state.py | 1 - starpilot/controls/starpilot_planner.py | 17 +- starpilot/navigation/navigationd.py | 61 +- 15 files changed, 1451 insertions(+), 1485 deletions(-) diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index c2eb83f98..dd69b664d 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-8f36c924-DEBUG"; +const uint8_t gitversion[19] = "DEV-6cdacd86-DEBUG"; diff --git a/panda/board/obj/version b/panda/board/obj/version index e766eabb3..860c3e87e 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-8f36c924-DEBUG \ No newline at end of file +DEV-6cdacd86-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py index a8e6e5336..5f4ba2a92 100755 --- a/selfdrive/locationd/locationd.py +++ b/selfdrive/locationd/locationd.py @@ -283,8 +283,6 @@ def main(): filter_initialized = False critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"] observation_input_invalid = defaultdict(int) - last_inputs_diagnostics = None - input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services} input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services} input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services} @@ -336,31 +334,6 @@ def main(): inputs_valid = sm.all_valid() and critical_service_inputs_valid sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION) - invalid_services = [s for s, valid in sm.valid.items() if not valid] - over_threshold = { - s: round(float(observation_input_invalid[s]), 3) - for s in critcal_services - if observation_input_invalid[s] >= input_invalid_threshold[s] - } - inputs_diagnostics = { - "inputs_valid": inputs_valid, - "sensors_valid": sensors_valid, - "filter_initialized": filter_initialized, - "invalid_services": invalid_services, - "over_threshold": over_threshold, - } - if not inputs_valid and inputs_diagnostics != last_inputs_diagnostics: - cloudlog.event( - "locationdInputsInvalid", - error=True, - **inputs_diagnostics, - observation_input_invalid={s: round(float(observation_input_invalid[s]), 3) for s in critcal_services}, - observation_input_thresholds={s: float(input_invalid_threshold[s]) for s in critcal_services}, - ) - elif inputs_valid and last_inputs_diagnostics is not None: - cloudlog.event("locationdInputsRecovered", **inputs_diagnostics) - last_inputs_diagnostics = None if inputs_valid else inputs_diagnostics - msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized) pm.send("livePose", msg) diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index a0d2e6b3d..6e3c68b44 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_7026316075073471994) { - out_7026316075073471994[0] = delta_x[0] + nom_x[0]; - out_7026316075073471994[1] = delta_x[1] + nom_x[1]; - out_7026316075073471994[2] = delta_x[2] + nom_x[2]; - out_7026316075073471994[3] = delta_x[3] + nom_x[3]; - out_7026316075073471994[4] = delta_x[4] + nom_x[4]; - out_7026316075073471994[5] = delta_x[5] + nom_x[5]; - out_7026316075073471994[6] = delta_x[6] + nom_x[6]; - out_7026316075073471994[7] = delta_x[7] + nom_x[7]; - out_7026316075073471994[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2249508041139738373) { + out_2249508041139738373[0] = delta_x[0] + nom_x[0]; + out_2249508041139738373[1] = delta_x[1] + nom_x[1]; + out_2249508041139738373[2] = delta_x[2] + nom_x[2]; + out_2249508041139738373[3] = delta_x[3] + nom_x[3]; + out_2249508041139738373[4] = delta_x[4] + nom_x[4]; + out_2249508041139738373[5] = delta_x[5] + nom_x[5]; + out_2249508041139738373[6] = delta_x[6] + nom_x[6]; + out_2249508041139738373[7] = delta_x[7] + nom_x[7]; + out_2249508041139738373[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4587773260780687079) { - out_4587773260780687079[0] = -nom_x[0] + true_x[0]; - out_4587773260780687079[1] = -nom_x[1] + true_x[1]; - out_4587773260780687079[2] = -nom_x[2] + true_x[2]; - out_4587773260780687079[3] = -nom_x[3] + true_x[3]; - out_4587773260780687079[4] = -nom_x[4] + true_x[4]; - out_4587773260780687079[5] = -nom_x[5] + true_x[5]; - out_4587773260780687079[6] = -nom_x[6] + true_x[6]; - out_4587773260780687079[7] = -nom_x[7] + true_x[7]; - out_4587773260780687079[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4788524825292355547) { + out_4788524825292355547[0] = -nom_x[0] + true_x[0]; + out_4788524825292355547[1] = -nom_x[1] + true_x[1]; + out_4788524825292355547[2] = -nom_x[2] + true_x[2]; + out_4788524825292355547[3] = -nom_x[3] + true_x[3]; + out_4788524825292355547[4] = -nom_x[4] + true_x[4]; + out_4788524825292355547[5] = -nom_x[5] + true_x[5]; + out_4788524825292355547[6] = -nom_x[6] + true_x[6]; + out_4788524825292355547[7] = -nom_x[7] + true_x[7]; + out_4788524825292355547[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_255548955770617621) { - out_255548955770617621[0] = 1.0; - out_255548955770617621[1] = 0.0; - out_255548955770617621[2] = 0.0; - out_255548955770617621[3] = 0.0; - out_255548955770617621[4] = 0.0; - out_255548955770617621[5] = 0.0; - out_255548955770617621[6] = 0.0; - out_255548955770617621[7] = 0.0; - out_255548955770617621[8] = 0.0; - out_255548955770617621[9] = 0.0; - out_255548955770617621[10] = 1.0; - out_255548955770617621[11] = 0.0; - out_255548955770617621[12] = 0.0; - out_255548955770617621[13] = 0.0; - out_255548955770617621[14] = 0.0; - out_255548955770617621[15] = 0.0; - out_255548955770617621[16] = 0.0; - out_255548955770617621[17] = 0.0; - out_255548955770617621[18] = 0.0; - out_255548955770617621[19] = 0.0; - out_255548955770617621[20] = 1.0; - out_255548955770617621[21] = 0.0; - out_255548955770617621[22] = 0.0; - out_255548955770617621[23] = 0.0; - out_255548955770617621[24] = 0.0; - out_255548955770617621[25] = 0.0; - out_255548955770617621[26] = 0.0; - out_255548955770617621[27] = 0.0; - out_255548955770617621[28] = 0.0; - out_255548955770617621[29] = 0.0; - out_255548955770617621[30] = 1.0; - out_255548955770617621[31] = 0.0; - out_255548955770617621[32] = 0.0; - out_255548955770617621[33] = 0.0; - out_255548955770617621[34] = 0.0; - out_255548955770617621[35] = 0.0; - out_255548955770617621[36] = 0.0; - out_255548955770617621[37] = 0.0; - out_255548955770617621[38] = 0.0; - out_255548955770617621[39] = 0.0; - out_255548955770617621[40] = 1.0; - out_255548955770617621[41] = 0.0; - out_255548955770617621[42] = 0.0; - out_255548955770617621[43] = 0.0; - out_255548955770617621[44] = 0.0; - out_255548955770617621[45] = 0.0; - out_255548955770617621[46] = 0.0; - out_255548955770617621[47] = 0.0; - out_255548955770617621[48] = 0.0; - out_255548955770617621[49] = 0.0; - out_255548955770617621[50] = 1.0; - out_255548955770617621[51] = 0.0; - out_255548955770617621[52] = 0.0; - out_255548955770617621[53] = 0.0; - out_255548955770617621[54] = 0.0; - out_255548955770617621[55] = 0.0; - out_255548955770617621[56] = 0.0; - out_255548955770617621[57] = 0.0; - out_255548955770617621[58] = 0.0; - out_255548955770617621[59] = 0.0; - out_255548955770617621[60] = 1.0; - out_255548955770617621[61] = 0.0; - out_255548955770617621[62] = 0.0; - out_255548955770617621[63] = 0.0; - out_255548955770617621[64] = 0.0; - out_255548955770617621[65] = 0.0; - out_255548955770617621[66] = 0.0; - out_255548955770617621[67] = 0.0; - out_255548955770617621[68] = 0.0; - out_255548955770617621[69] = 0.0; - out_255548955770617621[70] = 1.0; - out_255548955770617621[71] = 0.0; - out_255548955770617621[72] = 0.0; - out_255548955770617621[73] = 0.0; - out_255548955770617621[74] = 0.0; - out_255548955770617621[75] = 0.0; - out_255548955770617621[76] = 0.0; - out_255548955770617621[77] = 0.0; - out_255548955770617621[78] = 0.0; - out_255548955770617621[79] = 0.0; - out_255548955770617621[80] = 1.0; +void H_mod_fun(double *state, double *out_5143375091155045702) { + out_5143375091155045702[0] = 1.0; + out_5143375091155045702[1] = 0.0; + out_5143375091155045702[2] = 0.0; + out_5143375091155045702[3] = 0.0; + out_5143375091155045702[4] = 0.0; + out_5143375091155045702[5] = 0.0; + out_5143375091155045702[6] = 0.0; + out_5143375091155045702[7] = 0.0; + out_5143375091155045702[8] = 0.0; + out_5143375091155045702[9] = 0.0; + out_5143375091155045702[10] = 1.0; + out_5143375091155045702[11] = 0.0; + out_5143375091155045702[12] = 0.0; + out_5143375091155045702[13] = 0.0; + out_5143375091155045702[14] = 0.0; + out_5143375091155045702[15] = 0.0; + out_5143375091155045702[16] = 0.0; + out_5143375091155045702[17] = 0.0; + out_5143375091155045702[18] = 0.0; + out_5143375091155045702[19] = 0.0; + out_5143375091155045702[20] = 1.0; + out_5143375091155045702[21] = 0.0; + out_5143375091155045702[22] = 0.0; + out_5143375091155045702[23] = 0.0; + out_5143375091155045702[24] = 0.0; + out_5143375091155045702[25] = 0.0; + out_5143375091155045702[26] = 0.0; + out_5143375091155045702[27] = 0.0; + out_5143375091155045702[28] = 0.0; + out_5143375091155045702[29] = 0.0; + out_5143375091155045702[30] = 1.0; + out_5143375091155045702[31] = 0.0; + out_5143375091155045702[32] = 0.0; + out_5143375091155045702[33] = 0.0; + out_5143375091155045702[34] = 0.0; + out_5143375091155045702[35] = 0.0; + out_5143375091155045702[36] = 0.0; + out_5143375091155045702[37] = 0.0; + out_5143375091155045702[38] = 0.0; + out_5143375091155045702[39] = 0.0; + out_5143375091155045702[40] = 1.0; + out_5143375091155045702[41] = 0.0; + out_5143375091155045702[42] = 0.0; + out_5143375091155045702[43] = 0.0; + out_5143375091155045702[44] = 0.0; + out_5143375091155045702[45] = 0.0; + out_5143375091155045702[46] = 0.0; + out_5143375091155045702[47] = 0.0; + out_5143375091155045702[48] = 0.0; + out_5143375091155045702[49] = 0.0; + out_5143375091155045702[50] = 1.0; + out_5143375091155045702[51] = 0.0; + out_5143375091155045702[52] = 0.0; + out_5143375091155045702[53] = 0.0; + out_5143375091155045702[54] = 0.0; + out_5143375091155045702[55] = 0.0; + out_5143375091155045702[56] = 0.0; + out_5143375091155045702[57] = 0.0; + out_5143375091155045702[58] = 0.0; + out_5143375091155045702[59] = 0.0; + out_5143375091155045702[60] = 1.0; + out_5143375091155045702[61] = 0.0; + out_5143375091155045702[62] = 0.0; + out_5143375091155045702[63] = 0.0; + out_5143375091155045702[64] = 0.0; + out_5143375091155045702[65] = 0.0; + out_5143375091155045702[66] = 0.0; + out_5143375091155045702[67] = 0.0; + out_5143375091155045702[68] = 0.0; + out_5143375091155045702[69] = 0.0; + out_5143375091155045702[70] = 1.0; + out_5143375091155045702[71] = 0.0; + out_5143375091155045702[72] = 0.0; + out_5143375091155045702[73] = 0.0; + out_5143375091155045702[74] = 0.0; + out_5143375091155045702[75] = 0.0; + out_5143375091155045702[76] = 0.0; + out_5143375091155045702[77] = 0.0; + out_5143375091155045702[78] = 0.0; + out_5143375091155045702[79] = 0.0; + out_5143375091155045702[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5905678958362697737) { - out_5905678958362697737[0] = state[0]; - out_5905678958362697737[1] = state[1]; - out_5905678958362697737[2] = state[2]; - out_5905678958362697737[3] = state[3]; - out_5905678958362697737[4] = state[4]; - out_5905678958362697737[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_5905678958362697737[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_5905678958362697737[7] = state[7]; - out_5905678958362697737[8] = state[8]; +void f_fun(double *state, double dt, double *out_223721292699517100) { + out_223721292699517100[0] = state[0]; + out_223721292699517100[1] = state[1]; + out_223721292699517100[2] = state[2]; + out_223721292699517100[3] = state[3]; + out_223721292699517100[4] = state[4]; + out_223721292699517100[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_223721292699517100[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_223721292699517100[7] = state[7]; + out_223721292699517100[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2348542156060617804) { - out_2348542156060617804[0] = 1; - out_2348542156060617804[1] = 0; - out_2348542156060617804[2] = 0; - out_2348542156060617804[3] = 0; - out_2348542156060617804[4] = 0; - out_2348542156060617804[5] = 0; - out_2348542156060617804[6] = 0; - out_2348542156060617804[7] = 0; - out_2348542156060617804[8] = 0; - out_2348542156060617804[9] = 0; - out_2348542156060617804[10] = 1; - out_2348542156060617804[11] = 0; - out_2348542156060617804[12] = 0; - out_2348542156060617804[13] = 0; - out_2348542156060617804[14] = 0; - out_2348542156060617804[15] = 0; - out_2348542156060617804[16] = 0; - out_2348542156060617804[17] = 0; - out_2348542156060617804[18] = 0; - out_2348542156060617804[19] = 0; - out_2348542156060617804[20] = 1; - out_2348542156060617804[21] = 0; - out_2348542156060617804[22] = 0; - out_2348542156060617804[23] = 0; - out_2348542156060617804[24] = 0; - out_2348542156060617804[25] = 0; - out_2348542156060617804[26] = 0; - out_2348542156060617804[27] = 0; - out_2348542156060617804[28] = 0; - out_2348542156060617804[29] = 0; - out_2348542156060617804[30] = 1; - out_2348542156060617804[31] = 0; - out_2348542156060617804[32] = 0; - out_2348542156060617804[33] = 0; - out_2348542156060617804[34] = 0; - out_2348542156060617804[35] = 0; - out_2348542156060617804[36] = 0; - out_2348542156060617804[37] = 0; - out_2348542156060617804[38] = 0; - out_2348542156060617804[39] = 0; - out_2348542156060617804[40] = 1; - out_2348542156060617804[41] = 0; - out_2348542156060617804[42] = 0; - out_2348542156060617804[43] = 0; - out_2348542156060617804[44] = 0; - out_2348542156060617804[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_2348542156060617804[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2348542156060617804[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2348542156060617804[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2348542156060617804[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_2348542156060617804[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2348542156060617804[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2348542156060617804[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2348542156060617804[53] = -9.8100000000000005*dt; - out_2348542156060617804[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_2348542156060617804[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2348542156060617804[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2348542156060617804[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2348542156060617804[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_2348542156060617804[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2348542156060617804[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_2348542156060617804[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2348542156060617804[62] = 0; - out_2348542156060617804[63] = 0; - out_2348542156060617804[64] = 0; - out_2348542156060617804[65] = 0; - out_2348542156060617804[66] = 0; - out_2348542156060617804[67] = 0; - out_2348542156060617804[68] = 0; - out_2348542156060617804[69] = 0; - out_2348542156060617804[70] = 1; - out_2348542156060617804[71] = 0; - out_2348542156060617804[72] = 0; - out_2348542156060617804[73] = 0; - out_2348542156060617804[74] = 0; - out_2348542156060617804[75] = 0; - out_2348542156060617804[76] = 0; - out_2348542156060617804[77] = 0; - out_2348542156060617804[78] = 0; - out_2348542156060617804[79] = 0; - out_2348542156060617804[80] = 1; +void F_fun(double *state, double dt, double *out_6998880572782646555) { + out_6998880572782646555[0] = 1; + out_6998880572782646555[1] = 0; + out_6998880572782646555[2] = 0; + out_6998880572782646555[3] = 0; + out_6998880572782646555[4] = 0; + out_6998880572782646555[5] = 0; + out_6998880572782646555[6] = 0; + out_6998880572782646555[7] = 0; + out_6998880572782646555[8] = 0; + out_6998880572782646555[9] = 0; + out_6998880572782646555[10] = 1; + out_6998880572782646555[11] = 0; + out_6998880572782646555[12] = 0; + out_6998880572782646555[13] = 0; + out_6998880572782646555[14] = 0; + out_6998880572782646555[15] = 0; + out_6998880572782646555[16] = 0; + out_6998880572782646555[17] = 0; + out_6998880572782646555[18] = 0; + out_6998880572782646555[19] = 0; + out_6998880572782646555[20] = 1; + out_6998880572782646555[21] = 0; + out_6998880572782646555[22] = 0; + out_6998880572782646555[23] = 0; + out_6998880572782646555[24] = 0; + out_6998880572782646555[25] = 0; + out_6998880572782646555[26] = 0; + out_6998880572782646555[27] = 0; + out_6998880572782646555[28] = 0; + out_6998880572782646555[29] = 0; + out_6998880572782646555[30] = 1; + out_6998880572782646555[31] = 0; + out_6998880572782646555[32] = 0; + out_6998880572782646555[33] = 0; + out_6998880572782646555[34] = 0; + out_6998880572782646555[35] = 0; + out_6998880572782646555[36] = 0; + out_6998880572782646555[37] = 0; + out_6998880572782646555[38] = 0; + out_6998880572782646555[39] = 0; + out_6998880572782646555[40] = 1; + out_6998880572782646555[41] = 0; + out_6998880572782646555[42] = 0; + out_6998880572782646555[43] = 0; + out_6998880572782646555[44] = 0; + out_6998880572782646555[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_6998880572782646555[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6998880572782646555[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6998880572782646555[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6998880572782646555[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_6998880572782646555[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6998880572782646555[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6998880572782646555[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6998880572782646555[53] = -9.8100000000000005*dt; + out_6998880572782646555[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_6998880572782646555[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6998880572782646555[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6998880572782646555[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6998880572782646555[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_6998880572782646555[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6998880572782646555[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_6998880572782646555[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6998880572782646555[62] = 0; + out_6998880572782646555[63] = 0; + out_6998880572782646555[64] = 0; + out_6998880572782646555[65] = 0; + out_6998880572782646555[66] = 0; + out_6998880572782646555[67] = 0; + out_6998880572782646555[68] = 0; + out_6998880572782646555[69] = 0; + out_6998880572782646555[70] = 1; + out_6998880572782646555[71] = 0; + out_6998880572782646555[72] = 0; + out_6998880572782646555[73] = 0; + out_6998880572782646555[74] = 0; + out_6998880572782646555[75] = 0; + out_6998880572782646555[76] = 0; + out_6998880572782646555[77] = 0; + out_6998880572782646555[78] = 0; + out_6998880572782646555[79] = 0; + out_6998880572782646555[80] = 1; } -void h_25(double *state, double *unused, double *out_5870924613014703511) { - out_5870924613014703511[0] = state[6]; +void h_25(double *state, double *unused, double *out_6606540369410235194) { + out_6606540369410235194[0] = state[6]; } -void H_25(double *state, double *unused, double *out_7665789077203242184) { - out_7665789077203242184[0] = 0; - out_7665789077203242184[1] = 0; - out_7665789077203242184[2] = 0; - out_7665789077203242184[3] = 0; - out_7665789077203242184[4] = 0; - out_7665789077203242184[5] = 0; - out_7665789077203242184[6] = 1; - out_7665789077203242184[7] = 0; - out_7665789077203242184[8] = 0; +void H_25(double *state, double *unused, double *out_8666423729800410850) { + out_8666423729800410850[0] = 0; + out_8666423729800410850[1] = 0; + out_8666423729800410850[2] = 0; + out_8666423729800410850[3] = 0; + out_8666423729800410850[4] = 0; + out_8666423729800410850[5] = 0; + out_8666423729800410850[6] = 1; + out_8666423729800410850[7] = 0; + out_8666423729800410850[8] = 0; } -void h_24(double *state, double *unused, double *out_7175962086981114995) { - out_7175962086981114995[0] = state[4]; - out_7175962086981114995[1] = state[5]; +void h_24(double *state, double *unused, double *out_4049880123285190269) { + out_4049880123285190269[0] = state[4]; + out_4049880123285190269[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2919279750236733150) { - out_2919279750236733150[0] = 0; - out_2919279750236733150[1] = 0; - out_2919279750236733150[2] = 0; - out_2919279750236733150[3] = 0; - out_2919279750236733150[4] = 1; - out_2919279750236733150[5] = 0; - out_2919279750236733150[6] = 0; - out_2919279750236733150[7] = 0; - out_2919279750236733150[8] = 0; - out_2919279750236733150[9] = 0; - out_2919279750236733150[10] = 0; - out_2919279750236733150[11] = 0; - out_2919279750236733150[12] = 0; - out_2919279750236733150[13] = 0; - out_2919279750236733150[14] = 1; - out_2919279750236733150[15] = 0; - out_2919279750236733150[16] = 0; - out_2919279750236733150[17] = 0; +void H_24(double *state, double *unused, double *out_5108498130998087714) { + out_5108498130998087714[0] = 0; + out_5108498130998087714[1] = 0; + out_5108498130998087714[2] = 0; + out_5108498130998087714[3] = 0; + out_5108498130998087714[4] = 1; + out_5108498130998087714[5] = 0; + out_5108498130998087714[6] = 0; + out_5108498130998087714[7] = 0; + out_5108498130998087714[8] = 0; + out_5108498130998087714[9] = 0; + out_5108498130998087714[10] = 0; + out_5108498130998087714[11] = 0; + out_5108498130998087714[12] = 0; + out_5108498130998087714[13] = 0; + out_5108498130998087714[14] = 1; + out_5108498130998087714[15] = 0; + out_5108498130998087714[16] = 0; + out_5108498130998087714[17] = 0; } -void h_30(double *state, double *unused, double *out_619120766018658974) { - out_619120766018658974[0] = state[4]; +void h_30(double *state, double *unused, double *out_164294856940115742) { + out_164294856940115742[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8262622037999060805) { - out_8262622037999060805[0] = 0; - out_8262622037999060805[1] = 0; - out_8262622037999060805[2] = 0; - out_8262622037999060805[3] = 0; - out_8262622037999060805[4] = 1; - out_8262622037999060805[5] = 0; - out_8262622037999060805[6] = 0; - out_8262622037999060805[7] = 0; - out_8262622037999060805[8] = 0; +void H_30(double *state, double *unused, double *out_1749733388308794095) { + out_1749733388308794095[0] = 0; + out_1749733388308794095[1] = 0; + out_1749733388308794095[2] = 0; + out_1749733388308794095[3] = 0; + out_1749733388308794095[4] = 1; + out_1749733388308794095[5] = 0; + out_1749733388308794095[6] = 0; + out_1749733388308794095[7] = 0; + out_1749733388308794095[8] = 0; } -void h_26(double *state, double *unused, double *out_2561596907152652789) { - out_2561596907152652789[0] = state[7]; +void h_26(double *state, double *unused, double *out_767610741616593259) { + out_767610741616593259[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3924285758329185960) { - out_3924285758329185960[0] = 0; - out_3924285758329185960[1] = 0; - out_3924285758329185960[2] = 0; - out_3924285758329185960[3] = 0; - out_3924285758329185960[4] = 0; - out_3924285758329185960[5] = 0; - out_3924285758329185960[6] = 0; - out_3924285758329185960[7] = 1; - out_3924285758329185960[8] = 0; +void H_26(double *state, double *unused, double *out_6038817025035084542) { + out_6038817025035084542[0] = 0; + out_6038817025035084542[1] = 0; + out_6038817025035084542[2] = 0; + out_6038817025035084542[3] = 0; + out_6038817025035084542[4] = 0; + out_6038817025035084542[5] = 0; + out_6038817025035084542[6] = 0; + out_6038817025035084542[7] = 1; + out_6038817025035084542[8] = 0; } -void h_27(double *state, double *unused, double *out_6474240497691181028) { - out_6474240497691181028[0] = state[3]; +void h_27(double *state, double *unused, double *out_9132294156050629254) { + out_9132294156050629254[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6039027966815117588) { - out_6039027966815117588[0] = 0; - out_6039027966815117588[1] = 0; - out_6039027966815117588[2] = 0; - out_6039027966815117588[3] = 1; - out_6039027966815117588[4] = 0; - out_6039027966815117588[5] = 0; - out_6039027966815117588[6] = 0; - out_6039027966815117588[7] = 0; - out_6039027966815117588[8] = 0; +void H_27(double *state, double *unused, double *out_3924496700109219006) { + out_3924496700109219006[0] = 0; + out_3924496700109219006[1] = 0; + out_3924496700109219006[2] = 0; + out_3924496700109219006[3] = 1; + out_3924496700109219006[4] = 0; + out_3924496700109219006[5] = 0; + out_3924496700109219006[6] = 0; + out_3924496700109219006[7] = 0; + out_3924496700109219006[8] = 0; } -void h_29(double *state, double *unused, double *out_5627330291441514494) { - out_5627330291441514494[0] = state[1]; +void h_29(double *state, double *unused, double *out_2543614691308571426) { + out_2543614691308571426[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7752390693684668621) { - out_7752390693684668621[0] = 0; - out_7752390693684668621[1] = 1; - out_7752390693684668621[2] = 0; - out_7752390693684668621[3] = 0; - out_7752390693684668621[4] = 0; - out_7752390693684668621[5] = 0; - out_7752390693684668621[6] = 0; - out_7752390693684668621[7] = 0; - out_7752390693684668621[8] = 0; +void H_29(double *state, double *unused, double *out_5637859426978770039) { + out_5637859426978770039[0] = 0; + out_5637859426978770039[1] = 1; + out_5637859426978770039[2] = 0; + out_5637859426978770039[3] = 0; + out_5637859426978770039[4] = 0; + out_5637859426978770039[5] = 0; + out_5637859426978770039[6] = 0; + out_5637859426978770039[7] = 0; + out_5637859426978770039[8] = 0; } -void h_28(double *state, double *unused, double *out_3437454446246848343) { - out_3437454446246848343[0] = state[0]; +void h_28(double *state, double *unused, double *out_3987404092934981717) { + out_3987404092934981717[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5611954362955352421) { - out_5611954362955352421[0] = 1; - out_5611954362955352421[1] = 0; - out_5611954362955352421[2] = 0; - out_5611954362955352421[3] = 0; - out_5611954362955352421[4] = 0; - out_5611954362955352421[5] = 0; - out_5611954362955352421[6] = 0; - out_5611954362955352421[7] = 0; - out_5611954362955352421[8] = 0; +void H_28(double *state, double *unused, double *out_7726485629661251003) { + out_7726485629661251003[0] = 1; + out_7726485629661251003[1] = 0; + out_7726485629661251003[2] = 0; + out_7726485629661251003[3] = 0; + out_7726485629661251003[4] = 0; + out_7726485629661251003[5] = 0; + out_7726485629661251003[6] = 0; + out_7726485629661251003[7] = 0; + out_7726485629661251003[8] = 0; } -void h_31(double *state, double *unused, double *out_556316564325718304) { - out_556316564325718304[0] = state[8]; +void h_31(double *state, double *unused, double *out_6594936115065281760) { + out_6594936115065281760[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3298077656095834484) { - out_3298077656095834484[0] = 0; - out_3298077656095834484[1] = 0; - out_3298077656095834484[2] = 0; - out_3298077656095834484[3] = 0; - out_3298077656095834484[4] = 0; - out_3298077656095834484[5] = 0; - out_3298077656095834484[6] = 0; - out_3298077656095834484[7] = 0; - out_3298077656095834484[8] = 1; +void H_31(double *state, double *unused, double *out_8635777767923450422) { + out_8635777767923450422[0] = 0; + out_8635777767923450422[1] = 0; + out_8635777767923450422[2] = 0; + out_8635777767923450422[3] = 0; + out_8635777767923450422[4] = 0; + out_8635777767923450422[5] = 0; + out_8635777767923450422[6] = 0; + out_8635777767923450422[7] = 0; + out_8635777767923450422[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_7026316075073471994) { - err_fun(nom_x, delta_x, out_7026316075073471994); +void car_err_fun(double *nom_x, double *delta_x, double *out_2249508041139738373) { + err_fun(nom_x, delta_x, out_2249508041139738373); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4587773260780687079) { - inv_err_fun(nom_x, true_x, out_4587773260780687079); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4788524825292355547) { + inv_err_fun(nom_x, true_x, out_4788524825292355547); } -void car_H_mod_fun(double *state, double *out_255548955770617621) { - H_mod_fun(state, out_255548955770617621); +void car_H_mod_fun(double *state, double *out_5143375091155045702) { + H_mod_fun(state, out_5143375091155045702); } -void car_f_fun(double *state, double dt, double *out_5905678958362697737) { - f_fun(state, dt, out_5905678958362697737); +void car_f_fun(double *state, double dt, double *out_223721292699517100) { + f_fun(state, dt, out_223721292699517100); } -void car_F_fun(double *state, double dt, double *out_2348542156060617804) { - F_fun(state, dt, out_2348542156060617804); +void car_F_fun(double *state, double dt, double *out_6998880572782646555) { + F_fun(state, dt, out_6998880572782646555); } -void car_h_25(double *state, double *unused, double *out_5870924613014703511) { - h_25(state, unused, out_5870924613014703511); +void car_h_25(double *state, double *unused, double *out_6606540369410235194) { + h_25(state, unused, out_6606540369410235194); } -void car_H_25(double *state, double *unused, double *out_7665789077203242184) { - H_25(state, unused, out_7665789077203242184); +void car_H_25(double *state, double *unused, double *out_8666423729800410850) { + H_25(state, unused, out_8666423729800410850); } -void car_h_24(double *state, double *unused, double *out_7175962086981114995) { - h_24(state, unused, out_7175962086981114995); +void car_h_24(double *state, double *unused, double *out_4049880123285190269) { + h_24(state, unused, out_4049880123285190269); } -void car_H_24(double *state, double *unused, double *out_2919279750236733150) { - H_24(state, unused, out_2919279750236733150); +void car_H_24(double *state, double *unused, double *out_5108498130998087714) { + H_24(state, unused, out_5108498130998087714); } -void car_h_30(double *state, double *unused, double *out_619120766018658974) { - h_30(state, unused, out_619120766018658974); +void car_h_30(double *state, double *unused, double *out_164294856940115742) { + h_30(state, unused, out_164294856940115742); } -void car_H_30(double *state, double *unused, double *out_8262622037999060805) { - H_30(state, unused, out_8262622037999060805); +void car_H_30(double *state, double *unused, double *out_1749733388308794095) { + H_30(state, unused, out_1749733388308794095); } -void car_h_26(double *state, double *unused, double *out_2561596907152652789) { - h_26(state, unused, out_2561596907152652789); +void car_h_26(double *state, double *unused, double *out_767610741616593259) { + h_26(state, unused, out_767610741616593259); } -void car_H_26(double *state, double *unused, double *out_3924285758329185960) { - H_26(state, unused, out_3924285758329185960); +void car_H_26(double *state, double *unused, double *out_6038817025035084542) { + H_26(state, unused, out_6038817025035084542); } -void car_h_27(double *state, double *unused, double *out_6474240497691181028) { - h_27(state, unused, out_6474240497691181028); +void car_h_27(double *state, double *unused, double *out_9132294156050629254) { + h_27(state, unused, out_9132294156050629254); } -void car_H_27(double *state, double *unused, double *out_6039027966815117588) { - H_27(state, unused, out_6039027966815117588); +void car_H_27(double *state, double *unused, double *out_3924496700109219006) { + H_27(state, unused, out_3924496700109219006); } -void car_h_29(double *state, double *unused, double *out_5627330291441514494) { - h_29(state, unused, out_5627330291441514494); +void car_h_29(double *state, double *unused, double *out_2543614691308571426) { + h_29(state, unused, out_2543614691308571426); } -void car_H_29(double *state, double *unused, double *out_7752390693684668621) { - H_29(state, unused, out_7752390693684668621); +void car_H_29(double *state, double *unused, double *out_5637859426978770039) { + H_29(state, unused, out_5637859426978770039); } -void car_h_28(double *state, double *unused, double *out_3437454446246848343) { - h_28(state, unused, out_3437454446246848343); +void car_h_28(double *state, double *unused, double *out_3987404092934981717) { + h_28(state, unused, out_3987404092934981717); } -void car_H_28(double *state, double *unused, double *out_5611954362955352421) { - H_28(state, unused, out_5611954362955352421); +void car_H_28(double *state, double *unused, double *out_7726485629661251003) { + H_28(state, unused, out_7726485629661251003); } -void car_h_31(double *state, double *unused, double *out_556316564325718304) { - h_31(state, unused, out_556316564325718304); +void car_h_31(double *state, double *unused, double *out_6594936115065281760) { + h_31(state, unused, out_6594936115065281760); } -void car_H_31(double *state, double *unused, double *out_3298077656095834484) { - H_31(state, unused, out_3298077656095834484); +void car_H_31(double *state, double *unused, double *out_8635777767923450422) { + H_31(state, unused, out_8635777767923450422); } 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 d04324db0..1164d5f5d 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_7026316075073471994); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_4587773260780687079); -void car_H_mod_fun(double *state, double *out_255548955770617621); -void car_f_fun(double *state, double dt, double *out_5905678958362697737); -void car_F_fun(double *state, double dt, double *out_2348542156060617804); -void car_h_25(double *state, double *unused, double *out_5870924613014703511); -void car_H_25(double *state, double *unused, double *out_7665789077203242184); -void car_h_24(double *state, double *unused, double *out_7175962086981114995); -void car_H_24(double *state, double *unused, double *out_2919279750236733150); -void car_h_30(double *state, double *unused, double *out_619120766018658974); -void car_H_30(double *state, double *unused, double *out_8262622037999060805); -void car_h_26(double *state, double *unused, double *out_2561596907152652789); -void car_H_26(double *state, double *unused, double *out_3924285758329185960); -void car_h_27(double *state, double *unused, double *out_6474240497691181028); -void car_H_27(double *state, double *unused, double *out_6039027966815117588); -void car_h_29(double *state, double *unused, double *out_5627330291441514494); -void car_H_29(double *state, double *unused, double *out_7752390693684668621); -void car_h_28(double *state, double *unused, double *out_3437454446246848343); -void car_H_28(double *state, double *unused, double *out_5611954362955352421); -void car_h_31(double *state, double *unused, double *out_556316564325718304); -void car_H_31(double *state, double *unused, double *out_3298077656095834484); +void car_err_fun(double *nom_x, double *delta_x, double *out_2249508041139738373); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4788524825292355547); +void car_H_mod_fun(double *state, double *out_5143375091155045702); +void car_f_fun(double *state, double dt, double *out_223721292699517100); +void car_F_fun(double *state, double dt, double *out_6998880572782646555); +void car_h_25(double *state, double *unused, double *out_6606540369410235194); +void car_H_25(double *state, double *unused, double *out_8666423729800410850); +void car_h_24(double *state, double *unused, double *out_4049880123285190269); +void car_H_24(double *state, double *unused, double *out_5108498130998087714); +void car_h_30(double *state, double *unused, double *out_164294856940115742); +void car_H_30(double *state, double *unused, double *out_1749733388308794095); +void car_h_26(double *state, double *unused, double *out_767610741616593259); +void car_H_26(double *state, double *unused, double *out_6038817025035084542); +void car_h_27(double *state, double *unused, double *out_9132294156050629254); +void car_H_27(double *state, double *unused, double *out_3924496700109219006); +void car_h_29(double *state, double *unused, double *out_2543614691308571426); +void car_H_29(double *state, double *unused, double *out_5637859426978770039); +void car_h_28(double *state, double *unused, double *out_3987404092934981717); +void car_H_28(double *state, double *unused, double *out_7726485629661251003); +void car_h_31(double *state, double *unused, double *out_6594936115065281760); +void car_H_31(double *state, double *unused, double *out_8635777767923450422); 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 cd2b1a09c..2236edcb1 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_7641933708620610052) { - out_7641933708620610052[0] = delta_x[0] + nom_x[0]; - out_7641933708620610052[1] = delta_x[1] + nom_x[1]; - out_7641933708620610052[2] = delta_x[2] + nom_x[2]; - out_7641933708620610052[3] = delta_x[3] + nom_x[3]; - out_7641933708620610052[4] = delta_x[4] + nom_x[4]; - out_7641933708620610052[5] = delta_x[5] + nom_x[5]; - out_7641933708620610052[6] = delta_x[6] + nom_x[6]; - out_7641933708620610052[7] = delta_x[7] + nom_x[7]; - out_7641933708620610052[8] = delta_x[8] + nom_x[8]; - out_7641933708620610052[9] = delta_x[9] + nom_x[9]; - out_7641933708620610052[10] = delta_x[10] + nom_x[10]; - out_7641933708620610052[11] = delta_x[11] + nom_x[11]; - out_7641933708620610052[12] = delta_x[12] + nom_x[12]; - out_7641933708620610052[13] = delta_x[13] + nom_x[13]; - out_7641933708620610052[14] = delta_x[14] + nom_x[14]; - out_7641933708620610052[15] = delta_x[15] + nom_x[15]; - out_7641933708620610052[16] = delta_x[16] + nom_x[16]; - out_7641933708620610052[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6079659893886918220) { + out_6079659893886918220[0] = delta_x[0] + nom_x[0]; + out_6079659893886918220[1] = delta_x[1] + nom_x[1]; + out_6079659893886918220[2] = delta_x[2] + nom_x[2]; + out_6079659893886918220[3] = delta_x[3] + nom_x[3]; + out_6079659893886918220[4] = delta_x[4] + nom_x[4]; + out_6079659893886918220[5] = delta_x[5] + nom_x[5]; + out_6079659893886918220[6] = delta_x[6] + nom_x[6]; + out_6079659893886918220[7] = delta_x[7] + nom_x[7]; + out_6079659893886918220[8] = delta_x[8] + nom_x[8]; + out_6079659893886918220[9] = delta_x[9] + nom_x[9]; + out_6079659893886918220[10] = delta_x[10] + nom_x[10]; + out_6079659893886918220[11] = delta_x[11] + nom_x[11]; + out_6079659893886918220[12] = delta_x[12] + nom_x[12]; + out_6079659893886918220[13] = delta_x[13] + nom_x[13]; + out_6079659893886918220[14] = delta_x[14] + nom_x[14]; + out_6079659893886918220[15] = delta_x[15] + nom_x[15]; + out_6079659893886918220[16] = delta_x[16] + nom_x[16]; + out_6079659893886918220[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_9128860405088658984) { - out_9128860405088658984[0] = -nom_x[0] + true_x[0]; - out_9128860405088658984[1] = -nom_x[1] + true_x[1]; - out_9128860405088658984[2] = -nom_x[2] + true_x[2]; - out_9128860405088658984[3] = -nom_x[3] + true_x[3]; - out_9128860405088658984[4] = -nom_x[4] + true_x[4]; - out_9128860405088658984[5] = -nom_x[5] + true_x[5]; - out_9128860405088658984[6] = -nom_x[6] + true_x[6]; - out_9128860405088658984[7] = -nom_x[7] + true_x[7]; - out_9128860405088658984[8] = -nom_x[8] + true_x[8]; - out_9128860405088658984[9] = -nom_x[9] + true_x[9]; - out_9128860405088658984[10] = -nom_x[10] + true_x[10]; - out_9128860405088658984[11] = -nom_x[11] + true_x[11]; - out_9128860405088658984[12] = -nom_x[12] + true_x[12]; - out_9128860405088658984[13] = -nom_x[13] + true_x[13]; - out_9128860405088658984[14] = -nom_x[14] + true_x[14]; - out_9128860405088658984[15] = -nom_x[15] + true_x[15]; - out_9128860405088658984[16] = -nom_x[16] + true_x[16]; - out_9128860405088658984[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5200837164005369107) { + out_5200837164005369107[0] = -nom_x[0] + true_x[0]; + out_5200837164005369107[1] = -nom_x[1] + true_x[1]; + out_5200837164005369107[2] = -nom_x[2] + true_x[2]; + out_5200837164005369107[3] = -nom_x[3] + true_x[3]; + out_5200837164005369107[4] = -nom_x[4] + true_x[4]; + out_5200837164005369107[5] = -nom_x[5] + true_x[5]; + out_5200837164005369107[6] = -nom_x[6] + true_x[6]; + out_5200837164005369107[7] = -nom_x[7] + true_x[7]; + out_5200837164005369107[8] = -nom_x[8] + true_x[8]; + out_5200837164005369107[9] = -nom_x[9] + true_x[9]; + out_5200837164005369107[10] = -nom_x[10] + true_x[10]; + out_5200837164005369107[11] = -nom_x[11] + true_x[11]; + out_5200837164005369107[12] = -nom_x[12] + true_x[12]; + out_5200837164005369107[13] = -nom_x[13] + true_x[13]; + out_5200837164005369107[14] = -nom_x[14] + true_x[14]; + out_5200837164005369107[15] = -nom_x[15] + true_x[15]; + out_5200837164005369107[16] = -nom_x[16] + true_x[16]; + out_5200837164005369107[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3103725176518788441) { - out_3103725176518788441[0] = 1.0; - out_3103725176518788441[1] = 0.0; - out_3103725176518788441[2] = 0.0; - out_3103725176518788441[3] = 0.0; - out_3103725176518788441[4] = 0.0; - out_3103725176518788441[5] = 0.0; - out_3103725176518788441[6] = 0.0; - out_3103725176518788441[7] = 0.0; - out_3103725176518788441[8] = 0.0; - out_3103725176518788441[9] = 0.0; - out_3103725176518788441[10] = 0.0; - out_3103725176518788441[11] = 0.0; - out_3103725176518788441[12] = 0.0; - out_3103725176518788441[13] = 0.0; - out_3103725176518788441[14] = 0.0; - out_3103725176518788441[15] = 0.0; - out_3103725176518788441[16] = 0.0; - out_3103725176518788441[17] = 0.0; - out_3103725176518788441[18] = 0.0; - out_3103725176518788441[19] = 1.0; - out_3103725176518788441[20] = 0.0; - out_3103725176518788441[21] = 0.0; - out_3103725176518788441[22] = 0.0; - out_3103725176518788441[23] = 0.0; - out_3103725176518788441[24] = 0.0; - out_3103725176518788441[25] = 0.0; - out_3103725176518788441[26] = 0.0; - out_3103725176518788441[27] = 0.0; - out_3103725176518788441[28] = 0.0; - out_3103725176518788441[29] = 0.0; - out_3103725176518788441[30] = 0.0; - out_3103725176518788441[31] = 0.0; - out_3103725176518788441[32] = 0.0; - out_3103725176518788441[33] = 0.0; - out_3103725176518788441[34] = 0.0; - out_3103725176518788441[35] = 0.0; - out_3103725176518788441[36] = 0.0; - out_3103725176518788441[37] = 0.0; - out_3103725176518788441[38] = 1.0; - out_3103725176518788441[39] = 0.0; - out_3103725176518788441[40] = 0.0; - out_3103725176518788441[41] = 0.0; - out_3103725176518788441[42] = 0.0; - out_3103725176518788441[43] = 0.0; - out_3103725176518788441[44] = 0.0; - out_3103725176518788441[45] = 0.0; - out_3103725176518788441[46] = 0.0; - out_3103725176518788441[47] = 0.0; - out_3103725176518788441[48] = 0.0; - out_3103725176518788441[49] = 0.0; - out_3103725176518788441[50] = 0.0; - out_3103725176518788441[51] = 0.0; - out_3103725176518788441[52] = 0.0; - out_3103725176518788441[53] = 0.0; - out_3103725176518788441[54] = 0.0; - out_3103725176518788441[55] = 0.0; - out_3103725176518788441[56] = 0.0; - out_3103725176518788441[57] = 1.0; - out_3103725176518788441[58] = 0.0; - out_3103725176518788441[59] = 0.0; - out_3103725176518788441[60] = 0.0; - out_3103725176518788441[61] = 0.0; - out_3103725176518788441[62] = 0.0; - out_3103725176518788441[63] = 0.0; - out_3103725176518788441[64] = 0.0; - out_3103725176518788441[65] = 0.0; - out_3103725176518788441[66] = 0.0; - out_3103725176518788441[67] = 0.0; - out_3103725176518788441[68] = 0.0; - out_3103725176518788441[69] = 0.0; - out_3103725176518788441[70] = 0.0; - out_3103725176518788441[71] = 0.0; - out_3103725176518788441[72] = 0.0; - out_3103725176518788441[73] = 0.0; - out_3103725176518788441[74] = 0.0; - out_3103725176518788441[75] = 0.0; - out_3103725176518788441[76] = 1.0; - out_3103725176518788441[77] = 0.0; - out_3103725176518788441[78] = 0.0; - out_3103725176518788441[79] = 0.0; - out_3103725176518788441[80] = 0.0; - out_3103725176518788441[81] = 0.0; - out_3103725176518788441[82] = 0.0; - out_3103725176518788441[83] = 0.0; - out_3103725176518788441[84] = 0.0; - out_3103725176518788441[85] = 0.0; - out_3103725176518788441[86] = 0.0; - out_3103725176518788441[87] = 0.0; - out_3103725176518788441[88] = 0.0; - out_3103725176518788441[89] = 0.0; - out_3103725176518788441[90] = 0.0; - out_3103725176518788441[91] = 0.0; - out_3103725176518788441[92] = 0.0; - out_3103725176518788441[93] = 0.0; - out_3103725176518788441[94] = 0.0; - out_3103725176518788441[95] = 1.0; - out_3103725176518788441[96] = 0.0; - out_3103725176518788441[97] = 0.0; - out_3103725176518788441[98] = 0.0; - out_3103725176518788441[99] = 0.0; - out_3103725176518788441[100] = 0.0; - out_3103725176518788441[101] = 0.0; - out_3103725176518788441[102] = 0.0; - out_3103725176518788441[103] = 0.0; - out_3103725176518788441[104] = 0.0; - out_3103725176518788441[105] = 0.0; - out_3103725176518788441[106] = 0.0; - out_3103725176518788441[107] = 0.0; - out_3103725176518788441[108] = 0.0; - out_3103725176518788441[109] = 0.0; - out_3103725176518788441[110] = 0.0; - out_3103725176518788441[111] = 0.0; - out_3103725176518788441[112] = 0.0; - out_3103725176518788441[113] = 0.0; - out_3103725176518788441[114] = 1.0; - out_3103725176518788441[115] = 0.0; - out_3103725176518788441[116] = 0.0; - out_3103725176518788441[117] = 0.0; - out_3103725176518788441[118] = 0.0; - out_3103725176518788441[119] = 0.0; - out_3103725176518788441[120] = 0.0; - out_3103725176518788441[121] = 0.0; - out_3103725176518788441[122] = 0.0; - out_3103725176518788441[123] = 0.0; - out_3103725176518788441[124] = 0.0; - out_3103725176518788441[125] = 0.0; - out_3103725176518788441[126] = 0.0; - out_3103725176518788441[127] = 0.0; - out_3103725176518788441[128] = 0.0; - out_3103725176518788441[129] = 0.0; - out_3103725176518788441[130] = 0.0; - out_3103725176518788441[131] = 0.0; - out_3103725176518788441[132] = 0.0; - out_3103725176518788441[133] = 1.0; - out_3103725176518788441[134] = 0.0; - out_3103725176518788441[135] = 0.0; - out_3103725176518788441[136] = 0.0; - out_3103725176518788441[137] = 0.0; - out_3103725176518788441[138] = 0.0; - out_3103725176518788441[139] = 0.0; - out_3103725176518788441[140] = 0.0; - out_3103725176518788441[141] = 0.0; - out_3103725176518788441[142] = 0.0; - out_3103725176518788441[143] = 0.0; - out_3103725176518788441[144] = 0.0; - out_3103725176518788441[145] = 0.0; - out_3103725176518788441[146] = 0.0; - out_3103725176518788441[147] = 0.0; - out_3103725176518788441[148] = 0.0; - out_3103725176518788441[149] = 0.0; - out_3103725176518788441[150] = 0.0; - out_3103725176518788441[151] = 0.0; - out_3103725176518788441[152] = 1.0; - out_3103725176518788441[153] = 0.0; - out_3103725176518788441[154] = 0.0; - out_3103725176518788441[155] = 0.0; - out_3103725176518788441[156] = 0.0; - out_3103725176518788441[157] = 0.0; - out_3103725176518788441[158] = 0.0; - out_3103725176518788441[159] = 0.0; - out_3103725176518788441[160] = 0.0; - out_3103725176518788441[161] = 0.0; - out_3103725176518788441[162] = 0.0; - out_3103725176518788441[163] = 0.0; - out_3103725176518788441[164] = 0.0; - out_3103725176518788441[165] = 0.0; - out_3103725176518788441[166] = 0.0; - out_3103725176518788441[167] = 0.0; - out_3103725176518788441[168] = 0.0; - out_3103725176518788441[169] = 0.0; - out_3103725176518788441[170] = 0.0; - out_3103725176518788441[171] = 1.0; - out_3103725176518788441[172] = 0.0; - out_3103725176518788441[173] = 0.0; - out_3103725176518788441[174] = 0.0; - out_3103725176518788441[175] = 0.0; - out_3103725176518788441[176] = 0.0; - out_3103725176518788441[177] = 0.0; - out_3103725176518788441[178] = 0.0; - out_3103725176518788441[179] = 0.0; - out_3103725176518788441[180] = 0.0; - out_3103725176518788441[181] = 0.0; - out_3103725176518788441[182] = 0.0; - out_3103725176518788441[183] = 0.0; - out_3103725176518788441[184] = 0.0; - out_3103725176518788441[185] = 0.0; - out_3103725176518788441[186] = 0.0; - out_3103725176518788441[187] = 0.0; - out_3103725176518788441[188] = 0.0; - out_3103725176518788441[189] = 0.0; - out_3103725176518788441[190] = 1.0; - out_3103725176518788441[191] = 0.0; - out_3103725176518788441[192] = 0.0; - out_3103725176518788441[193] = 0.0; - out_3103725176518788441[194] = 0.0; - out_3103725176518788441[195] = 0.0; - out_3103725176518788441[196] = 0.0; - out_3103725176518788441[197] = 0.0; - out_3103725176518788441[198] = 0.0; - out_3103725176518788441[199] = 0.0; - out_3103725176518788441[200] = 0.0; - out_3103725176518788441[201] = 0.0; - out_3103725176518788441[202] = 0.0; - out_3103725176518788441[203] = 0.0; - out_3103725176518788441[204] = 0.0; - out_3103725176518788441[205] = 0.0; - out_3103725176518788441[206] = 0.0; - out_3103725176518788441[207] = 0.0; - out_3103725176518788441[208] = 0.0; - out_3103725176518788441[209] = 1.0; - out_3103725176518788441[210] = 0.0; - out_3103725176518788441[211] = 0.0; - out_3103725176518788441[212] = 0.0; - out_3103725176518788441[213] = 0.0; - out_3103725176518788441[214] = 0.0; - out_3103725176518788441[215] = 0.0; - out_3103725176518788441[216] = 0.0; - out_3103725176518788441[217] = 0.0; - out_3103725176518788441[218] = 0.0; - out_3103725176518788441[219] = 0.0; - out_3103725176518788441[220] = 0.0; - out_3103725176518788441[221] = 0.0; - out_3103725176518788441[222] = 0.0; - out_3103725176518788441[223] = 0.0; - out_3103725176518788441[224] = 0.0; - out_3103725176518788441[225] = 0.0; - out_3103725176518788441[226] = 0.0; - out_3103725176518788441[227] = 0.0; - out_3103725176518788441[228] = 1.0; - out_3103725176518788441[229] = 0.0; - out_3103725176518788441[230] = 0.0; - out_3103725176518788441[231] = 0.0; - out_3103725176518788441[232] = 0.0; - out_3103725176518788441[233] = 0.0; - out_3103725176518788441[234] = 0.0; - out_3103725176518788441[235] = 0.0; - out_3103725176518788441[236] = 0.0; - out_3103725176518788441[237] = 0.0; - out_3103725176518788441[238] = 0.0; - out_3103725176518788441[239] = 0.0; - out_3103725176518788441[240] = 0.0; - out_3103725176518788441[241] = 0.0; - out_3103725176518788441[242] = 0.0; - out_3103725176518788441[243] = 0.0; - out_3103725176518788441[244] = 0.0; - out_3103725176518788441[245] = 0.0; - out_3103725176518788441[246] = 0.0; - out_3103725176518788441[247] = 1.0; - out_3103725176518788441[248] = 0.0; - out_3103725176518788441[249] = 0.0; - out_3103725176518788441[250] = 0.0; - out_3103725176518788441[251] = 0.0; - out_3103725176518788441[252] = 0.0; - out_3103725176518788441[253] = 0.0; - out_3103725176518788441[254] = 0.0; - out_3103725176518788441[255] = 0.0; - out_3103725176518788441[256] = 0.0; - out_3103725176518788441[257] = 0.0; - out_3103725176518788441[258] = 0.0; - out_3103725176518788441[259] = 0.0; - out_3103725176518788441[260] = 0.0; - out_3103725176518788441[261] = 0.0; - out_3103725176518788441[262] = 0.0; - out_3103725176518788441[263] = 0.0; - out_3103725176518788441[264] = 0.0; - out_3103725176518788441[265] = 0.0; - out_3103725176518788441[266] = 1.0; - out_3103725176518788441[267] = 0.0; - out_3103725176518788441[268] = 0.0; - out_3103725176518788441[269] = 0.0; - out_3103725176518788441[270] = 0.0; - out_3103725176518788441[271] = 0.0; - out_3103725176518788441[272] = 0.0; - out_3103725176518788441[273] = 0.0; - out_3103725176518788441[274] = 0.0; - out_3103725176518788441[275] = 0.0; - out_3103725176518788441[276] = 0.0; - out_3103725176518788441[277] = 0.0; - out_3103725176518788441[278] = 0.0; - out_3103725176518788441[279] = 0.0; - out_3103725176518788441[280] = 0.0; - out_3103725176518788441[281] = 0.0; - out_3103725176518788441[282] = 0.0; - out_3103725176518788441[283] = 0.0; - out_3103725176518788441[284] = 0.0; - out_3103725176518788441[285] = 1.0; - out_3103725176518788441[286] = 0.0; - out_3103725176518788441[287] = 0.0; - out_3103725176518788441[288] = 0.0; - out_3103725176518788441[289] = 0.0; - out_3103725176518788441[290] = 0.0; - out_3103725176518788441[291] = 0.0; - out_3103725176518788441[292] = 0.0; - out_3103725176518788441[293] = 0.0; - out_3103725176518788441[294] = 0.0; - out_3103725176518788441[295] = 0.0; - out_3103725176518788441[296] = 0.0; - out_3103725176518788441[297] = 0.0; - out_3103725176518788441[298] = 0.0; - out_3103725176518788441[299] = 0.0; - out_3103725176518788441[300] = 0.0; - out_3103725176518788441[301] = 0.0; - out_3103725176518788441[302] = 0.0; - out_3103725176518788441[303] = 0.0; - out_3103725176518788441[304] = 1.0; - out_3103725176518788441[305] = 0.0; - out_3103725176518788441[306] = 0.0; - out_3103725176518788441[307] = 0.0; - out_3103725176518788441[308] = 0.0; - out_3103725176518788441[309] = 0.0; - out_3103725176518788441[310] = 0.0; - out_3103725176518788441[311] = 0.0; - out_3103725176518788441[312] = 0.0; - out_3103725176518788441[313] = 0.0; - out_3103725176518788441[314] = 0.0; - out_3103725176518788441[315] = 0.0; - out_3103725176518788441[316] = 0.0; - out_3103725176518788441[317] = 0.0; - out_3103725176518788441[318] = 0.0; - out_3103725176518788441[319] = 0.0; - out_3103725176518788441[320] = 0.0; - out_3103725176518788441[321] = 0.0; - out_3103725176518788441[322] = 0.0; - out_3103725176518788441[323] = 1.0; +void H_mod_fun(double *state, double *out_1320875044412644660) { + out_1320875044412644660[0] = 1.0; + out_1320875044412644660[1] = 0.0; + out_1320875044412644660[2] = 0.0; + out_1320875044412644660[3] = 0.0; + out_1320875044412644660[4] = 0.0; + out_1320875044412644660[5] = 0.0; + out_1320875044412644660[6] = 0.0; + out_1320875044412644660[7] = 0.0; + out_1320875044412644660[8] = 0.0; + out_1320875044412644660[9] = 0.0; + out_1320875044412644660[10] = 0.0; + out_1320875044412644660[11] = 0.0; + out_1320875044412644660[12] = 0.0; + out_1320875044412644660[13] = 0.0; + out_1320875044412644660[14] = 0.0; + out_1320875044412644660[15] = 0.0; + out_1320875044412644660[16] = 0.0; + out_1320875044412644660[17] = 0.0; + out_1320875044412644660[18] = 0.0; + out_1320875044412644660[19] = 1.0; + out_1320875044412644660[20] = 0.0; + out_1320875044412644660[21] = 0.0; + out_1320875044412644660[22] = 0.0; + out_1320875044412644660[23] = 0.0; + out_1320875044412644660[24] = 0.0; + out_1320875044412644660[25] = 0.0; + out_1320875044412644660[26] = 0.0; + out_1320875044412644660[27] = 0.0; + out_1320875044412644660[28] = 0.0; + out_1320875044412644660[29] = 0.0; + out_1320875044412644660[30] = 0.0; + out_1320875044412644660[31] = 0.0; + out_1320875044412644660[32] = 0.0; + out_1320875044412644660[33] = 0.0; + out_1320875044412644660[34] = 0.0; + out_1320875044412644660[35] = 0.0; + out_1320875044412644660[36] = 0.0; + out_1320875044412644660[37] = 0.0; + out_1320875044412644660[38] = 1.0; + out_1320875044412644660[39] = 0.0; + out_1320875044412644660[40] = 0.0; + out_1320875044412644660[41] = 0.0; + out_1320875044412644660[42] = 0.0; + out_1320875044412644660[43] = 0.0; + out_1320875044412644660[44] = 0.0; + out_1320875044412644660[45] = 0.0; + out_1320875044412644660[46] = 0.0; + out_1320875044412644660[47] = 0.0; + out_1320875044412644660[48] = 0.0; + out_1320875044412644660[49] = 0.0; + out_1320875044412644660[50] = 0.0; + out_1320875044412644660[51] = 0.0; + out_1320875044412644660[52] = 0.0; + out_1320875044412644660[53] = 0.0; + out_1320875044412644660[54] = 0.0; + out_1320875044412644660[55] = 0.0; + out_1320875044412644660[56] = 0.0; + out_1320875044412644660[57] = 1.0; + out_1320875044412644660[58] = 0.0; + out_1320875044412644660[59] = 0.0; + out_1320875044412644660[60] = 0.0; + out_1320875044412644660[61] = 0.0; + out_1320875044412644660[62] = 0.0; + out_1320875044412644660[63] = 0.0; + out_1320875044412644660[64] = 0.0; + out_1320875044412644660[65] = 0.0; + out_1320875044412644660[66] = 0.0; + out_1320875044412644660[67] = 0.0; + out_1320875044412644660[68] = 0.0; + out_1320875044412644660[69] = 0.0; + out_1320875044412644660[70] = 0.0; + out_1320875044412644660[71] = 0.0; + out_1320875044412644660[72] = 0.0; + out_1320875044412644660[73] = 0.0; + out_1320875044412644660[74] = 0.0; + out_1320875044412644660[75] = 0.0; + out_1320875044412644660[76] = 1.0; + out_1320875044412644660[77] = 0.0; + out_1320875044412644660[78] = 0.0; + out_1320875044412644660[79] = 0.0; + out_1320875044412644660[80] = 0.0; + out_1320875044412644660[81] = 0.0; + out_1320875044412644660[82] = 0.0; + out_1320875044412644660[83] = 0.0; + out_1320875044412644660[84] = 0.0; + out_1320875044412644660[85] = 0.0; + out_1320875044412644660[86] = 0.0; + out_1320875044412644660[87] = 0.0; + out_1320875044412644660[88] = 0.0; + out_1320875044412644660[89] = 0.0; + out_1320875044412644660[90] = 0.0; + out_1320875044412644660[91] = 0.0; + out_1320875044412644660[92] = 0.0; + out_1320875044412644660[93] = 0.0; + out_1320875044412644660[94] = 0.0; + out_1320875044412644660[95] = 1.0; + out_1320875044412644660[96] = 0.0; + out_1320875044412644660[97] = 0.0; + out_1320875044412644660[98] = 0.0; + out_1320875044412644660[99] = 0.0; + out_1320875044412644660[100] = 0.0; + out_1320875044412644660[101] = 0.0; + out_1320875044412644660[102] = 0.0; + out_1320875044412644660[103] = 0.0; + out_1320875044412644660[104] = 0.0; + out_1320875044412644660[105] = 0.0; + out_1320875044412644660[106] = 0.0; + out_1320875044412644660[107] = 0.0; + out_1320875044412644660[108] = 0.0; + out_1320875044412644660[109] = 0.0; + out_1320875044412644660[110] = 0.0; + out_1320875044412644660[111] = 0.0; + out_1320875044412644660[112] = 0.0; + out_1320875044412644660[113] = 0.0; + out_1320875044412644660[114] = 1.0; + out_1320875044412644660[115] = 0.0; + out_1320875044412644660[116] = 0.0; + out_1320875044412644660[117] = 0.0; + out_1320875044412644660[118] = 0.0; + out_1320875044412644660[119] = 0.0; + out_1320875044412644660[120] = 0.0; + out_1320875044412644660[121] = 0.0; + out_1320875044412644660[122] = 0.0; + out_1320875044412644660[123] = 0.0; + out_1320875044412644660[124] = 0.0; + out_1320875044412644660[125] = 0.0; + out_1320875044412644660[126] = 0.0; + out_1320875044412644660[127] = 0.0; + out_1320875044412644660[128] = 0.0; + out_1320875044412644660[129] = 0.0; + out_1320875044412644660[130] = 0.0; + out_1320875044412644660[131] = 0.0; + out_1320875044412644660[132] = 0.0; + out_1320875044412644660[133] = 1.0; + out_1320875044412644660[134] = 0.0; + out_1320875044412644660[135] = 0.0; + out_1320875044412644660[136] = 0.0; + out_1320875044412644660[137] = 0.0; + out_1320875044412644660[138] = 0.0; + out_1320875044412644660[139] = 0.0; + out_1320875044412644660[140] = 0.0; + out_1320875044412644660[141] = 0.0; + out_1320875044412644660[142] = 0.0; + out_1320875044412644660[143] = 0.0; + out_1320875044412644660[144] = 0.0; + out_1320875044412644660[145] = 0.0; + out_1320875044412644660[146] = 0.0; + out_1320875044412644660[147] = 0.0; + out_1320875044412644660[148] = 0.0; + out_1320875044412644660[149] = 0.0; + out_1320875044412644660[150] = 0.0; + out_1320875044412644660[151] = 0.0; + out_1320875044412644660[152] = 1.0; + out_1320875044412644660[153] = 0.0; + out_1320875044412644660[154] = 0.0; + out_1320875044412644660[155] = 0.0; + out_1320875044412644660[156] = 0.0; + out_1320875044412644660[157] = 0.0; + out_1320875044412644660[158] = 0.0; + out_1320875044412644660[159] = 0.0; + out_1320875044412644660[160] = 0.0; + out_1320875044412644660[161] = 0.0; + out_1320875044412644660[162] = 0.0; + out_1320875044412644660[163] = 0.0; + out_1320875044412644660[164] = 0.0; + out_1320875044412644660[165] = 0.0; + out_1320875044412644660[166] = 0.0; + out_1320875044412644660[167] = 0.0; + out_1320875044412644660[168] = 0.0; + out_1320875044412644660[169] = 0.0; + out_1320875044412644660[170] = 0.0; + out_1320875044412644660[171] = 1.0; + out_1320875044412644660[172] = 0.0; + out_1320875044412644660[173] = 0.0; + out_1320875044412644660[174] = 0.0; + out_1320875044412644660[175] = 0.0; + out_1320875044412644660[176] = 0.0; + out_1320875044412644660[177] = 0.0; + out_1320875044412644660[178] = 0.0; + out_1320875044412644660[179] = 0.0; + out_1320875044412644660[180] = 0.0; + out_1320875044412644660[181] = 0.0; + out_1320875044412644660[182] = 0.0; + out_1320875044412644660[183] = 0.0; + out_1320875044412644660[184] = 0.0; + out_1320875044412644660[185] = 0.0; + out_1320875044412644660[186] = 0.0; + out_1320875044412644660[187] = 0.0; + out_1320875044412644660[188] = 0.0; + out_1320875044412644660[189] = 0.0; + out_1320875044412644660[190] = 1.0; + out_1320875044412644660[191] = 0.0; + out_1320875044412644660[192] = 0.0; + out_1320875044412644660[193] = 0.0; + out_1320875044412644660[194] = 0.0; + out_1320875044412644660[195] = 0.0; + out_1320875044412644660[196] = 0.0; + out_1320875044412644660[197] = 0.0; + out_1320875044412644660[198] = 0.0; + out_1320875044412644660[199] = 0.0; + out_1320875044412644660[200] = 0.0; + out_1320875044412644660[201] = 0.0; + out_1320875044412644660[202] = 0.0; + out_1320875044412644660[203] = 0.0; + out_1320875044412644660[204] = 0.0; + out_1320875044412644660[205] = 0.0; + out_1320875044412644660[206] = 0.0; + out_1320875044412644660[207] = 0.0; + out_1320875044412644660[208] = 0.0; + out_1320875044412644660[209] = 1.0; + out_1320875044412644660[210] = 0.0; + out_1320875044412644660[211] = 0.0; + out_1320875044412644660[212] = 0.0; + out_1320875044412644660[213] = 0.0; + out_1320875044412644660[214] = 0.0; + out_1320875044412644660[215] = 0.0; + out_1320875044412644660[216] = 0.0; + out_1320875044412644660[217] = 0.0; + out_1320875044412644660[218] = 0.0; + out_1320875044412644660[219] = 0.0; + out_1320875044412644660[220] = 0.0; + out_1320875044412644660[221] = 0.0; + out_1320875044412644660[222] = 0.0; + out_1320875044412644660[223] = 0.0; + out_1320875044412644660[224] = 0.0; + out_1320875044412644660[225] = 0.0; + out_1320875044412644660[226] = 0.0; + out_1320875044412644660[227] = 0.0; + out_1320875044412644660[228] = 1.0; + out_1320875044412644660[229] = 0.0; + out_1320875044412644660[230] = 0.0; + out_1320875044412644660[231] = 0.0; + out_1320875044412644660[232] = 0.0; + out_1320875044412644660[233] = 0.0; + out_1320875044412644660[234] = 0.0; + out_1320875044412644660[235] = 0.0; + out_1320875044412644660[236] = 0.0; + out_1320875044412644660[237] = 0.0; + out_1320875044412644660[238] = 0.0; + out_1320875044412644660[239] = 0.0; + out_1320875044412644660[240] = 0.0; + out_1320875044412644660[241] = 0.0; + out_1320875044412644660[242] = 0.0; + out_1320875044412644660[243] = 0.0; + out_1320875044412644660[244] = 0.0; + out_1320875044412644660[245] = 0.0; + out_1320875044412644660[246] = 0.0; + out_1320875044412644660[247] = 1.0; + out_1320875044412644660[248] = 0.0; + out_1320875044412644660[249] = 0.0; + out_1320875044412644660[250] = 0.0; + out_1320875044412644660[251] = 0.0; + out_1320875044412644660[252] = 0.0; + out_1320875044412644660[253] = 0.0; + out_1320875044412644660[254] = 0.0; + out_1320875044412644660[255] = 0.0; + out_1320875044412644660[256] = 0.0; + out_1320875044412644660[257] = 0.0; + out_1320875044412644660[258] = 0.0; + out_1320875044412644660[259] = 0.0; + out_1320875044412644660[260] = 0.0; + out_1320875044412644660[261] = 0.0; + out_1320875044412644660[262] = 0.0; + out_1320875044412644660[263] = 0.0; + out_1320875044412644660[264] = 0.0; + out_1320875044412644660[265] = 0.0; + out_1320875044412644660[266] = 1.0; + out_1320875044412644660[267] = 0.0; + out_1320875044412644660[268] = 0.0; + out_1320875044412644660[269] = 0.0; + out_1320875044412644660[270] = 0.0; + out_1320875044412644660[271] = 0.0; + out_1320875044412644660[272] = 0.0; + out_1320875044412644660[273] = 0.0; + out_1320875044412644660[274] = 0.0; + out_1320875044412644660[275] = 0.0; + out_1320875044412644660[276] = 0.0; + out_1320875044412644660[277] = 0.0; + out_1320875044412644660[278] = 0.0; + out_1320875044412644660[279] = 0.0; + out_1320875044412644660[280] = 0.0; + out_1320875044412644660[281] = 0.0; + out_1320875044412644660[282] = 0.0; + out_1320875044412644660[283] = 0.0; + out_1320875044412644660[284] = 0.0; + out_1320875044412644660[285] = 1.0; + out_1320875044412644660[286] = 0.0; + out_1320875044412644660[287] = 0.0; + out_1320875044412644660[288] = 0.0; + out_1320875044412644660[289] = 0.0; + out_1320875044412644660[290] = 0.0; + out_1320875044412644660[291] = 0.0; + out_1320875044412644660[292] = 0.0; + out_1320875044412644660[293] = 0.0; + out_1320875044412644660[294] = 0.0; + out_1320875044412644660[295] = 0.0; + out_1320875044412644660[296] = 0.0; + out_1320875044412644660[297] = 0.0; + out_1320875044412644660[298] = 0.0; + out_1320875044412644660[299] = 0.0; + out_1320875044412644660[300] = 0.0; + out_1320875044412644660[301] = 0.0; + out_1320875044412644660[302] = 0.0; + out_1320875044412644660[303] = 0.0; + out_1320875044412644660[304] = 1.0; + out_1320875044412644660[305] = 0.0; + out_1320875044412644660[306] = 0.0; + out_1320875044412644660[307] = 0.0; + out_1320875044412644660[308] = 0.0; + out_1320875044412644660[309] = 0.0; + out_1320875044412644660[310] = 0.0; + out_1320875044412644660[311] = 0.0; + out_1320875044412644660[312] = 0.0; + out_1320875044412644660[313] = 0.0; + out_1320875044412644660[314] = 0.0; + out_1320875044412644660[315] = 0.0; + out_1320875044412644660[316] = 0.0; + out_1320875044412644660[317] = 0.0; + out_1320875044412644660[318] = 0.0; + out_1320875044412644660[319] = 0.0; + out_1320875044412644660[320] = 0.0; + out_1320875044412644660[321] = 0.0; + out_1320875044412644660[322] = 0.0; + out_1320875044412644660[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5259001848744899041) { - out_5259001848744899041[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_5259001848744899041[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_5259001848744899041[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_5259001848744899041[3] = dt*state[12] + state[3]; - out_5259001848744899041[4] = dt*state[13] + state[4]; - out_5259001848744899041[5] = dt*state[14] + state[5]; - out_5259001848744899041[6] = state[6]; - out_5259001848744899041[7] = state[7]; - out_5259001848744899041[8] = state[8]; - out_5259001848744899041[9] = state[9]; - out_5259001848744899041[10] = state[10]; - out_5259001848744899041[11] = state[11]; - out_5259001848744899041[12] = state[12]; - out_5259001848744899041[13] = state[13]; - out_5259001848744899041[14] = state[14]; - out_5259001848744899041[15] = state[15]; - out_5259001848744899041[16] = state[16]; - out_5259001848744899041[17] = state[17]; +void f_fun(double *state, double dt, double *out_4957392939814811366) { + out_4957392939814811366[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_4957392939814811366[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_4957392939814811366[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_4957392939814811366[3] = dt*state[12] + state[3]; + out_4957392939814811366[4] = dt*state[13] + state[4]; + out_4957392939814811366[5] = dt*state[14] + state[5]; + out_4957392939814811366[6] = state[6]; + out_4957392939814811366[7] = state[7]; + out_4957392939814811366[8] = state[8]; + out_4957392939814811366[9] = state[9]; + out_4957392939814811366[10] = state[10]; + out_4957392939814811366[11] = state[11]; + out_4957392939814811366[12] = state[12]; + out_4957392939814811366[13] = state[13]; + out_4957392939814811366[14] = state[14]; + out_4957392939814811366[15] = state[15]; + out_4957392939814811366[16] = state[16]; + out_4957392939814811366[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6765250644485775616) { - out_6765250644485775616[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_6765250644485775616[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_6765250644485775616[2] = 0; - out_6765250644485775616[3] = 0; - out_6765250644485775616[4] = 0; - out_6765250644485775616[5] = 0; - out_6765250644485775616[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_6765250644485775616[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_6765250644485775616[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_6765250644485775616[9] = 0; - out_6765250644485775616[10] = 0; - out_6765250644485775616[11] = 0; - out_6765250644485775616[12] = 0; - out_6765250644485775616[13] = 0; - out_6765250644485775616[14] = 0; - out_6765250644485775616[15] = 0; - out_6765250644485775616[16] = 0; - out_6765250644485775616[17] = 0; - out_6765250644485775616[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_6765250644485775616[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_6765250644485775616[20] = 0; - out_6765250644485775616[21] = 0; - out_6765250644485775616[22] = 0; - out_6765250644485775616[23] = 0; - out_6765250644485775616[24] = 0; - out_6765250644485775616[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_6765250644485775616[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_6765250644485775616[27] = 0; - out_6765250644485775616[28] = 0; - out_6765250644485775616[29] = 0; - out_6765250644485775616[30] = 0; - out_6765250644485775616[31] = 0; - out_6765250644485775616[32] = 0; - out_6765250644485775616[33] = 0; - out_6765250644485775616[34] = 0; - out_6765250644485775616[35] = 0; - out_6765250644485775616[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_6765250644485775616[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_6765250644485775616[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_6765250644485775616[39] = 0; - out_6765250644485775616[40] = 0; - out_6765250644485775616[41] = 0; - out_6765250644485775616[42] = 0; - out_6765250644485775616[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_6765250644485775616[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_6765250644485775616[45] = 0; - out_6765250644485775616[46] = 0; - out_6765250644485775616[47] = 0; - out_6765250644485775616[48] = 0; - out_6765250644485775616[49] = 0; - out_6765250644485775616[50] = 0; - out_6765250644485775616[51] = 0; - out_6765250644485775616[52] = 0; - out_6765250644485775616[53] = 0; - out_6765250644485775616[54] = 0; - out_6765250644485775616[55] = 0; - out_6765250644485775616[56] = 0; - out_6765250644485775616[57] = 1; - out_6765250644485775616[58] = 0; - out_6765250644485775616[59] = 0; - out_6765250644485775616[60] = 0; - out_6765250644485775616[61] = 0; - out_6765250644485775616[62] = 0; - out_6765250644485775616[63] = 0; - out_6765250644485775616[64] = 0; - out_6765250644485775616[65] = 0; - out_6765250644485775616[66] = dt; - out_6765250644485775616[67] = 0; - out_6765250644485775616[68] = 0; - out_6765250644485775616[69] = 0; - out_6765250644485775616[70] = 0; - out_6765250644485775616[71] = 0; - out_6765250644485775616[72] = 0; - out_6765250644485775616[73] = 0; - out_6765250644485775616[74] = 0; - out_6765250644485775616[75] = 0; - out_6765250644485775616[76] = 1; - out_6765250644485775616[77] = 0; - out_6765250644485775616[78] = 0; - out_6765250644485775616[79] = 0; - out_6765250644485775616[80] = 0; - out_6765250644485775616[81] = 0; - out_6765250644485775616[82] = 0; - out_6765250644485775616[83] = 0; - out_6765250644485775616[84] = 0; - out_6765250644485775616[85] = dt; - out_6765250644485775616[86] = 0; - out_6765250644485775616[87] = 0; - out_6765250644485775616[88] = 0; - out_6765250644485775616[89] = 0; - out_6765250644485775616[90] = 0; - out_6765250644485775616[91] = 0; - out_6765250644485775616[92] = 0; - out_6765250644485775616[93] = 0; - out_6765250644485775616[94] = 0; - out_6765250644485775616[95] = 1; - out_6765250644485775616[96] = 0; - out_6765250644485775616[97] = 0; - out_6765250644485775616[98] = 0; - out_6765250644485775616[99] = 0; - out_6765250644485775616[100] = 0; - out_6765250644485775616[101] = 0; - out_6765250644485775616[102] = 0; - out_6765250644485775616[103] = 0; - out_6765250644485775616[104] = dt; - out_6765250644485775616[105] = 0; - out_6765250644485775616[106] = 0; - out_6765250644485775616[107] = 0; - out_6765250644485775616[108] = 0; - out_6765250644485775616[109] = 0; - out_6765250644485775616[110] = 0; - out_6765250644485775616[111] = 0; - out_6765250644485775616[112] = 0; - out_6765250644485775616[113] = 0; - out_6765250644485775616[114] = 1; - out_6765250644485775616[115] = 0; - out_6765250644485775616[116] = 0; - out_6765250644485775616[117] = 0; - out_6765250644485775616[118] = 0; - out_6765250644485775616[119] = 0; - out_6765250644485775616[120] = 0; - out_6765250644485775616[121] = 0; - out_6765250644485775616[122] = 0; - out_6765250644485775616[123] = 0; - out_6765250644485775616[124] = 0; - out_6765250644485775616[125] = 0; - out_6765250644485775616[126] = 0; - out_6765250644485775616[127] = 0; - out_6765250644485775616[128] = 0; - out_6765250644485775616[129] = 0; - out_6765250644485775616[130] = 0; - out_6765250644485775616[131] = 0; - out_6765250644485775616[132] = 0; - out_6765250644485775616[133] = 1; - out_6765250644485775616[134] = 0; - out_6765250644485775616[135] = 0; - out_6765250644485775616[136] = 0; - out_6765250644485775616[137] = 0; - out_6765250644485775616[138] = 0; - out_6765250644485775616[139] = 0; - out_6765250644485775616[140] = 0; - out_6765250644485775616[141] = 0; - out_6765250644485775616[142] = 0; - out_6765250644485775616[143] = 0; - out_6765250644485775616[144] = 0; - out_6765250644485775616[145] = 0; - out_6765250644485775616[146] = 0; - out_6765250644485775616[147] = 0; - out_6765250644485775616[148] = 0; - out_6765250644485775616[149] = 0; - out_6765250644485775616[150] = 0; - out_6765250644485775616[151] = 0; - out_6765250644485775616[152] = 1; - out_6765250644485775616[153] = 0; - out_6765250644485775616[154] = 0; - out_6765250644485775616[155] = 0; - out_6765250644485775616[156] = 0; - out_6765250644485775616[157] = 0; - out_6765250644485775616[158] = 0; - out_6765250644485775616[159] = 0; - out_6765250644485775616[160] = 0; - out_6765250644485775616[161] = 0; - out_6765250644485775616[162] = 0; - out_6765250644485775616[163] = 0; - out_6765250644485775616[164] = 0; - out_6765250644485775616[165] = 0; - out_6765250644485775616[166] = 0; - out_6765250644485775616[167] = 0; - out_6765250644485775616[168] = 0; - out_6765250644485775616[169] = 0; - out_6765250644485775616[170] = 0; - out_6765250644485775616[171] = 1; - out_6765250644485775616[172] = 0; - out_6765250644485775616[173] = 0; - out_6765250644485775616[174] = 0; - out_6765250644485775616[175] = 0; - out_6765250644485775616[176] = 0; - out_6765250644485775616[177] = 0; - out_6765250644485775616[178] = 0; - out_6765250644485775616[179] = 0; - out_6765250644485775616[180] = 0; - out_6765250644485775616[181] = 0; - out_6765250644485775616[182] = 0; - out_6765250644485775616[183] = 0; - out_6765250644485775616[184] = 0; - out_6765250644485775616[185] = 0; - out_6765250644485775616[186] = 0; - out_6765250644485775616[187] = 0; - out_6765250644485775616[188] = 0; - out_6765250644485775616[189] = 0; - out_6765250644485775616[190] = 1; - out_6765250644485775616[191] = 0; - out_6765250644485775616[192] = 0; - out_6765250644485775616[193] = 0; - out_6765250644485775616[194] = 0; - out_6765250644485775616[195] = 0; - out_6765250644485775616[196] = 0; - out_6765250644485775616[197] = 0; - out_6765250644485775616[198] = 0; - out_6765250644485775616[199] = 0; - out_6765250644485775616[200] = 0; - out_6765250644485775616[201] = 0; - out_6765250644485775616[202] = 0; - out_6765250644485775616[203] = 0; - out_6765250644485775616[204] = 0; - out_6765250644485775616[205] = 0; - out_6765250644485775616[206] = 0; - out_6765250644485775616[207] = 0; - out_6765250644485775616[208] = 0; - out_6765250644485775616[209] = 1; - out_6765250644485775616[210] = 0; - out_6765250644485775616[211] = 0; - out_6765250644485775616[212] = 0; - out_6765250644485775616[213] = 0; - out_6765250644485775616[214] = 0; - out_6765250644485775616[215] = 0; - out_6765250644485775616[216] = 0; - out_6765250644485775616[217] = 0; - out_6765250644485775616[218] = 0; - out_6765250644485775616[219] = 0; - out_6765250644485775616[220] = 0; - out_6765250644485775616[221] = 0; - out_6765250644485775616[222] = 0; - out_6765250644485775616[223] = 0; - out_6765250644485775616[224] = 0; - out_6765250644485775616[225] = 0; - out_6765250644485775616[226] = 0; - out_6765250644485775616[227] = 0; - out_6765250644485775616[228] = 1; - out_6765250644485775616[229] = 0; - out_6765250644485775616[230] = 0; - out_6765250644485775616[231] = 0; - out_6765250644485775616[232] = 0; - out_6765250644485775616[233] = 0; - out_6765250644485775616[234] = 0; - out_6765250644485775616[235] = 0; - out_6765250644485775616[236] = 0; - out_6765250644485775616[237] = 0; - out_6765250644485775616[238] = 0; - out_6765250644485775616[239] = 0; - out_6765250644485775616[240] = 0; - out_6765250644485775616[241] = 0; - out_6765250644485775616[242] = 0; - out_6765250644485775616[243] = 0; - out_6765250644485775616[244] = 0; - out_6765250644485775616[245] = 0; - out_6765250644485775616[246] = 0; - out_6765250644485775616[247] = 1; - out_6765250644485775616[248] = 0; - out_6765250644485775616[249] = 0; - out_6765250644485775616[250] = 0; - out_6765250644485775616[251] = 0; - out_6765250644485775616[252] = 0; - out_6765250644485775616[253] = 0; - out_6765250644485775616[254] = 0; - out_6765250644485775616[255] = 0; - out_6765250644485775616[256] = 0; - out_6765250644485775616[257] = 0; - out_6765250644485775616[258] = 0; - out_6765250644485775616[259] = 0; - out_6765250644485775616[260] = 0; - out_6765250644485775616[261] = 0; - out_6765250644485775616[262] = 0; - out_6765250644485775616[263] = 0; - out_6765250644485775616[264] = 0; - out_6765250644485775616[265] = 0; - out_6765250644485775616[266] = 1; - out_6765250644485775616[267] = 0; - out_6765250644485775616[268] = 0; - out_6765250644485775616[269] = 0; - out_6765250644485775616[270] = 0; - out_6765250644485775616[271] = 0; - out_6765250644485775616[272] = 0; - out_6765250644485775616[273] = 0; - out_6765250644485775616[274] = 0; - out_6765250644485775616[275] = 0; - out_6765250644485775616[276] = 0; - out_6765250644485775616[277] = 0; - out_6765250644485775616[278] = 0; - out_6765250644485775616[279] = 0; - out_6765250644485775616[280] = 0; - out_6765250644485775616[281] = 0; - out_6765250644485775616[282] = 0; - out_6765250644485775616[283] = 0; - out_6765250644485775616[284] = 0; - out_6765250644485775616[285] = 1; - out_6765250644485775616[286] = 0; - out_6765250644485775616[287] = 0; - out_6765250644485775616[288] = 0; - out_6765250644485775616[289] = 0; - out_6765250644485775616[290] = 0; - out_6765250644485775616[291] = 0; - out_6765250644485775616[292] = 0; - out_6765250644485775616[293] = 0; - out_6765250644485775616[294] = 0; - out_6765250644485775616[295] = 0; - out_6765250644485775616[296] = 0; - out_6765250644485775616[297] = 0; - out_6765250644485775616[298] = 0; - out_6765250644485775616[299] = 0; - out_6765250644485775616[300] = 0; - out_6765250644485775616[301] = 0; - out_6765250644485775616[302] = 0; - out_6765250644485775616[303] = 0; - out_6765250644485775616[304] = 1; - out_6765250644485775616[305] = 0; - out_6765250644485775616[306] = 0; - out_6765250644485775616[307] = 0; - out_6765250644485775616[308] = 0; - out_6765250644485775616[309] = 0; - out_6765250644485775616[310] = 0; - out_6765250644485775616[311] = 0; - out_6765250644485775616[312] = 0; - out_6765250644485775616[313] = 0; - out_6765250644485775616[314] = 0; - out_6765250644485775616[315] = 0; - out_6765250644485775616[316] = 0; - out_6765250644485775616[317] = 0; - out_6765250644485775616[318] = 0; - out_6765250644485775616[319] = 0; - out_6765250644485775616[320] = 0; - out_6765250644485775616[321] = 0; - out_6765250644485775616[322] = 0; - out_6765250644485775616[323] = 1; +void F_fun(double *state, double dt, double *out_3660031818732653459) { + out_3660031818732653459[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_3660031818732653459[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_3660031818732653459[2] = 0; + out_3660031818732653459[3] = 0; + out_3660031818732653459[4] = 0; + out_3660031818732653459[5] = 0; + out_3660031818732653459[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_3660031818732653459[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_3660031818732653459[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_3660031818732653459[9] = 0; + out_3660031818732653459[10] = 0; + out_3660031818732653459[11] = 0; + out_3660031818732653459[12] = 0; + out_3660031818732653459[13] = 0; + out_3660031818732653459[14] = 0; + out_3660031818732653459[15] = 0; + out_3660031818732653459[16] = 0; + out_3660031818732653459[17] = 0; + out_3660031818732653459[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_3660031818732653459[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_3660031818732653459[20] = 0; + out_3660031818732653459[21] = 0; + out_3660031818732653459[22] = 0; + out_3660031818732653459[23] = 0; + out_3660031818732653459[24] = 0; + out_3660031818732653459[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_3660031818732653459[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_3660031818732653459[27] = 0; + out_3660031818732653459[28] = 0; + out_3660031818732653459[29] = 0; + out_3660031818732653459[30] = 0; + out_3660031818732653459[31] = 0; + out_3660031818732653459[32] = 0; + out_3660031818732653459[33] = 0; + out_3660031818732653459[34] = 0; + out_3660031818732653459[35] = 0; + out_3660031818732653459[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_3660031818732653459[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_3660031818732653459[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_3660031818732653459[39] = 0; + out_3660031818732653459[40] = 0; + out_3660031818732653459[41] = 0; + out_3660031818732653459[42] = 0; + out_3660031818732653459[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_3660031818732653459[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_3660031818732653459[45] = 0; + out_3660031818732653459[46] = 0; + out_3660031818732653459[47] = 0; + out_3660031818732653459[48] = 0; + out_3660031818732653459[49] = 0; + out_3660031818732653459[50] = 0; + out_3660031818732653459[51] = 0; + out_3660031818732653459[52] = 0; + out_3660031818732653459[53] = 0; + out_3660031818732653459[54] = 0; + out_3660031818732653459[55] = 0; + out_3660031818732653459[56] = 0; + out_3660031818732653459[57] = 1; + out_3660031818732653459[58] = 0; + out_3660031818732653459[59] = 0; + out_3660031818732653459[60] = 0; + out_3660031818732653459[61] = 0; + out_3660031818732653459[62] = 0; + out_3660031818732653459[63] = 0; + out_3660031818732653459[64] = 0; + out_3660031818732653459[65] = 0; + out_3660031818732653459[66] = dt; + out_3660031818732653459[67] = 0; + out_3660031818732653459[68] = 0; + out_3660031818732653459[69] = 0; + out_3660031818732653459[70] = 0; + out_3660031818732653459[71] = 0; + out_3660031818732653459[72] = 0; + out_3660031818732653459[73] = 0; + out_3660031818732653459[74] = 0; + out_3660031818732653459[75] = 0; + out_3660031818732653459[76] = 1; + out_3660031818732653459[77] = 0; + out_3660031818732653459[78] = 0; + out_3660031818732653459[79] = 0; + out_3660031818732653459[80] = 0; + out_3660031818732653459[81] = 0; + out_3660031818732653459[82] = 0; + out_3660031818732653459[83] = 0; + out_3660031818732653459[84] = 0; + out_3660031818732653459[85] = dt; + out_3660031818732653459[86] = 0; + out_3660031818732653459[87] = 0; + out_3660031818732653459[88] = 0; + out_3660031818732653459[89] = 0; + out_3660031818732653459[90] = 0; + out_3660031818732653459[91] = 0; + out_3660031818732653459[92] = 0; + out_3660031818732653459[93] = 0; + out_3660031818732653459[94] = 0; + out_3660031818732653459[95] = 1; + out_3660031818732653459[96] = 0; + out_3660031818732653459[97] = 0; + out_3660031818732653459[98] = 0; + out_3660031818732653459[99] = 0; + out_3660031818732653459[100] = 0; + out_3660031818732653459[101] = 0; + out_3660031818732653459[102] = 0; + out_3660031818732653459[103] = 0; + out_3660031818732653459[104] = dt; + out_3660031818732653459[105] = 0; + out_3660031818732653459[106] = 0; + out_3660031818732653459[107] = 0; + out_3660031818732653459[108] = 0; + out_3660031818732653459[109] = 0; + out_3660031818732653459[110] = 0; + out_3660031818732653459[111] = 0; + out_3660031818732653459[112] = 0; + out_3660031818732653459[113] = 0; + out_3660031818732653459[114] = 1; + out_3660031818732653459[115] = 0; + out_3660031818732653459[116] = 0; + out_3660031818732653459[117] = 0; + out_3660031818732653459[118] = 0; + out_3660031818732653459[119] = 0; + out_3660031818732653459[120] = 0; + out_3660031818732653459[121] = 0; + out_3660031818732653459[122] = 0; + out_3660031818732653459[123] = 0; + out_3660031818732653459[124] = 0; + out_3660031818732653459[125] = 0; + out_3660031818732653459[126] = 0; + out_3660031818732653459[127] = 0; + out_3660031818732653459[128] = 0; + out_3660031818732653459[129] = 0; + out_3660031818732653459[130] = 0; + out_3660031818732653459[131] = 0; + out_3660031818732653459[132] = 0; + out_3660031818732653459[133] = 1; + out_3660031818732653459[134] = 0; + out_3660031818732653459[135] = 0; + out_3660031818732653459[136] = 0; + out_3660031818732653459[137] = 0; + out_3660031818732653459[138] = 0; + out_3660031818732653459[139] = 0; + out_3660031818732653459[140] = 0; + out_3660031818732653459[141] = 0; + out_3660031818732653459[142] = 0; + out_3660031818732653459[143] = 0; + out_3660031818732653459[144] = 0; + out_3660031818732653459[145] = 0; + out_3660031818732653459[146] = 0; + out_3660031818732653459[147] = 0; + out_3660031818732653459[148] = 0; + out_3660031818732653459[149] = 0; + out_3660031818732653459[150] = 0; + out_3660031818732653459[151] = 0; + out_3660031818732653459[152] = 1; + out_3660031818732653459[153] = 0; + out_3660031818732653459[154] = 0; + out_3660031818732653459[155] = 0; + out_3660031818732653459[156] = 0; + out_3660031818732653459[157] = 0; + out_3660031818732653459[158] = 0; + out_3660031818732653459[159] = 0; + out_3660031818732653459[160] = 0; + out_3660031818732653459[161] = 0; + out_3660031818732653459[162] = 0; + out_3660031818732653459[163] = 0; + out_3660031818732653459[164] = 0; + out_3660031818732653459[165] = 0; + out_3660031818732653459[166] = 0; + out_3660031818732653459[167] = 0; + out_3660031818732653459[168] = 0; + out_3660031818732653459[169] = 0; + out_3660031818732653459[170] = 0; + out_3660031818732653459[171] = 1; + out_3660031818732653459[172] = 0; + out_3660031818732653459[173] = 0; + out_3660031818732653459[174] = 0; + out_3660031818732653459[175] = 0; + out_3660031818732653459[176] = 0; + out_3660031818732653459[177] = 0; + out_3660031818732653459[178] = 0; + out_3660031818732653459[179] = 0; + out_3660031818732653459[180] = 0; + out_3660031818732653459[181] = 0; + out_3660031818732653459[182] = 0; + out_3660031818732653459[183] = 0; + out_3660031818732653459[184] = 0; + out_3660031818732653459[185] = 0; + out_3660031818732653459[186] = 0; + out_3660031818732653459[187] = 0; + out_3660031818732653459[188] = 0; + out_3660031818732653459[189] = 0; + out_3660031818732653459[190] = 1; + out_3660031818732653459[191] = 0; + out_3660031818732653459[192] = 0; + out_3660031818732653459[193] = 0; + out_3660031818732653459[194] = 0; + out_3660031818732653459[195] = 0; + out_3660031818732653459[196] = 0; + out_3660031818732653459[197] = 0; + out_3660031818732653459[198] = 0; + out_3660031818732653459[199] = 0; + out_3660031818732653459[200] = 0; + out_3660031818732653459[201] = 0; + out_3660031818732653459[202] = 0; + out_3660031818732653459[203] = 0; + out_3660031818732653459[204] = 0; + out_3660031818732653459[205] = 0; + out_3660031818732653459[206] = 0; + out_3660031818732653459[207] = 0; + out_3660031818732653459[208] = 0; + out_3660031818732653459[209] = 1; + out_3660031818732653459[210] = 0; + out_3660031818732653459[211] = 0; + out_3660031818732653459[212] = 0; + out_3660031818732653459[213] = 0; + out_3660031818732653459[214] = 0; + out_3660031818732653459[215] = 0; + out_3660031818732653459[216] = 0; + out_3660031818732653459[217] = 0; + out_3660031818732653459[218] = 0; + out_3660031818732653459[219] = 0; + out_3660031818732653459[220] = 0; + out_3660031818732653459[221] = 0; + out_3660031818732653459[222] = 0; + out_3660031818732653459[223] = 0; + out_3660031818732653459[224] = 0; + out_3660031818732653459[225] = 0; + out_3660031818732653459[226] = 0; + out_3660031818732653459[227] = 0; + out_3660031818732653459[228] = 1; + out_3660031818732653459[229] = 0; + out_3660031818732653459[230] = 0; + out_3660031818732653459[231] = 0; + out_3660031818732653459[232] = 0; + out_3660031818732653459[233] = 0; + out_3660031818732653459[234] = 0; + out_3660031818732653459[235] = 0; + out_3660031818732653459[236] = 0; + out_3660031818732653459[237] = 0; + out_3660031818732653459[238] = 0; + out_3660031818732653459[239] = 0; + out_3660031818732653459[240] = 0; + out_3660031818732653459[241] = 0; + out_3660031818732653459[242] = 0; + out_3660031818732653459[243] = 0; + out_3660031818732653459[244] = 0; + out_3660031818732653459[245] = 0; + out_3660031818732653459[246] = 0; + out_3660031818732653459[247] = 1; + out_3660031818732653459[248] = 0; + out_3660031818732653459[249] = 0; + out_3660031818732653459[250] = 0; + out_3660031818732653459[251] = 0; + out_3660031818732653459[252] = 0; + out_3660031818732653459[253] = 0; + out_3660031818732653459[254] = 0; + out_3660031818732653459[255] = 0; + out_3660031818732653459[256] = 0; + out_3660031818732653459[257] = 0; + out_3660031818732653459[258] = 0; + out_3660031818732653459[259] = 0; + out_3660031818732653459[260] = 0; + out_3660031818732653459[261] = 0; + out_3660031818732653459[262] = 0; + out_3660031818732653459[263] = 0; + out_3660031818732653459[264] = 0; + out_3660031818732653459[265] = 0; + out_3660031818732653459[266] = 1; + out_3660031818732653459[267] = 0; + out_3660031818732653459[268] = 0; + out_3660031818732653459[269] = 0; + out_3660031818732653459[270] = 0; + out_3660031818732653459[271] = 0; + out_3660031818732653459[272] = 0; + out_3660031818732653459[273] = 0; + out_3660031818732653459[274] = 0; + out_3660031818732653459[275] = 0; + out_3660031818732653459[276] = 0; + out_3660031818732653459[277] = 0; + out_3660031818732653459[278] = 0; + out_3660031818732653459[279] = 0; + out_3660031818732653459[280] = 0; + out_3660031818732653459[281] = 0; + out_3660031818732653459[282] = 0; + out_3660031818732653459[283] = 0; + out_3660031818732653459[284] = 0; + out_3660031818732653459[285] = 1; + out_3660031818732653459[286] = 0; + out_3660031818732653459[287] = 0; + out_3660031818732653459[288] = 0; + out_3660031818732653459[289] = 0; + out_3660031818732653459[290] = 0; + out_3660031818732653459[291] = 0; + out_3660031818732653459[292] = 0; + out_3660031818732653459[293] = 0; + out_3660031818732653459[294] = 0; + out_3660031818732653459[295] = 0; + out_3660031818732653459[296] = 0; + out_3660031818732653459[297] = 0; + out_3660031818732653459[298] = 0; + out_3660031818732653459[299] = 0; + out_3660031818732653459[300] = 0; + out_3660031818732653459[301] = 0; + out_3660031818732653459[302] = 0; + out_3660031818732653459[303] = 0; + out_3660031818732653459[304] = 1; + out_3660031818732653459[305] = 0; + out_3660031818732653459[306] = 0; + out_3660031818732653459[307] = 0; + out_3660031818732653459[308] = 0; + out_3660031818732653459[309] = 0; + out_3660031818732653459[310] = 0; + out_3660031818732653459[311] = 0; + out_3660031818732653459[312] = 0; + out_3660031818732653459[313] = 0; + out_3660031818732653459[314] = 0; + out_3660031818732653459[315] = 0; + out_3660031818732653459[316] = 0; + out_3660031818732653459[317] = 0; + out_3660031818732653459[318] = 0; + out_3660031818732653459[319] = 0; + out_3660031818732653459[320] = 0; + out_3660031818732653459[321] = 0; + out_3660031818732653459[322] = 0; + out_3660031818732653459[323] = 1; } -void h_4(double *state, double *unused, double *out_6349780411594345580) { - out_6349780411594345580[0] = state[6] + state[9]; - out_6349780411594345580[1] = state[7] + state[10]; - out_6349780411594345580[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_4354770932396622955) { + out_4354770932396622955[0] = state[6] + state[9]; + out_4354770932396622955[1] = state[7] + state[10]; + out_4354770932396622955[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4301672658401686545) { - out_4301672658401686545[0] = 0; - out_4301672658401686545[1] = 0; - out_4301672658401686545[2] = 0; - out_4301672658401686545[3] = 0; - out_4301672658401686545[4] = 0; - out_4301672658401686545[5] = 0; - out_4301672658401686545[6] = 1; - out_4301672658401686545[7] = 0; - out_4301672658401686545[8] = 0; - out_4301672658401686545[9] = 1; - out_4301672658401686545[10] = 0; - out_4301672658401686545[11] = 0; - out_4301672658401686545[12] = 0; - out_4301672658401686545[13] = 0; - out_4301672658401686545[14] = 0; - out_4301672658401686545[15] = 0; - out_4301672658401686545[16] = 0; - out_4301672658401686545[17] = 0; - out_4301672658401686545[18] = 0; - out_4301672658401686545[19] = 0; - out_4301672658401686545[20] = 0; - out_4301672658401686545[21] = 0; - out_4301672658401686545[22] = 0; - out_4301672658401686545[23] = 0; - out_4301672658401686545[24] = 0; - out_4301672658401686545[25] = 1; - out_4301672658401686545[26] = 0; - out_4301672658401686545[27] = 0; - out_4301672658401686545[28] = 1; - out_4301672658401686545[29] = 0; - out_4301672658401686545[30] = 0; - out_4301672658401686545[31] = 0; - out_4301672658401686545[32] = 0; - out_4301672658401686545[33] = 0; - out_4301672658401686545[34] = 0; - out_4301672658401686545[35] = 0; - out_4301672658401686545[36] = 0; - out_4301672658401686545[37] = 0; - out_4301672658401686545[38] = 0; - out_4301672658401686545[39] = 0; - out_4301672658401686545[40] = 0; - out_4301672658401686545[41] = 0; - out_4301672658401686545[42] = 0; - out_4301672658401686545[43] = 0; - out_4301672658401686545[44] = 1; - out_4301672658401686545[45] = 0; - out_4301672658401686545[46] = 0; - out_4301672658401686545[47] = 1; - out_4301672658401686545[48] = 0; - out_4301672658401686545[49] = 0; - out_4301672658401686545[50] = 0; - out_4301672658401686545[51] = 0; - out_4301672658401686545[52] = 0; - out_4301672658401686545[53] = 0; +void H_4(double *state, double *unused, double *out_3140573770318941521) { + out_3140573770318941521[0] = 0; + out_3140573770318941521[1] = 0; + out_3140573770318941521[2] = 0; + out_3140573770318941521[3] = 0; + out_3140573770318941521[4] = 0; + out_3140573770318941521[5] = 0; + out_3140573770318941521[6] = 1; + out_3140573770318941521[7] = 0; + out_3140573770318941521[8] = 0; + out_3140573770318941521[9] = 1; + out_3140573770318941521[10] = 0; + out_3140573770318941521[11] = 0; + out_3140573770318941521[12] = 0; + out_3140573770318941521[13] = 0; + out_3140573770318941521[14] = 0; + out_3140573770318941521[15] = 0; + out_3140573770318941521[16] = 0; + out_3140573770318941521[17] = 0; + out_3140573770318941521[18] = 0; + out_3140573770318941521[19] = 0; + out_3140573770318941521[20] = 0; + out_3140573770318941521[21] = 0; + out_3140573770318941521[22] = 0; + out_3140573770318941521[23] = 0; + out_3140573770318941521[24] = 0; + out_3140573770318941521[25] = 1; + out_3140573770318941521[26] = 0; + out_3140573770318941521[27] = 0; + out_3140573770318941521[28] = 1; + out_3140573770318941521[29] = 0; + out_3140573770318941521[30] = 0; + out_3140573770318941521[31] = 0; + out_3140573770318941521[32] = 0; + out_3140573770318941521[33] = 0; + out_3140573770318941521[34] = 0; + out_3140573770318941521[35] = 0; + out_3140573770318941521[36] = 0; + out_3140573770318941521[37] = 0; + out_3140573770318941521[38] = 0; + out_3140573770318941521[39] = 0; + out_3140573770318941521[40] = 0; + out_3140573770318941521[41] = 0; + out_3140573770318941521[42] = 0; + out_3140573770318941521[43] = 0; + out_3140573770318941521[44] = 1; + out_3140573770318941521[45] = 0; + out_3140573770318941521[46] = 0; + out_3140573770318941521[47] = 1; + out_3140573770318941521[48] = 0; + out_3140573770318941521[49] = 0; + out_3140573770318941521[50] = 0; + out_3140573770318941521[51] = 0; + out_3140573770318941521[52] = 0; + out_3140573770318941521[53] = 0; } -void h_10(double *state, double *unused, double *out_1522297241205058892) { - out_1522297241205058892[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1522297241205058892[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1522297241205058892[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_8942219874713773227) { + out_8942219874713773227[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8942219874713773227[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8942219874713773227[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_2231099772160491337) { - out_2231099772160491337[0] = 0; - out_2231099772160491337[1] = 9.8100000000000005*cos(state[1]); - out_2231099772160491337[2] = 0; - out_2231099772160491337[3] = 0; - out_2231099772160491337[4] = -state[8]; - out_2231099772160491337[5] = state[7]; - out_2231099772160491337[6] = 0; - out_2231099772160491337[7] = state[5]; - out_2231099772160491337[8] = -state[4]; - out_2231099772160491337[9] = 0; - out_2231099772160491337[10] = 0; - out_2231099772160491337[11] = 0; - out_2231099772160491337[12] = 1; - out_2231099772160491337[13] = 0; - out_2231099772160491337[14] = 0; - out_2231099772160491337[15] = 1; - out_2231099772160491337[16] = 0; - out_2231099772160491337[17] = 0; - out_2231099772160491337[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2231099772160491337[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2231099772160491337[20] = 0; - out_2231099772160491337[21] = state[8]; - out_2231099772160491337[22] = 0; - out_2231099772160491337[23] = -state[6]; - out_2231099772160491337[24] = -state[5]; - out_2231099772160491337[25] = 0; - out_2231099772160491337[26] = state[3]; - out_2231099772160491337[27] = 0; - out_2231099772160491337[28] = 0; - out_2231099772160491337[29] = 0; - out_2231099772160491337[30] = 0; - out_2231099772160491337[31] = 1; - out_2231099772160491337[32] = 0; - out_2231099772160491337[33] = 0; - out_2231099772160491337[34] = 1; - out_2231099772160491337[35] = 0; - out_2231099772160491337[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2231099772160491337[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2231099772160491337[38] = 0; - out_2231099772160491337[39] = -state[7]; - out_2231099772160491337[40] = state[6]; - out_2231099772160491337[41] = 0; - out_2231099772160491337[42] = state[4]; - out_2231099772160491337[43] = -state[3]; - out_2231099772160491337[44] = 0; - out_2231099772160491337[45] = 0; - out_2231099772160491337[46] = 0; - out_2231099772160491337[47] = 0; - out_2231099772160491337[48] = 0; - out_2231099772160491337[49] = 0; - out_2231099772160491337[50] = 1; - out_2231099772160491337[51] = 0; - out_2231099772160491337[52] = 0; - out_2231099772160491337[53] = 1; +void H_10(double *state, double *unused, double *out_5705253479912587073) { + out_5705253479912587073[0] = 0; + out_5705253479912587073[1] = 9.8100000000000005*cos(state[1]); + out_5705253479912587073[2] = 0; + out_5705253479912587073[3] = 0; + out_5705253479912587073[4] = -state[8]; + out_5705253479912587073[5] = state[7]; + out_5705253479912587073[6] = 0; + out_5705253479912587073[7] = state[5]; + out_5705253479912587073[8] = -state[4]; + out_5705253479912587073[9] = 0; + out_5705253479912587073[10] = 0; + out_5705253479912587073[11] = 0; + out_5705253479912587073[12] = 1; + out_5705253479912587073[13] = 0; + out_5705253479912587073[14] = 0; + out_5705253479912587073[15] = 1; + out_5705253479912587073[16] = 0; + out_5705253479912587073[17] = 0; + out_5705253479912587073[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5705253479912587073[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5705253479912587073[20] = 0; + out_5705253479912587073[21] = state[8]; + out_5705253479912587073[22] = 0; + out_5705253479912587073[23] = -state[6]; + out_5705253479912587073[24] = -state[5]; + out_5705253479912587073[25] = 0; + out_5705253479912587073[26] = state[3]; + out_5705253479912587073[27] = 0; + out_5705253479912587073[28] = 0; + out_5705253479912587073[29] = 0; + out_5705253479912587073[30] = 0; + out_5705253479912587073[31] = 1; + out_5705253479912587073[32] = 0; + out_5705253479912587073[33] = 0; + out_5705253479912587073[34] = 1; + out_5705253479912587073[35] = 0; + out_5705253479912587073[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5705253479912587073[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5705253479912587073[38] = 0; + out_5705253479912587073[39] = -state[7]; + out_5705253479912587073[40] = state[6]; + out_5705253479912587073[41] = 0; + out_5705253479912587073[42] = state[4]; + out_5705253479912587073[43] = -state[3]; + out_5705253479912587073[44] = 0; + out_5705253479912587073[45] = 0; + out_5705253479912587073[46] = 0; + out_5705253479912587073[47] = 0; + out_5705253479912587073[48] = 0; + out_5705253479912587073[49] = 0; + out_5705253479912587073[50] = 1; + out_5705253479912587073[51] = 0; + out_5705253479912587073[52] = 0; + out_5705253479912587073[53] = 1; } -void h_13(double *state, double *unused, double *out_9186389196897638740) { - out_9186389196897638740[0] = state[3]; - out_9186389196897638740[1] = state[4]; - out_9186389196897638740[2] = state[5]; +void h_13(double *state, double *unused, double *out_5867183224538439243) { + out_5867183224538439243[0] = state[3]; + out_5867183224538439243[1] = state[4]; + out_5867183224538439243[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7513946483734019346) { - out_7513946483734019346[0] = 0; - out_7513946483734019346[1] = 0; - out_7513946483734019346[2] = 0; - out_7513946483734019346[3] = 1; - out_7513946483734019346[4] = 0; - out_7513946483734019346[5] = 0; - out_7513946483734019346[6] = 0; - out_7513946483734019346[7] = 0; - out_7513946483734019346[8] = 0; - out_7513946483734019346[9] = 0; - out_7513946483734019346[10] = 0; - out_7513946483734019346[11] = 0; - out_7513946483734019346[12] = 0; - out_7513946483734019346[13] = 0; - out_7513946483734019346[14] = 0; - out_7513946483734019346[15] = 0; - out_7513946483734019346[16] = 0; - out_7513946483734019346[17] = 0; - out_7513946483734019346[18] = 0; - out_7513946483734019346[19] = 0; - out_7513946483734019346[20] = 0; - out_7513946483734019346[21] = 0; - out_7513946483734019346[22] = 1; - out_7513946483734019346[23] = 0; - out_7513946483734019346[24] = 0; - out_7513946483734019346[25] = 0; - out_7513946483734019346[26] = 0; - out_7513946483734019346[27] = 0; - out_7513946483734019346[28] = 0; - out_7513946483734019346[29] = 0; - out_7513946483734019346[30] = 0; - out_7513946483734019346[31] = 0; - out_7513946483734019346[32] = 0; - out_7513946483734019346[33] = 0; - out_7513946483734019346[34] = 0; - out_7513946483734019346[35] = 0; - out_7513946483734019346[36] = 0; - out_7513946483734019346[37] = 0; - out_7513946483734019346[38] = 0; - out_7513946483734019346[39] = 0; - out_7513946483734019346[40] = 0; - out_7513946483734019346[41] = 1; - out_7513946483734019346[42] = 0; - out_7513946483734019346[43] = 0; - out_7513946483734019346[44] = 0; - out_7513946483734019346[45] = 0; - out_7513946483734019346[46] = 0; - out_7513946483734019346[47] = 0; - out_7513946483734019346[48] = 0; - out_7513946483734019346[49] = 0; - out_7513946483734019346[50] = 0; - out_7513946483734019346[51] = 0; - out_7513946483734019346[52] = 0; - out_7513946483734019346[53] = 0; +void H_13(double *state, double *unused, double *out_71700055013391280) { + out_71700055013391280[0] = 0; + out_71700055013391280[1] = 0; + out_71700055013391280[2] = 0; + out_71700055013391280[3] = 1; + out_71700055013391280[4] = 0; + out_71700055013391280[5] = 0; + out_71700055013391280[6] = 0; + out_71700055013391280[7] = 0; + out_71700055013391280[8] = 0; + out_71700055013391280[9] = 0; + out_71700055013391280[10] = 0; + out_71700055013391280[11] = 0; + out_71700055013391280[12] = 0; + out_71700055013391280[13] = 0; + out_71700055013391280[14] = 0; + out_71700055013391280[15] = 0; + out_71700055013391280[16] = 0; + out_71700055013391280[17] = 0; + out_71700055013391280[18] = 0; + out_71700055013391280[19] = 0; + out_71700055013391280[20] = 0; + out_71700055013391280[21] = 0; + out_71700055013391280[22] = 1; + out_71700055013391280[23] = 0; + out_71700055013391280[24] = 0; + out_71700055013391280[25] = 0; + out_71700055013391280[26] = 0; + out_71700055013391280[27] = 0; + out_71700055013391280[28] = 0; + out_71700055013391280[29] = 0; + out_71700055013391280[30] = 0; + out_71700055013391280[31] = 0; + out_71700055013391280[32] = 0; + out_71700055013391280[33] = 0; + out_71700055013391280[34] = 0; + out_71700055013391280[35] = 0; + out_71700055013391280[36] = 0; + out_71700055013391280[37] = 0; + out_71700055013391280[38] = 0; + out_71700055013391280[39] = 0; + out_71700055013391280[40] = 0; + out_71700055013391280[41] = 1; + out_71700055013391280[42] = 0; + out_71700055013391280[43] = 0; + out_71700055013391280[44] = 0; + out_71700055013391280[45] = 0; + out_71700055013391280[46] = 0; + out_71700055013391280[47] = 0; + out_71700055013391280[48] = 0; + out_71700055013391280[49] = 0; + out_71700055013391280[50] = 0; + out_71700055013391280[51] = 0; + out_71700055013391280[52] = 0; + out_71700055013391280[53] = 0; } -void h_14(double *state, double *unused, double *out_60031468009030950) { - out_60031468009030950[0] = state[6]; - out_60031468009030950[1] = state[7]; - out_60031468009030950[2] = state[8]; +void h_14(double *state, double *unused, double *out_4155160495787210910) { + out_4155160495787210910[0] = state[6]; + out_4155160495787210910[1] = state[7]; + out_4155160495787210910[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1218884226106314249) { - out_1218884226106314249[0] = 0; - out_1218884226106314249[1] = 0; - out_1218884226106314249[2] = 0; - out_1218884226106314249[3] = 0; - out_1218884226106314249[4] = 0; - out_1218884226106314249[5] = 0; - out_1218884226106314249[6] = 1; - out_1218884226106314249[7] = 0; - out_1218884226106314249[8] = 0; - out_1218884226106314249[9] = 0; - out_1218884226106314249[10] = 0; - out_1218884226106314249[11] = 0; - out_1218884226106314249[12] = 0; - out_1218884226106314249[13] = 0; - out_1218884226106314249[14] = 0; - out_1218884226106314249[15] = 0; - out_1218884226106314249[16] = 0; - out_1218884226106314249[17] = 0; - out_1218884226106314249[18] = 0; - out_1218884226106314249[19] = 0; - out_1218884226106314249[20] = 0; - out_1218884226106314249[21] = 0; - out_1218884226106314249[22] = 0; - out_1218884226106314249[23] = 0; - out_1218884226106314249[24] = 0; - out_1218884226106314249[25] = 1; - out_1218884226106314249[26] = 0; - out_1218884226106314249[27] = 0; - out_1218884226106314249[28] = 0; - out_1218884226106314249[29] = 0; - out_1218884226106314249[30] = 0; - out_1218884226106314249[31] = 0; - out_1218884226106314249[32] = 0; - out_1218884226106314249[33] = 0; - out_1218884226106314249[34] = 0; - out_1218884226106314249[35] = 0; - out_1218884226106314249[36] = 0; - out_1218884226106314249[37] = 0; - out_1218884226106314249[38] = 0; - out_1218884226106314249[39] = 0; - out_1218884226106314249[40] = 0; - out_1218884226106314249[41] = 0; - out_1218884226106314249[42] = 0; - out_1218884226106314249[43] = 0; - out_1218884226106314249[44] = 1; - out_1218884226106314249[45] = 0; - out_1218884226106314249[46] = 0; - out_1218884226106314249[47] = 0; - out_1218884226106314249[48] = 0; - out_1218884226106314249[49] = 0; - out_1218884226106314249[50] = 0; - out_1218884226106314249[51] = 0; - out_1218884226106314249[52] = 0; - out_1218884226106314249[53] = 0; +void H_14(double *state, double *unused, double *out_822667086020543008) { + out_822667086020543008[0] = 0; + out_822667086020543008[1] = 0; + out_822667086020543008[2] = 0; + out_822667086020543008[3] = 0; + out_822667086020543008[4] = 0; + out_822667086020543008[5] = 0; + out_822667086020543008[6] = 1; + out_822667086020543008[7] = 0; + out_822667086020543008[8] = 0; + out_822667086020543008[9] = 0; + out_822667086020543008[10] = 0; + out_822667086020543008[11] = 0; + out_822667086020543008[12] = 0; + out_822667086020543008[13] = 0; + out_822667086020543008[14] = 0; + out_822667086020543008[15] = 0; + out_822667086020543008[16] = 0; + out_822667086020543008[17] = 0; + out_822667086020543008[18] = 0; + out_822667086020543008[19] = 0; + out_822667086020543008[20] = 0; + out_822667086020543008[21] = 0; + out_822667086020543008[22] = 0; + out_822667086020543008[23] = 0; + out_822667086020543008[24] = 0; + out_822667086020543008[25] = 1; + out_822667086020543008[26] = 0; + out_822667086020543008[27] = 0; + out_822667086020543008[28] = 0; + out_822667086020543008[29] = 0; + out_822667086020543008[30] = 0; + out_822667086020543008[31] = 0; + out_822667086020543008[32] = 0; + out_822667086020543008[33] = 0; + out_822667086020543008[34] = 0; + out_822667086020543008[35] = 0; + out_822667086020543008[36] = 0; + out_822667086020543008[37] = 0; + out_822667086020543008[38] = 0; + out_822667086020543008[39] = 0; + out_822667086020543008[40] = 0; + out_822667086020543008[41] = 0; + out_822667086020543008[42] = 0; + out_822667086020543008[43] = 0; + out_822667086020543008[44] = 1; + out_822667086020543008[45] = 0; + out_822667086020543008[46] = 0; + out_822667086020543008[47] = 0; + out_822667086020543008[48] = 0; + out_822667086020543008[49] = 0; + out_822667086020543008[50] = 0; + out_822667086020543008[51] = 0; + out_822667086020543008[52] = 0; + out_822667086020543008[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_7641933708620610052) { - err_fun(nom_x, delta_x, out_7641933708620610052); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6079659893886918220) { + err_fun(nom_x, delta_x, out_6079659893886918220); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_9128860405088658984) { - inv_err_fun(nom_x, true_x, out_9128860405088658984); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5200837164005369107) { + inv_err_fun(nom_x, true_x, out_5200837164005369107); } -void pose_H_mod_fun(double *state, double *out_3103725176518788441) { - H_mod_fun(state, out_3103725176518788441); +void pose_H_mod_fun(double *state, double *out_1320875044412644660) { + H_mod_fun(state, out_1320875044412644660); } -void pose_f_fun(double *state, double dt, double *out_5259001848744899041) { - f_fun(state, dt, out_5259001848744899041); +void pose_f_fun(double *state, double dt, double *out_4957392939814811366) { + f_fun(state, dt, out_4957392939814811366); } -void pose_F_fun(double *state, double dt, double *out_6765250644485775616) { - F_fun(state, dt, out_6765250644485775616); +void pose_F_fun(double *state, double dt, double *out_3660031818732653459) { + F_fun(state, dt, out_3660031818732653459); } -void pose_h_4(double *state, double *unused, double *out_6349780411594345580) { - h_4(state, unused, out_6349780411594345580); +void pose_h_4(double *state, double *unused, double *out_4354770932396622955) { + h_4(state, unused, out_4354770932396622955); } -void pose_H_4(double *state, double *unused, double *out_4301672658401686545) { - H_4(state, unused, out_4301672658401686545); +void pose_H_4(double *state, double *unused, double *out_3140573770318941521) { + H_4(state, unused, out_3140573770318941521); } -void pose_h_10(double *state, double *unused, double *out_1522297241205058892) { - h_10(state, unused, out_1522297241205058892); +void pose_h_10(double *state, double *unused, double *out_8942219874713773227) { + h_10(state, unused, out_8942219874713773227); } -void pose_H_10(double *state, double *unused, double *out_2231099772160491337) { - H_10(state, unused, out_2231099772160491337); +void pose_H_10(double *state, double *unused, double *out_5705253479912587073) { + H_10(state, unused, out_5705253479912587073); } -void pose_h_13(double *state, double *unused, double *out_9186389196897638740) { - h_13(state, unused, out_9186389196897638740); +void pose_h_13(double *state, double *unused, double *out_5867183224538439243) { + h_13(state, unused, out_5867183224538439243); } -void pose_H_13(double *state, double *unused, double *out_7513946483734019346) { - H_13(state, unused, out_7513946483734019346); +void pose_H_13(double *state, double *unused, double *out_71700055013391280) { + H_13(state, unused, out_71700055013391280); } -void pose_h_14(double *state, double *unused, double *out_60031468009030950) { - h_14(state, unused, out_60031468009030950); +void pose_h_14(double *state, double *unused, double *out_4155160495787210910) { + h_14(state, unused, out_4155160495787210910); } -void pose_H_14(double *state, double *unused, double *out_1218884226106314249) { - H_14(state, unused, out_1218884226106314249); +void pose_H_14(double *state, double *unused, double *out_822667086020543008) { + H_14(state, unused, out_822667086020543008); } 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 c77434552..c2c420583 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_7641933708620610052); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_9128860405088658984); -void pose_H_mod_fun(double *state, double *out_3103725176518788441); -void pose_f_fun(double *state, double dt, double *out_5259001848744899041); -void pose_F_fun(double *state, double dt, double *out_6765250644485775616); -void pose_h_4(double *state, double *unused, double *out_6349780411594345580); -void pose_H_4(double *state, double *unused, double *out_4301672658401686545); -void pose_h_10(double *state, double *unused, double *out_1522297241205058892); -void pose_H_10(double *state, double *unused, double *out_2231099772160491337); -void pose_h_13(double *state, double *unused, double *out_9186389196897638740); -void pose_H_13(double *state, double *unused, double *out_7513946483734019346); -void pose_h_14(double *state, double *unused, double *out_60031468009030950); -void pose_H_14(double *state, double *unused, double *out_1218884226106314249); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6079659893886918220); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5200837164005369107); +void pose_H_mod_fun(double *state, double *out_1320875044412644660); +void pose_f_fun(double *state, double dt, double *out_4957392939814811366); +void pose_F_fun(double *state, double dt, double *out_3660031818732653459); +void pose_h_4(double *state, double *unused, double *out_4354770932396622955); +void pose_H_4(double *state, double *unused, double *out_3140573770318941521); +void pose_h_10(double *state, double *unused, double *out_8942219874713773227); +void pose_H_10(double *state, double *unused, double *out_5705253479912587073); +void pose_h_13(double *state, double *unused, double *out_5867183224538439243); +void pose_H_13(double *state, double *unused, double *out_71700055013391280); +void pose_h_14(double *state, double *unused, double *out_4155160495787210910); +void pose_H_14(double *state, double *unused, double *out_822667086020543008); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 819c2bb23..200efa915 100644 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -125,7 +125,6 @@ class SelfdriveD: self.last_functional_fan_frame = 0 self.events_prev = [] self.logged_comm_issue = None - self.logged_locationd_issue = None self.not_running_prev = None self.experimental_mode = False self.safe_mode = self.params.get_bool("SafeMode") @@ -172,22 +171,6 @@ class SelfdriveD: self.FPCP = messaging.log_from_bytes(self.params.get("StarPilotCarParams", block=True), custom.StarPilotCarParams) - def _service_diagnostics(self, services: list[str]) -> dict[str, dict[str, object]]: - diagnostics: dict[str, dict[str, object]] = {} - for service in services: - if service not in self.sm.services: - continue - - recv_age_ms = round(max(0.0, (self.sm.frame - self.sm.recv_frame[service]) * DT_CTRL * 1000.0), 1) - diagnostics[service] = { - "valid": self.sm.valid[service], - "alive": self.sm.alive[service], - "freq_ok": self.sm.freq_ok[service], - "recv_age_ms": recv_age_ms, - } - - return diagnostics - def update_events(self, CS): """Compute onroadEvents from carState""" @@ -450,22 +433,7 @@ class SelfdriveD: 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], } if logs != self.logged_comm_issue: - interesting_services = sorted(set( - logs['invalid'] + - logs['not_alive'] + - logs['not_freq_ok'] + - ['liveCalibration', 'livePose', 'liveParameters', 'radarState', 'driverAssistance', 'longitudinalPlan'] - )) - cloudlog.event( - "commIssue", - error=True, - **logs, - service_diagnostics=self._service_diagnostics(interesting_services), - nav_destination_active=self.params.get("NavDestination") is not None, - navigation_ui=self.params.get_bool("NavigationUI"), - can_timeout=CS.canTimeout, - can_valid=CS.canValid, - ) + cloudlog.event("commIssue", error=True, **logs) self.logged_comm_issue = logs else: self.logged_comm_issue = None @@ -475,18 +443,6 @@ class SelfdriveD: self.events.add(EventName.posenetInvalid) if not self.sm['livePose'].inputsOK: self.events.add(EventName.locationdTemporaryError) - locationd_issue = { - "inputs_ok": self.sm['livePose'].inputsOK, - "posenet_ok": self.sm['livePose'].posenetOK, - "live_pose_valid": self.sm.valid['livePose'], - "live_calibration_valid": self.sm.valid['liveCalibration'], - "live_parameters_valid": self.sm.valid['liveParameters'], - } - if locationd_issue != self.logged_locationd_issue: - cloudlog.event("locationdTemporaryError", error=True, **locationd_issue) - self.logged_locationd_issue = locationd_issue - else: - self.logged_locationd_issue = None if not self.sm['liveParameters'].valid and cal_status == log.LiveCalibrationData.Status.calibrated and not TESTING_CLOSET and (not SIMULATION or REPLAY): self.events.add(EventName.paramsdTemporaryError) diff --git a/selfdrive/ui/onroad/starpilot/navigation_card.py b/selfdrive/ui/onroad/starpilot/navigation_card.py index e08814e2a..f8446d9b2 100644 --- a/selfdrive/ui/onroad/starpilot/navigation_card.py +++ b/selfdrive/ui/onroad/starpilot/navigation_card.py @@ -1,5 +1,6 @@ from __future__ import annotations +import json import math from pathlib import Path @@ -95,34 +96,37 @@ class NavigationCardRenderer(Widget): return self._icons[icon_name] def _update_state(self) -> None: - sm = ui_state.sm self._enabled = ui_state.params.get_bool("NavigationUI") self._valid = False if not self._enabled: return - if sm.recv_frame["navInstruction"] < ui_state.started_frame: - return - if not sm.valid.get("navInstruction", False): - return - nav_instruction = sm["navInstruction"] - if nav_instruction.maneuverPrimaryText == "": - return - - self._distance = _format_distance(float(nav_instruction.maneuverDistance), ui_state.is_metric) - self._primary_text = nav_instruction.maneuverPrimaryText - self._secondary_text = nav_instruction.maneuverSecondaryText - self._maneuver_type = nav_instruction.maneuverType or "turn" - self._modifier = nav_instruction.maneuverModifier or "straight" - - maneuvers = nav_instruction.allManeuvers - if len(maneuvers) > 1: - self._has_next = True - self._next_maneuver_type = maneuvers[1].type or "turn" - self._next_modifier = maneuvers[1].modifier or "straight" + raw_state = ui_state.params_memory.get("NavInstructionState") or {} + if isinstance(raw_state, str): + try: + nav_state = json.loads(raw_state) if raw_state else {} + except json.JSONDecodeError: + return + elif isinstance(raw_state, dict): + nav_state = raw_state else: - self._has_next = False + return + + if not nav_state.get("valid", False): + return + + if str(nav_state.get("maneuverPrimaryText") or "") == "": + return + + self._distance = _format_distance(float(nav_state.get("maneuverDistance", 0.0) or 0.0), ui_state.is_metric) + self._primary_text = str(nav_state.get("maneuverPrimaryText") or "") + self._secondary_text = str(nav_state.get("maneuverSecondaryText") or "") + self._maneuver_type = str(nav_state.get("maneuverType") or "turn") + self._modifier = str(nav_state.get("maneuverModifier") or "straight") + self._next_maneuver_type = str(nav_state.get("nextManeuverType") or "turn") + self._next_modifier = str(nav_state.get("nextManeuverModifier") or "straight") + self._has_next = bool(nav_state.get("nextManeuverType") or nav_state.get("nextManeuverModifier")) self._valid = True diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc index 76dcb6e6d..cada93c87 100644 --- a/selfdrive/ui/qt/onroad/hud.cc +++ b/selfdrive/ui/qt/onroad/hud.cc @@ -2,6 +2,8 @@ #include #include +#include +#include #include #include "selfdrive/ui/qt/util.h" @@ -54,29 +56,38 @@ void HudRenderer::updateState(const UIState &s) { nav_next_maneuver_type.clear(); nav_next_modifier.clear(); - if (!navigation_enabled || sm.rcv_frame("navInstruction") < s.scene.started_frame || - !sm.alive("navInstruction") || !sm.valid("navInstruction")) { + if (!navigation_enabled) { return; } - const auto &nav = sm["navInstruction"].getNavInstruction(); - nav_primary_text = QString::fromUtf8(nav.getManeuverPrimaryText().cStr()).trimmed(); + const std::string nav_state_raw = params_memory.get("NavInstructionState"); + if (nav_state_raw.empty()) { + return; + } + + const QJsonDocument nav_state_doc = QJsonDocument::fromJson(QByteArray::fromStdString(nav_state_raw)); + if (!nav_state_doc.isObject()) { + return; + } + + const QJsonObject nav = nav_state_doc.object(); + if (!nav.value("valid").toBool(false)) { + return; + } + + nav_primary_text = nav.value("maneuverPrimaryText").toString().trimmed(); if (nav_primary_text.isEmpty()) { return; } navigation_valid = true; - nav_secondary_text = QString::fromUtf8(nav.getManeuverSecondaryText().cStr()).trimmed(); - nav_distance = formatNavDistance(nav.getManeuverDistance()); - nav_maneuver_type = QString::fromUtf8(nav.getManeuverType().cStr()).trimmed(); - nav_modifier = QString::fromUtf8(nav.getManeuverModifier().cStr()).trimmed(); - - const auto maneuvers = nav.getAllManeuvers(); - if (maneuvers.size() > 1) { - navigation_has_next = true; - nav_next_maneuver_type = QString::fromUtf8(maneuvers[1].getType().cStr()).trimmed(); - nav_next_modifier = QString::fromUtf8(maneuvers[1].getModifier().cStr()).trimmed(); - } + nav_secondary_text = nav.value("maneuverSecondaryText").toString().trimmed(); + nav_distance = formatNavDistance(static_cast(nav.value("maneuverDistance").toDouble(0.0))); + nav_maneuver_type = nav.value("maneuverType").toString().trimmed(); + nav_modifier = nav.value("maneuverModifier").toString().trimmed(); + nav_next_maneuver_type = nav.value("nextManeuverType").toString().trimmed(); + nav_next_modifier = nav.value("nextManeuverModifier").toString().trimmed(); + navigation_has_next = !nav_next_maneuver_type.isEmpty() || !nav_next_modifier.isEmpty(); } void HudRenderer::draw(QPainter &p, const QRect &surface_rect) { diff --git a/selfdrive/ui/qt/onroad/hud.h b/selfdrive/ui/qt/onroad/hud.h index c5ea2539e..5ca6d9d1a 100644 --- a/selfdrive/ui/qt/onroad/hud.h +++ b/selfdrive/ui/qt/onroad/hud.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include #include "selfdrive/ui/ui.h" @@ -48,4 +49,5 @@ private: QString nav_next_modifier; QHash nav_icon_cache; Params params; + Params params_memory{"", true}; }; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index d8d1b547e..3279e77d5 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -367,7 +367,6 @@ UIState::UIState(QObject *parent) : QObject(parent) { "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2", "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan", - "navInstruction", }); prime_state = new PrimeState(this); language = QString::fromStdString(Params().get("LanguageSetting")); diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py index e5512102f..220515bc0 100644 --- a/selfdrive/ui/ui_state.py +++ b/selfdrive/ui/ui_state.py @@ -54,7 +54,6 @@ class UIState: "longitudinalPlan", "gpsLocationExternal", "mapdOut", - "navInstruction", "carOutput", "carControl", "liveParameters", diff --git a/starpilot/controls/starpilot_planner.py b/starpilot/controls/starpilot_planner.py index f81f3ce5d..e170374d4 100644 --- a/starpilot/controls/starpilot_planner.py +++ b/starpilot/controls/starpilot_planner.py @@ -59,6 +59,8 @@ class StarPilotPlanner: self.raw_model_stopped = False self.road_curvature_detected = False self.tracking_lead = False + self._last_gps_memory_state = "" + self._last_gps_memory_write = 0.0 self._prev_gps_bearing = 0 # Blinker-based lateral resume delay state @@ -110,11 +112,22 @@ class StarPilotPlanner: "latitude": gps_location.latitude, "longitude": gps_location.longitude, "bearing": gps_location.bearingDeg, + "speed": v_ego, + "hasFix": bool(getattr(gps_location, "hasFix", False)), + "updatedAtMonotonic": time.monotonic(), } - self.gps_valid = self.gps_position["latitude"] != 0 or self.gps_position["longitude"] != 0 + self.gps_valid = self.gps_position["hasFix"] and (self.gps_position["latitude"] != 0 or self.gps_position["longitude"] != 0) bearing = self.gps_position["bearing"] + if self.gps_valid: + gps_memory_state = json.dumps(_sanitize_json_value(self.gps_position), allow_nan=False) + now_mono = self.gps_position["updatedAtMonotonic"] + should_refresh_memory = gps_memory_state != self._last_gps_memory_state and (now_mono - self._last_gps_memory_write) >= 0.25 + if should_refresh_memory: + self.params_memory.put_nonblocking("LastGPSPosition", gps_memory_state) + self._last_gps_memory_state = gps_memory_state + self._last_gps_memory_write = now_mono + if getattr(starpilot_toggles, "compass", False) and abs(bearing - self._prev_gps_bearing) > 0.5: - self.params_memory.put("LastGPSPosition", json.dumps(self.gps_position)) self._prev_gps_bearing = bearing if v_ego >= starpilot_toggles.minimum_lane_change_speed: diff --git a/starpilot/navigation/navigationd.py b/starpilot/navigation/navigationd.py index 955960de1..392ecb9fa 100644 --- a/starpilot/navigation/navigationd.py +++ b/starpilot/navigation/navigationd.py @@ -1,11 +1,11 @@ #!/usr/bin/env python3 from __future__ import annotations +import json import threading from math import isfinite from time import monotonic import cereal.messaging as messaging -from openpilot.common.gps import get_gps_location_service from openpilot.common.params import Params from openpilot.common.realtime import Ratekeeper from openpilot.common.swaglog import cloudlog @@ -16,6 +16,7 @@ from openpilot.starpilot.navigation.route_engine import Coordinate, MapboxRouteE NAVIGATIOND_HZ = 1 REROUTE_TRIGGER_SECONDS = 3.0 ARRIVAL_CLEAR_SECONDS = 5.0 +LOCATION_STATE_STALE_SECONDS = 2.5 class Navigationd: @@ -23,9 +24,7 @@ class Navigationd: self.params = Params() self.params_memory = Params(memory=True) self.route_engine = route_engine or MapboxRouteEngine() - self.gps_location_service = get_gps_location_service(self.params) - self.sm = messaging.SubMaster([self.gps_location_service, "carState"]) self.pm = messaging.PubMaster(["navInstruction", "navRoute"]) self.rk = Ratekeeper(NAVIGATIOND_HZ) @@ -124,24 +123,35 @@ class Navigationd: return None return started_at if started_at is not None else now - def _update_location(self) -> bool: - if self.sm.recv_frame[self.gps_location_service] <= 0: - return False + def _update_location(self) -> tuple[bool, float]: + raw_state = self.params_memory.get("LastGPSPosition", encoding="utf-8") or "" + if not raw_state: + return False, 0.0 - gps = self.sm[self.gps_location_service] - if gps is None or not gps.hasFix: - return False + try: + gps_state = json.loads(raw_state) + except json.JSONDecodeError: + return False, 0.0 - latitude = float(gps.latitude) - longitude = float(gps.longitude) + if not isinstance(gps_state, dict) or not gps_state.get("hasFix", False): + return False, 0.0 + + latitude = float(gps_state.get("latitude", 0.0) or 0.0) + longitude = float(gps_state.get("longitude", 0.0) or 0.0) if not isfinite(latitude) or not isfinite(longitude) or (abs(latitude) < 1e-6 and abs(longitude) < 1e-6): - return False + return False, 0.0 + + updated_at = float(gps_state.get("updatedAtMonotonic", 0.0) or 0.0) + if updated_at > 0.0 and (monotonic() - updated_at) > LOCATION_STATE_STALE_SECONDS: + return False, 0.0 self._last_position = Coordinate(latitude, longitude) - bearing = float(gps.bearingDeg) + bearing = float(gps_state.get("bearing", 0.0) or 0.0) self._last_bearing = bearing if isfinite(bearing) else None - return True + + speed = float(gps_state.get("speed", 0.0) or 0.0) + return True, max(speed, 0.0) def _maybe_update_route(self, current_destination: dict[str, object] | None) -> tuple[NavigationRoute | None, dict[str, object] | None, int]: route, active_destination, route_generation = self._snapshot_route() @@ -240,17 +250,19 @@ class Navigationd: self._last_nav_state = None return - modifier = progress.current_step.modifier or "" - if progress.current_step.banner_instructions: - try: - payload = route.build_instruction_payload(progress, use_vienna_sign=self.params.get_bool("UseVienna")) - modifier = str(payload.get("maneuverModifier") or modifier) - except Exception: - pass + payload = route.build_instruction_payload(progress, use_vienna_sign=self.params.get_bool("UseVienna")) + all_maneuvers = payload.get("allManeuvers") or [] + next_maneuver = all_maneuvers[1] if len(all_maneuvers) > 1 and isinstance(all_maneuvers[1], dict) else {} state = { "valid": True, - "maneuverModifier": modifier, + "maneuverModifier": str(payload.get("maneuverModifier") or ""), + "maneuverType": str(payload.get("maneuverType") or ""), + "maneuverPrimaryText": str(payload.get("maneuverPrimaryText") or ""), + "maneuverSecondaryText": str(payload.get("maneuverSecondaryText") or ""), + "maneuverDistance": float(payload.get("maneuverDistance") or 0.0), + "nextManeuverType": str(next_maneuver.get("type") or ""), + "nextManeuverModifier": str(next_maneuver.get("modifier") or ""), } if state != self._last_nav_state: self.params_memory.put_nonblocking("NavInstructionState", state) @@ -276,13 +288,10 @@ class Navigationd: cloudlog.warning("navigationd init") while True: - self.sm.update(0) - - location_valid = self._update_location() + location_valid, v_ego = self._update_location() current_destination = parse_destination_json(self.params.get("NavDestination", encoding="utf-8")) route, active_destination, _ = self._maybe_update_route(current_destination) - v_ego = float(max(self.sm["carState"].vEgo, 0.0)) progress, route_state = self._build_progress(route, location_valid, v_ego) self._maybe_recompute(route, current_destination or active_destination, progress, route_state) updated_route, active_destination, _ = self._snapshot_route()