diff --git a/common/libcommon.a b/common/libcommon.a index 5748465800..65cf9dcf86 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index ca1593d31e..926965f3e6 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index c974f22f0b..4d7e167283 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 5f47bb42c6..c17554901f 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index a3a8bd8947..d46863a074 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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cd3612f876..ab7f47c4f6 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index a255df6078..738bdb8ac2 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index e0e951f497..0cc091f0f7 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index e847792fec..29b2418a70 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-de32851c-DEBUG"; +const uint8_t gitversion[19] = "DEV-95b6ecec-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d005525056..7188472650 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index d20082a459..164e69462b 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index de54dcc760..26f06c124e 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 0501b50b5f..84a31c732d 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 8e3b85566f..0c7b91d32f 100644 Binary files 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diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 9f9516959b..6f8e513240 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 96fdcf20ea..61ddf316cb 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 9bdb11cf8f..94ebcc7d57 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 9bf7ebab89..7232070d04 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 7498b77cb4..56375cc5fd 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 0f013bb46c..9b0d4e4143 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 2b2545bcf9..b823cace4b 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 4451aac7a7..4712fc6e61 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 1c213d4b4c..969a5ac36e 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index a943bf6504..f1b3b66b14 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index a0c4dc4fb4..4a019e242e 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 5015d472f8..d0667452e3 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-de32851c-DEBUG \ No newline at end of file +DEV-95b6ecec-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index d0bcec8bf7..731fca1c5a 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_2890366190982855796) { - out_2890366190982855796[0] = delta_x[0] + nom_x[0]; - out_2890366190982855796[1] = delta_x[1] + nom_x[1]; - out_2890366190982855796[2] = delta_x[2] + nom_x[2]; - out_2890366190982855796[3] = delta_x[3] + nom_x[3]; - out_2890366190982855796[4] = delta_x[4] + nom_x[4]; - out_2890366190982855796[5] = delta_x[5] + nom_x[5]; - out_2890366190982855796[6] = delta_x[6] + nom_x[6]; - out_2890366190982855796[7] = delta_x[7] + nom_x[7]; - out_2890366190982855796[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3403548426686276780) { + out_3403548426686276780[0] = delta_x[0] + nom_x[0]; + out_3403548426686276780[1] = delta_x[1] + nom_x[1]; + out_3403548426686276780[2] = delta_x[2] + nom_x[2]; + out_3403548426686276780[3] = delta_x[3] + nom_x[3]; + out_3403548426686276780[4] = delta_x[4] + nom_x[4]; + out_3403548426686276780[5] = delta_x[5] + nom_x[5]; + out_3403548426686276780[6] = delta_x[6] + nom_x[6]; + out_3403548426686276780[7] = delta_x[7] + nom_x[7]; + out_3403548426686276780[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1959709052486962483) { - out_1959709052486962483[0] = -nom_x[0] + true_x[0]; - out_1959709052486962483[1] = -nom_x[1] + true_x[1]; - out_1959709052486962483[2] = -nom_x[2] + true_x[2]; - out_1959709052486962483[3] = -nom_x[3] + true_x[3]; - out_1959709052486962483[4] = -nom_x[4] + true_x[4]; - out_1959709052486962483[5] = -nom_x[5] + true_x[5]; - out_1959709052486962483[6] = -nom_x[6] + true_x[6]; - out_1959709052486962483[7] = -nom_x[7] + true_x[7]; - out_1959709052486962483[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8258286328329043480) { + out_8258286328329043480[0] = -nom_x[0] + true_x[0]; + out_8258286328329043480[1] = -nom_x[1] + true_x[1]; + out_8258286328329043480[2] = -nom_x[2] + true_x[2]; + out_8258286328329043480[3] = -nom_x[3] + true_x[3]; + out_8258286328329043480[4] = -nom_x[4] + true_x[4]; + out_8258286328329043480[5] = -nom_x[5] + true_x[5]; + out_8258286328329043480[6] = -nom_x[6] + true_x[6]; + out_8258286328329043480[7] = -nom_x[7] + true_x[7]; + out_8258286328329043480[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6359487390859137765) { - out_6359487390859137765[0] = 1.0; - out_6359487390859137765[1] = 0.0; - out_6359487390859137765[2] = 0.0; - out_6359487390859137765[3] = 0.0; - out_6359487390859137765[4] = 0.0; - out_6359487390859137765[5] = 0.0; - out_6359487390859137765[6] = 0.0; - out_6359487390859137765[7] = 0.0; - out_6359487390859137765[8] = 0.0; - out_6359487390859137765[9] = 0.0; - out_6359487390859137765[10] = 1.0; - out_6359487390859137765[11] = 0.0; - out_6359487390859137765[12] = 0.0; - out_6359487390859137765[13] = 0.0; - out_6359487390859137765[14] = 0.0; - out_6359487390859137765[15] = 0.0; - out_6359487390859137765[16] = 0.0; - out_6359487390859137765[17] = 0.0; - out_6359487390859137765[18] = 0.0; - out_6359487390859137765[19] = 0.0; - out_6359487390859137765[20] = 1.0; - out_6359487390859137765[21] = 0.0; - out_6359487390859137765[22] = 0.0; - out_6359487390859137765[23] = 0.0; - out_6359487390859137765[24] = 0.0; - out_6359487390859137765[25] = 0.0; - out_6359487390859137765[26] = 0.0; - out_6359487390859137765[27] = 0.0; - out_6359487390859137765[28] = 0.0; - out_6359487390859137765[29] = 0.0; - out_6359487390859137765[30] = 1.0; - out_6359487390859137765[31] = 0.0; - out_6359487390859137765[32] = 0.0; - out_6359487390859137765[33] = 0.0; - out_6359487390859137765[34] = 0.0; - out_6359487390859137765[35] = 0.0; - out_6359487390859137765[36] = 0.0; - out_6359487390859137765[37] = 0.0; - out_6359487390859137765[38] = 0.0; - out_6359487390859137765[39] = 0.0; - out_6359487390859137765[40] = 1.0; - out_6359487390859137765[41] = 0.0; - out_6359487390859137765[42] = 0.0; - out_6359487390859137765[43] = 0.0; - out_6359487390859137765[44] = 0.0; - out_6359487390859137765[45] = 0.0; - out_6359487390859137765[46] = 0.0; - out_6359487390859137765[47] = 0.0; - out_6359487390859137765[48] = 0.0; - out_6359487390859137765[49] = 0.0; - out_6359487390859137765[50] = 1.0; - out_6359487390859137765[51] = 0.0; - out_6359487390859137765[52] = 0.0; - out_6359487390859137765[53] = 0.0; - out_6359487390859137765[54] = 0.0; - out_6359487390859137765[55] = 0.0; - out_6359487390859137765[56] = 0.0; - out_6359487390859137765[57] = 0.0; - out_6359487390859137765[58] = 0.0; - out_6359487390859137765[59] = 0.0; - out_6359487390859137765[60] = 1.0; - out_6359487390859137765[61] = 0.0; - out_6359487390859137765[62] = 0.0; - out_6359487390859137765[63] = 0.0; - out_6359487390859137765[64] = 0.0; - out_6359487390859137765[65] = 0.0; - out_6359487390859137765[66] = 0.0; - out_6359487390859137765[67] = 0.0; - out_6359487390859137765[68] = 0.0; - out_6359487390859137765[69] = 0.0; - out_6359487390859137765[70] = 1.0; - out_6359487390859137765[71] = 0.0; - out_6359487390859137765[72] = 0.0; - out_6359487390859137765[73] = 0.0; - out_6359487390859137765[74] = 0.0; - out_6359487390859137765[75] = 0.0; - out_6359487390859137765[76] = 0.0; - out_6359487390859137765[77] = 0.0; - out_6359487390859137765[78] = 0.0; - out_6359487390859137765[79] = 0.0; - out_6359487390859137765[80] = 1.0; +void H_mod_fun(double *state, double *out_1856540843006378518) { + out_1856540843006378518[0] = 1.0; + out_1856540843006378518[1] = 0.0; + out_1856540843006378518[2] = 0.0; + out_1856540843006378518[3] = 0.0; + out_1856540843006378518[4] = 0.0; + out_1856540843006378518[5] = 0.0; + out_1856540843006378518[6] = 0.0; + out_1856540843006378518[7] = 0.0; + out_1856540843006378518[8] = 0.0; + out_1856540843006378518[9] = 0.0; + out_1856540843006378518[10] = 1.0; + out_1856540843006378518[11] = 0.0; + out_1856540843006378518[12] = 0.0; + out_1856540843006378518[13] = 0.0; + out_1856540843006378518[14] = 0.0; + out_1856540843006378518[15] = 0.0; + out_1856540843006378518[16] = 0.0; + out_1856540843006378518[17] = 0.0; + out_1856540843006378518[18] = 0.0; + out_1856540843006378518[19] = 0.0; + out_1856540843006378518[20] = 1.0; + out_1856540843006378518[21] = 0.0; + out_1856540843006378518[22] = 0.0; + out_1856540843006378518[23] = 0.0; + out_1856540843006378518[24] = 0.0; + out_1856540843006378518[25] = 0.0; + out_1856540843006378518[26] = 0.0; + out_1856540843006378518[27] = 0.0; + out_1856540843006378518[28] = 0.0; + out_1856540843006378518[29] = 0.0; + out_1856540843006378518[30] = 1.0; + out_1856540843006378518[31] = 0.0; + out_1856540843006378518[32] = 0.0; + out_1856540843006378518[33] = 0.0; + out_1856540843006378518[34] = 0.0; + out_1856540843006378518[35] = 0.0; + out_1856540843006378518[36] = 0.0; + out_1856540843006378518[37] = 0.0; + out_1856540843006378518[38] = 0.0; + out_1856540843006378518[39] = 0.0; + out_1856540843006378518[40] = 1.0; + out_1856540843006378518[41] = 0.0; + out_1856540843006378518[42] = 0.0; + out_1856540843006378518[43] = 0.0; + out_1856540843006378518[44] = 0.0; + out_1856540843006378518[45] = 0.0; + out_1856540843006378518[46] = 0.0; + out_1856540843006378518[47] = 0.0; + out_1856540843006378518[48] = 0.0; + out_1856540843006378518[49] = 0.0; + out_1856540843006378518[50] = 1.0; + out_1856540843006378518[51] = 0.0; + out_1856540843006378518[52] = 0.0; + out_1856540843006378518[53] = 0.0; + out_1856540843006378518[54] = 0.0; + out_1856540843006378518[55] = 0.0; + out_1856540843006378518[56] = 0.0; + out_1856540843006378518[57] = 0.0; + out_1856540843006378518[58] = 0.0; + out_1856540843006378518[59] = 0.0; + out_1856540843006378518[60] = 1.0; + out_1856540843006378518[61] = 0.0; + out_1856540843006378518[62] = 0.0; + out_1856540843006378518[63] = 0.0; + out_1856540843006378518[64] = 0.0; + out_1856540843006378518[65] = 0.0; + out_1856540843006378518[66] = 0.0; + out_1856540843006378518[67] = 0.0; + out_1856540843006378518[68] = 0.0; + out_1856540843006378518[69] = 0.0; + out_1856540843006378518[70] = 1.0; + out_1856540843006378518[71] = 0.0; + out_1856540843006378518[72] = 0.0; + out_1856540843006378518[73] = 0.0; + out_1856540843006378518[74] = 0.0; + out_1856540843006378518[75] = 0.0; + out_1856540843006378518[76] = 0.0; + out_1856540843006378518[77] = 0.0; + out_1856540843006378518[78] = 0.0; + out_1856540843006378518[79] = 0.0; + out_1856540843006378518[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8640471225264056008) { - out_8640471225264056008[0] = state[0]; - out_8640471225264056008[1] = state[1]; - out_8640471225264056008[2] = state[2]; - out_8640471225264056008[3] = state[3]; - out_8640471225264056008[4] = state[4]; - out_8640471225264056008[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_8640471225264056008[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_8640471225264056008[7] = state[7]; - out_8640471225264056008[8] = state[8]; +void f_fun(double *state, double dt, double *out_2705110536690145384) { + out_2705110536690145384[0] = state[0]; + out_2705110536690145384[1] = state[1]; + out_2705110536690145384[2] = state[2]; + out_2705110536690145384[3] = state[3]; + out_2705110536690145384[4] = state[4]; + out_2705110536690145384[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_2705110536690145384[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_2705110536690145384[7] = state[7]; + out_2705110536690145384[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7019142443099520017) { - out_7019142443099520017[0] = 1; - out_7019142443099520017[1] = 0; - out_7019142443099520017[2] = 0; - out_7019142443099520017[3] = 0; - out_7019142443099520017[4] = 0; - out_7019142443099520017[5] = 0; - out_7019142443099520017[6] = 0; - out_7019142443099520017[7] = 0; - out_7019142443099520017[8] = 0; - out_7019142443099520017[9] = 0; - out_7019142443099520017[10] = 1; - out_7019142443099520017[11] = 0; - out_7019142443099520017[12] = 0; - out_7019142443099520017[13] = 0; - out_7019142443099520017[14] = 0; - out_7019142443099520017[15] = 0; - out_7019142443099520017[16] = 0; - out_7019142443099520017[17] = 0; - out_7019142443099520017[18] = 0; - out_7019142443099520017[19] = 0; - out_7019142443099520017[20] = 1; - out_7019142443099520017[21] = 0; - out_7019142443099520017[22] = 0; - out_7019142443099520017[23] = 0; - out_7019142443099520017[24] = 0; - out_7019142443099520017[25] = 0; - out_7019142443099520017[26] = 0; - out_7019142443099520017[27] = 0; - out_7019142443099520017[28] = 0; - out_7019142443099520017[29] = 0; - out_7019142443099520017[30] = 1; - out_7019142443099520017[31] = 0; - out_7019142443099520017[32] = 0; - out_7019142443099520017[33] = 0; - out_7019142443099520017[34] = 0; - out_7019142443099520017[35] = 0; - out_7019142443099520017[36] = 0; - out_7019142443099520017[37] = 0; - out_7019142443099520017[38] = 0; - out_7019142443099520017[39] = 0; - out_7019142443099520017[40] = 1; - out_7019142443099520017[41] = 0; - out_7019142443099520017[42] = 0; - out_7019142443099520017[43] = 0; - out_7019142443099520017[44] = 0; - out_7019142443099520017[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_7019142443099520017[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7019142443099520017[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7019142443099520017[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7019142443099520017[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_7019142443099520017[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7019142443099520017[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7019142443099520017[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7019142443099520017[53] = -9.8100000000000005*dt; - out_7019142443099520017[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_7019142443099520017[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7019142443099520017[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7019142443099520017[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7019142443099520017[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_7019142443099520017[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7019142443099520017[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_7019142443099520017[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7019142443099520017[62] = 0; - out_7019142443099520017[63] = 0; - out_7019142443099520017[64] = 0; - out_7019142443099520017[65] = 0; - out_7019142443099520017[66] = 0; - out_7019142443099520017[67] = 0; - out_7019142443099520017[68] = 0; - out_7019142443099520017[69] = 0; - out_7019142443099520017[70] = 1; - out_7019142443099520017[71] = 0; - out_7019142443099520017[72] = 0; - out_7019142443099520017[73] = 0; - out_7019142443099520017[74] = 0; - out_7019142443099520017[75] = 0; - out_7019142443099520017[76] = 0; - out_7019142443099520017[77] = 0; - out_7019142443099520017[78] = 0; - out_7019142443099520017[79] = 0; - out_7019142443099520017[80] = 1; +void F_fun(double *state, double dt, double *out_8630494868968096727) { + out_8630494868968096727[0] = 1; + out_8630494868968096727[1] = 0; + out_8630494868968096727[2] = 0; + out_8630494868968096727[3] = 0; + out_8630494868968096727[4] = 0; + out_8630494868968096727[5] = 0; + out_8630494868968096727[6] = 0; + out_8630494868968096727[7] = 0; + out_8630494868968096727[8] = 0; + out_8630494868968096727[9] = 0; + out_8630494868968096727[10] = 1; + out_8630494868968096727[11] = 0; + out_8630494868968096727[12] = 0; + out_8630494868968096727[13] = 0; + out_8630494868968096727[14] = 0; + out_8630494868968096727[15] = 0; + out_8630494868968096727[16] = 0; + out_8630494868968096727[17] = 0; + out_8630494868968096727[18] = 0; + out_8630494868968096727[19] = 0; + out_8630494868968096727[20] = 1; + out_8630494868968096727[21] = 0; + out_8630494868968096727[22] = 0; + out_8630494868968096727[23] = 0; + out_8630494868968096727[24] = 0; + out_8630494868968096727[25] = 0; + out_8630494868968096727[26] = 0; + out_8630494868968096727[27] = 0; + out_8630494868968096727[28] = 0; + out_8630494868968096727[29] = 0; + out_8630494868968096727[30] = 1; + out_8630494868968096727[31] = 0; + out_8630494868968096727[32] = 0; + out_8630494868968096727[33] = 0; + out_8630494868968096727[34] = 0; + out_8630494868968096727[35] = 0; + out_8630494868968096727[36] = 0; + out_8630494868968096727[37] = 0; + out_8630494868968096727[38] = 0; + out_8630494868968096727[39] = 0; + out_8630494868968096727[40] = 1; + out_8630494868968096727[41] = 0; + out_8630494868968096727[42] = 0; + out_8630494868968096727[43] = 0; + out_8630494868968096727[44] = 0; + out_8630494868968096727[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_8630494868968096727[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8630494868968096727[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8630494868968096727[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8630494868968096727[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_8630494868968096727[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8630494868968096727[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8630494868968096727[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8630494868968096727[53] = -9.8100000000000005*dt; + out_8630494868968096727[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_8630494868968096727[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8630494868968096727[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8630494868968096727[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8630494868968096727[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_8630494868968096727[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8630494868968096727[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_8630494868968096727[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8630494868968096727[62] = 0; + out_8630494868968096727[63] = 0; + out_8630494868968096727[64] = 0; + out_8630494868968096727[65] = 0; + out_8630494868968096727[66] = 0; + out_8630494868968096727[67] = 0; + out_8630494868968096727[68] = 0; + out_8630494868968096727[69] = 0; + out_8630494868968096727[70] = 1; + out_8630494868968096727[71] = 0; + out_8630494868968096727[72] = 0; + out_8630494868968096727[73] = 0; + out_8630494868968096727[74] = 0; + out_8630494868968096727[75] = 0; + out_8630494868968096727[76] = 0; + out_8630494868968096727[77] = 0; + out_8630494868968096727[78] = 0; + out_8630494868968096727[79] = 0; + out_8630494868968096727[80] = 1; } -void h_25(double *state, double *unused, double *out_1253470904109969861) { - out_1253470904109969861[0] = state[6]; +void h_25(double *state, double *unused, double *out_5878308228618872770) { + out_5878308228618872770[0] = state[6]; } -void H_25(double *state, double *unused, double *out_7183564857665749011) { - out_7183564857665749011[0] = 0; - out_7183564857665749011[1] = 0; - out_7183564857665749011[2] = 0; - out_7183564857665749011[3] = 0; - out_7183564857665749011[4] = 0; - out_7183564857665749011[5] = 0; - out_7183564857665749011[6] = 1; - out_7183564857665749011[7] = 0; - out_7183564857665749011[8] = 0; +void H_25(double *state, double *unused, double *out_8100833558474599855) { + out_8100833558474599855[0] = 0; + out_8100833558474599855[1] = 0; + out_8100833558474599855[2] = 0; + out_8100833558474599855[3] = 0; + out_8100833558474599855[4] = 0; + out_8100833558474599855[5] = 0; + out_8100833558474599855[6] = 1; + out_8100833558474599855[7] = 0; + out_8100833558474599855[8] = 0; } -void h_24(double *state, double *unused, double *out_2962653407625604630) { - out_2962653407625604630[0] = state[4]; - out_2962653407625604630[1] = state[5]; +void h_24(double *state, double *unused, double *out_4629452303819786169) { + out_4629452303819786169[0] = state[4]; + out_4629452303819786169[1] = state[5]; } -void H_24(double *state, double *unused, double *out_5135958713882120408) { - out_5135958713882120408[0] = 0; - out_5135958713882120408[1] = 0; - out_5135958713882120408[2] = 0; - out_5135958713882120408[3] = 0; - out_5135958713882120408[4] = 1; - out_5135958713882120408[5] = 0; - out_5135958713882120408[6] = 0; - out_5135958713882120408[7] = 0; - out_5135958713882120408[8] = 0; - out_5135958713882120408[9] = 0; - out_5135958713882120408[10] = 0; - out_5135958713882120408[11] = 0; - out_5135958713882120408[12] = 0; - out_5135958713882120408[13] = 0; - out_5135958713882120408[14] = 1; - out_5135958713882120408[15] = 0; - out_5135958713882120408[16] = 0; - out_5135958713882120408[17] = 0; +void H_24(double *state, double *unused, double *out_6363587363837183863) { + out_6363587363837183863[0] = 0; + out_6363587363837183863[1] = 0; + out_6363587363837183863[2] = 0; + out_6363587363837183863[3] = 0; + out_6363587363837183863[4] = 1; + out_6363587363837183863[5] = 0; + out_6363587363837183863[6] = 0; + out_6363587363837183863[7] = 0; + out_6363587363837183863[8] = 0; + out_6363587363837183863[9] = 0; + out_6363587363837183863[10] = 0; + out_6363587363837183863[11] = 0; + out_6363587363837183863[12] = 0; + out_6363587363837183863[13] = 0; + out_6363587363837183863[14] = 1; + out_6363587363837183863[15] = 0; + out_6363587363837183863[16] = 0; + out_6363587363837183863[17] = 0; } -void h_30(double *state, double *unused, double *out_2100381110359636395) { - out_2100381110359636395[0] = state[4]; +void h_30(double *state, double *unused, double *out_892526997731478166) { + out_892526997731478166[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4665231899158500384) { - out_4665231899158500384[0] = 0; - out_4665231899158500384[1] = 0; - out_4665231899158500384[2] = 0; - out_4665231899158500384[3] = 0; - out_4665231899158500384[4] = 1; - out_4665231899158500384[5] = 0; - out_4665231899158500384[6] = 0; - out_4665231899158500384[7] = 0; - out_4665231899158500384[8] = 0; +void H_30(double *state, double *unused, double *out_5582500599967351228) { + out_5582500599967351228[0] = 0; + out_5582500599967351228[1] = 0; + out_5582500599967351228[2] = 0; + out_5582500599967351228[3] = 0; + out_5582500599967351228[4] = 1; + out_5582500599967351228[5] = 0; + out_5582500599967351228[6] = 0; + out_5582500599967351228[7] = 0; + out_5582500599967351228[8] = 0; } -void h_26(double *state, double *unused, double *out_8346832167819809863) { - out_8346832167819809863[0] = state[7]; +void h_26(double *state, double *unused, double *out_275216803344663571) { + out_275216803344663571[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7521675897169746381) { - out_7521675897169746381[0] = 0; - out_7521675897169746381[1] = 0; - out_7521675897169746381[2] = 0; - out_7521675897169746381[3] = 0; - out_7521675897169746381[4] = 0; - out_7521675897169746381[5] = 0; - out_7521675897169746381[6] = 0; - out_7521675897169746381[7] = 1; - out_7521675897169746381[8] = 0; +void H_26(double *state, double *unused, double *out_6604407196360895537) { + out_6604407196360895537[0] = 0; + out_6604407196360895537[1] = 0; + out_6604407196360895537[2] = 0; + out_6604407196360895537[3] = 0; + out_6604407196360895537[4] = 0; + out_6604407196360895537[5] = 0; + out_6604407196360895537[6] = 0; + out_6604407196360895537[7] = 1; + out_6604407196360895537[8] = 0; } -void h_27(double *state, double *unused, double *out_4290256955554302546) { - out_4290256955554302546[0] = state[3]; +void h_27(double *state, double *unused, double *out_8170483763809049834) { + out_8170483763809049834[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6839995210958925295) { - out_6839995210958925295[0] = 0; - out_6839995210958925295[1] = 0; - out_6839995210958925295[2] = 0; - out_6839995210958925295[3] = 1; - out_6839995210958925295[4] = 0; - out_6839995210958925295[5] = 0; - out_6839995210958925295[6] = 0; - out_6839995210958925295[7] = 0; - out_6839995210958925295[8] = 0; +void H_27(double *state, double *unused, double *out_7757263911767776139) { + out_7757263911767776139[0] = 0; + out_7757263911767776139[1] = 0; + out_7757263911767776139[2] = 0; + out_7757263911767776139[3] = 1; + out_7757263911767776139[4] = 0; + out_7757263911767776139[5] = 0; + out_7757263911767776139[6] = 0; + out_7757263911767776139[7] = 0; + out_7757263911767776139[8] = 0; } -void h_29(double *state, double *unused, double *out_6695928353906360745) { - out_6695928353906360745[0] = state[1]; +void h_29(double *state, double *unused, double *out_289211113055000649) { + out_289211113055000649[0] = state[1]; } -void H_29(double *state, double *unused, double *out_4155000554844108200) { - out_4155000554844108200[0] = 0; - out_4155000554844108200[1] = 1; - out_4155000554844108200[2] = 0; - out_4155000554844108200[3] = 0; - out_4155000554844108200[4] = 0; - out_4155000554844108200[5] = 0; - out_4155000554844108200[6] = 0; - out_4155000554844108200[7] = 0; - out_4155000554844108200[8] = 0; +void H_29(double *state, double *unused, double *out_5072269255652959044) { + out_5072269255652959044[0] = 0; + out_5072269255652959044[1] = 1; + out_5072269255652959044[2] = 0; + out_5072269255652959044[3] = 0; + out_5072269255652959044[4] = 0; + out_5072269255652959044[5] = 0; + out_5072269255652959044[6] = 0; + out_5072269255652959044[7] = 0; + out_5072269255652959044[8] = 0; } -void h_28(double *state, double *unused, double *out_8173563278849107317) { - out_8173563278849107317[0] = state[0]; +void h_28(double *state, double *unused, double *out_9189533661544037455) { + out_9189533661544037455[0] = state[0]; } -void H_28(double *state, double *unused, double *out_9209344501795912842) { - out_9209344501795912842[0] = 1; - out_9209344501795912842[1] = 0; - out_9209344501795912842[2] = 0; - out_9209344501795912842[3] = 0; - out_9209344501795912842[4] = 0; - out_9209344501795912842[5] = 0; - out_9209344501795912842[6] = 0; - out_9209344501795912842[7] = 0; - out_9209344501795912842[8] = 0; +void H_28(double *state, double *unused, double *out_8292075800987061998) { + out_8292075800987061998[0] = 1; + out_8292075800987061998[1] = 0; + out_8292075800987061998[2] = 0; + out_8292075800987061998[3] = 0; + out_8292075800987061998[4] = 0; + out_8292075800987061998[5] = 0; + out_8292075800987061998[6] = 0; + out_8292075800987061998[7] = 0; + out_8292075800987061998[8] = 0; } -void h_31(double *state, double *unused, double *out_5517364322240381075) { - out_5517364322240381075[0] = state[8]; +void h_31(double *state, double *unused, double *out_1637137513985633787) { + out_1637137513985633787[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6895467794936394905) { - out_6895467794936394905[0] = 0; - out_6895467794936394905[1] = 0; - out_6895467794936394905[2] = 0; - out_6895467794936394905[3] = 0; - out_6895467794936394905[4] = 0; - out_6895467794936394905[5] = 0; - out_6895467794936394905[6] = 0; - out_6895467794936394905[7] = 0; - out_6895467794936394905[8] = 1; +void H_31(double *state, double *unused, double *out_5978199094127544061) { + out_5978199094127544061[0] = 0; + out_5978199094127544061[1] = 0; + out_5978199094127544061[2] = 0; + out_5978199094127544061[3] = 0; + out_5978199094127544061[4] = 0; + out_5978199094127544061[5] = 0; + out_5978199094127544061[6] = 0; + out_5978199094127544061[7] = 0; + out_5978199094127544061[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_2890366190982855796) { - err_fun(nom_x, delta_x, out_2890366190982855796); +void car_err_fun(double *nom_x, double *delta_x, double *out_3403548426686276780) { + err_fun(nom_x, delta_x, out_3403548426686276780); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1959709052486962483) { - inv_err_fun(nom_x, true_x, out_1959709052486962483); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8258286328329043480) { + inv_err_fun(nom_x, true_x, out_8258286328329043480); } -void car_H_mod_fun(double *state, double *out_6359487390859137765) { - H_mod_fun(state, out_6359487390859137765); +void car_H_mod_fun(double *state, double *out_1856540843006378518) { + H_mod_fun(state, out_1856540843006378518); } -void car_f_fun(double *state, double dt, double *out_8640471225264056008) { - f_fun(state, dt, out_8640471225264056008); +void car_f_fun(double *state, double dt, double *out_2705110536690145384) { + f_fun(state, dt, out_2705110536690145384); } -void car_F_fun(double *state, double dt, double *out_7019142443099520017) { - F_fun(state, dt, out_7019142443099520017); +void car_F_fun(double *state, double dt, double *out_8630494868968096727) { + F_fun(state, dt, out_8630494868968096727); } -void car_h_25(double *state, double *unused, double *out_1253470904109969861) { - h_25(state, unused, out_1253470904109969861); +void car_h_25(double *state, double *unused, double *out_5878308228618872770) { + h_25(state, unused, out_5878308228618872770); } -void car_H_25(double *state, double *unused, double *out_7183564857665749011) { - H_25(state, unused, out_7183564857665749011); +void car_H_25(double *state, double *unused, double *out_8100833558474599855) { + H_25(state, unused, out_8100833558474599855); } -void car_h_24(double *state, double *unused, double *out_2962653407625604630) { - h_24(state, unused, out_2962653407625604630); +void car_h_24(double *state, double *unused, double *out_4629452303819786169) { + h_24(state, unused, out_4629452303819786169); } -void car_H_24(double *state, double *unused, double *out_5135958713882120408) { - H_24(state, unused, out_5135958713882120408); +void car_H_24(double *state, double *unused, double *out_6363587363837183863) { + H_24(state, unused, out_6363587363837183863); } -void car_h_30(double *state, double *unused, double *out_2100381110359636395) { - h_30(state, unused, out_2100381110359636395); +void car_h_30(double *state, double *unused, double *out_892526997731478166) { + h_30(state, unused, out_892526997731478166); } -void car_H_30(double *state, double *unused, double *out_4665231899158500384) { - H_30(state, unused, out_4665231899158500384); +void car_H_30(double *state, double *unused, double *out_5582500599967351228) { + H_30(state, unused, out_5582500599967351228); } -void car_h_26(double *state, double *unused, double *out_8346832167819809863) { - h_26(state, unused, out_8346832167819809863); +void car_h_26(double *state, double *unused, double *out_275216803344663571) { + h_26(state, unused, out_275216803344663571); } -void car_H_26(double *state, double *unused, double *out_7521675897169746381) { - H_26(state, unused, out_7521675897169746381); +void car_H_26(double *state, double *unused, double *out_6604407196360895537) { + H_26(state, unused, out_6604407196360895537); } -void car_h_27(double *state, double *unused, double *out_4290256955554302546) { - h_27(state, unused, out_4290256955554302546); +void car_h_27(double *state, double *unused, double *out_8170483763809049834) { + h_27(state, unused, out_8170483763809049834); } -void car_H_27(double *state, double *unused, double *out_6839995210958925295) { - H_27(state, unused, out_6839995210958925295); +void car_H_27(double *state, double *unused, double *out_7757263911767776139) { + H_27(state, unused, out_7757263911767776139); } -void car_h_29(double *state, double *unused, double *out_6695928353906360745) { - h_29(state, unused, out_6695928353906360745); +void car_h_29(double *state, double *unused, double *out_289211113055000649) { + h_29(state, unused, out_289211113055000649); } -void car_H_29(double *state, double *unused, double *out_4155000554844108200) { - H_29(state, unused, out_4155000554844108200); +void car_H_29(double *state, double *unused, double *out_5072269255652959044) { + H_29(state, unused, out_5072269255652959044); } -void car_h_28(double *state, double *unused, double *out_8173563278849107317) { - h_28(state, unused, out_8173563278849107317); +void car_h_28(double *state, double *unused, double *out_9189533661544037455) { + h_28(state, unused, out_9189533661544037455); } -void car_H_28(double *state, double *unused, double *out_9209344501795912842) { - H_28(state, unused, out_9209344501795912842); +void car_H_28(double *state, double *unused, double *out_8292075800987061998) { + H_28(state, unused, out_8292075800987061998); } -void car_h_31(double *state, double *unused, double *out_5517364322240381075) { - h_31(state, unused, out_5517364322240381075); +void car_h_31(double *state, double *unused, double *out_1637137513985633787) { + h_31(state, unused, out_1637137513985633787); } -void car_H_31(double *state, double *unused, double *out_6895467794936394905) { - H_31(state, unused, out_6895467794936394905); +void car_H_31(double *state, double *unused, double *out_5978199094127544061) { + H_31(state, unused, out_5978199094127544061); } 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 f66c43cace..6b66ba5b0f 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_2890366190982855796); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1959709052486962483); -void car_H_mod_fun(double *state, double *out_6359487390859137765); -void car_f_fun(double *state, double dt, double *out_8640471225264056008); -void car_F_fun(double *state, double dt, double *out_7019142443099520017); -void car_h_25(double *state, double *unused, double *out_1253470904109969861); -void car_H_25(double *state, double *unused, double *out_7183564857665749011); -void car_h_24(double *state, double *unused, double *out_2962653407625604630); -void car_H_24(double *state, double *unused, double *out_5135958713882120408); -void car_h_30(double *state, double *unused, double *out_2100381110359636395); -void car_H_30(double *state, double *unused, double *out_4665231899158500384); -void car_h_26(double *state, double *unused, double *out_8346832167819809863); -void car_H_26(double *state, double *unused, double *out_7521675897169746381); -void car_h_27(double *state, double *unused, double *out_4290256955554302546); -void car_H_27(double *state, double *unused, double *out_6839995210958925295); -void car_h_29(double *state, double *unused, double *out_6695928353906360745); -void car_H_29(double *state, double *unused, double *out_4155000554844108200); -void car_h_28(double *state, double *unused, double *out_8173563278849107317); -void car_H_28(double *state, double *unused, double *out_9209344501795912842); -void car_h_31(double *state, double *unused, double *out_5517364322240381075); -void car_H_31(double *state, double *unused, double *out_6895467794936394905); +void car_err_fun(double *nom_x, double *delta_x, double *out_3403548426686276780); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8258286328329043480); +void car_H_mod_fun(double *state, double *out_1856540843006378518); +void car_f_fun(double *state, double dt, double *out_2705110536690145384); +void car_F_fun(double *state, double dt, double *out_8630494868968096727); +void car_h_25(double *state, double *unused, double *out_5878308228618872770); +void car_H_25(double *state, double *unused, double *out_8100833558474599855); +void car_h_24(double *state, double *unused, double *out_4629452303819786169); +void car_H_24(double *state, double *unused, double *out_6363587363837183863); +void car_h_30(double *state, double *unused, double *out_892526997731478166); +void car_H_30(double *state, double *unused, double *out_5582500599967351228); +void car_h_26(double *state, double *unused, double *out_275216803344663571); +void car_H_26(double *state, double *unused, double *out_6604407196360895537); +void car_h_27(double *state, double *unused, double *out_8170483763809049834); +void car_H_27(double *state, double *unused, double *out_7757263911767776139); +void car_h_29(double *state, double *unused, double *out_289211113055000649); +void car_H_29(double *state, double *unused, double *out_5072269255652959044); +void car_h_28(double *state, double *unused, double *out_9189533661544037455); +void car_H_28(double *state, double *unused, double *out_8292075800987061998); +void car_h_31(double *state, double *unused, double *out_1637137513985633787); +void car_H_31(double *state, double *unused, double *out_5978199094127544061); 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 8ae6a13509..2919fbf197 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_5925269994359157710) { - out_5925269994359157710[0] = delta_x[0] + nom_x[0]; - out_5925269994359157710[1] = delta_x[1] + nom_x[1]; - out_5925269994359157710[2] = delta_x[2] + nom_x[2]; - out_5925269994359157710[3] = delta_x[3] + nom_x[3]; - out_5925269994359157710[4] = delta_x[4] + nom_x[4]; - out_5925269994359157710[5] = delta_x[5] + nom_x[5]; - out_5925269994359157710[6] = delta_x[6] + nom_x[6]; - out_5925269994359157710[7] = delta_x[7] + nom_x[7]; - out_5925269994359157710[8] = delta_x[8] + nom_x[8]; - out_5925269994359157710[9] = delta_x[9] + nom_x[9]; - out_5925269994359157710[10] = delta_x[10] + nom_x[10]; - out_5925269994359157710[11] = delta_x[11] + nom_x[11]; - out_5925269994359157710[12] = delta_x[12] + nom_x[12]; - out_5925269994359157710[13] = delta_x[13] + nom_x[13]; - out_5925269994359157710[14] = delta_x[14] + nom_x[14]; - out_5925269994359157710[15] = delta_x[15] + nom_x[15]; - out_5925269994359157710[16] = delta_x[16] + nom_x[16]; - out_5925269994359157710[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5797775412313342444) { + out_5797775412313342444[0] = delta_x[0] + nom_x[0]; + out_5797775412313342444[1] = delta_x[1] + nom_x[1]; + out_5797775412313342444[2] = delta_x[2] + nom_x[2]; + out_5797775412313342444[3] = delta_x[3] + nom_x[3]; + out_5797775412313342444[4] = delta_x[4] + nom_x[4]; + out_5797775412313342444[5] = delta_x[5] + nom_x[5]; + out_5797775412313342444[6] = delta_x[6] + nom_x[6]; + out_5797775412313342444[7] = delta_x[7] + nom_x[7]; + out_5797775412313342444[8] = delta_x[8] + nom_x[8]; + out_5797775412313342444[9] = delta_x[9] + nom_x[9]; + out_5797775412313342444[10] = delta_x[10] + nom_x[10]; + out_5797775412313342444[11] = delta_x[11] + nom_x[11]; + out_5797775412313342444[12] = delta_x[12] + nom_x[12]; + out_5797775412313342444[13] = delta_x[13] + nom_x[13]; + out_5797775412313342444[14] = delta_x[14] + nom_x[14]; + out_5797775412313342444[15] = delta_x[15] + nom_x[15]; + out_5797775412313342444[16] = delta_x[16] + nom_x[16]; + out_5797775412313342444[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5867765456190971358) { - out_5867765456190971358[0] = -nom_x[0] + true_x[0]; - out_5867765456190971358[1] = -nom_x[1] + true_x[1]; - out_5867765456190971358[2] = -nom_x[2] + true_x[2]; - out_5867765456190971358[3] = -nom_x[3] + true_x[3]; - out_5867765456190971358[4] = -nom_x[4] + true_x[4]; - out_5867765456190971358[5] = -nom_x[5] + true_x[5]; - out_5867765456190971358[6] = -nom_x[6] + true_x[6]; - out_5867765456190971358[7] = -nom_x[7] + true_x[7]; - out_5867765456190971358[8] = -nom_x[8] + true_x[8]; - out_5867765456190971358[9] = -nom_x[9] + true_x[9]; - out_5867765456190971358[10] = -nom_x[10] + true_x[10]; - out_5867765456190971358[11] = -nom_x[11] + true_x[11]; - out_5867765456190971358[12] = -nom_x[12] + true_x[12]; - out_5867765456190971358[13] = -nom_x[13] + true_x[13]; - out_5867765456190971358[14] = -nom_x[14] + true_x[14]; - out_5867765456190971358[15] = -nom_x[15] + true_x[15]; - out_5867765456190971358[16] = -nom_x[16] + true_x[16]; - out_5867765456190971358[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6978859077859564623) { + out_6978859077859564623[0] = -nom_x[0] + true_x[0]; + out_6978859077859564623[1] = -nom_x[1] + true_x[1]; + out_6978859077859564623[2] = -nom_x[2] + true_x[2]; + out_6978859077859564623[3] = -nom_x[3] + true_x[3]; + out_6978859077859564623[4] = -nom_x[4] + true_x[4]; + out_6978859077859564623[5] = -nom_x[5] + true_x[5]; + out_6978859077859564623[6] = -nom_x[6] + true_x[6]; + out_6978859077859564623[7] = -nom_x[7] + true_x[7]; + out_6978859077859564623[8] = -nom_x[8] + true_x[8]; + out_6978859077859564623[9] = -nom_x[9] + true_x[9]; + out_6978859077859564623[10] = -nom_x[10] + true_x[10]; + out_6978859077859564623[11] = -nom_x[11] + true_x[11]; + out_6978859077859564623[12] = -nom_x[12] + true_x[12]; + out_6978859077859564623[13] = -nom_x[13] + true_x[13]; + out_6978859077859564623[14] = -nom_x[14] + true_x[14]; + out_6978859077859564623[15] = -nom_x[15] + true_x[15]; + out_6978859077859564623[16] = -nom_x[16] + true_x[16]; + out_6978859077859564623[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4243397435317467221) { - out_4243397435317467221[0] = 1.0; - out_4243397435317467221[1] = 0.0; - out_4243397435317467221[2] = 0.0; - out_4243397435317467221[3] = 0.0; - out_4243397435317467221[4] = 0.0; - out_4243397435317467221[5] = 0.0; - out_4243397435317467221[6] = 0.0; - out_4243397435317467221[7] = 0.0; - out_4243397435317467221[8] = 0.0; - out_4243397435317467221[9] = 0.0; - out_4243397435317467221[10] = 0.0; - out_4243397435317467221[11] = 0.0; - out_4243397435317467221[12] = 0.0; - out_4243397435317467221[13] = 0.0; - out_4243397435317467221[14] = 0.0; - out_4243397435317467221[15] = 0.0; - out_4243397435317467221[16] = 0.0; - out_4243397435317467221[17] = 0.0; - out_4243397435317467221[18] = 0.0; - out_4243397435317467221[19] = 1.0; - out_4243397435317467221[20] = 0.0; - out_4243397435317467221[21] = 0.0; - out_4243397435317467221[22] = 0.0; - out_4243397435317467221[23] = 0.0; - out_4243397435317467221[24] = 0.0; - out_4243397435317467221[25] = 0.0; - out_4243397435317467221[26] = 0.0; - out_4243397435317467221[27] = 0.0; - out_4243397435317467221[28] = 0.0; - out_4243397435317467221[29] = 0.0; - out_4243397435317467221[30] = 0.0; - out_4243397435317467221[31] = 0.0; - out_4243397435317467221[32] = 0.0; - out_4243397435317467221[33] = 0.0; - out_4243397435317467221[34] = 0.0; - out_4243397435317467221[35] = 0.0; - out_4243397435317467221[36] = 0.0; - out_4243397435317467221[37] = 0.0; - out_4243397435317467221[38] = 1.0; - out_4243397435317467221[39] = 0.0; - out_4243397435317467221[40] = 0.0; - out_4243397435317467221[41] = 0.0; - out_4243397435317467221[42] = 0.0; - out_4243397435317467221[43] = 0.0; - out_4243397435317467221[44] = 0.0; - out_4243397435317467221[45] = 0.0; - out_4243397435317467221[46] = 0.0; - out_4243397435317467221[47] = 0.0; - out_4243397435317467221[48] = 0.0; - out_4243397435317467221[49] = 0.0; - out_4243397435317467221[50] = 0.0; - out_4243397435317467221[51] = 0.0; - out_4243397435317467221[52] = 0.0; - out_4243397435317467221[53] = 0.0; - out_4243397435317467221[54] = 0.0; - out_4243397435317467221[55] = 0.0; - out_4243397435317467221[56] = 0.0; - out_4243397435317467221[57] = 1.0; - out_4243397435317467221[58] = 0.0; - out_4243397435317467221[59] = 0.0; - out_4243397435317467221[60] = 0.0; - out_4243397435317467221[61] = 0.0; - out_4243397435317467221[62] = 0.0; - out_4243397435317467221[63] = 0.0; - out_4243397435317467221[64] = 0.0; - out_4243397435317467221[65] = 0.0; - out_4243397435317467221[66] = 0.0; - out_4243397435317467221[67] = 0.0; - out_4243397435317467221[68] = 0.0; - out_4243397435317467221[69] = 0.0; - out_4243397435317467221[70] = 0.0; - out_4243397435317467221[71] = 0.0; - out_4243397435317467221[72] = 0.0; - out_4243397435317467221[73] = 0.0; - out_4243397435317467221[74] = 0.0; - out_4243397435317467221[75] = 0.0; - out_4243397435317467221[76] = 1.0; - out_4243397435317467221[77] = 0.0; - out_4243397435317467221[78] = 0.0; - out_4243397435317467221[79] = 0.0; - out_4243397435317467221[80] = 0.0; - out_4243397435317467221[81] = 0.0; - out_4243397435317467221[82] = 0.0; - out_4243397435317467221[83] = 0.0; - out_4243397435317467221[84] = 0.0; - out_4243397435317467221[85] = 0.0; - out_4243397435317467221[86] = 0.0; - out_4243397435317467221[87] = 0.0; - out_4243397435317467221[88] = 0.0; - out_4243397435317467221[89] = 0.0; - out_4243397435317467221[90] = 0.0; - out_4243397435317467221[91] = 0.0; - out_4243397435317467221[92] = 0.0; - out_4243397435317467221[93] = 0.0; - out_4243397435317467221[94] = 0.0; - out_4243397435317467221[95] = 1.0; - out_4243397435317467221[96] = 0.0; - out_4243397435317467221[97] = 0.0; - out_4243397435317467221[98] = 0.0; - out_4243397435317467221[99] = 0.0; - out_4243397435317467221[100] = 0.0; - out_4243397435317467221[101] = 0.0; - out_4243397435317467221[102] = 0.0; - out_4243397435317467221[103] = 0.0; - out_4243397435317467221[104] = 0.0; - out_4243397435317467221[105] = 0.0; - out_4243397435317467221[106] = 0.0; - out_4243397435317467221[107] = 0.0; - out_4243397435317467221[108] = 0.0; - out_4243397435317467221[109] = 0.0; - out_4243397435317467221[110] = 0.0; - out_4243397435317467221[111] = 0.0; - out_4243397435317467221[112] = 0.0; - out_4243397435317467221[113] = 0.0; - out_4243397435317467221[114] = 1.0; - out_4243397435317467221[115] = 0.0; - out_4243397435317467221[116] = 0.0; - out_4243397435317467221[117] = 0.0; - out_4243397435317467221[118] = 0.0; - out_4243397435317467221[119] = 0.0; - out_4243397435317467221[120] = 0.0; - out_4243397435317467221[121] = 0.0; - out_4243397435317467221[122] = 0.0; - out_4243397435317467221[123] = 0.0; - out_4243397435317467221[124] = 0.0; - out_4243397435317467221[125] = 0.0; - out_4243397435317467221[126] = 0.0; - out_4243397435317467221[127] = 0.0; - out_4243397435317467221[128] = 0.0; - out_4243397435317467221[129] = 0.0; - out_4243397435317467221[130] = 0.0; - out_4243397435317467221[131] = 0.0; - out_4243397435317467221[132] = 0.0; - out_4243397435317467221[133] = 1.0; - out_4243397435317467221[134] = 0.0; - out_4243397435317467221[135] = 0.0; - out_4243397435317467221[136] = 0.0; - out_4243397435317467221[137] = 0.0; - out_4243397435317467221[138] = 0.0; - out_4243397435317467221[139] = 0.0; - out_4243397435317467221[140] = 0.0; - out_4243397435317467221[141] = 0.0; - out_4243397435317467221[142] = 0.0; - out_4243397435317467221[143] = 0.0; - out_4243397435317467221[144] = 0.0; - out_4243397435317467221[145] = 0.0; - out_4243397435317467221[146] = 0.0; - out_4243397435317467221[147] = 0.0; - out_4243397435317467221[148] = 0.0; - out_4243397435317467221[149] = 0.0; - out_4243397435317467221[150] = 0.0; - out_4243397435317467221[151] = 0.0; - out_4243397435317467221[152] = 1.0; - out_4243397435317467221[153] = 0.0; - out_4243397435317467221[154] = 0.0; - out_4243397435317467221[155] = 0.0; - out_4243397435317467221[156] = 0.0; - out_4243397435317467221[157] = 0.0; - out_4243397435317467221[158] = 0.0; - out_4243397435317467221[159] = 0.0; - out_4243397435317467221[160] = 0.0; - out_4243397435317467221[161] = 0.0; - out_4243397435317467221[162] = 0.0; - out_4243397435317467221[163] = 0.0; - out_4243397435317467221[164] = 0.0; - out_4243397435317467221[165] = 0.0; - out_4243397435317467221[166] = 0.0; - out_4243397435317467221[167] = 0.0; - out_4243397435317467221[168] = 0.0; - out_4243397435317467221[169] = 0.0; - out_4243397435317467221[170] = 0.0; - out_4243397435317467221[171] = 1.0; - out_4243397435317467221[172] = 0.0; - out_4243397435317467221[173] = 0.0; - out_4243397435317467221[174] = 0.0; - out_4243397435317467221[175] = 0.0; - out_4243397435317467221[176] = 0.0; - out_4243397435317467221[177] = 0.0; - out_4243397435317467221[178] = 0.0; - out_4243397435317467221[179] = 0.0; - out_4243397435317467221[180] = 0.0; - out_4243397435317467221[181] = 0.0; - out_4243397435317467221[182] = 0.0; - out_4243397435317467221[183] = 0.0; - out_4243397435317467221[184] = 0.0; - out_4243397435317467221[185] = 0.0; - out_4243397435317467221[186] = 0.0; - out_4243397435317467221[187] = 0.0; - out_4243397435317467221[188] = 0.0; - out_4243397435317467221[189] = 0.0; - out_4243397435317467221[190] = 1.0; - out_4243397435317467221[191] = 0.0; - out_4243397435317467221[192] = 0.0; - out_4243397435317467221[193] = 0.0; - out_4243397435317467221[194] = 0.0; - out_4243397435317467221[195] = 0.0; - out_4243397435317467221[196] = 0.0; - out_4243397435317467221[197] = 0.0; - out_4243397435317467221[198] = 0.0; - out_4243397435317467221[199] = 0.0; - out_4243397435317467221[200] = 0.0; - out_4243397435317467221[201] = 0.0; - out_4243397435317467221[202] = 0.0; - out_4243397435317467221[203] = 0.0; - out_4243397435317467221[204] = 0.0; - out_4243397435317467221[205] = 0.0; - out_4243397435317467221[206] = 0.0; - out_4243397435317467221[207] = 0.0; - out_4243397435317467221[208] = 0.0; - out_4243397435317467221[209] = 1.0; - out_4243397435317467221[210] = 0.0; - out_4243397435317467221[211] = 0.0; - out_4243397435317467221[212] = 0.0; - out_4243397435317467221[213] = 0.0; - out_4243397435317467221[214] = 0.0; - out_4243397435317467221[215] = 0.0; - out_4243397435317467221[216] = 0.0; - out_4243397435317467221[217] = 0.0; - out_4243397435317467221[218] = 0.0; - out_4243397435317467221[219] = 0.0; - out_4243397435317467221[220] = 0.0; - out_4243397435317467221[221] = 0.0; - out_4243397435317467221[222] = 0.0; - out_4243397435317467221[223] = 0.0; - out_4243397435317467221[224] = 0.0; - out_4243397435317467221[225] = 0.0; - out_4243397435317467221[226] = 0.0; - out_4243397435317467221[227] = 0.0; - out_4243397435317467221[228] = 1.0; - out_4243397435317467221[229] = 0.0; - out_4243397435317467221[230] = 0.0; - out_4243397435317467221[231] = 0.0; - out_4243397435317467221[232] = 0.0; - out_4243397435317467221[233] = 0.0; - out_4243397435317467221[234] = 0.0; - out_4243397435317467221[235] = 0.0; - out_4243397435317467221[236] = 0.0; - out_4243397435317467221[237] = 0.0; - out_4243397435317467221[238] = 0.0; - out_4243397435317467221[239] = 0.0; - out_4243397435317467221[240] = 0.0; - out_4243397435317467221[241] = 0.0; - out_4243397435317467221[242] = 0.0; - out_4243397435317467221[243] = 0.0; - out_4243397435317467221[244] = 0.0; - out_4243397435317467221[245] = 0.0; - out_4243397435317467221[246] = 0.0; - out_4243397435317467221[247] = 1.0; - out_4243397435317467221[248] = 0.0; - out_4243397435317467221[249] = 0.0; - out_4243397435317467221[250] = 0.0; - out_4243397435317467221[251] = 0.0; - out_4243397435317467221[252] = 0.0; - out_4243397435317467221[253] = 0.0; - out_4243397435317467221[254] = 0.0; - out_4243397435317467221[255] = 0.0; - out_4243397435317467221[256] = 0.0; - out_4243397435317467221[257] = 0.0; - out_4243397435317467221[258] = 0.0; - out_4243397435317467221[259] = 0.0; - out_4243397435317467221[260] = 0.0; - out_4243397435317467221[261] = 0.0; - out_4243397435317467221[262] = 0.0; - out_4243397435317467221[263] = 0.0; - out_4243397435317467221[264] = 0.0; - out_4243397435317467221[265] = 0.0; - out_4243397435317467221[266] = 1.0; - out_4243397435317467221[267] = 0.0; - out_4243397435317467221[268] = 0.0; - out_4243397435317467221[269] = 0.0; - out_4243397435317467221[270] = 0.0; - out_4243397435317467221[271] = 0.0; - out_4243397435317467221[272] = 0.0; - out_4243397435317467221[273] = 0.0; - out_4243397435317467221[274] = 0.0; - out_4243397435317467221[275] = 0.0; - out_4243397435317467221[276] = 0.0; - out_4243397435317467221[277] = 0.0; - out_4243397435317467221[278] = 0.0; - out_4243397435317467221[279] = 0.0; - out_4243397435317467221[280] = 0.0; - out_4243397435317467221[281] = 0.0; - out_4243397435317467221[282] = 0.0; - out_4243397435317467221[283] = 0.0; - out_4243397435317467221[284] = 0.0; - out_4243397435317467221[285] = 1.0; - out_4243397435317467221[286] = 0.0; - out_4243397435317467221[287] = 0.0; - out_4243397435317467221[288] = 0.0; - out_4243397435317467221[289] = 0.0; - out_4243397435317467221[290] = 0.0; - out_4243397435317467221[291] = 0.0; - out_4243397435317467221[292] = 0.0; - out_4243397435317467221[293] = 0.0; - out_4243397435317467221[294] = 0.0; - out_4243397435317467221[295] = 0.0; - out_4243397435317467221[296] = 0.0; - out_4243397435317467221[297] = 0.0; - out_4243397435317467221[298] = 0.0; - out_4243397435317467221[299] = 0.0; - out_4243397435317467221[300] = 0.0; - out_4243397435317467221[301] = 0.0; - out_4243397435317467221[302] = 0.0; - out_4243397435317467221[303] = 0.0; - out_4243397435317467221[304] = 1.0; - out_4243397435317467221[305] = 0.0; - out_4243397435317467221[306] = 0.0; - out_4243397435317467221[307] = 0.0; - out_4243397435317467221[308] = 0.0; - out_4243397435317467221[309] = 0.0; - out_4243397435317467221[310] = 0.0; - out_4243397435317467221[311] = 0.0; - out_4243397435317467221[312] = 0.0; - out_4243397435317467221[313] = 0.0; - out_4243397435317467221[314] = 0.0; - out_4243397435317467221[315] = 0.0; - out_4243397435317467221[316] = 0.0; - out_4243397435317467221[317] = 0.0; - out_4243397435317467221[318] = 0.0; - out_4243397435317467221[319] = 0.0; - out_4243397435317467221[320] = 0.0; - out_4243397435317467221[321] = 0.0; - out_4243397435317467221[322] = 0.0; - out_4243397435317467221[323] = 1.0; +void H_mod_fun(double *state, double *out_7486978165612535736) { + out_7486978165612535736[0] = 1.0; + out_7486978165612535736[1] = 0.0; + out_7486978165612535736[2] = 0.0; + out_7486978165612535736[3] = 0.0; + out_7486978165612535736[4] = 0.0; + out_7486978165612535736[5] = 0.0; + out_7486978165612535736[6] = 0.0; + out_7486978165612535736[7] = 0.0; + out_7486978165612535736[8] = 0.0; + out_7486978165612535736[9] = 0.0; + out_7486978165612535736[10] = 0.0; + out_7486978165612535736[11] = 0.0; + out_7486978165612535736[12] = 0.0; + out_7486978165612535736[13] = 0.0; + out_7486978165612535736[14] = 0.0; + out_7486978165612535736[15] = 0.0; + out_7486978165612535736[16] = 0.0; + out_7486978165612535736[17] = 0.0; + out_7486978165612535736[18] = 0.0; + out_7486978165612535736[19] = 1.0; + out_7486978165612535736[20] = 0.0; + out_7486978165612535736[21] = 0.0; + out_7486978165612535736[22] = 0.0; + out_7486978165612535736[23] = 0.0; + out_7486978165612535736[24] = 0.0; + out_7486978165612535736[25] = 0.0; + out_7486978165612535736[26] = 0.0; + out_7486978165612535736[27] = 0.0; + out_7486978165612535736[28] = 0.0; + out_7486978165612535736[29] = 0.0; + out_7486978165612535736[30] = 0.0; + out_7486978165612535736[31] = 0.0; + out_7486978165612535736[32] = 0.0; + out_7486978165612535736[33] = 0.0; + out_7486978165612535736[34] = 0.0; + out_7486978165612535736[35] = 0.0; + out_7486978165612535736[36] = 0.0; + out_7486978165612535736[37] = 0.0; + out_7486978165612535736[38] = 1.0; + out_7486978165612535736[39] = 0.0; + out_7486978165612535736[40] = 0.0; + out_7486978165612535736[41] = 0.0; + out_7486978165612535736[42] = 0.0; + out_7486978165612535736[43] = 0.0; + out_7486978165612535736[44] = 0.0; + out_7486978165612535736[45] = 0.0; + out_7486978165612535736[46] = 0.0; + out_7486978165612535736[47] = 0.0; + out_7486978165612535736[48] = 0.0; + out_7486978165612535736[49] = 0.0; + out_7486978165612535736[50] = 0.0; + out_7486978165612535736[51] = 0.0; + out_7486978165612535736[52] = 0.0; + out_7486978165612535736[53] = 0.0; + out_7486978165612535736[54] = 0.0; + out_7486978165612535736[55] = 0.0; + out_7486978165612535736[56] = 0.0; + out_7486978165612535736[57] = 1.0; + out_7486978165612535736[58] = 0.0; + out_7486978165612535736[59] = 0.0; + out_7486978165612535736[60] = 0.0; + out_7486978165612535736[61] = 0.0; + out_7486978165612535736[62] = 0.0; + out_7486978165612535736[63] = 0.0; + out_7486978165612535736[64] = 0.0; + out_7486978165612535736[65] = 0.0; + out_7486978165612535736[66] = 0.0; + out_7486978165612535736[67] = 0.0; + out_7486978165612535736[68] = 0.0; + out_7486978165612535736[69] = 0.0; + out_7486978165612535736[70] = 0.0; + out_7486978165612535736[71] = 0.0; + out_7486978165612535736[72] = 0.0; + out_7486978165612535736[73] = 0.0; + out_7486978165612535736[74] = 0.0; + out_7486978165612535736[75] = 0.0; + out_7486978165612535736[76] = 1.0; + out_7486978165612535736[77] = 0.0; + out_7486978165612535736[78] = 0.0; + out_7486978165612535736[79] = 0.0; + out_7486978165612535736[80] = 0.0; + out_7486978165612535736[81] = 0.0; + out_7486978165612535736[82] = 0.0; + out_7486978165612535736[83] = 0.0; + out_7486978165612535736[84] = 0.0; + out_7486978165612535736[85] = 0.0; + out_7486978165612535736[86] = 0.0; + out_7486978165612535736[87] = 0.0; + out_7486978165612535736[88] = 0.0; + out_7486978165612535736[89] = 0.0; + out_7486978165612535736[90] = 0.0; + out_7486978165612535736[91] = 0.0; + out_7486978165612535736[92] = 0.0; + out_7486978165612535736[93] = 0.0; + out_7486978165612535736[94] = 0.0; + out_7486978165612535736[95] = 1.0; + out_7486978165612535736[96] = 0.0; + out_7486978165612535736[97] = 0.0; + out_7486978165612535736[98] = 0.0; + out_7486978165612535736[99] = 0.0; + out_7486978165612535736[100] = 0.0; + out_7486978165612535736[101] = 0.0; + out_7486978165612535736[102] = 0.0; + out_7486978165612535736[103] = 0.0; + out_7486978165612535736[104] = 0.0; + out_7486978165612535736[105] = 0.0; + out_7486978165612535736[106] = 0.0; + out_7486978165612535736[107] = 0.0; + out_7486978165612535736[108] = 0.0; + out_7486978165612535736[109] = 0.0; + out_7486978165612535736[110] = 0.0; + out_7486978165612535736[111] = 0.0; + out_7486978165612535736[112] = 0.0; + out_7486978165612535736[113] = 0.0; + out_7486978165612535736[114] = 1.0; + out_7486978165612535736[115] = 0.0; + out_7486978165612535736[116] = 0.0; + out_7486978165612535736[117] = 0.0; + out_7486978165612535736[118] = 0.0; + out_7486978165612535736[119] = 0.0; + out_7486978165612535736[120] = 0.0; + out_7486978165612535736[121] = 0.0; + out_7486978165612535736[122] = 0.0; + out_7486978165612535736[123] = 0.0; + out_7486978165612535736[124] = 0.0; + out_7486978165612535736[125] = 0.0; + out_7486978165612535736[126] = 0.0; + out_7486978165612535736[127] = 0.0; + out_7486978165612535736[128] = 0.0; + out_7486978165612535736[129] = 0.0; + out_7486978165612535736[130] = 0.0; + out_7486978165612535736[131] = 0.0; + out_7486978165612535736[132] = 0.0; + out_7486978165612535736[133] = 1.0; + out_7486978165612535736[134] = 0.0; + out_7486978165612535736[135] = 0.0; + out_7486978165612535736[136] = 0.0; + out_7486978165612535736[137] = 0.0; + out_7486978165612535736[138] = 0.0; + out_7486978165612535736[139] = 0.0; + out_7486978165612535736[140] = 0.0; + out_7486978165612535736[141] = 0.0; + out_7486978165612535736[142] = 0.0; + out_7486978165612535736[143] = 0.0; + out_7486978165612535736[144] = 0.0; + out_7486978165612535736[145] = 0.0; + out_7486978165612535736[146] = 0.0; + out_7486978165612535736[147] = 0.0; + out_7486978165612535736[148] = 0.0; + out_7486978165612535736[149] = 0.0; + out_7486978165612535736[150] = 0.0; + out_7486978165612535736[151] = 0.0; + out_7486978165612535736[152] = 1.0; + out_7486978165612535736[153] = 0.0; + out_7486978165612535736[154] = 0.0; + out_7486978165612535736[155] = 0.0; + out_7486978165612535736[156] = 0.0; + out_7486978165612535736[157] = 0.0; + out_7486978165612535736[158] = 0.0; + out_7486978165612535736[159] = 0.0; + out_7486978165612535736[160] = 0.0; + out_7486978165612535736[161] = 0.0; + out_7486978165612535736[162] = 0.0; + out_7486978165612535736[163] = 0.0; + out_7486978165612535736[164] = 0.0; + out_7486978165612535736[165] = 0.0; + out_7486978165612535736[166] = 0.0; + out_7486978165612535736[167] = 0.0; + out_7486978165612535736[168] = 0.0; + out_7486978165612535736[169] = 0.0; + out_7486978165612535736[170] = 0.0; + out_7486978165612535736[171] = 1.0; + out_7486978165612535736[172] = 0.0; + out_7486978165612535736[173] = 0.0; + out_7486978165612535736[174] = 0.0; + out_7486978165612535736[175] = 0.0; + out_7486978165612535736[176] = 0.0; + out_7486978165612535736[177] = 0.0; + out_7486978165612535736[178] = 0.0; + out_7486978165612535736[179] = 0.0; + out_7486978165612535736[180] = 0.0; + out_7486978165612535736[181] = 0.0; + out_7486978165612535736[182] = 0.0; + out_7486978165612535736[183] = 0.0; + out_7486978165612535736[184] = 0.0; + out_7486978165612535736[185] = 0.0; + out_7486978165612535736[186] = 0.0; + out_7486978165612535736[187] = 0.0; + out_7486978165612535736[188] = 0.0; + out_7486978165612535736[189] = 0.0; + out_7486978165612535736[190] = 1.0; + out_7486978165612535736[191] = 0.0; + out_7486978165612535736[192] = 0.0; + out_7486978165612535736[193] = 0.0; + out_7486978165612535736[194] = 0.0; + out_7486978165612535736[195] = 0.0; + out_7486978165612535736[196] = 0.0; + out_7486978165612535736[197] = 0.0; + out_7486978165612535736[198] = 0.0; + out_7486978165612535736[199] = 0.0; + out_7486978165612535736[200] = 0.0; + out_7486978165612535736[201] = 0.0; + out_7486978165612535736[202] = 0.0; + out_7486978165612535736[203] = 0.0; + out_7486978165612535736[204] = 0.0; + out_7486978165612535736[205] = 0.0; + out_7486978165612535736[206] = 0.0; + out_7486978165612535736[207] = 0.0; + out_7486978165612535736[208] = 0.0; + out_7486978165612535736[209] = 1.0; + out_7486978165612535736[210] = 0.0; + out_7486978165612535736[211] = 0.0; + out_7486978165612535736[212] = 0.0; + out_7486978165612535736[213] = 0.0; + out_7486978165612535736[214] = 0.0; + out_7486978165612535736[215] = 0.0; + out_7486978165612535736[216] = 0.0; + out_7486978165612535736[217] = 0.0; + out_7486978165612535736[218] = 0.0; + out_7486978165612535736[219] = 0.0; + out_7486978165612535736[220] = 0.0; + out_7486978165612535736[221] = 0.0; + out_7486978165612535736[222] = 0.0; + out_7486978165612535736[223] = 0.0; + out_7486978165612535736[224] = 0.0; + out_7486978165612535736[225] = 0.0; + out_7486978165612535736[226] = 0.0; + out_7486978165612535736[227] = 0.0; + out_7486978165612535736[228] = 1.0; + out_7486978165612535736[229] = 0.0; + out_7486978165612535736[230] = 0.0; + out_7486978165612535736[231] = 0.0; + out_7486978165612535736[232] = 0.0; + out_7486978165612535736[233] = 0.0; + out_7486978165612535736[234] = 0.0; + out_7486978165612535736[235] = 0.0; + out_7486978165612535736[236] = 0.0; + out_7486978165612535736[237] = 0.0; + out_7486978165612535736[238] = 0.0; + out_7486978165612535736[239] = 0.0; + out_7486978165612535736[240] = 0.0; + out_7486978165612535736[241] = 0.0; + out_7486978165612535736[242] = 0.0; + out_7486978165612535736[243] = 0.0; + out_7486978165612535736[244] = 0.0; + out_7486978165612535736[245] = 0.0; + out_7486978165612535736[246] = 0.0; + out_7486978165612535736[247] = 1.0; + out_7486978165612535736[248] = 0.0; + out_7486978165612535736[249] = 0.0; + out_7486978165612535736[250] = 0.0; + out_7486978165612535736[251] = 0.0; + out_7486978165612535736[252] = 0.0; + out_7486978165612535736[253] = 0.0; + out_7486978165612535736[254] = 0.0; + out_7486978165612535736[255] = 0.0; + out_7486978165612535736[256] = 0.0; + out_7486978165612535736[257] = 0.0; + out_7486978165612535736[258] = 0.0; + out_7486978165612535736[259] = 0.0; + out_7486978165612535736[260] = 0.0; + out_7486978165612535736[261] = 0.0; + out_7486978165612535736[262] = 0.0; + out_7486978165612535736[263] = 0.0; + out_7486978165612535736[264] = 0.0; + out_7486978165612535736[265] = 0.0; + out_7486978165612535736[266] = 1.0; + out_7486978165612535736[267] = 0.0; + out_7486978165612535736[268] = 0.0; + out_7486978165612535736[269] = 0.0; + out_7486978165612535736[270] = 0.0; + out_7486978165612535736[271] = 0.0; + out_7486978165612535736[272] = 0.0; + out_7486978165612535736[273] = 0.0; + out_7486978165612535736[274] = 0.0; + out_7486978165612535736[275] = 0.0; + out_7486978165612535736[276] = 0.0; + out_7486978165612535736[277] = 0.0; + out_7486978165612535736[278] = 0.0; + out_7486978165612535736[279] = 0.0; + out_7486978165612535736[280] = 0.0; + out_7486978165612535736[281] = 0.0; + out_7486978165612535736[282] = 0.0; + out_7486978165612535736[283] = 0.0; + out_7486978165612535736[284] = 0.0; + out_7486978165612535736[285] = 1.0; + out_7486978165612535736[286] = 0.0; + out_7486978165612535736[287] = 0.0; + out_7486978165612535736[288] = 0.0; + out_7486978165612535736[289] = 0.0; + out_7486978165612535736[290] = 0.0; + out_7486978165612535736[291] = 0.0; + out_7486978165612535736[292] = 0.0; + out_7486978165612535736[293] = 0.0; + out_7486978165612535736[294] = 0.0; + out_7486978165612535736[295] = 0.0; + out_7486978165612535736[296] = 0.0; + out_7486978165612535736[297] = 0.0; + out_7486978165612535736[298] = 0.0; + out_7486978165612535736[299] = 0.0; + out_7486978165612535736[300] = 0.0; + out_7486978165612535736[301] = 0.0; + out_7486978165612535736[302] = 0.0; + out_7486978165612535736[303] = 0.0; + out_7486978165612535736[304] = 1.0; + out_7486978165612535736[305] = 0.0; + out_7486978165612535736[306] = 0.0; + out_7486978165612535736[307] = 0.0; + out_7486978165612535736[308] = 0.0; + out_7486978165612535736[309] = 0.0; + out_7486978165612535736[310] = 0.0; + out_7486978165612535736[311] = 0.0; + out_7486978165612535736[312] = 0.0; + out_7486978165612535736[313] = 0.0; + out_7486978165612535736[314] = 0.0; + out_7486978165612535736[315] = 0.0; + out_7486978165612535736[316] = 0.0; + out_7486978165612535736[317] = 0.0; + out_7486978165612535736[318] = 0.0; + out_7486978165612535736[319] = 0.0; + out_7486978165612535736[320] = 0.0; + out_7486978165612535736[321] = 0.0; + out_7486978165612535736[322] = 0.0; + out_7486978165612535736[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5333365637221194880) { - out_5333365637221194880[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_5333365637221194880[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_5333365637221194880[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_5333365637221194880[3] = dt*state[12] + state[3]; - out_5333365637221194880[4] = dt*state[13] + state[4]; - out_5333365637221194880[5] = dt*state[14] + state[5]; - out_5333365637221194880[6] = state[6]; - out_5333365637221194880[7] = state[7]; - out_5333365637221194880[8] = state[8]; - out_5333365637221194880[9] = state[9]; - out_5333365637221194880[10] = state[10]; - out_5333365637221194880[11] = state[11]; - out_5333365637221194880[12] = state[12]; - out_5333365637221194880[13] = state[13]; - out_5333365637221194880[14] = state[14]; - out_5333365637221194880[15] = state[15]; - out_5333365637221194880[16] = state[16]; - out_5333365637221194880[17] = state[17]; +void f_fun(double *state, double dt, double *out_7331794505583909673) { + out_7331794505583909673[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_7331794505583909673[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_7331794505583909673[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_7331794505583909673[3] = dt*state[12] + state[3]; + out_7331794505583909673[4] = dt*state[13] + state[4]; + out_7331794505583909673[5] = dt*state[14] + state[5]; + out_7331794505583909673[6] = state[6]; + out_7331794505583909673[7] = state[7]; + out_7331794505583909673[8] = state[8]; + out_7331794505583909673[9] = state[9]; + out_7331794505583909673[10] = state[10]; + out_7331794505583909673[11] = state[11]; + out_7331794505583909673[12] = state[12]; + out_7331794505583909673[13] = state[13]; + out_7331794505583909673[14] = state[14]; + out_7331794505583909673[15] = state[15]; + out_7331794505583909673[16] = state[16]; + out_7331794505583909673[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8848460606148442442) { - out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[2] = 0; - out_8848460606148442442[3] = 0; - out_8848460606148442442[4] = 0; - out_8848460606148442442[5] = 0; - out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[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_8848460606148442442[9] = 0; - out_8848460606148442442[10] = 0; - out_8848460606148442442[11] = 0; - out_8848460606148442442[12] = 0; - out_8848460606148442442[13] = 0; - out_8848460606148442442[14] = 0; - out_8848460606148442442[15] = 0; - out_8848460606148442442[16] = 0; - out_8848460606148442442[17] = 0; - out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[20] = 0; - out_8848460606148442442[21] = 0; - out_8848460606148442442[22] = 0; - out_8848460606148442442[23] = 0; - out_8848460606148442442[24] = 0; - out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[27] = 0; - out_8848460606148442442[28] = 0; - out_8848460606148442442[29] = 0; - out_8848460606148442442[30] = 0; - out_8848460606148442442[31] = 0; - out_8848460606148442442[32] = 0; - out_8848460606148442442[33] = 0; - out_8848460606148442442[34] = 0; - out_8848460606148442442[35] = 0; - out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[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_8848460606148442442[39] = 0; - out_8848460606148442442[40] = 0; - out_8848460606148442442[41] = 0; - out_8848460606148442442[42] = 0; - out_8848460606148442442[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_8848460606148442442[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_8848460606148442442[45] = 0; - out_8848460606148442442[46] = 0; - out_8848460606148442442[47] = 0; - out_8848460606148442442[48] = 0; - out_8848460606148442442[49] = 0; - out_8848460606148442442[50] = 0; - out_8848460606148442442[51] = 0; - out_8848460606148442442[52] = 0; - out_8848460606148442442[53] = 0; - out_8848460606148442442[54] = 0; - out_8848460606148442442[55] = 0; - out_8848460606148442442[56] = 0; - out_8848460606148442442[57] = 1; - out_8848460606148442442[58] = 0; - out_8848460606148442442[59] = 0; - out_8848460606148442442[60] = 0; - out_8848460606148442442[61] = 0; - out_8848460606148442442[62] = 0; - out_8848460606148442442[63] = 0; - out_8848460606148442442[64] = 0; - out_8848460606148442442[65] = 0; - out_8848460606148442442[66] = dt; - out_8848460606148442442[67] = 0; - out_8848460606148442442[68] = 0; - out_8848460606148442442[69] = 0; - out_8848460606148442442[70] = 0; - out_8848460606148442442[71] = 0; - out_8848460606148442442[72] = 0; - out_8848460606148442442[73] = 0; - out_8848460606148442442[74] = 0; - out_8848460606148442442[75] = 0; - out_8848460606148442442[76] = 1; - out_8848460606148442442[77] = 0; - out_8848460606148442442[78] = 0; - out_8848460606148442442[79] = 0; - out_8848460606148442442[80] = 0; - out_8848460606148442442[81] = 0; - out_8848460606148442442[82] = 0; - out_8848460606148442442[83] = 0; - out_8848460606148442442[84] = 0; - out_8848460606148442442[85] = dt; - out_8848460606148442442[86] = 0; - out_8848460606148442442[87] = 0; - out_8848460606148442442[88] = 0; - out_8848460606148442442[89] = 0; - out_8848460606148442442[90] = 0; - out_8848460606148442442[91] = 0; - out_8848460606148442442[92] = 0; - out_8848460606148442442[93] = 0; - out_8848460606148442442[94] = 0; - out_8848460606148442442[95] = 1; - out_8848460606148442442[96] = 0; - out_8848460606148442442[97] = 0; - out_8848460606148442442[98] = 0; - out_8848460606148442442[99] = 0; - out_8848460606148442442[100] = 0; - out_8848460606148442442[101] = 0; - out_8848460606148442442[102] = 0; - out_8848460606148442442[103] = 0; - out_8848460606148442442[104] = dt; - out_8848460606148442442[105] = 0; - out_8848460606148442442[106] = 0; - out_8848460606148442442[107] = 0; - out_8848460606148442442[108] = 0; - out_8848460606148442442[109] = 0; - out_8848460606148442442[110] = 0; - out_8848460606148442442[111] = 0; - out_8848460606148442442[112] = 0; - out_8848460606148442442[113] = 0; - out_8848460606148442442[114] = 1; - out_8848460606148442442[115] = 0; - out_8848460606148442442[116] = 0; - out_8848460606148442442[117] = 0; - out_8848460606148442442[118] = 0; - out_8848460606148442442[119] = 0; - out_8848460606148442442[120] = 0; - out_8848460606148442442[121] = 0; - out_8848460606148442442[122] = 0; - out_8848460606148442442[123] = 0; - out_8848460606148442442[124] = 0; - out_8848460606148442442[125] = 0; - out_8848460606148442442[126] = 0; - out_8848460606148442442[127] = 0; - out_8848460606148442442[128] = 0; - out_8848460606148442442[129] = 0; - out_8848460606148442442[130] = 0; - out_8848460606148442442[131] = 0; - out_8848460606148442442[132] = 0; - out_8848460606148442442[133] = 1; - out_8848460606148442442[134] = 0; - out_8848460606148442442[135] = 0; - out_8848460606148442442[136] = 0; - out_8848460606148442442[137] = 0; - out_8848460606148442442[138] = 0; - out_8848460606148442442[139] = 0; - out_8848460606148442442[140] = 0; - out_8848460606148442442[141] = 0; - out_8848460606148442442[142] = 0; - out_8848460606148442442[143] = 0; - out_8848460606148442442[144] = 0; - out_8848460606148442442[145] = 0; - out_8848460606148442442[146] = 0; - out_8848460606148442442[147] = 0; - out_8848460606148442442[148] = 0; - out_8848460606148442442[149] = 0; - out_8848460606148442442[150] = 0; - out_8848460606148442442[151] = 0; - out_8848460606148442442[152] = 1; - out_8848460606148442442[153] = 0; - out_8848460606148442442[154] = 0; - out_8848460606148442442[155] = 0; - out_8848460606148442442[156] = 0; - out_8848460606148442442[157] = 0; - out_8848460606148442442[158] = 0; - out_8848460606148442442[159] = 0; - out_8848460606148442442[160] = 0; - out_8848460606148442442[161] = 0; - out_8848460606148442442[162] = 0; - out_8848460606148442442[163] = 0; - out_8848460606148442442[164] = 0; - out_8848460606148442442[165] = 0; - out_8848460606148442442[166] = 0; - out_8848460606148442442[167] = 0; - out_8848460606148442442[168] = 0; - out_8848460606148442442[169] = 0; - out_8848460606148442442[170] = 0; - out_8848460606148442442[171] = 1; - out_8848460606148442442[172] = 0; - out_8848460606148442442[173] = 0; - out_8848460606148442442[174] = 0; - out_8848460606148442442[175] = 0; - out_8848460606148442442[176] = 0; - out_8848460606148442442[177] = 0; - out_8848460606148442442[178] = 0; - out_8848460606148442442[179] = 0; - out_8848460606148442442[180] = 0; - out_8848460606148442442[181] = 0; - out_8848460606148442442[182] = 0; - out_8848460606148442442[183] = 0; - out_8848460606148442442[184] = 0; - out_8848460606148442442[185] = 0; - out_8848460606148442442[186] = 0; - out_8848460606148442442[187] = 0; - out_8848460606148442442[188] = 0; - out_8848460606148442442[189] = 0; - out_8848460606148442442[190] = 1; - out_8848460606148442442[191] = 0; - out_8848460606148442442[192] = 0; - out_8848460606148442442[193] = 0; - out_8848460606148442442[194] = 0; - out_8848460606148442442[195] = 0; - out_8848460606148442442[196] = 0; - out_8848460606148442442[197] = 0; - out_8848460606148442442[198] = 0; - out_8848460606148442442[199] = 0; - out_8848460606148442442[200] = 0; - out_8848460606148442442[201] = 0; - out_8848460606148442442[202] = 0; - out_8848460606148442442[203] = 0; - out_8848460606148442442[204] = 0; - out_8848460606148442442[205] = 0; - out_8848460606148442442[206] = 0; - out_8848460606148442442[207] = 0; - out_8848460606148442442[208] = 0; - out_8848460606148442442[209] = 1; - out_8848460606148442442[210] = 0; - out_8848460606148442442[211] = 0; - out_8848460606148442442[212] = 0; - out_8848460606148442442[213] = 0; - out_8848460606148442442[214] = 0; - out_8848460606148442442[215] = 0; - out_8848460606148442442[216] = 0; - out_8848460606148442442[217] = 0; - out_8848460606148442442[218] = 0; - out_8848460606148442442[219] = 0; - out_8848460606148442442[220] = 0; - out_8848460606148442442[221] = 0; - out_8848460606148442442[222] = 0; - out_8848460606148442442[223] = 0; - out_8848460606148442442[224] = 0; - out_8848460606148442442[225] = 0; - out_8848460606148442442[226] = 0; - out_8848460606148442442[227] = 0; - out_8848460606148442442[228] = 1; - out_8848460606148442442[229] = 0; - out_8848460606148442442[230] = 0; - out_8848460606148442442[231] = 0; - out_8848460606148442442[232] = 0; - out_8848460606148442442[233] = 0; - out_8848460606148442442[234] = 0; - out_8848460606148442442[235] = 0; - out_8848460606148442442[236] = 0; - out_8848460606148442442[237] = 0; - out_8848460606148442442[238] = 0; - out_8848460606148442442[239] = 0; - out_8848460606148442442[240] = 0; - out_8848460606148442442[241] = 0; - out_8848460606148442442[242] = 0; - out_8848460606148442442[243] = 0; - out_8848460606148442442[244] = 0; - out_8848460606148442442[245] = 0; - out_8848460606148442442[246] = 0; - out_8848460606148442442[247] = 1; - out_8848460606148442442[248] = 0; - out_8848460606148442442[249] = 0; - out_8848460606148442442[250] = 0; - out_8848460606148442442[251] = 0; - out_8848460606148442442[252] = 0; - out_8848460606148442442[253] = 0; - out_8848460606148442442[254] = 0; - out_8848460606148442442[255] = 0; - out_8848460606148442442[256] = 0; - out_8848460606148442442[257] = 0; - out_8848460606148442442[258] = 0; - out_8848460606148442442[259] = 0; - out_8848460606148442442[260] = 0; - out_8848460606148442442[261] = 0; - out_8848460606148442442[262] = 0; - out_8848460606148442442[263] = 0; - out_8848460606148442442[264] = 0; - out_8848460606148442442[265] = 0; - out_8848460606148442442[266] = 1; - out_8848460606148442442[267] = 0; - out_8848460606148442442[268] = 0; - out_8848460606148442442[269] = 0; - out_8848460606148442442[270] = 0; - out_8848460606148442442[271] = 0; - out_8848460606148442442[272] = 0; - out_8848460606148442442[273] = 0; - out_8848460606148442442[274] = 0; - out_8848460606148442442[275] = 0; - out_8848460606148442442[276] = 0; - out_8848460606148442442[277] = 0; - out_8848460606148442442[278] = 0; - out_8848460606148442442[279] = 0; - out_8848460606148442442[280] = 0; - out_8848460606148442442[281] = 0; - out_8848460606148442442[282] = 0; - out_8848460606148442442[283] = 0; - out_8848460606148442442[284] = 0; - out_8848460606148442442[285] = 1; - out_8848460606148442442[286] = 0; - out_8848460606148442442[287] = 0; - out_8848460606148442442[288] = 0; - out_8848460606148442442[289] = 0; - out_8848460606148442442[290] = 0; - out_8848460606148442442[291] = 0; - out_8848460606148442442[292] = 0; - out_8848460606148442442[293] = 0; - out_8848460606148442442[294] = 0; - out_8848460606148442442[295] = 0; - out_8848460606148442442[296] = 0; - out_8848460606148442442[297] = 0; - out_8848460606148442442[298] = 0; - out_8848460606148442442[299] = 0; - out_8848460606148442442[300] = 0; - out_8848460606148442442[301] = 0; - out_8848460606148442442[302] = 0; - out_8848460606148442442[303] = 0; - out_8848460606148442442[304] = 1; - out_8848460606148442442[305] = 0; - out_8848460606148442442[306] = 0; - out_8848460606148442442[307] = 0; - out_8848460606148442442[308] = 0; - out_8848460606148442442[309] = 0; - out_8848460606148442442[310] = 0; - out_8848460606148442442[311] = 0; - out_8848460606148442442[312] = 0; - out_8848460606148442442[313] = 0; - out_8848460606148442442[314] = 0; - out_8848460606148442442[315] = 0; - out_8848460606148442442[316] = 0; - out_8848460606148442442[317] = 0; - out_8848460606148442442[318] = 0; - out_8848460606148442442[319] = 0; - out_8848460606148442442[320] = 0; - out_8848460606148442442[321] = 0; - out_8848460606148442442[322] = 0; - out_8848460606148442442[323] = 1; +void F_fun(double *state, double dt, double *out_6844171548938607295) { + out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[2] = 0; + out_6844171548938607295[3] = 0; + out_6844171548938607295[4] = 0; + out_6844171548938607295[5] = 0; + out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[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_6844171548938607295[9] = 0; + out_6844171548938607295[10] = 0; + out_6844171548938607295[11] = 0; + out_6844171548938607295[12] = 0; + out_6844171548938607295[13] = 0; + out_6844171548938607295[14] = 0; + out_6844171548938607295[15] = 0; + out_6844171548938607295[16] = 0; + out_6844171548938607295[17] = 0; + out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[20] = 0; + out_6844171548938607295[21] = 0; + out_6844171548938607295[22] = 0; + out_6844171548938607295[23] = 0; + out_6844171548938607295[24] = 0; + out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[27] = 0; + out_6844171548938607295[28] = 0; + out_6844171548938607295[29] = 0; + out_6844171548938607295[30] = 0; + out_6844171548938607295[31] = 0; + out_6844171548938607295[32] = 0; + out_6844171548938607295[33] = 0; + out_6844171548938607295[34] = 0; + out_6844171548938607295[35] = 0; + out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[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_6844171548938607295[39] = 0; + out_6844171548938607295[40] = 0; + out_6844171548938607295[41] = 0; + out_6844171548938607295[42] = 0; + out_6844171548938607295[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_6844171548938607295[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_6844171548938607295[45] = 0; + out_6844171548938607295[46] = 0; + out_6844171548938607295[47] = 0; + out_6844171548938607295[48] = 0; + out_6844171548938607295[49] = 0; + out_6844171548938607295[50] = 0; + out_6844171548938607295[51] = 0; + out_6844171548938607295[52] = 0; + out_6844171548938607295[53] = 0; + out_6844171548938607295[54] = 0; + out_6844171548938607295[55] = 0; + out_6844171548938607295[56] = 0; + out_6844171548938607295[57] = 1; + out_6844171548938607295[58] = 0; + out_6844171548938607295[59] = 0; + out_6844171548938607295[60] = 0; + out_6844171548938607295[61] = 0; + out_6844171548938607295[62] = 0; + out_6844171548938607295[63] = 0; + out_6844171548938607295[64] = 0; + out_6844171548938607295[65] = 0; + out_6844171548938607295[66] = dt; + out_6844171548938607295[67] = 0; + out_6844171548938607295[68] = 0; + out_6844171548938607295[69] = 0; + out_6844171548938607295[70] = 0; + out_6844171548938607295[71] = 0; + out_6844171548938607295[72] = 0; + out_6844171548938607295[73] = 0; + out_6844171548938607295[74] = 0; + out_6844171548938607295[75] = 0; + out_6844171548938607295[76] = 1; + out_6844171548938607295[77] = 0; + out_6844171548938607295[78] = 0; + out_6844171548938607295[79] = 0; + out_6844171548938607295[80] = 0; + out_6844171548938607295[81] = 0; + out_6844171548938607295[82] = 0; + out_6844171548938607295[83] = 0; + out_6844171548938607295[84] = 0; + out_6844171548938607295[85] = dt; + out_6844171548938607295[86] = 0; + out_6844171548938607295[87] = 0; + out_6844171548938607295[88] = 0; + out_6844171548938607295[89] = 0; + out_6844171548938607295[90] = 0; + out_6844171548938607295[91] = 0; + out_6844171548938607295[92] = 0; + out_6844171548938607295[93] = 0; + out_6844171548938607295[94] = 0; + out_6844171548938607295[95] = 1; + out_6844171548938607295[96] = 0; + out_6844171548938607295[97] = 0; + out_6844171548938607295[98] = 0; + out_6844171548938607295[99] = 0; + out_6844171548938607295[100] = 0; + out_6844171548938607295[101] = 0; + out_6844171548938607295[102] = 0; + out_6844171548938607295[103] = 0; + out_6844171548938607295[104] = dt; + out_6844171548938607295[105] = 0; + out_6844171548938607295[106] = 0; + out_6844171548938607295[107] = 0; + out_6844171548938607295[108] = 0; + out_6844171548938607295[109] = 0; + out_6844171548938607295[110] = 0; + out_6844171548938607295[111] = 0; + out_6844171548938607295[112] = 0; + out_6844171548938607295[113] = 0; + out_6844171548938607295[114] = 1; + out_6844171548938607295[115] = 0; + out_6844171548938607295[116] = 0; + out_6844171548938607295[117] = 0; + out_6844171548938607295[118] = 0; + out_6844171548938607295[119] = 0; + out_6844171548938607295[120] = 0; + out_6844171548938607295[121] = 0; + out_6844171548938607295[122] = 0; + out_6844171548938607295[123] = 0; + out_6844171548938607295[124] = 0; + out_6844171548938607295[125] = 0; + out_6844171548938607295[126] = 0; + out_6844171548938607295[127] = 0; + out_6844171548938607295[128] = 0; + out_6844171548938607295[129] = 0; + out_6844171548938607295[130] = 0; + out_6844171548938607295[131] = 0; + out_6844171548938607295[132] = 0; + out_6844171548938607295[133] = 1; + out_6844171548938607295[134] = 0; + out_6844171548938607295[135] = 0; + out_6844171548938607295[136] = 0; + out_6844171548938607295[137] = 0; + out_6844171548938607295[138] = 0; + out_6844171548938607295[139] = 0; + out_6844171548938607295[140] = 0; + out_6844171548938607295[141] = 0; + out_6844171548938607295[142] = 0; + out_6844171548938607295[143] = 0; + out_6844171548938607295[144] = 0; + out_6844171548938607295[145] = 0; + out_6844171548938607295[146] = 0; + out_6844171548938607295[147] = 0; + out_6844171548938607295[148] = 0; + out_6844171548938607295[149] = 0; + out_6844171548938607295[150] = 0; + out_6844171548938607295[151] = 0; + out_6844171548938607295[152] = 1; + out_6844171548938607295[153] = 0; + out_6844171548938607295[154] = 0; + out_6844171548938607295[155] = 0; + out_6844171548938607295[156] = 0; + out_6844171548938607295[157] = 0; + out_6844171548938607295[158] = 0; + out_6844171548938607295[159] = 0; + out_6844171548938607295[160] = 0; + out_6844171548938607295[161] = 0; + out_6844171548938607295[162] = 0; + out_6844171548938607295[163] = 0; + out_6844171548938607295[164] = 0; + out_6844171548938607295[165] = 0; + out_6844171548938607295[166] = 0; + out_6844171548938607295[167] = 0; + out_6844171548938607295[168] = 0; + out_6844171548938607295[169] = 0; + out_6844171548938607295[170] = 0; + out_6844171548938607295[171] = 1; + out_6844171548938607295[172] = 0; + out_6844171548938607295[173] = 0; + out_6844171548938607295[174] = 0; + out_6844171548938607295[175] = 0; + out_6844171548938607295[176] = 0; + out_6844171548938607295[177] = 0; + out_6844171548938607295[178] = 0; + out_6844171548938607295[179] = 0; + out_6844171548938607295[180] = 0; + out_6844171548938607295[181] = 0; + out_6844171548938607295[182] = 0; + out_6844171548938607295[183] = 0; + out_6844171548938607295[184] = 0; + out_6844171548938607295[185] = 0; + out_6844171548938607295[186] = 0; + out_6844171548938607295[187] = 0; + out_6844171548938607295[188] = 0; + out_6844171548938607295[189] = 0; + out_6844171548938607295[190] = 1; + out_6844171548938607295[191] = 0; + out_6844171548938607295[192] = 0; + out_6844171548938607295[193] = 0; + out_6844171548938607295[194] = 0; + out_6844171548938607295[195] = 0; + out_6844171548938607295[196] = 0; + out_6844171548938607295[197] = 0; + out_6844171548938607295[198] = 0; + out_6844171548938607295[199] = 0; + out_6844171548938607295[200] = 0; + out_6844171548938607295[201] = 0; + out_6844171548938607295[202] = 0; + out_6844171548938607295[203] = 0; + out_6844171548938607295[204] = 0; + out_6844171548938607295[205] = 0; + out_6844171548938607295[206] = 0; + out_6844171548938607295[207] = 0; + out_6844171548938607295[208] = 0; + out_6844171548938607295[209] = 1; + out_6844171548938607295[210] = 0; + out_6844171548938607295[211] = 0; + out_6844171548938607295[212] = 0; + out_6844171548938607295[213] = 0; + out_6844171548938607295[214] = 0; + out_6844171548938607295[215] = 0; + out_6844171548938607295[216] = 0; + out_6844171548938607295[217] = 0; + out_6844171548938607295[218] = 0; + out_6844171548938607295[219] = 0; + out_6844171548938607295[220] = 0; + out_6844171548938607295[221] = 0; + out_6844171548938607295[222] = 0; + out_6844171548938607295[223] = 0; + out_6844171548938607295[224] = 0; + out_6844171548938607295[225] = 0; + out_6844171548938607295[226] = 0; + out_6844171548938607295[227] = 0; + out_6844171548938607295[228] = 1; + out_6844171548938607295[229] = 0; + out_6844171548938607295[230] = 0; + out_6844171548938607295[231] = 0; + out_6844171548938607295[232] = 0; + out_6844171548938607295[233] = 0; + out_6844171548938607295[234] = 0; + out_6844171548938607295[235] = 0; + out_6844171548938607295[236] = 0; + out_6844171548938607295[237] = 0; + out_6844171548938607295[238] = 0; + out_6844171548938607295[239] = 0; + out_6844171548938607295[240] = 0; + out_6844171548938607295[241] = 0; + out_6844171548938607295[242] = 0; + out_6844171548938607295[243] = 0; + out_6844171548938607295[244] = 0; + out_6844171548938607295[245] = 0; + out_6844171548938607295[246] = 0; + out_6844171548938607295[247] = 1; + out_6844171548938607295[248] = 0; + out_6844171548938607295[249] = 0; + out_6844171548938607295[250] = 0; + out_6844171548938607295[251] = 0; + out_6844171548938607295[252] = 0; + out_6844171548938607295[253] = 0; + out_6844171548938607295[254] = 0; + out_6844171548938607295[255] = 0; + out_6844171548938607295[256] = 0; + out_6844171548938607295[257] = 0; + out_6844171548938607295[258] = 0; + out_6844171548938607295[259] = 0; + out_6844171548938607295[260] = 0; + out_6844171548938607295[261] = 0; + out_6844171548938607295[262] = 0; + out_6844171548938607295[263] = 0; + out_6844171548938607295[264] = 0; + out_6844171548938607295[265] = 0; + out_6844171548938607295[266] = 1; + out_6844171548938607295[267] = 0; + out_6844171548938607295[268] = 0; + out_6844171548938607295[269] = 0; + out_6844171548938607295[270] = 0; + out_6844171548938607295[271] = 0; + out_6844171548938607295[272] = 0; + out_6844171548938607295[273] = 0; + out_6844171548938607295[274] = 0; + out_6844171548938607295[275] = 0; + out_6844171548938607295[276] = 0; + out_6844171548938607295[277] = 0; + out_6844171548938607295[278] = 0; + out_6844171548938607295[279] = 0; + out_6844171548938607295[280] = 0; + out_6844171548938607295[281] = 0; + out_6844171548938607295[282] = 0; + out_6844171548938607295[283] = 0; + out_6844171548938607295[284] = 0; + out_6844171548938607295[285] = 1; + out_6844171548938607295[286] = 0; + out_6844171548938607295[287] = 0; + out_6844171548938607295[288] = 0; + out_6844171548938607295[289] = 0; + out_6844171548938607295[290] = 0; + out_6844171548938607295[291] = 0; + out_6844171548938607295[292] = 0; + out_6844171548938607295[293] = 0; + out_6844171548938607295[294] = 0; + out_6844171548938607295[295] = 0; + out_6844171548938607295[296] = 0; + out_6844171548938607295[297] = 0; + out_6844171548938607295[298] = 0; + out_6844171548938607295[299] = 0; + out_6844171548938607295[300] = 0; + out_6844171548938607295[301] = 0; + out_6844171548938607295[302] = 0; + out_6844171548938607295[303] = 0; + out_6844171548938607295[304] = 1; + out_6844171548938607295[305] = 0; + out_6844171548938607295[306] = 0; + out_6844171548938607295[307] = 0; + out_6844171548938607295[308] = 0; + out_6844171548938607295[309] = 0; + out_6844171548938607295[310] = 0; + out_6844171548938607295[311] = 0; + out_6844171548938607295[312] = 0; + out_6844171548938607295[313] = 0; + out_6844171548938607295[314] = 0; + out_6844171548938607295[315] = 0; + out_6844171548938607295[316] = 0; + out_6844171548938607295[317] = 0; + out_6844171548938607295[318] = 0; + out_6844171548938607295[319] = 0; + out_6844171548938607295[320] = 0; + out_6844171548938607295[321] = 0; + out_6844171548938607295[322] = 0; + out_6844171548938607295[323] = 1; } -void h_4(double *state, double *unused, double *out_2926038800219696097) { - out_2926038800219696097[0] = state[6] + state[9]; - out_2926038800219696097[1] = state[7] + state[10]; - out_2926038800219696097[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7129002449097779903) { + out_7129002449097779903[0] = state[6] + state[9]; + out_7129002449097779903[1] = state[7] + state[10]; + out_7129002449097779903[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_9050828253353003660) { - out_9050828253353003660[0] = 0; - out_9050828253353003660[1] = 0; - out_9050828253353003660[2] = 0; - out_9050828253353003660[3] = 0; - out_9050828253353003660[4] = 0; - out_9050828253353003660[5] = 0; - out_9050828253353003660[6] = 1; - out_9050828253353003660[7] = 0; - out_9050828253353003660[8] = 0; - out_9050828253353003660[9] = 1; - out_9050828253353003660[10] = 0; - out_9050828253353003660[11] = 0; - out_9050828253353003660[12] = 0; - out_9050828253353003660[13] = 0; - out_9050828253353003660[14] = 0; - out_9050828253353003660[15] = 0; - out_9050828253353003660[16] = 0; - out_9050828253353003660[17] = 0; - out_9050828253353003660[18] = 0; - out_9050828253353003660[19] = 0; - out_9050828253353003660[20] = 0; - out_9050828253353003660[21] = 0; - out_9050828253353003660[22] = 0; - out_9050828253353003660[23] = 0; - out_9050828253353003660[24] = 0; - out_9050828253353003660[25] = 1; - out_9050828253353003660[26] = 0; - out_9050828253353003660[27] = 0; - out_9050828253353003660[28] = 1; - out_9050828253353003660[29] = 0; - out_9050828253353003660[30] = 0; - out_9050828253353003660[31] = 0; - out_9050828253353003660[32] = 0; - out_9050828253353003660[33] = 0; - out_9050828253353003660[34] = 0; - out_9050828253353003660[35] = 0; - out_9050828253353003660[36] = 0; - out_9050828253353003660[37] = 0; - out_9050828253353003660[38] = 0; - out_9050828253353003660[39] = 0; - out_9050828253353003660[40] = 0; - out_9050828253353003660[41] = 0; - out_9050828253353003660[42] = 0; - out_9050828253353003660[43] = 0; - out_9050828253353003660[44] = 1; - out_9050828253353003660[45] = 0; - out_9050828253353003660[46] = 0; - out_9050828253353003660[47] = 1; - out_9050828253353003660[48] = 0; - out_9050828253353003660[49] = 0; - out_9050828253353003660[50] = 0; - out_9050828253353003660[51] = 0; - out_9050828253353003660[52] = 0; - out_9050828253353003660[53] = 0; +void H_4(double *state, double *unused, double *out_1457383500445285606) { + out_1457383500445285606[0] = 0; + out_1457383500445285606[1] = 0; + out_1457383500445285606[2] = 0; + out_1457383500445285606[3] = 0; + out_1457383500445285606[4] = 0; + out_1457383500445285606[5] = 0; + out_1457383500445285606[6] = 1; + out_1457383500445285606[7] = 0; + out_1457383500445285606[8] = 0; + out_1457383500445285606[9] = 1; + out_1457383500445285606[10] = 0; + out_1457383500445285606[11] = 0; + out_1457383500445285606[12] = 0; + out_1457383500445285606[13] = 0; + out_1457383500445285606[14] = 0; + out_1457383500445285606[15] = 0; + out_1457383500445285606[16] = 0; + out_1457383500445285606[17] = 0; + out_1457383500445285606[18] = 0; + out_1457383500445285606[19] = 0; + out_1457383500445285606[20] = 0; + out_1457383500445285606[21] = 0; + out_1457383500445285606[22] = 0; + out_1457383500445285606[23] = 0; + out_1457383500445285606[24] = 0; + out_1457383500445285606[25] = 1; + out_1457383500445285606[26] = 0; + out_1457383500445285606[27] = 0; + out_1457383500445285606[28] = 1; + out_1457383500445285606[29] = 0; + out_1457383500445285606[30] = 0; + out_1457383500445285606[31] = 0; + out_1457383500445285606[32] = 0; + out_1457383500445285606[33] = 0; + out_1457383500445285606[34] = 0; + out_1457383500445285606[35] = 0; + out_1457383500445285606[36] = 0; + out_1457383500445285606[37] = 0; + out_1457383500445285606[38] = 0; + out_1457383500445285606[39] = 0; + out_1457383500445285606[40] = 0; + out_1457383500445285606[41] = 0; + out_1457383500445285606[42] = 0; + out_1457383500445285606[43] = 0; + out_1457383500445285606[44] = 1; + out_1457383500445285606[45] = 0; + out_1457383500445285606[46] = 0; + out_1457383500445285606[47] = 1; + out_1457383500445285606[48] = 0; + out_1457383500445285606[49] = 0; + out_1457383500445285606[50] = 0; + out_1457383500445285606[51] = 0; + out_1457383500445285606[52] = 0; + out_1457383500445285606[53] = 0; } -void h_10(double *state, double *unused, double *out_3754295376293318230) { - out_3754295376293318230[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3754295376293318230[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3754295376293318230[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_3148302492513217557) { + out_3148302492513217557[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_3148302492513217557[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_3148302492513217557[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_2912584995031240051) { - out_2912584995031240051[0] = 0; - out_2912584995031240051[1] = 9.8100000000000005*cos(state[1]); - out_2912584995031240051[2] = 0; - out_2912584995031240051[3] = 0; - out_2912584995031240051[4] = -state[8]; - out_2912584995031240051[5] = state[7]; - out_2912584995031240051[6] = 0; - out_2912584995031240051[7] = state[5]; - out_2912584995031240051[8] = -state[4]; - out_2912584995031240051[9] = 0; - out_2912584995031240051[10] = 0; - out_2912584995031240051[11] = 0; - out_2912584995031240051[12] = 1; - out_2912584995031240051[13] = 0; - out_2912584995031240051[14] = 0; - out_2912584995031240051[15] = 1; - out_2912584995031240051[16] = 0; - out_2912584995031240051[17] = 0; - out_2912584995031240051[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2912584995031240051[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2912584995031240051[20] = 0; - out_2912584995031240051[21] = state[8]; - out_2912584995031240051[22] = 0; - out_2912584995031240051[23] = -state[6]; - out_2912584995031240051[24] = -state[5]; - out_2912584995031240051[25] = 0; - out_2912584995031240051[26] = state[3]; - out_2912584995031240051[27] = 0; - out_2912584995031240051[28] = 0; - out_2912584995031240051[29] = 0; - out_2912584995031240051[30] = 0; - out_2912584995031240051[31] = 1; - out_2912584995031240051[32] = 0; - out_2912584995031240051[33] = 0; - out_2912584995031240051[34] = 1; - out_2912584995031240051[35] = 0; - out_2912584995031240051[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2912584995031240051[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2912584995031240051[38] = 0; - out_2912584995031240051[39] = -state[7]; - out_2912584995031240051[40] = state[6]; - out_2912584995031240051[41] = 0; - out_2912584995031240051[42] = state[4]; - out_2912584995031240051[43] = -state[3]; - out_2912584995031240051[44] = 0; - out_2912584995031240051[45] = 0; - out_2912584995031240051[46] = 0; - out_2912584995031240051[47] = 0; - out_2912584995031240051[48] = 0; - out_2912584995031240051[49] = 0; - out_2912584995031240051[50] = 1; - out_2912584995031240051[51] = 0; - out_2912584995031240051[52] = 0; - out_2912584995031240051[53] = 1; +void H_10(double *state, double *unused, double *out_4488407256990316453) { + out_4488407256990316453[0] = 0; + out_4488407256990316453[1] = 9.8100000000000005*cos(state[1]); + out_4488407256990316453[2] = 0; + out_4488407256990316453[3] = 0; + out_4488407256990316453[4] = -state[8]; + out_4488407256990316453[5] = state[7]; + out_4488407256990316453[6] = 0; + out_4488407256990316453[7] = state[5]; + out_4488407256990316453[8] = -state[4]; + out_4488407256990316453[9] = 0; + out_4488407256990316453[10] = 0; + out_4488407256990316453[11] = 0; + out_4488407256990316453[12] = 1; + out_4488407256990316453[13] = 0; + out_4488407256990316453[14] = 0; + out_4488407256990316453[15] = 1; + out_4488407256990316453[16] = 0; + out_4488407256990316453[17] = 0; + out_4488407256990316453[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4488407256990316453[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4488407256990316453[20] = 0; + out_4488407256990316453[21] = state[8]; + out_4488407256990316453[22] = 0; + out_4488407256990316453[23] = -state[6]; + out_4488407256990316453[24] = -state[5]; + out_4488407256990316453[25] = 0; + out_4488407256990316453[26] = state[3]; + out_4488407256990316453[27] = 0; + out_4488407256990316453[28] = 0; + out_4488407256990316453[29] = 0; + out_4488407256990316453[30] = 0; + out_4488407256990316453[31] = 1; + out_4488407256990316453[32] = 0; + out_4488407256990316453[33] = 0; + out_4488407256990316453[34] = 1; + out_4488407256990316453[35] = 0; + out_4488407256990316453[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4488407256990316453[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4488407256990316453[38] = 0; + out_4488407256990316453[39] = -state[7]; + out_4488407256990316453[40] = state[6]; + out_4488407256990316453[41] = 0; + out_4488407256990316453[42] = state[4]; + out_4488407256990316453[43] = -state[3]; + out_4488407256990316453[44] = 0; + out_4488407256990316453[45] = 0; + out_4488407256990316453[46] = 0; + out_4488407256990316453[47] = 0; + out_4488407256990316453[48] = 0; + out_4488407256990316453[49] = 0; + out_4488407256990316453[50] = 1; + out_4488407256990316453[51] = 0; + out_4488407256990316453[52] = 0; + out_4488407256990316453[53] = 1; } -void h_13(double *state, double *unused, double *out_4089270074398195787) { - out_4089270074398195787[0] = state[3]; - out_4089270074398195787[1] = state[4]; - out_4089270074398195787[2] = state[5]; +void h_13(double *state, double *unused, double *out_3993880518003112603) { + out_3993880518003112603[0] = state[3]; + out_3993880518003112603[1] = state[4]; + out_3993880518003112603[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5838554428020670859) { - out_5838554428020670859[0] = 0; - out_5838554428020670859[1] = 0; - out_5838554428020670859[2] = 0; - out_5838554428020670859[3] = 1; - out_5838554428020670859[4] = 0; - out_5838554428020670859[5] = 0; - out_5838554428020670859[6] = 0; - out_5838554428020670859[7] = 0; - out_5838554428020670859[8] = 0; - out_5838554428020670859[9] = 0; - out_5838554428020670859[10] = 0; - out_5838554428020670859[11] = 0; - out_5838554428020670859[12] = 0; - out_5838554428020670859[13] = 0; - out_5838554428020670859[14] = 0; - out_5838554428020670859[15] = 0; - out_5838554428020670859[16] = 0; - out_5838554428020670859[17] = 0; - out_5838554428020670859[18] = 0; - out_5838554428020670859[19] = 0; - out_5838554428020670859[20] = 0; - out_5838554428020670859[21] = 0; - out_5838554428020670859[22] = 1; - out_5838554428020670859[23] = 0; - out_5838554428020670859[24] = 0; - out_5838554428020670859[25] = 0; - out_5838554428020670859[26] = 0; - out_5838554428020670859[27] = 0; - out_5838554428020670859[28] = 0; - out_5838554428020670859[29] = 0; - out_5838554428020670859[30] = 0; - out_5838554428020670859[31] = 0; - out_5838554428020670859[32] = 0; - out_5838554428020670859[33] = 0; - out_5838554428020670859[34] = 0; - out_5838554428020670859[35] = 0; - out_5838554428020670859[36] = 0; - out_5838554428020670859[37] = 0; - out_5838554428020670859[38] = 0; - out_5838554428020670859[39] = 0; - out_5838554428020670859[40] = 0; - out_5838554428020670859[41] = 1; - out_5838554428020670859[42] = 0; - out_5838554428020670859[43] = 0; - out_5838554428020670859[44] = 0; - out_5838554428020670859[45] = 0; - out_5838554428020670859[46] = 0; - out_5838554428020670859[47] = 0; - out_5838554428020670859[48] = 0; - out_5838554428020670859[49] = 0; - out_5838554428020670859[50] = 0; - out_5838554428020670859[51] = 0; - out_5838554428020670859[52] = 0; - out_5838554428020670859[53] = 0; +void H_13(double *state, double *unused, double *out_1754890324887047195) { + out_1754890324887047195[0] = 0; + out_1754890324887047195[1] = 0; + out_1754890324887047195[2] = 0; + out_1754890324887047195[3] = 1; + out_1754890324887047195[4] = 0; + out_1754890324887047195[5] = 0; + out_1754890324887047195[6] = 0; + out_1754890324887047195[7] = 0; + out_1754890324887047195[8] = 0; + out_1754890324887047195[9] = 0; + out_1754890324887047195[10] = 0; + out_1754890324887047195[11] = 0; + out_1754890324887047195[12] = 0; + out_1754890324887047195[13] = 0; + out_1754890324887047195[14] = 0; + out_1754890324887047195[15] = 0; + out_1754890324887047195[16] = 0; + out_1754890324887047195[17] = 0; + out_1754890324887047195[18] = 0; + out_1754890324887047195[19] = 0; + out_1754890324887047195[20] = 0; + out_1754890324887047195[21] = 0; + out_1754890324887047195[22] = 1; + out_1754890324887047195[23] = 0; + out_1754890324887047195[24] = 0; + out_1754890324887047195[25] = 0; + out_1754890324887047195[26] = 0; + out_1754890324887047195[27] = 0; + out_1754890324887047195[28] = 0; + out_1754890324887047195[29] = 0; + out_1754890324887047195[30] = 0; + out_1754890324887047195[31] = 0; + out_1754890324887047195[32] = 0; + out_1754890324887047195[33] = 0; + out_1754890324887047195[34] = 0; + out_1754890324887047195[35] = 0; + out_1754890324887047195[36] = 0; + out_1754890324887047195[37] = 0; + out_1754890324887047195[38] = 0; + out_1754890324887047195[39] = 0; + out_1754890324887047195[40] = 0; + out_1754890324887047195[41] = 1; + out_1754890324887047195[42] = 0; + out_1754890324887047195[43] = 0; + out_1754890324887047195[44] = 0; + out_1754890324887047195[45] = 0; + out_1754890324887047195[46] = 0; + out_1754890324887047195[47] = 0; + out_1754890324887047195[48] = 0; + out_1754890324887047195[49] = 0; + out_1754890324887047195[50] = 0; + out_1754890324887047195[51] = 0; + out_1754890324887047195[52] = 0; + out_1754890324887047195[53] = 0; } -void h_14(double *state, double *unused, double *out_9176020735288104700) { - out_9176020735288104700[0] = state[6]; - out_9176020735288104700[1] = state[7]; - out_9176020735288104700[2] = state[8]; +void h_14(double *state, double *unused, double *out_318727471713913742) { + out_318727471713913742[0] = state[6]; + out_318727471713913742[1] = state[7]; + out_318727471713913742[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5087587397013519131) { - out_5087587397013519131[0] = 0; - out_5087587397013519131[1] = 0; - out_5087587397013519131[2] = 0; - out_5087587397013519131[3] = 0; - out_5087587397013519131[4] = 0; - out_5087587397013519131[5] = 0; - out_5087587397013519131[6] = 1; - out_5087587397013519131[7] = 0; - out_5087587397013519131[8] = 0; - out_5087587397013519131[9] = 0; - out_5087587397013519131[10] = 0; - out_5087587397013519131[11] = 0; - out_5087587397013519131[12] = 0; - out_5087587397013519131[13] = 0; - out_5087587397013519131[14] = 0; - out_5087587397013519131[15] = 0; - out_5087587397013519131[16] = 0; - out_5087587397013519131[17] = 0; - out_5087587397013519131[18] = 0; - out_5087587397013519131[19] = 0; - out_5087587397013519131[20] = 0; - out_5087587397013519131[21] = 0; - out_5087587397013519131[22] = 0; - out_5087587397013519131[23] = 0; - out_5087587397013519131[24] = 0; - out_5087587397013519131[25] = 1; - out_5087587397013519131[26] = 0; - out_5087587397013519131[27] = 0; - out_5087587397013519131[28] = 0; - out_5087587397013519131[29] = 0; - out_5087587397013519131[30] = 0; - out_5087587397013519131[31] = 0; - out_5087587397013519131[32] = 0; - out_5087587397013519131[33] = 0; - out_5087587397013519131[34] = 0; - out_5087587397013519131[35] = 0; - out_5087587397013519131[36] = 0; - out_5087587397013519131[37] = 0; - out_5087587397013519131[38] = 0; - out_5087587397013519131[39] = 0; - out_5087587397013519131[40] = 0; - out_5087587397013519131[41] = 0; - out_5087587397013519131[42] = 0; - out_5087587397013519131[43] = 0; - out_5087587397013519131[44] = 1; - out_5087587397013519131[45] = 0; - out_5087587397013519131[46] = 0; - out_5087587397013519131[47] = 0; - out_5087587397013519131[48] = 0; - out_5087587397013519131[49] = 0; - out_5087587397013519131[50] = 0; - out_5087587397013519131[51] = 0; - out_5087587397013519131[52] = 0; - out_5087587397013519131[53] = 0; +void H_14(double *state, double *unused, double *out_4540171932740657902) { + out_4540171932740657902[0] = 0; + out_4540171932740657902[1] = 0; + out_4540171932740657902[2] = 0; + out_4540171932740657902[3] = 0; + out_4540171932740657902[4] = 0; + out_4540171932740657902[5] = 0; + out_4540171932740657902[6] = 1; + out_4540171932740657902[7] = 0; + out_4540171932740657902[8] = 0; + out_4540171932740657902[9] = 0; + out_4540171932740657902[10] = 0; + out_4540171932740657902[11] = 0; + out_4540171932740657902[12] = 0; + out_4540171932740657902[13] = 0; + out_4540171932740657902[14] = 0; + out_4540171932740657902[15] = 0; + out_4540171932740657902[16] = 0; + out_4540171932740657902[17] = 0; + out_4540171932740657902[18] = 0; + out_4540171932740657902[19] = 0; + out_4540171932740657902[20] = 0; + out_4540171932740657902[21] = 0; + out_4540171932740657902[22] = 0; + out_4540171932740657902[23] = 0; + out_4540171932740657902[24] = 0; + out_4540171932740657902[25] = 1; + out_4540171932740657902[26] = 0; + out_4540171932740657902[27] = 0; + out_4540171932740657902[28] = 0; + out_4540171932740657902[29] = 0; + out_4540171932740657902[30] = 0; + out_4540171932740657902[31] = 0; + out_4540171932740657902[32] = 0; + out_4540171932740657902[33] = 0; + out_4540171932740657902[34] = 0; + out_4540171932740657902[35] = 0; + out_4540171932740657902[36] = 0; + out_4540171932740657902[37] = 0; + out_4540171932740657902[38] = 0; + out_4540171932740657902[39] = 0; + out_4540171932740657902[40] = 0; + out_4540171932740657902[41] = 0; + out_4540171932740657902[42] = 0; + out_4540171932740657902[43] = 0; + out_4540171932740657902[44] = 1; + out_4540171932740657902[45] = 0; + out_4540171932740657902[46] = 0; + out_4540171932740657902[47] = 0; + out_4540171932740657902[48] = 0; + out_4540171932740657902[49] = 0; + out_4540171932740657902[50] = 0; + out_4540171932740657902[51] = 0; + out_4540171932740657902[52] = 0; + out_4540171932740657902[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_5925269994359157710) { - err_fun(nom_x, delta_x, out_5925269994359157710); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5797775412313342444) { + err_fun(nom_x, delta_x, out_5797775412313342444); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5867765456190971358) { - inv_err_fun(nom_x, true_x, out_5867765456190971358); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6978859077859564623) { + inv_err_fun(nom_x, true_x, out_6978859077859564623); } -void pose_H_mod_fun(double *state, double *out_4243397435317467221) { - H_mod_fun(state, out_4243397435317467221); +void pose_H_mod_fun(double *state, double *out_7486978165612535736) { + H_mod_fun(state, out_7486978165612535736); } -void pose_f_fun(double *state, double dt, double *out_5333365637221194880) { - f_fun(state, dt, out_5333365637221194880); +void pose_f_fun(double *state, double dt, double *out_7331794505583909673) { + f_fun(state, dt, out_7331794505583909673); } -void pose_F_fun(double *state, double dt, double *out_8848460606148442442) { - F_fun(state, dt, out_8848460606148442442); +void pose_F_fun(double *state, double dt, double *out_6844171548938607295) { + F_fun(state, dt, out_6844171548938607295); } -void pose_h_4(double *state, double *unused, double *out_2926038800219696097) { - h_4(state, unused, out_2926038800219696097); +void pose_h_4(double *state, double *unused, double *out_7129002449097779903) { + h_4(state, unused, out_7129002449097779903); } -void pose_H_4(double *state, double *unused, double *out_9050828253353003660) { - H_4(state, unused, out_9050828253353003660); +void pose_H_4(double *state, double *unused, double *out_1457383500445285606) { + H_4(state, unused, out_1457383500445285606); } -void pose_h_10(double *state, double *unused, double *out_3754295376293318230) { - h_10(state, unused, out_3754295376293318230); +void pose_h_10(double *state, double *unused, double *out_3148302492513217557) { + h_10(state, unused, out_3148302492513217557); } -void pose_H_10(double *state, double *unused, double *out_2912584995031240051) { - H_10(state, unused, out_2912584995031240051); +void pose_H_10(double *state, double *unused, double *out_4488407256990316453) { + H_10(state, unused, out_4488407256990316453); } -void pose_h_13(double *state, double *unused, double *out_4089270074398195787) { - h_13(state, unused, out_4089270074398195787); +void pose_h_13(double *state, double *unused, double *out_3993880518003112603) { + h_13(state, unused, out_3993880518003112603); } -void pose_H_13(double *state, double *unused, double *out_5838554428020670859) { - H_13(state, unused, out_5838554428020670859); +void pose_H_13(double *state, double *unused, double *out_1754890324887047195) { + H_13(state, unused, out_1754890324887047195); } -void pose_h_14(double *state, double *unused, double *out_9176020735288104700) { - h_14(state, unused, out_9176020735288104700); +void pose_h_14(double *state, double *unused, double *out_318727471713913742) { + h_14(state, unused, out_318727471713913742); } -void pose_H_14(double *state, double *unused, double *out_5087587397013519131) { - H_14(state, unused, out_5087587397013519131); +void pose_H_14(double *state, double *unused, double *out_4540171932740657902) { + H_14(state, unused, out_4540171932740657902); } 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 a54f5ca993..04919d47aa 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_5925269994359157710); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5867765456190971358); -void pose_H_mod_fun(double *state, double *out_4243397435317467221); -void pose_f_fun(double *state, double dt, double *out_5333365637221194880); -void pose_F_fun(double *state, double dt, double *out_8848460606148442442); -void pose_h_4(double *state, double *unused, double *out_2926038800219696097); -void pose_H_4(double *state, double *unused, double *out_9050828253353003660); -void pose_h_10(double *state, double *unused, double *out_3754295376293318230); -void pose_H_10(double *state, double *unused, double *out_2912584995031240051); -void pose_h_13(double *state, double *unused, double *out_4089270074398195787); -void pose_H_13(double *state, double *unused, double *out_5838554428020670859); -void pose_h_14(double *state, double *unused, double *out_9176020735288104700); -void pose_H_14(double *state, double *unused, double *out_5087587397013519131); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5797775412313342444); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6978859077859564623); +void pose_H_mod_fun(double *state, double *out_7486978165612535736); +void pose_f_fun(double *state, double dt, double *out_7331794505583909673); +void pose_F_fun(double *state, double dt, double *out_6844171548938607295); +void pose_h_4(double *state, double *unused, double *out_7129002449097779903); +void pose_H_4(double *state, double *unused, double *out_1457383500445285606); +void pose_h_10(double *state, double *unused, double *out_3148302492513217557); +void pose_H_10(double *state, double *unused, double *out_4488407256990316453); +void pose_h_13(double *state, double *unused, double *out_3993880518003112603); +void pose_H_13(double *state, double *unused, double *out_1754890324887047195); +void pose_h_14(double *state, double *unused, double *out_318727471713913742); +void pose_H_14(double *state, double *unused, double *out_4540171932740657902); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index be2072ac04..a5710d9b1c 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 4ce83cf198..e36030c4dd 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index f775a030c6..e49f0c9a83 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 9072a84495..d6953e9d7c 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 6073f51522..8917cf1f9b 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 318ab235b8..b7b5167231 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ