diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index c81b2f31b..b44caa71b 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 9029d0e2a..9d3eb13b2 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 9c408bb01..1b9329228 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index b64ae9902..4b36f6fbd 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 8d08347e7..e8155c53b 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 885ff8a3d..49e95d8d3 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 9287042c1..e7dcc26ec 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 9287042c1..e7dcc26ec 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 411d898da..6d92f29e7 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 885ff8a3d..49e95d8d3 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 50d5b5736..125942ee1 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-be77164d-DEBUG"; +const uint8_t gitversion[19] = "DEV-04dbd8d0-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d462e2a3d..9b2192494 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 064b9254c..ef0cea0a5 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index a46410512..ad0344368 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 523215014..8cbac2855 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index b50f76d15..997eea0a1 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index 7bd11a94d..c2eba0ef6 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 19043595b..c2b4eb37c 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index 35b655e84..d30d6472f 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 0cacbd9a0..fba1c63a4 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index d9105de82..f8163687c 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 773b48a9a..d9a2c4211 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 24eb605d0..8d6433ecc 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 4c8a51213..936f5876a 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 88b87d627..fd8989ede 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 4b44dc3f3..1fc3714d3 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index e3982c10d..07d5d49b9 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 7c73c5dd2..7aa4c5d1b 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index a10423670..5b2e96b94 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 379ccd6de..39c0599c2 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 6cc8726e5..5b472f170 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index dc29a6b48..6373d0d8e 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-be77164d-DEBUG \ No newline at end of file +DEV-04dbd8d0-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 3f0a7442f..c960793ff 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_700264796655131929) { - out_700264796655131929[0] = delta_x[0] + nom_x[0]; - out_700264796655131929[1] = delta_x[1] + nom_x[1]; - out_700264796655131929[2] = delta_x[2] + nom_x[2]; - out_700264796655131929[3] = delta_x[3] + nom_x[3]; - out_700264796655131929[4] = delta_x[4] + nom_x[4]; - out_700264796655131929[5] = delta_x[5] + nom_x[5]; - out_700264796655131929[6] = delta_x[6] + nom_x[6]; - out_700264796655131929[7] = delta_x[7] + nom_x[7]; - out_700264796655131929[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_411609516403737386) { + out_411609516403737386[0] = delta_x[0] + nom_x[0]; + out_411609516403737386[1] = delta_x[1] + nom_x[1]; + out_411609516403737386[2] = delta_x[2] + nom_x[2]; + out_411609516403737386[3] = delta_x[3] + nom_x[3]; + out_411609516403737386[4] = delta_x[4] + nom_x[4]; + out_411609516403737386[5] = delta_x[5] + nom_x[5]; + out_411609516403737386[6] = delta_x[6] + nom_x[6]; + out_411609516403737386[7] = delta_x[7] + nom_x[7]; + out_411609516403737386[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_107082048498982835) { - out_107082048498982835[0] = -nom_x[0] + true_x[0]; - out_107082048498982835[1] = -nom_x[1] + true_x[1]; - out_107082048498982835[2] = -nom_x[2] + true_x[2]; - out_107082048498982835[3] = -nom_x[3] + true_x[3]; - out_107082048498982835[4] = -nom_x[4] + true_x[4]; - out_107082048498982835[5] = -nom_x[5] + true_x[5]; - out_107082048498982835[6] = -nom_x[6] + true_x[6]; - out_107082048498982835[7] = -nom_x[7] + true_x[7]; - out_107082048498982835[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7082078735183717431) { + out_7082078735183717431[0] = -nom_x[0] + true_x[0]; + out_7082078735183717431[1] = -nom_x[1] + true_x[1]; + out_7082078735183717431[2] = -nom_x[2] + true_x[2]; + out_7082078735183717431[3] = -nom_x[3] + true_x[3]; + out_7082078735183717431[4] = -nom_x[4] + true_x[4]; + out_7082078735183717431[5] = -nom_x[5] + true_x[5]; + out_7082078735183717431[6] = -nom_x[6] + true_x[6]; + out_7082078735183717431[7] = -nom_x[7] + true_x[7]; + out_7082078735183717431[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7423992576013844798) { - out_7423992576013844798[0] = 1.0; - out_7423992576013844798[1] = 0.0; - out_7423992576013844798[2] = 0.0; - out_7423992576013844798[3] = 0.0; - out_7423992576013844798[4] = 0.0; - out_7423992576013844798[5] = 0.0; - out_7423992576013844798[6] = 0.0; - out_7423992576013844798[7] = 0.0; - out_7423992576013844798[8] = 0.0; - out_7423992576013844798[9] = 0.0; - out_7423992576013844798[10] = 1.0; - out_7423992576013844798[11] = 0.0; - out_7423992576013844798[12] = 0.0; - out_7423992576013844798[13] = 0.0; - out_7423992576013844798[14] = 0.0; - out_7423992576013844798[15] = 0.0; - out_7423992576013844798[16] = 0.0; - out_7423992576013844798[17] = 0.0; - out_7423992576013844798[18] = 0.0; - out_7423992576013844798[19] = 0.0; - out_7423992576013844798[20] = 1.0; - out_7423992576013844798[21] = 0.0; - out_7423992576013844798[22] = 0.0; - out_7423992576013844798[23] = 0.0; - out_7423992576013844798[24] = 0.0; - out_7423992576013844798[25] = 0.0; - out_7423992576013844798[26] = 0.0; - out_7423992576013844798[27] = 0.0; - out_7423992576013844798[28] = 0.0; - out_7423992576013844798[29] = 0.0; - out_7423992576013844798[30] = 1.0; - out_7423992576013844798[31] = 0.0; - out_7423992576013844798[32] = 0.0; - out_7423992576013844798[33] = 0.0; - out_7423992576013844798[34] = 0.0; - out_7423992576013844798[35] = 0.0; - out_7423992576013844798[36] = 0.0; - out_7423992576013844798[37] = 0.0; - out_7423992576013844798[38] = 0.0; - out_7423992576013844798[39] = 0.0; - out_7423992576013844798[40] = 1.0; - out_7423992576013844798[41] = 0.0; - out_7423992576013844798[42] = 0.0; - out_7423992576013844798[43] = 0.0; - out_7423992576013844798[44] = 0.0; - out_7423992576013844798[45] = 0.0; - out_7423992576013844798[46] = 0.0; - out_7423992576013844798[47] = 0.0; - out_7423992576013844798[48] = 0.0; - out_7423992576013844798[49] = 0.0; - out_7423992576013844798[50] = 1.0; - out_7423992576013844798[51] = 0.0; - out_7423992576013844798[52] = 0.0; - out_7423992576013844798[53] = 0.0; - out_7423992576013844798[54] = 0.0; - out_7423992576013844798[55] = 0.0; - out_7423992576013844798[56] = 0.0; - out_7423992576013844798[57] = 0.0; - out_7423992576013844798[58] = 0.0; - out_7423992576013844798[59] = 0.0; - out_7423992576013844798[60] = 1.0; - out_7423992576013844798[61] = 0.0; - out_7423992576013844798[62] = 0.0; - out_7423992576013844798[63] = 0.0; - out_7423992576013844798[64] = 0.0; - out_7423992576013844798[65] = 0.0; - out_7423992576013844798[66] = 0.0; - out_7423992576013844798[67] = 0.0; - out_7423992576013844798[68] = 0.0; - out_7423992576013844798[69] = 0.0; - out_7423992576013844798[70] = 1.0; - out_7423992576013844798[71] = 0.0; - out_7423992576013844798[72] = 0.0; - out_7423992576013844798[73] = 0.0; - out_7423992576013844798[74] = 0.0; - out_7423992576013844798[75] = 0.0; - out_7423992576013844798[76] = 0.0; - out_7423992576013844798[77] = 0.0; - out_7423992576013844798[78] = 0.0; - out_7423992576013844798[79] = 0.0; - out_7423992576013844798[80] = 1.0; +void H_mod_fun(double *state, double *out_1390740467130861487) { + out_1390740467130861487[0] = 1.0; + out_1390740467130861487[1] = 0.0; + out_1390740467130861487[2] = 0.0; + out_1390740467130861487[3] = 0.0; + out_1390740467130861487[4] = 0.0; + out_1390740467130861487[5] = 0.0; + out_1390740467130861487[6] = 0.0; + out_1390740467130861487[7] = 0.0; + out_1390740467130861487[8] = 0.0; + out_1390740467130861487[9] = 0.0; + out_1390740467130861487[10] = 1.0; + out_1390740467130861487[11] = 0.0; + out_1390740467130861487[12] = 0.0; + out_1390740467130861487[13] = 0.0; + out_1390740467130861487[14] = 0.0; + out_1390740467130861487[15] = 0.0; + out_1390740467130861487[16] = 0.0; + out_1390740467130861487[17] = 0.0; + out_1390740467130861487[18] = 0.0; + out_1390740467130861487[19] = 0.0; + out_1390740467130861487[20] = 1.0; + out_1390740467130861487[21] = 0.0; + out_1390740467130861487[22] = 0.0; + out_1390740467130861487[23] = 0.0; + out_1390740467130861487[24] = 0.0; + out_1390740467130861487[25] = 0.0; + out_1390740467130861487[26] = 0.0; + out_1390740467130861487[27] = 0.0; + out_1390740467130861487[28] = 0.0; + out_1390740467130861487[29] = 0.0; + out_1390740467130861487[30] = 1.0; + out_1390740467130861487[31] = 0.0; + out_1390740467130861487[32] = 0.0; + out_1390740467130861487[33] = 0.0; + out_1390740467130861487[34] = 0.0; + out_1390740467130861487[35] = 0.0; + out_1390740467130861487[36] = 0.0; + out_1390740467130861487[37] = 0.0; + out_1390740467130861487[38] = 0.0; + out_1390740467130861487[39] = 0.0; + out_1390740467130861487[40] = 1.0; + out_1390740467130861487[41] = 0.0; + out_1390740467130861487[42] = 0.0; + out_1390740467130861487[43] = 0.0; + out_1390740467130861487[44] = 0.0; + out_1390740467130861487[45] = 0.0; + out_1390740467130861487[46] = 0.0; + out_1390740467130861487[47] = 0.0; + out_1390740467130861487[48] = 0.0; + out_1390740467130861487[49] = 0.0; + out_1390740467130861487[50] = 1.0; + out_1390740467130861487[51] = 0.0; + out_1390740467130861487[52] = 0.0; + out_1390740467130861487[53] = 0.0; + out_1390740467130861487[54] = 0.0; + out_1390740467130861487[55] = 0.0; + out_1390740467130861487[56] = 0.0; + out_1390740467130861487[57] = 0.0; + out_1390740467130861487[58] = 0.0; + out_1390740467130861487[59] = 0.0; + out_1390740467130861487[60] = 1.0; + out_1390740467130861487[61] = 0.0; + out_1390740467130861487[62] = 0.0; + out_1390740467130861487[63] = 0.0; + out_1390740467130861487[64] = 0.0; + out_1390740467130861487[65] = 0.0; + out_1390740467130861487[66] = 0.0; + out_1390740467130861487[67] = 0.0; + out_1390740467130861487[68] = 0.0; + out_1390740467130861487[69] = 0.0; + out_1390740467130861487[70] = 1.0; + out_1390740467130861487[71] = 0.0; + out_1390740467130861487[72] = 0.0; + out_1390740467130861487[73] = 0.0; + out_1390740467130861487[74] = 0.0; + out_1390740467130861487[75] = 0.0; + out_1390740467130861487[76] = 0.0; + out_1390740467130861487[77] = 0.0; + out_1390740467130861487[78] = 0.0; + out_1390740467130861487[79] = 0.0; + out_1390740467130861487[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1496483947477544324) { - out_1496483947477544324[0] = state[0]; - out_1496483947477544324[1] = state[1]; - out_1496483947477544324[2] = state[2]; - out_1496483947477544324[3] = state[3]; - out_1496483947477544324[4] = state[4]; - out_1496483947477544324[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_1496483947477544324[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_1496483947477544324[7] = state[7]; - out_1496483947477544324[8] = state[8]; +void f_fun(double *state, double dt, double *out_2246396216540142177) { + out_2246396216540142177[0] = state[0]; + out_2246396216540142177[1] = state[1]; + out_2246396216540142177[2] = state[2]; + out_2246396216540142177[3] = state[3]; + out_2246396216540142177[4] = state[4]; + out_2246396216540142177[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_2246396216540142177[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_2246396216540142177[7] = state[7]; + out_2246396216540142177[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5799168133787523639) { - out_5799168133787523639[0] = 1; - out_5799168133787523639[1] = 0; - out_5799168133787523639[2] = 0; - out_5799168133787523639[3] = 0; - out_5799168133787523639[4] = 0; - out_5799168133787523639[5] = 0; - out_5799168133787523639[6] = 0; - out_5799168133787523639[7] = 0; - out_5799168133787523639[8] = 0; - out_5799168133787523639[9] = 0; - out_5799168133787523639[10] = 1; - out_5799168133787523639[11] = 0; - out_5799168133787523639[12] = 0; - out_5799168133787523639[13] = 0; - out_5799168133787523639[14] = 0; - out_5799168133787523639[15] = 0; - out_5799168133787523639[16] = 0; - out_5799168133787523639[17] = 0; - out_5799168133787523639[18] = 0; - out_5799168133787523639[19] = 0; - out_5799168133787523639[20] = 1; - out_5799168133787523639[21] = 0; - out_5799168133787523639[22] = 0; - out_5799168133787523639[23] = 0; - out_5799168133787523639[24] = 0; - out_5799168133787523639[25] = 0; - out_5799168133787523639[26] = 0; - out_5799168133787523639[27] = 0; - out_5799168133787523639[28] = 0; - out_5799168133787523639[29] = 0; - out_5799168133787523639[30] = 1; - out_5799168133787523639[31] = 0; - out_5799168133787523639[32] = 0; - out_5799168133787523639[33] = 0; - out_5799168133787523639[34] = 0; - out_5799168133787523639[35] = 0; - out_5799168133787523639[36] = 0; - out_5799168133787523639[37] = 0; - out_5799168133787523639[38] = 0; - out_5799168133787523639[39] = 0; - out_5799168133787523639[40] = 1; - out_5799168133787523639[41] = 0; - out_5799168133787523639[42] = 0; - out_5799168133787523639[43] = 0; - out_5799168133787523639[44] = 0; - out_5799168133787523639[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_5799168133787523639[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5799168133787523639[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5799168133787523639[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5799168133787523639[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_5799168133787523639[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5799168133787523639[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5799168133787523639[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5799168133787523639[53] = -9.8100000000000005*dt; - out_5799168133787523639[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_5799168133787523639[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5799168133787523639[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5799168133787523639[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5799168133787523639[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_5799168133787523639[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5799168133787523639[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_5799168133787523639[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5799168133787523639[62] = 0; - out_5799168133787523639[63] = 0; - out_5799168133787523639[64] = 0; - out_5799168133787523639[65] = 0; - out_5799168133787523639[66] = 0; - out_5799168133787523639[67] = 0; - out_5799168133787523639[68] = 0; - out_5799168133787523639[69] = 0; - out_5799168133787523639[70] = 1; - out_5799168133787523639[71] = 0; - out_5799168133787523639[72] = 0; - out_5799168133787523639[73] = 0; - out_5799168133787523639[74] = 0; - out_5799168133787523639[75] = 0; - out_5799168133787523639[76] = 0; - out_5799168133787523639[77] = 0; - out_5799168133787523639[78] = 0; - out_5799168133787523639[79] = 0; - out_5799168133787523639[80] = 1; +void F_fun(double *state, double dt, double *out_3263326103915417388) { + out_3263326103915417388[0] = 1; + out_3263326103915417388[1] = 0; + out_3263326103915417388[2] = 0; + out_3263326103915417388[3] = 0; + out_3263326103915417388[4] = 0; + out_3263326103915417388[5] = 0; + out_3263326103915417388[6] = 0; + out_3263326103915417388[7] = 0; + out_3263326103915417388[8] = 0; + out_3263326103915417388[9] = 0; + out_3263326103915417388[10] = 1; + out_3263326103915417388[11] = 0; + out_3263326103915417388[12] = 0; + out_3263326103915417388[13] = 0; + out_3263326103915417388[14] = 0; + out_3263326103915417388[15] = 0; + out_3263326103915417388[16] = 0; + out_3263326103915417388[17] = 0; + out_3263326103915417388[18] = 0; + out_3263326103915417388[19] = 0; + out_3263326103915417388[20] = 1; + out_3263326103915417388[21] = 0; + out_3263326103915417388[22] = 0; + out_3263326103915417388[23] = 0; + out_3263326103915417388[24] = 0; + out_3263326103915417388[25] = 0; + out_3263326103915417388[26] = 0; + out_3263326103915417388[27] = 0; + out_3263326103915417388[28] = 0; + out_3263326103915417388[29] = 0; + out_3263326103915417388[30] = 1; + out_3263326103915417388[31] = 0; + out_3263326103915417388[32] = 0; + out_3263326103915417388[33] = 0; + out_3263326103915417388[34] = 0; + out_3263326103915417388[35] = 0; + out_3263326103915417388[36] = 0; + out_3263326103915417388[37] = 0; + out_3263326103915417388[38] = 0; + out_3263326103915417388[39] = 0; + out_3263326103915417388[40] = 1; + out_3263326103915417388[41] = 0; + out_3263326103915417388[42] = 0; + out_3263326103915417388[43] = 0; + out_3263326103915417388[44] = 0; + out_3263326103915417388[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_3263326103915417388[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3263326103915417388[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3263326103915417388[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3263326103915417388[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_3263326103915417388[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3263326103915417388[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3263326103915417388[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3263326103915417388[53] = -9.8100000000000005*dt; + out_3263326103915417388[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_3263326103915417388[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3263326103915417388[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3263326103915417388[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3263326103915417388[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_3263326103915417388[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3263326103915417388[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_3263326103915417388[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3263326103915417388[62] = 0; + out_3263326103915417388[63] = 0; + out_3263326103915417388[64] = 0; + out_3263326103915417388[65] = 0; + out_3263326103915417388[66] = 0; + out_3263326103915417388[67] = 0; + out_3263326103915417388[68] = 0; + out_3263326103915417388[69] = 0; + out_3263326103915417388[70] = 1; + out_3263326103915417388[71] = 0; + out_3263326103915417388[72] = 0; + out_3263326103915417388[73] = 0; + out_3263326103915417388[74] = 0; + out_3263326103915417388[75] = 0; + out_3263326103915417388[76] = 0; + out_3263326103915417388[77] = 0; + out_3263326103915417388[78] = 0; + out_3263326103915417388[79] = 0; + out_3263326103915417388[80] = 1; } -void h_25(double *state, double *unused, double *out_4510188062326144511) { - out_4510188062326144511[0] = state[6]; +void h_25(double *state, double *unused, double *out_7774150008233015132) { + out_7774150008233015132[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1340165284045423799) { - out_1340165284045423799[0] = 0; - out_1340165284045423799[1] = 0; - out_1340165284045423799[2] = 0; - out_1340165284045423799[3] = 0; - out_1340165284045423799[4] = 0; - out_1340165284045423799[5] = 0; - out_1340165284045423799[6] = 1; - out_1340165284045423799[7] = 0; - out_1340165284045423799[8] = 0; +void H_25(double *state, double *unused, double *out_1594416823404739290) { + out_1594416823404739290[0] = 0; + out_1594416823404739290[1] = 0; + out_1594416823404739290[2] = 0; + out_1594416823404739290[3] = 0; + out_1594416823404739290[4] = 0; + out_1594416823404739290[5] = 0; + out_1594416823404739290[6] = 1; + out_1594416823404739290[7] = 0; + out_1594416823404739290[8] = 0; } -void h_24(double *state, double *unused, double *out_9153409952546890921) { - out_9153409952546890921[0] = state[4]; - out_9153409952546890921[1] = state[5]; +void h_24(double *state, double *unused, double *out_3517564190390228050) { + out_3517564190390228050[0] = state[4]; + out_3517564190390228050[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4898090882847746935) { - out_4898090882847746935[0] = 0; - out_4898090882847746935[1] = 0; - out_4898090882847746935[2] = 0; - out_4898090882847746935[3] = 0; - out_4898090882847746935[4] = 1; - out_4898090882847746935[5] = 0; - out_4898090882847746935[6] = 0; - out_4898090882847746935[7] = 0; - out_4898090882847746935[8] = 0; - out_4898090882847746935[9] = 0; - out_4898090882847746935[10] = 0; - out_4898090882847746935[11] = 0; - out_4898090882847746935[12] = 0; - out_4898090882847746935[13] = 0; - out_4898090882847746935[14] = 1; - out_4898090882847746935[15] = 0; - out_4898090882847746935[16] = 0; - out_4898090882847746935[17] = 0; +void H_24(double *state, double *unused, double *out_5823974810272187603) { + out_5823974810272187603[0] = 0; + out_5823974810272187603[1] = 0; + out_5823974810272187603[2] = 0; + out_5823974810272187603[3] = 0; + out_5823974810272187603[4] = 1; + out_5823974810272187603[5] = 0; + out_5823974810272187603[6] = 0; + out_5823974810272187603[7] = 0; + out_5823974810272187603[8] = 0; + out_5823974810272187603[9] = 0; + out_5823974810272187603[10] = 0; + out_5823974810272187603[11] = 0; + out_5823974810272187603[12] = 0; + out_5823974810272187603[13] = 0; + out_5823974810272187603[14] = 1; + out_5823974810272187603[15] = 0; + out_5823974810272187603[16] = 0; + out_5823974810272187603[17] = 0; } -void h_30(double *state, double *unused, double *out_3253077194494527930) { - out_3253077194494527930[0] = state[4]; +void h_30(double *state, double *unused, double *out_3901758839126185548) { + out_3901758839126185548[0] = state[4]; } -void H_30(double *state, double *unused, double *out_3858498242552672426) { - out_3858498242552672426[0] = 0; - out_3858498242552672426[1] = 0; - out_3858498242552672426[2] = 0; - out_3858498242552672426[3] = 0; - out_3858498242552672426[4] = 1; - out_3858498242552672426[5] = 0; - out_3858498242552672426[6] = 0; - out_3858498242552672426[7] = 0; - out_3858498242552672426[8] = 0; +void H_30(double *state, double *unused, double *out_923916135102509337) { + out_923916135102509337[0] = 0; + out_923916135102509337[1] = 0; + out_923916135102509337[2] = 0; + out_923916135102509337[3] = 0; + out_923916135102509337[4] = 1; + out_923916135102509337[5] = 0; + out_923916135102509337[6] = 0; + out_923916135102509337[7] = 0; + out_923916135102509337[8] = 0; } -void h_26(double *state, double *unused, double *out_3957832291759693581) { - out_3957832291759693581[0] = state[7]; +void h_26(double *state, double *unused, double *out_4894550625139811592) { + out_4894550625139811592[0] = state[7]; } -void H_26(double *state, double *unused, double *out_2401338034828632425) { - out_2401338034828632425[0] = 0; - out_2401338034828632425[1] = 0; - out_2401338034828632425[2] = 0; - out_2401338034828632425[3] = 0; - out_2401338034828632425[4] = 0; - out_2401338034828632425[5] = 0; - out_2401338034828632425[6] = 0; - out_2401338034828632425[7] = 1; - out_2401338034828632425[8] = 0; +void H_26(double *state, double *unused, double *out_5335920142278795514) { + out_5335920142278795514[0] = 0; + out_5335920142278795514[1] = 0; + out_5335920142278795514[2] = 0; + out_5335920142278795514[3] = 0; + out_5335920142278795514[4] = 0; + out_5335920142278795514[5] = 0; + out_5335920142278795514[6] = 0; + out_5335920142278795514[7] = 1; + out_5335920142278795514[8] = 0; } -void h_27(double *state, double *unused, double *out_8058270523824692017) { - out_8058270523824692017[0] = state[3]; +void h_27(double *state, double *unused, double *out_8717659861134677567) { + out_8717659861134677567[0] = state[3]; } -void H_27(double *state, double *unused, double *out_1683734930752247515) { - out_1683734930752247515[0] = 0; - out_1683734930752247515[1] = 0; - out_1683734930752247515[2] = 0; - out_1683734930752247515[3] = 1; - out_1683734930752247515[4] = 0; - out_1683734930752247515[5] = 0; - out_1683734930752247515[6] = 0; - out_1683734930752247515[7] = 0; - out_1683734930752247515[8] = 0; +void H_27(double *state, double *unused, double *out_1250847176697915574) { + out_1250847176697915574[0] = 0; + out_1250847176697915574[1] = 0; + out_1250847176697915574[2] = 0; + out_1250847176697915574[3] = 1; + out_1250847176697915574[4] = 0; + out_1250847176697915574[5] = 0; + out_1250847176697915574[6] = 0; + out_1250847176697915574[7] = 0; + out_1250847176697915574[8] = 0; } -void h_29(double *state, double *unused, double *out_4420820995570669667) { - out_4420820995570669667[0] = state[1]; +void h_29(double *state, double *unused, double *out_1089206735856332165) { + out_1089206735856332165[0] = state[1]; } -void H_29(double *state, double *unused, double *out_4368729586867064610) { - out_4368729586867064610[0] = 0; - out_4368729586867064610[1] = 1; - out_4368729586867064610[2] = 0; - out_4368729586867064610[3] = 0; - out_4368729586867064610[4] = 0; - out_4368729586867064610[5] = 0; - out_4368729586867064610[6] = 0; - out_4368729586867064610[7] = 0; - out_4368729586867064610[8] = 0; +void H_29(double *state, double *unused, double *out_1434147479416901521) { + out_1434147479416901521[0] = 0; + out_1434147479416901521[1] = 1; + out_1434147479416901521[2] = 0; + out_1434147479416901521[3] = 0; + out_1434147479416901521[4] = 0; + out_1434147479416901521[5] = 0; + out_1434147479416901521[6] = 0; + out_1434147479416901521[7] = 0; + out_1434147479416901521[8] = 0; } -void h_28(double *state, double *unused, double *out_7076186430489393905) { - out_7076186430489393905[0] = state[0]; +void h_28(double *state, double *unused, double *out_3715986593473831922) { + out_3715986593473831922[0] = state[0]; } -void H_28(double *state, double *unused, double *out_713669430202465964) { - out_713669430202465964[0] = 1; - out_713669430202465964[1] = 0; - out_713669430202465964[2] = 0; - out_713669430202465964[3] = 0; - out_713669430202465964[4] = 0; - out_713669430202465964[5] = 0; - out_713669430202465964[6] = 0; - out_713669430202465964[7] = 0; - out_713669430202465964[8] = 0; +void H_28(double *state, double *unused, double *out_3648251537652629053) { + out_3648251537652629053[0] = 1; + out_3648251537652629053[1] = 0; + out_3648251537652629053[2] = 0; + out_3648251537652629053[3] = 0; + out_3648251537652629053[4] = 0; + out_3648251537652629053[5] = 0; + out_3648251537652629053[6] = 0; + out_3648251537652629053[7] = 0; + out_3648251537652629053[8] = 0; } -void h_31(double *state, double *unused, double *out_8265185813124548370) { - out_8265185813124548370[0] = state[8]; +void h_31(double *state, double *unused, double *out_10884751412342691) { + out_10884751412342691[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3027546137061983901) { - out_3027546137061983901[0] = 0; - out_3027546137061983901[1] = 0; - out_3027546137061983901[2] = 0; - out_3027546137061983901[3] = 0; - out_3027546137061983901[4] = 0; - out_3027546137061983901[5] = 0; - out_3027546137061983901[6] = 0; - out_3027546137061983901[7] = 0; - out_3027546137061983901[8] = 1; +void H_31(double *state, double *unused, double *out_5962128244512146990) { + out_5962128244512146990[0] = 0; + out_5962128244512146990[1] = 0; + out_5962128244512146990[2] = 0; + out_5962128244512146990[3] = 0; + out_5962128244512146990[4] = 0; + out_5962128244512146990[5] = 0; + out_5962128244512146990[6] = 0; + out_5962128244512146990[7] = 0; + out_5962128244512146990[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_700264796655131929) { - err_fun(nom_x, delta_x, out_700264796655131929); +void car_err_fun(double *nom_x, double *delta_x, double *out_411609516403737386) { + err_fun(nom_x, delta_x, out_411609516403737386); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_107082048498982835) { - inv_err_fun(nom_x, true_x, out_107082048498982835); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7082078735183717431) { + inv_err_fun(nom_x, true_x, out_7082078735183717431); } -void car_H_mod_fun(double *state, double *out_7423992576013844798) { - H_mod_fun(state, out_7423992576013844798); +void car_H_mod_fun(double *state, double *out_1390740467130861487) { + H_mod_fun(state, out_1390740467130861487); } -void car_f_fun(double *state, double dt, double *out_1496483947477544324) { - f_fun(state, dt, out_1496483947477544324); +void car_f_fun(double *state, double dt, double *out_2246396216540142177) { + f_fun(state, dt, out_2246396216540142177); } -void car_F_fun(double *state, double dt, double *out_5799168133787523639) { - F_fun(state, dt, out_5799168133787523639); +void car_F_fun(double *state, double dt, double *out_3263326103915417388) { + F_fun(state, dt, out_3263326103915417388); } -void car_h_25(double *state, double *unused, double *out_4510188062326144511) { - h_25(state, unused, out_4510188062326144511); +void car_h_25(double *state, double *unused, double *out_7774150008233015132) { + h_25(state, unused, out_7774150008233015132); } -void car_H_25(double *state, double *unused, double *out_1340165284045423799) { - H_25(state, unused, out_1340165284045423799); +void car_H_25(double *state, double *unused, double *out_1594416823404739290) { + H_25(state, unused, out_1594416823404739290); } -void car_h_24(double *state, double *unused, double *out_9153409952546890921) { - h_24(state, unused, out_9153409952546890921); +void car_h_24(double *state, double *unused, double *out_3517564190390228050) { + h_24(state, unused, out_3517564190390228050); } -void car_H_24(double *state, double *unused, double *out_4898090882847746935) { - H_24(state, unused, out_4898090882847746935); +void car_H_24(double *state, double *unused, double *out_5823974810272187603) { + H_24(state, unused, out_5823974810272187603); } -void car_h_30(double *state, double *unused, double *out_3253077194494527930) { - h_30(state, unused, out_3253077194494527930); +void car_h_30(double *state, double *unused, double *out_3901758839126185548) { + h_30(state, unused, out_3901758839126185548); } -void car_H_30(double *state, double *unused, double *out_3858498242552672426) { - H_30(state, unused, out_3858498242552672426); +void car_H_30(double *state, double *unused, double *out_923916135102509337) { + H_30(state, unused, out_923916135102509337); } -void car_h_26(double *state, double *unused, double *out_3957832291759693581) { - h_26(state, unused, out_3957832291759693581); +void car_h_26(double *state, double *unused, double *out_4894550625139811592) { + h_26(state, unused, out_4894550625139811592); } -void car_H_26(double *state, double *unused, double *out_2401338034828632425) { - H_26(state, unused, out_2401338034828632425); +void car_H_26(double *state, double *unused, double *out_5335920142278795514) { + H_26(state, unused, out_5335920142278795514); } -void car_h_27(double *state, double *unused, double *out_8058270523824692017) { - h_27(state, unused, out_8058270523824692017); +void car_h_27(double *state, double *unused, double *out_8717659861134677567) { + h_27(state, unused, out_8717659861134677567); } -void car_H_27(double *state, double *unused, double *out_1683734930752247515) { - H_27(state, unused, out_1683734930752247515); +void car_H_27(double *state, double *unused, double *out_1250847176697915574) { + H_27(state, unused, out_1250847176697915574); } -void car_h_29(double *state, double *unused, double *out_4420820995570669667) { - h_29(state, unused, out_4420820995570669667); +void car_h_29(double *state, double *unused, double *out_1089206735856332165) { + h_29(state, unused, out_1089206735856332165); } -void car_H_29(double *state, double *unused, double *out_4368729586867064610) { - H_29(state, unused, out_4368729586867064610); +void car_H_29(double *state, double *unused, double *out_1434147479416901521) { + H_29(state, unused, out_1434147479416901521); } -void car_h_28(double *state, double *unused, double *out_7076186430489393905) { - h_28(state, unused, out_7076186430489393905); +void car_h_28(double *state, double *unused, double *out_3715986593473831922) { + h_28(state, unused, out_3715986593473831922); } -void car_H_28(double *state, double *unused, double *out_713669430202465964) { - H_28(state, unused, out_713669430202465964); +void car_H_28(double *state, double *unused, double *out_3648251537652629053) { + H_28(state, unused, out_3648251537652629053); } -void car_h_31(double *state, double *unused, double *out_8265185813124548370) { - h_31(state, unused, out_8265185813124548370); +void car_h_31(double *state, double *unused, double *out_10884751412342691) { + h_31(state, unused, out_10884751412342691); } -void car_H_31(double *state, double *unused, double *out_3027546137061983901) { - H_31(state, unused, out_3027546137061983901); +void car_H_31(double *state, double *unused, double *out_5962128244512146990) { + H_31(state, unused, out_5962128244512146990); } 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 cf47097ce..e67dbc01c 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_700264796655131929); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_107082048498982835); -void car_H_mod_fun(double *state, double *out_7423992576013844798); -void car_f_fun(double *state, double dt, double *out_1496483947477544324); -void car_F_fun(double *state, double dt, double *out_5799168133787523639); -void car_h_25(double *state, double *unused, double *out_4510188062326144511); -void car_H_25(double *state, double *unused, double *out_1340165284045423799); -void car_h_24(double *state, double *unused, double *out_9153409952546890921); -void car_H_24(double *state, double *unused, double *out_4898090882847746935); -void car_h_30(double *state, double *unused, double *out_3253077194494527930); -void car_H_30(double *state, double *unused, double *out_3858498242552672426); -void car_h_26(double *state, double *unused, double *out_3957832291759693581); -void car_H_26(double *state, double *unused, double *out_2401338034828632425); -void car_h_27(double *state, double *unused, double *out_8058270523824692017); -void car_H_27(double *state, double *unused, double *out_1683734930752247515); -void car_h_29(double *state, double *unused, double *out_4420820995570669667); -void car_H_29(double *state, double *unused, double *out_4368729586867064610); -void car_h_28(double *state, double *unused, double *out_7076186430489393905); -void car_H_28(double *state, double *unused, double *out_713669430202465964); -void car_h_31(double *state, double *unused, double *out_8265185813124548370); -void car_H_31(double *state, double *unused, double *out_3027546137061983901); +void car_err_fun(double *nom_x, double *delta_x, double *out_411609516403737386); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7082078735183717431); +void car_H_mod_fun(double *state, double *out_1390740467130861487); +void car_f_fun(double *state, double dt, double *out_2246396216540142177); +void car_F_fun(double *state, double dt, double *out_3263326103915417388); +void car_h_25(double *state, double *unused, double *out_7774150008233015132); +void car_H_25(double *state, double *unused, double *out_1594416823404739290); +void car_h_24(double *state, double *unused, double *out_3517564190390228050); +void car_H_24(double *state, double *unused, double *out_5823974810272187603); +void car_h_30(double *state, double *unused, double *out_3901758839126185548); +void car_H_30(double *state, double *unused, double *out_923916135102509337); +void car_h_26(double *state, double *unused, double *out_4894550625139811592); +void car_H_26(double *state, double *unused, double *out_5335920142278795514); +void car_h_27(double *state, double *unused, double *out_8717659861134677567); +void car_H_27(double *state, double *unused, double *out_1250847176697915574); +void car_h_29(double *state, double *unused, double *out_1089206735856332165); +void car_H_29(double *state, double *unused, double *out_1434147479416901521); +void car_h_28(double *state, double *unused, double *out_3715986593473831922); +void car_H_28(double *state, double *unused, double *out_3648251537652629053); +void car_h_31(double *state, double *unused, double *out_10884751412342691); +void car_H_31(double *state, double *unused, double *out_5962128244512146990); 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 01cb0c915..73627aa71 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_5792379923597347601) { - out_5792379923597347601[0] = delta_x[0] + nom_x[0]; - out_5792379923597347601[1] = delta_x[1] + nom_x[1]; - out_5792379923597347601[2] = delta_x[2] + nom_x[2]; - out_5792379923597347601[3] = delta_x[3] + nom_x[3]; - out_5792379923597347601[4] = delta_x[4] + nom_x[4]; - out_5792379923597347601[5] = delta_x[5] + nom_x[5]; - out_5792379923597347601[6] = delta_x[6] + nom_x[6]; - out_5792379923597347601[7] = delta_x[7] + nom_x[7]; - out_5792379923597347601[8] = delta_x[8] + nom_x[8]; - out_5792379923597347601[9] = delta_x[9] + nom_x[9]; - out_5792379923597347601[10] = delta_x[10] + nom_x[10]; - out_5792379923597347601[11] = delta_x[11] + nom_x[11]; - out_5792379923597347601[12] = delta_x[12] + nom_x[12]; - out_5792379923597347601[13] = delta_x[13] + nom_x[13]; - out_5792379923597347601[14] = delta_x[14] + nom_x[14]; - out_5792379923597347601[15] = delta_x[15] + nom_x[15]; - out_5792379923597347601[16] = delta_x[16] + nom_x[16]; - out_5792379923597347601[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3060982030804230470) { + out_3060982030804230470[0] = delta_x[0] + nom_x[0]; + out_3060982030804230470[1] = delta_x[1] + nom_x[1]; + out_3060982030804230470[2] = delta_x[2] + nom_x[2]; + out_3060982030804230470[3] = delta_x[3] + nom_x[3]; + out_3060982030804230470[4] = delta_x[4] + nom_x[4]; + out_3060982030804230470[5] = delta_x[5] + nom_x[5]; + out_3060982030804230470[6] = delta_x[6] + nom_x[6]; + out_3060982030804230470[7] = delta_x[7] + nom_x[7]; + out_3060982030804230470[8] = delta_x[8] + nom_x[8]; + out_3060982030804230470[9] = delta_x[9] + nom_x[9]; + out_3060982030804230470[10] = delta_x[10] + nom_x[10]; + out_3060982030804230470[11] = delta_x[11] + nom_x[11]; + out_3060982030804230470[12] = delta_x[12] + nom_x[12]; + out_3060982030804230470[13] = delta_x[13] + nom_x[13]; + out_3060982030804230470[14] = delta_x[14] + nom_x[14]; + out_3060982030804230470[15] = delta_x[15] + nom_x[15]; + out_3060982030804230470[16] = delta_x[16] + nom_x[16]; + out_3060982030804230470[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3127222841440964837) { - out_3127222841440964837[0] = -nom_x[0] + true_x[0]; - out_3127222841440964837[1] = -nom_x[1] + true_x[1]; - out_3127222841440964837[2] = -nom_x[2] + true_x[2]; - out_3127222841440964837[3] = -nom_x[3] + true_x[3]; - out_3127222841440964837[4] = -nom_x[4] + true_x[4]; - out_3127222841440964837[5] = -nom_x[5] + true_x[5]; - out_3127222841440964837[6] = -nom_x[6] + true_x[6]; - out_3127222841440964837[7] = -nom_x[7] + true_x[7]; - out_3127222841440964837[8] = -nom_x[8] + true_x[8]; - out_3127222841440964837[9] = -nom_x[9] + true_x[9]; - out_3127222841440964837[10] = -nom_x[10] + true_x[10]; - out_3127222841440964837[11] = -nom_x[11] + true_x[11]; - out_3127222841440964837[12] = -nom_x[12] + true_x[12]; - out_3127222841440964837[13] = -nom_x[13] + true_x[13]; - out_3127222841440964837[14] = -nom_x[14] + true_x[14]; - out_3127222841440964837[15] = -nom_x[15] + true_x[15]; - out_3127222841440964837[16] = -nom_x[16] + true_x[16]; - out_3127222841440964837[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1893009693429340384) { + out_1893009693429340384[0] = -nom_x[0] + true_x[0]; + out_1893009693429340384[1] = -nom_x[1] + true_x[1]; + out_1893009693429340384[2] = -nom_x[2] + true_x[2]; + out_1893009693429340384[3] = -nom_x[3] + true_x[3]; + out_1893009693429340384[4] = -nom_x[4] + true_x[4]; + out_1893009693429340384[5] = -nom_x[5] + true_x[5]; + out_1893009693429340384[6] = -nom_x[6] + true_x[6]; + out_1893009693429340384[7] = -nom_x[7] + true_x[7]; + out_1893009693429340384[8] = -nom_x[8] + true_x[8]; + out_1893009693429340384[9] = -nom_x[9] + true_x[9]; + out_1893009693429340384[10] = -nom_x[10] + true_x[10]; + out_1893009693429340384[11] = -nom_x[11] + true_x[11]; + out_1893009693429340384[12] = -nom_x[12] + true_x[12]; + out_1893009693429340384[13] = -nom_x[13] + true_x[13]; + out_1893009693429340384[14] = -nom_x[14] + true_x[14]; + out_1893009693429340384[15] = -nom_x[15] + true_x[15]; + out_1893009693429340384[16] = -nom_x[16] + true_x[16]; + out_1893009693429340384[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1474962527938332194) { - out_1474962527938332194[0] = 1.0; - out_1474962527938332194[1] = 0.0; - out_1474962527938332194[2] = 0.0; - out_1474962527938332194[3] = 0.0; - out_1474962527938332194[4] = 0.0; - out_1474962527938332194[5] = 0.0; - out_1474962527938332194[6] = 0.0; - out_1474962527938332194[7] = 0.0; - out_1474962527938332194[8] = 0.0; - out_1474962527938332194[9] = 0.0; - out_1474962527938332194[10] = 0.0; - out_1474962527938332194[11] = 0.0; - out_1474962527938332194[12] = 0.0; - out_1474962527938332194[13] = 0.0; - out_1474962527938332194[14] = 0.0; - out_1474962527938332194[15] = 0.0; - out_1474962527938332194[16] = 0.0; - out_1474962527938332194[17] = 0.0; - out_1474962527938332194[18] = 0.0; - out_1474962527938332194[19] = 1.0; - out_1474962527938332194[20] = 0.0; - out_1474962527938332194[21] = 0.0; - out_1474962527938332194[22] = 0.0; - out_1474962527938332194[23] = 0.0; - out_1474962527938332194[24] = 0.0; - out_1474962527938332194[25] = 0.0; - out_1474962527938332194[26] = 0.0; - out_1474962527938332194[27] = 0.0; - out_1474962527938332194[28] = 0.0; - out_1474962527938332194[29] = 0.0; - out_1474962527938332194[30] = 0.0; - out_1474962527938332194[31] = 0.0; - out_1474962527938332194[32] = 0.0; - out_1474962527938332194[33] = 0.0; - out_1474962527938332194[34] = 0.0; - out_1474962527938332194[35] = 0.0; - out_1474962527938332194[36] = 0.0; - out_1474962527938332194[37] = 0.0; - out_1474962527938332194[38] = 1.0; - out_1474962527938332194[39] = 0.0; - out_1474962527938332194[40] = 0.0; - out_1474962527938332194[41] = 0.0; - out_1474962527938332194[42] = 0.0; - out_1474962527938332194[43] = 0.0; - out_1474962527938332194[44] = 0.0; - out_1474962527938332194[45] = 0.0; - out_1474962527938332194[46] = 0.0; - out_1474962527938332194[47] = 0.0; - out_1474962527938332194[48] = 0.0; - out_1474962527938332194[49] = 0.0; - out_1474962527938332194[50] = 0.0; - out_1474962527938332194[51] = 0.0; - out_1474962527938332194[52] = 0.0; - out_1474962527938332194[53] = 0.0; - out_1474962527938332194[54] = 0.0; - out_1474962527938332194[55] = 0.0; - out_1474962527938332194[56] = 0.0; - out_1474962527938332194[57] = 1.0; - out_1474962527938332194[58] = 0.0; - out_1474962527938332194[59] = 0.0; - out_1474962527938332194[60] = 0.0; - out_1474962527938332194[61] = 0.0; - out_1474962527938332194[62] = 0.0; - out_1474962527938332194[63] = 0.0; - out_1474962527938332194[64] = 0.0; - out_1474962527938332194[65] = 0.0; - out_1474962527938332194[66] = 0.0; - out_1474962527938332194[67] = 0.0; - out_1474962527938332194[68] = 0.0; - out_1474962527938332194[69] = 0.0; - out_1474962527938332194[70] = 0.0; - out_1474962527938332194[71] = 0.0; - out_1474962527938332194[72] = 0.0; - out_1474962527938332194[73] = 0.0; - out_1474962527938332194[74] = 0.0; - out_1474962527938332194[75] = 0.0; - out_1474962527938332194[76] = 1.0; - out_1474962527938332194[77] = 0.0; - out_1474962527938332194[78] = 0.0; - out_1474962527938332194[79] = 0.0; - out_1474962527938332194[80] = 0.0; - out_1474962527938332194[81] = 0.0; - out_1474962527938332194[82] = 0.0; - out_1474962527938332194[83] = 0.0; - out_1474962527938332194[84] = 0.0; - out_1474962527938332194[85] = 0.0; - out_1474962527938332194[86] = 0.0; - out_1474962527938332194[87] = 0.0; - out_1474962527938332194[88] = 0.0; - out_1474962527938332194[89] = 0.0; - out_1474962527938332194[90] = 0.0; - out_1474962527938332194[91] = 0.0; - out_1474962527938332194[92] = 0.0; - out_1474962527938332194[93] = 0.0; - out_1474962527938332194[94] = 0.0; - out_1474962527938332194[95] = 1.0; - out_1474962527938332194[96] = 0.0; - out_1474962527938332194[97] = 0.0; - out_1474962527938332194[98] = 0.0; - out_1474962527938332194[99] = 0.0; - out_1474962527938332194[100] = 0.0; - out_1474962527938332194[101] = 0.0; - out_1474962527938332194[102] = 0.0; - out_1474962527938332194[103] = 0.0; - out_1474962527938332194[104] = 0.0; - out_1474962527938332194[105] = 0.0; - out_1474962527938332194[106] = 0.0; - out_1474962527938332194[107] = 0.0; - out_1474962527938332194[108] = 0.0; - out_1474962527938332194[109] = 0.0; - out_1474962527938332194[110] = 0.0; - out_1474962527938332194[111] = 0.0; - out_1474962527938332194[112] = 0.0; - out_1474962527938332194[113] = 0.0; - out_1474962527938332194[114] = 1.0; - out_1474962527938332194[115] = 0.0; - out_1474962527938332194[116] = 0.0; - out_1474962527938332194[117] = 0.0; - out_1474962527938332194[118] = 0.0; - out_1474962527938332194[119] = 0.0; - out_1474962527938332194[120] = 0.0; - out_1474962527938332194[121] = 0.0; - out_1474962527938332194[122] = 0.0; - out_1474962527938332194[123] = 0.0; - out_1474962527938332194[124] = 0.0; - out_1474962527938332194[125] = 0.0; - out_1474962527938332194[126] = 0.0; - out_1474962527938332194[127] = 0.0; - out_1474962527938332194[128] = 0.0; - out_1474962527938332194[129] = 0.0; - out_1474962527938332194[130] = 0.0; - out_1474962527938332194[131] = 0.0; - out_1474962527938332194[132] = 0.0; - out_1474962527938332194[133] = 1.0; - out_1474962527938332194[134] = 0.0; - out_1474962527938332194[135] = 0.0; - out_1474962527938332194[136] = 0.0; - out_1474962527938332194[137] = 0.0; - out_1474962527938332194[138] = 0.0; - out_1474962527938332194[139] = 0.0; - out_1474962527938332194[140] = 0.0; - out_1474962527938332194[141] = 0.0; - out_1474962527938332194[142] = 0.0; - out_1474962527938332194[143] = 0.0; - out_1474962527938332194[144] = 0.0; - out_1474962527938332194[145] = 0.0; - out_1474962527938332194[146] = 0.0; - out_1474962527938332194[147] = 0.0; - out_1474962527938332194[148] = 0.0; - out_1474962527938332194[149] = 0.0; - out_1474962527938332194[150] = 0.0; - out_1474962527938332194[151] = 0.0; - out_1474962527938332194[152] = 1.0; - out_1474962527938332194[153] = 0.0; - out_1474962527938332194[154] = 0.0; - out_1474962527938332194[155] = 0.0; - out_1474962527938332194[156] = 0.0; - out_1474962527938332194[157] = 0.0; - out_1474962527938332194[158] = 0.0; - out_1474962527938332194[159] = 0.0; - out_1474962527938332194[160] = 0.0; - out_1474962527938332194[161] = 0.0; - out_1474962527938332194[162] = 0.0; - out_1474962527938332194[163] = 0.0; - out_1474962527938332194[164] = 0.0; - out_1474962527938332194[165] = 0.0; - out_1474962527938332194[166] = 0.0; - out_1474962527938332194[167] = 0.0; - out_1474962527938332194[168] = 0.0; - out_1474962527938332194[169] = 0.0; - out_1474962527938332194[170] = 0.0; - out_1474962527938332194[171] = 1.0; - out_1474962527938332194[172] = 0.0; - out_1474962527938332194[173] = 0.0; - out_1474962527938332194[174] = 0.0; - out_1474962527938332194[175] = 0.0; - out_1474962527938332194[176] = 0.0; - out_1474962527938332194[177] = 0.0; - out_1474962527938332194[178] = 0.0; - out_1474962527938332194[179] = 0.0; - out_1474962527938332194[180] = 0.0; - out_1474962527938332194[181] = 0.0; - out_1474962527938332194[182] = 0.0; - out_1474962527938332194[183] = 0.0; - out_1474962527938332194[184] = 0.0; - out_1474962527938332194[185] = 0.0; - out_1474962527938332194[186] = 0.0; - out_1474962527938332194[187] = 0.0; - out_1474962527938332194[188] = 0.0; - out_1474962527938332194[189] = 0.0; - out_1474962527938332194[190] = 1.0; - out_1474962527938332194[191] = 0.0; - out_1474962527938332194[192] = 0.0; - out_1474962527938332194[193] = 0.0; - out_1474962527938332194[194] = 0.0; - out_1474962527938332194[195] = 0.0; - out_1474962527938332194[196] = 0.0; - out_1474962527938332194[197] = 0.0; - out_1474962527938332194[198] = 0.0; - out_1474962527938332194[199] = 0.0; - out_1474962527938332194[200] = 0.0; - out_1474962527938332194[201] = 0.0; - out_1474962527938332194[202] = 0.0; - out_1474962527938332194[203] = 0.0; - out_1474962527938332194[204] = 0.0; - out_1474962527938332194[205] = 0.0; - out_1474962527938332194[206] = 0.0; - out_1474962527938332194[207] = 0.0; - out_1474962527938332194[208] = 0.0; - out_1474962527938332194[209] = 1.0; - out_1474962527938332194[210] = 0.0; - out_1474962527938332194[211] = 0.0; - out_1474962527938332194[212] = 0.0; - out_1474962527938332194[213] = 0.0; - out_1474962527938332194[214] = 0.0; - out_1474962527938332194[215] = 0.0; - out_1474962527938332194[216] = 0.0; - out_1474962527938332194[217] = 0.0; - out_1474962527938332194[218] = 0.0; - out_1474962527938332194[219] = 0.0; - out_1474962527938332194[220] = 0.0; - out_1474962527938332194[221] = 0.0; - out_1474962527938332194[222] = 0.0; - out_1474962527938332194[223] = 0.0; - out_1474962527938332194[224] = 0.0; - out_1474962527938332194[225] = 0.0; - out_1474962527938332194[226] = 0.0; - out_1474962527938332194[227] = 0.0; - out_1474962527938332194[228] = 1.0; - out_1474962527938332194[229] = 0.0; - out_1474962527938332194[230] = 0.0; - out_1474962527938332194[231] = 0.0; - out_1474962527938332194[232] = 0.0; - out_1474962527938332194[233] = 0.0; - out_1474962527938332194[234] = 0.0; - out_1474962527938332194[235] = 0.0; - out_1474962527938332194[236] = 0.0; - out_1474962527938332194[237] = 0.0; - out_1474962527938332194[238] = 0.0; - out_1474962527938332194[239] = 0.0; - out_1474962527938332194[240] = 0.0; - out_1474962527938332194[241] = 0.0; - out_1474962527938332194[242] = 0.0; - out_1474962527938332194[243] = 0.0; - out_1474962527938332194[244] = 0.0; - out_1474962527938332194[245] = 0.0; - out_1474962527938332194[246] = 0.0; - out_1474962527938332194[247] = 1.0; - out_1474962527938332194[248] = 0.0; - out_1474962527938332194[249] = 0.0; - out_1474962527938332194[250] = 0.0; - out_1474962527938332194[251] = 0.0; - out_1474962527938332194[252] = 0.0; - out_1474962527938332194[253] = 0.0; - out_1474962527938332194[254] = 0.0; - out_1474962527938332194[255] = 0.0; - out_1474962527938332194[256] = 0.0; - out_1474962527938332194[257] = 0.0; - out_1474962527938332194[258] = 0.0; - out_1474962527938332194[259] = 0.0; - out_1474962527938332194[260] = 0.0; - out_1474962527938332194[261] = 0.0; - out_1474962527938332194[262] = 0.0; - out_1474962527938332194[263] = 0.0; - out_1474962527938332194[264] = 0.0; - out_1474962527938332194[265] = 0.0; - out_1474962527938332194[266] = 1.0; - out_1474962527938332194[267] = 0.0; - out_1474962527938332194[268] = 0.0; - out_1474962527938332194[269] = 0.0; - out_1474962527938332194[270] = 0.0; - out_1474962527938332194[271] = 0.0; - out_1474962527938332194[272] = 0.0; - out_1474962527938332194[273] = 0.0; - out_1474962527938332194[274] = 0.0; - out_1474962527938332194[275] = 0.0; - out_1474962527938332194[276] = 0.0; - out_1474962527938332194[277] = 0.0; - out_1474962527938332194[278] = 0.0; - out_1474962527938332194[279] = 0.0; - out_1474962527938332194[280] = 0.0; - out_1474962527938332194[281] = 0.0; - out_1474962527938332194[282] = 0.0; - out_1474962527938332194[283] = 0.0; - out_1474962527938332194[284] = 0.0; - out_1474962527938332194[285] = 1.0; - out_1474962527938332194[286] = 0.0; - out_1474962527938332194[287] = 0.0; - out_1474962527938332194[288] = 0.0; - out_1474962527938332194[289] = 0.0; - out_1474962527938332194[290] = 0.0; - out_1474962527938332194[291] = 0.0; - out_1474962527938332194[292] = 0.0; - out_1474962527938332194[293] = 0.0; - out_1474962527938332194[294] = 0.0; - out_1474962527938332194[295] = 0.0; - out_1474962527938332194[296] = 0.0; - out_1474962527938332194[297] = 0.0; - out_1474962527938332194[298] = 0.0; - out_1474962527938332194[299] = 0.0; - out_1474962527938332194[300] = 0.0; - out_1474962527938332194[301] = 0.0; - out_1474962527938332194[302] = 0.0; - out_1474962527938332194[303] = 0.0; - out_1474962527938332194[304] = 1.0; - out_1474962527938332194[305] = 0.0; - out_1474962527938332194[306] = 0.0; - out_1474962527938332194[307] = 0.0; - out_1474962527938332194[308] = 0.0; - out_1474962527938332194[309] = 0.0; - out_1474962527938332194[310] = 0.0; - out_1474962527938332194[311] = 0.0; - out_1474962527938332194[312] = 0.0; - out_1474962527938332194[313] = 0.0; - out_1474962527938332194[314] = 0.0; - out_1474962527938332194[315] = 0.0; - out_1474962527938332194[316] = 0.0; - out_1474962527938332194[317] = 0.0; - out_1474962527938332194[318] = 0.0; - out_1474962527938332194[319] = 0.0; - out_1474962527938332194[320] = 0.0; - out_1474962527938332194[321] = 0.0; - out_1474962527938332194[322] = 0.0; - out_1474962527938332194[323] = 1.0; +void H_mod_fun(double *state, double *out_8923486826760505000) { + out_8923486826760505000[0] = 1.0; + out_8923486826760505000[1] = 0.0; + out_8923486826760505000[2] = 0.0; + out_8923486826760505000[3] = 0.0; + out_8923486826760505000[4] = 0.0; + out_8923486826760505000[5] = 0.0; + out_8923486826760505000[6] = 0.0; + out_8923486826760505000[7] = 0.0; + out_8923486826760505000[8] = 0.0; + out_8923486826760505000[9] = 0.0; + out_8923486826760505000[10] = 0.0; + out_8923486826760505000[11] = 0.0; + out_8923486826760505000[12] = 0.0; + out_8923486826760505000[13] = 0.0; + out_8923486826760505000[14] = 0.0; + out_8923486826760505000[15] = 0.0; + out_8923486826760505000[16] = 0.0; + out_8923486826760505000[17] = 0.0; + out_8923486826760505000[18] = 0.0; + out_8923486826760505000[19] = 1.0; + out_8923486826760505000[20] = 0.0; + out_8923486826760505000[21] = 0.0; + out_8923486826760505000[22] = 0.0; + out_8923486826760505000[23] = 0.0; + out_8923486826760505000[24] = 0.0; + out_8923486826760505000[25] = 0.0; + out_8923486826760505000[26] = 0.0; + out_8923486826760505000[27] = 0.0; + out_8923486826760505000[28] = 0.0; + out_8923486826760505000[29] = 0.0; + out_8923486826760505000[30] = 0.0; + out_8923486826760505000[31] = 0.0; + out_8923486826760505000[32] = 0.0; + out_8923486826760505000[33] = 0.0; + out_8923486826760505000[34] = 0.0; + out_8923486826760505000[35] = 0.0; + out_8923486826760505000[36] = 0.0; + out_8923486826760505000[37] = 0.0; + out_8923486826760505000[38] = 1.0; + out_8923486826760505000[39] = 0.0; + out_8923486826760505000[40] = 0.0; + out_8923486826760505000[41] = 0.0; + out_8923486826760505000[42] = 0.0; + out_8923486826760505000[43] = 0.0; + out_8923486826760505000[44] = 0.0; + out_8923486826760505000[45] = 0.0; + out_8923486826760505000[46] = 0.0; + out_8923486826760505000[47] = 0.0; + out_8923486826760505000[48] = 0.0; + out_8923486826760505000[49] = 0.0; + out_8923486826760505000[50] = 0.0; + out_8923486826760505000[51] = 0.0; + out_8923486826760505000[52] = 0.0; + out_8923486826760505000[53] = 0.0; + out_8923486826760505000[54] = 0.0; + out_8923486826760505000[55] = 0.0; + out_8923486826760505000[56] = 0.0; + out_8923486826760505000[57] = 1.0; + out_8923486826760505000[58] = 0.0; + out_8923486826760505000[59] = 0.0; + out_8923486826760505000[60] = 0.0; + out_8923486826760505000[61] = 0.0; + out_8923486826760505000[62] = 0.0; + out_8923486826760505000[63] = 0.0; + out_8923486826760505000[64] = 0.0; + out_8923486826760505000[65] = 0.0; + out_8923486826760505000[66] = 0.0; + out_8923486826760505000[67] = 0.0; + out_8923486826760505000[68] = 0.0; + out_8923486826760505000[69] = 0.0; + out_8923486826760505000[70] = 0.0; + out_8923486826760505000[71] = 0.0; + out_8923486826760505000[72] = 0.0; + out_8923486826760505000[73] = 0.0; + out_8923486826760505000[74] = 0.0; + out_8923486826760505000[75] = 0.0; + out_8923486826760505000[76] = 1.0; + out_8923486826760505000[77] = 0.0; + out_8923486826760505000[78] = 0.0; + out_8923486826760505000[79] = 0.0; + out_8923486826760505000[80] = 0.0; + out_8923486826760505000[81] = 0.0; + out_8923486826760505000[82] = 0.0; + out_8923486826760505000[83] = 0.0; + out_8923486826760505000[84] = 0.0; + out_8923486826760505000[85] = 0.0; + out_8923486826760505000[86] = 0.0; + out_8923486826760505000[87] = 0.0; + out_8923486826760505000[88] = 0.0; + out_8923486826760505000[89] = 0.0; + out_8923486826760505000[90] = 0.0; + out_8923486826760505000[91] = 0.0; + out_8923486826760505000[92] = 0.0; + out_8923486826760505000[93] = 0.0; + out_8923486826760505000[94] = 0.0; + out_8923486826760505000[95] = 1.0; + out_8923486826760505000[96] = 0.0; + out_8923486826760505000[97] = 0.0; + out_8923486826760505000[98] = 0.0; + out_8923486826760505000[99] = 0.0; + out_8923486826760505000[100] = 0.0; + out_8923486826760505000[101] = 0.0; + out_8923486826760505000[102] = 0.0; + out_8923486826760505000[103] = 0.0; + out_8923486826760505000[104] = 0.0; + out_8923486826760505000[105] = 0.0; + out_8923486826760505000[106] = 0.0; + out_8923486826760505000[107] = 0.0; + out_8923486826760505000[108] = 0.0; + out_8923486826760505000[109] = 0.0; + out_8923486826760505000[110] = 0.0; + out_8923486826760505000[111] = 0.0; + out_8923486826760505000[112] = 0.0; + out_8923486826760505000[113] = 0.0; + out_8923486826760505000[114] = 1.0; + out_8923486826760505000[115] = 0.0; + out_8923486826760505000[116] = 0.0; + out_8923486826760505000[117] = 0.0; + out_8923486826760505000[118] = 0.0; + out_8923486826760505000[119] = 0.0; + out_8923486826760505000[120] = 0.0; + out_8923486826760505000[121] = 0.0; + out_8923486826760505000[122] = 0.0; + out_8923486826760505000[123] = 0.0; + out_8923486826760505000[124] = 0.0; + out_8923486826760505000[125] = 0.0; + out_8923486826760505000[126] = 0.0; + out_8923486826760505000[127] = 0.0; + out_8923486826760505000[128] = 0.0; + out_8923486826760505000[129] = 0.0; + out_8923486826760505000[130] = 0.0; + out_8923486826760505000[131] = 0.0; + out_8923486826760505000[132] = 0.0; + out_8923486826760505000[133] = 1.0; + out_8923486826760505000[134] = 0.0; + out_8923486826760505000[135] = 0.0; + out_8923486826760505000[136] = 0.0; + out_8923486826760505000[137] = 0.0; + out_8923486826760505000[138] = 0.0; + out_8923486826760505000[139] = 0.0; + out_8923486826760505000[140] = 0.0; + out_8923486826760505000[141] = 0.0; + out_8923486826760505000[142] = 0.0; + out_8923486826760505000[143] = 0.0; + out_8923486826760505000[144] = 0.0; + out_8923486826760505000[145] = 0.0; + out_8923486826760505000[146] = 0.0; + out_8923486826760505000[147] = 0.0; + out_8923486826760505000[148] = 0.0; + out_8923486826760505000[149] = 0.0; + out_8923486826760505000[150] = 0.0; + out_8923486826760505000[151] = 0.0; + out_8923486826760505000[152] = 1.0; + out_8923486826760505000[153] = 0.0; + out_8923486826760505000[154] = 0.0; + out_8923486826760505000[155] = 0.0; + out_8923486826760505000[156] = 0.0; + out_8923486826760505000[157] = 0.0; + out_8923486826760505000[158] = 0.0; + out_8923486826760505000[159] = 0.0; + out_8923486826760505000[160] = 0.0; + out_8923486826760505000[161] = 0.0; + out_8923486826760505000[162] = 0.0; + out_8923486826760505000[163] = 0.0; + out_8923486826760505000[164] = 0.0; + out_8923486826760505000[165] = 0.0; + out_8923486826760505000[166] = 0.0; + out_8923486826760505000[167] = 0.0; + out_8923486826760505000[168] = 0.0; + out_8923486826760505000[169] = 0.0; + out_8923486826760505000[170] = 0.0; + out_8923486826760505000[171] = 1.0; + out_8923486826760505000[172] = 0.0; + out_8923486826760505000[173] = 0.0; + out_8923486826760505000[174] = 0.0; + out_8923486826760505000[175] = 0.0; + out_8923486826760505000[176] = 0.0; + out_8923486826760505000[177] = 0.0; + out_8923486826760505000[178] = 0.0; + out_8923486826760505000[179] = 0.0; + out_8923486826760505000[180] = 0.0; + out_8923486826760505000[181] = 0.0; + out_8923486826760505000[182] = 0.0; + out_8923486826760505000[183] = 0.0; + out_8923486826760505000[184] = 0.0; + out_8923486826760505000[185] = 0.0; + out_8923486826760505000[186] = 0.0; + out_8923486826760505000[187] = 0.0; + out_8923486826760505000[188] = 0.0; + out_8923486826760505000[189] = 0.0; + out_8923486826760505000[190] = 1.0; + out_8923486826760505000[191] = 0.0; + out_8923486826760505000[192] = 0.0; + out_8923486826760505000[193] = 0.0; + out_8923486826760505000[194] = 0.0; + out_8923486826760505000[195] = 0.0; + out_8923486826760505000[196] = 0.0; + out_8923486826760505000[197] = 0.0; + out_8923486826760505000[198] = 0.0; + out_8923486826760505000[199] = 0.0; + out_8923486826760505000[200] = 0.0; + out_8923486826760505000[201] = 0.0; + out_8923486826760505000[202] = 0.0; + out_8923486826760505000[203] = 0.0; + out_8923486826760505000[204] = 0.0; + out_8923486826760505000[205] = 0.0; + out_8923486826760505000[206] = 0.0; + out_8923486826760505000[207] = 0.0; + out_8923486826760505000[208] = 0.0; + out_8923486826760505000[209] = 1.0; + out_8923486826760505000[210] = 0.0; + out_8923486826760505000[211] = 0.0; + out_8923486826760505000[212] = 0.0; + out_8923486826760505000[213] = 0.0; + out_8923486826760505000[214] = 0.0; + out_8923486826760505000[215] = 0.0; + out_8923486826760505000[216] = 0.0; + out_8923486826760505000[217] = 0.0; + out_8923486826760505000[218] = 0.0; + out_8923486826760505000[219] = 0.0; + out_8923486826760505000[220] = 0.0; + out_8923486826760505000[221] = 0.0; + out_8923486826760505000[222] = 0.0; + out_8923486826760505000[223] = 0.0; + out_8923486826760505000[224] = 0.0; + out_8923486826760505000[225] = 0.0; + out_8923486826760505000[226] = 0.0; + out_8923486826760505000[227] = 0.0; + out_8923486826760505000[228] = 1.0; + out_8923486826760505000[229] = 0.0; + out_8923486826760505000[230] = 0.0; + out_8923486826760505000[231] = 0.0; + out_8923486826760505000[232] = 0.0; + out_8923486826760505000[233] = 0.0; + out_8923486826760505000[234] = 0.0; + out_8923486826760505000[235] = 0.0; + out_8923486826760505000[236] = 0.0; + out_8923486826760505000[237] = 0.0; + out_8923486826760505000[238] = 0.0; + out_8923486826760505000[239] = 0.0; + out_8923486826760505000[240] = 0.0; + out_8923486826760505000[241] = 0.0; + out_8923486826760505000[242] = 0.0; + out_8923486826760505000[243] = 0.0; + out_8923486826760505000[244] = 0.0; + out_8923486826760505000[245] = 0.0; + out_8923486826760505000[246] = 0.0; + out_8923486826760505000[247] = 1.0; + out_8923486826760505000[248] = 0.0; + out_8923486826760505000[249] = 0.0; + out_8923486826760505000[250] = 0.0; + out_8923486826760505000[251] = 0.0; + out_8923486826760505000[252] = 0.0; + out_8923486826760505000[253] = 0.0; + out_8923486826760505000[254] = 0.0; + out_8923486826760505000[255] = 0.0; + out_8923486826760505000[256] = 0.0; + out_8923486826760505000[257] = 0.0; + out_8923486826760505000[258] = 0.0; + out_8923486826760505000[259] = 0.0; + out_8923486826760505000[260] = 0.0; + out_8923486826760505000[261] = 0.0; + out_8923486826760505000[262] = 0.0; + out_8923486826760505000[263] = 0.0; + out_8923486826760505000[264] = 0.0; + out_8923486826760505000[265] = 0.0; + out_8923486826760505000[266] = 1.0; + out_8923486826760505000[267] = 0.0; + out_8923486826760505000[268] = 0.0; + out_8923486826760505000[269] = 0.0; + out_8923486826760505000[270] = 0.0; + out_8923486826760505000[271] = 0.0; + out_8923486826760505000[272] = 0.0; + out_8923486826760505000[273] = 0.0; + out_8923486826760505000[274] = 0.0; + out_8923486826760505000[275] = 0.0; + out_8923486826760505000[276] = 0.0; + out_8923486826760505000[277] = 0.0; + out_8923486826760505000[278] = 0.0; + out_8923486826760505000[279] = 0.0; + out_8923486826760505000[280] = 0.0; + out_8923486826760505000[281] = 0.0; + out_8923486826760505000[282] = 0.0; + out_8923486826760505000[283] = 0.0; + out_8923486826760505000[284] = 0.0; + out_8923486826760505000[285] = 1.0; + out_8923486826760505000[286] = 0.0; + out_8923486826760505000[287] = 0.0; + out_8923486826760505000[288] = 0.0; + out_8923486826760505000[289] = 0.0; + out_8923486826760505000[290] = 0.0; + out_8923486826760505000[291] = 0.0; + out_8923486826760505000[292] = 0.0; + out_8923486826760505000[293] = 0.0; + out_8923486826760505000[294] = 0.0; + out_8923486826760505000[295] = 0.0; + out_8923486826760505000[296] = 0.0; + out_8923486826760505000[297] = 0.0; + out_8923486826760505000[298] = 0.0; + out_8923486826760505000[299] = 0.0; + out_8923486826760505000[300] = 0.0; + out_8923486826760505000[301] = 0.0; + out_8923486826760505000[302] = 0.0; + out_8923486826760505000[303] = 0.0; + out_8923486826760505000[304] = 1.0; + out_8923486826760505000[305] = 0.0; + out_8923486826760505000[306] = 0.0; + out_8923486826760505000[307] = 0.0; + out_8923486826760505000[308] = 0.0; + out_8923486826760505000[309] = 0.0; + out_8923486826760505000[310] = 0.0; + out_8923486826760505000[311] = 0.0; + out_8923486826760505000[312] = 0.0; + out_8923486826760505000[313] = 0.0; + out_8923486826760505000[314] = 0.0; + out_8923486826760505000[315] = 0.0; + out_8923486826760505000[316] = 0.0; + out_8923486826760505000[317] = 0.0; + out_8923486826760505000[318] = 0.0; + out_8923486826760505000[319] = 0.0; + out_8923486826760505000[320] = 0.0; + out_8923486826760505000[321] = 0.0; + out_8923486826760505000[322] = 0.0; + out_8923486826760505000[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8107096558916273409) { - out_8107096558916273409[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_8107096558916273409[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_8107096558916273409[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_8107096558916273409[3] = dt*state[12] + state[3]; - out_8107096558916273409[4] = dt*state[13] + state[4]; - out_8107096558916273409[5] = dt*state[14] + state[5]; - out_8107096558916273409[6] = state[6]; - out_8107096558916273409[7] = state[7]; - out_8107096558916273409[8] = state[8]; - out_8107096558916273409[9] = state[9]; - out_8107096558916273409[10] = state[10]; - out_8107096558916273409[11] = state[11]; - out_8107096558916273409[12] = state[12]; - out_8107096558916273409[13] = state[13]; - out_8107096558916273409[14] = state[14]; - out_8107096558916273409[15] = state[15]; - out_8107096558916273409[16] = state[16]; - out_8107096558916273409[17] = state[17]; +void f_fun(double *state, double dt, double *out_6932327335752377632) { + out_6932327335752377632[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_6932327335752377632[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_6932327335752377632[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_6932327335752377632[3] = dt*state[12] + state[3]; + out_6932327335752377632[4] = dt*state[13] + state[4]; + out_6932327335752377632[5] = dt*state[14] + state[5]; + out_6932327335752377632[6] = state[6]; + out_6932327335752377632[7] = state[7]; + out_6932327335752377632[8] = state[8]; + out_6932327335752377632[9] = state[9]; + out_6932327335752377632[10] = state[10]; + out_6932327335752377632[11] = state[11]; + out_6932327335752377632[12] = state[12]; + out_6932327335752377632[13] = state[13]; + out_6932327335752377632[14] = state[14]; + out_6932327335752377632[15] = state[15]; + out_6932327335752377632[16] = state[16]; + out_6932327335752377632[17] = state[17]; } -void F_fun(double *state, double dt, double *out_3803993622350295832) { - out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[2] = 0; - out_3803993622350295832[3] = 0; - out_3803993622350295832[4] = 0; - out_3803993622350295832[5] = 0; - out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[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_3803993622350295832[9] = 0; - out_3803993622350295832[10] = 0; - out_3803993622350295832[11] = 0; - out_3803993622350295832[12] = 0; - out_3803993622350295832[13] = 0; - out_3803993622350295832[14] = 0; - out_3803993622350295832[15] = 0; - out_3803993622350295832[16] = 0; - out_3803993622350295832[17] = 0; - out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[20] = 0; - out_3803993622350295832[21] = 0; - out_3803993622350295832[22] = 0; - out_3803993622350295832[23] = 0; - out_3803993622350295832[24] = 0; - out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[27] = 0; - out_3803993622350295832[28] = 0; - out_3803993622350295832[29] = 0; - out_3803993622350295832[30] = 0; - out_3803993622350295832[31] = 0; - out_3803993622350295832[32] = 0; - out_3803993622350295832[33] = 0; - out_3803993622350295832[34] = 0; - out_3803993622350295832[35] = 0; - out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[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_3803993622350295832[39] = 0; - out_3803993622350295832[40] = 0; - out_3803993622350295832[41] = 0; - out_3803993622350295832[42] = 0; - out_3803993622350295832[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_3803993622350295832[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_3803993622350295832[45] = 0; - out_3803993622350295832[46] = 0; - out_3803993622350295832[47] = 0; - out_3803993622350295832[48] = 0; - out_3803993622350295832[49] = 0; - out_3803993622350295832[50] = 0; - out_3803993622350295832[51] = 0; - out_3803993622350295832[52] = 0; - out_3803993622350295832[53] = 0; - out_3803993622350295832[54] = 0; - out_3803993622350295832[55] = 0; - out_3803993622350295832[56] = 0; - out_3803993622350295832[57] = 1; - out_3803993622350295832[58] = 0; - out_3803993622350295832[59] = 0; - out_3803993622350295832[60] = 0; - out_3803993622350295832[61] = 0; - out_3803993622350295832[62] = 0; - out_3803993622350295832[63] = 0; - out_3803993622350295832[64] = 0; - out_3803993622350295832[65] = 0; - out_3803993622350295832[66] = dt; - out_3803993622350295832[67] = 0; - out_3803993622350295832[68] = 0; - out_3803993622350295832[69] = 0; - out_3803993622350295832[70] = 0; - out_3803993622350295832[71] = 0; - out_3803993622350295832[72] = 0; - out_3803993622350295832[73] = 0; - out_3803993622350295832[74] = 0; - out_3803993622350295832[75] = 0; - out_3803993622350295832[76] = 1; - out_3803993622350295832[77] = 0; - out_3803993622350295832[78] = 0; - out_3803993622350295832[79] = 0; - out_3803993622350295832[80] = 0; - out_3803993622350295832[81] = 0; - out_3803993622350295832[82] = 0; - out_3803993622350295832[83] = 0; - out_3803993622350295832[84] = 0; - out_3803993622350295832[85] = dt; - out_3803993622350295832[86] = 0; - out_3803993622350295832[87] = 0; - out_3803993622350295832[88] = 0; - out_3803993622350295832[89] = 0; - out_3803993622350295832[90] = 0; - out_3803993622350295832[91] = 0; - out_3803993622350295832[92] = 0; - out_3803993622350295832[93] = 0; - out_3803993622350295832[94] = 0; - out_3803993622350295832[95] = 1; - out_3803993622350295832[96] = 0; - out_3803993622350295832[97] = 0; - out_3803993622350295832[98] = 0; - out_3803993622350295832[99] = 0; - out_3803993622350295832[100] = 0; - out_3803993622350295832[101] = 0; - out_3803993622350295832[102] = 0; - out_3803993622350295832[103] = 0; - out_3803993622350295832[104] = dt; - out_3803993622350295832[105] = 0; - out_3803993622350295832[106] = 0; - out_3803993622350295832[107] = 0; - out_3803993622350295832[108] = 0; - out_3803993622350295832[109] = 0; - out_3803993622350295832[110] = 0; - out_3803993622350295832[111] = 0; - out_3803993622350295832[112] = 0; - out_3803993622350295832[113] = 0; - out_3803993622350295832[114] = 1; - out_3803993622350295832[115] = 0; - out_3803993622350295832[116] = 0; - out_3803993622350295832[117] = 0; - out_3803993622350295832[118] = 0; - out_3803993622350295832[119] = 0; - out_3803993622350295832[120] = 0; - out_3803993622350295832[121] = 0; - out_3803993622350295832[122] = 0; - out_3803993622350295832[123] = 0; - out_3803993622350295832[124] = 0; - out_3803993622350295832[125] = 0; - out_3803993622350295832[126] = 0; - out_3803993622350295832[127] = 0; - out_3803993622350295832[128] = 0; - out_3803993622350295832[129] = 0; - out_3803993622350295832[130] = 0; - out_3803993622350295832[131] = 0; - out_3803993622350295832[132] = 0; - out_3803993622350295832[133] = 1; - out_3803993622350295832[134] = 0; - out_3803993622350295832[135] = 0; - out_3803993622350295832[136] = 0; - out_3803993622350295832[137] = 0; - out_3803993622350295832[138] = 0; - out_3803993622350295832[139] = 0; - out_3803993622350295832[140] = 0; - out_3803993622350295832[141] = 0; - out_3803993622350295832[142] = 0; - out_3803993622350295832[143] = 0; - out_3803993622350295832[144] = 0; - out_3803993622350295832[145] = 0; - out_3803993622350295832[146] = 0; - out_3803993622350295832[147] = 0; - out_3803993622350295832[148] = 0; - out_3803993622350295832[149] = 0; - out_3803993622350295832[150] = 0; - out_3803993622350295832[151] = 0; - out_3803993622350295832[152] = 1; - out_3803993622350295832[153] = 0; - out_3803993622350295832[154] = 0; - out_3803993622350295832[155] = 0; - out_3803993622350295832[156] = 0; - out_3803993622350295832[157] = 0; - out_3803993622350295832[158] = 0; - out_3803993622350295832[159] = 0; - out_3803993622350295832[160] = 0; - out_3803993622350295832[161] = 0; - out_3803993622350295832[162] = 0; - out_3803993622350295832[163] = 0; - out_3803993622350295832[164] = 0; - out_3803993622350295832[165] = 0; - out_3803993622350295832[166] = 0; - out_3803993622350295832[167] = 0; - out_3803993622350295832[168] = 0; - out_3803993622350295832[169] = 0; - out_3803993622350295832[170] = 0; - out_3803993622350295832[171] = 1; - out_3803993622350295832[172] = 0; - out_3803993622350295832[173] = 0; - out_3803993622350295832[174] = 0; - out_3803993622350295832[175] = 0; - out_3803993622350295832[176] = 0; - out_3803993622350295832[177] = 0; - out_3803993622350295832[178] = 0; - out_3803993622350295832[179] = 0; - out_3803993622350295832[180] = 0; - out_3803993622350295832[181] = 0; - out_3803993622350295832[182] = 0; - out_3803993622350295832[183] = 0; - out_3803993622350295832[184] = 0; - out_3803993622350295832[185] = 0; - out_3803993622350295832[186] = 0; - out_3803993622350295832[187] = 0; - out_3803993622350295832[188] = 0; - out_3803993622350295832[189] = 0; - out_3803993622350295832[190] = 1; - out_3803993622350295832[191] = 0; - out_3803993622350295832[192] = 0; - out_3803993622350295832[193] = 0; - out_3803993622350295832[194] = 0; - out_3803993622350295832[195] = 0; - out_3803993622350295832[196] = 0; - out_3803993622350295832[197] = 0; - out_3803993622350295832[198] = 0; - out_3803993622350295832[199] = 0; - out_3803993622350295832[200] = 0; - out_3803993622350295832[201] = 0; - out_3803993622350295832[202] = 0; - out_3803993622350295832[203] = 0; - out_3803993622350295832[204] = 0; - out_3803993622350295832[205] = 0; - out_3803993622350295832[206] = 0; - out_3803993622350295832[207] = 0; - out_3803993622350295832[208] = 0; - out_3803993622350295832[209] = 1; - out_3803993622350295832[210] = 0; - out_3803993622350295832[211] = 0; - out_3803993622350295832[212] = 0; - out_3803993622350295832[213] = 0; - out_3803993622350295832[214] = 0; - out_3803993622350295832[215] = 0; - out_3803993622350295832[216] = 0; - out_3803993622350295832[217] = 0; - out_3803993622350295832[218] = 0; - out_3803993622350295832[219] = 0; - out_3803993622350295832[220] = 0; - out_3803993622350295832[221] = 0; - out_3803993622350295832[222] = 0; - out_3803993622350295832[223] = 0; - out_3803993622350295832[224] = 0; - out_3803993622350295832[225] = 0; - out_3803993622350295832[226] = 0; - out_3803993622350295832[227] = 0; - out_3803993622350295832[228] = 1; - out_3803993622350295832[229] = 0; - out_3803993622350295832[230] = 0; - out_3803993622350295832[231] = 0; - out_3803993622350295832[232] = 0; - out_3803993622350295832[233] = 0; - out_3803993622350295832[234] = 0; - out_3803993622350295832[235] = 0; - out_3803993622350295832[236] = 0; - out_3803993622350295832[237] = 0; - out_3803993622350295832[238] = 0; - out_3803993622350295832[239] = 0; - out_3803993622350295832[240] = 0; - out_3803993622350295832[241] = 0; - out_3803993622350295832[242] = 0; - out_3803993622350295832[243] = 0; - out_3803993622350295832[244] = 0; - out_3803993622350295832[245] = 0; - out_3803993622350295832[246] = 0; - out_3803993622350295832[247] = 1; - out_3803993622350295832[248] = 0; - out_3803993622350295832[249] = 0; - out_3803993622350295832[250] = 0; - out_3803993622350295832[251] = 0; - out_3803993622350295832[252] = 0; - out_3803993622350295832[253] = 0; - out_3803993622350295832[254] = 0; - out_3803993622350295832[255] = 0; - out_3803993622350295832[256] = 0; - out_3803993622350295832[257] = 0; - out_3803993622350295832[258] = 0; - out_3803993622350295832[259] = 0; - out_3803993622350295832[260] = 0; - out_3803993622350295832[261] = 0; - out_3803993622350295832[262] = 0; - out_3803993622350295832[263] = 0; - out_3803993622350295832[264] = 0; - out_3803993622350295832[265] = 0; - out_3803993622350295832[266] = 1; - out_3803993622350295832[267] = 0; - out_3803993622350295832[268] = 0; - out_3803993622350295832[269] = 0; - out_3803993622350295832[270] = 0; - out_3803993622350295832[271] = 0; - out_3803993622350295832[272] = 0; - out_3803993622350295832[273] = 0; - out_3803993622350295832[274] = 0; - out_3803993622350295832[275] = 0; - out_3803993622350295832[276] = 0; - out_3803993622350295832[277] = 0; - out_3803993622350295832[278] = 0; - out_3803993622350295832[279] = 0; - out_3803993622350295832[280] = 0; - out_3803993622350295832[281] = 0; - out_3803993622350295832[282] = 0; - out_3803993622350295832[283] = 0; - out_3803993622350295832[284] = 0; - out_3803993622350295832[285] = 1; - out_3803993622350295832[286] = 0; - out_3803993622350295832[287] = 0; - out_3803993622350295832[288] = 0; - out_3803993622350295832[289] = 0; - out_3803993622350295832[290] = 0; - out_3803993622350295832[291] = 0; - out_3803993622350295832[292] = 0; - out_3803993622350295832[293] = 0; - out_3803993622350295832[294] = 0; - out_3803993622350295832[295] = 0; - out_3803993622350295832[296] = 0; - out_3803993622350295832[297] = 0; - out_3803993622350295832[298] = 0; - out_3803993622350295832[299] = 0; - out_3803993622350295832[300] = 0; - out_3803993622350295832[301] = 0; - out_3803993622350295832[302] = 0; - out_3803993622350295832[303] = 0; - out_3803993622350295832[304] = 1; - out_3803993622350295832[305] = 0; - out_3803993622350295832[306] = 0; - out_3803993622350295832[307] = 0; - out_3803993622350295832[308] = 0; - out_3803993622350295832[309] = 0; - out_3803993622350295832[310] = 0; - out_3803993622350295832[311] = 0; - out_3803993622350295832[312] = 0; - out_3803993622350295832[313] = 0; - out_3803993622350295832[314] = 0; - out_3803993622350295832[315] = 0; - out_3803993622350295832[316] = 0; - out_3803993622350295832[317] = 0; - out_3803993622350295832[318] = 0; - out_3803993622350295832[319] = 0; - out_3803993622350295832[320] = 0; - out_3803993622350295832[321] = 0; - out_3803993622350295832[322] = 0; - out_3803993622350295832[323] = 1; +void F_fun(double *state, double dt, double *out_3364331378734993426) { + out_3364331378734993426[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_3364331378734993426[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_3364331378734993426[2] = 0; + out_3364331378734993426[3] = 0; + out_3364331378734993426[4] = 0; + out_3364331378734993426[5] = 0; + out_3364331378734993426[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_3364331378734993426[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_3364331378734993426[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_3364331378734993426[9] = 0; + out_3364331378734993426[10] = 0; + out_3364331378734993426[11] = 0; + out_3364331378734993426[12] = 0; + out_3364331378734993426[13] = 0; + out_3364331378734993426[14] = 0; + out_3364331378734993426[15] = 0; + out_3364331378734993426[16] = 0; + out_3364331378734993426[17] = 0; + out_3364331378734993426[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_3364331378734993426[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_3364331378734993426[20] = 0; + out_3364331378734993426[21] = 0; + out_3364331378734993426[22] = 0; + out_3364331378734993426[23] = 0; + out_3364331378734993426[24] = 0; + out_3364331378734993426[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_3364331378734993426[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_3364331378734993426[27] = 0; + out_3364331378734993426[28] = 0; + out_3364331378734993426[29] = 0; + out_3364331378734993426[30] = 0; + out_3364331378734993426[31] = 0; + out_3364331378734993426[32] = 0; + out_3364331378734993426[33] = 0; + out_3364331378734993426[34] = 0; + out_3364331378734993426[35] = 0; + out_3364331378734993426[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_3364331378734993426[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_3364331378734993426[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_3364331378734993426[39] = 0; + out_3364331378734993426[40] = 0; + out_3364331378734993426[41] = 0; + out_3364331378734993426[42] = 0; + out_3364331378734993426[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_3364331378734993426[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_3364331378734993426[45] = 0; + out_3364331378734993426[46] = 0; + out_3364331378734993426[47] = 0; + out_3364331378734993426[48] = 0; + out_3364331378734993426[49] = 0; + out_3364331378734993426[50] = 0; + out_3364331378734993426[51] = 0; + out_3364331378734993426[52] = 0; + out_3364331378734993426[53] = 0; + out_3364331378734993426[54] = 0; + out_3364331378734993426[55] = 0; + out_3364331378734993426[56] = 0; + out_3364331378734993426[57] = 1; + out_3364331378734993426[58] = 0; + out_3364331378734993426[59] = 0; + out_3364331378734993426[60] = 0; + out_3364331378734993426[61] = 0; + out_3364331378734993426[62] = 0; + out_3364331378734993426[63] = 0; + out_3364331378734993426[64] = 0; + out_3364331378734993426[65] = 0; + out_3364331378734993426[66] = dt; + out_3364331378734993426[67] = 0; + out_3364331378734993426[68] = 0; + out_3364331378734993426[69] = 0; + out_3364331378734993426[70] = 0; + out_3364331378734993426[71] = 0; + out_3364331378734993426[72] = 0; + out_3364331378734993426[73] = 0; + out_3364331378734993426[74] = 0; + out_3364331378734993426[75] = 0; + out_3364331378734993426[76] = 1; + out_3364331378734993426[77] = 0; + out_3364331378734993426[78] = 0; + out_3364331378734993426[79] = 0; + out_3364331378734993426[80] = 0; + out_3364331378734993426[81] = 0; + out_3364331378734993426[82] = 0; + out_3364331378734993426[83] = 0; + out_3364331378734993426[84] = 0; + out_3364331378734993426[85] = dt; + out_3364331378734993426[86] = 0; + out_3364331378734993426[87] = 0; + out_3364331378734993426[88] = 0; + out_3364331378734993426[89] = 0; + out_3364331378734993426[90] = 0; + out_3364331378734993426[91] = 0; + out_3364331378734993426[92] = 0; + out_3364331378734993426[93] = 0; + out_3364331378734993426[94] = 0; + out_3364331378734993426[95] = 1; + out_3364331378734993426[96] = 0; + out_3364331378734993426[97] = 0; + out_3364331378734993426[98] = 0; + out_3364331378734993426[99] = 0; + out_3364331378734993426[100] = 0; + out_3364331378734993426[101] = 0; + out_3364331378734993426[102] = 0; + out_3364331378734993426[103] = 0; + out_3364331378734993426[104] = dt; + out_3364331378734993426[105] = 0; + out_3364331378734993426[106] = 0; + out_3364331378734993426[107] = 0; + out_3364331378734993426[108] = 0; + out_3364331378734993426[109] = 0; + out_3364331378734993426[110] = 0; + out_3364331378734993426[111] = 0; + out_3364331378734993426[112] = 0; + out_3364331378734993426[113] = 0; + out_3364331378734993426[114] = 1; + out_3364331378734993426[115] = 0; + out_3364331378734993426[116] = 0; + out_3364331378734993426[117] = 0; + out_3364331378734993426[118] = 0; + out_3364331378734993426[119] = 0; + out_3364331378734993426[120] = 0; + out_3364331378734993426[121] = 0; + out_3364331378734993426[122] = 0; + out_3364331378734993426[123] = 0; + out_3364331378734993426[124] = 0; + out_3364331378734993426[125] = 0; + out_3364331378734993426[126] = 0; + out_3364331378734993426[127] = 0; + out_3364331378734993426[128] = 0; + out_3364331378734993426[129] = 0; + out_3364331378734993426[130] = 0; + out_3364331378734993426[131] = 0; + out_3364331378734993426[132] = 0; + out_3364331378734993426[133] = 1; + out_3364331378734993426[134] = 0; + out_3364331378734993426[135] = 0; + out_3364331378734993426[136] = 0; + out_3364331378734993426[137] = 0; + out_3364331378734993426[138] = 0; + out_3364331378734993426[139] = 0; + out_3364331378734993426[140] = 0; + out_3364331378734993426[141] = 0; + out_3364331378734993426[142] = 0; + out_3364331378734993426[143] = 0; + out_3364331378734993426[144] = 0; + out_3364331378734993426[145] = 0; + out_3364331378734993426[146] = 0; + out_3364331378734993426[147] = 0; + out_3364331378734993426[148] = 0; + out_3364331378734993426[149] = 0; + out_3364331378734993426[150] = 0; + out_3364331378734993426[151] = 0; + out_3364331378734993426[152] = 1; + out_3364331378734993426[153] = 0; + out_3364331378734993426[154] = 0; + out_3364331378734993426[155] = 0; + out_3364331378734993426[156] = 0; + out_3364331378734993426[157] = 0; + out_3364331378734993426[158] = 0; + out_3364331378734993426[159] = 0; + out_3364331378734993426[160] = 0; + out_3364331378734993426[161] = 0; + out_3364331378734993426[162] = 0; + out_3364331378734993426[163] = 0; + out_3364331378734993426[164] = 0; + out_3364331378734993426[165] = 0; + out_3364331378734993426[166] = 0; + out_3364331378734993426[167] = 0; + out_3364331378734993426[168] = 0; + out_3364331378734993426[169] = 0; + out_3364331378734993426[170] = 0; + out_3364331378734993426[171] = 1; + out_3364331378734993426[172] = 0; + out_3364331378734993426[173] = 0; + out_3364331378734993426[174] = 0; + out_3364331378734993426[175] = 0; + out_3364331378734993426[176] = 0; + out_3364331378734993426[177] = 0; + out_3364331378734993426[178] = 0; + out_3364331378734993426[179] = 0; + out_3364331378734993426[180] = 0; + out_3364331378734993426[181] = 0; + out_3364331378734993426[182] = 0; + out_3364331378734993426[183] = 0; + out_3364331378734993426[184] = 0; + out_3364331378734993426[185] = 0; + out_3364331378734993426[186] = 0; + out_3364331378734993426[187] = 0; + out_3364331378734993426[188] = 0; + out_3364331378734993426[189] = 0; + out_3364331378734993426[190] = 1; + out_3364331378734993426[191] = 0; + out_3364331378734993426[192] = 0; + out_3364331378734993426[193] = 0; + out_3364331378734993426[194] = 0; + out_3364331378734993426[195] = 0; + out_3364331378734993426[196] = 0; + out_3364331378734993426[197] = 0; + out_3364331378734993426[198] = 0; + out_3364331378734993426[199] = 0; + out_3364331378734993426[200] = 0; + out_3364331378734993426[201] = 0; + out_3364331378734993426[202] = 0; + out_3364331378734993426[203] = 0; + out_3364331378734993426[204] = 0; + out_3364331378734993426[205] = 0; + out_3364331378734993426[206] = 0; + out_3364331378734993426[207] = 0; + out_3364331378734993426[208] = 0; + out_3364331378734993426[209] = 1; + out_3364331378734993426[210] = 0; + out_3364331378734993426[211] = 0; + out_3364331378734993426[212] = 0; + out_3364331378734993426[213] = 0; + out_3364331378734993426[214] = 0; + out_3364331378734993426[215] = 0; + out_3364331378734993426[216] = 0; + out_3364331378734993426[217] = 0; + out_3364331378734993426[218] = 0; + out_3364331378734993426[219] = 0; + out_3364331378734993426[220] = 0; + out_3364331378734993426[221] = 0; + out_3364331378734993426[222] = 0; + out_3364331378734993426[223] = 0; + out_3364331378734993426[224] = 0; + out_3364331378734993426[225] = 0; + out_3364331378734993426[226] = 0; + out_3364331378734993426[227] = 0; + out_3364331378734993426[228] = 1; + out_3364331378734993426[229] = 0; + out_3364331378734993426[230] = 0; + out_3364331378734993426[231] = 0; + out_3364331378734993426[232] = 0; + out_3364331378734993426[233] = 0; + out_3364331378734993426[234] = 0; + out_3364331378734993426[235] = 0; + out_3364331378734993426[236] = 0; + out_3364331378734993426[237] = 0; + out_3364331378734993426[238] = 0; + out_3364331378734993426[239] = 0; + out_3364331378734993426[240] = 0; + out_3364331378734993426[241] = 0; + out_3364331378734993426[242] = 0; + out_3364331378734993426[243] = 0; + out_3364331378734993426[244] = 0; + out_3364331378734993426[245] = 0; + out_3364331378734993426[246] = 0; + out_3364331378734993426[247] = 1; + out_3364331378734993426[248] = 0; + out_3364331378734993426[249] = 0; + out_3364331378734993426[250] = 0; + out_3364331378734993426[251] = 0; + out_3364331378734993426[252] = 0; + out_3364331378734993426[253] = 0; + out_3364331378734993426[254] = 0; + out_3364331378734993426[255] = 0; + out_3364331378734993426[256] = 0; + out_3364331378734993426[257] = 0; + out_3364331378734993426[258] = 0; + out_3364331378734993426[259] = 0; + out_3364331378734993426[260] = 0; + out_3364331378734993426[261] = 0; + out_3364331378734993426[262] = 0; + out_3364331378734993426[263] = 0; + out_3364331378734993426[264] = 0; + out_3364331378734993426[265] = 0; + out_3364331378734993426[266] = 1; + out_3364331378734993426[267] = 0; + out_3364331378734993426[268] = 0; + out_3364331378734993426[269] = 0; + out_3364331378734993426[270] = 0; + out_3364331378734993426[271] = 0; + out_3364331378734993426[272] = 0; + out_3364331378734993426[273] = 0; + out_3364331378734993426[274] = 0; + out_3364331378734993426[275] = 0; + out_3364331378734993426[276] = 0; + out_3364331378734993426[277] = 0; + out_3364331378734993426[278] = 0; + out_3364331378734993426[279] = 0; + out_3364331378734993426[280] = 0; + out_3364331378734993426[281] = 0; + out_3364331378734993426[282] = 0; + out_3364331378734993426[283] = 0; + out_3364331378734993426[284] = 0; + out_3364331378734993426[285] = 1; + out_3364331378734993426[286] = 0; + out_3364331378734993426[287] = 0; + out_3364331378734993426[288] = 0; + out_3364331378734993426[289] = 0; + out_3364331378734993426[290] = 0; + out_3364331378734993426[291] = 0; + out_3364331378734993426[292] = 0; + out_3364331378734993426[293] = 0; + out_3364331378734993426[294] = 0; + out_3364331378734993426[295] = 0; + out_3364331378734993426[296] = 0; + out_3364331378734993426[297] = 0; + out_3364331378734993426[298] = 0; + out_3364331378734993426[299] = 0; + out_3364331378734993426[300] = 0; + out_3364331378734993426[301] = 0; + out_3364331378734993426[302] = 0; + out_3364331378734993426[303] = 0; + out_3364331378734993426[304] = 1; + out_3364331378734993426[305] = 0; + out_3364331378734993426[306] = 0; + out_3364331378734993426[307] = 0; + out_3364331378734993426[308] = 0; + out_3364331378734993426[309] = 0; + out_3364331378734993426[310] = 0; + out_3364331378734993426[311] = 0; + out_3364331378734993426[312] = 0; + out_3364331378734993426[313] = 0; + out_3364331378734993426[314] = 0; + out_3364331378734993426[315] = 0; + out_3364331378734993426[316] = 0; + out_3364331378734993426[317] = 0; + out_3364331378734993426[318] = 0; + out_3364331378734993426[319] = 0; + out_3364331378734993426[320] = 0; + out_3364331378734993426[321] = 0; + out_3364331378734993426[322] = 0; + out_3364331378734993426[323] = 1; } -void h_4(double *state, double *unused, double *out_2415773389544840251) { - out_2415773389544840251[0] = state[6] + state[9]; - out_2415773389544840251[1] = state[7] + state[10]; - out_2415773389544840251[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2331867789495253821) { + out_2331867789495253821[0] = state[6] + state[9]; + out_2331867789495253821[1] = state[7] + state[10]; + out_2331867789495253821[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4675372429039802218) { - out_4675372429039802218[0] = 0; - out_4675372429039802218[1] = 0; - out_4675372429039802218[2] = 0; - out_4675372429039802218[3] = 0; - out_4675372429039802218[4] = 0; - out_4675372429039802218[5] = 0; - out_4675372429039802218[6] = 1; - out_4675372429039802218[7] = 0; - out_4675372429039802218[8] = 0; - out_4675372429039802218[9] = 1; - out_4675372429039802218[10] = 0; - out_4675372429039802218[11] = 0; - out_4675372429039802218[12] = 0; - out_4675372429039802218[13] = 0; - out_4675372429039802218[14] = 0; - out_4675372429039802218[15] = 0; - out_4675372429039802218[16] = 0; - out_4675372429039802218[17] = 0; - out_4675372429039802218[18] = 0; - out_4675372429039802218[19] = 0; - out_4675372429039802218[20] = 0; - out_4675372429039802218[21] = 0; - out_4675372429039802218[22] = 0; - out_4675372429039802218[23] = 0; - out_4675372429039802218[24] = 0; - out_4675372429039802218[25] = 1; - out_4675372429039802218[26] = 0; - out_4675372429039802218[27] = 0; - out_4675372429039802218[28] = 1; - out_4675372429039802218[29] = 0; - out_4675372429039802218[30] = 0; - out_4675372429039802218[31] = 0; - out_4675372429039802218[32] = 0; - out_4675372429039802218[33] = 0; - out_4675372429039802218[34] = 0; - out_4675372429039802218[35] = 0; - out_4675372429039802218[36] = 0; - out_4675372429039802218[37] = 0; - out_4675372429039802218[38] = 0; - out_4675372429039802218[39] = 0; - out_4675372429039802218[40] = 0; - out_4675372429039802218[41] = 0; - out_4675372429039802218[42] = 0; - out_4675372429039802218[43] = 0; - out_4675372429039802218[44] = 1; - out_4675372429039802218[45] = 0; - out_4675372429039802218[46] = 0; - out_4675372429039802218[47] = 1; - out_4675372429039802218[48] = 0; - out_4675372429039802218[49] = 0; - out_4675372429039802218[50] = 0; - out_4675372429039802218[51] = 0; - out_4675372429039802218[52] = 0; - out_4675372429039802218[53] = 0; +void H_4(double *state, double *unused, double *out_7103788100854208139) { + out_7103788100854208139[0] = 0; + out_7103788100854208139[1] = 0; + out_7103788100854208139[2] = 0; + out_7103788100854208139[3] = 0; + out_7103788100854208139[4] = 0; + out_7103788100854208139[5] = 0; + out_7103788100854208139[6] = 1; + out_7103788100854208139[7] = 0; + out_7103788100854208139[8] = 0; + out_7103788100854208139[9] = 1; + out_7103788100854208139[10] = 0; + out_7103788100854208139[11] = 0; + out_7103788100854208139[12] = 0; + out_7103788100854208139[13] = 0; + out_7103788100854208139[14] = 0; + out_7103788100854208139[15] = 0; + out_7103788100854208139[16] = 0; + out_7103788100854208139[17] = 0; + out_7103788100854208139[18] = 0; + out_7103788100854208139[19] = 0; + out_7103788100854208139[20] = 0; + out_7103788100854208139[21] = 0; + out_7103788100854208139[22] = 0; + out_7103788100854208139[23] = 0; + out_7103788100854208139[24] = 0; + out_7103788100854208139[25] = 1; + out_7103788100854208139[26] = 0; + out_7103788100854208139[27] = 0; + out_7103788100854208139[28] = 1; + out_7103788100854208139[29] = 0; + out_7103788100854208139[30] = 0; + out_7103788100854208139[31] = 0; + out_7103788100854208139[32] = 0; + out_7103788100854208139[33] = 0; + out_7103788100854208139[34] = 0; + out_7103788100854208139[35] = 0; + out_7103788100854208139[36] = 0; + out_7103788100854208139[37] = 0; + out_7103788100854208139[38] = 0; + out_7103788100854208139[39] = 0; + out_7103788100854208139[40] = 0; + out_7103788100854208139[41] = 0; + out_7103788100854208139[42] = 0; + out_7103788100854208139[43] = 0; + out_7103788100854208139[44] = 1; + out_7103788100854208139[45] = 0; + out_7103788100854208139[46] = 0; + out_7103788100854208139[47] = 1; + out_7103788100854208139[48] = 0; + out_7103788100854208139[49] = 0; + out_7103788100854208139[50] = 0; + out_7103788100854208139[51] = 0; + out_7103788100854208139[52] = 0; + out_7103788100854208139[53] = 0; } -void h_10(double *state, double *unused, double *out_2790393475270154159) { - out_2790393475270154159[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_2790393475270154159[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_2790393475270154159[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_6139878679209159095) { + out_6139878679209159095[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6139878679209159095[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6139878679209159095[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_6532362201945156818) { - out_6532362201945156818[0] = 0; - out_6532362201945156818[1] = 9.8100000000000005*cos(state[1]); - out_6532362201945156818[2] = 0; - out_6532362201945156818[3] = 0; - out_6532362201945156818[4] = -state[8]; - out_6532362201945156818[5] = state[7]; - out_6532362201945156818[6] = 0; - out_6532362201945156818[7] = state[5]; - out_6532362201945156818[8] = -state[4]; - out_6532362201945156818[9] = 0; - out_6532362201945156818[10] = 0; - out_6532362201945156818[11] = 0; - out_6532362201945156818[12] = 1; - out_6532362201945156818[13] = 0; - out_6532362201945156818[14] = 0; - out_6532362201945156818[15] = 1; - out_6532362201945156818[16] = 0; - out_6532362201945156818[17] = 0; - out_6532362201945156818[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6532362201945156818[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6532362201945156818[20] = 0; - out_6532362201945156818[21] = state[8]; - out_6532362201945156818[22] = 0; - out_6532362201945156818[23] = -state[6]; - out_6532362201945156818[24] = -state[5]; - out_6532362201945156818[25] = 0; - out_6532362201945156818[26] = state[3]; - out_6532362201945156818[27] = 0; - out_6532362201945156818[28] = 0; - out_6532362201945156818[29] = 0; - out_6532362201945156818[30] = 0; - out_6532362201945156818[31] = 1; - out_6532362201945156818[32] = 0; - out_6532362201945156818[33] = 0; - out_6532362201945156818[34] = 1; - out_6532362201945156818[35] = 0; - out_6532362201945156818[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6532362201945156818[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6532362201945156818[38] = 0; - out_6532362201945156818[39] = -state[7]; - out_6532362201945156818[40] = state[6]; - out_6532362201945156818[41] = 0; - out_6532362201945156818[42] = state[4]; - out_6532362201945156818[43] = -state[3]; - out_6532362201945156818[44] = 0; - out_6532362201945156818[45] = 0; - out_6532362201945156818[46] = 0; - out_6532362201945156818[47] = 0; - out_6532362201945156818[48] = 0; - out_6532362201945156818[49] = 0; - out_6532362201945156818[50] = 1; - out_6532362201945156818[51] = 0; - out_6532362201945156818[52] = 0; - out_6532362201945156818[53] = 1; +void H_10(double *state, double *unused, double *out_1053793302334783175) { + out_1053793302334783175[0] = 0; + out_1053793302334783175[1] = 9.8100000000000005*cos(state[1]); + out_1053793302334783175[2] = 0; + out_1053793302334783175[3] = 0; + out_1053793302334783175[4] = -state[8]; + out_1053793302334783175[5] = state[7]; + out_1053793302334783175[6] = 0; + out_1053793302334783175[7] = state[5]; + out_1053793302334783175[8] = -state[4]; + out_1053793302334783175[9] = 0; + out_1053793302334783175[10] = 0; + out_1053793302334783175[11] = 0; + out_1053793302334783175[12] = 1; + out_1053793302334783175[13] = 0; + out_1053793302334783175[14] = 0; + out_1053793302334783175[15] = 1; + out_1053793302334783175[16] = 0; + out_1053793302334783175[17] = 0; + out_1053793302334783175[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1053793302334783175[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1053793302334783175[20] = 0; + out_1053793302334783175[21] = state[8]; + out_1053793302334783175[22] = 0; + out_1053793302334783175[23] = -state[6]; + out_1053793302334783175[24] = -state[5]; + out_1053793302334783175[25] = 0; + out_1053793302334783175[26] = state[3]; + out_1053793302334783175[27] = 0; + out_1053793302334783175[28] = 0; + out_1053793302334783175[29] = 0; + out_1053793302334783175[30] = 0; + out_1053793302334783175[31] = 1; + out_1053793302334783175[32] = 0; + out_1053793302334783175[33] = 0; + out_1053793302334783175[34] = 1; + out_1053793302334783175[35] = 0; + out_1053793302334783175[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1053793302334783175[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1053793302334783175[38] = 0; + out_1053793302334783175[39] = -state[7]; + out_1053793302334783175[40] = state[6]; + out_1053793302334783175[41] = 0; + out_1053793302334783175[42] = state[4]; + out_1053793302334783175[43] = -state[3]; + out_1053793302334783175[44] = 0; + out_1053793302334783175[45] = 0; + out_1053793302334783175[46] = 0; + out_1053793302334783175[47] = 0; + out_1053793302334783175[48] = 0; + out_1053793302334783175[49] = 0; + out_1053793302334783175[50] = 1; + out_1053793302334783175[51] = 0; + out_1053793302334783175[52] = 0; + out_1053793302334783175[53] = 1; } -void h_13(double *state, double *unused, double *out_7195971841206647407) { - out_7195971841206647407[0] = state[3]; - out_7195971841206647407[1] = state[4]; - out_7195971841206647407[2] = state[5]; +void h_13(double *state, double *unused, double *out_1682911552899262681) { + out_1682911552899262681[0] = state[3]; + out_1682911552899262681[1] = state[4]; + out_1682911552899262681[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2935258779276898711) { - out_2935258779276898711[0] = 0; - out_2935258779276898711[1] = 0; - out_2935258779276898711[2] = 0; - out_2935258779276898711[3] = 1; - out_2935258779276898711[4] = 0; - out_2935258779276898711[5] = 0; - out_2935258779276898711[6] = 0; - out_2935258779276898711[7] = 0; - out_2935258779276898711[8] = 0; - out_2935258779276898711[9] = 0; - out_2935258779276898711[10] = 0; - out_2935258779276898711[11] = 0; - out_2935258779276898711[12] = 0; - out_2935258779276898711[13] = 0; - out_2935258779276898711[14] = 0; - out_2935258779276898711[15] = 0; - out_2935258779276898711[16] = 0; - out_2935258779276898711[17] = 0; - out_2935258779276898711[18] = 0; - out_2935258779276898711[19] = 0; - out_2935258779276898711[20] = 0; - out_2935258779276898711[21] = 0; - out_2935258779276898711[22] = 1; - out_2935258779276898711[23] = 0; - out_2935258779276898711[24] = 0; - out_2935258779276898711[25] = 0; - out_2935258779276898711[26] = 0; - out_2935258779276898711[27] = 0; - out_2935258779276898711[28] = 0; - out_2935258779276898711[29] = 0; - out_2935258779276898711[30] = 0; - out_2935258779276898711[31] = 0; - out_2935258779276898711[32] = 0; - out_2935258779276898711[33] = 0; - out_2935258779276898711[34] = 0; - out_2935258779276898711[35] = 0; - out_2935258779276898711[36] = 0; - out_2935258779276898711[37] = 0; - out_2935258779276898711[38] = 0; - out_2935258779276898711[39] = 0; - out_2935258779276898711[40] = 0; - out_2935258779276898711[41] = 1; - out_2935258779276898711[42] = 0; - out_2935258779276898711[43] = 0; - out_2935258779276898711[44] = 0; - out_2935258779276898711[45] = 0; - out_2935258779276898711[46] = 0; - out_2935258779276898711[47] = 0; - out_2935258779276898711[48] = 0; - out_2935258779276898711[49] = 0; - out_2935258779276898711[50] = 0; - out_2935258779276898711[51] = 0; - out_2935258779276898711[52] = 0; - out_2935258779276898711[53] = 0; +void H_13(double *state, double *unused, double *out_3732324764538642548) { + out_3732324764538642548[0] = 0; + out_3732324764538642548[1] = 0; + out_3732324764538642548[2] = 0; + out_3732324764538642548[3] = 1; + out_3732324764538642548[4] = 0; + out_3732324764538642548[5] = 0; + out_3732324764538642548[6] = 0; + out_3732324764538642548[7] = 0; + out_3732324764538642548[8] = 0; + out_3732324764538642548[9] = 0; + out_3732324764538642548[10] = 0; + out_3732324764538642548[11] = 0; + out_3732324764538642548[12] = 0; + out_3732324764538642548[13] = 0; + out_3732324764538642548[14] = 0; + out_3732324764538642548[15] = 0; + out_3732324764538642548[16] = 0; + out_3732324764538642548[17] = 0; + out_3732324764538642548[18] = 0; + out_3732324764538642548[19] = 0; + out_3732324764538642548[20] = 0; + out_3732324764538642548[21] = 0; + out_3732324764538642548[22] = 1; + out_3732324764538642548[23] = 0; + out_3732324764538642548[24] = 0; + out_3732324764538642548[25] = 0; + out_3732324764538642548[26] = 0; + out_3732324764538642548[27] = 0; + out_3732324764538642548[28] = 0; + out_3732324764538642548[29] = 0; + out_3732324764538642548[30] = 0; + out_3732324764538642548[31] = 0; + out_3732324764538642548[32] = 0; + out_3732324764538642548[33] = 0; + out_3732324764538642548[34] = 0; + out_3732324764538642548[35] = 0; + out_3732324764538642548[36] = 0; + out_3732324764538642548[37] = 0; + out_3732324764538642548[38] = 0; + out_3732324764538642548[39] = 0; + out_3732324764538642548[40] = 0; + out_3732324764538642548[41] = 1; + out_3732324764538642548[42] = 0; + out_3732324764538642548[43] = 0; + out_3732324764538642548[44] = 0; + out_3732324764538642548[45] = 0; + out_3732324764538642548[46] = 0; + out_3732324764538642548[47] = 0; + out_3732324764538642548[48] = 0; + out_3732324764538642548[49] = 0; + out_3732324764538642548[50] = 0; + out_3732324764538642548[51] = 0; + out_3732324764538642548[52] = 0; + out_3732324764538642548[53] = 0; } -void h_14(double *state, double *unused, double *out_6081561149972683319) { - out_6081561149972683319[0] = state[6]; - out_6081561149972683319[1] = state[7]; - out_6081561149972683319[2] = state[8]; +void h_14(double *state, double *unused, double *out_7957741524853228127) { + out_7957741524853228127[0] = state[6]; + out_7957741524853228127[1] = state[7]; + out_7957741524853228127[2] = state[8]; } -void H_14(double *state, double *unused, double *out_712131572700317689) { - out_712131572700317689[0] = 0; - out_712131572700317689[1] = 0; - out_712131572700317689[2] = 0; - out_712131572700317689[3] = 0; - out_712131572700317689[4] = 0; - out_712131572700317689[5] = 0; - out_712131572700317689[6] = 1; - out_712131572700317689[7] = 0; - out_712131572700317689[8] = 0; - out_712131572700317689[9] = 0; - out_712131572700317689[10] = 0; - out_712131572700317689[11] = 0; - out_712131572700317689[12] = 0; - out_712131572700317689[13] = 0; - out_712131572700317689[14] = 0; - out_712131572700317689[15] = 0; - out_712131572700317689[16] = 0; - out_712131572700317689[17] = 0; - out_712131572700317689[18] = 0; - out_712131572700317689[19] = 0; - out_712131572700317689[20] = 0; - out_712131572700317689[21] = 0; - out_712131572700317689[22] = 0; - out_712131572700317689[23] = 0; - out_712131572700317689[24] = 0; - out_712131572700317689[25] = 1; - out_712131572700317689[26] = 0; - out_712131572700317689[27] = 0; - out_712131572700317689[28] = 0; - out_712131572700317689[29] = 0; - out_712131572700317689[30] = 0; - out_712131572700317689[31] = 0; - out_712131572700317689[32] = 0; - out_712131572700317689[33] = 0; - out_712131572700317689[34] = 0; - out_712131572700317689[35] = 0; - out_712131572700317689[36] = 0; - out_712131572700317689[37] = 0; - out_712131572700317689[38] = 0; - out_712131572700317689[39] = 0; - out_712131572700317689[40] = 0; - out_712131572700317689[41] = 0; - out_712131572700317689[42] = 0; - out_712131572700317689[43] = 0; - out_712131572700317689[44] = 1; - out_712131572700317689[45] = 0; - out_712131572700317689[46] = 0; - out_712131572700317689[47] = 0; - out_712131572700317689[48] = 0; - out_712131572700317689[49] = 0; - out_712131572700317689[50] = 0; - out_712131572700317689[51] = 0; - out_712131572700317689[52] = 0; - out_712131572700317689[53] = 0; +void H_14(double *state, double *unused, double *out_4020999668558835843) { + out_4020999668558835843[0] = 0; + out_4020999668558835843[1] = 0; + out_4020999668558835843[2] = 0; + out_4020999668558835843[3] = 0; + out_4020999668558835843[4] = 0; + out_4020999668558835843[5] = 0; + out_4020999668558835843[6] = 1; + out_4020999668558835843[7] = 0; + out_4020999668558835843[8] = 0; + out_4020999668558835843[9] = 0; + out_4020999668558835843[10] = 0; + out_4020999668558835843[11] = 0; + out_4020999668558835843[12] = 0; + out_4020999668558835843[13] = 0; + out_4020999668558835843[14] = 0; + out_4020999668558835843[15] = 0; + out_4020999668558835843[16] = 0; + out_4020999668558835843[17] = 0; + out_4020999668558835843[18] = 0; + out_4020999668558835843[19] = 0; + out_4020999668558835843[20] = 0; + out_4020999668558835843[21] = 0; + out_4020999668558835843[22] = 0; + out_4020999668558835843[23] = 0; + out_4020999668558835843[24] = 0; + out_4020999668558835843[25] = 1; + out_4020999668558835843[26] = 0; + out_4020999668558835843[27] = 0; + out_4020999668558835843[28] = 0; + out_4020999668558835843[29] = 0; + out_4020999668558835843[30] = 0; + out_4020999668558835843[31] = 0; + out_4020999668558835843[32] = 0; + out_4020999668558835843[33] = 0; + out_4020999668558835843[34] = 0; + out_4020999668558835843[35] = 0; + out_4020999668558835843[36] = 0; + out_4020999668558835843[37] = 0; + out_4020999668558835843[38] = 0; + out_4020999668558835843[39] = 0; + out_4020999668558835843[40] = 0; + out_4020999668558835843[41] = 0; + out_4020999668558835843[42] = 0; + out_4020999668558835843[43] = 0; + out_4020999668558835843[44] = 1; + out_4020999668558835843[45] = 0; + out_4020999668558835843[46] = 0; + out_4020999668558835843[47] = 0; + out_4020999668558835843[48] = 0; + out_4020999668558835843[49] = 0; + out_4020999668558835843[50] = 0; + out_4020999668558835843[51] = 0; + out_4020999668558835843[52] = 0; + out_4020999668558835843[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_5792379923597347601) { - err_fun(nom_x, delta_x, out_5792379923597347601); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3060982030804230470) { + err_fun(nom_x, delta_x, out_3060982030804230470); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3127222841440964837) { - inv_err_fun(nom_x, true_x, out_3127222841440964837); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1893009693429340384) { + inv_err_fun(nom_x, true_x, out_1893009693429340384); } -void pose_H_mod_fun(double *state, double *out_1474962527938332194) { - H_mod_fun(state, out_1474962527938332194); +void pose_H_mod_fun(double *state, double *out_8923486826760505000) { + H_mod_fun(state, out_8923486826760505000); } -void pose_f_fun(double *state, double dt, double *out_8107096558916273409) { - f_fun(state, dt, out_8107096558916273409); +void pose_f_fun(double *state, double dt, double *out_6932327335752377632) { + f_fun(state, dt, out_6932327335752377632); } -void pose_F_fun(double *state, double dt, double *out_3803993622350295832) { - F_fun(state, dt, out_3803993622350295832); +void pose_F_fun(double *state, double dt, double *out_3364331378734993426) { + F_fun(state, dt, out_3364331378734993426); } -void pose_h_4(double *state, double *unused, double *out_2415773389544840251) { - h_4(state, unused, out_2415773389544840251); +void pose_h_4(double *state, double *unused, double *out_2331867789495253821) { + h_4(state, unused, out_2331867789495253821); } -void pose_H_4(double *state, double *unused, double *out_4675372429039802218) { - H_4(state, unused, out_4675372429039802218); +void pose_H_4(double *state, double *unused, double *out_7103788100854208139) { + H_4(state, unused, out_7103788100854208139); } -void pose_h_10(double *state, double *unused, double *out_2790393475270154159) { - h_10(state, unused, out_2790393475270154159); +void pose_h_10(double *state, double *unused, double *out_6139878679209159095) { + h_10(state, unused, out_6139878679209159095); } -void pose_H_10(double *state, double *unused, double *out_6532362201945156818) { - H_10(state, unused, out_6532362201945156818); +void pose_H_10(double *state, double *unused, double *out_1053793302334783175) { + H_10(state, unused, out_1053793302334783175); } -void pose_h_13(double *state, double *unused, double *out_7195971841206647407) { - h_13(state, unused, out_7195971841206647407); +void pose_h_13(double *state, double *unused, double *out_1682911552899262681) { + h_13(state, unused, out_1682911552899262681); } -void pose_H_13(double *state, double *unused, double *out_2935258779276898711) { - H_13(state, unused, out_2935258779276898711); +void pose_H_13(double *state, double *unused, double *out_3732324764538642548) { + H_13(state, unused, out_3732324764538642548); } -void pose_h_14(double *state, double *unused, double *out_6081561149972683319) { - h_14(state, unused, out_6081561149972683319); +void pose_h_14(double *state, double *unused, double *out_7957741524853228127) { + h_14(state, unused, out_7957741524853228127); } -void pose_H_14(double *state, double *unused, double *out_712131572700317689) { - H_14(state, unused, out_712131572700317689); +void pose_H_14(double *state, double *unused, double *out_4020999668558835843) { + H_14(state, unused, out_4020999668558835843); } 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 3427a6c6d..e80b561ab 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_5792379923597347601); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3127222841440964837); -void pose_H_mod_fun(double *state, double *out_1474962527938332194); -void pose_f_fun(double *state, double dt, double *out_8107096558916273409); -void pose_F_fun(double *state, double dt, double *out_3803993622350295832); -void pose_h_4(double *state, double *unused, double *out_2415773389544840251); -void pose_H_4(double *state, double *unused, double *out_4675372429039802218); -void pose_h_10(double *state, double *unused, double *out_2790393475270154159); -void pose_H_10(double *state, double *unused, double *out_6532362201945156818); -void pose_h_13(double *state, double *unused, double *out_7195971841206647407); -void pose_H_13(double *state, double *unused, double *out_2935258779276898711); -void pose_h_14(double *state, double *unused, double *out_6081561149972683319); -void pose_H_14(double *state, double *unused, double *out_712131572700317689); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3060982030804230470); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1893009693429340384); +void pose_H_mod_fun(double *state, double *out_8923486826760505000); +void pose_f_fun(double *state, double dt, double *out_6932327335752377632); +void pose_F_fun(double *state, double dt, double *out_3364331378734993426); +void pose_h_4(double *state, double *unused, double *out_2331867789495253821); +void pose_H_4(double *state, double *unused, double *out_7103788100854208139); +void pose_h_10(double *state, double *unused, double *out_6139878679209159095); +void pose_H_10(double *state, double *unused, double *out_1053793302334783175); +void pose_h_13(double *state, double *unused, double *out_1682911552899262681); +void pose_H_13(double *state, double *unused, double *out_3732324764538642548); +void pose_h_14(double *state, double *unused, double *out_7957741524853228127); +void pose_H_14(double *state, double *unused, double *out_4020999668558835843); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index a2f4b07e8..b0e322ddb 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ