diff --git a/cereal/libcereal.a b/cereal/libcereal.a index fbedbfeda..8f5522550 100644 Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ diff --git a/common/libcommon.a b/common/libcommon.a index b5e28f422..2e6f787d2 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 969b7d2e9..37f7be451 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 84d2645e8..f6b0baef2 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 2fa00d948..2beb4cdeb 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 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differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 3b510570b..0054262b4 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 0bd11e83a..89be1fae9 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 f3b9db16a..3aa56bb72 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 6a64bcd64..098de47cd 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-3f8d368b-DEBUG"; +const uint8_t gitversion[19] = "DEV-601b8855-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 310ff2b56..576034169 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 6fdcfdb25..49e0c6751 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 2a51a3993..9fb3fc075 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 e386927d2..1f139b4e7 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 40916113c..3f574713d 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 1808c5fac..0e9a4c4f8 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 72ee81ca5..1cb125110 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 e2e61c1cc..bcbd75fba 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 8f788d6f5..9fd6e8250 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 7fc503215..11b00e7b6 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 b6927ac02..1461703f0 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 c1055a5e7..121f4d372 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 d46d7f1ed..57719677a 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 ccf44b0f1..aab5d732f 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 c86d69e87..d8d199553 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 618bfa508..951d3d088 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 5c2fcc6b7..e60a7bc98 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 fba0c0d3e..cc31a45c3 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 38ded52c4..5d0212fe4 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 557b08cf4..f12fc28f2 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 e120c9072..e79812c8b 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-3f8d368b-DEBUG \ No newline at end of file +DEV-601b8855-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 716f03eee..7a292ddf9 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_652600290238585961) { - out_652600290238585961[0] = delta_x[0] + nom_x[0]; - out_652600290238585961[1] = delta_x[1] + nom_x[1]; - out_652600290238585961[2] = delta_x[2] + nom_x[2]; - out_652600290238585961[3] = delta_x[3] + nom_x[3]; - out_652600290238585961[4] = delta_x[4] + nom_x[4]; - out_652600290238585961[5] = delta_x[5] + nom_x[5]; - out_652600290238585961[6] = delta_x[6] + nom_x[6]; - out_652600290238585961[7] = delta_x[7] + nom_x[7]; - out_652600290238585961[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_4317163891516196670) { + out_4317163891516196670[0] = delta_x[0] + nom_x[0]; + out_4317163891516196670[1] = delta_x[1] + nom_x[1]; + out_4317163891516196670[2] = delta_x[2] + nom_x[2]; + out_4317163891516196670[3] = delta_x[3] + nom_x[3]; + out_4317163891516196670[4] = delta_x[4] + nom_x[4]; + out_4317163891516196670[5] = delta_x[5] + nom_x[5]; + out_4317163891516196670[6] = delta_x[6] + nom_x[6]; + out_4317163891516196670[7] = delta_x[7] + nom_x[7]; + out_4317163891516196670[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_428056314371954903) { - out_428056314371954903[0] = -nom_x[0] + true_x[0]; - out_428056314371954903[1] = -nom_x[1] + true_x[1]; - out_428056314371954903[2] = -nom_x[2] + true_x[2]; - out_428056314371954903[3] = -nom_x[3] + true_x[3]; - out_428056314371954903[4] = -nom_x[4] + true_x[4]; - out_428056314371954903[5] = -nom_x[5] + true_x[5]; - out_428056314371954903[6] = -nom_x[6] + true_x[6]; - out_428056314371954903[7] = -nom_x[7] + true_x[7]; - out_428056314371954903[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8278424519720112087) { + out_8278424519720112087[0] = -nom_x[0] + true_x[0]; + out_8278424519720112087[1] = -nom_x[1] + true_x[1]; + out_8278424519720112087[2] = -nom_x[2] + true_x[2]; + out_8278424519720112087[3] = -nom_x[3] + true_x[3]; + out_8278424519720112087[4] = -nom_x[4] + true_x[4]; + out_8278424519720112087[5] = -nom_x[5] + true_x[5]; + out_8278424519720112087[6] = -nom_x[6] + true_x[6]; + out_8278424519720112087[7] = -nom_x[7] + true_x[7]; + out_8278424519720112087[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_636098599351187827) { - out_636098599351187827[0] = 1.0; - out_636098599351187827[1] = 0.0; - out_636098599351187827[2] = 0.0; - out_636098599351187827[3] = 0.0; - out_636098599351187827[4] = 0.0; - out_636098599351187827[5] = 0.0; - out_636098599351187827[6] = 0.0; - out_636098599351187827[7] = 0.0; - out_636098599351187827[8] = 0.0; - out_636098599351187827[9] = 0.0; - out_636098599351187827[10] = 1.0; - out_636098599351187827[11] = 0.0; - out_636098599351187827[12] = 0.0; - out_636098599351187827[13] = 0.0; - out_636098599351187827[14] = 0.0; - out_636098599351187827[15] = 0.0; - out_636098599351187827[16] = 0.0; - out_636098599351187827[17] = 0.0; - out_636098599351187827[18] = 0.0; - out_636098599351187827[19] = 0.0; - out_636098599351187827[20] = 1.0; - out_636098599351187827[21] = 0.0; - out_636098599351187827[22] = 0.0; - out_636098599351187827[23] = 0.0; - out_636098599351187827[24] = 0.0; - out_636098599351187827[25] = 0.0; - out_636098599351187827[26] = 0.0; - out_636098599351187827[27] = 0.0; - out_636098599351187827[28] = 0.0; - out_636098599351187827[29] = 0.0; - out_636098599351187827[30] = 1.0; - out_636098599351187827[31] = 0.0; - out_636098599351187827[32] = 0.0; - out_636098599351187827[33] = 0.0; - out_636098599351187827[34] = 0.0; - out_636098599351187827[35] = 0.0; - out_636098599351187827[36] = 0.0; - out_636098599351187827[37] = 0.0; - out_636098599351187827[38] = 0.0; - out_636098599351187827[39] = 0.0; - out_636098599351187827[40] = 1.0; - out_636098599351187827[41] = 0.0; - out_636098599351187827[42] = 0.0; - out_636098599351187827[43] = 0.0; - out_636098599351187827[44] = 0.0; - out_636098599351187827[45] = 0.0; - out_636098599351187827[46] = 0.0; - out_636098599351187827[47] = 0.0; - out_636098599351187827[48] = 0.0; - out_636098599351187827[49] = 0.0; - out_636098599351187827[50] = 1.0; - out_636098599351187827[51] = 0.0; - out_636098599351187827[52] = 0.0; - out_636098599351187827[53] = 0.0; - out_636098599351187827[54] = 0.0; - out_636098599351187827[55] = 0.0; - out_636098599351187827[56] = 0.0; - out_636098599351187827[57] = 0.0; - out_636098599351187827[58] = 0.0; - out_636098599351187827[59] = 0.0; - out_636098599351187827[60] = 1.0; - out_636098599351187827[61] = 0.0; - out_636098599351187827[62] = 0.0; - out_636098599351187827[63] = 0.0; - out_636098599351187827[64] = 0.0; - out_636098599351187827[65] = 0.0; - out_636098599351187827[66] = 0.0; - out_636098599351187827[67] = 0.0; - out_636098599351187827[68] = 0.0; - out_636098599351187827[69] = 0.0; - out_636098599351187827[70] = 1.0; - out_636098599351187827[71] = 0.0; - out_636098599351187827[72] = 0.0; - out_636098599351187827[73] = 0.0; - out_636098599351187827[74] = 0.0; - out_636098599351187827[75] = 0.0; - out_636098599351187827[76] = 0.0; - out_636098599351187827[77] = 0.0; - out_636098599351187827[78] = 0.0; - out_636098599351187827[79] = 0.0; - out_636098599351187827[80] = 1.0; +void H_mod_fun(double *state, double *out_319627375497114494) { + out_319627375497114494[0] = 1.0; + out_319627375497114494[1] = 0.0; + out_319627375497114494[2] = 0.0; + out_319627375497114494[3] = 0.0; + out_319627375497114494[4] = 0.0; + out_319627375497114494[5] = 0.0; + out_319627375497114494[6] = 0.0; + out_319627375497114494[7] = 0.0; + out_319627375497114494[8] = 0.0; + out_319627375497114494[9] = 0.0; + out_319627375497114494[10] = 1.0; + out_319627375497114494[11] = 0.0; + out_319627375497114494[12] = 0.0; + out_319627375497114494[13] = 0.0; + out_319627375497114494[14] = 0.0; + out_319627375497114494[15] = 0.0; + out_319627375497114494[16] = 0.0; + out_319627375497114494[17] = 0.0; + out_319627375497114494[18] = 0.0; + out_319627375497114494[19] = 0.0; + out_319627375497114494[20] = 1.0; + out_319627375497114494[21] = 0.0; + out_319627375497114494[22] = 0.0; + out_319627375497114494[23] = 0.0; + out_319627375497114494[24] = 0.0; + out_319627375497114494[25] = 0.0; + out_319627375497114494[26] = 0.0; + out_319627375497114494[27] = 0.0; + out_319627375497114494[28] = 0.0; + out_319627375497114494[29] = 0.0; + out_319627375497114494[30] = 1.0; + out_319627375497114494[31] = 0.0; + out_319627375497114494[32] = 0.0; + out_319627375497114494[33] = 0.0; + out_319627375497114494[34] = 0.0; + out_319627375497114494[35] = 0.0; + out_319627375497114494[36] = 0.0; + out_319627375497114494[37] = 0.0; + out_319627375497114494[38] = 0.0; + out_319627375497114494[39] = 0.0; + out_319627375497114494[40] = 1.0; + out_319627375497114494[41] = 0.0; + out_319627375497114494[42] = 0.0; + out_319627375497114494[43] = 0.0; + out_319627375497114494[44] = 0.0; + out_319627375497114494[45] = 0.0; + out_319627375497114494[46] = 0.0; + out_319627375497114494[47] = 0.0; + out_319627375497114494[48] = 0.0; + out_319627375497114494[49] = 0.0; + out_319627375497114494[50] = 1.0; + out_319627375497114494[51] = 0.0; + out_319627375497114494[52] = 0.0; + out_319627375497114494[53] = 0.0; + out_319627375497114494[54] = 0.0; + out_319627375497114494[55] = 0.0; + out_319627375497114494[56] = 0.0; + out_319627375497114494[57] = 0.0; + out_319627375497114494[58] = 0.0; + out_319627375497114494[59] = 0.0; + out_319627375497114494[60] = 1.0; + out_319627375497114494[61] = 0.0; + out_319627375497114494[62] = 0.0; + out_319627375497114494[63] = 0.0; + out_319627375497114494[64] = 0.0; + out_319627375497114494[65] = 0.0; + out_319627375497114494[66] = 0.0; + out_319627375497114494[67] = 0.0; + out_319627375497114494[68] = 0.0; + out_319627375497114494[69] = 0.0; + out_319627375497114494[70] = 1.0; + out_319627375497114494[71] = 0.0; + out_319627375497114494[72] = 0.0; + out_319627375497114494[73] = 0.0; + out_319627375497114494[74] = 0.0; + out_319627375497114494[75] = 0.0; + out_319627375497114494[76] = 0.0; + out_319627375497114494[77] = 0.0; + out_319627375497114494[78] = 0.0; + out_319627375497114494[79] = 0.0; + out_319627375497114494[80] = 1.0; } -void f_fun(double *state, double dt, double *out_190909160143243867) { - out_190909160143243867[0] = state[0]; - out_190909160143243867[1] = state[1]; - out_190909160143243867[2] = state[2]; - out_190909160143243867[3] = state[3]; - out_190909160143243867[4] = state[4]; - out_190909160143243867[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_190909160143243867[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_190909160143243867[7] = state[7]; - out_190909160143243867[8] = state[8]; +void f_fun(double *state, double dt, double *out_6613977481805234540) { + out_6613977481805234540[0] = state[0]; + out_6613977481805234540[1] = state[1]; + out_6613977481805234540[2] = state[2]; + out_6613977481805234540[3] = state[3]; + out_6613977481805234540[4] = state[4]; + out_6613977481805234540[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_6613977481805234540[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_6613977481805234540[7] = state[7]; + out_6613977481805234540[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1195327144916471551) { - out_1195327144916471551[0] = 1; - out_1195327144916471551[1] = 0; - out_1195327144916471551[2] = 0; - out_1195327144916471551[3] = 0; - out_1195327144916471551[4] = 0; - out_1195327144916471551[5] = 0; - out_1195327144916471551[6] = 0; - out_1195327144916471551[7] = 0; - out_1195327144916471551[8] = 0; - out_1195327144916471551[9] = 0; - out_1195327144916471551[10] = 1; - out_1195327144916471551[11] = 0; - out_1195327144916471551[12] = 0; - out_1195327144916471551[13] = 0; - out_1195327144916471551[14] = 0; - out_1195327144916471551[15] = 0; - out_1195327144916471551[16] = 0; - out_1195327144916471551[17] = 0; - out_1195327144916471551[18] = 0; - out_1195327144916471551[19] = 0; - out_1195327144916471551[20] = 1; - out_1195327144916471551[21] = 0; - out_1195327144916471551[22] = 0; - out_1195327144916471551[23] = 0; - out_1195327144916471551[24] = 0; - out_1195327144916471551[25] = 0; - out_1195327144916471551[26] = 0; - out_1195327144916471551[27] = 0; - out_1195327144916471551[28] = 0; - out_1195327144916471551[29] = 0; - out_1195327144916471551[30] = 1; - out_1195327144916471551[31] = 0; - out_1195327144916471551[32] = 0; - out_1195327144916471551[33] = 0; - out_1195327144916471551[34] = 0; - out_1195327144916471551[35] = 0; - out_1195327144916471551[36] = 0; - out_1195327144916471551[37] = 0; - out_1195327144916471551[38] = 0; - out_1195327144916471551[39] = 0; - out_1195327144916471551[40] = 1; - out_1195327144916471551[41] = 0; - out_1195327144916471551[42] = 0; - out_1195327144916471551[43] = 0; - out_1195327144916471551[44] = 0; - out_1195327144916471551[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_1195327144916471551[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1195327144916471551[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1195327144916471551[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1195327144916471551[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_1195327144916471551[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1195327144916471551[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1195327144916471551[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1195327144916471551[53] = -9.8100000000000005*dt; - out_1195327144916471551[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_1195327144916471551[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1195327144916471551[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1195327144916471551[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1195327144916471551[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_1195327144916471551[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1195327144916471551[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_1195327144916471551[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1195327144916471551[62] = 0; - out_1195327144916471551[63] = 0; - out_1195327144916471551[64] = 0; - out_1195327144916471551[65] = 0; - out_1195327144916471551[66] = 0; - out_1195327144916471551[67] = 0; - out_1195327144916471551[68] = 0; - out_1195327144916471551[69] = 0; - out_1195327144916471551[70] = 1; - out_1195327144916471551[71] = 0; - out_1195327144916471551[72] = 0; - out_1195327144916471551[73] = 0; - out_1195327144916471551[74] = 0; - out_1195327144916471551[75] = 0; - out_1195327144916471551[76] = 0; - out_1195327144916471551[77] = 0; - out_1195327144916471551[78] = 0; - out_1195327144916471551[79] = 0; - out_1195327144916471551[80] = 1; +void F_fun(double *state, double dt, double *out_3393066705725541618) { + out_3393066705725541618[0] = 1; + out_3393066705725541618[1] = 0; + out_3393066705725541618[2] = 0; + out_3393066705725541618[3] = 0; + out_3393066705725541618[4] = 0; + out_3393066705725541618[5] = 0; + out_3393066705725541618[6] = 0; + out_3393066705725541618[7] = 0; + out_3393066705725541618[8] = 0; + out_3393066705725541618[9] = 0; + out_3393066705725541618[10] = 1; + out_3393066705725541618[11] = 0; + out_3393066705725541618[12] = 0; + out_3393066705725541618[13] = 0; + out_3393066705725541618[14] = 0; + out_3393066705725541618[15] = 0; + out_3393066705725541618[16] = 0; + out_3393066705725541618[17] = 0; + out_3393066705725541618[18] = 0; + out_3393066705725541618[19] = 0; + out_3393066705725541618[20] = 1; + out_3393066705725541618[21] = 0; + out_3393066705725541618[22] = 0; + out_3393066705725541618[23] = 0; + out_3393066705725541618[24] = 0; + out_3393066705725541618[25] = 0; + out_3393066705725541618[26] = 0; + out_3393066705725541618[27] = 0; + out_3393066705725541618[28] = 0; + out_3393066705725541618[29] = 0; + out_3393066705725541618[30] = 1; + out_3393066705725541618[31] = 0; + out_3393066705725541618[32] = 0; + out_3393066705725541618[33] = 0; + out_3393066705725541618[34] = 0; + out_3393066705725541618[35] = 0; + out_3393066705725541618[36] = 0; + out_3393066705725541618[37] = 0; + out_3393066705725541618[38] = 0; + out_3393066705725541618[39] = 0; + out_3393066705725541618[40] = 1; + out_3393066705725541618[41] = 0; + out_3393066705725541618[42] = 0; + out_3393066705725541618[43] = 0; + out_3393066705725541618[44] = 0; + out_3393066705725541618[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_3393066705725541618[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3393066705725541618[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3393066705725541618[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3393066705725541618[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_3393066705725541618[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3393066705725541618[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3393066705725541618[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3393066705725541618[53] = -9.8100000000000005*dt; + out_3393066705725541618[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_3393066705725541618[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3393066705725541618[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3393066705725541618[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3393066705725541618[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_3393066705725541618[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3393066705725541618[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_3393066705725541618[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3393066705725541618[62] = 0; + out_3393066705725541618[63] = 0; + out_3393066705725541618[64] = 0; + out_3393066705725541618[65] = 0; + out_3393066705725541618[66] = 0; + out_3393066705725541618[67] = 0; + out_3393066705725541618[68] = 0; + out_3393066705725541618[69] = 0; + out_3393066705725541618[70] = 1; + out_3393066705725541618[71] = 0; + out_3393066705725541618[72] = 0; + out_3393066705725541618[73] = 0; + out_3393066705725541618[74] = 0; + out_3393066705725541618[75] = 0; + out_3393066705725541618[76] = 0; + out_3393066705725541618[77] = 0; + out_3393066705725541618[78] = 0; + out_3393066705725541618[79] = 0; + out_3393066705725541618[80] = 1; } -void h_25(double *state, double *unused, double *out_8972033615374819768) { - out_8972033615374819768[0] = state[6]; +void h_25(double *state, double *unused, double *out_3694283988136956896) { + out_3694283988136956896[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4267593225833477013) { - out_4267593225833477013[0] = 0; - out_4267593225833477013[1] = 0; - out_4267593225833477013[2] = 0; - out_4267593225833477013[3] = 0; - out_4267593225833477013[4] = 0; - out_4267593225833477013[5] = 0; - out_4267593225833477013[6] = 1; - out_4267593225833477013[7] = 0; - out_4267593225833477013[8] = 0; +void H_25(double *state, double *unused, double *out_8933928472300199885) { + out_8933928472300199885[0] = 0; + out_8933928472300199885[1] = 0; + out_8933928472300199885[2] = 0; + out_8933928472300199885[3] = 0; + out_8933928472300199885[4] = 0; + out_8933928472300199885[5] = 0; + out_8933928472300199885[6] = 1; + out_8933928472300199885[7] = 0; + out_8933928472300199885[8] = 0; } -void h_24(double *state, double *unused, double *out_1619093620334214225) { - out_1619093620334214225[0] = state[4]; - out_1619093620334214225[1] = state[5]; +void h_24(double *state, double *unused, double *out_878940354647202481) { + out_878940354647202481[0] = state[4]; + out_878940354647202481[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2538730106656162944) { - out_2538730106656162944[0] = 0; - out_2538730106656162944[1] = 0; - out_2538730106656162944[2] = 0; - out_2538730106656162944[3] = 0; - out_2538730106656162944[4] = 1; - out_2538730106656162944[5] = 0; - out_2538730106656162944[6] = 0; - out_2538730106656162944[7] = 0; - out_2538730106656162944[8] = 0; - out_2538730106656162944[9] = 0; - out_2538730106656162944[10] = 0; - out_2538730106656162944[11] = 0; - out_2538730106656162944[12] = 0; - out_2538730106656162944[13] = 0; - out_2538730106656162944[14] = 1; - out_2538730106656162944[15] = 0; - out_2538730106656162944[16] = 0; - out_2538730106656162944[17] = 0; +void H_24(double *state, double *unused, double *out_7287107817430483169) { + out_7287107817430483169[0] = 0; + out_7287107817430483169[1] = 0; + out_7287107817430483169[2] = 0; + out_7287107817430483169[3] = 0; + out_7287107817430483169[4] = 1; + out_7287107817430483169[5] = 0; + out_7287107817430483169[6] = 0; + out_7287107817430483169[7] = 0; + out_7287107817430483169[8] = 0; + out_7287107817430483169[9] = 0; + out_7287107817430483169[10] = 0; + out_7287107817430483169[11] = 0; + out_7287107817430483169[12] = 0; + out_7287107817430483169[13] = 0; + out_7287107817430483169[14] = 1; + out_7287107817430483169[15] = 0; + out_7287107817430483169[16] = 0; + out_7287107817430483169[17] = 0; } -void h_30(double *state, double *unused, double *out_2004718450693787274) { - out_2004718450693787274[0] = state[4]; +void h_30(double *state, double *unused, double *out_9220341424687980009) { + out_9220341424687980009[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6785926184340725640) { - out_6785926184340725640[0] = 0; - out_6785926184340725640[1] = 0; - out_6785926184340725640[2] = 0; - out_6785926184340725640[3] = 0; - out_6785926184340725640[4] = 1; - out_6785926184340725640[5] = 0; - out_6785926184340725640[6] = 0; - out_6785926184340725640[7] = 0; - out_6785926184340725640[8] = 0; +void H_30(double *state, double *unused, double *out_2596125259917734976) { + out_2596125259917734976[0] = 0; + out_2596125259917734976[1] = 0; + out_2596125259917734976[2] = 0; + out_2596125259917734976[3] = 0; + out_2596125259917734976[4] = 1; + out_2596125259917734976[5] = 0; + out_2596125259917734976[6] = 0; + out_2596125259917734976[7] = 0; + out_2596125259917734976[8] = 0; } -void h_26(double *state, double *unused, double *out_7006391718354632919) { - out_7006391718354632919[0] = state[7]; +void h_26(double *state, double *unused, double *out_4022405810528928524) { + out_4022405810528928524[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7572119195594277614) { - out_7572119195594277614[0] = 0; - out_7572119195594277614[1] = 0; - out_7572119195594277614[2] = 0; - out_7572119195594277614[3] = 0; - out_7572119195594277614[4] = 0; - out_7572119195594277614[5] = 0; - out_7572119195594277614[6] = 0; - out_7572119195594277614[7] = 1; - out_7572119195594277614[8] = 0; +void H_26(double *state, double *unused, double *out_5192425153426143661) { + out_5192425153426143661[0] = 0; + out_5192425153426143661[1] = 0; + out_5192425153426143661[2] = 0; + out_5192425153426143661[3] = 0; + out_5192425153426143661[4] = 0; + out_5192425153426143661[5] = 0; + out_5192425153426143661[6] = 0; + out_5192425153426143661[7] = 1; + out_5192425153426143661[8] = 0; } -void h_27(double *state, double *unused, double *out_4512330460653438616) { - out_4512330460653438616[0] = state[3]; +void h_27(double *state, double *unused, double *out_4139954033073310033) { + out_4139954033073310033[0] = state[3]; } -void H_27(double *state, double *unused, double *out_9009520255524668857) { - out_9009520255524668857[0] = 0; - out_9009520255524668857[1] = 0; - out_9009520255524668857[2] = 0; - out_9009520255524668857[3] = 1; - out_9009520255524668857[4] = 0; - out_9009520255524668857[5] = 0; - out_9009520255524668857[6] = 0; - out_9009520255524668857[7] = 0; - out_9009520255524668857[8] = 0; +void H_27(double *state, double *unused, double *out_4770888571718159887) { + out_4770888571718159887[0] = 0; + out_4770888571718159887[1] = 0; + out_4770888571718159887[2] = 0; + out_4770888571718159887[3] = 1; + out_4770888571718159887[4] = 0; + out_4770888571718159887[5] = 0; + out_4770888571718159887[6] = 0; + out_4770888571718159887[7] = 0; + out_4770888571718159887[8] = 0; } -void h_29(double *state, double *unused, double *out_2948228303595449709) { - out_2948228303595449709[0] = state[1]; +void h_29(double *state, double *unused, double *out_6621997328212873956) { + out_6621997328212873956[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7296157528655117824) { - out_7296157528655117824[0] = 0; - out_7296157528655117824[1] = 1; - out_7296157528655117824[2] = 0; - out_7296157528655117824[3] = 0; - out_7296157528655117824[4] = 0; - out_7296157528655117824[5] = 0; - out_7296157528655117824[6] = 0; - out_7296157528655117824[7] = 0; - out_7296157528655117824[8] = 0; +void H_29(double *state, double *unused, double *out_2085893915603342792) { + out_2085893915603342792[0] = 0; + out_2085893915603342792[1] = 1; + out_2085893915603342792[2] = 0; + out_2085893915603342792[3] = 0; + out_2085893915603342792[4] = 0; + out_2085893915603342792[5] = 0; + out_2085893915603342792[6] = 0; + out_2085893915603342792[7] = 0; + out_2085893915603342792[8] = 0; } -void h_28(double *state, double *unused, double *out_1907925139844740965) { - out_1907925139844740965[0] = state[0]; +void h_28(double *state, double *unused, double *out_8099632253155620528) { + out_8099632253155620528[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2213758511585587250) { - out_2213758511585587250[0] = 1; - out_2213758511585587250[1] = 0; - out_2213758511585587250[2] = 0; - out_2213758511585587250[3] = 0; - out_2213758511585587250[4] = 0; - out_2213758511585587250[5] = 0; - out_2213758511585587250[6] = 0; - out_2213758511585587250[7] = 0; - out_2213758511585587250[8] = 0; +void H_28(double *state, double *unused, double *out_7168292932672873366) { + out_7168292932672873366[0] = 1; + out_7168292932672873366[1] = 0; + out_7168292932672873366[2] = 0; + out_7168292932672873366[3] = 0; + out_7168292932672873366[4] = 0; + out_7168292932672873366[5] = 0; + out_7168292932672873366[6] = 0; + out_7168292932672873366[7] = 0; + out_7168292932672873366[8] = 0; } -void h_31(double *state, double *unused, double *out_332156138656277884) { - out_332156138656277884[0] = state[8]; +void h_31(double *state, double *unused, double *out_5443433296546894286) { + out_5443433296546894286[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4298239187710437441) { - out_4298239187710437441[0] = 0; - out_4298239187710437441[1] = 0; - out_4298239187710437441[2] = 0; - out_4298239187710437441[3] = 0; - out_4298239187710437441[4] = 0; - out_4298239187710437441[5] = 0; - out_4298239187710437441[6] = 0; - out_4298239187710437441[7] = 0; - out_4298239187710437441[8] = 1; +void H_31(double *state, double *unused, double *out_8964574434177160313) { + out_8964574434177160313[0] = 0; + out_8964574434177160313[1] = 0; + out_8964574434177160313[2] = 0; + out_8964574434177160313[3] = 0; + out_8964574434177160313[4] = 0; + out_8964574434177160313[5] = 0; + out_8964574434177160313[6] = 0; + out_8964574434177160313[7] = 0; + out_8964574434177160313[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_652600290238585961) { - err_fun(nom_x, delta_x, out_652600290238585961); +void car_err_fun(double *nom_x, double *delta_x, double *out_4317163891516196670) { + err_fun(nom_x, delta_x, out_4317163891516196670); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_428056314371954903) { - inv_err_fun(nom_x, true_x, out_428056314371954903); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8278424519720112087) { + inv_err_fun(nom_x, true_x, out_8278424519720112087); } -void car_H_mod_fun(double *state, double *out_636098599351187827) { - H_mod_fun(state, out_636098599351187827); +void car_H_mod_fun(double *state, double *out_319627375497114494) { + H_mod_fun(state, out_319627375497114494); } -void car_f_fun(double *state, double dt, double *out_190909160143243867) { - f_fun(state, dt, out_190909160143243867); +void car_f_fun(double *state, double dt, double *out_6613977481805234540) { + f_fun(state, dt, out_6613977481805234540); } -void car_F_fun(double *state, double dt, double *out_1195327144916471551) { - F_fun(state, dt, out_1195327144916471551); +void car_F_fun(double *state, double dt, double *out_3393066705725541618) { + F_fun(state, dt, out_3393066705725541618); } -void car_h_25(double *state, double *unused, double *out_8972033615374819768) { - h_25(state, unused, out_8972033615374819768); +void car_h_25(double *state, double *unused, double *out_3694283988136956896) { + h_25(state, unused, out_3694283988136956896); } -void car_H_25(double *state, double *unused, double *out_4267593225833477013) { - H_25(state, unused, out_4267593225833477013); +void car_H_25(double *state, double *unused, double *out_8933928472300199885) { + H_25(state, unused, out_8933928472300199885); } -void car_h_24(double *state, double *unused, double *out_1619093620334214225) { - h_24(state, unused, out_1619093620334214225); +void car_h_24(double *state, double *unused, double *out_878940354647202481) { + h_24(state, unused, out_878940354647202481); } -void car_H_24(double *state, double *unused, double *out_2538730106656162944) { - H_24(state, unused, out_2538730106656162944); +void car_H_24(double *state, double *unused, double *out_7287107817430483169) { + H_24(state, unused, out_7287107817430483169); } -void car_h_30(double *state, double *unused, double *out_2004718450693787274) { - h_30(state, unused, out_2004718450693787274); +void car_h_30(double *state, double *unused, double *out_9220341424687980009) { + h_30(state, unused, out_9220341424687980009); } -void car_H_30(double *state, double *unused, double *out_6785926184340725640) { - H_30(state, unused, out_6785926184340725640); +void car_H_30(double *state, double *unused, double *out_2596125259917734976) { + H_30(state, unused, out_2596125259917734976); } -void car_h_26(double *state, double *unused, double *out_7006391718354632919) { - h_26(state, unused, out_7006391718354632919); +void car_h_26(double *state, double *unused, double *out_4022405810528928524) { + h_26(state, unused, out_4022405810528928524); } -void car_H_26(double *state, double *unused, double *out_7572119195594277614) { - H_26(state, unused, out_7572119195594277614); +void car_H_26(double *state, double *unused, double *out_5192425153426143661) { + H_26(state, unused, out_5192425153426143661); } -void car_h_27(double *state, double *unused, double *out_4512330460653438616) { - h_27(state, unused, out_4512330460653438616); +void car_h_27(double *state, double *unused, double *out_4139954033073310033) { + h_27(state, unused, out_4139954033073310033); } -void car_H_27(double *state, double *unused, double *out_9009520255524668857) { - H_27(state, unused, out_9009520255524668857); +void car_H_27(double *state, double *unused, double *out_4770888571718159887) { + H_27(state, unused, out_4770888571718159887); } -void car_h_29(double *state, double *unused, double *out_2948228303595449709) { - h_29(state, unused, out_2948228303595449709); +void car_h_29(double *state, double *unused, double *out_6621997328212873956) { + h_29(state, unused, out_6621997328212873956); } -void car_H_29(double *state, double *unused, double *out_7296157528655117824) { - H_29(state, unused, out_7296157528655117824); +void car_H_29(double *state, double *unused, double *out_2085893915603342792) { + H_29(state, unused, out_2085893915603342792); } -void car_h_28(double *state, double *unused, double *out_1907925139844740965) { - h_28(state, unused, out_1907925139844740965); +void car_h_28(double *state, double *unused, double *out_8099632253155620528) { + h_28(state, unused, out_8099632253155620528); } -void car_H_28(double *state, double *unused, double *out_2213758511585587250) { - H_28(state, unused, out_2213758511585587250); +void car_H_28(double *state, double *unused, double *out_7168292932672873366) { + H_28(state, unused, out_7168292932672873366); } -void car_h_31(double *state, double *unused, double *out_332156138656277884) { - h_31(state, unused, out_332156138656277884); +void car_h_31(double *state, double *unused, double *out_5443433296546894286) { + h_31(state, unused, out_5443433296546894286); } -void car_H_31(double *state, double *unused, double *out_4298239187710437441) { - H_31(state, unused, out_4298239187710437441); +void car_H_31(double *state, double *unused, double *out_8964574434177160313) { + H_31(state, unused, out_8964574434177160313); } 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 11c95d2db..64b707f79 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_652600290238585961); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_428056314371954903); -void car_H_mod_fun(double *state, double *out_636098599351187827); -void car_f_fun(double *state, double dt, double *out_190909160143243867); -void car_F_fun(double *state, double dt, double *out_1195327144916471551); -void car_h_25(double *state, double *unused, double *out_8972033615374819768); -void car_H_25(double *state, double *unused, double *out_4267593225833477013); -void car_h_24(double *state, double *unused, double *out_1619093620334214225); -void car_H_24(double *state, double *unused, double *out_2538730106656162944); -void car_h_30(double *state, double *unused, double *out_2004718450693787274); -void car_H_30(double *state, double *unused, double *out_6785926184340725640); -void car_h_26(double *state, double *unused, double *out_7006391718354632919); -void car_H_26(double *state, double *unused, double *out_7572119195594277614); -void car_h_27(double *state, double *unused, double *out_4512330460653438616); -void car_H_27(double *state, double *unused, double *out_9009520255524668857); -void car_h_29(double *state, double *unused, double *out_2948228303595449709); -void car_H_29(double *state, double *unused, double *out_7296157528655117824); -void car_h_28(double *state, double *unused, double *out_1907925139844740965); -void car_H_28(double *state, double *unused, double *out_2213758511585587250); -void car_h_31(double *state, double *unused, double *out_332156138656277884); -void car_H_31(double *state, double *unused, double *out_4298239187710437441); +void car_err_fun(double *nom_x, double *delta_x, double *out_4317163891516196670); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8278424519720112087); +void car_H_mod_fun(double *state, double *out_319627375497114494); +void car_f_fun(double *state, double dt, double *out_6613977481805234540); +void car_F_fun(double *state, double dt, double *out_3393066705725541618); +void car_h_25(double *state, double *unused, double *out_3694283988136956896); +void car_H_25(double *state, double *unused, double *out_8933928472300199885); +void car_h_24(double *state, double *unused, double *out_878940354647202481); +void car_H_24(double *state, double *unused, double *out_7287107817430483169); +void car_h_30(double *state, double *unused, double *out_9220341424687980009); +void car_H_30(double *state, double *unused, double *out_2596125259917734976); +void car_h_26(double *state, double *unused, double *out_4022405810528928524); +void car_H_26(double *state, double *unused, double *out_5192425153426143661); +void car_h_27(double *state, double *unused, double *out_4139954033073310033); +void car_H_27(double *state, double *unused, double *out_4770888571718159887); +void car_h_29(double *state, double *unused, double *out_6621997328212873956); +void car_H_29(double *state, double *unused, double *out_2085893915603342792); +void car_h_28(double *state, double *unused, double *out_8099632253155620528); +void car_H_28(double *state, double *unused, double *out_7168292932672873366); +void car_h_31(double *state, double *unused, double *out_5443433296546894286); +void car_H_31(double *state, double *unused, double *out_8964574434177160313); 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 27335ea33..b797cbcc9 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_6520327552806096841) { - out_6520327552806096841[0] = delta_x[0] + nom_x[0]; - out_6520327552806096841[1] = delta_x[1] + nom_x[1]; - out_6520327552806096841[2] = delta_x[2] + nom_x[2]; - out_6520327552806096841[3] = delta_x[3] + nom_x[3]; - out_6520327552806096841[4] = delta_x[4] + nom_x[4]; - out_6520327552806096841[5] = delta_x[5] + nom_x[5]; - out_6520327552806096841[6] = delta_x[6] + nom_x[6]; - out_6520327552806096841[7] = delta_x[7] + nom_x[7]; - out_6520327552806096841[8] = delta_x[8] + nom_x[8]; - out_6520327552806096841[9] = delta_x[9] + nom_x[9]; - out_6520327552806096841[10] = delta_x[10] + nom_x[10]; - out_6520327552806096841[11] = delta_x[11] + nom_x[11]; - out_6520327552806096841[12] = delta_x[12] + nom_x[12]; - out_6520327552806096841[13] = delta_x[13] + nom_x[13]; - out_6520327552806096841[14] = delta_x[14] + nom_x[14]; - out_6520327552806096841[15] = delta_x[15] + nom_x[15]; - out_6520327552806096841[16] = delta_x[16] + nom_x[16]; - out_6520327552806096841[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2276930388742637984) { + out_2276930388742637984[0] = delta_x[0] + nom_x[0]; + out_2276930388742637984[1] = delta_x[1] + nom_x[1]; + out_2276930388742637984[2] = delta_x[2] + nom_x[2]; + out_2276930388742637984[3] = delta_x[3] + nom_x[3]; + out_2276930388742637984[4] = delta_x[4] + nom_x[4]; + out_2276930388742637984[5] = delta_x[5] + nom_x[5]; + out_2276930388742637984[6] = delta_x[6] + nom_x[6]; + out_2276930388742637984[7] = delta_x[7] + nom_x[7]; + out_2276930388742637984[8] = delta_x[8] + nom_x[8]; + out_2276930388742637984[9] = delta_x[9] + nom_x[9]; + out_2276930388742637984[10] = delta_x[10] + nom_x[10]; + out_2276930388742637984[11] = delta_x[11] + nom_x[11]; + out_2276930388742637984[12] = delta_x[12] + nom_x[12]; + out_2276930388742637984[13] = delta_x[13] + nom_x[13]; + out_2276930388742637984[14] = delta_x[14] + nom_x[14]; + out_2276930388742637984[15] = delta_x[15] + nom_x[15]; + out_2276930388742637984[16] = delta_x[16] + nom_x[16]; + out_2276930388742637984[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3933583929675800728) { - out_3933583929675800728[0] = -nom_x[0] + true_x[0]; - out_3933583929675800728[1] = -nom_x[1] + true_x[1]; - out_3933583929675800728[2] = -nom_x[2] + true_x[2]; - out_3933583929675800728[3] = -nom_x[3] + true_x[3]; - out_3933583929675800728[4] = -nom_x[4] + true_x[4]; - out_3933583929675800728[5] = -nom_x[5] + true_x[5]; - out_3933583929675800728[6] = -nom_x[6] + true_x[6]; - out_3933583929675800728[7] = -nom_x[7] + true_x[7]; - out_3933583929675800728[8] = -nom_x[8] + true_x[8]; - out_3933583929675800728[9] = -nom_x[9] + true_x[9]; - out_3933583929675800728[10] = -nom_x[10] + true_x[10]; - out_3933583929675800728[11] = -nom_x[11] + true_x[11]; - out_3933583929675800728[12] = -nom_x[12] + true_x[12]; - out_3933583929675800728[13] = -nom_x[13] + true_x[13]; - out_3933583929675800728[14] = -nom_x[14] + true_x[14]; - out_3933583929675800728[15] = -nom_x[15] + true_x[15]; - out_3933583929675800728[16] = -nom_x[16] + true_x[16]; - out_3933583929675800728[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5553036191683273841) { + out_5553036191683273841[0] = -nom_x[0] + true_x[0]; + out_5553036191683273841[1] = -nom_x[1] + true_x[1]; + out_5553036191683273841[2] = -nom_x[2] + true_x[2]; + out_5553036191683273841[3] = -nom_x[3] + true_x[3]; + out_5553036191683273841[4] = -nom_x[4] + true_x[4]; + out_5553036191683273841[5] = -nom_x[5] + true_x[5]; + out_5553036191683273841[6] = -nom_x[6] + true_x[6]; + out_5553036191683273841[7] = -nom_x[7] + true_x[7]; + out_5553036191683273841[8] = -nom_x[8] + true_x[8]; + out_5553036191683273841[9] = -nom_x[9] + true_x[9]; + out_5553036191683273841[10] = -nom_x[10] + true_x[10]; + out_5553036191683273841[11] = -nom_x[11] + true_x[11]; + out_5553036191683273841[12] = -nom_x[12] + true_x[12]; + out_5553036191683273841[13] = -nom_x[13] + true_x[13]; + out_5553036191683273841[14] = -nom_x[14] + true_x[14]; + out_5553036191683273841[15] = -nom_x[15] + true_x[15]; + out_5553036191683273841[16] = -nom_x[16] + true_x[16]; + out_5553036191683273841[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_6974741239016485936) { - out_6974741239016485936[0] = 1.0; - out_6974741239016485936[1] = 0.0; - out_6974741239016485936[2] = 0.0; - out_6974741239016485936[3] = 0.0; - out_6974741239016485936[4] = 0.0; - out_6974741239016485936[5] = 0.0; - out_6974741239016485936[6] = 0.0; - out_6974741239016485936[7] = 0.0; - out_6974741239016485936[8] = 0.0; - out_6974741239016485936[9] = 0.0; - out_6974741239016485936[10] = 0.0; - out_6974741239016485936[11] = 0.0; - out_6974741239016485936[12] = 0.0; - out_6974741239016485936[13] = 0.0; - out_6974741239016485936[14] = 0.0; - out_6974741239016485936[15] = 0.0; - out_6974741239016485936[16] = 0.0; - out_6974741239016485936[17] = 0.0; - out_6974741239016485936[18] = 0.0; - out_6974741239016485936[19] = 1.0; - out_6974741239016485936[20] = 0.0; - out_6974741239016485936[21] = 0.0; - out_6974741239016485936[22] = 0.0; - out_6974741239016485936[23] = 0.0; - out_6974741239016485936[24] = 0.0; - out_6974741239016485936[25] = 0.0; - out_6974741239016485936[26] = 0.0; - out_6974741239016485936[27] = 0.0; - out_6974741239016485936[28] = 0.0; - out_6974741239016485936[29] = 0.0; - out_6974741239016485936[30] = 0.0; - out_6974741239016485936[31] = 0.0; - out_6974741239016485936[32] = 0.0; - out_6974741239016485936[33] = 0.0; - out_6974741239016485936[34] = 0.0; - out_6974741239016485936[35] = 0.0; - out_6974741239016485936[36] = 0.0; - out_6974741239016485936[37] = 0.0; - out_6974741239016485936[38] = 1.0; - out_6974741239016485936[39] = 0.0; - out_6974741239016485936[40] = 0.0; - out_6974741239016485936[41] = 0.0; - out_6974741239016485936[42] = 0.0; - out_6974741239016485936[43] = 0.0; - out_6974741239016485936[44] = 0.0; - out_6974741239016485936[45] = 0.0; - out_6974741239016485936[46] = 0.0; - out_6974741239016485936[47] = 0.0; - out_6974741239016485936[48] = 0.0; - out_6974741239016485936[49] = 0.0; - out_6974741239016485936[50] = 0.0; - out_6974741239016485936[51] = 0.0; - out_6974741239016485936[52] = 0.0; - out_6974741239016485936[53] = 0.0; - out_6974741239016485936[54] = 0.0; - out_6974741239016485936[55] = 0.0; - out_6974741239016485936[56] = 0.0; - out_6974741239016485936[57] = 1.0; - out_6974741239016485936[58] = 0.0; - out_6974741239016485936[59] = 0.0; - out_6974741239016485936[60] = 0.0; - out_6974741239016485936[61] = 0.0; - out_6974741239016485936[62] = 0.0; - out_6974741239016485936[63] = 0.0; - out_6974741239016485936[64] = 0.0; - out_6974741239016485936[65] = 0.0; - out_6974741239016485936[66] = 0.0; - out_6974741239016485936[67] = 0.0; - out_6974741239016485936[68] = 0.0; - out_6974741239016485936[69] = 0.0; - out_6974741239016485936[70] = 0.0; - out_6974741239016485936[71] = 0.0; - out_6974741239016485936[72] = 0.0; - out_6974741239016485936[73] = 0.0; - out_6974741239016485936[74] = 0.0; - out_6974741239016485936[75] = 0.0; - out_6974741239016485936[76] = 1.0; - out_6974741239016485936[77] = 0.0; - out_6974741239016485936[78] = 0.0; - out_6974741239016485936[79] = 0.0; - out_6974741239016485936[80] = 0.0; - out_6974741239016485936[81] = 0.0; - out_6974741239016485936[82] = 0.0; - out_6974741239016485936[83] = 0.0; - out_6974741239016485936[84] = 0.0; - out_6974741239016485936[85] = 0.0; - out_6974741239016485936[86] = 0.0; - out_6974741239016485936[87] = 0.0; - out_6974741239016485936[88] = 0.0; - out_6974741239016485936[89] = 0.0; - out_6974741239016485936[90] = 0.0; - out_6974741239016485936[91] = 0.0; - out_6974741239016485936[92] = 0.0; - out_6974741239016485936[93] = 0.0; - out_6974741239016485936[94] = 0.0; - out_6974741239016485936[95] = 1.0; - out_6974741239016485936[96] = 0.0; - out_6974741239016485936[97] = 0.0; - out_6974741239016485936[98] = 0.0; - out_6974741239016485936[99] = 0.0; - out_6974741239016485936[100] = 0.0; - out_6974741239016485936[101] = 0.0; - out_6974741239016485936[102] = 0.0; - out_6974741239016485936[103] = 0.0; - out_6974741239016485936[104] = 0.0; - out_6974741239016485936[105] = 0.0; - out_6974741239016485936[106] = 0.0; - out_6974741239016485936[107] = 0.0; - out_6974741239016485936[108] = 0.0; - out_6974741239016485936[109] = 0.0; - out_6974741239016485936[110] = 0.0; - out_6974741239016485936[111] = 0.0; - out_6974741239016485936[112] = 0.0; - out_6974741239016485936[113] = 0.0; - out_6974741239016485936[114] = 1.0; - out_6974741239016485936[115] = 0.0; - out_6974741239016485936[116] = 0.0; - out_6974741239016485936[117] = 0.0; - out_6974741239016485936[118] = 0.0; - out_6974741239016485936[119] = 0.0; - out_6974741239016485936[120] = 0.0; - out_6974741239016485936[121] = 0.0; - out_6974741239016485936[122] = 0.0; - out_6974741239016485936[123] = 0.0; - out_6974741239016485936[124] = 0.0; - out_6974741239016485936[125] = 0.0; - out_6974741239016485936[126] = 0.0; - out_6974741239016485936[127] = 0.0; - out_6974741239016485936[128] = 0.0; - out_6974741239016485936[129] = 0.0; - out_6974741239016485936[130] = 0.0; - out_6974741239016485936[131] = 0.0; - out_6974741239016485936[132] = 0.0; - out_6974741239016485936[133] = 1.0; - out_6974741239016485936[134] = 0.0; - out_6974741239016485936[135] = 0.0; - out_6974741239016485936[136] = 0.0; - out_6974741239016485936[137] = 0.0; - out_6974741239016485936[138] = 0.0; - out_6974741239016485936[139] = 0.0; - out_6974741239016485936[140] = 0.0; - out_6974741239016485936[141] = 0.0; - out_6974741239016485936[142] = 0.0; - out_6974741239016485936[143] = 0.0; - out_6974741239016485936[144] = 0.0; - out_6974741239016485936[145] = 0.0; - out_6974741239016485936[146] = 0.0; - out_6974741239016485936[147] = 0.0; - out_6974741239016485936[148] = 0.0; - out_6974741239016485936[149] = 0.0; - out_6974741239016485936[150] = 0.0; - out_6974741239016485936[151] = 0.0; - out_6974741239016485936[152] = 1.0; - out_6974741239016485936[153] = 0.0; - out_6974741239016485936[154] = 0.0; - out_6974741239016485936[155] = 0.0; - out_6974741239016485936[156] = 0.0; - out_6974741239016485936[157] = 0.0; - out_6974741239016485936[158] = 0.0; - out_6974741239016485936[159] = 0.0; - out_6974741239016485936[160] = 0.0; - out_6974741239016485936[161] = 0.0; - out_6974741239016485936[162] = 0.0; - out_6974741239016485936[163] = 0.0; - out_6974741239016485936[164] = 0.0; - out_6974741239016485936[165] = 0.0; - out_6974741239016485936[166] = 0.0; - out_6974741239016485936[167] = 0.0; - out_6974741239016485936[168] = 0.0; - out_6974741239016485936[169] = 0.0; - out_6974741239016485936[170] = 0.0; - out_6974741239016485936[171] = 1.0; - out_6974741239016485936[172] = 0.0; - out_6974741239016485936[173] = 0.0; - out_6974741239016485936[174] = 0.0; - out_6974741239016485936[175] = 0.0; - out_6974741239016485936[176] = 0.0; - out_6974741239016485936[177] = 0.0; - out_6974741239016485936[178] = 0.0; - out_6974741239016485936[179] = 0.0; - out_6974741239016485936[180] = 0.0; - out_6974741239016485936[181] = 0.0; - out_6974741239016485936[182] = 0.0; - out_6974741239016485936[183] = 0.0; - out_6974741239016485936[184] = 0.0; - out_6974741239016485936[185] = 0.0; - out_6974741239016485936[186] = 0.0; - out_6974741239016485936[187] = 0.0; - out_6974741239016485936[188] = 0.0; - out_6974741239016485936[189] = 0.0; - out_6974741239016485936[190] = 1.0; - out_6974741239016485936[191] = 0.0; - out_6974741239016485936[192] = 0.0; - out_6974741239016485936[193] = 0.0; - out_6974741239016485936[194] = 0.0; - out_6974741239016485936[195] = 0.0; - out_6974741239016485936[196] = 0.0; - out_6974741239016485936[197] = 0.0; - out_6974741239016485936[198] = 0.0; - out_6974741239016485936[199] = 0.0; - out_6974741239016485936[200] = 0.0; - out_6974741239016485936[201] = 0.0; - out_6974741239016485936[202] = 0.0; - out_6974741239016485936[203] = 0.0; - out_6974741239016485936[204] = 0.0; - out_6974741239016485936[205] = 0.0; - out_6974741239016485936[206] = 0.0; - out_6974741239016485936[207] = 0.0; - out_6974741239016485936[208] = 0.0; - out_6974741239016485936[209] = 1.0; - out_6974741239016485936[210] = 0.0; - out_6974741239016485936[211] = 0.0; - out_6974741239016485936[212] = 0.0; - out_6974741239016485936[213] = 0.0; - out_6974741239016485936[214] = 0.0; - out_6974741239016485936[215] = 0.0; - out_6974741239016485936[216] = 0.0; - out_6974741239016485936[217] = 0.0; - out_6974741239016485936[218] = 0.0; - out_6974741239016485936[219] = 0.0; - out_6974741239016485936[220] = 0.0; - out_6974741239016485936[221] = 0.0; - out_6974741239016485936[222] = 0.0; - out_6974741239016485936[223] = 0.0; - out_6974741239016485936[224] = 0.0; - out_6974741239016485936[225] = 0.0; - out_6974741239016485936[226] = 0.0; - out_6974741239016485936[227] = 0.0; - out_6974741239016485936[228] = 1.0; - out_6974741239016485936[229] = 0.0; - out_6974741239016485936[230] = 0.0; - out_6974741239016485936[231] = 0.0; - out_6974741239016485936[232] = 0.0; - out_6974741239016485936[233] = 0.0; - out_6974741239016485936[234] = 0.0; - out_6974741239016485936[235] = 0.0; - out_6974741239016485936[236] = 0.0; - out_6974741239016485936[237] = 0.0; - out_6974741239016485936[238] = 0.0; - out_6974741239016485936[239] = 0.0; - out_6974741239016485936[240] = 0.0; - out_6974741239016485936[241] = 0.0; - out_6974741239016485936[242] = 0.0; - out_6974741239016485936[243] = 0.0; - out_6974741239016485936[244] = 0.0; - out_6974741239016485936[245] = 0.0; - out_6974741239016485936[246] = 0.0; - out_6974741239016485936[247] = 1.0; - out_6974741239016485936[248] = 0.0; - out_6974741239016485936[249] = 0.0; - out_6974741239016485936[250] = 0.0; - out_6974741239016485936[251] = 0.0; - out_6974741239016485936[252] = 0.0; - out_6974741239016485936[253] = 0.0; - out_6974741239016485936[254] = 0.0; - out_6974741239016485936[255] = 0.0; - out_6974741239016485936[256] = 0.0; - out_6974741239016485936[257] = 0.0; - out_6974741239016485936[258] = 0.0; - out_6974741239016485936[259] = 0.0; - out_6974741239016485936[260] = 0.0; - out_6974741239016485936[261] = 0.0; - out_6974741239016485936[262] = 0.0; - out_6974741239016485936[263] = 0.0; - out_6974741239016485936[264] = 0.0; - out_6974741239016485936[265] = 0.0; - out_6974741239016485936[266] = 1.0; - out_6974741239016485936[267] = 0.0; - out_6974741239016485936[268] = 0.0; - out_6974741239016485936[269] = 0.0; - out_6974741239016485936[270] = 0.0; - out_6974741239016485936[271] = 0.0; - out_6974741239016485936[272] = 0.0; - out_6974741239016485936[273] = 0.0; - out_6974741239016485936[274] = 0.0; - out_6974741239016485936[275] = 0.0; - out_6974741239016485936[276] = 0.0; - out_6974741239016485936[277] = 0.0; - out_6974741239016485936[278] = 0.0; - out_6974741239016485936[279] = 0.0; - out_6974741239016485936[280] = 0.0; - out_6974741239016485936[281] = 0.0; - out_6974741239016485936[282] = 0.0; - out_6974741239016485936[283] = 0.0; - out_6974741239016485936[284] = 0.0; - out_6974741239016485936[285] = 1.0; - out_6974741239016485936[286] = 0.0; - out_6974741239016485936[287] = 0.0; - out_6974741239016485936[288] = 0.0; - out_6974741239016485936[289] = 0.0; - out_6974741239016485936[290] = 0.0; - out_6974741239016485936[291] = 0.0; - out_6974741239016485936[292] = 0.0; - out_6974741239016485936[293] = 0.0; - out_6974741239016485936[294] = 0.0; - out_6974741239016485936[295] = 0.0; - out_6974741239016485936[296] = 0.0; - out_6974741239016485936[297] = 0.0; - out_6974741239016485936[298] = 0.0; - out_6974741239016485936[299] = 0.0; - out_6974741239016485936[300] = 0.0; - out_6974741239016485936[301] = 0.0; - out_6974741239016485936[302] = 0.0; - out_6974741239016485936[303] = 0.0; - out_6974741239016485936[304] = 1.0; - out_6974741239016485936[305] = 0.0; - out_6974741239016485936[306] = 0.0; - out_6974741239016485936[307] = 0.0; - out_6974741239016485936[308] = 0.0; - out_6974741239016485936[309] = 0.0; - out_6974741239016485936[310] = 0.0; - out_6974741239016485936[311] = 0.0; - out_6974741239016485936[312] = 0.0; - out_6974741239016485936[313] = 0.0; - out_6974741239016485936[314] = 0.0; - out_6974741239016485936[315] = 0.0; - out_6974741239016485936[316] = 0.0; - out_6974741239016485936[317] = 0.0; - out_6974741239016485936[318] = 0.0; - out_6974741239016485936[319] = 0.0; - out_6974741239016485936[320] = 0.0; - out_6974741239016485936[321] = 0.0; - out_6974741239016485936[322] = 0.0; - out_6974741239016485936[323] = 1.0; +void H_mod_fun(double *state, double *out_9138325999640393464) { + out_9138325999640393464[0] = 1.0; + out_9138325999640393464[1] = 0.0; + out_9138325999640393464[2] = 0.0; + out_9138325999640393464[3] = 0.0; + out_9138325999640393464[4] = 0.0; + out_9138325999640393464[5] = 0.0; + out_9138325999640393464[6] = 0.0; + out_9138325999640393464[7] = 0.0; + out_9138325999640393464[8] = 0.0; + out_9138325999640393464[9] = 0.0; + out_9138325999640393464[10] = 0.0; + out_9138325999640393464[11] = 0.0; + out_9138325999640393464[12] = 0.0; + out_9138325999640393464[13] = 0.0; + out_9138325999640393464[14] = 0.0; + out_9138325999640393464[15] = 0.0; + out_9138325999640393464[16] = 0.0; + out_9138325999640393464[17] = 0.0; + out_9138325999640393464[18] = 0.0; + out_9138325999640393464[19] = 1.0; + out_9138325999640393464[20] = 0.0; + out_9138325999640393464[21] = 0.0; + out_9138325999640393464[22] = 0.0; + out_9138325999640393464[23] = 0.0; + out_9138325999640393464[24] = 0.0; + out_9138325999640393464[25] = 0.0; + out_9138325999640393464[26] = 0.0; + out_9138325999640393464[27] = 0.0; + out_9138325999640393464[28] = 0.0; + out_9138325999640393464[29] = 0.0; + out_9138325999640393464[30] = 0.0; + out_9138325999640393464[31] = 0.0; + out_9138325999640393464[32] = 0.0; + out_9138325999640393464[33] = 0.0; + out_9138325999640393464[34] = 0.0; + out_9138325999640393464[35] = 0.0; + out_9138325999640393464[36] = 0.0; + out_9138325999640393464[37] = 0.0; + out_9138325999640393464[38] = 1.0; + out_9138325999640393464[39] = 0.0; + out_9138325999640393464[40] = 0.0; + out_9138325999640393464[41] = 0.0; + out_9138325999640393464[42] = 0.0; + out_9138325999640393464[43] = 0.0; + out_9138325999640393464[44] = 0.0; + out_9138325999640393464[45] = 0.0; + out_9138325999640393464[46] = 0.0; + out_9138325999640393464[47] = 0.0; + out_9138325999640393464[48] = 0.0; + out_9138325999640393464[49] = 0.0; + out_9138325999640393464[50] = 0.0; + out_9138325999640393464[51] = 0.0; + out_9138325999640393464[52] = 0.0; + out_9138325999640393464[53] = 0.0; + out_9138325999640393464[54] = 0.0; + out_9138325999640393464[55] = 0.0; + out_9138325999640393464[56] = 0.0; + out_9138325999640393464[57] = 1.0; + out_9138325999640393464[58] = 0.0; + out_9138325999640393464[59] = 0.0; + out_9138325999640393464[60] = 0.0; + out_9138325999640393464[61] = 0.0; + out_9138325999640393464[62] = 0.0; + out_9138325999640393464[63] = 0.0; + out_9138325999640393464[64] = 0.0; + out_9138325999640393464[65] = 0.0; + out_9138325999640393464[66] = 0.0; + out_9138325999640393464[67] = 0.0; + out_9138325999640393464[68] = 0.0; + out_9138325999640393464[69] = 0.0; + out_9138325999640393464[70] = 0.0; + out_9138325999640393464[71] = 0.0; + out_9138325999640393464[72] = 0.0; + out_9138325999640393464[73] = 0.0; + out_9138325999640393464[74] = 0.0; + out_9138325999640393464[75] = 0.0; + out_9138325999640393464[76] = 1.0; + out_9138325999640393464[77] = 0.0; + out_9138325999640393464[78] = 0.0; + out_9138325999640393464[79] = 0.0; + out_9138325999640393464[80] = 0.0; + out_9138325999640393464[81] = 0.0; + out_9138325999640393464[82] = 0.0; + out_9138325999640393464[83] = 0.0; + out_9138325999640393464[84] = 0.0; + out_9138325999640393464[85] = 0.0; + out_9138325999640393464[86] = 0.0; + out_9138325999640393464[87] = 0.0; + out_9138325999640393464[88] = 0.0; + out_9138325999640393464[89] = 0.0; + out_9138325999640393464[90] = 0.0; + out_9138325999640393464[91] = 0.0; + out_9138325999640393464[92] = 0.0; + out_9138325999640393464[93] = 0.0; + out_9138325999640393464[94] = 0.0; + out_9138325999640393464[95] = 1.0; + out_9138325999640393464[96] = 0.0; + out_9138325999640393464[97] = 0.0; + out_9138325999640393464[98] = 0.0; + out_9138325999640393464[99] = 0.0; + out_9138325999640393464[100] = 0.0; + out_9138325999640393464[101] = 0.0; + out_9138325999640393464[102] = 0.0; + out_9138325999640393464[103] = 0.0; + out_9138325999640393464[104] = 0.0; + out_9138325999640393464[105] = 0.0; + out_9138325999640393464[106] = 0.0; + out_9138325999640393464[107] = 0.0; + out_9138325999640393464[108] = 0.0; + out_9138325999640393464[109] = 0.0; + out_9138325999640393464[110] = 0.0; + out_9138325999640393464[111] = 0.0; + out_9138325999640393464[112] = 0.0; + out_9138325999640393464[113] = 0.0; + out_9138325999640393464[114] = 1.0; + out_9138325999640393464[115] = 0.0; + out_9138325999640393464[116] = 0.0; + out_9138325999640393464[117] = 0.0; + out_9138325999640393464[118] = 0.0; + out_9138325999640393464[119] = 0.0; + out_9138325999640393464[120] = 0.0; + out_9138325999640393464[121] = 0.0; + out_9138325999640393464[122] = 0.0; + out_9138325999640393464[123] = 0.0; + out_9138325999640393464[124] = 0.0; + out_9138325999640393464[125] = 0.0; + out_9138325999640393464[126] = 0.0; + out_9138325999640393464[127] = 0.0; + out_9138325999640393464[128] = 0.0; + out_9138325999640393464[129] = 0.0; + out_9138325999640393464[130] = 0.0; + out_9138325999640393464[131] = 0.0; + out_9138325999640393464[132] = 0.0; + out_9138325999640393464[133] = 1.0; + out_9138325999640393464[134] = 0.0; + out_9138325999640393464[135] = 0.0; + out_9138325999640393464[136] = 0.0; + out_9138325999640393464[137] = 0.0; + out_9138325999640393464[138] = 0.0; + out_9138325999640393464[139] = 0.0; + out_9138325999640393464[140] = 0.0; + out_9138325999640393464[141] = 0.0; + out_9138325999640393464[142] = 0.0; + out_9138325999640393464[143] = 0.0; + out_9138325999640393464[144] = 0.0; + out_9138325999640393464[145] = 0.0; + out_9138325999640393464[146] = 0.0; + out_9138325999640393464[147] = 0.0; + out_9138325999640393464[148] = 0.0; + out_9138325999640393464[149] = 0.0; + out_9138325999640393464[150] = 0.0; + out_9138325999640393464[151] = 0.0; + out_9138325999640393464[152] = 1.0; + out_9138325999640393464[153] = 0.0; + out_9138325999640393464[154] = 0.0; + out_9138325999640393464[155] = 0.0; + out_9138325999640393464[156] = 0.0; + out_9138325999640393464[157] = 0.0; + out_9138325999640393464[158] = 0.0; + out_9138325999640393464[159] = 0.0; + out_9138325999640393464[160] = 0.0; + out_9138325999640393464[161] = 0.0; + out_9138325999640393464[162] = 0.0; + out_9138325999640393464[163] = 0.0; + out_9138325999640393464[164] = 0.0; + out_9138325999640393464[165] = 0.0; + out_9138325999640393464[166] = 0.0; + out_9138325999640393464[167] = 0.0; + out_9138325999640393464[168] = 0.0; + out_9138325999640393464[169] = 0.0; + out_9138325999640393464[170] = 0.0; + out_9138325999640393464[171] = 1.0; + out_9138325999640393464[172] = 0.0; + out_9138325999640393464[173] = 0.0; + out_9138325999640393464[174] = 0.0; + out_9138325999640393464[175] = 0.0; + out_9138325999640393464[176] = 0.0; + out_9138325999640393464[177] = 0.0; + out_9138325999640393464[178] = 0.0; + out_9138325999640393464[179] = 0.0; + out_9138325999640393464[180] = 0.0; + out_9138325999640393464[181] = 0.0; + out_9138325999640393464[182] = 0.0; + out_9138325999640393464[183] = 0.0; + out_9138325999640393464[184] = 0.0; + out_9138325999640393464[185] = 0.0; + out_9138325999640393464[186] = 0.0; + out_9138325999640393464[187] = 0.0; + out_9138325999640393464[188] = 0.0; + out_9138325999640393464[189] = 0.0; + out_9138325999640393464[190] = 1.0; + out_9138325999640393464[191] = 0.0; + out_9138325999640393464[192] = 0.0; + out_9138325999640393464[193] = 0.0; + out_9138325999640393464[194] = 0.0; + out_9138325999640393464[195] = 0.0; + out_9138325999640393464[196] = 0.0; + out_9138325999640393464[197] = 0.0; + out_9138325999640393464[198] = 0.0; + out_9138325999640393464[199] = 0.0; + out_9138325999640393464[200] = 0.0; + out_9138325999640393464[201] = 0.0; + out_9138325999640393464[202] = 0.0; + out_9138325999640393464[203] = 0.0; + out_9138325999640393464[204] = 0.0; + out_9138325999640393464[205] = 0.0; + out_9138325999640393464[206] = 0.0; + out_9138325999640393464[207] = 0.0; + out_9138325999640393464[208] = 0.0; + out_9138325999640393464[209] = 1.0; + out_9138325999640393464[210] = 0.0; + out_9138325999640393464[211] = 0.0; + out_9138325999640393464[212] = 0.0; + out_9138325999640393464[213] = 0.0; + out_9138325999640393464[214] = 0.0; + out_9138325999640393464[215] = 0.0; + out_9138325999640393464[216] = 0.0; + out_9138325999640393464[217] = 0.0; + out_9138325999640393464[218] = 0.0; + out_9138325999640393464[219] = 0.0; + out_9138325999640393464[220] = 0.0; + out_9138325999640393464[221] = 0.0; + out_9138325999640393464[222] = 0.0; + out_9138325999640393464[223] = 0.0; + out_9138325999640393464[224] = 0.0; + out_9138325999640393464[225] = 0.0; + out_9138325999640393464[226] = 0.0; + out_9138325999640393464[227] = 0.0; + out_9138325999640393464[228] = 1.0; + out_9138325999640393464[229] = 0.0; + out_9138325999640393464[230] = 0.0; + out_9138325999640393464[231] = 0.0; + out_9138325999640393464[232] = 0.0; + out_9138325999640393464[233] = 0.0; + out_9138325999640393464[234] = 0.0; + out_9138325999640393464[235] = 0.0; + out_9138325999640393464[236] = 0.0; + out_9138325999640393464[237] = 0.0; + out_9138325999640393464[238] = 0.0; + out_9138325999640393464[239] = 0.0; + out_9138325999640393464[240] = 0.0; + out_9138325999640393464[241] = 0.0; + out_9138325999640393464[242] = 0.0; + out_9138325999640393464[243] = 0.0; + out_9138325999640393464[244] = 0.0; + out_9138325999640393464[245] = 0.0; + out_9138325999640393464[246] = 0.0; + out_9138325999640393464[247] = 1.0; + out_9138325999640393464[248] = 0.0; + out_9138325999640393464[249] = 0.0; + out_9138325999640393464[250] = 0.0; + out_9138325999640393464[251] = 0.0; + out_9138325999640393464[252] = 0.0; + out_9138325999640393464[253] = 0.0; + out_9138325999640393464[254] = 0.0; + out_9138325999640393464[255] = 0.0; + out_9138325999640393464[256] = 0.0; + out_9138325999640393464[257] = 0.0; + out_9138325999640393464[258] = 0.0; + out_9138325999640393464[259] = 0.0; + out_9138325999640393464[260] = 0.0; + out_9138325999640393464[261] = 0.0; + out_9138325999640393464[262] = 0.0; + out_9138325999640393464[263] = 0.0; + out_9138325999640393464[264] = 0.0; + out_9138325999640393464[265] = 0.0; + out_9138325999640393464[266] = 1.0; + out_9138325999640393464[267] = 0.0; + out_9138325999640393464[268] = 0.0; + out_9138325999640393464[269] = 0.0; + out_9138325999640393464[270] = 0.0; + out_9138325999640393464[271] = 0.0; + out_9138325999640393464[272] = 0.0; + out_9138325999640393464[273] = 0.0; + out_9138325999640393464[274] = 0.0; + out_9138325999640393464[275] = 0.0; + out_9138325999640393464[276] = 0.0; + out_9138325999640393464[277] = 0.0; + out_9138325999640393464[278] = 0.0; + out_9138325999640393464[279] = 0.0; + out_9138325999640393464[280] = 0.0; + out_9138325999640393464[281] = 0.0; + out_9138325999640393464[282] = 0.0; + out_9138325999640393464[283] = 0.0; + out_9138325999640393464[284] = 0.0; + out_9138325999640393464[285] = 1.0; + out_9138325999640393464[286] = 0.0; + out_9138325999640393464[287] = 0.0; + out_9138325999640393464[288] = 0.0; + out_9138325999640393464[289] = 0.0; + out_9138325999640393464[290] = 0.0; + out_9138325999640393464[291] = 0.0; + out_9138325999640393464[292] = 0.0; + out_9138325999640393464[293] = 0.0; + out_9138325999640393464[294] = 0.0; + out_9138325999640393464[295] = 0.0; + out_9138325999640393464[296] = 0.0; + out_9138325999640393464[297] = 0.0; + out_9138325999640393464[298] = 0.0; + out_9138325999640393464[299] = 0.0; + out_9138325999640393464[300] = 0.0; + out_9138325999640393464[301] = 0.0; + out_9138325999640393464[302] = 0.0; + out_9138325999640393464[303] = 0.0; + out_9138325999640393464[304] = 1.0; + out_9138325999640393464[305] = 0.0; + out_9138325999640393464[306] = 0.0; + out_9138325999640393464[307] = 0.0; + out_9138325999640393464[308] = 0.0; + out_9138325999640393464[309] = 0.0; + out_9138325999640393464[310] = 0.0; + out_9138325999640393464[311] = 0.0; + out_9138325999640393464[312] = 0.0; + out_9138325999640393464[313] = 0.0; + out_9138325999640393464[314] = 0.0; + out_9138325999640393464[315] = 0.0; + out_9138325999640393464[316] = 0.0; + out_9138325999640393464[317] = 0.0; + out_9138325999640393464[318] = 0.0; + out_9138325999640393464[319] = 0.0; + out_9138325999640393464[320] = 0.0; + out_9138325999640393464[321] = 0.0; + out_9138325999640393464[322] = 0.0; + out_9138325999640393464[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7579043913228931093) { - out_7579043913228931093[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_7579043913228931093[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_7579043913228931093[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_7579043913228931093[3] = dt*state[12] + state[3]; - out_7579043913228931093[4] = dt*state[13] + state[4]; - out_7579043913228931093[5] = dt*state[14] + state[5]; - out_7579043913228931093[6] = state[6]; - out_7579043913228931093[7] = state[7]; - out_7579043913228931093[8] = state[8]; - out_7579043913228931093[9] = state[9]; - out_7579043913228931093[10] = state[10]; - out_7579043913228931093[11] = state[11]; - out_7579043913228931093[12] = state[12]; - out_7579043913228931093[13] = state[13]; - out_7579043913228931093[14] = state[14]; - out_7579043913228931093[15] = state[15]; - out_7579043913228931093[16] = state[16]; - out_7579043913228931093[17] = state[17]; +void f_fun(double *state, double dt, double *out_1147502803036589913) { + out_1147502803036589913[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_1147502803036589913[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_1147502803036589913[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_1147502803036589913[3] = dt*state[12] + state[3]; + out_1147502803036589913[4] = dt*state[13] + state[4]; + out_1147502803036589913[5] = dt*state[14] + state[5]; + out_1147502803036589913[6] = state[6]; + out_1147502803036589913[7] = state[7]; + out_1147502803036589913[8] = state[8]; + out_1147502803036589913[9] = state[9]; + out_1147502803036589913[10] = state[10]; + out_1147502803036589913[11] = state[11]; + out_1147502803036589913[12] = state[12]; + out_1147502803036589913[13] = state[13]; + out_1147502803036589913[14] = state[14]; + out_1147502803036589913[15] = state[15]; + out_1147502803036589913[16] = state[16]; + out_1147502803036589913[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7552939469662313928) { - out_7552939469662313928[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_7552939469662313928[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_7552939469662313928[2] = 0; - out_7552939469662313928[3] = 0; - out_7552939469662313928[4] = 0; - out_7552939469662313928[5] = 0; - out_7552939469662313928[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_7552939469662313928[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_7552939469662313928[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_7552939469662313928[9] = 0; - out_7552939469662313928[10] = 0; - out_7552939469662313928[11] = 0; - out_7552939469662313928[12] = 0; - out_7552939469662313928[13] = 0; - out_7552939469662313928[14] = 0; - out_7552939469662313928[15] = 0; - out_7552939469662313928[16] = 0; - out_7552939469662313928[17] = 0; - out_7552939469662313928[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_7552939469662313928[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_7552939469662313928[20] = 0; - out_7552939469662313928[21] = 0; - out_7552939469662313928[22] = 0; - out_7552939469662313928[23] = 0; - out_7552939469662313928[24] = 0; - out_7552939469662313928[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_7552939469662313928[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_7552939469662313928[27] = 0; - out_7552939469662313928[28] = 0; - out_7552939469662313928[29] = 0; - out_7552939469662313928[30] = 0; - out_7552939469662313928[31] = 0; - out_7552939469662313928[32] = 0; - out_7552939469662313928[33] = 0; - out_7552939469662313928[34] = 0; - out_7552939469662313928[35] = 0; - out_7552939469662313928[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_7552939469662313928[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_7552939469662313928[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_7552939469662313928[39] = 0; - out_7552939469662313928[40] = 0; - out_7552939469662313928[41] = 0; - out_7552939469662313928[42] = 0; - out_7552939469662313928[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_7552939469662313928[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_7552939469662313928[45] = 0; - out_7552939469662313928[46] = 0; - out_7552939469662313928[47] = 0; - out_7552939469662313928[48] = 0; - out_7552939469662313928[49] = 0; - out_7552939469662313928[50] = 0; - out_7552939469662313928[51] = 0; - out_7552939469662313928[52] = 0; - out_7552939469662313928[53] = 0; - out_7552939469662313928[54] = 0; - out_7552939469662313928[55] = 0; - out_7552939469662313928[56] = 0; - out_7552939469662313928[57] = 1; - out_7552939469662313928[58] = 0; - out_7552939469662313928[59] = 0; - out_7552939469662313928[60] = 0; - out_7552939469662313928[61] = 0; - out_7552939469662313928[62] = 0; - out_7552939469662313928[63] = 0; - out_7552939469662313928[64] = 0; - out_7552939469662313928[65] = 0; - out_7552939469662313928[66] = dt; - out_7552939469662313928[67] = 0; - out_7552939469662313928[68] = 0; - out_7552939469662313928[69] = 0; - out_7552939469662313928[70] = 0; - out_7552939469662313928[71] = 0; - out_7552939469662313928[72] = 0; - out_7552939469662313928[73] = 0; - out_7552939469662313928[74] = 0; - out_7552939469662313928[75] = 0; - out_7552939469662313928[76] = 1; - out_7552939469662313928[77] = 0; - out_7552939469662313928[78] = 0; - out_7552939469662313928[79] = 0; - out_7552939469662313928[80] = 0; - out_7552939469662313928[81] = 0; - out_7552939469662313928[82] = 0; - out_7552939469662313928[83] = 0; - out_7552939469662313928[84] = 0; - out_7552939469662313928[85] = dt; - out_7552939469662313928[86] = 0; - out_7552939469662313928[87] = 0; - out_7552939469662313928[88] = 0; - out_7552939469662313928[89] = 0; - out_7552939469662313928[90] = 0; - out_7552939469662313928[91] = 0; - out_7552939469662313928[92] = 0; - out_7552939469662313928[93] = 0; - out_7552939469662313928[94] = 0; - out_7552939469662313928[95] = 1; - out_7552939469662313928[96] = 0; - out_7552939469662313928[97] = 0; - out_7552939469662313928[98] = 0; - out_7552939469662313928[99] = 0; - out_7552939469662313928[100] = 0; - out_7552939469662313928[101] = 0; - out_7552939469662313928[102] = 0; - out_7552939469662313928[103] = 0; - out_7552939469662313928[104] = dt; - out_7552939469662313928[105] = 0; - out_7552939469662313928[106] = 0; - out_7552939469662313928[107] = 0; - out_7552939469662313928[108] = 0; - out_7552939469662313928[109] = 0; - out_7552939469662313928[110] = 0; - out_7552939469662313928[111] = 0; - out_7552939469662313928[112] = 0; - out_7552939469662313928[113] = 0; - out_7552939469662313928[114] = 1; - out_7552939469662313928[115] = 0; - out_7552939469662313928[116] = 0; - out_7552939469662313928[117] = 0; - out_7552939469662313928[118] = 0; - out_7552939469662313928[119] = 0; - out_7552939469662313928[120] = 0; - out_7552939469662313928[121] = 0; - out_7552939469662313928[122] = 0; - out_7552939469662313928[123] = 0; - out_7552939469662313928[124] = 0; - out_7552939469662313928[125] = 0; - out_7552939469662313928[126] = 0; - out_7552939469662313928[127] = 0; - out_7552939469662313928[128] = 0; - out_7552939469662313928[129] = 0; - out_7552939469662313928[130] = 0; - out_7552939469662313928[131] = 0; - out_7552939469662313928[132] = 0; - out_7552939469662313928[133] = 1; - out_7552939469662313928[134] = 0; - out_7552939469662313928[135] = 0; - out_7552939469662313928[136] = 0; - out_7552939469662313928[137] = 0; - out_7552939469662313928[138] = 0; - out_7552939469662313928[139] = 0; - out_7552939469662313928[140] = 0; - out_7552939469662313928[141] = 0; - out_7552939469662313928[142] = 0; - out_7552939469662313928[143] = 0; - out_7552939469662313928[144] = 0; - out_7552939469662313928[145] = 0; - out_7552939469662313928[146] = 0; - out_7552939469662313928[147] = 0; - out_7552939469662313928[148] = 0; - out_7552939469662313928[149] = 0; - out_7552939469662313928[150] = 0; - out_7552939469662313928[151] = 0; - out_7552939469662313928[152] = 1; - out_7552939469662313928[153] = 0; - out_7552939469662313928[154] = 0; - out_7552939469662313928[155] = 0; - out_7552939469662313928[156] = 0; - out_7552939469662313928[157] = 0; - out_7552939469662313928[158] = 0; - out_7552939469662313928[159] = 0; - out_7552939469662313928[160] = 0; - out_7552939469662313928[161] = 0; - out_7552939469662313928[162] = 0; - out_7552939469662313928[163] = 0; - out_7552939469662313928[164] = 0; - out_7552939469662313928[165] = 0; - out_7552939469662313928[166] = 0; - out_7552939469662313928[167] = 0; - out_7552939469662313928[168] = 0; - out_7552939469662313928[169] = 0; - out_7552939469662313928[170] = 0; - out_7552939469662313928[171] = 1; - out_7552939469662313928[172] = 0; - out_7552939469662313928[173] = 0; - out_7552939469662313928[174] = 0; - out_7552939469662313928[175] = 0; - out_7552939469662313928[176] = 0; - out_7552939469662313928[177] = 0; - out_7552939469662313928[178] = 0; - out_7552939469662313928[179] = 0; - out_7552939469662313928[180] = 0; - out_7552939469662313928[181] = 0; - out_7552939469662313928[182] = 0; - out_7552939469662313928[183] = 0; - out_7552939469662313928[184] = 0; - out_7552939469662313928[185] = 0; - out_7552939469662313928[186] = 0; - out_7552939469662313928[187] = 0; - out_7552939469662313928[188] = 0; - out_7552939469662313928[189] = 0; - out_7552939469662313928[190] = 1; - out_7552939469662313928[191] = 0; - out_7552939469662313928[192] = 0; - out_7552939469662313928[193] = 0; - out_7552939469662313928[194] = 0; - out_7552939469662313928[195] = 0; - out_7552939469662313928[196] = 0; - out_7552939469662313928[197] = 0; - out_7552939469662313928[198] = 0; - out_7552939469662313928[199] = 0; - out_7552939469662313928[200] = 0; - out_7552939469662313928[201] = 0; - out_7552939469662313928[202] = 0; - out_7552939469662313928[203] = 0; - out_7552939469662313928[204] = 0; - out_7552939469662313928[205] = 0; - out_7552939469662313928[206] = 0; - out_7552939469662313928[207] = 0; - out_7552939469662313928[208] = 0; - out_7552939469662313928[209] = 1; - out_7552939469662313928[210] = 0; - out_7552939469662313928[211] = 0; - out_7552939469662313928[212] = 0; - out_7552939469662313928[213] = 0; - out_7552939469662313928[214] = 0; - out_7552939469662313928[215] = 0; - out_7552939469662313928[216] = 0; - out_7552939469662313928[217] = 0; - out_7552939469662313928[218] = 0; - out_7552939469662313928[219] = 0; - out_7552939469662313928[220] = 0; - out_7552939469662313928[221] = 0; - out_7552939469662313928[222] = 0; - out_7552939469662313928[223] = 0; - out_7552939469662313928[224] = 0; - out_7552939469662313928[225] = 0; - out_7552939469662313928[226] = 0; - out_7552939469662313928[227] = 0; - out_7552939469662313928[228] = 1; - out_7552939469662313928[229] = 0; - out_7552939469662313928[230] = 0; - out_7552939469662313928[231] = 0; - out_7552939469662313928[232] = 0; - out_7552939469662313928[233] = 0; - out_7552939469662313928[234] = 0; - out_7552939469662313928[235] = 0; - out_7552939469662313928[236] = 0; - out_7552939469662313928[237] = 0; - out_7552939469662313928[238] = 0; - out_7552939469662313928[239] = 0; - out_7552939469662313928[240] = 0; - out_7552939469662313928[241] = 0; - out_7552939469662313928[242] = 0; - out_7552939469662313928[243] = 0; - out_7552939469662313928[244] = 0; - out_7552939469662313928[245] = 0; - out_7552939469662313928[246] = 0; - out_7552939469662313928[247] = 1; - out_7552939469662313928[248] = 0; - out_7552939469662313928[249] = 0; - out_7552939469662313928[250] = 0; - out_7552939469662313928[251] = 0; - out_7552939469662313928[252] = 0; - out_7552939469662313928[253] = 0; - out_7552939469662313928[254] = 0; - out_7552939469662313928[255] = 0; - out_7552939469662313928[256] = 0; - out_7552939469662313928[257] = 0; - out_7552939469662313928[258] = 0; - out_7552939469662313928[259] = 0; - out_7552939469662313928[260] = 0; - out_7552939469662313928[261] = 0; - out_7552939469662313928[262] = 0; - out_7552939469662313928[263] = 0; - out_7552939469662313928[264] = 0; - out_7552939469662313928[265] = 0; - out_7552939469662313928[266] = 1; - out_7552939469662313928[267] = 0; - out_7552939469662313928[268] = 0; - out_7552939469662313928[269] = 0; - out_7552939469662313928[270] = 0; - out_7552939469662313928[271] = 0; - out_7552939469662313928[272] = 0; - out_7552939469662313928[273] = 0; - out_7552939469662313928[274] = 0; - out_7552939469662313928[275] = 0; - out_7552939469662313928[276] = 0; - out_7552939469662313928[277] = 0; - out_7552939469662313928[278] = 0; - out_7552939469662313928[279] = 0; - out_7552939469662313928[280] = 0; - out_7552939469662313928[281] = 0; - out_7552939469662313928[282] = 0; - out_7552939469662313928[283] = 0; - out_7552939469662313928[284] = 0; - out_7552939469662313928[285] = 1; - out_7552939469662313928[286] = 0; - out_7552939469662313928[287] = 0; - out_7552939469662313928[288] = 0; - out_7552939469662313928[289] = 0; - out_7552939469662313928[290] = 0; - out_7552939469662313928[291] = 0; - out_7552939469662313928[292] = 0; - out_7552939469662313928[293] = 0; - out_7552939469662313928[294] = 0; - out_7552939469662313928[295] = 0; - out_7552939469662313928[296] = 0; - out_7552939469662313928[297] = 0; - out_7552939469662313928[298] = 0; - out_7552939469662313928[299] = 0; - out_7552939469662313928[300] = 0; - out_7552939469662313928[301] = 0; - out_7552939469662313928[302] = 0; - out_7552939469662313928[303] = 0; - out_7552939469662313928[304] = 1; - out_7552939469662313928[305] = 0; - out_7552939469662313928[306] = 0; - out_7552939469662313928[307] = 0; - out_7552939469662313928[308] = 0; - out_7552939469662313928[309] = 0; - out_7552939469662313928[310] = 0; - out_7552939469662313928[311] = 0; - out_7552939469662313928[312] = 0; - out_7552939469662313928[313] = 0; - out_7552939469662313928[314] = 0; - out_7552939469662313928[315] = 0; - out_7552939469662313928[316] = 0; - out_7552939469662313928[317] = 0; - out_7552939469662313928[318] = 0; - out_7552939469662313928[319] = 0; - out_7552939469662313928[320] = 0; - out_7552939469662313928[321] = 0; - out_7552939469662313928[322] = 0; - out_7552939469662313928[323] = 1; +void F_fun(double *state, double dt, double *out_5222045031026609980) { + out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[2] = 0; + out_5222045031026609980[3] = 0; + out_5222045031026609980[4] = 0; + out_5222045031026609980[5] = 0; + out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[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_5222045031026609980[9] = 0; + out_5222045031026609980[10] = 0; + out_5222045031026609980[11] = 0; + out_5222045031026609980[12] = 0; + out_5222045031026609980[13] = 0; + out_5222045031026609980[14] = 0; + out_5222045031026609980[15] = 0; + out_5222045031026609980[16] = 0; + out_5222045031026609980[17] = 0; + out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[20] = 0; + out_5222045031026609980[21] = 0; + out_5222045031026609980[22] = 0; + out_5222045031026609980[23] = 0; + out_5222045031026609980[24] = 0; + out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[27] = 0; + out_5222045031026609980[28] = 0; + out_5222045031026609980[29] = 0; + out_5222045031026609980[30] = 0; + out_5222045031026609980[31] = 0; + out_5222045031026609980[32] = 0; + out_5222045031026609980[33] = 0; + out_5222045031026609980[34] = 0; + out_5222045031026609980[35] = 0; + out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[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_5222045031026609980[39] = 0; + out_5222045031026609980[40] = 0; + out_5222045031026609980[41] = 0; + out_5222045031026609980[42] = 0; + out_5222045031026609980[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_5222045031026609980[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_5222045031026609980[45] = 0; + out_5222045031026609980[46] = 0; + out_5222045031026609980[47] = 0; + out_5222045031026609980[48] = 0; + out_5222045031026609980[49] = 0; + out_5222045031026609980[50] = 0; + out_5222045031026609980[51] = 0; + out_5222045031026609980[52] = 0; + out_5222045031026609980[53] = 0; + out_5222045031026609980[54] = 0; + out_5222045031026609980[55] = 0; + out_5222045031026609980[56] = 0; + out_5222045031026609980[57] = 1; + out_5222045031026609980[58] = 0; + out_5222045031026609980[59] = 0; + out_5222045031026609980[60] = 0; + out_5222045031026609980[61] = 0; + out_5222045031026609980[62] = 0; + out_5222045031026609980[63] = 0; + out_5222045031026609980[64] = 0; + out_5222045031026609980[65] = 0; + out_5222045031026609980[66] = dt; + out_5222045031026609980[67] = 0; + out_5222045031026609980[68] = 0; + out_5222045031026609980[69] = 0; + out_5222045031026609980[70] = 0; + out_5222045031026609980[71] = 0; + out_5222045031026609980[72] = 0; + out_5222045031026609980[73] = 0; + out_5222045031026609980[74] = 0; + out_5222045031026609980[75] = 0; + out_5222045031026609980[76] = 1; + out_5222045031026609980[77] = 0; + out_5222045031026609980[78] = 0; + out_5222045031026609980[79] = 0; + out_5222045031026609980[80] = 0; + out_5222045031026609980[81] = 0; + out_5222045031026609980[82] = 0; + out_5222045031026609980[83] = 0; + out_5222045031026609980[84] = 0; + out_5222045031026609980[85] = dt; + out_5222045031026609980[86] = 0; + out_5222045031026609980[87] = 0; + out_5222045031026609980[88] = 0; + out_5222045031026609980[89] = 0; + out_5222045031026609980[90] = 0; + out_5222045031026609980[91] = 0; + out_5222045031026609980[92] = 0; + out_5222045031026609980[93] = 0; + out_5222045031026609980[94] = 0; + out_5222045031026609980[95] = 1; + out_5222045031026609980[96] = 0; + out_5222045031026609980[97] = 0; + out_5222045031026609980[98] = 0; + out_5222045031026609980[99] = 0; + out_5222045031026609980[100] = 0; + out_5222045031026609980[101] = 0; + out_5222045031026609980[102] = 0; + out_5222045031026609980[103] = 0; + out_5222045031026609980[104] = dt; + out_5222045031026609980[105] = 0; + out_5222045031026609980[106] = 0; + out_5222045031026609980[107] = 0; + out_5222045031026609980[108] = 0; + out_5222045031026609980[109] = 0; + out_5222045031026609980[110] = 0; + out_5222045031026609980[111] = 0; + out_5222045031026609980[112] = 0; + out_5222045031026609980[113] = 0; + out_5222045031026609980[114] = 1; + out_5222045031026609980[115] = 0; + out_5222045031026609980[116] = 0; + out_5222045031026609980[117] = 0; + out_5222045031026609980[118] = 0; + out_5222045031026609980[119] = 0; + out_5222045031026609980[120] = 0; + out_5222045031026609980[121] = 0; + out_5222045031026609980[122] = 0; + out_5222045031026609980[123] = 0; + out_5222045031026609980[124] = 0; + out_5222045031026609980[125] = 0; + out_5222045031026609980[126] = 0; + out_5222045031026609980[127] = 0; + out_5222045031026609980[128] = 0; + out_5222045031026609980[129] = 0; + out_5222045031026609980[130] = 0; + out_5222045031026609980[131] = 0; + out_5222045031026609980[132] = 0; + out_5222045031026609980[133] = 1; + out_5222045031026609980[134] = 0; + out_5222045031026609980[135] = 0; + out_5222045031026609980[136] = 0; + out_5222045031026609980[137] = 0; + out_5222045031026609980[138] = 0; + out_5222045031026609980[139] = 0; + out_5222045031026609980[140] = 0; + out_5222045031026609980[141] = 0; + out_5222045031026609980[142] = 0; + out_5222045031026609980[143] = 0; + out_5222045031026609980[144] = 0; + out_5222045031026609980[145] = 0; + out_5222045031026609980[146] = 0; + out_5222045031026609980[147] = 0; + out_5222045031026609980[148] = 0; + out_5222045031026609980[149] = 0; + out_5222045031026609980[150] = 0; + out_5222045031026609980[151] = 0; + out_5222045031026609980[152] = 1; + out_5222045031026609980[153] = 0; + out_5222045031026609980[154] = 0; + out_5222045031026609980[155] = 0; + out_5222045031026609980[156] = 0; + out_5222045031026609980[157] = 0; + out_5222045031026609980[158] = 0; + out_5222045031026609980[159] = 0; + out_5222045031026609980[160] = 0; + out_5222045031026609980[161] = 0; + out_5222045031026609980[162] = 0; + out_5222045031026609980[163] = 0; + out_5222045031026609980[164] = 0; + out_5222045031026609980[165] = 0; + out_5222045031026609980[166] = 0; + out_5222045031026609980[167] = 0; + out_5222045031026609980[168] = 0; + out_5222045031026609980[169] = 0; + out_5222045031026609980[170] = 0; + out_5222045031026609980[171] = 1; + out_5222045031026609980[172] = 0; + out_5222045031026609980[173] = 0; + out_5222045031026609980[174] = 0; + out_5222045031026609980[175] = 0; + out_5222045031026609980[176] = 0; + out_5222045031026609980[177] = 0; + out_5222045031026609980[178] = 0; + out_5222045031026609980[179] = 0; + out_5222045031026609980[180] = 0; + out_5222045031026609980[181] = 0; + out_5222045031026609980[182] = 0; + out_5222045031026609980[183] = 0; + out_5222045031026609980[184] = 0; + out_5222045031026609980[185] = 0; + out_5222045031026609980[186] = 0; + out_5222045031026609980[187] = 0; + out_5222045031026609980[188] = 0; + out_5222045031026609980[189] = 0; + out_5222045031026609980[190] = 1; + out_5222045031026609980[191] = 0; + out_5222045031026609980[192] = 0; + out_5222045031026609980[193] = 0; + out_5222045031026609980[194] = 0; + out_5222045031026609980[195] = 0; + out_5222045031026609980[196] = 0; + out_5222045031026609980[197] = 0; + out_5222045031026609980[198] = 0; + out_5222045031026609980[199] = 0; + out_5222045031026609980[200] = 0; + out_5222045031026609980[201] = 0; + out_5222045031026609980[202] = 0; + out_5222045031026609980[203] = 0; + out_5222045031026609980[204] = 0; + out_5222045031026609980[205] = 0; + out_5222045031026609980[206] = 0; + out_5222045031026609980[207] = 0; + out_5222045031026609980[208] = 0; + out_5222045031026609980[209] = 1; + out_5222045031026609980[210] = 0; + out_5222045031026609980[211] = 0; + out_5222045031026609980[212] = 0; + out_5222045031026609980[213] = 0; + out_5222045031026609980[214] = 0; + out_5222045031026609980[215] = 0; + out_5222045031026609980[216] = 0; + out_5222045031026609980[217] = 0; + out_5222045031026609980[218] = 0; + out_5222045031026609980[219] = 0; + out_5222045031026609980[220] = 0; + out_5222045031026609980[221] = 0; + out_5222045031026609980[222] = 0; + out_5222045031026609980[223] = 0; + out_5222045031026609980[224] = 0; + out_5222045031026609980[225] = 0; + out_5222045031026609980[226] = 0; + out_5222045031026609980[227] = 0; + out_5222045031026609980[228] = 1; + out_5222045031026609980[229] = 0; + out_5222045031026609980[230] = 0; + out_5222045031026609980[231] = 0; + out_5222045031026609980[232] = 0; + out_5222045031026609980[233] = 0; + out_5222045031026609980[234] = 0; + out_5222045031026609980[235] = 0; + out_5222045031026609980[236] = 0; + out_5222045031026609980[237] = 0; + out_5222045031026609980[238] = 0; + out_5222045031026609980[239] = 0; + out_5222045031026609980[240] = 0; + out_5222045031026609980[241] = 0; + out_5222045031026609980[242] = 0; + out_5222045031026609980[243] = 0; + out_5222045031026609980[244] = 0; + out_5222045031026609980[245] = 0; + out_5222045031026609980[246] = 0; + out_5222045031026609980[247] = 1; + out_5222045031026609980[248] = 0; + out_5222045031026609980[249] = 0; + out_5222045031026609980[250] = 0; + out_5222045031026609980[251] = 0; + out_5222045031026609980[252] = 0; + out_5222045031026609980[253] = 0; + out_5222045031026609980[254] = 0; + out_5222045031026609980[255] = 0; + out_5222045031026609980[256] = 0; + out_5222045031026609980[257] = 0; + out_5222045031026609980[258] = 0; + out_5222045031026609980[259] = 0; + out_5222045031026609980[260] = 0; + out_5222045031026609980[261] = 0; + out_5222045031026609980[262] = 0; + out_5222045031026609980[263] = 0; + out_5222045031026609980[264] = 0; + out_5222045031026609980[265] = 0; + out_5222045031026609980[266] = 1; + out_5222045031026609980[267] = 0; + out_5222045031026609980[268] = 0; + out_5222045031026609980[269] = 0; + out_5222045031026609980[270] = 0; + out_5222045031026609980[271] = 0; + out_5222045031026609980[272] = 0; + out_5222045031026609980[273] = 0; + out_5222045031026609980[274] = 0; + out_5222045031026609980[275] = 0; + out_5222045031026609980[276] = 0; + out_5222045031026609980[277] = 0; + out_5222045031026609980[278] = 0; + out_5222045031026609980[279] = 0; + out_5222045031026609980[280] = 0; + out_5222045031026609980[281] = 0; + out_5222045031026609980[282] = 0; + out_5222045031026609980[283] = 0; + out_5222045031026609980[284] = 0; + out_5222045031026609980[285] = 1; + out_5222045031026609980[286] = 0; + out_5222045031026609980[287] = 0; + out_5222045031026609980[288] = 0; + out_5222045031026609980[289] = 0; + out_5222045031026609980[290] = 0; + out_5222045031026609980[291] = 0; + out_5222045031026609980[292] = 0; + out_5222045031026609980[293] = 0; + out_5222045031026609980[294] = 0; + out_5222045031026609980[295] = 0; + out_5222045031026609980[296] = 0; + out_5222045031026609980[297] = 0; + out_5222045031026609980[298] = 0; + out_5222045031026609980[299] = 0; + out_5222045031026609980[300] = 0; + out_5222045031026609980[301] = 0; + out_5222045031026609980[302] = 0; + out_5222045031026609980[303] = 0; + out_5222045031026609980[304] = 1; + out_5222045031026609980[305] = 0; + out_5222045031026609980[306] = 0; + out_5222045031026609980[307] = 0; + out_5222045031026609980[308] = 0; + out_5222045031026609980[309] = 0; + out_5222045031026609980[310] = 0; + out_5222045031026609980[311] = 0; + out_5222045031026609980[312] = 0; + out_5222045031026609980[313] = 0; + out_5222045031026609980[314] = 0; + out_5222045031026609980[315] = 0; + out_5222045031026609980[316] = 0; + out_5222045031026609980[317] = 0; + out_5222045031026609980[318] = 0; + out_5222045031026609980[319] = 0; + out_5222045031026609980[320] = 0; + out_5222045031026609980[321] = 0; + out_5222045031026609980[322] = 0; + out_5222045031026609980[323] = 1; } -void h_4(double *state, double *unused, double *out_3550900755285532144) { - out_3550900755285532144[0] = state[6] + state[9]; - out_3550900755285532144[1] = state[7] + state[10]; - out_3550900755285532144[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_9011768275853426182) { + out_9011768275853426182[0] = state[6] + state[9]; + out_9011768275853426182[1] = state[7] + state[10]; + out_9011768275853426182[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3202934029172578364) { - out_3202934029172578364[0] = 0; - out_3202934029172578364[1] = 0; - out_3202934029172578364[2] = 0; - out_3202934029172578364[3] = 0; - out_3202934029172578364[4] = 0; - out_3202934029172578364[5] = 0; - out_3202934029172578364[6] = 1; - out_3202934029172578364[7] = 0; - out_3202934029172578364[8] = 0; - out_3202934029172578364[9] = 1; - out_3202934029172578364[10] = 0; - out_3202934029172578364[11] = 0; - out_3202934029172578364[12] = 0; - out_3202934029172578364[13] = 0; - out_3202934029172578364[14] = 0; - out_3202934029172578364[15] = 0; - out_3202934029172578364[16] = 0; - out_3202934029172578364[17] = 0; - out_3202934029172578364[18] = 0; - out_3202934029172578364[19] = 0; - out_3202934029172578364[20] = 0; - out_3202934029172578364[21] = 0; - out_3202934029172578364[22] = 0; - out_3202934029172578364[23] = 0; - out_3202934029172578364[24] = 0; - out_3202934029172578364[25] = 1; - out_3202934029172578364[26] = 0; - out_3202934029172578364[27] = 0; - out_3202934029172578364[28] = 1; - out_3202934029172578364[29] = 0; - out_3202934029172578364[30] = 0; - out_3202934029172578364[31] = 0; - out_3202934029172578364[32] = 0; - out_3202934029172578364[33] = 0; - out_3202934029172578364[34] = 0; - out_3202934029172578364[35] = 0; - out_3202934029172578364[36] = 0; - out_3202934029172578364[37] = 0; - out_3202934029172578364[38] = 0; - out_3202934029172578364[39] = 0; - out_3202934029172578364[40] = 0; - out_3202934029172578364[41] = 0; - out_3202934029172578364[42] = 0; - out_3202934029172578364[43] = 0; - out_3202934029172578364[44] = 1; - out_3202934029172578364[45] = 0; - out_3202934029172578364[46] = 0; - out_3202934029172578364[47] = 1; - out_3202934029172578364[48] = 0; - out_3202934029172578364[49] = 0; - out_3202934029172578364[50] = 0; - out_3202934029172578364[51] = 0; - out_3202934029172578364[52] = 0; - out_3202934029172578364[53] = 0; +void H_4(double *state, double *unused, double *out_3460336267317199431) { + out_3460336267317199431[0] = 0; + out_3460336267317199431[1] = 0; + out_3460336267317199431[2] = 0; + out_3460336267317199431[3] = 0; + out_3460336267317199431[4] = 0; + out_3460336267317199431[5] = 0; + out_3460336267317199431[6] = 1; + out_3460336267317199431[7] = 0; + out_3460336267317199431[8] = 0; + out_3460336267317199431[9] = 1; + out_3460336267317199431[10] = 0; + out_3460336267317199431[11] = 0; + out_3460336267317199431[12] = 0; + out_3460336267317199431[13] = 0; + out_3460336267317199431[14] = 0; + out_3460336267317199431[15] = 0; + out_3460336267317199431[16] = 0; + out_3460336267317199431[17] = 0; + out_3460336267317199431[18] = 0; + out_3460336267317199431[19] = 0; + out_3460336267317199431[20] = 0; + out_3460336267317199431[21] = 0; + out_3460336267317199431[22] = 0; + out_3460336267317199431[23] = 0; + out_3460336267317199431[24] = 0; + out_3460336267317199431[25] = 1; + out_3460336267317199431[26] = 0; + out_3460336267317199431[27] = 0; + out_3460336267317199431[28] = 1; + out_3460336267317199431[29] = 0; + out_3460336267317199431[30] = 0; + out_3460336267317199431[31] = 0; + out_3460336267317199431[32] = 0; + out_3460336267317199431[33] = 0; + out_3460336267317199431[34] = 0; + out_3460336267317199431[35] = 0; + out_3460336267317199431[36] = 0; + out_3460336267317199431[37] = 0; + out_3460336267317199431[38] = 0; + out_3460336267317199431[39] = 0; + out_3460336267317199431[40] = 0; + out_3460336267317199431[41] = 0; + out_3460336267317199431[42] = 0; + out_3460336267317199431[43] = 0; + out_3460336267317199431[44] = 1; + out_3460336267317199431[45] = 0; + out_3460336267317199431[46] = 0; + out_3460336267317199431[47] = 1; + out_3460336267317199431[48] = 0; + out_3460336267317199431[49] = 0; + out_3460336267317199431[50] = 0; + out_3460336267317199431[51] = 0; + out_3460336267317199431[52] = 0; + out_3460336267317199431[53] = 0; } -void h_10(double *state, double *unused, double *out_7067714338468602861) { - out_7067714338468602861[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7067714338468602861[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7067714338468602861[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_678012550926290311) { + out_678012550926290311[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_678012550926290311[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_678012550926290311[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_4832878358593471680) { - out_4832878358593471680[0] = 0; - out_4832878358593471680[1] = 9.8100000000000005*cos(state[1]); - out_4832878358593471680[2] = 0; - out_4832878358593471680[3] = 0; - out_4832878358593471680[4] = -state[8]; - out_4832878358593471680[5] = state[7]; - out_4832878358593471680[6] = 0; - out_4832878358593471680[7] = state[5]; - out_4832878358593471680[8] = -state[4]; - out_4832878358593471680[9] = 0; - out_4832878358593471680[10] = 0; - out_4832878358593471680[11] = 0; - out_4832878358593471680[12] = 1; - out_4832878358593471680[13] = 0; - out_4832878358593471680[14] = 0; - out_4832878358593471680[15] = 1; - out_4832878358593471680[16] = 0; - out_4832878358593471680[17] = 0; - out_4832878358593471680[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4832878358593471680[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4832878358593471680[20] = 0; - out_4832878358593471680[21] = state[8]; - out_4832878358593471680[22] = 0; - out_4832878358593471680[23] = -state[6]; - out_4832878358593471680[24] = -state[5]; - out_4832878358593471680[25] = 0; - out_4832878358593471680[26] = state[3]; - out_4832878358593471680[27] = 0; - out_4832878358593471680[28] = 0; - out_4832878358593471680[29] = 0; - out_4832878358593471680[30] = 0; - out_4832878358593471680[31] = 1; - out_4832878358593471680[32] = 0; - out_4832878358593471680[33] = 0; - out_4832878358593471680[34] = 1; - out_4832878358593471680[35] = 0; - out_4832878358593471680[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4832878358593471680[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4832878358593471680[38] = 0; - out_4832878358593471680[39] = -state[7]; - out_4832878358593471680[40] = state[6]; - out_4832878358593471680[41] = 0; - out_4832878358593471680[42] = state[4]; - out_4832878358593471680[43] = -state[3]; - out_4832878358593471680[44] = 0; - out_4832878358593471680[45] = 0; - out_4832878358593471680[46] = 0; - out_4832878358593471680[47] = 0; - out_4832878358593471680[48] = 0; - out_4832878358593471680[49] = 0; - out_4832878358593471680[50] = 1; - out_4832878358593471680[51] = 0; - out_4832878358593471680[52] = 0; - out_4832878358593471680[53] = 1; +void H_10(double *state, double *unused, double *out_4795577018961183743) { + out_4795577018961183743[0] = 0; + out_4795577018961183743[1] = 9.8100000000000005*cos(state[1]); + out_4795577018961183743[2] = 0; + out_4795577018961183743[3] = 0; + out_4795577018961183743[4] = -state[8]; + out_4795577018961183743[5] = state[7]; + out_4795577018961183743[6] = 0; + out_4795577018961183743[7] = state[5]; + out_4795577018961183743[8] = -state[4]; + out_4795577018961183743[9] = 0; + out_4795577018961183743[10] = 0; + out_4795577018961183743[11] = 0; + out_4795577018961183743[12] = 1; + out_4795577018961183743[13] = 0; + out_4795577018961183743[14] = 0; + out_4795577018961183743[15] = 1; + out_4795577018961183743[16] = 0; + out_4795577018961183743[17] = 0; + out_4795577018961183743[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4795577018961183743[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4795577018961183743[20] = 0; + out_4795577018961183743[21] = state[8]; + out_4795577018961183743[22] = 0; + out_4795577018961183743[23] = -state[6]; + out_4795577018961183743[24] = -state[5]; + out_4795577018961183743[25] = 0; + out_4795577018961183743[26] = state[3]; + out_4795577018961183743[27] = 0; + out_4795577018961183743[28] = 0; + out_4795577018961183743[29] = 0; + out_4795577018961183743[30] = 0; + out_4795577018961183743[31] = 1; + out_4795577018961183743[32] = 0; + out_4795577018961183743[33] = 0; + out_4795577018961183743[34] = 1; + out_4795577018961183743[35] = 0; + out_4795577018961183743[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4795577018961183743[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4795577018961183743[38] = 0; + out_4795577018961183743[39] = -state[7]; + out_4795577018961183743[40] = state[6]; + out_4795577018961183743[41] = 0; + out_4795577018961183743[42] = state[4]; + out_4795577018961183743[43] = -state[3]; + out_4795577018961183743[44] = 0; + out_4795577018961183743[45] = 0; + out_4795577018961183743[46] = 0; + out_4795577018961183743[47] = 0; + out_4795577018961183743[48] = 0; + out_4795577018961183743[49] = 0; + out_4795577018961183743[50] = 1; + out_4795577018961183743[51] = 0; + out_4795577018961183743[52] = 0; + out_4795577018961183743[53] = 1; } -void h_13(double *state, double *unused, double *out_6451839863147612103) { - out_6451839863147612103[0] = state[3]; - out_6451839863147612103[1] = state[4]; - out_6451839863147612103[2] = state[5]; +void h_13(double *state, double *unused, double *out_7050071971782529116) { + out_7050071971782529116[0] = state[3]; + out_7050071971782529116[1] = state[4]; + out_7050071971782529116[2] = state[5]; } -void H_13(double *state, double *unused, double *out_9339796159754437) { - out_9339796159754437[0] = 0; - out_9339796159754437[1] = 0; - out_9339796159754437[2] = 0; - out_9339796159754437[3] = 1; - out_9339796159754437[4] = 0; - out_9339796159754437[5] = 0; - out_9339796159754437[6] = 0; - out_9339796159754437[7] = 0; - out_9339796159754437[8] = 0; - out_9339796159754437[9] = 0; - out_9339796159754437[10] = 0; - out_9339796159754437[11] = 0; - out_9339796159754437[12] = 0; - out_9339796159754437[13] = 0; - out_9339796159754437[14] = 0; - out_9339796159754437[15] = 0; - out_9339796159754437[16] = 0; - out_9339796159754437[17] = 0; - out_9339796159754437[18] = 0; - out_9339796159754437[19] = 0; - out_9339796159754437[20] = 0; - out_9339796159754437[21] = 0; - out_9339796159754437[22] = 1; - out_9339796159754437[23] = 0; - out_9339796159754437[24] = 0; - out_9339796159754437[25] = 0; - out_9339796159754437[26] = 0; - out_9339796159754437[27] = 0; - out_9339796159754437[28] = 0; - out_9339796159754437[29] = 0; - out_9339796159754437[30] = 0; - out_9339796159754437[31] = 0; - out_9339796159754437[32] = 0; - out_9339796159754437[33] = 0; - out_9339796159754437[34] = 0; - out_9339796159754437[35] = 0; - out_9339796159754437[36] = 0; - out_9339796159754437[37] = 0; - out_9339796159754437[38] = 0; - out_9339796159754437[39] = 0; - out_9339796159754437[40] = 0; - out_9339796159754437[41] = 1; - out_9339796159754437[42] = 0; - out_9339796159754437[43] = 0; - out_9339796159754437[44] = 0; - out_9339796159754437[45] = 0; - out_9339796159754437[46] = 0; - out_9339796159754437[47] = 0; - out_9339796159754437[48] = 0; - out_9339796159754437[49] = 0; - out_9339796159754437[50] = 0; - out_9339796159754437[51] = 0; - out_9339796159754437[52] = 0; - out_9339796159754437[53] = 0; +void H_13(double *state, double *unused, double *out_6672610092649532232) { + out_6672610092649532232[0] = 0; + out_6672610092649532232[1] = 0; + out_6672610092649532232[2] = 0; + out_6672610092649532232[3] = 1; + out_6672610092649532232[4] = 0; + out_6672610092649532232[5] = 0; + out_6672610092649532232[6] = 0; + out_6672610092649532232[7] = 0; + out_6672610092649532232[8] = 0; + out_6672610092649532232[9] = 0; + out_6672610092649532232[10] = 0; + out_6672610092649532232[11] = 0; + out_6672610092649532232[12] = 0; + out_6672610092649532232[13] = 0; + out_6672610092649532232[14] = 0; + out_6672610092649532232[15] = 0; + out_6672610092649532232[16] = 0; + out_6672610092649532232[17] = 0; + out_6672610092649532232[18] = 0; + out_6672610092649532232[19] = 0; + out_6672610092649532232[20] = 0; + out_6672610092649532232[21] = 0; + out_6672610092649532232[22] = 1; + out_6672610092649532232[23] = 0; + out_6672610092649532232[24] = 0; + out_6672610092649532232[25] = 0; + out_6672610092649532232[26] = 0; + out_6672610092649532232[27] = 0; + out_6672610092649532232[28] = 0; + out_6672610092649532232[29] = 0; + out_6672610092649532232[30] = 0; + out_6672610092649532232[31] = 0; + out_6672610092649532232[32] = 0; + out_6672610092649532232[33] = 0; + out_6672610092649532232[34] = 0; + out_6672610092649532232[35] = 0; + out_6672610092649532232[36] = 0; + out_6672610092649532232[37] = 0; + out_6672610092649532232[38] = 0; + out_6672610092649532232[39] = 0; + out_6672610092649532232[40] = 0; + out_6672610092649532232[41] = 1; + out_6672610092649532232[42] = 0; + out_6672610092649532232[43] = 0; + out_6672610092649532232[44] = 0; + out_6672610092649532232[45] = 0; + out_6672610092649532232[46] = 0; + out_6672610092649532232[47] = 0; + out_6672610092649532232[48] = 0; + out_6672610092649532232[49] = 0; + out_6672610092649532232[50] = 0; + out_6672610092649532232[51] = 0; + out_6672610092649532232[52] = 0; + out_6672610092649532232[53] = 0; } -void h_14(double *state, double *unused, double *out_3486571009539339858) { - out_3486571009539339858[0] = state[6]; - out_3486571009539339858[1] = state[7]; - out_3486571009539339858[2] = state[8]; +void h_14(double *state, double *unused, double *out_2771996280971910329) { + out_2771996280971910329[0] = state[6]; + out_2771996280971910329[1] = state[7]; + out_2771996280971910329[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6285722461467950660) { - out_6285722461467950660[0] = 0; - out_6285722461467950660[1] = 0; - out_6285722461467950660[2] = 0; - out_6285722461467950660[3] = 0; - out_6285722461467950660[4] = 0; - out_6285722461467950660[5] = 0; - out_6285722461467950660[6] = 1; - out_6285722461467950660[7] = 0; - out_6285722461467950660[8] = 0; - out_6285722461467950660[9] = 0; - out_6285722461467950660[10] = 0; - out_6285722461467950660[11] = 0; - out_6285722461467950660[12] = 0; - out_6285722461467950660[13] = 0; - out_6285722461467950660[14] = 0; - out_6285722461467950660[15] = 0; - out_6285722461467950660[16] = 0; - out_6285722461467950660[17] = 0; - out_6285722461467950660[18] = 0; - out_6285722461467950660[19] = 0; - out_6285722461467950660[20] = 0; - out_6285722461467950660[21] = 0; - out_6285722461467950660[22] = 0; - out_6285722461467950660[23] = 0; - out_6285722461467950660[24] = 0; - out_6285722461467950660[25] = 1; - out_6285722461467950660[26] = 0; - out_6285722461467950660[27] = 0; - out_6285722461467950660[28] = 0; - out_6285722461467950660[29] = 0; - out_6285722461467950660[30] = 0; - out_6285722461467950660[31] = 0; - out_6285722461467950660[32] = 0; - out_6285722461467950660[33] = 0; - out_6285722461467950660[34] = 0; - out_6285722461467950660[35] = 0; - out_6285722461467950660[36] = 0; - out_6285722461467950660[37] = 0; - out_6285722461467950660[38] = 0; - out_6285722461467950660[39] = 0; - out_6285722461467950660[40] = 0; - out_6285722461467950660[41] = 0; - out_6285722461467950660[42] = 0; - out_6285722461467950660[43] = 0; - out_6285722461467950660[44] = 1; - out_6285722461467950660[45] = 0; - out_6285722461467950660[46] = 0; - out_6285722461467950660[47] = 0; - out_6285722461467950660[48] = 0; - out_6285722461467950660[49] = 0; - out_6285722461467950660[50] = 0; - out_6285722461467950660[51] = 0; - out_6285722461467950660[52] = 0; - out_6285722461467950660[53] = 0; +void H_14(double *state, double *unused, double *out_7423577123656683960) { + out_7423577123656683960[0] = 0; + out_7423577123656683960[1] = 0; + out_7423577123656683960[2] = 0; + out_7423577123656683960[3] = 0; + out_7423577123656683960[4] = 0; + out_7423577123656683960[5] = 0; + out_7423577123656683960[6] = 1; + out_7423577123656683960[7] = 0; + out_7423577123656683960[8] = 0; + out_7423577123656683960[9] = 0; + out_7423577123656683960[10] = 0; + out_7423577123656683960[11] = 0; + out_7423577123656683960[12] = 0; + out_7423577123656683960[13] = 0; + out_7423577123656683960[14] = 0; + out_7423577123656683960[15] = 0; + out_7423577123656683960[16] = 0; + out_7423577123656683960[17] = 0; + out_7423577123656683960[18] = 0; + out_7423577123656683960[19] = 0; + out_7423577123656683960[20] = 0; + out_7423577123656683960[21] = 0; + out_7423577123656683960[22] = 0; + out_7423577123656683960[23] = 0; + out_7423577123656683960[24] = 0; + out_7423577123656683960[25] = 1; + out_7423577123656683960[26] = 0; + out_7423577123656683960[27] = 0; + out_7423577123656683960[28] = 0; + out_7423577123656683960[29] = 0; + out_7423577123656683960[30] = 0; + out_7423577123656683960[31] = 0; + out_7423577123656683960[32] = 0; + out_7423577123656683960[33] = 0; + out_7423577123656683960[34] = 0; + out_7423577123656683960[35] = 0; + out_7423577123656683960[36] = 0; + out_7423577123656683960[37] = 0; + out_7423577123656683960[38] = 0; + out_7423577123656683960[39] = 0; + out_7423577123656683960[40] = 0; + out_7423577123656683960[41] = 0; + out_7423577123656683960[42] = 0; + out_7423577123656683960[43] = 0; + out_7423577123656683960[44] = 1; + out_7423577123656683960[45] = 0; + out_7423577123656683960[46] = 0; + out_7423577123656683960[47] = 0; + out_7423577123656683960[48] = 0; + out_7423577123656683960[49] = 0; + out_7423577123656683960[50] = 0; + out_7423577123656683960[51] = 0; + out_7423577123656683960[52] = 0; + out_7423577123656683960[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_6520327552806096841) { - err_fun(nom_x, delta_x, out_6520327552806096841); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2276930388742637984) { + err_fun(nom_x, delta_x, out_2276930388742637984); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3933583929675800728) { - inv_err_fun(nom_x, true_x, out_3933583929675800728); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5553036191683273841) { + inv_err_fun(nom_x, true_x, out_5553036191683273841); } -void pose_H_mod_fun(double *state, double *out_6974741239016485936) { - H_mod_fun(state, out_6974741239016485936); +void pose_H_mod_fun(double *state, double *out_9138325999640393464) { + H_mod_fun(state, out_9138325999640393464); } -void pose_f_fun(double *state, double dt, double *out_7579043913228931093) { - f_fun(state, dt, out_7579043913228931093); +void pose_f_fun(double *state, double dt, double *out_1147502803036589913) { + f_fun(state, dt, out_1147502803036589913); } -void pose_F_fun(double *state, double dt, double *out_7552939469662313928) { - F_fun(state, dt, out_7552939469662313928); +void pose_F_fun(double *state, double dt, double *out_5222045031026609980) { + F_fun(state, dt, out_5222045031026609980); } -void pose_h_4(double *state, double *unused, double *out_3550900755285532144) { - h_4(state, unused, out_3550900755285532144); +void pose_h_4(double *state, double *unused, double *out_9011768275853426182) { + h_4(state, unused, out_9011768275853426182); } -void pose_H_4(double *state, double *unused, double *out_3202934029172578364) { - H_4(state, unused, out_3202934029172578364); +void pose_H_4(double *state, double *unused, double *out_3460336267317199431) { + H_4(state, unused, out_3460336267317199431); } -void pose_h_10(double *state, double *unused, double *out_7067714338468602861) { - h_10(state, unused, out_7067714338468602861); +void pose_h_10(double *state, double *unused, double *out_678012550926290311) { + h_10(state, unused, out_678012550926290311); } -void pose_H_10(double *state, double *unused, double *out_4832878358593471680) { - H_10(state, unused, out_4832878358593471680); +void pose_H_10(double *state, double *unused, double *out_4795577018961183743) { + H_10(state, unused, out_4795577018961183743); } -void pose_h_13(double *state, double *unused, double *out_6451839863147612103) { - h_13(state, unused, out_6451839863147612103); +void pose_h_13(double *state, double *unused, double *out_7050071971782529116) { + h_13(state, unused, out_7050071971782529116); } -void pose_H_13(double *state, double *unused, double *out_9339796159754437) { - H_13(state, unused, out_9339796159754437); +void pose_H_13(double *state, double *unused, double *out_6672610092649532232) { + H_13(state, unused, out_6672610092649532232); } -void pose_h_14(double *state, double *unused, double *out_3486571009539339858) { - h_14(state, unused, out_3486571009539339858); +void pose_h_14(double *state, double *unused, double *out_2771996280971910329) { + h_14(state, unused, out_2771996280971910329); } -void pose_H_14(double *state, double *unused, double *out_6285722461467950660) { - H_14(state, unused, out_6285722461467950660); +void pose_H_14(double *state, double *unused, double *out_7423577123656683960) { + H_14(state, unused, out_7423577123656683960); } 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 e708a36ab..32bd08025 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_6520327552806096841); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3933583929675800728); -void pose_H_mod_fun(double *state, double *out_6974741239016485936); -void pose_f_fun(double *state, double dt, double *out_7579043913228931093); -void pose_F_fun(double *state, double dt, double *out_7552939469662313928); -void pose_h_4(double *state, double *unused, double *out_3550900755285532144); -void pose_H_4(double *state, double *unused, double *out_3202934029172578364); -void pose_h_10(double *state, double *unused, double *out_7067714338468602861); -void pose_H_10(double *state, double *unused, double *out_4832878358593471680); -void pose_h_13(double *state, double *unused, double *out_6451839863147612103); -void pose_H_13(double *state, double *unused, double *out_9339796159754437); -void pose_h_14(double *state, double *unused, double *out_3486571009539339858); -void pose_H_14(double *state, double *unused, double *out_6285722461467950660); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2276930388742637984); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5553036191683273841); +void pose_H_mod_fun(double *state, double *out_9138325999640393464); +void pose_f_fun(double *state, double dt, double *out_1147502803036589913); +void pose_F_fun(double *state, double dt, double *out_5222045031026609980); +void pose_h_4(double *state, double *unused, double *out_9011768275853426182); +void pose_H_4(double *state, double *unused, double *out_3460336267317199431); +void pose_h_10(double *state, double *unused, double *out_678012550926290311); +void pose_H_10(double *state, double *unused, double *out_4795577018961183743); +void pose_h_13(double *state, double *unused, double *out_7050071971782529116); +void pose_H_13(double *state, double *unused, double *out_6672610092649532232); +void pose_h_14(double *state, double *unused, double *out_2771996280971910329); +void pose_H_14(double *state, double *unused, double *out_7423577123656683960); 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 d544c4820..284d2c35d 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/layouts/settings/starpilot/longitudinal.py b/selfdrive/ui/layouts/settings/starpilot/longitudinal.py index 47cf3b2ae..9ce17cf40 100644 --- a/selfdrive/ui/layouts/settings/starpilot/longitudinal.py +++ b/selfdrive/ui/layouts/settings/starpilot/longitudinal.py @@ -582,12 +582,6 @@ class StarPilotLongitudinalLayout(_SettingsPage): get_value=lambda: f"{self._params.get_int('ForceStopDistanceOffset'):+d} ft", on_click=lambda: self._show_slider("ForceStopDistanceOffset", -20, 20, unit=" ft"), visible=lambda: self._params.get_bool("QOLLongitudinal") and self._params.get_bool("ForceStops")), - SettingRow("RedneckCruise", "toggle", tr_noop("Redneck Cruise"), - subtitle=tr_noop("On supported Hyundai stock-long cars, use RES/SET button spam to match the cluster set speed to StarPilot's target."), - get_state=lambda: self._params.get_bool("RedneckCruise"), - set_state=lambda s: self._params.put_bool("RedneckCruise", s), - visible=lambda: starpilot_state.car_state.redneckCruiseAvailable and - (not starpilot_state.car_state.hasOpenpilotLongitudinal or self._params.get_bool("DisableOpenpilotLongitudinal"))), ], tab_key="daily", column_pair="daily"), SettingSection(tr_noop("Standstill & Gears"), [ SettingRow("ForceStandstill", "toggle", tr_noop("Force Standstill"), diff --git a/selfdrive/ui/lib/starpilot_state.py b/selfdrive/ui/lib/starpilot_state.py index a0f850a68..dd29c9e37 100644 --- a/selfdrive/ui/lib/starpilot_state.py +++ b/selfdrive/ui/lib/starpilot_state.py @@ -36,8 +36,7 @@ class StarPilotCarState: hasZSS: bool = False canUsePedal: bool = False canUseSDSU: bool = False - redneckCruiseAvailable: bool = False - + # ========== Device/Car State ========== isFrogsGoMoo: bool = False hasPCMCruise: bool = False @@ -191,7 +190,6 @@ class StarPilotState: FPCP = messaging.log_from_bytes(fpcp_bytes, custom.StarPilotCarParams) self.car_state.canUsePedal = FPCP.canUsePedal self.car_state.canUseSDSU = FPCP.canUseSDSU - self.car_state.redneckCruiseAvailable = FPCP.redneckCruiseAvailable self.car_state.openpilotLongitudinalControlDisabled = FPCP.openpilotLongitudinalControlDisabled except Exception: pass diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index e435f7812..38f87a30c 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/starpilot/system/the_pond/assets/components/tools/device_settings_layout.json b/starpilot/system/the_pond/assets/components/tools/device_settings_layout.json index f2e48583b..bfdceb1d9 100644 --- a/starpilot/system/the_pond/assets/components/tools/device_settings_layout.json +++ b/starpilot/system/the_pond/assets/components/tools/device_settings_layout.json @@ -1086,6 +1086,14 @@ "max": 99.0, "parent_key": "QOLLongitudinal" }, + { + "key": "RedneckCruise", + "label": "Redneck Cruise", + "description": "On supported Hyundai stock-long cars, use RES/SET button presses to match the cluster set speed to StarPilot's target.", + "data_type": "bool", + "ui_type": "toggle", + "parent_key": "QOLLongitudinal" + }, { "key": "ReverseCruise", "label": "Reverse Cruise Increase", diff --git a/system/camerad/camerad b/system/camerad/camerad index 55fee553e..eb8329d51 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index d9159a81f..b733a06c4 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 01692f281..867d1e4b9 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index c0be52eb3..73342f706 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ