diff --git a/common/libcommon.a b/common/libcommon.a index 65cf9dcf8..51a8e8d84 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 926965f3e..378efd17e 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 75894854e..51fba5d1e 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 6107430fe..01f710cc1 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 1c05624bf..f71373a50 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index fda9e08d5..223b1b5d6 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 61f078c02..1c5f57dae 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 79983882c..bb6565b0c 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 981fb2800..dfe2fb9c7 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 981fb2800..dfe2fb9c7 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 031bcdf08..ecb1d7b4a 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 79983882c..bb6565b0c 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 e5c147678..056697204 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-a30dc40b-DEBUG"; +const uint8_t gitversion[19] = "DEV-53766ff6-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 745d6c1df..cc6cf23ca 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 15adf8a21..e36874f44 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 a28dfa43b..13d3e2973 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 1ae367ba9..1c4f61174 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 e7f334be5..e84953680 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index ea6648c26..838b02c02 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index f8c87a7e3..a270cbbb7 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index 1fd5847ef..f05aadd95 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 55402d408..48c3c642a 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 57ff87022..0b681d179 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 041d3996a..c5ff9693b 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 581cd7b13..2ce46dda4 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 5b8f80bfa..637324ec6 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 a99d89fc6..aa6cdf9fe 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 53d397d9b..a1df008ba 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 ae597217c..aee1836bc 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 178377d76..610297c00 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 d94c5698c..aebb6be45 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 f985d3f5b..ebbbf0b60 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 002c0ec24..89515eb4d 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 753b3f2d7..8602e2354 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-a30dc40b-DEBUG \ No newline at end of file +DEV-53766ff6-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 7f15db977..ad7c1f03f 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_6201369500890241283) { - out_6201369500890241283[0] = delta_x[0] + nom_x[0]; - out_6201369500890241283[1] = delta_x[1] + nom_x[1]; - out_6201369500890241283[2] = delta_x[2] + nom_x[2]; - out_6201369500890241283[3] = delta_x[3] + nom_x[3]; - out_6201369500890241283[4] = delta_x[4] + nom_x[4]; - out_6201369500890241283[5] = delta_x[5] + nom_x[5]; - out_6201369500890241283[6] = delta_x[6] + nom_x[6]; - out_6201369500890241283[7] = delta_x[7] + nom_x[7]; - out_6201369500890241283[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7681400738027994255) { + out_7681400738027994255[0] = delta_x[0] + nom_x[0]; + out_7681400738027994255[1] = delta_x[1] + nom_x[1]; + out_7681400738027994255[2] = delta_x[2] + nom_x[2]; + out_7681400738027994255[3] = delta_x[3] + nom_x[3]; + out_7681400738027994255[4] = delta_x[4] + nom_x[4]; + out_7681400738027994255[5] = delta_x[5] + nom_x[5]; + out_7681400738027994255[6] = delta_x[6] + nom_x[6]; + out_7681400738027994255[7] = delta_x[7] + nom_x[7]; + out_7681400738027994255[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124) { - out_6748403134246456124[0] = -nom_x[0] + true_x[0]; - out_6748403134246456124[1] = -nom_x[1] + true_x[1]; - out_6748403134246456124[2] = -nom_x[2] + true_x[2]; - out_6748403134246456124[3] = -nom_x[3] + true_x[3]; - out_6748403134246456124[4] = -nom_x[4] + true_x[4]; - out_6748403134246456124[5] = -nom_x[5] + true_x[5]; - out_6748403134246456124[6] = -nom_x[6] + true_x[6]; - out_6748403134246456124[7] = -nom_x[7] + true_x[7]; - out_6748403134246456124[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5789638956557325357) { + out_5789638956557325357[0] = -nom_x[0] + true_x[0]; + out_5789638956557325357[1] = -nom_x[1] + true_x[1]; + out_5789638956557325357[2] = -nom_x[2] + true_x[2]; + out_5789638956557325357[3] = -nom_x[3] + true_x[3]; + out_5789638956557325357[4] = -nom_x[4] + true_x[4]; + out_5789638956557325357[5] = -nom_x[5] + true_x[5]; + out_5789638956557325357[6] = -nom_x[6] + true_x[6]; + out_5789638956557325357[7] = -nom_x[7] + true_x[7]; + out_5789638956557325357[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_2042585132715859694) { - out_2042585132715859694[0] = 1.0; - out_2042585132715859694[1] = 0.0; - out_2042585132715859694[2] = 0.0; - out_2042585132715859694[3] = 0.0; - out_2042585132715859694[4] = 0.0; - out_2042585132715859694[5] = 0.0; - out_2042585132715859694[6] = 0.0; - out_2042585132715859694[7] = 0.0; - out_2042585132715859694[8] = 0.0; - out_2042585132715859694[9] = 0.0; - out_2042585132715859694[10] = 1.0; - out_2042585132715859694[11] = 0.0; - out_2042585132715859694[12] = 0.0; - out_2042585132715859694[13] = 0.0; - out_2042585132715859694[14] = 0.0; - out_2042585132715859694[15] = 0.0; - out_2042585132715859694[16] = 0.0; - out_2042585132715859694[17] = 0.0; - out_2042585132715859694[18] = 0.0; - out_2042585132715859694[19] = 0.0; - out_2042585132715859694[20] = 1.0; - out_2042585132715859694[21] = 0.0; - out_2042585132715859694[22] = 0.0; - out_2042585132715859694[23] = 0.0; - out_2042585132715859694[24] = 0.0; - out_2042585132715859694[25] = 0.0; - out_2042585132715859694[26] = 0.0; - out_2042585132715859694[27] = 0.0; - out_2042585132715859694[28] = 0.0; - out_2042585132715859694[29] = 0.0; - out_2042585132715859694[30] = 1.0; - out_2042585132715859694[31] = 0.0; - out_2042585132715859694[32] = 0.0; - out_2042585132715859694[33] = 0.0; - out_2042585132715859694[34] = 0.0; - out_2042585132715859694[35] = 0.0; - out_2042585132715859694[36] = 0.0; - out_2042585132715859694[37] = 0.0; - out_2042585132715859694[38] = 0.0; - out_2042585132715859694[39] = 0.0; - out_2042585132715859694[40] = 1.0; - out_2042585132715859694[41] = 0.0; - out_2042585132715859694[42] = 0.0; - out_2042585132715859694[43] = 0.0; - out_2042585132715859694[44] = 0.0; - out_2042585132715859694[45] = 0.0; - out_2042585132715859694[46] = 0.0; - out_2042585132715859694[47] = 0.0; - out_2042585132715859694[48] = 0.0; - out_2042585132715859694[49] = 0.0; - out_2042585132715859694[50] = 1.0; - out_2042585132715859694[51] = 0.0; - out_2042585132715859694[52] = 0.0; - out_2042585132715859694[53] = 0.0; - out_2042585132715859694[54] = 0.0; - out_2042585132715859694[55] = 0.0; - out_2042585132715859694[56] = 0.0; - out_2042585132715859694[57] = 0.0; - out_2042585132715859694[58] = 0.0; - out_2042585132715859694[59] = 0.0; - out_2042585132715859694[60] = 1.0; - out_2042585132715859694[61] = 0.0; - out_2042585132715859694[62] = 0.0; - out_2042585132715859694[63] = 0.0; - out_2042585132715859694[64] = 0.0; - out_2042585132715859694[65] = 0.0; - out_2042585132715859694[66] = 0.0; - out_2042585132715859694[67] = 0.0; - out_2042585132715859694[68] = 0.0; - out_2042585132715859694[69] = 0.0; - out_2042585132715859694[70] = 1.0; - out_2042585132715859694[71] = 0.0; - out_2042585132715859694[72] = 0.0; - out_2042585132715859694[73] = 0.0; - out_2042585132715859694[74] = 0.0; - out_2042585132715859694[75] = 0.0; - out_2042585132715859694[76] = 0.0; - out_2042585132715859694[77] = 0.0; - out_2042585132715859694[78] = 0.0; - out_2042585132715859694[79] = 0.0; - out_2042585132715859694[80] = 1.0; +void H_mod_fun(double *state, double *out_770586316396255671) { + out_770586316396255671[0] = 1.0; + out_770586316396255671[1] = 0.0; + out_770586316396255671[2] = 0.0; + out_770586316396255671[3] = 0.0; + out_770586316396255671[4] = 0.0; + out_770586316396255671[5] = 0.0; + out_770586316396255671[6] = 0.0; + out_770586316396255671[7] = 0.0; + out_770586316396255671[8] = 0.0; + out_770586316396255671[9] = 0.0; + out_770586316396255671[10] = 1.0; + out_770586316396255671[11] = 0.0; + out_770586316396255671[12] = 0.0; + out_770586316396255671[13] = 0.0; + out_770586316396255671[14] = 0.0; + out_770586316396255671[15] = 0.0; + out_770586316396255671[16] = 0.0; + out_770586316396255671[17] = 0.0; + out_770586316396255671[18] = 0.0; + out_770586316396255671[19] = 0.0; + out_770586316396255671[20] = 1.0; + out_770586316396255671[21] = 0.0; + out_770586316396255671[22] = 0.0; + out_770586316396255671[23] = 0.0; + out_770586316396255671[24] = 0.0; + out_770586316396255671[25] = 0.0; + out_770586316396255671[26] = 0.0; + out_770586316396255671[27] = 0.0; + out_770586316396255671[28] = 0.0; + out_770586316396255671[29] = 0.0; + out_770586316396255671[30] = 1.0; + out_770586316396255671[31] = 0.0; + out_770586316396255671[32] = 0.0; + out_770586316396255671[33] = 0.0; + out_770586316396255671[34] = 0.0; + out_770586316396255671[35] = 0.0; + out_770586316396255671[36] = 0.0; + out_770586316396255671[37] = 0.0; + out_770586316396255671[38] = 0.0; + out_770586316396255671[39] = 0.0; + out_770586316396255671[40] = 1.0; + out_770586316396255671[41] = 0.0; + out_770586316396255671[42] = 0.0; + out_770586316396255671[43] = 0.0; + out_770586316396255671[44] = 0.0; + out_770586316396255671[45] = 0.0; + out_770586316396255671[46] = 0.0; + out_770586316396255671[47] = 0.0; + out_770586316396255671[48] = 0.0; + out_770586316396255671[49] = 0.0; + out_770586316396255671[50] = 1.0; + out_770586316396255671[51] = 0.0; + out_770586316396255671[52] = 0.0; + out_770586316396255671[53] = 0.0; + out_770586316396255671[54] = 0.0; + out_770586316396255671[55] = 0.0; + out_770586316396255671[56] = 0.0; + out_770586316396255671[57] = 0.0; + out_770586316396255671[58] = 0.0; + out_770586316396255671[59] = 0.0; + out_770586316396255671[60] = 1.0; + out_770586316396255671[61] = 0.0; + out_770586316396255671[62] = 0.0; + out_770586316396255671[63] = 0.0; + out_770586316396255671[64] = 0.0; + out_770586316396255671[65] = 0.0; + out_770586316396255671[66] = 0.0; + out_770586316396255671[67] = 0.0; + out_770586316396255671[68] = 0.0; + out_770586316396255671[69] = 0.0; + out_770586316396255671[70] = 1.0; + out_770586316396255671[71] = 0.0; + out_770586316396255671[72] = 0.0; + out_770586316396255671[73] = 0.0; + out_770586316396255671[74] = 0.0; + out_770586316396255671[75] = 0.0; + out_770586316396255671[76] = 0.0; + out_770586316396255671[77] = 0.0; + out_770586316396255671[78] = 0.0; + out_770586316396255671[79] = 0.0; + out_770586316396255671[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4209455390444840494) { - out_4209455390444840494[0] = state[0]; - out_4209455390444840494[1] = state[1]; - out_4209455390444840494[2] = state[2]; - out_4209455390444840494[3] = state[3]; - out_4209455390444840494[4] = state[4]; - out_4209455390444840494[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_4209455390444840494[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_4209455390444840494[7] = state[7]; - out_4209455390444840494[8] = state[8]; +void f_fun(double *state, double dt, double *out_5606339599600049351) { + out_5606339599600049351[0] = state[0]; + out_5606339599600049351[1] = state[1]; + out_5606339599600049351[2] = state[2]; + out_5606339599600049351[3] = state[3]; + out_5606339599600049351[4] = state[4]; + out_5606339599600049351[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_5606339599600049351[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_5606339599600049351[7] = state[7]; + out_5606339599600049351[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2724900345805544233) { - out_2724900345805544233[0] = 1; - out_2724900345805544233[1] = 0; - out_2724900345805544233[2] = 0; - out_2724900345805544233[3] = 0; - out_2724900345805544233[4] = 0; - out_2724900345805544233[5] = 0; - out_2724900345805544233[6] = 0; - out_2724900345805544233[7] = 0; - out_2724900345805544233[8] = 0; - out_2724900345805544233[9] = 0; - out_2724900345805544233[10] = 1; - out_2724900345805544233[11] = 0; - out_2724900345805544233[12] = 0; - out_2724900345805544233[13] = 0; - out_2724900345805544233[14] = 0; - out_2724900345805544233[15] = 0; - out_2724900345805544233[16] = 0; - out_2724900345805544233[17] = 0; - out_2724900345805544233[18] = 0; - out_2724900345805544233[19] = 0; - out_2724900345805544233[20] = 1; - out_2724900345805544233[21] = 0; - out_2724900345805544233[22] = 0; - out_2724900345805544233[23] = 0; - out_2724900345805544233[24] = 0; - out_2724900345805544233[25] = 0; - out_2724900345805544233[26] = 0; - out_2724900345805544233[27] = 0; - out_2724900345805544233[28] = 0; - out_2724900345805544233[29] = 0; - out_2724900345805544233[30] = 1; - out_2724900345805544233[31] = 0; - out_2724900345805544233[32] = 0; - out_2724900345805544233[33] = 0; - out_2724900345805544233[34] = 0; - out_2724900345805544233[35] = 0; - out_2724900345805544233[36] = 0; - out_2724900345805544233[37] = 0; - out_2724900345805544233[38] = 0; - out_2724900345805544233[39] = 0; - out_2724900345805544233[40] = 1; - out_2724900345805544233[41] = 0; - out_2724900345805544233[42] = 0; - out_2724900345805544233[43] = 0; - out_2724900345805544233[44] = 0; - out_2724900345805544233[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_2724900345805544233[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2724900345805544233[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2724900345805544233[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2724900345805544233[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_2724900345805544233[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2724900345805544233[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2724900345805544233[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2724900345805544233[53] = -9.8100000000000005*dt; - out_2724900345805544233[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_2724900345805544233[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2724900345805544233[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2724900345805544233[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2724900345805544233[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_2724900345805544233[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2724900345805544233[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_2724900345805544233[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2724900345805544233[62] = 0; - out_2724900345805544233[63] = 0; - out_2724900345805544233[64] = 0; - out_2724900345805544233[65] = 0; - out_2724900345805544233[66] = 0; - out_2724900345805544233[67] = 0; - out_2724900345805544233[68] = 0; - out_2724900345805544233[69] = 0; - out_2724900345805544233[70] = 1; - out_2724900345805544233[71] = 0; - out_2724900345805544233[72] = 0; - out_2724900345805544233[73] = 0; - out_2724900345805544233[74] = 0; - out_2724900345805544233[75] = 0; - out_2724900345805544233[76] = 0; - out_2724900345805544233[77] = 0; - out_2724900345805544233[78] = 0; - out_2724900345805544233[79] = 0; - out_2724900345805544233[80] = 1; +void F_fun(double *state, double dt, double *out_7025079641144486959) { + out_7025079641144486959[0] = 1; + out_7025079641144486959[1] = 0; + out_7025079641144486959[2] = 0; + out_7025079641144486959[3] = 0; + out_7025079641144486959[4] = 0; + out_7025079641144486959[5] = 0; + out_7025079641144486959[6] = 0; + out_7025079641144486959[7] = 0; + out_7025079641144486959[8] = 0; + out_7025079641144486959[9] = 0; + out_7025079641144486959[10] = 1; + out_7025079641144486959[11] = 0; + out_7025079641144486959[12] = 0; + out_7025079641144486959[13] = 0; + out_7025079641144486959[14] = 0; + out_7025079641144486959[15] = 0; + out_7025079641144486959[16] = 0; + out_7025079641144486959[17] = 0; + out_7025079641144486959[18] = 0; + out_7025079641144486959[19] = 0; + out_7025079641144486959[20] = 1; + out_7025079641144486959[21] = 0; + out_7025079641144486959[22] = 0; + out_7025079641144486959[23] = 0; + out_7025079641144486959[24] = 0; + out_7025079641144486959[25] = 0; + out_7025079641144486959[26] = 0; + out_7025079641144486959[27] = 0; + out_7025079641144486959[28] = 0; + out_7025079641144486959[29] = 0; + out_7025079641144486959[30] = 1; + out_7025079641144486959[31] = 0; + out_7025079641144486959[32] = 0; + out_7025079641144486959[33] = 0; + out_7025079641144486959[34] = 0; + out_7025079641144486959[35] = 0; + out_7025079641144486959[36] = 0; + out_7025079641144486959[37] = 0; + out_7025079641144486959[38] = 0; + out_7025079641144486959[39] = 0; + out_7025079641144486959[40] = 1; + out_7025079641144486959[41] = 0; + out_7025079641144486959[42] = 0; + out_7025079641144486959[43] = 0; + out_7025079641144486959[44] = 0; + out_7025079641144486959[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_7025079641144486959[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7025079641144486959[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7025079641144486959[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7025079641144486959[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_7025079641144486959[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7025079641144486959[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7025079641144486959[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7025079641144486959[53] = -9.8100000000000005*dt; + out_7025079641144486959[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_7025079641144486959[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7025079641144486959[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7025079641144486959[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7025079641144486959[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_7025079641144486959[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7025079641144486959[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_7025079641144486959[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7025079641144486959[62] = 0; + out_7025079641144486959[63] = 0; + out_7025079641144486959[64] = 0; + out_7025079641144486959[65] = 0; + out_7025079641144486959[66] = 0; + out_7025079641144486959[67] = 0; + out_7025079641144486959[68] = 0; + out_7025079641144486959[69] = 0; + out_7025079641144486959[70] = 1; + out_7025079641144486959[71] = 0; + out_7025079641144486959[72] = 0; + out_7025079641144486959[73] = 0; + out_7025079641144486959[74] = 0; + out_7025079641144486959[75] = 0; + out_7025079641144486959[76] = 0; + out_7025079641144486959[77] = 0; + out_7025079641144486959[78] = 0; + out_7025079641144486959[79] = 0; + out_7025079641144486959[80] = 1; } -void h_25(double *state, double *unused, double *out_2892803162940124204) { - out_2892803162940124204[0] = state[6]; +void h_25(double *state, double *unused, double *out_4577152348291642136) { + out_4577152348291642136[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4054323233890514922) { - out_4054323233890514922[0] = 0; - out_4054323233890514922[1] = 0; - out_4054323233890514922[2] = 0; - out_4054323233890514922[3] = 0; - out_4054323233890514922[4] = 0; - out_4054323233890514922[5] = 0; - out_4054323233890514922[6] = 1; - out_4054323233890514922[7] = 0; - out_4054323233890514922[8] = 0; +void H_25(double *state, double *unused, double *out_5674278141580920511) { + out_5674278141580920511[0] = 0; + out_5674278141580920511[1] = 0; + out_5674278141580920511[2] = 0; + out_5674278141580920511[3] = 0; + out_5674278141580920511[4] = 0; + out_5674278141580920511[5] = 0; + out_5674278141580920511[6] = 1; + out_5674278141580920511[7] = 0; + out_5674278141580920511[8] = 0; } -void h_24(double *state, double *unused, double *out_2360383510230698975) { - out_2360383510230698975[0] = state[4]; - out_2360383510230698975[1] = state[5]; +void h_24(double *state, double *unused, double *out_2260271043136596652) { + out_2260271043136596652[0] = state[4]; + out_2260271043136596652[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1828615449911646360) { - out_1828615449911646360[0] = 0; - out_1828615449911646360[1] = 0; - out_1828615449911646360[2] = 0; - out_1828615449911646360[3] = 0; - out_1828615449911646360[4] = 1; - out_1828615449911646360[5] = 0; - out_1828615449911646360[6] = 0; - out_1828615449911646360[7] = 0; - out_1828615449911646360[8] = 0; - out_1828615449911646360[9] = 0; - out_1828615449911646360[10] = 0; - out_1828615449911646360[11] = 0; - out_1828615449911646360[12] = 0; - out_1828615449911646360[13] = 0; - out_1828615449911646360[14] = 1; - out_1828615449911646360[15] = 0; - out_1828615449911646360[16] = 0; - out_1828615449911646360[17] = 0; +void H_24(double *state, double *unused, double *out_7498971649215618511) { + out_7498971649215618511[0] = 0; + out_7498971649215618511[1] = 0; + out_7498971649215618511[2] = 0; + out_7498971649215618511[3] = 0; + out_7498971649215618511[4] = 1; + out_7498971649215618511[5] = 0; + out_7498971649215618511[6] = 0; + out_7498971649215618511[7] = 0; + out_7498971649215618511[8] = 0; + out_7498971649215618511[9] = 0; + out_7498971649215618511[10] = 0; + out_7498971649215618511[11] = 0; + out_7498971649215618511[12] = 0; + out_7498971649215618511[13] = 0; + out_7498971649215618511[14] = 1; + out_7498971649215618511[15] = 0; + out_7498971649215618511[16] = 0; + out_7498971649215618511[17] = 0; } -void h_30(double *state, double *unused, double *out_801115166891129847) { - out_801115166891129847[0] = state[4]; +void h_30(double *state, double *unused, double *out_715468871863140484) { + out_715468871863140484[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2862367107601101833) { - out_2862367107601101833[0] = 0; - out_2862367107601101833[1] = 0; - out_2862367107601101833[2] = 0; - out_2862367107601101833[3] = 0; - out_2862367107601101833[4] = 1; - out_2862367107601101833[5] = 0; - out_2862367107601101833[6] = 0; - out_2862367107601101833[7] = 0; - out_2862367107601101833[8] = 0; +void H_30(double *state, double *unused, double *out_8192611100088169138) { + out_8192611100088169138[0] = 0; + out_8192611100088169138[1] = 0; + out_8192611100088169138[2] = 0; + out_8192611100088169138[3] = 0; + out_8192611100088169138[4] = 1; + out_8192611100088169138[5] = 0; + out_8192611100088169138[6] = 0; + out_8192611100088169138[7] = 0; + out_8192611100088169138[8] = 0; } -void h_26(double *state, double *unused, double *out_1833676042436215552) { - out_1833676042436215552[0] = state[7]; +void h_26(double *state, double *unused, double *out_8710731789405934690) { + out_8710731789405934690[0] = state[7]; } -void H_26(double *state, double *unused, double *out_749797264129714321) { - out_749797264129714321[0] = 0; - out_749797264129714321[1] = 0; - out_749797264129714321[2] = 0; - out_749797264129714321[3] = 0; - out_749797264129714321[4] = 0; - out_749797264129714321[5] = 0; - out_749797264129714321[6] = 0; - out_749797264129714321[7] = 1; - out_749797264129714321[8] = 0; +void H_26(double *state, double *unused, double *out_1932774822706864287) { + out_1932774822706864287[0] = 0; + out_1932774822706864287[1] = 0; + out_1932774822706864287[2] = 0; + out_1932774822706864287[3] = 0; + out_1932774822706864287[4] = 0; + out_1932774822706864287[5] = 0; + out_1932774822706864287[6] = 0; + out_1932774822706864287[7] = 1; + out_1932774822706864287[8] = 0; } -void h_27(double *state, double *unused, double *out_512631790305905855) { - out_512631790305905855[0] = state[3]; +void h_27(double *state, double *unused, double *out_5953042931828939605) { + out_5953042931828939605[0] = state[3]; } -void H_27(double *state, double *unused, double *out_687603795800676922) { - out_687603795800676922[0] = 0; - out_687603795800676922[1] = 0; - out_687603795800676922[2] = 0; - out_687603795800676922[3] = 1; - out_687603795800676922[4] = 0; - out_687603795800676922[5] = 0; - out_687603795800676922[6] = 0; - out_687603795800676922[7] = 0; - out_687603795800676922[8] = 0; +void H_27(double *state, double *unused, double *out_6017847788287744227) { + out_6017847788287744227[0] = 0; + out_6017847788287744227[1] = 0; + out_6017847788287744227[2] = 0; + out_6017847788287744227[3] = 1; + out_6017847788287744227[4] = 0; + out_6017847788287744227[5] = 0; + out_6017847788287744227[6] = 0; + out_6017847788287744227[7] = 0; + out_6017847788287744227[8] = 0; } -void h_29(double *state, double *unused, double *out_355445121954776710) { - out_355445121954776710[0] = state[1]; +void h_29(double *state, double *unused, double *out_5677848869544433716) { + out_5677848869544433716[0] = state[1]; } -void H_29(double *state, double *unused, double *out_3372598451915494017) { - out_3372598451915494017[0] = 0; - out_3372598451915494017[1] = 1; - out_3372598451915494017[2] = 0; - out_3372598451915494017[3] = 0; - out_3372598451915494017[4] = 0; - out_3372598451915494017[5] = 0; - out_3372598451915494017[6] = 0; - out_3372598451915494017[7] = 0; - out_3372598451915494017[8] = 0; +void H_29(double *state, double *unused, double *out_8702842444402561322) { + out_8702842444402561322[0] = 0; + out_8702842444402561322[1] = 1; + out_8702842444402561322[2] = 0; + out_8702842444402561322[3] = 0; + out_8702842444402561322[4] = 0; + out_8702842444402561322[5] = 0; + out_8702842444402561322[6] = 0; + out_8702842444402561322[7] = 0; + out_8702842444402561322[8] = 0; } -void h_28(double *state, double *unused, double *out_4713758757429658086) { - out_4713758757429658086[0] = state[0]; +void h_28(double *state, double *unused, double *out_8557448252637637256) { + out_8557448252637637256[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6108157948138404685) { - out_6108157948138404685[0] = 1; - out_6108157948138404685[1] = 0; - out_6108157948138404685[2] = 0; - out_6108157948138404685[3] = 0; - out_6108157948138404685[4] = 0; - out_6108157948138404685[5] = 0; - out_6108157948138404685[6] = 0; - out_6108157948138404685[7] = 0; - out_6108157948138404685[8] = 0; +void H_28(double *state, double *unused, double *out_3620443427333030748) { + out_3620443427333030748[0] = 1; + out_3620443427333030748[1] = 0; + out_3620443427333030748[2] = 0; + out_3620443427333030748[3] = 0; + out_3620443427333030748[4] = 0; + out_3620443427333030748[5] = 0; + out_3620443427333030748[6] = 0; + out_3620443427333030748[7] = 0; + out_3620443427333030748[8] = 0; } -void h_31(double *state, double *unused, double *out_744646365313898146) { - out_744646365313898146[0] = state[8]; +void h_31(double *state, double *unused, double *out_1336580678379106237) { + out_1336580678379106237[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3022352016621302331) { - out_3022352016621302331[0] = 0; - out_3022352016621302331[1] = 0; - out_3022352016621302331[2] = 0; - out_3022352016621302331[3] = 0; - out_3022352016621302331[4] = 0; - out_3022352016621302331[5] = 0; - out_3022352016621302331[6] = 0; - out_3022352016621302331[7] = 0; - out_3022352016621302331[8] = 1; +void H_31(double *state, double *unused, double *out_1306566720473512811) { + out_1306566720473512811[0] = 0; + out_1306566720473512811[1] = 0; + out_1306566720473512811[2] = 0; + out_1306566720473512811[3] = 0; + out_1306566720473512811[4] = 0; + out_1306566720473512811[5] = 0; + out_1306566720473512811[6] = 0; + out_1306566720473512811[7] = 0; + out_1306566720473512811[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_6201369500890241283) { - err_fun(nom_x, delta_x, out_6201369500890241283); +void car_err_fun(double *nom_x, double *delta_x, double *out_7681400738027994255) { + err_fun(nom_x, delta_x, out_7681400738027994255); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124) { - inv_err_fun(nom_x, true_x, out_6748403134246456124); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5789638956557325357) { + inv_err_fun(nom_x, true_x, out_5789638956557325357); } -void car_H_mod_fun(double *state, double *out_2042585132715859694) { - H_mod_fun(state, out_2042585132715859694); +void car_H_mod_fun(double *state, double *out_770586316396255671) { + H_mod_fun(state, out_770586316396255671); } -void car_f_fun(double *state, double dt, double *out_4209455390444840494) { - f_fun(state, dt, out_4209455390444840494); +void car_f_fun(double *state, double dt, double *out_5606339599600049351) { + f_fun(state, dt, out_5606339599600049351); } -void car_F_fun(double *state, double dt, double *out_2724900345805544233) { - F_fun(state, dt, out_2724900345805544233); +void car_F_fun(double *state, double dt, double *out_7025079641144486959) { + F_fun(state, dt, out_7025079641144486959); } -void car_h_25(double *state, double *unused, double *out_2892803162940124204) { - h_25(state, unused, out_2892803162940124204); +void car_h_25(double *state, double *unused, double *out_4577152348291642136) { + h_25(state, unused, out_4577152348291642136); } -void car_H_25(double *state, double *unused, double *out_4054323233890514922) { - H_25(state, unused, out_4054323233890514922); +void car_H_25(double *state, double *unused, double *out_5674278141580920511) { + H_25(state, unused, out_5674278141580920511); } -void car_h_24(double *state, double *unused, double *out_2360383510230698975) { - h_24(state, unused, out_2360383510230698975); +void car_h_24(double *state, double *unused, double *out_2260271043136596652) { + h_24(state, unused, out_2260271043136596652); } -void car_H_24(double *state, double *unused, double *out_1828615449911646360) { - H_24(state, unused, out_1828615449911646360); +void car_H_24(double *state, double *unused, double *out_7498971649215618511) { + H_24(state, unused, out_7498971649215618511); } -void car_h_30(double *state, double *unused, double *out_801115166891129847) { - h_30(state, unused, out_801115166891129847); +void car_h_30(double *state, double *unused, double *out_715468871863140484) { + h_30(state, unused, out_715468871863140484); } -void car_H_30(double *state, double *unused, double *out_2862367107601101833) { - H_30(state, unused, out_2862367107601101833); +void car_H_30(double *state, double *unused, double *out_8192611100088169138) { + H_30(state, unused, out_8192611100088169138); } -void car_h_26(double *state, double *unused, double *out_1833676042436215552) { - h_26(state, unused, out_1833676042436215552); +void car_h_26(double *state, double *unused, double *out_8710731789405934690) { + h_26(state, unused, out_8710731789405934690); } -void car_H_26(double *state, double *unused, double *out_749797264129714321) { - H_26(state, unused, out_749797264129714321); +void car_H_26(double *state, double *unused, double *out_1932774822706864287) { + H_26(state, unused, out_1932774822706864287); } -void car_h_27(double *state, double *unused, double *out_512631790305905855) { - h_27(state, unused, out_512631790305905855); +void car_h_27(double *state, double *unused, double *out_5953042931828939605) { + h_27(state, unused, out_5953042931828939605); } -void car_H_27(double *state, double *unused, double *out_687603795800676922) { - H_27(state, unused, out_687603795800676922); +void car_H_27(double *state, double *unused, double *out_6017847788287744227) { + H_27(state, unused, out_6017847788287744227); } -void car_h_29(double *state, double *unused, double *out_355445121954776710) { - h_29(state, unused, out_355445121954776710); +void car_h_29(double *state, double *unused, double *out_5677848869544433716) { + h_29(state, unused, out_5677848869544433716); } -void car_H_29(double *state, double *unused, double *out_3372598451915494017) { - H_29(state, unused, out_3372598451915494017); +void car_H_29(double *state, double *unused, double *out_8702842444402561322) { + H_29(state, unused, out_8702842444402561322); } -void car_h_28(double *state, double *unused, double *out_4713758757429658086) { - h_28(state, unused, out_4713758757429658086); +void car_h_28(double *state, double *unused, double *out_8557448252637637256) { + h_28(state, unused, out_8557448252637637256); } -void car_H_28(double *state, double *unused, double *out_6108157948138404685) { - H_28(state, unused, out_6108157948138404685); +void car_H_28(double *state, double *unused, double *out_3620443427333030748) { + H_28(state, unused, out_3620443427333030748); } -void car_h_31(double *state, double *unused, double *out_744646365313898146) { - h_31(state, unused, out_744646365313898146); +void car_h_31(double *state, double *unused, double *out_1336580678379106237) { + h_31(state, unused, out_1336580678379106237); } -void car_H_31(double *state, double *unused, double *out_3022352016621302331) { - H_31(state, unused, out_3022352016621302331); +void car_H_31(double *state, double *unused, double *out_1306566720473512811) { + H_31(state, unused, out_1306566720473512811); } 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 3187d7d12..61a4f1a8b 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_6201369500890241283); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6748403134246456124); -void car_H_mod_fun(double *state, double *out_2042585132715859694); -void car_f_fun(double *state, double dt, double *out_4209455390444840494); -void car_F_fun(double *state, double dt, double *out_2724900345805544233); -void car_h_25(double *state, double *unused, double *out_2892803162940124204); -void car_H_25(double *state, double *unused, double *out_4054323233890514922); -void car_h_24(double *state, double *unused, double *out_2360383510230698975); -void car_H_24(double *state, double *unused, double *out_1828615449911646360); -void car_h_30(double *state, double *unused, double *out_801115166891129847); -void car_H_30(double *state, double *unused, double *out_2862367107601101833); -void car_h_26(double *state, double *unused, double *out_1833676042436215552); -void car_H_26(double *state, double *unused, double *out_749797264129714321); -void car_h_27(double *state, double *unused, double *out_512631790305905855); -void car_H_27(double *state, double *unused, double *out_687603795800676922); -void car_h_29(double *state, double *unused, double *out_355445121954776710); -void car_H_29(double *state, double *unused, double *out_3372598451915494017); -void car_h_28(double *state, double *unused, double *out_4713758757429658086); -void car_H_28(double *state, double *unused, double *out_6108157948138404685); -void car_h_31(double *state, double *unused, double *out_744646365313898146); -void car_H_31(double *state, double *unused, double *out_3022352016621302331); +void car_err_fun(double *nom_x, double *delta_x, double *out_7681400738027994255); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5789638956557325357); +void car_H_mod_fun(double *state, double *out_770586316396255671); +void car_f_fun(double *state, double dt, double *out_5606339599600049351); +void car_F_fun(double *state, double dt, double *out_7025079641144486959); +void car_h_25(double *state, double *unused, double *out_4577152348291642136); +void car_H_25(double *state, double *unused, double *out_5674278141580920511); +void car_h_24(double *state, double *unused, double *out_2260271043136596652); +void car_H_24(double *state, double *unused, double *out_7498971649215618511); +void car_h_30(double *state, double *unused, double *out_715468871863140484); +void car_H_30(double *state, double *unused, double *out_8192611100088169138); +void car_h_26(double *state, double *unused, double *out_8710731789405934690); +void car_H_26(double *state, double *unused, double *out_1932774822706864287); +void car_h_27(double *state, double *unused, double *out_5953042931828939605); +void car_H_27(double *state, double *unused, double *out_6017847788287744227); +void car_h_29(double *state, double *unused, double *out_5677848869544433716); +void car_H_29(double *state, double *unused, double *out_8702842444402561322); +void car_h_28(double *state, double *unused, double *out_8557448252637637256); +void car_H_28(double *state, double *unused, double *out_3620443427333030748); +void car_h_31(double *state, double *unused, double *out_1336580678379106237); +void car_H_31(double *state, double *unused, double *out_1306566720473512811); 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 e34e03f25..e2b9d8a37 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_2815596288453817821) { - out_2815596288453817821[0] = delta_x[0] + nom_x[0]; - out_2815596288453817821[1] = delta_x[1] + nom_x[1]; - out_2815596288453817821[2] = delta_x[2] + nom_x[2]; - out_2815596288453817821[3] = delta_x[3] + nom_x[3]; - out_2815596288453817821[4] = delta_x[4] + nom_x[4]; - out_2815596288453817821[5] = delta_x[5] + nom_x[5]; - out_2815596288453817821[6] = delta_x[6] + nom_x[6]; - out_2815596288453817821[7] = delta_x[7] + nom_x[7]; - out_2815596288453817821[8] = delta_x[8] + nom_x[8]; - out_2815596288453817821[9] = delta_x[9] + nom_x[9]; - out_2815596288453817821[10] = delta_x[10] + nom_x[10]; - out_2815596288453817821[11] = delta_x[11] + nom_x[11]; - out_2815596288453817821[12] = delta_x[12] + nom_x[12]; - out_2815596288453817821[13] = delta_x[13] + nom_x[13]; - out_2815596288453817821[14] = delta_x[14] + nom_x[14]; - out_2815596288453817821[15] = delta_x[15] + nom_x[15]; - out_2815596288453817821[16] = delta_x[16] + nom_x[16]; - out_2815596288453817821[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6990659364596708462) { + out_6990659364596708462[0] = delta_x[0] + nom_x[0]; + out_6990659364596708462[1] = delta_x[1] + nom_x[1]; + out_6990659364596708462[2] = delta_x[2] + nom_x[2]; + out_6990659364596708462[3] = delta_x[3] + nom_x[3]; + out_6990659364596708462[4] = delta_x[4] + nom_x[4]; + out_6990659364596708462[5] = delta_x[5] + nom_x[5]; + out_6990659364596708462[6] = delta_x[6] + nom_x[6]; + out_6990659364596708462[7] = delta_x[7] + nom_x[7]; + out_6990659364596708462[8] = delta_x[8] + nom_x[8]; + out_6990659364596708462[9] = delta_x[9] + nom_x[9]; + out_6990659364596708462[10] = delta_x[10] + nom_x[10]; + out_6990659364596708462[11] = delta_x[11] + nom_x[11]; + out_6990659364596708462[12] = delta_x[12] + nom_x[12]; + out_6990659364596708462[13] = delta_x[13] + nom_x[13]; + out_6990659364596708462[14] = delta_x[14] + nom_x[14]; + out_6990659364596708462[15] = delta_x[15] + nom_x[15]; + out_6990659364596708462[16] = delta_x[16] + nom_x[16]; + out_6990659364596708462[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8761485569796980977) { - out_8761485569796980977[0] = -nom_x[0] + true_x[0]; - out_8761485569796980977[1] = -nom_x[1] + true_x[1]; - out_8761485569796980977[2] = -nom_x[2] + true_x[2]; - out_8761485569796980977[3] = -nom_x[3] + true_x[3]; - out_8761485569796980977[4] = -nom_x[4] + true_x[4]; - out_8761485569796980977[5] = -nom_x[5] + true_x[5]; - out_8761485569796980977[6] = -nom_x[6] + true_x[6]; - out_8761485569796980977[7] = -nom_x[7] + true_x[7]; - out_8761485569796980977[8] = -nom_x[8] + true_x[8]; - out_8761485569796980977[9] = -nom_x[9] + true_x[9]; - out_8761485569796980977[10] = -nom_x[10] + true_x[10]; - out_8761485569796980977[11] = -nom_x[11] + true_x[11]; - out_8761485569796980977[12] = -nom_x[12] + true_x[12]; - out_8761485569796980977[13] = -nom_x[13] + true_x[13]; - out_8761485569796980977[14] = -nom_x[14] + true_x[14]; - out_8761485569796980977[15] = -nom_x[15] + true_x[15]; - out_8761485569796980977[16] = -nom_x[16] + true_x[16]; - out_8761485569796980977[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1561026677999837058) { + out_1561026677999837058[0] = -nom_x[0] + true_x[0]; + out_1561026677999837058[1] = -nom_x[1] + true_x[1]; + out_1561026677999837058[2] = -nom_x[2] + true_x[2]; + out_1561026677999837058[3] = -nom_x[3] + true_x[3]; + out_1561026677999837058[4] = -nom_x[4] + true_x[4]; + out_1561026677999837058[5] = -nom_x[5] + true_x[5]; + out_1561026677999837058[6] = -nom_x[6] + true_x[6]; + out_1561026677999837058[7] = -nom_x[7] + true_x[7]; + out_1561026677999837058[8] = -nom_x[8] + true_x[8]; + out_1561026677999837058[9] = -nom_x[9] + true_x[9]; + out_1561026677999837058[10] = -nom_x[10] + true_x[10]; + out_1561026677999837058[11] = -nom_x[11] + true_x[11]; + out_1561026677999837058[12] = -nom_x[12] + true_x[12]; + out_1561026677999837058[13] = -nom_x[13] + true_x[13]; + out_1561026677999837058[14] = -nom_x[14] + true_x[14]; + out_1561026677999837058[15] = -nom_x[15] + true_x[15]; + out_1561026677999837058[16] = -nom_x[16] + true_x[16]; + out_1561026677999837058[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_9016812017969752156) { - out_9016812017969752156[0] = 1.0; - out_9016812017969752156[1] = 0.0; - out_9016812017969752156[2] = 0.0; - out_9016812017969752156[3] = 0.0; - out_9016812017969752156[4] = 0.0; - out_9016812017969752156[5] = 0.0; - out_9016812017969752156[6] = 0.0; - out_9016812017969752156[7] = 0.0; - out_9016812017969752156[8] = 0.0; - out_9016812017969752156[9] = 0.0; - out_9016812017969752156[10] = 0.0; - out_9016812017969752156[11] = 0.0; - out_9016812017969752156[12] = 0.0; - out_9016812017969752156[13] = 0.0; - out_9016812017969752156[14] = 0.0; - out_9016812017969752156[15] = 0.0; - out_9016812017969752156[16] = 0.0; - out_9016812017969752156[17] = 0.0; - out_9016812017969752156[18] = 0.0; - out_9016812017969752156[19] = 1.0; - out_9016812017969752156[20] = 0.0; - out_9016812017969752156[21] = 0.0; - out_9016812017969752156[22] = 0.0; - out_9016812017969752156[23] = 0.0; - out_9016812017969752156[24] = 0.0; - out_9016812017969752156[25] = 0.0; - out_9016812017969752156[26] = 0.0; - out_9016812017969752156[27] = 0.0; - out_9016812017969752156[28] = 0.0; - out_9016812017969752156[29] = 0.0; - out_9016812017969752156[30] = 0.0; - out_9016812017969752156[31] = 0.0; - out_9016812017969752156[32] = 0.0; - out_9016812017969752156[33] = 0.0; - out_9016812017969752156[34] = 0.0; - out_9016812017969752156[35] = 0.0; - out_9016812017969752156[36] = 0.0; - out_9016812017969752156[37] = 0.0; - out_9016812017969752156[38] = 1.0; - out_9016812017969752156[39] = 0.0; - out_9016812017969752156[40] = 0.0; - out_9016812017969752156[41] = 0.0; - out_9016812017969752156[42] = 0.0; - out_9016812017969752156[43] = 0.0; - out_9016812017969752156[44] = 0.0; - out_9016812017969752156[45] = 0.0; - out_9016812017969752156[46] = 0.0; - out_9016812017969752156[47] = 0.0; - out_9016812017969752156[48] = 0.0; - out_9016812017969752156[49] = 0.0; - out_9016812017969752156[50] = 0.0; - out_9016812017969752156[51] = 0.0; - out_9016812017969752156[52] = 0.0; - out_9016812017969752156[53] = 0.0; - out_9016812017969752156[54] = 0.0; - out_9016812017969752156[55] = 0.0; - out_9016812017969752156[56] = 0.0; - out_9016812017969752156[57] = 1.0; - out_9016812017969752156[58] = 0.0; - out_9016812017969752156[59] = 0.0; - out_9016812017969752156[60] = 0.0; - out_9016812017969752156[61] = 0.0; - out_9016812017969752156[62] = 0.0; - out_9016812017969752156[63] = 0.0; - out_9016812017969752156[64] = 0.0; - out_9016812017969752156[65] = 0.0; - out_9016812017969752156[66] = 0.0; - out_9016812017969752156[67] = 0.0; - out_9016812017969752156[68] = 0.0; - out_9016812017969752156[69] = 0.0; - out_9016812017969752156[70] = 0.0; - out_9016812017969752156[71] = 0.0; - out_9016812017969752156[72] = 0.0; - out_9016812017969752156[73] = 0.0; - out_9016812017969752156[74] = 0.0; - out_9016812017969752156[75] = 0.0; - out_9016812017969752156[76] = 1.0; - out_9016812017969752156[77] = 0.0; - out_9016812017969752156[78] = 0.0; - out_9016812017969752156[79] = 0.0; - out_9016812017969752156[80] = 0.0; - out_9016812017969752156[81] = 0.0; - out_9016812017969752156[82] = 0.0; - out_9016812017969752156[83] = 0.0; - out_9016812017969752156[84] = 0.0; - out_9016812017969752156[85] = 0.0; - out_9016812017969752156[86] = 0.0; - out_9016812017969752156[87] = 0.0; - out_9016812017969752156[88] = 0.0; - out_9016812017969752156[89] = 0.0; - out_9016812017969752156[90] = 0.0; - out_9016812017969752156[91] = 0.0; - out_9016812017969752156[92] = 0.0; - out_9016812017969752156[93] = 0.0; - out_9016812017969752156[94] = 0.0; - out_9016812017969752156[95] = 1.0; - out_9016812017969752156[96] = 0.0; - out_9016812017969752156[97] = 0.0; - out_9016812017969752156[98] = 0.0; - out_9016812017969752156[99] = 0.0; - out_9016812017969752156[100] = 0.0; - out_9016812017969752156[101] = 0.0; - out_9016812017969752156[102] = 0.0; - out_9016812017969752156[103] = 0.0; - out_9016812017969752156[104] = 0.0; - out_9016812017969752156[105] = 0.0; - out_9016812017969752156[106] = 0.0; - out_9016812017969752156[107] = 0.0; - out_9016812017969752156[108] = 0.0; - out_9016812017969752156[109] = 0.0; - out_9016812017969752156[110] = 0.0; - out_9016812017969752156[111] = 0.0; - out_9016812017969752156[112] = 0.0; - out_9016812017969752156[113] = 0.0; - out_9016812017969752156[114] = 1.0; - out_9016812017969752156[115] = 0.0; - out_9016812017969752156[116] = 0.0; - out_9016812017969752156[117] = 0.0; - out_9016812017969752156[118] = 0.0; - out_9016812017969752156[119] = 0.0; - out_9016812017969752156[120] = 0.0; - out_9016812017969752156[121] = 0.0; - out_9016812017969752156[122] = 0.0; - out_9016812017969752156[123] = 0.0; - out_9016812017969752156[124] = 0.0; - out_9016812017969752156[125] = 0.0; - out_9016812017969752156[126] = 0.0; - out_9016812017969752156[127] = 0.0; - out_9016812017969752156[128] = 0.0; - out_9016812017969752156[129] = 0.0; - out_9016812017969752156[130] = 0.0; - out_9016812017969752156[131] = 0.0; - out_9016812017969752156[132] = 0.0; - out_9016812017969752156[133] = 1.0; - out_9016812017969752156[134] = 0.0; - out_9016812017969752156[135] = 0.0; - out_9016812017969752156[136] = 0.0; - out_9016812017969752156[137] = 0.0; - out_9016812017969752156[138] = 0.0; - out_9016812017969752156[139] = 0.0; - out_9016812017969752156[140] = 0.0; - out_9016812017969752156[141] = 0.0; - out_9016812017969752156[142] = 0.0; - out_9016812017969752156[143] = 0.0; - out_9016812017969752156[144] = 0.0; - out_9016812017969752156[145] = 0.0; - out_9016812017969752156[146] = 0.0; - out_9016812017969752156[147] = 0.0; - out_9016812017969752156[148] = 0.0; - out_9016812017969752156[149] = 0.0; - out_9016812017969752156[150] = 0.0; - out_9016812017969752156[151] = 0.0; - out_9016812017969752156[152] = 1.0; - out_9016812017969752156[153] = 0.0; - out_9016812017969752156[154] = 0.0; - out_9016812017969752156[155] = 0.0; - out_9016812017969752156[156] = 0.0; - out_9016812017969752156[157] = 0.0; - out_9016812017969752156[158] = 0.0; - out_9016812017969752156[159] = 0.0; - out_9016812017969752156[160] = 0.0; - out_9016812017969752156[161] = 0.0; - out_9016812017969752156[162] = 0.0; - out_9016812017969752156[163] = 0.0; - out_9016812017969752156[164] = 0.0; - out_9016812017969752156[165] = 0.0; - out_9016812017969752156[166] = 0.0; - out_9016812017969752156[167] = 0.0; - out_9016812017969752156[168] = 0.0; - out_9016812017969752156[169] = 0.0; - out_9016812017969752156[170] = 0.0; - out_9016812017969752156[171] = 1.0; - out_9016812017969752156[172] = 0.0; - out_9016812017969752156[173] = 0.0; - out_9016812017969752156[174] = 0.0; - out_9016812017969752156[175] = 0.0; - out_9016812017969752156[176] = 0.0; - out_9016812017969752156[177] = 0.0; - out_9016812017969752156[178] = 0.0; - out_9016812017969752156[179] = 0.0; - out_9016812017969752156[180] = 0.0; - out_9016812017969752156[181] = 0.0; - out_9016812017969752156[182] = 0.0; - out_9016812017969752156[183] = 0.0; - out_9016812017969752156[184] = 0.0; - out_9016812017969752156[185] = 0.0; - out_9016812017969752156[186] = 0.0; - out_9016812017969752156[187] = 0.0; - out_9016812017969752156[188] = 0.0; - out_9016812017969752156[189] = 0.0; - out_9016812017969752156[190] = 1.0; - out_9016812017969752156[191] = 0.0; - out_9016812017969752156[192] = 0.0; - out_9016812017969752156[193] = 0.0; - out_9016812017969752156[194] = 0.0; - out_9016812017969752156[195] = 0.0; - out_9016812017969752156[196] = 0.0; - out_9016812017969752156[197] = 0.0; - out_9016812017969752156[198] = 0.0; - out_9016812017969752156[199] = 0.0; - out_9016812017969752156[200] = 0.0; - out_9016812017969752156[201] = 0.0; - out_9016812017969752156[202] = 0.0; - out_9016812017969752156[203] = 0.0; - out_9016812017969752156[204] = 0.0; - out_9016812017969752156[205] = 0.0; - out_9016812017969752156[206] = 0.0; - out_9016812017969752156[207] = 0.0; - out_9016812017969752156[208] = 0.0; - out_9016812017969752156[209] = 1.0; - out_9016812017969752156[210] = 0.0; - out_9016812017969752156[211] = 0.0; - out_9016812017969752156[212] = 0.0; - out_9016812017969752156[213] = 0.0; - out_9016812017969752156[214] = 0.0; - out_9016812017969752156[215] = 0.0; - out_9016812017969752156[216] = 0.0; - out_9016812017969752156[217] = 0.0; - out_9016812017969752156[218] = 0.0; - out_9016812017969752156[219] = 0.0; - out_9016812017969752156[220] = 0.0; - out_9016812017969752156[221] = 0.0; - out_9016812017969752156[222] = 0.0; - out_9016812017969752156[223] = 0.0; - out_9016812017969752156[224] = 0.0; - out_9016812017969752156[225] = 0.0; - out_9016812017969752156[226] = 0.0; - out_9016812017969752156[227] = 0.0; - out_9016812017969752156[228] = 1.0; - out_9016812017969752156[229] = 0.0; - out_9016812017969752156[230] = 0.0; - out_9016812017969752156[231] = 0.0; - out_9016812017969752156[232] = 0.0; - out_9016812017969752156[233] = 0.0; - out_9016812017969752156[234] = 0.0; - out_9016812017969752156[235] = 0.0; - out_9016812017969752156[236] = 0.0; - out_9016812017969752156[237] = 0.0; - out_9016812017969752156[238] = 0.0; - out_9016812017969752156[239] = 0.0; - out_9016812017969752156[240] = 0.0; - out_9016812017969752156[241] = 0.0; - out_9016812017969752156[242] = 0.0; - out_9016812017969752156[243] = 0.0; - out_9016812017969752156[244] = 0.0; - out_9016812017969752156[245] = 0.0; - out_9016812017969752156[246] = 0.0; - out_9016812017969752156[247] = 1.0; - out_9016812017969752156[248] = 0.0; - out_9016812017969752156[249] = 0.0; - out_9016812017969752156[250] = 0.0; - out_9016812017969752156[251] = 0.0; - out_9016812017969752156[252] = 0.0; - out_9016812017969752156[253] = 0.0; - out_9016812017969752156[254] = 0.0; - out_9016812017969752156[255] = 0.0; - out_9016812017969752156[256] = 0.0; - out_9016812017969752156[257] = 0.0; - out_9016812017969752156[258] = 0.0; - out_9016812017969752156[259] = 0.0; - out_9016812017969752156[260] = 0.0; - out_9016812017969752156[261] = 0.0; - out_9016812017969752156[262] = 0.0; - out_9016812017969752156[263] = 0.0; - out_9016812017969752156[264] = 0.0; - out_9016812017969752156[265] = 0.0; - out_9016812017969752156[266] = 1.0; - out_9016812017969752156[267] = 0.0; - out_9016812017969752156[268] = 0.0; - out_9016812017969752156[269] = 0.0; - out_9016812017969752156[270] = 0.0; - out_9016812017969752156[271] = 0.0; - out_9016812017969752156[272] = 0.0; - out_9016812017969752156[273] = 0.0; - out_9016812017969752156[274] = 0.0; - out_9016812017969752156[275] = 0.0; - out_9016812017969752156[276] = 0.0; - out_9016812017969752156[277] = 0.0; - out_9016812017969752156[278] = 0.0; - out_9016812017969752156[279] = 0.0; - out_9016812017969752156[280] = 0.0; - out_9016812017969752156[281] = 0.0; - out_9016812017969752156[282] = 0.0; - out_9016812017969752156[283] = 0.0; - out_9016812017969752156[284] = 0.0; - out_9016812017969752156[285] = 1.0; - out_9016812017969752156[286] = 0.0; - out_9016812017969752156[287] = 0.0; - out_9016812017969752156[288] = 0.0; - out_9016812017969752156[289] = 0.0; - out_9016812017969752156[290] = 0.0; - out_9016812017969752156[291] = 0.0; - out_9016812017969752156[292] = 0.0; - out_9016812017969752156[293] = 0.0; - out_9016812017969752156[294] = 0.0; - out_9016812017969752156[295] = 0.0; - out_9016812017969752156[296] = 0.0; - out_9016812017969752156[297] = 0.0; - out_9016812017969752156[298] = 0.0; - out_9016812017969752156[299] = 0.0; - out_9016812017969752156[300] = 0.0; - out_9016812017969752156[301] = 0.0; - out_9016812017969752156[302] = 0.0; - out_9016812017969752156[303] = 0.0; - out_9016812017969752156[304] = 1.0; - out_9016812017969752156[305] = 0.0; - out_9016812017969752156[306] = 0.0; - out_9016812017969752156[307] = 0.0; - out_9016812017969752156[308] = 0.0; - out_9016812017969752156[309] = 0.0; - out_9016812017969752156[310] = 0.0; - out_9016812017969752156[311] = 0.0; - out_9016812017969752156[312] = 0.0; - out_9016812017969752156[313] = 0.0; - out_9016812017969752156[314] = 0.0; - out_9016812017969752156[315] = 0.0; - out_9016812017969752156[316] = 0.0; - out_9016812017969752156[317] = 0.0; - out_9016812017969752156[318] = 0.0; - out_9016812017969752156[319] = 0.0; - out_9016812017969752156[320] = 0.0; - out_9016812017969752156[321] = 0.0; - out_9016812017969752156[322] = 0.0; - out_9016812017969752156[323] = 1.0; +void H_mod_fun(double *state, double *out_308647198819961252) { + out_308647198819961252[0] = 1.0; + out_308647198819961252[1] = 0.0; + out_308647198819961252[2] = 0.0; + out_308647198819961252[3] = 0.0; + out_308647198819961252[4] = 0.0; + out_308647198819961252[5] = 0.0; + out_308647198819961252[6] = 0.0; + out_308647198819961252[7] = 0.0; + out_308647198819961252[8] = 0.0; + out_308647198819961252[9] = 0.0; + out_308647198819961252[10] = 0.0; + out_308647198819961252[11] = 0.0; + out_308647198819961252[12] = 0.0; + out_308647198819961252[13] = 0.0; + out_308647198819961252[14] = 0.0; + out_308647198819961252[15] = 0.0; + out_308647198819961252[16] = 0.0; + out_308647198819961252[17] = 0.0; + out_308647198819961252[18] = 0.0; + out_308647198819961252[19] = 1.0; + out_308647198819961252[20] = 0.0; + out_308647198819961252[21] = 0.0; + out_308647198819961252[22] = 0.0; + out_308647198819961252[23] = 0.0; + out_308647198819961252[24] = 0.0; + out_308647198819961252[25] = 0.0; + out_308647198819961252[26] = 0.0; + out_308647198819961252[27] = 0.0; + out_308647198819961252[28] = 0.0; + out_308647198819961252[29] = 0.0; + out_308647198819961252[30] = 0.0; + out_308647198819961252[31] = 0.0; + out_308647198819961252[32] = 0.0; + out_308647198819961252[33] = 0.0; + out_308647198819961252[34] = 0.0; + out_308647198819961252[35] = 0.0; + out_308647198819961252[36] = 0.0; + out_308647198819961252[37] = 0.0; + out_308647198819961252[38] = 1.0; + out_308647198819961252[39] = 0.0; + out_308647198819961252[40] = 0.0; + out_308647198819961252[41] = 0.0; + out_308647198819961252[42] = 0.0; + out_308647198819961252[43] = 0.0; + out_308647198819961252[44] = 0.0; + out_308647198819961252[45] = 0.0; + out_308647198819961252[46] = 0.0; + out_308647198819961252[47] = 0.0; + out_308647198819961252[48] = 0.0; + out_308647198819961252[49] = 0.0; + out_308647198819961252[50] = 0.0; + out_308647198819961252[51] = 0.0; + out_308647198819961252[52] = 0.0; + out_308647198819961252[53] = 0.0; + out_308647198819961252[54] = 0.0; + out_308647198819961252[55] = 0.0; + out_308647198819961252[56] = 0.0; + out_308647198819961252[57] = 1.0; + out_308647198819961252[58] = 0.0; + out_308647198819961252[59] = 0.0; + out_308647198819961252[60] = 0.0; + out_308647198819961252[61] = 0.0; + out_308647198819961252[62] = 0.0; + out_308647198819961252[63] = 0.0; + out_308647198819961252[64] = 0.0; + out_308647198819961252[65] = 0.0; + out_308647198819961252[66] = 0.0; + out_308647198819961252[67] = 0.0; + out_308647198819961252[68] = 0.0; + out_308647198819961252[69] = 0.0; + out_308647198819961252[70] = 0.0; + out_308647198819961252[71] = 0.0; + out_308647198819961252[72] = 0.0; + out_308647198819961252[73] = 0.0; + out_308647198819961252[74] = 0.0; + out_308647198819961252[75] = 0.0; + out_308647198819961252[76] = 1.0; + out_308647198819961252[77] = 0.0; + out_308647198819961252[78] = 0.0; + out_308647198819961252[79] = 0.0; + out_308647198819961252[80] = 0.0; + out_308647198819961252[81] = 0.0; + out_308647198819961252[82] = 0.0; + out_308647198819961252[83] = 0.0; + out_308647198819961252[84] = 0.0; + out_308647198819961252[85] = 0.0; + out_308647198819961252[86] = 0.0; + out_308647198819961252[87] = 0.0; + out_308647198819961252[88] = 0.0; + out_308647198819961252[89] = 0.0; + out_308647198819961252[90] = 0.0; + out_308647198819961252[91] = 0.0; + out_308647198819961252[92] = 0.0; + out_308647198819961252[93] = 0.0; + out_308647198819961252[94] = 0.0; + out_308647198819961252[95] = 1.0; + out_308647198819961252[96] = 0.0; + out_308647198819961252[97] = 0.0; + out_308647198819961252[98] = 0.0; + out_308647198819961252[99] = 0.0; + out_308647198819961252[100] = 0.0; + out_308647198819961252[101] = 0.0; + out_308647198819961252[102] = 0.0; + out_308647198819961252[103] = 0.0; + out_308647198819961252[104] = 0.0; + out_308647198819961252[105] = 0.0; + out_308647198819961252[106] = 0.0; + out_308647198819961252[107] = 0.0; + out_308647198819961252[108] = 0.0; + out_308647198819961252[109] = 0.0; + out_308647198819961252[110] = 0.0; + out_308647198819961252[111] = 0.0; + out_308647198819961252[112] = 0.0; + out_308647198819961252[113] = 0.0; + out_308647198819961252[114] = 1.0; + out_308647198819961252[115] = 0.0; + out_308647198819961252[116] = 0.0; + out_308647198819961252[117] = 0.0; + out_308647198819961252[118] = 0.0; + out_308647198819961252[119] = 0.0; + out_308647198819961252[120] = 0.0; + out_308647198819961252[121] = 0.0; + out_308647198819961252[122] = 0.0; + out_308647198819961252[123] = 0.0; + out_308647198819961252[124] = 0.0; + out_308647198819961252[125] = 0.0; + out_308647198819961252[126] = 0.0; + out_308647198819961252[127] = 0.0; + out_308647198819961252[128] = 0.0; + out_308647198819961252[129] = 0.0; + out_308647198819961252[130] = 0.0; + out_308647198819961252[131] = 0.0; + out_308647198819961252[132] = 0.0; + out_308647198819961252[133] = 1.0; + out_308647198819961252[134] = 0.0; + out_308647198819961252[135] = 0.0; + out_308647198819961252[136] = 0.0; + out_308647198819961252[137] = 0.0; + out_308647198819961252[138] = 0.0; + out_308647198819961252[139] = 0.0; + out_308647198819961252[140] = 0.0; + out_308647198819961252[141] = 0.0; + out_308647198819961252[142] = 0.0; + out_308647198819961252[143] = 0.0; + out_308647198819961252[144] = 0.0; + out_308647198819961252[145] = 0.0; + out_308647198819961252[146] = 0.0; + out_308647198819961252[147] = 0.0; + out_308647198819961252[148] = 0.0; + out_308647198819961252[149] = 0.0; + out_308647198819961252[150] = 0.0; + out_308647198819961252[151] = 0.0; + out_308647198819961252[152] = 1.0; + out_308647198819961252[153] = 0.0; + out_308647198819961252[154] = 0.0; + out_308647198819961252[155] = 0.0; + out_308647198819961252[156] = 0.0; + out_308647198819961252[157] = 0.0; + out_308647198819961252[158] = 0.0; + out_308647198819961252[159] = 0.0; + out_308647198819961252[160] = 0.0; + out_308647198819961252[161] = 0.0; + out_308647198819961252[162] = 0.0; + out_308647198819961252[163] = 0.0; + out_308647198819961252[164] = 0.0; + out_308647198819961252[165] = 0.0; + out_308647198819961252[166] = 0.0; + out_308647198819961252[167] = 0.0; + out_308647198819961252[168] = 0.0; + out_308647198819961252[169] = 0.0; + out_308647198819961252[170] = 0.0; + out_308647198819961252[171] = 1.0; + out_308647198819961252[172] = 0.0; + out_308647198819961252[173] = 0.0; + out_308647198819961252[174] = 0.0; + out_308647198819961252[175] = 0.0; + out_308647198819961252[176] = 0.0; + out_308647198819961252[177] = 0.0; + out_308647198819961252[178] = 0.0; + out_308647198819961252[179] = 0.0; + out_308647198819961252[180] = 0.0; + out_308647198819961252[181] = 0.0; + out_308647198819961252[182] = 0.0; + out_308647198819961252[183] = 0.0; + out_308647198819961252[184] = 0.0; + out_308647198819961252[185] = 0.0; + out_308647198819961252[186] = 0.0; + out_308647198819961252[187] = 0.0; + out_308647198819961252[188] = 0.0; + out_308647198819961252[189] = 0.0; + out_308647198819961252[190] = 1.0; + out_308647198819961252[191] = 0.0; + out_308647198819961252[192] = 0.0; + out_308647198819961252[193] = 0.0; + out_308647198819961252[194] = 0.0; + out_308647198819961252[195] = 0.0; + out_308647198819961252[196] = 0.0; + out_308647198819961252[197] = 0.0; + out_308647198819961252[198] = 0.0; + out_308647198819961252[199] = 0.0; + out_308647198819961252[200] = 0.0; + out_308647198819961252[201] = 0.0; + out_308647198819961252[202] = 0.0; + out_308647198819961252[203] = 0.0; + out_308647198819961252[204] = 0.0; + out_308647198819961252[205] = 0.0; + out_308647198819961252[206] = 0.0; + out_308647198819961252[207] = 0.0; + out_308647198819961252[208] = 0.0; + out_308647198819961252[209] = 1.0; + out_308647198819961252[210] = 0.0; + out_308647198819961252[211] = 0.0; + out_308647198819961252[212] = 0.0; + out_308647198819961252[213] = 0.0; + out_308647198819961252[214] = 0.0; + out_308647198819961252[215] = 0.0; + out_308647198819961252[216] = 0.0; + out_308647198819961252[217] = 0.0; + out_308647198819961252[218] = 0.0; + out_308647198819961252[219] = 0.0; + out_308647198819961252[220] = 0.0; + out_308647198819961252[221] = 0.0; + out_308647198819961252[222] = 0.0; + out_308647198819961252[223] = 0.0; + out_308647198819961252[224] = 0.0; + out_308647198819961252[225] = 0.0; + out_308647198819961252[226] = 0.0; + out_308647198819961252[227] = 0.0; + out_308647198819961252[228] = 1.0; + out_308647198819961252[229] = 0.0; + out_308647198819961252[230] = 0.0; + out_308647198819961252[231] = 0.0; + out_308647198819961252[232] = 0.0; + out_308647198819961252[233] = 0.0; + out_308647198819961252[234] = 0.0; + out_308647198819961252[235] = 0.0; + out_308647198819961252[236] = 0.0; + out_308647198819961252[237] = 0.0; + out_308647198819961252[238] = 0.0; + out_308647198819961252[239] = 0.0; + out_308647198819961252[240] = 0.0; + out_308647198819961252[241] = 0.0; + out_308647198819961252[242] = 0.0; + out_308647198819961252[243] = 0.0; + out_308647198819961252[244] = 0.0; + out_308647198819961252[245] = 0.0; + out_308647198819961252[246] = 0.0; + out_308647198819961252[247] = 1.0; + out_308647198819961252[248] = 0.0; + out_308647198819961252[249] = 0.0; + out_308647198819961252[250] = 0.0; + out_308647198819961252[251] = 0.0; + out_308647198819961252[252] = 0.0; + out_308647198819961252[253] = 0.0; + out_308647198819961252[254] = 0.0; + out_308647198819961252[255] = 0.0; + out_308647198819961252[256] = 0.0; + out_308647198819961252[257] = 0.0; + out_308647198819961252[258] = 0.0; + out_308647198819961252[259] = 0.0; + out_308647198819961252[260] = 0.0; + out_308647198819961252[261] = 0.0; + out_308647198819961252[262] = 0.0; + out_308647198819961252[263] = 0.0; + out_308647198819961252[264] = 0.0; + out_308647198819961252[265] = 0.0; + out_308647198819961252[266] = 1.0; + out_308647198819961252[267] = 0.0; + out_308647198819961252[268] = 0.0; + out_308647198819961252[269] = 0.0; + out_308647198819961252[270] = 0.0; + out_308647198819961252[271] = 0.0; + out_308647198819961252[272] = 0.0; + out_308647198819961252[273] = 0.0; + out_308647198819961252[274] = 0.0; + out_308647198819961252[275] = 0.0; + out_308647198819961252[276] = 0.0; + out_308647198819961252[277] = 0.0; + out_308647198819961252[278] = 0.0; + out_308647198819961252[279] = 0.0; + out_308647198819961252[280] = 0.0; + out_308647198819961252[281] = 0.0; + out_308647198819961252[282] = 0.0; + out_308647198819961252[283] = 0.0; + out_308647198819961252[284] = 0.0; + out_308647198819961252[285] = 1.0; + out_308647198819961252[286] = 0.0; + out_308647198819961252[287] = 0.0; + out_308647198819961252[288] = 0.0; + out_308647198819961252[289] = 0.0; + out_308647198819961252[290] = 0.0; + out_308647198819961252[291] = 0.0; + out_308647198819961252[292] = 0.0; + out_308647198819961252[293] = 0.0; + out_308647198819961252[294] = 0.0; + out_308647198819961252[295] = 0.0; + out_308647198819961252[296] = 0.0; + out_308647198819961252[297] = 0.0; + out_308647198819961252[298] = 0.0; + out_308647198819961252[299] = 0.0; + out_308647198819961252[300] = 0.0; + out_308647198819961252[301] = 0.0; + out_308647198819961252[302] = 0.0; + out_308647198819961252[303] = 0.0; + out_308647198819961252[304] = 1.0; + out_308647198819961252[305] = 0.0; + out_308647198819961252[306] = 0.0; + out_308647198819961252[307] = 0.0; + out_308647198819961252[308] = 0.0; + out_308647198819961252[309] = 0.0; + out_308647198819961252[310] = 0.0; + out_308647198819961252[311] = 0.0; + out_308647198819961252[312] = 0.0; + out_308647198819961252[313] = 0.0; + out_308647198819961252[314] = 0.0; + out_308647198819961252[315] = 0.0; + out_308647198819961252[316] = 0.0; + out_308647198819961252[317] = 0.0; + out_308647198819961252[318] = 0.0; + out_308647198819961252[319] = 0.0; + out_308647198819961252[320] = 0.0; + out_308647198819961252[321] = 0.0; + out_308647198819961252[322] = 0.0; + out_308647198819961252[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5314151849166190903) { - out_5314151849166190903[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_5314151849166190903[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_5314151849166190903[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_5314151849166190903[3] = dt*state[12] + state[3]; - out_5314151849166190903[4] = dt*state[13] + state[4]; - out_5314151849166190903[5] = dt*state[14] + state[5]; - out_5314151849166190903[6] = state[6]; - out_5314151849166190903[7] = state[7]; - out_5314151849166190903[8] = state[8]; - out_5314151849166190903[9] = state[9]; - out_5314151849166190903[10] = state[10]; - out_5314151849166190903[11] = state[11]; - out_5314151849166190903[12] = state[12]; - out_5314151849166190903[13] = state[13]; - out_5314151849166190903[14] = state[14]; - out_5314151849166190903[15] = state[15]; - out_5314151849166190903[16] = state[16]; - out_5314151849166190903[17] = state[17]; +void f_fun(double *state, double dt, double *out_7010110275742074957) { + out_7010110275742074957[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_7010110275742074957[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_7010110275742074957[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_7010110275742074957[3] = dt*state[12] + state[3]; + out_7010110275742074957[4] = dt*state[13] + state[4]; + out_7010110275742074957[5] = dt*state[14] + state[5]; + out_7010110275742074957[6] = state[6]; + out_7010110275742074957[7] = state[7]; + out_7010110275742074957[8] = state[8]; + out_7010110275742074957[9] = state[9]; + out_7010110275742074957[10] = state[10]; + out_7010110275742074957[11] = state[11]; + out_7010110275742074957[12] = state[12]; + out_7010110275742074957[13] = state[13]; + out_7010110275742074957[14] = state[14]; + out_7010110275742074957[15] = state[15]; + out_7010110275742074957[16] = state[16]; + out_7010110275742074957[17] = state[17]; } -void F_fun(double *state, double dt, double *out_3978107798910374878) { - out_3978107798910374878[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_3978107798910374878[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_3978107798910374878[2] = 0; - out_3978107798910374878[3] = 0; - out_3978107798910374878[4] = 0; - out_3978107798910374878[5] = 0; - out_3978107798910374878[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_3978107798910374878[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_3978107798910374878[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_3978107798910374878[9] = 0; - out_3978107798910374878[10] = 0; - out_3978107798910374878[11] = 0; - out_3978107798910374878[12] = 0; - out_3978107798910374878[13] = 0; - out_3978107798910374878[14] = 0; - out_3978107798910374878[15] = 0; - out_3978107798910374878[16] = 0; - out_3978107798910374878[17] = 0; - out_3978107798910374878[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_3978107798910374878[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_3978107798910374878[20] = 0; - out_3978107798910374878[21] = 0; - out_3978107798910374878[22] = 0; - out_3978107798910374878[23] = 0; - out_3978107798910374878[24] = 0; - out_3978107798910374878[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_3978107798910374878[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_3978107798910374878[27] = 0; - out_3978107798910374878[28] = 0; - out_3978107798910374878[29] = 0; - out_3978107798910374878[30] = 0; - out_3978107798910374878[31] = 0; - out_3978107798910374878[32] = 0; - out_3978107798910374878[33] = 0; - out_3978107798910374878[34] = 0; - out_3978107798910374878[35] = 0; - out_3978107798910374878[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_3978107798910374878[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_3978107798910374878[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_3978107798910374878[39] = 0; - out_3978107798910374878[40] = 0; - out_3978107798910374878[41] = 0; - out_3978107798910374878[42] = 0; - out_3978107798910374878[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_3978107798910374878[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_3978107798910374878[45] = 0; - out_3978107798910374878[46] = 0; - out_3978107798910374878[47] = 0; - out_3978107798910374878[48] = 0; - out_3978107798910374878[49] = 0; - out_3978107798910374878[50] = 0; - out_3978107798910374878[51] = 0; - out_3978107798910374878[52] = 0; - out_3978107798910374878[53] = 0; - out_3978107798910374878[54] = 0; - out_3978107798910374878[55] = 0; - out_3978107798910374878[56] = 0; - out_3978107798910374878[57] = 1; - out_3978107798910374878[58] = 0; - out_3978107798910374878[59] = 0; - out_3978107798910374878[60] = 0; - out_3978107798910374878[61] = 0; - out_3978107798910374878[62] = 0; - out_3978107798910374878[63] = 0; - out_3978107798910374878[64] = 0; - out_3978107798910374878[65] = 0; - out_3978107798910374878[66] = dt; - out_3978107798910374878[67] = 0; - out_3978107798910374878[68] = 0; - out_3978107798910374878[69] = 0; - out_3978107798910374878[70] = 0; - out_3978107798910374878[71] = 0; - out_3978107798910374878[72] = 0; - out_3978107798910374878[73] = 0; - out_3978107798910374878[74] = 0; - out_3978107798910374878[75] = 0; - out_3978107798910374878[76] = 1; - out_3978107798910374878[77] = 0; - out_3978107798910374878[78] = 0; - out_3978107798910374878[79] = 0; - out_3978107798910374878[80] = 0; - out_3978107798910374878[81] = 0; - out_3978107798910374878[82] = 0; - out_3978107798910374878[83] = 0; - out_3978107798910374878[84] = 0; - out_3978107798910374878[85] = dt; - out_3978107798910374878[86] = 0; - out_3978107798910374878[87] = 0; - out_3978107798910374878[88] = 0; - out_3978107798910374878[89] = 0; - out_3978107798910374878[90] = 0; - out_3978107798910374878[91] = 0; - out_3978107798910374878[92] = 0; - out_3978107798910374878[93] = 0; - out_3978107798910374878[94] = 0; - out_3978107798910374878[95] = 1; - out_3978107798910374878[96] = 0; - out_3978107798910374878[97] = 0; - out_3978107798910374878[98] = 0; - out_3978107798910374878[99] = 0; - out_3978107798910374878[100] = 0; - out_3978107798910374878[101] = 0; - out_3978107798910374878[102] = 0; - out_3978107798910374878[103] = 0; - out_3978107798910374878[104] = dt; - out_3978107798910374878[105] = 0; - out_3978107798910374878[106] = 0; - out_3978107798910374878[107] = 0; - out_3978107798910374878[108] = 0; - out_3978107798910374878[109] = 0; - out_3978107798910374878[110] = 0; - out_3978107798910374878[111] = 0; - out_3978107798910374878[112] = 0; - out_3978107798910374878[113] = 0; - out_3978107798910374878[114] = 1; - out_3978107798910374878[115] = 0; - out_3978107798910374878[116] = 0; - out_3978107798910374878[117] = 0; - out_3978107798910374878[118] = 0; - out_3978107798910374878[119] = 0; - out_3978107798910374878[120] = 0; - out_3978107798910374878[121] = 0; - out_3978107798910374878[122] = 0; - out_3978107798910374878[123] = 0; - out_3978107798910374878[124] = 0; - out_3978107798910374878[125] = 0; - out_3978107798910374878[126] = 0; - out_3978107798910374878[127] = 0; - out_3978107798910374878[128] = 0; - out_3978107798910374878[129] = 0; - out_3978107798910374878[130] = 0; - out_3978107798910374878[131] = 0; - out_3978107798910374878[132] = 0; - out_3978107798910374878[133] = 1; - out_3978107798910374878[134] = 0; - out_3978107798910374878[135] = 0; - out_3978107798910374878[136] = 0; - out_3978107798910374878[137] = 0; - out_3978107798910374878[138] = 0; - out_3978107798910374878[139] = 0; - out_3978107798910374878[140] = 0; - out_3978107798910374878[141] = 0; - out_3978107798910374878[142] = 0; - out_3978107798910374878[143] = 0; - out_3978107798910374878[144] = 0; - out_3978107798910374878[145] = 0; - out_3978107798910374878[146] = 0; - out_3978107798910374878[147] = 0; - out_3978107798910374878[148] = 0; - out_3978107798910374878[149] = 0; - out_3978107798910374878[150] = 0; - out_3978107798910374878[151] = 0; - out_3978107798910374878[152] = 1; - out_3978107798910374878[153] = 0; - out_3978107798910374878[154] = 0; - out_3978107798910374878[155] = 0; - out_3978107798910374878[156] = 0; - out_3978107798910374878[157] = 0; - out_3978107798910374878[158] = 0; - out_3978107798910374878[159] = 0; - out_3978107798910374878[160] = 0; - out_3978107798910374878[161] = 0; - out_3978107798910374878[162] = 0; - out_3978107798910374878[163] = 0; - out_3978107798910374878[164] = 0; - out_3978107798910374878[165] = 0; - out_3978107798910374878[166] = 0; - out_3978107798910374878[167] = 0; - out_3978107798910374878[168] = 0; - out_3978107798910374878[169] = 0; - out_3978107798910374878[170] = 0; - out_3978107798910374878[171] = 1; - out_3978107798910374878[172] = 0; - out_3978107798910374878[173] = 0; - out_3978107798910374878[174] = 0; - out_3978107798910374878[175] = 0; - out_3978107798910374878[176] = 0; - out_3978107798910374878[177] = 0; - out_3978107798910374878[178] = 0; - out_3978107798910374878[179] = 0; - out_3978107798910374878[180] = 0; - out_3978107798910374878[181] = 0; - out_3978107798910374878[182] = 0; - out_3978107798910374878[183] = 0; - out_3978107798910374878[184] = 0; - out_3978107798910374878[185] = 0; - out_3978107798910374878[186] = 0; - out_3978107798910374878[187] = 0; - out_3978107798910374878[188] = 0; - out_3978107798910374878[189] = 0; - out_3978107798910374878[190] = 1; - out_3978107798910374878[191] = 0; - out_3978107798910374878[192] = 0; - out_3978107798910374878[193] = 0; - out_3978107798910374878[194] = 0; - out_3978107798910374878[195] = 0; - out_3978107798910374878[196] = 0; - out_3978107798910374878[197] = 0; - out_3978107798910374878[198] = 0; - out_3978107798910374878[199] = 0; - out_3978107798910374878[200] = 0; - out_3978107798910374878[201] = 0; - out_3978107798910374878[202] = 0; - out_3978107798910374878[203] = 0; - out_3978107798910374878[204] = 0; - out_3978107798910374878[205] = 0; - out_3978107798910374878[206] = 0; - out_3978107798910374878[207] = 0; - out_3978107798910374878[208] = 0; - out_3978107798910374878[209] = 1; - out_3978107798910374878[210] = 0; - out_3978107798910374878[211] = 0; - out_3978107798910374878[212] = 0; - out_3978107798910374878[213] = 0; - out_3978107798910374878[214] = 0; - out_3978107798910374878[215] = 0; - out_3978107798910374878[216] = 0; - out_3978107798910374878[217] = 0; - out_3978107798910374878[218] = 0; - out_3978107798910374878[219] = 0; - out_3978107798910374878[220] = 0; - out_3978107798910374878[221] = 0; - out_3978107798910374878[222] = 0; - out_3978107798910374878[223] = 0; - out_3978107798910374878[224] = 0; - out_3978107798910374878[225] = 0; - out_3978107798910374878[226] = 0; - out_3978107798910374878[227] = 0; - out_3978107798910374878[228] = 1; - out_3978107798910374878[229] = 0; - out_3978107798910374878[230] = 0; - out_3978107798910374878[231] = 0; - out_3978107798910374878[232] = 0; - out_3978107798910374878[233] = 0; - out_3978107798910374878[234] = 0; - out_3978107798910374878[235] = 0; - out_3978107798910374878[236] = 0; - out_3978107798910374878[237] = 0; - out_3978107798910374878[238] = 0; - out_3978107798910374878[239] = 0; - out_3978107798910374878[240] = 0; - out_3978107798910374878[241] = 0; - out_3978107798910374878[242] = 0; - out_3978107798910374878[243] = 0; - out_3978107798910374878[244] = 0; - out_3978107798910374878[245] = 0; - out_3978107798910374878[246] = 0; - out_3978107798910374878[247] = 1; - out_3978107798910374878[248] = 0; - out_3978107798910374878[249] = 0; - out_3978107798910374878[250] = 0; - out_3978107798910374878[251] = 0; - out_3978107798910374878[252] = 0; - out_3978107798910374878[253] = 0; - out_3978107798910374878[254] = 0; - out_3978107798910374878[255] = 0; - out_3978107798910374878[256] = 0; - out_3978107798910374878[257] = 0; - out_3978107798910374878[258] = 0; - out_3978107798910374878[259] = 0; - out_3978107798910374878[260] = 0; - out_3978107798910374878[261] = 0; - out_3978107798910374878[262] = 0; - out_3978107798910374878[263] = 0; - out_3978107798910374878[264] = 0; - out_3978107798910374878[265] = 0; - out_3978107798910374878[266] = 1; - out_3978107798910374878[267] = 0; - out_3978107798910374878[268] = 0; - out_3978107798910374878[269] = 0; - out_3978107798910374878[270] = 0; - out_3978107798910374878[271] = 0; - out_3978107798910374878[272] = 0; - out_3978107798910374878[273] = 0; - out_3978107798910374878[274] = 0; - out_3978107798910374878[275] = 0; - out_3978107798910374878[276] = 0; - out_3978107798910374878[277] = 0; - out_3978107798910374878[278] = 0; - out_3978107798910374878[279] = 0; - out_3978107798910374878[280] = 0; - out_3978107798910374878[281] = 0; - out_3978107798910374878[282] = 0; - out_3978107798910374878[283] = 0; - out_3978107798910374878[284] = 0; - out_3978107798910374878[285] = 1; - out_3978107798910374878[286] = 0; - out_3978107798910374878[287] = 0; - out_3978107798910374878[288] = 0; - out_3978107798910374878[289] = 0; - out_3978107798910374878[290] = 0; - out_3978107798910374878[291] = 0; - out_3978107798910374878[292] = 0; - out_3978107798910374878[293] = 0; - out_3978107798910374878[294] = 0; - out_3978107798910374878[295] = 0; - out_3978107798910374878[296] = 0; - out_3978107798910374878[297] = 0; - out_3978107798910374878[298] = 0; - out_3978107798910374878[299] = 0; - out_3978107798910374878[300] = 0; - out_3978107798910374878[301] = 0; - out_3978107798910374878[302] = 0; - out_3978107798910374878[303] = 0; - out_3978107798910374878[304] = 1; - out_3978107798910374878[305] = 0; - out_3978107798910374878[306] = 0; - out_3978107798910374878[307] = 0; - out_3978107798910374878[308] = 0; - out_3978107798910374878[309] = 0; - out_3978107798910374878[310] = 0; - out_3978107798910374878[311] = 0; - out_3978107798910374878[312] = 0; - out_3978107798910374878[313] = 0; - out_3978107798910374878[314] = 0; - out_3978107798910374878[315] = 0; - out_3978107798910374878[316] = 0; - out_3978107798910374878[317] = 0; - out_3978107798910374878[318] = 0; - out_3978107798910374878[319] = 0; - out_3978107798910374878[320] = 0; - out_3978107798910374878[321] = 0; - out_3978107798910374878[322] = 0; - out_3978107798910374878[323] = 1; +void F_fun(double *state, double dt, double *out_321710036859700647) { + out_321710036859700647[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_321710036859700647[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_321710036859700647[2] = 0; + out_321710036859700647[3] = 0; + out_321710036859700647[4] = 0; + out_321710036859700647[5] = 0; + out_321710036859700647[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_321710036859700647[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_321710036859700647[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_321710036859700647[9] = 0; + out_321710036859700647[10] = 0; + out_321710036859700647[11] = 0; + out_321710036859700647[12] = 0; + out_321710036859700647[13] = 0; + out_321710036859700647[14] = 0; + out_321710036859700647[15] = 0; + out_321710036859700647[16] = 0; + out_321710036859700647[17] = 0; + out_321710036859700647[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_321710036859700647[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_321710036859700647[20] = 0; + out_321710036859700647[21] = 0; + out_321710036859700647[22] = 0; + out_321710036859700647[23] = 0; + out_321710036859700647[24] = 0; + out_321710036859700647[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_321710036859700647[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_321710036859700647[27] = 0; + out_321710036859700647[28] = 0; + out_321710036859700647[29] = 0; + out_321710036859700647[30] = 0; + out_321710036859700647[31] = 0; + out_321710036859700647[32] = 0; + out_321710036859700647[33] = 0; + out_321710036859700647[34] = 0; + out_321710036859700647[35] = 0; + out_321710036859700647[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_321710036859700647[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_321710036859700647[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_321710036859700647[39] = 0; + out_321710036859700647[40] = 0; + out_321710036859700647[41] = 0; + out_321710036859700647[42] = 0; + out_321710036859700647[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_321710036859700647[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_321710036859700647[45] = 0; + out_321710036859700647[46] = 0; + out_321710036859700647[47] = 0; + out_321710036859700647[48] = 0; + out_321710036859700647[49] = 0; + out_321710036859700647[50] = 0; + out_321710036859700647[51] = 0; + out_321710036859700647[52] = 0; + out_321710036859700647[53] = 0; + out_321710036859700647[54] = 0; + out_321710036859700647[55] = 0; + out_321710036859700647[56] = 0; + out_321710036859700647[57] = 1; + out_321710036859700647[58] = 0; + out_321710036859700647[59] = 0; + out_321710036859700647[60] = 0; + out_321710036859700647[61] = 0; + out_321710036859700647[62] = 0; + out_321710036859700647[63] = 0; + out_321710036859700647[64] = 0; + out_321710036859700647[65] = 0; + out_321710036859700647[66] = dt; + out_321710036859700647[67] = 0; + out_321710036859700647[68] = 0; + out_321710036859700647[69] = 0; + out_321710036859700647[70] = 0; + out_321710036859700647[71] = 0; + out_321710036859700647[72] = 0; + out_321710036859700647[73] = 0; + out_321710036859700647[74] = 0; + out_321710036859700647[75] = 0; + out_321710036859700647[76] = 1; + out_321710036859700647[77] = 0; + out_321710036859700647[78] = 0; + out_321710036859700647[79] = 0; + out_321710036859700647[80] = 0; + out_321710036859700647[81] = 0; + out_321710036859700647[82] = 0; + out_321710036859700647[83] = 0; + out_321710036859700647[84] = 0; + out_321710036859700647[85] = dt; + out_321710036859700647[86] = 0; + out_321710036859700647[87] = 0; + out_321710036859700647[88] = 0; + out_321710036859700647[89] = 0; + out_321710036859700647[90] = 0; + out_321710036859700647[91] = 0; + out_321710036859700647[92] = 0; + out_321710036859700647[93] = 0; + out_321710036859700647[94] = 0; + out_321710036859700647[95] = 1; + out_321710036859700647[96] = 0; + out_321710036859700647[97] = 0; + out_321710036859700647[98] = 0; + out_321710036859700647[99] = 0; + out_321710036859700647[100] = 0; + out_321710036859700647[101] = 0; + out_321710036859700647[102] = 0; + out_321710036859700647[103] = 0; + out_321710036859700647[104] = dt; + out_321710036859700647[105] = 0; + out_321710036859700647[106] = 0; + out_321710036859700647[107] = 0; + out_321710036859700647[108] = 0; + out_321710036859700647[109] = 0; + out_321710036859700647[110] = 0; + out_321710036859700647[111] = 0; + out_321710036859700647[112] = 0; + out_321710036859700647[113] = 0; + out_321710036859700647[114] = 1; + out_321710036859700647[115] = 0; + out_321710036859700647[116] = 0; + out_321710036859700647[117] = 0; + out_321710036859700647[118] = 0; + out_321710036859700647[119] = 0; + out_321710036859700647[120] = 0; + out_321710036859700647[121] = 0; + out_321710036859700647[122] = 0; + out_321710036859700647[123] = 0; + out_321710036859700647[124] = 0; + out_321710036859700647[125] = 0; + out_321710036859700647[126] = 0; + out_321710036859700647[127] = 0; + out_321710036859700647[128] = 0; + out_321710036859700647[129] = 0; + out_321710036859700647[130] = 0; + out_321710036859700647[131] = 0; + out_321710036859700647[132] = 0; + out_321710036859700647[133] = 1; + out_321710036859700647[134] = 0; + out_321710036859700647[135] = 0; + out_321710036859700647[136] = 0; + out_321710036859700647[137] = 0; + out_321710036859700647[138] = 0; + out_321710036859700647[139] = 0; + out_321710036859700647[140] = 0; + out_321710036859700647[141] = 0; + out_321710036859700647[142] = 0; + out_321710036859700647[143] = 0; + out_321710036859700647[144] = 0; + out_321710036859700647[145] = 0; + out_321710036859700647[146] = 0; + out_321710036859700647[147] = 0; + out_321710036859700647[148] = 0; + out_321710036859700647[149] = 0; + out_321710036859700647[150] = 0; + out_321710036859700647[151] = 0; + out_321710036859700647[152] = 1; + out_321710036859700647[153] = 0; + out_321710036859700647[154] = 0; + out_321710036859700647[155] = 0; + out_321710036859700647[156] = 0; + out_321710036859700647[157] = 0; + out_321710036859700647[158] = 0; + out_321710036859700647[159] = 0; + out_321710036859700647[160] = 0; + out_321710036859700647[161] = 0; + out_321710036859700647[162] = 0; + out_321710036859700647[163] = 0; + out_321710036859700647[164] = 0; + out_321710036859700647[165] = 0; + out_321710036859700647[166] = 0; + out_321710036859700647[167] = 0; + out_321710036859700647[168] = 0; + out_321710036859700647[169] = 0; + out_321710036859700647[170] = 0; + out_321710036859700647[171] = 1; + out_321710036859700647[172] = 0; + out_321710036859700647[173] = 0; + out_321710036859700647[174] = 0; + out_321710036859700647[175] = 0; + out_321710036859700647[176] = 0; + out_321710036859700647[177] = 0; + out_321710036859700647[178] = 0; + out_321710036859700647[179] = 0; + out_321710036859700647[180] = 0; + out_321710036859700647[181] = 0; + out_321710036859700647[182] = 0; + out_321710036859700647[183] = 0; + out_321710036859700647[184] = 0; + out_321710036859700647[185] = 0; + out_321710036859700647[186] = 0; + out_321710036859700647[187] = 0; + out_321710036859700647[188] = 0; + out_321710036859700647[189] = 0; + out_321710036859700647[190] = 1; + out_321710036859700647[191] = 0; + out_321710036859700647[192] = 0; + out_321710036859700647[193] = 0; + out_321710036859700647[194] = 0; + out_321710036859700647[195] = 0; + out_321710036859700647[196] = 0; + out_321710036859700647[197] = 0; + out_321710036859700647[198] = 0; + out_321710036859700647[199] = 0; + out_321710036859700647[200] = 0; + out_321710036859700647[201] = 0; + out_321710036859700647[202] = 0; + out_321710036859700647[203] = 0; + out_321710036859700647[204] = 0; + out_321710036859700647[205] = 0; + out_321710036859700647[206] = 0; + out_321710036859700647[207] = 0; + out_321710036859700647[208] = 0; + out_321710036859700647[209] = 1; + out_321710036859700647[210] = 0; + out_321710036859700647[211] = 0; + out_321710036859700647[212] = 0; + out_321710036859700647[213] = 0; + out_321710036859700647[214] = 0; + out_321710036859700647[215] = 0; + out_321710036859700647[216] = 0; + out_321710036859700647[217] = 0; + out_321710036859700647[218] = 0; + out_321710036859700647[219] = 0; + out_321710036859700647[220] = 0; + out_321710036859700647[221] = 0; + out_321710036859700647[222] = 0; + out_321710036859700647[223] = 0; + out_321710036859700647[224] = 0; + out_321710036859700647[225] = 0; + out_321710036859700647[226] = 0; + out_321710036859700647[227] = 0; + out_321710036859700647[228] = 1; + out_321710036859700647[229] = 0; + out_321710036859700647[230] = 0; + out_321710036859700647[231] = 0; + out_321710036859700647[232] = 0; + out_321710036859700647[233] = 0; + out_321710036859700647[234] = 0; + out_321710036859700647[235] = 0; + out_321710036859700647[236] = 0; + out_321710036859700647[237] = 0; + out_321710036859700647[238] = 0; + out_321710036859700647[239] = 0; + out_321710036859700647[240] = 0; + out_321710036859700647[241] = 0; + out_321710036859700647[242] = 0; + out_321710036859700647[243] = 0; + out_321710036859700647[244] = 0; + out_321710036859700647[245] = 0; + out_321710036859700647[246] = 0; + out_321710036859700647[247] = 1; + out_321710036859700647[248] = 0; + out_321710036859700647[249] = 0; + out_321710036859700647[250] = 0; + out_321710036859700647[251] = 0; + out_321710036859700647[252] = 0; + out_321710036859700647[253] = 0; + out_321710036859700647[254] = 0; + out_321710036859700647[255] = 0; + out_321710036859700647[256] = 0; + out_321710036859700647[257] = 0; + out_321710036859700647[258] = 0; + out_321710036859700647[259] = 0; + out_321710036859700647[260] = 0; + out_321710036859700647[261] = 0; + out_321710036859700647[262] = 0; + out_321710036859700647[263] = 0; + out_321710036859700647[264] = 0; + out_321710036859700647[265] = 0; + out_321710036859700647[266] = 1; + out_321710036859700647[267] = 0; + out_321710036859700647[268] = 0; + out_321710036859700647[269] = 0; + out_321710036859700647[270] = 0; + out_321710036859700647[271] = 0; + out_321710036859700647[272] = 0; + out_321710036859700647[273] = 0; + out_321710036859700647[274] = 0; + out_321710036859700647[275] = 0; + out_321710036859700647[276] = 0; + out_321710036859700647[277] = 0; + out_321710036859700647[278] = 0; + out_321710036859700647[279] = 0; + out_321710036859700647[280] = 0; + out_321710036859700647[281] = 0; + out_321710036859700647[282] = 0; + out_321710036859700647[283] = 0; + out_321710036859700647[284] = 0; + out_321710036859700647[285] = 1; + out_321710036859700647[286] = 0; + out_321710036859700647[287] = 0; + out_321710036859700647[288] = 0; + out_321710036859700647[289] = 0; + out_321710036859700647[290] = 0; + out_321710036859700647[291] = 0; + out_321710036859700647[292] = 0; + out_321710036859700647[293] = 0; + out_321710036859700647[294] = 0; + out_321710036859700647[295] = 0; + out_321710036859700647[296] = 0; + out_321710036859700647[297] = 0; + out_321710036859700647[298] = 0; + out_321710036859700647[299] = 0; + out_321710036859700647[300] = 0; + out_321710036859700647[301] = 0; + out_321710036859700647[302] = 0; + out_321710036859700647[303] = 0; + out_321710036859700647[304] = 1; + out_321710036859700647[305] = 0; + out_321710036859700647[306] = 0; + out_321710036859700647[307] = 0; + out_321710036859700647[308] = 0; + out_321710036859700647[309] = 0; + out_321710036859700647[310] = 0; + out_321710036859700647[311] = 0; + out_321710036859700647[312] = 0; + out_321710036859700647[313] = 0; + out_321710036859700647[314] = 0; + out_321710036859700647[315] = 0; + out_321710036859700647[316] = 0; + out_321710036859700647[317] = 0; + out_321710036859700647[318] = 0; + out_321710036859700647[319] = 0; + out_321710036859700647[320] = 0; + out_321710036859700647[321] = 0; + out_321710036859700647[322] = 0; + out_321710036859700647[323] = 1; } -void h_4(double *state, double *unused, double *out_6702643113920812120) { - out_6702643113920812120[0] = state[6] + state[9]; - out_6702643113920812120[1] = state[7] + state[10]; - out_6702643113920812120[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_8984471206441981160) { + out_8984471206441981160[0] = state[6] + state[9]; + out_8984471206441981160[1] = state[7] + state[10]; + out_8984471206441981160[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1181133811394856104) { - out_1181133811394856104[0] = 0; - out_1181133811394856104[1] = 0; - out_1181133811394856104[2] = 0; - out_1181133811394856104[3] = 0; - out_1181133811394856104[4] = 0; - out_1181133811394856104[5] = 0; - out_1181133811394856104[6] = 1; - out_1181133811394856104[7] = 0; - out_1181133811394856104[8] = 0; - out_1181133811394856104[9] = 1; - out_1181133811394856104[10] = 0; - out_1181133811394856104[11] = 0; - out_1181133811394856104[12] = 0; - out_1181133811394856104[13] = 0; - out_1181133811394856104[14] = 0; - out_1181133811394856104[15] = 0; - out_1181133811394856104[16] = 0; - out_1181133811394856104[17] = 0; - out_1181133811394856104[18] = 0; - out_1181133811394856104[19] = 0; - out_1181133811394856104[20] = 0; - out_1181133811394856104[21] = 0; - out_1181133811394856104[22] = 0; - out_1181133811394856104[23] = 0; - out_1181133811394856104[24] = 0; - out_1181133811394856104[25] = 1; - out_1181133811394856104[26] = 0; - out_1181133811394856104[27] = 0; - out_1181133811394856104[28] = 1; - out_1181133811394856104[29] = 0; - out_1181133811394856104[30] = 0; - out_1181133811394856104[31] = 0; - out_1181133811394856104[32] = 0; - out_1181133811394856104[33] = 0; - out_1181133811394856104[34] = 0; - out_1181133811394856104[35] = 0; - out_1181133811394856104[36] = 0; - out_1181133811394856104[37] = 0; - out_1181133811394856104[38] = 0; - out_1181133811394856104[39] = 0; - out_1181133811394856104[40] = 0; - out_1181133811394856104[41] = 0; - out_1181133811394856104[42] = 0; - out_1181133811394856104[43] = 0; - out_1181133811394856104[44] = 1; - out_1181133811394856104[45] = 0; - out_1181133811394856104[46] = 0; - out_1181133811394856104[47] = 1; - out_1181133811394856104[48] = 0; - out_1181133811394856104[49] = 0; - out_1181133811394856104[50] = 0; - out_1181133811394856104[51] = 0; - out_1181133811394856104[52] = 0; - out_1181133811394856104[53] = 0; +void H_4(double *state, double *unused, double *out_1511051527086335609) { + out_1511051527086335609[0] = 0; + out_1511051527086335609[1] = 0; + out_1511051527086335609[2] = 0; + out_1511051527086335609[3] = 0; + out_1511051527086335609[4] = 0; + out_1511051527086335609[5] = 0; + out_1511051527086335609[6] = 1; + out_1511051527086335609[7] = 0; + out_1511051527086335609[8] = 0; + out_1511051527086335609[9] = 1; + out_1511051527086335609[10] = 0; + out_1511051527086335609[11] = 0; + out_1511051527086335609[12] = 0; + out_1511051527086335609[13] = 0; + out_1511051527086335609[14] = 0; + out_1511051527086335609[15] = 0; + out_1511051527086335609[16] = 0; + out_1511051527086335609[17] = 0; + out_1511051527086335609[18] = 0; + out_1511051527086335609[19] = 0; + out_1511051527086335609[20] = 0; + out_1511051527086335609[21] = 0; + out_1511051527086335609[22] = 0; + out_1511051527086335609[23] = 0; + out_1511051527086335609[24] = 0; + out_1511051527086335609[25] = 1; + out_1511051527086335609[26] = 0; + out_1511051527086335609[27] = 0; + out_1511051527086335609[28] = 1; + out_1511051527086335609[29] = 0; + out_1511051527086335609[30] = 0; + out_1511051527086335609[31] = 0; + out_1511051527086335609[32] = 0; + out_1511051527086335609[33] = 0; + out_1511051527086335609[34] = 0; + out_1511051527086335609[35] = 0; + out_1511051527086335609[36] = 0; + out_1511051527086335609[37] = 0; + out_1511051527086335609[38] = 0; + out_1511051527086335609[39] = 0; + out_1511051527086335609[40] = 0; + out_1511051527086335609[41] = 0; + out_1511051527086335609[42] = 0; + out_1511051527086335609[43] = 0; + out_1511051527086335609[44] = 1; + out_1511051527086335609[45] = 0; + out_1511051527086335609[46] = 0; + out_1511051527086335609[47] = 1; + out_1511051527086335609[48] = 0; + out_1511051527086335609[49] = 0; + out_1511051527086335609[50] = 0; + out_1511051527086335609[51] = 0; + out_1511051527086335609[52] = 0; + out_1511051527086335609[53] = 0; } -void h_10(double *state, double *unused, double *out_329728007611436907) { - out_329728007611436907[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_329728007611436907[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_329728007611436907[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_1160903693658888330) { + out_1160903693658888330[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1160903693658888330[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1160903693658888330[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_8047171094370826367) { - out_8047171094370826367[0] = 0; - out_8047171094370826367[1] = 9.8100000000000005*cos(state[1]); - out_8047171094370826367[2] = 0; - out_8047171094370826367[3] = 0; - out_8047171094370826367[4] = -state[8]; - out_8047171094370826367[5] = state[7]; - out_8047171094370826367[6] = 0; - out_8047171094370826367[7] = state[5]; - out_8047171094370826367[8] = -state[4]; - out_8047171094370826367[9] = 0; - out_8047171094370826367[10] = 0; - out_8047171094370826367[11] = 0; - out_8047171094370826367[12] = 1; - out_8047171094370826367[13] = 0; - out_8047171094370826367[14] = 0; - out_8047171094370826367[15] = 1; - out_8047171094370826367[16] = 0; - out_8047171094370826367[17] = 0; - out_8047171094370826367[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8047171094370826367[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8047171094370826367[20] = 0; - out_8047171094370826367[21] = state[8]; - out_8047171094370826367[22] = 0; - out_8047171094370826367[23] = -state[6]; - out_8047171094370826367[24] = -state[5]; - out_8047171094370826367[25] = 0; - out_8047171094370826367[26] = state[3]; - out_8047171094370826367[27] = 0; - out_8047171094370826367[28] = 0; - out_8047171094370826367[29] = 0; - out_8047171094370826367[30] = 0; - out_8047171094370826367[31] = 1; - out_8047171094370826367[32] = 0; - out_8047171094370826367[33] = 0; - out_8047171094370826367[34] = 1; - out_8047171094370826367[35] = 0; - out_8047171094370826367[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8047171094370826367[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8047171094370826367[38] = 0; - out_8047171094370826367[39] = -state[7]; - out_8047171094370826367[40] = state[6]; - out_8047171094370826367[41] = 0; - out_8047171094370826367[42] = state[4]; - out_8047171094370826367[43] = -state[3]; - out_8047171094370826367[44] = 0; - out_8047171094370826367[45] = 0; - out_8047171094370826367[46] = 0; - out_8047171094370826367[47] = 0; - out_8047171094370826367[48] = 0; - out_8047171094370826367[49] = 0; - out_8047171094370826367[50] = 1; - out_8047171094370826367[51] = 0; - out_8047171094370826367[52] = 0; - out_8047171094370826367[53] = 1; +void H_10(double *state, double *unused, double *out_8626357209504260991) { + out_8626357209504260991[0] = 0; + out_8626357209504260991[1] = 9.8100000000000005*cos(state[1]); + out_8626357209504260991[2] = 0; + out_8626357209504260991[3] = 0; + out_8626357209504260991[4] = -state[8]; + out_8626357209504260991[5] = state[7]; + out_8626357209504260991[6] = 0; + out_8626357209504260991[7] = state[5]; + out_8626357209504260991[8] = -state[4]; + out_8626357209504260991[9] = 0; + out_8626357209504260991[10] = 0; + out_8626357209504260991[11] = 0; + out_8626357209504260991[12] = 1; + out_8626357209504260991[13] = 0; + out_8626357209504260991[14] = 0; + out_8626357209504260991[15] = 1; + out_8626357209504260991[16] = 0; + out_8626357209504260991[17] = 0; + out_8626357209504260991[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8626357209504260991[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8626357209504260991[20] = 0; + out_8626357209504260991[21] = state[8]; + out_8626357209504260991[22] = 0; + out_8626357209504260991[23] = -state[6]; + out_8626357209504260991[24] = -state[5]; + out_8626357209504260991[25] = 0; + out_8626357209504260991[26] = state[3]; + out_8626357209504260991[27] = 0; + out_8626357209504260991[28] = 0; + out_8626357209504260991[29] = 0; + out_8626357209504260991[30] = 0; + out_8626357209504260991[31] = 1; + out_8626357209504260991[32] = 0; + out_8626357209504260991[33] = 0; + out_8626357209504260991[34] = 1; + out_8626357209504260991[35] = 0; + out_8626357209504260991[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8626357209504260991[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8626357209504260991[38] = 0; + out_8626357209504260991[39] = -state[7]; + out_8626357209504260991[40] = state[6]; + out_8626357209504260991[41] = 0; + out_8626357209504260991[42] = state[4]; + out_8626357209504260991[43] = -state[3]; + out_8626357209504260991[44] = 0; + out_8626357209504260991[45] = 0; + out_8626357209504260991[46] = 0; + out_8626357209504260991[47] = 0; + out_8626357209504260991[48] = 0; + out_8626357209504260991[49] = 0; + out_8626357209504260991[50] = 1; + out_8626357209504260991[51] = 0; + out_8626357209504260991[52] = 0; + out_8626357209504260991[53] = 1; } -void h_13(double *state, double *unused, double *out_8195155792174923791) { - out_8195155792174923791[0] = state[3]; - out_8195155792174923791[1] = state[4]; - out_8195155792174923791[2] = state[5]; +void h_13(double *state, double *unused, double *out_8776526610688936203) { + out_8776526610688936203[0] = state[3]; + out_8776526610688936203[1] = state[4]; + out_8776526610688936203[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2031140013937476697) { - out_2031140013937476697[0] = 0; - out_2031140013937476697[1] = 0; - out_2031140013937476697[2] = 0; - out_2031140013937476697[3] = 1; - out_2031140013937476697[4] = 0; - out_2031140013937476697[5] = 0; - out_2031140013937476697[6] = 0; - out_2031140013937476697[7] = 0; - out_2031140013937476697[8] = 0; - out_2031140013937476697[9] = 0; - out_2031140013937476697[10] = 0; - out_2031140013937476697[11] = 0; - out_2031140013937476697[12] = 0; - out_2031140013937476697[13] = 0; - out_2031140013937476697[14] = 0; - out_2031140013937476697[15] = 0; - out_2031140013937476697[16] = 0; - out_2031140013937476697[17] = 0; - out_2031140013937476697[18] = 0; - out_2031140013937476697[19] = 0; - out_2031140013937476697[20] = 0; - out_2031140013937476697[21] = 0; - out_2031140013937476697[22] = 1; - out_2031140013937476697[23] = 0; - out_2031140013937476697[24] = 0; - out_2031140013937476697[25] = 0; - out_2031140013937476697[26] = 0; - out_2031140013937476697[27] = 0; - out_2031140013937476697[28] = 0; - out_2031140013937476697[29] = 0; - out_2031140013937476697[30] = 0; - out_2031140013937476697[31] = 0; - out_2031140013937476697[32] = 0; - out_2031140013937476697[33] = 0; - out_2031140013937476697[34] = 0; - out_2031140013937476697[35] = 0; - out_2031140013937476697[36] = 0; - out_2031140013937476697[37] = 0; - out_2031140013937476697[38] = 0; - out_2031140013937476697[39] = 0; - out_2031140013937476697[40] = 0; - out_2031140013937476697[41] = 1; - out_2031140013937476697[42] = 0; - out_2031140013937476697[43] = 0; - out_2031140013937476697[44] = 0; - out_2031140013937476697[45] = 0; - out_2031140013937476697[46] = 0; - out_2031140013937476697[47] = 0; - out_2031140013937476697[48] = 0; - out_2031140013937476697[49] = 0; - out_2031140013937476697[50] = 0; - out_2031140013937476697[51] = 0; - out_2031140013937476697[52] = 0; - out_2031140013937476697[53] = 0; +void H_13(double *state, double *unused, double *out_6099579681230365320) { + out_6099579681230365320[0] = 0; + out_6099579681230365320[1] = 0; + out_6099579681230365320[2] = 0; + out_6099579681230365320[3] = 1; + out_6099579681230365320[4] = 0; + out_6099579681230365320[5] = 0; + out_6099579681230365320[6] = 0; + out_6099579681230365320[7] = 0; + out_6099579681230365320[8] = 0; + out_6099579681230365320[9] = 0; + out_6099579681230365320[10] = 0; + out_6099579681230365320[11] = 0; + out_6099579681230365320[12] = 0; + out_6099579681230365320[13] = 0; + out_6099579681230365320[14] = 0; + out_6099579681230365320[15] = 0; + out_6099579681230365320[16] = 0; + out_6099579681230365320[17] = 0; + out_6099579681230365320[18] = 0; + out_6099579681230365320[19] = 0; + out_6099579681230365320[20] = 0; + out_6099579681230365320[21] = 0; + out_6099579681230365320[22] = 1; + out_6099579681230365320[23] = 0; + out_6099579681230365320[24] = 0; + out_6099579681230365320[25] = 0; + out_6099579681230365320[26] = 0; + out_6099579681230365320[27] = 0; + out_6099579681230365320[28] = 0; + out_6099579681230365320[29] = 0; + out_6099579681230365320[30] = 0; + out_6099579681230365320[31] = 0; + out_6099579681230365320[32] = 0; + out_6099579681230365320[33] = 0; + out_6099579681230365320[34] = 0; + out_6099579681230365320[35] = 0; + out_6099579681230365320[36] = 0; + out_6099579681230365320[37] = 0; + out_6099579681230365320[38] = 0; + out_6099579681230365320[39] = 0; + out_6099579681230365320[40] = 0; + out_6099579681230365320[41] = 1; + out_6099579681230365320[42] = 0; + out_6099579681230365320[43] = 0; + out_6099579681230365320[44] = 0; + out_6099579681230365320[45] = 0; + out_6099579681230365320[46] = 0; + out_6099579681230365320[47] = 0; + out_6099579681230365320[48] = 0; + out_6099579681230365320[49] = 0; + out_6099579681230365320[50] = 0; + out_6099579681230365320[51] = 0; + out_6099579681230365320[52] = 0; + out_6099579681230365320[53] = 0; } -void h_14(double *state, double *unused, double *out_3839043433562085237) { - out_3839043433562085237[0] = state[6]; - out_3839043433562085237[1] = state[7]; - out_3839043433562085237[2] = state[8]; +void h_14(double *state, double *unused, double *out_3918582584245710569) { + out_3918582584245710569[0] = state[6]; + out_3918582584245710569[1] = state[7]; + out_3918582584245710569[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2782107044944628425) { - out_2782107044944628425[0] = 0; - out_2782107044944628425[1] = 0; - out_2782107044944628425[2] = 0; - out_2782107044944628425[3] = 0; - out_2782107044944628425[4] = 0; - out_2782107044944628425[5] = 0; - out_2782107044944628425[6] = 1; - out_2782107044944628425[7] = 0; - out_2782107044944628425[8] = 0; - out_2782107044944628425[9] = 0; - out_2782107044944628425[10] = 0; - out_2782107044944628425[11] = 0; - out_2782107044944628425[12] = 0; - out_2782107044944628425[13] = 0; - out_2782107044944628425[14] = 0; - out_2782107044944628425[15] = 0; - out_2782107044944628425[16] = 0; - out_2782107044944628425[17] = 0; - out_2782107044944628425[18] = 0; - out_2782107044944628425[19] = 0; - out_2782107044944628425[20] = 0; - out_2782107044944628425[21] = 0; - out_2782107044944628425[22] = 0; - out_2782107044944628425[23] = 0; - out_2782107044944628425[24] = 0; - out_2782107044944628425[25] = 1; - out_2782107044944628425[26] = 0; - out_2782107044944628425[27] = 0; - out_2782107044944628425[28] = 0; - out_2782107044944628425[29] = 0; - out_2782107044944628425[30] = 0; - out_2782107044944628425[31] = 0; - out_2782107044944628425[32] = 0; - out_2782107044944628425[33] = 0; - out_2782107044944628425[34] = 0; - out_2782107044944628425[35] = 0; - out_2782107044944628425[36] = 0; - out_2782107044944628425[37] = 0; - out_2782107044944628425[38] = 0; - out_2782107044944628425[39] = 0; - out_2782107044944628425[40] = 0; - out_2782107044944628425[41] = 0; - out_2782107044944628425[42] = 0; - out_2782107044944628425[43] = 0; - out_2782107044944628425[44] = 1; - out_2782107044944628425[45] = 0; - out_2782107044944628425[46] = 0; - out_2782107044944628425[47] = 0; - out_2782107044944628425[48] = 0; - out_2782107044944628425[49] = 0; - out_2782107044944628425[50] = 0; - out_2782107044944628425[51] = 0; - out_2782107044944628425[52] = 0; - out_2782107044944628425[53] = 0; +void H_14(double *state, double *unused, double *out_2452189329253148920) { + out_2452189329253148920[0] = 0; + out_2452189329253148920[1] = 0; + out_2452189329253148920[2] = 0; + out_2452189329253148920[3] = 0; + out_2452189329253148920[4] = 0; + out_2452189329253148920[5] = 0; + out_2452189329253148920[6] = 1; + out_2452189329253148920[7] = 0; + out_2452189329253148920[8] = 0; + out_2452189329253148920[9] = 0; + out_2452189329253148920[10] = 0; + out_2452189329253148920[11] = 0; + out_2452189329253148920[12] = 0; + out_2452189329253148920[13] = 0; + out_2452189329253148920[14] = 0; + out_2452189329253148920[15] = 0; + out_2452189329253148920[16] = 0; + out_2452189329253148920[17] = 0; + out_2452189329253148920[18] = 0; + out_2452189329253148920[19] = 0; + out_2452189329253148920[20] = 0; + out_2452189329253148920[21] = 0; + out_2452189329253148920[22] = 0; + out_2452189329253148920[23] = 0; + out_2452189329253148920[24] = 0; + out_2452189329253148920[25] = 1; + out_2452189329253148920[26] = 0; + out_2452189329253148920[27] = 0; + out_2452189329253148920[28] = 0; + out_2452189329253148920[29] = 0; + out_2452189329253148920[30] = 0; + out_2452189329253148920[31] = 0; + out_2452189329253148920[32] = 0; + out_2452189329253148920[33] = 0; + out_2452189329253148920[34] = 0; + out_2452189329253148920[35] = 0; + out_2452189329253148920[36] = 0; + out_2452189329253148920[37] = 0; + out_2452189329253148920[38] = 0; + out_2452189329253148920[39] = 0; + out_2452189329253148920[40] = 0; + out_2452189329253148920[41] = 0; + out_2452189329253148920[42] = 0; + out_2452189329253148920[43] = 0; + out_2452189329253148920[44] = 1; + out_2452189329253148920[45] = 0; + out_2452189329253148920[46] = 0; + out_2452189329253148920[47] = 0; + out_2452189329253148920[48] = 0; + out_2452189329253148920[49] = 0; + out_2452189329253148920[50] = 0; + out_2452189329253148920[51] = 0; + out_2452189329253148920[52] = 0; + out_2452189329253148920[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_2815596288453817821) { - err_fun(nom_x, delta_x, out_2815596288453817821); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6990659364596708462) { + err_fun(nom_x, delta_x, out_6990659364596708462); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8761485569796980977) { - inv_err_fun(nom_x, true_x, out_8761485569796980977); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1561026677999837058) { + inv_err_fun(nom_x, true_x, out_1561026677999837058); } -void pose_H_mod_fun(double *state, double *out_9016812017969752156) { - H_mod_fun(state, out_9016812017969752156); +void pose_H_mod_fun(double *state, double *out_308647198819961252) { + H_mod_fun(state, out_308647198819961252); } -void pose_f_fun(double *state, double dt, double *out_5314151849166190903) { - f_fun(state, dt, out_5314151849166190903); +void pose_f_fun(double *state, double dt, double *out_7010110275742074957) { + f_fun(state, dt, out_7010110275742074957); } -void pose_F_fun(double *state, double dt, double *out_3978107798910374878) { - F_fun(state, dt, out_3978107798910374878); +void pose_F_fun(double *state, double dt, double *out_321710036859700647) { + F_fun(state, dt, out_321710036859700647); } -void pose_h_4(double *state, double *unused, double *out_6702643113920812120) { - h_4(state, unused, out_6702643113920812120); +void pose_h_4(double *state, double *unused, double *out_8984471206441981160) { + h_4(state, unused, out_8984471206441981160); } -void pose_H_4(double *state, double *unused, double *out_1181133811394856104) { - H_4(state, unused, out_1181133811394856104); +void pose_H_4(double *state, double *unused, double *out_1511051527086335609) { + H_4(state, unused, out_1511051527086335609); } -void pose_h_10(double *state, double *unused, double *out_329728007611436907) { - h_10(state, unused, out_329728007611436907); +void pose_h_10(double *state, double *unused, double *out_1160903693658888330) { + h_10(state, unused, out_1160903693658888330); } -void pose_H_10(double *state, double *unused, double *out_8047171094370826367) { - H_10(state, unused, out_8047171094370826367); +void pose_H_10(double *state, double *unused, double *out_8626357209504260991) { + H_10(state, unused, out_8626357209504260991); } -void pose_h_13(double *state, double *unused, double *out_8195155792174923791) { - h_13(state, unused, out_8195155792174923791); +void pose_h_13(double *state, double *unused, double *out_8776526610688936203) { + h_13(state, unused, out_8776526610688936203); } -void pose_H_13(double *state, double *unused, double *out_2031140013937476697) { - H_13(state, unused, out_2031140013937476697); +void pose_H_13(double *state, double *unused, double *out_6099579681230365320) { + H_13(state, unused, out_6099579681230365320); } -void pose_h_14(double *state, double *unused, double *out_3839043433562085237) { - h_14(state, unused, out_3839043433562085237); +void pose_h_14(double *state, double *unused, double *out_3918582584245710569) { + h_14(state, unused, out_3918582584245710569); } -void pose_H_14(double *state, double *unused, double *out_2782107044944628425) { - H_14(state, unused, out_2782107044944628425); +void pose_H_14(double *state, double *unused, double *out_2452189329253148920) { + H_14(state, unused, out_2452189329253148920); } 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 78b7a80be..7a78aa40a 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_2815596288453817821); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8761485569796980977); -void pose_H_mod_fun(double *state, double *out_9016812017969752156); -void pose_f_fun(double *state, double dt, double *out_5314151849166190903); -void pose_F_fun(double *state, double dt, double *out_3978107798910374878); -void pose_h_4(double *state, double *unused, double *out_6702643113920812120); -void pose_H_4(double *state, double *unused, double *out_1181133811394856104); -void pose_h_10(double *state, double *unused, double *out_329728007611436907); -void pose_H_10(double *state, double *unused, double *out_8047171094370826367); -void pose_h_13(double *state, double *unused, double *out_8195155792174923791); -void pose_H_13(double *state, double *unused, double *out_2031140013937476697); -void pose_h_14(double *state, double *unused, double *out_3839043433562085237); -void pose_H_14(double *state, double *unused, double *out_2782107044944628425); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6990659364596708462); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1561026677999837058); +void pose_H_mod_fun(double *state, double *out_308647198819961252); +void pose_f_fun(double *state, double dt, double *out_7010110275742074957); +void pose_F_fun(double *state, double dt, double *out_321710036859700647); +void pose_h_4(double *state, double *unused, double *out_8984471206441981160); +void pose_H_4(double *state, double *unused, double *out_1511051527086335609); +void pose_h_10(double *state, double *unused, double *out_1160903693658888330); +void pose_H_10(double *state, double *unused, double *out_8626357209504260991); +void pose_h_13(double *state, double *unused, double *out_8776526610688936203); +void pose_H_13(double *state, double *unused, double *out_6099579681230365320); +void pose_h_14(double *state, double *unused, double *out_3918582584245710569); +void pose_H_14(double *state, double *unused, double *out_2452189329253148920); 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 a5710d9b1..7e56d32d4 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index a0e521e5d..de2c46efc 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index e49f0c9a8..2f1fde37a 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index d6953e9d7..b2a855a36 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 8917cf1f9..2525cb8db 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index b7b516723..44937d792 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ