From 42d164f28519749b5591c0b09e98e0ff1ba902dc Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sat, 15 Aug 2026 21:37:59 -0500 Subject: [PATCH] build --- cereal/libcereal.a | Bin 636018 -> 636258 bytes panda/board/obj/body_h7.bin.signed | Bin 104340 -> 104340 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 104204 -> 104204 bytes panda/board/obj/body_h7/main.elf | Bin 440888 -> 440888 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes .../obj/bootstub.panda_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes .../bootstub.panda_h7_can_ignition_only.bin | Bin 18784 -> 18784 bytes .../obj/bootstub.panda_h7_hkg_remote.bin | Bin 18784 -> 18784 bytes ....panda_h7_hkg_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes ...stub.panda_h7_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_hkg_remote.bin | Bin 11068 -> 11068 bytes ...tub.panda_hkg_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes ...ootstub.panda_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 93448 -> 93448 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 93312 -> 93312 bytes panda/board/obj/panda/main.elf | Bin 395068 -> 395068 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 93428 -> 93428 bytes .../obj/panda_can_ignition_only/bootstub.elf | Bin 100780 -> 100780 bytes .../obj/panda_can_ignition_only/main.bin | Bin 93292 -> 93292 bytes .../obj/panda_can_ignition_only/main.elf | Bin 394908 -> 394908 bytes panda/board/obj/panda_h7.bin.signed | Bin 112320 -> 112320 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 112184 -> 112184 bytes panda/board/obj/panda_h7/main.elf | Bin 484336 -> 484336 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 112300 -> 112300 bytes .../panda_h7_can_ignition_only/bootstub.elf | Bin 152748 -> 152748 bytes .../obj/panda_h7_can_ignition_only/main.bin | Bin 112164 -> 112164 bytes .../obj/panda_h7_can_ignition_only/main.elf | Bin 484180 -> 484180 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 112416 -> 112416 bytes .../obj/panda_h7_hkg_remote/bootstub.elf | Bin 152740 -> 152740 bytes panda/board/obj/panda_h7_hkg_remote/main.bin | Bin 112280 -> 112280 bytes panda/board/obj/panda_h7_hkg_remote/main.elf | Bin 484772 -> 484772 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 112408 -> 112408 bytes .../bootstub.elf | Bin 152760 -> 152760 bytes .../main.bin | Bin 112272 -> 112272 bytes .../main.elf | Bin 484648 -> 484648 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 112256 -> 112256 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 112120 -> 112120 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 484276 -> 484276 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 112236 -> 112236 bytes .../bootstub.elf | Bin 152756 -> 152756 bytes .../main.bin | Bin 112100 -> 112100 bytes .../main.elf | Bin 484116 -> 484116 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 93540 -> 93540 bytes panda/board/obj/panda_hkg_remote/bootstub.elf | Bin 100772 -> 100772 bytes panda/board/obj/panda_hkg_remote/main.bin | Bin 93404 -> 93404 bytes panda/board/obj/panda_hkg_remote/main.elf | Bin 395488 -> 395488 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 93532 -> 93532 bytes .../bootstub.elf | Bin 100792 -> 100792 bytes .../main.bin | Bin 93396 -> 93396 bytes .../main.elf | Bin 395344 -> 395344 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 106260 -> 106260 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 106124 -> 106124 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 444832 -> 444832 bytes panda/board/obj/panda_remote.bin.signed | Bin 93408 -> 93408 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 93272 -> 93272 bytes panda/board/obj/panda_remote/main.elf | Bin 395172 -> 395172 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 93388 -> 93388 bytes .../bootstub.elf | Bin 100788 -> 100788 bytes .../panda_remote_can_ignition_only/main.bin | Bin 93252 -> 93252 bytes .../panda_remote_can_ignition_only/main.elf | Bin 395000 -> 395000 bytes panda/board/obj/version | 2 +- selfdrive/locationd/models/generated/car.cpp | 684 +++--- selfdrive/locationd/models/generated/car.h | 42 +- selfdrive/locationd/models/generated/pose.cpp | 1938 ++++++++--------- selfdrive/locationd/models/generated/pose.h | 26 +- 77 files changed, 1347 insertions(+), 1347 deletions(-) diff --git a/cereal/libcereal.a b/cereal/libcereal.a index 45550a295cdde53b89ebef5eb26a55f980f42676..e418daa666c383a193839fb84bec622af0c26b34 100644 GIT binary patch delta 21767 zcmc(Hd2|%T+J1M>OlMd#AS9UqlK~MUYBJ(NL?i>U#IR&o#26u&u!c3m9uY`zfv{#| zAa6t<5m_Q4L|i(TizL?-6(tAn#a#49MpTFkWJJ`cNPbUERdX`^`{Vnad%o{{eGXPn zJnm%(DGZX z{X?@Pt<$Se>iCC&Wz0e+lTeR%plTXa>+dK$o>bJBj-j0);?# z0L^NJ-XQLu3mgKv73kqsXjgH+HP9f?k6NLz*KMQ!h_ycl+p(=s`*qt?pwAlG?Jm%b zfqbBA4Yu(DeI`);M{K86Ko_)9b_U9uV*_XZu-aDuInxU1DehMVTA<3%&8^U0;(kRS z`Op6s?R_215$LW~wu#r#5`jM13hg8A9}m<3U5s{H$M|-E&JQ#Joe#8ioRS1OH;`~O zw$ogot^4W<6k4+o1&>od&_S z^-NEtnpc##K*L{A_6H2IgM{G&ftJ5w9rpok?eK#Fz0(|UU5jzt0eGFLV#QE#e}_5X 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a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index ebf923e31288a4253f9b525f0adaa4b4ac4a95c9..ddf5afa8d6f5ee1926665538d702bdf5683997f9 100755 GIT binary patch delta 23 fcmca{gZ0J@)(tv`I1G%9lF}?JEjODSQdtE6e258; delta 23 fcmca{gZ0J@)(tv`IE>TGl9N*m4K|w`QdtE6fFKFt diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 1acdd0863d06c7e902c16426d9ce44ce0a47b0e5..1546158d0abfa35fc27f0dfc964c9f64e01de354 100755 GIT binary patch delta 43 ucmZ3|FR`RwVuQ{l4g+JOq%;dl%Vv{H?IxEPftU%1nSq#PyU8Wi0#g8OnGk{i delta 43 ucmZ3|FR`RwVuQ{l4&yYlv5%2~Nks3t5 zNcW;Frdo@B5|*&Ycm5R;^11i<*^5A)J50N80G-iiec|xy!q!yFN`Jm9v0R&R>l2YM H`)&aetNcqU diff --git a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index 6d0d02e7cfd8fd5c9b838af84f236e09c5b92ddd..dc515e87f4ceea25e6fd5fb3b2e50c4484983ee1 100755 GIT binary patch delta 40 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+1 @@ -DEV-3f6ccd10-DEBUG \ No newline at end of file +DEV-032bf899-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 9cb4315d5..2f94764b7 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_9188106750313616310) { - out_9188106750313616310[0] = delta_x[0] + nom_x[0]; - out_9188106750313616310[1] = delta_x[1] + nom_x[1]; - out_9188106750313616310[2] = delta_x[2] + nom_x[2]; - out_9188106750313616310[3] = delta_x[3] + nom_x[3]; - out_9188106750313616310[4] = delta_x[4] + nom_x[4]; - out_9188106750313616310[5] = delta_x[5] + nom_x[5]; - out_9188106750313616310[6] = delta_x[6] + nom_x[6]; - out_9188106750313616310[7] = delta_x[7] + nom_x[7]; - out_9188106750313616310[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_648770422652277661) { + out_648770422652277661[0] = delta_x[0] + nom_x[0]; + out_648770422652277661[1] = delta_x[1] + nom_x[1]; + out_648770422652277661[2] = delta_x[2] + nom_x[2]; + out_648770422652277661[3] = delta_x[3] + nom_x[3]; + out_648770422652277661[4] = delta_x[4] + nom_x[4]; + out_648770422652277661[5] = delta_x[5] + nom_x[5]; + out_648770422652277661[6] = delta_x[6] + nom_x[6]; + out_648770422652277661[7] = delta_x[7] + nom_x[7]; + out_648770422652277661[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7483849663979101547) { - out_7483849663979101547[0] = -nom_x[0] + true_x[0]; - out_7483849663979101547[1] = -nom_x[1] + true_x[1]; - out_7483849663979101547[2] = -nom_x[2] + true_x[2]; - out_7483849663979101547[3] = -nom_x[3] + true_x[3]; - out_7483849663979101547[4] = -nom_x[4] + true_x[4]; - out_7483849663979101547[5] = -nom_x[5] + true_x[5]; - out_7483849663979101547[6] = -nom_x[6] + true_x[6]; - out_7483849663979101547[7] = -nom_x[7] + true_x[7]; - out_7483849663979101547[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8433637752559620590) { + out_8433637752559620590[0] = -nom_x[0] + true_x[0]; + out_8433637752559620590[1] = -nom_x[1] + true_x[1]; + out_8433637752559620590[2] = -nom_x[2] + true_x[2]; + out_8433637752559620590[3] = -nom_x[3] + true_x[3]; + out_8433637752559620590[4] = -nom_x[4] + true_x[4]; + out_8433637752559620590[5] = -nom_x[5] + true_x[5]; + out_8433637752559620590[6] = -nom_x[6] + true_x[6]; + out_8433637752559620590[7] = -nom_x[7] + true_x[7]; + out_8433637752559620590[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8322118016658148449) { - out_8322118016658148449[0] = 1.0; - out_8322118016658148449[1] = 0.0; - out_8322118016658148449[2] = 0.0; - out_8322118016658148449[3] = 0.0; - out_8322118016658148449[4] = 0.0; - out_8322118016658148449[5] = 0.0; - out_8322118016658148449[6] = 0.0; - out_8322118016658148449[7] = 0.0; - out_8322118016658148449[8] = 0.0; - out_8322118016658148449[9] = 0.0; - out_8322118016658148449[10] = 1.0; - out_8322118016658148449[11] = 0.0; - out_8322118016658148449[12] = 0.0; - out_8322118016658148449[13] = 0.0; - out_8322118016658148449[14] = 0.0; - out_8322118016658148449[15] = 0.0; - out_8322118016658148449[16] = 0.0; - out_8322118016658148449[17] = 0.0; - out_8322118016658148449[18] = 0.0; - out_8322118016658148449[19] = 0.0; - out_8322118016658148449[20] = 1.0; - out_8322118016658148449[21] = 0.0; - out_8322118016658148449[22] = 0.0; - out_8322118016658148449[23] = 0.0; - out_8322118016658148449[24] = 0.0; - out_8322118016658148449[25] = 0.0; - out_8322118016658148449[26] = 0.0; - out_8322118016658148449[27] = 0.0; - out_8322118016658148449[28] = 0.0; - out_8322118016658148449[29] = 0.0; - out_8322118016658148449[30] = 1.0; - out_8322118016658148449[31] = 0.0; - out_8322118016658148449[32] = 0.0; - out_8322118016658148449[33] = 0.0; - out_8322118016658148449[34] = 0.0; - out_8322118016658148449[35] = 0.0; - out_8322118016658148449[36] = 0.0; - out_8322118016658148449[37] = 0.0; - out_8322118016658148449[38] = 0.0; - out_8322118016658148449[39] = 0.0; - out_8322118016658148449[40] = 1.0; - out_8322118016658148449[41] = 0.0; - out_8322118016658148449[42] = 0.0; - out_8322118016658148449[43] = 0.0; - out_8322118016658148449[44] = 0.0; - out_8322118016658148449[45] = 0.0; - out_8322118016658148449[46] = 0.0; - out_8322118016658148449[47] = 0.0; - out_8322118016658148449[48] = 0.0; - out_8322118016658148449[49] = 0.0; - out_8322118016658148449[50] = 1.0; - out_8322118016658148449[51] = 0.0; - out_8322118016658148449[52] = 0.0; - out_8322118016658148449[53] = 0.0; - out_8322118016658148449[54] = 0.0; - out_8322118016658148449[55] = 0.0; - out_8322118016658148449[56] = 0.0; - out_8322118016658148449[57] = 0.0; - out_8322118016658148449[58] = 0.0; - out_8322118016658148449[59] = 0.0; - out_8322118016658148449[60] = 1.0; - out_8322118016658148449[61] = 0.0; - out_8322118016658148449[62] = 0.0; - out_8322118016658148449[63] = 0.0; - out_8322118016658148449[64] = 0.0; - out_8322118016658148449[65] = 0.0; - out_8322118016658148449[66] = 0.0; - out_8322118016658148449[67] = 0.0; - out_8322118016658148449[68] = 0.0; - out_8322118016658148449[69] = 0.0; - out_8322118016658148449[70] = 1.0; - out_8322118016658148449[71] = 0.0; - out_8322118016658148449[72] = 0.0; - out_8322118016658148449[73] = 0.0; - out_8322118016658148449[74] = 0.0; - out_8322118016658148449[75] = 0.0; - out_8322118016658148449[76] = 0.0; - out_8322118016658148449[77] = 0.0; - out_8322118016658148449[78] = 0.0; - out_8322118016658148449[79] = 0.0; - out_8322118016658148449[80] = 1.0; +void H_mod_fun(double *state, double *out_8422599956511423720) { + out_8422599956511423720[0] = 1.0; + out_8422599956511423720[1] = 0.0; + out_8422599956511423720[2] = 0.0; + out_8422599956511423720[3] = 0.0; + out_8422599956511423720[4] = 0.0; + out_8422599956511423720[5] = 0.0; + out_8422599956511423720[6] = 0.0; + out_8422599956511423720[7] = 0.0; + out_8422599956511423720[8] = 0.0; + out_8422599956511423720[9] = 0.0; + out_8422599956511423720[10] = 1.0; + out_8422599956511423720[11] = 0.0; + out_8422599956511423720[12] = 0.0; + out_8422599956511423720[13] = 0.0; + out_8422599956511423720[14] = 0.0; + out_8422599956511423720[15] = 0.0; + out_8422599956511423720[16] = 0.0; + out_8422599956511423720[17] = 0.0; + out_8422599956511423720[18] = 0.0; + out_8422599956511423720[19] = 0.0; + out_8422599956511423720[20] = 1.0; + out_8422599956511423720[21] = 0.0; + out_8422599956511423720[22] = 0.0; + out_8422599956511423720[23] = 0.0; + out_8422599956511423720[24] = 0.0; + out_8422599956511423720[25] = 0.0; + out_8422599956511423720[26] = 0.0; + out_8422599956511423720[27] = 0.0; + out_8422599956511423720[28] = 0.0; + out_8422599956511423720[29] = 0.0; + out_8422599956511423720[30] = 1.0; + out_8422599956511423720[31] = 0.0; + out_8422599956511423720[32] = 0.0; + out_8422599956511423720[33] = 0.0; + out_8422599956511423720[34] = 0.0; + out_8422599956511423720[35] = 0.0; + out_8422599956511423720[36] = 0.0; + out_8422599956511423720[37] = 0.0; + out_8422599956511423720[38] = 0.0; + out_8422599956511423720[39] = 0.0; + out_8422599956511423720[40] = 1.0; + out_8422599956511423720[41] = 0.0; + out_8422599956511423720[42] = 0.0; + out_8422599956511423720[43] = 0.0; + out_8422599956511423720[44] = 0.0; + out_8422599956511423720[45] = 0.0; + out_8422599956511423720[46] = 0.0; + out_8422599956511423720[47] = 0.0; + out_8422599956511423720[48] = 0.0; + out_8422599956511423720[49] = 0.0; + out_8422599956511423720[50] = 1.0; + out_8422599956511423720[51] = 0.0; + out_8422599956511423720[52] = 0.0; + out_8422599956511423720[53] = 0.0; + out_8422599956511423720[54] = 0.0; + out_8422599956511423720[55] = 0.0; + out_8422599956511423720[56] = 0.0; + out_8422599956511423720[57] = 0.0; + out_8422599956511423720[58] = 0.0; + out_8422599956511423720[59] = 0.0; + out_8422599956511423720[60] = 1.0; + out_8422599956511423720[61] = 0.0; + out_8422599956511423720[62] = 0.0; + out_8422599956511423720[63] = 0.0; + out_8422599956511423720[64] = 0.0; + out_8422599956511423720[65] = 0.0; + out_8422599956511423720[66] = 0.0; + out_8422599956511423720[67] = 0.0; + out_8422599956511423720[68] = 0.0; + out_8422599956511423720[69] = 0.0; + out_8422599956511423720[70] = 1.0; + out_8422599956511423720[71] = 0.0; + out_8422599956511423720[72] = 0.0; + out_8422599956511423720[73] = 0.0; + out_8422599956511423720[74] = 0.0; + out_8422599956511423720[75] = 0.0; + out_8422599956511423720[76] = 0.0; + out_8422599956511423720[77] = 0.0; + out_8422599956511423720[78] = 0.0; + out_8422599956511423720[79] = 0.0; + out_8422599956511423720[80] = 1.0; } -void f_fun(double *state, double dt, double *out_764867040202035176) { - out_764867040202035176[0] = state[0]; - out_764867040202035176[1] = state[1]; - out_764867040202035176[2] = state[2]; - out_764867040202035176[3] = state[3]; - out_764867040202035176[4] = state[4]; - out_764867040202035176[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_764867040202035176[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_764867040202035176[7] = state[7]; - out_764867040202035176[8] = state[8]; +void f_fun(double *state, double dt, double *out_9124674145630526498) { + out_9124674145630526498[0] = state[0]; + out_9124674145630526498[1] = state[1]; + out_9124674145630526498[2] = state[2]; + out_9124674145630526498[3] = state[3]; + out_9124674145630526498[4] = state[4]; + out_9124674145630526498[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_9124674145630526498[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_9124674145630526498[7] = state[7]; + out_9124674145630526498[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3503154027384229832) { - out_3503154027384229832[0] = 1; - out_3503154027384229832[1] = 0; - out_3503154027384229832[2] = 0; - out_3503154027384229832[3] = 0; - out_3503154027384229832[4] = 0; - out_3503154027384229832[5] = 0; - out_3503154027384229832[6] = 0; - out_3503154027384229832[7] = 0; - out_3503154027384229832[8] = 0; - out_3503154027384229832[9] = 0; - out_3503154027384229832[10] = 1; - out_3503154027384229832[11] = 0; - out_3503154027384229832[12] = 0; - out_3503154027384229832[13] = 0; - out_3503154027384229832[14] = 0; - out_3503154027384229832[15] = 0; - out_3503154027384229832[16] = 0; - out_3503154027384229832[17] = 0; - out_3503154027384229832[18] = 0; - out_3503154027384229832[19] = 0; - out_3503154027384229832[20] = 1; - out_3503154027384229832[21] = 0; - out_3503154027384229832[22] = 0; - out_3503154027384229832[23] = 0; - out_3503154027384229832[24] = 0; - out_3503154027384229832[25] = 0; - out_3503154027384229832[26] = 0; - out_3503154027384229832[27] = 0; - out_3503154027384229832[28] = 0; - out_3503154027384229832[29] = 0; - out_3503154027384229832[30] = 1; - out_3503154027384229832[31] = 0; - out_3503154027384229832[32] = 0; - out_3503154027384229832[33] = 0; - out_3503154027384229832[34] = 0; - out_3503154027384229832[35] = 0; - out_3503154027384229832[36] = 0; - out_3503154027384229832[37] = 0; - out_3503154027384229832[38] = 0; - out_3503154027384229832[39] = 0; - out_3503154027384229832[40] = 1; - out_3503154027384229832[41] = 0; - out_3503154027384229832[42] = 0; - out_3503154027384229832[43] = 0; - out_3503154027384229832[44] = 0; - out_3503154027384229832[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_3503154027384229832[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3503154027384229832[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3503154027384229832[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3503154027384229832[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_3503154027384229832[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3503154027384229832[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3503154027384229832[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3503154027384229832[53] = -9.8100000000000005*dt; - out_3503154027384229832[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_3503154027384229832[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3503154027384229832[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3503154027384229832[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3503154027384229832[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_3503154027384229832[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3503154027384229832[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_3503154027384229832[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3503154027384229832[62] = 0; - out_3503154027384229832[63] = 0; - out_3503154027384229832[64] = 0; - out_3503154027384229832[65] = 0; - out_3503154027384229832[66] = 0; - out_3503154027384229832[67] = 0; - out_3503154027384229832[68] = 0; - out_3503154027384229832[69] = 0; - out_3503154027384229832[70] = 1; - out_3503154027384229832[71] = 0; - out_3503154027384229832[72] = 0; - out_3503154027384229832[73] = 0; - out_3503154027384229832[74] = 0; - out_3503154027384229832[75] = 0; - out_3503154027384229832[76] = 0; - out_3503154027384229832[77] = 0; - out_3503154027384229832[78] = 0; - out_3503154027384229832[79] = 0; - out_3503154027384229832[80] = 1; +void F_fun(double *state, double dt, double *out_7980063177758984153) { + out_7980063177758984153[0] = 1; + out_7980063177758984153[1] = 0; + out_7980063177758984153[2] = 0; + out_7980063177758984153[3] = 0; + out_7980063177758984153[4] = 0; + out_7980063177758984153[5] = 0; + out_7980063177758984153[6] = 0; + out_7980063177758984153[7] = 0; + out_7980063177758984153[8] = 0; + out_7980063177758984153[9] = 0; + out_7980063177758984153[10] = 1; + out_7980063177758984153[11] = 0; + out_7980063177758984153[12] = 0; + out_7980063177758984153[13] = 0; + out_7980063177758984153[14] = 0; + out_7980063177758984153[15] = 0; + out_7980063177758984153[16] = 0; + out_7980063177758984153[17] = 0; + out_7980063177758984153[18] = 0; + out_7980063177758984153[19] = 0; + out_7980063177758984153[20] = 1; + out_7980063177758984153[21] = 0; + out_7980063177758984153[22] = 0; + out_7980063177758984153[23] = 0; + out_7980063177758984153[24] = 0; + out_7980063177758984153[25] = 0; + out_7980063177758984153[26] = 0; + out_7980063177758984153[27] = 0; + out_7980063177758984153[28] = 0; + out_7980063177758984153[29] = 0; + out_7980063177758984153[30] = 1; + out_7980063177758984153[31] = 0; + out_7980063177758984153[32] = 0; + out_7980063177758984153[33] = 0; + out_7980063177758984153[34] = 0; + out_7980063177758984153[35] = 0; + out_7980063177758984153[36] = 0; + out_7980063177758984153[37] = 0; + out_7980063177758984153[38] = 0; + out_7980063177758984153[39] = 0; + out_7980063177758984153[40] = 1; + out_7980063177758984153[41] = 0; + out_7980063177758984153[42] = 0; + out_7980063177758984153[43] = 0; + out_7980063177758984153[44] = 0; + out_7980063177758984153[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_7980063177758984153[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7980063177758984153[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7980063177758984153[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7980063177758984153[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_7980063177758984153[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7980063177758984153[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7980063177758984153[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7980063177758984153[53] = -9.8100000000000005*dt; + out_7980063177758984153[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_7980063177758984153[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7980063177758984153[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7980063177758984153[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7980063177758984153[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_7980063177758984153[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7980063177758984153[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_7980063177758984153[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7980063177758984153[62] = 0; + out_7980063177758984153[63] = 0; + out_7980063177758984153[64] = 0; + out_7980063177758984153[65] = 0; + out_7980063177758984153[66] = 0; + out_7980063177758984153[67] = 0; + out_7980063177758984153[68] = 0; + out_7980063177758984153[69] = 0; + out_7980063177758984153[70] = 1; + out_7980063177758984153[71] = 0; + out_7980063177758984153[72] = 0; + out_7980063177758984153[73] = 0; + out_7980063177758984153[74] = 0; + out_7980063177758984153[75] = 0; + out_7980063177758984153[76] = 0; + out_7980063177758984153[77] = 0; + out_7980063177758984153[78] = 0; + out_7980063177758984153[79] = 0; + out_7980063177758984153[80] = 1; } -void h_25(double *state, double *unused, double *out_8616684642006491626) { - out_8616684642006491626[0] = state[6]; +void h_25(double *state, double *unused, double *out_7427457988301314284) { + out_7427457988301314284[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8659603401543260529) { - out_8659603401543260529[0] = 0; - out_8659603401543260529[1] = 0; - out_8659603401543260529[2] = 0; - out_8659603401543260529[3] = 0; - out_8659603401543260529[4] = 0; - out_8659603401543260529[5] = 0; - out_8659603401543260529[6] = 1; - out_8659603401543260529[7] = 0; - out_8659603401543260529[8] = 0; +void H_25(double *state, double *unused, double *out_770588269400813517) { + out_770588269400813517[0] = 0; + out_770588269400813517[1] = 0; + out_770588269400813517[2] = 0; + out_770588269400813517[3] = 0; + out_770588269400813517[4] = 0; + out_770588269400813517[5] = 0; + out_770588269400813517[6] = 1; + out_770588269400813517[7] = 0; + out_770588269400813517[8] = 0; } -void h_24(double *state, double *unused, double *out_1016016545338744668) { - out_1016016545338744668[0] = state[4]; - out_1016016545338744668[1] = state[5]; +void h_24(double *state, double *unused, double *out_3062542313716558558) { + out_3062542313716558558[0] = state[4]; + out_3062542313716558558[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1012248264354120193) { - out_1012248264354120193[0] = 0; - out_1012248264354120193[1] = 0; - out_1012248264354120193[2] = 0; - out_1012248264354120193[3] = 0; - out_1012248264354120193[4] = 1; - out_1012248264354120193[5] = 0; - out_1012248264354120193[6] = 0; - out_1012248264354120193[7] = 0; - out_1012248264354120193[8] = 0; - out_1012248264354120193[9] = 0; - out_1012248264354120193[10] = 0; - out_1012248264354120193[11] = 0; - out_1012248264354120193[12] = 0; - out_1012248264354120193[13] = 0; - out_1012248264354120193[14] = 1; - out_1012248264354120193[15] = 0; - out_1012248264354120193[16] = 0; - out_1012248264354120193[17] = 0; +void H_24(double *state, double *unused, double *out_5590909774056801780) { + out_5590909774056801780[0] = 0; + out_5590909774056801780[1] = 0; + out_5590909774056801780[2] = 0; + out_5590909774056801780[3] = 0; + out_5590909774056801780[4] = 1; + out_5590909774056801780[5] = 0; + out_5590909774056801780[6] = 0; + out_5590909774056801780[7] = 0; + out_5590909774056801780[8] = 0; + out_5590909774056801780[9] = 0; + out_5590909774056801780[10] = 0; + out_5590909774056801780[11] = 0; + out_5590909774056801780[12] = 0; + out_5590909774056801780[13] = 0; + out_5590909774056801780[14] = 1; + out_5590909774056801780[15] = 0; + out_5590909774056801780[16] = 0; + out_5590909774056801780[17] = 0; } -void h_30(double *state, double *unused, double *out_7791032536218648770) { - out_7791032536218648770[0] = state[4]; +void h_30(double *state, double *unused, double *out_1260343948330179981) { + out_1260343948330179981[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8788942348686500599) { - out_8788942348686500599[0] = 0; - out_8788942348686500599[1] = 0; - out_8788942348686500599[2] = 0; - out_8788942348686500599[3] = 0; - out_8788942348686500599[4] = 1; - out_8788942348686500599[5] = 0; - out_8788942348686500599[6] = 0; - out_8788942348686500599[7] = 0; - out_8788942348686500599[8] = 0; +void H_30(double *state, double *unused, double *out_899927216544053587) { + out_899927216544053587[0] = 0; + out_899927216544053587[1] = 0; + out_899927216544053587[2] = 0; + out_899927216544053587[3] = 0; + out_899927216544053587[4] = 1; + out_899927216544053587[5] = 0; + out_899927216544053587[6] = 0; + out_899927216544053587[7] = 0; + out_899927216544053587[8] = 0; } -void h_26(double *state, double *unused, double *out_2789359268557803125) { - out_2789359268557803125[0] = state[7]; +void h_26(double *state, double *unused, double *out_4488267301164684189) { + out_4488267301164684189[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8002749337432948625) { - out_8002749337432948625[0] = 0; - out_8002749337432948625[1] = 0; - out_8002749337432948625[2] = 0; - out_8002749337432948625[3] = 0; - out_8002749337432948625[4] = 0; - out_8002749337432948625[5] = 0; - out_8002749337432948625[6] = 0; - out_8002749337432948625[7] = 1; - out_8002749337432948625[8] = 0; +void H_26(double *state, double *unused, double *out_4512091588274869741) { + out_4512091588274869741[0] = 0; + out_4512091588274869741[1] = 0; + out_4512091588274869741[2] = 0; + out_4512091588274869741[3] = 0; + out_4512091588274869741[4] = 0; + out_4512091588274869741[5] = 0; + out_4512091588274869741[6] = 0; + out_4512091588274869741[7] = 1; + out_4512091588274869741[8] = 0; } -void h_27(double *state, double *unused, double *out_9220000526682969143) { - out_9220000526682969143[0] = state[3]; +void h_27(double *state, double *unused, double *out_6340731339944849957) { + out_6340731339944849957[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7483038413222626106) { - out_7483038413222626106[0] = 0; - out_7483038413222626106[1] = 0; - out_7483038413222626106[2] = 0; - out_7483038413222626106[3] = 1; - out_7483038413222626106[4] = 0; - out_7483038413222626106[5] = 0; - out_7483038413222626106[6] = 0; - out_7483038413222626106[7] = 0; - out_7483038413222626106[8] = 0; +void H_27(double *state, double *unused, double *out_3074690528344478498) { + out_3074690528344478498[0] = 0; + out_3074690528344478498[1] = 0; + out_3074690528344478498[2] = 0; + out_3074690528344478498[3] = 1; + out_3074690528344478498[4] = 0; + out_3074690528344478498[5] = 0; + out_3074690528344478498[6] = 0; + out_3074690528344478498[7] = 0; + out_3074690528344478498[8] = 0; } -void h_29(double *state, double *unused, double *out_2449165300332618207) { - out_2449165300332618207[0] = state[1]; +void h_29(double *state, double *unused, double *out_8468563205510679309) { + out_8468563205510679309[0] = state[1]; } -void H_29(double *state, double *unused, double *out_8278711004372108415) { - out_8278711004372108415[0] = 0; - out_8278711004372108415[1] = 1; - out_8278711004372108415[2] = 0; - out_8278711004372108415[3] = 0; - out_8278711004372108415[4] = 0; - out_8278711004372108415[5] = 0; - out_8278711004372108415[6] = 0; - out_8278711004372108415[7] = 0; - out_8278711004372108415[8] = 0; +void H_29(double *state, double *unused, double *out_389695872229661403) { + out_389695872229661403[0] = 0; + out_389695872229661403[1] = 1; + out_389695872229661403[2] = 0; + out_389695872229661403[3] = 0; + out_389695872229661403[4] = 0; + out_389695872229661403[5] = 0; + out_389695872229661403[6] = 0; + out_389695872229661403[7] = 0; + out_389695872229661403[8] = 0; } -void h_28(double *state, double *unused, double *out_4225070279365736828) { - out_4225070279365736828[0] = state[0]; +void h_28(double *state, double *unused, double *out_7104339466103856014) { + out_7104339466103856014[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5085634052267912627) { - out_5085634052267912627[0] = 1; - out_5085634052267912627[1] = 0; - out_5085634052267912627[2] = 0; - out_5085634052267912627[3] = 0; - out_5085634052267912627[4] = 0; - out_5085634052267912627[5] = 0; - out_5085634052267912627[6] = 0; - out_5085634052267912627[7] = 0; - out_5085634052267912627[8] = 0; +void H_28(double *state, double *unused, double *out_8576291801425991511) { + out_8576291801425991511[0] = 1; + out_8576291801425991511[1] = 0; + out_8576291801425991511[2] = 0; + out_8576291801425991511[3] = 0; + out_8576291801425991511[4] = 0; + out_8576291801425991511[5] = 0; + out_8576291801425991511[6] = 0; + out_8576291801425991511[7] = 0; + out_8576291801425991511[8] = 0; } -void h_31(double *state, double *unused, double *out_5668958651651006665) { - out_5668958651651006665[0] = state[8]; +void h_31(double *state, double *unused, double *out_2522625404144497340) { + out_2522625404144497340[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8628957439666300101) { - out_8628957439666300101[0] = 0; - out_8628957439666300101[1] = 0; - out_8628957439666300101[2] = 0; - out_8628957439666300101[3] = 0; - out_8628957439666300101[4] = 0; - out_8628957439666300101[5] = 0; - out_8628957439666300101[6] = 0; - out_8628957439666300101[7] = 0; - out_8628957439666300101[8] = 1; +void H_31(double *state, double *unused, double *out_739942307523853089) { + out_739942307523853089[0] = 0; + out_739942307523853089[1] = 0; + out_739942307523853089[2] = 0; + out_739942307523853089[3] = 0; + out_739942307523853089[4] = 0; + out_739942307523853089[5] = 0; + out_739942307523853089[6] = 0; + out_739942307523853089[7] = 0; + out_739942307523853089[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_9188106750313616310) { - err_fun(nom_x, delta_x, out_9188106750313616310); +void car_err_fun(double *nom_x, double *delta_x, double *out_648770422652277661) { + err_fun(nom_x, delta_x, out_648770422652277661); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7483849663979101547) { - inv_err_fun(nom_x, true_x, out_7483849663979101547); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8433637752559620590) { + inv_err_fun(nom_x, true_x, out_8433637752559620590); } -void car_H_mod_fun(double *state, double *out_8322118016658148449) { - H_mod_fun(state, out_8322118016658148449); +void car_H_mod_fun(double *state, double *out_8422599956511423720) { + H_mod_fun(state, out_8422599956511423720); } -void car_f_fun(double *state, double dt, double *out_764867040202035176) { - f_fun(state, dt, out_764867040202035176); +void car_f_fun(double *state, double dt, double *out_9124674145630526498) { + f_fun(state, dt, out_9124674145630526498); } -void car_F_fun(double *state, double dt, double *out_3503154027384229832) { - F_fun(state, dt, out_3503154027384229832); +void car_F_fun(double *state, double dt, double *out_7980063177758984153) { + F_fun(state, dt, out_7980063177758984153); } -void car_h_25(double *state, double *unused, double *out_8616684642006491626) { - h_25(state, unused, out_8616684642006491626); +void car_h_25(double *state, double *unused, double *out_7427457988301314284) { + h_25(state, unused, out_7427457988301314284); } -void car_H_25(double *state, double *unused, double *out_8659603401543260529) { - H_25(state, unused, out_8659603401543260529); +void car_H_25(double *state, double *unused, double *out_770588269400813517) { + H_25(state, unused, out_770588269400813517); } -void car_h_24(double *state, double *unused, double *out_1016016545338744668) { - h_24(state, unused, out_1016016545338744668); +void car_h_24(double *state, double *unused, double *out_3062542313716558558) { + h_24(state, unused, out_3062542313716558558); } -void car_H_24(double *state, double *unused, double *out_1012248264354120193) { - H_24(state, unused, out_1012248264354120193); +void car_H_24(double *state, double *unused, double *out_5590909774056801780) { + H_24(state, unused, out_5590909774056801780); } -void car_h_30(double *state, double *unused, double *out_7791032536218648770) { - h_30(state, unused, out_7791032536218648770); +void car_h_30(double *state, double *unused, double *out_1260343948330179981) { + h_30(state, unused, out_1260343948330179981); } -void car_H_30(double *state, double *unused, double *out_8788942348686500599) { - H_30(state, unused, out_8788942348686500599); +void car_H_30(double *state, double *unused, double *out_899927216544053587) { + H_30(state, unused, out_899927216544053587); } -void car_h_26(double *state, double *unused, double *out_2789359268557803125) { - h_26(state, unused, out_2789359268557803125); +void car_h_26(double *state, double *unused, double *out_4488267301164684189) { + h_26(state, unused, out_4488267301164684189); } -void car_H_26(double *state, double *unused, double *out_8002749337432948625) { - H_26(state, unused, out_8002749337432948625); +void car_H_26(double *state, double *unused, double *out_4512091588274869741) { + H_26(state, unused, out_4512091588274869741); } -void car_h_27(double *state, double *unused, double *out_9220000526682969143) { - h_27(state, unused, out_9220000526682969143); +void car_h_27(double *state, double *unused, double *out_6340731339944849957) { + h_27(state, unused, out_6340731339944849957); } -void car_H_27(double *state, double *unused, double *out_7483038413222626106) { - H_27(state, unused, out_7483038413222626106); +void car_H_27(double *state, double *unused, double *out_3074690528344478498) { + H_27(state, unused, out_3074690528344478498); } -void car_h_29(double *state, double *unused, double *out_2449165300332618207) { - h_29(state, unused, out_2449165300332618207); +void car_h_29(double *state, double *unused, double *out_8468563205510679309) { + h_29(state, unused, out_8468563205510679309); } -void car_H_29(double *state, double *unused, double *out_8278711004372108415) { - H_29(state, unused, out_8278711004372108415); +void car_H_29(double *state, double *unused, double *out_389695872229661403) { + H_29(state, unused, out_389695872229661403); } -void car_h_28(double *state, double *unused, double *out_4225070279365736828) { - h_28(state, unused, out_4225070279365736828); +void car_h_28(double *state, double *unused, double *out_7104339466103856014) { + h_28(state, unused, out_7104339466103856014); } -void car_H_28(double *state, double *unused, double *out_5085634052267912627) { - H_28(state, unused, out_5085634052267912627); +void car_H_28(double *state, double *unused, double *out_8576291801425991511) { + H_28(state, unused, out_8576291801425991511); } -void car_h_31(double *state, double *unused, double *out_5668958651651006665) { - h_31(state, unused, out_5668958651651006665); +void car_h_31(double *state, double *unused, double *out_2522625404144497340) { + h_31(state, unused, out_2522625404144497340); } -void car_H_31(double *state, double *unused, double *out_8628957439666300101) { - H_31(state, unused, out_8628957439666300101); +void car_H_31(double *state, double *unused, double *out_739942307523853089) { + H_31(state, unused, out_739942307523853089); } 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 049e523a5..43bcd3fe4 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_9188106750313616310); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7483849663979101547); -void car_H_mod_fun(double *state, double *out_8322118016658148449); -void car_f_fun(double *state, double dt, double *out_764867040202035176); -void car_F_fun(double *state, double dt, double *out_3503154027384229832); -void car_h_25(double *state, double *unused, double *out_8616684642006491626); -void car_H_25(double *state, double *unused, double *out_8659603401543260529); -void car_h_24(double *state, double *unused, double *out_1016016545338744668); -void car_H_24(double *state, double *unused, double *out_1012248264354120193); -void car_h_30(double *state, double *unused, double *out_7791032536218648770); -void car_H_30(double *state, double *unused, double *out_8788942348686500599); -void car_h_26(double *state, double *unused, double *out_2789359268557803125); -void car_H_26(double *state, double *unused, double *out_8002749337432948625); -void car_h_27(double *state, double *unused, double *out_9220000526682969143); -void car_H_27(double *state, double *unused, double *out_7483038413222626106); -void car_h_29(double *state, double *unused, double *out_2449165300332618207); -void car_H_29(double *state, double *unused, double *out_8278711004372108415); -void car_h_28(double *state, double *unused, double *out_4225070279365736828); -void car_H_28(double *state, double *unused, double *out_5085634052267912627); -void car_h_31(double *state, double *unused, double *out_5668958651651006665); -void car_H_31(double *state, double *unused, double *out_8628957439666300101); +void car_err_fun(double *nom_x, double *delta_x, double *out_648770422652277661); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8433637752559620590); +void car_H_mod_fun(double *state, double *out_8422599956511423720); +void car_f_fun(double *state, double dt, double *out_9124674145630526498); +void car_F_fun(double *state, double dt, double *out_7980063177758984153); +void car_h_25(double *state, double *unused, double *out_7427457988301314284); +void car_H_25(double *state, double *unused, double *out_770588269400813517); +void car_h_24(double *state, double *unused, double *out_3062542313716558558); +void car_H_24(double *state, double *unused, double *out_5590909774056801780); +void car_h_30(double *state, double *unused, double *out_1260343948330179981); +void car_H_30(double *state, double *unused, double *out_899927216544053587); +void car_h_26(double *state, double *unused, double *out_4488267301164684189); +void car_H_26(double *state, double *unused, double *out_4512091588274869741); +void car_h_27(double *state, double *unused, double *out_6340731339944849957); +void car_H_27(double *state, double *unused, double *out_3074690528344478498); +void car_h_29(double *state, double *unused, double *out_8468563205510679309); +void car_H_29(double *state, double *unused, double *out_389695872229661403); +void car_h_28(double *state, double *unused, double *out_7104339466103856014); +void car_H_28(double *state, double *unused, double *out_8576291801425991511); +void car_h_31(double *state, double *unused, double *out_2522625404144497340); +void car_H_31(double *state, double *unused, double *out_739942307523853089); 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 a8ff1af55..c34fec7bc 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_776419627085520882) { - out_776419627085520882[0] = delta_x[0] + nom_x[0]; - out_776419627085520882[1] = delta_x[1] + nom_x[1]; - out_776419627085520882[2] = delta_x[2] + nom_x[2]; - out_776419627085520882[3] = delta_x[3] + nom_x[3]; - out_776419627085520882[4] = delta_x[4] + nom_x[4]; - out_776419627085520882[5] = delta_x[5] + nom_x[5]; - out_776419627085520882[6] = delta_x[6] + nom_x[6]; - out_776419627085520882[7] = delta_x[7] + nom_x[7]; - out_776419627085520882[8] = delta_x[8] + nom_x[8]; - out_776419627085520882[9] = delta_x[9] + nom_x[9]; - out_776419627085520882[10] = delta_x[10] + nom_x[10]; - out_776419627085520882[11] = delta_x[11] + nom_x[11]; - out_776419627085520882[12] = delta_x[12] + nom_x[12]; - out_776419627085520882[13] = delta_x[13] + nom_x[13]; - out_776419627085520882[14] = delta_x[14] + nom_x[14]; - out_776419627085520882[15] = delta_x[15] + nom_x[15]; - out_776419627085520882[16] = delta_x[16] + nom_x[16]; - out_776419627085520882[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4926409855120774640) { + out_4926409855120774640[0] = delta_x[0] + nom_x[0]; + out_4926409855120774640[1] = delta_x[1] + nom_x[1]; + out_4926409855120774640[2] = delta_x[2] + nom_x[2]; + out_4926409855120774640[3] = delta_x[3] + nom_x[3]; + out_4926409855120774640[4] = delta_x[4] + nom_x[4]; + out_4926409855120774640[5] = delta_x[5] + nom_x[5]; + out_4926409855120774640[6] = delta_x[6] + nom_x[6]; + out_4926409855120774640[7] = delta_x[7] + nom_x[7]; + out_4926409855120774640[8] = delta_x[8] + nom_x[8]; + out_4926409855120774640[9] = delta_x[9] + nom_x[9]; + out_4926409855120774640[10] = delta_x[10] + nom_x[10]; + out_4926409855120774640[11] = delta_x[11] + nom_x[11]; + out_4926409855120774640[12] = delta_x[12] + nom_x[12]; + out_4926409855120774640[13] = delta_x[13] + nom_x[13]; + out_4926409855120774640[14] = delta_x[14] + nom_x[14]; + out_4926409855120774640[15] = delta_x[15] + nom_x[15]; + out_4926409855120774640[16] = delta_x[16] + nom_x[16]; + out_4926409855120774640[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3246049781621128423) { - out_3246049781621128423[0] = -nom_x[0] + true_x[0]; - out_3246049781621128423[1] = -nom_x[1] + true_x[1]; - out_3246049781621128423[2] = -nom_x[2] + true_x[2]; - out_3246049781621128423[3] = -nom_x[3] + true_x[3]; - out_3246049781621128423[4] = -nom_x[4] + true_x[4]; - out_3246049781621128423[5] = -nom_x[5] + true_x[5]; - out_3246049781621128423[6] = -nom_x[6] + true_x[6]; - out_3246049781621128423[7] = -nom_x[7] + true_x[7]; - out_3246049781621128423[8] = -nom_x[8] + true_x[8]; - out_3246049781621128423[9] = -nom_x[9] + true_x[9]; - out_3246049781621128423[10] = -nom_x[10] + true_x[10]; - out_3246049781621128423[11] = -nom_x[11] + true_x[11]; - out_3246049781621128423[12] = -nom_x[12] + true_x[12]; - out_3246049781621128423[13] = -nom_x[13] + true_x[13]; - out_3246049781621128423[14] = -nom_x[14] + true_x[14]; - out_3246049781621128423[15] = -nom_x[15] + true_x[15]; - out_3246049781621128423[16] = -nom_x[16] + true_x[16]; - out_3246049781621128423[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6187782627613179741) { + out_6187782627613179741[0] = -nom_x[0] + true_x[0]; + out_6187782627613179741[1] = -nom_x[1] + true_x[1]; + out_6187782627613179741[2] = -nom_x[2] + true_x[2]; + out_6187782627613179741[3] = -nom_x[3] + true_x[3]; + out_6187782627613179741[4] = -nom_x[4] + true_x[4]; + out_6187782627613179741[5] = -nom_x[5] + true_x[5]; + out_6187782627613179741[6] = -nom_x[6] + true_x[6]; + out_6187782627613179741[7] = -nom_x[7] + true_x[7]; + out_6187782627613179741[8] = -nom_x[8] + true_x[8]; + out_6187782627613179741[9] = -nom_x[9] + true_x[9]; + out_6187782627613179741[10] = -nom_x[10] + true_x[10]; + out_6187782627613179741[11] = -nom_x[11] + true_x[11]; + out_6187782627613179741[12] = -nom_x[12] + true_x[12]; + out_6187782627613179741[13] = -nom_x[13] + true_x[13]; + out_6187782627613179741[14] = -nom_x[14] + true_x[14]; + out_6187782627613179741[15] = -nom_x[15] + true_x[15]; + out_6187782627613179741[16] = -nom_x[16] + true_x[16]; + out_6187782627613179741[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5710430290201935803) { - out_5710430290201935803[0] = 1.0; - out_5710430290201935803[1] = 0.0; - out_5710430290201935803[2] = 0.0; - out_5710430290201935803[3] = 0.0; - out_5710430290201935803[4] = 0.0; - out_5710430290201935803[5] = 0.0; - out_5710430290201935803[6] = 0.0; - out_5710430290201935803[7] = 0.0; - out_5710430290201935803[8] = 0.0; - out_5710430290201935803[9] = 0.0; - out_5710430290201935803[10] = 0.0; - out_5710430290201935803[11] = 0.0; - out_5710430290201935803[12] = 0.0; - out_5710430290201935803[13] = 0.0; - out_5710430290201935803[14] = 0.0; - out_5710430290201935803[15] = 0.0; - out_5710430290201935803[16] = 0.0; - out_5710430290201935803[17] = 0.0; - out_5710430290201935803[18] = 0.0; - out_5710430290201935803[19] = 1.0; - out_5710430290201935803[20] = 0.0; - out_5710430290201935803[21] = 0.0; - out_5710430290201935803[22] = 0.0; - out_5710430290201935803[23] = 0.0; - out_5710430290201935803[24] = 0.0; - out_5710430290201935803[25] = 0.0; - out_5710430290201935803[26] = 0.0; - out_5710430290201935803[27] = 0.0; - out_5710430290201935803[28] = 0.0; - out_5710430290201935803[29] = 0.0; - out_5710430290201935803[30] = 0.0; - out_5710430290201935803[31] = 0.0; - out_5710430290201935803[32] = 0.0; - out_5710430290201935803[33] = 0.0; - out_5710430290201935803[34] = 0.0; - out_5710430290201935803[35] = 0.0; - out_5710430290201935803[36] = 0.0; - out_5710430290201935803[37] = 0.0; - out_5710430290201935803[38] = 1.0; - out_5710430290201935803[39] = 0.0; - out_5710430290201935803[40] = 0.0; - out_5710430290201935803[41] = 0.0; - out_5710430290201935803[42] = 0.0; - out_5710430290201935803[43] = 0.0; - out_5710430290201935803[44] = 0.0; - out_5710430290201935803[45] = 0.0; - out_5710430290201935803[46] = 0.0; - out_5710430290201935803[47] = 0.0; - out_5710430290201935803[48] = 0.0; - out_5710430290201935803[49] = 0.0; - out_5710430290201935803[50] = 0.0; - out_5710430290201935803[51] = 0.0; - out_5710430290201935803[52] = 0.0; - out_5710430290201935803[53] = 0.0; - out_5710430290201935803[54] = 0.0; - out_5710430290201935803[55] = 0.0; - out_5710430290201935803[56] = 0.0; - out_5710430290201935803[57] = 1.0; - out_5710430290201935803[58] = 0.0; - out_5710430290201935803[59] = 0.0; - out_5710430290201935803[60] = 0.0; - out_5710430290201935803[61] = 0.0; - out_5710430290201935803[62] = 0.0; - out_5710430290201935803[63] = 0.0; - out_5710430290201935803[64] = 0.0; - out_5710430290201935803[65] = 0.0; - out_5710430290201935803[66] = 0.0; - out_5710430290201935803[67] = 0.0; - out_5710430290201935803[68] = 0.0; - out_5710430290201935803[69] = 0.0; - out_5710430290201935803[70] = 0.0; - out_5710430290201935803[71] = 0.0; - out_5710430290201935803[72] = 0.0; - out_5710430290201935803[73] = 0.0; - out_5710430290201935803[74] = 0.0; - out_5710430290201935803[75] = 0.0; - out_5710430290201935803[76] = 1.0; - out_5710430290201935803[77] = 0.0; - out_5710430290201935803[78] = 0.0; - out_5710430290201935803[79] = 0.0; - out_5710430290201935803[80] = 0.0; - out_5710430290201935803[81] = 0.0; - out_5710430290201935803[82] = 0.0; - out_5710430290201935803[83] = 0.0; - out_5710430290201935803[84] = 0.0; - out_5710430290201935803[85] = 0.0; - out_5710430290201935803[86] = 0.0; - out_5710430290201935803[87] = 0.0; - out_5710430290201935803[88] = 0.0; - out_5710430290201935803[89] = 0.0; - out_5710430290201935803[90] = 0.0; - out_5710430290201935803[91] = 0.0; - out_5710430290201935803[92] = 0.0; - out_5710430290201935803[93] = 0.0; - out_5710430290201935803[94] = 0.0; - out_5710430290201935803[95] = 1.0; - out_5710430290201935803[96] = 0.0; - out_5710430290201935803[97] = 0.0; - out_5710430290201935803[98] = 0.0; - out_5710430290201935803[99] = 0.0; - out_5710430290201935803[100] = 0.0; - out_5710430290201935803[101] = 0.0; - out_5710430290201935803[102] = 0.0; - out_5710430290201935803[103] = 0.0; - out_5710430290201935803[104] = 0.0; - out_5710430290201935803[105] = 0.0; - out_5710430290201935803[106] = 0.0; - out_5710430290201935803[107] = 0.0; - out_5710430290201935803[108] = 0.0; - out_5710430290201935803[109] = 0.0; - out_5710430290201935803[110] = 0.0; - out_5710430290201935803[111] = 0.0; - out_5710430290201935803[112] = 0.0; - out_5710430290201935803[113] = 0.0; - out_5710430290201935803[114] = 1.0; - out_5710430290201935803[115] = 0.0; - out_5710430290201935803[116] = 0.0; - out_5710430290201935803[117] = 0.0; - out_5710430290201935803[118] = 0.0; - out_5710430290201935803[119] = 0.0; - out_5710430290201935803[120] = 0.0; - out_5710430290201935803[121] = 0.0; - out_5710430290201935803[122] = 0.0; - out_5710430290201935803[123] = 0.0; - out_5710430290201935803[124] = 0.0; - out_5710430290201935803[125] = 0.0; - out_5710430290201935803[126] = 0.0; - out_5710430290201935803[127] = 0.0; - out_5710430290201935803[128] = 0.0; - out_5710430290201935803[129] = 0.0; - out_5710430290201935803[130] = 0.0; - out_5710430290201935803[131] = 0.0; - out_5710430290201935803[132] = 0.0; - out_5710430290201935803[133] = 1.0; - out_5710430290201935803[134] = 0.0; - out_5710430290201935803[135] = 0.0; - out_5710430290201935803[136] = 0.0; - out_5710430290201935803[137] = 0.0; - out_5710430290201935803[138] = 0.0; - out_5710430290201935803[139] = 0.0; - out_5710430290201935803[140] = 0.0; - out_5710430290201935803[141] = 0.0; - out_5710430290201935803[142] = 0.0; - out_5710430290201935803[143] = 0.0; - out_5710430290201935803[144] = 0.0; - out_5710430290201935803[145] = 0.0; - out_5710430290201935803[146] = 0.0; - out_5710430290201935803[147] = 0.0; - out_5710430290201935803[148] = 0.0; - out_5710430290201935803[149] = 0.0; - out_5710430290201935803[150] = 0.0; - out_5710430290201935803[151] = 0.0; - out_5710430290201935803[152] = 1.0; - out_5710430290201935803[153] = 0.0; - out_5710430290201935803[154] = 0.0; - out_5710430290201935803[155] = 0.0; - out_5710430290201935803[156] = 0.0; - out_5710430290201935803[157] = 0.0; - out_5710430290201935803[158] = 0.0; - out_5710430290201935803[159] = 0.0; - out_5710430290201935803[160] = 0.0; - out_5710430290201935803[161] = 0.0; - out_5710430290201935803[162] = 0.0; - out_5710430290201935803[163] = 0.0; - out_5710430290201935803[164] = 0.0; - out_5710430290201935803[165] = 0.0; - out_5710430290201935803[166] = 0.0; - out_5710430290201935803[167] = 0.0; - out_5710430290201935803[168] = 0.0; - out_5710430290201935803[169] = 0.0; - out_5710430290201935803[170] = 0.0; - out_5710430290201935803[171] = 1.0; - out_5710430290201935803[172] = 0.0; - out_5710430290201935803[173] = 0.0; - out_5710430290201935803[174] = 0.0; - out_5710430290201935803[175] = 0.0; - out_5710430290201935803[176] = 0.0; - out_5710430290201935803[177] = 0.0; - out_5710430290201935803[178] = 0.0; - out_5710430290201935803[179] = 0.0; - out_5710430290201935803[180] = 0.0; - out_5710430290201935803[181] = 0.0; - out_5710430290201935803[182] = 0.0; - out_5710430290201935803[183] = 0.0; - out_5710430290201935803[184] = 0.0; - out_5710430290201935803[185] = 0.0; - out_5710430290201935803[186] = 0.0; - out_5710430290201935803[187] = 0.0; - out_5710430290201935803[188] = 0.0; - out_5710430290201935803[189] = 0.0; - out_5710430290201935803[190] = 1.0; - out_5710430290201935803[191] = 0.0; - out_5710430290201935803[192] = 0.0; - out_5710430290201935803[193] = 0.0; - out_5710430290201935803[194] = 0.0; - out_5710430290201935803[195] = 0.0; - out_5710430290201935803[196] = 0.0; - out_5710430290201935803[197] = 0.0; - out_5710430290201935803[198] = 0.0; - out_5710430290201935803[199] = 0.0; - out_5710430290201935803[200] = 0.0; - out_5710430290201935803[201] = 0.0; - out_5710430290201935803[202] = 0.0; - out_5710430290201935803[203] = 0.0; - out_5710430290201935803[204] = 0.0; - out_5710430290201935803[205] = 0.0; - out_5710430290201935803[206] = 0.0; - out_5710430290201935803[207] = 0.0; - out_5710430290201935803[208] = 0.0; - out_5710430290201935803[209] = 1.0; - out_5710430290201935803[210] = 0.0; - out_5710430290201935803[211] = 0.0; - out_5710430290201935803[212] = 0.0; - out_5710430290201935803[213] = 0.0; - out_5710430290201935803[214] = 0.0; - out_5710430290201935803[215] = 0.0; - out_5710430290201935803[216] = 0.0; - out_5710430290201935803[217] = 0.0; - out_5710430290201935803[218] = 0.0; - out_5710430290201935803[219] = 0.0; - out_5710430290201935803[220] = 0.0; - out_5710430290201935803[221] = 0.0; - out_5710430290201935803[222] = 0.0; - out_5710430290201935803[223] = 0.0; - out_5710430290201935803[224] = 0.0; - out_5710430290201935803[225] = 0.0; - out_5710430290201935803[226] = 0.0; - out_5710430290201935803[227] = 0.0; - out_5710430290201935803[228] = 1.0; - out_5710430290201935803[229] = 0.0; - out_5710430290201935803[230] = 0.0; - out_5710430290201935803[231] = 0.0; - out_5710430290201935803[232] = 0.0; - out_5710430290201935803[233] = 0.0; - out_5710430290201935803[234] = 0.0; - out_5710430290201935803[235] = 0.0; - out_5710430290201935803[236] = 0.0; - out_5710430290201935803[237] = 0.0; - out_5710430290201935803[238] = 0.0; - out_5710430290201935803[239] = 0.0; - out_5710430290201935803[240] = 0.0; - out_5710430290201935803[241] = 0.0; - out_5710430290201935803[242] = 0.0; - out_5710430290201935803[243] = 0.0; - out_5710430290201935803[244] = 0.0; - out_5710430290201935803[245] = 0.0; - out_5710430290201935803[246] = 0.0; - out_5710430290201935803[247] = 1.0; - out_5710430290201935803[248] = 0.0; - out_5710430290201935803[249] = 0.0; - out_5710430290201935803[250] = 0.0; - out_5710430290201935803[251] = 0.0; - out_5710430290201935803[252] = 0.0; - out_5710430290201935803[253] = 0.0; - out_5710430290201935803[254] = 0.0; - out_5710430290201935803[255] = 0.0; - out_5710430290201935803[256] = 0.0; - out_5710430290201935803[257] = 0.0; - out_5710430290201935803[258] = 0.0; - out_5710430290201935803[259] = 0.0; - out_5710430290201935803[260] = 0.0; - out_5710430290201935803[261] = 0.0; - out_5710430290201935803[262] = 0.0; - out_5710430290201935803[263] = 0.0; - out_5710430290201935803[264] = 0.0; - out_5710430290201935803[265] = 0.0; - out_5710430290201935803[266] = 1.0; - out_5710430290201935803[267] = 0.0; - out_5710430290201935803[268] = 0.0; - out_5710430290201935803[269] = 0.0; - out_5710430290201935803[270] = 0.0; - out_5710430290201935803[271] = 0.0; - out_5710430290201935803[272] = 0.0; - out_5710430290201935803[273] = 0.0; - out_5710430290201935803[274] = 0.0; - out_5710430290201935803[275] = 0.0; - out_5710430290201935803[276] = 0.0; - out_5710430290201935803[277] = 0.0; - out_5710430290201935803[278] = 0.0; - out_5710430290201935803[279] = 0.0; - out_5710430290201935803[280] = 0.0; - out_5710430290201935803[281] = 0.0; - out_5710430290201935803[282] = 0.0; - out_5710430290201935803[283] = 0.0; - out_5710430290201935803[284] = 0.0; - out_5710430290201935803[285] = 1.0; - out_5710430290201935803[286] = 0.0; - out_5710430290201935803[287] = 0.0; - out_5710430290201935803[288] = 0.0; - out_5710430290201935803[289] = 0.0; - out_5710430290201935803[290] = 0.0; - out_5710430290201935803[291] = 0.0; - out_5710430290201935803[292] = 0.0; - out_5710430290201935803[293] = 0.0; - out_5710430290201935803[294] = 0.0; - out_5710430290201935803[295] = 0.0; - out_5710430290201935803[296] = 0.0; - out_5710430290201935803[297] = 0.0; - out_5710430290201935803[298] = 0.0; - out_5710430290201935803[299] = 0.0; - out_5710430290201935803[300] = 0.0; - out_5710430290201935803[301] = 0.0; - out_5710430290201935803[302] = 0.0; - out_5710430290201935803[303] = 0.0; - out_5710430290201935803[304] = 1.0; - out_5710430290201935803[305] = 0.0; - out_5710430290201935803[306] = 0.0; - out_5710430290201935803[307] = 0.0; - out_5710430290201935803[308] = 0.0; - out_5710430290201935803[309] = 0.0; - out_5710430290201935803[310] = 0.0; - out_5710430290201935803[311] = 0.0; - out_5710430290201935803[312] = 0.0; - out_5710430290201935803[313] = 0.0; - out_5710430290201935803[314] = 0.0; - out_5710430290201935803[315] = 0.0; - out_5710430290201935803[316] = 0.0; - out_5710430290201935803[317] = 0.0; - out_5710430290201935803[318] = 0.0; - out_5710430290201935803[319] = 0.0; - out_5710430290201935803[320] = 0.0; - out_5710430290201935803[321] = 0.0; - out_5710430290201935803[322] = 0.0; - out_5710430290201935803[323] = 1.0; +void H_mod_fun(double *state, double *out_5486902536301149939) { + out_5486902536301149939[0] = 1.0; + out_5486902536301149939[1] = 0.0; + out_5486902536301149939[2] = 0.0; + out_5486902536301149939[3] = 0.0; + out_5486902536301149939[4] = 0.0; + out_5486902536301149939[5] = 0.0; + out_5486902536301149939[6] = 0.0; + out_5486902536301149939[7] = 0.0; + out_5486902536301149939[8] = 0.0; + out_5486902536301149939[9] = 0.0; + out_5486902536301149939[10] = 0.0; + out_5486902536301149939[11] = 0.0; + out_5486902536301149939[12] = 0.0; + out_5486902536301149939[13] = 0.0; + out_5486902536301149939[14] = 0.0; + out_5486902536301149939[15] = 0.0; + out_5486902536301149939[16] = 0.0; + out_5486902536301149939[17] = 0.0; + out_5486902536301149939[18] = 0.0; + out_5486902536301149939[19] = 1.0; + out_5486902536301149939[20] = 0.0; + out_5486902536301149939[21] = 0.0; + out_5486902536301149939[22] = 0.0; + out_5486902536301149939[23] = 0.0; + out_5486902536301149939[24] = 0.0; + out_5486902536301149939[25] = 0.0; + out_5486902536301149939[26] = 0.0; + out_5486902536301149939[27] = 0.0; + out_5486902536301149939[28] = 0.0; + out_5486902536301149939[29] = 0.0; + out_5486902536301149939[30] = 0.0; + out_5486902536301149939[31] = 0.0; + out_5486902536301149939[32] = 0.0; + out_5486902536301149939[33] = 0.0; + out_5486902536301149939[34] = 0.0; + out_5486902536301149939[35] = 0.0; + out_5486902536301149939[36] = 0.0; + out_5486902536301149939[37] = 0.0; + out_5486902536301149939[38] = 1.0; + out_5486902536301149939[39] = 0.0; + out_5486902536301149939[40] = 0.0; + out_5486902536301149939[41] = 0.0; + out_5486902536301149939[42] = 0.0; + out_5486902536301149939[43] = 0.0; + out_5486902536301149939[44] = 0.0; + out_5486902536301149939[45] = 0.0; + out_5486902536301149939[46] = 0.0; + out_5486902536301149939[47] = 0.0; + out_5486902536301149939[48] = 0.0; + out_5486902536301149939[49] = 0.0; + out_5486902536301149939[50] = 0.0; + out_5486902536301149939[51] = 0.0; + out_5486902536301149939[52] = 0.0; + out_5486902536301149939[53] = 0.0; + out_5486902536301149939[54] = 0.0; + out_5486902536301149939[55] = 0.0; + out_5486902536301149939[56] = 0.0; + out_5486902536301149939[57] = 1.0; + out_5486902536301149939[58] = 0.0; + out_5486902536301149939[59] = 0.0; + out_5486902536301149939[60] = 0.0; + out_5486902536301149939[61] = 0.0; + out_5486902536301149939[62] = 0.0; + out_5486902536301149939[63] = 0.0; + out_5486902536301149939[64] = 0.0; + out_5486902536301149939[65] = 0.0; + out_5486902536301149939[66] = 0.0; + out_5486902536301149939[67] = 0.0; + out_5486902536301149939[68] = 0.0; + out_5486902536301149939[69] = 0.0; + out_5486902536301149939[70] = 0.0; + out_5486902536301149939[71] = 0.0; + out_5486902536301149939[72] = 0.0; + out_5486902536301149939[73] = 0.0; + out_5486902536301149939[74] = 0.0; + out_5486902536301149939[75] = 0.0; + out_5486902536301149939[76] = 1.0; + out_5486902536301149939[77] = 0.0; + out_5486902536301149939[78] = 0.0; + out_5486902536301149939[79] = 0.0; + out_5486902536301149939[80] = 0.0; + out_5486902536301149939[81] = 0.0; + out_5486902536301149939[82] = 0.0; + out_5486902536301149939[83] = 0.0; + out_5486902536301149939[84] = 0.0; + out_5486902536301149939[85] = 0.0; + out_5486902536301149939[86] = 0.0; + out_5486902536301149939[87] = 0.0; + out_5486902536301149939[88] = 0.0; + out_5486902536301149939[89] = 0.0; + out_5486902536301149939[90] = 0.0; + out_5486902536301149939[91] = 0.0; + out_5486902536301149939[92] = 0.0; + out_5486902536301149939[93] = 0.0; + out_5486902536301149939[94] = 0.0; + out_5486902536301149939[95] = 1.0; + out_5486902536301149939[96] = 0.0; + out_5486902536301149939[97] = 0.0; + out_5486902536301149939[98] = 0.0; + out_5486902536301149939[99] = 0.0; + out_5486902536301149939[100] = 0.0; + out_5486902536301149939[101] = 0.0; + out_5486902536301149939[102] = 0.0; + out_5486902536301149939[103] = 0.0; + out_5486902536301149939[104] = 0.0; + out_5486902536301149939[105] = 0.0; + out_5486902536301149939[106] = 0.0; + out_5486902536301149939[107] = 0.0; + out_5486902536301149939[108] = 0.0; + out_5486902536301149939[109] = 0.0; + out_5486902536301149939[110] = 0.0; + out_5486902536301149939[111] = 0.0; + out_5486902536301149939[112] = 0.0; + out_5486902536301149939[113] = 0.0; + out_5486902536301149939[114] = 1.0; + out_5486902536301149939[115] = 0.0; + out_5486902536301149939[116] = 0.0; + out_5486902536301149939[117] = 0.0; + out_5486902536301149939[118] = 0.0; + out_5486902536301149939[119] = 0.0; + out_5486902536301149939[120] = 0.0; + out_5486902536301149939[121] = 0.0; + out_5486902536301149939[122] = 0.0; + out_5486902536301149939[123] = 0.0; + out_5486902536301149939[124] = 0.0; + out_5486902536301149939[125] = 0.0; + out_5486902536301149939[126] = 0.0; + out_5486902536301149939[127] = 0.0; + out_5486902536301149939[128] = 0.0; + out_5486902536301149939[129] = 0.0; + out_5486902536301149939[130] = 0.0; + out_5486902536301149939[131] = 0.0; + out_5486902536301149939[132] = 0.0; + out_5486902536301149939[133] = 1.0; + out_5486902536301149939[134] = 0.0; + out_5486902536301149939[135] = 0.0; + out_5486902536301149939[136] = 0.0; + out_5486902536301149939[137] = 0.0; + out_5486902536301149939[138] = 0.0; + out_5486902536301149939[139] = 0.0; + out_5486902536301149939[140] = 0.0; + out_5486902536301149939[141] = 0.0; + out_5486902536301149939[142] = 0.0; + out_5486902536301149939[143] = 0.0; + out_5486902536301149939[144] = 0.0; + out_5486902536301149939[145] = 0.0; + out_5486902536301149939[146] = 0.0; + out_5486902536301149939[147] = 0.0; + out_5486902536301149939[148] = 0.0; + out_5486902536301149939[149] = 0.0; + out_5486902536301149939[150] = 0.0; + out_5486902536301149939[151] = 0.0; + out_5486902536301149939[152] = 1.0; + out_5486902536301149939[153] = 0.0; + out_5486902536301149939[154] = 0.0; + out_5486902536301149939[155] = 0.0; + out_5486902536301149939[156] = 0.0; + out_5486902536301149939[157] = 0.0; + out_5486902536301149939[158] = 0.0; + out_5486902536301149939[159] = 0.0; + out_5486902536301149939[160] = 0.0; + out_5486902536301149939[161] = 0.0; + out_5486902536301149939[162] = 0.0; + out_5486902536301149939[163] = 0.0; + out_5486902536301149939[164] = 0.0; + out_5486902536301149939[165] = 0.0; + out_5486902536301149939[166] = 0.0; + out_5486902536301149939[167] = 0.0; + out_5486902536301149939[168] = 0.0; + out_5486902536301149939[169] = 0.0; + out_5486902536301149939[170] = 0.0; + out_5486902536301149939[171] = 1.0; + out_5486902536301149939[172] = 0.0; + out_5486902536301149939[173] = 0.0; + out_5486902536301149939[174] = 0.0; + out_5486902536301149939[175] = 0.0; + out_5486902536301149939[176] = 0.0; + out_5486902536301149939[177] = 0.0; + out_5486902536301149939[178] = 0.0; + out_5486902536301149939[179] = 0.0; + out_5486902536301149939[180] = 0.0; + out_5486902536301149939[181] = 0.0; + out_5486902536301149939[182] = 0.0; + out_5486902536301149939[183] = 0.0; + out_5486902536301149939[184] = 0.0; + out_5486902536301149939[185] = 0.0; + out_5486902536301149939[186] = 0.0; + out_5486902536301149939[187] = 0.0; + out_5486902536301149939[188] = 0.0; + out_5486902536301149939[189] = 0.0; + out_5486902536301149939[190] = 1.0; + out_5486902536301149939[191] = 0.0; + out_5486902536301149939[192] = 0.0; + out_5486902536301149939[193] = 0.0; + out_5486902536301149939[194] = 0.0; + out_5486902536301149939[195] = 0.0; + out_5486902536301149939[196] = 0.0; + out_5486902536301149939[197] = 0.0; + out_5486902536301149939[198] = 0.0; + out_5486902536301149939[199] = 0.0; + out_5486902536301149939[200] = 0.0; + out_5486902536301149939[201] = 0.0; + out_5486902536301149939[202] = 0.0; + out_5486902536301149939[203] = 0.0; + out_5486902536301149939[204] = 0.0; + out_5486902536301149939[205] = 0.0; + out_5486902536301149939[206] = 0.0; + out_5486902536301149939[207] = 0.0; + out_5486902536301149939[208] = 0.0; + out_5486902536301149939[209] = 1.0; + out_5486902536301149939[210] = 0.0; + out_5486902536301149939[211] = 0.0; + out_5486902536301149939[212] = 0.0; + out_5486902536301149939[213] = 0.0; + out_5486902536301149939[214] = 0.0; + out_5486902536301149939[215] = 0.0; + out_5486902536301149939[216] = 0.0; + out_5486902536301149939[217] = 0.0; + out_5486902536301149939[218] = 0.0; + out_5486902536301149939[219] = 0.0; + out_5486902536301149939[220] = 0.0; + out_5486902536301149939[221] = 0.0; + out_5486902536301149939[222] = 0.0; + out_5486902536301149939[223] = 0.0; + out_5486902536301149939[224] = 0.0; + out_5486902536301149939[225] = 0.0; + out_5486902536301149939[226] = 0.0; + out_5486902536301149939[227] = 0.0; + out_5486902536301149939[228] = 1.0; + out_5486902536301149939[229] = 0.0; + out_5486902536301149939[230] = 0.0; + out_5486902536301149939[231] = 0.0; + out_5486902536301149939[232] = 0.0; + out_5486902536301149939[233] = 0.0; + out_5486902536301149939[234] = 0.0; + out_5486902536301149939[235] = 0.0; + out_5486902536301149939[236] = 0.0; + out_5486902536301149939[237] = 0.0; + out_5486902536301149939[238] = 0.0; + out_5486902536301149939[239] = 0.0; + out_5486902536301149939[240] = 0.0; + out_5486902536301149939[241] = 0.0; + out_5486902536301149939[242] = 0.0; + out_5486902536301149939[243] = 0.0; + out_5486902536301149939[244] = 0.0; + out_5486902536301149939[245] = 0.0; + out_5486902536301149939[246] = 0.0; + out_5486902536301149939[247] = 1.0; + out_5486902536301149939[248] = 0.0; + out_5486902536301149939[249] = 0.0; + out_5486902536301149939[250] = 0.0; + out_5486902536301149939[251] = 0.0; + out_5486902536301149939[252] = 0.0; + out_5486902536301149939[253] = 0.0; + out_5486902536301149939[254] = 0.0; + out_5486902536301149939[255] = 0.0; + out_5486902536301149939[256] = 0.0; + out_5486902536301149939[257] = 0.0; + out_5486902536301149939[258] = 0.0; + out_5486902536301149939[259] = 0.0; + out_5486902536301149939[260] = 0.0; + out_5486902536301149939[261] = 0.0; + out_5486902536301149939[262] = 0.0; + out_5486902536301149939[263] = 0.0; + out_5486902536301149939[264] = 0.0; + out_5486902536301149939[265] = 0.0; + out_5486902536301149939[266] = 1.0; + out_5486902536301149939[267] = 0.0; + out_5486902536301149939[268] = 0.0; + out_5486902536301149939[269] = 0.0; + out_5486902536301149939[270] = 0.0; + out_5486902536301149939[271] = 0.0; + out_5486902536301149939[272] = 0.0; + out_5486902536301149939[273] = 0.0; + out_5486902536301149939[274] = 0.0; + out_5486902536301149939[275] = 0.0; + out_5486902536301149939[276] = 0.0; + out_5486902536301149939[277] = 0.0; + out_5486902536301149939[278] = 0.0; + out_5486902536301149939[279] = 0.0; + out_5486902536301149939[280] = 0.0; + out_5486902536301149939[281] = 0.0; + out_5486902536301149939[282] = 0.0; + out_5486902536301149939[283] = 0.0; + out_5486902536301149939[284] = 0.0; + out_5486902536301149939[285] = 1.0; + out_5486902536301149939[286] = 0.0; + out_5486902536301149939[287] = 0.0; + out_5486902536301149939[288] = 0.0; + out_5486902536301149939[289] = 0.0; + out_5486902536301149939[290] = 0.0; + out_5486902536301149939[291] = 0.0; + out_5486902536301149939[292] = 0.0; + out_5486902536301149939[293] = 0.0; + out_5486902536301149939[294] = 0.0; + out_5486902536301149939[295] = 0.0; + out_5486902536301149939[296] = 0.0; + out_5486902536301149939[297] = 0.0; + out_5486902536301149939[298] = 0.0; + out_5486902536301149939[299] = 0.0; + out_5486902536301149939[300] = 0.0; + out_5486902536301149939[301] = 0.0; + out_5486902536301149939[302] = 0.0; + out_5486902536301149939[303] = 0.0; + out_5486902536301149939[304] = 1.0; + out_5486902536301149939[305] = 0.0; + out_5486902536301149939[306] = 0.0; + out_5486902536301149939[307] = 0.0; + out_5486902536301149939[308] = 0.0; + out_5486902536301149939[309] = 0.0; + out_5486902536301149939[310] = 0.0; + out_5486902536301149939[311] = 0.0; + out_5486902536301149939[312] = 0.0; + out_5486902536301149939[313] = 0.0; + out_5486902536301149939[314] = 0.0; + out_5486902536301149939[315] = 0.0; + out_5486902536301149939[316] = 0.0; + out_5486902536301149939[317] = 0.0; + out_5486902536301149939[318] = 0.0; + out_5486902536301149939[319] = 0.0; + out_5486902536301149939[320] = 0.0; + out_5486902536301149939[321] = 0.0; + out_5486902536301149939[322] = 0.0; + out_5486902536301149939[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5795859550853760244) { - out_5795859550853760244[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_5795859550853760244[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_5795859550853760244[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_5795859550853760244[3] = dt*state[12] + state[3]; - out_5795859550853760244[4] = dt*state[13] + state[4]; - out_5795859550853760244[5] = dt*state[14] + state[5]; - out_5795859550853760244[6] = state[6]; - out_5795859550853760244[7] = state[7]; - out_5795859550853760244[8] = state[8]; - out_5795859550853760244[9] = state[9]; - out_5795859550853760244[10] = state[10]; - out_5795859550853760244[11] = state[11]; - out_5795859550853760244[12] = state[12]; - out_5795859550853760244[13] = state[13]; - out_5795859550853760244[14] = state[14]; - out_5795859550853760244[15] = state[15]; - out_5795859550853760244[16] = state[16]; - out_5795859550853760244[17] = state[17]; +void f_fun(double *state, double dt, double *out_8359863438222097271) { + out_8359863438222097271[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_8359863438222097271[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_8359863438222097271[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_8359863438222097271[3] = dt*state[12] + state[3]; + out_8359863438222097271[4] = dt*state[13] + state[4]; + out_8359863438222097271[5] = dt*state[14] + state[5]; + out_8359863438222097271[6] = state[6]; + out_8359863438222097271[7] = state[7]; + out_8359863438222097271[8] = state[8]; + out_8359863438222097271[9] = state[9]; + out_8359863438222097271[10] = state[10]; + out_8359863438222097271[11] = state[11]; + out_8359863438222097271[12] = state[12]; + out_8359863438222097271[13] = state[13]; + out_8359863438222097271[14] = state[14]; + out_8359863438222097271[15] = state[15]; + out_8359863438222097271[16] = state[16]; + out_8359863438222097271[17] = state[17]; } -void F_fun(double *state, double dt, double *out_391118642873528758) { - out_391118642873528758[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_391118642873528758[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_391118642873528758[2] = 0; - out_391118642873528758[3] = 0; - out_391118642873528758[4] = 0; - out_391118642873528758[5] = 0; - out_391118642873528758[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_391118642873528758[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_391118642873528758[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_391118642873528758[9] = 0; - out_391118642873528758[10] = 0; - out_391118642873528758[11] = 0; - out_391118642873528758[12] = 0; - out_391118642873528758[13] = 0; - out_391118642873528758[14] = 0; - out_391118642873528758[15] = 0; - out_391118642873528758[16] = 0; - out_391118642873528758[17] = 0; - out_391118642873528758[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_391118642873528758[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_391118642873528758[20] = 0; - out_391118642873528758[21] = 0; - out_391118642873528758[22] = 0; - out_391118642873528758[23] = 0; - out_391118642873528758[24] = 0; - out_391118642873528758[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_391118642873528758[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_391118642873528758[27] = 0; - out_391118642873528758[28] = 0; - out_391118642873528758[29] = 0; - out_391118642873528758[30] = 0; - out_391118642873528758[31] = 0; - out_391118642873528758[32] = 0; - out_391118642873528758[33] = 0; - out_391118642873528758[34] = 0; - out_391118642873528758[35] = 0; - out_391118642873528758[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_391118642873528758[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_391118642873528758[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_391118642873528758[39] = 0; - out_391118642873528758[40] = 0; - out_391118642873528758[41] = 0; - out_391118642873528758[42] = 0; - out_391118642873528758[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_391118642873528758[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_391118642873528758[45] = 0; - out_391118642873528758[46] = 0; - out_391118642873528758[47] = 0; - out_391118642873528758[48] = 0; - out_391118642873528758[49] = 0; - out_391118642873528758[50] = 0; - out_391118642873528758[51] = 0; - out_391118642873528758[52] = 0; - out_391118642873528758[53] = 0; - out_391118642873528758[54] = 0; - out_391118642873528758[55] = 0; - out_391118642873528758[56] = 0; - out_391118642873528758[57] = 1; - out_391118642873528758[58] = 0; - out_391118642873528758[59] = 0; - out_391118642873528758[60] = 0; - out_391118642873528758[61] = 0; - out_391118642873528758[62] = 0; - out_391118642873528758[63] = 0; - out_391118642873528758[64] = 0; - out_391118642873528758[65] = 0; - out_391118642873528758[66] = dt; - out_391118642873528758[67] = 0; - out_391118642873528758[68] = 0; - out_391118642873528758[69] = 0; - out_391118642873528758[70] = 0; - out_391118642873528758[71] = 0; - out_391118642873528758[72] = 0; - out_391118642873528758[73] = 0; - out_391118642873528758[74] = 0; - out_391118642873528758[75] = 0; - out_391118642873528758[76] = 1; - out_391118642873528758[77] = 0; - out_391118642873528758[78] = 0; - out_391118642873528758[79] = 0; - out_391118642873528758[80] = 0; - out_391118642873528758[81] = 0; - out_391118642873528758[82] = 0; - out_391118642873528758[83] = 0; - out_391118642873528758[84] = 0; - out_391118642873528758[85] = dt; - out_391118642873528758[86] = 0; - out_391118642873528758[87] = 0; - out_391118642873528758[88] = 0; - out_391118642873528758[89] = 0; - out_391118642873528758[90] = 0; - out_391118642873528758[91] = 0; - out_391118642873528758[92] = 0; - out_391118642873528758[93] = 0; - out_391118642873528758[94] = 0; - out_391118642873528758[95] = 1; - out_391118642873528758[96] = 0; - out_391118642873528758[97] = 0; - out_391118642873528758[98] = 0; - out_391118642873528758[99] = 0; - out_391118642873528758[100] = 0; - out_391118642873528758[101] = 0; - out_391118642873528758[102] = 0; - out_391118642873528758[103] = 0; - out_391118642873528758[104] = dt; - out_391118642873528758[105] = 0; - out_391118642873528758[106] = 0; - out_391118642873528758[107] = 0; - out_391118642873528758[108] = 0; - out_391118642873528758[109] = 0; - out_391118642873528758[110] = 0; - out_391118642873528758[111] = 0; - out_391118642873528758[112] = 0; - out_391118642873528758[113] = 0; - out_391118642873528758[114] = 1; - out_391118642873528758[115] = 0; - out_391118642873528758[116] = 0; - out_391118642873528758[117] = 0; - out_391118642873528758[118] = 0; - out_391118642873528758[119] = 0; - out_391118642873528758[120] = 0; - out_391118642873528758[121] = 0; - out_391118642873528758[122] = 0; - out_391118642873528758[123] = 0; - out_391118642873528758[124] = 0; - out_391118642873528758[125] = 0; - out_391118642873528758[126] = 0; - out_391118642873528758[127] = 0; - out_391118642873528758[128] = 0; - out_391118642873528758[129] = 0; - out_391118642873528758[130] = 0; - out_391118642873528758[131] = 0; - out_391118642873528758[132] = 0; - out_391118642873528758[133] = 1; - out_391118642873528758[134] = 0; - out_391118642873528758[135] = 0; - out_391118642873528758[136] = 0; - out_391118642873528758[137] = 0; - out_391118642873528758[138] = 0; - out_391118642873528758[139] = 0; - out_391118642873528758[140] = 0; - out_391118642873528758[141] = 0; - out_391118642873528758[142] = 0; - out_391118642873528758[143] = 0; - out_391118642873528758[144] = 0; - out_391118642873528758[145] = 0; - out_391118642873528758[146] = 0; - out_391118642873528758[147] = 0; - out_391118642873528758[148] = 0; - out_391118642873528758[149] = 0; - out_391118642873528758[150] = 0; - out_391118642873528758[151] = 0; - out_391118642873528758[152] = 1; - out_391118642873528758[153] = 0; - out_391118642873528758[154] = 0; - out_391118642873528758[155] = 0; - out_391118642873528758[156] = 0; - out_391118642873528758[157] = 0; - out_391118642873528758[158] = 0; - out_391118642873528758[159] = 0; - out_391118642873528758[160] = 0; - out_391118642873528758[161] = 0; - out_391118642873528758[162] = 0; - out_391118642873528758[163] = 0; - out_391118642873528758[164] = 0; - out_391118642873528758[165] = 0; - out_391118642873528758[166] = 0; - out_391118642873528758[167] = 0; - out_391118642873528758[168] = 0; - out_391118642873528758[169] = 0; - out_391118642873528758[170] = 0; - out_391118642873528758[171] = 1; - out_391118642873528758[172] = 0; - out_391118642873528758[173] = 0; - out_391118642873528758[174] = 0; - out_391118642873528758[175] = 0; - out_391118642873528758[176] = 0; - out_391118642873528758[177] = 0; - out_391118642873528758[178] = 0; - out_391118642873528758[179] = 0; - out_391118642873528758[180] = 0; - out_391118642873528758[181] = 0; - out_391118642873528758[182] = 0; - out_391118642873528758[183] = 0; - out_391118642873528758[184] = 0; - out_391118642873528758[185] = 0; - out_391118642873528758[186] = 0; - out_391118642873528758[187] = 0; - out_391118642873528758[188] = 0; - out_391118642873528758[189] = 0; - out_391118642873528758[190] = 1; - out_391118642873528758[191] = 0; - out_391118642873528758[192] = 0; - out_391118642873528758[193] = 0; - out_391118642873528758[194] = 0; - out_391118642873528758[195] = 0; - out_391118642873528758[196] = 0; - out_391118642873528758[197] = 0; - out_391118642873528758[198] = 0; - out_391118642873528758[199] = 0; - out_391118642873528758[200] = 0; - out_391118642873528758[201] = 0; - out_391118642873528758[202] = 0; - out_391118642873528758[203] = 0; - out_391118642873528758[204] = 0; - out_391118642873528758[205] = 0; - out_391118642873528758[206] = 0; - out_391118642873528758[207] = 0; - out_391118642873528758[208] = 0; - out_391118642873528758[209] = 1; - out_391118642873528758[210] = 0; - out_391118642873528758[211] = 0; - out_391118642873528758[212] = 0; - out_391118642873528758[213] = 0; - out_391118642873528758[214] = 0; - out_391118642873528758[215] = 0; - out_391118642873528758[216] = 0; - out_391118642873528758[217] = 0; - out_391118642873528758[218] = 0; - out_391118642873528758[219] = 0; - out_391118642873528758[220] = 0; - out_391118642873528758[221] = 0; - out_391118642873528758[222] = 0; - out_391118642873528758[223] = 0; - out_391118642873528758[224] = 0; - out_391118642873528758[225] = 0; - out_391118642873528758[226] = 0; - out_391118642873528758[227] = 0; - out_391118642873528758[228] = 1; - out_391118642873528758[229] = 0; - out_391118642873528758[230] = 0; - out_391118642873528758[231] = 0; - out_391118642873528758[232] = 0; - out_391118642873528758[233] = 0; - out_391118642873528758[234] = 0; - out_391118642873528758[235] = 0; - out_391118642873528758[236] = 0; - out_391118642873528758[237] = 0; - out_391118642873528758[238] = 0; - out_391118642873528758[239] = 0; - out_391118642873528758[240] = 0; - out_391118642873528758[241] = 0; - out_391118642873528758[242] = 0; - out_391118642873528758[243] = 0; - out_391118642873528758[244] = 0; - out_391118642873528758[245] = 0; - out_391118642873528758[246] = 0; - out_391118642873528758[247] = 1; - out_391118642873528758[248] = 0; - out_391118642873528758[249] = 0; - out_391118642873528758[250] = 0; - out_391118642873528758[251] = 0; - out_391118642873528758[252] = 0; - out_391118642873528758[253] = 0; - out_391118642873528758[254] = 0; - out_391118642873528758[255] = 0; - out_391118642873528758[256] = 0; - out_391118642873528758[257] = 0; - out_391118642873528758[258] = 0; - out_391118642873528758[259] = 0; - out_391118642873528758[260] = 0; - out_391118642873528758[261] = 0; - out_391118642873528758[262] = 0; - out_391118642873528758[263] = 0; - out_391118642873528758[264] = 0; - out_391118642873528758[265] = 0; - out_391118642873528758[266] = 1; - out_391118642873528758[267] = 0; - out_391118642873528758[268] = 0; - out_391118642873528758[269] = 0; - out_391118642873528758[270] = 0; - out_391118642873528758[271] = 0; - out_391118642873528758[272] = 0; - out_391118642873528758[273] = 0; - out_391118642873528758[274] = 0; - out_391118642873528758[275] = 0; - out_391118642873528758[276] = 0; - out_391118642873528758[277] = 0; - out_391118642873528758[278] = 0; - out_391118642873528758[279] = 0; - out_391118642873528758[280] = 0; - out_391118642873528758[281] = 0; - out_391118642873528758[282] = 0; - out_391118642873528758[283] = 0; - out_391118642873528758[284] = 0; - out_391118642873528758[285] = 1; - out_391118642873528758[286] = 0; - out_391118642873528758[287] = 0; - out_391118642873528758[288] = 0; - out_391118642873528758[289] = 0; - out_391118642873528758[290] = 0; - out_391118642873528758[291] = 0; - out_391118642873528758[292] = 0; - out_391118642873528758[293] = 0; - out_391118642873528758[294] = 0; - out_391118642873528758[295] = 0; - out_391118642873528758[296] = 0; - out_391118642873528758[297] = 0; - out_391118642873528758[298] = 0; - out_391118642873528758[299] = 0; - out_391118642873528758[300] = 0; - out_391118642873528758[301] = 0; - out_391118642873528758[302] = 0; - out_391118642873528758[303] = 0; - out_391118642873528758[304] = 1; - out_391118642873528758[305] = 0; - out_391118642873528758[306] = 0; - out_391118642873528758[307] = 0; - out_391118642873528758[308] = 0; - out_391118642873528758[309] = 0; - out_391118642873528758[310] = 0; - out_391118642873528758[311] = 0; - out_391118642873528758[312] = 0; - out_391118642873528758[313] = 0; - out_391118642873528758[314] = 0; - out_391118642873528758[315] = 0; - out_391118642873528758[316] = 0; - out_391118642873528758[317] = 0; - out_391118642873528758[318] = 0; - out_391118642873528758[319] = 0; - out_391118642873528758[320] = 0; - out_391118642873528758[321] = 0; - out_391118642873528758[322] = 0; - out_391118642873528758[323] = 1; +void F_fun(double *state, double dt, double *out_174815157734899050) { + out_174815157734899050[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_174815157734899050[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_174815157734899050[2] = 0; + out_174815157734899050[3] = 0; + out_174815157734899050[4] = 0; + out_174815157734899050[5] = 0; + out_174815157734899050[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_174815157734899050[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_174815157734899050[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_174815157734899050[9] = 0; + out_174815157734899050[10] = 0; + out_174815157734899050[11] = 0; + out_174815157734899050[12] = 0; + out_174815157734899050[13] = 0; + out_174815157734899050[14] = 0; + out_174815157734899050[15] = 0; + out_174815157734899050[16] = 0; + out_174815157734899050[17] = 0; + out_174815157734899050[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_174815157734899050[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_174815157734899050[20] = 0; + out_174815157734899050[21] = 0; + out_174815157734899050[22] = 0; + out_174815157734899050[23] = 0; + out_174815157734899050[24] = 0; + out_174815157734899050[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_174815157734899050[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_174815157734899050[27] = 0; + out_174815157734899050[28] = 0; + out_174815157734899050[29] = 0; + out_174815157734899050[30] = 0; + out_174815157734899050[31] = 0; + out_174815157734899050[32] = 0; + out_174815157734899050[33] = 0; + out_174815157734899050[34] = 0; + out_174815157734899050[35] = 0; + out_174815157734899050[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_174815157734899050[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_174815157734899050[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_174815157734899050[39] = 0; + out_174815157734899050[40] = 0; + out_174815157734899050[41] = 0; + out_174815157734899050[42] = 0; + out_174815157734899050[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_174815157734899050[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_174815157734899050[45] = 0; + out_174815157734899050[46] = 0; + out_174815157734899050[47] = 0; + out_174815157734899050[48] = 0; + out_174815157734899050[49] = 0; + out_174815157734899050[50] = 0; + out_174815157734899050[51] = 0; + out_174815157734899050[52] = 0; + out_174815157734899050[53] = 0; + out_174815157734899050[54] = 0; + out_174815157734899050[55] = 0; + out_174815157734899050[56] = 0; + out_174815157734899050[57] = 1; + out_174815157734899050[58] = 0; + out_174815157734899050[59] = 0; + out_174815157734899050[60] = 0; + out_174815157734899050[61] = 0; + out_174815157734899050[62] = 0; + out_174815157734899050[63] = 0; + out_174815157734899050[64] = 0; + out_174815157734899050[65] = 0; + out_174815157734899050[66] = dt; + out_174815157734899050[67] = 0; + out_174815157734899050[68] = 0; + out_174815157734899050[69] = 0; + out_174815157734899050[70] = 0; + out_174815157734899050[71] = 0; + out_174815157734899050[72] = 0; + out_174815157734899050[73] = 0; + out_174815157734899050[74] = 0; + out_174815157734899050[75] = 0; + out_174815157734899050[76] = 1; + out_174815157734899050[77] = 0; + out_174815157734899050[78] = 0; + out_174815157734899050[79] = 0; + out_174815157734899050[80] = 0; + out_174815157734899050[81] = 0; + out_174815157734899050[82] = 0; + out_174815157734899050[83] = 0; + out_174815157734899050[84] = 0; + out_174815157734899050[85] = dt; + out_174815157734899050[86] = 0; + out_174815157734899050[87] = 0; + out_174815157734899050[88] = 0; + out_174815157734899050[89] = 0; + out_174815157734899050[90] = 0; + out_174815157734899050[91] = 0; + out_174815157734899050[92] = 0; + out_174815157734899050[93] = 0; + out_174815157734899050[94] = 0; + out_174815157734899050[95] = 1; + out_174815157734899050[96] = 0; + out_174815157734899050[97] = 0; + out_174815157734899050[98] = 0; + out_174815157734899050[99] = 0; + out_174815157734899050[100] = 0; + out_174815157734899050[101] = 0; + out_174815157734899050[102] = 0; + out_174815157734899050[103] = 0; + out_174815157734899050[104] = dt; + out_174815157734899050[105] = 0; + out_174815157734899050[106] = 0; + out_174815157734899050[107] = 0; + out_174815157734899050[108] = 0; + out_174815157734899050[109] = 0; + out_174815157734899050[110] = 0; + out_174815157734899050[111] = 0; + out_174815157734899050[112] = 0; + out_174815157734899050[113] = 0; + out_174815157734899050[114] = 1; + out_174815157734899050[115] = 0; + out_174815157734899050[116] = 0; + out_174815157734899050[117] = 0; + out_174815157734899050[118] = 0; + out_174815157734899050[119] = 0; + out_174815157734899050[120] = 0; + out_174815157734899050[121] = 0; + out_174815157734899050[122] = 0; + out_174815157734899050[123] = 0; + out_174815157734899050[124] = 0; + out_174815157734899050[125] = 0; + out_174815157734899050[126] = 0; + out_174815157734899050[127] = 0; + out_174815157734899050[128] = 0; + out_174815157734899050[129] = 0; + out_174815157734899050[130] = 0; + out_174815157734899050[131] = 0; + out_174815157734899050[132] = 0; + out_174815157734899050[133] = 1; + out_174815157734899050[134] = 0; + out_174815157734899050[135] = 0; + out_174815157734899050[136] = 0; + out_174815157734899050[137] = 0; + out_174815157734899050[138] = 0; + out_174815157734899050[139] = 0; + out_174815157734899050[140] = 0; + out_174815157734899050[141] = 0; + out_174815157734899050[142] = 0; + out_174815157734899050[143] = 0; + out_174815157734899050[144] = 0; + out_174815157734899050[145] = 0; + out_174815157734899050[146] = 0; + out_174815157734899050[147] = 0; + out_174815157734899050[148] = 0; + out_174815157734899050[149] = 0; + out_174815157734899050[150] = 0; + out_174815157734899050[151] = 0; + out_174815157734899050[152] = 1; + out_174815157734899050[153] = 0; + out_174815157734899050[154] = 0; + out_174815157734899050[155] = 0; + out_174815157734899050[156] = 0; + out_174815157734899050[157] = 0; + out_174815157734899050[158] = 0; + out_174815157734899050[159] = 0; + out_174815157734899050[160] = 0; + out_174815157734899050[161] = 0; + out_174815157734899050[162] = 0; + out_174815157734899050[163] = 0; + out_174815157734899050[164] = 0; + out_174815157734899050[165] = 0; + out_174815157734899050[166] = 0; + out_174815157734899050[167] = 0; + out_174815157734899050[168] = 0; + out_174815157734899050[169] = 0; + out_174815157734899050[170] = 0; + out_174815157734899050[171] = 1; + out_174815157734899050[172] = 0; + out_174815157734899050[173] = 0; + out_174815157734899050[174] = 0; + out_174815157734899050[175] = 0; + out_174815157734899050[176] = 0; + out_174815157734899050[177] = 0; + out_174815157734899050[178] = 0; + out_174815157734899050[179] = 0; + out_174815157734899050[180] = 0; + out_174815157734899050[181] = 0; + out_174815157734899050[182] = 0; + out_174815157734899050[183] = 0; + out_174815157734899050[184] = 0; + out_174815157734899050[185] = 0; + out_174815157734899050[186] = 0; + out_174815157734899050[187] = 0; + out_174815157734899050[188] = 0; + out_174815157734899050[189] = 0; + out_174815157734899050[190] = 1; + out_174815157734899050[191] = 0; + out_174815157734899050[192] = 0; + out_174815157734899050[193] = 0; + out_174815157734899050[194] = 0; + out_174815157734899050[195] = 0; + out_174815157734899050[196] = 0; + out_174815157734899050[197] = 0; + out_174815157734899050[198] = 0; + out_174815157734899050[199] = 0; + out_174815157734899050[200] = 0; + out_174815157734899050[201] = 0; + out_174815157734899050[202] = 0; + out_174815157734899050[203] = 0; + out_174815157734899050[204] = 0; + out_174815157734899050[205] = 0; + out_174815157734899050[206] = 0; + out_174815157734899050[207] = 0; + out_174815157734899050[208] = 0; + out_174815157734899050[209] = 1; + out_174815157734899050[210] = 0; + out_174815157734899050[211] = 0; + out_174815157734899050[212] = 0; + out_174815157734899050[213] = 0; + out_174815157734899050[214] = 0; + out_174815157734899050[215] = 0; + out_174815157734899050[216] = 0; + out_174815157734899050[217] = 0; + out_174815157734899050[218] = 0; + out_174815157734899050[219] = 0; + out_174815157734899050[220] = 0; + out_174815157734899050[221] = 0; + out_174815157734899050[222] = 0; + out_174815157734899050[223] = 0; + out_174815157734899050[224] = 0; + out_174815157734899050[225] = 0; + out_174815157734899050[226] = 0; + out_174815157734899050[227] = 0; + out_174815157734899050[228] = 1; + out_174815157734899050[229] = 0; + out_174815157734899050[230] = 0; + out_174815157734899050[231] = 0; + out_174815157734899050[232] = 0; + out_174815157734899050[233] = 0; + out_174815157734899050[234] = 0; + out_174815157734899050[235] = 0; + out_174815157734899050[236] = 0; + out_174815157734899050[237] = 0; + out_174815157734899050[238] = 0; + out_174815157734899050[239] = 0; + out_174815157734899050[240] = 0; + out_174815157734899050[241] = 0; + out_174815157734899050[242] = 0; + out_174815157734899050[243] = 0; + out_174815157734899050[244] = 0; + out_174815157734899050[245] = 0; + out_174815157734899050[246] = 0; + out_174815157734899050[247] = 1; + out_174815157734899050[248] = 0; + out_174815157734899050[249] = 0; + out_174815157734899050[250] = 0; + out_174815157734899050[251] = 0; + out_174815157734899050[252] = 0; + out_174815157734899050[253] = 0; + out_174815157734899050[254] = 0; + out_174815157734899050[255] = 0; + out_174815157734899050[256] = 0; + out_174815157734899050[257] = 0; + out_174815157734899050[258] = 0; + out_174815157734899050[259] = 0; + out_174815157734899050[260] = 0; + out_174815157734899050[261] = 0; + out_174815157734899050[262] = 0; + out_174815157734899050[263] = 0; + out_174815157734899050[264] = 0; + out_174815157734899050[265] = 0; + out_174815157734899050[266] = 1; + out_174815157734899050[267] = 0; + out_174815157734899050[268] = 0; + out_174815157734899050[269] = 0; + out_174815157734899050[270] = 0; + out_174815157734899050[271] = 0; + out_174815157734899050[272] = 0; + out_174815157734899050[273] = 0; + out_174815157734899050[274] = 0; + out_174815157734899050[275] = 0; + out_174815157734899050[276] = 0; + out_174815157734899050[277] = 0; + out_174815157734899050[278] = 0; + out_174815157734899050[279] = 0; + out_174815157734899050[280] = 0; + out_174815157734899050[281] = 0; + out_174815157734899050[282] = 0; + out_174815157734899050[283] = 0; + out_174815157734899050[284] = 0; + out_174815157734899050[285] = 1; + out_174815157734899050[286] = 0; + out_174815157734899050[287] = 0; + out_174815157734899050[288] = 0; + out_174815157734899050[289] = 0; + out_174815157734899050[290] = 0; + out_174815157734899050[291] = 0; + out_174815157734899050[292] = 0; + out_174815157734899050[293] = 0; + out_174815157734899050[294] = 0; + out_174815157734899050[295] = 0; + out_174815157734899050[296] = 0; + out_174815157734899050[297] = 0; + out_174815157734899050[298] = 0; + out_174815157734899050[299] = 0; + out_174815157734899050[300] = 0; + out_174815157734899050[301] = 0; + out_174815157734899050[302] = 0; + out_174815157734899050[303] = 0; + out_174815157734899050[304] = 1; + out_174815157734899050[305] = 0; + out_174815157734899050[306] = 0; + out_174815157734899050[307] = 0; + out_174815157734899050[308] = 0; + out_174815157734899050[309] = 0; + out_174815157734899050[310] = 0; + out_174815157734899050[311] = 0; + out_174815157734899050[312] = 0; + out_174815157734899050[313] = 0; + out_174815157734899050[314] = 0; + out_174815157734899050[315] = 0; + out_174815157734899050[316] = 0; + out_174815157734899050[317] = 0; + out_174815157734899050[318] = 0; + out_174815157734899050[319] = 0; + out_174815157734899050[320] = 0; + out_174815157734899050[321] = 0; + out_174815157734899050[322] = 0; + out_174815157734899050[323] = 1; } -void h_4(double *state, double *unused, double *out_3587574498855600647) { - out_3587574498855600647[0] = state[6] + state[9]; - out_3587574498855600647[1] = state[7] + state[10]; - out_3587574498855600647[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_388088547893374228) { + out_388088547893374228[0] = state[6] + state[9]; + out_388088547893374228[1] = state[7] + state[10]; + out_388088547893374228[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1095803253272619439) { - out_1095803253272619439[0] = 0; - out_1095803253272619439[1] = 0; - out_1095803253272619439[2] = 0; - out_1095803253272619439[3] = 0; - out_1095803253272619439[4] = 0; - out_1095803253272619439[5] = 0; - out_1095803253272619439[6] = 1; - out_1095803253272619439[7] = 0; - out_1095803253272619439[8] = 0; - out_1095803253272619439[9] = 1; - out_1095803253272619439[10] = 0; - out_1095803253272619439[11] = 0; - out_1095803253272619439[12] = 0; - out_1095803253272619439[13] = 0; - out_1095803253272619439[14] = 0; - out_1095803253272619439[15] = 0; - out_1095803253272619439[16] = 0; - out_1095803253272619439[17] = 0; - out_1095803253272619439[18] = 0; - out_1095803253272619439[19] = 0; - out_1095803253272619439[20] = 0; - out_1095803253272619439[21] = 0; - out_1095803253272619439[22] = 0; - out_1095803253272619439[23] = 0; - out_1095803253272619439[24] = 0; - out_1095803253272619439[25] = 1; - out_1095803253272619439[26] = 0; - out_1095803253272619439[27] = 0; - out_1095803253272619439[28] = 1; - out_1095803253272619439[29] = 0; - out_1095803253272619439[30] = 0; - out_1095803253272619439[31] = 0; - out_1095803253272619439[32] = 0; - out_1095803253272619439[33] = 0; - out_1095803253272619439[34] = 0; - out_1095803253272619439[35] = 0; - out_1095803253272619439[36] = 0; - out_1095803253272619439[37] = 0; - out_1095803253272619439[38] = 0; - out_1095803253272619439[39] = 0; - out_1095803253272619439[40] = 0; - out_1095803253272619439[41] = 0; - out_1095803253272619439[42] = 0; - out_1095803253272619439[43] = 0; - out_1095803253272619439[44] = 1; - out_1095803253272619439[45] = 0; - out_1095803253272619439[46] = 0; - out_1095803253272619439[47] = 1; - out_1095803253272619439[48] = 0; - out_1095803253272619439[49] = 0; - out_1095803253272619439[50] = 0; - out_1095803253272619439[51] = 0; - out_1095803253272619439[52] = 0; - out_1095803253272619439[53] = 0; +void H_4(double *state, double *unused, double *out_3526081883612534553) { + out_3526081883612534553[0] = 0; + out_3526081883612534553[1] = 0; + out_3526081883612534553[2] = 0; + out_3526081883612534553[3] = 0; + out_3526081883612534553[4] = 0; + out_3526081883612534553[5] = 0; + out_3526081883612534553[6] = 1; + out_3526081883612534553[7] = 0; + out_3526081883612534553[8] = 0; + out_3526081883612534553[9] = 1; + out_3526081883612534553[10] = 0; + out_3526081883612534553[11] = 0; + out_3526081883612534553[12] = 0; + out_3526081883612534553[13] = 0; + out_3526081883612534553[14] = 0; + out_3526081883612534553[15] = 0; + out_3526081883612534553[16] = 0; + out_3526081883612534553[17] = 0; + out_3526081883612534553[18] = 0; + out_3526081883612534553[19] = 0; + out_3526081883612534553[20] = 0; + out_3526081883612534553[21] = 0; + out_3526081883612534553[22] = 0; + out_3526081883612534553[23] = 0; + out_3526081883612534553[24] = 0; + out_3526081883612534553[25] = 1; + out_3526081883612534553[26] = 0; + out_3526081883612534553[27] = 0; + out_3526081883612534553[28] = 1; + out_3526081883612534553[29] = 0; + out_3526081883612534553[30] = 0; + out_3526081883612534553[31] = 0; + out_3526081883612534553[32] = 0; + out_3526081883612534553[33] = 0; + out_3526081883612534553[34] = 0; + out_3526081883612534553[35] = 0; + out_3526081883612534553[36] = 0; + out_3526081883612534553[37] = 0; + out_3526081883612534553[38] = 0; + out_3526081883612534553[39] = 0; + out_3526081883612534553[40] = 0; + out_3526081883612534553[41] = 0; + out_3526081883612534553[42] = 0; + out_3526081883612534553[43] = 0; + out_3526081883612534553[44] = 1; + out_3526081883612534553[45] = 0; + out_3526081883612534553[46] = 0; + out_3526081883612534553[47] = 1; + out_3526081883612534553[48] = 0; + out_3526081883612534553[49] = 0; + out_3526081883612534553[50] = 0; + out_3526081883612534553[51] = 0; + out_3526081883612534553[52] = 0; + out_3526081883612534553[53] = 0; } -void h_10(double *state, double *unused, double *out_5054997698151726674) { - out_5054997698151726674[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5054997698151726674[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5054997698151726674[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_3651567794159293424) { + out_3651567794159293424[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_3651567794159293424[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_3651567794159293424[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_4117080739741493196) { - out_4117080739741493196[0] = 0; - out_4117080739741493196[1] = 9.8100000000000005*cos(state[1]); - out_4117080739741493196[2] = 0; - out_4117080739741493196[3] = 0; - out_4117080739741493196[4] = -state[8]; - out_4117080739741493196[5] = state[7]; - out_4117080739741493196[6] = 0; - out_4117080739741493196[7] = state[5]; - out_4117080739741493196[8] = -state[4]; - out_4117080739741493196[9] = 0; - out_4117080739741493196[10] = 0; - out_4117080739741493196[11] = 0; - out_4117080739741493196[12] = 1; - out_4117080739741493196[13] = 0; - out_4117080739741493196[14] = 0; - out_4117080739741493196[15] = 1; - out_4117080739741493196[16] = 0; - out_4117080739741493196[17] = 0; - out_4117080739741493196[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4117080739741493196[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4117080739741493196[20] = 0; - out_4117080739741493196[21] = state[8]; - out_4117080739741493196[22] = 0; - out_4117080739741493196[23] = -state[6]; - out_4117080739741493196[24] = -state[5]; - out_4117080739741493196[25] = 0; - out_4117080739741493196[26] = state[3]; - out_4117080739741493196[27] = 0; - out_4117080739741493196[28] = 0; - out_4117080739741493196[29] = 0; - out_4117080739741493196[30] = 0; - out_4117080739741493196[31] = 1; - out_4117080739741493196[32] = 0; - out_4117080739741493196[33] = 0; - out_4117080739741493196[34] = 1; - out_4117080739741493196[35] = 0; - out_4117080739741493196[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4117080739741493196[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4117080739741493196[38] = 0; - out_4117080739741493196[39] = -state[7]; - out_4117080739741493196[40] = state[6]; - out_4117080739741493196[41] = 0; - out_4117080739741493196[42] = state[4]; - out_4117080739741493196[43] = -state[3]; - out_4117080739741493196[44] = 0; - out_4117080739741493196[45] = 0; - out_4117080739741493196[46] = 0; - out_4117080739741493196[47] = 0; - out_4117080739741493196[48] = 0; - out_4117080739741493196[49] = 0; - out_4117080739741493196[50] = 1; - out_4117080739741493196[51] = 0; - out_4117080739741493196[52] = 0; - out_4117080739741493196[53] = 1; +void H_10(double *state, double *unused, double *out_7553527708872310168) { + out_7553527708872310168[0] = 0; + out_7553527708872310168[1] = 9.8100000000000005*cos(state[1]); + out_7553527708872310168[2] = 0; + out_7553527708872310168[3] = 0; + out_7553527708872310168[4] = -state[8]; + out_7553527708872310168[5] = state[7]; + out_7553527708872310168[6] = 0; + out_7553527708872310168[7] = state[5]; + out_7553527708872310168[8] = -state[4]; + out_7553527708872310168[9] = 0; + out_7553527708872310168[10] = 0; + out_7553527708872310168[11] = 0; + out_7553527708872310168[12] = 1; + out_7553527708872310168[13] = 0; + out_7553527708872310168[14] = 0; + out_7553527708872310168[15] = 1; + out_7553527708872310168[16] = 0; + out_7553527708872310168[17] = 0; + out_7553527708872310168[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_7553527708872310168[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_7553527708872310168[20] = 0; + out_7553527708872310168[21] = state[8]; + out_7553527708872310168[22] = 0; + out_7553527708872310168[23] = -state[6]; + out_7553527708872310168[24] = -state[5]; + out_7553527708872310168[25] = 0; + out_7553527708872310168[26] = state[3]; + out_7553527708872310168[27] = 0; + out_7553527708872310168[28] = 0; + out_7553527708872310168[29] = 0; + out_7553527708872310168[30] = 0; + out_7553527708872310168[31] = 1; + out_7553527708872310168[32] = 0; + out_7553527708872310168[33] = 0; + out_7553527708872310168[34] = 1; + out_7553527708872310168[35] = 0; + out_7553527708872310168[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_7553527708872310168[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_7553527708872310168[38] = 0; + out_7553527708872310168[39] = -state[7]; + out_7553527708872310168[40] = state[6]; + out_7553527708872310168[41] = 0; + out_7553527708872310168[42] = state[4]; + out_7553527708872310168[43] = -state[3]; + out_7553527708872310168[44] = 0; + out_7553527708872310168[45] = 0; + out_7553527708872310168[46] = 0; + out_7553527708872310168[47] = 0; + out_7553527708872310168[48] = 0; + out_7553527708872310168[49] = 0; + out_7553527708872310168[50] = 1; + out_7553527708872310168[51] = 0; + out_7553527708872310168[52] = 0; + out_7553527708872310168[53] = 1; } -void h_13(double *state, double *unused, double *out_3693365734857647821) { - out_3693365734857647821[0] = state[3]; - out_3693365734857647821[1] = state[4]; - out_3693365734857647821[2] = state[5]; +void h_13(double *state, double *unused, double *out_5975295746890546976) { + out_5975295746890546976[0] = state[3]; + out_5975295746890546976[1] = state[4]; + out_5975295746890546976[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6514827955044081490) { - out_6514827955044081490[0] = 0; - out_6514827955044081490[1] = 0; - out_6514827955044081490[2] = 0; - out_6514827955044081490[3] = 1; - out_6514827955044081490[4] = 0; - out_6514827955044081490[5] = 0; - out_6514827955044081490[6] = 0; - out_6514827955044081490[7] = 0; - out_6514827955044081490[8] = 0; - out_6514827955044081490[9] = 0; - out_6514827955044081490[10] = 0; - out_6514827955044081490[11] = 0; - out_6514827955044081490[12] = 0; - out_6514827955044081490[13] = 0; - out_6514827955044081490[14] = 0; - out_6514827955044081490[15] = 0; - out_6514827955044081490[16] = 0; - out_6514827955044081490[17] = 0; - out_6514827955044081490[18] = 0; - out_6514827955044081490[19] = 0; - out_6514827955044081490[20] = 0; - out_6514827955044081490[21] = 0; - out_6514827955044081490[22] = 1; - out_6514827955044081490[23] = 0; - out_6514827955044081490[24] = 0; - out_6514827955044081490[25] = 0; - out_6514827955044081490[26] = 0; - out_6514827955044081490[27] = 0; - out_6514827955044081490[28] = 0; - out_6514827955044081490[29] = 0; - out_6514827955044081490[30] = 0; - out_6514827955044081490[31] = 0; - out_6514827955044081490[32] = 0; - out_6514827955044081490[33] = 0; - out_6514827955044081490[34] = 0; - out_6514827955044081490[35] = 0; - out_6514827955044081490[36] = 0; - out_6514827955044081490[37] = 0; - out_6514827955044081490[38] = 0; - out_6514827955044081490[39] = 0; - out_6514827955044081490[40] = 0; - out_6514827955044081490[41] = 1; - out_6514827955044081490[42] = 0; - out_6514827955044081490[43] = 0; - out_6514827955044081490[44] = 0; - out_6514827955044081490[45] = 0; - out_6514827955044081490[46] = 0; - out_6514827955044081490[47] = 0; - out_6514827955044081490[48] = 0; - out_6514827955044081490[49] = 0; - out_6514827955044081490[50] = 0; - out_6514827955044081490[51] = 0; - out_6514827955044081490[52] = 0; - out_6514827955044081490[53] = 0; +void H_13(double *state, double *unused, double *out_6738355708944867354) { + out_6738355708944867354[0] = 0; + out_6738355708944867354[1] = 0; + out_6738355708944867354[2] = 0; + out_6738355708944867354[3] = 1; + out_6738355708944867354[4] = 0; + out_6738355708944867354[5] = 0; + out_6738355708944867354[6] = 0; + out_6738355708944867354[7] = 0; + out_6738355708944867354[8] = 0; + out_6738355708944867354[9] = 0; + out_6738355708944867354[10] = 0; + out_6738355708944867354[11] = 0; + out_6738355708944867354[12] = 0; + out_6738355708944867354[13] = 0; + out_6738355708944867354[14] = 0; + out_6738355708944867354[15] = 0; + out_6738355708944867354[16] = 0; + out_6738355708944867354[17] = 0; + out_6738355708944867354[18] = 0; + out_6738355708944867354[19] = 0; + out_6738355708944867354[20] = 0; + out_6738355708944867354[21] = 0; + out_6738355708944867354[22] = 1; + out_6738355708944867354[23] = 0; + out_6738355708944867354[24] = 0; + out_6738355708944867354[25] = 0; + out_6738355708944867354[26] = 0; + out_6738355708944867354[27] = 0; + out_6738355708944867354[28] = 0; + out_6738355708944867354[29] = 0; + out_6738355708944867354[30] = 0; + out_6738355708944867354[31] = 0; + out_6738355708944867354[32] = 0; + out_6738355708944867354[33] = 0; + out_6738355708944867354[34] = 0; + out_6738355708944867354[35] = 0; + out_6738355708944867354[36] = 0; + out_6738355708944867354[37] = 0; + out_6738355708944867354[38] = 0; + out_6738355708944867354[39] = 0; + out_6738355708944867354[40] = 0; + out_6738355708944867354[41] = 1; + out_6738355708944867354[42] = 0; + out_6738355708944867354[43] = 0; + out_6738355708944867354[44] = 0; + out_6738355708944867354[45] = 0; + out_6738355708944867354[46] = 0; + out_6738355708944867354[47] = 0; + out_6738355708944867354[48] = 0; + out_6738355708944867354[49] = 0; + out_6738355708944867354[50] = 0; + out_6738355708944867354[51] = 0; + out_6738355708944867354[52] = 0; + out_6738355708944867354[53] = 0; } -void h_14(double *state, double *unused, double *out_1461011669399451348) { - out_1461011669399451348[0] = state[6]; - out_1461011669399451348[1] = state[7]; - out_1461011669399451348[2] = state[8]; +void h_14(double *state, double *unused, double *out_7017148445173920389) { + out_7017148445173920389[0] = state[6]; + out_7017148445173920389[1] = state[7]; + out_7017148445173920389[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2867437603066865090) { - out_2867437603066865090[0] = 0; - out_2867437603066865090[1] = 0; - out_2867437603066865090[2] = 0; - out_2867437603066865090[3] = 0; - out_2867437603066865090[4] = 0; - out_2867437603066865090[5] = 0; - out_2867437603066865090[6] = 1; - out_2867437603066865090[7] = 0; - out_2867437603066865090[8] = 0; - out_2867437603066865090[9] = 0; - out_2867437603066865090[10] = 0; - out_2867437603066865090[11] = 0; - out_2867437603066865090[12] = 0; - out_2867437603066865090[13] = 0; - out_2867437603066865090[14] = 0; - out_2867437603066865090[15] = 0; - out_2867437603066865090[16] = 0; - out_2867437603066865090[17] = 0; - out_2867437603066865090[18] = 0; - out_2867437603066865090[19] = 0; - out_2867437603066865090[20] = 0; - out_2867437603066865090[21] = 0; - out_2867437603066865090[22] = 0; - out_2867437603066865090[23] = 0; - out_2867437603066865090[24] = 0; - out_2867437603066865090[25] = 1; - out_2867437603066865090[26] = 0; - out_2867437603066865090[27] = 0; - out_2867437603066865090[28] = 0; - out_2867437603066865090[29] = 0; - out_2867437603066865090[30] = 0; - out_2867437603066865090[31] = 0; - out_2867437603066865090[32] = 0; - out_2867437603066865090[33] = 0; - out_2867437603066865090[34] = 0; - out_2867437603066865090[35] = 0; - out_2867437603066865090[36] = 0; - out_2867437603066865090[37] = 0; - out_2867437603066865090[38] = 0; - out_2867437603066865090[39] = 0; - out_2867437603066865090[40] = 0; - out_2867437603066865090[41] = 0; - out_2867437603066865090[42] = 0; - out_2867437603066865090[43] = 0; - out_2867437603066865090[44] = 1; - out_2867437603066865090[45] = 0; - out_2867437603066865090[46] = 0; - out_2867437603066865090[47] = 0; - out_2867437603066865090[48] = 0; - out_2867437603066865090[49] = 0; - out_2867437603066865090[50] = 0; - out_2867437603066865090[51] = 0; - out_2867437603066865090[52] = 0; - out_2867437603066865090[53] = 0; +void H_14(double *state, double *unused, double *out_7489322739952019082) { + out_7489322739952019082[0] = 0; + out_7489322739952019082[1] = 0; + out_7489322739952019082[2] = 0; + out_7489322739952019082[3] = 0; + out_7489322739952019082[4] = 0; + out_7489322739952019082[5] = 0; + out_7489322739952019082[6] = 1; + out_7489322739952019082[7] = 0; + out_7489322739952019082[8] = 0; + out_7489322739952019082[9] = 0; + out_7489322739952019082[10] = 0; + out_7489322739952019082[11] = 0; + out_7489322739952019082[12] = 0; + out_7489322739952019082[13] = 0; + out_7489322739952019082[14] = 0; + out_7489322739952019082[15] = 0; + out_7489322739952019082[16] = 0; + out_7489322739952019082[17] = 0; + out_7489322739952019082[18] = 0; + out_7489322739952019082[19] = 0; + out_7489322739952019082[20] = 0; + out_7489322739952019082[21] = 0; + out_7489322739952019082[22] = 0; + out_7489322739952019082[23] = 0; + out_7489322739952019082[24] = 0; + out_7489322739952019082[25] = 1; + out_7489322739952019082[26] = 0; + out_7489322739952019082[27] = 0; + out_7489322739952019082[28] = 0; + out_7489322739952019082[29] = 0; + out_7489322739952019082[30] = 0; + out_7489322739952019082[31] = 0; + out_7489322739952019082[32] = 0; + out_7489322739952019082[33] = 0; + out_7489322739952019082[34] = 0; + out_7489322739952019082[35] = 0; + out_7489322739952019082[36] = 0; + out_7489322739952019082[37] = 0; + out_7489322739952019082[38] = 0; + out_7489322739952019082[39] = 0; + out_7489322739952019082[40] = 0; + out_7489322739952019082[41] = 0; + out_7489322739952019082[42] = 0; + out_7489322739952019082[43] = 0; + out_7489322739952019082[44] = 1; + out_7489322739952019082[45] = 0; + out_7489322739952019082[46] = 0; + out_7489322739952019082[47] = 0; + out_7489322739952019082[48] = 0; + out_7489322739952019082[49] = 0; + out_7489322739952019082[50] = 0; + out_7489322739952019082[51] = 0; + out_7489322739952019082[52] = 0; + out_7489322739952019082[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_776419627085520882) { - err_fun(nom_x, delta_x, out_776419627085520882); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4926409855120774640) { + err_fun(nom_x, delta_x, out_4926409855120774640); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3246049781621128423) { - inv_err_fun(nom_x, true_x, out_3246049781621128423); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6187782627613179741) { + inv_err_fun(nom_x, true_x, out_6187782627613179741); } -void pose_H_mod_fun(double *state, double *out_5710430290201935803) { - H_mod_fun(state, out_5710430290201935803); +void pose_H_mod_fun(double *state, double *out_5486902536301149939) { + H_mod_fun(state, out_5486902536301149939); } -void pose_f_fun(double *state, double dt, double *out_5795859550853760244) { - f_fun(state, dt, out_5795859550853760244); +void pose_f_fun(double *state, double dt, double *out_8359863438222097271) { + f_fun(state, dt, out_8359863438222097271); } -void pose_F_fun(double *state, double dt, double *out_391118642873528758) { - F_fun(state, dt, out_391118642873528758); +void pose_F_fun(double *state, double dt, double *out_174815157734899050) { + F_fun(state, dt, out_174815157734899050); } -void pose_h_4(double *state, double *unused, double *out_3587574498855600647) { - h_4(state, unused, out_3587574498855600647); +void pose_h_4(double *state, double *unused, double *out_388088547893374228) { + h_4(state, unused, out_388088547893374228); } -void pose_H_4(double *state, double *unused, double *out_1095803253272619439) { - H_4(state, unused, out_1095803253272619439); +void pose_H_4(double *state, double *unused, double *out_3526081883612534553) { + H_4(state, unused, out_3526081883612534553); } -void pose_h_10(double *state, double *unused, double *out_5054997698151726674) { - h_10(state, unused, out_5054997698151726674); +void pose_h_10(double *state, double *unused, double *out_3651567794159293424) { + h_10(state, unused, out_3651567794159293424); } -void pose_H_10(double *state, double *unused, double *out_4117080739741493196) { - H_10(state, unused, out_4117080739741493196); +void pose_H_10(double *state, double *unused, double *out_7553527708872310168) { + H_10(state, unused, out_7553527708872310168); } -void pose_h_13(double *state, double *unused, double *out_3693365734857647821) { - h_13(state, unused, out_3693365734857647821); +void pose_h_13(double *state, double *unused, double *out_5975295746890546976) { + h_13(state, unused, out_5975295746890546976); } -void pose_H_13(double *state, double *unused, double *out_6514827955044081490) { - H_13(state, unused, out_6514827955044081490); +void pose_H_13(double *state, double *unused, double *out_6738355708944867354) { + H_13(state, unused, out_6738355708944867354); } -void pose_h_14(double *state, double *unused, double *out_1461011669399451348) { - h_14(state, unused, out_1461011669399451348); +void pose_h_14(double *state, double *unused, double *out_7017148445173920389) { + h_14(state, unused, out_7017148445173920389); } -void pose_H_14(double *state, double *unused, double *out_2867437603066865090) { - H_14(state, unused, out_2867437603066865090); +void pose_H_14(double *state, double *unused, double *out_7489322739952019082) { + H_14(state, unused, out_7489322739952019082); } 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 3d415a9a6..c43b73be5 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_776419627085520882); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3246049781621128423); -void pose_H_mod_fun(double *state, double *out_5710430290201935803); -void pose_f_fun(double *state, double dt, double *out_5795859550853760244); -void pose_F_fun(double *state, double dt, double *out_391118642873528758); -void pose_h_4(double *state, double *unused, double *out_3587574498855600647); -void pose_H_4(double *state, double *unused, double *out_1095803253272619439); -void pose_h_10(double *state, double *unused, double *out_5054997698151726674); -void pose_H_10(double *state, double *unused, double *out_4117080739741493196); -void pose_h_13(double *state, double *unused, double *out_3693365734857647821); -void pose_H_13(double *state, double *unused, double *out_6514827955044081490); -void pose_h_14(double *state, double *unused, double *out_1461011669399451348); -void pose_H_14(double *state, double *unused, double *out_2867437603066865090); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4926409855120774640); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6187782627613179741); +void pose_H_mod_fun(double *state, double *out_5486902536301149939); +void pose_f_fun(double *state, double dt, double *out_8359863438222097271); +void pose_F_fun(double *state, double dt, double *out_174815157734899050); +void pose_h_4(double *state, double *unused, double *out_388088547893374228); +void pose_H_4(double *state, double *unused, double *out_3526081883612534553); +void pose_h_10(double *state, double *unused, double *out_3651567794159293424); +void pose_H_10(double *state, double *unused, double *out_7553527708872310168); +void pose_h_13(double *state, double *unused, double *out_5975295746890546976); +void pose_H_13(double *state, double *unused, double *out_6738355708944867354); +void pose_h_14(double *state, double *unused, double *out_7017148445173920389); +void pose_H_14(double *state, double *unused, double *out_7489322739952019082); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file